Add asset desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605

.gitattributes

@@ -3294,10 +3294,5 @@ dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh
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 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/ballpoint_pen_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/mesh/ballpoint_pen_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/mesh/notebook_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/notebook_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/ballpoint_pen_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mesh/ballpoint_pen_003.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/ballpoint_pen_003.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_003">
+   <link name="ballpoint_pen_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_003.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/ballpoint_pen_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>fadcbc5764af549aa6f524239bee5605</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>bamboo-style pen</name>
+         <color>green</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>bamboo-themed pen with clip and decorative leaves</description>
+         <min_height>0.0167</min_height>
+         <max_height>0.0167</max_height>
+         <real_height>0.0167</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201733</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>2</part_count>
+         <visual_seg>
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+            <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>

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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_003_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 ballpoint_pen_003_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/ballpoint_pen_003.xml

@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_003">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_003_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ballpoint_pen_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/ballpoint_pen_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/ballpoint_pen_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/ballpoint_pen_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/ballpoint_pen_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_003">
+      <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" />
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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/mesh/ballpoint_pen_003_collision.obj

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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/mesh/ballpoint_pen_003_collision_1.obj

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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/mesh/ballpoint_pen_003_collision_2.obj

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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/mesh/ballpoint_pen_003_collision_3.obj

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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mjcf/mesh/ballpoint_pen_003_collision_4.obj

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