Add asset desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb

.gitattributes

@@ -5313,5 +5313,5 @@ dataset/desktop_supplies/electronic_accessories/37a67e3643195ab88baa65fb7daa4686
 dataset/desktop_supplies/electronic_accessories/37a67e3643195ab88baa65fb7daa4686/tv_remote_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/mesh/mouse_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/mouse_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mesh/mouse_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/95074ce6f8785f6d87017c96d3aded5a/mouse_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/charging_head_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mesh/charging_head_005.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/charging_head_005.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_005">
+   <link name="charging_head_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_005.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/charging_head_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>973c2dfb59585a848898133f22db7bcb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_head</category>
+         <name>power adapter</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact black power adapter with dual prongs and usb port</description>
+         <min_height>0.0236</min_height>
+         <max_height>0.0236</max_height>
+         <real_height>0.0236</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203822</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>5</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>

dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/charging_head_005.usd

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+oid sha256:0d83d78ca2fcb362ac3b70c5643bffbd50d6ae54484b08a6566733c6812652d0
+size 4677014

dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mesh/charging_head_005.glb

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+size 11928792

dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mesh/charging_head_005.mtl

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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_005_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 charging_head_005_geometry_Looks_material_0.png

dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mjcf/charging_head_005.xml

@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_005">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_head_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_head_005_geometry_Looks_material_0" type="2d" file="mesh/charging_head_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_head_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_head_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/charging_head_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_head_005">
+      <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/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mjcf/mesh/charging_head_005_collision.obj

@@ -0,0 +1,3493 @@
+# https://github.com/mikedh/trimesh
+
+o charging_head_005_collision.obj
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dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mjcf/mesh/charging_head_005_collision_2.obj

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dataset/desktop_supplies/electronic_accessories/973c2dfb59585a848898133f22db7bcb/mjcf/mesh/charging_head_005_collision_3.obj

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