Add asset kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855

.gitattributes

@@ -4281,3 +4281,5 @@ 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/98e170234bdb57c0b71c4a3b17744c82/bowl_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/98e170234bdb57c0b71c4a3b17744c82/mesh/bowl_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/fork_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/fork_009.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/fork_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork_009">
+   <link name="fork_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fork_009.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/fork_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>1.000000</scale>
+         <uuid>97f381be8c885ebb97c89a1d08a7c855</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>fork</category>
+         <name>ornate fork</name>
+         <color>silver,golden</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>decorative fork with intricate handle design and four prongs</description>
+         <min_height>0.0186</min_height>
+         <max_height>0.0186</max_height>
+         <real_height>0.0186</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012258</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/tableware/97f381be8c885ebb97c89a1d08a7c855/fork_009.usd

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+oid sha256:b1d884b14c1d5f951db3b455dc5af0678d01c0f0cb1d47cdded3634583dd73f0
+size 5059658

dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/fork_009.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8e56323138b1b85cc19e820ea050a264738f1632062e8a7853b1da5c2a1167b7
+size 16711248

dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/fork_009.mtl

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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/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/fork_009_collision.obj

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dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd fork_009_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mjcf/fork_009.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork_009">
+  <asset>
+    <material name="material_0" texture="texture_0_fork_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fork_009_geometry_Looks_material_0" type="2d" file="mesh/fork_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fork_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork_009">
+      <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/97f381be8c885ebb97c89a1d08a7c855/mjcf/mesh/fork_009_collision.obj

@@ -0,0 +1,1301 @@
+# https://github.com/mikedh/trimesh
+
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dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mjcf/mesh/fork_009_collision_0.obj

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dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/mjcf/mesh/fork_009_collision_1.obj

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dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/video.mp4

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