Add asset tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b
Browse files
.gitattributes
CHANGED
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@@ -7942,3 +7942,4 @@ dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part
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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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| 7944 |
dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/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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| 7944 |
dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7945 |
+
dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench handle/body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle/body to pick up and reposition the ratchet wrench",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while applying torque with a socket attached to the ratchet head",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the tool during handoff or storage retrieval",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"connect handle to ratchet head",
|
| 25 |
+
"support tool manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated silver metal handle and body with a smooth reflective finish, slim flat shape, engraved brand markings on the shaft, a larger circular ratchet housing at one end, and a smaller hanging hole at the other.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9928362965583801,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.038457754093689185,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9927785992622375,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.01135630592582539,
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"xyz": [
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9923473596572876,
|
| 64 |
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"position": [
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| 66 |
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|
| 67 |
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|
| 68 |
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],
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| 69 |
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"orientation": {
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"w": 0.03431083510508426,
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"xyz": [
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| 74 |
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| 75 |
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]
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| 76 |
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}
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| 77 |
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},
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| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9917599558830261,
|
| 80 |
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"position": [
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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|
| 87 |
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"xyz": [
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| 90 |
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| 91 |
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]
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| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9912028312683105,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
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"orientation": {
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"xyz": [
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]
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9908548593521118,
|
| 112 |
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"position": [
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|
| 114 |
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|
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|
| 116 |
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],
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"orientation": {
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"w": 0.01830602522462176,
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| 119 |
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"xyz": [
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.990829586982727,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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| 132 |
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],
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"orientation": {
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9902589321136475,
|
| 144 |
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"position": [
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|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9899181723594666,
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| 160 |
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"position": [
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| 161 |
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"orientation": {
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}
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| 173 |
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},
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| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9898804426193237,
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| 176 |
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"position": [
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| 177 |
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"orientation": {
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|
dataset/tools/repair_tools/f20403fbd1965be3a51cd8b090bbe05b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f7bac0578be4722a893712c6d9a01ced8b686471766e16c95a3b3c39c846d6c3
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| 3 |
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size 3780796
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