Add asset kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084

.gitattributes

@@ -4404,3 +4404,5 @@ dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_b
 dataset/kitchen_supplies/tableware/e406ae5790b35c089e8b0735604f2763/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/mesh/tray_055.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e0c1ef7630d450e896a8af4b795ce166/tray_055.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/chopsticks_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mesh/chopsticks_018.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/chopsticks_018.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chopsticks_018">
+   <link name="chopsticks_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chopsticks_018.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/chopsticks_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>e15585d60ddb57e68885d7dcfcdcd084</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>chopsticks</category>
+         <name>black chopsticks</name>
+         <color>black,brown</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>pair of black tapered chopsticks with brown handles and floral rest</description>
+         <min_height>0.0167</min_height>
+         <max_height>0.0167</max_height>
+         <real_height>0.0167</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183911</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065220 -0.044648 -0.007431</min>
+            <max>0.054780 0.047325 0.009225</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/tableware/e15585d60ddb57e68885d7dcfcdcd084/chopsticks_018.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:51fcf1eb1cd0f3e5b953e32c503081c30f8140ba8d052d4fc5865369e40aff8c
+size 4816044

dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mesh/chopsticks_018.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a2bc133061c401ad30255ae5208c8f42f653ca2fa4d41dcea2d0ed4e17f3fdfb
+size 9071096

dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mesh/chopsticks_018.mtl

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+newmtl chopsticks_018_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/tableware/e15585d60ddb57e68885d7dcfcdcd084/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl chopsticks_018_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 chopsticks_018_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mjcf/chopsticks_018.xml

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chopsticks_018">
+  <asset>
+    <material name="material_0" texture="texture_0_chopsticks_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chopsticks_018_geometry_Looks_material_0" type="2d" file="mesh/chopsticks_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chopsticks_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chopsticks_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chopsticks_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chopsticks_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chopsticks_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chopsticks_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chopsticks_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/chopsticks_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/chopsticks_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chopsticks_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mjcf/mesh/chopsticks_018_collision_0.obj

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dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mjcf/mesh/chopsticks_018_collision_6.obj

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dataset/kitchen_supplies/tableware/e15585d60ddb57e68885d7dcfcdcd084/mjcf/mesh/chopsticks_018_collision_7.obj

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