Add asset food/fruits/8435cb123963588491254338bfb82daa

.gitattributes

@@ -3564,3 +3564,5 @@ dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.glb filter=lf
 dataset/food/fruits/73086733d13359b19d58c3d06cded653/pear_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8435cb123963588491254338bfb82daa/apple_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8435cb123963588491254338bfb82daa/mesh/apple_009.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8435cb123963588491254338bfb82daa/apple_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="apple_009">
+   <link name="apple_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/apple_009.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/apple_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.30</mu1>
+            <mu2>0.20</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>1.000000</scale>
+         <uuid>8435cb123963588491254338bfb82daa</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>apple</category>
+         <name>golden apple</name>
+         <color>golden</color>
+         <shape>sphere</shape>
+         <material>organic</material>
+         <description>smooth golden apple with a short brown stem</description>
+         <min_height>0.1089</min_height>
+         <max_height>0.1089</max_height>
+         <real_height>0.1089</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420203009</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/8435cb123963588491254338bfb82daa/apple_009.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343dc69be2d8211a7ed8e4351378c4ac7590f728cbd2eed4234bc3ca35d5980a
+size 4932103

dataset/food/fruits/8435cb123963588491254338bfb82daa/mesh/apple_009.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:904e995302f0c1d727c7c9a174f88eea20f8245950dc1eb501c74cacd71fc3b2
+size 12524196

dataset/food/fruits/8435cb123963588491254338bfb82daa/mesh/apple_009.mtl

@@ -0,0 +1,6 @@
+newmtl apple_009_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/food/fruits/8435cb123963588491254338bfb82daa/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl apple_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd apple_009_geometry_Looks_material_0.png

dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/apple_009.xml

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="apple_009">
+  <asset>
+    <material name="material_0" texture="texture_0_apple_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_apple_009_geometry_Looks_material_0" type="2d" file="mesh/apple_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/apple_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/apple_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/apple_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/apple_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/apple_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/apple_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/apple_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/apple_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/apple_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/apple_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/apple_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/apple_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/apple_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/apple_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/apple_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="apple_009">
+      <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/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_0.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_1.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_11.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_12.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_5.obj

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

dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_6.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_7.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/mjcf/mesh/apple_009_collision_8.obj

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dataset/food/fruits/8435cb123963588491254338bfb82daa/video.mp4

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