Add asset desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720

.gitattributes

@@ -3370,5 +3370,5 @@ dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/mesh/stam
 dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/stamp_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/mesh/scissors_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/scissors_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48/mesh/scissors_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/6eb2b1cab95a5157b0aee4e60b92af48/scissors_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mesh/scotch_tape_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/scotch_tape_001.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_001_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd scotch_tape_001_geometry_Looks_material_0.png

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mesh/scotch_tape_001.glb

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+oid sha256:1df5907325b14cc5afcd99c6724dd7689dada604f506c4becd6c07d72fcdba32
+size 12872664

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mesh/scotch_tape_001.mtl

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+newmtl scotch_tape_001_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mjcf/mesh/scotch_tape_001_collision_0.obj

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dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mjcf/mesh/scotch_tape_001_collision_7.obj

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dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mjcf/scotch_tape_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_001">
+  <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/scotch_tape_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/scotch_tape_001.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_001">
+   <link name="scotch_tape_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_001.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/scotch_tape_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>71e9a0d48f565c62acb7b6b85dad6720</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical gray tape roll with hollow center</description>
+         <min_height>0.0452</min_height>
+         <max_height>0.0452</max_height>
+         <real_height>0.0452</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210937</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/scotch_tape_001.usd

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+oid sha256:e45f485b907ffb4f1d0cd58649b14ae96016e71db7046f9aa8b7df138955a166
+size 4413420

dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/video.mp4

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+size 96081