Add asset kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d

.gitattributes

@@ -4281,7 +4281,6 @@ dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mesh/chopsti
 dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mjcf/mesh/chopsticks_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9ab6fbc59516564cbf5287f22041b11a/chopsticks_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9ab6fbc59516564cbf5287f22041b11a/mesh/chopsticks_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mesh/tray_078.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/tray_078.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/9b3c7fedf6305eda873ff37bb1313d8d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/9b3c7fedf6305eda873ff37bb1313d8d.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="0.0750" />
+         <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>0.502554</scale>
+         <version>v0.1.7</version>
+         <category>fork</category>
+         <description>metallic fork with four tines and a slightly curved handle</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>0.1</max_mass>
+         <generate_time>20260117153944</generate_time>
+         <gs_model>mesh/fork_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete and fragmented.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.4144182205200195</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/9b3c7fedf6305eda873ff37bb1313d8d/9b3c7fedf6305eda873ff37bb1313d8d.usd

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+oid sha256:33a0bde0d974f3715407ada8f81972678a319bf7bb86c055b3ba0579d6dea240
+size 176804

dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork.glb

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+oid sha256:0d488aec2076b0aa492c925492b98550409363b46cc5ea84ae694926734d9a39
+size 2451808

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dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c35f200ba0ce0d4c95e946a6f41b8cf700283d8c2dc962cec0fc0ca7f9cae1
+size 183592

dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/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/9b3c7fedf6305eda873ff37bb1313d8d/mjcf/9b3c7fedf6305eda873ff37bb1313d8d.xml

@@ -0,0 +1,20 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mjcf/mesh/fork_collision.obj

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+# https://github.com/mikedh/trimesh
+
+o fork_collision.obj
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dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mjcf/mesh/fork_collision_0.obj

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dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mjcf/mesh/fork_collision_1.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/video.mp4

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