Add asset tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7

.gitattributes

@@ -5078,7 +5078,5 @@ dataset/tools/repair_tools/2d02d1f3118b5c049b80a15f9d24d065/mini_hammer_040.usd
 dataset/tools/repair_tools/33549a4a006054088f5d6bcd3c08ea55/33549a4a006054088f5d6bcd3c08ea55.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/315e159d0d6456d3a1a8bbfe4406041d/mesh/mini_hammer_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/315e159d0d6456d3a1a8bbfe4406041d/mini_hammer_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/32ed95ed258b56a797aa1377b345babf/mesh/mini_hammer_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/32ed95ed258b56a797aa1377b345babf/mini_hammer_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/343e321442d35623a3a0239eb38806fa/mesh/mini_hammer_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/343e321442d35623a3a0239eb38806fa/mini_hammer_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mesh/screwdriver_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/screwdriver_005.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd screwdriver_005_geometry_Looks_material_0.png

dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mesh/screwdriver_005.glb

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+oid sha256:db801e852ed35f6c43f35f993898c02bb213377af692bd730ea1c4017b664b72
+size 11474012

dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mesh/screwdriver_005.mtl

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+newmtl screwdriver_005_geometry_Looks_material_0
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+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/3281d540d2765ede81b04977fa8bdbb7/mesh/screwdriver_005_collision.obj

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dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mjcf/mesh/screwdriver_005_collision_0.obj

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dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mjcf/mesh/screwdriver_005_collision_1.obj

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dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/mjcf/screwdriver_005.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="screwdriver_005">
+  <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/screwdriver_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/screwdriver_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/screwdriver_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/screwdriver_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="screwdriver_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/screwdriver_005.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="screwdriver_005">
+   <link name="screwdriver_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/screwdriver_005.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/screwdriver_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>3281d540d2765ede81b04977fa8bdbb7</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>screwdriver</category>
+         <name>yellow screwdriver</name>
+         <color>yellow</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>yellow-handled screwdriver with a metal shaft and flathead tip</description>
+         <min_height>0.0234</min_height>
+         <max_height>0.0234</max_height>
+         <real_height>0.0234</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420210921</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <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/3281d540d2765ede81b04977fa8bdbb7/screwdriver_005.usd

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+size 4982570

dataset/tools/repair_tools/3281d540d2765ede81b04977fa8bdbb7/video.mp4

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