Add asset tools/repair_tools/5987958b82725d6db46b8ee8db71c41d
Browse files
.gitattributes
CHANGED
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@@ -7863,3 +7863,4 @@ dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part
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| 7863 |
dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7864 |
dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7865 |
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7863 |
dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7864 |
dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7865 |
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7866 |
+
dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,506 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the pipe wrench",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque while the jaws grip a pipe or fitting",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by clamping the handle during adjustment or storage",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"support tool manipulation",
|
| 25 |
+
"connect head components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long yellow-painted metal handle with a smooth slightly worn finish, slim flat shape, and a small hanging hole at the far end behind the wrench head.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9940589666366577,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09558122314047068,
|
| 34 |
+
0.09268658328801394,
|
| 35 |
+
0.0009321442921645939
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7106346417019211,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.046131994170629076,
|
| 41 |
+
-0.6988199823986432,
|
| 42 |
+
0.06723746966820987
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9939437508583069,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
0.06192404869943857,
|
| 51 |
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-0.00019085714302491397
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.7080073672792816,
|
| 55 |
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"xyz": [
|
| 56 |
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-0.004649141782879912,
|
| 57 |
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-0.7061894467103816,
|
| 58 |
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-0.0006470810055097472
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9932259917259216,
|
| 64 |
+
"position": [
|
| 65 |
+
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|
| 66 |
+
0.05775457713752985,
|
| 67 |
+
-0.0019073592848144472
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.7094410334407225,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.027312425051243504,
|
| 73 |
+
-0.7041089574411417,
|
| 74 |
+
-0.013342696861153233
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.992966890335083,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09640057838987559,
|
| 82 |
+
0.08347718138247728,
|
| 83 |
+
-0.0031776762916706502
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7193637794967428,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.052210733415786754,
|
| 89 |
+
-0.6901063928538599,
|
| 90 |
+
0.059522757047884955
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9929665327072144,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09895246184896678,
|
| 98 |
+
0.08858455438166857,
|
| 99 |
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-0.0026300716563127935
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.07264045914799466,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.6982802025795205,
|
| 105 |
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0.043405462805650274,
|
| 106 |
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-0.7108052392736708
|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
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"grasp_6": {
|
| 111 |
+
"confidence": 0.9922158122062683,
|
| 112 |
+
"position": [
|
| 113 |
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0.09846684790682048,
|
| 114 |
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0.07313587237149477,
|
| 115 |
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0.005841280857566744
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.052269433934734606,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.7200517602633281,
|
| 121 |
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0.09672529552454567,
|
| 122 |
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.9914822578430176,
|
| 128 |
+
"position": [
|
| 129 |
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-0.09850202791858464,
|
| 130 |
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0.059754070825874805,
|
| 131 |
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-0.0048234923160634935
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.0717049749818661,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.6857637851560342,
|
| 137 |
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|
| 138 |
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-0.7210063295320096
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_10": {
|
| 143 |
+
"confidence": 0.9911856055259705,
|
| 144 |
+
"position": [
|
| 145 |
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-0.10121184133458883,
|
| 146 |
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0.08371137548238039,
|
| 147 |
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-0.0022077373578213155
|
| 148 |
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],
|
| 149 |
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|
| 487 |
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|
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|
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|
| 496 |
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|
| 497 |
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| 498 |
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| 499 |
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|
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| 502 |
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|
| 503 |
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"success": true,
|
| 504 |
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"message": "YES"
|
| 505 |
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|
| 506 |
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}
|
dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:76fa0e3a4c07a9893b9ee15b55183f9bd37e7a140e8f205042b5ed7176fd37db
|
| 3 |
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size 3777736
|