Add asset tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098

.gitattributes

@@ -7868,3 +7868,4 @@ dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part
 dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098/affordance/affordance_annot.json

@@ -0,0 +1,249 @@
+{
+    "affordances": [
+        {
+            "part_name": "wrench body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the wrench",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the body to apply torque during fastening or loosening",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the body to stabilize the tool while placing an end onto a fastener",
+                    "confidence": 0.88
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "transmit torque",
+                "connect the two working ends",
+                "provide reach and leverage",
+                "support tool manipulation"
+            ],
+            "semantic_description": "Long L-shaped silver metal body with a smooth slightly reflective finish, forming the main shaft and bend of the offset wrench, with printed markings along the side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9868150949478149,
+                    "position": [
+                        0.09184231796461972,
+                        0.051644891034811735,
+                        0.00976953907229472
+                    ],
+                    "orientation": {
+                        "w": 0.661272856085265,
+                        "xyz": [
+                            0.02853338996552278,
+                            -0.748568604238981,
+                            0.039358610361841774
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9861121773719788,
+                    "position": [
+                        -0.10188550314705935,
+                        0.012910633813589811,
+                        -0.012703419939498417
+                    ],
+                    "orientation": {
+                        "w": 0.7419431154943663,
+                        "xyz": [
+                            0.0008786339647575305,
+                            0.6703888140238847,
+                            0.009923678981057732
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.984619677066803,
+                    "position": [
+                        -0.10205612144272891,
+                        -0.01219566585496068,
+                        0.00837843464978505
+                    ],
+                    "orientation": {
+                        "w": 0.04690529776757596,
+                        "xyz": [
+                            -0.7316326196459266,
+                            0.008727327425850029,
+                            -0.6800275264041713
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9845527410507202,
+                    "position": [
+                        -0.1018323507050809,
+                        -0.016808314714580774,
+                        -0.013169965051929466
+                    ],
+                    "orientation": {
+                        "w": 0.7453664473864212,
+                        "xyz": [
+                            0.005031165198871877,
+                            0.6665421345338955,
+                            0.011186124363955007
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9844505190849304,
+                    "position": [
+                        -0.09544799289506045,
+                        -0.015410779509693384,
+                        -0.016925991789321415
+                    ],
+                    "orientation": {
+                        "w": 0.7539884091667457,
+                        "xyz": [
+                            -0.12219284190862048,
+                            0.6348825689091296,
+                            0.11616588106599514
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9822542071342468,
+                    "position": [
+                        -0.10242856851618853,
+                        -0.02250196458771825,
+                        -0.0074767808400793
+                    ],
+                    "orientation": {
+                        "w": 0.7326537274835893,
+                        "xyz": [
+                            -0.00010664867290584877,
+                            0.6804182551684362,
+                            0.0157956406646068
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9815349578857422,
+                    "position": [
+                        -0.0959923397640523,
+                        -0.01127178454771638,
+                        -0.012029924706439488
+                    ],
+                    "orientation": {
+                        "w": 0.7518356112264988,
+                        "xyz": [
+                            -0.13334688236123007,
+                            0.635379934895437,
+                            0.1151267170924621
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "hex male drive end",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the protruding hex end to pick up or reorient the wrench when the body is obstructed",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "pinch the protruding end to stabilize the tool during precise placement",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "engage compatible socket or fastener interface",
+                "apply torque to fasteners",
+                "provide working drive end",
+                "enable fastening and loosening"
+            ],
+            "semantic_description": "Small silver metal protruding hexagonal male end at one bent end of the wrench, with flat outer faces and a smooth slightly reflective finish.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.7556487321853638,
+                    "position": [
+                        0.10560829379755887,
+                        -0.07897770451381803,
+                        0.013711790277739055
+                    ],
+                    "orientation": {
+                        "w": 0.17009204903945596,
+                        "xyz": [
+                            -0.7242695760471886,
+                            0.1863811929842235,
+                            0.64168865267181
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.5558761358261108,
+                    "position": [
+                        0.10115474649865064,
+                        -0.06998959230259061,
+                        0.04715788429894019
+                    ],
+                    "orientation": {
+                        "w": 0.08939530861983336,
+                        "xyz": [
+                            -0.8128382680929783,
+                            0.23453519727076044,
+                            0.5256383452161167
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "circular rivet or plug",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "assembly feature",
+                "surface detail",
+                "possible fastener or plug"
+            ],
+            "semantic_description": "Small round dark metallic feature near the bend area on the wrench body, appearing as a recessed circular plug or rivet-like detail rather than a separate handleable part.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed text",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display branding",
+                "show product information",
+                "aid identification"
+            ],
+            "semantic_description": "Small dark printed text and symbols along the silver metal body, flat and smooth with no protrusion, serving as surface labeling rather than a physical handleable part.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small logo mark",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate brand",
+                "provide identification",
+                "mark product"
+            ],
+            "semantic_description": "Tiny printed logo-like surface marking on the wrench body, visible as a small flat dark detail on the smooth metal finish.",
+            "id": 3,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Red part is not a male hex drive; opposite end is box/ring end, and yellow/orange are printed markings, not separate physical parts."
+    }
+}

dataset/tools/repair_tools/5d817517bf5b5cacafc3e8c9487c8098/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81b6b63a466e5d5c7a3f190b8d693201ebe86392219970dca85c1ff0ebfd1c9
+size 3779664