Add asset tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c
Browse files
.gitattributes
CHANGED
|
@@ -7888,3 +7888,4 @@ dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/mesh_part
|
|
| 7888 |
dataset/tools/repair_tools/b02d6764adf054bbb3410840d1114f57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7889 |
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7890 |
dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7888 |
dataset/tools/repair_tools/b02d6764adf054bbb3410840d1114f57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7889 |
dataset/tools/repair_tools/b0f3013c290355ee8309aa07fd4197c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7890 |
dataset/tools/repair_tools/b11360361542579f96af6a8d0234d2b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7891 |
+
dataset/tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,889 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "metal crank arm",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the metal crank arm to pick up and reposition the tool",
|
| 10 |
+
"confidence": 0.68
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the crank arm to stabilize the tool while changing hand position",
|
| 14 |
+
"confidence": 0.55
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transmit torque between handle and rotating knob",
|
| 19 |
+
"provide crank offset",
|
| 20 |
+
"connect handle to end knob",
|
| 21 |
+
"provide secondary grasp surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long silver metal arm with a smooth matte finish and hard surface, extending from the handle to the bent end of the crank.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_41": {
|
| 27 |
+
"confidence": 0.9030870199203491,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.06303450782434084,
|
| 30 |
+
-0.15721111884340644,
|
| 31 |
+
-0.0024368674057768658
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6336944994210928,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.3073047791219267,
|
| 37 |
+
0.6289745857376067,
|
| 38 |
+
0.3292203283949526
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_42": {
|
| 43 |
+
"confidence": 0.8939935564994812,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0032740097085479647,
|
| 46 |
+
-0.17860431363806129,
|
| 47 |
+
-0.00014241258759284392
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.49769132772449587,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.4681108589330087,
|
| 53 |
+
0.5248962709002123,
|
| 54 |
+
0.5076016852334919
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_43": {
|
| 59 |
+
"confidence": 0.8881458640098572,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.05426309574977495,
|
| 62 |
+
-0.15030352165922523,
|
| 63 |
+
0.01685973680287134
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5646089142359584,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.33275615928257435,
|
| 69 |
+
0.6768343666022727,
|
| 70 |
+
0.3352392468236728
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_44": {
|
| 75 |
+
"confidence": 0.8856233954429626,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.05758011658326723,
|
| 78 |
+
-0.15819906583055854,
|
| 79 |
+
0.015990119936759584
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5740029749704532,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.32549968341973967,
|
| 85 |
+
0.6747934782602901,
|
| 86 |
+
0.3304910021711605
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_45": {
|
| 91 |
+
"confidence": 0.8766586184501648,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.05298144315020181,
|
| 94 |
+
-0.16568017890676856,
|
| 95 |
+
0.003536051182891242
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5980155504230278,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.338953940691647,
|
| 101 |
+
0.6341636799117352,
|
| 102 |
+
0.35401137640286773
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_46": {
|
| 107 |
+
"confidence": 0.8676109910011292,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.059262629045406356,
|
| 110 |
+
-0.1627087234519422,
|
| 111 |
+
-0.005911553234909661
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.324766630784724,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.615514055118724,
|
| 117 |
+
-0.32480566674004474,
|
| 118 |
+
-0.6404454405596139
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_47": {
|
| 123 |
+
"confidence": 0.8652166724205017,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.006168180058011785,
|
| 126 |
+
-0.1801241277717054,
|
| 127 |
+
-0.006664400876616128
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5228518613876656,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.45899680352408,
|
| 133 |
+
0.5096716875200669,
|
| 134 |
+
0.5061448768273541
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_48": {
|
| 139 |
+
"confidence": 0.863570511341095,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.018863628996768966,
|
| 142 |
+
-0.1789665906690061,
|
| 143 |
+
-0.007201816843007691
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5550624515358175,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.42583898122591285,
|
| 149 |
+
0.5359305547872739,
|
| 150 |
+
0.4725941995083418
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_49": {
|
| 155 |
+
"confidence": 0.8534252047538757,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.015004071785369888,
|
| 158 |
+
-0.17781409015879035,
|
| 159 |
+
0.015625026586349122
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.4380285655520122,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.5898187058255716,
|
| 165 |
+
-0.4753483350989647,
|
| 166 |
+
-0.48403391444953214
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_52": {
|
| 171 |
+
"confidence": 0.847280740737915,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.05205689315334894,
|
| 174 |
+
-0.16630891850218177,
|
| 175 |
+
0.014560542578692548
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.5796851567758794,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.36108795627556545,
|
| 181 |
+
0.648261538613989,
|
| 182 |
+
0.33665647832810675
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_53": {
|
| 187 |
+
"confidence": 0.8448521494865417,
|
| 188 |
+
"position": [
|
| 189 |
+
0.0010058183397632092,
|
| 190 |
+
-0.182943859603256,
|
| 191 |
+
-0.001475522483815439
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.5031582090431524,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.4920444359913393,
|
| 197 |
+
0.4970392300321097,
|
| 198 |
+
0.5076180586735852
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_54": {
|
| 203 |
+
"confidence": 0.8439783453941345,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.0006628824048675597,
|
| 206 |
+
-0.17545642843469977,
|
| 207 |
+
-0.012316859749262221
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.5246242273937428,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.47497257920022784,
|
| 213 |
+
0.46866090855154063,
|
| 214 |
+
0.5287035292439863
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_55": {
|
| 219 |
+
"confidence": 0.8266273140907288,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.0015410934865940362,
|
| 222 |
+
-0.18424483528360724,
|
| 223 |
+
0.002810877558658831
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.49824647703266717,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.5292271405533278,
|
| 229 |
+
-0.4856005158538266,
|
| 230 |
+
-0.48565545485331624
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_57": {
|
| 235 |
+
"confidence": 0.780678391456604,
|
| 236 |
+
"position": [
|
| 237 |
+
0.000994946894934401,
|
| 238 |
+
-0.17049019923433661,
|
| 239 |
+
-0.006634123114054091
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.5121586169169335,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.5000657052433704,
|
| 245 |
+
0.46809623818153934,
|
| 246 |
+
0.5181831272412061
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_59": {
|
| 251 |
+
"confidence": 0.7595733404159546,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.0034124005178455263,
|
| 254 |
+
-0.16891773929819465,
|
| 255 |
+
-0.017329314214293845
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.5732234927454531,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.5089783094478658,
|
| 261 |
+
-0.4020141376852828,
|
| 262 |
+
-0.5007399933872413
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"part_name": "rotating end knob",
|
| 270 |
+
"mask_color": "Red",
|
| 271 |
+
"graspable": true,
|
| 272 |
+
"grasp_scenarios": [
|
| 273 |
+
{
|
| 274 |
+
"scenario": "pinch the end knob to spin or guide the crank during operation",
|
| 275 |
+
"confidence": 0.82
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"scenario": "grasp the end knob lightly to help rotate the tool quickly",
|
| 279 |
+
"confidence": 0.74
|
| 280 |
+
}
|
| 281 |
+
],
|
| 282 |
+
"functional_labels": [
|
| 283 |
+
"provide spinning handhold",
|
| 284 |
+
"assist rapid crank rotation",
|
| 285 |
+
"improve leverage at the end of the crank"
|
| 286 |
+
],
|
| 287 |
+
"semantic_description": "Small silver rounded knob at the bent free end of the metal crank arm, with a smooth matte finish and compact bulb-like shape.",
|
| 288 |
+
"id": 0,
|
| 289 |
+
"grasp_group": {
|
| 290 |
+
"grasp_0": {
|
| 291 |
+
"confidence": 0.7282384634017944,
|
| 292 |
+
"position": [
|
| 293 |
+
0.09145517330034636,
|
| 294 |
+
-0.15875012567266822,
|
| 295 |
+
0.00899375467270147
|
| 296 |
+
],
|
| 297 |
+
"orientation": {
|
| 298 |
+
"w": 0.2602425083216512,
|
| 299 |
+
"xyz": [
|
| 300 |
+
-0.673342452897824,
|
| 301 |
+
0.2817451816645391,
|
| 302 |
+
0.6320628375381778
|
| 303 |
+
]
|
| 304 |
+
}
|
| 305 |
+
},
|
| 306 |
+
"grasp_1": {
|
| 307 |
+
"confidence": 0.7182528972625732,
|
| 308 |
+
"position": [
|
| 309 |
+
0.1176725668774452,
|
| 310 |
+
-0.06985210767015815,
|
| 311 |
+
-0.010948483322863467
|
| 312 |
+
],
|
| 313 |
+
"orientation": {
|
| 314 |
+
"w": 0.7350336735588721,
|
| 315 |
+
"xyz": [
|
| 316 |
+
0.031082421510463656,
|
| 317 |
+
-0.6694113124280351,
|
| 318 |
+
0.10318854878798729
|
| 319 |
+
]
|
| 320 |
+
}
|
| 321 |
+
},
|
| 322 |
+
"grasp_3": {
|
| 323 |
+
"confidence": 0.6986439228057861,
|
| 324 |
+
"position": [
|
| 325 |
+
0.09262163619860075,
|
| 326 |
+
-0.15729978075250983,
|
| 327 |
+
0.008503682489390485
|
| 328 |
+
],
|
| 329 |
+
"orientation": {
|
| 330 |
+
"w": 0.6438168625181343,
|
| 331 |
+
"xyz": [
|
| 332 |
+
-0.3596546092360479,
|
| 333 |
+
-0.6416081071565446,
|
| 334 |
+
-0.21092047416874438
|
| 335 |
+
]
|
| 336 |
+
}
|
| 337 |
+
},
|
| 338 |
+
"grasp_5": {
|
| 339 |
+
"confidence": 0.6774677038192749,
|
| 340 |
+
"position": [
|
| 341 |
+
0.09039691518410109,
|
| 342 |
+
-0.1627675979398191,
|
| 343 |
+
0.0011803813249571249
|
| 344 |
+
],
|
| 345 |
+
"orientation": {
|
| 346 |
+
"w": 0.265303690214032,
|
| 347 |
+
"xyz": [
|
| 348 |
+
-0.627447839183964,
|
| 349 |
+
0.3270578963444234,
|
| 350 |
+
0.6549475501908165
|
| 351 |
+
]
|
| 352 |
+
}
|
| 353 |
+
},
|
| 354 |
+
"grasp_7": {
|
| 355 |
+
"confidence": 0.6611482501029968,
|
| 356 |
+
"position": [
|
| 357 |
+
0.11450439374311827,
|
| 358 |
+
-0.12652123859152198,
|
| 359 |
+
0.005948665129835717
|
| 360 |
+
],
|
| 361 |
+
"orientation": {
|
| 362 |
+
"w": 0.17347188307360595,
|
| 363 |
+
"xyz": [
|
| 364 |
+
-0.7159828480153033,
|
| 365 |
+
0.11795632436176395,
|
| 366 |
+
0.665854618271778
|
| 367 |
+
]
|
| 368 |
+
}
|
| 369 |
+
},
|
| 370 |
+
"grasp_8": {
|
| 371 |
+
"confidence": 0.658372700214386,
|
| 372 |
+
"position": [
|
| 373 |
+
0.12015675436123274,
|
| 374 |
+
-0.08220124384388328,
|
| 375 |
+
0.003854138820315711
|
| 376 |
+
],
|
| 377 |
+
"orientation": {
|
| 378 |
+
"w": 0.7039163838149909,
|
| 379 |
+
"xyz": [
|
| 380 |
+
0.09036409289707313,
|
| 381 |
+
-0.7029633482291062,
|
| 382 |
+
-0.04667532922476832
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"grasp_9": {
|
| 387 |
+
"confidence": 0.6535628437995911,
|
| 388 |
+
"position": [
|
| 389 |
+
0.08665505479439162,
|
| 390 |
+
-0.16688060155138373,
|
| 391 |
+
0.006737298841471784
|
| 392 |
+
],
|
| 393 |
+
"orientation": {
|
| 394 |
+
"w": 0.5957759182796468,
|
| 395 |
+
"xyz": [
|
| 396 |
+
-0.2782944787089022,
|
| 397 |
+
-0.6723773896279148,
|
| 398 |
+
-0.3398703932903464
|
| 399 |
+
]
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"grasp_19": {
|
| 403 |
+
"confidence": 0.574445903301239,
|
| 404 |
+
"position": [
|
| 405 |
+
0.12251184563501738,
|
| 406 |
+
-0.09151517739519477,
|
| 407 |
+
-0.006732687310432084
|
| 408 |
+
],
|
| 409 |
+
"orientation": {
|
| 410 |
+
"w": 0.7301423333329127,
|
| 411 |
+
"xyz": [
|
| 412 |
+
0.06678702709094841,
|
| 413 |
+
-0.6711561080549012,
|
| 414 |
+
-0.10945841542851481
|
| 415 |
+
]
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
}
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"part_name": "handle grip",
|
| 422 |
+
"mask_color": "Cyan",
|
| 423 |
+
"graspable": true,
|
| 424 |
+
"grasp_scenarios": [
|
| 425 |
+
{
|
| 426 |
+
"scenario": "grasp the handle grip to lift and carry the tool",
|
| 427 |
+
"confidence": 0.97
|
| 428 |
+
},
|
| 429 |
+
{
|
| 430 |
+
"scenario": "hold the handle grip to apply turning torque during use",
|
| 431 |
+
"confidence": 0.96
|
| 432 |
+
},
|
| 433 |
+
{
|
| 434 |
+
"scenario": "grasp the handle grip to orient the tool before use",
|
| 435 |
+
"confidence": 0.9
|
| 436 |
+
}
|
| 437 |
+
],
|
| 438 |
+
"functional_labels": [
|
| 439 |
+
"provide primary grip",
|
| 440 |
+
"improve torque application",
|
| 441 |
+
"increase handling comfort",
|
| 442 |
+
"aid tool orientation"
|
| 443 |
+
],
|
| 444 |
+
"semantic_description": "Bulbous beige plastic handle with a mostly matte finish and smooth hard surface, medium-sized and located at one end of the tool for comfortable gripping.",
|
| 445 |
+
"id": 6,
|
| 446 |
+
"grasp_group": {
|
| 447 |
+
"grasp_60": {
|
| 448 |
+
"confidence": 0.9882922768592834,
|
| 449 |
+
"position": [
|
| 450 |
+
0.09951168726547621,
|
| 451 |
+
0.04353372612968087,
|
| 452 |
+
-0.01156009869009722
|
| 453 |
+
],
|
| 454 |
+
"orientation": {
|
| 455 |
+
"w": 0.013154321275999617,
|
| 456 |
+
"xyz": [
|
| 457 |
+
0.6650384813623759,
|
| 458 |
+
-0.006161430673417345,
|
| 459 |
+
-0.7466678102818207
|
| 460 |
+
]
|
| 461 |
+
}
|
| 462 |
+
},
|
| 463 |
+
"grasp_61": {
|
| 464 |
+
"confidence": 0.9847398400306702,
|
| 465 |
+
"position": [
|
| 466 |
+
0.010840646544238552,
|
| 467 |
+
-0.003326146397739649,
|
| 468 |
+
0.09751881523698103
|
| 469 |
+
],
|
| 470 |
+
"orientation": {
|
| 471 |
+
"w": 0.06565726983861006,
|
| 472 |
+
"xyz": [
|
| 473 |
+
0.012363636535569857,
|
| 474 |
+
-0.9965445278961161,
|
| 475 |
+
-0.04934842782969151
|
| 476 |
+
]
|
| 477 |
+
}
|
| 478 |
+
},
|
| 479 |
+
"grasp_62": {
|
| 480 |
+
"confidence": 0.9845799207687378,
|
| 481 |
+
"position": [
|
| 482 |
+
-0.0005569299100898206,
|
| 483 |
+
-0.009141582529991865,
|
| 484 |
+
0.09925101562112104
|
| 485 |
+
],
|
| 486 |
+
"orientation": {
|
| 487 |
+
"w": 0.017174549723235715,
|
| 488 |
+
"xyz": [
|
| 489 |
+
-0.015124165543851056,
|
| 490 |
+
-0.9866208409862093,
|
| 491 |
+
-0.1614175039767113
|
| 492 |
+
]
|
| 493 |
+
}
|
| 494 |
+
},
|
| 495 |
+
"grasp_63": {
|
| 496 |
+
"confidence": 0.984205961227417,
|
| 497 |
+
"position": [
|
| 498 |
+
0.0995686395035591,
|
| 499 |
+
0.01716588018462062,
|
| 500 |
+
-0.006382512816344388
|
| 501 |
+
],
|
| 502 |
+
"orientation": {
|
| 503 |
+
"w": 0.055722756131822065,
|
| 504 |
+
"xyz": [
|
| 505 |
+
-0.6808490271891265,
|
| 506 |
+
0.024515420615121908,
|
| 507 |
+
0.7298894236641311
|
| 508 |
+
]
|
| 509 |
+
}
|
| 510 |
+
},
|
| 511 |
+
"grasp_64": {
|
| 512 |
+
"confidence": 0.9835655093193054,
|
| 513 |
+
"position": [
|
| 514 |
+
-0.004470523359486833,
|
| 515 |
+
0.007691184990108013,
|
| 516 |
+
0.09650977565615904
|
| 517 |
+
],
|
| 518 |
+
"orientation": {
|
| 519 |
+
"w": 0.025561722134726794,
|
| 520 |
+
"xyz": [
|
| 521 |
+
0.9990494774025639,
|
| 522 |
+
0.03418927820632721,
|
| 523 |
+
0.008822319360655296
|
| 524 |
+
]
|
| 525 |
+
}
|
| 526 |
+
},
|
| 527 |
+
"grasp_65": {
|
| 528 |
+
"confidence": 0.9833381772041321,
|
| 529 |
+
"position": [
|
| 530 |
+
0.004165633203228936,
|
| 531 |
+
-0.02355882478877902,
|
| 532 |
+
0.09560938044160139
|
| 533 |
+
],
|
| 534 |
+
"orientation": {
|
| 535 |
+
"w": 0.11861650942313716,
|
| 536 |
+
"xyz": [
|
| 537 |
+
-0.992283526798052,
|
| 538 |
+
-0.017367998454768288,
|
| 539 |
+
0.031652468579330344
|
| 540 |
+
]
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"grasp_66": {
|
| 544 |
+
"confidence": 0.9832792282104492,
|
| 545 |
+
"position": [
|
| 546 |
+
0.09844139646156691,
|
| 547 |
+
0.020568496081978083,
|
| 548 |
+
-0.004047520880703814
|
| 549 |
+
],
|
| 550 |
+
"orientation": {
|
| 551 |
+
"w": 0.02698066218818784,
|
| 552 |
+
"xyz": [
|
| 553 |
+
-0.6887215731851793,
|
| 554 |
+
0.008641002057093283,
|
| 555 |
+
0.7244722020758746
|
| 556 |
+
]
|
| 557 |
+
}
|
| 558 |
+
},
|
| 559 |
+
"grasp_67": {
|
| 560 |
+
"confidence": 0.9830953478813171,
|
| 561 |
+
"position": [
|
| 562 |
+
0.10079532544477843,
|
| 563 |
+
0.0291755017824471,
|
| 564 |
+
-0.007287155327503569
|
| 565 |
+
],
|
| 566 |
+
"orientation": {
|
| 567 |
+
"w": 0.036220925154932825,
|
| 568 |
+
"xyz": [
|
| 569 |
+
-0.6746997907231047,
|
| 570 |
+
-0.00883797574974965,
|
| 571 |
+
0.737150003163377
|
| 572 |
+
]
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
+
"grasp_68": {
|
| 576 |
+
"confidence": 0.9830853343009949,
|
| 577 |
+
"position": [
|
| 578 |
+
0.002001954329898581,
|
| 579 |
+
-0.0055448436178267,
|
| 580 |
+
0.09758854522078764
|
| 581 |
+
],
|
| 582 |
+
"orientation": {
|
| 583 |
+
"w": 0.11278560609565808,
|
| 584 |
+
"xyz": [
|
| 585 |
+
-0.993350626658079,
|
| 586 |
+
-0.015928425423244075,
|
| 587 |
+
0.016739917537813533
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"grasp_70": {
|
| 592 |
+
"confidence": 0.9826650023460388,
|
| 593 |
+
"position": [
|
| 594 |
+
0.09852315168245696,
|
| 595 |
+
0.02266101213172078,
|
| 596 |
+
0.000867154958541505
|
| 597 |
+
],
|
| 598 |
+
"orientation": {
|
| 599 |
+
"w": 0.016401108476777573,
|
| 600 |
+
"xyz": [
|
| 601 |
+
-0.7017002257682105,
|
| 602 |
+
-0.004226269825652662,
|
| 603 |
+
0.7122709705167946
|
| 604 |
+
]
|
| 605 |
+
}
|
| 606 |
+
},
|
| 607 |
+
"grasp_73": {
|
| 608 |
+
"confidence": 0.9823359847068787,
|
| 609 |
+
"position": [
|
| 610 |
+
0.02170269432826899,
|
| 611 |
+
-0.008063256274908781,
|
| 612 |
+
0.09409261359542143
|
| 613 |
+
],
|
| 614 |
+
"orientation": {
|
| 615 |
+
"w": 0.12459875140686573,
|
| 616 |
+
"xyz": [
|
| 617 |
+
0.0036948161233326593,
|
| 618 |
+
-0.9917175897491235,
|
| 619 |
+
-0.030947078438105267
|
| 620 |
+
]
|
| 621 |
+
}
|
| 622 |
+
},
|
| 623 |
+
"grasp_74": {
|
| 624 |
+
"confidence": 0.9823101162910461,
|
| 625 |
+
"position": [
|
| 626 |
+
0.09935884605511092,
|
| 627 |
+
0.005435513332486153,
|
| 628 |
+
-0.0018438736005919054
|
| 629 |
+
],
|
| 630 |
+
"orientation": {
|
| 631 |
+
"w": 0.08778553832322669,
|
| 632 |
+
"xyz": [
|
| 633 |
+
-0.6914574839090546,
|
| 634 |
+
0.06501107305935994,
|
| 635 |
+
0.7141105009640534
|
| 636 |
+
]
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"grasp_75": {
|
| 640 |
+
"confidence": 0.9822685718536377,
|
| 641 |
+
"position": [
|
| 642 |
+
0.09763817916973494,
|
| 643 |
+
0.02345328452065587,
|
| 644 |
+
-0.01853454993397463
|
| 645 |
+
],
|
| 646 |
+
"orientation": {
|
| 647 |
+
"w": 0.030835701160541393,
|
| 648 |
+
"xyz": [
|
| 649 |
+
0.6374207740097233,
|
| 650 |
+
0.0025481913946709955,
|
| 651 |
+
-0.7698944233564751
|
| 652 |
+
]
|
| 653 |
+
}
|
| 654 |
+
},
|
| 655 |
+
"grasp_76": {
|
| 656 |
+
"confidence": 0.9816376566886902,
|
| 657 |
+
"position": [
|
| 658 |
+
0.08981654475792311,
|
| 659 |
+
0.020068273413926363,
|
| 660 |
+
0.03783731772273313
|
| 661 |
+
],
|
| 662 |
+
"orientation": {
|
| 663 |
+
"w": 0.5657638787924955,
|
| 664 |
+
"xyz": [
|
| 665 |
+
-0.09135836808789727,
|
| 666 |
+
-0.8194894765200342,
|
| 667 |
+
-0.0013710969720077124
|
| 668 |
+
]
|
| 669 |
+
}
|
| 670 |
+
},
|
| 671 |
+
"grasp_77": {
|
| 672 |
+
"confidence": 0.9813814163208008,
|
| 673 |
+
"position": [
|
| 674 |
+
0.09679950456484221,
|
| 675 |
+
0.0206945245154202,
|
| 676 |
+
0.0007934006716823205
|
| 677 |
+
],
|
| 678 |
+
"orientation": {
|
| 679 |
+
"w": 0.05390339249609282,
|
| 680 |
+
"xyz": [
|
| 681 |
+
-0.7058368523795665,
|
| 682 |
+
0.011737860610859685,
|
| 683 |
+
0.7062230417712229
|
| 684 |
+
]
|
| 685 |
+
}
|
| 686 |
+
},
|
| 687 |
+
"grasp_78": {
|
| 688 |
+
"confidence": 0.981349766254425,
|
| 689 |
+
"position": [
|
| 690 |
+
-0.004974120209226385,
|
| 691 |
+
-0.0008170807268470526,
|
| 692 |
+
0.09752586348622572
|
| 693 |
+
],
|
| 694 |
+
"orientation": {
|
| 695 |
+
"w": 0.14155540887038623,
|
| 696 |
+
"xyz": [
|
| 697 |
+
-0.9881248588580784,
|
| 698 |
+
-0.050850782846472986,
|
| 699 |
+
-0.03139311087071865
|
| 700 |
+
]
|
| 701 |
+
}
|
| 702 |
+
},
|
| 703 |
+
"grasp_79": {
|
| 704 |
+
"confidence": 0.9812719225883484,
|
| 705 |
+
"position": [
|
| 706 |
+
0.07448207269771956,
|
| 707 |
+
0.0072481874376535416,
|
| 708 |
+
0.05746088041632902
|
| 709 |
+
],
|
| 710 |
+
"orientation": {
|
| 711 |
+
"w": 0.14201632691455926,
|
| 712 |
+
"xyz": [
|
| 713 |
+
-0.8859476657115448,
|
| 714 |
+
0.06492238678043616,
|
| 715 |
+
0.4367072019153031
|
| 716 |
+
]
|
| 717 |
+
}
|
| 718 |
+
}
|
| 719 |
+
}
|
| 720 |
+
},
|
| 721 |
+
{
|
| 722 |
+
"part_name": "handle end cap",
|
| 723 |
+
"mask_color": "Green",
|
| 724 |
+
"graspable": true,
|
| 725 |
+
"grasp_scenarios": [
|
| 726 |
+
{
|
| 727 |
+
"scenario": "pinch the handle end to pull the tool from storage",
|
| 728 |
+
"confidence": 0.46
|
| 729 |
+
},
|
| 730 |
+
{
|
| 731 |
+
"scenario": "grasp the rear end briefly for quick reorientation",
|
| 732 |
+
"confidence": 0.4
|
| 733 |
+
}
|
| 734 |
+
],
|
| 735 |
+
"functional_labels": [
|
| 736 |
+
"finish handle end",
|
| 737 |
+
"provide palm contact",
|
| 738 |
+
"protect handle end",
|
| 739 |
+
"indicate rear orientation"
|
| 740 |
+
],
|
| 741 |
+
"semantic_description": "Rounded dark brown rear end cap on the back of the handle, likely plastic, with a smooth slightly dull surface and compact cylindrical shape.",
|
| 742 |
+
"id": 1,
|
| 743 |
+
"grasp_group": {
|
| 744 |
+
"grasp_23": {
|
| 745 |
+
"confidence": 0.9804540276527405,
|
| 746 |
+
"position": [
|
| 747 |
+
-0.10174794812337495,
|
| 748 |
+
0.06649412075057626,
|
| 749 |
+
-0.001613002343219705
|
| 750 |
+
],
|
| 751 |
+
"orientation": {
|
| 752 |
+
"w": 0.7106442098869916,
|
| 753 |
+
"xyz": [
|
| 754 |
+
0.06628333021877765,
|
| 755 |
+
0.6983053745982776,
|
| 756 |
+
-0.05441443647013059
|
| 757 |
+
]
|
| 758 |
+
}
|
| 759 |
+
},
|
| 760 |
+
"grasp_26": {
|
| 761 |
+
"confidence": 0.9794875979423523,
|
| 762 |
+
"position": [
|
| 763 |
+
-0.08427965213195421,
|
| 764 |
+
0.10619604447856545,
|
| 765 |
+
-0.003052308180485852
|
| 766 |
+
],
|
| 767 |
+
"orientation": {
|
| 768 |
+
"w": 0.6886660300613263,
|
| 769 |
+
"xyz": [
|
| 770 |
+
0.21600609695281944,
|
| 771 |
+
0.6615792725273302,
|
| 772 |
+
-0.20345351135084805
|
| 773 |
+
]
|
| 774 |
+
}
|
| 775 |
+
},
|
| 776 |
+
"grasp_30": {
|
| 777 |
+
"confidence": 0.9785007834434509,
|
| 778 |
+
"position": [
|
| 779 |
+
-0.10420421083108522,
|
| 780 |
+
0.052611681167036295,
|
| 781 |
+
-0.022788229820434935
|
| 782 |
+
],
|
| 783 |
+
"orientation": {
|
| 784 |
+
"w": 0.7852479836576034,
|
| 785 |
+
"xyz": [
|
| 786 |
+
0.02101326493290794,
|
| 787 |
+
0.6187625580305677,
|
| 788 |
+
-0.008771752276235351
|
| 789 |
+
]
|
| 790 |
+
}
|
| 791 |
+
},
|
| 792 |
+
"grasp_34": {
|
| 793 |
+
"confidence": 0.9771345257759094,
|
| 794 |
+
"position": [
|
| 795 |
+
0.02304704170092009,
|
| 796 |
+
0.0583717324770987,
|
| 797 |
+
0.09650385989516508
|
| 798 |
+
],
|
| 799 |
+
"orientation": {
|
| 800 |
+
"w": 0.11972790669870415,
|
| 801 |
+
"xyz": [
|
| 802 |
+
-0.022756449026348338,
|
| 803 |
+
-0.9913499171400985,
|
| 804 |
+
0.04871051397365553
|
| 805 |
+
]
|
| 806 |
+
}
|
| 807 |
+
},
|
| 808 |
+
"grasp_36": {
|
| 809 |
+
"confidence": 0.9764408469200134,
|
| 810 |
+
"position": [
|
| 811 |
+
-0.09399553705588914,
|
| 812 |
+
0.062366312835365534,
|
| 813 |
+
0.04685589535802137
|
| 814 |
+
],
|
| 815 |
+
"orientation": {
|
| 816 |
+
"w": 0.5167167170349044,
|
| 817 |
+
"xyz": [
|
| 818 |
+
0.026175413041017396,
|
| 819 |
+
0.85420471954616,
|
| 820 |
+
-0.05150707906558599
|
| 821 |
+
]
|
| 822 |
+
}
|
| 823 |
+
},
|
| 824 |
+
"grasp_37": {
|
| 825 |
+
"confidence": 0.9763780832290649,
|
| 826 |
+
"position": [
|
| 827 |
+
-0.09094623048440553,
|
| 828 |
+
0.10244794050231576,
|
| 829 |
+
-0.005650740538840182
|
| 830 |
+
],
|
| 831 |
+
"orientation": {
|
| 832 |
+
"w": 0.1977168323766145,
|
| 833 |
+
"xyz": [
|
| 834 |
+
0.6541087217896588,
|
| 835 |
+
-0.17823099066213555,
|
| 836 |
+
0.7080138051205285
|
| 837 |
+
]
|
| 838 |
+
}
|
| 839 |
+
}
|
| 840 |
+
}
|
| 841 |
+
},
|
| 842 |
+
{
|
| 843 |
+
"part_name": "end recess",
|
| 844 |
+
"mask_color": "Yellow",
|
| 845 |
+
"graspable": false,
|
| 846 |
+
"grasp_scenarios": [],
|
| 847 |
+
"functional_labels": [
|
| 848 |
+
"form molded rear recess",
|
| 849 |
+
"provide visual center feature"
|
| 850 |
+
],
|
| 851 |
+
"semantic_description": "Small circular recessed feature centered on the rear face of the end cap, appearing yellowish or brass-toned inside with a smooth hard surface.",
|
| 852 |
+
"id": 3,
|
| 853 |
+
"grasp_group": {}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"part_name": "handle collar",
|
| 857 |
+
"mask_color": "Orange",
|
| 858 |
+
"graspable": false,
|
| 859 |
+
"grasp_scenarios": [],
|
| 860 |
+
"functional_labels": [
|
| 861 |
+
"transition between crank arm and handle",
|
| 862 |
+
"retain handle assembly",
|
| 863 |
+
"provide stop surface",
|
| 864 |
+
"visually separate parts"
|
| 865 |
+
],
|
| 866 |
+
"semantic_description": "Thin beige-orange collar at the junction of the metal arm and handle, with a smooth hard finish and narrow ring shape around the handle neck.",
|
| 867 |
+
"id": 4,
|
| 868 |
+
"grasp_group": {}
|
| 869 |
+
},
|
| 870 |
+
{
|
| 871 |
+
"part_name": "rear trim band",
|
| 872 |
+
"mask_color": "Magenta",
|
| 873 |
+
"graspable": false,
|
| 874 |
+
"grasp_scenarios": [],
|
| 875 |
+
"functional_labels": [
|
| 876 |
+
"separate handle sections",
|
| 877 |
+
"provide visual accent",
|
| 878 |
+
"mark transition to end cap"
|
| 879 |
+
],
|
| 880 |
+
"semantic_description": "Thin magenta-purple ring around the rear portion of the handle, visible as a narrow smooth band between the beige handle body and the dark brown end cap.",
|
| 881 |
+
"id": 7,
|
| 882 |
+
"grasp_group": {}
|
| 883 |
+
}
|
| 884 |
+
],
|
| 885 |
+
"quality_check": {
|
| 886 |
+
"success": false,
|
| 887 |
+
"message": "Red part is bent drive head, not rotating knob; several color/material descriptions also mismatch actual appearance."
|
| 888 |
+
}
|
| 889 |
+
}
|
dataset/tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0bb282496335ac91a41dace122c12f6a0c53106eddbdf74428a2117981a441ba
|
| 3 |
+
size 3785256
|