Add asset kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae

.gitattributes

@@ -3863,3 +3863,5 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl peeler_016_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd peeler_016_geometry_Looks_material_0.png

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb

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+oid sha256:319957be820bae8ba2b896c3e3ba9f9bcceb4876449188f8ccf03a55268d3195
+size 15004748

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.mtl

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+newmtl peeler_016_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_0.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_1.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_12.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_13.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_3.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_5.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_7.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_9.obj

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dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/peeler_016.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_016">
+   <link name="peeler_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_016.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_016_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>240986d0d01f536cae41662dd18420ae</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>gray,silver</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray y-shaped vegetable peeler with metal blade and pointed tip</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182917</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048964 -0.029251 -0.007084</min>
+            <max>0.053343 0.033099 0.006373</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Small magenta regions fragment holes, hook, and blade tips; not actionable functional parts.","merge_groups":[{"colors":["Pink","Teal"],"target_part":"handle body","reason":"Pink patches are handle hole/grip details, not separate parts"},{"colors":["Magenta","Orange"],"target_part":"blade assembly","reason":"Magenta pieces are blade tips and tiny attachments"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd

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+size 4965963

dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/video.mp4

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