Add asset tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb
Browse files
.gitattributes
CHANGED
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@@ -7798,4 +7798,4 @@ dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part
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| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
-
dataset/tools/repair_tools/
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| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
+
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,566 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench jaw head",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the head to stabilize the wrench while another tool adjusts or inspects it",
|
| 10 |
+
"confidence": 0.46
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp near the jaw head to reorient the wrench in a bin-picking or handoff task",
|
| 14 |
+
"confidence": 0.41
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"engage hex nuts and bolts",
|
| 19 |
+
"apply turning torque",
|
| 20 |
+
"provide adjustable clamping interface",
|
| 21 |
+
"contact fastener flats"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Silver metal head with a reflective smooth hard surface, shaped as an open adjustable jaw at one end of the wrench and slightly bulkier than the handle.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_14": {
|
| 27 |
+
"confidence": 0.9674490094184875,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.11891883844509721,
|
| 30 |
+
-0.06915554523584433,
|
| 31 |
+
-0.0017444123805034906
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7036011134525466,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.02306625172554815,
|
| 37 |
+
0.7101429585918743,
|
| 38 |
+
-0.010507118636898448
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_15": {
|
| 43 |
+
"confidence": 0.9670589566230774,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10662296181544662,
|
| 46 |
+
-0.014378375635715201,
|
| 47 |
+
-0.0016449367685709149
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6943831864879881,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.16034940141090542,
|
| 53 |
+
-0.6800553796062793,
|
| 54 |
+
0.17217648056140208
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_16": {
|
| 59 |
+
"confidence": 0.9670193791389465,
|
| 60 |
+
"position": [
|
| 61 |
+
0.11867434298619628,
|
| 62 |
+
-0.05792504295823164,
|
| 63 |
+
-0.003869680833304301
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.01745715227601329,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6972727266475166,
|
| 69 |
+
0.0013099393847880725,
|
| 70 |
+
-0.7165921270616625
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_18": {
|
| 75 |
+
"confidence": 0.9664568901062012,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.11597042763605714,
|
| 78 |
+
-0.08544574052211829,
|
| 79 |
+
0.01724040214321576
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.08321220962356203,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.759012295244913,
|
| 85 |
+
-0.06939720953098616,
|
| 86 |
+
-0.6419969557139078
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "wrench neck",
|
| 94 |
+
"mask_color": "Yellow",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the neck to lift and reposition the wrench when the handle is obstructed",
|
| 99 |
+
"confidence": 0.58
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the neck to stabilize the tool during precise jaw placement on a fastener",
|
| 103 |
+
"confidence": 0.52
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"connect head to handle",
|
| 108 |
+
"transfer torque between handle and jaw",
|
| 109 |
+
"support tool structure",
|
| 110 |
+
"provide secondary hold area"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Orange-painted metal neck with a smooth hard surface, gently flared between the handle and head and medium in size, connecting the silver jaw head to the main handle.",
|
| 113 |
+
"id": 3,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_20": {
|
| 116 |
+
"confidence": 0.9849913716316223,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.10219550365582108,
|
| 119 |
+
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| 530 |
+
"position": [
|
| 531 |
+
0.10653402423486114,
|
| 532 |
+
0.049976008682278916,
|
| 533 |
+
-0.0004001279594376683
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.028713649553687104,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.7008382057426789,
|
| 539 |
+
0.03710506735769725,
|
| 540 |
+
0.7117756315560905
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
}
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"part_name": "adjustment screw",
|
| 548 |
+
"mask_color": "Lime Green",
|
| 549 |
+
"graspable": false,
|
| 550 |
+
"grasp_scenarios": [],
|
| 551 |
+
"functional_labels": [
|
| 552 |
+
"adjust jaw opening",
|
| 553 |
+
"set fastener fit",
|
| 554 |
+
"fine-tune clamping width",
|
| 555 |
+
"enable tool size variation"
|
| 556 |
+
],
|
| 557 |
+
"semantic_description": "Small silver knurled metal screw with a reflective ridged surface, mounted at the base of the jaw head as the compact adjustment mechanism.",
|
| 558 |
+
"id": 9,
|
| 559 |
+
"grasp_group": {}
|
| 560 |
+
}
|
| 561 |
+
],
|
| 562 |
+
"quality_check": {
|
| 563 |
+
"success": false,
|
| 564 |
+
"message": "Mask colors and visual descriptions mismatch visible parts; neck and handle descriptions are incorrect."
|
| 565 |
+
}
|
| 566 |
+
}
|
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:846d24333e98eb42b2f22bd0bbfd3b1717b13b4ca610cd38c00e9591ef2ce66a
|
| 3 |
+
size 3781856
|