Add asset tools/repair_tools/ef85bd4181105dffb96f06481a73d57c
Browse files
.gitattributes
CHANGED
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@@ -7939,4 +7939,4 @@ dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part
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| 7939 |
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7940 |
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7941 |
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7942 |
-
dataset/tools/repair_tools/
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| 7939 |
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7940 |
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7941 |
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7942 |
+
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,480 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grip",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle grip to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle grip to apply torque while turning a fastener",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by clamping the handle during insertion of the tip",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main handhold",
|
| 23 |
+
"increase turning leverage",
|
| 24 |
+
"improve grip comfort",
|
| 25 |
+
"support tool control"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Cylindrical light mint-green handle with a mostly matte smooth surface, medium size, centered on the tool body, with faint molded branding on the side.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9837915897369385,
|
| 32 |
+
"position": [
|
| 33 |
+
0.036702378769405186,
|
| 34 |
+
-0.007320605845961836,
|
| 35 |
+
0.09007751314493362
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.22177639651740344,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.015544438892138232,
|
| 41 |
+
-0.9690714045900986,
|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9812094569206238,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.150382023843943,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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-0.9862553160859671,
|
| 58 |
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9798434376716614,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03446931845974177,
|
| 66 |
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-0.023268622508112458,
|
| 67 |
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-0.0897109571233159
|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.01555697527970444,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
+
]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9795262813568115,
|
| 80 |
+
"position": [
|
| 81 |
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|
| 82 |
+
-0.011585958463911084,
|
| 83 |
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|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.10296869602054574,
|
| 87 |
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"xyz": [
|
| 88 |
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-0.009173776895542426,
|
| 89 |
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-0.9946401377816105,
|
| 90 |
+
-0.00207021039450622
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9793582558631897,
|
| 96 |
+
"position": [
|
| 97 |
+
0.007230928749777377,
|
| 98 |
+
-0.009771136728886631,
|
| 99 |
+
0.09964058666082565
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.05226156805834672,
|
| 103 |
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"xyz": [
|
| 104 |
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0.00048596495507189345,
|
| 105 |
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-0.9921768803061684,
|
| 106 |
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|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_27": {
|
| 111 |
+
"confidence": 0.977897047996521,
|
| 112 |
+
"position": [
|
| 113 |
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0.013814574223943055,
|
| 114 |
+
-0.03042455499416974,
|
| 115 |
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0.09988635896297637
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.08566994870771394,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.00048165851840117386,
|
| 121 |
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-0.9963018547543013,
|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_28": {
|
| 127 |
+
"confidence": 0.9777145385742188,
|
| 128 |
+
"position": [
|
| 129 |
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-0.08980378217529505,
|
| 130 |
+
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|
| 131 |
+
-0.01656343297509011
|
| 132 |
+
],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.7455059293774786,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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0.1735762665823917
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
+
"confidence": 0.977616012096405,
|
| 144 |
+
"position": [
|
| 145 |
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0.03708046593237668,
|
| 146 |
+
-0.03074077067321923,
|
| 147 |
+
0.09093028424831573
|
| 148 |
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],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.21903013813417457,
|
| 151 |
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"xyz": [
|
| 152 |
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0.0138314061752531,
|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_30": {
|
| 159 |
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},
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{
|
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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|
| 451 |
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"reinforce handle ends",
|
| 452 |
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"provide transition between handle and shaft",
|
| 453 |
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"protect handle edges",
|
| 454 |
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"help retain end components"
|
| 455 |
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],
|
| 456 |
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"semantic_description": "Narrow pinkish-red collar rings with a smooth finish, positioned around both ends of the mint-green handle.",
|
| 457 |
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|
| 458 |
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|
| 459 |
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},
|
| 460 |
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{
|
| 461 |
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"part_name": "end cap",
|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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"close the non-shaft end of the handle",
|
| 467 |
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|
| 468 |
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"provide end protection",
|
| 469 |
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"finish the handle"
|
| 470 |
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],
|
| 471 |
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"semantic_description": "Small green end piece at the non-shaft end of the handle, slightly protruding from the cylindrical body.",
|
| 472 |
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"id": 1,
|
| 473 |
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"grasp_group": {}
|
| 474 |
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}
|
| 475 |
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],
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| 476 |
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"quality_check": {
|
| 477 |
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"success": false,
|
| 478 |
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"message": "Multiple mask colors and visual descriptions mismatch actual segmented parts and RGB colors."
|
| 479 |
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}
|
| 480 |
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}
|
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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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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| 3 |
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size 3788484
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