Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
d6c4693
·
verified ·
1 Parent(s): e02f822

Add asset tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc

Browse files
Files changed (3) hide show
  1. .gitattributes +2 -1
  2. dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/affordance_annot.json +686 -0
  3. dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7835,4 +7835,5 @@ dataset/tools/repair_tools/37cf12623831549e9e461e1cc5217db3/affordance/mesh_part
7835
  dataset/tools/repair_tools/37dec4d2ff325d4ebba5f42bde46ba38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7836
  dataset/tools/repair_tools/3a88c7b869965b11b297f9794d9e5c77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7837
  dataset/tools/repair_tools/3ae416d273455550b3caf4ea78565d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7838
- dataset/tools/repair_tools/3efc46c400ae51fba91a123c91bad2d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7835
  dataset/tools/repair_tools/37dec4d2ff325d4ebba5f42bde46ba38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7836
  dataset/tools/repair_tools/3a88c7b869965b11b297f9794d9e5c77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7837
  dataset/tools/repair_tools/3ae416d273455550b3caf4ea78565d5b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7838
+ dataset/tools/repair_tools/3e2bebd4e99a5b759bc24749fc19b545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7839
+ dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,686 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pliers jaws and pivot head",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the metal head to pick up and reorient the pliers when the handles are inaccessible",
10
+ "confidence": 0.42
11
+ },
12
+ {
13
+ "scenario": "hold the head to stabilize the tool during handoff or fixture placement",
14
+ "confidence": 0.38
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "grip objects",
19
+ "clamp and hold",
20
+ "apply pinching force",
21
+ "transmit force through the pivot",
22
+ "provide the working end"
23
+ ],
24
+ "semantic_description": "Silver metal jaw-and-pivot assembly with a hard smooth slightly reflective finish, angular tapered shape at the front, and a compact heavy head located at the tool tip with visible joint detailing.",
25
+ "id": 2,
26
+ "grasp_group": {
27
+ "grasp_1": {
28
+ "confidence": 0.9759107828140259,
29
+ "position": [
30
+ 0.1041429723118199,
31
+ -0.07422092370688915,
32
+ -0.013771576617727987
33
+ ],
34
+ "orientation": {
35
+ "w": 0.04872914779115415,
36
+ "xyz": [
37
+ -0.6716427379670802,
38
+ 0.018333281421229364,
39
+ 0.7390435667022356
40
+ ]
41
+ }
42
+ },
43
+ "grasp_2": {
44
+ "confidence": 0.9745001196861267,
45
+ "position": [
46
+ 0.10210173674568068,
47
+ -0.06706076674163342,
48
+ -7.256005483213812e-05
49
+ ],
50
+ "orientation": {
51
+ "w": 0.0413716457163954,
52
+ "xyz": [
53
+ -0.7191282886630996,
54
+ 0.0027568143564105085,
55
+ 0.6936391650921989
56
+ ]
57
+ }
58
+ },
59
+ "grasp_3": {
60
+ "confidence": 0.9740952253341675,
61
+ "position": [
62
+ 0.10525433071597945,
63
+ -0.0677070003002882,
64
+ -0.016441491243313067
65
+ ],
66
+ "orientation": {
67
+ "w": 0.7535134965081498,
68
+ "xyz": [
69
+ -0.006129492573589217,
70
+ -0.6569042905084848,
71
+ -0.025624070956772427
72
+ ]
73
+ }
74
+ },
75
+ "grasp_4": {
76
+ "confidence": 0.9723297953605652,
77
+ "position": [
78
+ 0.10503020235046279,
79
+ -0.07106978259980679,
80
+ -0.0006548997916979715
81
+ ],
82
+ "orientation": {
83
+ "w": 0.7062867034916815,
84
+ "xyz": [
85
+ -0.027420363727326744,
86
+ -0.7066547657491835,
87
+ -0.03234591423783671
88
+ ]
89
+ }
90
+ },
91
+ "grasp_5": {
92
+ "confidence": 0.9715906977653503,
93
+ "position": [
94
+ 0.1028445149277104,
95
+ -0.05937088839709759,
96
+ -0.003162168475682847
97
+ ],
98
+ "orientation": {
99
+ "w": 0.06850554985359264,
100
+ "xyz": [
101
+ -0.7069434135370541,
102
+ 0.02873896174393975,
103
+ 0.7033577125287773
104
+ ]
105
+ }
106
+ },
107
+ "grasp_6": {
108
+ "confidence": 0.9710611701011658,
109
+ "position": [
110
+ 0.1041558096621884,
111
+ -0.06985352747142315,
112
+ -0.004114687253604643
113
+ ],
114
+ "orientation": {
115
+ "w": 0.7166354687466134,
116
+ "xyz": [
117
+ -0.040097980681925674,
118
+ -0.6944982866671269,
119
+ -0.04997886249184367
120
+ ]
121
+ }
122
+ },
123
+ "grasp_7": {
124
+ "confidence": 0.9699040651321411,
125
+ "position": [
126
+ 0.10186164923652541,
127
+ -0.05918353609740734,
128
+ -0.0010568302677711472
129
+ ],
130
+ "orientation": {
131
+ "w": 0.7074012710537798,
132
+ "xyz": [
133
+ 0.0029781228730830847,
134
+ -0.7067881503436986,
135
+ -0.0050082960558489225
136
+ ]
137
+ }
138
+ },
139
+ "grasp_8": {
140
+ "confidence": 0.9692683815956116,
141
+ "position": [
142
+ 0.09595371135219466,
143
+ -0.08464020304381847,
144
+ 0.006717839001794346
145
+ ],
146
+ "orientation": {
147
+ "w": 0.10465029839202325,
148
+ "xyz": [
149
+ -0.7408764932817793,
150
+ 0.04504829451374881,
151
+ 0.6619070840460592
152
+ ]
153
+ }
154
+ },
155
+ "grasp_9": {
156
+ "confidence": 0.9684464931488037,
157
+ "position": [
158
+ -0.10420615873590577,
159
+ -0.05774974636733532,
160
+ 0.0001655934756854549
161
+ ],
162
+ "orientation": {
163
+ "w": 0.05218062017321734,
164
+ "xyz": [
165
+ -0.7003673478075932,
166
+ -0.02530702543936958,
167
+ -0.7114227403356653
168
+ ]
169
+ }
170
+ },
171
+ "grasp_11": {
172
+ "confidence": 0.9668691754341125,
173
+ "position": [
174
+ 0.0865885774110211,
175
+ -0.1248358990997076,
176
+ -0.0057753946603043005
177
+ ],
178
+ "orientation": {
179
+ "w": 0.21477166675072726,
180
+ "xyz": [
181
+ -0.6765472417398483,
182
+ 0.19700816348199646,
183
+ 0.6762726849258135
184
+ ]
185
+ }
186
+ },
187
+ "grasp_12": {
188
+ "confidence": 0.9652597308158875,
189
+ "position": [
190
+ -0.09695353261486162,
191
+ -0.095335578545928,
192
+ -0.0015176184679148719
193
+ ],
194
+ "orientation": {
195
+ "w": 0.6979020585083006,
196
+ "xyz": [
197
+ -0.11424891281031431,
198
+ 0.6957821065776957,
199
+ 0.12556736366525195
200
+ ]
201
+ }
202
+ },
203
+ "grasp_13": {
204
+ "confidence": 0.9652497172355652,
205
+ "position": [
206
+ -0.09916698090091813,
207
+ -0.06774665229022503,
208
+ -0.002660649173776619
209
+ ],
210
+ "orientation": {
211
+ "w": 0.07139940194259155,
212
+ "xyz": [
213
+ -0.6875115774828722,
214
+ -0.08129651759013734,
215
+ -0.7180674289069027
216
+ ]
217
+ }
218
+ },
219
+ "grasp_14": {
220
+ "confidence": 0.9652431607246399,
221
+ "position": [
222
+ 0.08842043676122557,
223
+ -0.1187081690877676,
224
+ -0.003093948165769689
225
+ ],
226
+ "orientation": {
227
+ "w": 0.6790533834345734,
228
+ "xyz": [
229
+ -0.1895118124064205,
230
+ -0.6763674545089762,
231
+ -0.21330457539757444
232
+ ]
233
+ }
234
+ },
235
+ "grasp_15": {
236
+ "confidence": 0.9651837348937988,
237
+ "position": [
238
+ -0.10295169703022111,
239
+ -0.06521628610789776,
240
+ -0.0017416587070329115
241
+ ],
242
+ "orientation": {
243
+ "w": 0.7040987792863782,
244
+ "xyz": [
245
+ -0.006169391957096114,
246
+ 0.7098915551996576,
247
+ 0.016150153761576087
248
+ ]
249
+ }
250
+ },
251
+ "grasp_17": {
252
+ "confidence": 0.9644156694412231,
253
+ "position": [
254
+ -0.10256823054805864,
255
+ -0.07822044752538204,
256
+ -0.0010564494150457904
257
+ ],
258
+ "orientation": {
259
+ "w": 0.7068974680898736,
260
+ "xyz": [
261
+ -0.04530930654473352,
262
+ 0.7024721485548617,
263
+ 0.06910800860448581
264
+ ]
265
+ }
266
+ },
267
+ "grasp_18": {
268
+ "confidence": 0.9642317295074463,
269
+ "position": [
270
+ 0.09132455386861693,
271
+ -0.12077122740447521,
272
+ -0.00499410396150779
273
+ ],
274
+ "orientation": {
275
+ "w": 0.6873723518388207,
276
+ "xyz": [
277
+ -0.1967622285639981,
278
+ -0.6648975099115169,
279
+ -0.2161369395812799
280
+ ]
281
+ }
282
+ },
283
+ "grasp_19": {
284
+ "confidence": 0.9638832211494446,
285
+ "position": [
286
+ 0.10596127160533797,
287
+ -0.04934432543814182,
288
+ -0.003091697391937487
289
+ ],
290
+ "orientation": {
291
+ "w": 0.7179496167397461,
292
+ "xyz": [
293
+ 0.06036488516511461,
294
+ -0.6923564789400407,
295
+ 0.03933108861960171
296
+ ]
297
+ }
298
+ }
299
+ }
300
+ },
301
+ {
302
+ "part_name": "yellow handle grip",
303
+ "mask_color": "Yellow",
304
+ "graspable": true,
305
+ "grasp_scenarios": [
306
+ {
307
+ "scenario": "grasp one handle to pick up the pliers from a surface",
308
+ "confidence": 0.77
309
+ },
310
+ {
311
+ "scenario": "hold this handle while manipulating the tool and squeezing against the opposite handle",
312
+ "confidence": 0.83
313
+ },
314
+ {
315
+ "scenario": "pinch both handles together by contacting this side for secure transport",
316
+ "confidence": 0.7
317
+ }
318
+ ],
319
+ "functional_labels": [
320
+ "provide handhold",
321
+ "apply squeezing leverage",
322
+ "improve grip comfort",
323
+ "insulate the metal handle",
324
+ "aid tool control"
325
+ ],
326
+ "semantic_description": "Long curved yellow-coated handle grip, likely plastic or rubber over metal, with a matte smooth slightly cushioned texture and a medium-width elongated form extending from one side of the pivot.",
327
+ "id": 3,
328
+ "grasp_group": {
329
+ "grasp_20": {
330
+ "confidence": 0.982807993888855,
331
+ "position": [
332
+ 0.12208505817397963,
333
+ 0.03676238842308521,
334
+ -0.012422834333847277
335
+ ],
336
+ "orientation": {
337
+ "w": 0.06888064872086315,
338
+ "xyz": [
339
+ -0.658216702318756,
340
+ 0.08686625568074946,
341
+ 0.7446210329049412
342
+ ]
343
+ }
344
+ },
345
+ "grasp_22": {
346
+ "confidence": 0.9733219146728516,
347
+ "position": [
348
+ 0.12550703533634078,
349
+ 0.06512206234037876,
350
+ -0.0032278057624353096
351
+ ],
352
+ "orientation": {
353
+ "w": 0.7168350760123812,
354
+ "xyz": [
355
+ 0.02385925498153536,
356
+ -0.6967040419352681,
357
+ 0.013479158026734184
358
+ ]
359
+ }
360
+ },
361
+ "grasp_23": {
362
+ "confidence": 0.9721060991287231,
363
+ "position": [
364
+ 0.11379425325139891,
365
+ 0.08460545726120472,
366
+ -0.03950921147770714
367
+ ],
368
+ "orientation": {
369
+ "w": 0.8448075050248118,
370
+ "xyz": [
371
+ 0.05330282080853497,
372
+ -0.530411641943441,
373
+ 0.04607145361792568
374
+ ]
375
+ }
376
+ },
377
+ "grasp_29": {
378
+ "confidence": 0.9673092365264893,
379
+ "position": [
380
+ 0.11591117181524169,
381
+ 0.08155594952404499,
382
+ -0.029405345019767992
383
+ ],
384
+ "orientation": {
385
+ "w": 0.09291099636027111,
386
+ "xyz": [
387
+ 0.5784714655511191,
388
+ 0.10208450478029907,
389
+ -0.8039384703957406
390
+ ]
391
+ }
392
+ },
393
+ "grasp_30": {
394
+ "confidence": 0.9653909206390381,
395
+ "position": [
396
+ 0.12354742833122145,
397
+ 0.057505277916789055,
398
+ -0.024446402487228625
399
+ ],
400
+ "orientation": {
401
+ "w": 0.7750189412045165,
402
+ "xyz": [
403
+ 0.01772914447111274,
404
+ -0.6315243130227804,
405
+ 0.014434689870492809
406
+ ]
407
+ }
408
+ },
409
+ "grasp_34": {
410
+ "confidence": 0.963667631149292,
411
+ "position": [
412
+ 0.12496893950446974,
413
+ 0.016618285328149796,
414
+ -0.006786776051740162
415
+ ],
416
+ "orientation": {
417
+ "w": 0.01986166337919686,
418
+ "xyz": [
419
+ -0.6862710632967356,
420
+ 0.008675704394535133,
421
+ 0.7270228842083573
422
+ ]
423
+ }
424
+ },
425
+ "grasp_35": {
426
+ "confidence": 0.9630772471427917,
427
+ "position": [
428
+ 0.12607605107768904,
429
+ 0.06265690363943577,
430
+ -0.0015181223134277388
431
+ ],
432
+ "orientation": {
433
+ "w": 0.7049976547117942,
434
+ "xyz": [
435
+ 0.026748453981765206,
436
+ -0.7082722894962629,
437
+ 0.024762693556589867
438
+ ]
439
+ }
440
+ },
441
+ "grasp_36": {
442
+ "confidence": 0.9629260301589966,
443
+ "position": [
444
+ 0.11996339359029662,
445
+ -0.008607237134128809,
446
+ -0.00212866957008373
447
+ ],
448
+ "orientation": {
449
+ "w": 0.08122766527879478,
450
+ "xyz": [
451
+ -0.7011283644310362,
452
+ 0.04600245334745812,
453
+ 0.7068980529536288
454
+ ]
455
+ }
456
+ },
457
+ "grasp_38": {
458
+ "confidence": 0.9624401330947876,
459
+ "position": [
460
+ 0.11801850893243682,
461
+ -0.015520350076258183,
462
+ -0.005200783067266457
463
+ ],
464
+ "orientation": {
465
+ "w": 0.7186501271565144,
466
+ "xyz": [
467
+ 0.0022154326927169184,
468
+ -0.6952085979558539,
469
+ -0.014902748879517478
470
+ ]
471
+ }
472
+ }
473
+ }
474
+ },
475
+ {
476
+ "part_name": "green handle grip",
477
+ "mask_color": "Orange",
478
+ "graspable": true,
479
+ "grasp_scenarios": [
480
+ {
481
+ "scenario": "grasp one handle to pick up the pliers from a surface",
482
+ "confidence": 0.79
483
+ },
484
+ {
485
+ "scenario": "hold this handle while manipulating the tool and squeezing against the opposite handle",
486
+ "confidence": 0.85
487
+ },
488
+ {
489
+ "scenario": "pinch both handles together by contacting this side for secure transport",
490
+ "confidence": 0.72
491
+ }
492
+ ],
493
+ "functional_labels": [
494
+ "provide handhold",
495
+ "apply squeezing leverage",
496
+ "improve grip comfort",
497
+ "insulate the metal handle",
498
+ "aid tool control"
499
+ ],
500
+ "semantic_description": "Long curved green-coated handle grip, likely plastic or rubber over metal, with a matte smooth slightly cushioned texture and a medium-width elongated form extending from the opposite side of the pivot.",
501
+ "id": 4,
502
+ "grasp_group": {
503
+ "grasp_43": {
504
+ "confidence": 0.9575374126434326,
505
+ "position": [
506
+ -0.11560035399452318,
507
+ -0.039326755329966545,
508
+ -0.0038784509961260483
509
+ ],
510
+ "orientation": {
511
+ "w": 0.047750017648006175,
512
+ "xyz": [
513
+ -0.6861123597658838,
514
+ -0.02833329057371259,
515
+ -0.7253736900635224
516
+ ]
517
+ }
518
+ },
519
+ "grasp_44": {
520
+ "confidence": 0.9539464116096497,
521
+ "position": [
522
+ -0.11661316356912721,
523
+ -0.027326229959726334,
524
+ 0.002365114589338191
525
+ ],
526
+ "orientation": {
527
+ "w": 0.6959401815234849,
528
+ "xyz": [
529
+ -0.013095871413076766,
530
+ 0.7175717417749881,
531
+ 0.024218945043115527
532
+ ]
533
+ }
534
+ },
535
+ "grasp_45": {
536
+ "confidence": 0.9534845948219299,
537
+ "position": [
538
+ -0.11514903507486451,
539
+ -0.002666576619958505,
540
+ -0.00039589857624378055
541
+ ],
542
+ "orientation": {
543
+ "w": 0.6736704569311466,
544
+ "xyz": [
545
+ -0.17021263793862335,
546
+ 0.6993623887020577,
547
+ 0.16759481678473206
548
+ ]
549
+ }
550
+ },
551
+ "grasp_46": {
552
+ "confidence": 0.9519438147544861,
553
+ "position": [
554
+ -0.11457966915622819,
555
+ -0.02352447621524334,
556
+ -0.0031556399044347927
557
+ ],
558
+ "orientation": {
559
+ "w": 0.7187057596460188,
560
+ "xyz": [
561
+ 0.0012794098245521148,
562
+ 0.6953011034071039,
563
+ -0.004095090109341797
564
+ ]
565
+ }
566
+ },
567
+ "grasp_47": {
568
+ "confidence": 0.9500720500946045,
569
+ "position": [
570
+ -0.12727410248771776,
571
+ 0.048843903467059135,
572
+ -2.027837763307616e-05
573
+ ],
574
+ "orientation": {
575
+ "w": 0.7014897112542599,
576
+ "xyz": [
577
+ -0.008117173881999451,
578
+ 0.7126233400141146,
579
+ -0.003777798262396623
580
+ ]
581
+ }
582
+ },
583
+ "grasp_50": {
584
+ "confidence": 0.9456734657287598,
585
+ "position": [
586
+ -0.12264130912080873,
587
+ -0.028179818764328957,
588
+ 0.0019180841773049906
589
+ ],
590
+ "orientation": {
591
+ "w": 0.6955518104430252,
592
+ "xyz": [
593
+ -0.012233037482767193,
594
+ 0.7179327046896855,
595
+ 0.0251130109769503
596
+ ]
597
+ }
598
+ },
599
+ "grasp_51": {
600
+ "confidence": 0.9448699951171875,
601
+ "position": [
602
+ -0.1262683933164226,
603
+ 0.02713700570166111,
604
+ -0.0007096091721905395
605
+ ],
606
+ "orientation": {
607
+ "w": 0.7078201610645581,
608
+ "xyz": [
609
+ -0.004669206595451625,
610
+ 0.7063655392819129,
611
+ -0.004067310571437462
612
+ ]
613
+ }
614
+ },
615
+ "grasp_54": {
616
+ "confidence": 0.9439403414726257,
617
+ "position": [
618
+ -0.09904447845474351,
619
+ -0.0784908588975668,
620
+ -0.003433150050113909
621
+ ],
622
+ "orientation": {
623
+ "w": 0.6903934717408661,
624
+ "xyz": [
625
+ -0.17592804584242194,
626
+ 0.6771343980812398,
627
+ 0.18410644692355946
628
+ ]
629
+ }
630
+ },
631
+ "grasp_57": {
632
+ "confidence": 0.9401305317878723,
633
+ "position": [
634
+ -0.09794217250600923,
635
+ -0.07842830382287502,
636
+ -0.0016304225864587352
637
+ ],
638
+ "orientation": {
639
+ "w": 0.6817321462647281,
640
+ "xyz": [
641
+ -0.17600109958928706,
642
+ 0.6851002472204588,
643
+ 0.18682222820402253
644
+ ]
645
+ }
646
+ },
647
+ "grasp_58": {
648
+ "confidence": 0.9396700263023376,
649
+ "position": [
650
+ -0.12017393014684785,
651
+ 0.005618930794298649,
652
+ -0.0030950569052947685
653
+ ],
654
+ "orientation": {
655
+ "w": 0.7137570516825947,
656
+ "xyz": [
657
+ 0.0017766728784483132,
658
+ 0.7003908858061243,
659
+ -0.0005671741926944382
660
+ ]
661
+ }
662
+ },
663
+ "grasp_59": {
664
+ "confidence": 0.9375668168067932,
665
+ "position": [
666
+ -0.09723754874721635,
667
+ -0.08798867277801037,
668
+ -0.004280929730157368
669
+ ],
670
+ "orientation": {
671
+ "w": 0.6764179019185877,
672
+ "xyz": [
673
+ -0.2045236849137463,
674
+ 0.6744683399571815,
675
+ 0.21382549583424965
676
+ ]
677
+ }
678
+ }
679
+ }
680
+ }
681
+ ],
682
+ "quality_check": {
683
+ "success": true,
684
+ "message": "YES"
685
+ }
686
+ }
dataset/tools/repair_tools/400604ed3a2f5afc88bcf17cc3d517cc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38972ef76dd5d5b30b2b121dd663a5d25eb862e21b97ec8bdda1cd5456d76e59
3
+ size 3780428