Add asset tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/affordance_annot.json +1324 -0
- dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/glue_gun_037.urdf +4 -3
.gitattributes
CHANGED
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@@ -7946,3 +7946,4 @@ dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part
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| 7946 |
dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7947 |
dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7948 |
dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7946 |
dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7947 |
dataset/tools/repair_tools/f471e17d97c4568ebfa00b5f13a76133/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7948 |
dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7949 |
+
dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1324 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue gun body",
|
| 5 |
+
"mask_color": "White",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main housing and handle region to pick up and reposition the glue gun",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the tool while another gripper manipulates the glue stick",
|
| 14 |
+
"confidence": 0.6
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"house internal heating and feed mechanism",
|
| 19 |
+
"support attached parts",
|
| 20 |
+
"provide structural enclosure",
|
| 21 |
+
"form main tool frame"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large light pink plastic housing with a smooth mostly matte finish, elongated hot-glue-gun shape, forming the main shell around the nozzle, feed path, and handle.",
|
| 24 |
+
"id": 17,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_60": {
|
| 27 |
+
"confidence": 0.9774171113967896,
|
| 28 |
+
"position": [
|
| 29 |
+
0.052708188304677606,
|
| 30 |
+
0.13910418283194304,
|
| 31 |
+
0.02342270799272228
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4874999473459737,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.5305154740320617,
|
| 37 |
+
0.5498393021711486,
|
| 38 |
+
-0.42258002193448896
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_62": {
|
| 43 |
+
"confidence": 0.9771051406860352,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
+
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|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7210900343429704,
|
| 51 |
+
"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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0.0413674565853609
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_63": {
|
| 59 |
+
"confidence": 0.9754815697669983,
|
| 60 |
+
"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
+
],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.7073200758674485,
|
| 67 |
+
"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
+
]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_64": {
|
| 75 |
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"confidence": 0.9752203226089478,
|
| 76 |
+
"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.702016367018849,
|
| 83 |
+
"xyz": [
|
| 84 |
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|
| 85 |
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0.7064075858359086,
|
| 86 |
+
0.07252174052074661
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_65": {
|
| 91 |
+
"confidence": 0.9738522171974182,
|
| 92 |
+
"position": [
|
| 93 |
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0.05220301286317408,
|
| 94 |
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0.13705878984183073,
|
| 95 |
+
-0.0011571038485271856
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5273409823533575,
|
| 99 |
+
"xyz": [
|
| 100 |
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0.4827731895857357,
|
| 101 |
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0.5104760353858809,
|
| 102 |
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|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_66": {
|
| 107 |
+
"confidence": 0.972639262676239,
|
| 108 |
+
"position": [
|
| 109 |
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|
| 110 |
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-0.07916290033608675,
|
| 111 |
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-0.0020473315817071125
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.6926419376513567,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.07549035247225738,
|
| 117 |
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0.7101459177500071,
|
| 118 |
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0.10119846042894377
|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
+
"grasp_67": {
|
| 123 |
+
"confidence": 0.97263103723526,
|
| 124 |
+
"position": [
|
| 125 |
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-0.1254333385732025,
|
| 126 |
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-0.06564887333661318,
|
| 127 |
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0.001521728772786446
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.6918171987025888,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.024823570491046505,
|
| 133 |
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0.7194269454749943,
|
| 134 |
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0.05654753798263569
|
| 135 |
+
]
|
| 136 |
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}
|
| 137 |
+
},
|
| 138 |
+
"grasp_68": {
|
| 139 |
+
"confidence": 0.9723201990127563,
|
| 140 |
+
"position": [
|
| 141 |
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-0.13029058068059385,
|
| 142 |
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-0.06783655006438494,
|
| 143 |
+
-0.004058965292642824
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.7048087996250852,
|
| 147 |
+
"xyz": [
|
| 148 |
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-0.004513056778197109,
|
| 149 |
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0.7086412168560974,
|
| 150 |
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0.03243168300092385
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_69": {
|
| 155 |
+
"confidence": 0.9717249274253845,
|
| 156 |
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"position": [
|
| 157 |
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-0.12514953105710447,
|
| 158 |
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-0.0670984061434865,
|
| 159 |
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0.004611906319041736
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.6871607932920464,
|
| 163 |
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"xyz": [
|
| 164 |
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-0.014663459045208636,
|
| 165 |
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0.7250013482933221,
|
| 166 |
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0.04436295869236743
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_70": {
|
| 171 |
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"confidence": 0.9713454246520996,
|
| 172 |
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"position": [
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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"w": 0.6950040308691066,
|
| 179 |
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"xyz": [
|
| 180 |
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|
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],
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| 1320 |
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"quality_check": {
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| 1321 |
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"success": false,
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| 1322 |
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"message": "Mask colors and one part description mismatch; glue stick is not white mask and trigger/label share purple masks."
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| 1323 |
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}
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| 1324 |
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}
|
dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:41fd53ed846a6426ae216b5f0f6610db8b204e57d7295029e422d9cf7f077714
|
| 3 |
+
size 3823100
|
dataset/tools/repair_tools/f8a189f7c6ca5653984c1a64cf30c35e/glue_gun_037.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>7</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":"Mask misses clear trigger and stand separation; remaining colors are mostly coherent with minor noise.","merge_groups":[{"colors":["Blue","Violet"],"target_part":"handle/body surface details","reason":"small scattered fragments on same housing surface"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|