Add asset desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7

.gitattributes

@@ -3275,4 +3275,5 @@ dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/eraser_046.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/mesh/eraser_046.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_008_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 pen_holder_008_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9f14cd7a021583d28534088c736dfab05d0e33d2a3a6d4d9061ebf7ef6a18cf3
+size 15899136

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.mtl

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+newmtl pen_holder_008_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_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_0.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_1.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_10.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_12.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_13.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_15.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_16.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_17.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_18.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_19.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_2.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_20.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_21.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_22.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_23.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_24.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_25.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_26.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_27.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_28.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_29.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_30.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_31.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_32.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_33.obj

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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_34.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_35.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_36.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_4.obj

@@ -0,0 +1,316 @@
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_5.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_6.obj

@@ -0,0 +1,178 @@
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_8.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_008_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_008_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_008_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_008_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_008_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_008_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_008">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_008">
+   <link name="pen_holder_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_008.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/pen_holder_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>e3ca020479c7573f853dd27b90371bb7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>floral pen holder</name>
+         <color>black,white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>decorative pen holder with floral patterns and curved edges</description>
+         <min_height>0.0923</min_height>
+         <max_height>0.0923</max_height>
+         <real_height>0.0923</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233836</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>