Add asset desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de

.gitattributes

@@ -3446,3 +3446,6 @@ dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/mesh/pen_
 dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/e1472efb810a5eeab9221af3485795de.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/e1472efb810a5eeab9221af3485795de.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder">
+   <link name="pen_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.140000</scale>
+         <version>v0.1.7</version>
+         <category>pen holder</category>
+         <description>cylindrical brown pen holder with stitched edges</description>
+         <min_height>0.12</min_height>
+         <max_height>0.16</max_height>
+         <real_height>0.14</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120010041</generate_time>
+         <gs_model>mesh/pen_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.107089519500732</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/e1472efb810a5eeab9221af3485795de.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dd68cafbfd02432fd4296d93ad3563b3694010de4b5fbd27ebaa249f17ab28c0
+size 519092

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0e65738d3bdeefa68cb30a68cdcb40e243f83ef991126238d0a14179127471
+size 1630472

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a2b96161b3e8d4b70c91682f69a94ee44e0b92b6734c43ab1ff42acecb5381
+size 4523369

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/e1472efb810a5eeab9221af3485795de.xml

@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder">
+  <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/pen_holder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_0.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_1.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_10.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_11.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_12.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_13.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_14.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_15.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_16.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_17.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_18.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_19.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_2.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_3.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_4.obj

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dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mjcf/mesh/pen_holder_collision_5.obj

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