Add asset food/beverages/6d33a4f5d8ab5417b8500b9044787fd7

.gitattributes

@@ -3494,5 +3494,6 @@ dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mesh/coke_001.obj filter
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mjcf/mesh/coke_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/mesh/milk_carton_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/milk_carton_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/canned_coke_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/mesh/canned_coke_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mesh/coke_002.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coke_002">
+   <link name="coke_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coke_002.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/coke_002_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>6d33a4f5d8ab5417b8500b9044787fd7</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>coke</category>
+         <name>coke can</name>
+         <color>red</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>red cylindrical can with white logo and metallic top</description>
+         <min_height>0.1195</min_height>
+         <max_height>0.1195</max_height>
+         <real_height>0.1195</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325140555</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6a1b61e53530af0d8ff16c51907f5f0e49422345d9645417e9f82e90bb54c7
+size 1716212

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/coke_002.usdc

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6135cc81e8ee3bd2a24f10c5c53e7fe939847b9acb67bf0b50f4cc641ed54d42
+size 3491020

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mesh/coke_002.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6cef752d0f2a16d442cfb84866c4c9e5f5849a15dbf084139eee02bb938ebe
+size 9574840

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mesh/coke_002.mtl

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+newmtl coke_002_looks_cola_002
+Kd 0.800000 0.800000 0.800000
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_coke_002_color.png

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl coke_002_looks_cola_002
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coke_002_looks_cola_002.png

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/coke_002.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coke_002">
+  <asset>
+    <material name="material_0" texture="texture_0_coke_002_looks_cola_002" reflectance="0.2" />
+    <texture name="texture_0_coke_002_looks_cola_002" type="2d" file="mesh/coke_002_looks_cola_002.png" />
+    <mesh name="visual_mesh_0" file="mesh/coke_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coke_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coke_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coke_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coke_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coke_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coke_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coke_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coke_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coke_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coke_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coke_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coke_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coke_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coke_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coke_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coke_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coke_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_1.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_11.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_12.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_13.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_15.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_2.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_3.obj

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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/mjcf/mesh/coke_002_collision_4.obj

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