Add asset furniture/table/6add7ad9bf2d56d0b5f02be7401f31c9

.gitattributes

@@ -6963,3 +6963,4 @@ dataset/furniture/table/63e070840597536187a226eef53627e7/affordance/mesh_part_se
 dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/68c7e1daf7c65cd6b321f582876c966e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/6add7ad9bf2d56d0b5f02be7401f31c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/6add7ad9bf2d56d0b5f02be7401f31c9/6add7ad9bf2d56d0b5f02be7401f31c9.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/6add7ad9bf2d56d0b5f02be7401f31c9/affordance/affordance_annot.json

@@ -0,0 +1,97 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the table",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the tabletop from the side to stabilize the table during assembly or movement",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "provide a flat work surface",
+                "support placed items",
+                "span between the legs",
+                "define the main table area"
+            ],
+            "semantic_description": "Large rectangular reddish wood tabletop with a smooth semi-gloss finish, visible dark wood grain, hard flat surfaces, and slightly rounded edges at the top of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "legs",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a leg to drag or reorient the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold a leg to stabilize the table while adjusting position",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "elevate the table",
+                "provide floor contact",
+                "stabilize the structure"
+            ],
+            "semantic_description": "Four slender reddish-brown wooden legs with a smooth matte-to-satin finish, hard surfaces, tapered straight forms, and vertical placement at the table corners.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "apron frame",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the apron rail from underneath to lift or carry the table",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the apron frame to stabilize the table during transport or assembly",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "connect the legs",
+                "reinforce the tabletop",
+                "stiffen the structure",
+                "provide under-table support"
+            ],
+            "semantic_description": "Medium-sized reddish-brown wooden support rails beneath the tabletop, with smooth hard surfaces and visible wood grain, forming a rectangular underframe between the legs.",
+            "id": 11,
+            "grasp_group": {
+                "grasp_48": {
+                    "confidence": 0.7084292769432068,
+                    "position": [
+                        0.0443211187957786,
+                        0.00044505205005407333,
+                        0.08779091015458107
+                    ],
+                    "orientation": {
+                        "w": 0.44883711967925755,
+                        "xyz": [
+                            -0.440608263166878,
+                            -0.515966980730085,
+                            0.5815390556302948
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/6add7ad9bf2d56d0b5f02be7401f31c9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249bd3b4d41a0b38d0a5e0df983aa78ef2272cb9d9d9684766a87fc90c56aa9e
+size 473908