Add asset kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b

.gitattributes

@@ -4555,3 +4555,5 @@ dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate.gl
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mesh/spatula_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/spatula_008.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spatula_008_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spatula_008_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mesh/spatula_008.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc2a6c26b964140c8faafaa838c2609d08ec5089a3a52a9520e03bdbc0b6415
+size 10528424

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mesh/spatula_008.mtl

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+newmtl spatula_008_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/utensils/93f4542a3e875a228fda0df75ad34e2b/mjcf/mesh/spatula_008_collision_0.obj

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dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mjcf/mesh/spatula_008_collision_1.obj

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dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mjcf/mesh/spatula_008_collision_3.obj

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dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mjcf/mesh/spatula_008_collision_4.obj

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+

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mjcf/spatula_008.xml

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spatula_008">
+  <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/spatula_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spatula_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spatula_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spatula_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spatula_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spatula_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spatula_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spatula_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spatula_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/spatula_008.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spatula_008">
+   <link name="spatula_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spatula_008.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/spatula_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>93f4542a3e875a228fda0df75ad34e2b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spatula</category>
+         <name>flat spatula</name>
+         <color>brown,gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>spatula with flat metal blade and ergonomic wooden handle</description>
+         <min_height>0.0318</min_height>
+         <max_height>0.0318</max_height>
+         <real_height>0.0318</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014227</generate_time>
+         <gs_model>""</gs_model>
+         <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/utensils/93f4542a3e875a228fda0df75ad34e2b/spatula_008.usd

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+size 4898495

dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/video.mp4

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+size 82695