Add asset desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6

.gitattributes

@@ -5339,5 +5339,5 @@ dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh
 dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_008_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_008_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb

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+size 12635480

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.mtl

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+newmtl sharpener_008_geometry_Looks_material_0
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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_1.obj

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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_10.obj

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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_11.obj

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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_12.obj

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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_4.obj

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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_9.obj

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+

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/sharpener_008.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_008">
+  <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/sharpener_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_008">
+      <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" />
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+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_008">
+   <link name="sharpener_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_008.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/sharpener_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>5d69918b9bcc5c92a82660520f48a4c6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>manual sharpener</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>black manual sharpener with crank handle and sturdy base</description>
+         <min_height>0.0587</min_height>
+         <max_height>0.0587</max_height>
+         <real_height>0.0587</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234346</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

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+size 4977179

dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/video.mp4

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