Add asset tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1

.gitattributes

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 dataset/tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098/mesh/hex_key_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mesh/pliers_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/pliers_021.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mesh/material.mtl

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mesh/pliers_021.glb

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mesh/pliers_021.mtl

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_0.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_2.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_3.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_5.obj

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

dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_6.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_7.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/mesh/pliers_021_collision_8.obj

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dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/mjcf/pliers_021.xml

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+    <mesh name="collision_mesh_0_4" file="mesh/pliers_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pliers_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_021">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/pliers_021.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_021">
+   <link name="pliers_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_021.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/pliers_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>5e668e2f07f55c2191e94d49bdd7abe1</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>slip joint pliers</name>
+         <color>gray,blue</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>blue-handled metal pliers with short serrated jaws</description>
+         <min_height>0.0212</min_height>
+         <max_height>0.0212</max_height>
+         <real_height>0.0212</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609211746</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048396 -0.092974 -0.010658</min>
+            <max>0.048418 0.107026 0.010515</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>NO: {"summary":"Handles, head, and pivot are segmented well, but small maroon/lime fragments on handles are noise.","merge_groups":[{"colors":["Cyan","Lime Green"],"target_part":"handles","reason":"lime marks are tiny handle fragments"},{"colors":["Cyan","Maroon"],"target_part":"handles","reason":"small maroon patches lie on handle grips"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/pliers_021.usd

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+oid sha256:ef0e8be560e99d239bfa946a2018857afbf74eab510b8eafdc88cad06f358baa
+size 4992518

dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/video.mp4

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+oid sha256:12431e617e451c6499b76370547130733b018491dbc32cc94f69226d82ca3e9f
+size 152759