Add asset tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/affordance/affordance_annot.json +891 -0
- dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/glue_gun_039.urdf +2 -2
.gitattributes
CHANGED
|
@@ -7844,3 +7844,4 @@ dataset/tools/repair_tools/41fcf37cb96d5340bedd5edf4f1d6901/affordance/mesh_part
|
|
| 7844 |
dataset/tools/repair_tools/41b853e38daa5f8db67860ee0bada859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7845 |
dataset/tools/repair_tools/453b7190adbc5950932f4a9c0d6c0c41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7846 |
dataset/tools/repair_tools/4363cc0a1da0501b9796c723635fe7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7844 |
dataset/tools/repair_tools/41b853e38daa5f8db67860ee0bada859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7845 |
dataset/tools/repair_tools/453b7190adbc5950932f4a9c0d6c0c41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7846 |
dataset/tools/repair_tools/4363cc0a1da0501b9796c723635fe7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7847 |
+
dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,891 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main housing",
|
| 5 |
+
"mask_color": "Gray",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the body/handle region to pick up and reposition the glue gun",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing by the handle to stabilize the tool during dispensing",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"support internal components",
|
| 20 |
+
"provide tool structure",
|
| 21 |
+
"stabilize during use"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large light beige plastic housing with a mostly matte smooth surface, forming the pistol-style handle and barrel and occupying most of the glue gun body.",
|
| 24 |
+
"id": 15,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_60": {
|
| 27 |
+
"confidence": 0.979211688041687,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.12408881494775414,
|
| 30 |
+
-0.07214548416777689,
|
| 31 |
+
-0.0048659184540156275
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7091034431182884,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.022475113879901896,
|
| 37 |
+
0.6995214223746328,
|
| 38 |
+
0.08565603220348461
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_62": {
|
| 43 |
+
"confidence": 0.9783912301063538,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.12291239807382226,
|
| 46 |
+
-0.07832947351380426,
|
| 47 |
+
-0.00029202765654190443
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6960556966545007,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.061682839710282315,
|
| 53 |
+
0.7089754907696912,
|
| 54 |
+
0.09516011731796402
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_63": {
|
| 59 |
+
"confidence": 0.9781239628791809,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.12698922166600823,
|
| 62 |
+
-0.052184615064106765,
|
| 63 |
+
-0.004522807110333815
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7196421356593636,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.027451272544048912,
|
| 69 |
+
0.6918202330859415,
|
| 70 |
+
0.05240600454390818
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_64": {
|
| 75 |
+
"confidence": 0.9775486588478088,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.12508670100942254,
|
| 78 |
+
-0.06165067084475595,
|
| 79 |
+
-0.004800522845471278
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7092179170007353,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.03790808328310618,
|
| 85 |
+
0.6994532521580192,
|
| 86 |
+
0.0796120058314632
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_65": {
|
| 91 |
+
"confidence": 0.9770783185958862,
|
| 92 |
+
"position": [
|
| 93 |
+
0.07006324222311378,
|
| 94 |
+
0.14302392325953406,
|
| 95 |
+
0.023356358375167474
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4525582535790115,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.5287532333081306,
|
| 101 |
+
-0.5628851447483972,
|
| 102 |
+
0.44583781715472387
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_66": {
|
| 107 |
+
"confidence": 0.976780354976654,
|
| 108 |
+
"position": [
|
| 109 |
+
0.07999699702486396,
|
| 110 |
+
0.14067383132532996,
|
| 111 |
+
0.011227473471080884
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5194918194270143,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.48838507886285026,
|
| 117 |
+
-0.5503768934388577,
|
| 118 |
+
0.4343886962860916
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_67": {
|
| 123 |
+
"confidence": 0.9763081073760986,
|
| 124 |
+
"position": [
|
| 125 |
+
0.05322036286816001,
|
| 126 |
+
0.14059036992148322,
|
| 127 |
+
-0.0001974066108232364
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5404425087414713,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.45895604379149507,
|
| 133 |
+
0.5400582911193876,
|
| 134 |
+
-0.45345152641235037
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_68": {
|
| 139 |
+
"confidence": 0.9759796857833862,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.1264491588808596,
|
| 142 |
+
-0.04892743729396898,
|
| 143 |
+
-0.002257149579236284
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.700397881200087,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.014415098512214184,
|
| 149 |
+
0.7110946798552306,
|
| 150 |
+
0.05982782986954437
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_70": {
|
| 155 |
+
"confidence": 0.9756622910499573,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.12110234657302499,
|
| 158 |
+
-0.09174917616292078,
|
| 159 |
+
0.0024506539048161358
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.6829000759024303,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.11473468571770275,
|
| 165 |
+
0.7047594302586699,
|
| 166 |
+
0.15426465469183065
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_72": {
|
| 171 |
+
"confidence": 0.9750577211380005,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.12938091764226556,
|
| 174 |
+
-0.05602020748301584,
|
| 175 |
+
-0.0013926745450589806
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.707409138023973,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.023570824014562383,
|
| 181 |
+
0.7042154300859916,
|
| 182 |
+
0.05565389226510022
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_73": {
|
| 187 |
+
"confidence": 0.9747629165649414,
|
| 188 |
+
"position": [
|
| 189 |
+
0.049323638435453176,
|
| 190 |
+
0.13514196894720953,
|
| 191 |
+
0.03188943941495381
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.46197747752222557,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.5125145567147087,
|
| 197 |
+
0.6169778389519657,
|
| 198 |
+
-0.3784758719652949
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_75": {
|
| 203 |
+
"confidence": 0.9737071394920349,
|
| 204 |
+
"position": [
|
| 205 |
+
0.0775126307271421,
|
| 206 |
+
0.14098368607119482,
|
| 207 |
+
0.02934130359790288
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.4483783839967335,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.5418491964942976,
|
| 213 |
+
-0.5844069248623351,
|
| 214 |
+
0.4047527877555757
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_76": {
|
| 219 |
+
"confidence": 0.973564088344574,
|
| 220 |
+
"position": [
|
| 221 |
+
0.09227396687492728,
|
| 222 |
+
0.14088389299467963,
|
| 223 |
+
0.010014006722485647
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.41327671338417094,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.5846946009487904,
|
| 229 |
+
0.4515682520399912,
|
| 230 |
+
-0.5323727036064678
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_77": {
|
| 235 |
+
"confidence": 0.9734886288642883,
|
| 236 |
+
"position": [
|
| 237 |
+
0.08157463511452079,
|
| 238 |
+
0.14065930269316596,
|
| 239 |
+
0.012661301385378465
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.4278246382017703,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.5617156586498023,
|
| 245 |
+
0.47708201610603995,
|
| 246 |
+
-0.5232918379674384
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_78": {
|
| 251 |
+
"confidence": 0.9732658863067627,
|
| 252 |
+
"position": [
|
| 253 |
+
0.050508332904428244,
|
| 254 |
+
0.1269572826440708,
|
| 255 |
+
0.054804746847366914
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.38704158072053607,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.5696337296290618,
|
| 261 |
+
0.6655926981938782,
|
| 262 |
+
-0.2875805782267404
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_79": {
|
| 267 |
+
"confidence": 0.9728556275367737,
|
| 268 |
+
"position": [
|
| 269 |
+
0.05899502104148269,
|
| 270 |
+
0.1402316989715473,
|
| 271 |
+
0.0008187574276234955
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.5437523943080381,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.48652091613174564,
|
| 277 |
+
0.5195372118483008,
|
| 278 |
+
-0.4446479701466052
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "side grip pad",
|
| 286 |
+
"mask_color": "Orange",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "pinch the side pad area to steady the glue gun during handoff or reorientation",
|
| 291 |
+
"confidence": 0.42
|
| 292 |
+
}
|
| 293 |
+
],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"improve grip comfort",
|
| 296 |
+
"provide side traction",
|
| 297 |
+
"protect body surface",
|
| 298 |
+
"indicate hand placement"
|
| 299 |
+
],
|
| 300 |
+
"semantic_description": "Medium taupe-brown rubbery or soft-plastic side insert with a matte slightly textured surface, elongated and inset along the side of the body from the handle toward the front section.",
|
| 301 |
+
"id": 4,
|
| 302 |
+
"grasp_group": {
|
| 303 |
+
"grasp_21": {
|
| 304 |
+
"confidence": 0.5220745205879211,
|
| 305 |
+
"position": [
|
| 306 |
+
0.09570852806791663,
|
| 307 |
+
-0.057867012697897735,
|
| 308 |
+
0.02091883946559392
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.612130423743888,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.2727759152764864,
|
| 314 |
+
-0.7110134881806289,
|
| 315 |
+
-0.21295413590117698
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_22": {
|
| 320 |
+
"confidence": 0.07608146220445633,
|
| 321 |
+
"position": [
|
| 322 |
+
0.11895202985033393,
|
| 323 |
+
-0.011759014580093208,
|
| 324 |
+
-0.007159026019508019
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.09881327632558509,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.7075374716383607,
|
| 330 |
+
0.035130278363763145,
|
| 331 |
+
0.6988508611939205
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_23": {
|
| 336 |
+
"confidence": 0.18041378259658813,
|
| 337 |
+
"position": [
|
| 338 |
+
0.10428119590505958,
|
| 339 |
+
-0.031064374152265373,
|
| 340 |
+
0.023166977654909715
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.6138388073028849,
|
| 344 |
+
"xyz": [
|
| 345 |
+
-0.17610627756413985,
|
| 346 |
+
-0.7653438251659901,
|
| 347 |
+
-0.08023295415079827
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
+
"grasp_25": {
|
| 352 |
+
"confidence": 0.05863230302929878,
|
| 353 |
+
"position": [
|
| 354 |
+
0.12574359169229865,
|
| 355 |
+
-0.009862864169917884,
|
| 356 |
+
-0.011719186004484072
|
| 357 |
+
],
|
| 358 |
+
"orientation": {
|
| 359 |
+
"w": 0.08925366089946479,
|
| 360 |
+
"xyz": [
|
| 361 |
+
-0.7007012003104953,
|
| 362 |
+
0.029811319107569845,
|
| 363 |
+
0.7072219574875638
|
| 364 |
+
]
|
| 365 |
+
}
|
| 366 |
+
},
|
| 367 |
+
"grasp_26": {
|
| 368 |
+
"confidence": 0.3942667245864868,
|
| 369 |
+
"position": [
|
| 370 |
+
0.08219694485887885,
|
| 371 |
+
-0.05593896262689668,
|
| 372 |
+
0.04438388053677045
|
| 373 |
+
],
|
| 374 |
+
"orientation": {
|
| 375 |
+
"w": 0.2417353030501709,
|
| 376 |
+
"xyz": [
|
| 377 |
+
-0.7966959298290128,
|
| 378 |
+
0.28333465190477314,
|
| 379 |
+
0.47598436285568
|
| 380 |
+
]
|
| 381 |
+
}
|
| 382 |
+
},
|
| 383 |
+
"grasp_31": {
|
| 384 |
+
"confidence": 0.24020180106163025,
|
| 385 |
+
"position": [
|
| 386 |
+
0.11320740124210715,
|
| 387 |
+
-0.027869619209013763,
|
| 388 |
+
-0.02219734262325801
|
| 389 |
+
],
|
| 390 |
+
"orientation": {
|
| 391 |
+
"w": 0.21808615923026517,
|
| 392 |
+
"xyz": [
|
| 393 |
+
-0.6508053412104752,
|
| 394 |
+
0.08309320989884172,
|
| 395 |
+
0.7224862306458275
|
| 396 |
+
]
|
| 397 |
+
}
|
| 398 |
+
},
|
| 399 |
+
"grasp_32": {
|
| 400 |
+
"confidence": 0.11796416342258453,
|
| 401 |
+
"position": [
|
| 402 |
+
0.09990496328100562,
|
| 403 |
+
-0.03361577891155321,
|
| 404 |
+
-0.0042144583130721
|
| 405 |
+
],
|
| 406 |
+
"orientation": {
|
| 407 |
+
"w": 0.1525687791682069,
|
| 408 |
+
"xyz": [
|
| 409 |
+
-0.7010718811922944,
|
| 410 |
+
0.1337239257833126,
|
| 411 |
+
0.6836218960051818
|
| 412 |
+
]
|
| 413 |
+
}
|
| 414 |
+
},
|
| 415 |
+
"grasp_34": {
|
| 416 |
+
"confidence": 0.3984435796737671,
|
| 417 |
+
"position": [
|
| 418 |
+
0.037553639616817236,
|
| 419 |
+
-0.006981304160945001,
|
| 420 |
+
-0.0980737536738161
|
| 421 |
+
],
|
| 422 |
+
"orientation": {
|
| 423 |
+
"w": 0.6126657830274962,
|
| 424 |
+
"xyz": [
|
| 425 |
+
-0.09838192611472463,
|
| 426 |
+
0.10626300059812954,
|
| 427 |
+
0.7769619100220702
|
| 428 |
+
]
|
| 429 |
+
}
|
| 430 |
+
},
|
| 431 |
+
"grasp_37": {
|
| 432 |
+
"confidence": 0.13677722215652466,
|
| 433 |
+
"position": [
|
| 434 |
+
0.0989720611833036,
|
| 435 |
+
-0.030091170001469436,
|
| 436 |
+
0.01619049985310994
|
| 437 |
+
],
|
| 438 |
+
"orientation": {
|
| 439 |
+
"w": 0.6412318037094215,
|
| 440 |
+
"xyz": [
|
| 441 |
+
-0.1738267720248319,
|
| 442 |
+
-0.7399326428618254,
|
| 443 |
+
-0.10538363851425525
|
| 444 |
+
]
|
| 445 |
+
}
|
| 446 |
+
},
|
| 447 |
+
"grasp_38": {
|
| 448 |
+
"confidence": 0.10595709830522537,
|
| 449 |
+
"position": [
|
| 450 |
+
0.03969592368230224,
|
| 451 |
+
-0.06510627992793161,
|
| 452 |
+
-0.07040947224595584
|
| 453 |
+
],
|
| 454 |
+
"orientation": {
|
| 455 |
+
"w": 0.8926306736236791,
|
| 456 |
+
"xyz": [
|
| 457 |
+
-0.32405077820645006,
|
| 458 |
+
-0.23373348244687808,
|
| 459 |
+
-0.20873483857081956
|
| 460 |
+
]
|
| 461 |
+
}
|
| 462 |
+
}
|
| 463 |
+
}
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"part_name": "nozzle",
|
| 467 |
+
"mask_color": "Crimson",
|
| 468 |
+
"graspable": false,
|
| 469 |
+
"grasp_scenarios": [],
|
| 470 |
+
"functional_labels": [
|
| 471 |
+
"dispense melted glue",
|
| 472 |
+
"focus adhesive flow",
|
| 473 |
+
"provide application tip"
|
| 474 |
+
],
|
| 475 |
+
"semantic_description": "Small silver conical metal tip with a smooth reflective finish at the front of the gun, tapering to a narrow dispensing point.",
|
| 476 |
+
"id": 16,
|
| 477 |
+
"grasp_group": {}
|
| 478 |
+
},
|
| 479 |
+
{
|
| 480 |
+
"part_name": "trigger",
|
| 481 |
+
"mask_color": "Burnt Orange",
|
| 482 |
+
"graspable": true,
|
| 483 |
+
"grasp_scenarios": [
|
| 484 |
+
{
|
| 485 |
+
"scenario": "pinch the trigger to actuate glue feed during operation",
|
| 486 |
+
"confidence": 0.86
|
| 487 |
+
},
|
| 488 |
+
{
|
| 489 |
+
"scenario": "hold the trigger lightly to stabilize the tool while manipulating it",
|
| 490 |
+
"confidence": 0.31
|
| 491 |
+
}
|
| 492 |
+
],
|
| 493 |
+
"functional_labels": [
|
| 494 |
+
"actuate glue feed",
|
| 495 |
+
"control dispensing",
|
| 496 |
+
"translate finger force to mechanism"
|
| 497 |
+
],
|
| 498 |
+
"semantic_description": "Small curved black plastic lever with a matte surface, located inside the handle opening where it can be squeezed rearward.",
|
| 499 |
+
"id": 18,
|
| 500 |
+
"grasp_group": {}
|
| 501 |
+
},
|
| 502 |
+
{
|
| 503 |
+
"part_name": "wire stand",
|
| 504 |
+
"mask_color": "Green",
|
| 505 |
+
"graspable": true,
|
| 506 |
+
"grasp_scenarios": [
|
| 507 |
+
{
|
| 508 |
+
"scenario": "grasp the stand to flip it out or fold it back for parking the glue gun",
|
| 509 |
+
"confidence": 0.72
|
| 510 |
+
},
|
| 511 |
+
{
|
| 512 |
+
"scenario": "use a gripper to stabilize the front of the tool by the stand during setup",
|
| 513 |
+
"confidence": 0.34
|
| 514 |
+
}
|
| 515 |
+
],
|
| 516 |
+
"functional_labels": [
|
| 517 |
+
"support the glue gun upright",
|
| 518 |
+
"keep hot nozzle off surfaces",
|
| 519 |
+
"stabilize when parked"
|
| 520 |
+
],
|
| 521 |
+
"semantic_description": "Thin silver-gray metal wire loop with a smooth slightly reflective finish, hinged beneath the front area and shaped as a small fold-out support.",
|
| 522 |
+
"id": 1,
|
| 523 |
+
"grasp_group": {
|
| 524 |
+
"grasp_0": {
|
| 525 |
+
"confidence": 0.8197042942047119,
|
| 526 |
+
"position": [
|
| 527 |
+
0.08230815222486854,
|
| 528 |
+
-0.11737144716425973,
|
| 529 |
+
0.03522530649206601
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.554705570150637,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.1512288310226004,
|
| 535 |
+
-0.7919671860694785,
|
| 536 |
+
-0.20547395771870164
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_6": {
|
| 541 |
+
"confidence": 0.6870737671852112,
|
| 542 |
+
"position": [
|
| 543 |
+
0.08234632899984717,
|
| 544 |
+
-0.10561338045044977,
|
| 545 |
+
-0.005472439952427521
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.17071424370103117,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.6780325354975891,
|
| 551 |
+
0.14670825411938015,
|
| 552 |
+
0.6997179545913759
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_7": {
|
| 557 |
+
"confidence": 0.6404886245727539,
|
| 558 |
+
"position": [
|
| 559 |
+
0.0807431205175817,
|
| 560 |
+
-0.1069882733409031,
|
| 561 |
+
-0.007007623702520505
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.6969018601819811,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.13686406209824914,
|
| 567 |
+
-0.6748247129928254,
|
| 568 |
+
-0.20051840941671809
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_9": {
|
| 573 |
+
"confidence": 0.8009482622146606,
|
| 574 |
+
"position": [
|
| 575 |
+
0.0864111422561109,
|
| 576 |
+
-0.08936958738013345,
|
| 577 |
+
0.004162426426773891
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.11136196413134174,
|
| 581 |
+
"xyz": [
|
| 582 |
+
-0.713451236496921,
|
| 583 |
+
0.09622303581985314,
|
| 584 |
+
0.685074429141415
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_13": {
|
| 589 |
+
"confidence": 0.8198739886283875,
|
| 590 |
+
"position": [
|
| 591 |
+
0.09810920199379325,
|
| 592 |
+
-0.08636351652785379,
|
| 593 |
+
0.0003874132235068828
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.6942628466416221,
|
| 597 |
+
"xyz": [
|
| 598 |
+
-0.03078105115610838,
|
| 599 |
+
-0.7131690013270658,
|
| 600 |
+
-0.09187819223815716
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"grasp_15": {
|
| 605 |
+
"confidence": 0.7216494083404541,
|
| 606 |
+
"position": [
|
| 607 |
+
0.0995344310067594,
|
| 608 |
+
-0.12366892375393945,
|
| 609 |
+
0.024221510480856523
|
| 610 |
+
],
|
| 611 |
+
"orientation": {
|
| 612 |
+
"w": 0.6149018843201354,
|
| 613 |
+
"xyz": [
|
| 614 |
+
-0.22742549813423266,
|
| 615 |
+
-0.7462127746663836,
|
| 616 |
+
-0.11549809687886411
|
| 617 |
+
]
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
{
|
| 623 |
+
"part_name": "glue stick",
|
| 624 |
+
"mask_color": "Navy",
|
| 625 |
+
"graspable": true,
|
| 626 |
+
"grasp_scenarios": [
|
| 627 |
+
{
|
| 628 |
+
"scenario": "grasp the exposed glue stick from the rear to insert or advance it",
|
| 629 |
+
"confidence": 0.79
|
| 630 |
+
},
|
| 631 |
+
{
|
| 632 |
+
"scenario": "pull the glue stick out for replacement",
|
| 633 |
+
"confidence": 0.68
|
| 634 |
+
}
|
| 635 |
+
],
|
| 636 |
+
"functional_labels": [
|
| 637 |
+
"supply adhesive material",
|
| 638 |
+
"feed into heating chamber",
|
| 639 |
+
"enable glue dispensing"
|
| 640 |
+
],
|
| 641 |
+
"semantic_description": "Short opaque white cylindrical glue stick with a smooth matte-to-semi-gloss appearance, protruding from the rear feed port of the glue gun.",
|
| 642 |
+
"id": 13,
|
| 643 |
+
"grasp_group": {
|
| 644 |
+
"grasp_40": {
|
| 645 |
+
"confidence": 0.9657633900642395,
|
| 646 |
+
"position": [
|
| 647 |
+
-0.13021840760484338,
|
| 648 |
+
0.024247730370916543,
|
| 649 |
+
0.0002669550885912031
|
| 650 |
+
],
|
| 651 |
+
"orientation": {
|
| 652 |
+
"w": 0.7035750026626648,
|
| 653 |
+
"xyz": [
|
| 654 |
+
0.00803773328816443,
|
| 655 |
+
0.7095016107246823,
|
| 656 |
+
0.0390522067353661
|
| 657 |
+
]
|
| 658 |
+
}
|
| 659 |
+
},
|
| 660 |
+
"grasp_41": {
|
| 661 |
+
"confidence": 0.964966356754303,
|
| 662 |
+
"position": [
|
| 663 |
+
-0.1303479583002627,
|
| 664 |
+
0.021594489213384804,
|
| 665 |
+
0.0011867953871842474
|
| 666 |
+
],
|
| 667 |
+
"orientation": {
|
| 668 |
+
"w": 0.6973067465366939,
|
| 669 |
+
"xyz": [
|
| 670 |
+
-0.02350981689367107,
|
| 671 |
+
0.7151953312140533,
|
| 672 |
+
0.04130651224271429
|
| 673 |
+
]
|
| 674 |
+
}
|
| 675 |
+
},
|
| 676 |
+
"grasp_42": {
|
| 677 |
+
"confidence": 0.9676823616027832,
|
| 678 |
+
"position": [
|
| 679 |
+
-0.12932105967774987,
|
| 680 |
+
0.022345287945427117,
|
| 681 |
+
0.005760688189184293
|
| 682 |
+
],
|
| 683 |
+
"orientation": {
|
| 684 |
+
"w": 0.6957329882749864,
|
| 685 |
+
"xyz": [
|
| 686 |
+
-0.03161079776979407,
|
| 687 |
+
0.7173867496199623,
|
| 688 |
+
0.01768100562807522
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
},
|
| 692 |
+
"grasp_43": {
|
| 693 |
+
"confidence": 0.9653380513191223,
|
| 694 |
+
"position": [
|
| 695 |
+
-0.12941647181287408,
|
| 696 |
+
0.022114260342277703,
|
| 697 |
+
0.0035348130331840366
|
| 698 |
+
],
|
| 699 |
+
"orientation": {
|
| 700 |
+
"w": 0.6934008167050878,
|
| 701 |
+
"xyz": [
|
| 702 |
+
-0.024900953706521102,
|
| 703 |
+
0.7193055758400015,
|
| 704 |
+
0.03427445787618149
|
| 705 |
+
]
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
"grasp_44": {
|
| 709 |
+
"confidence": 0.9680349826812744,
|
| 710 |
+
"position": [
|
| 711 |
+
-0.13406175980344415,
|
| 712 |
+
0.03730472944334906,
|
| 713 |
+
0.00023315698490478098
|
| 714 |
+
],
|
| 715 |
+
"orientation": {
|
| 716 |
+
"w": 0.7143943550853278,
|
| 717 |
+
"xyz": [
|
| 718 |
+
0.031203216395770315,
|
| 719 |
+
0.6983916915374735,
|
| 720 |
+
-0.03026730744886152
|
| 721 |
+
]
|
| 722 |
+
}
|
| 723 |
+
},
|
| 724 |
+
"grasp_45": {
|
| 725 |
+
"confidence": 0.9664342999458313,
|
| 726 |
+
"position": [
|
| 727 |
+
-0.133689156267792,
|
| 728 |
+
0.0182849208231346,
|
| 729 |
+
0.0018097654392477125
|
| 730 |
+
],
|
| 731 |
+
"orientation": {
|
| 732 |
+
"w": 0.6975984188222898,
|
| 733 |
+
"xyz": [
|
| 734 |
+
-0.03372516506713727,
|
| 735 |
+
0.7140604106988362,
|
| 736 |
+
0.048340347231319684
|
| 737 |
+
]
|
| 738 |
+
}
|
| 739 |
+
},
|
| 740 |
+
"grasp_46": {
|
| 741 |
+
"confidence": 0.9661821722984314,
|
| 742 |
+
"position": [
|
| 743 |
+
-0.13075182447209954,
|
| 744 |
+
0.043261293541945633,
|
| 745 |
+
0.0013465995143633336
|
| 746 |
+
],
|
| 747 |
+
"orientation": {
|
| 748 |
+
"w": 0.7054049388184331,
|
| 749 |
+
"xyz": [
|
| 750 |
+
0.06307482026837001,
|
| 751 |
+
0.7054249219423773,
|
| 752 |
+
-0.02830404284314295
|
| 753 |
+
]
|
| 754 |
+
}
|
| 755 |
+
},
|
| 756 |
+
"grasp_47": {
|
| 757 |
+
"confidence": 0.964699923992157,
|
| 758 |
+
"position": [
|
| 759 |
+
-0.1322128833271563,
|
| 760 |
+
0.049370229464329896,
|
| 761 |
+
0.00039341210504062474
|
| 762 |
+
],
|
| 763 |
+
"orientation": {
|
| 764 |
+
"w": 0.7083894907877083,
|
| 765 |
+
"xyz": [
|
| 766 |
+
0.08351987987302982,
|
| 767 |
+
0.6987306991160425,
|
| 768 |
+
-0.054627549096887176
|
| 769 |
+
]
|
| 770 |
+
}
|
| 771 |
+
},
|
| 772 |
+
"grasp_48": {
|
| 773 |
+
"confidence": 0.9454535245895386,
|
| 774 |
+
"position": [
|
| 775 |
+
-0.12696108827367425,
|
| 776 |
+
0.023035980981148896,
|
| 777 |
+
0.030588070716476068
|
| 778 |
+
],
|
| 779 |
+
"orientation": {
|
| 780 |
+
"w": 0.6185861560645316,
|
| 781 |
+
"xyz": [
|
| 782 |
+
-0.008096527510838244,
|
| 783 |
+
0.784831958578967,
|
| 784 |
+
0.03639245197394112
|
| 785 |
+
]
|
| 786 |
+
}
|
| 787 |
+
},
|
| 788 |
+
"grasp_50": {
|
| 789 |
+
"confidence": 0.9513477683067322,
|
| 790 |
+
"position": [
|
| 791 |
+
-0.126544123981148,
|
| 792 |
+
0.06767135880545538,
|
| 793 |
+
0.0013346578634809703
|
| 794 |
+
],
|
| 795 |
+
"orientation": {
|
| 796 |
+
"w": 0.1423745785764456,
|
| 797 |
+
"xyz": [
|
| 798 |
+
0.6847524238715843,
|
| 799 |
+
-0.13006971320341576,
|
| 800 |
+
0.702798311810971
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
"grasp_51": {
|
| 805 |
+
"confidence": 0.9413550496101379,
|
| 806 |
+
"position": [
|
| 807 |
+
-0.12481159577146173,
|
| 808 |
+
0.018227387439765153,
|
| 809 |
+
-0.005098204739624634
|
| 810 |
+
],
|
| 811 |
+
"orientation": {
|
| 812 |
+
"w": 0.04910026882072371,
|
| 813 |
+
"xyz": [
|
| 814 |
+
-0.6858256177143724,
|
| 815 |
+
-0.04645084213046635,
|
| 816 |
+
-0.7246203867914583
|
| 817 |
+
]
|
| 818 |
+
}
|
| 819 |
+
},
|
| 820 |
+
"grasp_52": {
|
| 821 |
+
"confidence": 0.941962480545044,
|
| 822 |
+
"position": [
|
| 823 |
+
-0.1242097825743258,
|
| 824 |
+
0.06719911865548056,
|
| 825 |
+
0.005185325484490022
|
| 826 |
+
],
|
| 827 |
+
"orientation": {
|
| 828 |
+
"w": 0.6906464560689097,
|
| 829 |
+
"xyz": [
|
| 830 |
+
0.15667298245611425,
|
| 831 |
+
0.6978322423849227,
|
| 832 |
+
-0.1071970651454232
|
| 833 |
+
]
|
| 834 |
+
}
|
| 835 |
+
},
|
| 836 |
+
"grasp_56": {
|
| 837 |
+
"confidence": 0.9587231278419495,
|
| 838 |
+
"position": [
|
| 839 |
+
-0.12782014021649957,
|
| 840 |
+
0.07162387691096228,
|
| 841 |
+
0.0010283599549438804
|
| 842 |
+
],
|
| 843 |
+
"orientation": {
|
| 844 |
+
"w": 0.6970972697180612,
|
| 845 |
+
"xyz": [
|
| 846 |
+
0.1588218815260433,
|
| 847 |
+
0.6851682170020756,
|
| 848 |
+
-0.13919598022338514
|
| 849 |
+
]
|
| 850 |
+
}
|
| 851 |
+
},
|
| 852 |
+
"grasp_57": {
|
| 853 |
+
"confidence": 0.9369856715202332,
|
| 854 |
+
"position": [
|
| 855 |
+
-0.1237343461252749,
|
| 856 |
+
0.0726263078267948,
|
| 857 |
+
0.004161328397458419
|
| 858 |
+
],
|
| 859 |
+
"orientation": {
|
| 860 |
+
"w": 0.6839986488981105,
|
| 861 |
+
"xyz": [
|
| 862 |
+
0.17214904860496888,
|
| 863 |
+
0.69220244199195,
|
| 864 |
+
-0.15286050068720922
|
| 865 |
+
]
|
| 866 |
+
}
|
| 867 |
+
},
|
| 868 |
+
"grasp_59": {
|
| 869 |
+
"confidence": 0.6821913719177246,
|
| 870 |
+
"position": [
|
| 871 |
+
-0.1150096938945353,
|
| 872 |
+
0.08018721662119788,
|
| 873 |
+
0.006281614623731002
|
| 874 |
+
],
|
| 875 |
+
"orientation": {
|
| 876 |
+
"w": 0.676031739623684,
|
| 877 |
+
"xyz": [
|
| 878 |
+
0.18930917846734155,
|
| 879 |
+
0.6900257646228996,
|
| 880 |
+
-0.1760896536596586
|
| 881 |
+
]
|
| 882 |
+
}
|
| 883 |
+
}
|
| 884 |
+
}
|
| 885 |
+
}
|
| 886 |
+
],
|
| 887 |
+
"quality_check": {
|
| 888 |
+
"success": false,
|
| 889 |
+
"message": "Multiple mask colors and visual descriptions mismatch; glue stick color/length incorrect; side pad color incorrect."
|
| 890 |
+
}
|
| 891 |
+
}
|
dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8324339d5a5d22551a9a1bc308a828c0de5223d8e02532c3f500f30ff2a78a78
|
| 3 |
+
size 3828912
|
dataset/tools/repair_tools/45547dbd20b75705a11bbdd9d2e375f5/glue_gun_039.urdf
CHANGED
|
@@ -50,7 +50,7 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
|
@@ -60,7 +60,7 @@
|
|
| 60 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>6</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
|
|
|
| 60 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
+
<PartSegChecker>NO: {"summary":"Nozzle, trigger, body, stand, and glue stick are mostly separated, but label/side panel is inconsistently merged with nozzle; several tiny fragments are unsupported.","merge_groups":[{"colors":["Crimson","Burnt Orange"],"target_part":"front nozzle assembly","reason":"front cone and adjacent collar are one continuous functional tip area"},{"colors":["Green","Navy"],"target_part":"small hardware/noisy fragments","reason":"tiny scattered bits are not distinct functional parts"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|