Add asset kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768

.gitattributes

@@ -4813,3 +4813,6 @@ dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply f
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/ccd37c758de15e978c7d709637a97cd2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_cup">
+   <link name="red_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_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/red_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>0.157470</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>glossy red cup with a handle and metallic 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>20260120015008</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9956464767456055</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/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b289d8cf030b72c768.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed35435573aa727f0d459f5a476cd50b4ae3b45efd13aa3d869d91f8b32b9a0a
+size 808120

dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/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/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b61f5819c5cf708f177229281351a76809ef7b395271f4a66e36cf90a01df3
+size 2104572

dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c56092dcc69b245a1750d66b48eb8b561abf8a8123b809ef438409a126e00f
+size 4603561

dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/cf82e0113da350b289d8cf030b72c768.xml

@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="red_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/red_cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/red_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/red_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/red_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/red_cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/red_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/red_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/red_cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/red_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/red_cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/red_cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/red_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/red_cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/red_cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_44" file="mesh/red_cup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_46" file="mesh/red_cup_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/red_cup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/red_cup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/red_cup_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/red_cup_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/red_cup_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/red_cup_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/red_cup_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/red_cup_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/red_cup_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/red_cup_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/red_cup_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_59" file="mesh/red_cup_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/red_cup_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="red_cup">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_0.obj

@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v 0.04836463 0.01423646 -0.05457047
+v 0.04738797 0.01423646 -0.05565666
+v 0.04736438 0.01683460 -0.05562084
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+v 0.04727002 0.01943274 -0.05551100
+v 0.04830329 0.01683460 -0.05457046
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+v 0.04125908 0.01163834 -0.06229907
+v 0.04129682 0.01423649 -0.06232753
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+v 0.04116471 0.01943277 -0.06222499
+v 0.04366534 0.01833541 -0.05957991
+v 0.04107506 0.02080984 -0.06214932
+v 0.04710016 0.02202551 -0.05534338
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_10.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_11.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_12.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_15.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_16.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_17.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_18.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_19.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_2.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_21.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_22.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_23.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_24.obj

@@ -0,0 +1,454 @@
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_26.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_27.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_28.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_30.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_31.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_32.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_33.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_34.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_35.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_36.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_37.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_38.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_39.obj

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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mjcf/mesh/red_cup_collision_40.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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