Add asset kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6

.gitattributes

@@ -4210,5 +4210,6 @@ dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/mesh/metal_b
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/5ac649c5ba98518eb94fd45d74da6981.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/5aee2569f8925e8f8f8a074c8378b8d6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/5aee2569f8925e8f8f8a074c8378b8d6.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>0.80</mu1>
+            <mu2>0.60</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>0.386816</scale>
+         <version>v0.1.7</version>
+         <category>fork</category>
+         <description>metallic fork with curved handle and four prongs</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260117152851</generate_time>
+         <gs_model>mesh/fork_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete or fragmented.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.585357189178467</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/5aee2569f8925e8f8f8a074c8378b8d6/5aee2569f8925e8f8f8a074c8378b8d6.usd

@@ -0,0 +1,3 @@
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+oid sha256:2767d23b7c120275b8afa26806c5610383a77e1b809a410581d444295717ac16
+size 235904

dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mesh/fork.glb

@@ -0,0 +1,3 @@
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+oid sha256:ddb8cd6b78863a927acbd8583290b7f4f643a320703fe76445c0d1c899026d95
+size 2947456

dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mesh/fork_collision.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mesh/fork_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6b08a548679de9ec82ef8edf62604638d8068c3fb815bf3da6da23fb35617d
+size 228168

dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/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/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/5aee2569f8925e8f8f8a074c8378b8d6.xml

@@ -0,0 +1,26 @@
+<?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" />
+    <mesh name="collision_mesh_0_4" file="mesh/fork_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fork_collision_5.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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision.obj

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+# https://github.com/mikedh/trimesh
+
+o fork_collision.obj
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+v 0.02682365 0.00313426 -0.00144109
+f 1 2 3
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+f 1 4 2
+f 2 4 3
+
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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_0.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_1.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_2.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_3.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_4.obj

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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/mjcf/mesh/fork_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/5aee2569f8925e8f8f8a074c8378b8d6/video.mp4

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