Add asset tools/repair_tools/f0841cad08ec5140989955fb25aa299d

.gitattributes

@@ -5180,3 +5180,5 @@ dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/mesh/wrench_009.glb
 dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/wrench_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/mesh/mini_hammer_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/mini_hammer_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/hex_key_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/hex_key_022.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="hex_key_022">
+   <link name="hex_key_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/hex_key_022.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/hex_key_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>f0841cad08ec5140989955fb25aa299d</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>hex_key</category>
+         <name>handled hex key</name>
+         <color>blue,gray</color>
+         <shape>L-shape</shape>
+         <material>metal</material>
+         <description>blue-handled metal l-shaped hex key with short grip</description>
+         <min_height>0.0293</min_height>
+         <max_height>0.0293</max_height>
+         <real_height>0.0293</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609204743</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016686 -0.063331 -0.014679</min>
+            <max>0.040691 0.096669 0.014577</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/f0841cad08ec5140989955fb25aa299d/hex_key_022.usd

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+oid sha256:d781b7cf8f81673931892e191a6d1ecc58f55d1dea21d1f1dd143d5b43c66d1d
+size 4854888

dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a1f624bbba49220a2887097f3da8a2b820506277feddc97e90bea40779068c51
+size 10187596

dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.mtl

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+newmtl hex_key_022_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/f0841cad08ec5140989955fb25aa299d/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl hex_key_022_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd hex_key_022_geometry_Looks_material_0.png

dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/hex_key_022.xml

@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hex_key_022">
+  <asset>
+    <material name="material_0" texture="texture_0_hex_key_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_hex_key_022_geometry_Looks_material_0" type="2d" file="mesh/hex_key_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/hex_key_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/hex_key_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/hex_key_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/hex_key_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/hex_key_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/hex_key_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/hex_key_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/hex_key_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/hex_key_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/hex_key_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/hex_key_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/hex_key_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="hex_key_022">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_0.obj

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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_3.obj

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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_5.obj

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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_6.obj

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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_7.obj

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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mjcf/mesh/hex_key_022_collision_8.obj

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+# https://github.com/mikedh/trimesh
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