Add asset food/snack/2d7b78491f6956839ee8baf783daaf23

.gitattributes

@@ -3683,3 +3683,5 @@ dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/chewing_gum_006.usd filter=l
 dataset/food/snack/21ae1735882f5d59a68fcee8a12606a2/mesh/chewing_gum_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3270a4df5dfd5ba5a51d2555f92e309b/candy_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3270a4df5dfd5ba5a51d2555f92e309b/mesh/candy_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/biscuit_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mesh/biscuit_008.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/biscuit_008.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_008">
+   <link name="biscuit_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_008.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_008_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>2d7b78491f6956839ee8baf783daaf23</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>biscuit pack</name>
+         <color>red,brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular red and brown pack containing biscuits</description>
+         <min_height>0.2300</min_height>
+         <max_height>0.2300</max_height>
+         <real_height>0.2300</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220927</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/2d7b78491f6956839ee8baf783daaf23/biscuit_008.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd07008d35ecae559289d3d1a46c9cd52aba402733ace9444bc437caa79685f
+size 4877745

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mesh/biscuit_008.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7299df97cb5a2e8c6d24c56cf2f4bbe041c1ae6c14248f5c85451e7f132e054
+size 13230724

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mesh/biscuit_008.mtl

@@ -0,0 +1,6 @@
+newmtl biscuit_008_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/2d7b78491f6956839ee8baf783daaf23/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_008_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_008_geometry_Looks_material_0.png

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/biscuit_008.xml

@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_008">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_biscuit_008_geometry_Looks_material_0" type="2d" file="mesh/biscuit_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/biscuit_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/biscuit_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/biscuit_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/biscuit_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/biscuit_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/biscuit_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/biscuit_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/biscuit_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/biscuit_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/biscuit_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/biscuit_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/biscuit_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/biscuit_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/biscuit_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/biscuit_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/biscuit_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_008">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_0.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_1.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_10.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_11.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_12.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_13.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_14.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_15.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_16.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_17.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_18.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_19.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_2.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_21.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_22.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_23.obj

@@ -0,0 +1,172 @@
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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_24.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_25.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_26.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_27.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_28.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_29.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_4.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_5.obj

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+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_6.obj

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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mjcf/mesh/biscuit_008_collision_8.obj

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+# https://github.com/mikedh/trimesh
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