Add asset tools/repair_tools/259604828a315ecabcc635de12aaf5d9
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/affordance_annot.json +919 -0
- dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/measuring_tape_016.urdf +2 -2
.gitattributes
CHANGED
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@@ -7818,3 +7818,4 @@ dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/affordance/mesh_part
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| 7818 |
dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7819 |
dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7820 |
dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7818 |
dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7819 |
dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7820 |
dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7821 |
+
dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,919 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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{
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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{
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| 13 |
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| 14 |
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| 15 |
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},
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| 16 |
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{
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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"main enclosure",
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| 23 |
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"main grasp surface",
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| 24 |
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"protect internal tape reel",
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| 25 |
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"support tape extension and retraction"
|
| 26 |
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],
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| 27 |
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| 28 |
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| 29 |
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| 32 |
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},
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{
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{
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"scenario": "pinch or hook the metal clip to pull the tool from a belt or pocket",
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},
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{
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],
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0.011109205253887922
|
| 772 |
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],
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| 773 |
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"orientation": {
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| 774 |
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"w": 0.6729753593126402,
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| 775 |
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"xyz": [
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| 776 |
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-0.009408022914836138,
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| 777 |
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-0.7395321856555361,
|
| 778 |
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-0.010382737712281924
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| 779 |
+
]
|
| 780 |
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}
|
| 781 |
+
},
|
| 782 |
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"grasp_14": {
|
| 783 |
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"confidence": 0.6159127950668335,
|
| 784 |
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"position": [
|
| 785 |
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0.1591891358839348,
|
| 786 |
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-0.005234486539848149,
|
| 787 |
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-0.019611729017924517
|
| 788 |
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],
|
| 789 |
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"orientation": {
|
| 790 |
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"w": 0.028025373983305804,
|
| 791 |
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"xyz": [
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| 792 |
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-0.6532142079927254,
|
| 793 |
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-0.05426106448481194,
|
| 794 |
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0.7547062433626123
|
| 795 |
+
]
|
| 796 |
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}
|
| 797 |
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},
|
| 798 |
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"grasp_15": {
|
| 799 |
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"confidence": 0.9046947956085205,
|
| 800 |
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"position": [
|
| 801 |
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0.1562742303358391,
|
| 802 |
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0.0012675835750997066,
|
| 803 |
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-0.0025938767357729375
|
| 804 |
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],
|
| 805 |
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"orientation": {
|
| 806 |
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"w": 0.036548058418795125,
|
| 807 |
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"xyz": [
|
| 808 |
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| 809 |
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0.03325275881887835,
|
| 810 |
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|
| 811 |
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]
|
| 812 |
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}
|
| 813 |
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},
|
| 814 |
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"grasp_16": {
|
| 815 |
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"confidence": 0.8803964853286743,
|
| 816 |
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"position": [
|
| 817 |
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0.15688434347976,
|
| 818 |
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-0.007483162684366107,
|
| 819 |
+
-0.0021993652335368097
|
| 820 |
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],
|
| 821 |
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"orientation": {
|
| 822 |
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"w": 0.712582915994582,
|
| 823 |
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"xyz": [
|
| 824 |
+
8.044182327689728e-05,
|
| 825 |
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-0.7015556196830921,
|
| 826 |
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-0.0067300707904714326
|
| 827 |
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]
|
| 828 |
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}
|
| 829 |
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},
|
| 830 |
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"grasp_17": {
|
| 831 |
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"confidence": 0.8762787580490112,
|
| 832 |
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"position": [
|
| 833 |
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0.15745456621516496,
|
| 834 |
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0.005994505248963833,
|
| 835 |
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-0.004975573800038546
|
| 836 |
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],
|
| 837 |
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"orientation": {
|
| 838 |
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"w": 0.7161022386030986,
|
| 839 |
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"xyz": [
|
| 840 |
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0.025238250909527384,
|
| 841 |
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|
| 842 |
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|
| 843 |
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]
|
| 844 |
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}
|
| 845 |
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},
|
| 846 |
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"grasp_18": {
|
| 847 |
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"confidence": 0.862479031085968,
|
| 848 |
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"position": [
|
| 849 |
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|
| 850 |
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0.0017582415603101254,
|
| 851 |
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-0.002520124369766563
|
| 852 |
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],
|
| 853 |
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"orientation": {
|
| 854 |
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"w": 0.7151951833080378,
|
| 855 |
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"xyz": [
|
| 856 |
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0.004849045636520928,
|
| 857 |
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|
| 858 |
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-0.0010294890635818418
|
| 859 |
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]
|
| 860 |
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}
|
| 861 |
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},
|
| 862 |
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"grasp_19": {
|
| 863 |
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"confidence": 0.8594245910644531,
|
| 864 |
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"position": [
|
| 865 |
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0.14777863130439073,
|
| 866 |
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-0.047438508830964565,
|
| 867 |
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-0.0038709684158675373
|
| 868 |
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],
|
| 869 |
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"orientation": {
|
| 870 |
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"w": 0.6955674592426097,
|
| 871 |
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"xyz": [
|
| 872 |
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-0.15261386771217736,
|
| 873 |
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-0.6822067137921345,
|
| 874 |
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-0.1657978186878447
|
| 875 |
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]
|
| 876 |
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}
|
| 877 |
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}
|
| 878 |
+
}
|
| 879 |
+
},
|
| 880 |
+
{
|
| 881 |
+
"part_name": "side shell / perimeter band",
|
| 882 |
+
"mask_color": "Dark Red",
|
| 883 |
+
"graspable": true,
|
| 884 |
+
"grasp_scenarios": [
|
| 885 |
+
{
|
| 886 |
+
"scenario": "grasp the side perimeter together with the main body to hold the tape measure securely",
|
| 887 |
+
"confidence": 0.72
|
| 888 |
+
}
|
| 889 |
+
],
|
| 890 |
+
"functional_labels": [
|
| 891 |
+
"side enclosure",
|
| 892 |
+
"protect internal mechanism",
|
| 893 |
+
"define tool thickness",
|
| 894 |
+
"support overall structure"
|
| 895 |
+
],
|
| 896 |
+
"semantic_description": "Blue outer perimeter band wrapping around the case edge with rounded contours and molded grip features, linking the two main shell faces.",
|
| 897 |
+
"id": 29,
|
| 898 |
+
"grasp_group": {}
|
| 899 |
+
},
|
| 900 |
+
{
|
| 901 |
+
"part_name": "tape outlet opening",
|
| 902 |
+
"mask_color": "Olive",
|
| 903 |
+
"graspable": false,
|
| 904 |
+
"grasp_scenarios": [],
|
| 905 |
+
"functional_labels": [
|
| 906 |
+
"tape exit point",
|
| 907 |
+
"guide tape blade during extension and retraction",
|
| 908 |
+
"measurement interface"
|
| 909 |
+
],
|
| 910 |
+
"semantic_description": "Small dark recessed opening at the front of the housing where the yellow measuring tape exits, adjacent to the metal hook area.",
|
| 911 |
+
"id": 14,
|
| 912 |
+
"grasp_group": {}
|
| 913 |
+
}
|
| 914 |
+
],
|
| 915 |
+
"quality_check": {
|
| 916 |
+
"success": false,
|
| 917 |
+
"message": "Several mask-color mappings and one visual description are incorrect; side shell band is not dark red and slider color is misdescribed."
|
| 918 |
+
}
|
| 919 |
+
}
|
dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:580d4ad0f6052cd2ce1b14065bd39cb060f0e096bb80f16187545bd2809ff87d
|
| 3 |
+
size 3787224
|
dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/measuring_tape_016.urdf
CHANGED
|
@@ -50,7 +50,7 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
|
@@ -60,7 +60,7 @@
|
|
| 60 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>5</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
|
|
|
| 60 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
+
<PartSegChecker>NO: {"summary":"Major functional parts are merged incorrectly; clip, lock, case, tape exit and tape blade are not separated, and some colors are just view-dependent slices.","merge_groups":[]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|