Add asset tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0
Browse files
.gitattributes
CHANGED
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@@ -7942,4 +7942,4 @@ dataset/tools/repair_tools/ee6260c0621e54efae04e5e63a0e1b26/affordance/mesh_part
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| 7942 |
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7943 |
dataset/tools/repair_tools/f075e473766e5c668aae179924411bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7944 |
dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7945 |
-
dataset/tools/repair_tools/
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| 7942 |
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7943 |
dataset/tools/repair_tools/f075e473766e5c668aae179924411bb5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7944 |
dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7945 |
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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/affordance_annot.json
ADDED
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| 1 |
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{
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{
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| 11 |
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{
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| 22 |
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| 24 |
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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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],
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"semantic_description": "One elongated handle with green plastic/rubber edging and a dark gray textured grip surface, matte and slightly pebbled, smoothly curved and extending rearward from the pivot.",
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{
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| 1609 |
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"part_name": "outer handle pad",
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| 1610 |
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"mask_color": "Lime Green",
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| 1612 |
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| 1613 |
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{
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"scenario": "grasp the outer padded handle area to lift the pliers securely",
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"increase grip friction",
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"cushion hand contact",
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"support stable holding",
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| 1626 |
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"improve handling comfort"
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| 1627 |
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"semantic_description": "Dark gray rubberized pad on the outer face of a handle, matte and textured with a soft-touch appearance, broad and slightly raised along much of the handle length for traction.",
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| 1629 |
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}
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| 1742 |
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},
|
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"grasp_137": {
|
| 1744 |
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|
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],
|
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|
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]
|
| 1757 |
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}
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| 1758 |
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},
|
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"grasp_138": {
|
| 1760 |
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"confidence": 0.9303828477859497,
|
| 1761 |
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|
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|
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|
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0.0015462059491255786
|
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|
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|
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| 1774 |
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}
|
| 1775 |
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}
|
| 1776 |
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}
|
| 1777 |
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],
|
| 1778 |
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"quality_check": {
|
| 1779 |
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"success": false,
|
| 1780 |
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"message": "Jaw colors are swapped and handle parts are misidentified across masks."
|
| 1781 |
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}
|
| 1782 |
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}
|
dataset/tools/repair_tools/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:08de8517077b463dc49a84bd96cb16ebbbd1462b2bd93fedc0c44e34167616c0
|
| 3 |
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size 3785540
|