Add asset tools/repair_tools/c7c37c4533675d83b328d643d055dc20
Browse files
.gitattributes
CHANGED
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@@ -7906,4 +7906,4 @@ dataset/tools/repair_tools/c2d0d8972bdd5be5a692fdf5dd7cf7d9/affordance/mesh_part
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| 7906 |
dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7907 |
dataset/tools/repair_tools/c45c50a4f781590f9b66ed2146d88962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7908 |
dataset/tools/repair_tools/c70f1081d0145b809aab5b1167978450/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7909 |
-
dataset/tools/repair_tools/
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| 7906 |
dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7907 |
dataset/tools/repair_tools/c45c50a4f781590f9b66ed2146d88962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7908 |
dataset/tools/repair_tools/c70f1081d0145b809aab5b1167978450/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7909 |
+
dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,406 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench head",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the head to pick up or reorient the wrench when the handle is obstructed",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp near the jaws to stabilize the wrench during placement or tool handoff",
|
| 14 |
+
"confidence": 0.52
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"engage nuts and bolts",
|
| 19 |
+
"apply turning torque",
|
| 20 |
+
"provide adjustable jaw clamping",
|
| 21 |
+
"contact fastener flats"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Silver metal head with a reflective smooth hard finish, featuring an open adjustable jaw and worm screw at one end, medium-sized and positioned opposite the handle grip.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9881733059883118,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
+
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|
| 31 |
+
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.6913394006291081,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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-0.019596346709149372
|
| 39 |
+
]
|
| 40 |
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}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9877574443817139,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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-0.001901982817798853,
|
| 47 |
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-0.0006081508763600141
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.6977135069816508,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
+
0.017574969415999783
|
| 55 |
+
]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_24": {
|
| 59 |
+
"confidence": 0.9799261689186096,
|
| 60 |
+
"position": [
|
| 61 |
+
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|
| 62 |
+
-0.01877740677446127,
|
| 63 |
+
-0.00424738202127628
|
| 64 |
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],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7079176865661904,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.09668439835269894,
|
| 69 |
+
-0.6925348043855348,
|
| 70 |
+
0.09949985365134383
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_26": {
|
| 75 |
+
"confidence": 0.9784035682678223,
|
| 76 |
+
"position": [
|
| 77 |
+
0.11490601557306945,
|
| 78 |
+
-0.0596975889056921,
|
| 79 |
+
-0.000775431253714487
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.013195683718893509,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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0.007033257006010318,
|
| 86 |
+
-0.7061375346284818
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_27": {
|
| 91 |
+
"confidence": 0.9776790142059326,
|
| 92 |
+
"position": [
|
| 93 |
+
0.009853333933278918,
|
| 94 |
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-0.17557497881352901,
|
| 95 |
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-0.002592247416032478
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.4986914490387732,
|
| 99 |
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"xyz": [
|
| 100 |
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-0.49735659214410366,
|
| 101 |
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0.5020559354653209,
|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_28": {
|
| 107 |
+
"confidence": 0.9769391417503357,
|
| 108 |
+
"position": [
|
| 109 |
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0.10750014591030777,
|
| 110 |
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-0.0287826806306839,
|
| 111 |
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-0.0027220195333939046
|
| 112 |
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],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.10978632366296705,
|
| 115 |
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"xyz": [
|
| 116 |
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0.6971401806156597,
|
| 117 |
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0.11858674815692949,
|
| 118 |
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-0.6984838687251842
|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
+
"grasp_30": {
|
| 123 |
+
"confidence": 0.9754671454429626,
|
| 124 |
+
"position": [
|
| 125 |
+
0.10326571273617446,
|
| 126 |
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-0.009227300470229238,
|
| 127 |
+
0.0017591467185411602
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6867765255977953,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.15911653814075805,
|
| 133 |
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-0.6916292847548637,
|
| 134 |
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0.1570632472840058
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_39": {
|
| 139 |
+
"confidence": 0.9737175703048706,
|
| 140 |
+
"position": [
|
| 141 |
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-0.11372586828656495,
|
| 142 |
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-0.06527208723127842,
|
| 143 |
+
0.00018259508669871138
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.011468951753524984,
|
| 147 |
+
"xyz": [
|
| 148 |
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-0.7092554988687724,
|
| 149 |
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0.015346668594525159,
|
| 150 |
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-0.7046911239920183
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "handle grip",
|
| 158 |
+
"mask_color": "Orange",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp the handle to pick up and carry the wrench",
|
| 163 |
+
"confidence": 0.97
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"scenario": "hold the handle to position the wrench onto a fastener",
|
| 167 |
+
"confidence": 0.94
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "grasp the handle to apply turning force during tool use",
|
| 171 |
+
"confidence": 0.91
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"functional_labels": [
|
| 175 |
+
"main grasp surface",
|
| 176 |
+
"provide leverage",
|
| 177 |
+
"improve handling comfort",
|
| 178 |
+
"support controlled tool positioning"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Peach-orange grip sleeve on the handle, likely rubber or plastic, with a matte slightly textured hard-to-firm surface, elongated and cylindrical along most of the wrench body.",
|
| 181 |
+
"id": 4,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_41": {
|
| 184 |
+
"confidence": 0.9952009916305542,
|
| 185 |
+
"position": [
|
| 186 |
+
0.1038711245637387,
|
| 187 |
+
0.05117768235504627,
|
| 188 |
+
0.00015233292651828378
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.7122446990645286,
|
| 192 |
+
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{
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"part_name": "hanging hole loop",
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|
| 317 |
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|
| 318 |
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{
|
| 319 |
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"scenario": "pinch the end loop to lift or pull the wrench from storage",
|
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{
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|
| 331 |
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| 332 |
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],
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| 402 |
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"quality_check": {
|
| 403 |
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"success": true,
|
| 404 |
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"message": "YES"
|
| 405 |
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}
|
| 406 |
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}
|
dataset/tools/repair_tools/c7c37c4533675d83b328d643d055dc20/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2de64622e33819c00ba459cce739762041259c9815837132651d311294fea8d9
|
| 3 |
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size 3754672
|