Add asset kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15

.gitattributes

@@ -4271,5 +4271,7 @@ dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mesh/bowl_00
 dataset/kitchen_supplies/tableware/8ba52632b9ac5ba38b22117a2fa3ec5c/mjcf/mesh/bowl_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/mesh/tray_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/tray_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/936c12140a6754c1a2625ceb3fb0c42f/mesh/tray_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/936c12140a6754c1a2625ceb3fb0c42f/tray_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/coaster_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/coaster_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/coaster_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/coaster_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_003">
+   <link name="coaster_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_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/coaster_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>7da759a9c6d6597e9cad1d6f6fce8b15</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>dual-tone coaster</name>
+         <color>brown,black</color>
+         <shape>disk</shape>
+         <material>silicone</material>
+         <description>round dual-tone coaster with textured surface</description>
+         <min_height>0.0231</min_height>
+         <max_height>0.0231</max_height>
+         <real_height>0.0231</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428010701</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/coaster_003.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6691256f0e645e4e9401e12b03572f71abfa33c4d3ce9b7498242d2834f2be06
+size 138782308

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/coaster_003.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fc50765321f3c85bd2aceb4a6d288306277c4170070f1da403452bb4e57314b7
+size 98778528

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/coaster_003.mtl

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+newmtl coaster_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/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/coaster_003.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2862edc13f4ce7060e95d731f5156204f4a369083ae32a606475a01ce7cd75
+size 114622709

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl coaster_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 coaster_003_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/coaster_003.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_003">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_003_geometry_Looks_material_0" type="2d" file="mesh/coaster_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coaster_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coaster_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coaster_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coaster_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coaster_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coaster_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coaster_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coaster_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coaster_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coaster_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coaster_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coaster_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coaster_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coaster_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coaster_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coaster_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coaster_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003.obj

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+size 109759571

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_10.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_11.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_12.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_15.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_17.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_18.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_4.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_5.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_6.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_7.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_8.obj

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dataset/kitchen_supplies/tableware/7da759a9c6d6597e9cad1d6f6fce8b15/mjcf/mesh/coaster_003_collision_9.obj

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