Add asset kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766

.gitattributes

@@ -4495,3 +4495,5 @@ dataset/kitchen_supplies/tableware/f9ed22f2ca4f5fff96d053e4e5b74143/chopsticks_0
 dataset/kitchen_supplies/tableware/f9ed22f2ca4f5fff96d053e4e5b74143/mesh/chopsticks_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f9ed22f2ca4f5fff96d053e4e5b74143/mesh/chopsticks_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f9ed22f2ca4f5fff96d053e4e5b74143/mjcf/mesh/chopsticks_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_020">
+   <link name="bottle_opener_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_020.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_020_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>2dd8a3f592e35394b2914a01cae2a766</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>handled opener</name>
+         <color>black</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>flat metal bottle opener with hanging hole and textured handle</description>
+         <min_height>0.0073</min_height>
+         <max_height>0.0073</max_height>
+         <real_height>0.0073</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190120</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057738 -0.021219 -0.003641</min>
+            <max>0.061484 0.021504 0.003652</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e0863e0e1e363488fbe9e09bfd8bf5e52ce6463b5ab23062c119b59d7c1a633d
+size 4970476

dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:becf59bb100f8de775ca599c9253c8d81b69b404543201fdfe0669ed905849d0
+size 13189232

dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_020_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/2dd8a3f592e35394b2914a01cae2a766/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_020_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_020_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/bottle_opener_020.xml

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_020">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_020_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_020">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_0.obj

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dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_2.obj

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