Add asset food/snack/e5a80020438059e78337721402427957

.gitattributes

@@ -3729,6 +3729,8 @@ dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/candy_005.usd filter=lfs dif
 dataset/food/snack/e33d34b26a265b3785e4b6d54e088554/mesh/candy_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/mesh/potato_chips_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/potato_chips_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/168dc892fd225cf1bde437bebb61bc98.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/mesh/lounge_chair_26.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/168dc892fd225cf1bde437bebb61bc98/mesh/lounge_chair_26_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e5a80020438059e78337721402427957/chocolate_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e5a80020438059e78337721402427957/chocolate_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/e5a80020438059e78337721402427957/mjcf/mesh/chocolate_001.obj filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/e5a80020438059e78337721402427957/chocolate_001.urdf

@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chocolate_001">
+   <link name="chocolate_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chocolate_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/chocolate_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="0.1500" />
+         <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>e5a80020438059e78337721402427957</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chocolate</category>
+         <name>chocolate bar</name>
+         <color>dark brown</color>
+         <shape>cuboid</shape>
+         <material>chocolate</material>
+         <description>rectangular dark chocolate bar with beveled edges</description>
+         <min_height>0.0104</min_height>
+         <max_height>0.0104</max_height>
+         <real_height>0.0104</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325150348</generate_time>
+         <gs_model>""</gs_model>
+      </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/e5a80020438059e78337721402427957/chocolate_001.usd

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+oid sha256:169a9c8219e68f77c3770a0f99d72e4457e41b406be29802ff14f062a0bb0291
+size 52319809

dataset/food/snack/e5a80020438059e78337721402427957/chocolate_001.usdc

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+oid sha256:59ee1f293e4d333fbc10d49db39c5dd82e477c61ab50619775907a65cce1f600
+size 99133387

dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001.glb

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+oid sha256:6572f3e469568f0b451244b2eea6078182b7a2b51cae4950e791b96a170f25f6
+size 35719428

dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001.mtl

@@ -0,0 +1,6 @@
+newmtl chocolate_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_chocolate_basecolor.png

dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001.obj

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dataset/food/snack/e5a80020438059e78337721402427957/mesh/chocolate_001_collision.obj

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dataset/food/snack/e5a80020438059e78337721402427957/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl chocolate_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 chocolate_001_looks_omni_pbr.png

dataset/food/snack/e5a80020438059e78337721402427957/mjcf/chocolate_001.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chocolate_001">
+  <asset>
+    <material name="material_0" texture="texture_0_chocolate_001_looks_omni_pbr" reflectance="0.2" />
+    <texture name="texture_0_chocolate_001_looks_omni_pbr" type="2d" file="mesh/chocolate_001_looks_omni_pbr.png" />
+    <mesh name="visual_mesh_0" file="mesh/chocolate_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chocolate_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chocolate_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/e5a80020438059e78337721402427957/mjcf/mesh/chocolate_001.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:beabb15d487e23459e88a99a8ee03e9ad2fd0aa33e8ca0f76511063cf3be6d1b
+size 112780149

dataset/food/snack/e5a80020438059e78337721402427957/mjcf/mesh/chocolate_001_collision.obj

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