Add asset tools/repair_tools/f075e473766e5c668aae179924411bb5
Browse files
.gitattributes
CHANGED
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@@ -7940,3 +7940,4 @@ dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part
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| 7940 |
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7941 |
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7942 |
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7940 |
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7941 |
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7942 |
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7943 |
+
dataset/tools/repair_tools/f075e473766e5c668aae179924411bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f075e473766e5c668aae179924411bb5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,494 @@
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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 shaft lightly to pick up or reposition the screwdriver when the handle is not accessible",
|
| 10 |
+
"confidence": 0.4
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft near the tip to stabilize the tool during precise alignment or insertion",
|
| 14 |
+
"confidence": 0.3
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transfer torque from handle to tip",
|
| 19 |
+
"engage screw head",
|
| 20 |
+
"provide alignment for insertion",
|
| 21 |
+
"serve as the working end of the screwdriver"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender shaft in a light tan-beige color with a smooth hard surface and an integrated driver tip at the front, extending forward from the handle as the narrow working end.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_3": {
|
| 27 |
+
"confidence": 0.9652622938156128,
|
| 28 |
+
"position": [
|
| 29 |
+
0.07576642738422379,
|
| 30 |
+
-0.1741902269423008,
|
| 31 |
+
0.03120933350874111
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.25191868352835484,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.8206085792389005,
|
| 37 |
+
0.1369844113211367,
|
| 38 |
+
0.4943417923095876
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_4": {
|
| 43 |
+
"confidence": 0.9634254574775696,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0878891329630278,
|
| 46 |
+
-0.14457179978489876,
|
| 47 |
+
0.04370535974157974
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.02213948542101169,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8479172173923782,
|
| 53 |
+
-0.001835364106149151,
|
| 54 |
+
-0.5296629749883006
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_7": {
|
| 59 |
+
"confidence": 0.9557489156723022,
|
| 60 |
+
"position": [
|
| 61 |
+
0.050891822145786136,
|
| 62 |
+
-0.17425643280148506,
|
| 63 |
+
0.06378688727272674
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.27767409382667924,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.9101321016579839,
|
| 69 |
+
0.09447874789440414,
|
| 70 |
+
0.29262676115738184
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_10": {
|
| 75 |
+
"confidence": 0.9499413371086121,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.016152605472598225,
|
| 78 |
+
-0.09618281200528145,
|
| 79 |
+
0.0832407555426471
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.12607923947979877,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.04154018591549394,
|
| 85 |
+
0.9573396645981904,
|
| 86 |
+
0.2566694467857946
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_14": {
|
| 91 |
+
"confidence": 0.9308821558952332,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.09198575658956543,
|
| 94 |
+
-0.1830548234283924,
|
| 95 |
+
0.0032511320314370096
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6834586495368806,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.11069042329706973,
|
| 101 |
+
0.7055536684945504,
|
| 102 |
+
0.15108251201718023
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_16": {
|
| 107 |
+
"confidence": 0.9297066926956177,
|
| 108 |
+
"position": [
|
| 109 |
+
0.0756888966425322,
|
| 110 |
+
-0.20913677290081978,
|
| 111 |
+
-0.025416861579287797
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.24031921939017745,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.5989347728540939,
|
| 117 |
+
0.19677370223436697,
|
| 118 |
+
0.7381083394508503
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_17": {
|
| 123 |
+
"confidence": 0.9291346669197083,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.08592878474155441,
|
| 126 |
+
-0.0012769270688295364,
|
| 127 |
+
0.02029253978980705
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.1908335107397842,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.7568028401477941,
|
| 133 |
+
-0.12219871608582333,
|
| 134 |
+
0.6131064394621358
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_18": {
|
| 139 |
+
"confidence": 0.9279654622077942,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.08164169086376205,
|
| 142 |
+
-0.1194114051759243,
|
| 143 |
+
0.03573354025138542
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5546062355466664,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.1040985113891268,
|
| 149 |
+
0.8029870064679218,
|
| 150 |
+
0.1918001325938278
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
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|
dataset/tools/repair_tools/f075e473766e5c668aae179924411bb5/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 sha256:1eeeee0eb484f315260777f0d633a68c8ad9fb2d4585055b8d78823334d2af84
|
| 3 |
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size 3778768
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