Add asset desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71

.gitattributes

@@ -3190,5 +3190,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.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/86c8b37f313c509f9b24374b4686a528/86c8b37f313c509f9b24374b4686a528.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/ballpoint_pen_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/mesh/ballpoint_pen_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl stapler_035_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 stapler_035_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2c052b2873e1d1c1313d1bfa3e900aa096f981554b307bfad0d147a4fb3754
+size 11345304

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.mtl

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+newmtl stapler_035_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_0.obj

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dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_1.obj

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dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_2.obj

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dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_6.obj

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dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/stapler_035.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_035">
+  <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/stapler_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_035">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_035">
+   <link name="stapler_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_035.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/stapler_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>87cc03e6881d55979958232f9e577e71</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact black desktop stapler with metal inner arm</description>
+         <min_height>0.0408</min_height>
+         <max_height>0.0408</max_height>
+         <real_height>0.0408</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151304</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013335 -0.050031 -0.019903</min>
+            <max>0.013326 0.049969 0.020897</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Main body and base are merged; tiny green dots are noise, not functional parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd

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+oid sha256:09770416d84e14a365d7e2844b8ceb015d8c1403fa1b1c9c0164d5b9c0ff551b
+size 4875715

dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/video.mp4

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+oid sha256:f6b829445eed51b657eba2c5ae04136f7bc7bed94df6b9d3865ac571200a453c
+size 243165