xinjjj commited on
Commit
3cd8745
·
verified ·
1 Parent(s): d22d8ba

Add asset tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f

Browse files
.gitattributes CHANGED
@@ -7849,4 +7849,4 @@ dataset/tools/repair_tools/48a32431ed315501bd13e2da0bd5f67c/affordance/mesh_part
7849
  dataset/tools/repair_tools/493c3190bca05e8098aaabee5300afee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7850
  dataset/tools/repair_tools/4935612d12155182a85e12aa2cd33204/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7851
  dataset/tools/repair_tools/49976a15679652a189d9a22ee0e7b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7852
- dataset/tools/repair_tools/4a1d4cadbbe653c7a9a38b76b5125ce0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7849
  dataset/tools/repair_tools/493c3190bca05e8098aaabee5300afee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7850
  dataset/tools/repair_tools/4935612d12155182a85e12aa2cd33204/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7851
  dataset/tools/repair_tools/49976a15679652a189d9a22ee0e7b16d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7852
+ dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,607 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "box wrench",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle/body region to pick up and reposition the wrench",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the wrench along its body while placing one box end onto a fastener",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool by clamping around the body during handoff or storage handling",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "hand tool body",
23
+ "main grasp surface",
24
+ "transmit torque between ends",
25
+ "support both box ends"
26
+ ],
27
+ "semantic_description": "Double box-end wrench made of silver-gray metal with a smooth satin finish, slim elongated handle, two circular closed heads of different sizes, and a recessed slot along the center of the handle.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.996590256690979,
32
+ "position": [
33
+ 0.09943658562769997,
34
+ 0.05474287585821003,
35
+ -0.006048963055945933
36
+ ],
37
+ "orientation": {
38
+ "w": 0.029093408866955637,
39
+ "xyz": [
40
+ -0.6802158111163131,
41
+ 0.004475872609540188,
42
+ 0.7324206376340441
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.9964892864227295,
48
+ "position": [
49
+ 0.09663383366932976,
50
+ 0.0546344401082024,
51
+ -0.009853993658907712
52
+ ],
53
+ "orientation": {
54
+ "w": 0.0477116828001379,
55
+ "xyz": [
56
+ -0.670586509846948,
57
+ -0.01038245306512231,
58
+ 0.7402226238126056
59
+ ]
60
+ }
61
+ },
62
+ "grasp_42": {
63
+ "confidence": 0.9960618615150452,
64
+ "position": [
65
+ 0.09998879285922158,
66
+ 0.060519620194099844,
67
+ 0.004822920425795019
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7073912785075794,
71
+ "xyz": [
72
+ -0.006362027247895104,
73
+ -0.7066146087790601,
74
+ -0.015902778396409543
75
+ ]
76
+ }
77
+ },
78
+ "grasp_45": {
79
+ "confidence": 0.9957873225212097,
80
+ "position": [
81
+ 0.09943613114228356,
82
+ 0.06034512759651989,
83
+ -0.0026785574154928327
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7144630530219288,
87
+ "xyz": [
88
+ -0.010239731689956484,
89
+ -0.6995114170778612,
90
+ -0.01102139461342226
91
+ ]
92
+ }
93
+ },
94
+ "grasp_46": {
95
+ "confidence": 0.995732843875885,
96
+ "position": [
97
+ 0.0976647854076873,
98
+ 0.06368419469799846,
99
+ 0.0009236846235580742
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7114424155075865,
103
+ "xyz": [
104
+ 0.013410015849114602,
105
+ -0.7025753882638328,
106
+ 0.007595044277779826
107
+ ]
108
+ }
109
+ },
110
+ "grasp_47": {
111
+ "confidence": 0.9956912398338318,
112
+ "position": [
113
+ 0.10073557945361244,
114
+ 0.06554497720208019,
115
+ -0.0017875878838822246
116
+ ],
117
+ "orientation": {
118
+ "w": 0.03491033265019702,
119
+ "xyz": [
120
+ 0.692422862692519,
121
+ -0.014326571031572977,
122
+ -0.7205044047453333
123
+ ]
124
+ }
125
+ },
126
+ "grasp_51": {
127
+ "confidence": 0.993641197681427,
128
+ "position": [
129
+ -0.101165215648507,
130
+ 0.07005932868923992,
131
+ 0.005221183295361698
132
+ ],
133
+ "orientation": {
134
+ "w": 0.03210452990568659,
135
+ "xyz": [
136
+ 0.7150988057439327,
137
+ 0.011427473061739857,
138
+ 0.6981922443299979
139
+ ]
140
+ }
141
+ },
142
+ "grasp_54": {
143
+ "confidence": 0.9930844306945801,
144
+ "position": [
145
+ 0.09843750747313607,
146
+ -0.044710174784995615,
147
+ -0.00569992617238313
148
+ ],
149
+ "orientation": {
150
+ "w": 0.02297576267825202,
151
+ "xyz": [
152
+ -0.6979259186294041,
153
+ -0.004394530644840966,
154
+ 0.7157878278757376
155
+ ]
156
+ }
157
+ },
158
+ "grasp_55": {
159
+ "confidence": 0.9926425814628601,
160
+ "position": [
161
+ 0.09902132006754982,
162
+ -0.050170038477517664,
163
+ -0.000655063078738749
164
+ ],
165
+ "orientation": {
166
+ "w": 0.014253684757682749,
167
+ "xyz": [
168
+ 0.7026312750572663,
169
+ -0.014962682655922266,
170
+ -0.7112539925441312
171
+ ]
172
+ }
173
+ },
174
+ "grasp_57": {
175
+ "confidence": 0.9924702644348145,
176
+ "position": [
177
+ -0.09976403710970771,
178
+ 0.059258419438265264,
179
+ 0.001999465748667717
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6935460581139034,
183
+ "xyz": [
184
+ 0.00443539349475723,
185
+ 0.7203758266211469,
186
+ 0.005732449660686424
187
+ ]
188
+ }
189
+ },
190
+ "grasp_59": {
191
+ "confidence": 0.9919207096099854,
192
+ "position": [
193
+ -0.09900470373759163,
194
+ 0.05592232139315456,
195
+ -0.009838654776103795
196
+ ],
197
+ "orientation": {
198
+ "w": 0.726861750045827,
199
+ "xyz": [
200
+ 0.00728315578641017,
201
+ 0.6866625111832233,
202
+ 0.010655876203211439
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "box end",
210
+ "mask_color": "Red",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch this box end to orient the wrench when precise end placement is needed",
215
+ "confidence": 0.62
216
+ },
217
+ {
218
+ "scenario": "grasp this end briefly to lift or rotate the tool when the handle is less accessible",
219
+ "confidence": 0.58
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "engage a nut or bolt head",
224
+ "apply turning torque",
225
+ "provide a closed driving interface"
226
+ ],
227
+ "semantic_description": "One circular closed wrench head in silver-gray metal at one end of the tool, slightly thicker and wider than the handle, with an internal multi-point socket opening.",
228
+ "id": 0,
229
+ "grasp_group": {
230
+ "grasp_0": {
231
+ "confidence": 0.9965865612030029,
232
+ "position": [
233
+ 0.0969590068089019,
234
+ 0.06360253633465618,
235
+ -0.003609304898418486
236
+ ],
237
+ "orientation": {
238
+ "w": 0.03447261851746038,
239
+ "xyz": [
240
+ -0.6958016023672672,
241
+ 0.038224803982629285,
242
+ 0.716387208900454
243
+ ]
244
+ }
245
+ },
246
+ "grasp_3": {
247
+ "confidence": 0.9917747974395752,
248
+ "position": [
249
+ -0.0966822981608857,
250
+ 0.07430850656237453,
251
+ 0.004923090222291648
252
+ ],
253
+ "orientation": {
254
+ "w": 0.6868989219455897,
255
+ "xyz": [
256
+ 0.004532249268564599,
257
+ 0.7267367618605456,
258
+ 0.0017345624817600683
259
+ ]
260
+ }
261
+ },
262
+ "grasp_4": {
263
+ "confidence": 0.991353452205658,
264
+ "position": [
265
+ 0.09717341961732018,
266
+ 0.08239395858254284,
267
+ -0.0008165568578988314
268
+ ],
269
+ "orientation": {
270
+ "w": 0.7303816799369509,
271
+ "xyz": [
272
+ 0.055460542060736986,
273
+ -0.6807345257526266,
274
+ 0.008199715553202525
275
+ ]
276
+ }
277
+ },
278
+ "grasp_7": {
279
+ "confidence": 0.9863719344139099,
280
+ "position": [
281
+ -0.08956989941725624,
282
+ 0.12172252626623958,
283
+ 0.009507305803708732
284
+ ],
285
+ "orientation": {
286
+ "w": 0.18035885786424974,
287
+ "xyz": [
288
+ 0.6916270718104665,
289
+ -0.1789120186058305,
290
+ 0.6761014461803571
291
+ ]
292
+ }
293
+ },
294
+ "grasp_8": {
295
+ "confidence": 0.9850968718528748,
296
+ "position": [
297
+ -0.0880489453447808,
298
+ 0.12572188617195934,
299
+ -0.0012501743622124195
300
+ ],
301
+ "orientation": {
302
+ "w": 0.19609773385436366,
303
+ "xyz": [
304
+ 0.6607618401914316,
305
+ -0.18679960511239302,
306
+ 0.7000324112881273
307
+ ]
308
+ }
309
+ },
310
+ "grasp_9": {
311
+ "confidence": 0.9823815226554871,
312
+ "position": [
313
+ -0.08960249570736778,
314
+ 0.11950308771338314,
315
+ 0.009149175020866096
316
+ ],
317
+ "orientation": {
318
+ "w": 0.6797399003292247,
319
+ "xyz": [
320
+ 0.17318737071223733,
321
+ 0.6937973179837807,
322
+ -0.16311064982002346
323
+ ]
324
+ }
325
+ },
326
+ "grasp_12": {
327
+ "confidence": 0.9518620371818542,
328
+ "position": [
329
+ 0.05593535008301842,
330
+ 0.16365735174622387,
331
+ 0.0014551663771271706
332
+ ],
333
+ "orientation": {
334
+ "w": 0.3509990873823791,
335
+ "xyz": [
336
+ 0.6026353002786095,
337
+ 0.3575451001812152,
338
+ -0.621121434867009
339
+ ]
340
+ }
341
+ },
342
+ "grasp_13": {
343
+ "confidence": 0.9428302645683289,
344
+ "position": [
345
+ 0.055314396344329,
346
+ 0.1621318453690037,
347
+ 0.006402137107215822
348
+ ],
349
+ "orientation": {
350
+ "w": 0.3612661423087674,
351
+ "xyz": [
352
+ 0.6168420735912863,
353
+ 0.35231552656641907,
354
+ -0.6040417207521103
355
+ ]
356
+ }
357
+ }
358
+ }
359
+ },
360
+ {
361
+ "part_name": "box end",
362
+ "mask_color": "Green",
363
+ "graspable": true,
364
+ "grasp_scenarios": [
365
+ {
366
+ "scenario": "pinch the opposite box end to orient the wrench for end selection or placement",
367
+ "confidence": 0.62
368
+ },
369
+ {
370
+ "scenario": "grasp this end briefly to reposition the wrench when the handle is obstructed",
371
+ "confidence": 0.57
372
+ }
373
+ ],
374
+ "functional_labels": [
375
+ "engage a nut or bolt head",
376
+ "apply turning torque",
377
+ "provide a closed driving interface",
378
+ "offer an alternate size working end"
379
+ ],
380
+ "semantic_description": "The opposite circular closed wrench head in silver-gray metal, slightly thicker than the handle and containing an internal multi-point socket opening of a different size.",
381
+ "id": 1,
382
+ "grasp_group": {
383
+ "grasp_25": {
384
+ "confidence": 0.9858587384223938,
385
+ "position": [
386
+ 0.09412873240580666,
387
+ -0.10489124117884785,
388
+ -0.0038709851214662194
389
+ ],
390
+ "orientation": {
391
+ "w": 0.6987292680759163,
392
+ "xyz": [
393
+ -0.08158245959944704,
394
+ -0.6964947942643538,
395
+ -0.14148043604136565
396
+ ]
397
+ }
398
+ },
399
+ "grasp_26": {
400
+ "confidence": 0.9797672033309937,
401
+ "position": [
402
+ 0.08560656460394966,
403
+ -0.12572369037661701,
404
+ 0.0035171607742086053
405
+ ],
406
+ "orientation": {
407
+ "w": 0.20686324902624012,
408
+ "xyz": [
409
+ -0.6977405909108199,
410
+ 0.18323523006161568,
411
+ 0.6609012894994185
412
+ ]
413
+ }
414
+ },
415
+ "grasp_27": {
416
+ "confidence": 0.9788424968719482,
417
+ "position": [
418
+ 0.09087671043744194,
419
+ -0.12467192171607167,
420
+ -0.002665804815478623
421
+ ],
422
+ "orientation": {
423
+ "w": 0.19692342998894047,
424
+ "xyz": [
425
+ -0.6818818286589288,
426
+ 0.17213610046433092,
427
+ 0.683101381482339
428
+ ]
429
+ }
430
+ },
431
+ "grasp_28": {
432
+ "confidence": 0.9765309691429138,
433
+ "position": [
434
+ 0.08861145826449501,
435
+ -0.12577742396388203,
436
+ -0.005744603578932583
437
+ ],
438
+ "orientation": {
439
+ "w": 0.6923651042180141,
440
+ "xyz": [
441
+ -0.18206964994067434,
442
+ -0.6714251603767218,
443
+ -0.19149271277192853
444
+ ]
445
+ }
446
+ },
447
+ "grasp_29": {
448
+ "confidence": 0.9718979001045227,
449
+ "position": [
450
+ 0.08935654612650978,
451
+ -0.12528765259776264,
452
+ -0.0022049733670428395
453
+ ],
454
+ "orientation": {
455
+ "w": 0.6814556304200358,
456
+ "xyz": [
457
+ -0.1879725324026765,
458
+ -0.6790228650650508,
459
+ -0.19802146234639958
460
+ ]
461
+ }
462
+ },
463
+ "grasp_33": {
464
+ "confidence": 0.9589914679527283,
465
+ "position": [
466
+ -0.09075153914818657,
467
+ -0.11929433105979115,
468
+ 0.0024687490658834577
469
+ ],
470
+ "orientation": {
471
+ "w": 0.1619598610800432,
472
+ "xyz": [
473
+ -0.6871322994945391,
474
+ -0.1659987658387888,
475
+ -0.6885220520290388
476
+ ]
477
+ }
478
+ },
479
+ "grasp_34": {
480
+ "confidence": 0.9550118446350098,
481
+ "position": [
482
+ -0.08963507709631813,
483
+ -0.11717028229031712,
484
+ -0.0011614185059443116
485
+ ],
486
+ "orientation": {
487
+ "w": 0.6903912709879436,
488
+ "xyz": [
489
+ -0.15565367839843858,
490
+ 0.6858357973625571,
491
+ 0.16959093254284793
492
+ ]
493
+ }
494
+ },
495
+ "grasp_36": {
496
+ "confidence": 0.9451949596405029,
497
+ "position": [
498
+ -0.08954936561713112,
499
+ -0.11755862890277058,
500
+ 0.0014531829510815442
501
+ ],
502
+ "orientation": {
503
+ "w": 0.6885632723840709,
504
+ "xyz": [
505
+ -0.1511488439890356,
506
+ 0.6875804813383032,
507
+ 0.17397622989105507
508
+ ]
509
+ }
510
+ },
511
+ "grasp_37": {
512
+ "confidence": 0.9228144884109497,
513
+ "position": [
514
+ 0.054959577344561694,
515
+ -0.16209015308413655,
516
+ -0.003202265710569918
517
+ ],
518
+ "orientation": {
519
+ "w": 0.3703989632474101,
520
+ "xyz": [
521
+ -0.6231681424097958,
522
+ 0.33825804428798734,
523
+ 0.600039640178242
524
+ ]
525
+ }
526
+ },
527
+ "grasp_38": {
528
+ "confidence": 0.9188873171806335,
529
+ "position": [
530
+ -0.06982551810870063,
531
+ -0.15406088589224964,
532
+ 0.00019202075782231987
533
+ ],
534
+ "orientation": {
535
+ "w": 0.3109409023848828,
536
+ "xyz": [
537
+ -0.6331961847695082,
538
+ -0.29759947632207107,
539
+ -0.6432829070558638
540
+ ]
541
+ }
542
+ },
543
+ "grasp_39": {
544
+ "confidence": 0.9139786958694458,
545
+ "position": [
546
+ -0.060783206648920896,
547
+ -0.1587524568894878,
548
+ -0.003516133059747517
549
+ ],
550
+ "orientation": {
551
+ "w": 0.3342343492338522,
552
+ "xyz": [
553
+ -0.6008372159320167,
554
+ -0.3361094652081603,
555
+ -0.6436710861463111
556
+ ]
557
+ }
558
+ }
559
+ }
560
+ },
561
+ {
562
+ "part_name": "handle recess",
563
+ "mask_color": "Orange",
564
+ "graspable": false,
565
+ "grasp_scenarios": [],
566
+ "functional_labels": [
567
+ "reduce weight",
568
+ "provide shallow finger indexing",
569
+ "decorative or stiffening recess"
570
+ ],
571
+ "semantic_description": "Long narrow recessed slot centered along the handle, inset into the silver-gray metal surface with rounded ends and a smooth satin finish.",
572
+ "id": 4,
573
+ "grasp_group": {}
574
+ },
575
+ {
576
+ "part_name": "size marking",
577
+ "mask_color": "Yellow",
578
+ "graspable": false,
579
+ "grasp_scenarios": [],
580
+ "functional_labels": [
581
+ "indicate wrench size",
582
+ "aid tool selection",
583
+ "identify associated working end"
584
+ ],
585
+ "semantic_description": "Small engraved or stamped size text near a wrench head on the silver-gray metal surface, visible as subtle dark markings.",
586
+ "id": 3,
587
+ "grasp_group": {}
588
+ },
589
+ {
590
+ "part_name": "brand marking",
591
+ "mask_color": "Magenta",
592
+ "graspable": false,
593
+ "grasp_scenarios": [],
594
+ "functional_labels": [
595
+ "identify manufacturer",
596
+ "provide branding or model information"
597
+ ],
598
+ "semantic_description": "Small engraved or stamped brand text on the handle area of the silver-gray metal wrench, appearing as faint dark lettering on the smooth satin surface.",
599
+ "id": 7,
600
+ "grasp_group": {}
601
+ }
602
+ ],
603
+ "quality_check": {
604
+ "success": true,
605
+ "message": "YES"
606
+ }
607
+ }
dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b21f7cad80e2a95c9104656ab5485e7df97eb9a17175ee97ffbf61a7381e1c0
3
+ size 3783828