Add asset food/fruits/325c17e85cb65a20823b12aed9a739a9

.gitattributes

@@ -3523,6 +3523,7 @@ dataset/food/fruits/1dab1503595f5dd1b7bbf7d527332589/mesh/strawberry_004.glb fil
 dataset/food/fruits/1dab1503595f5dd1b7bbf7d527332589/strawberry_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1a6db1f9a5f052c68ceabfdfe352dbc6/apple_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1a6db1f9a5f052c68ceabfdfe352dbc6/mesh/apple_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/23ee96132d1451199f45be451a5e216f/23ee96132d1451199f45be451a5e216f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/23ee96132d1451199f45be451a5e216f/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/23ee96132d1451199f45be451a5e216f/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/325c17e85cb65a20823b12aed9a739a9.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana_collision.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/325c17e85cb65a20823b12aed9a739a9.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="banana">
+   <link name="banana">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/banana.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/banana_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>0.164228</scale>
+         <version>v0.1.4</version>
+         <category>banana</category>
+         <description>ripe yellow banana with brown spots and curved shape</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.18</max_mass>
+         <generate_time>20250922150258</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.976566791534424</ImageAestheticChecker>
+         <overall>NO</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/fruits/325c17e85cb65a20823b12aed9a739a9/325c17e85cb65a20823b12aed9a739a9.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f800cd41f8bc717f8b03565a822d2dc83babe2b6e6c1fc01908db21f368a1d
+size 349350

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c97c5f620e1ca009769dc127df8391d9483899530e01abeca1efe4b179fb4774
+size 1505608

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana_collision.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:867704a7652975df53cbaa421849cac54fdee81dce31453520ed7772d956f767
+size 137897

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/mesh/banana_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d929f1ca7fab7819340a380fb3160704105ed6aaee76e2f703fef495aca851
+size 12240416

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/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/fruits/325c17e85cb65a20823b12aed9a739a9/mjcf/325c17e85cb65a20823b12aed9a739a9.xml

@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="banana">
+  <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/banana.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/banana_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="banana">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/325c17e85cb65a20823b12aed9a739a9/video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eafaf92978adf86b2cebbc808fca64ff13f93802508da1f46e8bac209013d2d3
+size 131080