Add asset food/ingredients/c102fcc9dd445acabc16f43885d03c33

.gitattributes

@@ -5442,3 +5442,5 @@ dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb filt
 dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/mesh/potato_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/potato_004.usd filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl potato_004_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 potato_004_geometry_Looks_material_0.png

dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/mesh/potato_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2db9462904822a64f5a82e0c8391497835559255a540095579fab4473b061fb
+size 11138092

dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/mesh/potato_004.mtl

@@ -0,0 +1,6 @@
+newmtl potato_004_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/c102fcc9dd445acabc16f43885d03c33/mjcf/mesh/potato_004_collision_2.obj

@@ -0,0 +1,1144 @@
+# https://github.com/mikedh/trimesh
+v 0.06613527 0.00120768 0.00873921
+v 0.06608326 -0.00104708 0.00873921
+v 0.06598573 -0.00313434 0.00653539
+v 0.06605725 0.00116433 0.00653540
+v 0.06605725 0.00120769 0.00653540
+v 0.06598573 0.00120767 0.01090002
+v 0.06593372 -0.00104709 0.01094302
+v 0.06601824 -0.00313435 0.00873920
+v 0.06507550 -0.00313428 -0.01119183
+v 0.06523805 0.00120775 -0.01110582
+v 0.06566715 0.00120766 0.01311457
+v 0.06597923 0.00116431 0.01094302
+v 0.06584269 -0.00313436 0.01094301
+v 0.06561514 -0.00104710 0.01315757
+v 0.06505600 -0.00313428 -0.01147134
+v 0.06501699 -0.00258461 -0.01237436
+v 0.06504950 -0.00104700 -0.01263236
+v 0.06508850 0.00120776 -0.01294411
+v 0.06566065 0.00120766 0.01315757
+v 0.06566065 0.00116430 0.01315757
+v 0.06551111 -0.00313437 0.01315756
+v 0.06520553 -0.00104711 0.01514638
+v 0.06517303 -0.00313437 0.01480236
+v 0.06488695 -0.00313427 -0.01299788
+v 0.06485445 -0.00313427 -0.01322363
+v 0.06489346 -0.00104700 -0.01373964
+v 0.06493897 0.00116440 -0.01401914
+v 0.06493897 0.00120776 -0.01401914
+v 0.06523805 0.00120765 0.01520013
+v 0.06496497 0.00116429 0.01635041
+v 0.06493897 -0.00104711 0.01625366
+v 0.06488695 -0.00313438 0.01601714
+v 0.06442534 -0.00313426 -0.01551344
+v 0.06455537 -0.00104699 -0.01551343
+v 0.06463989 0.00116441 -0.01551343
+v 0.06463989 0.00120777 -0.01551343
+v 0.06496497 0.00120765 0.01635041
+v 0.06462039 0.00120765 0.01754369
+v 0.06461389 0.00116429 0.01756519
+v 0.06456838 -0.00104711 0.01756519
+v 0.06445134 -0.00313438 0.01756518
+v 0.06439283 -0.00313426 -0.01564244
+v 0.06399623 -0.00104698 -0.01771724
+v 0.06408075 0.00116442 -0.01771724
+v 0.06408075 0.00120778 -0.01771724
+v 0.06461389 0.00120765 0.01756519
+v 0.06391171 0.00116428 0.01976900
+v 0.06385970 -0.00104712 0.01976900
+v 0.06378168 -0.00313439 0.01965073
+v 0.06385970 -0.00313425 -0.01771725
+v 0.06382069 -0.00313425 -0.01784625
+v 0.06330056 -0.00104698 -0.01992105
+v 0.06337207 0.00120778 -0.01995330
+v 0.06406775 0.00120778 -0.01776024
+v 0.06391171 0.00120764 0.01976900
+v 0.06315752 0.00116427 0.02183305
+v 0.06312501 -0.00104713 0.02176855
+v 0.06374267 -0.00313439 0.01976899
+v 0.06311201 -0.00313425 -0.02008231
+v 0.06280643 -0.00249998 -0.02110359
+v 0.06285194 -0.00104697 -0.02121108
+v 0.06288445 0.00116443 -0.02130783
+v 0.06287795 0.00120779 -0.02132933
+v 0.06315752 0.00120763 0.02183305
+v 0.06272841 0.00120763 0.02290808
+v 0.06269590 -0.00104713 0.02286508
+v 0.06306650 -0.00313440 0.02160729
+v 0.06305349 -0.00313425 -0.02024357
+v 0.06246184 -0.00313424 -0.02183461
+v 0.06240333 -0.00104697 -0.02231836
+v 0.06242934 0.00120779 -0.02244736
+v 0.06216927 0.00120762 0.02418736
+v 0.06216927 0.00116426 0.02418736
+v 0.06212376 -0.00104714 0.02418736
+v 0.06263089 -0.00313440 0.02271457
+v 0.06265689 -0.00313440 0.02265006
+v 0.06199373 -0.00313441 0.02418735
+v 0.06138257 -0.00313423 -0.02433943
+v 0.06152561 -0.00104696 -0.02433942
+v 0.06160363 0.00116444 -0.02433942
+v 0.06159063 0.00120780 -0.02437167
+v 0.06114202 0.00120761 0.02639117
+v 0.06114202 0.00116425 0.02639117
+v 0.06103149 -0.00313442 0.02626216
+v 0.06109650 -0.00313442 0.02612241
+v 0.06099898 -0.00097021 0.02658468
+v 0.06071941 -0.00313423 -0.02574771
+v 0.06079092 -0.00104695 -0.02588746
+v 0.06082343 0.00120781 -0.02598421
+v 0.06058937 0.00120761 0.02750920
+v 0.06057637 -0.00018206 0.02750920
+v 0.06054386 -0.00165633 0.02745544
+v 0.06049835 -0.00313442 0.02735869
+v 0.06068690 -0.00313423 -0.02581221
+v 0.06021878 -0.00104695 -0.02699473
+v 0.06025129 0.00116445 -0.02705924
+v 0.06025129 0.00120781 -0.02705924
+v 0.05999122 0.00120760 0.02859498
+v 0.06006274 -0.00097021 0.02839073
+v 0.05982218 -0.00313442 0.02858422
+v 0.06014726 -0.00313422 -0.02684424
+v 0.06008875 -0.00313422 -0.02695174
+v 0.05896397 -0.00313421 -0.02894055
+v 0.05922403 -0.00104694 -0.02874703
+v 0.05928255 0.00120782 -0.02877928
+v 0.05889245 0.00120760 0.03050853
+v 0.05884043 -0.00104716 0.03050853
+v 0.05877542 -0.00313443 0.03040102
+v 0.05869090 -0.00313421 -0.02941356
+v 0.05840483 -0.00279370 -0.02994032
+v 0.05846334 -0.00104694 -0.03002632
+v 0.05850235 0.00116446 -0.03008007
+v 0.05850235 0.00120782 -0.03008007
+v 0.05819677 0.00120759 0.03165881
+v 0.05886644 0.00116424 0.03055153
+v 0.05817077 -0.00104717 0.03161581
+v 0.05810575 -0.00313444 0.03150830
+v 0.05806674 -0.00313421 -0.03040258
+v 0.05772866 -0.00104694 -0.03113359
+v 0.05774166 0.00120782 -0.03121959
+v 0.05731255 0.00120759 0.03301335
+v 0.05819677 0.00116423 0.03165881
+v 0.05731255 0.00116423 0.03301335
+v 0.05725404 -0.00104717 0.03301335
+v 0.05711750 -0.00313444 0.03301334
+v 0.05764413 -0.00313421 -0.03102610
+v 0.05654536 -0.00313420 -0.03261714
+v 0.05662338 -0.00104693 -0.03272464
+v 0.05664288 0.00120783 -0.03278914
+v 0.05638281 0.00120758 0.03440014
+v 0.05633080 -0.00104718 0.03437863
+v 0.05631130 -0.00313445 0.03420662
+v 0.05649985 -0.00313420 -0.03268164
+v 0.05572615 -0.00313420 -0.03372442
+v 0.05579767 -0.00104693 -0.03382117
+v 0.05581067 0.00120783 -0.03389642
+v 0.05557662 0.00120758 0.03550741
+v 0.05625929 -0.00313445 0.03428187
+v 0.05552460 -0.00104718 0.03548591
+v 0.05456236 -0.00313419 -0.03515421
+v 0.05469239 -0.00104692 -0.03518645
+v 0.05472490 0.00116448 -0.03522945
+v 0.05472490 0.00120784 -0.03521870
+v 0.05445183 0.00120757 0.03699095
+v 0.05445183 0.00116421 0.03699095
+v 0.05441932 -0.00104719 0.03694795
+v 0.05545308 -0.00313445 0.03538915
+v 0.05368464 -0.00313419 -0.03619699
+v 0.05376266 -0.00104692 -0.03629373
+v 0.05380167 0.00116448 -0.03632598
+v 0.05380167 0.00120784 -0.03632598
+v 0.05358711 0.00120757 0.03806598
+v 0.05353510 -0.00104719 0.03804448
+v 0.05350909 -0.00313446 0.03789396
+v 0.05434780 -0.00313446 0.03685119
+v 0.05257936 -0.00313418 -0.03740102
+v 0.05265738 -0.00104691 -0.03747626
+v 0.05161712 -0.00104691 -0.03858354
+v 0.05164963 0.00116449 -0.03861579
+v 0.05163012 0.00120785 -0.03863729
+v 0.05246233 0.00120757 0.03937752
+v 0.05246233 0.00116421 0.03937752
+v 0.05356761 0.00116421 0.03808748
+v 0.05345708 -0.00313446 0.03795847
+v 0.05242982 -0.00104719 0.03933452
+v 0.05241682 -0.00313446 0.03917325
+v 0.05147408 -0.00313418 -0.03856205
+v 0.05042732 -0.00313417 -0.03954033
+v 0.05051184 -0.00104690 -0.03961557
+v 0.05054435 0.00116450 -0.03964782
+v 0.05054435 0.00120786 -0.03964782
+v 0.05150009 0.00120756 0.04045255
+v 0.05148059 0.00116420 0.04047404
+v 0.05144157 -0.00104720 0.04044179
+v 0.05235180 -0.00313446 0.03924850
+v 0.04921801 -0.00313417 -0.04063685
+v 0.04930904 -0.00104690 -0.04072285
+v 0.04934155 0.00116450 -0.04075510
+v 0.04932204 0.00120786 -0.04076585
+v 0.05148059 0.00120756 0.04047404
+v 0.05039481 0.00120756 0.04159207
+v 0.05033630 -0.00104720 0.04158132
+v 0.05136355 -0.00313447 0.04035578
+v 0.04810624 -0.00313417 -0.04156138
+v 0.04819726 -0.00104690 -0.04162587
+v 0.04823627 0.00116450 -0.04165812
+v 0.04821026 0.00120786 -0.04167962
+v 0.04927003 0.00120755 0.04272085
+v 0.04927003 0.00116419 0.04272085
+v 0.04923102 -0.00104721 0.04267785
+v 0.04921151 -0.00313448 0.04253809
+v 0.05025828 -0.00313447 0.04149531
+v 0.04665637 -0.00313416 -0.04271166
+v 0.04681241 -0.00104689 -0.04273315
+v 0.04685142 0.00116451 -0.04276540
+v 0.04685142 0.00120787 -0.04276540
+v 0.04816475 0.00120755 0.04372063
+v 0.04816475 0.00116419 0.04372063
+v 0.04812574 -0.00104721 0.04368838
+v 0.04914650 -0.00313448 0.04260259
+v 0.04560961 -0.00313416 -0.04347493
+v 0.04570713 -0.00104689 -0.04353942
+v 0.04573964 0.00116451 -0.04357167
+v 0.04573964 0.00120787 -0.04357167
+v 0.04690994 0.00120755 0.04482791
+v 0.04690994 0.00116419 0.04482791
+v 0.04686442 -0.00104721 0.04478491
+v 0.04804122 -0.00313448 0.04360237
+v 0.04551859 -0.00313416 -0.04353943
+v 0.04408172 -0.00104689 -0.04464670
+v 0.04409473 0.00120787 -0.04468970
+v 0.04582416 0.00120754 0.04569868
+v 0.04575264 -0.00104722 0.04567718
+v 0.04572014 -0.00313449 0.04555892
+v 0.04676690 -0.00313448 0.04470965
+v 0.04379565 -0.00313416 -0.04470046
+v 0.04291143 -0.00253815 -0.04532398
+v 0.04296994 -0.00104688 -0.04536697
+v 0.04298945 0.00120788 -0.04540997
+v 0.04434179 0.00120754 0.04681671
+v 0.04434179 0.00116418 0.04681671
+v 0.04428978 -0.00104722 0.04678446
+v 0.04417925 -0.00313449 0.04670920
+v 0.04361360 -0.00313416 -0.04481872
+v 0.04211823 -0.00313415 -0.04573249
+v 0.04181916 -0.00313415 -0.04590449
+v 0.04175414 -0.00104688 -0.04607649
+v 0.04175414 0.00116452 -0.04611949
+v 0.04175414 0.00120788 -0.04611949
+v 0.04323651 0.00120754 0.04761223
+v 0.04323651 0.00116418 0.04761223
+v 0.04318450 -0.00104722 0.04756923
+v 0.04313898 -0.00313449 0.04745097
+v 0.03968012 -0.00313415 -0.04707627
+v 0.03986216 -0.00104688 -0.04710852
+v 0.03991418 0.00116452 -0.04713001
+v 0.04171513 0.00120788 -0.04614099
+v 0.04175414 0.00120753 0.04856901
+v 0.04175414 0.00116417 0.04856901
+v 0.04175414 -0.00104723 0.04849376
+v 0.04307397 -0.00313449 0.04749397
+v 0.03863335 -0.00313415 -0.04760304
+v 0.03875688 -0.00104687 -0.04765678
+v 0.03880890 0.00116453 -0.04768903
+v 0.03989467 0.00120788 -0.04714076
+v 0.04038880 0.00120753 0.04940753
+v 0.04038880 0.00116417 0.04940753
+v 0.04032378 -0.00104723 0.04937528
+v 0.04175414 -0.00313450 0.04834324
+v 0.03732652 -0.00313414 -0.04819430
+v 0.03732652 -0.00104687 -0.04831255
+v 0.03880890 0.00120789 -0.04768903
+v 0.03732652 0.00116453 -0.04836630
+v 0.03930302 0.00120753 0.05000955
+v 0.03928352 0.00116417 0.05002030
+v 0.03921850 -0.00104723 0.04998805
+v 0.03914698 -0.00313450 0.04988053
+v 0.04019375 -0.00313450 0.04930002
+v 0.03504445 -0.00313414 -0.04912958
+v 0.03510947 -0.00104687 -0.04921557
+v 0.03501845 0.00120789 -0.04931232
+v 0.03732652 0.00120789 -0.04836630
+v 0.03727451 0.00120789 -0.04838780
+v 0.03928352 0.00120753 0.05002030
+v 0.03732652 0.00116416 0.05106307
+v 0.03908847 -0.00313450 0.04991278
+v 0.03732652 -0.00104724 0.05098782
+v 0.03371162 -0.00313414 -0.04961334
+v 0.03390016 -0.00104687 -0.04967783
+v 0.03398469 0.00070287 -0.04969933
+v 0.03471937 0.00120789 -0.04943057
+v 0.03732652 0.00120752 0.05106307
+v 0.03608471 0.00116416 0.05169734
+v 0.03732652 -0.00313451 0.05083731
+v 0.03598719 -0.00104724 0.05165434
+v 0.03364660 -0.00313414 -0.04963484
+v 0.03279488 -0.00104687 -0.05002184
+v 0.03327601 0.00120789 -0.04993584
+v 0.03608471 0.00120752 0.05169734
+v 0.03499894 0.00120752 0.05218110
+v 0.03497293 0.00116416 0.05219185
+v 0.03488191 -0.00104724 0.05214885
+v 0.03581815 -0.00313451 0.05157908
+v 0.03477788 -0.00313451 0.05205209
+v 0.03260634 -0.00313414 -0.04995735
+v 0.03069486 -0.00313413 -0.05051636
+v 0.03069486 -0.00104686 -0.05062386
+v 0.03069486 0.00120790 -0.05070986
+v 0.03290542 0.00120752 0.05307338
+v 0.03290542 0.00116416 0.05307338
+v 0.03290542 -0.00104724 0.05297662
+v 0.03290542 -0.00313451 0.05282611
+v 0.02847780 -0.00313413 -0.05105388
+v 0.02847780 -0.00104686 -0.05117212
+v 0.02847780 0.00116454 -0.05124737
+v 0.02847780 0.00120790 -0.05124737
+v 0.03120198 0.00120751 0.05372915
+v 0.03116948 0.00116415 0.05373990
+v 0.03103294 -0.00104725 0.05368614
+v 0.03019423 -0.00313452 0.05383664
+v 0.02626724 -0.00313413 -0.05148389
+v 0.02843229 0.00120790 -0.05125813
+v 0.02626724 -0.00104686 -0.05159138
+v 0.02626724 0.00116454 -0.05167738
+v 0.03005770 0.00120751 0.05413765
+v 0.03005770 0.00116415 0.05413765
+v 0.02992766 -0.00104725 0.05408390
+v 0.02975212 -0.00279401 0.05401939
+v 0.02970661 -0.00313452 0.05400864
+v 0.02388765 -0.00313413 -0.05181715
+v 0.02447930 -0.00104686 -0.05184939
+v 0.02626074 0.00120790 -0.05167738
+v 0.02486289 0.00116454 -0.05188164
+v 0.02486939 0.00120790 -0.05188164
+v 0.02847780 0.00120751 0.05464292
+v 0.02847780 0.00116415 0.05464292
+v 0.02847780 -0.00104725 0.05454616
+v 0.02917347 -0.00313452 0.05418065
+v 0.02377712 -0.00313413 -0.05182790
+v 0.02309445 -0.00252240 -0.05192465
+v 0.02337402 -0.00104686 -0.05195689
+v 0.02371860 0.00120790 -0.05199989
+v 0.02631275 0.00120751 0.05528794
+v 0.02626724 -0.00104725 0.05519118
+v 0.02639077 -0.00313452 0.05499767
+v 0.02206719 -0.00313413 -0.05194615
+v 0.02185264 -0.00313413 -0.05195690
+v 0.02179412 0.00120790 -0.05211815
+v 0.02409570 0.00120750 0.05584695
+v 0.02626724 0.00116415 0.05529869
+v 0.02405019 0.00116414 0.05585770
+v 0.02405019 -0.00104725 0.05573945
+v 0.02626724 -0.00313452 0.05502992
+v -0.00028543 -0.00313413 -0.05198916
+v 0.01957706 0.00120790 -0.05208590
+v 0.02405019 0.00120750 0.05585770
+v 0.02279537 0.00120750 0.05614796
+v 0.02418022 -0.00313452 0.05554593
+v 0.02245729 -0.00104726 0.05608346
+v -0.00028543 -0.00254876 -0.05167739
+v 0.01797116 0.00120790 -0.05196764
+v -0.00028543 -0.00313453 0.05669621
+v 0.02172260 0.00120750 0.05635221
+v 0.02183313 -0.00313453 0.05601894
+v 0.02134551 -0.00104726 0.05628771
+v 0.02100092 -0.00261888 0.05622320
+v -0.00028543 0.00120789 -0.04934457
+v 0.00413568 -0.00313453 0.05687897
+v -0.00028543 -0.00104726 0.05724449
+v 0.01962907 0.00120750 0.05671772
+v 0.01962907 0.00116414 0.05671772
+v 0.02083838 -0.00313453 0.05619095
+v 0.01962907 -0.00104726 0.05656722
+v 0.01972010 -0.00313453 0.05636295
+v -0.00028543 0.00120750 0.05764225
+v 0.00634623 -0.00313453 0.05695422
+v 0.00191862 -0.00104726 0.05729824
+v -0.00028543 0.00116414 0.05764225
+v 0.01741202 0.00120750 0.05702948
+v 0.01741202 0.00116414 0.05702948
+v 0.01741202 -0.00104726 0.05686823
+v 0.01753555 -0.00313453 0.05663171
+v 0.00191862 0.00120750 0.05768525
+v 0.00856329 -0.00313453 0.05700797
+v 0.00413568 -0.00104726 0.05734124
+v 0.00191862 0.00116414 0.05768525
+v 0.01520146 0.00120750 0.05727674
+v 0.01520146 -0.00104726 0.05708323
+v 0.01532499 -0.00313453 0.05682522
+v 0.00413568 0.00120750 0.05770675
+v 0.01077385 -0.00313453 0.05701872
+v 0.00634623 -0.00104726 0.05736274
+v 0.01298441 0.00120750 0.05745949
+v 0.01298441 -0.00104726 0.05723374
+v 0.01520146 -0.00313453 0.05683596
+v 0.00634623 0.00120750 0.05769600
+v 0.00856329 -0.00104726 0.05736274
+v 0.01298441 -0.00313453 0.05696497
+v 0.01077385 -0.00104726 0.05733049
+v 0.01077385 0.00120750 0.05758850
+v 0.00856329 0.00116414 0.05765300
+v 0.00860230 0.00120750 0.05765300
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 36
+f 1 36 45
+f 1 45 54
+f 1 54 53
+f 1 53 63
+f 1 63 71
+f 1 71 81
+f 1 81 89
+f 1 89 97
+f 1 97 105
+f 1 105 113
+f 1 113 120
+f 1 120 129
+f 1 129 136
+f 1 136 143
+f 1 143 151
+f 1 151 160
+f 1 160 171
+f 1 171 179
+f 1 179 187
+f 1 187 196
+f 1 196 204
+f 1 204 211
+f 1 211 219
+f 1 219 229
+f 1 229 237
+f 1 237 245
+f 1 245 252
+f 1 252 262
+f 1 262 263
+f 1 263 261
+f 1 261 271
+f 1 271 278
+f 1 278 288
+f 1 288 296
+f 1 296 302
+f 1 302 312
+f 1 312 314
+f 1 314 322
+f 1 322 328
+f 1 328 335
+f 1 335 341
+f 1 341 347
+f 1 347 355
+f 1 355 363
+f 1 363 370
+f 1 370 376
+f 1 376 382
+f 1 382 380
+f 1 380 373
+f 1 373 367
+f 1 367 359
+f 1 359 350
+f 1 350 343
+f 1 343 337
+f 1 337 336
+f 1 336 329
+f 1 329 323
+f 1 323 315
+f 1 315 305
+f 1 305 297
+f 1 297 289
+f 1 289 280
+f 1 280 279
+f 1 279 272
+f 1 272 264
+f 1 264 254
+f 1 254 246
+f 1 246 238
+f 1 238 230
+f 1 230 220
+f 1 220 212
+f 1 212 205
+f 1 205 197
+f 1 197 188
+f 1 188 181
+f 1 181 180
+f 1 180 172
+f 1 172 161
+f 1 161 152
+f 1 152 144
+f 1 144 137
+f 1 137 130
+f 1 130 121
+f 1 121 114
+f 1 114 106
+f 1 106 98
+f 1 98 90
+f 1 90 82
+f 1 82 72
+f 1 72 65
+f 1 65 64
+f 1 64 55
+f 1 55 46
+f 1 46 38
+f 1 38 37
+f 1 37 29
+f 1 29 19
+f 1 19 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 13
+f 3 13 21
+f 3 21 23
+f 3 23 32
+f 3 32 41
+f 3 41 49
+f 3 49 58
+f 3 58 67
+f 3 67 76
+f 3 76 75
+f 3 75 77
+f 3 77 85
+f 3 85 84
+f 3 84 93
+f 3 93 100
+f 3 100 108
+f 3 108 117
+f 3 117 125
+f 3 125 132
+f 3 132 138
+f 3 138 147
+f 3 147 155
+f 3 155 154
+f 3 154 164
+f 3 164 166
+f 3 166 175
+f 3 175 183
+f 3 183 192
+f 3 192 191
+f 3 191 200
+f 3 200 208
+f 3 208 215
+f 3 215 214
+f 3 214 223
+f 3 223 233
+f 3 233 241
+f 3 241 249
+f 3 249 258
+f 3 258 257
+f 3 257 266
+f 3 266 274
+f 3 274 283
+f 3 283 284
+f 3 284 292
+f 3 292 300
+f 3 300 309
+f 3 309 318
+f 3 318 325
+f 3 325 333
+f 3 333 338
+f 3 338 344
+f 3 344 352
+f 3 352 354
+f 3 354 362
+f 3 362 369
+f 3 369 375
+f 3 375 378
+f 3 378 371
+f 3 371 364
+f 3 364 356
+f 3 356 348
+f 3 348 342
+f 3 342 334
+f 3 334 327
+f 3 327 326
+f 3 326 319
+f 3 319 310
+f 3 310 301
+f 3 301 293
+f 3 293 286
+f 3 286 285
+f 3 285 276
+f 3 276 268
+f 3 268 259
+f 3 259 250
+f 3 250 242
+f 3 242 234
+f 3 234 226
+f 3 226 225
+f 3 225 224
+f 3 224 216
+f 3 216 209
+f 3 209 201
+f 3 201 193
+f 3 193 184
+f 3 184 176
+f 3 176 168
+f 3 168 167
+f 3 167 156
+f 3 156 148
+f 3 148 140
+f 3 140 134
+f 3 134 133
+f 3 133 127
+f 3 127 126
+f 3 126 118
+f 3 118 109
+f 3 109 103
+f 3 103 102
+f 3 102 101
+f 3 101 94
+f 3 94 87
+f 3 87 78
+f 3 78 69
+f 3 69 68
+f 3 68 59
+f 3 59 51
+f 3 51 50
+f 3 50 42
+f 3 42 33
+f 3 33 25
+f 3 25 24
+f 3 24 15
+f 3 15 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 6 11 20
+f 6 20 12
+f 6 12 7
+f 7 13 8
+f 7 12 20
+f 7 20 14
+f 7 14 13
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 13 14 21
+f 14 20 22
+f 14 22 23
+f 14 23 21
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 19 29 20
+f 20 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 27 35 36
+f 27 36 28
+f 27 34 35
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 38 46 39
+f 39 46 55
+f 39 55 47
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 47 55 64
+f 47 64 56
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 52 61 53
+f 53 61 62
+f 53 62 63
+f 56 64 65
+f 56 65 66
+f 56 66 57
+f 57 67 58
+f 57 66 67
+f 59 68 60
+f 60 68 69
+f 60 69 70
+f 60 70 61
+f 61 63 62
+f 61 70 71
+f 61 71 63
+f 65 72 73
+f 65 73 74
+f 65 74 66
+f 66 75 76
+f 66 76 67
+f 66 74 77
+f 66 77 75
+f 69 78 70
+f 70 78 79
+f 70 79 71
+f 71 79 80
+f 71 80 81
+f 72 82 83
+f 72 83 73
+f 73 83 74
+f 74 84 85
+f 74 85 77
+f 74 83 86
+f 74 86 84
+f 78 87 79
+f 79 81 80
+f 79 87 88
+f 79 88 81
+f 81 88 89
+f 82 90 83
+f 83 90 91
+f 83 91 86
+f 84 86 92
+f 84 92 93
+f 86 91 92
+f 87 94 88
+f 88 94 95
+f 88 95 89
+f 89 95 96
+f 89 96 97
+f 90 98 91
+f 91 99 92
+f 91 98 99
+f 92 99 100
+f 92 100 93
+f 94 101 95
+f 95 101 102
+f 95 102 103
+f 95 103 104
+f 95 104 105
+f 95 105 96
+f 96 105 97
+f 98 106 99
+f 99 106 107
+f 99 107 100
+f 100 107 108
+f 103 109 104
+f 104 109 110
+f 104 110 111
+f 104 111 105
+f 105 111 112
+f 105 112 113
+f 106 114 122
+f 106 122 115
+f 106 115 107
+f 107 115 122
+f 107 122 116
+f 107 116 117
+f 107 117 108
+f 109 118 110
+f 110 118 119
+f 110 119 111
+f 111 119 112
+f 112 119 120
+f 112 120 113
+f 114 121 123
+f 114 123 122
+f 116 122 123
+f 116 123 124
+f 116 124 117
+f 117 124 125
+f 118 126 119
+f 119 126 127
+f 119 127 128
+f 119 128 120
+f 120 128 129
+f 121 130 123
+f 123 130 124
+f 124 130 131
+f 124 131 132
+f 124 132 125
+f 127 133 128
+f 128 133 134
+f 128 134 135
+f 128 135 136
+f 128 136 129
+f 130 137 139
+f 130 139 131
+f 131 138 132
+f 131 139 147
+f 131 147 138
+f 134 140 141
+f 134 141 135
+f 135 141 136
+f 136 141 142
+f 136 142 143
+f 137 144 145
+f 137 145 146
+f 137 146 139
+f 139 146 155
+f 139 155 147
+f 140 148 149
+f 140 149 141
+f 141 149 142
+f 142 149 150
+f 142 150 151
+f 142 151 143
+f 144 152 145
+f 145 152 146
+f 146 152 153
+f 146 153 164
+f 146 164 154
+f 146 154 155
+f 148 156 149
+f 149 156 157
+f 149 157 150
+f 150 157 158
+f 150 158 159
+f 150 159 160
+f 150 160 151
+f 152 161 162
+f 152 162 163
+f 152 163 153
+f 153 163 162
+f 153 162 165
+f 153 165 166
+f 153 166 164
+f 156 167 158
+f 156 158 157
+f 158 167 168
+f 158 168 169
+f 158 169 160
+f 158 160 159
+f 160 169 170
+f 160 170 171
+f 161 172 162
+f 162 172 173
+f 162 173 174
+f 162 174 165
+f 165 174 183
+f 165 183 175
+f 165 175 166
+f 168 176 177
+f 168 177 169
+f 169 177 178
+f 169 178 170
+f 170 178 171
+f 171 178 179
+f 172 180 173
+f 173 180 181
+f 173 181 182
+f 173 182 174
+f 174 182 192
+f 174 192 183
+f 176 184 177
+f 177 184 185
+f 177 185 186
+f 177 186 178
+f 178 186 187
+f 178 187 179
+f 181 188 189
+f 181 189 182
+f 182 189 190
+f 182 190 200
+f 182 200 191
+f 182 191 192
+f 184 193 194
+f 184 194 185
+f 185 194 195
+f 185 195 186
+f 186 195 187
+f 187 195 196
+f 188 197 198
+f 188 198 189
+f 189 198 199
+f 189 199 190
+f 190 199 200
+f 193 201 202
+f 193 202 194
+f 194 202 195
+f 195 202 203
+f 195 203 204
+f 195 204 196
+f 197 205 206
+f 197 206 198
+f 198 206 199
+f 199 206 207
+f 199 207 208
+f 199 208 200
+f 201 209 202
+f 202 209 210
+f 202 210 203
+f 203 210 211
+f 203 211 204
+f 205 212 206
+f 206 212 213
+f 206 213 207
+f 207 213 214
+f 207 214 215
+f 207 215 208
+f 209 216 210
+f 210 216 217
+f 210 217 218
+f 210 218 219
+f 210 219 211
+f 212 220 221
+f 212 221 222
+f 212 222 213
+f 213 222 214
+f 214 222 223
+f 216 224 217
+f 217 224 225
+f 217 225 226
+f 217 226 227
+f 217 227 218
+f 218 227 219
+f 219 227 228
+f 219 228 229
+f 220 230 231
+f 220 231 221
+f 221 231 222
+f 222 231 232
+f 222 232 233
+f 222 233 223
+f 226 234 227
+f 227 234 235
+f 227 235 236
+f 227 236 228
+f 228 236 237
+f 228 237 229
+f 230 238 239
+f 230 239 231
+f 231 239 240
+f 231 240 232
+f 232 240 241
+f 232 241 233
+f 234 242 235
+f 235 242 243
+f 235 243 244
+f 235 244 236
+f 236 244 245
+f 236 245 237
+f 238 246 247
+f 238 247 239
+f 239 247 248
+f 239 248 240
+f 240 249 241
+f 240 248 249
+f 242 250 251
+f 242 251 243
+f 243 251 244
+f 244 252 245
+f 244 251 253
+f 244 253 262
+f 244 262 252
+f 246 254 247
+f 247 254 255
+f 247 255 256
+f 247 256 248
+f 248 256 257
+f 248 257 258
+f 248 258 249
+f 250 259 251
+f 251 259 260
+f 251 260 261
+f 251 261 253
+f 253 263 262
+f 253 261 263
+f 254 264 255
+f 255 264 272
+f 255 272 265
+f 255 265 256
+f 256 266 257
+f 256 265 267
+f 256 267 266
+f 259 268 269
+f 259 269 260
+f 260 269 270
+f 260 270 271
+f 260 271 261
+f 265 272 279
+f 265 279 273
+f 265 273 267
+f 266 267 274
+f 267 273 275
+f 267 275 274
+f 268 276 269
+f 269 276 277
+f 269 277 278
+f 269 278 270
+f 270 278 271
+f 273 279 280
+f 273 280 281
+f 273 281 282
+f 273 282 275
+f 274 275 283
+f 275 282 284
+f 275 284 283
+f 276 285 277
+f 277 285 286
+f 277 286 287
+f 277 287 288
+f 277 288 278
+f 280 289 290
+f 280 290 281
+f 281 290 282
+f 282 290 291
+f 282 291 284
+f 284 291 292
+f 286 293 294
+f 286 294 287
+f 287 294 288
+f 288 294 295
+f 288 295 296
+f 289 297 290
+f 290 297 298
+f 290 298 291
+f 291 298 299
+f 291 299 292
+f 292 299 300
+f 293 301 294
+f 294 302 295
+f 294 301 303
+f 294 303 304
+f 294 304 302
+f 295 302 296
+f 297 305 306
+f 297 306 298
+f 298 306 307
+f 298 307 299
+f 299 307 300
+f 300 307 308
+f 300 308 309
+f 301 310 311
+f 301 311 303
+f 302 304 312
+f 303 311 313
+f 303 313 304
+f 304 313 314
+f 304 314 312
+f 305 315 316
+f 305 316 306
+f 306 316 307
+f 307 316 317
+f 307 317 318
+f 307 318 308
+f 308 318 309
+f 310 319 320
+f 310 320 311
+f 311 320 321
+f 311 321 322
+f 311 322 313
+f 313 322 314
+f 315 323 316
+f 316 323 317
+f 317 323 324
+f 317 324 325
+f 317 325 318
+f 319 326 320
+f 320 326 327
+f 320 327 328
+f 320 328 321
+f 321 328 322
+f 323 329 331
+f 323 331 330
+f 323 330 324
+f 324 330 331
+f 324 331 332
+f 324 332 333
+f 324 333 325
+f 327 334 328
+f 328 334 335
+f 329 336 331
+f 331 336 337
+f 331 337 332
+f 332 338 333
+f 332 337 339
+f 332 339 338
+f 334 340 341
+f 334 341 335
+f 334 342 349
+f 334 349 358
+f 334 358 355
+f 334 355 347
+f 334 347 340
+f 337 343 339
+f 338 339 344
+f 339 343 345
+f 339 345 346
+f 339 346 344
+f 340 347 341
+f 342 348 349
+f 343 350 351
+f 343 351 345
+f 344 346 352
+f 345 351 353
+f 345 353 346
+f 346 353 354
+f 346 354 352
+f 348 356 349
+f 349 356 357
+f 349 357 358
+f 350 359 360
+f 350 360 351
+f 351 360 353
+f 353 360 361
+f 353 361 354
+f 354 361 362
+f 355 358 366
+f 355 366 363
+f 356 364 357
+f 357 364 365
+f 357 365 366
+f 357 366 358
+f 359 367 360
+f 360 367 361
+f 361 367 368
+f 361 368 362
+f 362 368 369
+f 363 366 370
+f 364 371 372
+f 364 372 365
+f 365 372 366
+f 366 372 370
+f 367 373 368
+f 368 373 374
+f 368 374 375
+f 368 375 369
+f 370 372 377
+f 370 377 376
+f 371 378 379
+f 371 379 377
+f 371 377 372
+f 373 380 374
+f 374 378 375
+f 374 380 379
+f 374 379 378
+f 376 381 382
+f 376 377 379
+f 376 379 381
+f 379 380 381
+f 380 382 381
+

dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/mjcf/potato_004.xml

@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="potato_004">
+  <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/potato_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/potato_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/potato_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/potato_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/potato_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/potato_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/potato_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="potato_004">
+      <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/c102fcc9dd445acabc16f43885d03c33/potato_004.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="potato_004">
+   <link name="potato_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/potato_004.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/potato_004_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>1.000000</scale>
+         <uuid>c102fcc9dd445acabc16f43885d03c33</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>potato</category>
+         <name>brown potato</name>
+         <color>brown</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>irregularly shaped brown potato with small spots and dimples</description>
+         <min_height>0.1136</min_height>
+         <max_height>0.1136</max_height>
+         <real_height>0.1136</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428001259</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/c102fcc9dd445acabc16f43885d03c33/potato_004.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee43395dfcd5b0c432ce5722578ddddba5efddf52019ab6402874db6c66fb4d8
+size 4925028

dataset/food/ingredients/c102fcc9dd445acabc16f43885d03c33/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d23d813508192658a92d599dfb69b4727baebedb80bf6c7c31fcf8dd53f998
+size 130947