Add asset tools/repair_tools/118a8025d0cf57e6b7d03ef4ba33a13a
Browse files
.gitattributes
CHANGED
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@@ -7800,3 +7800,4 @@ dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7802 |
dataset/tools/repair_tools/10bed49e24485516ae4e201e61d1b7f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7802 |
dataset/tools/repair_tools/10bed49e24485516ae4e201e61d1b7f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7803 |
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dataset/tools/repair_tools/118a8025d0cf57e6b7d03ef4ba33a13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/118a8025d0cf57e6b7d03ef4ba33a13a/affordance/affordance_annot.json
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@@ -0,0 +1,522 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hex key shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up and reposition the tool",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the short metal arm while inserting the tip into a hex socket",
|
| 14 |
+
"confidence": 0.73
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the long arm to stabilize the tool while another manipulator turns the handle",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"provide leverage",
|
| 25 |
+
"support tool positioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "L-shaped silver-gray metal shaft with a smooth matte to satin finish, forming the working long and short arms of the hex key, with white branding text visible on one face.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9850919842720032,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.05225067026913166,
|
| 34 |
+
0.14014169573783875,
|
| 35 |
+
0.06805755980894901
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3303585989872286,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6612121680822054,
|
| 41 |
+
-0.6081269391635468,
|
| 42 |
+
0.28955705952160976
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.9765790700912476,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0695983488112688,
|
| 50 |
+
0.1251857727766037,
|
| 51 |
+
0.07864225693629123
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.29600890274324615,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6482974204562675,
|
| 57 |
+
0.6816292813644662,
|
| 58 |
+
-0.1657428940046888
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9765449166297913,
|
| 64 |
+
"position": [
|
| 65 |
+
0.04423048533499241,
|
| 66 |
+
0.1492919847369194,
|
| 67 |
+
0.020131089171627536
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5757887005488828,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.42175694259588864,
|
| 73 |
+
-0.6370095637505852,
|
| 74 |
+
0.2912168768850574
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.9759476780891418,
|
| 80 |
+
"position": [
|
| 81 |
+
0.04577223025262356,
|
| 82 |
+
0.14666248112916946,
|
| 83 |
+
0.026228746777633205
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5655034691730497,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.43092723717769843,
|
| 89 |
+
-0.6533161255903766,
|
| 90 |
+
0.2601645299713642
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.97580486536026,
|
| 96 |
+
"position": [
|
| 97 |
+
0.06213638745248318,
|
| 98 |
+
0.1378694325685501,
|
| 99 |
+
0.020939365407684818
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.568458272108576,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.33226246144226834,
|
| 105 |
+
-0.6972694304896887,
|
| 106 |
+
0.2833234739520229
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.9753028154373169,
|
| 112 |
+
"position": [
|
| 113 |
+
0.060816047713160515,
|
| 114 |
+
0.13292492181062698,
|
| 115 |
+
0.018196205055573955
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5609251984316226,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.34147035656161556,
|
| 121 |
+
-0.6899812651282383,
|
| 122 |
+
0.30444502151647
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.9752062559127808,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.039624880999326706,
|
| 130 |
+
0.11617580056190491,
|
| 131 |
+
0.08599796183989383
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.24174780043671965,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6759510846996423,
|
| 137 |
+
-0.6770555025301888,
|
| 138 |
+
0.16199993386103284
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
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{
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{
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{
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"cover part of the metal shank"
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],
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"semantic_description": "Beige to tan cylindrical handle around one end of the tool, likely hard plastic or composite, with a mostly matte finish and integrated textured grip inserts.",
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| 458 |
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}
|
| 459 |
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}
|
| 460 |
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},
|
| 461 |
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{
|
| 462 |
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"part_name": "top grip insert",
|
| 463 |
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"mask_color": "Orange",
|
| 464 |
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"graspable": false,
|
| 465 |
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"grasp_scenarios": [],
|
| 466 |
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"functional_labels": [
|
| 467 |
+
"increase friction",
|
| 468 |
+
"improve grip comfort",
|
| 469 |
+
"aid torque control"
|
| 470 |
+
],
|
| 471 |
+
"semantic_description": "Brown elongated rounded insert set into the outer surface of the handle, with a textured matte appearance and positioned along the top/side of the grip.",
|
| 472 |
+
"id": 4,
|
| 473 |
+
"grasp_group": {}
|
| 474 |
+
},
|
| 475 |
+
{
|
| 476 |
+
"part_name": "end cap",
|
| 477 |
+
"mask_color": "Blue",
|
| 478 |
+
"graspable": false,
|
| 479 |
+
"grasp_scenarios": [],
|
| 480 |
+
"functional_labels": [
|
| 481 |
+
"finish handle end",
|
| 482 |
+
"protect handle tip",
|
| 483 |
+
"provide a durable end surface"
|
| 484 |
+
],
|
| 485 |
+
"semantic_description": "Gray polygonal end cap at the tip of the handle, appearing hard and smooth with a matte finish.",
|
| 486 |
+
"id": 2,
|
| 487 |
+
"grasp_group": {}
|
| 488 |
+
},
|
| 489 |
+
{
|
| 490 |
+
"part_name": "side grip insert",
|
| 491 |
+
"mask_color": "Cyan",
|
| 492 |
+
"graspable": false,
|
| 493 |
+
"grasp_scenarios": [],
|
| 494 |
+
"functional_labels": [
|
| 495 |
+
"increase friction",
|
| 496 |
+
"improve grip comfort",
|
| 497 |
+
"aid grip placement"
|
| 498 |
+
],
|
| 499 |
+
"semantic_description": "Brown elongated oval insert on the side of the handle, matching the other textured grip panels and appearing matte and slightly recessed.",
|
| 500 |
+
"id": 6,
|
| 501 |
+
"grasp_group": {}
|
| 502 |
+
},
|
| 503 |
+
{
|
| 504 |
+
"part_name": "side grip insert",
|
| 505 |
+
"mask_color": "Yellow",
|
| 506 |
+
"graspable": false,
|
| 507 |
+
"grasp_scenarios": [],
|
| 508 |
+
"functional_labels": [
|
| 509 |
+
"increase friction",
|
| 510 |
+
"improve grip comfort",
|
| 511 |
+
"aid grip placement"
|
| 512 |
+
],
|
| 513 |
+
"semantic_description": "Brown elongated side insert on the handle near the end, appearing as a narrow textured grip patch on the handle surface.",
|
| 514 |
+
"id": 3,
|
| 515 |
+
"grasp_group": {}
|
| 516 |
+
}
|
| 517 |
+
],
|
| 518 |
+
"quality_check": {
|
| 519 |
+
"success": false,
|
| 520 |
+
"message": "Grip insert colors and locations mismatch mask/RGB views; one side insert mislabeled and descriptions swapped."
|
| 521 |
+
}
|
| 522 |
+
}
|
dataset/tools/repair_tools/118a8025d0cf57e6b7d03ef4ba33a13a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d3232b16a1ad5b6032111debe00d18aa28583bf62c907012672c65d345ca878
|
| 3 |
+
size 3782636
|