Add asset food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5

.gitattributes

@@ -3564,3 +3564,6 @@ dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/mesh/banana.glb filter=lfs
 dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/mesh/banana_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/mesh/peach_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/peach_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.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>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>pear</category>
+         <description>yellow pear with bite marks and visible teeth inside</description>
+         <min_height>0.090</min_height>
+         <max_height>0.125</max_height>
+         <real_height>0.107</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120033839</generate_time>
+         <gs_model>mesh/pear_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: the object has a large hole and missing geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6279802322387695</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc406140f9b5098ff825f6f9a9aedd01cae4d3128ffa9e1480d6c82410b898e
+size 650191

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/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/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5fc0564c75cb3325ddc4f115be67267f5fcd722dbca28b8ee3416fa273d5877
+size 2942964

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f6102b4c0d1202f870d9fa5bf130f2f85fa1a6d0950d617494e42bfd7b688b
+size 2403881

dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/50fd83c541cb56e8b6ff6916cbf8c5f5.xml

@@ -0,0 +1,184 @@
+<?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" />
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+  </asset>
+  <worldbody>
+    <body name="pear">
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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_0.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_1.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_12.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_13.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_15.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_16.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_17.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_18.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_2.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_20.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_22.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_24.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_25.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_30.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_31.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_34.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_35.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_36.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_37.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_38.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_39.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_4.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_40.obj

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dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_41.obj

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