Add asset food/fruits/8a8627a32e63500f8e0d0940e705f8bb

.gitattributes

@@ -5408,3 +5408,6 @@ dataset/food/fruits/10b3fac88d1b5530ae0b8f2be72de3c1/mesh/banana_gs.ply filter=l
 dataset/food/fruits/146db517277757179baeab05ca606de0/146db517277757179baeab05ca606de0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/146db517277757179baeab05ca606de0/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/146db517277757179baeab05ca606de0/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/8a8627a32e63500f8e0d0940e705f8bb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/8a8627a32e63500f8e0d0940e705f8bb.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="orange">
+   <link name="orange">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/orange.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/orange_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</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>0.104227</scale>
+         <version>v0.1.7</version>
+         <category>orange</category>
+         <description>spherical orange fruit with textured peel and slightly irregular top surface</description>
+         <min_height>0.064</min_height>
+         <max_height>0.080</max_height>
+         <real_height>0.072</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120024753</generate_time>
+         <gs_model>mesh/orange_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears truncated at the top, missing a complete upper section.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.355503559112549</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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/8a8627a32e63500f8e0d0940e705f8bb/8a8627a32e63500f8e0d0940e705f8bb.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727b8f99381b6843ce5d5a87323a27d2997b49e75da99d5dc3d076b89627d50e
+size 963658

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/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/8a8627a32e63500f8e0d0940e705f8bb/mesh/orange.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1817886e35a50c3a6e3c2fd60462a8e04519c7e2a3f66976c822b3e9458f9c8e
+size 2558844

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/mesh/orange_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24cb420252011feb240c0f65e10acd2b2d7a27f2bbd69055a68ebd30e1e57c59
+size 3961353

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/mjcf/8a8627a32e63500f8e0d0940e705f8bb.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="orange">
+  <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/orange.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/orange_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/orange_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="orange">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/8a8627a32e63500f8e0d0940e705f8bb/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2129e2a1a7355b6e52e7728eb761d7c9cbceae793b3baa2454b490c4855c1d1b
+size 272444