Add asset furniture/table/5d593bbc15645b7892847200bec51d36

.gitattributes

@@ -6958,3 +6958,4 @@ dataset/furniture/table/3e24a90f8a5c5471b6d26a3f95914d43/affordance/mesh_part_se
 dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/5d593bbc15645b7892847200bec51d36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/5d593bbc15645b7892847200bec51d36/5d593bbc15645b7892847200bec51d36.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/5d593bbc15645b7892847200bec51d36/affordance/affordance_annot.json

@@ -0,0 +1,80 @@
+{
+    "affordances": [
+        {
+            "part_name": "main desk body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front or top edge of the main body to reposition the desk",
+                    "confidence": 0.79
+                },
+                {
+                    "scenario": "hold the main wooden body to stabilize it while pushing or pulling",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "provide work surface",
+                "support items",
+                "form the main structure",
+                "enclose the cabinet-like body"
+            ],
+            "semantic_description": "Large rectangular desk body in medium brown wood with a matte to semi-matte finish, smooth hard surfaces, subtle wood grain, and a broad top connected to the front and other structural panels.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side support panel",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side panel edge to help lift or rotate the desk",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the side panel to steady the desk during movement",
+                    "confidence": 0.69
+                }
+            ],
+            "functional_labels": [
+                "support tabletop",
+                "stabilize structure",
+                "form a vertical side panel",
+                "bear load to floor"
+            ],
+            "semantic_description": "Vertical rectangular wooden side panel in matching brown wood, smooth and hard with a mostly matte finish, located at one end of the desk and extending from the underside of the top toward the floor.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer pull handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pull the front panel or drawer-like section open",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the handle to guide the panel closed",
+                    "confidence": 0.68
+                }
+            ],
+            "functional_labels": [
+                "provide finger grip",
+                "pull open front storage section",
+                "guide closing",
+                "indicate access point"
+            ],
+            "semantic_description": "Small slim horizontal handle on the front face, likely metal, with a smooth hard surface and a simple narrow bar shape centered on the brown front panel.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Blue part is a leg panel, not side support panel; green handle opens modesty panel/door, not drawer."
+    }
+}

dataset/furniture/table/5d593bbc15645b7892847200bec51d36/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5cece641b5fe1f1e6dda111aaab487acfe4d158feaa739ba71c08155e5a1fb0
+size 693400