Add asset furniture/table/16b602cfd8285027af606f20aaadc739

.gitattributes

@@ -6946,3 +6946,4 @@ dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/affordance/mesh_part_se
 dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/1522dad65f0859758dad5636ba348bf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/16b602cfd8285027af606f20aaadc739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/16b602cfd8285027af606f20aaadc739/16b602cfd8285027af606f20aaadc739.urdf

@@ -52,6 +52,7 @@
                <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/16b602cfd8285027af606f20aaadc739/affordance/affordance_annot.json

@@ -0,0 +1,78 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during assembly or inspection",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "provide a work surface",
+                "support placed items",
+                "form the top surface of the table"
+            ],
+            "semantic_description": "Large rectangular red tabletop with rounded corners, likely painted wood or laminate, featuring a smooth hard surface on the top of the table.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table body panel",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel edge to help drag or reposition the table",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold the panel area to stabilize the table while lifting from another side",
+                    "confidence": 0.56
+                }
+            ],
+            "functional_labels": [
+                "enclose the underside of the table",
+                "connect the legs beneath the tabletop",
+                "add structural bracing to the table body"
+            ],
+            "semantic_description": "Large green box-like side and front body panels beneath the tabletop, likely painted wood or sheet material, with mostly smooth matte surfaces spanning between the legs.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to tilt or carry the table during moving",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a leg to steady the table while adjusting its position",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the table",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "set table height"
+            ],
+            "semantic_description": "Slim reddish-brown vertical legs at the corners, likely painted metal or wood, with a smooth hard finish, extending downward to support the table.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/16b602cfd8285027af606f20aaadc739/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf46b7e68ba21406944f790a600f373a21af9ba4b2c21a4f1c865f549529f579
+size 1685556