Add asset tools/repair_tools/c13e15c7e0465ff3a943b12512afc281

.gitattributes

@@ -7899,4 +7899,4 @@ dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/affordance/mesh_part
 dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/be8c9a95d18650cd9395d7c2b868fe1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/c02a896efe6c535d8c82d11bd8462f7b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/affordance/affordance_annot.json

@@ -0,0 +1,278 @@
+{
+    "affordances": [
+        {
+            "part_name": "shaft and tip",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the metal shaft to reposition or retrieve the screwdriver when the handle is obstructed",
+                    "confidence": 0.43
+                },
+                {
+                    "scenario": "hold the shaft lightly to stabilize the tool during precision alignment",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "engage screw head",
+                "transmit torque to screw",
+                "align with screw",
+                "reach into narrow spaces"
+            ],
+            "semantic_description": "Long slender silver metal shaft ending in a screwdriver tip, with a reflective smooth hard surface extending forward from the handle.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and use the screwdriver",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to apply torque while turning a screw",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize and orient the tool for insertion",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "primary grip",
+                "apply torque",
+                "stabilize the tool",
+                "orient the tip"
+            ],
+            "semantic_description": "Bulbous dark blue plastic handle with a mostly matte smooth hard surface, slightly tapered with a flared collar near the shaft and white printed markings on the side.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9888928532600403,
+                    "position": [
+                        0.09270316253241617,
+                        0.04936418868601322,
+                        -0.023622837077709846
+                    ],
+                    "orientation": {
+                        "w": 0.020632545722463366,
+                        "xyz": [
+                            -0.6125556452022227,
+                            -0.016485707872694877,
+                            0.7899861397669176
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9882281422615051,
+                    "position": [
+                        0.09529769311484415,
+                        0.013422271236777306,
+                        -0.016504658546182327
+                    ],
+                    "orientation": {
+                        "w": 0.031095215559191255,
+                        "xyz": [
+                            -0.6447956884895022,
+                            0.0010563995914800728,
+                            0.7637214752084558
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9879066944122314,
+                    "position": [
+                        0.09070896248158533,
+                        0.0073783863335847855,
+                        -0.036937939163181
+                    ],
+                    "orientation": {
+                        "w": 0.11450127528412327,
+                        "xyz": [
+                            -0.5493339410509559,
+                            0.10192858636287405,
+                            0.8214208680389125
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9863765835762024,
+                    "position": [
+                        0.09712440411385614,
+                        0.023268794640898705,
+                        0.01933216846373398
+                    ],
+                    "orientation": {
+                        "w": 0.6361950345479708,
+                        "xyz": [
+                            0.01673116877679184,
+                            -0.7713416449669893,
+                            -0.0028306796864527002
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.986172616481781,
+                    "position": [
+                        0.06102861727413256,
+                        0.009805189445614815,
+                        0.07458580455568153
+                    ],
+                    "orientation": {
+                        "w": 0.09127205307794006,
+                        "xyz": [
+                            0.9349881352967672,
+                            0.06836486011198883,
+                            -0.3358464605784616
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9861606359481812,
+                    "position": [
+                        -0.09680668373766821,
+                        -0.0017384644597768784,
+                        -0.018638493653270416
+                    ],
+                    "orientation": {
+                        "w": 0.02848140198483657,
+                        "xyz": [
+                            -0.6266120499222894,
+                            0.0015098089728664554,
+                            -0.7788092636262297
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9860875010490417,
+                    "position": [
+                        0.0953181673103245,
+                        0.04812752641737461,
+                        -0.022012187328073196
+                    ],
+                    "orientation": {
+                        "w": 0.7770959029572029,
+                        "xyz": [
+                            0.03476596575174754,
+                            -0.628121081351643,
+                            0.019421441607653293
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9860678315162659,
+                    "position": [
+                        0.0914744127803715,
+                        0.05001960135996342,
+                        0.0343007499614032
+                    ],
+                    "orientation": {
+                        "w": 0.5747226087225905,
+                        "xyz": [
+                            0.015134493818739167,
+                            -0.818205647772152,
+                            -0.0020947729480705396
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.9860398769378662,
+                    "position": [
+                        0.09075861315068323,
+                        0.021381491795182228,
+                        0.037502975974348374
+                    ],
+                    "orientation": {
+                        "w": 0.559908239811158,
+                        "xyz": [
+                            0.007492256200230405,
+                            -0.8284805181175344,
+                            0.008164569082475752
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.985964298248291,
+                    "position": [
+                        0.09467624763783533,
+                        0.021071752533316612,
+                        0.02437621152785141
+                    ],
+                    "orientation": {
+                        "w": 0.6143530584650903,
+                        "xyz": [
+                            0.023246960475172548,
+                            -0.7886360899223342,
+                            -0.009111314683810623
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "end cap",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "protect the handle end",
+                "provide push surface",
+                "indicate tool back end"
+            ],
+            "semantic_description": "Small round gray cap at the rear of the handle, likely hard plastic or metal, with a smooth slightly reflective finish and flat circular shape.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "printed logo",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "brand marking",
+                "visual identification",
+                "indicate orientation"
+            ],
+            "semantic_description": "White printed logo on the side of the blue handle, appearing as a flat decorative marking with no distinct texture or thickness.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "small side marking",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "secondary marking",
+                "visual identification",
+                "indicate orientation"
+            ],
+            "semantic_description": "Tiny white side marking near the larger logo on the handle, appearing as a small flat printed detail on the smooth blue plastic surface.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "shaft collar",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join handle to shaft",
+                "reinforce the shaft entry",
+                "provide transition between parts"
+            ],
+            "semantic_description": "Narrow ring-like dark blue collar at the front of the handle where the metal shaft enters, with a smooth hard plastic finish and slightly flared shape.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask colors and semantic descriptions mismatch visible parts; shaft color wrong and logo/marking assignments are inaccurate."
+    }
+}

dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a07bc202fc5771db94fe9463a166751109dcf3bf390848c1cc8ce50b81500f9
+size 3791788