Add asset tools/repair_tools/5706c74b1fea573c9e2457334d4fe297

.gitattributes

@@ -5103,5 +5103,5 @@ dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/glue_gun_027.usd fil
 dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/mesh/glue_gun_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/51cc924ef1de578bb94ae4a8aea104ea/mesh/pliers_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/51cc924ef1de578bb94ae4a8aea104ea/pliers_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/mesh/mini_hammer_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/mini_hammer_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mesh/pliers_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/pliers_019.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Ns 1.00000000
+map_Kd pliers_019_geometry_Looks_material_0.png

dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mesh/pliers_019.glb

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+oid sha256:ab2a481a3d7bb2c75f71bb1da1109be3ba3e84f109171b23b273f2b52a7cdcbc
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dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mesh/pliers_019.mtl

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+newmtl pliers_019_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mjcf/mesh/pliers_019_collision_0.obj

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dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mjcf/mesh/pliers_019_collision_3.obj

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dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mjcf/mesh/pliers_019_collision_4.obj

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dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/mjcf/pliers_019.xml

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+    <mesh name="collision_mesh_0_3" file="mesh/pliers_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/pliers_019.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_019">
+   <link name="pliers_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_019.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_019_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>5706c74b1fea573c9e2457334d4fe297</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>diagonal pliers</name>
+         <color>gray,green</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>teal-handled metal cutting pliers with spring-loaded jaws</description>
+         <min_height>0.0220</min_height>
+         <max_height>0.0220</max_height>
+         <real_height>0.0220</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609211709</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042678 -0.116172 -0.011077</min>
+            <max>0.041944 0.083828 0.010937</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/5706c74b1fea573c9e2457334d4fe297/pliers_019.usd

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+oid sha256:00e0ff33c200d9c262cbe3d8f02c1bf83857c21cdfd0713a21637b8a59a4f961
+size 4998663

dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/video.mp4

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+oid sha256:efad8e426b6b07dfe4ee54bf952145be47b11bade306ff7fa1ac82e3d858930d
+size 176819