Add asset kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc

.gitattributes

@@ -4441,5 +4441,5 @@ dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_b
 dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/efa22f1bf7835194a5df88e216471dd1/mesh/tray_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/efa22f1bf7835194a5df88e216471dd1/tray_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f0036892f3ae5b5281fd9b2822e95b0c/mesh/tray_070.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f0036892f3ae5b5281fd9b2822e95b0c/tray_070.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mesh/tray_044.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/tray_044.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_044_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mesh/tray_044.glb

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+oid sha256:cfba5168ddb949d792f9cb5e8298cc55b0e9a71c87a12701849d105ae8939f9e
+size 10646720

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mesh/tray_044.mtl

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+newmtl tray_044_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_0.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_12.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_13.obj

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

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_14.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_16.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_17.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_3.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_4.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_5.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_8.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/mesh/tray_044_collision_9.obj

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dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mjcf/tray_044.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_044">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray_044.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_044_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_044_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_044_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_044_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_044_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_044_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_044_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_044_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_044_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_044_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_044_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_044_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_044_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_044_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_044_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_044_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_044_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_044_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_044">
+      <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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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/tray_044.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_044">
+   <link name="tray_044">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_044.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_044_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>1.000000</scale>
+         <uuid>f21990b2c5745f788be1982013a6c4bc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>round serving tray</name>
+         <color>brown</color>
+         <shape>disk</shape>
+         <material>wood</material>
+         <description>shallow round brown tray with slightly raised rim</description>
+         <min_height>0.0325</min_height>
+         <max_height>0.0325</max_height>
+         <real_height>0.0325</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200207</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.164470 -0.164413 -0.010493</min>
+            <max>0.164469 0.164379 0.022033</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

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+size 4518878

dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/video.mp4

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