Add asset tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae

.gitattributes

@@ -8561,4 +8561,4 @@ dataset/tools/repair_tools/74e03971ebac5739b279bfef0facb8e3/affordance/mesh_part
 dataset/tools/repair_tools/751dd7a9e54650f2a442a1a470b7811a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/75dbf5761f3b5d04aa04470f39e4dbf7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/75f02139bb2d5baa95ebe896d0ae45c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/76a5d654b0c25a29ab674f0ad2cc1663/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/affordance_annot.json

@@ -0,0 +1,228 @@
+{
+    "affordances": [
+        {
+            "part_name": "drill body and handle",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pistol-grip handle to pick up and carry the drill",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle and lower body to position the drill for fastening",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "grasp the battery base and lower housing to stabilize the tool during handoff",
+                    "confidence": 0.78
+                }
+            ],
+            "functional_labels": [
+                "main structural housing",
+                "provide primary grip",
+                "support tool control",
+                "mount internal motor and battery",
+                "protect internal components"
+            ],
+            "semantic_description": "Large blue plastic housing with a mostly matte smooth finish, integrating the pistol-grip handle and battery base; it forms the main lower and rear body and includes small red accents and printed side markings.",
+            "id": 7,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.9488301277160645,
+                    "position": [
+                        -0.0007191132754087448,
+                        -0.09532946586841717,
+                        -0.02001079171895981
+                    ],
+                    "orientation": {
+                        "w": 0.22669739522888566,
+                        "xyz": [
+                            0.050949451824034236,
+                            -0.6652925686368895,
+                            -0.7095056324454367
+                        ]
+                    }
+                },
+                "grasp_22": {
+                    "confidence": 0.9467057585716248,
+                    "position": [
+                        0.004617651924490929,
+                        -0.0895216265344061,
+                        -0.037176091223955154
+                    ],
+                    "orientation": {
+                        "w": 0.7510416976077149,
+                        "xyz": [
+                            -0.5749447345444144,
+                            -0.043763003739627715,
+                            0.3216515508712167
+                        ]
+                    }
+                },
+                "grasp_25": {
+                    "confidence": 0.9446863532066345,
+                    "position": [
+                        -0.012579151429235935,
+                        -0.10375720501178876,
+                        -0.03583734482526779
+                    ],
+                    "orientation": {
+                        "w": 0.22406526188528347,
+                        "xyz": [
+                            -0.001004234897469586,
+                            -0.6547774411215109,
+                            -0.7218450335957963
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.9421685338020325,
+                    "position": [
+                        -0.1604768317192793,
+                        0.007654419576283544,
+                        -0.010340208187699318
+                    ],
+                    "orientation": {
+                        "w": 0.5357538329528764,
+                        "xyz": [
+                            0.5159029761542019,
+                            0.47576582876113993,
+                            0.4695304312339773
+                        ]
+                    }
+                },
+                "grasp_34": {
+                    "confidence": 0.9406008124351501,
+                    "position": [
+                        -0.011484989896416664,
+                        -0.09958082676166669,
+                        -0.017564233392477036
+                    ],
+                    "orientation": {
+                        "w": 0.19179824364865672,
+                        "xyz": [
+                            0.008953868690612593,
+                            -0.68108675872641,
+                            -0.7065791456420961
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9405605792999268,
+                    "position": [
+                        -0.0027605928480625153,
+                        -0.09152046829694882,
+                        -0.0403253436088562
+                    ],
+                    "orientation": {
+                        "w": 0.7616447797754708,
+                        "xyz": [
+                            -0.5592097107205728,
+                            0.005979951043597942,
+                            0.32733158885464125
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9398632049560547,
+                    "position": [
+                        -0.019395222887396812,
+                        -0.10287536919349805,
+                        -0.02708272635936737
+                    ],
+                    "orientation": {
+                        "w": 0.2759606592291036,
+                        "xyz": [
+                            -0.06929403486624071,
+                            -0.6189990247336542,
+                            -0.7320411591355905
+                        ]
+                    }
+                },
+                "grasp_39": {
+                    "confidence": 0.9394289255142212,
+                    "position": [
+                        -0.15921982936561108,
+                        0.011806747352238744,
+                        -0.0051132868975400925
+                    ],
+                    "orientation": {
+                        "w": 0.4495465494295263,
+                        "xyz": [
+                            -0.495357137442385,
+                            0.5323235148152424,
+                            -0.5188071721320354
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chuck and nose",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front nose gently to orient the drill during setup",
+                    "confidence": 0.41
+                },
+                {
+                    "scenario": "hold the chuck area to stabilize the tool while changing a bit with power off",
+                    "confidence": 0.36
+                }
+            ],
+            "functional_labels": [
+                "hold screwdriver bit",
+                "transmit rotation to bit",
+                "align fastening axis",
+                "guide tool tip position"
+            ],
+            "semantic_description": "Short black front chuck and nose assembly with a matte smooth surface, tapered and rounded at the tool front with a small protruding bit tip.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rubber grip panels",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch a side grip panel with another contact point to stabilize the drill body",
+                    "confidence": 0.52
+                },
+                {
+                    "scenario": "use the textured side area for a partial hold during reorientation",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "improve hand traction",
+                "provide non-slip contact",
+                "dampen minor impacts",
+                "indicate gripping zones"
+            ],
+            "semantic_description": "Small black inset grip panels on the sides and parts of the battery base, likely rubber or elastomer, with a matte slightly textured finish contrasting with the blue plastic housing.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "vent slots and top slider details",
+            "mask_color": "Brown",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide ventilation openings",
+                "expose or border adjustment-slider area",
+                "add access or clearance features in the housing"
+            ],
+            "semantic_description": "Small elongated brown-colored masked details on the top rear housing and one side opening near the back, corresponding to narrow vent-like slots or recessed housing cutouts rather than the bright red switches.",
+            "id": 11,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Brown part identity and visual description are incorrect; mask marks red slider/switch areas, not brown vent slots."
+    }
+}

dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db08173773c9937a60c5602c8f7848eb02d4fc7ed6923c84ab71a4e3f069dd5c
+size 1783628