Add asset tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1
Browse files
.gitattributes
CHANGED
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@@ -7940,4 +7940,5 @@ 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/f075e473766e5c668aae179924411bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7944 |
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dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hammer head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the hammer head to pick up or reposition the tool in a bin",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the hammer head to stabilize the tool while another gripper manipulates the handle",
|
| 14 |
+
"confidence": 0.52
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"strike nails",
|
| 19 |
+
"pull nails",
|
| 20 |
+
"provide impact mass",
|
| 21 |
+
"hook and pry"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Silver metal hammer head with a smooth slightly reflective hard surface, including a flat round striking face and a curved claw on the opposite side.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9109928607940674,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.1599869541823864,
|
| 30 |
+
0.12366513907909393,
|
| 31 |
+
0.054940411006100476
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3058723120088567,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9042460918426514,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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0.1090569868683815,
|
| 47 |
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-0.006573710008524358
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9031238555908203,
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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0.015604325686581433
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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|
| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_5": {
|
| 75 |
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"confidence": 0.8938459157943726,
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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|
| 83 |
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|
| 84 |
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0.42302834784850324,
|
| 85 |
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0.5213038238514128,
|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_6": {
|
| 91 |
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"confidence": 0.8934168815612793,
|
| 92 |
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|
| 93 |
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|
| 94 |
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0.13432567566633224,
|
| 95 |
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0.051654142444022
|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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0.5907008139744101,
|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_10": {
|
| 107 |
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"confidence": 0.8818905353546143,
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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0.06254402280319482
|
| 112 |
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],
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_16": {
|
| 123 |
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"confidence": 0.8795396089553833,
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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0.08981583744753152
|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.27958501672453484,
|
| 131 |
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|
| 132 |
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0.68079050529725,
|
| 133 |
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0.6531965468956754,
|
| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_17": {
|
| 139 |
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"confidence": 0.8792998790740967,
|
| 140 |
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"position": [
|
| 141 |
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|
| 142 |
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0.09512564539909363,
|
| 143 |
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-0.01052665791939944
|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.6231157163568574,
|
| 147 |
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"xyz": [
|
| 148 |
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0.3320700860947609,
|
| 149 |
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0.5394916916678436,
|
| 150 |
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0.45869922233579885
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_18": {
|
| 155 |
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"confidence": 0.8781765103340149,
|
| 156 |
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"position": [
|
| 157 |
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-0.15213968977332115,
|
| 158 |
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0.11184045672416687,
|
| 159 |
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0.065876294975169
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.31421519132303133,
|
| 163 |
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"xyz": [
|
| 164 |
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-0.6058229502086946,
|
| 165 |
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0.6558245848324405,
|
| 166 |
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-0.32270959153954776
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_19": {
|
| 171 |
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"confidence": 0.8760188817977905,
|
| 172 |
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"position": [
|
| 173 |
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|
| 174 |
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0.11231261491775513,
|
| 175 |
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0.010028095101006329
|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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"w": 0.41944002877683517,
|
| 179 |
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|
| 180 |
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|
| 181 |
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0.5104775259997082,
|
| 182 |
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-0.5238782480714408
|
| 183 |
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]
|
| 184 |
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}
|
| 185 |
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}
|
| 186 |
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}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"part_name": "neck of hammer",
|
| 190 |
+
"mask_color": "Green",
|
| 191 |
+
"graspable": true,
|
| 192 |
+
"grasp_scenarios": [
|
| 193 |
+
{
|
| 194 |
+
"scenario": "pinch the narrow neck to reorient the hammer precisely",
|
| 195 |
+
"confidence": 0.46
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"scenario": "temporarily hold the neck while transferring the tool between fixtures",
|
| 199 |
+
"confidence": 0.39
|
| 200 |
+
}
|
| 201 |
+
],
|
| 202 |
+
"functional_labels": [
|
| 203 |
+
"connect head to handle",
|
| 204 |
+
"transmit impact force",
|
| 205 |
+
"align head with grip"
|
| 206 |
+
],
|
| 207 |
+
"semantic_description": "Short silver metal neck with a smooth hard finish, narrow and cylindrical, positioned between the hammer head and the blue handle.",
|
| 208 |
+
"id": 1,
|
| 209 |
+
"grasp_group": {
|
| 210 |
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"grasp_20": {
|
| 211 |
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"confidence": 0.9643245339393616,
|
| 212 |
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"position": [
|
| 213 |
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|
| 214 |
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|
| 215 |
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0.017748803948052227
|
| 216 |
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],
|
| 217 |
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"orientation": {
|
| 218 |
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|
| 219 |
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|
| 220 |
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0.756322915190449,
|
| 221 |
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0.002187922321150837,
|
| 222 |
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0.6541652258066679
|
| 223 |
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]
|
| 224 |
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}
|
| 225 |
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},
|
| 226 |
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"grasp_21": {
|
| 227 |
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"confidence": 0.9624987840652466,
|
| 228 |
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"position": [
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| 229 |
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|
| 230 |
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| 231 |
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0.046623860602267087
|
| 232 |
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],
|
| 233 |
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"orientation": {
|
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]
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}
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| 241 |
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},
|
| 242 |
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"grasp_22": {
|
| 243 |
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| 244 |
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],
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]
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}
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| 257 |
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},
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|
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],
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| 271 |
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]
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| 272 |
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}
|
| 273 |
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},
|
| 274 |
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"grasp_24": {
|
| 275 |
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"confidence": 0.9564722776412964,
|
| 276 |
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|
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0.10363450273871422,
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| 280 |
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],
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| 281 |
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]
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| 288 |
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}
|
| 289 |
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},
|
| 290 |
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|
| 291 |
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|
| 292 |
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0.008151918766088784
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],
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]
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| 304 |
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}
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| 305 |
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},
|
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|
| 307 |
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|
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"position": [
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| 1049 |
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"quality_check": {
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"success": false,
|
| 1051 |
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"message": "Handle label color/part mismatch and grip insert color inconsistent across views; graspability for head/neck overstated."
|
| 1052 |
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}
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| 1053 |
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}
|
dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
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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 sha256:082d0ed83b2f73747f10ddd30c7c470cc283d46ec8c22cbdef40619c4f21e425
|
| 3 |
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size 3768192
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