xinjjj commited on
Commit
0672301
·
verified ·
1 Parent(s): ad30154

Add asset tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f

Browse files
.gitattributes CHANGED
@@ -7896,3 +7896,4 @@ dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/affordance/mesh_part
7896
  dataset/tools/repair_tools/ba72a38c94d152ce9234c4fa4aa2f41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7897
  dataset/tools/repair_tools/bc6b1d236c0b5692b4a38689053f26d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7898
  dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7896
  dataset/tools/repair_tools/ba72a38c94d152ce9234c4fa4aa2f41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7897
  dataset/tools/repair_tools/bc6b1d236c0b5692b4a38689053f26d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7898
  dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7899
+ dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,284 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the T-handle across its width to pick up and carry the screwdriver",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle firmly while applying turning torque",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize and reposition the tool",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "transmit hand or gripper torque",
24
+ "support tool handling",
25
+ "stabilize the screwdriver during use"
26
+ ],
27
+ "semantic_description": "Large T-shaped purple plastic handle with a matte to satin finish, smooth hard surface, rounded ends, shallow grip recesses, and a chunky central hub where the shaft enters.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_21": {
31
+ "confidence": 0.9730955362319946,
32
+ "position": [
33
+ -0.06524566555162892,
34
+ 0.10556350788101554,
35
+ -0.003165266796713695
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5003256311515606,
39
+ "xyz": [
40
+ 0.49985090567253193,
41
+ -0.47645987932613065,
42
+ 0.5223115146190734
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.971991240978241,
48
+ "position": [
49
+ -0.10980929428478703,
50
+ 0.005449546966701746,
51
+ 0.08740781285450794
52
+ ],
53
+ "orientation": {
54
+ "w": 0.18733027525039178,
55
+ "xyz": [
56
+ -0.6892135959980954,
57
+ 0.6708873189411882,
58
+ -0.1995048679854463
59
+ ]
60
+ }
61
+ },
62
+ "grasp_23": {
63
+ "confidence": 0.9717360734939575,
64
+ "position": [
65
+ -0.10772979253670201,
66
+ 0.002271038945764303,
67
+ 0.08819197156117298
68
+ ],
69
+ "orientation": {
70
+ "w": 0.20104464495926044,
71
+ "xyz": [
72
+ -0.6809094312165058,
73
+ 0.6792062419020899,
74
+ -0.186070626845988
75
+ ]
76
+ }
77
+ },
78
+ "grasp_26": {
79
+ "confidence": 0.9710143208503723,
80
+ "position": [
81
+ -0.1409377529635094,
82
+ 0.03512302553281188,
83
+ -0.05245055220439099
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6130972400143488,
87
+ "xyz": [
88
+ 0.44250651559593196,
89
+ 0.21991349608865096,
90
+ 0.6163909572503496
91
+ ]
92
+ }
93
+ },
94
+ "grasp_27": {
95
+ "confidence": 0.9708499908447266,
96
+ "position": [
97
+ -0.11012466991087422,
98
+ 0.0007932963781058788,
99
+ 0.08733344115898944
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1621196047701038,
103
+ "xyz": [
104
+ 0.6807657758146343,
105
+ 0.6853257080785292,
106
+ 0.2015040100726211
107
+ ]
108
+ }
109
+ },
110
+ "grasp_28": {
111
+ "confidence": 0.9702825546264648,
112
+ "position": [
113
+ -0.1456852182163857,
114
+ 0.058543459977954626,
115
+ -0.005953387444606051
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7031812039560003,
119
+ "xyz": [
120
+ 0.18796554866407786,
121
+ 0.6631514673739922,
122
+ -0.1744570956943933
123
+ ]
124
+ }
125
+ },
126
+ "grasp_31": {
127
+ "confidence": 0.9699538350105286,
128
+ "position": [
129
+ -0.1466777547611855,
130
+ 0.06013685604557395,
131
+ 0.001315117726335302
132
+ ],
133
+ "orientation": {
134
+ "w": 0.19307507647009434,
135
+ "xyz": [
136
+ 0.6833126308835633,
137
+ -0.16851459252469225,
138
+ 0.6836729447822899
139
+ ]
140
+ }
141
+ },
142
+ "grasp_35": {
143
+ "confidence": 0.9696996808052063,
144
+ "position": [
145
+ -0.11655560130020604,
146
+ 0.004697830881923437,
147
+ 0.08677096702740528
148
+ ],
149
+ "orientation": {
150
+ "w": 0.1802011311778319,
151
+ "xyz": [
152
+ 0.6776638333595316,
153
+ 0.6862385368583694,
154
+ 0.19332861094307482
155
+ ]
156
+ }
157
+ },
158
+ "grasp_37": {
159
+ "confidence": 0.9693463444709778,
160
+ "position": [
161
+ -0.11447579407831654,
162
+ 0.09475282719358802,
163
+ -0.002190045634051785
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6366713436362879,
167
+ "xyz": [
168
+ 0.34294719919512506,
169
+ 0.6121293952275767,
170
+ -0.31989751836315333
171
+ ]
172
+ }
173
+ },
174
+ "grasp_38": {
175
+ "confidence": 0.9692264199256897,
176
+ "position": [
177
+ -0.06282036373158917,
178
+ 0.10698700835928321,
179
+ 0.002536041574785486
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5015697868489102,
183
+ "xyz": [
184
+ 0.5017876267198621,
185
+ 0.5280834745038296,
186
+ -0.4666527301400378
187
+ ]
188
+ }
189
+ },
190
+ "grasp_39": {
191
+ "confidence": 0.9690524935722351,
192
+ "position": [
193
+ -0.11734516912838444,
194
+ 0.08866212656721473,
195
+ 0.0014374656893778592
196
+ ],
197
+ "orientation": {
198
+ "w": 0.34553693356477455,
199
+ "xyz": [
200
+ 0.6232294679317228,
201
+ -0.3179645748136569,
202
+ 0.6253701200151515
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "driver shaft and tip",
210
+ "mask_color": "Red",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "grasp the metal shaft near the handle to orient the screwdriver precisely",
215
+ "confidence": 0.58
216
+ },
217
+ {
218
+ "scenario": "hold the shaft delicately to pull the tool from a tight storage slot",
219
+ "confidence": 0.41
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "engage screw head",
224
+ "transfer torque to screw",
225
+ "reach into recessed fasteners",
226
+ "indicate working end"
227
+ ],
228
+ "semantic_description": "Long light gray metal shaft with a slightly reflective finish and a shaped screwdriver tip at the end, hard smooth surface, slender cylindrical form, protruding forward from the handle.",
229
+ "id": 0,
230
+ "grasp_group": {
231
+ "grasp_12": {
232
+ "confidence": 0.9379057884216309,
233
+ "position": [
234
+ -0.08213216805597767,
235
+ -0.12193634221330285,
236
+ 0.03407524191425182
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5394998484626439,
240
+ "xyz": [
241
+ -0.113034026427622,
242
+ 0.8134853787354414,
243
+ 0.18548520415924993
244
+ ]
245
+ }
246
+ },
247
+ "grasp_19": {
248
+ "confidence": 0.9288016557693481,
249
+ "position": [
250
+ -0.05237736547132954,
251
+ -0.17883548000827432,
252
+ 0.012672387441853061
253
+ ],
254
+ "orientation": {
255
+ "w": 0.3676546618288882,
256
+ "xyz": [
257
+ -0.6969826437583535,
258
+ -0.3039781251728958,
259
+ -0.5353900852196212
260
+ ]
261
+ }
262
+ }
263
+ }
264
+ },
265
+ {
266
+ "part_name": "handle badge",
267
+ "mask_color": "Magenta",
268
+ "graspable": false,
269
+ "grasp_scenarios": [],
270
+ "functional_labels": [
271
+ "brand marking",
272
+ "visual identification",
273
+ "decorate the handle"
274
+ ],
275
+ "semantic_description": "Small inset oval badge on the handle, appearing darker purple with embossed lettering, hard smooth surface, and a slightly recessed decorative shape centered on one face.",
276
+ "id": 7,
277
+ "grasp_group": {}
278
+ }
279
+ ],
280
+ "quality_check": {
281
+ "success": true,
282
+ "message": "YES"
283
+ }
284
+ }
dataset/tools/repair_tools/be3a4e13088556f2aa830cbdccf0422f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15fa665644dcdc3cbb13aee4d4f25bbdcf1f65826db81f50d9d582d5994cd5f1
3
+ size 3781448