Add asset kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9

.gitattributes

@@ -4199,15 +4199,5 @@ dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_0
 dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/mesh/plate_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4c2a2e5fcc87507e878f06a71b79abf4/plate_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork_020">
+   <link name="fork_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fork_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>480906e6c04a5bc4ab9f40788989c4a9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>fork</category>
+         <name>baby fork</name>
+         <color>green,pink</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small green plastic fork with rounded handle and cartoon bear decoration</description>
+         <min_height>0.0244</min_height>
+         <max_height>0.0244</max_height>
+         <real_height>0.0244</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185028</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.076762 -0.016434 -0.011380</min>
+            <max>0.043237 0.016896 0.012970</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/fork_020.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:481a256b559aa68e055ede076232aa990cc44eda3b43927b548de96b52b62fb8
+size 4984241

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c2835219a8cd7bb8f866187bf692be3b8a7b5306cffae69b8ce3418573b407
+size 11819840

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mesh/fork_020.mtl

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+newmtl fork_020_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/480906e6c04a5bc4ab9f40788989c4a9/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_020_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_020_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/fork_020.xml

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork_020">
+  <asset>
+    <material name="material_0" texture="texture_0_fork_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fork_020_geometry_Looks_material_0" type="2d" file="mesh/fork_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fork_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fork_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fork_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fork_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fork_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fork_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork_020">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_0.obj

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dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_2.obj

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dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_5.obj

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dataset/kitchen_supplies/tableware/480906e6c04a5bc4ab9f40788989c4a9/mjcf/mesh/fork_020_collision_6.obj

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