[ { "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" ] } ]