Add asset tools/repair_tools/adbd25bf8ad55387acf8fc20b97c755b
Browse files
.gitattributes
CHANGED
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@@ -7882,3 +7882,4 @@ dataset/tools/repair_tools/67d460f3b8ab5b658ca4e0152d389c2d/affordance/mesh_part
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| 7882 |
dataset/tools/repair_tools/68f77bd2a51651c0b6fdc9ef8132d64b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7883 |
dataset/tools/repair_tools/697a9c8d53a25bfe8414cfc107c9ea77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7884 |
dataset/tools/repair_tools/69e3bc4afa345ce19258298ea3532e75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7882 |
dataset/tools/repair_tools/68f77bd2a51651c0b6fdc9ef8132d64b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7883 |
dataset/tools/repair_tools/697a9c8d53a25bfe8414cfc107c9ea77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7884 |
dataset/tools/repair_tools/69e3bc4afa345ce19258298ea3532e75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7885 |
+
dataset/tools/repair_tools/adbd25bf8ad55387acf8fc20b97c755b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/adbd25bf8ad55387acf8fc20b97c755b/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench body with one integrated ring end",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the long central shaft area to pick up and reposition the wrench",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the red segment as the handle while engaging the opposite green ring end on a fastener",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the red segment for storage, fixturing, or robotic handoff",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"transmit torque",
|
| 25 |
+
"connect to the opposite ring end",
|
| 26 |
+
"support tool repositioning"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long slim silver-gray metal wrench section with a smooth slightly reflective finish and straight bar-like shape, including the central handle and one circular ring end. White brand text is visible on the shaft in some views.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9959214925765991,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.0960106737766182,
|
| 35 |
+
0.03741198783973232,
|
| 36 |
+
-0.005293531779898331
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.08309494096322409,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.6814053481163649,
|
| 42 |
+
-0.08203122439463828,
|
| 43 |
+
-0.7225322557291476
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9958692193031311,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.09309053792094346,
|
| 51 |
+
0.033229857741389424,
|
| 52 |
+
-0.0010750086221378297
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.10480227825157414,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6882469787655234,
|
| 58 |
+
-0.0897398074055008,
|
| 59 |
+
-0.7122354566154594
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9955370426177979,
|
| 65 |
+
"position": [
|
| 66 |
+
0.09631276504660491,
|
| 67 |
+
0.04743152862647548,
|
| 68 |
+
0.0017113299400079995
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6974254054550485,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.06594067619195952,
|
| 74 |
+
-0.7105200112013759,
|
| 75 |
+
-0.06641494358655357
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9955032467842102,
|
| 81 |
+
"position": [
|
| 82 |
+
0.09772129730845336,
|
| 83 |
+
0.0517640114412643,
|
| 84 |
+
-0.0019085064704995602
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.021977637423952832,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.6934001706015299,
|
| 90 |
+
0.02397433871846666,
|
| 91 |
+
0.7198183228746284
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9953262805938721,
|
| 97 |
+
"position": [
|
| 98 |
+
0.09214064852858428,
|
| 99 |
+
0.026498304738197476,
|
| 100 |
+
0.004372998635517433
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.15515367821121614,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.7028948275131129,
|
| 106 |
+
0.10644639776918341,
|
| 107 |
+
0.6859558017793902
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9950854182243347,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.09412045402859803,
|
| 115 |
+
0.05152050784090534,
|
| 116 |
+
0.0014152821677271277
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.06679690301369526,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.6987927864060102,
|
| 122 |
+
-0.051321363336453985,
|
| 123 |
+
-0.7103470511517529
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_8": {
|
| 128 |
+
"confidence": 0.9949316382408142,
|
| 129 |
+
"position": [
|
| 130 |
+
0.09663532303238753,
|
| 131 |
+
0.06337682163575664,
|
| 132 |
+
0.0005096796958241612
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7125138561203307,
|
| 136 |
+
"xyz": [
|
| 137 |
+
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|
| 524 |
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"quality_check": {
|
| 525 |
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"success": false,
|
| 526 |
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"message": "Red mask excludes one ring end; part name/description incorrectly include it, and wrench has two ring ends not one integrated ring end."
|
| 527 |
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}
|
| 528 |
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}
|
dataset/tools/repair_tools/adbd25bf8ad55387acf8fc20b97c755b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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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 3780512
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