Add asset kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc

.gitattributes

@@ -4334,5 +4334,5 @@ dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/mesh/fork_03
 dataset/kitchen_supplies/tableware/b72a9b3d36355cc3b6e7d7ab612feafa/b72a9b3d36355cc3b6e7d7ab612feafa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_032_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 spoon_032_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:53a7cc34c85ebe2cef499307111d3c94ac8a1d663753a1934bcefc04e53da35a
+size 9231316

dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.mtl

@@ -0,0 +1,6 @@
+newmtl spoon_032_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/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_0.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_1.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_14.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_15.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_2.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_3.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_4.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_5.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_6.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_7.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_8.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_9.obj

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dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/spoon_032.xml

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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/spoon_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/spoon_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="spoon_032">
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_032">
+   <link name="spoon_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_032.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/spoon_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>b9d7c715517c505a8e3cedc40a7542dc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>metal spoon</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray spoon with rounded bowl and slender slightly curved handle</description>
+         <min_height>0.0611</min_height>
+         <max_height>0.0611</max_height>
+         <real_height>0.0611</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.148584 0.055140 0.043299</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
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+            <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/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd

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+size 4882692

dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/video.mp4

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