Add asset food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de

.gitattributes

@@ -3559,3 +3559,6 @@ dataset/food/fruits/7cb1390eb950580d9304069bd78b57db/mesh/pear_gs.ply filter=lfs
 dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/74a1724157ba5e72ab26313e7f3b2ea8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/74a1724157ba5e72ab26313e7f3b2ea8/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/72db2fa9b5ca51dfb2f31ce96ec113de.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/72db2fa9b5ca51dfb2f31ce96ec113de.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>yellow pear with brown stem and slight red spots</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120040410</generate_time>
+         <gs_model>mesh/pear_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.782588481903076</ImageAestheticChecker>
+         <overall>YES</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/72db2fa9b5ca51dfb2f31ce96ec113de/72db2fa9b5ca51dfb2f31ce96ec113de.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:600f60bd6b678ec056db6e9b660694fb137cf5e0a9178e74d297fbb6b3519a90
+size 558791

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/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/72db2fa9b5ca51dfb2f31ce96ec113de/mesh/pear.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b5061918bd82ce6904e9803e694a0c8e649ad8a02e29f2ce7236f6fb470286fe
+size 2188248

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mesh/pear_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2fad3ffacd50f09eb82a1598d1375e7c8022cf307056a7fbc8514b60d144308
+size 1742185

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mjcf/72db2fa9b5ca51dfb2f31ce96ec113de.xml

@@ -0,0 +1,22 @@
+<?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" />
+    <mesh name="collision_mesh_0_3" file="mesh/pear_collision_3.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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mjcf/mesh/pear_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/72db2fa9b5ca51dfb2f31ce96ec113de/mjcf/mesh/pear_collision_1.obj

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