Add asset food/beverages/863c528c27c8532491bd61dc3954cccb

.gitattributes

@@ -3499,8 +3499,5 @@ dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.usdc filter=lfs
 dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mesh/coke_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/mesh/milk_carton_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/8abd7ce3480e52f5b0e56f48a792dc31/milk_carton_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/canned_coke_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/84d18faff79151c59cfadada9216a5ee/mesh/canned_coke_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/74a9fa56c020561db6221363d9156c64/mesh/milk_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/74a9fa56c020561db6221363d9156c64/milk_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/74a9fa56c020561db6221363d9156c64/milk_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/juice_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/mesh/juice_004.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/juice_004.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="juice_004">
+   <link name="juice_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/juice_004.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/juice_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>863c528c27c8532491bd61dc3954cccb</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>juice</category>
+         <name>guava juice bottle</name>
+         <color>white,green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>small plastic bottle with guava and peach illustrations</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506214310</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/food/beverages/863c528c27c8532491bd61dc3954cccb/juice_004.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e07b0f41c076f2d062e19cecf2c060859a63859d76eed16870cb02dafbdc21d0
+size 5001916

dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/mesh/juice_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1483f0874a4134d9d34d7d3a33a257d0a7b19ccdcbca255a822f072361bbf5ad
+size 14778928

dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/mesh/juice_004.mtl

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+newmtl juice_004_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/food/beverages/863c528c27c8532491bd61dc3954cccb/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl juice_004_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 juice_004_geometry_Looks_material_0.png

dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/mjcf/juice_004.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="juice_004">
+  <asset>
+    <material name="material_0" texture="texture_0_juice_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_juice_004_geometry_Looks_material_0" type="2d" file="mesh/juice_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/juice_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/juice_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/juice_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/juice_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="juice_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/beverages/863c528c27c8532491bd61dc3954cccb/mjcf/mesh/juice_004_collision_1.obj

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