Add asset furniture/table/79816e1e3f18516190127717ff505efe

.gitattributes

@@ -6967,3 +6967,4 @@ dataset/furniture/table/6e66a496a6bf5783ba4195d855a4242e/affordance/mesh_part_se
 dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/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/781b1b8c58cf5c17b167436ffe664a82/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/79816e1e3f18516190127717ff505efe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/79816e1e3f18516190127717ff505efe/79816e1e3f18516190127717ff505efe.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/79816e1e3f18516190127717ff505efe/affordance/affordance_annot.json

@@ -0,0 +1,56 @@
+{
+    "affordances": [
+        {
+            "part_name": "tabletop",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tabletop edge to slightly reposition or rotate the table",
+                    "confidence": 0.62
+                },
+                {
+                    "scenario": "hold the tabletop edge to stabilize the table during assembly or inspection",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide a flat support surface",
+                "hold placed items",
+                "define the main work area",
+                "distribute loads across the top"
+            ],
+            "semantic_description": "Large rounded-rectangular light wood tabletop with a smooth matte surface, subtle wood grain, and a broad horizontal position at the top of the table.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "pedestal base",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a side of the pedestal base to help rotate or reposition the table on the floor",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the pedestal base to stabilize the table while another gripper manipulates the top",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "support the tabletop",
+                "bear structural load",
+                "stabilize the table",
+                "connect the top to the floor"
+            ],
+            "semantic_description": "Bulky medium-brown wooden pedestal-style base with a smooth matte to semi-matte surface, faceted blocky geometry, and a central position underneath the tabletop.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/furniture/table/79816e1e3f18516190127717ff505efe/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1cb5664b58ad006b036670e2741b43325147a335e7592bd2d6dc968127e533
+size 1448076