Add asset kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d

.gitattributes

@@ -4369,3 +4369,6 @@ dataset/kitchen_supplies/tableware/c0769bb884ac56bf86f474812bc12c93/mjcf/mesh/ch
 dataset/kitchen_supplies/tableware/ccc65606ab58596eae7b885cd29c3bf2/ccc65606ab58596eae7b885cd29c3bf2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ccc65606ab58596eae7b885cd29c3bf2/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ccc65606ab58596eae7b885cd29c3bf2/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/cd9db611a23f59bdaef3c03291a5863d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/cd9db611a23f59bdaef3c03291a5863d.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_napkin">
+   <link name="red_napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_napkin.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/red_napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0.229227</scale>
+         <version>v0.1.7</version>
+         <category>red napkin</category>
+         <description>folded red napkin with textured surface</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260120024525</generate_time>
+         <gs_model>mesh/red_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete or truncated.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.321491241455078</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/cd9db611a23f59bdaef3c03291a5863d.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cfa50a2e6e73836dddab9a48f5bcededfb11434e079258254e2a645b0c524b
+size 285031

dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/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/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/mesh/red_napkin.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8bc7bd4a1ddd3b3b834e1884b3bc717f1705c039d242e3d2b5873190d9bb1ea
+size 2070092

dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/mesh/red_napkin_collision.obj

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+# https://github.com/mikedh/trimesh
+
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/mjcf/mesh/red_napkin_collision.obj

@@ -0,0 +1,2466 @@
+# https://github.com/mikedh/trimesh
+
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