Add asset food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a
Browse files
.gitattributes
CHANGED
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@@ -6784,3 +6784,4 @@ dataset/food/ingredients/41603c8814f9582290f1766548569b14/affordance/mesh_part_s
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| 6784 |
dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6785 |
dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6786 |
dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6784 |
dataset/food/ingredients/43b757b2d85051bbaec62e136a506dba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6785 |
dataset/food/ingredients/43b8971eeddc574aab3c198455811b61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6786 |
dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6787 |
+
dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,282 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tomato body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the tomato body to pick up and move the tomato",
|
| 10 |
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"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the tomato body to stabilize it during inspection or placement",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
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}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"contain edible flesh and juices",
|
| 20 |
+
"provide bulk of the fruit",
|
| 21 |
+
"support handling and placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large round yellow-orange tomato body with glossy smooth food skin, a firm slightly yielding texture, and a few small water droplets visible on the surface.",
|
| 24 |
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"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.7990378737449646,
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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": 0.5408145674083589,
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| 35 |
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"xyz": [
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| 38 |
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| 39 |
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]
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| 40 |
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}
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| 41 |
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},
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| 42 |
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"grasp_2": {
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| 43 |
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"confidence": 0.7896266579627991,
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| 44 |
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"position": [
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| 48 |
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],
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| 49 |
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"orientation": {
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"w": 0.6864676079657536,
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| 51 |
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"xyz": [
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| 54 |
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| 55 |
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]
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| 56 |
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}
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| 57 |
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},
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| 58 |
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"grasp_3": {
|
| 59 |
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"confidence": 0.7885888814926147,
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| 60 |
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"position": [
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| 63 |
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| 64 |
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],
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"orientation": {
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"xyz": [
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| 71 |
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| 72 |
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}
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},
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| 74 |
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"grasp_7": {
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"confidence": 0.7809169292449951,
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"position": [
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"grasp_8": {
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"confidence": 0.7803481221199036,
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"position": [
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],
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"orientation": {
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| 103 |
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]
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}
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| 105 |
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},
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"grasp_10": {
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"confidence": 0.7780618667602539,
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"position": [
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| 112 |
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],
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"orientation": {
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| 121 |
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},
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"grasp_16": {
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| 123 |
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"confidence": 0.7603005170822144,
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| 124 |
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| 126 |
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| 127 |
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| 128 |
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],
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"orientation": {
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| 131 |
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| 135 |
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]
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}
|
| 137 |
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},
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| 138 |
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"grasp_17": {
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| 139 |
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"confidence": 0.7577991485595703,
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| 140 |
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"position": [
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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],
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"orientation": {
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| 146 |
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| 147 |
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|
| 150 |
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|
| 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 |
+
"part_name": "stem cap of tomato",
|
| 158 |
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"mask_color": "Green",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
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{
|
| 162 |
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"scenario": "delicately grasp the stem cap to orient the tomato",
|
| 163 |
+
"confidence": 0.31
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
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"scenario": "lightly pinch the stem cap to stabilize the tomato during inspection",
|
| 167 |
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"confidence": 0.24
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"functional_labels": [
|
| 171 |
+
"connect to vine",
|
| 172 |
+
"indicate top orientation",
|
| 173 |
+
"protect stem attachment area",
|
| 174 |
+
"provide a small manipulation point"
|
| 175 |
+
],
|
| 176 |
+
"semantic_description": "Small green leafy stem cap at the top, with matte to slightly satin plant tissue, thin pointed lobes, a somewhat firm slightly rough texture, and a star-like shape.",
|
| 177 |
+
"id": 1,
|
| 178 |
+
"grasp_group": {
|
| 179 |
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"grasp_20": {
|
| 180 |
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"confidence": 0.7180209755897522,
|
| 181 |
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"position": [
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| 182 |
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|
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| 184 |
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0.13306011678650975
|
| 185 |
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],
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"orientation": {
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"w": 0.2397341099673016,
|
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"xyz": [
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| 192 |
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]
|
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}
|
| 194 |
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},
|
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"grasp_22": {
|
| 196 |
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"confidence": 0.694658100605011,
|
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"position": [
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],
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"orientation": {
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]
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}
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},
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"grasp_26": {
|
| 212 |
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"confidence": 0.660241425037384,
|
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"position": [
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],
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"orientation": {
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]
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}
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},
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"grasp_33": {
|
| 228 |
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"confidence": 0.678490161895752,
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"position": [
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],
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"orientation": {
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},
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"grasp_35": {
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"orientation": {
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| 253 |
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| 256 |
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| 257 |
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|
| 258 |
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},
|
| 259 |
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"grasp_39": {
|
| 260 |
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|
| 261 |
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"position": [
|
| 262 |
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|
| 263 |
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| 264 |
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| 265 |
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| 266 |
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|
| 267 |
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| 268 |
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| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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],
|
| 278 |
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"quality_check": {
|
| 279 |
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"success": true,
|
| 280 |
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"message": "YES"
|
| 281 |
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}
|
| 282 |
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|
dataset/food/ingredients/45d4fda4ddd75c9fb8eca992e39f823a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:69edeee4c2ed0d2601a4f58022d904b496ed34a23de83e71853c8b594d6edad0
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| 3 |
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size 3776052
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