xinjjj commited on
Commit
d357853
·
verified ·
1 Parent(s): 2f20590

Add asset tools/repair_tools/b380395f24ce5f26a492af263f31be34

Browse files
.gitattributes CHANGED
@@ -7890,3 +7890,4 @@ dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part
7890
  dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7891
  dataset/tools/repair_tools/b207d8b52aed5993968674535e303188/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7892
  dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7890
  dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7891
  dataset/tools/repair_tools/b207d8b52aed5993968674535e303188/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7892
  dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7893
+ dataset/tools/repair_tools/b380395f24ce5f26a492af263f31be34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/b380395f24ce5f26a492af263f31be34/affordance/affordance_annot.json ADDED
@@ -0,0 +1,307 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "screwdriver handle",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and use the screwdriver",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to apply torque while driving a screw",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize and reposition the tool",
18
+ "confidence": 0.95
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "apply turning torque",
24
+ "support tool handling",
25
+ "provide hand comfort",
26
+ "stabilize the tool during use"
27
+ ],
28
+ "semantic_description": "Bulbous green-and-orange ergonomic handle made of plastic with rubberized textured grip areas, mostly matte finish, tapered rear shape, and white branding on an orange inset.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.992017388343811,
33
+ "position": [
34
+ 0.03293496501282789,
35
+ -0.004508680664002895,
36
+ 0.09063303967559477
37
+ ],
38
+ "orientation": {
39
+ "w": 0.1915215431191611,
40
+ "xyz": [
41
+ 0.014382140080772664,
42
+ -0.9810856712523871,
43
+ 0.02415694995659938
44
+ ]
45
+ }
46
+ },
47
+ "grasp_22": {
48
+ "confidence": 0.9916328191757202,
49
+ "position": [
50
+ 0.02229391914443113,
51
+ -0.009930761530995369,
52
+ 0.09451568623626372
53
+ ],
54
+ "orientation": {
55
+ "w": 0.023827278075385976,
56
+ "xyz": [
57
+ 0.991449216925433,
58
+ 0.002336540031304901,
59
+ -0.1282780248450466
60
+ ]
61
+ }
62
+ },
63
+ "grasp_25": {
64
+ "confidence": 0.9913621544837952,
65
+ "position": [
66
+ 0.020620531780878082,
67
+ -0.004226411692798138,
68
+ 0.09647729744756361
69
+ ],
70
+ "orientation": {
71
+ "w": 0.05123977415109672,
72
+ "xyz": [
73
+ 0.9919490234620771,
74
+ 0.0013177805049725821,
75
+ -0.1158010528972722
76
+ ]
77
+ }
78
+ },
79
+ "grasp_26": {
80
+ "confidence": 0.9912726283073425,
81
+ "position": [
82
+ 0.09467458483413793,
83
+ -0.028135424479842186,
84
+ 0.013800767563225236
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6545016606754586,
88
+ "xyz": [
89
+ -0.03234595873307319,
90
+ -0.7547097758449003,
91
+ -0.031535208431937856
92
+ ]
93
+ }
94
+ },
95
+ "grasp_27": {
96
+ "confidence": 0.9911515116691589,
97
+ "position": [
98
+ 0.0888489535136614,
99
+ -0.007675372064113617,
100
+ 0.04664959510409972
101
+ ],
102
+ "orientation": {
103
+ "w": 0.007698265667907387,
104
+ "xyz": [
105
+ -0.8548687997741797,
106
+ 4.065900655758625e-05,
107
+ 0.5187871145520144
108
+ ]
109
+ }
110
+ },
111
+ "grasp_28": {
112
+ "confidence": 0.9911284446716309,
113
+ "position": [
114
+ 0.041144588409224525,
115
+ -0.005325227975845337,
116
+ 0.08974735190713545
117
+ ],
118
+ "orientation": {
119
+ "w": 0.005255273590183912,
120
+ "xyz": [
121
+ 0.9742680358451952,
122
+ 0.02991063714042161,
123
+ -0.2233372566673369
124
+ ]
125
+ }
126
+ },
127
+ "grasp_29": {
128
+ "confidence": 0.9911235570907593,
129
+ "position": [
130
+ 0.0380560694320593,
131
+ -0.010885851457715034,
132
+ 0.08998897423589369
133
+ ],
134
+ "orientation": {
135
+ "w": 0.21724028652818894,
136
+ "xyz": [
137
+ -0.0038520673744571244,
138
+ -0.9759363962037587,
139
+ -0.018438276788069134
140
+ ]
141
+ }
142
+ },
143
+ "grasp_32": {
144
+ "confidence": 0.9909638166427612,
145
+ "position": [
146
+ 0.08395978566841222,
147
+ -0.003950431011617184,
148
+ 0.05301916723692557
149
+ ],
150
+ "orientation": {
151
+ "w": 0.49536618974184654,
152
+ "xyz": [
153
+ -0.014192876113686748,
154
+ -0.8685682996234524,
155
+ -9.600776637788494e-05
156
+ ]
157
+ }
158
+ },
159
+ "grasp_35": {
160
+ "confidence": 0.9909058809280396,
161
+ "position": [
162
+ 0.02686123308376409,
163
+ -0.016109436750411987,
164
+ 0.094736864171864
165
+ ],
166
+ "orientation": {
167
+ "w": 0.14716241268592703,
168
+ "xyz": [
169
+ 0.014296777221344347,
170
+ -0.9883134582023242,
171
+ -0.037085506464140015
172
+ ]
173
+ }
174
+ },
175
+ "grasp_36": {
176
+ "confidence": 0.9909015893936157,
177
+ "position": [
178
+ 0.09289654102758504,
179
+ -0.0340185035020113,
180
+ 0.01604198043787619
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6384978444130677,
184
+ "xyz": [
185
+ -0.06463645283726653,
186
+ -0.7599396830097093,
187
+ -0.10312279006885354
188
+ ]
189
+ }
190
+ },
191
+ "grasp_37": {
192
+ "confidence": 0.9908015131950378,
193
+ "position": [
194
+ -0.0980789536552038,
195
+ -0.009774144738912582,
196
+ 0.012430984839738812
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6599647651344968,
200
+ "xyz": [
201
+ 0.016854302875488923,
202
+ 0.7508111084212289,
203
+ 0.021097884416116215
204
+ ]
205
+ }
206
+ },
207
+ "grasp_38": {
208
+ "confidence": 0.9907991290092468,
209
+ "position": [
210
+ 0.032590658782282844,
211
+ -0.004506849683821201,
212
+ 0.0927585487588658
213
+ ],
214
+ "orientation": {
215
+ "w": 0.02449894850441489,
216
+ "xyz": [
217
+ -0.9846166605956272,
218
+ 0.0147675980313908,
219
+ 0.17237096985303801
220
+ ]
221
+ }
222
+ }
223
+ }
224
+ },
225
+ {
226
+ "part_name": "screwdriver shaft and tip",
227
+ "mask_color": "Green",
228
+ "graspable": true,
229
+ "grasp_scenarios": [
230
+ {
231
+ "scenario": "grasp the metal shaft to pick up or place the screwdriver in tight storage",
232
+ "confidence": 0.42
233
+ },
234
+ {
235
+ "scenario": "hold the shaft near the tip to precisely orient the screwdriver before insertion",
236
+ "confidence": 0.39
237
+ },
238
+ {
239
+ "scenario": "grasp the shaft to stabilize the tool while another gripper manipulates the handle",
240
+ "confidence": 0.35
241
+ }
242
+ ],
243
+ "functional_labels": [
244
+ "engage screw head",
245
+ "transmit torque to the screw",
246
+ "provide reach into recessed areas",
247
+ "indicate tool orientation"
248
+ ],
249
+ "semantic_description": "Slim silver metal shaft ending in a darker gray Phillips tip, with a smooth reflective finish, narrow cylindrical form, and front position projecting straight out from the handle.",
250
+ "id": 1,
251
+ "grasp_group": {
252
+ "grasp_3": {
253
+ "confidence": 0.7159345149993896,
254
+ "position": [
255
+ 0.0060717024898622185,
256
+ 0.1750871855765581,
257
+ 0.0046443891114904545
258
+ ],
259
+ "orientation": {
260
+ "w": 0.4871221033291738,
261
+ "xyz": [
262
+ 0.5112127386809981,
263
+ 0.48978819564157616,
264
+ -0.5113522422641801
265
+ ]
266
+ }
267
+ },
268
+ "grasp_6": {
269
+ "confidence": 0.6781063079833984,
270
+ "position": [
271
+ 0.0051982034055981785,
272
+ 0.17393039353191853,
273
+ 0.00013085215323371813
274
+ ],
275
+ "orientation": {
276
+ "w": 0.5105122385182271,
277
+ "xyz": [
278
+ 0.520857269642623,
279
+ 0.46713268519640083,
280
+ -0.49987199701997764
281
+ ]
282
+ }
283
+ },
284
+ "grasp_14": {
285
+ "confidence": 0.6442870497703552,
286
+ "position": [
287
+ 0.007647213438758627,
288
+ 0.17235724814236164,
289
+ 0.0074478390961303376
290
+ ],
291
+ "orientation": {
292
+ "w": 0.5462644473590389,
293
+ "xyz": [
294
+ 0.5168651316507706,
295
+ -0.4921953770871551,
296
+ 0.43839400088184144
297
+ ]
298
+ }
299
+ }
300
+ }
301
+ }
302
+ ],
303
+ "quality_check": {
304
+ "success": true,
305
+ "message": "YES"
306
+ }
307
+ }
dataset/tools/repair_tools/b380395f24ce5f26a492af263f31be34/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcd488f4c5745d35de391895357198556967b26439e044cb1e688ed8d6c77d4f
3
+ size 3779212