Upload folder using huggingface_hub (part 51)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +23 -0
- data/UPB_00001356/parts/part_4.obj +892 -0
- data/UPB_00001356/parts/part_5.obj +894 -0
- data/UPB_00001356/parts/part_6.obj +901 -0
- data/UPB_00001356/parts/part_7.obj +1068 -0
- data/UPB_00001356/parts/part_8.obj +1088 -0
- data/UPB_00001356/parts/part_9.obj +1086 -0
- data/UPB_00001356/parts/wardrobe_6FZESAMTD5TGMPTUL4888888_Su973.mtl +16 -0
- data/UPB_00001356/plys/1.ply +3 -0
- data/UPB_00001356/plys/10.ply +3 -0
- data/UPB_00001356/plys/11.ply +3 -0
- data/UPB_00001356/plys/12.ply +3 -0
- data/UPB_00001356/plys/13.ply +3 -0
- data/UPB_00001356/plys/2.ply +3 -0
- data/UPB_00001356/plys/3.ply +3 -0
- data/UPB_00001356/plys/4.ply +3 -0
- data/UPB_00001356/plys/5.ply +3 -0
- data/UPB_00001356/plys/6.ply +3 -0
- data/UPB_00001356/plys/7.ply +3 -0
- data/UPB_00001356/plys/8.ply +3 -0
- data/UPB_00001356/plys/9.ply +3 -0
- data/UPB_00001356/plys/model.ply +3 -0
- data/UPB_00001357/annotations/object.json +10 -0
- data/UPB_00001357/annotations/part_1.json +52 -0
- data/UPB_00001357/annotations/part_2.json +52 -0
- data/UPB_00001357/annotations/part_3.json +30 -0
- data/UPB_00001357/annotations/part_4.json +30 -0
- data/UPB_00001357/annotations/part_5.json +30 -0
- data/UPB_00001357/annotations/part_6.json +30 -0
- data/UPB_00001357/full_model/material.mtl +8 -0
- data/UPB_00001357/full_model/material_0.png +3 -0
- data/UPB_00001357/full_model/model.obj +964 -0
- data/UPB_00001357/meta_data.json +22 -0
- data/UPB_00001357/model.urdf +122 -0
- data/UPB_00001357/parts/1.mtl +8 -0
- data/UPB_00001357/parts/1.png +3 -0
- data/UPB_00001357/parts/2.mtl +8 -0
- data/UPB_00001357/parts/2.png +3 -0
- data/UPB_00001357/parts/part_1.obj +184 -0
- data/UPB_00001357/parts/part_2.obj +184 -0
- data/UPB_00001357/parts/part_3.obj +60 -0
- data/UPB_00001357/parts/part_4.obj +75 -0
- data/UPB_00001357/parts/part_5.obj +396 -0
- data/UPB_00001357/parts/part_6.obj +124 -0
- data/UPB_00001357/parts/wardrobe_6GDJ3LZVAZ2MUPTUK4888888_WdMEf.mtl +19 -0
- data/UPB_00001357/plys/1.ply +3 -0
- data/UPB_00001357/plys/2.ply +3 -0
- data/UPB_00001357/plys/3.ply +3 -0
- data/UPB_00001357/plys/4.ply +3 -0
- data/UPB_00001357/plys/5.ply +3 -0
.gitattributes
CHANGED
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@@ -8462,3 +8462,26 @@ data/UPB_00001355/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 8462 |
data/UPB_00001355/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 8463 |
data/UPB_00001355/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 8464 |
data/UPB_00001355/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 8462 |
data/UPB_00001355/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 8463 |
data/UPB_00001355/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 8464 |
data/UPB_00001355/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 8465 |
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data/UPB_00001356/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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| 8466 |
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data/UPB_00001356/plys/10.ply filter=lfs diff=lfs merge=lfs -text
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| 8467 |
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data/UPB_00001356/plys/11.ply filter=lfs diff=lfs merge=lfs -text
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| 8468 |
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data/UPB_00001356/plys/12.ply filter=lfs diff=lfs merge=lfs -text
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| 8469 |
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data/UPB_00001356/plys/13.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 8471 |
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data/UPB_00001356/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 8472 |
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data/UPB_00001356/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 8473 |
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data/UPB_00001356/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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| 8475 |
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data/UPB_00001356/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001357/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001357/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 8481 |
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data/UPB_00001357/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 8482 |
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data/UPB_00001357/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 8483 |
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data/UPB_00001357/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 8484 |
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data/UPB_00001357/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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| 8485 |
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data/UPB_00001357/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 8486 |
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data/UPB_00001358/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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| 8487 |
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data/UPB_00001358/plys/10.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001356/parts/part_4.obj
ADDED
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@@ -0,0 +1,892 @@
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data/UPB_00001356/parts/part_5.obj
ADDED
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f 382/35/77 383/34/75 384/2/74
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f 385/2/74 386/1/78 387/35/77
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| 886 |
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f 517/14/64 518/72/87 519/25/65
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| 888 |
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f 520/18/92 521/19/91 522/20/93
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| 889 |
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f 523/14/89 524/20/93 525/19/91
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| 890 |
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| 891 |
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| 892 |
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f 532/22/88 533/20/93 534/14/89
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| 893 |
+
f 535/25/65 536/72/87 537/64/69
|
| 894 |
+
f 538/14/51 539/19/65 540/77/69
|
data/UPB_00001356/parts/part_6.obj
ADDED
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data/UPB_00001356/parts/part_7.obj
ADDED
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data/UPB_00001356/parts/part_8.obj
ADDED
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|
data/UPB_00001356/parts/part_9.obj
ADDED
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oid sha256:f64defb0584ee86dd5869359d04210f13ec88261571677f08665edd0894de42f
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size 178850
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data/UPB_00001356/plys/3.ply
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:2a1522db5fa25af9d5fc2d5deabf6b798de6c331f47786002eee5445ee7c6312
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size 160242
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data/UPB_00001356/plys/4.ply
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:a6802534443f3425ee7021e2bd775d9b286a3cfb53357795e46ae8dd6b8d614c
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size 160242
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data/UPB_00001356/plys/5.ply
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:8c7816b102de6ebfd819693ca6b74ddc9064af58a75d6a1b2a4681800fc9ef35
|
| 3 |
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size 160242
|
data/UPB_00001356/plys/6.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:b2351f4969c1cc54c2dd280a852d9070e80cd52535e494831e1b78d798317531
|
| 3 |
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size 160242
|
data/UPB_00001356/plys/7.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
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|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:c940933d63a39f06bba30b2ecd9f89bb5c16e17ac7754f7673cb46ad93935787
|
| 3 |
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size 160242
|
data/UPB_00001356/plys/8.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:b6327ae14801204b1a39d8f8b8032663f92af59a66e81a213c9347d87637a3d2
|
| 3 |
+
size 160242
|
data/UPB_00001356/plys/9.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:59c190a3aaba229e23622db598cb481af6dc2ad265109136fc6f9de1ecacf7c5
|
| 3 |
+
size 160242
|
data/UPB_00001356/plys/model.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2fbd9722b65052ada25c5be24ef55290284d6f4174e7ef9d93a8296e957f474b
|
| 3 |
+
size 1600243
|
data/UPB_00001357/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Two-Door Cabinet",
|
| 3 |
+
"category": "Furniture/StorageFurniture",
|
| 4 |
+
"volume": [
|
| 5 |
+
90.0,
|
| 6 |
+
40.0,
|
| 7 |
+
80.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 30.0
|
| 10 |
+
}
|
data/UPB_00001357/annotations/part_1.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Door Panel",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Flat rectangular MDF door panel with a decorative horizontal mid-band; laminated surface for durability.",
|
| 12 |
+
"functional_description": "Closes the left half of the cabinet to protect and conceal stored items.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge axis located along the cabinet\u2019s left outer edge via the hinge rails.",
|
| 14 |
+
"grasp_description": "Typically pulled open by the attached vertical handle; users may also push on the panel to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
+
"density": 0.72,
|
| 19 |
+
"young": 3.5,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1,
|
| 31 |
+
3
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
-1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-0.9854558706283569,
|
| 41 |
+
-0.2790886163711548,
|
| 42 |
+
0.0
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.9198621771937625
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001357/annotations/part_2.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Flat rectangular MDF door panel, same design as the left door, laminated surface.",
|
| 12 |
+
"functional_description": "Closes the right half of the cabinet and mates with the left door at the center seam.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge axis along the cabinet\u2019s right outer edge via the hinge rails.",
|
| 14 |
+
"grasp_description": "Pulled by the right vertical handle to open; pushed to latch closed."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
+
"density": 0.72,
|
| 19 |
+
"young": 3.5,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2,
|
| 31 |
+
4
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.9844874143600464,
|
| 41 |
+
-0.2790886163711548,
|
| 42 |
+
0.0
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.9198621771937625
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001357/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Vertical Handle (Center Pull)",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Slim extruded aluminum pull mounted vertically near the meeting edge of the left door.",
|
| 12 |
+
"functional_description": "Provides a comfortable grip to open and close the left door without touching the panel surface.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the left door and follows its rotation.",
|
| 14 |
+
"grasp_description": "Users wrap fingers around the handle to pull the door open or push it closed."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Aluminum_Alloy_6063",
|
| 18 |
+
"density": 2.7,
|
| 19 |
+
"young": 69.0,
|
| 20 |
+
"hardness": 95,
|
| 21 |
+
"poisson": 0.33,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001357/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right Vertical Handle (Center Pull)",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Slim extruded aluminum pull mounted vertically near the meeting edge of the right door.",
|
| 12 |
+
"functional_description": "Provides a grip to actuate the right door.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the right door and moves with it.",
|
| 14 |
+
"grasp_description": "Common touchpoint; grasped with fingertips to swing the door."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Aluminum_Alloy_6063",
|
| 18 |
+
"density": 2.7,
|
| 19 |
+
"young": 69.0,
|
| 20 |
+
"hardness": 95,
|
| 21 |
+
"poisson": 0.33,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001357/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body (Carcass)",
|
| 9 |
+
"affordance": 7,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Structural cabinet box made from melamine-faced particle board panels forming top, bottom, sides, and back.",
|
| 12 |
+
"functional_description": "Provides structural support, houses shelves/contents, and serves as the anchor for hinges and doors.",
|
| 13 |
+
"movement_description": "Stationary reference frame; all moving parts are mounted to it via hinge rails.",
|
| 14 |
+
"grasp_description": "Rarely handled directly except during installation or relocation."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001357/annotations/part_6.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001357",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Hinge Rails",
|
| 9 |
+
"affordance": 8,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Two slim stainless-steel vertical hinge assemblies mounted at the cabinet\u2019s outer edges.",
|
| 12 |
+
"functional_description": "Provide the rotational support and alignment for both doors while resisting wear and corrosion.",
|
| 13 |
+
"movement_description": "Rigid to the carcass; act as the parent joint elements allowing each door to rotate about its vertical axis.",
|
| 14 |
+
"grasp_description": "Not intended to be touched during normal use; hidden at the edges."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Stainless_Steel_304",
|
| 18 |
+
"density": 7.9,
|
| 19 |
+
"young": 193.0,
|
| 20 |
+
"hardness": 150,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.3
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001357/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
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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 material_0.png
|
data/UPB_00001357/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001357/full_model/model.obj
ADDED
|
@@ -0,0 +1,964 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib material.mtl
|
| 3 |
+
usemtl material_0
|
| 4 |
+
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| 5 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 28 |
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| 30 |
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| 31 |
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| 32 |
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|
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|
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|
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|
| 950 |
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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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|
| 963 |
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|
| 964 |
+
|
data/UPB_00001357/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001357",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Two-Door Cabinet"
|
| 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_00001357/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="0.405391 0.405391 0.405391"/>
|
| 10 |
+
</geometry>
|
| 11 |
+
</visual>
|
| 12 |
+
<collision>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="parts/part_1.obj" scale="0.405391 0.405391 0.405391"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="0.405391 0.405391 0.405391"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="0.405391 0.405391 0.405391"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="0.405391 0.405391 0.405391"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="0.405391 0.405391 0.405391"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="0.405391 0.405391 0.405391"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="0.405391 0.405391 0.405391"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
</link>
|
| 54 |
+
<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="parts/part_5.obj" scale="0.405391 0.405391 0.405391"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="0.405391 0.405391 0.405391"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<link name="link_6">
|
| 67 |
+
<visual>
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="parts/part_6.obj" scale="0.405391 0.405391 0.405391"/>
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="parts/part_6.obj" scale="0.405391 0.405391 0.405391"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
</link>
|
| 78 |
+
<joint name="joint_0" type="revolute">
|
| 79 |
+
<parent link="link_6"/>
|
| 80 |
+
<child link="helper_link_0"/>
|
| 81 |
+
<origin xyz="-0.399495 -0.113140 0.000000" rpy="0 0 0"/>
|
| 82 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 83 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_1" type="fixed">
|
| 86 |
+
<parent link="helper_link_0"/>
|
| 87 |
+
<child link="link_1"/>
|
| 88 |
+
<origin xyz="0.399495 0.113140 -0.000000" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_2" type="revolute">
|
| 91 |
+
<parent link="link_6"/>
|
| 92 |
+
<child link="helper_link_1"/>
|
| 93 |
+
<origin xyz="0.399102 -0.113140 0.000000" rpy="0 0 0"/>
|
| 94 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 95 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="joint_3" type="fixed">
|
| 98 |
+
<parent link="helper_link_1"/>
|
| 99 |
+
<child link="link_2"/>
|
| 100 |
+
<origin xyz="-0.399102 0.113140 -0.000000" rpy="0 0 0"/>
|
| 101 |
+
</joint>
|
| 102 |
+
<joint name="joint_4" type="fixed">
|
| 103 |
+
<parent link="link_1"/>
|
| 104 |
+
<child link="link_3"/>
|
| 105 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 106 |
+
</joint>
|
| 107 |
+
<joint name="joint_5" type="fixed">
|
| 108 |
+
<parent link="link_2"/>
|
| 109 |
+
<child link="link_4"/>
|
| 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_5"/>
|
| 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_6"/>
|
| 120 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 121 |
+
</joint>
|
| 122 |
+
</robot>
|
data/UPB_00001357/parts/1.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 1.png
|
data/UPB_00001357/parts/1.png
ADDED
|
Git LFS Details
|
data/UPB_00001357/parts/2.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 2.png
|
data/UPB_00001357/parts/2.png
ADDED
|
Git LFS Details
|
data/UPB_00001357/parts/part_1.obj
ADDED
|
@@ -0,0 +1,184 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib 1.mtl
|
| 3 |
+
usemtl material_0
|
| 4 |
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| 5 |
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|
| 149 |
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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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data/UPB_00001357/parts/part_2.obj
ADDED
|
@@ -0,0 +1,184 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib 2.mtl
|
| 3 |
+
usemtl material_0
|
| 4 |
+
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|
| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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|
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|
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| 59 |
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|
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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|
| 74 |
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| 75 |
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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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|
| 143 |
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|
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|
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|
| 146 |
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vt 0.18020833 0.33509291
|
| 147 |
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vt 0.18020833 0.36217629
|
| 148 |
+
f 1/1 2/2 3/3
|
| 149 |
+
f 3/3 4/4 1/1
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| 150 |
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f 14/14 18/18 12/12
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|
| 158 |
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f 17/17 23/23 15/15
|
| 159 |
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f 11/11 24/24 9/9
|
| 160 |
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f 25/25 26/26 27/27
|
| 161 |
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f 27/27 28/28 25/25
|
| 162 |
+
f 29/29 30/30 31/31
|
| 163 |
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f 31/31 32/32 29/29
|
| 164 |
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f 33/33 34/34 35/35
|
| 165 |
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f 36/36 37/37 38/38
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| 166 |
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|
| 183 |
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f 71/71 72/72 69/69
|
| 184 |
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|
data/UPB_00001357/parts/part_3.obj
ADDED
|
@@ -0,0 +1,60 @@
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|
|
| 1 |
+
mtllib wardrobe_6GDJ3LZVAZ2MUPTUK4888888_WdMEf.mtl
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| 2 |
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| 18 |
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| 19 |
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| 20 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 42 |
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vn 0.0 -1.0 -1.62920998e-07
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| 43 |
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vn 0.0 -1.62920998e-07 1.0
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| 44 |
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| 45 |
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| 46 |
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vn 0.0 1.62920998e-07 -1.0
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| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
+
f 4/3/2 5/4/2 6/1/2
|
| 51 |
+
f 7/1/2 8/2/2 9/3/2
|
| 52 |
+
f 10/1/3 11/2/3 12/3/3
|
| 53 |
+
f 13/3/1 14/4/1 15/1/1
|
| 54 |
+
f 16/3/4 17/4/4 18/1/4
|
| 55 |
+
f 19/1/4 20/2/4 21/3/4
|
| 56 |
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f 22/3/5 23/4/5 24/1/5
|
| 57 |
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f 25/1/5 26/2/5 27/3/5
|
| 58 |
+
f 28/3/3 29/4/3 30/1/3
|
| 59 |
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f 31/2/6 32/3/6 33/4/6
|
| 60 |
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data/UPB_00001357/parts/part_4.obj
ADDED
|
@@ -0,0 +1,75 @@
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ADDED
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newmtl MI_5db8073fb1d8ad000159f604
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| 9 |
+
Kd 0.0395563319 0.027324833 0.0262773577
|
| 10 |
+
illum 1
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| 11 |
+
|
| 12 |
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newmtl MI_5db8073f23bc8400014afebc
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| 13 |
+
Kd 0.616599977 0.616599977 0.616599977
|
| 14 |
+
illum 1
|
| 15 |
+
|
| 16 |
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newmtl MI_5db8073f00e3a30001c4c424
|
| 17 |
+
Kd 0 0 0
|
| 18 |
+
illum 1
|
| 19 |
+
|
data/UPB_00001357/plys/1.ply
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:3f8b25f6a170f6e219a4f100082e2054387187d3d00cdf504f5d0ee5cd525f6d
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| 3 |
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size 251874
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data/UPB_00001357/plys/2.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:36d0558be1ae125a4ee0abf2635f06987874e4d619f34236e5a569280e834504
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| 3 |
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size 252130
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data/UPB_00001357/plys/3.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:9146efe8c6b92869837ac7d568aa04261a0400298f9ca259dded756ff372ab02
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| 3 |
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size 160242
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data/UPB_00001357/plys/4.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:5ae8eac56bc292f003781e9b6aad2e9491002dbd67a445e032d7c4bb21a96bba
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| 3 |
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size 160242
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data/UPB_00001357/plys/5.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:92550face3562bad68d38cc96c57bbaf6aaa33d0e250768752bb29aeb3271b10
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| 3 |
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size 1046994
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