Add asset tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4
Browse files
.gitattributes
CHANGED
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@@ -8567,4 +8567,4 @@ dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part
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| 8567 |
dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8568 |
dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8569 |
dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8570 |
-
dataset/tools/repair_tools/
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| 8567 |
dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8568 |
dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8569 |
dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8570 |
+
dataset/tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4/affordance/affordance_annot.json
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@@ -0,0 +1,441 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "screwdriver shaft and tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft near the handle to reorient the screwdriver during pickup",
|
| 10 |
+
"confidence": 0.41
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the shaft to present the tip for insertion or handoff",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"drive screws",
|
| 19 |
+
"transmit torque to the screw",
|
| 20 |
+
"reach into screw heads",
|
| 21 |
+
"provide tool working end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender silver-gray metal shaft ending in a driver tip, with a smooth reflective hard surface at the front of the screwdriver.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_5": {
|
| 27 |
+
"confidence": 0.4948635399341583,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04862425971077755,
|
| 30 |
+
-0.23145204689353704,
|
| 31 |
+
0.016715428908355534
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5138390324135874,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.29906847051275515,
|
| 37 |
+
0.7031467011038469,
|
| 38 |
+
0.39001566050635406
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_14": {
|
| 43 |
+
"confidence": 0.41591936349868774,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.02205999690340832,
|
| 46 |
+
-0.25303105916827917,
|
| 47 |
+
0.009118021582253277
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.3641552134681387,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5287508932149901,
|
| 53 |
+
-0.5006668361518711,
|
| 54 |
+
-0.5806429131626424
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "front collar",
|
| 62 |
+
"mask_color": "Yellow",
|
| 63 |
+
"graspable": false,
|
| 64 |
+
"grasp_scenarios": [],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"connect shaft to handle",
|
| 67 |
+
"reinforce front joint",
|
| 68 |
+
"provide front transition"
|
| 69 |
+
],
|
| 70 |
+
"semantic_description": "Small ring-shaped collar around the front of the handle, appearing light gray or translucent and forming the transition between the shaft and grip.",
|
| 71 |
+
"id": 3,
|
| 72 |
+
"grasp_group": {}
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"part_name": "front spacer ring",
|
| 76 |
+
"mask_color": "Cyan",
|
| 77 |
+
"graspable": false,
|
| 78 |
+
"grasp_scenarios": [],
|
| 79 |
+
"functional_labels": [
|
| 80 |
+
"separate handle sections",
|
| 81 |
+
"support handle assembly",
|
| 82 |
+
"provide front transition"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "Thin ring just behind the front collar, appearing light gray or translucent and visually separating the shaft mount from the main handle body.",
|
| 85 |
+
"id": 6,
|
| 86 |
+
"grasp_group": {}
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"part_name": "handle grip",
|
| 90 |
+
"mask_color": "Orange",
|
| 91 |
+
"graspable": true,
|
| 92 |
+
"grasp_scenarios": [
|
| 93 |
+
{
|
| 94 |
+
"scenario": "grasp the handle body to pick up and hold the screwdriver for use",
|
| 95 |
+
"confidence": 0.97
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"scenario": "clamp the handle to stabilize the screwdriver while orienting the tip toward a screw",
|
| 99 |
+
"confidence": 0.94
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the handle for transport or placement",
|
| 103 |
+
"confidence": 0.95
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"main grasp surface",
|
| 108 |
+
"transmit turning force",
|
| 109 |
+
"stabilize the tool during use",
|
| 110 |
+
"provide comfortable grip"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Medium-sized cylindrical handle body, appearing clear to light gray plastic with a glossy finish and longitudinal facets along the center of the screwdriver.",
|
| 113 |
+
"id": 4,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_21": {
|
| 116 |
+
"confidence": 0.9865064024925232,
|
| 117 |
+
"position": [
|
| 118 |
+
0.09638057899428532,
|
| 119 |
+
0.04164822492748499,
|
| 120 |
+
0.017630373244173825
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.641128622919982,
|
| 124 |
+
"xyz": [
|
| 125 |
+
0.0065905169993167815,
|
| 126 |
+
-0.7673735567177448,
|
| 127 |
+
-0.006962643805888386
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_22": {
|
| 132 |
+
"confidence": 0.9829089641571045,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.002050211711321026,
|
| 135 |
+
-0.0079731703735888,
|
| 136 |
+
0.09907372400630265
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.004422844488877482,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.9996795235945309,
|
| 142 |
+
0.017189453753265083,
|
| 143 |
+
0.01805024188489511
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_23": {
|
| 148 |
+
"confidence": 0.9822445511817932,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.006232151121366769,
|
| 151 |
+
0.0019009439274668694,
|
| 152 |
+
0.09891248599160463
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.02015413936196661,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.9982008787556335,
|
| 158 |
+
-0.01760644788041399,
|
| 159 |
+
-0.05365472310145586
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_24": {
|
| 164 |
+
"confidence": 0.9817523956298828,
|
| 165 |
+
"position": [
|
| 166 |
+
0.002872501441743225,
|
| 167 |
+
0.007054603658616543,
|
| 168 |
+
0.09852456406224519
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.01652697549196034,
|
| 172 |
+
"xyz": [
|
| 173 |
+
0.9997343341216327,
|
| 174 |
+
0.011579268152009235,
|
| 175 |
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}
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},
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"grasp_39": {
|
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|
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|
| 376 |
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|
| 377 |
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],
|
| 378 |
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"orientation": {
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|
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]
|
| 385 |
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}
|
| 386 |
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}
|
| 387 |
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}
|
| 388 |
+
},
|
| 389 |
+
{
|
| 390 |
+
"part_name": "grip inset",
|
| 391 |
+
"mask_color": "Purple",
|
| 392 |
+
"graspable": true,
|
| 393 |
+
"grasp_scenarios": [
|
| 394 |
+
{
|
| 395 |
+
"scenario": "contact the inset area as part of a handle grasp to improve grip stability",
|
| 396 |
+
"confidence": 0.72
|
| 397 |
+
}
|
| 398 |
+
],
|
| 399 |
+
"functional_labels": [
|
| 400 |
+
"improve grip traction",
|
| 401 |
+
"indicate hand placement",
|
| 402 |
+
"provide grip texture"
|
| 403 |
+
],
|
| 404 |
+
"semantic_description": "Elongated inset panel on the side of the handle, appearing darker than the surrounding clear handle and likely made of a slightly less glossy material.",
|
| 405 |
+
"id": 5,
|
| 406 |
+
"grasp_group": {}
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"part_name": "rear neck ring",
|
| 410 |
+
"mask_color": "Magenta",
|
| 411 |
+
"graspable": false,
|
| 412 |
+
"grasp_scenarios": [],
|
| 413 |
+
"functional_labels": [
|
| 414 |
+
"separate handle from end cap",
|
| 415 |
+
"support handle assembly",
|
| 416 |
+
"provide rear transition"
|
| 417 |
+
],
|
| 418 |
+
"semantic_description": "Narrow ring at the back end of the handle, appearing light gray or translucent and linking the main grip to the rear cap.",
|
| 419 |
+
"id": 7,
|
| 420 |
+
"grasp_group": {}
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"part_name": "end cap",
|
| 424 |
+
"mask_color": "Green",
|
| 425 |
+
"graspable": false,
|
| 426 |
+
"grasp_scenarios": [],
|
| 427 |
+
"functional_labels": [
|
| 428 |
+
"cap the handle end",
|
| 429 |
+
"support palm pressure during use",
|
| 430 |
+
"indicate rear orientation"
|
| 431 |
+
],
|
| 432 |
+
"semantic_description": "Rounded bulb-like rear cap with a smooth glossy surface, appearing clear to light gray and located at the butt end of the screwdriver.",
|
| 433 |
+
"id": 1,
|
| 434 |
+
"grasp_group": {}
|
| 435 |
+
}
|
| 436 |
+
],
|
| 437 |
+
"quality_check": {
|
| 438 |
+
"success": false,
|
| 439 |
+
"message": "Several graspability labels are too strict; collar, inset, and end cap are usable grasp/contact areas."
|
| 440 |
+
}
|
| 441 |
+
}
|
dataset/tools/repair_tools/7eaf1064b948565f8cb5f53b5e803fe4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc6de8413bc4854797199c23eee469cfd899f65d7179ac8354a4e82dcfa9dd41
|
| 3 |
+
size 3786664
|