Add asset tools/repair_tools/ecb58f93021f5bc28772649b8954067d
Browse files
.gitattributes
CHANGED
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@@ -7936,3 +7936,4 @@ dataset/tools/repair_tools/e7842d48f2b25262b42b567b4e62f654/affordance/mesh_part
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| 7936 |
dataset/tools/repair_tools/ea1305fb38745bb8a14e92225e586582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7937 |
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7938 |
dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7936 |
dataset/tools/repair_tools/ea1305fb38745bb8a14e92225e586582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7937 |
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7938 |
dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7939 |
+
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/affordance_annot.json
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and carry the wrench",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while turning a fastener with the wrench head",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the handle to reposition or hand off the tool",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip area",
|
| 23 |
+
"provide leverage",
|
| 24 |
+
"support tool manipulation",
|
| 25 |
+
"enable swinging and repositioning",
|
| 26 |
+
"connect head to hanging hole"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long silver-gray metal handle with a matte to slightly reflective smooth hard surface, flat elongated shape, medium width, and a round hanging hole at the far end.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_3": {
|
| 32 |
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"confidence": 0.995070219039917,
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| 33 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.7064496453061986,
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| 40 |
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"xyz": [
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| 42 |
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| 43 |
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| 44 |
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]
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| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_4": {
|
| 48 |
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"confidence": 0.9949451088905334,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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"w": 0.12505128506408694,
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
|
| 62 |
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},
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| 63 |
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"grasp_6": {
|
| 64 |
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"confidence": 0.994748055934906,
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| 65 |
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| 67 |
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| 68 |
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|
| 69 |
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],
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| 70 |
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"orientation": {
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"w": 0.6546006609071491,
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
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| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_7": {
|
| 80 |
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"confidence": 0.9946994781494141,
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| 81 |
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"position": [
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| 83 |
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| 84 |
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| 85 |
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],
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| 86 |
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"orientation": {
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| 88 |
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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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},
|
| 95 |
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"grasp_8": {
|
| 96 |
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"confidence": 0.9942581653594971,
|
| 97 |
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"position": [
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| 99 |
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| 100 |
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| 101 |
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],
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"orientation": {
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]
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"grasp_10": {
|
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"confidence": 0.994114100933075,
|
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"position": [
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],
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"orientation": {
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| 123 |
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| 124 |
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]
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| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_11": {
|
| 128 |
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"confidence": 0.9940687417984009,
|
| 129 |
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"position": [
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| 130 |
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| 131 |
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| 132 |
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|
| 133 |
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],
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| 134 |
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"orientation": {
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]
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}
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| 142 |
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},
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| 143 |
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"grasp_12": {
|
| 144 |
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"confidence": 0.993869423866272,
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"position": [
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],
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"orientation": {
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]
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},
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"grasp_13": {
|
| 160 |
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"confidence": 0.9937281608581543,
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| 161 |
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"position": [
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],
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"orientation": {
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]
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}
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| 174 |
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},
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"grasp_14": {
|
| 176 |
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"confidence": 0.993563175201416,
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| 177 |
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"position": [
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"orientation": {
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|
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"grasp_15": {
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| 192 |
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| 272 |
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},
|
| 273 |
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{
|
| 274 |
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"part_name": "fixed jaw",
|
| 275 |
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"mask_color": "Green",
|
| 276 |
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"graspable": true,
|
| 277 |
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"grasp_scenarios": [
|
| 278 |
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{
|
| 279 |
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"scenario": "grasp the head near the fixed jaw for short-distance pickup when the handle is obstructed",
|
| 280 |
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"confidence": 0.46
|
| 281 |
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},
|
| 282 |
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{
|
| 283 |
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"scenario": "pinch the fixed jaw area to stabilize the wrench during precise placement",
|
| 284 |
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|
| 285 |
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}
|
| 286 |
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],
|
| 287 |
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|
| 288 |
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"contact fastener flats",
|
| 289 |
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"provide reaction surface",
|
| 290 |
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"define jaw opening",
|
| 291 |
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"support torque transfer"
|
| 292 |
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],
|
| 293 |
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"semantic_description": "Silver-gray metal jaw at the wrench head with a smooth hard finish, thick curved profile, and broad open-end contact surface positioned opposite the moving jaw.",
|
| 294 |
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"id": 1,
|
| 295 |
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"grasp_group": {
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},
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|
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|
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|
| 329 |
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|
| 330 |
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| 343 |
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},
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| 344 |
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|
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|
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|
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|
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},
|
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|
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|
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|
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|
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|
| 366 |
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],
|
| 367 |
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|
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|
| 369 |
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|
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|
| 372 |
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0.476659083645147
|
| 373 |
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]
|
| 374 |
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}
|
| 375 |
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}
|
| 376 |
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}
|
| 377 |
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},
|
| 378 |
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{
|
| 379 |
+
"part_name": "adjustment screw",
|
| 380 |
+
"mask_color": "Yellow",
|
| 381 |
+
"graspable": false,
|
| 382 |
+
"grasp_scenarios": [],
|
| 383 |
+
"functional_labels": [
|
| 384 |
+
"adjust jaw width",
|
| 385 |
+
"set opening size",
|
| 386 |
+
"tune fit to fastener",
|
| 387 |
+
"enable sliding jaw motion"
|
| 388 |
+
],
|
| 389 |
+
"semantic_description": "Small silver-gray metal knurled worm screw set in the head, with a slightly darker reflective finish, fine ridged texture, and compact cylindrical form for thumb turning.",
|
| 390 |
+
"id": 3,
|
| 391 |
+
"grasp_group": {}
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"part_name": "moving jaw",
|
| 395 |
+
"mask_color": "Lime Green",
|
| 396 |
+
"graspable": false,
|
| 397 |
+
"grasp_scenarios": [],
|
| 398 |
+
"functional_labels": [
|
| 399 |
+
"vary jaw opening",
|
| 400 |
+
"clamp against fastener flats",
|
| 401 |
+
"adapt to different sizes",
|
| 402 |
+
"slide relative to head"
|
| 403 |
+
],
|
| 404 |
+
"semantic_description": "Silver-gray metal sliding jaw integrated into the wrench head, with a smooth hard surface, compact hooked shape, and adjustable position next to the fixed jaw.",
|
| 405 |
+
"id": 9,
|
| 406 |
+
"grasp_group": {}
|
| 407 |
+
}
|
| 408 |
+
],
|
| 409 |
+
"quality_check": {
|
| 410 |
+
"success": true,
|
| 411 |
+
"message": "YES"
|
| 412 |
+
}
|
| 413 |
+
}
|
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:62da305df36b9d2ac4292d69a3797a51d18afc77997e9d7ae0e4f7cfb9da31f2
|
| 3 |
+
size 3785384
|