Add asset tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700
Browse files
.gitattributes
CHANGED
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@@ -7910,3 +7910,4 @@ dataset/tools/repair_tools/c77c2787a76256c89bafaf0d3b06c1b5/affordance/mesh_part
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| 7910 |
dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7911 |
dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7910 |
dataset/tools/repair_tools/c8afaff0d3b752c984eb2ea3cb68b679/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7911 |
dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7913 |
+
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,442 @@
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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 to apply turning torque during screwdriving",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the tool while aligning the tip with a screw",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"support tool handling",
|
| 25 |
+
"stabilize during alignment"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large off-white or cream plastic handle with a smooth slightly glossy hard surface, rounded rectangular shape, a flared collar near the shaft, and dark printed branding on the side.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9836583733558655,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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-0.07753840647637844,
|
| 35 |
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-0.025660194864030927
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.022554466194447564,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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-0.03297544509301742,
|
| 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 |
+
"confidence": 0.9791809320449829,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.0052195116141128504,
|
| 55 |
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"xyz": [
|
| 56 |
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| 57 |
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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_4": {
|
| 63 |
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"confidence": 0.9769744277000427,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.006993073136085178,
|
| 71 |
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"xyz": [
|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_5": {
|
| 79 |
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"confidence": 0.9768573045730591,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.7505131555535078,
|
| 87 |
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"xyz": [
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_7": {
|
| 95 |
+
"confidence": 0.9758502840995789,
|
| 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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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.06541959810408714,
|
| 103 |
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"xyz": [
|
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_8": {
|
| 111 |
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"confidence": 0.9757286906242371,
|
| 112 |
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"position": [
|
| 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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"orientation": {
|
| 118 |
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"w": 0.775128947298901,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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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_9": {
|
| 127 |
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"confidence": 0.9753002524375916,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
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| 134 |
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|
| 135 |
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"xyz": [
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_10": {
|
| 143 |
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"confidence": 0.9748393893241882,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.020103609384254803,
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| 151 |
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"xyz": [
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_11": {
|
| 159 |
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"confidence": 0.9744422435760498,
|
| 160 |
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"position": [
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| 161 |
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|
| 164 |
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],
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| 165 |
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"orientation": {
|
| 166 |
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"w": 0.7515948763859642,
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| 167 |
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"xyz": [
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]
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| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_12": {
|
| 175 |
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"confidence": 0.9735985398292542,
|
| 176 |
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"position": [
|
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{
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"part_name": "shaft and tip",
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| 306 |
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"mask_color": "Green",
|
| 307 |
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|
| 308 |
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|
| 309 |
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{
|
| 310 |
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"scenario": "delicately grasp the metal shaft to orient the screwdriver in a tool changer or tray",
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| 311 |
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| 319 |
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|
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|
| 321 |
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"provide reach into recessed areas",
|
| 322 |
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"indicate working end"
|
| 323 |
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],
|
| 324 |
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"semantic_description": "Slim gray metal shaft ending in a Phillips-style tip, with a matte to lightly reflective smooth surface and a narrow cylindrical form projecting from the front of the handle.",
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| 325 |
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],
|
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|
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}
|
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}
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| 408 |
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},
|
| 409 |
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{
|
| 410 |
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"part_name": "brand badge area",
|
| 411 |
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"mask_color": "Blue",
|
| 412 |
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"graspable": false,
|
| 413 |
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"grasp_scenarios": [],
|
| 414 |
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"functional_labels": [
|
| 415 |
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"highlight brand mark location",
|
| 416 |
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"identify tool",
|
| 417 |
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"provide visual orientation cue"
|
| 418 |
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],
|
| 419 |
+
"semantic_description": "Small dark gray rectangular badge-like marking area on the handle side, appearing flat and flush on the smooth cream plastic surface near the printed branding.",
|
| 420 |
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"id": 2,
|
| 421 |
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"grasp_group": {}
|
| 422 |
+
},
|
| 423 |
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{
|
| 424 |
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"part_name": "printed logo text",
|
| 425 |
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"mask_color": "Yellow",
|
| 426 |
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"graspable": false,
|
| 427 |
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"grasp_scenarios": [],
|
| 428 |
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"functional_labels": [
|
| 429 |
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"display brand information",
|
| 430 |
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"identify manufacturer",
|
| 431 |
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"mark tool surface"
|
| 432 |
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],
|
| 433 |
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"semantic_description": "Small dark gray printed characters and logo on the handle, appearing as flat markings on the smooth cream plastic surface and providing visual identification.",
|
| 434 |
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"id": 3,
|
| 435 |
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"grasp_group": {}
|
| 436 |
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}
|
| 437 |
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],
|
| 438 |
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"quality_check": {
|
| 439 |
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"success": false,
|
| 440 |
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"message": "Blue mask is a logo patch, not separate badge area; yellow is printed branding, not only text. Part identities/descriptions mismatch visible parts."
|
| 441 |
+
}
|
| 442 |
+
}
|
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:954f86de131614a19eda733f76905f24bca842ddde6c856db9b6b2c188bb2b96
|
| 3 |
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size 3780540
|