Add asset desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477

.gitattributes

@@ -5320,3 +5320,5 @@ dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh
 dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_020_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 sharpener_020_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd83b6d4f89f6dcbd1eb4c47ba6dc085c5e1c94107713859bd561aed52cf9cf
+size 12291184

dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.mtl

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+newmtl sharpener_020_geometry_Looks_material_0
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+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/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_0.obj

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_1.obj

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_10.obj

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_14.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_15.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+

dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_2.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_3.obj

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_4.obj

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_8.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_9.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/sharpener_020.xml

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dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_020">
+   <link name="sharpener_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_020.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/sharpener_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>563daa41153e59b38d13aff2f68b5477</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>green sharpener</name>
+         <color>green,silver</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular green single-hole pencil sharpener with exposed metal blade</description>
+         <min_height>0.0206</min_height>
+         <max_height>0.0206</max_height>
+         <real_height>0.0206</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180812</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.012996 -0.025293 -0.008743</min>
+            <max>0.013045 0.024707 0.011902</max>
+         </aabb>
+         <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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