Add asset desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8

.gitattributes

@@ -3101,5 +3101,5 @@ dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/mesh
 dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/notebook_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/marker_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/mesh/marker_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mesh/stapler_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/stapler_010.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl stapler_010_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_010_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mesh/stapler_010.glb

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+oid sha256:a92d87ab23ac10fb13e1edf0ffd1f49f310459e75275b190a7e6129f85d854c9
+size 13589040

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mesh/stapler_010.mtl

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+newmtl stapler_010_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mjcf/mesh/stapler_010_collision_3.obj

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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mjcf/mesh/stapler_010_collision_4.obj

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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mjcf/mesh/stapler_010_collision_5.obj

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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mjcf/mesh/stapler_010_collision_6.obj

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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/mjcf/stapler_010.xml

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/stapler_010.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_010">
+   <link name="stapler_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>25c685f4ffd75cd5b987d43533a2fbc8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact gray stapler with flat base and hinged top</description>
+         <min_height>0.0591</min_height>
+         <max_height>0.0591</max_height>
+         <real_height>0.0591</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234939</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>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/stapler_010.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:95dda6d07b26c3026530906333b62e1c7bab2586bd0c52314a416028c5ef7707
+size 4854661

dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/video.mp4

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+oid sha256:8e1c80e18715b3e854579fd1577a44e8747520d8ea12f572a827fc1ce52d8b4b
+size 317833