Add asset desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6

.gitattributes

@@ -3157,3 +3157,5 @@ dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh
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 dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/ballpoint_pen_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mesh/ballpoint_pen_008.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/ballpoint_pen_008.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_008">
+   <link name="ballpoint_pen_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_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/ballpoint_pen_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0115" />
+         <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>71e039ac144f596cad63e16bfc2311b6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>green ballpoint pen</name>
+         <color>green</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>green and gray ballpoint pen with a clip and retractable mechanism</description>
+         <min_height>0.0121</min_height>
+         <max_height>0.0121</max_height>
+         <real_height>0.0121</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201940</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>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>NO: {"summary":"Tip cone, clicker, and body are merged inconsistently across two colors; not actionable by merge-only.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/ballpoint_pen_008.usd

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+size 4775822

dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mesh/ballpoint_pen_008.glb

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dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mesh/ballpoint_pen_008.mtl

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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_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 ballpoint_pen_008_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mjcf/ballpoint_pen_008.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_008">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_008_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/mjcf/mesh/ballpoint_pen_008_collision.obj

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