Add asset tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2

.gitattributes

@@ -5125,5 +5125,5 @@ dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/mesh/wrench_010.glb
 dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/wrench_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/97469c9306275ff5a80f605bbe07a308/mesh/wrench_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/97469c9306275ff5a80f605bbe07a308/wrench_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/a19b0e95c0f8596d9fe33fa7358a8278/mesh/wrench_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/a19b0e95c0f8596d9fe33fa7358a8278/wrench_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mesh/wrench_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/wrench_015.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl wrench_015_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd wrench_015_geometry_Looks_material_0.png

dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mesh/wrench_015.glb

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+oid sha256:2f592c640c70b5bd622327d79fc03a8325d9c4dc34d00e6ced7a548f16dcb258
+size 11042440

dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mesh/wrench_015.mtl

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+newmtl wrench_015_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mesh/wrench_015_collision.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_0.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_1.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_2.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_3.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_5.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_6.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/mesh/wrench_015_collision_7.obj

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/mjcf/wrench_015.xml

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+<mujoco model="wrench_015">
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wrench_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wrench_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wrench_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wrench_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wrench_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wrench_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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+      <joint type="free" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/video.mp4

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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/wrench_015.urdf

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+<robot name="wrench_015">
+   <link name="wrench_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wrench_015.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/wrench_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>a0ecf0d2a44c5bb79b9d05e73070b1b2</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>wrench</category>
+         <name>combination wrench</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>brown metal combination wrench with open end and ring end</description>
+         <min_height>0.0125</min_height>
+         <max_height>0.0125</max_height>
+         <real_height>0.0125</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609213139</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022051 -0.104565 -0.006292</min>
+            <max>0.022057 0.095435 0.006250</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
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+            <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>

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