Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
xinjjj commited on
Commit
704f300
·
verified ·
1 Parent(s): 76c5b89

Add asset tools/repair_tools/05fe35022db45322a23d7ff3a82cb995

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/affordance_annot.json +774 -0
  3. dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb +3 -0
  4. dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/glue_gun_029.urdf +4 -3
.gitattributes CHANGED
@@ -7792,4 +7792,4 @@ dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordanc
7792
  dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7793
  dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7794
  dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7795
- dataset/tools/repair_tools/0432ab9029565606a56b0222dea9bf69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7792
  dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7793
  dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7794
  dataset/tools/repair_tools/00d0ecd0e37a5264b0f660dc7ad2ec21/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7795
+ dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/affordance_annot.json ADDED
@@ -0,0 +1,774 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main housing",
5
+ "mask_color": "Crimson",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main housing to pick up and reposition the glue gun",
10
+ "confidence": 0.74
11
+ },
12
+ {
13
+ "scenario": "hold the barrel area to stabilize the tool during loading or inspection",
14
+ "confidence": 0.58
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "enclose internal heater and feed mechanism",
19
+ "support connected parts",
20
+ "main structural body",
21
+ "guide tool orientation"
22
+ ],
23
+ "semantic_description": "Large olive-green plastic body with a matte smooth surface and white printed branding, forming the central barrel and frame of the glue gun.",
24
+ "id": 16,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "handle",
29
+ "mask_color": "Maroon",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the handle to lift and carry the glue gun",
34
+ "confidence": 0.95
35
+ },
36
+ {
37
+ "scenario": "hold the handle to orient the nozzle for dispensing glue",
38
+ "confidence": 0.93
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "primary grip",
43
+ "support one-handed use",
44
+ "control tool orientation",
45
+ "carry the tool"
46
+ ],
47
+ "semantic_description": "Curved olive-green plastic handle with a matte surface, projecting downward from the body and ending in a rounded hook-like butt with a hanging hole.",
48
+ "id": 12,
49
+ "grasp_group": {
50
+ "grasp_40": {
51
+ "confidence": 0.9620386958122253,
52
+ "position": [
53
+ -0.12432281256769784,
54
+ -0.018487854744307697,
55
+ 0.0027984803200524766
56
+ ],
57
+ "orientation": {
58
+ "w": 0.6954705468174852,
59
+ "xyz": [
60
+ -0.04468121503069922,
61
+ 0.7140824374190798,
62
+ 0.06641219844572417
63
+ ]
64
+ }
65
+ },
66
+ "grasp_41": {
67
+ "confidence": 0.9614053964614868,
68
+ "position": [
69
+ -0.11624473662232049,
70
+ 0.011510758777149022,
71
+ -0.005006954899727134
72
+ ],
73
+ "orientation": {
74
+ "w": 0.7271268967868421,
75
+ "xyz": [
76
+ 0.07956085301310696,
77
+ 0.6811900782554046,
78
+ -0.03060431216936377
79
+ ]
80
+ }
81
+ },
82
+ "grasp_42": {
83
+ "confidence": 0.9590761065483093,
84
+ "position": [
85
+ -0.11614899666165002,
86
+ -0.028944083373062313,
87
+ 0.0007030565648165066
88
+ ],
89
+ "orientation": {
90
+ "w": 0.6960615249869736,
91
+ "xyz": [
92
+ -0.08982825794529077,
93
+ 0.7009989175542612,
94
+ 0.126608669115022
95
+ ]
96
+ }
97
+ },
98
+ "grasp_43": {
99
+ "confidence": 0.9590689539909363,
100
+ "position": [
101
+ -0.1157070133194793,
102
+ 0.011486579780466855,
103
+ -0.001042252184561221
104
+ ],
105
+ "orientation": {
106
+ "w": 0.7155401673584224,
107
+ "xyz": [
108
+ 0.05539313405308598,
109
+ 0.6937887873666608,
110
+ -0.05992485394855995
111
+ ]
112
+ }
113
+ },
114
+ "grasp_44": {
115
+ "confidence": 0.9589595794677734,
116
+ "position": [
117
+ -0.11491360844229348,
118
+ -0.028557346086017787,
119
+ 0.0044657956932496745
120
+ ],
121
+ "orientation": {
122
+ "w": 0.1081623949691241,
123
+ "xyz": [
124
+ -0.7130145750330641,
125
+ -0.08917355696330909,
126
+ -0.686992859383177
127
+ ]
128
+ }
129
+ },
130
+ "grasp_45": {
131
+ "confidence": 0.9585935473442078,
132
+ "position": [
133
+ -0.11698469848488458,
134
+ -0.006307912874035537,
135
+ 0.00206859606623766
136
+ ],
137
+ "orientation": {
138
+ "w": 0.6954011436044678,
139
+ "xyz": [
140
+ 0.005883810852532352,
141
+ 0.7178500087868122,
142
+ 0.03277186488779949
143
+ ]
144
+ }
145
+ },
146
+ "grasp_47": {
147
+ "confidence": 0.956748902797699,
148
+ "position": [
149
+ -0.11868600876186974,
150
+ 0.026528931339271367,
151
+ 0.002318691800610395
152
+ ],
153
+ "orientation": {
154
+ "w": 0.6921804087824095,
155
+ "xyz": [
156
+ 0.12963128736236676,
157
+ 0.7036739893739486,
158
+ -0.09447183555506673
159
+ ]
160
+ }
161
+ },
162
+ "grasp_48": {
163
+ "confidence": 0.9561783075332642,
164
+ "position": [
165
+ 0.1530646723404061,
166
+ 0.0729163094656542,
167
+ -0.005693073744623689
168
+ ],
169
+ "orientation": {
170
+ "w": 0.11853164205908256,
171
+ "xyz": [
172
+ 0.6926440700983794,
173
+ 0.06463168671679465,
174
+ -0.7085317121064313
175
+ ]
176
+ }
177
+ },
178
+ "grasp_49": {
179
+ "confidence": 0.9551764726638794,
180
+ "position": [
181
+ -0.12445270598982461,
182
+ -0.00848561234306544,
183
+ -0.0006349645664158743
184
+ ],
185
+ "orientation": {
186
+ "w": 0.046628801801862504,
187
+ "xyz": [
188
+ -0.6980591043116834,
189
+ -0.03357579594792848,
190
+ -0.7137309770890964
191
+ ]
192
+ }
193
+ },
194
+ "grasp_50": {
195
+ "confidence": 0.9544382095336914,
196
+ "position": [
197
+ 0.15541159032727592,
198
+ 0.0190864383475855,
199
+ -0.009283885254262714
200
+ ],
201
+ "orientation": {
202
+ "w": 0.09801664608381287,
203
+ "xyz": [
204
+ -0.6820228321352076,
205
+ 0.08787782802997779,
206
+ 0.7193852103549838
207
+ ]
208
+ }
209
+ },
210
+ "grasp_51": {
211
+ "confidence": 0.9527251720428467,
212
+ "position": [
213
+ 0.15466943799401633,
214
+ 0.08109361969400197,
215
+ -0.0031646859242755454
216
+ ],
217
+ "orientation": {
218
+ "w": 0.706658654958792,
219
+ "xyz": [
220
+ 0.08237604876607121,
221
+ -0.6863355476079466,
222
+ 0.15096770532541778
223
+ ]
224
+ }
225
+ },
226
+ "grasp_52": {
227
+ "confidence": 0.9522963166236877,
228
+ "position": [
229
+ 0.1512936991348397,
230
+ 0.07902796857524663,
231
+ -0.007542931369243888
232
+ ],
233
+ "orientation": {
234
+ "w": 0.17399874471996138,
235
+ "xyz": [
236
+ 0.6908854758183967,
237
+ 0.03115964165811136,
238
+ -0.7010212356774961
239
+ ]
240
+ }
241
+ },
242
+ "grasp_54": {
243
+ "confidence": 0.9508134722709656,
244
+ "position": [
245
+ 0.15121484218980186,
246
+ 0.08946839265991002,
247
+ 0.009025826224387856
248
+ ],
249
+ "orientation": {
250
+ "w": 0.6909261580485476,
251
+ "xyz": [
252
+ 0.21453054989826234,
253
+ -0.6860349997852957,
254
+ 0.07716000488732472
255
+ ]
256
+ }
257
+ },
258
+ "grasp_55": {
259
+ "confidence": 0.9507563710212708,
260
+ "position": [
261
+ 0.15290600477601402,
262
+ 0.0872246652143076,
263
+ -0.0027931426993745845
264
+ ],
265
+ "orientation": {
266
+ "w": 0.6998551285693971,
267
+ "xyz": [
268
+ 0.12447629963644569,
269
+ -0.6911002496988811,
270
+ 0.13072449927261093
271
+ ]
272
+ }
273
+ },
274
+ "grasp_57": {
275
+ "confidence": 0.9497931003570557,
276
+ "position": [
277
+ 0.15253115116502158,
278
+ 0.06890314363408834,
279
+ -0.00470514910921338
280
+ ],
281
+ "orientation": {
282
+ "w": 0.7143009398671735,
283
+ "xyz": [
284
+ 0.029182780359475198,
285
+ -0.6802603610816398,
286
+ 0.16176641733202884
287
+ ]
288
+ }
289
+ }
290
+ }
291
+ },
292
+ {
293
+ "part_name": "grip pad",
294
+ "mask_color": "Lawn Green",
295
+ "graspable": true,
296
+ "grasp_scenarios": [
297
+ {
298
+ "scenario": "grasp over the rubberized grip area for a secure pick",
299
+ "confidence": 0.89
300
+ },
301
+ {
302
+ "scenario": "pinch the grip pad and back of handle to stabilize the tool",
303
+ "confidence": 0.81
304
+ }
305
+ ],
306
+ "functional_labels": [
307
+ "improve grip friction",
308
+ "increase handling comfort",
309
+ "stabilize hand placement"
310
+ ],
311
+ "semantic_description": "Dark gray rubber-like inset pads with a matte slightly textured surface on the handle sides, shaped as elongated grip panels for traction.",
312
+ "id": 24,
313
+ "grasp_group": {
314
+ "grasp_83": {
315
+ "confidence": 0.24462082982063293,
316
+ "position": [
317
+ 0.061846156109822914,
318
+ 0.13150988065171987,
319
+ -0.005912569711654214
320
+ ],
321
+ "orientation": {
322
+ "w": 0.4215442253987084,
323
+ "xyz": [
324
+ 0.5863249949245809,
325
+ 0.36885123498599914,
326
+ -0.5852112719428738
327
+ ]
328
+ }
329
+ },
330
+ "grasp_85": {
331
+ "confidence": 0.5373101234436035,
332
+ "position": [
333
+ 0.05217576815630309,
334
+ 0.1287140800850466,
335
+ 0.030007233948708745
336
+ ],
337
+ "orientation": {
338
+ "w": 0.5052881880396596,
339
+ "xyz": [
340
+ 0.5086117186376672,
341
+ -0.602181903172339,
342
+ 0.35124766502252547
343
+ ]
344
+ }
345
+ },
346
+ "grasp_86": {
347
+ "confidence": 0.2694550156593323,
348
+ "position": [
349
+ 0.07723538993741386,
350
+ 0.034424877841956913,
351
+ -0.09244932410001638
352
+ ],
353
+ "orientation": {
354
+ "w": 0.5636447275738009,
355
+ "xyz": [
356
+ -0.17807227604474712,
357
+ -0.15425773575520763,
358
+ 0.7917066606655369
359
+ ]
360
+ }
361
+ },
362
+ "grasp_91": {
363
+ "confidence": 0.6198411583900452,
364
+ "position": [
365
+ 0.0063420468650292605,
366
+ 0.12943587743211538,
367
+ 0.032337108732463093
368
+ ],
369
+ "orientation": {
370
+ "w": 0.3723156623037231,
371
+ "xyz": [
372
+ 0.6095382906609791,
373
+ -0.5268920473678629,
374
+ 0.4606830691939234
375
+ ]
376
+ }
377
+ },
378
+ "grasp_93": {
379
+ "confidence": 0.43893611431121826,
380
+ "position": [
381
+ 0.08348173319245689,
382
+ 0.03266242437530309,
383
+ -0.09543334868430975
384
+ ],
385
+ "orientation": {
386
+ "w": 0.8112682274537699,
387
+ "xyz": [
388
+ 0.1258203090945762,
389
+ -0.17825371778880084,
390
+ -0.5424377614416552
391
+ ]
392
+ }
393
+ },
394
+ "grasp_94": {
395
+ "confidence": 0.4228397011756897,
396
+ "position": [
397
+ 0.03775103433872573,
398
+ 0.01469723240006715,
399
+ -0.10431727197646978
400
+ ],
401
+ "orientation": {
402
+ "w": 0.5909227141532797,
403
+ "xyz": [
404
+ -0.03878523938598526,
405
+ 0.04578013030631989,
406
+ 0.8044937729856146
407
+ ]
408
+ }
409
+ },
410
+ "grasp_96": {
411
+ "confidence": 0.23599514365196228,
412
+ "position": [
413
+ 0.12674999653245322,
414
+ 0.05532869615126401,
415
+ -0.05239578139662626
416
+ ],
417
+ "orientation": {
418
+ "w": 0.7379202246266013,
419
+ "xyz": [
420
+ 0.3534682779971188,
421
+ -0.3416604957544638,
422
+ -0.4623873097064746
423
+ ]
424
+ }
425
+ }
426
+ }
427
+ },
428
+ {
429
+ "part_name": "trigger",
430
+ "mask_color": "Hot Pink",
431
+ "graspable": true,
432
+ "grasp_scenarios": [
433
+ {
434
+ "scenario": "delicately pinch the trigger to actuate glue feed",
435
+ "confidence": 0.64
436
+ },
437
+ {
438
+ "scenario": "lightly contact the trigger while holding the handle during operation",
439
+ "confidence": 0.36
440
+ }
441
+ ],
442
+ "functional_labels": [
443
+ "feed glue stick",
444
+ "control glue flow",
445
+ "actuate internal mechanism"
446
+ ],
447
+ "semantic_description": "Dark charcoal plastic trigger with a matte surface, smoothly curved and hanging inside the handle opening beneath the body.",
448
+ "id": 23,
449
+ "grasp_group": {
450
+ "grasp_62": {
451
+ "confidence": 0.977314829826355,
452
+ "position": [
453
+ -0.12258480818127282,
454
+ -0.05557832575868815,
455
+ 0.03634823683023569
456
+ ],
457
+ "orientation": {
458
+ "w": 0.03282775103131278,
459
+ "xyz": [
460
+ 0.8187858158824449,
461
+ 0.017904399170914465,
462
+ 0.5728800563488606
463
+ ]
464
+ }
465
+ },
466
+ "grasp_64": {
467
+ "confidence": 0.9641721248626709,
468
+ "position": [
469
+ -0.11459488750551827,
470
+ -0.09450065798591822,
471
+ 0.03552403125286219
472
+ ],
473
+ "orientation": {
474
+ "w": 0.16489083842798313,
475
+ "xyz": [
476
+ -0.8286578362137826,
477
+ -0.0978714419276393,
478
+ -0.5258881846353016
479
+ ]
480
+ }
481
+ },
482
+ "grasp_76": {
483
+ "confidence": 0.9707518219947815,
484
+ "position": [
485
+ -0.1086204084858764,
486
+ -0.10473277128767222,
487
+ 0.025081450225115987
488
+ ],
489
+ "orientation": {
490
+ "w": 0.12084613029120118,
491
+ "xyz": [
492
+ -0.7412519213067174,
493
+ -0.22522450446318842,
494
+ -0.6206574937451843
495
+ ]
496
+ }
497
+ },
498
+ "grasp_78": {
499
+ "confidence": 0.940793514251709,
500
+ "position": [
501
+ -0.08342785717104562,
502
+ -0.12333491898607463,
503
+ 0.037961686135531636
504
+ ],
505
+ "orientation": {
506
+ "w": 0.5397966379380811,
507
+ "xyz": [
508
+ -0.4139849671719369,
509
+ 0.7050855509158669,
510
+ 0.20022587873714598
511
+ ]
512
+ }
513
+ },
514
+ "grasp_79": {
515
+ "confidence": 0.923687756061554,
516
+ "position": [
517
+ -0.06024597541545518,
518
+ -0.049615693162195385,
519
+ 0.09121534797668573
520
+ ],
521
+ "orientation": {
522
+ "w": 0.1986279879760386,
523
+ "xyz": [
524
+ -0.07377979765918868,
525
+ 0.9770114557664528,
526
+ -0.02349636463533734
527
+ ]
528
+ }
529
+ }
530
+ }
531
+ },
532
+ {
533
+ "part_name": "glue stick",
534
+ "mask_color": "Brown",
535
+ "graspable": true,
536
+ "grasp_scenarios": [
537
+ {
538
+ "scenario": "grasp the exposed glue stick to insert or pull it for loading",
539
+ "confidence": 0.87
540
+ },
541
+ {
542
+ "scenario": "hold the protruding stick to advance it manually during setup",
543
+ "confidence": 0.63
544
+ }
545
+ ],
546
+ "functional_labels": [
547
+ "supply adhesive material",
548
+ "feed into heater",
549
+ "reload consumable"
550
+ ],
551
+ "semantic_description": "Beige translucent cylindrical glue stick with a smooth slightly glossy surface, long and narrow, protruding from the rear feed port.",
552
+ "id": 11,
553
+ "grasp_group": {
554
+ "grasp_20": {
555
+ "confidence": 0.9743304252624512,
556
+ "position": [
557
+ -0.11917135448311456,
558
+ -0.08343872881960124,
559
+ 0.0033809047781687696
560
+ ],
561
+ "orientation": {
562
+ "w": 0.6902024301349081,
563
+ "xyz": [
564
+ -0.03675359286214907,
565
+ 0.7190893037482445,
566
+ 0.07197466278111748
567
+ ]
568
+ }
569
+ },
570
+ "grasp_21": {
571
+ "confidence": 0.9664534330368042,
572
+ "position": [
573
+ -0.10756466121529229,
574
+ -0.12319756008218974,
575
+ 0.00675525480255601
576
+ ],
577
+ "orientation": {
578
+ "w": 0.21121549175382542,
579
+ "xyz": [
580
+ -0.7018541310530045,
581
+ -0.19072281407851188,
582
+ -0.6530035244598573
583
+ ]
584
+ }
585
+ },
586
+ "grasp_25": {
587
+ "confidence": 0.8903689980506897,
588
+ "position": [
589
+ -0.046317614178406075,
590
+ 0.16458493017125875,
591
+ -0.0021359733182180207
592
+ ],
593
+ "orientation": {
594
+ "w": 0.45432222282925105,
595
+ "xyz": [
596
+ 0.5219888795366953,
597
+ -0.4325180972638918,
598
+ 0.5779680121103039
599
+ ]
600
+ }
601
+ }
602
+ }
603
+ },
604
+ {
605
+ "part_name": "rear feed sleeve",
606
+ "mask_color": "Gray",
607
+ "graspable": false,
608
+ "grasp_scenarios": [],
609
+ "functional_labels": [
610
+ "guide glue stick",
611
+ "support rear loading opening",
612
+ "align feed path"
613
+ ],
614
+ "semantic_description": "Short light gray ring-like plastic collar with a matte smooth finish around the rear opening where the glue stick enters the gun body.",
615
+ "id": 15,
616
+ "grasp_group": {}
617
+ },
618
+ {
619
+ "part_name": "nozzle collar",
620
+ "mask_color": "Pink",
621
+ "graspable": false,
622
+ "grasp_scenarios": [],
623
+ "functional_labels": [
624
+ "hold nozzle assembly",
625
+ "insulate front connection",
626
+ "connect nozzle to body"
627
+ ],
628
+ "semantic_description": "Pink conical collar at the front of the body just behind the metal nozzle, with a smooth plastic appearance.",
629
+ "id": 8,
630
+ "grasp_group": {}
631
+ },
632
+ {
633
+ "part_name": "nozzle base",
634
+ "mask_color": "Yellow",
635
+ "graspable": false,
636
+ "grasp_scenarios": [],
637
+ "functional_labels": [
638
+ "support nozzle",
639
+ "transition heat path",
640
+ "connect nozzle tip to front assembly"
641
+ ],
642
+ "semantic_description": "Small yellow tapered base piece between the front collar and the silver nozzle tip.",
643
+ "id": 3,
644
+ "grasp_group": {}
645
+ },
646
+ {
647
+ "part_name": "nozzle",
648
+ "mask_color": "White",
649
+ "graspable": false,
650
+ "grasp_scenarios": [],
651
+ "functional_labels": [
652
+ "dispense melted glue",
653
+ "focus adhesive flow",
654
+ "apply adhesive precisely"
655
+ ],
656
+ "semantic_description": "Small silver metal nozzle with a slightly reflective smooth surface and tapered pointed shape at the front tip of the glue gun.",
657
+ "id": 17,
658
+ "grasp_group": {}
659
+ },
660
+ {
661
+ "part_name": "wire stand",
662
+ "mask_color": "Lime Green",
663
+ "graspable": true,
664
+ "grasp_scenarios": [
665
+ {
666
+ "scenario": "grasp the folded stand to flip it open or closed",
667
+ "confidence": 0.71
668
+ },
669
+ {
670
+ "scenario": "hold the wire stand lightly to stabilize the front during placement",
671
+ "confidence": 0.32
672
+ }
673
+ ],
674
+ "functional_labels": [
675
+ "support tool when set down",
676
+ "keep hot nozzle off surfaces",
677
+ "stabilize resting position"
678
+ ],
679
+ "semantic_description": "Thin bent silver wire stand with a smooth reflective metal finish, mounted near the nozzle and folding under the front of the gun.",
680
+ "id": 9,
681
+ "grasp_group": {
682
+ "grasp_10": {
683
+ "confidence": 0.5065955519676208,
684
+ "position": [
685
+ 0.0783639666333329,
686
+ 0.07106612913776189,
687
+ 0.08799677166462061
688
+ ],
689
+ "orientation": {
690
+ "w": 0.0901616848520616,
691
+ "xyz": [
692
+ -0.5297114296531322,
693
+ -0.8066731505635196,
694
+ 0.24607945879206922
695
+ ]
696
+ }
697
+ }
698
+ }
699
+ },
700
+ {
701
+ "part_name": "side switch",
702
+ "mask_color": "Cyan",
703
+ "graspable": false,
704
+ "grasp_scenarios": [],
705
+ "functional_labels": [
706
+ "toggle power or mode",
707
+ "provide user control",
708
+ "indicate control location"
709
+ ],
710
+ "semantic_description": "Small blue rectangular side control under the body near the front, flush-mounted with a smooth plastic look.",
711
+ "id": 6,
712
+ "grasp_group": {}
713
+ },
714
+ {
715
+ "part_name": "side label panel",
716
+ "mask_color": "Pink",
717
+ "graspable": false,
718
+ "grasp_scenarios": [],
719
+ "functional_labels": [
720
+ "display branding or model area",
721
+ "provide visual identification",
722
+ "decorate the housing side"
723
+ ],
724
+ "semantic_description": "Rounded rectangular side inset panel on the housing, appearing as a dark decorative label area on the real object.",
725
+ "id": 8,
726
+ "grasp_group": {}
727
+ },
728
+ {
729
+ "part_name": "side label border",
730
+ "mask_color": "Gold",
731
+ "graspable": false,
732
+ "grasp_scenarios": [],
733
+ "functional_labels": [
734
+ "frame label area",
735
+ "provide visual contrast",
736
+ "highlight branding zone"
737
+ ],
738
+ "semantic_description": "Thin yellow border surrounding the side label panel recess on the housing side.",
739
+ "id": 21,
740
+ "grasp_group": {}
741
+ },
742
+ {
743
+ "part_name": "side label insert",
744
+ "mask_color": "Deep Sky Blue",
745
+ "graspable": false,
746
+ "grasp_scenarios": [],
747
+ "functional_labels": [
748
+ "mark model or branding region",
749
+ "provide visual contrast",
750
+ "decorate side label"
751
+ ],
752
+ "semantic_description": "Small cyan insert centered within the side label panel on the housing side.",
753
+ "id": 22,
754
+ "grasp_group": {}
755
+ },
756
+ {
757
+ "part_name": "hanger hole",
758
+ "mask_color": "Navy",
759
+ "graspable": false,
760
+ "grasp_scenarios": [],
761
+ "functional_labels": [
762
+ "provide hanging point",
763
+ "enable storage"
764
+ ],
765
+ "semantic_description": "Small circular hole through the butt end of the handle for hanging or storage.",
766
+ "id": 13,
767
+ "grasp_group": {}
768
+ }
769
+ ],
770
+ "quality_check": {
771
+ "success": false,
772
+ "message": "Several part-mask/color identities are wrong; pink reused for different parts and cyan/gray/yellow parts misassigned."
773
+ }
774
+ }
dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8646c73902d29188a50cb0a57f8ac5db00c80fe21ee2db4c5d55dfdc8222251f
3
+ size 3830968
dataset/tools/repair_tools/05fe35022db45322a23d7ff3a82cb995/glue_gun_029.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>17</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; same functional surfaces are split into many colors across body and grip.","merge_groups":[{"colors":["Maroon","Pink","Gold","Teal"],"target_part":"main body housing","reason":"same outer shell split into decorative patches"},{"colors":["Lime Green","Blue","Navy"],"target_part":"handle grip","reason":"same grip surface divided into small regions"},{"colors":["Green","Yellow"],"target_part":"wire stand","reason":"same folded metal stand uses two colors"}]}</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>