Add asset desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135
Browse files
.gitattributes
CHANGED
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@@ -6689,3 +6689,4 @@ dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/affordanc
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| 6689 |
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6690 |
dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6691 |
dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6689 |
dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6690 |
dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6691 |
dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6692 |
+
dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,474 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the magnifier",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to aim the lens over an object for inspection",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the magnifier while viewing",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"support lifting and carrying",
|
| 24 |
+
"position the magnifier",
|
| 25 |
+
"keep hand away from lens"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark navy or black plastic handle with a smooth matte surface, rounded elongated shape, attached to the lens frame.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.982857346534729,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
+
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|
| 35 |
+
-0.005050066523835994
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.7236029382009953,
|
| 39 |
+
"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9795742034912109,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.7230491446684102,
|
| 55 |
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"xyz": [
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| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_22": {
|
| 63 |
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"confidence": 0.9784095883369446,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.7324885584448803,
|
| 71 |
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"xyz": [
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_23": {
|
| 79 |
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"confidence": 0.9781328439712524,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.7266593933231414,
|
| 87 |
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"xyz": [
|
| 88 |
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-0.04419925082247169,
|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9778076410293579,
|
| 96 |
+
"position": [
|
| 97 |
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0.10014074912760407,
|
| 98 |
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-0.04383152350783348,
|
| 99 |
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-0.003217845587641932
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.7228748711171769,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_26": {
|
| 111 |
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"confidence": 0.9765620231628418,
|
| 112 |
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"position": [
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
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"orientation": {
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| 118 |
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"w": 0.7201038128336261,
|
| 119 |
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"xyz": [
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_28": {
|
| 127 |
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"confidence": 0.97636878490448,
|
| 128 |
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"position": [
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| 129 |
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| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
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| 134 |
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"w": 0.559510714477803,
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| 135 |
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"xyz": [
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| 137 |
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| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_31": {
|
| 143 |
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"confidence": 0.9755203723907471,
|
| 144 |
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"position": [
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.568406087588369,
|
| 151 |
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"xyz": [
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_34": {
|
| 159 |
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"confidence": 0.9751274585723877,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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| 163 |
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},
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| 441 |
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{
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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"magnify viewed objects",
|
| 448 |
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|
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|
| 450 |
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"define viewing area"
|
| 451 |
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],
|
| 452 |
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"semantic_description": "Large round clear lens with a smooth glossy transparent surface, set inside the white frame and appearing pale due to reflections.",
|
| 453 |
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|
| 454 |
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|
| 455 |
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},
|
| 456 |
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{
|
| 457 |
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"part_name": "neck button",
|
| 458 |
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|
| 459 |
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|
| 460 |
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|
| 461 |
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| 462 |
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"provide finger press point",
|
| 463 |
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|
| 464 |
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],
|
| 465 |
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"semantic_description": "Small white oval or round button-like piece at the junction between the handle and lens frame, visible in several views.",
|
| 466 |
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"id": 4,
|
| 467 |
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|
| 468 |
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],
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| 470 |
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"quality_check": {
|
| 471 |
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"success": false,
|
| 472 |
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"message": "Button mask/color and description are incorrect; handle also includes unrelated purple marked area."
|
| 473 |
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}
|
| 474 |
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}
|
dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:8c98c5d07bf213db8bbe99a51987afe11334725b4d17fed3a9a5694797a0e714
|
| 3 |
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size 3786448
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