Add asset tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2
Browse files
.gitattributes
CHANGED
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@@ -7886,3 +7886,4 @@ dataset/tools/repair_tools/acc61524a85356e68a5a6851eca695ff/affordance/mesh_part
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| 7886 |
dataset/tools/repair_tools/ae0282c9f8b95e7fbd76b83da1db79a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7887 |
dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7888 |
dataset/tools/repair_tools/b02d6764adf054bbb3410840d1114f57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7886 |
dataset/tools/repair_tools/ae0282c9f8b95e7fbd76b83da1db79a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7887 |
dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7888 |
dataset/tools/repair_tools/b02d6764adf054bbb3410840d1114f57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7889 |
+
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/affordance_annot.json
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@@ -0,0 +1,515 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "screwdriver tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"drive screws",
|
| 10 |
+
"engage screw head",
|
| 11 |
+
"transmit torque at the fastener interface"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Small dark metallic Phillips tip with a reflective hard smooth finish, cross-shaped and located at the working end of the screwdriver shaft.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "shaft",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the shaft to pick up or reposition the screwdriver in a constrained space",
|
| 24 |
+
"confidence": 0.54
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the shaft to stabilize the tool while another gripper manipulates the handle",
|
| 28 |
+
"confidence": 0.48
|
| 29 |
+
}
|
| 30 |
+
],
|
| 31 |
+
"functional_labels": [
|
| 32 |
+
"connect handle to tip",
|
| 33 |
+
"transmit torque",
|
| 34 |
+
"provide reach to the fastener",
|
| 35 |
+
"support tool alignment"
|
| 36 |
+
],
|
| 37 |
+
"semantic_description": "Long slender silver metal shaft with a polished reflective smooth surface, cylindrical and centered between the handle and tip.",
|
| 38 |
+
"id": 1,
|
| 39 |
+
"grasp_group": {
|
| 40 |
+
"grasp_5": {
|
| 41 |
+
"confidence": 0.9631175994873047,
|
| 42 |
+
"position": [
|
| 43 |
+
-0.0063440763624385,
|
| 44 |
+
-0.09856423735618591,
|
| 45 |
+
0.09141595764731392
|
| 46 |
+
],
|
| 47 |
+
"orientation": {
|
| 48 |
+
"w": 0.04579201387385591,
|
| 49 |
+
"xyz": [
|
| 50 |
+
-0.010476452716140703,
|
| 51 |
+
0.9746456612899608,
|
| 52 |
+
0.2187673886403497
|
| 53 |
+
]
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"grasp_7": {
|
| 57 |
+
"confidence": 0.9624170660972595,
|
| 58 |
+
"position": [
|
| 59 |
+
0.058293829089961946,
|
| 60 |
+
-0.08342013880610466,
|
| 61 |
+
0.07260668380831703
|
| 62 |
+
],
|
| 63 |
+
"orientation": {
|
| 64 |
+
"w": 0.16025133229966004,
|
| 65 |
+
"xyz": [
|
| 66 |
+
-0.9352564299850014,
|
| 67 |
+
0.022390318248482255,
|
| 68 |
+
0.3148231159184882
|
| 69 |
+
]
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"grasp_8": {
|
| 73 |
+
"confidence": 0.961542546749115,
|
| 74 |
+
"position": [
|
| 75 |
+
-0.08765397744718939,
|
| 76 |
+
-0.0060204267501831055,
|
| 77 |
+
0.027046547370900953
|
| 78 |
+
],
|
| 79 |
+
"orientation": {
|
| 80 |
+
"w": 0.585879102223758,
|
| 81 |
+
"xyz": [
|
| 82 |
+
0.12511507189320611,
|
| 83 |
+
0.7819214849539589,
|
| 84 |
+
-0.17230985964255574
|
| 85 |
+
]
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"grasp_9": {
|
| 89 |
+
"confidence": 0.9610086679458618,
|
| 90 |
+
"position": [
|
| 91 |
+
0.02502351102884859,
|
| 92 |
+
-0.10645478963851929,
|
| 93 |
+
0.08600537582015022
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.13671962878433447,
|
| 97 |
+
"xyz": [
|
| 98 |
+
-0.038587011701850825,
|
| 99 |
+
-0.9673030344391906,
|
| 100 |
+
-0.21010384384329805
|
| 101 |
+
]
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"grasp_16": {
|
| 105 |
+
"confidence": 0.9557862281799316,
|
| 106 |
+
"position": [
|
| 107 |
+
-0.09040619211737067,
|
| 108 |
+
-0.012990321964025497,
|
| 109 |
+
-0.00152511605347172
|
| 110 |
+
],
|
| 111 |
+
"orientation": {
|
| 112 |
+
"w": 0.1700797125356326,
|
| 113 |
+
"xyz": [
|
| 114 |
+
0.6733755929131398,
|
| 115 |
+
-0.1558816808271254,
|
| 116 |
+
0.7023810246833155
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"grasp_18": {
|
| 121 |
+
"confidence": 0.9549363851547241,
|
| 122 |
+
"position": [
|
| 123 |
+
0.08468129707034677,
|
| 124 |
+
-0.09246515110135078,
|
| 125 |
+
0.027231753903379285
|
| 126 |
+
],
|
| 127 |
+
"orientation": {
|
| 128 |
+
"w": 0.19395108428523686,
|
| 129 |
+
"xyz": [
|
| 130 |
+
-0.7866462937333193,
|
| 131 |
+
0.14402798733605693,
|
| 132 |
+
0.5681782504849492
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"grasp_19": {
|
| 137 |
+
"confidence": 0.9546931385993958,
|
| 138 |
+
"position": [
|
| 139 |
+
0.0070087508065626025,
|
| 140 |
+
-0.1076105535030365,
|
| 141 |
+
0.08828444136952385
|
| 142 |
+
],
|
| 143 |
+
"orientation": {
|
| 144 |
+
"w": 0.021785041668806657,
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| 145 |
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{
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{
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},
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{
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],
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| 376 |
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],
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| 378 |
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|
| 510 |
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],
|
| 511 |
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"quality_check": {
|
| 512 |
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"success": true,
|
| 513 |
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"message": "YES"
|
| 514 |
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}
|
| 515 |
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}
|
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f3b8735005f3806cb0b8cce457e60e1d31eadb6ecc89b4e9b084646302a38cdc
|
| 3 |
+
size 3776260
|