Add asset bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d

.gitattributes

@@ -2511,5 +2511,5 @@ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/mesh/ra
 dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/razor_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/hair_clip_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/mesh/hair_clip_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/mesh/toothpaste_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/toothpaste_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl toothpaste_020_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd toothpaste_020_geometry_Looks_material_0.png

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.glb

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+oid sha256:c92256d73dcf4e4fbde594f7313367b57905189c902200c8887820c5662c7e5f
+size 14191156

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mesh/toothpaste_020.mtl

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+newmtl toothpaste_020_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/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_0.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_16.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_17.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_18.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_2.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_5.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_7.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/mesh/toothpaste_020_collision_8.obj

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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/mjcf/toothpaste_020.xml

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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toothpaste_020">
+   <link name="toothpaste_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/toothpaste_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>54b0429c2d33547e9f8e90ace69bb99d</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>toothpaste</category>
+         <name>pink toothpaste bottle</name>
+         <color>pink,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pink pump-top toothpaste container with rounded body and white base</description>
+         <min_height>0.1817</min_height>
+         <max_height>0.1817</max_height>
+         <real_height>0.1817</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164301</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040030 -0.039986 -0.078271</min>
+            <max>0.041222 0.040014 0.103398</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942b6b26b6311996ad5cf2a20b4777bc810907b09179ad460187044fa94ed97e
+size 4995799

dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ed1b0613776da378c371e2bdb3988fcbd2514df44bb86edddfd3678c39837697
+size 211681