Add asset tools/repair_tools/ce82b34827ec5d058bc38159448fe917
Browse files
.gitattributes
CHANGED
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@@ -7915,3 +7915,4 @@ dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/affordance/mesh_part
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| 7915 |
dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7916 |
dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7917 |
dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7915 |
dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7916 |
dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7917 |
dataset/tools/repair_tools/ce0639f8cdab555ab055b73063b9d75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7918 |
+
dataset/tools/repair_tools/ce82b34827ec5d058bc38159448fe917/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/ce82b34827ec5d058bc38159448fe917/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,422 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle grip to pick up and carry the wrench",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle grip to apply torque during use",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle grip to reposition the wrench in a tool-changing task",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"apply torque",
|
| 25 |
+
"improve handling comfort",
|
| 26 |
+
"support tool repositioning"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long light aqua blue handle cover made of plastic or rubber with a matte smooth hard surface, rounded rectangular shape, medium size at the end of the wrench, and a small hanging hole near the tip.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9823383688926697,
|
| 33 |
+
"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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-0.0002701536868698895
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.7105295395345286,
|
| 40 |
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"xyz": [
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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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},
|
| 47 |
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"grasp_4": {
|
| 48 |
+
"confidence": 0.981732189655304,
|
| 49 |
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"position": [
|
| 50 |
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|
| 51 |
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-0.01907771546393633,
|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.10812283320300287,
|
| 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_6": {
|
| 64 |
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"confidence": 0.9813501834869385,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.7311740489888651,
|
| 72 |
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"xyz": [
|
| 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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},
|
| 79 |
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"grasp_8": {
|
| 80 |
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"confidence": 0.9807447791099548,
|
| 81 |
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"position": [
|
| 82 |
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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": 0.7307510920438276,
|
| 88 |
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"xyz": [
|
| 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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},
|
| 95 |
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"grasp_10": {
|
| 96 |
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"confidence": 0.9800207614898682,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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0.0020587490871548653,
|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
|
| 103 |
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"w": 0.11675628101499229,
|
| 104 |
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"xyz": [
|
| 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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},
|
| 111 |
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"grasp_11": {
|
| 112 |
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"confidence": 0.9797751903533936,
|
| 113 |
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"position": [
|
| 114 |
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0.09304925173637457,
|
| 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": 0.7147286517306345,
|
| 120 |
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"xyz": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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-0.037959081056267864
|
| 124 |
+
]
|
| 125 |
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}
|
| 126 |
+
},
|
| 127 |
+
"grasp_12": {
|
| 128 |
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"confidence": 0.9797192215919495,
|
| 129 |
+
"position": [
|
| 130 |
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0.09259136140462942,
|
| 131 |
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-0.046299354173243046,
|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.7694275440100707,
|
| 136 |
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"xyz": [
|
| 137 |
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0.039354854887085025,
|
| 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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},
|
| 143 |
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"grasp_13": {
|
| 144 |
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"confidence": 0.9794780015945435,
|
| 145 |
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"position": [
|
| 146 |
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-0.09172683089855127,
|
| 147 |
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-0.01170565839856863,
|
| 148 |
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0.022642940399236977
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.6141094350510428,
|
| 152 |
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"xyz": [
|
| 153 |
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0.11599445139329363,
|
| 154 |
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0.7685927271787204,
|
| 155 |
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-0.13667519436691872
|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_17": {
|
| 160 |
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"confidence": 0.9789950251579285,
|
| 161 |
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"position": [
|
| 162 |
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0.09749689072486944,
|
| 163 |
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-0.07158117461949587,
|
| 164 |
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-0.005345613113604486
|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.7181504878926877,
|
| 168 |
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"xyz": [
|
| 169 |
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0.012196082722393836,
|
| 170 |
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|
| 171 |
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|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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}
|
| 175 |
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}
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"part_name": "shank",
|
| 179 |
+
"mask_color": "Green",
|
| 180 |
+
"graspable": true,
|
| 181 |
+
"grasp_scenarios": [
|
| 182 |
+
{
|
| 183 |
+
"scenario": "grasp the metal shank to stabilize the wrench during precise alignment",
|
| 184 |
+
"confidence": 0.62
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"scenario": "hold the shank for short-distance pickup when the handle is obstructed",
|
| 188 |
+
"confidence": 0.48
|
| 189 |
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}
|
| 190 |
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],
|
| 191 |
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|
| 192 |
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"connect handle to head",
|
| 193 |
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"transmit force",
|
| 194 |
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"provide structural support",
|
| 195 |
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"position the working head"
|
| 196 |
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],
|
| 197 |
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"semantic_description": "Slim silver metal arm with a smooth slightly reflective finish and hard surface, forming the central shaft between the handle grip and the wrench head.",
|
| 198 |
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|
| 199 |
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|
| 200 |
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],
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| 313 |
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| 328 |
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| 329 |
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| 330 |
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| 335 |
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| 337 |
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]
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}
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| 343 |
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},
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| 344 |
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|
| 345 |
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| 346 |
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],
|
| 351 |
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| 353 |
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|
| 356 |
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|
| 357 |
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]
|
| 358 |
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}
|
| 359 |
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},
|
| 360 |
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"grasp_39": {
|
| 361 |
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|
| 362 |
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| 364 |
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|
| 365 |
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0.003151024575345218
|
| 366 |
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],
|
| 367 |
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"orientation": {
|
| 368 |
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|
| 369 |
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"xyz": [
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| 370 |
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0.3739651551322243,
|
| 371 |
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|
| 372 |
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|
| 373 |
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]
|
| 374 |
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}
|
| 375 |
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}
|
| 376 |
+
}
|
| 377 |
+
},
|
| 378 |
+
{
|
| 379 |
+
"part_name": "drive square",
|
| 380 |
+
"mask_color": "Yellow",
|
| 381 |
+
"graspable": false,
|
| 382 |
+
"grasp_scenarios": [],
|
| 383 |
+
"functional_labels": [
|
| 384 |
+
"attach socket",
|
| 385 |
+
"transmit rotation to socket",
|
| 386 |
+
"interface with fasteners",
|
| 387 |
+
"locate tool orientation"
|
| 388 |
+
],
|
| 389 |
+
"semantic_description": "Small silver metallic square-drive tip with a knurled ring nearby, hard and reflective, protruding from one side of the head as the socket attachment point.",
|
| 390 |
+
"id": 3,
|
| 391 |
+
"grasp_group": {}
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"part_name": "socket head",
|
| 395 |
+
"mask_color": "Orange",
|
| 396 |
+
"graspable": true,
|
| 397 |
+
"grasp_scenarios": [
|
| 398 |
+
{
|
| 399 |
+
"scenario": "grasp the head to orient the wrench for insertion onto a fastener",
|
| 400 |
+
"confidence": 0.43
|
| 401 |
+
},
|
| 402 |
+
{
|
| 403 |
+
"scenario": "hold the head briefly to stabilize the tool while another gripper manipulates the handle",
|
| 404 |
+
"confidence": 0.38
|
| 405 |
+
}
|
| 406 |
+
],
|
| 407 |
+
"functional_labels": [
|
| 408 |
+
"engage socket assembly",
|
| 409 |
+
"house the ratcheting or drive end",
|
| 410 |
+
"apply torque to fasteners",
|
| 411 |
+
"provide working-end mass"
|
| 412 |
+
],
|
| 413 |
+
"semantic_description": "Short cylindrical silver metal head with a smooth reflective hard surface, larger than the drive tip and mounted transverse to the shank at the wrench working end.",
|
| 414 |
+
"id": 4,
|
| 415 |
+
"grasp_group": {}
|
| 416 |
+
}
|
| 417 |
+
],
|
| 418 |
+
"quality_check": {
|
| 419 |
+
"success": true,
|
| 420 |
+
"message": "YES"
|
| 421 |
+
}
|
| 422 |
+
}
|
dataset/tools/repair_tools/ce82b34827ec5d058bc38159448fe917/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c9d3d53876458f0d9107478eb1da64adef67c9d3b597fad1415ba6fc3982593
|
| 3 |
+
size 3780672
|