Add asset desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1

.gitattributes

@@ -3386,3 +3386,5 @@ dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/mesh/stic
 dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/sticky_notes_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/mesh/stamp_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/stamp_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mesh/stamp_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/stamp_004.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl stamp_004_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 stamp_004_geometry_Looks_material_0.png

dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mesh/stamp_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02baf8087f0163dc1db54c3403dfce87349ece8e29c0b12c7cfc3820e8af339
+size 15136008

dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mesh/stamp_004.mtl

@@ -0,0 +1,6 @@
+newmtl stamp_004_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/816f9cf1be4759be9bf66722d4eb7bf1/mjcf/mesh/stamp_004_collision_0.obj

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dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mjcf/mesh/stamp_004_collision_1.obj

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dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/mjcf/stamp_004.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_004">
+  <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/stamp_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_004">
+      <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/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/stamp_004.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_004">
+   <link name="stamp_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_004.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/stamp_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>816f9cf1be4759be9bf66722d4eb7bf1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>wooden stamp</name>
+         <color>brown,red</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>wooden stamp with ergonomic handle and rubber base</description>
+         <min_height>0.0867</min_height>
+         <max_height>0.0867</max_height>
+         <real_height>0.0867</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211510</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>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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

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dataset/desktop_supplies/office_tools/816f9cf1be4759be9bf66722d4eb7bf1/video.mp4

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