Add asset tools/repair_tools/b844429383ef52519d0f81200aee97d0
Browse files
.gitattributes
CHANGED
|
@@ -7892,3 +7892,4 @@ dataset/tools/repair_tools/b207d8b52aed5993968674535e303188/affordance/mesh_part
|
|
| 7892 |
dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7893 |
dataset/tools/repair_tools/b51cd016aaed54deaecdf900f2c18d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7894 |
dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7892 |
dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7893 |
dataset/tools/repair_tools/b51cd016aaed54deaecdf900f2c18d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7894 |
dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7895 |
+
dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "screwdriver handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and use the screwdriver",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque while driving or removing a screw",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize and reposition the tool",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"support tool handling",
|
| 25 |
+
"stabilize the screwdriver"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large cylindrical white plastic handle with a hard smooth slightly glossy surface, longitudinal ribbing and finger contours, positioned at the rear of the screwdriver with an inset label area on one side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9923959970474243,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09652698907302693,
|
| 34 |
+
0.04524434544146061,
|
| 35 |
+
-0.02756668414804153
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.016083934494445118,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5922784333833984,
|
| 41 |
+
0.012504046501076616,
|
| 42 |
+
0.8054757682396066
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9909029603004456,
|
| 48 |
+
"position": [
|
| 49 |
+
0.09551189217017964,
|
| 50 |
+
0.049668991938233376,
|
| 51 |
+
0.026239611470373347
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6163588698157846,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.02130608245518067,
|
| 57 |
+
-0.7871091451514856,
|
| 58 |
+
-0.010343503696481252
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9898920059204102,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09903209778713062,
|
| 66 |
+
0.0491431150585413,
|
| 67 |
+
0.012087998242350295
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6633607104840055,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.016805064386261732,
|
| 73 |
+
-0.7480897286167962,
|
| 74 |
+
-0.005649383610446568
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9897961020469666,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0992915419046767,
|
| 82 |
+
0.049183012917637825,
|
| 83 |
+
0.012101430707843974
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.026308197268612672,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.742346120157327,
|
| 89 |
+
0.023768818017127602,
|
| 90 |
+
-0.6690778429554427
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.989716112613678,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09838339063571766,
|
| 98 |
+
0.05274056829512119,
|
| 99 |
+
0.015876635239692405
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.03353594252661084,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.7488399851182155,
|
| 105 |
+
-0.008189303305200069,
|
| 106 |
+
-0.6618511558941167
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_26": {
|
| 111 |
+
"confidence": 0.9894049763679504,
|
| 112 |
+
"position": [
|
| 113 |
+
0.09161259356187657,
|
| 114 |
+
0.07463427819311619,
|
| 115 |
+
0.04085760031011887
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5569042980291912,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.049780601409374334,
|
| 121 |
+
-0.8277100568668947,
|
| 122 |
+
0.04770279154658606
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_27": {
|
| 127 |
+
"confidence": 0.9892815351486206,
|
| 128 |
+
"position": [
|
| 129 |
+
0.10021263483213261,
|
| 130 |
+
0.03985795937478542,
|
| 131 |
+
0.02753415357437916
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.03323796475316581,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.789637732144712,
|
| 137 |
+
0.00855995243964458,
|
| 138 |
+
0.6126126156770316
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
+
"confidence": 0.9887464642524719,
|
| 144 |
+
"position": [
|
| 145 |
+
0.09711108478950337,
|
| 146 |
+
0.04672444798052311,
|
| 147 |
+
0.03404091138509102
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.013562218407103848,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.8126065565349984,
|
| 153 |
+
-0.01207505666053632,
|
| 154 |
+
-0.5825296932473534
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_30": {
|
| 159 |
+
"confidence": 0.9885249733924866,
|
| 160 |
+
"position": [
|
| 161 |
+
0.09150537970708683,
|
| 162 |
+
0.0363141056150198,
|
| 163 |
+
0.04517394144204445
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5399318826508736,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.004508507413607955,
|
| 169 |
+
-0.8414898106317583,
|
| 170 |
+
-0.018658350969800848
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_31": {
|
| 175 |
+
"confidence": 0.9882636070251465,
|
| 176 |
+
"position": [
|
| 177 |
+
0.09597561630653217,
|
| 178 |
+
0.054216230288147926,
|
| 179 |
+
0.023155531176598743
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.010977481758783705,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.7823041058269937,
|
| 185 |
+
0.003426503188851293,
|
| 186 |
+
0.6227905265627923
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_32": {
|
| 191 |
+
"confidence": 0.9880443215370178,
|
| 192 |
+
"position": [
|
| 193 |
+
0.0972384152119048,
|
| 194 |
+
0.06640123017132282,
|
| 195 |
+
0.021997086965711787
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.6371552647229161,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.028849662047656884,
|
| 201 |
+
-0.770154595645356,
|
| 202 |
+
-0.007922401273878964
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_33": {
|
| 207 |
+
"confidence": 0.9880019426345825,
|
| 208 |
+
"position": [
|
| 209 |
+
0.10125084343599156,
|
| 210 |
+
0.06414475478231907,
|
| 211 |
+
0.0005193832475924864
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.713957840809743,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.013305724616335512,
|
| 217 |
+
-0.7000520790164025,
|
| 218 |
+
-0.003774374588731123
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_34": {
|
| 223 |
+
"confidence": 0.987865149974823,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0972151544992812,
|
| 226 |
+
0.06083078123629093,
|
| 227 |
+
-0.019124585873214528
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7796669825253718,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.017663974501116907,
|
| 233 |
+
-0.6258069833380754,
|
| 234 |
+
-0.013152945293852674
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_35": {
|
| 239 |
+
"confidence": 0.9875407814979553,
|
| 240 |
+
"position": [
|
| 241 |
+
0.09662348154233769,
|
| 242 |
+
0.06701688654720783,
|
| 243 |
+
0.02857751984265633
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.05419383487179775,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.7962939436951499,
|
| 249 |
+
0.013718008124160797,
|
| 250 |
+
-0.6023211765739426
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_37": {
|
| 255 |
+
"confidence": 0.9874377846717834,
|
| 256 |
+
"position": [
|
| 257 |
+
0.08766232553170994,
|
| 258 |
+
0.05995261110365391,
|
| 259 |
+
0.05530236873892136
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.4912792356598654,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.0020949739735338004,
|
| 265 |
+
-0.8709993063461312,
|
| 266 |
+
0.0007294093953854528
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_38": {
|
| 271 |
+
"confidence": 0.9872810244560242,
|
| 272 |
+
"position": [
|
| 273 |
+
0.09096506360219792,
|
| 274 |
+
0.037110717967152596,
|
| 275 |
+
0.04332415226963349
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.028460309285920794,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.8433917279957109,
|
| 281 |
+
-0.014269852330739186,
|
| 282 |
+
0.5363550831848408
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_39": {
|
| 287 |
+
"confidence": 0.987040102481842,
|
| 288 |
+
"position": [
|
| 289 |
+
0.09547543647931889,
|
| 290 |
+
0.05751621909439564,
|
| 291 |
+
0.02164801795152016
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.005843800475360847,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.7764049051354358,
|
| 297 |
+
-0.00021205006804803084,
|
| 298 |
+
0.6302072899549856
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "screwdriver shaft and tip",
|
| 306 |
+
"mask_color": "Green",
|
| 307 |
+
"graspable": true,
|
| 308 |
+
"grasp_scenarios": [
|
| 309 |
+
{
|
| 310 |
+
"scenario": "delicately grasp the metal shaft to orient the screwdriver in a tool-changing setup",
|
| 311 |
+
"confidence": 0.42
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"scenario": "hold the shaft briefly to steady the tool during precise placement",
|
| 315 |
+
"confidence": 0.36
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"engage screw head",
|
| 320 |
+
"transmit torque to the screw",
|
| 321 |
+
"provide reach into recessed areas",
|
| 322 |
+
"indicate working end orientation"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Long slender silver-gray metal shaft ending in a driver tip, with a reflective smooth hard finish, extending from the front of the handle as the working end.",
|
| 325 |
+
"id": 1,
|
| 326 |
+
"grasp_group": {
|
| 327 |
+
"grasp_6": {
|
| 328 |
+
"confidence": 0.3949745297431946,
|
| 329 |
+
"position": [
|
| 330 |
+
0.011588261753786355,
|
| 331 |
+
-0.22597513906657696,
|
| 332 |
+
0.043261060753138736
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.5228821402391832,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.8512973149867358,
|
| 338 |
+
-0.017041900711961766,
|
| 339 |
+
0.039959010690818156
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_15": {
|
| 344 |
+
"confidence": 0.3393518626689911,
|
| 345 |
+
"position": [
|
| 346 |
+
0.044836682558525354,
|
| 347 |
+
-0.23801849596202374,
|
| 348 |
+
-0.0014104189758654684
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.591024868377704,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.3496526171235783,
|
| 354 |
+
-0.6140726637593222,
|
| 355 |
+
-0.3890339521446436
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"part_name": "ferrule of screwdriver",
|
| 363 |
+
"mask_color": "Orange",
|
| 364 |
+
"graspable": true,
|
| 365 |
+
"grasp_scenarios": [
|
| 366 |
+
{
|
| 367 |
+
"scenario": "grasp the ferrule to pull or orient the screwdriver during pickup",
|
| 368 |
+
"confidence": 0.31
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"scenario": "pinch the ferrule to stabilize the front end during precise alignment",
|
| 372 |
+
"confidence": 0.29
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"functional_labels": [
|
| 376 |
+
"connect handle to shaft",
|
| 377 |
+
"reinforce front joint",
|
| 378 |
+
"provide front-end alignment reference",
|
| 379 |
+
"stabilize shaft mounting"
|
| 380 |
+
],
|
| 381 |
+
"semantic_description": "Small white collar-like ring with a smooth hard finish around the front of the handle, forming the transition between the handle and metal shaft.",
|
| 382 |
+
"id": 4,
|
| 383 |
+
"grasp_group": {
|
| 384 |
+
"grasp_40": {
|
| 385 |
+
"confidence": 0.9770089983940125,
|
| 386 |
+
"position": [
|
| 387 |
+
0.09895511093782261,
|
| 388 |
+
-0.05690594203770161,
|
| 389 |
+
0.015474259183974937
|
| 390 |
+
],
|
| 391 |
+
"orientation": {
|
| 392 |
+
"w": 0.633930896049189,
|
| 393 |
+
"xyz": [
|
| 394 |
+
0.012186254185884177,
|
| 395 |
+
-0.7731936442458486,
|
| 396 |
+
-0.012437955660560752
|
| 397 |
+
]
|
| 398 |
+
}
|
| 399 |
+
},
|
| 400 |
+
"grasp_41": {
|
| 401 |
+
"confidence": 0.9767705202102661,
|
| 402 |
+
"position": [
|
| 403 |
+
0.09977999451803043,
|
| 404 |
+
-0.06401858665049076,
|
| 405 |
+
0.022096267231972888
|
| 406 |
+
],
|
| 407 |
+
"orientation": {
|
| 408 |
+
"w": 0.6293228463454908,
|
| 409 |
+
"xyz": [
|
| 410 |
+
0.004099103025944717,
|
| 411 |
+
-0.7768349158624687,
|
| 412 |
+
-0.021528258613836487
|
| 413 |
+
]
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"grasp_42": {
|
| 417 |
+
"confidence": 0.9766308069229126,
|
| 418 |
+
"position": [
|
| 419 |
+
0.0950328868930228,
|
| 420 |
+
-0.06599547155201435,
|
| 421 |
+
0.03618595589068718
|
| 422 |
+
],
|
| 423 |
+
"orientation": {
|
| 424 |
+
"w": 0.0031019835229185153,
|
| 425 |
+
"xyz": [
|
| 426 |
+
-0.8273558376270762,
|
| 427 |
+
0.006934874427755755,
|
| 428 |
+
0.5616267471900653
|
| 429 |
+
]
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"grasp_43": {
|
| 433 |
+
"confidence": 0.9741377234458923,
|
| 434 |
+
"position": [
|
| 435 |
+
0.09243298444198444,
|
| 436 |
+
-0.06914002262055874,
|
| 437 |
+
0.044003097602399066
|
| 438 |
+
],
|
| 439 |
+
"orientation": {
|
| 440 |
+
"w": 0.5215477100513356,
|
| 441 |
+
"xyz": [
|
| 442 |
+
0.01292063860129591,
|
| 443 |
+
-0.8525088546252807,
|
| 444 |
+
-0.03239901269846102
|
| 445 |
+
]
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"grasp_44": {
|
| 449 |
+
"confidence": 0.9736688733100891,
|
| 450 |
+
"position": [
|
| 451 |
+
0.10022101673530415,
|
| 452 |
+
-0.06520629860460758,
|
| 453 |
+
0.022011596971424296
|
| 454 |
+
],
|
| 455 |
+
"orientation": {
|
| 456 |
+
"w": 0.02898115871381132,
|
| 457 |
+
"xyz": [
|
| 458 |
+
-0.7847222110088997,
|
| 459 |
+
-0.012308805853436189,
|
| 460 |
+
0.6190473627174026
|
| 461 |
+
]
|
| 462 |
+
}
|
| 463 |
+
},
|
| 464 |
+
"grasp_45": {
|
| 465 |
+
"confidence": 0.9730460047721863,
|
| 466 |
+
"position": [
|
| 467 |
+
-0.022670070349704474,
|
| 468 |
+
-0.06138159520924091,
|
| 469 |
+
0.09440294120577164
|
| 470 |
+
],
|
| 471 |
+
"orientation": {
|
| 472 |
+
"w": 0.13196731083123447,
|
| 473 |
+
"xyz": [
|
| 474 |
+
0.01633028970272904,
|
| 475 |
+
0.9911192092561031,
|
| 476 |
+
0.0008145880884402396
|
| 477 |
+
]
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"grasp_47": {
|
| 481 |
+
"confidence": 0.9721065759658813,
|
| 482 |
+
"position": [
|
| 483 |
+
-0.043017587333451957,
|
| 484 |
+
-0.0723592396825552,
|
| 485 |
+
0.08778634134796448
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.2376384396449673,
|
| 489 |
+
"xyz": [
|
| 490 |
+
0.0085828995835791,
|
| 491 |
+
0.9705993453829274,
|
| 492 |
+
0.03729901580573897
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_48": {
|
| 497 |
+
"confidence": 0.9711530208587646,
|
| 498 |
+
"position": [
|
| 499 |
+
0.10176158818649128,
|
| 500 |
+
-0.05711298994719982,
|
| 501 |
+
-0.009835843666223809
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.033889318431452285,
|
| 505 |
+
"xyz": [
|
| 506 |
+
-0.6693123697431302,
|
| 507 |
+
-0.023473128838434554,
|
| 508 |
+
0.7418365574893309
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_49": {
|
| 513 |
+
"confidence": 0.9709852933883667,
|
| 514 |
+
"position": [
|
| 515 |
+
0.09664182487176731,
|
| 516 |
+
-0.06815054826438427,
|
| 517 |
+
0.022506786772282794
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.601254826376598,
|
| 521 |
+
"xyz": [
|
| 522 |
+
0.009824184285296859,
|
| 523 |
+
-0.7989417434622725,
|
| 524 |
+
-0.009392002738526601
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_51": {
|
| 529 |
+
"confidence": 0.9692803621292114,
|
| 530 |
+
"position": [
|
| 531 |
+
-0.08157332119299099,
|
| 532 |
+
-0.06787156127393246,
|
| 533 |
+
0.05789731282857247
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.4659616815705237,
|
| 537 |
+
"xyz": [
|
| 538 |
+
0.0038735795171994593,
|
| 539 |
+
0.8846384305893054,
|
| 540 |
+
0.016719862863795548
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_52": {
|
| 545 |
+
"confidence": 0.9685227274894714,
|
| 546 |
+
"position": [
|
| 547 |
+
-0.08722767856670544,
|
| 548 |
+
-0.07557978667318821,
|
| 549 |
+
0.045705015101702884
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.04523267060756775,
|
| 553 |
+
"xyz": [
|
| 554 |
+
-0.84740550285074,
|
| 555 |
+
-0.012047430975174467,
|
| 556 |
+
-0.5288787939168006
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_53": {
|
| 561 |
+
"confidence": 0.968125581741333,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.007791979413013905,
|
| 564 |
+
-0.061854200437664986,
|
| 565 |
+
-0.09871177907916717
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.0011518753890774047,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.05837469305418278,
|
| 571 |
+
-0.007665126700789893,
|
| 572 |
+
-0.9982646513959004
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_54": {
|
| 577 |
+
"confidence": 0.9681239128112793,
|
| 578 |
+
"position": [
|
| 579 |
+
0.10207728418754414,
|
| 580 |
+
-0.07194810546934605,
|
| 581 |
+
0.009002741688163951
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.6791657851083608,
|
| 585 |
+
"xyz": [
|
| 586 |
+
0.009827575932788433,
|
| 587 |
+
-0.7332600205697882,
|
| 588 |
+
-0.031096580574441215
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
}
|
| 592 |
+
}
|
| 593 |
+
},
|
| 594 |
+
{
|
| 595 |
+
"part_name": "handle label inset",
|
| 596 |
+
"mask_color": "Red",
|
| 597 |
+
"graspable": false,
|
| 598 |
+
"grasp_scenarios": [],
|
| 599 |
+
"functional_labels": [
|
| 600 |
+
"display branding",
|
| 601 |
+
"identify the tool",
|
| 602 |
+
"provide a recessed area for printed markings"
|
| 603 |
+
],
|
| 604 |
+
"semantic_description": "Small elongated recessed label panel on the side of the handle, appearing white or light gray with a smooth slightly glossy finish and surrounded by the white handle body.",
|
| 605 |
+
"id": 0,
|
| 606 |
+
"grasp_group": {}
|
| 607 |
+
}
|
| 608 |
+
],
|
| 609 |
+
"quality_check": {
|
| 610 |
+
"success": true,
|
| 611 |
+
"message": "YES"
|
| 612 |
+
}
|
| 613 |
+
}
|
dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a491832b660ab6f86c190b39fe0b660a61da6e48feae00bbb375e8d1c3c3c049
|
| 3 |
+
size 3782472
|