Add asset bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2

.gitattributes

@@ -2373,5 +2373,9 @@ dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/lotion_
 dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/mesh/lotion_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/mesh/sponge_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/sponge_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/mesh/sponge_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/sponge_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_cleanser_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/mesh/facial_cleanser_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/mesh/shampoo_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_001_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 sponge_001_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100988de959ebaf4105610ad1e782a63a63e4de2df598e5017d1b2ed0624d4a6
+size 14726844

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mesh/sponge_001.mtl

@@ -0,0 +1,6 @@
+newmtl sponge_001_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/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_0.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_1.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_15.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_16.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_17.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_18.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_20.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_21.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_22.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_23.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_3.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_4.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_5.obj

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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_8.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/mesh/sponge_001_collision_9.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/mjcf/sponge_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sponge_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sponge_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sponge_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sponge_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sponge_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sponge_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sponge_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sponge_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sponge_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sponge_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sponge_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sponge_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sponge_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sponge_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sponge_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sponge_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sponge_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_001">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/sponge_001.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_001">
+   <link name="sponge_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_001.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_001_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>aa8c8788b95a59928b89f81bee9266d2</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>porous sponge</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>organic</material>
+         <description>soft, porous sponge with irregular holes and curved edges</description>
+         <min_height>0.0291</min_height>
+         <max_height>0.0291</max_height>
+         <real_height>0.0291</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427225846</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/aa8c8788b95a59928b89f81bee9266d2/sponge_001.usd

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+size 5132649

dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/video.mp4

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