Add asset furniture/table/79816e1e3f18516190127717ff505efe

.gitattributes

@@ -3813,6 +3813,6 @@ dataset/furniture/table/6add7ad9bf2d56d0b5f02be7401f31c9/mesh/wooden_grain_table
 dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/710fc1c383f5542d8f52822fc08ee66c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/mesh/desk.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/710fc1c383f5542d8f52822fc08ee66c/mesh/desk_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/781b1b8c58cf5c17b167436ffe664a82.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/781b1b8c58cf5c17b167436ffe664a82/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/79816e1e3f18516190127717ff505efe/79816e1e3f18516190127717ff505efe.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/79816e1e3f18516190127717ff505efe/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/79816e1e3f18516190127717ff505efe/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/79816e1e3f18516190127717ff505efe/79816e1e3f18516190127717ff505efe.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.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/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="30.0000" />
+         <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>1.679103</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with rounded top and solid base structure</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251009012340</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.673230290412903</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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>
+   </custom_data>
+</robot>

dataset/furniture/table/79816e1e3f18516190127717ff505efe/79816e1e3f18516190127717ff505efe.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:17cbbbb1a2f6c8e8a362500961749cadb10689d4b09da1b3867257fb0cd9b0e6
+size 649855

dataset/furniture/table/79816e1e3f18516190127717ff505efe/mesh/material.mtl

@@ -0,0 +1,8 @@
+# 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/furniture/table/79816e1e3f18516190127717ff505efe/mesh/table.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7334b6c371121775f29fddbcce77cba9f157bb718b64fba33091678cbf2ab0c9
+size 1200716

dataset/furniture/table/79816e1e3f18516190127717ff505efe/mesh/table_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8dfdce5477a8dc8014eb1ca0dac7a7e8936cfbcbf36a4dab2df5e8013e6f76f1
+size 30161514

dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/79816e1e3f18516190127717ff505efe.xml

@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="table">
+  <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/table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="table">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_0.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_1.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_3.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_4.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_5.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_7.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/mjcf/mesh/table_collision_8.obj

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dataset/furniture/table/79816e1e3f18516190127717ff505efe/video.mp4

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