Add asset kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69

.gitattributes

@@ -4616,3 +4616,5 @@ dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula_
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/mesh/spatula_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/spatula_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_015">
+   <link name="bottle_opener_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_015.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_015_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>f728bf0359d250d19f5120de33cefe69</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>dark handled bottle opener with textured grip and hanging hole</description>
+         <min_height>0.0127</min_height>
+         <max_height>0.0127</max_height>
+         <real_height>0.0127</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185833</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055108 -0.020945 -0.006553</min>
+            <max>0.055173 0.019905 0.006180</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3f759ba38befc67cbbb32c3d939a867431acabd8bc50b66ca157330028c239f9
+size 4941415

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5036954aa109527b7066df297cb8316c4456b6a6d685e90ccda427535496d998
+size 11679684

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_015_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/f728bf0359d250d19f5120de33cefe69/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_015_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_015_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/bottle_opener_015.xml

@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_015">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_015_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_0.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_1.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_2.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_5.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_6.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_7.obj

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dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_8.obj

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