Add asset desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11

.gitattributes

@@ -3188,4 +3188,4 @@ dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/mesh
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/86ad8f2486705bad84990abf23ef6d9a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_20">
+   <link name="stapler_20">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_20.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/stapler_20_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>0.241583</scale>
+         <version>v0.1.5</version>
+         <category>stapler</category>
+         <description>heavy-duty stapler with ergonomic design and robust metal construction</description>
+         <min_height>0.18</min_height>
+         <max_height>0.22</max_height>
+         <real_height>0.2</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251014154633</generate_time>
+         <gs_model>mesh/stapler_20_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.026854038238525</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Several tiny colors fragment the stapling mechanism and top cap; segmentation is over-split for functional parts.","merge_groups":[{"colors":["Yellow","Jade"],"target_part":"stapling mechanism","reason":"small adjacent metal pieces share same fastening role"},{"colors":["Olive","Teal"],"target_part":"top housing/handle","reason":"cap and upper body form one continuous press part"},{"colors":["Blue","Navy"],"target_part":"base","reason":"edge strip is part of same base surface"}]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd

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+oid sha256:8c692de5bfa99edcc641af36f9fe24ce5fcd57d32c89dcb0af9226714de5dcf8
+size 859636

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/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_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a666ab5e77f1db4ab700d216e67b03d1a2b0094f14a793573d94ab0cf580f8eb
+size 2015992

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:16b32a698570e99c8c574fb1893991294fd8b89f247150e83a9e57f1e6d137a3
+size 21244522

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/86a44f5aa5ee59d69cbe0f44baacdf11.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_20">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/stapler_20_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_20_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_20_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_20_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_20_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_20_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_20_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_20_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_20_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_20_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_0.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_11.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_12.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_13.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_15.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_17.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_19.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_2.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_20.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_21.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_3.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_4.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_5.obj

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dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_6.obj

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+# https://github.com/mikedh/trimesh
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