Add asset kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb
Browse files
.gitattributes
CHANGED
|
@@ -8523,3 +8523,4 @@ dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/affordance/mesh_p
|
|
| 8523 |
dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8524 |
dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8525 |
dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8523 |
dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8524 |
dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8525 |
dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8526 |
+
dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,786 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "nipple",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly pinch the nipple tip to orient the bottle during inspection or assembly",
|
| 10 |
+
"confidence": 0.3
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the nipple carefully while cleaning the feeding end",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid for feeding",
|
| 19 |
+
"serve as infant mouth interface",
|
| 20 |
+
"control flow through the tip",
|
| 21 |
+
"indicate drinking end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small translucent gray silicone nipple with a glossy smooth soft surface, rounded tapered shape, and top-center position on the bottle.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_24": {
|
| 27 |
+
"confidence": 0.8498514294624329,
|
| 28 |
+
"position": [
|
| 29 |
+
0.008927132468670607,
|
| 30 |
+
-0.02448067962541245,
|
| 31 |
+
0.1566384774632752
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.11158622859891304,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.9881299243620704,
|
| 37 |
+
0.09902605236819687,
|
| 38 |
+
0.03662795543913516
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_26": {
|
| 43 |
+
"confidence": 0.8398059010505676,
|
| 44 |
+
"position": [
|
| 45 |
+
0.003805452026426792,
|
| 46 |
+
-0.0007736248371656984,
|
| 47 |
+
0.15926795126870275
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.027013547135878672,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.11792345817452854,
|
| 53 |
+
-0.9926498167831794,
|
| 54 |
+
0.003266117514458553
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_31": {
|
| 59 |
+
"confidence": 0.732460618019104,
|
| 60 |
+
"position": [
|
| 61 |
+
0.02319864137098193,
|
| 62 |
+
-0.0054175663681235164,
|
| 63 |
+
0.1592350942082703
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.03283883354430303,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.9938249088318031,
|
| 69 |
+
-0.06507436077305989,
|
| 70 |
+
0.08365996155201996
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_36": {
|
| 75 |
+
"confidence": 0.5916467308998108,
|
| 76 |
+
"position": [
|
| 77 |
+
0.030478123109787703,
|
| 78 |
+
-0.02252011894597672,
|
| 79 |
+
0.15422460855916142
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.1581329048197143,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.9497400973867834,
|
| 85 |
+
-0.24360013963715382,
|
| 86 |
+
0.11681910716052206
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "screw collar",
|
| 94 |
+
"mask_color": "Magenta",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the collar to twist and remove or tighten the nipple assembly",
|
| 99 |
+
"confidence": 0.88
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the collar to stabilize the bottle top during assembly",
|
| 103 |
+
"confidence": 0.76
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"secure nipple assembly",
|
| 108 |
+
"attach the feeding top to the bottle",
|
| 109 |
+
"provide twisting surface",
|
| 110 |
+
"help seal the bottle opening"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Medium beige plastic screw collar with a smooth slightly glossy finish, circular ring shape, directly below the nipple at the bottle top.",
|
| 113 |
+
"id": 7,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_60": {
|
| 116 |
+
"confidence": 0.956520676612854,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.0256635551340878,
|
| 119 |
+
-0.09080052337958477,
|
| 120 |
+
0.09106476278975606
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.49092854703102845,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.8581733250784758,
|
| 126 |
+
0.13179568848108314,
|
| 127 |
+
-0.07181644889267223
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_61": {
|
| 132 |
+
"confidence": 0.9181222915649414,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.04919553967192769,
|
| 135 |
+
0.0900464732258115,
|
| 136 |
+
0.045300543773919344
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.1588213585509216,
|
| 140 |
+
"xyz": [
|
| 141 |
+
-0.20440925767022217,
|
| 142 |
+
0.7044130175358901,
|
| 143 |
+
-0.6609046316774687
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_62": {
|
| 148 |
+
"confidence": 0.9138525724411011,
|
| 149 |
+
"position": [
|
| 150 |
+
0.059419486206024885,
|
| 151 |
+
0.06669317223713733,
|
| 152 |
+
0.0936189484782517
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.16757699507731752,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.31322693456721,
|
| 158 |
+
-0.8235410368364565,
|
| 159 |
+
0.4422521891735746
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_63": {
|
| 164 |
+
"confidence": 0.9052773118019104,
|
| 165 |
+
"position": [
|
| 166 |
+
-0.06931374641135335,
|
| 167 |
+
0.06657593735144474,
|
| 168 |
+
0.0796786961145699
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.49926245929463436,
|
| 172 |
+
"xyz": [
|
| 173 |
+
0.773274121905383,
|
| 174 |
+
0.3199781975957736,
|
| 175 |
+
0.22449517187212026
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_67": {
|
| 180 |
+
"confidence": 0.8091257810592651,
|
| 181 |
+
"position": [
|
| 182 |
+
0.09125769464299083,
|
| 183 |
+
-0.039896498987218365,
|
| 184 |
+
0.05151516990736127
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.5547883205443258,
|
| 188 |
+
"xyz": [
|
| 189 |
+
-0.6288839960845817,
|
| 190 |
+
-0.41994639099487097,
|
| 191 |
+
0.34692919673425787
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_68": {
|
| 196 |
+
"confidence": 0.8081815242767334,
|
| 197 |
+
"position": [
|
| 198 |
+
0.09032705752179027,
|
| 199 |
+
-0.035039506474277005,
|
| 200 |
+
0.08762331726029515
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.42149320229405396,
|
| 204 |
+
"xyz": [
|
| 205 |
+
-0.7028389752004713,
|
| 206 |
+
-0.4985879058712511,
|
| 207 |
+
0.28243752491121893
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"grasp_75": {
|
| 212 |
+
"confidence": 0.9600334167480469,
|
| 213 |
+
"position": [
|
| 214 |
+
-0.006481700111180544,
|
| 215 |
+
-0.0914268117339816,
|
| 216 |
+
0.08889867784455419
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.49863110353450746,
|
| 220 |
+
"xyz": [
|
| 221 |
+
-0.8653875694945831,
|
| 222 |
+
0.0018267871350363674,
|
| 223 |
+
-0.04967937198658107
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"grasp_76": {
|
| 228 |
+
"confidence": 0.9587289690971375,
|
| 229 |
+
"position": [
|
| 230 |
+
0.03195420606061816,
|
| 231 |
+
-0.08964750877930783,
|
| 232 |
+
0.08907167287543416
|
| 233 |
+
],
|
| 234 |
+
"orientation": {
|
| 235 |
+
"w": 0.4882919199481898,
|
| 236 |
+
"xyz": [
|
| 237 |
+
-0.8537933702883445,
|
| 238 |
+
-0.16388383007929908,
|
| 239 |
+
0.07582856983696752
|
| 240 |
+
]
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"grasp_77": {
|
| 244 |
+
"confidence": 0.9580314755439758,
|
| 245 |
+
"position": [
|
| 246 |
+
0.016565642785280943,
|
| 247 |
+
-0.08196984193637036,
|
| 248 |
+
0.09837728412821889
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
+
"w": 0.4589466352872055,
|
| 252 |
+
"xyz": [
|
| 253 |
+
-0.8778765369086111,
|
| 254 |
+
-0.13381485553950906,
|
| 255 |
+
0.028184327929481806
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"grasp_78": {
|
| 260 |
+
"confidence": 0.9566839933395386,
|
| 261 |
+
"position": [
|
| 262 |
+
-0.02453285688534379,
|
| 263 |
+
-0.08634711019112729,
|
| 264 |
+
0.09115385683253407
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.489299909028461,
|
| 268 |
+
"xyz": [
|
| 269 |
+
-0.8618822202564469,
|
| 270 |
+
0.08811688504174664,
|
| 271 |
+
-0.09990021021547939
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_79": {
|
| 276 |
+
"confidence": 0.9533555507659912,
|
| 277 |
+
"position": [
|
| 278 |
+
0.03256112476810813,
|
| 279 |
+
0.08675731011317112,
|
| 280 |
+
0.08671608241274953
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.5002534764599439,
|
| 284 |
+
"xyz": [
|
| 285 |
+
0.8561932730120804,
|
| 286 |
+
-0.08028187955865784,
|
| 287 |
+
-0.10116500557569659
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"part_name": "neck band",
|
| 295 |
+
"mask_color": "Orange",
|
| 296 |
+
"graspable": true,
|
| 297 |
+
"grasp_scenarios": [
|
| 298 |
+
{
|
| 299 |
+
"scenario": "grasp the narrow band near the neck to assist twisting the top assembly",
|
| 300 |
+
"confidence": 0.58
|
| 301 |
+
},
|
| 302 |
+
{
|
| 303 |
+
"scenario": "hold the neck band briefly while repositioning the bottle",
|
| 304 |
+
"confidence": 0.46
|
| 305 |
+
}
|
| 306 |
+
],
|
| 307 |
+
"functional_labels": [
|
| 308 |
+
"connect top assembly to body",
|
| 309 |
+
"reinforce neck area",
|
| 310 |
+
"provide a secondary twisting surface",
|
| 311 |
+
"help retain the top assembly"
|
| 312 |
+
],
|
| 313 |
+
"semantic_description": "Narrow beige plastic band with a smooth satin finish, hard texture, and circular shape wrapped around the neck just above the main bottle body.",
|
| 314 |
+
"id": 4,
|
| 315 |
+
"grasp_group": {
|
| 316 |
+
"grasp_40": {
|
| 317 |
+
"confidence": 0.9474653601646423,
|
| 318 |
+
"position": [
|
| 319 |
+
0.027642484288662672,
|
| 320 |
+
-0.0961374040634837,
|
| 321 |
+
0.05833603860810399
|
| 322 |
+
],
|
| 323 |
+
"orientation": {
|
| 324 |
+
"w": 0.06988196537756285,
|
| 325 |
+
"xyz": [
|
| 326 |
+
0.13135553808334263,
|
| 327 |
+
-0.7901621392064822,
|
| 328 |
+
-0.5945637285392046
|
| 329 |
+
]
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"grasp_41": {
|
| 333 |
+
"confidence": 0.9464607238769531,
|
| 334 |
+
"position": [
|
| 335 |
+
0.04138075513765216,
|
| 336 |
+
0.08644001968787052,
|
| 337 |
+
0.07406359585002065
|
| 338 |
+
],
|
| 339 |
+
"orientation": {
|
| 340 |
+
"w": 0.12313630681620534,
|
| 341 |
+
"xyz": [
|
| 342 |
+
-0.18171403978518952,
|
| 343 |
+
-0.8272829581062725,
|
| 344 |
+
0.5171270297669107
|
| 345 |
+
]
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"grasp_42": {
|
| 349 |
+
"confidence": 0.9414622783660889,
|
| 350 |
+
"position": [
|
| 351 |
+
-0.028821846935898066,
|
| 352 |
+
0.09326621927903034,
|
| 353 |
+
0.07195667596533895
|
| 354 |
+
],
|
| 355 |
+
"orientation": {
|
| 356 |
+
"w": 0.09874600708957451,
|
| 357 |
+
"xyz": [
|
| 358 |
+
-0.1298799339897771,
|
| 359 |
+
0.8295554669452588,
|
| 360 |
+
-0.5340581954168577
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"grasp_43": {
|
| 365 |
+
"confidence": 0.9395989775657654,
|
| 366 |
+
"position": [
|
| 367 |
+
-0.006324410904198885,
|
| 368 |
+
-0.10825306139304303,
|
| 369 |
+
0.037255868781358004
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.039471457373977586,
|
| 373 |
+
"xyz": [
|
| 374 |
+
0.02625257365811743,
|
| 375 |
+
0.7256752930869501,
|
| 376 |
+
0.6864023422397887
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"grasp_45": {
|
| 381 |
+
"confidence": 0.9269064664840698,
|
| 382 |
+
"position": [
|
| 383 |
+
-0.03675050335004926,
|
| 384 |
+
0.0939318914024625,
|
| 385 |
+
0.05106794508174062
|
| 386 |
+
],
|
| 387 |
+
"orientation": {
|
| 388 |
+
"w": 0.6202799353388276,
|
| 389 |
+
"xyz": [
|
| 390 |
+
0.7571735222509697,
|
| 391 |
+
0.17018708563689233,
|
| 392 |
+
0.11391845724263103
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"grasp_46": {
|
| 397 |
+
"confidence": 0.926604688167572,
|
| 398 |
+
"position": [
|
| 399 |
+
-0.012273514177650213,
|
| 400 |
+
-0.10997220090939663,
|
| 401 |
+
0.03257608646526933
|
| 402 |
+
],
|
| 403 |
+
"orientation": {
|
| 404 |
+
"w": 0.6919588024467174,
|
| 405 |
+
"xyz": [
|
| 406 |
+
-0.7193432391629893,
|
| 407 |
+
0.0354507855977515,
|
| 408 |
+
-0.04981527664788283
|
| 409 |
+
]
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"grasp_47": {
|
| 413 |
+
"confidence": 0.9229705333709717,
|
| 414 |
+
"position": [
|
| 415 |
+
0.05594396544620395,
|
| 416 |
+
-0.08718517384841107,
|
| 417 |
+
0.0425712619908154
|
| 418 |
+
],
|
| 419 |
+
"orientation": {
|
| 420 |
+
"w": 0.16280677601654106,
|
| 421 |
+
"xyz": [
|
| 422 |
+
0.24765509000342698,
|
| 423 |
+
-0.7117653300207479,
|
| 424 |
+
-0.6368288820860357
|
| 425 |
+
]
|
| 426 |
+
}
|
| 427 |
+
},
|
| 428 |
+
"grasp_49": {
|
| 429 |
+
"confidence": 0.9201496839523315,
|
| 430 |
+
"position": [
|
| 431 |
+
0.031069291289895773,
|
| 432 |
+
0.10450762548134662,
|
| 433 |
+
0.03541728900745511
|
| 434 |
+
],
|
| 435 |
+
"orientation": {
|
| 436 |
+
"w": 0.679013418099231,
|
| 437 |
+
"xyz": [
|
| 438 |
+
0.7241769477356663,
|
| 439 |
+
-0.052288095131259094,
|
| 440 |
+
-0.10851028300118663
|
| 441 |
+
]
|
| 442 |
+
}
|
| 443 |
+
},
|
| 444 |
+
"grasp_50": {
|
| 445 |
+
"confidence": 0.9144417643547058,
|
| 446 |
+
"position": [
|
| 447 |
+
-0.04026616411283612,
|
| 448 |
+
0.08787884601042606,
|
| 449 |
+
0.06449963571503758
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.5627748126300127,
|
| 453 |
+
"xyz": [
|
| 454 |
+
0.7905429612885628,
|
| 455 |
+
0.21375544101408117,
|
| 456 |
+
0.11240528485458215
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_51": {
|
| 461 |
+
"confidence": 0.9132882356643677,
|
| 462 |
+
"position": [
|
| 463 |
+
0.025463453959673643,
|
| 464 |
+
-0.10535477063967846,
|
| 465 |
+
0.03771095769479871
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.6767765720760263,
|
| 469 |
+
"xyz": [
|
| 470 |
+
-0.7274774508122437,
|
| 471 |
+
-0.06980759499691402,
|
| 472 |
+
0.08875206887442012
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_52": {
|
| 477 |
+
"confidence": 0.9094703793525696,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.04098966019228101,
|
| 480 |
+
-0.09303412548615597,
|
| 481 |
+
0.06511813076213002
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.5601855505535062,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.7967507911429622,
|
| 487 |
+
0.18827156151182056,
|
| 488 |
+
-0.12623052281453112
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_53": {
|
| 493 |
+
"confidence": 0.9093278646469116,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.007201253902167082,
|
| 496 |
+
-0.10990872196271084,
|
| 497 |
+
0.04529330553486943
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.6525759210394071,
|
| 501 |
+
"xyz": [
|
| 502 |
+
-0.7553214146576039,
|
| 503 |
+
0.06028393374754493,
|
| 504 |
+
0.0002741735350272738
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_54": {
|
| 509 |
+
"confidence": 0.9019056558609009,
|
| 510 |
+
"position": [
|
| 511 |
+
-0.014059722889214754,
|
| 512 |
+
-0.11060336194350384,
|
| 513 |
+
0.047735747415572405
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.6380978375594467,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.7652687770991243,
|
| 519 |
+
0.08096838737544565,
|
| 520 |
+
-0.025277831097396536
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_55": {
|
| 525 |
+
"confidence": 0.9007763862609863,
|
| 526 |
+
"position": [
|
| 527 |
+
0.06076540378853679,
|
| 528 |
+
-0.081951826432487,
|
| 529 |
+
0.05578598799183965
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.17553788355707886,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.27930528181370956,
|
| 535 |
+
-0.7428228698661269,
|
| 536 |
+
-0.5825711930666648
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_56": {
|
| 541 |
+
"confidence": 0.8968595266342163,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.03316618921235204,
|
| 544 |
+
-0.10394960604025982,
|
| 545 |
+
0.04110986785963178
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.6560641784499591,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.734681111092339,
|
| 551 |
+
0.1356341712952197,
|
| 552 |
+
-0.1068963532397865
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_57": {
|
| 557 |
+
"confidence": 0.8863787651062012,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.035831224638968706,
|
| 560 |
+
-0.09189534894539975,
|
| 561 |
+
0.037891358602792025
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.66221232769722,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.7205479351809473,
|
| 567 |
+
0.1605926724112252,
|
| 568 |
+
-0.1284348072763923
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_58": {
|
| 573 |
+
"confidence": 0.8838582038879395,
|
| 574 |
+
"position": [
|
| 575 |
+
-0.010498255025595427,
|
| 576 |
+
0.10433344580815174,
|
| 577 |
+
0.03988535003736615
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.6766704711349779,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.7324166974305143,
|
| 583 |
+
0.030707643232535276,
|
| 584 |
+
0.06884689873951706
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_59": {
|
| 589 |
+
"confidence": 0.8772053718566895,
|
| 590 |
+
"position": [
|
| 591 |
+
0.022961884271353483,
|
| 592 |
+
0.1004723463265691,
|
| 593 |
+
0.03248234139755368
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.6941459713117651,
|
| 597 |
+
"xyz": [
|
| 598 |
+
0.713066214794612,
|
| 599 |
+
-0.014303293719052146,
|
| 600 |
+
-0.09743387305715298
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
}
|
| 604 |
+
}
|
| 605 |
+
},
|
| 606 |
+
{
|
| 607 |
+
"part_name": "bottle body sleeve",
|
| 608 |
+
"mask_color": "Green",
|
| 609 |
+
"graspable": true,
|
| 610 |
+
"grasp_scenarios": [
|
| 611 |
+
{
|
| 612 |
+
"scenario": "grasp the main body to pick up and carry the baby bottle",
|
| 613 |
+
"confidence": 0.94
|
| 614 |
+
},
|
| 615 |
+
{
|
| 616 |
+
"scenario": "hold the body to stabilize the bottle while feeding or placing it down",
|
| 617 |
+
"confidence": 0.91
|
| 618 |
+
}
|
| 619 |
+
],
|
| 620 |
+
"functional_labels": [
|
| 621 |
+
"contain and protect the inner bottle",
|
| 622 |
+
"provide main grasp surface",
|
| 623 |
+
"support the bottle structure",
|
| 624 |
+
"add grip and insulation"
|
| 625 |
+
],
|
| 626 |
+
"semantic_description": "Large light aqua silicone or soft plastic outer sleeve with a matte smooth slightly rubbery surface, rounded cylindrical form, and small raised dots near the lower sides.",
|
| 627 |
+
"id": 1,
|
| 628 |
+
"grasp_group": {
|
| 629 |
+
"grasp_10": {
|
| 630 |
+
"confidence": 0.9530762434005737,
|
| 631 |
+
"position": [
|
| 632 |
+
-0.0074524362571537495,
|
| 633 |
+
0.047672894230345264,
|
| 634 |
+
-0.12011729506775737
|
| 635 |
+
],
|
| 636 |
+
"orientation": {
|
| 637 |
+
"w": 0.10297685835862225,
|
| 638 |
+
"xyz": [
|
| 639 |
+
0.06132839294858629,
|
| 640 |
+
-0.23327714309340564,
|
| 641 |
+
0.9649955281611988
|
| 642 |
+
]
|
| 643 |
+
}
|
| 644 |
+
},
|
| 645 |
+
"grasp_18": {
|
| 646 |
+
"confidence": 0.946639895439148,
|
| 647 |
+
"position": [
|
| 648 |
+
0.0238720397464931,
|
| 649 |
+
-0.09082011840655468,
|
| 650 |
+
-0.09200465260073543
|
| 651 |
+
],
|
| 652 |
+
"orientation": {
|
| 653 |
+
"w": 0.865328824567408,
|
| 654 |
+
"xyz": [
|
| 655 |
+
-0.4811974135133167,
|
| 656 |
+
-0.03326828782408986,
|
| 657 |
+
0.1361921276217384
|
| 658 |
+
]
|
| 659 |
+
}
|
| 660 |
+
}
|
| 661 |
+
}
|
| 662 |
+
},
|
| 663 |
+
{
|
| 664 |
+
"part_name": "right loop handle",
|
| 665 |
+
"mask_color": "Lime Green",
|
| 666 |
+
"graspable": true,
|
| 667 |
+
"grasp_scenarios": [
|
| 668 |
+
{
|
| 669 |
+
"scenario": "hook or pinch the side loop to lift or reposition the bottle",
|
| 670 |
+
"confidence": 0.79
|
| 671 |
+
},
|
| 672 |
+
{
|
| 673 |
+
"scenario": "grasp the loop to help stabilize the bottle during handling",
|
| 674 |
+
"confidence": 0.72
|
| 675 |
+
}
|
| 676 |
+
],
|
| 677 |
+
"functional_labels": [
|
| 678 |
+
"provide side grip",
|
| 679 |
+
"assist carrying",
|
| 680 |
+
"aid orientation",
|
| 681 |
+
"support one-handed handling"
|
| 682 |
+
],
|
| 683 |
+
"semantic_description": "Flexible light aqua loop handle with a matte soft-touch surface, elongated teardrop shape, attached on one upper side of the bottle.",
|
| 684 |
+
"id": 9,
|
| 685 |
+
"grasp_group": {}
|
| 686 |
+
},
|
| 687 |
+
{
|
| 688 |
+
"part_name": "left loop handle",
|
| 689 |
+
"mask_color": "Blue",
|
| 690 |
+
"graspable": true,
|
| 691 |
+
"grasp_scenarios": [
|
| 692 |
+
{
|
| 693 |
+
"scenario": "hook or pinch the side loop to lift or reposition the bottle",
|
| 694 |
+
"confidence": 0.79
|
| 695 |
+
},
|
| 696 |
+
{
|
| 697 |
+
"scenario": "grasp the loop to help stabilize the bottle during handling",
|
| 698 |
+
"confidence": 0.72
|
| 699 |
+
}
|
| 700 |
+
],
|
| 701 |
+
"functional_labels": [
|
| 702 |
+
"provide side grip",
|
| 703 |
+
"assist carrying",
|
| 704 |
+
"aid orientation",
|
| 705 |
+
"support one-handed handling"
|
| 706 |
+
],
|
| 707 |
+
"semantic_description": "Flexible light aqua loop handle with a matte soft-touch surface, elongated teardrop shape, attached on the opposite upper side of the bottle.",
|
| 708 |
+
"id": 2,
|
| 709 |
+
"grasp_group": {}
|
| 710 |
+
},
|
| 711 |
+
{
|
| 712 |
+
"part_name": "right handle connector",
|
| 713 |
+
"mask_color": "Maroon",
|
| 714 |
+
"graspable": false,
|
| 715 |
+
"grasp_scenarios": [],
|
| 716 |
+
"functional_labels": [
|
| 717 |
+
"connect handle to bottle",
|
| 718 |
+
"reinforce handle attachment",
|
| 719 |
+
"transfer pulling load"
|
| 720 |
+
],
|
| 721 |
+
"semantic_description": "Small light aqua connector nub with a smooth matte finish and rounded shape joining one side loop handle to the upper bottle body.",
|
| 722 |
+
"id": 12,
|
| 723 |
+
"grasp_group": {}
|
| 724 |
+
},
|
| 725 |
+
{
|
| 726 |
+
"part_name": "left handle connector",
|
| 727 |
+
"mask_color": "Red",
|
| 728 |
+
"graspable": false,
|
| 729 |
+
"grasp_scenarios": [],
|
| 730 |
+
"functional_labels": [
|
| 731 |
+
"connect handle to bottle",
|
| 732 |
+
"reinforce handle attachment",
|
| 733 |
+
"transfer pulling load"
|
| 734 |
+
],
|
| 735 |
+
"semantic_description": "Small light aqua connector nub with a smooth matte finish and rounded shape joining the opposite side loop handle to the upper bottle body.",
|
| 736 |
+
"id": 0,
|
| 737 |
+
"grasp_group": {}
|
| 738 |
+
},
|
| 739 |
+
{
|
| 740 |
+
"part_name": "front window border",
|
| 741 |
+
"mask_color": "Pink",
|
| 742 |
+
"graspable": false,
|
| 743 |
+
"grasp_scenarios": [],
|
| 744 |
+
"functional_labels": [
|
| 745 |
+
"frame viewing window opening",
|
| 746 |
+
"finish the sleeve edge around the window",
|
| 747 |
+
"provide visual contrast"
|
| 748 |
+
],
|
| 749 |
+
"semantic_description": "Light aqua sleeve border around the front opening with a matte soft finish and rounded rectangular outline on the bottle front.",
|
| 750 |
+
"id": 8,
|
| 751 |
+
"grasp_group": {}
|
| 752 |
+
},
|
| 753 |
+
{
|
| 754 |
+
"part_name": "front viewing window",
|
| 755 |
+
"mask_color": "Cyan",
|
| 756 |
+
"graspable": false,
|
| 757 |
+
"grasp_scenarios": [],
|
| 758 |
+
"functional_labels": [
|
| 759 |
+
"show liquid level",
|
| 760 |
+
"reveal inner bottle contents",
|
| 761 |
+
"provide visual inspection area"
|
| 762 |
+
],
|
| 763 |
+
"semantic_description": "Clear glossy smooth window visible through the front opening, vertically oriented and medium-sized on the bottle\u2019s front lower half.",
|
| 764 |
+
"id": 6,
|
| 765 |
+
"grasp_group": {}
|
| 766 |
+
},
|
| 767 |
+
{
|
| 768 |
+
"part_name": "front logo graphic",
|
| 769 |
+
"mask_color": "Purple",
|
| 770 |
+
"graspable": false,
|
| 771 |
+
"grasp_scenarios": [],
|
| 772 |
+
"functional_labels": [
|
| 773 |
+
"display branding",
|
| 774 |
+
"provide visual identification",
|
| 775 |
+
"decorate the bottle front"
|
| 776 |
+
],
|
| 777 |
+
"semantic_description": "Small colorful printed logo or sticker on the lower area of the front viewing window, glossy and compact in shape.",
|
| 778 |
+
"id": 5,
|
| 779 |
+
"grasp_group": {}
|
| 780 |
+
}
|
| 781 |
+
],
|
| 782 |
+
"quality_check": {
|
| 783 |
+
"success": false,
|
| 784 |
+
"message": "Handle sides/connectors are mislabeled across views; nipple color/description and front logo description are inaccurate."
|
| 785 |
+
}
|
| 786 |
+
}
|
dataset/kitchen_supplies/ware/fe38431ef031508b9ac3cc9d14fb91bb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b99103ff452beddf1e3bdf6b62a3ea3d1e3b7beba3ae6360441a803bb73df475
|
| 3 |
+
size 3797072
|