Add asset tools/repair_tools/0432ab9029565606a56b0222dea9bf69
Browse files
.gitattributes
CHANGED
|
@@ -7792,3 +7792,4 @@ dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordanc
|
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7794 |
dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7793 |
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7794 |
dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7795 |
+
dataset/tools/repair_tools/0432ab9029565606a56b0222dea9bf69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/0432ab9029565606a56b0222dea9bf69/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,994 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "jaw assembly",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the jaw assembly lightly to orient the pliers during tool pickup",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the jaw assembly to stabilize the tool while repositioning it",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"grip objects",
|
| 19 |
+
"clamp workpieces",
|
| 20 |
+
"apply pinching force",
|
| 21 |
+
"perform the main working end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Gray metal jaws with a slightly reflective hard surface and serrated inner faces, forming the tapered front working end of the pliers near the tip.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9910017848014832,
|
| 28 |
+
"position": [
|
| 29 |
+
0.10431870742468163,
|
| 30 |
+
0.05494629708118737,
|
| 31 |
+
-0.001835712195315864
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7139564990066528,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.0047154739493261094,
|
| 37 |
+
-0.7001280158857943,
|
| 38 |
+
-0.008040099714401137
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9904875159263611,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10542111023096368,
|
| 46 |
+
0.0639438342768699,
|
| 47 |
+
0.0001216209329868434
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7088920643972537,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.02326241262517677,
|
| 53 |
+
-0.7044617605916729,
|
| 54 |
+
0.025778461116528838
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9897504448890686,
|
| 60 |
+
"position": [
|
| 61 |
+
0.10331594868330285,
|
| 62 |
+
0.04027885687537491,
|
| 63 |
+
-0.0034341668579145335
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.10345614184077974,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6950959851997032,
|
| 69 |
+
0.11226391431472504,
|
| 70 |
+
0.7025206129484106
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9893285632133484,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10688345803646371,
|
| 78 |
+
0.05332984519191086,
|
| 79 |
+
0.002799214948026929
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.703445867031378,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.007739421805214582,
|
| 85 |
+
-0.7107015338436042,
|
| 86 |
+
-0.0027098521992373133
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9890697598457336,
|
| 92 |
+
"position": [
|
| 93 |
+
0.0975622974219732,
|
| 94 |
+
0.050697070779278874,
|
| 95 |
+
0.023804260803444777
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.629611803452645,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.017729242125756106,
|
| 101 |
+
-0.7760788701336754,
|
| 102 |
+
-0.031244811709975315
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
| 107 |
+
"confidence": 0.9885673522949219,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.09889836685033515,
|
| 110 |
+
0.09178995084948838,
|
| 111 |
+
-8.500311378156766e-05
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.6924543311696636,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.1142464330490291,
|
| 117 |
+
0.705405570044283,
|
| 118 |
+
-0.09928611952557938
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_8": {
|
| 123 |
+
"confidence": 0.9885194897651672,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.10061624721856788,
|
| 126 |
+
0.08115979027934372,
|
| 127 |
+
-0.004515420259849634
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.7050789071485545,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.0915842608843431,
|
| 133 |
+
0.6978064828601673,
|
| 134 |
+
-0.08684566961450095
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_10": {
|
| 139 |
+
"confidence": 0.9882616400718689,
|
| 140 |
+
"position": [
|
| 141 |
+
0.09900359733728692,
|
| 142 |
+
0.08569039893336594,
|
| 143 |
+
0.0005303699945216067
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.12125366995297097,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.6956748606122883,
|
| 149 |
+
0.09728844842476025,
|
| 150 |
+
-0.7013337248686338
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_11": {
|
| 155 |
+
"confidence": 0.9881132245063782,
|
| 156 |
+
"position": [
|
| 157 |
+
0.10772886051563546,
|
| 158 |
+
0.06786074978299439,
|
| 159 |
+
-0.0072512701954110526
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.04374152044886517,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.6788481648021701,
|
| 165 |
+
0.010067305774116853,
|
| 166 |
+
-0.7329055177087958
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_12": {
|
| 171 |
+
"confidence": 0.9880427122116089,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.10447117016883567,
|
| 174 |
+
0.03255338524468243,
|
| 175 |
+
-0.0010846604927792214
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.08232297786042878,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.693351152924216,
|
| 181 |
+
-0.0796561570058747,
|
| 182 |
+
-0.7114365767276151
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_13": {
|
| 187 |
+
"confidence": 0.9879525303840637,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.10125871823402122,
|
| 190 |
+
0.09425078821368515,
|
| 191 |
+
-0.0022440565153374337
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.6990466993810227,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.11094667670996079,
|
| 197 |
+
0.6984749496130512,
|
| 198 |
+
-0.10562808231980343
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_14": {
|
| 203 |
+
"confidence": 0.9874811768531799,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.10173375235171989,
|
| 206 |
+
0.0539732922334224,
|
| 207 |
+
-0.0005060401963419281
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.7022440670174945,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.012881589796479322,
|
| 213 |
+
0.7117471880910932,
|
| 214 |
+
0.010162442003074802
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_15": {
|
| 219 |
+
"confidence": 0.9874465465545654,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.1042422212776728,
|
| 222 |
+
0.04565674182958901,
|
| 223 |
+
0.0041909589563147165
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.6928135006429432,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.024002939105681305,
|
| 229 |
+
0.7199259590880941,
|
| 230 |
+
0.03376278531530547
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_17": {
|
| 235 |
+
"confidence": 0.9870954751968384,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.10160954372258857,
|
| 238 |
+
0.06374552217312157,
|
| 239 |
+
0.0009078550283447839
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.04106708916648092,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.7023309334645796,
|
| 245 |
+
-0.015072083973072359,
|
| 246 |
+
0.7105051628038133
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_18": {
|
| 251 |
+
"confidence": 0.9870770573616028,
|
| 252 |
+
"position": [
|
| 253 |
+
0.10407055838732049,
|
| 254 |
+
0.0841888387221843,
|
| 255 |
+
0.0035688222051248886
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.7032755144817224,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.1087253684669677,
|
| 261 |
+
-0.6983503544931543,
|
| 262 |
+
0.07674064999383438
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_19": {
|
| 267 |
+
"confidence": 0.9870567917823792,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.10084388480754569,
|
| 270 |
+
0.0613733206409961,
|
| 271 |
+
0.0021889034323976375
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.6982218693125843,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.011759174844376056,
|
| 277 |
+
0.7155279407685028,
|
| 278 |
+
-0.019175739886765797
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "left handle grip",
|
| 286 |
+
"mask_color": "Purple",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "grasp one handle to pick up the pliers from a surface",
|
| 291 |
+
"confidence": 0.82
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "hold this handle while manipulating the opening angle of the pliers",
|
| 295 |
+
"confidence": 0.77
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"scenario": "pinch both handles together using this handle as one contact side",
|
| 299 |
+
"confidence": 0.86
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"provide a handhold",
|
| 304 |
+
"transmit squeezing force",
|
| 305 |
+
"improve grip comfort",
|
| 306 |
+
"control tool opening"
|
| 307 |
+
],
|
| 308 |
+
"semantic_description": "Long curved handle with red outer coating and dark gray to black grip surface, likely rubber over metal, with a mostly matte slightly textured finish at the rear of the pliers.",
|
| 309 |
+
"id": 5,
|
| 310 |
+
"grasp_group": {
|
| 311 |
+
"grasp_40": {
|
| 312 |
+
"confidence": 0.9748584032058716,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.11349760071607307,
|
| 315 |
+
-0.00017199607100337744,
|
| 316 |
+
-0.0032351741901948117
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.7279812606182795,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.03381171414833591,
|
| 322 |
+
0.6846155364743387,
|
| 323 |
+
0.014199274380252824
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_41": {
|
| 328 |
+
"confidence": 0.9748127460479736,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.10109075979562476,
|
| 331 |
+
0.05446385336108506,
|
| 332 |
+
-0.000697996663802769
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.17416661004530304,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.6808842591099253,
|
| 338 |
+
-0.15355171751504715,
|
| 339 |
+
0.6946110333775546
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_43": {
|
| 344 |
+
"confidence": 0.973383903503418,
|
| 345 |
+
"position": [
|
| 346 |
+
-0.11063307599397376,
|
| 347 |
+
0.011177642503753304,
|
| 348 |
+
0.0018300317824468948
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.7027978631762423,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.020522973792746094,
|
| 354 |
+
0.7109800335268712,
|
| 355 |
+
-0.012702873208045787
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_44": {
|
| 360 |
+
"confidence": 0.9712573289871216,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.10301622824044898,
|
| 363 |
+
0.05118353781290352,
|
| 364 |
+
-0.005321851080225315
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.18458395689175125,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.6644452704000574,
|
| 370 |
+
-0.17230173081480882,
|
| 371 |
+
0.7033870620500493
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_47": {
|
| 376 |
+
"confidence": 0.9635509252548218,
|
| 377 |
+
"position": [
|
| 378 |
+
-0.11293230281444266,
|
| 379 |
+
-0.007901812670752406,
|
| 380 |
+
-0.003973284350649919
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.02350216665205761,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.6922195806292544,
|
| 386 |
+
-0.007606601031555749,
|
| 387 |
+
0.7212640570393516
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_48": {
|
| 392 |
+
"confidence": 0.9615215063095093,
|
| 393 |
+
"position": [
|
| 394 |
+
-0.11146004573674873,
|
| 395 |
+
0.009111415827646852,
|
| 396 |
+
-0.0032678196075721644
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.12212004333984243,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.6863169284671745,
|
| 402 |
+
-0.0992492805419789,
|
| 403 |
+
0.7100741855791955
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_49": {
|
| 408 |
+
"confidence": 0.9608471989631653,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.11462719814153388,
|
| 411 |
+
0.019783976720646024,
|
| 412 |
+
0.018811002759321127
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.02964952094828121,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.7655299983924774,
|
| 418 |
+
-0.007451257539162204,
|
| 419 |
+
0.6426734833722613
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_50": {
|
| 424 |
+
"confidence": 0.9607207179069519,
|
| 425 |
+
"position": [
|
| 426 |
+
-0.10491267667384818,
|
| 427 |
+
0.029793982626870275,
|
| 428 |
+
-0.0012949523152201436
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.1688504517888043,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.6824719910734879,
|
| 434 |
+
-0.14651087339075186,
|
| 435 |
+
0.6958850984962854
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_51": {
|
| 440 |
+
"confidence": 0.9561360478401184,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.11740848497720435,
|
| 443 |
+
0.014571929583325982,
|
| 444 |
+
-0.00864851529331645
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.7320152967203727,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.007043438853377694,
|
| 450 |
+
0.6811215935775985,
|
| 451 |
+
-0.01331803659763716
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_52": {
|
| 456 |
+
"confidence": 0.9516823887825012,
|
| 457 |
+
"position": [
|
| 458 |
+
-0.10842115507693961,
|
| 459 |
+
-0.014696658356115222,
|
| 460 |
+
-0.0002736416572588496
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.7023630337322287,
|
| 464 |
+
"xyz": [
|
| 465 |
+
-0.06727304322099131,
|
| 466 |
+
0.7039557186288259,
|
| 467 |
+
0.08128254863142521
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_54": {
|
| 472 |
+
"confidence": 0.9459430575370789,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.1033586718258448,
|
| 475 |
+
-0.12621639179997146,
|
| 476 |
+
-0.011958588460402098
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.7185919413597621,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.17250293696248187,
|
| 482 |
+
0.6506676764900126,
|
| 483 |
+
0.17464230107054432
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_55": {
|
| 488 |
+
"confidence": 0.9458211660385132,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.10118793771835044,
|
| 491 |
+
0.03621778008528054,
|
| 492 |
+
-0.004896195685432758
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.17253236649534373,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.6663591114058479,
|
| 498 |
+
-0.1783519176617111,
|
| 499 |
+
0.7031278053272497
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_59": {
|
| 504 |
+
"confidence": 0.9307917356491089,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.11202271358342841,
|
| 507 |
+
-0.07470695185475051,
|
| 508 |
+
-0.00926587878348073
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.724945312694449,
|
| 512 |
+
"xyz": [
|
| 513 |
+
-0.14819068442771946,
|
| 514 |
+
0.6575601674483817,
|
| 515 |
+
0.1418042341978826
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
}
|
| 519 |
+
}
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"part_name": "right handle grip",
|
| 523 |
+
"mask_color": "Orange",
|
| 524 |
+
"graspable": true,
|
| 525 |
+
"grasp_scenarios": [
|
| 526 |
+
{
|
| 527 |
+
"scenario": "grasp one handle to pick up the pliers from a surface",
|
| 528 |
+
"confidence": 0.8
|
| 529 |
+
},
|
| 530 |
+
{
|
| 531 |
+
"scenario": "hold this handle while manipulating the opening angle of the pliers",
|
| 532 |
+
"confidence": 0.75
|
| 533 |
+
},
|
| 534 |
+
{
|
| 535 |
+
"scenario": "pinch both handles together using this handle as one contact side",
|
| 536 |
+
"confidence": 0.85
|
| 537 |
+
}
|
| 538 |
+
],
|
| 539 |
+
"functional_labels": [
|
| 540 |
+
"provide a handhold",
|
| 541 |
+
"transmit squeezing force",
|
| 542 |
+
"improve grip comfort",
|
| 543 |
+
"control tool opening"
|
| 544 |
+
],
|
| 545 |
+
"semantic_description": "Long curved handle with red outer coating and dark gray to black grip surface, likely rubber over metal, with a matte slightly textured finish and positioned opposite the other handle at the rear of the tool.",
|
| 546 |
+
"id": 4,
|
| 547 |
+
"grasp_group": {
|
| 548 |
+
"grasp_20": {
|
| 549 |
+
"confidence": 0.9772059917449951,
|
| 550 |
+
"position": [
|
| 551 |
+
0.11661682202247903,
|
| 552 |
+
-0.019554246915504336,
|
| 553 |
+
0.0004540694135357626
|
| 554 |
+
],
|
| 555 |
+
"orientation": {
|
| 556 |
+
"w": 0.7123175600815506,
|
| 557 |
+
"xyz": [
|
| 558 |
+
0.01591400653427039,
|
| 559 |
+
-0.7016660147454697,
|
| 560 |
+
-0.0039040679686402923
|
| 561 |
+
]
|
| 562 |
+
}
|
| 563 |
+
},
|
| 564 |
+
"grasp_21": {
|
| 565 |
+
"confidence": 0.9767946600914001,
|
| 566 |
+
"position": [
|
| 567 |
+
0.11613425536779687,
|
| 568 |
+
-0.019773906795307994,
|
| 569 |
+
-0.0008224202538258396
|
| 570 |
+
],
|
| 571 |
+
"orientation": {
|
| 572 |
+
"w": 0.70998471972239,
|
| 573 |
+
"xyz": [
|
| 574 |
+
0.01674912867488835,
|
| 575 |
+
-0.7040147041895423,
|
| 576 |
+
0.0021120450427236648
|
| 577 |
+
]
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"grasp_22": {
|
| 581 |
+
"confidence": 0.9766854643821716,
|
| 582 |
+
"position": [
|
| 583 |
+
0.11360269709257409,
|
| 584 |
+
-0.014767084969207644,
|
| 585 |
+
-0.0042709201443358324
|
| 586 |
+
],
|
| 587 |
+
"orientation": {
|
| 588 |
+
"w": 0.7321210493754924,
|
| 589 |
+
"xyz": [
|
| 590 |
+
-0.0005848438099793414,
|
| 591 |
+
-0.6809134323235401,
|
| 592 |
+
-0.018850058366531936
|
| 593 |
+
]
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"grasp_23": {
|
| 597 |
+
"confidence": 0.9765642881393433,
|
| 598 |
+
"position": [
|
| 599 |
+
0.11436591966776177,
|
| 600 |
+
-0.025693463860079646,
|
| 601 |
+
-0.0036029707043780945
|
| 602 |
+
],
|
| 603 |
+
"orientation": {
|
| 604 |
+
"w": 0.7158540167521371,
|
| 605 |
+
"xyz": [
|
| 606 |
+
-0.020067995249235943,
|
| 607 |
+
-0.6969385343194837,
|
| 608 |
+
-0.03777541061480966
|
| 609 |
+
]
|
| 610 |
+
}
|
| 611 |
+
},
|
| 612 |
+
"grasp_25": {
|
| 613 |
+
"confidence": 0.9744213223457336,
|
| 614 |
+
"position": [
|
| 615 |
+
0.11401081009535119,
|
| 616 |
+
-0.024272647453472018,
|
| 617 |
+
0.0004846656884183176
|
| 618 |
+
],
|
| 619 |
+
"orientation": {
|
| 620 |
+
"w": 0.054194064348214215,
|
| 621 |
+
"xyz": [
|
| 622 |
+
-0.7129802839335763,
|
| 623 |
+
0.03153735522632961,
|
| 624 |
+
0.6983749088682576
|
| 625 |
+
]
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"grasp_26": {
|
| 629 |
+
"confidence": 0.9741532206535339,
|
| 630 |
+
"position": [
|
| 631 |
+
0.11757937743095681,
|
| 632 |
+
-0.03423767420463264,
|
| 633 |
+
0.002354124248086009
|
| 634 |
+
],
|
| 635 |
+
"orientation": {
|
| 636 |
+
"w": 0.708908824550712,
|
| 637 |
+
"xyz": [
|
| 638 |
+
-0.01431031687199927,
|
| 639 |
+
-0.7045872754187771,
|
| 640 |
+
-0.028288948780295923
|
| 641 |
+
]
|
| 642 |
+
}
|
| 643 |
+
},
|
| 644 |
+
"grasp_27": {
|
| 645 |
+
"confidence": 0.9739707112312317,
|
| 646 |
+
"position": [
|
| 647 |
+
0.10822387709049508,
|
| 648 |
+
0.034842361928895116,
|
| 649 |
+
0.0023849913050071336
|
| 650 |
+
],
|
| 651 |
+
"orientation": {
|
| 652 |
+
"w": 0.7041994971375864,
|
| 653 |
+
"xyz": [
|
| 654 |
+
0.09991024301834259,
|
| 655 |
+
-0.697884674947614,
|
| 656 |
+
0.08413080318438658
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
},
|
| 660 |
+
"grasp_28": {
|
| 661 |
+
"confidence": 0.9739645719528198,
|
| 662 |
+
"position": [
|
| 663 |
+
0.11210919095901772,
|
| 664 |
+
0.014150426955893636,
|
| 665 |
+
-0.008705127598659601
|
| 666 |
+
],
|
| 667 |
+
"orientation": {
|
| 668 |
+
"w": 0.7377335220007745,
|
| 669 |
+
"xyz": [
|
| 670 |
+
0.02380781996002454,
|
| 671 |
+
-0.6745666175174505,
|
| 672 |
+
0.01192965867699153
|
| 673 |
+
]
|
| 674 |
+
}
|
| 675 |
+
},
|
| 676 |
+
"grasp_29": {
|
| 677 |
+
"confidence": 0.9732946753501892,
|
| 678 |
+
"position": [
|
| 679 |
+
0.11356583907036111,
|
| 680 |
+
0.012846024008467793,
|
| 681 |
+
-0.0006382334031513892
|
| 682 |
+
],
|
| 683 |
+
"orientation": {
|
| 684 |
+
"w": 0.7150669683392227,
|
| 685 |
+
"xyz": [
|
| 686 |
+
0.02321110754466273,
|
| 687 |
+
-0.6986363499237231,
|
| 688 |
+
0.006908389245038497
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
"grasp_30": {
|
| 693 |
+
"confidence": 0.9731665253639221,
|
| 694 |
+
"position": [
|
| 695 |
+
0.11347927822498605,
|
| 696 |
+
0.008246962679550052,
|
| 697 |
+
-0.0034440544768585823
|
| 698 |
+
],
|
| 699 |
+
"orientation": {
|
| 700 |
+
"w": 0.02309172411933102,
|
| 701 |
+
"xyz": [
|
| 702 |
+
0.6941843058533321,
|
| 703 |
+
0.022730142079734672,
|
| 704 |
+
-0.7190676341104212
|
| 705 |
+
]
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
"grasp_31": {
|
| 709 |
+
"confidence": 0.9717658162117004,
|
| 710 |
+
"position": [
|
| 711 |
+
0.10897433682112023,
|
| 712 |
+
0.02298842673189938,
|
| 713 |
+
-0.0019377903881832026
|
| 714 |
+
],
|
| 715 |
+
"orientation": {
|
| 716 |
+
"w": 0.08972146392894997,
|
| 717 |
+
"xyz": [
|
| 718 |
+
0.7021637083148116,
|
| 719 |
+
0.07643934794321072,
|
| 720 |
+
-0.7021917200608787
|
| 721 |
+
]
|
| 722 |
+
}
|
| 723 |
+
},
|
| 724 |
+
"grasp_32": {
|
| 725 |
+
"confidence": 0.9715451002120972,
|
| 726 |
+
"position": [
|
| 727 |
+
0.11486786528257653,
|
| 728 |
+
-0.04636093112640083,
|
| 729 |
+
-0.0011408434584154747
|
| 730 |
+
],
|
| 731 |
+
"orientation": {
|
| 732 |
+
"w": 0.7034083387407915,
|
| 733 |
+
"xyz": [
|
| 734 |
+
-0.07596300829901707,
|
| 735 |
+
-0.6989411226376352,
|
| 736 |
+
-0.1045353406562884
|
| 737 |
+
]
|
| 738 |
+
}
|
| 739 |
+
},
|
| 740 |
+
"grasp_33": {
|
| 741 |
+
"confidence": 0.9692761301994324,
|
| 742 |
+
"position": [
|
| 743 |
+
0.11511358543066308,
|
| 744 |
+
-0.034063952742144465,
|
| 745 |
+
0.021902610002143774
|
| 746 |
+
],
|
| 747 |
+
"orientation": {
|
| 748 |
+
"w": 0.6248907510825078,
|
| 749 |
+
"xyz": [
|
| 750 |
+
-0.029433910196195845,
|
| 751 |
+
-0.7793329811667277,
|
| 752 |
+
-0.0358510614610328
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
},
|
| 756 |
+
"grasp_34": {
|
| 757 |
+
"confidence": 0.9652578234672546,
|
| 758 |
+
"position": [
|
| 759 |
+
0.11554695590166375,
|
| 760 |
+
0.01723743905313313,
|
| 761 |
+
-0.00018088291835738346
|
| 762 |
+
],
|
| 763 |
+
"orientation": {
|
| 764 |
+
"w": 0.7119840881648648,
|
| 765 |
+
"xyz": [
|
| 766 |
+
0.018043442100048365,
|
| 767 |
+
-0.7016044214757093,
|
| 768 |
+
0.022457251901418132
|
| 769 |
+
]
|
| 770 |
+
}
|
| 771 |
+
},
|
| 772 |
+
"grasp_36": {
|
| 773 |
+
"confidence": 0.9628162980079651,
|
| 774 |
+
"position": [
|
| 775 |
+
0.11751440091757104,
|
| 776 |
+
-0.05141686531715095,
|
| 777 |
+
0.0032512067482457496
|
| 778 |
+
],
|
| 779 |
+
"orientation": {
|
| 780 |
+
"w": 0.6974752521363681,
|
| 781 |
+
"xyz": [
|
| 782 |
+
-0.07265369658752563,
|
| 783 |
+
-0.7100830897882717,
|
| 784 |
+
-0.06349581581661656
|
| 785 |
+
]
|
| 786 |
+
}
|
| 787 |
+
},
|
| 788 |
+
"grasp_37": {
|
| 789 |
+
"confidence": 0.9618093967437744,
|
| 790 |
+
"position": [
|
| 791 |
+
0.10279422922758386,
|
| 792 |
+
0.04357060533948243,
|
| 793 |
+
-0.002168493425415363
|
| 794 |
+
],
|
| 795 |
+
"orientation": {
|
| 796 |
+
"w": 0.17513531305658492,
|
| 797 |
+
"xyz": [
|
| 798 |
+
0.6814558333557492,
|
| 799 |
+
0.1684822156742427,
|
| 800 |
+
-0.6903327547693876
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
"grasp_39": {
|
| 805 |
+
"confidence": 0.959664523601532,
|
| 806 |
+
"position": [
|
| 807 |
+
0.09801515116123483,
|
| 808 |
+
0.05554976058192551,
|
| 809 |
+
0.0009291944224969484
|
| 810 |
+
],
|
| 811 |
+
"orientation": {
|
| 812 |
+
"w": 0.18288298124246216,
|
| 813 |
+
"xyz": [
|
| 814 |
+
0.6807708219779148,
|
| 815 |
+
0.17506920243022095,
|
| 816 |
+
-0.6873541135948992
|
| 817 |
+
]
|
| 818 |
+
}
|
| 819 |
+
}
|
| 820 |
+
}
|
| 821 |
+
},
|
| 822 |
+
{
|
| 823 |
+
"part_name": "pivot joint",
|
| 824 |
+
"mask_color": "Magenta",
|
| 825 |
+
"graspable": true,
|
| 826 |
+
"grasp_scenarios": [
|
| 827 |
+
{
|
| 828 |
+
"scenario": "grasp at the pivot to pick up the pliers near its center of mass",
|
| 829 |
+
"confidence": 0.64
|
| 830 |
+
},
|
| 831 |
+
{
|
| 832 |
+
"scenario": "hold the pivot area to stabilize the pliers during precise placement",
|
| 833 |
+
"confidence": 0.58
|
| 834 |
+
}
|
| 835 |
+
],
|
| 836 |
+
"functional_labels": [
|
| 837 |
+
"connect the two halves",
|
| 838 |
+
"enable rotational motion",
|
| 839 |
+
"transfer force between handles and jaws",
|
| 840 |
+
"act as central hinge"
|
| 841 |
+
],
|
| 842 |
+
"semantic_description": "Rounded central silver metal hinge area with a hard smooth slightly reflective finish, located where the handles and jaws meet.",
|
| 843 |
+
"id": 7,
|
| 844 |
+
"grasp_group": {
|
| 845 |
+
"grasp_60": {
|
| 846 |
+
"confidence": 0.9877837300300598,
|
| 847 |
+
"position": [
|
| 848 |
+
0.10080863459734246,
|
| 849 |
+
0.06233767163939774,
|
| 850 |
+
-0.00034496024454711005
|
| 851 |
+
],
|
| 852 |
+
"orientation": {
|
| 853 |
+
"w": 0.08314722396658446,
|
| 854 |
+
"xyz": [
|
| 855 |
+
0.7024914053997553,
|
| 856 |
+
0.0593684281639395,
|
| 857 |
+
-0.7043207750900654
|
| 858 |
+
]
|
| 859 |
+
}
|
| 860 |
+
},
|
| 861 |
+
"grasp_61": {
|
| 862 |
+
"confidence": 0.9853912591934204,
|
| 863 |
+
"position": [
|
| 864 |
+
-0.10311300383182243,
|
| 865 |
+
0.048365329625084996,
|
| 866 |
+
-0.002540937472076621
|
| 867 |
+
],
|
| 868 |
+
"orientation": {
|
| 869 |
+
"w": 0.7052711815346312,
|
| 870 |
+
"xyz": [
|
| 871 |
+
0.05712930007981874,
|
| 872 |
+
0.7048590172994205,
|
| 873 |
+
-0.05002568641038706
|
| 874 |
+
]
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"grasp_63": {
|
| 878 |
+
"confidence": 0.9833442568778992,
|
| 879 |
+
"position": [
|
| 880 |
+
-0.100693472486455,
|
| 881 |
+
0.051348497392609715,
|
| 882 |
+
-0.0073833070564433
|
| 883 |
+
],
|
| 884 |
+
"orientation": {
|
| 885 |
+
"w": 0.7221530449353474,
|
| 886 |
+
"xyz": [
|
| 887 |
+
0.0591257303347807,
|
| 888 |
+
0.6873659665684143,
|
| 889 |
+
-0.05027082361026366
|
| 890 |
+
]
|
| 891 |
+
}
|
| 892 |
+
},
|
| 893 |
+
"grasp_64": {
|
| 894 |
+
"confidence": 0.9829050302505493,
|
| 895 |
+
"position": [
|
| 896 |
+
0.09876640065340325,
|
| 897 |
+
0.05788903054781258,
|
| 898 |
+
-0.004395459858642425
|
| 899 |
+
],
|
| 900 |
+
"orientation": {
|
| 901 |
+
"w": 0.7241641465538329,
|
| 902 |
+
"xyz": [
|
| 903 |
+
0.050566313828845084,
|
| 904 |
+
-0.6864006198892356,
|
| 905 |
+
0.04339960561335496
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
},
|
| 909 |
+
"grasp_69": {
|
| 910 |
+
"confidence": 0.9794551134109497,
|
| 911 |
+
"position": [
|
| 912 |
+
0.10600538476137444,
|
| 913 |
+
0.030347974272444844,
|
| 914 |
+
-0.0040011783930822276
|
| 915 |
+
],
|
| 916 |
+
"orientation": {
|
| 917 |
+
"w": 0.7238002241525463,
|
| 918 |
+
"xyz": [
|
| 919 |
+
0.0016932873239889105,
|
| 920 |
+
-0.6900062126901316,
|
| 921 |
+
-0.0013396804777924241
|
| 922 |
+
]
|
| 923 |
+
}
|
| 924 |
+
},
|
| 925 |
+
"grasp_73": {
|
| 926 |
+
"confidence": 0.9770280122756958,
|
| 927 |
+
"position": [
|
| 928 |
+
0.10130720509914681,
|
| 929 |
+
0.037242834689095616,
|
| 930 |
+
0.0019796265187324025
|
| 931 |
+
],
|
| 932 |
+
"orientation": {
|
| 933 |
+
"w": 0.7034673784195068,
|
| 934 |
+
"xyz": [
|
| 935 |
+
-0.019336825262169,
|
| 936 |
+
-0.710254956563567,
|
| 937 |
+
-0.017251995978787002
|
| 938 |
+
]
|
| 939 |
+
}
|
| 940 |
+
},
|
| 941 |
+
"grasp_76": {
|
| 942 |
+
"confidence": 0.975297749042511,
|
| 943 |
+
"position": [
|
| 944 |
+
-0.10395579860778525,
|
| 945 |
+
0.022739068837836385,
|
| 946 |
+
0.0010541256997385062
|
| 947 |
+
],
|
| 948 |
+
"orientation": {
|
| 949 |
+
"w": 0.7010654311203639,
|
| 950 |
+
"xyz": [
|
| 951 |
+
-0.02369192127771156,
|
| 952 |
+
0.7121779064673932,
|
| 953 |
+
0.027360257562938136
|
| 954 |
+
]
|
| 955 |
+
}
|
| 956 |
+
},
|
| 957 |
+
"grasp_79": {
|
| 958 |
+
"confidence": 0.9733697772026062,
|
| 959 |
+
"position": [
|
| 960 |
+
0.10226335300831124,
|
| 961 |
+
0.036418670089915395,
|
| 962 |
+
-1.4327379176393151e-06
|
| 963 |
+
],
|
| 964 |
+
"orientation": {
|
| 965 |
+
"w": 0.0274351542796154,
|
| 966 |
+
"xyz": [
|
| 967 |
+
0.6995341606928508,
|
| 968 |
+
0.01346294098856593,
|
| 969 |
+
-0.7139453897556459
|
| 970 |
+
]
|
| 971 |
+
}
|
| 972 |
+
}
|
| 973 |
+
}
|
| 974 |
+
},
|
| 975 |
+
{
|
| 976 |
+
"part_name": "pivot pin",
|
| 977 |
+
"mask_color": "Lime Green",
|
| 978 |
+
"graspable": false,
|
| 979 |
+
"grasp_scenarios": [],
|
| 980 |
+
"functional_labels": [
|
| 981 |
+
"fasten the hinge",
|
| 982 |
+
"retain alignment",
|
| 983 |
+
"serve as axle for the joint"
|
| 984 |
+
],
|
| 985 |
+
"semantic_description": "Tiny central metal fastener or pin seated within the hinge, much smaller than the surrounding plier parts.",
|
| 986 |
+
"id": 9,
|
| 987 |
+
"grasp_group": {}
|
| 988 |
+
}
|
| 989 |
+
],
|
| 990 |
+
"quality_check": {
|
| 991 |
+
"success": true,
|
| 992 |
+
"message": "YES"
|
| 993 |
+
}
|
| 994 |
+
}
|
dataset/tools/repair_tools/0432ab9029565606a56b0222dea9bf69/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:14b3ee92bce92c93da1aac68ea7d037ba5a5f2264af17e7ee57eaaf3aa93ce3f
|
| 3 |
+
size 3774192
|