Add asset furniture/table/75ce20f2e4285072a8b9ef8cf789077b

.gitattributes

@@ -6965,4 +6965,4 @@ dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/affordance/mesh_part_se
 dataset/furniture/table/68c7e1daf7c65cd6b321f582876c966e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 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/7443f75e8d955f739124a31844469c15/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/75ce20f2e4285072a8b9ef8cf789077b/75ce20f2e4285072a8b9ef8cf789077b.urdf

@@ -45,13 +45,14 @@
          <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
-         <part_count>4</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
    </custom_data>
 </robot>

dataset/furniture/table/75ce20f2e4285072a8b9ef8cf789077b/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "desktop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the desktop edge to lift or reposition the desk",
+                    "confidence": 0.68
+                },
+                {
+                    "scenario": "hold the desktop to stabilize the desk during assembly or movement",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide work surface",
+                "support placed items",
+                "define desk top",
+                "connect side supports"
+            ],
+            "semantic_description": "Large rectangular reddish-brown wooden desktop with a matte to satin finish, smooth hard surface, and subtle wood grain, forming the broad top horizontal surface of the desk.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side panel to drag or reposition the desk sideways",
+                    "confidence": 0.63
+                },
+                {
+                    "scenario": "hold a side panel to stabilize the desk during carrying or assembly",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support the desktop",
+                "act as leg panel",
+                "provide lateral stability",
+                "form desk side"
+            ],
+            "semantic_description": "Tall trapezoidal reddish-brown wooden side panel with a matte finish and smooth hard texture, positioned at the desk ends as a broad vertical support.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "modesty panel",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front panel to pull the desk slightly forward",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the front panel to stabilize the desk while rotating it",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "brace the frame",
+                "provide front enclosure",
+                "increase rigidity",
+                "block under-desk visibility"
+            ],
+            "semantic_description": "Long rectangular reddish-brown wooden front modesty panel with a matte smooth surface and faint horizontal wood grain, spanning between the side panels beneath the desktop.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask color for desktop is incorrect; top surface is pink, not red."
+    }
+}

dataset/furniture/table/75ce20f2e4285072a8b9ef8cf789077b/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edda2fe79573fa2eeca693fa8d9027b863f557d79f363ebcaf04b8fbe4e0466c
+size 511588