Add asset tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0

.gitattributes

@@ -7849,3 +7849,4 @@ dataset/tools/repair_tools/48a32431ed315501bd13e2da0bd5f67c/affordance/mesh_part
 dataset/tools/repair_tools/493c3190bca05e8098aaabee5300afee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4935612d12155182a85e12aa2cd33204/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/49976a15679652a189d9a22ee0e7b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0/affordance/affordance_annot.json

@@ -0,0 +1,177 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the screwdriver",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to apply torque during screwdriving",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp the handle to stabilize the tool while presenting the tip",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "transmit hand or gripper torque",
+                "support tool handling",
+                "stabilize the screwdriver body"
+            ],
+            "semantic_description": "Bulbous black-and-red plastic handle with a matte to semi-gloss finish, hard slightly textured grip panels, and an ergonomic medium-sized shape at the rear of the screwdriver.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9896525740623474,
+                    "position": [
+                        0.08626012423974316,
+                        -0.05326865706592798,
+                        0.011141079245135188
+                    ],
+                    "orientation": {
+                        "w": 0.6442057027938766,
+                        "xyz": [
+                            -0.14966217205460522,
+                            -0.7245413955522129,
+                            -0.19401034218566
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9892789721488953,
+                    "position": [
+                        0.08866548458081525,
+                        -0.04388557840138674,
+                        0.021369919879361987
+                    ],
+                    "orientation": {
+                        "w": 0.6075757320344685,
+                        "xyz": [
+                            -0.11526256066057224,
+                            -0.7639502319607718,
+                            -0.18424525784896154
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.98918217420578,
+                    "position": [
+                        0.08965994337540906,
+                        0.010168575681746006,
+                        0.03108487161807716
+                    ],
+                    "orientation": {
+                        "w": 0.594464451080195,
+                        "xyz": [
+                            0.012151737994703801,
+                            -0.8037193030073665,
+                            0.02235248619244892
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9887058138847351,
+                    "position": [
+                        0.08721341857653897,
+                        0.007248501293361187,
+                        0.03569868276827037
+                    ],
+                    "orientation": {
+                        "w": 0.5720900776280243,
+                        "xyz": [
+                            0.015161820068014318,
+                            -0.8198444472000547,
+                            0.018388710858084682
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9883742332458496,
+                    "position": [
+                        0.0034660609808270237,
+                        -0.0510098347440362,
+                        0.08625570754520595
+                    ],
+                    "orientation": {
+                        "w": 0.01959575627606268,
+                        "xyz": [
+                            -0.010268755915590561,
+                            -0.9653377988793692,
+                            -0.2600644017212829
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "shaft",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shaft to orient the screwdriver in a precision setup",
+                    "confidence": 0.56
+                },
+                {
+                    "scenario": "hold the shaft to pull or retrieve the tool from a tight space",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "pinch the shaft for temporary stabilization during handoff",
+                    "confidence": 0.48
+                }
+            ],
+            "functional_labels": [
+                "connect handle to tip",
+                "transmit torque to the tip",
+                "provide reach",
+                "align the tool with a screw"
+            ],
+            "semantic_description": "Straight silver metal shaft with a smooth reflective finish, hard slick texture, and a slender elongated form running from the handle neck to the tip.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_14": {
+                    "confidence": 0.9551711082458496,
+                    "position": [
+                        -0.09114934584158618,
+                        -0.05029117036610842,
+                        0.03333304892294109
+                    ],
+                    "orientation": {
+                        "w": 0.07412574466714512,
+                        "xyz": [
+                            -0.8102341954221318,
+                            -0.04586865412751828,
+                            -0.5795877751598302
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "Phillips tip",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage Phillips screw recess",
+                "drive screws",
+                "transfer torque into fastener",
+                "locate screw head position"
+            ],
+            "semantic_description": "Small dark gray metal Phillips tip with a hard smooth finish and cross-shaped working end at the front of the screwdriver, appearing slightly worn from contact.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43db5832cd76274a131af8dad937539c8f267404f4436282d349e53ea374cd36
+size 3779556

dataset/tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0/screwdriver_009.urdf

@@ -47,7 +47,7 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>7</part_count>
+         <part_count>3</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
@@ -57,7 +57,7 @@
          <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
-         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+         <PartSegChecker>YES</PartSegChecker>
       </quality>
    </custom_data>
 </robot>