Add asset food/fruits/a200b06af9435e4c8164d2a9f5b99fef

.gitattributes

@@ -3570,5 +3570,6 @@ dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange.glb filter=lfs
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/mesh/pear_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/pear_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a601670a23c75be7b8ba0b5b6c6f1809/mesh/peach_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a601670a23c75be7b8ba0b5b6c6f1809/peach_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mesh/banana_001.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="banana_001">
+   <link name="banana_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/banana_001.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/banana_001_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>a200b06af9435e4c8164d2a9f5b99fef</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>banana</category>
+         <name>ripe banana</name>
+         <color>yellow</color>
+         <shape>elongated</shape>
+         <material>organic</material>
+         <description>curved yellow banana with green stem and brown tip</description>
+         <min_height>0.0334</min_height>
+         <max_height>0.0334</max_height>
+         <real_height>0.0334</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325140942</generate_time>
+         <gs_model>""</gs_model>
+      </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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:13ddea17dfef368ab4d5360ce98e5d42994b7f052d9d3e2d0bb159f52a1abe47
+size 1715864

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usdc

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c2a3734f76a0a90af209f020c1c55becc759a4f31ba1775e29babebde5570e6f
+size 3492880

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mesh/banana_001.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0188af392b0915ac32211b454e3d5238d47eababf39dd85949d39ce4177eab03
+size 6456232

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mesh/banana_001.mtl

@@ -0,0 +1,6 @@
+newmtl banana_001_looks_omni_pbr
+Kd 0.800000 0.800000 0.800000
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_banana_basecolor.png

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl banana_001_looks_omni_pbr
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd banana_001_looks_omni_pbr.png

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mjcf/banana_001.xml

@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="banana_001">
+  <asset>
+    <material name="material_0" texture="texture_0_banana_001_looks_omni_pbr" reflectance="0.2" />
+    <texture name="texture_0_banana_001_looks_omni_pbr" type="2d" file="mesh/banana_001_looks_omni_pbr.png" />
+    <mesh name="visual_mesh_0" file="mesh/banana_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/banana_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/banana_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/banana_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/banana_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/banana_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="banana_001">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mjcf/mesh/banana_001_collision_0.obj

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