Add asset food/fruits/3821fa823f6d5bfa885daa5129af0355

.gitattributes

@@ -3544,21 +3544,7 @@ dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon.glb filter=lfs d
 dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/banana_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/3b95af1cf722552e8c0263dd50b8b41b/mesh/banana_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/391e166a464c58ca90c61d29150fe9ca/mesh/pear_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/391e166a464c58ca90c61d29150fe9ca/mesh/pear_003.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/391e166a464c58ca90c61d29150fe9ca/mjcf/mesh/pear_003.obj filter=lfs diff=lfs merge=lfs -text
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-dataset/food/fruits/391e166a464c58ca90c61d29150fe9ca/pear_003.usdc filter=lfs diff=lfs merge=lfs -text
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+dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/lemon_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mesh/lemon_004.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/lemon_004.urdf

@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon_004">
+   <link name="lemon_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lemon_004.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_004_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>3821fa823f6d5bfa885daa5129af0355</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>0.0774</min_height>
+         <max_height>0.0774</max_height>
+         <real_height>0.0774</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260403175113</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/3821fa823f6d5bfa885daa5129af0355/lemon_004.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:229d58cd3d068e7ca1756df63533fe0ceb2045c6169ff6f455d57cee93050636
+size 120870263

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mesh/lemon_004.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a543a4dbec83ee40119045bcf91d180c7197b38d7ee6a191945446364c8cf39
+size 73075740

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mesh/lemon_004.mtl

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+newmtl lemon_004_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/3821fa823f6d5bfa885daa5129af0355/mesh/lemon_004.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a9aaea0356ad19b89ba2a1c8719fe1eb1f38a24b30ae9bac07f8930fae42f5
+size 110638031

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl lemon_004_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_004_geometry_Looks_material_0.png

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mjcf/lemon_004.xml

@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon_004">
+  <asset>
+    <material name="material_0" texture="texture_0_lemon_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_lemon_004_geometry_Looks_material_0" type="2d" file="mesh/lemon_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lemon_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon_004">
+      <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/3821fa823f6d5bfa885daa5129af0355/mjcf/mesh/lemon_004.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ecdf8862aad00f88b8b905cfd686a74d33d6f193ba40d5031f2c8c4efd13509c
+size 105970740

dataset/food/fruits/3821fa823f6d5bfa885daa5129af0355/mjcf/mesh/lemon_004_collision_0.obj

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