Add asset tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0

.gitattributes

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 dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/screwdriver_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe/mesh/pliers_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe/pliers_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mesh/pliers_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/pliers_032.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mjcf/mesh/pliers_032_collision_10.obj

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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mjcf/mesh/pliers_032_collision_11.obj

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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mjcf/mesh/pliers_032_collision_5.obj

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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mjcf/mesh/pliers_032_collision_6.obj

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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/mjcf/pliers_032.xml

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+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pliers_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pliers_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/pliers_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pliers_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pliers_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <joint type="free" />
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+      <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_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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/pliers_032.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_032">
+   <link name="pliers_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>f23b48038a9051a696eefef0b6b2d2d0</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>needle nose pliers</name>
+         <color>gray,green</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>green and gray needle-nose pliers with spring-loaded handles</description>
+         <min_height>0.0224</min_height>
+         <max_height>0.0224</max_height>
+         <real_height>0.0224</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609212039</generate_time>
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+            <max>0.036219 0.113594 0.011224</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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