update assets

assets/calvin/COMMON/table_a/meshes/base_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a647e43e72f7b18d2d81865a509c0744b6bb3d84afa2c82d8629177d58e7dd68
+size 18184

assets/calvin/COMMON/table_a/meshes/base_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../textures/dark_wood.png

assets/calvin/COMMON/table_a/meshes/base_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca1451397fa9649d97c69b8c4f5c203c57a5a4c383c5643d414f4dcb355a0f2
+size 27388

assets/calvin/COMMON/table_a/meshes/button_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4127d81cbc6f9f8c8f5bf0bec38ed8993183ac93c10ebf5ff9a3df03ab41f6f8
+size 7684

assets/calvin/COMMON/table_a/meshes/drawer_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:880452f9db8c934b08298dc849877fc904e41a74f981352c6cbb518445c48335
+size 19684

assets/calvin/COMMON/table_a/meshes/drawer_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../textures/dark_wood__gray_handle.png

assets/calvin/COMMON/table_a/meshes/drawer_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1edaf9102d40d48798dff1e0a47ababbe6696ff4e3eca8be9d7b1c19a50b29e2
+size 20987

assets/calvin/COMMON/table_a/meshes/drawer_link_vhacd2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:aaec11dec06816960fc043561071278e4f68d8db1146f283172f899adfea88ea
+size 6391

assets/calvin/COMMON/table_a/meshes/led_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff03784853dadb12660e3d30da04da82e53651599a2ecd3716065db5c3a46c9
+size 684

assets/calvin/COMMON/table_a/meshes/light_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c12cab6b92dcb487a710c4da6c7d25c6bc30bd168b90937bf4171e4e87471110
+size 105584

assets/calvin/COMMON/table_a/meshes/plank_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac98e77dc6b4ef6989310f2c306aec3f16516281bc84f4dcc1d97a15da26c7b
+size 684

assets/calvin/COMMON/table_a/meshes/plank_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../textures/dark_wood.png

assets/calvin/COMMON/table_a/meshes/plank_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:82d5c9d3bdb87f29379ace1bcf0b833f91b30775f7466c1cbc6e903be28eb491
+size 1260

assets/calvin/COMMON/table_a/meshes/plank_link_vhacd2.obj

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+version https://git-lfs.github.com/spec/v1
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+size 351

assets/calvin/COMMON/table_a/meshes/slide_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:72a76676f6b134ce630f00de9219841e1449f9618cd1310bdebfc67e7e5fab7e
+size 29284

assets/calvin/COMMON/table_a/meshes/slide_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../textures/dark_wood__gray_handle.png

assets/calvin/COMMON/table_a/meshes/slide_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e036ba214607c5e4ffad378bd9a0cc83bc6c26d34099e86f7224bab2088d29c6
+size 46986

assets/calvin/COMMON/table_a/meshes/slide_link_vhacd2.obj

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+version https://git-lfs.github.com/spec/v1
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+size 6086

assets/calvin/COMMON/table_a/meshes/switch_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fe3d75470fc48e98fc9ec383a052f02e7e925eb40020ca3a85e523506778ceaa
+size 60684

assets/calvin/COMMON/table_a/meshes/switch_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

assets/calvin/COMMON/table_a/meshes/switch_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d361d377602e4107d8adaac7f90fee7ce48d7d3252a65aa9430200029ff8b820
+size 68867

assets/calvin/COMMON/table_a/meshes/switch_link_vhacd2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc65f10738c17c6fbca107c4149c4e2be8fcdc16c7ff2fb1809816489cc7d4e
+size 14567

assets/calvin/COMMON/table_a/urdf/calvin_table_A.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="playtable_7" concave="yes">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00745063057322709 0.501032855485917 -0.0450543406685957"
+        rpy="0 0 0" />
+      <mass
+        value="0.0" />
+        <!-- value="46.9509300649509" -->
+      <inertia
+        ixx="1.52184000058477"
+        ixy="-0.214863046017298"
+        ixz="0.227217239283853"
+        iyy="6.72628663734324"
+        iyz="0.279082713309663"
+        izz="6.54762965481542" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.obj" />
+      </geometry>
+      <material name="white">
+       <color rgba="1 1 1 1"/>
+     </material>
+    </visual>
+    <collision concave="yes">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="button_link">
+    <inertial>
+      <origin
+        xyz="0 0.0149999999999999 -2.77555756156289E-17"
+        rpy="0 0 0" />
+      <mass
+        value="0.153812376319756" />
+      <inertia
+        ixx="7.30608787518843E-05"
+        ixy="-1.78342506783922E-37"
+        ixz="0"
+        iyy="0.000123049901055805"
+        iyz="-3.74688824324604E-37"
+        izz="7.30608787518843E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/button_link.STL" />
+      </geometry>
+      <material
+        name="black">
+        <color
+          rgba="0.0 0.0 0.0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/button_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__button"
+    type="prismatic">
+    <origin
+      xyz="-0.35 -0.15 0.575"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="button_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="0.025"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="switch_link">
+    <inertial>
+      <origin
+        xyz="0 0.0501954388893268 -0.01"
+        rpy="0 0 0" />
+      <mass
+        value="0.238786703751891" />
+      <inertia
+        ixx="0.000149903694690068"
+        ixy="3.28770495998159E-20"
+        ixz="-5.1773084532825E-21"
+        iyy="0.000673716537106872"
+        iyz="2.98155597433514E-19"
+        izz="0.000767827685519096" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/switch_link.obj" />
+      </geometry>
+      <material
+        name="gray">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/switch_link_vhacd2.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__switch"
+    type="prismatic">
+    <origin
+      xyz="0.375 0.07616 0.61861"
+      rpy="2.618 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="switch_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.11"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="slide_link">
+    <inertial>
+      <origin
+        xyz="-0.175 -1.11022302462516E-16 0.0204147302446787"
+        rpy="0 0 0" />
+      <mass
+        value="1.54349139995684" />
+      <inertia
+        ixx="0.0102407243866408"
+        ixy="-4.48575347047733E-19"
+        ixz="6.96428867235757E-21"
+        iyy="0.0146074020666347"
+        iyz="-2.34187669256869E-17"
+        izz="0.0232176606837711" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/slide_link.obj" />
+      </geometry>
+      <material name="white">
+       <color rgba="1 1 1 1"/>
+     </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/slide_link_vhacd2.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__slide"
+    type="prismatic">
+    <origin
+      xyz="-0.125 0.09375 0.66908"
+      rpy="1.0472 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="slide_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="0.35"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="drawer_link">
+    <inertial>
+      <origin
+        xyz="5.55111512312578E-17 0.0331980542710631 0.0988554042464424"
+        rpy="0 0 0" />
+      <mass
+        value="4.23128077824699" />
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+        ixx="0.059216774525043"
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+        iyy="0.16375258619816"
+        iyz="-4.16732706455153E-05"
+        izz="0.11199026473436" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/drawer_link.obj" />
+      </geometry>
+      <material name="white">
+       <color rgba="1 1 1 1"/>
+     </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/drawer_link_vhacd2.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__drawer"
+    type="prismatic">
+    <origin
+      xyz="0.125 0 0.4"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="drawer_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.275"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="led_link">
+    <inertial>
+      <origin
+        xyz="5.55111512312578E-17 0.01 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.204" />
+      <inertia
+        ixx="4.93E-05"
+        ixy="-4.05952398432885E-21"
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+        izz="0.000686800000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/led_link.STL" />
+      </geometry>
+      <material
+        name="white">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/led_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__led"
+    type="fixed">
+    <origin
+      xyz="-0.35 0.2 0.80981"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="led_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="light_link">
+    <inertial>
+      <origin
+        xyz="0 0.0280266379242365 -0.035"
+        rpy="0 0 0" />
+      <mass
+        value="0.173918312098126" />
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+        izz="8.23031895831843E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/light_link.STL" />
+      </geometry>
+      <material
+        name="white">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/light_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__light"
+    type="fixed">
+    <origin
+      xyz="0.375 0.165 0.80981"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="light_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="plank_link">
+    <inertial>
+      <origin
+        xyz="5.55111512312578E-17 0.0125 0"
+        rpy="0 0 0" />
+      <mass
+        value="2.84375" />
+      <inertia
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+        iyy="0.107381184895833"
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+        izz="0.100271809895833" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/plank_link.obj" />
+      </geometry>
+      <material name="white">
+       <color rgba="1 1 1 1"/>
+     </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/plank_link.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="base__plank"
+    type="fixed">
+    <origin
+      xyz="-0.125 0.1125 0.525"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="plank_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>

assets/calvin/COMMON/table_a/usd/table.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:38d678702191fdc7db1b1996d0b9c62f2d325e8d24e2fdf607004c5ca89ddec2
+size 532342

assets/calvin/COMMON/table_b/meshes/base_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:edebc68819c4151d8f7ee8bfa4c7949d0f8eda5b93e5758913c386d0e67b88cc
+size 18184

assets/calvin/COMMON/table_b/meshes/base_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../textures/light_wood.png

assets/calvin/COMMON/table_b/meshes/base_link.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1e1a5efa420adbdb616a2bee23490a52f38423f1fd013edf4eab6cc62593a8
+size 27010

assets/calvin/COMMON/table_b/meshes/base_link_vhacd2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f378b57a5af50654fbb4d7ce6129254305b0a08f831022370bd36a01d7ca3818
+size 11753

assets/calvin/COMMON/table_b/meshes/button_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4127d81cbc6f9f8c8f5bf0bec38ed8993183ac93c10ebf5ff9a3df03ab41f6f8
+size 7684

assets/calvin/COMMON/table_b/meshes/drawer_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:880452f9db8c934b08298dc849877fc904e41a74f981352c6cbb518445c48335
+size 19684

assets/calvin/COMMON/table_b/meshes/drawer_link.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
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+Ke 0.000000 0.000000 0.000000
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+d 1.000000
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+map_Kd ../textures/light_wood__gray_handle.png

assets/calvin/COMMON/table_b/meshes/drawer_link.obj

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