Add asset desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483

.gitattributes

@@ -2867,6 +2867,6 @@ dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/0f6c25c786
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/13b12950ed6459a5b5c853902625d1c8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.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/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.155493</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>elegant floral teacup with golden rim and ornate handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120045005</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.812367916107178</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd

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+size 667730

dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material.mtl

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+# 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/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb

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+size 2944864

dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3f7c037f695233b588b2c629d5e9f05f10c3f3a42ac9fc655dc54280921321
+size 2913033

dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/137c1242dcee51cb9c616fddfa30c483.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="teacup">
+  <asset>
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+  </asset>
+  <worldbody>
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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_1.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_12.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_13.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_14.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_15.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_16.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_17.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_18.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_19.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_20.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_21.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_25.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_26.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_27.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_28.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_29.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_31.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_32.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_33.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_34.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_35.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_36.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_37.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_38.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_39.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_4.obj

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dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_40.obj

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