Add asset food/fruits/e98207dc3b87503088474661cb8556ca

.gitattributes

@@ -3595,15 +3595,6 @@ dataset/food/fruits/e74962d2b88a5549829f6459aa4f6ed0/mesh/apple.glb filter=lfs d
 dataset/food/fruits/e74962d2b88a5549829f6459aa4f6ed0/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/lemon_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/d9ddfc005fde5fd0b130af2144091198/mesh/lemon_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/mesh/peach_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usdc filter=lfs diff=lfs merge=lfs -text
-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/ed6953aa23d351eb83edf6b0a9bb3437/ed6953aa23d351eb83edf6b0a9bb3437.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/ed6953aa23d351eb83edf6b0a9bb3437/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/ed6953aa23d351eb83edf6b0a9bb3437/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
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-dataset/food/fruits/f629204afbbe5f92a8f81b6c75fe880a/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/e98207dc3b87503088474661cb8556ca/lemon_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/e98207dc3b87503088474661cb8556ca/lemon_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mesh/lemon_001.glb filter=lfs diff=lfs merge=lfs -text

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/lemon_001.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lemon_001">
+   <link name="lemon_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/lemon_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/lemon_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</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>e98207dc3b87503088474661cb8556ca</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>lemon</category>
+         <name>ripe lemon</name>
+         <color>yellow</color>
+         <shape>ellipsoid</shape>
+         <material>organic</material>
+         <description>bright yellow lemon with textured skin and tapered ends</description>
+         <min_height>0.0534</min_height>
+         <max_height>0.0534</max_height>
+         <real_height>0.0534</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325141539</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/e98207dc3b87503088474661cb8556ca/lemon_001.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f554c960146904a01e4e3aab9467f252049ee31bcb45aff3425ec09290274ea5
+size 1718780

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/lemon_001.usdc

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+version https://git-lfs.github.com/spec/v1
+oid sha256:383a01a23a6f99b6bb9ae2b54c88922a1071ff12accdbefdc40d6cf9802c5426
+size 3492152

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mesh/lemon_001.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:15b7d9ca301fb484b8b06e5f6d7da661d2fcf3e29175d558696f3df1489a7bb0
+size 11532116

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mesh/lemon_001.mtl

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+newmtl lemon_001_looks_lemon_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_lemon_001_color.png

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl lemon_001_looks_lemon_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 lemon_001_looks_lemon_002.png

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mjcf/lemon_001.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lemon_001">
+  <asset>
+    <material name="material_0" texture="texture_0_lemon_001_looks_lemon_002" reflectance="0.2" />
+    <texture name="texture_0_lemon_001_looks_lemon_002" type="2d" file="mesh/lemon_001_looks_lemon_002.png" />
+    <mesh name="visual_mesh_0" file="mesh/lemon_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lemon_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lemon_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lemon_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lemon_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lemon_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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mjcf/mesh/lemon_001_collision_0.obj

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+# https://github.com/mikedh/trimesh
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dataset/food/fruits/e98207dc3b87503088474661cb8556ca/mjcf/mesh/lemon_001_collision_1.obj

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+# https://github.com/mikedh/trimesh
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