Add asset food/ingredients/bdc62a896627544eb714de2ad2d7a050

.gitattributes

@@ -5437,3 +5437,5 @@ dataset/food/ingredients/bb02360a500652bba562309006137929/mesh/potato_005.glb fi
 dataset/food/ingredients/bb02360a500652bba562309006137929/potato_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/egg_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/mesh/egg_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/bread_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/mesh/bread_003.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/bread_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bread_003">
+   <link name="bread_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bread_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>bdc62a896627544eb714de2ad2d7a050</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>bread</category>
+         <name>round bread</name>
+         <color>brown,beige</color>
+         <shape>hemisphere</shape>
+         <material>organic</material>
+         <description>soft round bread with a golden-brown crust and white interior</description>
+         <min_height>0.1224</min_height>
+         <max_height>0.1224</max_height>
+         <real_height>0.1224</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000248</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>1</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/bdc62a896627544eb714de2ad2d7a050/bread_003.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a908daacad3b400cb9426a6581bc5654d0f039119587a91eb384d838f7be5064
+size 4928090

dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/mesh/bread_003.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28dbf2864e68adb0e24732b01d0e73f5c5d331026f9e0d79610c9cf42261a92
+size 14884868

dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/mesh/bread_003.mtl

@@ -0,0 +1,6 @@
+newmtl bread_003_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/bdc62a896627544eb714de2ad2d7a050/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bread_003_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_003_geometry_Looks_material_0.png

dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/mjcf/bread_003.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bread_003">
+  <asset>
+    <material name="material_0" texture="texture_0_bread_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bread_003_geometry_Looks_material_0" type="2d" file="mesh/bread_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bread_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bread_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bread_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bread_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a991186e19323e123da6d4562d511c5b94c6a41e68f83b289ccea841716e4cf4
+size 165420