Add asset food/ingredients/121d9883663a5a308aac4899b6081e22

.gitattributes

@@ -3607,6 +3607,5 @@ dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/banana_004.usd filter=lfs d
 dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/mesh/banana_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/mesh/potato_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/potato_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/potato_002.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_008">
+   <link name="garlic_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_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/garlic_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="0.0750" />
+         <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>121d9883663a5a308aac4899b6081e22</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>garlic bulb</name>
+         <color>white,pink</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>segmented garlic bulb with visible cloves and stem</description>
+         <min_height>0.0570</min_height>
+         <max_height>0.0570</max_height>
+         <real_height>0.0570</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428001202</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>14</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/121d9883663a5a308aac4899b6081e22/garlic_008.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970c40790e1613b6fc284f89422b9fb2d994051e29f1b133cc469ab4a5ae4b75
+size 5017554

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30efd7669f1afc2473e16fc0df9529ccb296b1db4d7b01d8278f3f74fd3a103
+size 15031132

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.mtl

@@ -0,0 +1,6 @@
+newmtl garlic_008_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_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 garlic_008_geometry_Looks_material_0.png

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/garlic_008.xml

@@ -0,0 +1,208 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_008">
+  <asset>
+    <material name="material_0" texture="texture_0_garlic_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_garlic_008_geometry_Looks_material_0" type="2d" file="mesh/garlic_008_geometry_Looks_material_0.png" />
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+  </asset>
+  <worldbody>
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_1.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_12.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_13.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_14.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_15.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_16.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_17.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_21.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_22.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_23.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_24.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_26.obj

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

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_27.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_28.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_29.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_3.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_30.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_31.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_32.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_33.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_35.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_36.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_37.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_38.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_39.obj

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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_40.obj

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+

dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_41.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00214765 0.00383358 -0.01993972
+v 0.00214765 0.00383358 0.02107251
+v 0.00214765 0.01094283 -0.01993972
+v 0.00214765 0.01094283 0.02107251
+v 0.00314765 0.00383358 -0.01993972
+v 0.00314765 0.00383358 0.02107251
+v 0.00314765 0.01094283 -0.01993972
+v 0.00314765 0.01094283 0.02107251
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+