Add asset tools/repair_tools/99fba69b207a55aea419d2fab2e5d124
Browse files
.gitattributes
CHANGED
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@@ -8583,3 +8583,4 @@ dataset/tools/repair_tools/90fd2b4968d856b38dca65c7ce542ee1/affordance/mesh_part
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| 8583 |
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8584 |
dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8585 |
dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8583 |
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8584 |
dataset/tools/repair_tools/93b097be9bd658a6ba8c4007cba64e60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8585 |
dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8586 |
+
dataset/tools/repair_tools/99fba69b207a55aea419d2fab2e5d124/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/99fba69b207a55aea419d2fab2e5d124/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the screwdriver",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply turning torque during screwdriving",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the tool while aligning the tip with a screw",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"support tool handling",
|
| 25 |
+
"stabilize during alignment"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large black plastic handle with a mostly matte finish and hard slightly textured contoured surface, forming the rear body of the screwdriver with minor scuffs and a bulbous ergonomic shape.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9819540977478027,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.7641665549349708,
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| 39 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9813319444656372,
|
| 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": {
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| 54 |
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"w": 0.7681051527565509,
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| 55 |
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"xyz": [
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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_2": {
|
| 63 |
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"confidence": 0.9804439544677734,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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],
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| 69 |
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"orientation": {
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"w": 0.647220089278958,
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"xyz": [
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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_4": {
|
| 79 |
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"confidence": 0.978486955165863,
|
| 80 |
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"position": [
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| 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": {
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| 86 |
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"w": 0.17001615257456068,
|
| 87 |
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"xyz": [
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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_6": {
|
| 95 |
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"confidence": 0.9778883457183838,
|
| 96 |
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"position": [
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| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
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"orientation": {
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"w": 0.5424140565934359,
|
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"xyz": [
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| 107 |
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]
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| 108 |
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}
|
| 109 |
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},
|
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"grasp_7": {
|
| 111 |
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"confidence": 0.9775852560997009,
|
| 112 |
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"position": [
|
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|
| 115 |
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|
| 116 |
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],
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"orientation": {
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|
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"xyz": [
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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_8": {
|
| 127 |
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"confidence": 0.9774013757705688,
|
| 128 |
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"position": [
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| 129 |
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|
| 132 |
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],
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"orientation": {
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| 139 |
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]
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}
|
| 141 |
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},
|
| 142 |
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"grasp_9": {
|
| 143 |
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"confidence": 0.9773869514465332,
|
| 144 |
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"position": [
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|
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],
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"orientation": {
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| 155 |
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]
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| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_12": {
|
| 159 |
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"confidence": 0.9763186573982239,
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| 160 |
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"position": [
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"orientation": {
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]
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}
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| 173 |
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},
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"grasp_13": {
|
| 175 |
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"confidence": 0.9761053323745728,
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"position": [
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"orientation": {
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]
|
| 188 |
+
}
|
| 189 |
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},
|
| 190 |
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"grasp_14": {
|
| 191 |
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"confidence": 0.9758181571960449,
|
| 192 |
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"position": [
|
| 193 |
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6.760665019100998e-05,
|
| 194 |
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-0.00792525103315711,
|
| 195 |
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0.0976797044640989
|
| 196 |
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],
|
| 197 |
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"orientation": {
|
| 198 |
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"w": 0.027980207211611388,
|
| 199 |
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"xyz": [
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| 200 |
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0.9966664045780018,
|
| 201 |
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0.07444227673681235,
|
| 202 |
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0.0182080593198093
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_15": {
|
| 207 |
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"confidence": 0.9757497310638428,
|
| 208 |
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"position": [
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| 209 |
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0.09677695532445796,
|
| 210 |
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0.02186394389718771,
|
| 211 |
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-0.014651617930212524
|
| 212 |
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],
|
| 213 |
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"orientation": {
|
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|
| 215 |
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| 216 |
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0.020170037528809023,
|
| 217 |
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|
| 218 |
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-0.0007742227779292791
|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"grasp_16": {
|
| 223 |
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"confidence": 0.9755858182907104,
|
| 224 |
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"position": [
|
| 225 |
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0.09335147638921626,
|
| 226 |
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0.056361871771514416,
|
| 227 |
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0.033610545135161374
|
| 228 |
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],
|
| 229 |
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"orientation": {
|
| 230 |
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"w": 0.5907341523229437,
|
| 231 |
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"xyz": [
|
| 232 |
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|
| 233 |
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-0.806793334843405,
|
| 234 |
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0.009772674060252371
|
| 235 |
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]
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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"grasp_17": {
|
| 239 |
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"confidence": 0.9755767583847046,
|
| 240 |
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"position": [
|
| 241 |
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0.09272368301753886,
|
| 242 |
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0.02606151904910803,
|
| 243 |
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0.017969245127460454
|
| 244 |
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],
|
| 245 |
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"orientation": {
|
| 246 |
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"w": 0.6334916110081353,
|
| 247 |
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"xyz": [
|
| 248 |
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0.0235557248440476,
|
| 249 |
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-0.7733762576650675,
|
| 250 |
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0.004761374734593893
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_18": {
|
| 255 |
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"confidence": 0.9752740263938904,
|
| 256 |
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"position": [
|
| 257 |
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0.09508560647373088,
|
| 258 |
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0.019119338132441044,
|
| 259 |
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0.029471129215380643
|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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"w": 0.016966915436227397,
|
| 263 |
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"xyz": [
|
| 264 |
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0.8008483564022255,
|
| 265 |
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-0.007078632157408893,
|
| 266 |
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-0.5985849369932508
|
| 267 |
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]
|
| 268 |
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}
|
| 269 |
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}
|
| 270 |
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}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "shaft",
|
| 274 |
+
"mask_color": "Green",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "grasp the shaft near the handle for precise tip positioning",
|
| 279 |
+
"confidence": 0.56
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "hold the shaft to steady the tool during careful insertion into a screw head",
|
| 283 |
+
"confidence": 0.48
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"transmit torque to tip",
|
| 288 |
+
"extend reach",
|
| 289 |
+
"align the tip",
|
| 290 |
+
"support precise control"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Long silver-gray metal shaft with a smooth slightly reflective hard surface, slim and straight along the tool centerline between the handle and tip.",
|
| 293 |
+
"id": 1,
|
| 294 |
+
"grasp_group": {}
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"part_name": "tip",
|
| 298 |
+
"mask_color": "Cyan",
|
| 299 |
+
"graspable": false,
|
| 300 |
+
"grasp_scenarios": [],
|
| 301 |
+
"functional_labels": [
|
| 302 |
+
"engage screw head",
|
| 303 |
+
"drive or remove screws",
|
| 304 |
+
"transfer torque into fastener",
|
| 305 |
+
"provide working contact point"
|
| 306 |
+
],
|
| 307 |
+
"semantic_description": "Small dark metallic Phillips tip with a hard smooth finish, narrow cross-shaped end at the front of the shaft designed to fit screw recesses.",
|
| 308 |
+
"id": 6,
|
| 309 |
+
"grasp_group": {}
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"part_name": "collar",
|
| 313 |
+
"mask_color": "Purple",
|
| 314 |
+
"graspable": true,
|
| 315 |
+
"grasp_scenarios": [
|
| 316 |
+
{
|
| 317 |
+
"scenario": "grasp the collar area lightly to orient the screwdriver near the shaft-handle junction",
|
| 318 |
+
"confidence": 0.34
|
| 319 |
+
}
|
| 320 |
+
],
|
| 321 |
+
"functional_labels": [
|
| 322 |
+
"connect handle to shaft",
|
| 323 |
+
"reinforce junction",
|
| 324 |
+
"indicate transition between grip and shaft"
|
| 325 |
+
],
|
| 326 |
+
"semantic_description": "Small dark gray to light gray ring-like collar with a hard smooth finish, encircling the front of the handle where the metal shaft enters.",
|
| 327 |
+
"id": 5,
|
| 328 |
+
"grasp_group": {
|
| 329 |
+
"grasp_49": {
|
| 330 |
+
"confidence": 0.9523139595985413,
|
| 331 |
+
"position": [
|
| 332 |
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-0.09784048746223561,
|
| 333 |
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-0.045450312085449696,
|
| 334 |
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-0.009880371355393436
|
| 335 |
+
],
|
| 336 |
+
"orientation": {
|
| 337 |
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"w": 0.7501171526615049,
|
| 338 |
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"xyz": [
|
| 339 |
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-0.0063098721645187695,
|
| 340 |
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0.6604621420593819,
|
| 341 |
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0.03277501643930706
|
| 342 |
+
]
|
| 343 |
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}
|
| 344 |
+
}
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"part_name": "end cap",
|
| 349 |
+
"mask_color": "Blue",
|
| 350 |
+
"graspable": false,
|
| 351 |
+
"grasp_scenarios": [],
|
| 352 |
+
"functional_labels": [
|
| 353 |
+
"finish handle end",
|
| 354 |
+
"provide rear contact surface",
|
| 355 |
+
"protect handle end"
|
| 356 |
+
],
|
| 357 |
+
"semantic_description": "Rounded beige to tan end cap with a smooth matte hard surface, covering the back end of the handle as a small circular terminal piece.",
|
| 358 |
+
"id": 2,
|
| 359 |
+
"grasp_group": {}
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"part_name": "grip inlay",
|
| 363 |
+
"mask_color": "Yellow",
|
| 364 |
+
"graspable": true,
|
| 365 |
+
"grasp_scenarios": [
|
| 366 |
+
{
|
| 367 |
+
"scenario": "place gripper fingers over the grip inlay area as part of a secure handle grasp",
|
| 368 |
+
"confidence": 0.71
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"scenario": "use the inlay region for added friction while stabilizing the screwdriver handle",
|
| 372 |
+
"confidence": 0.67
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"functional_labels": [
|
| 376 |
+
"improve grip traction",
|
| 377 |
+
"provide tactile indexing",
|
| 378 |
+
"decorate handle"
|
| 379 |
+
],
|
| 380 |
+
"semantic_description": "Small beige to tan rubber-like inset with a matte slightly softer-looking surface, set into the side of the handle as an elongated oval grip pad.",
|
| 381 |
+
"id": 3,
|
| 382 |
+
"grasp_group": {
|
| 383 |
+
"grasp_40": {
|
| 384 |
+
"confidence": 0.6430757641792297,
|
| 385 |
+
"position": [
|
| 386 |
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-0.05188574592466466,
|
| 387 |
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0.12467798124998808,
|
| 388 |
+
0.017396194896718953
|
| 389 |
+
],
|
| 390 |
+
"orientation": {
|
| 391 |
+
"w": 0.37335025560069984,
|
| 392 |
+
"xyz": [
|
| 393 |
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0.67729479168229,
|
| 394 |
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-0.31062298850258807,
|
| 395 |
+
0.5526252897005862
|
| 396 |
+
]
|
| 397 |
+
}
|
| 398 |
+
},
|
| 399 |
+
"grasp_41": {
|
| 400 |
+
"confidence": 0.48528924584388733,
|
| 401 |
+
"position": [
|
| 402 |
+
-0.0027713987219613045,
|
| 403 |
+
0.14145925175398588,
|
| 404 |
+
0.0019863187699229456
|
| 405 |
+
],
|
| 406 |
+
"orientation": {
|
| 407 |
+
"w": 0.4772004291087946,
|
| 408 |
+
"xyz": [
|
| 409 |
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0.4648093523368135,
|
| 410 |
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0.5445461283015711,
|
| 411 |
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-0.5096091939814109
|
| 412 |
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]
|
| 413 |
+
}
|
| 414 |
+
}
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
],
|
| 418 |
+
"quality_check": {
|
| 419 |
+
"success": true,
|
| 420 |
+
"message": "YES"
|
| 421 |
+
}
|
| 422 |
+
}
|
dataset/tools/repair_tools/99fba69b207a55aea419d2fab2e5d124/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c1ba235b6127971f23270c03f0f4b376db0a3afe2bb76c605e3c8d03e2d2e45d
|
| 3 |
+
size 3820968
|