Add asset tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac

.gitattributes

@@ -5105,5 +5105,5 @@ dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/mesh/wrench_006.glb
 dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/wrench_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/hex_key_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/mesh/hex_key_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/606659f8a28e520a8ea11d577deac19d/mesh/pliers_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/606659f8a28e520a8ea11d577deac19d/pliers_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mesh/mini_hammer_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mini_hammer_039.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl mini_hammer_039_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mini_hammer_039_geometry_Looks_material_0.png

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mesh/mini_hammer_039.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6bc58e268f90aa7f71734cded0f864645682023295f11a993846566e9a0adc
+size 11042660

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mesh/mini_hammer_039.mtl

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+newmtl mini_hammer_039_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mini_hammer_039.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_hammer_039">
+   <link name="mini_hammer_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_hammer_039.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/mini_hammer_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>61c485c3eb1e5dc79f2b8f091b5387ac</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>mini_hammer</category>
+         <name>claw hammer</name>
+         <color>green,orange</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>compact claw hammer with orange-black handle and green metal head</description>
+         <min_height>0.0508</min_height>
+         <max_height>0.0508</max_height>
+         <real_height>0.0508</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609211425</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.113202 -0.139288 -0.025205</min>
+            <max>0.086798 0.200490 0.025593</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mini_hammer_039.usd

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+oid sha256:f226a0b1052a543de802fabc61f97cc5e219c12d38846242dd7fee9c86a48fbb
+size 4995213

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mjcf/mesh/mini_hammer_039_collision_0.obj

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dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mjcf/mesh/mini_hammer_039_collision_5.obj

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dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mjcf/mesh/mini_hammer_039_collision_6.obj

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dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/mjcf/mini_hammer_039.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_hammer_039">
+  <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/mini_hammer_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_hammer_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_hammer_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mini_hammer_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mini_hammer_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/mini_hammer_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mini_hammer_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mini_hammer_039">
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/61c485c3eb1e5dc79f2b8f091b5387ac/video.mp4

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