Add asset tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60

.gitattributes

@@ -8581,3 +8581,4 @@ dataset/tools/repair_tools/8b50c24528ad5de9829402582a6c3df3/affordance/mesh_part
 dataset/tools/repair_tools/8fc1c5a34ea35063a8403c813092566b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/90fd2b4968d856b38dca65c7ce542ee1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/affordance_annot.json

@@ -0,0 +1,266 @@
+{
+    "affordances": [
+        {
+            "part_name": "adjustable wrench body",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and reposition the wrench",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "hold the handle to apply torque while the adjustable jaw grips a nut or bolt",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "grasp near the head to orient the jaws onto a fastener",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pinch the handle or body to remove the wrench from a tool tray or hook",
+                    "confidence": 0.85
+                }
+            ],
+            "functional_labels": [
+                "provide the main grip",
+                "transmit torque to fasteners",
+                "support the adjustable jaw head",
+                "enable tool repositioning",
+                "allow hanging storage through the end hole"
+            ],
+            "semantic_description": "Single-piece silver metal adjustable wrench body with a smooth reflective finish, elongated flat handle, adjustable jaw head with a visible worm screw near one end, circular hanging hole at the other end, and black printed markings along the handle.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.9953763484954834,
+                    "position": [
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+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            0.03763583416000493,
+                            0.7208980592663864
+                        ]
+                    }
+                },
+                "grasp_1": {
+                    "confidence": 0.9951985478401184,
+                    "position": [
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+                        -0.0014502731573884375
+                    ],
+                    "orientation": {
+                        "w": 0.7163283543161192,
+                        "xyz": [
+                            0.007137341007399251,
+                            -0.6977178973381383,
+                            0.0035331147945866586
+                        ]
+                    }
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+                    "position": [
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+                        0.08379924995824695,
+                        -0.00013049285189481452
+                    ],
+                    "orientation": {
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+                        "xyz": [
+                            0.01095782128192578,
+                            -0.7023359511546546,
+                            0.0036913436226743064
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.9946630001068115,
+                    "position": [
+                        0.0956721266702516,
+                        0.08712658984586596,
+                        -0.0183211286275764
+                    ],
+                    "orientation": {
+                        "w": 0.7617813235803418,
+                        "xyz": [
+                            0.010851620263044792,
+                            -0.6475673931930137,
+                            0.015097306218479118
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.9944555163383484,
+                    "position": [
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+                        0.0966734061948955,
+                        -0.00015693103341618553
+                    ],
+                    "orientation": {
+                        "w": 0.7100983407774131,
+                        "xyz": [
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+                            -0.7039230092734897,
+                            0.009858094908477309
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.9943463206291199,
+                    "position": [
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+                        0.08902282221242785,
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.7052661289199106,
+                            0.02508505189190796
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.994301438331604,
+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.6838370158701164,
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+                    }
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+                "grasp_10": {
+                    "confidence": 0.9938879609107971,
+                    "position": [
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+                        0.0710534448735416,
+                        0.0011123102667625062
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.7075670883320174,
+                            -0.0034260340005986853
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+                    "position": [
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+                    "orientation": {
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+                        "xyz": [
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+                            -0.6916658737541935,
+                            0.04746116836549094
+                        ]
+                    }
+                },
+                "grasp_12": {
+                    "confidence": 0.9937717318534851,
+                    "position": [
+                        -0.09955824557982851,
+                        0.08360847784206271,
+                        0.0006408312401617877
+                    ],
+                    "orientation": {
+                        "w": 0.6937635129390806,
+                        "xyz": [
+                            -0.004339168964041502,
+                            0.7201370103304849,
+                            -0.008720440321419845
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.9937684535980225,
+                    "position": [
+                        0.09878301229036879,
+                        0.08489297283813357,
+                        0.0011420118898968212
+                    ],
+                    "orientation": {
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+                        "xyz": [
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+                            -0.7035705434656973,
+                            0.0019007896094002136
+                        ]
+                    }
+                },
+                "grasp_14": {
+                    "confidence": 0.9937629103660583,
+                    "position": [
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+                        0.0892624999396503,
+                        0.0027835300934384577
+                    ],
+                    "orientation": {
+                        "w": 0.6915942029967591,
+                        "xyz": [
+                            -0.003838721355785797,
+                            0.722210559633508,
+                            -0.009727803117118683
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.9936195015907288,
+                    "position": [
+                        -0.10058761034451891,
+                        0.08576398296281695,
+                        0.0008571965081500821
+                    ],
+                    "orientation": {
+                        "w": 0.6936257153244132,
+                        "xyz": [
+                            -0.0005178648744233561,
+                            0.7203263408048854,
+                            0.003614083467703767
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9934810400009155,
+                    "position": [
+                        -0.09837782029353548,
+                        0.09322836203500628,
+                        -0.003909715516783763
+                    ],
+                    "orientation": {
+                        "w": 0.7074602629654142,
+                        "xyz": [
+                            0.008161286321151626,
+                            0.7062624130823371,
+                            -0.02503544682256187
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Object is an open-end wrench, not an adjustable wrench with worm screw or jaw."
+    }
+}

dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3777016