Add asset tools/repair_tools/62334b10499e5952ac7934aa8ffb83f4
Browse files
.gitattributes
CHANGED
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@@ -7871,3 +7871,4 @@ dataset/tools/repair_tools/5e668e2f07f55c2191e94d49bdd7abe1/affordance/mesh_part
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| 7871 |
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7872 |
dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7873 |
dataset/tools/repair_tools/6040417cbb6b544fb59e63b4145b9545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7871 |
dataset/tools/repair_tools/5e53d4adb04b50b79dc4eb8cd94be038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7872 |
dataset/tools/repair_tools/5f3f8b90a7f45c1a837633dc92820a02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7873 |
dataset/tools/repair_tools/6040417cbb6b544fb59e63b4145b9545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7874 |
+
dataset/tools/repair_tools/62334b10499e5952ac7934aa8ffb83f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/62334b10499e5952ac7934aa8ffb83f4/affordance/affordance_annot.json
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@@ -0,0 +1,519 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main housing and handle",
|
| 5 |
+
"mask_color": "White",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and carry the glue gun",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle and body to reposition the tool on a work surface",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by clamping around the handle during use or storage",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support internal mechanism",
|
| 24 |
+
"enclose heater and feed path",
|
| 25 |
+
"provide tool structure",
|
| 26 |
+
"position the nozzle and trigger"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large orange plastic body and handle with mostly matte hard surfaces, a black rubberized grip area, molded vent ribs near the front, and a printed brand label on the side.",
|
| 29 |
+
"id": 17,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_48": {
|
| 32 |
+
"confidence": 0.9806756377220154,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.1323150002863258,
|
| 35 |
+
-0.05535009270533919,
|
| 36 |
+
-0.0029370896954787895
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7192924516470561,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.0008001332862173334,
|
| 42 |
+
0.6942381283467044,
|
| 43 |
+
0.02551763978028833
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_50": {
|
| 48 |
+
"confidence": 0.980073869228363,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.13058843254111707,
|
| 51 |
+
-0.034801898058503866,
|
| 52 |
+
-0.01948358518711757
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7818470546788658,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.01919291979541146,
|
| 58 |
+
0.6222827951617426,
|
| 59 |
+
-0.033330733046218135
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_51": {
|
| 64 |
+
"confidence": 0.9797452092170715,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.12798367976211011,
|
| 67 |
+
-0.09098215913400054,
|
| 68 |
+
-0.006000311856041662
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7203026059240352,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.13583075643841486,
|
| 74 |
+
0.667704481178051,
|
| 75 |
+
0.1299418613040521
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_53": {
|
| 80 |
+
"confidence": 0.9788089394569397,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.12220974056981504,
|
| 83 |
+
-0.0974015942774713,
|
| 84 |
+
-0.009360181444208138
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7245593894255147,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.15649354685841127,
|
| 90 |
+
0.6524048589636621,
|
| 91 |
+
0.15776996224758433
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_54": {
|
| 96 |
+
"confidence": 0.9784117937088013,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.13762863515876234,
|
| 99 |
+
-0.06024554884061217,
|
| 100 |
+
-0.00276980506896507
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7183488190018527,
|
| 104 |
+
"xyz": [
|
| 105 |
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-0.02352579826127391,
|
| 106 |
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0.6944446448096545,
|
| 107 |
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|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_55": {
|
| 112 |
+
"confidence": 0.9784076809883118,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.12525079189799726,
|
| 115 |
+
-0.0872399932704866,
|
| 116 |
+
0.01464194590516854
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.14466907735816165,
|
| 120 |
+
"xyz": [
|
| 121 |
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-0.7446644034085667,
|
| 122 |
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-0.123323273793427,
|
| 123 |
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-0.6397946189937621
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_57": {
|
| 128 |
+
"confidence": 0.9772853255271912,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.12325241952203214,
|
| 131 |
+
-0.08552054828032851,
|
| 132 |
+
0.0019055254088016227
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6788532635072639,
|
| 136 |
+
"xyz": [
|
| 137 |
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-0.14851448139641724,
|
| 138 |
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0.7008477785707027,
|
| 139 |
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0.1609785287347404
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
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],
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},
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|
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{
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},
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|
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}
|
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],
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| 439 |
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| 440 |
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"adhesive supply",
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| 441 |
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| 443 |
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"indicate remaining glue"
|
| 444 |
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],
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| 445 |
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"semantic_description": "Translucent white cylindrical glue stick with a smooth slightly glossy surface, protruding from the rear feed opening.",
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| 446 |
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|
| 447 |
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|
| 448 |
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},
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| 449 |
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{
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| 450 |
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|
| 451 |
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"mask_color": "Burnt Orange",
|
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|
| 453 |
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|
| 454 |
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|
| 455 |
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"dispense melted glue",
|
| 456 |
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"focus adhesive flow",
|
| 457 |
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"direct output at target"
|
| 458 |
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],
|
| 459 |
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"semantic_description": "Small front nozzle assembly with a dark heat-resistant collar and a short white conical tip projecting from the heated end.",
|
| 460 |
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"id": 18,
|
| 461 |
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"grasp_group": {}
|
| 462 |
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},
|
| 463 |
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{
|
| 464 |
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"part_name": "rear grip cap",
|
| 465 |
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"mask_color": "Green",
|
| 466 |
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"graspable": true,
|
| 467 |
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"grasp_scenarios": [
|
| 468 |
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{
|
| 469 |
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"scenario": "briefly contact or pinch the butt end to steady or reorient the tool while another gripper holds the handle",
|
| 470 |
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|
| 471 |
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}
|
| 472 |
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],
|
| 473 |
+
"functional_labels": [
|
| 474 |
+
"close the base of the handle",
|
| 475 |
+
"provide a contact surface at the handle end",
|
| 476 |
+
"add minor impact protection"
|
| 477 |
+
],
|
| 478 |
+
"semantic_description": "Small dark gray to black end cap at the base of the handle, with a matte slightly textured surface and rounded shape.",
|
| 479 |
+
"id": 1,
|
| 480 |
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|
| 481 |
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|
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|
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],
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|
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| 496 |
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}
|
| 497 |
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}
|
| 498 |
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},
|
| 499 |
+
{
|
| 500 |
+
"part_name": "front vented barrel housing",
|
| 501 |
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"mask_color": "Navy",
|
| 502 |
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"graspable": false,
|
| 503 |
+
"grasp_scenarios": [],
|
| 504 |
+
"functional_labels": [
|
| 505 |
+
"cover front heater area",
|
| 506 |
+
"provide ventilation openings",
|
| 507 |
+
"protect internal components",
|
| 508 |
+
"separate the heated front section"
|
| 509 |
+
],
|
| 510 |
+
"semantic_description": "Dark gray to black front barrel housing with orange vent-slot accents or exposed orange beneath the openings, surrounding the heated front section with a ribbed tapered shape.",
|
| 511 |
+
"id": 13,
|
| 512 |
+
"grasp_group": {}
|
| 513 |
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}
|
| 514 |
+
],
|
| 515 |
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"quality_check": {
|
| 516 |
+
"success": false,
|
| 517 |
+
"message": "Mask-part color/identity mismatch: nozzle and front housing colors are swapped; nozzle description color incorrect."
|
| 518 |
+
}
|
| 519 |
+
}
|
dataset/tools/repair_tools/62334b10499e5952ac7934aa8ffb83f4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b73d5c597ed9d23eda6e16b105a00caa89cc15cc08d1182d6a7832524185d13c
|
| 3 |
+
size 3830872
|