Add asset tools/repair_tools/9b0574747f4f53cdbb904b041889890e
Browse files
.gitattributes
CHANGED
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@@ -8586,3 +8586,4 @@ dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part
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| 8586 |
dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8587 |
dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8588 |
dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8586 |
dataset/tools/repair_tools/9a1c31bfcb915db38bac063916df73ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8587 |
dataset/tools/repair_tools/9a30d111bbf258f8a7bb1aab64754b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8588 |
dataset/tools/repair_tools/9acf3c44051a508190004e98b32f6612/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8589 |
+
dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,605 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the screwdriver",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle firmly while turning the screwdriver",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the handle to stabilize the tool during bit alignment",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"transmit hand or tool torque",
|
| 24 |
+
"support tool handling",
|
| 25 |
+
"stabilize during fastening"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large yellow plastic handle with a mostly matte hard smooth surface, slightly contoured blocky shape, and a small recessed notch near the rear, forming the main rear body of the screwdriver.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.986687183380127,
|
| 32 |
+
"position": [
|
| 33 |
+
0.10891085065668449,
|
| 34 |
+
0.11020774394273758,
|
| 35 |
+
0.0017643254541326314
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.016519943464306474,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.7033697214707413,
|
| 41 |
+
0.019831741750856002,
|
| 42 |
+
-0.7103554239993074
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9856331944465637,
|
| 48 |
+
"position": [
|
| 49 |
+
0.11054988153045997,
|
| 50 |
+
0.12906907498836517,
|
| 51 |
+
-0.00013651978952111676
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.04273372032793515,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6986969198290035,
|
| 57 |
+
0.03842097998425953,
|
| 58 |
+
-0.7131060732215414
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9852241277694702,
|
| 64 |
+
"position": [
|
| 65 |
+
0.11192913301056251,
|
| 66 |
+
0.12118496745824814,
|
| 67 |
+
0.00024444650625810027
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.015724683388228522,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.7017984517470429,
|
| 73 |
+
0.007386730055767288,
|
| 74 |
+
-0.7121636775888507
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9849814176559448,
|
| 80 |
+
"position": [
|
| 81 |
+
0.1157603184110485,
|
| 82 |
+
0.09347022324800491,
|
| 83 |
+
-0.001392929203575477
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.025284771471747118,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6954984550313561,
|
| 89 |
+
0.015018909487191978,
|
| 90 |
+
-0.7179254917736477
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9847988486289978,
|
| 96 |
+
"position": [
|
| 97 |
+
0.1085741514689289,
|
| 98 |
+
0.10773557424545288,
|
| 99 |
+
-0.007178691419539973
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.032579327390671854,
|
| 103 |
+
"xyz": [
|
| 104 |
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| 518 |
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| 519 |
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|
| 520 |
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|
| 521 |
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| 522 |
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| 526 |
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| 527 |
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| 528 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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| 537 |
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| 539 |
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|
| 540 |
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|
| 541 |
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| 543 |
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| 545 |
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|
| 547 |
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|
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|
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|
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|
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|
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|
| 553 |
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|
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
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|
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|
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|
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|
| 572 |
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|
| 573 |
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],
|
| 574 |
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|
| 575 |
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|
| 576 |
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|
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|
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|
| 581 |
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|
| 582 |
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}
|
| 583 |
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}
|
| 584 |
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},
|
| 585 |
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{
|
| 586 |
+
"part_name": "screwdriver bit",
|
| 587 |
+
"mask_color": "Purple",
|
| 588 |
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"graspable": false,
|
| 589 |
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"grasp_scenarios": [],
|
| 590 |
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"functional_labels": [
|
| 591 |
+
"engage screw head",
|
| 592 |
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"transmit torque to screw",
|
| 593 |
+
"fasten screws",
|
| 594 |
+
"remove screws"
|
| 595 |
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],
|
| 596 |
+
"semantic_description": "Short dark gray metal bit with a reflective hard finish, narrow stepped cylindrical form, and slightly textured machined profile projecting from the front of the screwdriver.",
|
| 597 |
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"id": 5,
|
| 598 |
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"grasp_group": {}
|
| 599 |
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}
|
| 600 |
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],
|
| 601 |
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"quality_check": {
|
| 602 |
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"success": true,
|
| 603 |
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"message": "YES"
|
| 604 |
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}
|
| 605 |
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}
|
dataset/tools/repair_tools/9b0574747f4f53cdbb904b041889890e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:69c7a1aee9660fb69964761e50742a9614e4b4ccdf31240238c790fe7f6da16c
|
| 3 |
+
size 582256
|