Add asset kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808

.gitattributes

@@ -4587,3 +4587,5 @@ dataset/kitchen_supplies/utensils/ba8aca22b97455768b7e83706749e6e2/mesh/sponge_g
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/b76cd44e74395713893a8818b0d86557.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_012">
+   <link name="bottle_opener_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_012.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/bottle_opener_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>af7ce718c7d05ea2976f6551ea6fc808</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>waiter corkscrew</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>folding metal bottle opener with corkscrew and black grip</description>
+         <min_height>0.0211</min_height>
+         <max_height>0.0211</max_height>
+         <real_height>0.0211</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185735</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049716 -0.066118 -0.010573</min>
+            <max>0.062341 0.045989 0.010518</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc2b3b00fdf1f2cb94f60df2a86a16760a25c6ec6ceb0294c6ceec0418b119d
+size 4982631

dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:801b0e58414ea228a123623d337dfd5a2839e3d494947eea16a278945520f65c
+size 12759348

dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.mtl

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+newmtl bottle_opener_012_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/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_012_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 bottle_opener_012_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/bottle_opener_012.xml

@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_012">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_012_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bottle_opener_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bottle_opener_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_012">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_0.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_10.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_11.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_13.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_15.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_17.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_18.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_19.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_20.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_21.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_22.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_23.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_24.obj

@@ -0,0 +1,253 @@
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_25.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_26.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_27.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_28.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_29.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_3.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_30.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_5.obj

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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_8.obj

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