Add asset kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59

.gitattributes

@@ -4051,5 +4051,5 @@ dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_03
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/05af556ee022597784ecd3fb0d0e9219.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/mesh/plate_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/plate_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/chopsticks_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/chopsticks_024.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/chopsticks_024.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chopsticks_024">
+   <link name="chopsticks_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chopsticks_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>04fa042f30b555d2927d3a00264dbf59</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>chopsticks</category>
+         <name>wooden chopsticks</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>dark brown tapered chopsticks with carved segmented bamboo-like texture</description>
+         <min_height>0.0089</min_height>
+         <max_height>0.0089</max_height>
+         <real_height>0.0089</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184031</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.114597 -0.007466 -0.004480</min>
+            <max>0.065403 0.007816 0.004424</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/04fa042f30b555d2927d3a00264dbf59/chopsticks_024.usd

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+oid sha256:60971d9b7e6de305568c5b56d6933ca6154e093cff16ce5e6dadc4a49c697e5d
+size 2355553

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/chopsticks_024.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a139dce4d4f199985c3431de34c0ff4524e7ee255de300492264a07572aad089
+size 18823548

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/chopsticks_024.mtl

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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/chopsticks_024_collision.obj

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+# https://github.com/mikedh/trimesh
+
+o geometry_0
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dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl chopsticks_024_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 chopsticks_024_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mjcf/chopsticks_024.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chopsticks_024">
+  <asset>
+    <material name="material_0" texture="texture_0_chopsticks_024_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chopsticks_024_geometry_Looks_material_0" type="2d" file="mesh/chopsticks_024_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chopsticks_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chopsticks_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chopsticks_024">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/mjcf/mesh/chopsticks_024_collision.obj

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+# https://github.com/mikedh/trimesh
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