Add asset food/beverages/1334a3de8d445882bfe4d87f3a8170ee

.gitattributes

@@ -3475,5 +3475,5 @@ dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/beverage_bottle_014.usd
 dataset/food/beverages/0975c7e3e7ee5462a84a0e3129bcca16/mesh/beverage_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/beverage_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/08b363f8cb3b5558a340fe4413a97fd8/mesh/beverage_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/mesh/milk_carton_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/0b87a800c0e8572394ca77d0d7a8221c/milk_carton_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/beverage_bottle_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/mesh/beverage_bottle_007.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/beverage_bottle_007.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="beverage_bottle_007">
+   <link name="beverage_bottle_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/beverage_bottle_007.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/beverage_bottle_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>1334a3de8d445882bfe4d87f3a8170ee</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>beverage_bottle</category>
+         <name>brown bottle</name>
+         <color>brown,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>rectangular brown bottle with gray cap and printed label</description>
+         <min_height>0.1085</min_height>
+         <max_height>0.1085</max_height>
+         <real_height>0.1085</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212809</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>5</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/1334a3de8d445882bfe4d87f3a8170ee/beverage_bottle_007.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8a493434ce1d76a3fb31c5261643a83f8dbed8e6171ad9689f2080c52f942e43
+size 4625248

dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/mesh/beverage_bottle_007.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6abc4bf3d88428d8e688aac7b4547cec977c4fe02d006a6125c603d9c77df29b
+size 12700324

dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/mesh/beverage_bottle_007.mtl

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+newmtl beverage_bottle_007_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/1334a3de8d445882bfe4d87f3a8170ee/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl beverage_bottle_007_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 beverage_bottle_007_geometry_Looks_material_0.png

dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/mjcf/beverage_bottle_007.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="beverage_bottle_007">
+  <asset>
+    <material name="material_0" texture="texture_0_beverage_bottle_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_beverage_bottle_007_geometry_Looks_material_0" type="2d" file="mesh/beverage_bottle_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/beverage_bottle_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/beverage_bottle_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/beverage_bottle_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="beverage_bottle_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/beverages/1334a3de8d445882bfe4d87f3a8170ee/mjcf/mesh/beverage_bottle_007_collision_0.obj

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