Upload folder using huggingface_hub (part 43)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +66 -0
- data/UPB_00001319/parts/T_66bca3654750b40001453b4a_color.jpg +3 -0
- data/UPB_00001319/parts/part_1.obj +0 -0
- data/UPB_00001319/parts/part_2.obj +0 -0
- data/UPB_00001319/parts/toilet_ZKBDUIRVAJ5J2PTULI888888_oKB7f.mtl +8 -0
- data/UPB_00001319/plys/1.ply +3 -0
- data/UPB_00001319/plys/2.ply +3 -0
- data/UPB_00001319/plys/model.ply +3 -0
- data/UPB_00001320/annotations/object.json +10 -0
- data/UPB_00001320/annotations/part_1.json +51 -0
- data/UPB_00001320/annotations/part_2.json +51 -0
- data/UPB_00001320/annotations/part_3.json +30 -0
- data/UPB_00001320/annotations/part_4.json +30 -0
- data/UPB_00001320/annotations/part_5.json +30 -0
- data/UPB_00001320/full_model/material.mtl +8 -0
- data/UPB_00001320/full_model/material_0.png +3 -0
- data/UPB_00001320/full_model/model.obj +0 -0
- data/UPB_00001320/meta_data.json +22 -0
- data/UPB_00001320/model.urdf +105 -0
- data/UPB_00001320/parts/1.mtl +8 -0
- data/UPB_00001320/parts/1.png +3 -0
- data/UPB_00001320/parts/part_1.obj +0 -0
- data/UPB_00001320/parts/part_2.obj +0 -0
- data/UPB_00001320/parts/part_3.obj +0 -0
- data/UPB_00001320/parts/part_4.obj +0 -0
- data/UPB_00001320/parts/part_5.obj +0 -0
- data/UPB_00001320/parts/toilet_ZKDE3DJVAJT5MPTUL4888888_lvCBf.mtl +23 -0
- data/UPB_00001320/plys/1.ply +3 -0
- data/UPB_00001320/plys/2.ply +3 -0
- data/UPB_00001320/plys/3.ply +3 -0
- data/UPB_00001320/plys/4.ply +3 -0
- data/UPB_00001320/plys/5.ply +3 -0
- data/UPB_00001320/plys/model.ply +3 -0
- data/UPB_00001321/annotations/object.json +10 -0
- data/UPB_00001321/annotations/part_1.json +51 -0
- data/UPB_00001321/annotations/part_2.json +30 -0
- data/UPB_00001321/annotations/part_3.json +30 -0
- data/UPB_00001321/annotations/part_4.json +30 -0
- data/UPB_00001321/annotations/part_5.json +30 -0
- data/UPB_00001321/annotations/part_6.json +51 -0
- data/UPB_00001321/full_model/material.mtl +8 -0
- data/UPB_00001321/full_model/material_0.png +3 -0
- data/UPB_00001321/full_model/model.obj +0 -0
- data/UPB_00001321/meta_data.json +22 -0
- data/UPB_00001321/model.urdf +122 -0
- data/UPB_00001321/parts/T_66b8d8059a4397000126fb51_color.jpg +3 -0
- data/UPB_00001321/parts/part_1.obj +0 -0
- data/UPB_00001321/parts/part_2.obj +0 -0
- data/UPB_00001321/parts/part_3.obj +0 -0
- data/UPB_00001321/parts/part_4.obj +2478 -0
.gitattributes
CHANGED
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@@ -8219,3 +8219,69 @@ data/UPB_00001317/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001318/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001318/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001318/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001318/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001319/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001324/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001324/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/parts/part_8.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001325/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001326/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001326/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001326/parts/part_7.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001326/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001319/parts/T_66bca3654750b40001453b4a_color.jpg
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Git LFS Details
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data/UPB_00001319/parts/part_1.obj
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data/UPB_00001319/parts/part_2.obj
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data/UPB_00001319/parts/toilet_ZKBDUIRVAJ5J2PTULI888888_oKB7f.mtl
ADDED
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
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# (assimp v5.4.0)
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newmtl MI_66bca3654750b40001453b4a
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Kd 1 1 1
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illum 1
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map_Kd ./T_66bca3654750b40001453b4a_color.jpg
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data/UPB_00001319/plys/1.ply
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:afaa5b0efecada7187ad22750e6c9667d64931498cdc43433fa361b1a82c674e
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size 470306
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data/UPB_00001319/plys/2.ply
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version https://git-lfs.github.com/spec/v1
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oid sha256:b708c5badc6f53a2ae64cf84ba98588533a8a92b74f579111474f21ff66f026e
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size 1130162
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data/UPB_00001319/plys/model.ply
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version https://git-lfs.github.com/spec/v1
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oid sha256:5b56bbccc59da23bcba9146b5c4e38394d9ceae0f1257152d73750f70764ccd3
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size 1600243
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data/UPB_00001320/annotations/object.json
ADDED
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@@ -0,0 +1,10 @@
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{
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"object_name": "Smart Toilet (one-piece, tankless)",
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"category": "PlumbingSanitary/PlumbingFixture",
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"volume": [
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70.0,
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40.0,
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45.0
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],
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"mass": 40.0
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}
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data/UPB_00001320/annotations/part_1.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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| 3 |
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"type_name": "default",
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| 4 |
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"entity": "UPB_00001320",
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| 5 |
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"label": "1"
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| 6 |
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},
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| 7 |
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"part_level": {
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| 8 |
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"part_name": "Side Push Button",
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| 9 |
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"affordance": 3,
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| 10 |
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"graspable": false,
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| 11 |
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"basic_description": "Small cylindrical silicone-rubber push button (about \u00d82*3 cm) mounted on the right side of the top cover.",
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| 12 |
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"functional_description": "Provides user input (e.g., flush/activate feature) with a short compliant stroke and water-resistant surface.",
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| 13 |
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"movement_description": "Translates inward by a few millimeters against an internal return spring; motion defined relative to the lid cover assembly.",
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| 14 |
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"grasp_description": "Typically pressed with a fingertip; not grasped."
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},
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| 16 |
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"basic_info": {
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| 17 |
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"material": "rubber/Silicone_Rubber",
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| 18 |
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"density": 1.12,
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| 19 |
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"young": 0.01,
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| 20 |
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"hardness": 10,
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| 21 |
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"poisson": 0.49,
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| 22 |
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"friction": 0.7
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"B"
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| 27 |
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],
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| 28 |
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"motion_info": {
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| 29 |
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"dependency": [
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| 30 |
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1
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| 31 |
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],
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| 32 |
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"B": {
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| 33 |
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"axis": [
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| 34 |
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1.0,
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| 35 |
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0.0,
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| 36 |
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0.0
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| 37 |
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],
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| 38 |
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"pos": [
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| 39 |
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0.2792886793613434,
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| 40 |
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0.2844668924808502,
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| 41 |
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0.1522805541753769
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| 42 |
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],
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| 43 |
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"range": [
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| 44 |
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-0.014999999664723873,
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| 45 |
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0.0
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| 46 |
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],
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| 47 |
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"damping": 0.05
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| 48 |
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}
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| 49 |
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}
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| 50 |
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}
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| 51 |
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}
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data/UPB_00001320/annotations/part_2.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001320",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lid Cover",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS plastic outer lid (approx. 44*36*2 cm) forming the top panel of the toilet seat area.",
|
| 12 |
+
"functional_description": "Covers the seat and bowl to contain odors and provide a clean appearance; supports the display overlay and trim.",
|
| 13 |
+
"movement_description": "Acts as the hinge parent for the seat; can be lifted with or without the seat via the shared hinge axis (soft-close damping assumed).",
|
| 14 |
+
"grasp_description": "Users grasp the front or side edges to open/close the lid."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
-1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.2246468525851679e-16
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
-8.205224703664658e-18,
|
| 40 |
+
0.24217000603675842,
|
| 41 |
+
0.1927904635667801
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.5707963267948966
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.03
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001320/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001320",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Seat Ring",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Ergonomic toilet seat ring made from glossy urea-formaldehyde (approx. 45*36*3 cm) with rear hinge block.",
|
| 12 |
+
"functional_description": "Primary sitting surface; provides comfortable, stiff support and resists cleaning chemicals.",
|
| 13 |
+
"movement_description": "Rotates about the rear hinge axis relative to the lid cover, allowing the seat to lift independently; soft-close damping typical.",
|
| 14 |
+
"grasp_description": "Users lift the seat by the sides or front edge when cleaning or changing configuration."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/Urea_Formaldehyde_Thermoset",
|
| 18 |
+
"density": 1.5,
|
| 19 |
+
"young": 5.0,
|
| 20 |
+
"hardness": 25,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001320/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001320",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Top Display/Touch Overlay",
|
| 9 |
+
"affordance": 4,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Thin borosilicate glass panel with printed icons (about 10*3*0.3 cm) set on the lid\u2019s top surface.",
|
| 12 |
+
"functional_description": "Displays temperature/status and provides a smooth, wipeable touch surface for control icons.",
|
| 13 |
+
"movement_description": "Rigidly bonded to the lid cover; moves only when the lid moves.",
|
| 14 |
+
"grasp_description": "Tapped or swiped lightly; not grabbed."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "glass/Borosilicate_Glass",
|
| 18 |
+
"density": 2.23,
|
| 19 |
+
"young": 64.0,
|
| 20 |
+
"hardness": 550,
|
| 21 |
+
"poisson": 0.2,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001320/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001320",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Rear Hinge Trim Strip",
|
| 9 |
+
"affordance": 5,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Black ABS decorative/cover strip (approx. 28*4*1 cm) located along the rear top edge.",
|
| 12 |
+
"functional_description": "Covers the hinge mechanism and provides a clean design transition; may dampen noise slightly.",
|
| 13 |
+
"movement_description": "Rigidly clipped or screwed to the lid cover; no relative motion.",
|
| 14 |
+
"grasp_description": "Normally not touched directly; incidental contact during cleaning."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001320/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00001320/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001320/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001320",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "PlumbingSanitary/PlumbingFixture",
|
| 12 |
+
"object_name": "Smart Toilet (one-piece, tankless)"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 5,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001320/model.urdf
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="link_1">
|
| 7 |
+
<visual>
|
| 8 |
+
<geometry>
|
| 9 |
+
<mesh filename="parts/part_1.obj" scale="0.842957 0.842957 0.842957"/>
|
| 10 |
+
</geometry>
|
| 11 |
+
</visual>
|
| 12 |
+
<collision>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="parts/part_1.obj" scale="0.842957 0.842957 0.842957"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="0.842957 0.842957 0.842957"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="0.842957 0.842957 0.842957"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="0.842957 0.842957 0.842957"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="0.842957 0.842957 0.842957"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="0.842957 0.842957 0.842957"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="0.842957 0.842957 0.842957"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
</link>
|
| 54 |
+
<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="parts/part_5.obj" scale="0.842957 0.842957 0.842957"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="0.842957 0.842957 0.842957"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<joint name="joint_0" type="prismatic">
|
| 67 |
+
<parent link="link_2"/>
|
| 68 |
+
<child link="helper_link_0"/>
|
| 69 |
+
<origin xyz="0.235428 0.239793 0.128366" rpy="0 0 0"/>
|
| 70 |
+
<axis xyz="1.0 0.0 0.0"/>
|
| 71 |
+
<limit lower="-0.012644359682671061" upper="0.0"/>
|
| 72 |
+
</joint>
|
| 73 |
+
<joint name="joint_1" type="fixed">
|
| 74 |
+
<parent link="helper_link_0"/>
|
| 75 |
+
<child link="link_1"/>
|
| 76 |
+
<origin xyz="-0.235428 -0.239793 -0.128366" rpy="0 0 0"/>
|
| 77 |
+
</joint>
|
| 78 |
+
<joint name="joint_2" type="revolute">
|
| 79 |
+
<parent link="base_link"/>
|
| 80 |
+
<child link="helper_link_1"/>
|
| 81 |
+
<origin xyz="-0.000000 0.204139 0.162514" rpy="0 0 0"/>
|
| 82 |
+
<axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
|
| 83 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_3" type="fixed">
|
| 86 |
+
<parent link="helper_link_1"/>
|
| 87 |
+
<child link="link_2"/>
|
| 88 |
+
<origin xyz="0.000000 -0.204139 -0.162514" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_4" type="fixed">
|
| 91 |
+
<parent link="base_link"/>
|
| 92 |
+
<child link="link_3"/>
|
| 93 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 94 |
+
</joint>
|
| 95 |
+
<joint name="joint_5" type="fixed">
|
| 96 |
+
<parent link="base_link"/>
|
| 97 |
+
<child link="link_4"/>
|
| 98 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 99 |
+
</joint>
|
| 100 |
+
<joint name="joint_6" type="fixed">
|
| 101 |
+
<parent link="base_link"/>
|
| 102 |
+
<child link="link_5"/>
|
| 103 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 104 |
+
</joint>
|
| 105 |
+
</robot>
|
data/UPB_00001320/parts/1.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd 1.png
|
data/UPB_00001320/parts/1.png
ADDED
|
Git LFS Details
|
data/UPB_00001320/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/parts/part_2.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/parts/part_3.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/parts/part_4.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/parts/part_5.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001320/parts/toilet_ZKDE3DJVAJT5MPTUL4888888_lvCBf.mtl
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
| 1 |
+
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
| 2 |
+
# (assimp v5.4.0)
|
| 3 |
+
|
| 4 |
+
newmtl MI_66b8d802bb0d090001a9e157
|
| 5 |
+
Kd 0 0 0
|
| 6 |
+
illum 1
|
| 7 |
+
|
| 8 |
+
newmtl MI_66b8d802ca5d91000128a0b9
|
| 9 |
+
Kd 0.451000005 0.713699996 0.882399976
|
| 10 |
+
illum 1
|
| 11 |
+
|
| 12 |
+
newmtl MI_66b8d8028693bc0001217a66
|
| 13 |
+
Kd 0.807799995 0.807799995 0.807799995
|
| 14 |
+
illum 1
|
| 15 |
+
|
| 16 |
+
newmtl MI_66b8d8029ca5eb00010709e0
|
| 17 |
+
Kd 1 1 1
|
| 18 |
+
illum 1
|
| 19 |
+
|
| 20 |
+
newmtl MI_66b8d8025ac2620001e9995c
|
| 21 |
+
Kd 0.898000002 0.898000002 0.898000002
|
| 22 |
+
illum 1
|
| 23 |
+
|
data/UPB_00001320/plys/1.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb620a687b0bcd78178ce2fd5a14eb6af310863e6b1c846acf5d317afc5320eb
|
| 3 |
+
size 160242
|
data/UPB_00001320/plys/2.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f7184e709f9b3b97bd8564f63dfed333006a9afcf4ab6cb116858badc776aed1
|
| 3 |
+
size 431986
|
data/UPB_00001320/plys/3.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a655323de6c2476bd4e28aa2b0bc3746f04e63897cf8936672588185d609262f
|
| 3 |
+
size 1088882
|
data/UPB_00001320/plys/4.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:449abf12b9c713858180af538f800ee470efd30061d69be5967b0c8991fef68a
|
| 3 |
+
size 160242
|
data/UPB_00001320/plys/5.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c42232292ee04ec22f642f90d5ac0712926cb5ba45bf68d34bee6ee6b94adc8
|
| 3 |
+
size 160242
|
data/UPB_00001320/plys/model.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a777f6d0cc0bf240d563e85699d22f43c0a75d21a29eb404aca67d79def7db9f
|
| 3 |
+
size 1600243
|
data/UPB_00001321/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Smart Bidet Toilet",
|
| 3 |
+
"category": "PlumbingSanitary/PlumbingFixture",
|
| 4 |
+
"volume": [
|
| 5 |
+
70.0,
|
| 6 |
+
40.0,
|
| 7 |
+
45.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 33.0
|
| 10 |
+
}
|
data/UPB_00001321/annotations/part_1.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Toilet Lid",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Curved polypropylene (PP) lid approximately 43*36*1.5 cm that covers the seat and bowl on a smart toilet.",
|
| 12 |
+
"functional_description": "Shields the bowl, reduces odor diffusion, and provides a closeable cover with soft-close damping.",
|
| 13 |
+
"movement_description": "Rotates upward and downward around the rear hinge axis integrated in the back housing (part 5).",
|
| 14 |
+
"grasp_description": "Users grasp the front edge or side to lift or lower the lid."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/PP_Plastic",
|
| 18 |
+
"density": 0.9,
|
| 19 |
+
"young": 1.6,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.42,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
-1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.2246468525851679e-16
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.21677438914775848,
|
| 41 |
+
0.28154003620147705
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.7453292519943295
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.07
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001321/annotations/part_2.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Side Vent Grille",
|
| 9 |
+
"affordance": 8,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Small ABS louvered grille about 6*5*0.7 cm located on the side of the rear housing.",
|
| 12 |
+
"functional_description": "Covers the deodorizer/vent fan opening and protects the internal filter while allowing air flow.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the rear housing; no intended relative motion during normal use.",
|
| 14 |
+
"grasp_description": "Rarely handled; may be removed for maintenance or filter replacement."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.2,
|
| 20 |
+
"hardness": 16,
|
| 21 |
+
"poisson": 0.36,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001321/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Ceramic Bowl Body",
|
| 9 |
+
"affordance": 4,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Glazed porcelain toilet bowl about 55*36*35 cm forming the primary water-containing body.",
|
| 12 |
+
"functional_description": "Provides the structural basin, water trap geometry, and mounting surface for the seat assembly.",
|
| 13 |
+
"movement_description": "Rigidly fixed relative to the rear housing/seat assembly once installed; no relative motion.",
|
| 14 |
+
"grasp_description": "Users generally do not grasp it; it is cleaned with tools or cloth."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "ceramics/Porcelain",
|
| 18 |
+
"density": 2.4,
|
| 19 |
+
"young": 70.0,
|
| 20 |
+
"hardness": 550,
|
| 21 |
+
"poisson": 0.23,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001321/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Side Control Panel",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS control panel with tactile buttons, roughly 25*6*1.5 cm, mounted on the left side of the housing.",
|
| 12 |
+
"functional_description": "User interface for bidet functions such as wash, dry, seat heating, and lid/seat control.",
|
| 13 |
+
"movement_description": "Rigid attachment to the rear housing; button actuations occur internally without panel motion.",
|
| 14 |
+
"grasp_description": "Users press the buttons; grasping is minimal except for cleaning."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.36,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001321/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Rear Seat Housing and Hinge Block",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "ABS back housing approx. 45*18*10 cm that contains electronics, hinge shafts, and connectors.",
|
| 12 |
+
"functional_description": "Acts as the structural hub for the lid and seat hinges and houses bidet electronics, fan, and plumbing connections.",
|
| 13 |
+
"movement_description": "Rigidly mounted to the ceramic bowl. Provides the rotational hinge axis for both lid (part 1) and seat ring (part 6).",
|
| 14 |
+
"grasp_description": "Not intended for grasping; users may touch it when cleaning or installing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.0,
|
| 20 |
+
"hardness": 16,
|
| 21 |
+
"poisson": 0.36,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001321/annotations/part_6.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001321",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Seat Ring",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Ergonomic polypropylene seat ring about 43*36*3 cm with central opening and rear hinge mounts.",
|
| 12 |
+
"functional_description": "Supports the user comfortably and thermally (may contain heater elements) while allowing access to the bowl opening.",
|
| 13 |
+
"movement_description": "Rotates around the rear hinge axis on the housing for lifting during cleaning or use.",
|
| 14 |
+
"grasp_description": "Users grasp the sides or front to raise/lower the seat or to position themselves."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/PP_Plastic",
|
| 18 |
+
"density": 0.9,
|
| 19 |
+
"young": 1.7,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.42,
|
| 22 |
+
"friction": 0.38
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
6
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
-1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.2246468525851679e-16
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.1973552405834198,
|
| 41 |
+
0.19446209073066711
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.7453292519943295
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001321/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00001321/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001321/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001321/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001321",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "PlumbingSanitary/PlumbingFixture",
|
| 12 |
+
"object_name": "Smart Bidet Toilet"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 6,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001321/model.urdf
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="link_1">
|
| 7 |
+
<visual>
|
| 8 |
+
<geometry>
|
| 9 |
+
<mesh filename="parts/part_1.obj" scale="0.926996 0.926996 0.926996"/>
|
| 10 |
+
</geometry>
|
| 11 |
+
</visual>
|
| 12 |
+
<collision>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="parts/part_1.obj" scale="0.926996 0.926996 0.926996"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="0.926996 0.926996 0.926996"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="0.926996 0.926996 0.926996"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="0.926996 0.926996 0.926996"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="0.926996 0.926996 0.926996"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="0.926996 0.926996 0.926996"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="0.926996 0.926996 0.926996"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
</link>
|
| 54 |
+
<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="parts/part_5.obj" scale="0.926996 0.926996 0.926996"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="0.926996 0.926996 0.926996"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<link name="link_6">
|
| 67 |
+
<visual>
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="parts/part_6.obj" scale="0.926996 0.926996 0.926996"/>
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="parts/part_6.obj" scale="0.926996 0.926996 0.926996"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
</link>
|
| 78 |
+
<joint name="joint_0" type="revolute">
|
| 79 |
+
<parent link="link_5"/>
|
| 80 |
+
<child link="helper_link_0"/>
|
| 81 |
+
<origin xyz="0.000000 0.200949 0.260986" rpy="0 0 0"/>
|
| 82 |
+
<axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
|
| 83 |
+
<limit lower="0.0" upper="1.7453292519943295"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_1" type="fixed">
|
| 86 |
+
<parent link="helper_link_0"/>
|
| 87 |
+
<child link="link_1"/>
|
| 88 |
+
<origin xyz="-0.000000 -0.200949 -0.260986" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_2" type="revolute">
|
| 91 |
+
<parent link="link_5"/>
|
| 92 |
+
<child link="helper_link_1"/>
|
| 93 |
+
<origin xyz="0.000000 0.182947 0.180266" rpy="0 0 0"/>
|
| 94 |
+
<axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
|
| 95 |
+
<limit lower="0.0" upper="1.7453292519943295"/>
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="joint_3" type="fixed">
|
| 98 |
+
<parent link="helper_link_1"/>
|
| 99 |
+
<child link="link_6"/>
|
| 100 |
+
<origin xyz="-0.000000 -0.182947 -0.180266" rpy="0 0 0"/>
|
| 101 |
+
</joint>
|
| 102 |
+
<joint name="joint_4" type="fixed">
|
| 103 |
+
<parent link="base_link"/>
|
| 104 |
+
<child link="link_2"/>
|
| 105 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 106 |
+
</joint>
|
| 107 |
+
<joint name="joint_5" type="fixed">
|
| 108 |
+
<parent link="base_link"/>
|
| 109 |
+
<child link="link_3"/>
|
| 110 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 111 |
+
</joint>
|
| 112 |
+
<joint name="joint_6" type="fixed">
|
| 113 |
+
<parent link="base_link"/>
|
| 114 |
+
<child link="link_4"/>
|
| 115 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 116 |
+
</joint>
|
| 117 |
+
<joint name="joint_7" type="fixed">
|
| 118 |
+
<parent link="base_link"/>
|
| 119 |
+
<child link="link_5"/>
|
| 120 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 121 |
+
</joint>
|
| 122 |
+
</robot>
|
data/UPB_00001321/parts/T_66b8d8059a4397000126fb51_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001321/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001321/parts/part_2.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001321/parts/part_3.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001321/parts/part_4.obj
ADDED
|
@@ -0,0 +1,2478 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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vn 0.0570500009 -0.798696995 0.599022985
|
| 1857 |
+
vn -0.0 -0.990491986 -0.137567997
|
| 1858 |
+
vn -0.0 -0.993884027 -0.110431999
|
| 1859 |
+
vn 0.0 -0.998459995 0.055470001
|
| 1860 |
+
vn 0.0 -0.737154007 0.675724983
|
| 1861 |
+
vn -0.0551320016 -0.992371976 -0.110264003
|
| 1862 |
+
vn -0.0618989989 -0.990374982 -0.123796999
|
| 1863 |
+
vn -0.0622569993 -0.996116996 0.0622569993
|
| 1864 |
+
vn -0.0854009986 -0.797077 0.597808003
|
| 1865 |
+
vn -0.331077993 -0.935308993 -0.124840997
|
| 1866 |
+
vn -0.35097301 -0.935929 0.0292479992
|
| 1867 |
+
vn -0.274720997 -0.769218981 0.576914012
|
| 1868 |
+
vn -0.718699992 -0.689951003 0.086244002
|
| 1869 |
+
vn -0.496363997 -0.583957016 0.642352998
|
| 1870 |
+
vn -0.891299009 -0.445648998 0.083558999
|
| 1871 |
+
vn -0.628827989 -0.457329005 0.628827989
|
| 1872 |
+
vn -0.937240005 -0.330790997 0.110264003
|
| 1873 |
+
vn -0.679094017 -0.339547008 0.650798976
|
| 1874 |
+
vn -0.959366024 -0.225732997 0.169300005
|
| 1875 |
+
vn -0.744072974 -0.114473 0.658218026
|
| 1876 |
+
vn -0.989359021 0.0 0.145493999
|
| 1877 |
+
vn -0.71043402 -0.0993409976 0.696717978
|
| 1878 |
+
vn -0.983134985 -0.0578310005 0.173494995
|
| 1879 |
+
vn -0.984679997 -0.0144800004 0.173767
|
| 1880 |
+
vn -0.996164024 0.0830139965 0.027671
|
| 1881 |
+
vn -0.717925012 -0.0897400007 0.690312028
|
| 1882 |
+
vn -0.983134985 0.0578319989 0.173494995
|
| 1883 |
+
vn -0.966314971 0.255789012 0.0284209996
|
| 1884 |
+
vn -0.720556021 -0.0277139992 0.692842007
|
| 1885 |
+
vn -0.954438984 0.224574 0.196502
|
| 1886 |
+
vn -0.893033028 0.446516991 0.0558150001
|
| 1887 |
+
vn -0.687964022 0.114661001 0.716629982
|
| 1888 |
+
vn -0.898294985 0.393004 0.196502
|
| 1889 |
+
vn -0.710259974 0.698760986 0.0852309987
|
| 1890 |
+
vn -0.66158098 0.220526993 0.716713011
|
| 1891 |
+
vn -0.698225975 0.670297027 0.251361012
|
| 1892 |
+
vn 0.0 -0.143774003 0.98961103
|
| 1893 |
+
vn 0.0 -0.113546997 0.993533015
|
| 1894 |
+
vn 0.0 -0.125396997 0.992106974
|
| 1895 |
+
vn 0.941542983 -0.332309008 -0.055385001
|
| 1896 |
+
vn 0.96152401 -0.219777003 0.164832994
|
| 1897 |
+
vn 0.0 0.617821991 0.786318004
|
| 1898 |
+
vn 0.0843480006 0.955946982 0.28116101
|
| 1899 |
+
vn 0.0 0.959366024 0.282166004
|
| 1900 |
+
vn -0.998459995 0.055470001 0.0
|
| 1901 |
+
vn -0.0839509964 0.615640998 0.783542991
|
| 1902 |
+
vn -0.0866750032 0.953423023 0.288915992
|
| 1903 |
+
vn 0.0 0.989948988 0.141421005
|
| 1904 |
+
vn 0.0848530009 0.989948988 0.113136999
|
| 1905 |
+
vn 0.730881989 -0.116940998 0.672411025
|
| 1906 |
+
vn 0.70954901 -0.115845002 0.695068002
|
| 1907 |
+
vn 0.0 -0.141421005 0.989948988
|
| 1908 |
+
vn 0.363738 0.923332989 0.123088002
|
| 1909 |
+
vn 0.0845490023 0.986405015 0.140915006
|
| 1910 |
+
vn 0.0 -0.132140994 0.991231024
|
| 1911 |
+
vn 0.0 -0.128569007 0.991701007
|
| 1912 |
+
vn 0.0 -0.120523997 0.992709994
|
| 1913 |
+
vn 0.0 -0.127497002 0.991838992
|
| 1914 |
+
vn -0.965146005 0.255479991 0.0567729995
|
| 1915 |
+
vn 0.998371005 0.0570500009 0.0
|
| 1916 |
+
vn 0.0 -0.116841003 0.993151009
|
| 1917 |
+
vn 0.985621989 0.0 0.168963999
|
| 1918 |
+
vn 0.99634701 0.0854009986 0.0
|
| 1919 |
+
vn 0.966314971 0.255789012 0.0284209996
|
| 1920 |
+
vn -0.364216 0.896530986 0.252148986
|
| 1921 |
+
vn -0.280607015 0.589273989 0.757637978
|
| 1922 |
+
vn 0.984063029 0.0562320016 0.168696001
|
| 1923 |
+
vn 0.964154005 0.201464996 0.172683999
|
| 1924 |
+
vn 0.704575002 0.0845490023 0.704575002
|
| 1925 |
+
vn -0.0847090036 0.988273978 0.127038002
|
| 1926 |
+
vn 0.985231996 -0.0281499997 0.168897003
|
| 1927 |
+
vn 0.26760599 0.591548979 0.760563016
|
| 1928 |
+
vn 0.698225975 0.670297027 0.251361012
|
| 1929 |
+
vn 0.361530006 0.889918983 0.278100014
|
| 1930 |
+
vn 0.890154004 0.452140987 0.0565179996
|
| 1931 |
+
vn 0.717193007 0.691748023 0.0843759999
|
| 1932 |
+
vn 0.70431602 -0.0898720026 0.704174995
|
| 1933 |
+
vn 0.890154004 0.395624012 0.226071
|
| 1934 |
+
vn 0.653724015 0.222544 0.723268986
|
| 1935 |
+
vn 0.98972702 -0.0212089997 0.141389996
|
| 1936 |
+
vn 0.706824005 -0.0282729995 0.706824005
|
| 1937 |
+
vn -0.514285982 0.428571999 0.742856979
|
| 1938 |
+
vn 0.524677992 0.425413996 0.737384975
|
| 1939 |
+
vn 0.0873709992 0.611593008 0.786333978
|
| 1940 |
+
vn 0.965146005 0.255479991 0.0567729995
|
| 1941 |
+
vn -0.36293599 0.921298981 0.139590994
|
| 1942 |
+
vn -0.339547008 0.933754981 0.113182001
|
| 1943 |
+
vn -0.0853670016 0.0284560006 0.99594301
|
| 1944 |
+
vn 0.0 0.0277670007 0.999615014
|
| 1945 |
+
vn 0.0 -0.139457002 0.990227997
|
| 1946 |
+
vn 0.0 0.0285599995 0.999592006
|
| 1947 |
+
vn 0.0277559999 0.0277559999 0.999229014
|
| 1948 |
+
vn 0.0712179989 0.0284870006 0.997053981
|
| 1949 |
+
vn 0.127522007 0.0 0.991836011
|
| 1950 |
+
vn 0.159419999 -0.0579710007 0.985507011
|
| 1951 |
+
vn 0.182304993 -0.0560939983 0.981640995
|
| 1952 |
+
vn 0.181449994 -0.111662 0.977039993
|
| 1953 |
+
vn 0.0 -0.141421005 0.989950001
|
| 1954 |
+
vn 0.158452004 -0.124231003 0.979520023
|
| 1955 |
+
vn 0.155548006 -0.226252005 0.961569011
|
| 1956 |
+
vn 0.186535001 -0.114790998 0.975718975
|
| 1957 |
+
vn -0.113546997 0.0 0.993533015
|
| 1958 |
+
vn 0.373878002 -0.920315981 -0.115038998
|
| 1959 |
+
vn -0.173494995 -0.0578310005 0.983134985
|
| 1960 |
+
vn -0.168364003 -0.0841820017 0.982123971
|
| 1961 |
+
vn -0.112822004 -0.112822004 0.987188995
|
| 1962 |
+
vn -0.172327995 -0.129245996 0.976523995
|
| 1963 |
+
vn -0.171991006 -0.143325999 0.974615991
|
| 1964 |
+
vn -0.169300005 -0.225732997 0.959366024
|
| 1965 |
+
vn -0.172630996 -0.115087003 0.978240013
|
| 1966 |
+
vn -0.113775998 -0.227551997 0.967095971
|
| 1967 |
+
vn -0.0829190016 -0.33167401 0.939742982
|
| 1968 |
+
vn 0.127777994 -0.227162004 0.965438008
|
| 1969 |
+
vn 0.0 -0.332819998 0.942990005
|
| 1970 |
+
vn 0.055385001 -0.332309008 0.941542983
|
| 1971 |
+
vn 0.0277239997 -0.332691997 0.942628026
|
| 1972 |
+
vn -0.0845490023 0.986405015 0.140915006
|
| 1973 |
+
vn -0.364216 0.92454797 0.112066001
|
| 1974 |
+
usemtl MI_66b8d8059a4397000126fb51
|
| 1975 |
+
f 1/1/4 2/2/4 3/3/5
|
| 1976 |
+
f 4/1/4 5/4/6 6/2/4
|
| 1977 |
+
f 7/2/4 8/4/6 9/5/7
|
| 1978 |
+
f 10/4/6 11/6/8 12/5/7
|
| 1979 |
+
f 13/5/7 14/6/8 15/7/9
|
| 1980 |
+
f 16/6/8 17/8/10 18/7/9
|
| 1981 |
+
f 19/6/8 20/9/10 21/8/10
|
| 1982 |
+
f 22/9/10 23/10/1 24/8/10
|
| 1983 |
+
f 25/9/10 26/11/1 27/10/1
|
| 1984 |
+
f 28/11/1 29/12/1 30/10/1
|
| 1985 |
+
f 31/13/1 32/14/1 33/15/1
|
| 1986 |
+
f 34/16/11 35/17/11 36/18/2
|
| 1987 |
+
f 37/19/12 38/20/13 39/17/11
|
| 1988 |
+
f 40/21/14 41/22/15 42/23/16
|
| 1989 |
+
f 43/24/15 44/21/14 45/25/16
|
| 1990 |
+
f 46/26/16 47/25/16 48/19/12
|
| 1991 |
+
f 49/27/17 50/26/16 51/28/18
|
| 1992 |
+
f 52/29/19 53/27/17 54/30/20
|
| 1993 |
+
f 55/24/15 56/26/16 57/27/17
|
| 1994 |
+
f 58/31/21 59/27/17 60/29/19
|
| 1995 |
+
f 61/31/21 62/29/19 63/32/22
|
| 1996 |
+
f 64/21/14 65/33/23 66/34/23
|
| 1997 |
+
f 67/24/15 68/33/23 69/21/14
|
| 1998 |
+
f 70/31/21 71/33/23 72/24/15
|
| 1999 |
+
f 73/32/22 74/35/24 75/31/21
|
| 2000 |
+
f 76/32/22 77/36/3 78/35/24
|
| 2001 |
+
f 79/37/25 80/38/26 81/34/23
|
| 2002 |
+
f 82/33/23 83/37/25 84/34/23
|
| 2003 |
+
f 85/35/24 86/37/25 87/33/23
|
| 2004 |
+
f 88/36/3 89/39/27 90/35/24
|
| 2005 |
+
f 91/36/3 92/40/28 93/39/27
|
| 2006 |
+
f 94/41/29 95/42/30 96/43/26
|
| 2007 |
+
f 97/44/25 98/41/29 99/43/26
|
| 2008 |
+
f 100/45/27 101/41/29 102/44/25
|
| 2009 |
+
f 103/46/28 104/47/31 105/45/27
|
| 2010 |
+
f 106/46/28 107/48/32 108/47/31
|
| 2011 |
+
f 109/49/33 110/50/34 111/42/30
|
| 2012 |
+
f 112/49/33 113/42/30 114/41/29
|
| 2013 |
+
f 115/47/31 116/49/33 117/41/29
|
| 2014 |
+
f 118/48/32 119/51/35 120/47/31
|
| 2015 |
+
f 121/52/36 122/51/35 123/48/32
|
| 2016 |
+
f 124/51/35 125/49/33 126/47/31
|
| 2017 |
+
f 127/53/37 128/54/37 129/55/34
|
| 2018 |
+
f 130/53/37 131/55/34 132/56/33
|
| 2019 |
+
f 133/53/37 134/56/33 135/57/35
|
| 2020 |
+
f 136/58/38 137/57/35 138/59/36
|
| 2021 |
+
f 139/60/39 140/58/38 141/59/36
|
| 2022 |
+
f 142/58/38 143/53/37 144/57/35
|
| 2023 |
+
f 145/61/4 146/1/4 147/54/37
|
| 2024 |
+
f 148/61/4 149/54/37 150/53/37
|
| 2025 |
+
f 151/61/4 152/53/37 153/58/38
|
| 2026 |
+
f 154/62/40 155/58/38 156/60/39
|
| 2027 |
+
f 157/63/41 158/62/40 159/60/39
|
| 2028 |
+
f 160/62/40 161/61/4 162/58/38
|
| 2029 |
+
f 163/1/4 164/64/7 165/4/6
|
| 2030 |
+
f 166/61/4 167/64/7 168/1/4
|
| 2031 |
+
f 169/62/40 170/64/7 171/61/4
|
| 2032 |
+
f 172/62/40 173/63/41 174/65/42
|
| 2033 |
+
f 175/63/41 176/66/43 177/65/42
|
| 2034 |
+
f 178/62/40 179/65/42 180/64/7
|
| 2035 |
+
f 181/4/6 182/67/8 183/6/8
|
| 2036 |
+
f 184/67/8 185/9/10 186/6/8
|
| 2037 |
+
f 187/64/7 188/67/8 189/4/6
|
| 2038 |
+
f 190/65/42 191/67/8 192/64/7
|
| 2039 |
+
f 193/66/43 194/68/44 195/65/42
|
| 2040 |
+
f 196/66/43 197/69/45 198/68/44
|
| 2041 |
+
f 199/65/42 200/68/44 201/67/8
|
| 2042 |
+
f 202/70/10 203/11/1 204/9/10
|
| 2043 |
+
f 205/67/8 206/70/10 207/9/10
|
| 2044 |
+
f 208/68/44 209/70/10 210/67/8
|
| 2045 |
+
f 211/69/45 212/71/46 213/68/44
|
| 2046 |
+
f 214/27/17 215/28/18 216/30/20
|
| 2047 |
+
f 217/69/45 218/72/47 219/71/46
|
| 2048 |
+
f 220/68/44 221/71/46 222/70/10
|
| 2049 |
+
f 223/70/10 224/73/1 225/11/1
|
| 2050 |
+
f 226/71/46 227/73/1 228/70/10
|
| 2051 |
+
f 229/72/47 230/74/48 231/71/46
|
| 2052 |
+
f 232/71/46 233/74/48 234/73/1
|
| 2053 |
+
f 235/11/1 236/75/1 237/12/1
|
| 2054 |
+
f 238/73/1 239/75/1 240/11/1
|
| 2055 |
+
f 241/74/48 242/75/1 243/73/1
|
| 2056 |
+
f 244/76/49 245/77/50 246/74/48
|
| 2057 |
+
f 247/74/48 248/77/50 249/75/1
|
| 2058 |
+
f 250/12/1 251/78/1 252/14/1
|
| 2059 |
+
f 253/75/1 254/78/1 255/12/1
|
| 2060 |
+
f 256/77/50 257/78/1 258/75/1
|
| 2061 |
+
f 259/79/49 260/80/51 261/77/50
|
| 2062 |
+
f 262/77/50 263/80/51 264/78/1
|
| 2063 |
+
f 265/14/1 266/81/52 267/82/52
|
| 2064 |
+
f 268/78/1 269/81/52 270/14/1
|
| 2065 |
+
f 271/80/51 272/81/52 273/78/1
|
| 2066 |
+
f 274/83/53 275/84/54 276/80/51
|
| 2067 |
+
f 277/80/51 278/84/54 279/81/52
|
| 2068 |
+
f 280/82/52 281/85/55 282/86/55
|
| 2069 |
+
f 283/81/52 284/85/55 285/82/52
|
| 2070 |
+
f 286/87/56 287/88/57 288/84/54
|
| 2071 |
+
f 289/84/54 290/88/57 291/85/55
|
| 2072 |
+
f 292/86/55 293/89/58 294/90/58
|
| 2073 |
+
f 295/85/55 296/89/58 297/86/55
|
| 2074 |
+
f 298/91/59 299/92/60 300/88/57
|
| 2075 |
+
f 301/88/57 302/92/60 303/89/58
|
| 2076 |
+
f 304/90/58 305/93/61 306/94/61
|
| 2077 |
+
f 307/89/58 308/93/61 309/90/58
|
| 2078 |
+
f 310/95/62 311/96/63 312/92/60
|
| 2079 |
+
f 313/45/27 314/47/31 315/41/29
|
| 2080 |
+
f 316/97/64 317/98/64 318/99/64
|
| 2081 |
+
f 319/14/1 320/82/52 321/15/1
|
| 2082 |
+
f 322/98/64 323/100/65 324/101/64
|
| 2083 |
+
f 325/12/1 326/14/1 327/13/1
|
| 2084 |
+
f 328/97/64 329/102/65 330/98/64
|
| 2085 |
+
f 331/10/1 332/12/1 333/13/1
|
| 2086 |
+
f 334/102/65 335/100/65 336/98/64
|
| 2087 |
+
f 337/35/24 338/39/27 339/37/25
|
| 2088 |
+
f 340/99/64 341/103/64 342/104/66
|
| 2089 |
+
f 343/28/18 344/105/67 345/106/68
|
| 2090 |
+
f 346/99/64 347/98/64 348/103/64
|
| 2091 |
+
f 349/107/69 350/108/70 351/109/71
|
| 2092 |
+
f 352/15/1 353/82/52 354/110/72
|
| 2093 |
+
f 355/98/64 356/101/64 357/103/64
|
| 2094 |
+
f 358/26/16 359/19/12 360/105/67
|
| 2095 |
+
f 361/111/66 362/112/64 363/113/66
|
| 2096 |
+
f 364/114/73 365/109/71 366/115/74
|
| 2097 |
+
f 367/76/49 368/79/49 369/77/50
|
| 2098 |
+
f 370/26/16 371/105/67 372/28/18
|
| 2099 |
+
f 373/101/64 374/112/64 375/111/66
|
| 2100 |
+
f 376/116/75 377/117/76 378/118/75
|
| 2101 |
+
f 379/82/52 380/86/55 381/110/72
|
| 2102 |
+
f 382/103/64 383/101/64 384/111/66
|
| 2103 |
+
f 385/119/77 386/106/68 387/120/78
|
| 2104 |
+
f 388/31/21 389/35/24 390/33/23
|
| 2105 |
+
f 391/121/79 392/104/66 393/122/66
|
| 2106 |
+
f 394/79/49 395/83/53 396/80/51
|
| 2107 |
+
f 397/105/67 398/123/11 399/106/68
|
| 2108 |
+
f 400/104/66 401/103/64 402/122/66
|
| 2109 |
+
f 403/124/76 404/125/80 405/126/81
|
| 2110 |
+
f 406/25/16 407/20/13 408/19/12
|
| 2111 |
+
f 409/127/82 410/128/83 411/129/82
|
| 2112 |
+
f 412/130/84 413/131/84 414/132/85
|
| 2113 |
+
f 415/133/2 416/134/2 417/135/2
|
| 2114 |
+
f 418/19/12 419/17/11 420/16/11
|
| 2115 |
+
f 421/129/82 422/128/83 423/136/82
|
| 2116 |
+
f 424/122/66 425/137/66 426/130/84
|
| 2117 |
+
f 427/123/11 428/134/2 429/133/2
|
| 2118 |
+
f 430/128/83 431/138/85 432/136/82
|
| 2119 |
+
f 433/110/72 434/86/55 435/139/86
|
| 2120 |
+
f 436/122/66 437/103/64 438/111/66
|
| 2121 |
+
f 439/105/67 440/16/11 441/123/11
|
| 2122 |
+
f 442/140/83 443/141/84 444/128/83
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f 1207/272/59 1208/271/132 1209/270/62
|
| 2378 |
+
f 1210/273/133 1211/259/79 1212/271/132
|
| 2379 |
+
f 1213/273/133 1214/260/66 1215/259/79
|
| 2380 |
+
f 1216/273/133 1217/271/132 1218/272/59
|
| 2381 |
+
f 1219/274/56 1220/273/133 1221/272/59
|
| 2382 |
+
f 1222/273/133 1223/275/134 1224/260/66
|
| 2383 |
+
f 1225/275/134 1226/261/64 1227/260/66
|
| 2384 |
+
f 1228/274/56 1229/275/134 1230/273/133
|
| 2385 |
+
f 1231/276/53 1232/275/134 1233/274/56
|
| 2386 |
+
f 1234/277/135 1235/261/64 1236/275/134
|
| 2387 |
+
f 1237/277/135 1238/262/64 1239/261/64
|
| 2388 |
+
f 1240/276/53 1241/277/135 1242/275/134
|
| 2389 |
+
f 1243/276/53 1244/278/49 1245/277/135
|
| 2390 |
+
f 1246/279/136 1247/262/64 1248/277/135
|
| 2391 |
+
f 1249/279/136 1250/265/65 1251/262/64
|
| 2392 |
+
f 1252/278/49 1253/279/136 1254/277/135
|
| 2393 |
+
f 1255/280/49 1256/279/136 1257/278/49
|
| 2394 |
+
f 1258/281/137 1259/265/65 1260/279/136
|
| 2395 |
+
f 1261/281/137 1262/266/117 1263/265/65
|
| 2396 |
+
f 1264/280/49 1265/281/137 1266/279/136
|
| 2397 |
+
f 1267/280/49 1268/282/47 1269/281/137
|
| 2398 |
+
f 1270/281/137 1271/283/137 1272/266/117
|
| 2399 |
+
f 1273/30/20 1274/28/18 1275/119/77
|
| 2400 |
+
f 1276/283/137 1277/263/117 1278/266/117
|
| 2401 |
+
f 1279/282/47 1280/283/137 1281/281/137
|
| 2402 |
+
f 1282/282/47 1283/284/45 1284/283/137
|
| 2403 |
+
f 1285/283/137 1286/285/136 1287/263/117
|
| 2404 |
+
f 1288/285/136 1289/264/117 1290/263/117
|
| 2405 |
+
f 1291/284/45 1292/285/136 1293/283/137
|
| 2406 |
+
f 1294/286/20 1295/287/77 1296/230/128
|
| 2407 |
+
f 1297/284/45 1298/288/43 1299/285/136
|
| 2408 |
+
f 1300/289/128 1301/286/20 1302/230/128
|
| 2409 |
+
f 1303/285/136 1304/290/138 1305/264/117
|
| 2410 |
+
f 1306/291/127 1307/292/19 1308/289/128
|
| 2411 |
+
f 1309/290/138 1310/249/117 1311/264/117
|
| 2412 |
+
f 1312/288/43 1313/290/138 1314/285/136
|
| 2413 |
+
f 1315/234/117 1316/291/127 1317/289/128
|
| 2414 |
+
f 1318/288/43 1319/293/41 1320/290/138
|
| 2415 |
+
f 1321/290/138 1322/294/139 1323/249/117
|
| 2416 |
+
f 1324/295/140 1325/296/22 1326/291/127
|
| 2417 |
+
f 1327/249/117 1328/294/139 1329/253/117
|
| 2418 |
+
f 1330/293/41 1331/294/139 1332/290/138
|
| 2419 |
+
f 1333/295/140 1334/291/127 1335/236/117
|
| 2420 |
+
f 1336/293/41 1337/297/39 1338/294/139
|
| 2421 |
+
f 1339/294/139 1340/298/141 1341/253/117
|
| 2422 |
+
f 1342/299/142 1343/300/3 1344/295/140
|
| 2423 |
+
f 1345/298/141 1346/267/117 1347/253/117
|
| 2424 |
+
f 1348/297/39 1349/298/141 1350/294/139
|
| 2425 |
+
f 1351/299/142 1352/295/140 1353/240/117
|
| 2426 |
+
f 1354/297/39 1355/301/36 1356/298/141
|
| 2427 |
+
f 1357/298/141 1358/302/141 1359/267/117
|
| 2428 |
+
f 1360/303/143 1361/304/28 1362/299/142
|
| 2429 |
+
f 1363/302/141 1364/242/117 1365/267/117
|
| 2430 |
+
f 1366/301/36 1367/302/141 1368/298/141
|
| 2431 |
+
f 1369/303/143 1370/299/142 1371/243/117
|
| 2432 |
+
f 1372/301/36 1373/305/32 1374/302/141
|
| 2433 |
+
f 1375/302/141 1376/303/143 1377/242/117
|
| 2434 |
+
f 1378/305/32 1379/303/143 1380/302/141
|
| 2435 |
+
f 1381/242/117 1382/303/143 1383/243/117
|
| 2436 |
+
f 1384/305/32 1385/304/28 1386/303/143
|
| 2437 |
+
f 1387/299/142 1388/240/117 1389/243/117
|
| 2438 |
+
f 1390/304/28 1391/300/3 1392/299/142
|
| 2439 |
+
f 1393/240/117 1394/295/140 1395/236/117
|
| 2440 |
+
f 1396/300/3 1397/296/22 1398/295/140
|
| 2441 |
+
f 1399/236/117 1400/291/127 1401/234/117
|
| 2442 |
+
f 1402/234/117 1403/289/128 1404/231/65
|
| 2443 |
+
f 1405/231/65 1406/289/128 1407/230/128
|
| 2444 |
+
f 1408/296/22 1409/292/19 1410/291/127
|
| 2445 |
+
f 1411/292/19 1412/286/20 1413/289/128
|
| 2446 |
+
f 1414/230/128 1415/287/77 1416/226/127
|
| 2447 |
+
f 1417/226/127 1418/287/77 1419/225/78
|
| 2448 |
+
f 1420/16/11 1421/18/2 1422/134/2
|
| 2449 |
+
f 1423/18/2 1424/224/2 1425/178/2
|
| 2450 |
+
f 1426/224/2 1427/228/2 1428/143/2
|
| 2451 |
+
f 1429/228/2 1430/306/90 1431/149/90
|
| 2452 |
+
f 1432/149/90 1433/306/90 1434/183/112
|
| 2453 |
+
f 1435/306/90 1436/307/91 1437/183/112
|
| 2454 |
+
f 1438/183/112 1439/307/91 1440/308/102
|
| 2455 |
+
f 1441/183/112 1442/308/102 1443/170/102
|
| 2456 |
+
f 1444/170/102 1445/308/102 1446/309/103
|
| 2457 |
+
f 1447/170/102 1448/309/103 1449/167/103
|
| 2458 |
+
f 1450/310/80 1451/167/103 1452/309/103
|
| 2459 |
+
f 1453/180/80 1454/167/103 1455/310/80
|
| 2460 |
+
f 1456/180/80 1457/310/80 1458/311/81
|
| 2461 |
+
f 1459/126/81 1460/180/80 1461/311/81
|
| 2462 |
+
f 1462/185/81 1463/46/81 1464/48/75
|
| 2463 |
+
f 1465/118/75 1466/185/81 1467/48/75
|
| 2464 |
+
f 1468/118/75 1469/48/75 1470/52/144
|
| 2465 |
+
f 1471/118/75 1472/52/144 1473/160/97
|
| 2466 |
+
f 1474/187/97 1475/312/144 1476/313/145
|
| 2467 |
+
f 1477/187/97 1478/313/145 1479/188/114
|
| 2468 |
+
f 1480/188/114 1481/313/145 1482/314/61
|
| 2469 |
+
f 1483/188/114 1484/314/61 1485/94/61
|
| 2470 |
+
f 1486/315/58 1487/94/61 1488/314/61
|
| 2471 |
+
f 1489/90/58 1490/94/61 1491/315/58
|
| 2472 |
+
f 1492/139/86 1493/90/58 1494/315/58
|
| 2473 |
+
f 1495/115/74 1496/116/75 1497/161/97
|
| 2474 |
+
f 1498/172/106 1499/171/105 1500/179/110
|
| 2475 |
+
f 1501/109/71 1502/117/76 1503/116/75
|
| 2476 |
+
f 1504/163/99 1505/179/110 1506/164/100
|
| 2477 |
+
f 1507/186/97 1508/184/113 1509/155/92
|
| 2478 |
+
f 1510/159/96 1511/158/95 1512/172/106
|