Add asset tools/repair_tools/fde554ef987854e89cb10c834974d6cf

.gitattributes

@@ -7951,4 +7951,5 @@ dataset/tools/repair_tools/f900b2672e6e52ab9411dd07dfce69d6/affordance/mesh_part
 dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/fcaed8e2ca6f5015b8ba20062ee83963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/faa8e542b6735baab60439af08a4c4b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/affordance_annot.json

@@ -0,0 +1,275 @@
+{
+    "affordances": [
+        {
+            "part_name": "main housing and handle body",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pistol-grip handle/body to pick up or reposition the drill",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the main body to stabilize the tool during inspection or handoff",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "enclose internal components",
+                "provide main structural body",
+                "support attached parts",
+                "provide primary grasp surface"
+            ],
+            "semantic_description": "Large teal plastic outer housing forming most of the upper body and handle, with smooth matte surfaces and molded contours around the grip and motor section.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "battery base",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the wide base at the bottom of the handle to lift or steady the drill",
+                    "confidence": 0.75
+                },
+                {
+                    "scenario": "use the base area to stabilize the drill upright on a surface",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "provide lower support base",
+                "help the tool stand upright",
+                "house the lower end of the handle/base section",
+                "add stability at the bottom"
+            ],
+            "semantic_description": "Wide rounded teal base section at the bottom of the handle, with smooth matte plastic and a darker black underside edge visible around the bottom.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front collar",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "lightly grasp the front collar to orient the drill nose during setup",
+                    "confidence": 0.44
+                },
+                {
+                    "scenario": "hold the collar briefly while another manipulator adjusts the bit area",
+                    "confidence": 0.39
+                }
+            ],
+            "functional_labels": [
+                "support the chuck assembly",
+                "position the front end",
+                "connect nose components",
+                "provide alignment reference"
+            ],
+            "semantic_description": "Short teal collar section around the front neck behind the chuck, with a smooth matte plastic finish between the main body and the chuck assembly.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.9557372331619263,
+                    "position": [
+                        0.08999508246779442,
+                        0.09263705482590012,
+                        0.07222929410636425
+                    ],
+                    "orientation": {
+                        "w": 0.37761516284970126,
+                        "xyz": [
+                            0.5707687361716018,
+                            0.3975464148520256,
+                            -0.61121738083383
+                        ]
+                    }
+                },
+                "grasp_10": {
+                    "confidence": 0.9420592188835144,
+                    "position": [
+                        0.05313575640320778,
+                        0.10090530684101395,
+                        0.0651580523699522
+                    ],
+                    "orientation": {
+                        "w": 0.5166568928371321,
+                        "xyz": [
+                            0.41755519083870946,
+                            -0.5131887098851152,
+                            0.5434617426590204
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9371290802955627,
+                    "position": [
+                        0.06365600600838661,
+                        0.09497448077308945,
+                        0.07891889475286007
+                    ],
+                    "orientation": {
+                        "w": 0.4093812755344381,
+                        "xyz": [
+                            0.5287344440914361,
+                            0.49129558290262854,
+                            -0.5580999095981677
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.9357195496559143,
+                    "position": [
+                        0.05429225042462349,
+                        0.10061912258970551,
+                        0.06413480825722218
+                    ],
+                    "orientation": {
+                        "w": 0.48631533540544847,
+                        "xyz": [
+                            0.4725713601407455,
+                            0.46871659443008495,
+                            -0.5661081683124481
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9339789748191833,
+                    "position": [
+                        0.05552098527550697,
+                        0.10298098644125275,
+                        0.07600788585841656
+                    ],
+                    "orientation": {
+                        "w": 0.4710069941709558,
+                        "xyz": [
+                            0.49432341693577775,
+                            0.5102568342622316,
+                            -0.5229098717749202
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chuck",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chuck to rotate or steady it during bit changing",
+                    "confidence": 0.69
+                },
+                {
+                    "scenario": "hold the chuck lightly to orient the drill tip before use",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "hold the bit",
+                "transmit rotation to bit",
+                "center the tool tip",
+                "enable bit changes"
+            ],
+            "semantic_description": "Compact gray chuck assembly at the very front, with a matte hard-plastic appearance and tapered cylindrical form surrounding the bit mount.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "driver bit",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage screw heads",
+                "drive fasteners",
+                "apply torque at the tip",
+                "perform fastening"
+            ],
+            "semantic_description": "Tiny dark metal bit protruding from the front tip, with a slightly reflective finish and narrow working profile.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top mode switch",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "change operating mode",
+                "select settings",
+                "control drill behavior",
+                "provide top-side user input"
+            ],
+            "semantic_description": "Small red rectangular slider on the top of the housing, with a smooth plastic surface and compact low-profile shape.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side vent panel",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "ventilate motor area",
+                "cover side opening",
+                "protect internal components",
+                "provide side detailing"
+            ],
+            "semantic_description": "Dark vented side panel with slotted openings on one side of the upper housing near the motor section, set into the teal body.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side label panel",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "display branding",
+                "identify the tool",
+                "provide side labeling",
+                "provide decorative side insert"
+            ],
+            "semantic_description": "Elongated red side label insert on the upper housing, with a smooth finish and shallow rectangular shape on the side opposite the vent panel.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Teal",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "activate the drill",
+                "control motor operation",
+                "serve as primary user input",
+                "enable on-off actuation"
+            ],
+            "semantic_description": "Small dark trigger lever recessed inside the handle opening, sized for finger actuation rather than grasping.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "forward-reverse switch",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "change rotation direction",
+                "select forward or reverse",
+                "control screw driving direction",
+                "provide secondary input"
+            ],
+            "semantic_description": "Very small red switch near the front of the handle/control area, with a compact left-right selector form.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use wrong visible colors/materials; battery mislabeled and side inserts swapped across sides."
+    }
+}

dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e520aa6862b94bbf58ec347920bf6a10cf817f858a5e68deb4eae3c148e3d553
+size 1693340

dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/fde554ef987854e89cb10c834974d6cf.urdf

@@ -42,10 +42,10 @@
          <ImageSegChecker>YES</ImageSegChecker>
          <ImageAestheticChecker>5.051592469215393</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>12</part_count>
+         <part_count>10</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
             <geometry>