Add asset kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807

.gitattributes

@@ -4339,3 +4339,6 @@ dataset/kitchen_supplies/tableware/b93b7cf19e17593889c731a02e895f69/spoon_036.us
 dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/ba0ee4e6627f51c4805e8a1d75877d5b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/mesh/metal_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/bb6d092dcf075bc3b830f0300d6ad807.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/bb6d092dcf075bc3b830f0300d6ad807.urdf

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+<?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>0.241469</scale>
+         <version>v0.1.7</version>
+         <category>spoon</category>
+         <description>metallic spoon with a curved bowl and slender handle</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260120032712</generate_time>
+         <gs_model>mesh/spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.77670955657959</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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/bb6d092dcf075bc3b830f0300d6ad807/bb6d092dcf075bc3b830f0300d6ad807.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:85276a93f4811ae42ef261b61c8c59b1fb6d1c43029ecc40f53eee1b10379e33
+size 433933

dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/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/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dd4a60bfe365cc143d67b08ad0bab1acd1ecb7f84784e364c23152b7313fd1d4
+size 2426520

dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:96068044700704c1b288bea0653854fc186a10d83d0a2c47e97b71f0d7db2100
+size 448136

dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/bb6d092dcf075bc3b830f0300d6ad807.xml

@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon">
+  <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/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" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/mesh/spoon_collision_0.obj

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dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/mesh/spoon_collision_2.obj

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dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/mesh/spoon_collision_3.obj

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dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/mesh/spoon_collision_6.obj

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dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mjcf/mesh/spoon_collision_7.obj

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