Add asset food/ingredients/81ea292188735ebc909facc0c22e657b

.gitattributes

@@ -3639,10 +3639,6 @@ dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/mesh/onion.glb filter=
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 dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/carrot_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/7f000056f3b05094b2e41bcc328b8594/mesh/carrot_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/88c29bebf1f8562b87ea88871f2b1c1f/carrot_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/88c29bebf1f8562b87ea88871f2b1c1f/mesh/carrot_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/857d8949e7605347897d4845530fa141/mesh/tomato_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/857d8949e7605347897d4845530fa141/tomato_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/9157eb7537375b87a1f28c697240264c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/mesh/cucumber.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/9157eb7537375b87a1f28c697240264c/mesh/cucumber_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/capsicum_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/capsicum_002.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mesh/capsicum_002.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/capsicum_002.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="capsicum_002">
+   <link name="capsicum_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/capsicum_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/capsicum_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>81ea292188735ebc909facc0c22e657b</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>capsicum</category>
+         <name>red capsicum</name>
+         <color>red</color>
+         <shape>elongated</shape>
+         <material>organic</material>
+         <description>elongated red capsicum with green stem</description>
+         <min_height>0.0259</min_height>
+         <max_height>0.0259</max_height>
+         <real_height>0.0259</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325143930</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/81ea292188735ebc909facc0c22e657b/capsicum_002.usd

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+size 1714348

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/capsicum_002.usdc

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+size 3492955

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mesh/capsicum_002.glb

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dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mesh/capsicum_002.mtl

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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_capsicum_002_color.png

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mesh/capsicum_002_collision.obj

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dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl capsicum_002_looks_capsicum_002
+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 capsicum_002_looks_capsicum_002.png

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mjcf/capsicum_002.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="capsicum_002">
+  <asset>
+    <material name="material_0" texture="texture_0_capsicum_002_looks_capsicum_002" reflectance="0.2" />
+    <texture name="texture_0_capsicum_002_looks_capsicum_002" type="2d" file="mesh/capsicum_002_looks_capsicum_002.png" />
+    <mesh name="visual_mesh_0" file="mesh/capsicum_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/capsicum_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/capsicum_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/capsicum_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="capsicum_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mjcf/mesh/capsicum_002_collision.obj

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+# https://github.com/mikedh/trimesh
+
+o capsicum_002_collision.obj
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dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mjcf/mesh/capsicum_002_collision_1.obj

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dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/mjcf/mesh/capsicum_002_collision_2.obj

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dataset/food/ingredients/81ea292188735ebc909facc0c22e657b/video.mp4

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