Add asset kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e

.gitattributes

@@ -4471,3 +4471,5 @@ dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/mesh/plate.gl
 dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/spatula_027.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl spatula_027_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 spatula_027_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:92471516e017cdb69cd78eaef0233f64e695e1201e3e923ec271f8422b7630db
+size 9885224

dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027.mtl

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+newmtl spatula_027_geometry_Looks_material_0
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+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/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027_collision.obj

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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mjcf/mesh/spatula_027_collision_0.obj

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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mjcf/mesh/spatula_027_collision_1.obj

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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mjcf/mesh/spatula_027_collision_5.obj

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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mjcf/spatula_027.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spatula_027">
+  <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/spatula_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spatula_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spatula_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spatula_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spatula_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spatula_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spatula_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spatula_027">
+      <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" />
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+      <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/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/spatula_027.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spatula_027">
+   <link name="spatula_027">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/spatula_027.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/spatula_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
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+      <inertial>
+         <mass value="0.1300" />
+         <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>0b6d5a4f191c5231a3c8afc0b6818c8e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spatula</category>
+         <name>gray spatula</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>silicone</material>
+         <description>gray flat spatula with curved neck and hanging hole handle</description>
+         <min_height>0.0464</min_height>
+         <max_height>0.0464</max_height>
+         <real_height>0.0464</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154941</generate_time>
+         <gs_model>""</gs_model>
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+            <max>0.133462 0.043499 0.026753</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/spatula_027.usd

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+size 4730802

dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/video.mp4

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