Add asset tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665

.gitattributes

@@ -5534,5 +5534,5 @@ dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/mesh/screwdriver_017
 dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/screwdriver_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/mesh/wrench_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/wrench_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4/mesh/screwdriver_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4/screwdriver_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mesh/pliers_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/pliers_030.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl pliers_030_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pliers_030_geometry_Looks_material_0.png

dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mesh/pliers_030.glb

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+oid sha256:6d8ec02348e940465494de9c1924079a6b2376fe051cbeb4414163ccdb329253
+size 11761460

dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mesh/pliers_030.mtl

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+newmtl pliers_030_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/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_0.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_1.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_2.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_5.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_6.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_8.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/mesh/pliers_030_collision_9.obj

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dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/mjcf/pliers_030.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pliers_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pliers_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pliers_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pliers_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_030">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/pliers_030.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_030">
+   <link name="pliers_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_030.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_030_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>8017f97ebff2570ab25d2167b9fe4665</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>spring pliers</name>
+         <color>black,orange</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>orange and black spring-loaded pliers with silver metal jaws</description>
+         <min_height>0.0222</min_height>
+         <max_height>0.0222</max_height>
+         <real_height>0.0222</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609212009</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036005 -0.110271 -0.010977</min>
+            <max>0.036110 0.089729 0.011265</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/8017f97ebff2570ab25d2167b9fe4665/pliers_030.usd

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+size 5029085

dataset/tools/repair_tools/8017f97ebff2570ab25d2167b9fe4665/video.mp4

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