xinjjj commited on
Commit
76a922c
·
verified ·
1 Parent(s): e16a91f

Add asset tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f

Browse files
.gitattributes CHANGED
@@ -7893,4 +7893,4 @@ dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part
7893
  dataset/tools/repair_tools/b51cd016aaed54deaecdf900f2c18d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7894
  dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7895
  dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7896
- dataset/tools/repair_tools/ba72a38c94d152ce9234c4fa4aa2f41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7893
  dataset/tools/repair_tools/b51cd016aaed54deaecdf900f2c18d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7894
  dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7895
  dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7896
+ dataset/tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,479 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "housing",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main case body to pick up and carry the tape measure",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the case while extending or retracting the tape",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool by clamping the side during manipulation",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "enclose internal spring mechanism",
23
+ "main grasp surface",
24
+ "support tape retraction system",
25
+ "protect internal parts"
26
+ ],
27
+ "semantic_description": "Bulky black and yellow hard plastic outer shell with a mostly matte finish, rounded contours, raised rubber-like dot texture, and compact palm-sized form making up the main body.",
28
+ "id": 7,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9843307137489319,
32
+ "position": [
33
+ 0.019501713570207357,
34
+ -0.11926247109659016,
35
+ -0.011634460475761443
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5005353434033036,
39
+ "xyz": [
40
+ -0.4817664463480126,
41
+ 0.47998062599859137,
42
+ 0.5357089320175132
43
+ ]
44
+ }
45
+ },
46
+ "grasp_42": {
47
+ "confidence": 0.983792781829834,
48
+ "position": [
49
+ 0.014654505532234907,
50
+ -0.11838767607696354,
51
+ -0.009025560517329723
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5052790606369572,
55
+ "xyz": [
56
+ -0.4815849676690343,
57
+ 0.4972394579069088,
58
+ 0.5152881827652297
59
+ ]
60
+ }
61
+ },
62
+ "grasp_43": {
63
+ "confidence": 0.9833932518959045,
64
+ "position": [
65
+ -0.03116226801648736,
66
+ -0.10814102669246495,
67
+ -0.013699470844585449
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6252812290430833,
71
+ "xyz": [
72
+ -0.3564738280539407,
73
+ 0.5754418870183335,
74
+ 0.38835090985308657
75
+ ]
76
+ }
77
+ },
78
+ "grasp_44": {
79
+ "confidence": 0.9829577803611755,
80
+ "position": [
81
+ 0.11319825751706958,
82
+ 0.04063126887194812,
83
+ -0.0025717646931298077
84
+ ],
85
+ "orientation": {
86
+ "w": 0.1548011688976759,
87
+ "xyz": [
88
+ 0.686110044903534,
89
+ 0.17000241591089615,
90
+ -0.6902092313022499
91
+ ]
92
+ }
93
+ },
94
+ "grasp_45": {
95
+ "confidence": 0.9824778437614441,
96
+ "position": [
97
+ 0.027188779320567846,
98
+ -0.12104632635600865,
99
+ -0.0017621727311052382
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4815758494160351,
103
+ "xyz": [
104
+ -0.5079234150955845,
105
+ 0.4854528986675859,
106
+ 0.5238644756347784
107
+ ]
108
+ }
109
+ },
110
+ "grasp_46": {
111
+ "confidence": 0.9821730256080627,
112
+ "position": [
113
+ 0.12351164920255542,
114
+ -0.01209423248656094,
115
+ -0.0020710130338557065
116
+ ],
117
+ "orientation": {
118
+ "w": 0.015864259302579908,
119
+ "xyz": [
120
+ -0.7004291150891038,
121
+ -0.0011977453670967142,
122
+ 0.7135446344961964
123
+ ]
124
+ }
125
+ },
126
+ "grasp_47": {
127
+ "confidence": 0.981562614440918,
128
+ "position": [
129
+ -0.02289328584447503,
130
+ -0.11094886739738286,
131
+ -0.0014587496989406645
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5842252630159941,
135
+ "xyz": [
136
+ -0.3887952195371032,
137
+ 0.5840883363940942,
138
+ 0.40787244894374375
139
+ ]
140
+ }
141
+ },
142
+ "grasp_48": {
143
+ "confidence": 0.9815324544906616,
144
+ "position": [
145
+ 0.013129919301718473,
146
+ -0.11924874712713063,
147
+ -0.010263936419505626
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4963609325056259,
151
+ "xyz": [
152
+ -0.46821451029380495,
153
+ 0.5088041996986381,
154
+ 0.5248993078691443
155
+ ]
156
+ }
157
+ },
158
+ "grasp_49": {
159
+ "confidence": 0.9815054535865784,
160
+ "position": [
161
+ -0.022509774658828974,
162
+ -0.10676190932281315,
163
+ -0.005920314055401832
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3986305844361034,
167
+ "xyz": [
168
+ -0.5853961896175687,
169
+ -0.3683967552209533,
170
+ -0.6022364893262737
171
+ ]
172
+ }
173
+ },
174
+ "grasp_50": {
175
+ "confidence": 0.9811716079711914,
176
+ "position": [
177
+ 0.11294613732025027,
178
+ 0.03552343021146953,
179
+ -0.005644751072395593
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7127299005329262,
183
+ "xyz": [
184
+ 0.1616623443333278,
185
+ -0.6643566318384511,
186
+ 0.15656193995747092
187
+ ]
188
+ }
189
+ },
190
+ "grasp_51": {
191
+ "confidence": 0.9810442328453064,
192
+ "position": [
193
+ 0.021049521397799253,
194
+ -0.12205021758563817,
195
+ -0.009533124801237136
196
+ ],
197
+ "orientation": {
198
+ "w": 0.49211876505979585,
199
+ "xyz": [
200
+ -0.5025328118568182,
201
+ 0.4692573677987756,
202
+ 0.5339264152014452
203
+ ]
204
+ }
205
+ },
206
+ "grasp_52": {
207
+ "confidence": 0.9809212684631348,
208
+ "position": [
209
+ 0.12263543857261539,
210
+ -0.015430406900122762,
211
+ -0.005050950043369085
212
+ ],
213
+ "orientation": {
214
+ "w": 0.0214718316597463,
215
+ "xyz": [
216
+ -0.6969320512386683,
217
+ -0.0038691269291999397,
218
+ 0.7168052080295202
219
+ ]
220
+ }
221
+ },
222
+ "grasp_53": {
223
+ "confidence": 0.9804820418357849,
224
+ "position": [
225
+ 0.12062368495389819,
226
+ -0.029649364994838834,
227
+ -0.0007846866501495242
228
+ ],
229
+ "orientation": {
230
+ "w": 0.06805455670362118,
231
+ "xyz": [
232
+ -0.6975318615609031,
233
+ 0.04231093027539523,
234
+ 0.7120587508053571
235
+ ]
236
+ }
237
+ },
238
+ "grasp_54": {
239
+ "confidence": 0.9790858626365662,
240
+ "position": [
241
+ 0.06544882757589221,
242
+ -0.10828562756069005,
243
+ -0.005788412701804191
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6289782122038055,
247
+ "xyz": [
248
+ -0.3561873988837525,
249
+ -0.5923614483994134,
250
+ -0.35584387011648805
251
+ ]
252
+ }
253
+ },
254
+ "grasp_55": {
255
+ "confidence": 0.9787946939468384,
256
+ "position": [
257
+ 0.07694207085296512,
258
+ 0.0874627388548106,
259
+ 0.0020057092770002782
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6239640955684929,
263
+ "xyz": [
264
+ 0.34910321175780973,
265
+ -0.613300365331266,
266
+ 0.3356462674696536
267
+ ]
268
+ }
269
+ },
270
+ "grasp_56": {
271
+ "confidence": 0.9784126877784729,
272
+ "position": [
273
+ -0.033749059308320284,
274
+ -0.10856655170209706,
275
+ 0.0016541544464416802
276
+ ],
277
+ "orientation": {
278
+ "w": 0.37564712026056135,
279
+ "xyz": [
280
+ -0.6065367217449504,
281
+ -0.36614043768515225,
282
+ -0.597447592769911
283
+ ]
284
+ }
285
+ },
286
+ "grasp_57": {
287
+ "confidence": 0.9779319167137146,
288
+ "position": [
289
+ 0.04078718973323703,
290
+ -0.11778963287360966,
291
+ -0.0007761230226606131
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5830786082750034,
295
+ "xyz": [
296
+ -0.42545074873196287,
297
+ -0.5542008787830531,
298
+ -0.41457494247914817
299
+ ]
300
+ }
301
+ },
302
+ "grasp_58": {
303
+ "confidence": 0.9778058528900146,
304
+ "position": [
305
+ 0.07005878491327167,
306
+ -0.1047677465248853,
307
+ -0.004350271832663566
308
+ ],
309
+ "orientation": {
310
+ "w": 0.35610549433971844,
311
+ "xyz": [
312
+ -0.6155908991154752,
313
+ 0.3362224752905385,
314
+ 0.6174068099209544
315
+ ]
316
+ }
317
+ },
318
+ "grasp_59": {
319
+ "confidence": 0.9777981042861938,
320
+ "position": [
321
+ 0.020627788733690977,
322
+ -0.12008046288974583,
323
+ 0.004346226050984114
324
+ ],
325
+ "orientation": {
326
+ "w": 0.48486607727634723,
327
+ "xyz": [
328
+ -0.49440866815770745,
329
+ 0.5086517574264512,
330
+ 0.5116036997756679
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "side label panel",
338
+ "mask_color": "Lime Green",
339
+ "graspable": false,
340
+ "grasp_scenarios": [],
341
+ "functional_labels": [
342
+ "display branding",
343
+ "identify product face",
344
+ "provide decorative side inset"
345
+ ],
346
+ "semantic_description": "Large circular yellow inset panel on each side, likely smooth plastic with a slightly matte finish, flat and centrally placed; visible logo text appears on the shown outer face.",
347
+ "id": 9,
348
+ "grasp_group": {}
349
+ },
350
+ {
351
+ "part_name": "wrist strap",
352
+ "mask_color": "Blue",
353
+ "graspable": true,
354
+ "grasp_scenarios": [
355
+ {
356
+ "scenario": "hook or pinch the strap to lift the tape measure lightly",
357
+ "confidence": 0.63
358
+ },
359
+ {
360
+ "scenario": "grasp the strap to reposition or retrieve the tool from a surface",
361
+ "confidence": 0.58
362
+ }
363
+ ],
364
+ "functional_labels": [
365
+ "provide carrying loop",
366
+ "hang for storage",
367
+ "aid retrieval",
368
+ "offer secondary pull point"
369
+ ],
370
+ "semantic_description": "Thin black looped strap made of flexible cord or woven synthetic material, with a matte finish and narrow profile attached near the rear side of the housing.",
371
+ "id": 2,
372
+ "grasp_group": {
373
+ "grasp_15": {
374
+ "confidence": 0.8987869620323181,
375
+ "position": [
376
+ -0.1085502584464848,
377
+ -0.062023352133110166,
378
+ 0.043907149869482964
379
+ ],
380
+ "orientation": {
381
+ "w": 0.12415602986918156,
382
+ "xyz": [
383
+ -0.7925919306269151,
384
+ -0.2429847447369986,
385
+ -0.5452904965037606
386
+ ]
387
+ }
388
+ }
389
+ }
390
+ },
391
+ {
392
+ "part_name": "tape hook",
393
+ "mask_color": "Orange",
394
+ "graspable": true,
395
+ "grasp_scenarios": [
396
+ {
397
+ "scenario": "grasp the metal hook to pull out the tape blade",
398
+ "confidence": 0.72
399
+ },
400
+ {
401
+ "scenario": "pinch the hook to orient the tape end",
402
+ "confidence": 0.48
403
+ }
404
+ ],
405
+ "functional_labels": [
406
+ "hook onto measurement edge",
407
+ "anchor tape end",
408
+ "pull tape outward",
409
+ "mark tape tip"
410
+ ],
411
+ "semantic_description": "Small silver-toned metal end hook at the tape outlet, with a reflective finish, thin bent shape, and smooth hard surface attached to the yellow tape blade.",
412
+ "id": 4,
413
+ "grasp_group": {
414
+ "grasp_29": {
415
+ "confidence": 0.9673031568527222,
416
+ "position": [
417
+ 0.13231076998636127,
418
+ -0.029090401949360967,
419
+ 0.0025056918966583908
420
+ ],
421
+ "orientation": {
422
+ "w": 0.028266672826109698,
423
+ "xyz": [
424
+ -0.7109792867115804,
425
+ 0.009258737568360154,
426
+ 0.7025836070198865
427
+ ]
428
+ }
429
+ }
430
+ }
431
+ },
432
+ {
433
+ "part_name": "lock button",
434
+ "mask_color": "Purple",
435
+ "graspable": false,
436
+ "grasp_scenarios": [],
437
+ "functional_labels": [
438
+ "lock tape extension",
439
+ "release tape movement",
440
+ "control blade position"
441
+ ],
442
+ "semantic_description": "Small yellow ridged slider on the upper side of the case, likely hard plastic with a matte finish and ribbed texture for thumb traction.",
443
+ "id": 5,
444
+ "grasp_group": {}
445
+ },
446
+ {
447
+ "part_name": "lanyard anchor eyelet",
448
+ "mask_color": "Red",
449
+ "graspable": false,
450
+ "grasp_scenarios": [],
451
+ "functional_labels": [
452
+ "attach strap hardware",
453
+ "reinforce tether point",
454
+ "provide hanging attachment"
455
+ ],
456
+ "semantic_description": "Small circular metal eyelet near the case edge, silver and reflective, with a smooth hard surface set into the housing where the wrist strap attaches.",
457
+ "id": 0,
458
+ "grasp_group": {}
459
+ },
460
+ {
461
+ "part_name": "side fastener cap",
462
+ "mask_color": "Green",
463
+ "graspable": false,
464
+ "grasp_scenarios": [],
465
+ "functional_labels": [
466
+ "cover screw point",
467
+ "join housing halves",
468
+ "provide assembly hardware seat"
469
+ ],
470
+ "semantic_description": "Small round dark insert near the lower side of the housing, flush-mounted and smooth, appearing as a compact fastener cover or plug.",
471
+ "id": 1,
472
+ "grasp_group": {}
473
+ }
474
+ ],
475
+ "quality_check": {
476
+ "success": false,
477
+ "message": "One part misidentified: green mask is metal eyelet, not fastener cap; red mask is side fastener/insert, not eyelet."
478
+ }
479
+ }
dataset/tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3d70f6b910c3f7d279e236a396f2f16e70016d0ee443dd8d711c456a1391bae
3
+ size 3783064