Add asset food/beverages/bbd93f72d6f251a6abd1747350d5c3d3

.gitattributes

@@ -3507,3 +3507,5 @@ dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/canned_coke_010.usd filt
 dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/mesh/canned_coke_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/juice_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/mesh/juice_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/canned_coke_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mesh/canned_coke_012.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/canned_coke_012.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="canned_coke_012">
+   <link name="canned_coke_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/canned_coke_012.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/canned_coke_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>bbd93f72d6f251a6abd1747350d5c3d3</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>canned_coke</category>
+         <name>black coke can</name>
+         <color>black,silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>black cylindrical can with silver top and bottom edges</description>
+         <min_height>0.1341</min_height>
+         <max_height>0.1341</max_height>
+         <real_height>0.1341</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506213709</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>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/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/canned_coke_012.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:89388dfa4642b68e74348398960b486753bc01eec415a2dd2f8ae2f75363dcb8
+size 4781654

dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mesh/canned_coke_012.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:97dc83077c8b9c2337cab41c23c58d90706f4570fe5c26722c0c377f5a7b1bf7
+size 10702984

dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mesh/canned_coke_012.mtl

@@ -0,0 +1,6 @@
+newmtl canned_coke_012_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/bbd93f72d6f251a6abd1747350d5c3d3/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl canned_coke_012_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 canned_coke_012_geometry_Looks_material_0.png

dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/canned_coke_012.xml

@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="canned_coke_012">
+  <asset>
+    <material name="material_0" texture="texture_0_canned_coke_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_canned_coke_012_geometry_Looks_material_0" type="2d" file="mesh/canned_coke_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/canned_coke_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/canned_coke_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/canned_coke_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/canned_coke_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/canned_coke_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/canned_coke_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/canned_coke_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/canned_coke_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/canned_coke_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/canned_coke_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/canned_coke_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/canned_coke_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="canned_coke_012">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_0.obj

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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_1.obj

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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_4.obj

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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_6.obj

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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_7.obj

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dataset/food/beverages/bbd93f72d6f251a6abd1747350d5c3d3/mjcf/mesh/canned_coke_012_collision_8.obj

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