Add asset tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490

.gitattributes

@@ -7922,3 +7922,4 @@ dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/affordance/mesh_part
 dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/d8157b6c536f53ada13e0eacf0e93aae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/affordance_annot.json

@@ -0,0 +1,439 @@
+{
+    "affordances": [
+        {
+            "part_name": "glue gun body",
+            "mask_color": "Crimson",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up and reposition the glue gun",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the body to stabilize the tool while another gripper manipulates the glue stick or handle",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "house the heating mechanism",
+                "support the nozzle and handle",
+                "provide main structure",
+                "protect internal components"
+            ],
+            "semantic_description": "Large red plastic housing with a mostly matte smooth surface, forming the central upper body of the glue gun with visible white WURTH brand text.",
+            "id": 16,
+            "grasp_group": {
+                "grasp_76": {
+                    "confidence": 0.9612645506858826,
+                    "position": [
+                        -0.12734380780602805,
+                        -0.06442230707034469,
+                        -0.0003117652813671157
+                    ],
+                    "orientation": {
+                        "w": 0.7053608782000123,
+                        "xyz": [
+                            -0.01021432231057705,
+                            0.7080185821510289,
+                            0.03273204016693262
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle as the primary pickup point",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the handle to aim and orient the glue gun during use",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "grasp the rear handle section to stabilize the tool while pushing the glue stick",
+                    "confidence": 0.82
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "support aiming",
+                "support lifting",
+                "connect body to trigger area"
+            ],
+            "semantic_description": "Curved red-and-black handle below the body, with black textured grip areas and matte plastic surfaces, sized for handholding.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_30": {
+                    "confidence": 0.9467458128929138,
+                    "position": [
+                        0.13534177423571236,
+                        -0.034945284482091665,
+                        0.006359894367051311
+                    ],
+                    "orientation": {
+                        "w": 0.6626430523880089,
+                        "xyz": [
+                            -0.34411960032239686,
+                            -0.6534906166031142,
+                            -0.1242412967074066
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch or press the trigger to actuate glue feeding during operation",
+                    "confidence": 0.77
+                },
+                {
+                    "scenario": "lightly hold the trigger area during fine manipulation",
+                    "confidence": 0.28
+                }
+            ],
+            "functional_labels": [
+                "actuate glue feed",
+                "control dispensing",
+                "provide finger lever"
+            ],
+            "semantic_description": "Small black trigger-shaped lever under the body in front of the handle, with a matte finish and curved form.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_5": {
+                    "confidence": 0.8070375919342041,
+                    "position": [
+                        0.08982626677607186,
+                        -0.07432906841859221,
+                        -0.0038159318937687203
+                    ],
+                    "orientation": {
+                        "w": 0.29404926683655364,
+                        "xyz": [
+                            -0.6447633334729574,
+                            0.2542198241427698,
+                            0.6581698515539471
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.6850393414497375,
+                    "position": [
+                        0.09410061271046288,
+                        -0.06100483750924468,
+                        0.016341995520633645
+                    ],
+                    "orientation": {
+                        "w": 0.6027604128673284,
+                        "xyz": [
+                            -0.22155373239480536,
+                            -0.7334857978370676,
+                            -0.22269353990014895
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.616254985332489,
+                    "position": [
+                        0.10693122030352242,
+                        -0.06530152028426528,
+                        -0.0009807784663280472
+                    ],
+                    "orientation": {
+                        "w": 0.24133912916921896,
+                        "xyz": [
+                            -0.6759336042597394,
+                            0.17048561415180918,
+                            0.6751324631000657
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "nozzle",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense hot glue",
+                "focus adhesive flow",
+                "provide application tip"
+            ],
+            "semantic_description": "Small brass-colored conical metal tip with a slightly reflective finish, protruding from the front of the glue gun.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "glue stick",
+            "mask_color": "White",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the exposed glue stick from the rear to insert or push it forward",
+                    "confidence": 0.91
+                },
+                {
+                    "scenario": "pull the glue stick out for replacement",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "supply adhesive material",
+                "feed into heater",
+                "enable glue dispensing"
+            ],
+            "semantic_description": "Short white cylindrical glue stick with a smooth semi-matte surface, protruding from the rear inlet of the gun body.",
+            "id": 17,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feed collar",
+            "mask_color": "Burnt Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide glue stick entry",
+                "frame rear inlet opening",
+                "support feed area"
+            ],
+            "semantic_description": "Small orange ring-like collar around the rear glue-stick entry area, with a matte plastic finish.",
+            "id": 18,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side grip pad",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "improve hand traction",
+                "provide tactile grip surface",
+                "reduce slipping"
+            ],
+            "semantic_description": "Dark black textured rectangular grip pad on the side of the main body, likely rubberized, with a ribbed matte surface.",
+            "id": 12,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle accent pad",
+            "mask_color": "Violet",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover handle surface",
+                "improve comfort",
+                "provide contact area on the handle"
+            ],
+            "semantic_description": "Red plastic outer handle and side accent sections with smooth matte surfaces, covering much of the handle exterior and part of the body side.",
+            "id": 20,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear feed plunger",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the small rear plunger/rod to help push or align the glue stick during loading",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "push glue stick forward",
+                "support glue feed alignment",
+                "provide rear feed contact point"
+            ],
+            "semantic_description": "Small blue cylindrical plunger-like rod segment at the rear feed path, aligned with the glue stick and partially protruding behind the body.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.9513555765151978,
+                    "position": [
+                        -0.12568478702451102,
+                        0.028430371079593897,
+                        -0.00230111058044713
+                    ],
+                    "orientation": {
+                        "w": 0.7210398611591414,
+                        "xyz": [
+                            -0.021359697338324234,
+                            0.6924736557816689,
+                            -0.011203481494267828
+                        ]
+                    }
+                },
+                "grasp_41": {
+                    "confidence": 0.9444298148155212,
+                    "position": [
+                        -0.12451599954511039,
+                        0.035153618548065424,
+                        0.0008113315125228837
+                    ],
+                    "orientation": {
+                        "w": 0.7080344416948011,
+                        "xyz": [
+                            0.029231600972406208,
+                            0.7053921975150377,
+                            -0.015955894316114154
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.9419040679931641,
+                    "position": [
+                        -0.1232218858494889,
+                        0.03825760120525956,
+                        -0.003899231945979409
+                    ],
+                    "orientation": {
+                        "w": 0.7245758732518086,
+                        "xyz": [
+                            0.030637464457480664,
+                            0.687877439757733,
+                            -0.029593538912100908
+                        ]
+                    }
+                },
+                "grasp_46": {
+                    "confidence": 0.9056497812271118,
+                    "position": [
+                        -0.11538058190490119,
+                        0.07621293747797608,
+                        0.004795237517100759
+                    ],
+                    "orientation": {
+                        "w": 0.6810628213821965,
+                        "xyz": [
+                            0.18025982578832148,
+                            0.6903339014144739,
+                            -0.164617535808182
+                        ]
+                    }
+                },
+                "grasp_47": {
+                    "confidence": 0.7504804730415344,
+                    "position": [
+                        -0.10410557358409278,
+                        0.08895800495520234,
+                        0.0010501653450774029
+                    ],
+                    "orientation": {
+                        "w": 0.274498940267962,
+                        "xyz": [
+                            0.6769973443445577,
+                            -0.16347603316340598,
+                            0.6630237658812383
+                        ]
+                    }
+                },
+                "grasp_48": {
+                    "confidence": 0.9504557251930237,
+                    "position": [
+                        -0.12819374023820274,
+                        0.02431918168440461,
+                        0.003264926446718164
+                    ],
+                    "orientation": {
+                        "w": 0.6989163685464963,
+                        "xyz": [
+                            -0.03371424192629073,
+                            0.7143129189581742,
+                            0.011675336336357483
+                        ]
+                    }
+                },
+                "grasp_49": {
+                    "confidence": 0.9389664530754089,
+                    "position": [
+                        -0.1265570264949929,
+                        0.04920365894213319,
+                        -0.0006164603255456313
+                    ],
+                    "orientation": {
+                        "w": 0.7136761440764856,
+                        "xyz": [
+                            0.06477546185206036,
+                            0.6937665555086496,
+                            -0.07182247124427518
+                        ]
+                    }
+                },
+                "grasp_52": {
+                    "confidence": 0.9087589979171753,
+                    "position": [
+                        -0.11796950220013969,
+                        0.07500871503725648,
+                        0.0016891124687390402
+                    ],
+                    "orientation": {
+                        "w": 0.6974004181672444,
+                        "xyz": [
+                            0.16982774857247387,
+                            0.6781517297249153,
+                            -0.15780185051533097
+                        ]
+                    }
+                },
+                "grasp_54": {
+                    "confidence": 0.9044975638389587,
+                    "position": [
+                        -0.11724294393206947,
+                        0.07774383062496781,
+                        0.0021969639492454007
+                    ],
+                    "orientation": {
+                        "w": 0.696347214234703,
+                        "xyz": [
+                            0.17640284810293907,
+                            0.6758360297787323,
+                            -0.16500985807417975
+                        ]
+                    }
+                },
+                "grasp_56": {
+                    "confidence": 0.827250599861145,
+                    "position": [
+                        -0.11026036410476081,
+                        0.07839978719130158,
+                        -0.003943149858969264
+                    ],
+                    "orientation": {
+                        "w": 0.7088659523133344,
+                        "xyz": [
+                            0.19797871572665013,
+                            0.6553635743304029,
+                            -0.16974120068803022
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "side button or insert",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "form part of the side mechanism housing",
+                "provide a small contact or interface point near the feed area",
+                "occupy a recessed side opening"
+            ],
+            "semantic_description": "Small teal rectangular insert on the side of the tool near the rear feed and lower body area, appearing as a compact recessed plastic piece.",
+            "id": 19,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and colors mismatch masks; some descriptions/functions are inaccurate or speculative."
+    }
+}

dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486919a549fcc6fdc27cb3d61f06f9a07c0e1a4235e367c8491dbd7aa76c42c6
+size 3812320

dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/glue_gun_004.urdf

@@ -47,16 +47,17 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>0</part_count>
+         <part_count>11</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
-               <mesh filename="None" scale="1.0 1.0 1.0" />
+               <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>NO: part number exceeds palette size 20</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Handle/body are over-segmented into decorative regions rather than functional parts.","merge_groups":[{"colors":["Magenta","Crimson"],"target_part":"main housing","reason":"Same outer casing split by surface regions"},{"colors":["Violet","Maroon"],"target_part":"handle/grip","reason":"Same handle split into multiple patches"},{"colors":["Blue","Jade"],"target_part":"trigger/feed mechanism","reason":"Adjacent trigger-side pieces act together"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>