Add asset tools/repair_tools/72101242ae3352f3b2ef657e091f2e50

.gitattributes

@@ -8554,3 +8554,4 @@ dataset/tools/repair_tools/6d5c65ba9281549ca5115b60611b2e35/affordance/mesh_part
 dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/6f34cc37b06b5e43bd528be175c09064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/7004b7870031534dae9fce44cf822365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/72101242ae3352f3b2ef657e091f2e50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/72101242ae3352f3b2ef657e091f2e50/affordance/affordance_annot.json

@@ -0,0 +1,355 @@
+{
+    "affordances": [
+        {
+            "part_name": "main drill body housing",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the main body from the sides to pick up or reposition the drill when avoiding the trigger and handle",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the body to stabilize the drill during inspection or bit change",
+                    "confidence": 0.5
+                }
+            ],
+            "functional_labels": [
+                "enclose internal motor and gearbox",
+                "support attached components",
+                "provide structural frame",
+                "help orient the drill"
+            ],
+            "semantic_description": "Large yellow plastic body with black rubberized overmold sections, mostly matte, elongated and rounded around the upper rear housing, with visible side vents and branding on the sides.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "chuck and front nose",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the front chuck area to stabilize the drill while changing a bit",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "lightly hold the nose to orient the tool during placement",
+                    "confidence": 0.34
+                }
+            ],
+            "functional_labels": [
+                "hold drill bit",
+                "transmit rotation to tool bit",
+                "guide drilling direction",
+                "provide front alignment"
+            ],
+            "semantic_description": "Short black cylindrical front assembly with a matte finish and slightly tapered shape at the drill tip, positioned at the nose and ending in a small gray bit holder.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_0": {
+                    "confidence": 0.8680673837661743,
+                    "position": [
+                        0.07700978964567184,
+                        0.10254986718064174,
+                        0.10936606489121914
+                    ],
+                    "orientation": {
+                        "w": 0.45648416876397097,
+                        "xyz": [
+                            0.5083025822462847,
+                            0.5408837817440639,
+                            -0.49060719847538437
+                        ]
+                    }
+                },
+                "grasp_4": {
+                    "confidence": 0.8637881875038147,
+                    "position": [
+                        0.09025393426418304,
+                        0.09401282801991329,
+                        0.06886125169694424
+                    ],
+                    "orientation": {
+                        "w": 0.5694425971175413,
+                        "xyz": [
+                            0.43139451215807884,
+                            0.38571858189310604,
+                            -0.5838279532964258
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.8499132394790649,
+                    "position": [
+                        0.09292325377464294,
+                        0.09821168467169628,
+                        0.07403880916535854
+                    ],
+                    "orientation": {
+                        "w": 0.537199698380191,
+                        "xyz": [
+                            0.3848641673739108,
+                            -0.4895525256147122,
+                            0.5688887249683153
+                        ]
+                    }
+                },
+                "grasp_9": {
+                    "confidence": 0.8490679264068604,
+                    "position": [
+                        0.08632846921682358,
+                        0.09101487830048427,
+                        0.0633880402892828
+                    ],
+                    "orientation": {
+                        "w": 0.5562844536997733,
+                        "xyz": [
+                            0.35111635093331967,
+                            -0.4390953844626948,
+                            0.61193149781881
+                        ]
+                    }
+                },
+                "grasp_11": {
+                    "confidence": 0.8442066311836243,
+                    "position": [
+                        0.09101179242134094,
+                        0.09520289435749874,
+                        0.08130997233092785
+                    ],
+                    "orientation": {
+                        "w": 0.5113395991512791,
+                        "xyz": [
+                            0.4074665930146509,
+                            -0.5064270514334883,
+                            0.5621693975068601
+                        ]
+                    }
+                },
+                "grasp_13": {
+                    "confidence": 0.8412728905677795,
+                    "position": [
+                        0.07086417078971863,
+                        0.09823022171622142,
+                        0.103123864158988
+                    ],
+                    "orientation": {
+                        "w": 0.5484965272433583,
+                        "xyz": [
+                            0.49816939469292687,
+                            0.5095463974967823,
+                            -0.43742574523147304
+                        ]
+                    }
+                },
+                "grasp_15": {
+                    "confidence": 0.8391804695129395,
+                    "position": [
+                        0.057677462697029114,
+                        0.09993729129200801,
+                        0.09295129589736462
+                    ],
+                    "orientation": {
+                        "w": 0.5828329264085199,
+                        "xyz": [
+                            0.4545790595469104,
+                            0.48184039985434934,
+                            -0.4706309462665283
+                        ]
+                    }
+                },
+                "grasp_16": {
+                    "confidence": 0.8387960195541382,
+                    "position": [
+                        0.061966121196746826,
+                        0.0957706956542097,
+                        0.07251121662557125
+                    ],
+                    "orientation": {
+                        "w": 0.6777022932576395,
+                        "xyz": [
+                            0.40282518784771193,
+                            0.43537498085071225,
+                            -0.434626386449367
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.8383088707923889,
+                    "position": [
+                        0.07250527292490005,
+                        0.10118788614636287,
+                        0.09455525688827038
+                    ],
+                    "orientation": {
+                        "w": 0.48705725386954735,
+                        "xyz": [
+                            0.4865378720810381,
+                            -0.4666673016413636,
+                            0.5552276650732374
+                        ]
+                    }
+                },
+                "grasp_19": {
+                    "confidence": 0.835086464881897,
+                    "position": [
+                        0.08823630213737488,
+                        -0.10251564398640767,
+                        0.07592700980603695
+                    ],
+                    "orientation": {
+                        "w": 0.5469230299517213,
+                        "xyz": [
+                            -0.457013507979962,
+                            0.4156487322777074,
+                            0.5650221094684817
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "battery pack",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the battery pack from below or around the sides to lift or carry the drill",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "hold the battery base to stabilize the drill while docking or undocking the battery",
+                    "confidence": 0.73
+                },
+                {
+                    "scenario": "use the broad base for a table pickup grasp",
+                    "confidence": 0.75
+                }
+            ],
+            "functional_labels": [
+                "store electrical power",
+                "counterbalance the drill",
+                "provide standing base",
+                "enable battery swapping"
+            ],
+            "semantic_description": "Blocky black battery pack with yellow label accents, hard plastic construction, mostly matte finish, and a broad rectangular form mounted at the bottom of the handle as the drill base.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "handle grip",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle as the primary pickup and operating grip",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to aim and manipulate the drill during use",
+                    "confidence": 0.96
+                }
+            ],
+            "functional_labels": [
+                "provide primary grip",
+                "support tool control",
+                "position trigger finger",
+                "transfer user force"
+            ],
+            "semantic_description": "Curved black handle/grip area with yellow bordering and a rubberized-looking matte slightly textured surface, centered below the body for secure hand or gripper holding.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_58": {
+                    "confidence": 0.8911844491958618,
+                    "position": [
+                        0.06918258965015411,
+                        0.0005401677044574171,
+                        -0.023751402273774147
+                    ],
+                    "orientation": {
+                        "w": 0.5476317942405695,
+                        "xyz": [
+                            -0.4292564988624728,
+                            -0.42342771907777266,
+                            0.5801269195941354
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "start motor",
+                "control rotation",
+                "enable variable-speed actuation"
+            ],
+            "semantic_description": "Small dark trigger-like plastic lever with a matte smooth finish, recessed beneath the front of the handle where it can be pressed during operation.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "forward/reverse switch",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "change rotation direction",
+                "select forward mode",
+                "select reverse mode"
+            ],
+            "semantic_description": "Tiny dark switch near the trigger area, visible as small controls on both sides of the drill above the handle.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "battery release latch",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "unlock battery pack",
+                "enable battery removal",
+                "secure battery attachment"
+            ],
+            "semantic_description": "Small rectangular latch on the upper front area of the battery pack, visible as a yellow button-like piece positioned for pressing to release the battery.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side indicator/detail button",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a small auxiliary control or indicator detail",
+                "mark a side feature near the trigger region"
+            ],
+            "semantic_description": "Small red circular side detail near the trigger region, appearing as a tiny smooth element on the side of the drill body.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "battery base underside pad",
+            "mask_color": "Magenta",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide a protective contact surface on the battery underside",
+                "act as a small footing pad",
+                "add underside detail"
+            ],
+            "semantic_description": "Small pale pink insert on the underside of the battery base, flat and smooth, visible on the bottom face of the battery pack.",
+            "id": 7,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several mask-color/part identities are wrong: pink and magenta swapped, and red is a visible side button, not an indicator detail."
+    }
+}

dataset/tools/repair_tools/72101242ae3352f3b2ef657e091f2e50/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
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+size 1721476