Add asset tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3
Browse files
.gitattributes
CHANGED
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@@ -7797,4 +7797,4 @@ dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part
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| 7797 |
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
-
dataset/tools/repair_tools/
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| 7797 |
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
+
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,482 @@
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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": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft to insert or withdraw the tip from a socket screw",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the short arm to stabilize the tool during reorientation",
|
| 18 |
+
"confidence": 0.56
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit turning torque",
|
| 24 |
+
"provide insertion reach",
|
| 25 |
+
"support tool orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "L-shaped silver metal shaft with a smooth slightly reflective hard surface and a slender hexagonal rod form, consisting of two perpendicular arms that make up the working body of the hex key.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.958800733089447,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07610538927838206,
|
| 34 |
+
-0.13666964694857597,
|
| 35 |
+
-0.003936185908969492
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6804870565579761,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.18919163600681208,
|
| 41 |
+
0.67997537672544,
|
| 42 |
+
0.19691972417516704
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9511704444885254,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.07281398354098201,
|
| 50 |
+
-0.13660526648163795,
|
| 51 |
+
-0.003992817539256066
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6992105856802605,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.18616992063701204,
|
| 57 |
+
0.6597993281663449,
|
| 58 |
+
0.20275641561715188
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.9483194351196289,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.08987005380913615,
|
| 66 |
+
-0.09180974587798119,
|
| 67 |
+
0.0014225588529370725
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6997820289158965,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.01827131119330958,
|
| 73 |
+
0.7130544778944914,
|
| 74 |
+
0.03904590565273805
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_7": {
|
| 79 |
+
"confidence": 0.9377890825271606,
|
| 80 |
+
"position": [
|
| 81 |
+
0.002920781960710883,
|
| 82 |
+
-0.1801788993179798,
|
| 83 |
+
0.00028003030456602573
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.505284382983694,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5030882453449664,
|
| 89 |
+
0.4921473360908424,
|
| 90 |
+
0.4993805255385898
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_12": {
|
| 95 |
+
"confidence": 0.9306858777999878,
|
| 96 |
+
"position": [
|
| 97 |
+
0.002600178646389395,
|
| 98 |
+
-0.17483321204781532,
|
| 99 |
+
0.0019317721598781645
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.49233205036379224,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.509150957629842,
|
| 105 |
+
0.5029394918854552,
|
| 106 |
+
0.4954052099354622
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_14": {
|
| 111 |
+
"confidence": 0.9264966249465942,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.009858561214059591,
|
| 114 |
+
-0.17582951858639717,
|
| 115 |
+
0.02138096309499815
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.48576805652221394,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5193816129586117,
|
| 121 |
+
0.5594858906733986,
|
| 122 |
+
0.42573192682782823
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_15": {
|
| 127 |
+
"confidence": 0.9192724227905273,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.006207683589309454,
|
| 130 |
+
-0.17788041010499,
|
| 131 |
+
-0.0015430633793585002
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.488611960488932,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5083760541912956,
|
| 137 |
+
-0.4870109563055456,
|
| 138 |
+
-0.5153954482049764
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_16": {
|
| 143 |
+
"confidence": 0.9187359809875488,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.0016297479160130024,
|
| 146 |
+
-0.175776619464159,
|
| 147 |
+
-0.0005805704277008772
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5035182473076084,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.5026630154152312,
|
| 153 |
+
0.4960248019219814,
|
| 154 |
+
0.49775361720453687
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_17": {
|
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|
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/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 sha256:6e505d426233e885536b6544fcea764942a466f7764af8450225b9ee05855816
|
| 3 |
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size 3780056
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