Add asset tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679

.gitattributes

@@ -7907,3 +7907,4 @@ dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/affordance/mesh_part
 dataset/tools/repair_tools/c45c50a4f781590f9b66ed2146d88962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c70f1081d0145b809aab5b1167978450/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c77c2787a76256c89bafaf0d3b06c1b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/affordance/affordance_annot.json

@@ -0,0 +1,167 @@
+{
+    "affordances": [
+        {
+            "part_name": "drill body housing",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body to pick up or reposition the drill when avoiding the handle",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "clamp the upper housing to stabilize the drill during inspection",
+                    "confidence": 0.63
+                }
+            ],
+            "functional_labels": [
+                "house the motor and transmission",
+                "support internal components",
+                "connect handle to front nose",
+                "protect the mechanism",
+                "provide structural frame"
+            ],
+            "semantic_description": "Large red-and-black plastic housing with mostly matte surfaces and slightly contoured sides, forming the upper central body of the handheld drill/driver with small side label markings and vent details.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front chuck and bit",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chuck area to stabilize the front end during bit exchange or inspection",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "delicately hold the front nose to orient the drill in a fixture",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "hold the driver bit",
+                "transmit rotation to the bit",
+                "position the tool tip",
+                "guide fastening direction"
+            ],
+            "semantic_description": "Short black cylindrical front nose/chuck assembly with a matte plastic appearance, attached at the forward tip of the drill and ending in a small inserted driver bit.",
+            "id": 8,
+            "grasp_group": {
+                "grasp_40": {
+                    "confidence": 0.9565446972846985,
+                    "position": [
+                        0.1004248671233654,
+                        0.09466574038378894,
+                        0.10449590533971786
+                    ],
+                    "orientation": {
+                        "w": 0.5148989609680654,
+                        "xyz": [
+                            0.5541323195129638,
+                            0.3663202596477224,
+                            -0.5418725863492404
+                        ]
+                    }
+                },
+                "grasp_42": {
+                    "confidence": 0.9379514455795288,
+                    "position": [
+                        0.08096710219979286,
+                        0.09871095116250217,
+                        0.10510554164648056
+                    ],
+                    "orientation": {
+                        "w": 0.5638881305739402,
+                        "xyz": [
+                            0.5155998454808428,
+                            0.4192442509436226,
+                            -0.49032767981083697
+                        ]
+                    }
+                },
+                "grasp_43": {
+                    "confidence": 0.9377483129501343,
+                    "position": [
+                        0.10613774880766869,
+                        0.09200459416024387,
+                        0.10438424348831177
+                    ],
+                    "orientation": {
+                        "w": 0.5460367693395957,
+                        "xyz": [
+                            0.3297292806379921,
+                            -0.5676333081203221,
+                            0.5204948371804548
+                        ]
+                    }
+                },
+                "grasp_45": {
+                    "confidence": 0.9352535605430603,
+                    "position": [
+                        0.07682943716645241,
+                        0.10019496525637805,
+                        0.12617848068475723
+                    ],
+                    "orientation": {
+                        "w": 0.47718945921487943,
+                        "xyz": [
+                            0.5451386066250479,
+                            0.5105356729350709,
+                            -0.46310630123314717
+                        ]
+                    }
+                },
+                "grasp_58": {
+                    "confidence": 0.9282212257385254,
+                    "position": [
+                        0.08272945508360863,
+                        0.1014683514367789,
+                        0.12142855674028397
+                    ],
+                    "orientation": {
+                        "w": 0.47997117644158804,
+                        "xyz": [
+                            0.5735514097406195,
+                            0.4486868740679917,
+                            -0.4892305583351478
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "drill handle and base",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to lift and carry the drill",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to stabilize and orient the drill for use",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp around the lower handle and base to retrieve the drill from storage",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "support lifting and carrying",
+                "enable aiming and orientation",
+                "house trigger hand position",
+                "provide a resting base"
+            ],
+            "semantic_description": "Curved black-and-red plastic handle with matte to lightly textured grip surfaces and a widened rounded base, located below the main body and sized as the primary grasp region.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfb4870b4b08149145bb4dedf804559fab87e9540feff0209f65f983a255541
+size 1600312

dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/c8afaff0d3b752c984eb2ea3cb68b679.urdf

@@ -42,10 +42,10 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>4.946202397346497</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>10</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>