Add asset tools/repair_tools/df91a449d82850709a0ae2e75488acc1
Browse files
.gitattributes
CHANGED
|
@@ -7925,4 +7925,4 @@ dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/affordance/mesh_part
|
|
| 7925 |
dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7926 |
dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7927 |
dataset/tools/repair_tools/dbb69c7899665d499d8d1cb5099d10ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7928 |
-
dataset/tools/repair_tools/
|
|
|
|
| 7925 |
dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7926 |
dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7927 |
dataset/tools/repair_tools/dbb69c7899665d499d8d1cb5099d10ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7928 |
+
dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,369 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grip",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle grip to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle grip to apply turning torque",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by clamping the handle during handoff or placement",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"improve hand comfort",
|
| 25 |
+
"insulate the metal shaft",
|
| 26 |
+
"aid tool orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Elongated light cyan-blue plastic handle with a smooth semi-gloss surface, rounded rectangular shape, medium size at one end of the tool, and visible white printed brand markings.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9942679405212402,
|
| 33 |
+
"position": [
|
| 34 |
+
0.09446640103124082,
|
| 35 |
+
0.005376951768994331,
|
| 36 |
+
0.0017259273690797272
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.044840631803532566,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.7134789249753418,
|
| 42 |
+
0.04352707361545094,
|
| 43 |
+
0.6978843279641447
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_22": {
|
| 48 |
+
"confidence": 0.993439257144928,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09634874551557004,
|
| 51 |
+
-0.0005159974098205566,
|
| 52 |
+
0.0022585047654501977
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.016922217117554147,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.7134593573207672,
|
| 58 |
+
0.012225152103240156,
|
| 59 |
+
0.7003855578717458
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_30": {
|
| 64 |
+
"confidence": 0.9922606348991394,
|
| 65 |
+
"position": [
|
| 66 |
+
0.09301012544892728,
|
| 67 |
+
0.005182081833481789,
|
| 68 |
+
0.005154206907718617
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6922760099745474,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.038254682489698356,
|
| 74 |
+
-0.7170886419368261,
|
| 75 |
+
-0.07123471686285847
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_32": {
|
| 80 |
+
"confidence": 0.9920154809951782,
|
| 81 |
+
"position": [
|
| 82 |
+
0.09545596479438245,
|
| 83 |
+
0.014625966548919678,
|
| 84 |
+
-0.0027742506690628943
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7025992756893787,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.00490570567564443,
|
| 90 |
+
-0.711535956545261,
|
| 91 |
+
0.00683918093081072
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_33": {
|
| 96 |
+
"confidence": 0.9920046925544739,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.007345176534727216,
|
| 99 |
+
-0.013608817011117935,
|
| 100 |
+
0.09743598385375662
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.053452587113905846,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.9979619005961524,
|
| 106 |
+
-0.008227786961035918,
|
| 107 |
+
-0.03386988944577583
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_35": {
|
| 112 |
+
"confidence": 0.9916660189628601,
|
| 113 |
+
"position": [
|
| 114 |
+
0.09418188570998609,
|
| 115 |
+
0.015788456425070763,
|
| 116 |
+
-0.006901110963553947
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7120233557208437,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.009403765235772438,
|
| 122 |
+
-0.7018475248470212,
|
| 123 |
+
0.018556992577698602
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_38": {
|
| 128 |
+
"confidence": 0.9909896850585938,
|
| 129 |
+
"position": [
|
| 130 |
+
0.002666687112650834,
|
| 131 |
+
0.011057265102863312,
|
| 132 |
+
-0.09636046455580072
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.015879633311340333,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.02558752496491455,
|
| 138 |
+
0.0014847456575719509,
|
| 139 |
+
-0.9995453523189425
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_39": {
|
| 144 |
+
"confidence": 0.9909818768501282,
|
| 145 |
+
"position": [
|
| 146 |
+
0.011816640151664615,
|
| 147 |
+
0.011454733088612556,
|
| 148 |
+
-0.09881576613861398
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.998538352669118,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.019464155314175793,
|
| 154 |
+
-0.04746247640007206,
|
| 155 |
+
-0.01701817383629772
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "hex shaft",
|
| 163 |
+
"mask_color": "Red",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "grasp the metal shaft to pick up the tool when the handle is obstructed",
|
| 168 |
+
"confidence": 0.68
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "clamp the shaft near the bend to orient the working tip precisely",
|
| 172 |
+
"confidence": 0.63
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"scenario": "hold the short arm for leverage in a constrained manipulation setup",
|
| 176 |
+
"confidence": 0.46
|
| 177 |
+
}
|
| 178 |
+
],
|
| 179 |
+
"functional_labels": [
|
| 180 |
+
"engage hex socket",
|
| 181 |
+
"transmit torque",
|
| 182 |
+
"reach recessed fasteners",
|
| 183 |
+
"provide leverage arm",
|
| 184 |
+
"set tool orientation"
|
| 185 |
+
],
|
| 186 |
+
"semantic_description": "L-shaped light gray metal rod with a smooth hard surface, slender hexagonal cross-section, and long-and-short arm geometry extending from the handle.",
|
| 187 |
+
"id": 0,
|
| 188 |
+
"grasp_group": {
|
| 189 |
+
"grasp_0": {
|
| 190 |
+
"confidence": 0.9256356358528137,
|
| 191 |
+
"position": [
|
| 192 |
+
-0.050064837792888284,
|
| 193 |
+
-0.1383493561297655,
|
| 194 |
+
-0.020935325858772558
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.6891866992138659,
|
| 198 |
+
"xyz": [
|
| 199 |
+
-0.31847482516635284,
|
| 200 |
+
0.557665049509267,
|
| 201 |
+
0.3355669410382736
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_1": {
|
| 206 |
+
"confidence": 0.8845143914222717,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.04945967183448374,
|
| 209 |
+
-0.14514827914536,
|
| 210 |
+
0.021171337949454028
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.27450100928843874,
|
| 214 |
+
"xyz": [
|
| 215 |
+
-0.6793563228368966,
|
| 216 |
+
-0.38972753840144503,
|
| 217 |
+
-0.5578858560070408
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_2": {
|
| 222 |
+
"confidence": 0.855812668800354,
|
| 223 |
+
"position": [
|
| 224 |
+
-0.016331074992194772,
|
| 225 |
+
-0.17335912771523,
|
| 226 |
+
0.005117642252116639
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.5413401902663435,
|
| 230 |
+
"xyz": [
|
| 231 |
+
-0.46208035847579076,
|
| 232 |
+
0.5585001546265993,
|
| 233 |
+
0.4260400427135319
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_3": {
|
| 238 |
+
"confidence": 0.8234738707542419,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.002414763206616044,
|
| 241 |
+
-0.1729396004229784,
|
| 242 |
+
-0.0069044483580000815
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.5432661957784106,
|
| 246 |
+
"xyz": [
|
| 247 |
+
-0.48064204564910407,
|
| 248 |
+
0.4938841882799391,
|
| 249 |
+
0.47950336082843414
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_5": {
|
| 254 |
+
"confidence": 0.8077599406242371,
|
| 255 |
+
"position": [
|
| 256 |
+
0.005588569678366184,
|
| 257 |
+
-0.17689950950443745,
|
| 258 |
+
0.001708440856418747
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.5179658516623538,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.5022446342700049,
|
| 264 |
+
0.4953046419801763,
|
| 265 |
+
0.4838749998621246
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"grasp_7": {
|
| 270 |
+
"confidence": 0.7963411211967468,
|
| 271 |
+
"position": [
|
| 272 |
+
-0.0062296653632074594,
|
| 273 |
+
-0.16508123464882374,
|
| 274 |
+
0.02010084597986861
|
| 275 |
+
],
|
| 276 |
+
"orientation": {
|
| 277 |
+
"w": 0.48380505966326565,
|
| 278 |
+
"xyz": [
|
| 279 |
+
-0.5022507302522893,
|
| 280 |
+
0.5774411440723568,
|
| 281 |
+
0.4245451605396935
|
| 282 |
+
]
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"grasp_16": {
|
| 286 |
+
"confidence": 0.7439195513725281,
|
| 287 |
+
"position": [
|
| 288 |
+
-0.010164845967665315,
|
| 289 |
+
-0.16627916879951954,
|
| 290 |
+
0.00017112331534008263
|
| 291 |
+
],
|
| 292 |
+
"orientation": {
|
| 293 |
+
"w": 0.5420690560015169,
|
| 294 |
+
"xyz": [
|
| 295 |
+
-0.4720577378959207,
|
| 296 |
+
0.5210671322915749,
|
| 297 |
+
0.4602300232097468
|
| 298 |
+
]
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"grasp_18": {
|
| 302 |
+
"confidence": 0.7169835567474365,
|
| 303 |
+
"position": [
|
| 304 |
+
0.029383174842223525,
|
| 305 |
+
-0.18131052143871784,
|
| 306 |
+
0.010409480916678149
|
| 307 |
+
],
|
| 308 |
+
"orientation": {
|
| 309 |
+
"w": 0.5043523379838849,
|
| 310 |
+
"xyz": [
|
| 311 |
+
-0.4549491639554018,
|
| 312 |
+
-0.5841701553924903,
|
| 313 |
+
-0.44429180381274636
|
| 314 |
+
]
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
{
|
| 320 |
+
"part_name": "handle collar",
|
| 321 |
+
"mask_color": "Orange",
|
| 322 |
+
"graspable": false,
|
| 323 |
+
"grasp_scenarios": [],
|
| 324 |
+
"functional_labels": [
|
| 325 |
+
"connect handle to shaft",
|
| 326 |
+
"reinforce handle opening",
|
| 327 |
+
"retain shaft in handle",
|
| 328 |
+
"provide transition support"
|
| 329 |
+
],
|
| 330 |
+
"semantic_description": "Small orange collar at the junction between handle and metal shaft, with a smooth slightly rounded ring shape and hard finish.",
|
| 331 |
+
"id": 4,
|
| 332 |
+
"grasp_group": {}
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"part_name": "hex tip end",
|
| 336 |
+
"mask_color": "Purple",
|
| 337 |
+
"graspable": false,
|
| 338 |
+
"grasp_scenarios": [],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"insert into hex socket",
|
| 341 |
+
"drive fasteners",
|
| 342 |
+
"locate tool endpoint",
|
| 343 |
+
"provide working contact"
|
| 344 |
+
],
|
| 345 |
+
"semantic_description": "Tiny exposed end face of the bent metal tip, metallic and flat-cut with a hard smooth finish, located at the extreme end of the short arm.",
|
| 346 |
+
"id": 5,
|
| 347 |
+
"grasp_group": {}
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"part_name": "end cap of handle",
|
| 351 |
+
"mask_color": "Magenta",
|
| 352 |
+
"graspable": false,
|
| 353 |
+
"grasp_scenarios": [],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"close handle end",
|
| 356 |
+
"protect handle interior",
|
| 357 |
+
"provide end stop",
|
| 358 |
+
"indicate handle termination"
|
| 359 |
+
],
|
| 360 |
+
"semantic_description": "Small rounded end face on the back of the handle, appearing magenta in the mask and matching the compact oval termination of the light cyan-blue handle.",
|
| 361 |
+
"id": 7,
|
| 362 |
+
"grasp_group": {}
|
| 363 |
+
}
|
| 364 |
+
],
|
| 365 |
+
"quality_check": {
|
| 366 |
+
"success": false,
|
| 367 |
+
"message": "Semantic description wrongly uses mask color for handle end cap; visible cap is cyan-blue, not magenta."
|
| 368 |
+
}
|
| 369 |
+
}
|
dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba0b7c279a0f41a4ff56fa15885e5dd5c5fc897db225e8e03b7978044486ba7e
|
| 3 |
+
size 3775260
|