Add asset furniture/table/781b1b8c58cf5c17b167436ffe664a82

.gitattributes

@@ -6966,3 +6966,4 @@ dataset/furniture/table/68c7e1daf7c65cd6b321f582876c966e/affordance/mesh_part_se
 dataset/furniture/table/6e66a496a6bf5783ba4195d855a4242e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/75ce20f2e4285072a8b9ef8cf789077b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/affordance/affordance_annot.json

@@ -0,0 +1,168 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the tabletop from the side to stabilize the table during manipulation",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold items above the floor",
+                "define the main work area",
+                "connect the legs into one structure"
+            ],
+            "semantic_description": "Large reddish-brown wooden tabletop with a smooth satin finish, rounded-square shape, softened corners, and a broad flat upper surface at the top of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower shelf",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shelf edge from below to lift or drag the table slightly",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold the shelf to stabilize the table while another gripper adjusts a leg",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "provide secondary storage",
+                "brace the table structure",
+                "support items below the tabletop",
+                "add stability between the legs"
+            ],
+            "semantic_description": "Broad rectangular lower shelf beneath the tabletop, reddish-brown wood with a smooth finish, flat panel form, and positioned centrally between the legs.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift one side of the table",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "hold a leg to rotate or reposition the table",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "stabilize the table by clamping a leg during transport",
+                    "confidence": 0.73
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Slim tapered wooden leg with a smooth reddish-brown appearance, narrow elongated shape, and slightly rounded profile extending vertically near one corner of the table.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift one side of the table",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold a leg to rotate or reposition the table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "stabilize the table by clamping a leg during transport",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Slim tapered wooden leg with a smooth reddish-brown appearance, narrow elongated shape, and slightly rounded profile extending vertically at another corner of the table.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift one side of the table",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold a leg to rotate or reposition the table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "stabilize the table by clamping a leg during transport",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Slim tapered wooden leg with a smooth reddish-brown appearance, narrow elongated shape, and slightly rounded profile extending vertically at another corner of the table.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "leg",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to lift one side of the table",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold a leg to rotate or reposition the table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "stabilize the table by clamping a leg during transport",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "transfer load to the floor",
+                "provide structural stability"
+            ],
+            "semantic_description": "Slim tapered wooden leg with a smooth reddish-brown appearance, narrow elongated shape, and slightly rounded profile extending vertically at another corner of the table.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85e6a9da1e7ed09cdc4113a9c3b8c40e2c30ce113d9339fa279a041e579542e
+size 734920