xinjjj commited on
Commit
9700897
·
verified ·
1 Parent(s): 582475e

Add asset tools/repair_tools/493c3190bca05e8098aaabee5300afee

Browse files
.gitattributes CHANGED
@@ -7846,3 +7846,4 @@ dataset/tools/repair_tools/453b7190adbc5950932f4a9c0d6c0c41/affordance/mesh_part
7846
  dataset/tools/repair_tools/4363cc0a1da0501b9796c723635fe7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7847
  dataset/tools/repair_tools/461d82c2887254bdb0ac02f6724b7d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7848
  dataset/tools/repair_tools/48a32431ed315501bd13e2da0bd5f67c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7846
  dataset/tools/repair_tools/4363cc0a1da0501b9796c723635fe7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7847
  dataset/tools/repair_tools/461d82c2887254bdb0ac02f6724b7d63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7848
  dataset/tools/repair_tools/48a32431ed315501bd13e2da0bd5f67c/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
dataset/tools/repair_tools/493c3190bca05e8098aaabee5300afee/affordance/affordance_annot.json ADDED
@@ -0,0 +1,277 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench handle/body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the middle of the handle to pick up and reposition the wrench",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle while using either open end to turn a nut or bolt",
14
+ "confidence": 0.96
15
+ },
16
+ {
17
+ "scenario": "grip the handle to stabilize the tool during placement or handoff",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "provide leverage",
24
+ "connect the two open-end heads",
25
+ "transmit turning force",
26
+ "support tool handling"
27
+ ],
28
+ "semantic_description": "Long blue painted metal handle/body with a smooth finish, slim flat elongated shape, located between the two open-ended wrench heads.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.9912920594215393,
33
+ "position": [
34
+ 0.0941873929114081,
35
+ -0.0011053942143917084,
36
+ -0.002299306001077639
37
+ ],
38
+ "orientation": {
39
+ "w": 0.712124757890325,
40
+ "xyz": [
41
+ -0.0617703467468295,
42
+ -0.6965582462490955,
43
+ -0.062204204398153655
44
+ ]
45
+ }
46
+ },
47
+ "grasp_3": {
48
+ "confidence": 0.9910173416137695,
49
+ "position": [
50
+ 0.09844976576277986,
51
+ 0.02347220340743661,
52
+ -0.0009506186070211697
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7099482984824007,
56
+ "xyz": [
57
+ -0.03294320504133164,
58
+ -0.702028984314383,
59
+ -0.045204688983167436
60
+ ]
61
+ }
62
+ },
63
+ "grasp_4": {
64
+ "confidence": 0.9906805157661438,
65
+ "position": [
66
+ 0.09505315782735124,
67
+ 0.019686103332787752,
68
+ -0.0005598433963314164
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7029444478518156,
72
+ "xyz": [
73
+ -0.07618875953233979,
74
+ -0.7029380455086571,
75
+ -0.07708748492263941
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9906600117683411,
81
+ "position": [
82
+ 0.09530328871915117,
83
+ -0.0003906320780515671,
84
+ 0.002110804180119885
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6991150319664888,
88
+ "xyz": [
89
+ -0.01515672074721515,
90
+ -0.7146526045318681,
91
+ -0.01673621015954122
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.9906368851661682,
97
+ "position": [
98
+ -0.09940371004631743,
99
+ 0.004382007929962128,
100
+ -0.0006357163838401902
101
+ ],
102
+ "orientation": {
103
+ "w": 0.0853680152960733,
104
+ "xyz": [
105
+ -0.6941339270756152,
106
+ -0.07769744675663826,
107
+ -0.7105304356707692
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9904272556304932,
113
+ "position": [
114
+ 0.09416635992238298,
115
+ 0.027634349185973406,
116
+ -0.00019043965221499093
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7141263307009859,
120
+ "xyz": [
121
+ -0.0008368660161262368,
122
+ -0.6999371843515779,
123
+ -0.010527175157742822
124
+ ]
125
+ }
126
+ },
127
+ "grasp_10": {
128
+ "confidence": 0.9902458190917969,
129
+ "position": [
130
+ 0.09806499542901292,
131
+ 0.028771812561899424,
132
+ -0.00411057962992345
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7082307852727248,
136
+ "xyz": [
137
+ -0.08446895008041554,
138
+ -0.6956722083133876,
139
+ -0.08552385541278631
140
+ ]
141
+ }
142
+ },
143
+ "grasp_11": {
144
+ "confidence": 0.9901705384254456,
145
+ "position": [
146
+ 0.09822834195801988,
147
+ 0.033247985411435366,
148
+ -0.0016736738798499573
149
+ ],
150
+ "orientation": {
151
+ "w": 0.02449871057804115,
152
+ "xyz": [
153
+ -0.6948291031569465,
154
+ 0.0005585287538963923,
155
+ 0.7187572737939828
156
+ ]
157
+ }
158
+ },
159
+ "grasp_12": {
160
+ "confidence": 0.9901244044303894,
161
+ "position": [
162
+ 0.09349005582043901,
163
+ 0.0007434424478560686,
164
+ -0.0021249677702144254
165
+ ],
166
+ "orientation": {
167
+ "w": 0.728536114452759,
168
+ "xyz": [
169
+ 0.011521782889255846,
170
+ -0.684770580886854,
171
+ -0.013843049122572842
172
+ ]
173
+ }
174
+ },
175
+ "grasp_13": {
176
+ "confidence": 0.9899911880493164,
177
+ "position": [
178
+ 0.09695074619958177,
179
+ 0.03414457896724343,
180
+ 0.00228798829994048
181
+ ],
182
+ "orientation": {
183
+ "w": 0.699637899555033,
184
+ "xyz": [
185
+ -0.001797970048546185,
186
+ -0.7144797391017139,
187
+ 0.00472008718915378
188
+ ]
189
+ }
190
+ },
191
+ "grasp_14": {
192
+ "confidence": 0.989756166934967,
193
+ "position": [
194
+ 0.0944564631790854,
195
+ -0.004084290470927954,
196
+ 0.0011323396865918767
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7039312579402675,
200
+ "xyz": [
201
+ -0.024236577061323695,
202
+ -0.70951990796465,
203
+ -0.021791572426471523
204
+ ]
205
+ }
206
+ },
207
+ "grasp_15": {
208
+ "confidence": 0.9895147085189819,
209
+ "position": [
210
+ -0.10162505594780669,
211
+ 0.013552014250308275,
212
+ -0.002993502206663834
213
+ ],
214
+ "orientation": {
215
+ "w": 0.04123455777399113,
216
+ "xyz": [
217
+ -0.6902887276898967,
218
+ -0.012889759927644295,
219
+ -0.7222430600278934
220
+ ]
221
+ }
222
+ },
223
+ "grasp_17": {
224
+ "confidence": 0.9893026947975159,
225
+ "position": [
226
+ 0.09812265547225252,
227
+ 0.024054415989667177,
228
+ 0.011592581151489867
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6639822059989184,
232
+ "xyz": [
233
+ 0.003656903768600639,
234
+ -0.7476954060410692,
235
+ 0.008113997579387853
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.9892892837524414,
241
+ "position": [
242
+ 0.10109811188885942,
243
+ 0.04799702065065503,
244
+ 0.0019014261015399825
245
+ ],
246
+ "orientation": {
247
+ "w": 0.02705037141148918,
248
+ "xyz": [
249
+ -0.7063830692414208,
250
+ 0.02481489302063411,
251
+ 0.7068772580723937
252
+ ]
253
+ }
254
+ }
255
+ }
256
+ },
257
+ {
258
+ "part_name": "selected open-end jaw surface",
259
+ "mask_color": "Red",
260
+ "graspable": false,
261
+ "grasp_scenarios": [],
262
+ "functional_labels": [
263
+ "fastener-contact surface of an open wrench head",
264
+ "engage hex fasteners",
265
+ "apply turning torque to nuts and bolts",
266
+ "contact flat fastener sides"
267
+ ],
268
+ "semantic_description": "Small red-masked region corresponding to the inner contact area and tip surface of one open-end wrench jaw, at an end of the blue metal wrench head with a smooth slightly reflective finish.",
269
+ "id": 0,
270
+ "grasp_group": {}
271
+ }
272
+ ],
273
+ "quality_check": {
274
+ "success": false,
275
+ "message": "Red mask covers an entire open-end wrench head, not just jaw contact surface; part name and description mismatch mask extent."
276
+ }
277
+ }
dataset/tools/repair_tools/493c3190bca05e8098aaabee5300afee/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c902f2c5c573b35b6071a253f30af3698af0fc6b80477d8d8b48a10c2dac14d1
3
+ size 3780272