Add asset bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd

.gitattributes

@@ -5229,3 +5229,5 @@ dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/mesh/so
 dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/soap_dish_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/lotion_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/mesh/lotion_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sponge_036_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 sponge_036_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd56bd61113947be6ef9d9e46069031abaead90cacd5e399d6218db45ceb37c
+size 33531648

dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mesh/sponge_036.mtl

@@ -0,0 +1,6 @@
+newmtl sponge_036_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/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_0.obj

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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_1.obj

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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_2.obj

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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_4.obj

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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_5.obj

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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/mesh/sponge_036_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/mjcf/sponge_036.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sponge_036">
+  <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/sponge_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sponge_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sponge_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sponge_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sponge_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sponge_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sponge_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sponge_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sponge_036">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/sponge_036.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sponge_036">
+   <link name="sponge_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sponge_036.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/sponge_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>4989dde812de5edfa946cf23d1f3decd</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>sponge</category>
+         <name>scrub sponge</name>
+         <color>yellow,brown</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular yellow sponge with brown abrasive scrubber bottom</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609170922</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023072 -0.037432 -0.011760</min>
+            <max>0.023687 0.036067 0.013240</max>
+         </aabb>
+         <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/4989dde812de5edfa946cf23d1f3decd/sponge_036.usd

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+oid sha256:1ca5c7fdfbe15dcb1e81a58ba67acee1542712858a05ab5b7247d62c15dc54ae
+size 4953544

dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/video.mp4

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+size 964497