Add asset tools/repair_tools/11acaa020e8a58b392a3bbd7d2b8b49d
Browse files
.gitattributes
CHANGED
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@@ -7799,3 +7799,4 @@ dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7801 |
dataset/tools/repair_tools/109351893e1b5a39bdfa29de41f62dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7802 |
+
dataset/tools/repair_tools/11acaa020e8a58b392a3bbd7d2b8b49d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/11acaa020e8a58b392a3bbd7d2b8b49d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,427 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench handle and shank",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the black handle to pick up and wield the ratchet wrench",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold along the handle and shank to apply torque during use",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the shank for repositioning or handoff",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"transmit user torque to the ratchet head",
|
| 24 |
+
"support positioning and swinging",
|
| 25 |
+
"connect handle to ratchet head"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long elongated body consisting of a silver metal shank and a black cylindrical rubberized handle grip, mostly smooth with reflective metal and a matte textured grip, forming the main body of the wrench.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9934654831886292,
|
| 32 |
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"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": {
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| 38 |
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"w": 0.02180148918852153,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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-0.634249517343753
|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_3": {
|
| 47 |
+
"confidence": 0.9923402070999146,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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-0.05512993410229683,
|
| 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": 0.018628547560727078,
|
| 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_5": {
|
| 63 |
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"confidence": 0.9919940233230591,
|
| 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": 0.03697966082334141,
|
| 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_8": {
|
| 79 |
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"confidence": 0.9916521906852722,
|
| 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": 0.8165502243884603,
|
| 87 |
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"xyz": [
|
| 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_10": {
|
| 95 |
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"confidence": 0.9914617538452148,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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0.009982521238271147,
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5480112221052167,
|
| 103 |
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"xyz": [
|
| 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_11": {
|
| 111 |
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"confidence": 0.9912766218185425,
|
| 112 |
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"position": [
|
| 113 |
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0.09172858045621979,
|
| 114 |
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0.00432585971429944,
|
| 115 |
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0.03101733047515154
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5797526742590948,
|
| 119 |
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"xyz": [
|
| 120 |
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0.03500324490086776,
|
| 121 |
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-0.8139384298940776,
|
| 122 |
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0.012877960917852097
|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_13": {
|
| 127 |
+
"confidence": 0.9912620782852173,
|
| 128 |
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"position": [
|
| 129 |
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0.09334081159158814,
|
| 130 |
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0.03637048974633217,
|
| 131 |
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0.03010199125856161
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5926747208404503,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.01128160665991786,
|
| 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_15": {
|
| 143 |
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"confidence": 0.9910079836845398,
|
| 144 |
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"position": [
|
| 145 |
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0.09704313920065033,
|
| 146 |
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-0.016706349328160286,
|
| 147 |
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0.02238814439624548
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.016903743792193438,
|
| 151 |
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"xyz": [
|
| 152 |
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0.7889793131014182,
|
| 153 |
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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_17": {
|
| 159 |
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"confidence": 0.9907694458961487,
|
| 160 |
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"position": [
|
| 161 |
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-0.09717984004691971,
|
| 162 |
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0.059434473514556885,
|
| 163 |
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-0.015446475706994534
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.03692426570118177,
|
| 167 |
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"xyz": [
|
| 168 |
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0.6405719002884813,
|
| 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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}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "ratchet head outer ring",
|
| 178 |
+
"mask_color": "Pink",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
+
"scenario": "pinch the head rim to stabilize the wrench near a fastener",
|
| 183 |
+
"confidence": 0.54
|
| 184 |
+
},
|
| 185 |
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{
|
| 186 |
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"scenario": "briefly grasp the head rim for short-distance pickup or alignment",
|
| 187 |
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"confidence": 0.4
|
| 188 |
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}
|
| 189 |
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],
|
| 190 |
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"functional_labels": [
|
| 191 |
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"surround ratchet mechanism",
|
| 192 |
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"support the working end around the drive",
|
| 193 |
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"provide fastener-side alignment",
|
| 194 |
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"stabilize tool near contact point"
|
| 195 |
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],
|
| 196 |
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"semantic_description": "Circular dark metallic to black ring around the ratchet drive at the wrench head, smooth and slightly reflective, recessed within the larger silver head and forming the visible perimeter of the ratcheting mechanism.",
|
| 197 |
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"id": 8,
|
| 198 |
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"grasp_group": {
|
| 199 |
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],
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]
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| 213 |
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| 214 |
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},
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|
| 216 |
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| 217 |
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],
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| 229 |
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},
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| 232 |
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],
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| 248 |
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| 249 |
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]
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| 261 |
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}
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| 262 |
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},
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| 263 |
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|
| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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],
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]
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},
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|
| 280 |
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| 281 |
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|
| 283 |
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| 284 |
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| 285 |
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],
|
| 286 |
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"orientation": {
|
| 287 |
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| 288 |
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| 289 |
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0.5661201982501727,
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| 290 |
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| 291 |
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|
| 292 |
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]
|
| 293 |
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}
|
| 294 |
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}
|
| 295 |
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}
|
| 296 |
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},
|
| 297 |
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{
|
| 298 |
+
"part_name": "square drive",
|
| 299 |
+
"mask_color": "Blue",
|
| 300 |
+
"graspable": false,
|
| 301 |
+
"grasp_scenarios": [],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"mount sockets",
|
| 304 |
+
"transfer torque to socket",
|
| 305 |
+
"provide the central attachment point at the working end"
|
| 306 |
+
],
|
| 307 |
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"semantic_description": "Small central protruding drive feature in the middle of the ratchet head, visible as a small dark metallic nub with a hard smooth finish for attaching sockets.",
|
| 308 |
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"id": 2,
|
| 309 |
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"grasp_group": {}
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
+
"part_name": "direction switch lever",
|
| 313 |
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"mask_color": "Pink",
|
| 314 |
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"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
+
"functional_labels": [
|
| 317 |
+
"reverse ratcheting direction",
|
| 318 |
+
"select clockwise or counterclockwise drive",
|
| 319 |
+
"control ratchet mode"
|
| 320 |
+
],
|
| 321 |
+
"semantic_description": "Tiny light metallic lever adjacent to the ratchet head, smooth and reflective, appearing as a small protruding control used to change ratcheting direction.",
|
| 322 |
+
"id": 8,
|
| 323 |
+
"grasp_group": {
|
| 324 |
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"grasp_25": {
|
| 325 |
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"confidence": 0.17892403900623322,
|
| 326 |
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"position": [
|
| 327 |
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-0.05530112488941086,
|
| 328 |
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0.1625298298895359,
|
| 329 |
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-0.010154468938708305
|
| 330 |
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],
|
| 331 |
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"orientation": {
|
| 332 |
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"w": 0.6493336921763414,
|
| 333 |
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"xyz": [
|
| 334 |
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0.3201503221629226,
|
| 335 |
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0.5852997784745211,
|
| 336 |
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-0.3650940929969897
|
| 337 |
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]
|
| 338 |
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}
|
| 339 |
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},
|
| 340 |
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"grasp_30": {
|
| 341 |
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"confidence": 0.9752510190010071,
|
| 342 |
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"position": [
|
| 343 |
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-0.08741887165979279,
|
| 344 |
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0.12949366495013237,
|
| 345 |
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0.006046616472303867
|
| 346 |
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],
|
| 347 |
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"orientation": {
|
| 348 |
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"w": 0.6737332560660279,
|
| 349 |
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"xyz": [
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| 351 |
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| 352 |
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|
| 353 |
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]
|
| 354 |
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}
|
| 355 |
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},
|
| 356 |
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"grasp_35": {
|
| 357 |
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"confidence": 0.8448487520217896,
|
| 358 |
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| 359 |
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| 360 |
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|
| 361 |
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0.014947651885449886
|
| 362 |
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],
|
| 363 |
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|
| 364 |
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| 365 |
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0.2995910293618195,
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| 367 |
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| 368 |
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|
| 369 |
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]
|
| 370 |
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}
|
| 371 |
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},
|
| 372 |
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"grasp_37": {
|
| 373 |
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"confidence": 0.5476707220077515,
|
| 374 |
+
"position": [
|
| 375 |
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-0.07036724193767441,
|
| 376 |
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0.15092331543564796,
|
| 377 |
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-0.005423039197921753
|
| 378 |
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],
|
| 379 |
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"orientation": {
|
| 380 |
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"w": 0.6865706498162025,
|
| 381 |
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"xyz": [
|
| 382 |
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0.278478344266544,
|
| 383 |
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0.615719977342124,
|
| 384 |
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-0.26825261245202625
|
| 385 |
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]
|
| 386 |
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}
|
| 387 |
+
},
|
| 388 |
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"grasp_38": {
|
| 389 |
+
"confidence": 0.3211801052093506,
|
| 390 |
+
"position": [
|
| 391 |
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0.005828886564813729,
|
| 392 |
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0.1796870268881321,
|
| 393 |
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0.01198100671172142
|
| 394 |
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],
|
| 395 |
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"orientation": {
|
| 396 |
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"w": 0.5410563008950514,
|
| 397 |
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"xyz": [
|
| 398 |
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0.5592726460303145,
|
| 399 |
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-0.4705958139409008,
|
| 400 |
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0.4159468314163658
|
| 401 |
+
]
|
| 402 |
+
}
|
| 403 |
+
},
|
| 404 |
+
"grasp_39": {
|
| 405 |
+
"confidence": 0.15985965728759766,
|
| 406 |
+
"position": [
|
| 407 |
+
5.343080465536332e-05,
|
| 408 |
+
0.1766187734901905,
|
| 409 |
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0.010958184488117695
|
| 410 |
+
],
|
| 411 |
+
"orientation": {
|
| 412 |
+
"w": 0.5130615710595812,
|
| 413 |
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"xyz": [
|
| 414 |
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0.5661201982501727,
|
| 415 |
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0.47147603010607675,
|
| 416 |
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-0.44043852972971526
|
| 417 |
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]
|
| 418 |
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}
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
}
|
| 422 |
+
],
|
| 423 |
+
"quality_check": {
|
| 424 |
+
"success": false,
|
| 425 |
+
"message": "Mask color and identity mismatch: switch lever is separate light-pink part, not pink outer ring; head ring color should be yellow."
|
| 426 |
+
}
|
| 427 |
+
}
|
dataset/tools/repair_tools/11acaa020e8a58b392a3bbd7d2b8b49d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90a1621ada4561ea2db2b8b790827a05eb0360197ce64585b20a98b3803aa09e
|
| 3 |
+
size 3782816
|