Add asset food/snack/a7efd56f1fca5a0584dd1a7bdd858435

.gitattributes

@@ -3716,7 +3716,5 @@ dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/chocolate_010.usd filter=lfs
 dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/mesh/chocolate_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/b049bc9835cd59f289878f15e294258d/cheese_sticks_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/b049bc9835cd59f289878f15e294258d/mesh/cheese_sticks_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/mesh/potato_chips_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/b699c8e716715f17bfdc26a87e661b2a/potato_chips_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/chewing_gum_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mesh/chewing_gum_009.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/chewing_gum_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chewing_gum_009">
+   <link name="chewing_gum_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chewing_gum_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0100" />
+         <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>a7efd56f1fca5a0584dd1a7bdd858435</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chewing_gum</category>
+         <name>wrapped gum</name>
+         <color>green,yellow</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular chewing gum wrapped in green and yellow packaging</description>
+         <min_height>0.0118</min_height>
+         <max_height>0.0118</max_height>
+         <real_height>0.0118</real_height>
+         <min_mass>0.005</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506221829</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/a7efd56f1fca5a0584dd1a7bdd858435/chewing_gum_009.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a0212116b9458a3913fb4f23ff971d818323312b851eef09be72ef0f711caa
+size 4789088

dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mesh/chewing_gum_009.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:58e485049c08ea4254f4df27b9738e3a399b55d4bcc21d5fdf44cdc877f61931
+size 14116832

dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mesh/chewing_gum_009.mtl

@@ -0,0 +1,6 @@
+newmtl chewing_gum_009_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/snack/a7efd56f1fca5a0584dd1a7bdd858435/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chewing_gum_009_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_009_geometry_Looks_material_0.png

dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mjcf/chewing_gum_009.xml

@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chewing_gum_009">
+  <asset>
+    <material name="material_0" texture="texture_0_chewing_gum_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chewing_gum_009_geometry_Looks_material_0" type="2d" file="mesh/chewing_gum_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chewing_gum_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chewing_gum_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chewing_gum_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chewing_gum_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chewing_gum_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chewing_gum_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chewing_gum_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chewing_gum_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mjcf/mesh/chewing_gum_009_collision_0.obj

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dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/mjcf/mesh/chewing_gum_009_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/a7efd56f1fca5a0584dd1a7bdd858435/video.mp4

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