Add asset food/snack/70a49a578c905f2a9b3d74a3da7f27d7

.gitattributes

@@ -3696,3 +3696,5 @@ dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usd filter=
 dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usdc filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/chewing_gum_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/mesh/chewing_gum_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/chewing_gum_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mesh/chewing_gum_003.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/chewing_gum_003.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chewing_gum_003">
+   <link name="chewing_gum_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chewing_gum_003.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/chewing_gum_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>70a49a578c905f2a9b3d74a3da7f27d7</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chewing_gum</category>
+         <name>green gum pack</name>
+         <color>green,gray</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>rectangular green and gray chewing gum pack with printed text</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506221655</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>1</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/snack/70a49a578c905f2a9b3d74a3da7f27d7/chewing_gum_003.usd

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+oid sha256:1ab88712ba270b46e93ead4b394acb3b45a62a5c0f76f9eac4da277d2407097e
+size 4530898

dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mesh/chewing_gum_003.glb

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+oid sha256:3a259ff05d637f57ba0c5389eac3f670ab493fc1e8c5df9754a45a08c3534219
+size 13776448

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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mesh/chewing_gum_003_collision.obj

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dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chewing_gum_003_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 chewing_gum_003_geometry_Looks_material_0.png

dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mjcf/chewing_gum_003.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chewing_gum_003">
+  <asset>
+    <material name="material_0" texture="texture_0_chewing_gum_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chewing_gum_003_geometry_Looks_material_0" type="2d" file="mesh/chewing_gum_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chewing_gum_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chewing_gum_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chewing_gum_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/70a49a578c905f2a9b3d74a3da7f27d7/mjcf/mesh/chewing_gum_003_collision.obj

@@ -0,0 +1,1153 @@
+# https://github.com/mikedh/trimesh
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