Add asset tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/affordance_annot.json +1332 -0
- dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/measuring_tape_032.urdf +4 -3
.gitattributes
CHANGED
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@@ -7859,3 +7859,4 @@ dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/mesh_part
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| 7859 |
dataset/tools/repair_tools/51cc924ef1de578bb94ae4a8aea104ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7860 |
dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7861 |
dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7859 |
dataset/tools/repair_tools/51cc924ef1de578bb94ae4a8aea104ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7860 |
dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7861 |
dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7862 |
+
dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1332 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer housing frame",
|
| 5 |
+
"mask_color": "Jade",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer housing to pick up and carry the tape measure",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing while extending or retracting the tape",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the body against a surface during measurement",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"protect internal mechanism",
|
| 24 |
+
"support overall structure",
|
| 25 |
+
"provide impact-resistant casing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Chunky dark gray outer body with matte finish, rounded-square overall shape, molded ridges and contours around the edges, medium-sized sidewalls surrounding the tape mechanism.",
|
| 28 |
+
"id": 19,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_65": {
|
| 31 |
+
"confidence": 0.052268024533987045,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07542539259884506,
|
| 34 |
+
0.0114884318318218,
|
| 35 |
+
0.09834015305386856
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.18353546371146665,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6708828492563047,
|
| 41 |
+
0.6889508342915138,
|
| 42 |
+
0.20390606676356357
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_67": {
|
| 47 |
+
"confidence": 0.048428576439619064,
|
| 48 |
+
"position": [
|
| 49 |
+
0.03354477265384048,
|
| 50 |
+
0.02611946570686996,
|
| 51 |
+
0.1048584797536023
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.023145591946096798,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7031677769479799,
|
| 57 |
+
0.7105878350822451,
|
| 58 |
+
-0.009180831586977904
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_68": {
|
| 63 |
+
"confidence": 0.043048642575740814,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.04148941359017044,
|
| 66 |
+
-0.004879234707914293,
|
| 67 |
+
0.11188371415482834
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.009051036397701911,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.7264327483278861,
|
| 73 |
+
0.6866265509696426,
|
| 74 |
+
0.027523088497748146
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_69": {
|
| 79 |
+
"confidence": 0.041546810418367386,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.019259950728155673,
|
| 82 |
+
-0.006542563438415527,
|
| 83 |
+
0.10828768397914246
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.04519503284984323,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.7065215718139453,
|
| 89 |
+
0.7057389622056562,
|
| 90 |
+
0.02678049275381486
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "top cover panel",
|
| 98 |
+
"mask_color": "Violet",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "pinch the top panel and opposite side to lift the tape measure",
|
| 103 |
+
"confidence": 0.72
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "press on the top while bracing the body during tape extension",
|
| 107 |
+
"confidence": 0.66
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"functional_labels": [
|
| 111 |
+
"cover internal mechanism",
|
| 112 |
+
"provide palm contact area",
|
| 113 |
+
"display molded branding",
|
| 114 |
+
"stiffen the housing"
|
| 115 |
+
],
|
| 116 |
+
"semantic_description": "Large light green octagonal plastic top insert with a matte smooth surface and raised molded star and text, centered on the top face as the main upper panel.",
|
| 117 |
+
"id": 20,
|
| 118 |
+
"grasp_group": {
|
| 119 |
+
"grasp_77": {
|
| 120 |
+
"confidence": 0.5705949664115906,
|
| 121 |
+
"position": [
|
| 122 |
+
-0.0773614930221811,
|
| 123 |
+
0.10841728444211185,
|
| 124 |
+
0.047099679068196565
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.23345896263851365,
|
| 128 |
+
"xyz": [
|
| 129 |
+
0.7464793899360128,
|
| 130 |
+
-0.4111198996842067,
|
| 131 |
+
0.46823697125297037
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_78": {
|
| 136 |
+
"confidence": 0.5527950525283813,
|
| 137 |
+
"position": [
|
| 138 |
+
0.041636598645709455,
|
| 139 |
+
0.1234601333271712,
|
| 140 |
+
0.04953997518168762
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.37286955515679016,
|
| 144 |
+
"xyz": [
|
| 145 |
+
0.546912236151333,
|
| 146 |
+
-0.6709103519975097,
|
| 147 |
+
0.3342672588927963
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_79": {
|
| 152 |
+
"confidence": 0.5376714468002319,
|
| 153 |
+
"position": [
|
| 154 |
+
0.10646657028701156,
|
| 155 |
+
0.07938075507991016,
|
| 156 |
+
0.05717898468719795
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.4531646822496169,
|
| 160 |
+
"xyz": [
|
| 161 |
+
0.2660096824018412,
|
| 162 |
+
-0.8362247690845074,
|
| 163 |
+
0.15687177948769918
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_80": {
|
| 168 |
+
"confidence": 0.5107702612876892,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.04694954922888428,
|
| 171 |
+
0.1242117031943053,
|
| 172 |
+
0.05697092349873856
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.27744344449206815,
|
| 176 |
+
"xyz": [
|
| 177 |
+
0.6680913676453873,
|
| 178 |
+
-0.5593703486066746,
|
| 179 |
+
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}
|
dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:fed022bde2e262f99c5f948d47b2e4a6dbef707f7d7eda1fdcafa010367f936d
|
| 3 |
+
size 3837480
|
dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/measuring_tape_032.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>8</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
+
<PartSegChecker>NO: {"summary":"Functional parts are over-fragmented; same housing and decorative panels split across many colors.","merge_groups":[{"colors":["Green","Olive","Violet"],"target_part":"main housing shell","reason":"Same outer body surfaces split into arbitrary patches"},{"colors":["Maroon","Navy"],"target_part":"side/top inset panel","reason":"Same visible panel changes color by view"},{"colors":["Gray","Crimson"],"target_part":"metal end hook assembly","reason":"Small adjacent hardware pieces act together"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|