Add asset food/snack/b80f9d5023f6516393cd15d77d561070

.gitattributes

@@ -3718,7 +3718,8 @@ dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/biscuit_003.usd filter=lfs d
 dataset/food/snack/a6a1dbf0ecec511aaae0221ce93e083d/mesh/biscuit_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/candy_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/c8ea14aadc6d595e9bf3dbd86fef7866/mesh/candy_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/candy_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/d7879e73e54754d995ab4d2f9e5360a1/mesh/candy_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/d7c60e82529452eba52ff2d70e3cc57d/biscuit_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/d7c60e82529452eba52ff2d70e3cc57d/mesh/biscuit_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b80f9d5023f6516393cd15d77d561070/biscuit_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b80f9d5023f6516393cd15d77d561070/biscuit_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/biscuit_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/biscuit_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001.obj filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/biscuit_001.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_001">
+   <link name="biscuit_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_001.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/biscuit_001_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>b80f9d5023f6516393cd15d77d561070</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>square biscuit</name>
+         <color>golden brown</color>
+         <shape>flat</shape>
+         <material>baked dough</material>
+         <description>square-shaped biscuit with decorative patterns and holes</description>
+         <min_height>0.0088</min_height>
+         <max_height>0.0088</max_height>
+         <real_height>0.0088</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325145759</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/snack/b80f9d5023f6516393cd15d77d561070/biscuit_001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:13041cf3f1fc35ba46577c1e41f25b56fc88e11a2e4176febdabf0b87da42960
+size 52190368

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/biscuit_001.usdc

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a0638ec9cfba158eb87d6b8ae5a6409da333522c4e7c4c2475bfbae906132566
+size 105437874

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/biscuit_001.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5e7fe0cc3428be3a36f0e1d74e827ec477c265e74c3f20e6d328adca5d2642
+size 44808388

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/biscuit_001.mtl

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+newmtl biscuit_001_looks_omni_pbr
+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_biscuit_001_basecolor.png

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/biscuit_001.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c02def0cecdfd56df02ad8cded2bde922822a3ddbebbc5edc59dbad396ec5974
+size 114118614

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_001_looks_omni_pbr
+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 biscuit_001_looks_omni_pbr.png

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/biscuit_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_001">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_001_looks_omni_pbr" reflectance="0.2" />
+    <texture name="texture_0_biscuit_001_looks_omni_pbr" type="2d" file="mesh/biscuit_001_looks_omni_pbr.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

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+oid sha256:de99fb34c58b8076ac441aa98ca6f1d778d705a5b695d098cbd692ae03052ff6
+size 109245665

dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_0.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_10.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_11.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_12.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_13.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_5.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_6.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_7.obj

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dataset/food/snack/b80f9d5023f6516393cd15d77d561070/mjcf/mesh/biscuit_001_collision_8.obj

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