Add asset desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765

.gitattributes

@@ -3212,5 +3212,5 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl stapler_023_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 stapler_023_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:99bd37c921c3a95374c83027a74b102938c35fce6e1ceeb2dd31b1958def4cf9
+size 11265280

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.mtl

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+newmtl stapler_023_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_0.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_11.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_12.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_13.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_15.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_16.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_2.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_4.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_5.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_6.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_8.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_9.obj

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/stapler_023.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_023">
+  <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/stapler_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_023">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_023">
+   <link name="stapler_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_023.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/stapler_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>9d2a722a16de5caf89533857753f7765</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact black desktop stapler with metal inner mechanism</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019877 -0.075570 -0.029347</min>
+            <max>0.019805 0.078387 0.030653</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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":"Segmentation is over-fragmented; top and base are mostly correct but internal magazine/anvil areas are split inconsistently.","merge_groups":[{"colors":["Blue","Navy"],"target_part":"rear hinge/pivot area","reason":"same rear hardware split into two colors"},{"colors":["Magenta","Brown"],"target_part":"internal magazine/driver area","reason":"same inner assembly fragmented"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd

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dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/video.mp4

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