Add asset tools/repair_tools/d8157b6c536f53ada13e0eacf0e93aae
Browse files
.gitattributes
CHANGED
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@@ -7920,3 +7920,4 @@ dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7922 |
dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7922 |
dataset/tools/repair_tools/d715370debbe50a19e3133c852cb1b37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7923 |
+
dataset/tools/repair_tools/d8157b6c536f53ada13e0eacf0e93aae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/d8157b6c536f53ada13e0eacf0e93aae/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,429 @@
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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 lightly to reposition or retrieve the screwdriver in a constrained space",
|
| 10 |
+
"confidence": 0.36
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft near the handle for short-term stabilization during precise alignment",
|
| 14 |
+
"confidence": 0.28
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"engage screw recess",
|
| 19 |
+
"transmit torque to screw head",
|
| 20 |
+
"reach recessed fasteners",
|
| 21 |
+
"align with screw head"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long narrow silver metal shaft with a reflective smooth finish, ending in a screwdriver tip at the front working end.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.8596894145011902,
|
| 28 |
+
"position": [
|
| 29 |
+
0.04936861095484346,
|
| 30 |
+
-0.24773136526346207,
|
| 31 |
+
0.00036228350654710084
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.42457414325636644,
|
| 35 |
+
"xyz": [
|
| 36 |
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-0.6397034103444731,
|
| 37 |
+
0.31010388814851786,
|
| 38 |
+
0.5606709571816119
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.8589047789573669,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.05049049260560423,
|
| 46 |
+
-0.24268323928117752,
|
| 47 |
+
0.007930667270557024
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.3530830768025434,
|
| 51 |
+
"xyz": [
|
| 52 |
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-0.6671870985346177,
|
| 53 |
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-0.32863939806728204,
|
| 54 |
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-0.5676177080241437
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_6": {
|
| 59 |
+
"confidence": 0.8456256985664368,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.047733222716487944,
|
| 62 |
+
-0.24427156895399094,
|
| 63 |
+
0.010563352276221849
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.36349850124926475,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6685515443261255,
|
| 69 |
+
-0.3327761839984983,
|
| 70 |
+
-0.5569270001823298
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_8": {
|
| 75 |
+
"confidence": 0.823516845703125,
|
| 76 |
+
"position": [
|
| 77 |
+
0.04536802170332521,
|
| 78 |
+
-0.24975363165140152,
|
| 79 |
+
0.008029105272726156
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5947026408104991,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4362251617683279,
|
| 85 |
+
-0.5866907234199753,
|
| 86 |
+
-0.33441048474316853
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_9": {
|
| 91 |
+
"confidence": 0.8151963949203491,
|
| 92 |
+
"position": [
|
| 93 |
+
0.05181968433316797,
|
| 94 |
+
-0.24837291985750198,
|
| 95 |
+
0.003999145832494833
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6125456453121562,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.38650113760720056,
|
| 101 |
+
-0.6004830223060997,
|
| 102 |
+
-0.33885814577723467
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
{
|
| 109 |
+
"part_name": "handle body",
|
| 110 |
+
"mask_color": "Magenta",
|
| 111 |
+
"graspable": true,
|
| 112 |
+
"grasp_scenarios": [
|
| 113 |
+
{
|
| 114 |
+
"scenario": "grasp the handle to pick up and use the screwdriver",
|
| 115 |
+
"confidence": 0.98
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"scenario": "hold the handle firmly while applying torque to a screw",
|
| 119 |
+
"confidence": 0.97
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "grasp the handle to pass, place, or reorient the tool",
|
| 123 |
+
"confidence": 0.95
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"functional_labels": [
|
| 127 |
+
"primary grip surface",
|
| 128 |
+
"apply turning torque",
|
| 129 |
+
"support pickup and handling",
|
| 130 |
+
"provide ergonomic control"
|
| 131 |
+
],
|
| 132 |
+
"semantic_description": "Medium-sized contoured green-and-black plastic handle with matte to lightly satin surfaces, black textured grip regions, and white printed branding, forming the main rear body of the tool.",
|
| 133 |
+
"id": 7,
|
| 134 |
+
"grasp_group": {
|
| 135 |
+
"grasp_20": {
|
| 136 |
+
"confidence": 0.9869694709777832,
|
| 137 |
+
"position": [
|
| 138 |
+
0.0941424093907699,
|
| 139 |
+
0.014245081692934036,
|
| 140 |
+
0.02588771855516825
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.0668825441998917,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.7911139507990416,
|
| 146 |
+
0.054227648462498834,
|
| 147 |
+
0.6055780744666283
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_21": {
|
| 152 |
+
"confidence": 0.9869250059127808,
|
| 153 |
+
"position": [
|
| 154 |
+
0.08847005141433328,
|
| 155 |
+
0.04947475343942642,
|
| 156 |
+
0.04479405855818186
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.5287834877252202,
|
| 160 |
+
"xyz": [
|
| 161 |
+
0.03420793726337985,
|
| 162 |
+
-0.848064181953971,
|
| 163 |
+
0.0022323584117872742
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_22": {
|
| 168 |
+
"confidence": 0.9863190650939941,
|
| 169 |
+
"position": [
|
| 170 |
+
0.09892263484653085,
|
| 171 |
+
0.025326747447252274,
|
| 172 |
+
0.01729476464970503
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.026010040702364064,
|
| 176 |
+
"xyz": [
|
| 177 |
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-0.7612049499766144,
|
| 178 |
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0.008741396799938683,
|
| 179 |
+
0.6479306212055015
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
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| 409 |
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{
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"success": true,
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| 429 |
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|
dataset/tools/repair_tools/d8157b6c536f53ada13e0eacf0e93aae/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 sha256:232eb2b54a481a3706b83dce82e3f13d2b0223d8b3a17ff59ee3348167f5f769
|
| 3 |
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size 3782300
|