Upload folder using huggingface_hub (part 37)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +89 -0
- data/UPB_00001255/annotations/part_4.json +30 -0
- data/UPB_00001255/full_model/material.mtl +8 -0
- data/UPB_00001255/full_model/material_0.png +3 -0
- data/UPB_00001255/full_model/model.obj +3 -0
- data/UPB_00001255/meta_data.json +22 -0
- data/UPB_00001255/model.urdf +80 -0
- data/UPB_00001255/parts/1.mtl +8 -0
- data/UPB_00001255/parts/1.png +3 -0
- data/UPB_00001255/parts/T_624fab6e403e2900013e205b_color.jpg +3 -0
- data/UPB_00001255/parts/T_624fab6e403e2900013e205b_metallic.jpg +3 -0
- data/UPB_00001255/parts/T_624fab6ed3a4320001d9fc24_color.jpg +3 -0
- data/UPB_00001255/parts/oven_ZZYTC6RVAJO5CPTUK4888888_fUXT6.mtl +31 -0
- data/UPB_00001255/parts/part_1.obj +0 -0
- data/UPB_00001255/parts/part_2.obj +314 -0
- data/UPB_00001255/parts/part_3.obj +3 -0
- data/UPB_00001255/parts/part_4.obj +3 -0
- data/UPB_00001255/plys/1.ply +3 -0
- data/UPB_00001255/plys/2.ply +3 -0
- data/UPB_00001255/plys/3.ply +3 -0
- data/UPB_00001255/plys/4.ply +3 -0
- data/UPB_00001255/plys/model.ply +3 -0
- data/UPB_00001256/annotations/object.json +10 -0
- data/UPB_00001256/annotations/part_1.json +52 -0
- data/UPB_00001256/annotations/part_10.json +30 -0
- data/UPB_00001256/annotations/part_13.json +30 -0
- data/UPB_00001256/annotations/part_19.json +30 -0
- data/UPB_00001256/annotations/part_2.json +30 -0
- data/UPB_00001256/annotations/part_21.json +30 -0
- data/UPB_00001256/annotations/part_6.json +30 -0
- data/UPB_00001256/annotations/part_7.json +30 -0
- data/UPB_00001256/annotations/part_8.json +30 -0
- data/UPB_00001256/annotations/part_9.json +30 -0
- data/UPB_00001256/full_model/material.mtl +8 -0
- data/UPB_00001256/full_model/material_0.png +3 -0
- data/UPB_00001256/full_model/model.obj +3 -0
- data/UPB_00001256/meta_data.json +22 -0
- data/UPB_00001256/model.urdf +182 -0
- data/UPB_00001256/parts/1.mtl +8 -0
- data/UPB_00001256/parts/1.png +3 -0
- data/UPB_00001256/parts/2.mtl +8 -0
- data/UPB_00001256/parts/2.png +3 -0
- data/UPB_00001256/parts/7.mtl +8 -0
- data/UPB_00001256/parts/7.png +3 -0
- data/UPB_00001256/parts/T_624fab70403e2900013e205c_color.jpg +3 -0
- data/UPB_00001256/parts/T_624fab7096f9090001d11d35_color.jpg +3 -0
- data/UPB_00001256/parts/T_624fab70c4be630001aac3e7_color.jpg +3 -0
- data/UPB_00001256/parts/T_624fab70c4be630001aac3e7_metallic.jpg +3 -0
- data/UPB_00001256/parts/oven_ZZYTFTRVAI376PTUKM888888_NCmGl.mtl +96 -0
- data/UPB_00001256/parts/part_1.obj +1870 -0
.gitattributes
CHANGED
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data/UPB_00001267/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001255/annotations/part_4.json
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{
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"index": {
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"type_name": "default",
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"entity": "UPB_00001255",
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"label": "4"
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},
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"part_level": {
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"part_name": "Oven Body and Cavity Assembly",
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"affordance": 9,
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"graspable": false,
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"basic_description": "Main chassis and cooking cavity with racks and outer sheet-metal shell; designed for cabinet installation and heat containment.",
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"functional_description": "Houses heating elements, insulation, fan, and guides; provides mounting for the door hinges and control panel.",
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"movement_description": "Fixed reference frame of the appliance; other parts attach rigidly or rotate relative to it.",
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"grasp_description": "Not handled during normal use; only moved during installation or service."
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},
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"basic_info": {
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"material": "metal/Steel_Sheet_Enameled",
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"density": 7.85,
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"young": 210,
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"hardness": 200,
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"poisson": 0.29,
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"friction": 0.5
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},
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"kinematic_info": {
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"motion_types": [
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"D"
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],
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"motion_info": {}
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}
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}
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data/UPB_00001255/full_model/material.mtl
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# https://github.com/mikedh/trimesh
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newmtl material_0
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Ka 0.40000000 0.40000000 0.40000000
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Kd 0.40000000 0.40000000 0.40000000
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Ks 0.40000000 0.40000000 0.40000000
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Ns 1.00000000
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map_Kd material_0.png
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data/UPB_00001255/full_model/material_0.png
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Git LFS Details
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data/UPB_00001255/full_model/model.obj
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version https://git-lfs.github.com/spec/v1
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oid sha256:cf3a982dc2a3ef6c1c138a255772e2b57427f5e197a8bb4129a55289cc4134ed
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size 61537852
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data/UPB_00001255/meta_data.json
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{
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"id": "UPB_00001255",
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"source": [
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{
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"dataset": "UniPhys-Bench",
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"organization": "Manycore Tech Inc.",
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"license_ref": "UniPhys-Bench"
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}
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],
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"object": {
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| 11 |
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"category": "KitchenDining/KitchenAppliance",
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"object_name": "Built-in Electric Oven"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 4,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001255/model.urdf
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="link_1">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="parts/part_1.obj" scale="1.010952 1.010952 1.010952"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<geometry>
|
| 13 |
+
<mesh filename="parts/part_1.obj" scale="1.010952 1.010952 1.010952"/>
|
| 14 |
+
</geometry>
|
| 15 |
+
</collision>
|
| 16 |
+
</link>
|
| 17 |
+
<link name="link_2">
|
| 18 |
+
<visual>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="parts/part_2.obj" scale="1.010952 1.010952 1.010952"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<collision>
|
| 24 |
+
<geometry>
|
| 25 |
+
<mesh filename="parts/part_2.obj" scale="1.010952 1.010952 1.010952"/>
|
| 26 |
+
</geometry>
|
| 27 |
+
</collision>
|
| 28 |
+
</link>
|
| 29 |
+
<link name="link_3">
|
| 30 |
+
<visual>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="parts/part_3.obj" scale="1.010952 1.010952 1.010952"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</visual>
|
| 35 |
+
<collision>
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="parts/part_3.obj" scale="1.010952 1.010952 1.010952"/>
|
| 38 |
+
</geometry>
|
| 39 |
+
</collision>
|
| 40 |
+
</link>
|
| 41 |
+
<link name="link_4">
|
| 42 |
+
<visual>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="parts/part_4.obj" scale="1.010952 1.010952 1.010952"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</visual>
|
| 47 |
+
<collision>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="parts/part_4.obj" scale="1.010952 1.010952 1.010952"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</collision>
|
| 52 |
+
</link>
|
| 53 |
+
<joint name="joint_0" type="revolute">
|
| 54 |
+
<parent link="base_link"/>
|
| 55 |
+
<child link="helper_link_0"/>
|
| 56 |
+
<origin xyz="0.000000 -0.284258 -0.231869" rpy="0 0 0"/>
|
| 57 |
+
<axis xyz="1.0 0.0 0.0"/>
|
| 58 |
+
<limit lower="0.0" upper="1.7453292519943295"/>
|
| 59 |
+
</joint>
|
| 60 |
+
<joint name="joint_1" type="fixed">
|
| 61 |
+
<parent link="helper_link_0"/>
|
| 62 |
+
<child link="link_1"/>
|
| 63 |
+
<origin xyz="-0.000000 0.284258 0.231869" rpy="0 0 0"/>
|
| 64 |
+
</joint>
|
| 65 |
+
<joint name="joint_2" type="fixed">
|
| 66 |
+
<parent link="base_link"/>
|
| 67 |
+
<child link="link_2"/>
|
| 68 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 69 |
+
</joint>
|
| 70 |
+
<joint name="joint_3" type="fixed">
|
| 71 |
+
<parent link="base_link"/>
|
| 72 |
+
<child link="link_3"/>
|
| 73 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 74 |
+
</joint>
|
| 75 |
+
<joint name="joint_4" type="fixed">
|
| 76 |
+
<parent link="base_link"/>
|
| 77 |
+
<child link="link_4"/>
|
| 78 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 79 |
+
</joint>
|
| 80 |
+
</robot>
|
data/UPB_00001255/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_00001255/parts/1.png
ADDED
|
Git LFS Details
|
data/UPB_00001255/parts/T_624fab6e403e2900013e205b_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001255/parts/T_624fab6e403e2900013e205b_metallic.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001255/parts/T_624fab6ed3a4320001d9fc24_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001255/parts/oven_ZZYTC6RVAJO5CPTUK4888888_fUXT6.mtl
ADDED
|
@@ -0,0 +1,31 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
| 2 |
+
# (assimp v5.4.0)
|
| 3 |
+
|
| 4 |
+
newmtl MI_624fab6ec4be630001aac3e4
|
| 5 |
+
Kd 0.0219246 0.0219246 0.0219246
|
| 6 |
+
illum 1
|
| 7 |
+
|
| 8 |
+
newmtl MI_624fab6ed6ba7d000103073e
|
| 9 |
+
Kd 0.178437993 0.178437993 0.178437993
|
| 10 |
+
illum 1
|
| 11 |
+
|
| 12 |
+
newmtl MI_624fab6e403e2900013e205b
|
| 13 |
+
Kd 1 1 1
|
| 14 |
+
illum 1
|
| 15 |
+
map_Kd ./T_624fab6e403e2900013e205b_color.jpg
|
| 16 |
+
|
| 17 |
+
newmtl MI_624fab6eeba468000156d02b
|
| 18 |
+
Kd 0.918099999 0.918099999 0.918099999
|
| 19 |
+
Ks 0.100000001 0.100000001 0.100000001
|
| 20 |
+
d 1
|
| 21 |
+
illum 1
|
| 22 |
+
|
| 23 |
+
newmtl MI_624fab6e560ccb00017e39f4
|
| 24 |
+
Kd 0.828100026 0.509599984 0.382200003
|
| 25 |
+
illum 1
|
| 26 |
+
|
| 27 |
+
newmtl MI_624fab6ed3a4320001d9fc24
|
| 28 |
+
Kd 1 1 1
|
| 29 |
+
illum 1
|
| 30 |
+
map_Kd ./T_624fab6ed3a4320001d9fc24_color.jpg
|
| 31 |
+
|
data/UPB_00001255/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001255/parts/part_2.obj
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
| 1 |
+
mtllib oven_ZZYTC6RVAJO5CPTUK4888888_fUXT6.mtl
|
| 2 |
+
v -0.296750009 -0.27807501 0.228108004
|
| 3 |
+
v -0.296750009 -0.27807501 0.135608003
|
| 4 |
+
v -0.296750009 -0.281075001 0.228108004
|
| 5 |
+
v -0.296750009 -0.281075001 0.228108004
|
| 6 |
+
v -0.296750009 -0.27807501 0.135608003
|
| 7 |
+
v -0.296750009 -0.281075001 0.135608003
|
| 8 |
+
v -0.295749992 -0.27807501 0.134608001
|
| 9 |
+
v 0.295749992 -0.27807501 0.134608001
|
| 10 |
+
v -0.295749992 -0.281075001 0.134608001
|
| 11 |
+
v -0.295749992 -0.281075001 0.134608001
|
| 12 |
+
v 0.295749992 -0.27807501 0.134608001
|
| 13 |
+
v 0.295749992 -0.281075001 0.134608001
|
| 14 |
+
v 0.296750009 -0.27807501 0.135608003
|
| 15 |
+
v 0.296750009 -0.27807501 0.228108004
|
| 16 |
+
v 0.296750009 -0.281075001 0.135608003
|
| 17 |
+
v 0.296750009 -0.281075001 0.135608003
|
| 18 |
+
v 0.296750009 -0.27807501 0.228108004
|
| 19 |
+
v 0.296750009 -0.281075001 0.228108004
|
| 20 |
+
v 0.295749992 -0.27807501 0.229108006
|
| 21 |
+
v -0.295749992 -0.27807501 0.229108006
|
| 22 |
+
v 0.295749992 -0.281075001 0.229108006
|
| 23 |
+
v 0.295749992 -0.281075001 0.229108006
|
| 24 |
+
v -0.295749992 -0.27807501 0.229108006
|
| 25 |
+
v -0.295749992 -0.281075001 0.229108006
|
| 26 |
+
v -0.295542985 -0.277574986 0.228607997
|
| 27 |
+
v 0.295542985 -0.277574986 0.228607997
|
| 28 |
+
v -0.296249986 -0.277574986 0.227900997
|
| 29 |
+
v -0.296249986 -0.277574986 0.227900997
|
| 30 |
+
v 0.295542985 -0.277574986 0.228607997
|
| 31 |
+
v 0.296249986 -0.277574986 0.227900997
|
| 32 |
+
v -0.296249986 -0.277574986 0.227900997
|
| 33 |
+
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f 124/11/47 125/8/46 126/9/47
|
| 297 |
+
f 127/7/12 128/10/12 129/8/12
|
| 298 |
+
f 130/8/12 131/10/12 132/9/12
|
| 299 |
+
f 133/16/17 134/4/48 135/14/49
|
| 300 |
+
f 136/14/49 137/4/48 138/5/17
|
| 301 |
+
f 139/14/19 140/5/25 141/12/19
|
| 302 |
+
f 142/12/19 143/5/25 144/6/35
|
| 303 |
+
f 145/4/34 146/16/29 147/3/34
|
| 304 |
+
f 148/3/34 149/16/29 150/15/29
|
| 305 |
+
f 151/6/20 152/7/50 153/12/51
|
| 306 |
+
f 154/12/51 155/7/50 156/10/51
|
| 307 |
+
f 157/15/15 158/13/52 159/3/53
|
| 308 |
+
f 160/3/53 161/13/52 162/2/15
|
| 309 |
+
f 163/7/32 164/8/32 165/10/32
|
| 310 |
+
f 166/10/32 167/8/32 168/9/32
|
| 311 |
+
f 169/13/16 170/11/16 171/2/27
|
| 312 |
+
f 172/2/27 173/11/16 174/1/54
|
| 313 |
+
f 175/9/55 176/8/56 177/11/55
|
| 314 |
+
f 178/11/55 179/8/56 180/1/18
|
data/UPB_00001255/parts/part_3.obj
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:2f2c4b2bbc0b0bd6aa0cd6b23c548550b6db3a9391d047a029ffcfaaa68990ae
|
| 3 |
+
size 21726071
|
data/UPB_00001255/parts/part_4.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:06d1aa2eb6582ae03147f4c0e4402602ae7d36902d6739a133ad8b78f7f37c95
|
| 3 |
+
size 86307266
|
data/UPB_00001255/plys/1.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7f1286cae00bc3b1f1978d5f11285c872962230e87aeee8d3811ccc13ee41816
|
| 3 |
+
size 173282
|
data/UPB_00001255/plys/2.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:98997eced09ea4d9c1baded7367235f6c130f09a1421f5777192d22c504a4958
|
| 3 |
+
size 160242
|
data/UPB_00001255/plys/3.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a695a35119162d610e9a47eff6380ec430e65b070576f6818ad90749a3f61711
|
| 3 |
+
size 168034
|
data/UPB_00001255/plys/4.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3b3fb74d4ad95bb0d2469fecbf591c90a2ca1b21b171e58152d59c1007beb45c
|
| 3 |
+
size 1240290
|
data/UPB_00001255/plys/model.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b1a927122964ad3cf994da994dd9ba68dbd0f557cabe539aab37d2998429a16f
|
| 3 |
+
size 1600243
|
data/UPB_00001256/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Built-in Electric Oven",
|
| 3 |
+
"category": "KitchenDining/KitchenAppliance",
|
| 4 |
+
"volume": [
|
| 5 |
+
59.5,
|
| 6 |
+
56.0,
|
| 7 |
+
59.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 34.0
|
| 10 |
+
}
|
data/UPB_00001256/annotations/part_1.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Oven Door Assembly",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Tempered glass oven door with a metal rim and integrated handle; approx 56*45*3.5 cm.",
|
| 12 |
+
"functional_description": "Provides a heat-resistant viewing window and seals the cavity during baking.",
|
| 13 |
+
"movement_description": "Rotates downward about the lower hinge axis relative to the main chassis.",
|
| 14 |
+
"grasp_description": "Users grasp the handle to open/close the door and to rest it at intermediate angles."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Stainless_Steel_304",
|
| 18 |
+
"density": 7.9,
|
| 19 |
+
"young": 200.0,
|
| 20 |
+
"hardness": 170,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1,
|
| 31 |
+
2
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
1.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.0,
|
| 41 |
+
-0.2539721727371216,
|
| 42 |
+
-0.28417134284973145
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.9198621771937625
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.06
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001256/annotations/part_10.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "10"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Insulating Sleeve B",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Ceramic insulating sleeve similar to Part 8 (~\u00d812*30 mm).",
|
| 12 |
+
"functional_description": "Electrical/thermal isolation for studs or connectors.",
|
| 13 |
+
"movement_description": "Rigidly retained by the chassis.",
|
| 14 |
+
"grasp_description": "Not user-facing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic",
|
| 18 |
+
"density": 1.0620871407760706,
|
| 19 |
+
"young": 2.2253158522050236,
|
| 20 |
+
"hardness": 13.668123427360614,
|
| 21 |
+
"poisson": 0.3764176930207783,
|
| 22 |
+
"friction": 0.4458561779896716
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_13.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "13"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Control Panel Front Glass",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Black glass-ceramic control panel with printed icons; approx 56*7*1 cm.",
|
| 12 |
+
"functional_description": "Presents the user interface for modes, temperature and timers; protects internal electronics.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the main chassis; no motion during operation.",
|
| 14 |
+
"grasp_description": "Touched for button inputs; not grasped."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "glass/Glass_Ceramic",
|
| 18 |
+
"density": 2.5,
|
| 19 |
+
"young": 95.0,
|
| 20 |
+
"hardness": 650,
|
| 21 |
+
"poisson": 0.25,
|
| 22 |
+
"friction": 0.55
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_19.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "19"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Arc Retainer Plate B (Ceramic)",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Curved ceramic retainer segment matching Part 6 (~80 mm radius).",
|
| 12 |
+
"functional_description": "Works with Part 6 to clamp or guide high-temp insulation or harnesses.",
|
| 13 |
+
"movement_description": "Rigidly attached to the chassis.",
|
| 14 |
+
"grasp_description": "No user contact."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "ceramics/Alumina_Ceramic",
|
| 18 |
+
"density": 3.8,
|
| 19 |
+
"young": 300.0,
|
| 20 |
+
"hardness": 1500,
|
| 21 |
+
"poisson": 0.22,
|
| 22 |
+
"friction": 0.46
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_2.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Front Top Trim Strip",
|
| 9 |
+
"affordance": 7,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Narrow stainless-steel decorative/retaining strip along the front top edge; ~59*1.5*0.3 cm.",
|
| 12 |
+
"functional_description": "Finishes the front edge and helps retain the control panel/door gap cover.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the main chassis with screws or clips.",
|
| 14 |
+
"grasp_description": "Not intended for grasping; only touched during cleaning."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Stainless_Steel_304",
|
| 18 |
+
"density": 7.9,
|
| 19 |
+
"young": 200.0,
|
| 20 |
+
"hardness": 180,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_21.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "21"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Insulating Sleeve C",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Another knurled ceramic sleeve (~\u00d812*30 mm).",
|
| 12 |
+
"functional_description": "Provides high-temperature electrical insulation for studs/leads.",
|
| 13 |
+
"movement_description": "Sleeved over a fitting and retained by the chassis.",
|
| 14 |
+
"grasp_description": "Not intended for touching by users."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic",
|
| 18 |
+
"density": 1.0620871407760706,
|
| 19 |
+
"young": 2.2253158522050236,
|
| 20 |
+
"hardness": 13.668123427360614,
|
| 21 |
+
"poisson": 0.3764176930207783,
|
| 22 |
+
"friction": 0.4458561779896716
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_6.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Arc Retainer Plate A (Ceramic)",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Curved ceramic retainer segment (~80 mm radius, 8 mm thick).",
|
| 12 |
+
"functional_description": "Clamps or shields high-temperature wiring or insulation along a curved path.",
|
| 13 |
+
"movement_description": "Rigidly attached to the chassis with a fastener.",
|
| 14 |
+
"grasp_description": "No user contact."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "ceramics/Alumina_Ceramic",
|
| 18 |
+
"density": 3.8,
|
| 19 |
+
"young": 300.0,
|
| 20 |
+
"hardness": 1500,
|
| 21 |
+
"poisson": 0.22,
|
| 22 |
+
"friction": 0.46
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_7.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "7"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Main Oven Cavity & Chassis",
|
| 9 |
+
"affordance": 9,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Structural stainless-steel body and cooking cavity; approx 56*55*59 cm.",
|
| 12 |
+
"functional_description": "Houses heating elements, insulation, shelves, and supports all external panels/fasteners.",
|
| 13 |
+
"movement_description": "Stationary reference frame for all other parts; provides hinge points for the door.",
|
| 14 |
+
"grasp_description": "Not handled directly; moved only during installation/servicing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Stainless_Steel_304",
|
| 18 |
+
"density": 7.9,
|
| 19 |
+
"young": 200.0,
|
| 20 |
+
"hardness": 170,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_8.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "8"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Insulating Sleeve A",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Knurled ceramic sleeve (~\u00d812*30 mm) for wire or stud insulation.",
|
| 12 |
+
"functional_description": "Prevents electrical shorts and provides thermal isolation near hot zones.",
|
| 13 |
+
"movement_description": "Sleeved over a stud/connector and retained by the chassis.",
|
| 14 |
+
"grasp_description": "Not user-accessible."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic",
|
| 18 |
+
"density": 1.0620871407760706,
|
| 19 |
+
"young": 2.2253158522050236,
|
| 20 |
+
"hardness": 13.668123427360614,
|
| 21 |
+
"poisson": 0.3764176930207783,
|
| 22 |
+
"friction": 0.4458561779896716
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/annotations/part_9.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001256",
|
| 5 |
+
"label": "9"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Top Insulation Retainer Strip",
|
| 9 |
+
"affordance": 9,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Long slender ceramic strip (~40*1.8*0.6 cm) mounted near the top panel.",
|
| 12 |
+
"functional_description": "Clamps or locates thermal insulation mats along the roof of the oven.",
|
| 13 |
+
"movement_description": "Rigidly mounted to the main chassis.",
|
| 14 |
+
"grasp_description": "Only handled during service."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Stainless_Steel_304",
|
| 18 |
+
"density": 7.9,
|
| 19 |
+
"young": 200.0,
|
| 20 |
+
"hardness": 170,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001256/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_00001256/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001256/full_model/model.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d768a0f9921e9d6905aecff559931fa342d0936bb8f59c281cc40588fb253aae
|
| 3 |
+
size 53104753
|
data/UPB_00001256/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001256",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "KitchenDining/KitchenAppliance",
|
| 12 |
+
"object_name": "Built-in Electric Oven"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 10,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001256/model.urdf
ADDED
|
@@ -0,0 +1,182 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="link_1">
|
| 6 |
+
<visual>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="parts/part_1.obj" scale="0.969643 0.969643 0.969643"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<geometry>
|
| 13 |
+
<mesh filename="parts/part_1.obj" scale="0.969643 0.969643 0.969643"/>
|
| 14 |
+
</geometry>
|
| 15 |
+
</collision>
|
| 16 |
+
</link>
|
| 17 |
+
<link name="link_2">
|
| 18 |
+
<visual>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="parts/part_2.obj" scale="0.969643 0.969643 0.969643"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<collision>
|
| 24 |
+
<geometry>
|
| 25 |
+
<mesh filename="parts/part_2.obj" scale="0.969643 0.969643 0.969643"/>
|
| 26 |
+
</geometry>
|
| 27 |
+
</collision>
|
| 28 |
+
</link>
|
| 29 |
+
<link name="link_6">
|
| 30 |
+
<visual>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="parts/part_6.obj" scale="0.969643 0.969643 0.969643"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</visual>
|
| 35 |
+
<collision>
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="parts/part_6.obj" scale="0.969643 0.969643 0.969643"/>
|
| 38 |
+
</geometry>
|
| 39 |
+
</collision>
|
| 40 |
+
</link>
|
| 41 |
+
<link name="link_7">
|
| 42 |
+
<visual>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="parts/part_7.obj" scale="0.969643 0.969643 0.969643"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</visual>
|
| 47 |
+
<collision>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="parts/part_7.obj" scale="0.969643 0.969643 0.969643"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</collision>
|
| 52 |
+
</link>
|
| 53 |
+
<link name="link_8">
|
| 54 |
+
<visual>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="parts/part_8.obj" scale="0.969643 0.969643 0.969643"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
</visual>
|
| 59 |
+
<collision>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="parts/part_8.obj" scale="0.969643 0.969643 0.969643"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
</collision>
|
| 64 |
+
</link>
|
| 65 |
+
<link name="link_9">
|
| 66 |
+
<visual>
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh filename="parts/part_9.obj" scale="0.969643 0.969643 0.969643"/>
|
| 69 |
+
</geometry>
|
| 70 |
+
</visual>
|
| 71 |
+
<collision>
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="parts/part_9.obj" scale="0.969643 0.969643 0.969643"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</collision>
|
| 76 |
+
</link>
|
| 77 |
+
<link name="link_10">
|
| 78 |
+
<visual>
|
| 79 |
+
<geometry>
|
| 80 |
+
<mesh filename="parts/part_10.obj" scale="0.969643 0.969643 0.969643"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
</visual>
|
| 83 |
+
<collision>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="parts/part_10.obj" scale="0.969643 0.969643 0.969643"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<link name="link_13">
|
| 90 |
+
<visual>
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="parts/part_13.obj" scale="0.969643 0.969643 0.969643"/>
|
| 93 |
+
</geometry>
|
| 94 |
+
</visual>
|
| 95 |
+
<collision>
|
| 96 |
+
<geometry>
|
| 97 |
+
<mesh filename="parts/part_13.obj" scale="0.969643 0.969643 0.969643"/>
|
| 98 |
+
</geometry>
|
| 99 |
+
</collision>
|
| 100 |
+
</link>
|
| 101 |
+
<link name="link_19">
|
| 102 |
+
<visual>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="parts/part_19.obj" scale="0.969643 0.969643 0.969643"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</visual>
|
| 107 |
+
<collision>
|
| 108 |
+
<geometry>
|
| 109 |
+
<mesh filename="parts/part_19.obj" scale="0.969643 0.969643 0.969643"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</collision>
|
| 112 |
+
</link>
|
| 113 |
+
<link name="link_21">
|
| 114 |
+
<visual>
|
| 115 |
+
<geometry>
|
| 116 |
+
<mesh filename="parts/part_21.obj" scale="0.969643 0.969643 0.969643"/>
|
| 117 |
+
</geometry>
|
| 118 |
+
</visual>
|
| 119 |
+
<collision>
|
| 120 |
+
<geometry>
|
| 121 |
+
<mesh filename="parts/part_21.obj" scale="0.969643 0.969643 0.969643"/>
|
| 122 |
+
</geometry>
|
| 123 |
+
</collision>
|
| 124 |
+
</link>
|
| 125 |
+
<joint name="joint_0" type="revolute">
|
| 126 |
+
<parent link="link_7"/>
|
| 127 |
+
<child link="helper_link_0"/>
|
| 128 |
+
<origin xyz="0.000000 -0.246262 -0.275545" rpy="0 0 0"/>
|
| 129 |
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<axis xyz="1.0 0.0 0.0"/>
|
| 130 |
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<limit lower="0.0" upper="1.9198621771937625"/>
|
| 131 |
+
</joint>
|
| 132 |
+
<joint name="joint_1" type="fixed">
|
| 133 |
+
<parent link="helper_link_0"/>
|
| 134 |
+
<child link="link_1"/>
|
| 135 |
+
<origin xyz="-0.000000 0.246262 0.275545" rpy="0 0 0"/>
|
| 136 |
+
</joint>
|
| 137 |
+
<joint name="joint_2" type="fixed">
|
| 138 |
+
<parent link="link_1"/>
|
| 139 |
+
<child link="link_2"/>
|
| 140 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 141 |
+
</joint>
|
| 142 |
+
<joint name="joint_3" type="fixed">
|
| 143 |
+
<parent link="base_link"/>
|
| 144 |
+
<child link="link_6"/>
|
| 145 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 146 |
+
</joint>
|
| 147 |
+
<joint name="joint_4" type="fixed">
|
| 148 |
+
<parent link="base_link"/>
|
| 149 |
+
<child link="link_7"/>
|
| 150 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 151 |
+
</joint>
|
| 152 |
+
<joint name="joint_5" type="fixed">
|
| 153 |
+
<parent link="base_link"/>
|
| 154 |
+
<child link="link_8"/>
|
| 155 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 156 |
+
</joint>
|
| 157 |
+
<joint name="joint_6" type="fixed">
|
| 158 |
+
<parent link="base_link"/>
|
| 159 |
+
<child link="link_9"/>
|
| 160 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 161 |
+
</joint>
|
| 162 |
+
<joint name="joint_7" type="fixed">
|
| 163 |
+
<parent link="base_link"/>
|
| 164 |
+
<child link="link_10"/>
|
| 165 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 166 |
+
</joint>
|
| 167 |
+
<joint name="joint_8" type="fixed">
|
| 168 |
+
<parent link="base_link"/>
|
| 169 |
+
<child link="link_13"/>
|
| 170 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 171 |
+
</joint>
|
| 172 |
+
<joint name="joint_9" type="fixed">
|
| 173 |
+
<parent link="base_link"/>
|
| 174 |
+
<child link="link_19"/>
|
| 175 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 176 |
+
</joint>
|
| 177 |
+
<joint name="joint_10" type="fixed">
|
| 178 |
+
<parent link="base_link"/>
|
| 179 |
+
<child link="link_21"/>
|
| 180 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 181 |
+
</joint>
|
| 182 |
+
</robot>
|
data/UPB_00001256/parts/1.mtl
ADDED
|
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|
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|
|
|
|
|
|
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|
|
|
| 1 |
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# https://github.com/mikedh/trimesh
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newmtl material_0
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Ks 0.40000000 0.40000000 0.40000000
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map_Kd 1.png
|
data/UPB_00001256/parts/1.png
ADDED
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Git LFS Details
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data/UPB_00001256/parts/2.mtl
ADDED
|
@@ -0,0 +1,8 @@
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
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newmtl material_0
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| 4 |
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Ks 0.40000000 0.40000000 0.40000000
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Ns 1.00000000
|
| 8 |
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map_Kd 2.png
|
data/UPB_00001256/parts/2.png
ADDED
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Git LFS Details
|
data/UPB_00001256/parts/7.mtl
ADDED
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@@ -0,0 +1,8 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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# https://github.com/mikedh/trimesh
|
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newmtl material_0
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newmtl MI_624fab70eba468000156d02d
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newmtl MI_624fab70c4be630001aac3e7
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map_Kd ./T_624fab70c4be630001aac3e7_color.jpg
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newmtl MI_624fab7053603700012ceb25
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newmtl MI_624fab70403e2900013e205c
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map_Kd ./T_624fab70403e2900013e205c_color.jpg
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|
data/UPB_00001256/parts/part_1.obj
ADDED
|
@@ -0,0 +1,1870 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib 1.mtl
|
| 3 |
+
usemtl material_0
|
| 4 |
+
v 0.27838200 -0.26103300 0.16397201
|
| 5 |
+
v -0.29675001 -0.26103300 0.16007400
|
| 6 |
+
v -0.29655001 -0.26103300 0.15987401
|
| 7 |
+
v -0.28061801 -0.26103300 0.16469801
|
| 8 |
+
v -0.29675001 -0.26103300 0.16007400
|
| 9 |
+
v -0.28099999 -0.26103300 0.16587400
|
| 10 |
+
v -0.28061801 -0.26103300 0.16705000
|
| 11 |
+
v 0.29655001 -0.26103300 0.15987401
|
| 12 |
+
v -0.20238200 -0.26103300 0.16397201
|
| 13 |
+
v -0.20361800 -0.26103300 0.16397201
|
| 14 |
+
v -0.27838200 -0.26103300 0.16397201
|
| 15 |
+
v -0.27738199 -0.26103300 0.16469801
|
| 16 |
+
v -0.20461801 -0.26103300 0.16469801
|
| 17 |
+
v -0.27700001 -0.26103300 0.16587400
|
| 18 |
+
v -0.20500000 -0.26103300 0.16587400
|
| 19 |
+
v -0.27738199 -0.26103300 0.16705000
|
| 20 |
+
v -0.20461801 -0.26103300 0.16705000
|
| 21 |
+
v -0.27838200 -0.26103300 0.16777600
|
| 22 |
+
v -0.20361800 -0.26103300 0.16777600
|
| 23 |
+
v -0.29675001 -0.26103300 0.19127400
|
| 24 |
+
v -0.20238200 -0.26103300 0.16777600
|
| 25 |
+
v 0.20238200 -0.26103300 0.16777600
|
| 26 |
+
v 0.20138200 -0.26103300 0.16705000
|
| 27 |
+
v -0.20138200 -0.26103300 0.16705000
|
| 28 |
+
v 0.20100001 -0.26103300 0.16587400
|
| 29 |
+
v -0.20100001 -0.26103300 0.16587400
|
| 30 |
+
v 0.20138200 -0.26103300 0.16469801
|
| 31 |
+
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| 1835 |
+
f 574/574 573/573 541/541
|
| 1836 |
+
f 534/534 560/560 576/576
|
| 1837 |
+
f 576/576 575/575 534/534
|
| 1838 |
+
f 561/561 535/535 578/578
|
| 1839 |
+
f 578/578 577/577 561/561
|
| 1840 |
+
f 528/528 548/548 580/580
|
| 1841 |
+
f 580/580 579/579 528/528
|
| 1842 |
+
f 553/553 531/531 582/582
|
| 1843 |
+
f 582/582 581/581 553/553
|
| 1844 |
+
f 538/538 568/568 584/584
|
| 1845 |
+
f 584/584 583/583 538/538
|
| 1846 |
+
f 569/569 539/539 586/586
|
| 1847 |
+
f 586/586 585/585 569/569
|
| 1848 |
+
f 530/530 552/552 588/588
|
| 1849 |
+
f 588/588 587/587 530/530
|
| 1850 |
+
f 590/590 591/591 592/592
|
| 1851 |
+
f 592/592 593/593 590/590
|
| 1852 |
+
f 594/594 595/595 596/596
|
| 1853 |
+
f 596/596 597/597 594/594
|
| 1854 |
+
f 598/598 599/599 600/600
|
| 1855 |
+
f 600/600 601/601 598/598
|
| 1856 |
+
f 602/602 603/603 604/604
|
| 1857 |
+
f 604/604 605/605 602/602
|
| 1858 |
+
f 606/606 607/607 608/608
|
| 1859 |
+
f 608/608 609/609 606/606
|
| 1860 |
+
f 610/610 611/611 612/612
|
| 1861 |
+
f 612/612 613/613 610/610
|
| 1862 |
+
f 614/614 615/615 616/616
|
| 1863 |
+
f 616/616 617/617 614/614
|
| 1864 |
+
f 618/618 619/619 620/620
|
| 1865 |
+
f 620/620 621/621 618/618
|
| 1866 |
+
f 622/622 623/623 624/624
|
| 1867 |
+
f 624/624 625/625 622/622
|
| 1868 |
+
f 626/626 627/627 628/628
|
| 1869 |
+
f 628/628 629/629 626/626
|
| 1870 |
+
|