xinjjj commited on
Commit
5217007
·
verified ·
1 Parent(s): 0976a85

Add asset tools/repair_tools/7d775038e6a1522ea69e07bda283ce76

Browse files
.gitattributes CHANGED
@@ -8566,3 +8566,4 @@ dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/affordance/mesh_part
8566
  dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8567
  dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8568
  dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8566
  dataset/tools/repair_tools/79c0a69526105254ba065b839f6b5f6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8567
  dataset/tools/repair_tools/7a11e96d20ec57439f9e61ba88f96ca1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8568
  dataset/tools/repair_tools/7bcb1682e9695dfea314b6c5327f3c3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8569
+ dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/affordance/affordance_annot.json ADDED
@@ -0,0 +1,674 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench body",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle/body at the midsection to pick up and wield the wrench",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to apply torque on a fastener",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the body to reposition or store the tool",
18
+ "confidence": 0.92
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "transmit torque",
24
+ "support the head and ring-end opening",
25
+ "provide leverage"
26
+ ],
27
+ "semantic_description": "Long orange-painted metal handle/body with a mostly matte finish, smooth hard surface, slightly contoured shape, and printed branding along the center.",
28
+ "id": 6,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9798852205276489,
32
+ "position": [
33
+ -0.02234377703280188,
34
+ -0.16907918266952038,
35
+ 0.001366543503536377
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5191721511910073,
39
+ "xyz": [
40
+ -0.4762382204292814,
41
+ 0.5270926206714116,
42
+ 0.47521658647799353
43
+ ]
44
+ }
45
+ },
46
+ "grasp_42": {
47
+ "confidence": 0.9790489673614502,
48
+ "position": [
49
+ 0.11015302324085496,
50
+ -0.04248487018048763,
51
+ -0.002698109565244522
52
+ ],
53
+ "orientation": {
54
+ "w": 0.07657958027371138,
55
+ "xyz": [
56
+ 0.7081794767785229,
57
+ 0.06392862770499752,
58
+ -0.6989495883928653
59
+ ]
60
+ }
61
+ },
62
+ "grasp_43": {
63
+ "confidence": 0.977918803691864,
64
+ "position": [
65
+ -0.022352905856678262,
66
+ -0.16894382052123547,
67
+ 0.0012547027217806317
68
+ ],
69
+ "orientation": {
70
+ "w": 0.511518910668716,
71
+ "xyz": [
72
+ -0.4862562348308115,
73
+ 0.5304990236694835,
74
+ 0.469546657960823
75
+ ]
76
+ }
77
+ },
78
+ "grasp_45": {
79
+ "confidence": 0.9777636528015137,
80
+ "position": [
81
+ 0.10175314926891588,
82
+ -0.006563708186149597,
83
+ -0.001300923373491969
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6896501725594233,
87
+ "xyz": [
88
+ 0.1664147737846872,
89
+ -0.6834900771622043,
90
+ 0.1718431755286017
91
+ ]
92
+ }
93
+ },
94
+ "grasp_48": {
95
+ "confidence": 0.9760849475860596,
96
+ "position": [
97
+ -0.021912578406045213,
98
+ -0.17009669356048107,
99
+ -0.007409597827063408
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5319612835853613,
103
+ "xyz": [
104
+ -0.47326272981306855,
105
+ 0.5071599582897532,
106
+ 0.48562162023908345
107
+ ]
108
+ }
109
+ },
110
+ "grasp_49": {
111
+ "confidence": 0.9754762649536133,
112
+ "position": [
113
+ 0.1116354503610637,
114
+ -0.06645881198346615,
115
+ -0.0032035744152381085
116
+ ],
117
+ "orientation": {
118
+ "w": 0.031877196193112,
119
+ "xyz": [
120
+ -0.7056040052464893,
121
+ 0.01711056148965273,
122
+ 0.7076821750111323
123
+ ]
124
+ }
125
+ },
126
+ "grasp_50": {
127
+ "confidence": 0.9754036664962769,
128
+ "position": [
129
+ 0.10661884778528474,
130
+ -0.0601040106266737,
131
+ -0.0028992798979743384
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7115889079450516,
135
+ "xyz": [
136
+ -0.013044210471439294,
137
+ -0.7023314777945178,
138
+ -0.014197533649004999
139
+ ]
140
+ }
141
+ },
142
+ "grasp_51": {
143
+ "confidence": 0.975286066532135,
144
+ "position": [
145
+ 0.10402840757160448,
146
+ -0.01837853342294693,
147
+ -0.004905466070340481
148
+ ],
149
+ "orientation": {
150
+ "w": 0.15430830180434954,
151
+ "xyz": [
152
+ 0.6840374662940656,
153
+ 0.15434046101359888,
154
+ -0.6960321219558492
155
+ ]
156
+ }
157
+ },
158
+ "grasp_53": {
159
+ "confidence": 0.9751151204109192,
160
+ "position": [
161
+ -0.01762649221927859,
162
+ -0.17226573638617992,
163
+ -0.002921425118984189
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4896643074624023,
167
+ "xyz": [
168
+ -0.5016741155020201,
169
+ -0.4901919852419929,
170
+ -0.5179418552667329
171
+ ]
172
+ }
173
+ },
174
+ "grasp_54": {
175
+ "confidence": 0.9750306606292725,
176
+ "position": [
177
+ -0.030664790334412828,
178
+ -0.17232437245547771,
179
+ 0.0009786905502551235
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5293930499337766,
183
+ "xyz": [
184
+ -0.46412141239338484,
185
+ 0.5372076213533713,
186
+ 0.46448066138391225
187
+ ]
188
+ }
189
+ },
190
+ "grasp_57": {
191
+ "confidence": 0.9744690656661987,
192
+ "position": [
193
+ 0.10706566655426286,
194
+ -0.059275103732943535,
195
+ -0.003515202864946332
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7075187776166644,
199
+ "xyz": [
200
+ -0.010064269920105473,
201
+ -0.7063137274530736,
202
+ -0.020899956988987712
203
+ ]
204
+ }
205
+ },
206
+ "grasp_58": {
207
+ "confidence": 0.9742562174797058,
208
+ "position": [
209
+ -0.02964998027891852,
210
+ -0.17178809456527233,
211
+ 0.007376005327387247
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4552960962025685,
215
+ "xyz": [
216
+ -0.5597424711154532,
217
+ -0.47019994469543547,
218
+ -0.50823797853041
219
+ ]
220
+ }
221
+ }
222
+ }
223
+ },
224
+ {
225
+ "part_name": "fixed jaw",
226
+ "mask_color": "Light Cyan",
227
+ "graspable": false,
228
+ "grasp_scenarios": [],
229
+ "functional_labels": [
230
+ "engage fastener flats",
231
+ "provide reaction surface",
232
+ "form the wrench opening",
233
+ "resist turning load"
234
+ ],
235
+ "semantic_description": "Silver metal hook-shaped fixed jaw at the head with a reflective smooth hard surface, thick curved profile, forming one side of the adjustable opening.",
236
+ "id": null
237
+ },
238
+ {
239
+ "part_name": "movable jaw",
240
+ "mask_color": "Pink",
241
+ "graspable": false,
242
+ "grasp_scenarios": [],
243
+ "functional_labels": [
244
+ "adjust opening width",
245
+ "clamp against fastener",
246
+ "engage fastener flats",
247
+ "enable size fitting"
248
+ ],
249
+ "semantic_description": "Silver metal movable jaw with a reflective smooth hard finish and serrated gripping face, positioned at the wrench head opposite the fixed jaw.",
250
+ "id": 8,
251
+ "grasp_group": {}
252
+ },
253
+ {
254
+ "part_name": "adjustment screw",
255
+ "mask_color": "Red",
256
+ "graspable": true,
257
+ "grasp_scenarios": [
258
+ {
259
+ "scenario": "pinch the knurled screw to adjust the jaw opening",
260
+ "confidence": 0.72
261
+ },
262
+ {
263
+ "scenario": "stabilize the head with a delicate pinch on the screw during fine manipulation",
264
+ "confidence": 0.24
265
+ }
266
+ ],
267
+ "functional_labels": [
268
+ "adjust jaw spacing",
269
+ "control movable jaw position",
270
+ "enable fit to different nut sizes"
271
+ ],
272
+ "semantic_description": "Small metallic knurled worm screw near the wrench head, slightly reflective with a ridged texture and compact cylindrical form for turning.",
273
+ "id": 0,
274
+ "grasp_group": {
275
+ "grasp_2": {
276
+ "confidence": 0.9761200547218323,
277
+ "position": [
278
+ 0.05998666593222879,
279
+ -0.15842926315963268,
280
+ -0.002167983060644474
281
+ ],
282
+ "orientation": {
283
+ "w": 0.3581147885593222,
284
+ "xyz": [
285
+ -0.6246253424597408,
286
+ 0.3473961268990634,
287
+ 0.6007602773050936
288
+ ]
289
+ }
290
+ },
291
+ "grasp_3": {
292
+ "confidence": 0.9757035374641418,
293
+ "position": [
294
+ 0.058462783781578764,
295
+ -0.15682722441852093,
296
+ -0.0038974705021246336
297
+ ],
298
+ "orientation": {
299
+ "w": 0.3763523422984646,
300
+ "xyz": [
301
+ -0.6073839025175923,
302
+ 0.3509400611662197,
303
+ 0.6052146585118454
304
+ ]
305
+ }
306
+ },
307
+ "grasp_5": {
308
+ "confidence": 0.9685863852500916,
309
+ "position": [
310
+ 0.014205842366209254,
311
+ -0.17091399244964123,
312
+ -0.0011400834991945885
313
+ ],
314
+ "orientation": {
315
+ "w": 0.5013351262452375,
316
+ "xyz": [
317
+ -0.5076770151827734,
318
+ 0.4903108111267296,
319
+ 0.5005221752730146
320
+ ]
321
+ }
322
+ },
323
+ "grasp_6": {
324
+ "confidence": 0.9667079448699951,
325
+ "position": [
326
+ 0.018204530788352713,
327
+ -0.16844220273196697,
328
+ -0.00903470356570324
329
+ ],
330
+ "orientation": {
331
+ "w": 0.4926862348891331,
332
+ "xyz": [
333
+ -0.4917196192133044,
334
+ 0.4768806564060677,
335
+ 0.536709352980932
336
+ ]
337
+ }
338
+ },
339
+ "grasp_9": {
340
+ "confidence": 0.9618569016456604,
341
+ "position": [
342
+ 0.01267447238205932,
343
+ -0.17417691461741924,
344
+ 0.0014611927690566517
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5057684442277172,
348
+ "xyz": [
349
+ -0.5056966530498191,
350
+ 0.49243940486979376,
351
+ 0.49595625658838993
352
+ ]
353
+ }
354
+ },
355
+ "grasp_12": {
356
+ "confidence": 0.9688592553138733,
357
+ "position": [
358
+ 0.010812229564180598,
359
+ -0.16833641938865185,
360
+ 0.003106983764155302
361
+ ],
362
+ "orientation": {
363
+ "w": 0.5058173499219206,
364
+ "xyz": [
365
+ -0.507072102232054,
366
+ 0.4986973550895325,
367
+ 0.48818811915350274
368
+ ]
369
+ }
370
+ },
371
+ "grasp_17": {
372
+ "confidence": 0.9831251502037048,
373
+ "position": [
374
+ 0.10844725751667283,
375
+ -0.06597085110843182,
376
+ 0.0012356000152067281
377
+ ],
378
+ "orientation": {
379
+ "w": 0.015442310680419421,
380
+ "xyz": [
381
+ 0.7076350563050018,
382
+ -0.017066366789646126,
383
+ -0.7062031586262325
384
+ ]
385
+ }
386
+ },
387
+ "grasp_18": {
388
+ "confidence": 0.9807837605476379,
389
+ "position": [
390
+ 0.054460596380522475,
391
+ -0.15831357054412365,
392
+ -0.0013757940250798129
393
+ ],
394
+ "orientation": {
395
+ "w": 0.37369768428575884,
396
+ "xyz": [
397
+ -0.6091145103176023,
398
+ 0.35801354446399825,
399
+ 0.6009624414722886
400
+ ]
401
+ }
402
+ }
403
+ }
404
+ },
405
+ {
406
+ "part_name": "ring end opening",
407
+ "mask_color": "Green",
408
+ "graspable": true,
409
+ "grasp_scenarios": [
410
+ {
411
+ "scenario": "grasp or hook the end opening to pick up or reorient the wrench",
412
+ "confidence": 0.66
413
+ },
414
+ {
415
+ "scenario": "use the end opening to hang the tool on a peg or hook",
416
+ "confidence": 0.84
417
+ }
418
+ ],
419
+ "functional_labels": [
420
+ "hanging hole",
421
+ "pickup point",
422
+ "aid tool orientation"
423
+ ],
424
+ "semantic_description": "Small circular opening at the far handle end, surrounded by orange-painted metal with a silver inner rim, smooth hard metal, positioned opposite the adjustable jaw head.",
425
+ "id": 1,
426
+ "grasp_group": {
427
+ "grasp_20": {
428
+ "confidence": 0.9452353119850159,
429
+ "position": [
430
+ -0.011651220644125715,
431
+ 0.19000318832695484,
432
+ 0.003912321677489672
433
+ ],
434
+ "orientation": {
435
+ "w": 0.4835243313609563,
436
+ "xyz": [
437
+ 0.5148259930592092,
438
+ -0.4896059564026074,
439
+ 0.5113163651865916
440
+ ]
441
+ }
442
+ },
443
+ "grasp_22": {
444
+ "confidence": 0.9543930292129517,
445
+ "position": [
446
+ 0.010076943872263655,
447
+ 0.1921211052685976,
448
+ 0.00308891727036098
449
+ ],
450
+ "orientation": {
451
+ "w": 0.5119177664696708,
452
+ "xyz": [
453
+ 0.5180293048462764,
454
+ 0.4922957621364693,
455
+ -0.47668723737442387
456
+ ]
457
+ }
458
+ },
459
+ "grasp_23": {
460
+ "confidence": 0.9889935851097107,
461
+ "position": [
462
+ -0.09736284977407195,
463
+ 0.09269694425165653,
464
+ -0.0015875163589953445
465
+ ],
466
+ "orientation": {
467
+ "w": 0.04165404966216886,
468
+ "xyz": [
469
+ 0.6944421725209408,
470
+ -0.013559147767803648,
471
+ 0.7182138669525593
472
+ ]
473
+ }
474
+ },
475
+ "grasp_24": {
476
+ "confidence": 0.9888145327568054,
477
+ "position": [
478
+ -0.09252336985082366,
479
+ 0.06292944215238094,
480
+ 7.897824980318546e-05
481
+ ],
482
+ "orientation": {
483
+ "w": 0.07802019657365995,
484
+ "xyz": [
485
+ -0.6969086078990354,
486
+ -0.07863926889909945,
487
+ -0.708552825518219
488
+ ]
489
+ }
490
+ },
491
+ "grasp_25": {
492
+ "confidence": 0.9814867377281189,
493
+ "position": [
494
+ 0.09228092813282274,
495
+ 0.13042842037975788,
496
+ 0.0027210627813474275
497
+ ],
498
+ "orientation": {
499
+ "w": 0.683244136725054,
500
+ "xyz": [
501
+ 0.1664430533179289,
502
+ -0.6899245464118069,
503
+ 0.17169239904987993
504
+ ]
505
+ }
506
+ },
507
+ "grasp_26": {
508
+ "confidence": 0.9799250364303589,
509
+ "position": [
510
+ 0.09382812315016054,
511
+ 0.13430279679596424,
512
+ 0.002708643129153643
513
+ ],
514
+ "orientation": {
515
+ "w": 0.18041758388973667,
516
+ "xyz": [
517
+ 0.6840649689202094,
518
+ 0.17356053330986265,
519
+ -0.6851141182290577
520
+ ]
521
+ }
522
+ },
523
+ "grasp_28": {
524
+ "confidence": 0.976443886756897,
525
+ "position": [
526
+ -0.05180809638113715,
527
+ 0.1763788927346468,
528
+ 0.006617654500587378
529
+ ],
530
+ "orientation": {
531
+ "w": 0.3586256785500479,
532
+ "xyz": [
533
+ 0.605145926363461,
534
+ -0.36220692943036015,
535
+ 0.6115489929374884
536
+ ]
537
+ }
538
+ },
539
+ "grasp_29": {
540
+ "confidence": 0.9764189124107361,
541
+ "position": [
542
+ -0.00275845211581327,
543
+ 0.1942411232739687,
544
+ 0.002176616028009448
545
+ ],
546
+ "orientation": {
547
+ "w": 0.4947380411126545,
548
+ "xyz": [
549
+ 0.5174525758414091,
550
+ 0.49158090887392714,
551
+ -0.49580773739604744
552
+ ]
553
+ }
554
+ },
555
+ "grasp_30": {
556
+ "confidence": 0.9762402772903442,
557
+ "position": [
558
+ -0.08267676449031569,
559
+ 0.13950039632618427,
560
+ 0.0003812482245848514
561
+ ],
562
+ "orientation": {
563
+ "w": 0.6721851833744924,
564
+ "xyz": [
565
+ 0.20580767978447514,
566
+ 0.6810296250990032,
567
+ -0.20496079608315715
568
+ ]
569
+ }
570
+ },
571
+ "grasp_31": {
572
+ "confidence": 0.975852906703949,
573
+ "position": [
574
+ -0.08421454197377898,
575
+ 0.13690953142940998,
576
+ -0.0024884688536985777
577
+ ],
578
+ "orientation": {
579
+ "w": 0.6799080830934586,
580
+ "xyz": [
581
+ 0.19370009000142913,
582
+ 0.6785217730851141,
583
+ -0.19953314794051055
584
+ ]
585
+ }
586
+ },
587
+ "grasp_32": {
588
+ "confidence": 0.9737048149108887,
589
+ "position": [
590
+ 0.06222466760664247,
591
+ 0.17252272553741932,
592
+ 0.000809806959296111
593
+ ],
594
+ "orientation": {
595
+ "w": 0.35123374673694646,
596
+ "xyz": [
597
+ 0.6215131280833864,
598
+ 0.3325730298625458,
599
+ -0.616239780102824
600
+ ]
601
+ }
602
+ },
603
+ "grasp_33": {
604
+ "confidence": 0.9684334993362427,
605
+ "position": [
606
+ 0.061398405669024214,
607
+ 0.17112799175083637,
608
+ 0.00319751553615788
609
+ ],
610
+ "orientation": {
611
+ "w": 0.3700474939969912,
612
+ "xyz": [
613
+ 0.6397608570201052,
614
+ 0.30445396723436013,
615
+ -0.600898227528345
616
+ ]
617
+ }
618
+ },
619
+ "grasp_35": {
620
+ "confidence": 0.9649086594581604,
621
+ "position": [
622
+ -0.007519235747167841,
623
+ 0.19174055941402912,
624
+ 0.003547372682078276
625
+ ],
626
+ "orientation": {
627
+ "w": 0.5030639018166168,
628
+ "xyz": [
629
+ 0.5159939472223996,
630
+ 0.5043530503404464,
631
+ -0.4757152065376682
632
+ ]
633
+ }
634
+ },
635
+ "grasp_36": {
636
+ "confidence": 0.9550313949584961,
637
+ "position": [
638
+ 0.059021547524025664,
639
+ 0.17202228493988514,
640
+ -1.2768381566274911e-05
641
+ ],
642
+ "orientation": {
643
+ "w": 0.3539393148102375,
644
+ "xyz": [
645
+ 0.6070572030354231,
646
+ 0.3395275561521627,
647
+ -0.6252435943596778
648
+ ]
649
+ }
650
+ },
651
+ "grasp_37": {
652
+ "confidence": 0.9436959624290466,
653
+ "position": [
654
+ 0.013920364057412371,
655
+ 0.1902774441987276,
656
+ 0.012359482156170998
657
+ ],
658
+ "orientation": {
659
+ "w": 0.48783679840126304,
660
+ "xyz": [
661
+ 0.5523960490532268,
662
+ 0.48330335474509145,
663
+ -0.4725375439138465
664
+ ]
665
+ }
666
+ }
667
+ }
668
+ }
669
+ ],
670
+ "quality_check": {
671
+ "success": false,
672
+ "message": "Part identity mismatch: green part is handle hanging hole, not ring end opening; semantic description also wrong."
673
+ }
674
+ }
dataset/tools/repair_tools/7d775038e6a1522ea69e07bda283ce76/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:903c16892acb5fa4841c37ccdd081243c277a0bf76378cf3661c330ca90a6427
3
+ size 3818744