Add asset tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1
Browse files
.gitattributes
CHANGED
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@@ -7951,3 +7951,4 @@ dataset/tools/repair_tools/f900b2672e6e52ab9411dd07dfce69d6/affordance/mesh_part
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| 7951 |
dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7952 |
dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7953 |
dataset/tools/repair_tools/fcaed8e2ca6f5015b8ba20062ee83963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7951 |
dataset/tools/repair_tools/f96ec79c35a35cac9535ae5280e96832/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7952 |
dataset/tools/repair_tools/fa60003047da51d59d641470098b5847/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7953 |
dataset/tools/repair_tools/fcaed8e2ca6f5015b8ba20062ee83963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7954 |
+
dataset/tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,610 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle end with hanging hole",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle end to pick up and reposition the wrench",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle end while applying torque to a fastener",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle end for tool handoff or storage retrieval",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip area",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"allow handoff and maneuvering",
|
| 25 |
+
"allow hanging storage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Short black handle end with a smooth matte finish and a circular hanging hole at the tip opposite the wrench head.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9821273684501648,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.03305141627788544,
|
| 34 |
+
0.10209766845218837,
|
| 35 |
+
0.0044653147051576525
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4763920163073338,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5098990163209768,
|
| 41 |
+
0.5124291185153056,
|
| 42 |
+
-0.5004698177224678
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9787326455116272,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.03449113294482231,
|
| 50 |
+
0.09427715907804668,
|
| 51 |
+
-0.03846683804295026
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5905485226116817,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.39094882252377233,
|
| 57 |
+
0.3794226616226517,
|
| 58 |
+
-0.5953569554944487
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9783268570899963,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03912369906902313,
|
| 66 |
+
0.10111545096151531,
|
| 67 |
+
-0.006341259781038389
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4654098107713454,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5352153955792062,
|
| 73 |
+
0.42942908901716137,
|
| 74 |
+
-0.5590427943178098
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9781255125999451,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.03014354407787323,
|
| 82 |
+
0.09987818519584835,
|
| 83 |
+
-0.005097207002108917
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.4926969939952974,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4911836612738126,
|
| 89 |
+
0.5008505420634183,
|
| 90 |
+
-0.5149145730317127
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9772622585296631,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.12195767089724541,
|
| 98 |
+
0.10731631587259471,
|
| 99 |
+
-0.002513828076189384
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
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],
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| 606 |
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"quality_check": {
|
| 607 |
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"success": false,
|
| 608 |
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"message": "Green part description misidentifies color/material and overextends into handle body; wrench is silver metal head/shaft with black grip end."
|
| 609 |
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}
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| 610 |
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}
|
dataset/tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a1a19207e7c35c5303fe81337814cd45a8c676f17535c1c38cdb29c22766fae9
|
| 3 |
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size 368356
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