Add asset tools/repair_tools/924a3723bbaa55cb9255ac6587cec223
Browse files
.gitattributes
CHANGED
|
@@ -8580,3 +8580,4 @@ dataset/tools/repair_tools/8b23709336c45884b4458bf58932a4de/affordance/mesh_part
|
|
| 8580 |
dataset/tools/repair_tools/8b50c24528ad5de9829402582a6c3df3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8581 |
dataset/tools/repair_tools/8fc1c5a34ea35063a8403c813092566b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8582 |
dataset/tools/repair_tools/90fd2b4968d856b38dca65c7ce542ee1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8580 |
dataset/tools/repair_tools/8b50c24528ad5de9829402582a6c3df3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8581 |
dataset/tools/repair_tools/8fc1c5a34ea35063a8403c813092566b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8582 |
dataset/tools/repair_tools/90fd2b4968d856b38dca65c7ce542ee1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8583 |
+
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,745 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to apply torque while turning a screw",
|
| 14 |
+
"confidence": 0.98
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "regrasp the handle to reposition tool orientation",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip surface",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"support controlled manipulation",
|
| 25 |
+
"insulate hand from shaft"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Medium-sized beige plastic handle with a matte hard smooth surface, slightly faceted cylindrical shape at the center of the screwdriver, with small molded markings visible on the side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_21": {
|
| 31 |
+
"confidence": 0.9888530969619751,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0921512462773535,
|
| 34 |
+
-0.03324970602989197,
|
| 35 |
+
0.0336335038064135
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.008827257466565038,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.8180008532280331,
|
| 41 |
+
0.025616201037648834,
|
| 42 |
+
0.574578535874973
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_22": {
|
| 47 |
+
"confidence": 0.9887920022010803,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08207503637459013,
|
| 50 |
+
-0.025215916335582733,
|
| 51 |
+
0.05277130354625115
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.019832577678476834,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.8803080445113844,
|
| 57 |
+
0.00037419341437361364,
|
| 58 |
+
0.4739876323391339
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9884046316146851,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09220699897196027,
|
| 66 |
+
-0.0226813443005085,
|
| 67 |
+
0.031202010553897708
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.012528287286242962,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.816915336218986,
|
| 73 |
+
0.005322033224606559,
|
| 74 |
+
0.5765969575277439
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_25": {
|
| 79 |
+
"confidence": 0.9878972768783569,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09593126854088041,
|
| 82 |
+
-0.0330781415104866,
|
| 83 |
+
-0.016543993982850225
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7514631453854687,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.004618372649231238,
|
| 89 |
+
-0.6578132114748979,
|
| 90 |
+
-0.05063191257036287
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_27": {
|
| 95 |
+
"confidence": 0.9878647923469543,
|
| 96 |
+
"position": [
|
| 97 |
+
0.08855751833107206,
|
| 98 |
+
-0.042640961706638336,
|
| 99 |
+
0.026316314679206698
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.10179554107762886,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.8026223162387408,
|
| 105 |
+
0.04581039176931845,
|
| 106 |
+
0.5859492241638459
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_28": {
|
| 111 |
+
"confidence": 0.9878476858139038,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0947626524248335,
|
| 114 |
+
0.054636213928461075,
|
| 115 |
+
0.03213531498295197
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5886883968310211,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.008195002951337842,
|
| 121 |
+
-0.8083046350845297,
|
| 122 |
+
-0.0047360599674228405
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_29": {
|
| 127 |
+
"confidence": 0.9877122044563293,
|
| 128 |
+
"position": [
|
| 129 |
+
0.09070967069055769,
|
| 130 |
+
0.02014121232787147,
|
| 131 |
+
0.03575099233967194
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5532286560491729,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.008553827052978177,
|
| 137 |
+
-0.8323446399979437,
|
| 138 |
+
-0.03266935009250524
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_31": {
|
| 143 |
+
"confidence": 0.987697184085846,
|
| 144 |
+
"position": [
|
| 145 |
+
0.09634999862100813,
|
| 146 |
+
-0.009880820289254189,
|
| 147 |
+
-0.003661752934931428
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.022418248180644963,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7008931964009879,
|
| 153 |
+
0.00547389465834669,
|
| 154 |
+
0.712892829157782
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_32": {
|
| 159 |
+
"confidence": 0.987606942653656,
|
| 160 |
+
"position": [
|
| 161 |
+
0.08889526805069181,
|
| 162 |
+
0.009032439440488815,
|
| 163 |
+
-0.03972132529634109
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.8406491679673819,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.023601349332198825,
|
| 169 |
+
-0.5400443707412326,
|
| 170 |
+
-0.033226951954003645
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_34": {
|
| 175 |
+
"confidence": 0.9874817132949829,
|
| 176 |
+
"position": [
|
| 177 |
+
0.09905312141563627,
|
| 178 |
+
-0.030846823006868362,
|
| 179 |
+
0.004994261287720292
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.002932111135644876,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.7278160677433857,
|
| 185 |
+
0.002454068179972846,
|
| 186 |
+
0.6857617310758979
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_35": {
|
| 191 |
+
"confidence": 0.9874473214149475,
|
| 192 |
+
"position": [
|
| 193 |
+
0.07759806445028516,
|
| 194 |
+
0.020084002579096705,
|
| 195 |
+
0.05927264664751419
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.4607087587108447,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.0006136424436848475,
|
| 201 |
+
-0.8875052154894287,
|
| 202 |
+
-0.009030812207439922
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_36": {
|
| 207 |
+
"confidence": 0.9873030185699463,
|
| 208 |
+
"position": [
|
| 209 |
+
0.09663622757580015,
|
| 210 |
+
0.006526468321681023,
|
| 211 |
+
0.022916923951925128
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6159742127833636,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.018869837725855678,
|
| 217 |
+
-0.7873705611227685,
|
| 218 |
+
-0.01634924730171329
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_37": {
|
| 223 |
+
"confidence": 0.9873005747795105,
|
| 224 |
+
"position": [
|
| 225 |
+
0.08787129750635359,
|
| 226 |
+
0.04908624477684498,
|
| 227 |
+
0.034275304269613116
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5754005076054455,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.08093584790630824,
|
| 233 |
+
-0.8096823392641965,
|
| 234 |
+
0.08232954423984665
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_38": {
|
| 239 |
+
"confidence": 0.9871683120727539,
|
| 240 |
+
"position": [
|
| 241 |
+
0.08728554776098463,
|
| 242 |
+
-0.030400879681110382,
|
| 243 |
+
0.04018589083534607
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.5421392054160096,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.004272320984936934,
|
| 249 |
+
-0.840034766337914,
|
| 250 |
+
-0.02020941780224638
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_39": {
|
| 255 |
+
"confidence": 0.9871336221694946,
|
| 256 |
+
"position": [
|
| 257 |
+
0.08643667331125471,
|
| 258 |
+
-0.030841149389743805,
|
| 259 |
+
0.04540679950696358
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5225827164655655,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.005915224964589025,
|
| 265 |
+
-0.8525061445460475,
|
| 266 |
+
-0.010275605885856078
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "rotating end cap",
|
| 274 |
+
"mask_color": "Purple",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "lightly grasp the end cap to stabilize the screwdriver during fine positioning",
|
| 279 |
+
"confidence": 0.46
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "pinch the end cap for delicate pickup when the handle is obstructed",
|
| 283 |
+
"confidence": 0.31
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"support fingertip pressure",
|
| 288 |
+
"aid precision control",
|
| 289 |
+
"provide rear stabilization",
|
| 290 |
+
"cap the handle end"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Small round beige cap at the back end, likely plastic, with a hard smooth finish and knurled ring detail that gives a slightly ridged texture.",
|
| 293 |
+
"id": 5,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_40": {
|
| 296 |
+
"confidence": 0.9888889193534851,
|
| 297 |
+
"position": [
|
| 298 |
+
0.09463434597637388,
|
| 299 |
+
-0.04148039594292641,
|
| 300 |
+
-0.004174362193225534
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.709320090573917,
|
| 304 |
+
"xyz": [
|
| 305 |
+
0.006523929938035407,
|
| 306 |
+
-0.7031890806011559,
|
| 307 |
+
-0.048451670452886855
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_41": {
|
| 312 |
+
"confidence": 0.98868328332901,
|
| 313 |
+
"position": [
|
| 314 |
+
0.09273910453703138,
|
| 315 |
+
-0.048464637249708176,
|
| 316 |
+
0.013139041815520613
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.6365603404401354,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.01691491522033387,
|
| 322 |
+
-0.7705115540907438,
|
| 323 |
+
-0.028579076865675
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_42": {
|
| 328 |
+
"confidence": 0.9885932207107544,
|
| 329 |
+
"position": [
|
| 330 |
+
0.08776752581979963,
|
| 331 |
+
-0.040671057999134064,
|
| 332 |
+
-0.04030543218868843
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.8300013588381422,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.0349036480548948,
|
| 338 |
+
-0.5565543058082177,
|
| 339 |
+
-0.011259856376981512
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_43": {
|
| 344 |
+
"confidence": 0.9882021546363831,
|
| 345 |
+
"position": [
|
| 346 |
+
0.09410894593384,
|
| 347 |
+
-0.05265776440501213,
|
| 348 |
+
-0.015680732461987645
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.7470861098281901,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.013126111998861129,
|
| 354 |
+
-0.6631431024267536,
|
| 355 |
+
-0.04394627844760668
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_44": {
|
| 360 |
+
"confidence": 0.9880366325378418,
|
| 361 |
+
"position": [
|
| 362 |
+
0.08695964446451399,
|
| 363 |
+
-0.04794613644480705,
|
| 364 |
+
-0.041709300387083204
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.832895155000346,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.020437485952549846,
|
| 370 |
+
-0.552220806580245,
|
| 371 |
+
-0.030333986298411705
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_45": {
|
| 376 |
+
"confidence": 0.9878498911857605,
|
| 377 |
+
"position": [
|
| 378 |
+
0.0951259576359007,
|
| 379 |
+
-0.03642868623137474,
|
| 380 |
+
0.02723743182104954
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.01798778531355214,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.8045113131846744,
|
| 386 |
+
-0.007285840401113464,
|
| 387 |
+
0.5936201673351689
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_46": {
|
| 392 |
+
"confidence": 0.9865352511405945,
|
| 393 |
+
"position": [
|
| 394 |
+
0.09483776917841169,
|
| 395 |
+
-0.055326882749795914,
|
| 396 |
+
-0.031231493014274747
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.006682986293471936,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.6002990893902442,
|
| 402 |
+
-0.009835510690436533,
|
| 403 |
+
0.7996871911572069
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_47": {
|
| 408 |
+
"confidence": 0.9865352511405945,
|
| 409 |
+
"position": [
|
| 410 |
+
0.08945978364135954,
|
| 411 |
+
-0.04486674442887306,
|
| 412 |
+
0.038021847349227755
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.5534490597606433,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.012387600648333066,
|
| 418 |
+
-0.8323762903166899,
|
| 419 |
+
-0.026275405208334986
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_49": {
|
| 424 |
+
"confidence": 0.9860261082649231,
|
| 425 |
+
"position": [
|
| 426 |
+
0.09489898314859602,
|
| 427 |
+
-0.03655320033431053,
|
| 428 |
+
0.016755643975557177
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.6339440744848589,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.01702363816610761,
|
| 434 |
+
-0.7727983368382324,
|
| 435 |
+
-0.024654345442280453
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_50": {
|
| 440 |
+
"confidence": 0.9858808517456055,
|
| 441 |
+
"position": [
|
| 442 |
+
0.09109113296653959,
|
| 443 |
+
-0.04558737948536873,
|
| 444 |
+
-0.044120960194049985
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.027627723644786557,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.5453967939690243,
|
| 450 |
+
-0.003749195640973535,
|
| 451 |
+
0.8377141454855365
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_51": {
|
| 456 |
+
"confidence": 0.9858485460281372,
|
| 457 |
+
"position": [
|
| 458 |
+
0.09709695657875272,
|
| 459 |
+
-0.03770861029624939,
|
| 460 |
+
0.0023174942234618356
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.6840886635113416,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.020652077148255028,
|
| 466 |
+
-0.728596502294673,
|
| 467 |
+
-0.027264060752153846
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_52": {
|
| 472 |
+
"confidence": 0.9856542944908142,
|
| 473 |
+
"position": [
|
| 474 |
+
0.08809365263368818,
|
| 475 |
+
-0.03813186287879944,
|
| 476 |
+
0.04420910377484688
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.5145461159022293,
|
| 480 |
+
"xyz": [
|
| 481 |
+
0.014920740106306165,
|
| 482 |
+
-0.8571807253352899,
|
| 483 |
+
-0.016151477897554153
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_54": {
|
| 488 |
+
"confidence": 0.984623372554779,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.03154896640990046,
|
| 491 |
+
-0.04607294872403145,
|
| 492 |
+
-0.09621259595769516
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.9860866552409184,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.022596640046588377,
|
| 498 |
+
0.16447902462432828,
|
| 499 |
+
-0.008315688366696225
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_55": {
|
| 504 |
+
"confidence": 0.9843066930770874,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.026442822756507667,
|
| 507 |
+
-0.047602538019418716,
|
| 508 |
+
-0.09883634771722427
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.9895157551244478,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.011114329999352426,
|
| 514 |
+
0.14328293282730042,
|
| 515 |
+
-0.014319329228974808
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_56": {
|
| 520 |
+
"confidence": 0.9842543601989746,
|
| 521 |
+
"position": [
|
| 522 |
+
0.007944331748149125,
|
| 523 |
+
-0.0483715794980526,
|
| 524 |
+
-0.10089490588325134
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.9988356567615028,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.024857764570887987,
|
| 530 |
+
-0.03808602686590734,
|
| 531 |
+
-0.016089651330114016
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_57": {
|
| 536 |
+
"confidence": 0.9840923547744751,
|
| 537 |
+
"position": [
|
| 538 |
+
0.09414154222395155,
|
| 539 |
+
-0.04709847643971443,
|
| 540 |
+
0.026118801650227397
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.5948086638711997,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.00580180317136062,
|
| 546 |
+
-0.8032588374272437,
|
| 547 |
+
-0.030728367329734732
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_58": {
|
| 552 |
+
"confidence": 0.9838842749595642,
|
| 553 |
+
"position": [
|
| 554 |
+
0.09730318864967558,
|
| 555 |
+
-0.053950753062963486,
|
| 556 |
+
-0.0005830398531543324
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.6928785809266313,
|
| 560 |
+
"xyz": [
|
| 561 |
+
0.012607456732007574,
|
| 562 |
+
-0.7195231799901661,
|
| 563 |
+
-0.04524066295587309
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_59": {
|
| 568 |
+
"confidence": 0.9838286638259888,
|
| 569 |
+
"position": [
|
| 570 |
+
0.022122825739643304,
|
| 571 |
+
-0.043308865278959274,
|
| 572 |
+
0.09136264000517258
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.12566118609950463,
|
| 576 |
+
"xyz": [
|
| 577 |
+
-0.010671221104656365,
|
| 578 |
+
-0.9917301068556643,
|
| 579 |
+
-0.023807278388219496
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
}
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
{
|
| 586 |
+
"part_name": "shaft",
|
| 587 |
+
"mask_color": "Green",
|
| 588 |
+
"graspable": true,
|
| 589 |
+
"grasp_scenarios": [
|
| 590 |
+
{
|
| 591 |
+
"scenario": "grasp the shaft to pick up or reposition the screwdriver in tight spaces",
|
| 592 |
+
"confidence": 0.58
|
| 593 |
+
},
|
| 594 |
+
{
|
| 595 |
+
"scenario": "hold the shaft to guide the tip during precise alignment",
|
| 596 |
+
"confidence": 0.52
|
| 597 |
+
},
|
| 598 |
+
{
|
| 599 |
+
"scenario": "temporarily clamp the shaft to stabilize the tool while another manipulator turns it",
|
| 600 |
+
"confidence": 0.49
|
| 601 |
+
}
|
| 602 |
+
],
|
| 603 |
+
"functional_labels": [
|
| 604 |
+
"connect handle to tip",
|
| 605 |
+
"transmit torque",
|
| 606 |
+
"extend reach",
|
| 607 |
+
"guide tip alignment"
|
| 608 |
+
],
|
| 609 |
+
"semantic_description": "Long thin metallic shaft with a dull light steel finish and hard smooth surface, running from the handle to the tip and occupying the front half of the tool.",
|
| 610 |
+
"id": 1,
|
| 611 |
+
"grasp_group": {
|
| 612 |
+
"grasp_0": {
|
| 613 |
+
"confidence": 0.771119236946106,
|
| 614 |
+
"position": [
|
| 615 |
+
0.00012122009866288863,
|
| 616 |
+
0.25416984781622887,
|
| 617 |
+
0.011118829925180762
|
| 618 |
+
],
|
| 619 |
+
"orientation": {
|
| 620 |
+
"w": 0.47351932562695676,
|
| 621 |
+
"xyz": [
|
| 622 |
+
0.4798978506161679,
|
| 623 |
+
0.5282023176847093,
|
| 624 |
+
-0.5162168273354486
|
| 625 |
+
]
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"grasp_1": {
|
| 629 |
+
"confidence": 0.7425770163536072,
|
| 630 |
+
"position": [
|
| 631 |
+
-0.00032255582118523307,
|
| 632 |
+
0.2523817680776119,
|
| 633 |
+
0.010251533914924948
|
| 634 |
+
],
|
| 635 |
+
"orientation": {
|
| 636 |
+
"w": 0.49791482263331005,
|
| 637 |
+
"xyz": [
|
| 638 |
+
0.5021941426158646,
|
| 639 |
+
0.5017941325877456,
|
| 640 |
+
-0.4980808378414775
|
| 641 |
+
]
|
| 642 |
+
}
|
| 643 |
+
},
|
| 644 |
+
"grasp_2": {
|
| 645 |
+
"confidence": 0.695848286151886,
|
| 646 |
+
"position": [
|
| 647 |
+
0.0010332825004297774,
|
| 648 |
+
0.24706460162997246,
|
| 649 |
+
0.022137986239613383
|
| 650 |
+
],
|
| 651 |
+
"orientation": {
|
| 652 |
+
"w": 0.4735709423817068,
|
| 653 |
+
"xyz": [
|
| 654 |
+
0.5259729415933778,
|
| 655 |
+
-0.5343062468540701,
|
| 656 |
+
0.462168650836498
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
},
|
| 660 |
+
"grasp_6": {
|
| 661 |
+
"confidence": 0.3591052293777466,
|
| 662 |
+
"position": [
|
| 663 |
+
0.004756112361064879,
|
| 664 |
+
0.23768111690878868,
|
| 665 |
+
0.014794394117416232
|
| 666 |
+
],
|
| 667 |
+
"orientation": {
|
| 668 |
+
"w": 0.47911086870206676,
|
| 669 |
+
"xyz": [
|
| 670 |
+
0.49662864531813666,
|
| 671 |
+
-0.5467610260045841,
|
| 672 |
+
0.4741994776288119
|
| 673 |
+
]
|
| 674 |
+
}
|
| 675 |
+
},
|
| 676 |
+
"grasp_7": {
|
| 677 |
+
"confidence": 0.16150502860546112,
|
| 678 |
+
"position": [
|
| 679 |
+
0.050537108687422005,
|
| 680 |
+
0.20172272250056267,
|
| 681 |
+
0.021365647879065364
|
| 682 |
+
],
|
| 683 |
+
"orientation": {
|
| 684 |
+
"w": 0.5464094971641423,
|
| 685 |
+
"xyz": [
|
| 686 |
+
0.3355195280643612,
|
| 687 |
+
-0.6865892188757977,
|
| 688 |
+
0.34272226688649754
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
"grasp_18": {
|
| 693 |
+
"confidence": 0.9584813714027405,
|
| 694 |
+
"position": [
|
| 695 |
+
0.0834358104148123,
|
| 696 |
+
0.16706035658717155,
|
| 697 |
+
0.01627307359558472
|
| 698 |
+
],
|
| 699 |
+
"orientation": {
|
| 700 |
+
"w": 0.17524953231801083,
|
| 701 |
+
"xyz": [
|
| 702 |
+
0.7087237976151236,
|
| 703 |
+
0.2154329451873056,
|
| 704 |
+
-0.6485266580829498
|
| 705 |
+
]
|
| 706 |
+
}
|
| 707 |
+
}
|
| 708 |
+
}
|
| 709 |
+
},
|
| 710 |
+
{
|
| 711 |
+
"part_name": "Phillips tip",
|
| 712 |
+
"mask_color": "Yellow",
|
| 713 |
+
"graspable": false,
|
| 714 |
+
"grasp_scenarios": [],
|
| 715 |
+
"functional_labels": [
|
| 716 |
+
"engage Phillips screw head",
|
| 717 |
+
"drive screws",
|
| 718 |
+
"transfer torque into fastener",
|
| 719 |
+
"enable fastening and loosening"
|
| 720 |
+
],
|
| 721 |
+
"semantic_description": "Small dark gray metal crosshead tip with a reflective hard finish and tapered geometry at the screwdriver front, forming the narrow working end.",
|
| 722 |
+
"id": 3,
|
| 723 |
+
"grasp_group": {}
|
| 724 |
+
},
|
| 725 |
+
{
|
| 726 |
+
"part_name": "collar",
|
| 727 |
+
"mask_color": "Orange",
|
| 728 |
+
"graspable": false,
|
| 729 |
+
"grasp_scenarios": [],
|
| 730 |
+
"functional_labels": [
|
| 731 |
+
"transition between handle and shaft",
|
| 732 |
+
"support shaft seating",
|
| 733 |
+
"provide finger stop",
|
| 734 |
+
"reinforce connection"
|
| 735 |
+
],
|
| 736 |
+
"semantic_description": "A small beige ring-like collar near the front of the handle, likely plastic, with a smooth hard surface and rounded profile where the shaft enters the handle.",
|
| 737 |
+
"id": 4,
|
| 738 |
+
"grasp_group": {}
|
| 739 |
+
}
|
| 740 |
+
],
|
| 741 |
+
"quality_check": {
|
| 742 |
+
"success": true,
|
| 743 |
+
"message": "YES"
|
| 744 |
+
}
|
| 745 |
+
}
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e55e17e35a5b18fa3205ed15f0669bbf8d7f6fb047864465ede635200d24b40b
|
| 3 |
+
size 3826684
|