Add asset tools/repair_tools/9c46348315a15a30bc14a81c84a3941c
Browse files
.gitattributes
CHANGED
|
@@ -8589,3 +8589,4 @@ dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part
|
|
| 8589 |
dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8590 |
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8591 |
dataset/tools/repair_tools/9b40d3cbdca050dd8c8b637cbfc45a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8589 |
dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8590 |
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8591 |
dataset/tools/repair_tools/9b40d3cbdca050dd8c8b637cbfc45a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8592 |
+
dataset/tools/repair_tools/9c46348315a15a30bc14a81c84a3941c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/9c46348315a15a30bc14a81c84a3941c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,291 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench body with heads",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle midsection to pick up and reposition the wrench",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while aligning either wrench head onto a fastener",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to stabilize the tool during handoff or storage",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support tool manipulation",
|
| 24 |
+
"connect the open-end and ring-end heads",
|
| 25 |
+
"transmit user-applied torque through the tool"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small silver-gray metal combination wrench with a smooth slightly matte reflective finish, slim flat profile, one open-end jaw and one ring-end head, and dark printed branding on the center.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9917001128196716,
|
| 32 |
+
"position": [
|
| 33 |
+
0.10888957680435851,
|
| 34 |
+
0.04345756536349654,
|
| 35 |
+
0.0018026095785899088
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.0645006531005929,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7063938244883622,
|
| 41 |
+
0.08489782073511076,
|
| 42 |
+
0.699742660203543
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9903852939605713,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10234371869591996,
|
| 50 |
+
0.056957011576741934,
|
| 51 |
+
-0.00013372533612709958
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.038680872028908464,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6940412945617905,
|
| 57 |
+
-0.039976536527561835,
|
| 58 |
+
-0.7177829394108899
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9893920421600342,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1011377006652765,
|
| 66 |
+
0.05432486301288009,
|
| 67 |
+
-0.0025304301670985296
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.03517266895139444,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6912538209695188,
|
| 73 |
+
-0.02740799256566495,
|
| 74 |
+
-0.7212349411234842
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9892134070396423,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10538703651400283,
|
| 82 |
+
0.039690887089818716,
|
| 83 |
+
-0.004414167211507447
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7170258708612546,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.06666111294170428,
|
| 89 |
+
-0.6884261589349207,
|
| 90 |
+
-0.08660034775417648
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9886416792869568,
|
| 96 |
+
"position": [
|
| 97 |
+
0.11003051401348785,
|
| 98 |
+
0.06824356457218528,
|
| 99 |
+
0.0011280309845460579
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7087015861223173,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.0036177200755242727,
|
| 105 |
+
-0.705495649002826,
|
| 106 |
+
0.0022052589980720997
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9875580072402954,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.1056433945777826,
|
| 114 |
+
0.06900955131277442,
|
| 115 |
+
0.0008440328965662047
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.02037773114625846,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.7074978199020285,
|
| 121 |
+
0.0035470615336532507,
|
| 122 |
+
0.7064127697470396
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9869917631149292,
|
| 128 |
+
"position": [
|
| 129 |
+
0.10739370883675292,
|
| 130 |
+
0.051996690686792135,
|
| 131 |
+
0.0018677872576517984
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.7023524889029112,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.017702490029389437,
|
| 137 |
+
-0.7114580446813792,
|
| 138 |
+
-0.014664714003123917
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9868974685668945,
|
| 144 |
+
"position": [
|
| 145 |
+
0.10397545696469024,
|
| 146 |
+
0.04441379150375724,
|
| 147 |
+
0.0008942238491727039
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.7098471906037571,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.04875823839228057,
|
| 153 |
+
-0.6993363561412307,
|
| 154 |
+
-0.06832467460545001
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9866226315498352,
|
| 160 |
+
"position": [
|
| 161 |
+
0.11427323968382552,
|
| 162 |
+
0.06640129676088691,
|
| 163 |
+
0.0023103324201656505
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.701699107044301,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.012741020171516742,
|
| 169 |
+
-0.7122878386744478,
|
| 170 |
+
-0.010102695417759513
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.986374020576477,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.09967445133952424,
|
| 178 |
+
0.08243489405140281,
|
| 179 |
+
-0.0001474856398999691
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.05697127923051262,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.701341345200095,
|
| 185 |
+
-0.03177007715650226,
|
| 186 |
+
0.7098346659985194
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_12": {
|
| 191 |
+
"confidence": 0.9859787821769714,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.10239530651597306,
|
| 194 |
+
0.06547071179375052,
|
| 195 |
+
0.001511568480054848
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7028248804769748,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.002482979392942097,
|
| 201 |
+
0.7112766250726668,
|
| 202 |
+
-0.010797445118979806
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.9852088689804077,
|
| 208 |
+
"position": [
|
| 209 |
+
0.10653334559174255,
|
| 210 |
+
0.04127681767567992,
|
| 211 |
+
0.0007586328283650801
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.7039251370000186,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.006027758089348083,
|
| 217 |
+
-0.7102452916658374,
|
| 218 |
+
-0.0021664021857587036
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_15": {
|
| 223 |
+
"confidence": 0.9847111105918884,
|
| 224 |
+
"position": [
|
| 225 |
+
0.11637457163305953,
|
| 226 |
+
0.06867108633741736,
|
| 227 |
+
0.0029559615504695103
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.005396416145888097,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.7098466531607104,
|
| 233 |
+
0.032922815403991446,
|
| 234 |
+
0.70356570120721
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.9844321012496948,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.09989852010039613,
|
| 242 |
+
0.08411448588594794,
|
| 243 |
+
-0.0026903501275228336
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.0756068065843293,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.6888578515910095,
|
| 249 |
+
-0.05322399180903148,
|
| 250 |
+
0.7189754361558193
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.9842182397842407,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.1052943795803003,
|
| 258 |
+
0.04839059105142951,
|
| 259 |
+
-0.00011526210801093839
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.027159170878334245,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.7068762320888131,
|
| 265 |
+
0.001879633614278009,
|
| 266 |
+
0.7068131570101114
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "printed logo and size marking",
|
| 274 |
+
"mask_color": "Magenta",
|
| 275 |
+
"graspable": false,
|
| 276 |
+
"grasp_scenarios": [],
|
| 277 |
+
"functional_labels": [
|
| 278 |
+
"identify brand",
|
| 279 |
+
"indicate tool size or model",
|
| 280 |
+
"provide visual orientation cue"
|
| 281 |
+
],
|
| 282 |
+
"semantic_description": "Dark printed text and symbols on the center of the silver-gray metal wrench body, flat and non-structural with an informational labeling role.",
|
| 283 |
+
"id": 7,
|
| 284 |
+
"grasp_group": {}
|
| 285 |
+
}
|
| 286 |
+
],
|
| 287 |
+
"quality_check": {
|
| 288 |
+
"success": true,
|
| 289 |
+
"message": "YES"
|
| 290 |
+
}
|
| 291 |
+
}
|
dataset/tools/repair_tools/9c46348315a15a30bc14a81c84a3941c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:baf02a5e439b812b7704ca5bda69036a25ffcfb22043a34af40cd260116d2cbb
|
| 3 |
+
size 3781092
|