Add asset furniture/table/15a7e77c27c3515c8adb5e22c67584bb

.gitattributes

@@ -3792,12 +3792,6 @@ dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_gs
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/18848428c54456aa82070f2fd33f7bb4/18848428c54456aa82070f2fd33f7bb4.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/18848428c54456aa82070f2fd33f7bb4/mesh/wooden_oak_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/18848428c54456aa82070f2fd33f7bb4/mesh/wooden_oak_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/19df7829ff51547ab3a6962b30cf0bf8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/19df7829ff51547ab3a6962b30cf0bf8/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/15a7e77c27c3515c8adb5e22c67584bb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/15a7e77c27c3515c8adb5e22c67584bb.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>1.476362</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>round wooden table with four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009054118</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.889656662940979</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>10</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/15a7e77c27c3515c8adb5e22c67584bb/15a7e77c27c3515c8adb5e22c67584bb.usd

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+oid sha256:43bc2e48baf2b99b5cea3fd2b59dda3732f1c0072b325a29ee3aa11904131b8a
+size 712851

dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/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/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mesh/table.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:46edb5e37f5a66e61f043ffb2ce248d9ca42e145197aef7e826603068ab2991d
+size 1314872

dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mesh/table_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dac68ef95d7711615785443c65f69764cb903f3698f2d58f05be76b3f6afd7da
+size 17893482

dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/15a7e77c27c3515c8adb5e22c67584bb.xml

@@ -0,0 +1,30 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_1.obj

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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_3.obj

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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_5.obj

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dataset/furniture/table/15a7e77c27c3515c8adb5e22c67584bb/mjcf/mesh/table_collision_6.obj

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+# https://github.com/mikedh/trimesh
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