Add asset tools/repair_tools/0c12d2c1845255bcb063c9665396a840
Browse files
.gitattributes
CHANGED
|
@@ -7797,4 +7797,4 @@ dataset/tools/repair_tools/07c3772e2e495f04b16f9455d6abbcf3/affordance/mesh_part
|
|
| 7797 |
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7800 |
-
dataset/tools/repair_tools/
|
|
|
|
| 7797 |
dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7800 |
+
dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,463 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "T-handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the T-handle to pick up and carry the screwdriver",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle firmly to apply torque during screwdriving",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize and orient the tool before engaging a screw",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip surface",
|
| 23 |
+
"apply torque",
|
| 24 |
+
"support pickup and handoff",
|
| 25 |
+
"stabilize tool orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large T-shaped purple plastic handle with a matte to satin finish, smooth molded finger grooves, rounded ends, and an inset brand area on the side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_24": {
|
| 31 |
+
"confidence": 0.9789193868637085,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.048979139362927526,
|
| 34 |
+
0.10428793542087078,
|
| 35 |
+
0.0011540980340214446
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5076467834507647,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.49335586542574844,
|
| 41 |
+
-0.5083723438227443,
|
| 42 |
+
0.49035935122955776
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_29": {
|
| 47 |
+
"confidence": 0.9780842661857605,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.11486952606355771,
|
| 50 |
+
0.08598183654248714,
|
| 51 |
+
-0.007210461699287407
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.36886990058891583,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5986998225851176,
|
| 57 |
+
-0.31369010170219813,
|
| 58 |
+
0.6380376469849851
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_34": {
|
| 63 |
+
"confidence": 0.9766943454742432,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.11391255859052762,
|
| 66 |
+
0.09150179289281368,
|
| 67 |
+
-0.003156917213345878
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.36141810604900776,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6149676093556696,
|
| 73 |
+
-0.32378202613034957,
|
| 74 |
+
0.6215762154541039
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_35": {
|
| 79 |
+
"confidence": 0.9765462875366211,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.05839191231643781,
|
| 82 |
+
0.10304507426917553,
|
| 83 |
+
-0.0022915965382708237
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.507927945620245,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4965011382743795,
|
| 89 |
+
0.4899680756264061,
|
| 90 |
+
-0.5053979685527034
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_36": {
|
| 95 |
+
"confidence": 0.9765170812606812,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.14766110334312543,
|
| 98 |
+
0.051488252356648445,
|
| 99 |
+
0.004238120003719814
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6840062921516967,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.18534685061466957,
|
| 105 |
+
0.6900733766564213,
|
| 106 |
+
-0.14690361497974172
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_37": {
|
| 111 |
+
"confidence": 0.9763523936271667,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.14651249203598127,
|
| 114 |
+
0.05414785258471966,
|
| 115 |
+
0.0035411528806434944
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.685033716491653,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.19564872013116885,
|
| 121 |
+
0.6843878193111445,
|
| 122 |
+
-0.15512478318826245
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_39": {
|
| 127 |
+
"confidence": 0.9762583374977112,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.11303020123159513,
|
| 130 |
+
0.09215946309268475,
|
| 131 |
+
0.005089517406304367
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6126420905066113,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.35913307584268084,
|
| 137 |
+
0.6336051906360298,
|
| 138 |
+
-0.30698137594086133
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "shaft and screwdriver tip",
|
| 146 |
+
"mask_color": "Red",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "lightly grasp the metal shaft for precision positioning near the working end",
|
| 151 |
+
"confidence": 0.56
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the shaft briefly to reposition the screwdriver in tight spaces",
|
| 155 |
+
"confidence": 0.42
|
| 156 |
+
}
|
| 157 |
+
],
|
| 158 |
+
"functional_labels": [
|
| 159 |
+
"transmit torque to the tip",
|
| 160 |
+
"extend reach",
|
| 161 |
+
"align the tip with screws",
|
| 162 |
+
"engage screw head for fastening"
|
| 163 |
+
],
|
| 164 |
+
"semantic_description": "Straight light gray to silver metal shaft with a smooth slightly reflective finish and a shaped screwdriver tip at the end, extending from the handle.",
|
| 165 |
+
"id": 0,
|
| 166 |
+
"grasp_group": {
|
| 167 |
+
"grasp_7": {
|
| 168 |
+
"confidence": 0.8159673810005188,
|
| 169 |
+
"position": [
|
| 170 |
+
0.012546191515866667,
|
| 171 |
+
-0.19829432107508183,
|
| 172 |
+
-0.008052808974753134
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.5226714423367828,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.42119437152963163,
|
| 178 |
+
-0.5356998370135851,
|
| 179 |
+
-0.5122846370729498
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_8": {
|
| 184 |
+
"confidence": 0.8140333294868469,
|
| 185 |
+
"position": [
|
| 186 |
+
0.02012261893833056,
|
| 187 |
+
-0.20402459241449833,
|
| 188 |
+
-0.0073439798288745806
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.5766405444302267,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.4633361085958182,
|
| 194 |
+
-0.5134903237198696,
|
| 195 |
+
-0.4348942635130514
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_12": {
|
| 200 |
+
"confidence": 0.8080740571022034,
|
| 201 |
+
"position": [
|
| 202 |
+
-0.009188298543449491,
|
| 203 |
+
-0.20474989153444767,
|
| 204 |
+
-0.009375667941640131
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.5475644855333424,
|
| 208 |
+
"xyz": [
|
| 209 |
+
-0.4482969032440456,
|
| 210 |
+
0.499758952601825,
|
| 211 |
+
0.4994437005496532
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_17": {
|
| 216 |
+
"confidence": 0.7940251231193542,
|
| 217 |
+
"position": [
|
| 218 |
+
0.04463392641628161,
|
| 219 |
+
-0.2010194156318903,
|
| 220 |
+
-0.0012923512113047764
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.36573233266481725,
|
| 224 |
+
"xyz": [
|
| 225 |
+
-0.5870615237136584,
|
| 226 |
+
0.3707081752117981,
|
| 227 |
+
0.6198177772940104
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
}
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"part_name": "collar",
|
| 235 |
+
"mask_color": "Blue",
|
| 236 |
+
"graspable": true,
|
| 237 |
+
"grasp_scenarios": [
|
| 238 |
+
{
|
| 239 |
+
"scenario": "pinch the collar to help reorient the screwdriver near the handle-shaft junction",
|
| 240 |
+
"confidence": 0.37
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"scenario": "use the collar as a secondary stabilization point during close manipulation",
|
| 244 |
+
"confidence": 0.32
|
| 245 |
+
}
|
| 246 |
+
],
|
| 247 |
+
"functional_labels": [
|
| 248 |
+
"join handle to shaft",
|
| 249 |
+
"reinforce handle-shaft junction",
|
| 250 |
+
"provide a stop near the handle",
|
| 251 |
+
"mark transition to working end"
|
| 252 |
+
],
|
| 253 |
+
"semantic_description": "Small purple ring-like collar at the shaft base, made of hard plastic with a smooth matte surface and short cylindrical shape.",
|
| 254 |
+
"id": 2,
|
| 255 |
+
"grasp_group": {
|
| 256 |
+
"grasp_41": {
|
| 257 |
+
"confidence": 0.06586427986621857,
|
| 258 |
+
"position": [
|
| 259 |
+
0.10210131999338046,
|
| 260 |
+
-0.05292935483157635,
|
| 261 |
+
-0.0011704382923198864
|
| 262 |
+
],
|
| 263 |
+
"orientation": {
|
| 264 |
+
"w": 0.12450151059195366,
|
| 265 |
+
"xyz": [
|
| 266 |
+
-0.7115036688562655,
|
| 267 |
+
0.07397736055958948,
|
| 268 |
+
0.6875967227881702
|
| 269 |
+
]
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
"grasp_45": {
|
| 273 |
+
"confidence": 0.6572536826133728,
|
| 274 |
+
"position": [
|
| 275 |
+
-0.08797238621627912,
|
| 276 |
+
-0.08106744475662708,
|
| 277 |
+
-0.009210249219904654
|
| 278 |
+
],
|
| 279 |
+
"orientation": {
|
| 280 |
+
"w": 0.7064724802064273,
|
| 281 |
+
"xyz": [
|
| 282 |
+
-0.17862424888828107,
|
| 283 |
+
0.6492796572778619,
|
| 284 |
+
0.21777497345934388
|
| 285 |
+
]
|
| 286 |
+
}
|
| 287 |
+
},
|
| 288 |
+
"grasp_46": {
|
| 289 |
+
"confidence": 0.6087790727615356,
|
| 290 |
+
"position": [
|
| 291 |
+
-0.0889293834916316,
|
| 292 |
+
-0.08022092469036579,
|
| 293 |
+
0.01478978265367914
|
| 294 |
+
],
|
| 295 |
+
"orientation": {
|
| 296 |
+
"w": 0.17551161891885564,
|
| 297 |
+
"xyz": [
|
| 298 |
+
-0.7150623107950171,
|
| 299 |
+
-0.23940154091622334,
|
| 300 |
+
-0.6329047839224401
|
| 301 |
+
]
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
"grasp_47": {
|
| 305 |
+
"confidence": 0.4801121652126312,
|
| 306 |
+
"position": [
|
| 307 |
+
-0.08322950307046995,
|
| 308 |
+
-0.07824577577412128,
|
| 309 |
+
-0.0021136706200195476
|
| 310 |
+
],
|
| 311 |
+
"orientation": {
|
| 312 |
+
"w": 0.68965731672835,
|
| 313 |
+
"xyz": [
|
| 314 |
+
-0.20318559757933918,
|
| 315 |
+
0.6726006474980633,
|
| 316 |
+
0.17520492973819185
|
| 317 |
+
]
|
| 318 |
+
}
|
| 319 |
+
},
|
| 320 |
+
"grasp_48": {
|
| 321 |
+
"confidence": 0.4409315884113312,
|
| 322 |
+
"position": [
|
| 323 |
+
-0.09040278050815687,
|
| 324 |
+
-0.06676245294511318,
|
| 325 |
+
0.00019942176004406065
|
| 326 |
+
],
|
| 327 |
+
"orientation": {
|
| 328 |
+
"w": 0.6884128302827679,
|
| 329 |
+
"xyz": [
|
| 330 |
+
-0.15104949836913642,
|
| 331 |
+
0.6978135178952513,
|
| 332 |
+
0.12778152600104378
|
| 333 |
+
]
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
"grasp_50": {
|
| 337 |
+
"confidence": 0.27320557832717896,
|
| 338 |
+
"position": [
|
| 339 |
+
-0.07735902670538053,
|
| 340 |
+
-0.0770691279321909,
|
| 341 |
+
0.050502565878559835
|
| 342 |
+
],
|
| 343 |
+
"orientation": {
|
| 344 |
+
"w": 0.17190539551711362,
|
| 345 |
+
"xyz": [
|
| 346 |
+
-0.8420378712613452,
|
| 347 |
+
-0.23818107654280907,
|
| 348 |
+
-0.4524273788473412
|
| 349 |
+
]
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
"grasp_53": {
|
| 353 |
+
"confidence": 0.34602653980255127,
|
| 354 |
+
"position": [
|
| 355 |
+
-0.06847288314020261,
|
| 356 |
+
-0.0976210031658411,
|
| 357 |
+
-0.016148480397532694
|
| 358 |
+
],
|
| 359 |
+
"orientation": {
|
| 360 |
+
"w": 0.7130132643371421,
|
| 361 |
+
"xyz": [
|
| 362 |
+
-0.2761964464240771,
|
| 363 |
+
0.5749976044167169,
|
| 364 |
+
0.29104185743126504
|
| 365 |
+
]
|
| 366 |
+
}
|
| 367 |
+
},
|
| 368 |
+
"grasp_54": {
|
| 369 |
+
"confidence": 0.20827716588974,
|
| 370 |
+
"position": [
|
| 371 |
+
0.09098729636752978,
|
| 372 |
+
-0.07743931002914906,
|
| 373 |
+
-0.000589670889894478
|
| 374 |
+
],
|
| 375 |
+
"orientation": {
|
| 376 |
+
"w": 0.23156169888697337,
|
| 377 |
+
"xyz": [
|
| 378 |
+
-0.6935693929751287,
|
| 379 |
+
0.159174287204509,
|
| 380 |
+
0.6633281412917947
|
| 381 |
+
]
|
| 382 |
+
}
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
{
|
| 387 |
+
"part_name": "side end cap",
|
| 388 |
+
"mask_color": "Yellow",
|
| 389 |
+
"graspable": false,
|
| 390 |
+
"grasp_scenarios": [],
|
| 391 |
+
"functional_labels": [
|
| 392 |
+
"cover handle end",
|
| 393 |
+
"protect handle interior",
|
| 394 |
+
"provide rear contact surface",
|
| 395 |
+
"finish the handle body"
|
| 396 |
+
],
|
| 397 |
+
"semantic_description": "Small circular pale gray to off-white insert set into one horizontal end of the handle, with a smooth hard surface and flush appearance.",
|
| 398 |
+
"id": 3,
|
| 399 |
+
"grasp_group": {}
|
| 400 |
+
},
|
| 401 |
+
{
|
| 402 |
+
"part_name": "top end cap",
|
| 403 |
+
"mask_color": "Magenta",
|
| 404 |
+
"graspable": false,
|
| 405 |
+
"grasp_scenarios": [],
|
| 406 |
+
"functional_labels": [
|
| 407 |
+
"cover handle end",
|
| 408 |
+
"protect exposed end",
|
| 409 |
+
"provide finishing surface",
|
| 410 |
+
"mark handle extremity"
|
| 411 |
+
],
|
| 412 |
+
"semantic_description": "Small circular pale gray to off-white insert on the top end of the vertical handle section, with a smooth hard finish and slightly recessed center detail.",
|
| 413 |
+
"id": 7,
|
| 414 |
+
"grasp_group": {}
|
| 415 |
+
},
|
| 416 |
+
{
|
| 417 |
+
"part_name": "brand badge",
|
| 418 |
+
"mask_color": "Brown",
|
| 419 |
+
"graspable": false,
|
| 420 |
+
"grasp_scenarios": [],
|
| 421 |
+
"functional_labels": [
|
| 422 |
+
"display branding",
|
| 423 |
+
"identify tool",
|
| 424 |
+
"provide visual accent"
|
| 425 |
+
],
|
| 426 |
+
"semantic_description": "Small inset badge on the handle side with a dark brown border/background and light lettering, appearing glossy and flush within the purple plastic grip.",
|
| 427 |
+
"id": 11,
|
| 428 |
+
"grasp_group": {}
|
| 429 |
+
},
|
| 430 |
+
{
|
| 431 |
+
"part_name": "printed logo lettering",
|
| 432 |
+
"mask_color": "Cyan",
|
| 433 |
+
"graspable": false,
|
| 434 |
+
"grasp_scenarios": [],
|
| 435 |
+
"functional_labels": [
|
| 436 |
+
"display branding",
|
| 437 |
+
"identify manufacturer",
|
| 438 |
+
"provide visual marking"
|
| 439 |
+
],
|
| 440 |
+
"semantic_description": "Small light-colored printed lettering within the side logo badge on the handle, appearing as a flat smooth graphic element.",
|
| 441 |
+
"id": 6,
|
| 442 |
+
"grasp_group": {}
|
| 443 |
+
},
|
| 444 |
+
{
|
| 445 |
+
"part_name": "printed logo accent",
|
| 446 |
+
"mask_color": "Purple",
|
| 447 |
+
"graspable": false,
|
| 448 |
+
"grasp_scenarios": [],
|
| 449 |
+
"functional_labels": [
|
| 450 |
+
"display branding detail",
|
| 451 |
+
"differentiate logo colors",
|
| 452 |
+
"provide visual marking"
|
| 453 |
+
],
|
| 454 |
+
"semantic_description": "Small purple printed detail within the side logo on the handle, appearing as a flat smooth graphic element.",
|
| 455 |
+
"id": 5,
|
| 456 |
+
"grasp_group": {}
|
| 457 |
+
}
|
| 458 |
+
],
|
| 459 |
+
"quality_check": {
|
| 460 |
+
"success": false,
|
| 461 |
+
"message": "Mask-part mapping and visual descriptions for logo parts are incorrect; logo colors are swapped and brown region is badge background only."
|
| 462 |
+
}
|
| 463 |
+
}
|
dataset/tools/repair_tools/0c12d2c1845255bcb063c9665396a840/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d42b460c40c16ac981440164ccf9046699a1fdf56f70b1091902bdb207afbd0
|
| 3 |
+
size 3785712
|