Add asset bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a

.gitattributes

@@ -2345,9 +2345,5 @@ dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/mesh/sp
 dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/sponge_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/mesh/shampoo_bottle_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/93f8a20a38015789a32748f4cbd171df/shampoo_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/mjcf/mesh/soap_dish_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/80081f6d1f3a5c14b6e6d70683f0c651/soap_dish_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/mesh/soap_dish_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/98fed76e004656e1bf834309444b54cd/soap_dish_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl sponge_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sponge_006_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b47408ed9854027aef425ee22a67491de1ce315f5b4a9773acd06649ddbd2925
+size 11437380

dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mesh/sponge_006.mtl

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+newmtl sponge_006_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/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_0.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_1.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_11.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_12.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_13.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_14.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_15.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_17.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_24.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_25.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_26.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_27.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_3.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_4.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_6.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/mesh/sponge_006_collision_7.obj

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dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/mjcf/sponge_006.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_006">
+  <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/sponge_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/sponge_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/sponge_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sponge_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sponge_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sponge_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sponge_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_006">
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/sponge_006.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_006">
+   <link name="sponge_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_006.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/sponge_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>9417235f291a5813a25add8266cf409a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>cleaning sponge</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>organic</material>
+         <description>soft, porous sponge with rounded edges and uniform texture</description>
+         <min_height>0.0229</min_height>
+         <max_height>0.0229</max_height>
+         <real_height>0.0229</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230050</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>
+            <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/9417235f291a5813a25add8266cf409a/sponge_006.usd

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+size 4853408

dataset/bathroom_supplies/bath_products/9417235f291a5813a25add8266cf409a/video.mp4

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