Add asset food/fruits/b87c509ffae15b3b92efcc8262bf2a1f

.gitattributes

@@ -3581,7 +3581,6 @@ dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/mesh/banana.glb filter=lfs
 dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/mesh/banana_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a9620572855f570189bf054098e1b0d2/mesh/peach_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a9620572855f570189bf054098e1b0d2/mesh/peach_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a9620572855f570189bf054098e1b0d2/mjcf/mesh/peach_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a9620572855f570189bf054098e1b0d2/peach_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/banana_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/banana_002.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mesh/banana_002.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/banana_002.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="banana_002">
+   <link name="banana_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/banana_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</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>b87c509ffae15b3b92efcc8262bf2a1f</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 brown stem</description>
+         <min_height>0.0748</min_height>
+         <max_height>0.0748</max_height>
+         <real_height>0.0748</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325141013</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/banana_002.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8cad146010fde9231792875ae4c0146d2ca3f0dd4d4c7ac28f4e4aadd5bc1fed
+size 1719219

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/banana_002.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2653b23fa83db540a314473f641d3c12d809a4efed8de37491f124b9bfc1a276
+size 3492380

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mesh/banana_002.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42aafbcb983d82f5f5dd977f9858b0a36a24b7481a97bbdd056a374214f7f09
+size 8131536

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mesh/banana_002.mtl

@@ -0,0 +1,6 @@
+newmtl banana_002_looks_banana_002
+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_002_color.png

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl banana_002_looks_banana_002
+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_002_looks_banana_002.png

dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mjcf/banana_002.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="banana_002">
+  <asset>
+    <material name="material_0" texture="texture_0_banana_002_looks_banana_002" reflectance="0.2" />
+    <texture name="texture_0_banana_002_looks_banana_002" type="2d" file="mesh/banana_002_looks_banana_002.png" />
+    <mesh name="visual_mesh_0" file="mesh/banana_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/banana_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/banana_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/banana_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/banana_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/banana_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="banana_002">
+      <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/b87c509ffae15b3b92efcc8262bf2a1f/mjcf/mesh/banana_002_collision_0.obj

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dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mjcf/mesh/banana_002_collision_2.obj

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dataset/food/fruits/b87c509ffae15b3b92efcc8262bf2a1f/mjcf/mesh/banana_002_collision_3.obj

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