Add asset tools/repair_tools/254f9d1aeed4568a8e293ed70e218128

.gitattributes

@@ -7817,3 +7817,4 @@ dataset/tools/repair_tools/1ee3eca8561a5dc2ab466751eeefba93/affordance/mesh_part
 dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/affordance_annot.json

@@ -0,0 +1,274 @@
+{
+    "affordances": [
+        {
+            "part_name": "body and handle housing",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp around the handle/body area to pick up and move the glue gun",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "hold the housing to stabilize and orient the tool during use",
+                    "confidence": 0.89
+                }
+            ],
+            "functional_labels": [
+                "enclose internal heater and feed mechanism",
+                "provide primary handhold structure",
+                "support attached parts",
+                "provide structural body"
+            ],
+            "semantic_description": "Large blue and white plastic housing with a mostly matte smooth finish, combining the main body and angled handle. The blue front body has vent slots and molded panel details, while the rear handle section is white with blue edges and black screw heads.",
+            "id": 9,
+            "grasp_group": {
+                "grasp_20": {
+                    "confidence": 0.9614068269729614,
+                    "position": [
+                        0.13704316597431898,
+                        0.09780041011981666,
+                        0.002841039007762447
+                    ],
+                    "orientation": {
+                        "w": 0.08719925036670019,
+                        "xyz": [
+                            0.7044559050559933,
+                            0.07901278595839378,
+                            -0.6999251018661353
+                        ]
+                    }
+                },
+                "grasp_21": {
+                    "confidence": 0.9596887826919556,
+                    "position": [
+                        0.13575369399040937,
+                        0.10513395699672401,
+                        -0.001939614856382832
+                    ],
+                    "orientation": {
+                        "w": 0.06840446648989894,
+                        "xyz": [
+                            0.6973371578483606,
+                            0.0541327424567678,
+                            -0.7114150430250343
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9575438499450684,
+                    "position": [
+                        0.14328256528824568,
+                        0.05950613203458488,
+                        -0.001767734851455316
+                    ],
+                    "orientation": {
+                        "w": 0.055940446707375316,
+                        "xyz": [
+                            0.6965795747089706,
+                            0.06166803947813304,
+                            -0.7126321740051963
+                        ]
+                    }
+                },
+                "grasp_27": {
+                    "confidence": 0.9540423154830933,
+                    "position": [
+                        0.13693696539849043,
+                        0.09966754796914756,
+                        -0.0003407940675970167
+                    ],
+                    "orientation": {
+                        "w": 0.05692831630725309,
+                        "xyz": [
+                            0.6949401377140999,
+                            0.03384604876881869,
+                            -0.7160110451515872
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9526178240776062,
+                    "position": [
+                        0.13628131430596113,
+                        0.1139598626177758,
+                        -0.0037233732582535595
+                    ],
+                    "orientation": {
+                        "w": 0.05499574176234364,
+                        "xyz": [
+                            0.6842347172636174,
+                            0.04411998261070971,
+                            -0.7258455395010832
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.9520972371101379,
+                    "position": [
+                        0.13837217073887587,
+                        0.09302174928598106,
+                        -0.0018341558461543173
+                    ],
+                    "orientation": {
+                        "w": 0.7158101681650237,
+                        "xyz": [
+                            0.028474297286336415,
+                            -0.6974079559602556,
+                            0.020667861741066957
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9501646161079407,
+                    "position": [
+                        0.1440914450213313,
+                        0.07051744195632637,
+                        -0.0047128643782343715
+                    ],
+                    "orientation": {
+                        "w": 0.08820946855453113,
+                        "xyz": [
+                            0.6938563489033103,
+                            0.08267602136320829,
+                            -0.709892338482002
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9498188495635986,
+                    "position": [
+                        0.13812640588730574,
+                        0.11273402604274452,
+                        -0.004552743019303307
+                    ],
+                    "orientation": {
+                        "w": 0.722458005624612,
+                        "xyz": [
+                            0.07751985463640235,
+                            -0.683326909674662,
+                            0.07148032428952537
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9491723775863647,
+                    "position": [
+                        0.13652998488396406,
+                        0.08725226554088295,
+                        -0.007497033657273278
+                    ],
+                    "orientation": {
+                        "w": 0.7264450406651066,
+                        "xyz": [
+                            0.016143617761000744,
+                            -0.6869306868021388,
+                            0.011967373487974662
+                        ]
+                    }
+                },
+                "grasp_38": {
+                    "confidence": 0.9490874409675598,
+                    "position": [
+                        0.14167414885014296,
+                        0.09160982700996101,
+                        -0.0032590579648967832
+                    ],
+                    "orientation": {
+                        "w": 0.7150305902412961,
+                        "xyz": [
+                            0.02763152580454446,
+                            -0.6980399165644087,
+                            0.026608808384616874
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.948944628238678,
+                    "position": [
+                        0.1502914158627391,
+                        -0.035789356799796224,
+                        -0.00034914127900265157
+                    ],
+                    "orientation": {
+                        "w": 0.08213466672651878,
+                        "xyz": [
+                            0.7055811004992052,
+                            0.07600497863401412,
+                            -0.6997374152944067
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "actuate glue feed",
+                "control dispensing",
+                "enable squeezing input"
+            ],
+            "semantic_description": "Small black plastic trigger with a matte finish and curved shape, positioned inside the handle opening where it can be squeezed toward the grip.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "glue nozzle",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "dispense melted glue",
+                "focus adhesive flow",
+                "provide application tip"
+            ],
+            "semantic_description": "Short tapered metallic nozzle with a light silver finish at the front of the glue gun, narrowing to a pointed outlet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "stand and glue stick",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the wire stand to fold it out or back for resting the glue gun",
+                    "confidence": 0.74
+                },
+                {
+                    "scenario": "grasp the exposed glue stick end to insert or pull it during reloading",
+                    "confidence": 0.81
+                }
+            ],
+            "functional_labels": [
+                "support resting position via stand",
+                "keep hot nozzle off surfaces",
+                "provide adhesive material via glue stick",
+                "enable reloading"
+            ],
+            "semantic_description": "This mask groups two separate red-segmented elements: a thin black metal wire stand near the front underside, and a straight white cylindrical glue stick protruding from the rear of the gun.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "feed window insert",
+            "mask_color": "Maroon",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "indicate or cover part of the glue feed entry area",
+                "provide small housing detail near the stick path"
+            ],
+            "semantic_description": "Small orange rectangular insert with a smooth finish, located near the rear-side glue stick entry area on the blue body.",
+            "id": 12,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color mapping and trigger graspability are incorrect; one part merges distinct components."
+    }
+}

dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d269e05dda2d8854da4f019bb45b2bbcb839b3f3451bb486186f6e17f427115
+size 3794784

dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/glue_gun_002.urdf

@@ -45,7 +45,7 @@
    </link>
    <custom_data>
       <affordance>
-         <part_count>17</part_count>
+         <part_count>7</part_count>
          <visual_seg>
             <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
             <geometry>
@@ -55,7 +55,7 @@
          <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
-         <PartSegChecker>YES</PartSegChecker>
+         <PartSegChecker>NO: {"summary":"Main body and handle are merged; nozzle and glue stick are over-segmented into small extra colors.","merge_groups":[{"colors":["Red","Blue"],"target_part":"nozzle","reason":"both cover the tip assembly across views"},{"colors":["Maroon","Lime Green"],"target_part":"main body","reason":"small maroon patches are body fragments"},{"colors":["Crimson","Navy"],"target_part":"handle end/cap","reason":"tiny fragments on handle are not separate parts"}]}</PartSegChecker>
       </quality>
    </custom_data>
 </robot>