Add asset bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07

.gitattributes

@@ -2347,3 +2347,7 @@ dataset/bathroom_supplies/bath_products/9500b595c55d5c90942e47c5f4355fed/mesh/sp
 dataset/bathroom_supplies/bath_products/9500b595c55d5c90942e47c5f4355fed/sponge_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/lotion_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/957606ede0245fac9180e528c294454a/mesh/lotion_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/facial_cleanser_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mjcf/mesh/facial_cleanser_029.obj filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/facial_cleanser_029.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_029">
+   <link name="facial_cleanser_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_029.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/facial_cleanser_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>94f4a607b8135795b0f4685e7446cf07</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>pink,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>pink oval cleanser bottle with gray pump dispenser</description>
+         <min_height>0.1479</min_height>
+         <max_height>0.1479</max_height>
+         <real_height>0.1479</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518143059</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020140 -0.039716 -0.061936</min>
+            <max>0.020136 0.040248 0.085978</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/94f4a607b8135795b0f4685e7446cf07/facial_cleanser_029.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:75e781422b845ce326495efdaab17e89f9402f8bb54b4e98c8567b542427ccd2
+size 42713720

dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0d2fba6175d9f8b4386259a2d8767504454a34b1a6385701d9f1c179cb7aca31
+size 26462844

dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.mtl

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+newmtl facial_cleanser_029_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/94f4a607b8135795b0f4685e7446cf07/mesh/facial_cleanser_029.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3dad1753e31a0da09c28d10f635328fa704aa84bd48d81a15d2b88c34aacb694
+size 39298935

dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_029_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 facial_cleanser_029_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/94f4a607b8135795b0f4685e7446cf07/mjcf/facial_cleanser_029.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_029">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_029_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_029">
+      <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/94f4a607b8135795b0f4685e7446cf07/mjcf/mesh/facial_cleanser_029.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:db2eae256561c72b55c3a41d585a3f268826aeac8a4361d01f62a5fb1a808254
+size 37504438

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