Add asset tools/repair_tools/17fc4f0161ba5a19889ef9dec6d606a1
Browse files
.gitattributes
CHANGED
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@@ -7805,4 +7805,4 @@ dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/affordance/mesh_part
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| 7805 |
dataset/tools/repair_tools/133274a15f275f2581c3a41fec0bc511/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7806 |
dataset/tools/repair_tools/143e6a9bdcef5dd190b23c1e009b2550/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7807 |
dataset/tools/repair_tools/16e9149317e75e4592012349bedd3b69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7808 |
-
dataset/tools/repair_tools/
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| 7805 |
dataset/tools/repair_tools/133274a15f275f2581c3a41fec0bc511/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7806 |
dataset/tools/repair_tools/143e6a9bdcef5dd190b23c1e009b2550/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7807 |
dataset/tools/repair_tools/16e9149317e75e4592012349bedd3b69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7808 |
+
dataset/tools/repair_tools/17fc4f0161ba5a19889ef9dec6d606a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/17fc4f0161ba5a19889ef9dec6d606a1/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
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| 2 |
+
"affordances": [
|
| 3 |
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{
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{
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},
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{
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| 21 |
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| 22 |
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}
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},
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{
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"part_name": "yellow handle grip",
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| 305 |
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{
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| 306 |
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"scenario": "grasp this coated handle to pick up and manipulate the pliers",
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| 308 |
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},
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| 309 |
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{
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| 310 |
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"scenario": "hold this handle while a second gripper or fixture controls the opposite handle to open or close the jaws",
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| 311 |
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}
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| 313 |
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],
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"provide a gripping surface",
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| 317 |
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"support tool handling",
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| 318 |
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"improve user comfort and traction"
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| 319 |
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],
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| 320 |
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"semantic_description": "Long yellow coated handle grip with a matte slightly rubbery ribbed surface, gently curved and slender, extending from the pivot to the rear as one of the two main grips.",
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| 321 |
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|
| 810 |
+
"grasp_group": {}
|
| 811 |
+
},
|
| 812 |
+
{
|
| 813 |
+
"part_name": "pivot fastener",
|
| 814 |
+
"mask_color": "Orange",
|
| 815 |
+
"graspable": false,
|
| 816 |
+
"grasp_scenarios": [],
|
| 817 |
+
"functional_labels": [
|
| 818 |
+
"secure the pivot joint",
|
| 819 |
+
"allow rotational articulation",
|
| 820 |
+
"maintain alignment of head and handles"
|
| 821 |
+
],
|
| 822 |
+
"semantic_description": "Tiny metallic fastener at the center pivot, silver-gray and slightly reflective with a hard smooth finish, appearing as a small circular connector on the tool joint.",
|
| 823 |
+
"id": 4,
|
| 824 |
+
"grasp_group": {}
|
| 825 |
+
}
|
| 826 |
+
],
|
| 827 |
+
"quality_check": {
|
| 828 |
+
"success": false,
|
| 829 |
+
"message": "Handle colors are swapped with mask mappings; red mask is green handle and green mask is yellow handle."
|
| 830 |
+
}
|
| 831 |
+
}
|
dataset/tools/repair_tools/17fc4f0161ba5a19889ef9dec6d606a1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c3e3af9f9d3d7ad016fca3ae257ba7e199a8c0c23aa1fac3986220e141a9f02c
|
| 3 |
+
size 3780944
|