Add asset kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254

.gitattributes

@@ -4593,8 +4593,5 @@ dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_o
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/mesh/spatula_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/spatula_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/c96415bc77d9552db273087be9a64d5a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/mesh/spice_jar_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/spice_jar_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_018">
+   <link name="bottle_opener_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>b1cd453721fa540f85fce2d5dd80b254</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>winged corkscrew opener</name>
+         <color>brown,gray</color>
+         <shape>T-shape</shape>
+         <material>metal</material>
+         <description>wooden-handled metal corkscrew bottle opener with broad turning grip</description>
+         <min_height>0.0229</min_height>
+         <max_height>0.0229</max_height>
+         <real_height>0.0229</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185943</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059070 -0.039195 -0.011472</min>
+            <max>0.039318 0.039183 0.011436</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2bf0d90c0e7d3aa034bbd9c64ce375d3b09b0dde676189d724d3d71e1d10bb3
+size 5009752

dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4e10ee16b6586065b2ade60722fb2553d02d54414c97b8d1ec707525ddcdcf
+size 13711352

dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_018_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/b1cd453721fa540f85fce2d5dd80b254/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_018_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_018_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/bottle_opener_018.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_018">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_018_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_018">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_13.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_14.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_15.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_17.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_19.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_2.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_20.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_21.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_22.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_23.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_4.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_5.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_8.obj

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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_9.obj

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