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EmbodiedGenData

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Add asset tools/repair_tools/63bacc51855a5540abb51eae2094c09a

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  1. .gitattributes +2 -1
  2. dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/affordance_annot.json +625 -0
  3. dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/mesh_part_seg.glb +3 -0
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dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/affordance_annot.json ADDED
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+ -0.6531808286286614
514
+ ]
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+ }
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+ }
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+ }
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+ },
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+ {
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+ "part_name": "plunger rod and thumb pad",
521
+ "mask_color": "Cyan",
522
+ "graspable": true,
523
+ "grasp_scenarios": [
524
+ {
525
+ "scenario": "grasp the rear thumb pad to pull back the plunger rod for loading or unloading a cartridge",
526
+ "confidence": 0.9
527
+ },
528
+ {
529
+ "scenario": "hold the rod end to retract or reset the feed mechanism",
530
+ "confidence": 0.72
531
+ }
532
+ ],
533
+ "functional_labels": [
534
+ "retract the plunger",
535
+ "load or remove cartridge",
536
+ "reset feed position",
537
+ "manually control the push rod"
538
+ ],
539
+ "semantic_description": "A white plunger rod protruding from the rear of the body and ending in a yellow T-shaped thumb pad used to retract the push rod.",
540
+ "id": 6,
541
+ "grasp_group": {
542
+ "grasp_44": {
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+ "confidence": 0.6987470388412476,
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+ "position": [
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+ 0.10431269649416208,
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+ -6.825732998549938e-05,
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+ 0.0824942184262909
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+ ],
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+ "orientation": {
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+ "w": 0.08418545051552238,
551
+ "xyz": [
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+ -0.7046587951896189,
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+ 0.6943357976324934,
554
+ 0.11944284159991418
555
+ ]
556
+ }
557
+ },
558
+ "grasp_52": {
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+ "confidence": 0.8272152543067932,
560
+ "position": [
561
+ 0.1767172822728753,
562
+ 0.06289631733670831,
563
+ 0.03570187516743317
564
+ ],
565
+ "orientation": {
566
+ "w": 0.10299726203706741,
567
+ "xyz": [
568
+ 0.7794131353111098,
569
+ 0.2292892654517632,
570
+ -0.5738755625272471
571
+ ]
572
+ }
573
+ }
574
+ }
575
+ },
576
+ {
577
+ "part_name": "dispensing nozzle tip",
578
+ "mask_color": "Gray",
579
+ "graspable": false,
580
+ "grasp_scenarios": [],
581
+ "functional_labels": [
582
+ "dispense sealant",
583
+ "focus material flow",
584
+ "define application point",
585
+ "enable precise bead placement"
586
+ ],
587
+ "semantic_description": "A small dark conical tip at the front of the tube with a smooth hard appearance, positioned for precise sealant output.",
588
+ "id": 15,
589
+ "grasp_group": {}
590
+ },
591
+ {
592
+ "part_name": "nozzle collar",
593
+ "mask_color": "Navy",
594
+ "graspable": false,
595
+ "grasp_scenarios": [],
596
+ "functional_labels": [
597
+ "secure the nozzle base",
598
+ "transition between tube and nozzle",
599
+ "support the front end",
600
+ "help position the tip"
601
+ ],
602
+ "semantic_description": "A gray ring-like collar around the front base of the nozzle, located at the end of the cartridge tube.",
603
+ "id": 13,
604
+ "grasp_group": {}
605
+ },
606
+ {
607
+ "part_name": "plunger release knob",
608
+ "mask_color": "Maroon",
609
+ "graspable": false,
610
+ "grasp_scenarios": [],
611
+ "functional_labels": [
612
+ "release the feed mechanism",
613
+ "adjust plunger position",
614
+ "support feed reset"
615
+ ],
616
+ "semantic_description": "A small yellow release control on top of the rear body with a compact rounded shape, used to disengage the feed mechanism.",
617
+ "id": 12,
618
+ "grasp_group": {}
619
+ }
620
+ ],
621
+ "quality_check": {
622
+ "success": false,
623
+ "message": "Multiple semantic color/part mismatches: trigger, plunger rod/thumb pad, and release knob descriptions do not match visible parts."
624
+ }
625
+ }
dataset/tools/repair_tools/63bacc51855a5540abb51eae2094c09a/affordance/mesh_part_seg.glb ADDED
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