Add asset tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531
Browse files
.gitattributes
CHANGED
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@@ -7820,3 +7820,4 @@ dataset/tools/repair_tools/2501848b4b035c3b8c046ac146e8fe69/affordance/mesh_part
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| 7820 |
dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7821 |
dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7822 |
dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7820 |
dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7821 |
dataset/tools/repair_tools/259604828a315ecabcc635de12aaf5d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7822 |
dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7823 |
+
dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "shaft and tip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly grasp the metal shaft to stabilize or reorient the screwdriver while another gripper controls the handle",
|
| 10 |
+
"confidence": 0.41
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch near the shaft to guide alignment of the tip into a screw head during setup",
|
| 14 |
+
"confidence": 0.38
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"transmit torque to the tip",
|
| 19 |
+
"reach recessed screw locations",
|
| 20 |
+
"position the working end",
|
| 21 |
+
"engage screw heads"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long slender silver-gray metal shaft with a smooth slightly reflective surface, ending in a darker Phillips screwdriver tip.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "neck/collar",
|
| 29 |
+
"mask_color": "Yellow",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "briefly grasp the collar to steady the screwdriver near the working end during precise alignment",
|
| 34 |
+
"confidence": 0.39
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "pinch the collar to reposition the tool when a full handle grasp is not available",
|
| 38 |
+
"confidence": 0.34
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"join handle and shaft",
|
| 43 |
+
"provide transition between handle and shaft",
|
| 44 |
+
"support near-tip stabilization"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Short dark gray collar-like section between the handle and metal shaft, with a smooth matte appearance and rounded profile.",
|
| 47 |
+
"id": 3,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_21": {
|
| 50 |
+
"confidence": 0.9900056719779968,
|
| 51 |
+
"position": [
|
| 52 |
+
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|
| 53 |
+
-0.014590143226087093,
|
| 54 |
+
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|
| 55 |
+
],
|
| 56 |
+
"orientation": {
|
| 57 |
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"w": 0.5666600296481868,
|
| 58 |
+
"xyz": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
+
]
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
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"grasp_23": {
|
| 66 |
+
"confidence": 0.9894915819168091,
|
| 67 |
+
"position": [
|
| 68 |
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|
| 69 |
+
-0.010149560926947743,
|
| 70 |
+
-0.0035595688968896866
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
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"w": 0.7156496779131059,
|
| 74 |
+
"xyz": [
|
| 75 |
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-0.00017279809911669347,
|
| 76 |
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-0.6984340813457741,
|
| 77 |
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-0.005944969164772652
|
| 78 |
+
]
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"grasp_24": {
|
| 82 |
+
"confidence": 0.9894157648086548,
|
| 83 |
+
"position": [
|
| 84 |
+
0.09866238239919767,
|
| 85 |
+
-0.01647293660789728,
|
| 86 |
+
-0.0019396522548049688
|
| 87 |
+
],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.022567215927331557,
|
| 90 |
+
"xyz": [
|
| 91 |
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-0.6995776040708308,
|
| 92 |
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0.016619668344219574,
|
| 93 |
+
0.7140067809705543
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"grasp_27": {
|
| 98 |
+
"confidence": 0.989041268825531,
|
| 99 |
+
"position": [
|
| 100 |
+
0.07827719155466184,
|
| 101 |
+
-0.013158928137272596,
|
| 102 |
+
0.05929306265898049
|
| 103 |
+
],
|
| 104 |
+
"orientation": {
|
| 105 |
+
"w": 0.4446023518965241,
|
| 106 |
+
"xyz": [
|
| 107 |
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0.01369252121768074,
|
| 108 |
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-0.895329637162971,
|
| 109 |
+
-0.022936965108866007
|
| 110 |
+
]
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"grasp_29": {
|
| 114 |
+
"confidence": 0.9883286952972412,
|
| 115 |
+
"position": [
|
| 116 |
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0.09871786687290296,
|
| 117 |
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-0.009284364132327028,
|
| 118 |
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|
| 119 |
+
],
|
| 120 |
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"orientation": {
|
| 121 |
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"w": 0.6506666046832593,
|
| 122 |
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"xyz": [
|
| 123 |
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-0.02144503347688687,
|
| 124 |
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-0.7585775001701689,
|
| 125 |
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0.027078706112214627
|
| 126 |
+
]
|
| 127 |
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}
|
| 128 |
+
},
|
| 129 |
+
"grasp_30": {
|
| 130 |
+
"confidence": 0.9882594347000122,
|
| 131 |
+
"position": [
|
| 132 |
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0.095826348697301,
|
| 133 |
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-0.01690331334248185,
|
| 134 |
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0.024596142815425992
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
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"w": 0.6095232972441194,
|
| 138 |
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"xyz": [
|
| 139 |
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-0.00545586452675817,
|
| 140 |
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-0.79261817591552,
|
| 141 |
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-0.014422581851936138
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"grasp_31": {
|
| 146 |
+
"confidence": 0.9879547357559204,
|
| 147 |
+
"position": [
|
| 148 |
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0.015006876026745886,
|
| 149 |
+
-0.013993876986205578,
|
| 150 |
+
-0.09874118748120964
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
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"w": 0.9972052511307457,
|
| 154 |
+
"xyz": [
|
| 155 |
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-0.02152823190479349,
|
| 156 |
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-0.07149731338468268,
|
| 157 |
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-0.002521215399799207
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"grasp_37": {
|
| 162 |
+
"confidence": 0.9864959120750427,
|
| 163 |
+
"position": [
|
| 164 |
+
-0.007762740890029818,
|
| 165 |
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-0.016221068799495697,
|
| 166 |
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0.09751743939705193
|
| 167 |
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],
|
| 168 |
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"orientation": {
|
| 169 |
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"w": 0.03316791039307687,
|
| 170 |
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"xyz": [
|
| 171 |
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-0.9987758609595875,
|
| 172 |
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-0.004791138930771197,
|
| 173 |
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-0.03638288433230414
|
| 174 |
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]
|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
+
"grasp_38": {
|
| 178 |
+
"confidence": 0.9864426851272583,
|
| 179 |
+
"position": [
|
| 180 |
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0.037021050637122244,
|
| 181 |
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-0.005823850864544511,
|
| 182 |
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0.09073298540897667
|
| 183 |
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],
|
| 184 |
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"orientation": {
|
| 185 |
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"w": 0.019691703456148648,
|
| 186 |
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"xyz": [
|
| 187 |
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0.9796617220896943,
|
| 188 |
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0.001739262156505772,
|
| 189 |
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-0.19968004921473892
|
| 190 |
+
]
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"grasp_39": {
|
| 194 |
+
"confidence": 0.9862393736839294,
|
| 195 |
+
"position": [
|
| 196 |
+
0.0029966760776005685,
|
| 197 |
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-0.021738728508353233,
|
| 198 |
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0.09719275799579918
|
| 199 |
+
],
|
| 200 |
+
"orientation": {
|
| 201 |
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"w": 0.05756479566639408,
|
| 202 |
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"xyz": [
|
| 203 |
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-0.9981337168013649,
|
| 204 |
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0.01040313419974493,
|
| 205 |
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0.017525766260035172
|
| 206 |
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]
|
| 207 |
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}
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"part_name": "handle",
|
| 213 |
+
"mask_color": "Orange",
|
| 214 |
+
"graspable": true,
|
| 215 |
+
"grasp_scenarios": [
|
| 216 |
+
{
|
| 217 |
+
"scenario": "grasp the handle to pick up and carry the screwdriver",
|
| 218 |
+
"confidence": 0.97
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"scenario": "grasp the handle to apply rotational torque for driving screws",
|
| 222 |
+
"confidence": 0.99
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
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"scenario": "hold the handle to reposition and orient the screwdriver",
|
| 226 |
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"confidence": 0.95
|
| 227 |
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}
|
| 228 |
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],
|
| 229 |
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"functional_labels": [
|
| 230 |
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"primary grip surface",
|
| 231 |
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"apply torque",
|
| 232 |
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"enable comfortable holding",
|
| 233 |
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"support tool manipulation"
|
| 234 |
+
],
|
| 235 |
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"semantic_description": "Large dark gray to black plastic handle with a matte finish, ribbed textured sides, and a faceted rounded end forming the main grip area of the tool.",
|
| 236 |
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"id": 4,
|
| 237 |
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"grasp_group": {
|
| 238 |
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"grasp_46": {
|
| 239 |
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|
| 240 |
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| 243 |
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| 254 |
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|
| 255 |
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|
| 256 |
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| 270 |
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| 271 |
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| 272 |
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|
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|
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|
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|
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|
| 302 |
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|
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|
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},
|
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|
| 319 |
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|
| 320 |
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|
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|
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|
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|
| 333 |
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}
|
| 334 |
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|
| 335 |
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}
|
| 336 |
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],
|
| 337 |
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"quality_check": {
|
| 338 |
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"success": true,
|
| 339 |
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"message": "YES"
|
| 340 |
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}
|
| 341 |
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}
|
dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:93be0cc89709340e3ec5db299a4e92d3260d3a966c4c8eae5e198ecf410f8bb1
|
| 3 |
+
size 3782676
|