Add asset desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e

.gitattributes

@@ -2926,6 +2926,6 @@ dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/mesh/chess
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/a19d3f79aabe54248bf4a6ef350f1ea5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chess_pawn">
+   <link name="chess_pawn">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/chess_pawn.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/chess_pawn_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>chess pawn</category>
+         <description>wooden chess pawn with rounded top and tapered base</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119211216</generate_time>
+         <gs_model>mesh/chess_pawn_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7568278312683105</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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>

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a731427aee56f4ae82a1f57b66c97edfd18981cde783ee3c532d4e27fadcfa
+size 384482

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f25b01294b016c402f17d8cf060fb34f47ef490433cb37b66c222135f5e9e09c
+size 2151800

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:087c64f96910270c7177474be80be496f52acc354e857b6eaa9fa71efdbdbf47
+size 5001385

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/material.mtl

@@ -0,0 +1,8 @@
+# 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/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/a22182738e335999bf149b6c1749df9e.xml

@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chess_pawn">
+  <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/chess_pawn.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chess_pawn_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chess_pawn_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chess_pawn_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chess_pawn_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chess_pawn_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chess_pawn">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mjcf/mesh/chess_pawn_collision_0.obj

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