Add asset kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf

.gitattributes

@@ -4394,5 +4394,6 @@ dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd
 dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ddb14ad17d1f5b05b275db87581c3ba4/fork_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ddb14ad17d1f5b05b275db87581c3ba4/mesh/fork_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/de43d197909054f5b788b87f1069eeaf.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/de43d197909054f5b788b87f1069eeaf.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>0.295512</scale>
+         <version>v0.1.7</version>
+         <category>spoon</category>
+         <description>golden spoon with a curved bowl and decorative handle</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260120034708</generate_time>
+         <gs_model>mesh/spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.47746467590332</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/de43d197909054f5b788b87f1069eeaf/de43d197909054f5b788b87f1069eeaf.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2db2cc15033f516aa8054dfcf7b0857f1b7eb6ee1bac7a2a3dedcb93356826
+size 316869

dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/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/de43d197909054f5b788b87f1069eeaf/mesh/spoon.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3796d7bbb0ac61290b50918a49569ad0d5217f29018d586549a495f3137640d8
+size 3069032

dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon_collision.obj

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+
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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mesh/spoon_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0294384526514f8a1d200637b2d422e6fe1e5210960d179722e3f23217919679
+size 301192

dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/de43d197909054f5b788b87f1069eeaf.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon">
+  <asset>
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+    <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" />
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+  </asset>
+  <worldbody>
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision.obj

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+# https://github.com/mikedh/trimesh
+
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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_1.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_2.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_3.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_4.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_6.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_7.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/mjcf/mesh/spoon_collision_8.obj

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dataset/kitchen_supplies/tableware/de43d197909054f5b788b87f1069eeaf/video.mp4

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