Add asset bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab

.gitattributes

@@ -5233,5 +5233,7 @@ dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sp
 dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/mesh/sponge_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/sponge_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/mesh/sponge_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/sponge_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/facial_cleanser_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mjcf/mesh/facial_cleanser_026.obj filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/facial_cleanser_026.urdf

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="facial_cleanser_026">
+   <link name="facial_cleanser_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/facial_cleanser_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>56b0b809527259a496d0bb5212e0a1ab</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>facial_cleanser</category>
+         <name>pump cleanser bottle</name>
+         <color>white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white plastic facial cleanser bottle with pump dispenser</description>
+         <min_height>0.1495</min_height>
+         <max_height>0.1495</max_height>
+         <real_height>0.1495</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518142855</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018946 -0.032621 -0.058892</min>
+            <max>0.019941 0.032799 0.090657</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/56b0b809527259a496d0bb5212e0a1ab/facial_cleanser_026.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:31304273894caf21bb123899da66cdceaa93bfecd7738bb92aa0937a366cf32d
+size 41666044

dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:df598c1e4fedefeffa3489870c5adcc5816506f72a93baf87c0768fe475d0d7f
+size 24587912

dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.mtl

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+newmtl facial_cleanser_026_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/56b0b809527259a496d0bb5212e0a1ab/mesh/facial_cleanser_026.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1c21333fead44f34e52fda6725630d6346236fff0b130346d71ad3e77df9f779
+size 39224493

dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl facial_cleanser_026_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_026_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/mjcf/facial_cleanser_026.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="facial_cleanser_026">
+  <asset>
+    <material name="material_0" texture="texture_0_facial_cleanser_026_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_facial_cleanser_026_geometry_Looks_material_0" type="2d" file="mesh/facial_cleanser_026_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/facial_cleanser_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/facial_cleanser_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/facial_cleanser_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/facial_cleanser_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/facial_cleanser_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="facial_cleanser_026">
+      <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/56b0b809527259a496d0bb5212e0a1ab/mjcf/mesh/facial_cleanser_026.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3471fcec12702a1df3e18e2ae469d574c0e48c9e333fda8228f12538ab778f1
+size 37444192

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+# https://github.com/mikedh/trimesh
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