ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified [
{
"id": "eyeglasses",
"kind": "rigid",
"category": "accessory",
"path": "rigid/accessory/eyeglasses",
"name": "eyeglasses",
"description": "a pair of eyeglasses with a black plastic frame, temples folded, lying flat",
"size_mm": [
140,
46,
29
],
"mass_kg": 0.03,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small",
"fragile"
]
},
{
"id": "toaster",
"kind": "rigid",
"category": "appliance",
"path": "rigid/appliance/toaster",
"name": "toaster",
"description": "a two-slice pop-up toaster, brushed stainless steel with black ends, two long wide open slots on top, 27 cm long",
"size_mm": [
260,
159,
191
],
"mass_kg": 1.5,
"fixed": true,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"slot_0",
"slot_1"
],
"tags": [
"fixture",
"kitchen",
"slot"
]
},
{
"id": "shampoo_bottle",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/shampoo_bottle",
"name": "shampoo bottle",
"description": "a teal plastic shampoo bottle with a flip cap, oval cross-section, no label, 17 cm tall",
"size_mm": [
53,
57,
170
],
"mass_kg": 0.3,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"bottle"
]
},
{
"id": "soap_bar",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/soap_bar",
"name": "soap bar",
"description": "a white bar of soap, rounded rectangle, 9 cm long, 5.5 cm wide, 2.5 cm thick",
"size_mm": [
90,
58,
26
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "soap_dish",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/soap_dish",
"name": "soap dish",
"description": "a white ceramic soap dish, oval, shallow with a raised rim, empty, 13 cm long and 9 cm wide",
"size_mm": [
130,
94,
18
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"flat"
]
},
{
"id": "toothbrush",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/toothbrush",
"name": "toothbrush",
"description": "a white and blue toothbrush, lying flat, 19 cm long",
"size_mm": [
190,
22,
19
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"thin",
"small"
]
},
{
"id": "toothpaste",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/toothpaste",
"name": "toothpaste",
"description": "a tube of toothpaste, white with a plain blue stripe, no text, cap on, lying flat, 15 cm long",
"size_mm": [
150,
48,
35
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "dustpan",
"kind": "rigid",
"category": "cleaning",
"path": "rigid/cleaning/dustpan",
"name": "dustpan",
"description": "a blue plastic dustpan with a short handle, lying flat on the table, wide open mouth at the front, 22 cm wide and 30 cm long",
"size_mm": [
294,
225,
66
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"pan"
],
"tags": [
"tool",
"sweep"
]
},
{
"id": "hand_brush",
"kind": "rigid",
"category": "cleaning",
"path": "rigid/cleaning/hand_brush",
"name": "hand brush",
"description": "a small hand broom brush with a blue plastic handle and stiff black bristles, lying flat, 28 cm long",
"size_mm": [
280,
61,
61
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"sweep"
]
},
{
"id": "spray_bottle",
"kind": "rigid",
"category": "cleaning",
"path": "rigid/cleaning/spray_bottle",
"name": "spray bottle",
"description": "a white plastic spray bottle with a blue trigger nozzle, 24 cm tall",
"size_mm": [
98,
51,
240
],
"mass_kg": 0.3,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"bottle"
]
},
{
"id": "sneaker",
"kind": "rigid",
"category": "clothing",
"path": "rigid/clothing/sneaker",
"name": "sneaker",
"description": "a single child's left sneaker shoe, white with red accents, 16 cm long",
"size_mm": [
160,
66,
76
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"shoe"
]
},
{
"id": "sneaker_right",
"kind": "rigid",
"category": "clothing",
"path": "rigid/clothing/sneaker_right",
"name": "sneaker right",
"description": "a single child's left sneaker shoe, white with red accents, 16 cm long",
"size_mm": [
160,
66,
76
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"shoe"
]
},
{
"id": "baking_tray",
"kind": "rigid",
"category": "cookware",
"path": "rigid/cookware/baking_tray",
"name": "baking tray",
"description": "a rectangular metal baking tray with a low raised rim, empty, lying flat, 32 cm long and 22 cm wide",
"size_mm": [
269,
320,
22
],
"mass_kg": 0.4,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"flat",
"bimanual"
]
},
{
"id": "frying_pan",
"kind": "rigid",
"category": "cookware",
"path": "rigid/cookware/frying_pan",
"name": "frying pan",
"description": "a black non-stick frying pan with one long straight handle, empty, 20 cm across",
"size_mm": [
369,
200,
61
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen",
"handle"
]
},
{
"id": "pot_lid",
"kind": "rigid",
"category": "cookware",
"path": "rigid/cookware/pot_lid",
"name": "pot lid",
"description": "a stainless steel cooking pot lid, slightly domed, with a black round knob in the centre, seen from above at an angle, 17 cm across",
"size_mm": [
168,
168,
47
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"lid",
"kitchen"
]
},
{
"id": "pot_steel",
"kind": "rigid",
"category": "cookware",
"path": "rigid/cookware/pot_steel",
"name": "pot steel",
"description": "a small stainless steel cooking pot with two short loop handles on opposite sides, straight wall, open top, empty, no lid, 16 cm across and 9 cm tall",
"size_mm": [
150,
224,
90
],
"mass_kg": 0.45,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen",
"bimanual",
"handles"
]
},
{
"id": "saucepan",
"kind": "rigid",
"category": "cookware",
"path": "rigid/cookware/saucepan",
"name": "saucepan",
"description": "a small stainless steel saucepan with one long straight black handle, open top, empty, 14 cm across and 7 cm tall",
"size_mm": [
269,
140,
74
],
"mass_kg": 0.35,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen",
"handle"
]
},
{
"id": "candle",
"kind": "rigid",
"category": "decor",
"path": "rigid/decor/candle",
"name": "candle",
"description": "a white pillar candle with a short wick, 5 cm across and 9 cm tall",
"size_mm": [
42,
42,
90
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": []
},
{
"id": "plant_pot",
"kind": "rigid",
"category": "decor",
"path": "rigid/decor/plant_pot",
"name": "plant pot",
"description": "a small succulent plant in a terracotta pot, 11 cm across, 13 cm tall overall",
"size_mm": [
114,
114,
130
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"garden"
]
},
{
"id": "vase",
"kind": "rigid",
"category": "decor",
"path": "rigid/decor/vase",
"name": "vase",
"description": "a white ceramic flower vase with a round body and a narrower open neck, empty, 9 cm across and 20 cm tall",
"size_mm": [
140,
140,
200
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container"
]
},
{
"id": "kit_bottle",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/kit_bottle",
"name": "plastic bottle",
"description": "capped rigid plastic drinks bottle, 62 mm across",
"size_mm": [
64,
64,
155
],
"mass_kg": 0.06,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"cap"
],
"tags": [
"kitchen"
]
},
{
"id": "kit_cup",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/kit_cup",
"name": "plastic cup",
"description": "plain tapered plastic drinking cup, open top, stackable",
"size_mm": [
69,
69,
81
],
"mass_kg": 0.03,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "kit_mug",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/kit_mug",
"name": "plastic mug",
"description": "blue plastic mug with a C-shaped handle on +x",
"size_mm": [
93,
67,
81
],
"mass_kg": 0.08,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"handle",
"interior",
"rim"
],
"tags": [
"container",
"kitchen",
"handle"
]
},
{
"id": "pitcher",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/pitcher",
"name": "pitcher",
"description": "an opaque white plastic water pitcher with a C-shaped handle on one side and a small pouring spout on the opposite side, open top, empty, straight wall, 7 cm across and 15 cm tall",
"size_mm": [
128,
80,
150
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen",
"pour",
"handle"
]
},
{
"id": "sports_bottle",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/sports_bottle",
"name": "sports bottle",
"description": "a green reusable sports water bottle with a black screw lid, 7 cm across and 22 cm tall",
"size_mm": [
64,
72,
220
],
"mass_kg": 0.4,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"bottle"
]
},
{
"id": "tall_glass",
"kind": "rigid",
"category": "drinkware",
"path": "rigid/drinkware/tall_glass",
"name": "tall glass",
"description": "a tall plain plastic drinking tumbler, opaque light blue, slightly tapered, open top, empty, 6.5 cm across and 13 cm tall",
"size_mm": [
66,
66,
130
],
"mass_kg": 0.07,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "computer_mouse",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/computer_mouse",
"name": "computer mouse",
"description": "a grey wireless computer mouse, 11 cm long",
"size_mm": [
110,
58,
39
],
"mass_kg": 0.09,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "game_controller",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/game_controller",
"name": "game controller",
"description": "a black video game controller (gamepad) with two grips, 15 cm wide",
"size_mm": [
150,
106,
58
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": []
},
{
"id": "headphones",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/headphones",
"name": "headphones",
"description": "black over-ear headphones with a padded headband, standing upright with the headband arc on top and the two ear cups at the bottom",
"size_mm": [
73,
176,
190
],
"mass_kg": 0.25,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"band"
],
"tags": [
"hang"
]
},
{
"id": "keyboard",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/keyboard",
"name": "keyboard",
"description": "a compact white wireless computer keyboard, lying flat, 36 cm long and 13 cm wide",
"size_mm": [
172,
360,
20
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"flat",
"bimanual"
]
},
{
"id": "kit_charger_base",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/kit_charger_base",
"name": "charging base",
"description": "fixed charging base with a rectangular socket in its top (1.5 mm clearance per side)",
"size_mm": [
60,
60,
40
],
"mass_kg": 0.1386,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"socket",
"socket_bottom"
],
"tags": [
"fixture",
"socket"
]
},
{
"id": "kit_charger_plug",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/kit_charger_plug",
"name": "charging plug",
"description": "charging plug: a body with a flat prong underneath",
"size_mm": [
30,
24,
58
],
"mass_kg": 0.03,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"tip"
],
"tags": [
"insert",
"small"
]
},
{
"id": "remote_control",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/remote_control",
"name": "remote control",
"description": "a black TV remote control with rubber buttons, lying flat, 18 cm long and 4.5 cm wide",
"size_mm": [
180,
54,
27
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"flat"
]
},
{
"id": "smartphone",
"kind": "rigid",
"category": "electronics",
"path": "rigid/electronics/smartphone",
"name": "smartphone",
"description": "a black smartphone with the screen off, lying flat face up, 15 cm long, 7.2 cm wide, 0.9 cm thick",
"size_mm": [
150,
80,
10
],
"mass_kg": 0.18,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"flat",
"thin"
]
},
{
"id": "apple",
"kind": "rigid",
"category": "food",
"path": "rigid/food/apple",
"name": "apple",
"description": "a red apple with a short stem",
"size_mm": [
68,
68,
69
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"fruit",
"round"
]
},
{
"id": "banana",
"kind": "rigid",
"category": "food",
"path": "rigid/food/banana",
"name": "banana",
"description": "a single yellow banana, lying flat on its side",
"size_mm": [
180,
88,
41
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"fruit"
]
},
{
"id": "bread_slice",
"kind": "rigid",
"category": "food",
"path": "rigid/food/bread_slice",
"name": "bread slice",
"description": "a single square slice of toast bread, plastic toy food model, lying flat, 9.5 cm wide and 1.3 cm thick",
"size_mm": [
95,
88,
15
],
"mass_kg": 0.03,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"flat"
]
},
{
"id": "burger_bun_bottom",
"kind": "rigid",
"category": "food",
"path": "rigid/food/burger_bun_bottom",
"name": "burger bun bottom",
"description": "a plastic toy hamburger bottom bun: a flat round disc of bread, 6.4 cm across and 1.8 cm thick",
"size_mm": [
64,
64,
12
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"toy",
"stack",
"flat"
]
},
{
"id": "burger_bun_top",
"kind": "rigid",
"category": "food",
"path": "rigid/food/burger_bun_top",
"name": "burger bun top",
"description": "a plastic toy hamburger top bun with sesame seeds: a dome of bread with a flat underside, 6.4 cm across and 3 cm tall",
"size_mm": [
64,
64,
26
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"toy",
"stack"
]
},
{
"id": "burger_patty",
"kind": "rigid",
"category": "food",
"path": "rigid/food/burger_patty",
"name": "burger patty",
"description": "a plastic toy hamburger meat patty: a flat round brown disc, 6.4 cm across and 1.4 cm thick",
"size_mm": [
64,
64,
12
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"toy",
"stack",
"flat"
]
},
{
"id": "carrot",
"kind": "rigid",
"category": "food",
"path": "rigid/food/carrot",
"name": "carrot",
"description": "a fresh orange carrot without leaves, lying flat",
"size_mm": [
170,
37,
38
],
"mass_kg": 0.06,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"vegetable"
]
},
{
"id": "cereal_box",
"kind": "rigid",
"category": "food",
"path": "rigid/food/cereal_box",
"name": "cereal box",
"description": "a small cereal box, plain yellow and orange cardboard, no text, 14 cm wide, 5 cm deep, 20 cm tall",
"size_mm": [
48,
143,
200
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"box"
]
},
{
"id": "cupcake",
"kind": "rigid",
"category": "food",
"path": "rigid/food/cupcake",
"name": "cupcake",
"description": "a plastic toy cupcake with white frosting in a paper liner, 5.5 cm across and 6 cm tall",
"size_mm": [
51,
51,
60
],
"mass_kg": 0.03,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small",
"toy"
]
},
{
"id": "donut",
"kind": "rigid",
"category": "food",
"path": "rigid/food/donut",
"name": "donut",
"description": "a ring donut with pink icing, with a clear hole through the middle, lying flat, 9 cm across",
"size_mm": [
90,
90,
32
],
"mass_kg": 0.05,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"ring"
]
},
{
"id": "jam_jar",
"kind": "rigid",
"category": "food",
"path": "rigid/food/jam_jar",
"name": "jam jar",
"description": "a glass jar of strawberry jam with a red metal screw lid, no label, 7 cm across and 9 cm tall",
"size_mm": [
66,
66,
90
],
"mass_kg": 0.35,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"jar"
]
},
{
"id": "ketchup_bottle",
"kind": "rigid",
"category": "food",
"path": "rigid/food/ketchup_bottle",
"name": "ketchup bottle",
"description": "a red plastic squeeze ketchup bottle with a white flip cap, no label, 18 cm tall",
"size_mm": [
81,
65,
180
],
"mass_kg": 0.35,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"bottle"
]
},
{
"id": "kit_bean",
"kind": "rigid",
"category": "food",
"path": "rigid/food/kit_bean",
"name": "bean",
"description": "kidney-bean shaped pellet, 18 mm",
"size_mm": [
18,
8,
8
],
"mass_kg": 0.0015,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"granular"
]
},
{
"id": "kit_food_broccoli",
"kind": "rigid",
"category": "food",
"path": "rigid/food/kit_food_broccoli",
"name": "toy broccoli",
"description": "plastic toy food model: broccoli",
"size_mm": [
29,
30,
39
],
"mass_kg": 0.015,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"kitchen"
]
},
{
"id": "kit_food_egg",
"kind": "rigid",
"category": "food",
"path": "rigid/food/kit_food_egg",
"name": "toy egg",
"description": "plastic toy food model: egg",
"size_mm": [
44,
30,
35
],
"mass_kg": 0.025,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"kitchen"
]
},
{
"id": "kit_food_rice_ball",
"kind": "rigid",
"category": "food",
"path": "rigid/food/kit_food_rice_ball",
"name": "toy rice ball",
"description": "plastic toy food model: rice ball",
"size_mm": [
39,
23,
36
],
"mass_kg": 0.03,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"kitchen"
]
},
{
"id": "kit_food_sausage",
"kind": "rigid",
"category": "food",
"path": "rigid/food/kit_food_sausage",
"name": "toy sausage",
"description": "plastic toy food model: sausage",
"size_mm": [
67,
20,
18
],
"mass_kg": 0.02,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"kitchen"
]
},
{
"id": "lemon",
"kind": "rigid",
"category": "food",
"path": "rigid/food/lemon",
"name": "lemon",
"description": "a yellow lemon, lying on its side",
"size_mm": [
64,
75,
61
],
"mass_kg": 0.08,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"fruit",
"small"
]
},
{
"id": "milk_carton",
"kind": "rigid",
"category": "food",
"path": "rigid/food/milk_carton",
"name": "milk carton",
"description": "a gable-top milk carton, white with a plain blue band, no text, 6.5 cm wide and 19.5 cm tall",
"size_mm": [
60,
61,
195
],
"mass_kg": 0.4,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"box"
]
},
{
"id": "orange",
"kind": "rigid",
"category": "food",
"path": "rigid/food/orange",
"name": "orange",
"description": "an orange (fruit)",
"size_mm": [
68,
68,
65
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"fruit",
"round"
]
},
{
"id": "snack_can",
"kind": "rigid",
"category": "food",
"path": "rigid/food/snack_can",
"name": "snack can",
"description": "a tall cylindrical cardboard snack can with a plastic lid, plain red, no logo, 6.6 cm across and 21 cm tall",
"size_mm": [
66,
66,
192
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"can"
]
},
{
"id": "soda_can",
"kind": "rigid",
"category": "food",
"path": "rigid/food/soda_can",
"name": "soda can",
"description": "an aluminium soda can, plain red, no logo, 12.2 cm tall",
"size_mm": [
66,
66,
122
],
"mass_kg": 0.35,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"can"
]
},
{
"id": "soup_can",
"kind": "rigid",
"category": "food",
"path": "rigid/food/soup_can",
"name": "soup can",
"description": "a tin can of soup with a plain green paper label, no text, flat top and bottom, 6.6 cm across and 10 cm tall",
"size_mm": [
66,
66,
88
],
"mass_kg": 0.3,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"kitchen",
"can",
"stack"
]
},
{
"id": "sushi",
"kind": "rigid",
"category": "food",
"path": "rigid/food/sushi",
"name": "sushi",
"description": "a plastic toy food model of one salmon nigiri sushi, 6 cm long",
"size_mm": [
60,
30,
26
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small",
"toy"
]
},
{
"id": "tomato",
"kind": "rigid",
"category": "food",
"path": "rigid/food/tomato",
"name": "tomato",
"description": "a ripe red tomato with a green calyx",
"size_mm": [
60,
60,
48
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"vegetable",
"round"
]
},
{
"id": "yogurt_cup",
"kind": "rigid",
"category": "food",
"path": "rigid/food/yogurt_cup",
"name": "yogurt cup",
"description": "a plastic yogurt cup with a foil lid, white, no text, tapered, 6.5 cm across and 8 cm tall",
"size_mm": [
65,
60,
68
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"small"
]
},
{
"id": "kit_bookshelf",
"kind": "rigid",
"category": "furniture",
"path": "rigid/furniture/kit_bookshelf",
"name": "small bookshelf",
"description": "small bookshelf: a slot for one standing book, open at the top",
"size_mm": [
124,
176,
130
],
"mass_kg": 1.3875,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"slot"
],
"tags": [
"fixture",
"slot"
]
},
{
"id": "kit_small_table",
"kind": "rigid",
"category": "furniture",
"path": "rigid/furniture/kit_small_table",
"name": "side table",
"description": "small side table standing on the main table, top 240 x 240 mm at 100 mm",
"size_mm": [
240,
240,
100
],
"mass_kg": 0.894,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"fixture",
"platform"
]
},
{
"id": "small_watering_can",
"kind": "rigid",
"category": "garden",
"path": "rigid/garden/small_watering_can",
"name": "small watering can",
"description": "An empty green plastic tabletop watering can with an open top filling cavity, a narrow upward-sloping spout without a sprinkler rose, and a rear loop handle with a slim graspable grip, 24 cm long, 10 cm wide and 16 cm tall",
"size_mm": [
254,
108,
160
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": []
},
{
"id": "trowel",
"kind": "rigid",
"category": "garden",
"path": "rigid/garden/trowel",
"name": "trowel",
"description": "a garden hand trowel with a green plastic handle and a steel scoop blade, lying flat, 28 cm long",
"size_mm": [
280,
69,
44
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"scoop"
]
},
{
"id": "cutting_board",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/cutting_board",
"name": "cutting board",
"description": "a rectangular wooden cutting board with rounded corners, lying flat, 28 cm by 19 cm, 1.5 cm thick",
"size_mm": [
280,
199,
23
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"flat",
"kitchen",
"platform"
]
},
{
"id": "egg_tray",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/egg_tray",
"name": "egg tray",
"description": "an open grey cardboard egg tray for six eggs, two rows of three round cups, no lid, empty, seen from above at an angle, 15 cm long",
"size_mm": [
155,
108,
72
],
"mass_kg": 0.05,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"cup_0",
"cup_1",
"cup_2",
"cup_3",
"cup_4",
"cup_5",
"interior"
],
"tags": [
"container",
"kitchen",
"slot"
]
},
{
"id": "fruit_basket",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/fruit_basket",
"name": "fruit basket",
"description": "a round woven wicker fruit basket, shallow, open, empty, 22 cm across and 8 cm tall",
"size_mm": [
220,
220,
65
],
"mass_kg": 0.25,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container"
]
},
{
"id": "kit_bowl_large",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_bowl_large",
"name": "large plastic bowl",
"description": "round plastic bowl, rim 150 mm; the three sizes nest",
"size_mm": [
151,
151,
55
],
"mass_kg": 0.12,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"interior"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "kit_bowl_medium",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_bowl_medium",
"name": "medium plastic bowl",
"description": "round plastic bowl, rim 120 mm; the three sizes nest",
"size_mm": [
121,
121,
44
],
"mass_kg": 0.09,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"interior"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "kit_bowl_small",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_bowl_small",
"name": "small plastic bowl",
"description": "round plastic bowl, rim 92 mm; the three sizes nest",
"size_mm": [
93,
93,
34
],
"mass_kg": 0.06,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"interior"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "kit_dish_rack",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_dish_rack",
"name": "dish rack",
"description": "small dish rack with three slots between rows of pegs; plates stand in the slots",
"size_mm": [
140,
220,
82
],
"mass_kg": 0.2918,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"slot_0",
"slot_1",
"slot_2"
],
"tags": [
"fixture",
"rack",
"slot"
]
},
{
"id": "kit_lunchbox",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_lunchbox",
"name": "lunchbox",
"description": "lunchbox with a divider across the middle (two compartments)",
"size_mm": [
168,
118,
45
],
"mass_kg": 0.2,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"interior",
"left",
"right",
"rim"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "kit_lunchbox_lid",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_lunchbox_lid",
"name": "lunchbox lid",
"description": "rigid lunchbox lid with a skirt and a knob",
"size_mm": [
178,
128,
32
],
"mass_kg": 0.08,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"knob",
"seat"
],
"tags": [
"lid",
"kitchen"
]
},
{
"id": "kit_mug_rack",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_mug_rack",
"name": "mug tree",
"description": "mug tree: a post with two upward-angled pegs",
"size_mm": [
139,
139,
240
],
"mass_kg": 0.2088,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"peg_0",
"peg_1"
],
"tags": [
"fixture",
"rack",
"hook"
]
},
{
"id": "kit_plate",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_plate",
"name": "plastic plate",
"description": "shallow plastic plate with a raised rim, 150 mm",
"size_mm": [
151,
151,
17
],
"mass_kg": 0.06,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"kitchen",
"flat"
]
},
{
"id": "kit_tray",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/kit_tray",
"name": "serving tray",
"description": "small serving tray with two cup wells, an arched centre handle and two side handles (bimanual)",
"size_mm": [
184,
356,
75
],
"mass_kg": 0.25,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"handle",
"handle_left",
"handle_right",
"top",
"well_left",
"well_right"
],
"tags": [
"carry",
"bimanual",
"handle"
]
},
{
"id": "metal_colander",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/metal_colander",
"name": "metal colander",
"description": "An empty stainless-steel kitchen colander with a round bowl perforated by small drainage holes, two opposite side handles, and a stable circular foot, 30 cm long, 24 cm wide and 12 cm tall",
"size_mm": [
300,
242,
117
],
"mass_kg": 0.35,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": []
},
{
"id": "mixing_bowl",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/mixing_bowl",
"name": "mixing bowl",
"description": "a stainless steel mixing bowl, round, open, empty, 20 cm across and 9 cm tall",
"size_mm": [
200,
200,
104
],
"mass_kg": 0.25,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "rolling_pin",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/rolling_pin",
"name": "rolling pin",
"description": "a wooden rolling pin with a handle at each end, lying flat, 40 cm long",
"size_mm": [
58,
400,
58
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"bimanual",
"kitchen"
]
},
{
"id": "salt_shaker",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/salt_shaker",
"name": "salt shaker",
"description": "a glass salt shaker with a stainless steel screw cap, cylinder, 4.5 cm across and 9 cm tall",
"size_mm": [
40,
40,
90
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"small"
]
},
{
"id": "utensil_holder",
"kind": "rigid",
"category": "kitchenware",
"path": "rigid/kitchenware/utensil_holder",
"name": "utensil holder",
"description": "a white ceramic kitchen utensil holder crock, plain cylinder, open top, empty, 10.5 cm across and 14 cm tall",
"size_mm": [
108,
108,
140
],
"mass_kg": 0.6,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"kitchen"
]
},
{
"id": "board_eraser",
"kind": "rigid",
"category": "office",
"path": "rigid/office/board_eraser",
"name": "board eraser",
"description": "a whiteboard eraser with a blue plastic grip and a grey felt pad underneath, 12 cm long, 5 cm wide, 3 cm tall",
"size_mm": [
120,
45,
43
],
"mass_kg": 0.05,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"wipe"
]
},
{
"id": "calculator",
"kind": "rigid",
"category": "office",
"path": "rigid/office/calculator",
"name": "calculator",
"description": "a grey desktop pocket calculator, lying flat, 15 cm long and 8 cm wide",
"size_mm": [
150,
105,
12
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"flat"
]
},
{
"id": "glue_stick",
"kind": "rigid",
"category": "office",
"path": "rigid/office/glue_stick",
"name": "glue stick",
"description": "a glue stick with its cap on, white and red, standing upright, 2.6 cm across and 10 cm tall",
"size_mm": [
24,
24,
100
],
"mass_kg": 0.04,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "hardcover_book",
"kind": "rigid",
"category": "office",
"path": "rigid/office/hardcover_book",
"name": "hardcover book",
"description": "a closed hardcover book with a plain red cloth cover, no title, lying flat, 21 cm long, 15 cm wide, 2.5 cm thick",
"size_mm": [
210,
163,
32
],
"mass_kg": 0.4,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"flat",
"book"
]
},
{
"id": "highlighter",
"kind": "rigid",
"category": "office",
"path": "rigid/office/highlighter",
"name": "highlighter",
"description": "a yellow highlighter marker pen with its cap on, lying flat, 12 cm long and 2 cm thick",
"size_mm": [
120,
23,
21
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "kit_book",
"kind": "rigid",
"category": "office",
"path": "rigid/office/kit_book",
"name": "thin book",
"description": "thin hardcover book 130 x 180 x 12 mm, lying flat",
"size_mm": [
130,
180,
12
],
"mass_kg": 0.12,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"flat",
"thin"
]
},
{
"id": "paper_ball",
"kind": "rigid",
"category": "office",
"path": "rigid/office/paper_ball",
"name": "paper ball",
"description": "a crumpled ball of white paper, 6 cm across",
"size_mm": [
54,
60,
51
],
"mass_kg": 0.02,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"light",
"round"
]
},
{
"id": "pen",
"kind": "rigid",
"category": "office",
"path": "rigid/office/pen",
"name": "pen",
"description": "a blue ballpoint pen with its cap on, lying flat, 14 cm long",
"size_mm": [
140,
15,
12
],
"mass_kg": 0.012,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"thin",
"small"
]
},
{
"id": "pen_cup",
"kind": "rigid",
"category": "office",
"path": "rigid/office/pen_cup",
"name": "pen cup",
"description": "a solid black plastic pen holder cup, plain cylinder, open top, empty, 8 cm across and 10 cm tall",
"size_mm": [
86,
86,
100
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container"
]
},
{
"id": "scissors",
"kind": "rigid",
"category": "office",
"path": "rigid/office/scissors",
"name": "scissors",
"description": "a pair of scissors with orange plastic handles, closed, lying flat, 18 cm long",
"size_mm": [
180,
68,
11
],
"mass_kg": 0.06,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"thin"
]
},
{
"id": "dumbbell",
"kind": "rigid",
"category": "sports",
"path": "rigid/sports/dumbbell",
"name": "dumbbell",
"description": "a small neoprene-coated dumbbell, blue, hexagonal heads, lying flat, 16 cm long",
"size_mm": [
160,
58,
49
],
"mass_kg": 0.5,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"heavy"
]
},
{
"id": "tennis_ball",
"kind": "rigid",
"category": "sports",
"path": "rigid/sports/tennis_ball",
"name": "tennis ball",
"description": "a yellow-green tennis ball",
"size_mm": [
65,
65,
65
],
"mass_kg": 0.058,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"round",
"rolls"
]
},
{
"id": "plastic_tool_tote",
"kind": "rigid",
"category": "storage",
"path": "rigid/storage/plastic_tool_tote",
"name": "plastic tool tote",
"description": "An empty dark blue moulded-plastic rectangular open-top tool tote with two long storage compartments separated by a low central divider and a raised lengthwise centre carrying handle, 32 cm long, 28 cm wide and 18 cm tall",
"size_mm": [
314,
320,
185
],
"mass_kg": 0.45,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior"
],
"tags": []
},
{
"id": "storage_bin",
"kind": "rigid",
"category": "storage",
"path": "rigid/storage/storage_bin",
"name": "storage bin",
"description": "a grey plastic storage bin, rectangular, open top, empty, with a cut-out handle on each short end, 28 cm long, 19 cm wide, 12 cm tall",
"size_mm": [
196,
280,
112
],
"mass_kg": 0.4,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container",
"bimanual",
"handles"
]
},
{
"id": "waste_bin",
"kind": "rigid",
"category": "storage",
"path": "rigid/storage/waste_bin",
"name": "waste bin",
"description": "a small round desktop waste bin, grey plastic, open top, empty, slightly tapered, 15 cm across and 17 cm tall",
"size_mm": [
160,
160,
170
],
"mass_kg": 0.3,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container"
]
},
{
"id": "wicker_basket",
"kind": "rigid",
"category": "storage",
"path": "rigid/storage/wicker_basket",
"name": "wicker basket",
"description": "a small rectangular woven storage basket, open top, empty, 21 cm long, 15 cm wide, 10 cm tall",
"size_mm": [
151,
210,
98
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"interior",
"rim"
],
"tags": [
"container"
]
},
{
"id": "flashlight",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/flashlight",
"name": "flashlight",
"description": "a black aluminium flashlight (torch), lying flat, 15 cm long and 3.5 cm thick",
"size_mm": [
150,
36,
37
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": []
},
{
"id": "hammer",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/hammer",
"name": "hammer",
"description": "a claw hammer with a wooden handle and a steel head, lying flat, 28 cm long",
"size_mm": [
280,
118,
30
],
"mass_kg": 0.45,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"strike"
]
},
{
"id": "pliers",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/pliers",
"name": "pliers",
"description": "slip-joint pliers with blue rubber grips, closed, lying flat, 18 cm long",
"size_mm": [
180,
46,
18
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool"
]
},
{
"id": "screwdriver",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/screwdriver",
"name": "screwdriver",
"description": "a flathead screwdriver with a red and black plastic handle, lying flat, 20 cm long",
"size_mm": [
200,
31,
31
],
"mass_kg": 0.08,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool"
]
},
{
"id": "tape_measure",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/tape_measure",
"name": "tape measure",
"description": "a yellow and black tape measure, 7 cm wide",
"size_mm": [
70,
29,
63
],
"mass_kg": 0.2,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "wrench",
"kind": "rigid",
"category": "tool",
"path": "rigid/tool/wrench",
"name": "wrench",
"description": "a chrome combination wrench (spanner), lying flat, 20 cm long",
"size_mm": [
200,
42,
12
],
"mass_kg": 0.15,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"thin"
]
},
{
"id": "kit_ball",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_ball",
"name": "plastic ball",
"description": "hard plastic ball, 20 mm",
"size_mm": [
20,
20,
20
],
"mass_kg": 0.005,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"small",
"rolls"
]
},
{
"id": "kit_ball_ramp",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_ball_ramp",
"name": "ball ramp",
"description": "ramp with side walls: a start lane, an incline and a platform with a hole sized to the plastic ball",
"size_mm": [
296,
72,
39
],
"mass_kg": 0.2091,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"hole",
"start"
],
"tags": [
"fixture"
]
},
{
"id": "kit_cube_32",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_cube_32",
"name": "32 mm cube block",
"description": "wooden cube block",
"size_mm": [
32,
32,
32
],
"mass_kg": 0.0164,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"block",
"stack"
]
},
{
"id": "kit_cube_38",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_cube_38",
"name": "38 mm cube block",
"description": "wooden cube block",
"size_mm": [
38,
38,
38
],
"mass_kg": 0.0274,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"block",
"stack"
]
},
{
"id": "kit_cube_44",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_cube_44",
"name": "44 mm cube block",
"description": "wooden cube block",
"size_mm": [
44,
44,
44
],
"mass_kg": 0.0426,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"block",
"stack"
]
},
{
"id": "kit_cube_50",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_cube_50",
"name": "50 mm cube block",
"description": "wooden cube block",
"size_mm": [
50,
50,
50
],
"mass_kg": 0.0625,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"top"
],
"tags": [
"block",
"stack"
]
},
{
"id": "kit_domino",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_domino",
"name": "domino",
"description": "domino tile 12 x 30 x 60 mm, standing along z",
"size_mm": [
12,
30,
60
],
"mass_kg": 0.012,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"block"
]
},
{
"id": "kit_shape_board",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_shape_board",
"name": "shape board",
"description": "shape matching board: three U-shaped pockets (circle, square, triangle) open towards -x",
"size_mm": [
81,
236,
12
],
"mass_kg": 0.0242,
"fixed": true,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"pocket_circle",
"pocket_square",
"pocket_triangle"
],
"tags": [
"fixture",
"slot"
]
},
{
"id": "kit_shape_circle",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_shape_circle",
"name": "circle shape piece",
"description": "thin plastic shape piece (6 mm): slide it, it is too thin to pick up",
"size_mm": [
48,
48,
6
],
"mass_kg": 0.008,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"thin",
"slide"
]
},
{
"id": "kit_shape_square",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_shape_square",
"name": "square shape piece",
"description": "thin plastic shape piece (6 mm): slide it, it is too thin to pick up",
"size_mm": [
42,
42,
6
],
"mass_kg": 0.008,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"thin",
"slide"
]
},
{
"id": "kit_shape_triangle",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/kit_shape_triangle",
"name": "triangle shape piece",
"description": "thin plastic shape piece (6 mm): slide it, it is too thin to pick up",
"size_mm": [
45,
52,
6
],
"mass_kg": 0.008,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [],
"tags": [
"thin",
"slide"
]
},
{
"id": "rubber_duck",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/rubber_duck",
"name": "rubber duck",
"description": "a yellow rubber duck bath toy, 8.5 cm long",
"size_mm": [
65,
85,
70
],
"mass_kg": 0.04,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "rubiks_cube",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/rubiks_cube",
"name": "rubiks cube",
"description": "a 3x3 puzzle cube with coloured stickers, solved, 5.6 cm",
"size_mm": [
56,
56,
56
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"top"
],
"tags": [
"block"
]
},
{
"id": "teddy_bear",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/teddy_bear",
"name": "teddy bear",
"description": "a small brown plush teddy bear, sitting upright, 14 cm tall",
"size_mm": [
123,
104,
140
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"soft",
"plush"
]
},
{
"id": "toy_car",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/toy_car",
"name": "toy car",
"description": "a red die-cast toy car, 11 cm long",
"size_mm": [
110,
45,
32
],
"mass_kg": 0.12,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "toy_dinosaur",
"kind": "rigid",
"category": "toy",
"path": "rigid/toy/toy_dinosaur",
"name": "toy dinosaur",
"description": "a green plastic toy dinosaur (tyrannosaurus) standing on two legs and its tail, 14 cm long",
"size_mm": [
140,
46,
67
],
"mass_kg": 0.08,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": []
},
{
"id": "balloon_whisk",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/balloon_whisk",
"name": "balloon whisk",
"description": "A silver stainless-steel balloon whisk with a rounded cage of thin wire loops and a narrow cylindrical steel handle, lying flat, 28 cm long, 6 cm wide and 6 cm tall",
"size_mm": [
280,
98,
65
],
"mass_kg": 0.075,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": []
},
{
"id": "dinner_spoon",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/dinner_spoon",
"name": "dinner spoon",
"description": "a stainless steel tablespoon, lying flat, 19 cm long",
"size_mm": [
190,
44,
22
],
"mass_kg": 0.04,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"thin",
"cutlery"
]
},
{
"id": "fork",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/fork",
"name": "fork",
"description": "a stainless steel dinner fork, lying flat, 19 cm long",
"size_mm": [
190,
30,
24
],
"mass_kg": 0.04,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"thin",
"cutlery"
]
},
{
"id": "kit_spoon",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/kit_spoon",
"name": "plastic spoon",
"description": "rigid plastic serving spoon, head on +x, 18 cm",
"size_mm": [
181,
56,
9
],
"mass_kg": 0.025,
"fixed": false,
"source": "kit",
"license": "ENVORA Object Kit (this repository)",
"joints": [],
"regions": [
"handle_end",
"head"
],
"tags": [
"tool",
"kitchen",
"scoop"
]
},
{
"id": "kitchen_knife",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/kitchen_knife",
"name": "kitchen knife",
"description": "a chef's kitchen knife with a black handle, lying flat, 20 cm long",
"size_mm": [
200,
30,
15
],
"mass_kg": 0.08,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"kitchen",
"thin"
]
},
{
"id": "ladle",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/ladle",
"name": "ladle",
"description": "a stainless steel soup ladle with a deep round bowl and a long straight handle, lying on its back with the bowl opening facing up, 28 cm long",
"size_mm": [
280,
86,
53
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"kitchen",
"scoop"
]
},
{
"id": "spatula",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/spatula",
"name": "spatula",
"description": "a black nylon turner spatula with a flat wide head and a long handle, lying flat, 30 cm long",
"size_mm": [
300,
93,
16
],
"mass_kg": 0.06,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"tool",
"kitchen",
"flip"
]
},
{
"id": "table_knife",
"kind": "rigid",
"category": "utensil",
"path": "rigid/utensil/table_knife",
"name": "table knife",
"description": "a stainless steel dinner knife (butter knife), lying flat, 21 cm long",
"size_mm": [
210,
23,
11
],
"mass_kg": 0.05,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"kitchen",
"thin",
"cutlery"
]
},
{
"id": "coffee_machine",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/coffee_machine",
"name": "coffee machine",
"description": "capsule coffee machine with a hinged lid and a removable water container",
"size_mm": [
398,
182,
375
],
"mass_kg": 4.776,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"Lid001",
"Lid003"
],
"regions": [],
"tags": [
"kitchen",
"lid",
"fixture"
]
},
{
"id": "cooktop",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/cooktop",
"name": "gas cooktop",
"description": "four-burner gas cooktop with control knobs along the front (desktop size)",
"size_mm": [
258,
300,
61
],
"mass_kg": 1.5761,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"knob_left",
"knob_right"
],
"regions": [
"top"
],
"tags": [
"knob",
"platform",
"fixture"
]
},
{
"id": "electric_kettle",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/electric_kettle",
"name": "electric kettle",
"description": "electric kettle on its base with a hinged lid and a power switch",
"size_mm": [
154,
211,
240
],
"mass_kg": 0.541,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"lid"
],
"regions": [],
"tags": [
"kitchen",
"lid",
"fixture"
]
},
{
"id": "microwave",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/microwave",
"name": "microwave oven",
"description": "countertop microwave oven with a side-hinged door (opens towards the robot's right) and a glass turntable inside",
"size_mm": [
314,
484,
291
],
"mass_kg": 3.897,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"door"
],
"regions": [
"interior"
],
"tags": [
"kitchen",
"door",
"fixture"
]
},
{
"id": "mini_fridge",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/mini_fridge",
"name": "mini fridge",
"description": "An empty white enamel countertop mini refrigerator with a single front door, a recessed handle on its left edge, and one interior shelf near the top leaving a lower compartment at least 25 cm tall.. Generator: Meshy, refined in Blender. Fixed cabinet; single right-edge Z hinge opens outward from 0 to 100 degrees toward user right. No spring or automatic return. Shelf is fixed at 0.322 m; structura",
"size_mm": [
320,
320,
450
],
"mass_kg": 10.0,
"fixed": true,
"source": "phys3d",
"license": "generated with PhysAg3D (Meshy image-to-3D candidate from a GPT image); owned by the ENVORA project",
"joints": [
"door"
],
"regions": [
"interior"
],
"tags": []
},
{
"id": "stand_mixer",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/stand_mixer",
"name": "stand mixer",
"description": "stand mixer with a tilting head and a speed knob",
"size_mm": [
342,
169,
297
],
"mass_kg": 2.034,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"head",
"knob_speed"
],
"regions": [],
"tags": [
"kitchen",
"hinge",
"knob",
"fixture"
]
},
{
"id": "toaster_lever",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/toaster_lever",
"name": "pop-up toaster",
"description": "two-slot pop-up toaster with a push-down lever and a doneness knob",
"size_mm": [
334,
198,
187
],
"mass_kg": 1.293,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"knob",
"lever"
],
"regions": [
"slot_left",
"slot_right"
],
"tags": [
"kitchen",
"lever",
"knob",
"fixture"
]
},
{
"id": "toaster_oven",
"kind": "articulated",
"category": "appliance",
"path": "articulated/appliance/toaster_oven",
"name": "toaster oven",
"description": "toaster oven with a drop-down door, three knobs and a slide-out tray",
"size_mm": [
369,
500,
307
],
"mass_kg": 7.097,
"fixed": true,
"source": "nvidia_kitchen_mjcf",
"license": "CC-BY-4.0 (nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF, assets by Lightwheel; https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF); normalised",
"joints": [
"door",
"knob_function",
"knob_temp",
"knob_time",
"tray"
],
"regions": [
"tray"
],
"tags": [
"kitchen",
"door",
"knob",
"fixture"
]
},
{
"id": "paper_holder",
"kind": "articulated",
"category": "bathroom",
"path": "articulated/bathroom/paper_holder",
"name": "paper roll holder",
"description": "roller holder for a paper roll",
"size_mm": [
80,
160,
55
],
"mass_kg": 0.3403,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"roller"
],
"regions": [],
"tags": [
"roller",
"fixture"
]
},
{
"id": "soap_pump",
"kind": "articulated",
"category": "bathroom",
"path": "articulated/bathroom/soap_pump",
"name": "pump soap dispenser",
"description": "soap dispenser bottle with a push-down pump head",
"size_mm": [
79,
72,
180
],
"mass_kg": 0.0607,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"pump"
],
"regions": [],
"tags": [
"pump",
"press"
]
},
{
"id": "spray_bottle_trigger",
"kind": "articulated",
"category": "cleaning",
"path": "articulated/cleaning/spray_bottle_trigger",
"name": "trigger spray bottle",
"description": "spray bottle with a squeeze trigger",
"size_mm": [
54,
60,
210
],
"mass_kg": 0.0956,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"trigger"
],
"regions": [],
"tags": [
"trigger",
"bottle"
]
},
{
"id": "water_bottle",
"kind": "articulated",
"category": "drinkware",
"path": "articulated/drinkware/water_bottle",
"name": "screw-cap water bottle",
"description": "stainless water bottle with a screw cap (the cap turns two turns)",
"size_mm": [
63,
63,
232
],
"mass_kg": 0.3853,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"cap"
],
"regions": [],
"tags": [
"bottle",
"twist",
"bimanual"
]
},
{
"id": "stop_button",
"kind": "articulated",
"category": "electrical",
"path": "articulated/electrical/stop_button",
"name": "push button box",
"description": "yellow box with a large red push button on top",
"size_mm": [
120,
120,
109
],
"mass_kg": 0.2679,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"button"
],
"regions": [],
"tags": [
"button",
"fixture"
]
},
{
"id": "switch_box",
"kind": "articulated",
"category": "electrical",
"path": "articulated/electrical/switch_box",
"name": "switch box",
"description": "electrical disconnect box with a door and a throw lever on the side",
"size_mm": [
123,
170,
210
],
"mass_kg": 1.6101,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"door",
"lever"
],
"regions": [],
"tags": [
"lever",
"door",
"fixture"
]
},
{
"id": "laptop",
"kind": "articulated",
"category": "electronics",
"path": "articulated/electronics/laptop",
"name": "laptop",
"description": "thin aluminium laptop; the screen lid opens up to 135 degrees",
"size_mm": [
220,
320,
15
],
"mass_kg": 1.2112,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [],
"tags": [
"office",
"hinge",
"lid"
]
},
{
"id": "drawer_unit",
"kind": "articulated",
"category": "furniture",
"path": "articulated/furniture/drawer_unit",
"name": "three-drawer unit",
"description": "three-drawer unit (desktop size)",
"size_mm": [
218,
223,
313
],
"mass_kg": 3.7716,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"drawer_bottom",
"drawer_middle",
"drawer_top"
],
"regions": [
"bottom_space",
"middle_space",
"top",
"top_space"
],
"tags": [
"drawer",
"fixture"
]
},
{
"id": "nightstand",
"kind": "articulated",
"category": "furniture",
"path": "articulated/furniture/nightstand",
"name": "one-drawer stand",
"description": "small wooden stand with one drawer (desktop size)",
"size_mm": [
183,
202,
248
],
"mass_kg": 1.3309,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"drawer"
],
"regions": [
"drawer_space",
"top"
],
"tags": [
"drawer",
"fixture"
]
},
{
"id": "pedestal",
"kind": "articulated",
"category": "furniture",
"path": "articulated/furniture/pedestal",
"name": "desk pedestal",
"description": "three-drawer desk pedestal (desktop size)",
"size_mm": [
219,
168,
252
],
"mass_kg": 1.787,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"drawer_bottom",
"drawer_middle",
"drawer_top"
],
"regions": [
"bottom_space",
"middle_space",
"top",
"top_space"
],
"tags": [
"drawer",
"fixture"
]
},
{
"id": "wall_cabinet",
"kind": "articulated",
"category": "furniture",
"path": "articulated/furniture/wall_cabinet",
"name": "cabinet with a door",
"description": "small cabinet with one side-hinged door and shelves inside",
"size_mm": [
82,
242,
360
],
"mass_kg": 1.9555,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"door"
],
"regions": [
"interior"
],
"tags": [
"door",
"shelf",
"fixture"
]
},
{
"id": "bread_box",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/bread_box",
"name": "bread box",
"description": "steel bread box with a domed roll-back lid",
"size_mm": [
178,
266,
154
],
"mass_kg": 1.2045,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [],
"tags": [
"box",
"lid",
"fixture"
]
},
{
"id": "coffee_grinder",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/coffee_grinder",
"name": "hand coffee grinder",
"description": "box coffee grinder with a hand crank on top and a small drawer",
"size_mm": [
150,
140,
180
],
"mass_kg": 1.3773,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"crank",
"drawer"
],
"regions": [],
"tags": [
"crank",
"drawer",
"fixture"
]
},
{
"id": "compost_bin",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/compost_bin",
"name": "countertop bin",
"description": "stainless countertop bin with a hinged lid",
"size_mm": [
203,
165,
176
],
"mass_kg": 1.0824,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"bin",
"lid",
"fixture"
]
},
{
"id": "food_container",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/food_container",
"name": "hinged food container",
"description": "rectangular food storage container with a hinged lid",
"size_mm": [
158,
200,
80
],
"mass_kg": 0.293,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"box",
"lid",
"container"
]
},
{
"id": "kitchen_timer",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/kitchen_timer",
"name": "kitchen timer",
"description": "mechanical kitchen timer with a turning dial",
"size_mm": [
53,
91,
96
],
"mass_kg": 0.1848,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"dial"
],
"regions": [],
"tags": [
"dial",
"small"
]
},
{
"id": "lunch_box_hinged",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/lunch_box_hinged",
"name": "hinged lunch box",
"description": "plastic lunch box with a hinged lid",
"size_mm": [
144,
200,
120
],
"mass_kg": 0.5419,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"box",
"lid",
"container"
]
},
{
"id": "mason_jar",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/mason_jar",
"name": "screw-top jar",
"description": "glass jar with a screw lid (the lid turns one and a half turns)",
"size_mm": [
68,
68,
112
],
"mass_kg": 0.1422,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [],
"tags": [
"jar",
"twist",
"bimanual"
]
},
{
"id": "pepper_mill",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/pepper_mill",
"name": "pepper mill",
"description": "wooden pepper mill; the top turns",
"size_mm": [
60,
60,
200
],
"mass_kg": 0.2585,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"knob"
],
"regions": [],
"tags": [
"twist",
"bimanual"
]
},
{
"id": "spice_jar",
"kind": "articulated",
"category": "kitchenware",
"path": "articulated/kitchenware/spice_jar",
"name": "flip-top spice jar",
"description": "spice jar with a flip-top cap",
"size_mm": [
50,
50,
102
],
"mass_kg": 0.114,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [],
"tags": [
"jar",
"lid",
"small"
]
},
{
"id": "pill_organizer",
"kind": "articulated",
"category": "medical",
"path": "articulated/medical/pill_organizer",
"name": "weekly pill organizer",
"description": "seven-compartment weekly pill organizer with one flip lid per day (enlarged)",
"size_mm": [
64,
304,
40
],
"mass_kg": 0.2132,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"fri",
"mon",
"sun",
"wed"
],
"regions": [],
"tags": [
"small",
"lid",
"fixture"
]
},
{
"id": "stapler",
"kind": "articulated",
"category": "office",
"path": "articulated/office/stapler",
"name": "stapler",
"description": "desktop stapler; the top arm presses down",
"size_mm": [
40,
150,
60
],
"mass_kg": 0.2231,
"fixed": false,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"arm"
],
"regions": [],
"tags": [
"press",
"tool"
]
},
{
"id": "mailbox",
"kind": "articulated",
"category": "outdoor",
"path": "articulated/outdoor/mailbox",
"name": "mailbox",
"description": "post-mounted mailbox with a drop-down door (desktop size)",
"size_mm": [
104,
112,
294
],
"mass_kg": 1.1184,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"door"
],
"regions": [],
"tags": [
"door",
"slot",
"fixture"
]
},
{
"id": "ball_valve",
"kind": "articulated",
"category": "plumbing",
"path": "articulated/plumbing/ball_valve",
"name": "ball valve",
"description": "brass ball valve with a quarter-turn lever handle",
"size_mm": [
60,
120,
100
],
"mass_kg": 1.2529,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lever"
],
"regions": [],
"tags": [
"lever",
"fixture"
]
},
{
"id": "basin_faucet",
"kind": "articulated",
"category": "plumbing",
"path": "articulated/plumbing/basin_faucet",
"name": "basin faucet",
"description": "single-lever basin faucet",
"size_mm": [
122,
74,
150
],
"mass_kg": 0.5215,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lever"
],
"regions": [],
"tags": [
"lever",
"fixture"
]
},
{
"id": "faucet",
"kind": "articulated",
"category": "plumbing",
"path": "articulated/plumbing/faucet",
"name": "kitchen faucet",
"description": "high-arc kitchen faucet with a side lever and a swivelling spout",
"size_mm": [
132,
120,
240
],
"mass_kg": 0.7778,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lever",
"spout"
],
"regions": [],
"tags": [
"lever",
"fixture"
]
},
{
"id": "jewelry_box",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/jewelry_box",
"name": "jewelry box",
"description": "wooden two-tier jewelry box with a hinged lid and a small front drawer",
"size_mm": [
162,
212,
135
],
"mass_kg": 0.5688,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"drawer",
"lid"
],
"regions": [
"drawer_space",
"interior"
],
"tags": [
"box",
"lid",
"drawer"
]
},
{
"id": "parcel_box",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/parcel_box",
"name": "cardboard box",
"description": "corrugated cardboard box with four top flaps",
"size_mm": [
176,
240,
96
],
"mass_kg": 0.0666,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"flap_back",
"flap_front",
"flap_left",
"flap_right"
],
"regions": [
"interior"
],
"tags": [
"box",
"flaps",
"bimanual"
]
},
{
"id": "parts_bin",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/parts_bin",
"name": "storage box",
"description": "plastic storage box with a hinged lid",
"size_mm": [
180,
240,
132
],
"mass_kg": 0.3105,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"box",
"lid",
"fixture"
]
},
{
"id": "pedal_bin",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/pedal_bin",
"name": "lidded bin",
"description": "round waste bin with a hinged lid (desktop size)",
"size_mm": [
140,
120,
248
],
"mass_kg": 0.4185,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"bin",
"lid",
"fixture"
]
},
{
"id": "safe",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/safe",
"name": "small safe",
"description": "steel safe with a side-hinged door and a turning handle",
"size_mm": [
256,
208,
175
],
"mass_kg": 1.4734,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"door",
"handle"
],
"regions": [
"interior"
],
"tags": [
"door",
"handle",
"fixture"
]
},
{
"id": "swing_bin",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/swing_bin",
"name": "swing-lid bin",
"description": "waste bin with a swinging lid that items are pushed through (desktop size)",
"size_mm": [
112,
112,
240
],
"mass_kg": 0.2387,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"flap"
],
"regions": [
"interior"
],
"tags": [
"bin",
"swing_lid",
"fixture"
]
},
{
"id": "toy_chest",
"kind": "articulated",
"category": "storage",
"path": "articulated/storage/toy_chest",
"name": "toy chest",
"description": "wooden chest with a hinged lid (desktop size)",
"size_mm": [
164,
320,
200
],
"mass_kg": 0.9305,
"fixed": true,
"source": "usdcraft",
"license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
"joints": [
"lid"
],
"regions": [
"interior"
],
"tags": [
"box",
"lid",
"fixture"
]
}
]
[
{
"id": "eyeglasses",
"kind": "rigid",
"category": "accessory",
"path": "rigid/accessory/eyeglasses",
"name": "eyeglasses",
"description": "a pair of eyeglasses with a black plastic frame, temples folded, lying flat",
"size_mm": [
140,
46,
29
],
"mass_kg": 0.03,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small",
"fragile"
]
},
{
"id": "toaster",
"kind": "rigid",
"category": "appliance",
"path": "rigid/appliance/toaster",
"name": "toaster",
"description": "a two-slice pop-up toaster, brushed stainless steel with black ends, two long wide open slots on top, 27 cm long",
"size_mm": [
260,
159,
191
],
"mass_kg": 1.5,
"fixed": true,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [
"slot_0",
"slot_1"
],
"tags": [
"fixture",
"kitchen",
"slot"
]
},
{
"id": "shampoo_bottle",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/shampoo_bottle",
"name": "shampoo bottle",
"description": "a teal plastic shampoo bottle with a flip cap, oval cross-section, no label, 17 cm tall",
"size_mm": [
53,
57,
170
],
"mass_kg": 0.3,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"bottle"
]
},
{
"id": "soap_bar",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/soap_bar",
"name": "soap bar",
"description": "a white bar of soap, rounded rectangle, 9 cm long, 5.5 cm wide, 2.5 cm thick",
"size_mm": [
90,
58,
26
],
"mass_kg": 0.1,
"fixed": false,
"source": "meshy",
"license": "generated with Meshy (image-to-3D) from a GPT image; owned by the ENVORA project",
"joints": [],
"regions": [],
"tags": [
"small"
]
},
{
"id": "soap_dish",
"kind": "rigid",
"category": "bathroom",
"path": "rigid/bathroom/soap_dish",