Add asset kitchen_supplies/ware/c726453b2af55902ac695052c2614b70

.gitattributes

@@ -4810,5 +4810,5 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/mesh/mug_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/c7a1beb7101c57b5bb58aee1e7d48187/mug_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_016_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_016_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8dd1683f62efdbdae99fe3bd1d14041affb2c4118aa2ae6c0480d00facf7a0
+size 13775392

dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mesh/thermos_016.mtl

@@ -0,0 +1,6 @@
+newmtl thermos_016_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/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_1.obj

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dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_2.obj

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dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_3.obj

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dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/mesh/thermos_016_collision_4.obj

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dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/mjcf/thermos_016.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/thermos_016.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_016">
+   <link name="thermos_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>c726453b2af55902ac695052c2614b70</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>insulated thermos</name>
+         <color>silver,pink</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>sleek thermos with pink accents and a strap</description>
+         <min_height>0.1088</min_height>
+         <max_height>0.1088</max_height>
+         <real_height>0.1088</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222818</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>10</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/c726453b2af55902ac695052c2614b70/thermos_016.usd

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+oid sha256:86d3b11cfdeedde1d5435ed0e1acd819b79b459803861057d5e7cf490476f810
+size 4872711

dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/video.mp4

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