Add asset kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7

.gitattributes

@@ -4482,3 +4482,7 @@ dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_t
 dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_003">
+   <link name="bottle_opener_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0427d254b1e1581a8077aaf6bf40ebd7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>corkscrew opener</name>
+         <color>brown,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact corkscrew opener with wooden handle and metal components</description>
+         <min_height>0.0391</min_height>
+         <max_height>0.0391</max_height>
+         <real_height>0.0391</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012841</generate_time>
+         <gs_model>""</gs_model>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Most parts are merged; handle and opener head are not separated, and many magenta/lime spots are noise.","merge_groups":[{"colors":["Magenta","Lime Green"],"target_part":"main body noise","reason":"small scattered spots on same surfaces"},{"colors":["Green","Magenta"],"target_part":"main folded body","reason":"magenta bridge/patches are not distinct parts"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d68b19991368d992cfc6460a00caa1183212f7e5bd770e48bee368b5aa51b63f
+size 139045481

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:50f8eb57fcdea0569b1e621b3c3484873c31e368a24553b65e18c8e31e77f4f1
+size 98885108

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_003_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/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87dd49841a9064c6b653d2ec53456edb0230989e02e2ffa01d88cdab79e21ff0
+size 117123061

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_003_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_003_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/bottle_opener_003.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_003">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_003_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/bottle_opener_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_39" file="mesh/bottle_opener_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj

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+version https://git-lfs.github.com/spec/v1
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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_10.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_11.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_12.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_13.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_14.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_15.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_16.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_17.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_19.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_20.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_21.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_22.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_23.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_24.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_25.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_26.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_27.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_28.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_29.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_3.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_30.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_31.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_32.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_33.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_34.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_35.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_36.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_37.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_38.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_39.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_4.obj

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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_6.obj

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