Add asset food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6

.gitattributes

@@ -5475,3 +5475,6 @@ dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.usd filter=
 dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/carrot_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/e303e944339357f3852af01f4088ab3e/mesh/carrot_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/e57f6dc05c865a0bae1a058a983f7ed6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/e57f6dc05c865a0bae1a058a983f7ed6.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>0.80</mu1>
+            <mu2>0.60</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>0.070000</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>smooth red tomato with green stem and oval shape</description>
+         <min_height>0.06</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.07</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120004842</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.258730888366699</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/e57f6dc05c865a0bae1a058a983f7ed6/e57f6dc05c865a0bae1a058a983f7ed6.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f101b2d444f2446051f54c3b1249f1b42dfb25b5d3677cf331b8f437905f539c
+size 807290

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mesh/material.mtl

@@ -0,0 +1,8 @@
+# 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/e57f6dc05c865a0bae1a058a983f7ed6/mesh/tomato.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a892c774c61f91cf796012915f393531f39ed8308010a431d7992eddb3c567d2
+size 2369088

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mesh/tomato_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44a73e5f7a00246941733da2796cc5337cbfe8a26944875502482b4e0910340
+size 2664841

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/e57f6dc05c865a0bae1a058a983f7ed6.xml

@@ -0,0 +1,46 @@
+<?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" />
+  </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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_10.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_11.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_12.obj

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

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_13.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_14.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_15.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+v -0.00057546 0.00575314 0.02882642
+v -0.00128532 0.00575314 0.02879321
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_2.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.00490222 -0.00613145 0.02706082
+v -0.00490222 -0.00280970 0.02849760
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_3.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00058631 -0.00784974 0.02706104
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_4.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00968097 0.00399731 0.03030182
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_5.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00651895 -0.00280970 0.02764615
+v 0.00629035 -0.00280970 0.02767768
+v 0.00651895 -0.00280970 0.02706084
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+v 0.00292061 0.00169998 0.02896463
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+

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_6.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00055428 -0.00280971 0.02885235
+v -0.00363452 -0.00280970 0.02839119
+v 0.00058605 -0.00280971 0.02869521
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_7.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_8.obj

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

dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/mjcf/mesh/tomato_collision_9.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/e57f6dc05c865a0bae1a058a983f7ed6/video.mp4

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