Add asset kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080

.gitattributes

@@ -4651,3 +4651,6 @@ dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/mesh/red_cup_gs.p
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/17a6647c041c5a2f995a0d99dbd1fec2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="yellow_cup">
+   <link name="yellow_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/yellow_cup.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/yellow_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>yellow cup</category>
+         <description>plain yellow cylindrical cup with slightly flared rim</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120140504</generate_time>
+         <gs_model>mesh/yellow_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.348509788513184</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/19578fe7d18650438d1cc8eb17075080.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b17ee5dad1e3736a80a0b86e04fcb530c89ca41ea47ef7994f9a6e2da34844a6
+size 1149434

dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/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/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b0c4d7ef43ff6db42d9989363d85ced4f46ed394141815c6c197b379981b29
+size 1834664

dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mesh/yellow_cup_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a2174b02e3d9e0b3c252609c434ba0b3f66b63d295ee782fbe076411204903
+size 4873481

dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/19578fe7d18650438d1cc8eb17075080.xml

@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="yellow_cup">
+  <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/yellow_cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/yellow_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/yellow_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/yellow_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/yellow_cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/yellow_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/yellow_cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/yellow_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/yellow_cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/yellow_cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/yellow_cup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/yellow_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/yellow_cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_52" file="mesh/yellow_cup_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="yellow_cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_10.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_11.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_12.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_13.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_14.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_15.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_16.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_17.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_18.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_19.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_2.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_20.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_21.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_22.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_23.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_24.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_25.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_26.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_27.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_28.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_29.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_3.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_30.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_31.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_32.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_33.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_34.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_35.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_36.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_37.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_38.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_39.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_4.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_40.obj

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dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/mjcf/mesh/yellow_cup_collision_41.obj

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