Add asset food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef

.gitattributes

@@ -3605,3 +3605,5 @@ dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/mesh/pear_006.glb filter=lf
 dataset/food/fruits/e04fad3186575b67b250dd1684766ac1/pear_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/banana_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/mesh/banana_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon_009">
+   <link name="lemon_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lemon_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/lemon_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>fc6543dd9dfd5ed69eda6ac2047b04ef</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>bright yellow lemon with textured skin and tapered ends</description>
+         <min_height>0.0708</min_height>
+         <max_height>0.0708</max_height>
+         <real_height>0.0708</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420203929</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca4c67ed60bc634df59def6a7e4c2fb0aa0e8efc23ba48e80d45c1f57b16abb
+size 4917365

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7910d7ab5e94c93b045d80baa13ae1fb53a517b4297eb99d329106b683714f77
+size 12900800

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.mtl

@@ -0,0 +1,6 @@
+newmtl lemon_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/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lemon_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 lemon_009_geometry_Looks_material_0.png

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mjcf/lemon_009.xml

@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon_009">
+  <asset>
+    <material name="material_0" texture="texture_0_lemon_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lemon_009_geometry_Looks_material_0" type="2d" file="mesh/lemon_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lemon_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lemon_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mjcf/mesh/lemon_009_collision_0.obj

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