Add asset tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3

.gitattributes

@@ -5053,5 +5053,5 @@ dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/mesh/screwdriver_010
 dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/screwdriver_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/houseplant_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/mesh/houseplant_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/glue_gun_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/mesh/glue_gun_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mesh/pliers_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/pliers_017.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mesh/material.mtl

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+# https://github.com/mikedh/trimesh
+
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pliers_017_geometry_Looks_material_0.png

dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mesh/pliers_017.glb

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+oid sha256:bacd69595d446cd0cba915ffec75b6309ba5b136eb35f424903aed86e08bf22a
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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mesh/pliers_017.mtl

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+newmtl pliers_017_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/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_0.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_10.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_2.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_4.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_6.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_7.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_8.obj

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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/mesh/pliers_017_collision_9.obj

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+# https://github.com/mikedh/trimesh
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dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/mjcf/pliers_017.xml

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+<mujoco model="pliers_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/pliers_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/pliers_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pliers_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/pliers_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/pliers_017.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_017">
+   <link name="pliers_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>07c3772e2e495f04b16f9455d6abbcf3</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>groove joint pliers</name>
+         <color>black,red</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>adjustable black and red groove-joint pliers with curved serrated jaws</description>
+         <min_height>0.0218</min_height>
+         <max_height>0.0218</max_height>
+         <real_height>0.0218</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609211636</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.036351 0.100968 0.010609</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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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