Add asset food/snack/e5a80020438059e78337721402427957
Browse files
.gitattributes
CHANGED
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@@ -6899,3 +6899,4 @@ dataset/food/snack/e45ddb4b0d9b57948ffefa48132df0e9/affordance/mesh_part_seg.glb
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| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6901 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6899 |
dataset/food/snack/ebda13bb5d8a5f2f90312e8c2e6e2494/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6900 |
dataset/food/snack/f3dcd469dc745903827e6f7ff7f91ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6901 |
dataset/food/snack/f4580209e4e75ad78bada63e06fa42d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6902 |
+
dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/snack/e5a80020438059e78337721402427957/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,403 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "chocolate base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lower sides to pick up the chocolate piece",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to reposition or place the chocolate",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"support the chocolate piece",
|
| 20 |
+
"provide structural bulk",
|
| 21 |
+
"rest on a surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark brown chocolate base with a smooth slightly glossy finish, hard solid texture, and a trapezoidal block shape forming the lower and side portions of the piece.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_4": {
|
| 27 |
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"confidence": 0.8818024396896362,
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| 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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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.7029859851051355,
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| 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_6": {
|
| 43 |
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"confidence": 0.7644060254096985,
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| 44 |
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"position": [
|
| 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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"w": 0.5690632069004996,
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| 51 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_7": {
|
| 59 |
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"confidence": 0.7621545195579529,
|
| 60 |
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"position": [
|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
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| 66 |
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"w": 0.5258405153183632,
|
| 67 |
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"xyz": [
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| 68 |
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| 69 |
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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_12": {
|
| 75 |
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"confidence": 0.6656354069709778,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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-0.0027936198748648167
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.529123694022066,
|
| 83 |
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"xyz": [
|
| 84 |
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| 85 |
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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_15": {
|
| 91 |
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"confidence": 0.3702732026576996,
|
| 92 |
+
"position": [
|
| 93 |
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|
| 94 |
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0.007936422625789419,
|
| 95 |
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-0.002003183588385582
|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.5760517630450344,
|
| 99 |
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"xyz": [
|
| 100 |
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-0.42821618580657483,
|
| 101 |
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|
| 102 |
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-0.44847851707583397
|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_18": {
|
| 107 |
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"confidence": 0.8967788219451904,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.4015021709987129,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 117 |
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-0.43315994605005437,
|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "sloped rim",
|
| 126 |
+
"mask_color": "Blue",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "lightly pinch the rim to stabilize the chocolate during handling",
|
| 131 |
+
"confidence": 0.42
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp near the rim when the lower body is obstructed",
|
| 135 |
+
"confidence": 0.34
|
| 136 |
+
}
|
| 137 |
+
],
|
| 138 |
+
"functional_labels": [
|
| 139 |
+
"transition between top and base",
|
| 140 |
+
"define edges",
|
| 141 |
+
"assist alignment",
|
| 142 |
+
"add shape detail"
|
| 143 |
+
],
|
| 144 |
+
"semantic_description": "Narrow dark brown chocolate band with a smooth glossy surface and hard texture, running around the upper perimeter as a sloped beveled transition below the top face.",
|
| 145 |
+
"id": 2,
|
| 146 |
+
"grasp_group": {
|
| 147 |
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"grasp_41": {
|
| 148 |
+
"confidence": 0.6814146041870117,
|
| 149 |
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"position": [
|
| 150 |
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-0.07939054988673888,
|
| 151 |
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0.0063317934109363705,
|
| 152 |
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0.06161211337894201
|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.3140564278795246,
|
| 156 |
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"xyz": [
|
| 157 |
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-0.6402032517929939,
|
| 158 |
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0.6038280808216602,
|
| 159 |
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-0.3562302700676343
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_48": {
|
| 164 |
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"confidence": 0.5465426445007324,
|
| 165 |
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"position": [
|
| 166 |
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|
| 167 |
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-0.002931711118435487,
|
| 168 |
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0.06835989560931921
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.3179816640895691,
|
| 172 |
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"xyz": [
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_49": {
|
| 180 |
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"confidence": 0.5206198692321777,
|
| 181 |
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"position": [
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| 182 |
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| 183 |
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|
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.2316853367259211,
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| 188 |
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"xyz": [
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| 192 |
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]
|
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}
|
| 194 |
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},
|
| 195 |
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"grasp_51": {
|
| 196 |
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"confidence": 0.407427042722702,
|
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|
dataset/food/snack/e5a80020438059e78337721402427957/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 111318596
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