Add asset food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293

.gitattributes

@@ -5452,3 +5452,5 @@ dataset/food/ingredients/c5d1154c3c7f5defb8eaebf78f261d77/mesh/potato.glb filter
 dataset/food/ingredients/c5d1154c3c7f5defb8eaebf78f261d77/mesh/potato_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/ca080ca5a5ff52919b2d1d49876d3b75/mesh/potato_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/ca080ca5a5ff52919b2d1d49876d3b75/potato_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mesh/tomato_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/tomato_010.usd filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl tomato_010_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tomato_010_geometry_Looks_material_0.png

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mesh/tomato_010.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:005de0cff9569c11ef52564f227669b0d79d858b170dc18a6f55bf0deebd0565
+size 13551232

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mesh/tomato_010.mtl

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+newmtl tomato_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/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_10.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_11.obj

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

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_12.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_13.obj

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

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_14.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_15.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_16.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_17.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_18.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_19.obj

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

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_2.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_20.obj

@@ -0,0 +1,964 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_21.obj

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

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_3.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_4.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_5.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_6.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_7.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_8.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/mesh/tomato_010_collision_9.obj

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dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mjcf/tomato_010.xml

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tomato_010">
+  <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/tomato_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tomato_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tomato_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tomato_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tomato_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tomato_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tomato_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tomato_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tomato_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tomato_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tomato_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tomato_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/tomato_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tomato_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tomato_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tomato_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/tomato_010.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato_010">
+   <link name="tomato_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tomato_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/tomato_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>1.000000</scale>
+         <uuid>cd8b68ca2cd05bbdbfb96f939ccc4293</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>tomato</category>
+         <name>red tomato</name>
+         <color>red,green</color>
+         <shape>ellipsoid</shape>
+         <material>organic</material>
+         <description>smooth red tomato with green stem</description>
+         <min_height>0.0447</min_height>
+         <max_height>0.0447</max_height>
+         <real_height>0.0447</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002319</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>4</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/cd8b68ca2cd05bbdbfb96f939ccc4293/tomato_010.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:121edf236d56fcd872fb3cf9108dd894b8774941c55f1b4975b8813cee0621ff
+size 4938837

dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:af13718ee57eacbdad0c489765b5ecfe5696c24d4db42562ca994138a73024cc
+size 143779