Add asset tools/repair_tools/40edd7f738225392b0bf26cbb6ec84d4

.gitattributes

@@ -7838,4 +7838,4 @@ dataset/tools/repair_tools/3ae416d273455550b3caf4ea78565d5b/affordance/mesh_part
 dataset/tools/repair_tools/3e2bebd4e99a5b759bc24749fc19b545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/41043ec0dac45a9a86fee1635478a9e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/40ac340e85135bf1a217bc89e3573a78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/40edd7f738225392b0bf26cbb6ec84d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/40edd7f738225392b0bf26cbb6ec84d4/affordance/affordance_annot.json

@@ -0,0 +1,102 @@
+{
+    "affordances": [
+        {
+            "part_name": "hex key",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the long arm to pick up and reposition the hex key",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp near the bend to orient the tool before insertion into a fastener",
+                    "confidence": 0.82
+                },
+                {
+                    "scenario": "hold the short arm to use the long arm as a lever for turning",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "drive hex socket fasteners",
+                "provide torque through the bent lever shape",
+                "enable insertion into hex recesses",
+                "serve as a grasp surface for manipulation",
+                "indicate tool orientation"
+            ],
+            "semantic_description": "Small L-shaped white or light-gray hex key with a smooth matte to slightly satin finish, rigid slim prismatic rod shape, two straight arms joined at a right-angle bend, and slightly rounded end tips.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9680228233337402,
+                    "position": [
+                        -0.10446411064549466,
+                        0.07662064104806632,
+                        -0.0016826349929033313
+                    ],
+                    "orientation": {
+                        "w": 0.717796902678408,
+                        "xyz": [
+                            0.013240731952212646,
+                            0.6961240909500355,
+                            -0.0018813616453961812
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.962380051612854,
+                    "position": [
+                        -0.10358788511439343,
+                        0.08614141016732901,
+                        0.0002090813468385022
+                    ],
+                    "orientation": {
+                        "w": 0.7180187641050522,
+                        "xyz": [
+                            0.022960831706949424,
+                            0.6953931628673963,
+                            -0.018713728587781857
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.9587999582290649,
+                    "position": [
+                        -0.10625590822382946,
+                        0.08463313698302954,
+                        0.011329200406180462
+                    ],
+                    "orientation": {
+                        "w": 0.06622276118757137,
+                        "xyz": [
+                            0.7337277284839498,
+                            0.010414738534368695,
+                            0.6761284638112329
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9478144645690918,
+                    "position": [
+                        -0.10691383919402142,
+                        0.07895880460273474,
+                        -0.002527399865357438
+                    ],
+                    "orientation": {
+                        "w": 0.7201803698012894,
+                        "xyz": [
+                            0.0070535427589701995,
+                            0.6937507015796484,
+                            0.0006682403545941675
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/tools/repair_tools/40edd7f738225392b0bf26cbb6ec84d4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2087598e47001a4a952ea8ab1d22cbb1c6b8d6a5c36a10887a017f262390d19c
+size 3779432