diff --git a/.gitattributes b/.gitattributes index 8fb106db4058eba3a155047452c90288698118ac..55951d416c7a942c8b698f37271ca6eb34df1683 100644 --- a/.gitattributes +++ b/.gitattributes @@ -2676,3 +2676,5 @@ Objects/325_digital_piano/02_digital_piano/01/electronic_piano_keyboard(1)_keybo Objects/325_digital_piano/02_digital_piano/01/electronic_piano_keyboard(1)_keyboard1_keybaordMaterial_1.glb filter=lfs diff=lfs merge=lfs -text Objects/325_digital_piano/02_digital_piano/01/electronic_piano_keyboard(1)_keyboard1_keybaordMaterial_0.glb filter=lfs diff=lfs merge=lfs -text Objects/325_digital_piano/02_digital_piano/01/electronic_piano_keyboard(1).glb filter=lfs diff=lfs merge=lfs -text +Objects/354_medkit_b/01_medkit_b/01/medkit(1).glb filter=lfs diff=lfs merge=lfs -text +Objects/361_female_beach_hat/01_female_beach_hat/01/female_beach_hat.glb filter=lfs diff=lfs merge=lfs -text diff --git a/Objects/011_banana/kinbody.xml b/Objects/011_banana/kinbody.xml new file mode 100644 index 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0000000000000000000000000000000000000000..26186dc430af69e29abd9044217930f298b51e59 --- /dev/null +++ b/Objects/011_banana/usd/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b329b8a9b66b60eae7e5ab03495666c097070a604ff1e4678e41a4839d8e7c9 +size 1152020 diff --git a/Objects/011_banana/usd/config.yaml b/Objects/011_banana/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..27b18af57fdfc36d69dc5c1a2809349365219bc4 --- /dev/null +++ b/Objects/011_banana/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\011_banana\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\011_banana\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.12 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-02 at 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2138 3782 11346 1113 1113 3782 11347 1112 1112 3782 11348 1115 1115 3783 11349 1117 1117 3783 11350 2143 2143 3783 11351 1975 1975 3784 11352 851 851 3784 11353 857 857 3784 11354 2144 2144 3785 11355 2145 2145 3785 11356 2146 2146 3785 11357 1117 1117 3786 11358 2147 2147 3786 11359 2143 2143 3786 11360 2146 2146 3787 11361 2143 2143 3787 11362 2147 2147 3787 11363 861 861 3788 11364 856 856 3788 11365 1975 1975 3788 11366 856 856 3789 11367 851 851 3789 11368 1975 1975 3789 11369 1975 1975 3790 11370 2136 2136 3790 11371 861 861 3790 11372 2148 2148 3791 11373 830 830 3791 11374 2073 2073 3791 11375 2147 2147 3792 11376 1119 1119 3792 11377 1120 1120 3792 11378 2148 2148 3793 11379 2073 2073 3793 11380 2149 2149 3793 11381 830 830 3794 11382 2148 2148 3794 11383 2087 2087 3794 11384 2147 2147 3795 11385 1117 1117 3795 11386 1119 1119 3795 11387 861 861 3796 11388 2140 2140 3796 11389 859 859 3796 11390 2136 2136 3797 11391 2068 2068 3797 11392 2067 2067 3797 11393 2150 2150 3798 11394 1605 1605 3798 11395 2151 2151 3798 11396 2136 2136 3799 11397 2063 2063 3799 11398 2068 2068 3799 11399 1975 1975 3800 11400 2063 2063 3800 11401 2136 2136 3800 11402 2140 2140 3801 11403 2142 2142 3801 11404 2152 2152 3801 11405 2153 2153 3802 11406 2154 2154 3802 11407 2152 2152 3802 11408 2140 2140 3803 11409 2152 2152 3803 11410 2155 2155 3803 11411 2156 2156 3804 11412 2157 2157 3804 11413 2158 2158 3804 11414 1224 1224 3805 11415 1424 1424 3805 11416 2158 2158 3805 11417 1224 1224 3806 11418 2158 2158 3806 11419 2159 2159 3806 11420 2160 2160 3807 11421 2161 2161 3807 11422 2162 2162 3807 11423 988 988 3808 11424 999 999 3808 11425 992 992 3808 11426 2163 2163 3809 11427 2164 2164 3809 11428 1691 1691 3809 11429 1702 1702 3810 11430 2161 2161 3810 11431 1691 1691 3810 11432 2164 2164 3811 11433 1699 1699 3811 11434 1691 1691 3811 11435 1227 1227 3812 11436 2165 2165 3812 11437 1220 1220 3812 11438 2165 2165 3813 11439 1221 1221 3813 11440 1220 1220 3813 11441 2166 2166 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0000000000000000000000000000000000000000..b6bb2686d2ae19da48787b172bd1de5bf505d9b0 --- /dev/null +++ b/Objects/052_extra_large_clamp/usd/.asset_hash @@ -0,0 +1 @@ +b2dfe5380fb8dead3793b6fd0cc7e269 \ No newline at end of file diff --git a/Objects/052_extra_large_clamp/usd/Props/instanceable_meshes.usd b/Objects/052_extra_large_clamp/usd/Props/instanceable_meshes.usd new file mode 100644 index 0000000000000000000000000000000000000000..8be058df5660a474afdd93d7cab3d39971ba1489 --- /dev/null +++ b/Objects/052_extra_large_clamp/usd/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ef5fe3f5822536a4ff598ee7f38bd151253d5c50b4d3d97519647b7d9e4af4d +size 1156744 diff --git a/Objects/052_extra_large_clamp/usd/config.yaml b/Objects/052_extra_large_clamp/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a96620a057bcb1f3525648db443087fe5dee0f7b --- /dev/null +++ b/Objects/052_extra_large_clamp/usd/config.yaml @@ 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0000000000000000000000000000000000000000..fdba1a475412d5297516d05c6f8b4822ee608831 --- /dev/null +++ b/Objects/073-a_lego_duplo/usd/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bea5d098bb6198de7fcf14d23de1cc69c558f4066054ae84bba9d864a761d54 +size 4159894 diff --git a/Objects/073-a_lego_duplo/usd_decomposition_linux/.asset_hash b/Objects/073-a_lego_duplo/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..63bb5fccff060cfc40c03ca4d78e7b2aa1abb2b7 --- /dev/null +++ b/Objects/073-a_lego_duplo/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +c52ee6bebe8bd45c2da2e28acaa47b5a \ No newline at end of file diff --git a/Objects/073-a_lego_duplo/usd_decomposition_linux/config.yaml b/Objects/073-a_lego_duplo/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..02ba927a13325f644712d8b5c6d92129b01e9129 --- /dev/null +++ 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sha256:7414624a62e1039adf014b904882b00f019d96a75fb288bdc4e5d250556ac49d +size 1158449 diff --git a/Objects/073-a_lego_duplo/usd_decomposition_linux/textures/texture_map.png b/Objects/073-a_lego_duplo/usd_decomposition_linux/textures/texture_map.png new file mode 100644 index 0000000000000000000000000000000000000000..fdba1a475412d5297516d05c6f8b4822ee608831 --- /dev/null +++ b/Objects/073-a_lego_duplo/usd_decomposition_linux/textures/texture_map.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bea5d098bb6198de7fcf14d23de1cc69c558f4066054ae84bba9d864a761d54 +size 4159894 diff --git a/Objects/073-a_lego_duplo/usd_sdf_linux/.asset_hash b/Objects/073-a_lego_duplo/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..4d01fc0fef808c2e7abd01be429feea10a80e1e9 --- /dev/null +++ b/Objects/073-a_lego_duplo/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +134e4845bb422734037ddcde4a2bafe9 \ No newline at end of file diff --git a/Objects/073-a_lego_duplo/usd_sdf_linux/config.yaml b/Objects/073-a_lego_duplo/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c79b8dd2dd2516f2cc225e018483063d3f13857c --- /dev/null +++ b/Objects/073-a_lego_duplo/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-a_lego_duplo/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-a_lego_duplo/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.025 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null 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null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-05 at 00:34:55. +## diff --git a/Objects/128_hamburg/textures/texture_diffuse.png b/Objects/128_hamburg/textures/texture_diffuse.png new file mode 100644 index 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max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-25 at 16:48:24. +## diff --git a/Objects/128_hamburg/usd_decomposition_linux/textures/texture_diffuse.png 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angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: {} + physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI + mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-21 at 18:16:00. +## diff --git 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enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-05 at 02:39:40. +## diff --git a/Objects/197_brush-pen/textures/texture_diffuse.png 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mass: 0.4 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 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+force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.4 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + 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file mode 100644 index 0000000000000000000000000000000000000000..22d3ed4a0c2eda37d2811cb755c83b5d576fa59a --- /dev/null +++ b/Objects/215_coffee-box/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +a25961d2822c96727ccfe96e5658d92b \ No newline at end of file diff --git a/Objects/215_coffee-box/usd_sdf_linux/base6.usd b/Objects/215_coffee-box/usd_sdf_linux/base6.usd new file mode 100644 index 0000000000000000000000000000000000000000..89b7ce85495c7ff1ee23548f53f89e0383bcec96 --- /dev/null +++ b/Objects/215_coffee-box/usd_sdf_linux/base6.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03abff33d7769b23a903c1ee747fd897fd8e708b217de588b0a463b676353544 +size 2647630 diff --git a/Objects/215_coffee-box/usd_sdf_linux/config.yaml b/Objects/215_coffee-box/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7adcc648e019b3e708e0fb076d53ed7c1490bdc6 --- /dev/null +++ b/Objects/215_coffee-box/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ 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mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-21 at 18:29:23. +## diff --git a/Objects/215_coffee-box/usd_sdf_linux/textures/texture_diffuse.png b/Objects/215_coffee-box/usd_sdf_linux/textures/texture_diffuse.png new file mode 100644 index 0000000000000000000000000000000000000000..b99870ed0ca3838ee59dbf82bf5b8af30612195f --- /dev/null +++ b/Objects/215_coffee-box/usd_sdf_linux/textures/texture_diffuse.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f896109bcb8ab8e0e5f6ca2f0eee7354b18ac2e627a9bf67cfe40290132ea54 +size 2295564 diff --git a/Objects/215_coffee-box/usd_sdf_linux/textures/texture_metallic-texture_roughness.png 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b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-155.mtl new file mode 100644 index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760 --- /dev/null +++ b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-155.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-156.mtl b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-156.mtl new file mode 100644 index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760 --- /dev/null +++ b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-156.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 +Ks 0.06666666666666667 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a/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-34.obj b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-34.obj new file mode 100644 index 0000000000000000000000000000000000000000..bc214ddf0ed942c24dd8816ee1b05a3028912571 --- /dev/null +++ b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-34.obj @@ -0,0 +1,28 @@ +# SSTK version 0.8.0 +# 34 +mtllib original-34.mtl +o mesh58/mesh58-geometry#mesh58-geometry +v -0.303909 0.226232 -0.255919 +v 0.00371 0.228113 -0.44808 +v -0.310363 0.226192 -0.44808 +v -0.253213 0.226542 -0.255825 +v -0.19006 0.226928 -0.255709 +v -0.125766 0.227321 -0.25559 +v -0.061471 0.227714 -0.255471 +v 0.00371 0.228113 -0.255351 +vn -0.00611400189119275 0.9999813093157663 0.0 +vn 0.00611400189119275 -0.9999813093157663 0.0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 2//1 4//1 5//1 +f 2//1 5//1 6//1 +f 2//1 6//1 7//1 +f 2//1 7//1 8//1 +usemtl material_1_0 +f 3//2 2//2 1//2 +f 4//2 1//2 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a/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-42.obj b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-42.obj new file mode 100644 index 0000000000000000000000000000000000000000..8e29f33a8ecc1080ba2ec1b60aa8f5a7aeeb50ec --- /dev/null +++ b/Objects/310_shopping_cart/01_shopping_cart/01/textured_objs/original-42.obj @@ -0,0 +1,33 @@ +# SSTK version 0.8.0 +# 42 +mtllib original-42.mtl +o mesh63/mesh63-geometry#mesh63-geometry +v 0.265297 -0.413411 -0.048146 +v 0.292201 -0.081868 0.087068 +v 0.247058 -0.411166 -0.050022 +v 0.29525 -0.082893 0.056193 +v 0.273963 -0.079624 0.085192 +v 0.268402 -0.413738 -0.078736 +v 0.277011 -0.080648 0.054318 +v 0.250163 -0.411493 -0.080612 +vn 0.5995379176447794 -0.3434739528188753 0.7228969006996355 +vn -0.7968309787999137 -0.17160299543441673 0.5793209845868755 +vn 0.7968309787999137 0.17160299543441673 -0.5793209845868755 +vn -0.5995379176447794 0.3434739528188753 -0.7228969006996355 +usemtl material_0_0 +f 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