Add asset tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c

.gitattributes

@@ -7934,4 +7934,5 @@ dataset/tools/repair_tools/e5d64740c9bb54828d360ebf4d81dcfa/affordance/mesh_part
 dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/e7842d48f2b25262b42b567b4e62f654/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ea1305fb38745bb8a14e92225e586582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/ea315de2be0b5d3091bc0beb2e039e47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/affordance_annot.json

@@ -0,0 +1,291 @@
+{
+    "affordances": [
+        {
+            "part_name": "handle grip",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pick up and carry the screwdriver",
+                    "confidence": 0.98
+                },
+                {
+                    "scenario": "hold the handle to apply torque during screwdriving",
+                    "confidence": 0.99
+                },
+                {
+                    "scenario": "grip the handle to stabilize and reorient the tool",
+                    "confidence": 0.96
+                }
+            ],
+            "functional_labels": [
+                "main handhold",
+                "apply torque",
+                "stabilize the tool",
+                "support manipulation"
+            ],
+            "semantic_description": "Large contoured red handle with black grip panels and white printed branding, made of hard plastic with rubberized textured grip areas, forming the rear body of the screwdriver.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_22": {
+                    "confidence": 0.9886687397956848,
+                    "position": [
+                        0.0872152390802512,
+                        -0.040011027827858925,
+                        0.03541478230908979
+                    ],
+                    "orientation": {
+                        "w": 0.16654621511105402,
+                        "xyz": [
+                            -0.8202997358187163,
+                            0.10006492942043255,
+                            0.537919800293697
+                        ]
+                    }
+                },
+                "grasp_23": {
+                    "confidence": 0.9886356592178345,
+                    "position": [
+                        0.07716202166920993,
+                        -0.026520785875618458,
+                        0.05527759804681409
+                    ],
+                    "orientation": {
+                        "w": 0.11782896571389621,
+                        "xyz": [
+                            -0.8807824852306377,
+                            0.06185005240303404,
+                            0.4544371458931113
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.9886323809623718,
+                    "position": [
+                        0.0001712292869342491,
+                        -0.03254449553787708,
+                        0.09699295922473539
+                    ],
+                    "orientation": {
+                        "w": 0.0627097220219678,
+                        "xyz": [
+                            -0.9977360934746861,
+                            -0.024293571546773002,
+                            3.0385886342907135e-05
+                        ]
+                    }
+                },
+                "grasp_26": {
+                    "confidence": 0.9880130290985107,
+                    "position": [
+                        0.095811994644464,
+                        0.00752984918653965,
+                        -0.01843962170823943
+                    ],
+                    "orientation": {
+                        "w": 0.7759307831718223,
+                        "xyz": [
+                            0.010708689901222047,
+                            -0.630579794572354,
+                            0.013633281485011934
+                        ]
+                    }
+                },
+                "grasp_28": {
+                    "confidence": 0.9876950979232788,
+                    "position": [
+                        0.0134558741847286,
+                        -0.033254663459956646,
+                        0.09619011446193326
+                    ],
+                    "orientation": {
+                        "w": 0.04538426185929054,
+                        "xyz": [
+                            -0.9953065659667797,
+                            -0.052293799786296266,
+                            0.06760522925643102
+                        ]
+                    }
+                },
+                "grasp_31": {
+                    "confidence": 0.9873627424240112,
+                    "position": [
+                        0.08727114078646991,
+                        -0.010831398889422417,
+                        0.04567957758263219
+                    ],
+                    "orientation": {
+                        "w": 0.5192838281132559,
+                        "xyz": [
+                            -0.004381272429363107,
+                            -0.8543825216899409,
+                            0.01885780853333322
+                        ]
+                    }
+                },
+                "grasp_32": {
+                    "confidence": 0.9872758984565735,
+                    "position": [
+                        0.0801453235471854,
+                        -0.02421208703890443,
+                        0.05690700277045835
+                    ],
+                    "orientation": {
+                        "w": 0.46215446968586643,
+                        "xyz": [
+                            -0.011533723326603526,
+                            -0.8865570525170113,
+                            0.0172282328737065
+                        ]
+                    }
+                },
+                "grasp_33": {
+                    "confidence": 0.9871668219566345,
+                    "position": [
+                        0.0002514146763132885,
+                        -0.024399850517511368,
+                        0.09783325060561765
+                    ],
+                    "orientation": {
+                        "w": 0.03968931521786569,
+                        "xyz": [
+                            -0.9991972187494087,
+                            -0.004770248760993613,
+                            0.0026307846246514523
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.9871394038200378,
+                    "position": [
+                        0.09040466127044056,
+                        -0.047483790665864944,
+                        0.0015233277372317389
+                    ],
+                    "orientation": {
+                        "w": 0.19028115109172183,
+                        "xyz": [
+                            -0.6939389059109319,
+                            0.17200752866972757,
+                            0.6727966174731271
+                        ]
+                    }
+                },
+                "grasp_37": {
+                    "confidence": 0.9869326949119568,
+                    "position": [
+                        0.0029336459847399965,
+                        -0.010570177342742682,
+                        0.09834322794631589
+                    ],
+                    "orientation": {
+                        "w": 0.023517065666026175,
+                        "xyz": [
+                            0.007134398015903963,
+                            -0.9996864491438501,
+                            0.00480118585042038
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "shaft",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the shaft for precision positioning near the screw head",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the shaft to temporarily lift or reposition the screwdriver",
+                    "confidence": 0.43
+                }
+            ],
+            "functional_labels": [
+                "transmit torque",
+                "extend reach",
+                "align the tip",
+                "connect handle to tip"
+            ],
+            "semantic_description": "Long slim light silver metal shaft with a smooth reflective finish and straight cylindrical form running from the handle toward the tip.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "Phillips tip",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "engage Phillips screws",
+                "drive or remove screws",
+                "provide fastening interface"
+            ],
+            "semantic_description": "Small darker gray metallic Phillips cross-head tip at the front end of the screwdriver, darker than the shaft and slightly matte from tooling or wear.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "end cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "close the handle end",
+                "provide rear contact surface",
+                "allow palm pressure"
+            ],
+            "semantic_description": "Rounded light gray to off-white end cap at the back of the handle, with a smooth hard surface used for palm contact.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front collar ring",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "join shaft to handle",
+                "reinforce the handle-neck transition",
+                "support assembly interface"
+            ],
+            "semantic_description": "Light gray collar ring near the front of the handle where the shaft enters, visibly thicker than the thin adjacent spacer ring.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "neck ferrule",
+            "mask_color": "Purple",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "provide structural transition",
+                "reinforce neck area",
+                "retain adjacent collar components"
+            ],
+            "semantic_description": "Dark gray to black ring-like ferrule at the neck between the handle and collar assembly, with a smooth hard finish.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "thin spacer ring",
+            "mask_color": "Cyan",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "separate adjoining components",
+                "mark the transition between collar elements",
+                "assist assembly interface"
+            ],
+            "semantic_description": "Very thin light blue spacer ring positioned between the handle neck and the thicker front collar, visible as a narrow band around the neck.",
+            "id": 6,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several semantic descriptions use mask colors as real colors; handle and spacer descriptions mismatch visible RGB appearance."
+    }
+}

dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c3cae606aa86546e2a800970bfe8d57a1eb079c82c282b8d5a0d465cf500a4
+size 3762832