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Add asset tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a

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  1. .gitattributes +1 -0
  2. dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/affordance_annot.json +690 -0
  3. dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/glue_gun_018.urdf +4 -3
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dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/affordance_annot.json ADDED
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+ "mask_color": "Lime Green",
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+ "functional_labels": [
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+ "support the nozzle assembly",
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+ "surround the heated front section",
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+ "connect the nozzle region to the body"
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+ ],
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+ "semantic_description": "Bulky dark gray front collar with a matte smooth finish, wrapped around the front nose of the glue gun as a short rounded shroud behind the tip.",
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+ "id": 9,
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+ "grasp_group": {}
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+ },
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+ {
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+ "part_name": "trigger",
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+ "mask_color": "Burnt Orange",
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+ {
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+ "confidence": 0.9
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+ "scenario": "lightly contact the trigger while positioning the tool for operation",
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+ "confidence": 0.35
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+ }
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+ ],
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+ "functional_labels": [
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+ "actuate glue feed",
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+ "id": 18,
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+ "scenario": "push the glue stick forward during feeding or reloading",
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+ "confidence": 0.71
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+ }
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+ ],
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+ "functional_labels": [
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+ "supply adhesive material",
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+ "feed into the heater",
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619
+ ],
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+ "semantic_description": "White cylindrical glue stick segment with a smooth slightly translucent appearance, protruding from the rear feed port as a short round rod.",
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+ "id": 19,
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+ },
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+ {
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+ "functional_labels": [
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+ "switch power on or off",
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+ "control electrical operation",
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+ "provide a user control point"
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+ ],
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+ "semantic_description": "Small dark switch with a slightly glossy face, inset near the lower rear of the handle/base area as a compact rectangular control.",
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+ "id": 6,
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+ "grasp_group": {}
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+ },
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+ {
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+ "part_name": "glue feed guide",
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+ "mask_color": "Teal",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "guide glue stick movement",
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+ "support the feed mechanism",
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+ "transmit trigger-driven motion"
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+ ],
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+ "semantic_description": "Small internal component visible through the side opening near the glue stick channel, appearing as a narrow hard-plastic piece inside the feed path.",
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+ "id": 10,
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+ "grasp_group": {}
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+ }
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+ ],
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+ "quality_check": {
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+ "success": false,
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+ "message": "Mask-color/part matches are wrong for several parts, especially nozzle, collar, switch, and feed guide."
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+ }
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+ }
dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/affordance/mesh_part_seg.glb ADDED
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dataset/tools/repair_tools/afac61203cfe5344b13a5cfa6231b84a/glue_gun_018.urdf CHANGED
@@ -50,16 +50,17 @@
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  </link>
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  <custom_data>
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  <affordance>
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- <part_count>0</part_count>
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  <visual_seg>
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  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
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  </geometry>
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  </affordance>
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  <quality>
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- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>
 
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  </link>
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  <custom_data>
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  <affordance>
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+ <part_count>8</part_count>
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  <visual_seg>
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  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
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+ <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
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+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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  </affordance>
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  <quality>
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+ <PartSegChecker>NO: {"summary":"Main housing, grip, nozzle, switch and trigger are overfragmented and inconsistently colored across views.","merge_groups":[{"colors":["Blue","Purple"],"target_part":"grip pads","reason":"Same rubber grip surfaces split across handle views"},{"colors":["Lime Green","Burnt Orange"],"target_part":"front nozzle collar","reason":"Same front cylindrical collar split inconsistently"},{"colors":["Maroon","Crimson"],"target_part":"main body shell","reason":"Same outer housing broken into multiple colors"}]}</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>