Add asset furniture/table/dca7a1c32bef546ea350c865c881950e

.gitattributes

@@ -3837,9 +3837,6 @@ dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/mesh/wooden_striped_tab
 dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/c72bf29bcad65fcab382e96591d2c01c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/c72bf29bcad65fcab382e96591d2c01c/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/f8742908f27059f7b1f63a34c1537bc6.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/f8742908f27059f7b1f63a34c1537bc6/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/dca7a1c32bef546ea350c865c881950e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/dca7a1c32bef546ea350c865c881950e.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.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/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <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>1.819041</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009025352</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.864336133003235</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/furniture/table/dca7a1c32bef546ea350c865c881950e/dca7a1c32bef546ea350c865c881950e.usd

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+oid sha256:db78152f09d18cf3202b33bf67be74b8489d3501e81f5b0911577d3a808512a3
+size 821719

dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/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/furniture/table/dca7a1c32bef546ea350c865c881950e/mesh/table.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbf65e8330bbd9f079dcaabca75c39c2933dbab72005136402687aefb755caa
+size 1724876

dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mesh/table_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:385b1422a9870244863313c0fcc35309b978ec5f6bc4021ba4f9c83bb97d18dc
+size 22834026

dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/dca7a1c32bef546ea350c865c881950e.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="table">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="table">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_4.obj

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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_5.obj

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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_6.obj

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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_7.obj

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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_8.obj

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+# https://github.com/mikedh/trimesh
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dataset/furniture/table/dca7a1c32bef546ea350c865c881950e/mjcf/mesh/table_collision_9.obj

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