Add asset tools/repair_tools/d6b6e037f47d59e594037be07940bfd8
Browse files
.gitattributes
CHANGED
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@@ -7918,4 +7918,4 @@ dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part
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| 7918 |
dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7919 |
dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
-
dataset/tools/repair_tools/
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| 7918 |
dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7919 |
dataset/tools/repair_tools/ce6c06a136905d5d8b5b8d33abb5e480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7920 |
dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7921 |
+
dataset/tools/repair_tools/d6b6e037f47d59e594037be07940bfd8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/d6b6e037f47d59e594037be07940bfd8/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 exposed bent metal shaft to pick up or reposition the tool when the handle is obstructed",
|
| 10 |
+
"confidence": 0.52
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the short metal arm with a gripper to orient the hex tip for insertion into a fastener",
|
| 14 |
+
"confidence": 0.41
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"engage hex socket fasteners",
|
| 19 |
+
"transmit turning torque",
|
| 20 |
+
"reach into recessed screws",
|
| 21 |
+
"provide L-shaped working geometry"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Bent silver metal rod with a smooth reflective finish, forming the L-shaped hex key shaft that protrudes from the handle and ends in straight hex-driving sections.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.906482994556427,
|
| 28 |
+
"position": [
|
| 29 |
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-0.06074574985541403,
|
| 30 |
+
-0.14064057993527967,
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.6388399794951845,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.3142574680877866,
|
| 37 |
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|
| 38 |
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|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.8475415706634521,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.5954026277524728,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
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"grasp_3": {
|
| 59 |
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"confidence": 0.8429229855537415,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.629747941833291,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_5": {
|
| 75 |
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"confidence": 0.8212791681289673,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.9038972637420619,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
+
},
|
| 90 |
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"grasp_6": {
|
| 91 |
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"confidence": 0.8146383166313171,
|
| 92 |
+
"position": [
|
| 93 |
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0.054831541841849685,
|
| 94 |
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-0.16358988809224684,
|
| 95 |
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0.013899917052185629
|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.5849523073611154,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_7": {
|
| 107 |
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"confidence": 0.8041877746582031,
|
| 108 |
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"position": [
|
| 109 |
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0.0834005733486265,
|
| 110 |
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-0.17137331592675764,
|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.5967495859385851,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
+
"grasp_9": {
|
| 123 |
+
"confidence": 0.7915105819702148,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.2165684819050635,
|
| 131 |
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| 132 |
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|
| 133 |
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|
| 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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"grasp_10": {
|
| 139 |
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"confidence": 0.7892668843269348,
|
| 140 |
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"position": [
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.1699105338715536,
|
| 147 |
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"xyz": [
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_11": {
|
| 155 |
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"confidence": 0.7885357141494751,
|
| 156 |
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"position": [
|
| 157 |
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0.03988099074922502,
|
| 158 |
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|
| 159 |
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0.01656980560073862
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.548433938123921,
|
| 163 |
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"xyz": [
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| 164 |
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| 166 |
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_13": {
|
| 171 |
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"confidence": 0.7826521396636963,
|
| 172 |
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"position": [
|
| 173 |
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0.09761306247673929,
|
| 174 |
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|
| 175 |
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|
| 176 |
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],
|
| 177 |
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"orientation": {
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| 178 |
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"w": 0.7160054870041322,
|
| 179 |
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"xyz": [
|
| 180 |
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| 182 |
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]
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| 184 |
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}
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| 185 |
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}
|
| 186 |
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}
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"part_name": "handle collar",
|
| 190 |
+
"mask_color": "Blue",
|
| 191 |
+
"graspable": false,
|
| 192 |
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"grasp_scenarios": [
|
| 193 |
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{
|
| 194 |
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"scenario": "not a preferred grasp point; may only be contacted incidentally while gripping the handle for stabilization",
|
| 195 |
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"confidence": 0.22
|
| 196 |
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}
|
| 197 |
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],
|
| 198 |
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"functional_labels": [
|
| 199 |
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"connect handle to shaft",
|
| 200 |
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"reinforce the shaft entry area",
|
| 201 |
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"provide a transition between handle and metal shaft"
|
| 202 |
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],
|
| 203 |
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"semantic_description": "Small pink collar or ring at the junction where the metal shaft enters the handle, likely molded plastic or rubber with a matte surface.",
|
| 204 |
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"id": 2,
|
| 205 |
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"grasp_group": {}
|
| 206 |
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},
|
| 207 |
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{
|
| 208 |
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"part_name": "handle grip",
|
| 209 |
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"mask_color": "Green",
|
| 210 |
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"graspable": true,
|
| 211 |
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"grasp_scenarios": [
|
| 212 |
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{
|
| 213 |
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"scenario": "grasp the handle to pick up and carry the hex key",
|
| 214 |
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"confidence": 0.98
|
| 215 |
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},
|
| 216 |
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{
|
| 217 |
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"scenario": "hold the handle while turning the hex key to tighten or loosen a fastener",
|
| 218 |
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"confidence": 0.97
|
| 219 |
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},
|
| 220 |
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{
|
| 221 |
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"scenario": "clamp the handle to stabilize the tool during insertion into a screw head",
|
| 222 |
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"confidence": 0.9
|
| 223 |
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}
|
| 224 |
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],
|
| 225 |
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"functional_labels": [
|
| 226 |
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"provide primary grip",
|
| 227 |
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"improve turning leverage",
|
| 228 |
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"increase handling comfort",
|
| 229 |
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"stabilize tool orientation"
|
| 230 |
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],
|
| 231 |
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"semantic_description": "Large tapered gray and black handle, likely rubber over plastic, with a matte slightly textured grip surface, pink collar near the shaft junction, and green printed branding on a black side panel.",
|
| 232 |
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"id": 1,
|
| 233 |
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},
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],
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},
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"grasp_29": {
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},
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},
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},
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| 409 |
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},
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"grasp_39": {
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|
| 426 |
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|
| 427 |
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}
|
| 428 |
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],
|
| 429 |
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"quality_check": {
|
| 430 |
+
"success": true,
|
| 431 |
+
"message": "YES"
|
| 432 |
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}
|
| 433 |
+
}
|
dataset/tools/repair_tools/d6b6e037f47d59e594037be07940bfd8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dca363b02daa03b9b0321f6c51eb4c3293534c06998e7ada76e0794647f9a901
|
| 3 |
+
size 3779284
|