Add asset food/ingredients/b8418580ed4a5234a0f7baae7a465b13

.gitattributes

@@ -5422,6 +5422,5 @@ dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/mesh/potato_gs.ply fil
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/b606f81741f3540397cd565ddc35b2f2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/mesh/potato.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/mesh/potato_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/carrot_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mesh/carrot_005.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/carrot_005.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="carrot_005">
+   <link name="carrot_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/carrot_005.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/carrot_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>b8418580ed4a5234a0f7baae7a465b13</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>carrot</category>
+         <name>red carrot</name>
+         <color>red,green</color>
+         <shape>cone</shape>
+         <material>organic</material>
+         <description>reddish carrot with green top and tapered body</description>
+         <min_height>0.0472</min_height>
+         <max_height>0.0472</max_height>
+         <real_height>0.0472</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506215922</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/b8418580ed4a5234a0f7baae7a465b13/carrot_005.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d863c8174cf2e5d5d488cfc37b3ae1f700381eb9d56439706e74824bf128a782
+size 4961762

dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mesh/carrot_005.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:92c92c94187075ba6e1739817fda027cca325046a0dcb0ac7ad3ca5b37fcc32a
+size 13178100

dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mesh/carrot_005.mtl

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+newmtl carrot_005_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/b8418580ed4a5234a0f7baae7a465b13/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl carrot_005_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 carrot_005_geometry_Looks_material_0.png

dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/carrot_005.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="carrot_005">
+  <asset>
+    <material name="material_0" texture="texture_0_carrot_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_carrot_005_geometry_Looks_material_0" type="2d" file="mesh/carrot_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/carrot_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/carrot_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/carrot_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/carrot_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/carrot_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/carrot_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/carrot_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/carrot_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="carrot_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/mesh/carrot_005_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/mesh/carrot_005_collision_3.obj

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dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/mesh/carrot_005_collision_4.obj

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dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/mesh/carrot_005_collision_5.obj

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dataset/food/ingredients/b8418580ed4a5234a0f7baae7a465b13/mjcf/mesh/carrot_005_collision_6.obj

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