Add asset kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788

.gitattributes

@@ -4527,9 +4527,6 @@ dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/mesh/spatula_
 dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/spatula_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/615595662bfd5a1b994538982f5d5d57.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pepper_grinder">
+   <link name="pepper_grinder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pepper_grinder.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/pepper_grinder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>0.200000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>wooden pepper grinder with rounded top and ergonomic design</description>
+         <min_height>0.18</min_height>
+         <max_height>0.22</max_height>
+         <real_height>0.2</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120024050</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.48897647857666</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5facdef5a1ef17f05ccda3c15ce60605b6d5993f7df12a63c1a4b4b548125061
+size 817612

dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/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/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:43eb2c051eaa33d958f70fb805cb78a702f75437bf14584d1c656a8f899a9c80
+size 2623476

dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:15c71633f82c6b4a70abdaa9652c7c1c39b1e4584a3693de156824d6c27da981
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dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/5e3d4390a76c5405b5a499cbb64ea788.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pepper_grinder">
+  <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/pepper_grinder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pepper_grinder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pepper_grinder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pepper_grinder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pepper_grinder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pepper_grinder">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

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