xinjjj commited on
Commit
8b733fb
·
verified ·
1 Parent(s): 51247f0

Add asset tools/repair_tools/26781fac8d9f5fabac383600e1299eeb

Browse files
.gitattributes CHANGED
@@ -7820,4 +7820,4 @@ dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part
7820
  dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7821
  dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7822
  dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7823
- dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7820
  dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7821
  dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7822
  dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7823
+ dataset/tools/repair_tools/26781fac8d9f5fabac383600e1299eeb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/26781fac8d9f5fabac383600e1299eeb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle grip",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main handle to pick up and use the screwdriver",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to apply torque while turning a fastener",
14
+ "confidence": 0.99
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to reposition or store the tool",
18
+ "confidence": 0.94
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "apply torque",
24
+ "hold and manipulate the screwdriver",
25
+ "provide hand comfort and control"
26
+ ],
27
+ "semantic_description": "Large tapered red handle with a smooth mostly matte surface and slightly bulbous shape, forming the main body of the screwdriver.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9896001815795898,
32
+ "position": [
33
+ -0.0973735647094145,
34
+ -0.00596220139414072,
35
+ -0.013637630403536605
36
+ ],
37
+ "orientation": {
38
+ "w": 0.04030644797186748,
39
+ "xyz": [
40
+ -0.6469550508615471,
41
+ -0.005593746404577549,
42
+ -0.7614415686169131
43
+ ]
44
+ }
45
+ },
46
+ "grasp_22": {
47
+ "confidence": 0.9887399077415466,
48
+ "position": [
49
+ -0.0970364035856619,
50
+ -0.012317808344960213,
51
+ -0.021100334957736777
52
+ ],
53
+ "orientation": {
54
+ "w": 0.04245383638546249,
55
+ "xyz": [
56
+ -0.6139626196605085,
57
+ 0.006728708073875156,
58
+ -0.7881638775809368
59
+ ]
60
+ }
61
+ },
62
+ "grasp_23": {
63
+ "confidence": 0.9886237382888794,
64
+ "position": [
65
+ 0.08411795182109927,
66
+ -0.004687945358455181,
67
+ 0.05220357501457329
68
+ ],
69
+ "orientation": {
70
+ "w": 0.0697028779045417,
71
+ "xyz": [
72
+ 0.8681560011291809,
73
+ 0.02141108232435396,
74
+ -0.4909055225488037
75
+ ]
76
+ }
77
+ },
78
+ "grasp_25": {
79
+ "confidence": 0.9873336553573608,
80
+ "position": [
81
+ -0.09790897088169004,
82
+ 0.005707761272788048,
83
+ -0.016036061704653548
84
+ ],
85
+ "orientation": {
86
+ "w": 0.02794851469874592,
87
+ "xyz": [
88
+ 0.6448188331930855,
89
+ -0.01403758326708715,
90
+ 0.7636952920777114
91
+ ]
92
+ }
93
+ },
94
+ "grasp_26": {
95
+ "confidence": 0.9872220158576965,
96
+ "position": [
97
+ 0.09733806831718539,
98
+ -0.015396880451589823,
99
+ -0.0011809098250523675
100
+ ],
101
+ "orientation": {
102
+ "w": 0.0855656712278789,
103
+ "xyz": [
104
+ 0.7033564453306022,
105
+ 0.05803470909921338,
106
+ -0.7032781805651243
107
+ ]
108
+ }
109
+ },
110
+ "grasp_27": {
111
+ "confidence": 0.9868977069854736,
112
+ "position": [
113
+ 0.09551899416328524,
114
+ 0.004431173205375671,
115
+ 0.016901535778742982
116
+ ],
117
+ "orientation": {
118
+ "w": 0.643926113078475,
119
+ "xyz": [
120
+ 0.10509708138102229,
121
+ -0.754177093441711,
122
+ 0.07436851557380147
123
+ ]
124
+ }
125
+ },
126
+ "grasp_29": {
127
+ "confidence": 0.9868064522743225,
128
+ "position": [
129
+ 0.07345523966432665,
130
+ -0.006893978454172611,
131
+ 0.06285546520302887
132
+ ],
133
+ "orientation": {
134
+ "w": 0.0685431156765876,
135
+ "xyz": [
136
+ 0.904793335841988,
137
+ 0.030805025054905177,
138
+ -0.4191681179916246
139
+ ]
140
+ }
141
+ },
142
+ "grasp_30": {
143
+ "confidence": 0.9867305755615234,
144
+ "position": [
145
+ 0.09994781298519229,
146
+ -0.012786352075636387,
147
+ -0.00011880744932568632
148
+ ],
149
+ "orientation": {
150
+ "w": 0.027622598913392266,
151
+ "xyz": [
152
+ 0.7058180544216474,
153
+ 0.021432634364783265,
154
+ -0.7075298638685832
155
+ ]
156
+ }
157
+ },
158
+ "grasp_31": {
159
+ "confidence": 0.9865630865097046,
160
+ "position": [
161
+ 0.09104147089601611,
162
+ -0.025620179250836372,
163
+ 0.0367783660585701
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5526365458885443,
167
+ "xyz": [
168
+ 0.040792954335227914,
169
+ -0.8323175914063047,
170
+ 0.013274413756925778
171
+ ]
172
+ }
173
+ },
174
+ "grasp_32": {
175
+ "confidence": 0.9864541888237,
176
+ "position": [
177
+ 0.02881847603202914,
178
+ -0.037961702793836594,
179
+ 0.08918694952080841
180
+ ],
181
+ "orientation": {
182
+ "w": 0.15591734092355589,
183
+ "xyz": [
184
+ -0.9755815765044837,
185
+ 0.009343874316604772,
186
+ 0.15441198916246493
187
+ ]
188
+ }
189
+ },
190
+ "grasp_33": {
191
+ "confidence": 0.9864535927772522,
192
+ "position": [
193
+ 0.09262440634847735,
194
+ -0.029850710183382034,
195
+ -0.03019802658309345
196
+ ],
197
+ "orientation": {
198
+ "w": 0.10728492710660203,
199
+ "xyz": [
200
+ -0.5850658821198014,
201
+ 0.08072005499195878,
202
+ 0.7997950554468347
203
+ ]
204
+ }
205
+ },
206
+ "grasp_34": {
207
+ "confidence": 0.9863380789756775,
208
+ "position": [
209
+ -0.05551852377175237,
210
+ -0.007747029885649681,
211
+ 0.07577831843445892
212
+ ],
213
+ "orientation": {
214
+ "w": 0.3287803029859945,
215
+ "xyz": [
216
+ 0.026871213440663087,
217
+ 0.9422344347531391,
218
+ -0.058100948547303265
219
+ ]
220
+ }
221
+ },
222
+ "grasp_35": {
223
+ "confidence": 0.9863125681877136,
224
+ "position": [
225
+ 0.08681148571849917,
226
+ -0.0158634961117059,
227
+ -0.048027722299593734
228
+ ],
229
+ "orientation": {
230
+ "w": 0.06604765978746868,
231
+ "xyz": [
232
+ 0.4975635385966467,
233
+ 0.12373310110285018,
234
+ -0.8560130556172926
235
+ ]
236
+ }
237
+ },
238
+ "grasp_36": {
239
+ "confidence": 0.986302375793457,
240
+ "position": [
241
+ -0.06264424787877942,
242
+ 0.008046632632613182,
243
+ 0.07218173691580887
244
+ ],
245
+ "orientation": {
246
+ "w": 0.360255872883244,
247
+ "xyz": [
248
+ 0.02807093853931038,
249
+ 0.9314605859603926,
250
+ -0.04253122693946601
251
+ ]
252
+ }
253
+ },
254
+ "grasp_37": {
255
+ "confidence": 0.9861004948616028,
256
+ "position": [
257
+ 0.09654235376001452,
258
+ -0.0438788253813982,
259
+ -0.019538425043720054
260
+ ],
261
+ "orientation": {
262
+ "w": 0.042671191267811506,
263
+ "xyz": [
264
+ -0.6406093181120596,
265
+ 0.01971389164842008,
266
+ 0.7664269263666712
267
+ ]
268
+ }
269
+ },
270
+ "grasp_38": {
271
+ "confidence": 0.9860562086105347,
272
+ "position": [
273
+ 0.07032428218008135,
274
+ 0.016009751707315445,
275
+ 0.06281863698313828
276
+ ],
277
+ "orientation": {
278
+ "w": 0.12042721028322793,
279
+ "xyz": [
280
+ 0.901592910218493,
281
+ 0.06609429865497418,
282
+ -0.4101939235927987
283
+ ]
284
+ }
285
+ },
286
+ "grasp_39": {
287
+ "confidence": 0.9860397577285767,
288
+ "position": [
289
+ -0.09389456825374509,
290
+ -0.0049838712438941,
291
+ -0.030479645491141127
292
+ ],
293
+ "orientation": {
294
+ "w": 0.8083271348668528,
295
+ "xyz": [
296
+ 0.009040281285345996,
297
+ 0.5885226092637476,
298
+ 0.012909482468958329
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "shaft",
306
+ "mask_color": "Green",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "grasp the metal shaft lightly to stabilize the screwdriver near the working end for precise alignment",
311
+ "confidence": 0.44
312
+ },
313
+ {
314
+ "scenario": "hold the shaft to guide insertion into a tight space before shifting grip to the handle",
315
+ "confidence": 0.36
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "connect handle to tip",
320
+ "transmit torque",
321
+ "extend reach",
322
+ "align the working end"
323
+ ],
324
+ "semantic_description": "Thin cylindrical gray metal shaft with a slightly reflective smooth hard surface running between the handle and the driver tip.",
325
+ "id": 1,
326
+ "grasp_group": {
327
+ "grasp_0": {
328
+ "confidence": 0.9749666452407837,
329
+ "position": [
330
+ -0.039621618558157934,
331
+ -0.02202835609205067,
332
+ 0.08283474096606369
333
+ ],
334
+ "orientation": {
335
+ "w": 0.18319249529430592,
336
+ "xyz": [
337
+ -0.9548519004625691,
338
+ -0.04896409531071766,
339
+ -0.22869384605027954
340
+ ]
341
+ }
342
+ },
343
+ "grasp_5": {
344
+ "confidence": 0.965276837348938,
345
+ "position": [
346
+ -0.07911722825883771,
347
+ -0.025887046474963427,
348
+ 0.042808333277207566
349
+ ],
350
+ "orientation": {
351
+ "w": 0.16567103281104123,
352
+ "xyz": [
353
+ -0.8430774091662926,
354
+ -0.07406526920681888,
355
+ -0.5062488784561366
356
+ ]
357
+ }
358
+ },
359
+ "grasp_6": {
360
+ "confidence": 0.9477534890174866,
361
+ "position": [
362
+ -0.0896339611899748,
363
+ 0.04095373675227165,
364
+ -0.018509706616896437
365
+ ],
366
+ "orientation": {
367
+ "w": 0.7599687959957544,
368
+ "xyz": [
369
+ 0.12162437875644821,
370
+ 0.6307873340851273,
371
+ -0.09880424465907217
372
+ ]
373
+ }
374
+ },
375
+ "grasp_7": {
376
+ "confidence": 0.9378799200057983,
377
+ "position": [
378
+ -0.08955313729165937,
379
+ -0.02174733765423298,
380
+ 0.0052826813007413875
381
+ ],
382
+ "orientation": {
383
+ "w": 0.15583125145647692,
384
+ "xyz": [
385
+ -0.7116572662649242,
386
+ -0.1019212943993808,
387
+ -0.677401362701462
388
+ ]
389
+ }
390
+ },
391
+ "grasp_8": {
392
+ "confidence": 0.9373087882995605,
393
+ "position": [
394
+ 0.04283892644525622,
395
+ 0.022099751979112625,
396
+ -0.07283531329085235
397
+ ],
398
+ "orientation": {
399
+ "w": 0.9369222346302852,
400
+ "xyz": [
401
+ -0.2401329762047386,
402
+ -0.24363099646855535,
403
+ -0.07181098491307598
404
+ ]
405
+ }
406
+ },
407
+ "grasp_10": {
408
+ "confidence": 0.9200313091278076,
409
+ "position": [
410
+ -0.02880750315307523,
411
+ -0.005882216617465019,
412
+ -0.08108718892981415
413
+ ],
414
+ "orientation": {
415
+ "w": 0.955712439709071,
416
+ "xyz": [
417
+ -0.23089701637192098,
418
+ 0.1770431082429057,
419
+ 0.04422712108617796
420
+ ]
421
+ }
422
+ },
423
+ "grasp_12": {
424
+ "confidence": 0.9142277240753174,
425
+ "position": [
426
+ 0.08942620737434481,
427
+ 0.08306759223341942,
428
+ -0.0060481588770926464
429
+ ],
430
+ "orientation": {
431
+ "w": 0.7121917461129486,
432
+ "xyz": [
433
+ 0.18724230563981425,
434
+ -0.6647353193754335,
435
+ 0.1258975413664474
436
+ ]
437
+ }
438
+ },
439
+ "grasp_14": {
440
+ "confidence": 0.891159176826477,
441
+ "position": [
442
+ 0.08309600038410281,
443
+ 0.010518133640289307,
444
+ 0.004874289366853191
445
+ ],
446
+ "orientation": {
447
+ "w": 0.6502428823768474,
448
+ "xyz": [
449
+ -0.17831024140566853,
450
+ -0.7040716789986968,
451
+ -0.22287378167935734
452
+ ]
453
+ }
454
+ },
455
+ "grasp_18": {
456
+ "confidence": 0.8774088621139526,
457
+ "position": [
458
+ -0.08681452738164808,
459
+ -0.027046943083405495,
460
+ 0.011127860150736524
461
+ ],
462
+ "orientation": {
463
+ "w": 0.17856020420825175,
464
+ "xyz": [
465
+ -0.7332197325294845,
466
+ -0.10875218996301994,
467
+ -0.6470533505675911
468
+ ]
469
+ }
470
+ }
471
+ }
472
+ },
473
+ {
474
+ "part_name": "driver tip",
475
+ "mask_color": "Pink",
476
+ "graspable": false,
477
+ "grasp_scenarios": [],
478
+ "functional_labels": [
479
+ "engage screw head",
480
+ "drive or loosen fasteners",
481
+ "provide working contact point",
482
+ "transfer torque into the screw"
483
+ ],
484
+ "semantic_description": "Small dark metal driver tip at the front end of the shaft, narrow and elongated with a matte to slightly dull finish.",
485
+ "id": 8,
486
+ "grasp_group": {}
487
+ },
488
+ {
489
+ "part_name": "rear end cap",
490
+ "mask_color": "Yellow",
491
+ "graspable": true,
492
+ "grasp_scenarios": [
493
+ {
494
+ "scenario": "pinch the rear cap lightly to reorient the screwdriver during pickup",
495
+ "confidence": 0.4
496
+ },
497
+ {
498
+ "scenario": "use the rear cap as a contact point while pushing the screwdriver forward",
499
+ "confidence": 0.47
500
+ }
501
+ ],
502
+ "functional_labels": [
503
+ "rear contact surface",
504
+ "support orientation cue",
505
+ "protect handle end",
506
+ "allow pushing from the back"
507
+ ],
508
+ "semantic_description": "Small dark black rear cap at the butt end of the handle, rounded and smooth with a matte finish.",
509
+ "id": 3,
510
+ "grasp_group": {
511
+ "grasp_41": {
512
+ "confidence": 0.9522032737731934,
513
+ "position": [
514
+ -0.09618156122087385,
515
+ -0.1137997917830944,
516
+ -0.019712809607881354
517
+ ],
518
+ "orientation": {
519
+ "w": 0.04398162060057235,
520
+ "xyz": [
521
+ -0.6266308867534764,
522
+ -0.023974033591403376,
523
+ -0.7777046962242524
524
+ ]
525
+ }
526
+ },
527
+ "grasp_44": {
528
+ "confidence": 0.945268452167511,
529
+ "position": [
530
+ -0.08337382691024686,
531
+ -0.1481192372739315,
532
+ -0.03905722698618774
533
+ ],
534
+ "orientation": {
535
+ "w": 0.0985452871532663,
536
+ "xyz": [
537
+ -0.5163375614759863,
538
+ -0.17974643056262252,
539
+ -0.8314899696862906
540
+ ]
541
+ }
542
+ },
543
+ "grasp_45": {
544
+ "confidence": 0.9410811066627502,
545
+ "position": [
546
+ 0.10102038366676425,
547
+ -0.11582052335143089,
548
+ 0.010107874735695077
549
+ ],
550
+ "orientation": {
551
+ "w": 0.05637618543528211,
552
+ "xyz": [
553
+ -0.7531643652462249,
554
+ -0.007211843593795675,
555
+ 0.6553725306655724
556
+ ]
557
+ }
558
+ },
559
+ "grasp_49": {
560
+ "confidence": 0.9391427636146545,
561
+ "position": [
562
+ 0.10385533703447436,
563
+ -0.11736485734581947,
564
+ -0.0077161804256320465
565
+ ],
566
+ "orientation": {
567
+ "w": 0.7190368904201069,
568
+ "xyz": [
569
+ -0.03495002746663548,
570
+ -0.6912972929485192,
571
+ -0.06222940267360993
572
+ ]
573
+ }
574
+ },
575
+ "grasp_52": {
576
+ "confidence": 0.9377108812332153,
577
+ "position": [
578
+ 0.09771522415758227,
579
+ -0.13277383521199226,
580
+ 0.011543366923433496
581
+ ],
582
+ "orientation": {
583
+ "w": 0.661731353509187,
584
+ "xyz": [
585
+ -0.08164505066918788,
586
+ -0.7367324696330274,
587
+ -0.11256540175624855
588
+ ]
589
+ }
590
+ },
591
+ "grasp_53": {
592
+ "confidence": 0.9346858263015747,
593
+ "position": [
594
+ 0.0880856467592821,
595
+ -0.15177222713828087,
596
+ -0.027767002717155265
597
+ ],
598
+ "orientation": {
599
+ "w": 0.1881426573260733,
600
+ "xyz": [
601
+ -0.5972484190522782,
602
+ 0.15417659980844944,
603
+ 0.7642815204526037
604
+ ]
605
+ }
606
+ },
607
+ "grasp_55": {
608
+ "confidence": 0.9317358732223511,
609
+ "position": [
610
+ -0.09106566475747968,
611
+ -0.1476266197860241,
612
+ 0.021644051983457757
613
+ ],
614
+ "orientation": {
615
+ "w": 0.14043162942353238,
616
+ "xyz": [
617
+ -0.7548685458882731,
618
+ -0.1556149710663669,
619
+ -0.6214792166001929
620
+ ]
621
+ }
622
+ },
623
+ "grasp_56": {
624
+ "confidence": 0.9272311925888062,
625
+ "position": [
626
+ -0.09599724130748655,
627
+ -0.12790968641638756,
628
+ -0.001616060169908451
629
+ ],
630
+ "orientation": {
631
+ "w": 0.7029322742184742,
632
+ "xyz": [
633
+ -0.061803040166401,
634
+ 0.7017236583644902,
635
+ 0.09823700616259627
636
+ ]
637
+ }
638
+ },
639
+ "grasp_58": {
640
+ "confidence": 0.9249951243400574,
641
+ "position": [
642
+ 0.09724557680965518,
643
+ -0.13240284845232964,
644
+ 0.03039277704010601
645
+ ],
646
+ "orientation": {
647
+ "w": 0.5725501084847847,
648
+ "xyz": [
649
+ -0.08761956980256919,
650
+ -0.8088423105900605,
651
+ -0.10140661152512066
652
+ ]
653
+ }
654
+ },
655
+ "grasp_59": {
656
+ "confidence": 0.9236336350440979,
657
+ "position": [
658
+ -0.09571027474521543,
659
+ -0.1339944712817669,
660
+ -0.004966467753547477
661
+ ],
662
+ "orientation": {
663
+ "w": 0.7099291996107878,
664
+ "xyz": [
665
+ -0.06428875795807068,
666
+ 0.6911869658935309,
667
+ 0.1188615384348119
668
+ ]
669
+ }
670
+ }
671
+ }
672
+ }
673
+ ],
674
+ "quality_check": {
675
+ "success": false,
676
+ "message": "Part colors/descriptions mismatch mask and RGB; tip and rear cap identities swapped."
677
+ }
678
+ }
dataset/tools/repair_tools/26781fac8d9f5fabac383600e1299eeb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:88e3b71bfb6a6fe1b177d5b0276e33ac820ffff3c92067eb05a48ccdc84e111b
3
+ size 275660