Add asset tools/repair_tools/005797d3c881537488c0026d182a35fc
Browse files
.gitattributes
CHANGED
|
@@ -7791,3 +7791,4 @@ dataset/livingroom_supplies/ornaments/f89b402c224f57dba99b858d58ef90b3/affordanc
|
|
| 7791 |
dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7791 |
dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7794 |
+
dataset/tools/repair_tools/005797d3c881537488c0026d182a35fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/005797d3c881537488c0026d182a35fc/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,546 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the screwdriver",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque during screwing or unscrewing",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the tool while aligning the tip with a screw",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"apply torque",
|
| 24 |
+
"support handoff and pickup",
|
| 25 |
+
"stabilize tool orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated orange plastic handle with a mostly matte smooth surface, slightly contoured ergonomic shape, medium-sized central body, and a small dark oval insert on the side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9910157918930054,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.06393137760460377,
|
| 34 |
+
-0.09688246259611333,
|
| 35 |
+
0.0016324890893884003
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5260140943222225,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.48116397437476016,
|
| 41 |
+
-0.5201902318555178,
|
| 42 |
+
-0.47031109387336356
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9907331466674805,
|
| 48 |
+
"position": [
|
| 49 |
+
0.022170869633555412,
|
| 50 |
+
0.09407909205037868,
|
| 51 |
+
0.022780378872994334
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4585926466045706,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5901635211966123,
|
| 57 |
+
0.5105731630509697,
|
| 58 |
+
-0.42510569027144185
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9900878071784973,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.06827899627387524,
|
| 66 |
+
-0.003044397431949619,
|
| 67 |
+
-0.09874293435132131
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7177225159970513,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.014952422458779188,
|
| 73 |
+
-0.0012156384497120643,
|
| 74 |
+
-0.6961676072014816
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.989688515663147,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.005270062014460564,
|
| 82 |
+
0.10046304752904689,
|
| 83 |
+
0.017542467976454645
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.46405058945503025,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.5475548740127584,
|
| 89 |
+
0.5270665454700402,
|
| 90 |
+
-0.45501820514962926
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9891047477722168,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.008197787217795849,
|
| 98 |
+
0.09993851920444285,
|
| 99 |
+
0.018898540700320154
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.48154618838656577,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5418051452468972,
|
| 105 |
+
0.538932050299731,
|
| 106 |
+
-0.42908355619166644
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_11": {
|
| 111 |
+
"confidence": 0.9886532425880432,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.06575568579137325,
|
| 114 |
+
-0.004242481758410577,
|
| 115 |
+
-0.09804680425440893
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7162872287578108,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.026518373084536286,
|
| 121 |
+
0.0036240298858446485,
|
| 122 |
+
-0.6972920824265768
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_12": {
|
| 127 |
+
"confidence": 0.9885922074317932,
|
| 128 |
+
"position": [
|
| 129 |
+
0.025887804105877876,
|
| 130 |
+
0.09658953538018977,
|
| 131 |
+
-0.003305440244730562
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5258626444140596,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.46329741937188884,
|
| 137 |
+
-0.5193190146215284,
|
| 138 |
+
0.4890109829704492
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_13": {
|
| 143 |
+
"confidence": 0.9885419607162476,
|
| 144 |
+
"position": [
|
| 145 |
+
0.02925715409219265,
|
| 146 |
+
0.09735745182115352,
|
| 147 |
+
-0.011433486302848905
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5379811534661787,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.44735476032948285,
|
| 153 |
+
-0.5050434733233939,
|
| 154 |
+
0.5053524383825547
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_14": {
|
| 159 |
+
"confidence": 0.9884462356567383,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.05551868863403797,
|
| 162 |
+
0.00577389858517563,
|
| 163 |
+
-0.09839295077836141
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.7179123349028247,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.011901182185582693,
|
| 169 |
+
0.009549688258387867,
|
| 170 |
+
-0.6959662669347761
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_16": {
|
| 175 |
+
"confidence": 0.9882135391235352,
|
| 176 |
+
"position": [
|
| 177 |
+
0.028297794982790947,
|
| 178 |
+
0.09342534830648219,
|
| 179 |
+
0.008497172559145838
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5267196820807484,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.44445716470017643,
|
| 185 |
+
-0.5658894399459413,
|
| 186 |
+
0.4525409893182097
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_17": {
|
| 191 |
+
"confidence": 0.9881837964057922,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.06765343062579632,
|
| 194 |
+
-0.0013026837041252293,
|
| 195 |
+
-0.09736544120823964
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6935874342931543,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.0006926946609112934,
|
| 201 |
+
0.013850533355791228,
|
| 202 |
+
0.7202389561045044
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_18": {
|
| 207 |
+
"confidence": 0.9881574511528015,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0847084429115057,
|
| 210 |
+
-0.09509308645647252,
|
| 211 |
+
0.01597912941360846
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.414337976213498,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.57691519785884,
|
| 217 |
+
-0.4912213613142923,
|
| 218 |
+
-0.5041770226173853
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_19": {
|
| 223 |
+
"confidence": 0.9881502389907837,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.0527565386146307,
|
| 226 |
+
-0.004207124562526587,
|
| 227 |
+
-0.0995143749169074
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7131083984277249,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.015066659612501795,
|
| 233 |
+
-0.01363770191101965,
|
| 234 |
+
-0.7007591747145039
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "shaft tip and rear cap",
|
| 242 |
+
"mask_color": "Magenta",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "lightly grasp the shaft area near the tip for precision positioning",
|
| 247 |
+
"confidence": 0.42
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "briefly pinch the front end to stabilize the screwdriver during fine alignment",
|
| 251 |
+
"confidence": 0.27
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"scenario": "grasp the rear cap lightly to orient or retrieve the tool from a holder",
|
| 255 |
+
"confidence": 0.25
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"functional_labels": [
|
| 259 |
+
"engage screw head",
|
| 260 |
+
"transmit torque to screw",
|
| 261 |
+
"provide precise tip alignment",
|
| 262 |
+
"allow end-orientation and light manipulation"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "Dark gray to black narrow screwdriver shaft and tip with a slightly reflective finish, plus a small black rear end cap; these are the small end components distinct from the orange handle.",
|
| 265 |
+
"id": 7,
|
| 266 |
+
"grasp_group": {
|
| 267 |
+
"grasp_20": {
|
| 268 |
+
"confidence": 0.9927454590797424,
|
| 269 |
+
"position": [
|
| 270 |
+
0.03852182812988758,
|
| 271 |
+
0.09676344683248317,
|
| 272 |
+
-0.012096945603843778
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.5249665341671023,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.4875995734895205,
|
| 278 |
+
0.46989799084454165,
|
| 279 |
+
-0.5156090303104487
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_21": {
|
| 284 |
+
"confidence": 0.9925075173377991,
|
| 285 |
+
"position": [
|
| 286 |
+
0.041789812967181206,
|
| 287 |
+
0.09282917519885814,
|
| 288 |
+
-0.02527149993693456
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.5469104067689654,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.4359617101437115,
|
| 294 |
+
-0.42701475076753936,
|
| 295 |
+
0.5731359322912076
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_22": {
|
| 300 |
+
"confidence": 0.9921701550483704,
|
| 301 |
+
"position": [
|
| 302 |
+
0.03383771516382694,
|
| 303 |
+
0.10146737834293162,
|
| 304 |
+
0.004351236450020224
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.5106723156351008,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.5107197758144076,
|
| 310 |
+
0.5080568130930989,
|
| 311 |
+
-0.4693158545219296
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_23": {
|
| 316 |
+
"confidence": 0.9892289638519287,
|
| 317 |
+
"position": [
|
| 318 |
+
0.035130007192492485,
|
| 319 |
+
-0.09850826868932927,
|
| 320 |
+
-0.010921697539743036
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.5167601012731471,
|
| 324 |
+
"xyz": [
|
| 325 |
+
-0.48781774020184865,
|
| 326 |
+
-0.46418547151036127,
|
| 327 |
+
-0.5287009533897513
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_24": {
|
| 332 |
+
"confidence": 0.9889571070671082,
|
| 333 |
+
"position": [
|
| 334 |
+
0.04402895085513592,
|
| 335 |
+
0.09932617833692348,
|
| 336 |
+
0.016496467927936465
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.4701003782680128,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.5100418402047158,
|
| 342 |
+
-0.5596355841624656,
|
| 343 |
+
0.4535096123920583
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_25": {
|
| 348 |
+
"confidence": 0.9889545440673828,
|
| 349 |
+
"position": [
|
| 350 |
+
0.02089654840528965,
|
| 351 |
+
0.0015370183609775268,
|
| 352 |
+
0.09155533235752955
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.0820409423942394,
|
| 356 |
+
"xyz": [
|
| 357 |
+
-0.7105748963652678,
|
| 358 |
+
0.6961577227223844,
|
| 359 |
+
-0.0609674135956031
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_26": {
|
| 364 |
+
"confidence": 0.9883745908737183,
|
| 365 |
+
"position": [
|
| 366 |
+
0.043158357962965965,
|
| 367 |
+
-0.10006444910686696,
|
| 368 |
+
0.0008982050349004567
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.5063638714332401,
|
| 372 |
+
"xyz": [
|
| 373 |
+
-0.5018039279082889,
|
| 374 |
+
0.5008552221071519,
|
| 375 |
+
0.49084874873116374
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_27": {
|
| 380 |
+
"confidence": 0.9875542521476746,
|
| 381 |
+
"position": [
|
| 382 |
+
0.02962063066661358,
|
| 383 |
+
-0.0008583611124777235,
|
| 384 |
+
0.09580488275969401
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.04705629653513556,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.7193104325688999,
|
| 390 |
+
0.6921894285477764,
|
| 391 |
+
0.03538363407907818
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_28": {
|
| 396 |
+
"confidence": 0.9875090718269348,
|
| 397 |
+
"position": [
|
| 398 |
+
0.03450763411819935,
|
| 399 |
+
-0.10152587304037297,
|
| 400 |
+
-0.0011278358870185912
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.5077795144062285,
|
| 404 |
+
"xyz": [
|
| 405 |
+
-0.4911618928548315,
|
| 406 |
+
0.5139281204105757,
|
| 407 |
+
0.4866187900275601
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_29": {
|
| 412 |
+
"confidence": 0.9871785640716553,
|
| 413 |
+
"position": [
|
| 414 |
+
0.039887404069304466,
|
| 415 |
+
0.10179711123782909,
|
| 416 |
+
-0.006938852777238935
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.5045167020281751,
|
| 420 |
+
"xyz": [
|
| 421 |
+
0.4804758179186685,
|
| 422 |
+
0.4987211343705016,
|
| 423 |
+
-0.5156385516058707
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_32": {
|
| 428 |
+
"confidence": 0.9864751696586609,
|
| 429 |
+
"position": [
|
| 430 |
+
0.06240312568843365,
|
| 431 |
+
0.0974342747576884,
|
| 432 |
+
-0.01031629036879167
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.4731281306376419,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.545058607444137,
|
| 438 |
+
0.38960871024418753,
|
| 439 |
+
-0.5720716208240447
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_33": {
|
| 444 |
+
"confidence": 0.9858535528182983,
|
| 445 |
+
"position": [
|
| 446 |
+
0.04796060733497143,
|
| 447 |
+
-0.10068538794439519,
|
| 448 |
+
0.0174079104908742
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.47651971864816245,
|
| 452 |
+
"xyz": [
|
| 453 |
+
-0.5205554478079375,
|
| 454 |
+
-0.5434585144141617,
|
| 455 |
+
-0.45453693646139043
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_34": {
|
| 460 |
+
"confidence": 0.9851794838905334,
|
| 461 |
+
"position": [
|
| 462 |
+
0.043312808498740196,
|
| 463 |
+
0.10299181928712642,
|
| 464 |
+
-0.004365549830254167
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.5127817335654508,
|
| 468 |
+
"xyz": [
|
| 469 |
+
0.48791993148501006,
|
| 470 |
+
0.49995656531315014,
|
| 471 |
+
-0.4990315290455632
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_36": {
|
| 476 |
+
"confidence": 0.9844954609870911,
|
| 477 |
+
"position": [
|
| 478 |
+
0.039660265669226646,
|
| 479 |
+
0.1033999844439677,
|
| 480 |
+
-0.0035468499991111457
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.49509765903156155,
|
| 484 |
+
"xyz": [
|
| 485 |
+
0.4955980409009812,
|
| 486 |
+
-0.49564319693604275,
|
| 487 |
+
0.5134186510125984
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_37": {
|
| 492 |
+
"confidence": 0.984005331993103,
|
| 493 |
+
"position": [
|
| 494 |
+
0.0373124647885561,
|
| 495 |
+
0.10337325176078593,
|
| 496 |
+
-0.009289483015891165
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.5071697338232845,
|
| 500 |
+
"xyz": [
|
| 501 |
+
0.48173568580602083,
|
| 502 |
+
-0.482405983186879,
|
| 503 |
+
0.527251417731732
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_38": {
|
| 508 |
+
"confidence": 0.9824038743972778,
|
| 509 |
+
"position": [
|
| 510 |
+
-0.0038703586906194687,
|
| 511 |
+
0.005622400807624217,
|
| 512 |
+
0.09056623053038493
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.16211467123321852,
|
| 516 |
+
"xyz": [
|
| 517 |
+
-0.6820728425694508,
|
| 518 |
+
0.6906402938017213,
|
| 519 |
+
-0.17751466243002909
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_39": {
|
| 524 |
+
"confidence": 0.9823414087295532,
|
| 525 |
+
"position": [
|
| 526 |
+
0.08303950540721416,
|
| 527 |
+
0.08874818673211848,
|
| 528 |
+
-0.015067643893416971
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.4195214308285148,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.575161828886269,
|
| 534 |
+
0.3173059403613613,
|
| 535 |
+
-0.6265042536800454
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
}
|
| 539 |
+
}
|
| 540 |
+
}
|
| 541 |
+
],
|
| 542 |
+
"quality_check": {
|
| 543 |
+
"success": false,
|
| 544 |
+
"message": "Magenta part merges shaft and front collar, not rear cap; description mismatches segmented region."
|
| 545 |
+
}
|
| 546 |
+
}
|
dataset/tools/repair_tools/005797d3c881537488c0026d182a35fc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f844227dea0b5ccf184a1deb6a4d69e1c22f678aecbf0cd34b34e1107cd944b2
|
| 3 |
+
size 624360
|