Add T-shape CAD model from MuJoCo scene for FoundationPose testing

tests/reference/t_shape/README.md

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+# T-Shaped Object Mesh
+
+This directory contains a 3D mesh of the T-shaped pushing object from the MuJoCo scene `nova-sim/robots/ur5/model/scene_t_push.xml`.
+
+## Files
+
+- `t_shape.obj` - 3D mesh in Wavefront OBJ format
+
+## Dimensions
+
+The T-shape consists of two rectangular boxes:
+
+### Stem (vertical part)
+- Dimensions: 40mm × 140mm × 60mm (width × height × depth)
+- Position: centered at (0, -50mm, 0)
+
+### Cap (horizontal part)
+- Dimensions: 160mm × 40mm × 60mm
+- Position: centered at (0, 30mm, 0)
+
+### Overall Bounds
+- X: [-80mm, 80mm] (160mm total width)
+- Y: [-120mm, 50mm] (170mm total height)
+- Z: [-30mm, 30mm] (60mm total depth)
+
+## Usage
+
+This mesh can be used with FoundationPose's CAD-based initialization mode for 6D pose estimation of the T-shaped object in the nova-sim push manipulation task.
+
+### Example Usage
+
+```python
+from gradio_client import Client, handle_file
+
+client = Client("https://gpue-foundationpose.hf.space")
+
+# Initialize with T-shape mesh
+result = client.predict(
+    object_id="t_shape",
+    mesh_file=handle_file("t_shape.obj"),
+    reference_files=[],  # Optional reference images
+    fx=500.0, fy=500.0, cx=320.0, cy=240.0,
+    api_name="/gradio_initialize_cad"
+)
+
+# Estimate pose in query image
+result = client.predict(
+    object_id="t_shape",
+    query_image=handle_file("camera_frame.jpg"),
+    fx=500.0, fy=500.0, cx=320.0, cy=240.0,
+    api_name="/gradio_estimate"
+)
+```
+
+## Material Properties (from MuJoCo)
+
+- Mass: 5.0 kg total (stem: 3.0 kg, cap: 2.0 kg)
+- Friction: 0.3 (sliding), 0.005 (torsional), 0.005 (rolling)
+- Color: Light blue (rgba: 0.55, 0.65, 0.98, 1.0)
+
+## Generation
+
+This mesh was automatically generated from the MuJoCo scene definition using a Python script that extracts the box geometries and creates a combined mesh.

tests/reference/t_shape/t_shape.obj

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+# T-shaped object from MuJoCo scene_t_push.xml
+# Generated for FoundationPose testing
+
+v -0.020000 -0.120000 -0.030000
+v 0.020000 -0.120000 -0.030000
+v 0.020000 0.020000 -0.030000
+v -0.020000 0.020000 -0.030000
+v -0.020000 -0.120000 0.030000
+v 0.020000 -0.120000 0.030000
+v 0.020000 0.020000 0.030000
+v -0.020000 0.020000 0.030000
+v -0.080000 0.010000 -0.030000
+v 0.080000 0.010000 -0.030000
+v 0.080000 0.050000 -0.030000
+v -0.080000 0.050000 -0.030000
+v -0.080000 0.010000 0.030000
+v 0.080000 0.010000 0.030000
+v 0.080000 0.050000 0.030000
+v -0.080000 0.050000 0.030000
+
+f 1 2 3
+f 1 3 4
+f 5 7 6
+f 5 8 7
+f 1 4 8
+f 1 8 5
+f 2 6 7
+f 2 7 3
+f 1 5 6
+f 1 6 2
+f 4 3 7
+f 4 7 8
+f 9 10 11
+f 9 11 12
+f 13 15 14
+f 13 16 15
+f 9 12 16
+f 9 16 13
+f 10 14 15
+f 10 15 11
+f 9 13 14
+f 9 14 10
+f 12 11 15
+f 12 15 16