Add asset furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2

.gitattributes

@@ -3795,6 +3795,6 @@ dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_gs.ply filte
 dataset/furniture/table/46a867ba41415c4daaedaf01a0f1d7d0/46a867ba41415c4daaedaf01a0f1d7d0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/46a867ba41415c4daaedaf01a0f1d7d0/mesh/wooden_grain_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/46a867ba41415c4daaedaf01a0f1d7d0/mesh/wooden_grain_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/4c9ad6af9c9052958a476b6ae57c9671.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/4c9ad6af9c9052958a476b6ae57c9671/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/540bb6cb580d5cbc9bd92e0ec3c957d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/540bb6cb580d5cbc9bd92e0ec3c957d2.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.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/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <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>1.240409</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with thick legs and flat top surface</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251011210016</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.109184384346008</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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>

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+oid sha256:d65ce46b53c17e2d63dc68e325e4ba4f849a582b9f466a559cec30c175ae61b8
+size 293020

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mesh/material.mtl

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+# 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/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mesh/table.glb

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+oid sha256:f7b0d4705ed0c9872cf8838899e85472c440d6bbe075154b0beceee681aa0fec
+size 1699012

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mesh/table_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:65be9c8b8402cc56f2406c20e277cbcdf51173fc5213a40ccb7b5fb445704466
+size 38066026

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/540bb6cb580d5cbc9bd92e0ec3c957d2.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="table">
+  <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/table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="table">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_11.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_12.obj

@@ -0,0 +1,214 @@
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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_4.obj

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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_5.obj

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+

dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_7.obj

@@ -0,0 +1,148 @@
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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_8.obj

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dataset/furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/mjcf/mesh/table_collision_9.obj

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