Add asset tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd

.gitattributes

@@ -5101,11 +5101,5 @@ dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/mesh/screwdriver_026
 dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/screwdriver_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4ea4d6d652005fa7a8b646bf2489123e/mesh/wrench_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4ea4d6d652005fa7a8b646bf2489123e/wrench_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/mesh/mini_hammer_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/mini_hammer_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/hex_key_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/mesh/hex_key_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/6040417cbb6b544fb59e63b4145b9545/mesh/mini_hammer_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/6040417cbb6b544fb59e63b4145b9545/mini_hammer_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mesh/pliers_041.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/pliers_041.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Ns 1.00000000
+map_Kd pliers_041_geometry_Looks_material_0.png

dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mesh/pliers_041.glb

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+newmtl pliers_041_geometry_Looks_material_0
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+d 1.000000
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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_0.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_2.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_3.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_4.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_5.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_6.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/mesh/pliers_041_collision_7.obj

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dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/mjcf/pliers_041.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pliers_041">
+  <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/pliers_041.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_041_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_041_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_041_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pliers_041_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_041_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_041_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_041_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_041_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_041">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/pliers_041.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_041">
+   <link name="pliers_041">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_041.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_041_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.50</mu2>
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+      </collision>
+      <inertial>
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+         <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>5b2b43d77250554aaef4c8bd8065c8bd</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>needle-nose pliers</name>
+         <color>purple,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>purple-handled needle-nose pliers with metal jaws and spring hinge</description>
+         <min_height>0.0194</min_height>
+         <max_height>0.0194</max_height>
+         <real_height>0.0194</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609212309</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040945 -0.074650 -0.009900</min>
+            <max>0.041694 0.125350 0.009541</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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>

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