xinjjj commited on
Commit
88a0450
·
verified ·
1 Parent(s): f592a6b

Add asset tools/repair_tools/6eb3334b45ee546581d81f937e2edafe

Browse files
.gitattributes CHANGED
@@ -8551,3 +8551,4 @@ dataset/livingroom_supplies/ornaments/a0ebba1917ef5b12a120b015e36fb8a2/affordanc
8551
  dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8552
  dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8553
  dataset/tools/repair_tools/6d5c65ba9281549ca5115b60611b2e35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8551
  dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8552
  dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8553
  dataset/tools/repair_tools/6d5c65ba9281549ca5115b60611b2e35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8554
+ dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/affordance/affordance_annot.json ADDED
@@ -0,0 +1,372 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tape case body",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and carry the measuring tape",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body while pulling out or retracting the tape",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "stabilize the tool on a work surface during measurement",
18
+ "confidence": 0.83
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "house the internal tape reel",
23
+ "provide the main grasp surface",
24
+ "protect internal mechanism",
25
+ "support measurement handling"
26
+ ],
27
+ "semantic_description": "Bulky rounded black-and-lime plastic housing with a matte to slightly rubberized finish, hard ridged sides, and a compact palm-sized form enclosing the tool's internal mechanism.",
28
+ "id": 6,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.988974928855896,
32
+ "position": [
33
+ 0.1331623625010252,
34
+ 0.011022310238331556,
35
+ -0.0010824276287166867
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7134213344697248,
39
+ "xyz": [
40
+ 0.04007324322800265,
41
+ -0.6985761836154863,
42
+ 0.03762247182002615
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.9887625575065613,
48
+ "position": [
49
+ 0.13250944577157497,
50
+ 0.020020220894366503,
51
+ -0.007615617538249353
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7251463363839231,
55
+ "xyz": [
56
+ 0.0979553135013482,
57
+ -0.6764926790396406,
58
+ 0.08321780213149632
59
+ ]
60
+ }
61
+ },
62
+ "grasp_23": {
63
+ "confidence": 0.9882152080535889,
64
+ "position": [
65
+ 0.12089421413838863,
66
+ 0.046417534817010164,
67
+ 0.002620025243231794
68
+ ],
69
+ "orientation": {
70
+ "w": 0.18612382939217134,
71
+ "xyz": [
72
+ 0.6912402010449961,
73
+ 0.18896414308390574,
74
+ -0.6721885577873461
75
+ ]
76
+ }
77
+ },
78
+ "grasp_25": {
79
+ "confidence": 0.987888753414154,
80
+ "position": [
81
+ 0.1356849353760481,
82
+ -0.011850512120872736,
83
+ -0.003198375754436711
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7140227408990933,
87
+ "xyz": [
88
+ 0.020517503687377737,
89
+ -0.6996498675059447,
90
+ 0.015511944439657371
91
+ ]
92
+ }
93
+ },
94
+ "grasp_26": {
95
+ "confidence": 0.9877625703811646,
96
+ "position": [
97
+ 0.10492207668721676,
98
+ 0.07686973037198186,
99
+ 0.003095781368756434
100
+ ],
101
+ "orientation": {
102
+ "w": 0.2573095102894223,
103
+ "xyz": [
104
+ 0.6596766878048588,
105
+ 0.28244538570542743,
106
+ -0.6471808770159547
107
+ ]
108
+ }
109
+ },
110
+ "grasp_29": {
111
+ "confidence": 0.9870549440383911,
112
+ "position": [
113
+ 0.11716545186936855,
114
+ 0.05649926187470555,
115
+ -0.004061194664245704
116
+ ],
117
+ "orientation": {
118
+ "w": 0.19990830137643087,
119
+ "xyz": [
120
+ 0.6707125936192122,
121
+ 0.22692877023498448,
122
+ -0.6772625938592928
123
+ ]
124
+ }
125
+ },
126
+ "grasp_31": {
127
+ "confidence": 0.986922562122345,
128
+ "position": [
129
+ 0.1143773328512907,
130
+ 0.06179313035681844,
131
+ -0.0036294691417424474
132
+ ],
133
+ "orientation": {
134
+ "w": 0.6875040296214099,
135
+ "xyz": [
136
+ 0.20651838546951906,
137
+ -0.6670682083111628,
138
+ 0.19926959421327065
139
+ ]
140
+ }
141
+ },
142
+ "grasp_32": {
143
+ "confidence": 0.9868515133857727,
144
+ "position": [
145
+ 0.10614749602973461,
146
+ 0.07252020807936788,
147
+ 0.010717227993154665
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2383493622459328,
151
+ "xyz": [
152
+ 0.68978318884787,
153
+ 0.26254558307142983,
154
+ -0.6312357330740263
155
+ ]
156
+ }
157
+ },
158
+ "grasp_33": {
159
+ "confidence": 0.9867522716522217,
160
+ "position": [
161
+ 0.09765909425914288,
162
+ 0.09143854351714253,
163
+ -0.004159830106800655
164
+ ],
165
+ "orientation": {
166
+ "w": 0.2474345515132451,
167
+ "xyz": [
168
+ 0.6620767542112619,
169
+ 0.24447580117297674,
170
+ -0.6638238447746139
171
+ ]
172
+ }
173
+ },
174
+ "grasp_35": {
175
+ "confidence": 0.986349880695343,
176
+ "position": [
177
+ 0.11750135384500027,
178
+ 0.05594787793233991,
179
+ 0.005999473327392479
180
+ ],
181
+ "orientation": {
182
+ "w": 0.19908372872599617,
183
+ "xyz": [
184
+ 0.689098559444973,
185
+ 0.21071213283380363,
186
+ -0.6641605539356026
187
+ ]
188
+ }
189
+ },
190
+ "grasp_36": {
191
+ "confidence": 0.9861686825752258,
192
+ "position": [
193
+ 0.11735704354941845,
194
+ 0.048765544313937426,
195
+ 0.010087063474202296
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6633905917861009,
199
+ "xyz": [
200
+ 0.21184644283157592,
201
+ -0.700902392197599,
202
+ 0.15417471907215324
203
+ ]
204
+ }
205
+ },
206
+ "grasp_37": {
207
+ "confidence": 0.986151397228241,
208
+ "position": [
209
+ 0.13571065478026867,
210
+ -0.0067311006132513285,
211
+ 0.02363194984718575
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6321067190667992,
215
+ "xyz": [
216
+ 0.0444076899530191,
217
+ -0.7734086336125292,
218
+ 0.017553866731976397
219
+ ]
220
+ }
221
+ },
222
+ "grasp_38": {
223
+ "confidence": 0.9861066341400146,
224
+ "position": [
225
+ 0.13089600019156933,
226
+ 0.020363446790724993,
227
+ -0.008277902441477636
228
+ ],
229
+ "orientation": {
230
+ "w": 0.10662508135289649,
231
+ "xyz": [
232
+ 0.6901900247663055,
233
+ 0.10031639813117765,
234
+ -0.7086645482917583
235
+ ]
236
+ }
237
+ },
238
+ "grasp_39": {
239
+ "confidence": 0.9857991933822632,
240
+ "position": [
241
+ 0.10337370447814465,
242
+ 0.0756779951043427,
243
+ 0.01299202342852368
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6305015689061056,
247
+ "xyz": [
248
+ 0.28295126727862985,
249
+ -0.6828165076094241,
250
+ 0.23699782464914196
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "side label panel",
258
+ "mask_color": "Orange",
259
+ "graspable": false,
260
+ "grasp_scenarios": [],
261
+ "functional_labels": [
262
+ "display branding",
263
+ "identify the product",
264
+ "cover the side face"
265
+ ],
266
+ "semantic_description": "Large circular teal side insert with a smooth slightly matte plastic surface, centered on the case and printed with bold white Makita branding.",
267
+ "id": 4,
268
+ "grasp_group": {}
269
+ },
270
+ {
271
+ "part_name": "belt clip",
272
+ "mask_color": "Red",
273
+ "graspable": true,
274
+ "grasp_scenarios": [
275
+ {
276
+ "scenario": "grasp the metal clip to reorient the tape measure",
277
+ "confidence": 0.34
278
+ },
279
+ {
280
+ "scenario": "hold the clip to attach or detach the tool from a belt or pocket edge",
281
+ "confidence": 0.74
282
+ }
283
+ ],
284
+ "functional_labels": [
285
+ "clip to a belt or pocket",
286
+ "provide hanging attachment",
287
+ "aid storage carry"
288
+ ],
289
+ "semantic_description": "Small silver metal spring clip with a smooth reflective finish and flat bent shape, mounted on one side of the case near the rear edge.",
290
+ "id": 0,
291
+ "grasp_group": {}
292
+ },
293
+ {
294
+ "part_name": "tape lock slider",
295
+ "mask_color": "Teal",
296
+ "graspable": true,
297
+ "grasp_scenarios": [
298
+ {
299
+ "scenario": "pinch the slider to engage or release the tape lock",
300
+ "confidence": 0.86
301
+ },
302
+ {
303
+ "scenario": "use a gripper to stabilize the tool by the slider during fine manipulation",
304
+ "confidence": 0.29
305
+ }
306
+ ],
307
+ "functional_labels": [
308
+ "lock the tape in place",
309
+ "release tape movement",
310
+ "control extension"
311
+ ],
312
+ "semantic_description": "Short black ridged plastic slider with a matte finish and ribbed texture, protruding from the top-front of the housing for thumb-style actuation.",
313
+ "id": 10,
314
+ "grasp_group": {}
315
+ },
316
+ {
317
+ "part_name": "lanyard hole insert",
318
+ "mask_color": "Yellow",
319
+ "graspable": false,
320
+ "grasp_scenarios": [],
321
+ "functional_labels": [
322
+ "provide tether point",
323
+ "support hanging attachment",
324
+ "reinforce corner attachment location"
325
+ ],
326
+ "semantic_description": "Small round opening or insert at the housing corner, appearing as a dark hole with a surrounding rim where a wrist strap or tether can pass through.",
327
+ "id": 3,
328
+ "grasp_group": {}
329
+ },
330
+ {
331
+ "part_name": "tape end hook",
332
+ "mask_color": "Red",
333
+ "graspable": true,
334
+ "grasp_scenarios": [
335
+ {
336
+ "scenario": "grasp the exposed metal hook to start pulling the tape outward",
337
+ "confidence": 0.82
338
+ },
339
+ {
340
+ "scenario": "hold or place the hook against an edge or lip to anchor the tape during measurement",
341
+ "confidence": 0.88
342
+ }
343
+ ],
344
+ "functional_labels": [
345
+ "hook onto edges for measurement",
346
+ "anchor the tape end",
347
+ "initiate tape extension"
348
+ ],
349
+ "semantic_description": "Small silver metal end hook with punched holes and a reflective finish, protruding from the tape outlet at the front of the housing.",
350
+ "id": 0,
351
+ "grasp_group": {}
352
+ },
353
+ {
354
+ "part_name": "printed logo text",
355
+ "mask_color": "Green",
356
+ "graspable": false,
357
+ "grasp_scenarios": [],
358
+ "functional_labels": [
359
+ "display brand name",
360
+ "identify manufacturer",
361
+ "provide visual labeling"
362
+ ],
363
+ "semantic_description": "White printed Makita logo lettering on the teal side panel, flat and smooth with high visual contrast and no separate structural thickness.",
364
+ "id": 1,
365
+ "grasp_group": {}
366
+ }
367
+ ],
368
+ "quality_check": {
369
+ "success": false,
370
+ "message": "Mask-color mapping is inconsistent: red used for two different parts; logo text color mislabeled; tape hook description color wrong."
371
+ }
372
+ }
dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80d1781e5ff3e0d45b74862de80ba2912f8d59d22cfbacc05a584642693268e8
3
+ size 3785284