xinjjj commited on
Commit
7eda010
·
verified ·
1 Parent(s): 46597ee

Add asset tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd

Browse files
.gitattributes CHANGED
@@ -7866,3 +7866,4 @@ dataset/tools/repair_tools/57dfc5b389fe528d8cc528de636702e2/affordance/mesh_part
7866
  dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7867
  dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7868
  dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7866
  dataset/tools/repair_tools/5987958b82725d6db46b8ee8db71c41d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7867
  dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7868
  dataset/tools/repair_tools/5c5e28b94f175092a85a63338a39e2ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7869
+ dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,811 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "left handle grip",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp this handle grip to pick up or reposition the pliers",
10
+ "confidence": 0.74
11
+ },
12
+ {
13
+ "scenario": "hold this handle while another gripper actuates the opposite handle",
14
+ "confidence": 0.61
15
+ },
16
+ {
17
+ "scenario": "pinch both handle grips together to close the jaws",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide handhold for manipulation",
23
+ "transmit squeezing force",
24
+ "support opening and closing motion",
25
+ "offer cushioned gripping surface"
26
+ ],
27
+ "semantic_description": "One elongated curved rear handle grip made of smooth matte-coated material, predominantly lavender/purple with a pale white inner section, medium size and contoured for secure holding.",
28
+ "id": 5,
29
+ "grasp_group": {
30
+ "grasp_60": {
31
+ "confidence": 0.9631385207176208,
32
+ "position": [
33
+ -0.13030188699485734,
34
+ -0.03462607320398092,
35
+ -0.002777842528303154
36
+ ],
37
+ "orientation": {
38
+ "w": 0.715052031088551,
39
+ "xyz": [
40
+ 0.0031543726561800234,
41
+ 0.6989584534051958,
42
+ -0.012154142614778105
43
+ ]
44
+ }
45
+ },
46
+ "grasp_61": {
47
+ "confidence": 0.9630417823791504,
48
+ "position": [
49
+ -0.12911503930808976,
50
+ -0.042687210254371166,
51
+ 0.0008512609492754564
52
+ ],
53
+ "orientation": {
54
+ "w": 0.024322208937318776,
55
+ "xyz": [
56
+ -0.6973370686095842,
57
+ -0.03438867379946364,
58
+ -0.7155046205369434
59
+ ]
60
+ }
61
+ },
62
+ "grasp_62": {
63
+ "confidence": 0.9615083932876587,
64
+ "position": [
65
+ -0.12708779593231156,
66
+ -0.032470530830323696,
67
+ -0.018931335958768614
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7705958444182426,
71
+ "xyz": [
72
+ -0.022770955231667195,
73
+ 0.6369171130710245,
74
+ -0.00034531209747121644
75
+ ]
76
+ }
77
+ },
78
+ "grasp_63": {
79
+ "confidence": 0.9612494707107544,
80
+ "position": [
81
+ -0.12764885445358232,
82
+ -0.023812866769731045,
83
+ -0.00920593757473398
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7327964892700805,
87
+ "xyz": [
88
+ -0.0011235104553548707,
89
+ 0.6803380299839282,
90
+ -0.012174070612958523
91
+ ]
92
+ }
93
+ },
94
+ "grasp_64": {
95
+ "confidence": 0.9607419967651367,
96
+ "position": [
97
+ -0.12852481921436265,
98
+ -0.01887101400643587,
99
+ -0.005646909776260145
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7252162006816278,
103
+ "xyz": [
104
+ 0.021095442059584645,
105
+ 0.6875125244495096,
106
+ -0.03070787062429369
107
+ ]
108
+ }
109
+ },
110
+ "grasp_65": {
111
+ "confidence": 0.9594288468360901,
112
+ "position": [
113
+ -0.12988778372528031,
114
+ -0.05048887338489294,
115
+ -0.00010864170349123015
116
+ ],
117
+ "orientation": {
118
+ "w": 0.04362945703351224,
119
+ "xyz": [
120
+ -0.6922399924320864,
121
+ -0.05706316040024362,
122
+ -0.7180836017357043
123
+ ]
124
+ }
125
+ },
126
+ "grasp_69": {
127
+ "confidence": 0.9551926851272583,
128
+ "position": [
129
+ -0.12555319239618257,
130
+ -0.02181559707969427,
131
+ -0.026858802142669447
132
+ ],
133
+ "orientation": {
134
+ "w": 0.8028351947448261,
135
+ "xyz": [
136
+ 0.007495107937771245,
137
+ 0.595497846123906,
138
+ -0.027960484577848273
139
+ ]
140
+ }
141
+ },
142
+ "grasp_71": {
143
+ "confidence": 0.9549100399017334,
144
+ "position": [
145
+ -0.11353065987350419,
146
+ 0.03858877997845411,
147
+ -0.0006395252567017451
148
+ ],
149
+ "orientation": {
150
+ "w": 0.11442239613743298,
151
+ "xyz": [
152
+ 0.6944396304954518,
153
+ -0.07280326336603904,
154
+ 0.7066546537756363
155
+ ]
156
+ }
157
+ },
158
+ "grasp_75": {
159
+ "confidence": 0.9513060450553894,
160
+ "position": [
161
+ -0.12464529444696382,
162
+ -0.062167721800506115,
163
+ 0.0036797468055738136
164
+ ],
165
+ "orientation": {
166
+ "w": 0.10153251355574794,
167
+ "xyz": [
168
+ -0.6995831599925718,
169
+ -0.11093048094078306,
170
+ -0.6985477645401963
171
+ ]
172
+ }
173
+ },
174
+ "grasp_76": {
175
+ "confidence": 0.9502856731414795,
176
+ "position": [
177
+ -0.11829717626096681,
178
+ 0.027258272282779217,
179
+ -0.007691551189054735
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7286506678496774,
183
+ "xyz": [
184
+ 0.027054431088167918,
185
+ 0.6832651014507075,
186
+ -0.03853651697116456
187
+ ]
188
+ }
189
+ }
190
+ }
191
+ },
192
+ {
193
+ "part_name": "right handle grip",
194
+ "mask_color": "Orange",
195
+ "graspable": true,
196
+ "grasp_scenarios": [
197
+ {
198
+ "scenario": "grasp this handle grip to pick up or reposition the pliers",
199
+ "confidence": 0.74
200
+ },
201
+ {
202
+ "scenario": "hold this handle while another gripper actuates the opposite handle",
203
+ "confidence": 0.61
204
+ },
205
+ {
206
+ "scenario": "pinch both handle grips together to close the jaws",
207
+ "confidence": 0.9
208
+ }
209
+ ],
210
+ "functional_labels": [
211
+ "provide handhold for manipulation",
212
+ "transmit squeezing force",
213
+ "support opening and closing motion",
214
+ "offer cushioned gripping surface"
215
+ ],
216
+ "semantic_description": "The opposite elongated curved rear handle grip, also smooth and matte-coated, predominantly pale white with a lavender/purple section, mounted opposite the other handle and shaped for gripping.",
217
+ "id": 4,
218
+ "grasp_group": {
219
+ "grasp_40": {
220
+ "confidence": 0.9523040056228638,
221
+ "position": [
222
+ 0.11130322347162291,
223
+ 0.03600024897605181,
224
+ 0.016365899515221827
225
+ ],
226
+ "orientation": {
227
+ "w": 0.12366972712466331,
228
+ "xyz": [
229
+ 0.7527863253941106,
230
+ 0.11503440043368829,
231
+ -0.636227658632824
232
+ ]
233
+ }
234
+ },
235
+ "grasp_43": {
236
+ "confidence": 0.9500079154968262,
237
+ "position": [
238
+ 0.11777434329269454,
239
+ 0.007523512234911323,
240
+ -0.0017404342797817662
241
+ ],
242
+ "orientation": {
243
+ "w": 0.7116955000580651,
244
+ "xyz": [
245
+ 0.033218973746947406,
246
+ -0.7015148512690315,
247
+ 0.016215067970537466
248
+ ]
249
+ }
250
+ },
251
+ "grasp_44": {
252
+ "confidence": 0.9476532936096191,
253
+ "position": [
254
+ 0.1250197199988179,
255
+ -0.06547545175999403,
256
+ -0.006858393273432739
257
+ ],
258
+ "orientation": {
259
+ "w": 0.129744262795541,
260
+ "xyz": [
261
+ -0.676891734528348,
262
+ 0.1260160963114879,
263
+ 0.713515206193435
264
+ ]
265
+ }
266
+ },
267
+ "grasp_46": {
268
+ "confidence": 0.9458802342414856,
269
+ "position": [
270
+ 0.13112994114635512,
271
+ -0.030243552289903164,
272
+ -0.005975096675683744
273
+ ],
274
+ "orientation": {
275
+ "w": 0.027615449447586662,
276
+ "xyz": [
277
+ 0.6792404577197557,
278
+ 0.02810988806253112,
279
+ -0.7328571632600563
280
+ ]
281
+ }
282
+ },
283
+ "grasp_47": {
284
+ "confidence": 0.945759654045105,
285
+ "position": [
286
+ 0.1288629827904515,
287
+ -0.021197176538407803,
288
+ -0.005383756666560657
289
+ ],
290
+ "orientation": {
291
+ "w": 0.7270835651997043,
292
+ "xyz": [
293
+ 0.020436797526859726,
294
+ -0.6862444167070749,
295
+ -0.0006534995791846196
296
+ ]
297
+ }
298
+ },
299
+ "grasp_48": {
300
+ "confidence": 0.9455329179763794,
301
+ "position": [
302
+ 0.11741219292161986,
303
+ 0.006629658862948418,
304
+ 0.02658906094438862
305
+ ],
306
+ "orientation": {
307
+ "w": 0.603378445637439,
308
+ "xyz": [
309
+ 0.0623178350472605,
310
+ -0.7913844716870321,
311
+ 0.07590491912787409
312
+ ]
313
+ }
314
+ },
315
+ "grasp_50": {
316
+ "confidence": 0.9444723725318909,
317
+ "position": [
318
+ 0.1180011464166455,
319
+ -0.0889663053676486,
320
+ -0.01653748490207363
321
+ ],
322
+ "orientation": {
323
+ "w": 0.16452726814919297,
324
+ "xyz": [
325
+ -0.6271276737005261,
326
+ 0.18667890520409391,
327
+ 0.7381007013044566
328
+ ]
329
+ }
330
+ },
331
+ "grasp_52": {
332
+ "confidence": 0.9428525567054749,
333
+ "position": [
334
+ 0.10644358227727935,
335
+ 0.047897872515022755,
336
+ 0.0009768000309122726
337
+ ],
338
+ "orientation": {
339
+ "w": 0.17360338753717375,
340
+ "xyz": [
341
+ 0.6835630442645562,
342
+ 0.16569606312547513,
343
+ -0.6893099760021674
344
+ ]
345
+ }
346
+ },
347
+ "grasp_53": {
348
+ "confidence": 0.942400336265564,
349
+ "position": [
350
+ 0.11601490358589217,
351
+ -0.10307762306183577,
352
+ -0.001599687573616393
353
+ ],
354
+ "orientation": {
355
+ "w": 0.6853736916651537,
356
+ "xyz": [
357
+ -0.18914034896486015,
358
+ -0.6725504465416464,
359
+ -0.20534051724723415
360
+ ]
361
+ }
362
+ },
363
+ "grasp_55": {
364
+ "confidence": 0.9410455226898193,
365
+ "position": [
366
+ 0.12054212967632338,
367
+ -0.02649726253002882,
368
+ 0.04169018268294167
369
+ ],
370
+ "orientation": {
371
+ "w": 0.5358185488211498,
372
+ "xyz": [
373
+ 0.025164441170809654,
374
+ -0.843669000616094,
375
+ 0.022087350207740383
376
+ ]
377
+ }
378
+ },
379
+ "grasp_59": {
380
+ "confidence": 0.9392038583755493,
381
+ "position": [
382
+ 0.12555869499919936,
383
+ -0.004811996594071388,
384
+ -0.005028068742831238
385
+ ],
386
+ "orientation": {
387
+ "w": 0.7257608025204738,
388
+ "xyz": [
389
+ 0.06019327522244094,
390
+ -0.6834094595359127,
391
+ 0.05098566229504716
392
+ ]
393
+ }
394
+ }
395
+ }
396
+ },
397
+ {
398
+ "part_name": "left jaw",
399
+ "mask_color": "Green",
400
+ "graspable": true,
401
+ "grasp_scenarios": [
402
+ {
403
+ "scenario": "delicately grasp the jaw tip to orient the tool in a bin-picking setup",
404
+ "confidence": 0.29
405
+ },
406
+ {
407
+ "scenario": "stabilize the pliers by lightly holding one jaw during fixture placement",
408
+ "confidence": 0.24
409
+ }
410
+ ],
411
+ "functional_labels": [
412
+ "grip small parts",
413
+ "reach into narrow spaces",
414
+ "apply pinching force at the tip",
415
+ "position workpieces"
416
+ ],
417
+ "semantic_description": "A long narrow metallic jaw with a dull reflective steel finish and fine serrations on the inner gripping face, extending from the pivot to the pointed nose.",
418
+ "id": 1,
419
+ "grasp_group": {
420
+ "grasp_20": {
421
+ "confidence": 0.9653798937797546,
422
+ "position": [
423
+ -0.08254322578432038,
424
+ 0.13208330143243074,
425
+ 0.002547194526414387
426
+ ],
427
+ "orientation": {
428
+ "w": 0.6514650363482715,
429
+ "xyz": [
430
+ 0.2353189209795566,
431
+ 0.677692771290848,
432
+ -0.24688219778852727
433
+ ]
434
+ }
435
+ },
436
+ "grasp_22": {
437
+ "confidence": 0.852627158164978,
438
+ "position": [
439
+ -0.07055637409212068,
440
+ 0.14759836066514254,
441
+ 0.0015082760219229385
442
+ ],
443
+ "orientation": {
444
+ "w": 0.6336366267201615,
445
+ "xyz": [
446
+ 0.2917754898313637,
447
+ 0.6508616189865355,
448
+ -0.2995844484324706
449
+ ]
450
+ }
451
+ },
452
+ "grasp_23": {
453
+ "confidence": 0.7539878487586975,
454
+ "position": [
455
+ -0.07019951363326982,
456
+ 0.1409734832122922,
457
+ -0.021779525282909162
458
+ ],
459
+ "orientation": {
460
+ "w": 0.7227144615905134,
461
+ "xyz": [
462
+ 0.3053391525723946,
463
+ 0.5623274914600463,
464
+ -0.2612271066764663
465
+ ]
466
+ }
467
+ },
468
+ "grasp_27": {
469
+ "confidence": 0.3073974847793579,
470
+ "position": [
471
+ -0.05696354602696374,
472
+ 0.15391262341290712,
473
+ -0.007340206022490747
474
+ ],
475
+ "orientation": {
476
+ "w": 0.634918083277822,
477
+ "xyz": [
478
+ 0.36881083054126784,
479
+ 0.6001792516853124,
480
+ -0.3172419654597025
481
+ ]
482
+ }
483
+ },
484
+ "grasp_31": {
485
+ "confidence": 0.4933379590511322,
486
+ "position": [
487
+ -0.06314428319456056,
488
+ 0.14065345097333193,
489
+ 0.00402579344518017
490
+ ],
491
+ "orientation": {
492
+ "w": 0.3293512569074063,
493
+ "xyz": [
494
+ 0.6352841973813679,
495
+ -0.30508888788030375,
496
+ 0.6283808627122422
497
+ ]
498
+ }
499
+ },
500
+ "grasp_33": {
501
+ "confidence": 0.9871620535850525,
502
+ "position": [
503
+ -0.0998006405425258,
504
+ 0.09390756953507662,
505
+ -0.013507228533853777
506
+ ],
507
+ "orientation": {
508
+ "w": 0.09334610445318386,
509
+ "xyz": [
510
+ 0.6518280990433392,
511
+ -0.06618564222873657,
512
+ 0.7496839966570797
513
+ ]
514
+ }
515
+ },
516
+ "grasp_34": {
517
+ "confidence": 0.9860140085220337,
518
+ "position": [
519
+ -0.10195232351543382,
520
+ 0.09169220644980669,
521
+ -0.012445192041923292
522
+ ],
523
+ "orientation": {
524
+ "w": 0.7415831272782417,
525
+ "xyz": [
526
+ 0.04446534075330049,
527
+ 0.6668393156650776,
528
+ -0.05833203143425471
529
+ ]
530
+ }
531
+ },
532
+ "grasp_35": {
533
+ "confidence": 0.9848950505256653,
534
+ "position": [
535
+ -0.09525226225377992,
536
+ 0.10466564912348986,
537
+ -0.004809797464986332
538
+ ],
539
+ "orientation": {
540
+ "w": 0.15373290721471458,
541
+ "xyz": [
542
+ 0.672693905764154,
543
+ -0.14357380964020272,
544
+ 0.7093910512351266
545
+ ]
546
+ }
547
+ },
548
+ "grasp_36": {
549
+ "confidence": 0.9843369126319885,
550
+ "position": [
551
+ -0.09654802997829393,
552
+ 0.11037978250533342,
553
+ -0.005226865134318359
554
+ ],
555
+ "orientation": {
556
+ "w": 0.14623262457398617,
557
+ "xyz": [
558
+ 0.6710529555106768,
559
+ -0.13571565599535051,
560
+ 0.7140624700461028
561
+ ]
562
+ }
563
+ },
564
+ "grasp_38": {
565
+ "confidence": 0.9829612374305725,
566
+ "position": [
567
+ -0.1030858921003528,
568
+ 0.07341365236788988,
569
+ 0.003932278879801743
570
+ ],
571
+ "orientation": {
572
+ "w": 0.6951587232700046,
573
+ "xyz": [
574
+ 0.052035321698850945,
575
+ 0.7136029015732825,
576
+ -0.06940874313446795
577
+ ]
578
+ }
579
+ },
580
+ "grasp_39": {
581
+ "confidence": 0.9819066524505615,
582
+ "position": [
583
+ -0.09297526796581224,
584
+ 0.11840138304978609,
585
+ 0.004201538205961697
586
+ ],
587
+ "orientation": {
588
+ "w": 0.6779890467373575,
589
+ "xyz": [
590
+ 0.15759677513388207,
591
+ 0.6966326124745188,
592
+ -0.17377316308479823
593
+ ]
594
+ }
595
+ }
596
+ }
597
+ },
598
+ {
599
+ "part_name": "right jaw",
600
+ "mask_color": "Red",
601
+ "graspable": true,
602
+ "grasp_scenarios": [
603
+ {
604
+ "scenario": "delicately grasp the jaw tip to orient the tool in a bin-picking setup",
605
+ "confidence": 0.29
606
+ },
607
+ {
608
+ "scenario": "stabilize the pliers by lightly holding one jaw during fixture placement",
609
+ "confidence": 0.24
610
+ }
611
+ ],
612
+ "functional_labels": [
613
+ "grip small parts",
614
+ "reach into narrow spaces",
615
+ "apply pinching force at the tip",
616
+ "position workpieces"
617
+ ],
618
+ "semantic_description": "The matching opposing long narrow metallic jaw with a dull reflective steel finish and serrated inner gripping face, forming the other half of the pointed nose.",
619
+ "id": 0,
620
+ "grasp_group": {
621
+ "grasp_1": {
622
+ "confidence": 0.776117742061615,
623
+ "position": [
624
+ 0.009661992255132645,
625
+ 0.20701066125184298,
626
+ -0.003834740215097554
627
+ ],
628
+ "orientation": {
629
+ "w": 0.47596387840053467,
630
+ "xyz": [
631
+ 0.44893463152445806,
632
+ 0.5159904341920357,
633
+ -0.5528742668077745
634
+ ]
635
+ }
636
+ },
637
+ "grasp_7": {
638
+ "confidence": 0.6421626806259155,
639
+ "position": [
640
+ 0.06122992391465232,
641
+ 0.15854999888688326,
642
+ 0.00036781014932785183
643
+ ],
644
+ "orientation": {
645
+ "w": 0.3430884951418519,
646
+ "xyz": [
647
+ 0.6211396863613485,
648
+ 0.33234384276952045,
649
+ -0.6213077697095164
650
+ ]
651
+ }
652
+ }
653
+ }
654
+ },
655
+ {
656
+ "part_name": "pivot joint",
657
+ "mask_color": "Cyan",
658
+ "graspable": false,
659
+ "grasp_scenarios": [],
660
+ "functional_labels": [
661
+ "connect the two halves",
662
+ "provide rotational hinge",
663
+ "transfer force from handles to jaws",
664
+ "set jaw alignment"
665
+ ],
666
+ "semantic_description": "A small round central metal pivot with a smooth slightly reflective finish and visible fastener detail, located where the handles and jaws rotate.",
667
+ "id": 6,
668
+ "grasp_group": {}
669
+ },
670
+ {
671
+ "part_name": "spring of pliers",
672
+ "mask_color": "Yellow",
673
+ "graspable": false,
674
+ "grasp_scenarios": [],
675
+ "functional_labels": [
676
+ "reopen the handles",
677
+ "bias the jaws apart",
678
+ "assist repeated operation",
679
+ "maintain ready state"
680
+ ],
681
+ "semantic_description": "A small dark metal spring near the pivot between the handles, thin and flexible, used to push the pliers back open.",
682
+ "id": 3,
683
+ "grasp_group": {}
684
+ },
685
+ {
686
+ "part_name": "locking latch",
687
+ "mask_color": "Pink",
688
+ "graspable": true,
689
+ "grasp_scenarios": [
690
+ {
691
+ "scenario": "pinch the small latch to engage or release the handle lock",
692
+ "confidence": 0.38
693
+ },
694
+ {
695
+ "scenario": "nudge the latch with a precision gripper during storage-state adjustment",
696
+ "confidence": 0.28
697
+ }
698
+ ],
699
+ "functional_labels": [
700
+ "lock handles closed",
701
+ "release storage lock",
702
+ "secure tool for storage",
703
+ "control opening state"
704
+ ],
705
+ "semantic_description": "A small latch near the base of the handles close to the pivot, visible as a small magenta-pink coated or painted tab with a smooth hard surface used to secure the pliers closed.",
706
+ "id": 8,
707
+ "grasp_group": {
708
+ "grasp_81": {
709
+ "confidence": 0.7354680895805359,
710
+ "position": [
711
+ -0.007563162420410663,
712
+ 0.04963021073490381,
713
+ 0.10237215161032509
714
+ ],
715
+ "orientation": {
716
+ "w": 0.02585750273121492,
717
+ "xyz": [
718
+ 0.9985847121616621,
719
+ 0.013524537151796391,
720
+ 0.04446402011002951
721
+ ]
722
+ }
723
+ },
724
+ "grasp_82": {
725
+ "confidence": 0.7301561236381531,
726
+ "position": [
727
+ 0.02169757167575881,
728
+ 0.07050332520157099,
729
+ -0.0889379709988134
730
+ ],
731
+ "orientation": {
732
+ "w": 0.04780599070907997,
733
+ "xyz": [
734
+ -0.0967557325187581,
735
+ -0.1450807602001115,
736
+ 0.983516389541547
737
+ ]
738
+ }
739
+ },
740
+ "grasp_83": {
741
+ "confidence": 0.7192761301994324,
742
+ "position": [
743
+ -0.00046931361430324614,
744
+ 0.05013784859329462,
745
+ 0.098970857259701
746
+ ],
747
+ "orientation": {
748
+ "w": 0.038308493823079784,
749
+ "xyz": [
750
+ -0.012231664396493164,
751
+ 0.9987205910531747,
752
+ -0.030659854753348974
753
+ ]
754
+ }
755
+ },
756
+ "grasp_84": {
757
+ "confidence": 0.6988850235939026,
758
+ "position": [
759
+ 0.003195756289642304,
760
+ 0.06562567222863436,
761
+ 0.09673022925562691
762
+ ],
763
+ "orientation": {
764
+ "w": 0.021797317943810488,
765
+ "xyz": [
766
+ 0.004117226873092329,
767
+ 0.9919072390909346,
768
+ -0.12501181709074935
769
+ ]
770
+ }
771
+ },
772
+ "grasp_85": {
773
+ "confidence": 0.6911390423774719,
774
+ "position": [
775
+ -0.007398034736979753,
776
+ 0.042580985464155674,
777
+ 0.10261718630499672
778
+ ],
779
+ "orientation": {
780
+ "w": 0.01412650066366022,
781
+ "xyz": [
782
+ 0.9989860466923174,
783
+ 0.012485849055570868,
784
+ 0.04088305353586117
785
+ ]
786
+ }
787
+ },
788
+ "grasp_87": {
789
+ "confidence": 0.35017287731170654,
790
+ "position": [
791
+ 0.0026712673134170473,
792
+ 0.12240871507674456,
793
+ 0.0644835874409182
794
+ ],
795
+ "orientation": {
796
+ "w": 0.4503830325606562,
797
+ "xyz": [
798
+ 0.8927305942987331,
799
+ -0.005481763270834161,
800
+ 0.012536357363280516
801
+ ]
802
+ }
803
+ }
804
+ }
805
+ }
806
+ ],
807
+ "quality_check": {
808
+ "success": false,
809
+ "message": "Several semantic descriptions use mask colors as real colors; latch color/location also mismatched."
810
+ }
811
+ }
dataset/tools/repair_tools/5b2b43d77250554aaef4c8bd8065c8bd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55c456d094ddeb99f90e43bdcfe547345d11397b17fd9816fcf775249fdb3ab3
3
+ size 3782904