Add asset food/fruits/8850cf33dbfb556483b614ce0dc9024c

.gitattributes

@@ -3562,3 +3562,5 @@ dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/mesh/pear_007.glb filter=lf
 dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/pear_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/73086733d13359b19d58c3d06cded653/pear_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/lemon_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/mesh/lemon_005.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/lemon_005.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon_005">
+   <link name="lemon_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lemon_005.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/lemon_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>8850cf33dbfb556483b614ce0dc9024c</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>lemon</category>
+         <name>yellow lemon</name>
+         <color>yellow</color>
+         <shape>ellipsoid</shape>
+         <material>organic</material>
+         <description>realistic yellow lemon with textured skin and a small stem</description>
+         <min_height>0.0644</min_height>
+         <max_height>0.0644</max_height>
+         <real_height>0.0644</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420203723</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>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/lemon_005.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8c4d215b854d79d01b435a7b16eb0aa41c1a993f3a56b8b8a2879daa2e1adb4c
+size 4931704

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/mesh/lemon_005.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:270e3d575a3568427c727b9d56512a589df1260446fbfddf257c4fae7cda07b8
+size 12680408

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/mesh/lemon_005.mtl

@@ -0,0 +1,6 @@
+newmtl lemon_005_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/8850cf33dbfb556483b614ce0dc9024c/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lemon_005_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 lemon_005_geometry_Looks_material_0.png

dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/mjcf/lemon_005.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon_005">
+  <asset>
+    <material name="material_0" texture="texture_0_lemon_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lemon_005_geometry_Looks_material_0" type="2d" file="mesh/lemon_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon_005">
+      <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/8850cf33dbfb556483b614ce0dc9024c/mjcf/mesh/lemon_005_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/video.mp4

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+oid sha256:847cba143e3fc50e575a89bfccb380dc1f66da73101b5d52fe35aebc4753b73f
+size 91586