Add asset tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9

.gitattributes

@@ -7823,4 +7823,5 @@ dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part
 dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/2857cb33e6245d2b84f7b2b5d6709739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/29ee5df92d2154b4b2f94ac00e531c07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/2c2ec7607b8559d3956f5c964514986c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.urdf

@@ -42,7 +42,7 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.655027270317078</ImageAestheticChecker>
          <overall>YES</overall>
-         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
       <affordance>
          <part_count>11</part_count>

dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/affordance/affordance_annot.json

@@ -0,0 +1,273 @@
+{
+    "affordances": [
+        {
+            "part_name": "canopy fabric section",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the canopy fabric edge or section to spread, align, or fold the umbrella",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold this canopy section briefly to stabilize the umbrella during inspection or repositioning",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "provide rain coverage",
+                "provide shade",
+                "form part of the protective canopy surface",
+                "help shed water outward"
+            ],
+            "semantic_description": "Large dark gray umbrella fabric section with a matte woven appearance and flexible texture, covering a broad lower portion of the canopy.",
+            "id": 4,
+            "grasp_group": {
+                "grasp_60": {
+                    "confidence": 0.28664645552635193,
+                    "position": [
+                        0.43896520137786865,
+                        0.16921528335660696,
+                        0.12792776990681887
+                    ],
+                    "orientation": {
+                        "w": 0.2309377237533566,
+                        "xyz": [
+                            0.7141718711611306,
+                            0.10350152580764604,
+                            -0.6526206710986997
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "canopy fabric section",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the canopy fabric edge or section to spread, align, or fold the umbrella",
+                    "confidence": 0.36
+                },
+                {
+                    "scenario": "hold this canopy section briefly to stabilize the umbrella during inspection or repositioning",
+                    "confidence": 0.24
+                }
+            ],
+            "functional_labels": [
+                "provide rain coverage",
+                "provide shade",
+                "form part of the protective canopy surface",
+                "help shed water outward"
+            ],
+            "semantic_description": "Large dark gray umbrella fabric section with a matte woven appearance and flexible texture, spanning much of the central canopy area.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "canopy fabric section",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the canopy fabric edge or section to spread, align, or fold the umbrella",
+                    "confidence": 0.35
+                },
+                {
+                    "scenario": "hold this canopy section briefly to stabilize the umbrella during inspection or repositioning",
+                    "confidence": 0.23
+                }
+            ],
+            "functional_labels": [
+                "provide rain coverage",
+                "provide shade",
+                "form part of the protective canopy surface",
+                "help shed water outward"
+            ],
+            "semantic_description": "Large dark gray umbrella fabric section with a matte woven appearance and flexible texture, visible along one side of the canopy.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_91": {
+                    "confidence": 0.3098828196525574,
+                    "position": [
+                        0.19687148928642273,
+                        -0.10745295230299234,
+                        0.40219172835350037
+                    ],
+                    "orientation": {
+                        "w": 0.14306774063576633,
+                        "xyz": [
+                            -0.9588252882712575,
+                            -0.21072510540938227,
+                            0.12562093022709875
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "canopy fabric section",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the canopy fabric edge or section to spread, align, or fold the umbrella",
+                    "confidence": 0.35
+                },
+                {
+                    "scenario": "hold this canopy section briefly to stabilize the umbrella during inspection or repositioning",
+                    "confidence": 0.23
+                }
+            ],
+            "functional_labels": [
+                "provide rain coverage",
+                "provide shade",
+                "form part of the protective canopy surface",
+                "help shed water outward"
+            ],
+            "semantic_description": "Dark gray umbrella fabric section with a matte woven appearance and flexible texture, visible near the upper canopy region.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "canopy fabric section",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the smaller visible fabric section while folding or aligning the canopy",
+                    "confidence": 0.27
+                },
+                {
+                    "scenario": "hold the fabric near its edge to help stabilize the umbrella during manipulation",
+                    "confidence": 0.19
+                }
+            ],
+            "functional_labels": [
+                "contribute to canopy coverage",
+                "complete the canopy surface between neighboring sections",
+                "help guide water off the canopy",
+                "shape part of the canopy edge"
+            ],
+            "semantic_description": "Small visible dark gray fabric section with a matte woven surface and flexible texture, appearing as a narrow portion between larger canopy sections.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shaft of umbrella",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the straight shaft to carry the umbrella",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the shaft to orient or reposition the open umbrella",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the shaft near the handle to stabilize while closing",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "support canopy structure",
+                "connect handle to canopy",
+                "transmit motion between handle and canopy",
+                "provide leverage for orientation"
+            ],
+            "semantic_description": "Long slender light gray metal shaft with a smooth slightly reflective finish and rigid structure, running diagonally between the canopy and handle.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_15": {
+                    "confidence": 0.6084456443786621,
+                    "position": [
+                        -0.02128763496875763,
+                        -0.08994181547313929,
+                        0.015611119568347931
+                    ],
+                    "orientation": {
+                        "w": 0.7586277679106628,
+                        "xyz": [
+                            -0.4663982676976838,
+                            0.4106632456513448,
+                            0.195735189259847
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "curved handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the curved handle to lift and carry the umbrella",
+                    "confidence": 0.92
+                },
+                {
+                    "scenario": "hook and hold the handle to pull or retrieve the umbrella",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "grasp the handle to hang or reposition the umbrella",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "provide a handhold",
+                "carry the umbrella",
+                "hook for hanging",
+                "assist pulling and retrieval"
+            ],
+            "semantic_description": "J-shaped dark gray handle with a smooth finish and rigid appearance, attached at the lower end of the shaft.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle collar",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the collar area together with the handle for secure pickup",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "pinch the collar to stabilize the umbrella during manipulation",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "connect handle to shaft",
+                "reinforce the grip transition",
+                "stabilize handle attachment"
+            ],
+            "semantic_description": "Short medium-gray cylindrical connector with a smooth finish and rigid appearance, located between the blue shaft and the green curved handle.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top tip / apex cap",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect the canopy apex",
+                "cover the umbrella top tip",
+                "reduce snagging at the top",
+                "finish the central top point"
+            ],
+            "semantic_description": "Small dark gray cap-like piece at the central top apex of the umbrella canopy, with a smooth hard surface.",
+            "id": 9,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Top tip color/description mismatched; shaft and handle colors incorrect; apex cap graspability too strict."
+    }
+}

dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 656188