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
1
xinjjj commited on
Commit
550a4af
·
verified ·
1 Parent(s): 91af3d8

Add asset tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/affordance_annot.json +871 -0
  3. dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7938,3 +7938,4 @@ dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part
7938
  dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7939
  dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7940
  dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7938
  dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7939
  dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7940
  dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7941
+ dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/affordance_annot.json ADDED
@@ -0,0 +1,871 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "wrench handle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle at the center to pick up and manipulate the wrench",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle while applying torque with one open end",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "regrasp the handle to reposition tool orientation",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "transmit torque",
24
+ "connect both wrench heads",
25
+ "support tool handling"
26
+ ],
27
+ "semantic_description": "Long slim black metal handle with a matte to satin finish, hard smooth surface, slight edge rounding, yellow printed branding, and a centered position between the two open ends.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_40": {
31
+ "confidence": 0.9946119785308838,
32
+ "position": [
33
+ 0.09288330911658704,
34
+ 0.05867553548887372,
35
+ -0.0013541277767217252
36
+ ],
37
+ "orientation": {
38
+ "w": 0.01765048030958461,
39
+ "xyz": [
40
+ -0.6929303535234431,
41
+ 0.03775636047162312,
42
+ 0.7197988906317199
43
+ ]
44
+ }
45
+ },
46
+ "grasp_41": {
47
+ "confidence": 0.9927986860275269,
48
+ "position": [
49
+ -0.09574341238476336,
50
+ 0.04262717114761472,
51
+ 0.002737123049882939
52
+ ],
53
+ "orientation": {
54
+ "w": 0.10439790539219561,
55
+ "xyz": [
56
+ -0.6964917896110607,
57
+ -0.09224742509607675,
58
+ -0.7039109865013107
59
+ ]
60
+ }
61
+ },
62
+ "grasp_42": {
63
+ "confidence": 0.992500364780426,
64
+ "position": [
65
+ -0.10145913274027407,
66
+ 0.05509234266355634,
67
+ 0.00020858150310232304
68
+ ],
69
+ "orientation": {
70
+ "w": 0.05908057915271824,
71
+ "xyz": [
72
+ -0.6973427387905051,
73
+ -0.02852513965221737,
74
+ -0.7137288744551099
75
+ ]
76
+ }
77
+ },
78
+ "grasp_43": {
79
+ "confidence": 0.9921446442604065,
80
+ "position": [
81
+ 0.09634542255662382,
82
+ 0.0685599003918469,
83
+ 0.000940002497372916
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7117088875764175,
87
+ "xyz": [
88
+ -0.0005241172526229559,
89
+ -0.7024658713131882,
90
+ -0.0034473592859497405
91
+ ]
92
+ }
93
+ },
94
+ "grasp_44": {
95
+ "confidence": 0.9921374917030334,
96
+ "position": [
97
+ 0.09826792567037046,
98
+ 0.08146715210750699,
99
+ 0.006731171622959664
100
+ ],
101
+ "orientation": {
102
+ "w": 0.05437190355396696,
103
+ "xyz": [
104
+ 0.7134369913482412,
105
+ 0.03039092649282993,
106
+ -0.697945375417586
107
+ ]
108
+ }
109
+ },
110
+ "grasp_45": {
111
+ "confidence": 0.9918786287307739,
112
+ "position": [
113
+ 0.09751631855033338,
114
+ 0.06591197894886136,
115
+ -0.021273866299452493
116
+ ],
117
+ "orientation": {
118
+ "w": 0.019855698013891452,
119
+ "xyz": [
120
+ -0.6229970781236477,
121
+ -0.004574388563369336,
122
+ 0.781958737322533
123
+ ]
124
+ }
125
+ },
126
+ "grasp_46": {
127
+ "confidence": 0.991786777973175,
128
+ "position": [
129
+ 0.09461785643361509,
130
+ 0.07358574913814664,
131
+ 0.003461912969214609
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7070624175932452,
135
+ "xyz": [
136
+ 0.010478806248877313,
137
+ -0.7069350514233739,
138
+ 0.013991615911896661
139
+ ]
140
+ }
141
+ },
142
+ "grasp_47": {
143
+ "confidence": 0.9916478395462036,
144
+ "position": [
145
+ 0.09876623540185392,
146
+ 0.030413948465138674,
147
+ 0.003652503943158081
148
+ ],
149
+ "orientation": {
150
+ "w": 0.00609067890781415,
151
+ "xyz": [
152
+ 0.7030799362259008,
153
+ 0.01098342535037844,
154
+ -0.7109999094758012
155
+ ]
156
+ }
157
+ },
158
+ "grasp_48": {
159
+ "confidence": 0.991529107093811,
160
+ "position": [
161
+ 0.09529265551827848,
162
+ 0.07964175241068006,
163
+ 0.0072571253367641475
164
+ ],
165
+ "orientation": {
166
+ "w": 0.07490569580412806,
167
+ "xyz": [
168
+ 0.7156160352644526,
169
+ 0.052336142659615725,
170
+ -0.6924909782661421
171
+ ]
172
+ }
173
+ },
174
+ "grasp_50": {
175
+ "confidence": 0.9913650751113892,
176
+ "position": [
177
+ 0.092720648040995,
178
+ 0.07132231490686536,
179
+ -0.0005812405761389527
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7227903502497985,
183
+ "xyz": [
184
+ 0.009190392562489406,
185
+ -0.6909965332942012,
186
+ -0.003665684890536609
187
+ ]
188
+ }
189
+ },
190
+ "grasp_51": {
191
+ "confidence": 0.9912131428718567,
192
+ "position": [
193
+ 0.09851068048737943,
194
+ 0.06142308237031102,
195
+ 0.0008661100255267229
196
+ ],
197
+ "orientation": {
198
+ "w": 0.030442736996926834,
199
+ "xyz": [
200
+ 0.6945376201729829,
201
+ 0.0151456397124623,
202
+ -0.71865244974625
203
+ ]
204
+ }
205
+ },
206
+ "grasp_54": {
207
+ "confidence": 0.9910111427307129,
208
+ "position": [
209
+ 0.0907357835676521,
210
+ 0.056683019269257784,
211
+ 0.019313236694870284
212
+ ],
213
+ "orientation": {
214
+ "w": 0.636034574037392,
215
+ "xyz": [
216
+ -0.023160441475184274,
217
+ -0.7710417288014823,
218
+ 0.0204515776058782
219
+ ]
220
+ }
221
+ },
222
+ "grasp_55": {
223
+ "confidence": 0.9908269047737122,
224
+ "position": [
225
+ 0.09452151297591627,
226
+ 0.06668997602537274,
227
+ 0.0020597984512278344
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6994168319026846,
231
+ "xyz": [
232
+ 0.01736357469313676,
233
+ -0.7142874229617464,
234
+ 0.01755217717991732
235
+ ]
236
+ }
237
+ },
238
+ "grasp_56": {
239
+ "confidence": 0.9907474517822266,
240
+ "position": [
241
+ 0.07995161204598844,
242
+ 0.0021748561412096024,
243
+ 0.046071866523561766
244
+ ],
245
+ "orientation": {
246
+ "w": 0.14397827977639543,
247
+ "xyz": [
248
+ -0.8503149808219626,
249
+ 0.08674305605054966,
250
+ 0.498708663018186
251
+ ]
252
+ }
253
+ },
254
+ "grasp_57": {
255
+ "confidence": 0.9903122186660767,
256
+ "position": [
257
+ 0.09101465879939497,
258
+ 0.03426399873569608,
259
+ -0.003020627427758882
260
+ ],
261
+ "orientation": {
262
+ "w": 0.7145393053055317,
263
+ "xyz": [
264
+ -0.0854816208536383,
265
+ -0.6888955263379085,
266
+ -0.086887441332674
267
+ ]
268
+ }
269
+ },
270
+ "grasp_58": {
271
+ "confidence": 0.9902216196060181,
272
+ "position": [
273
+ 0.09355703531764448,
274
+ 0.06751560466364026,
275
+ 0.0026744301394501235
276
+ ],
277
+ "orientation": {
278
+ "w": 0.7101905874264489,
279
+ "xyz": [
280
+ 0.0260582837866481,
281
+ -0.7031639801205888,
282
+ 0.022598947717575833
283
+ ]
284
+ }
285
+ },
286
+ "grasp_59": {
287
+ "confidence": 0.9901098608970642,
288
+ "position": [
289
+ 0.09308045147918165,
290
+ 0.05667786719277501,
291
+ -0.0009273015348298941
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7149873180930042,
295
+ "xyz": [
296
+ 0.010669883925515716,
297
+ -0.6989494331815957,
298
+ 0.012205670744176401
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "open wrench jaw",
306
+ "mask_color": "Red",
307
+ "graspable": true,
308
+ "grasp_scenarios": [
309
+ {
310
+ "scenario": "pinch one wrench head to lift or retrieve the tool when the handle is obstructed",
311
+ "confidence": 0.46
312
+ },
313
+ {
314
+ "scenario": "hold a wrench head briefly to orient the tool for use",
315
+ "confidence": 0.41
316
+ }
317
+ ],
318
+ "functional_labels": [
319
+ "engage hex fasteners",
320
+ "apply torque to a nut or bolt head",
321
+ "provide one wrench size",
322
+ "hook around fastener flats"
323
+ ],
324
+ "semantic_description": "Small open-ended jaw at one end made of silver-gray metal with a slightly reflective finish, hard smooth texture, and a U-shaped profile thicker than the handle.",
325
+ "id": 0,
326
+ "grasp_group": {
327
+ "grasp_0": {
328
+ "confidence": 0.9935573935508728,
329
+ "position": [
330
+ -0.10317461402155459,
331
+ 0.0654541146941483,
332
+ 0.00256030377568095
333
+ ],
334
+ "orientation": {
335
+ "w": 0.03480477884423392,
336
+ "xyz": [
337
+ -0.7021715575978198,
338
+ -0.036331947358575256,
339
+ -0.710227935715985
340
+ ]
341
+ }
342
+ },
343
+ "grasp_2": {
344
+ "confidence": 0.9934396147727966,
345
+ "position": [
346
+ 0.09993108897469938,
347
+ 0.07691107736900449,
348
+ -0.00016277553731924854
349
+ ],
350
+ "orientation": {
351
+ "w": 0.005814087015588731,
352
+ "xyz": [
353
+ 0.6925471535319146,
354
+ 0.013644342868575077,
355
+ -0.7212201248126003
356
+ ]
357
+ }
358
+ },
359
+ "grasp_3": {
360
+ "confidence": 0.9911605715751648,
361
+ "position": [
362
+ 0.09511380433104932,
363
+ 0.0836534877307713,
364
+ 0.0019747794103750493
365
+ ],
366
+ "orientation": {
367
+ "w": 0.7118579686733462,
368
+ "xyz": [
369
+ 0.03756263067397949,
370
+ -0.7001403657693697,
371
+ 0.04062941586389087
372
+ ]
373
+ }
374
+ },
375
+ "grasp_4": {
376
+ "confidence": 0.9906730055809021,
377
+ "position": [
378
+ -0.10376122803427279,
379
+ 0.07620541797950864,
380
+ 0.0033890143931785133
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6939055458005631,
384
+ "xyz": [
385
+ 0.014204504489323082,
386
+ 0.7198991649730924,
387
+ 0.006206273477696738
388
+ ]
389
+ }
390
+ },
391
+ "grasp_5": {
392
+ "confidence": 0.989471435546875,
393
+ "position": [
394
+ -0.10502756596542895,
395
+ 0.07290655421093106,
396
+ -0.0018605071854835842
397
+ ],
398
+ "orientation": {
399
+ "w": 0.7080951330914101,
400
+ "xyz": [
401
+ -0.0027180236384882622,
402
+ 0.7059916270212593,
403
+ 0.013027563687575367
404
+ ]
405
+ }
406
+ },
407
+ "grasp_6": {
408
+ "confidence": 0.9888172149658203,
409
+ "position": [
410
+ -0.10199278802610934,
411
+ 0.0893319328315556,
412
+ 0.006318008523521712
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6874982632813019,
416
+ "xyz": [
417
+ 0.04828549044675175,
418
+ 0.7226376471923055,
419
+ -0.05300453054107022
420
+ ]
421
+ }
422
+ },
423
+ "grasp_7": {
424
+ "confidence": 0.9883235692977905,
425
+ "position": [
426
+ 0.09361682622693479,
427
+ 0.09203660534694791,
428
+ -0.0003988286516687367
429
+ ],
430
+ "orientation": {
431
+ "w": 0.71478919205776,
432
+ "xyz": [
433
+ 0.0605920041202224,
434
+ -0.6937885475746901,
435
+ 0.06373751805892211
436
+ ]
437
+ }
438
+ },
439
+ "grasp_8": {
440
+ "confidence": 0.985305905342102,
441
+ "position": [
442
+ -0.09639736474491656,
443
+ 0.06801581429317594,
444
+ -0.002607895297842333
445
+ ],
446
+ "orientation": {
447
+ "w": 0.03679453685567328,
448
+ "xyz": [
449
+ -0.6857269689350116,
450
+ -0.014954057675878207,
451
+ -0.7267744232509868
452
+ ]
453
+ }
454
+ },
455
+ "grasp_9": {
456
+ "confidence": 0.9700459241867065,
457
+ "position": [
458
+ 0.08779566525481641,
459
+ 0.12508262740448117,
460
+ -0.004015443384560058
461
+ ],
462
+ "orientation": {
463
+ "w": 0.705820878615887,
464
+ "xyz": [
465
+ 0.18524904298134673,
466
+ -0.6593467055128743,
467
+ 0.18100166107997867
468
+ ]
469
+ }
470
+ },
471
+ "grasp_10": {
472
+ "confidence": 0.9636328220367432,
473
+ "position": [
474
+ 0.08801025687716901,
475
+ 0.1273425449617207,
476
+ 0.0019812316131719854
477
+ ],
478
+ "orientation": {
479
+ "w": 0.19179180858807177,
480
+ "xyz": [
481
+ 0.6746351702003752,
482
+ 0.1910657999204306,
483
+ -0.6867147511070324
484
+ ]
485
+ }
486
+ },
487
+ "grasp_11": {
488
+ "confidence": 0.858694314956665,
489
+ "position": [
490
+ 0.04669932811520994,
491
+ 0.16667177574709058,
492
+ -0.010229129347862909
493
+ ],
494
+ "orientation": {
495
+ "w": 0.35468857907838275,
496
+ "xyz": [
497
+ 0.5339403678585626,
498
+ 0.39373234306710325,
499
+ -0.6588463686363539
500
+ ]
501
+ }
502
+ },
503
+ "grasp_13": {
504
+ "confidence": 0.806882917881012,
505
+ "position": [
506
+ -0.031741744140163064,
507
+ 0.18175045447424054,
508
+ 0.005299335807649186
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5298255747215512,
512
+ "xyz": [
513
+ 0.4628813217166901,
514
+ 0.5524188552828585,
515
+ -0.44705609346564446
516
+ ]
517
+ }
518
+ },
519
+ "grasp_14": {
520
+ "confidence": 0.80665123462677,
521
+ "position": [
522
+ -0.031008623773232102,
523
+ 0.18166302936151624,
524
+ 0.00606913072624593
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5214262386258582,
528
+ "xyz": [
529
+ 0.4700797157493776,
530
+ 0.5565381050678471,
531
+ -0.44430291032241065
532
+ ]
533
+ }
534
+ },
535
+ "grasp_16": {
536
+ "confidence": 0.7568327188491821,
537
+ "position": [
538
+ 0.003125281073153019,
539
+ 0.18022625939920545,
540
+ 0.004474412180570653
541
+ ],
542
+ "orientation": {
543
+ "w": 0.499555801751319,
544
+ "xyz": [
545
+ 0.5051226725798973,
546
+ 0.5146018734954829,
547
+ -0.48008332441075036
548
+ ]
549
+ }
550
+ },
551
+ "grasp_18": {
552
+ "confidence": 0.622077465057373,
553
+ "position": [
554
+ -0.004455437185242772,
555
+ 0.17849857406690717,
556
+ -0.0017812262558436487
557
+ ],
558
+ "orientation": {
559
+ "w": 0.5340363426525281,
560
+ "xyz": [
561
+ 0.47688060584299313,
562
+ 0.5250902722010531,
563
+ -0.4600763833723209
564
+ ]
565
+ }
566
+ },
567
+ "grasp_19": {
568
+ "confidence": 0.9855608344078064,
569
+ "position": [
570
+ -0.10811277688480914,
571
+ 0.07118122326210141,
572
+ 0.0019586347007134464
573
+ ],
574
+ "orientation": {
575
+ "w": 0.6906317431671251,
576
+ "xyz": [
577
+ -0.013999644285113895,
578
+ 0.722932451843804,
579
+ 0.014158932196152652
580
+ ]
581
+ }
582
+ }
583
+ }
584
+ },
585
+ {
586
+ "part_name": "open wrench jaw",
587
+ "mask_color": "Green",
588
+ "graspable": true,
589
+ "grasp_scenarios": [
590
+ {
591
+ "scenario": "pinch the opposite wrench head to lift or retrieve the tool when the handle is obstructed",
592
+ "confidence": 0.44
593
+ },
594
+ {
595
+ "scenario": "hold the wrench head briefly to orient the tool for use",
596
+ "confidence": 0.39
597
+ }
598
+ ],
599
+ "functional_labels": [
600
+ "engage hex fasteners",
601
+ "apply torque to a nut or bolt head",
602
+ "provide another wrench size",
603
+ "hook around fastener flats"
604
+ ],
605
+ "semantic_description": "Small open-ended jaw at the opposite end made of silver-gray metal with a slightly reflective finish, hard smooth texture, and a U-shaped profile thicker than the handle.",
606
+ "id": 1,
607
+ "grasp_group": {
608
+ "grasp_20": {
609
+ "confidence": 0.9832282066345215,
610
+ "position": [
611
+ 0.10097331344150007,
612
+ -0.06263527227565646,
613
+ -0.005516611043276498
614
+ ],
615
+ "orientation": {
616
+ "w": 0.013578313864650665,
617
+ "xyz": [
618
+ 0.6925755273941,
619
+ 0.0177157979407897,
620
+ -0.7209999436551283
621
+ ]
622
+ }
623
+ },
624
+ "grasp_21": {
625
+ "confidence": 0.9823696613311768,
626
+ "position": [
627
+ 0.10407104133628309,
628
+ -0.0625622714869678,
629
+ -0.0025301938912889455
630
+ ],
631
+ "orientation": {
632
+ "w": 0.010250073681156944,
633
+ "xyz": [
634
+ 0.7106594687129093,
635
+ 0.028645343983081273,
636
+ -0.7028780120236421
637
+ ]
638
+ }
639
+ },
640
+ "grasp_22": {
641
+ "confidence": 0.9796870946884155,
642
+ "position": [
643
+ 0.10744322626851499,
644
+ -0.06443757517263293,
645
+ 0.00041887175393640064
646
+ ],
647
+ "orientation": {
648
+ "w": 0.01487386695271127,
649
+ "xyz": [
650
+ 0.7098714175892462,
651
+ 0.02039153242581604,
652
+ -0.7038789128657245
653
+ ]
654
+ }
655
+ },
656
+ "grasp_23": {
657
+ "confidence": 0.9648780226707458,
658
+ "position": [
659
+ -0.09661384136416018,
660
+ -0.08167447848245502,
661
+ 0.0002658936682564672
662
+ ],
663
+ "orientation": {
664
+ "w": 0.05775676351589068,
665
+ "xyz": [
666
+ -0.7032970458333766,
667
+ -0.023749112896669033,
668
+ -0.7081478667812506
669
+ ]
670
+ }
671
+ },
672
+ "grasp_24": {
673
+ "confidence": 0.9576476812362671,
674
+ "position": [
675
+ -0.09576020599342883,
676
+ -0.05695459200069308,
677
+ -0.00034289848190383054
678
+ ],
679
+ "orientation": {
680
+ "w": 0.6934544842354292,
681
+ "xyz": [
682
+ 0.056039136094930234,
683
+ 0.7177324527359338,
684
+ -0.0289934442446835
685
+ ]
686
+ }
687
+ },
688
+ "grasp_26": {
689
+ "confidence": 0.9527645707130432,
690
+ "position": [
691
+ -0.09492761851288378,
692
+ -0.0828484888188541,
693
+ 0.0028617077005037572
694
+ ],
695
+ "orientation": {
696
+ "w": 0.698876708595239,
697
+ "xyz": [
698
+ -0.04226843472556607,
699
+ 0.7116055119062431,
700
+ 0.05832941825176905
701
+ ]
702
+ }
703
+ },
704
+ "grasp_27": {
705
+ "confidence": 0.9464592933654785,
706
+ "position": [
707
+ -0.08780114562250674,
708
+ -0.11710257781669497,
709
+ -0.008553657684387872
710
+ ],
711
+ "orientation": {
712
+ "w": 0.6943675931203754,
713
+ "xyz": [
714
+ -0.16930027956717417,
715
+ 0.6727447441453795,
716
+ 0.19132582206137771
717
+ ]
718
+ }
719
+ },
720
+ "grasp_28": {
721
+ "confidence": 0.9453044533729553,
722
+ "position": [
723
+ -0.08732065767981112,
724
+ -0.1163897286169231,
725
+ -0.009553126994433114
726
+ ],
727
+ "orientation": {
728
+ "w": 0.6913217612878166,
729
+ "xyz": [
730
+ -0.16916425393362217,
731
+ 0.6771140000574082,
732
+ 0.1870141932775383
733
+ ]
734
+ }
735
+ },
736
+ "grasp_29": {
737
+ "confidence": 0.9429907202720642,
738
+ "position": [
739
+ 0.09440059750340879,
740
+ -0.11521422816440463,
741
+ -0.00783832325032563
742
+ ],
743
+ "orientation": {
744
+ "w": 0.1667737728028905,
745
+ "xyz": [
746
+ -0.6646177310445298,
747
+ 0.17630725263781677,
748
+ 0.706672153798079
749
+ ]
750
+ }
751
+ },
752
+ "grasp_30": {
753
+ "confidence": 0.9401131272315979,
754
+ "position": [
755
+ -0.08976689190603793,
756
+ -0.11655429704114795,
757
+ 0.0003544302853697445
758
+ ],
759
+ "orientation": {
760
+ "w": 0.6778572698658745,
761
+ "xyz": [
762
+ -0.1729334738089746,
763
+ 0.6915960992723575,
764
+ 0.17971747493664547
765
+ ]
766
+ }
767
+ },
768
+ "grasp_31": {
769
+ "confidence": 0.9371294975280762,
770
+ "position": [
771
+ 0.09921960323117673,
772
+ -0.11354411346837878,
773
+ -0.009132726121606538
774
+ ],
775
+ "orientation": {
776
+ "w": 0.16121165064403675,
777
+ "xyz": [
778
+ -0.6782295616386184,
779
+ 0.15554149947628138,
780
+ 0.6998730651745233
781
+ ]
782
+ }
783
+ },
784
+ "grasp_32": {
785
+ "confidence": 0.9364531636238098,
786
+ "position": [
787
+ 0.09918711124919355,
788
+ -0.11286644591018558,
789
+ -0.006761282686056802
790
+ ],
791
+ "orientation": {
792
+ "w": 0.16593859093670738,
793
+ "xyz": [
794
+ -0.6820210663419983,
795
+ 0.15713957136046763,
796
+ 0.6947077113551511
797
+ ]
798
+ }
799
+ },
800
+ "grasp_36": {
801
+ "confidence": 0.8911953568458557,
802
+ "position": [
803
+ 0.09551264881156385,
804
+ -0.11794170690700412,
805
+ -0.002221233913587639
806
+ ],
807
+ "orientation": {
808
+ "w": 0.6894888262560239,
809
+ "xyz": [
810
+ -0.16862654077478564,
811
+ -0.6805744267668421,
812
+ -0.18162791042514298
813
+ ]
814
+ }
815
+ },
816
+ "grasp_37": {
817
+ "confidence": 0.8837840557098389,
818
+ "position": [
819
+ 0.09647079347632825,
820
+ -0.11766545427963138,
821
+ -0.008816240359010408
822
+ ],
823
+ "orientation": {
824
+ "w": 0.7040846070801896,
825
+ "xyz": [
826
+ -0.1657483959182568,
827
+ -0.667352620416028,
828
+ -0.1772930211461265
829
+ ]
830
+ }
831
+ },
832
+ "grasp_38": {
833
+ "confidence": 0.8822842836380005,
834
+ "position": [
835
+ 0.09006328671239316,
836
+ -0.11809658957645297,
837
+ -0.01875062287217588
838
+ ],
839
+ "orientation": {
840
+ "w": 0.7386148799968205,
841
+ "xyz": [
842
+ -0.1810759442300851,
843
+ -0.6229873125748319,
844
+ -0.18315668112098532
845
+ ]
846
+ }
847
+ },
848
+ "grasp_39": {
849
+ "confidence": 0.8334846496582031,
850
+ "position": [
851
+ -0.006022577872499824,
852
+ -0.173084847163409,
853
+ -0.0035154921970388386
854
+ ],
855
+ "orientation": {
856
+ "w": 0.5090797972444927,
857
+ "xyz": [
858
+ -0.49406614682294175,
859
+ -0.49647310157732605,
860
+ -0.5002507991110334
861
+ ]
862
+ }
863
+ }
864
+ }
865
+ }
866
+ ],
867
+ "quality_check": {
868
+ "success": true,
869
+ "message": "YES"
870
+ }
871
+ }
dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e335fc39922a42b2c441ffd029b32146f87754ec858decea4ac874f66c1a7abd
3
+ size 3783496