Add asset tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1
Browse files
.gitattributes
CHANGED
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@@ -8564,3 +8564,4 @@ dataset/tools/repair_tools/75f02139bb2d5baa95ebe896d0ae45c4/affordance/mesh_part
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| 8564 |
dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8565 |
dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8566 |
dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8564 |
dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8565 |
dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8566 |
dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/affordance_annot.json
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@@ -0,0 +1,370 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "metal shaft and forked remover tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pull the tool from a tight holder or slot",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the shaft to stabilize the tool while another gripper manipulates the handle",
|
| 14 |
+
"confidence": 0.33
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the shaft for careful reorientation during handoff or placement",
|
| 18 |
+
"confidence": 0.34
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"pry under clips or trim fasteners",
|
| 23 |
+
"transmit force from handle to tip",
|
| 24 |
+
"provide reach to recessed areas",
|
| 25 |
+
"align the forked tip with a fastener stem"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Slender gray metallic shaft with a smooth slightly reflective finish, ending in a narrow forked U-shaped prying tip. The working end is straight and projects from the handle.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_19": {
|
| 31 |
+
"confidence": 0.7403822541236877,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.061016227162326686,
|
| 34 |
+
-0.22910338640213013,
|
| 35 |
+
-0.0038461851654574275
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6426837618231109,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.2892606011400524,
|
| 41 |
+
0.6299003753914915,
|
| 42 |
+
0.32636084936561904
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "tool handle",
|
| 50 |
+
"mask_color": "Green",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp the handle to pick up and carry the tool",
|
| 55 |
+
"confidence": 0.98
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "hold the handle to apply leverage while removing a clip or trim fastener",
|
| 59 |
+
"confidence": 0.97
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "grasp the handle to stabilize the tool while positioning the tip under a fastener",
|
| 63 |
+
"confidence": 0.94
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"provide main grip",
|
| 68 |
+
"apply leverage and control",
|
| 69 |
+
"improve handling comfort",
|
| 70 |
+
"stabilize tool orientation"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "Large tan to light brown plastic handle with a matte to slightly satin finish, longitudinal ridges, and a rounded tapered shape at the rear, forming the main bulky grip behind the metal shaft.",
|
| 73 |
+
"id": 1,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_20": {
|
| 76 |
+
"confidence": 0.9903721809387207,
|
| 77 |
+
"position": [
|
| 78 |
+
0.09898003652051557,
|
| 79 |
+
0.042904190719127655,
|
| 80 |
+
0.011332348571158946
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.020669615029605525,
|
| 84 |
+
"xyz": [
|
| 85 |
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0.7429433949955928,
|
| 86 |
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-0.023469118798638777,
|
| 87 |
+
-0.6686232715885422
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_21": {
|
| 92 |
+
"confidence": 0.9902575016021729,
|
| 93 |
+
"position": [
|
| 94 |
+
0.09930699034885038,
|
| 95 |
+
0.03449106961488724,
|
| 96 |
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0.012805060134269297
|
| 97 |
+
],
|
| 98 |
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"orientation": {
|
| 99 |
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"w": 0.018698034312808656,
|
| 100 |
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"xyz": [
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"grasp_23": {
|
| 108 |
+
"confidence": 0.9892696738243103,
|
| 109 |
+
"position": [
|
| 110 |
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0.03565711989358533,
|
| 111 |
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|
| 112 |
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0.09623225929681212
|
| 113 |
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],
|
| 114 |
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"orientation": {
|
| 115 |
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"w": 0.0007912674446238165,
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| 116 |
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"xyz": [
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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]
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"grasp_24": {
|
| 124 |
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"confidence": 0.9891748428344727,
|
| 125 |
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"position": [
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"orientation": {
|
| 131 |
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"w": 0.03590927608231191,
|
| 132 |
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"xyz": [
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| 133 |
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0.9849188339175748,
|
| 134 |
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0.026986706844937453,
|
| 135 |
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|
| 136 |
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]
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
+
"grasp_25": {
|
| 140 |
+
"confidence": 0.9891231656074524,
|
| 141 |
+
"position": [
|
| 142 |
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0.028365257152472623,
|
| 143 |
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-0.009508982300758362,
|
| 144 |
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0.09861014189664274
|
| 145 |
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],
|
| 146 |
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"orientation": {
|
| 147 |
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"w": 0.02569483796184445,
|
| 148 |
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"xyz": [
|
| 149 |
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0.9906010784972051,
|
| 150 |
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0.0002994669225516722,
|
| 151 |
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|
| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_26": {
|
| 156 |
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"confidence": 0.9890896677970886,
|
| 157 |
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"position": [
|
| 158 |
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0.09999934300140012,
|
| 159 |
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0.03990325331687927,
|
| 160 |
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0.012237105169333518
|
| 161 |
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],
|
| 162 |
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"orientation": {
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| 163 |
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"w": 0.0056504463333435576,
|
| 164 |
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"xyz": [
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| 165 |
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|
| 166 |
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-0.0063128953080080485,
|
| 167 |
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0.6690931078995119
|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_27": {
|
| 172 |
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"confidence": 0.9890848994255066,
|
| 173 |
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"position": [
|
| 174 |
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0.09696379765227903,
|
| 175 |
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0.041764311492443085,
|
| 176 |
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-0.031997172511182725
|
| 177 |
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],
|
| 178 |
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"orientation": {
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| 179 |
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"w": 0.017932482474622286,
|
| 180 |
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"xyz": [
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|
| 183 |
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|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_28": {
|
| 188 |
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"confidence": 0.9888985753059387,
|
| 189 |
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"position": [
|
| 190 |
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|
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|
| 192 |
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|
| 193 |
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],
|
| 194 |
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"orientation": {
|
| 195 |
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"w": 0.005677149323997027,
|
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"xyz": [
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|
| 200 |
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]
|
| 201 |
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}
|
| 202 |
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},
|
| 203 |
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"grasp_30": {
|
| 204 |
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"confidence": 0.9887732863426208,
|
| 205 |
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"position": [
|
| 206 |
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|
| 207 |
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|
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dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3778064
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