Add asset kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687

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@@ -3870,5 +3870,5 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/mesh/fru
 dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/38b3e11d48b55ffc88b68823ff7e67c6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_knife_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/fruit_knife_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/mesh/fruit_knife_034.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/fruit_knife_034.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_034">
+   <link name="fruit_knife_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_034.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/fruit_knife_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>377f37a622675173bf0f47d84d490687</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>paring knife</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver paring knife with black ergonomic handle</description>
+         <min_height>0.0164</min_height>
+         <max_height>0.0164</max_height>
+         <real_height>0.0164</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152520</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.189360 -0.024961 -0.008195</min>
+            <max>0.090640 0.014596 0.008167</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"All visible blade and handle regions are merged into one color; clear functional boundary is missing.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

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+

dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_034_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd fruit_knife_034_geometry_Looks_material_0.png

dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/mjcf/fruit_knife_034.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_034">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_034_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_034_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_034_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_034">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/mjcf/mesh/fruit_knife_034_collision.obj

@@ -0,0 +1,1772 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_034_collision.obj
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