Add asset tools/repair_tools/f7a458e179375b88993034fbbe7b6c08
Browse files
.gitattributes
CHANGED
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@@ -7945,4 +7945,4 @@ dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part
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| 7945 |
dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7946 |
dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7947 |
dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7948 |
-
dataset/tools/repair_tools/
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| 7945 |
dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7946 |
dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7947 |
dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7948 |
+
dataset/tools/repair_tools/f7a458e179375b88993034fbbe7b6c08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f7a458e179375b88993034fbbe7b6c08/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handles",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp both handles together to pick up or reposition the pliers",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handles to operate the jaws for gripping or cutting tasks",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp one handle to stabilize the tool during handoff or placement",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main gripping area",
|
| 23 |
+
"apply squeezing force",
|
| 24 |
+
"provide leverage",
|
| 25 |
+
"support tool handling",
|
| 26 |
+
"stabilize during operation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Two elongated light blue plastic-coated handles with dark gray rubber grip insets, matte smooth-to-lightly textured surfaces, and gently curved medium-sized forms at the rear of the pliers.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9767955541610718,
|
| 33 |
+
"position": [
|
| 34 |
+
0.13587202149210498,
|
| 35 |
+
-0.02492037322372198,
|
| 36 |
+
0.025332954646728467
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.10038920034543539,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.7847113289313812,
|
| 42 |
+
0.11373836276541793,
|
| 43 |
+
-0.6010105852114354
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9742408394813538,
|
| 49 |
+
"position": [
|
| 50 |
+
0.1326799692469649,
|
| 51 |
+
-0.005316874943673611,
|
| 52 |
+
0.032466807337186765
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5639256950388728,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.12299645616966956,
|
| 58 |
+
-0.8113378631428831,
|
| 59 |
+
0.09268524195020263
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9739041924476624,
|
| 65 |
+
"position": [
|
| 66 |
+
0.13804279285250232,
|
| 67 |
+
-0.0054599205031991005,
|
| 68 |
+
-0.0016596380810369737
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.13978067738491856,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.685392449824239,
|
| 74 |
+
0.14153983484028576,
|
| 75 |
+
-0.7004748582976593
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.972984254360199,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.12627275270642713,
|
| 83 |
+
0.014395278878509998,
|
| 84 |
+
-0.02211134980461793
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7686312896414272,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.1938843943957893,
|
| 90 |
+
0.5824590695524278,
|
| 91 |
+
-0.1798783324640687
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9727187752723694,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.144827276293654,
|
| 99 |
+
-0.046884181909263134,
|
| 100 |
+
-0.01618965814850526
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
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| 522 |
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| 536 |
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| 537 |
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| 558 |
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|
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|
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|
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],
|
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| 583 |
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}
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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{
|
| 587 |
+
"part_name": "pivot joint",
|
| 588 |
+
"mask_color": "Yellow",
|
| 589 |
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"graspable": false,
|
| 590 |
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"grasp_scenarios": [],
|
| 591 |
+
"functional_labels": [
|
| 592 |
+
"connect the two halves",
|
| 593 |
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"enable opening and closing",
|
| 594 |
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"act as rotation axis",
|
| 595 |
+
"transfer force between handles and jaws"
|
| 596 |
+
],
|
| 597 |
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"semantic_description": "A small dark metal pivot and spring area near the center, with a hard slightly reflective finish and compact mechanical form linking the handles to the jaws.",
|
| 598 |
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"id": 3,
|
| 599 |
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"grasp_group": {}
|
| 600 |
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}
|
| 601 |
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],
|
| 602 |
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"quality_check": {
|
| 603 |
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"success": true,
|
| 604 |
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"message": "YES"
|
| 605 |
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}
|
| 606 |
+
}
|
dataset/tools/repair_tools/f7a458e179375b88993034fbbe7b6c08/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:305f774fcbce9c8ff8089295fe28c975990cb14f32195b465162f2ce8ac9f177
|
| 3 |
+
size 3768660
|