Add asset tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef
Browse files
.gitattributes
CHANGED
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@@ -7865,4 +7865,4 @@ dataset/tools/repair_tools/5422f66a9ce3539099c399598f038460/affordance/mesh_part
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| 7865 |
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7866 |
dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7867 |
dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7868 |
-
dataset/tools/repair_tools/
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| 7865 |
dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7866 |
dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7867 |
dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7868 |
+
dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/affordance_annot.json
ADDED
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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 long shaft to pick up and reposition the hex key",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft to align the short tip with a fastener",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the shaft to stabilize the tool during insertion or turning",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"engage hex socket fasteners",
|
| 23 |
+
"transmit torque",
|
| 24 |
+
"provide main tool structure",
|
| 25 |
+
"provide primary grasp surface",
|
| 26 |
+
"reach into recessed screws"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "L-shaped silver-gray metal rod with a hard smooth satin finish, slender cylindrical form, and white size markings near one short end, making up most of the tool body.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_4": {
|
| 32 |
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"confidence": 0.9753558039665222,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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0.03121866127185058
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.2932578935619791,
|
| 40 |
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"xyz": [
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| 41 |
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|
| 42 |
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-0.37201315300433413,
|
| 43 |
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|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_6": {
|
| 48 |
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"confidence": 0.9747372269630432,
|
| 49 |
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"position": [
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| 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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"orientation": {
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| 55 |
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|
| 56 |
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"xyz": [
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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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},
|
| 63 |
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"grasp_10": {
|
| 64 |
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"confidence": 0.973821759223938,
|
| 65 |
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"position": [
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 75 |
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| 78 |
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},
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| 79 |
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"grasp_12": {
|
| 80 |
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"confidence": 0.9729931354522705,
|
| 81 |
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"position": [
|
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|
| 83 |
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| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.29236447036278096,
|
| 88 |
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"xyz": [
|
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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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},
|
| 95 |
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"grasp_13": {
|
| 96 |
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"confidence": 0.9724134206771851,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
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| 103 |
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"w": 0.49679303692488136,
|
| 104 |
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"xyz": [
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| 107 |
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| 108 |
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| 110 |
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},
|
| 111 |
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"grasp_15": {
|
| 112 |
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"confidence": 0.9712423086166382,
|
| 113 |
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"position": [
|
| 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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"orientation": {
|
| 119 |
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"w": 0.5090588559299135,
|
| 120 |
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"xyz": [
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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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}
|
| 127 |
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}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "handle grip",
|
| 131 |
+
"mask_color": "Green",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "grasp the handle grip to pick up the hex key quickly",
|
| 136 |
+
"confidence": 0.96
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "hold the grip while turning the tool for higher comfort and control",
|
| 140 |
+
"confidence": 0.93
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"scenario": "pinch the grip to orient the hex key before inserting the tip",
|
| 144 |
+
"confidence": 0.9
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"functional_labels": [
|
| 148 |
+
"provide comfortable grip",
|
| 149 |
+
"improve handling control",
|
| 150 |
+
"increase turning comfort",
|
| 151 |
+
"help orient the tool",
|
| 152 |
+
"add end cushioning"
|
| 153 |
+
],
|
| 154 |
+
"semantic_description": "Pale pink rubbery or plastic grip sleeve with a matte smooth surface and slightly contoured cylindrical shape, mounted at one end of the hex key and larger than the shaft diameter.",
|
| 155 |
+
"id": 1,
|
| 156 |
+
"grasp_group": {
|
| 157 |
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"grasp_26": {
|
| 158 |
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"confidence": 0.9823517203330994,
|
| 159 |
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"position": [
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| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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],
|
| 164 |
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"orientation": {
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| 165 |
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"w": 0.7128613894253252,
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| 166 |
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"xyz": [
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| 168 |
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|
| 169 |
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|
| 170 |
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]
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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"grasp_27": {
|
| 174 |
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"confidence": 0.9822616577148438,
|
| 175 |
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"position": [
|
| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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],
|
| 180 |
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"orientation": {
|
| 181 |
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"w": 0.722887998189098,
|
| 182 |
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"xyz": [
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| 186 |
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]
|
| 187 |
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}
|
| 188 |
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},
|
| 189 |
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"grasp_30": {
|
| 190 |
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"confidence": 0.9816811680793762,
|
| 191 |
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"position": [
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|
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],
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"orientation": {
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| 198 |
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"xyz": [
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| 202 |
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]
|
| 203 |
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}
|
| 204 |
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},
|
| 205 |
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"grasp_31": {
|
| 206 |
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"confidence": 0.9812893271446228,
|
| 207 |
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"position": [
|
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|
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|
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|
| 211 |
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],
|
| 212 |
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"orientation": {
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| 213 |
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|
| 214 |
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|
| 218 |
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]
|
| 219 |
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}
|
| 220 |
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},
|
| 221 |
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"grasp_33": {
|
| 222 |
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"confidence": 0.9809173345565796,
|
| 223 |
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"position": [
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|
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|
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|
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"grasp_37": {
|
| 238 |
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"confidence": 0.9799210429191589,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.09698074485640973,
|
| 241 |
+
-0.09611959662288427,
|
| 242 |
+
-0.0052427977352635935
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.6951130567065559,
|
| 246 |
+
"xyz": [
|
| 247 |
+
-0.14915015384739164,
|
| 248 |
+
0.6811110622644095,
|
| 249 |
+
0.17509937425477878
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_39": {
|
| 254 |
+
"confidence": 0.9796232581138611,
|
| 255 |
+
"position": [
|
| 256 |
+
-0.09540857549291104,
|
| 257 |
+
-0.08657453116029501,
|
| 258 |
+
-0.0149147051415639
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.7362289583918457,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.14891050766307112,
|
| 264 |
+
0.6402095034842928,
|
| 265 |
+
0.16101047537716276
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"part_name": "end cap",
|
| 273 |
+
"mask_color": "Blue",
|
| 274 |
+
"graspable": false,
|
| 275 |
+
"grasp_scenarios": [],
|
| 276 |
+
"functional_labels": [
|
| 277 |
+
"cover handle end",
|
| 278 |
+
"provide end protection",
|
| 279 |
+
"finish the grip assembly",
|
| 280 |
+
"offer slight contact cushioning"
|
| 281 |
+
],
|
| 282 |
+
"semantic_description": "Small purple circular cap with a smooth slightly matte finish on the end of the handle, appearing as a hard or semi-soft insert flush with the grip.",
|
| 283 |
+
"id": 2,
|
| 284 |
+
"grasp_group": {}
|
| 285 |
+
},
|
| 286 |
+
{
|
| 287 |
+
"part_name": "cap face insert",
|
| 288 |
+
"mask_color": "Yellow",
|
| 289 |
+
"graspable": false,
|
| 290 |
+
"grasp_scenarios": [],
|
| 291 |
+
"functional_labels": [
|
| 292 |
+
"seal the handle end",
|
| 293 |
+
"provide contact pad",
|
| 294 |
+
"protect the grip tip"
|
| 295 |
+
],
|
| 296 |
+
"semantic_description": "Tiny dark gray to black oval face on the outermost end of the cap, with a smooth flat appearance and minimal visible texture.",
|
| 297 |
+
"id": 3,
|
| 298 |
+
"grasp_group": {}
|
| 299 |
+
}
|
| 300 |
+
],
|
| 301 |
+
"quality_check": {
|
| 302 |
+
"success": true,
|
| 303 |
+
"message": "YES"
|
| 304 |
+
}
|
| 305 |
+
}
|
dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fb4973d7b1ebc0fb3bdcca5e57cd9bf4ae20cab04262eeeb119273b93917bf0
|
| 3 |
+
size 3784636
|