Add asset tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b

.gitattributes

@@ -5147,5 +5147,5 @@ dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/mesh/wrench_016.glb
 dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/wrench_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/glue_gun_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/mesh/glue_gun_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/mesh/screwdriver_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/screwdriver_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mesh/pliers_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/pliers_033.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/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_033_geometry_Looks_material_0.png

dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mesh/pliers_033.glb

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+oid sha256:8b9082ee3bc76aefd57fe66de47dfd30bce9e0b0fb5b99e1c062a8b581049701
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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mesh/pliers_033.mtl

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+newmtl pliers_033_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_0.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_1.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_10.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_11.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_2.obj

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+# https://github.com/mikedh/trimesh
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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_6.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/mesh/pliers_033_collision_7.obj

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dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/mjcf/pliers_033.xml

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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/pliers_033.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_033">
+   <link name="pliers_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.75</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>c02a896efe6c535d8c82d11bd8462f7b</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>slip-joint pliers</name>
+         <color>black,orange</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>orange and black handled metal pliers with short serrated jaws</description>
+         <min_height>0.0255</min_height>
+         <max_height>0.0255</max_height>
+         <real_height>0.0255</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609212057</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038769 -0.107098 -0.012574</min>
+            <max>0.038680 0.092902 0.012971</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/c02a896efe6c535d8c82d11bd8462f7b/pliers_033.usd

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+oid sha256:42736eabf0e361e11b68a9395895dfcc98c5360574c3367330fa78cab567d511
+size 5028517

dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/video.mp4

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+oid sha256:70495d9dea0c975f71b18a5eaf22f326701e6f3b46bff3cfcd38d6ff22dbfdbd
+size 207940