Add asset food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842

.gitattributes

@@ -3601,8 +3601,5 @@ dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usdc filter=lfs d
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/eb8c0d7c6b185cf9a498029b6fcc3eac.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/lemon_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/mesh/lemon_007.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/lemon_007.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon_007">
+   <link name="lemon_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lemon_007.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_007_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>ec91c1a8c8285aeb87d4fa9201aa3842</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>lemon</category>
+         <name>green lemon</name>
+         <color>green</color>
+         <shape>ellipsoid</shape>
+         <material>organic</material>
+         <description>green lemon with textured skin and a small stem</description>
+         <min_height>0.0754</min_height>
+         <max_height>0.0754</max_height>
+         <real_height>0.0754</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420203826</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/ec91c1a8c8285aeb87d4fa9201aa3842/lemon_007.usd

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+oid sha256:b21b98e065af5f9e62ac5952a4ad970e6df75d7bc1171897d5bd0f15c78caa34
+size 4913537

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/mesh/lemon_007.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0d82454437c4e1a43b06ae594b714c4795e44577909c3067504b01ceed81f6
+size 15649364

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/mesh/lemon_007.mtl

@@ -0,0 +1,6 @@
+newmtl lemon_007_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/ec91c1a8c8285aeb87d4fa9201aa3842/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl lemon_007_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_007_geometry_Looks_material_0.png

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/mjcf/lemon_007.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon_007">
+  <asset>
+    <material name="material_0" texture="texture_0_lemon_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lemon_007_geometry_Looks_material_0" type="2d" file="mesh/lemon_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lemon_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/ec91c1a8c8285aeb87d4fa9201aa3842/mjcf/mesh/lemon_007_collision_1.obj

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