Add asset tools/repair_tools/7931d3c544f756f0a009e60437a141a4

.gitattributes

@@ -8563,3 +8563,4 @@ dataset/tools/repair_tools/75dbf5761f3b5d04aa04470f39e4dbf7/affordance/mesh_part
 dataset/tools/repair_tools/75f02139bb2d5baa95ebe896d0ae45c4/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/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/7931d3c544f756f0a009e60437a141a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/7931d3c544f756f0a009e60437a141a4/affordance/affordance_annot.json

@@ -0,0 +1,209 @@
+{
+    "affordances": [
+        {
+            "part_name": "main housing and handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the pistol handle to pick up and hold the drill",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "grasp the body near the center to reposition the drill on a surface",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the housing to stabilize the drill while changing settings or removing the battery",
+                    "confidence": 0.74
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "support internal motor and transmission",
+                "connect handle to chuck assembly",
+                "provide structural body"
+            ],
+            "semantic_description": "Large green plastic drill body with a mostly matte hard finish and smooth slightly contoured surfaces, forming the pistol grip and rear central housing with vent details and printed markings on the sides.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "battery pack",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the battery pack to help lift or move the drill",
+                    "confidence": 0.67
+                },
+                {
+                    "scenario": "grasp the battery pack to pull it out for battery removal",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "hold the battery base to stabilize the drill during placement",
+                    "confidence": 0.66
+                }
+            ],
+            "functional_labels": [
+                "provide electrical power",
+                "serve as removable power module",
+                "support standing on a flat surface",
+                "add weight at the base for balance"
+            ],
+            "semantic_description": "Blocky dark battery pack at the bottom with a matte hard plastic shell, broad faces, rounded edges, and a small red indicator detail on the side.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_21": {
+                    "confidence": 0.6778700947761536,
+                    "position": [
+                        -0.03113779053092003,
+                        0.003095619525993243,
+                        -0.23031927458941936
+                    ],
+                    "orientation": {
+                        "w": 0.6597070414001521,
+                        "xyz": [
+                            -0.020136561304157915,
+                            -0.0387916431617239,
+                            0.7502508559453401
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.6550501585006714,
+                    "position": [
+                        -0.07608851045370102,
+                        -0.03341939052916132,
+                        -0.21939006261527538
+                    ],
+                    "orientation": {
+                        "w": 0.7051304961107734,
+                        "xyz": [
+                            -0.10859483288646285,
+                            -0.08217296558111609,
+                            -0.6958776828240296
+                        ]
+                    }
+                },
+                "grasp_36": {
+                    "confidence": 0.646072268486023,
+                    "position": [
+                        -0.07884234562516212,
+                        0.013704815559322014,
+                        -0.22196811251342297
+                    ],
+                    "orientation": {
+                        "w": 0.6799951009387738,
+                        "xyz": [
+                            0.13573646084203858,
+                            0.05714990459123925,
+                            0.7182730430014457
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "chuck and front collar",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the chuck collar to tighten or loosen a bit manually",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the front collar to stabilize the tool while changing the bit",
+                    "confidence": 0.84
+                },
+                {
+                    "scenario": "delicately grasp the nose to orient the drill during setup or storage",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "hold the drill bit",
+                "transmit rotation to the bit",
+                "support bit changes",
+                "guide drilling alignment"
+            ],
+            "semantic_description": "Cylindrical black front chuck assembly with a matte plastic or rubberized finish, lightly textured stepped rings, and a tapered nose at the front of the drill.",
+            "id": 1,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.9299654364585876,
+                    "position": [
+                        0.06591172143816948,
+                        -0.09177305674529634,
+                        0.0583458598703146
+                    ],
+                    "orientation": {
+                        "w": 0.6236320320147102,
+                        "xyz": [
+                            -0.4046961553502021,
+                            0.34737723330899506,
+                            0.5715183009043164
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "trigger",
+            "mask_color": "Pink",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "start the drill",
+                "control motor activation",
+                "modulate drilling speed"
+            ],
+            "semantic_description": "Small black or dark trigger under the body near the handle, likely plastic with a smooth matte finish and curved shape sized for finger pressing.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "direction selector sliders",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "select forward or reverse",
+                "change drive direction",
+                "provide control input"
+            ],
+            "semantic_description": "Small dark red slider-like controls on the sides of the drill body near the upper handle and rear housing region, with short protruding shapes for thumb access.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drill bit",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bit shank or tip area carefully during bit replacement when the drill is powered off",
+                    "confidence": 0.31
+                },
+                {
+                    "scenario": "lightly hold the bit to guide alignment before tightening the chuck",
+                    "confidence": 0.21
+                }
+            ],
+            "functional_labels": [
+                "cut into material",
+                "make holes",
+                "transfer drilling action to the workpiece"
+            ],
+            "semantic_description": "Tiny metallic bit protruding from the front, dark gray and slightly reflective with a hard smooth surface and narrow pointed cylindrical form.",
+            "id": 8,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Mask-color mapping and part identities are wrong for multiple parts; drill bit mislabeled pink, selector color/description incorrect, housing color mismatched."
+    }
+}

dataset/tools/repair_tools/7931d3c544f756f0a009e60437a141a4/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b552540c229d6ce032600cfc153b89c7104c7f17decbb5a175596c432a9068
+size 1686948