Add asset kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2

.gitattributes

@@ -4392,8 +4392,6 @@ dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_00
 dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/de43d197909054f5b788b87f1069eeaf.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/dcb2b34dcdc95378a5a9872288a631d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/dcb2b34dcdc95378a5a9872288a631d2.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork">
+   <link name="fork">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fork.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fork_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>0.742385</scale>
+         <version>v0.1.7</version>
+         <category>fork</category>
+         <description>golden metallic fork with curved handle and four prongs</description>
+         <min_height>0.015</min_height>
+         <max_height>0.022</max_height>
+         <real_height>0.019</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260117154452</generate_time>
+         <gs_model>mesh/fork_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete with missing or truncated parts.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.457887649536133</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/dcb2b34dcdc95378a5a9872288a631d2.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995945b5c9f928f609646d3fb5ecdbd7faabab39716cb978cf7377e7f9f95c73
+size 268365

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/fork.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c1cb242b9f8bdae593ede0496e0718afca7dc4375b0513f28c89866ca0b211
+size 2805196

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/fork_collision.obj

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dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/fork_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf259d0a4d5b51e1320048041b1b60e3c0d7e2a775e5356db469ee75e1f5530
+size 285064

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mjcf/dcb2b34dcdc95378a5a9872288a631d2.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork">
+  <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/fork.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fork_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mjcf/mesh/fork_collision.obj

@@ -0,0 +1,1794 @@
+# https://github.com/mikedh/trimesh
+
+o fork_collision.obj
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dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mjcf/mesh/fork_collision_2.obj

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dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/mjcf/mesh/fork_collision_3.obj

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dataset/kitchen_supplies/tableware/dcb2b34dcdc95378a5a9872288a631d2/video.mp4

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