Add asset tools/repair_tools/b3091147d1d059b0a307a31b6a624643
Browse files
.gitattributes
CHANGED
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@@ -7889,3 +7889,4 @@ dataset/tools/repair_tools/b02d6764adf054bbb3410840d1114f57/affordance/mesh_part
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| 7889 |
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7890 |
dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7891 |
dataset/tools/repair_tools/b207d8b52aed5993968674535e303188/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7889 |
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7890 |
dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7891 |
dataset/tools/repair_tools/b207d8b52aed5993968674535e303188/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7892 |
+
dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/affordance_annot.json
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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": "grasp one straight segment to insert or align the tip with a fastener",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the shaft to stabilize the tool while another gripper manipulates the handle",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"provide a slim insertion end",
|
| 25 |
+
"reach into recessed screws"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "L-shaped silver-gray metal shaft with a matte to satin finish, hard smooth surface, slender straight sections and rounded bend, forming most of the tool with small printed markings near one end.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9787377715110779,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.6822016147526158,
|
| 39 |
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"xyz": [
|
| 40 |
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| 41 |
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|
| 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_2": {
|
| 47 |
+
"confidence": 0.9760436415672302,
|
| 48 |
+
"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": {
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| 54 |
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"w": 0.19929040496773398,
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| 55 |
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"xyz": [
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| 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_3": {
|
| 63 |
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"confidence": 0.9734647870063782,
|
| 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": {
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| 70 |
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"w": 0.4907177972277965,
|
| 71 |
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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_4": {
|
| 79 |
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"confidence": 0.9726410508155823,
|
| 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": 0.18267760026411886,
|
| 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 |
+
]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.9720907807350159,
|
| 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": 0.14871523587984622,
|
| 103 |
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"xyz": [
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| 104 |
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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_7": {
|
| 111 |
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"confidence": 0.9685503840446472,
|
| 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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],
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"orientation": {
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|
| 119 |
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| 120 |
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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_10": {
|
| 127 |
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"confidence": 0.9665656685829163,
|
| 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": {
|
| 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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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_11": {
|
| 143 |
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"confidence": 0.9653341770172119,
|
| 144 |
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"position": [
|
| 145 |
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0.10042318562045693,
|
| 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": 0.6757627844168582,
|
| 151 |
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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_12": {
|
| 159 |
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"confidence": 0.965239942073822,
|
| 160 |
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"position": [
|
| 161 |
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0.08455231646075845,
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|
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],
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"orientation": {
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| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_13": {
|
| 175 |
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"confidence": 0.9642602205276489,
|
| 176 |
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"position": [
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| 177 |
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|
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| 179 |
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|
| 180 |
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"orientation": {
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|
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|
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|
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},
|
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"grasp_15": {
|
| 191 |
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"confidence": 0.9618911147117615,
|
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"position": [
|
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"orientation": {
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|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_18": {
|
| 207 |
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"confidence": 0.9604837894439697,
|
| 208 |
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|
| 209 |
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|
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|
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|
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|
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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"grasp_19": {
|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
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|
| 229 |
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|
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|
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|
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|
| 236 |
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|
| 237 |
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}
|
| 238 |
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}
|
| 239 |
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},
|
| 240 |
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{
|
| 241 |
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"part_name": "handle grip",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "grasp the handle grip to pick up the hex key securely",
|
| 247 |
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"confidence": 0.96
|
| 248 |
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},
|
| 249 |
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{
|
| 250 |
+
"scenario": "hold the handle grip while turning the tool to apply torque",
|
| 251 |
+
"confidence": 0.95
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"scenario": "grasp the handle to orient the tool before inserting the hex tip",
|
| 255 |
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"confidence": 0.9
|
| 256 |
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}
|
| 257 |
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],
|
| 258 |
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"functional_labels": [
|
| 259 |
+
"provide primary grip",
|
| 260 |
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"improve turning comfort",
|
| 261 |
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"increase grip friction",
|
| 262 |
+
"aid torque application"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "Short cylindrical lavender-purple handle grip, likely plastic or rubber-coated, with a matte smooth slightly ribbed surface, mounted on one end of the tool and larger than the metal shaft for easy holding.",
|
| 265 |
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"id": 1,
|
| 266 |
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"grasp_group": {
|
| 267 |
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|
| 268 |
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]
|
| 281 |
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}
|
| 282 |
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},
|
| 283 |
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|
| 284 |
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"confidence": 0.9830777049064636,
|
| 285 |
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|
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|
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|
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]
|
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|
| 298 |
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},
|
| 299 |
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"grasp_29": {
|
| 300 |
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|
| 301 |
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|
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],
|
| 306 |
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|
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]
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| 313 |
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}
|
| 314 |
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},
|
| 315 |
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"grasp_30": {
|
| 316 |
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|
| 317 |
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|
| 318 |
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],
|
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|
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]
|
| 329 |
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}
|
| 330 |
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},
|
| 331 |
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"grasp_34": {
|
| 332 |
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"confidence": 0.9811660647392273,
|
| 333 |
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"position": [
|
| 334 |
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|
| 335 |
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|
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|
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],
|
| 338 |
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|
| 339 |
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]
|
| 345 |
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}
|
| 346 |
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},
|
| 347 |
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"grasp_36": {
|
| 348 |
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|
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|
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|
| 361 |
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}
|
| 362 |
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},
|
| 363 |
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"grasp_38": {
|
| 364 |
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"confidence": 0.9780302047729492,
|
| 365 |
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],
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| 377 |
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| 378 |
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}
|
| 379 |
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}
|
| 380 |
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}
|
| 381 |
+
],
|
| 382 |
+
"quality_check": {
|
| 383 |
+
"success": true,
|
| 384 |
+
"message": "YES"
|
| 385 |
+
}
|
| 386 |
+
}
|
dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:550a45036d9877ad132f4311ed8d5685f558bcaf620147bc1857410ff4db0778
|
| 3 |
+
size 3779720
|