Add asset kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650

.gitattributes

@@ -4385,16 +4385,7 @@ dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/mesh/tray_05
 dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/tray_058.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/mesh/plate_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d04d6ad4deb35f7f8533ad101e885c25/plate_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/d8f26a572a3c5f238191ede8cc471211.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8f26a572a3c5f238191ede8cc471211/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/mesh/tray_077.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/tray_077.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/mesh/plate_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.usd filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/bowl_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/bowl_005.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_005">
+   <link name="bowl_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_005.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/bowl_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>1.000000</scale>
+         <uuid>caba72e7c150584592598be7b3f64650</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>cartoon bowl</name>
+         <color>green,pink</color>
+         <shape>hemisphere</shape>
+         <material>plastic</material>
+         <description>colorful bowl with cartoon designs and a flat base</description>
+         <min_height>0.0511</min_height>
+         <max_height>0.0511</max_height>
+         <real_height>0.0511</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428004221</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>3</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/tableware/caba72e7c150584592598be7b3f64650/bowl_005.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3b4b4e7a3ed5797601d1c28ed736fc683e532db38500153996c0535d6cfff2d2
+size 131280746

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:121b407545259f2679ca696ae08b44aab36b6f48c0e6242ad8cf20902c7ab891
+size 86117904

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.mtl

@@ -0,0 +1,6 @@
+newmtl bowl_005_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/tableware/caba72e7c150584592598be7b3f64650/mesh/bowl_005.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575b4a0591622a992217fd2297c03ad1852ce7963158808497504c725f79c22b
+size 114515294

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_005_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 bowl_005_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/bowl_005.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl_005">
+  <asset>
+    <material name="material_0" texture="texture_0_bowl_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bowl_005_geometry_Looks_material_0" type="2d" file="mesh/bowl_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bowl_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bowl_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bowl_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bowl_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bowl_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bowl_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bowl_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bowl_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bowl_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bowl_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bowl_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/bowl_005_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl_005">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_12.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_17.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_18.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_22.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_23.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_24.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_25.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_29.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_31.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_32.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_34.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_35.obj

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dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_37.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
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+v 0.01086443 -0.01899430 -0.01450762
+v -0.00007113 -0.01899430 -0.01323795
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+v 0.01086443 -0.01899430 -0.01242481
+v 0.01086443 -0.00792340 -0.01450758
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 6
+f 3 6 4
+

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_38.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+f 2 7 5
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+f 3 7 4
+f 5 7 8
+f 5 8 6
+

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_39.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
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+v 0.01207176 0.01206861 -0.01379356
+v 0.01207176 0.01885277 -0.01379353
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+f 1 4 2
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+f 2 5 6
+f 2 6 3
+f 4 6 5
+

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_4.obj

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

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_40.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.01151541 -0.00001691 -0.01478823
+v -0.00610686 -0.00967091 -0.01478827
+v -0.01888228 -0.00001691 -0.01478823
+v -0.01888228 -0.00001691 -0.01337889
+v -0.01888228 -0.00967091 -0.01272967
+v -0.01888228 -0.00967091 -0.01478827
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 6 5
+f 3 5 4
+

dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/mjcf/mesh/bowl_005_collision_41.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.02285721 -0.01899430 -0.01450783
+v 0.01086550 -0.01899430 -0.01242435
+v 0.01086550 -0.00792358 -0.01450779
+v 0.02285721 -0.01899432 -0.00905997
+v 0.02285721 0.00002983 -0.01450776
+v 0.01333286 0.00002983 -0.01450776
+v 0.02285721 0.00002982 -0.01208352
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+