Add asset food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a

.gitattributes

@@ -3583,12 +3583,8 @@ dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb fil
 dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/lemon_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/mesh/lemon_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/apple_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/mesh/apple_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/bfecffb87a0357eab8d32dd7fb75c69f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/pear_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/pear_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mjcf/mesh/pear_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/pear_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/pear_002.usdc filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl default
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+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd t_pear_002_color.png

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/pear_002.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b03ae7fea4f5e7cb2cb421b5dd279ed4b4676b5cc173988928bfcd15a4bb11ec
+size 48251660

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/pear_002.mtl

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+newmtl default
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mesh/pear_002.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:178df329d30bba0cbc73a0eb7715bbbc33b1ce9782393d31260602871ec9d470
+size 112767778

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mjcf/mesh/pear_002.obj

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+oid sha256:ac694e1255e522309c68100a2013fb0a0cd3baa35a876efbcf0c14fddc15004c
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dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/mjcf/pear_002.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pear_002">
+  <asset>
+    <material name="material_0" texture="texture_0_t_pear_002_color" reflectance="0.2" />
+    <texture name="texture_0_t_pear_002_color" type="2d" file="mesh/t_pear_002_color.png" />
+    <mesh name="visual_mesh_0" file="mesh/pear_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pear_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pear_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pear_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pear_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/pear_002.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pear_002">
+   <link name="pear_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pear_002.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/pear_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>9dbdd7645fb9577d86cb9528ca7ee61a</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>pear</category>
+         <name>pear object</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>organic-like material</material>
+         <description>realistic pear-shaped object with stem</description>
+         <min_height>0.1108</min_height>
+         <max_height>0.1108</max_height>
+         <real_height>0.1108</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325142004</generate_time>
+         <gs_model>""</gs_model>
+      </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/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/pear_002.usd

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dataset/food/fruits/9dbdd7645fb9577d86cb9528ca7ee61a/video.mp4

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