Add asset furniture/table/675799d16e505b15bc802f3c5314eb70

.gitattributes

@@ -6960,3 +6960,4 @@ dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/affordance/mesh_part_se
 dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/60eef28f2dfc5d0a905ffacd66fdc49b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/63e070840597536187a226eef53627e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.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/675799d16e505b15bc802f3c5314eb70/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "hold a tabletop corner to stabilize the table during dragging or turning",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "enable serving or display",
+                "define the main usable top area"
+            ],
+            "semantic_description": "Large rectangular tabletop with rounded corners, dark red to reddish-brown in appearance, with a smooth hard surface and occupying the uppermost main surface of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or pivot the table slightly",
+                    "confidence": 0.5
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.6
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "raise the table off the floor",
+                "provide standing stability",
+                "transfer load to the ground"
+            ],
+            "semantic_description": "Four slender tapered legs in a dark red to reddish-brown tone matching the table body, with a smooth hard finish, attached near the tabletop corners and extending downward as the table's primary supports.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside frame",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the underside frame rail from below to help lift the table",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the recessed frame from underneath to stabilize the table during transport",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "reinforce the tabletop",
+                "connect the legs",
+                "stiffen the structure",
+                "support the top from below"
+            ],
+            "semantic_description": "Rectangular recessed under-table apron or support frame beneath the tabletop, dark red to reddish-brown like the rest of the table, with a smooth hard finish and medium thickness connecting the legs.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f5c200d084461b035b566d6b671791cdd4985f9c5aef4533488b3242a584996
+size 1765156