Add asset food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5

.gitattributes

@@ -3637,3 +3637,6 @@ dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb fil
 dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/bread_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/bread_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mesh/bread_001.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/bread_001.urdf

@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bread_001">
+   <link name="bread_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bread_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/bread_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>605414d9b68d5f36a1fdd2ac0baad5d5</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>bread</category>
+         <name>rustic bread</name>
+         <color>brown</color>
+         <shape>ellipsoid</shape>
+         <material>organic</material>
+         <description>oval-shaped rustic bread with a crusty surface</description>
+         <min_height>0.0406</min_height>
+         <max_height>0.0406</max_height>
+         <real_height>0.0406</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325142924</generate_time>
+         <gs_model>""</gs_model>
+      </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/605414d9b68d5f36a1fdd2ac0baad5d5/bread_001.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8eb4dae5bd162079fd344dd9db5833f53262b3f96243d1425f2a01dc5bebc7
+size 1758264

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/bread_001.usdc

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c7122c86bc096be0a398441b5e2e09fbeeded977a787d5939234f28f08b46f91
+size 3512544

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mesh/bread_001.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:468c5f7b00c3594cebb75f2891b227b4c4b35a8cfb7f581d6ad70e6da03aee81
+size 19604196

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mesh/bread_001.mtl

@@ -0,0 +1,6 @@
+newmtl bread_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_bread_basecolor.png

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bread_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 bread_001_looks_omni_pbr.png

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/bread_001.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bread_001">
+  <asset>
+    <material name="material_0" texture="texture_0_bread_001_looks_omni_pbr" reflectance="0.2" />
+    <texture name="texture_0_bread_001_looks_omni_pbr" type="2d" file="mesh/bread_001_looks_omni_pbr.png" />
+    <mesh name="visual_mesh_0" file="mesh/bread_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bread_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bread_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bread_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bread_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bread_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bread_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bread_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bread_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bread_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bread_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bread_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bread_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bread_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bread_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bread_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bread_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bread_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bread_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bread_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bread_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bread_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bread_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bread_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bread_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bread_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" />
+      <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_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" />
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+      <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/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_0.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_10.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_11.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_12.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_13.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_14.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_15.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_16.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_17.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_18.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_19.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_2.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_20.obj

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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_7.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_8.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/605414d9b68d5f36a1fdd2ac0baad5d5/mjcf/mesh/bread_001_collision_9.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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