Add asset food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0

.gitattributes

@@ -3714,3 +3714,5 @@ dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/mesh/potato_chips_007.glb fi
 dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/potato_chips_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/chocolate_010.usd filter=lfs diff=lfs merge=lfs -text
 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/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_004">
+   <link name="biscuit_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>ae530ea5501c5af38ccaeb1ecdf7d3e0</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>packaged biscuits</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>sealed package containing round biscuits with decorative patterns</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220746</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/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61e3f900f63e6832c24ef90269cdd4669b3baeac18c9e974c0e32e4494d8b2c4
+size 4993413

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435c43e5ec3b0a7fca17193fbafe4c1b8f547623c6fb2371a7707a1a446621d0
+size 16398028

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.mtl

@@ -0,0 +1,6 @@
+newmtl biscuit_004_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/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_004_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 biscuit_004_geometry_Looks_material_0.png

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/biscuit_004.xml

@@ -0,0 +1,144 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_004">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_biscuit_004_geometry_Looks_material_0" type="2d" file="mesh/biscuit_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/biscuit_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/biscuit_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/biscuit_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/biscuit_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/biscuit_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/biscuit_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/biscuit_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/biscuit_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/biscuit_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/biscuit_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/biscuit_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/biscuit_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/biscuit_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/biscuit_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/biscuit_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/biscuit_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/biscuit_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/biscuit_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/biscuit_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/biscuit_004_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/biscuit_004_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/biscuit_004_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/biscuit_004_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/biscuit_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/biscuit_004_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/biscuit_004_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_44" file="mesh/biscuit_004_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/biscuit_004_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/biscuit_004_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_52" file="mesh/biscuit_004_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_54" file="mesh/biscuit_004_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/biscuit_004_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/biscuit_004_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/biscuit_004_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/biscuit_004_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/biscuit_004_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/biscuit_004_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/biscuit_004_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/biscuit_004_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/biscuit_004_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/biscuit_004_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_004">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_0.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_10.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_13.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_14.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_15.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_16.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_17.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_18.obj

@@ -0,0 +1,76 @@
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_19.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_2.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_20.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_21.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_22.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_23.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_24.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_25.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_26.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_27.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_28.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_29.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_3.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_30.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.03213892 -0.00028664 0.07350842
+v -0.03632048 -0.00028665 0.07523907
+v -0.03189891 0.00008593 0.07350842
+v -0.00178624 -0.00028664 0.07350842
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+v -0.00178624 -0.00028668 0.08329821
+v -0.03632048 0.00407826 0.08329822
+v -0.00178624 0.00407826 0.08329822
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_31.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03581856 -0.00028668 0.08528205
+v 0.02215184 -0.00028668 0.08553909
+v 0.03581856 -0.00113175 0.08453202
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+v 0.01618431 -0.00762293 0.07466571
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_32.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04032056 -0.01408086 0.04758538
+v -0.04307647 -0.01408090 0.05716244
+v -0.04007002 -0.00703249 0.04758540
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+v 0.04223985 -0.01408090 0.05716244
+v 0.04097046 -0.00703249 0.04758540
+v 0.03697857 -0.00703253 0.05716246
+f 1 2 3
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_33.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03296150 -0.01249892 -0.05456931
+v 0.03533207 -0.01901241 -0.05607956
+v 0.03269409 -0.01250143 -0.05456931
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_34.obj

@@ -0,0 +1,268 @@
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_35.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_36.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_37.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_38.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_39.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_40.obj

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dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_41.obj

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