Add asset food/fruits/8a6b23d9180d581dbdd15e5079de7bd2

.gitattributes

@@ -3563,3 +3563,6 @@ dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/pear_007.usd filter=lfs dif
 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/8a6b23d9180d581dbdd15e5079de7bd2/8a6b23d9180d581dbdd15e5079de7bd2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/8a6b23d9180d581dbdd15e5079de7bd2.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pear">
+   <link name="pear">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pear.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/pear_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>pear</category>
+         <description>realistic yellow pear with red blush and a brown stem</description>
+         <min_height>0.125</min_height>
+         <max_height>0.125</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120032453</generate_time>
+         <gs_model>mesh/pear_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.371138095855713</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/8a6b23d9180d581dbdd15e5079de7bd2/8a6b23d9180d581dbdd15e5079de7bd2.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d758da0124159e737205db9db851b74fa94e0eb64f763d12bdde112847c96e7
+size 456561

dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/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/8a6b23d9180d581dbdd15e5079de7bd2/mesh/pear.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b4e0a2b69820b83e9d7b93f841e94e4158bbe34e3c0449d30ab0f4450f8813
+size 2281496

dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/mesh/pear_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a3eeac70fb6c73af016e131998afa1e356eae0fca2740ce27121ef2301d5378b
+size 1511913

dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/mjcf/8a6b23d9180d581dbdd15e5079de7bd2.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pear">
+  <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.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pear_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pear_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pear_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pear">
+      <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/8a6b23d9180d581dbdd15e5079de7bd2/mjcf/mesh/pear_collision_0.obj

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dataset/food/fruits/8a6b23d9180d581dbdd15e5079de7bd2/mjcf/mesh/pear_collision_2.obj

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+# https://github.com/mikedh/trimesh
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