Add asset bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4

.gitattributes

@@ -2313,3 +2313,5 @@ dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/mesh/so
 dataset/bathroom_supplies/bath_products/2b5e03ad56005397a2a1bd34cab0470b/soap_dish_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/mesh/shampoo_bottle_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/679f1c901c39504aa5dff72bd7237b83/shampoo_bottle_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/lotion_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mesh/lotion_027.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/lotion_027.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lotion_027">
+   <link name="lotion_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lotion_027.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/lotion_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>673160acdff85f2e874eb0c2605106b4</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>lotion</category>
+         <name>blue lotion bottle</name>
+         <color>blue,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark blue cylindrical lotion bottle with black cap and beige label</description>
+         <min_height>0.1828</min_height>
+         <max_height>0.1828</max_height>
+         <real_height>0.1828</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518144941</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040483 -0.040001 -0.074616</min>
+            <max>0.041045 0.039999 0.108180</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/673160acdff85f2e874eb0c2605106b4/lotion_027.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b8b0b2957500468b949034998e0995ad3497c6173856d92a0e2a49524d787a
+size 4853726

dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mesh/lotion_027.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe45e34e59b34f830f16ac463356940144a2554aae389503d742d175b11a541e
+size 12883352

dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mesh/lotion_027.mtl

@@ -0,0 +1,6 @@
+newmtl lotion_027_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/673160acdff85f2e874eb0c2605106b4/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lotion_027_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 lotion_027_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mjcf/lotion_027.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lotion_027">
+  <asset>
+    <material name="material_0" texture="texture_0_lotion_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lotion_027_geometry_Looks_material_0" type="2d" file="mesh/lotion_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lotion_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lotion_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lotion_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lotion_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/mjcf/mesh/lotion_027_collision_0.obj

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dataset/bathroom_supplies/bath_products/673160acdff85f2e874eb0c2605106b4/video.mp4

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