Add asset kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5

.gitattributes

@@ -4109,7 +4109,7 @@ dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_02
 dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/tray_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/tray_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/mesh/spoon_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1b441170e15455b499d6b94b337fb615/spoon_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/fork_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/mesh/fork_003.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/fork_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork_003">
+   <link name="fork_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fork_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0fd01187e2af5fa5a921b8b20ef092a5</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>fork</category>
+         <name>curved fork</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>fork with curved prongs and ergonomic handle</description>
+         <min_height>0.0140</min_height>
+         <max_height>0.0140</max_height>
+         <real_height>0.0140</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012005</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/0fd01187e2af5fa5a921b8b20ef092a5/fork_003.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5cb589aa3509d3c334014ce3f7077792b0a0d2bd409982762d3faf2f475f91
+size 135735615

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:135e09a65c4a3fb49eaec8b60353aaae875f5a69ae44089750318d1c539a0417
+size 90878572

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003.mtl

@@ -0,0 +1,6 @@
+newmtl fork_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2ddf3dc2fbd347b409b8e44f667afb3ebe77c82ba532abcef3c617895599824e
+size 114597399

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/fork_003_collision.obj

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dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_003_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_003_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/fork_003.xml

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork_003">
+  <asset>
+    <material name="material_0" texture="texture_0_fork_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fork_003_geometry_Looks_material_0" type="2d" file="mesh/fork_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fork_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fork_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fork_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fork_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fork_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/mesh/fork_003.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ce2c1f3042e165ed065a62fafb37c65d3a210ef5d64b77405e0b52410508a7
+size 109742655

dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/mesh/fork_003_collision.obj

@@ -0,0 +1,3387 @@
+# https://github.com/mikedh/trimesh
+
+o fork_003_collision.obj
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dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/mesh/fork_003_collision_2.obj

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dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/mjcf/mesh/fork_003_collision_3.obj

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