Add asset tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480
Browse files
.gitattributes
CHANGED
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@@ -7916,3 +7916,4 @@ dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/affordance/mesh_part
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| 7916 |
dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7917 |
dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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| 7916 |
dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7917 |
dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,589 @@
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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 use the screwdriver",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque while turning a screw",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to reposition or hand over the tool",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"apply torque",
|
| 24 |
+
"hold and maneuver the tool",
|
| 25 |
+
"support controlled turning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated green plastic handle with a mostly matte smooth hard surface, slightly contoured and bulbous for grip, forming the largest rear portion of the screwdriver.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9903706908226013,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.019323915243148804,
|
| 34 |
+
0.09147620057410677,
|
| 35 |
+
0.03824725770391524
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3985070424853787,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5755989525078525,
|
| 41 |
+
0.5999522296111752,
|
| 42 |
+
-0.38721480491582333
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9903618097305298,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0071050075348466635,
|
| 50 |
+
0.09945360427445848,
|
| 51 |
+
0.010988291585817933
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4688459341354332,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5167319410455843,
|
| 57 |
+
0.5427998094146261,
|
| 58 |
+
-0.46748257512701097
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9901594519615173,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.015441125724464655,
|
| 66 |
+
0.0920702651674219,
|
| 67 |
+
0.03439918928779662
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.41484952220219706,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5635408079703151,
|
| 73 |
+
0.5949360758794259,
|
| 74 |
+
-0.39543987823430693
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9896447658538818,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.015857291407883167,
|
| 82 |
+
0.09850773816651781,
|
| 83 |
+
0.026217984268441796
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.41232003229011693,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.5670532991916373,
|
| 89 |
+
-0.5569247113562766,
|
| 90 |
+
0.4452837440653819
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9886140823364258,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.03017327468842268,
|
| 98 |
+
0.09634628003186663,
|
| 99 |
+
0.019676273921504617
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.45100569326581325,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5300135331468756,
|
| 105 |
+
0.5619866635167677,
|
| 106 |
+
-0.4470464286316129
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_7": {
|
| 111 |
+
"confidence": 0.9883014559745789,
|
| 112 |
+
"position": [
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-0.10026931906395475,
|
| 524 |
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-0.02599718584679067
|
| 525 |
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],
|
| 526 |
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"orientation": {
|
| 527 |
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|
| 528 |
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"xyz": [
|
| 529 |
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|
| 530 |
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0.44625259026814956,
|
| 531 |
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0.568802193037338
|
| 532 |
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]
|
| 533 |
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}
|
| 534 |
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},
|
| 535 |
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"grasp_37": {
|
| 536 |
+
"confidence": 0.9805251955986023,
|
| 537 |
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"position": [
|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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],
|
| 542 |
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"orientation": {
|
| 543 |
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"w": 0.48691444187860977,
|
| 544 |
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"xyz": [
|
| 545 |
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-0.516903051347719,
|
| 546 |
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|
| 547 |
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-0.4710301614944821
|
| 548 |
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]
|
| 549 |
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}
|
| 550 |
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},
|
| 551 |
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"grasp_38": {
|
| 552 |
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"confidence": 0.9804776310920715,
|
| 553 |
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"position": [
|
| 554 |
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|
| 555 |
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-0.07147956038170378,
|
| 556 |
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|
| 557 |
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],
|
| 558 |
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"orientation": {
|
| 559 |
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"w": 0.27275157838497693,
|
| 560 |
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"xyz": [
|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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]
|
| 565 |
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}
|
| 566 |
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}
|
| 567 |
+
}
|
| 568 |
+
},
|
| 569 |
+
{
|
| 570 |
+
"part_name": "screwdriver tip",
|
| 571 |
+
"mask_color": "Red",
|
| 572 |
+
"graspable": false,
|
| 573 |
+
"grasp_scenarios": [],
|
| 574 |
+
"functional_labels": [
|
| 575 |
+
"engage screw head",
|
| 576 |
+
"transmit turning force to screw",
|
| 577 |
+
"enable fastening",
|
| 578 |
+
"enable loosening"
|
| 579 |
+
],
|
| 580 |
+
"semantic_description": "Short dark gray metal tip with a reflective hard smooth surface and narrow flat-ended shape, located at the front end of the screwdriver for driving screws.",
|
| 581 |
+
"id": 0,
|
| 582 |
+
"grasp_group": {}
|
| 583 |
+
}
|
| 584 |
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],
|
| 585 |
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"quality_check": {
|
| 586 |
+
"success": true,
|
| 587 |
+
"message": "YES"
|
| 588 |
+
}
|
| 589 |
+
}
|
dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9319e07c7c968c0a343406496245a58f3f38c065071cea9be7bb20c7b6f9a9c
|
| 3 |
+
size 374004
|