xinjjj commited on
Commit
ae4cd3d
·
verified ·
1 Parent(s): 9717474

Add asset tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27

Browse files
.gitattributes CHANGED
@@ -8576,3 +8576,4 @@ dataset/tools/repair_tools/8603911f9b6c5f1eabc65edcf7a2fd9b/affordance/mesh_part
8576
  dataset/tools/repair_tools/895f0af27f015a8a98a432362e2bacfc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8577
  dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8578
  dataset/tools/repair_tools/8a7a50faf99b5508be9c353fb37c41d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8576
  dataset/tools/repair_tools/895f0af27f015a8a98a432362e2bacfc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8577
  dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8578
  dataset/tools/repair_tools/8a7a50faf99b5508be9c353fb37c41d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8579
+ dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/affordance/affordance_annot.json ADDED
@@ -0,0 +1,390 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "housing",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body around its sides to pick up the tape measure",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the case steady while pulling out or retracting the tape",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "reorient the tape measure by clamping the main body",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal tape reel",
24
+ "support tape extension mechanism",
25
+ "provide overall structure"
26
+ ],
27
+ "semantic_description": "Largest outer case of the tape measure, mostly light lavender/purple plastic with a smooth semi-gloss finish and a cream-colored section wrapping around the tape outlet and control side; rounded compact shape.",
28
+ "id": 7,
29
+ "grasp_group": {
30
+ "grasp_16": {
31
+ "confidence": 0.9639710187911987,
32
+ "position": [
33
+ 0.019154427107423544,
34
+ -0.14080538973212242,
35
+ 0.0006383823201758787
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5025742903028851,
39
+ "xyz": [
40
+ -0.4886482557249106,
41
+ -0.5088397431241057,
42
+ -0.4997240045474585
43
+ ]
44
+ }
45
+ },
46
+ "grasp_17": {
47
+ "confidence": 0.9635964035987854,
48
+ "position": [
49
+ 0.02167119225487113,
50
+ -0.1411387138068676,
51
+ 0.0006190622079884633
52
+ ],
53
+ "orientation": {
54
+ "w": 0.501665243007993,
55
+ "xyz": [
56
+ -0.5059119519893286,
57
+ 0.48859448262360783,
58
+ 0.5036472101996081
59
+ ]
60
+ }
61
+ },
62
+ "grasp_18": {
63
+ "confidence": 0.96312016248703,
64
+ "position": [
65
+ -0.01507981913164258,
66
+ -0.13420021161437035,
67
+ -0.006096881304983981
68
+ ],
69
+ "orientation": {
70
+ "w": 0.597824209096993,
71
+ "xyz": [
72
+ -0.39786767885155916,
73
+ 0.5642236339292501,
74
+ 0.40738092255099356
75
+ ]
76
+ }
77
+ },
78
+ "grasp_19": {
79
+ "confidence": 0.9622510075569153,
80
+ "position": [
81
+ 0.014251608867198229,
82
+ -0.1399790458381176,
83
+ -0.002727699655224569
84
+ ],
85
+ "orientation": {
86
+ "w": 0.500367174044762,
87
+ "xyz": [
88
+ -0.5042080855735019,
89
+ -0.4810429049463053,
90
+ -0.5138138001081544
91
+ ]
92
+ }
93
+ },
94
+ "grasp_20": {
95
+ "confidence": 0.9621682167053223,
96
+ "position": [
97
+ 0.02913872664794326,
98
+ -0.14074018225073814,
99
+ -0.0010477231844561175
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5077539661049512,
103
+ "xyz": [
104
+ -0.49367470497400034,
105
+ -0.49781030029314455,
106
+ -0.500655670591651
107
+ ]
108
+ }
109
+ },
110
+ "grasp_22": {
111
+ "confidence": 0.9619479179382324,
112
+ "position": [
113
+ -0.023250407073646784,
114
+ -0.130711417645216,
115
+ -0.004884517242317088
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6149104520053466,
119
+ "xyz": [
120
+ -0.35682888569350746,
121
+ 0.5928768007721941,
122
+ 0.3782266271105697
123
+ ]
124
+ }
125
+ },
126
+ "grasp_23": {
127
+ "confidence": 0.9618198275566101,
128
+ "position": [
129
+ -0.020378778222948313,
130
+ -0.13278156146407127,
131
+ -0.00408587786660064
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6020669438308195,
135
+ "xyz": [
136
+ -0.3829218379810614,
137
+ 0.5809300640246134,
138
+ 0.3916714463115496
139
+ ]
140
+ }
141
+ },
142
+ "grasp_24": {
143
+ "confidence": 0.9617159962654114,
144
+ "position": [
145
+ 0.021423527505248785,
146
+ -0.14122368022799492,
147
+ -0.002742799653788097
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5113984936775682,
151
+ "xyz": [
152
+ -0.49170236915617427,
153
+ -0.5008839342227865,
154
+ -0.4957979883662526
155
+ ]
156
+ }
157
+ },
158
+ "grasp_25": {
159
+ "confidence": 0.9616430997848511,
160
+ "position": [
161
+ 0.01845921715721488,
162
+ -0.14095063135027885,
163
+ -0.0011273836280452088
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5052642757390258,
167
+ "xyz": [
168
+ -0.49545673624950337,
169
+ -0.5029337554004777,
170
+ -0.4962743916883885
171
+ ]
172
+ }
173
+ },
174
+ "grasp_26": {
175
+ "confidence": 0.9615444540977478,
176
+ "position": [
177
+ 0.03912865137681365,
178
+ -0.14000171050429344,
179
+ -0.0012657381157623604
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5097650588413052,
183
+ "xyz": [
184
+ -0.4925680268052858,
185
+ -0.5046122065964578,
186
+ -0.49283145669439754
187
+ ]
188
+ }
189
+ },
190
+ "grasp_27": {
191
+ "confidence": 0.9614076614379883,
192
+ "position": [
193
+ 0.0032993124332278967,
194
+ -0.13267968222498894,
195
+ 0.00015583411004627123
196
+ ],
197
+ "orientation": {
198
+ "w": 0.43433232739360356,
199
+ "xyz": [
200
+ -0.5424181161661665,
201
+ -0.44590869317893456,
202
+ -0.5641838831294784
203
+ ]
204
+ }
205
+ },
206
+ "grasp_28": {
207
+ "confidence": 0.9614071249961853,
208
+ "position": [
209
+ 0.026850383263081312,
210
+ -0.13914014026522636,
211
+ -0.005246631757472642
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5033080691549983,
215
+ "xyz": [
216
+ -0.4825059097340501,
217
+ -0.4962260078179318,
218
+ -0.5173285066186305
219
+ ]
220
+ }
221
+ },
222
+ "grasp_29": {
223
+ "confidence": 0.9612781405448914,
224
+ "position": [
225
+ 0.021535159554332495,
226
+ -0.14062244817614555,
227
+ -0.003573598063667305
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4931117805020823,
231
+ "xyz": [
232
+ -0.518658028537011,
233
+ 0.47004717319724154,
234
+ 0.5166142432545284
235
+ ]
236
+ }
237
+ },
238
+ "grasp_30": {
239
+ "confidence": 0.9606989622116089,
240
+ "position": [
241
+ -0.035186553839594126,
242
+ -0.1328285001218319,
243
+ -0.002571654462371953
244
+ ],
245
+ "orientation": {
246
+ "w": 0.3571091754920471,
247
+ "xyz": [
248
+ -0.5962975192601565,
249
+ -0.36503542952852996,
250
+ -0.6193960287994229
251
+ ]
252
+ }
253
+ },
254
+ "grasp_31": {
255
+ "confidence": 0.9605640769004822,
256
+ "position": [
257
+ 0.0015093046240508556,
258
+ -0.13465822860598564,
259
+ -0.004538482477073558
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4082550378743483,
263
+ "xyz": [
264
+ -0.5651537492126636,
265
+ -0.39254557066805484,
266
+ -0.5998641835865645
267
+ ]
268
+ }
269
+ },
270
+ "grasp_33": {
271
+ "confidence": 0.9599943161010742,
272
+ "position": [
273
+ 0.01629816321656108,
274
+ -0.14036854729056358,
275
+ -0.0017684632475720719
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5040198788295686,
279
+ "xyz": [
280
+ -0.5038693158826222,
281
+ 0.4871396350734307,
282
+ 0.5047520680464122
283
+ ]
284
+ }
285
+ },
286
+ "grasp_34": {
287
+ "confidence": 0.9591757655143738,
288
+ "position": [
289
+ 0.029063535388559103,
290
+ -0.13804274424910545,
291
+ -0.0015714427718194202
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5086018839870808,
295
+ "xyz": [
296
+ -0.49990004186009046,
297
+ 0.4865084576196811,
298
+ 0.5047113951731144
299
+ ]
300
+ }
301
+ },
302
+ "grasp_35": {
303
+ "confidence": 0.9590840935707092,
304
+ "position": [
305
+ 0.03981626173481345,
306
+ -0.13902990147471428,
307
+ -0.0002217930305050686
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5076574053268638,
311
+ "xyz": [
312
+ -0.4915767346774948,
313
+ -0.5045556652451,
314
+ -0.4960442050963634
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "side label disc",
322
+ "mask_color": "Brown",
323
+ "graspable": false,
324
+ "grasp_scenarios": [],
325
+ "functional_labels": [
326
+ "display branding",
327
+ "identify the product",
328
+ "decorate side surface"
329
+ ],
330
+ "semantic_description": "Large flat cream-colored circular disc inset on each side of the housing, smooth and matte to semi-matte, printed with bold black characters.",
331
+ "id": 11,
332
+ "grasp_group": {}
333
+ },
334
+ {
335
+ "part_name": "tape hook",
336
+ "mask_color": "Green",
337
+ "graspable": true,
338
+ "grasp_scenarios": [
339
+ {
340
+ "scenario": "pinch the end hook to pull the tape outward from the case",
341
+ "confidence": 0.83
342
+ },
343
+ {
344
+ "scenario": "hold the hook to position the tape end on an edge or reference point",
345
+ "confidence": 0.77
346
+ },
347
+ {
348
+ "scenario": "delicately grasp the hook to guide the tape during retraction",
349
+ "confidence": 0.58
350
+ }
351
+ ],
352
+ "functional_labels": [
353
+ "anchor tape end",
354
+ "pull tape outward",
355
+ "catch on edges",
356
+ "mark tape tip position"
357
+ ],
358
+ "semantic_description": "Small metal hook at the tape outlet, silver to brass-toned with a reflective finish and bent compact shape protruding from one end of the housing.",
359
+ "id": 1,
360
+ "grasp_group": {}
361
+ },
362
+ {
363
+ "part_name": "lock slider",
364
+ "mask_color": "Blue",
365
+ "graspable": true,
366
+ "grasp_scenarios": [
367
+ {
368
+ "scenario": "pinch or press the ridged slider to actuate the tape lock",
369
+ "confidence": 0.72
370
+ },
371
+ {
372
+ "scenario": "lightly contact the slider area while stabilizing the tool during manipulation",
373
+ "confidence": 0.32
374
+ }
375
+ ],
376
+ "functional_labels": [
377
+ "lock tape position",
378
+ "release tape movement",
379
+ "provide thumb-actuated control"
380
+ ],
381
+ "semantic_description": "Small black ridged plastic slider recessed into the cream-colored side section of the case near the tape outlet, with a textured matte surface for thumb traction.",
382
+ "id": 2,
383
+ "grasp_group": {}
384
+ }
385
+ ],
386
+ "quality_check": {
387
+ "success": true,
388
+ "message": "YES"
389
+ }
390
+ }
dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6786503471154ce11464930d2fc1a6cfe8d26b4c08c899412c2315b39cb93601
3
+ size 3792512