Add asset tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2
Browse files
.gitattributes
CHANGED
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@@ -8593,4 +8593,4 @@ dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/affordance/mesh_part
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| 8593 |
dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8594 |
dataset/tools/repair_tools/9f108157a0ed5df1b130622273e1f752/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8595 |
dataset/tools/repair_tools/9f44e6d916e951ca98fcd11eee2f6f6d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8596 |
-
dataset/tools/repair_tools/
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| 8593 |
dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8594 |
dataset/tools/repair_tools/9f108157a0ed5df1b130622273e1f752/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8595 |
dataset/tools/repair_tools/9f44e6d916e951ca98fcd11eee2f6f6d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8596 |
+
dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wrench body",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the central handle area to pick up and carry the wrench",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the shaft to position the wrench onto a fastener",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "clamp the body to stabilize the tool during handoff or storage",
|
| 18 |
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"confidence": 0.9
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
+
"connect the two tool ends",
|
| 24 |
+
"transmit torque",
|
| 25 |
+
"support tool positioning",
|
| 26 |
+
"provide structural rigidity"
|
| 27 |
+
],
|
| 28 |
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"semantic_description": "Long orange-painted metal body with a smooth slightly matte finish, slim flat elongated shape, widened at both ends, with black printed markings along the middle.",
|
| 29 |
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"id": 6,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_20": {
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| 32 |
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"confidence": 0.9949771761894226,
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| 33 |
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| 35 |
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| 37 |
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],
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| 38 |
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| 43 |
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| 45 |
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| 46 |
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| 47 |
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"grasp_21": {
|
| 48 |
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"confidence": 0.9948546886444092,
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| 49 |
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"grasp_23": {
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"confidence": 0.9946645498275757,
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}
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| 94 |
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},
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"grasp_24": {
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| 96 |
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"grasp_25": {
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| 124 |
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|
| 128 |
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| 129 |
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0.7197952072520062
|
| 188 |
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]
|
| 189 |
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}
|
| 190 |
+
},
|
| 191 |
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"grasp_33": {
|
| 192 |
+
"confidence": 0.9925285577774048,
|
| 193 |
+
"position": [
|
| 194 |
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-0.0971338059171103,
|
| 195 |
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0.03758452646434307,
|
| 196 |
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-0.0017365540770697407
|
| 197 |
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],
|
| 198 |
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"orientation": {
|
| 199 |
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"w": 0.12218192763579121,
|
| 200 |
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"xyz": [
|
| 201 |
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-0.6905185949761873,
|
| 202 |
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-0.08414281359941056,
|
| 203 |
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-0.7079375915085236
|
| 204 |
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]
|
| 205 |
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}
|
| 206 |
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},
|
| 207 |
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"grasp_34": {
|
| 208 |
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"confidence": 0.9924267530441284,
|
| 209 |
+
"position": [
|
| 210 |
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0.0908922721282579,
|
| 211 |
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0.010709084570407867,
|
| 212 |
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-0.008807273457932752
|
| 213 |
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],
|
| 214 |
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"orientation": {
|
| 215 |
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"w": 0.1682394407909526,
|
| 216 |
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"xyz": [
|
| 217 |
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-0.6500524267226793,
|
| 218 |
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0.20044921091460288,
|
| 219 |
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0.7134055276755401
|
| 220 |
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]
|
| 221 |
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}
|
| 222 |
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},
|
| 223 |
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"grasp_38": {
|
| 224 |
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"confidence": 0.9919997453689575,
|
| 225 |
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"position": [
|
| 226 |
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0.10434037639060989,
|
| 227 |
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0.06510732509195805,
|
| 228 |
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-0.0010247464451822452
|
| 229 |
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],
|
| 230 |
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"orientation": {
|
| 231 |
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"w": 0.7121268183403003,
|
| 232 |
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"xyz": [
|
| 233 |
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-0.0013872998644680384,
|
| 234 |
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-0.702025020877035,
|
| 235 |
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-0.005860039437130896
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"part_name": "open jaw",
|
| 243 |
+
"mask_color": "Purple",
|
| 244 |
+
"graspable": true,
|
| 245 |
+
"grasp_scenarios": [
|
| 246 |
+
{
|
| 247 |
+
"scenario": "delicately pinch the open end to reorient the wrench",
|
| 248 |
+
"confidence": 0.38
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"scenario": "hold the open end temporarily while presenting the ring end to a fastener",
|
| 252 |
+
"confidence": 0.31
|
| 253 |
+
}
|
| 254 |
+
],
|
| 255 |
+
"functional_labels": [
|
| 256 |
+
"engage hex fasteners",
|
| 257 |
+
"turn nuts and bolts",
|
| 258 |
+
"provide open-sided access",
|
| 259 |
+
"enable quick placement on a fastener"
|
| 260 |
+
],
|
| 261 |
+
"semantic_description": "Open-ended wrench head in orange-painted metal with a smooth finish, U-shaped forked profile at one end, and flat inner jaws sized for gripping fastener flats.",
|
| 262 |
+
"id": 5,
|
| 263 |
+
"grasp_group": {
|
| 264 |
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"grasp_0": {
|
| 265 |
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"confidence": 0.9063764214515686,
|
| 266 |
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"position": [
|
| 267 |
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-0.012576541805174202,
|
| 268 |
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0.1837798673659563,
|
| 269 |
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0.004500422750425059
|
| 270 |
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],
|
| 271 |
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"orientation": {
|
| 272 |
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"w": 0.5032680004662577,
|
| 273 |
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"xyz": [
|
| 274 |
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0.5043091096897256,
|
| 275 |
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0.508006148018686,
|
| 276 |
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-0.48406961809833515
|
| 277 |
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]
|
| 278 |
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}
|
| 279 |
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},
|
| 280 |
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"grasp_14": {
|
| 281 |
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"confidence": 0.9174328446388245,
|
| 282 |
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"position": [
|
| 283 |
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-0.05686835007509217,
|
| 284 |
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0.16045196540653706,
|
| 285 |
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0.01944617101253243
|
| 286 |
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],
|
| 287 |
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"orientation": {
|
| 288 |
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"w": 0.3312552045271071,
|
| 289 |
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"xyz": [
|
| 290 |
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0.6466547267176482,
|
| 291 |
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-0.364803379271908,
|
| 292 |
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0.582259519766937
|
| 293 |
+
]
|
| 294 |
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}
|
| 295 |
+
},
|
| 296 |
+
"grasp_15": {
|
| 297 |
+
"confidence": 0.9131348133087158,
|
| 298 |
+
"position": [
|
| 299 |
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0.03154222114244476,
|
| 300 |
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0.18304038234055042,
|
| 301 |
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0.005995823194098193
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
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"w": 0.5348380672907723,
|
| 305 |
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"xyz": [
|
| 306 |
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0.4318300247197453,
|
| 307 |
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-0.5767690714580461,
|
| 308 |
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0.4413711700333849
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_16": {
|
| 313 |
+
"confidence": 0.8606115579605103,
|
| 314 |
+
"position": [
|
| 315 |
+
-0.05706580908736214,
|
| 316 |
+
0.162162022665143,
|
| 317 |
+
0.0034149322964367457
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.6005093988022345,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.35370951483288465,
|
| 323 |
+
0.6260213445734385,
|
| 324 |
+
-0.3498218363757871
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
}
|
| 328 |
+
}
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"part_name": "box-end opening",
|
| 332 |
+
"mask_color": "Black",
|
| 333 |
+
"graspable": false,
|
| 334 |
+
"grasp_scenarios": [],
|
| 335 |
+
"functional_labels": [
|
| 336 |
+
"engage the fastener profile",
|
| 337 |
+
"provide enclosed driving contact",
|
| 338 |
+
"improve retention on nuts and bolts"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Dark recessed multi-point opening inside the ring head, appearing black due to shadow, small and non-graspable relative to the surrounding orange metal.",
|
| 341 |
+
"id": null
|
| 342 |
+
},
|
| 343 |
+
{
|
| 344 |
+
"part_name": "printed marking",
|
| 345 |
+
"mask_color": "Blue",
|
| 346 |
+
"graspable": false,
|
| 347 |
+
"grasp_scenarios": [],
|
| 348 |
+
"functional_labels": [
|
| 349 |
+
"indicate size or brand",
|
| 350 |
+
"provide identification",
|
| 351 |
+
"aid tool selection"
|
| 352 |
+
],
|
| 353 |
+
"semantic_description": "Small black printed text or logo on the handle surface, flat and non-structural, appearing as a compact marking along the orange metal body.",
|
| 354 |
+
"id": 2,
|
| 355 |
+
"grasp_group": {}
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"part_name": "printed marking",
|
| 359 |
+
"mask_color": "Green",
|
| 360 |
+
"graspable": false,
|
| 361 |
+
"grasp_scenarios": [],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"indicate specification or brand",
|
| 364 |
+
"provide manufacturer information",
|
| 365 |
+
"aid visual identification"
|
| 366 |
+
],
|
| 367 |
+
"semantic_description": "Small black printed text or symbol on the handle surface, flat and non-structural, visible as a compact marking on the orange-painted metal body.",
|
| 368 |
+
"id": 1,
|
| 369 |
+
"grasp_group": {}
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"part_name": "printed marking",
|
| 373 |
+
"mask_color": "Orange",
|
| 374 |
+
"graspable": false,
|
| 375 |
+
"grasp_scenarios": [],
|
| 376 |
+
"functional_labels": [
|
| 377 |
+
"mark branding or specification area",
|
| 378 |
+
"provide visual identification",
|
| 379 |
+
"aid tool selection"
|
| 380 |
+
],
|
| 381 |
+
"semantic_description": "Small black printed marking on the handle near other markings, flat and non-structural on the smooth orange-painted metal surface.",
|
| 382 |
+
"id": 4,
|
| 383 |
+
"grasp_group": {}
|
| 384 |
+
},
|
| 385 |
+
{
|
| 386 |
+
"part_name": "printed marking",
|
| 387 |
+
"mask_color": "Red",
|
| 388 |
+
"graspable": false,
|
| 389 |
+
"grasp_scenarios": [],
|
| 390 |
+
"functional_labels": [
|
| 391 |
+
"show logo or symbol",
|
| 392 |
+
"provide identification",
|
| 393 |
+
"aid orientation by visual cue"
|
| 394 |
+
],
|
| 395 |
+
"semantic_description": "Small black printed icon-like marking on the handle, flat and informational, contrasting against the orange-painted metal without adding usable geometry.",
|
| 396 |
+
"id": 0,
|
| 397 |
+
"grasp_group": {}
|
| 398 |
+
},
|
| 399 |
+
{
|
| 400 |
+
"part_name": "printed marking",
|
| 401 |
+
"mask_color": "Yellow",
|
| 402 |
+
"graspable": false,
|
| 403 |
+
"grasp_scenarios": [],
|
| 404 |
+
"functional_labels": [
|
| 405 |
+
"show size information",
|
| 406 |
+
"provide specification cue",
|
| 407 |
+
"aid sorting and selection"
|
| 408 |
+
],
|
| 409 |
+
"semantic_description": "Small black printed specification-like marking on the handle surface, visually subtle and flat on the hard smooth orange-painted metal body.",
|
| 410 |
+
"id": 3,
|
| 411 |
+
"grasp_group": {}
|
| 412 |
+
}
|
| 413 |
+
],
|
| 414 |
+
"quality_check": {
|
| 415 |
+
"success": false,
|
| 416 |
+
"message": "One mask color mislabeled and several printed-mark parts over-segmented with unsupported specific descriptions."
|
| 417 |
+
}
|
| 418 |
+
}
|
dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a6750bf1521951f9bad5a52965109ef970457b402c1c1e5c0aa6cf79feea4da
|
| 3 |
+
size 3781732
|