Add asset tools/repair_tools/faa8e542b6735baab60439af08a4c4b8
Browse files
.gitattributes
CHANGED
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@@ -7951,4 +7951,4 @@ dataset/tools/repair_tools/f900b2672e6e52ab9411dd07dfce69d6/affordance/mesh_part
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| 7951 |
dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7952 |
dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7953 |
dataset/tools/repair_tools/fcaed8e2ca6f5015b8ba20062ee83963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7954 |
-
dataset/tools/repair_tools/
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| 7951 |
dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7952 |
dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7953 |
dataset/tools/repair_tools/fcaed8e2ca6f5015b8ba20062ee83963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7954 |
+
dataset/tools/repair_tools/faa8e542b6735baab60439af08a4c4b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/faa8e542b6735baab60439af08a4c4b8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,506 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "shaft and driver tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up or reposition the screwdriver when the handle is not accessible",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the shaft near the collar to stabilize the tool during alignment with a screw",
|
| 14 |
+
"confidence": 0.55
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transmit torque from handle to tip",
|
| 19 |
+
"reach recessed fasteners",
|
| 20 |
+
"support alignment with screw",
|
| 21 |
+
"connect handle to tip"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender light silver metal shaft with a smooth reflective finish, ending in a darker driver tip.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_9": {
|
| 27 |
+
"confidence": 0.43091076612472534,
|
| 28 |
+
"position": [
|
| 29 |
+
0.0032099782320074155,
|
| 30 |
+
0.2626079358160496,
|
| 31 |
+
0.011065969712944934
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5166202630377867,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.5318730171917653,
|
| 37 |
+
0.47419678522407005,
|
| 38 |
+
-0.4747125512194227
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "handle body",
|
| 46 |
+
"mask_color": "Yellow",
|
| 47 |
+
"graspable": true,
|
| 48 |
+
"grasp_scenarios": [
|
| 49 |
+
{
|
| 50 |
+
"scenario": "grasp the handle to pick up and use the screwdriver",
|
| 51 |
+
"confidence": 0.97
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"scenario": "hold the handle to apply torque while driving or removing a screw",
|
| 55 |
+
"confidence": 0.99
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "grasp the handle for stable tool handoff or placement",
|
| 59 |
+
"confidence": 0.93
|
| 60 |
+
}
|
| 61 |
+
],
|
| 62 |
+
"functional_labels": [
|
| 63 |
+
"provide main grip",
|
| 64 |
+
"apply turning torque",
|
| 65 |
+
"support controlled manipulation",
|
| 66 |
+
"improve user comfort"
|
| 67 |
+
],
|
| 68 |
+
"semantic_description": "Bulbous light gray plastic handle with a matte finish, molded contours, textured side areas, and black printed markings on the outer surface.",
|
| 69 |
+
"id": 3,
|
| 70 |
+
"grasp_group": {
|
| 71 |
+
"grasp_60": {
|
| 72 |
+
"confidence": 0.9872918128967285,
|
| 73 |
+
"position": [
|
| 74 |
+
0.09474014549687126,
|
| 75 |
+
-0.019235707819461823,
|
| 76 |
+
0.025907957464369247
|
| 77 |
+
],
|
| 78 |
+
"orientation": {
|
| 79 |
+
"w": 0.5917851023135803,
|
| 80 |
+
"xyz": [
|
| 81 |
+
0.018246231150969253,
|
| 82 |
+
-0.8057608384457705,
|
| 83 |
+
-0.014385372976039573
|
| 84 |
+
]
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
"grasp_62": {
|
| 88 |
+
"confidence": 0.9868016242980957,
|
| 89 |
+
"position": [
|
| 90 |
+
0.09055662213995674,
|
| 91 |
+
-0.040781836956739426,
|
| 92 |
+
-0.03222490520784049
|
| 93 |
+
],
|
| 94 |
+
"orientation": {
|
| 95 |
+
"w": 0.7985176061636228,
|
| 96 |
+
"xyz": [
|
| 97 |
+
-0.020378211323475438,
|
| 98 |
+
-0.5952286749011588,
|
| 99 |
+
-0.08750534683882846
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"grasp_64": {
|
| 104 |
+
"confidence": 0.9863453507423401,
|
| 105 |
+
"position": [
|
| 106 |
+
0.09482462763025978,
|
| 107 |
+
0.028151628328487277,
|
| 108 |
+
0.02109365677824826
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
+
"w": 0.07629597775220555,
|
| 112 |
+
"xyz": [
|
| 113 |
+
0.7786643564379546,
|
| 114 |
+
0.05651411346972268,
|
| 115 |
+
-0.6202152035951976
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_65": {
|
| 120 |
+
"confidence": 0.9861093163490295,
|
| 121 |
+
"position": [
|
| 122 |
+
0.09427742718889931,
|
| 123 |
+
-0.017515655606985092,
|
| 124 |
+
-0.0027901984249183442
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.1202312304123709,
|
| 128 |
+
"xyz": [
|
| 129 |
+
-0.7010435877586892,
|
| 130 |
+
0.06422574928613534,
|
| 131 |
+
0.6999695653559425
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_66": {
|
| 136 |
+
"confidence": 0.9860801100730896,
|
| 137 |
+
"position": [
|
| 138 |
+
0.0958016371650956,
|
| 139 |
+
-0.0374566875398159,
|
| 140 |
+
-0.007163921367464354
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.05739758738506086,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.6956825386121215,
|
| 146 |
+
0.001843592671016303,
|
| 147 |
+
0.7160502242151949
|
| 148 |
+
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},
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{
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|
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|
| 423 |
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"increase friction",
|
| 425 |
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|
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|
| 427 |
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"support secure handling"
|
| 428 |
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],
|
| 429 |
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"semantic_description": "Inset beige textured panel on the handle side, with a matte grippy surface running along part of the handle body.",
|
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"id": 4,
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| 431 |
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"grasp_group": {}
|
| 432 |
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},
|
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{
|
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"part_name": "end cap",
|
| 435 |
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|
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|
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|
| 438 |
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{
|
| 439 |
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|
| 440 |
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"confidence": 0.31
|
| 441 |
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},
|
| 442 |
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{
|
| 443 |
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"scenario": "use a light pinch on the end cap to reorient the tool before a fuller handle grasp",
|
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|
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}
|
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],
|
| 447 |
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"finish handle end",
|
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"protect handle end",
|
| 450 |
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"indicate rear orientation"
|
| 451 |
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],
|
| 452 |
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"semantic_description": "Small rounded light gray end cap at the back of the handle, with a smooth matte surface and circular end-face shape.",
|
| 453 |
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"id": 1,
|
| 454 |
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|
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|
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|
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},
|
| 473 |
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{
|
| 474 |
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"part_name": "handle marking",
|
| 475 |
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|
| 476 |
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"graspable": false,
|
| 477 |
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|
| 478 |
+
"functional_labels": [
|
| 479 |
+
"identify brand or model",
|
| 480 |
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"provide visual marking",
|
| 481 |
+
"aid product identification"
|
| 482 |
+
],
|
| 483 |
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"semantic_description": "Small dark printed marking on the handle surface, appearing as a compact logo or text on the side of the grip area.",
|
| 484 |
+
"id": 5,
|
| 485 |
+
"grasp_group": {}
|
| 486 |
+
},
|
| 487 |
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{
|
| 488 |
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"part_name": "side grip pad",
|
| 489 |
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"mask_color": "Cyan",
|
| 490 |
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"graspable": false,
|
| 491 |
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"grasp_scenarios": [],
|
| 492 |
+
"functional_labels": [
|
| 493 |
+
"increase friction",
|
| 494 |
+
"improve handling comfort",
|
| 495 |
+
"provide finger traction"
|
| 496 |
+
],
|
| 497 |
+
"semantic_description": "Elongated beige textured insert on the handle side, with a matte slightly pebbled surface and narrow rounded shape positioned along the outer grip area.",
|
| 498 |
+
"id": 6,
|
| 499 |
+
"grasp_group": {}
|
| 500 |
+
}
|
| 501 |
+
],
|
| 502 |
+
"quality_check": {
|
| 503 |
+
"success": false,
|
| 504 |
+
"message": "Several semantic descriptions use wrong colors/materials; duplicate side-grip parts annotated separately though mask shows same type of insert."
|
| 505 |
+
}
|
| 506 |
+
}
|
dataset/tools/repair_tools/faa8e542b6735baab60439af08a4c4b8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc655067e706683fed0a8fb80a2f9609e85847a372db5075706aa1bd0be2e14c
|
| 3 |
+
size 3797888
|