Add asset kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0

.gitattributes

@@ -4518,6 +4518,9 @@ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mjcf/mesh/bot
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/bottle_opener_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Ns 1.00000000
+map_Kd spice_jar_027_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb

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dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.mtl

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dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_1.obj

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dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/spice_jar_027.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_027">
+  <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/spice_jar_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_027">
+   <link name="spice_jar_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_027.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/spice_jar_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>49e21daef9505912a92eceebff4840e0</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>ceramic spice jar</name>
+         <color>white,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>round white spice jar with wooden lid and small foot</description>
+         <min_height>0.0664</min_height>
+         <max_height>0.0664</max_height>
+         <real_height>0.0664</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155309</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040031 -0.039920 -0.031462</min>
+            <max>0.039947 0.040080 0.034949</max>
+         </aabb>
+         <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>

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dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/video.mp4

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