Add asset bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08

.gitattributes

@@ -5243,3 +5243,5 @@ dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mesh/fa
 dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/mjcf/mesh/facial_cleanser_014.obj filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/lotion_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/mesh/lotion_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl shampoo_bottle_020_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 shampoo_bottle_020_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3367346f415f6b9b4982eaa989efb1e2e83a227c21fea030a6a8b7ae0a792efa
+size 12213944

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mesh/shampoo_bottle_020.mtl

@@ -0,0 +1,6 @@
+newmtl shampoo_bottle_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/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_1.obj

@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
+v -0.00183084 0.02398595 0.07477138
+v -0.00548563 0.02373341 0.07477138
+v -0.00183084 0.02258077 0.10341014
+v 0.00182395 0.02398136 0.07477138
+v -0.00754085 0.02109763 0.10563775
+v -0.00548563 0.02188742 0.10341014
+v -0.00901226 0.02261762 0.07477137
+v -0.00548563 0.02140528 0.10643144
+v -0.00186407 0.02162568 0.10751016
+v 0.00184768 0.02162109 0.10750578
+v 0.00182395 0.02257159 0.10341014
+v 0.00507528 0.02378851 0.07477138
+v -0.00548563 0.02032621 0.10831700
+v -0.00772596 0.02118029 0.10341014
+v -0.00955336 0.02028031 0.10341013
+v -0.01250566 0.01842984 0.10341013
+v -0.01187913 0.01795688 0.10718127
+v -0.01117665 0.01743801 0.10916331
+v -0.01593262 0.01860444 0.07477136
+v -0.00310764 0.02081293 0.10898354
+v -0.00066795 0.02104252 0.10911071
+v 0.00064207 0.02104252 0.10911071
+v 0.00307701 0.02079916 0.10897477
+v 0.00547873 0.02140069 0.10642267
+v 0.00547873 0.02188283 0.10341014
+v 0.00547873 0.02373341 0.07477138
+v -0.00426104 0.01383805 0.11956902
+v -0.01433306 0.01703395 0.10341012
+v -0.01370652 0.01644620 0.10718126
+v -0.01067827 0.00953559 0.11956901
+v -0.00885088 0.01117943 0.11956901
+v -0.00687160 0.01250644 0.11956902
+v -0.00608843 0.01302990 0.11956902
+v -0.00557106 0.01325949 0.11956902
+v -0.01487890 0.01388859 0.10921153
+v -0.01924566 0.01459126 0.07477134
+v -0.01602755 0.01518348 0.10341012
+v -0.00183084 0.01432936 0.11956902
+v 0.00182395 0.01432936 0.11956902
+v 0.00356590 0.01398039 0.11956902
+v 0.00425414 0.01383805 0.11956902
+v 0.00547873 0.02030784 0.10830823
+v 0.00753396 0.02109763 0.10563336
+v 0.00856394 0.02276914 0.07477137
+v -0.01550544 0.01459573 0.10718125
+v -0.01102002 0.00901213 0.11956900
+v -0.01808752 0.00970093 0.10897035
+v -0.01740877 0.01184069 0.10750135
+v -0.02064112 0.01176275 0.07477133
+v -0.01895138 0.01108765 0.10341010
+v -0.01785494 0.01293812 0.10341011
+v 0.00477151 0.01360846 0.11956902
+v 0.01115077 0.01742423 0.10915453
+v 0.00770957 0.02118029 0.10341014
+v 0.00899587 0.02261303 0.07477137
+v 0.01183901 0.01793852 0.10718127
+v 0.01246554 0.01841607 0.10341013
+v 0.00953697 0.02026195 0.10341013
+v -0.01871880 0.01066980 0.10645332
+v -0.01187913 0.00768512 0.11956900
+v -0.01332680 0.00434692 0.11956899
+v -0.01291861 0.00529282 0.11956899
+v -0.01925041 0.00830046 0.10750134
+v -0.01856691 0.00723517 0.10925975
+v -0.02029938 0.00804792 0.10341009
+v -0.02345578 0.00432873 0.07477131
+v 0.00608153 0.01301153 0.11956902
+v 0.00881550 0.01116106 0.11956901
+v 0.01064290 0.00950804 0.11956900
+v 0.01486726 0.01388400 0.10921153
+v 0.01366640 0.01642784 0.10718126
+v 0.01571213 0.01893504 0.07477136
+v 0.01429294 0.01700181 0.10341012
+v -0.01374449 0.00169749 0.11956898
+v -0.02029938 0.00434697 0.10718122
+v -0.02131512 0.00434698 0.10341008
+v -0.02423895 0.00065075 0.07477129
+v 0.01184850 0.00765757 0.11956900
+v 0.01804265 0.00965960 0.10894404
+v 0.01736391 0.01182232 0.10748381
+v 0.01548430 0.01457736 0.10718125
+v 0.01639088 0.01832434 0.07477136
+v 0.01599217 0.01515134 0.10341012
+v 0.01919130 0.01528920 0.07477135
+v -0.01390587 0.00065058 0.11956897
+v -0.02167585 0.00065064 0.10341006
+v -0.02056518 0.00065063 0.10718120
+v -0.02396840 -0.00243031 0.07477128
+v -0.02140531 -0.00304571 0.10341005
+v 0.01326770 0.00434692 0.11956899
+v 0.01855527 0.00719384 0.10925975
+v 0.01921028 0.00827291 0.10748380
+v 0.01869292 0.01063765 0.10642702
+v 0.01781957 0.01289221 0.10341011
+v 0.01972765 0.01450861 0.07477134
+v -0.01346920 -0.00304577 0.11956896
+v -0.02037057 -0.00304572 0.10718119
+v -0.02296690 -0.00645267 0.07477127
+v -0.02048449 -0.00674206 0.10341004
+v -0.01962063 -0.00674207 0.10718118
+v 0.01383253 0.00065058 0.11956897
+v 0.02023552 0.00434697 0.10718122
+v 0.02123228 0.00434698 0.10341008
+v 0.02022603 0.00804792 0.10341009
+v 0.01891600 0.01104174 0.10341010
+v 0.02346313 0.00456291 0.07477131
+v -0.01830111 -0.00863388 0.10908429
+v -0.01198355 -0.00663651 0.11956895
+v -0.01992915 -0.01351017 0.07477124
+v -0.01907004 -0.01006648 0.10341002
+v -0.01868083 -0.00934559 0.10718117
+v 0.01338161 -0.00304577 0.11956896
+v 0.02030672 -0.00304572 0.10718119
+v 0.02049658 0.00065063 0.10718120
+v 0.02158352 0.00065064 0.10341006
+v 0.02424155 0.00065075 0.07477129
+v -0.01751794 -0.01119606 0.10718116
+v -0.01499282 -0.01275266 0.10925529
+v -0.01088712 -0.00848698 0.11956894
+v -0.01954943 -0.01409791 0.07477124
+v -0.01805429 -0.01191695 0.10341002
+v 0.01828947 -0.00862010 0.10907990
+v 0.01193868 -0.00659059 0.11956895
+v 0.01956627 -0.00674207 0.10718118
+v 0.02131772 -0.00304571 0.10341005
+v 0.02377165 -0.00304560 0.07477128
+v -0.01464632 -0.01600820 0.10535258
+v -0.01548645 -0.01404752 0.10683912
+v -0.01382518 -0.01521843 0.10786959
+v -0.00905972 -0.01012164 0.11956893
+v -0.01625063 -0.01763355 0.07477123
+v 0.01116026 -0.00791761 0.11956894
+v 0.01085174 -0.00844106 0.11956894
+v 0.01497643 -0.01273430 0.10925529
+v 0.01749206 -0.01116391 0.10718116
+v 0.01865495 -0.00931344 0.10718117
+v 0.02041114 -0.00674206 0.10341004
+v 0.02096648 -0.01046585 0.07477125
+v -0.01266230 -0.02081103 0.07477121
+v -0.01017989 -0.01927750 0.10340999
+v -0.00796803 -0.01999382 0.10621642
+v -0.01268128 -0.01673828 0.10683911
+v -0.01138550 -0.01627912 0.10923335
+v -0.00665801 -0.01196752 0.11956893
+v 0.00902435 -0.01011246 0.11956893
+v 0.01380405 -0.01520006 0.10782136
+v 0.01545582 -0.01403834 0.10681281
+v 0.01801892 -0.01187103 0.10341002
+v 0.01462519 -0.01599442 0.10530873
+v 0.01903467 -0.01002056 0.10341002
+v 0.01970392 -0.01376731 0.07477124
+v -0.01199304 -0.02121511 0.07477121
+v -0.00834775 -0.02017289 0.10340999
+v -0.00916889 -0.01867600 0.10735653
+v -0.00548563 -0.02116012 0.10340998
+v -0.00547139 -0.02033821 0.10735653
+v -0.00668174 -0.01923620 0.10872906
+v -0.00534798 -0.01255526 0.11956892
+v 0.01136436 -0.01626994 0.10923335
+v 0.00664636 -0.01195833 0.11956893
+v 0.01266489 -0.01671992 0.10681280
+v 0.01624848 -0.01763355 0.07477123
+v 0.00795164 -0.01998923 0.10619888
+v 0.01014926 -0.01926373 0.10340999
+v 0.01217601 -0.02087532 0.07477121
+v -0.00915940 -0.02215641 0.07477121
+v -0.00183084 -0.02182592 0.10340998
+v -0.00871798 -0.02229876 0.07477121
+v -0.00183084 -0.02098105 0.10718112
+v -0.00424205 -0.01981935 0.10917633
+v -0.00483061 -0.01278485 0.11956892
+v 0.00666060 -0.01922242 0.10871151
+v 0.00915725 -0.01865763 0.10734776
+v 0.00612900 -0.01219710 0.11956893
+v 0.00545500 -0.02033361 0.10734776
+v 0.00547873 -0.02115552 0.10340998
+v 0.00832187 -0.02016371 0.10340999
+v 0.00915250 -0.02214723 0.07477121
+v -0.00548563 -0.02271660 0.07477121
+v -0.00522932 -0.02274875 0.07477121
+v -0.00183084 -0.02291864 0.07477121
+v -0.00169794 -0.02292323 0.07477121
+v 0.00182395 -0.02183051 0.10340998
+v -0.00183084 -0.01993873 0.10926403
+v 0.00182395 -0.02098105 0.10718112
+v -0.00183084 -0.01352871 0.11956892
+v -0.00398574 -0.01299607 0.11956892
+v 0.00481422 -0.01278485 0.11956892
+v 0.00422092 -0.01981935 0.10917633
+v 0.00547873 -0.02271660 0.07477121
+v 0.00182395 -0.02291864 0.07477121
+v 0.00182395 -0.01993873 0.10926403
+v 0.00182395 -0.01352871 0.11956892
+v 0.00266407 -0.01332208 0.11956892
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 26
+f 1 26 44
+f 1 44 55
+f 1 55 72
+f 1 72 82
+f 1 82 84
+f 1 84 95
+f 1 95 106
+f 1 106 116
+f 1 116 126
+f 1 126 138
+f 1 138 151
+f 1 151 162
+f 1 162 165
+f 1 165 178
+f 1 178 190
+f 1 190 191
+f 1 191 182
+f 1 182 181
+f 1 181 180
+f 1 180 179
+f 1 179 168
+f 1 168 166
+f 1 166 152
+f 1 152 139
+f 1 139 131
+f 1 131 120
+f 1 120 109
+f 1 109 98
+f 1 98 88
+f 1 88 77
+f 1 77 66
+f 1 66 49
+f 1 49 36
+f 1 36 19
+f 1 19 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 8
+f 5 8 6
+f 5 7 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 13
+f 7 15 14
+f 7 19 15
+f 8 13 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 23 24
+f 10 24 11
+f 10 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 18 27
+f 13 27 20
+f 15 19 16
+f 16 19 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 27
+f 18 29 35
+f 18 35 30
+f 19 36 37
+f 19 37 28
+f 20 27 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 27 34 33
+f 27 33 32
+f 27 32 31
+f 27 31 30
+f 27 30 46
+f 27 46 60
+f 27 60 62
+f 27 62 61
+f 27 61 74
+f 27 74 85
+f 27 85 96
+f 27 96 108
+f 27 108 119
+f 27 119 130
+f 27 130 144
+f 27 144 158
+f 27 158 171
+f 27 171 187
+f 27 187 186
+f 27 186 193
+f 27 193 194
+f 27 194 188
+f 27 188 174
+f 27 174 160
+f 27 160 145
+f 27 145 133
+f 27 133 132
+f 27 132 123
+f 27 123 112
+f 27 112 101
+f 27 101 90
+f 27 90 78
+f 27 78 69
+f 27 69 68
+f 27 68 67
+f 27 67 52
+f 27 52 41
+f 27 41 40
+f 27 40 39
+f 27 39 38
+f 28 37 45
+f 28 45 29
+f 29 45 35
+f 30 35 47
+f 30 47 46
+f 35 45 48
+f 35 48 47
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 45
+f 41 52 53
+f 41 53 42
+f 42 53 43
+f 43 54 55
+f 43 55 44
+f 43 53 56
+f 43 56 57
+f 43 57 58
+f 43 58 54
+f 45 51 59
+f 45 59 48
+f 46 47 60
+f 47 61 62
+f 47 62 60
+f 47 48 59
+f 47 59 63
+f 47 63 64
+f 47 64 61
+f 49 65 50
+f 49 66 65
+f 50 59 51
+f 50 65 59
+f 52 67 53
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 56
+f 54 58 55
+f 55 58 72
+f 56 71 73
+f 56 73 57
+f 57 73 72
+f 57 72 58
+f 59 65 63
+f 61 64 75
+f 61 75 74
+f 63 65 76
+f 63 76 75
+f 63 75 64
+f 65 66 76
+f 66 77 76
+f 69 78 79
+f 69 79 70
+f 70 79 80
+f 70 80 81
+f 70 81 71
+f 71 81 73
+f 72 73 82
+f 73 81 83
+f 73 83 84
+f 73 84 82
+f 74 75 85
+f 75 76 86
+f 75 86 87
+f 75 87 85
+f 76 77 86
+f 77 88 89
+f 77 89 86
+f 78 90 79
+f 79 91 92
+f 79 92 93
+f 79 93 80
+f 79 90 91
+f 80 93 81
+f 81 93 94
+f 81 94 83
+f 83 94 84
+f 84 94 95
+f 85 87 97
+f 85 97 96
+f 86 89 97
+f 86 97 87
+f 88 98 89
+f 89 98 99
+f 89 99 100
+f 89 100 97
+f 90 101 102
+f 90 102 91
+f 91 102 92
+f 92 102 103
+f 92 103 104
+f 92 104 93
+f 93 104 105
+f 93 105 94
+f 94 105 95
+f 95 105 104
+f 95 104 106
+f 96 97 107
+f 96 107 108
+f 97 100 107
+f 98 109 110
+f 98 110 99
+f 99 110 111
+f 99 111 100
+f 100 111 107
+f 101 112 113
+f 101 113 114
+f 101 114 102
+f 102 114 115
+f 102 115 103
+f 103 115 116
+f 103 116 106
+f 103 106 104
+f 107 117 118
+f 107 118 119
+f 107 119 108
+f 107 111 117
+f 109 120 121
+f 109 121 110
+f 110 121 111
+f 111 121 117
+f 112 122 113
+f 112 123 122
+f 113 124 125
+f 113 125 115
+f 113 115 114
+f 113 122 124
+f 115 125 116
+f 116 125 126
+f 117 121 127
+f 117 127 128
+f 117 128 118
+f 118 128 129
+f 118 129 119
+f 119 129 130
+f 120 131 127
+f 120 127 121
+f 122 123 132
+f 122 132 133
+f 122 133 134
+f 122 134 135
+f 122 135 136
+f 122 136 124
+f 124 137 125
+f 124 136 137
+f 125 137 126
+f 126 137 138
+f 127 129 128
+f 127 131 139
+f 127 139 140
+f 127 140 141
+f 127 141 142
+f 127 142 129
+f 129 142 143
+f 129 143 130
+f 130 143 144
+f 133 145 146
+f 133 146 134
+f 134 146 147
+f 134 147 135
+f 135 148 136
+f 135 147 149
+f 135 149 148
+f 136 148 150
+f 136 150 137
+f 137 150 151
+f 137 151 138
+f 139 152 140
+f 140 152 153
+f 140 153 141
+f 141 154 142
+f 141 153 155
+f 141 155 156
+f 141 156 157
+f 141 157 154
+f 142 154 143
+f 143 154 157
+f 143 157 144
+f 144 157 158
+f 145 159 146
+f 145 160 159
+f 146 149 147
+f 146 159 161
+f 146 161 149
+f 148 149 151
+f 148 151 150
+f 149 162 151
+f 149 161 163
+f 149 163 164
+f 149 164 165
+f 149 165 162
+f 152 166 155
+f 152 155 153
+f 155 167 156
+f 155 166 168
+f 155 168 167
+f 156 167 169
+f 156 169 170
+f 156 170 157
+f 157 170 171
+f 157 171 158
+f 159 160 172
+f 159 172 173
+f 159 173 161
+f 160 174 172
+f 161 173 163
+f 163 172 175
+f 163 175 176
+f 163 176 177
+f 163 177 164
+f 163 173 172
+f 164 177 165
+f 165 177 178
+f 167 168 179
+f 167 179 180
+f 167 180 181
+f 167 181 182
+f 167 182 183
+f 167 183 169
+f 169 184 170
+f 169 183 185
+f 169 185 192
+f 169 192 184
+f 170 184 186
+f 170 186 187
+f 170 187 171
+f 172 174 188
+f 172 188 189
+f 172 189 175
+f 175 189 185
+f 175 185 183
+f 175 183 176
+f 176 183 178
+f 176 178 177
+f 178 183 190
+f 182 191 183
+f 183 191 190
+f 184 192 193
+f 184 193 186
+f 185 189 192
+f 188 194 189
+f 189 194 193
+f 189 193 192
+

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_2.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v -0.01829959 0.00233220 0.13517271
+v -0.01829959 0.00233220 0.13553155
+v -0.01829959 0.00261446 0.13517271
+v -0.01809710 0.00092089 0.13378410
+v -0.01730136 0.00404867 0.13701781
+v -0.01829959 0.00261446 0.13553155
+v -0.01730491 -0.00304608 0.13358876
+v -0.01641681 -0.00304609 0.13735964
+v -0.01723742 0.00092088 0.13701780
+v -0.01799764 0.00404868 0.13378411
+v -0.01709532 0.00065007 0.12981788
+v -0.01535108 0.00435000 0.13962305
+v -0.01519122 0.00804614 0.13963155
+v -0.01487861 0.01033096 0.13946383
+v -0.01638128 0.00804615 0.13735968
+v -0.01689283 0.00804616 0.13358880
+v -0.01346830 -0.00304603 0.11956896
+v -0.01527648 -0.00612428 0.13045483
+v -0.01462284 -0.00858837 0.13172452
+v -0.01554647 -0.00711221 0.13322354
+v -0.01033861 -0.01919238 0.13735958
+v -0.01476849 -0.00885921 0.13613026
+v -0.01526938 -0.00676893 0.13737661
+v -0.01481822 -0.00555215 0.13938733
+v -0.01523030 0.00065004 0.13953385
+v -0.01502426 -0.00304610 0.13948501
+v -0.01678626 0.00435003 0.12981790
+v -0.01390525 0.00065011 0.11956897
+v -0.01359263 -0.00199707 0.11956896
+v -0.00914145 -0.01414216 0.14058694
+v -0.01279689 0.00804614 0.14017510
+v -0.01282531 0.01163929 0.13990334
+v -0.01521254 0.01083065 0.13735969
+v -0.01162459 0.01424833 0.13969103
+v -0.01395498 0.01268063 0.13735970
+v -0.01537950 0.01107860 0.13358881
+v -0.01509886 0.01066284 0.13087530
+v -0.01332975 0.00435007 0.11956899
+v -0.01198339 -0.00663918 0.11956895
+v -0.00998337 -0.01919237 0.13355472
+v -0.00901356 -0.01919239 0.14013466
+v -0.01110594 -0.01645366 0.13940853
+v -0.01433864 -0.00801624 0.13864630
+v -0.01146828 -0.01414215 0.13969729
+v -0.00548600 -0.01919240 0.14118142
+v -0.00548600 -0.01784211 0.14121752
+v -0.00914145 0.01174609 0.14065496
+v -0.00548600 0.01544604 0.14078663
+v -0.00905974 0.01546894 0.14003288
+v -0.00778442 0.01756303 0.13953816
+v -0.01000469 0.01657893 0.13735971
+v -0.01212548 0.01472896 0.13735970
+v -0.01411484 0.01292857 0.13358882
+v -0.01067965 0.00953764 0.11956901
+v -0.01102068 0.00901125 0.11956900
+v -0.01187681 0.00768766 0.11956900
+v -0.01183774 0.01443527 0.13077127
+v -0.01088924 -0.00848534 0.11956894
+v -0.00952156 -0.01919237 0.13241879
+v -0.00183056 -0.01919240 0.14123025
+v -0.00183056 -0.01784211 0.14125573
+v -0.00183056 0.01544604 0.14107115
+v -0.00183056 0.01839837 0.14021548
+v -0.00548600 0.01800169 0.13992672
+v -0.00548600 0.01891334 0.13735972
+v -0.00817874 0.01779572 0.13735972
+v -0.01011836 0.01672007 0.13358883
+v -0.01228889 0.01487010 0.13358882
+v -0.00885015 0.01118164 0.11956901
+v -0.00793718 0.01764698 0.13120654
+v -0.00905974 -0.01012171 0.11956893
+v -0.00845938 -0.01919236 0.13046752
+v 0.00048917 -0.01919240 0.14123238
+v 0.00182488 -0.01784211 0.14125998
+v 0.00182488 0.01544604 0.14107752
+v 0.00182488 0.01839837 0.14021973
+v -0.00183056 0.01971817 0.13735972
+v -0.00548600 0.01900489 0.13358884
+v -0.00828887 0.01785676 0.13358884
+v -0.00687145 0.01250904 0.11956902
+v -0.00548600 0.01809326 0.13072457
+v -0.00426042 0.01384026 0.11956902
+v -0.00608992 0.01303161 0.11956902
+v -0.00665830 -0.01197169 0.11956893
+v -0.00749668 -0.01919236 0.13003650
+v -0.00534746 -0.01255529 0.11956892
+v -0.00483236 -0.01278415 0.11956892
+v 0.00182488 -0.01919240 0.14123238
+v 0.00414461 -0.01919240 0.14120478
+v 0.00548032 -0.01784211 0.14121540
+v 0.00913577 0.01174609 0.14065284
+v 0.00548032 0.01544604 0.14079937
+v 0.00548032 0.01800550 0.13993521
+v 0.00182488 0.01971817 0.13735972
+v 0.00182488 0.01977540 0.13358884
+v -0.00183056 0.01976777 0.13358884
+v -0.00183056 0.01432851 0.11956902
+v -0.00548600 -0.01919235 0.12931248
+v -0.00398688 -0.01299395 0.11956892
+v -0.00183056 -0.01352796 0.11956892
+v 0.00548032 -0.01919240 0.14117930
+v 0.00913577 -0.01414216 0.14055934
+v 0.01279121 0.00804614 0.14016873
+v 0.01281253 0.01163166 0.13989485
+v 0.00905051 0.01545749 0.14003500
+v 0.00777164 0.01756685 0.13954666
+v 0.00548032 0.01891715 0.13735972
+v 0.00548032 0.01901252 0.13358884
+v 0.00548032 0.01810089 0.13071608
+v 0.00182488 0.01432851 0.11956902
+v 0.00548032 -0.01919236 0.12932310
+v 0.00182488 -0.01353177 0.11956892
+v 0.00783203 -0.01919240 0.14049774
+v 0.00898301 -0.01919239 0.14012405
+v 0.01480543 -0.00552545 0.13938308
+v 0.01501147 -0.00304610 0.13948289
+v 0.01532054 0.00435000 0.13961880
+v 0.01517489 0.00804614 0.13962518
+v 0.01160825 0.01422926 0.13968466
+v 0.01486227 0.01032333 0.13945746
+v 0.00999901 0.01656749 0.13735971
+v 0.00816951 0.01779954 0.13735972
+v 0.00828674 0.01786058 0.13358884
+v 0.00793150 0.01764698 0.13120230
+v 0.00425474 0.01384026 0.11956902
+v 0.00356557 0.01398140 0.11956902
+v 0.00842884 -0.01919236 0.13048026
+v 0.00481602 -0.01278797 0.11956892
+v 0.00999190 -0.01919239 0.13806025
+v 0.01108250 -0.01638882 0.13938941
+v 0.01144129 -0.01414215 0.13967606
+v 0.01431875 -0.00799335 0.13861234
+v 0.01524949 -0.00675367 0.13735751
+v 0.01637560 -0.00304609 0.13735964
+v 0.01692268 0.00065005 0.13735965
+v 0.01519975 0.00065004 0.13952960
+v 0.01700794 0.00435001 0.13735967
+v 0.01394575 0.01267300 0.13735970
+v 0.01211980 0.01471751 0.13735970
+v 0.01635784 0.00804615 0.13735968
+v 0.01519620 0.01082684 0.13735969
+v 0.01229387 0.01487391 0.13358882
+v 0.01011624 0.01672389 0.13358883
+v 0.01184271 0.01443908 0.13076914
+v 0.00881605 0.01116256 0.11956901
+v 0.00608424 0.01301254 0.11956902
+v 0.00477339 0.01360759 0.11956902
+v 0.00993506 -0.01919237 0.13357808
+v 0.00612687 -0.01219674 0.11956893
+v 0.00664552 -0.01196025 0.11956893
+v 0.00732048 -0.01143768 0.11956893
+v 0.00902564 -0.01011027 0.11956893
+v 0.01085159 -0.00844338 0.11956894
+v 0.01028320 -0.01919238 0.13735958
+v 0.01475570 -0.00884395 0.13609629
+v 0.01724950 -0.00304608 0.13358876
+v 0.01799196 0.00065006 0.13358877
+v 0.01788894 0.00435002 0.13358879
+v 0.01411982 0.01293620 0.13358882
+v 0.01687650 0.00804616 0.13358880
+v 0.01537027 0.01108623 0.13358881
+v 0.01509318 0.01067047 0.13087742
+v 0.01064555 0.00950712 0.11956900
+v 0.01008071 -0.01919238 0.13505161
+v 0.01193863 -0.00659340 0.11956895
+v 0.01461360 -0.00858074 0.13175850
+v 0.01552302 -0.00710840 0.13324477
+v 0.01526370 -0.00611665 0.13046757
+v 0.01338446 -0.00304603 0.11956896
+v 0.01701859 0.00065007 0.12981788
+v 0.01673440 0.00435003 0.12981790
+v 0.01326723 0.00435007 0.11956899
+v 0.01184627 0.00765714 0.11956900
+v 0.01150879 0.00817971 0.11956900
+v 0.01383207 0.00065011 0.11956897
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 4
+f 4 10 11
+f 4 11 7
+f 5 9 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 10
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 7 11 17
+f 8 23 24
+f 8 24 9
+f 9 25 12
+f 9 24 26
+f 9 26 25
+f 10 27 11
+f 10 16 27
+f 11 27 28
+f 11 28 29
+f 11 29 17
+f 12 25 26
+f 12 26 30
+f 12 30 31
+f 12 31 13
+f 13 31 32
+f 13 32 14
+f 14 33 15
+f 14 32 34
+f 14 34 35
+f 14 35 33
+f 15 33 16
+f 16 33 36
+f 16 36 37
+f 16 37 38
+f 16 38 27
+f 17 29 28
+f 17 28 38
+f 17 38 56
+f 17 56 55
+f 17 55 54
+f 17 54 69
+f 17 69 80
+f 17 80 83
+f 17 83 82
+f 17 82 97
+f 17 97 110
+f 17 110 126
+f 17 126 125
+f 17 125 147
+f 17 147 146
+f 17 146 145
+f 17 145 163
+f 17 163 174
+f 17 174 173
+f 17 173 172
+f 17 172 175
+f 17 175 169
+f 17 169 165
+f 17 165 153
+f 17 153 152
+f 17 152 151
+f 17 151 150
+f 17 150 149
+f 17 149 128
+f 17 128 112
+f 17 112 100
+f 17 100 99
+f 17 99 87
+f 17 87 86
+f 17 86 84
+f 17 84 71
+f 17 71 58
+f 17 58 39
+f 17 39 19
+f 17 19 18
+f 19 39 40
+f 19 40 20
+f 20 40 21
+f 21 40 59
+f 21 59 72
+f 21 72 85
+f 21 85 98
+f 21 98 111
+f 21 111 127
+f 21 127 148
+f 21 148 164
+f 21 164 154
+f 21 154 129
+f 21 129 114
+f 21 114 113
+f 21 113 101
+f 21 101 89
+f 21 89 88
+f 21 88 73
+f 21 73 60
+f 21 60 45
+f 21 45 41
+f 21 41 42
+f 21 42 22
+f 22 42 23
+f 23 42 43
+f 23 43 24
+f 24 43 42
+f 24 42 44
+f 24 44 41
+f 24 41 30
+f 24 30 26
+f 27 38 28
+f 30 41 45
+f 30 45 46
+f 30 46 31
+f 31 47 32
+f 31 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 34
+f 33 35 36
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 36
+f 36 53 37
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 37 53 57
+f 37 57 54
+f 39 58 40
+f 40 58 59
+f 41 44 42
+f 45 60 46
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 67 68
+f 51 68 52
+f 51 66 67
+f 52 68 53
+f 53 68 57
+f 54 57 69
+f 57 68 67
+f 57 67 70
+f 57 70 69
+f 58 71 72
+f 58 72 59
+f 60 73 74
+f 60 74 61
+f 61 74 75
+f 61 75 62
+f 62 75 63
+f 63 76 77
+f 63 77 64
+f 63 75 76
+f 64 77 65
+f 65 77 78
+f 65 78 79
+f 65 79 66
+f 66 79 67
+f 67 79 70
+f 69 70 80
+f 70 79 78
+f 70 78 81
+f 70 81 82
+f 70 82 83
+f 70 83 80
+f 71 84 72
+f 72 84 86
+f 72 86 87
+f 72 87 85
+f 73 88 74
+f 74 88 89
+f 74 89 90
+f 74 90 75
+f 75 91 92
+f 75 92 76
+f 75 90 91
+f 76 93 94
+f 76 94 77
+f 76 92 93
+f 77 94 95
+f 77 95 96
+f 77 96 78
+f 78 96 81
+f 81 96 97
+f 81 97 82
+f 85 87 99
+f 85 99 100
+f 85 100 98
+f 89 101 90
+f 90 101 102
+f 90 102 103
+f 90 103 91
+f 91 103 104
+f 91 104 92
+f 92 105 93
+f 92 104 105
+f 93 106 107
+f 93 107 94
+f 93 105 106
+f 94 107 108
+f 94 108 95
+f 95 108 109
+f 95 109 110
+f 95 110 97
+f 95 97 96
+f 98 100 112
+f 98 112 111
+f 101 113 102
+f 102 113 114
+f 102 114 115
+f 102 115 116
+f 102 116 117
+f 102 117 103
+f 103 117 118
+f 103 118 104
+f 104 119 105
+f 104 118 120
+f 104 120 119
+f 105 119 106
+f 106 121 122
+f 106 122 107
+f 106 119 121
+f 107 122 123
+f 107 123 108
+f 108 123 124
+f 108 124 109
+f 109 124 125
+f 109 125 126
+f 109 126 110
+f 111 112 128
+f 111 128 127
+f 114 129 130
+f 114 130 131
+f 114 131 115
+f 115 132 133
+f 115 133 134
+f 115 134 135
+f 115 135 116
+f 115 131 130
+f 115 130 132
+f 116 135 136
+f 116 136 117
+f 117 137 118
+f 117 136 135
+f 117 135 137
+f 118 137 120
+f 119 120 138
+f 119 138 139
+f 119 139 121
+f 120 137 140
+f 120 140 141
+f 120 141 138
+f 121 139 142
+f 121 142 143
+f 121 143 122
+f 122 143 123
+f 123 143 124
+f 124 143 144
+f 124 144 145
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 127 128 149
+f 127 149 150
+f 127 150 151
+f 127 151 152
+f 127 152 153
+f 127 153 148
+f 129 154 130
+f 130 154 155
+f 130 155 133
+f 130 133 132
+f 133 156 134
+f 133 155 156
+f 134 156 157
+f 134 157 135
+f 135 157 137
+f 137 157 158
+f 137 158 140
+f 138 159 139
+f 138 141 159
+f 139 159 142
+f 140 160 141
+f 140 158 160
+f 141 160 161
+f 141 161 159
+f 142 159 144
+f 142 144 143
+f 144 159 162
+f 144 162 163
+f 144 163 145
+f 148 153 165
+f 148 165 166
+f 148 166 167
+f 148 167 164
+f 154 164 167
+f 154 167 155
+f 155 167 156
+f 156 167 166
+f 156 166 168
+f 156 168 169
+f 156 169 170
+f 156 170 157
+f 157 170 158
+f 158 170 171
+f 158 171 160
+f 159 161 162
+f 160 162 161
+f 160 171 172
+f 160 172 162
+f 162 172 173
+f 162 173 174
+f 162 174 163
+f 165 169 168
+f 165 168 166
+f 169 175 170
+f 170 175 171
+f 171 175 172
+

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/mesh/shampoo_bottle_020_collision_3.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01034113 -0.01919238 0.13735949
+v -0.00764983 -0.02893964 0.13954811
+v -0.00901466 -0.01919239 0.14013647
+v -0.00998378 -0.01919237 0.13355525
+v -0.00752263 -0.04214715 0.13128574
+v -0.00786182 -0.04003424 0.13358870
+v -0.00733688 -0.04191397 0.13549844
+v -0.00755897 -0.04003425 0.13579870
+v -0.00548547 -0.02524145 0.14071714
+v -0.00808189 -0.02524144 0.13992002
+v -0.00738332 -0.03100310 0.13930578
+v -0.00548547 -0.01919240 0.14118202
+v -0.00849376 -0.02154323 0.14015931
+v -0.00548547 -0.02154324 0.14112104
+v -0.00952143 -0.01919237 0.13242130
+v -0.00761752 -0.04003423 0.13071419
+v -0.00548547 -0.04250284 0.13049165
+v -0.00548547 -0.04281143 0.13358869
+v -0.00748831 -0.04210476 0.13358870
+v -0.00479094 -0.03938880 0.12690539
+v -0.00548547 -0.04219193 0.13572554
+v -0.00548547 -0.04003425 0.13659582
+v -0.00182909 -0.02524145 0.14085584
+v -0.00548547 -0.02893964 0.14005564
+v -0.00182909 -0.02893965 0.14028426
+v -0.00548547 -0.03159669 0.13945665
+v -0.00182909 -0.01919240 0.14122927
+v -0.00182909 -0.02154324 0.14118506
+v -0.00845944 -0.01919236 0.13046888
+v -0.00696741 -0.03633601 0.12879685
+v -0.00182909 -0.04268186 0.13002984
+v -0.00182909 -0.04325427 0.13358869
+v -0.00182909 -0.04177732 0.12814297
+v -0.00514023 -0.03633601 0.12676518
+v -0.00182909 -0.03633600 0.12567085
+v -0.00182909 -0.03992821 0.12641156
+v -0.00182909 -0.04245811 0.13595567
+v -0.00182909 -0.04003425 0.13709726
+v -0.00182909 -0.03633605 0.13836994
+v 0.00182326 -0.02524145 0.14085736
+v 0.00182326 -0.02154324 0.14118811
+v -0.00182909 -0.03213611 0.13959230
+v 0.00182326 -0.02893965 0.14028274
+v -0.00182909 -0.03398522 0.13911525
+v 0.00049073 -0.01919240 0.14123231
+v -0.00749638 -0.01919236 0.13003603
+v 0.00182326 -0.04177968 0.12813840
+v 0.00182326 -0.04267715 0.13002375
+v 0.00182326 -0.04324956 0.13358869
+v 0.00182326 -0.04245575 0.13595415
+v -0.00548547 -0.01919235 0.12931206
+v 0.00182326 -0.03633600 0.12566323
+v 0.00182326 -0.03993056 0.12641156
+v 0.00182326 -0.04003425 0.13709421
+v 0.00182326 -0.03633605 0.13836231
+v 0.00547964 -0.02524145 0.14071257
+v 0.00547964 -0.02154324 0.14111952
+v 0.00547964 -0.01919240 0.14118050
+v 0.00414509 -0.01919240 0.14120489
+v 0.00182326 -0.01919240 0.14123231
+v 0.00182326 -0.03212198 0.13959230
+v 0.00547964 -0.02893964 0.14004498
+v 0.00182326 -0.03397108 0.13910915
+v 0.00547964 -0.04249577 0.13049318
+v 0.00478108 -0.03939115 0.12690386
+v 0.00547964 -0.04279023 0.13358869
+v 0.00547964 -0.04217779 0.13571640
+v 0.00547964 -0.01919236 0.12932273
+v 0.00512632 -0.03633601 0.12675908
+v 0.00547964 -0.04003425 0.13658058
+v 0.00547964 -0.03155901 0.13945055
+v 0.00736740 -0.03097248 0.13929663
+v 0.00762785 -0.02893964 0.13953744
+v 0.00805587 -0.02524144 0.13991393
+v 0.00845967 -0.02154323 0.14015475
+v 0.00783176 -0.01919240 0.14049768
+v 0.00751276 -0.04214480 0.13129641
+v 0.00760564 -0.04003423 0.13073705
+v 0.00695552 -0.03633601 0.12883952
+v 0.00747037 -0.04209063 0.13358870
+v 0.00732096 -0.04189984 0.13548625
+v 0.00842737 -0.01919236 0.13048260
+v 0.00754103 -0.04003425 0.13578498
+v 0.00999006 -0.01919239 0.13806060
+v 0.00898460 -0.01919239 0.14012428
+v 0.00993555 -0.01919237 0.13357812
+v 0.01008091 -0.01919238 0.13505348
+v 0.01028483 -0.01919238 0.13735949
+v 0.00783782 -0.04003424 0.13358870
+f 1 2 3
+f 1 3 12
+f 1 12 27
+f 1 27 45
+f 1 45 60
+f 1 60 59
+f 1 59 58
+f 1 58 76
+f 1 76 85
+f 1 85 84
+f 1 84 88
+f 1 88 87
+f 1 87 86
+f 1 86 82
+f 1 82 68
+f 1 68 51
+f 1 51 46
+f 1 46 29
+f 1 29 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 13
+f 3 13 14
+f 3 14 12
+f 4 15 16
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 16 20
+f 5 20 17
+f 6 19 7
+f 7 19 18
+f 7 18 21
+f 7 21 22
+f 7 22 11
+f 7 11 8
+f 9 23 14
+f 9 14 10
+f 9 11 24
+f 9 24 25
+f 9 25 23
+f 10 14 13
+f 11 22 26
+f 11 26 24
+f 12 14 28
+f 12 28 27
+f 14 23 28
+f 15 29 30
+f 15 30 16
+f 16 30 20
+f 17 31 32
+f 17 32 18
+f 17 20 33
+f 17 33 31
+f 18 32 21
+f 20 30 34
+f 20 34 35
+f 20 35 36
+f 20 36 33
+f 21 32 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 26
+f 23 25 40
+f 23 40 41
+f 23 41 28
+f 24 26 42
+f 24 42 25
+f 25 43 40
+f 25 42 43
+f 26 39 44
+f 26 44 42
+f 27 28 45
+f 28 41 45
+f 29 46 34
+f 29 34 30
+f 31 33 47
+f 31 47 48
+f 31 48 32
+f 32 49 50
+f 32 50 37
+f 32 48 49
+f 33 36 47
+f 34 46 51
+f 34 51 35
+f 35 52 36
+f 35 51 52
+f 36 53 47
+f 36 52 53
+f 37 50 38
+f 38 50 54
+f 38 54 39
+f 39 55 44
+f 39 54 55
+f 40 43 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 45
+f 42 61 43
+f 42 44 61
+f 43 62 56
+f 43 61 62
+f 44 55 63
+f 44 63 61
+f 47 64 48
+f 47 53 65
+f 47 65 64
+f 48 64 49
+f 49 66 67
+f 49 67 50
+f 49 64 66
+f 50 67 54
+f 51 68 52
+f 52 69 65
+f 52 65 53
+f 52 68 69
+f 54 67 70
+f 54 70 55
+f 55 71 63
+f 55 70 71
+f 56 62 72
+f 56 72 73
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 61 63 71
+f 61 71 62
+f 62 71 72
+f 64 65 77
+f 64 77 66
+f 65 78 77
+f 65 69 79
+f 65 79 78
+f 66 77 80
+f 66 80 81
+f 66 81 67
+f 67 81 70
+f 68 82 69
+f 69 82 79
+f 70 81 72
+f 70 72 71
+f 72 81 83
+f 72 83 73
+f 73 84 85
+f 73 85 74
+f 73 83 84
+f 74 85 75
+f 75 85 76
+f 77 78 86
+f 77 86 87
+f 77 87 88
+f 77 88 89
+f 77 89 80
+f 78 79 86
+f 79 82 86
+f 80 89 81
+f 81 89 88
+f 81 88 83
+f 83 88 84
+

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/mjcf/shampoo_bottle_020.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="shampoo_bottle_020">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/shampoo_bottle_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/shampoo_bottle_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/shampoo_bottle_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/shampoo_bottle_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/shampoo_bottle_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="shampoo_bottle_020">
+      <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/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="shampoo_bottle_020">
+   <link name="shampoo_bottle_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/shampoo_bottle_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/shampoo_bottle_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</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>57ef25116edc52a58c710ea7977a1a08</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>shampoo_bottle</category>
+         <name>brown pump bottle</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown cylindrical shampoo bottle with pump dispenser and white label</description>
+         <min_height>0.2292</min_height>
+         <max_height>0.2292</max_height>
+         <real_height>0.2292</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518145359</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040966 -0.043481 -0.088181</min>
+            <max>0.040960 0.041008 0.141021</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/57ef25116edc52a58c710ea7977a1a08/shampoo_bottle_020.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ed26136cfd45a5bf6dce18be5ebdcbea3f2a123f04252c625d0df4ee47e5b5e
+size 4765537

dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:679c50936b04b7d005196f5bbf37071aabcc5ee27a2100aef263b00a19727a6b
+size 108351