xinjjj commited on
Commit
f9f7d8e
·
verified ·
1 Parent(s): 793ba88

Add asset tools/repair_tools/0c12d2c1845255bcb063c9665396a840

Browse files
.gitattributes CHANGED
@@ -7797,4 +7797,4 @@ dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part
7797
  dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7798
  dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7799
  dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7800
- dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7797
  dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7798
  dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7799
  dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7800
+ dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/affordance_annot.json ADDED
@@ -0,0 +1,463 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "T-handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the T-handle to pick up and carry the screwdriver",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle firmly to apply torque during screwdriving",
14
+ "confidence": 0.98
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize and orient the tool before engaging a screw",
18
+ "confidence": 0.94
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip surface",
23
+ "apply torque",
24
+ "support pickup and handoff",
25
+ "stabilize tool orientation"
26
+ ],
27
+ "semantic_description": "Large T-shaped purple plastic handle with a matte to satin finish, smooth molded finger grooves, rounded ends, and an inset brand area on the side.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_24": {
31
+ "confidence": 0.9789193868637085,
32
+ "position": [
33
+ -0.048979139362927526,
34
+ 0.10428793542087078,
35
+ 0.0011540980340214446
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5076467834507647,
39
+ "xyz": [
40
+ 0.49335586542574844,
41
+ -0.5083723438227443,
42
+ 0.49035935122955776
43
+ ]
44
+ }
45
+ },
46
+ "grasp_29": {
47
+ "confidence": 0.9780842661857605,
48
+ "position": [
49
+ -0.11486952606355771,
50
+ 0.08598183654248714,
51
+ -0.007210461699287407
52
+ ],
53
+ "orientation": {
54
+ "w": 0.36886990058891583,
55
+ "xyz": [
56
+ 0.5986998225851176,
57
+ -0.31369010170219813,
58
+ 0.6380376469849851
59
+ ]
60
+ }
61
+ },
62
+ "grasp_34": {
63
+ "confidence": 0.9766943454742432,
64
+ "position": [
65
+ -0.11391255859052762,
66
+ 0.09150179289281368,
67
+ -0.003156917213345878
68
+ ],
69
+ "orientation": {
70
+ "w": 0.36141810604900776,
71
+ "xyz": [
72
+ 0.6149676093556696,
73
+ -0.32378202613034957,
74
+ 0.6215762154541039
75
+ ]
76
+ }
77
+ },
78
+ "grasp_35": {
79
+ "confidence": 0.9765462875366211,
80
+ "position": [
81
+ -0.05839191231643781,
82
+ 0.10304507426917553,
83
+ -0.0022915965382708237
84
+ ],
85
+ "orientation": {
86
+ "w": 0.507927945620245,
87
+ "xyz": [
88
+ 0.4965011382743795,
89
+ 0.4899680756264061,
90
+ -0.5053979685527034
91
+ ]
92
+ }
93
+ },
94
+ "grasp_36": {
95
+ "confidence": 0.9765170812606812,
96
+ "position": [
97
+ -0.14766110334312543,
98
+ 0.051488252356648445,
99
+ 0.004238120003719814
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6840062921516967,
103
+ "xyz": [
104
+ 0.18534685061466957,
105
+ 0.6900733766564213,
106
+ -0.14690361497974172
107
+ ]
108
+ }
109
+ },
110
+ "grasp_37": {
111
+ "confidence": 0.9763523936271667,
112
+ "position": [
113
+ -0.14651249203598127,
114
+ 0.05414785258471966,
115
+ 0.0035411528806434944
116
+ ],
117
+ "orientation": {
118
+ "w": 0.685033716491653,
119
+ "xyz": [
120
+ 0.19564872013116885,
121
+ 0.6843878193111445,
122
+ -0.15512478318826245
123
+ ]
124
+ }
125
+ },
126
+ "grasp_39": {
127
+ "confidence": 0.9762583374977112,
128
+ "position": [
129
+ -0.11303020123159513,
130
+ 0.09215946309268475,
131
+ 0.005089517406304367
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6126420905066113,
135
+ "xyz": [
136
+ 0.35913307584268084,
137
+ 0.6336051906360298,
138
+ -0.30698137594086133
139
+ ]
140
+ }
141
+ }
142
+ }
143
+ },
144
+ {
145
+ "part_name": "shaft and screwdriver tip",
146
+ "mask_color": "Red",
147
+ "graspable": true,
148
+ "grasp_scenarios": [
149
+ {
150
+ "scenario": "lightly grasp the metal shaft for precision positioning near the working end",
151
+ "confidence": 0.56
152
+ },
153
+ {
154
+ "scenario": "hold the shaft briefly to reposition the screwdriver in tight spaces",
155
+ "confidence": 0.42
156
+ }
157
+ ],
158
+ "functional_labels": [
159
+ "transmit torque to the tip",
160
+ "extend reach",
161
+ "align the tip with screws",
162
+ "engage screw head for fastening"
163
+ ],
164
+ "semantic_description": "Straight light gray to silver metal shaft with a smooth slightly reflective finish and a shaped screwdriver tip at the end, extending from the handle.",
165
+ "id": 0,
166
+ "grasp_group": {
167
+ "grasp_7": {
168
+ "confidence": 0.8159673810005188,
169
+ "position": [
170
+ 0.012546191515866667,
171
+ -0.19829432107508183,
172
+ -0.008052808974753134
173
+ ],
174
+ "orientation": {
175
+ "w": 0.5226714423367828,
176
+ "xyz": [
177
+ -0.42119437152963163,
178
+ -0.5356998370135851,
179
+ -0.5122846370729498
180
+ ]
181
+ }
182
+ },
183
+ "grasp_8": {
184
+ "confidence": 0.8140333294868469,
185
+ "position": [
186
+ 0.02012261893833056,
187
+ -0.20402459241449833,
188
+ -0.0073439798288745806
189
+ ],
190
+ "orientation": {
191
+ "w": 0.5766405444302267,
192
+ "xyz": [
193
+ -0.4633361085958182,
194
+ -0.5134903237198696,
195
+ -0.4348942635130514
196
+ ]
197
+ }
198
+ },
199
+ "grasp_12": {
200
+ "confidence": 0.8080740571022034,
201
+ "position": [
202
+ -0.009188298543449491,
203
+ -0.20474989153444767,
204
+ -0.009375667941640131
205
+ ],
206
+ "orientation": {
207
+ "w": 0.5475644855333424,
208
+ "xyz": [
209
+ -0.4482969032440456,
210
+ 0.499758952601825,
211
+ 0.4994437005496532
212
+ ]
213
+ }
214
+ },
215
+ "grasp_17": {
216
+ "confidence": 0.7940251231193542,
217
+ "position": [
218
+ 0.04463392641628161,
219
+ -0.2010194156318903,
220
+ -0.0012923512113047764
221
+ ],
222
+ "orientation": {
223
+ "w": 0.36573233266481725,
224
+ "xyz": [
225
+ -0.5870615237136584,
226
+ 0.3707081752117981,
227
+ 0.6198177772940104
228
+ ]
229
+ }
230
+ }
231
+ }
232
+ },
233
+ {
234
+ "part_name": "collar",
235
+ "mask_color": "Blue",
236
+ "graspable": true,
237
+ "grasp_scenarios": [
238
+ {
239
+ "scenario": "pinch the collar to help reorient the screwdriver near the handle-shaft junction",
240
+ "confidence": 0.37
241
+ },
242
+ {
243
+ "scenario": "use the collar as a secondary stabilization point during close manipulation",
244
+ "confidence": 0.32
245
+ }
246
+ ],
247
+ "functional_labels": [
248
+ "join handle to shaft",
249
+ "reinforce handle-shaft junction",
250
+ "provide a stop near the handle",
251
+ "mark transition to working end"
252
+ ],
253
+ "semantic_description": "Small purple ring-like collar at the shaft base, made of hard plastic with a smooth matte surface and short cylindrical shape.",
254
+ "id": 2,
255
+ "grasp_group": {
256
+ "grasp_41": {
257
+ "confidence": 0.06586427986621857,
258
+ "position": [
259
+ 0.10210131999338046,
260
+ -0.05292935483157635,
261
+ -0.0011704382923198864
262
+ ],
263
+ "orientation": {
264
+ "w": 0.12450151059195366,
265
+ "xyz": [
266
+ -0.7115036688562655,
267
+ 0.07397736055958948,
268
+ 0.6875967227881702
269
+ ]
270
+ }
271
+ },
272
+ "grasp_45": {
273
+ "confidence": 0.6572536826133728,
274
+ "position": [
275
+ -0.08797238621627912,
276
+ -0.08106744475662708,
277
+ -0.009210249219904654
278
+ ],
279
+ "orientation": {
280
+ "w": 0.7064724802064273,
281
+ "xyz": [
282
+ -0.17862424888828107,
283
+ 0.6492796572778619,
284
+ 0.21777497345934388
285
+ ]
286
+ }
287
+ },
288
+ "grasp_46": {
289
+ "confidence": 0.6087790727615356,
290
+ "position": [
291
+ -0.0889293834916316,
292
+ -0.08022092469036579,
293
+ 0.01478978265367914
294
+ ],
295
+ "orientation": {
296
+ "w": 0.17551161891885564,
297
+ "xyz": [
298
+ -0.7150623107950171,
299
+ -0.23940154091622334,
300
+ -0.6329047839224401
301
+ ]
302
+ }
303
+ },
304
+ "grasp_47": {
305
+ "confidence": 0.4801121652126312,
306
+ "position": [
307
+ -0.08322950307046995,
308
+ -0.07824577577412128,
309
+ -0.0021136706200195476
310
+ ],
311
+ "orientation": {
312
+ "w": 0.68965731672835,
313
+ "xyz": [
314
+ -0.20318559757933918,
315
+ 0.6726006474980633,
316
+ 0.17520492973819185
317
+ ]
318
+ }
319
+ },
320
+ "grasp_48": {
321
+ "confidence": 0.4409315884113312,
322
+ "position": [
323
+ -0.09040278050815687,
324
+ -0.06676245294511318,
325
+ 0.00019942176004406065
326
+ ],
327
+ "orientation": {
328
+ "w": 0.6884128302827679,
329
+ "xyz": [
330
+ -0.15104949836913642,
331
+ 0.6978135178952513,
332
+ 0.12778152600104378
333
+ ]
334
+ }
335
+ },
336
+ "grasp_50": {
337
+ "confidence": 0.27320557832717896,
338
+ "position": [
339
+ -0.07735902670538053,
340
+ -0.0770691279321909,
341
+ 0.050502565878559835
342
+ ],
343
+ "orientation": {
344
+ "w": 0.17190539551711362,
345
+ "xyz": [
346
+ -0.8420378712613452,
347
+ -0.23818107654280907,
348
+ -0.4524273788473412
349
+ ]
350
+ }
351
+ },
352
+ "grasp_53": {
353
+ "confidence": 0.34602653980255127,
354
+ "position": [
355
+ -0.06847288314020261,
356
+ -0.0976210031658411,
357
+ -0.016148480397532694
358
+ ],
359
+ "orientation": {
360
+ "w": 0.7130132643371421,
361
+ "xyz": [
362
+ -0.2761964464240771,
363
+ 0.5749976044167169,
364
+ 0.29104185743126504
365
+ ]
366
+ }
367
+ },
368
+ "grasp_54": {
369
+ "confidence": 0.20827716588974,
370
+ "position": [
371
+ 0.09098729636752978,
372
+ -0.07743931002914906,
373
+ -0.000589670889894478
374
+ ],
375
+ "orientation": {
376
+ "w": 0.23156169888697337,
377
+ "xyz": [
378
+ -0.6935693929751287,
379
+ 0.159174287204509,
380
+ 0.6633281412917947
381
+ ]
382
+ }
383
+ }
384
+ }
385
+ },
386
+ {
387
+ "part_name": "side end cap",
388
+ "mask_color": "Yellow",
389
+ "graspable": false,
390
+ "grasp_scenarios": [],
391
+ "functional_labels": [
392
+ "cover handle end",
393
+ "protect handle interior",
394
+ "provide rear contact surface",
395
+ "finish the handle body"
396
+ ],
397
+ "semantic_description": "Small circular pale gray to off-white insert set into one horizontal end of the handle, with a smooth hard surface and flush appearance.",
398
+ "id": 3,
399
+ "grasp_group": {}
400
+ },
401
+ {
402
+ "part_name": "top end cap",
403
+ "mask_color": "Magenta",
404
+ "graspable": false,
405
+ "grasp_scenarios": [],
406
+ "functional_labels": [
407
+ "cover handle end",
408
+ "protect exposed end",
409
+ "provide finishing surface",
410
+ "mark handle extremity"
411
+ ],
412
+ "semantic_description": "Small circular pale gray to off-white insert on the top end of the vertical handle section, with a smooth hard finish and slightly recessed center detail.",
413
+ "id": 7,
414
+ "grasp_group": {}
415
+ },
416
+ {
417
+ "part_name": "brand badge",
418
+ "mask_color": "Brown",
419
+ "graspable": false,
420
+ "grasp_scenarios": [],
421
+ "functional_labels": [
422
+ "display branding",
423
+ "identify tool",
424
+ "provide visual accent"
425
+ ],
426
+ "semantic_description": "Small inset badge on the handle side with a dark brown border/background and light lettering, appearing glossy and flush within the purple plastic grip.",
427
+ "id": 11,
428
+ "grasp_group": {}
429
+ },
430
+ {
431
+ "part_name": "printed logo lettering",
432
+ "mask_color": "Cyan",
433
+ "graspable": false,
434
+ "grasp_scenarios": [],
435
+ "functional_labels": [
436
+ "display branding",
437
+ "identify manufacturer",
438
+ "provide visual marking"
439
+ ],
440
+ "semantic_description": "Small light-colored printed lettering within the side logo badge on the handle, appearing as a flat smooth graphic element.",
441
+ "id": 6,
442
+ "grasp_group": {}
443
+ },
444
+ {
445
+ "part_name": "printed logo accent",
446
+ "mask_color": "Purple",
447
+ "graspable": false,
448
+ "grasp_scenarios": [],
449
+ "functional_labels": [
450
+ "display branding detail",
451
+ "differentiate logo colors",
452
+ "provide visual marking"
453
+ ],
454
+ "semantic_description": "Small purple printed detail within the side logo on the handle, appearing as a flat smooth graphic element.",
455
+ "id": 5,
456
+ "grasp_group": {}
457
+ }
458
+ ],
459
+ "quality_check": {
460
+ "success": false,
461
+ "message": "Mask-part mapping and visual descriptions for logo parts are incorrect; logo colors are swapped and brown region is badge background only."
462
+ }
463
+ }
dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d42b460c40c16ac981440164ccf9046699a1fdf56f70b1091902bdb207afbd0
3
+ size 3785712