Add asset kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03
Browse files
.gitattributes
CHANGED
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@@ -7465,3 +7465,4 @@ dataset/kitchen_supplies/utensils/93f4542a3e875a228fda0df75ad34e2b/affordance/me
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| 7465 |
dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7466 |
dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7467 |
dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7465 |
dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7466 |
dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7467 |
dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7468 |
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dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1259 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "jar body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewall to pick up and move the jar",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while the other gripper twists the lid open",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to tilt and dispense contents",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main container",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pouring and shaking",
|
| 25 |
+
"support lid attachment"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered light gray to white cylindrical plastic body with a smooth matte finish and hard surface, forming the main sidewall of the jar; a small dark printed brand mark appears on one side near the lower body.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.971668004989624,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.5733423528571963,
|
| 39 |
+
"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_41": {
|
| 47 |
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"confidence": 0.9688980579376221,
|
| 48 |
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"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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|
| 55 |
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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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|
| 63 |
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|
| 64 |
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| 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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| 71 |
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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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|
| 79 |
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|
| 80 |
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| 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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|
| 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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| 91 |
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|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_44": {
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
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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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|
| 111 |
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"confidence": 0.9669139385223389,
|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.548029773452288,
|
| 119 |
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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_46": {
|
| 127 |
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"confidence": 0.9648370742797852,
|
| 128 |
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| 129 |
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|
| 130 |
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0.017519146436825395,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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|
| 135 |
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|
| 136 |
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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_47": {
|
| 143 |
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"confidence": 0.9647132158279419,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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0.02805833169259131,
|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.42062814521900177,
|
| 151 |
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|
| 152 |
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|
| 153 |
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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_48": {
|
| 159 |
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"confidence": 0.9628614783287048,
|
| 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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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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|
| 167 |
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|
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0.40503967790154566
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| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_49": {
|
| 175 |
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"confidence": 0.9621648192405701,
|
| 176 |
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0.10579301419056719,
|
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0.015348137589171529,
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|
| 180 |
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],
|
| 181 |
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"orientation": {
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|
| 183 |
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|
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_50": {
|
| 191 |
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"confidence": 0.9620726704597473,
|
| 192 |
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"position": [
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],
|
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"orientation": {
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| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_53": {
|
| 207 |
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"confidence": 0.9602361917495728,
|
| 208 |
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"position": [
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|
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0.016468303510919213,
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],
|
| 213 |
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"orientation": {
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|
dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/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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oid sha256:50cb02b949f78ae7654dc06be74dc9f992b1c3535074354fd63caa31b35aacf2
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| 3 |
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size 3782808
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