Add asset tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/affordance_annot.json +690 -0
- dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/glue_gun_012.urdf +4 -3
.gitattributes
CHANGED
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@@ -7937,3 +7937,4 @@ dataset/tools/repair_tools/ea1305fb38745bb8a14e92225e586582/affordance/mesh_part
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| 7937 |
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7938 |
dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7939 |
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7937 |
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7938 |
dataset/tools/repair_tools/ebc187a771cd594ab5022f31d0b3cd3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7939 |
dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7940 |
+
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,690 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main housing shell",
|
| 5 |
+
"mask_color": "Burnt Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body around the barrel to pick up and reposition the glue gun",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer housing to stabilize the tool during inspection or handoff",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"enclose internal mechanism",
|
| 19 |
+
"support tool structure",
|
| 20 |
+
"surround heated glue path",
|
| 21 |
+
"provide secondary grasp surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large orange-brown plastic outer shell with a mostly matte smooth finish, rounded and elongated, forming the barrel and much of the exterior body, with a side product label visible.",
|
| 24 |
+
"id": 18,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_69": {
|
| 27 |
+
"confidence": 0.9712446331977844,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.13507625623606145,
|
| 30 |
+
-0.04127256199717522,
|
| 31 |
+
-0.005899014038732275
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7331007263416363,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.05637442404114282,
|
| 37 |
+
0.6777166848214289,
|
| 38 |
+
-0.009238206863152666
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_70": {
|
| 43 |
+
"confidence": 0.9676225185394287,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.12006591423414648,
|
| 46 |
+
-0.11628511175513268,
|
| 47 |
+
0.023618668696144596
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5989352775898601,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.13665377204700188,
|
| 53 |
+
0.760157466547837,
|
| 54 |
+
0.21157246015315243
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_72": {
|
| 59 |
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-0.003367484168848023
|
| 471 |
+
],
|
| 472 |
+
"orientation": {
|
| 473 |
+
"w": 0.4362290990783756,
|
| 474 |
+
"xyz": [
|
| 475 |
+
0.45309234119136466,
|
| 476 |
+
0.5024359915935653,
|
| 477 |
+
-0.5932702401287185
|
| 478 |
+
]
|
| 479 |
+
}
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
{
|
| 484 |
+
"part_name": "fold-out stand",
|
| 485 |
+
"mask_color": "Lime Green",
|
| 486 |
+
"graspable": true,
|
| 487 |
+
"grasp_scenarios": [
|
| 488 |
+
{
|
| 489 |
+
"scenario": "grasp the stand loop to deploy or fold it for resting the glue gun",
|
| 490 |
+
"confidence": 0.77
|
| 491 |
+
},
|
| 492 |
+
{
|
| 493 |
+
"scenario": "nudge the stand lightly to adjust the resting position on a surface",
|
| 494 |
+
"confidence": 0.4
|
| 495 |
+
}
|
| 496 |
+
],
|
| 497 |
+
"functional_labels": [
|
| 498 |
+
"support resting position",
|
| 499 |
+
"stabilize tool on surface",
|
| 500 |
+
"keep hot nozzle off table"
|
| 501 |
+
],
|
| 502 |
+
"semantic_description": "Small black loop-shaped stand near the front underside, with a smooth dark finish and hinged form that folds out to prop the gun.",
|
| 503 |
+
"id": 9,
|
| 504 |
+
"grasp_group": {
|
| 505 |
+
"grasp_20": {
|
| 506 |
+
"confidence": 0.6353716850280762,
|
| 507 |
+
"position": [
|
| 508 |
+
-0.11978940083645284,
|
| 509 |
+
-0.06857587024569511,
|
| 510 |
+
-0.0039991588273551315
|
| 511 |
+
],
|
| 512 |
+
"orientation": {
|
| 513 |
+
"w": 0.6998534211547811,
|
| 514 |
+
"xyz": [
|
| 515 |
+
-0.1731196452975806,
|
| 516 |
+
0.6654550371832874,
|
| 517 |
+
0.19340209615559484
|
| 518 |
+
]
|
| 519 |
+
}
|
| 520 |
+
},
|
| 521 |
+
"grasp_21": {
|
| 522 |
+
"confidence": 0.9406172633171082,
|
| 523 |
+
"position": [
|
| 524 |
+
-0.13272760971449316,
|
| 525 |
+
-0.033642709255218506,
|
| 526 |
+
0.0022539753990713507
|
| 527 |
+
],
|
| 528 |
+
"orientation": {
|
| 529 |
+
"w": 0.6982628005334215,
|
| 530 |
+
"xyz": [
|
| 531 |
+
0.011683820305621621,
|
| 532 |
+
0.7146308437838576,
|
| 533 |
+
0.03994129250613419
|
| 534 |
+
]
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"grasp_24": {
|
| 538 |
+
"confidence": 0.9556941390037537,
|
| 539 |
+
"position": [
|
| 540 |
+
-0.13978523178957403,
|
| 541 |
+
-0.027783244848251343,
|
| 542 |
+
-0.005738602107157931
|
| 543 |
+
],
|
| 544 |
+
"orientation": {
|
| 545 |
+
"w": 0.7292785755943751,
|
| 546 |
+
"xyz": [
|
| 547 |
+
-0.005502205427694568,
|
| 548 |
+
0.6837691190695341,
|
| 549 |
+
0.024130410716424456
|
| 550 |
+
]
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"grasp_25": {
|
| 554 |
+
"confidence": 0.9503088593482971,
|
| 555 |
+
"position": [
|
| 556 |
+
-0.1369379626121372,
|
| 557 |
+
-0.0008506695739924908,
|
| 558 |
+
0.0022121609945315868
|
| 559 |
+
],
|
| 560 |
+
"orientation": {
|
| 561 |
+
"w": 0.09830730251299516,
|
| 562 |
+
"xyz": [
|
| 563 |
+
0.6958131609220768,
|
| 564 |
+
-0.10629863074229884,
|
| 565 |
+
0.7034773062882405
|
| 566 |
+
]
|
| 567 |
+
}
|
| 568 |
+
},
|
| 569 |
+
"grasp_26": {
|
| 570 |
+
"confidence": 0.9452783465385437,
|
| 571 |
+
"position": [
|
| 572 |
+
-0.14079450233839452,
|
| 573 |
+
-0.026182960718870163,
|
| 574 |
+
0.0024921078293118626
|
| 575 |
+
],
|
| 576 |
+
"orientation": {
|
| 577 |
+
"w": 0.7123510580440369,
|
| 578 |
+
"xyz": [
|
| 579 |
+
-0.0010501647359390737,
|
| 580 |
+
0.701819567930136,
|
| 581 |
+
0.0020399333141002526
|
| 582 |
+
]
|
| 583 |
+
}
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
{
|
| 588 |
+
"part_name": "handle base cap",
|
| 589 |
+
"mask_color": "Violet",
|
| 590 |
+
"graspable": false,
|
| 591 |
+
"grasp_scenarios": [],
|
| 592 |
+
"functional_labels": [
|
| 593 |
+
"finish handle end",
|
| 594 |
+
"protect base edge",
|
| 595 |
+
"cover handle base"
|
| 596 |
+
],
|
| 597 |
+
"semantic_description": "Rounded circular cap at the bottom end of the handle, orange-brown and smooth, forming the closed end of the handle base.",
|
| 598 |
+
"id": 20,
|
| 599 |
+
"grasp_group": {}
|
| 600 |
+
},
|
| 601 |
+
{
|
| 602 |
+
"part_name": "side switch",
|
| 603 |
+
"mask_color": "Teal",
|
| 604 |
+
"graspable": false,
|
| 605 |
+
"grasp_scenarios": [],
|
| 606 |
+
"functional_labels": [
|
| 607 |
+
"toggle power or mode",
|
| 608 |
+
"provide control input",
|
| 609 |
+
"mark control location"
|
| 610 |
+
],
|
| 611 |
+
"semantic_description": "Tiny black rectangular switch or button inset on the side near the upper handle/back area, with a smooth plastic surface.",
|
| 612 |
+
"id": 10,
|
| 613 |
+
"grasp_group": {}
|
| 614 |
+
},
|
| 615 |
+
{
|
| 616 |
+
"part_name": "label plate",
|
| 617 |
+
"mask_color": "Jade",
|
| 618 |
+
"graspable": false,
|
| 619 |
+
"grasp_scenarios": [],
|
| 620 |
+
"functional_labels": [
|
| 621 |
+
"display branding",
|
| 622 |
+
"identify product",
|
| 623 |
+
"provide visual information"
|
| 624 |
+
],
|
| 625 |
+
"semantic_description": "Small side label panel with a bright printed graphic and contrasting border, flat and slightly glossy against the orange housing.",
|
| 626 |
+
"id": 19,
|
| 627 |
+
"grasp_group": {}
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"part_name": "label text area",
|
| 631 |
+
"mask_color": "Yellow",
|
| 632 |
+
"graspable": false,
|
| 633 |
+
"grasp_scenarios": [],
|
| 634 |
+
"functional_labels": [
|
| 635 |
+
"show printed text or logo",
|
| 636 |
+
"brand marking",
|
| 637 |
+
"visual identification"
|
| 638 |
+
],
|
| 639 |
+
"semantic_description": "Small pale yellow insert within the side badge, flat and smooth, containing compact printed text or logo details.",
|
| 640 |
+
"id": 3,
|
| 641 |
+
"grasp_group": {}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"part_name": "side trim panel",
|
| 645 |
+
"mask_color": "Gold",
|
| 646 |
+
"graspable": false,
|
| 647 |
+
"grasp_scenarios": [],
|
| 648 |
+
"functional_labels": [
|
| 649 |
+
"cover side opening",
|
| 650 |
+
"protect seam region",
|
| 651 |
+
"provide visual accent"
|
| 652 |
+
],
|
| 653 |
+
"semantic_description": "Small yellow side insert panel near the handle-to-body junction, flat and smooth with a hard plastic appearance.",
|
| 654 |
+
"id": 21,
|
| 655 |
+
"grasp_group": {}
|
| 656 |
+
},
|
| 657 |
+
{
|
| 658 |
+
"part_name": "front collar",
|
| 659 |
+
"mask_color": "Gray",
|
| 660 |
+
"graspable": false,
|
| 661 |
+
"grasp_scenarios": [],
|
| 662 |
+
"functional_labels": [
|
| 663 |
+
"support nozzle mount",
|
| 664 |
+
"shield front joint",
|
| 665 |
+
"separate hot tip from housing"
|
| 666 |
+
],
|
| 667 |
+
"semantic_description": "Short gray collar surrounding the nozzle base, made of smooth hard material, at the front transition between the housing and metal tip.",
|
| 668 |
+
"id": 15,
|
| 669 |
+
"grasp_group": {}
|
| 670 |
+
},
|
| 671 |
+
{
|
| 672 |
+
"part_name": "rear feed guide",
|
| 673 |
+
"mask_color": "White",
|
| 674 |
+
"graspable": false,
|
| 675 |
+
"grasp_scenarios": [],
|
| 676 |
+
"functional_labels": [
|
| 677 |
+
"guide glue stick entry",
|
| 678 |
+
"support feed mechanism",
|
| 679 |
+
"align rear loading path"
|
| 680 |
+
],
|
| 681 |
+
"semantic_description": "White cylindrical guide piece around the rear feed opening where the glue stick enters, smooth and rigid, protruding slightly from the back of the tool.",
|
| 682 |
+
"id": 17,
|
| 683 |
+
"grasp_group": {}
|
| 684 |
+
}
|
| 685 |
+
],
|
| 686 |
+
"quality_check": {
|
| 687 |
+
"success": false,
|
| 688 |
+
"message": "Several part identities/colors/descriptions mismatch mask and RGB, especially main shell, handle, nozzle, feed guide, and stand."
|
| 689 |
+
}
|
| 690 |
+
}
|
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e7db52c300a7649dd5c6b48f4ca93e6e05738322d6ecf96d23a917b5fca2e47
|
| 3 |
+
size 3833540
|
dataset/tools/repair_tools/edb42c362dcf51208d38aac0a9cdfe22/glue_gun_012.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 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>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>14</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
+
<PartSegChecker>NO: {"summary":"Functional parts are over-fragmented; same housing and minor details use many colors.","merge_groups":[{"colors":["Burnt Orange","Maroon"],"target_part":"main body housing","reason":"Same outer shell split across views."},{"colors":["Teal","Gray","Lime Green"],"target_part":"small controls/details","reason":"Tiny inserts and buttons are inconsistently fragmented."},{"colors":["Yellow","Gold"],"target_part":"rear feed/chamber area","reason":"Adjacent same mechanism split without clear boundary."}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|