Add asset desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793

.gitattributes

@@ -2878,4 +2878,6 @@ dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glass
 dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/mesh/phone_stand_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/phone_stand_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/31b1b234d09f50a9b852cae43bb74793.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/31b1b234d09f50a9b852cae43bb74793.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="saucer">
+   <link name="saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.173771</scale>
+         <version>v0.1.7</version>
+         <category>saucer</category>
+         <description>flat, circular saucer with smooth edges and uniform thickness</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120050026</generate_time>
+         <gs_model>mesh/saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.383664131164551</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <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/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/31b1b234d09f50a9b852cae43bb74793.usd

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+oid sha256:8a21346525a6f11f58f2cf44771b7b8027c84d8e183746ab645e5dfd06a2b6cc
+size 1047206

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mesh/saucer.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:034c456f63ebe38e284dec46272e374415fa34ecd6f943bf422904864280319e
+size 2446232

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mesh/saucer_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e7353dbd954e7fcfce01a1cfc63a93bfc4cf2f73ee9d35dbff195fe4bc32007d
+size 2465705

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/31b1b234d09f50a9b852cae43bb74793.xml

@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="saucer">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/saucer.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/saucer_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/saucer_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/saucer_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/saucer_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/saucer_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/saucer_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/saucer_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/saucer_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/saucer_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/saucer_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/saucer_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/saucer_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/saucer_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/saucer_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/saucer_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/saucer_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/saucer_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/saucer_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/saucer_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/saucer_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="saucer">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_0.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_14.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_15.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_16.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_17.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_2.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_20.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_22.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_23.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_24.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_25.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_27.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_28.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_29.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_3.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_30.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_31.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_32.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_33.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_34.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_4.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_5.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_6.obj

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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_7.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/mjcf/mesh/saucer_collision_8.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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