Add asset bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf

.gitattributes

@@ -2601,3 +2601,5 @@ dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_cl
 dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/mesh/hair_clip_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/mesh/razor_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/razor_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mesh/toothpaste_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/toothpaste_017.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_017_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 toothpaste_017_geometry_Looks_material_0.png

dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mesh/toothpaste_017.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053f26e72f9dfde3b056be4f0ba676cec039fdb27b92367d8cc7d1a013d2a66c
+size 9476608

dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mesh/toothpaste_017.mtl

@@ -0,0 +1,6 @@
+newmtl toothpaste_017_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/b84b2ef291945ca282e824b11a4bc5bf/mjcf/mesh/toothpaste_017_collision_0.obj

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dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/mjcf/toothpaste_017.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toothpaste_017">
+  <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/toothpaste_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toothpaste_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toothpaste_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toothpaste_017">
+      <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/personal_care/b84b2ef291945ca282e824b11a4bc5bf/toothpaste_017.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_017">
+   <link name="toothpaste_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_017.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/toothpaste_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>b84b2ef291945ca282e824b11a4bc5bf</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>toothpaste tube</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>light gray squeezable toothpaste tube with round cap base</description>
+         <min_height>0.2272</min_height>
+         <max_height>0.2272</max_height>
+         <real_height>0.2272</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164218</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024253 -0.035260 -0.103294</min>
+            <max>0.025329 0.034740 0.123894</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>

dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/toothpaste_017.usd

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+size 4758840

dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/video.mp4

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