Add asset food/ingredients/e59f6dcde4665274bcaaac1e211872b4

.gitattributes

@@ -5478,3 +5478,6 @@ dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/mesh/carrot_002.glb fi
 dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/e32eba9b801b5e1c95018ffab603df9c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e32eba9b801b5e1c95018ffab603df9c/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/e59f6dcde4665274bcaaac1e211872b4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/e59f6dcde4665274bcaaac1e211872b4.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.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/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>0.100088</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>round red tomato with green stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120011836</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.559625148773193</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/e59f6dcde4665274bcaaac1e211872b4/e59f6dcde4665274bcaaac1e211872b4.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b5a2f98b479adcc23bf7222e3fa47d00ca20e5d670d29ccc488869474bfbd6
+size 344637

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/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/e59f6dcde4665274bcaaac1e211872b4/mesh/tomato.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f74e6a16c9334b400b607abe61177f8d20a93049b666db9900d46d36c859a9
+size 2285900

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mesh/tomato_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef214c330c69ff8730375fabca3a54f6f38f9b58fb87bc90bc4176947dcf8a0
+size 3981737

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/e59f6dcde4665274bcaaac1e211872b4.xml

@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tomato">
+  <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.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tomato_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tomato_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tomato_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tomato_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tomato_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tomato_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tomato_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tomato_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tomato_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tomato_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tomato_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tomato_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tomato_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tomato_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tomato_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tomato_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tomato_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tomato_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tomato_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tomato_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tomato_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tomato_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tomato_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tomato_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tomato_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tomato_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tomato_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/tomato_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tomato">
+      <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" />
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_11.obj

@@ -0,0 +1,139 @@
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_13.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_14.obj

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+

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_15.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_16.obj

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+

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_17.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_19.obj

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

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_20.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_21.obj

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

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_22.obj

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

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_23.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_24.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_29.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_3.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_30.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_31.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_32.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_4.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_5.obj

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

dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_6.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_8.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/mjcf/mesh/tomato_collision_9.obj

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dataset/food/ingredients/e59f6dcde4665274bcaaac1e211872b4/video.mp4

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