Add asset bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea

.gitattributes

@@ -2429,5 +2429,7 @@ dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sp
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/soap_dish_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/soap_dish_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_022">
+   <link name="facial_cleanser_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_022.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/facial_cleanser_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>df42d61991625eb689e6c8b7ae6dceea</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white cylindrical pump bottle for facial cleanser with blue label</description>
+         <min_height>0.1502</min_height>
+         <max_height>0.1502</max_height>
+         <real_height>0.1502</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142556</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023920 -0.026996 -0.059302</min>
+            <max>0.024151 0.024638 0.090905</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/facial_cleanser_022.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1965b11403057da5402a506058a8f525f4c60c9682091a3a839eca0b523864ed
+size 40207012

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f596c4d96efeb0fde59d8c4e1f95c40d94e4e0faca7e34c464d2fcc2cecd28
+size 21601688

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.mtl

@@ -0,0 +1,6 @@
+newmtl facial_cleanser_022_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/facial_cleanser_022.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c4cca07a3d249f973aca4c9b24ecd750ff33b2f14f361f1f97ce5b7268de44e
+size 38389282

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_022_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 facial_cleanser_022_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/facial_cleanser_022.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_022">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_022_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/mjcf/mesh/facial_cleanser_022.obj

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+oid sha256:c53dcbf0acbd65a6b9f38dbff779306545ad7f65a185cf542098b03574589f76
+size 36708379

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