Add asset kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4

.gitattributes

@@ -3956,3 +3956,5 @@ dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/drawer_029.usd
 dataset/kitchen_supplies/storage/269ef5bc24de550aa75b8f2dabb33bdb/mesh/drawer_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/mesh/storage_bin_079.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/309270a7341850158ebc512970263d27/storage_bin_079.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/drawer_070.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mesh/drawer_070.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/drawer_070.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="drawer_070">
+   <link name="drawer_070">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_070.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/drawer_070_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <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>1.000000</scale>
+         <uuid>3091b381a93457adbbc517bbb9d260d4</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>drawer</category>
+         <name>four-drawer chest</name>
+         <color>black,brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>tall four-drawer cabinet with multicolored fronts and tapered legs</description>
+         <min_height>0.7314</min_height>
+         <max_height>0.7314</max_height>
+         <real_height>0.7314</real_height>
+         <min_mass>18.0</min_mass>
+         <max_mass>32.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609183409</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.215172 -0.203430 -0.402088</min>
+            <max>0.411700 0.203252 0.329349</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>19</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/storage/3091b381a93457adbbc517bbb9d260d4/drawer_070.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ad453efcb3c8c5b6c945032d49b9a3c2795306b8ef4ee9d34a416f8fadad3e
+size 4543840

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mesh/drawer_070.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:103ef5b9c768c605abd7d929e789159971a2824981d108fc791fd9d6eeddd126
+size 13876004

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mesh/drawer_070.mtl

@@ -0,0 +1,6 @@
+newmtl drawer_070_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/storage/3091b381a93457adbbc517bbb9d260d4/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl drawer_070_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 drawer_070_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/drawer_070.xml

@@ -0,0 +1,124 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="drawer_070">
+  <asset>
+    <material name="material_0" texture="texture_0_drawer_070_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_drawer_070_geometry_Looks_material_0" type="2d" file="mesh/drawer_070_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/drawer_070.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/drawer_070_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/drawer_070_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/drawer_070_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/drawer_070_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/drawer_070_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/drawer_070_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/drawer_070_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/drawer_070_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/drawer_070_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/drawer_070_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/drawer_070_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/drawer_070_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/drawer_070_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/drawer_070_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_43" file="mesh/drawer_070_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/drawer_070_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/drawer_070_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/drawer_070_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/drawer_070_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/drawer_070_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/drawer_070_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/drawer_070_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/drawer_070_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="drawer_070">
+      <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/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_1.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_10.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_11.obj

@@ -0,0 +1,229 @@
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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_12.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_13.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_14.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_15.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_16.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_17.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_18.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_19.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_2.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_20.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_21.obj

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dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_22.obj

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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_23.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_24.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_25.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_26.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_27.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_28.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_29.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.24870224 0.13754130 0.15132821
+v 0.24870224 0.14949852 0.15030106
+v 0.18209283 0.14949851 0.15307102
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+f 39 41 40
+f 41 44 42
+f 42 44 43
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_3.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.08727319 -0.12374952 0.33227475
+v -0.15095319 -0.12374952 0.33233893
+v 0.08727319 -0.17360658 0.33227456
+v 0.08727319 -0.12374717 -0.30806295
+v -0.15095319 -0.17448481 0.33227456
+v -0.15095319 -0.12374717 -0.30857622
+v -0.13798785 -0.18557918 0.33176120
+v 0.08727319 -0.18557918 0.33169706
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+v -0.15095319 -0.17423471 -0.32237129
+v -0.15085991 -0.12374717 -0.30857622
+v -0.15095319 -0.18557918 0.33176120
+v -0.13798785 -0.19403129 0.32848894
+v 0.04294387 -0.19402378 0.32848894
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+v -0.15095319 -0.18583948 -0.32314126
+v -0.15095319 -0.19403129 0.32848894
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+f 31 34 35
+f 33 34 36
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_30.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.18209162 -0.10772722 0.07115095
+v 0.18209162 -0.10772711 0.03972606
+v 0.18209162 -0.07925356 0.07080757
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+v 0.18209162 -0.10180660 0.03968683
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+v 0.18209162 -0.08252590 0.03966728
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+f 9 16 10
+f 10 16 12
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+f 11 15 14
+f 12 16 15
+f 12 15 13
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_31.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.08727318 -0.10772667 -0.07928548
+v 0.08727318 -0.07925301 -0.07928537
+v 0.10592486 -0.10772667 -0.07928548
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+f 7 13 12
+f 8 12 13
+f 8 13 11
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_32.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.18209162 -0.12528911 0.08326081
+v 0.17566571 -0.12528911 0.08472019
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+f 10 15 13
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+f 15 17 19
+f 16 19 17
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_33.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.14634913 0.00020482 -0.31550185
+v 0.08727318 0.00020479 -0.30812552
+v 0.14634913 0.07769422 -0.31551375
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+f 4 10 11
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+f 6 10 12
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+f 7 12 10
+f 7 10 9
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_34.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.33249506 0.08965976 0.00956731
+v 0.32043381 0.07769061 0.00782476
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+v 0.31199154 0.06573202 0.00334103
+v 0.30921557 0.11366141 -0.00584013
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_35.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.18208234 -0.05952220 0.07081225
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+v 0.10801703 -0.07924266 -0.02237505
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+v 0.10711674 -0.07925043 -0.02237505
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+f 16 20 21
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+f 16 22 19
+f 16 19 18
+f 20 23 21
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_36.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_37.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.17951388 -0.12528949 0.18716286
+v 0.17571266 -0.12528935 0.15095459
+v 0.17950485 -0.10772937 0.18716292
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_38.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.08727318 -0.11829024 -0.24233839
+v 0.08727318 -0.07924963 -0.24233825
+v 0.15515840 -0.11829024 -0.24233839
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+f 1 5 2
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+f 2 8 6
+f 3 6 7
+f 4 7 8
+f 4 8 5
+f 6 8 7
+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_39.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_4.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.15085991 -0.12374717 -0.30857238
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_40.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/storage/3091b381a93457adbbc517bbb9d260d4/mjcf/mesh/drawer_070_collision_41.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+v 0.30836556 0.13753216 0.01793944
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