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RoboTwin

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  1. .github/ISSUE_TEMPLATE/bug-report.yml +53 -0
  2. .github/ISSUE_TEMPLATE/feature-request.yml +38 -0
  3. .github/PULL_REQUEST_TEMPLATE.md +35 -0
  4. .github/workflows/pre-commit.yaml +14 -0
  5. .github/workflows/run-tests.yaml +61 -0
  6. .github/workflows/update-docs.yaml +63 -0
  7. .github/workflows/update-pypi.yaml +63 -0
  8. objects/.DS_Store +0 -0
  9. objects/.gitattributes +65 -0
  10. objects/.gitignore +6 -0
  11. objects/001_bottle/model_data0.json +367 -0
  12. objects/001_bottle/model_data1.json +367 -0
  13. objects/001_bottle/model_data10.json +259 -0
  14. objects/001_bottle/model_data11.json +259 -0
  15. objects/001_bottle/model_data12.json +367 -0
  16. objects/001_bottle/model_data13.json +367 -0
  17. objects/001_bottle/model_data14.json +367 -0
  18. objects/001_bottle/model_data15.json +367 -0
  19. objects/001_bottle/model_data16.json +367 -0
  20. objects/001_bottle/model_data17.json +367 -0
  21. objects/001_bottle/model_data18.json +367 -0
  22. objects/001_bottle/model_data19.json +367 -0
  23. objects/001_bottle/model_data2.json +367 -0
  24. objects/001_bottle/model_data20.json +367 -0
  25. objects/001_bottle/model_data21.json +367 -0
  26. objects/001_bottle/model_data22.json +343 -0
  27. objects/001_bottle/model_data3.json +259 -0
  28. objects/001_bottle/model_data4.json +367 -0
  29. objects/001_bottle/model_data5.json +367 -0
  30. objects/001_bottle/model_data6.json +367 -0
  31. objects/001_bottle/model_data7.json +367 -0
  32. objects/001_bottle/model_data8.json +367 -0
  33. objects/001_bottle/model_data9.json +367 -0
  34. objects/001_bottle/points_info.json +16 -0
  35. objects/004_fluted-block/collision/base0.glb +0 -0
  36. objects/004_fluted-block/collision/base1.glb +0 -0
  37. objects/004_fluted-block/model_data0.json +100 -0
  38. objects/004_fluted-block/model_data1.json +100 -0
  39. objects/004_fluted-block/visual/base0.glb +0 -0
  40. objects/004_fluted-block/visual/base1.glb +0 -0
  41. objects/017_calculator/model_data0.json +13 -0
  42. objects/017_calculator/model_data1.json +13 -0
  43. objects/017_calculator/model_data2.json +13 -0
  44. objects/017_calculator/model_data3.json +13 -0
  45. objects/017_calculator/model_data4.json +13 -0
  46. objects/017_calculator/model_data5.json +13 -0
  47. objects/017_calculator/points_info.json +4 -0
  48. objects/026_pet-collar/model_data1.json +13 -0
  49. objects/079_remotecontrol/collision/base0.glb +0 -0
  50. objects/079_remotecontrol/collision/base1.glb +0 -0
.github/ISSUE_TEMPLATE/bug-report.yml ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ name: "\U0001F41B Bug Report"
2
+ description: Help us improve Robosuite by submitting a bug report!
3
+ body:
4
+ - type: markdown
5
+ attributes:
6
+ value: |
7
+ Thanks submitting a bug report!
8
+
9
+ - type: textarea
10
+ id: system-info
11
+ attributes:
12
+ label: System Info
13
+ description: Which version of Robosuite are you using? Which OS (e.g., Ubuntu, MacOS, Windows) are you using? If you think it'll help, you can also share the output of `pip list`.
14
+ render: Shell
15
+ placeholder: Robosuite version, OS.
16
+ validations:
17
+ required: true
18
+
19
+ - type: textarea
20
+ id: information-scripts-examples
21
+ attributes:
22
+ label: Information
23
+ description: 'The problem arises when running ABC; the error message is XYZ'
24
+ placeholder: |
25
+ ```
26
+ import robosuite
27
+ print(robosuite.__version__)
28
+ print("Tested script")
29
+ ```
30
+
31
+ - type: textarea
32
+ id: reproduction
33
+ validations:
34
+ required: true
35
+ attributes:
36
+ label: Reproduction
37
+ description: |
38
+ If possible, provide a minimal code sample or script that reproduces the problem you ran into.
39
+ Please use code tags to correctly format your code: https://help.github.com/en/github/writing-on-github/creating-and-highlighting-code-blocks#syntax-highlighting
40
+ Please avoid screenshots, as they don't allow copy-and-pasting.
41
+
42
+ placeholder: |
43
+ Steps to reproduce the behavior:
44
+ 1. Run the above provided code-snippet `python example_script.py`
45
+ 2. ...
46
+
47
+ - type: textarea
48
+ id: expected-behavior
49
+ validations:
50
+ required: false
51
+ attributes:
52
+ label: Expected behavior
53
+ description: "A clear and concise description of what you would expect to happen."
.github/ISSUE_TEMPLATE/feature-request.yml ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ name: 🛠️ Feature Request
3
+ description: Suggest an idea to help us improve Robosuite!
4
+ title: "[Feature]: "
5
+ labels:
6
+ - "ty:feature"
7
+
8
+ body:
9
+ - type: markdown
10
+ attributes:
11
+ value: >
12
+ **Thanks for taking the time to fill out this feature request report! :heart:** Please double check if an issue
13
+ [already exists](https://github.com/ARISE-Initiative/robosuite-dev/issues) for
14
+ your feature.
15
+
16
+ We are also happy to accept contributions from our users. For more details see
17
+ [here](https://github.com/ARISE-Initiative/robosuite-dev/blob/master/CONTRIBUTING.md).
18
+
19
+ - type: textarea
20
+ attributes:
21
+ label: Description
22
+ description: |
23
+ A clear and concise description of the feature you're interested in.
24
+ value: |
25
+ <!--- Describe your feature here --->
26
+ validations:
27
+ required: true
28
+
29
+ - type: textarea
30
+ attributes:
31
+ label: Suggested Solution
32
+ description: >
33
+ Describe the solution you'd like. A clear and concise description of what you want to happen. If you have
34
+ considered alternatives, please describe them.
35
+ value: |
36
+ <!--- Describe your solution here --->
37
+ validations:
38
+ required: false
.github/PULL_REQUEST_TEMPLATE.md ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ## What this does
2
+ Explain what this PR does. Feel free to tag your PR with the appropriate label(s).
3
+
4
+ Examples:
5
+ | Title | Label |
6
+ |----------------------|-----------------|
7
+ | Fixes #[issue] | (🐛 Bug) |
8
+ | Optimizes something | (⚡️ Performance) |
9
+ | Adds a new feature | (✨ Feature) |
10
+
11
+
12
+ ## How it was tested
13
+ Explain/show how you tested your changes.
14
+
15
+ Examples:
16
+ - Added `test_something` in `tests/test_stuff.py`.
17
+ - Added `new_feature` and checked that training converges with policy X on dataset/environment Y.
18
+ - Optimized `some_function`, it now runs X times faster than previously.
19
+
20
+ ## How to checkout & try? (for the reviewer)
21
+ Provide a simple way for the reviewer to try out your changes.
22
+
23
+ Examples:
24
+ ```bash
25
+ DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something
26
+ ```
27
+ ```bash
28
+ python robosuite/scripts/train.py --some.option=true
29
+ ```
30
+
31
+ ## SECTION TO REMOVE BEFORE SUBMITTING YOUR PR
32
+ **Note**: Anyone in the community is free to review the PR once the tests have passed. Feel free to tag
33
+ members/contributors who may be interested in your PR. Try to avoid tagging more than 3 people.
34
+
35
+ **Note**: Before submitting this PR, please read the [contributor guideline](https://github.com/ARISE-Initiative/robosuite/blob/master/CONTRIBUTING.md).
.github/workflows/pre-commit.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ name: pre-commit
2
+
3
+ on:
4
+ pull_request:
5
+ push:
6
+ branches: [master]
7
+
8
+ jobs:
9
+ pre-commit:
10
+ runs-on: ubuntu-latest
11
+ steps:
12
+ - uses: actions/checkout@v3
13
+ - uses: actions/setup-python@v3
14
+ - uses: pre-commit/action@v3.0.0
.github/workflows/run-tests.yaml ADDED
@@ -0,0 +1,61 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ name: run-tests
2
+
3
+ on:
4
+ push:
5
+ branches: [ "main", "master" ]
6
+ pull_request:
7
+
8
+ permissions:
9
+ contents: read
10
+
11
+ jobs:
12
+ build:
13
+
14
+ runs-on: ubuntu-latest
15
+
16
+ steps:
17
+ - uses: actions/checkout@v3
18
+ - name: Set up Python 3.10
19
+ uses: actions/setup-python@v3
20
+ with:
21
+ python-version: "3.10"
22
+ - name: Install dependencies
23
+ run: |
24
+ sudo apt-cache search mesa
25
+ sudo apt update
26
+ sudo apt install -y libglx-mesa0 libgl1-mesa-dev libosmesa6-dev python3-opengl mesa-utils
27
+
28
+ # check if OSMesa is installed
29
+ dpkg -L libosmesa6-dev
30
+ python -m pip install --upgrade pip
31
+ pip install flake8 pytest
32
+
33
+ # Install the current repo. We explictly install mink as it's supposed to be in requirements-extra, but we need it for passing CI test.
34
+ - name: Install robosuite
35
+ run: |
36
+ pip install -e .
37
+ if [ -f requirements.txt ]; then
38
+ pip install -r requirements.txt
39
+ pip install mink==0.0.5
40
+ fi
41
+ if [ -f requirements-extra.txt ]; then
42
+ pip install -r requirements-extra.txt
43
+ pip uninstall -y robosuite-models
44
+ fi
45
+ - name: Lint with flake8
46
+ run: |
47
+ # stop the build if there are Python syntax errors or undefined names
48
+ flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
49
+ # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
50
+ flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
51
+
52
+ # Run the specified tests
53
+ # NOTE: custom environment variable MUJOCO_GL="osmesa" is used to run tests without a display
54
+ # https://github.com/google-deepmind/dm_control/issues/136
55
+ # https://github.com/ARISE-Initiative/robosuite/issues/469
56
+ - name: Test with pytest
57
+ run: |
58
+ export PYOPENGL_PLATFORM="osmesa"
59
+ export MUJOCO_GL="osmesa"
60
+ export NUMBA_DISABLE_JIT=1
61
+ pytest
.github/workflows/update-docs.yaml ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ name: Update Docs and Deploy
2
+
3
+ on:
4
+ push:
5
+ branches:
6
+ - master
7
+ - main
8
+ - ci-docs
9
+
10
+ jobs:
11
+ update-docs:
12
+ name: Generate and Deploy Docs
13
+ runs-on: ubuntu-latest
14
+
15
+ steps:
16
+ # Checkout the repository
17
+ - name: Checkout Code
18
+ uses: actions/checkout@v3
19
+
20
+ # Set up Python environment
21
+ - name: Set up Python
22
+ uses: actions/setup-python@v4
23
+ with:
24
+ python-version: '3.11'
25
+
26
+ # Install dependencies
27
+ - name: Install Dependencies
28
+ run: |
29
+ python -m pip install --upgrade pip
30
+ pip install -r requirements.txt
31
+ pip install sphinx sphinx_book_theme sphinx_markdown_tables recommonmark nbsphinx sphinx_togglebutton hidapi
32
+
33
+ # Build the documentation
34
+ - name: Build Docs
35
+ run: |
36
+ cd docs
37
+ make clean html
38
+ mv _build ..
39
+
40
+ # Deploy to GitHub Pages
41
+ - name: Deploy to GitHub Pages
42
+ uses: peaceiris/actions-gh-pages@v3
43
+ with:
44
+ github_token: ${{ secrets.GITHUB_TOKEN }}
45
+ publish_dir: _build/html
46
+ destination_dir: docs
47
+
48
+ # Remove .nojekyll from root directory if it exists
49
+ - name: Remove .nojekyll file
50
+ run: |
51
+ git config --global user.name "github-actions[bot]"
52
+ git config --global user.email "github-actions[bot]@users.noreply.github.com"
53
+ git fetch origin gh-pages
54
+ git checkout gh-pages
55
+ if [ -f .nojekyll ]; then
56
+ rm .nojekyll
57
+ git add .nojekyll
58
+ git commit -m "Remove .nojekyll file"
59
+ git push origin gh-pages
60
+ echo ".nojekyll file removed"
61
+ else
62
+ echo ".nojekyll file does not exist, skipping."
63
+ fi
.github/workflows/update-pypi.yaml ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ name: Publish to PyPI
2
+
3
+ on:
4
+ workflow_dispatch:
5
+ push:
6
+ branches:
7
+ - 'pypi-action'
8
+ release:
9
+ types: [published]
10
+
11
+ permissions:
12
+ contents: read
13
+
14
+ jobs:
15
+ build:
16
+ name: Build distribution
17
+ runs-on: ubuntu-latest
18
+
19
+ steps:
20
+ # Checkout the repository
21
+ - name: Checkout code
22
+ uses: actions/checkout@v4
23
+
24
+ # Set up Python environment
25
+ - name: Set up Python
26
+ uses: actions/setup-python@v5
27
+ with:
28
+ python-version: '3.x'
29
+
30
+ # Install dependencies
31
+ - name: Build release distribution
32
+ run: |
33
+ python -m pip install --upgrade pip
34
+ python -m pip install build
35
+ python -m build
36
+
37
+ - name: Store the distribution packages
38
+ uses: actions/upload-artifact@v4
39
+ with:
40
+ name: release-dists
41
+ path: dist/
42
+
43
+ publish-to-pypi:
44
+ name: Publish Python distribution to PyPI
45
+ needs:
46
+ - build
47
+ runs-on: ubuntu-latest
48
+
49
+ environment:
50
+ name: pypi
51
+ url: https://pypi.org/p/robosuite/
52
+
53
+ permissions:
54
+ id-token: write # IMPORTANT: mandatory for trusted publishing
55
+
56
+ steps:
57
+ - name: Download the dists
58
+ uses: actions/download-artifact@v4
59
+ with:
60
+ name: release-dists
61
+ path: dist/
62
+ - name: Publish distribution to PyPI
63
+ uses: pypa/gh-action-pypi-publish@release/v1
objects/.DS_Store ADDED
Binary file (6.15 kB). View file
 
objects/.gitattributes ADDED
@@ -0,0 +1,65 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.npy filter=lfs diff=lfs merge=lfs -text
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+ *.npz filter=lfs diff=lfs merge=lfs -text
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+ *.onnx filter=lfs diff=lfs merge=lfs -text
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+ *.ot filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pb filter=lfs diff=lfs merge=lfs -text
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+ *.pickle filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pt filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
26
+ *.rar filter=lfs diff=lfs merge=lfs -text
27
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
28
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
29
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
30
+ *.tar filter=lfs diff=lfs merge=lfs -text
31
+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.tgz filter=lfs diff=lfs merge=lfs -text
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+ *.wasm filter=lfs diff=lfs merge=lfs -text
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+ *.xz filter=lfs diff=lfs merge=lfs -text
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+ *.zip filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
38
+ # Audio files - uncompressed
39
+ *.pcm filter=lfs diff=lfs merge=lfs -text
40
+ *.sam filter=lfs diff=lfs merge=lfs -text
41
+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - compressed
43
+ *.aac filter=lfs diff=lfs merge=lfs -text
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+ *.flac filter=lfs diff=lfs merge=lfs -text
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+ *.mp3 filter=lfs diff=lfs merge=lfs -text
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+ *.ogg filter=lfs diff=lfs merge=lfs -text
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+ *.wav filter=lfs diff=lfs merge=lfs -text
48
+ # Image files - uncompressed
49
+ *.bmp filter=lfs diff=lfs merge=lfs -text
50
+ *.gif filter=lfs diff=lfs merge=lfs -text
51
+ *.png filter=lfs diff=lfs merge=lfs -text
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+ *.tiff filter=lfs diff=lfs merge=lfs -text
53
+ # Image files - compressed
54
+ *.jpg filter=lfs diff=lfs merge=lfs -text
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
58
+ *.mp4 filter=lfs diff=lfs merge=lfs -text
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+ *.webm filter=lfs diff=lfs merge=lfs -text
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+ # Model files
61
+ *.glb filter=lfs diff=lfs merge=lfs -text
62
+ *.obj filter=lfs diff=lfs merge=lfs -text
63
+ *.STL filter=lfs diff=lfs merge=lfs -text
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+ *.stl filter=lfs diff=lfs merge=lfs -text
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+ *.dae filter=lfs diff=lfs merge=lfs -text
objects/.gitignore ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ **/decompose_cache/*
2
+ _script/*
3
+ /_copy_to.sh
4
+ /.vscode
5
+ /cube
6
+ /vis_box
objects/001_bottle/model_data0.json ADDED
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