Add asset kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c

.gitattributes

@@ -4555,5 +4555,5 @@ dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate.gl
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/mesh/spatula_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/spatula_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/bottle_opener_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mesh/bottle_opener_019.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/bottle_opener_019.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_019">
+   <link name="bottle_opener_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>92587ec9e1c55c8a9dc3eef59376920c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>corkscrew opener</name>
+         <color>brown,golden</color>
+         <shape>T-shape</shape>
+         <material>metal</material>
+         <description>vintage metal corkscrew opener with cylindrical handle and brown leather loop</description>
+         <min_height>0.0392</min_height>
+         <max_height>0.0392</max_height>
+         <real_height>0.0392</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018220 -0.040595 -0.012235</min>
+            <max>0.066114 0.043777 0.026925</max>
+         </aabb>
+         <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/utensils/92587ec9e1c55c8a9dc3eef59376920c/bottle_opener_019.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:027cc011d0a8e4cf79d8a8befd82d9f4ebfa3815a3dc30f429d6b3723781f674
+size 5035468

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mesh/bottle_opener_019.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7be5f5027d1f27f0be0d63450d2d7cdb1b0e9fb38a6ea59005a35d5564c51588
+size 17108656

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mesh/bottle_opener_019.mtl

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+newmtl bottle_opener_019_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/92587ec9e1c55c8a9dc3eef59376920c/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_019_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_019_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/bottle_opener_019.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_019">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_019_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/bottle_opener_019_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/bottle_opener_019_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/bottle_opener_019_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/bottle_opener_019_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/bottle_opener_019_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/bottle_opener_019_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/bottle_opener_019_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_019">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_0.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_12.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_13.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_15.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_17.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_18.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_19.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_2.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_20.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_21.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_22.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_23.obj

@@ -0,0 +1,199 @@
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_24.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_25.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_26.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_27.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_28.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_29.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_30.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_31.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_32.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_33.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_34.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_35.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_36.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_4.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_6.obj

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dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mjcf/mesh/bottle_opener_019_collision_7.obj

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+# https://github.com/mikedh/trimesh
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