Add asset food/snack/7afdc23907745576bc885588017b4b28

.gitattributes

@@ -3696,5 +3696,5 @@ dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usd filter=
 dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usdc filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/chewing_gum_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/mesh/chewing_gum_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/7d0b5519bd71548887394a7a2e239237/cheese_sticks_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/7d0b5519bd71548887394a7a2e239237/mesh/cheese_sticks_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_007">
+   <link name="biscuit_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>7afdc23907745576bc885588017b4b28</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>packaged biscuits</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>sealed transparent bag containing multiple biscuits with curved shapes</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220855</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>6</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/7afdc23907745576bc885588017b4b28/biscuit_007.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95e000c3ef463fbaada308aa90aa4fdee0f10457e2b758e03c704a62e417fb3
+size 4929660

dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79e543698c0cb94adae6b6c85a62c7c35c1aba3de231dc7e15575862386f535
+size 13989104

dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.mtl

@@ -0,0 +1,6 @@
+newmtl biscuit_007_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/7afdc23907745576bc885588017b4b28/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_007_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_007_geometry_Looks_material_0.png

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/biscuit_007.xml

@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_007">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_biscuit_007_geometry_Looks_material_0" type="2d" file="mesh/biscuit_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/biscuit_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/biscuit_007_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/biscuit_007_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/biscuit_007_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/biscuit_007_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/biscuit_007_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/biscuit_007_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/biscuit_007_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/biscuit_007_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/biscuit_007_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/biscuit_007_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/biscuit_007_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/biscuit_007_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/biscuit_007_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/biscuit_007_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/biscuit_007_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/biscuit_007_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/biscuit_007_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/biscuit_007_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/biscuit_007_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/biscuit_007_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/biscuit_007_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/biscuit_007_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_007">
+      <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/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_10.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_11.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_12.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_15.obj

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

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_17.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_18.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_19.obj

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

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_2.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_20.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_21.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_22.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_23.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_24.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_25.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_26.obj

@@ -0,0 +1,262 @@
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_27.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_28.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_29.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_3.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_30.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_31.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_32.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_33.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_34.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_35.obj

@@ -0,0 +1,97 @@
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_36.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_4.obj

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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_6.obj

@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 -0.04513223 0.05901985
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+v -0.00889491 -0.04427349 0.06552529
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_7.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_8.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_9.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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