Add asset tools/repair_tools/0f2e1dea58ae581787ed64260232e4e9
Browse files
.gitattributes
CHANGED
|
@@ -7798,4 +7798,4 @@ dataset/tools/repair_tools/0982fa9adef3534d9b9ea084e755eff7/affordance/mesh_part
|
|
| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7801 |
-
dataset/tools/repair_tools/
|
|
|
|
| 7798 |
dataset/tools/repair_tools/012ab9f339fa5397b19998896114fd6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7799 |
dataset/tools/repair_tools/09acd8efa5d05230a32c2a7df2625137/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7800 |
dataset/tools/repair_tools/0bef51e6b5f559bd874d571ad76b66d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7801 |
+
dataset/tools/repair_tools/0f2e1dea58ae581787ed64260232e4e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/0f2e1dea58ae581787ed64260232e4e9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,1135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper jaw",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"grip thin objects",
|
| 10 |
+
"clamp against opposing jaw",
|
| 11 |
+
"reach into narrow spaces",
|
| 12 |
+
"transmit squeezing force"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Long tapered silver metal jaw with a reflective smooth hard surface, forming one narrow pointed tip at the front of the needle-nose pliers near the pivot.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "lower jaw",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": false,
|
| 22 |
+
"grasp_scenarios": [],
|
| 23 |
+
"functional_labels": [
|
| 24 |
+
"grip thin objects",
|
| 25 |
+
"clamp against opposing jaw",
|
| 26 |
+
"reach into narrow spaces",
|
| 27 |
+
"transmit squeezing force"
|
| 28 |
+
],
|
| 29 |
+
"semantic_description": "Matching long tapered silver metal jaw with a reflective smooth hard surface, opposite the other jaw and meeting it at the nose to pinch objects.",
|
| 30 |
+
"id": 1,
|
| 31 |
+
"grasp_group": {}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"part_name": "light blue handle",
|
| 35 |
+
"mask_color": "Yellow",
|
| 36 |
+
"graspable": true,
|
| 37 |
+
"grasp_scenarios": [
|
| 38 |
+
{
|
| 39 |
+
"scenario": "grasp this coated handle to pick up or reposition the pliers from a surface",
|
| 40 |
+
"confidence": 0.9
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"scenario": "hold this handle as one side of the squeezing pair to close the jaws",
|
| 44 |
+
"confidence": 0.88
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"scenario": "clamp this handle to stabilize the tool while another gripper acts on the opposite handle",
|
| 48 |
+
"confidence": 0.72
|
| 49 |
+
}
|
| 50 |
+
],
|
| 51 |
+
"functional_labels": [
|
| 52 |
+
"provide a gripping area",
|
| 53 |
+
"apply leverage for closing jaws",
|
| 54 |
+
"add comfort and friction",
|
| 55 |
+
"stabilize tool orientation"
|
| 56 |
+
],
|
| 57 |
+
"semantic_description": "Curved medium-length handle with a light blue rubber-coated grip and a darker gray-blue rounded tip cap, matte smooth and slightly soft-looking, extending rearward from the pivot.",
|
| 58 |
+
"id": 3,
|
| 59 |
+
"grasp_group": {
|
| 60 |
+
"grasp_0": {
|
| 61 |
+
"confidence": 0.9465910792350769,
|
| 62 |
+
"position": [
|
| 63 |
+
-0.10967313125729561,
|
| 64 |
+
-0.04971370566636324,
|
| 65 |
+
-0.004425122024258599
|
| 66 |
+
],
|
| 67 |
+
"orientation": {
|
| 68 |
+
"w": 0.7071788570807864,
|
| 69 |
+
"xyz": [
|
| 70 |
+
-0.121418509464683,
|
| 71 |
+
0.6829090796187868,
|
| 72 |
+
0.13707953396298334
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
"grasp_3": {
|
| 77 |
+
"confidence": 0.9342183470726013,
|
| 78 |
+
"position": [
|
| 79 |
+
-0.12085309997200966,
|
| 80 |
+
-0.029297362081706524,
|
| 81 |
+
-0.0008270898542832583
|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.7060457319597573,
|
| 85 |
+
"xyz": [
|
| 86 |
+
-0.010771260546531661,
|
| 87 |
+
0.7076350561247075,
|
| 88 |
+
0.025219668337064568
|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_4": {
|
| 93 |
+
"confidence": 0.9283967018127441,
|
| 94 |
+
"position": [
|
| 95 |
+
-0.11927465721964836,
|
| 96 |
+
0.03434779401868582,
|
| 97 |
+
0.0011579380661714822
|
| 98 |
+
],
|
| 99 |
+
"orientation": {
|
| 100 |
+
"w": 0.6982277478583966,
|
| 101 |
+
"xyz": [
|
| 102 |
+
0.0914935761700238,
|
| 103 |
+
0.7057727854381751,
|
| 104 |
+
-0.07740615592477913
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"grasp_5": {
|
| 109 |
+
"confidence": 0.924543023109436,
|
| 110 |
+
"position": [
|
| 111 |
+
-0.10761779174208641,
|
| 112 |
+
-0.04108461830765009,
|
| 113 |
+
-0.0040328857430722564
|
| 114 |
+
],
|
| 115 |
+
"orientation": {
|
| 116 |
+
"w": 0.15854205643936994,
|
| 117 |
+
"xyz": [
|
| 118 |
+
-0.6754162903536532,
|
| 119 |
+
-0.14405386312788726,
|
| 120 |
+
-0.7056385303984027
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"grasp_7": {
|
| 125 |
+
"confidence": 0.9214634299278259,
|
| 126 |
+
"position": [
|
| 127 |
+
-0.11289365962147713,
|
| 128 |
+
0.004055403172969818,
|
| 129 |
+
0.0029937482031527907
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
+
"w": 0.1653573799054532,
|
| 133 |
+
"xyz": [
|
| 134 |
+
-0.6820410264468612,
|
| 135 |
+
-0.20219606651874367,
|
| 136 |
+
-0.6830766617580079
|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"grasp_8": {
|
| 141 |
+
"confidence": 0.8990347385406494,
|
| 142 |
+
"position": [
|
| 143 |
+
-0.10543796047568321,
|
| 144 |
+
0.10938579123467207,
|
| 145 |
+
0.018892673222580925
|
| 146 |
+
],
|
| 147 |
+
"orientation": {
|
| 148 |
+
"w": 0.6027305355278422,
|
| 149 |
+
"xyz": [
|
| 150 |
+
0.20163548798845252,
|
| 151 |
+
0.7414045102888418,
|
| 152 |
+
-0.21535641074586562
|
| 153 |
+
]
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"grasp_9": {
|
| 157 |
+
"confidence": 0.894453227519989,
|
| 158 |
+
"position": [
|
| 159 |
+
-0.09914569184184074,
|
| 160 |
+
-0.060311087407171726,
|
| 161 |
+
-0.00043818281847052276
|
| 162 |
+
],
|
| 163 |
+
"orientation": {
|
| 164 |
+
"w": 0.6818531440465295,
|
| 165 |
+
"xyz": [
|
| 166 |
+
-0.20575130671816141,
|
| 167 |
+
0.6716607170795073,
|
| 168 |
+
0.2039964972000121
|
| 169 |
+
]
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"grasp_10": {
|
| 173 |
+
"confidence": 0.8911616802215576,
|
| 174 |
+
"position": [
|
| 175 |
+
-0.11577704921364784,
|
| 176 |
+
0.0791185824200511,
|
| 177 |
+
0.0013355765549931675
|
| 178 |
+
],
|
| 179 |
+
"orientation": {
|
| 180 |
+
"w": 0.1705164391370357,
|
| 181 |
+
"xyz": [
|
| 182 |
+
0.6857048630978867,
|
| 183 |
+
-0.16471267395863587,
|
| 184 |
+
0.6881879973854023
|
| 185 |
+
]
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
"grasp_11": {
|
| 189 |
+
"confidence": 0.8854829668998718,
|
| 190 |
+
"position": [
|
| 191 |
+
-0.10162895545363426,
|
| 192 |
+
-0.05200375709682703,
|
| 193 |
+
-0.002565833128755912
|
| 194 |
+
],
|
| 195 |
+
"orientation": {
|
| 196 |
+
"w": 0.6883744508982549,
|
| 197 |
+
"xyz": [
|
| 198 |
+
-0.18647026899403518,
|
| 199 |
+
0.6747082553239717,
|
| 200 |
+
0.19010056372746648
|
| 201 |
+
]
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
"grasp_12": {
|
| 205 |
+
"confidence": 0.8854799270629883,
|
| 206 |
+
"position": [
|
| 207 |
+
-0.10385755822062492,
|
| 208 |
+
-0.043923583813011646,
|
| 209 |
+
0.007520314684370533
|
| 210 |
+
],
|
| 211 |
+
"orientation": {
|
| 212 |
+
"w": 0.20976948170667523,
|
| 213 |
+
"xyz": [
|
| 214 |
+
-0.7031903781750303,
|
| 215 |
+
-0.19481750640937556,
|
| 216 |
+
-0.6508196338333715
|
| 217 |
+
]
|
| 218 |
+
}
|
| 219 |
+
},
|
| 220 |
+
"grasp_13": {
|
| 221 |
+
"confidence": 0.8841720819473267,
|
| 222 |
+
"position": [
|
| 223 |
+
-0.07864463701844215,
|
| 224 |
+
0.13891093712300062,
|
| 225 |
+
-0.00027477636467665434
|
| 226 |
+
],
|
| 227 |
+
"orientation": {
|
| 228 |
+
"w": 0.34247673820687935,
|
| 229 |
+
"xyz": [
|
| 230 |
+
0.6114978886927804,
|
| 231 |
+
-0.34044423743486196,
|
| 232 |
+
0.6267995988422805
|
| 233 |
+
]
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
"grasp_14": {
|
| 237 |
+
"confidence": 0.8833267688751221,
|
| 238 |
+
"position": [
|
| 239 |
+
-0.11453006789088249,
|
| 240 |
+
0.05475119035691023,
|
| 241 |
+
-0.0013148319849278778
|
| 242 |
+
],
|
| 243 |
+
"orientation": {
|
| 244 |
+
"w": 0.16006149835486277,
|
| 245 |
+
"xyz": [
|
| 246 |
+
0.6877451505773101,
|
| 247 |
+
-0.13927508725717286,
|
| 248 |
+
0.6942545460213393
|
| 249 |
+
]
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
"grasp_16": {
|
| 253 |
+
"confidence": 0.8744240403175354,
|
| 254 |
+
"position": [
|
| 255 |
+
-0.11291167512536049,
|
| 256 |
+
0.08462275099009275,
|
| 257 |
+
-0.0038172128552105278
|
| 258 |
+
],
|
| 259 |
+
"orientation": {
|
| 260 |
+
"w": 0.1887228841998499,
|
| 261 |
+
"xyz": [
|
| 262 |
+
0.6681283731685691,
|
| 263 |
+
-0.18277409990687143,
|
| 264 |
+
0.6961190834545796
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"grasp_17": {
|
| 269 |
+
"confidence": 0.87416011095047,
|
| 270 |
+
"position": [
|
| 271 |
+
-0.09549999609589577,
|
| 272 |
+
-0.06735594663769007,
|
| 273 |
+
0.0036720460338983685
|
| 274 |
+
],
|
| 275 |
+
"orientation": {
|
| 276 |
+
"w": 0.6678165497557026,
|
| 277 |
+
"xyz": [
|
| 278 |
+
-0.21114090016515263,
|
| 279 |
+
0.6815925286707163,
|
| 280 |
+
0.21183059507563473
|
| 281 |
+
]
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"grasp_19": {
|
| 285 |
+
"confidence": 0.8696252107620239,
|
| 286 |
+
"position": [
|
| 287 |
+
-0.10824878886342049,
|
| 288 |
+
-0.02260776050388813,
|
| 289 |
+
-0.034017466561635956
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.8299517458166605,
|
| 293 |
+
"xyz": [
|
| 294 |
+
-0.044295739458121236,
|
| 295 |
+
0.5526610215519036,
|
| 296 |
+
0.06151245677862404
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
{
|
| 303 |
+
"part_name": "dark gray handle",
|
| 304 |
+
"mask_color": "Pink",
|
| 305 |
+
"graspable": true,
|
| 306 |
+
"grasp_scenarios": [
|
| 307 |
+
{
|
| 308 |
+
"scenario": "grasp this coated handle to pick up or reposition the pliers from a surface",
|
| 309 |
+
"confidence": 0.9
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"scenario": "hold this handle as one side of the squeezing pair to close the jaws",
|
| 313 |
+
"confidence": 0.88
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"scenario": "clamp this handle to stabilize the tool while another gripper acts on the opposite handle",
|
| 317 |
+
"confidence": 0.72
|
| 318 |
+
}
|
| 319 |
+
],
|
| 320 |
+
"functional_labels": [
|
| 321 |
+
"provide a gripping area",
|
| 322 |
+
"apply leverage for closing jaws",
|
| 323 |
+
"add comfort and friction",
|
| 324 |
+
"stabilize tool orientation"
|
| 325 |
+
],
|
| 326 |
+
"semantic_description": "Opposing curved medium-length handle with a dark gray to gray-blue rubber-coated grip and a slightly darker rounded tip cap, matte smooth and slightly soft-looking, forming the other main rear grip.",
|
| 327 |
+
"id": 8,
|
| 328 |
+
"grasp_group": {
|
| 329 |
+
"grasp_80": {
|
| 330 |
+
"confidence": 0.2669411599636078,
|
| 331 |
+
"position": [
|
| 332 |
+
0.06637011840939522,
|
| 333 |
+
-0.09455956984311342,
|
| 334 |
+
3.9841099351178855e-05
|
| 335 |
+
],
|
| 336 |
+
"orientation": {
|
| 337 |
+
"w": 0.38775331927557866,
|
| 338 |
+
"xyz": [
|
| 339 |
+
-0.6281376237216068,
|
| 340 |
+
0.3406298246389533,
|
| 341 |
+
0.582290143848048
|
| 342 |
+
]
|
| 343 |
+
}
|
| 344 |
+
},
|
| 345 |
+
"grasp_81": {
|
| 346 |
+
"confidence": 0.7403028011322021,
|
| 347 |
+
"position": [
|
| 348 |
+
0.018694289028644562,
|
| 349 |
+
0.14971596281975508,
|
| 350 |
+
0.028457711829105392
|
| 351 |
+
],
|
| 352 |
+
"orientation": {
|
| 353 |
+
"w": 0.4050196963345278,
|
| 354 |
+
"xyz": [
|
| 355 |
+
0.5913137761095947,
|
| 356 |
+
-0.532710321077413,
|
| 357 |
+
0.4500297518850266
|
| 358 |
+
]
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"grasp_83": {
|
| 362 |
+
"confidence": 0.12312129139900208,
|
| 363 |
+
"position": [
|
| 364 |
+
0.08773316815495491,
|
| 365 |
+
0.10073558520525694,
|
| 366 |
+
-0.012278677517315373
|
| 367 |
+
],
|
| 368 |
+
"orientation": {
|
| 369 |
+
"w": 0.42146945049769957,
|
| 370 |
+
"xyz": [
|
| 371 |
+
0.6067715238131858,
|
| 372 |
+
0.20423846505065735,
|
| 373 |
+
-0.6422448673055648
|
| 374 |
+
]
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"grasp_85": {
|
| 378 |
+
"confidence": 0.9126960039138794,
|
| 379 |
+
"position": [
|
| 380 |
+
0.11461978033185005,
|
| 381 |
+
0.07224861811846495,
|
| 382 |
+
-0.0010818886512424797
|
| 383 |
+
],
|
| 384 |
+
"orientation": {
|
| 385 |
+
"w": 0.17717057172629289,
|
| 386 |
+
"xyz": [
|
| 387 |
+
0.6762063265022794,
|
| 388 |
+
0.19757310056035093,
|
| 389 |
+
-0.6872557474822896
|
| 390 |
+
]
|
| 391 |
+
}
|
| 392 |
+
},
|
| 393 |
+
"grasp_86": {
|
| 394 |
+
"confidence": 0.9054419994354248,
|
| 395 |
+
"position": [
|
| 396 |
+
0.07768374308943748,
|
| 397 |
+
0.14331202488392591,
|
| 398 |
+
0.006272272585192695
|
| 399 |
+
],
|
| 400 |
+
"orientation": {
|
| 401 |
+
"w": 0.34629697811125854,
|
| 402 |
+
"xyz": [
|
| 403 |
+
0.6091107418907848,
|
| 404 |
+
0.3687536964181971,
|
| 405 |
+
-0.6108053850795555
|
| 406 |
+
]
|
| 407 |
+
}
|
| 408 |
+
},
|
| 409 |
+
"grasp_87": {
|
| 410 |
+
"confidence": 0.7417746186256409,
|
| 411 |
+
"position": [
|
| 412 |
+
0.07333200052380562,
|
| 413 |
+
0.13356644194573164,
|
| 414 |
+
0.02678435799316503
|
| 415 |
+
],
|
| 416 |
+
"orientation": {
|
| 417 |
+
"w": 0.36824328775751675,
|
| 418 |
+
"xyz": [
|
| 419 |
+
0.7079729433724966,
|
| 420 |
+
0.33369633573012414,
|
| 421 |
+
-0.5018146550214597
|
| 422 |
+
]
|
| 423 |
+
}
|
| 424 |
+
},
|
| 425 |
+
"grasp_91": {
|
| 426 |
+
"confidence": 0.9126299619674683,
|
| 427 |
+
"position": [
|
| 428 |
+
0.11594374105334282,
|
| 429 |
+
0.0742265684530139,
|
| 430 |
+
-0.006423052487662062
|
| 431 |
+
],
|
| 432 |
+
"orientation": {
|
| 433 |
+
"w": 0.15985263895149482,
|
| 434 |
+
"xyz": [
|
| 435 |
+
0.6542202640993697,
|
| 436 |
+
0.204083216395322,
|
| 437 |
+
-0.7104878750884732
|
| 438 |
+
]
|
| 439 |
+
}
|
| 440 |
+
},
|
| 441 |
+
"grasp_93": {
|
| 442 |
+
"confidence": 0.8850372433662415,
|
| 443 |
+
"position": [
|
| 444 |
+
0.10415222123265266,
|
| 445 |
+
0.003420993685722351,
|
| 446 |
+
0.01697624978260137
|
| 447 |
+
],
|
| 448 |
+
"orientation": {
|
| 449 |
+
"w": 0.5924571319069006,
|
| 450 |
+
"xyz": [
|
| 451 |
+
-0.19034387928026253,
|
| 452 |
+
-0.7480930863380024,
|
| 453 |
+
-0.23047882472468634
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
"grasp_94": {
|
| 458 |
+
"confidence": 0.7740199565887451,
|
| 459 |
+
"position": [
|
| 460 |
+
0.09338699653744698,
|
| 461 |
+
0.11618785839527845,
|
| 462 |
+
-0.0092163193912711
|
| 463 |
+
],
|
| 464 |
+
"orientation": {
|
| 465 |
+
"w": 0.29409079732692306,
|
| 466 |
+
"xyz": [
|
| 467 |
+
0.6048945774909251,
|
| 468 |
+
0.309844623536639,
|
| 469 |
+
-0.6720189449079012
|
| 470 |
+
]
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"grasp_97": {
|
| 474 |
+
"confidence": 0.19838456809520721,
|
| 475 |
+
"position": [
|
| 476 |
+
-0.024258721619844437,
|
| 477 |
+
0.14250245969742537,
|
| 478 |
+
0.004909990733722225
|
| 479 |
+
],
|
| 480 |
+
"orientation": {
|
| 481 |
+
"w": 0.6130075818549754,
|
| 482 |
+
"xyz": [
|
| 483 |
+
0.35955581834206807,
|
| 484 |
+
0.6121290626438577,
|
| 485 |
+
-0.34675543074540754
|
| 486 |
+
]
|
| 487 |
+
}
|
| 488 |
+
},
|
| 489 |
+
"grasp_99": {
|
| 490 |
+
"confidence": 0.9383953809738159,
|
| 491 |
+
"position": [
|
| 492 |
+
0.10529789701104164,
|
| 493 |
+
-0.058511276729404926,
|
| 494 |
+
0.00033747576526366174
|
| 495 |
+
],
|
| 496 |
+
"orientation": {
|
| 497 |
+
"w": 0.21001902219944243,
|
| 498 |
+
"xyz": [
|
| 499 |
+
-0.6836125083668555,
|
| 500 |
+
0.1825399317241858,
|
| 501 |
+
0.6747185502451343
|
| 502 |
+
]
|
| 503 |
+
}
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
{
|
| 508 |
+
"part_name": "pivot joint",
|
| 509 |
+
"mask_color": "Magenta",
|
| 510 |
+
"graspable": true,
|
| 511 |
+
"grasp_scenarios": [
|
| 512 |
+
{
|
| 513 |
+
"scenario": "pinch the center joint to lift or precisely reorient the pliers",
|
| 514 |
+
"confidence": 0.42
|
| 515 |
+
},
|
| 516 |
+
{
|
| 517 |
+
"scenario": "hold the pivot area briefly for compact handling when the jaws are closed",
|
| 518 |
+
"confidence": 0.36
|
| 519 |
+
}
|
| 520 |
+
],
|
| 521 |
+
"functional_labels": [
|
| 522 |
+
"act as rotation hinge",
|
| 523 |
+
"connect jaws and handles",
|
| 524 |
+
"transfer force between halves",
|
| 525 |
+
"set opening motion"
|
| 526 |
+
],
|
| 527 |
+
"semantic_description": "Small round silver metal hinge area at the center with a reflective hard finish and visible fastener detail, joining the two halves of the pliers.",
|
| 528 |
+
"id": 7,
|
| 529 |
+
"grasp_group": {
|
| 530 |
+
"grasp_60": {
|
| 531 |
+
"confidence": 0.9651713371276855,
|
| 532 |
+
"position": [
|
| 533 |
+
0.09786003455519676,
|
| 534 |
+
-0.07923427689820528,
|
| 535 |
+
0.0006014046666678041
|
| 536 |
+
],
|
| 537 |
+
"orientation": {
|
| 538 |
+
"w": 0.6930356391222305,
|
| 539 |
+
"xyz": [
|
| 540 |
+
-0.08410770789579335,
|
| 541 |
+
-0.7066558753101781,
|
| 542 |
+
-0.11517365266658755
|
| 543 |
+
]
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"grasp_61": {
|
| 547 |
+
"confidence": 0.9636926054954529,
|
| 548 |
+
"position": [
|
| 549 |
+
0.09671774134039879,
|
| 550 |
+
-0.06507917959243059,
|
| 551 |
+
0.003192491043591872
|
| 552 |
+
],
|
| 553 |
+
"orientation": {
|
| 554 |
+
"w": 0.05058663044473067,
|
| 555 |
+
"xyz": [
|
| 556 |
+
-0.7216692567331844,
|
| 557 |
+
0.016488274268107395,
|
| 558 |
+
0.6901902734160208
|
| 559 |
+
]
|
| 560 |
+
}
|
| 561 |
+
},
|
| 562 |
+
"grasp_64": {
|
| 563 |
+
"confidence": 0.9304097890853882,
|
| 564 |
+
"position": [
|
| 565 |
+
0.0954090841114521,
|
| 566 |
+
-0.05520451907068491,
|
| 567 |
+
0.001248752378160134
|
| 568 |
+
],
|
| 569 |
+
"orientation": {
|
| 570 |
+
"w": 0.7088276641670631,
|
| 571 |
+
"xyz": [
|
| 572 |
+
-0.009761592364677413,
|
| 573 |
+
-0.7049923506918438,
|
| 574 |
+
-0.021303504217820186
|
| 575 |
+
]
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"grasp_65": {
|
| 579 |
+
"confidence": 0.9260185956954956,
|
| 580 |
+
"position": [
|
| 581 |
+
-0.08319621160626411,
|
| 582 |
+
-0.09565832931548357,
|
| 583 |
+
0.03013572041527368
|
| 584 |
+
],
|
| 585 |
+
"orientation": {
|
| 586 |
+
"w": 0.5615744711888322,
|
| 587 |
+
"xyz": [
|
| 588 |
+
-0.16022963928389497,
|
| 589 |
+
0.7873273827742829,
|
| 590 |
+
0.19767692919947513
|
| 591 |
+
]
|
| 592 |
+
}
|
| 593 |
+
},
|
| 594 |
+
"grasp_66": {
|
| 595 |
+
"confidence": 0.9149376749992371,
|
| 596 |
+
"position": [
|
| 597 |
+
0.09695084020495415,
|
| 598 |
+
-0.035152572207152843,
|
| 599 |
+
0.01349766124621965
|
| 600 |
+
],
|
| 601 |
+
"orientation": {
|
| 602 |
+
"w": 0.6532739656342954,
|
| 603 |
+
"xyz": [
|
| 604 |
+
0.0763698931982698,
|
| 605 |
+
-0.7486536809468688,
|
| 606 |
+
0.08317710768011713
|
| 607 |
+
]
|
| 608 |
+
}
|
| 609 |
+
},
|
| 610 |
+
"grasp_67": {
|
| 611 |
+
"confidence": 0.9138646721839905,
|
| 612 |
+
"position": [
|
| 613 |
+
-0.10087928548455238,
|
| 614 |
+
-0.04774641711264849,
|
| 615 |
+
0.0036356364435050637
|
| 616 |
+
],
|
| 617 |
+
"orientation": {
|
| 618 |
+
"w": 0.6979011662318054,
|
| 619 |
+
"xyz": [
|
| 620 |
+
-0.007559273693157754,
|
| 621 |
+
0.7157625689754537,
|
| 622 |
+
0.023680464673992815
|
| 623 |
+
]
|
| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"grasp_68": {
|
| 627 |
+
"confidence": 0.8950752019882202,
|
| 628 |
+
"position": [
|
| 629 |
+
-0.09991840645670891,
|
| 630 |
+
-0.044582259841263294,
|
| 631 |
+
0.0014098882966209203
|
| 632 |
+
],
|
| 633 |
+
"orientation": {
|
| 634 |
+
"w": 0.7052018736411622,
|
| 635 |
+
"xyz": [
|
| 636 |
+
0.02345785920240165,
|
| 637 |
+
0.708597712145802,
|
| 638 |
+
-0.005415588275467316
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"grasp_69": {
|
| 643 |
+
"confidence": 0.8923794627189636,
|
| 644 |
+
"position": [
|
| 645 |
+
-0.09901746734976768,
|
| 646 |
+
-0.047533624805510044,
|
| 647 |
+
0.0015602977073285729
|
| 648 |
+
],
|
| 649 |
+
"orientation": {
|
| 650 |
+
"w": 0.699729417110474,
|
| 651 |
+
"xyz": [
|
| 652 |
+
0.01994554976754507,
|
| 653 |
+
0.7140169440681168,
|
| 654 |
+
-0.012677596709716929
|
| 655 |
+
]
|
| 656 |
+
}
|
| 657 |
+
},
|
| 658 |
+
"grasp_70": {
|
| 659 |
+
"confidence": 0.8843207359313965,
|
| 660 |
+
"position": [
|
| 661 |
+
-0.09387182071805,
|
| 662 |
+
-0.06844972167164087,
|
| 663 |
+
-0.020252654881915078
|
| 664 |
+
],
|
| 665 |
+
"orientation": {
|
| 666 |
+
"w": 0.07861464513135794,
|
| 667 |
+
"xyz": [
|
| 668 |
+
-0.6362700073057389,
|
| 669 |
+
-0.07468826768906689,
|
| 670 |
+
-0.7638074875540507
|
| 671 |
+
]
|
| 672 |
+
}
|
| 673 |
+
},
|
| 674 |
+
"grasp_71": {
|
| 675 |
+
"confidence": 0.8701427578926086,
|
| 676 |
+
"position": [
|
| 677 |
+
-0.09167202189564705,
|
| 678 |
+
-0.077983264811337,
|
| 679 |
+
-0.0026225408946629614
|
| 680 |
+
],
|
| 681 |
+
"orientation": {
|
| 682 |
+
"w": 0.7138157788142891,
|
| 683 |
+
"xyz": [
|
| 684 |
+
-0.09669540567089982,
|
| 685 |
+
0.6856861727715903,
|
| 686 |
+
0.10464943816255655
|
| 687 |
+
]
|
| 688 |
+
}
|
| 689 |
+
},
|
| 690 |
+
"grasp_72": {
|
| 691 |
+
"confidence": 0.8287866711616516,
|
| 692 |
+
"position": [
|
| 693 |
+
-0.09783743694424629,
|
| 694 |
+
-0.03506930824369192,
|
| 695 |
+
-0.023506975354393944
|
| 696 |
+
],
|
| 697 |
+
"orientation": {
|
| 698 |
+
"w": 0.7778082916345673,
|
| 699 |
+
"xyz": [
|
| 700 |
+
0.0497125898029134,
|
| 701 |
+
0.619199687243576,
|
| 702 |
+
-0.09557545290010865
|
| 703 |
+
]
|
| 704 |
+
}
|
| 705 |
+
},
|
| 706 |
+
"grasp_73": {
|
| 707 |
+
"confidence": 0.7495226860046387,
|
| 708 |
+
"position": [
|
| 709 |
+
-0.09616028890013695,
|
| 710 |
+
-0.048734926618635654,
|
| 711 |
+
-0.0016390194359701127
|
| 712 |
+
],
|
| 713 |
+
"orientation": {
|
| 714 |
+
"w": 0.706491765470592,
|
| 715 |
+
"xyz": [
|
| 716 |
+
-0.011774291853304393,
|
| 717 |
+
0.7070989474413155,
|
| 718 |
+
0.027236554499117625
|
| 719 |
+
]
|
| 720 |
+
}
|
| 721 |
+
},
|
| 722 |
+
"grasp_77": {
|
| 723 |
+
"confidence": 0.9554492831230164,
|
| 724 |
+
"position": [
|
| 725 |
+
0.10329237952828407,
|
| 726 |
+
-0.05064754653722048,
|
| 727 |
+
0.0002325293971807696
|
| 728 |
+
],
|
| 729 |
+
"orientation": {
|
| 730 |
+
"w": 0.7165041303577888,
|
| 731 |
+
"xyz": [
|
| 732 |
+
-0.016215489611463546,
|
| 733 |
+
-0.6967554630766728,
|
| 734 |
+
-0.029844827855104217
|
| 735 |
+
]
|
| 736 |
+
}
|
| 737 |
+
},
|
| 738 |
+
"grasp_78": {
|
| 739 |
+
"confidence": 0.9483645558357239,
|
| 740 |
+
"position": [
|
| 741 |
+
0.09535302594304085,
|
| 742 |
+
-0.08129857201129198,
|
| 743 |
+
-0.002741994889220223
|
| 744 |
+
],
|
| 745 |
+
"orientation": {
|
| 746 |
+
"w": 0.7003739675546616,
|
| 747 |
+
"xyz": [
|
| 748 |
+
-0.12522083159057718,
|
| 749 |
+
-0.6868386764566417,
|
| 750 |
+
-0.14848798412933886
|
| 751 |
+
]
|
| 752 |
+
}
|
| 753 |
+
},
|
| 754 |
+
"grasp_79": {
|
| 755 |
+
"confidence": 0.9223712086677551,
|
| 756 |
+
"position": [
|
| 757 |
+
0.08491025492548943,
|
| 758 |
+
-0.10427783150225878,
|
| 759 |
+
0.01593335103825666
|
| 760 |
+
],
|
| 761 |
+
"orientation": {
|
| 762 |
+
"w": 0.6120243239959465,
|
| 763 |
+
"xyz": [
|
| 764 |
+
-0.1858683300597964,
|
| 765 |
+
-0.7360441728838245,
|
| 766 |
+
-0.22162618591189437
|
| 767 |
+
]
|
| 768 |
+
}
|
| 769 |
+
}
|
| 770 |
+
}
|
| 771 |
+
},
|
| 772 |
+
{
|
| 773 |
+
"part_name": "pivot collar",
|
| 774 |
+
"mask_color": "Cyan",
|
| 775 |
+
"graspable": false,
|
| 776 |
+
"grasp_scenarios": [],
|
| 777 |
+
"functional_labels": [
|
| 778 |
+
"support joint alignment",
|
| 779 |
+
"space moving parts",
|
| 780 |
+
"reinforce pivot connection"
|
| 781 |
+
],
|
| 782 |
+
"semantic_description": "Tiny silver metal spacer or collar-like piece with a smooth reflective finish located immediately beside the central hinge, appearing as a small connector between handle and jaw sections.",
|
| 783 |
+
"id": 6,
|
| 784 |
+
"grasp_group": {}
|
| 785 |
+
},
|
| 786 |
+
{
|
| 787 |
+
"part_name": "light blue handle tip cap",
|
| 788 |
+
"mask_color": "Purple",
|
| 789 |
+
"graspable": true,
|
| 790 |
+
"grasp_scenarios": [
|
| 791 |
+
{
|
| 792 |
+
"scenario": "lightly pinch the rounded end while lifting one side of the tool",
|
| 793 |
+
"confidence": 0.4
|
| 794 |
+
}
|
| 795 |
+
],
|
| 796 |
+
"functional_labels": [
|
| 797 |
+
"protect handle tip",
|
| 798 |
+
"provide a soft end stop",
|
| 799 |
+
"finish grip end"
|
| 800 |
+
],
|
| 801 |
+
"semantic_description": "Small rounded darker gray-blue rubber tip at the end of the light blue handle, matte and slightly soft-looking, capping the rear edge.",
|
| 802 |
+
"id": 5,
|
| 803 |
+
"grasp_group": {
|
| 804 |
+
"grasp_42": {
|
| 805 |
+
"confidence": 0.9180460572242737,
|
| 806 |
+
"position": [
|
| 807 |
+
-0.028784409165382385,
|
| 808 |
+
0.166234421543777,
|
| 809 |
+
-0.01691320593818091
|
| 810 |
+
],
|
| 811 |
+
"orientation": {
|
| 812 |
+
"w": 0.5538717203134378,
|
| 813 |
+
"xyz": [
|
| 814 |
+
0.4616450609692897,
|
| 815 |
+
0.46378973886320507,
|
| 816 |
+
-0.5147902808376372
|
| 817 |
+
]
|
| 818 |
+
}
|
| 819 |
+
},
|
| 820 |
+
"grasp_44": {
|
| 821 |
+
"confidence": 0.9225231409072876,
|
| 822 |
+
"position": [
|
| 823 |
+
-0.05005129054188728,
|
| 824 |
+
0.16487770061939955,
|
| 825 |
+
0.0019127771083731204
|
| 826 |
+
],
|
| 827 |
+
"orientation": {
|
| 828 |
+
"w": 0.43315603617109705,
|
| 829 |
+
"xyz": [
|
| 830 |
+
0.5517919416791784,
|
| 831 |
+
-0.4373075553896968,
|
| 832 |
+
0.562728712103401
|
| 833 |
+
]
|
| 834 |
+
}
|
| 835 |
+
},
|
| 836 |
+
"grasp_45": {
|
| 837 |
+
"confidence": 0.9222713112831116,
|
| 838 |
+
"position": [
|
| 839 |
+
-0.05536460131406784,
|
| 840 |
+
0.16564628761261702,
|
| 841 |
+
0.002227743767434731
|
| 842 |
+
],
|
| 843 |
+
"orientation": {
|
| 844 |
+
"w": 0.40755903812827987,
|
| 845 |
+
"xyz": [
|
| 846 |
+
0.5766577378077038,
|
| 847 |
+
-0.39911599473925363,
|
| 848 |
+
0.5848657167331225
|
| 849 |
+
]
|
| 850 |
+
}
|
| 851 |
+
},
|
| 852 |
+
"grasp_46": {
|
| 853 |
+
"confidence": 0.9202765822410583,
|
| 854 |
+
"position": [
|
| 855 |
+
-0.09544689580798149,
|
| 856 |
+
0.1324860928580165,
|
| 857 |
+
-0.004895109770586714
|
| 858 |
+
],
|
| 859 |
+
"orientation": {
|
| 860 |
+
"w": 0.6687975448526924,
|
| 861 |
+
"xyz": [
|
| 862 |
+
0.25631961257011415,
|
| 863 |
+
0.6492500291616661,
|
| 864 |
+
-0.2558993939900852
|
| 865 |
+
]
|
| 866 |
+
}
|
| 867 |
+
},
|
| 868 |
+
"grasp_47": {
|
| 869 |
+
"confidence": 0.919242799282074,
|
| 870 |
+
"position": [
|
| 871 |
+
-0.0694781057536602,
|
| 872 |
+
0.15387179236859083,
|
| 873 |
+
-0.0037513434363063425
|
| 874 |
+
],
|
| 875 |
+
"orientation": {
|
| 876 |
+
"w": 0.6098629092925479,
|
| 877 |
+
"xyz": [
|
| 878 |
+
0.3614159261562344,
|
| 879 |
+
0.6051235713941149,
|
| 880 |
+
-0.36231370872917895
|
| 881 |
+
]
|
| 882 |
+
}
|
| 883 |
+
},
|
| 884 |
+
"grasp_49": {
|
| 885 |
+
"confidence": 0.9005810618400574,
|
| 886 |
+
"position": [
|
| 887 |
+
-0.09919288381934166,
|
| 888 |
+
0.13614250998944044,
|
| 889 |
+
-0.014516511553665623
|
| 890 |
+
],
|
| 891 |
+
"orientation": {
|
| 892 |
+
"w": 0.7147272441612124,
|
| 893 |
+
"xyz": [
|
| 894 |
+
0.2585367576532719,
|
| 895 |
+
0.5997482952427221,
|
| 896 |
+
-0.2502512612341853
|
| 897 |
+
]
|
| 898 |
+
}
|
| 899 |
+
},
|
| 900 |
+
"grasp_51": {
|
| 901 |
+
"confidence": 0.8815376162528992,
|
| 902 |
+
"position": [
|
| 903 |
+
-0.05429859086871147,
|
| 904 |
+
0.1581126181408763,
|
| 905 |
+
0.028325244231382385
|
| 906 |
+
],
|
| 907 |
+
"orientation": {
|
| 908 |
+
"w": 0.36082681027950847,
|
| 909 |
+
"xyz": [
|
| 910 |
+
0.624839241298678,
|
| 911 |
+
-0.47224258921044826,
|
| 912 |
+
0.5063268435038972
|
| 913 |
+
]
|
| 914 |
+
}
|
| 915 |
+
},
|
| 916 |
+
"grasp_52": {
|
| 917 |
+
"confidence": 0.8800039887428284,
|
| 918 |
+
"position": [
|
| 919 |
+
-0.12562304362654686,
|
| 920 |
+
0.07771740388125181,
|
| 921 |
+
0.0019745090103242546
|
| 922 |
+
],
|
| 923 |
+
"orientation": {
|
| 924 |
+
"w": 0.06471883304168544,
|
| 925 |
+
"xyz": [
|
| 926 |
+
-0.698950311532036,
|
| 927 |
+
0.12363231654837203,
|
| 928 |
+
-0.7014235417804818
|
| 929 |
+
]
|
| 930 |
+
}
|
| 931 |
+
},
|
| 932 |
+
"grasp_58": {
|
| 933 |
+
"confidence": 0.889277994632721,
|
| 934 |
+
"position": [
|
| 935 |
+
-0.07683725282549858,
|
| 936 |
+
0.14258197229355574,
|
| 937 |
+
0.02095080856815912
|
| 938 |
+
],
|
| 939 |
+
"orientation": {
|
| 940 |
+
"w": 0.5648052641043618,
|
| 941 |
+
"xyz": [
|
| 942 |
+
0.3682553373274159,
|
| 943 |
+
0.6824123647197788,
|
| 944 |
+
-0.2823054810793326
|
| 945 |
+
]
|
| 946 |
+
}
|
| 947 |
+
}
|
| 948 |
+
}
|
| 949 |
+
},
|
| 950 |
+
{
|
| 951 |
+
"part_name": "dark gray handle tip cap",
|
| 952 |
+
"mask_color": "Orange",
|
| 953 |
+
"graspable": true,
|
| 954 |
+
"grasp_scenarios": [
|
| 955 |
+
{
|
| 956 |
+
"scenario": "lightly pinch the rounded end while lifting one side of the tool",
|
| 957 |
+
"confidence": 0.4
|
| 958 |
+
}
|
| 959 |
+
],
|
| 960 |
+
"functional_labels": [
|
| 961 |
+
"protect handle tip",
|
| 962 |
+
"provide a soft end stop",
|
| 963 |
+
"finish grip end"
|
| 964 |
+
],
|
| 965 |
+
"semantic_description": "Small rounded slightly darker gray rubber tip at the end of the dark gray handle, matte and slightly soft-looking, forming the terminal cap of that grip.",
|
| 966 |
+
"id": 4,
|
| 967 |
+
"grasp_group": {
|
| 968 |
+
"grasp_20": {
|
| 969 |
+
"confidence": 0.9447407126426697,
|
| 970 |
+
"position": [
|
| 971 |
+
0.10578256472945213,
|
| 972 |
+
0.12235215585678816,
|
| 973 |
+
0.0062055680027697235
|
| 974 |
+
],
|
| 975 |
+
"orientation": {
|
| 976 |
+
"w": 0.21007858688700567,
|
| 977 |
+
"xyz": [
|
| 978 |
+
0.6934714998119168,
|
| 979 |
+
0.192811330428871,
|
| 980 |
+
-0.6616555426643217
|
| 981 |
+
]
|
| 982 |
+
}
|
| 983 |
+
},
|
| 984 |
+
"grasp_21": {
|
| 985 |
+
"confidence": 0.942108154296875,
|
| 986 |
+
"position": [
|
| 987 |
+
0.024979041889309883,
|
| 988 |
+
0.17071171384304762,
|
| 989 |
+
-0.0032607725297566503
|
| 990 |
+
],
|
| 991 |
+
"orientation": {
|
| 992 |
+
"w": 0.49121476097315087,
|
| 993 |
+
"xyz": [
|
| 994 |
+
0.507108694108161,
|
| 995 |
+
0.47923573792410423,
|
| 996 |
+
-0.5214229937951966
|
| 997 |
+
]
|
| 998 |
+
}
|
| 999 |
+
},
|
| 1000 |
+
"grasp_22": {
|
| 1001 |
+
"confidence": 0.9368999004364014,
|
| 1002 |
+
"position": [
|
| 1003 |
+
0.05290405452251434,
|
| 1004 |
+
0.16477552335709333,
|
| 1005 |
+
-0.0029652629455085844
|
| 1006 |
+
],
|
| 1007 |
+
"orientation": {
|
| 1008 |
+
"w": 0.40576790954894026,
|
| 1009 |
+
"xyz": [
|
| 1010 |
+
0.5674793170378859,
|
| 1011 |
+
0.40983945871247196,
|
| 1012 |
+
-0.5876659309478182
|
| 1013 |
+
]
|
| 1014 |
+
}
|
| 1015 |
+
},
|
| 1016 |
+
"grasp_23": {
|
| 1017 |
+
"confidence": 0.9338428974151611,
|
| 1018 |
+
"position": [
|
| 1019 |
+
0.06297383829951286,
|
| 1020 |
+
0.16146509628742933,
|
| 1021 |
+
-0.0023890902230050415
|
| 1022 |
+
],
|
| 1023 |
+
"orientation": {
|
| 1024 |
+
"w": 0.37499090474416313,
|
| 1025 |
+
"xyz": [
|
| 1026 |
+
0.57604075461298,
|
| 1027 |
+
0.38743323242380956,
|
| 1028 |
+
-0.6143731445934961
|
| 1029 |
+
]
|
| 1030 |
+
}
|
| 1031 |
+
},
|
| 1032 |
+
"grasp_25": {
|
| 1033 |
+
"confidence": 0.8983091115951538,
|
| 1034 |
+
"position": [
|
| 1035 |
+
0.07152385637164116,
|
| 1036 |
+
0.15809478145092726,
|
| 1037 |
+
-0.01767795774503611
|
| 1038 |
+
],
|
| 1039 |
+
"orientation": {
|
| 1040 |
+
"w": 0.6676779266170212,
|
| 1041 |
+
"xyz": [
|
| 1042 |
+
0.3346938144518351,
|
| 1043 |
+
-0.5419970977044591,
|
| 1044 |
+
0.3852601497118784
|
| 1045 |
+
]
|
| 1046 |
+
}
|
| 1047 |
+
},
|
| 1048 |
+
"grasp_29": {
|
| 1049 |
+
"confidence": 0.932288408279419,
|
| 1050 |
+
"position": [
|
| 1051 |
+
0.07160146161913872,
|
| 1052 |
+
0.15469977539032698,
|
| 1053 |
+
0.013194039842346683
|
| 1054 |
+
],
|
| 1055 |
+
"orientation": {
|
| 1056 |
+
"w": 0.5810442811024099,
|
| 1057 |
+
"xyz": [
|
| 1058 |
+
0.35739801584784486,
|
| 1059 |
+
-0.6499597564322791,
|
| 1060 |
+
0.33497241182625725
|
| 1061 |
+
]
|
| 1062 |
+
}
|
| 1063 |
+
},
|
| 1064 |
+
"grasp_31": {
|
| 1065 |
+
"confidence": 0.9257179498672485,
|
| 1066 |
+
"position": [
|
| 1067 |
+
0.013132451102137566,
|
| 1068 |
+
0.16340029519051313,
|
| 1069 |
+
0.02327655759290792
|
| 1070 |
+
],
|
| 1071 |
+
"orientation": {
|
| 1072 |
+
"w": 0.3772162025517683,
|
| 1073 |
+
"xyz": [
|
| 1074 |
+
0.517224613174864,
|
| 1075 |
+
-0.5759416677988498,
|
| 1076 |
+
0.5084071511609718
|
| 1077 |
+
]
|
| 1078 |
+
}
|
| 1079 |
+
},
|
| 1080 |
+
"grasp_33": {
|
| 1081 |
+
"confidence": 0.9352803230285645,
|
| 1082 |
+
"position": [
|
| 1083 |
+
0.031825169920921326,
|
| 1084 |
+
0.17004385869950056,
|
| 1085 |
+
-0.004760812589665875
|
| 1086 |
+
],
|
| 1087 |
+
"orientation": {
|
| 1088 |
+
"w": 0.490534572001333,
|
| 1089 |
+
"xyz": [
|
| 1090 |
+
0.5101375863862319,
|
| 1091 |
+
0.4745059032658844,
|
| 1092 |
+
-0.5234306299724214
|
| 1093 |
+
]
|
| 1094 |
+
}
|
| 1095 |
+
},
|
| 1096 |
+
"grasp_35": {
|
| 1097 |
+
"confidence": 0.9310134649276733,
|
| 1098 |
+
"position": [
|
| 1099 |
+
0.07077557221055031,
|
| 1100 |
+
0.15439656656235456,
|
| 1101 |
+
0.004809226287761703
|
| 1102 |
+
],
|
| 1103 |
+
"orientation": {
|
| 1104 |
+
"w": 0.608765595715622,
|
| 1105 |
+
"xyz": [
|
| 1106 |
+
0.3520446555279543,
|
| 1107 |
+
-0.6176629180381645,
|
| 1108 |
+
0.3520817087946873
|
| 1109 |
+
]
|
| 1110 |
+
}
|
| 1111 |
+
},
|
| 1112 |
+
"grasp_38": {
|
| 1113 |
+
"confidence": 0.9267171025276184,
|
| 1114 |
+
"position": [
|
| 1115 |
+
0.028263207525014877,
|
| 1116 |
+
0.16445841174572706,
|
| 1117 |
+
-0.001187995047075674
|
| 1118 |
+
],
|
| 1119 |
+
"orientation": {
|
| 1120 |
+
"w": 0.4836261941477876,
|
| 1121 |
+
"xyz": [
|
| 1122 |
+
0.5150617873581725,
|
| 1123 |
+
0.4854783073824064,
|
| 1124 |
+
-0.5149056929172998
|
| 1125 |
+
]
|
| 1126 |
+
}
|
| 1127 |
+
}
|
| 1128 |
+
}
|
| 1129 |
+
}
|
| 1130 |
+
],
|
| 1131 |
+
"quality_check": {
|
| 1132 |
+
"success": true,
|
| 1133 |
+
"message": "YES"
|
| 1134 |
+
}
|
| 1135 |
+
}
|
dataset/tools/repair_tools/0f2e1dea58ae581787ed64260232e4e9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5750a193b7ab3a5687e21425715793af296be110bcad7379221349b486cf6761
|
| 3 |
+
size 3786180
|