Add asset kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868

.gitattributes

@@ -4717,3 +4717,5 @@ dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mesh/mug_004.glb
 dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mug_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/coffee_cup_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/mesh/coffee_cup_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_015">
+   <link name="baby_bottle_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_015.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/baby_bottle_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>5ea2dbedea2853eaa923a0c42c77b868</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>handled baby bottle</name>
+         <color>pink,transparent</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink handled baby bottle with silicone nipple and transparent body window</description>
+         <min_height>0.1311</min_height>
+         <max_height>0.1311</max_height>
+         <real_height>0.1311</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191056</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037442 -0.058904 -0.048728</min>
+            <max>0.037161 0.058861 0.082414</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0f541df698e9e1688b59db7ea0127db1cdad42eeb1766548adc1318a5954b9ba
+size 4985368

dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:17be1b396f287a954943b896f0dffee5a4b78bec79681ce44426f85eba4f9849
+size 13026240

dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.mtl

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+newmtl baby_bottle_015_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/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_015_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 baby_bottle_015_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/baby_bottle_015.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_015">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_015_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/baby_bottle_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/baby_bottle_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/baby_bottle_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/baby_bottle_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/baby_bottle_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/baby_bottle_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/baby_bottle_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/baby_bottle_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/baby_bottle_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_015">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_0.obj

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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_10.obj

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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_11.obj

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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_8.obj

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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mjcf/mesh/baby_bottle_015_collision_9.obj

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