Add asset tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe
Browse files
.gitattributes
CHANGED
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@@ -7943,4 +7943,4 @@ dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/affordance/mesh_part
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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/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7946 |
-
dataset/tools/repair_tools/
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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/f23b48038a9051a696eefef0b6b2d2d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7946 |
+
dataset/tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
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"affordances": [
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| 3 |
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{
|
| 4 |
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"part_name": "plier jaws",
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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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"scenario": "pinch the jaw area lightly to stabilize the pliers during inspection or reorientation",
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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": "hook or pinch the jaw tip to drag the tool slightly from a bin",
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| 14 |
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"confidence": 0.3
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| 15 |
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}
|
| 16 |
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],
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| 17 |
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"functional_labels": [
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| 18 |
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"grip workpieces",
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| 19 |
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"apply pinching force",
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| 20 |
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"hold small parts",
|
| 21 |
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"provide serrated contact surface"
|
| 22 |
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],
|
| 23 |
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"semantic_description": "Tapered silver metal jaws at the front of the pliers with a reflective finish, narrow elongated shape, and visible serrated gripping teeth near the tip.",
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| 24 |
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| 25 |
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| 26 |
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},
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}
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| 234 |
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}
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| 235 |
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},
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| 236 |
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{
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| 237 |
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"part_name": "left handle grip",
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| 238 |
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| 239 |
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| 240 |
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| 241 |
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{
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| 242 |
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"scenario": "grasp one handle to pick up and reposition the pliers",
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| 243 |
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"confidence": 0.76
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| 244 |
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},
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| 245 |
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{
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| 246 |
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"scenario": "hold one handle while another manipulator actuates the opposite handle",
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| 247 |
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"confidence": 0.61
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| 248 |
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},
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| 249 |
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{
|
| 250 |
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"scenario": "grasp both closed handles together near this side for secure pickup",
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| 251 |
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"confidence": 0.82
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| 252 |
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}
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| 253 |
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],
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| 254 |
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"functional_labels": [
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"provide handhold",
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| 256 |
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"transmit squeezing force",
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"support tool pickup",
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| 258 |
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"improve grip comfort"
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| 259 |
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],
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| 260 |
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"semantic_description": "Long curved handle with a dark gray rubber-coated outer surface and mint-green inner insert, matte finish, and medium thickness extending from one side of the pivot.",
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| 261 |
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"id": 2,
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| 262 |
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"w": 0.06941009521461333,
|
| 797 |
+
"xyz": [
|
| 798 |
+
0.7084261715872525,
|
| 799 |
+
0.05956694630973558,
|
| 800 |
+
-0.699833106533165
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
}
|
| 804 |
+
}
|
| 805 |
+
},
|
| 806 |
+
{
|
| 807 |
+
"part_name": "pivot joint",
|
| 808 |
+
"mask_color": "Lime Green",
|
| 809 |
+
"graspable": false,
|
| 810 |
+
"grasp_scenarios": [],
|
| 811 |
+
"functional_labels": [
|
| 812 |
+
"connect the two halves",
|
| 813 |
+
"enable rotational motion",
|
| 814 |
+
"transfer force between handles and jaws",
|
| 815 |
+
"set opening axis"
|
| 816 |
+
],
|
| 817 |
+
"semantic_description": "Small round silver metal rivet joint at the center of the pliers, slightly reflective and smooth, with a visible circular fastener head.",
|
| 818 |
+
"id": 9,
|
| 819 |
+
"grasp_group": {}
|
| 820 |
+
},
|
| 821 |
+
{
|
| 822 |
+
"part_name": "cutting edge",
|
| 823 |
+
"mask_color": "Navy",
|
| 824 |
+
"graspable": false,
|
| 825 |
+
"grasp_scenarios": [],
|
| 826 |
+
"functional_labels": [
|
| 827 |
+
"cut wire",
|
| 828 |
+
"shear thin material",
|
| 829 |
+
"provide sharp cutting edges"
|
| 830 |
+
],
|
| 831 |
+
"semantic_description": "Small dark metal cutting section located near the jaw pivot between the jaws, appearing recessed and sharper than the gripping teeth.",
|
| 832 |
+
"id": 13,
|
| 833 |
+
"grasp_group": {}
|
| 834 |
+
},
|
| 835 |
+
{
|
| 836 |
+
"part_name": "handle guard / bolster",
|
| 837 |
+
"mask_color": "Maroon",
|
| 838 |
+
"graspable": false,
|
| 839 |
+
"grasp_scenarios": [],
|
| 840 |
+
"functional_labels": [
|
| 841 |
+
"reinforce handle-to-head transition",
|
| 842 |
+
"provide finger stop",
|
| 843 |
+
"stabilize structure"
|
| 844 |
+
],
|
| 845 |
+
"semantic_description": "Small silver metal shoulder at the base of the head near the pivot, forming a short guard-like transition between the metal body and the handles.",
|
| 846 |
+
"id": 12,
|
| 847 |
+
"grasp_group": {}
|
| 848 |
+
},
|
| 849 |
+
{
|
| 850 |
+
"part_name": "leaf spring",
|
| 851 |
+
"mask_color": "Orange",
|
| 852 |
+
"graspable": false,
|
| 853 |
+
"grasp_scenarios": [],
|
| 854 |
+
"functional_labels": [
|
| 855 |
+
"bias the handles open",
|
| 856 |
+
"assist reopening after squeezing",
|
| 857 |
+
"maintain separation between handles"
|
| 858 |
+
],
|
| 859 |
+
"semantic_description": "Small dark metal spring element near the pivot between the handles, with a bent strip-like appearance and slightly reflective finish.",
|
| 860 |
+
"id": 4,
|
| 861 |
+
"grasp_group": {}
|
| 862 |
+
}
|
| 863 |
+
],
|
| 864 |
+
"quality_check": {
|
| 865 |
+
"success": false,
|
| 866 |
+
"message": "Several mask-color identities are wrong; bolster and cutting-edge descriptions/functions do not match segmented parts."
|
| 867 |
+
}
|
| 868 |
+
}
|
dataset/tools/repair_tools/f41fd13462285916b4f3e939f1ca7efe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24f5b829c70173721fa6868dc3abe329b051993dbc48795a0af5c4aabcfa14e2
|
| 3 |
+
size 3765876
|