Add asset food/ingredients/43b8971eeddc574aab3c198455811b61

.gitattributes

@@ -3630,6 +3630,6 @@ dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/carrot_001.usdc filter
 dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/mesh/carrot_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/41603c8814f9582290f1766548569b14/mesh/tomato_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/41603c8814f9582290f1766548569b14/tomato_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mesh/tomato_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/tomato_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/tomato_002.usdc filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tomato_002_looks_tomato
+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 tomato_002_looks_tomato.png

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mesh/tomato_002.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:44c576067a629de0256f1b08b4d1498164c5e92df177bd1f27e18f0a61f18a12
+size 9809696

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mesh/tomato_002.mtl

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+newmtl tomato_002_looks_tomato
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_tomato_002_color.png

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_0.obj

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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_10.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_11.obj

@@ -0,0 +1,94 @@
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_12.obj

@@ -0,0 +1,289 @@
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_13.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_14.obj

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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_16.obj

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

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_17.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_18.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_19.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_2.obj

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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_20.obj

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

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_21.obj

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

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_5.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_7.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/mjcf/mesh/tomato_002_collision_8.obj

@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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+    <mesh name="collision_mesh_0_7" file="mesh/tomato_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tomato_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tomato_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tomato_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tomato_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tomato_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tomato_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tomato_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tomato_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tomato_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tomato_002">
+      <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" />
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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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/tomato_002.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato_002">
+   <link name="tomato_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tomato_002.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/tomato_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>43b8971eeddc574aab3c198455811b61</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>tomato</category>
+         <name>ripe tomato</name>
+         <color>red</color>
+         <shape>sphere</shape>
+         <material>organic</material>
+         <description>red ripe tomato with green stem</description>
+         <min_height>0.0874</min_height>
+         <max_height>0.0874</max_height>
+         <real_height>0.0874</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325145607</generate_time>
+         <gs_model>""</gs_model>
+      </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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/tomato_002.usd

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+size 1732641

dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/tomato_002.usdc

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dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/video.mp4

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