Add asset desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9

.gitattributes

@@ -3207,5 +3207,5 @@ dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh
 dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/9645b5c681155ab8823d6e5f132e7dc6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/mesh/sharpener_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/97d59ddf36db5cd3abbcd28719fd8f72/sharpener_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mesh/correction_tape_007.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_007">
+   <link name="correction_tape_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_007.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/correction_tape_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>96c2a8e20e6a59a4981ca6ac2e05c9f9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>black correction tape</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black correction tape with circular gear and tapered dispensing tip</description>
+         <min_height>0.0284</min_height>
+         <max_height>0.0284</max_height>
+         <real_height>0.0284</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232300</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>4</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>

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:84bcc60aff7d9883b92fcd86e0b85d8d9492c29a7059bc47125eb09398833c1b
+size 4956562

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mesh/correction_tape_007.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:916f11bec0fdc031998ac75a85570e0f7e9357a4f06f0c02e5e414f9def31ac5
+size 15012376

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mesh/correction_tape_007.mtl

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+newmtl correction_tape_007_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/96c2a8e20e6a59a4981ca6ac2e05c9f9/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_007_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 correction_tape_007_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mjcf/correction_tape_007.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_007">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_007_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mjcf/mesh/correction_tape_007_collision_0.obj

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