Add asset food/snack/127ace8d5e6e53ae85bc191476a102a1

.gitattributes

@@ -3680,3 +3680,5 @@ dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usdc filter
 dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/194da09669c0587892933c39a86fb4d4/candy_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/194da09669c0587892933c39a86fb4d4/mesh/candy_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/biscuit_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mesh/biscuit_009.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/biscuit_009.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_009">
+   <link name="biscuit_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_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/biscuit_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="0.3000" />
+         <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>127ace8d5e6e53ae85bc191476a102a1</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>packaged biscuits</name>
+         <color>red,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>sealed red and brown package containing round biscuits with holes</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220957</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/127ace8d5e6e53ae85bc191476a102a1/biscuit_009.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a45f15c2b1d3029c184ef73f5e4394ede5348a6a81c85508ed202a212482942
+size 4982796

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mesh/biscuit_009.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:673f4e5b63be1872526ef4b77a0bb9f9bb4ef346da9c35735ae13063534956e4
+size 13437796

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mesh/biscuit_009.mtl

@@ -0,0 +1,6 @@
+newmtl biscuit_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/127ace8d5e6e53ae85bc191476a102a1/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_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 biscuit_009_geometry_Looks_material_0.png

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/biscuit_009.xml

@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_009">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_biscuit_009_geometry_Looks_material_0" type="2d" file="mesh/biscuit_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/biscuit_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/biscuit_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/biscuit_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/biscuit_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/biscuit_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/biscuit_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/biscuit_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_11.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_12.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_13.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_14.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_15.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_17.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_18.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_19.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_2.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_20.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_3.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_4.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_6.obj

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dataset/food/snack/127ace8d5e6e53ae85bc191476a102a1/mjcf/mesh/biscuit_009_collision_7.obj

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