Add asset tools/repair_tools/cd928aedcd225f829a977bcd29f508b8
Browse files
.gitattributes
CHANGED
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@@ -7912,4 +7912,4 @@ dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/affordance/mesh_part
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7913 |
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7914 |
dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7915 |
-
dataset/tools/repair_tools/
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| 7912 |
dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7913 |
dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7914 |
dataset/tools/repair_tools/cb1e496cbce2527cbda261109eebb437/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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dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,439 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "housing shell",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main housing to pick up and carry the tape measure",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing steady while extending or retracting the tape",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the tool by clamping around the side of the housing",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal tape mechanism",
|
| 24 |
+
"protect internal components",
|
| 25 |
+
"support handling and positioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded two-tone plastic body with tan and mint-green matte surfaces, mostly smooth texture, compact palm-sized shape, with printed dark branding on the tan face.",
|
| 28 |
+
"id": 7,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_56": {
|
| 31 |
+
"confidence": 0.9693564176559448,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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0.13694836106151342,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.44035217859250614,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_58": {
|
| 47 |
+
"confidence": 0.9672409296035767,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.23885086213851325,
|
| 55 |
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"xyz": [
|
| 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_59": {
|
| 63 |
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"confidence": 0.96722412109375,
|
| 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": 0.7270906666655109,
|
| 71 |
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"xyz": [
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| 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_60": {
|
| 79 |
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"confidence": 0.9666011929512024,
|
| 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": 0.03714513280999137,
|
| 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_63": {
|
| 95 |
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"confidence": 0.96588134765625,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.46547872834055376,
|
| 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_64": {
|
| 111 |
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"confidence": 0.9658557772636414,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.7311820369256941,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_67": {
|
| 127 |
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"confidence": 0.965735912322998,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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|
| 135 |
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| 136 |
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|
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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_69": {
|
| 143 |
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"confidence": 0.9655238389968872,
|
| 144 |
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"position": [
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.4682850953654717,
|
| 151 |
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"xyz": [
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|
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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_70": {
|
| 159 |
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"confidence": 0.9651750922203064,
|
| 160 |
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"position": [
|
| 161 |
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0.12114101042971015,
|
| 162 |
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|
| 163 |
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|
| 164 |
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],
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| 165 |
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"orientation": {
|
| 166 |
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"w": 0.2063731611207115,
|
| 167 |
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"xyz": [
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|
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|
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}
|
| 173 |
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},
|
| 174 |
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"grasp_72": {
|
| 175 |
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"confidence": 0.964690625667572,
|
| 176 |
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"position": [
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| 177 |
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| 179 |
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0.00431116356048733
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],
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"orientation": {
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| 187 |
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]
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| 188 |
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}
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| 189 |
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},
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| 190 |
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"grasp_73": {
|
| 191 |
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"confidence": 0.9644064903259277,
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| 192 |
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"position": [
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| 193 |
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0.13012404134497046,
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0.06607533153146505,
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| 195 |
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|
| 196 |
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],
|
| 197 |
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"orientation": {
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| 199 |
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| 202 |
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| 203 |
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]
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}
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| 205 |
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},
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| 206 |
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|
| 207 |
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"confidence": 0.9643511176109314,
|
| 208 |
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"position": [
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| 209 |
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0.12723177066072822,
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0.06677669193595648,
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|
| 212 |
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],
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| 213 |
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"orientation": {
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| 214 |
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"w": 0.6753191664965281,
|
| 215 |
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"xyz": [
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| 216 |
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0.17209636548902812,
|
| 217 |
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|
| 218 |
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|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "belt clip",
|
| 226 |
+
"mask_color": "Red",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the metal clip to lift or reorient the tape measure",
|
| 231 |
+
"confidence": 0.56
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "pinch the clip to stabilize the tool while another manipulator pulls the tape",
|
| 235 |
+
"confidence": 0.48
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
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"functional_labels": [
|
| 239 |
+
"clip onto a belt or pocket",
|
| 240 |
+
"provide hanging attachment point",
|
| 241 |
+
"stabilize carried storage"
|
| 242 |
+
],
|
| 243 |
+
"semantic_description": "Small shiny silver metal spring clip on the top face, with a reflective smooth finish and curved rectangular form with a central slot.",
|
| 244 |
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"id": 0,
|
| 245 |
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"grasp_group": {
|
| 246 |
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"grasp_14": {
|
| 247 |
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"confidence": 0.024514930322766304,
|
| 248 |
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"position": [
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|
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0.032379127107560635,
|
| 251 |
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|
| 252 |
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],
|
| 253 |
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"orientation": {
|
| 254 |
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|
| 255 |
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| 256 |
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0.9473847171024193,
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| 257 |
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| 258 |
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0.2694315450449547
|
| 259 |
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]
|
| 260 |
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}
|
| 261 |
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},
|
| 262 |
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"grasp_18": {
|
| 263 |
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"confidence": 0.01642201468348503,
|
| 264 |
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"position": [
|
| 265 |
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0.04135829349979758,
|
| 266 |
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0.009802543558180332,
|
| 267 |
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0.11266539769712836
|
| 268 |
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],
|
| 269 |
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"orientation": {
|
| 270 |
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|
| 271 |
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| 272 |
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|
| 273 |
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|
| 274 |
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0.1428369730841736
|
| 275 |
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]
|
| 276 |
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}
|
| 277 |
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}
|
| 278 |
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}
|
| 279 |
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},
|
| 280 |
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{
|
| 281 |
+
"part_name": "tape hook",
|
| 282 |
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"mask_color": "Yellow",
|
| 283 |
+
"graspable": true,
|
| 284 |
+
"grasp_scenarios": [
|
| 285 |
+
{
|
| 286 |
+
"scenario": "pinch the tape hook to pull out the measuring tape",
|
| 287 |
+
"confidence": 0.72
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"scenario": "grasp the hook to anchor or position the tape end during measurement",
|
| 291 |
+
"confidence": 0.76
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "use the hook as a delicate pull point to orient the object",
|
| 295 |
+
"confidence": 0.38
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"functional_labels": [
|
| 299 |
+
"hook onto measurement edges",
|
| 300 |
+
"anchor tape end",
|
| 301 |
+
"pull tape outward"
|
| 302 |
+
],
|
| 303 |
+
"semantic_description": "Small bent silver metal end hook at the tape outlet, reflective and hard with a thin flat shape, located at the front opening of the housing.",
|
| 304 |
+
"id": 3,
|
| 305 |
+
"grasp_group": {
|
| 306 |
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"grasp_45": {
|
| 307 |
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"confidence": 0.4112948179244995,
|
| 308 |
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"position": [
|
| 309 |
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0.15649758419021964,
|
| 310 |
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-0.052315530367195606,
|
| 311 |
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0.030730347731150687
|
| 312 |
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],
|
| 313 |
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"orientation": {
|
| 314 |
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"w": 0.5903783764664637,
|
| 315 |
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"xyz": [
|
| 316 |
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-0.03677461863014827,
|
| 317 |
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-0.803649389604655,
|
| 318 |
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-0.0651817352752664
|
| 319 |
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]
|
| 320 |
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}
|
| 321 |
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},
|
| 322 |
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"grasp_50": {
|
| 323 |
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"confidence": 0.8566387891769409,
|
| 324 |
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"position": [
|
| 325 |
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0.041125749703496695,
|
| 326 |
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-0.13588801119476557,
|
| 327 |
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0.029353038989938796
|
| 328 |
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],
|
| 329 |
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"orientation": {
|
| 330 |
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"w": 0.4637130473378523,
|
| 331 |
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"xyz": [
|
| 332 |
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-0.5387426997648028,
|
| 333 |
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-0.6044744659236579,
|
| 334 |
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-0.35963472194030804
|
| 335 |
+
]
|
| 336 |
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}
|
| 337 |
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}
|
| 338 |
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}
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"part_name": "lock slider",
|
| 342 |
+
"mask_color": "Green",
|
| 343 |
+
"graspable": true,
|
| 344 |
+
"grasp_scenarios": [
|
| 345 |
+
{
|
| 346 |
+
"scenario": "press or pinch the slider to lock or unlock the tape",
|
| 347 |
+
"confidence": 0.83
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"scenario": "use the protruding slider as a minor aid when reorienting the tool",
|
| 351 |
+
"confidence": 0.34
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"lock tape extension",
|
| 356 |
+
"release tape retraction",
|
| 357 |
+
"provide thumb control"
|
| 358 |
+
],
|
| 359 |
+
"semantic_description": "Small dark gray to black plastic slider on the side/top area, with a matte finish, ridged grippy texture, and short protruding rectangular shape.",
|
| 360 |
+
"id": 1,
|
| 361 |
+
"grasp_group": {
|
| 362 |
+
"grasp_24": {
|
| 363 |
+
"confidence": 0.37055063247680664,
|
| 364 |
+
"position": [
|
| 365 |
+
-0.029928500298410654,
|
| 366 |
+
-0.12921312544494867,
|
| 367 |
+
0.05076665955130011
|
| 368 |
+
],
|
| 369 |
+
"orientation": {
|
| 370 |
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"w": 0.3105132286434439,
|
| 371 |
+
"xyz": [
|
| 372 |
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-0.6403967443585522,
|
| 373 |
+
-0.5841887774805741,
|
| 374 |
+
-0.39012436083657187
|
| 375 |
+
]
|
| 376 |
+
}
|
| 377 |
+
},
|
| 378 |
+
"grasp_29": {
|
| 379 |
+
"confidence": 0.41843587160110474,
|
| 380 |
+
"position": [
|
| 381 |
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-0.04753979900851846,
|
| 382 |
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-0.1216425085440278,
|
| 383 |
+
0.047162690781988204
|
| 384 |
+
],
|
| 385 |
+
"orientation": {
|
| 386 |
+
"w": 0.25300905697759335,
|
| 387 |
+
"xyz": [
|
| 388 |
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-0.6881887823594626,
|
| 389 |
+
-0.522809760626132,
|
| 390 |
+
-0.43480176070935556
|
| 391 |
+
]
|
| 392 |
+
}
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"part_name": "grip ribs",
|
| 398 |
+
"mask_color": "Gray",
|
| 399 |
+
"graspable": false,
|
| 400 |
+
"grasp_scenarios": [],
|
| 401 |
+
"functional_labels": [
|
| 402 |
+
"improve hand traction",
|
| 403 |
+
"protect side surface",
|
| 404 |
+
"indicate gripping zone",
|
| 405 |
+
"add impact resistance"
|
| 406 |
+
],
|
| 407 |
+
"semantic_description": "A row of raised ribs integrated into the housing side, matching the tan housing color, matte and hard, forming narrow vertical ridges along one side.",
|
| 408 |
+
"id": 15,
|
| 409 |
+
"grasp_group": {}
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"part_name": "wrist strap",
|
| 413 |
+
"mask_color": "Olive",
|
| 414 |
+
"graspable": true,
|
| 415 |
+
"grasp_scenarios": [
|
| 416 |
+
{
|
| 417 |
+
"scenario": "hook or pinch the strap loop to lift the tape measure lightly",
|
| 418 |
+
"confidence": 0.41
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"scenario": "use the strap as a temporary hold point for reorientation",
|
| 422 |
+
"confidence": 0.37
|
| 423 |
+
}
|
| 424 |
+
],
|
| 425 |
+
"functional_labels": [
|
| 426 |
+
"provide lanyard attachment",
|
| 427 |
+
"hang the tool",
|
| 428 |
+
"prevent drops during carrying"
|
| 429 |
+
],
|
| 430 |
+
"semantic_description": "Thin black looped cord attached near the side of the housing, flexible with a soft slightly smooth texture, forming a small hanging strap.",
|
| 431 |
+
"id": 14,
|
| 432 |
+
"grasp_group": {}
|
| 433 |
+
}
|
| 434 |
+
],
|
| 435 |
+
"quality_check": {
|
| 436 |
+
"success": false,
|
| 437 |
+
"message": "Belt clip color/material and grip ribs graspability are incorrect; housing description also misses mint side coverage."
|
| 438 |
+
}
|
| 439 |
+
}
|
dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b0eb57f21a3757c5feb1bbce72653b5538772e90a04be070b49e92f1e69a5a48
|
| 3 |
+
size 3790444
|