Add asset tools/repair_tools/067f0391d0665b7b90f935934617f163
Browse files
.gitattributes
CHANGED
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@@ -7793,3 +7793,4 @@ dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordanc
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| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7794 |
dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7795 |
dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7794 |
dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7795 |
dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7796 |
+
dataset/tools/repair_tools/067f0391d0665b7b90f935934617f163/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/067f0391d0665b7b90f935934617f163/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,419 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "screwdriver shaft",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal shaft to reposition or pick up the screwdriver when the handle is obstructed",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the shaft to align the tip for insertion into a screw",
|
| 14 |
+
"confidence": 0.36
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transmit torque to the tip",
|
| 19 |
+
"reach into recessed screws",
|
| 20 |
+
"provide axial alignment",
|
| 21 |
+
"connect handle to tip"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender silver-gray metal rod with a reflective smooth hard finish, extending from the handle to the tip as the narrow working shaft.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "handle",
|
| 29 |
+
"mask_color": "Green",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the handle to pick up and use the screwdriver",
|
| 34 |
+
"confidence": 0.98
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the handle firmly while turning a screw",
|
| 38 |
+
"confidence": 0.97
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "grip the handle to stabilize and orient the tool during manipulation",
|
| 42 |
+
"confidence": 0.94
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"main grip surface",
|
| 47 |
+
"apply turning torque",
|
| 48 |
+
"stabilize the tool",
|
| 49 |
+
"provide ergonomic hold"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Large contoured light turquoise and white plastic handle with a mostly matte smooth hard surface, ribbed ergonomic lobes, and a bulbous rear section at the back of the screwdriver.",
|
| 52 |
+
"id": 1,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_2": {
|
| 55 |
+
"confidence": 0.9911260008811951,
|
| 56 |
+
"position": [
|
| 57 |
+
-0.020513598748948425,
|
| 58 |
+
-0.06744744069874287,
|
| 59 |
+
0.08450756441015983
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
+
"w": 0.1082080189646018,
|
| 63 |
+
"xyz": [
|
| 64 |
+
-0.009375442393260488,
|
| 65 |
+
0.9606228829617133,
|
| 66 |
+
0.2557475365316598
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_3": {
|
| 71 |
+
"confidence": 0.9910054206848145,
|
| 72 |
+
"position": [
|
| 73 |
+
0.09603174315998331,
|
| 74 |
+
0.014561768621206284,
|
| 75 |
+
0.017995147361943964
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
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"w": 0.6454935097491,
|
| 79 |
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"xyz": [
|
| 80 |
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|
| 81 |
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-0.7637101268055034,
|
| 82 |
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|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_5": {
|
| 87 |
+
"confidence": 0.9906527996063232,
|
| 88 |
+
"position": [
|
| 89 |
+
-0.010878904664423317,
|
| 90 |
+
-0.07275226898491383,
|
| 91 |
+
0.08617820064682746
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
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"w": 0.2586037187269363,
|
| 95 |
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"xyz": [
|
| 96 |
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-0.9614105995177729,
|
| 97 |
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-0.04766848199614815,
|
| 98 |
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-0.08087948825047535
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_6": {
|
| 103 |
+
"confidence": 0.9905333518981934,
|
| 104 |
+
"position": [
|
| 105 |
+
0.09762648033211008,
|
| 106 |
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0.01240481249988079,
|
| 107 |
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-0.019795601860096212
|
| 108 |
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],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.7758145111696423,
|
| 111 |
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"xyz": [
|
| 112 |
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0.0018160539525013451,
|
| 113 |
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-0.6309359120534297,
|
| 114 |
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0.005331143212997607
|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"grasp_8": {
|
| 119 |
+
"confidence": 0.9901583790779114,
|
| 120 |
+
"position": [
|
| 121 |
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0.09688452916452661,
|
| 122 |
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0.005485678091645241,
|
| 123 |
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-0.025142641410639044
|
| 124 |
+
],
|
| 125 |
+
"orientation": {
|
| 126 |
+
"w": 0.7946615372123484,
|
| 127 |
+
"xyz": [
|
| 128 |
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0.011995106279799767,
|
| 129 |
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-0.6066692860362399,
|
| 130 |
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-0.017931427185870295
|
| 131 |
+
]
|
| 132 |
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}
|
| 133 |
+
},
|
| 134 |
+
"grasp_11": {
|
| 135 |
+
"confidence": 0.989930272102356,
|
| 136 |
+
"position": [
|
| 137 |
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0.09684631513664499,
|
| 138 |
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0.014875032007694244,
|
| 139 |
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0.002038430749962572
|
| 140 |
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],
|
| 141 |
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"orientation": {
|
| 142 |
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"w": 0.6997029851359085,
|
| 143 |
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"xyz": [
|
| 144 |
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0.01243682382365606,
|
| 145 |
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|
| 146 |
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|
| 147 |
+
]
|
| 148 |
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}
|
| 149 |
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},
|
| 150 |
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"grasp_14": {
|
| 151 |
+
"confidence": 0.989840567111969,
|
| 152 |
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"position": [
|
| 153 |
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0.0963597177178599,
|
| 154 |
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0.030232837423682213,
|
| 155 |
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0.002670126130396966
|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.0779230871582195,
|
| 159 |
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"xyz": [
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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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}
|
| 165 |
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},
|
| 166 |
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"grasp_17": {
|
| 167 |
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"confidence": 0.9896535277366638,
|
| 168 |
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"position": [
|
| 169 |
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-0.023573548474814743,
|
| 170 |
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|
| 171 |
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|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.2601295568547488,
|
| 175 |
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"xyz": [
|
| 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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}
|
| 181 |
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},
|
| 182 |
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"grasp_19": {
|
| 183 |
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"confidence": 0.9895971417427063,
|
| 184 |
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"position": [
|
| 185 |
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|
| 186 |
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|
| 187 |
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| 188 |
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],
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}
|
| 198 |
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|
| 199 |
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},
|
| 200 |
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{
|
| 201 |
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"part_name": "collar near handle",
|
| 202 |
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"mask_color": "Yellow",
|
| 203 |
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"graspable": true,
|
| 204 |
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"grasp_scenarios": [
|
| 205 |
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{
|
| 206 |
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"scenario": "pinch the collar for short-range reorientation or stabilization near the shaft",
|
| 207 |
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"confidence": 0.52
|
| 208 |
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},
|
| 209 |
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{
|
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"scenario": "hold near the collar for precision alignment before engaging a screw",
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|
| 212 |
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}
|
| 213 |
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],
|
| 214 |
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|
| 215 |
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"connect handle to shaft",
|
| 216 |
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"provide finger stop",
|
| 217 |
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"support precise control",
|
| 218 |
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"reinforce handle-neck transition"
|
| 219 |
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],
|
| 220 |
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"semantic_description": "Small bright yellow plastic collar with a smooth hard finish and blocky cylindrical shape, positioned between the handle and metal shaft with a visible black printed mark.",
|
| 221 |
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|
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|
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]
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}
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},
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| 352 |
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],
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]
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}
|
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},
|
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"grasp_56": {
|
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|
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|
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|
| 372 |
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0.015536726779828314
|
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],
|
| 374 |
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"orientation": {
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]
|
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|
| 382 |
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}
|
| 383 |
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}
|
| 384 |
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},
|
| 385 |
+
{
|
| 386 |
+
"part_name": "rear cap of screwdriver",
|
| 387 |
+
"mask_color": "Orange",
|
| 388 |
+
"graspable": false,
|
| 389 |
+
"grasp_scenarios": [],
|
| 390 |
+
"functional_labels": [
|
| 391 |
+
"cover handle end",
|
| 392 |
+
"finish the handle",
|
| 393 |
+
"protect the rear opening",
|
| 394 |
+
"indicate tool end"
|
| 395 |
+
],
|
| 396 |
+
"semantic_description": "Small round light gray to off-white end cap with a smooth hard finish at the butt of the handle, forming the flat rear end surface.",
|
| 397 |
+
"id": 4,
|
| 398 |
+
"grasp_group": {}
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"part_name": "logo mark",
|
| 402 |
+
"mask_color": "Purple",
|
| 403 |
+
"graspable": false,
|
| 404 |
+
"grasp_scenarios": [],
|
| 405 |
+
"functional_labels": [
|
| 406 |
+
"brand marking",
|
| 407 |
+
"visual identification",
|
| 408 |
+
"indicate orientation"
|
| 409 |
+
],
|
| 410 |
+
"semantic_description": "Tiny black circular printed logo on the yellow collar, appearing as a small flat graphic marking rather than a structural part.",
|
| 411 |
+
"id": 5,
|
| 412 |
+
"grasp_group": {}
|
| 413 |
+
}
|
| 414 |
+
],
|
| 415 |
+
"quality_check": {
|
| 416 |
+
"success": true,
|
| 417 |
+
"message": "YES"
|
| 418 |
+
}
|
| 419 |
+
}
|
dataset/tools/repair_tools/067f0391d0665b7b90f935934617f163/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c01a60e84abe89870f397ff463e4c2e045774b777a9bc5c69e78e0935270977f
|
| 3 |
+
size 3781096
|