Add asset kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c

.gitattributes

@@ -4530,6 +4530,12 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.urdf

@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_001">
+   <link name="bottle_opener_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>63d8314f1ec85754a7015773519b820c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>metal wing corkscrew with spiral and dual levers</description>
+         <min_height>0.1549</min_height>
+         <max_height>0.1549</max_height>
+         <real_height>0.1549</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414152105</generate_time>
+         <gs_model>""</gs_model>
+      </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":"Functional parts are mislabeled across views; handle, arms, and body are inconsistently split.","merge_groups":[{"colors":["Red","Magenta"],"target_part":"top handle and central shaft","reason":"These form one continuous operating assembly."},{"colors":["Green","Blue"],"target_part":"lever arms","reason":"Both are same-function symmetric handles."}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd

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+oid sha256:06e2ea916946015e796b7366995aaf5fc11e8d09a4c577ddf6f73d336a2d37bc
+size 95912187

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:16052bf6404ee5c6f9be9d76bf95bbac7c84d18b2684fc9a8751c052c16632e3
+size 71331264

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.mtl

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+newmtl bottle_opener_001_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/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a9c7da23282a6f346090fbc3b1fb0b48e31ce8e7c51689e6946cb8674df8fb
+size 77295378

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_001_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_001_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/bottle_opener_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_001">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_001_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_001">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_10.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_14.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_15.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_17.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_18.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_19.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_2.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_21.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_3.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_5.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_6.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_8.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_9.obj

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dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/video.mp4

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