Add asset tools/repair_tools/736c8cc237a85167a682b54b3ee6c7fe
Browse files
.gitattributes
CHANGED
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@@ -8555,3 +8555,4 @@ dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/affordance/mesh_part
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| 8555 |
dataset/tools/repair_tools/6f34cc37b06b5e43bd528be175c09064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8556 |
dataset/tools/repair_tools/7004b7870031534dae9fce44cf822365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8557 |
dataset/tools/repair_tools/72101242ae3352f3b2ef657e091f2e50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8555 |
dataset/tools/repair_tools/6f34cc37b06b5e43bd528be175c09064/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8556 |
dataset/tools/repair_tools/7004b7870031534dae9fce44cf822365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8557 |
dataset/tools/repair_tools/72101242ae3352f3b2ef657e091f2e50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8558 |
+
dataset/tools/repair_tools/736c8cc237a85167a682b54b3ee6c7fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/736c8cc237a85167a682b54b3ee6c7fe/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,552 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle at the center to pick up and carry the wrench",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque during turning",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to reposition or hand off the tool",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"transmit torque",
|
| 25 |
+
"connect the two wrench ends",
|
| 26 |
+
"support tool manipulation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long slender silver-gray metal shaft with a matte to slightly reflective finish, hard smooth texture, and straight elongated shape forming the central body between the two wrench heads.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_41": {
|
| 32 |
+
"confidence": 0.9918901920318604,
|
| 33 |
+
"position": [
|
| 34 |
+
0.09885672977543436,
|
| 35 |
+
0.06850775005295873,
|
| 36 |
+
0.00034072859125444666
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7100350447661623,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.018873811658293615,
|
| 42 |
+
-0.70373779749627,
|
| 43 |
+
-0.015720267570902696
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_42": {
|
| 48 |
+
"confidence": 0.9915748238563538,
|
| 49 |
+
"position": [
|
| 50 |
+
0.10023753097630106,
|
| 51 |
+
0.07674641581252217,
|
| 52 |
+
-0.00019672305643325672
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7113634687517346,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.00024274479809875858,
|
| 58 |
+
-0.7027783950074398,
|
| 59 |
+
0.00803018749657494
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_43": {
|
| 64 |
+
"confidence": 0.9915145635604858,
|
| 65 |
+
"position": [
|
| 66 |
+
0.09584989896393381,
|
| 67 |
+
0.05081268446519971,
|
| 68 |
+
0.005079100614238996
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6980190785274598,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.05745628880446305,
|
| 74 |
+
-0.7125909287826788,
|
| 75 |
+
-0.041015961589770056
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_45": {
|
| 80 |
+
"confidence": 0.9913383722305298,
|
| 81 |
+
"position": [
|
| 82 |
+
0.0995989715156611,
|
| 83 |
+
0.07305265637114644,
|
| 84 |
+
-0.004154736401687842
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7210323609732385,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.00798914099309282,
|
| 90 |
+
-0.69284128993281,
|
| 91 |
+
0.004410784486922664
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_46": {
|
| 96 |
+
"confidence": 0.9910488128662109,
|
| 97 |
+
"position": [
|
| 98 |
+
0.10431960722780786,
|
| 99 |
+
0.07392155798152089,
|
| 100 |
+
0.0007669850674574263
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7023841460893048,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.011267140526948723,
|
| 106 |
+
-0.7117060716379142,
|
| 107 |
+
0.002007600675654851
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_48": {
|
| 112 |
+
"confidence": 0.9906045794487,
|
| 113 |
+
"position": [
|
| 114 |
+
0.10033631077385508,
|
| 115 |
+
0.06903402181342244,
|
| 116 |
+
0.0014214236362022348
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6951388139380059,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.007088010018268514,
|
| 122 |
+
-0.7187364110745968,
|
| 123 |
+
0.012237682233628509
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_49": {
|
| 128 |
+
"confidence": 0.9905531406402588,
|
| 129 |
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| 538 |
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"xyz": [
|
| 539 |
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|
| 540 |
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0.7106714331540769,
|
| 541 |
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-0.026534916355191365
|
| 542 |
+
]
|
| 543 |
+
}
|
| 544 |
+
}
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
],
|
| 548 |
+
"quality_check": {
|
| 549 |
+
"success": true,
|
| 550 |
+
"message": "YES"
|
| 551 |
+
}
|
| 552 |
+
}
|
dataset/tools/repair_tools/736c8cc237a85167a682b54b3ee6c7fe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:834f1d5e4efa5c972a694f48c195de2212c4ab3eef389f4d51069be082e6044d
|
| 3 |
+
size 3785716
|