Add asset tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375
Browse files
.gitattributes
CHANGED
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@@ -7915,4 +7915,4 @@ dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/affordance/mesh_part
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| 7915 |
dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/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/
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| 7915 |
dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/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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dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,481 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "L-shaped metal shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the long straight section while orienting the short tip into a fastener",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by gripping the bent shaft when the handle is obstructed",
|
| 18 |
+
"confidence": 0.46
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque to a screw or bolt",
|
| 24 |
+
"reach recessed fasteners",
|
| 25 |
+
"provide leverage through the bent form"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Silver metal L-shaped shaft with a hard smooth slightly reflective finish, slender rod-like form, and medium length extending from the handle to the short working tip.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.910531759262085,
|
| 32 |
+
"position": [
|
| 33 |
+
0.05006779672112316,
|
| 34 |
+
0.1539543392136693,
|
| 35 |
+
-0.0016670640179654583
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.34188158634360327,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.588462104479365,
|
| 41 |
+
0.3680005857280275,
|
| 42 |
+
-0.6335652305917103
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.8848114609718323,
|
| 48 |
+
"position": [
|
| 49 |
+
0.04088413284625858,
|
| 50 |
+
0.1510873856022954,
|
| 51 |
+
0.042547086617560126
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.2875880117309989,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.7048246340368912,
|
| 57 |
+
0.443432741345546,
|
| 58 |
+
-0.47316252457918445
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_7": {
|
| 63 |
+
"confidence": 0.8511350154876709,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.00028039730386808515,
|
| 66 |
+
0.16963183600455523,
|
| 67 |
+
0.008902608780772425
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4657779173948214,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.48910418839958786,
|
| 73 |
+
-0.5438486318472642,
|
| 74 |
+
0.49805289899285005
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_8": {
|
| 79 |
+
"confidence": 0.8447544574737549,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0011079565156251192,
|
| 82 |
+
0.168038216419518,
|
| 83 |
+
-0.0012768279848387465
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.48549318157111104,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4792316538380631,
|
| 89 |
+
0.5179058247834464,
|
| 90 |
+
-0.5161462479404201
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_9": {
|
| 95 |
+
"confidence": 0.8372783660888672,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.00040676540811546147,
|
| 98 |
+
0.1677514584735036,
|
| 99 |
+
-0.002191952764405869
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.46157036980633986,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.4398581652434675,
|
| 105 |
+
0.5489935166735019,
|
| 106 |
+
-0.5404476911190856
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_10": {
|
| 111 |
+
"confidence": 0.8326776623725891,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0005241661565378308,
|
| 114 |
+
0.1675811978057027,
|
| 115 |
+
-0.002852201563655399
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5560801869853206,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.5200441693211276,
|
| 121 |
+
-0.447468094177505,
|
| 122 |
+
0.4691494349251858
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_11": {
|
| 127 |
+
"confidence": 0.8289875388145447,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.003731421777047217,
|
| 130 |
+
0.16790117044001818,
|
| 131 |
+
0.007685331060201861
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.43731118382736356,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.4435837995709795,
|
| 137 |
+
0.5805142080398104,
|
| 138 |
+
-0.5244002245628757
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "handle grip",
|
| 146 |
+
"mask_color": "Green",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "grasp the handle grip to pick up and use the hex key comfortably",
|
| 151 |
+
"confidence": 0.96
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the handle while applying turning torque to a fastener",
|
| 155 |
+
"confidence": 0.94
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"scenario": "grip the handle to orient and insert the hex tip into a socket",
|
| 159 |
+
"confidence": 0.88
|
| 160 |
+
}
|
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| 461 |
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{
|
| 462 |
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"part_name": "end cap",
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| 463 |
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|
| 464 |
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|
| 465 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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|
| 470 |
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|
| 471 |
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| 472 |
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"semantic_description": "Small gray cap at the end of the handle, likely plastic or rubber, with a matte smooth surface and rounded cylindrical shape.",
|
| 473 |
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|
| 474 |
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| 477 |
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| 478 |
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"success": true,
|
| 479 |
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"message": "YES"
|
| 480 |
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|
| 481 |
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}
|
dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/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 sha256:73e322e0dfc88d1c0bd9c0e7b1e0dab544ab05af2af6c7766ac80aae89809393
|
| 3 |
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size 3781788
|