mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
d2888f0884
fix tray/tray_textured4.obj and tray/tray.urdf fix kuka_with_cube.py allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter bump up pybullet to 1.1.7
257 lines
6.1 KiB
Plaintext
Executable File
257 lines
6.1 KiB
Plaintext
Executable File
# Blender v2.77 (sub 0) OBJ File: ''
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# www.blender.org
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mtllib tray_textured4.mtl
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o edge_2_Cube
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v 0.593683 0.625721 0.255175
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v 0.406317 0.459389 0.004580
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v 0.576239 0.625721 0.266503
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v 0.593683 -0.580640 0.255175
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v 0.423761 0.459389 -0.006748
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v 0.576239 -0.580640 0.266503
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v 0.406317 -0.413369 0.004008
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vt 0.9410 0.8520
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vt 0.7523 0.8566
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vt 0.8896 0.1426
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vt 0.7698 0.8562
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vt 0.8721 0.1430
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vn -0.2561 0.8826 -0.3943
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vn 0.8394 0.0003 -0.5435
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vn 0.8390 0.0001 -0.5441
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vn 0.8389 0.0000 -0.5443
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vn -0.2569 -0.8818 -0.3956
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vn -0.8390 -0.0003 0.5441
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vn -0.8394 -0.0001 0.5436
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vn -0.8395 -0.0000 0.5434
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vn -0.5446 0.0005 -0.8387
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vn 0.5446 -0.0000 0.8387
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vn 0.8396 0.0004 -0.5433
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vn -0.8388 -0.0004 0.5444
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usemtl None
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s 1
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f 1/1/1 2/2/1 3/3/1
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f 4/4/2 5/5/3 1/1/4
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f 6/6/5 7/7/5 4/4/5
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f 3/3/6 8/8/7 6/6/8
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f 5/5/9 8/8/9 2/2/9
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f 4/4/10 3/3/10 6/6/10
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f 1/1/1 5/5/1 2/2/1
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f 4/4/2 7/7/11 5/5/3
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f 6/6/5 8/8/5 7/7/5
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f 3/3/6 2/2/12 8/8/7
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f 5/5/9 7/7/9 8/8/9
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f 4/4/10 1/1/10 3/3/10
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o edge_3_Cube.002
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v 0.580000 -0.573309 0.261247
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v -0.419400 -0.409917 0.008678
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v -0.580000 -0.573309 0.261247
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v 0.580000 -0.590083 0.250354
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v 0.419883 -0.409917 0.009162
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v -0.580000 -0.590083 0.250354
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v 0.419883 -0.426691 -0.001731
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v -0.419400 -0.426691 -0.002215
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vt 0.8690 0.1040
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vt 0.1365 0.1739
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vt 0.0188 0.1040
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vt 0.8690 0.0968
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vt 0.7517 0.1739
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vt 0.0188 0.0968
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vt 0.7517 0.1668
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vt 0.1365 0.1668
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vn -0.0002 0.8392 0.5438
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vn -0.0000 0.8395 0.5433
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vn 0.0000 0.8396 0.5432
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vn 0.8825 0.2562 -0.3945
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vn 0.0002 -0.8396 -0.5433
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vn 0.0000 -0.8392 -0.5438
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vn 0.0000 -0.8391 -0.5439
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vn -0.8821 0.2565 -0.3950
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vn -0.8822 0.2565 -0.3950
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vn 0.0005 0.5446 -0.8387
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vn 0.0000 -0.5446 0.8387
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vn -0.0003 0.8391 0.5440
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vn 0.0003 -0.8397 -0.5430
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usemtl None
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s 1
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f 9/9/13 10/10/14 11/11/15
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f 12/12/16 13/13/16 9/9/16
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f 14/14/17 15/15/18 12/12/19
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f 11/11/20 16/16/21 14/14/21
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f 13/13/22 16/16/22 10/10/22
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f 12/12/23 11/11/23 14/14/23
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f 9/9/13 13/13/24 10/10/14
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f 12/12/16 15/15/16 13/13/16
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f 14/14/17 16/16/25 15/15/18
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f 11/11/20 10/10/21 16/16/21
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f 13/13/22 15/15/22 16/16/22
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f 12/12/23 9/9/23 11/11/23
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o base_Cube.004
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v 0.417551 0.466622 0.009942
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v -0.417551 0.466622 -0.009942
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v -0.417551 0.466622 0.009942
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v 0.417551 -0.415378 0.009942
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v 0.417551 0.466622 -0.009942
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v -0.417551 -0.415378 0.009942
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v 0.417551 -0.415378 -0.009942
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v -0.417551 -0.415378 -0.009942
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vt 0.7524 0.8072
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vt -0.3038 0.8371
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vt -0.3038 0.8371
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vt 0.7012 0.1905
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vt 0.7524 0.8072
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vt -0.3550 0.2204
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vt 0.7012 0.1905
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vt -0.3550 0.2204
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vn 0.0000 1.0000 0.0000
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vn 1.0000 -0.0000 0.0000
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vn 0.0000 -1.0000 0.0000
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vn -1.0000 -0.0000 0.0000
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vn 0.0000 0.0000 -1.0000
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vn 0.0000 -0.0000 1.0000
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usemtl None
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s 1
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f 17/17/26 18/18/26 19/19/26
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f 20/20/27 21/21/27 17/17/27
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f 22/22/28 23/23/28 20/20/28
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f 19/19/29 24/24/29 22/22/29
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f 21/21/30 24/24/30 18/18/30
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f 20/20/31 19/19/31 22/22/31
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f 17/17/26 21/21/26 18/18/26
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f 20/20/27 23/23/27 21/21/27
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f 22/22/28 24/24/28 23/23/28
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f 19/19/29 18/18/29 24/24/29
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f 21/21/30 23/23/30 24/24/30
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f 20/20/31 17/17/31 19/19/31
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o edge_4_Cube.001
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v -0.576397 0.631608 0.266791
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v -0.423603 0.464243 -0.007768
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v -0.593877 0.631608 0.255439
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v -0.576397 -0.577253 0.266791
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v -0.406123 0.464243 0.003584
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v -0.593877 -0.577253 0.255439
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v -0.406123 -0.409889 0.004087
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v -0.423603 -0.409889 -0.007265
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vt 0.9046 0.2397
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vt 0.7929 0.2434
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vt 0.9174 0.2393
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vt 0.9537 0.7559
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vt 0.7801 0.2438
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vt 0.9664 0.7554
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vt 0.8291 0.7599
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vt 0.8419 0.7595
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vn 0.2565 0.8821 -0.3950
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vn 0.8392 0.0002 0.5438
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vn 0.8395 0.0000 0.5433
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vn 0.8396 -0.0000 0.5432
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vn 0.2568 -0.8819 -0.3954
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vn -0.8396 -0.0002 -0.5433
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vn -0.8392 -0.0000 -0.5438
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vn -0.8391 0.0000 -0.5439
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vn 0.5446 -0.0005 -0.8387
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vn -0.5446 -0.0000 0.8387
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vn 0.8391 0.0003 0.5440
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vn -0.8397 -0.0003 -0.5430
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usemtl None
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s 1
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f 25/25/32 26/26/32 27/27/32
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f 28/28/33 29/29/34 25/25/35
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f 30/30/36 31/31/36 28/28/36
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f 27/27/37 32/32/38 30/30/39
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f 29/29/40 32/32/40 26/26/40
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f 28/28/41 27/27/41 30/30/41
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f 25/25/32 29/29/32 26/26/32
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f 28/28/33 31/31/42 29/29/34
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f 30/30/36 32/32/36 31/31/36
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f 27/27/37 26/26/43 32/32/38
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f 29/29/40 31/31/40 32/32/40
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f 28/28/41 25/25/41 27/27/41
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o edge_5_Cube.005
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v -0.326052 0.623641 0.266072
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v -0.174054 0.457147 -0.007058
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v -0.343442 0.623641 0.254779
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v -0.326052 -0.578931 0.266072
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v -0.156664 0.457147 0.004235
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v -0.343442 -0.578931 0.254779
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v -0.156664 -0.412938 0.005326
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v -0.174054 -0.412938 -0.005967
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vt 0.0506 0.8517
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vt 0.1935 0.8492
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vt 0.0342 0.8520
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vt 0.0164 0.1914
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vt 0.2099 0.8489
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vt 0.0001 0.1917
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vt 0.1757 0.1886
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vt 0.1594 0.1889
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vn 0.2565 0.8821 -0.3950
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vn 0.8387 0.0005 0.5446
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vn 0.8394 0.0001 0.5434
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vn 0.8396 -0.0000 0.5432
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vn 0.2565 -0.8822 -0.3950
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vn -0.8395 -0.0005 -0.5434
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vn -0.8388 -0.0001 -0.5445
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vn -0.8386 0.0000 -0.5448
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vn 0.5446 -0.0011 -0.8387
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vn -0.5446 -0.0000 0.8387
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vn 0.8384 0.0007 0.5451
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vn -0.8398 -0.0007 -0.5429
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usemtl None
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s 1
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f 33/33/44 34/34/44 35/35/44
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f 36/36/45 37/37/46 33/33/47
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f 38/38/48 39/39/48 36/36/48
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f 35/35/49 40/40/50 38/38/51
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f 37/37/52 40/40/52 34/34/52
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f 36/36/53 35/35/53 38/38/53
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f 33/33/44 37/37/44 34/34/44
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f 36/36/45 39/39/54 37/37/46
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f 38/38/48 40/40/48 39/39/48
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f 35/35/49 34/34/55 40/40/50
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f 37/37/52 39/39/52 40/40/52
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f 36/36/53 33/33/53 35/35/53
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o edge_1_Cube.003
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v 0.580000 0.640851 0.250354
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v -0.419960 0.477459 -0.001860
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v -0.580000 0.640851 0.250354
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v 0.420014 0.460685 0.009834
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v -0.419960 0.460685 0.009033
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vt 0.8346 0.9187
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vt 0.2203 0.8574
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vt 0.1480 0.9187
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vt 0.8346 0.9129
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vt 0.7623 0.8574
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vt 0.1480 0.9129
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vt 0.7623 0.8511
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vt 0.2203 0.8511
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vn 0.0004 0.8386 -0.5448
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vn 0.8823 -0.2564 -0.3948
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vn -0.0004 -0.8392 0.5439
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vn -0.0001 -0.8386 0.5447
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vn 0.0000 -0.8385 0.5449
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vn 0.0008 -0.5446 -0.8387
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vn 0.0000 0.5446 0.8387
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vn 0.0005 0.8383 -0.5452
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vn -0.0005 -0.8394 0.5435
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usemtl None
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s 1
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f 41/41/56 42/42/57 43/43/58
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f 44/44/59 45/45/59 41/41/59
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f 46/46/60 47/47/61 44/44/62
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f 43/43/63 48/48/63 46/46/63
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f 45/45/64 48/48/64 42/42/64
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f 44/44/65 43/43/65 46/46/65
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f 41/41/56 45/45/66 42/42/57
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f 44/44/59 47/47/59 45/45/59
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f 46/46/60 48/48/67 47/47/61
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f 43/43/63 42/42/63 48/48/63
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f 45/45/64 47/47/64 48/48/64
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f 44/44/65 41/41/65 43/43/65
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