Add asset kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f

.gitattributes

@@ -4771,5 +4771,5 @@ dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filte
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl thermos_003_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 thermos_003_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd3566cf474c421aecabc8c7a16280d41142c787597cca11a4808a5c79e1bcc
+size 12470952

dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mesh/thermos_003.mtl

@@ -0,0 +1,6 @@
+newmtl thermos_003_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/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_1.obj

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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_4.obj

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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_5.obj

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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_6.obj

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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/mesh/thermos_003_collision_7.obj

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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/mjcf/thermos_003.xml

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_003">
+  <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/thermos_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_003">
+      <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" />
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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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_003">
+   <link name="thermos_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_003.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/thermos_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>
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+         <uuid>a47b17bc83a55dc7ac1b2aa40a65bc1f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>gray thermos</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray cylindrical thermos with ridged lid design</description>
+         <min_height>0.1318</min_height>
+         <max_height>0.1318</max_height>
+         <real_height>0.1318</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021255</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>6</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/a47b17bc83a55dc7ac1b2aa40a65bc1f/thermos_003.usd

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+size 4898610

dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/video.mp4

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