Add asset kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816

.gitattributes

@@ -3874,7 +3874,5 @@ dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_kn
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/mesh/peeler_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/peeler_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/peeler_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb

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+size 15666896

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.mtl

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+newmtl peeler_027_geometry_Looks_material_0
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+d 1.000000
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_0.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_13.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_14.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_15.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_16.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_17.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_18.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_2.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_3.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_7.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_8.obj

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dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_9.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/peeler_027.xml

@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_027">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/peeler_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/peeler_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/peeler_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_027">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_027">
+   <link name="peeler_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_027.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4df2c9f582dd5778a67479a4f10d4816</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>gray peeler</name>
+         <color>gray</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray y-shaped handheld peeler with horizontal blade</description>
+         <min_height>0.0106</min_height>
+         <max_height>0.0106</max_height>
+         <real_height>0.0106</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183315</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036228 -0.025502 -0.004867</min>
+            <max>0.033782 0.025498 0.005756</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd

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+size 4910109

dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/video.mp4

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