Add asset food/fruits/73086733d13359b19d58c3d06cded653

.gitattributes

@@ -3560,8 +3560,5 @@ dataset/food/fruits/64ed05bd96c553e8b231e767accce641/banana_007.usd filter=lfs d
 dataset/food/fruits/64ed05bd96c553e8b231e767accce641/mesh/banana_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/mesh/pear_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/pear_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/82045b47d2f850cabbf0a92871f5f1b0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/82045b47d2f850cabbf0a92871f5f1b0/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/mesh/peach_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/7f11fee9d9095642aedff060bd90c223/peach_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/73086733d13359b19d58c3d06cded653/pear_004.usd filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl pear_004_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pear_004_geometry_Looks_material_0.png

dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.glb

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+oid sha256:83a09ca91e8f719b3c998cf9599706db62be6e802b4657f0f241fb8b986bef47
+size 14830908

dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.mtl

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+newmtl pear_004_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/fruits/73086733d13359b19d58c3d06cded653/mjcf/mesh/pear_004_collision_0.obj

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dataset/food/fruits/73086733d13359b19d58c3d06cded653/mjcf/pear_004.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pear_004">
+  <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/pear_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pear_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pear_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pear_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pear_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pear_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pear_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/73086733d13359b19d58c3d06cded653/pear_004.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pear_004">
+   <link name="pear_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pear_004.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
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+         <geometry>
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+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>73086733d13359b19d58c3d06cded653</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>pear</category>
+         <name>ripe pear</name>
+         <color>green,red</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>green pear with red blush and brown stem</description>
+         <min_height>0.1159</min_height>
+         <max_height>0.1159</max_height>
+         <real_height>0.1159</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427235246</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>4</part_count>
+         <visual_seg>
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+            <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/73086733d13359b19d58c3d06cded653/pear_004.usd

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dataset/food/fruits/73086733d13359b19d58c3d06cded653/video.mp4

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