Add asset desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2

.gitattributes

@@ -3422,3 +3422,5 @@ dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_ta
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ac7eb02676265076be8a4f611e952510/ac7eb02676265076be8a4f611e952510.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_029_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd scotch_tape_029_geometry_Looks_material_0.png

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca6bd484953988bf2ba7a8c914173943a171f239905d0d4fba943975c44e778
+size 16133440

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.mtl

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+newmtl scotch_tape_029_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_tools/a7649e6653db57678000f9d8caf062c2/mjcf/scotch_tape_029.xml

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+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_029">
+   <link name="scotch_tape_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_029.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/scotch_tape_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>a7649e6653db57678000f9d8caf062c2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>yellow tape roll</name>
+         <color>yellow,white</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>translucent yellow adhesive tape roll with white cardboard core</description>
+         <min_height>0.0231</min_height>
+         <max_height>0.0231</max_height>
+         <real_height>0.0231</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025033 -0.025351 -0.011549</min>
+            <max>0.024967 0.025186 0.011597</max>
+         </aabb>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd

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+oid sha256:f2cb97198a1f8b9d50f0f8f4e175990bdded02bd30e74b48dc0ec0b7eb1273c3
+size 4920046

dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a9daa81008b4ced73cad28c1516d70a3ebc556a93dbf14b186fb834ff4b87c
+size 287972