Add asset food/fruits/d9d7ac60788859b18234388efd84d523

.gitattributes

@@ -3586,3 +3586,6 @@ dataset/food/fruits/ab9a85d5a0b95f9ab568c0676d9d88ff/mesh/apple_010.glb filter=l
 dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/d474a8187dee559fbf80fc9b700cf152.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d474a8187dee559fbf80fc9b700cf152/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/d9d7ac60788859b18234388efd84d523/d9d7ac60788859b18234388efd84d523.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/d9d7ac60788859b18234388efd84d523.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>0.80</mu1>
+            <mu2>0.60</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 red apple with stem and smooth surface</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>20260116135606</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.645759582519531</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/d9d7ac60788859b18234388efd84d523/d9d7ac60788859b18234388efd84d523.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b5dd8ef9a9785f4a894de15644f1a6d73fe987cc8952c27335b7b6b76e871b2e
+size 927502

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:54bbdd8c94ba54ef1b5c0acc3906270dccc958580f423e6f4c2176cb8239bad6
+size 2637464

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mesh/apple_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:57cf38da4c0baacc2c21ac8b3c144b6c8e671d83bf2b632450c2a4175e3cb7f3
+size 3541129

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/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/d9d7ac60788859b18234388efd84d523/mjcf/d9d7ac60788859b18234388efd84d523.xml

@@ -0,0 +1,42 @@
+<?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" />
+    <mesh name="collision_mesh_0_12" file="mesh/apple_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/apple_collision_13.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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_0.obj

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dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_1.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_10.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00204391 -0.00164534 -0.04313360
+v 0.00204391 -0.00164534 0.03115391
+v 0.00204391 0.00253986 -0.04313360
+v 0.00204391 0.00253986 0.03115391
+v 0.00304391 -0.00164534 -0.04313360
+v 0.00304391 -0.00164534 0.03115391
+v 0.00304391 0.00253986 -0.04313360
+v 0.00304391 0.00253986 0.03115391
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_11.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00656650 -0.00164535 0.02450657
+v 0.00656650 0.00253962 0.02514927
+v 0.00303787 0.00149093 0.02236667
+v 0.00303787 -0.00164534 0.02110953
+v 0.00656650 -0.00164509 -0.04700059
+v 0.00303787 0.00253963 0.02248673
+v 0.00656650 0.00253987 -0.04473353
+v 0.00303787 -0.00164510 -0.04313037
+v 0.00607810 -0.00164509 -0.04658391
+v 0.00628569 -0.00106871 -0.04649914
+v 0.00656650 -0.00094623 -0.04666158
+v 0.00303787 0.00253986 -0.04185205
+v 0.00647946 0.00253987 -0.04466997
+v 0.00412140 -0.00164510 -0.04452167
+v 0.00563668 -0.00164509 -0.04618841
+v 0.00461463 0.00253987 -0.04315154
+v 0.00531718 -0.00164509 -0.04585647
+v 0.00497109 -0.00164509 -0.04548923
+v 0.00454797 -0.00164509 -0.04500898
+f 1 2 3
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+

dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_12.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00361028 0.00349952 -0.04643112
+v -0.00341526 0.00349952 -0.04630720
+v 0.00204996 0.00082196 -0.04071013
+v -0.00361028 0.00329166 -0.04622459
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dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_13.obj

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dataset/food/fruits/d9d7ac60788859b18234388efd84d523/mjcf/mesh/apple_collision_2.obj

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