Add asset food/ingredients/dc50c054d27a5e39b9ef8d618765ba63

.gitattributes

@@ -5463,3 +5463,5 @@ dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/egg_001.usd filter=lfs
 dataset/food/ingredients/d5a09d6a88e453b5953b4a6dff3ba6ef/mesh/egg_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/dbe9f14115b052d89c6ff4234c11414c/egg_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/dbe9f14115b052d89c6ff4234c11414c/mesh/egg_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/chili_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mesh/chili_010.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/chili_010.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chili_010">
+   <link name="chili_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chili_010.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/chili_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>dc50c054d27a5e39b9ef8d618765ba63</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>chili</category>
+         <name>green chili</name>
+         <color>green</color>
+         <shape>elongated</shape>
+         <material>organic</material>
+         <description>elongated green chili with curved stem</description>
+         <min_height>0.0472</min_height>
+         <max_height>0.0472</max_height>
+         <real_height>0.0472</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220455</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>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/dc50c054d27a5e39b9ef8d618765ba63/chili_010.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf845961eab8b2c251e98fad5fa868931142eeadbf25ae14d2f5e9f23be310e
+size 4911276

dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mesh/chili_010.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9fd1bcaa4c813fca8b86fa28117362a42dbdd3acde3db0fd643cf5ee727ae53
+size 12317364

dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mesh/chili_010.mtl

@@ -0,0 +1,6 @@
+newmtl chili_010_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/dc50c054d27a5e39b9ef8d618765ba63/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chili_010_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 chili_010_geometry_Looks_material_0.png

dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mjcf/chili_010.xml

@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chili_010">
+  <asset>
+    <material name="material_0" texture="texture_0_chili_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chili_010_geometry_Looks_material_0" type="2d" file="mesh/chili_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chili_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chili_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chili_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chili_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chili_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chili_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chili_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chili_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mjcf/mesh/chili_010_collision_0.obj

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dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mjcf/mesh/chili_010_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mjcf/mesh/chili_010_collision_2.obj

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dataset/food/ingredients/dc50c054d27a5e39b9ef8d618765ba63/mjcf/mesh/chili_010_collision_3.obj

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