Add asset tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b

.gitattributes

@@ -5184,3 +5184,5 @@ dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/hex_key_022.usd filt
 dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/mesh/screwdriver_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/screwdriver_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mesh/wrench_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/wrench_034.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/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 wrench_034_geometry_Looks_material_0.png

dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mesh/wrench_034.glb

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mesh/wrench_034.mtl

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+newmtl wrench_034_geometry_Looks_material_0
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+d 1.000000
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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_10.obj

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_3.obj

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_4.obj

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_5.obj

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_6.obj

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_7.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+

dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_8.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/mesh/wrench_034_collision_9.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/mjcf/wrench_034.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wrench_034">
+  <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/wrench_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wrench_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wrench_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wrench_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wrench_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wrench_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wrench_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wrench_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wrench_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wrench_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wrench_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wrench_034_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wrench_034_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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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_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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/video.mp4

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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/wrench_034.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wrench_034">
+   <link name="wrench_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wrench_034.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/wrench_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>f20403fbd1965be3a51cd8b090bbe05b</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>wrench</category>
+         <name>ratchet wrench</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray metal ratcheting wrench with long handle and circular head</description>
+         <min_height>0.0282</min_height>
+         <max_height>0.0282</max_height>
+         <real_height>0.0282</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609213616</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026696 -0.129560 -0.014535</min>
+            <max>0.035644 0.070440 0.013671</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/f20403fbd1965be3a51cd8b090bbe05b/wrench_034.usd

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