Add asset tools/repair_tools/924a3723bbaa55cb9255ac6587cec223
Browse files- .gitattributes +2 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/material.mtl +8 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/material_0.png +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.glb +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.mtl +6 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.obj +0 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021_collision.obj +1517 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021_geometry_Looks_material_0.png +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/material_0.png +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021.obj +0 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision.obj +1517 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_0.obj +670 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_1.obj +376 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_2.obj +469 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/screwdriver_021.xml +20 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/screwdriver_021.urdf +66 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/screwdriver_021.usd +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/textures/material_0.png +3 -0
- dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/video.mp4 +3 -0
.gitattributes
CHANGED
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@@ -5121,3 +5121,5 @@ dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/mesh/mini_hammer_021
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| 5121 |
dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/mini_hammer_021.usd filter=lfs diff=lfs merge=lfs -text
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| 5122 |
dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd filter=lfs diff=lfs merge=lfs -text
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| 5123 |
dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb filter=lfs diff=lfs merge=lfs -text
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| 5121 |
dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/mini_hammer_021.usd filter=lfs diff=lfs merge=lfs -text
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| 5122 |
dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd filter=lfs diff=lfs merge=lfs -text
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| 5123 |
dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb filter=lfs diff=lfs merge=lfs -text
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| 5124 |
+
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.glb filter=lfs diff=lfs merge=lfs -text
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| 5125 |
+
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/screwdriver_021.usd filter=lfs diff=lfs merge=lfs -text
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/material.mtl
ADDED
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@@ -0,0 +1,8 @@
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# https://github.com/mikedh/trimesh
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newmtl screwdriver_021_geometry_Looks_material_0
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| 4 |
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Ka 0.00000000 0.00000000 0.00000000
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| 5 |
+
Kd 0.98039216 0.98039216 0.98039216
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| 6 |
+
Ks 0.00000000 0.00000000 0.00000000
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| 7 |
+
Ns 1.00000000
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| 8 |
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map_Kd screwdriver_021_geometry_Looks_material_0.png
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/material_0.png
ADDED
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Git LFS Details
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.glb
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:4fc278c1867626d000243f97a640ad32ac4142f842671d8538963cf60e7f9f67
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| 3 |
+
size 12016648
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.mtl
ADDED
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@@ -0,0 +1,6 @@
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newmtl screwdriver_021_geometry_Looks_material_0
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Kd 0.980392 0.980392 0.980392
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Ka 0.000000 0.000000 0.000000
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| 4 |
+
Ks 0.000000 0.000000 0.000000
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| 5 |
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d 1.000000
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| 6 |
+
map_Kd material_0.png
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021.obj
ADDED
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The diff for this file is too large to render.
See raw diff
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021_collision.obj
ADDED
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@@ -0,0 +1,1517 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
o geometry_0
|
| 4 |
+
v -0.00188384 0.01436454 0.06143218
|
| 5 |
+
v 0.00130762 0.01435867 0.06143218
|
| 6 |
+
v 0.00149856 0.01436160 0.04073362
|
| 7 |
+
v -0.00170108 0.01436160 0.04073362
|
| 8 |
+
v -0.00372779 0.01415915 0.05315981
|
| 9 |
+
v -0.00375234 0.01416502 0.06143218
|
| 10 |
+
v -0.00375234 0.01416502 0.06352674
|
| 11 |
+
v -0.00188384 0.01426771 0.06393859
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dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mesh/screwdriver_021_geometry_Looks_material_0.png
ADDED
|
Git LFS Details
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/material_0.png
ADDED
|
Git LFS Details
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision.obj
ADDED
|
@@ -0,0 +1,1517 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
o screwdriver_021_collision.obj
|
| 4 |
+
v -0.00188269 0.05445983 -0.01329457
|
| 5 |
+
v -0.00188269 0.05032360 -0.01325294
|
| 6 |
+
v -0.00481135 0.05445983 -0.01254754
|
| 7 |
+
v -0.00444398 0.05718521 -0.01244862
|
| 8 |
+
v -0.00188269 0.05775749 -0.01273494
|
| 9 |
+
v 0.00181666 0.05777732 -0.01274014
|
| 10 |
+
v 0.00181666 0.05445983 -0.01325813
|
| 11 |
+
v -0.00159240 0.04616186 -0.01260223
|
| 12 |
+
v -0.00440031 0.04752455 -0.01236276
|
| 13 |
+
v -0.00477795 0.05032360 -0.01248249
|
| 14 |
+
v 0.00181666 0.05032360 -0.01316705
|
| 15 |
+
v 0.00153407 0.04619869 -0.01256579
|
| 16 |
+
v -0.00663020 0.05032359 -0.01187862
|
| 17 |
+
v -0.00666103 0.05445982 -0.01183174
|
| 18 |
+
v -0.00435921 0.06683734 -0.00522555
|
| 19 |
+
v -0.00188269 0.06683734 -0.00639165
|
| 20 |
+
v -0.00843621 0.05779713 -0.00940324
|
| 21 |
+
v -0.00575931 0.05887086 -0.01038191
|
| 22 |
+
v 0.00181666 0.06683734 -0.00639946
|
| 23 |
+
v 0.00458861 0.05721071 -0.01245643
|
| 24 |
+
v 0.00517178 0.05445983 -0.01251110
|
| 25 |
+
v 0.00708311 0.05032359 -0.01211288
|
| 26 |
+
v -0.00016146 0.04406541 -0.01219359
|
| 27 |
+
v -0.00188269 0.03789788 -0.01022582
|
| 28 |
+
v 0.00011342 0.04406541 -0.01219359
|
| 29 |
+
v -0.00502715 0.03789787 -0.00915343
|
| 30 |
+
v -0.00561545 0.04616185 -0.01142312
|
| 31 |
+
v 0.00466568 0.04758971 -0.01230290
|
| 32 |
+
v 0.00257966 0.04483033 -0.01200358
|
| 33 |
+
v 0.00181666 0.03789788 -0.01024404
|
| 34 |
+
v -0.00845676 0.04618451 -0.00949698
|
| 35 |
+
v -0.00884725 0.05032359 -0.00999673
|
| 36 |
+
v -0.00890120 0.05445982 -0.00994985
|
| 37 |
+
v -0.00583381 0.06683733 -0.00279966
|
| 38 |
+
v -0.00949977 0.05901250 -0.00684198
|
| 39 |
+
v -0.01164232 0.05746849 -0.00554575
|
| 40 |
+
v -0.01075344 0.05445981 -0.00787795
|
| 41 |
+
v 0.00185263 0.06683734 -0.00638905
|
| 42 |
+
v 0.00430345 0.06683734 -0.00523336
|
| 43 |
+
v 0.00583458 0.05889636 -0.01045480
|
| 44 |
+
v 0.00840358 0.05782547 -0.00953078
|
| 45 |
+
v 0.00702402 0.05445982 -0.01204779
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 1516 |
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|
| 1517 |
+
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_0.obj
ADDED
|
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.00188384 -0.06143223 0.01436431
|
| 3 |
+
v 0.00130762 -0.06143223 0.01435844
|
| 4 |
+
v 0.00149856 -0.04073367 0.01436145
|
| 5 |
+
v -0.00170108 -0.04073367 0.01436145
|
| 6 |
+
v -0.00372779 -0.05315986 0.01415895
|
| 7 |
+
v -0.00375234 -0.06143223 0.01416479
|
| 8 |
+
v -0.00375234 -0.06352679 0.01416479
|
| 9 |
+
v -0.00188384 -0.06393864 0.01426748
|
| 10 |
+
v 0.00087937 -0.06405632 0.01429975
|
| 11 |
+
v 0.00335070 -0.04073367 0.01411499
|
| 12 |
+
v 0.00181771 -0.07798872 0.01358376
|
| 13 |
+
v 0.00315703 -0.06143223 0.01408263
|
| 14 |
+
v 0.00329069 -0.03660337 0.01410914
|
| 15 |
+
v 0.00143855 -0.03660337 0.01435267
|
| 16 |
+
v -0.00157833 -0.03660337 0.01435267
|
| 17 |
+
v -0.00355322 -0.04073367 0.01413552
|
| 18 |
+
v -0.00558812 -0.04073367 0.01336091
|
| 19 |
+
v -0.00558812 -0.05315986 0.01338727
|
| 20 |
+
v -0.00560448 -0.06143223 0.01338430
|
| 21 |
+
v -0.00558812 -0.07798872 0.01244238
|
| 22 |
+
v -0.00188384 -0.07798872 0.01346933
|
| 23 |
+
v 0.00552199 -0.04073367 0.01339025
|
| 24 |
+
v 0.00552199 -0.03660337 0.01336973
|
| 25 |
+
v 0.00552199 -0.06143223 0.01337550
|
| 26 |
+
v -0.00188384 -0.08116586 0.01178806
|
| 27 |
+
v 0.00181771 -0.08116586 0.01181153
|
| 28 |
+
v 0.00552199 -0.08085991 0.01128339
|
| 29 |
+
v 0.00552199 -0.07798872 0.01258616
|
| 30 |
+
v 0.00496007 0.02548054 0.01131899
|
| 31 |
+
v 0.00181771 0.02548054 0.01191462
|
| 32 |
+
v 0.00093665 -0.03376747 0.01428813
|
| 33 |
+
v -0.00104642 -0.03376747 0.01428813
|
| 34 |
+
v -0.00343047 -0.03660337 0.01411794
|
| 35 |
+
v -0.00558812 -0.03660337 0.01332866
|
| 36 |
+
v -0.00874684 -0.04073366 0.01150653
|
| 37 |
+
v -0.00880413 -0.05315985 0.01150648
|
| 38 |
+
v -0.00879594 -0.06143222 0.01150352
|
| 39 |
+
v -0.00808127 -0.07798871 0.01097238
|
| 40 |
+
v -0.00776486 -0.08035392 0.01066135
|
| 41 |
+
v -0.00558812 -0.08081284 0.01122471
|
| 42 |
+
v 0.00879528 -0.04073366 0.01155348
|
| 43 |
+
v 0.00878710 -0.03660336 0.01153883
|
| 44 |
+
v 0.00879255 -0.06143222 0.01157100
|
| 45 |
+
v -0.00558812 -0.08194249 0.00851649
|
| 46 |
+
v -0.00188384 -0.08228373 0.00851649
|
| 47 |
+
v 0.00181771 -0.08228373 0.00851649
|
| 48 |
+
v 0.00552199 -0.08198955 0.00851649
|
| 49 |
+
v 0.00776965 -0.08040100 0.01070830
|
| 50 |
+
v 0.00820609 -0.07798871 0.01100172
|
| 51 |
+
v 0.00681221 0.02548054 0.00993114
|
| 52 |
+
v 0.00640578 0.02962261 0.00970230
|
| 53 |
+
v 0.00455364 0.02962261 0.01098158
|
| 54 |
+
v 0.00181771 0.02962261 0.01157134
|
| 55 |
+
v -0.00106552 0.03789497 0.01058257
|
| 56 |
+
v -0.00188384 0.02962261 0.01104320
|
| 57 |
+
v -0.00393783 0.03222317 0.01047105
|
| 58 |
+
v -0.00871957 -0.03660336 0.01148895
|
| 59 |
+
v -0.00574360 0.02962261 0.00977565
|
| 60 |
+
v -0.01059898 -0.04073366 0.00977246
|
| 61 |
+
v -0.01065627 -0.05315985 0.00983402
|
| 62 |
+
v -0.01064808 -0.06143222 0.00982519
|
| 63 |
+
v -0.00993341 -0.07798870 0.00918549
|
| 64 |
+
v -0.00911509 -0.08080106 0.00828470
|
| 65 |
+
v -0.01130274 -0.08025976 0.00687632
|
| 66 |
+
v 0.01063924 -0.03660336 0.00988104
|
| 67 |
+
v 0.00894531 0.02548055 0.00805036
|
| 68 |
+
v 0.01064469 -0.06143222 0.00988974
|
| 69 |
+
v -0.00928967 -0.08178950 0.00475493
|
| 70 |
+
v -0.00558812 -0.08229549 0.00475493
|
| 71 |
+
v 0.00181771 -0.08230726 0.00475493
|
| 72 |
+
v 0.00552199 -0.08230726 0.00475493
|
| 73 |
+
v 0.00922627 -0.08217780 0.00099336
|
| 74 |
+
v 0.00922627 -0.08184835 0.00475493
|
| 75 |
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|
| 425 |
+
f 75 97 76
|
| 426 |
+
f 77 96 108
|
| 427 |
+
f 77 108 78
|
| 428 |
+
f 83 109 85
|
| 429 |
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f 84 86 87
|
| 430 |
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f 85 110 86
|
| 431 |
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f 85 109 111
|
| 432 |
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f 85 111 110
|
| 433 |
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f 86 110 87
|
| 434 |
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f 87 112 88
|
| 435 |
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f 87 110 112
|
| 436 |
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f 88 112 113
|
| 437 |
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f 88 113 114
|
| 438 |
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f 88 114 89
|
| 439 |
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f 89 114 90
|
| 440 |
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f 90 114 91
|
| 441 |
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f 91 115 92
|
| 442 |
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f 91 114 115
|
| 443 |
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f 92 115 99
|
| 444 |
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|
| 445 |
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f 93 97 116
|
| 446 |
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f 94 116 117
|
| 447 |
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f 94 117 95
|
| 448 |
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f 95 118 96
|
| 449 |
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f 95 117 118
|
| 450 |
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f 96 118 108
|
| 451 |
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|
| 452 |
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f 98 99 119
|
| 453 |
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f 98 119 120
|
| 454 |
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f 98 120 100
|
| 455 |
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f 99 121 119
|
| 456 |
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f 99 115 121
|
| 457 |
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f 100 122 101
|
| 458 |
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f 100 120 122
|
| 459 |
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f 101 122 123
|
| 460 |
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f 101 123 102
|
| 461 |
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f 102 123 105
|
| 462 |
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f 103 105 124
|
| 463 |
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f 103 124 125
|
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f 103 125 104
|
| 465 |
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f 104 125 126
|
| 466 |
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f 104 126 106
|
| 467 |
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f 105 123 127
|
| 468 |
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f 105 127 128
|
| 469 |
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f 105 128 124
|
| 470 |
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f 106 126 107
|
| 471 |
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f 107 126 116
|
| 472 |
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f 108 118 129
|
| 473 |
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f 110 111 130
|
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f 110 130 131
|
| 475 |
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|
| 476 |
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|
| 477 |
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f 112 132 113
|
| 478 |
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|
| 479 |
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|
| 480 |
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|
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|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
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|
| 487 |
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f 118 137 129
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 128 146 147
|
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|
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|
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f 137 159 148
|
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f 137 157 158
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 146 171 147
|
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f 147 171 172
|
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+
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|
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f 148 159 174
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 157 187 158
|
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|
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f 158 187 174
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 169 193 187
|
| 593 |
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f 170 189 171
|
| 594 |
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f 170 188 194
|
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|
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|
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|
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|
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|
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|
| 601 |
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|
| 602 |
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|
| 603 |
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f 174 200 199
|
| 604 |
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|
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|
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|
| 607 |
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|
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|
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|
| 610 |
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f 177 204 178
|
| 611 |
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f 178 206 207
|
| 612 |
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f 178 207 186
|
| 613 |
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f 178 186 179
|
| 614 |
+
f 178 204 206
|
| 615 |
+
f 179 186 180
|
| 616 |
+
f 181 188 182
|
| 617 |
+
f 181 185 188
|
| 618 |
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f 183 186 184
|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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f 185 209 194
|
| 623 |
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f 185 194 188
|
| 624 |
+
f 186 207 208
|
| 625 |
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f 187 193 200
|
| 626 |
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f 189 210 211
|
| 627 |
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
| 632 |
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f 189 214 210
|
| 633 |
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|
| 634 |
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f 190 199 200
|
| 635 |
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|
| 636 |
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f 194 209 215
|
| 637 |
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f 194 215 195
|
| 638 |
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f 195 215 216
|
| 639 |
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f 195 216 196
|
| 640 |
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f 196 216 217
|
| 641 |
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f 196 217 214
|
| 642 |
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f 197 218 198
|
| 643 |
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f 197 199 218
|
| 644 |
+
f 199 213 218
|
| 645 |
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f 202 205 203
|
| 646 |
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f 203 205 219
|
| 647 |
+
f 203 219 210
|
| 648 |
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f 203 210 220
|
| 649 |
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f 203 220 221
|
| 650 |
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f 203 221 222
|
| 651 |
+
f 203 222 204
|
| 652 |
+
f 204 222 206
|
| 653 |
+
f 205 223 219
|
| 654 |
+
f 206 222 224
|
| 655 |
+
f 206 224 207
|
| 656 |
+
f 207 224 208
|
| 657 |
+
f 208 224 209
|
| 658 |
+
f 209 224 215
|
| 659 |
+
f 210 219 212
|
| 660 |
+
f 210 212 211
|
| 661 |
+
f 210 214 220
|
| 662 |
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f 212 218 213
|
| 663 |
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f 212 219 223
|
| 664 |
+
f 214 217 215
|
| 665 |
+
f 214 215 220
|
| 666 |
+
f 215 224 222
|
| 667 |
+
f 215 222 220
|
| 668 |
+
f 215 217 216
|
| 669 |
+
f 220 222 221
|
| 670 |
+
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_1.obj
ADDED
|
@@ -0,0 +1,376 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00153155 0.14552391 0.00776832
|
| 3 |
+
v 0.00337573 0.14966163 0.00638802
|
| 4 |
+
v 0.00152449 0.14966162 0.00753588
|
| 5 |
+
v -0.00178231 0.14552391 0.00776832
|
| 6 |
+
v 0.00153862 0.14137619 0.00773785
|
| 7 |
+
v 0.00350009 0.13310077 0.00657713
|
| 8 |
+
v 0.00515772 0.14966163 0.00450750
|
| 9 |
+
v 0.00505456 0.15379935 0.00438727
|
| 10 |
+
v 0.00297439 0.15379935 0.00626779
|
| 11 |
+
v -0.00181481 0.14966162 0.00753588
|
| 12 |
+
v 0.00112315 0.15379934 0.00712548
|
| 13 |
+
v -0.00366746 0.14966163 0.00658520
|
| 14 |
+
v -0.00378193 0.13606913 0.00668134
|
| 15 |
+
v -0.00378193 0.13310077 0.00667973
|
| 16 |
+
v -0.00180068 0.14137619 0.00773785
|
| 17 |
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|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/mesh/screwdriver_021_collision_2.obj
ADDED
|
@@ -0,0 +1,469 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.00188269 0.05445983 -0.01329457
|
| 3 |
+
v -0.00188269 0.05032360 -0.01325294
|
| 4 |
+
v -0.00481135 0.05445983 -0.01254754
|
| 5 |
+
v -0.00444398 0.05718521 -0.01244862
|
| 6 |
+
v -0.00188269 0.05775749 -0.01273494
|
| 7 |
+
v 0.00181666 0.05777732 -0.01274014
|
| 8 |
+
v 0.00181666 0.05445983 -0.01325813
|
| 9 |
+
v -0.00159240 0.04616186 -0.01260223
|
| 10 |
+
v -0.00440031 0.04752455 -0.01236276
|
| 11 |
+
v -0.00477795 0.05032360 -0.01248249
|
| 12 |
+
v 0.00181666 0.05032360 -0.01316705
|
| 13 |
+
v 0.00153407 0.04619869 -0.01256579
|
| 14 |
+
v -0.00663020 0.05032359 -0.01187862
|
| 15 |
+
v -0.00666103 0.05445982 -0.01183174
|
| 16 |
+
v -0.00435921 0.06683734 -0.00522555
|
| 17 |
+
v -0.00188269 0.06683734 -0.00639165
|
| 18 |
+
v -0.00843621 0.05779713 -0.00940324
|
| 19 |
+
v -0.00575931 0.05887086 -0.01038191
|
| 20 |
+
v 0.00181666 0.06683734 -0.00639946
|
| 21 |
+
v 0.00458861 0.05721071 -0.01245643
|
| 22 |
+
v 0.00517178 0.05445983 -0.01251110
|
| 23 |
+
v 0.00708311 0.05032359 -0.01211288
|
| 24 |
+
v -0.00016146 0.04406541 -0.01219359
|
| 25 |
+
v -0.00188269 0.03789788 -0.01022582
|
| 26 |
+
v 0.00011342 0.04406541 -0.01219359
|
| 27 |
+
v -0.00502715 0.03789787 -0.00915343
|
| 28 |
+
v -0.00561545 0.04616185 -0.01142312
|
| 29 |
+
v 0.00466568 0.04758971 -0.01230290
|
| 30 |
+
v 0.00257966 0.04483033 -0.01200358
|
| 31 |
+
v 0.00181666 0.03789788 -0.01024404
|
| 32 |
+
v -0.00845676 0.04618451 -0.00949698
|
| 33 |
+
v -0.00884725 0.05032359 -0.00999673
|
| 34 |
+
v -0.00890120 0.05445982 -0.00994985
|
| 35 |
+
v -0.00583381 0.06683733 -0.00279966
|
| 36 |
+
v -0.00949977 0.05901250 -0.00684198
|
| 37 |
+
v -0.01164232 0.05746849 -0.00554575
|
| 38 |
+
v -0.01075344 0.05445981 -0.00787795
|
| 39 |
+
v 0.00185263 0.06683734 -0.00638905
|
| 40 |
+
v 0.00430345 0.06683734 -0.00523336
|
| 41 |
+
v 0.00583458 0.05889636 -0.01045480
|
| 42 |
+
v 0.00840358 0.05782547 -0.00953078
|
| 43 |
+
v 0.00702402 0.05445982 -0.01204779
|
| 44 |
+
v 0.00689300 0.03789787 -0.00803418
|
| 45 |
+
v 0.00574980 0.04619868 -0.01155587
|
| 46 |
+
v 0.00885058 0.05445982 -0.01016589
|
| 47 |
+
v 0.00876324 0.05032359 -0.01023099
|
| 48 |
+
v 0.00841385 0.04618452 -0.00964534
|
| 49 |
+
v -0.00687940 0.03789787 -0.00795089
|
| 50 |
+
v 0.00504076 0.03789787 -0.00917165
|
| 51 |
+
v -0.00849016 0.03789786 -0.00607160
|
| 52 |
+
v -0.01030901 0.04618451 -0.00721945
|
| 53 |
+
v -0.01069950 0.05032358 -0.00785455
|
| 54 |
+
v -0.00584666 0.06683733 -0.00276582
|
| 55 |
+
v -0.01198399 0.05445980 -0.00599866
|
| 56 |
+
v -0.01292682 0.05445979 -0.00276587
|
| 57 |
+
v -0.01201482 0.05815407 -0.00276586
|
| 58 |
+
v -0.01061986 0.06022219 -0.00276585
|
| 59 |
+
v -0.01207134 0.05032357 -0.00597265
|
| 60 |
+
v 0.00579861 0.06683733 -0.00276582
|
| 61 |
+
v 0.01156858 0.05749965 -0.00556657
|
| 62 |
+
v 0.00948255 0.05904367 -0.00688363
|
| 63 |
+
v 0.01070283 0.05445981 -0.00778945
|
| 64 |
+
v 0.00849092 0.03789786 -0.00615490
|
| 65 |
+
v 0.01061548 0.05032358 -0.00762549
|
| 66 |
+
v 0.01026610 0.04618451 -0.00714657
|
| 67 |
+
v -0.01009064 0.03789785 -0.00276593
|
| 68 |
+
v -0.01162434 0.04618450 -0.00533756
|
| 69 |
+
v -0.00633220 0.06683732 0.00094330
|
| 70 |
+
v -0.01293966 0.05032356 -0.00276589
|
| 71 |
+
v -0.01300389 0.05445978 0.00099271
|
| 72 |
+
v -0.01209960 0.05829855 0.00099272
|
| 73 |
+
v -0.01084336 0.06036950 0.00099273
|
| 74 |
+
v -0.00633734 0.06683732 0.00099276
|
| 75 |
+
v 0.00628158 0.06683732 0.00099276
|
| 76 |
+
v 0.01062319 0.06028452 -0.00276585
|
| 77 |
+
v 0.01206440 0.05821357 -0.00276586
|
| 78 |
+
v 0.01309971 0.05445979 -0.00276587
|
| 79 |
+
v 0.01180750 0.05445980 -0.00591016
|
| 80 |
+
v 0.01177667 0.05032357 -0.00574360
|
| 81 |
+
v 0.01114213 0.04395773 -0.00477274
|
| 82 |
+
v 0.01014022 0.03789785 -0.00276593
|
| 83 |
+
v 0.01146325 0.04618450 -0.00526468
|
| 84 |
+
v -0.01047599 0.03789784 0.00099265
|
| 85 |
+
v -0.01229484 0.04618449 -0.00276590
|
| 86 |
+
v -0.01243871 0.04618448 0.00099268
|
| 87 |
+
v -0.01292425 0.05032355 0.00099269
|
| 88 |
+
v -0.01234622 0.05032353 0.00475387
|
| 89 |
+
v -0.01234109 0.05445976 0.00475389
|
| 90 |
+
v -0.01173737 0.05765543 0.00475390
|
| 91 |
+
v -0.00484989 0.06683730 0.00413184
|
| 92 |
+
v 0.00626617 0.06683732 0.00103701
|
| 93 |
+
v 0.01174327 0.05785657 0.00475390
|
| 94 |
+
v 0.01084156 0.06043466 0.00099273
|
| 95 |
+
v 0.01215688 0.05836654 0.00099272
|
| 96 |
+
v 0.01324100 0.05445978 0.00099271
|
| 97 |
+
v 0.01313053 0.05032356 -0.00276589
|
| 98 |
+
v 0.01242920 0.04618449 -0.00276590
|
| 99 |
+
v 0.01049217 0.03789784 0.00099265
|
| 100 |
+
v -0.01137514 0.04349875 0.00347843
|
| 101 |
+
v -0.00938417 0.03789782 0.00475383
|
| 102 |
+
v -0.01176049 0.04626945 0.00474084
|
| 103 |
+
v -0.01133661 0.04770862 0.00684399
|
| 104 |
+
v -0.01143423 0.05032352 0.00695071
|
| 105 |
+
v -0.01142395 0.05445975 0.00696895
|
| 106 |
+
v -0.01132376 0.05689333 0.00686744
|
| 107 |
+
v -0.00192637 0.06683730 0.00598250
|
| 108 |
+
v -0.00779139 0.05711430 0.01073274
|
| 109 |
+
v 0.00478386 0.06683730 0.00412404
|
| 110 |
+
v 0.01135279 0.05712564 0.00713034
|
| 111 |
+
v 0.01237782 0.05445976 0.00475389
|
| 112 |
+
v 0.01323329 0.05032355 0.00099269
|
| 113 |
+
v 0.01263985 0.04618448 0.00099268
|
| 114 |
+
v 0.01134765 0.04341092 0.00360597
|
| 115 |
+
v 0.00936695 0.03789782 0.00475383
|
| 116 |
+
v -0.00794810 0.03789781 0.00719274
|
| 117 |
+
v -0.00775285 0.04739414 0.01075092
|
| 118 |
+
v -0.00791727 0.05032351 0.01093313
|
| 119 |
+
v -0.00979778 0.05445975 0.00885084
|
| 120 |
+
v -0.00794553 0.05445974 0.01092014
|
| 121 |
+
v -0.00188269 0.06683730 0.00600072
|
| 122 |
+
v -0.00558719 0.05792738 0.01126894
|
| 123 |
+
v -0.00558719 0.05445974 0.01208623
|
| 124 |
+
v 0.00181666 0.06683730 0.00599031
|
| 125 |
+
v 0.00783326 0.05714546 0.01068849
|
| 126 |
+
v 0.00991415 0.05445975 0.00932977
|
| 127 |
+
v 0.01150693 0.05445975 0.00745048
|
| 128 |
+
v 0.01152234 0.05032352 0.00752334
|
| 129 |
+
v 0.01232387 0.05032353 0.00475387
|
| 130 |
+
v 0.01137077 0.04737149 0.00722921
|
| 131 |
+
v 0.01172786 0.04606830 0.00481893
|
| 132 |
+
v 0.00789491 0.03789781 0.00720315
|
| 133 |
+
v -0.00558719 0.03789781 0.00892366
|
| 134 |
+
v -0.00291543 0.03789780 0.01024593
|
| 135 |
+
v -0.00574133 0.04608245 0.01132095
|
| 136 |
+
v -0.00558719 0.05032351 0.01204457
|
| 137 |
+
v -0.00188269 0.05850815 0.01175828
|
| 138 |
+
v 0.00181666 0.05852798 0.01183376
|
| 139 |
+
v -0.00188269 0.05445973 0.01299725
|
| 140 |
+
v 0.00552116 0.05796988 0.01131318
|
| 141 |
+
v 0.00806447 0.05445974 0.01078739
|
| 142 |
+
v 0.00552116 0.05445974 0.01224761
|
| 143 |
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|
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|
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+
f 155 157 156
|
| 469 |
+
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/mjcf/screwdriver_021.xml
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="screwdriver_021">
|
| 3 |
+
<asset>
|
| 4 |
+
<material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
|
| 5 |
+
<texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
|
| 6 |
+
<mesh name="visual_mesh_0" file="mesh/screwdriver_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
|
| 7 |
+
<mesh name="collision_mesh_0_0" file="mesh/screwdriver_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
|
| 8 |
+
<mesh name="collision_mesh_0_1" file="mesh/screwdriver_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
|
| 9 |
+
<mesh name="collision_mesh_0_2" file="mesh/screwdriver_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
|
| 10 |
+
</asset>
|
| 11 |
+
<worldbody>
|
| 12 |
+
<body name="screwdriver_021">
|
| 13 |
+
<joint type="free" />
|
| 14 |
+
<geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
|
| 15 |
+
<geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 16 |
+
<geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 17 |
+
<geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 18 |
+
</body>
|
| 19 |
+
</worldbody>
|
| 20 |
+
</mujoco>
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/screwdriver_021.urdf
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<robot name="screwdriver_021">
|
| 3 |
+
<link name="screwdriver_021">
|
| 4 |
+
<visual>
|
| 5 |
+
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 6 |
+
<geometry>
|
| 7 |
+
<mesh filename="mesh/screwdriver_021.obj" scale="1.0 1.0 1.0" />
|
| 8 |
+
</geometry>
|
| 9 |
+
</visual>
|
| 10 |
+
<collision>
|
| 11 |
+
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 12 |
+
<geometry>
|
| 13 |
+
<mesh filename="mesh/screwdriver_021_collision.obj" scale="1.0 1.0 1.0" />
|
| 14 |
+
</geometry>
|
| 15 |
+
<gazebo>
|
| 16 |
+
<mu1>0.70</mu1>
|
| 17 |
+
<mu2>0.50</mu2>
|
| 18 |
+
</gazebo>
|
| 19 |
+
</collision>
|
| 20 |
+
<inertial>
|
| 21 |
+
<mass value="0.0500" />
|
| 22 |
+
<origin xyz="0 0 0" />
|
| 23 |
+
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
|
| 24 |
+
</inertial>
|
| 25 |
+
<extra_info>
|
| 26 |
+
<scale>1.000000</scale>
|
| 27 |
+
<uuid>924a3723bbaa55cb9255ac6587cec223</uuid>
|
| 28 |
+
<domain>tools</domain>
|
| 29 |
+
<super_category>repair_tools</super_category>
|
| 30 |
+
<category>screwdriver</category>
|
| 31 |
+
<name>precision screwdriver</name>
|
| 32 |
+
<color>brown</color>
|
| 33 |
+
<shape>elongated</shape>
|
| 34 |
+
<material>metal</material>
|
| 35 |
+
<description>slim brown precision screwdriver with rotating end cap and dark metal tip</description>
|
| 36 |
+
<min_height>0.0298</min_height>
|
| 37 |
+
<max_height>0.0298</max_height>
|
| 38 |
+
<real_height>0.0298</real_height>
|
| 39 |
+
<min_mass>0.02</min_mass>
|
| 40 |
+
<max_mass>0.08</max_mass>
|
| 41 |
+
<version>v0.1.0</version>
|
| 42 |
+
<generate_time>20260609212546</generate_time>
|
| 43 |
+
<gs_model>""</gs_model>
|
| 44 |
+
<aabb>
|
| 45 |
+
<min>-0.013901 -0.080596 -0.015895</min>
|
| 46 |
+
<max>0.013827 0.169404 0.013931</max>
|
| 47 |
+
</aabb>
|
| 48 |
+
<caption_candidates>./caption_candidates.json</caption_candidates>
|
| 49 |
+
</extra_info>
|
| 50 |
+
</link>
|
| 51 |
+
<custom_data>
|
| 52 |
+
<affordance>
|
| 53 |
+
<part_count>7</part_count>
|
| 54 |
+
<visual_seg>
|
| 55 |
+
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
+
</affordance>
|
| 62 |
+
<quality>
|
| 63 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 64 |
+
</quality>
|
| 65 |
+
</custom_data>
|
| 66 |
+
</robot>
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/screwdriver_021.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d4ed43512bc1267ce5e5a63c56aa61b7a2acc64fd5a6e23cb8f27b5a4c59f21b
|
| 3 |
+
size 5005096
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/textures/material_0.png
ADDED
|
Git LFS Details
|
dataset/tools/repair_tools/924a3723bbaa55cb9255ac6587cec223/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a6b67f48c7af60113e07f65370bbc473159dcf893825e36d416237b2d21e2cf2
|
| 3 |
+
size 124149
|