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dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/mesh/material.mtl

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dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/mjcf/mesh/pliers_014_collision_5.obj

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dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/pliers_014.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_014">
+   <link name="pliers_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.75</mu1>
+            <mu2>0.60</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>ffbf1d9a6a7b5195b54582ab536feab0</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>needle-nose pliers</name>
+         <color>black,blue</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>black and blue needle-nose pliers with rubberized curved handles</description>
+         <min_height>0.0231</min_height>
+         <max_height>0.0231</max_height>
+         <real_height>0.0231</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609211545</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036863 -0.109109 -0.011550</min>
+            <max>0.037014 0.090891 0.011578</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/ffbf1d9a6a7b5195b54582ab536feab0/pliers_014.usd

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+oid sha256:d7d5fc5cdc09116f1bf3968f50e9a33d3aeb49ea1ffa8836548620027a91d258
+size 5024251

dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/video.mp4

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+oid sha256:1fcfd6e7bce3786c74f4ee6cbc68d737d931b38344c6bc04cbf13bf1530ea415
+size 119794