xinjjj commited on
Commit
00bcd77
·
verified ·
1 Parent(s): 381bc80

Add asset tools/repair_tools/9acf3c44051a508190004e98b32f6612

Browse files
.gitattributes CHANGED
@@ -8585,3 +8585,4 @@ dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part
8585
  dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8586
  dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8587
  dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8585
  dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8586
  dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8587
  dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8588
+ dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/affordance_annot.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hex key shaft",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the metal shaft to pick up and reposition the hex key",
10
+ "confidence": 0.78
11
+ },
12
+ {
13
+ "scenario": "hold the shaft to insert the short end into a fastener",
14
+ "confidence": 0.66
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool by the shaft while changing orientation",
18
+ "confidence": 0.62
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "transmit torque",
23
+ "engage hex-socket fasteners",
24
+ "provide rigid tool structure",
25
+ "support orientation control"
26
+ ],
27
+ "semantic_description": "L-shaped silver-gray metal shaft with a smooth matte hard surface and medium thickness, forming the main working body of the hex key; some printed markings are visible on the long straight section near the handle.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9832198023796082,
32
+ "position": [
33
+ -0.008147186774294823,
34
+ 0.004165979102253914,
35
+ 0.09762540267593067
36
+ ],
37
+ "orientation": {
38
+ "w": 0.00458040640970484,
39
+ "xyz": [
40
+ -0.9970820491688641,
41
+ 0.008078690531147917,
42
+ -0.07577032309316489
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9808192849159241,
48
+ "position": [
49
+ 0.01559853070648387,
50
+ 0.013688992243260145,
51
+ 0.09649801807290714
52
+ ],
53
+ "orientation": {
54
+ "w": 0.02554301286968128,
55
+ "xyz": [
56
+ -0.9979036838705673,
57
+ -0.012192008879109137,
58
+ 0.058199202147297555
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9792966246604919,
64
+ "position": [
65
+ 0.05499850102933124,
66
+ 0.1516687711700797,
67
+ 0.005276747921470815
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6549221890290964,
71
+ "xyz": [
72
+ 0.40789443593337826,
73
+ -0.5852133070855864,
74
+ 0.2494482725173272
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.977566659450531,
80
+ "position": [
81
+ 0.048257707443553954,
82
+ 0.15797303523868322,
83
+ 0.006057400198642426
84
+ ],
85
+ "orientation": {
86
+ "w": 0.32661808497585204,
87
+ "xyz": [
88
+ 0.6024437760025478,
89
+ 0.3810798843286103,
90
+ -0.6206127980331955
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.977369487285614,
96
+ "position": [
97
+ 0.08801795059116557,
98
+ 0.013052651658654213,
99
+ 0.04463584901577633
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5195038861012594,
103
+ "xyz": [
104
+ 0.026068135800538943,
105
+ -0.8540281004008098,
106
+ -0.008495195545654463
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9766164422035217,
112
+ "position": [
113
+ 0.06129020341904834,
114
+ 0.14357395377010107,
115
+ -0.0039695790615041915
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6777308856162693,
119
+ "xyz": [
120
+ 0.34875656554309115,
121
+ -0.5890688892020195,
122
+ 0.2684167439759933
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9763792157173157,
128
+ "position": [
129
+ 0.09679657482774928,
130
+ 0.053875125013291836,
131
+ -0.02337094774657089
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7941996233701651,
135
+ "xyz": [
136
+ 0.015236537255631786,
137
+ -0.607371047083798,
138
+ -0.010733933830417364
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.976050078868866,
144
+ "position": [
145
+ 0.08133658283622935,
146
+ 0.11593121197074652,
147
+ 0.02379454666561287
148
+ ],
149
+ "orientation": {
150
+ "w": 0.18975869422226296,
151
+ "xyz": [
152
+ 0.7592979830348316,
153
+ 0.19316402537784017,
154
+ -0.5917312483096758
155
+ ]
156
+ }
157
+ },
158
+ "grasp_13": {
159
+ "confidence": 0.9751898050308228,
160
+ "position": [
161
+ 0.009616095398087054,
162
+ 0.014465802494669333,
163
+ 0.09770486311799687
164
+ ],
165
+ "orientation": {
166
+ "w": 0.007479553463134868,
167
+ "xyz": [
168
+ 0.999781823187173,
169
+ -0.008314757776993292,
170
+ -0.017641629959684338
171
+ ]
172
+ }
173
+ },
174
+ "grasp_16": {
175
+ "confidence": 0.9746363162994385,
176
+ "position": [
177
+ 0.08484456950100139,
178
+ 0.12196870055049658,
179
+ -0.006692379770811385
180
+ ],
181
+ "orientation": {
182
+ "w": 0.1935657156074748,
183
+ "xyz": [
184
+ 0.6466499904727426,
185
+ 0.18206630942398805,
186
+ -0.7150020717002831
187
+ ]
188
+ }
189
+ },
190
+ "grasp_17": {
191
+ "confidence": 0.9745987057685852,
192
+ "position": [
193
+ -0.003987094562035054,
194
+ 0.1756866117939353,
195
+ 0.004347775073711091
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5326070454495136,
199
+ "xyz": [
200
+ 0.5503356620790693,
201
+ -0.45776560616073625,
202
+ 0.4515651049381765
203
+ ]
204
+ }
205
+ },
206
+ "grasp_19": {
207
+ "confidence": 0.9743736982345581,
208
+ "position": [
209
+ 0.08093181514414027,
210
+ 0.021419303491711617,
211
+ 0.056424220966164285
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4677741568501312,
215
+ "xyz": [
216
+ 0.03684413597242195,
217
+ -0.883072076567163,
218
+ -0.003681767911367875
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "handle grip",
226
+ "mask_color": "Green",
227
+ "graspable": true,
228
+ "grasp_scenarios": [
229
+ {
230
+ "scenario": "grasp the textured handle to lift and carry the hex key",
231
+ "confidence": 0.96
232
+ },
233
+ {
234
+ "scenario": "hold the handle grip to apply torque during turning",
235
+ "confidence": 0.97
236
+ },
237
+ {
238
+ "scenario": "use the handle as the main grasp point for precise tool manipulation",
239
+ "confidence": 0.93
240
+ }
241
+ ],
242
+ "functional_labels": [
243
+ "provide primary grip",
244
+ "improve comfort",
245
+ "increase friction for turning",
246
+ "aid torque application"
247
+ ],
248
+ "semantic_description": "Cylindrical light blue handle grip made of textured rubber-like material with a matte surface, covering the long end as the largest hand-contact area.",
249
+ "id": 1,
250
+ "grasp_group": {
251
+ "grasp_23": {
252
+ "confidence": 0.9849766492843628,
253
+ "position": [
254
+ 0.09242821001680568,
255
+ -0.033504449762403965,
256
+ -0.03446474490874607
257
+ ],
258
+ "orientation": {
259
+ "w": 0.8126900598728845,
260
+ "xyz": [
261
+ 0.037720963797543645,
262
+ -0.5806740533580027,
263
+ -0.030489985745794247
264
+ ]
265
+ }
266
+ },
267
+ "grasp_24": {
268
+ "confidence": 0.9848743081092834,
269
+ "position": [
270
+ 0.057669835921842605,
271
+ -0.010743946768343449,
272
+ 0.07531918393260639
273
+ ],
274
+ "orientation": {
275
+ "w": 0.33296603650932044,
276
+ "xyz": [
277
+ 0.03712178903541552,
278
+ -0.9403927552678715,
279
+ 0.05845559981545806
280
+ ]
281
+ }
282
+ },
283
+ "grasp_25": {
284
+ "confidence": 0.984188973903656,
285
+ "position": [
286
+ 0.09662139677675441,
287
+ -0.046407547779381275,
288
+ 0.02428140112942856
289
+ ],
290
+ "orientation": {
291
+ "w": 0.5905461889854907,
292
+ "xyz": [
293
+ 0.015809399784177648,
294
+ -0.8066593772655452,
295
+ -0.017490300819031492
296
+ ]
297
+ }
298
+ },
299
+ "grasp_26": {
300
+ "confidence": 0.9841289520263672,
301
+ "position": [
302
+ 0.09969609492691234,
303
+ -0.05484254006296396,
304
+ 0.00020640016055040178
305
+ ],
306
+ "orientation": {
307
+ "w": 0.6920676621964366,
308
+ "xyz": [
309
+ -0.020269414180905006,
310
+ -0.7191509273133582,
311
+ -0.05876602364511981
312
+ ]
313
+ }
314
+ },
315
+ "grasp_27": {
316
+ "confidence": 0.9841253757476807,
317
+ "position": [
318
+ 0.08317251020343974,
319
+ -0.01353024784475565,
320
+ 0.05188466789013546
321
+ ],
322
+ "orientation": {
323
+ "w": 0.006740236641865925,
324
+ "xyz": [
325
+ 0.8797691672096646,
326
+ 0.009011063176357081,
327
+ -0.4752679058990377
328
+ ]
329
+ }
330
+ },
331
+ "grasp_28": {
332
+ "confidence": 0.98410564661026,
333
+ "position": [
334
+ 0.09079307579668239,
335
+ -0.03538134042173624,
336
+ 0.0438618417251746
337
+ ],
338
+ "orientation": {
339
+ "w": 0.5158767887764611,
340
+ "xyz": [
341
+ 0.011482720838040113,
342
+ -0.8565723607064872,
343
+ -0.004803831549648033
344
+ ]
345
+ }
346
+ },
347
+ "grasp_33": {
348
+ "confidence": 0.9833086133003235,
349
+ "position": [
350
+ 0.0316792938974686,
351
+ -0.0007216017693281174,
352
+ 0.08844500588065785
353
+ ],
354
+ "orientation": {
355
+ "w": 0.15500399119644312,
356
+ "xyz": [
357
+ -0.00119487617740593,
358
+ -0.9857673438665823,
359
+ 0.06507748266732802
360
+ ]
361
+ }
362
+ },
363
+ "grasp_35": {
364
+ "confidence": 0.9832737445831299,
365
+ "position": [
366
+ 0.09373539203079417,
367
+ -0.055406839586794376,
368
+ 0.023837622197333985
369
+ ],
370
+ "orientation": {
371
+ "w": 0.5864476312048442,
372
+ "xyz": [
373
+ 0.004739907316362211,
374
+ -0.8083854549773832,
375
+ -0.05069186634824122
376
+ ]
377
+ }
378
+ },
379
+ "grasp_37": {
380
+ "confidence": 0.983089029788971,
381
+ "position": [
382
+ 0.051940667268354446,
383
+ -0.08247471693903208,
384
+ 0.07422371016627949
385
+ ],
386
+ "orientation": {
387
+ "w": 0.2819530698102505,
388
+ "xyz": [
389
+ -0.06824945865763977,
390
+ -0.938441692264711,
391
+ -0.1875411102581522
392
+ ]
393
+ }
394
+ }
395
+ }
396
+ },
397
+ {
398
+ "part_name": "handle collar",
399
+ "mask_color": "Yellow",
400
+ "graspable": false,
401
+ "grasp_scenarios": [],
402
+ "functional_labels": [
403
+ "transition between shaft and grip",
404
+ "help retain the grip",
405
+ "provide assembly interface"
406
+ ],
407
+ "semantic_description": "Small narrow light gray to beige collar with a smooth matte appearance, positioned between the metal shaft and the blue grip as a transition band.",
408
+ "id": 3,
409
+ "grasp_group": {}
410
+ },
411
+ {
412
+ "part_name": "end cap",
413
+ "mask_color": "Blue",
414
+ "graspable": true,
415
+ "grasp_scenarios": [
416
+ {
417
+ "scenario": "pinch the end cap area to pick up or reorient the tool when the handle is closest",
418
+ "confidence": 0.42
419
+ }
420
+ ],
421
+ "functional_labels": [
422
+ "close the handle end",
423
+ "protect the grip end",
424
+ "finish the handle assembly"
425
+ ],
426
+ "semantic_description": "Small rounded blue-gray end cap with a darker central insert, smoother and slightly glossier than the grip, mounted at the outer tip of the handle.",
427
+ "id": 2,
428
+ "grasp_group": {
429
+ "grasp_40": {
430
+ "confidence": 0.9580669403076172,
431
+ "position": [
432
+ -0.09548056608764455,
433
+ -0.05697609577327967,
434
+ -0.010827535821135825
435
+ ],
436
+ "orientation": {
437
+ "w": 0.013355887282816357,
438
+ "xyz": [
439
+ 0.6794356837055926,
440
+ 0.005651916856032391,
441
+ 0.7335917310181839
442
+ ]
443
+ }
444
+ },
445
+ "grasp_42": {
446
+ "confidence": 0.9453513026237488,
447
+ "position": [
448
+ -0.08549844956723973,
449
+ -0.10792236123234034,
450
+ 0.014010923856858426
451
+ ],
452
+ "orientation": {
453
+ "w": 0.6137616200680657,
454
+ "xyz": [
455
+ -0.14144130703254074,
456
+ 0.7509721191268833,
457
+ 0.19832273367021802
458
+ ]
459
+ }
460
+ },
461
+ "grasp_48": {
462
+ "confidence": 0.8674191832542419,
463
+ "position": [
464
+ -0.0916475701960735,
465
+ -0.06847443524748087,
466
+ 0.023929009156290704
467
+ ],
468
+ "orientation": {
469
+ "w": 0.04973059300619582,
470
+ "xyz": [
471
+ -0.7980238894488539,
472
+ 0.008103344611648966,
473
+ -0.6005156748947363
474
+ ]
475
+ }
476
+ },
477
+ "grasp_56": {
478
+ "confidence": 0.9368506073951721,
479
+ "position": [
480
+ -0.08032343274680898,
481
+ -0.11224059853702784,
482
+ 0.017410160915915185
483
+ ],
484
+ "orientation": {
485
+ "w": 0.5862956915837418,
486
+ "xyz": [
487
+ -0.13277560198598617,
488
+ 0.7634785372480056,
489
+ 0.23606889822517108
490
+ ]
491
+ }
492
+ },
493
+ "grasp_58": {
494
+ "confidence": 0.8855812549591064,
495
+ "position": [
496
+ -0.030113221320789307,
497
+ -0.11233083996921778,
498
+ -0.0761938337814172
499
+ ],
500
+ "orientation": {
501
+ "w": 0.9317888403312897,
502
+ "xyz": [
503
+ -0.2526670398909626,
504
+ 0.23647327147582275,
505
+ 0.109587024160399
506
+ ]
507
+ }
508
+ }
509
+ }
510
+ },
511
+ {
512
+ "part_name": "end cap ring",
513
+ "mask_color": "Purple",
514
+ "graspable": false,
515
+ "grasp_scenarios": [],
516
+ "functional_labels": [
517
+ "separate cap from grip",
518
+ "provide assembly transition",
519
+ "help retain end-cap interface"
520
+ ],
521
+ "semantic_description": "Thin narrow purple ring at the handle tip, appearing as a small smooth band between the light blue grip and the blue-gray end cap.",
522
+ "id": 5,
523
+ "grasp_group": {}
524
+ }
525
+ ],
526
+ "quality_check": {
527
+ "success": true,
528
+ "message": "YES"
529
+ }
530
+ }
dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9724785674a12fc4fa2fd7343af7017778f08c4d478f997892796281fafcb49c
3
+ size 3784436