Add asset furniture/table/339bf1697be759f0957b3a00012d12c4

.gitattributes

@@ -6953,4 +6953,4 @@ dataset/furniture/table/297e090d29465bd7b7de394e836087e7/affordance/mesh_part_se
 dataset/furniture/table/29b7e6a9d1ea58db89451de4beeb8ea3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/323146e9523f587889bb0ff48e23af40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/339bf1697be759f0957b3a00012d12c4.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/339bf1697be759f0957b3a00012d12c4/affordance/affordance_annot.json

@@ -0,0 +1,236 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to lift or reposition the small table",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the tabletop rim to stabilize the table during inspection or alignment",
+                    "confidence": 0.76
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold items above the floor",
+                "define the main usable surface",
+                "distribute load to the legs"
+            ],
+            "semantic_description": "Large round reddish-brown wooden top with a smooth matte to satin finish, simple unmarked surface, and slightly thickened edge forming the uppermost main surface.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the leg to steady the table while rotating or repositioning it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "provide ground clearance under the table"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden leg with a smooth matte finish and straight slightly tapered rectangular form extending vertically from the underside near the rim.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the leg to steady the table while rotating or repositioning it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "provide ground clearance under the table"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden leg with a smooth matte finish and straight slightly tapered rectangular form extending vertically from the underside near the rim.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "hold the leg to steady the table while rotating or repositioning it",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "provide ground clearance under the table"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden leg with a smooth matte finish and straight slightly tapered rectangular form extending vertically from the underside near the rim.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "hold the leg to steady the table while rotating or repositioning it",
+                    "confidence": 0.79
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "provide ground clearance under the table"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden leg with a smooth matte finish and straight slightly tapered rectangular form extending vertically from the underside near the rim.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside apron panel",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace adjacent legs",
+                "reinforce the underside",
+                "connect structural members",
+                "increase rigidity"
+            ],
+            "semantic_description": "Broad reddish-brown wooden apron panel beneath the tabletop with a smooth matte finish and gently curved upper edge spanning between neighboring legs.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside apron panel",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace adjacent legs",
+                "reinforce the underside",
+                "connect structural members",
+                "increase rigidity"
+            ],
+            "semantic_description": "Broad reddish-brown wooden apron panel beneath the tabletop with a smooth matte finish and gently curved upper edge spanning between neighboring legs.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside apron panel",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace adjacent legs",
+                "reinforce the underside",
+                "connect structural members",
+                "increase rigidity"
+            ],
+            "semantic_description": "Broad reddish-brown wooden apron panel beneath the tabletop with a smooth matte finish and gently curved upper edge spanning between neighboring legs.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside connector hub",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the central underside hub from below to reorient or stabilize the table",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "use the central hub as a temporary hold point during underside inspection",
+                    "confidence": 0.4
+                }
+            ],
+            "functional_labels": [
+                "join the support panels",
+                "connect the legs structurally",
+                "reinforce the center underside",
+                "distribute structural loads"
+            ],
+            "semantic_description": "Small central reddish-brown wooden connector beneath the tabletop with a smooth matte finish and compact star-like shape where the underside braces meet.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "table leg",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the leg to lift or drag the small table",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "hold the leg to steady the table while rotating or repositioning it",
+                    "confidence": 0.77
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "transfer load to the floor",
+                "stabilize the structure",
+                "provide ground clearance under the table"
+            ],
+            "semantic_description": "Narrow reddish-brown wooden leg with a smooth matte finish and straight slightly tapered rectangular form extending vertically from the underside near the rim.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "underside apron panel",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brace adjacent legs",
+                "reinforce the underside",
+                "connect structural members",
+                "increase rigidity"
+            ],
+            "semantic_description": "Broad reddish-brown wooden apron panel beneath the tabletop with a smooth matte finish and gently curved upper edge spanning between neighboring legs.",
+            "id": 10,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color part identities are swapped; apron panels and legs are mislabeled, and central purple part is support/brace structure, not a connector hub."
+    }
+}

dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d48f00fbffa6c92c03c4160861a7b62bc5920094174fff27c18550574fe428
+size 593464