Add asset tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d
Browse files- .gitattributes +1 -0
- dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/affordance/affordance_annot.json +769 -0
- dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/glue_gun_028.urdf +4 -3
.gitattributes
CHANGED
|
@@ -8596,3 +8596,4 @@ dataset/tools/repair_tools/9f44e6d916e951ca98fcd11eee2f6f6d/affordance/mesh_part
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| 8596 |
dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8597 |
dataset/tools/repair_tools/a19b0e95c0f8596d9fe33fa7358a8278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8598 |
dataset/tools/repair_tools/a1b8656b9ea152eeaa73903a684c9e2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8596 |
dataset/tools/repair_tools/a0ecf0d2a44c5bb79b9d05e73070b1b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8597 |
dataset/tools/repair_tools/a19b0e95c0f8596d9fe33fa7358a8278/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8598 |
dataset/tools/repair_tools/a1b8656b9ea152eeaa73903a684c9e2b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8599 |
+
dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,769 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body and handle",
|
| 5 |
+
"mask_color": "Navy",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the glue gun",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body near the grip to stabilize the tool during use",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the rear body to place the glue gun into storage",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal heating and feed mechanism",
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| 24 |
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"support one-handed tool control",
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| 25 |
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"provide structural frame"
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| 26 |
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],
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{
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{
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{
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],
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|
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|
| 727 |
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}
|
| 729 |
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}
|
| 730 |
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},
|
| 731 |
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{
|
| 732 |
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"part_name": "nozzle mount and front collar",
|
| 733 |
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"mask_color": "Gray",
|
| 734 |
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"graspable": false,
|
| 735 |
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"grasp_scenarios": [],
|
| 736 |
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"functional_labels": [
|
| 737 |
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"support the heated nozzle assembly",
|
| 738 |
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"form the front outlet housing",
|
| 739 |
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"position the glue outlet at the tip"
|
| 740 |
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],
|
| 741 |
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"semantic_description": "Light beige to off-white conical front collar around the outlet area, with a smooth hard surface at the front of the glue gun; it is not a bare metallic nozzle.",
|
| 742 |
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"id": 15,
|
| 743 |
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"grasp_group": {}
|
| 744 |
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},
|
| 745 |
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{
|
| 746 |
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"part_name": "handle end cap",
|
| 747 |
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"mask_color": "Purple",
|
| 748 |
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"graspable": true,
|
| 749 |
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"grasp_scenarios": [
|
| 750 |
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{
|
| 751 |
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"scenario": "pinch the rounded handle base to help lift or steady the glue gun while another gripper supports the body",
|
| 752 |
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|
| 753 |
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}
|
| 754 |
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],
|
| 755 |
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"functional_labels": [
|
| 756 |
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"finish the handle end",
|
| 757 |
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"cover the end of the housing",
|
| 758 |
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"provide minor impact protection"
|
| 759 |
+
],
|
| 760 |
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"semantic_description": "Small purple-blue plastic cap at the bottom rear of the handle, with a smooth rounded contour integrated into the grip base.",
|
| 761 |
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"id": 5,
|
| 762 |
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"grasp_group": {}
|
| 763 |
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}
|
| 764 |
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],
|
| 765 |
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"quality_check": {
|
| 766 |
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"success": false,
|
| 767 |
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"message": "Nozzle/front collar color and material are wrong; trigger color is wrong; handle end cap description color is inaccurate."
|
| 768 |
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}
|
| 769 |
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}
|
dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9aaebc6304d621dbab08338dc764d5da7087cb0eb716ddbeb442a2a4801d211e
|
| 3 |
+
size 3827448
|
dataset/tools/repair_tools/a4eddb45075f56718883e88e2bd4af2d/glue_gun_028.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>6</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":"Over-fragmented glue gun; body/handle surfaces split into several colors without clear functional boundaries.","merge_groups":[{"colors":["Yellow","Gray"],"target_part":"wire stand","reason":"same fold-out support split into tip and base"},{"colors":["Lime Green","Navy"],"target_part":"rear feed and collar assembly","reason":"same glue-stick inlet area split inconsistently"},{"colors":["Purple","Navy"],"target_part":"handle/body housing","reason":"small cap patch is nonfunctional housing fragment"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|