diff --git a/.gitattributes b/.gitattributes index d978fe3e90b3373451497adbbcdd7f944d2ddb97..fb033d9e6ab220a00d5b7489cdea3fbe984782c5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -10721,3 +10721,14 @@ data/UPB_00001508/plys/7.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001508/plys/8.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001508/plys/9.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001508/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/10.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/6.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001509/plys/7.ply filter=lfs diff=lfs merge=lfs -text 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sha256:cf8d65c01d1adfdc3df4953f5de2f7413d0607cbc6eeabeb756e28f7c6f547ad +size 160242 diff --git a/data/UPB_00001509/plys/6.ply b/data/UPB_00001509/plys/6.ply new file mode 100644 index 0000000000000000000000000000000000000000..e5864a2f086a98f7dc7eeda379550ecadd2dd81c --- /dev/null +++ b/data/UPB_00001509/plys/6.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2d574d11374fbd09e1c3f6fbf1625b2b9d34004381855f77b28caed5fcf5c83 +size 160242 diff --git a/data/UPB_00001509/plys/7.ply b/data/UPB_00001509/plys/7.ply new file mode 100644 index 0000000000000000000000000000000000000000..cdb4f95faae87681c3770b685b2ab49006912e64 --- /dev/null +++ b/data/UPB_00001509/plys/7.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1e096992bfa36b27b107ffe05be6c6e7cd1d3eb000497c47a3b8887feb70cd8 +size 648978 diff --git a/data/UPB_00001509/plys/8.ply b/data/UPB_00001509/plys/8.ply new file mode 100644 index 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sha256:85f75e710ebc48b1c9a0236a4f875d6681988295a91ac56477ab3d38da617c8e +size 1600243 diff --git a/data/UPB_00001510/annotations/object.json b/data/UPB_00001510/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..115ae0d390c77266405b82f0b51fb05646bdb815 --- /dev/null +++ b/data/UPB_00001510/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Front-Loading Washing Machine", + "category": "KitchenDining/KitchenAppliance", + "volume": [ + 60.0, + 60.0, + 85.0 + ], + "mass": 70.0 +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_1.json b/data/UPB_00001510/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4b5c0664d8271ba08531a4d63fe5c1302fa0f8 --- /dev/null +++ b/data/UPB_00001510/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "1" + }, + "part_level": { + "part_name": "Door Boot Gasket", + "affordance": 7, + "graspable": false, + "basic_description": "Flexible EPDM rubber bellows-style ring (approx. outer \u00d8 35-40 cm) that lines the door opening between the cabinet and the tub.", + "functional_description": "Provides a watertight seal around the loading port, isolating the rotating drum from the cabinet and preventing leaks.", + "movement_description": "No intended relative motion; it is clamped to both the cabinet opening and the tub flange.", + "grasp_description": "Normally not grasped directly; users may brush against it while loading laundry." + }, + "basic_info": { + "material": "rubber/EPDM_Rubber", + "density": 1.15, + "young": 0.005, + "hardness": 5, + "poisson": 0.49, + "friction": 0.7 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.2575767934322357, + -0.25572845339775085, + -0.3910369873046875 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_10.json b/data/UPB_00001510/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..1ddd07d5d898bf6a21119fbfa577867069fd967e --- /dev/null +++ b/data/UPB_00001510/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "10" + }, + "part_level": { + "part_name": "Screws and Fasteners", + "affordance": 10, + "graspable": false, + "basic_description": "Assorted stainless steel screws/fasteners positioned around the panel edges and openings.", + "functional_description": "Provide clamping and alignment for the cabinet, gasket, and drum flange assemblies.", + "movement_description": "No motion; they rigidly secure joined components.", + "grasp_description": "Handled only with tools during assembly or service." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Generic", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_2.json b/data/UPB_00001510/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..a05da333f21fc1cbc2df41c11abc83a770073fad --- /dev/null +++ b/data/UPB_00001510/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "2" + }, + "part_level": { + "part_name": "Program Selector Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Round ABS plastic dial on the control panel (\u00d8 ~4-5 cm).", + "functional_description": "Allows the user to select wash cycles and settings via rotational indexing.", + "movement_description": "Rotates about its central shaft relative to the cabinet/control panel with detents.", + "grasp_description": "Typically grasped and twisted by hand to choose programs." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 12, + "poisson": 0.37, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2 + ], + "C": { + "axis": [ + 0.0, + 0.9816271852379503, + -0.19080898616632017 + ], + "pos": [ + 0.00104452, + -0.23001978, + 0.36848013 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_3.json b/data/UPB_00001510/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..1e4b725f1838e5b3314f2df701651311d8bf4f44 --- /dev/null +++ b/data/UPB_00001510/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "3" + }, + "part_level": { + "part_name": "Detergent Drawer/Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Slim polypropylene drawer/handle located at the upper-left of the front panel.", + "functional_description": "Holds and meters detergent/softener; user pulls it out to fill and pushes it back to engage.", + "movement_description": "Slides in and out along linear guides relative to the cabinet.", + "grasp_description": "Pulled with fingers from the front to open, then pushed to close." + }, + "basic_info": { + "material": "plastic/PP_Plastic", + "density": 0.9, + "young": 1.5, + "hardness": 10, + "poisson": 0.42, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_4.json b/data/UPB_00001510/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..d1a54e577779adb11404b5d07a3230f148096346 --- /dev/null +++ b/data/UPB_00001510/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "4" + }, + "part_level": { + "part_name": "Control Buttons", + "affordance": 3, + "graspable": true, + "basic_description": "Small ABS push buttons adjacent to the display on the control fascia.", + "functional_description": "Provide discrete inputs (start/pause, options) to the control electronics.", + "movement_description": "Effectively rigid in the CAD view; actuate with a short internal travel against membrane switches.", + "grasp_description": "Pressed with a fingertip; no need for a full-hand grasp." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 12, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_5.json b/data/UPB_00001510/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..9fad3bb1eeadddc7483ad1921d12f107d05539de --- /dev/null +++ b/data/UPB_00001510/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "5" + }, + "part_level": { + "part_name": "Drain/Outlet Hose", + "affordance": 5, + "graspable": true, + "basic_description": "Flexible PVC hose (~1.5-2.0 m long) that loops from the rear of the machine.", + "functional_description": "Conveys wastewater from the pump to a household drain during and after cycles.", + "movement_description": "No defined mechanical motion relative to the cabinet during operation; flexes as routed and is fixed at its connection points.", + "grasp_description": "Handled during installation and when repositioning the appliance." + }, + "basic_info": { + "material": "plastic/PVC_Plastic_Flexible", + "density": 1.3, + "young": 0.01, + "hardness": 5, + "poisson": 0.49, + "friction": 0.6 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_6.json b/data/UPB_00001510/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..c07740b05447cefe2f724bdaa1535b6391990f0d --- /dev/null +++ b/data/UPB_00001510/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "6" + }, + "part_level": { + "part_name": "Display Window", + "affordance": 6, + "graspable": false, + "basic_description": "Rectangular glass window (approx. 10*6 cm) covering the electronic display on the fascia.", + "functional_description": "Protects and presents cycle information and status to the user.", + "movement_description": "Rigidly fixed to the cabinet; no user motion.", + "grasp_description": "Not grasped; only viewed and occasionally wiped clean." + }, + "basic_info": { + "material": "glass/Soda_Lime_Glass", + "density": 2.5, + "young": 70.0, + "hardness": 550, + "poisson": 0.22, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_7.json b/data/UPB_00001510/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..20e5ff6f4f487ff9399dd8cb0c8bae3c59c4dbbd --- /dev/null +++ b/data/UPB_00001510/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "7" + }, + "part_level": { + "part_name": "Front Cabinet Shell", + "affordance": 8, + "graspable": false, + "basic_description": "Powder-coated steel outer housing with front opening, top and side panels integrated.", + "functional_description": "Provides structural support, mounting points for controls and drum assembly, and protects internal components.", + "movement_description": "Stationary reference frame for all moving components (drawer, knob, rotating drum).", + "grasp_description": "Not normally grasped except when moving the appliance." + }, + "basic_info": { + "material": "metal/Steel_Sheet_Coated", + "density": 7.85, + "young": 200.0, + "hardness": 120, + "poisson": 0.29, + "friction": 0.6 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_8.json b/data/UPB_00001510/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..e7850fb26cf2579e9aed152cede7c87f9f54e550 --- /dev/null +++ b/data/UPB_00001510/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "8" + }, + "part_level": { + "part_name": "Inner Drum Assembly", + "affordance": 4, + "graspable": false, + "basic_description": "Stainless steel perforated drum and front flange/tub mouth (approx. \u00d8 45-50 cm) mounted inside the cabinet.", + "functional_description": "Holds laundry and rotates to provide mechanical agitation for washing and spinning.", + "movement_description": "Rotates about its horizontal axis on bearings relative to the cabinet; driven by a motor via belt or direct drive.", + "grasp_description": "Users occasionally touch the rim while loading/unloading but do not grasp it as a control." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 150, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/annotations/part_9.json b/data/UPB_00001510/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..d149790398bf19f75405f8750a24578819a4fd47 --- /dev/null +++ b/data/UPB_00001510/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001510", + "label": "9" + }, + "part_level": { + "part_name": "Inlet Hose and Accessory Kit", + "affordance": 9, + "graspable": true, + "basic_description": "A set of loose items (inlet hose, clamps, small accessories) often placed within the drum opening for shipping.", + "functional_description": "Used during installation to connect water supply and secure lines.", + "movement_description": "No defined joint; items are free and only contact the drum or cabinet until installed.", + "grasp_description": "Picked up by hand during installation." + }, + "basic_info": { + "material": "other/Mixed_Materials", + "density": 1.2, + "young": 2.0, + "hardness": 30, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001510/full_model/material.mtl b/data/UPB_00001510/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001510/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_00001510/full_model/material_0.png b/data/UPB_00001510/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b227724a737b5bb96738e7e73cd3f0cd9989a46d --- /dev/null +++ b/data/UPB_00001510/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a8a182bc56a55a9a85b91a0d2ad2e837022d29fa06e968d25e51d8f1c1be753 +size 341430 diff --git a/data/UPB_00001510/full_model/model.obj b/data/UPB_00001510/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..e48bc6be10953e664f476196d12f84cff144a592 --- /dev/null +++ b/data/UPB_00001510/full_model/model.obj @@ -0,0 +1,106262 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.06389620 -0.27369601 0.12476191 +v -0.06078030 -0.27287400 0.08333990 +v -0.03133510 -0.27459601 0.08930391 +v -0.03240740 -0.27541301 0.13201791 +v -0.09185730 -0.27157101 0.11308691 +v -0.03351310 -0.27511701 0.17364290 +v -0.00000029 -0.27633899 0.13503790 +v -0.00000029 -0.27584100 0.17644790 +v -0.03432100 -0.27386001 0.21268290 +v -0.06673430 -0.27360299 0.16690189 +v -0.09786810 -0.27139899 0.15546891 +v -0.10553100 -0.27024001 0.19514591 +v -0.06816760 -0.27275699 0.20586190 +v -0.10361700 -0.26506400 0.23260090 +v -0.10392000 -0.26361299 0.23354790 +v -0.13096499 -0.26361299 0.21676891 +v -0.12997600 -0.26502499 0.21657090 +v -0.07057750 -0.26512599 0.24633890 +v -0.07073490 -0.26361299 0.24729291 +v -0.03572990 -0.26515001 0.25472689 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+ "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 10, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001510/model.urdf b/data/UPB_00001510/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..b2dacdc8c119461fe083d915472f848e92e636a7 --- /dev/null +++ b/data/UPB_00001510/model.urdf @@ -0,0 +1,189 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001510/parts/1.mtl b/data/UPB_00001510/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001510/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_00001510/parts/1.png b/data/UPB_00001510/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..958867fc6f9694e38fdfbcbc1ae0e1b0d316f89c --- /dev/null +++ b/data/UPB_00001510/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f9486d46bf008b22b17d87344e5916d0b22b7bff4523e6063d9b3bcde88a894 +size 111 diff --git a/data/UPB_00001510/parts/2.mtl b/data/UPB_00001510/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/data/UPB_00001510/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_00001510/parts/2.png b/data/UPB_00001510/parts/2.png new file mode 100644 index 0000000000000000000000000000000000000000..799f52be4504bcc41e7fc212a6f58bc7e1ad5a1d --- /dev/null +++ b/data/UPB_00001510/parts/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e544a63efe827b51378555873a6073d66704037a5e27e826fd0dd9e77fac8a4e +size 91 diff --git a/data/UPB_00001510/parts/T_648fce8c337dbc0001d0f991_color.jpg b/data/UPB_00001510/parts/T_648fce8c337dbc0001d0f991_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1710b449221aae1369ba6ae35dc475b37b0547a3 --- /dev/null +++ b/data/UPB_00001510/parts/T_648fce8c337dbc0001d0f991_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76053844950ac987aa8caf662ca38dcb89aff21f9e56707450eb78c7a3c6d852 +size 47683 diff --git a/data/UPB_00001510/parts/T_648fce8c7689b60001ae29f2_color.jpg b/data/UPB_00001510/parts/T_648fce8c7689b60001ae29f2_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a00176b186a95c19dbd005e559a8b22c7f6061c7 --- /dev/null +++ b/data/UPB_00001510/parts/T_648fce8c7689b60001ae29f2_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22094f6b4a9ae490145112df0eb0776d9da0e3c19eeb3ffed29d3996393b4361 +size 36726 diff --git a/data/UPB_00001510/parts/T_648fce8c8d5a8c0001644e6e_color.jpg b/data/UPB_00001510/parts/T_648fce8c8d5a8c0001644e6e_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..eb0da0087f476243f8bf60c4f19922d3fa23f040 --- /dev/null +++ b/data/UPB_00001510/parts/T_648fce8c8d5a8c0001644e6e_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4c7a00588b7b9682bcd3e9b190fc247471dbf928555cc9032b71182f2197908 +size 49185 diff --git a/data/UPB_00001510/parts/part_1.obj b/data/UPB_00001510/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..6534c1d0d7eee659d96100f0559b1dcdc03c5deb --- /dev/null +++ b/data/UPB_00001510/parts/part_1.obj @@ -0,0 +1,27090 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v -0.06389620 -0.27369601 0.12476191 +v -0.06078030 -0.27287400 0.08333990 +v -0.03133510 -0.27459601 0.08930391 +v -0.03240740 -0.27541301 0.13201791 +v -0.09185730 -0.27157101 0.11308691 +v -0.03351310 -0.27511701 0.17364290 +v -0.00000029 -0.27633899 0.13503790 +v -0.00000029 -0.27584100 0.17644790 +v -0.03432100 -0.27386001 0.21268290 +v -0.06673430 -0.27360299 0.16690189 +v -0.09786810 -0.27139899 0.15546891 +v -0.10553100 -0.27024001 0.19514591 +v -0.06816760 -0.27275699 0.20586190 +v -0.10361700 -0.26506400 0.23260090 +v -0.10392000 -0.26361299 0.23354790 +v 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