Add asset kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd

.gitattributes

@@ -4699,9 +4699,7 @@ dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mesh/mug_018.glb
 dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mug_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/coffee_cup_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_009.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/coffee_cup_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_009">
+   <link name="coffee_cup_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_009.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/coffee_cup_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>4041fadc794655f5ae7c4b3bdb25acfd</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>decorative coffee cup</name>
+         <color>golden,gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>ornate coffee cup with golden accents and gray body</description>
+         <min_height>0.0862</min_height>
+         <max_height>0.0862</max_height>
+         <real_height>0.0862</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428020437</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/coffee_cup_009.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1bf627a4cbab246624c32d9da9054227a3eeb263b0c6287527d8a752870437
+size 136728782

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_009.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5e84e6467015bf556bae8ec1f3d79e28b54c2f0ac0271fb898ce687a8a016c78
+size 93683428

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_009.mtl

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+newmtl coffee_cup_009_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/coffee_cup_009.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a09fc6825167de0ee4db4a9a0ad71143007ca423ad455d06b6eba82dfbb29ef5
+size 114312650

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_009_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/coffee_cup_009.xml

@@ -0,0 +1,112 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_009">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_009_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_009_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_009_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_009_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_009_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_009_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_009_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_009_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_009_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_009_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_009_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_009_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_009_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_009_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_009">
+      <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_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009.obj

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+version https://git-lfs.github.com/spec/v1
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+size 109480989

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_0.obj

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+# https://github.com/mikedh/trimesh
+v 0.01422474 -0.04039491 0.03598254
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_12.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_15.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_16.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_17.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_19.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_20.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_21.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_23.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_26.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_27.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_28.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_29.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_31.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_32.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_34.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_35.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_36.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_4.obj

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dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_40.obj

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+

dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/mjcf/mesh/coffee_cup_009_collision_41.obj

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