Add asset kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85

.gitattributes

@@ -4109,3 +4109,5 @@ 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/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fork_015">
+   <link name="fork_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fork_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>1b9db5c259745f2f9d5344f3aa25ac85</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>fork</category>
+         <name>baby fork</name>
+         <color>green,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small toddler fork with green handle and short metal prongs</description>
+         <min_height>0.0170</min_height>
+         <max_height>0.0170</max_height>
+         <real_height>0.0170</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184908</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071206 -0.016954 -0.008085</min>
+            <max>0.048794 0.016913 0.008942</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/1b9db5c259745f2f9d5344f3aa25ac85/fork_015.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3311e9eb40b01a4e5dbd126b78f7ee41c35bfb1d594edf09afdd449b6a1e5e80
+size 4988012

dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca8c6c7c1b8277efeb9e59b4a33ea893b950515f331cd5b77414bb227f3f667
+size 10992872

dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mesh/fork_015.mtl

@@ -0,0 +1,6 @@
+newmtl fork_015_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/1b9db5c259745f2f9d5344f3aa25ac85/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fork_015_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_015_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/fork_015.xml

@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fork_015">
+  <asset>
+    <material name="material_0" texture="texture_0_fork_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fork_015_geometry_Looks_material_0" type="2d" file="mesh/fork_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fork_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fork_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fork_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fork_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fork_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fork_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fork_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fork_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fork_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/fork_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/fork_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fork_015">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_0.obj

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dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_2.obj

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dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_3.obj

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dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_5.obj

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dataset/kitchen_supplies/tableware/1b9db5c259745f2f9d5344f3aa25ac85/mjcf/mesh/fork_015_collision_6.obj

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