Add asset tools/repair_tools/4b20d287ad475d989a19a4eead42bd33
Browse files
.gitattributes
CHANGED
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@@ -7853,4 +7853,4 @@ dataset/tools/repair_tools/4a9dea755d05547e94f5c40da2074e8f/affordance/mesh_part
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| 7853 |
dataset/tools/repair_tools/4ae4a97aed615ea687e4245ba70d2021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7854 |
dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7855 |
dataset/tools/repair_tools/4c819b681a5150f0b78550ccc58f185a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7856 |
-
dataset/tools/repair_tools/
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| 7853 |
dataset/tools/repair_tools/4ae4a97aed615ea687e4245ba70d2021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7854 |
dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7855 |
dataset/tools/repair_tools/4c819b681a5150f0b78550ccc58f185a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7856 |
+
dataset/tools/repair_tools/4b20d287ad475d989a19a4eead42bd33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/4b20d287ad475d989a19a4eead42bd33/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the handle grip to pick up and reposition the socket wrench",
|
| 10 |
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"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the handle grip to apply torque during fastening or loosening",
|
| 14 |
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"confidence": 0.95
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the handle grip to stabilize and orient the tool onto a fastener",
|
| 18 |
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"confidence": 0.89
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"provide primary handhold",
|
| 23 |
+
"enable torque application",
|
| 24 |
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"improve grip comfort",
|
| 25 |
+
"support tool repositioning"
|
| 26 |
+
],
|
| 27 |
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"semantic_description": "Long light aqua-blue grip made of plastic or rubber-like material with a mostly matte smooth surface, rounded rectangular form, embossed markings, and positioned at the end opposite the socket head.",
|
| 28 |
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"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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| 31 |
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| 32 |
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| 35 |
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],
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| 43 |
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]
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| 44 |
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}
|
| 45 |
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},
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| 46 |
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"grasp_1": {
|
| 47 |
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| 48 |
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| 79 |
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| 83 |
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],
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| 85 |
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"orientation": {
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| 91 |
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]
|
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|
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},
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"grasp_8": {
|
| 95 |
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"confidence": 0.9825687408447266,
|
| 96 |
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|
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| 98 |
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],
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"orientation": {
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]
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"grasp_10": {
|
| 111 |
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"confidence": 0.9822714328765869,
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"position": [
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| 116 |
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],
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| 117 |
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"orientation": {
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_14": {
|
| 127 |
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"confidence": 0.9814173579216003,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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],
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"orientation": {
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| 135 |
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| 139 |
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]
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}
|
| 141 |
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}
|
| 142 |
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}
|
| 143 |
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},
|
| 144 |
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{
|
| 145 |
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"part_name": "metal shank and socket head",
|
| 146 |
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"mask_color": "Green",
|
| 147 |
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"graspable": true,
|
| 148 |
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"grasp_scenarios": [
|
| 149 |
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{
|
| 150 |
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"scenario": "grasp the metal shank near the head for quick pickup when the handle is obstructed",
|
| 151 |
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"confidence": 0.56
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the metal section to guide and orient the socket onto a fastener",
|
| 155 |
+
"confidence": 0.53
|
| 156 |
+
},
|
| 157 |
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{
|
| 158 |
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"scenario": "use a gripper on the socket head to stabilize the tool while another manipulator engages the handle",
|
| 159 |
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"confidence": 0.49
|
| 160 |
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}
|
| 161 |
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],
|
| 162 |
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"functional_labels": [
|
| 163 |
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"connect handle to socket head",
|
| 164 |
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"transmit torque",
|
| 165 |
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"provide reach",
|
| 166 |
+
"support alignment",
|
| 167 |
+
"engage fasteners at the working end"
|
| 168 |
+
],
|
| 169 |
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"semantic_description": "Silver-gray metal section consisting of a slim straight cylindrical shank connected to a larger cylindrical socket head, with a smooth slightly matte to mildly reflective finish and located between the blue handle grip and the socket opening.",
|
| 170 |
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"id": 1,
|
| 171 |
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"grasp_group": {
|
| 172 |
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"grasp_20": {
|
| 173 |
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"confidence": 0.9876863956451416,
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| 174 |
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"position": [
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| 176 |
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0.1653599701821804,
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| 178 |
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],
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"orientation": {
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| 180 |
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"w": 0.32794280291045813,
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"xyz": [
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| 185 |
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]
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}
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},
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"grasp_21": {
|
| 189 |
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"confidence": 0.9875537157058716,
|
| 190 |
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"position": [
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],
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"orientation": {
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"xyz": [
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|
| 201 |
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]
|
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}
|
| 203 |
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},
|
| 204 |
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"grasp_25": {
|
| 205 |
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"confidence": 0.9863130450248718,
|
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"position": [
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"orientation": {
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"grasp_28": {
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}
|
| 316 |
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}
|
| 317 |
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},
|
| 318 |
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{
|
| 319 |
+
"part_name": "socket opening face",
|
| 320 |
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"mask_color": "Magenta",
|
| 321 |
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"graspable": false,
|
| 322 |
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"grasp_scenarios": [],
|
| 323 |
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"functional_labels": [
|
| 324 |
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"contact fastener",
|
| 325 |
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"seat onto nut or bolt",
|
| 326 |
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"define working interface",
|
| 327 |
+
"indicate working orientation"
|
| 328 |
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],
|
| 329 |
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"semantic_description": "Circular end face of the socket head showing a dark recessed multi-sided opening inside the silver-gray metal head, with a smooth machined interior surface.",
|
| 330 |
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"id": 7,
|
| 331 |
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"grasp_group": {}
|
| 332 |
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}
|
| 333 |
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],
|
| 334 |
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"quality_check": {
|
| 335 |
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"success": true,
|
| 336 |
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"message": "YES"
|
| 337 |
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}
|
| 338 |
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}
|
dataset/tools/repair_tools/4b20d287ad475d989a19a4eead42bd33/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:98806d98fc0a9807877570f318b15c8a406ae02e738640f598f9326b3ddf44d6
|
| 3 |
+
size 3787056
|