Add asset food/ingredients/1a617a85f7d55318a48c205edfaa2f96

.gitattributes

@@ -3615,3 +3615,6 @@ dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_gs.ply fil
 dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/1d4600807a04582f8b19e3f07a8dca9b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
+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/1a617a85f7d55318a48c205edfaa2f96/1a617a85f7d55318a48c205edfaa2f96.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="onion">
+   <link name="onion">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/onion.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/onion_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>onion</category>
+         <description>spherical red onion with a tapered top and small root base</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120012945</generate_time>
+         <gs_model>mesh/onion_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.499912261962891</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/1a617a85f7d55318a48c205edfaa2f96.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4595fc52186481dab33fac1b215a40b41b0c5633391371333c988e2d30c72450
+size 364926

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b621a83b5fc10f6e1b73ccc8c6acf402d18e0cf0d2c5450688608313c5c14fe
+size 2179452

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:362af024ecbce9e6c93377a0afff70056c6253eb7bb79280c83461e48c637788
+size 3614153

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/1a617a85f7d55318a48c205edfaa2f96.xml

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="onion">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/onion.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/onion_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/onion_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/onion_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/onion_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/onion_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/onion_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/onion_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/onion_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="onion">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_4.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_5.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_6.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mjcf/mesh/onion_collision_7.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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