Add asset tools/repair_tools/5f58fe9a8deb530c85fb19d976e353ff
Browse files
.gitattributes
CHANGED
|
@@ -7870,3 +7870,4 @@ dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part
|
|
| 7870 |
dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7871 |
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7872 |
dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7870 |
dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7871 |
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7872 |
dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7873 |
+
dataset/tools/repair_tools/5f58fe9a8deb530c85fb19d976e353ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/5f58fe9a8deb530c85fb19d976e353ff/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,326 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle handle to pick up and reposition the wrench",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque with the open end on a fastener",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the ring end to stabilize or orient the wrench for insertion",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main grip",
|
| 23 |
+
"apply torque to fasteners",
|
| 24 |
+
"engage nuts with the open end",
|
| 25 |
+
"engage nuts or bolts with the ring end",
|
| 26 |
+
"connect the two working ends"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A small one-piece dark gray metal wrench with a dull slightly reflective smooth hard surface, slim flat elongated shape, open jaw on one end and circular ring end on the other, with no clear markings visible.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.953471839427948,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.013538915663957596,
|
| 35 |
+
0.11865941854193807,
|
| 36 |
+
0.0022737241815775633
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4936085223097422,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5026970347308193,
|
| 42 |
+
0.5065160713269642,
|
| 43 |
+
-0.49707925672223785
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9516376852989197,
|
| 49 |
+
"position": [
|
| 50 |
+
0.15516957640647888,
|
| 51 |
+
0.153439421672374,
|
| 52 |
+
-0.0030929194763302803
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.49888614669361164,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5031685897700805,
|
| 58 |
+
-0.4784543763623449,
|
| 59 |
+
0.5186669380688421
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9494290351867676,
|
| 65 |
+
"position": [
|
| 66 |
+
0.14267276227474213,
|
| 67 |
+
0.1553998184390366,
|
| 68 |
+
-0.004390046466141939
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.48933268037885347,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5072439045639662,
|
| 74 |
+
-0.4539746092126635,
|
| 75 |
+
0.5451276945690415
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.948093056678772,
|
| 81 |
+
"position": [
|
| 82 |
+
0.14457948505878448,
|
| 83 |
+
0.15596412541344762,
|
| 84 |
+
-0.0022875850554555655
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5406024748259568,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.46072418861961656,
|
| 90 |
+
0.5127782139931641,
|
| 91 |
+
-0.4822247292360971
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.948016881942749,
|
| 97 |
+
"position": [
|
| 98 |
+
0.14500218629837036,
|
| 99 |
+
0.1540890079922974,
|
| 100 |
+
-0.0021529479417949915
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5329448024335987,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.4673201757847198,
|
| 106 |
+
0.5110047232021313,
|
| 107 |
+
-0.48626727602077424
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.947428822517395,
|
| 113 |
+
"position": [
|
| 114 |
+
0.15447326004505157,
|
| 115 |
+
0.15779707254841924,
|
| 116 |
+
-0.00025334733072668314
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.48831400105821104,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.5150279849064058,
|
| 122 |
+
-0.47293121574496033,
|
| 123 |
+
0.522141433241763
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9472952485084534,
|
| 129 |
+
"position": [
|
| 130 |
+
0.13822326064109802,
|
| 131 |
+
0.1562458467669785,
|
| 132 |
+
-0.0005769152194261551
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5284173274209988,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.4684257130483203,
|
| 138 |
+
0.51544862169993,
|
| 139 |
+
-0.4854536000732341
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.946810245513916,
|
| 145 |
+
"position": [
|
| 146 |
+
0.1566314399242401,
|
| 147 |
+
0.15724827768281102,
|
| 148 |
+
-0.006251632701605558
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.5059984583730732,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.4940595182904812,
|
| 154 |
+
-0.4728295039936167,
|
| 155 |
+
0.5256453297269947
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.9466685652732849,
|
| 161 |
+
"position": [
|
| 162 |
+
0.15698915719985962,
|
| 163 |
+
0.15668778540566564,
|
| 164 |
+
-0.006526123732328415
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5199465238710044,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.4719706240475664,
|
| 170 |
+
0.4957000351140963,
|
| 171 |
+
-0.5110585265294904
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_10": {
|
| 176 |
+
"confidence": 0.9455636739730835,
|
| 177 |
+
"position": [
|
| 178 |
+
0.1393190324306488,
|
| 179 |
+
0.15689146937802434,
|
| 180 |
+
0.0038774071726948023
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5191850255619216,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.4725105160283991,
|
| 186 |
+
0.5241734150401471,
|
| 187 |
+
-0.4821026368316111
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_11": {
|
| 192 |
+
"confidence": 0.9438731074333191,
|
| 193 |
+
"position": [
|
| 194 |
+
0.1467159241437912,
|
| 195 |
+
0.15440422715619206,
|
| 196 |
+
0.0059410445392131805
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5219201050014356,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.47644638528652944,
|
| 202 |
+
0.5261653959141634,
|
| 203 |
+
-0.473020318892521
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_12": {
|
| 208 |
+
"confidence": 0.9438135027885437,
|
| 209 |
+
"position": [
|
| 210 |
+
0.1788095384836197,
|
| 211 |
+
0.15431142272427678,
|
| 212 |
+
-0.001603235024958849
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.46851964562339227,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.5345524268105504,
|
| 218 |
+
0.4334005399954127,
|
| 219 |
+
-0.5539918921677164
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_13": {
|
| 224 |
+
"confidence": 0.9424101114273071,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.008200468495488167,
|
| 227 |
+
0.11790489824488759,
|
| 228 |
+
0.00016668136231601238
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.500234719662448,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.5063282193480223,
|
| 234 |
+
0.5009844268249235,
|
| 235 |
+
-0.4923530883573249
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9418675899505615,
|
| 241 |
+
"position": [
|
| 242 |
+
0.13396058976650238,
|
| 243 |
+
0.15339157404378057,
|
| 244 |
+
-0.005448006559163332
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5448446459671625,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.4504482544130361,
|
| 250 |
+
0.5131054427329518,
|
| 251 |
+
-0.48678895477916
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9418349266052246,
|
| 257 |
+
"position": [
|
| 258 |
+
0.15286514163017273,
|
| 259 |
+
0.1496307891793549,
|
| 260 |
+
-0.01477822382003069
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.5440175785531489,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.43667956287504095,
|
| 266 |
+
0.47714923717829605,
|
| 267 |
+
-0.5344945641001428
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_17": {
|
| 272 |
+
"confidence": 0.9415447115898132,
|
| 273 |
+
"position": [
|
| 274 |
+
0.14415550231933594,
|
| 275 |
+
0.1569944960065186,
|
| 276 |
+
-0.007748853415250778
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.5391812537876423,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.4423915438355543,
|
| 282 |
+
0.5179731215375776,
|
| 283 |
+
-0.4952546242806819
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_18": {
|
| 288 |
+
"confidence": 0.940424382686615,
|
| 289 |
+
"position": [
|
| 290 |
+
0.13517629355192184,
|
| 291 |
+
0.15886471094563603,
|
| 292 |
+
-0.004416762385517359
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.5517329126360969,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.4552225189591236,
|
| 298 |
+
0.5116636723795005,
|
| 299 |
+
-0.4759869091831446
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_19": {
|
| 304 |
+
"confidence": 0.9397488832473755,
|
| 305 |
+
"position": [
|
| 306 |
+
0.1266651526093483,
|
| 307 |
+
0.156845320481807,
|
| 308 |
+
-0.006944907829165459
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5493362740020001,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.44052494901644385,
|
| 314 |
+
0.5206326133759663,
|
| 315 |
+
-0.48281374177727165
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"quality_check": {
|
| 323 |
+
"success": true,
|
| 324 |
+
"message": "YES"
|
| 325 |
+
}
|
| 326 |
+
}
|
dataset/tools/repair_tools/5f58fe9a8deb530c85fb19d976e353ff/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c422e8137515d78ae2f729e2f8544f13baa1f115db4e110c187bf9a27bd98e21
|
| 3 |
+
size 399424
|