Add asset kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5

.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/b93b7cf19e17593889c731a02e895f69/mesh/spoon_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/b93b7cf19e17593889c731a02e895f69/spoon_036.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/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork_006">
+   <link name="fork_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fork_006.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/fork_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>bab01ebb334b5526a1a6fc9e2db768b5</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>fork</category>
+         <name>ergonomic fork</name>
+         <color>pink,green</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>fork with curved handle and four prongs</description>
+         <min_height>0.0171</min_height>
+         <max_height>0.0171</max_height>
+         <real_height>0.0171</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012204</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>2</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/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:32b02d55c5f02fd8b360b1144fb45336d2a09cc8851bab4dc6ac6827c6e590ac
+size 4944275

dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf603035a5da271dc3931754b848b75bff3181afc88dff95ec5932ad10ff8f2
+size 9332924

dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.mtl

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+newmtl fork_006_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/bab01ebb334b5526a1a6fc9e2db768b5/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_006_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 fork_006_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/fork_006.xml

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork_006">
+  <asset>
+    <material name="material_0" texture="texture_0_fork_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fork_006_geometry_Looks_material_0" type="2d" file="mesh/fork_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fork_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fork_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fork_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fork_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fork_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork_006">
+      <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/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_0.obj

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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_3.obj

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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_4.obj

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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_5.obj

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dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mjcf/mesh/fork_006_collision_6.obj

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