Upload folder using huggingface_hub (part 3)

.gitattributes

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data/UPB_00000992/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000992",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Sliding Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Square plywood door (~27*27*1 cm) with fabric covering and a small recessed pull on the inner edge.",
+        "functional_description": "Closes the left half of the cabinet opening and provides privacy/dust protection for stored items.",
+        "movement_description": "Slides horizontally along grooves/tracks in the cabinet frame; can overlap the other door to open either side.",
+        "grasp_description": "Users grasp the recessed pull or the door edge to slide it left/right."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Furniture_Grade",
+        "density": 0.6,
+        "young": 7.0,
+        "hardness": 20,
+        "poisson": 0.25,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.3255629241466522,
+                    -0.2252461165189743,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000992/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000992",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Sliding Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Square plywood door (~27*27*1 cm) mirroring the left door, fabric-faced with a recessed finger pull.",
+        "functional_description": "Closes the right half of the cabinet opening and overlaps the other door when sliding.",
+        "movement_description": "Translates along the same horizontal tracks in the frame with light friction/damping.",
+        "grasp_description": "Grasp and slide using the recessed pull or the door edge."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Furniture_Grade",
+        "density": 0.6,
+        "young": 7.0,
+        "hardness": 20,
+        "poisson": 0.25,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.325380802154541,
+                    -0.2252461165189743,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000992/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000992",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Rear Back Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Thin plywood back board (~55*30*0.6 cm) with wood grain facing inward.",
+        "functional_description": "Provides structural shear stiffness, keeps contents from falling out the back, and adds a finished look.",
+        "movement_description": "Rigidly attached to the cabinet frame with nails/staples or screws\u2014no relative motion.",
+        "grasp_description": "Not normally handled; only touched during assembly or moving."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Thin",
+        "density": 0.55,
+        "young": 6.0,
+        "hardness": 18,
+        "poisson": 0.28,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000992/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000992",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body/Frame",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular MDF carcass (~60*35*40 cm overall, ~16 mm wall thickness) with top, sides, bottom and base feet.",
+        "functional_description": "Provides the structural enclosure, supports loads placed on top, and contains tracks/grooves for the sliding doors.",
+        "movement_description": "Acts as the fixed parent reference for both sliding doors; back panel is rigidly fixed to it.",
+        "grasp_description": "Users rarely grasp the frame directly except when lifting or moving the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000992/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

data/UPB_00000992/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000992",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-door Sliding Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000992/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.846550 0.846550 0.846550"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.275605 -0.190682 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.275605 0.190682 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.275451 -0.190682 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.275451 0.190682 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000992/parts/1.mtl

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+# 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

data/UPB_00000992/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

data/UPB_00000992/parts/cabinet_ZFVXWCBVAI37OPTULE888888_0DmWe.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6555e11291a6570001e8536b
+Kd 0.422588408 0.323767722 0.208693668
+illum 1
+
+newmtl MI_6555e112dca2e20001d4d935
+Kd 1 1 1
+illum 1
+map_Kd ./T_6555e112dca2e20001d4d935_color_front.jpg
+
+newmtl MI_6555e11272f4ae0001cf6e6e
+Kd 1 1 1
+illum 1
+map_Kd ./T_6555e11272f4ae0001cf6e6e_color_front.jpg
+
+newmtl MI_6555e112c92f05000189016c
+Kd 1 1 1
+illum 1
+map_Kd ./T_6555e112c92f05000189016c_color.jpg
+bump ./T_6555e112c92f05000189016c_normal.jpg
+map_bump ./T_6555e112c92f05000189016c_normal.jpg
+

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data/UPB_00000992/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00000992/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000992/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000992/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000992/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:18dab0ff4f790c0af987d54ade040a958f14dbaf230b43cf5dc9b399324f4ce2
+size 1600243

data/UPB_00000993/annotations/object.json

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+{
+    "object_name": "Two-Drawer Tool Storage Box",
+    "category": "ToolsEquipment/ToolsEquipment_Other",
+    "volume": [
+        45.0,
+        30.0,
+        28.0
+    ],
+    "mass": 4.2
+}

data/UPB_00000993/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000993",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Assembly (front panel with pull)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "ABS plastic drawer with a molded black front panel and orange pull. Approx. 41*25*12 cm external size.",
+        "functional_description": "Provides the upper storage compartment and the visible pull handle for opening/closing.",
+        "movement_description": "Slides in and out of the main case on internal guides/rails with limited travel to prevent full removal.",
+        "grasp_description": "Users grasp the central pull to open and close the upper drawer; also push on the panel to latch shut."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 16,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.10085368901491165,
+                    0.01099041011184454
+                ],
+                "range": [
+                    -0.15000000596046448,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000993/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000993",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Assembly (front panel with pull)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "ABS plastic drawer with a molded front and pull, matching the upper drawer. Approx. 41*25*12 cm.",
+        "functional_description": "Provides the lower storage compartment and the handle used to access it.",
+        "movement_description": "Translates along the case\u2019s lower slide rails; motion limited by internal stops.",
+        "grasp_description": "The front pull is grasped to open/close; palm or fingers push to seat the drawer flush."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 16,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.10085368901491165,
+                    -0.1022304892539978
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+                "range": [
+                    -0.15000000596046448,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000993/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000993",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Main Case Body",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Injection-molded polypropylene outer shell with two drawer bays, ribs, and mounting points. Approx. 45*30*28 cm.",
+        "functional_description": "Provides structure, protection, and guides for the drawers; anchor points for side handles.",
+        "movement_description": "Static reference frame; drawers slide within and handles pivot on side hinges relative to this body.",
+        "grasp_description": "Typically not grasped directly; users hold the side handles attached to this body."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000993/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000993",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Side Carry Handles (pair)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Two hinged rectangular aluminum loops fixed to the case sides; each ~14*10 cm with ~1 cm bar thickness.",
+        "functional_description": "Provide ergonomic lifting points to carry or reposition the loaded toolbox.",
+        "movement_description": "Each handle rotates about a side hinge on the case body, stowing flat and swinging out for carrying.",
+        "grasp_description": "Users wrap fingers around the loop; both handles can be used simultaneously for two-handed carrying."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000993/full_model/material.mtl

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+# 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

data/UPB_00000993/meta_data.json

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+{
+    "id": "UPB_00000993",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ToolsEquipment/ToolsEquipment_Other",
+        "object_name": "Two-Drawer Tool Storage Box"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000993/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.070639 1.070639 1.070639"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.107978 0.011767" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.16059591990690417" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.107978 -0.011767" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.107978 -0.109452" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.16059591990690417" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.107978 0.109452" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000993/parts/1.mtl

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+# 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

data/UPB_00000993/parts/2.mtl

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+# 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

data/UPB_00000993/parts/cabinet_ZMQNYEJVAJP7OPTUKU888888_d8evc.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_671e48e47024d40001198bbc
+Kd 0.0627000034 0.0627000034 0.0627000034
+illum 1
+bump ./T_671e48e47024d40001198bbc_normal.jpg
+map_bump ./T_671e48e47024d40001198bbc_normal.jpg
+
+newmtl MI_671e48e4af1e7f00013c079f
+Kd 0.938799977 0.54400003 0.0259000007
+illum 1
+bump ./T_671e48e4af1e7f00013c079f_normal.jpg
+map_bump ./T_671e48e4af1e7f00013c079f_normal.jpg
+