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Washer-Dryer (Laundry Center)", + "category": "KitchenDining/KitchenAppliance", + "volume": [ + 70.0, + 75.0, + 190.0 + ], + "mass": 140.0 +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_1.json b/data/UPB_00001501/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..a2840e0139c0983dd8de4defa1b08a852bd4fd5e --- /dev/null +++ b/data/UPB_00001501/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "1" + }, + "part_level": { + "part_name": "Upper cycle selector knob", + "affordance": 2, + "graspable": true, + "basic_description": "Injection-molded ABS rotary knob sized for fingers, mounted on the upper control panel.", + "functional_description": "Allows the user to select dryer cycles by rotating to indexed positions.", + "movement_description": "Rotates about a central shaft relative to the control panel with light detents.", + "grasp_description": "Grasped and turned by hand; textured surface improves grip." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.17636951804161072, + -0.20577308535575867, + 0.3709873557090759 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.02 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_10.json b/data/UPB_00001501/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..5c3b0acf7c87674753a6d548414f05a35d165a28 --- /dev/null +++ b/data/UPB_00001501/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "10" + }, + "part_level": { + "part_name": "Rotating drums (upper dryer drum and lower washer basket)", + "affordance": 6, + "graspable": false, + "basic_description": "Perforated stainless-steel cylindrical drums for tumbling clothes in the dryer and washer.", + "functional_description": "Contain and agitate laundry; rotate via motor and belt/drive systems.", + "movement_description": "Rotate continuously on bearings relative to the cabinet frame.", + "grasp_description": "Not grasped directly during normal operation." + }, + "basic_info": { + "material": "metal/Stainless_Steel", + "density": 7.9, + "young": 193.0, + "hardness": 180, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_11.json b/data/UPB_00001501/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..67106cf4f6ba13a6c35b1ade99f6fbed3168c0bf --- /dev/null +++ b/data/UPB_00001501/annotations/part_11.json @@ 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"poisson": 0.45, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_14.json b/data/UPB_00001501/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6d731bf1fd1e2989ffc1d623d99226b29f2778 --- /dev/null +++ b/data/UPB_00001501/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "14" + }, + "part_level": { + "part_name": "Door gasket seals (upper and lower)", + "affordance": 8, + "graspable": false, + "basic_description": "EPDM rubber ring seals fitted around the porthole openings of both units.", + "functional_description": "Provide an airtight/watertight seal to prevent leaks and dampen vibration.", + "movement_description": "Fixed to the front frame; compresses elastically when doors close.", + "grasp_description": "Occasionally touched when loading; not intended as a handle." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_15.json b/data/UPB_00001501/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..030da42c9c425666d06211f5a77518efca2b7fb3 --- /dev/null +++ b/data/UPB_00001501/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "15" + }, + "part_level": { + "part_name": "Control panel assemblies (upper and lower)", + "affordance": 1, + "graspable": true, + "basic_description": "ABS front fascias with cutouts for displays, buttons and knobs on both units.", + "functional_description": "Primary human-machine interface incorporating controls and indicators.", + "movement_description": "Rigidly mounted to the cabinet; contains rotating knobs and fixed displays.", + "grasp_description": "Users press buttons and rotate the attached knobs on this panel." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.2, + "hardness": 10, + "poisson": 0.37, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_16.json b/data/UPB_00001501/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..148f8b65a0686bf98ddd329792006ad4275dbf6d --- /dev/null +++ b/data/UPB_00001501/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "16" + }, + "part_level": { + "part_name": "Pull-out work shelf/tray (mid section)", + "affordance": 4, + "graspable": true, + "basic_description": "Powder-coated steel shelf that slides out between washer and dryer.", + "functional_description": "Provides a small surface for sorting or loading laundry and supports small loads.", + "movement_description": "Translates on slide rails between fully retracted and extended positions.", + "grasp_description": "Pulled by hand via the front rail/handle to extend and push back to close." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_17.json b/data/UPB_00001501/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..779de960a0ed766f94e01956c574884080314505 --- /dev/null +++ b/data/UPB_00001501/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "17" + }, + "part_level": { + "part_name": "Shelf front rail/handle bracket", + "affordance": 4, + "graspable": true, + "basic_description": "Lightweight aluminum bar forming the graspable edge of the pull-out shelf.", + "functional_description": "Acts as a stiffening front member and user handle for the sliding shelf.", + "movement_description": "Moves together with the shelf as a rigidly attached component.", + "grasp_description": "Users grasp this rail to pull the shelf out and push it back in." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6061", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_18.json b/data/UPB_00001501/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..39cbed78b4d622705adf3146da44c98927e9b2b9 --- /dev/null +++ b/data/UPB_00001501/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "18" + }, + "part_level": { + "part_name": "Upper front insulation pad", + "affordance": 10, + "graspable": false, + "basic_description": "Conformable polyurethane foam pad adhered to the upper front frame area.", + "functional_description": "Provides thermal/acoustic insulation and vibration damping around the dryer opening.", + "movement_description": "Adhered to the frame; compresses slightly but has no joint motion.", + "grasp_description": "Never touched by the user; sealed behind the front frame." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_2.json b/data/UPB_00001501/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..c99accfb006ad16b1ff159a063bb15b9f6a178b6 --- /dev/null +++ b/data/UPB_00001501/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "2" + }, + "part_level": { + "part_name": "Lower cycle selector knob", + "affordance": 3, + "graspable": true, + "basic_description": "ABS rotary knob located on the lower unit\u2019s control panel.", + "functional_description": "User selects washer cycles through rotation.", + "movement_description": "Rotates on a short shaft fixed to the control panel potentiometer/encoder.", + "grasp_description": "Typically pinched and turned; light torque required." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.17774724960327148, + -0.20107580721378326, + -0.2859010398387909 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.02 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_3.json b/data/UPB_00001501/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..709ad4e5091c1d6363d1c398ff766c10b6d063a2 --- /dev/null +++ b/data/UPB_00001501/annotations/part_3.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "3" + }, + "part_level": { + "part_name": "Upper front panel screw A", + "affordance": 10, + "graspable": false, + "basic_description": "Steel self-tapping screw securing an upper front panel to the cabinet.", + "functional_description": "Provides clamping and alignment for sheet-metal cover pieces.", + "movement_description": "No relative motion during use; tightened into the cabinet frame.", + "grasp_description": "Only handled during service with a screwdriver." + }, + "basic_info": { + "material": "metal/Steel_Generic", + "density": 7.85, + "young": 200.0, + "hardness": 240, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3 + ], + "C": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.20501942932605743, + 0.589941680431366 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_4.json b/data/UPB_00001501/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..4302466464ad9bf375b5a8c4366ea99afa890acb --- /dev/null +++ b/data/UPB_00001501/annotations/part_4.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "4" + }, + "part_level": { + "part_name": "Lower front panel screw B", + "affordance": 10, + "graspable": false, + "basic_description": "Another steel screw holding a lower front cover to the cabinet.", + "functional_description": "Maintains structural integrity and vibration control of the lower enclosure.", + "movement_description": "Rigidly fixed once installed.", + "grasp_description": "Service-only interaction with tools." + }, + "basic_info": { + "material": "metal/Steel_Generic", + "density": 7.85, + "young": 200.0, + "hardness": 240, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4 + ], + "C": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.20306280255317688, + -0.05816957727074623 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_5.json b/data/UPB_00001501/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..e7c12f2f8d66bac154f66f6ba834379d76faccdf --- /dev/null +++ b/data/UPB_00001501/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "5" + }, + "part_level": { + "part_name": "Upper front internal frame and harness", + "affordance": 8, + "graspable": false, + "basic_description": "Stamped steel front subframe for the upper unit with openings and mounting points, carrying a wiring harness and seal retainer.", + "functional_description": "Supports the dryer door opening, holds the gasket and guides cables/components.", + "movement_description": "Rigidly fixed to the cabinet; no motion in normal operation.", + "grasp_description": "Not intended for direct handling by the user." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_6.json b/data/UPB_00001501/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..ed9c8f3eeef60a18846ed1f66108b499571ffd84 --- /dev/null +++ b/data/UPB_00001501/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "6" + }, + "part_level": { + "part_name": "Lower unit fastener set", + "affordance": 10, + "graspable": false, + "basic_description": "Group of small steel screws/rivets fastening the lower front components.", + "functional_description": "Provide clamping and vibration-resistant attachment for covers and brackets.", + "movement_description": "No motion; permanent fastening.", + "grasp_description": "Only handled during assembly or repair." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_7.json b/data/UPB_00001501/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..5205faa0684a8e84484b779a45b0e05c6fe785a7 --- /dev/null +++ b/data/UPB_00001501/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "7" + }, + "part_level": { + "part_name": "Service access covers", + "affordance": 5, + "graspable": true, + "basic_description": "Two ABS access panels: an upper shield and a lower small service door.", + "functional_description": "Provide access to internal components (e.g., filters or electronics) while enclosing the machine.", + "movement_description": "Typically clipped or screwed to the cabinet; removed for service only.", + "grasp_description": "Pulled by hand to open or remove during maintenance." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_8.json b/data/UPB_00001501/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..eae1b4ecedbf5a993f3f50f501293247e71ddd49 --- /dev/null +++ b/data/UPB_00001501/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "8" + }, + "part_level": { + "part_name": "Front fastener caps/screws (black)", + "affordance": 10, + "graspable": false, + "basic_description": "Small black-oxide steel fasteners distributed across the front.", + "functional_description": "Hold trim and shields to the cabinet.", + "movement_description": "Rigid connection; no motion in use.", + "grasp_description": "Tool-operated during assembly or service." + }, + "basic_info": { + "material": "metal/Steel_Black_Oxide", + "density": 7.85, + "young": 200.0, + "hardness": 220, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/annotations/part_9.json b/data/UPB_00001501/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..ec41e3923e9af6dd5faa4547b9463f151cffd83e --- /dev/null +++ b/data/UPB_00001501/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001501", + "label": "9" + }, + "part_level": { + "part_name": "Main cabinet and frame", + "affordance": 7, + "graspable": false, + "basic_description": "Powder-coated steel outer cabinet and internal frame forming the stacked enclosure.", + "functional_description": "Provides structural support, mounts all subsystems, and isolates vibration.", + "movement_description": "Fixed reference; other parts connect rigidly or rotate/translate relative to it.", + "grasp_description": "Occasionally touched when moving the appliance; not a primary user interface." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 10, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001501/full_model/material.mtl b/data/UPB_00001501/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001501/full_model/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd material_0.png \ No newline at end of file diff --git a/data/UPB_00001501/full_model/material_0.png b/data/UPB_00001501/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb133fb8d836f093da45c207abef43f5f42555eb --- /dev/null +++ b/data/UPB_00001501/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42ae3690c295169e22ce84b9abf1a5c8f75984c6d4833a43a226b2cb788c9502 +size 2649316 diff --git a/data/UPB_00001501/full_model/model.obj b/data/UPB_00001501/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..6500e3b7468e3fc87ec73e1a6fdd47b2c401a8fd --- /dev/null +++ b/data/UPB_00001501/full_model/model.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:478418d037cefc97a2d2e35780586b5a7ea97ac66ac7fb2c9bb4ae3bea0b0e89 +size 47022803 diff --git a/data/UPB_00001501/meta_data.json b/data/UPB_00001501/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..192c300276732ba944313e71dd90a8ca3e31f0a5 --- /dev/null +++ b/data/UPB_00001501/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00001501", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "KitchenDining/KitchenAppliance", + "object_name": "Stacked Washer-Dryer (Laundry Center)" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 18, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001501/model.urdf b/data/UPB_00001501/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..7aa10700f11cc47fd573d56deefc900fad583cf0 --- /dev/null +++ b/data/UPB_00001501/model.urdf @@ -0,0 +1,340 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001501/parts/1.mtl b/data/UPB_00001501/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001501/parts/1.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 1.png diff --git a/data/UPB_00001501/parts/1.png b/data/UPB_00001501/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..dfb6ca5a5947258847a6236db100c224a98d4bd8 --- /dev/null +++ b/data/UPB_00001501/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdbde70fe57ca27b1df2c2904b2e4d12257c263bf89047be00d99ccf8cab48f4 +size 92 diff --git a/data/UPB_00001501/parts/2.mtl b/data/UPB_00001501/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/data/UPB_00001501/parts/2.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 2.png diff --git a/data/UPB_00001501/parts/2.png 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