Add asset kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f

.gitattributes

@@ -4220,5 +4220,4 @@ dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsti
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mjcf/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/mesh/tray_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/68914a43baec5b3aa1abf8d8487763d0/tray_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/6977b00350005f839a7fcc75cc8e093f.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/6977b00350005f839a7fcc75cc8e093f.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon">
+   <link name="spoon">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/spoon.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/spoon_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0.259611</scale>
+         <version>v0.1.5</version>
+         <category>spoon</category>
+         <description>curved metallic spoon with a deep bowl and slender handle</description>
+         <min_height>0.06</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.07</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20251012002056</generate_time>
+         <gs_model>mesh/spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.4664541482925415</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/6977b00350005f839a7fcc75cc8e093f/6977b00350005f839a7fcc75cc8e093f.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60122245b69a0a49a5d1a885e2ff6aa5de977c24e5bdd09971de1d3a3a8507b9
+size 279858

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mesh/material.mtl

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+# 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/6977b00350005f839a7fcc75cc8e093f/mesh/spoon.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85cebc11ff42e75ba57e5b583c5bc36d3f9a8f41af98cf5a3b3b85a702646036
+size 605796

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mesh/spoon_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec57742b2e038a6f7a693c78267c861e1f586dd80a80f4f0aada613c50c7ef00
+size 3523433

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/6977b00350005f839a7fcc75cc8e093f.xml

@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon">
+  <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/spoon.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_0.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_1.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_10.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_12.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_13.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_14.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_2.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_3.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_4.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_6.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_7.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_8.obj

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dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/mjcf/mesh/spoon_collision_9.obj

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+

dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/video.mp4

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