Add asset tools/repair_tools/e1b00f6b3ec95a198b6c23676437c88c
Browse files
.gitattributes
CHANGED
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@@ -7926,4 +7926,4 @@ dataset/tools/repair_tools/d99952b80eb25e8abae0d6c3433cf490/affordance/mesh_part
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| 7926 |
dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7927 |
dataset/tools/repair_tools/dbb69c7899665d499d8d1cb5099d10ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7928 |
dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7929 |
-
dataset/tools/repair_tools/
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| 7926 |
dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7927 |
dataset/tools/repair_tools/dbb69c7899665d499d8d1cb5099d10ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7928 |
dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7929 |
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dataset/tools/repair_tools/e1b00f6b3ec95a198b6c23676437c88c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/e1b00f6b3ec95a198b6c23676437c88c/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hammer head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal head to pick up the hammer when the handle is inaccessible",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the head briefly to stabilize or reposition the tool during inspection",
|
| 14 |
+
"confidence": 0.37
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"strike with the flat face",
|
| 19 |
+
"pull nails with the claw",
|
| 20 |
+
"provide impact mass",
|
| 21 |
+
"hook under small fasteners"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Silver metal hammer head with a smooth slightly reflective hard surface, including a round flat striking face on one side and a curved claw on the other.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.9375025629997253,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.012739368015900254,
|
| 30 |
+
-0.171887525357306,
|
| 31 |
+
0.0050014528969768435
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5791713783751918,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.42918009960549214,
|
| 37 |
+
0.5701102389455558,
|
| 38 |
+
0.39413103407755185
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.9370439648628235,
|
| 44 |
+
"position": [
|
| 45 |
+
0.00955590303055942,
|
| 46 |
+
-0.16975576523691416,
|
| 47 |
+
1.9042345229536295e-05
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5688530767195504,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.454598541394752,
|
| 53 |
+
0.5344109799284416,
|
| 54 |
+
0.4291284747023763
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_6": {
|
| 59 |
+
"confidence": 0.9299675822257996,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.010338122257962823,
|
| 62 |
+
-0.16522298101335764,
|
| 63 |
+
0.042092932999366894
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4379142860888388,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.4720776180757269,
|
| 69 |
+
0.6948724854615969,
|
| 70 |
+
0.320196860540002
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_8": {
|
| 75 |
+
"confidence": 0.924365758895874,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.006354592507705092,
|
| 78 |
+
-0.1786561543121934,
|
| 79 |
+
0.00021315488265827298
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.4681074430863315,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.5397558629224395,
|
| 85 |
+
-0.4608181702962918,
|
| 86 |
+
-0.5264842296715141
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_11": {
|
| 91 |
+
"confidence": 0.9206346273422241,
|
| 92 |
+
"position": [
|
| 93 |
+
0.10261352243833244,
|
| 94 |
+
-0.15471664909273386,
|
| 95 |
+
-0.0042216194269713014
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6744737569358842,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.26158871406222484,
|
| 101 |
+
-0.6239910931381047,
|
| 102 |
+
-0.2954515384363033
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_12": {
|
| 107 |
+
"confidence": 0.9195429682731628,
|
| 108 |
+
"position": [
|
| 109 |
+
0.01590056042186916,
|
| 110 |
+
-0.17798491660505533,
|
| 111 |
+
0.0026605747698340565
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5593767722459727,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.4889859020620566,
|
| 117 |
+
-0.5247122601347963,
|
| 118 |
+
-0.4155327403712831
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_13": {
|
| 123 |
+
"confidence": 0.917391836643219,
|
| 124 |
+
"position": [
|
| 125 |
+
0.02388899656943977,
|
| 126 |
+
-0.17900791112333536,
|
| 127 |
+
0.0008990685746539384
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.512350833079701,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.44441499291575093,
|
| 133 |
+
-0.5386342637174761,
|
| 134 |
+
-0.4998650496521657
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_17": {
|
| 139 |
+
"confidence": 0.9133986830711365,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.006480737356469035,
|
| 142 |
+
-0.18147447053343058,
|
| 143 |
+
-0.004675940464949235
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5327146718409714,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.48613112576165785,
|
| 149 |
+
0.4927525640372169,
|
| 150 |
+
0.4869153084529362
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "handle grip",
|
| 158 |
+
"mask_color": "Green",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp the handle to pick up and wield the hammer",
|
| 163 |
+
"confidence": 0.98
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
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"scenario": "hold the handle to orient the head for striking or nail pulling",
|
| 167 |
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|
| 168 |
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},
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{
|
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| 171 |
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|
| 172 |
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}
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],
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| 178 |
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],
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}
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| 359 |
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}
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| 360 |
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},
|
| 361 |
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{
|
| 362 |
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"part_name": "handle end cap",
|
| 363 |
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"mask_color": "Blue",
|
| 364 |
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"graspable": true,
|
| 365 |
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"grasp_scenarios": [
|
| 366 |
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{
|
| 367 |
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"scenario": "pinch or hook the handle end during pickup from a flat surface",
|
| 368 |
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"confidence": 0.62
|
| 369 |
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},
|
| 370 |
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{
|
| 371 |
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"scenario": "use the butt end as a secondary contact point while reorienting the hammer in a gripper",
|
| 372 |
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"confidence": 0.58
|
| 373 |
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}
|
| 374 |
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],
|
| 375 |
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"functional_labels": [
|
| 376 |
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"protect handle end",
|
| 377 |
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"provide end stop",
|
| 378 |
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"improve grip retention near the butt",
|
| 379 |
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"finish the handle edge"
|
| 380 |
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],
|
| 381 |
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"semantic_description": "Bright blue circular cap at the butt end of the handle, likely rubber or plastic, with a smooth slightly matte finish and rounded edge.",
|
| 382 |
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"id": 2,
|
| 383 |
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"grasp_group": {
|
| 384 |
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"grasp_42": {
|
| 385 |
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| 386 |
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],
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| 391 |
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]
|
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}
|
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},
|
| 400 |
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| 401 |
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|
| 402 |
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],
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| 409 |
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|
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|
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]
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}
|
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},
|
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"grasp_55": {
|
| 417 |
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|
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|
| 420 |
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|
| 421 |
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|
| 422 |
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],
|
| 423 |
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"orientation": {
|
| 424 |
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"w": 0.13732667740165433,
|
| 425 |
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"xyz": [
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| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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]
|
| 430 |
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}
|
| 431 |
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}
|
| 432 |
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}
|
| 433 |
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},
|
| 434 |
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{
|
| 435 |
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"part_name": "neck transition",
|
| 436 |
+
"mask_color": "Orange",
|
| 437 |
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"graspable": false,
|
| 438 |
+
"grasp_scenarios": [],
|
| 439 |
+
"functional_labels": [
|
| 440 |
+
"connect handle to head",
|
| 441 |
+
"reinforce the joint area",
|
| 442 |
+
"transition between handle and head",
|
| 443 |
+
"support structural attachment"
|
| 444 |
+
],
|
| 445 |
+
"semantic_description": "Small orange band at the neck where the handle meets the hammer head, appearing as a narrow smooth connector or collar.",
|
| 446 |
+
"id": 4,
|
| 447 |
+
"grasp_group": {}
|
| 448 |
+
},
|
| 449 |
+
{
|
| 450 |
+
"part_name": "handle butt insert",
|
| 451 |
+
"mask_color": "Yellow",
|
| 452 |
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"graspable": false,
|
| 453 |
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"grasp_scenarios": [],
|
| 454 |
+
"functional_labels": [
|
| 455 |
+
"cap the handle end center",
|
| 456 |
+
"provide a finished end surface",
|
| 457 |
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"cover the butt-end center area"
|
| 458 |
+
],
|
| 459 |
+
"semantic_description": "Small yellow circular insert at the center of the handle butt, with a smooth hard appearance and flat round shape.",
|
| 460 |
+
"id": 3,
|
| 461 |
+
"grasp_group": {}
|
| 462 |
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}
|
| 463 |
+
],
|
| 464 |
+
"quality_check": {
|
| 465 |
+
"success": false,
|
| 466 |
+
"message": "Yellow insert is graspable butt-end surface; blue cap color/shape description is inaccurate."
|
| 467 |
+
}
|
| 468 |
+
}
|
dataset/tools/repair_tools/e1b00f6b3ec95a198b6c23676437c88c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f0f545264faf15b4ea19333a28f8f71ab62ab741fa5f102ed5d0426bbb93b487
|
| 3 |
+
size 3781300
|