Add asset food/fruits/bfecffb87a0357eab8d32dd7fb75c69f

.gitattributes

@@ -3585,3 +3585,6 @@ dataset/food/fruits/b8770d2bca5c5afe8e3e9ab03e007365/lemon_006.usd filter=lfs di
 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/bfecffb87a0357eab8d32dd7fb75c69f/bfecffb87a0357eab8d32dd7fb75c69f.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_collision.obj" scale="1.0 1.0 1.0" />
+         </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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic yellow apple with red blush and green leaf</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116141549</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.287238597869873</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/bfecffb87a0357eab8d32dd7fb75c69f/bfecffb87a0357eab8d32dd7fb75c69f.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fdbb31a345021f0d440047d538b03193d41e0e01f5b797c3339bd0fcfc64368d
+size 860440

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2cffb9e016746b2096ff6b61cef6e9fe7e06e393a5658d01052e108b123fe691
+size 2467952

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:df6a0900f35f575199b01c0f3dd05c5bfcce1cc28a8057b979f2144787fc6cb0
+size 2908777

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/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/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/bfecffb87a0357eab8d32dd7fb75c69f.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="apple">
+  <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/apple.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/apple_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/apple_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/apple_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/apple_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/apple_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/apple_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/apple_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/apple_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/apple_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/apple_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/apple_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/apple_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="apple">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_0.obj

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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_10.obj

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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_11.obj

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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_7.obj

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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_8.obj

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dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mjcf/mesh/apple_collision_9.obj

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