Add asset food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9

.gitattributes

@@ -3618,5 +3618,5 @@ dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/mesh/onion_gs.ply filt
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/1a617a85f7d55318a48c205edfaa2f96.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/mesh/potato_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/20100288181959dbac9df60ed60feeb7/potato_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/bread_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/mesh/bread_010.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/bread_010.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bread_010">
+   <link name="bread_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bread_010.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/bread_010_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>14a5d9f1dbc950368033ec4eaed1a4f9</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>bread</category>
+         <name>sesame bun</name>
+         <color>brown</color>
+         <shape>hemisphere</shape>
+         <material>organic</material>
+         <description>round bread bun with sesame seeds and a split in the middle</description>
+         <min_height>0.1277</min_height>
+         <max_height>0.1277</max_height>
+         <real_height>0.1277</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000610</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>2</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/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/bread_010.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ed70160ed1809c5becf15bcc5b9303f74fe0f82f5967e87f41af5e179ff404
+size 4935898

dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/mesh/bread_010.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1385a01bbcb125030d8ee383e84531bdecf243e4877325c1f8504d4fcfc28d33
+size 18669608

dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/mesh/bread_010.mtl

@@ -0,0 +1,6 @@
+newmtl bread_010_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/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bread_010_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 bread_010_geometry_Looks_material_0.png

dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/mjcf/bread_010.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bread_010">
+  <asset>
+    <material name="material_0" texture="texture_0_bread_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bread_010_geometry_Looks_material_0" type="2d" file="mesh/bread_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bread_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bread_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bread_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bread_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/14a5d9f1dbc950368033ec4eaed1a4f9/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2d439b981454956c1718581e481bfd292bd29b4487b069ab0322bc1a586294
+size 611335