Add asset tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a
Browse files
.gitattributes
CHANGED
|
@@ -7861,4 +7861,4 @@ dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/affordance/mesh_part
|
|
| 7861 |
dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7862 |
dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7863 |
dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7864 |
-
dataset/tools/repair_tools/
|
|
|
|
| 7861 |
dataset/tools/repair_tools/52b991ee17f058ab9a68217c5ed9645c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7862 |
dataset/tools/repair_tools/56df0f5c689654b5915a4fa1f26019e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7863 |
dataset/tools/repair_tools/5706c74b1fea573c9e2457334d4fe297/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7864 |
+
dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,948 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hammer head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the hammer head to pick up or reposition the tool in a bin",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the hammer head to stabilize the tool while inserting the handle into storage",
|
| 14 |
+
"confidence": 0.31
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"deliver striking force",
|
| 19 |
+
"pull small nails with the claw",
|
| 20 |
+
"add mass at the working end",
|
| 21 |
+
"concentrate impact"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Compact silver-gray metal head with a smooth slightly matte finish and hard texture, mounted at the top of the hammer and combining a round striking face with a curved claw.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8908972144126892,
|
| 28 |
+
"position": [
|
| 29 |
+
0.12696874514222145,
|
| 30 |
+
0.2375496793538332,
|
| 31 |
+
0.009334037022199482
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3605952989542557,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6055888898013868,
|
| 37 |
+
0.39108292725937166,
|
| 38 |
+
-0.5918507167584202
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.886931300163269,
|
| 44 |
+
"position": [
|
| 45 |
+
0.1338694877922535,
|
| 46 |
+
0.23291427083313465,
|
| 47 |
+
0.0009546795045025647
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.3627613528202553,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6183974443712456,
|
| 53 |
+
0.32271302447527606,
|
| 54 |
+
-0.6179361662252426
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.8842362761497498,
|
| 60 |
+
"position": [
|
| 61 |
+
0.1656639762222767,
|
| 62 |
+
0.1974563766270876,
|
| 63 |
+
0.002671195601578802
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.1869699519865666,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6619513510215865,
|
| 69 |
+
0.21033226104109748,
|
| 70 |
+
-0.6947107210200348
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.8839722871780396,
|
| 76 |
+
"position": [
|
| 77 |
+
0.1572813279926777,
|
| 78 |
+
0.20404376275837421,
|
| 79 |
+
0.0024862305144779384
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.6709138738773464,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.19213441634546322,
|
| 85 |
+
-0.6856794707856636,
|
| 86 |
+
0.20688790017198375
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.8832910656929016,
|
| 92 |
+
"position": [
|
| 93 |
+
0.16138482466340065,
|
| 94 |
+
0.19912980683147907,
|
| 95 |
+
-0.0004164453421253711
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.6950437907840559,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.22862471263185563,
|
| 101 |
+
-0.6590237110528063,
|
| 102 |
+
0.1741626192290355
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.882992684841156,
|
| 108 |
+
"position": [
|
| 109 |
+
0.09696893021464348,
|
| 110 |
+
0.2458400297909975,
|
| 111 |
+
0.0029025943367742
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5594409470963346,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.4333669563618395,
|
| 117 |
+
-0.5558902355155165,
|
| 118 |
+
0.4361249292394727
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_6": {
|
| 123 |
+
"confidence": 0.8829637765884399,
|
| 124 |
+
"position": [
|
| 125 |
+
0.11802425608038902,
|
| 126 |
+
0.24100600369274616,
|
| 127 |
+
0.0017987314495258033
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5993977042325659,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.3697417691799083,
|
| 133 |
+
-0.5963904050402445,
|
| 134 |
+
0.3851388075231762
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_8": {
|
| 139 |
+
"confidence": 0.8826393485069275,
|
| 140 |
+
"position": [
|
| 141 |
+
0.12162217870354652,
|
| 142 |
+
0.23678639717400074,
|
| 143 |
+
-0.004767070116940886
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.6245733777589944,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.3585588022288935,
|
| 149 |
+
-0.5835777563062389,
|
| 150 |
+
0.37520752055826084
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_9": {
|
| 155 |
+
"confidence": 0.8824412226676941,
|
| 156 |
+
"position": [
|
| 157 |
+
0.16400760784745216,
|
| 158 |
+
0.19772507436573505,
|
| 159 |
+
0.005108537094201893
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.1996578783415946,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.6859259050396669,
|
| 165 |
+
0.1867943456306408,
|
| 166 |
+
-0.6743517308141708
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_10": {
|
| 171 |
+
"confidence": 0.8814622163772583,
|
| 172 |
+
"position": [
|
| 173 |
+
0.09398000314831734,
|
| 174 |
+
0.25190031714737415,
|
| 175 |
+
0.0014479270321317017
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.554599069619465,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.44803917736799703,
|
| 181 |
+
-0.5373557036014085,
|
| 182 |
+
0.4504770974507667
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_12": {
|
| 187 |
+
"confidence": 0.8801588416099548,
|
| 188 |
+
"position": [
|
| 189 |
+
0.1675339825451374,
|
| 190 |
+
0.19209394045174122,
|
| 191 |
+
0.019577004888560623
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.1601950614265575,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.7254150664428693,
|
| 197 |
+
0.1981475444445545,
|
| 198 |
+
-0.6394122882013001
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_13": {
|
| 203 |
+
"confidence": 0.8800140619277954,
|
| 204 |
+
"position": [
|
| 205 |
+
0.1544361747801304,
|
| 206 |
+
0.2066828478127718,
|
| 207 |
+
-0.007246325782034546
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.23607571491148271,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.6403264594092046,
|
| 213 |
+
0.18834675092020314,
|
| 214 |
+
-0.7062405989656126
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_14": {
|
| 219 |
+
"confidence": 0.8790817856788635,
|
| 220 |
+
"position": [
|
| 221 |
+
0.15753470733761787,
|
| 222 |
+
0.2023299355059862,
|
| 223 |
+
0.006360251398291439
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.20887483622775713,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.6842857136023289,
|
| 229 |
+
0.20505696341663382,
|
| 230 |
+
-0.6678892173893277
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_17": {
|
| 235 |
+
"confidence": 0.878454327583313,
|
| 236 |
+
"position": [
|
| 237 |
+
0.14091535285115242,
|
| 238 |
+
0.21887354739010334,
|
| 239 |
+
-0.025546419492457062
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.7164804626410067,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.23404711079399132,
|
| 245 |
+
-0.5616022410529714,
|
| 246 |
+
0.34129257159656223
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_18": {
|
| 251 |
+
"confidence": 0.8772208094596863,
|
| 252 |
+
"position": [
|
| 253 |
+
0.16418712213635445,
|
| 254 |
+
0.19304508157074451,
|
| 255 |
+
-0.006427443178836256
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.19319905955278593,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.6484623625218228,
|
| 261 |
+
0.1748051570051382,
|
| 262 |
+
-0.7152718677991914
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_19": {
|
| 267 |
+
"confidence": 0.8771920800209045,
|
| 268 |
+
"position": [
|
| 269 |
+
0.10353149101138115,
|
| 270 |
+
0.247544439509511,
|
| 271 |
+
0.005211011914070696
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.43526230479259725,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.5651557761086912,
|
| 277 |
+
0.4263685546231212,
|
| 278 |
+
-0.556197384375555
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "hammer handle grip",
|
| 286 |
+
"mask_color": "Green",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "grasp the handle grip to pick up and wield the hammer",
|
| 291 |
+
"confidence": 0.97
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "hold the handle grip to orient the hammer for placement or storage",
|
| 295 |
+
"confidence": 0.94
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"scenario": "grasp the handle grip to pass the hammer between workstations",
|
| 299 |
+
"confidence": 0.92
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"provide main handhold",
|
| 304 |
+
"enable swinging control",
|
| 305 |
+
"improve grip comfort",
|
| 306 |
+
"support tool manipulation"
|
| 307 |
+
],
|
| 308 |
+
"semantic_description": "Long blue handle grip section with a mostly matte smooth surface, likely rubberized or plastic overmold, slight taper, and black-and-white branding along the shaft.",
|
| 309 |
+
"id": 1,
|
| 310 |
+
"grasp_group": {
|
| 311 |
+
"grasp_20": {
|
| 312 |
+
"confidence": 0.9323745965957642,
|
| 313 |
+
"position": [
|
| 314 |
+
0.10206633433699608,
|
| 315 |
+
-0.06790529750287533,
|
| 316 |
+
0.006582579051610082
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.02790799583110821,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.7188540289861528,
|
| 322 |
+
0.01882151297142154,
|
| 323 |
+
0.6943455763728413
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_21": {
|
| 328 |
+
"confidence": 0.9197500348091125,
|
| 329 |
+
"position": [
|
| 330 |
+
0.09346965327858925,
|
| 331 |
+
-0.05653228424489498,
|
| 332 |
+
-0.011581885686609894
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.7518176910557003,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.028378414002701812,
|
| 338 |
+
-0.6565730006523134,
|
| 339 |
+
-0.053635061748673996
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_22": {
|
| 344 |
+
"confidence": 0.9197105169296265,
|
| 345 |
+
"position": [
|
| 346 |
+
0.1009574867784977,
|
| 347 |
+
-0.05883907340466976,
|
| 348 |
+
0.00652029732009396
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.6909617001002111,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.013310658526336843,
|
| 354 |
+
-0.7223827736824855,
|
| 355 |
+
-0.023619560771107388
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_23": {
|
| 360 |
+
"confidence": 0.9189079999923706,
|
| 361 |
+
"position": [
|
| 362 |
+
0.10900077596306801,
|
| 363 |
+
-0.09299826435744762,
|
| 364 |
+
0.006033143436070532
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.013580218032473083,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.7149184886436782,
|
| 370 |
+
0.021077315784768347,
|
| 371 |
+
0.6987580976510672
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_24": {
|
| 376 |
+
"confidence": 0.9105113744735718,
|
| 377 |
+
"position": [
|
| 378 |
+
0.10618563368916512,
|
| 379 |
+
-0.0464147012680769,
|
| 380 |
+
0.00855943834176287
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.01961184533309118,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.7336940753017817,
|
| 386 |
+
-0.014693206271629511,
|
| 387 |
+
-0.6790379143163905
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_25": {
|
| 392 |
+
"confidence": 0.9060326218605042,
|
| 393 |
+
"position": [
|
| 394 |
+
0.0921502523124218,
|
| 395 |
+
-0.033262064680457115,
|
| 396 |
+
0.03186929685762152
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.08264386730645024,
|
| 400 |
+
"xyz": [
|
| 401 |
+
0.803098479171256,
|
| 402 |
+
0.035879097902362544,
|
| 403 |
+
-0.5889953431761256
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_26": {
|
| 408 |
+
"confidence": 0.9028705358505249,
|
| 409 |
+
"position": [
|
| 410 |
+
0.09780928120017052,
|
| 411 |
+
-0.05521402321755886,
|
| 412 |
+
-0.01516589621314779
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.035075217879266214,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.6367081475997084,
|
| 418 |
+
0.010849626556304837,
|
| 419 |
+
0.7702303223545917
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_27": {
|
| 424 |
+
"confidence": 0.9028218388557434,
|
| 425 |
+
"position": [
|
| 426 |
+
0.10359137877821922,
|
| 427 |
+
-0.0752463098615408,
|
| 428 |
+
-0.01670061150798574
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.030082889325201315,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.6366155804553796,
|
| 434 |
+
0.015273861486264084,
|
| 435 |
+
0.770442945094967
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_28": {
|
| 440 |
+
"confidence": 0.9025935530662537,
|
| 441 |
+
"position": [
|
| 442 |
+
-0.10583937540650368,
|
| 443 |
+
-0.05895373038947582,
|
| 444 |
+
0.017209778481628746
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.04975357392329275,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.7476422837295709,
|
| 450 |
+
-0.023599388889225525,
|
| 451 |
+
-0.6618146767075707
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_29": {
|
| 456 |
+
"confidence": 0.9011251926422119,
|
| 457 |
+
"position": [
|
| 458 |
+
0.0944785587489605,
|
| 459 |
+
-0.05592363141477108,
|
| 460 |
+
-0.024586466199252754
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.7958634206570536,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.024207375839483746,
|
| 466 |
+
-0.6049766539277472,
|
| 467 |
+
-0.004320511243611656
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_30": {
|
| 472 |
+
"confidence": 0.8984224200248718,
|
| 473 |
+
"position": [
|
| 474 |
+
-0.10142899677157402,
|
| 475 |
+
-0.053328631445765495,
|
| 476 |
+
0.008507413731422275
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.6870739327400748,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.02717379642895744,
|
| 482 |
+
0.7253917675862103,
|
| 483 |
+
0.03158764402227699
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_32": {
|
| 488 |
+
"confidence": 0.8953782320022583,
|
| 489 |
+
"position": [
|
| 490 |
+
-0.104875598102808,
|
| 491 |
+
-0.05565531365573406,
|
| 492 |
+
0.004253998806234449
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.022927970591299487,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.7038451571116549,
|
| 498 |
+
-0.029144580556211275,
|
| 499 |
+
0.7093848718426664
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_33": {
|
| 504 |
+
"confidence": 0.8896243572235107,
|
| 505 |
+
"position": [
|
| 506 |
+
-0.10033651813864708,
|
| 507 |
+
-0.06592465750873089,
|
| 508 |
+
0.035937228181865066
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.03090112306504003,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.8105671737901611,
|
| 514 |
+
-0.040732014225966395,
|
| 515 |
+
0.5834097019970148
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_34": {
|
| 520 |
+
"confidence": 0.8866488933563232,
|
| 521 |
+
"position": [
|
| 522 |
+
0.08655807748436928,
|
| 523 |
+
-0.05136576108634472,
|
| 524 |
+
0.04609083099057898
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.5248317825330793,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.009887527660504342,
|
| 530 |
+
-0.850950714043493,
|
| 531 |
+
0.018349907596046253
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_35": {
|
| 536 |
+
"confidence": 0.8854373097419739,
|
| 537 |
+
"position": [
|
| 538 |
+
-0.10224435850977898,
|
| 539 |
+
-0.0644593071192503,
|
| 540 |
+
0.01286970911314711
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.6689825144953877,
|
| 544 |
+
"xyz": [
|
| 545 |
+
0.005841843494824616,
|
| 546 |
+
0.7432470271343063,
|
| 547 |
+
-0.0034820712264723402
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_36": {
|
| 552 |
+
"confidence": 0.8814648389816284,
|
| 553 |
+
"position": [
|
| 554 |
+
-0.10744136944413185,
|
| 555 |
+
-0.08856886439025402,
|
| 556 |
+
0.002395224233623594
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.03533648186958001,
|
| 560 |
+
"xyz": [
|
| 561 |
+
-0.6976969419847019,
|
| 562 |
+
-0.014428372481193774,
|
| 563 |
+
-0.7153755183550948
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"grasp_37": {
|
| 568 |
+
"confidence": 0.8814390897750854,
|
| 569 |
+
"position": [
|
| 570 |
+
0.07819244638085365,
|
| 571 |
+
-0.053098639473319054,
|
| 572 |
+
0.0609911092906259
|
| 573 |
+
],
|
| 574 |
+
"orientation": {
|
| 575 |
+
"w": 0.4717028619492986,
|
| 576 |
+
"xyz": [
|
| 577 |
+
0.008842204795767607,
|
| 578 |
+
-0.8816789780838977,
|
| 579 |
+
0.007772068458561622
|
| 580 |
+
]
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"grasp_39": {
|
| 584 |
+
"confidence": 0.8770058155059814,
|
| 585 |
+
"position": [
|
| 586 |
+
0.07524598017334938,
|
| 587 |
+
-0.0511977206915617,
|
| 588 |
+
0.06656335009029135
|
| 589 |
+
],
|
| 590 |
+
"orientation": {
|
| 591 |
+
"w": 0.4336889463907348,
|
| 592 |
+
"xyz": [
|
| 593 |
+
-0.0033461311369927865,
|
| 594 |
+
-0.9010526953500146,
|
| 595 |
+
-0.002596418183121132
|
| 596 |
+
]
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
{
|
| 602 |
+
"part_name": "hammer neck",
|
| 603 |
+
"mask_color": "Yellow",
|
| 604 |
+
"graspable": true,
|
| 605 |
+
"grasp_scenarios": [
|
| 606 |
+
{
|
| 607 |
+
"scenario": "grasp the neck near the head for short-range precision positioning",
|
| 608 |
+
"confidence": 0.56
|
| 609 |
+
},
|
| 610 |
+
{
|
| 611 |
+
"scenario": "hold the neck to stabilize the hammer during inspection or handoff",
|
| 612 |
+
"confidence": 0.48
|
| 613 |
+
}
|
| 614 |
+
],
|
| 615 |
+
"functional_labels": [
|
| 616 |
+
"connect head to handle",
|
| 617 |
+
"transmit impact force",
|
| 618 |
+
"support structural rigidity",
|
| 619 |
+
"allow choke-up grip"
|
| 620 |
+
],
|
| 621 |
+
"semantic_description": "Short white shaft section between the blue grip and metal head, with a smooth hard finish and slender straight form just below the head.",
|
| 622 |
+
"id": 3,
|
| 623 |
+
"grasp_group": {
|
| 624 |
+
"grasp_40": {
|
| 625 |
+
"confidence": 0.9455886483192444,
|
| 626 |
+
"position": [
|
| 627 |
+
0.09625529125332832,
|
| 628 |
+
-0.03230736963450909,
|
| 629 |
+
0.0077354031964205205
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.040615905912616594,
|
| 633 |
+
"xyz": [
|
| 634 |
+
-0.7223370398417693,
|
| 635 |
+
0.03172345885136507,
|
| 636 |
+
0.6896181343454021
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_41": {
|
| 641 |
+
"confidence": 0.9455040097236633,
|
| 642 |
+
"position": [
|
| 643 |
+
0.09573541954159737,
|
| 644 |
+
-0.057687586173415184,
|
| 645 |
+
0.003526987915392965
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.0871276555904981,
|
| 649 |
+
"xyz": [
|
| 650 |
+
-0.7083595230615248,
|
| 651 |
+
0.06723033817529489,
|
| 652 |
+
0.6972199361379363
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_43": {
|
| 657 |
+
"confidence": 0.939841628074646,
|
| 658 |
+
"position": [
|
| 659 |
+
0.09666040167212486,
|
| 660 |
+
-0.030153529718518257,
|
| 661 |
+
0.018909485021140426
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.07829591346224678,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.7644302974884857,
|
| 667 |
+
0.030788115192105225,
|
| 668 |
+
0.6391933683790026
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_44": {
|
| 673 |
+
"confidence": 0.9396591782569885,
|
| 674 |
+
"position": [
|
| 675 |
+
0.09625279530882835,
|
| 676 |
+
-0.02467881329357624,
|
| 677 |
+
0.0009605255327187479
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.11909742593199618,
|
| 681 |
+
"xyz": [
|
| 682 |
+
-0.6864975487887661,
|
| 683 |
+
0.10791992955947705,
|
| 684 |
+
0.709147521639373
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_46": {
|
| 689 |
+
"confidence": 0.9353017210960388,
|
| 690 |
+
"position": [
|
| 691 |
+
0.09435480460524559,
|
| 692 |
+
-0.0421686302870512,
|
| 693 |
+
-0.004500324896071106
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.13541662066087476,
|
| 697 |
+
"xyz": [
|
| 698 |
+
-0.6590570942112239,
|
| 699 |
+
0.13284665943376928,
|
| 700 |
+
0.7277759617464254
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_47": {
|
| 705 |
+
"confidence": 0.9342782497406006,
|
| 706 |
+
"position": [
|
| 707 |
+
0.10159457102417946,
|
| 708 |
+
-0.03780473209917545,
|
| 709 |
+
-0.0021851452183909714
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.05069140568172393,
|
| 713 |
+
"xyz": [
|
| 714 |
+
-0.6824461442455692,
|
| 715 |
+
0.047630801743773876,
|
| 716 |
+
0.7276186833222549
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_49": {
|
| 721 |
+
"confidence": 0.9308751225471497,
|
| 722 |
+
"position": [
|
| 723 |
+
0.0971805714070797,
|
| 724 |
+
0.0023343078792095184,
|
| 725 |
+
0.011971905769314617
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.673258575301551,
|
| 729 |
+
"xyz": [
|
| 730 |
+
0.011557503878568312,
|
| 731 |
+
-0.73931472794693,
|
| 732 |
+
0.001745831543833704
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_50": {
|
| 737 |
+
"confidence": 0.9293249845504761,
|
| 738 |
+
"position": [
|
| 739 |
+
0.10611485317349434,
|
| 740 |
+
0.007964331656694412,
|
| 741 |
+
-0.0008417517528869212
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.011147104159515794,
|
| 745 |
+
"xyz": [
|
| 746 |
+
0.6864635188851956,
|
| 747 |
+
0.02011854849837902,
|
| 748 |
+
-0.7268004012897421
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_51": {
|
| 753 |
+
"confidence": 0.928243100643158,
|
| 754 |
+
"position": [
|
| 755 |
+
0.09284323081374168,
|
| 756 |
+
-0.03189676068723202,
|
| 757 |
+
-0.020921788236591965
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.7831522286354695,
|
| 761 |
+
"xyz": [
|
| 762 |
+
0.006148207311101568,
|
| 763 |
+
-0.6214680044757616,
|
| 764 |
+
-0.020305313173441475
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
},
|
| 768 |
+
"grasp_52": {
|
| 769 |
+
"confidence": 0.9279926419258118,
|
| 770 |
+
"position": [
|
| 771 |
+
0.09485210105776787,
|
| 772 |
+
-0.012453841045498848,
|
| 773 |
+
-0.000930065696593374
|
| 774 |
+
],
|
| 775 |
+
"orientation": {
|
| 776 |
+
"w": 0.7198163087465237,
|
| 777 |
+
"xyz": [
|
| 778 |
+
0.03217144859575664,
|
| 779 |
+
-0.6934164972790009,
|
| 780 |
+
-0.00174380592418205
|
| 781 |
+
]
|
| 782 |
+
}
|
| 783 |
+
},
|
| 784 |
+
"grasp_53": {
|
| 785 |
+
"confidence": 0.9257933497428894,
|
| 786 |
+
"position": [
|
| 787 |
+
0.09055288508534431,
|
| 788 |
+
-0.05604962073266506,
|
| 789 |
+
0.03238659439375624
|
| 790 |
+
],
|
| 791 |
+
"orientation": {
|
| 792 |
+
"w": 0.5785287250908607,
|
| 793 |
+
"xyz": [
|
| 794 |
+
-0.04870996472106271,
|
| 795 |
+
-0.8103040910269775,
|
| 796 |
+
-0.07961867649339063
|
| 797 |
+
]
|
| 798 |
+
}
|
| 799 |
+
},
|
| 800 |
+
"grasp_54": {
|
| 801 |
+
"confidence": 0.9255096912384033,
|
| 802 |
+
"position": [
|
| 803 |
+
0.09414055570960045,
|
| 804 |
+
-0.006504455581307411,
|
| 805 |
+
9.536242578178644e-05
|
| 806 |
+
],
|
| 807 |
+
"orientation": {
|
| 808 |
+
"w": 0.7172930922409191,
|
| 809 |
+
"xyz": [
|
| 810 |
+
0.0039818459144156946,
|
| 811 |
+
-0.6967130353745834,
|
| 812 |
+
-0.008106236223361854
|
| 813 |
+
]
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
"grasp_55": {
|
| 817 |
+
"confidence": 0.9251393675804138,
|
| 818 |
+
"position": [
|
| 819 |
+
-0.10525115206837654,
|
| 820 |
+
-0.048358066007494926,
|
| 821 |
+
0.003984448441769928
|
| 822 |
+
],
|
| 823 |
+
"orientation": {
|
| 824 |
+
"w": 0.7062472834441285,
|
| 825 |
+
"xyz": [
|
| 826 |
+
-0.029426038230407313,
|
| 827 |
+
0.7060637400127122,
|
| 828 |
+
0.042695174681845714
|
| 829 |
+
]
|
| 830 |
+
}
|
| 831 |
+
},
|
| 832 |
+
"grasp_56": {
|
| 833 |
+
"confidence": 0.9251337051391602,
|
| 834 |
+
"position": [
|
| 835 |
+
0.09823742881417274,
|
| 836 |
+
-0.025534896180033684,
|
| 837 |
+
-0.006175563263241202
|
| 838 |
+
],
|
| 839 |
+
"orientation": {
|
| 840 |
+
"w": 0.13662383562079608,
|
| 841 |
+
"xyz": [
|
| 842 |
+
-0.6656337173790488,
|
| 843 |
+
0.11784773990364505,
|
| 844 |
+
0.7241392076306967
|
| 845 |
+
]
|
| 846 |
+
}
|
| 847 |
+
},
|
| 848 |
+
"grasp_57": {
|
| 849 |
+
"confidence": 0.9246835708618164,
|
| 850 |
+
"position": [
|
| 851 |
+
-0.10889909043908119,
|
| 852 |
+
-0.025359706953167915,
|
| 853 |
+
0.02047715609660372
|
| 854 |
+
],
|
| 855 |
+
"orientation": {
|
| 856 |
+
"w": 0.6391621052924387,
|
| 857 |
+
"xyz": [
|
| 858 |
+
0.012967872101462264,
|
| 859 |
+
0.7688054429863843,
|
| 860 |
+
-0.01555082910350182
|
| 861 |
+
]
|
| 862 |
+
}
|
| 863 |
+
},
|
| 864 |
+
"grasp_58": {
|
| 865 |
+
"confidence": 0.9235966205596924,
|
| 866 |
+
"position": [
|
| 867 |
+
0.09879175201058388,
|
| 868 |
+
0.0063293008133769035,
|
| 869 |
+
-0.006805182958487421
|
| 870 |
+
],
|
| 871 |
+
"orientation": {
|
| 872 |
+
"w": 0.7358794772290794,
|
| 873 |
+
"xyz": [
|
| 874 |
+
0.01797614089520151,
|
| 875 |
+
-0.6768736254994262,
|
| 876 |
+
-0.0005903006305820629
|
| 877 |
+
]
|
| 878 |
+
}
|
| 879 |
+
}
|
| 880 |
+
}
|
| 881 |
+
},
|
| 882 |
+
{
|
| 883 |
+
"part_name": "handle end cap",
|
| 884 |
+
"mask_color": "Orange",
|
| 885 |
+
"graspable": true,
|
| 886 |
+
"grasp_scenarios": [
|
| 887 |
+
{
|
| 888 |
+
"scenario": "pinch or hold the butt end briefly to pull the hammer from a tight slot or drawer",
|
| 889 |
+
"confidence": 0.41
|
| 890 |
+
},
|
| 891 |
+
{
|
| 892 |
+
"scenario": "use the end cap area as a secondary stabilizing contact while reorienting the hammer",
|
| 893 |
+
"confidence": 0.36
|
| 894 |
+
}
|
| 895 |
+
],
|
| 896 |
+
"functional_labels": [
|
| 897 |
+
"finish the handle end",
|
| 898 |
+
"protect the handle tip",
|
| 899 |
+
"provide a stop at the butt end",
|
| 900 |
+
"indicate handle boundary"
|
| 901 |
+
],
|
| 902 |
+
"semantic_description": "Small orange ring-like cap at the butt end of the handle, appearing smooth and hard with a rounded perimeter around the end face.",
|
| 903 |
+
"id": 4,
|
| 904 |
+
"grasp_group": {
|
| 905 |
+
"grasp_63": {
|
| 906 |
+
"confidence": 0.705838680267334,
|
| 907 |
+
"position": [
|
| 908 |
+
-0.107660461217165,
|
| 909 |
+
-0.23070205561816692,
|
| 910 |
+
0.004437386931385845
|
| 911 |
+
],
|
| 912 |
+
"orientation": {
|
| 913 |
+
"w": 0.7313122457065583,
|
| 914 |
+
"xyz": [
|
| 915 |
+
-0.0402501934697762,
|
| 916 |
+
0.6792940997297844,
|
| 917 |
+
0.046063513517504165
|
| 918 |
+
]
|
| 919 |
+
}
|
| 920 |
+
}
|
| 921 |
+
}
|
| 922 |
+
},
|
| 923 |
+
{
|
| 924 |
+
"part_name": "handle end insert",
|
| 925 |
+
"mask_color": "Cyan",
|
| 926 |
+
"graspable": false,
|
| 927 |
+
"grasp_scenarios": [
|
| 928 |
+
{
|
| 929 |
+
"scenario": "make brief contact on the butt insert while aligning or stabilizing the hammer against a surface",
|
| 930 |
+
"confidence": 0.14
|
| 931 |
+
}
|
| 932 |
+
],
|
| 933 |
+
"functional_labels": [
|
| 934 |
+
"cover the handle opening",
|
| 935 |
+
"finish the butt end",
|
| 936 |
+
"provide end detail",
|
| 937 |
+
"mark the handle center"
|
| 938 |
+
],
|
| 939 |
+
"semantic_description": "Tiny light-colored oval insert centered in the handle butt, with a smooth hard appearance and slightly recessed flat shape within the orange end cap.",
|
| 940 |
+
"id": 6,
|
| 941 |
+
"grasp_group": {}
|
| 942 |
+
}
|
| 943 |
+
],
|
| 944 |
+
"quality_check": {
|
| 945 |
+
"success": false,
|
| 946 |
+
"message": "Neck color/material and end-cap color are mismatched; butt insert graspability and descriptions need correction."
|
| 947 |
+
}
|
| 948 |
+
}
|
dataset/tools/repair_tools/572c06b59f255eceb1e8fbcca9379a0a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8bf6a4c1df13f8f49e496dd4fb7de6313894a2e83f5f9c41e7bb63196c64a3a3
|
| 3 |
+
size 3781608
|