Add asset kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88

.gitattributes

@@ -3870,5 +3870,5 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/mesh/fru
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 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/2b31d2b77de6519984cd4320750e2e07/fruit_knife_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/mesh/fruit_knife_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_022">
+   <link name="fruit_knife_022">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/fruit_knife_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
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+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>3cf503d21a915572821371a3a81c0b88</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>wooden fruit knife</name>
+         <color>brown,gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small paring knife with wooden handle and short pointed blade</description>
+         <min_height>0.0198</min_height>
+         <max_height>0.0198</max_height>
+         <real_height>0.0198</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182051</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.077978 0.016032 0.009987</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
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+         <visual_seg>
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+            <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>

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dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_022_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_022_geometry_Looks_material_0.png

dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/fruit_knife_022.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_022">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_022_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mjcf/mesh/fruit_knife_022_collision.obj

@@ -0,0 +1,2940 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_022_collision.obj
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dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/video.mp4

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