Add asset food/snack/5bfa78eed9345628953f14ea5e57a3f6

.gitattributes

@@ -3687,7 +3687,5 @@ dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/biscuit_008.usd filter=lfs d
 dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mesh/biscuit_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/mesh/potato_chips_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/potato_chips_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/candy_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/547d6540fcf65512a28dc9f4a1762c8a/mesh/candy_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/chewing_gum_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mesh/chewing_gum_004.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/chewing_gum_004.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chewing_gum_004">
+   <link name="chewing_gum_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chewing_gum_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/chewing_gum_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>5bfa78eed9345628953f14ea5e57a3f6</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chewing_gum</category>
+         <name>black gum pack</name>
+         <color>black,blue</color>
+         <shape>cuboid</shape>
+         <material>organic</material>
+         <description>rectangular black gum pack with blue and white accents</description>
+         <min_height>0.0209</min_height>
+         <max_height>0.0209</max_height>
+         <real_height>0.0209</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506221708</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>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/5bfa78eed9345628953f14ea5e57a3f6/chewing_gum_004.usd

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+oid sha256:90f830b73a4933671435e15e0869f1ee37a0722fee09e2dfb4260e2b299ad216
+size 4076236

dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mesh/chewing_gum_004.glb

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+oid sha256:218cc4670f6437c935e93fec30032ddfb7b8a76badf8cdb588f1690eea94786d
+size 5928028

dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mesh/chewing_gum_004.mtl

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+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

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dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chewing_gum_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 chewing_gum_004_geometry_Looks_material_0.png

dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mjcf/chewing_gum_004.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chewing_gum_004">
+  <asset>
+    <material name="material_0" texture="texture_0_chewing_gum_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chewing_gum_004_geometry_Looks_material_0" type="2d" file="mesh/chewing_gum_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chewing_gum_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chewing_gum_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chewing_gum_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/5bfa78eed9345628953f14ea5e57a3f6/mjcf/mesh/chewing_gum_004_collision.obj

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