Add asset food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7

.gitattributes

@@ -3595,3 +3595,6 @@ dataset/food/fruits/e74962d2b88a5549829f6459aa4f6ed0/mesh/apple.glb filter=lfs d
 dataset/food/fruits/e74962d2b88a5549829f6459aa4f6ed0/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/lemon_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/mesh/lemon_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mesh/peach_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usdc filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peach_001_looks_peach_002
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+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd peach_001_looks_peach_002.png

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mesh/peach_001.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b88e8eec5d437b87e2836752cfc777d71b1e90788e7d35d242a2f68c25f3cfd3
+size 16058632

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mesh/peach_001.mtl

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+newmtl peach_001_looks_peach_002
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_peach_001_color.png

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mjcf/mesh/peach_001_collision_1.obj

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dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mjcf/peach_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peach_001">
+  <asset>
+    <material name="material_0" texture="texture_0_peach_001_looks_peach_002" reflectance="0.2" />
+    <texture name="texture_0_peach_001_looks_peach_002" type="2d" file="mesh/peach_001_looks_peach_002.png" />
+    <mesh name="visual_mesh_0" file="mesh/peach_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peach_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peach_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peach_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peach_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peach_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peach_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peach_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peach_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peach_001">
+   <link name="peach_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peach_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
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+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>db5c2fb9ae6b576ea474d58ab5feecf7</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>peach</category>
+         <name>ripe peach</name>
+         <color>reddish-yellow</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>realistic peach with soft texture and natural coloration</description>
+         <min_height>0.0764</min_height>
+         <max_height>0.0764</max_height>
+         <real_height>0.0764</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325141645</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usd

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