Add asset bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919

.gitattributes

@@ -2319,3 +2319,5 @@ dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/mesh/sh
 dataset/bathroom_supplies/bath_products/67524b1a715d5c80a91070f5dd319ed8/shampoo_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/mesh/shampoo_bottle_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/shampoo_bottle_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hand_sanitizer_017">
+   <link name="hand_sanitizer_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hand_sanitizer_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/hand_sanitizer_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="0.3500" />
+         <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>6f9902cc0a55557298549bdad9d2c919</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>hand_sanitizer</category>
+         <name>pump sanitizer</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue pump-top sanitizer bottle with rounded body and printed label</description>
+         <min_height>0.1120</min_height>
+         <max_height>0.1120</max_height>
+         <real_height>0.1120</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143404</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025014 -0.025209 -0.037710</min>
+            <max>0.025036 0.025303 0.074314</max>
+         </aabb>
+         <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/6f9902cc0a55557298549bdad9d2c919/hand_sanitizer_017.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1015b82452069e055fb43c21fac65267911ebbf1553f7bb472b0161c3ba2c0
+size 4865232

dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e1adb4e53cdb78b1a7fe77bd6baa673fbac5c8e5f1001fd4152cd8056d9201
+size 14390780

dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/hand_sanitizer_017.mtl

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+newmtl hand_sanitizer_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/bath_products/6f9902cc0a55557298549bdad9d2c919/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hand_sanitizer_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 hand_sanitizer_017_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/hand_sanitizer_017.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hand_sanitizer_017">
+  <asset>
+    <material name="material_0" texture="texture_0_hand_sanitizer_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hand_sanitizer_017_geometry_Looks_material_0" type="2d" file="mesh/hand_sanitizer_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hand_sanitizer_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hand_sanitizer_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hand_sanitizer_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hand_sanitizer_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hand_sanitizer_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hand_sanitizer_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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_0.obj

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dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/mjcf/mesh/hand_sanitizer_017_collision_1.obj

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dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/video.mp4

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