Add asset food/ingredients/8a1f24c91467554199c7f927a5e8f555

.gitattributes

@@ -3637,6 +3637,6 @@ dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb fil
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/6e3ef278f57451cca2db50a1b6e6c06a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/8a1f24c91467554199c7f927a5e8f555.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/8a1f24c91467554199c7f927a5e8f555.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mushroom">
+   <link name="mushroom">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom.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/mushroom_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.200000</scale>
+         <version>v0.1.7</version>
+         <category>mushroom</category>
+         <description>realistic mushroom with white stem and speckled brown cap</description>
+         <min_height>0.060</min_height>
+         <max_height>0.100</max_height>
+         <real_height>0.080</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119223510</generate_time>
+         <gs_model>mesh/mushroom_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.174736499786377</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/8a1f24c91467554199c7f927a5e8f555/8a1f24c91467554199c7f927a5e8f555.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3df09fc3d961a351557ac16b32958110fd98968286f0af4ce94922697f76e1db
+size 557009

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/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/8a1f24c91467554199c7f927a5e8f555/mesh/mushroom.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bf5ff6d43efbe9b368ab6f9e07d63031665e4c297d8b0e6fa0bfde8a5832612e
+size 2688084

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mesh/mushroom_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce14710aa3b1148571e4611a6b25571d6d63749b8a2ee504c086091cf5308fc
+size 4941577

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/8a1f24c91467554199c7f927a5e8f555.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mushroom">
+  <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/mushroom.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mushroom_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mushroom_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mushroom_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mushroom_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mushroom_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mushroom_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mushroom_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mushroom_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mushroom_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mushroom_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mushroom_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mushroom_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mushroom_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mushroom_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mushroom_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mushroom_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mushroom_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mushroom_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mushroom_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mushroom_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mushroom_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mushroom_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/mushroom_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mushroom_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mushroom">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_14.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_15.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_16.obj

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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_17.obj

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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_18.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_19.obj

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dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_20.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.00666422 0.01096006 0.02249211
+v -0.00666422 0.01096005 0.02567655
+v -0.00490486 0.01096005 0.02354300
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+v -0.00490486 0.01096005 0.02567655
+v -0.00490486 0.00857281 0.02567654
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
+f 3 6 4
+

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_21.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00486838 -0.00993845 0.03875068
+v 0.00594714 -0.00993845 0.03857274
+v 0.00486838 -0.00969389 0.03883702
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+

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_22.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00490486 -0.00749575 0.02464122
+v -0.00490486 -0.00786731 0.02428521
+v -0.00490486 -0.00993840 0.02464121
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+v 0.00486801 -0.00993840 0.02464121
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+f 4 7 8
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+

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_23.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00475488 0.00499399 0.02182393
+v 0.00475488 0.00499399 0.03981688
+v 0.00475488 0.00599400 0.02182393
+v 0.00475488 0.00599400 0.03981688
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+v 0.00575487 0.00599400 0.02182393
+v 0.00575487 0.00599400 0.03981688
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+

dataset/food/ingredients/8a1f24c91467554199c7f927a5e8f555/mjcf/mesh/mushroom_collision_24.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00486838 -0.00526854 0.03984274
+v 0.00510834 -0.00526854 0.03981230
+v 0.00486838 -0.00442761 0.03993944
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