Add asset bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627

.gitattributes

@@ -2529,5 +2529,5 @@ dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mesh/mo
 dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/mouthwash_cup_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/comb_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/mesh/comb_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mesh/mouthwash_cup_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/mouthwash_cup_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_016_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 mouthwash_cup_016_geometry_Looks_material_0.png

dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:68b8f7aa7c22373175b6cbdea63a1ec853cea257426564cc621b98150ab17cf5
+size 10567628

dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mesh/mouthwash_cup_016.mtl

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+newmtl mouthwash_cup_016_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/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_0.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_10.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_11.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_12.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_13.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_14.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_16.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_17.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_19.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_2.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_21.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_22.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_24.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_25.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_4.obj

@@ -0,0 +1,199 @@
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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_5.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_6.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_7.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mesh/mouthwash_cup_016_collision_8.obj

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dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mjcf/mouthwash_cup_016.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_016">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouthwash_cup_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mouthwash_cup_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mouthwash_cup_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mouthwash_cup_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mouthwash_cup_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mouthwash_cup_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mouthwash_cup_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mouthwash_cup_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/mouthwash_cup_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/mouthwash_cup_016.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_016">
+   <link name="mouthwash_cup_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_016.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/mouthwash_cup_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>72844cec9bd25ea3b7c58c7d9cf10627</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray mouthwash cup</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>tapered gray cylindrical cup with slightly flared rim and dark base</description>
+         <min_height>0.1259</min_height>
+         <max_height>0.1259</max_height>
+         <real_height>0.1259</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518154307</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.035109 0.034980 0.070719</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>

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