Add asset tools/repair_tools/f0841cad08ec5140989955fb25aa299d
Browse files
.gitattributes
CHANGED
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@@ -7940,4 +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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| 7943 |
-
dataset/tools/repair_tools/
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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/f0841cad08ec5140989955fb25aa299d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,544 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hex key shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft near the bend to insert or remove the tip from a fastener",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tool by clamping the long arm during manipulation",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"provide leverage",
|
| 25 |
+
"reach into recessed screws"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Bent silver metal rod with a matte to slightly reflective smooth hard surface, forming the L-shaped working shaft and making up most of the tool length.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9634830951690674,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.06651660150964744,
|
| 34 |
+
0.13926081592217088,
|
| 35 |
+
0.04086711167474277
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5378304245940774,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.29454164207577954,
|
| 41 |
+
0.7595440335302309,
|
| 42 |
+
-0.2169712344825585
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9573931694030762,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.06495097375591286,
|
| 50 |
+
0.1465917699970305,
|
| 51 |
+
-0.011576135613722727
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6869618680998912,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.26705915694189913,
|
| 57 |
+
0.5918766791414153,
|
| 58 |
+
-0.32625878556556864
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9543474316596985,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.048779272503452376,
|
| 66 |
+
0.1558013134635985,
|
| 67 |
+
0.034131682506995276
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3157333567796336,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6822663000513913,
|
| 73 |
+
-0.38234454031804843,
|
| 74 |
+
0.5372502170495883
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9446907043457031,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.028576147771673277,
|
| 82 |
+
0.17156057292595506,
|
| 83 |
+
0.011938590585486963
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5398914600790063,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.44308628078951157,
|
| 89 |
+
0.5903208358522517,
|
| 90 |
+
-0.40461471781013686
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9443204402923584,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.04680669031222351,
|
| 98 |
+
0.15385635429993272,
|
| 99 |
+
0.024528100184397772
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.334606449204219,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.6586449708835199,
|
| 105 |
+
-0.3675749966115601,
|
| 106 |
+
0.564901715652204
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9385027885437012,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.01494513827492483,
|
| 114 |
+
0.1733198040165007,
|
| 115 |
+
0.011744579329388216
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4769281296276869,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.4506170130261238,
|
| 121 |
+
0.5853680532366946,
|
| 122 |
+
-0.4762647467440061
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9375763535499573,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.007601150340633467,
|
| 130 |
+
0.17510469490662217,
|
| 131 |
+
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"message": "YES"
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| 543 |
+
}
|
| 544 |
+
}
|
dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:421b11ae570f4e4614b03317beb04ef78fd0797ab4317413c799b561d7602f60
|
| 3 |
+
size 3778280
|