Add asset desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3

.gitattributes

@@ -3266,3 +3266,5 @@ dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh
 dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_017">
+   <link name="eraser_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_017.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/eraser_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>da9eae16a4545372b130f139a34ba2e3</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>sleeve eraser</name>
+         <color>yellow,gray</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>gray rectangular eraser partially inside yellow paper sleeve</description>
+         <min_height>0.0182</min_height>
+         <max_height>0.0182</max_height>
+         <real_height>0.0182</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021924 -0.014067 -0.009107</min>
+            <max>0.023076 0.013978 0.009133</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>14</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/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd

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dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017.glb

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+oid sha256:8e7cbeca98134cb41970580796cb552f694a5f2b8643e2339b819e37b63bf446
+size 12370516

dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017.mtl

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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

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+

dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_017_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 eraser_017_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/eraser_017.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_017">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_017_geometry_Looks_material_0" type="2d" file="mesh/eraser_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision.obj

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