Add asset furniture/table/87d78067051e57c3858d066d9a17a165

.gitattributes

@@ -3822,3 +3822,6 @@ dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_gs.ply filte
 dataset/furniture/table/86d11bf2fc675dc1973f8337a88f365c/86d11bf2fc675dc1973f8337a88f365c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/86d11bf2fc675dc1973f8337a88f365c/mesh/wooden_grain_desk.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/86d11bf2fc675dc1973f8337a88f365c/mesh/wooden_grain_desk_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/87d78067051e57c3858d066d9a17a165/87d78067051e57c3858d066d9a17a165.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/87d78067051e57c3858d066d9a17a165/87d78067051e57c3858d066d9a17a165.urdf

@@ -0,0 +1,58 @@
+<?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>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <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>1.218152</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with tapered legs</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009111650</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.833953142166138</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>11</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/furniture/table/87d78067051e57c3858d066d9a17a165/87d78067051e57c3858d066d9a17a165.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:94c70a095b9fe15a53ad78b17d3ce30c2b960444af3a5d37021d4a0fd7de7697
+size 1000671

dataset/furniture/table/87d78067051e57c3858d066d9a17a165/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/87d78067051e57c3858d066d9a17a165/mesh/table.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:84509e0018d72c717ab0cef6378dc4489d8c293e474e4c989260b4784d391d99
+size 1888528

dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mesh/table_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e004e24fbc3b790e523483bcadc59e9cfb8e9fa007f73eff2ab7a5c05d1ad15a
+size 20180074

dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/87d78067051e57c3858d066d9a17a165.xml

@@ -0,0 +1,56 @@
+<?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" />
+    <mesh name="collision_mesh_0_13" file="mesh/table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/table_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/table_collision_20.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" />
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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" />
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_1.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_10.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_12.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_13.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_14.obj

@@ -0,0 +1,280 @@
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_15.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_16.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_17.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_18.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_19.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_2.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_3.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_4.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_5.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_6.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_7.obj

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dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mjcf/mesh/table_collision_8.obj

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