xinjjj commited on
Commit
4c385af
·
verified ·
1 Parent(s): d6df370

Add asset tools/repair_tools/c7c37c4533675d83b328d643d055dc20

Browse files
.gitattributes CHANGED
@@ -7906,4 +7906,4 @@ dataset/tools/repair_tools/c2d0d8972bdd5be5a692fdf5dd7cf7d9/affordance/mesh_part
7906
  dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7907
  dataset/tools/repair_tools/c45c50a4f781590f9b66ed2146d88962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7908
  dataset/tools/repair_tools/c70f1081d0145b809aab5b1167978450/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7909
- dataset/tools/repair_tools/c86f9ee109c45a9db68d33448bea643f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7906
  dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7907
  dataset/tools/repair_tools/c45c50a4f781590f9b66ed2146d88962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7908
  dataset/tools/repair_tools/c70f1081d0145b809aab5b1167978450/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7909
+ dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/affordance_annot.json ADDED
@@ -0,0 +1,406 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench head",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the head to pick up or reorient the wrench when the handle is obstructed",
10
+ "confidence": 0.58
11
+ },
12
+ {
13
+ "scenario": "grasp near the jaws to stabilize the wrench during placement or tool handoff",
14
+ "confidence": 0.52
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "engage nuts and bolts",
19
+ "apply turning torque",
20
+ "provide adjustable jaw clamping",
21
+ "contact fastener flats"
22
+ ],
23
+ "semantic_description": "Silver metal head with a reflective smooth hard finish, featuring an open adjustable jaw and worm screw at one end, medium-sized and positioned opposite the handle grip.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9881733059883118,
28
+ "position": [
29
+ -0.09974734974093735,
30
+ 0.009580407291650772,
31
+ 0.0011823011154774576
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6913394006291081,
35
+ "xyz": [
36
+ 0.023751863215134277,
37
+ 0.7218737184073467,
38
+ -0.019596346709149372
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9877574443817139,
44
+ "position": [
45
+ -0.09981344384141266,
46
+ -0.001901982817798853,
47
+ -0.0006081508763600141
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6977135069816508,
51
+ "xyz": [
52
+ -0.014714513621341697,
53
+ 0.7160101016845221,
54
+ 0.017574969415999783
55
+ ]
56
+ }
57
+ },
58
+ "grasp_24": {
59
+ "confidence": 0.9799261689186096,
60
+ "position": [
61
+ 0.10368555295281112,
62
+ -0.01877740677446127,
63
+ -0.00424738202127628
64
+ ],
65
+ "orientation": {
66
+ "w": 0.7079176865661904,
67
+ "xyz": [
68
+ 0.09668439835269894,
69
+ -0.6925348043855348,
70
+ 0.09949985365134383
71
+ ]
72
+ }
73
+ },
74
+ "grasp_26": {
75
+ "confidence": 0.9784035682678223,
76
+ "position": [
77
+ 0.11490601557306945,
78
+ -0.0596975889056921,
79
+ -0.000775431253714487
80
+ ],
81
+ "orientation": {
82
+ "w": 0.013195683718893509,
83
+ "xyz": [
84
+ 0.7079167955458381,
85
+ 0.007033257006010318,
86
+ -0.7061375346284818
87
+ ]
88
+ }
89
+ },
90
+ "grasp_27": {
91
+ "confidence": 0.9776790142059326,
92
+ "position": [
93
+ 0.009853333933278918,
94
+ -0.17557497881352901,
95
+ -0.002592247416032478
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4986914490387732,
99
+ "xyz": [
100
+ -0.49735659214410366,
101
+ 0.5020559354653209,
102
+ 0.5018795638103363
103
+ ]
104
+ }
105
+ },
106
+ "grasp_28": {
107
+ "confidence": 0.9769391417503357,
108
+ "position": [
109
+ 0.10750014591030777,
110
+ -0.0287826806306839,
111
+ -0.0027220195333939046
112
+ ],
113
+ "orientation": {
114
+ "w": 0.10978632366296705,
115
+ "xyz": [
116
+ 0.6971401806156597,
117
+ 0.11858674815692949,
118
+ -0.6984838687251842
119
+ ]
120
+ }
121
+ },
122
+ "grasp_30": {
123
+ "confidence": 0.9754671454429626,
124
+ "position": [
125
+ 0.10326571273617446,
126
+ -0.009227300470229238,
127
+ 0.0017591467185411602
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6867765255977953,
131
+ "xyz": [
132
+ 0.15911653814075805,
133
+ -0.6916292847548637,
134
+ 0.1570632472840058
135
+ ]
136
+ }
137
+ },
138
+ "grasp_39": {
139
+ "confidence": 0.9737175703048706,
140
+ "position": [
141
+ -0.11372586828656495,
142
+ -0.06527208723127842,
143
+ 0.00018259508669871138
144
+ ],
145
+ "orientation": {
146
+ "w": 0.011468951753524984,
147
+ "xyz": [
148
+ -0.7092554988687724,
149
+ 0.015346668594525159,
150
+ -0.7046911239920183
151
+ ]
152
+ }
153
+ }
154
+ }
155
+ },
156
+ {
157
+ "part_name": "handle grip",
158
+ "mask_color": "Orange",
159
+ "graspable": true,
160
+ "grasp_scenarios": [
161
+ {
162
+ "scenario": "grasp the handle to pick up and carry the wrench",
163
+ "confidence": 0.97
164
+ },
165
+ {
166
+ "scenario": "hold the handle to position the wrench onto a fastener",
167
+ "confidence": 0.94
168
+ },
169
+ {
170
+ "scenario": "grasp the handle to apply turning force during tool use",
171
+ "confidence": 0.91
172
+ }
173
+ ],
174
+ "functional_labels": [
175
+ "main grasp surface",
176
+ "provide leverage",
177
+ "improve handling comfort",
178
+ "support controlled tool positioning"
179
+ ],
180
+ "semantic_description": "Peach-orange grip sleeve on the handle, likely rubber or plastic, with a matte slightly textured hard-to-firm surface, elongated and cylindrical along most of the wrench body.",
181
+ "id": 4,
182
+ "grasp_group": {
183
+ "grasp_41": {
184
+ "confidence": 0.9952009916305542,
185
+ "position": [
186
+ 0.1038711245637387,
187
+ 0.05117768235504627,
188
+ 0.00015233292651828378
189
+ ],
190
+ "orientation": {
191
+ "w": 0.7122446990645286,
192
+ "xyz": [
193
+ -0.030921086457819595,
194
+ -0.7000392620115544,
195
+ -0.04118745815252678
196
+ ]
197
+ }
198
+ },
199
+ "grasp_45": {
200
+ "confidence": 0.994466245174408,
201
+ "position": [
202
+ 0.10590876895003021,
203
+ 0.047918299213051796,
204
+ -0.0008283204806502908
205
+ ],
206
+ "orientation": {
207
+ "w": 0.023174314310666435,
208
+ "xyz": [
209
+ -0.6962118270014467,
210
+ 0.04508319906900182,
211
+ 0.71604437590225
212
+ ]
213
+ }
214
+ },
215
+ "grasp_46": {
216
+ "confidence": 0.9942871928215027,
217
+ "position": [
218
+ -0.09892175090499222,
219
+ 0.05593321658670902,
220
+ 0.0006368379981722683
221
+ ],
222
+ "orientation": {
223
+ "w": 0.04155114416933176,
224
+ "xyz": [
225
+ -0.6972741850009628,
226
+ -0.04355200136349391,
227
+ -0.7142726625923022
228
+ ]
229
+ }
230
+ },
231
+ "grasp_47": {
232
+ "confidence": 0.9942615032196045,
233
+ "position": [
234
+ 0.10738902050070465,
235
+ 0.06336118467152119,
236
+ 0.0018022463482338935
237
+ ],
238
+ "orientation": {
239
+ "w": 0.7106969658485711,
240
+ "xyz": [
241
+ -0.010216109283750703,
242
+ -0.7032848176825732,
243
+ -0.013997109056042208
244
+ ]
245
+ }
246
+ },
247
+ "grasp_48": {
248
+ "confidence": 0.9942153096199036,
249
+ "position": [
250
+ 0.10178373265080154,
251
+ 0.05147712863981724,
252
+ 0.002426659717457369
253
+ ],
254
+ "orientation": {
255
+ "w": 0.7065739755849396,
256
+ "xyz": [
257
+ -0.029879728276601455,
258
+ -0.7066488808278878,
259
+ -0.022533931945043877
260
+ ]
261
+ }
262
+ },
263
+ "grasp_49": {
264
+ "confidence": 0.9941962957382202,
265
+ "position": [
266
+ 0.10350765543989837,
267
+ 0.06185651011765003,
268
+ -0.0021169469400774688
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7090393703419802,
272
+ "xyz": [
273
+ -0.006831924825715506,
274
+ -0.7045837682308745,
275
+ -0.027896409335359643
276
+ ]
277
+ }
278
+ },
279
+ "grasp_50": {
280
+ "confidence": 0.9940547347068787,
281
+ "position": [
282
+ 0.10640891897492111,
283
+ 0.06716702319681644,
284
+ 0.0047492066223639995
285
+ ],
286
+ "orientation": {
287
+ "w": 0.700548404921485,
288
+ "xyz": [
289
+ -0.002458147424606828,
290
+ -0.7136005738900186,
291
+ -0.0003328919312223705
292
+ ]
293
+ }
294
+ },
295
+ "grasp_54": {
296
+ "confidence": 0.9936656355857849,
297
+ "position": [
298
+ -0.09758639079518616,
299
+ 0.07418292947113514,
300
+ -0.0029035429179202765
301
+ ],
302
+ "orientation": {
303
+ "w": 0.7112793512530885,
304
+ "xyz": [
305
+ 0.013770073041108697,
306
+ 0.7023481470337846,
307
+ -0.024477539248016555
308
+ ]
309
+ }
310
+ }
311
+ }
312
+ },
313
+ {
314
+ "part_name": "hanging hole loop",
315
+ "mask_color": "Blue",
316
+ "graspable": true,
317
+ "grasp_scenarios": [
318
+ {
319
+ "scenario": "pinch the end loop to lift or pull the wrench from storage",
320
+ "confidence": 0.42
321
+ },
322
+ {
323
+ "scenario": "grasp the loop end to reorient the wrench in a bin",
324
+ "confidence": 0.35
325
+ }
326
+ ],
327
+ "functional_labels": [
328
+ "enable hanging storage",
329
+ "provide end orientation cue",
330
+ "allow tether or hook attachment"
331
+ ],
332
+ "semantic_description": "Small circular silver metal loop at the handle end with a smooth reflective hard surface and central hole, forming the smallest distinct part at the far rear of the wrench.",
333
+ "id": 2,
334
+ "grasp_group": {
335
+ "grasp_1": {
336
+ "confidence": 0.9838787317276001,
337
+ "position": [
338
+ -0.07651411485858262,
339
+ 0.14737395383417606,
340
+ -0.00017836494953371584
341
+ ],
342
+ "orientation": {
343
+ "w": 0.6675960395529955,
344
+ "xyz": [
345
+ 0.23555686503982742,
346
+ 0.6692832859559904,
347
+ -0.2255845173005367
348
+ ]
349
+ }
350
+ },
351
+ "grasp_3": {
352
+ "confidence": 0.9829346537590027,
353
+ "position": [
354
+ 0.09869567560963333,
355
+ 0.13100788928568363,
356
+ -0.002798350964440033
357
+ ],
358
+ "orientation": {
359
+ "w": 0.17169177831517807,
360
+ "xyz": [
361
+ 0.6703312875717536,
362
+ 0.16450118855420304,
363
+ -0.7029347459939804
364
+ ]
365
+ }
366
+ },
367
+ "grasp_17": {
368
+ "confidence": 0.9867532253265381,
369
+ "position": [
370
+ -0.08240496856160462,
371
+ 0.1438323799520731,
372
+ -0.004937415680615231
373
+ ],
374
+ "orientation": {
375
+ "w": 0.6835292556211036,
376
+ "xyz": [
377
+ 0.21231931369182352,
378
+ 0.6629716126856459,
379
+ -0.21949238373230073
380
+ ]
381
+ }
382
+ },
383
+ "grasp_18": {
384
+ "confidence": 0.9866873621940613,
385
+ "position": [
386
+ 0.0978916238527745,
387
+ 0.12535975314676762,
388
+ 0.016453015414299443
389
+ ],
390
+ "orientation": {
391
+ "w": 0.6434315864594146,
392
+ "xyz": [
393
+ 0.15337992067287504,
394
+ -0.7343504839932374,
395
+ 0.15231467473491153
396
+ ]
397
+ }
398
+ }
399
+ }
400
+ }
401
+ ],
402
+ "quality_check": {
403
+ "success": true,
404
+ "message": "YES"
405
+ }
406
+ }
dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2de64622e33819c00ba459cce739762041259c9815837132651d311294fea8d9
3
+ size 3754672