Add asset kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/affordance/affordance_annot.json +429 -0
- dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/wire_cutters_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -7052,3 +7052,4 @@ dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordan
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| 7052 |
dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7052 |
dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7055 |
+
dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,429 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pliers jaws",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the closed jaws to briefly pick up or reposition the tool when the handles are not accessible",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the jaw area to stabilize the tool during inspection or placement",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"grip small objects",
|
| 19 |
+
"pinch and hold material",
|
| 20 |
+
"provide the working end",
|
| 21 |
+
"grasp and bend wire or small parts"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Short silver-gray metal jaws with a smooth reflective finish and serrated gripping faces, tapered toward the front around the pivot, forming the compact working end of the pliers.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9683571457862854,
|
| 28 |
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"position": [
|
| 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": {
|
| 34 |
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"w": 0.34880307303216745,
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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_1": {
|
| 43 |
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"confidence": 0.967681884765625,
|
| 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": {
|
| 50 |
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"w": 0.3547071967589641,
|
| 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_3": {
|
| 59 |
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"confidence": 0.9673132300376892,
|
| 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": 0.3578986380845914,
|
| 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_4": {
|
| 75 |
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"confidence": 0.9670765995979309,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
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| 81 |
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"orientation": {
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| 82 |
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"w": 0.3512791823132236,
|
| 83 |
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"xyz": [
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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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"grasp_6": {
|
| 91 |
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"confidence": 0.9668785333633423,
|
| 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": 0.3418627645377985,
|
| 99 |
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"xyz": [
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| 100 |
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|
| 101 |
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|
| 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_7": {
|
| 107 |
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"confidence": 0.9647851586341858,
|
| 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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|
| 115 |
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"xyz": [
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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_8": {
|
| 123 |
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"confidence": 0.9646150469779968,
|
| 124 |
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"position": [
|
| 125 |
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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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| 135 |
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]
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| 136 |
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}
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| 137 |
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},
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| 138 |
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"grasp_9": {
|
| 139 |
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"confidence": 0.9634169340133667,
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| 140 |
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"position": [
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| 144 |
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],
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| 145 |
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"orientation": {
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"w": 0.3415785359306984,
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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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"grasp_10": {
|
| 155 |
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"confidence": 0.9626465439796448,
|
| 156 |
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"position": [
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| 157 |
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| 158 |
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],
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"orientation": {
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| 162 |
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| 163 |
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"xyz": [
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| 168 |
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| 169 |
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},
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| 170 |
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"grasp_12": {
|
| 171 |
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| 172 |
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| 173 |
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| 174 |
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|
dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2b8bebf9f50e22bf589f29d8dfcfa626197bbd9de7726a95adc2a1bec38f5e1c
|
| 3 |
+
size 3783188
|
dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/wire_cutters_015.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Jaw/head and handles are segmented, but blue appears as small connector fragments, not a functional part.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Jaw/head and handles are segmented, but blue appears as small connector fragments, not a functional part.","merge_groups":[]}</PartSegChecker>
|