Add asset food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad

.gitattributes

@@ -3634,6 +3634,5 @@ dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/chili_009.usd filter=l
 dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/mesh/chili_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/chili_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/6f54422b713957998f541ab55c7f5c33.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/mesh/potato.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/6f54422b713957998f541ab55c7f5c33/mesh/potato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/bread_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/bread_008.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/bread_008.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bread_008">
+   <link name="bread_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bread_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3250" />
+         <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>618f3f5a1f5553a2ad85f94abe7926ad</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>bread</category>
+         <name>baguette bread</name>
+         <color>golden,brown</color>
+         <shape>elongated</shape>
+         <material>organic</material>
+         <description>elongated loaf of bread with a golden-brown crust</description>
+         <min_height>0.0370</min_height>
+         <max_height>0.0370</max_height>
+         <real_height>0.0370</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000513</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/bread_008.usd

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+oid sha256:3abba1a7e6bdd29975bace3b8ec98407f770cb7b8bbb659951ea0df13a356ce2
+size 4893340

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/bread_008.glb

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+size 11527728

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/bread_008.mtl

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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

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dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bread_008_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_008_geometry_Looks_material_0.png

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mjcf/bread_008.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bread_008">
+  <asset>
+    <material name="material_0" texture="texture_0_bread_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bread_008_geometry_Looks_material_0" type="2d" file="mesh/bread_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bread_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bread_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bread_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mjcf/mesh/bread_008_collision.obj

@@ -0,0 +1,3007 @@
+# https://github.com/mikedh/trimesh
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+v -0.02408850 -0.03141773 -0.00400579
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