Add asset tools/repair_tools/ae51f060e3455e9f84a4fec81cc9284b
Browse files
.gitattributes
CHANGED
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@@ -7883,3 +7883,4 @@ dataset/tools/repair_tools/68f77bd2a51651c0b6fdc9ef8132d64b/affordance/mesh_part
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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/acc61524a85356e68a5a6851eca695ff/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/acc61524a85356e68a5a6851eca695ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7886 |
+
dataset/tools/repair_tools/ae51f060e3455e9f84a4fec81cc9284b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/ae51f060e3455e9f84a4fec81cc9284b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1325 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "shaft and flat tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft lightly to orient the screwdriver for placement",
|
| 10 |
+
"confidence": 0.38
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold near the shaft to stabilize the tool during handoff or extraction from a narrow space",
|
| 14 |
+
"confidence": 0.3
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transmit torque from handle to tip",
|
| 19 |
+
"engage a screw head",
|
| 20 |
+
"provide tool reach",
|
| 21 |
+
"provide tool alignment"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Dark gray to black metal shaft with a slightly reflective smooth surface and a flat screwdriver tip, slender and elongated, projecting from the front of the handle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9760373830795288,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.09753913812892279,
|
| 30 |
+
-0.044225110206753016,
|
| 31 |
+
0.06867871969006956
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.608377233291362,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.24658819911208188,
|
| 37 |
+
0.7108213006501916,
|
| 38 |
+
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|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9741659164428711,
|
| 44 |
+
"position": [
|
| 45 |
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0.09187759823544184,
|
| 46 |
+
-0.08108413079753518,
|
| 47 |
+
0.04616155265830457
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.67973417378711,
|
| 51 |
+
"xyz": [
|
| 52 |
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-0.4439860973015872,
|
| 53 |
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|
| 54 |
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0.19116517932078148
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9716481566429138,
|
| 60 |
+
"position": [
|
| 61 |
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-0.09663072608964285,
|
| 62 |
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|
| 63 |
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0.0714203545358032
|
| 64 |
+
],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.5752339165190075,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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0.6998675089505997,
|
| 70 |
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|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
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"grasp_3": {
|
| 75 |
+
"confidence": 0.971640408039093,
|
| 76 |
+
"position": [
|
| 77 |
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0.0330429411624209,
|
| 78 |
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-0.020354630891233683,
|
| 79 |
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0.14050618349574506
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.1689737001361723,
|
| 83 |
+
"xyz": [
|
| 84 |
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0.9697591465451085,
|
| 85 |
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|
| 86 |
+
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|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9711225628852844,
|
| 92 |
+
"position": [
|
| 93 |
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0.09247891224367777,
|
| 94 |
+
-0.03297294909134507,
|
| 95 |
+
0.07565180002711713
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.27982939387923705,
|
| 99 |
+
"xyz": [
|
| 100 |
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0.7451525864840186,
|
| 101 |
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-0.26565708923715625,
|
| 102 |
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|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.970385730266571,
|
| 108 |
+
"position": [
|
| 109 |
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0.07938670731527964,
|
| 110 |
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-0.10384046891704202,
|
| 111 |
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0.07014387636445463
|
| 112 |
+
],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.04562923215452182,
|
| 115 |
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"xyz": [
|
| 116 |
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0.5701235520472195,
|
| 117 |
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|
| 118 |
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-0.6360351473995747
|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
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"grasp_7": {
|
| 123 |
+
"confidence": 0.9699016809463501,
|
| 124 |
+
"position": [
|
| 125 |
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0.09997047103388468,
|
| 126 |
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-0.051321564707905054,
|
| 127 |
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0.045307462802156806
|
| 128 |
+
],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.2608559151202754,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.6295343756583129,
|
| 133 |
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-0.2941304697040271,
|
| 134 |
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-0.6701700740878767
|
| 135 |
+
]
|
| 136 |
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}
|
| 137 |
+
},
|
| 138 |
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"grasp_8": {
|
| 139 |
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"confidence": 0.9685865044593811,
|
| 140 |
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"position": [
|
| 141 |
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0.07882675147993723,
|
| 142 |
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-0.10276000807061791,
|
| 143 |
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0.08135415404103696
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.06262785032796962,
|
| 147 |
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"xyz": [
|
| 148 |
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0.5918775481887156,
|
| 149 |
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-0.5266404610144597,
|
| 150 |
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-0.6069666754739417
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
+
},
|
| 154 |
+
"grasp_9": {
|
| 155 |
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"confidence": 0.9683264493942261,
|
| 156 |
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"position": [
|
| 157 |
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0.07947499669535318,
|
| 158 |
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-0.10665887454524636,
|
| 159 |
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0.07945783971808851
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.05337223446490235,
|
| 163 |
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"xyz": [
|
| 164 |
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0.57690348762821,
|
| 165 |
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-0.5234170625314379,
|
| 166 |
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-0.624794645624938
|
| 167 |
+
]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_10": {
|
| 171 |
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"confidence": 0.9682884216308594,
|
| 172 |
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"position": [
|
| 173 |
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0.09831378973467508,
|
| 174 |
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-0.059341362211853266,
|
| 175 |
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0.05344072892330587
|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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"w": 0.6542699614903252,
|
| 179 |
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"xyz": [
|
| 180 |
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|
| 181 |
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|
| 182 |
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0.27262846422772097
|
| 183 |
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]
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"grasp_11": {
|
| 187 |
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"confidence": 0.967089056968689,
|
| 188 |
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"position": [
|
| 189 |
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0.08641634500963846,
|
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| 1306 |
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{
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| 1307 |
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"part_name": "center end insert",
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| 1308 |
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|
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|
| 1314 |
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"cover the central end area"
|
| 1315 |
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],
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| 1316 |
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"semantic_description": "Small green insert in the center of the handle butt, smooth and slightly recessed, visible only on the rear end face.",
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"success": false,
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"message": "Handle colors and segmented parts are misdescribed; real handle appears uniformly blue/black, not blue/orange/yellow/green physical parts."
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| 1324 |
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}
|
| 1325 |
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}
|
dataset/tools/repair_tools/ae51f060e3455e9f84a4fec81cc9284b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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| 2 |
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oid sha256:ac84d1b76854ecff8731cbc5f551f722d2e628175747fecbbbdf33abf28b6139
|
| 3 |
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size 932128
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