Add asset food/fruits/39189a4317b454f6a10f153dcb7a29ec

.gitattributes

@@ -3539,3 +3539,6 @@ dataset/food/fruits/3e40a3b8dac957dcbb1ac9c7954c660f/mesh/apple_gs.ply filter=lf
 dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/45caa4d5b6425a0c933029bc158895ff.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/45caa4d5b6425a0c933029bc158895ff/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/39189a4317b454f6a10f153dcb7a29ec.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/39189a4317b454f6a10f153dcb7a29ec.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon">
+   <link name="lemon">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lemon.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lemon_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.60</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>0.093225</scale>
+         <version>v0.1.5</version>
+         <category>lemon</category>
+         <description>bright yellow lemon with smooth surface and tapered ends</description>
+         <min_height>0.06</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.07</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251009114756</generate_time>
+         <gs_model>mesh/lemon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.650537014007568</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/39189a4317b454f6a10f153dcb7a29ec.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9afbab546c088267929db75fa14119dbe470219c3765c64ee444a648a09ca789
+size 824190

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7258301a460801f24cd5e3ca4532a927a23e71b8bd877999eabb1e7ea58f47dd
+size 1688888

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/lemon_gs.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d77c60472e40adef54d437ad41d3b4ba48ff62e660d2426eccc6b3e55954ca00
+size 24631402

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/food/fruits/39189a4317b454f6a10f153dcb7a29ec/mjcf/39189a4317b454f6a10f153dcb7a29ec.xml

@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon">
+      <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/39189a4317b454f6a10f153dcb7a29ec/mjcf/mesh/lemon_collision_0.obj

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