Add asset tools/repair_tools/e5a9dcbeb52859bebeb0c7097d2f4845
Browse files
.gitattributes
CHANGED
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@@ -7929,4 +7929,4 @@ dataset/tools/repair_tools/df91a449d82850709a0ae2e75488acc1/affordance/mesh_part
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| 7929 |
dataset/tools/repair_tools/e1456ba7365e5b5894699777cde58002/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7930 |
dataset/tools/repair_tools/e1e5097dde4c530aab799b53e9781c7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7931 |
dataset/tools/repair_tools/e2d93339410656bda6ce8c549c8e2b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7932 |
-
dataset/tools/repair_tools/
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| 7929 |
dataset/tools/repair_tools/e1456ba7365e5b5894699777cde58002/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7930 |
dataset/tools/repair_tools/e1e5097dde4c530aab799b53e9781c7f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7931 |
dataset/tools/repair_tools/e2d93339410656bda6ce8c549c8e2b59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7932 |
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dataset/tools/repair_tools/e5a9dcbeb52859bebeb0c7097d2f4845/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/e5a9dcbeb52859bebeb0c7097d2f4845/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handles",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp both handles together to pick up and reposition the pliers",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the handles while squeezing to actuate the jaws",
|
| 14 |
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"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp one handle end to stabilize or orient the tool in a bin-picking setup",
|
| 18 |
+
"confidence": 0.71
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"main handhold for the tool",
|
| 23 |
+
"provide leverage for squeezing",
|
| 24 |
+
"open and close the jaws",
|
| 25 |
+
"support tool pickup and repositioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Two elongated red-and-black rubber or plastic-coated handles with matte, slightly textured grip surfaces, curved shape, and rear placement forming the main grasp area of the pliers.",
|
| 28 |
+
"id": 8,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_21": {
|
| 31 |
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"confidence": 0.979091227054596,
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| 32 |
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"position": [
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| 33 |
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| 35 |
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| 36 |
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],
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"orientation": {
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| 45 |
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| 46 |
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| 47 |
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},
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"grasp_25": {
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| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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|
| 215 |
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"xyz": [
|
| 216 |
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0.03125070355501626,
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| 217 |
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0.7009596815094645,
|
| 218 |
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-0.02495253824239525
|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"grasp_37": {
|
| 223 |
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"confidence": 0.9737608432769775,
|
| 224 |
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"position": [
|
| 225 |
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-0.13246122165583074,
|
| 226 |
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-0.0026172949001193047,
|
| 227 |
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8.14194354461506e-05
|
| 228 |
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],
|
| 229 |
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"orientation": {
|
| 230 |
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"w": 0.03171086815089021,
|
| 231 |
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"xyz": [
|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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]
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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"grasp_38": {
|
| 239 |
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"confidence": 0.9736219644546509,
|
| 240 |
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"position": [
|
| 241 |
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-0.12427647574804723,
|
| 242 |
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0.009273935342207551,
|
| 243 |
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0.0037632054882124066
|
| 244 |
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],
|
| 245 |
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"orientation": {
|
| 246 |
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"w": 0.6997746635631861,
|
| 247 |
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"xyz": [
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| 248 |
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0.034131931622479426,
|
| 249 |
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|
| 250 |
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-0.022976187887783356
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_39": {
|
| 255 |
+
"confidence": 0.9731499552726746,
|
| 256 |
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"position": [
|
| 257 |
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|
| 258 |
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0.044995578937232494,
|
| 259 |
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0.019435234484262764
|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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"w": 0.5955660224899749,
|
| 263 |
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"xyz": [
|
| 264 |
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|
| 265 |
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|
| 266 |
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-0.2246727095958741
|
| 267 |
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]
|
| 268 |
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}
|
| 269 |
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}
|
| 270 |
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}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "jaws",
|
| 274 |
+
"mask_color": "Red",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "delicately grasp the closed jaws to lift or orient the pliers when the handles are obstructed",
|
| 279 |
+
"confidence": 0.34
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "pinch the jaw area lightly to stabilize the tool during fixture placement",
|
| 283 |
+
"confidence": 0.29
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"grip small objects",
|
| 288 |
+
"clamp and hold workpieces",
|
| 289 |
+
"apply force at the tip",
|
| 290 |
+
"enable manipulation of wires or parts"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Short silver metal jaws with a reflective hard finish, serrated inner gripping faces, and tapered opposing shape at the front working end of the pliers.",
|
| 293 |
+
"id": 0,
|
| 294 |
+
"grasp_group": {
|
| 295 |
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"grasp_1": {
|
| 296 |
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"confidence": 0.9202309250831604,
|
| 297 |
+
"position": [
|
| 298 |
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0.10525732324458659,
|
| 299 |
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0.04073804896324873,
|
| 300 |
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-8.336803693964612e-05
|
| 301 |
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],
|
| 302 |
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"orientation": {
|
| 303 |
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"w": 0.10968028147492473,
|
| 304 |
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"xyz": [
|
| 305 |
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-0.6918389251919526,
|
| 306 |
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0.11641984609220712,
|
| 307 |
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0.704113312529093
|
| 308 |
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]
|
| 309 |
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}
|
| 310 |
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}
|
| 311 |
+
}
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"part_name": "pivot joint",
|
| 315 |
+
"mask_color": "Orange",
|
| 316 |
+
"graspable": false,
|
| 317 |
+
"grasp_scenarios": [],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"connect the two arms",
|
| 320 |
+
"provide rotational hinge motion",
|
| 321 |
+
"transmit squeezing force to the jaws",
|
| 322 |
+
"align the tool halves"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Compact silver metal hinge area with a round central rivet, smooth reflective finish, and thick rounded form located between the jaws and handles.",
|
| 325 |
+
"id": 4,
|
| 326 |
+
"grasp_group": {}
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"part_name": "return spring",
|
| 330 |
+
"mask_color": "Green",
|
| 331 |
+
"graspable": false,
|
| 332 |
+
"grasp_scenarios": [],
|
| 333 |
+
"functional_labels": [
|
| 334 |
+
"reopen the handles",
|
| 335 |
+
"bias the jaws apart",
|
| 336 |
+
"assist repeated operation",
|
| 337 |
+
"store spring force"
|
| 338 |
+
],
|
| 339 |
+
"semantic_description": "Small dark metal coil spring with a slightly glossy finish, tightly wound cylindrical shape, located between the handles near the pivot.",
|
| 340 |
+
"id": 1,
|
| 341 |
+
"grasp_group": {}
|
| 342 |
+
},
|
| 343 |
+
{
|
| 344 |
+
"part_name": "handle end caps",
|
| 345 |
+
"mask_color": "Maroon",
|
| 346 |
+
"graspable": false,
|
| 347 |
+
"grasp_scenarios": [],
|
| 348 |
+
"functional_labels": [
|
| 349 |
+
"cover and protect handle ends",
|
| 350 |
+
"add minor impact protection at the tips",
|
| 351 |
+
"finish the grip ends"
|
| 352 |
+
],
|
| 353 |
+
"semantic_description": "Small dark red or reddish-brown molded cap-like details at the handle tips, plus a small dark loop feature visible at one handle end; matte finish and rounded shape.",
|
| 354 |
+
"id": 12,
|
| 355 |
+
"grasp_group": {}
|
| 356 |
+
}
|
| 357 |
+
],
|
| 358 |
+
"quality_check": {
|
| 359 |
+
"success": true,
|
| 360 |
+
"message": "YES"
|
| 361 |
+
}
|
| 362 |
+
}
|
dataset/tools/repair_tools/e5a9dcbeb52859bebeb0c7097d2f4845/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90871a823b67b6848dae1c4336f83eab2b848a3b9d02bdbcaba6b5fd35b003de
|
| 3 |
+
size 3784896
|