Add asset kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662

.gitattributes

@@ -4703,6 +4703,5 @@ dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.us
 dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/55c43f1ad23751e483de05fab1876a84.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="baby_bottle_013">
+   <link name="baby_bottle_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/baby_bottle_013.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_013_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>4e39d2e7d7d95e90aa89d46d07de3662</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>baby_bottle</category>
+         <name>pink baby bottle</name>
+         <color>transparent,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent baby bottle with pink collar and silicone nipple</description>
+         <min_height>0.1368</min_height>
+         <max_height>0.1368</max_height>
+         <real_height>0.1368</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191013</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031230 -0.031454 -0.053981</min>
+            <max>0.031249 0.031448 0.082814</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/4e39d2e7d7d95e90aa89d46d07de3662/baby_bottle_013.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3c916184ac7a2298831e3d61ff02517a11c500e16612218fd454e41c2e87d8
+size 4973688

dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb4525e1460c3d18d387c8553d5b06eabb48c049d406f5d906c10bd34bef30f
+size 14416160

dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mesh/baby_bottle_013.mtl

@@ -0,0 +1,6 @@
+newmtl baby_bottle_013_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/4e39d2e7d7d95e90aa89d46d07de3662/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl baby_bottle_013_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_013_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/baby_bottle_013.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="baby_bottle_013">
+  <asset>
+    <material name="material_0" texture="texture_0_baby_bottle_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_baby_bottle_013_geometry_Looks_material_0" type="2d" file="mesh/baby_bottle_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/baby_bottle_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/baby_bottle_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/baby_bottle_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/baby_bottle_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="baby_bottle_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/4e39d2e7d7d95e90aa89d46d07de3662/mjcf/mesh/baby_bottle_013_collision_1.obj

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