Add asset tools/repair_tools/d715370debbe50a19e3133c852cb1b37
Browse files
.gitattributes
CHANGED
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@@ -7918,4 +7918,5 @@ dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part
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| 7918 |
dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7919 |
dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
-
dataset/tools/repair_tools/
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| 7918 |
dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7919 |
dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
+
dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7922 |
+
dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,682 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "short arm of hex key",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the short straight tip to reorient the hex key before use",
|
| 10 |
+
"confidence": 0.54
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the short arm to pull the tool from a tray or holder",
|
| 14 |
+
"confidence": 0.46
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"engage hex socket in tight spaces",
|
| 19 |
+
"provide alternate insertion end",
|
| 20 |
+
"help orient the tool",
|
| 21 |
+
"transfer torque when inserted"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A small light gray metal hex-key tip with a matte smooth hard surface, straight and short at one end of the L-shaped tool.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.9793838858604431,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09030578879173845,
|
| 30 |
+
-0.11111160647124052,
|
| 31 |
+
-0.0003644133103080094
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6775640453450467,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.16836525065830849,
|
| 37 |
+
0.691052969530242,
|
| 38 |
+
0.18709863743452051
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9744826555252075,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.09081978944595903,
|
| 46 |
+
-0.11126844119280577,
|
| 47 |
+
-0.0048886638978729025
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7084294170912397,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.1656109568192069,
|
| 53 |
+
0.6688401144364388,
|
| 54 |
+
0.15281908683749004
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_22": {
|
| 59 |
+
"confidence": 0.9716720581054688,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.08529808965977281,
|
| 62 |
+
-0.12324452679604292,
|
| 63 |
+
-0.005231982926488854
|
| 64 |
+
],
|
| 65 |
+
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|
| 475 |
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0.00609786638233345,
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| 476 |
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0.09090524130442645
|
| 477 |
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],
|
| 478 |
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"orientation": {
|
| 479 |
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"w": 0.20855004202093735,
|
| 480 |
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"xyz": [
|
| 481 |
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0.9774683598651286,
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| 482 |
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0.025544990310375548,
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| 483 |
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0.02024694805849233
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| 484 |
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]
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| 485 |
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}
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| 486 |
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}
|
| 487 |
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}
|
| 488 |
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},
|
| 489 |
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{
|
| 490 |
+
"part_name": "sleeve collar",
|
| 491 |
+
"mask_color": "Yellow",
|
| 492 |
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"graspable": false,
|
| 493 |
+
"grasp_scenarios": [],
|
| 494 |
+
"functional_labels": [
|
| 495 |
+
"retain the central sleeve",
|
| 496 |
+
"separate sleeve from metal shaft",
|
| 497 |
+
"provide slight grip transition",
|
| 498 |
+
"protect sleeve edge"
|
| 499 |
+
],
|
| 500 |
+
"semantic_description": "A narrow blue ring around the shaft at the opposite sleeve end, likely plastic or rubber, with a smooth slightly matte finish and small cylindrical shape.",
|
| 501 |
+
"id": 3,
|
| 502 |
+
"grasp_group": {}
|
| 503 |
+
},
|
| 504 |
+
{
|
| 505 |
+
"part_name": "long arm of hex key",
|
| 506 |
+
"mask_color": "Red",
|
| 507 |
+
"graspable": true,
|
| 508 |
+
"grasp_scenarios": [
|
| 509 |
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{
|
| 510 |
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"scenario": "grasp the long bent arm to pick up the tool when the sleeve is inaccessible",
|
| 511 |
+
"confidence": 0.67
|
| 512 |
+
},
|
| 513 |
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{
|
| 514 |
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"scenario": "hold the long arm to manipulate insertion angle into a fastener",
|
| 515 |
+
"confidence": 0.62
|
| 516 |
+
},
|
| 517 |
+
{
|
| 518 |
+
"scenario": "use a gripper on the long arm to apply light turning torque",
|
| 519 |
+
"confidence": 0.58
|
| 520 |
+
}
|
| 521 |
+
],
|
| 522 |
+
"functional_labels": [
|
| 523 |
+
"provide main torque arm",
|
| 524 |
+
"reach into recessed fasteners",
|
| 525 |
+
"engage hex socket",
|
| 526 |
+
"set tool orientation"
|
| 527 |
+
],
|
| 528 |
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"semantic_description": "The largest light gray metal section forming the long L-shaped shaft, with a matte smooth hard surface and rounded hex-profile bends typical of an Allen key.",
|
| 529 |
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"id": 0,
|
| 530 |
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"grasp_group": {
|
| 531 |
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"grasp_2": {
|
| 532 |
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"confidence": 0.9742146730422974,
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| 533 |
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"position": [
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| 534 |
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| 535 |
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0.1364115448668599,
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| 536 |
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-0.0034028751688310876
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| 537 |
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],
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"orientation": {
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0.5973902813019722,
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| 542 |
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| 543 |
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0.6379770539406768
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| 544 |
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]
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}
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| 546 |
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},
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| 547 |
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"grasp_4": {
|
| 548 |
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"confidence": 0.9733828902244568,
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| 549 |
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"position": [
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| 550 |
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| 551 |
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0.13773357588797808,
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| 552 |
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0.0015411339554702863
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| 553 |
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],
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| 554 |
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"orientation": {
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"w": 0.6211538855957844,
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| 556 |
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"xyz": [
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| 557 |
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| 558 |
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| 559 |
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|
| 560 |
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]
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| 561 |
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}
|
| 562 |
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},
|
| 563 |
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"grasp_5": {
|
| 564 |
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"confidence": 0.9733136892318726,
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| 565 |
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"position": [
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| 566 |
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-0.08760282990988344,
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| 567 |
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0.0987795265391469,
|
| 568 |
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0.0015683029632782564
|
| 569 |
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],
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| 570 |
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"orientation": {
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"w": 0.6861331608643078,
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| 572 |
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"xyz": [
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| 574 |
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| 575 |
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| 576 |
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]
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| 577 |
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}
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| 578 |
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},
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| 579 |
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"grasp_8": {
|
| 580 |
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"confidence": 0.9722983241081238,
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| 581 |
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"position": [
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0.12121730763465166,
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| 584 |
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| 585 |
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],
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| 586 |
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"orientation": {
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"w": 0.7069412850270738,
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| 588 |
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"xyz": [
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| 590 |
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| 591 |
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-0.30154931453455946
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| 592 |
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]
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| 593 |
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}
|
| 594 |
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},
|
| 595 |
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"grasp_10": {
|
| 596 |
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"confidence": 0.9718167781829834,
|
| 597 |
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"position": [
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| 598 |
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| 599 |
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0.1331641348078847,
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| 600 |
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| 601 |
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],
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| 602 |
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"orientation": {
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| 604 |
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]
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}
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},
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"grasp_12": {
|
| 612 |
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"confidence": 0.9714515209197998,
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| 613 |
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"position": [
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| 616 |
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],
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| 618 |
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"orientation": {
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"w": 0.7267306831865393,
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"xyz": [
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]
|
| 625 |
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}
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| 626 |
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},
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| 627 |
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"grasp_14": {
|
| 628 |
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"confidence": 0.9707995653152466,
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| 629 |
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"position": [
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0.09324603993445635,
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],
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| 634 |
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"orientation": {
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"w": 0.7108051324361568,
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| 636 |
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"xyz": [
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0.6501378717794781,
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]
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| 641 |
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}
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| 642 |
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},
|
| 643 |
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"grasp_17": {
|
| 644 |
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"confidence": 0.9703842401504517,
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| 645 |
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"position": [
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],
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| 650 |
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"orientation": {
|
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]
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}
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| 658 |
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},
|
| 659 |
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"grasp_18": {
|
| 660 |
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"confidence": 0.9693061709403992,
|
| 661 |
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"position": [
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| 662 |
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0.0021538311702897772
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],
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| 667 |
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"w": 0.17777218081955273,
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| 668 |
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"xyz": [
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0.6911714394355063
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| 672 |
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]
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| 673 |
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}
|
| 674 |
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}
|
| 675 |
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}
|
| 676 |
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}
|
| 677 |
+
],
|
| 678 |
+
"quality_check": {
|
| 679 |
+
"success": true,
|
| 680 |
+
"message": "YES"
|
| 681 |
+
}
|
| 682 |
+
}
|
dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:28e549fb2363d4f5d8b4fcdf4d6329b2a5c79f5e3136a9045165cb946ab483e5
|
| 3 |
+
size 3798576
|