Add asset desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048
Browse files
.gitattributes
CHANGED
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@@ -6086,3 +6086,4 @@ dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mes
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| 6086 |
dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6087 |
dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6088 |
dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6086 |
dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6087 |
dataset/desktop_supplies/decorations/0133a870e4955b80b8a455f56071b302/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6088 |
dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6089 |
+
dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,368 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "teacup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the teacup",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the teacup during placement",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"form the main vessel",
|
| 20 |
+
"support pouring",
|
| 21 |
+
"provide outer support surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large white ceramic cup body with a glossy smooth hard surface, slightly flared cylindrical shape, and the main upper vessel occupying most of the teacup.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_20": {
|
| 27 |
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"confidence": 0.9735110998153687,
|
| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.14241103067820465,
|
| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_21": {
|
| 43 |
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"confidence": 0.9720190763473511,
|
| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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"orientation": {
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| 50 |
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| 51 |
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"xyz": [
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| 53 |
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| 54 |
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| 55 |
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]
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| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_22": {
|
| 59 |
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"confidence": 0.9711548089981079,
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| 60 |
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"position": [
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 67 |
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_23": {
|
| 75 |
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"confidence": 0.9709685444831848,
|
| 76 |
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| 78 |
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| 80 |
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],
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"orientation": {
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"xyz": [
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| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_24": {
|
| 91 |
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"confidence": 0.9708123803138733,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.13899602648137044,
|
| 99 |
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"xyz": [
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| 102 |
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| 103 |
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]
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| 104 |
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}
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| 105 |
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},
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| 106 |
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"grasp_25": {
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| 107 |
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"confidence": 0.9707226753234863,
|
| 108 |
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"position": [
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| 110 |
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| 112 |
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],
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"orientation": {
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
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"grasp_27": {
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| 123 |
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"confidence": 0.9702281355857849,
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| 124 |
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| 125 |
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| 128 |
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],
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]
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}
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},
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| 139 |
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],
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|
| 151 |
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]
|
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}
|
| 153 |
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},
|
| 154 |
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"grasp_29": {
|
| 155 |
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|
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]
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}
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},
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"grasp_30": {
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| 171 |
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"confidence": 0.9697513580322266,
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],
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| 185 |
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"grasp_31": {
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"confidence": 0.9696344137191772,
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"orientation": {
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},
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"grasp_33": {
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"confidence": 0.969471275806427,
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"position": [
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"orientation": {
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},
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],
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|
| 283 |
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|
| 284 |
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|
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],
|
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]
|
| 296 |
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}
|
| 297 |
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}
|
| 298 |
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}
|
| 299 |
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},
|
| 300 |
+
{
|
| 301 |
+
"part_name": "teacup handle",
|
| 302 |
+
"mask_color": "Red",
|
| 303 |
+
"graspable": true,
|
| 304 |
+
"grasp_scenarios": [
|
| 305 |
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{
|
| 306 |
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"scenario": "grasp the handle to lift the teacup",
|
| 307 |
+
"confidence": 0.93
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"scenario": "hold the handle to stabilize and reorient the teacup while pouring",
|
| 311 |
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"confidence": 0.88
|
| 312 |
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}
|
| 313 |
+
],
|
| 314 |
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"functional_labels": [
|
| 315 |
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"provide a side grip",
|
| 316 |
+
"lift the teacup without touching the hot body",
|
| 317 |
+
"stabilize the cup while pouring",
|
| 318 |
+
"help orient the cup"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Small curved white ceramic handle with a glossy smooth hard finish, loop-shaped and attached to the side of the cup body.",
|
| 321 |
+
"id": 0,
|
| 322 |
+
"grasp_group": {}
|
| 323 |
+
},
|
| 324 |
+
{
|
| 325 |
+
"part_name": "foot ring",
|
| 326 |
+
"mask_color": "Blue",
|
| 327 |
+
"graspable": true,
|
| 328 |
+
"grasp_scenarios": [
|
| 329 |
+
{
|
| 330 |
+
"scenario": "grasp the base ring from below to lift or reposition the upside-down teacup",
|
| 331 |
+
"confidence": 0.44
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"scenario": "pinch the foot ring to stabilize the teacup during placement",
|
| 335 |
+
"confidence": 0.49
|
| 336 |
+
}
|
| 337 |
+
],
|
| 338 |
+
"functional_labels": [
|
| 339 |
+
"support on flat surfaces",
|
| 340 |
+
"elevate the cup body",
|
| 341 |
+
"improve stability",
|
| 342 |
+
"define the resting base"
|
| 343 |
+
],
|
| 344 |
+
"semantic_description": "Circular white ceramic foot ring with a glossy smooth hard surface, forming a raised base around the bottom perimeter of the teacup.",
|
| 345 |
+
"id": 2,
|
| 346 |
+
"grasp_group": {}
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"part_name": "bottom center of teacup",
|
| 350 |
+
"mask_color": "Yellow",
|
| 351 |
+
"graspable": false,
|
| 352 |
+
"grasp_scenarios": [],
|
| 353 |
+
"functional_labels": [
|
| 354 |
+
"close the vessel bottom",
|
| 355 |
+
"support the interior base",
|
| 356 |
+
"retain liquid above",
|
| 357 |
+
"provide bottom surface continuity"
|
| 358 |
+
],
|
| 359 |
+
"semantic_description": "Small round white ceramic bottom center with a glossy smooth hard finish, recessed within the foot ring at the underside of the teacup.",
|
| 360 |
+
"id": 3,
|
| 361 |
+
"grasp_group": {}
|
| 362 |
+
}
|
| 363 |
+
],
|
| 364 |
+
"quality_check": {
|
| 365 |
+
"success": true,
|
| 366 |
+
"message": "YES"
|
| 367 |
+
}
|
| 368 |
+
}
|
dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c459ec8cf62c5a64b9853bdd78b92fdd1b53bbc6bacb4b03c0f882648a03f4c
|
| 3 |
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size 1818004
|