Add asset tools/repair_tools/cca1705002805836a7ad10f18f714cec
Browse files
.gitattributes
CHANGED
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@@ -7912,3 +7912,4 @@ dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/affordance/mesh_part
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7913 |
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7914 |
dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7913 |
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7914 |
dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7915 |
+
dataset/tools/repair_tools/cca1705002805836a7ad10f18f714cec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/cca1705002805836a7ad10f18f714cec/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,598 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "screwdriver shaft and tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up or reposition the screwdriver in a constrained tray",
|
| 10 |
+
"confidence": 0.38
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft to stabilize the tool while another gripper manipulates the handle",
|
| 14 |
+
"confidence": 0.3
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"drive screws",
|
| 19 |
+
"engage screw head",
|
| 20 |
+
"transmit torque from handle to tip",
|
| 21 |
+
"provide tool reach"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long silver metal shaft ending in a shaped screwdriver tip, with a smooth reflective finish and slim straight form projecting from the front of the handle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.8836098313331604,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.05584492826528731,
|
| 30 |
+
-0.24326417595148087,
|
| 31 |
+
-0.005122251226566732
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.65284657357678,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.32893035614662697,
|
| 37 |
+
0.5988710170093591,
|
| 38 |
+
0.32703161492505145
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_14": {
|
| 43 |
+
"confidence": 0.8172886371612549,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.009469575375987915,
|
| 46 |
+
-0.26944243162870407,
|
| 47 |
+
0.012800979078747332
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4592865588060137,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5728973916454074,
|
| 53 |
+
-0.4800216320129299,
|
| 54 |
+
-0.48002465389359156
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "neck collar",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": false,
|
| 64 |
+
"grasp_scenarios": [],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"connect shaft to handle",
|
| 67 |
+
"reinforce handle junction",
|
| 68 |
+
"provide finger stop",
|
| 69 |
+
"indicate transition to working end"
|
| 70 |
+
],
|
| 71 |
+
"semantic_description": "Small green ring-like collar with a smooth slightly glossy finish at the front junction between the metal shaft and the handle.",
|
| 72 |
+
"id": 1,
|
| 73 |
+
"grasp_group": {}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "handle cap",
|
| 77 |
+
"mask_color": "Blue",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
+
"scenario": "grasp the rounded end cap to stabilize the screwdriver while reorienting it",
|
| 82 |
+
"confidence": 0.62
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "use a gripper on the rear cap as a secondary holding point during handoff or pickup",
|
| 86 |
+
"confidence": 0.56
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"functional_labels": [
|
| 90 |
+
"finish handle end",
|
| 91 |
+
"protect handle end",
|
| 92 |
+
"provide palm contact surface",
|
| 93 |
+
"indicate rear orientation"
|
| 94 |
+
],
|
| 95 |
+
"semantic_description": "Rounded green rear end cap, likely plastic or rubber-like, with a smooth slightly glossy surface at the back of the handle.",
|
| 96 |
+
"id": 2,
|
| 97 |
+
"grasp_group": {
|
| 98 |
+
"grasp_22": {
|
| 99 |
+
"confidence": 0.9567953944206238,
|
| 100 |
+
"position": [
|
| 101 |
+
-0.00195325970344129,
|
| 102 |
+
0.1534169390797615,
|
| 103 |
+
0.002710462431423366
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.5275674743960367,
|
| 107 |
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dataset/tools/repair_tools/cca1705002805836a7ad10f18f714cec/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3781124
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