Add asset kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700

.gitattributes

@@ -4463,3 +4463,4 @@ dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/04ebad9112ce5
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/066afc4bcb2757b09c2daff0ae5e1700.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/066afc4bcb2757b09c2daff0ae5e1700.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray">
+   <link name="tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tray.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/tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.361466</scale>
+         <version>v0.1.5</version>
+         <category>tray</category>
+         <description>flat rectangular tray with smooth golden surface</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251006024937</generate_time>
+         <gs_model>mesh/tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.979538798332214</ImageAestheticChecker>
+         <overall>YES</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/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/066afc4bcb2757b09c2daff0ae5e1700.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a3e8a59938b7cd3f4b23302f177255b498aada197bc3a87edbbe4546e3e6c811
+size 834380

dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/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/utensils/066afc4bcb2757b09c2daff0ae5e1700/mesh/tray.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cafd922f12fc57d3ceec5ed5c91ba28a87c75dc588099a31348617da7299611d
+size 2416008

dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mesh/tray_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a660deeab8763fee3ebedf395dd76c946c3ca15b2dfcd83b46d3e64dc2dd37
+size 16232298

dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/066afc4bcb2757b09c2daff0ae5e1700.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray">
+  <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/tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_0.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_1.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_10.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_2.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_3.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_4.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_5.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_6.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_7.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_8.obj

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dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/mjcf/mesh/tray_collision_9.obj

@@ -0,0 +1,373 @@
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