Add asset food/snack/5a4ee561c97c508dae092a855a84b6a3

.gitattributes

@@ -3689,3 +3689,5 @@ dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/mesh/potato_chips_004.glb fi
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/potato_chips_004.usd 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/5a4ee561c97c508dae092a855a84b6a3/chocolate_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mesh/chocolate_004.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/chocolate_004.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chocolate_004">
+   <link name="chocolate_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chocolate_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/chocolate_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>5a4ee561c97c508dae092a855a84b6a3</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chocolate</category>
+         <name>wrapped chocolate</name>
+         <color>golden</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>golden wrapped chocolate with tied top and printed branding</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506222008</generate_time>
+         <gs_model>""</gs_model>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/chocolate_004.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:36fb0f9a31d3ec40a2511cce12b99906ecc63f07c00496f32aec8a759cc403b0
+size 5009388

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mesh/chocolate_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e4b31e6ff897b8aef6e241e965517fac1bce02fc8af51c0666b03e6093dc5e
+size 16625956

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mesh/chocolate_004.mtl

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+newmtl chocolate_004_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/5a4ee561c97c508dae092a855a84b6a3/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chocolate_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 chocolate_004_geometry_Looks_material_0.png

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/chocolate_004.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chocolate_004">
+  <asset>
+    <material name="material_0" texture="texture_0_chocolate_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chocolate_004_geometry_Looks_material_0" type="2d" file="mesh/chocolate_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chocolate_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chocolate_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chocolate_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chocolate_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chocolate_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chocolate_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chocolate_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/chocolate_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/chocolate_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/chocolate_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/chocolate_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/chocolate_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/chocolate_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/chocolate_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/chocolate_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/chocolate_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/chocolate_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/chocolate_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/chocolate_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/chocolate_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/chocolate_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/chocolate_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/chocolate_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/chocolate_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/chocolate_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chocolate_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" />
+      <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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_0.obj

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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_13.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_14.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_15.obj

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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_17.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_18.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_19.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_2.obj

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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_20.obj

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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_21.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01147797 -0.00416524 -0.01054814
+v -0.01147797 -0.00416524 0.01262913
+v -0.01147797 -0.00316525 -0.01054814
+v -0.01147797 -0.00316525 0.01262913
+v 0.01149665 -0.00416524 -0.01054814
+v 0.01149665 -0.00416524 0.01262913
+v 0.01149665 -0.00316525 -0.01054814
+v 0.01149665 -0.00316525 0.01262913
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_22.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_23.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_3.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_4.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_5.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_6.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_8.obj

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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/mjcf/mesh/chocolate_004_collision_9.obj

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dataset/food/snack/5a4ee561c97c508dae092a855a84b6a3/video.mp4

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