Add asset kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f
Browse files
.gitattributes
CHANGED
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@@ -7255,4 +7255,4 @@ dataset/kitchen_supplies/tableware/594c00e8d89b5b5ba8770e608ff3bc72/affordance/m
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| 7255 |
dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7256 |
dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7257 |
dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7258 |
-
dataset/kitchen_supplies/tableware/
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| 7255 |
dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7256 |
dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7257 |
dataset/kitchen_supplies/tableware/5af5f838d37156d69e9623bcd612be63/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7258 |
+
dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the fork head to reorient the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch near the neck of the fork head to stabilize it while manipulating the handle",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"pick up small bites",
|
| 20 |
+
"separate soft food",
|
| 21 |
+
"contact eating surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal fork head with a reflective smooth hard surface, formed with a narrow neck and four short tines at the utensil tip.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
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"confidence": 0.9841685891151428,
|
| 28 |
+
"position": [
|
| 29 |
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-0.030559956096112728,
|
| 30 |
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-0.09089304352528416,
|
| 31 |
+
-0.0043904817721340805
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.3648672949673065,
|
| 35 |
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"xyz": [
|
| 36 |
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-0.5816404684694597,
|
| 37 |
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0.38578413548684287,
|
| 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_3": {
|
| 43 |
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"confidence": 0.9820980429649353,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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-0.09836713070399128,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.4742174850217069,
|
| 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_5": {
|
| 59 |
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"confidence": 0.9812505841255188,
|
| 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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],
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| 65 |
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"orientation": {
|
| 66 |
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"w": 0.4701422962897315,
|
| 67 |
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"xyz": [
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| 68 |
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|
| 69 |
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0.4858512948581233,
|
| 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_6": {
|
| 75 |
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"confidence": 0.9811341762542725,
|
| 76 |
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"position": [
|
| 77 |
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-0.040554383769631386,
|
| 78 |
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-0.09688472593552433,
|
| 79 |
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-0.005871502595255151
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.4224910001175581,
|
| 83 |
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"xyz": [
|
| 84 |
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-0.5316185312403809,
|
| 85 |
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0.4520102197965137,
|
| 86 |
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0.5784201355943558
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
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"grasp_7": {
|
| 91 |
+
"confidence": 0.981094479560852,
|
| 92 |
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"position": [
|
| 93 |
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-0.03897399082779884,
|
| 94 |
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0.09205781077616848,
|
| 95 |
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-0.010952614626148716
|
| 96 |
+
],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.42825779058336716,
|
| 99 |
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"xyz": [
|
| 100 |
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0.5333723259623437,
|
| 101 |
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0.4130371250371787,
|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_9": {
|
| 107 |
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"confidence": 0.9799705743789673,
|
| 108 |
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"position": [
|
| 109 |
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-0.022251695161685348,
|
| 110 |
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0.08844662611954845,
|
| 111 |
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-0.017967878287890926
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.6551089421747187,
|
| 115 |
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"xyz": [
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| 116 |
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0.3484918838240717,
|
| 117 |
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-0.5416633670290905,
|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_12": {
|
| 123 |
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"confidence": 0.9794993996620178,
|
| 124 |
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"position": [
|
| 125 |
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-0.04007410258054733,
|
| 126 |
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-0.09380815023905598,
|
| 127 |
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0.015825694048544392
|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.5142134680302991,
|
| 131 |
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"xyz": [
|
| 132 |
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-0.49555034628818884,
|
| 133 |
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|
| 134 |
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-0.38048833107077795
|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_13": {
|
| 139 |
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"confidence": 0.9793851375579834,
|
| 140 |
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"position": [
|
| 141 |
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-0.023761371237924322,
|
| 142 |
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0.0904555857705418,
|
| 143 |
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0.007602364377817139
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.6001347087703054,
|
| 147 |
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"xyz": [
|
| 148 |
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0.42834108415227845,
|
| 149 |
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-0.5923225528557957,
|
| 150 |
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0.3248326343439413
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
+
},
|
| 154 |
+
"grasp_18": {
|
| 155 |
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"confidence": 0.9766655564308167,
|
| 156 |
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"position": [
|
| 157 |
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-0.08663918636739254,
|
| 158 |
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-0.10096385920769535,
|
| 159 |
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-0.0035172215721104294
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.5006695276036847,
|
| 163 |
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"xyz": [
|
| 164 |
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-0.4649973004049362,
|
| 165 |
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0.5289991620537791,
|
| 166 |
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0.5032568144512545
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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}
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "fork handle",
|
| 174 |
+
"mask_color": "Green",
|
| 175 |
+
"graspable": true,
|
| 176 |
+
"grasp_scenarios": [
|
| 177 |
+
{
|
| 178 |
+
"scenario": "grasp the handle to pick up and carry the fork",
|
| 179 |
+
"confidence": 0.97
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"scenario": "hold the handle to orient the fork for serving or placement",
|
| 183 |
+
"confidence": 0.95
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "grip the handle to stabilize the fork while pressing tines into food",
|
| 187 |
+
"confidence": 0.91
|
| 188 |
+
}
|
| 189 |
+
],
|
| 190 |
+
"functional_labels": [
|
| 191 |
+
"provide main grip",
|
| 192 |
+
"enable utensil control",
|
| 193 |
+
"keep hand away from food-contact end",
|
| 194 |
+
"balance the fork"
|
| 195 |
+
],
|
| 196 |
+
"semantic_description": "Long black handle, likely plastic, with a smooth slightly glossy hard finish, gently tapered shape, and a small visible rivet-like dot plus a decorative emblem near the rounded end.",
|
| 197 |
+
"id": 1,
|
| 198 |
+
"grasp_group": {
|
| 199 |
+
"grasp_20": {
|
| 200 |
+
"confidence": 0.9795850515365601,
|
| 201 |
+
"position": [
|
| 202 |
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0.02594360150396824,
|
| 203 |
+
0.09533268367522396,
|
| 204 |
+
-0.021504823496798053
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
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"w": 0.5537468615044248,
|
| 208 |
+
"xyz": [
|
| 209 |
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0.4555739104222462,
|
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dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/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 3804332
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