Add asset tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3
Browse files- .gitattributes +1 -1
- dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/affordance_annot.json +875 -0
- dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/mesh_part_seg.glb +3 -0
- dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/glue_gun_027.urdf +2 -2
.gitattributes
CHANGED
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@@ -7855,4 +7855,4 @@ dataset/tools/repair_tools/4baa7288d5ea570182dc6aa28f54feff/affordance/mesh_part
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| 7855 |
dataset/tools/repair_tools/4c819b681a5150f0b78550ccc58f185a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7856 |
dataset/tools/repair_tools/4ce4e433867953f09469a159065796b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7857 |
dataset/tools/repair_tools/4d88fddfe12e5b14a777db1772397d8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7858 |
-
dataset/tools/repair_tools/
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| 7855 |
dataset/tools/repair_tools/4c819b681a5150f0b78550ccc58f185a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7856 |
dataset/tools/repair_tools/4ce4e433867953f09469a159065796b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7857 |
dataset/tools/repair_tools/4d88fddfe12e5b14a777db1772397d8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7858 |
+
dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,875 @@
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|
| 1 |
+
{
|
| 2 |
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| 3 |
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{
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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{
|
| 9 |
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| 10 |
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| 11 |
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},
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| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize the tool during inspection or storage",
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| 14 |
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| 15 |
+
}
|
| 16 |
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],
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| 17 |
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| 18 |
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"enclose internal heater and feed mechanism",
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| 19 |
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"support the tool structure",
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| 20 |
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"protect internal components"
|
| 21 |
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],
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| 22 |
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| 23 |
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| 24 |
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{
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{
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| 209 |
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"scenario": "grasp the handle to lift and carry the glue gun",
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| 211 |
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},
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| 212 |
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{
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| 213 |
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| 214 |
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},
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| 216 |
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{
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| 217 |
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| 219 |
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}
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| 220 |
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],
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| 225 |
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| 226 |
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| 227 |
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],
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+
}
|
| 792 |
+
},
|
| 793 |
+
"grasp_37": {
|
| 794 |
+
"confidence": 0.8477255702018738,
|
| 795 |
+
"position": [
|
| 796 |
+
-0.12269761844072491,
|
| 797 |
+
0.07542785862460732,
|
| 798 |
+
-0.00012832255742978305
|
| 799 |
+
],
|
| 800 |
+
"orientation": {
|
| 801 |
+
"w": 0.6851179804913302,
|
| 802 |
+
"xyz": [
|
| 803 |
+
0.18601288087316584,
|
| 804 |
+
0.6816674755534063,
|
| 805 |
+
-0.1770367581306003
|
| 806 |
+
]
|
| 807 |
+
}
|
| 808 |
+
},
|
| 809 |
+
"grasp_38": {
|
| 810 |
+
"confidence": 0.8387588858604431,
|
| 811 |
+
"position": [
|
| 812 |
+
-0.12405865325126797,
|
| 813 |
+
0.0676912129856646,
|
| 814 |
+
-0.0044191867200424895
|
| 815 |
+
],
|
| 816 |
+
"orientation": {
|
| 817 |
+
"w": 0.16503628965564476,
|
| 818 |
+
"xyz": [
|
| 819 |
+
0.6678607431666451,
|
| 820 |
+
-0.14957225386098005,
|
| 821 |
+
0.7101782816367601
|
| 822 |
+
]
|
| 823 |
+
}
|
| 824 |
+
},
|
| 825 |
+
"grasp_39": {
|
| 826 |
+
"confidence": 0.7991424798965454,
|
| 827 |
+
"position": [
|
| 828 |
+
-0.12247693969402462,
|
| 829 |
+
0.07466675946488976,
|
| 830 |
+
-0.010621935696690343
|
| 831 |
+
],
|
| 832 |
+
"orientation": {
|
| 833 |
+
"w": 0.19633199182039487,
|
| 834 |
+
"xyz": [
|
| 835 |
+
0.6423423658443196,
|
| 836 |
+
-0.15009209941934887,
|
| 837 |
+
0.7254808031376511
|
| 838 |
+
]
|
| 839 |
+
}
|
| 840 |
+
}
|
| 841 |
+
}
|
| 842 |
+
},
|
| 843 |
+
{
|
| 844 |
+
"part_name": "rear end cap",
|
| 845 |
+
"mask_color": "Cyan",
|
| 846 |
+
"graspable": false,
|
| 847 |
+
"grasp_scenarios": [],
|
| 848 |
+
"functional_labels": [
|
| 849 |
+
"finish the rear end of the handle",
|
| 850 |
+
"provide a contact surface at the base"
|
| 851 |
+
],
|
| 852 |
+
"semantic_description": "Rounded blue base cap at the bottom of the handle with a lighter cyan underside, made of smooth hard plastic and forming the handle's rear base.",
|
| 853 |
+
"id": 6,
|
| 854 |
+
"grasp_group": {}
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"part_name": "fastener or pivot point",
|
| 858 |
+
"mask_color": "Gray",
|
| 859 |
+
"graspable": false,
|
| 860 |
+
"grasp_scenarios": [],
|
| 861 |
+
"functional_labels": [
|
| 862 |
+
"secure assembled parts",
|
| 863 |
+
"provide a pivot or mounting point",
|
| 864 |
+
"join structural components"
|
| 865 |
+
],
|
| 866 |
+
"semantic_description": "Small dark circular hardware-like detail embedded on the side of the handle or rear body, with a slightly matte finish.",
|
| 867 |
+
"id": 15,
|
| 868 |
+
"grasp_group": {}
|
| 869 |
+
}
|
| 870 |
+
],
|
| 871 |
+
"quality_check": {
|
| 872 |
+
"success": false,
|
| 873 |
+
"message": "Several mask-color mappings and one part identity are wrong; stand and side panel colors mismatch, nozzle color wrong, glue stick shares white mask."
|
| 874 |
+
}
|
| 875 |
+
}
|
dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6fa933bc131496bc2e9b1d851754c379cc3a1a01006876a71619e52f6fa38287
|
| 3 |
+
size 3840104
|
dataset/tools/repair_tools/4fc16c988e2c568aa6010d3bc713fba3/glue_gun_027.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>NO: {"summary":"
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>9</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":"Over-fragmented; main housing, handle, stand and nozzle are split across many colors without distinct functional roles.","merge_groups":[{"colors":["Navy","Maroon","Brown"],"target_part":"main body and handle housing","reason":"Same outer shell surfaces split by view-dependent patches"},{"colors":["Cyan","White"],"target_part":"rear end cap/base","reason":"Same rear cap area fragmented into two colors"},{"colors":["Lime Green","Gray"],"target_part":"front nozzle assembly","reason":"Adjacent nozzle collar and tip treated as one functional unit"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|