Add asset desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b

.gitattributes

@@ -3150,5 +3150,5 @@ dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh
 dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/eraser_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/mesh/eraser_014.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/eraser_014.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_014">
+   <link name="eraser_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_014.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/eraser_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>726c96f4e302588ca04749168971f40b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>blue eraser</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>blue rectangular eraser with rounded edges and printed top text</description>
+         <min_height>0.0132</min_height>
+         <max_height>0.0132</max_height>
+         <real_height>0.0132</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175201</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022465 -0.007956 -0.006576</min>
+            <max>0.022535 0.007959 0.006658</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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>

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+size 10468856

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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

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dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_014_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 eraser_014_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/mjcf/eraser_014.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_014">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_014_geometry_Looks_material_0" type="2d" file="mesh/eraser_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/mjcf/mesh/eraser_014_collision.obj

@@ -0,0 +1,3037 @@
+# https://github.com/mikedh/trimesh
+v 0.00632511 0.00799889 -0.00244817
+v 0.00484210 0.00799574 0.00323591
+v 0.00706439 0.00799574 0.00323591
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