diff --git a/demo_assets/banana/mjcf/banana.mjcf b/demo_assets/banana/mjcf/banana.mjcf index 9482101d2db243d9b446cd8cdc4311f6d79d8b12..e9522792406afe84b0cdca608593bcf87cbd68b4 100644 --- a/demo_assets/banana/mjcf/banana.mjcf +++ b/demo_assets/banana/mjcf/banana.mjcf @@ -1,15 +1,23 @@ - - - - + + + + + + + + - - + + + + + + \ No newline at end of file diff --git a/demo_assets/banana/mjcf/mesh/banana_0.obj b/demo_assets/banana/mjcf/mesh/banana_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..4906199c58784fe94fe7e45b5c9634f73deb845f --- /dev/null +++ b/demo_assets/banana/mjcf/mesh/banana_0.obj @@ -0,0 +1,21068 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.03056957 0.01401741 0.02290064 +v -0.03001736 0.01412956 0.02277621 +v -0.03144780 0.01371114 0.02292501 +v -0.00285477 0.04110669 -0.00491481 +v -0.00429796 0.03759443 -0.00514676 +v -0.00438437 0.03787581 -0.00649360 +v -0.00320876 0.04088654 -0.00661491 +v -0.00217937 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0000000000000000000000000000000000000000..4e85a7284994880dd46b63767e79d2380921d5aa --- /dev/null +++ b/demo_assets/banana/mjcf/mesh/banana_collision_4.obj @@ -0,0 +1,394 @@ +# https://github.com/mikedh/trimesh +v 0.03212466 -0.08229859 0.01312458 +v 0.03478444 -0.08170106 0.01288134 +v 0.03387899 -0.08153810 0.01514319 +v 0.03222786 -0.08173162 0.01591238 +v 0.03057673 -0.08141588 0.01731564 +v 0.03022387 -0.08164166 0.01575230 +v 0.02938832 -0.08170276 0.01297697 +v 0.02791862 -0.08132759 0.01165479 +v 0.02944325 -0.08154827 0.01107894 +v 0.03190496 -0.08186571 0.01027025 +v 0.03480441 -0.08180290 0.01049893 +v 0.03616094 -0.08127836 0.01184190 +v 0.03566660 -0.08077760 0.01359441 +v 0.03318991 -0.08117313 0.01689570 +v 0.03140396 -0.08141588 0.01731564 +v 0.03212466 -0.07900198 0.02013463 +v 0.03037866 -0.07899010 0.02011384 +v 0.02454646 -0.07893406 0.01319319 +v 0.02454646 -0.07931940 0.01269841 +v 0.02791862 -0.08132759 0.01200197 +v 0.02454646 -0.07977264 0.01052596 +v 0.02454646 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-0.07166518 0.01321817 +v 0.03979274 -0.07467492 0.01331586 +v 0.03978443 -0.07190455 0.01588955 +v 0.03922517 -0.07389407 0.01510372 +v 0.03875080 -0.07570024 0.01431996 +v 0.03831139 -0.07190456 0.01847778 +v 0.03693323 -0.07178064 0.02042363 +v 0.03212466 -0.07178064 0.02139240 +v 0.03701812 -0.06907136 0.02030930 +v 0.03480441 -0.06907137 0.02088308 +v 0.02969957 -0.07178064 0.02042155 +v 0.02835803 -0.07178063 0.01944655 +v 0.02454646 -0.07178062 0.01584590 +v 0.03994088 -0.07173306 0.00774235 +v 0.03917357 -0.07260389 0.00630997 +v 0.02454646 -0.06907129 0.00038097 +v 0.04155040 -0.07033600 0.01164236 +v 0.04155040 -0.07033601 0.01240532 +v 0.04022883 -0.06907135 0.01575235 +v 0.03915360 -0.07108463 0.01766493 +v 0.03835800 -0.06907136 0.01906820 +v 0.03195656 -0.06885577 0.02039869 +v 0.03015397 -0.06961457 0.02010140 +v 0.03657871 -0.06736872 0.01994341 +v 0.03480441 -0.06722273 0.02003281 +v 0.03273884 -0.06740437 0.01989768 +v 0.02454646 -0.06928353 0.01496237 +v 0.03948149 -0.06980296 0.00853233 +v 0.02454646 -0.06643162 0.00188403 +v 0.04013396 -0.06916639 0.01072142 +v 0.03932670 -0.06730589 0.01312463 +v 0.04082137 -0.06928862 0.01321818 +v 0.03933003 -0.06722781 0.01575235 +v 0.03900546 -0.06749772 0.01738637 +v 0.03920520 -0.06907136 0.01775433 +v 0.03095123 -0.06780838 0.01962326 +v 0.03747751 -0.06685097 0.01830940 +v 0.03489430 -0.06571022 0.01818052 +v 0.03329144 -0.06495820 0.01716809 +v 0.03212134 -0.06633661 0.01839672 +v 0.02454646 -0.06895081 0.01473993 +v 0.03748583 -0.06798660 0.00972770 +v 0.03900047 -0.06760295 0.01154882 +v 0.02454646 -0.06622452 0.00254928 +v 0.03480441 -0.06556761 0.01312464 +v 0.03748583 -0.06629415 0.01312464 +v 0.03748583 -0.06592240 0.01575236 +v 0.03003912 -0.06707505 0.01787075 +v 0.02454646 -0.06694092 0.01312670 +v 0.02454646 -0.06716839 0.01343230 +v 0.03406041 -0.06495820 0.01716809 +v 0.03329144 -0.06495820 0.01637603 +v 0.02454646 -0.06511434 0.00786918 +v 0.02454646 -0.06545386 0.01034723 +v 0.02454646 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18 23 22 +f 18 22 21 +f 18 21 41 +f 18 41 19 +f 19 41 20 +f 20 41 21 +f 23 42 24 +f 24 42 43 +f 24 43 25 +f 25 43 44 +f 25 44 45 +f 25 45 46 +f 25 46 26 +f 26 47 27 +f 26 46 48 +f 26 48 49 +f 26 49 47 +f 27 47 28 +f 28 50 51 +f 28 51 29 +f 28 47 50 +f 29 51 52 +f 29 52 53 +f 29 53 31 +f 29 31 30 +f 31 53 54 +f 31 54 34 +f 31 34 33 +f 31 33 32 +f 34 55 56 +f 34 56 57 +f 34 57 58 +f 34 58 36 +f 34 54 55 +f 36 59 60 +f 36 60 61 +f 36 61 37 +f 36 58 59 +f 37 61 62 +f 37 62 63 +f 37 63 64 +f 37 64 38 +f 45 65 46 +f 46 66 48 +f 46 65 66 +f 47 67 68 +f 47 68 50 +f 47 49 67 +f 48 66 69 +f 48 69 49 +f 49 69 70 +f 49 70 71 +f 49 71 72 +f 49 72 68 +f 49 68 67 +f 50 68 73 +f 50 73 74 +f 50 74 75 +f 50 75 76 +f 50 76 52 +f 50 52 51 +f 52 76 77 +f 52 77 78 +f 52 78 79 +f 52 79 80 +f 52 80 56 +f 52 56 53 +f 53 56 54 +f 54 56 55 +f 56 80 57 +f 57 81 82 +f 57 82 59 +f 57 59 58 +f 57 80 79 +f 57 79 81 +f 59 82 60 +f 60 83 61 +f 60 82 84 +f 60 84 85 +f 60 85 83 +f 61 83 86 +f 61 86 62 +f 62 86 87 +f 62 87 63 +f 63 87 88 +f 63 88 64 +f 65 70 66 +f 66 70 69 +f 68 89 73 +f 68 72 90 +f 68 90 89 +f 71 91 72 +f 72 91 90 +f 73 92 74 +f 73 89 92 +f 74 92 93 +f 74 93 75 +f 75 93 94 +f 75 94 76 +f 76 94 95 +f 76 95 78 +f 76 78 77 +f 78 95 81 +f 78 81 79 +f 81 95 82 +f 82 95 96 +f 82 96 84 +f 83 85 97 +f 83 97 98 +f 83 98 86 +f 84 96 99 +f 84 99 85 +f 85 99 100 +f 85 100 101 +f 85 101 97 +f 86 98 87 +f 87 98 102 +f 87 102 88 +f 89 103 92 +f 89 90 103 +f 90 91 104 +f 90 104 103 +f 92 103 105 +f 92 105 106 +f 92 106 107 +f 92 107 93 +f 93 107 108 +f 93 108 94 +f 94 108 109 +f 94 109 110 +f 94 110 95 +f 95 110 96 +f 96 110 109 +f 96 109 99 +f 97 101 111 +f 97 111 98 +f 98 111 102 +f 99 109 112 +f 99 112 113 +f 99 113 100 +f 100 113 114 +f 100 114 101 +f 101 114 115 +f 101 115 111 +f 102 111 116 +f 103 117 118 +f 103 118 105 +f 103 104 117 +f 104 118 117 +f 104 119 120 +f 104 120 121 +f 104 121 118 +f 105 118 106 +f 106 121 122 +f 106 122 108 +f 106 108 107 +f 106 118 121 +f 108 122 109 +f 109 122 112 +f 111 115 123 +f 111 123 124 +f 111 124 125 +f 111 125 116 +f 112 122 126 +f 112 126 113 +f 113 126 114 +f 114 124 123 +f 114 123 115 +f 114 126 132 +f 114 132 127 +f 114 127 128 +f 114 128 129 +f 114 129 124 +f 119 130 120 +f 120 131 121 +f 120 130 131 +f 121 131 122 +f 122 131 126 +f 126 131 132 +f 127 132 128 +f 128 132 131 +f 128 131 130 + diff --git a/demo_assets/book/mjcf/book.mjcf b/demo_assets/book/mjcf/book.mjcf index 1fe7d4a35e97a94133ecc69009b6072e2dbf9f14..4a504d64eeadb50ba2cd09bac094390ca589eec7 100644 --- a/demo_assets/book/mjcf/book.mjcf +++ b/demo_assets/book/mjcf/book.mjcf @@ -1,15 +1,21 @@ - - - - + + + + + + + - - + + + + + \ No newline at end of file diff --git a/demo_assets/book/mjcf/mesh/book_0.obj b/demo_assets/book/mjcf/mesh/book_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..1bb44848cd25453e5eebab8986a61d22f9afa73b --- /dev/null +++ b/demo_assets/book/mjcf/mesh/book_0.obj @@ -0,0 +1,47608 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.06336186 -0.02654055 -0.01248144 +v 0.06364219 -0.02613218 -0.01206087 +v 0.06340905 -0.02657337 -0.01257413 +v -0.06406571 0.00246611 0.01213440 +v -0.06300806 0.00173626 0.01052510 +v -0.06302138 -0.00311529 0.01056678 +v -0.06406505 -0.00269437 0.01213331 +v -0.06362246 -0.00609138 0.01154331 +v -0.06293643 0.00495878 0.01045908 +v -0.06349355 0.00927963 0.01132932 +v -0.06275597 0.00982413 0.01016751 +v -0.06278015 0.01430066 0.01028549 +v -0.06392583 0.00942382 0.01200129 +v -0.06401334 0.00600465 0.01211167 +v -0.06115634 0.01091102 0.00776925 +v -0.06266023 0.01877494 0.01017492 +v -0.06095666 0.01826625 0.00758903 +v -0.06239285 0.00774626 0.00965403 +v -0.06141580 0.00459424 0.00825840 +v -0.06210135 0.00486861 0.00930116 +v -0.06206320 0.00093565 0.00921279 +v -0.06291665 -0.00739820 0.01044689 +v -0.06208662 -0.00596894 0.00927180 +v -0.06136932 -0.00000798 0.00815767 +v -0.06143189 -0.00628388 0.00827142 +v -0.06018016 0.00737966 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a/demo_assets/book/mjcf/mesh/book_collision_1.obj b/demo_assets/book/mjcf/mesh/book_collision_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..45a1570bf2d1b1b7beb1deda649232bb8e7e523d --- /dev/null +++ b/demo_assets/book/mjcf/mesh/book_collision_1.obj @@ -0,0 +1,376 @@ +# https://github.com/mikedh/trimesh +v -0.06686281 0.00286944 0.01480596 +v -0.06674287 0.00286945 0.01214672 +v -0.06846199 -0.09895289 0.01480559 +v -0.06759577 -0.09895291 0.01805024 +v -0.06611653 0.00286943 0.01656986 +v -0.06699608 -0.07811931 0.01206798 +v -0.05852045 0.00286949 0.00060103 +v -0.05853378 0.00271029 0.00060103 +v -0.05854711 0.00174450 0.00060103 +v -0.05856044 -0.00073897 0.00060102 +v -0.05896023 -0.09546112 0.00060067 +v -0.06703606 -0.08854140 0.01216742 +v -0.06700940 -0.09548238 0.01223054 +v -0.06702273 -0.09895289 0.01231279 +v -0.06652965 -0.10242338 0.01277192 +v -0.06768906 -0.10242338 0.01480557 +v -0.06700940 -0.10243401 0.01825493 +v -0.06615651 -0.10128779 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111 +f 111 126 118 +f 118 126 119 +f 122 124 123 + diff --git a/demo_assets/book/mjcf/mesh/book_collision_2.obj b/demo_assets/book/mjcf/mesh/book_collision_2.obj new file mode 100644 index 0000000000000000000000000000000000000000..4cafe6781e8721a55ad5b24e45e166df1d3db53d --- /dev/null +++ b/demo_assets/book/mjcf/mesh/book_collision_2.obj @@ -0,0 +1,550 @@ +# https://github.com/mikedh/trimesh +v -0.05739139 0.10542149 -0.01764556 +v -0.05739139 0.10511228 -0.01477019 +v -0.05395262 0.10509233 -0.01476412 +v -0.05050056 0.10505244 -0.01477828 +v -0.04706178 0.10499259 -0.01483085 +v -0.05395262 0.10535167 -0.01764556 +v -0.05739139 0.10449389 -0.01950182 +v -0.06083017 0.10449389 -0.01950991 +v -0.06083017 0.10541152 -0.01764556 +v -0.06083017 0.10511228 -0.01472166 +v -0.03544428 0.10256880 0.00059948 +v -0.03330666 0.10255883 0.00059948 +v -0.03200550 0.10254886 0.00059948 +v 0.01271192 0.10213991 0.00059948 +v 0.01486282 0.10232943 -0.00142055 +v -0.03330666 0.10471332 -0.01514023 +v 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index db3a1fd8d23d87f03e05934dc291399a48437bb4..536fb6518f0a7857f9fc71c3cc6236a8105493f7 100644 --- a/demo_assets/lamp/mjcf/lamp.mjcf +++ b/demo_assets/lamp/mjcf/lamp.mjcf @@ -1,15 +1,199 @@ - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/demo_assets/lamp/mjcf/mesh/lamp_0.obj b/demo_assets/lamp/mjcf/mesh/lamp_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..c5eaf471653b0ec03200b21bdd44712d46994c34 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_0.obj @@ -0,0 +1,58546 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.12773664 -0.02046486 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103 +f 103 113 104 +f 104 113 115 +f 104 115 114 +f 105 116 107 +f 106 108 117 +f 106 117 118 +f 106 118 119 +f 106 119 109 +f 107 116 120 +f 107 120 108 +f 108 120 121 +f 108 121 117 +f 111 122 117 +f 111 117 112 +f 112 117 121 +f 112 121 113 +f 113 121 123 +f 113 123 115 +f 114 115 123 +f 116 124 120 +f 117 122 118 +f 120 124 125 +f 120 125 121 +f 121 125 126 +f 121 126 123 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_11.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_11.obj new file mode 100644 index 0000000000000000000000000000000000000000..8a5d9bce2edd0e57afbf9eb34faeb52c6b2276a8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_11.obj @@ -0,0 +1,220 @@ +# https://github.com/mikedh/trimesh +v -0.01335085 0.11252625 0.19199267 +v -0.01335085 0.11365169 0.17572483 +v -0.01335085 0.12377273 0.19199271 +v -0.06927854 0.08985959 0.19199259 +v -0.07452176 0.08985977 0.14476542 +v -0.01335085 0.11616670 0.14476552 +v -0.01335085 0.12410928 0.18741608 +v 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+f 58 63 71 +f 58 71 72 +f 58 72 65 +f 58 65 73 +f 58 73 74 +f 58 74 70 +f 62 72 71 +f 62 71 63 +f 64 73 65 +f 65 72 66 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_12.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_12.obj new file mode 100644 index 0000000000000000000000000000000000000000..a0b8b1332786a94e7d04b23a1b2261db8c004cda --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_12.obj @@ -0,0 +1,247 @@ +# https://github.com/mikedh/trimesh +v 0.10353117 -0.07511197 0.14476485 +v 0.10128826 -0.06958188 0.21681995 +v 0.08969057 -0.07511197 0.14476485 +v 0.10439321 -0.07511193 0.13470074 +v 0.10598161 -0.07319503 0.13309443 +v 0.10547077 -0.07250469 0.14471568 +v 0.10156363 -0.06917059 0.21681996 +v 0.08720421 -0.06958188 0.21681995 +v 0.10548673 -0.07247532 0.14476486 +v 0.10820456 -0.00011823 0.21682021 +v 0.09072024 -0.07511193 0.13309442 +v 0.10452891 -0.07511193 0.13309442 +v 0.10651240 -0.07237980 0.13309443 +v 0.10849989 -0.06892059 0.13645461 +v 0.10816465 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61 47 +f 5 47 46 +f 5 46 31 +f 5 31 23 +f 5 23 22 +f 5 22 13 +f 5 13 14 +f 5 14 15 +f 5 15 9 +f 5 9 6 +f 7 9 15 +f 7 15 16 +f 10 17 28 +f 10 28 18 +f 10 18 19 +f 10 19 20 +f 10 20 21 +f 10 21 11 +f 13 22 14 +f 14 22 23 +f 14 23 15 +f 15 23 24 +f 15 24 16 +f 16 24 25 +f 17 26 27 +f 17 27 28 +f 18 28 27 +f 18 27 40 +f 18 40 56 +f 18 56 75 +f 18 75 57 +f 18 57 41 +f 18 41 29 +f 18 29 20 +f 18 20 19 +f 20 29 30 +f 20 30 21 +f 23 31 32 +f 23 32 24 +f 24 32 33 +f 24 33 25 +f 25 33 34 +f 26 35 36 +f 26 36 37 +f 26 37 38 +f 26 38 27 +f 27 38 39 +f 27 39 40 +f 29 41 42 +f 29 42 43 +f 29 43 44 +f 29 44 30 +f 30 44 45 +f 31 46 32 +f 32 46 47 +f 32 47 48 +f 32 48 33 +f 33 48 49 +f 33 49 34 +f 34 49 50 +f 35 51 36 +f 36 51 52 +f 36 52 53 +f 36 53 37 +f 37 53 54 +f 37 54 55 +f 37 55 39 +f 37 39 38 +f 39 55 56 +f 39 56 40 +f 41 57 58 +f 41 58 42 +f 42 58 59 +f 42 59 43 +f 43 59 44 +f 44 59 45 +f 45 59 60 +f 47 61 48 +f 48 61 62 +f 48 62 50 +f 48 50 49 +f 51 63 52 +f 52 63 64 +f 52 64 65 +f 52 65 66 +f 52 66 67 +f 52 67 53 +f 53 68 69 +f 53 69 70 +f 53 70 71 +f 53 71 72 +f 53 72 73 +f 53 73 54 +f 53 67 66 +f 53 66 68 +f 54 73 74 +f 54 74 58 +f 54 58 55 +f 55 57 75 +f 55 75 56 +f 55 58 57 +f 58 74 60 +f 58 60 59 +f 61 76 77 +f 61 77 62 +f 65 78 79 +f 65 79 68 +f 65 68 66 +f 68 80 69 +f 68 79 80 +f 69 80 70 +f 70 80 82 +f 70 82 81 +f 76 81 82 +f 76 82 83 +f 76 83 77 +f 78 83 79 +f 79 83 80 +f 80 83 82 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_13.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_13.obj new file mode 100644 index 0000000000000000000000000000000000000000..2d4af66caa1cf94509db0f228742d2be9d44b7d5 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_13.obj @@ -0,0 +1,217 @@ +# https://github.com/mikedh/trimesh +v -0.01343890 0.12173472 0.21683014 +v -0.01826888 0.12106755 0.21683013 +v -0.02042538 0.11991080 0.23562465 +v -0.01343890 0.12078102 0.23562465 +v -0.01343890 0.11038558 0.21683010 +v -0.02023336 0.12074121 0.21683013 +v -0.02858612 0.11843505 0.23562465 +v -0.03673947 0.11523698 0.24077679 +v -0.02858612 0.11633563 0.24158796 +v -0.01343890 0.12036405 0.23649728 +v -0.01343890 0.11028042 0.21790674 +v -0.05837096 0.08469587 0.22630101 +v -0.05967077 0.08469589 0.22032294 +v -0.06055701 0.08469589 0.21939624 +v -0.06381392 0.08634570 0.21683001 +v -0.02631883 0.11953016 0.21683013 +v -0.02858612 0.11903703 0.21683013 +v -0.03673947 0.11677445 0.21683012 +v -0.03673947 0.11616523 0.23562464 +v -0.04125187 0.11442840 0.23996070 +v -0.05304617 0.10772768 0.24109386 +v -0.02042538 0.11702455 0.24168383 +v -0.04433893 0.11041086 0.24135934 +v -0.06089673 0.10220902 0.24153875 +v -0.03673947 0.11020056 0.24194190 +v -0.01343890 0.11749955 0.24167153 +v -0.01343890 0.11017527 0.21909644 +v -0.05837096 0.08469587 0.22721050 +v -0.01343890 0.10967124 0.22617082 +v -0.01343890 0.10960233 0.22736299 +v -0.06757302 0.08469590 0.21683000 +v -0.04074229 0.11544374 0.21683011 +v -0.04247045 0.11486359 0.21683011 +v -0.04543195 0.11376494 0.21683011 +v -0.04655451 0.11333345 0.21683011 +v -0.04555749 0.11287651 0.23562462 +v -0.05304617 0.10945001 0.23562461 +v -0.05796477 0.10655289 0.24026793 +v -0.06765427 0.09959474 0.24102746 +v -0.07752100 0.09176275 0.24089224 +v -0.06997324 0.09450756 0.24143303 +v -0.07715173 0.08469581 0.24144281 +v -0.01343890 0.11206066 0.24167151 +v -0.05891009 0.08469586 0.22847887 +v -0.01343890 0.10960594 0.23443244 +v -0.01343890 0.10962043 0.23562461 +v -0.08887957 0.08469590 0.21683000 +v -0.05142880 0.11108175 0.21683010 +v -0.05304617 0.11031668 0.21683010 +v -0.05840050 0.10677408 0.23562460 +v -0.06247718 0.10454414 0.23562459 +v -0.06888022 0.10046860 0.23562458 +v -0.08182662 0.09003681 0.23998273 +v -0.08500229 0.08508017 0.24082092 +v -0.08534940 0.08469582 0.24082584 +v -0.07694494 0.08469581 0.24141824 +v -0.01343890 0.11164369 0.24079890 +v -0.07156107 0.08469582 0.23988194 +v -0.06128076 0.08469584 0.23385962 +v -0.08754283 0.08469583 0.23562452 +v -0.08605100 0.08617521 0.23562453 +v -0.08670091 0.08684970 0.21683001 +v -0.05925720 0.10718751 0.21683008 +v -0.06333387 0.10505184 0.21683008 +v -0.06823032 0.10185377 0.21683006 +v -0.06989200 0.10076237 0.21683006 +v -0.07367327 0.09809732 0.21683005 +v -0.07296428 0.09754973 0.23562457 +v -0.08262423 0.09078021 0.21683002 +v -0.08742466 0.08469583 0.23715100 +v -0.08560788 0.08469582 0.24072014 +v -0.07720343 0.09528723 0.21683004 +v -0.08128750 0.09189699 0.21683003 +f 1 2 3 +f 1 3 4 +f 1 4 10 +f 1 10 26 +f 1 26 43 +f 1 43 57 +f 1 57 46 +f 1 46 45 +f 1 45 30 +f 1 30 29 +f 1 29 27 +f 1 27 11 +f 1 11 5 +f 1 5 15 +f 1 15 31 +f 1 31 47 +f 1 47 62 +f 1 62 69 +f 1 69 73 +f 1 73 72 +f 1 72 67 +f 1 67 66 +f 1 66 65 +f 1 65 64 +f 1 64 63 +f 1 63 49 +f 1 49 48 +f 1 48 35 +f 1 35 34 +f 1 34 33 +f 1 33 32 +f 1 32 18 +f 1 18 17 +f 1 17 16 +f 1 16 6 +f 1 6 2 +f 2 6 3 +f 3 7 8 +f 3 8 9 +f 3 9 4 +f 3 6 7 +f 4 9 10 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 6 16 7 +f 7 16 17 +f 7 17 18 +f 7 18 19 +f 7 19 20 +f 7 20 8 +f 8 20 21 +f 8 21 9 +f 9 22 10 +f 9 21 23 +f 9 23 24 +f 9 24 25 +f 9 25 22 +f 10 22 26 +f 11 27 12 +f 12 28 44 +f 12 44 59 +f 12 59 58 +f 12 58 56 +f 12 56 42 +f 12 42 55 +f 12 55 71 +f 12 71 70 +f 12 70 60 +f 12 60 47 +f 12 47 31 +f 12 31 14 +f 12 14 13 +f 12 27 29 +f 12 29 30 +f 12 30 28 +f 14 31 15 +f 18 32 19 +f 19 32 33 +f 19 33 20 +f 20 33 34 +f 20 34 35 +f 20 35 36 +f 20 36 37 +f 20 37 38 +f 20 38 21 +f 21 38 39 +f 21 39 24 +f 21 24 23 +f 22 25 26 +f 24 39 40 +f 24 40 41 +f 24 41 42 +f 24 42 25 +f 25 43 26 +f 25 42 43 +f 28 30 45 +f 28 45 46 +f 28 46 44 +f 35 48 37 +f 35 37 36 +f 37 48 49 +f 37 49 50 +f 37 50 38 +f 38 50 51 +f 38 51 52 +f 38 52 39 +f 39 52 53 +f 39 53 40 +f 40 53 54 +f 40 54 41 +f 41 54 55 +f 41 55 42 +f 42 56 43 +f 43 56 58 +f 43 58 59 +f 43 59 57 +f 44 46 59 +f 46 57 59 +f 47 60 61 +f 47 61 62 +f 49 63 50 +f 50 63 64 +f 50 64 51 +f 51 64 52 +f 52 64 65 +f 52 65 66 +f 52 66 67 +f 52 67 68 +f 52 68 53 +f 53 69 62 +f 53 62 61 +f 53 61 60 +f 53 60 70 +f 53 70 71 +f 53 71 54 +f 53 68 72 +f 53 72 73 +f 53 73 69 +f 54 71 55 +f 67 72 68 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_14.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_14.obj new file mode 100644 index 0000000000000000000000000000000000000000..a83f739cc934ca2a6e227315cde031a8c3542843 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_14.obj @@ -0,0 +1,85 @@ +# https://github.com/mikedh/trimesh +v 0.00273034 -0.04395433 0.16124543 +v 0.00279823 -0.04377761 0.16950649 +v -0.00258794 -0.04395433 0.16124543 +v 0.00296394 -0.04390976 0.15298437 +v -0.00264720 -0.04377761 0.16950649 +v 0.00289317 -0.04335595 0.17776755 +v -0.00281752 -0.04390976 0.15298437 +v 0.00299789 -0.04345742 0.14476493 +v -0.00275307 -0.04335595 0.17776755 +v 0.00011924 -0.04280624 0.18250135 +v 0.00289317 -0.03716836 0.17776757 +v 0.00268200 -0.03678569 0.19199212 +v 0.00256578 -0.03882039 0.19199212 +v 0.00226082 -0.04239569 0.18602860 +v -0.00288023 -0.04345742 0.14476493 +v 0.00299789 -0.03758297 0.14476495 +v 0.00011867 -0.04280624 0.18250135 +v -0.00219955 -0.04239569 0.18602860 +v -0.00265583 -0.03678569 0.19199212 +v -0.00275307 -0.03716836 0.17776757 +v 0.00221422 -0.03085557 0.19199215 +v 0.00119866 -0.04144657 0.19199211 +v 0.00011924 -0.04171655 0.19030939 +v -0.00288023 -0.03758297 0.14476495 +v 0.00174528 -0.02973663 0.19199215 +v 0.00011867 -0.04171655 0.19030939 +v -0.00121680 -0.04144657 0.19199211 +v -0.00175938 -0.02973663 0.19199215 +v -0.00257470 -0.03578084 0.18526123 +f 1 2 5 +f 1 5 3 +f 1 3 7 +f 1 7 4 +f 1 4 2 +f 2 4 6 +f 2 6 9 +f 2 9 5 +f 3 5 7 +f 4 7 15 +f 4 15 8 +f 4 8 6 +f 5 9 7 +f 6 10 17 +f 6 17 9 +f 6 8 16 +f 6 16 11 +f 6 11 12 +f 6 12 13 +f 6 13 14 +f 6 14 10 +f 7 9 15 +f 8 15 24 +f 8 24 16 +f 9 17 18 +f 9 18 19 +f 9 19 20 +f 9 20 24 +f 9 24 15 +f 10 14 18 +f 10 18 17 +f 11 21 12 +f 11 16 21 +f 12 21 25 +f 12 25 28 +f 12 28 19 +f 12 19 27 +f 12 27 22 +f 12 22 13 +f 13 22 14 +f 14 22 23 +f 14 23 26 +f 14 26 18 +f 16 25 21 +f 16 24 28 +f 16 28 25 +f 18 26 27 +f 18 27 19 +f 19 28 29 +f 19 29 20 +f 20 29 24 +f 22 27 26 +f 22 26 23 +f 24 29 28 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_15.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_15.obj new file mode 100644 index 0000000000000000000000000000000000000000..075576fb0f39cc423db1e518edd1e2e096b6724a --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_15.obj @@ -0,0 +1,295 @@ +# https://github.com/mikedh/trimesh +v 0.07606153 0.10903730 0.06545736 +v 0.06879349 0.09735465 0.10972888 +v 0.06722541 0.09763654 0.12133469 +v 0.06588389 0.09763650 0.13307291 +v 0.07547127 0.10853844 0.07624884 +v 0.07505987 0.10802513 0.08723232 +v 0.07471405 0.10745397 0.09838131 +v 0.07471405 0.10712141 0.10346588 +v 0.07477367 0.10709972 0.10338643 +v 0.07727188 0.10819871 0.06545736 +v 0.07606153 0.09496916 0.06545731 +v 0.11510862 0.03685301 0.08723206 +v 0.11498341 0.03518301 0.09838105 +v 0.06744005 0.09653043 0.13309276 +v 0.06810783 0.09763650 0.13309277 +v 0.07471405 0.10666594 0.10972891 +v 0.11410695 0.03518297 0.10869584 +v 0.11403540 0.03518297 0.10972865 +v 0.10957561 0.04283145 0.13309257 +v 0.08085522 0.10559618 0.06545735 +v 0.11544251 0.04067015 0.06545711 +v 0.12646680 0.03685301 0.08723206 +v 0.12601962 0.03518301 0.09838105 +v 0.08386618 0.09763650 0.13309277 +v 0.07853589 0.10382484 0.10972890 +v 0.12529818 0.03518297 0.10972865 +v 0.12130941 0.04283145 0.13309257 +v 0.08359787 0.09974754 0.10972889 +v 0.08346671 0.10342017 0.06545734 +v 0.12679472 0.04067015 0.06545711 +v 0.12333659 0.03952048 0.12132786 +v 0.12491659 0.03683125 0.10972866 +v 0.12570362 0.03518299 0.10338617 +v 0.12552475 0.04498602 0.06545713 +v 0.08462339 0.09763653 0.12477737 +v 0.08547600 0.10169960 0.06545733 +v 0.08663865 0.09503397 0.13309276 +v 0.08724084 0.09562682 0.11991788 +v 0.12161348 0.04283146 0.12974257 +v 0.12117823 0.04442190 0.12848468 +v 0.12064759 0.04474720 0.13309257 +v 0.12269266 0.04197121 0.11991768 +v 0.12263899 0.04182662 0.12132786 +v 0.12184602 0.04283147 0.12716718 +v 0.12464232 0.04719094 0.06545713 +v 0.12246012 0.04934519 0.08443823 +v 0.12124382 0.04605575 0.11991770 +v 0.12228722 0.04283149 0.12133449 +v 0.08904742 0.09731139 0.07860572 +v 0.09227898 0.09532339 0.06545731 +v 0.09085399 0.09095666 0.13309274 +v 0.09143829 0.09154951 0.11991787 +v 0.11880524 0.04946068 0.13309259 +v 0.12316368 0.05087787 0.06545715 +v 0.11771414 0.05313317 0.12818017 +v 0.11733852 0.05313315 0.13309261 +v 0.09373378 0.09384862 0.06545730 +v 0.09251748 0.08919995 0.13309274 +v 0.09545093 0.08716856 0.12132803 +v 0.09585040 0.08760959 0.11165542 +v 0.09720980 0.08909171 0.07860569 +v 0.12236474 0.05254783 0.06545715 +v 0.11529941 0.05942989 0.11991775 +v 0.11525171 0.05932144 0.12133455 +v 0.11497744 0.05880091 0.12818019 +v 0.11478069 0.05842497 0.13309262 +v 0.09968415 0.08758084 0.06545728 +v 0.09493220 0.08662633 0.13309273 +v 0.09865864 0.08255625 0.13309271 +v 0.09963049 0.08361182 0.10972883 +v 0.12120208 0.05495517 0.06545716 +v 0.11982480 0.05774567 0.06545717 +v 0.11805399 0.06128801 0.06545719 +v 0.11557964 0.05998657 0.11165532 +v 0.11419638 0.06540859 0.09133690 +v 0.11316491 0.06350720 0.11991776 +v 0.11264023 0.06249505 0.13309264 +v 0.10109722 0.08601932 0.06545728 +v 0.10055465 0.08013445 0.13309270 +v 0.10361927 0.07853686 0.11165539 +v 0.10461497 0.07982376 0.08723221 +v 0.10547354 0.08095884 0.06545726 +v 0.11693308 0.06344233 0.06545719 +v 0.11510265 0.06687623 0.06545721 +v 0.11244943 0.07096077 0.06545722 +v 0.10943251 0.06943519 0.11991779 +v 0.10836526 0.06947851 0.13309267 +v 0.11021357 0.06651452 0.13309265 +v 0.10274877 0.07728612 0.13309269 +v 0.10330923 0.07787896 0.12133462 +v 0.10631423 0.07392455 0.12132798 +v 0.10636789 0.07400409 0.11991780 +v 0.10668985 0.07445956 0.11165537 +v 0.10837122 0.07687431 0.06545724 +v 0.11078595 0.07339703 0.06545723 +v 0.10923575 0.06956531 0.12133459 +v 0.10614132 0.07367875 0.12557175 +v 0.10673755 0.07187863 0.13309267 +v 0.10580147 0.07324496 0.13309268 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 10 +f 1 10 20 +f 1 20 29 +f 1 29 36 +f 1 36 50 +f 1 50 57 +f 1 57 67 +f 1 67 78 +f 1 78 82 +f 1 82 94 +f 1 94 95 +f 1 95 85 +f 1 85 84 +f 1 84 83 +f 1 83 73 +f 1 73 72 +f 1 72 71 +f 1 71 62 +f 1 62 54 +f 1 54 45 +f 1 45 34 +f 1 34 30 +f 1 30 21 +f 1 21 11 +f 1 11 2 +f 2 11 12 +f 2 12 13 +f 2 13 3 +f 3 13 4 +f 4 14 15 +f 4 15 16 +f 4 16 8 +f 4 8 7 +f 4 7 6 +f 4 6 5 +f 4 13 17 +f 4 17 18 +f 4 18 19 +f 4 19 14 +f 8 16 9 +f 9 16 10 +f 10 16 20 +f 11 21 12 +f 12 21 30 +f 12 30 22 +f 12 22 23 +f 12 23 13 +f 13 23 33 +f 13 33 26 +f 13 26 18 +f 13 18 17 +f 14 19 27 +f 14 27 41 +f 14 41 53 +f 14 53 56 +f 14 56 66 +f 14 66 77 +f 14 77 88 +f 14 88 87 +f 14 87 98 +f 14 98 99 +f 14 99 89 +f 14 89 79 +f 14 79 69 +f 14 69 68 +f 14 68 58 +f 14 58 51 +f 14 51 37 +f 14 37 24 +f 14 24 15 +f 15 24 16 +f 16 25 20 +f 16 24 25 +f 18 26 27 +f 18 27 19 +f 20 25 24 +f 20 24 28 +f 20 28 29 +f 22 31 32 +f 22 32 26 +f 22 26 33 +f 22 33 23 +f 22 30 34 +f 22 34 31 +f 24 35 36 +f 24 36 28 +f 24 37 38 +f 24 38 35 +f 26 32 31 +f 26 31 27 +f 27 39 40 +f 27 40 41 +f 27 31 39 +f 28 36 29 +f 31 34 42 +f 31 42 43 +f 31 43 44 +f 31 44 39 +f 34 45 46 +f 34 46 47 +f 34 47 48 +f 34 48 42 +f 35 38 36 +f 36 38 49 +f 36 49 50 +f 37 51 38 +f 38 50 49 +f 38 51 52 +f 38 52 50 +f 39 44 40 +f 40 44 47 +f 40 47 53 +f 40 53 41 +f 42 48 43 +f 43 48 44 +f 44 48 47 +f 45 54 46 +f 46 54 55 +f 46 55 47 +f 47 55 56 +f 47 56 53 +f 50 52 57 +f 51 58 52 +f 52 58 59 +f 52 59 60 +f 52 60 61 +f 52 61 57 +f 54 62 63 +f 54 63 55 +f 55 63 64 +f 55 64 56 +f 56 64 65 +f 56 65 66 +f 57 61 67 +f 58 68 59 +f 59 68 69 +f 59 69 60 +f 60 69 70 +f 60 70 67 +f 60 67 61 +f 62 71 63 +f 63 71 72 +f 63 72 73 +f 63 73 74 +f 63 74 75 +f 63 75 76 +f 63 76 64 +f 64 76 65 +f 65 76 77 +f 65 77 66 +f 67 70 78 +f 69 79 80 +f 69 80 81 +f 69 81 82 +f 69 82 70 +f 70 82 78 +f 73 83 75 +f 73 75 74 +f 75 83 84 +f 75 84 85 +f 75 85 86 +f 75 86 76 +f 76 86 87 +f 76 87 88 +f 76 88 77 +f 79 89 90 +f 79 90 80 +f 80 90 91 +f 80 91 92 +f 80 92 93 +f 80 93 81 +f 81 93 82 +f 82 93 94 +f 85 95 93 +f 85 93 86 +f 86 93 91 +f 86 91 96 +f 86 96 87 +f 87 96 91 +f 87 91 97 +f 87 97 98 +f 89 99 97 +f 89 97 90 +f 90 97 91 +f 91 93 92 +f 93 95 94 +f 97 99 98 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_16.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_16.obj new file mode 100644 index 0000000000000000000000000000000000000000..25e579c3647881c8634948e4166e23c31037de3d --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_16.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v -0.05497573 -0.11137422 0.19199185 +v -0.05497573 -0.10937840 0.21679769 +v -0.06172013 -0.10801540 0.19199186 +v -0.05497573 -0.09891409 0.19199190 +v -0.05497573 -0.10937270 0.21682686 +v -0.05952624 -0.10710308 0.21682687 +v -0.06555243 -0.10603091 0.19199187 +v -0.06178185 -0.08788539 0.21682694 +v -0.05497573 -0.09863466 0.19404628 +v -0.09998142 -0.05312239 0.19199206 +v -0.05497573 -0.09623967 0.21682691 +v -0.06064843 -0.10649861 0.21682687 +v -0.06360542 -0.10489048 0.21682687 +v -0.06506427 -0.10389823 0.21682688 +v -0.06990094 -0.10058503 0.21682689 +v -0.06911540 -0.10352177 0.19199188 +v -0.09773141 -0.05312248 0.21682706 +v -0.11229752 -0.05312239 0.19199206 +v -0.07126441 -0.09960419 0.21682689 +v -0.07460294 -0.09858907 0.20256775 +v -0.07512477 -0.09898822 0.19430400 +v -0.07527065 -0.09909657 0.19199190 +v -0.11021023 -0.05312248 0.21682706 +v -0.10807245 -0.06150518 0.19199203 +v -0.10719153 -0.05912730 0.21682704 +v -0.07346391 -0.09797325 0.21682690 +v -0.07363224 -0.09784780 0.21682690 +v -0.07380057 -0.09771664 0.21682690 +v -0.07720644 -0.09505923 0.21682691 +v -0.07868213 -0.09535571 0.20256776 +v -0.07640968 -0.09820697 0.19199190 +v -0.10656871 -0.06439069 0.19199202 +v -0.10502007 -0.06320464 0.21682703 +v -0.08268837 -0.09056560 0.21682693 +v -0.07934983 -0.09587462 0.19199191 +v -0.10613666 -0.06520045 0.19199202 +v -0.10178815 -0.06809175 0.21682701 +v -0.08380495 -0.08945930 0.21682693 +v -0.08751381 -0.08726945 0.20256779 +v -0.08805247 -0.08782828 0.19199194 +v -0.08344024 -0.09127837 0.20256777 +v -0.08397889 -0.09179727 0.19199192 +v -0.10556434 -0.06603302 0.19199202 +v -0.10071084 -0.06970558 0.21682700 +v -0.08676194 -0.08649967 0.21682694 +v -0.08785047 -0.08538196 0.21682695 +v -0.09072891 -0.08242232 0.21682696 +v -0.09144711 -0.08319211 0.20256780 +v -0.08511793 -0.09069667 0.19199193 +v -0.08915222 -0.08668776 0.19199194 +v -0.10363977 -0.06878737 0.19199201 +v -0.10036857 -0.07343497 0.19199199 +v -0.09922955 -0.07503740 0.19199198 +v -0.09815785 -0.07329250 0.21682699 +v -0.09185110 -0.08109932 0.21682696 +v -0.09605934 -0.07910904 0.19199197 +v -0.09311918 -0.08247356 0.19199196 +v -0.09198015 -0.08375093 0.19199195 +v -0.09805124 -0.07344076 0.21682699 +v -0.09522891 -0.07700488 0.21682698 +v -0.09552630 -0.07843046 0.20256782 +f 1 2 3 +f 1 3 7 +f 1 7 16 +f 1 16 22 +f 1 22 31 +f 1 31 35 +f 1 35 42 +f 1 42 49 +f 1 49 40 +f 1 40 50 +f 1 50 58 +f 1 58 57 +f 1 57 56 +f 1 56 53 +f 1 53 52 +f 1 52 51 +f 1 51 43 +f 1 43 36 +f 1 36 32 +f 1 32 24 +f 1 24 18 +f 1 18 10 +f 1 10 4 +f 1 4 9 +f 1 9 11 +f 1 11 5 +f 1 5 2 +f 2 5 6 +f 2 6 3 +f 3 6 7 +f 4 8 9 +f 4 10 8 +f 5 11 8 +f 5 8 17 +f 5 17 23 +f 5 23 25 +f 5 25 33 +f 5 33 37 +f 5 37 44 +f 5 44 54 +f 5 54 59 +f 5 59 60 +f 5 60 55 +f 5 55 47 +f 5 47 46 +f 5 46 45 +f 5 45 38 +f 5 38 34 +f 5 34 29 +f 5 29 28 +f 5 28 27 +f 5 27 26 +f 5 26 19 +f 5 19 15 +f 5 15 14 +f 5 14 13 +f 5 13 12 +f 5 12 6 +f 6 12 7 +f 7 12 13 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 8 11 9 +f 8 10 17 +f 10 18 23 +f 10 23 17 +f 15 19 20 +f 15 20 16 +f 16 20 21 +f 16 21 22 +f 18 24 25 +f 18 25 23 +f 19 26 20 +f 20 26 27 +f 20 27 28 +f 20 28 29 +f 20 29 30 +f 20 30 31 +f 20 31 21 +f 21 31 22 +f 24 32 25 +f 25 32 33 +f 29 34 30 +f 30 35 31 +f 30 34 35 +f 32 36 33 +f 33 36 37 +f 34 38 39 +f 34 39 40 +f 34 40 41 +f 34 41 35 +f 35 41 42 +f 36 43 44 +f 36 44 37 +f 38 45 39 +f 39 45 46 +f 39 46 47 +f 39 47 48 +f 39 48 40 +f 40 49 41 +f 40 48 50 +f 41 49 42 +f 43 51 44 +f 44 51 52 +f 44 52 53 +f 44 53 54 +f 47 55 56 +f 47 56 57 +f 47 57 48 +f 48 58 50 +f 48 57 58 +f 53 56 59 +f 53 59 54 +f 55 60 61 +f 55 61 56 +f 56 61 60 +f 56 60 59 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_17.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_17.obj new file mode 100644 index 0000000000000000000000000000000000000000..e297afb5d7af7366ae76327edcd68f3926dbca1c --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_17.obj @@ -0,0 +1,85 @@ +# https://github.com/mikedh/trimesh +v 0.00012033 0.12443068 0.19199272 +v 0.00405378 0.12442313 0.19199272 +v 0.00012033 0.11324092 0.19199268 +v 0.00012033 0.12367893 0.20256856 +v 0.00633317 0.12424011 0.19199272 +v 0.00405378 0.12366834 0.20256856 +v 0.02192396 0.11120958 0.19199267 +v 0.02192396 0.10935363 0.21226668 +v 0.00012033 0.11111723 0.21682767 +v 0.00012033 0.12338548 0.20654849 +v 0.01220880 0.12376215 0.19199271 +v 0.00012033 0.12282581 0.21402450 +v 0.00405378 0.12257774 0.21682771 +v 0.00435898 0.12255656 0.21682771 +v 0.00813236 0.12243104 0.21496296 +v 0.00975013 0.12260802 0.21082987 +v 0.02192396 0.12231767 0.19199271 +v 0.02192396 0.10898001 0.21682766 +v 0.00012033 0.12261101 0.21682771 +v 0.01921132 0.12286521 0.19199271 +v 0.01220880 0.12359275 0.19430481 +v 0.01268687 0.12291659 0.20289192 +v 0.01716029 0.12257175 0.20035371 +v 0.00689448 0.12235994 0.21682771 +v 0.00997422 0.12196970 0.21682771 +v 0.02036595 0.12055093 0.21682770 +v 0.01572393 0.12228132 0.20586045 +v 0.02088671 0.12254606 0.19199271 +v 0.02192396 0.12024843 0.21682770 +f 1 2 5 +f 1 5 11 +f 1 11 20 +f 1 20 28 +f 1 28 17 +f 1 17 7 +f 1 7 3 +f 1 3 9 +f 1 9 19 +f 1 19 12 +f 1 12 10 +f 1 10 4 +f 1 4 2 +f 2 4 6 +f 2 6 5 +f 3 7 8 +f 3 8 9 +f 4 10 6 +f 5 6 11 +f 6 10 12 +f 6 12 13 +f 6 13 14 +f 6 14 15 +f 6 15 16 +f 6 16 11 +f 7 17 29 +f 7 29 18 +f 7 18 8 +f 8 18 9 +f 9 18 29 +f 9 29 26 +f 9 26 25 +f 9 25 24 +f 9 24 14 +f 9 14 13 +f 9 13 19 +f 11 16 21 +f 11 21 22 +f 11 22 23 +f 11 23 20 +f 12 19 13 +f 14 24 15 +f 15 24 25 +f 15 25 26 +f 15 26 27 +f 15 27 16 +f 16 27 23 +f 16 23 22 +f 16 22 21 +f 17 28 29 +f 20 23 28 +f 23 27 26 +f 23 26 29 +f 23 29 28 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_18.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_18.obj new file mode 100644 index 0000000000000000000000000000000000000000..38b081bb09874266ae303b26831ce2db08268694 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_18.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v 0.04722141 -0.11244318 0.06545554 +v 0.04722141 -0.12455946 0.06545549 +v 0.04722141 -0.11247013 0.06495060 +v -0.03158162 -0.11797375 0.06206943 +v -0.03158162 -0.11784938 0.06511116 +v -0.03158162 -0.11783694 0.06545552 +v 0.04722141 -0.12487039 0.06206940 +v 0.04483787 -0.12547154 0.06545549 +v 0.04483787 -0.12580942 0.06206940 +v 0.04722141 -0.11262559 0.06206945 +v -0.03158162 -0.11911799 0.05820163 +v 0.04722141 -0.11334487 0.05779669 +v 0.04722141 -0.11343816 0.05725035 +v -0.03158162 -0.12916758 0.06545548 +v 0.04722141 -0.12381938 0.05617380 +v 0.04002453 -0.12693917 0.06545548 +v 0.03667680 -0.12829279 0.06206939 +v 0.02709640 -0.13089637 0.05711194 +v -0.03158162 -0.12012956 0.05578703 +v 0.04722141 -0.11360813 0.05705444 +v -0.03158162 -0.12927744 0.06459507 +v -0.02682999 -0.13081555 0.06206938 +v -0.02982290 -0.12961741 0.06545547 +v 0.04483787 -0.12428163 0.05578499 +v 0.04722141 -0.11788872 0.05575271 +v 0.03667680 -0.12790102 0.06545548 +v 0.03109980 -0.12983297 0.06206938 +v 0.02701926 -0.13088810 0.06206938 +v 0.02036235 -0.13205308 0.06206937 +v 0.01220898 -0.13301284 0.06206937 +v 0.02036235 -0.13148300 0.05640604 +v -0.02041991 -0.12624885 0.05513969 +v -0.03158162 -0.12463818 0.05578398 +v 0.04471446 -0.11759852 0.05572645 +v 0.03667680 -0.11949524 0.05553861 +v -0.03158162 -0.12959873 0.06206938 +v -0.02689941 -0.13082797 0.05721091 +v -0.02041991 -0.13193907 0.06206938 +v -0.02062047 -0.13155144 0.06545547 +v -0.02447731 -0.13087360 0.06545547 +v -0.02589663 -0.13062070 0.06545547 +v 0.03667680 -0.12560209 0.05553859 +v 0.02036235 -0.12624885 0.05517200 +v 0.03338305 -0.12880895 0.06545548 +v 0.02603962 -0.13068081 0.06545547 +v 0.02060147 -0.13164265 0.06545547 +v 0.01220898 -0.13263559 0.06545546 +v 0.00405562 -0.13362022 0.06206937 +v 0.00739564 -0.13299421 0.06545546 +v 0.01220898 -0.13195978 0.05598190 +v 0.00405562 -0.13226449 0.05575366 +v -0.00410547 -0.13224377 0.05577587 +v -0.01225883 -0.13190795 0.05602835 +v -0.03158162 -0.12653077 0.05578398 +v -0.03158162 -0.12928157 0.06131199 +v -0.02041991 -0.13140008 0.05650400 +v -0.01225883 -0.13293407 0.06206937 +v -0.01225883 -0.13256925 0.06545546 +v 0.00405562 -0.13322637 0.06545546 +v -0.00410547 -0.13319320 0.06545546 +v -0.00410547 -0.13358291 0.06206937 +f 1 2 7 +f 1 7 15 +f 1 15 25 +f 1 25 20 +f 1 20 13 +f 1 13 12 +f 1 12 10 +f 1 10 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 14 +f 1 14 23 +f 1 23 41 +f 1 41 40 +f 1 40 39 +f 1 39 58 +f 1 58 60 +f 1 60 59 +f 1 59 49 +f 1 49 47 +f 1 47 46 +f 1 46 45 +f 1 45 44 +f 1 44 26 +f 1 26 16 +f 1 16 8 +f 1 8 2 +f 2 8 9 +f 2 9 7 +f 3 10 4 +f 4 11 19 +f 4 19 33 +f 4 33 54 +f 4 54 55 +f 4 55 36 +f 4 36 21 +f 4 21 14 +f 4 14 6 +f 4 6 5 +f 4 10 12 +f 4 12 13 +f 4 13 11 +f 7 9 15 +f 8 16 9 +f 9 16 17 +f 9 17 18 +f 9 18 15 +f 11 13 19 +f 13 20 19 +f 14 21 22 +f 14 22 23 +f 15 24 25 +f 15 18 24 +f 16 26 17 +f 17 27 18 +f 17 26 27 +f 18 27 28 +f 18 28 29 +f 18 29 30 +f 18 30 31 +f 18 31 24 +f 19 32 33 +f 19 20 34 +f 19 34 35 +f 19 35 32 +f 20 25 34 +f 21 36 22 +f 22 37 38 +f 22 38 39 +f 22 39 40 +f 22 40 41 +f 22 41 23 +f 22 36 37 +f 24 42 25 +f 24 31 42 +f 25 42 43 +f 25 43 35 +f 25 35 34 +f 26 44 27 +f 27 44 28 +f 28 45 46 +f 28 46 29 +f 28 44 45 +f 29 46 47 +f 29 47 30 +f 30 48 31 +f 30 47 49 +f 30 49 48 +f 31 48 50 +f 31 50 42 +f 32 51 52 +f 32 52 53 +f 32 53 54 +f 32 54 33 +f 32 35 43 +f 32 43 51 +f 36 55 37 +f 37 55 54 +f 37 54 56 +f 37 56 57 +f 37 57 38 +f 38 57 39 +f 39 57 58 +f 42 50 51 +f 42 51 43 +f 48 59 60 +f 48 60 61 +f 48 61 52 +f 48 52 51 +f 48 51 50 +f 48 49 59 +f 52 61 53 +f 53 61 56 +f 53 56 54 +f 56 61 57 +f 57 61 58 +f 58 61 60 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_19.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_19.obj new file mode 100644 index 0000000000000000000000000000000000000000..c5bc154e2cecee2b525f394fa0305b30b4bfa0e0 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_19.obj @@ -0,0 +1,223 @@ +# https://github.com/mikedh/trimesh +v -0.00409747 0.12264482 0.21683259 +v -0.00565291 0.12255551 0.21683259 +v -0.00409747 0.12163598 0.23562283 +v 0.00405761 0.12164124 0.23562283 +v -0.00332414 0.12263956 0.21683259 +v -0.00992378 0.12219298 0.21683259 +v -0.01226134 0.12092669 0.23562282 +v -0.01343011 0.12036451 0.23649771 +v -0.01343011 0.11749843 0.24167325 +v -0.01226134 0.11757725 0.24167080 +v -0.00409747 0.11800019 0.24164130 +v 0.00405761 0.11800808 0.24165113 +v 0.01221268 0.11761403 0.24167816 +v 0.02036776 0.11710176 0.24167570 +v 0.01221268 0.12094771 0.23562282 +v 0.00689606 0.12235848 0.21683259 +v 0.00436518 0.12255551 0.21683259 +v 0.00405761 0.12257652 0.21683259 +v -0.01245467 0.12186723 0.21683259 +v -0.01343011 0.12078221 0.23562282 +v -0.01343011 0.11206317 0.24167323 +v 0.03667791 0.11020063 0.24193618 +v 0.02853162 0.11638196 0.24157740 +v 0.02036776 0.12004139 0.23562282 +v 0.00998058 0.12196968 0.21683259 +v -0.01343011 0.12173325 0.21683259 +v -0.01343011 0.11164549 0.24079835 +v 0.05717985 0.09580992 0.24103913 +v 0.06159132 0.09580992 0.24137580 +v 0.06935095 0.09580992 0.24132420 +v 0.06088830 0.10221455 0.24153312 +v 0.05299686 0.10778379 0.24113502 +v 0.03667791 0.11526812 0.24081802 +v 0.02853162 0.11853612 0.23562282 +v 0.02036776 0.12055110 0.21683258 +v -0.01343011 0.11038461 0.21683255 +v -0.01343011 0.10962008 0.23562278 +v 0.05417442 0.09580994 0.23562273 +v 0.07518605 0.09580994 0.23562273 +v 0.06762854 0.09960856 0.24102440 +v 0.05799711 0.10660953 0.24032156 +v 0.04131787 0.11447477 0.24002424 +v 0.03076372 0.11839433 0.21683257 +v 0.02853162 0.11900643 0.21683258 +v 0.03667791 0.11620860 0.23562281 +v -0.01343011 0.11027953 0.21790649 +v 0.05562440 0.09581001 0.21683249 +v -0.01343011 0.10960696 0.23443334 +v 0.05395472 0.09580997 0.22736299 +v 0.07633725 0.09581001 0.21683249 +v 0.07349879 0.09805084 0.21683250 +v 0.07294515 0.09757529 0.23562274 +v 0.06886762 0.10050439 0.23562275 +v 0.06256677 0.10458150 0.23562276 +v 0.05848923 0.10686698 0.23562277 +v 0.05299686 0.10956491 0.23562278 +v 0.04155514 0.11456410 0.23562280 +v 0.04564147 0.11290121 0.23562279 +v 0.03667791 0.11666839 0.21683257 +v 0.04231089 0.11483738 0.21683256 +v -0.01343011 0.11020335 0.21877153 +v 0.05508835 0.09581001 0.21909832 +v -0.01343011 0.10960172 0.22736304 +v -0.01343011 0.10967266 0.22617114 +v -0.01343011 0.11017707 0.21909837 +v 0.05497411 0.09581000 0.21990684 +v 0.07108215 0.09978204 0.21683251 +v 0.06984307 0.10065157 0.21683251 +v 0.06482523 0.10398786 0.21683252 +v 0.06328737 0.10500977 0.21683253 +v 0.05920983 0.10723746 0.21683253 +v 0.05480714 0.10943101 0.21683254 +v 0.06032588 0.10663062 0.21683253 +v 0.05299686 0.11031631 0.21683255 +v 0.04639722 0.11328219 0.21683256 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 18 +f 1 18 17 +f 1 17 16 +f 1 16 25 +f 1 25 35 +f 1 35 44 +f 1 44 43 +f 1 43 59 +f 1 59 60 +f 1 60 75 +f 1 75 74 +f 1 74 72 +f 1 72 71 +f 1 71 73 +f 1 73 70 +f 1 70 69 +f 1 69 68 +f 1 68 67 +f 1 67 51 +f 1 51 50 +f 1 50 47 +f 1 47 36 +f 1 36 26 +f 1 26 19 +f 1 19 6 +f 1 6 2 +f 2 6 3 +f 3 6 7 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 4 +f 4 12 13 +f 4 13 14 +f 4 14 15 +f 4 15 16 +f 4 16 17 +f 4 17 18 +f 4 18 5 +f 6 19 20 +f 6 20 7 +f 7 20 8 +f 8 20 26 +f 8 26 36 +f 8 36 46 +f 8 46 61 +f 8 61 65 +f 8 65 64 +f 8 64 63 +f 8 63 48 +f 8 48 37 +f 8 37 27 +f 8 27 21 +f 8 21 9 +f 9 21 22 +f 9 22 13 +f 9 13 10 +f 10 13 12 +f 10 12 11 +f 13 22 14 +f 14 23 15 +f 14 22 23 +f 15 23 24 +f 15 24 16 +f 16 24 25 +f 19 26 20 +f 21 27 28 +f 21 28 29 +f 21 29 22 +f 22 29 30 +f 22 30 31 +f 22 31 23 +f 23 31 32 +f 23 32 33 +f 23 33 24 +f 24 33 34 +f 24 34 35 +f 24 35 25 +f 27 37 28 +f 28 38 49 +f 28 49 66 +f 28 66 62 +f 28 62 47 +f 28 47 50 +f 28 50 39 +f 28 39 30 +f 28 30 29 +f 28 37 38 +f 30 39 40 +f 30 40 31 +f 31 40 32 +f 32 40 41 +f 32 41 42 +f 32 42 33 +f 33 42 34 +f 34 43 44 +f 34 44 35 +f 34 42 45 +f 34 45 43 +f 36 47 46 +f 37 48 38 +f 38 48 49 +f 39 50 51 +f 39 51 52 +f 39 52 40 +f 40 52 53 +f 40 53 41 +f 41 53 54 +f 41 54 55 +f 41 55 56 +f 41 56 42 +f 42 57 45 +f 42 56 58 +f 42 58 57 +f 43 45 59 +f 45 57 60 +f 45 60 59 +f 46 47 61 +f 47 62 63 +f 47 63 64 +f 47 64 65 +f 47 65 61 +f 48 63 49 +f 49 63 66 +f 51 67 53 +f 51 53 52 +f 53 67 68 +f 53 68 69 +f 53 69 70 +f 53 70 54 +f 54 70 55 +f 55 71 72 +f 55 72 56 +f 55 70 73 +f 55 73 71 +f 56 74 58 +f 56 72 74 +f 57 58 75 +f 57 75 60 +f 58 74 75 +f 62 66 63 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_2.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_2.obj new file mode 100644 index 0000000000000000000000000000000000000000..64101755776791086ca3606c72fac54707b555bb --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_2.obj @@ -0,0 +1,328 @@ +# https://github.com/mikedh/trimesh +v 0.12756341 -0.00039131 0.14477430 +v 0.12291884 -0.00039131 0.14477430 +v 0.12756796 -0.00039131 0.14472513 +v 0.12275035 -0.00010578 0.21682725 +v 0.11688544 -0.00039131 0.14474972 +v 0.10820645 -0.00010578 0.21682725 +v 0.12773189 -0.00039129 0.14005328 +v 0.12756796 -0.00006039 0.14477430 +v 0.12734483 -0.00006041 0.14866751 +v 0.12708985 -0.00006042 0.15298691 +v 0.12684395 -0.00006044 0.15691290 +v 0.12656619 -0.00006045 0.16124870 +v 0.12601522 -0.00006048 0.16950229 +v 0.12273668 0.00425646 0.21682727 +v 0.12603342 0.00421904 0.16950231 +v 0.11688544 -0.00039131 0.14472513 +v 0.08143639 0.07567699 0.21682753 +v 0.08663194 0.07644435 0.16124898 +v 0.08831673 0.07644441 0.14477458 +v 0.11771873 -0.00039127 0.13310289 +v 0.11756846 -0.00039128 0.13499622 +v 0.11745463 -0.00039128 0.13646333 +v 0.12785483 -0.00039128 0.13646333 +v 0.12755431 0.00421913 0.14472515 +v 0.12708985 0.00421910 0.15298693 +v 0.12657985 0.00421907 0.16124872 +v 0.12237241 0.00870896 0.21682728 +v 0.12540505 0.01237193 0.16950234 +v 0.09647206 0.07567699 0.21682753 +v 0.08374047 0.07644423 0.19198479 +v 0.08377234 0.07644424 0.19161596 +v 0.10246448 0.07644441 0.14477458 +v 0.09061171 0.07500792 0.13310317 +v 0.12795045 -0.00039127 0.13310289 +v 0.12790948 -0.00039127 0.13456181 +v 0.12795045 0.00090988 0.13310289 +v 0.12783662 0.00421916 0.13646335 +v 0.12759983 0.01237206 0.13310294 +v 0.12747689 0.01237205 0.13646338 +v 0.12754974 0.00426425 0.14477432 +v 0.12700788 0.01237202 0.14477435 +v 0.12234964 0.01651592 0.20688530 +v 0.12193072 0.01195809 0.21682729 +v 0.12482220 0.01237190 0.17776413 +v 0.12655253 0.02052494 0.13646341 +v 0.09811133 0.07644423 0.19198479 +v 0.09803847 0.07372902 0.21682752 +v 0.10014219 0.07644431 0.17081397 +v 0.10200002 0.07644439 0.15016770 +v 0.10354821 0.07500788 0.14477458 +v 0.10393071 0.07500790 0.14002078 +v 0.10447713 0.07500792 0.13310317 +v 0.12793223 0.00421917 0.13310291 +v 0.12675743 0.02052495 0.13310297 +v 0.12251357 0.01737335 0.20256589 +v 0.12244981 0.02512017 0.18347693 +v 0.11948549 0.02642119 0.21682735 +v 0.12065119 0.02032157 0.21682732 +v 0.12096537 0.01844881 0.21682732 +v 0.12181688 0.01274780 0.21682730 +v 0.12431675 0.02052482 0.16950237 +v 0.12527299 0.02867784 0.13310300 +v 0.10072959 0.06996094 0.21682751 +v 0.10504632 0.07204453 0.15298717 +v 0.10111664 0.07644435 0.16029003 +v 0.10537417 0.07257855 0.14477457 +v 0.10581130 0.07324046 0.13310316 +v 0.12282320 0.01901298 0.19430412 +v 0.12373847 0.02052479 0.17776416 +v 0.12303723 0.02105876 0.18614890 +v 0.12265928 0.02606033 0.17776418 +v 0.12244071 0.03311521 0.15862604 +v 0.11901192 0.02867001 0.21682736 +v 0.12423025 0.03301000 0.13310301 +v 0.12295526 0.02740664 0.16950239 +v 0.10187708 0.06826117 0.21682750 +v 0.10809261 0.06850211 0.14477455 +v 0.10608452 0.06544085 0.19097662 +v 0.10837493 0.06945733 0.13310315 +v 0.12296436 0.03490528 0.14477443 +v 0.12295526 0.03493537 0.14477443 +v 0.11852470 0.03682299 0.19430419 +v 0.11788265 0.03682296 0.20256597 +v 0.11676705 0.03682290 0.21682739 +v 0.12332865 0.03662766 0.13310302 +v 0.12326946 0.03598083 0.13646346 +v 0.10500989 0.06359807 0.21682748 +v 0.11264157 0.06247774 0.13310312 +v 0.11022366 0.06649401 0.13310313 +v 0.10842957 0.06897597 0.13646358 +v 0.11251407 0.06222201 0.13646356 +v 0.12210375 0.04045591 0.13310304 +v 0.11541465 0.04094447 0.21682740 +v 0.10723655 0.05951411 0.21682747 +v 0.11478627 0.05840129 0.13310310 +v 0.11465422 0.05814557 0.13646354 +v 0.12155733 0.04208047 0.13310304 +v 0.11482269 0.04269689 0.21682741 +v 0.11042401 0.05312116 0.21682745 +v 0.11438556 0.05761154 0.14295496 +v 0.11734079 0.05311395 0.13310309 +v 0.11708124 0.05311394 0.13646353 +v 0.12064663 0.04472790 0.13310305 +v 0.11372530 0.04566021 0.21682742 +v 0.11115257 0.05152668 0.21682744 +v 0.11604759 0.05384345 0.14477450 +v 0.11561500 0.05474599 0.14477450 +v 0.11881157 0.04944364 0.13310307 +v 0.11427628 0.04925541 0.19148472 +v 0.11327905 0.04677334 0.21682742 +f 1 2 5 +f 1 5 16 +f 1 16 22 +f 1 22 21 +f 1 21 20 +f 1 20 34 +f 1 34 35 +f 1 35 23 +f 1 23 7 +f 1 7 3 +f 1 3 4 +f 1 4 6 +f 1 6 2 +f 2 6 5 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 13 +f 3 13 4 +f 4 14 27 +f 4 27 43 +f 4 43 60 +f 4 60 59 +f 4 59 58 +f 4 58 57 +f 4 57 73 +f 4 73 84 +f 4 84 93 +f 4 93 98 +f 4 98 104 +f 4 104 110 +f 4 110 105 +f 4 105 99 +f 4 99 94 +f 4 94 87 +f 4 87 76 +f 4 76 63 +f 4 63 47 +f 4 47 29 +f 4 29 17 +f 4 17 6 +f 4 13 15 +f 4 15 14 +f 5 6 16 +f 6 17 18 +f 6 18 19 +f 6 19 20 +f 6 20 21 +f 6 21 22 +f 6 22 16 +f 7 23 24 +f 7 24 8 +f 8 25 9 +f 8 24 25 +f 9 25 10 +f 10 25 26 +f 10 26 11 +f 11 26 12 +f 12 26 15 +f 12 15 13 +f 14 15 28 +f 14 28 27 +f 15 26 28 +f 17 29 46 +f 17 46 30 +f 17 30 31 +f 17 31 18 +f 18 31 30 +f 18 30 46 +f 18 46 48 +f 18 48 65 +f 18 65 49 +f 18 49 32 +f 18 32 19 +f 19 32 52 +f 19 52 33 +f 19 33 20 +f 20 33 52 +f 20 52 67 +f 20 67 79 +f 20 79 89 +f 20 89 88 +f 20 88 95 +f 20 95 101 +f 20 101 108 +f 20 108 103 +f 20 103 97 +f 20 97 92 +f 20 92 85 +f 20 85 74 +f 20 74 62 +f 20 62 54 +f 20 54 38 +f 20 38 53 +f 20 53 36 +f 20 36 34 +f 23 35 36 +f 23 36 37 +f 23 37 24 +f 24 37 38 +f 24 38 39 +f 24 39 40 +f 24 40 25 +f 25 40 39 +f 25 39 41 +f 25 41 26 +f 26 41 28 +f 27 42 43 +f 27 28 44 +f 27 44 42 +f 28 41 45 +f 28 45 42 +f 28 42 44 +f 29 47 48 +f 29 48 46 +f 32 49 50 +f 32 50 51 +f 32 51 52 +f 34 36 35 +f 36 53 37 +f 37 53 38 +f 38 54 39 +f 39 54 41 +f 41 54 45 +f 42 55 56 +f 42 56 57 +f 42 57 58 +f 42 58 59 +f 42 59 60 +f 42 60 43 +f 42 45 61 +f 42 61 55 +f 45 54 62 +f 45 62 61 +f 47 63 64 +f 47 64 65 +f 47 65 48 +f 49 65 66 +f 49 66 50 +f 50 66 51 +f 51 66 67 +f 51 67 52 +f 55 68 56 +f 55 61 69 +f 55 69 68 +f 56 70 69 +f 56 69 61 +f 56 61 62 +f 56 62 71 +f 56 71 72 +f 56 72 73 +f 56 73 57 +f 56 68 70 +f 62 74 72 +f 62 72 75 +f 62 75 71 +f 63 76 64 +f 64 77 66 +f 64 66 65 +f 64 76 78 +f 64 78 77 +f 66 77 79 +f 66 79 67 +f 68 69 70 +f 71 75 72 +f 72 74 80 +f 72 80 81 +f 72 81 82 +f 72 82 83 +f 72 83 84 +f 72 84 73 +f 74 85 86 +f 74 86 80 +f 76 87 78 +f 77 88 89 +f 77 89 90 +f 77 90 79 +f 77 78 88 +f 78 87 91 +f 78 91 88 +f 79 90 89 +f 80 86 81 +f 81 86 85 +f 81 85 82 +f 82 85 92 +f 82 92 83 +f 83 92 93 +f 83 93 84 +f 87 94 91 +f 88 91 95 +f 91 96 95 +f 91 94 96 +f 92 97 93 +f 93 97 98 +f 94 99 100 +f 94 100 96 +f 95 96 101 +f 96 100 102 +f 96 102 101 +f 97 103 98 +f 98 103 104 +f 99 105 102 +f 99 102 106 +f 99 106 107 +f 99 107 100 +f 100 107 102 +f 101 102 108 +f 102 107 106 +f 102 105 109 +f 102 109 110 +f 102 110 104 +f 102 104 108 +f 103 108 104 +f 105 110 109 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_20.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_20.obj new file mode 100644 index 0000000000000000000000000000000000000000..0908206985b7663374033fb6ffaff8201320f88d --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_20.obj @@ -0,0 +1,187 @@ +# https://github.com/mikedh/trimesh +v -0.06928591 0.08985598 0.19199259 +v -0.07452760 0.08985616 0.14476542 +v -0.08613227 0.08985598 0.19199259 +v -0.10914846 0.02999418 0.19199237 +v -0.10946500 0.02999420 0.18706902 +v -0.10953475 0.02999421 0.18601038 +v -0.11000687 0.02999423 0.17899751 +v -0.11056484 0.02999426 0.17085201 +v -0.11124084 0.02999430 0.16124570 +v -0.11243189 0.02999435 0.14610584 +v -0.11254455 0.02999436 0.14476520 +v -0.09098230 0.08985616 0.14476542 +v -0.08986636 0.08985611 0.15785275 +v -0.08954446 0.08959241 0.16333545 +v -0.08799394 0.08805708 0.19199258 +v -0.12033466 0.02999418 0.19199237 +v -0.12409021 0.02999436 0.14476520 +v -0.09031167 0.08985613 0.15298949 +v -0.09449643 0.08614116 0.14476541 +v -0.09482906 0.08501609 0.15308194 +v -0.09277960 0.08642236 0.16084373 +v -0.09195874 0.08397879 0.19199257 +v -0.09085890 0.08512141 0.19199257 +v -0.12042049 0.02999419 0.19091986 +v -0.11853199 0.03682063 0.19199240 +v -0.12290990 0.03454727 0.14476522 +v -0.09828954 0.08204529 0.14476539 +v -0.09804811 0.08181089 0.15039142 +v -0.09780131 0.08152961 0.15590186 +v -0.09754916 0.08121903 0.16124589 +v -0.09603620 0.07932625 0.19199255 +v -0.11779697 0.03910001 0.19199240 +v -0.11894510 0.04497736 0.15298009 +v -0.11957818 0.04493051 0.14476526 +v -0.10169636 0.07759199 0.14476538 +v -0.10047849 0.07831855 0.15308192 +v -0.10063408 0.07714073 0.16124587 +v -0.09920160 0.07524796 0.19199254 +v -0.09832173 0.07638473 0.19199254 +v -0.11566167 0.04544011 0.19199243 +v -0.11462621 0.04819999 0.19199244 +v -0.11430430 0.04920200 0.19118807 +v -0.11595138 0.05260071 0.15298011 +v -0.11956208 0.04497739 0.14476526 +v -0.10544119 0.07258202 0.14476536 +v -0.10509782 0.07210736 0.15298018 +v -0.10471691 0.07154481 0.16124585 +v -0.10360096 0.06893130 0.19199251 +v -0.11379462 0.05008679 0.19199244 +v -0.11573141 0.05455199 0.14476529 +v -0.11595674 0.05409494 0.14476529 +v -0.11602113 0.05388400 0.14520446 +v -0.11607478 0.05384884 0.14476529 +v -0.10814519 0.06852717 0.14476534 +v -0.10780182 0.06803493 0.15298017 +v -0.10612256 0.06542726 0.19078132 +v -0.10513538 0.06670465 0.19199251 +v -0.10792522 0.06175327 0.19199249 +v -0.11414872 0.05710677 0.14828329 +v -0.11290938 0.06012448 0.14476531 +v -0.10860122 0.06773026 0.14476534 +v -0.11257675 0.06075732 0.14476531 +v -0.10675027 0.06403267 0.19199250 +f 1 2 12 +f 1 12 18 +f 1 18 13 +f 1 13 3 +f 1 3 15 +f 1 15 23 +f 1 23 22 +f 1 22 31 +f 1 31 39 +f 1 39 38 +f 1 38 48 +f 1 48 57 +f 1 57 63 +f 1 63 58 +f 1 58 49 +f 1 49 41 +f 1 41 40 +f 1 40 32 +f 1 32 25 +f 1 25 16 +f 1 16 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 10 +f 1 10 11 +f 1 11 2 +f 2 11 17 +f 2 17 26 +f 2 26 34 +f 2 34 44 +f 2 44 53 +f 2 53 51 +f 2 51 50 +f 2 50 60 +f 2 60 62 +f 2 62 61 +f 2 61 54 +f 2 54 45 +f 2 45 35 +f 2 35 27 +f 2 27 19 +f 2 19 12 +f 3 13 14 +f 3 14 15 +f 4 16 24 +f 4 24 17 +f 4 17 11 +f 4 11 10 +f 4 10 9 +f 4 9 8 +f 4 8 7 +f 4 7 6 +f 4 6 5 +f 12 19 18 +f 13 18 20 +f 13 20 21 +f 13 21 22 +f 13 22 23 +f 13 23 14 +f 14 23 15 +f 16 25 24 +f 17 24 26 +f 18 19 20 +f 19 27 28 +f 19 28 20 +f 20 28 29 +f 20 29 21 +f 21 29 22 +f 22 29 30 +f 22 30 31 +f 24 25 26 +f 25 32 33 +f 25 33 26 +f 26 33 34 +f 27 35 28 +f 28 35 36 +f 28 36 29 +f 29 36 37 +f 29 37 30 +f 30 37 38 +f 30 38 39 +f 30 39 31 +f 32 40 33 +f 33 40 41 +f 33 41 42 +f 33 42 43 +f 33 43 44 +f 33 44 34 +f 35 45 36 +f 36 45 46 +f 36 46 37 +f 37 46 38 +f 38 46 47 +f 38 47 48 +f 41 49 42 +f 42 49 50 +f 42 50 51 +f 42 51 52 +f 42 52 53 +f 42 53 43 +f 43 53 44 +f 45 54 46 +f 46 54 55 +f 46 55 56 +f 46 56 47 +f 47 56 57 +f 47 57 48 +f 49 58 59 +f 49 59 50 +f 50 59 60 +f 51 53 52 +f 54 61 55 +f 55 61 62 +f 55 62 56 +f 56 62 60 +f 56 60 63 +f 56 63 57 +f 58 63 60 +f 58 60 59 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_21.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_21.obj new file mode 100644 index 0000000000000000000000000000000000000000..c3b18991fcbe245b740da093d875f5cea37fadad --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_21.obj @@ -0,0 +1,208 @@ +# https://github.com/mikedh/trimesh +v -0.02259168 0.01126044 0.22200608 +v -0.02259168 0.01126044 0.22226392 +v -0.02091384 0.01126045 0.22127803 +v -0.10637568 0.00689977 0.22735856 +v -0.02238872 0.01126043 0.22594601 +v -0.00914186 0.01126046 0.21683154 +v -0.10637568 0.00455653 0.21938430 +v -0.10637568 0.00462763 0.23288714 +v -0.01191572 0.01126040 0.23538003 +v -0.02200985 0.01126043 0.22693917 +v 0.01059988 0.01126046 0.21683154 +v -0.01271405 0.00453588 0.21683152 +v -0.01368828 -0.00460770 0.21683148 +v -0.10637568 -0.00442640 0.21936974 +v -0.10637568 0.00353517 0.23454844 +v 0.01183120 0.01126040 0.23538003 +v -0.10637568 -0.00213367 0.23456840 +v -0.01427011 0.00432468 0.23538001 +v 0.01337373 0.01126046 0.21758503 +v 0.03185709 0.00462079 0.21971838 +v 0.02076166 0.00386572 0.21683151 +v -0.00976429 -0.01210113 0.21683146 +v -0.10637568 -0.00492673 0.22097657 +v -0.00973723 -0.01218604 0.21684054 +v 0.01195298 0.01115024 0.23538003 +v 0.03185709 0.00202961 0.23250949 +v 0.03185709 0.00628470 0.22719333 +v 0.01682414 0.01126041 0.23166887 +v -0.10637568 -0.00335694 0.23456840 +v -0.01445955 -0.00422219 0.23537997 +v 0.02271013 0.01126045 0.22066797 +v 0.02664765 0.01050536 0.22261977 +v 0.03185709 -0.00394672 0.21869069 +v 0.02488862 0.01126044 0.22206965 +v 0.02188474 -0.00401787 0.21683149 +v -0.00922305 -0.01218604 0.21683146 +v -0.10637568 -0.00684315 0.22735850 +v -0.02110327 -0.01218605 0.22126342 +v 0.01444268 0.00467812 0.23538001 +v 0.03185709 -0.00206022 0.23250947 +v 0.02664765 0.01050536 0.22417214 +v 0.02430679 0.01126043 0.22561739 +v -0.01294407 -0.01218610 0.23472270 +v -0.00849237 -0.01218610 0.23537995 +v -0.01184806 -0.01127037 0.23537995 +v -0.01196984 -0.01115332 0.23537995 +v 0.03185709 -0.00901427 0.22244721 +v 0.02142468 -0.01218605 0.22050448 +v 0.02084285 -0.01218605 0.22027208 +v 0.01229125 -0.01218604 0.21730353 +v 0.01062694 -0.01218604 0.21684963 +v 0.01055928 -0.01218604 0.21683146 +v -0.02133330 -0.01218605 0.22135784 +v -0.02085971 -0.01218608 0.22747832 +v -0.02080559 -0.01218608 0.22756185 +v -0.02062969 -0.01218608 0.22775067 +v -0.01692219 -0.01218609 0.23150903 +v -0.01370181 -0.01218610 0.23416530 +v 0.01428031 -0.00420842 0.23537997 +v 0.03185709 -0.00447234 0.23041059 +v 0.01195298 -0.01101562 0.23537995 +v 0.01180414 -0.01114643 0.23537995 +v 0.01344139 -0.01218610 0.23414895 +v 0.00802899 -0.01218610 0.23537995 +v 0.03185709 -0.00901427 0.22452067 +v 0.02142468 -0.01218605 0.22070239 +v 0.03185709 -0.00613626 0.22865124 +v 0.01208829 -0.01218610 0.23467368 +v 0.02059929 -0.01218608 0.22788503 +v 0.03185709 -0.00813067 0.22620739 +f 1 2 5 +f 1 5 10 +f 1 10 9 +f 1 9 16 +f 1 16 28 +f 1 28 42 +f 1 42 34 +f 1 34 31 +f 1 31 19 +f 1 19 11 +f 1 11 6 +f 1 6 3 +f 1 3 4 +f 1 4 2 +f 2 4 5 +f 3 6 4 +f 4 7 14 +f 4 14 23 +f 4 23 37 +f 4 37 29 +f 4 29 17 +f 4 17 15 +f 4 15 8 +f 4 8 9 +f 4 9 10 +f 4 10 5 +f 4 6 7 +f 6 11 21 +f 6 21 35 +f 6 35 52 +f 6 52 36 +f 6 36 22 +f 6 22 13 +f 6 13 12 +f 6 12 7 +f 7 13 14 +f 7 12 13 +f 8 15 9 +f 9 15 17 +f 9 17 18 +f 9 18 30 +f 9 30 46 +f 9 46 45 +f 9 45 44 +f 9 44 64 +f 9 64 62 +f 9 62 61 +f 9 61 59 +f 9 59 39 +f 9 39 25 +f 9 25 16 +f 11 19 20 +f 11 20 21 +f 13 22 14 +f 14 22 24 +f 14 24 23 +f 16 25 26 +f 16 26 27 +f 16 27 28 +f 17 29 30 +f 17 30 18 +f 19 31 20 +f 20 32 27 +f 20 27 26 +f 20 26 40 +f 20 40 60 +f 20 60 67 +f 20 67 70 +f 20 70 65 +f 20 65 47 +f 20 47 33 +f 20 33 21 +f 20 31 34 +f 20 34 32 +f 21 33 35 +f 22 36 24 +f 23 24 37 +f 24 38 37 +f 24 36 52 +f 24 52 51 +f 24 51 50 +f 24 50 49 +f 24 49 48 +f 24 48 66 +f 24 66 69 +f 24 69 63 +f 24 63 68 +f 24 68 64 +f 24 64 44 +f 24 44 43 +f 24 43 58 +f 24 58 57 +f 24 57 56 +f 24 56 55 +f 24 55 54 +f 24 54 53 +f 24 53 38 +f 25 39 26 +f 26 39 40 +f 27 41 42 +f 27 42 28 +f 27 32 41 +f 29 37 43 +f 29 43 44 +f 29 44 45 +f 29 45 46 +f 29 46 30 +f 32 34 41 +f 33 47 48 +f 33 48 49 +f 33 49 50 +f 33 50 51 +f 33 51 52 +f 33 52 35 +f 34 42 41 +f 37 38 53 +f 37 53 54 +f 37 54 55 +f 37 55 56 +f 37 56 57 +f 37 57 58 +f 37 58 43 +f 39 59 40 +f 40 59 61 +f 40 61 62 +f 40 62 63 +f 40 63 60 +f 47 65 66 +f 47 66 48 +f 60 63 67 +f 62 68 63 +f 62 64 68 +f 63 69 65 +f 63 65 70 +f 63 70 67 +f 65 69 66 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_22.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_22.obj new file mode 100644 index 0000000000000000000000000000000000000000..6779dcf12ecaae481158dacd249a7393a449cbbe --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_22.obj @@ -0,0 +1,202 @@ +# https://github.com/mikedh/trimesh +v -0.00411814 0.13325532 0.06545745 +v -0.00745941 0.13301281 0.06545745 +v -0.01210849 0.13086472 0.08722508 +v -0.00445565 0.13137670 0.08722508 +v -0.00410970 0.13139981 0.08722508 +v 0.00011750 0.13140366 0.08722508 +v 0.00012594 0.13321683 0.06545745 +v -0.01226880 0.13263171 0.06545745 +v -0.01229411 0.13088014 0.08683728 +v -0.01696851 0.13067227 0.08406732 +v -0.01267380 0.13080699 0.08722508 +v 0.00011750 0.12037111 0.08722504 +v 0.00012594 0.13220054 0.07624112 +v 0.00012594 0.12171850 0.06545741 +v -0.01594757 0.13218518 0.06545745 +v -0.02057134 0.13159236 0.06545744 +v -0.02858699 0.12820861 0.08722507 +v -0.02038571 0.12965215 0.08722508 +v -0.01928883 0.12983307 0.08722508 +v -0.07594687 0.09392925 0.07624098 +v 0.00011750 0.12037881 0.08705032 +v 0.00012594 0.12112565 0.07624107 +v -0.06674996 0.10001519 0.08722497 +v 0.00011750 0.12039036 0.08686281 +v -0.07594687 0.09471842 0.06545731 +v -0.02512760 0.13072238 0.06545744 +v -0.02694167 0.13035669 0.06545744 +v -0.03674609 0.12648404 0.08686283 +v -0.03674609 0.12645325 0.08722506 +v -0.08511847 0.10001519 0.08722497 +v -0.08515222 0.10001519 0.08686274 +v -0.08588629 0.10001522 0.07859973 +v -0.08602972 0.10001523 0.07685892 +v -0.08607191 0.10001523 0.07624100 +v -0.07594687 0.10908074 0.06545736 +v -0.03294920 0.12884385 0.06545743 +v -0.03674609 0.12699220 0.07859983 +v -0.04488831 0.12527925 0.06545742 +v -0.04487987 0.12437458 0.07859982 +v -0.04531862 0.12361235 0.08722505 +v -0.03705827 0.12635316 0.08722506 +v -0.08449409 0.10058106 0.08722497 +v -0.08487379 0.10091984 0.07859973 +v -0.08497504 0.10100455 0.07624100 +v -0.07558405 0.10764867 0.08722500 +v -0.07329748 0.11087844 0.06545737 +v -0.08362503 0.10216708 0.07624101 +v -0.08022470 0.10508112 0.07624102 +v -0.08011501 0.10499642 0.07859975 +v -0.07968470 0.10466919 0.08686275 +v -0.03674609 0.12777756 0.06545743 +v -0.04008735 0.12675745 0.06545743 +v -0.05051614 0.12312355 0.06545741 +v -0.04905645 0.12247292 0.08335989 +v -0.04546206 0.12361620 0.08641324 +v -0.04648300 0.12314273 0.08722505 +v -0.07987876 0.10447672 0.08722498 +v -0.06868215 0.11219487 0.08722501 +v -0.07082528 0.11254910 0.06545737 +v -0.07965939 0.10465764 0.08722498 +v -0.05218677 0.12234982 0.06545741 +v -0.06194900 0.11600968 0.08722503 +v -0.05307272 0.12024023 0.08722504 +v -0.05105614 0.12117181 0.08722505 +v -0.06842059 0.11409658 0.06545738 +v -0.06550964 0.11441602 0.08471287 +v -0.06119806 0.11795374 0.06545739 +v -0.06674152 0.11514748 0.06545738 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 14 +f 1 14 25 +f 1 25 35 +f 1 35 46 +f 1 46 59 +f 1 59 65 +f 1 65 68 +f 1 68 67 +f 1 67 61 +f 1 61 53 +f 1 53 38 +f 1 38 52 +f 1 52 51 +f 1 51 36 +f 1 36 27 +f 1 27 26 +f 1 26 16 +f 1 16 15 +f 1 15 8 +f 1 8 2 +f 2 8 3 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 19 +f 3 19 18 +f 3 18 17 +f 3 17 29 +f 3 29 41 +f 3 41 40 +f 3 40 56 +f 3 56 64 +f 3 64 63 +f 3 63 62 +f 3 62 58 +f 3 58 45 +f 3 45 60 +f 3 60 57 +f 3 57 42 +f 3 42 30 +f 3 30 23 +f 3 23 12 +f 3 12 6 +f 3 6 5 +f 3 5 4 +f 6 12 22 +f 6 22 13 +f 6 13 7 +f 7 13 22 +f 7 22 14 +f 8 15 10 +f 8 10 9 +f 10 16 17 +f 10 17 18 +f 10 18 19 +f 10 19 11 +f 10 15 16 +f 12 20 21 +f 12 21 22 +f 12 23 20 +f 14 22 21 +f 14 21 24 +f 14 24 20 +f 14 20 25 +f 16 26 17 +f 17 26 27 +f 17 27 28 +f 17 28 29 +f 20 30 31 +f 20 31 32 +f 20 32 33 +f 20 33 34 +f 20 34 25 +f 20 24 21 +f 20 23 30 +f 25 34 35 +f 27 36 28 +f 28 37 38 +f 28 38 39 +f 28 39 40 +f 28 40 41 +f 28 41 29 +f 28 36 37 +f 30 42 31 +f 31 42 32 +f 32 42 43 +f 32 43 44 +f 32 44 33 +f 33 44 34 +f 34 44 35 +f 35 45 46 +f 35 44 47 +f 35 47 48 +f 35 48 49 +f 35 49 50 +f 35 50 45 +f 36 51 37 +f 37 51 52 +f 37 52 38 +f 38 53 54 +f 38 54 55 +f 38 55 39 +f 39 55 40 +f 40 55 54 +f 40 54 56 +f 42 57 49 +f 42 49 43 +f 43 49 48 +f 43 48 47 +f 43 47 44 +f 45 58 59 +f 45 59 46 +f 45 50 60 +f 49 57 50 +f 50 57 60 +f 53 61 54 +f 54 61 62 +f 54 62 63 +f 54 63 64 +f 54 64 56 +f 58 65 59 +f 58 62 66 +f 58 66 65 +f 61 67 62 +f 62 67 66 +f 65 66 68 +f 66 67 68 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_23.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_23.obj new file mode 100644 index 0000000000000000000000000000000000000000..d86dc3bb75b0fb63b03a291038f72ffb3a461957 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_23.obj @@ -0,0 +1,133 @@ +# https://github.com/mikedh/trimesh +v -0.00124431 0.04160374 0.19199241 +v 0.00114316 0.04160374 0.19199241 +v -0.00261373 0.03895678 0.19199240 +v -0.00253141 0.03520647 0.20256964 +v -0.00139290 0.03372498 0.20805151 +v 0.00264712 0.03738726 0.19456683 +v 0.00282784 0.03721632 0.19199240 +v 0.00011910 0.03372498 0.20805151 +v 0.00133391 0.03371980 0.20805151 +v 0.00248448 0.03520647 0.20256964 +v -0.00292497 0.03721114 0.19199240 +v -0.01270574 0.00454110 0.21682486 +v -0.00289686 0.02868488 0.21081553 +v -0.00361169 0.02246373 0.21682492 +v -0.00204548 0.02453571 0.21682493 +v -0.00146117 0.02598092 0.21605188 +v 0.00011910 0.02598610 0.21605188 +v 0.00433983 0.02866419 0.20256962 +v 0.00683372 0.01402559 0.21682489 +v 0.00683372 0.01236801 0.21520829 +v 0.00683372 0.00434428 0.21113147 +v 0.00683372 -0.00438911 0.21088347 +v 0.00181582 0.02988669 0.19199237 +v 0.00138411 0.02598610 0.21605188 +v 0.00197245 0.02450981 0.21682493 +v 0.00284189 0.02869006 0.21081553 +v -0.00263181 0.03147175 0.19199238 +v -0.01367960 -0.00460152 0.21682482 +v -0.00795692 0.01400487 0.21682489 +v 0.00011910 0.02454089 0.21682493 +v 0.00412899 0.01997217 0.21682491 +v 0.00683372 -0.01131473 0.21682480 +v 0.00683372 -0.01131472 0.21511096 +v 0.00305072 -0.01131470 0.21008609 +v 0.00297442 -0.01131470 0.20998642 +v -0.00188485 0.02988669 0.19199237 +v 0.00109095 -0.00256575 0.20605311 +v 0.00012311 0.02454089 0.21682493 +v -0.01032229 -0.00247771 0.21266055 +v -0.00309364 -0.01126290 0.21000343 +v -0.01016166 -0.01126293 0.21682480 +v 0.00011910 -0.01131473 0.21682480 +v 0.00011910 -0.01131470 0.20998642 +v 0.00011910 -0.00256575 0.20605311 +v -0.00191697 -0.00256057 0.20605311 +f 1 2 7 +f 1 7 23 +f 1 23 36 +f 1 36 27 +f 1 27 11 +f 1 11 3 +f 1 3 4 +f 1 4 5 +f 1 5 8 +f 1 8 2 +f 2 6 7 +f 2 8 9 +f 2 9 10 +f 2 10 6 +f 3 11 12 +f 3 12 4 +f 4 12 5 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 5 15 16 +f 5 16 17 +f 5 17 24 +f 5 24 8 +f 6 10 18 +f 6 18 7 +f 7 18 19 +f 7 19 20 +f 7 20 21 +f 7 21 22 +f 7 22 23 +f 8 24 9 +f 9 24 25 +f 9 25 26 +f 9 26 10 +f 10 26 19 +f 10 19 18 +f 11 27 28 +f 11 28 12 +f 12 28 41 +f 12 41 42 +f 12 42 32 +f 12 32 19 +f 12 19 31 +f 12 31 25 +f 12 25 38 +f 12 38 30 +f 12 30 15 +f 12 15 14 +f 12 14 29 +f 12 29 13 +f 13 29 14 +f 15 30 17 +f 15 17 16 +f 17 30 38 +f 17 38 24 +f 19 26 31 +f 19 32 33 +f 19 33 22 +f 19 22 21 +f 19 21 20 +f 22 33 34 +f 22 34 35 +f 22 35 23 +f 23 35 37 +f 23 37 44 +f 23 44 36 +f 24 38 25 +f 25 31 26 +f 27 36 39 +f 27 39 28 +f 28 39 40 +f 28 40 41 +f 32 42 43 +f 32 43 35 +f 32 35 34 +f 32 34 33 +f 35 43 44 +f 35 44 37 +f 36 44 45 +f 36 45 40 +f 36 40 39 +f 40 43 41 +f 40 45 43 +f 41 43 42 +f 43 45 44 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_24.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_24.obj new file mode 100644 index 0000000000000000000000000000000000000000..02f0faf73106502118f9dc7a47bd0bca08d7776b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_24.obj @@ -0,0 +1,175 @@ +# https://github.com/mikedh/trimesh +v -0.08980650 0.08186707 0.06545726 +v -0.08995976 0.08186708 0.06207051 +v -0.10466912 0.08186707 0.06545726 +v -0.12050104 0.01891943 0.06545703 +v -0.08996391 0.08186708 0.06205748 +v -0.12066673 0.01891944 0.06207028 +v -0.12077028 0.01891945 0.06114343 +v -0.12159875 0.01891946 0.05677573 +v -0.10473540 0.08186707 0.06491919 +v -0.10551000 0.08089334 0.06545726 +v -0.13176398 0.01891943 0.06545703 +v -0.09428848 0.08186710 0.05590322 +v -0.12647011 0.01891947 0.05526271 +v -0.10507092 0.08186708 0.06211460 +v -0.10570055 0.08114603 0.06207051 +v -0.10670299 0.07922320 0.06545725 +v -0.13156516 0.02068201 0.06545704 +v -0.13212022 0.01891944 0.06207028 +v -0.10973930 0.06113519 0.05551436 +v -0.10279265 0.07837276 0.05568678 +v -0.10156238 0.08186710 0.05594530 +v -0.12647011 0.02051565 0.05522064 +v -0.13163143 0.01891946 0.05642603 +v -0.10483481 0.08186709 0.06114967 +v -0.10791255 0.07617876 0.05623285 +v -0.11510360 0.06674956 0.05679294 +v -0.10853804 0.07707237 0.06207049 +v -0.10837649 0.07681351 0.06545724 +v -0.13098523 0.02405927 0.06545705 +v -0.13193796 0.02051562 0.06207029 +v -0.13100180 0.02656143 0.05723868 +v -0.13179712 0.01891946 0.05761239 +v -0.11044350 0.06945508 0.05556951 +v -0.12543039 0.03682263 0.05554835 +v -0.13153616 0.02051564 0.05652424 +v -0.11652027 0.06127694 0.05572980 +v -0.11828075 0.06127691 0.06207044 +v -0.11526515 0.06701455 0.06207046 +v -0.11261407 0.07108821 0.06207047 +v -0.12318939 0.05076305 0.05679789 +v -0.11245252 0.07084168 0.06545722 +v -0.11004583 0.07437301 0.06545723 +v -0.13074083 0.02540894 0.06545705 +v -0.13094381 0.02630257 0.06207031 +v -0.12799034 0.03682260 0.06207035 +v -0.12556295 0.04497609 0.06207038 +v -0.12420840 0.04497611 0.05588706 +v -0.11880268 0.05333915 0.05561755 +v -0.12132950 0.05504007 0.06207041 +v -0.11797422 0.06127690 0.06545719 +v -0.11510774 0.06676186 0.06545721 +v -0.11354195 0.06917154 0.06545721 +v -0.12327639 0.05096024 0.06207040 +v -0.12772109 0.03682259 0.06545710 +v -0.12628785 0.04163580 0.06545711 +v -0.12528541 0.04497608 0.06545713 +v -0.12393501 0.04851357 0.06545714 +v -0.12118037 0.05467645 0.06545716 +v -0.12310655 0.05060279 0.06545715 +f 1 2 5 +f 1 5 12 +f 1 12 21 +f 1 21 24 +f 1 24 14 +f 1 14 9 +f 1 9 3 +f 1 3 10 +f 1 10 16 +f 1 16 28 +f 1 28 42 +f 1 42 41 +f 1 41 52 +f 1 52 51 +f 1 51 50 +f 1 50 58 +f 1 58 59 +f 1 59 57 +f 1 57 56 +f 1 56 55 +f 1 55 54 +f 1 54 43 +f 1 43 29 +f 1 29 17 +f 1 17 11 +f 1 11 4 +f 1 4 2 +f 2 4 6 +f 2 6 7 +f 2 7 8 +f 2 8 5 +f 3 9 10 +f 4 11 18 +f 4 18 32 +f 4 32 23 +f 4 23 13 +f 4 13 8 +f 4 8 7 +f 4 7 6 +f 5 8 12 +f 8 13 12 +f 9 14 15 +f 9 15 10 +f 10 15 16 +f 11 17 18 +f 12 19 20 +f 12 20 21 +f 12 13 22 +f 12 22 19 +f 13 23 22 +f 14 24 15 +f 15 25 26 +f 15 26 27 +f 15 27 16 +f 15 24 25 +f 16 27 28 +f 17 29 30 +f 17 30 18 +f 18 30 31 +f 18 31 32 +f 19 33 20 +f 19 22 33 +f 20 33 21 +f 21 33 25 +f 21 25 24 +f 22 23 34 +f 22 34 33 +f 23 32 35 +f 23 35 34 +f 25 33 36 +f 25 36 26 +f 26 37 38 +f 26 38 39 +f 26 39 27 +f 26 36 40 +f 26 40 37 +f 27 39 41 +f 27 41 42 +f 27 42 28 +f 29 43 44 +f 29 44 30 +f 30 44 31 +f 31 35 32 +f 31 44 45 +f 31 45 46 +f 31 46 40 +f 31 40 47 +f 31 47 35 +f 33 34 48 +f 33 48 36 +f 34 35 47 +f 34 47 36 +f 34 36 48 +f 36 47 40 +f 37 49 50 +f 37 50 51 +f 37 51 38 +f 37 40 49 +f 38 51 52 +f 38 52 39 +f 39 52 41 +f 40 46 53 +f 40 53 49 +f 43 54 44 +f 44 54 45 +f 45 54 46 +f 46 54 55 +f 46 55 56 +f 46 56 57 +f 46 57 53 +f 49 53 58 +f 49 58 50 +f 53 57 59 +f 53 59 58 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_25.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_25.obj new file mode 100644 index 0000000000000000000000000000000000000000..ddd0809aa8ac9b284f29b8ab00671d19d0e96e5b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_25.obj @@ -0,0 +1,142 @@ +# https://github.com/mikedh/trimesh +v -0.08066240 0.10108169 0.12133405 +v -0.08298497 0.09921461 0.12133404 +v -0.08248080 0.09875345 0.13309277 +v -0.08039615 0.10108168 0.12417042 +v -0.06125474 0.10108169 0.12133405 +v -0.08368174 0.09856814 0.12133404 +v -0.08490534 0.09650662 0.13309276 +v -0.08009591 0.10062505 0.13309278 +v -0.07951244 0.10108165 0.13309278 +v -0.05985553 0.10108166 0.13011943 +v -0.10489081 0.05489734 0.12135575 +v -0.10495312 0.05489734 0.12133388 +v -0.08655947 0.09496955 0.13309276 +v -0.08706363 0.09542166 0.12133403 +v -0.05950431 0.10108165 0.13309278 +v -0.10430166 0.05489732 0.12824063 +v -0.11737606 0.05489734 0.12133388 +v -0.08910863 0.09254641 0.13309275 +v -0.08779440 0.09472547 0.12133403 +v -0.10389380 0.05489730 0.13309261 +v -0.11705316 0.05489733 0.12582096 +v -0.11572193 0.05825629 0.12133389 +v -0.09084207 0.09089180 0.13309274 +v -0.09130092 0.09134844 0.12133402 +v -0.11649235 0.05489730 0.13309261 +v -0.11702484 0.05489733 0.12619047 +v -0.11479857 0.05831502 0.13309262 +v -0.11524608 0.05920565 0.12133390 +v -0.09537958 0.08714411 0.12133400 +v -0.09492073 0.08664226 0.13309273 +v -0.11687188 0.05489732 0.12818537 +v -0.11394318 0.05996963 0.13309263 +v -0.11315010 0.06328340 0.12133391 +v -0.09603104 0.08644791 0.12133400 +v -0.09718100 0.08422364 0.13309272 +v -0.11268559 0.06239277 0.13309264 +v -0.10841432 0.06947684 0.13309267 +v -0.11005145 0.06829696 0.12133393 +v -0.09918067 0.08306636 0.12133399 +v -0.09872749 0.08256451 0.13309271 +v -0.10585949 0.07325622 0.13309268 +v -0.10618805 0.07367215 0.12550562 +v -0.10674320 0.07333311 0.12133395 +v -0.10926970 0.06955825 0.12133394 +v -0.10334998 0.07785389 0.12133397 +v -0.10281748 0.07729328 0.13309269 +v -0.10482849 0.07462601 0.13309268 +v -0.10635799 0.07390273 0.12133395 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 15 +f 1 15 10 +f 1 10 5 +f 1 5 12 +f 1 12 17 +f 1 17 22 +f 1 22 28 +f 1 28 33 +f 1 33 38 +f 1 38 44 +f 1 44 43 +f 1 43 48 +f 1 48 45 +f 1 45 39 +f 1 39 34 +f 1 34 29 +f 1 29 24 +f 1 24 19 +f 1 19 14 +f 1 14 6 +f 1 6 2 +f 2 6 7 +f 2 7 3 +f 3 8 4 +f 3 7 13 +f 3 13 18 +f 3 18 23 +f 3 23 30 +f 3 30 35 +f 3 35 40 +f 3 40 46 +f 3 46 47 +f 3 47 41 +f 3 41 37 +f 3 37 36 +f 3 36 32 +f 3 32 27 +f 3 27 25 +f 3 25 20 +f 3 20 15 +f 3 15 9 +f 3 9 8 +f 4 8 9 +f 5 10 11 +f 5 11 12 +f 6 13 7 +f 6 14 13 +f 10 15 11 +f 11 16 20 +f 11 20 25 +f 11 25 31 +f 11 31 26 +f 11 26 21 +f 11 21 17 +f 11 17 12 +f 11 15 16 +f 13 14 18 +f 14 19 18 +f 15 20 16 +f 17 21 22 +f 18 19 23 +f 19 24 23 +f 21 26 27 +f 21 27 22 +f 22 27 28 +f 23 24 29 +f 23 29 30 +f 25 27 31 +f 26 31 27 +f 27 32 33 +f 27 33 28 +f 29 34 30 +f 30 34 35 +f 32 36 33 +f 33 36 37 +f 33 37 38 +f 34 39 40 +f 34 40 35 +f 37 41 42 +f 37 42 43 +f 37 43 44 +f 37 44 38 +f 39 45 40 +f 40 45 46 +f 41 47 42 +f 42 47 46 +f 42 46 48 +f 42 48 43 +f 45 48 46 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_26.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_26.obj new file mode 100644 index 0000000000000000000000000000000000000000..b46ae836bbb7e9ecdfa555a37f8460771b47162f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_26.obj @@ -0,0 +1,205 @@ +# https://github.com/mikedh/trimesh +v 0.11545240 0.04065654 0.06545711 +v 0.11048934 0.04281873 0.12132787 +v 0.12679257 0.04065654 0.06545711 +v 0.11928329 -0.02600676 0.06545686 +v 0.11265201 -0.03961068 0.10972837 +v 0.12228932 0.04281873 0.12132787 +v 0.11042695 0.04281873 0.12209585 +v 0.12791318 0.03681585 0.06545710 +v 0.12264745 0.04180208 0.12132786 +v 0.12650144 0.03680770 0.08686793 +v 0.13063963 -0.02600676 0.06545686 +v 0.12399450 -0.03961068 0.10972837 +v 0.11186181 -0.03961072 0.12004980 +v 0.10958360 0.04281869 0.13308595 +v 0.12184800 0.04281871 0.12716718 +v 0.12247646 0.04130181 0.12592914 +v 0.12883972 0.03309620 0.06545708 +v 0.12333831 0.03951058 0.12132786 +v 0.12624729 0.02865017 0.11991765 +v 0.13070895 0.02555200 0.06545705 +v 0.13031848 0.02714153 0.06545706 +v 0.12424173 0.03681565 0.11991768 +v 0.13077827 -0.02552264 0.06545687 +v 0.12491410 -0.03655266 0.10972839 +v 0.12387435 -0.03961069 0.11164833 +v 0.11177632 -0.03961073 0.12132756 +v 0.12131427 0.04281869 0.13308595 +v 0.11262659 -0.03447104 0.13308566 +v 0.12161694 0.04281870 0.12974257 +v 0.12410771 0.03692054 0.12132785 +v 0.12220151 0.04065630 0.13143743 +v 0.12333136 0.03661389 0.13308592 +v 0.12423248 0.03298299 0.13308591 +v 0.12563961 0.02865014 0.12818008 +v 0.12676022 0.02049270 0.13308587 +v 0.13156155 0.02066239 0.06545704 +v 0.13161931 -0.02039904 0.06545689 +v 0.12694277 -0.02024598 0.13308572 +v 0.12633739 -0.02356220 0.13308570 +v 0.12574589 -0.02840338 0.12817987 +v 0.12633046 -0.02840335 0.11991744 +v 0.12478933 -0.03655267 0.11164835 +v 0.12332444 -0.03961072 0.11991739 +v 0.12322508 -0.03961073 0.12132756 +v 0.12156380 0.04207637 0.13308594 +v 0.12382121 -0.03447104 0.13308566 +v 0.12210447 0.04045457 0.13308594 +v 0.12527455 0.02865012 0.13308590 +v 0.12759896 0.01234335 0.13308584 +v 0.13252505 0.01235167 0.06545701 +v 0.13061885 0.01717666 0.08447783 +v 0.13212071 0.01587767 0.06545702 +v 0.13253661 -0.01208831 0.06545692 +v 0.12744646 -0.01540478 0.13308573 +v 0.12539239 -0.02840340 0.13308569 +v 0.12461373 -0.03447100 0.12203598 +v 0.12422324 -0.03655270 0.11991741 +v 0.12408693 -0.03667374 0.12132758 +v 0.13316276 0.00420232 0.06545698 +v 0.13292477 0.00753468 0.06545699 +v 0.12793168 0.00419400 0.13308581 +v 0.13061192 0.00201558 0.10112183 +v 0.13318587 -0.00393089 0.06545695 +v 0.12770755 -0.01208856 0.13308575 +v 0.13318818 -0.00059047 0.06545696 +v 0.12795016 0.00090198 0.13308579 +v 0.12797095 -0.00393921 0.13308578 +v 0.13061192 -0.00155077 0.10112181 +v 0.12787854 -0.00725543 0.13308576 +f 1 2 6 +f 1 6 3 +f 1 3 8 +f 1 8 17 +f 1 17 21 +f 1 21 20 +f 1 20 36 +f 1 36 52 +f 1 52 50 +f 1 50 60 +f 1 60 59 +f 1 59 65 +f 1 65 63 +f 1 63 53 +f 1 53 37 +f 1 37 23 +f 1 23 11 +f 1 11 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 14 +f 2 14 27 +f 2 27 29 +f 2 29 15 +f 2 15 6 +f 3 6 9 +f 3 9 10 +f 3 10 8 +f 4 11 12 +f 4 12 5 +f 5 12 25 +f 5 25 43 +f 5 43 44 +f 5 44 26 +f 5 26 13 +f 5 13 14 +f 5 14 7 +f 6 15 16 +f 6 16 9 +f 8 10 17 +f 9 16 18 +f 9 18 10 +f 10 19 20 +f 10 20 21 +f 10 21 17 +f 10 18 22 +f 10 22 19 +f 11 23 24 +f 11 24 12 +f 12 24 25 +f 13 26 14 +f 14 26 28 +f 14 28 46 +f 14 46 55 +f 14 55 39 +f 14 39 38 +f 14 38 54 +f 14 54 64 +f 14 64 69 +f 14 69 67 +f 14 67 66 +f 14 66 61 +f 14 61 49 +f 14 49 35 +f 14 35 48 +f 14 48 33 +f 14 33 32 +f 14 32 47 +f 14 47 45 +f 14 45 27 +f 15 29 16 +f 16 30 22 +f 16 22 18 +f 16 29 31 +f 16 31 32 +f 16 32 30 +f 19 33 34 +f 19 34 35 +f 19 35 20 +f 19 22 33 +f 20 35 36 +f 22 30 32 +f 22 32 33 +f 23 37 38 +f 23 38 39 +f 23 39 40 +f 23 40 41 +f 23 41 42 +f 23 42 24 +f 24 42 25 +f 25 42 43 +f 26 44 46 +f 26 46 28 +f 27 45 31 +f 27 31 29 +f 31 45 47 +f 31 47 32 +f 33 48 34 +f 34 48 35 +f 35 49 50 +f 35 50 51 +f 35 51 36 +f 36 51 52 +f 37 53 38 +f 38 53 54 +f 39 55 40 +f 40 55 46 +f 40 46 56 +f 40 56 41 +f 41 56 57 +f 41 57 42 +f 42 57 43 +f 43 57 44 +f 44 57 58 +f 44 58 46 +f 46 58 57 +f 46 57 56 +f 49 59 60 +f 49 60 50 +f 49 61 62 +f 49 62 59 +f 50 52 51 +f 53 63 54 +f 54 63 64 +f 59 62 65 +f 61 66 62 +f 62 66 67 +f 62 67 68 +f 62 68 65 +f 63 65 68 +f 63 68 64 +f 64 68 69 +f 67 69 68 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_27.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_27.obj new file mode 100644 index 0000000000000000000000000000000000000000..5a6dad52c1c89d8b347276faedd410bdbadd38a8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_27.obj @@ -0,0 +1,184 @@ +# https://github.com/mikedh/trimesh +v 0.04215296 0.12638641 0.06207066 +v 0.04215296 0.12549885 0.05798092 +v 0.04215296 0.12608709 0.06545742 +v 0.04484541 0.12527692 0.06545742 +v 0.04484541 0.12556075 0.06207066 +v 0.05067457 0.12319732 0.05688938 +v 0.04215296 0.12466287 0.05583992 +v 0.04484541 0.12423972 0.05597010 +v 0.04215296 0.11465176 0.06545738 +v 0.04839945 0.12394039 0.06545742 +v 0.05086978 0.12329535 0.06207065 +v 0.05494885 0.12137055 0.06207065 +v 0.06116168 0.11842399 0.06207063 +v 0.06683602 0.11524007 0.05671610 +v 0.06116168 0.11664369 0.05573774 +v 0.04215296 0.12017854 0.05574076 +v 0.07747122 0.10204507 0.05522696 +v 0.04215296 0.11483238 0.06230195 +v 0.09717324 0.07366827 0.06207047 +v 0.09698478 0.07366826 0.06545723 +v 0.05049956 0.12313537 0.06545741 +v 0.05457863 0.12121573 0.06545741 +v 0.06116168 0.11809371 0.06545739 +v 0.06680910 0.11522972 0.06545738 +v 0.06709181 0.11540002 0.06207062 +v 0.07747122 0.10757695 0.05667503 +v 0.08162433 0.10618366 0.05784967 +v 0.06946117 0.11050804 0.05565460 +v 0.04215296 0.11839822 0.05574075 +v 0.08485528 0.10147226 0.05655082 +v 0.09322208 0.09332406 0.05639157 +v 0.10881811 0.07366829 0.05611311 +v 0.10678531 0.07366829 0.05583271 +v 0.04215296 0.11484786 0.06207062 +v 0.09759058 0.07366829 0.05768031 +v 0.11060187 0.07366826 0.06545723 +v 0.07088817 0.11256182 0.06545737 +v 0.07117088 0.11272180 0.06207061 +v 0.08162433 0.10618366 0.05829029 +v 0.09012575 0.09837605 0.05743605 +v 0.04707342 0.11355780 0.05702153 +v 0.10244373 0.07366829 0.05614014 +v 0.09925990 0.07366829 0.05645559 +v 0.09823677 0.09022269 0.05746707 +v 0.10012822 0.08574351 0.05641557 +v 0.10787575 0.07616590 0.05633844 +v 0.11091150 0.07366827 0.06207047 +v 0.10854214 0.07712054 0.06207048 +v 0.10838059 0.07689864 0.06545724 +v 0.07457683 0.11004873 0.06545736 +v 0.08084352 0.10560051 0.06545735 +v 0.08345520 0.10342800 0.06545734 +v 0.08546108 0.10170961 0.06545733 +v 0.09012575 0.09837604 0.06002269 +v 0.07725582 0.10821164 0.06545736 +v 0.09823677 0.09022268 0.05986844 +v 0.10564775 0.08119723 0.06207050 +v 0.10547947 0.08097532 0.06545726 +v 0.09226625 0.09533141 0.06545731 +v 0.09372691 0.09386071 0.06545730 +v 0.09967723 0.08759604 0.06545728 +v 0.10109750 0.08602730 0.06545728 +f 1 2 7 +f 1 7 16 +f 1 16 29 +f 1 29 34 +f 1 34 18 +f 1 18 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 8 +f 2 8 7 +f 3 9 20 +f 3 20 36 +f 3 36 49 +f 3 49 58 +f 3 58 62 +f 3 62 61 +f 3 61 60 +f 3 60 59 +f 3 59 53 +f 3 53 52 +f 3 52 51 +f 3 51 55 +f 3 55 50 +f 3 50 37 +f 3 37 24 +f 3 24 23 +f 3 23 22 +f 3 22 21 +f 3 21 10 +f 3 10 4 +f 4 10 11 +f 4 11 5 +f 5 11 6 +f 6 11 12 +f 6 12 13 +f 6 13 14 +f 6 14 15 +f 6 15 8 +f 7 8 15 +f 7 15 17 +f 7 17 16 +f 9 18 19 +f 9 19 20 +f 10 21 11 +f 11 21 22 +f 11 22 12 +f 12 23 13 +f 12 22 23 +f 13 23 24 +f 13 24 25 +f 13 25 14 +f 14 26 15 +f 14 25 27 +f 14 27 26 +f 15 26 28 +f 15 28 17 +f 16 17 29 +f 17 28 30 +f 17 30 31 +f 17 31 32 +f 17 32 33 +f 17 33 29 +f 18 34 19 +f 19 35 43 +f 19 43 42 +f 19 42 33 +f 19 33 32 +f 19 32 47 +f 19 47 36 +f 19 36 20 +f 19 34 35 +f 24 37 25 +f 25 37 38 +f 25 38 39 +f 25 39 27 +f 26 27 30 +f 26 30 28 +f 27 39 54 +f 27 54 40 +f 27 40 30 +f 29 41 34 +f 29 33 42 +f 29 42 43 +f 29 43 35 +f 29 35 41 +f 30 40 31 +f 31 40 44 +f 31 44 45 +f 31 45 32 +f 32 45 46 +f 32 46 47 +f 34 41 35 +f 36 47 48 +f 36 48 49 +f 37 50 39 +f 37 39 38 +f 39 51 52 +f 39 52 53 +f 39 53 54 +f 39 50 55 +f 39 55 51 +f 40 54 56 +f 40 56 44 +f 44 56 57 +f 44 57 48 +f 44 48 46 +f 44 46 45 +f 46 48 47 +f 48 57 49 +f 49 57 58 +f 53 59 54 +f 54 59 60 +f 54 60 56 +f 56 61 62 +f 56 62 58 +f 56 58 57 +f 56 60 61 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_28.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_28.obj new file mode 100644 index 0000000000000000000000000000000000000000..678f29d56ad01a95780b4d71d4e04c4f12dd685f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_28.obj @@ -0,0 +1,136 @@ +# https://github.com/mikedh/trimesh +v 0.01183613 0.01126040 0.23538003 +v 0.01683423 0.01126041 0.23166997 +v 0.02519081 0.02347953 0.23200598 +v 0.02790929 0.02898274 0.23225843 +v 0.02772034 0.02898274 0.23230019 +v 0.01183003 0.01126387 0.23538003 +v -0.01191094 0.01126040 0.23538003 +v 0.02431310 0.01126043 0.22561728 +v 0.03099349 0.02898275 0.22844666 +v 0.02033290 0.02898274 0.23267428 +v 0.00440603 0.01338396 0.23538004 +v -0.01190485 0.01127254 0.23538003 +v -0.02699667 0.02898274 0.23242731 +v -0.02731363 0.02898274 0.23234013 +v -0.02512543 0.02369640 0.23192789 +v -0.02200467 0.01126043 0.22693933 +v 0.02489214 0.01126044 0.22206885 +v 0.03135920 0.02898275 0.22735889 +v -0.02002981 0.02898274 0.23267973 +v -0.00438941 0.01334058 0.23538004 +v -0.01170980 0.01139919 0.23538003 +v -0.03076963 0.02898275 0.22826325 +v -0.02238867 0.01126043 0.22594598 +v 0.02271005 0.01126045 0.22066691 +v 0.02931729 0.02898278 0.22034918 +v -0.03090982 0.02898275 0.22788916 +v -0.02258372 0.01126044 0.22226316 +v 0.02876872 0.02898278 0.22004590 +v 0.01338432 0.01126046 0.21758336 +v -0.03090982 0.02898275 0.22757863 +v -0.02258372 0.01126044 0.22200529 +v 0.02036338 0.02866529 0.21849868 +v 0.02036947 0.02898279 0.21859675 +v 0.01060489 0.01126046 0.21683154 +v -0.02914830 0.02898278 0.22032194 +v -0.02894106 0.02898278 0.22017302 +v -0.02090752 0.01126045 0.22127708 +v 0.00196793 0.02451013 0.21683159 +v -0.02073686 0.02898279 0.21828077 +v -0.00913151 0.01126046 0.21683154 +v -0.02874601 0.02898278 0.22009312 +v 0.00012716 0.02454136 0.21683159 +v -0.00204274 0.02454136 0.21683159 +v -0.00360922 0.02246812 0.21683158 +v -0.00795513 0.01399645 0.21683155 +v -0.00874142 0.01236041 0.21683155 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 11 +f 1 11 20 +f 1 20 21 +f 1 21 12 +f 1 12 7 +f 1 7 16 +f 1 16 23 +f 1 23 27 +f 1 27 31 +f 1 31 37 +f 1 37 40 +f 1 40 34 +f 1 34 29 +f 1 29 24 +f 1 24 17 +f 1 17 8 +f 1 8 2 +f 2 8 3 +f 3 8 4 +f 4 8 9 +f 4 9 18 +f 4 18 25 +f 4 25 28 +f 4 28 33 +f 4 33 39 +f 4 39 41 +f 4 41 36 +f 4 36 35 +f 4 35 30 +f 4 30 26 +f 4 26 22 +f 4 22 14 +f 4 14 13 +f 4 13 19 +f 4 19 10 +f 4 10 5 +f 5 10 6 +f 6 10 11 +f 7 12 13 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 8 17 18 +f 8 18 9 +f 10 19 11 +f 11 19 20 +f 12 21 13 +f 13 21 19 +f 14 22 15 +f 15 22 16 +f 16 22 23 +f 17 24 25 +f 17 25 18 +f 19 21 20 +f 22 26 23 +f 23 26 27 +f 24 28 25 +f 24 29 28 +f 26 30 31 +f 26 31 27 +f 28 32 33 +f 28 29 34 +f 28 34 32 +f 30 35 31 +f 31 35 36 +f 31 36 37 +f 32 34 38 +f 32 38 33 +f 33 38 39 +f 34 40 46 +f 34 46 45 +f 34 45 44 +f 34 44 43 +f 34 43 42 +f 34 42 38 +f 36 41 37 +f 37 41 40 +f 38 42 39 +f 39 42 43 +f 39 43 44 +f 39 44 45 +f 39 45 46 +f 39 46 40 +f 39 40 41 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_29.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_29.obj new file mode 100644 index 0000000000000000000000000000000000000000..5a9445a54a040b4710d7ef439cb0d2a79f828384 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_29.obj @@ -0,0 +1,196 @@ +# https://github.com/mikedh/trimesh +v -0.06677371 0.10000287 0.08722497 +v -0.06680365 0.10000287 0.08690110 +v -0.07595168 0.10906791 0.06545736 +v -0.07595168 0.10817354 0.07624103 +v -0.08512963 0.10000287 0.08722497 +v -0.11223245 0.04386025 0.08722476 +v -0.11599823 0.03598302 0.07624076 +v -0.11684838 0.03598306 0.06545709 +v -0.06806090 0.10000291 0.07627083 +v -0.07726880 0.10816642 0.06545736 +v -0.07616720 0.10803044 0.07624103 +v -0.06806689 0.10000291 0.07624100 +v -0.07595168 0.09470850 0.06545731 +v -0.08025029 0.10506841 0.07624102 +v -0.08516556 0.10000287 0.08691814 +v -0.08859008 0.09686913 0.08722496 +v -0.12419434 0.04386025 0.08722476 +v -0.12725365 0.03598302 0.07624076 +v -0.12793018 0.03598306 0.06545709 +v -0.07916066 0.10680703 0.06545735 +v -0.08086096 0.10554066 0.06545735 +v -0.08517154 0.10000287 0.08686274 +v -0.08722506 0.10003872 0.06545733 +v -0.08860804 0.09688344 0.08686273 +v -0.09377476 0.09379270 0.06545730 +v -0.09273902 0.09279097 0.08722494 +v -0.12363756 0.04559168 0.08722477 +v -0.12422427 0.04386025 0.08685401 +v -0.12707406 0.03683442 0.07624077 +v -0.12772064 0.03683446 0.06545710 +v -0.08543496 0.10164853 0.06545733 +v -0.09528346 0.09229023 0.06545730 +v -0.09683408 0.08864842 0.08686270 +v -0.09681612 0.08862696 0.08722493 +v -0.12345794 0.04607820 0.08722477 +v -0.12364354 0.04564892 0.08685189 +v -0.12441586 0.04497641 0.07859953 +v -0.12470323 0.04386028 0.07972882 +v -0.12637358 0.03915969 0.07624077 +v -0.12528396 0.04498362 0.06545713 +v -0.12628378 0.04164239 0.06545711 +v -0.09775007 0.08963585 0.06545729 +v -0.09719329 0.08902765 0.07859969 +v -0.10112072 0.08600844 0.06545728 +v -0.10048611 0.08455596 0.08722491 +v -0.09697178 0.08845525 0.08722492 +v -0.12247609 0.04924773 0.08409259 +v -0.12093146 0.05194502 0.08722479 +v -0.12393091 0.04851802 0.06545714 +v -0.10550315 0.08088570 0.06545726 +v -0.10456919 0.07968364 0.08722489 +v -0.12310471 0.05061434 0.06545715 +v -0.11650712 0.06128900 0.08686260 +v -0.12117692 0.05469249 0.06545716 +v -0.11646521 0.06131047 0.08722483 +v -0.10669455 0.07921867 0.06545725 +v -0.10759857 0.07560548 0.08722488 +v -0.11437578 0.06560327 0.08722484 +v -0.11438775 0.06563189 0.08686261 +v -0.11796794 0.06128908 0.06545719 +v -0.10837089 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17 29 18 +f 18 29 19 +f 19 29 30 +f 21 31 22 +f 22 31 23 +f 23 25 24 +f 25 32 26 +f 26 32 33 +f 26 33 34 +f 27 35 36 +f 27 36 37 +f 27 37 38 +f 27 38 28 +f 28 39 29 +f 28 38 39 +f 29 39 40 +f 29 40 41 +f 29 41 30 +f 32 42 43 +f 32 43 33 +f 33 44 45 +f 33 45 46 +f 33 46 34 +f 33 43 44 +f 35 47 36 +f 35 48 47 +f 36 40 37 +f 36 47 40 +f 37 40 38 +f 38 40 39 +f 40 47 49 +f 42 44 43 +f 44 50 45 +f 45 50 51 +f 47 52 49 +f 47 48 53 +f 47 53 54 +f 47 54 52 +f 48 55 53 +f 50 56 57 +f 50 57 51 +f 53 55 58 +f 53 58 59 +f 53 59 60 +f 53 60 54 +f 56 61 57 +f 57 62 63 +f 57 61 62 +f 58 64 59 +f 59 64 62 +f 59 62 65 +f 59 65 66 +f 59 66 60 +f 61 65 62 +f 62 64 63 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_3.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_3.obj new file mode 100644 index 0000000000000000000000000000000000000000..6b0b296792e522f9ff62b2fa7e966c0ec4f6b9ed --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_3.obj @@ -0,0 +1,85 @@ +# https://github.com/mikedh/trimesh +v 0.00181612 0.02989255 0.19199237 +v 0.00324461 0.03682180 0.18602890 +v 0.00282791 0.03721546 0.19199240 +v -0.00188328 0.02989255 0.19199237 +v 0.00289296 0.03776936 0.14476523 +v 0.00287750 0.04362077 0.17776787 +v 0.00289296 0.04383190 0.14476525 +v 0.00292194 0.04427654 0.15298469 +v 0.00296832 0.04415045 0.16950681 +v 0.00114309 0.04160128 0.19199241 +v 0.00224570 0.04261386 0.18602892 +v -0.00263038 0.03148147 0.19199238 +v -0.00297880 0.03776936 0.14476523 +v 0.00011906 0.04389269 0.17352870 +v -0.00287898 0.04362077 0.17776787 +v 0.00011906 0.04404147 0.14862534 +v -0.00297880 0.04383190 0.14476525 +v -0.00297430 0.04427654 0.15298469 +v 0.00293418 0.04435865 0.16124575 +v -0.00298718 0.04415045 0.16950681 +v 0.00113729 0.04161969 0.19197854 +v -0.00124246 0.04160128 0.19199241 +v -0.00230384 0.04261386 0.18602892 +v 0.00011906 0.04200631 0.18966711 +v -0.00292277 0.03721546 0.19199240 +v -0.00333496 0.03682180 0.18602890 +v -0.00261170 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+# https://github.com/mikedh/trimesh +v 0.00027831 0.13073595 0.09838316 +v -0.00250623 0.13073313 0.09838316 +v -0.00141488 0.13065729 0.10048871 +v 0.00027831 0.13065729 0.10048871 +v 0.00027831 0.11971282 0.09838312 +v -0.00671112 0.13038770 0.09838316 +v -0.01852332 0.12827571 0.10973425 +v -0.01039440 0.12896940 0.10973425 +v -0.00411115 0.12939909 0.10973426 +v -0.00222537 0.12939629 0.10973426 +v 0.00027831 0.12938505 0.10973426 +v 0.00027831 0.11925220 0.10680645 +v -0.06223328 0.10204493 0.09838305 +v -0.00712840 0.13034558 0.09838316 +v -0.02042515 0.12809036 0.10973425 +v 0.00027831 0.11909212 0.10973422 +v -0.06168760 0.10204491 0.10339416 +v -0.08169292 0.10204493 0.09838305 +v -0.01540978 0.12942441 0.09838316 +v -0.02042515 0.12873352 0.09838315 +v -0.02363498 0.12827014 0.09838315 +v -0.02858616 0.12724784 0.10339426 +v -0.02858616 0.12686869 0.10973425 +v -0.06105366 0.10204489 0.10973415 +v -0.08159662 0.10204492 0.09942083 +v -0.08102688 0.10259819 0.09838306 +v 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21 27 22 +f 22 27 28 +f 22 28 23 +f 23 28 29 +f 25 31 32 +f 25 32 26 +f 28 33 34 +f 28 34 35 +f 28 35 29 +f 30 36 32 +f 30 32 31 +f 32 36 38 +f 32 38 39 +f 32 39 37 +f 33 40 41 +f 33 41 34 +f 34 41 42 +f 37 39 43 +f 37 43 44 +f 38 43 39 +f 40 45 46 +f 40 46 42 +f 40 42 41 +f 43 47 48 +f 43 48 44 +f 45 49 46 +f 46 49 50 +f 47 51 52 +f 47 52 48 +f 49 53 54 +f 49 54 50 +f 51 55 52 +f 52 55 56 +f 53 57 54 +f 54 57 56 +f 54 56 58 +f 55 58 56 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_31.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_31.obj new file mode 100644 index 0000000000000000000000000000000000000000..ec7bb27f855b71b1cd8dbe1c89f00a3dd18dc1b8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_31.obj @@ -0,0 +1,397 @@ +# https://github.com/mikedh/trimesh +v -0.00284919 0.02782168 0.08722578 +v -0.00041239 0.03294847 0.09846530 +v 0.00292466 0.02782168 0.08722578 +v -0.00707707 0.02219925 0.08722576 +v -0.00185468 0.04208268 0.12817451 +v -0.00085545 0.04133931 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82 +f 82 107 108 +f 82 108 105 +f 82 105 83 +f 83 105 109 +f 83 109 110 +f 83 110 84 +f 84 110 90 +f 84 90 85 +f 85 90 111 +f 85 111 112 +f 85 112 86 +f 86 113 87 +f 86 112 90 +f 86 90 113 +f 87 113 90 +f 87 90 89 +f 87 89 88 +f 90 105 114 +f 90 114 93 +f 90 112 111 +f 90 110 109 +f 90 109 105 +f 93 114 115 +f 93 115 116 +f 93 116 94 +f 94 116 117 +f 94 117 96 +f 94 96 95 +f 96 117 118 +f 96 118 97 +f 98 119 120 +f 98 120 100 +f 99 101 121 +f 99 121 103 +f 100 120 122 +f 100 122 123 +f 100 123 114 +f 100 114 102 +f 101 102 121 +f 102 114 105 +f 102 105 124 +f 102 124 121 +f 103 121 125 +f 103 125 104 +f 104 125 105 +f 105 108 107 +f 105 125 121 +f 105 121 124 +f 114 126 115 +f 114 123 126 +f 115 126 116 +f 116 126 127 +f 116 127 117 +f 117 127 131 +f 117 131 128 +f 117 128 118 +f 118 128 129 +f 119 130 131 +f 119 131 120 +f 120 131 127 +f 120 127 122 +f 122 127 123 +f 123 127 126 +f 128 131 133 +f 128 133 132 +f 128 132 129 +f 129 132 133 +f 129 133 130 +f 130 133 131 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_32.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_32.obj new file mode 100644 index 0000000000000000000000000000000000000000..1cf4f9481c74e81aaee67d05e807323c41b5bfae --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_32.obj @@ -0,0 +1,148 @@ +# https://github.com/mikedh/trimesh +v 0.00803636 -0.01218783 0.23537995 +v 0.00429615 -0.01325074 0.23537994 +v 0.02719322 -0.02984241 0.23244162 +v 0.01209501 -0.01218783 0.23467535 +v -0.00847926 -0.01218783 0.23537995 +v 0.02028102 -0.02984241 0.23262321 +v -0.00414586 -0.01331123 0.23537994 +v -0.02137955 -0.02984241 0.23273580 +v 0.02857941 -0.02984241 0.23200578 +v 0.02671867 -0.02840793 0.23241257 +v 0.01344998 -0.01218783 0.23415053 +v -0.01294379 -0.01218783 0.23472438 +v -0.02734266 -0.02984241 0.23249972 +v -0.00433319 -0.01331123 0.23537994 +v 0.03105832 -0.02984240 0.22898034 +v 0.02500155 -0.02358251 0.23188775 +v 0.02060571 -0.01218781 0.22788537 +v -0.01369932 -0.01218783 0.23416688 +v -0.02515098 -0.02340104 0.23194588 +v -0.02688684 -0.02840793 0.23247795 +v -0.03122649 -0.02984240 0.22904754 +v 0.03182634 -0.02984239 0.22692284 +v 0.02142369 -0.01218778 0.22070132 +v -0.01690879 -0.01218782 0.23151009 +v -0.02062402 -0.01218781 0.22775099 +v -0.02080510 -0.01218781 0.22756213 +v -0.02086129 -0.01218781 0.22747859 +v -0.03196329 -0.02984239 0.22694825 +v 0.03182634 -0.02984239 0.22531387 +v 0.02142369 -0.01218778 0.22050339 +v -0.02132960 -0.01218778 0.22135691 +v -0.03095174 -0.02984237 0.22124606 +v 0.03084601 -0.02984237 0.22111167 +v 0.02979077 -0.02984237 0.22035259 +v 0.02863561 -0.02984237 0.21983867 +v 0.02085547 -0.01218778 0.22027094 +v -0.02109857 -0.01218778 0.22126248 +v -0.02874134 -0.02852195 0.22034352 +v -0.02871636 -0.02984237 0.22001299 +v 0.02179833 -0.02984236 0.21804265 +v 0.01063390 -0.01218777 0.21684781 +v 0.01230107 -0.01218777 0.21730180 +v -0.00971559 -0.01218777 0.21684054 +v -0.02041796 -0.02840788 0.21850029 +v -0.02043670 -0.02984236 0.21892522 +v 0.00229804 -0.02634256 0.21683140 +v 0.00417126 -0.02634256 0.21683140 +v 0.01057146 -0.01218777 0.21683146 +v -0.00422079 -0.02632700 0.21683140 +v -0.00920982 -0.01218777 0.21683146 +f 1 2 3 +f 1 3 4 +f 1 4 11 +f 1 11 17 +f 1 17 23 +f 1 23 30 +f 1 30 36 +f 1 36 42 +f 1 42 41 +f 1 41 48 +f 1 48 50 +f 1 50 43 +f 1 43 37 +f 1 37 31 +f 1 31 27 +f 1 27 26 +f 1 26 25 +f 1 25 24 +f 1 24 18 +f 1 18 12 +f 1 12 5 +f 1 5 14 +f 1 14 7 +f 1 7 2 +f 2 6 3 +f 2 7 8 +f 2 8 6 +f 3 6 8 +f 3 8 13 +f 3 13 21 +f 3 21 28 +f 3 28 32 +f 3 32 39 +f 3 39 45 +f 3 45 40 +f 3 40 35 +f 3 35 34 +f 3 34 33 +f 3 33 29 +f 3 29 22 +f 3 22 15 +f 3 15 9 +f 3 9 10 +f 3 10 4 +f 4 10 9 +f 4 9 11 +f 5 12 13 +f 5 13 8 +f 5 8 14 +f 7 14 8 +f 9 15 16 +f 9 16 11 +f 11 16 17 +f 12 18 19 +f 12 19 20 +f 12 20 13 +f 13 20 21 +f 15 22 17 +f 15 17 16 +f 17 22 23 +f 18 24 19 +f 19 24 25 +f 19 25 26 +f 19 26 27 +f 19 27 21 +f 19 21 20 +f 21 27 28 +f 22 29 30 +f 22 30 23 +f 27 31 28 +f 28 31 32 +f 29 33 30 +f 30 33 34 +f 30 34 35 +f 30 35 36 +f 31 37 38 +f 31 38 32 +f 32 38 39 +f 35 40 41 +f 35 41 42 +f 35 42 36 +f 37 39 38 +f 37 43 39 +f 39 44 45 +f 39 43 44 +f 40 46 47 +f 40 47 48 +f 40 48 41 +f 40 45 49 +f 40 49 46 +f 43 50 49 +f 43 49 44 +f 44 49 45 +f 46 49 50 +f 46 50 48 +f 46 48 47 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_33.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_33.obj new file mode 100644 index 0000000000000000000000000000000000000000..7c6db2fdfd4331e948bd7d4669995cc98df8b18a --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_33.obj @@ -0,0 +1,133 @@ +# https://github.com/mikedh/trimesh +v -0.10571242 -0.05605822 0.09838247 +v -0.11807306 -0.05605822 0.09838247 +v -0.10592809 -0.05605821 0.09512766 +v -0.11760912 0.02735126 0.08722578 +v -0.11699222 0.02735122 0.09838278 +v -0.11889811 -0.05605818 0.08722547 +v -0.11952504 -0.05286586 0.09838249 +v -0.12231866 -0.04870188 0.08722550 +v -0.12070869 -0.05221265 0.08722549 +v -0.12047296 -0.05271886 0.08722549 +v -0.10647477 -0.05605818 0.08722547 +v -0.12842249 0.02735126 0.08722578 +v -0.12775041 0.02735122 0.09838278 +v -0.12085916 -0.04988579 0.09838250 +v -0.12183216 -0.04766502 0.09838250 +v -0.12283024 -0.04519115 0.09838251 +v -0.12346972 -0.04358272 0.09838252 +v -0.12364275 -0.04527275 0.08722551 +v -0.12967384 0.02008477 0.08722575 +v -0.12871841 0.02050929 0.09838276 +v -0.12980927 0.01926015 0.08722575 +v -0.13030830 0.01494107 0.08951393 +v -0.12488658 -0.03914935 0.09838254 +v -0.12647649 -0.03656114 0.08722555 +v -0.12637366 -0.03687956 0.08722554 +v -0.12358507 -0.04387664 0.09512771 +v -0.13063431 0.00950345 0.09226848 +v -0.12962620 0.01230388 0.09838273 +v -0.13073713 0.01268766 0.08722573 +v -0.13080233 0.01205898 0.08722572 +v -0.12569658 -0.03656118 0.09838255 +v -0.12748209 -0.02840476 0.09838258 +v -0.12810902 -0.02840472 0.08722558 +v -0.13132143 0.00419649 0.08722570 +v -0.13067444 0.00221245 0.09838269 +v -0.13038354 0.00530683 0.09838270 +v -0.13031332 0.00660500 0.09777761 +v -0.12816921 -0.02345702 0.09838259 +v -0.13041615 -0.01540669 0.08722562 +v -0.13132896 -0.00394361 0.08722567 +v -0.13067444 -0.00187801 0.09838267 +v -0.12860305 -0.02024833 0.09838261 +v -0.12926008 -0.01529243 0.09838262 +v -0.13062930 -0.00912814 0.09215046 +v -0.13080484 -0.01169180 0.08722564 +f 1 2 6 +f 1 6 11 +f 1 11 3 +f 1 3 4 +f 1 4 5 +f 1 5 13 +f 1 13 20 +f 1 20 28 +f 1 28 36 +f 1 36 35 +f 1 35 41 +f 1 41 43 +f 1 43 42 +f 1 42 38 +f 1 38 32 +f 1 32 31 +f 1 31 23 +f 1 23 17 +f 1 17 16 +f 1 16 15 +f 1 15 14 +f 1 14 7 +f 1 7 2 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 6 +f 3 11 4 +f 4 12 13 +f 4 13 5 +f 4 11 6 +f 4 6 10 +f 4 10 9 +f 4 9 8 +f 4 8 18 +f 4 18 25 +f 4 25 24 +f 4 24 33 +f 4 33 39 +f 4 39 45 +f 4 45 40 +f 4 40 34 +f 4 34 30 +f 4 30 29 +f 4 29 21 +f 4 21 19 +f 4 19 12 +f 7 14 8 +f 8 14 15 +f 8 15 16 +f 8 16 17 +f 8 17 18 +f 12 19 13 +f 13 19 21 +f 13 21 22 +f 13 22 20 +f 17 23 24 +f 17 24 25 +f 17 25 26 +f 17 26 18 +f 18 26 25 +f 20 22 27 +f 20 27 28 +f 21 29 22 +f 22 29 30 +f 22 30 27 +f 23 31 24 +f 24 31 32 +f 24 32 33 +f 27 30 34 +f 27 34 35 +f 27 35 36 +f 27 36 37 +f 27 37 28 +f 28 37 36 +f 32 38 39 +f 32 39 33 +f 34 40 35 +f 35 40 41 +f 38 42 39 +f 39 42 43 +f 39 43 44 +f 39 44 45 +f 40 45 44 +f 40 44 41 +f 41 44 43 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_34.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_34.obj new file mode 100644 index 0000000000000000000000000000000000000000..1cda537f18e398e2eef31e75a6ab25a0df01d7ed --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_34.obj @@ -0,0 +1,271 @@ +# https://github.com/mikedh/trimesh +v 0.08384649 0.09764491 0.13309277 +v 0.07470245 0.09273567 0.10972886 +v 0.08522019 0.09736758 0.12132807 +v 0.08253176 0.09885739 0.13309277 +v 0.06808673 0.09764491 0.13309277 +v 0.07605088 0.09423751 0.07624879 +v 0.08622309 0.09736763 0.10972888 +v 0.08606296 0.09736762 0.11165546 +v 0.08577642 0.09736761 0.11502531 +v 0.08534661 0.09736759 0.11991789 +v 0.08528761 0.09736759 0.12057995 +v 0.06587024 0.09764491 0.13307291 +v 0.00033663 0.11764676 0.13309284 +v 0.00017650 0.11988166 0.09513067 +v 0.08307956 0.09932894 0.12132807 +v 0.07851176 0.10384605 0.10972890 +v 0.07841062 0.10377472 0.11165548 +v 0.07794711 0.10346167 0.11991791 +v 0.07716333 0.10295047 0.13309279 +v 0.06531402 0.09804114 0.13309277 +v 0.00013437 0.12036510 0.08723236 +v 0.00012594 0.12171237 0.06545741 +v 0.07605088 0.09498643 0.06545731 +v 0.08452913 0.09890502 0.10972888 +v 0.07605088 0.10904479 0.06545736 +v 0.08357680 0.09976881 0.10972889 +v 0.08349252 0.09969748 0.11165547 +v 0.00033663 0.12799638 0.13309288 +v 0.00017650 0.11970731 0.09838136 +v 0.07434006 0.10681383 0.11165549 +v 0.07380069 0.10642944 0.12132810 +v 0.07775327 0.10348939 0.12132809 +v 0.07314334 0.10592223 0.13309280 +v 0.00013437 0.13140019 0.08723240 +v 0.00012594 0.12112195 0.07624888 +v 0.00012594 0.13321503 0.06545745 +v 0.07087628 0.11257127 0.06545737 +v 0.00029449 0.13065127 0.10048010 +v 0.00017650 0.13072656 0.09838140 +v 0.00406166 0.12800034 0.13309288 +v 0.06930031 0.10949234 0.11991793 +v 0.06942672 0.10930214 0.12133473 +v 0.06935931 0.10844227 0.13309281 +v 0.00012594 0.13219271 0.07624893 +v 0.00406166 0.13321503 0.06545745 +v 0.06679729 0.11522603 0.06545738 +v 0.00139852 0.13065127 0.10048010 +v 0.00737374 0.12787355 0.13309288 +v 0.06597980 0.11472672 0.07860578 +v 0.06555842 0.11447708 0.08521970 +v 0.06316496 0.11321297 0.11991795 +v 0.06214522 0.11270970 0.13309282 +v 0.01221966 0.12765166 0.13309288 +v 0.01221123 0.13260086 0.06545745 +v 0.06115075 0.11808684 0.06545739 +v 0.05908597 0.11525753 0.11991795 +v 0.05806622 0.11476615 0.13309283 +v 0.01553173 0.12733863 0.13309288 +v 0.02037765 0.12679976 0.13309288 +v 0.01698972 0.13068699 0.08434585 +v 0.02051249 0.13156273 0.06545744 +v 0.05456030 0.12120916 0.06545741 +v 0.05299275 0.11813022 0.11991796 +v 0.05298433 0.11718318 0.13309284 +v 0.02369815 0.12618956 0.13309287 +v 0.02374029 0.13098423 0.06545744 +v 0.05048131 0.12312692 0.06545741 +v 0.04902332 0.12248100 0.08345204 +v 0.04550898 0.12122084 0.11991798 +v 0.04526458 0.12119309 0.12132816 +v 0.04454823 0.12043229 0.13309285 +v 0.02854407 0.12524256 0.13309287 +v 0.02853564 0.12676417 0.11165557 +v 0.02500444 0.13069102 0.06545744 +v 0.04838281 0.12393524 0.06545742 +v 0.04481791 0.12527451 0.06545742 +v 0.04481791 0.12437105 0.07860582 +v 0.04230646 0.12294845 0.11165555 +v 0.04146369 0.12265125 0.11991798 +v 0.04130357 0.12260369 0.12133478 +v 0.04092432 0.12247688 0.12471126 +v 0.03613740 0.12330894 0.13309286 +v 0.03669363 0.12469187 0.11165556 +v 0.02916771 0.12969647 0.06545744 +v 0.03044029 0.12641550 0.10972898 +v 0.03670205 0.12639973 0.08723238 +v 0.03670205 0.12775493 0.06545743 +v 0.03670205 0.12695449 0.07860583 +v 0.03670205 0.12642351 0.08686825 +v 0.03679476 0.12396673 0.12132817 +v 0.03669363 0.12409750 0.11991799 +f 1 2 3 +f 1 3 4 +f 1 4 19 +f 1 19 33 +f 1 33 43 +f 1 43 52 +f 1 52 57 +f 1 57 64 +f 1 64 71 +f 1 71 82 +f 1 82 72 +f 1 72 65 +f 1 65 59 +f 1 59 58 +f 1 58 53 +f 1 53 48 +f 1 48 40 +f 1 40 28 +f 1 28 13 +f 1 13 20 +f 1 20 5 +f 1 5 2 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 11 +f 2 11 3 +f 2 5 12 +f 2 12 13 +f 2 13 14 +f 2 14 6 +f 3 11 15 +f 3 15 4 +f 4 15 16 +f 4 16 17 +f 4 17 18 +f 4 18 19 +f 5 20 12 +f 6 14 21 +f 6 21 22 +f 6 22 23 +f 6 23 7 +f 7 24 8 +f 7 23 25 +f 7 25 24 +f 8 24 26 +f 8 26 27 +f 8 27 15 +f 8 15 9 +f 9 15 10 +f 10 15 11 +f 12 20 13 +f 13 28 39 +f 13 39 29 +f 13 29 14 +f 14 29 21 +f 15 27 25 +f 15 25 16 +f 16 25 30 +f 16 30 17 +f 17 30 18 +f 18 30 31 +f 18 31 32 +f 18 32 19 +f 19 32 31 +f 19 31 33 +f 21 29 39 +f 21 39 34 +f 21 34 44 +f 21 44 35 +f 21 35 22 +f 22 35 44 +f 22 44 36 +f 22 36 45 +f 22 45 54 +f 22 54 61 +f 22 61 66 +f 22 66 74 +f 22 74 84 +f 22 84 87 +f 22 87 76 +f 22 76 75 +f 22 75 67 +f 22 67 62 +f 22 62 55 +f 22 55 46 +f 22 46 37 +f 22 37 25 +f 22 25 23 +f 24 25 26 +f 25 37 30 +f 25 27 26 +f 28 38 39 +f 28 40 38 +f 30 37 41 +f 30 41 42 +f 30 42 31 +f 31 42 43 +f 31 43 33 +f 34 36 44 +f 34 39 36 +f 36 39 38 +f 36 38 47 +f 36 47 45 +f 37 46 41 +f 38 40 47 +f 40 48 47 +f 41 43 42 +f 41 46 49 +f 41 49 43 +f 43 49 50 +f 43 50 51 +f 43 51 52 +f 45 47 53 +f 45 53 54 +f 46 55 49 +f 47 48 53 +f 49 55 50 +f 50 55 56 +f 50 56 51 +f 51 56 57 +f 51 57 52 +f 53 58 54 +f 54 58 59 +f 54 59 60 +f 54 60 61 +f 55 62 56 +f 56 62 63 +f 56 63 64 +f 56 64 57 +f 59 61 60 +f 59 65 66 +f 59 66 61 +f 62 67 63 +f 63 67 68 +f 63 68 64 +f 64 68 69 +f 64 69 70 +f 64 70 71 +f 65 72 66 +f 66 72 73 +f 66 73 74 +f 67 75 68 +f 68 75 76 +f 68 76 77 +f 68 77 69 +f 69 77 78 +f 69 78 79 +f 69 79 80 +f 69 80 81 +f 69 81 70 +f 70 81 71 +f 71 81 82 +f 72 82 83 +f 72 83 73 +f 73 84 74 +f 73 83 85 +f 73 85 86 +f 73 86 84 +f 76 87 88 +f 76 88 89 +f 76 89 86 +f 76 86 78 +f 76 78 77 +f 78 86 79 +f 79 86 80 +f 80 86 83 +f 80 83 81 +f 81 83 90 +f 81 90 82 +f 82 91 83 +f 82 90 91 +f 83 91 90 +f 83 86 85 +f 84 86 89 +f 84 89 88 +f 84 88 87 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_35.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_35.obj new file mode 100644 index 0000000000000000000000000000000000000000..f08224dc69d7cbc81602e837e2474c921f2c7e6b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_35.obj @@ -0,0 +1,208 @@ +# https://github.com/mikedh/trimesh +v 0.06755670 -0.09636087 0.13309206 +v 0.06755670 -0.10955408 0.13309201 +v 0.06755670 -0.09651660 0.13109597 +v 0.00028963 -0.11904168 0.10973334 +v 0.00032913 -0.11763029 0.13309198 +v 0.06755670 -0.11040417 0.12133494 +v 0.06656245 -0.11016410 0.13309201 +v 0.06755670 -0.09731154 0.12133499 +v 0.00028963 -0.12945088 0.10973330 +v 0.00028963 -0.11899301 0.11062278 +v 0.06186112 -0.10179575 0.10973341 +v 0.00028963 -0.11842198 0.12133264 +v 0.00032913 -0.12789672 0.13309194 +v 0.06333605 -0.11298375 0.12133493 +v 0.06186112 -0.11449252 0.10973336 +v 0.06256566 -0.11258468 0.13309200 +v 0.06288831 -0.11275664 0.12818293 +v 0.00028963 -0.12846451 0.12133260 +v 0.00406254 -0.12950928 0.10973330 +v 0.00405595 -0.12792269 0.13309194 +v 0.06186112 -0.11386307 0.11992189 +v 0.06186112 -0.11409668 0.11629325 +v 0.05995821 -0.11550813 0.10973336 +v 0.05985285 -0.11545298 0.11165857 +v 0.05848328 -0.11473921 0.13309199 +v 0.05934585 -0.11519018 0.11992189 +v 0.00972519 -0.12910693 0.10973331 +v 0.01221412 -0.12758523 0.13309194 +v 0.05299182 -0.11873017 0.10973334 +v 0.05299182 -0.11816887 0.11992188 +v 0.05611945 -0.11585216 0.13309198 +v 0.05299182 -0.11764325 0.12818291 +v 0.05299182 -0.11808128 0.12133492 +v 0.01846280 -0.12833468 0.10973331 +v 0.02037888 -0.12708552 0.12818287 +v 0.02037888 -0.12679351 0.13309194 +v 0.05170785 -0.11928503 0.10973334 +v 0.04691435 -0.12131301 0.10973333 +v 0.05299182 -0.11731555 0.13309198 +v 0.04714480 -0.12049214 0.12133491 +v 0.02037230 -0.12809456 0.10973331 +v 0.02853047 -0.12673826 0.11165852 +v 0.02853047 -0.12620291 0.11992185 +v 0.02853047 -0.12610557 0.12133261 +v 0.02853047 -0.12563186 0.12818288 +v 0.02853047 -0.12529118 0.13309195 +v 0.04593984 -0.12107619 0.11992187 +v 0.04595960 -0.12169589 0.10973333 +v 0.04923209 -0.11880165 0.13309197 +v 0.02663414 -0.12713412 0.10973331 +v 0.02853047 -0.12684209 0.10973331 +v 0.03667548 -0.12481736 0.10973332 +v 0.03667548 -0.12468758 0.11165853 +v 0.03667548 -0.12412301 0.11992185 +v 0.03296841 -0.12416201 0.13309195 +v 0.04567647 -0.12107295 0.12133263 +v 0.04186405 -0.12254607 0.11992186 +v 0.04265419 -0.12283156 0.11165854 +v 0.04283197 -0.12289970 0.10973333 +v 0.04459661 -0.12057330 0.13309197 +v 0.04429372 -0.12105026 0.12867678 +v 0.04126486 -0.12339615 0.10973333 +v 0.04171919 -0.12249740 0.12133490 +v 0.04121218 -0.12232544 0.12625311 +v 0.03679400 -0.12398998 0.12133489 +v 0.03660305 -0.12321453 0.13309196 +v 0.04181796 -0.12155322 0.13309196 +v 0.04062617 -0.12208535 0.13176122 +v 0.03741294 -0.12328915 0.12867677 +v 0.04046814 -0.12201072 0.13309196 +f 1 2 6 +f 1 6 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 13 +f 1 13 20 +f 1 20 28 +f 1 28 36 +f 1 36 46 +f 1 46 55 +f 1 55 66 +f 1 66 70 +f 1 70 67 +f 1 67 60 +f 1 60 49 +f 1 49 39 +f 1 39 31 +f 1 31 25 +f 1 25 16 +f 1 16 7 +f 1 7 2 +f 2 7 6 +f 3 8 4 +f 4 9 18 +f 4 18 12 +f 4 12 10 +f 4 10 5 +f 4 8 11 +f 4 11 15 +f 4 15 23 +f 4 23 29 +f 4 29 37 +f 4 37 38 +f 4 38 48 +f 4 48 59 +f 4 59 62 +f 4 62 52 +f 4 52 51 +f 4 51 50 +f 4 50 41 +f 4 41 34 +f 4 34 27 +f 4 27 19 +f 4 19 9 +f 5 10 12 +f 5 12 18 +f 5 18 13 +f 6 7 14 +f 6 14 15 +f 6 15 11 +f 6 11 8 +f 7 16 17 +f 7 17 14 +f 9 13 18 +f 9 19 13 +f 13 19 20 +f 14 17 21 +f 14 21 22 +f 14 22 15 +f 15 22 24 +f 15 24 23 +f 16 25 17 +f 17 25 26 +f 17 26 21 +f 19 27 28 +f 19 28 20 +f 21 26 22 +f 22 26 24 +f 23 24 29 +f 24 26 30 +f 24 30 29 +f 25 31 26 +f 26 31 32 +f 26 32 33 +f 26 33 30 +f 27 34 28 +f 28 34 35 +f 28 35 36 +f 29 30 37 +f 30 33 38 +f 30 38 37 +f 31 39 32 +f 32 39 40 +f 32 40 33 +f 33 40 38 +f 34 41 35 +f 35 42 36 +f 35 41 42 +f 36 42 43 +f 36 43 44 +f 36 44 45 +f 36 45 46 +f 38 40 47 +f 38 47 48 +f 39 49 47 +f 39 47 40 +f 41 50 42 +f 42 50 51 +f 42 51 52 +f 42 52 43 +f 43 52 53 +f 43 53 54 +f 43 54 55 +f 43 55 44 +f 44 55 45 +f 45 55 46 +f 47 49 56 +f 47 56 57 +f 47 57 58 +f 47 58 59 +f 47 59 48 +f 49 60 61 +f 49 61 56 +f 52 62 57 +f 52 57 63 +f 52 63 64 +f 52 64 53 +f 53 64 54 +f 54 64 65 +f 54 65 66 +f 54 66 55 +f 56 61 57 +f 57 61 63 +f 57 62 58 +f 58 62 59 +f 60 67 68 +f 60 68 61 +f 61 68 64 +f 61 64 63 +f 64 68 66 +f 64 66 69 +f 64 69 65 +f 65 69 66 +f 66 68 70 +f 67 70 68 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_36.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_36.obj new file mode 100644 index 0000000000000000000000000000000000000000..0b31f6a4b4d1241c79d68f4a2b28f3ebc4f4b1e5 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_36.obj @@ -0,0 +1,205 @@ +# https://github.com/mikedh/trimesh +v 0.08753788 -0.09622618 0.10973343 +v 0.08374715 -0.09965824 0.10973341 +v 0.08832546 -0.09643619 0.09837818 +v 0.08853317 -0.09622614 0.09837818 +v 0.07984390 -0.09031557 0.08722231 +v 0.07028052 -0.09622618 0.10973343 +v 0.08257877 -0.10060762 0.10973341 +v 0.08081322 -0.10561062 0.06545657 +v 0.08081322 -0.09108004 0.06545663 +v 0.08081322 -0.09046676 0.07618778 +v 0.08081322 -0.09046676 0.07624412 +v 0.00029037 -0.11904076 0.10973334 +v 0.07868418 -0.10373302 0.10973340 +v 0.07916018 -0.10682886 0.06545657 +v 0.00013459 -0.12160309 0.06545651 +v 0.00013459 -0.12031352 0.08686247 +v 0.00013459 -0.12029252 0.08722220 +v 0.00017786 -0.11973805 0.09667046 +v 0.00017786 -0.11964143 0.09837809 +v 0.00029037 -0.12945035 0.10973330 +v 0.07459919 -0.10672399 0.10973339 +v 0.07739464 -0.10811430 0.06545656 +v 0.00013459 -0.13320151 0.06545647 +v 0.00013459 -0.13133644 0.08722216 +v 0.00017786 -0.13058034 0.09837805 +v 0.00405515 -0.12950917 0.10973330 +v 0.00029037 -0.13026109 0.10316719 +v 0.07099885 -0.11244113 0.06545655 +v 0.07346543 -0.11078602 0.06545655 +v 0.06931120 -0.11008884 0.10973338 +v 0.06859286 -0.11397863 0.06545654 +v 0.00406380 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-0.12879907 0.06545649 +v 0.03669183 -0.12585021 0.09512319 +v 0.04004983 -0.12692971 0.06545649 +v 0.04483585 -0.12546363 0.06545650 +v 0.04127879 -0.12339280 0.10973333 +v 0.04690431 -0.12130919 0.10973333 +v 0.04595230 -0.12169567 0.10973333 +v 0.04284528 -0.12290130 0.10973333 +v 0.03669183 -0.12789169 0.06545649 +v 0.03669183 -0.12642570 0.08686245 +v 0.03669183 -0.12640049 0.08722652 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 12 +f 1 12 20 +f 1 20 26 +f 1 26 36 +f 1 36 43 +f 1 43 50 +f 1 50 49 +f 1 49 48 +f 1 48 55 +f 1 55 63 +f 1 63 66 +f 1 66 65 +f 1 65 64 +f 1 64 56 +f 1 56 51 +f 1 51 45 +f 1 45 44 +f 1 44 38 +f 1 38 30 +f 1 30 21 +f 1 21 13 +f 1 13 7 +f 1 7 2 +f 2 7 8 +f 2 8 3 +f 3 8 4 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 4 11 5 +f 5 11 10 +f 5 10 12 +f 5 12 6 +f 7 13 8 +f 8 13 14 +f 8 14 22 +f 8 22 29 +f 8 29 28 +f 8 28 31 +f 8 31 39 +f 8 39 46 +f 8 46 53 +f 8 53 52 +f 8 52 58 +f 8 58 62 +f 8 62 61 +f 8 61 67 +f 8 67 59 +f 8 59 54 +f 8 54 47 +f 8 47 41 +f 8 41 40 +f 8 40 32 +f 8 32 23 +f 8 23 15 +f 8 15 9 +f 9 15 16 +f 9 16 17 +f 9 17 10 +f 10 17 18 +f 10 18 19 +f 10 19 12 +f 12 19 25 +f 12 25 20 +f 13 21 14 +f 14 21 22 +f 15 23 24 +f 15 24 17 +f 15 17 16 +f 17 24 25 +f 17 25 19 +f 17 19 18 +f 20 25 27 +f 20 27 26 +f 21 28 29 +f 21 29 22 +f 21 30 31 +f 21 31 28 +f 23 32 33 +f 23 33 25 +f 23 25 24 +f 25 33 27 +f 26 27 34 +f 26 34 35 +f 26 35 36 +f 27 33 37 +f 27 37 34 +f 30 38 39 +f 30 39 31 +f 32 40 35 +f 32 35 37 +f 32 37 33 +f 34 37 35 +f 35 40 41 +f 35 41 42 +f 35 42 43 +f 35 43 36 +f 38 44 39 +f 39 44 45 +f 39 45 46 +f 41 47 42 +f 42 47 48 +f 42 48 49 +f 42 49 50 +f 42 50 43 +f 45 51 52 +f 45 52 53 +f 45 53 46 +f 47 54 48 +f 48 54 55 +f 51 56 57 +f 51 57 52 +f 52 57 58 +f 54 59 55 +f 55 60 61 +f 55 61 62 +f 55 62 63 +f 55 59 60 +f 56 64 57 +f 57 64 65 +f 57 65 66 +f 57 66 62 +f 57 62 58 +f 59 67 68 +f 59 68 69 +f 59 69 60 +f 60 69 61 +f 61 69 68 +f 61 68 67 +f 62 66 63 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_37.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_37.obj new file mode 100644 index 0000000000000000000000000000000000000000..2a386d0bc9bb1e18d6e87ab577954df1ce7001e9 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_37.obj @@ -0,0 +1,136 @@ +# https://github.com/mikedh/trimesh +v 0.07349893 -0.09606631 0.24063979 +v 0.07349893 -0.09606623 0.21683177 +v 0.07349893 -0.09571627 0.24082504 +v 0.07305904 -0.09606631 0.24081528 +v 0.05586806 -0.09606623 0.21683177 +v 0.07349893 -0.08233658 0.21683182 +v 0.06693574 -0.09606632 0.24167568 +v 0.07349893 -0.09336966 0.24125402 +v 0.06382131 -0.08798272 0.21683180 +v 0.05534019 -0.09606623 0.21904246 +v 0.01569713 -0.03327804 0.22244034 +v 0.01382612 -0.02984885 0.22169452 +v 0.01460620 -0.02984885 0.22105594 +v 0.02038344 -0.02984884 0.21849916 +v 0.02180283 -0.02984884 0.21804337 +v 0.07349893 -0.08154573 0.21730710 +v 0.06770408 -0.08433315 0.21683181 +v 0.02864168 -0.02984885 0.21983971 +v 0.02979713 -0.02984885 0.22035154 +v 0.05919364 -0.09606632 0.24125645 +v 0.06931116 -0.09363544 0.24172686 +v 0.07349893 -0.08898758 0.24168543 +v 0.05434897 -0.09606627 0.22735137 +v 0.01357978 -0.02984887 0.22645467 +v 0.07349893 -0.07823973 0.22000770 +v 0.03085287 -0.02984885 0.22111199 +v 0.05665986 -0.09606631 0.24083479 +v 0.02028960 -0.02984889 0.23262359 +v 0.07349893 -0.08639463 0.24123454 +v 0.05434897 -0.09606629 0.23538000 +v 0.05438416 -0.09606630 0.23562373 +v 0.05589152 -0.09606631 0.24003778 +v 0.01455927 -0.02984888 0.22871165 +v 0.07349893 -0.07787673 0.22387333 +v 0.03339252 -0.03135926 0.22218685 +v 0.03182650 -0.02984887 0.22531399 +v 0.01888781 -0.02984889 0.23194358 +v 0.01691123 -0.03180657 0.23055185 +v 0.02719884 -0.02984889 0.23244079 +v 0.07349893 -0.08206439 0.23558966 +v 0.03236610 -0.03275948 0.23118067 +v 0.02858303 -0.02984889 0.23200451 +v 0.07349893 -0.07766932 0.22833612 +v 0.03339252 -0.03135927 0.22567226 +v 0.03182650 -0.02984887 0.22692508 +v 0.03106402 -0.02984888 0.22898220 +f 1 2 6 +f 1 6 16 +f 1 16 25 +f 1 25 34 +f 1 34 43 +f 1 43 40 +f 1 40 29 +f 1 29 22 +f 1 22 8 +f 1 8 3 +f 1 3 4 +f 1 4 7 +f 1 7 20 +f 1 20 27 +f 1 27 32 +f 1 32 31 +f 1 31 30 +f 1 30 23 +f 1 23 10 +f 1 10 5 +f 1 5 2 +f 2 5 9 +f 2 9 17 +f 2 17 6 +f 3 7 4 +f 3 8 7 +f 5 10 11 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 5 15 9 +f 6 17 15 +f 6 15 18 +f 6 18 19 +f 6 19 16 +f 7 8 21 +f 7 21 20 +f 8 22 21 +f 9 15 17 +f 10 23 11 +f 11 24 12 +f 11 23 24 +f 12 24 33 +f 12 33 37 +f 12 37 28 +f 12 28 39 +f 12 39 42 +f 12 42 46 +f 12 46 45 +f 12 45 36 +f 12 36 26 +f 12 26 19 +f 12 19 18 +f 12 18 15 +f 12 15 14 +f 12 14 13 +f 16 19 26 +f 16 26 25 +f 20 21 22 +f 20 22 28 +f 20 28 27 +f 22 29 28 +f 23 30 24 +f 24 30 31 +f 24 31 32 +f 24 32 33 +f 25 26 35 +f 25 35 34 +f 26 36 35 +f 27 28 37 +f 27 37 38 +f 27 38 32 +f 28 29 39 +f 29 40 41 +f 29 41 42 +f 29 42 39 +f 32 38 33 +f 33 38 37 +f 34 35 43 +f 35 36 45 +f 35 45 44 +f 35 44 43 +f 40 43 46 +f 40 46 41 +f 41 46 42 +f 43 44 45 +f 43 45 46 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_38.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_38.obj new file mode 100644 index 0000000000000000000000000000000000000000..31f0a2c29f600a771abeee89fa8d4f98650c742c --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_38.obj @@ -0,0 +1,190 @@ +# https://github.com/mikedh/trimesh +v 0.08719054 -0.06958207 0.21682700 +v 0.10127965 -0.06958207 0.21682700 +v 0.08978402 -0.06958198 0.19199200 +v 0.02192396 -0.10881863 0.21682686 +v 0.10062731 -0.07054699 0.21682700 +v 0.10319692 -0.06958198 0.19199200 +v 0.02192396 -0.11093414 0.19199185 +v 0.02192396 -0.10929332 0.21082902 +v 0.02192396 -0.12027381 0.21682682 +v 0.09832023 -0.07388034 0.21682699 +v 0.09929079 -0.07515993 0.19199198 +v 0.02192396 -0.12229644 0.19199181 +v 0.02385714 -0.12200232 0.19199181 +v 0.02629151 -0.11949466 0.21682682 +v 0.09742126 -0.07500006 0.21682698 +v 0.09605292 -0.07923632 0.19199197 +v 0.09839182 -0.07629512 0.19199198 +v 0.02629947 -0.12139860 0.19199181 +v 0.02852700 -0.11905606 0.21682682 +v 0.09503462 -0.07795674 0.21682697 +v 0.09197177 -0.08379259 0.19199195 +v 0.09095347 -0.08269361 0.21682696 +v 0.03407990 -0.11927785 0.19199182 +v 0.03668929 -0.11839549 0.19430393 +v 0.03668929 -0.11680114 0.21682683 +v 0.09087392 -0.08492779 0.19199195 +v 0.08984766 -0.08381333 0.21682695 +v 0.08801791 -0.08786899 0.19199194 +v 0.03668929 -0.11853997 0.19199182 +v 0.04536074 -0.11569165 0.19199184 +v 0.04293433 -0.11479906 0.21682684 +v 0.04107275 -0.11539762 0.21682684 +v 0.08690414 -0.08677000 0.21682694 +v 0.08394472 -0.09186282 0.19199192 +v 0.08283095 -0.09079479 0.21682693 +v 0.04899639 -0.11430878 0.19199184 +v 0.04589376 -0.11366903 0.21682684 +v 0.08267980 -0.09299802 0.19199192 +v 0.08153421 -0.09191451 0.21682692 +v 0.07939419 -0.09593921 0.19199191 +v 0.04929074 -0.11419010 0.19199184 +v 0.04925892 -0.11417978 0.19237355 +v 0.04882137 -0.11394244 0.19788272 +v 0.04700752 -0.11322527 0.21682684 +v 0.07804176 -0.09487118 0.21682691 +v 0.07532100 -0.09913840 0.19199190 +v 0.07692800 -0.09576902 0.21682691 +v 0.07396062 -0.09813230 0.21682690 +v 0.05285478 -0.11247698 0.19199185 +v 0.05300594 -0.11054208 0.21682685 +v 0.05151031 -0.11122319 0.21682685 +v 0.07370604 -0.10027876 0.19199189 +v 0.07260819 -0.09908690 0.21682690 +v 0.05937826 -0.10921587 0.19199186 +v 0.05976808 -0.10726032 0.21682687 +v 0.06902823 -0.10357600 0.19199188 +v 0.06930667 -0.10140889 0.21682689 +v 0.06168534 -0.10804971 0.19199186 +v 0.06514596 -0.10579482 0.19777333 +v 0.06384127 -0.10506216 0.21682687 +v 0.06547214 -0.10602183 0.19199187 +v 0.06792242 -0.10234801 0.21682688 +v 0.06527325 -0.10613019 0.19199187 +v 0.06545623 -0.10601151 0.19226417 +f 1 2 6 +f 1 6 3 +f 1 3 4 +f 1 4 9 +f 1 9 14 +f 1 14 19 +f 1 19 25 +f 1 25 32 +f 1 32 31 +f 1 31 37 +f 1 37 44 +f 1 44 51 +f 1 51 50 +f 1 50 55 +f 1 55 60 +f 1 60 62 +f 1 62 57 +f 1 57 53 +f 1 53 48 +f 1 48 47 +f 1 47 45 +f 1 45 39 +f 1 39 35 +f 1 35 33 +f 1 33 27 +f 1 27 22 +f 1 22 20 +f 1 20 15 +f 1 15 10 +f 1 10 5 +f 1 5 2 +f 2 5 6 +f 3 6 11 +f 3 11 17 +f 3 17 16 +f 3 16 21 +f 3 21 26 +f 3 26 28 +f 3 28 34 +f 3 34 38 +f 3 38 40 +f 3 40 46 +f 3 46 52 +f 3 52 56 +f 3 56 61 +f 3 61 63 +f 3 63 58 +f 3 58 54 +f 3 54 49 +f 3 49 41 +f 3 41 36 +f 3 36 30 +f 3 30 29 +f 3 29 23 +f 3 23 18 +f 3 18 13 +f 3 13 12 +f 3 12 7 +f 3 7 8 +f 3 8 4 +f 4 8 7 +f 4 7 12 +f 4 12 9 +f 5 10 6 +f 6 10 11 +f 9 12 13 +f 9 13 14 +f 10 15 16 +f 10 16 17 +f 10 17 11 +f 13 18 19 +f 13 19 14 +f 15 20 16 +f 16 20 22 +f 16 22 21 +f 18 23 19 +f 19 23 24 +f 19 24 25 +f 21 22 26 +f 22 27 28 +f 22 28 26 +f 23 29 24 +f 24 29 30 +f 24 30 31 +f 24 31 32 +f 24 32 25 +f 27 33 28 +f 28 33 35 +f 28 35 34 +f 30 36 31 +f 31 36 37 +f 34 35 38 +f 35 39 40 +f 35 40 38 +f 36 41 42 +f 36 42 43 +f 36 43 37 +f 37 43 44 +f 39 45 40 +f 40 45 47 +f 40 47 48 +f 40 48 46 +f 41 49 42 +f 42 49 50 +f 42 50 51 +f 42 51 43 +f 43 51 44 +f 46 48 52 +f 48 53 52 +f 49 54 55 +f 49 55 50 +f 52 53 56 +f 53 57 56 +f 54 58 55 +f 55 58 59 +f 55 59 60 +f 56 57 59 +f 56 59 61 +f 57 62 59 +f 58 63 59 +f 59 63 64 +f 59 64 61 +f 59 62 60 +f 61 64 63 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_39.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_39.obj new file mode 100644 index 0000000000000000000000000000000000000000..25dbcb744ec1f01d9342b02f0df5afba183751f7 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_39.obj @@ -0,0 +1,175 @@ +# https://github.com/mikedh/trimesh +v 0.00016967 0.13140525 0.08722616 +v -0.00411155 0.13140095 0.08722616 +v 0.00016967 0.13073409 0.09838316 +v 0.00016967 0.12037044 0.08722612 +v -0.00250410 0.13072978 0.09838316 +v -0.00445372 0.13137944 0.08722616 +v 0.00016967 0.11971218 0.09838312 +v 0.00016967 0.11988858 0.09512831 +v -0.08112565 0.08745956 0.09838300 +v -0.08112565 0.08776501 0.09512819 +v -0.08112565 0.08790269 0.09367554 +v -0.08112565 0.08853511 0.08722601 +v -0.00958641 0.13068249 0.09260315 +v -0.00684898 0.13040713 0.09811229 +v -0.00670574 0.13038563 0.09838316 +v -0.01210898 0.13086749 0.08722616 +v 0.00016967 0.11979393 0.09683327 +v -0.08112565 0.10252110 0.09838306 +v -0.08112565 0.10343319 0.08722606 +v -0.01502944 0.13035984 0.08957990 +v -0.01541140 0.12942626 0.09838316 +v -0.00712749 0.13034690 0.09838316 +v -0.01267397 0.13080727 0.08722616 +v -0.08112565 0.10324818 0.08952955 +v -0.07908849 0.10420321 0.09838306 +v -0.07966940 0.10465497 0.08722606 +v -0.01928678 0.12983500 0.08722616 +v -0.02858131 0.12752474 0.09838315 +v -0.02363961 0.12826900 0.09838315 +v -0.02042472 0.12873363 0.09838315 +v -0.07501417 0.10723618 0.09838307 +v -0.07559508 0.10764491 0.08722608 +v -0.02038493 0.12965431 0.08722616 +v -0.02858131 0.12821311 0.08722615 +v -0.03673790 0.12645787 0.08722614 +v -0.03673790 0.12565334 0.09838314 +v -0.06936424 0.11092736 0.09838309 +v -0.06873559 0.11215779 0.08722609 +v -0.03705620 0.12635462 0.08722614 +v -0.04363718 0.12345499 0.09838313 +v -0.03928434 0.12485746 0.09838314 +v -0.06662682 0.11265679 0.09838309 +v -0.06517853 0.11419265 0.09022533 +v -0.06868785 0.11218790 0.08722828 +v -0.06868785 0.11218790 0.08722609 +v -0.04532420 0.12361421 0.08722613 +v -0.04392365 0.12357545 0.09512832 +v -0.04524462 0.12282688 0.09838313 +v -0.06465332 0.11389148 0.09838310 +v -0.06196364 0.11600814 0.08722611 +v -0.06057105 0.11594787 0.09838311 +v -0.04648602 0.12314528 0.08722613 +v -0.04857092 0.12218590 0.08887101 +v -0.04771945 0.12182450 0.09838313 +v -0.05308290 0.12024138 0.08722612 +v -0.05589195 0.11811182 0.09838311 +v -0.05106166 0.12117062 0.08722613 +v -0.04998738 0.12081782 0.09838312 +v -0.05305107 0.11941964 0.09838312 +f 1 2 3 +f 1 3 7 +f 1 7 17 +f 1 17 8 +f 1 8 4 +f 1 4 12 +f 1 12 19 +f 1 19 26 +f 1 26 32 +f 1 32 38 +f 1 38 45 +f 1 45 50 +f 1 50 55 +f 1 55 57 +f 1 57 52 +f 1 52 46 +f 1 46 39 +f 1 39 35 +f 1 35 34 +f 1 34 33 +f 1 33 27 +f 1 27 23 +f 1 23 16 +f 1 16 6 +f 1 6 2 +f 2 5 3 +f 2 6 5 +f 3 5 15 +f 3 15 22 +f 3 22 21 +f 3 21 30 +f 3 30 29 +f 3 29 28 +f 3 28 36 +f 3 36 41 +f 3 41 40 +f 3 40 48 +f 3 48 54 +f 3 54 58 +f 3 58 59 +f 3 59 56 +f 3 56 51 +f 3 51 49 +f 3 49 42 +f 3 42 37 +f 3 37 31 +f 3 31 25 +f 3 25 18 +f 3 18 9 +f 3 9 7 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 4 11 12 +f 5 6 13 +f 5 13 14 +f 5 14 15 +f 6 16 13 +f 7 9 17 +f 8 17 9 +f 9 18 24 +f 9 24 19 +f 9 19 12 +f 9 12 11 +f 9 11 10 +f 13 16 20 +f 13 20 21 +f 13 21 14 +f 14 21 22 +f 14 22 15 +f 16 23 20 +f 18 25 26 +f 18 26 24 +f 19 24 26 +f 20 23 27 +f 20 27 28 +f 20 28 29 +f 20 29 30 +f 20 30 21 +f 25 31 26 +f 26 31 32 +f 27 33 28 +f 28 33 34 +f 28 34 35 +f 28 35 36 +f 31 37 38 +f 31 38 32 +f 35 39 40 +f 35 40 41 +f 35 41 36 +f 37 42 43 +f 37 43 38 +f 38 43 44 +f 38 44 45 +f 39 46 47 +f 39 47 40 +f 40 47 46 +f 40 46 48 +f 42 49 43 +f 43 50 45 +f 43 45 44 +f 43 49 51 +f 43 51 50 +f 46 52 53 +f 46 53 48 +f 48 53 54 +f 50 51 55 +f 51 56 55 +f 52 57 53 +f 53 58 54 +f 53 57 59 +f 53 59 58 +f 55 56 59 +f 55 59 57 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_4.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_4.obj new file mode 100644 index 0000000000000000000000000000000000000000..7863b9541bce32e900f0f8bbba1658f98c15aba4 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_4.obj @@ -0,0 +1,370 @@ +# https://github.com/mikedh/trimesh +v -0.11039918 -0.06445613 0.14476485 +v -0.10817626 -0.06839858 0.14476484 +v -0.10784378 -0.06789208 0.15297967 +v -0.11003819 -0.06445615 0.14944319 +v -0.09737517 -0.06445613 0.14476485 +v -0.10551637 -0.07247530 0.14476482 +v -0.10750179 -0.06736116 0.16124534 +v -0.10518388 -0.07196879 0.15297966 +v -0.10797678 -0.06445624 0.17495677 +v -0.10715980 -0.06681193 0.16950640 +v -0.09333783 -0.06445629 0.18866355 +v -0.01335085 -0.11230888 0.19199185 +v -0.01335085 -0.11324256 0.17887677 +v -0.01335085 -0.11337071 0.17722642 +v -0.01335085 -0.11599482 0.14476466 +v -0.10197300 -0.07733317 0.14476481 +v -0.10129852 -0.07733320 0.15297964 +v -0.10017757 -0.07794963 0.16047328 +v -0.10481339 -0.07143788 0.16124533 +v -0.10774878 -0.06445625 0.17777208 +v -0.10679882 -0.06623219 0.17777208 +v -0.09304334 -0.06445631 0.19199202 +v -0.01335085 -0.12369681 0.19199181 +v -0.01335085 -0.12680300 0.14476462 +v -0.09844863 -0.08202018 0.14476479 +v -0.09810665 -0.08162962 0.15297962 +v -0.09792616 -0.08141604 0.15720491 +v -0.10033906 -0.07657652 0.16950637 +v -0.10441440 -0.07088865 0.16950639 +v -0.10617184 -0.06525578 0.19129859 +v -0.10667532 -0.06445630 0.19030930 +v -0.10652333 -0.06445631 0.19199202 +v -0.01335085 -0.12473424 0.17777186 +v -0.01996260 -0.12281190 0.19199181 +v -0.02042808 -0.12382491 0.17777187 +v -0.02042808 -0.12442907 0.16950619 +v -0.01335085 -0.12537501 0.16840595 +v -0.02042808 -0.12494779 0.16124513 +v -0.02038058 -0.12593029 0.14476463 +v -0.09842964 -0.08204459 0.14476479 +v -0.09459178 -0.08612741 0.14476477 +v -0.09423079 -0.08570634 0.15297961 +v -0.09015544 -0.08996003 0.15297959 +v -0.09376531 -0.08540733 0.16051488 +v -0.09322383 -0.08501678 0.16950634 +v -0.09277735 -0.08455298 0.17777201 +v -0.09765066 -0.08108041 0.16271537 +v -0.09729917 -0.08065323 0.16950635 +v -0.09922761 -0.07503258 0.19199198 +v -0.10036756 -0.07343363 0.19199199 +v -0.10399642 -0.07030890 0.17777206 +v -0.10556387 -0.06603085 0.19199202 +v -0.10613384 -0.06520086 0.19199202 +v -0.10653282 -0.06445631 0.19193191 +v -0.01335085 -0.12481358 0.17666701 +v -0.02203352 -0.12240911 0.19199181 +v -0.02532989 -0.12237246 0.18439183 +v -0.02646035 -0.12263486 0.17777187 +v -0.02783780 -0.12295217 0.16950620 +v -0.02858827 -0.12389196 0.15297946 +v -0.02853127 -0.12444119 0.14476463 +v -0.01335085 -0.12530178 0.16950619 +v -0.02042808 -0.12592418 0.14476463 +v -0.09053543 -0.09034448 0.14476476 +v -0.08629859 -0.09442120 0.14476474 +v -0.08503514 -0.09475689 0.15364988 +v -0.08987996 -0.08968542 0.15831900 +v -0.08959497 -0.08939861 0.16382945 +v -0.08929098 -0.08909349 0.16950632 +v -0.09197938 -0.08375967 0.19199195 +v -0.08805603 -0.08783639 0.19199194 +v 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0.19199186 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 20 +f 1 20 31 +f 1 31 54 +f 1 54 32 +f 1 32 22 +f 1 22 11 +f 1 11 5 +f 1 5 15 +f 1 15 24 +f 1 24 39 +f 1 39 63 +f 1 63 61 +f 1 61 82 +f 1 82 93 +f 1 93 106 +f 1 106 113 +f 1 113 121 +f 1 121 123 +f 1 123 122 +f 1 122 114 +f 1 114 107 +f 1 107 95 +f 1 95 83 +f 1 83 65 +f 1 65 64 +f 1 64 41 +f 1 41 40 +f 1 40 25 +f 1 25 16 +f 1 16 6 +f 1 6 2 +f 2 6 8 +f 2 8 3 +f 3 7 4 +f 3 8 7 +f 4 7 10 +f 4 10 9 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 6 16 17 +f 6 17 8 +f 7 8 10 +f 8 17 18 +f 8 18 19 +f 8 19 10 +f 9 10 20 +f 10 21 20 +f 10 19 21 +f 11 22 12 +f 12 23 33 +f 12 33 55 +f 12 55 62 +f 12 62 37 +f 12 37 24 +f 12 24 15 +f 12 15 14 +f 12 14 13 +f 12 22 32 +f 12 32 53 +f 12 53 52 +f 12 52 75 +f 12 75 50 +f 12 50 49 +f 12 49 74 +f 12 74 73 +f 12 73 70 +f 12 70 71 +f 12 71 88 +f 12 88 87 +f 12 87 101 +f 12 101 111 +f 12 111 110 +f 12 110 116 +f 12 116 118 +f 12 118 124 +f 12 124 119 +f 12 119 112 +f 12 112 102 +f 12 102 90 +f 12 90 79 +f 12 79 89 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59 80 81 +f 59 81 60 +f 60 82 61 +f 60 81 82 +f 65 83 84 +f 65 84 66 +f 66 84 85 +f 66 85 68 +f 66 68 67 +f 68 85 86 +f 68 86 69 +f 69 86 87 +f 69 87 88 +f 69 88 71 +f 72 73 74 +f 77 89 78 +f 78 89 79 +f 79 90 80 +f 80 90 91 +f 80 91 92 +f 80 92 81 +f 81 92 82 +f 82 92 94 +f 82 94 93 +f 83 95 84 +f 84 96 87 +f 84 87 86 +f 84 86 85 +f 84 95 97 +f 84 97 96 +f 87 96 98 +f 87 98 99 +f 87 99 100 +f 87 100 101 +f 90 102 103 +f 90 103 104 +f 90 104 91 +f 91 93 94 +f 91 94 92 +f 91 104 105 +f 91 105 93 +f 93 105 106 +f 95 107 108 +f 95 108 97 +f 96 97 98 +f 97 108 109 +f 97 109 110 +f 97 110 99 +f 97 99 98 +f 99 110 111 +f 99 111 100 +f 100 111 101 +f 102 104 103 +f 102 112 104 +f 104 112 113 +f 104 113 105 +f 105 113 106 +f 107 114 115 +f 107 115 108 +f 108 116 117 +f 108 117 110 +f 108 110 109 +f 108 115 118 +f 108 118 116 +f 110 117 116 +f 112 119 120 +f 112 120 113 +f 113 120 121 +f 114 122 115 +f 115 122 123 +f 115 123 118 +f 118 123 124 +f 119 124 120 +f 120 124 123 +f 120 123 121 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_40.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_40.obj new file mode 100644 index 0000000000000000000000000000000000000000..9e8fdcc8f24237ee24c221469a12ead4c3d234c8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_40.obj @@ -0,0 +1,157 @@ +# https://github.com/mikedh/trimesh +v -0.00411134 0.12854001 0.12133415 +v -0.00550660 0.12848625 0.12133415 +v -0.00411134 0.12800778 0.13309288 +v 0.00032815 0.12800241 0.13309288 +v 0.00032815 0.12852120 0.12133415 +v -0.01226889 0.12817984 0.12133415 +v -0.01226889 0.12788416 0.12818564 +v -0.01226889 0.12764225 0.13309288 +v 0.00032815 0.11765179 0.13309284 +v 0.00032815 0.11843128 0.12133412 +v -0.02042646 0.12745683 0.12133415 +v -0.02042646 0.12707784 0.12818564 +v -0.02042646 0.12675259 0.13309288 +v -0.05950188 0.10108165 0.13309278 +v -0.05985069 0.10108166 0.13011943 +v -0.06124597 0.10108169 0.12133405 +v -0.02858402 0.12605650 0.12133414 +v -0.02858402 0.12520444 0.13309287 +v -0.07950336 0.10108165 0.13309278 +v -0.08066080 0.10108169 0.12133405 +v -0.03683671 0.12400305 0.12133414 +v -0.03275396 0.12419652 0.13309287 +v -0.07722812 0.10284214 0.13309279 +v -0.07777514 0.10338511 0.12133406 +v -0.07958264 0.10108165 0.13232960 +v -0.08039126 0.10108168 0.12417042 +v -0.07877401 0.10259759 0.12133406 +v -0.03791487 0.12369394 0.12133413 +v -0.03627384 0.12331224 0.13309286 +v -0.07495288 0.10455964 0.13309279 +v -0.07359725 0.10623415 0.12540905 +v -0.07381923 0.10639274 0.12133407 +v -0.04145853 0.12264571 0.12133413 +v -0.04105422 0.12251132 0.12512708 +v -0.04009497 0.12207317 0.13309286 +v -0.07316916 0.10590352 0.13309280 +v -0.07180560 0.10681736 0.13309280 +v -0.06938767 0.10843272 0.13309281 +v -0.06949073 0.10928747 0.12133408 +v -0.04543029 0.12125614 0.12133413 +v -0.04421735 0.12112979 0.12800257 +v -0.04462167 0.12053846 0.13309285 +v -0.04229093 0.12133135 0.13309286 +v -0.06633552 0.11027922 0.13309282 +v -0.06313275 0.11317668 0.12133410 +v -0.06440910 0.11239723 0.12133409 +v -0.04694447 0.12065139 0.12133412 +v -0.04953681 0.11862208 0.13309285 +v -0.06220521 0.11270090 0.13309282 +v -0.05905001 0.11522208 0.12133410 +v -0.05813039 0.11477318 0.13309283 +v -0.05304876 0.11721637 0.13309284 +v -0.05304876 0.11809800 0.12133411 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 10 +f 1 10 16 +f 1 16 20 +f 1 20 27 +f 1 27 24 +f 1 24 32 +f 1 32 39 +f 1 39 46 +f 1 46 45 +f 1 45 50 +f 1 50 53 +f 1 53 47 +f 1 47 40 +f 1 40 33 +f 1 33 28 +f 1 28 21 +f 1 21 17 +f 1 17 11 +f 1 11 6 +f 1 6 2 +f 2 6 7 +f 2 7 3 +f 3 7 8 +f 3 8 13 +f 3 13 18 +f 3 18 22 +f 3 22 29 +f 3 29 35 +f 3 35 43 +f 3 43 42 +f 3 42 48 +f 3 48 52 +f 3 52 51 +f 3 51 49 +f 3 49 44 +f 3 44 38 +f 3 38 37 +f 3 37 36 +f 3 36 30 +f 3 30 23 +f 3 23 19 +f 3 19 14 +f 3 14 9 +f 3 9 4 +f 4 9 10 +f 4 10 5 +f 6 11 7 +f 7 11 8 +f 8 11 12 +f 8 12 13 +f 9 14 15 +f 9 15 16 +f 9 16 10 +f 11 17 12 +f 12 17 13 +f 13 17 18 +f 14 19 25 +f 14 25 26 +f 14 26 20 +f 14 20 16 +f 14 16 15 +f 17 21 22 +f 17 22 18 +f 19 23 24 +f 19 24 25 +f 20 26 27 +f 21 28 29 +f 21 29 22 +f 23 30 31 +f 23 31 24 +f 24 27 25 +f 24 31 32 +f 25 27 26 +f 28 33 34 +f 28 34 29 +f 29 34 35 +f 30 36 31 +f 31 36 37 +f 31 37 38 +f 31 38 39 +f 31 39 32 +f 33 40 34 +f 34 40 41 +f 34 41 42 +f 34 42 43 +f 34 43 35 +f 38 44 45 +f 38 45 46 +f 38 46 39 +f 40 47 48 +f 40 48 42 +f 40 42 41 +f 44 49 45 +f 45 49 51 +f 45 51 50 +f 47 52 48 +f 47 53 52 +f 50 51 52 +f 50 52 53 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_41.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_41.obj new file mode 100644 index 0000000000000000000000000000000000000000..9c55cc49fbe71893e086ab53d88a7a43bd0f2d7b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_41.obj @@ -0,0 +1,172 @@ +# https://github.com/mikedh/trimesh +v -0.10389450 0.05488923 0.13309261 +v -0.10430231 0.05488925 0.12824063 +v -0.11649306 0.05488923 0.13309261 +v -0.11395453 -0.02762670 0.13309231 +v -0.11410897 -0.02762669 0.13122173 +v -0.10489591 0.05488927 0.12135575 +v -0.11687191 0.05488925 0.12818537 +v -0.11737382 0.05311999 0.13309261 +v -0.12547446 -0.02762670 0.13309231 +v -0.11505247 -0.02762666 0.12133358 +v -0.10491039 0.05487310 0.12133388 +v -0.10495865 0.05488927 0.12133388 +v -0.11705289 0.05488926 0.12582096 +v -0.11775268 0.05312001 0.12818537 +v -0.12133848 0.04578456 0.12133385 +v -0.12123713 0.04441116 0.12837182 +v -0.12067489 0.04473429 0.13309257 +v -0.12689091 -0.02025084 0.13309234 +v -0.12581469 -0.02762668 0.12818507 +v -0.12627559 -0.02762666 0.12133358 +v -0.11737382 0.05488927 0.12133388 +v -0.11824735 0.05312003 0.12133388 +v -0.12164252 0.04491206 0.12133384 +v -0.12252812 0.04131703 0.12574147 +v -0.12221924 0.04058992 0.13124962 +v -0.12211066 0.04032332 0.13309256 +v -0.12717808 -0.02025082 0.12818510 +v -0.12772583 -0.01209942 0.13309237 +v -0.12750384 -0.02025080 0.12133361 +v -0.12269220 0.04181791 0.12133383 +v -0.12257878 0.03887722 0.13309255 +v -0.12409660 0.03692222 0.12133382 +v -0.12340889 0.03744732 0.12837180 +v -0.12330753 0.03646977 0.13309254 +v -0.12804436 -0.00393993 0.13309240 +v -0.12846424 -0.00533750 0.12133366 +v -0.12792371 -0.01209940 0.12818513 +v -0.12814812 -0.01209938 0.12133364 +v -0.12448511 0.03541958 0.12133381 +v -0.12533692 0.02866574 0.13309252 +v -0.12805401 -0.00062766 0.13309241 +v -0.12854628 0.00421153 0.12133370 +v -0.12854145 0.00281391 0.12133369 +v -0.12851249 -0.00393989 0.12133367 +v -0.12620079 0.02866578 0.12133379 +v -0.12570128 0.02866576 0.12818528 +v -0.12629972 0.02381851 0.13309250 +v -0.12806608 0.00421149 0.13309243 +v -0.12795026 0.00752376 0.13309244 +v -0.12794543 0.01236293 0.12818522 +v -0.12819156 0.01236295 0.12133373 +v -0.12646381 0.02726816 0.12133378 +v -0.12692712 0.02050624 0.13309249 +v -0.12771859 0.01236291 0.13309246 +v -0.12769930 0.01911674 0.12133375 +v -0.12757864 0.02050628 0.12133376 +v -0.12724082 0.02050626 0.12818525 +v -0.12743385 0.01566710 0.13309247 +f 1 2 6 +f 1 6 12 +f 1 12 21 +f 1 21 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 17 +f 1 17 26 +f 1 26 31 +f 1 31 34 +f 1 34 40 +f 1 40 47 +f 1 47 53 +f 1 53 58 +f 1 58 54 +f 1 54 49 +f 1 49 48 +f 1 48 41 +f 1 41 35 +f 1 35 28 +f 1 28 18 +f 1 18 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 14 +f 3 14 8 +f 4 9 19 +f 4 19 20 +f 4 20 10 +f 4 10 5 +f 5 10 6 +f 6 11 12 +f 6 10 11 +f 7 13 14 +f 8 14 15 +f 8 15 16 +f 8 16 17 +f 9 18 19 +f 10 20 29 +f 10 29 38 +f 10 38 36 +f 10 36 44 +f 10 44 43 +f 10 43 42 +f 10 42 51 +f 10 51 55 +f 10 55 56 +f 10 56 52 +f 10 52 45 +f 10 45 39 +f 10 39 32 +f 10 32 30 +f 10 30 23 +f 10 23 15 +f 10 15 22 +f 10 22 21 +f 10 21 12 +f 10 12 11 +f 13 21 22 +f 13 22 14 +f 14 22 15 +f 15 23 16 +f 16 24 17 +f 16 23 24 +f 17 24 25 +f 17 25 26 +f 18 27 20 +f 18 20 19 +f 18 28 27 +f 20 27 29 +f 23 30 24 +f 24 31 25 +f 24 30 32 +f 24 32 33 +f 24 33 34 +f 24 34 31 +f 25 31 26 +f 27 28 29 +f 28 35 36 +f 28 36 37 +f 28 37 29 +f 29 37 38 +f 32 39 40 +f 32 40 34 +f 32 34 33 +f 35 41 42 +f 35 42 43 +f 35 43 44 +f 35 44 36 +f 36 38 37 +f 39 45 46 +f 39 46 40 +f 40 46 47 +f 41 48 42 +f 42 48 49 +f 42 49 50 +f 42 50 51 +f 45 52 53 +f 45 53 47 +f 45 47 46 +f 49 54 50 +f 50 54 55 +f 50 55 51 +f 52 56 57 +f 52 57 53 +f 53 57 58 +f 54 58 55 +f 55 58 56 +f 56 58 57 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_42.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_42.obj new file mode 100644 index 0000000000000000000000000000000000000000..c1c7fcfd33650bb97c42a7606c0eac5ee1029d6f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_42.obj @@ -0,0 +1,133 @@ +# https://github.com/mikedh/trimesh +v -0.08169566 0.10204493 0.09838305 +v -0.08398632 0.10012338 0.09838305 +v -0.08348787 0.09968026 0.10973415 +v -0.08160044 0.10204492 0.09942083 +v -0.06223897 0.10204493 0.09838305 +v -0.08806920 0.09637073 0.09838303 +v -0.08234534 0.10062521 0.10973415 +v -0.08757075 0.09589144 0.10973413 +v -0.08087796 0.10204490 0.10707415 +v -0.06169571 0.10204491 0.10339416 +v -0.10589609 0.05586016 0.09838289 +v -0.08971020 0.09476568 0.09838303 +v -0.09176564 0.09181325 0.10973412 +v -0.09079112 0.09276272 0.10973412 +v -0.08061473 0.10204489 0.10973415 +v -0.06106284 0.10204489 0.10973415 +v -0.10521842 0.05586012 0.10973399 +v -0.11827355 0.05586016 0.09838289 +v -0.09223609 0.09229254 0.09838302 +v -0.09631897 0.08812394 0.09838300 +v -0.09584851 0.08764012 0.10973410 +v -0.11764067 0.05586012 0.10973399 +v -0.11770788 0.05586012 0.10857177 +v -0.11727663 0.05798063 0.09838289 +v -0.09779754 0.08651888 0.09838300 +v -0.09874965 0.08451592 0.10973409 +v -0.11564124 0.06002421 0.10973400 +v -0.11574765 0.06123143 0.09838290 +v -0.10005461 0.08405028 0.09838299 +v -0.09962336 0.08356646 0.10973409 +v -0.11515398 0.06097367 0.10973400 +v -0.11391623 0.06485749 0.09838292 +v -0.11445950 0.06379498 0.09838291 +v -0.10413189 0.07914469 0.09838297 +v -0.10394147 0.07890957 0.10339408 +v -0.10370064 0.07859306 0.10973407 +v -0.11354099 0.06410239 0.10973402 +v -0.11020300 0.06943749 0.10973404 +v -0.11128952 0.06898992 0.09838293 +v -0.10535283 0.07754416 0.09838296 +v -0.10609211 0.07546886 0.10973406 +v -0.10936850 0.07069441 0.10973404 +v -0.10704423 0.07483139 0.10339406 +v -0.10721785 0.07507103 0.09838296 +v -0.10681460 0.07451940 0.10973405 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 15 +f 1 15 16 +f 1 16 10 +f 1 10 5 +f 1 5 11 +f 1 11 18 +f 1 18 24 +f 1 24 28 +f 1 28 33 +f 1 33 32 +f 1 32 39 +f 1 39 44 +f 1 44 40 +f 1 40 34 +f 1 34 29 +f 1 29 25 +f 1 25 20 +f 1 20 19 +f 1 19 12 +f 1 12 6 +f 1 6 2 +f 2 6 3 +f 3 7 4 +f 3 6 8 +f 3 8 14 +f 3 14 13 +f 3 13 21 +f 3 21 26 +f 3 26 30 +f 3 30 36 +f 3 36 41 +f 3 41 45 +f 3 45 42 +f 3 42 38 +f 3 38 37 +f 3 37 31 +f 3 31 27 +f 3 27 22 +f 3 22 17 +f 3 17 16 +f 3 16 15 +f 3 15 7 +f 4 7 9 +f 5 10 11 +f 6 12 13 +f 6 13 14 +f 6 14 8 +f 7 15 9 +f 10 16 11 +f 11 17 22 +f 11 22 23 +f 11 23 18 +f 11 16 17 +f 12 19 13 +f 13 19 20 +f 13 20 21 +f 18 23 24 +f 20 25 26 +f 20 26 21 +f 22 27 28 +f 22 28 23 +f 23 28 24 +f 25 29 30 +f 25 30 26 +f 27 31 32 +f 27 32 33 +f 27 33 28 +f 29 34 30 +f 30 34 35 +f 30 35 36 +f 31 37 32 +f 32 37 38 +f 32 38 39 +f 34 40 35 +f 35 40 41 +f 35 41 36 +f 38 42 39 +f 39 42 43 +f 39 43 44 +f 40 44 43 +f 40 43 45 +f 40 45 41 +f 42 45 43 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_43.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_43.obj new file mode 100644 index 0000000000000000000000000000000000000000..de7ebdb71f93f445e4d396601388b744d3d8d98f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_43.obj @@ -0,0 +1,202 @@ +# https://github.com/mikedh/trimesh +v -0.09743970 0.06463020 0.14476533 +v -0.09744269 0.06463020 0.14471506 +v -0.10485136 0.06463020 0.14476533 +v -0.11629866 -0.01209428 0.14476505 +v -0.11628366 -0.01219203 0.14476390 +v -0.09803635 0.06463023 0.13645153 +v -0.11628666 -0.01219203 0.14471478 +v -0.11707520 -0.01219199 0.13309466 +v -0.11037112 0.06463020 0.14474133 +v -0.11237395 0.06109590 0.14476531 +v -0.11640659 -0.01219203 0.14476505 +v -0.09828520 0.06463024 0.13309494 +v -0.12771597 -0.01219199 0.13309466 +v -0.11107871 0.06463023 0.13645153 +v -0.11255984 0.06213365 0.13645152 +v -0.11257784 0.06075751 0.14476531 +v -0.12708933 -0.01219203 0.14476505 +v -0.11131557 0.06463024 0.13309494 +v -0.12771597 -0.01219199 0.13313122 +v -0.12772796 -0.01209424 0.13309466 +v -0.11269176 0.06238935 0.13309493 +v -0.11467360 0.05805793 0.13645150 +v -0.11442475 0.05756912 0.14277168 +v -0.11291064 0.06012584 0.14476531 +v -0.12709532 -0.01214691 0.14476505 +v -0.12709233 -0.01219203 0.14471478 +v -0.12758105 -0.01219200 0.13645125 +v -0.12759004 -0.01209425 0.13645125 +v -0.12759603 -0.00394282 0.14471481 +v -0.12793185 -0.00394279 0.13645128 +v -0.12804278 -0.00394278 0.13309469 +v -0.11394503 0.05996797 0.13309492 +v -0.11480253 0.05830609 0.13309491 +v -0.11737502 0.05312495 0.13309490 +v -0.11711418 0.05312494 0.13645149 +v -0.11573498 0.05454616 0.14476529 +v -0.12710132 -0.01209428 0.14476505 +v -0.12710432 -0.01209428 0.14471478 +v -0.12759004 -0.00399546 0.14476508 +v -0.12759304 -0.00394282 0.14476508 +v -0.12759004 0.00420864 0.14471484 +v -0.12795282 0.00420867 0.13645131 +v -0.12805477 -0.00063407 0.13309470 +v -0.12067609 0.04474038 0.13309486 +v -0.11956374 0.04497345 0.14476526 +v -0.11607678 0.05383929 0.14476529 +v -0.11595685 0.05408745 0.14476529 +v -0.12758705 0.00420864 0.14476511 +v -0.12756305 0.01236013 0.13645134 +v -0.12771896 0.01236014 0.13309475 +v -0.12794983 0.00752491 0.13309473 +v -0.12806676 0.00420868 0.13309472 +v -0.12211225 0.04032626 0.13309485 +v -0.12257998 0.03888246 0.13309484 +v -0.12290678 0.03456606 0.14471495 +v -0.12290978 0.03453598 0.14476522 +v -0.12700538 0.01236010 0.14476514 +v -0.12671155 0.02051911 0.13645137 +v -0.12743413 0.01567637 0.13309476 +v -0.12330854 0.03646861 0.13309483 +v -0.12323660 0.03576925 0.13645142 +v -0.12508651 0.02866305 0.13645140 +v -0.12443888 0.02866302 0.14471493 +v -0.12443288 0.02867054 0.14476520 +v -0.12605194 0.02051908 0.14476517 +v -0.12692742 0.02051912 0.13309478 +v -0.12630080 0.02382783 0.13309479 +v -0.12533536 0.02866306 0.13309481 +f 1 2 6 +f 1 6 12 +f 1 12 18 +f 1 18 14 +f 1 14 9 +f 1 9 3 +f 1 3 10 +f 1 10 16 +f 1 16 24 +f 1 24 36 +f 1 36 47 +f 1 47 46 +f 1 46 45 +f 1 45 56 +f 1 56 64 +f 1 64 65 +f 1 65 57 +f 1 57 48 +f 1 48 40 +f 1 40 39 +f 1 39 37 +f 1 37 25 +f 1 25 17 +f 1 17 11 +f 1 11 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 8 +f 2 8 6 +f 3 9 10 +f 4 11 5 +f 5 11 17 +f 5 17 26 +f 5 26 27 +f 5 27 19 +f 5 19 13 +f 5 13 8 +f 5 8 7 +f 6 8 12 +f 8 13 20 +f 8 20 31 +f 8 31 43 +f 8 43 52 +f 8 52 51 +f 8 51 50 +f 8 50 59 +f 8 59 66 +f 8 66 67 +f 8 67 68 +f 8 68 60 +f 8 60 54 +f 8 54 53 +f 8 53 44 +f 8 44 34 +f 8 34 33 +f 8 33 32 +f 8 32 21 +f 8 21 18 +f 8 18 12 +f 9 14 15 +f 9 15 16 +f 9 16 10 +f 13 19 20 +f 14 18 21 +f 14 21 15 +f 15 21 22 +f 15 22 23 +f 15 23 24 +f 15 24 16 +f 17 25 26 +f 19 27 20 +f 20 27 28 +f 20 28 29 +f 20 29 30 +f 20 30 31 +f 21 32 22 +f 22 33 34 +f 22 34 23 +f 22 32 33 +f 23 34 35 +f 23 35 36 +f 23 36 24 +f 25 37 38 +f 25 38 27 +f 25 27 26 +f 27 38 28 +f 28 39 29 +f 28 38 39 +f 29 39 40 +f 29 40 48 +f 29 48 41 +f 29 41 42 +f 29 42 30 +f 30 43 31 +f 30 42 43 +f 34 44 35 +f 35 44 45 +f 35 45 46 +f 35 46 47 +f 35 47 36 +f 37 39 38 +f 41 49 50 +f 41 50 51 +f 41 51 42 +f 41 48 49 +f 42 51 52 +f 42 52 43 +f 44 53 45 +f 45 53 54 +f 45 54 55 +f 45 55 56 +f 48 57 49 +f 49 57 58 +f 49 58 59 +f 49 59 50 +f 54 60 55 +f 55 60 61 +f 55 61 62 +f 55 62 63 +f 55 63 64 +f 55 64 56 +f 57 65 58 +f 58 66 59 +f 58 65 63 +f 58 63 62 +f 58 62 67 +f 58 67 66 +f 60 68 62 +f 60 62 61 +f 62 68 67 +f 63 65 64 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_44.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_44.obj new file mode 100644 index 0000000000000000000000000000000000000000..b71068e23abc5344ee40a64fbd0b821fe38926da --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_44.obj @@ -0,0 +1,205 @@ +# https://github.com/mikedh/trimesh +v -0.07370762 0.07709622 0.22747264 +v -0.07370762 0.07800144 0.22278212 +v -0.07370762 0.07907019 0.23493678 +v -0.10672557 0.02898445 0.23700819 +v -0.10662819 0.02898445 0.23562385 +v -0.10663704 0.02898448 0.23001534 +v -0.10667688 0.02898448 0.22736202 +v -0.10724791 0.02898452 0.21911738 +v -0.10726562 0.02898452 0.21890874 +v -0.10746924 0.02898452 0.21682980 +v -0.07370762 0.07855765 0.22006745 +v -0.07370762 0.08174758 0.23884680 +v -0.10591993 0.03211991 0.23997568 +v -0.10982862 0.02898443 0.24134774 +v -0.11892527 0.02898452 0.21682980 +v -0.07370762 0.08232023 0.21682999 +v -0.07370762 0.08193852 0.21710243 +v -0.07370762 0.08164951 0.21735524 +v -0.07370762 0.08192208 0.23899161 +v -0.07370762 0.08469220 0.24044467 +v -0.11015619 0.03682038 0.24190493 +v -0.11603913 0.02898443 0.24158827 +v -0.07694788 0.08469219 0.24141911 +v -0.11831440 0.02898445 0.23562385 +v -0.11632685 0.03682040 0.23562388 +v -0.11842949 0.03090397 0.21682980 +v -0.07370762 0.08467047 0.21683000 +v -0.07370762 0.08469228 0.21688399 +v -0.10221930 0.06117344 0.24151966 +v -0.10793846 0.05313028 0.24126191 +v -0.11044391 0.04473267 0.24141896 +v -0.07716036 0.08469219 0.24144120 +v -0.11624275 0.02898443 0.24155391 +v -0.11533088 0.03682038 0.24096240 +v -0.11457835 0.04185350 0.24021380 +v -0.11682706 0.03682047 0.21682983 +v -0.11469344 0.04219159 0.23562389 +v -0.07372975 0.08469228 0.21683000 +v -0.08535398 0.08469220 0.24082512 +v -0.09177255 0.07758695 0.24092327 +v -0.09964746 0.06778246 0.24104106 +v -0.10671672 0.05839242 0.24048631 +v -0.10982862 0.05313030 0.23562394 +v -0.11301577 0.04626498 0.23562391 +v -0.11494133 0.04287329 0.21682985 +v -0.11337432 0.04694667 0.21682986 +v -0.08889083 0.08469228 0.21683000 +v -0.08561515 0.08469220 0.24072204 +v -0.09000633 0.08191663 0.24001022 +v -0.10696461 0.05886684 0.23562396 +v -0.10055048 0.06902576 0.23562399 +v -0.10462737 0.06294568 0.23562397 +v -0.10957630 0.05498984 0.21682989 +v -0.11049261 0.05313037 0.21682989 +v -0.08755400 0.08469221 0.23562405 +v -0.08970532 0.08388524 0.21683000 +v -0.09017455 0.08209659 0.23562404 +v -0.08743006 0.08469221 0.23715074 +v -0.09389288 0.07758696 0.23562402 +v -0.09755367 0.07309915 0.23562401 +v -0.10667245 0.06060642 0.21682991 +v -0.10727447 0.05948855 0.21682991 +v -0.10507445 0.06356194 0.21682992 +v -0.09814241 0.07381356 0.21682996 +v -0.09977140 0.07151240 0.21682995 +v -0.10084706 0.06996375 0.21682995 +v -0.09082525 0.08276738 0.21682999 +v -0.09533153 0.07736346 0.21682997 +v -0.09786353 0.07417346 0.21682996 +f 1 2 11 +f 1 11 18 +f 1 18 17 +f 1 17 16 +f 1 16 27 +f 1 27 28 +f 1 28 20 +f 1 20 19 +f 1 19 12 +f 1 12 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 10 +f 1 10 2 +f 2 10 11 +f 3 12 13 +f 3 13 4 +f 4 13 14 +f 4 14 22 +f 4 22 33 +f 4 33 24 +f 4 24 15 +f 4 15 10 +f 4 10 9 +f 4 9 8 +f 4 8 7 +f 4 7 6 +f 4 6 5 +f 10 15 26 +f 10 26 36 +f 10 36 45 +f 10 45 46 +f 10 46 54 +f 10 54 53 +f 10 53 62 +f 10 62 61 +f 10 61 63 +f 10 63 66 +f 10 66 65 +f 10 65 64 +f 10 64 69 +f 10 69 68 +f 10 68 67 +f 10 67 56 +f 10 56 47 +f 10 47 38 +f 10 38 27 +f 10 27 16 +f 10 16 17 +f 10 17 18 +f 10 18 11 +f 12 19 13 +f 13 19 20 +f 13 20 14 +f 14 21 22 +f 14 20 23 +f 14 23 21 +f 15 24 25 +f 15 25 26 +f 20 28 38 +f 20 38 47 +f 20 47 55 +f 20 55 58 +f 20 58 48 +f 20 48 39 +f 20 39 32 +f 20 32 23 +f 21 29 30 +f 21 30 31 +f 21 31 22 +f 21 23 32 +f 21 32 29 +f 22 31 30 +f 22 30 33 +f 24 33 34 +f 24 34 35 +f 24 35 25 +f 25 36 26 +f 25 35 37 +f 25 37 36 +f 27 38 28 +f 29 32 39 +f 29 39 40 +f 29 40 41 +f 29 41 30 +f 30 41 42 +f 30 42 35 +f 30 35 34 +f 30 34 33 +f 35 42 43 +f 35 43 44 +f 35 44 37 +f 36 37 45 +f 37 44 46 +f 37 46 45 +f 39 48 40 +f 40 48 49 +f 40 49 41 +f 41 49 42 +f 42 50 43 +f 42 49 51 +f 42 51 52 +f 42 52 50 +f 43 50 53 +f 43 53 54 +f 43 54 46 +f 43 46 44 +f 47 56 57 +f 47 57 55 +f 48 58 49 +f 49 58 55 +f 49 55 57 +f 49 57 59 +f 49 59 60 +f 49 60 51 +f 50 61 62 +f 50 62 53 +f 50 52 63 +f 50 63 61 +f 51 60 64 +f 51 64 65 +f 51 65 66 +f 51 66 52 +f 52 66 63 +f 56 67 57 +f 57 67 68 +f 57 68 59 +f 59 68 60 +f 60 68 69 +f 60 69 64 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_45.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_45.obj new file mode 100644 index 0000000000000000000000000000000000000000..af11587cf8383a5e9e85be26e8b9360b1403536b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_45.obj @@ -0,0 +1,187 @@ +# https://github.com/mikedh/trimesh +v -0.11892849 0.02898452 0.21683222 +v -0.10747276 0.02898452 0.21683222 +v -0.11901226 0.02866206 0.21683222 +v -0.11831470 0.02898445 0.23562341 +v -0.10726816 0.02898452 0.21891095 +v -0.10637568 0.00455201 0.21938251 +v -0.10722950 -0.02984237 0.21683200 +v -0.12060230 0.02050829 0.21683219 +v -0.11839526 0.02866199 0.23562341 +v -0.11624458 0.02898443 0.24155324 +v -0.10724561 0.02898451 0.21919297 +v -0.10667854 0.02898448 0.22736199 +v -0.10664149 0.02898448 0.23001449 +v -0.10637568 0.00671711 0.22674680 +v -0.10637568 -0.00442520 0.21937033 +v -0.10695402 -0.02984238 0.21947720 +v -0.11865784 -0.02984237 0.21683200 +v -0.12183954 0.01270002 0.21683216 +v -0.11984836 0.02050822 0.23562338 +v -0.12245977 0.00097603 0.23985612 +v -0.11628164 0.02866197 0.24157755 +v -0.11604321 0.02898443 0.24158971 +v -0.10662860 0.02898445 0.23562341 +v -0.10637568 0.00689561 0.22736191 +v -0.10637568 -0.00492617 0.22097496 +v -0.10641918 -0.02984241 0.22736177 +v -0.10656094 -0.02984240 0.22504479 +v -0.11906059 -0.02840279 0.21683201 +v -0.11805372 -0.02984244 0.23562319 +v -0.12229062 0.00967691 0.21683215 +v -0.12282707 0.00425258 0.21683213 +v -0.12283352 -0.00395877 0.21683210 +v -0.12245977 -0.00076874 0.23985612 +v -0.11896554 -0.00367094 0.24127110 +v -0.11894943 0.00389548 0.24126139 +v -0.11696147 0.02050820 0.24166505 +v -0.12251294 0.00781698 0.21683214 +v -0.10983285 0.02898443 0.24134902 +v -0.11167099 0.02050820 0.24166505 +v -0.10673010 0.02898445 0.23700680 +v -0.10637568 0.00353273 0.23454869 +v -0.10637568 0.00462681 0.23288815 +v -0.10637568 -0.00684372 0.22736185 +v -0.10644173 -0.02984244 0.23562319 +v -0.10637568 -0.00335420 0.23456812 +v -0.11842908 -0.02840286 0.23562320 +v -0.11952616 -0.02615705 0.21683201 +v -0.11787973 -0.02984244 0.23655435 +v -0.12244044 -0.00850783 0.21683208 +v -0.12114359 -0.01210108 0.23562326 +v -0.11997402 -0.02025485 0.23562323 +v -0.11611893 -0.02984246 0.24146307 +v -0.11629292 -0.02840288 0.24157978 +v -0.11704363 -0.02025487 0.24166734 +v -0.11766548 -0.01210110 0.24163090 +v -0.11756720 0.01235443 0.24161883 +v -0.11169838 -0.02025487 0.24166734 +v -0.10985702 -0.02984246 0.24131475 +v -0.10890170 -0.02984245 0.24091603 +v -0.10637568 -0.00213344 0.23456812 +v -0.12068124 -0.02005324 0.21683204 +v -0.12198775 -0.01174400 0.21683207 +v -0.12099700 -0.01822210 0.21683204 +f 1 2 7 +f 1 7 17 +f 1 17 28 +f 1 28 47 +f 1 47 61 +f 1 61 63 +f 1 63 62 +f 1 62 49 +f 1 49 32 +f 1 32 31 +f 1 31 37 +f 1 37 30 +f 1 30 18 +f 1 18 8 +f 1 8 3 +f 1 3 4 +f 1 4 10 +f 1 10 22 +f 1 22 38 +f 1 38 40 +f 1 40 23 +f 1 23 13 +f 1 13 12 +f 1 12 11 +f 1 11 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 3 8 9 +f 3 9 4 +f 4 9 10 +f 5 11 6 +f 6 11 12 +f 6 12 13 +f 6 13 14 +f 6 14 24 +f 6 24 42 +f 6 42 41 +f 6 41 60 +f 6 60 45 +f 6 45 43 +f 6 43 25 +f 6 25 15 +f 6 15 7 +f 7 15 16 +f 7 16 27 +f 7 27 26 +f 7 26 44 +f 7 44 59 +f 7 59 58 +f 7 58 52 +f 7 52 48 +f 7 48 29 +f 7 29 17 +f 8 18 19 +f 8 19 9 +f 9 19 20 +f 9 20 10 +f 10 20 21 +f 10 21 22 +f 13 23 24 +f 13 24 14 +f 15 25 26 +f 15 26 27 +f 15 27 16 +f 17 29 28 +f 18 30 19 +f 19 30 20 +f 20 31 32 +f 20 32 33 +f 20 33 34 +f 20 34 35 +f 20 35 36 +f 20 36 21 +f 20 30 37 +f 20 37 31 +f 21 36 22 +f 22 36 39 +f 22 39 38 +f 23 40 41 +f 23 41 42 +f 23 42 24 +f 25 43 26 +f 26 43 45 +f 26 45 44 +f 28 29 46 +f 28 46 47 +f 29 48 46 +f 32 49 33 +f 33 49 50 +f 33 50 51 +f 33 51 46 +f 33 46 48 +f 33 48 52 +f 33 52 53 +f 33 53 54 +f 33 54 55 +f 33 55 34 +f 34 55 56 +f 34 56 35 +f 35 56 36 +f 36 56 55 +f 36 55 54 +f 36 54 57 +f 36 57 39 +f 38 39 57 +f 38 57 58 +f 38 58 59 +f 38 59 40 +f 40 59 44 +f 40 44 41 +f 41 44 60 +f 44 45 60 +f 46 51 47 +f 47 51 61 +f 49 62 50 +f 50 62 51 +f 51 62 63 +f 51 63 61 +f 52 58 53 +f 53 58 57 +f 53 57 54 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_46.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_46.obj new file mode 100644 index 0000000000000000000000000000000000000000..dd051c1247a8624edcd2d2d4886a0159222055ce --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_46.obj @@ -0,0 +1,220 @@ +# https://github.com/mikedh/trimesh +v -0.00410902 0.12444117 0.19199272 +v -0.00410902 0.12368870 0.20256856 +v 0.00012033 0.12398378 0.19828717 +v 0.00012033 0.12443132 0.19199272 +v -0.01226679 0.12390512 0.19199272 +v -0.00870438 0.12247393 0.21559994 +v -0.00410902 0.12264113 0.21682771 +v 0.00012033 0.12367887 0.20256856 +v 0.00012033 0.11323823 0.19199268 +v -0.01695974 0.12331989 0.19199271 +v -0.01644734 0.12244938 0.20698609 +v -0.01226679 0.12373790 0.19430481 +v -0.01226679 0.12313789 0.20256856 +v -0.01176252 0.12261657 0.21017587 +v -0.00993251 0.12218868 0.21682771 +v -0.00566250 0.12255261 0.21682771 +v -0.00333635 0.12263622 0.21682771 +v 0.00012033 0.12284769 0.21372061 +v 0.00012033 0.12338377 0.20654849 +v 0.00012033 0.11111361 0.21682767 +v -0.08297015 0.07419997 0.21682753 +v -0.08297015 0.07747538 0.19199254 +v -0.01935909 0.12297564 0.19199271 +v -0.01878162 0.12292155 0.19430481 +v -0.01726068 0.12261660 0.20256856 +v -0.02858232 0.11903632 0.21682770 +v -0.02632125 0.11952811 0.21682770 +v -0.02023749 0.12073791 0.21682770 +v -0.01826922 0.12106741 0.21682770 +v -0.01246199 0.12186903 0.21682771 +v 0.00012033 0.12260671 0.21682771 +v -0.08297015 0.09044866 0.21682759 +v -0.08297015 0.09284868 0.19199260 +v -0.02671165 0.12118061 0.19199271 +v -0.02841966 0.12076259 0.19199270 +v -0.03434075 0.11928230 0.19199270 +v -0.03674009 0.11848561 0.19430480 +v -0.03674009 0.11677410 0.21682769 +v -0.08297015 0.09106343 0.21088081 +v -0.08262041 0.09077816 0.21682759 +v -0.08297015 0.09193392 0.20176857 +v -0.08262854 0.09314867 0.19199260 +v -0.03674009 0.11863315 0.19199270 +v -0.04532892 0.11570700 0.19199269 +v -0.04246598 0.11486104 0.21682768 +v -0.04074171 0.11544135 0.21682768 +v -0.07926946 0.09608957 0.19199261 +v -0.08297015 0.09106834 0.21082975 +v -0.08128654 0.09189944 0.21682760 +v -0.07861879 0.09557808 0.20256846 +v -0.07913120 0.09597645 0.19430471 +v -0.04819187 0.11465458 0.19199268 +v -0.04549159 0.11548570 0.19412243 +v -0.04542653 0.11376435 0.21682768 +v -0.07364931 0.09812056 0.21680817 +v -0.07453584 0.09876978 0.20256847 +v -0.07504825 0.09914357 0.19430472 +v -0.07518651 0.09924685 0.19199262 +v -0.07720359 0.09528786 0.21682761 +v -0.04997308 0.11386772 0.19199268 +v -0.04654893 0.11333158 0.21682768 +v -0.07367370 0.09809598 0.21682762 +v -0.07361677 0.09814023 0.21682762 +v -0.06989169 0.10075655 0.21682763 +v -0.06634554 0.10547289 0.19199265 +v -0.07358424 0.10037796 0.19199263 +v -0.05142895 0.11107919 0.21682767 +v -0.06167699 0.10802035 0.19199266 +v -0.05304749 0.11031691 0.21682767 +v -0.06823248 0.10184832 0.21682763 +v -0.06333620 0.10504986 0.21682765 +v -0.06497913 0.10590565 0.19666061 +v -0.06438540 0.10665809 0.19199265 +v -0.05925325 0.10718422 0.21682765 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 22 +f 1 22 33 +f 1 33 42 +f 1 42 47 +f 1 47 58 +f 1 58 66 +f 1 66 65 +f 1 65 73 +f 1 73 68 +f 1 68 60 +f 1 60 52 +f 1 52 44 +f 1 44 43 +f 1 43 36 +f 1 36 35 +f 1 35 34 +f 1 34 23 +f 1 23 10 +f 1 10 5 +f 1 5 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 2 8 3 +f 3 8 19 +f 3 19 18 +f 3 18 31 +f 3 31 20 +f 3 20 9 +f 3 9 4 +f 5 10 11 +f 5 11 12 +f 5 12 6 +f 6 12 13 +f 6 13 14 +f 6 14 11 +f 6 11 15 +f 6 15 16 +f 6 16 7 +f 7 17 18 +f 7 18 19 +f 7 19 8 +f 7 16 15 +f 7 15 30 +f 7 30 29 +f 7 29 28 +f 7 28 27 +f 7 27 26 +f 7 26 38 +f 7 38 46 +f 7 46 45 +f 7 45 54 +f 7 54 61 +f 7 61 67 +f 7 67 69 +f 7 69 74 +f 7 74 71 +f 7 71 70 +f 7 70 64 +f 7 64 63 +f 7 63 62 +f 7 62 59 +f 7 59 49 +f 7 49 40 +f 7 40 32 +f 7 32 21 +f 7 21 20 +f 7 20 31 +f 7 31 17 +f 9 20 21 +f 9 21 22 +f 10 23 24 +f 10 24 25 +f 10 25 11 +f 11 25 26 +f 11 26 27 +f 11 27 28 +f 11 28 29 +f 11 29 30 +f 11 30 15 +f 11 14 13 +f 11 13 12 +f 17 31 18 +f 21 32 39 +f 21 39 48 +f 21 48 41 +f 21 41 33 +f 21 33 22 +f 23 25 24 +f 23 34 26 +f 23 26 25 +f 26 34 35 +f 26 35 36 +f 26 36 37 +f 26 37 38 +f 32 40 39 +f 33 41 42 +f 36 43 37 +f 37 43 44 +f 37 44 45 +f 37 45 46 +f 37 46 38 +f 39 40 47 +f 39 47 48 +f 40 49 50 +f 40 50 51 +f 40 51 47 +f 41 48 47 +f 41 47 42 +f 44 52 53 +f 44 53 45 +f 45 53 52 +f 45 52 54 +f 47 51 55 +f 47 55 56 +f 47 56 57 +f 47 57 58 +f 49 59 50 +f 50 59 55 +f 50 55 51 +f 52 60 61 +f 52 61 54 +f 55 62 63 +f 55 63 64 +f 55 64 65 +f 55 65 56 +f 55 59 62 +f 56 65 57 +f 57 65 66 +f 57 66 58 +f 60 67 61 +f 60 68 69 +f 60 69 67 +f 64 70 65 +f 65 70 71 +f 65 71 72 +f 65 72 73 +f 68 73 69 +f 69 73 74 +f 71 73 72 +f 71 74 73 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_47.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_47.obj new file mode 100644 index 0000000000000000000000000000000000000000..fb9bfe3e4b87729a4b78417a5e777207c40cb118 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_47.obj @@ -0,0 +1,139 @@ +# https://github.com/mikedh/trimesh +v -0.12575613 -0.04416743 0.06545680 +v -0.12560462 -0.04471550 0.06545680 +v -0.12483141 -0.04416747 0.07623990 +v -0.11371910 -0.04416743 0.06545680 +v -0.12473214 -0.04694399 0.06545679 +v -0.12277298 -0.04965338 0.07623988 +v -0.12337903 -0.04810222 0.07623988 +v -0.12466945 -0.04471554 0.07623990 +v -0.11288319 -0.04416747 0.07623990 +v -0.11288319 -0.04416747 0.07618923 +v -0.07238884 -0.09698935 0.07623970 +v -0.07328743 -0.09698931 0.06545660 +v -0.12324319 -0.05069260 0.06545677 +v -0.12248042 -0.05236268 0.06545677 +v -0.12090788 -0.05373290 0.07623986 +v -0.08953011 -0.09698935 0.07623970 +v -0.09050185 -0.09698931 0.06545660 +v -0.12134151 -0.05476697 0.06545676 +v -0.11833225 -0.05908438 0.07623984 +v -0.09334915 -0.09316318 0.07623972 +v -0.09258638 -0.09500384 0.06545661 +v -0.11998838 -0.05755387 0.06545675 +v -0.11738663 -0.06102331 0.07623984 +v -0.09451419 -0.09198948 0.07623972 +v -0.09388204 -0.09369053 0.06545662 +v -0.09742941 -0.08903712 0.07623973 +v -0.11827478 -0.06102327 0.06545674 +v -0.11559988 -0.06451340 0.07623982 +v -0.09787871 -0.08951276 0.06545663 +v -0.10024014 -0.08703092 0.06545664 +v -0.10114396 -0.08496276 0.07623975 +v -0.11712019 -0.06322591 0.06545673 +v -0.11524462 -0.06679873 0.06545671 +v -0.11479010 -0.06604388 0.07623982 +v -0.10175522 -0.08536602 0.06545665 +v -0.10230900 -0.08363911 0.07623975 +v -0.11419452 -0.06847398 0.06545671 +v -0.11222492 -0.07012341 0.07623980 +v -0.10566830 -0.08087802 0.06545666 +v -0.10522422 -0.08028862 0.07623977 +v -0.11264809 -0.07087309 0.06545670 +v -0.10930970 -0.07449249 0.07623979 +v -0.10697440 -0.07908385 0.06545667 +v -0.10606012 -0.07912526 0.07623977 +v -0.10828572 -0.07726383 0.06545668 +v -0.11097628 -0.07334459 0.06545669 +v -0.10814466 -0.07620909 0.07623978 +f 1 2 3 +f 1 3 9 +f 1 9 10 +f 1 10 4 +f 1 4 12 +f 1 12 17 +f 1 17 21 +f 1 21 25 +f 1 25 29 +f 1 29 30 +f 1 30 35 +f 1 35 39 +f 1 39 43 +f 1 43 45 +f 1 45 46 +f 1 46 41 +f 1 41 37 +f 1 37 33 +f 1 33 32 +f 1 32 27 +f 1 27 22 +f 1 22 18 +f 1 18 14 +f 1 14 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 3 +f 3 8 7 +f 3 7 6 +f 3 6 15 +f 3 15 19 +f 3 19 23 +f 3 23 28 +f 3 28 34 +f 3 34 38 +f 3 38 42 +f 3 42 47 +f 3 47 44 +f 3 44 40 +f 3 40 36 +f 3 36 31 +f 3 31 26 +f 3 26 24 +f 3 24 20 +f 3 20 16 +f 3 16 11 +f 3 11 9 +f 4 10 11 +f 4 11 12 +f 5 13 6 +f 6 13 14 +f 6 14 15 +f 9 11 10 +f 11 16 17 +f 11 17 12 +f 14 18 15 +f 15 18 19 +f 16 20 21 +f 16 21 17 +f 18 22 19 +f 19 22 23 +f 20 24 21 +f 21 24 26 +f 21 26 25 +f 22 27 23 +f 23 27 28 +f 25 26 29 +f 26 30 29 +f 26 31 30 +f 27 32 28 +f 28 33 34 +f 28 32 33 +f 30 31 35 +f 31 36 35 +f 33 37 34 +f 34 37 38 +f 35 36 39 +f 36 40 39 +f 37 41 38 +f 38 41 42 +f 39 40 43 +f 40 44 45 +f 40 45 43 +f 41 46 42 +f 42 46 47 +f 44 47 45 +f 45 47 46 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_48.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_48.obj new file mode 100644 index 0000000000000000000000000000000000000000..3bf5e7c56b8b58d97aba2bc03f3e0ab66a5671a8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_48.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v -0.08950319 -0.09609688 0.08722533 +v -0.08879212 -0.09680427 0.08722532 +v -0.08852877 -0.09609692 0.09819665 +v -0.07240258 -0.09609688 0.08722533 +v -0.08861655 -0.09696645 0.08722532 +v -0.08828296 -0.09632121 0.09838233 +v -0.08851121 -0.09609692 0.09838233 +v -0.07119114 -0.09609692 0.09835830 +v 0.00016089 -0.11964782 0.09838224 +v 0.00016089 -0.11974098 0.09667620 +v 0.00016089 -0.11982724 0.09512743 +v 0.00016089 -0.12008258 0.09079679 +v 0.00016089 -0.12030340 0.08722524 +v -0.08471888 -0.10044818 0.08722531 +v -0.08420972 -0.10002034 0.09838231 +v -0.08667650 -0.09778775 0.09838232 +v -0.07123503 -0.09609692 0.09838233 +v 0.00016089 -0.13058647 0.09838220 +v 0.00016089 -0.13134559 0.08722520 +v -0.07982923 -0.10452344 0.08722530 +v -0.07927618 -0.10409560 0.09838230 +v 0.00016089 -0.13107989 0.09119541 +v -0.00392113 -0.13058647 0.09838220 +v -0.00414060 -0.13133524 0.08722520 +v -0.07965366 -0.10465802 0.08722530 +v -0.07766971 -0.10529988 0.09838229 +v -0.00730965 -0.13041394 0.09838220 +v -0.00930238 -0.13100396 0.08722520 +v -0.00852109 -0.13034493 0.09838220 +v -0.07575598 -0.10753588 0.08722528 +v -0.07520293 -0.10713909 0.09838229 +v -0.01287525 -0.13077278 0.08722520 +v -0.00935505 -0.13024486 0.09838220 +v -0.01601797 -0.13025863 0.09063620 +v -0.01289281 -0.13075553 0.08747423 +v -0.06976023 -0.11163185 0.08722527 +v -0.06892628 -0.11131787 0.09838227 +v -0.01684315 -0.13039665 0.08722520 +v -0.01268212 -0.12977902 0.09838220 +v -0.02042480 -0.12867825 0.09838221 +v -0.02858007 -0.12742565 0.09838221 +v -0.06571333 -0.11427507 0.08722526 +v -0.06541486 -0.11409565 0.09210092 +v -0.06499348 -0.11382306 0.09838226 +v -0.02858007 -0.12805019 0.08722521 +v -0.03353117 -0.12635939 0.09838222 +v -0.03638420 -0.12647667 0.08722522 +v -0.06123627 -0.11653181 0.08722525 +v -0.06444922 -0.11409912 0.09838226 +v -0.06135916 -0.11565883 0.09838226 +v -0.03674412 -0.12639731 0.08722522 +v -0.03674412 -0.12560370 0.09838222 +v -0.05196612 -0.12103495 0.08722524 +v -0.04928866 -0.12231515 0.08722523 +v -0.04894630 -0.12215643 0.09090491 +v -0.05304588 -0.11954085 0.09838224 +v -0.04565434 -0.12360917 0.08722523 +v -0.04409176 -0.12330209 0.09838223 +v -0.04638296 -0.12335036 0.08722523 +v -0.04655854 -0.12238765 0.09838223 +v -0.04816501 -0.12176999 0.09838223 +f 1 2 3 +f 1 3 7 +f 1 7 17 +f 1 17 8 +f 1 8 4 +f 1 4 13 +f 1 13 19 +f 1 19 24 +f 1 24 28 +f 1 28 32 +f 1 32 38 +f 1 38 45 +f 1 45 47 +f 1 47 51 +f 1 51 57 +f 1 57 59 +f 1 59 54 +f 1 54 53 +f 1 53 48 +f 1 48 42 +f 1 42 36 +f 1 36 30 +f 1 30 25 +f 1 25 20 +f 1 20 14 +f 1 14 5 +f 1 5 2 +f 2 5 6 +f 2 6 3 +f 3 6 7 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 5 14 15 +f 5 15 16 +f 5 16 6 +f 6 16 15 +f 6 15 21 +f 6 21 26 +f 6 26 31 +f 6 31 37 +f 6 37 44 +f 6 44 49 +f 6 49 50 +f 6 50 56 +f 6 56 61 +f 6 61 60 +f 6 60 58 +f 6 58 52 +f 6 52 46 +f 6 46 41 +f 6 41 40 +f 6 40 39 +f 6 39 33 +f 6 33 29 +f 6 29 27 +f 6 27 23 +f 6 23 18 +f 6 18 9 +f 6 9 17 +f 6 17 7 +f 8 17 9 +f 9 18 22 +f 9 22 19 +f 9 19 13 +f 9 13 12 +f 9 12 11 +f 9 11 10 +f 14 20 15 +f 15 20 21 +f 18 23 22 +f 19 22 24 +f 20 25 21 +f 21 25 26 +f 22 23 24 +f 23 27 24 +f 24 27 29 +f 24 29 28 +f 25 30 31 +f 25 31 26 +f 28 29 32 +f 29 33 34 +f 29 34 35 +f 29 35 32 +f 30 36 31 +f 31 36 37 +f 32 35 38 +f 33 39 34 +f 34 40 41 +f 34 41 38 +f 34 38 35 +f 34 39 40 +f 36 42 43 +f 36 43 37 +f 37 43 44 +f 38 41 45 +f 41 46 47 +f 41 47 45 +f 42 48 43 +f 43 49 44 +f 43 48 50 +f 43 50 49 +f 46 51 47 +f 46 52 51 +f 48 53 50 +f 50 53 54 +f 50 54 55 +f 50 55 56 +f 51 52 57 +f 52 58 57 +f 54 59 55 +f 55 59 57 +f 55 57 58 +f 55 58 60 +f 55 60 61 +f 55 61 56 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_49.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_49.obj new file mode 100644 index 0000000000000000000000000000000000000000..f00ef6eae0828b56c497b41b361b937bb446e588 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_49.obj @@ -0,0 +1,169 @@ +# https://github.com/mikedh/trimesh +v 0.02192396 0.12231369 0.19199513 +v 0.02192396 0.12024552 0.21682784 +v 0.02260808 0.12011769 0.21682784 +v 0.02853212 0.11900831 0.21682784 +v 0.02318696 0.12203977 0.19199513 +v 0.02192396 0.11120629 0.19199509 +v 0.02192396 0.10897833 0.21682780 +v 0.07414266 0.08233973 0.21683012 +v 0.03076491 0.11839200 0.21682783 +v 0.03668894 0.11837840 0.19430479 +v 0.02838176 0.12076149 0.19199512 +v 0.02192396 0.10934814 0.21226678 +v 0.08441198 0.07567904 0.19199496 +v 0.08142742 0.07567895 0.21682768 +v 0.09647055 0.07567895 0.21682768 +v 0.09619991 0.07601678 0.21682768 +v 0.09517749 0.07729050 0.21682768 +v 0.09177944 0.08135819 0.21682770 +v 0.09066680 0.08267757 0.21682770 +v 0.08660719 0.08675439 0.21682772 +v 0.08364517 0.08964880 0.21682773 +v 0.08252502 0.09073534 0.21682773 +v 0.07705957 0.09523674 0.21682775 +v 0.07349613 0.09804897 0.21682776 +v 0.07108291 0.09977922 0.21682777 +v 0.06984248 0.10064664 0.21682777 +v 0.06482809 0.10398388 0.21682778 +v 0.06328695 0.10500650 0.21682779 +v 0.06032493 0.10662719 0.21682779 +v 0.05921229 0.10723438 0.21682779 +v 0.05482189 0.10943029 0.21682780 +v 0.05300258 0.11031597 0.21682781 +v 0.04640195 0.11328341 0.21682782 +v 0.04231978 0.11483563 0.21682782 +v 0.03668894 0.11666632 0.21682783 +v 0.03668894 0.11852905 0.19199512 +v 0.03896683 0.11778490 0.19199511 +v 0.09872589 0.07567904 0.19199496 +v 0.09587664 0.07925824 0.19199497 +v 0.08786266 0.08797342 0.19199500 +v 0.09293718 0.08261375 0.19199498 +v 0.09179447 0.08389659 0.19199499 +v 0.08378801 0.09194981 0.19199502 +v 0.07915704 0.09602663 0.19199503 +v 0.07621757 0.09832755 0.19199504 +v 0.07493203 0.09909909 0.19430472 +v 0.07507487 0.09920865 0.19199504 +v 0.06876743 0.10358679 0.19199506 +v 0.06683535 0.10491529 0.19199507 +v 0.06514384 0.10606118 0.19199507 +v 0.06160296 0.10793296 0.19199508 +v 0.05256655 0.11246175 0.19199509 +v 0.05024355 0.11362591 0.19199510 +v 0.06356510 0.10691033 0.19199507 +v 0.04892793 0.11426505 0.19199510 +v 0.04767997 0.11474440 0.19199510 +v 0.04526676 0.11563464 0.19199510 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 36 +f 1 36 37 +f 1 37 57 +f 1 57 56 +f 1 56 55 +f 1 55 53 +f 1 53 52 +f 1 52 51 +f 1 51 54 +f 1 54 50 +f 1 50 49 +f 1 49 48 +f 1 48 47 +f 1 47 45 +f 1 45 44 +f 1 44 43 +f 1 43 40 +f 1 40 42 +f 1 42 41 +f 1 41 39 +f 1 39 38 +f 1 38 13 +f 1 13 6 +f 1 6 12 +f 1 12 7 +f 1 7 2 +f 2 7 8 +f 2 8 3 +f 3 8 4 +f 4 9 10 +f 4 10 11 +f 4 11 5 +f 4 8 9 +f 6 13 12 +f 7 12 13 +f 7 13 14 +f 7 14 8 +f 8 14 15 +f 8 15 16 +f 8 16 17 +f 8 17 18 +f 8 18 19 +f 8 19 20 +f 8 20 21 +f 8 21 22 +f 8 22 23 +f 8 23 24 +f 8 24 25 +f 8 25 26 +f 8 26 27 +f 8 27 28 +f 8 28 29 +f 8 29 30 +f 8 30 31 +f 8 31 32 +f 8 32 33 +f 8 33 34 +f 8 34 35 +f 8 35 9 +f 9 35 10 +f 10 36 11 +f 10 35 34 +f 10 34 37 +f 10 37 36 +f 13 38 15 +f 13 15 14 +f 15 38 39 +f 15 39 16 +f 16 39 17 +f 17 39 18 +f 18 39 19 +f 19 40 20 +f 19 39 41 +f 19 41 42 +f 19 42 40 +f 20 40 21 +f 21 43 22 +f 21 40 43 +f 22 43 44 +f 22 44 23 +f 23 44 24 +f 24 44 45 +f 24 45 46 +f 24 46 25 +f 25 46 47 +f 25 47 26 +f 26 47 48 +f 26 48 49 +f 26 49 50 +f 26 50 27 +f 27 50 28 +f 28 50 29 +f 29 50 30 +f 30 51 52 +f 30 52 53 +f 30 53 31 +f 30 50 54 +f 30 54 51 +f 31 53 32 +f 32 53 55 +f 32 55 33 +f 33 55 56 +f 33 56 34 +f 34 56 57 +f 34 57 37 +f 45 47 46 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_5.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_5.obj new file mode 100644 index 0000000000000000000000000000000000000000..6d30b17e3331596da79ce970b5bfae2f73d5c1ae --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_5.obj @@ -0,0 +1,193 @@ +# https://github.com/mikedh/trimesh +v -0.02130917 -0.11547229 0.13309428 +v -0.02130917 -0.12652210 0.13309424 +v -0.02130917 -0.11545540 0.13327877 +v 0.02099356 -0.11568724 0.13309428 +v -0.02041889 -0.12667563 0.13309423 +v -0.02041889 -0.12648526 0.13645536 +v -0.02130917 -0.12638239 0.13555600 +v -0.02130917 -0.11509307 0.13724525 +v 0.02099356 -0.12667409 0.13309423 +v 0.02099356 -0.11468316 0.14476887 +v -0.01557412 -0.12722221 0.13309423 +v -0.01226145 -0.12740799 0.13645535 +v -0.01226145 -0.12693821 0.14471693 +v -0.01226145 -0.12693515 0.14476882 +v -0.01226145 -0.12543982 0.16950164 +v -0.01334635 -0.12537379 0.16840048 +v -0.01334635 -0.12530471 0.16950164 +v -0.02041889 -0.12592643 0.14476883 +v -0.02130917 -0.12576368 0.14476306 +v -0.02130917 -0.11450506 0.14471698 +v 0.02099356 -0.12647297 0.13645536 +v 0.02036415 -0.12679231 0.13309423 +v 0.01326263 -0.11223755 0.19199185 +v 0.02099356 -0.12586347 0.14476883 +v -0.01226145 -0.12752927 0.13309423 +v -0.00742082 -0.12775651 0.13309423 +v -0.00410402 -0.12778722 0.13645535 +v -0.00410402 -0.12746637 0.14476882 +v -0.00410402 -0.12700119 0.15298426 +v -0.00410402 -0.12650684 0.16124584 +v -0.00410402 -0.12599867 0.16950164 +v -0.01226145 -0.12487330 0.17776322 +v -0.01334635 -0.12481342 0.17666206 +v -0.01334635 -0.12369576 0.19199181 +v -0.02130917 -0.12267459 0.14476884 +v -0.02130917 -0.11450353 0.14476887 +v -0.01334635 -0.11231125 0.19199185 +v 0.02099356 -0.12642692 0.13708955 +v 0.02036415 -0.12659120 0.13645536 +v 0.01220257 -0.12758609 0.13309423 +v 0.01220257 -0.12742642 0.13645535 +v 0.01326263 -0.12350385 0.19199181 +v 0.02099356 -0.12586808 0.14471694 +v -0.00410402 -0.12789929 0.13309423 +v 0.00404514 -0.12792232 0.13309423 +v -0.00405433 -0.12746637 0.14476882 +v 0.00404928 -0.12702882 0.15298426 +v 0.00011549 -0.12651759 0.16124584 +v 0.00011963 -0.12599561 0.16950164 +v -0.00410402 -0.12442505 0.19199180 +v -0.00638561 -0.12427304 0.19199180 +v 0.00404928 -0.12652527 0.16124584 +v -0.01226145 -0.12384470 0.19199181 +v 0.02041384 -0.12597248 0.14476883 +v 0.02036415 -0.12598170 0.14476883 +v 0.01326263 -0.12458159 0.17776322 +v 0.01326263 -0.12518341 0.16950164 +v 0.01220672 -0.12531852 0.16950164 +v 0.01220257 -0.12691058 0.14476882 +v 0.00404928 -0.12744947 0.14476882 +v 0.01220672 -0.12363742 0.19199181 +v 0.00011549 -0.12745869 0.14476882 +v 0.00404928 -0.12599253 0.16950164 +v 0.00404928 -0.12435288 0.19199180 +v 0.01220672 -0.12471517 0.17776322 +f 1 2 7 +f 1 7 19 +f 1 19 35 +f 1 35 36 +f 1 36 20 +f 1 20 8 +f 1 8 3 +f 1 3 4 +f 1 4 9 +f 1 9 22 +f 1 22 40 +f 1 40 45 +f 1 45 44 +f 1 44 26 +f 1 26 25 +f 1 25 11 +f 1 11 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 3 8 4 +f 4 8 10 +f 4 10 24 +f 4 24 43 +f 4 43 38 +f 4 38 21 +f 4 21 9 +f 5 11 12 +f 5 12 6 +f 6 12 13 +f 6 13 14 +f 6 14 15 +f 6 15 16 +f 6 16 17 +f 6 17 18 +f 6 18 19 +f 6 19 7 +f 8 20 10 +f 9 21 39 +f 9 39 22 +f 10 20 23 +f 10 23 42 +f 10 42 24 +f 11 25 12 +f 12 25 26 +f 12 26 27 +f 12 27 28 +f 12 28 29 +f 12 29 13 +f 13 29 14 +f 14 29 30 +f 14 30 15 +f 15 30 31 +f 15 31 32 +f 15 32 17 +f 15 17 16 +f 17 32 33 +f 17 33 18 +f 18 33 34 +f 18 34 19 +f 19 34 35 +f 20 36 37 +f 20 37 23 +f 21 38 39 +f 22 39 41 +f 22 41 40 +f 23 37 34 +f 23 34 53 +f 23 53 51 +f 23 51 50 +f 23 50 64 +f 23 64 61 +f 23 61 42 +f 24 42 43 +f 26 44 27 +f 27 44 45 +f 27 45 28 +f 28 45 46 +f 28 46 47 +f 28 47 29 +f 29 47 30 +f 30 47 48 +f 30 48 31 +f 31 49 50 +f 31 50 51 +f 31 51 32 +f 31 48 52 +f 31 52 49 +f 32 51 53 +f 32 53 33 +f 33 53 34 +f 34 37 36 +f 34 36 35 +f 38 43 39 +f 39 43 54 +f 39 54 55 +f 39 55 56 +f 39 56 57 +f 39 57 58 +f 39 58 59 +f 39 59 41 +f 40 41 60 +f 40 60 45 +f 41 59 52 +f 41 52 47 +f 41 47 60 +f 42 61 65 +f 42 65 56 +f 42 56 55 +f 42 55 54 +f 42 54 43 +f 45 60 62 +f 45 62 46 +f 46 62 47 +f 47 52 48 +f 47 62 60 +f 49 52 63 +f 49 63 50 +f 50 63 64 +f 52 59 58 +f 52 58 63 +f 56 65 58 +f 56 58 57 +f 58 65 64 +f 58 64 63 +f 61 64 65 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_50.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_50.obj new file mode 100644 index 0000000000000000000000000000000000000000..27651259186a4524556ed22989e20fe5e9d11bf3 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_50.obj @@ -0,0 +1,163 @@ +# https://github.com/mikedh/trimesh +v -0.10684330 -0.05860173 0.06545674 +v -0.11947237 -0.05860173 0.06545674 +v -0.10700306 -0.05860172 0.06206936 +v -0.12050166 0.01891327 0.06545703 +v -0.11999094 -0.05754705 0.06545675 +v -0.11960070 -0.05860173 0.06406258 +v -0.10701092 -0.05860172 0.06203936 +v -0.12160166 0.01891330 0.05677607 +v -0.12076880 0.01891329 0.06114355 +v -0.12066666 0.01891328 0.06206965 +v -0.13176359 0.01891327 0.06545703 +v -0.12134237 -0.05476240 0.06545676 +v -0.12148904 -0.05513418 0.06206938 +v -0.11978404 -0.05860172 0.06206936 +v -0.11046544 -0.05860169 0.05572566 +v -0.12647048 0.01891331 0.05526290 +v -0.13212241 0.01891328 0.06206965 +v -0.13287145 0.01235759 0.06206963 +v -0.13250739 0.01235758 0.06545701 +v -0.12248429 -0.05235713 0.06545677 +v -0.12341929 -0.05105964 0.06206939 +v -0.12325953 -0.05068024 0.05680781 +v -0.11732213 -0.05860169 0.05574066 +v -0.11249521 -0.05860169 0.05564265 +v -0.12647048 -0.02025392 0.05523976 +v -0.13240264 -0.00394815 0.05574287 +v -0.13239478 0.00420094 0.05574991 +v -0.13201764 0.01235761 0.05602397 +v -0.13163264 0.01891330 0.05642603 +v -0.13180026 0.01891330 0.05761316 +v -0.13357859 0.00420091 0.06206960 +v -0.13318049 0.00420090 0.06545698 +v -0.12324643 -0.05068785 0.06545677 +v -0.12594405 -0.04470881 0.06206942 +v -0.13096477 -0.02628608 0.05729596 +v -0.12442762 -0.04470878 0.05580273 +v -0.12560881 -0.03655969 0.05548872 +v -0.13205169 -0.01210484 0.05600587 +v -0.13359693 -0.00394818 0.06206957 +v -0.13318836 0.00086235 0.06545696 +v -0.12473405 -0.04693958 0.06545679 +v -0.12560357 -0.04470882 0.06545680 +v -0.12794500 -0.03655973 0.06545683 +v -0.12826715 -0.03655972 0.06206945 +v -0.13088621 -0.02591430 0.06206948 +v -0.13191550 -0.02025395 0.06206951 +v -0.13292646 -0.01210486 0.06206954 +v -0.13153311 -0.02025393 0.05655490 +v -0.13295264 -0.00729432 0.06545693 +v -0.13319883 -0.00394819 0.06545695 +v -0.12886168 -0.03268246 0.06545684 +v -0.13026288 -0.02669584 0.06545686 +v -0.13066359 -0.02486722 0.06545687 +v -0.13153050 -0.02036777 0.06545689 +v -0.13255716 -0.01210487 0.06545692 +f 1 2 6 +f 1 6 14 +f 1 14 23 +f 1 23 24 +f 1 24 15 +f 1 15 7 +f 1 7 3 +f 1 3 4 +f 1 4 11 +f 1 11 19 +f 1 19 32 +f 1 32 40 +f 1 40 50 +f 1 50 49 +f 1 49 55 +f 1 55 54 +f 1 54 53 +f 1 53 52 +f 1 52 51 +f 1 51 43 +f 1 43 42 +f 1 42 41 +f 1 41 33 +f 1 33 20 +f 1 20 12 +f 1 12 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 4 +f 4 10 9 +f 4 9 8 +f 4 8 16 +f 4 16 29 +f 4 29 30 +f 4 30 17 +f 4 17 11 +f 5 12 13 +f 5 13 6 +f 6 13 14 +f 7 15 8 +f 8 15 16 +f 11 17 18 +f 11 18 19 +f 12 20 13 +f 13 20 21 +f 13 21 22 +f 13 22 14 +f 14 22 23 +f 15 24 16 +f 16 25 26 +f 16 26 27 +f 16 27 28 +f 16 28 29 +f 16 24 25 +f 17 30 18 +f 18 31 19 +f 18 30 31 +f 19 31 32 +f 20 33 21 +f 21 33 34 +f 21 34 22 +f 22 34 35 +f 22 35 36 +f 22 36 23 +f 23 36 37 +f 23 37 24 +f 24 37 25 +f 25 37 26 +f 26 37 38 +f 26 38 39 +f 26 39 27 +f 27 31 28 +f 27 39 31 +f 28 31 29 +f 29 31 30 +f 31 39 40 +f 31 40 32 +f 33 41 34 +f 34 41 42 +f 34 42 43 +f 34 43 44 +f 34 44 35 +f 35 44 45 +f 35 45 46 +f 35 46 47 +f 35 47 48 +f 35 48 36 +f 36 48 37 +f 37 48 38 +f 38 48 39 +f 39 47 49 +f 39 49 50 +f 39 50 40 +f 39 48 47 +f 43 51 45 +f 43 45 44 +f 45 51 52 +f 45 52 53 +f 45 53 54 +f 45 54 46 +f 46 54 55 +f 46 55 47 +f 47 55 49 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_51.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_51.obj new file mode 100644 index 0000000000000000000000000000000000000000..8d81ad1ee2a2aefdf33f8e57e5313b64d9a509e0 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_51.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v -0.08552950 -0.07917882 0.14471453 +v -0.08552950 -0.07941519 0.14232218 +v -0.08552950 -0.07917882 0.14475109 +v -0.02130917 -0.11449670 0.14476467 +v -0.02130917 -0.11509921 0.13711922 +v -0.02130917 -0.11545145 0.13327479 +v -0.08552950 -0.08032824 0.13309440 +v -0.08552950 -0.08323899 0.14476478 +v -0.08253095 -0.08228420 0.14476479 +v -0.02130917 -0.12267729 0.14476464 +v -0.02130917 -0.11546999 0.13309428 +v -0.08552950 -0.09612858 0.13309435 +v -0.08552950 -0.09515066 0.14476474 +v -0.02130917 -0.12576413 0.14475891 +v -0.02853207 -0.12443855 0.14476463 +v -0.02130917 -0.12652421 0.13309424 +v -0.08440426 -0.09718071 0.13309434 +v -0.08260010 -0.09859436 0.13645093 +v -0.08552950 -0.09567438 0.13859080 +v -0.08552950 -0.09515530 0.14471447 +v -0.08222293 -0.09825604 0.14476473 +v -0.02130917 -0.12634808 0.13608523 +v -0.02858236 -0.12443391 0.14471436 +v -0.02858236 -0.12442928 0.14476463 +v -0.02130917 -0.12638054 0.13555170 +v -0.02373566 -0.12610244 0.13309424 +v -0.08274468 -0.09872412 0.13309434 +v -0.08222293 -0.09826068 0.14471446 +v -0.07713106 -0.10311337 0.13309432 +v -0.07752710 -0.10188980 0.14476472 +v -0.02858236 -0.12520790 0.13309424 +v -0.03505720 -0.12289513 0.14476464 +v -0.07348504 -0.10588967 0.13309431 +v -0.07674132 -0.10318754 0.13593223 +v -0.07285642 -0.10542158 0.14476470 +v -0.03509491 -0.12288586 0.14476464 +v -0.03604414 -0.12316392 0.13645084 +v -0.03665390 -0.12321490 0.13309425 +v -0.07320216 -0.10607969 0.13309431 +v -0.06877664 -0.10816081 0.14476469 +v -0.04485746 -0.11958582 0.14476465 +v -0.04050109 -0.12200055 0.13309425 +v -0.03928156 -0.12240379 0.13309425 +v -0.06979501 -0.10834616 0.13309430 +v -0.07004018 -0.10797538 0.13593221 +v -0.06263497 -0.11267515 0.13309429 +v -0.06238353 -0.11255465 0.13645088 +v -0.06172347 -0.11223951 0.14476468 +v -0.04489518 -0.11957191 0.14476465 +v -0.04489518 -0.11957654 0.14471438 +v -0.04466258 -0.12059154 0.13309426 +v -0.05855520 -0.11470987 0.13309428 +v -0.05831003 -0.11458937 0.13645087 +v -0.05764998 -0.11427423 0.14471440 +v -0.05764369 -0.11426959 0.14476467 +v -0.05300444 -0.11647116 0.14476466 +v -0.05305473 -0.11645726 0.14471439 +v -0.05305473 -0.11731931 0.13309427 +v -0.05305473 -0.11708294 0.13645086 +v -0.05543093 -0.11619303 0.13309427 +v -0.05306102 -0.11644799 0.14476466 +f 1 2 7 +f 1 7 12 +f 1 12 19 +f 1 19 20 +f 1 20 13 +f 1 13 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 7 +f 3 8 9 +f 3 9 4 +f 4 10 14 +f 4 14 22 +f 4 22 25 +f 4 25 16 +f 4 16 11 +f 4 11 6 +f 4 6 5 +f 4 9 8 +f 4 8 13 +f 4 13 21 +f 4 21 30 +f 4 30 35 +f 4 35 40 +f 4 40 48 +f 4 48 55 +f 4 55 61 +f 4 61 56 +f 4 56 49 +f 4 49 41 +f 4 41 36 +f 4 36 32 +f 4 32 24 +f 4 24 15 +f 4 15 10 +f 6 11 7 +f 7 11 16 +f 7 16 26 +f 7 26 31 +f 7 31 38 +f 7 38 43 +f 7 43 42 +f 7 42 51 +f 7 51 58 +f 7 58 60 +f 7 60 52 +f 7 52 46 +f 7 46 44 +f 7 44 39 +f 7 39 33 +f 7 33 29 +f 7 29 27 +f 7 27 17 +f 7 17 12 +f 10 15 14 +f 12 17 18 +f 12 18 19 +f 13 20 28 +f 13 28 21 +f 14 15 23 +f 14 23 22 +f 15 24 23 +f 16 25 26 +f 17 27 18 +f 18 28 19 +f 18 27 29 +f 18 29 28 +f 19 28 20 +f 21 28 30 +f 22 23 26 +f 22 26 25 +f 23 31 26 +f 23 24 32 +f 23 32 31 +f 28 29 30 +f 29 33 34 +f 29 34 30 +f 30 34 33 +f 30 33 35 +f 31 32 36 +f 31 36 37 +f 31 37 38 +f 33 39 35 +f 35 39 40 +f 36 38 37 +f 36 41 42 +f 36 42 43 +f 36 43 38 +f 39 44 45 +f 39 45 40 +f 40 46 47 +f 40 47 48 +f 40 45 44 +f 40 44 46 +f 41 49 50 +f 41 50 51 +f 41 51 42 +f 46 52 53 +f 46 53 47 +f 47 53 48 +f 48 53 54 +f 48 54 55 +f 49 56 57 +f 49 57 50 +f 50 57 51 +f 51 57 59 +f 51 59 58 +f 52 60 53 +f 53 60 59 +f 53 59 57 +f 53 57 54 +f 54 57 61 +f 54 61 55 +f 56 61 57 +f 58 59 60 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_52.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_52.obj new file mode 100644 index 0000000000000000000000000000000000000000..b258b9d494bb1f9a47c04da84b09817c80b82d85 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_52.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v -0.09773231 -0.05311020 0.21682706 +v -0.11021497 -0.05311020 0.21682706 +v -0.09998415 -0.05311011 0.19199206 +v -0.10995919 0.01411675 0.21682731 +v -0.11034153 -0.05286667 0.21682707 +v -0.11229541 -0.05311011 0.19199206 +v -0.11239560 0.01411684 0.19199231 +v -0.12157434 0.01411675 0.21682731 +v -0.11108511 -0.05126728 0.21682707 +v -0.11434948 -0.04903595 0.19199208 +v -0.11420446 -0.04932555 0.19199208 +v -0.11254590 -0.05261647 0.19199207 +v -0.12358622 0.01411684 0.19199231 +v -0.12247877 0.01411679 0.20823536 +v -0.12183803 0.01270165 0.21682731 +v -0.11330267 -0.04643621 0.21682709 +v -0.11446023 -0.04873977 0.19199208 +v -0.11374302 -0.04531730 0.21682709 +v -0.11485311 -0.04236205 0.21682710 +v -0.12344120 0.01411684 0.19430441 +v -0.12383673 0.01235290 0.19199231 +v -0.12276881 0.01411680 0.20431621 +v -0.12295602 0.01310977 0.20329995 +v -0.12246295 0.00895001 0.21613925 +v -0.12229155 0.00967400 0.21682730 +v -0.11551759 -0.04537645 0.19443304 +v -0.11577336 -0.04518557 0.19199209 +v -0.11545431 -0.04060470 0.21682711 +v -0.11796718 -0.03655681 0.20256798 +v -0.11542267 -0.04388240 0.20256795 +v -0.12441154 0.00648190 0.19199228 +v -0.12446956 0.00420458 0.19430438 +v -0.12388418 0.00420455 0.20256813 +v -0.12251305 0.00781134 0.21682729 +v -0.11857629 -0.03655678 0.19430423 +v -0.11871868 -0.03655678 0.19199213 +v -0.11681227 -0.03655687 0.21682713 +v -0.11905882 -0.02840196 0.21682716 +v -0.12463304 0.00420458 0.19199228 +v -0.12466205 -0.00167301 0.19199225 +v -0.12282683 0.00425714 0.21682728 +v -0.12450912 -0.00395032 0.19430435 +v -0.12391582 -0.00395035 0.20256810 +v -0.11937788 -0.03412149 0.19199213 +v -0.12125793 -0.02644706 0.19199216 +v -0.12082021 -0.02826365 0.19199216 +v -0.11952554 -0.02615755 0.21682716 +v -0.12240231 -0.01623867 0.20684945 +v -0.12293493 -0.01924653 0.19199219 +v -0.12466996 -0.00395032 0.19199225 +v -0.12283211 -0.00396358 0.21682725 +v -0.12393429 -0.01210523 0.19199222 +v -0.12376817 -0.01210523 0.19430432 +v -0.12315907 -0.01210526 0.20256807 +v -0.12243921 -0.00851821 0.21682723 +v -0.12068046 -0.02005618 0.21682719 +v -0.12328826 -0.01682441 0.19199220 +v -0.12287165 -0.01865416 0.19430429 +v -0.12099688 -0.01822643 0.21682719 +v -0.12198832 -0.01174990 0.21682722 +v -0.12262379 -0.01174987 0.21009515 +f 1 2 6 +f 1 6 3 +f 1 3 4 +f 1 4 8 +f 1 8 15 +f 1 15 25 +f 1 25 34 +f 1 34 41 +f 1 41 51 +f 1 51 55 +f 1 55 60 +f 1 60 59 +f 1 59 56 +f 1 56 47 +f 1 47 38 +f 1 38 37 +f 1 37 28 +f 1 28 19 +f 1 19 18 +f 1 18 16 +f 1 16 9 +f 1 9 5 +f 1 5 2 +f 2 5 6 +f 3 6 12 +f 3 12 11 +f 3 11 10 +f 3 10 17 +f 3 17 27 +f 3 27 36 +f 3 36 44 +f 3 44 46 +f 3 46 45 +f 3 45 49 +f 3 49 57 +f 3 57 52 +f 3 52 50 +f 3 50 40 +f 3 40 39 +f 3 39 31 +f 3 31 21 +f 3 21 13 +f 3 13 7 +f 3 7 4 +f 4 7 13 +f 4 13 20 +f 4 20 22 +f 4 22 14 +f 4 14 8 +f 5 9 10 +f 5 10 11 +f 5 11 12 +f 5 12 6 +f 8 14 15 +f 9 16 10 +f 10 16 18 +f 10 18 19 +f 10 19 17 +f 13 21 20 +f 14 22 23 +f 14 23 24 +f 14 24 25 +f 14 25 15 +f 17 26 27 +f 17 19 26 +f 19 28 29 +f 19 29 30 +f 19 30 26 +f 20 21 22 +f 21 31 24 +f 21 24 23 +f 21 23 22 +f 24 31 32 +f 24 32 33 +f 24 33 34 +f 24 34 25 +f 26 30 27 +f 27 30 29 +f 27 29 35 +f 27 35 36 +f 28 37 29 +f 29 37 38 +f 29 38 35 +f 31 39 32 +f 32 39 40 +f 32 40 33 +f 33 41 34 +f 33 40 42 +f 33 42 43 +f 33 43 41 +f 35 38 44 +f 35 44 36 +f 38 45 46 +f 38 46 44 +f 38 47 48 +f 38 48 49 +f 38 49 45 +f 40 50 42 +f 41 43 51 +f 42 50 52 +f 42 52 43 +f 43 52 53 +f 43 53 54 +f 43 54 55 +f 43 55 51 +f 47 56 48 +f 48 54 53 +f 48 53 52 +f 48 52 57 +f 48 57 58 +f 48 58 49 +f 48 56 59 +f 48 59 60 +f 48 60 55 +f 48 55 61 +f 48 61 54 +f 49 58 57 +f 54 61 55 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_53.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_53.obj new file mode 100644 index 0000000000000000000000000000000000000000..f8d903c5d8c1e15e97dcc8c35ef53ab7ef92f4a3 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_53.obj @@ -0,0 +1,148 @@ +# https://github.com/mikedh/trimesh +v -0.09049956 -0.09699286 0.06545660 +v -0.08977214 -0.09772320 0.06545660 +v -0.08952376 -0.09699290 0.07623970 +v -0.07328107 -0.09699286 0.06545660 +v -0.08558506 -0.10149903 0.06545659 +v -0.08926650 -0.09724816 0.07623970 +v -0.07238510 -0.09699290 0.07623970 +v 0.00012594 -0.12105537 0.07623962 +v 0.00012594 -0.12161195 0.06545651 +v -0.08518587 -0.10085381 0.07623969 +v -0.08635683 -0.09983274 0.07623969 +v -0.08361571 -0.10317244 0.06545658 +v 0.00012594 -0.13216658 0.07623957 +v 0.00012594 -0.13320888 0.06545647 +v -0.08174394 -0.10376811 0.07623968 +v -0.08096330 -0.10538476 0.06545657 +v -0.08036894 -0.10493099 0.07623967 +v -0.00411437 -0.13215948 0.07623957 +v -0.00411437 -0.13319115 0.06545647 +v -0.07736170 -0.10802961 0.06545656 +v -0.07745928 -0.10707240 0.07623967 +v -0.01226676 -0.13160286 0.07623958 +v -0.01226676 -0.13257070 0.06545647 +v -0.07467381 -0.10989448 0.06545656 +v -0.07628831 -0.10791975 0.07623966 +v -0.01939900 -0.13078033 0.07623958 +v -0.02063206 -0.13154964 0.06545648 +v -0.07105446 -0.11239752 0.06545655 +v -0.07207462 -0.11083405 0.07623965 +v -0.02118205 -0.13044351 0.07623958 +v -0.02590139 -0.13062075 0.06545648 +v -0.02449091 -0.13087246 0.06545648 +v -0.06697383 -0.11507428 0.06545654 +v -0.07038915 -0.11199693 0.07623965 +v -0.02338205 -0.12996844 0.07623958 +v -0.02400301 -0.13013861 0.07349736 +v -0.03674168 -0.12791917 0.06545649 +v -0.03674168 -0.12706832 0.07623959 +v -0.06630851 -0.11465241 0.07623964 +v -0.06747060 -0.11389725 0.07623964 +v -0.06120772 -0.11819421 0.06545653 +v -0.04490294 -0.12559694 0.06545650 +v -0.03906586 -0.12642307 0.07623960 +v -0.06120772 -0.11734690 0.07623963 +v -0.05524645 -0.12121841 0.06545651 +v -0.04490294 -0.12473192 0.07623960 +v -0.05022550 -0.12275005 0.07623961 +v -0.05116582 -0.12317192 0.06545651 +v -0.05430613 -0.12079301 0.07623962 +v -0.05138759 -0.12219343 0.07623961 +f 1 2 3 +f 1 3 7 +f 1 7 4 +f 1 4 9 +f 1 9 14 +f 1 14 19 +f 1 19 23 +f 1 23 27 +f 1 27 32 +f 1 32 31 +f 1 31 37 +f 1 37 42 +f 1 42 48 +f 1 48 45 +f 1 45 41 +f 1 41 33 +f 1 33 28 +f 1 28 24 +f 1 24 20 +f 1 20 16 +f 1 16 12 +f 1 12 5 +f 1 5 2 +f 2 5 6 +f 2 6 3 +f 3 6 11 +f 3 11 10 +f 3 10 15 +f 3 15 17 +f 3 17 21 +f 3 21 25 +f 3 25 29 +f 3 29 34 +f 3 34 40 +f 3 40 39 +f 3 39 44 +f 3 44 49 +f 3 49 50 +f 3 50 47 +f 3 47 46 +f 3 46 43 +f 3 43 38 +f 3 38 35 +f 3 35 30 +f 3 30 26 +f 3 26 22 +f 3 22 18 +f 3 18 13 +f 3 13 8 +f 3 8 7 +f 4 7 8 +f 4 8 9 +f 5 10 11 +f 5 11 6 +f 5 12 10 +f 8 13 14 +f 8 14 9 +f 10 12 15 +f 12 16 17 +f 12 17 15 +f 13 18 14 +f 14 18 19 +f 16 20 21 +f 16 21 17 +f 18 22 19 +f 19 22 23 +f 20 24 25 +f 20 25 21 +f 22 26 23 +f 23 26 27 +f 24 28 29 +f 24 29 25 +f 26 30 31 +f 26 31 32 +f 26 32 27 +f 28 33 34 +f 28 34 29 +f 30 35 36 +f 30 36 31 +f 31 36 35 +f 31 35 38 +f 31 38 37 +f 33 39 40 +f 33 40 34 +f 33 41 39 +f 37 38 43 +f 37 43 42 +f 39 41 44 +f 41 45 44 +f 42 43 46 +f 42 46 47 +f 42 47 48 +f 44 45 49 +f 45 48 47 +f 45 47 50 +f 45 50 49 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_54.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_54.obj new file mode 100644 index 0000000000000000000000000000000000000000..4ab3e95540342a2f6096801066946ba44b98860b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_54.obj @@ -0,0 +1,112 @@ +# https://github.com/mikedh/trimesh +v -0.11889485 -0.05605818 0.08722547 +v -0.11654136 -0.06105126 0.08722546 +v -0.11578488 -0.06100819 0.09838246 +v -0.11869873 -0.05605819 0.08989594 +v -0.10646896 -0.05605818 0.08722547 +v -0.11638259 -0.06137264 0.08722545 +v -0.11423923 -0.06511158 0.09107660 +v -0.11393571 -0.06462954 0.09838244 +v -0.11806833 -0.05605822 0.09838247 +v -0.10592262 -0.05605821 0.09512766 +v -0.07119455 -0.09609300 0.09835830 +v -0.07241333 -0.09609296 0.08722533 +v -0.11438399 -0.06535847 0.08722544 +v -0.11428126 -0.06552700 0.08722544 +v -0.11141411 -0.06872904 0.09838243 +v -0.11314653 -0.06591505 0.09838244 +v -0.10570781 -0.05605822 0.09838247 +v -0.07122257 -0.09607340 0.09838233 +v -0.07124125 -0.09609300 0.09838233 +v -0.08951352 -0.09609296 0.08722533 +v -0.11183904 -0.06940702 0.08722543 +v -0.10980308 -0.07122950 0.09838242 +v -0.08851889 -0.09609300 0.09838233 +v -0.08853757 -0.09609300 0.09819665 +v -0.09244139 -0.09224041 0.09838234 +v -0.09291768 -0.09272635 0.08722534 +v -0.11164291 -0.06970881 0.08722542 +v -0.10733751 -0.07503506 0.09838240 +v -0.09491162 -0.08971643 0.09838235 +v -0.09699428 -0.08857199 0.08722535 +v -0.10773910 -0.07563466 0.08722540 +v -0.10478323 -0.07970672 0.08722539 +v -0.10432560 -0.07910712 0.09838239 +v -0.09651330 -0.08807036 0.09838236 +v -0.10024434 -0.08399046 0.09838237 +v -0.10070663 -0.08449600 0.08722537 +v -0.10460578 -0.07991835 0.08722539 +v -0.10271924 -0.08104713 0.09838238 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 17 +f 1 17 10 +f 1 10 5 +f 1 5 12 +f 1 12 20 +f 1 20 26 +f 1 26 30 +f 1 30 36 +f 1 36 37 +f 1 37 32 +f 1 32 31 +f 1 31 27 +f 1 27 21 +f 1 21 14 +f 1 14 13 +f 1 13 6 +f 1 6 2 +f 2 6 3 +f 3 7 8 +f 3 8 16 +f 3 16 15 +f 3 15 22 +f 3 22 28 +f 3 28 33 +f 3 33 38 +f 3 38 35 +f 3 35 34 +f 3 34 29 +f 3 29 25 +f 3 25 23 +f 3 23 19 +f 3 19 18 +f 3 18 17 +f 3 17 9 +f 3 9 4 +f 3 6 7 +f 5 10 11 +f 5 11 12 +f 6 13 7 +f 7 14 15 +f 7 15 16 +f 7 16 8 +f 7 13 14 +f 10 17 11 +f 11 18 19 +f 11 19 23 +f 11 23 24 +f 11 24 20 +f 11 20 12 +f 11 17 18 +f 14 21 15 +f 15 21 22 +f 20 24 25 +f 20 25 26 +f 21 27 28 +f 21 28 22 +f 23 25 24 +f 25 29 30 +f 25 30 26 +f 27 31 28 +f 28 31 32 +f 28 32 33 +f 29 34 30 +f 30 35 36 +f 30 34 35 +f 32 37 38 +f 32 38 33 +f 35 38 37 +f 35 37 36 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_55.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_55.obj new file mode 100644 index 0000000000000000000000000000000000000000..2ea03e0900f207676320e9794e1ed590cb2715b5 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_55.obj @@ -0,0 +1,193 @@ +# https://github.com/mikedh/trimesh +v 0.13063234 -0.02601648 0.06545686 +v 0.11927244 -0.02601648 0.06545686 +v 0.12932681 -0.02601652 0.07624435 +v 0.12828711 -0.02718268 0.08722254 +v 0.12531570 -0.03496786 0.10973365 +v 0.12491400 -0.03656922 0.10973365 +v 0.12640856 -0.03657735 0.08722685 +v 0.12784405 -0.03657727 0.06545683 +v 0.11864035 -0.02601652 0.07624435 +v 0.08082129 -0.09105652 0.06545663 +v 0.07207246 -0.09662442 0.08722663 +v 0.07029434 -0.09622210 0.10973343 +v 0.11777787 -0.02718268 0.08722254 +v 0.11441658 -0.03496786 0.10973365 +v 0.12304135 -0.04277759 0.10973362 +v 0.12544566 -0.04472370 0.06545680 +v 0.11777787 -0.02718268 0.08717053 +v 0.08082129 -0.10560019 0.06545657 +v 0.07207246 -0.10991164 0.08722658 +v 0.07207246 -0.10991164 0.08726991 +v 0.07207246 -0.10961602 0.09143929 +v 0.07207246 -0.10909868 0.09837813 +v 0.08754980 -0.09622210 0.10973343 +v 0.12150543 -0.04685902 0.10973361 +v 0.12222614 -0.04864919 0.09008728 +v 0.12313588 -0.05059537 0.06545677 +v 0.08102214 -0.10543595 0.06545657 +v 0.08122890 -0.10252898 0.09837815 +v 0.07925583 -0.10413856 0.09837815 +v 0.07517383 -0.10711134 0.09837814 +v 0.07572322 -0.10752191 0.08722659 +v 0.09185629 -0.09593452 0.06545661 +v 0.08783926 -0.09595110 0.10973343 +v 0.08425348 -0.10004892 0.09837816 +v 0.08558264 -0.10165016 0.06545659 +v 0.08984186 -0.09780689 0.06545660 +v 0.11885893 -0.05287851 0.10973359 +v 0.12123370 -0.05468501 0.06545676 +v 0.09398885 -0.09379937 0.06545662 +v 0.09202760 -0.09187789 0.10973344 +v 0.11806143 -0.05457020 0.10973358 +v 0.11560987 -0.05975205 0.10973356 +v 0.11807325 -0.06103298 0.06545674 +v 0.09932912 -0.08823976 0.06545664 +v 0.09659401 -0.08815776 0.09837821 +v 0.09610369 -0.08764043 0.10973346 +v 0.11343004 -0.06383348 0.10973355 +v 0.11417437 -0.06511450 0.09098871 +v 0.11437522 -0.06545939 0.08548011 +v 0.11509002 -0.06662544 0.06545672 +v 0.10398414 -0.08283618 0.06545666 +v 0.09977217 -0.08355901 0.10973347 +v 0.09892151 -0.08451161 0.10973347 +v 0.11273888 -0.06499139 0.10973354 +v 0.11021643 -0.06917136 0.10973353 +v 0.10940712 -0.07047709 0.10973352 +v 0.11224266 -0.06863750 0.08722673 +v 0.11250258 -0.07069044 0.06545670 +v 0.10560276 -0.08083242 0.06545666 +v 0.10410229 -0.07886986 0.10339275 +v 0.10384827 -0.07854140 0.10973349 +v 0.10688466 -0.07445997 0.10973351 +v 0.10711505 -0.07479665 0.10339277 +v 0.10814884 -0.07722730 0.06545668 +v 0.10618759 -0.07541258 0.10973350 +f 1 2 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 16 +f 1 16 26 +f 1 26 38 +f 1 38 43 +f 1 43 50 +f 1 50 58 +f 1 58 64 +f 1 64 59 +f 1 59 51 +f 1 51 44 +f 1 44 39 +f 1 39 32 +f 1 32 36 +f 1 36 35 +f 1 35 27 +f 1 27 18 +f 1 18 10 +f 1 10 2 +f 2 10 11 +f 2 11 12 +f 2 12 9 +f 3 9 13 +f 3 13 4 +f 4 13 14 +f 4 14 5 +f 5 14 12 +f 5 12 23 +f 5 23 33 +f 5 33 40 +f 5 40 46 +f 5 46 53 +f 5 53 52 +f 5 52 61 +f 5 61 65 +f 5 65 62 +f 5 62 56 +f 5 56 55 +f 5 55 54 +f 5 54 47 +f 5 47 42 +f 5 42 41 +f 5 41 37 +f 5 37 24 +f 5 24 15 +f 5 15 6 +f 6 15 16 +f 6 16 7 +f 7 16 8 +f 9 17 13 +f 9 12 17 +f 10 18 19 +f 10 19 11 +f 11 19 12 +f 12 19 20 +f 12 20 21 +f 12 21 22 +f 12 22 23 +f 12 14 13 +f 12 13 17 +f 15 24 25 +f 15 25 16 +f 16 25 26 +f 18 27 28 +f 18 28 29 +f 18 29 30 +f 18 30 31 +f 18 31 20 +f 18 20 19 +f 20 31 30 +f 20 30 21 +f 21 30 22 +f 22 30 23 +f 23 32 33 +f 23 30 29 +f 23 29 28 +f 23 28 34 +f 23 34 35 +f 23 35 36 +f 23 36 32 +f 24 37 25 +f 25 37 26 +f 26 37 38 +f 27 35 34 +f 27 34 28 +f 32 39 40 +f 32 40 33 +f 37 41 38 +f 38 41 42 +f 38 42 43 +f 39 44 45 +f 39 45 40 +f 40 45 46 +f 42 47 48 +f 42 48 43 +f 43 48 49 +f 43 49 50 +f 44 51 52 +f 44 52 53 +f 44 53 46 +f 44 46 45 +f 47 54 48 +f 48 54 55 +f 48 55 56 +f 48 56 49 +f 49 57 50 +f 49 56 57 +f 50 57 58 +f 51 59 60 +f 51 60 52 +f 52 60 61 +f 56 62 57 +f 57 62 58 +f 58 62 63 +f 58 63 64 +f 59 64 63 +f 59 63 62 +f 59 62 65 +f 59 65 60 +f 60 65 61 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_56.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_56.obj new file mode 100644 index 0000000000000000000000000000000000000000..5528d15cca37e955a6df5fe78594e0f92e8ae1ac --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_56.obj @@ -0,0 +1,196 @@ +# https://github.com/mikedh/trimesh +v 0.05434490 -0.09606888 0.22735064 +v 0.05435235 -0.09606890 0.23538096 +v 0.05533575 -0.09606884 0.21904410 +v 0.00044398 -0.11014053 0.22736038 +v 0.05438215 -0.09606891 0.23562296 +v 0.00044398 -0.11014836 0.23101251 +v 0.00044398 -0.11017701 0.23562291 +v 0.05586470 -0.09606884 0.21682934 +v 0.00044398 -0.11045293 0.22275240 +v 0.05589450 -0.09606892 0.24003781 +v 0.00044398 -0.11220252 0.24154848 +v 0.05665440 -0.09606892 0.24083473 +v 0.07655342 -0.09606884 0.21682934 +v 0.00044398 -0.11095278 0.21682928 +v 0.00044398 -0.11071586 0.21909536 +v 0.00044398 -0.11520431 0.24141402 +v 0.01221501 -0.11739901 0.24160713 +v 0.02037279 -0.11681323 0.24166580 +v 0.03668834 -0.10994272 0.24180272 +v 0.06693544 -0.09606893 0.24167565 +v 0.05919486 -0.09606893 0.24125520 +v 0.07558491 -0.09606891 0.23562296 +v 0.07342440 -0.09773773 0.23978357 +v 0.07396826 -0.09813598 0.21682933 +v 0.00044398 -0.12266311 0.21682924 +v 0.00044398 -0.11875020 0.24125511 +v 0.00384119 -0.11875281 0.24124532 +v 0.02853057 -0.11612072 0.24158269 +v 0.00097293 -0.12224402 0.23986170 +v 0.06108717 -0.10204906 0.24154852 +v 0.07305936 -0.09606892 0.24081518 +v 0.07460896 -0.09606892 0.24018937 +v 0.06931199 -0.10141112 0.21682932 +v 0.06931199 -0.09907330 0.24073693 +v 0.05832321 -0.10649314 0.24047045 +v 0.06306143 -0.10456658 0.23562293 +v 0.06384368 -0.10506637 0.21682930 +v 0.06791884 -0.10235357 0.21682931 +v 0.00044398 -0.12224402 0.23986170 +v 0.00185203 -0.12265529 0.21682924 +v 0.03668834 -0.11511839 0.24095444 +v 0.05299644 -0.10767772 0.24124292 +v 0.00416899 -0.12263968 0.21682924 +v 0.00842295 -0.12229082 0.21682924 +v 0.00930950 -0.12218406 0.21682924 +v 0.02037279 -0.11981760 0.23562287 +v 0.02853057 -0.11839091 0.23562288 +v 0.05898626 -0.10684199 0.23562292 +v 0.04165006 -0.11435296 0.24019908 +v 0.05299644 -0.10967715 0.23562291 +v 0.06272618 -0.10567037 0.21682930 +v 0.01886043 -0.12081205 0.21682925 +v 0.02037279 -0.12055431 0.21682925 +v 0.02629556 -0.11949470 0.21682925 +v 0.02853057 -0.11905732 0.21682925 +v 0.03668834 -0.11620922 0.23562288 +v 0.05976106 -0.10726368 0.21682930 +v 0.05299644 -0.11054403 0.21682928 +v 0.04205236 -0.11449615 0.23562289 +v 0.04613497 -0.11278307 0.23562290 +v 0.03668834 -0.11680534 0.21682926 +v 0.05149899 -0.11122093 0.21682928 +v 0.04106151 -0.11539947 0.21682927 +v 0.04292401 -0.11479807 0.21682927 +v 0.04588167 -0.11367078 0.21682927 +v 0.04700662 -0.11322559 0.21682927 +f 1 2 5 +f 1 5 10 +f 1 10 12 +f 1 12 21 +f 1 21 20 +f 1 20 31 +f 1 31 32 +f 1 32 22 +f 1 22 13 +f 1 13 8 +f 1 8 3 +f 1 3 4 +f 1 4 2 +f 2 4 6 +f 2 6 7 +f 2 7 5 +f 3 8 4 +f 4 9 15 +f 4 15 14 +f 4 14 25 +f 4 25 39 +f 4 39 26 +f 4 26 16 +f 4 16 11 +f 4 11 7 +f 4 7 6 +f 4 8 9 +f 5 7 10 +f 7 11 12 +f 7 12 10 +f 8 13 24 +f 8 24 33 +f 8 33 38 +f 8 38 37 +f 8 37 51 +f 8 51 57 +f 8 57 58 +f 8 58 62 +f 8 62 66 +f 8 66 65 +f 8 65 64 +f 8 64 63 +f 8 63 61 +f 8 61 55 +f 8 55 54 +f 8 54 53 +f 8 53 52 +f 8 52 45 +f 8 45 44 +f 8 44 43 +f 8 43 40 +f 8 40 25 +f 8 25 14 +f 8 14 15 +f 8 15 9 +f 11 16 17 +f 11 17 18 +f 11 18 19 +f 11 19 20 +f 11 20 21 +f 11 21 12 +f 13 22 23 +f 13 23 24 +f 16 26 17 +f 17 26 27 +f 17 27 18 +f 18 28 19 +f 18 27 29 +f 18 29 28 +f 19 28 30 +f 19 30 20 +f 20 30 31 +f 22 32 23 +f 23 33 24 +f 23 32 34 +f 23 34 35 +f 23 35 36 +f 23 36 37 +f 23 37 38 +f 23 38 33 +f 25 40 29 +f 25 29 39 +f 26 39 29 +f 26 29 27 +f 28 41 42 +f 28 42 30 +f 28 29 41 +f 29 40 43 +f 29 43 44 +f 29 44 45 +f 29 45 46 +f 29 46 47 +f 29 47 41 +f 30 42 35 +f 30 35 34 +f 30 34 31 +f 31 34 32 +f 35 48 36 +f 35 42 49 +f 35 49 50 +f 35 50 48 +f 36 48 37 +f 37 48 51 +f 41 47 49 +f 41 49 42 +f 45 52 46 +f 46 52 53 +f 46 53 47 +f 47 53 54 +f 47 54 55 +f 47 55 56 +f 47 56 49 +f 48 57 51 +f 48 50 58 +f 48 58 57 +f 49 59 60 +f 49 60 50 +f 49 56 59 +f 50 60 58 +f 55 61 56 +f 56 61 59 +f 58 60 62 +f 59 61 63 +f 59 63 64 +f 59 64 65 +f 59 65 66 +f 59 66 60 +f 60 66 62 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_57.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_57.obj new file mode 100644 index 0000000000000000000000000000000000000000..3b76fef003db54d897571d241fe7a12336536ea8 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_57.obj @@ -0,0 +1,253 @@ +# https://github.com/mikedh/trimesh +v -0.07983374 0.08676473 0.12133286 +v -0.07983374 0.08678080 0.12109214 +v -0.07983374 0.10174064 0.12133291 +v -0.11685544 0.02064588 0.12133262 +v -0.07983374 0.08760792 0.11110233 +v -0.07983374 0.10232686 0.11418859 +v -0.08297990 0.09921120 0.12133290 +v -0.12618999 0.02064588 0.12133262 +v -0.11751679 0.02064593 0.10973386 +v -0.07983374 0.08772838 0.10973410 +v -0.07983374 0.10263202 0.11025307 +v -0.08304603 0.09926741 0.11992152 +v -0.08706140 0.09542104 0.12133289 +v -0.12646399 0.02727865 0.12133264 +v -0.12755522 0.02064588 0.12130990 +v -0.12809375 0.02064593 0.10973386 +v -0.07983374 0.10267217 0.10973416 +v -0.08234688 0.10062453 0.10973415 +v -0.08340978 0.09960470 0.11165762 +v -0.08748656 0.09581455 0.11165760 +v -0.08778889 0.09472244 0.12133289 +v -0.12619945 0.02866783 0.12133265 +v -0.12630337 0.02866784 0.11992127 +v -0.12682772 0.02866787 0.11165736 +v -0.12693638 0.02866788 0.10973389 +v -0.12763552 0.02064589 0.11978612 +v -0.12784810 0.02241253 0.10973386 +v -0.08349008 0.09967698 0.10973415 +v -0.08662207 0.09677013 0.10973414 +v -0.08756687 0.09588683 0.10973413 +v -0.09079806 0.09276318 0.10973412 +v -0.09130352 0.09134182 0.12133288 +v -0.12448464 0.03542908 0.12133267 +v -0.12423428 0.03682630 0.11992130 +v -0.12480587 0.03682633 0.11165739 +v -0.12493814 0.03682634 0.10973392 +v -0.12648760 0.03057099 0.10973389 +v -0.09177119 0.09181563 0.10973412 +v -0.09169561 0.09173533 0.11165759 +v -0.09490318 0.08861168 0.10973411 +v -0.09585269 0.08764005 0.10973410 +v -0.09544171 0.08720639 0.11992148 +v -0.09538503 0.08714214 0.12133286 +v -0.12409727 0.03693068 0.12133268 +v -0.12268953 0.04182897 0.12133269 +v -0.12274150 0.04198958 0.11992131 +v -0.12302021 0.04280867 0.11165741 +v -0.12308162 0.04298534 0.10973394 +v -0.09963187 0.08356082 0.10973409 +v -0.09923978 0.08312716 0.11992147 +v -0.09918309 0.08306291 0.12133285 +v -0.12164081 0.04492051 0.12133271 +v -0.12135738 0.04606881 0.11992133 +v -0.12155579 0.04688790 0.11165742 +v -0.12160303 0.04705653 0.10973395 +v -0.10370865 0.07859026 0.10973407 +v -0.10363779 0.07849389 0.11165754 +v -0.10331656 0.07805221 0.11992145 +v -0.10335435 0.07785146 0.12133283 +v -0.12133849 0.04578775 0.12133271 +v -0.11824428 0.05312715 0.12133274 +v -0.11834821 0.05312716 0.11992136 +v -0.11883478 0.05312719 0.11165745 +v -0.11892926 0.05312720 0.10973398 +v -0.10681701 0.07451103 0.10973405 +v -0.10674616 0.07441466 0.11165752 +v -0.10641548 0.07397298 0.11992143 +v -0.10635879 0.07389267 0.12133281 +v -0.11572169 0.05825831 0.12133275 +v -0.11558942 0.05990449 0.11165747 +v -0.11813091 0.05482955 0.10973398 +v -0.10936796 0.07068876 0.10973404 +v -0.11007656 0.06942805 0.11165751 +v -0.10946716 0.06942802 0.11992142 +v -0.10927348 0.06955648 0.12133280 +v -0.11524929 0.05920584 0.12133276 +v -0.11530126 0.05931024 0.11992138 +v -0.11564138 0.06002495 0.10973400 +v -0.11320382 0.06338144 0.11992139 +v -0.11348253 0.06396766 0.11165748 +v -0.11353922 0.06409615 0.10973402 +v -0.11515482 0.06097249 0.10973400 +v -0.11019937 0.06942806 0.10973404 +v -0.11314713 0.06327704 0.12133277 +v -0.11351087 0.06257843 0.12133277 +f 1 2 5 +f 1 5 10 +f 1 10 17 +f 1 17 11 +f 1 11 6 +f 1 6 3 +f 1 3 7 +f 1 7 13 +f 1 13 21 +f 1 21 32 +f 1 32 43 +f 1 43 51 +f 1 51 59 +f 1 59 68 +f 1 68 75 +f 1 75 84 +f 1 84 85 +f 1 85 76 +f 1 76 69 +f 1 69 61 +f 1 61 60 +f 1 60 52 +f 1 52 45 +f 1 45 44 +f 1 44 33 +f 1 33 22 +f 1 22 14 +f 1 14 8 +f 1 8 4 +f 1 4 2 +f 2 4 5 +f 3 6 7 +f 4 8 15 +f 4 15 26 +f 4 26 16 +f 4 16 9 +f 4 9 10 +f 4 10 5 +f 6 11 12 +f 6 12 7 +f 7 12 13 +f 8 14 15 +f 9 16 27 +f 9 27 25 +f 9 25 37 +f 9 37 36 +f 9 36 48 +f 9 48 55 +f 9 55 64 +f 9 64 71 +f 9 71 78 +f 9 78 82 +f 9 82 81 +f 9 81 83 +f 9 83 72 +f 9 72 65 +f 9 65 56 +f 9 56 49 +f 9 49 41 +f 9 41 40 +f 9 40 38 +f 9 38 31 +f 9 31 30 +f 9 30 29 +f 9 29 28 +f 9 28 18 +f 9 18 17 +f 9 17 10 +f 11 17 12 +f 12 17 18 +f 12 18 19 +f 12 19 13 +f 13 20 21 +f 13 19 20 +f 14 22 23 +f 14 23 24 +f 14 24 15 +f 15 24 25 +f 15 25 26 +f 16 26 27 +f 18 28 19 +f 19 28 29 +f 19 29 20 +f 20 29 30 +f 20 30 31 +f 20 31 32 +f 20 32 21 +f 22 33 34 +f 22 34 23 +f 23 34 35 +f 23 35 36 +f 23 36 37 +f 23 37 24 +f 24 37 25 +f 25 27 26 +f 31 38 39 +f 31 39 32 +f 32 39 40 +f 32 40 41 +f 32 41 42 +f 32 42 43 +f 33 44 34 +f 34 44 45 +f 34 45 46 +f 34 46 35 +f 35 46 36 +f 36 46 47 +f 36 47 48 +f 38 40 39 +f 41 49 50 +f 41 50 42 +f 42 50 51 +f 42 51 43 +f 45 52 46 +f 46 52 53 +f 46 53 47 +f 47 53 48 +f 48 53 54 +f 48 54 55 +f 49 56 50 +f 50 56 51 +f 51 56 57 +f 51 57 58 +f 51 58 59 +f 52 60 53 +f 53 60 61 +f 53 61 62 +f 53 62 54 +f 54 62 55 +f 55 62 63 +f 55 63 64 +f 56 65 66 +f 56 66 57 +f 57 66 58 +f 58 66 67 +f 58 67 59 +f 59 67 68 +f 61 69 62 +f 62 69 70 +f 62 70 63 +f 63 70 71 +f 63 71 64 +f 65 72 73 +f 65 73 66 +f 66 73 74 +f 66 74 67 +f 67 74 75 +f 67 75 68 +f 69 76 77 +f 69 77 70 +f 70 78 71 +f 70 77 79 +f 70 79 80 +f 70 80 81 +f 70 81 82 +f 70 82 78 +f 72 83 73 +f 73 83 81 +f 73 81 80 +f 73 80 74 +f 74 80 79 +f 74 79 75 +f 75 79 84 +f 76 85 79 +f 76 79 77 +f 79 85 84 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_58.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_58.obj new file mode 100644 index 0000000000000000000000000000000000000000..c02584d64572487828a43099996155c66fa6af8d --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_58.obj @@ -0,0 +1,253 @@ +# https://github.com/mikedh/trimesh +v -0.05602184 -0.11745099 0.10973335 +v -0.05602184 -0.11734753 0.11165682 +v -0.06022190 -0.11552171 0.10973336 +v -0.05602184 -0.10506589 0.10973339 +v -0.05602184 -0.11706760 0.11643940 +v -0.06010104 -0.11546694 0.11165683 +v -0.06430110 -0.11345854 0.10973336 +v -0.05602184 -0.10418956 0.12133216 +v -0.10537710 -0.05528209 0.10973358 +v -0.05602184 -0.11678765 0.12068603 +v -0.05953901 -0.11518702 0.11992074 +v -0.06361821 -0.11314820 0.11992074 +v -0.06418023 -0.11340378 0.11165683 +v -0.06937139 -0.10959395 0.11992076 +v -0.06937139 -0.11014166 0.11165685 +v -0.06937139 -0.11026337 0.10973337 +v -0.05602184 -0.11673897 0.12133211 +v -0.10451896 -0.05528214 0.12133234 +v -0.11775974 -0.05528209 0.10973358 +v -0.05843310 -0.11561305 0.12133212 +v -0.05943628 -0.11513834 0.12133212 +v -0.06351548 -0.11309952 0.12133212 +v -0.06937139 -0.10949049 0.12133214 +v -0.07409118 -0.10633185 0.12133215 +v -0.07457464 -0.10668479 0.11165686 +v -0.07067070 -0.10940524 0.10973338 +v -0.11702246 -0.05528214 0.12133234 +v -0.11566273 -0.05984662 0.10973356 +v -0.11765701 -0.05528210 0.11165705 +v -0.07817037 -0.10324013 0.12133216 +v -0.07824289 -0.10329490 0.11992078 +v -0.07865383 -0.10359917 0.11165687 +v -0.07874448 -0.10367220 0.10973340 +v -0.07561407 -0.10603358 0.10973339 +v -0.07466528 -0.10674564 0.10973339 +v -0.11708894 -0.05528213 0.12047620 +v -0.11526388 -0.05901288 0.12133232 +v -0.11406731 -0.06296876 0.10973355 +v -0.11352341 -0.06380255 0.11165702 +v -0.11560230 -0.05972491 0.11165703 +v -0.11713124 -0.05528213 0.11992096 +v -0.08325275 -0.09916248 0.12133218 +v -0.08331318 -0.09921725 0.11992080 +v -0.08366369 -0.09952153 0.11165688 +v -0.08374225 -0.09959454 0.10973341 +v -0.11531826 -0.05912242 0.11992094 +v -0.11319104 -0.06309053 0.12133231 +v -0.11357781 -0.06391818 0.10973355 +v -0.11324542 -0.06320006 0.11992093 +v -0.11106985 -0.06804451 0.10973353 +v -0.11024797 -0.06917653 0.11165700 +v -0.10964969 -0.06917656 0.11992091 +v -0.08663697 -0.09604035 0.12133219 +v -0.08773684 -0.09579078 0.11165690 +v -0.08469104 -0.09873033 0.10973342 +v -0.11247793 -0.06427730 0.12133230 +v -0.11037488 -0.06917652 0.10973353 +v -0.10688188 -0.07437401 0.11165698 +v -0.10655554 -0.07392367 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+f 1 2 3 +f 1 3 7 +f 1 7 16 +f 1 16 26 +f 1 26 35 +f 1 35 34 +f 1 34 33 +f 1 33 45 +f 1 45 55 +f 1 55 63 +f 1 63 66 +f 1 66 78 +f 1 78 75 +f 1 75 82 +f 1 82 85 +f 1 85 79 +f 1 79 68 +f 1 68 67 +f 1 67 57 +f 1 57 50 +f 1 50 48 +f 1 48 38 +f 1 38 28 +f 1 28 19 +f 1 19 9 +f 1 9 4 +f 1 4 8 +f 1 8 17 +f 1 17 10 +f 1 10 5 +f 1 5 2 +f 2 5 6 +f 2 6 3 +f 3 6 13 +f 3 13 7 +f 4 9 8 +f 5 10 11 +f 5 11 6 +f 6 11 12 +f 6 12 13 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 8 9 18 +f 8 18 27 +f 8 27 37 +f 8 37 47 +f 8 47 56 +f 8 56 61 +f 8 61 60 +f 8 60 73 +f 8 73 72 +f 8 72 71 +f 8 71 81 +f 8 81 80 +f 8 80 76 +f 8 76 74 +f 8 74 62 +f 8 62 53 +f 8 53 42 +f 8 42 30 +f 8 30 24 +f 8 24 23 +f 8 23 22 +f 8 22 21 +f 8 21 20 +f 8 20 17 +f 9 19 29 +f 9 29 41 +f 9 41 36 +f 9 36 27 +f 9 27 18 +f 10 17 20 +f 10 20 11 +f 11 20 21 +f 11 21 22 +f 11 22 12 +f 12 22 23 +f 12 23 14 +f 12 14 13 +f 14 23 24 +f 14 24 25 +f 14 25 15 +f 15 25 26 +f 15 26 16 +f 19 28 29 +f 24 30 31 +f 24 31 32 +f 24 32 25 +f 25 32 33 +f 25 33 34 +f 25 34 35 +f 25 35 26 +f 27 36 37 +f 28 38 39 +f 28 39 40 +f 28 40 29 +f 29 40 41 +f 30 42 31 +f 31 42 32 +f 32 42 33 +f 33 42 43 +f 33 43 44 +f 33 44 45 +f 36 41 37 +f 37 46 49 +f 37 49 47 +f 37 41 46 +f 38 48 39 +f 39 49 40 +f 39 48 50 +f 39 50 51 +f 39 51 52 +f 39 52 49 +f 40 49 46 +f 40 46 41 +f 42 53 54 +f 42 54 43 +f 43 54 55 +f 43 55 44 +f 44 55 45 +f 47 49 56 +f 49 52 56 +f 50 57 51 +f 51 57 58 +f 51 58 52 +f 52 58 59 +f 52 59 60 +f 52 60 61 +f 52 61 56 +f 53 62 54 +f 54 63 55 +f 54 62 64 +f 54 64 65 +f 54 65 66 +f 54 66 63 +f 57 67 58 +f 58 67 68 +f 58 68 69 +f 58 69 70 +f 58 70 71 +f 58 71 72 +f 58 72 59 +f 59 73 60 +f 59 72 73 +f 62 74 64 +f 64 75 65 +f 64 74 76 +f 64 76 77 +f 64 77 75 +f 65 78 66 +f 65 75 78 +f 68 79 80 +f 68 80 69 +f 69 80 81 +f 69 81 70 +f 70 81 71 +f 75 77 82 +f 76 80 77 +f 77 80 83 +f 77 83 84 +f 77 84 85 +f 77 85 82 +f 79 85 84 +f 79 84 83 +f 79 83 80 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_59.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_59.obj new file mode 100644 index 0000000000000000000000000000000000000000..9df1eb64632ecd09772ac98c3840963d38ad6dec --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_59.obj @@ -0,0 +1,220 @@ +# https://github.com/mikedh/trimesh +v -0.06728392 -0.11076975 0.12133327 +v -0.06728392 -0.11024896 0.12818477 +v -0.06936856 -0.10898761 0.12818477 +v -0.06936856 -0.10949212 0.12133328 +v -0.06728392 -0.09709837 0.12133332 +v -0.06728392 -0.11005366 0.13065394 +v -0.06980165 -0.10834475 0.13309201 +v -0.07350317 -0.10590343 0.13283071 +v -0.07409218 -0.10632655 0.12133329 +v -0.06728392 -0.09658571 0.12818482 +v -0.11505141 -0.02764287 0.12133358 +v -0.11410437 -0.02764290 0.13122173 +v -0.11394846 -0.02764291 0.13309231 +v -0.06728392 -0.10985836 0.13309201 +v -0.07320866 -0.10607432 0.13309202 +v -0.07816904 -0.10323422 0.12133330 +v -0.07348584 -0.10588716 0.13309202 +v -0.07713539 -0.10311219 0.13309203 +v -0.07781679 -0.10298196 0.12818479 +v -0.06728392 -0.09621953 0.13309206 +v -0.12627723 -0.02764287 0.12133358 +v -0.12547456 -0.02764291 0.13309231 +v -0.08275407 -0.09871782 0.13309205 +v -0.08296196 -0.09890496 0.12818481 +v -0.08325646 -0.09915721 0.12133332 +v -0.12581526 -0.02764289 0.12818507 +v -0.12615019 -0.02841596 0.12133358 +v -0.12533019 -0.02841600 0.13309231 +v -0.08441138 -0.09717165 0.13309205 +v -0.08733333 -0.09538945 0.12133333 +v -0.08663461 -0.09604047 0.12133333 +v -0.12407710 -0.03667575 0.12133355 +v -0.12426767 -0.03269644 0.13309229 +v -0.08683095 -0.09490122 0.13309206 +v -0.08704461 -0.09510465 0.12818482 +v -0.09103485 -0.09082423 0.13309208 +v -0.09080386 -0.09201229 0.12133334 +v -0.12378260 -0.03766855 0.12133354 +v -0.12250642 -0.04098062 0.12556276 +v -0.12335528 -0.03626890 0.13309228 +v -0.08853445 -0.09324926 0.13309207 +v -0.09151992 -0.09131244 0.12133334 +v -0.09511172 -0.08660074 0.13309209 +v -0.09490383 -0.08782136 0.12133336 +v -0.12265655 -0.04142004 0.12133353 +v -0.12125333 -0.04539126 0.12133351 +v -0.12116671 -0.04410551 0.12826443 +v -0.12062967 -0.04446359 0.13309225 +v -0.12147854 -0.04198159 0.13309226 +v -0.12210796 -0.04009363 0.13309226 +v -0.09559678 -0.08709710 0.12133336 +v -0.09890563 -0.08252374 0.13309211 +v -0.12065854 -0.04688046 0.12133351 +v -0.11732082 -0.05286987 0.13309222 +v -0.11875292 -0.04928113 0.13309223 +v -0.09936182 -0.08302010 0.12133338 +v -0.10095561 -0.07987084 0.13309212 +v -0.10353108 -0.07778754 0.12133339 +v -0.10273996 -0.07880476 0.12133339 +v -0.11817547 -0.05286983 0.12133349 +v -0.11767884 -0.05286985 0.12818498 +v -0.11525929 -0.05901381 0.12133346 +v -0.11480887 -0.05808615 0.13309220 +v -0.10310953 -0.07704705 0.13309213 +v -0.10649922 -0.07384075 0.12133341 +v -0.11319199 -0.06309081 0.12133345 +v -0.11271269 -0.06216315 0.13309218 +v -0.10599106 -0.07314908 0.13309214 +v -0.10627979 -0.07353966 0.12648469 +v -0.10892455 -0.07011367 0.12133342 +v -0.11248171 -0.06427892 0.12133344 +v -0.11029314 -0.06630525 0.13309217 +v -0.10845681 -0.06935690 0.13309216 +v -0.10945005 -0.06929990 0.12133343 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 16 +f 1 16 25 +f 1 25 31 +f 1 31 30 +f 1 30 37 +f 1 37 42 +f 1 42 44 +f 1 44 51 +f 1 51 56 +f 1 56 59 +f 1 59 58 +f 1 58 65 +f 1 65 70 +f 1 70 74 +f 1 74 71 +f 1 71 66 +f 1 66 62 +f 1 62 60 +f 1 60 53 +f 1 53 46 +f 1 46 45 +f 1 45 38 +f 1 38 32 +f 1 32 27 +f 1 27 21 +f 1 21 11 +f 1 11 5 +f 1 5 10 +f 1 10 20 +f 1 20 14 +f 1 14 6 +f 1 6 2 +f 2 6 7 +f 2 7 3 +f 3 7 4 +f 4 7 8 +f 4 8 9 +f 5 11 12 +f 5 12 13 +f 5 13 10 +f 6 14 7 +f 7 14 20 +f 7 20 13 +f 7 13 22 +f 7 22 28 +f 7 28 33 +f 7 33 40 +f 7 40 50 +f 7 50 49 +f 7 49 48 +f 7 48 55 +f 7 55 54 +f 7 54 63 +f 7 63 67 +f 7 67 72 +f 7 72 73 +f 7 73 68 +f 7 68 64 +f 7 64 57 +f 7 57 52 +f 7 52 43 +f 7 43 36 +f 7 36 41 +f 7 41 34 +f 7 34 29 +f 7 29 23 +f 7 23 18 +f 7 18 17 +f 7 17 15 +f 7 15 8 +f 8 16 9 +f 8 15 17 +f 8 17 18 +f 8 18 19 +f 8 19 16 +f 10 13 20 +f 11 21 26 +f 11 26 22 +f 11 22 13 +f 11 13 12 +f 16 19 23 +f 16 23 24 +f 16 24 25 +f 18 23 19 +f 21 27 26 +f 22 26 27 +f 22 27 28 +f 23 29 30 +f 23 30 31 +f 23 31 24 +f 24 31 25 +f 27 32 33 +f 27 33 28 +f 29 34 35 +f 29 35 30 +f 30 35 36 +f 30 36 37 +f 32 38 39 +f 32 39 40 +f 32 40 33 +f 34 41 35 +f 35 41 36 +f 36 42 37 +f 36 43 44 +f 36 44 42 +f 38 45 39 +f 39 45 46 +f 39 46 47 +f 39 47 48 +f 39 48 49 +f 39 49 50 +f 39 50 40 +f 43 51 44 +f 43 52 51 +f 46 53 54 +f 46 54 55 +f 46 55 48 +f 46 48 47 +f 51 52 56 +f 52 57 58 +f 52 58 59 +f 52 59 56 +f 53 60 61 +f 53 61 54 +f 54 61 62 +f 54 62 63 +f 57 64 58 +f 58 64 65 +f 60 62 61 +f 62 66 63 +f 63 66 67 +f 64 68 69 +f 64 69 65 +f 65 69 70 +f 66 71 72 +f 66 72 67 +f 68 73 69 +f 69 73 70 +f 70 73 74 +f 71 74 73 +f 71 73 72 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_6.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_6.obj new file mode 100644 index 0000000000000000000000000000000000000000..15207f415929e3ff0df0f73b1f3c89c7343c2b78 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_6.obj @@ -0,0 +1,184 @@ +# https://github.com/mikedh/trimesh +v -0.02130917 0.12658261 0.13309516 +v -0.02130917 0.11560468 0.13309512 +v -0.02130917 0.12636128 0.13645628 +v -0.02041889 0.12675237 0.13309517 +v 0.02099356 0.11591241 0.13309513 +v -0.02130917 0.11526209 0.13695783 +v -0.02041889 0.12653106 0.13645628 +v -0.02130917 0.12576096 0.14476975 +v -0.01226145 0.12747695 0.13645629 +v -0.01226145 0.12764068 0.13309517 +v -0.01334635 0.12537432 0.16950256 +v -0.01226145 0.12552742 0.16950256 +v 0.02099356 0.12668720 0.13309517 +v 0.02099356 0.11556677 0.13713077 +v -0.02130917 0.11477093 0.14261351 +v -0.02046858 0.12592013 0.14476975 +v -0.02041889 0.12592923 0.14476975 +v -0.01334635 0.12480736 0.17776414 +v -0.02130917 0.11458901 0.14476971 +v -0.01334635 0.12377196 0.19199271 +v -0.00410402 0.12609588 0.16950256 +v -0.00410402 0.12656886 0.16124676 +v -0.00415371 0.12750269 0.14476976 +v -0.00410402 0.12750572 0.14476976 +v -0.00410402 0.12788472 0.13645629 +v -0.00410402 0.12800903 0.13309517 +v -0.01226145 0.12496046 0.17776414 +v 0.02036415 0.12680239 0.13309517 +v 0.02036415 0.12660684 0.13645629 +v 0.02099356 0.12652651 0.13581635 +v 0.02099356 0.11501194 0.14384150 +v -0.01334635 0.12410699 0.18740936 +v 0.02099356 0.11493615 0.14476971 +v 0.01326263 0.11252270 0.19199267 +v -0.01334635 0.11253028 0.19199267 +v -0.01226145 0.12390840 0.19199272 +v 0.00404928 0.12656128 0.16124676 +v 0.00404928 0.12752392 0.14476976 +v -0.00410402 0.12550921 0.17776414 +v 0.00404928 0.12549253 0.17776414 +v 0.00404928 0.12607769 0.16950256 +v 0.00031425 0.12788927 0.13645629 +v 0.00404514 0.12788927 0.13645629 +v 0.00404514 0.12800145 0.13309517 +v 0.01551524 0.12734356 0.13309517 +v 0.02036415 0.12601714 0.14471786 +v 0.02099356 0.12588982 0.14476398 +v 0.02099356 0.12648254 0.13645628 +v 0.02099356 0.12650073 0.13619686 +v 0.01220257 0.12751636 0.13645629 +v 0.01220672 0.12700701 0.14476976 +v 0.01220672 0.12540010 0.16950256 +v 0.01326263 0.12526063 0.16950256 +v 0.01326263 0.12468306 0.17776414 +v 0.02099356 0.11990667 0.14476973 +v 0.01326263 0.12362038 0.19199271 +v -0.00410402 0.12443895 0.19199272 +v 0.00404928 0.12442379 0.19199272 +v 0.01220672 0.12376135 0.19199271 +v 0.01220672 0.12481949 0.17776414 +v 0.00736194 0.12787715 0.13309517 +v 0.01220257 0.12765433 0.13309517 +f 1 2 6 +f 1 6 15 +f 1 15 19 +f 1 19 8 +f 1 8 3 +f 1 3 7 +f 1 7 4 +f 1 4 10 +f 1 10 26 +f 1 26 44 +f 1 44 61 +f 1 61 62 +f 1 62 45 +f 1 45 28 +f 1 28 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 3 8 7 +f 4 9 10 +f 4 7 11 +f 4 11 12 +f 4 12 9 +f 5 13 30 +f 5 30 49 +f 5 49 48 +f 5 48 47 +f 5 47 55 +f 5 55 33 +f 5 33 31 +f 5 31 14 +f 5 14 15 +f 5 15 6 +f 7 8 16 +f 7 16 17 +f 7 17 18 +f 7 18 11 +f 8 19 35 +f 8 35 20 +f 8 20 16 +f 9 12 21 +f 9 21 22 +f 9 22 23 +f 9 23 24 +f 9 24 10 +f 10 25 26 +f 10 24 25 +f 11 18 27 +f 11 27 12 +f 12 27 21 +f 13 28 29 +f 13 29 30 +f 14 31 19 +f 14 19 15 +f 16 20 17 +f 17 20 32 +f 17 32 18 +f 18 32 27 +f 19 31 33 +f 19 33 34 +f 19 34 35 +f 20 35 34 +f 20 34 56 +f 20 56 59 +f 20 59 58 +f 20 58 57 +f 20 57 36 +f 20 36 27 +f 20 27 32 +f 21 37 38 +f 21 38 22 +f 21 27 39 +f 21 39 40 +f 21 40 41 +f 21 41 37 +f 22 38 24 +f 22 24 23 +f 24 38 25 +f 25 42 26 +f 25 38 42 +f 26 42 43 +f 26 43 44 +f 27 36 39 +f 28 45 29 +f 29 46 47 +f 29 47 48 +f 29 48 49 +f 29 49 30 +f 29 45 50 +f 29 50 51 +f 29 51 52 +f 29 52 53 +f 29 53 54 +f 29 54 46 +f 33 55 56 +f 33 56 34 +f 36 57 39 +f 37 41 50 +f 37 50 38 +f 38 50 43 +f 38 43 42 +f 39 57 58 +f 39 58 40 +f 40 58 59 +f 40 59 60 +f 40 60 41 +f 41 60 52 +f 41 52 51 +f 41 51 50 +f 43 50 61 +f 43 61 44 +f 45 62 50 +f 46 54 56 +f 46 56 47 +f 47 56 55 +f 50 62 61 +f 52 60 54 +f 52 54 53 +f 54 60 59 +f 54 59 56 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_60.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_60.obj new file mode 100644 index 0000000000000000000000000000000000000000..72916af5659699132b85db1add13137f8b1816c2 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_60.obj @@ -0,0 +1,178 @@ +# https://github.com/mikedh/trimesh +v -0.07370173 0.08469228 0.21688547 +v -0.07370173 0.08469220 0.24044652 +v -0.07267822 0.08469228 0.21683230 +v -0.07370173 0.08467047 0.21683230 +v -0.07156059 0.08469220 0.23988014 +v -0.07370173 0.08192208 0.23899012 +v -0.02732011 0.02898447 0.23233911 +v -0.02700247 0.02898447 0.23242696 +v -0.02003787 0.02898447 0.23267894 +v -0.01995552 0.02898447 0.23267201 +v -0.06757242 0.08469228 0.21683230 +v -0.07370173 0.08232023 0.21683229 +v -0.06128428 0.08469222 0.23386042 +v -0.02282018 0.03682042 0.23222818 +v -0.02426722 0.04121553 0.23166875 +v -0.07370173 0.08174758 0.23884680 +v -0.03251414 0.03291608 0.23131734 +v -0.03077888 0.02898448 0.22826586 +v -0.01366738 0.02898448 0.22754461 +v -0.01705557 0.03197816 0.23029787 +v -0.06951945 0.08378163 0.21683230 +v -0.06055488 0.08469227 0.21939600 +v -0.02832009 0.04509810 0.22002233 +v -0.02042610 0.02898452 0.21838789 +v -0.02074374 0.02898452 0.21828155 +v -0.02858480 0.03682047 0.21802035 +v -0.07370173 0.08193852 0.21710045 +v -0.02874950 0.02898451 0.22009393 +v -0.02894361 0.02898451 0.22017254 +v -0.02915538 0.02898451 0.22032280 +v -0.05890785 0.08469224 0.22847874 +v -0.03077300 0.05140173 0.22736206 +v -0.04846684 0.07409709 0.22481001 +v -0.01364385 0.02902265 0.22747063 +v -0.02342605 0.04230614 0.22736203 +v -0.02669659 0.04637952 0.22736204 +v -0.07370173 0.07907019 0.23493766 +v -0.03091417 0.02898448 0.22789136 +v -0.01362033 0.02898448 0.22747063 +v -0.05966666 0.08469227 0.22032300 +v -0.04846684 0.07409710 0.22261387 +v -0.04073755 0.06544865 0.22312011 +v -0.03086711 0.05125453 0.22145562 +v -0.02330253 0.04245885 0.22181622 +v -0.02052022 0.03638967 0.22064414 +v -0.01427914 0.02898451 0.22127984 +v -0.07370173 0.07855765 0.22006869 +v -0.03350825 0.03152559 0.22212594 +v -0.03091417 0.02898448 0.22758160 +v -0.05837256 0.08469225 0.22721192 +v -0.04073755 0.06544865 0.22351541 +v -0.05626671 0.08263102 0.22548968 +v -0.01587911 0.03338505 0.22478905 +v -0.07370173 0.07709622 0.22747312 +v -0.03350825 0.03152558 0.22581082 +v -0.01413208 0.02898451 0.22139544 +v -0.01587911 0.03338506 0.22260447 +v -0.05837256 0.08469225 0.22630110 +v -0.05626671 0.08263103 0.22227870 +v -0.07370173 0.07800144 0.22278034 +f 1 2 5 +f 1 5 13 +f 1 13 31 +f 1 31 50 +f 1 50 58 +f 1 58 40 +f 1 40 22 +f 1 22 11 +f 1 11 3 +f 1 3 4 +f 1 4 12 +f 1 12 27 +f 1 27 47 +f 1 47 60 +f 1 60 54 +f 1 54 37 +f 1 37 16 +f 1 16 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 5 +f 3 11 21 +f 3 21 12 +f 3 12 4 +f 5 10 14 +f 5 14 15 +f 5 15 13 +f 6 16 7 +f 7 17 18 +f 7 18 38 +f 7 38 49 +f 7 49 30 +f 7 30 29 +f 7 29 28 +f 7 28 25 +f 7 25 24 +f 7 24 46 +f 7 46 56 +f 7 56 39 +f 7 39 19 +f 7 19 10 +f 7 10 9 +f 7 9 8 +f 7 16 17 +f 10 19 20 +f 10 20 14 +f 11 22 23 +f 11 23 24 +f 11 24 25 +f 11 25 26 +f 11 26 21 +f 12 21 26 +f 12 26 28 +f 12 28 29 +f 12 29 30 +f 12 30 27 +f 13 15 32 +f 13 32 33 +f 13 33 31 +f 14 20 15 +f 15 20 34 +f 15 34 35 +f 15 35 36 +f 15 36 32 +f 16 37 18 +f 16 18 17 +f 18 37 38 +f 19 39 20 +f 20 39 34 +f 22 40 41 +f 22 41 42 +f 22 42 43 +f 22 43 44 +f 22 44 23 +f 23 44 45 +f 23 45 24 +f 24 45 46 +f 25 28 26 +f 27 30 48 +f 27 48 47 +f 30 49 48 +f 31 33 50 +f 32 36 51 +f 32 51 33 +f 33 51 42 +f 33 42 41 +f 33 41 59 +f 33 59 52 +f 33 52 50 +f 34 39 53 +f 34 53 35 +f 35 53 51 +f 35 51 36 +f 37 54 38 +f 38 55 48 +f 38 48 49 +f 38 54 55 +f 39 56 57 +f 39 57 53 +f 40 58 59 +f 40 59 41 +f 42 51 53 +f 42 53 57 +f 42 57 44 +f 42 44 43 +f 44 57 56 +f 44 56 46 +f 44 46 45 +f 47 48 60 +f 48 54 60 +f 48 55 54 +f 50 52 59 +f 50 59 58 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_61.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_61.obj new file mode 100644 index 0000000000000000000000000000000000000000..27c184a4fc97a0e658ff7e3ebdb5944688b0987b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_61.obj @@ -0,0 +1,124 @@ +# https://github.com/mikedh/trimesh +v -0.05602184 -0.10419103 0.12133216 +v -0.05602184 -0.10507380 0.10973339 +v -0.05602184 -0.11674583 0.12133211 +v 0.00028963 -0.11842244 0.12133211 +v 0.00028963 -0.11904308 0.10973334 +v -0.05602184 -0.11745549 0.10973335 +v -0.05602184 -0.11679033 0.12068603 +v -0.05305083 -0.11813559 0.12133211 +v 0.00028963 -0.12846479 0.12133207 +v 0.00028963 -0.12945390 0.10973330 +v -0.05480918 -0.11801437 0.10973335 +v -0.05602184 -0.11734670 0.11165682 +v -0.05602184 -0.11706975 0.11643940 +v -0.05305083 -0.11823202 0.11992073 +v -0.04601741 -0.12113765 0.11992072 +v -0.04574732 -0.12112777 0.12133210 +v -0.00410902 -0.12842522 0.12133207 +v -0.00430194 -0.12939702 0.10973330 +v -0.05305083 -0.11881805 0.10973334 +v -0.05305083 -0.11871420 0.11165681 +v -0.04705368 -0.12138737 0.10973333 +v -0.04687178 -0.12133793 0.11165680 +v -0.04297473 -0.12290078 0.10973333 +v -0.04279283 -0.12283401 0.11165680 +v -0.04193846 -0.12253977 0.11992071 +v -0.04178963 -0.12249032 0.12133209 +v -0.01226690 -0.12798258 0.12133207 +v -0.02042479 -0.12799738 0.10973331 +v -0.01903023 -0.12745339 0.12133207 +v -0.02042479 -0.12789352 0.11165678 +v -0.03673505 -0.12481478 0.10973332 +v -0.03673505 -0.12410757 0.11992070 +v -0.03685081 -0.12397157 0.12133208 +v -0.02232095 -0.12772535 0.10973331 +v -0.02042479 -0.12732233 0.12133207 +v -0.02857717 -0.12671148 0.11165678 +v -0.03047332 -0.12637270 0.10973332 +v -0.02857717 -0.12614028 0.11992070 +v -0.02857717 -0.12603890 0.12133208 +v -0.03534049 -0.12435240 0.12133208 +v -0.02857717 -0.12681781 0.10973331 +v -0.02718812 -0.12628124 0.12133208 +f 1 2 6 +f 1 6 12 +f 1 12 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 16 +f 1 16 26 +f 1 26 33 +f 1 33 40 +f 1 40 39 +f 1 39 42 +f 1 42 35 +f 1 35 29 +f 1 29 27 +f 1 27 17 +f 1 17 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 10 +f 2 10 18 +f 2 18 28 +f 2 28 34 +f 2 34 41 +f 2 41 37 +f 2 37 31 +f 2 31 23 +f 2 23 21 +f 2 21 19 +f 2 19 11 +f 2 11 6 +f 3 7 8 +f 4 9 10 +f 4 10 5 +f 6 11 12 +f 7 13 14 +f 7 14 8 +f 8 14 15 +f 8 15 16 +f 9 17 10 +f 10 17 18 +f 11 19 20 +f 11 20 12 +f 12 20 13 +f 13 20 14 +f 14 20 21 +f 14 21 22 +f 14 22 15 +f 15 22 23 +f 15 23 24 +f 15 24 25 +f 15 25 26 +f 15 26 16 +f 17 27 18 +f 18 27 29 +f 18 29 30 +f 18 30 28 +f 19 21 20 +f 21 23 22 +f 23 31 24 +f 24 31 25 +f 25 31 26 +f 26 31 32 +f 26 32 33 +f 28 30 34 +f 29 35 30 +f 30 35 36 +f 30 36 34 +f 31 37 38 +f 31 38 32 +f 32 38 39 +f 32 39 40 +f 32 40 33 +f 34 36 41 +f 35 42 36 +f 36 38 37 +f 36 37 41 +f 36 42 38 +f 38 42 39 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_62.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_62.obj new file mode 100644 index 0000000000000000000000000000000000000000..03b7f7ce953545d715dbe7f5c3ea4d89a1483928 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_62.obj @@ -0,0 +1,196 @@ +# https://github.com/mikedh/trimesh +v -0.06842119 -0.11163915 0.09838227 +v -0.06842119 -0.11085636 0.10973337 +v -0.06937145 -0.11026305 0.10973337 +v -0.06893108 -0.11130954 0.09838227 +v -0.06842119 -0.09807553 0.09838232 +v -0.06842119 -0.09715265 0.10973342 +v -0.07067516 -0.10940605 0.10973338 +v -0.07520627 -0.10713168 0.09838229 +v -0.06842119 -0.09765529 0.10339343 +v -0.11682065 -0.02745567 0.09838258 +v -0.11595151 -0.02745571 0.10973368 +v -0.06842119 -0.09735865 0.10698342 +v -0.07466740 -0.10674442 0.10973339 +v -0.07768042 -0.10529408 0.09838229 +v -0.12760957 -0.02745567 0.09838258 +v -0.12698958 -0.02745571 0.10973368 +v -0.07561186 -0.10603575 0.10973339 +v -0.07928543 -0.10409098 0.09838230 +v -0.12733724 -0.02745569 0.10339369 +v -0.12748209 -0.02841156 0.09838258 +v -0.12686212 -0.02841160 0.10973368 +v -0.07874077 -0.10367077 0.10973340 +v -0.08374121 -0.09959179 0.10973341 +v -0.08421634 -0.10001201 0.09838231 +v -0.12569747 -0.03656951 0.09838255 +v -0.12491524 -0.03656955 0.10973365 +v -0.08782038 -0.09585891 0.10973343 +v -0.08829551 -0.09632033 0.09838233 +v -0.08669050 -0.09777888 0.09838232 +v -0.12488627 -0.03915698 0.09838254 +v -0.12354779 -0.04103582 0.10973363 +v -0.09198645 -0.09178817 0.10973344 +v -0.09244419 -0.09224135 0.09838234 +v -0.12346667 -0.04359029 0.09838252 +v -0.12306687 -0.04256029 0.10973362 +v -0.09293671 -0.09081581 0.10973345 +v -0.09491255 -0.08971156 0.09838235 +v -0.12282931 -0.04519716 0.09838251 +v -0.12190223 -0.04569162 0.10973361 +v -0.09606561 -0.08758559 0.10973346 +v -0.09651756 -0.08806349 0.09838236 +v -0.12182690 -0.04766927 0.09838250 +v -0.12152560 -0.04663926 0.10973361 +v -0.09693475 -0.08663795 0.10973346 +v -0.09980291 -0.08350662 0.10973347 +v -0.10024327 -0.08399276 0.09838237 +v -0.12085926 -0.04989416 0.09838250 +v -0.11944545 -0.05155875 0.10973359 +v -0.10075317 -0.08236121 0.10973348 +v -0.10271742 -0.08104271 0.09838238 +v -0.11952078 -0.05286893 0.09838249 +v -0.11887182 -0.05286897 0.10973359 +v -0.10388207 -0.07853769 0.10973349 +v -0.10432243 -0.07910623 0.09838239 +v -0.11819969 -0.05577778 0.09838248 +v -0.11566180 -0.05984855 0.10973356 +v -0.10694723 -0.07445871 0.10973351 +v -0.10734124 -0.07502725 0.09838240 +v -0.11578348 -0.06101040 0.09838246 +v -0.11584722 -0.06024407 0.10339357 +v -0.11393512 -0.06463616 0.09838244 +v -0.11406838 -0.06297165 0.10973355 +v -0.11037164 -0.06917663 0.10973353 +v -0.11141461 -0.06873162 0.09838243 +v -0.11106695 -0.06804771 0.10973353 +v -0.11358166 -0.06391929 0.10973355 +f 1 2 3 +f 1 3 4 +f 1 4 8 +f 1 8 14 +f 1 14 18 +f 1 18 24 +f 1 24 29 +f 1 29 28 +f 1 28 33 +f 1 33 37 +f 1 37 41 +f 1 41 46 +f 1 46 50 +f 1 50 54 +f 1 54 58 +f 1 58 64 +f 1 64 61 +f 1 61 59 +f 1 59 55 +f 1 55 51 +f 1 51 47 +f 1 47 42 +f 1 42 38 +f 1 38 34 +f 1 34 30 +f 1 30 25 +f 1 25 20 +f 1 20 15 +f 1 15 10 +f 1 10 5 +f 1 5 9 +f 1 9 12 +f 1 12 6 +f 1 6 2 +f 2 6 11 +f 2 11 16 +f 2 16 21 +f 2 21 26 +f 2 26 31 +f 2 31 35 +f 2 35 39 +f 2 39 43 +f 2 43 48 +f 2 48 52 +f 2 52 56 +f 2 56 62 +f 2 62 66 +f 2 66 65 +f 2 65 63 +f 2 63 57 +f 2 57 53 +f 2 53 49 +f 2 49 45 +f 2 45 44 +f 2 44 40 +f 2 40 36 +f 2 36 32 +f 2 32 27 +f 2 27 23 +f 2 23 22 +f 2 22 17 +f 2 17 13 +f 2 13 7 +f 2 7 3 +f 3 7 4 +f 4 7 8 +f 5 10 11 +f 5 11 9 +f 6 12 11 +f 7 13 8 +f 8 13 14 +f 9 11 12 +f 10 15 19 +f 10 19 16 +f 10 16 11 +f 13 17 18 +f 13 18 14 +f 15 20 19 +f 16 19 21 +f 17 22 18 +f 18 22 23 +f 18 23 24 +f 19 20 21 +f 20 25 21 +f 21 25 26 +f 23 27 28 +f 23 28 29 +f 23 29 24 +f 25 30 31 +f 25 31 26 +f 27 32 28 +f 28 32 33 +f 30 34 35 +f 30 35 31 +f 32 36 33 +f 33 36 37 +f 34 38 39 +f 34 39 35 +f 36 40 41 +f 36 41 37 +f 38 42 43 +f 38 43 39 +f 40 44 41 +f 41 44 45 +f 41 45 46 +f 42 47 48 +f 42 48 43 +f 45 49 50 +f 45 50 46 +f 47 51 52 +f 47 52 48 +f 49 53 54 +f 49 54 50 +f 51 55 52 +f 52 55 56 +f 53 57 54 +f 54 57 58 +f 55 59 60 +f 55 60 56 +f 56 60 59 +f 56 59 61 +f 56 61 62 +f 57 63 58 +f 58 63 64 +f 61 64 65 +f 61 65 66 +f 61 66 62 +f 63 65 64 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_63.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_63.obj new file mode 100644 index 0000000000000000000000000000000000000000..657e6b75364be585177ea445769744cda3655e2e --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_63.obj @@ -0,0 +1,178 @@ +# https://github.com/mikedh/trimesh +v -0.03123861 0.12961140 0.06207038 +v -0.03123861 0.12956934 0.06256000 +v -0.03123861 0.12670958 0.05567506 +v -0.04489775 0.12423761 0.05593295 +v -0.05070830 0.12320491 0.05686081 +v -0.03673840 0.12806468 0.06207037 +v -0.03673840 0.12777963 0.06545743 +v -0.03123861 0.12950860 0.06326623 +v -0.03123861 0.12020960 0.05568510 +v -0.03673840 0.11952269 0.05551988 +v -0.03673840 0.12552267 0.05551990 +v -0.06121643 0.11649931 0.05586543 +v -0.06681741 0.11519091 0.05675399 +v -0.06121643 0.11825630 0.06207033 +v -0.05090343 0.12329366 0.06207035 +v -0.04489775 0.12556936 0.06207036 +v -0.04489775 0.12528431 0.06545742 +v -0.03294419 0.12884037 0.06545743 +v -0.03123861 0.12924690 0.06545743 +v -0.03123861 0.11793387 0.06207033 +v -0.08995844 0.08187325 0.06205811 +v -0.09428745 0.08187327 0.05590257 +v -0.09312390 0.08503682 0.05553385 +v -0.07752068 0.10205078 0.05516619 +v -0.06946251 0.11049935 0.05562966 +v -0.06705590 0.11533575 0.06207032 +v -0.07752068 0.10752271 0.05669553 +v -0.08161120 0.10613019 0.05793067 +v -0.06121643 0.11795255 0.06545739 +v -0.05219707 0.12234974 0.06545741 +v -0.05052762 0.12312543 0.06545741 +v -0.03123861 0.11781704 0.06545739 +v -0.03123861 0.11785442 0.06435321 +v -0.08979945 0.08187324 0.06545726 +v -0.10155786 0.08187327 0.05594489 +v -0.10019918 0.08574241 0.05623000 +v -0.09326843 0.09331715 0.05631365 +v -0.08487059 0.10146199 0.05657159 +v -0.08161120 0.10613019 0.05797197 +v -0.07112473 0.11270492 0.06207031 +v -0.07082842 0.11254135 0.06545737 +v -0.06842181 0.11409276 0.06545738 +v -0.06675236 0.11515350 0.06545738 +v -0.09017525 0.09834985 0.05744403 +v -0.10466551 0.08187324 0.06545726 +v -0.10482449 0.08187326 0.06115040 +v -0.09827678 0.09020969 0.05745408 +v -0.08542708 0.10165822 0.06545733 +v -0.08085235 0.10555540 0.06545735 +v -0.07914676 0.10681708 0.06545735 +v -0.07726050 0.10817689 0.06545736 +v -0.07330007 0.11087314 0.06545737 +v -0.09017525 0.09834984 0.05982464 +v -0.10111702 0.08601808 0.06545728 +v -0.09827678 0.09020968 0.05985887 +v -0.10507022 0.08187325 0.06211452 +v -0.08721216 0.10005074 0.06545733 +v -0.09527755 0.09229844 0.06545730 +v -0.09376710 0.09380310 0.06545730 +v -0.09774921 0.08964891 0.06545729 +f 1 2 8 +f 1 8 19 +f 1 19 32 +f 1 32 33 +f 1 33 20 +f 1 20 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 2 +f 2 7 8 +f 3 9 10 +f 3 10 11 +f 3 11 4 +f 4 11 12 +f 4 12 5 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 5 15 16 +f 5 16 6 +f 6 16 17 +f 6 17 7 +f 7 17 31 +f 7 31 30 +f 7 30 29 +f 7 29 43 +f 7 43 42 +f 7 42 41 +f 7 41 52 +f 7 52 51 +f 7 51 50 +f 7 50 49 +f 7 49 48 +f 7 48 57 +f 7 57 59 +f 7 59 58 +f 7 58 60 +f 7 60 54 +f 7 54 45 +f 7 45 34 +f 7 34 32 +f 7 32 19 +f 7 19 18 +f 7 18 8 +f 8 18 19 +f 9 20 21 +f 9 21 22 +f 9 22 23 +f 9 23 10 +f 10 23 24 +f 10 24 11 +f 11 24 25 +f 11 25 12 +f 12 25 13 +f 13 26 14 +f 13 25 27 +f 13 27 28 +f 13 28 26 +f 14 26 29 +f 14 29 15 +f 15 30 31 +f 15 31 17 +f 15 17 16 +f 15 29 30 +f 20 33 21 +f 21 34 45 +f 21 45 56 +f 21 56 46 +f 21 46 35 +f 21 35 22 +f 21 33 32 +f 21 32 34 +f 22 35 23 +f 23 35 24 +f 24 35 36 +f 24 36 37 +f 24 37 38 +f 24 38 25 +f 25 38 27 +f 26 28 39 +f 26 39 40 +f 26 40 41 +f 26 41 42 +f 26 42 43 +f 26 43 29 +f 27 38 28 +f 28 38 44 +f 28 44 53 +f 28 53 39 +f 35 46 36 +f 36 46 47 +f 36 47 37 +f 37 47 44 +f 37 44 38 +f 39 48 49 +f 39 49 50 +f 39 50 51 +f 39 51 52 +f 39 52 41 +f 39 41 40 +f 39 53 48 +f 44 47 55 +f 44 55 53 +f 45 54 55 +f 45 55 56 +f 46 56 47 +f 47 56 55 +f 48 53 57 +f 53 55 58 +f 53 58 59 +f 53 59 57 +f 54 60 55 +f 55 60 58 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_64.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_64.obj new file mode 100644 index 0000000000000000000000000000000000000000..89746402687292541654c180b28330b4deef4164 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_64.obj @@ -0,0 +1,241 @@ +# https://github.com/mikedh/trimesh +v -0.11977402 -0.05860172 0.06206939 +v -0.11858258 -0.06102716 0.06206939 +v -0.11959272 -0.05860173 0.06406324 +v -0.11731344 -0.05860169 0.05574021 +v -0.11663138 -0.06102713 0.05575519 +v -0.11518957 -0.06671198 0.05675009 +v -0.11541405 -0.06708033 0.06206936 +v -0.11827177 -0.06102717 0.06545574 +v -0.11946321 -0.05860173 0.06545574 +v -0.11248725 -0.05860169 0.05564231 +v -0.10199741 -0.07733108 0.05525267 +v -0.11047562 -0.06933200 0.05570022 +v -0.10754019 -0.07733109 0.05668713 +v -0.10613291 -0.08148700 0.05784985 +v -0.11278942 -0.07115979 0.06206935 +v -0.11419670 -0.06847027 0.06545571 +v -0.11524137 -0.06680235 0.06545571 +v -0.10684086 -0.05860173 0.06545574 +v -0.11045835 -0.05860169 0.05572522 +v -0.10975039 -0.06094373 0.05561434 +v -0.09329472 -0.09307906 0.05637640 +v -0.10141895 -0.08471860 0.05655524 +v -0.03674453 -0.11952954 0.05551123 +v -0.07752110 -0.10178700 0.05527456 +v -0.10613291 -0.08148700 0.05838528 +v -0.09831085 -0.08998646 0.05743927 +v -0.11097636 -0.07334895 0.06545569 +v -0.11264265 -0.07088182 0.06545570 +v -0.10699627 -0.05860172 0.06206939 +v -0.03158162 -0.11783385 0.06545553 +v -0.10700490 -0.05860172 0.06203942 +v -0.03158162 -0.12012721 0.05578793 +v -0.08488557 -0.10122409 0.05658115 +v -0.09020388 -0.09812453 0.05742026 +v -0.03158162 -0.12463755 0.05578392 +v -0.03674453 -0.12553407 0.05551121 +v -0.06121220 -0.11649948 0.05579094 +v -0.06950910 -0.11025866 0.05567509 +v -0.10566669 -0.08088240 0.06545566 +v -0.10697901 -0.07908939 0.06545567 +v -0.10828268 -0.07726857 0.06545568 +v -0.09831085 -0.08998647 0.06029119 +v -0.10175566 -0.08537190 0.06545565 +v -0.03158162 -0.11791724 0.06331583 +v -0.03158162 -0.11797284 0.06206918 +v -0.03158162 -0.12916184 0.06545549 +v -0.03158162 -0.11911257 0.05820133 +v -0.07752110 -0.10729811 0.05670100 +v -0.08163070 -0.10588732 0.05789971 +v -0.09020388 -0.09812454 0.06049095 +v -0.03158162 -0.12652787 0.05578392 +v -0.04490330 -0.12429701 0.05574996 +v -0.06688448 -0.11500530 0.05674792 +v -0.05105043 -0.12311558 0.05675089 +v -0.09387317 -0.09369761 0.06545562 +v -0.09787054 -0.08952086 0.06545563 +v -0.10023615 -0.08703982 0.06545564 +v -0.03158162 -0.12959965 0.06206913 +v -0.03674453 -0.12791784 0.06545549 +v -0.06723846 -0.11523466 0.06206919 +v -0.08163070 -0.10588732 0.05812047 +v -0.08558490 -0.10149515 0.06545559 +v -0.08977220 -0.09771453 0.06545560 +v -0.09257813 -0.09499720 0.06545561 +v -0.03158162 -0.12927997 0.06131195 +v -0.06121220 -0.11850102 0.06206917 +v -0.03674453 -0.12827921 0.06206914 +v -0.04490330 -0.12590938 0.06206915 +v -0.05151664 -0.12332409 0.06206916 +v -0.05560034 -0.12136428 0.06206916 +v -0.04490330 -0.12559665 0.06545550 +v -0.06121220 -0.11819523 0.06545553 +v -0.06697945 -0.11506788 0.06545554 +v -0.07106315 -0.11239225 0.06545555 +v -0.07132216 -0.11253819 0.06206920 +v -0.07468064 -0.10989037 0.06545556 +v -0.07735706 -0.10802786 0.06545556 +v -0.08096591 -0.10538002 0.06545557 +v -0.08361644 -0.10317003 0.06545558 +v -0.05117130 -0.12317122 0.06545551 +v -0.05525500 -0.12121835 0.06545551 +f 1 2 3 +f 1 3 9 +f 1 9 18 +f 1 18 29 +f 1 29 31 +f 1 31 19 +f 1 19 10 +f 1 10 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 7 8 +f 2 8 3 +f 2 6 7 +f 3 8 9 +f 4 10 11 +f 4 11 5 +f 5 11 12 +f 5 12 13 +f 5 13 6 +f 6 13 14 +f 6 14 7 +f 7 14 15 +f 7 15 16 +f 7 16 17 +f 7 17 8 +f 8 17 16 +f 8 16 28 +f 8 28 27 +f 8 27 41 +f 8 41 40 +f 8 40 39 +f 8 39 43 +f 8 43 57 +f 8 57 56 +f 8 56 55 +f 8 55 64 +f 8 64 63 +f 8 63 62 +f 8 62 79 +f 8 79 78 +f 8 78 77 +f 8 77 76 +f 8 76 74 +f 8 74 73 +f 8 73 72 +f 8 72 81 +f 8 81 80 +f 8 80 71 +f 8 71 59 +f 8 59 46 +f 8 46 30 +f 8 30 18 +f 8 18 9 +f 10 19 20 +f 10 20 11 +f 11 21 22 +f 11 22 12 +f 11 20 23 +f 11 23 24 +f 11 24 21 +f 12 22 13 +f 13 22 14 +f 14 25 15 +f 14 22 26 +f 14 26 42 +f 14 42 25 +f 15 27 28 +f 15 28 16 +f 15 25 27 +f 18 30 29 +f 19 31 32 +f 19 32 23 +f 19 23 20 +f 21 33 34 +f 21 34 26 +f 21 26 22 +f 21 24 33 +f 23 32 35 +f 23 35 51 +f 23 51 36 +f 23 36 24 +f 24 36 37 +f 24 37 38 +f 24 38 33 +f 25 39 40 +f 25 40 41 +f 25 41 27 +f 25 42 43 +f 25 43 39 +f 26 34 50 +f 26 50 42 +f 29 30 44 +f 29 44 45 +f 29 45 31 +f 30 46 58 +f 30 58 65 +f 30 65 51 +f 30 51 35 +f 30 35 32 +f 30 32 47 +f 30 47 45 +f 30 45 44 +f 31 45 47 +f 31 47 32 +f 33 38 48 +f 33 48 49 +f 33 49 34 +f 34 49 61 +f 34 61 50 +f 36 51 52 +f 36 52 37 +f 37 53 48 +f 37 48 38 +f 37 52 54 +f 37 54 53 +f 42 50 55 +f 42 55 56 +f 42 56 57 +f 42 57 43 +f 46 59 58 +f 48 53 49 +f 49 53 60 +f 49 60 61 +f 50 62 63 +f 50 63 64 +f 50 64 55 +f 50 61 62 +f 51 65 52 +f 52 65 58 +f 52 58 54 +f 53 66 60 +f 53 54 66 +f 54 58 67 +f 54 67 68 +f 54 68 69 +f 54 69 70 +f 54 70 66 +f 58 59 67 +f 59 71 67 +f 60 66 72 +f 60 72 73 +f 60 73 74 +f 60 74 75 +f 60 75 61 +f 61 75 74 +f 61 74 76 +f 61 76 77 +f 61 77 78 +f 61 78 79 +f 61 79 62 +f 66 70 72 +f 67 71 68 +f 68 71 80 +f 68 80 69 +f 69 81 70 +f 69 80 81 +f 70 81 72 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_65.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_65.obj new file mode 100644 index 0000000000000000000000000000000000000000..40300bcf1b143ace0b7bf2f59a326f651717e434 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_65.obj @@ -0,0 +1,127 @@ +# https://github.com/mikedh/trimesh +v 0.07392639 0.07730286 0.22743563 +v 0.07392639 0.07863071 0.22014530 +v 0.07392639 0.07798965 0.23251096 +v 0.03136053 0.02898448 0.22736083 +v 0.03349702 0.03139813 0.22210735 +v 0.07392639 0.08241796 0.21683239 +v 0.07392639 0.07917356 0.23436484 +v 0.03100347 0.02898448 0.22844908 +v 0.02932355 0.02898451 0.22034977 +v 0.06928465 0.08417095 0.21683000 +v 0.07392639 0.08924023 0.21683002 +v 0.02877333 0.02898451 0.22004641 +v 0.02852749 0.03682064 0.21811069 +v 0.07392639 0.08191423 0.23804612 +v 0.03261315 0.03273900 0.23149716 +v 0.02791873 0.02898447 0.23225797 +v 0.06166939 0.08808247 0.21683001 +v 0.07392639 0.09580739 0.21683004 +v 0.02037371 0.02898452 0.21859700 +v 0.05562283 0.09580739 0.21683004 +v 0.07392639 0.08618549 0.24127239 +v 0.02772557 0.02898447 0.23230130 +v 0.07392639 0.09580732 0.23668827 +v 0.01446179 0.02898451 0.22163304 +v 0.05509017 0.09580739 0.21909804 +v 0.01601879 0.03315112 0.22284169 +v 0.07392639 0.09311241 0.24119296 +v 0.06993438 0.09451872 0.24142651 +v 0.06159329 0.09580730 0.24137595 +v 0.06179231 0.09398236 0.24133261 +v 0.02033859 0.02898447 0.23267449 +v 0.06934904 0.09580730 0.24132299 +v 0.01412814 0.02898449 0.22690337 +v 0.05497896 0.09580738 0.21990701 +v 0.01601879 0.03315112 0.22414182 +v 0.05396047 0.09580735 0.22736107 +v 0.05717983 0.09580730 0.24103888 +v 0.02020982 0.02898447 0.23266005 +v 0.01412814 0.02898449 0.22695874 +v 0.05417705 0.09580732 0.23562409 +v 0.01624707 0.02898447 0.23085673 +v 0.01418082 0.02898449 0.22708154 +v 0.01425692 0.02898449 0.22725006 +f 1 2 6 +f 1 6 11 +f 1 11 18 +f 1 18 23 +f 1 23 27 +f 1 27 21 +f 1 21 14 +f 1 14 7 +f 1 7 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 4 +f 4 8 16 +f 4 16 22 +f 4 22 31 +f 4 31 38 +f 4 38 41 +f 4 41 43 +f 4 43 42 +f 4 42 39 +f 4 39 33 +f 4 33 24 +f 4 24 19 +f 4 19 12 +f 4 12 9 +f 4 9 5 +f 5 9 6 +f 6 10 11 +f 6 9 12 +f 6 12 13 +f 6 13 10 +f 7 14 15 +f 7 15 8 +f 8 15 16 +f 10 17 20 +f 10 20 18 +f 10 18 11 +f 10 13 17 +f 12 19 13 +f 13 19 20 +f 13 20 17 +f 14 21 16 +f 14 16 15 +f 16 21 22 +f 18 20 25 +f 18 25 34 +f 18 34 36 +f 18 36 40 +f 18 40 37 +f 18 37 29 +f 18 29 32 +f 18 32 23 +f 19 24 20 +f 20 24 26 +f 20 26 25 +f 21 27 28 +f 21 28 29 +f 21 29 30 +f 21 30 31 +f 21 31 22 +f 23 32 27 +f 24 33 26 +f 25 26 34 +f 26 33 39 +f 26 39 35 +f 26 35 36 +f 26 36 34 +f 27 32 28 +f 28 32 29 +f 29 37 30 +f 30 37 31 +f 31 37 38 +f 35 39 40 +f 35 40 36 +f 37 40 41 +f 37 41 38 +f 39 42 40 +f 40 42 43 +f 40 43 41 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_66.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_66.obj new file mode 100644 index 0000000000000000000000000000000000000000..a07497589704ab4d3c201cdcce88f17b1f72cdcc --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_66.obj @@ -0,0 +1,166 @@ +# https://github.com/mikedh/trimesh +v 0.13212793 0.01891864 0.06206980 +v 0.13184587 0.01891863 0.06474116 +v 0.13159478 0.01891866 0.05648845 +v 0.13149846 0.02051586 0.05658153 +v 0.13096531 0.02663667 0.05724494 +v 0.13193875 0.02051584 0.06206981 +v 0.13156382 0.02067126 0.06545704 +v 0.13177020 0.01891863 0.06545703 +v 0.12751187 0.01891867 0.05549238 +v 0.12553061 0.03682552 0.05556869 +v 0.12431984 0.04497766 0.05587665 +v 0.13092060 0.02645977 0.06206983 +v 0.12316066 0.05085729 0.05687670 +v 0.12583674 0.04497764 0.06206990 +v 0.12821701 0.03682549 0.06206987 +v 0.13071077 0.02556469 0.06545705 +v 0.12051555 0.01891863 0.06545703 +v 0.12641805 0.01891867 0.05536762 +v 0.12641805 0.02051587 0.05534288 +v 0.11040289 0.06949844 0.05573713 +v 0.11651176 0.06127660 0.05586087 +v 0.12791775 0.03682548 0.06545710 +v 0.12883959 0.03311655 0.06545708 +v 0.13031865 0.02715117 0.06545706 +v 0.11508430 0.06682392 0.05684706 +v 0.11836231 0.06127658 0.06206996 +v 0.12135484 0.05527904 0.06206993 +v 0.12332233 0.05120029 0.06206992 +v 0.12465350 0.04718048 0.06545713 +v 0.12553406 0.04497763 0.06545713 +v 0.12316755 0.05086261 0.06545715 +v 0.12058435 0.01891864 0.06369163 +v 0.09699156 0.07366826 0.06545723 +v 0.12240051 0.01891866 0.05645776 +v 0.09926175 0.07366829 0.05645598 +v 0.10973903 0.06122301 0.05568957 +v 0.10679122 0.07366829 0.05583220 +v 0.10882407 0.07366829 0.05611339 +v 0.11526660 0.06711868 0.06206998 +v 0.11091884 0.07366827 0.06207000 +v 0.11262148 0.07119208 0.06206999 +v 0.11693829 0.06341510 0.06545719 +v 0.11806650 0.06127657 0.06545719 +v 0.11983106 0.05773915 0.06545717 +v 0.12121381 0.05493601 0.06545716 +v 0.12237298 0.05252949 0.06545715 +v 0.12064970 0.01891864 0.06206980 +v 0.11060927 0.07366826 0.06545723 +v 0.09701564 0.07366826 0.06498691 +v 0.12151650 0.01891866 0.05681717 +v 0.09759695 0.07366829 0.05768076 +v 0.10244689 0.07366829 0.05614013 +v 0.11511181 0.06686141 0.06545721 +v 0.11246325 0.07094016 0.06545722 +v 0.11078469 0.07366827 0.06353935 +v 0.09717386 0.07366827 0.06207000 +f 1 2 8 +f 1 8 17 +f 1 17 32 +f 1 32 47 +f 1 47 50 +f 1 50 34 +f 1 34 18 +f 1 18 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 2 +f 2 7 8 +f 3 9 10 +f 3 10 4 +f 4 10 11 +f 4 11 5 +f 5 12 6 +f 5 11 13 +f 5 13 14 +f 5 14 15 +f 5 15 12 +f 6 12 7 +f 7 12 16 +f 7 16 24 +f 7 24 23 +f 7 23 22 +f 7 22 30 +f 7 30 29 +f 7 29 31 +f 7 31 46 +f 7 46 45 +f 7 45 44 +f 7 44 43 +f 7 43 42 +f 7 42 53 +f 7 53 54 +f 7 54 48 +f 7 48 33 +f 7 33 17 +f 7 17 8 +f 9 18 19 +f 9 19 10 +f 10 19 20 +f 10 20 21 +f 10 21 11 +f 11 21 13 +f 12 15 22 +f 12 22 23 +f 12 23 24 +f 12 24 16 +f 13 21 25 +f 13 25 26 +f 13 26 27 +f 13 27 28 +f 13 28 14 +f 14 29 30 +f 14 30 22 +f 14 22 15 +f 14 28 31 +f 14 31 29 +f 17 33 32 +f 18 34 35 +f 18 35 36 +f 18 36 19 +f 19 36 20 +f 20 36 37 +f 20 37 38 +f 20 38 21 +f 21 38 25 +f 25 39 26 +f 25 38 40 +f 25 40 41 +f 25 41 39 +f 26 39 42 +f 26 42 43 +f 26 43 27 +f 27 44 45 +f 27 45 28 +f 27 43 44 +f 28 45 46 +f 28 46 31 +f 32 33 47 +f 33 48 55 +f 33 55 40 +f 33 40 38 +f 33 38 37 +f 33 37 52 +f 33 52 35 +f 33 35 51 +f 33 51 56 +f 33 56 49 +f 33 49 47 +f 34 50 35 +f 35 52 36 +f 35 50 51 +f 36 52 37 +f 39 53 42 +f 39 41 54 +f 39 54 53 +f 40 55 41 +f 41 55 48 +f 41 48 54 +f 47 49 56 +f 47 56 51 +f 47 51 50 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_67.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_67.obj new file mode 100644 index 0000000000000000000000000000000000000000..ebc831769d878ae9475a4e36fa34516b0cec179f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_67.obj @@ -0,0 +1,223 @@ +# https://github.com/mikedh/trimesh +v -0.08552950 -0.09612423 0.13309435 +v -0.08552950 -0.09584490 0.13645094 +v -0.08668580 -0.09476042 0.13645094 +v -0.08683033 -0.09490008 0.13309435 +v -0.08552950 -0.08032532 0.13309440 +v 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58 +f 50 58 59 +f 50 59 56 +f 50 56 55 +f 52 60 54 +f 52 54 53 +f 54 60 61 +f 54 61 62 +f 54 62 63 +f 57 64 58 +f 58 64 65 +f 58 65 59 +f 59 65 66 +f 61 67 63 +f 61 63 62 +f 63 67 68 +f 63 68 69 +f 63 69 70 +f 64 71 65 +f 65 71 72 +f 65 72 73 +f 65 73 74 +f 65 74 69 +f 65 69 66 +f 66 69 75 +f 68 75 69 +f 69 74 70 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_68.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_68.obj new file mode 100644 index 0000000000000000000000000000000000000000..bf4694bda8dae6692417266e750f572f6f3cf2b7 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_68.obj @@ -0,0 +1,217 @@ +# https://github.com/mikedh/trimesh +v 0.11892651 0.02898452 0.21682980 +v 0.11825698 0.02898445 0.23562327 +v 0.10746945 0.02898452 0.21682980 +v 0.11676813 0.03682064 0.21682983 +v 0.11627919 0.03682057 0.23562330 +v 0.11821292 0.02898445 0.23583045 +v 0.11451283 0.04186367 0.24019556 +v 0.10746505 0.02898452 0.21687123 +v 0.07393079 0.07730286 0.22743679 +v 0.07393079 0.07863071 0.22014461 +v 0.07393079 0.08241796 0.21683242 +v 0.07414663 0.08233293 0.21682999 +v 0.11542024 0.04094801 0.21682984 +v 0.11463617 0.04221689 0.23562332 +v 0.11614704 0.02898443 0.24154575 +v 0.11524845 0.03682055 0.24094134 +v 0.11300637 0.04629194 0.23562333 +v 0.10993177 0.05312728 0.23562336 +v 0.10670301 0.05849744 0.24051734 +v 0.10793197 0.05312726 0.24128505 +v 0.10722278 0.02898451 0.21943032 +v 0.10678229 0.02898448 0.22736106 +v 0.10690122 0.02898445 0.23562327 +v 0.07393079 0.07798965 0.23251112 +v 0.10682634 0.02898449 0.22634231 +v 0.07393079 0.08924023 0.21683002 +v 0.11482558 0.04270754 0.21682985 +v 0.11372877 0.04566408 0.21682986 +v 0.11328388 0.04678259 0.21682986 +v 0.11009916 0.03682055 0.24172857 +v 0.11346447 0.02898443 0.24142389 +v 0.10219682 0.06123811 0.24154586 +v 0.11115633 0.05153789 0.21682988 +v 0.11042512 0.05312735 0.21682989 +v 0.10702456 0.05908614 0.23562338 +v 0.10465034 0.06315464 0.23562339 +v 0.10057143 0.06917236 0.23562341 +v 0.09003939 0.08200580 0.24010066 +v 0.09964641 0.06791647 0.24103650 +v 0.10990094 0.02898443 0.24125084 +v 0.10599382 0.03262778 0.23979583 +v 0.07393079 0.07917356 0.23436584 +v 0.07393079 0.09580739 0.21683004 +v 0.07686443 0.08513239 0.24151670 +v 0.09188062 0.07758407 0.24098536 +v 0.08503546 0.08513239 0.24095370 +v 0.07393079 0.09311241 0.24119258 +v 0.10724040 0.05953100 0.21682991 +v 0.10500713 0.06359950 0.21682992 +v 0.10072120 0.06996389 0.21682995 +v 0.09817518 0.07352874 0.21682996 +v 0.09802982 0.07373151 0.21682996 +v 0.09763339 0.07324740 0.23562343 +v 0.09404782 0.07758409 0.23562344 +v 0.09019797 0.08218242 0.23562346 +v 0.08618513 0.08625746 0.23562348 +v 0.08191682 0.09014935 0.24011532 +v 0.07393079 0.08618549 0.24127299 +v 0.07393079 0.08191423 0.23804608 +v 0.07393079 0.09580732 0.23668858 +v 0.07634025 0.09580739 0.21683004 +v 0.07747231 0.09186961 0.24098786 +v 0.09620180 0.07601432 0.21682997 +v 0.09518428 0.07728327 0.21682997 +v 0.09178813 0.08135178 0.21682999 +v 0.09066929 0.08267306 0.21682999 +v 0.08661241 0.08674810 0.21683001 +v 0.08210622 0.09032596 0.23562349 +v 0.07747231 0.09400854 0.23562351 +v 0.07519498 0.09580732 0.23562351 +v 0.07706706 0.09523178 0.21683004 +v 0.08364793 0.08963923 0.21683002 +v 0.08253350 0.09072503 0.21683002 +f 1 2 6 +f 1 6 15 +f 1 15 31 +f 1 31 40 +f 1 40 23 +f 1 23 22 +f 1 22 25 +f 1 25 21 +f 1 21 8 +f 1 8 3 +f 1 3 12 +f 1 12 26 +f 1 26 43 +f 1 43 61 +f 1 61 71 +f 1 71 73 +f 1 73 72 +f 1 72 67 +f 1 67 66 +f 1 66 65 +f 1 65 64 +f 1 64 63 +f 1 63 52 +f 1 52 51 +f 1 51 50 +f 1 50 49 +f 1 49 48 +f 1 48 34 +f 1 34 33 +f 1 33 29 +f 1 29 28 +f 1 28 27 +f 1 27 13 +f 1 13 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 6 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 4 13 14 +f 4 14 5 +f 5 14 7 +f 6 7 16 +f 6 16 15 +f 7 14 17 +f 7 17 18 +f 7 18 19 +f 7 19 20 +f 7 20 16 +f 8 21 9 +f 9 22 23 +f 9 23 24 +f 9 24 42 +f 9 42 59 +f 9 59 58 +f 9 58 47 +f 9 47 60 +f 9 60 43 +f 9 43 26 +f 9 26 11 +f 9 11 10 +f 9 21 25 +f 9 25 22 +f 11 26 12 +f 13 27 14 +f 14 27 28 +f 14 28 29 +f 14 29 17 +f 15 30 31 +f 15 16 20 +f 15 20 32 +f 15 32 30 +f 17 29 33 +f 17 33 18 +f 18 33 34 +f 18 34 35 +f 18 35 19 +f 19 35 36 +f 19 36 37 +f 19 37 38 +f 19 38 39 +f 19 39 20 +f 20 39 32 +f 23 40 41 +f 23 41 24 +f 24 41 42 +f 30 40 31 +f 30 32 44 +f 30 44 40 +f 32 39 45 +f 32 45 46 +f 32 46 47 +f 32 47 44 +f 34 48 35 +f 35 48 49 +f 35 49 36 +f 36 49 50 +f 36 50 37 +f 37 50 51 +f 37 51 52 +f 37 52 53 +f 37 53 38 +f 38 45 39 +f 38 53 54 +f 38 54 55 +f 38 55 56 +f 38 56 57 +f 38 57 46 +f 38 46 45 +f 40 44 58 +f 40 58 41 +f 41 58 59 +f 41 59 42 +f 43 60 70 +f 43 70 61 +f 44 47 58 +f 46 57 62 +f 46 62 47 +f 47 62 60 +f 52 63 53 +f 53 63 64 +f 53 64 54 +f 54 64 65 +f 54 65 55 +f 55 65 66 +f 55 66 56 +f 56 66 67 +f 56 67 68 +f 56 68 57 +f 57 68 69 +f 57 69 70 +f 57 70 62 +f 60 62 70 +f 61 70 69 +f 61 69 71 +f 67 72 68 +f 68 72 73 +f 68 73 71 +f 68 71 69 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_69.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_69.obj new file mode 100644 index 0000000000000000000000000000000000000000..5dc8022bc49b1cae0e8b602a68896f031eba723f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_69.obj @@ -0,0 +1,205 @@ +# https://github.com/mikedh/trimesh +v -0.08297015 0.07419760 0.21682753 +v -0.08297015 0.07747264 0.19199254 +v -0.08297015 0.09044138 0.21682759 +v -0.10995509 0.01412333 0.21682731 +v -0.08297015 0.09284567 0.19199260 +v -0.11239635 0.01412342 0.19199231 +v -0.08297015 0.09105787 0.21088081 +v -0.08558634 0.08792159 0.21682758 +v -0.12157290 0.01412333 0.21682731 +v -0.08391245 0.09200575 0.19199260 +v -0.08338365 0.09149713 0.20256845 +v -0.08297015 0.09192865 0.20176857 +v -0.12358872 0.01412342 0.19199231 +v -0.08297015 0.09110411 0.21040185 +v -0.08702962 0.08714334 0.21082974 +v -0.08670358 0.08684278 0.21682758 +v -0.12236014 0.01633493 0.20653836 +v -0.12168820 0.01412334 0.21573812 +v -0.12060276 0.02051913 0.21682734 +v -0.08799180 0.08805267 0.19199258 +v -0.08746300 0.08754406 0.20256843 +v -0.12344161 0.01412342 0.19430441 +v -0.12257484 0.01754476 0.20103163 +v -0.12281341 0.01897036 0.19430443 +v -0.12287304 0.01956370 0.19199233 +v -0.08970545 0.08388376 0.21682757 +v -0.12276967 0.01412338 0.20431621 +v -0.12247941 0.01412337 0.20823536 +v -0.11900839 0.02867184 0.21682737 +v -0.09085848 0.08511678 0.19199257 +v -0.09111294 0.08306698 0.21082973 +v -0.09082270 0.08276642 0.21682756 +v -0.12255496 0.02122044 0.19199234 +v -0.12205002 0.02351677 0.19199235 +v -0.11843188 0.03090652 0.21682737 +v -0.09195983 0.08397632 0.19199257 +v -0.09603918 0.07932203 0.19199255 +v -0.09518832 0.07824316 0.21082971 +v -0.09533145 0.07735697 0.21682754 +v -0.12075782 0.02850241 0.19199236 +v -0.11682558 0.03682456 0.21682740 +v -0.11839212 0.03682465 0.19430450 +v -0.09832537 0.07638613 0.19199254 +v -0.09875875 0.07464459 0.20256838 +v -0.09840488 0.07416680 0.21082969 +v -0.09786813 0.07417448 0.21682753 +v -0.11853127 0.03682465 0.19199240 +v -0.11494097 0.04287360 0.21682742 +v -0.11779572 0.03910556 0.19199240 +v -0.09920405 0.07524567 0.19199254 +v -0.10360547 0.06893463 0.19199251 +v -0.09977660 0.07150828 0.21682752 +v -0.09814645 0.07381230 0.21682753 +v -0.11337443 0.04694995 0.21682743 +v -0.11462687 0.04820609 0.19199244 +v -0.11566460 0.04543971 0.19199243 +v -0.10513621 0.06670767 0.19199251 +v -0.10085011 0.06996712 0.21682752 +v -0.11049583 0.05312999 0.21682746 +v -0.11379191 0.05008630 0.19199244 +v -0.10675046 0.06403376 0.19199250 +v -0.10585189 0.06504321 0.19629334 +v -0.10507657 0.06356362 0.21682749 +v -0.10409053 0.06505854 0.21682750 +v -0.10957340 0.05497938 0.21682746 +v -0.10792735 0.06175285 0.19199249 +v -0.10771264 0.06190696 0.19384509 +v -0.10727529 0.05948726 0.21682748 +v -0.10779614 0.06050448 0.20256833 +f 1 2 5 +f 1 5 12 +f 1 12 14 +f 1 14 7 +f 1 7 3 +f 1 3 8 +f 1 8 16 +f 1 16 26 +f 1 26 32 +f 1 32 39 +f 1 39 46 +f 1 46 53 +f 1 53 52 +f 1 52 58 +f 1 58 64 +f 1 64 63 +f 1 63 68 +f 1 68 65 +f 1 65 59 +f 1 59 54 +f 1 54 48 +f 1 48 41 +f 1 41 35 +f 1 35 29 +f 1 29 19 +f 1 19 9 +f 1 9 4 +f 1 4 2 +f 2 4 6 +f 2 6 13 +f 2 13 25 +f 2 25 33 +f 2 33 34 +f 2 34 40 +f 2 40 47 +f 2 47 49 +f 2 49 56 +f 2 56 55 +f 2 55 60 +f 2 60 66 +f 2 66 61 +f 2 61 57 +f 2 57 51 +f 2 51 50 +f 2 50 43 +f 2 43 37 +f 2 37 36 +f 2 36 30 +f 2 30 20 +f 2 20 10 +f 2 10 5 +f 3 7 8 +f 4 9 18 +f 4 18 28 +f 4 28 27 +f 4 27 22 +f 4 22 13 +f 4 13 6 +f 5 10 11 +f 5 11 12 +f 7 14 11 +f 7 11 15 +f 7 15 8 +f 8 15 16 +f 9 17 18 +f 9 19 17 +f 10 20 21 +f 10 21 11 +f 11 14 12 +f 11 21 15 +f 13 22 23 +f 13 23 24 +f 13 24 25 +f 15 21 26 +f 15 26 16 +f 17 22 27 +f 17 27 28 +f 17 28 18 +f 17 19 29 +f 17 29 23 +f 17 23 22 +f 20 30 31 +f 20 31 21 +f 21 31 32 +f 21 32 26 +f 23 29 33 +f 23 33 24 +f 24 33 25 +f 29 34 33 +f 29 35 34 +f 30 36 31 +f 31 37 32 +f 31 36 37 +f 32 37 38 +f 32 38 39 +f 34 35 40 +f 35 41 42 +f 35 42 40 +f 37 43 44 +f 37 44 45 +f 37 45 46 +f 37 46 38 +f 38 46 39 +f 40 42 47 +f 41 48 42 +f 42 48 49 +f 42 49 47 +f 43 50 44 +f 44 51 52 +f 44 52 45 +f 44 50 51 +f 45 52 53 +f 45 53 46 +f 48 54 55 +f 48 55 56 +f 48 56 49 +f 51 57 58 +f 51 58 52 +f 54 59 60 +f 54 60 55 +f 57 61 62 +f 57 62 63 +f 57 63 64 +f 57 64 58 +f 59 65 60 +f 60 65 66 +f 61 66 67 +f 61 67 68 +f 61 68 63 +f 61 63 62 +f 65 68 69 +f 65 69 66 +f 66 69 67 +f 67 69 68 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_7.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_7.obj new file mode 100644 index 0000000000000000000000000000000000000000..bff4debd5d950901c300f716ec141babe7ef0d6f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_7.obj @@ -0,0 +1,400 @@ +# https://github.com/mikedh/trimesh +v 0.09809970 0.07646209 0.19199254 +v 0.10352777 0.07502065 0.14476957 +v 0.10353670 0.07502065 0.14471768 +v 0.10012629 0.07646217 0.17081110 +v 0.10018878 0.07654341 0.16950238 +v 0.09738547 0.08112211 0.16124660 +v 0.09587669 0.07925905 0.19199255 +v 0.08371712 0.07646209 0.19199254 +v 0.09111821 0.07502065 0.14476957 +v 0.10447410 0.07502069 0.13309498 +v 0.10245643 0.07646227 0.14476957 +v 0.10058161 0.07704597 0.16124658 +v 0.10109942 0.07646221 0.16028956 +v 0.09768009 0.08146730 0.15532571 +v 0.09179672 0.08389863 0.19199257 +v 0.09293054 0.08261437 0.19199256 +v 0.08961835 0.07502065 0.14471768 +v 0.08961835 0.07502065 0.14475804 +v 0.01326835 0.11251788 0.19199267 +v 0.10275105 0.07729988 0.13309498 +v 0.10160830 0.07759426 0.14471769 +v 0.09059147 0.07502069 0.13309498 +v 0.10038520 0.07828965 0.15273711 +v 0.09794793 0.08177189 0.14981416 +v 0.09468931 0.08499523 0.15273713 +v 0.08972548 0.08985307 0.15737816 +v 0.08785958 0.08797477 0.19199258 +v 0.01326835 0.12361939 0.19199271 +v 0.01326835 0.11287831 0.18710376 +v 0.10055482 0.08014759 0.13309499 +v 0.09816219 0.08205110 0.14476959 +v 0.01326835 0.11361946 0.17747584 +v 0.01326835 0.11625410 0.14476972 +v 0.02100870 0.11590388 0.13309513 +v 0.09442147 0.08609678 0.14476961 +v 0.08994868 0.09006628 0.15298506 +v 0.08493129 0.09485816 0.15330217 +v 0.08627938 0.09281752 0.16057788 +v 0.08377961 0.09195446 0.19199260 +v 0.01921422 0.12285796 0.19199271 +v 0.01326835 0.12468036 0.17776990 +v 0.09866215 0.08256891 0.13309500 +v 0.09492142 0.08664504 0.13309502 +v 0.09477858 0.08649275 0.13645614 +v 0.01326835 0.12687845 0.14476976 +v 0.02100870 0.12668051 0.13309517 +v 0.09030579 0.09048764 0.14476962 +v 0.08610974 0.09453839 0.14476964 +v 0.08174409 0.09815766 0.15075395 +v 0.08143161 0.09788353 0.15626551 +v 0.08111915 0.09762462 0.16124666 +v 0.08006567 0.09676670 0.17776980 +v 0.07915504 0.09603060 0.19199261 +v 0.02089264 0.12254325 0.19199271 +v 0.02493690 0.12254836 0.18349475 +v 0.02085693 0.12303566 0.18615829 +v 0.02038376 0.12374635 0.17776989 +v 0.01326835 0.12525907 0.16950256 +v 0.09084145 0.09097499 0.13309503 +v 0.09069861 0.09082269 0.13645615 +v 0.02100870 0.12652314 0.13581635 +v 0.02368702 0.12618813 0.13309516 +v 0.08662756 0.09505112 0.13309505 +v 0.08202977 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+f 90 104 105 +f 90 105 91 +f 92 106 107 +f 92 107 93 +f 93 107 96 +f 96 107 97 +f 97 107 108 +f 97 108 109 +f 99 110 100 +f 99 111 110 +f 100 110 111 +f 100 111 101 +f 101 111 112 +f 101 112 102 +f 102 112 103 +f 103 112 113 +f 103 113 104 +f 104 114 115 +f 104 115 116 +f 104 116 105 +f 104 113 114 +f 106 117 118 +f 106 118 107 +f 107 118 119 +f 107 119 120 +f 107 120 108 +f 108 120 121 +f 108 121 122 +f 108 122 109 +f 111 123 124 +f 111 124 112 +f 112 124 125 +f 112 125 113 +f 113 125 114 +f 114 126 115 +f 114 125 124 +f 114 124 127 +f 114 127 128 +f 114 128 129 +f 114 129 126 +f 117 130 118 +f 118 130 131 +f 118 131 129 +f 118 129 128 +f 118 128 119 +f 119 128 127 +f 119 127 120 +f 120 132 133 +f 120 133 121 +f 120 127 124 +f 120 124 132 +f 121 133 132 +f 121 132 122 +f 122 132 124 +f 122 124 123 +f 126 129 134 +f 129 131 134 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_70.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_70.obj new file mode 100644 index 0000000000000000000000000000000000000000..78b6d1affa53d0c4e847d6c91402381e04cdaaea --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_70.obj @@ -0,0 +1,220 @@ +# https://github.com/mikedh/trimesh +v -0.08587891 -0.08739443 0.21683180 +v -0.08380026 -0.08946365 0.21683179 +v -0.08219480 -0.09012007 0.23562399 +v -0.08484804 -0.08739450 0.23562400 +v -0.06381655 -0.08739443 0.21683180 +v -0.08268489 -0.09057254 0.21683179 +v -0.07720100 -0.09506678 0.21683177 +v -0.07752208 -0.09385779 0.23562398 +v -0.08197511 -0.08991627 0.24013090 +v -0.08469594 -0.08739450 0.23727286 +v -0.06175481 -0.08739443 0.21743516 +v -0.06177171 -0.08789187 0.21683180 +v -0.07379573 -0.09771979 0.21683176 +v -0.07306060 -0.09737442 0.23562396 +v -0.06897936 -0.10035216 0.23562395 +v -0.05826505 -0.10645273 0.24042642 +v -0.06773725 -0.09944366 0.24102980 +v -0.07752208 -0.09166423 0.24098830 +v -0.08352142 -0.08739451 0.24051685 +v -0.05927057 -0.08739446 0.22592867 +v 0.00044398 -0.11095380 0.21683171 +v -0.07362673 -0.09785107 0.21683176 +v -0.07126080 -0.09960939 0.21683175 +v -0.06989194 -0.10059045 0.21683175 +v -0.06505866 -0.10389981 0.21683174 +v -0.06359686 -0.10489815 0.21683173 +v -0.06289552 -0.10442841 0.23562394 +v -0.05305154 -0.10766526 0.24121053 +v -0.05882274 -0.10675326 0.23562393 +v -0.05305154 -0.10957901 0.23562392 +v -0.04170349 -0.11433925 0.24017721 +v -0.06107037 -0.10201377 0.24152811 +v -0.07721789 -0.08739452 0.24132053 +v -0.05913538 -0.08739447 0.22736013 +v 0.00044398 -0.11013860 0.22736005 +v 0.00044398 -0.11045293 0.22275054 +v 0.00044398 -0.11071545 0.21909616 +v 0.00044398 -0.11084672 0.21783324 +v 0.00044398 -0.12266095 0.21683167 +v -0.06063944 -0.10650102 0.21683173 +v -0.03674348 -0.11511652 0.24094180 +v -0.02858100 -0.11611485 0.24159157 +v -0.05494429 -0.10938894 0.21683172 +v -0.05952406 -0.10710209 0.21683173 +v -0.05305154 -0.11031474 0.21683171 +v -0.04612272 -0.11276746 0.23562391 +v -0.04204993 -0.11446706 0.23562390 +v 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+f 26 29 27 +f 28 31 41 +f 28 41 42 +f 28 42 32 +f 29 43 30 +f 29 40 44 +f 29 44 43 +f 30 43 45 +f 30 45 46 +f 30 46 31 +f 31 47 48 +f 31 48 49 +f 31 49 41 +f 31 46 47 +f 32 42 50 +f 32 50 33 +f 33 50 52 +f 33 52 51 +f 34 53 54 +f 34 54 55 +f 34 55 35 +f 39 57 56 +f 41 49 58 +f 41 58 42 +f 42 58 59 +f 42 59 50 +f 45 60 46 +f 46 60 47 +f 47 61 62 +f 47 62 48 +f 47 60 61 +f 48 62 63 +f 48 63 64 +f 48 64 49 +f 49 65 58 +f 49 64 66 +f 49 66 65 +f 50 59 67 +f 50 67 68 +f 50 68 52 +f 51 52 69 +f 52 68 67 +f 52 67 70 +f 52 54 53 +f 52 53 71 +f 52 71 69 +f 56 57 58 +f 56 58 72 +f 57 70 73 +f 57 73 58 +f 58 73 67 +f 58 67 59 +f 58 65 72 +f 65 66 74 +f 65 74 72 +f 67 73 70 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_71.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_71.obj new file mode 100644 index 0000000000000000000000000000000000000000..095e7e87a13e1706b0c7d77fa15bc3a09f0912f0 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_71.obj @@ -0,0 +1,166 @@ +# https://github.com/mikedh/trimesh +v -0.08112566 0.08745566 0.09838300 +v -0.08112566 0.08752268 0.09763483 +v -0.08112566 0.10251342 0.09838306 +v -0.11698739 0.02735866 0.09838278 +v -0.08112566 0.08790249 0.09361547 +v -0.11760777 0.02735870 0.08722578 +v -0.08112566 0.10324326 0.08952955 +v -0.08398681 0.10012295 0.09838305 +v -0.12775146 0.02735866 0.09838278 +v -0.08112566 0.08852807 0.08722601 +v -0.12841814 0.02735870 0.08722578 +v -0.08112566 0.10342944 0.08722606 +v -0.08450997 0.10056980 0.08722605 +v -0.08858875 0.09686866 0.08722604 +v -0.08806559 0.09636968 0.09838303 +v -0.12756627 0.02866933 0.09838279 +v -0.12820517 0.02866937 0.08722579 +v -0.09273697 0.09279517 0.08722602 +v -0.09224158 0.09228874 0.09838302 +v -0.08971839 0.09476114 0.09838303 +v -0.12647366 0.03361411 0.09838280 +v -0.12648755 0.03682379 0.08722582 +v -0.12656626 0.03646634 0.08722581 +v -0.09681575 0.08863232 0.08722601 +v -0.09384810 0.09065041 0.09838301 +v -0.12571439 0.03682375 0.09838282 +v -0.12594588 0.03682376 0.09512801 +v -0.12346899 0.04397284 0.09838284 +v -0.12358935 0.04425583 0.09512803 +v -0.12375140 0.04525376 0.08722585 +v -0.09697778 0.08845360 0.08722600 +v -0.10006117 0.08404495 0.09838299 +v -0.09780187 0.08651735 0.09838300 +v -0.09632036 0.08812589 0.09838300 +v -0.12189951 0.04804633 0.09838286 +v -0.12223748 0.04881339 0.08960362 +v -0.12364491 0.04558142 0.08722585 +v -0.10049636 0.08455883 0.08722599 +v -0.10457513 0.07968852 0.08722597 +v -0.10413994 0.07914485 0.09838297 +v -0.11955224 0.05313260 0.09838288 +v -0.12345508 0.04607292 0.08722585 +v -0.11575125 0.06123490 0.09838290 +v -0.12093190 0.05194113 0.08722587 +v -0.10470939 0.07950979 0.08722597 +v -0.10721870 0.07506391 0.09838296 +v -0.10535756 0.07753631 0.09838296 +v -0.11445956 0.06379666 0.09838291 +v -0.11424197 0.06537544 0.09110985 +v -0.11646886 0.06130941 0.08722591 +v -0.10760296 0.07561503 0.08722596 +v -0.11170026 0.06964257 0.08722594 +v -0.11191322 0.06932979 0.08722593 +v -0.11128821 0.06897974 0.09838293 +v -0.11391789 0.06485413 0.09838292 +v -0.11438086 0.06559886 0.08722592 +f 1 2 5 +f 1 5 10 +f 1 10 12 +f 1 12 7 +f 1 7 3 +f 1 3 8 +f 1 8 15 +f 1 15 20 +f 1 20 19 +f 1 19 25 +f 1 25 34 +f 1 34 33 +f 1 33 32 +f 1 32 40 +f 1 40 47 +f 1 47 46 +f 1 46 54 +f 1 54 55 +f 1 55 48 +f 1 48 43 +f 1 43 41 +f 1 41 35 +f 1 35 28 +f 1 28 26 +f 1 26 21 +f 1 21 16 +f 1 16 9 +f 1 9 4 +f 1 4 2 +f 2 4 6 +f 2 6 5 +f 3 7 8 +f 4 9 11 +f 4 11 6 +f 5 6 10 +f 6 11 17 +f 6 17 23 +f 6 23 22 +f 6 22 30 +f 6 30 37 +f 6 37 42 +f 6 42 44 +f 6 44 50 +f 6 50 56 +f 6 56 53 +f 6 53 52 +f 6 52 51 +f 6 51 45 +f 6 45 39 +f 6 39 38 +f 6 38 31 +f 6 31 24 +f 6 24 18 +f 6 18 14 +f 6 14 13 +f 6 13 12 +f 6 12 10 +f 7 12 8 +f 8 12 13 +f 8 13 14 +f 8 14 15 +f 9 16 11 +f 11 16 17 +f 14 18 19 +f 14 19 20 +f 14 20 15 +f 16 21 22 +f 16 22 23 +f 16 23 17 +f 18 24 25 +f 18 25 19 +f 21 26 27 +f 21 27 22 +f 22 27 28 +f 22 28 29 +f 22 29 30 +f 24 31 32 +f 24 32 33 +f 24 33 34 +f 24 34 25 +f 26 28 27 +f 28 35 36 +f 28 36 37 +f 28 37 29 +f 29 37 30 +f 31 38 32 +f 32 38 39 +f 32 39 40 +f 35 41 36 +f 36 42 37 +f 36 41 43 +f 36 43 44 +f 36 44 42 +f 39 45 46 +f 39 46 47 +f 39 47 40 +f 43 48 49 +f 43 49 50 +f 43 50 44 +f 45 51 46 +f 46 51 52 +f 46 52 53 +f 46 53 54 +f 48 55 49 +f 49 56 50 +f 49 55 54 +f 49 54 53 +f 49 53 56 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_72.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_72.obj new file mode 100644 index 0000000000000000000000000000000000000000..ed568e571c31196c2d4fa58729bc85f32443a0a9 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_72.obj @@ -0,0 +1,208 @@ +# https://github.com/mikedh/trimesh +v -0.00411026 0.12939926 0.10973426 +v -0.00411026 0.12853958 0.12133301 +v -0.00222011 0.12939509 0.10973426 +v -0.01039244 0.12896944 0.10973425 +v -0.01226690 0.12818070 0.12133301 +v -0.00550630 0.12848533 0.12133301 +v 0.00028963 0.12851872 0.12133301 +v 0.00028963 0.12938674 0.10973426 +v -0.01852556 0.12827673 0.10973425 +v -0.02042355 0.12745461 0.12133301 +v 0.00028963 0.11842844 0.12133298 +v 0.00028963 0.11909199 0.10973422 +v -0.02042355 0.12808895 0.10973425 +v -0.02042355 0.12798461 0.11165772 +v -0.02042355 0.12753390 0.11992163 +v -0.02858019 0.12686626 0.10973425 +v -0.02858019 0.12675357 0.11165772 +v -0.02858019 0.12605666 0.12133300 +v -0.07983374 0.08676803 0.12133286 +v -0.07983374 0.08698504 0.11870767 +v -0.07983374 0.08773204 0.10973410 +v -0.03674468 0.12485905 0.10973424 +v -0.03674468 0.12472552 0.11165771 +v -0.03674468 0.12413292 0.11992162 +v -0.03683880 0.12400354 0.12133300 +v -0.07983374 0.10174904 0.12133291 +v -0.07983374 0.10268383 0.10973416 +v -0.04111319 0.12352370 0.10973423 +v -0.04160730 0.12269324 0.11992161 +v -0.04145828 0.12264316 0.12133299 +v -0.03791328 0.12369474 0.12133299 +v -0.07983374 0.10233328 0.11418859 +v -0.07877494 0.10259615 0.12133292 +v -0.07841416 0.10368534 0.11165763 +v -0.07851613 0.10376046 0.10973416 +v -0.04261904 0.12305215 0.10973423 +v 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-0.06819483 0.11092964 0.10973419 +v -0.05305013 0.11880824 0.10973422 +v -0.05987348 0.11561591 0.10973420 +v -0.06312829 0.11317466 0.12133296 +v -0.06441453 0.11239431 0.12133295 +v -0.06300281 0.11404686 0.10973420 +v -0.06395180 0.11356697 0.10973420 +f 1 2 3 +f 1 3 8 +f 1 8 12 +f 1 12 21 +f 1 21 27 +f 1 27 35 +f 1 35 44 +f 1 44 54 +f 1 54 64 +f 1 64 70 +f 1 70 69 +f 1 69 66 +f 1 66 65 +f 1 65 56 +f 1 56 55 +f 1 55 45 +f 1 45 36 +f 1 36 28 +f 1 28 22 +f 1 22 16 +f 1 16 13 +f 1 13 9 +f 1 9 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 7 8 +f 2 8 3 +f 2 6 5 +f 2 5 10 +f 2 10 18 +f 2 18 25 +f 2 25 31 +f 2 31 30 +f 2 30 39 +f 2 39 49 +f 2 49 48 +f 2 48 60 +f 2 60 67 +f 2 67 68 +f 2 68 61 +f 2 61 51 +f 2 51 50 +f 2 50 40 +f 2 40 33 +f 2 33 26 +f 2 26 19 +f 2 19 11 +f 2 11 7 +f 4 9 5 +f 5 9 10 +f 7 11 12 +f 7 12 8 +f 9 13 14 +f 9 14 15 +f 9 15 10 +f 10 15 16 +f 10 16 17 +f 10 17 18 +f 11 19 12 +f 12 19 20 +f 12 20 21 +f 13 16 14 +f 14 16 15 +f 16 22 17 +f 17 22 23 +f 17 23 24 +f 17 24 18 +f 18 24 25 +f 19 26 32 +f 19 32 27 +f 19 27 21 +f 19 21 20 +f 22 28 29 +f 22 29 30 +f 22 30 23 +f 23 30 31 +f 23 31 24 +f 24 31 25 +f 26 33 34 +f 26 34 35 +f 26 35 32 +f 27 32 35 +f 28 36 37 +f 28 37 29 +f 29 37 38 +f 29 38 30 +f 30 38 39 +f 33 40 41 +f 33 41 34 +f 34 41 42 +f 34 42 35 +f 35 42 43 +f 35 43 44 +f 36 45 38 +f 36 38 37 +f 38 45 46 +f 38 46 47 +f 38 47 48 +f 38 48 49 +f 38 49 39 +f 40 50 41 +f 41 50 42 +f 42 50 51 +f 42 51 52 +f 42 52 43 +f 43 52 53 +f 43 53 44 +f 44 53 54 +f 45 55 46 +f 46 55 47 +f 47 55 56 +f 47 56 57 +f 47 57 58 +f 47 58 59 +f 47 59 48 +f 48 59 60 +f 51 61 52 +f 52 61 62 +f 52 62 63 +f 52 63 53 +f 53 63 64 +f 53 64 54 +f 56 65 57 +f 57 65 66 +f 57 66 58 +f 58 66 63 +f 58 63 62 +f 58 62 59 +f 59 62 60 +f 60 62 67 +f 61 68 62 +f 62 68 67 +f 63 66 69 +f 63 69 70 +f 63 70 64 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_73.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_73.obj new file mode 100644 index 0000000000000000000000000000000000000000..b685bd3dd321de2b47ab1b6794652c27a190046f --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_73.obj @@ -0,0 +1,166 @@ +# https://github.com/mikedh/trimesh +v -0.10452454 -0.05528214 0.12133234 +v -0.11702691 -0.05528214 0.12133234 +v -0.10538360 -0.05528209 0.10973358 +v -0.11751953 0.02064593 0.10973386 +v -0.11751711 0.02064593 0.10977360 +v -0.11685704 0.02064588 0.12133262 +v -0.11817474 -0.05286665 0.12133235 +v -0.11713611 -0.05528213 0.11992096 +v -0.11775735 -0.05528209 0.10973358 +v -0.12809267 0.02064593 0.10973386 +v -0.12619014 0.02064588 0.12133262 +v -0.12065726 -0.04687625 0.12133237 +v -0.12127121 -0.04564248 0.11992099 +v -0.11827666 -0.05286664 0.11992097 +v -0.11766028 -0.05528210 0.11165705 +v -0.11772337 -0.05528210 0.11041146 +v -0.11887363 -0.05286660 0.10973359 +v -0.12763402 0.02064589 0.11978612 +v -0.12810965 0.02051215 0.10973386 +v -0.12764859 0.02051211 0.11992124 +v -0.12755879 0.02064588 0.12130990 +v -0.12757821 0.02051210 0.12133262 +v -0.12125423 -0.04538236 0.12133237 +v -0.12265929 -0.04141353 0.12133239 +v -0.12271024 -0.04156217 0.11992101 +v -0.12300145 -0.04237969 0.11165709 +v -0.12306698 -0.04255805 0.10973362 +v -0.12190215 -0.04568703 0.10973361 +v -0.12148234 -0.04646000 0.11165708 +v -0.11944876 -0.05155109 0.10973359 +v -0.11877657 -0.05286661 0.11165706 +v -0.12931331 0.00416117 0.10973380 +v -0.12769954 0.01911483 0.12133261 +v -0.12378528 -0.03766024 0.12133240 +v -0.12478264 -0.03656022 0.11165712 +v -0.12491370 -0.03656021 0.10973365 +v -0.12354747 -0.04102700 0.10973363 +v -0.12152602 -0.04663093 0.10973361 +v -0.12927690 -0.00389541 0.10973377 +v -0.12851249 -0.00394748 0.12133253 +v -0.12854161 0.00280845 0.12133255 +v -0.12854403 0.00420571 0.12133256 +v -0.12818973 0.01235891 0.12133259 +v -0.12407891 -0.03666431 0.12133241 +v -0.12421237 -0.03656025 0.11992103 +v -0.12615131 -0.02840707 0.12133244 +v -0.12624837 -0.02840706 0.11992106 +v -0.12676042 -0.02840703 0.11165715 +v -0.12686476 -0.02840702 0.10973368 +v -0.12884252 -0.01019797 0.10973374 +v -0.12814606 -0.01210811 0.12133250 +v -0.12846396 -0.00534475 0.12133252 +v -0.12750298 -0.02025387 0.12133247 +v -0.12757093 -0.02025386 0.11992109 +v -0.12801987 -0.02025382 0.10973371 +v -0.12819217 -0.01835116 0.10973371 +f 1 2 8 +f 1 8 15 +f 1 15 16 +f 1 16 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 11 +f 1 11 22 +f 1 22 33 +f 1 33 43 +f 1 43 42 +f 1 42 41 +f 1 41 40 +f 1 40 52 +f 1 52 51 +f 1 51 53 +f 1 53 46 +f 1 46 44 +f 1 44 34 +f 1 34 24 +f 1 24 23 +f 1 23 12 +f 1 12 7 +f 1 7 2 +f 2 7 8 +f 3 9 17 +f 3 17 30 +f 3 30 38 +f 3 38 28 +f 3 28 27 +f 3 27 37 +f 3 37 36 +f 3 36 49 +f 3 49 55 +f 3 55 56 +f 3 56 50 +f 3 50 39 +f 3 39 32 +f 3 32 19 +f 3 19 10 +f 3 10 4 +f 4 10 18 +f 4 18 21 +f 4 21 11 +f 4 11 6 +f 4 6 5 +f 7 12 13 +f 7 13 14 +f 7 14 8 +f 8 14 15 +f 9 16 17 +f 10 19 20 +f 10 20 18 +f 11 21 22 +f 12 23 13 +f 13 23 24 +f 13 24 25 +f 13 25 26 +f 13 26 27 +f 13 27 28 +f 13 28 29 +f 13 29 14 +f 14 29 30 +f 14 30 31 +f 14 31 15 +f 15 31 16 +f 16 31 17 +f 17 31 30 +f 18 20 21 +f 19 32 33 +f 19 33 20 +f 20 33 22 +f 20 22 21 +f 24 34 35 +f 24 35 36 +f 24 36 25 +f 25 36 37 +f 25 37 26 +f 26 37 27 +f 28 38 29 +f 29 38 30 +f 32 39 40 +f 32 40 41 +f 32 41 42 +f 32 42 43 +f 32 43 33 +f 34 44 45 +f 34 45 35 +f 35 45 46 +f 35 46 47 +f 35 47 36 +f 36 47 48 +f 36 48 49 +f 39 50 51 +f 39 51 52 +f 39 52 40 +f 44 46 45 +f 46 53 47 +f 47 53 48 +f 48 53 49 +f 49 53 54 +f 49 54 55 +f 50 56 54 +f 50 54 51 +f 51 54 53 +f 54 56 55 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_74.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_74.obj new file mode 100644 index 0000000000000000000000000000000000000000..c84905bb8b7e3e3e9e34984698318103675b8ad1 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_74.obj @@ -0,0 +1,130 @@ +# https://github.com/mikedh/trimesh +v -0.06728392 -0.09622617 0.13309206 +v -0.06728392 -0.09698038 0.12297597 +v -0.06728392 -0.10986584 0.13309201 +v 0.00032815 -0.11763243 0.13309198 +v 0.00032815 -0.11842136 0.12133325 +v -0.06728392 -0.09710346 0.12133332 +v -0.06728392 -0.11025714 0.12818477 +v -0.06351152 -0.11310057 0.12133326 +v -0.06263129 -0.11267772 0.13309200 +v 0.00032815 -0.12789849 0.13309194 +v 0.00032815 -0.12846650 0.12133321 +v -0.06728392 -0.11077153 0.12133327 +v -0.05942806 -0.11513926 0.12133326 +v -0.05855445 -0.11471325 0.13309199 +v -0.00410608 -0.12789849 0.13309194 +v -0.00410608 -0.12842547 0.12133321 +v -0.05842870 -0.11561264 0.12133326 +v -0.05304806 -0.11732000 0.13309198 +v -0.00742182 -0.12775647 0.13309194 +v -0.01226638 -0.12798365 0.12133321 +v -0.01226638 -0.12752924 0.13309194 +v -0.05304806 -0.11813418 0.12133325 +v -0.05304806 -0.11766397 0.12818474 +v -0.04574813 -0.12112594 0.12133324 +v -0.04465611 -0.12059264 0.13309197 +v -0.01903024 -0.12745346 0.12133321 +v -0.01558213 -0.12722313 0.13309194 +v -0.04494070 -0.12140366 0.12133323 +v -0.04126095 -0.12231888 0.12614377 +v -0.04434506 -0.12107546 0.12861294 +v -0.04065869 -0.12207589 0.13165306 +v -0.04049985 -0.12200016 0.13309196 +v -0.02042669 -0.12732407 0.12133321 +v -0.02042669 -0.12667716 0.13309194 +v -0.02042669 -0.12695486 0.12818470 +v -0.04178379 -0.12248927 0.12133323 +v -0.03685320 -0.12397253 0.12133322 +v -0.03664803 -0.12321518 0.13309196 +v -0.03927547 -0.12240411 0.13309196 +v -0.02719054 -0.12627948 0.12133322 +v -0.02373582 -0.12610279 0.13309195 +v -0.02858038 -0.12603963 0.12133322 +v -0.03533761 -0.12435124 0.12133322 +v -0.02858038 -0.12520968 0.13309195 +f 1 2 6 +f 1 6 12 +f 1 12 7 +f 1 7 3 +f 1 3 9 +f 1 9 14 +f 1 14 18 +f 1 18 25 +f 1 25 32 +f 1 32 39 +f 1 39 38 +f 1 38 44 +f 1 44 41 +f 1 41 34 +f 1 34 27 +f 1 27 21 +f 1 21 19 +f 1 19 15 +f 1 15 10 +f 1 10 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 9 +f 4 10 11 +f 4 11 5 +f 5 11 16 +f 5 16 20 +f 5 20 26 +f 5 26 33 +f 5 33 40 +f 5 40 42 +f 5 42 43 +f 5 43 37 +f 5 37 36 +f 5 36 28 +f 5 28 24 +f 5 24 22 +f 5 22 17 +f 5 17 13 +f 5 13 8 +f 5 8 12 +f 5 12 6 +f 7 12 8 +f 8 13 14 +f 8 14 9 +f 10 15 11 +f 11 15 16 +f 13 17 14 +f 14 17 18 +f 15 19 16 +f 16 19 21 +f 16 21 20 +f 17 22 23 +f 17 23 18 +f 18 23 24 +f 18 24 25 +f 20 21 26 +f 21 27 26 +f 22 24 23 +f 24 28 29 +f 24 29 30 +f 24 30 25 +f 25 30 31 +f 25 31 32 +f 26 27 33 +f 27 34 35 +f 27 35 33 +f 28 36 29 +f 29 37 38 +f 29 38 39 +f 29 39 31 +f 29 31 30 +f 29 36 37 +f 31 39 32 +f 33 35 40 +f 34 41 42 +f 34 42 40 +f 34 40 35 +f 37 43 38 +f 38 43 42 +f 38 42 44 +f 41 44 42 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_75.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_75.obj new file mode 100644 index 0000000000000000000000000000000000000000..23dcfb2dc66093a2060a6259d901e8d3bda0c162 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_75.obj @@ -0,0 +1,328 @@ +# https://github.com/mikedh/trimesh +v 0.01849394 -0.00393781 0.07859935 +v 0.01807358 -0.00393784 0.08722459 +v 0.01679803 -0.00847203 0.08722457 +v 0.01695385 -0.00912128 0.07859933 +v 0.01783442 -0.00598221 0.07624274 +v 0.01742131 -0.00356753 0.07014457 +v 0.01741044 0.00385352 0.07013181 +v 0.01847220 0.00420227 0.07859938 +v 0.01805909 0.00420224 0.08722462 +v 0.01807358 -0.00358369 0.08722459 +v 0.01672193 -0.00870813 0.08722457 +v 0.01691761 -0.00906761 0.07624273 +v 0.00719152 -0.02238583 0.08722452 +v 0.00706469 -0.02255754 0.08722452 +v 0.00706107 -0.02255218 0.08686229 +v 0.01388455 -0.01319937 0.07859931 +v 0.01686326 -0.00898711 0.07277175 +v 0.01607691 -0.00356751 0.06545695 +v 0.01650451 -0.00076651 0.06545696 +v 0.01650451 0.00106327 0.06545696 +v 0.01558770 0.00544185 0.06545698 +v 0.01684876 0.00921405 0.07274625 +v 0.01693573 0.00935355 0.07859939 +v 0.01670381 0.00895107 0.08722463 +v 0.00296987 -0.02698978 0.08722450 +v 0.00648489 -0.02235897 0.07859928 +v 0.01169219 -0.01170223 0.06545692 +v 0.01412372 -0.00779048 0.06545693 +v 0.01556959 -0.00514509 0.06545694 +v 0.00935126 -0.01747060 0.07207710 +v 0.01152550 0.01228338 0.06545701 +v 0.01354030 0.01210092 0.07013184 +v 0.00910847 0.01759024 0.07033641 +v 0.00570579 0.02166834 0.07033643 +v 0.00373448 0.02596104 0.07624286 +v 0.00294813 0.02767276 0.07859946 +v 0.00702845 0.02270393 0.07859944 +v 0.01393891 0.01342627 0.07859941 +v 0.00683277 0.02285414 0.08722468 +v -0.00256356 -0.02698978 0.08722450 +v 0.00240820 -0.02615267 0.07859926 +v 0.00442661 -0.02350727 0.07624267 +v 0.00791627 -0.01597349 0.06657127 +v 0.00722413 -0.01581251 0.06545690 +v 0.00132470 -0.02523508 0.07269286 +v 0.00995280 0.01419365 0.06545701 +v 0.00162909 0.02624546 0.07033645 +v 0.00257489 0.02726496 0.07624286 +v -0.00291144 0.02767276 0.07859946 +v 0.00292639 0.02782834 0.08722470 +v -0.00207798 -0.02615267 0.07859926 +v -0.00647357 -0.02203168 0.08722452 +v -0.01693528 -0.00898176 0.07859933 +v -0.01366305 -0.01306522 0.07859931 +v -0.01494947 -0.01139105 0.07624272 +v -0.01686643 -0.00889589 0.07272914 +v -0.00615830 -0.02173116 0.07859928 +v 0.00012887 -0.02546581 0.07415881 +v 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66 91 67 +f 67 92 89 +f 67 89 68 +f 67 91 86 +f 67 86 93 +f 67 93 94 +f 67 94 95 +f 67 95 96 +f 67 96 92 +f 70 79 81 +f 73 97 74 +f 74 97 98 +f 74 98 76 +f 76 98 77 +f 77 98 95 +f 77 95 99 +f 77 99 100 +f 77 100 101 +f 77 101 78 +f 78 101 79 +f 85 88 86 +f 89 92 102 +f 89 102 90 +f 90 102 103 +f 92 96 98 +f 92 98 102 +f 93 104 94 +f 94 104 105 +f 94 105 95 +f 95 105 106 +f 95 106 107 +f 95 107 99 +f 95 98 96 +f 97 108 98 +f 98 108 109 +f 98 109 110 +f 98 110 102 +f 99 107 106 +f 99 106 100 +f 102 110 103 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_76.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_76.obj new file mode 100644 index 0000000000000000000000000000000000000000..4cc848eb28175bccbd3494b87f453b14e3561660 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_76.obj @@ -0,0 +1,199 @@ +# https://github.com/mikedh/trimesh +v 0.13361568 -0.00395220 0.06207001 +v 0.13205034 -0.01210396 0.05606901 +v 0.13240221 -0.00395217 0.05580248 +v 0.13236859 0.00419961 0.05582827 +v 0.13357429 0.00419959 0.06207004 +v 0.13318877 -0.00060863 0.06545696 +v 0.13318618 -0.00395221 0.06545695 +v 0.13253677 -0.01210399 0.06545692 +v 0.13294814 -0.01210398 0.06206998 +v 0.13156133 -0.02025575 0.05650795 +v 0.12564925 -0.03655931 0.05554175 +v 0.12641770 -0.02025574 0.05533471 +v 0.12641770 0.01891331 0.05536755 +v 0.12751473 0.01891331 0.05549240 +v 0.13200376 0.01235140 0.05610675 +v 0.13159755 0.01891330 0.05648827 +v 0.13289382 0.01235138 0.06207007 +v 0.13292744 0.00754316 0.06545699 +v 0.13316290 0.00419958 0.06545698 +v 0.13162085 -0.02041959 0.06545688 +v 0.13202446 -0.02025577 0.06206995 +v 0.13103092 -0.02667311 0.05716291 +v 0.12437370 -0.04471111 0.05581620 +v 0.11655215 -0.06101468 0.05582605 +v 0.11039945 -0.06927246 0.05574180 +v 0.10970346 -0.06091831 0.05566156 +v 0.12239956 0.01891330 0.05645855 +v 0.13212538 0.01891328 0.06207009 +v 0.13252383 0.01235137 0.06545701 +v 0.13184594 0.01891327 0.06474059 +v 0.13177091 0.01891327 0.06545703 +v 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0.10718598 -0.05826854 0.06527243 +v 0.12124042 -0.05465516 0.06545676 +v 0.11808386 -0.06101471 0.06545674 +v 0.11510324 -0.06662268 0.06545672 +v 0.11251332 -0.07069857 0.06545670 +v 0.11265303 -0.07096836 0.06206976 +v 0.10718598 -0.07952484 0.06011366 +v 0.10718598 -0.07861910 0.06545667 +v 0.10816140 -0.07724120 0.06545668 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 10 +f 1 10 2 +f 2 10 11 +f 2 11 3 +f 3 11 12 +f 3 12 13 +f 3 13 4 +f 4 13 14 +f 4 14 15 +f 4 15 5 +f 5 15 16 +f 5 16 17 +f 5 17 18 +f 5 18 19 +f 5 19 6 +f 6 19 18 +f 6 18 29 +f 6 29 32 +f 6 32 31 +f 6 31 44 +f 6 44 56 +f 6 56 66 +f 6 66 67 +f 6 67 63 +f 6 63 62 +f 6 62 61 +f 6 61 60 +f 6 60 47 +f 6 47 46 +f 6 46 45 +f 6 45 33 +f 6 33 20 +f 6 20 8 +f 6 8 7 +f 8 20 9 +f 9 20 21 +f 9 21 22 +f 9 22 10 +f 10 22 23 +f 10 23 11 +f 11 23 24 +f 11 24 25 +f 11 25 12 +f 12 25 26 +f 12 26 13 +f 13 27 43 +f 13 43 55 +f 13 55 57 +f 13 57 44 +f 13 44 31 +f 13 31 30 +f 13 30 28 +f 13 28 16 +f 13 16 14 +f 13 26 27 +f 14 16 15 +f 16 28 17 +f 17 29 18 +f 17 28 30 +f 17 30 31 +f 17 31 32 +f 17 32 29 +f 20 33 21 +f 21 33 34 +f 21 34 22 +f 22 34 35 +f 22 35 36 +f 22 36 37 +f 22 37 23 +f 23 37 24 +f 24 38 39 +f 24 39 25 +f 24 37 38 +f 25 39 40 +f 25 40 41 +f 25 41 26 +f 26 41 42 +f 26 42 27 +f 27 42 43 +f 33 45 34 +f 34 45 35 +f 35 45 46 +f 35 46 36 +f 36 46 47 +f 36 47 48 +f 36 48 37 +f 37 48 49 +f 37 49 50 +f 37 50 38 +f 38 50 51 +f 38 51 52 +f 38 52 53 +f 38 53 39 +f 39 53 40 +f 40 53 52 +f 40 52 65 +f 40 65 66 +f 40 66 56 +f 40 56 59 +f 40 59 58 +f 40 58 54 +f 40 54 42 +f 40 42 41 +f 42 54 55 +f 42 55 43 +f 44 57 58 +f 44 58 59 +f 44 59 56 +f 47 60 48 +f 48 60 49 +f 49 60 61 +f 49 61 50 +f 50 61 62 +f 50 62 51 +f 51 62 63 +f 51 63 64 +f 51 64 65 +f 51 65 52 +f 54 58 55 +f 55 58 57 +f 63 67 65 +f 63 65 64 +f 65 67 66 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_77.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_77.obj new file mode 100644 index 0000000000000000000000000000000000000000..dc48e74d953cb51a10fec55a049c37e43c0ca8be --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_77.obj @@ -0,0 +1,64 @@ +# https://github.com/mikedh/trimesh +v 0.10544101 0.00655348 0.22735978 +v 0.10544101 0.00308930 0.23410437 +v 0.10544101 0.00446154 0.21936094 +v 0.03186429 0.00462423 0.21971600 +v 0.03186429 0.00628562 0.22719377 +v 0.10544101 -0.00313895 0.23415048 +v 0.03186429 0.00203100 0.23251199 +v 0.10544101 -0.00086780 0.21857240 +v 0.03668344 0.00404742 0.21956228 +v 0.03186429 -0.00394741 0.21868921 +v 0.10544101 -0.00492689 0.23213537 +v 0.03186429 -0.00206091 0.23251197 +v 0.03186429 -0.00447169 0.23041080 +v 0.03186429 -0.00613638 0.22865087 +v 0.10544101 -0.00394741 0.21844943 +v 0.03186429 -0.00901549 0.22244730 +v 0.10544101 -0.00791773 0.21983277 +v 0.10544101 -0.01001299 0.22123916 +v 0.10544101 -0.01023486 0.22574582 +v 0.03186429 -0.00812974 0.22620847 +v 0.03186429 -0.00901549 0.22452078 +v 0.10544101 -0.01023486 0.22534156 +f 1 2 6 +f 1 6 11 +f 1 11 19 +f 1 19 22 +f 1 22 18 +f 1 18 17 +f 1 17 15 +f 1 15 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 6 +f 3 8 9 +f 3 9 4 +f 4 9 10 +f 4 10 16 +f 4 16 21 +f 4 21 20 +f 4 20 14 +f 4 14 13 +f 4 13 12 +f 4 12 7 +f 4 7 5 +f 6 7 12 +f 6 12 13 +f 6 13 14 +f 6 14 11 +f 8 15 10 +f 8 10 9 +f 10 15 17 +f 10 17 18 +f 10 18 16 +f 11 14 19 +f 14 20 19 +f 16 18 22 +f 16 22 19 +f 16 19 21 +f 19 20 21 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_78.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_78.obj new file mode 100644 index 0000000000000000000000000000000000000000..278c088a1e337e34ecf6002e1b46ba3f44e71bd6 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_78.obj @@ -0,0 +1,355 @@ +# https://github.com/mikedh/trimesh +v 0.12466560 -0.03447325 0.12133522 +v 0.12333161 -0.03639216 0.13309228 +v 0.12408774 -0.03668190 0.12133522 +v 0.12393407 -0.03961106 0.11071452 +v 0.12398938 -0.03961105 0.10973363 +v 0.11352643 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+f 63 72 64 +f 64 72 73 +f 64 73 74 +f 64 74 65 +f 65 74 66 +f 66 74 75 +f 66 75 67 +f 68 76 77 +f 68 77 69 +f 69 77 78 +f 69 78 79 +f 69 79 70 +f 70 79 80 +f 70 80 71 +f 73 81 74 +f 74 81 82 +f 74 82 83 +f 74 83 75 +f 75 83 84 +f 75 84 85 +f 76 86 87 +f 76 87 88 +f 76 88 77 +f 77 88 89 +f 77 89 78 +f 78 89 88 +f 78 88 90 +f 78 90 91 +f 78 91 79 +f 81 92 93 +f 81 93 94 +f 81 94 82 +f 82 94 83 +f 83 85 84 +f 83 94 95 +f 83 95 85 +f 86 96 87 +f 87 96 97 +f 87 97 88 +f 88 97 90 +f 90 98 91 +f 90 97 99 +f 90 99 98 +f 91 98 100 +f 92 101 102 +f 92 102 93 +f 93 102 103 +f 93 103 94 +f 94 103 104 +f 94 104 105 +f 94 105 106 +f 94 106 107 +f 96 99 97 +f 96 98 99 +f 98 108 109 +f 98 109 110 +f 98 110 111 +f 98 111 100 +f 101 103 102 +f 103 112 104 +f 103 113 114 +f 103 114 115 +f 103 115 112 +f 104 112 105 +f 105 112 106 +f 106 112 116 +f 106 116 107 +f 108 117 109 +f 109 118 119 +f 109 119 110 +f 109 117 118 +f 110 119 111 +f 111 119 115 +f 111 115 114 +f 111 114 113 +f 112 115 119 +f 112 119 116 +f 116 119 118 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_79.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_79.obj new file mode 100644 index 0000000000000000000000000000000000000000..71d0a9f0e1d3b6c449a58fed2fdfb34ecc04dd56 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_79.obj @@ -0,0 +1,94 @@ +# https://github.com/mikedh/trimesh +v 0.00441084 0.01338374 0.23538329 +v 0.00225398 0.00883436 0.24863338 +v 0.00769141 0.00805828 0.24715842 +v 0.01183246 0.01126194 0.23538328 +v -0.00439208 0.01333932 0.23538329 +v -0.00164648 0.00883436 0.24863338 +v 0.00460331 0.00488603 0.24991457 +v 0.00915762 0.00262312 0.24917852 +v 0.01195701 0.01114958 0.23538328 +v -0.01171181 0.01139520 0.23538328 +v -0.00708674 0.00757488 0.24606522 +v -0.00914736 0.00213711 0.24908019 +v -0.00426188 0.00459598 0.24985528 +v -0.00474307 -0.00459936 0.25009529 +v 0.00476182 -0.00467514 0.25015458 +v 0.00915762 -0.00244359 0.24917850 +v 0.01445636 0.00468227 0.23538326 +v -0.01190994 0.01126978 0.23538328 +v -0.00914736 -0.00231554 0.24908017 +v -0.01426777 0.00432689 0.23538326 +v -0.01446024 -0.00422040 0.23538322 +v -0.00789061 -0.00775069 0.24721041 +v -0.00245034 -0.00892134 0.24903245 +v 0.00252005 -0.00892134 0.24903245 +v 0.00795748 -0.00788134 0.24732610 +v 0.01196550 -0.01101434 0.23538320 +v 0.01428652 -0.00420734 0.23538322 +v -0.01196372 -0.01115284 0.23538320 +v -0.01184767 -0.01127042 0.23538320 +v -0.00433264 -0.01331122 0.23538319 +v 0.00430045 -0.01324851 0.23538319 +v 0.01181548 -0.01114761 0.23538320 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 17 +f 1 17 27 +f 1 27 26 +f 1 26 32 +f 1 32 31 +f 1 31 30 +f 1 30 29 +f 1 29 28 +f 1 28 21 +f 1 21 20 +f 1 20 18 +f 1 18 10 +f 1 10 5 +f 1 5 6 +f 1 6 2 +f 2 7 3 +f 2 6 7 +f 3 7 8 +f 3 8 9 +f 3 9 4 +f 5 10 6 +f 6 10 11 +f 6 11 12 +f 6 12 13 +f 6 13 7 +f 7 13 14 +f 7 14 15 +f 7 15 8 +f 8 15 16 +f 8 16 17 +f 8 17 9 +f 10 18 11 +f 11 18 12 +f 12 19 14 +f 12 14 13 +f 12 18 20 +f 12 20 21 +f 12 21 19 +f 14 19 22 +f 14 22 23 +f 14 23 15 +f 15 24 25 +f 15 25 16 +f 15 23 24 +f 16 25 26 +f 16 26 27 +f 16 27 17 +f 19 21 28 +f 19 28 22 +f 22 28 29 +f 22 29 23 +f 23 29 30 +f 23 30 24 +f 24 31 32 +f 24 32 25 +f 24 30 31 +f 25 32 26 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_8.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_8.obj new file mode 100644 index 0000000000000000000000000000000000000000..dcdcf80ef77f3edc293b07f50c7b0ccbf0c7fabe --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_8.obj @@ -0,0 +1,181 @@ +# https://github.com/mikedh/trimesh +v -0.05496821 -0.09624396 0.21682449 +v -0.05496821 -0.09864125 0.19404852 +v -0.05496821 -0.10937851 0.21682444 +v 0.02191644 -0.10882399 0.21682444 +v 0.02191644 -0.10929847 0.21082719 +v 0.02191644 -0.11093713 0.19199185 +v -0.05496821 -0.09891988 0.19199190 +v -0.05496821 -0.10938402 0.21679527 +v -0.05494562 -0.10939230 0.21682444 +v 0.02191644 -0.12027569 0.21682440 +v 0.02191644 -0.12229503 0.19199181 +v -0.05496821 -0.11137302 0.19199185 +v -0.05287559 -0.11241859 0.19199185 +v -0.04929256 -0.11417593 0.19199184 +v -0.05304872 -0.11031925 0.21682443 +v 0.02036580 -0.12055433 0.21682440 +v 0.01626338 -0.12216541 0.20666528 +v 0.01979372 -0.12268401 0.19199181 +v -0.04538585 -0.11568223 0.19199184 +v -0.04423416 -0.11529603 0.20256909 +v -0.04278138 -0.11473606 0.21682442 +v -0.04686122 -0.11315528 0.21682442 +v 0.01885280 -0.12081089 0.21682440 +v 0.01724946 -0.12300955 0.19199181 +v 0.00896935 -0.12226752 0.21651566 +v 0.01301155 -0.12276958 0.20337615 +v 0.01220612 -0.12363578 0.19199181 +v -0.03901016 -0.11784787 0.19199183 +v -0.03672937 -0.11782307 0.20256908 +v -0.03672937 -0.11670307 0.21682441 +v 0.00930808 -0.12218201 0.21682439 +v 0.00841985 -0.12228959 0.21682439 +v 0.00415935 -0.12263995 0.21682439 +v 0.00404644 -0.12367168 0.20256906 +v 0.00404644 -0.12435307 0.19199180 +v -0.03672937 -0.11858723 0.19199182 +v -0.03672937 -0.11843273 0.19430612 +v -0.03081285 -0.11837765 0.21682441 +v 0.00404644 -0.12307581 0.21082714 +v 0.00184845 -0.12265652 0.21682439 +v -0.00411324 -0.12374066 0.20256906 +v -0.00411324 -0.12442756 0.19199180 +v -0.02847183 -0.12080528 0.19199182 +v -0.02856969 -0.11897906 0.21682440 +v -0.00427131 -0.12268135 0.21682439 +v 0.00011715 -0.12279445 0.21508380 +v -0.00411324 -0.12313100 0.21082714 +v -0.00940498 -0.12229787 0.21682439 +v -0.01227291 -0.12309510 0.20256906 +v -0.01227291 -0.12367993 0.19430611 +v -0.01227291 -0.12384270 0.19199181 +v -0.00639403 -0.12427307 0.19199180 +v -0.02397046 -0.12198604 0.19199181 +v -0.02202840 -0.12241089 0.19199181 +v -0.01671407 -0.12223714 0.20749182 +v -0.02026699 -0.12065916 0.21682440 +v -0.01324395 -0.12172680 0.21682439 +v -0.01218259 -0.12249923 0.21047950 +v -0.01942392 -0.12273367 0.19430611 +v -0.01995084 -0.12281091 0.19199181 +v -0.01775285 -0.12242196 0.20256906 +f 1 2 7 +f 1 7 12 +f 1 12 8 +f 1 8 3 +f 1 3 9 +f 1 9 15 +f 1 15 22 +f 1 22 21 +f 1 21 30 +f 1 30 38 +f 1 38 44 +f 1 44 56 +f 1 56 57 +f 1 57 48 +f 1 48 45 +f 1 45 40 +f 1 40 33 +f 1 33 32 +f 1 32 31 +f 1 31 23 +f 1 23 16 +f 1 16 10 +f 1 10 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 7 +f 3 8 9 +f 4 10 11 +f 4 11 6 +f 4 6 5 +f 6 11 18 +f 6 18 24 +f 6 24 27 +f 6 27 35 +f 6 35 42 +f 6 42 52 +f 6 52 51 +f 6 51 60 +f 6 60 54 +f 6 54 53 +f 6 53 43 +f 6 43 36 +f 6 36 28 +f 6 28 19 +f 6 19 14 +f 6 14 13 +f 6 13 12 +f 6 12 7 +f 8 12 13 +f 8 13 14 +f 8 14 15 +f 8 15 9 +f 10 16 17 +f 10 17 11 +f 11 17 18 +f 14 19 20 +f 14 20 21 +f 14 21 22 +f 14 22 15 +f 16 23 17 +f 17 24 18 +f 17 23 25 +f 17 25 26 +f 17 26 27 +f 17 27 24 +f 19 28 20 +f 20 28 21 +f 21 28 29 +f 21 29 30 +f 23 31 25 +f 25 32 33 +f 25 33 34 +f 25 34 27 +f 25 27 26 +f 25 31 32 +f 27 34 35 +f 28 36 37 +f 28 37 29 +f 29 37 38 +f 29 38 30 +f 33 39 34 +f 33 40 41 +f 33 41 39 +f 34 39 41 +f 34 41 42 +f 34 42 35 +f 36 43 37 +f 37 43 44 +f 37 44 38 +f 40 45 46 +f 40 46 41 +f 41 46 47 +f 41 47 45 +f 41 45 48 +f 41 48 49 +f 41 49 50 +f 41 50 51 +f 41 51 52 +f 41 52 42 +f 43 53 44 +f 44 53 54 +f 44 54 55 +f 44 55 56 +f 45 47 46 +f 48 57 55 +f 48 55 58 +f 48 58 49 +f 49 55 50 +f 49 58 55 +f 50 55 51 +f 51 59 60 +f 51 55 61 +f 51 61 59 +f 54 60 61 +f 54 61 55 +f 55 57 56 +f 59 61 60 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_80.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_80.obj new file mode 100644 index 0000000000000000000000000000000000000000..374ef51eebc3942246210f159db4649b85fed207 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_80.obj @@ -0,0 +1,136 @@ +# https://github.com/mikedh/trimesh +v -0.06842118 -0.09715273 0.10973342 +v -0.06842118 -0.09736874 0.10698342 +v -0.06842118 -0.11086340 0.10973337 +v 0.00027961 -0.11904266 0.10973334 +v 0.00027961 -0.11937322 0.10339335 +v 0.00027961 -0.11952049 0.10069557 +v 0.00027961 -0.11964813 0.09838224 +v -0.06842118 -0.09766330 0.10339343 +v -0.06842118 -0.11164233 0.09838227 +v -0.06499792 -0.11382543 0.09838226 +v -0.06429174 -0.11346217 0.10973336 +v 0.00027961 -0.12945085 0.10973330 +v 0.00027961 -0.13058656 0.09838220 +v -0.06842118 -0.09807895 0.09838232 +v -0.06842118 -0.09793822 0.10007343 +v -0.06135943 -0.11565833 0.09838226 +v -0.06021610 -0.11552417 0.10973336 +v 0.00027961 -0.13026255 0.10317109 +v -0.00430717 -0.12939521 0.10973330 +v -0.00270651 -0.13045891 0.10143109 +v -0.00392382 -0.13058983 0.09838220 +v 0.00027961 -0.13045237 0.10134331 +v -0.05304674 -0.11954012 0.09838224 +v -0.05480881 -0.11801166 0.10973335 +v -0.00814070 -0.13031816 0.09922554 +v -0.00489902 -0.13003343 0.10386886 +v -0.02042815 -0.12799764 0.10973331 +v -0.00731346 -0.13041308 0.09838220 +v -0.04816403 -0.12176905 0.09838223 +v -0.05304674 -0.11881682 0.10973334 +v -0.00851732 -0.13034763 0.09838220 +v -0.02232474 -0.12772598 0.10973331 +v -0.02042815 -0.12867511 0.09838221 +v -0.01268712 -0.12977812 0.09838220 +v -0.00935801 -0.13024616 0.09838220 +v -0.04655665 -0.12238765 0.09838223 +v -0.04705433 -0.12138614 0.10973333 +v -0.02857944 -0.12681936 0.10973331 +v -0.02857944 -0.12742482 0.09838221 +v -0.02857944 -0.12716954 0.10339332 +v -0.04408839 -0.12330410 0.09838223 +v -0.04297869 -0.12289827 0.10973333 +v -0.03048275 -0.12637095 0.10973332 +v -0.03352939 -0.12636109 0.09838222 +v -0.03673072 -0.12560502 0.09838222 +v -0.03673072 -0.12481300 0.10973332 +f 1 2 8 +f 1 8 15 +f 1 15 14 +f 1 14 9 +f 1 9 3 +f 1 3 11 +f 1 11 17 +f 1 17 24 +f 1 24 30 +f 1 30 37 +f 1 37 42 +f 1 42 46 +f 1 46 43 +f 1 43 38 +f 1 38 32 +f 1 32 27 +f 1 27 19 +f 1 19 12 +f 1 12 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 2 +f 2 7 8 +f 3 9 10 +f 3 10 11 +f 4 12 18 +f 4 18 22 +f 4 22 13 +f 4 13 7 +f 4 7 6 +f 4 6 5 +f 7 13 21 +f 7 21 28 +f 7 28 31 +f 7 31 35 +f 7 35 34 +f 7 34 33 +f 7 33 39 +f 7 39 44 +f 7 44 45 +f 7 45 41 +f 7 41 36 +f 7 36 29 +f 7 29 23 +f 7 23 16 +f 7 16 10 +f 7 10 9 +f 7 9 14 +f 7 14 15 +f 7 15 8 +f 10 16 17 +f 10 17 11 +f 12 19 20 +f 12 20 18 +f 13 22 20 +f 13 20 21 +f 16 23 17 +f 17 23 24 +f 18 20 22 +f 19 25 26 +f 19 26 20 +f 19 27 25 +f 20 26 25 +f 20 25 21 +f 21 25 28 +f 23 29 30 +f 23 30 24 +f 25 31 28 +f 25 27 31 +f 27 32 33 +f 27 33 34 +f 27 34 35 +f 27 35 31 +f 29 36 37 +f 29 37 30 +f 32 38 33 +f 33 38 40 +f 33 40 39 +f 36 41 37 +f 37 41 42 +f 38 43 44 +f 38 44 40 +f 39 40 44 +f 41 45 42 +f 42 45 46 +f 43 46 45 +f 43 45 44 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_81.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_81.obj new file mode 100644 index 0000000000000000000000000000000000000000..5fbc567cca9b9c546304df9ddb6818f6db36da6a --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_81.obj @@ -0,0 +1,118 @@ +# https://github.com/mikedh/trimesh +v -0.10522588 0.05584744 0.10973399 +v -0.10589857 0.05584748 0.09838289 +v -0.11764330 0.05584744 0.10973399 +v -0.11595658 -0.02744756 0.10973368 +v -0.11827115 0.05584748 0.09838289 +v -0.11682859 -0.02744752 0.09838258 +v -0.11771056 0.05584744 0.10857177 +v -0.11813162 0.05482807 0.10973398 +v -0.12699372 -0.02744756 0.10973368 +v -0.11955175 0.05312372 0.09838288 +v -0.12761411 -0.02744752 0.09838258 +v -0.11893138 0.05312368 0.10973398 +v -0.12802022 -0.02024671 0.10973371 +v -0.12190120 0.04804317 0.09838286 +v -0.12816969 -0.02345974 0.09838259 +v -0.12160222 0.04704822 0.10973395 +v -0.12926095 -0.01529660 0.09838262 +v -0.12860321 -0.02024667 0.09838261 +v -0.12819213 -0.01835475 0.10973371 +v -0.13061132 -0.00082966 0.10030824 +v -0.13067361 -0.00186534 0.09838267 +v -0.12347330 0.04396567 0.09838284 +v -0.12308215 0.04297073 0.10973394 +v -0.12884240 -0.01019161 0.10973374 +v -0.12931328 0.00416931 0.10973380 +v -0.13061132 0.00117646 0.10030824 +v -0.13067611 0.00095629 0.09838268 +v -0.12927840 -0.00388781 0.10973377 +v -0.12571811 0.03681375 0.09838282 +v -0.12493827 0.03681371 0.10973392 +v -0.12810990 0.02051190 0.10973386 +v -0.13067611 0.00222031 0.09838269 +v -0.12647551 0.03360884 0.09838280 +v -0.12648797 0.03055884 0.10973389 +v -0.12784831 0.02240386 0.10973386 +v -0.12872030 0.02051194 0.09838276 +v -0.12962719 0.01231618 0.09838273 +v -0.13038459 0.00531920 0.09838270 +v -0.12756925 0.02865877 0.09838279 +v -0.12693643 0.02865873 0.10973389 +f 1 2 5 +f 1 5 7 +f 1 7 3 +f 1 3 8 +f 1 8 12 +f 1 12 16 +f 1 16 23 +f 1 23 30 +f 1 30 34 +f 1 34 40 +f 1 40 35 +f 1 35 31 +f 1 31 25 +f 1 25 28 +f 1 28 24 +f 1 24 19 +f 1 19 13 +f 1 13 9 +f 1 9 4 +f 1 4 2 +f 2 4 6 +f 2 6 11 +f 2 11 15 +f 2 15 18 +f 2 18 17 +f 2 17 21 +f 2 21 27 +f 2 27 32 +f 2 32 38 +f 2 38 37 +f 2 37 36 +f 2 36 39 +f 2 39 33 +f 2 33 29 +f 2 29 22 +f 2 22 14 +f 2 14 10 +f 2 10 5 +f 3 7 8 +f 4 9 11 +f 4 11 6 +f 5 10 8 +f 5 8 7 +f 8 10 12 +f 9 13 11 +f 10 14 12 +f 11 13 15 +f 12 14 16 +f 13 17 18 +f 13 18 15 +f 13 19 20 +f 13 20 21 +f 13 21 17 +f 14 22 16 +f 16 22 23 +f 19 24 20 +f 20 25 26 +f 20 26 32 +f 20 32 27 +f 20 27 21 +f 20 24 28 +f 20 28 25 +f 22 29 23 +f 23 29 30 +f 25 31 26 +f 26 31 32 +f 29 33 34 +f 29 34 30 +f 31 35 36 +f 31 36 37 +f 31 37 38 +f 31 38 32 +f 33 39 40 +f 33 40 34 +f 35 40 39 +f 35 39 36 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_82.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_82.obj new file mode 100644 index 0000000000000000000000000000000000000000..038a19155a530c04d27b2aa7d88903e758459c87 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_82.obj @@ -0,0 +1,85 @@ +# https://github.com/mikedh/trimesh +v 0.02189403 -0.00401604 0.21682725 +v 0.01873414 0.00140246 0.21398031 +v 0.02077693 0.00386194 0.21682727 +v 0.00683510 -0.01735052 0.21682720 +v 0.00417413 -0.02634151 0.21682472 +v 0.00255496 -0.03506642 0.20257040 +v 0.00115858 -0.04140786 0.19222793 +v 0.00119937 -0.04144587 0.19199211 +v 0.00256751 -0.03881806 0.19199212 +v 0.00268361 -0.03678206 0.19199212 +v 0.00221606 -0.03085321 0.19199215 +v 0.00683510 0.00433974 0.21113335 +v 0.00683510 0.01235345 0.21521055 +v 0.00981300 0.01235344 0.21682731 +v 0.00174851 -0.02972934 0.19199215 +v 0.00683510 0.01402025 0.21682731 +v -0.01016308 -0.01126422 0.21682478 +v -0.00422297 -0.02633066 0.21682472 +v 0.00011992 -0.02634151 0.21682472 +v 0.00011992 -0.03352450 0.20825950 +v 0.00141903 -0.03351907 0.20825950 +v -0.00117918 -0.04140786 0.19222793 +v -0.00121684 -0.04144587 0.19199211 +v 0.00011992 -0.02972934 0.19199215 +v -0.00175656 -0.02973477 0.19199215 +v -0.00268853 -0.03718384 0.19471267 +v -0.00265401 -0.03677663 0.19199212 +v -0.00250339 -0.03506642 0.20257040 +v -0.00139570 -0.03352450 0.20825950 +f 1 2 3 +f 1 3 14 +f 1 14 16 +f 1 16 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 10 +f 1 10 11 +f 1 11 2 +f 2 12 13 +f 2 13 14 +f 2 14 3 +f 2 11 15 +f 2 15 12 +f 4 16 17 +f 4 17 18 +f 4 18 19 +f 4 19 5 +f 5 19 29 +f 5 29 20 +f 5 20 21 +f 5 21 6 +f 6 21 7 +f 7 22 23 +f 7 23 8 +f 7 21 20 +f 7 20 29 +f 7 29 22 +f 8 23 27 +f 8 27 25 +f 8 25 24 +f 8 24 15 +f 8 15 11 +f 8 11 10 +f 8 10 9 +f 12 15 13 +f 13 17 16 +f 13 16 14 +f 13 15 24 +f 13 24 25 +f 13 25 17 +f 17 26 18 +f 17 25 27 +f 17 27 26 +f 18 26 28 +f 18 28 29 +f 18 29 19 +f 22 28 23 +f 22 29 28 +f 23 28 26 +f 23 26 27 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_83.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_83.obj new file mode 100644 index 0000000000000000000000000000000000000000..30f4dfc86837e0cd7f158cfc85891aca48235bbd --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_83.obj @@ -0,0 +1,139 @@ +# https://github.com/mikedh/trimesh +v -0.03196567 -0.02984240 0.22695060 +v -0.03123086 -0.02984241 0.22904681 +v -0.03095745 -0.02984238 0.22124701 +v -0.03342958 -0.03131828 0.22225603 +v -0.03342958 -0.03131829 0.22573313 +v -0.07201528 -0.07790474 0.22786706 +v -0.03247262 -0.03270408 0.23124250 +v -0.02735179 -0.02984242 0.23250023 +v -0.07201528 -0.08258030 0.23546316 +v -0.02871886 -0.02984238 0.22001534 +v -0.07201528 -0.08329566 0.21682938 +v -0.07201528 -0.07836663 0.22104787 +v -0.07201528 -0.08657988 0.24064090 +v -0.07201528 -0.08687846 0.24102698 +v -0.02138792 -0.02984242 0.23273709 +v -0.02044236 -0.02984237 0.21892579 +v -0.02858215 -0.03656276 0.21833835 +v -0.06930961 -0.08427584 0.21682938 +v -0.07201528 -0.08739098 0.21682937 +v -0.07201528 -0.08739107 0.24098434 +v -0.07064251 -0.08739106 0.24089671 +v -0.02037970 -0.02984242 0.23269920 +v -0.01407976 -0.02984239 0.22210445 +v -0.02052780 -0.03611211 0.22078511 +v -0.06175651 -0.08739098 0.21743572 +v -0.06382422 -0.08739098 0.21682937 +v -0.06787418 -0.08739106 0.23955607 +v -0.02274360 -0.03656281 0.23230598 +v -0.01626139 -0.02984242 0.23097959 +v -0.01382344 -0.02984240 0.22531152 +v -0.01590823 -0.03309837 0.22265396 +v -0.02331322 -0.04222976 0.22188175 +v -0.05927869 -0.08739101 0.22592952 +v -0.04065229 -0.06529202 0.22301623 +v -0.06347106 -0.08739105 0.23716380 +v -0.02420751 -0.04104682 0.23171618 +v -0.01701328 -0.03176897 0.23026190 +v -0.01476900 -0.02984241 0.22845466 +v -0.01382344 -0.02984240 0.22605527 +v -0.01590823 -0.03309838 0.22475490 +v -0.05914199 -0.08739102 0.22736016 +v -0.04065229 -0.06529202 0.22387128 +v -0.06140905 -0.08739104 0.23497521 +v -0.02339296 -0.04213402 0.22736033 +v -0.01410824 -0.02984240 0.22691981 +v -0.03064416 -0.05139497 0.22736029 +v -0.02656572 -0.04621244 0.22736031 +f 1 2 8 +f 1 8 15 +f 1 15 22 +f 1 22 29 +f 1 29 38 +f 1 38 45 +f 1 45 39 +f 1 39 30 +f 1 30 23 +f 1 23 16 +f 1 16 10 +f 1 10 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 7 8 +f 2 6 9 +f 2 9 7 +f 3 10 11 +f 3 11 4 +f 4 11 12 +f 4 12 6 +f 4 6 5 +f 6 12 11 +f 6 11 19 +f 6 19 20 +f 6 20 14 +f 6 14 13 +f 6 13 9 +f 7 9 13 +f 7 13 14 +f 7 14 8 +f 8 14 15 +f 10 16 17 +f 10 17 11 +f 11 18 26 +f 11 26 19 +f 11 17 18 +f 14 20 21 +f 14 21 22 +f 14 22 15 +f 16 23 24 +f 16 24 25 +f 16 25 26 +f 16 26 17 +f 17 26 18 +f 19 26 25 +f 19 25 33 +f 19 33 41 +f 19 41 43 +f 19 43 35 +f 19 35 27 +f 19 27 21 +f 19 21 20 +f 21 27 28 +f 21 28 22 +f 22 28 29 +f 23 30 31 +f 23 31 32 +f 23 32 25 +f 23 25 24 +f 25 32 34 +f 25 34 33 +f 27 35 36 +f 27 36 28 +f 28 36 29 +f 29 37 38 +f 29 36 37 +f 30 39 40 +f 30 40 31 +f 31 34 32 +f 31 40 42 +f 31 42 34 +f 33 34 41 +f 34 42 41 +f 35 43 36 +f 36 44 45 +f 36 45 38 +f 36 38 37 +f 36 43 44 +f 39 45 44 +f 39 44 40 +f 40 44 42 +f 41 42 46 +f 41 46 43 +f 42 44 47 +f 42 47 46 +f 43 46 47 +f 43 47 44 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_84.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_84.obj new file mode 100644 index 0000000000000000000000000000000000000000..6a90efa12fc12587b0a2ef2dc5a6ed926c32216e --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_84.obj @@ -0,0 +1,202 @@ +# https://github.com/mikedh/trimesh +v 0.10747198 0.02898452 0.21682980 +v 0.10544821 -0.00086655 0.21857257 +v 0.10544821 0.00445987 0.21936015 +v 0.10746689 0.02898452 0.21687112 +v 0.11892642 0.02898452 0.21682980 +v 0.10740757 -0.02984237 0.21682958 +v 0.10544821 -0.00394725 0.21844858 +v 0.10544821 0.00655011 0.22736233 +v 0.10678383 0.02898448 0.22736242 +v 0.10682790 0.02898449 0.22634392 +v 0.10722790 0.02898451 0.21942831 +v 0.11825691 0.02898445 0.23562469 +v 0.11901455 0.02866206 0.21682980 +v 0.11858912 -0.02984237 0.21682958 +v 0.10706350 -0.02984238 0.22061675 +v 0.10544821 -0.01001076 0.22123911 +v 0.10544821 -0.00791473 0.21983411 +v 0.10544821 0.00308935 0.23410291 +v 0.10690417 0.02898445 0.23562469 +v 0.11821623 0.02898445 0.23583131 +v 0.11833658 0.02866199 0.23562469 +v 0.11948914 0.02641056 0.21682979 +v 0.11896201 -0.02840279 0.21682959 +v 0.11808064 -0.02984244 0.23562447 +v 0.10669909 -0.02984240 0.22588185 +v 0.10544821 -0.01022959 0.22534229 +v 0.10663637 -0.02984240 0.22729413 +v 0.10990422 0.02898443 0.24125198 +v 0.10544821 -0.00313539 0.23414907 +v 0.10674485 -0.02984244 0.23727740 +v 0.11615010 0.02898443 0.24154367 +v 0.12240106 0.00106240 0.23984687 +v 0.11990101 0.02050822 0.23562466 +v 0.12065356 0.02031251 0.21682976 +v 0.11844505 -0.02840286 0.23562448 +v 0.12051797 -0.02025478 0.21682962 +v 0.11611112 -0.02984246 0.24149726 +v 0.10544821 -0.01022959 0.22574579 +v 0.10667704 -0.02984244 0.23562447 +v 0.11171951 0.02050820 0.24166275 +v 0.11618569 0.02866197 0.24157041 +v 0.11346870 0.02898443 0.24142455 +v 0.10909743 -0.02984246 0.24095033 +v 0.10945167 -0.02984246 0.24117396 +v 0.10986185 -0.02984246 0.24128093 +v 0.10544821 -0.00492621 0.23213394 +v 0.12273835 0.00424107 0.21682971 +v 0.12237902 0.00869224 0.21682972 +v 0.12113493 0.01235445 0.23562463 +v 0.11695689 0.02050820 0.24166275 +v 0.11762301 0.01235443 0.24160437 +v 0.11892472 0.00394730 0.24123243 +v 0.11892812 -0.00369397 0.24123727 +v 0.12240106 -0.00080329 0.23984687 +v 0.12276377 -0.00402211 0.21682968 +v 0.12096713 0.01844106 0.21682976 +v 0.11994508 -0.02025485 0.23562451 +v 0.12180613 -0.01255592 0.21682964 +v 0.11627722 -0.02840288 0.24159936 +v 0.11519076 -0.02984246 0.24162852 +v 0.11175510 -0.02025487 0.24166017 +v 0.12193664 0.01194568 0.21682973 +v 0.12181969 0.01273457 0.21682974 +v 0.11699418 -0.02025487 0.24166017 +v 0.11762470 -0.01210110 0.24160914 +v 0.12114001 -0.01210108 0.23562454 +v 0.12231292 -0.00931399 0.21682966 +v 0.12245699 -0.00805868 0.21682966 +f 1 2 3 +f 1 3 4 +f 1 4 11 +f 1 11 10 +f 1 10 9 +f 1 9 19 +f 1 19 28 +f 1 28 42 +f 1 42 31 +f 1 31 20 +f 1 20 12 +f 1 12 5 +f 1 5 13 +f 1 13 22 +f 1 22 34 +f 1 34 56 +f 1 56 63 +f 1 63 62 +f 1 62 48 +f 1 48 47 +f 1 47 55 +f 1 55 68 +f 1 68 67 +f 1 67 58 +f 1 58 36 +f 1 36 23 +f 1 23 14 +f 1 14 6 +f 1 6 7 +f 1 7 2 +f 2 7 17 +f 2 17 16 +f 2 16 26 +f 2 26 38 +f 2 38 46 +f 2 46 29 +f 2 29 18 +f 2 18 8 +f 2 8 3 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 4 +f 5 12 13 +f 6 14 24 +f 6 24 37 +f 6 37 60 +f 6 60 45 +f 6 45 44 +f 6 44 43 +f 6 43 30 +f 6 30 39 +f 6 39 27 +f 6 27 25 +f 6 25 15 +f 6 15 16 +f 6 16 17 +f 6 17 7 +f 8 18 19 +f 8 19 9 +f 12 20 21 +f 12 21 13 +f 13 21 22 +f 14 23 24 +f 15 25 16 +f 16 25 27 +f 16 27 26 +f 18 28 19 +f 18 29 30 +f 18 30 28 +f 20 31 32 +f 20 32 33 +f 20 33 21 +f 21 33 22 +f 22 33 34 +f 23 35 24 +f 23 36 35 +f 24 35 37 +f 26 27 38 +f 27 39 38 +f 28 40 41 +f 28 41 42 +f 28 30 43 +f 28 43 44 +f 28 44 45 +f 28 45 40 +f 29 46 39 +f 29 39 30 +f 31 42 41 +f 31 41 32 +f 32 47 48 +f 32 48 49 +f 32 49 33 +f 32 41 50 +f 32 50 51 +f 32 51 52 +f 32 52 53 +f 32 53 54 +f 32 54 55 +f 32 55 47 +f 33 49 56 +f 33 56 34 +f 35 57 54 +f 35 54 37 +f 35 36 57 +f 36 58 57 +f 37 59 60 +f 37 54 59 +f 38 39 46 +f 40 50 41 +f 40 45 61 +f 40 61 64 +f 40 64 50 +f 45 60 61 +f 48 62 49 +f 49 62 63 +f 49 63 56 +f 50 64 65 +f 50 65 51 +f 51 65 53 +f 51 53 52 +f 53 65 54 +f 54 65 64 +f 54 64 59 +f 54 57 66 +f 54 66 67 +f 54 67 68 +f 54 68 55 +f 57 58 67 +f 57 67 66 +f 59 64 60 +f 60 64 61 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_85.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_85.obj new file mode 100644 index 0000000000000000000000000000000000000000..aad9388bc7665741d151720bd3877c7ddcea226c --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_85.obj @@ -0,0 +1,223 @@ +# https://github.com/mikedh/trimesh +v 0.11859005 -0.02984884 0.21682958 +v 0.11807805 -0.02984891 0.23562388 +v 0.11637433 -0.03656465 0.23562386 +v 0.11837818 -0.03064617 0.21682958 +v 0.10740555 -0.02984884 0.21682958 +v 0.11610950 -0.02984893 0.24149725 +v 0.11533268 -0.03656467 0.24100901 +v 0.11455586 -0.04177000 0.24024492 +v 0.11467061 -0.04211356 0.23562384 +v 0.11675833 -0.03656458 0.21682956 +v 0.10733934 -0.02984884 0.21754238 +v 0.07349893 -0.08233658 0.21682939 +v 0.07349893 -0.08154573 0.21730786 +v 0.07349893 -0.08111141 0.21766182 +v 0.07349893 -0.07823973 0.22000776 +v 0.11519144 -0.02984893 0.24162907 +v 0.10808085 -0.05287431 0.24135803 +v 0.10681410 -0.05844913 0.24061103 +v 0.11018622 -0.05287429 0.23562380 +v 0.11311256 -0.04619096 0.23562382 +v 0.11482951 -0.04254132 0.21682953 +v 0.11332883 -0.04661873 0.21682952 +v 0.10706127 -0.02984885 0.22061578 +v 0.07349893 -0.09606623 0.21682934 +v 0.07349893 -0.07787673 0.22387208 +v 0.10669493 -0.02984887 0.22588131 +v 0.10985960 -0.02984893 0.24128243 +v 0.11010236 -0.03656467 0.24176820 +v 0.10225908 -0.06111340 0.24155084 +v 0.09933716 -0.06917097 0.24079651 +v 0.09794241 -0.07335210 0.23984688 +v 0.10484997 -0.06320070 0.23562376 +v 0.10717603 -0.05912977 0.23562377 +v 0.10965657 -0.05478651 0.21682949 +v 0.11057022 -0.05287422 0.21682950 +v 0.07655768 -0.09606623 0.21682934 +v 0.07349893 -0.09606631 0.24064018 +v 0.07349893 -0.07766932 0.22833692 +v 0.10663314 -0.02984887 0.22729473 +v 0.10944912 -0.02984893 0.24117503 +v 0.07349893 -0.08898758 0.24168501 +v 0.08518219 -0.08500741 0.24119435 +v 0.09330353 -0.07657384 0.24091609 +v 0.09025803 -0.08198013 0.24029358 +v 0.09052727 -0.08226535 0.23562369 +v 0.09503815 -0.07795450 0.21682940 +v 0.09832641 -0.07387709 0.21682942 +v 0.10062599 -0.07053867 0.21682943 +v 0.10155729 -0.06917089 0.21682944 +v 0.10424087 -0.06502218 0.21682945 +v 0.10517218 -0.06357661 0.21682946 +v 0.10674789 -0.06062713 0.21682947 +v 0.10734375 -0.05950568 0.21682947 +v 0.07559547 -0.09606630 0.23562364 +v 0.07804953 -0.09486700 0.21682934 +v 0.07753753 -0.09452350 0.23562364 +v 0.07462003 -0.09606631 0.24019101 +v 0.08216317 -0.09014143 0.24032529 +v 0.07349893 -0.09571627 0.24082570 +v 0.07349893 -0.08206439 0.23558951 +v 0.10601520 -0.03246780 0.23976404 +v 0.10674347 -0.02984891 0.23727653 +v 0.10667286 -0.02984891 0.23562388 +v 0.10909602 -0.02984893 0.24095045 +v 0.07349893 -0.08639463 0.24123584 +v 0.07349893 -0.09336966 0.24125291 +v 0.07667685 -0.09316870 0.24089162 +v 0.08655929 -0.08634276 0.23562367 +v 0.09095982 -0.08268663 0.21682939 +v 0.08154083 -0.09190455 0.21682935 +v 0.08248096 -0.09044609 0.23562366 +v 0.07349893 -0.09441980 0.24106249 +v 0.08985196 -0.08380808 0.21682938 +v 0.08283406 -0.09078959 0.21682936 +v 0.08691239 -0.08676404 0.21682937 +f 1 2 3 +f 1 3 4 +f 1 4 10 +f 1 10 21 +f 1 21 22 +f 1 22 35 +f 1 35 34 +f 1 34 53 +f 1 53 52 +f 1 52 51 +f 1 51 50 +f 1 50 49 +f 1 49 48 +f 1 48 47 +f 1 47 46 +f 1 46 69 +f 1 69 73 +f 1 73 75 +f 1 75 74 +f 1 74 70 +f 1 70 55 +f 1 55 36 +f 1 36 24 +f 1 24 12 +f 1 12 5 +f 1 5 11 +f 1 11 23 +f 1 23 26 +f 1 26 39 +f 1 39 63 +f 1 63 62 +f 1 62 64 +f 1 64 40 +f 1 40 27 +f 1 27 16 +f 1 16 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 2 8 3 +f 3 8 9 +f 3 9 10 +f 3 10 4 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 5 15 11 +f 6 16 17 +f 6 17 7 +f 7 17 8 +f 8 17 18 +f 8 18 19 +f 8 19 20 +f 8 20 9 +f 9 21 10 +f 9 20 22 +f 9 22 21 +f 11 15 23 +f 12 24 37 +f 12 37 59 +f 12 59 72 +f 12 72 66 +f 12 66 41 +f 12 41 65 +f 12 65 60 +f 12 60 38 +f 12 38 25 +f 12 25 15 +f 12 15 14 +f 12 14 13 +f 15 25 26 +f 15 26 23 +f 16 27 28 +f 16 28 29 +f 16 29 17 +f 17 29 18 +f 18 29 30 +f 18 30 31 +f 18 31 32 +f 18 32 33 +f 18 33 19 +f 19 34 35 +f 19 35 22 +f 19 22 20 +f 19 33 34 +f 24 36 54 +f 24 54 57 +f 24 57 37 +f 25 38 39 +f 25 39 26 +f 27 40 41 +f 27 41 28 +f 28 41 29 +f 29 41 42 +f 29 42 43 +f 29 43 30 +f 30 43 31 +f 31 43 44 +f 31 44 45 +f 31 45 46 +f 31 46 47 +f 31 47 48 +f 31 48 49 +f 31 49 32 +f 32 50 51 +f 32 51 33 +f 32 49 50 +f 33 51 52 +f 33 52 53 +f 33 53 34 +f 36 55 56 +f 36 56 54 +f 37 57 58 +f 37 58 59 +f 38 60 61 +f 38 61 62 +f 38 62 63 +f 38 63 39 +f 40 64 65 +f 40 65 41 +f 41 66 42 +f 42 66 67 +f 42 67 58 +f 42 58 44 +f 42 44 43 +f 44 58 68 +f 44 68 45 +f 45 69 46 +f 45 68 69 +f 54 56 58 +f 54 58 57 +f 55 70 71 +f 55 71 56 +f 56 71 58 +f 58 71 68 +f 58 67 59 +f 59 67 72 +f 60 65 61 +f 61 64 62 +f 61 65 64 +f 66 72 67 +f 68 71 73 +f 68 73 69 +f 70 74 71 +f 71 75 73 +f 71 74 75 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_86.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_86.obj new file mode 100644 index 0000000000000000000000000000000000000000..39769951b00d021448d5ee445993bb4c557fc644 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_86.obj @@ -0,0 +1,130 @@ +# https://github.com/mikedh/trimesh +v -0.06298497 -0.10256282 0.08722422 +v -0.06298497 -0.10258891 0.08686294 +v -0.06298497 -0.11565423 0.08722418 +v 0.00011866 -0.12030303 0.08722416 +v 0.00011866 -0.12032332 0.08686288 +v 0.00011866 -0.12105654 0.07623962 +v -0.06298497 -0.10342647 0.07623968 +v -0.06298497 -0.11566583 0.08708332 +v -0.06123690 -0.11653530 0.08722417 +v 0.00011866 -0.13134828 0.08722412 +v 0.00011866 -0.13216844 0.07623957 +v -0.06298497 -0.11639615 0.07623963 +v -0.06298497 -0.11625994 0.07859975 +v -0.06120602 -0.11719027 0.07859975 +v -0.05412724 -0.12070876 0.07859974 +v -0.05260153 -0.12072908 0.08722416 +v -0.00375428 -0.13133669 0.08722412 +v -0.00410636 -0.13215974 0.07623957 +v -0.06120602 -0.11734967 0.07623963 +v -0.06298497 -0.11630921 0.07777935 +v -0.05430637 -0.12079279 0.07623962 +v -0.05005046 -0.12266798 0.07859973 +v -0.04945747 -0.12239556 0.08539410 +v -0.04929070 -0.12231732 0.08722415 +v -0.00414343 -0.13133378 0.08722412 +v -0.01226610 -0.13160328 0.07623958 +v -0.01287144 -0.13077442 0.08722412 +v -0.05139085 -0.12219266 0.07623961 +v -0.05022959 -0.12274912 0.07623961 +v -0.04489271 -0.12473152 0.07623960 +v -0.04489271 -0.12456923 0.07859972 +v -0.04565865 -0.12360994 0.08722415 +v -0.01940047 -0.13078017 0.07623958 +v -0.01684322 -0.13039764 0.08722412 +v -0.01734355 -0.13048458 0.08512527 +v -0.03906168 -0.12642410 0.07623960 +v -0.03673297 -0.12642414 0.08686286 +v -0.03673297 -0.12639806 0.08722414 +v -0.02118561 -0.13044398 0.07623958 +v -0.02857941 -0.12805296 0.08722413 +v -0.03673297 -0.12706751 0.07623959 +v -0.03673297 -0.12693421 0.07859971 +v -0.03637471 -0.12647631 0.08722414 +v -0.02337842 -0.12996867 0.07623958 +f 1 2 7 +f 1 7 12 +f 1 12 20 +f 1 20 13 +f 1 13 8 +f 1 8 3 +f 1 3 9 +f 1 9 16 +f 1 16 24 +f 1 24 32 +f 1 32 38 +f 1 38 43 +f 1 43 40 +f 1 40 34 +f 1 34 27 +f 1 27 25 +f 1 25 17 +f 1 17 10 +f 1 10 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 7 +f 3 8 9 +f 4 10 11 +f 4 11 6 +f 4 6 5 +f 6 11 18 +f 6 18 26 +f 6 26 33 +f 6 33 39 +f 6 39 44 +f 6 44 41 +f 6 41 36 +f 6 36 30 +f 6 30 29 +f 6 29 28 +f 6 28 21 +f 6 21 19 +f 6 19 12 +f 6 12 7 +f 8 13 14 +f 8 14 9 +f 9 14 15 +f 9 15 16 +f 10 17 18 +f 10 18 11 +f 12 19 20 +f 13 20 19 +f 13 19 14 +f 14 19 21 +f 14 21 15 +f 15 21 22 +f 15 22 23 +f 15 23 16 +f 16 23 24 +f 17 25 18 +f 18 25 27 +f 18 27 26 +f 21 28 22 +f 22 28 29 +f 22 29 30 +f 22 30 31 +f 22 31 23 +f 23 31 24 +f 24 31 32 +f 26 27 34 +f 26 34 35 +f 26 35 33 +f 30 36 37 +f 30 37 31 +f 31 37 38 +f 31 38 32 +f 33 35 39 +f 34 40 35 +f 35 40 39 +f 36 41 42 +f 36 42 37 +f 37 42 39 +f 37 39 43 +f 37 43 38 +f 39 40 43 +f 39 42 44 +f 41 44 42 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_87.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_87.obj new file mode 100644 index 0000000000000000000000000000000000000000..352d85969f8d28729d99f4024727b18f78ee1e72 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_87.obj @@ -0,0 +1,157 @@ +# https://github.com/mikedh/trimesh +v -0.00410471 0.13369785 0.06207000 +v -0.00410471 0.13325408 0.06545745 +v 0.00405630 0.13321494 0.06545745 +v 0.00405630 0.13362886 0.06207000 +v -0.00410471 0.13253816 0.05567965 +v -0.01225853 0.13218016 0.05592981 +v -0.02041953 0.13163760 0.05643838 +v -0.01225853 0.13304900 0.06207000 +v -0.00744526 0.13301916 0.06545745 +v 0.01220293 0.13260896 0.06545745 +v 0.01220293 0.13298188 0.06207000 +v 0.02036394 0.13157794 0.05652935 +v 0.01220293 0.13210372 0.05599390 +v 0.00405630 0.13247104 0.05572410 +v 0.02036394 0.12650837 0.05505114 +v -0.02041953 0.12650837 0.05489815 +v -0.03123861 0.12671346 0.05567447 +v -0.02664086 0.13108757 0.05716611 +v -0.01593673 0.13218573 0.06545745 +v -0.01225853 0.13263508 0.06545745 +v -0.02041953 0.13201420 0.06206999 +v 0.01702338 0.13200674 0.06545744 +v 0.02036394 0.13196200 0.06206999 +v 0.02653498 0.13102231 0.05726224 +v 0.04215295 0.12466622 0.05583985 +v 0.03667876 0.12553324 0.05557419 +v 0.04215295 0.12018211 0.05574059 +v 0.04215295 0.11839965 0.05574058 +v 0.03667876 0.11967497 0.05557417 +v -0.03123861 0.12021194 0.05568477 +v -0.03123861 0.12961087 0.06206999 +v -0.02622419 0.13098873 0.06206999 +v -0.03030469 0.12987190 0.06206999 +v -0.02056321 0.13159841 0.06545744 +v 0.02049325 0.13157044 0.06545744 +v 0.02372604 0.13099432 0.06545744 +v 0.02611831 0.13093467 0.06206999 +v 0.03019881 0.12987190 0.06206999 +v 0.03667876 0.12805959 0.06206998 +v 0.04215295 0.12638528 0.06206997 +v 0.04215295 0.12549780 0.05798065 +v 0.04215295 0.11485148 0.06206993 +v -0.03123861 0.11793536 0.06206994 +v -0.03123861 0.12950831 0.06326599 +v -0.02692822 0.13035665 0.06545744 +v -0.02511785 0.13072955 0.06545744 +v -0.03123861 0.12924913 0.06545743 +v 0.02499760 0.13069972 0.06545744 +v 0.02914276 0.12970221 0.06545744 +v 0.03667876 0.12776127 0.06545743 +v 0.04215295 0.12609068 0.06545742 +v 0.04215295 0.11465197 0.06545738 +v -0.03123861 0.11781789 0.06545739 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 2 +f 2 9 20 +f 2 20 19 +f 2 19 34 +f 2 34 46 +f 2 46 45 +f 2 45 47 +f 2 47 53 +f 2 53 52 +f 2 52 51 +f 2 51 50 +f 2 50 49 +f 2 49 48 +f 2 48 36 +f 2 36 35 +f 2 35 22 +f 2 22 10 +f 2 10 3 +f 3 10 4 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 14 +f 4 14 5 +f 5 14 15 +f 5 15 16 +f 5 16 6 +f 6 16 17 +f 6 17 7 +f 7 17 18 +f 7 18 8 +f 8 19 20 +f 8 20 9 +f 8 18 21 +f 8 21 19 +f 10 22 11 +f 11 22 23 +f 11 23 24 +f 11 24 12 +f 12 24 25 +f 12 25 26 +f 12 26 13 +f 13 26 15 +f 13 15 14 +f 15 26 27 +f 15 27 28 +f 15 28 29 +f 15 29 16 +f 16 30 17 +f 16 29 30 +f 17 30 43 +f 17 43 53 +f 17 53 47 +f 17 47 44 +f 17 44 31 +f 17 31 18 +f 18 32 21 +f 18 31 33 +f 18 33 32 +f 19 21 34 +f 21 32 34 +f 22 35 23 +f 23 35 36 +f 23 36 37 +f 23 37 24 +f 24 37 38 +f 24 38 39 +f 24 39 40 +f 24 40 41 +f 24 41 25 +f 25 41 40 +f 25 40 51 +f 25 51 52 +f 25 52 42 +f 25 42 28 +f 25 28 27 +f 25 27 26 +f 28 42 30 +f 28 30 29 +f 30 42 43 +f 31 44 33 +f 32 45 46 +f 32 46 34 +f 32 33 44 +f 32 44 47 +f 32 47 45 +f 36 48 37 +f 37 48 49 +f 37 49 50 +f 37 50 38 +f 38 50 39 +f 39 50 51 +f 39 51 40 +f 42 52 43 +f 43 52 53 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_88.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_88.obj new file mode 100644 index 0000000000000000000000000000000000000000..b3bd199c35245d8a1d9258294c1a8c8370a2a9da --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_88.obj @@ -0,0 +1,190 @@ +# https://github.com/mikedh/trimesh +v 0.10718597 -0.07952546 0.06011362 +v 0.10608835 -0.08149449 0.05842090 +v 0.10718597 -0.07952546 0.05984969 +v 0.10718597 -0.07862573 0.06545667 +v 0.10560703 -0.08086208 0.06545666 +v 0.10398113 -0.08285719 0.06545666 +v 0.10176827 -0.08541954 0.06545665 +v 0.09930887 -0.08826224 0.06545664 +v 0.09824646 -0.08998350 0.06206922 +v 0.09836386 -0.09011388 0.05733936 +v 0.10608835 -0.08149449 0.05784244 +v 0.10718597 -0.07817583 0.05692267 +v 0.10718597 -0.05826388 0.06545675 +v 0.09397921 -0.09380421 0.06545662 +v 0.09424335 -0.09405196 0.06206920 +v 0.09332181 -0.09314566 0.05623106 +v 0.10142782 -0.08472187 0.05650493 +v 0.09029305 -0.09826384 0.05729171 +v 0.10718597 -0.07733475 0.05662006 +v 0.04722141 -0.11243828 0.06545655 +v 0.10718597 -0.05844642 0.06206934 +v 0.04722141 -0.11246436 0.06495052 +v 0.09184265 -0.09594928 0.06545661 +v 0.09016392 -0.09814650 0.06206919 +v 0.10194436 -0.07733474 0.05532126 +v 0.08491643 -0.10130215 0.05650190 +v 0.06951442 -0.11028013 0.05569519 +v 0.07746782 -0.10178461 0.05538169 +v 0.08171747 -0.10599653 0.05873733 +v 0.08171747 -0.10599652 0.05775008 +v 0.10718597 -0.06953035 0.05597316 +v 0.04722141 -0.12455890 0.06545650 +v 0.10718597 -0.05855074 0.06191356 +v 0.10515507 -0.06358414 0.05695945 +v 0.04735641 -0.11339669 0.05712297 +v 0.04722141 -0.11343580 0.05724998 +v 0.04722141 -0.11333800 0.05779668 +v 0.04722141 -0.11262083 0.06206914 +v 0.08983522 -0.09782704 0.06545660 +v 0.08556797 -0.10166078 0.06545659 +v 0.10718597 -0.06239750 0.05638000 +v 0.04722141 -0.11788241 0.05575272 +v 0.07746782 -0.10740483 0.05663682 +v 0.06692590 -0.11502016 0.05674692 +v 0.06116187 -0.11642195 0.05587972 +v 0.05337869 -0.11859310 0.05581820 +v 0.08101898 -0.10544888 0.06545657 +v 0.07916416 -0.10681807 0.06545657 +v 0.07739739 -0.10810251 0.06545656 +v 0.07347645 -0.11077569 0.06545655 +v 0.07101119 -0.11244480 0.06545655 +v 0.07131641 -0.11259475 0.06206914 +v 0.06723698 -0.11520925 0.06206913 +v 0.04722141 -0.12487185 0.06206909 +v 0.05092517 -0.12309842 0.06545651 +v 0.04722141 -0.11360532 0.05705451 +v 0.04722141 -0.12381559 0.05617340 +v 0.06116187 -0.11833884 0.06206912 +v 0.05090756 -0.12309839 0.05677468 +v 0.06860462 -0.11399003 0.06545654 +v 0.06693177 -0.11502670 0.06545654 +v 0.06116187 -0.11803893 0.06545653 +v 0.05128322 -0.12326793 0.06206910 +v 0.05259803 -0.12230950 0.06545651 +f 1 2 11 +f 1 11 3 +f 1 3 12 +f 1 12 19 +f 1 19 31 +f 1 31 41 +f 1 41 33 +f 1 33 21 +f 1 21 13 +f 1 13 4 +f 1 4 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 11 +f 2 4 5 +f 3 11 12 +f 4 13 20 +f 4 20 32 +f 4 32 55 +f 4 55 64 +f 4 64 62 +f 4 62 61 +f 4 61 60 +f 4 60 51 +f 4 51 50 +f 4 50 49 +f 4 49 48 +f 4 48 47 +f 4 47 40 +f 4 40 39 +f 4 39 23 +f 4 23 14 +f 4 14 8 +f 4 8 7 +f 4 7 6 +f 4 6 5 +f 8 14 9 +f 9 14 15 +f 9 15 10 +f 10 16 17 +f 10 17 11 +f 10 15 18 +f 10 18 16 +f 11 17 12 +f 12 17 19 +f 13 21 22 +f 13 22 20 +f 14 23 15 +f 15 23 24 +f 15 24 18 +f 16 25 17 +f 16 18 26 +f 16 26 27 +f 16 27 28 +f 16 28 25 +f 17 25 19 +f 18 24 29 +f 18 29 30 +f 18 30 26 +f 19 25 31 +f 20 22 38 +f 20 38 37 +f 20 37 36 +f 20 36 56 +f 20 56 42 +f 20 42 57 +f 20 57 54 +f 20 54 32 +f 21 33 34 +f 21 34 35 +f 21 35 36 +f 21 36 37 +f 21 37 38 +f 21 38 22 +f 23 39 24 +f 24 39 40 +f 24 40 29 +f 25 41 31 +f 25 28 42 +f 25 42 41 +f 26 30 43 +f 26 43 27 +f 27 44 45 +f 27 45 46 +f 27 46 28 +f 27 43 44 +f 28 46 42 +f 29 40 47 +f 29 47 48 +f 29 48 49 +f 29 49 50 +f 29 50 51 +f 29 51 52 +f 29 52 53 +f 29 53 30 +f 30 53 44 +f 30 44 43 +f 32 54 55 +f 33 41 34 +f 34 41 35 +f 35 56 36 +f 35 41 56 +f 41 42 56 +f 42 46 57 +f 44 53 58 +f 44 58 59 +f 44 59 45 +f 45 59 57 +f 45 57 46 +f 51 60 52 +f 52 60 53 +f 53 60 61 +f 53 61 62 +f 53 62 58 +f 54 57 59 +f 54 59 63 +f 54 63 55 +f 55 63 64 +f 58 62 63 +f 58 63 59 +f 62 64 63 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_89.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_89.obj new file mode 100644 index 0000000000000000000000000000000000000000..e8fec1ac43f0f09d3e058c867259526900b32e6b --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_89.obj @@ -0,0 +1,274 @@ +# https://github.com/mikedh/trimesh +v -0.06298498 -0.11639487 0.07623963 +v -0.06298498 -0.11625730 0.07859975 +v -0.06620476 -0.11457592 0.07859976 +v -0.06631687 -0.11464468 0.07623964 +v -0.06298498 -0.10341757 0.07623968 +v -0.06298498 -0.11566120 0.08708332 +v -0.06571899 -0.11427788 0.08722418 +v -0.07028400 -0.11191626 0.07859977 +v -0.07039610 -0.11199267 0.07623965 +v -0.06748147 -0.11388806 0.07623964 +v -0.06298498 -0.10255399 0.08722422 +v -0.11518045 -0.03831713 0.07623992 +v -0.11495625 -0.03831714 0.07830113 +v -0.11428364 -0.03831717 0.08686318 +v -0.06298498 -0.11564592 0.08722418 +v -0.06976709 -0.11162587 0.08722419 +v -0.07577695 -0.10754467 0.08686292 +v -0.07618798 -0.10783506 0.07859978 +v -0.07630009 -0.10791148 0.07623966 +v -0.11427741 -0.03831717 0.08696855 +v -0.11426496 -0.03831717 0.08722446 +v -0.12660229 -0.03831713 0.07623992 +v -0.07575826 -0.10752938 0.08722421 +v -0.07985618 -0.10453345 0.08686294 +v -0.08026721 -0.10483913 0.07859979 +v -0.08037931 -0.10492318 0.07623967 +v -0.07746469 -0.10706314 0.07623967 +v -0.12590478 -0.03831717 0.08722446 +v -0.12657737 -0.03831713 0.07674850 +v -0.12467166 -0.04472170 0.07623990 +v -0.07983749 -0.10451816 0.08722422 +v -0.08473880 -0.10045989 0.08686295 +v -0.08519966 -0.10084963 0.07623969 +v -0.12592968 -0.03831717 0.08684813 +v -0.12449106 -0.04472171 0.07860002 +v -0.12364408 -0.04527966 0.08722443 +v -0.12647151 -0.03831714 0.07860004 +v -0.12337628 -0.04810742 0.07623988 +v -0.12248570 -0.04900164 0.08398475 +v -0.08472012 -0.10044461 0.08722423 +v -0.08862497 -0.09695954 0.08722424 +v -0.08927889 -0.09724228 0.07623970 +v -0.08636426 -0.09982550 0.07623969 +v -0.12231755 -0.04870359 0.08722442 +v -0.12277218 -0.04965888 0.07623988 +v -0.12268499 -0.04946018 0.07860000 +v -0.12143942 -0.05257075 0.07623987 +v -0.12081664 -0.05353373 0.07859998 +v -0.12076059 -0.05218101 0.08678894 +v -0.12070454 -0.05221922 0.08722441 +v -0.08879934 -0.09679904 0.08722424 +v -0.08881803 -0.09681433 0.08686296 +v -0.09293463 -0.09274077 0.08686298 +v -0.09326470 -0.09306938 0.07859984 +v -0.09335189 -0.09316109 0.07623972 +v -0.12090383 -0.05373244 0.07623986 +v -0.12046788 -0.05272364 0.08722441 +v -0.11658171 -0.06102360 0.08686310 +v -0.11653812 -0.06105417 0.08722438 +v -0.09291595 -0.09272549 0.08722426 +v -0.09681457 -0.08875129 0.08722427 +v -0.09733148 -0.08894232 0.07859985 +v -0.09742490 -0.08903403 0.07623973 +v -0.09451650 -0.09198411 0.07623972 +v -0.11833173 -0.05908232 0.07623984 +v -0.11721072 -0.06102357 0.07859996 +v -0.11638242 -0.06137517 0.08722437 +v -0.09698895 -0.08856787 0.08722427 +v -0.09700763 -0.08858315 0.08686299 +v -0.10105572 -0.08486113 0.07859987 +v -0.10114291 -0.08496047 0.07623975 +v -0.11738510 -0.06102356 0.07623984 +v -0.11439575 -0.06538758 0.08686308 +v -0.11438329 -0.06535701 0.08722436 +v -0.10070697 -0.08449431 0.08722429 +v -0.10230752 -0.08363829 0.07623975 +v -0.11559771 -0.06451628 0.07623982 +v -0.11470713 -0.06590726 0.07859994 +v -0.11183610 -0.06940763 0.08722435 +v -0.10460558 -0.07991633 0.08722431 +v -0.10513496 -0.08016852 0.07859989 +v -0.10522214 -0.08028315 0.07623977 +v -0.11479432 -0.06604481 0.07623982 +v -0.11214127 -0.06998081 0.07859992 +v -0.11164304 -0.06971335 0.08722434 +v -0.10478620 -0.07970234 0.08722431 +v -0.10479865 -0.07972527 0.08686303 +v -0.10773819 -0.07563643 0.08722432 +v -0.10806204 -0.07610260 0.07859990 +v -0.10814300 -0.07621723 0.07623978 +v -0.11222223 -0.07012601 0.07623980 +v -0.10930760 -0.07449763 0.07623979 +f 1 2 3 +f 1 3 4 +f 1 4 10 +f 1 10 9 +f 1 9 19 +f 1 19 27 +f 1 27 26 +f 1 26 33 +f 1 33 43 +f 1 43 42 +f 1 42 55 +f 1 55 64 +f 1 64 63 +f 1 63 71 +f 1 71 76 +f 1 76 82 +f 1 82 90 +f 1 90 92 +f 1 92 91 +f 1 91 83 +f 1 83 77 +f 1 77 72 +f 1 72 65 +f 1 65 56 +f 1 56 47 +f 1 47 45 +f 1 45 38 +f 1 38 30 +f 1 30 22 +f 1 22 12 +f 1 12 5 +f 1 5 11 +f 1 11 15 +f 1 15 6 +f 1 6 2 +f 2 6 7 +f 2 7 3 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 4 +f 5 12 13 +f 5 13 14 +f 5 14 11 +f 6 15 7 +f 7 15 11 +f 7 11 21 +f 7 21 28 +f 7 28 36 +f 7 36 44 +f 7 44 50 +f 7 50 57 +f 7 57 59 +f 7 59 67 +f 7 67 74 +f 7 74 79 +f 7 79 85 +f 7 85 88 +f 7 88 86 +f 7 86 80 +f 7 80 75 +f 7 75 68 +f 7 68 61 +f 7 61 60 +f 7 60 51 +f 7 51 41 +f 7 41 40 +f 7 40 31 +f 7 31 23 +f 7 23 16 +f 7 16 8 +f 8 16 17 +f 8 17 18 +f 8 18 19 +f 8 19 9 +f 11 14 20 +f 11 20 21 +f 12 22 29 +f 12 29 37 +f 12 37 34 +f 12 34 28 +f 12 28 21 +f 12 21 20 +f 12 20 14 +f 12 14 13 +f 16 23 17 +f 17 23 31 +f 17 31 24 +f 17 24 25 +f 17 25 18 +f 18 25 26 +f 18 26 27 +f 18 27 19 +f 22 30 29 +f 24 31 40 +f 24 40 32 +f 24 32 25 +f 25 32 26 +f 26 32 33 +f 28 34 30 +f 28 30 35 +f 28 35 36 +f 29 30 37 +f 30 38 39 +f 30 39 36 +f 30 36 35 +f 30 34 37 +f 32 40 41 +f 32 41 42 +f 32 42 43 +f 32 43 33 +f 36 39 44 +f 38 45 46 +f 38 46 39 +f 39 46 47 +f 39 47 48 +f 39 48 49 +f 39 49 50 +f 39 50 44 +f 41 51 52 +f 41 52 42 +f 42 52 53 +f 42 53 54 +f 42 54 55 +f 45 47 46 +f 47 56 48 +f 48 57 49 +f 48 56 58 +f 48 58 59 +f 48 59 57 +f 49 57 50 +f 51 60 53 +f 51 53 52 +f 53 60 61 +f 53 61 62 +f 53 62 54 +f 54 62 63 +f 54 63 64 +f 54 64 55 +f 56 65 58 +f 58 66 67 +f 58 67 59 +f 58 65 66 +f 61 68 69 +f 61 69 62 +f 62 69 70 +f 62 70 71 +f 62 71 63 +f 65 72 66 +f 66 72 73 +f 66 73 67 +f 67 73 74 +f 68 75 69 +f 69 75 70 +f 70 75 76 +f 70 76 71 +f 72 77 73 +f 73 77 78 +f 73 78 79 +f 73 79 74 +f 75 80 81 +f 75 81 82 +f 75 82 76 +f 77 83 78 +f 78 83 84 +f 78 84 79 +f 79 84 85 +f 80 86 87 +f 80 87 81 +f 81 87 88 +f 81 88 89 +f 81 89 82 +f 82 89 90 +f 83 91 84 +f 84 91 88 +f 84 88 85 +f 86 88 87 +f 88 91 92 +f 88 92 89 +f 89 92 90 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_9.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_9.obj new file mode 100644 index 0000000000000000000000000000000000000000..2d59bfbdcce4f3421df3ed24eef64b8396450cc5 --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_9.obj @@ -0,0 +1,253 @@ +# https://github.com/mikedh/trimesh +v -0.12408889 0.02999436 0.14476520 +v -0.12033563 0.02999418 0.19199237 +v -0.11254509 0.02999436 0.14476520 +v -0.12444393 0.02861680 0.14476520 +v -0.12249966 0.02496475 0.18348628 +v -0.10915363 0.02999418 0.19199237 +v -0.12075829 0.02849643 0.19199236 +v -0.11243351 0.02999435 0.14610584 +v -0.09305183 -0.06445632 0.19199202 +v -0.09327501 -0.06445631 0.18944020 +v -0.09392760 -0.06445628 0.18228863 +v -0.09738329 -0.06445614 0.14476485 +v -0.12605004 0.02050863 0.14476517 +v -0.12302715 0.02105395 0.18615828 +v -0.12287499 0.01955618 0.19199233 +v -0.12255377 0.02121110 0.19199234 +v -0.12221902 0.02413265 0.18899673 +v -0.10953910 0.02999421 0.18601038 +v -0.12204995 0.02351319 0.19199235 +v -0.11238955 0.02999435 0.14666058 +v -0.10653312 -0.06445632 0.19199202 +v -0.11124328 0.02999430 0.16124570 +v -0.11056364 0.02999426 0.17085201 +v -0.11000910 0.02999423 0.17899751 +v -0.11039796 -0.06445614 0.14476485 +v -0.12605681 0.02046240 0.14476517 +v -0.12426132 0.01235408 0.18603343 +v -0.12383529 0.01235405 0.19199231 +v -0.10807838 -0.06149781 0.19199203 +v -0.10653989 -0.06445632 0.19193191 +v -0.11004630 -0.06445616 0.14944319 +v -0.11261610 -0.06051762 0.14476487 +v -0.12700695 0.01235423 0.14476514 +v -0.12481249 0.01235411 0.17777237 +v -0.12505594 0.00419968 0.18603340 +v -0.12463327 0.00419965 0.19199228 +v -0.12441011 0.00648325 0.19199228 +v -0.11435071 -0.04903508 0.19199208 +v -0.10957968 -0.06101699 0.17777210 +v -0.10668190 -0.06445631 0.19030930 +v -0.10842327 -0.06445623 0.16950641 +v -0.11261610 -0.06043441 0.14529650 +v -0.11302186 -0.05974101 0.14476487 +v -0.10798032 -0.06445625 0.17495677 +v -0.10775039 -0.06445626 0.17777208 +v -0.12701034 0.01230800 0.14476514 +v -0.12559356 0.00419971 0.17777234 +v -0.12507961 -0.00395472 0.18603337 +v -0.12466708 -0.00395475 0.19199225 +v -0.12466033 -0.00167115 0.19199225 +v -0.11577424 -0.04517976 0.19199209 +v -0.11839814 -0.04470813 0.16124543 +v -0.11904059 -0.04470810 0.15297976 +v -0.11436085 -0.04905356 0.19176093 +v -0.11597035 -0.05238174 0.15297973 +v -0.11602446 -0.05363908 0.14529652 +v -0.11434395 -0.05717080 0.14476488 +v -0.11257890 -0.05360225 0.18603318 +v -0.12758517 0.00419983 0.14476511 +v -0.12561386 -0.00395469 0.17777231 +v -0.12710163 -0.01210897 0.14476505 +v -0.12492068 -0.01210909 0.17777228 +v -0.12436276 -0.01210912 0.18603334 +v -0.12393334 -0.01210915 0.19199222 +v -0.11871936 -0.03655385 0.19199213 +v -0.11962555 -0.04470807 0.14476493 +v -0.11960865 -0.04475430 0.14476493 +v -0.11932123 -0.04547543 0.14476492 +v -0.11608532 -0.05359285 0.14476489 +v -0.12301701 -0.03461215 0.14476496 +v -0.11566604 -0.05446192 0.14476489 +v -0.12759530 -0.00395457 0.14476508 +v -0.12610076 -0.02025412 0.14476502 +v -0.12380147 -0.02025424 0.17777225 +v -0.12328751 -0.01682428 0.19199220 +v -0.11937534 -0.03412232 0.19199213 +v -0.12248952 -0.03280935 0.15839780 +v -0.12270254 -0.03353047 0.15297980 +v -0.12450140 -0.02843626 0.14476499 +v -0.12309478 -0.02075352 0.18608878 +v -0.12293585 -0.01923731 0.19199219 +v -0.12250981 -0.02484920 0.18337052 +v -0.12082254 -0.02826077 0.19199216 +v -0.12271608 -0.02576447 0.17777223 +v -0.12125873 -0.02644868 0.19199216 +f 1 2 6 +f 1 6 18 +f 1 18 24 +f 1 24 23 +f 1 23 22 +f 1 22 20 +f 1 20 8 +f 1 8 3 +f 1 3 12 +f 1 12 25 +f 1 25 32 +f 1 32 43 +f 1 43 57 +f 1 57 71 +f 1 71 69 +f 1 69 68 +f 1 68 67 +f 1 67 66 +f 1 66 70 +f 1 70 79 +f 1 79 73 +f 1 73 61 +f 1 61 72 +f 1 72 59 +f 1 59 46 +f 1 46 33 +f 1 33 26 +f 1 26 13 +f 1 13 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 19 +f 2 19 16 +f 2 16 15 +f 2 15 28 +f 2 28 37 +f 2 37 36 +f 2 36 50 +f 2 50 49 +f 2 49 64 +f 2 64 75 +f 2 75 81 +f 2 81 85 +f 2 85 83 +f 2 83 76 +f 2 76 65 +f 2 65 51 +f 2 51 38 +f 2 38 29 +f 2 29 21 +f 2 21 9 +f 2 9 6 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 4 13 5 +f 5 13 14 +f 5 14 15 +f 5 15 16 +f 5 16 17 +f 5 17 7 +f 6 9 18 +f 7 17 19 +f 8 20 9 +f 9 21 30 +f 9 30 40 +f 9 40 45 +f 9 45 44 +f 9 44 41 +f 9 41 31 +f 9 31 25 +f 9 25 12 +f 9 12 11 +f 9 11 10 +f 9 20 22 +f 9 22 23 +f 9 23 24 +f 9 24 18 +f 13 26 15 +f 13 15 14 +f 15 26 27 +f 15 27 28 +f 16 19 17 +f 21 29 30 +f 25 31 32 +f 26 33 34 +f 26 34 27 +f 27 34 35 +f 27 35 36 +f 27 36 37 +f 27 37 28 +f 29 38 39 +f 29 39 30 +f 30 39 40 +f 31 41 32 +f 32 42 43 +f 32 41 44 +f 32 44 45 +f 32 45 42 +f 33 46 47 +f 33 47 35 +f 33 35 34 +f 35 47 48 +f 35 48 49 +f 35 49 50 +f 35 50 36 +f 38 51 52 +f 38 52 53 +f 38 53 54 +f 38 54 55 +f 38 55 56 +f 38 56 57 +f 38 57 58 +f 38 58 39 +f 39 58 57 +f 39 57 43 +f 39 43 42 +f 39 42 45 +f 39 45 40 +f 46 59 47 +f 47 59 60 +f 47 60 48 +f 48 60 61 +f 48 61 62 +f 48 62 63 +f 48 63 49 +f 49 63 64 +f 51 65 52 +f 52 65 53 +f 53 66 67 +f 53 67 68 +f 53 68 69 +f 53 69 55 +f 53 55 54 +f 53 65 70 +f 53 70 66 +f 55 69 56 +f 56 69 71 +f 56 71 57 +f 59 72 60 +f 60 72 61 +f 61 73 62 +f 62 73 63 +f 63 73 74 +f 63 74 75 +f 63 75 64 +f 65 76 77 +f 65 77 78 +f 65 78 70 +f 70 78 79 +f 73 79 74 +f 74 80 81 +f 74 81 75 +f 74 79 82 +f 74 82 80 +f 76 83 82 +f 76 82 77 +f 77 82 84 +f 77 84 79 +f 77 79 78 +f 79 84 82 +f 80 82 81 +f 81 82 85 +f 82 83 85 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_90.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_90.obj new file mode 100644 index 0000000000000000000000000000000000000000..23aba44ca3d7ec3d4151bd14c85a89b905d2cdfb --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_90.obj @@ -0,0 +1,265 @@ +# https://github.com/mikedh/trimesh +v -0.02130917 0.12658398 0.13309516 +v -0.02130917 0.12655972 0.13345960 +v -0.02130917 0.11559532 0.13309512 +v -0.02858633 0.12520129 0.13309516 +v -0.02130917 0.12635959 0.13645175 +v -0.02130917 0.11525570 0.13695440 +v -0.09828323 0.06463630 0.13309494 +v -0.03275352 0.12419461 0.13309516 +v -0.03456840 0.12297563 0.14471527 +v -0.02858633 0.12496477 0.13645175 +v -0.02130917 0.12576525 0.14471528 +v -0.02858633 0.12437650 0.14471528 +v -0.02130917 0.11476446 0.14260966 +v -0.09811584 0.06463629 0.13528164 +v -0.11131341 0.06463630 0.13309494 +v -0.02130917 0.11458252 0.14476551 +v -0.03627757 0.12330920 0.13309515 +v -0.03560800 0.12326674 0.13645174 +v -0.03456840 0.12296956 0.14476554 +v -0.02861276 0.12436437 0.14476555 +v -0.04009235 0.12207207 0.13309515 +v -0.04490268 0.11953713 0.14471526 +v -0.02130917 0.12575918 0.14476555 +v -0.02858633 0.12437043 0.14476555 +v -0.09802774 0.06463629 0.13645153 +v -0.11107554 0.06463629 0.13645153 +v -0.10847655 0.06899659 0.13645154 +v -0.10841488 0.06947568 0.13309496 +v -0.09742865 0.06463626 0.14476533 +v -0.04490268 0.11953106 0.14476553 +v -0.04229489 0.12133222 0.13309515 +v -0.04954562 0.11862144 0.13309514 +v -0.05306086 0.11696585 0.13645172 +v -0.05375686 0.11599552 0.14476552 +v -0.04462957 0.12053779 0.13309514 +v -0.11036191 0.06463626 0.14474133 +v -0.10859989 0.06773516 0.14476534 +v -0.10816819 0.06849321 0.14476534 +v -0.10814176 0.06853566 0.14476534 +v -0.10543706 0.07258667 0.14476536 +v -0.10585994 0.07325986 0.13309497 +v -0.10484678 0.06463626 0.14476533 +v -0.05306086 0.11721450 0.13309513 +v -0.05813549 0.11477055 0.13309512 +v -0.05788000 0.11464320 0.13645171 +v -0.05743068 0.11441879 0.14234689 +v -0.05402997 0.11586211 0.14476552 +v -0.10541944 0.07261093 0.14476536 +v -0.10541944 0.07261699 0.14471509 +v -0.10172800 0.07755946 0.14476537 +v -0.10282045 0.07729873 0.13309498 +v -0.06221458 0.11269654 0.13309511 +v -0.06195909 0.11256311 0.13645170 +v -0.06060233 0.11255701 0.14476550 +v -0.06035564 0.11268437 0.14476550 +v -0.09829204 0.08205317 0.14476539 +v -0.09860040 0.08242920 0.13645159 +v -0.09872374 0.08256868 0.13309500 +v -0.06633772 0.11027685 0.13309511 +v -0.06844334 0.10815427 0.14471522 +v -0.06675179 0.10910032 0.14476549 +v -0.09448607 0.08614663 0.14476541 +v -0.09448607 0.08615269 0.14471514 +v -0.09827443 0.08207743 0.14471512 +v -0.09718197 0.08423032 0.13309501 +v -0.06938602 0.10842721 0.13309510 +v -0.06891027 0.10848178 0.13645169 +v -0.06846096 0.10813608 0.14476549 +v -0.07252243 0.10546775 0.14471521 +v -0.07251362 0.10546775 0.14476548 +v -0.09040698 0.09046447 0.14476542 +v -0.09491777 0.08665001 0.13309502 +v -0.09040698 0.09047053 0.14471515 +v -0.07180881 0.10681408 0.13309509 +v -0.07298936 0.10577100 0.13645168 +v -0.07756182 0.10171997 0.14476546 +v -0.07255767 0.10543744 0.14476548 +v -0.08611645 0.09451548 0.14476544 +v -0.09083868 0.09089508 0.13309503 +v -0.08609002 0.09454580 0.14471517 +v -0.08655695 0.09497035 0.13309505 +v -0.08910308 0.09255066 0.13309504 +v -0.07316556 0.10589837 0.13309509 +v -0.08201093 0.09832997 0.14471518 +v -0.08202855 0.09830572 0.14476545 +v -0.07495402 0.10455813 0.13309508 +v -0.07722703 0.10284192 0.13309508 +v -0.08247787 0.09875452 0.13309506 +v -0.08009033 0.10062235 0.13309507 +f 1 2 5 +f 1 5 11 +f 1 11 23 +f 1 23 16 +f 1 16 13 +f 1 13 6 +f 1 6 3 +f 1 3 7 +f 1 7 15 +f 1 15 28 +f 1 28 41 +f 1 41 51 +f 1 51 58 +f 1 58 65 +f 1 65 72 +f 1 72 79 +f 1 79 82 +f 1 82 81 +f 1 81 88 +f 1 88 89 +f 1 89 87 +f 1 87 86 +f 1 86 83 +f 1 83 74 +f 1 74 66 +f 1 66 59 +f 1 59 52 +f 1 52 44 +f 1 44 43 +f 1 43 32 +f 1 32 35 +f 1 35 31 +f 1 31 21 +f 1 21 17 +f 1 17 8 +f 1 8 4 +f 1 4 2 +f 2 4 5 +f 3 6 7 +f 4 8 9 +f 4 9 10 +f 4 10 5 +f 5 10 12 +f 5 12 11 +f 6 13 7 +f 7 14 25 +f 7 25 29 +f 7 29 42 +f 7 42 36 +f 7 36 26 +f 7 26 15 +f 7 13 16 +f 7 16 14 +f 8 17 18 +f 8 18 9 +f 9 19 20 +f 9 20 12 +f 9 12 10 +f 9 18 17 +f 9 17 21 +f 9 21 22 +f 9 22 30 +f 9 30 19 +f 11 12 24 +f 11 24 23 +f 12 20 24 +f 14 16 25 +f 15 26 27 +f 15 27 28 +f 16 29 25 +f 16 23 24 +f 16 24 20 +f 16 20 19 +f 16 19 30 +f 16 30 34 +f 16 34 47 +f 16 47 55 +f 16 55 54 +f 16 54 61 +f 16 61 68 +f 16 68 70 +f 16 70 77 +f 16 77 76 +f 16 76 85 +f 16 85 78 +f 16 78 71 +f 16 71 62 +f 16 62 56 +f 16 56 50 +f 16 50 48 +f 16 48 40 +f 16 40 39 +f 16 39 38 +f 16 38 37 +f 16 37 42 +f 16 42 29 +f 21 31 22 +f 22 32 33 +f 22 33 34 +f 22 34 30 +f 22 31 35 +f 22 35 32 +f 26 36 37 +f 26 37 38 +f 26 38 27 +f 27 38 39 +f 27 39 40 +f 27 40 28 +f 28 40 41 +f 32 43 33 +f 33 43 44 +f 33 44 45 +f 33 45 46 +f 33 46 34 +f 34 46 47 +f 36 42 37 +f 40 48 49 +f 40 49 41 +f 41 49 50 +f 41 50 51 +f 44 52 45 +f 45 52 46 +f 46 52 53 +f 46 53 54 +f 46 54 55 +f 46 55 47 +f 48 50 49 +f 50 56 51 +f 51 56 57 +f 51 57 58 +f 52 59 60 +f 52 60 53 +f 53 60 54 +f 54 60 61 +f 56 62 63 +f 56 63 64 +f 56 64 57 +f 57 64 63 +f 57 63 65 +f 57 65 58 +f 59 66 67 +f 59 67 60 +f 60 68 61 +f 60 67 66 +f 60 66 69 +f 60 69 70 +f 60 70 68 +f 62 71 73 +f 62 73 63 +f 63 72 65 +f 63 73 72 +f 66 74 69 +f 69 74 75 +f 69 75 76 +f 69 76 77 +f 69 77 70 +f 71 78 73 +f 72 73 79 +f 73 78 80 +f 73 80 81 +f 73 81 82 +f 73 82 79 +f 74 83 75 +f 75 83 76 +f 76 84 85 +f 76 83 86 +f 76 86 87 +f 76 87 84 +f 78 85 84 +f 78 84 80 +f 80 84 88 +f 80 88 81 +f 84 87 89 +f 84 89 88 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_91.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_91.obj new file mode 100644 index 0000000000000000000000000000000000000000..62d94a8c0a066490c63868f5b59e7010c30a24da --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_91.obj @@ -0,0 +1,157 @@ +# https://github.com/mikedh/trimesh +v -0.12792754 0.03597516 0.06545709 +v -0.12697339 0.03681091 0.07859950 +v -0.12637833 0.03913739 0.07624077 +v -0.12490300 0.04385927 0.07624079 +v -0.11685739 0.03597516 0.06545709 +v -0.13074073 0.02539403 0.06545705 +v -0.12651172 0.03681088 0.08686251 +v -0.12477167 0.04385926 0.07859952 +v -0.11313725 0.04385927 0.07624079 +v -0.11372205 -0.04416743 0.06545680 +v -0.13098696 0.02404984 0.06545705 +v -0.13063608 0.01704451 0.08400298 +v -0.12820456 0.02865962 0.08722471 +v -0.12656712 0.03645760 0.08722473 +v -0.12648709 0.03681088 0.08722474 +v -0.12422792 0.04385923 0.08685401 +v -0.12470807 0.04385926 0.07972882 +v -0.11290949 0.04385926 0.07874228 +v -0.11288487 -0.04416747 0.07624047 +v -0.12576071 -0.04416743 0.06545680 +v -0.11237804 0.04385924 0.08541149 +v -0.11224261 0.04385923 0.08714379 +v -0.13156561 0.02067215 0.06545704 +v -0.13250539 0.01234856 0.06545701 +v -0.13080229 0.01205552 0.08722464 +v -0.13073869 0.01268453 0.08722465 +v -0.12980710 0.01925896 0.08722467 +v -0.12967578 0.02008615 0.08722467 +v -0.12420124 0.04385923 0.08722476 +v -0.11426581 -0.03831687 0.08722446 +v -0.12483119 -0.04416747 0.07624047 +v -0.11223646 0.04385923 0.08722476 +v -0.12590435 -0.03831687 0.08722446 +v -0.12637423 -0.03686929 0.08722446 +v -0.12647478 -0.03655047 0.08722447 +v -0.12649941 -0.03655047 0.08686224 +v -0.12794395 -0.03655039 0.06545683 +v -0.13318048 0.00419730 0.06545698 +v -0.13132143 0.00418860 0.08722462 +v -0.12810810 -0.02839921 0.08722450 +v -0.13066482 -0.02486634 0.06545687 +v -0.13026263 -0.02668444 0.06545686 +v -0.12886321 -0.03268156 0.06545684 +v -0.13318868 0.00085408 0.06545696 +v -0.13319689 -0.00395396 0.06545695 +v -0.13132759 -0.00392819 0.08722459 +v -0.13041653 -0.01540545 0.08722454 +v -0.13063404 -0.01670654 0.08388993 +v -0.13152867 -0.02035989 0.06545689 +v -0.13295066 -0.00727995 0.06545693 +v -0.13080229 -0.01168309 0.08722456 +v -0.13082075 -0.01193297 0.08673236 +v -0.13255464 -0.01209661 0.06545692 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 5 +f 1 5 10 +f 1 10 20 +f 1 20 37 +f 1 37 43 +f 1 43 42 +f 1 42 41 +f 1 41 49 +f 1 49 53 +f 1 53 50 +f 1 50 45 +f 1 45 44 +f 1 44 38 +f 1 38 24 +f 1 24 23 +f 1 23 11 +f 1 11 6 +f 1 6 2 +f 2 7 8 +f 2 8 3 +f 2 6 7 +f 3 8 4 +f 4 8 17 +f 4 17 16 +f 4 16 29 +f 4 29 32 +f 4 32 22 +f 4 22 21 +f 4 21 18 +f 4 18 9 +f 5 9 10 +f 6 11 12 +f 6 12 13 +f 6 13 14 +f 6 14 15 +f 6 15 7 +f 7 15 16 +f 7 16 17 +f 7 17 8 +f 9 18 10 +f 10 19 31 +f 10 31 20 +f 10 18 21 +f 10 21 22 +f 10 22 19 +f 11 23 12 +f 12 23 24 +f 12 24 25 +f 12 25 26 +f 12 26 27 +f 12 27 28 +f 12 28 13 +f 13 28 27 +f 13 27 26 +f 13 26 25 +f 13 25 39 +f 13 39 46 +f 13 46 51 +f 13 51 47 +f 13 47 40 +f 13 40 35 +f 13 35 34 +f 13 34 33 +f 13 33 30 +f 13 30 32 +f 13 32 29 +f 13 29 15 +f 13 15 14 +f 15 29 16 +f 19 30 33 +f 19 33 31 +f 19 22 32 +f 19 32 30 +f 20 31 33 +f 20 33 34 +f 20 34 35 +f 20 35 36 +f 20 36 37 +f 24 38 25 +f 25 38 39 +f 35 40 41 +f 35 41 42 +f 35 42 43 +f 35 43 36 +f 36 43 37 +f 38 44 39 +f 39 44 45 +f 39 45 46 +f 40 47 48 +f 40 48 49 +f 40 49 41 +f 45 50 51 +f 45 51 46 +f 47 51 48 +f 48 51 52 +f 48 52 53 +f 48 53 49 +f 50 53 51 +f 51 53 52 + diff --git a/demo_assets/lamp/mjcf/mesh/lamp_collision_92.obj b/demo_assets/lamp/mjcf/mesh/lamp_collision_92.obj new file mode 100644 index 0000000000000000000000000000000000000000..09c98cf26e994be9bd51702895b40b66bea332eb --- /dev/null +++ b/demo_assets/lamp/mjcf/mesh/lamp_collision_92.obj @@ -0,0 +1,190 @@ +# https://github.com/mikedh/trimesh +v -0.07201528 -0.08739107 0.24098439 +v -0.07722018 -0.08739107 0.24131876 +v -0.07201528 -0.08739098 0.21682938 +v -0.07201528 -0.08687846 0.24102587 +v -0.07704668 -0.08500260 0.24150425 +v -0.08509602 -0.08483360 0.24090873 +v -0.08352999 -0.08739106 0.24051823 +v 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+f 19 37 21 +f 19 21 20 +f 21 37 38 +f 21 38 30 +f 21 30 22 +f 23 35 24 +f 24 35 39 +f 25 26 40 +f 25 40 41 +f 25 41 42 +f 25 42 29 +f 28 29 42 +f 30 38 44 +f 30 44 45 +f 30 45 46 +f 30 46 31 +f 31 47 48 +f 31 48 49 +f 31 49 32 +f 31 46 50 +f 31 50 47 +f 32 49 51 +f 32 51 33 +f 33 51 34 +f 34 39 35 +f 34 51 52 +f 34 52 39 +f 36 53 38 +f 36 38 37 +f 38 53 54 +f 38 54 55 +f 38 55 56 +f 38 56 44 +f 43 57 54 +f 43 54 53 +f 44 56 58 +f 44 58 59 +f 44 59 45 +f 45 60 50 +f 45 50 46 +f 45 59 60 +f 54 57 55 +f 55 57 61 +f 55 61 62 +f 55 62 63 +f 55 63 64 +f 55 64 56 +f 56 64 58 + diff --git a/demo_assets/mug/mjcf/mesh/mug_0.obj b/demo_assets/mug/mjcf/mesh/mug_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..a05f6af53b6356fc38129a5f0bbcbc2ae10c6621 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_0.obj @@ -0,0 +1,80224 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.00181503 -0.01995330 -0.05405145 +v 0.00232083 -0.01895071 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+v 0.02483852 -0.01251788 -0.05338766 +v 0.02614674 -0.01503542 -0.05330699 +v 0.02490542 -0.01855140 -0.05342734 +v 0.02711700 -0.01911499 -0.05321521 +v 0.02939199 -0.01787961 -0.05296945 +v 0.02872779 -0.01389182 -0.05300083 +v 0.02506260 -0.00991995 -0.05328878 +v 0.02713226 -0.00850902 -0.05301072 +v 0.02634602 -0.00626797 -0.05299889 +v 0.02347584 -0.00776067 -0.05334791 +v 0.02425093 -0.00346002 -0.05303365 +v 0.02117362 -0.00292583 -0.05327573 +v 0.02231459 0.00022389 -0.05298478 +v 0.01918624 -0.00404386 -0.05348370 +v 0.01871337 -0.00707155 -0.05368618 +v 0.01616718 -0.00444137 -0.05374497 +v 0.01948541 -0.00889582 -0.05370798 +v 0.01618561 -0.00722606 -0.05386636 +v 0.02260988 -0.01991481 -0.05359774 +v 0.02330022 -0.02282678 -0.05351339 +v 0.02494927 -0.02309341 -0.05335867 +v 0.02468671 -0.02535457 -0.05332068 +v 0.02284379 -0.02524795 -0.05348460 +v 0.02346457 -0.02746038 -0.05334518 +v 0.01811957 -0.02787895 -0.05372172 +v 0.02033505 -0.03230906 -0.05331997 +v 0.02269692 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318 +f 306 318 319 +f 306 319 320 +f 306 320 308 +f 307 309 321 +f 307 321 322 +f 307 322 323 +f 307 323 310 +f 308 320 309 +f 309 320 321 +f 310 323 324 +f 310 324 311 +f 311 325 326 +f 311 326 312 +f 311 324 325 +f 315 327 316 +f 316 327 328 +f 316 328 318 +f 316 318 317 +f 318 329 319 +f 319 330 331 +f 319 331 320 +f 319 329 330 +f 320 331 321 +f 321 332 322 +f 321 331 332 +f 322 333 323 +f 323 333 334 +f 323 334 324 +f 330 335 331 +f 331 335 332 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_11.obj b/demo_assets/mug/mjcf/mesh/mug_collision_11.obj new file mode 100644 index 0000000000000000000000000000000000000000..37c0a6437f1ee16d95e14c2fd150030170d34d02 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_11.obj @@ -0,0 +1,187 @@ +# https://github.com/mikedh/trimesh +v 0.02256664 0.00365729 -0.05037997 +v 0.02933319 0.00365726 -0.04457633 +v 0.04547171 0.00365729 -0.05037997 +v 0.03120160 -0.01226727 -0.05038003 +v 0.03572169 -0.01226730 -0.04457639 +v 0.04611356 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471 465 +f 466 508 509 +f 466 509 510 +f 466 510 467 +f 466 469 508 +f 467 510 511 +f 467 511 472 +f 467 472 468 +f 469 512 508 +f 469 470 512 +f 470 471 507 +f 470 507 513 +f 470 513 512 +f 472 511 473 +f 473 514 474 +f 473 511 515 +f 473 515 514 +f 474 514 516 +f 474 516 517 +f 474 517 475 +f 475 517 476 +f 476 517 518 +f 476 518 477 +f 477 492 491 +f 477 491 519 +f 477 519 479 +f 477 479 478 +f 477 518 492 +f 479 519 480 +f 480 519 490 +f 480 490 481 +f 481 490 482 +f 485 489 520 +f 485 520 486 +f 490 519 491 +f 492 518 493 +f 493 518 494 +f 494 518 517 +f 494 517 521 +f 494 521 495 +f 495 521 496 +f 496 521 522 +f 496 522 497 +f 497 522 523 +f 497 523 524 +f 497 524 498 +f 498 524 525 +f 498 525 526 +f 498 526 501 +f 503 527 528 +f 503 528 505 +f 503 505 504 +f 505 528 529 +f 505 529 530 +f 505 530 507 +f 505 507 506 +f 507 530 513 +f 508 531 532 +f 508 532 509 +f 508 512 535 +f 508 535 531 +f 509 532 522 +f 509 522 533 +f 509 533 534 +f 509 534 510 +f 510 534 511 +f 511 534 515 +f 512 513 536 +f 512 536 535 +f 513 530 536 +f 514 515 534 +f 514 534 516 +f 516 534 537 +f 516 537 517 +f 517 537 521 +f 521 537 533 +f 521 533 522 +f 522 532 523 +f 523 532 538 +f 523 538 539 +f 523 539 524 +f 524 539 540 +f 524 540 525 +f 527 541 528 +f 528 542 543 +f 528 543 544 +f 528 544 529 +f 528 541 542 +f 529 544 530 +f 530 544 536 +f 531 545 538 +f 531 538 532 +f 531 535 545 +f 533 537 534 +f 535 546 545 +f 535 536 544 +f 535 544 546 +f 538 545 547 +f 538 547 539 +f 539 548 540 +f 539 547 549 +f 539 549 550 +f 539 550 548 +f 542 551 543 +f 543 551 552 +f 543 552 545 +f 543 545 546 +f 543 546 544 +f 545 552 547 +f 547 552 549 +f 549 552 551 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_16.obj b/demo_assets/mug/mjcf/mesh/mug_collision_16.obj new file mode 100644 index 0000000000000000000000000000000000000000..407ff83e282756db610459ceb1955b5e8c024972 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_16.obj @@ -0,0 +1,157 @@ +# https://github.com/mikedh/trimesh +v -0.04647971 0.00279803 -0.04463461 +v -0.04620904 0.00279804 -0.04735484 +v -0.04625537 0.00235270 -0.04863532 +v -0.04658212 0.00252669 -0.04463461 +v -0.03130280 0.00279803 -0.04463461 +v -0.04603591 0.00279805 -0.04906233 +v -0.04618954 0.00217279 -0.04993448 +v -0.04656018 0.00128208 -0.04951476 +v -0.04709420 0.00115819 -0.04463462 +v -0.02998603 0.00279656 -0.04463461 +v -0.02979827 0.00279804 -0.04513580 +v -0.04595788 0.00279805 -0.04979232 +v -0.04594081 0.00279805 -0.04993448 +v -0.04631877 0.00182034 -0.04993448 +v -0.04655042 0.00118328 -0.04993449 +v -0.04739413 -0.00116441 -0.04967456 +v -0.04786231 -0.00116442 -0.04503619 +v -0.04682109 0.00115820 -0.04735485 +v -0.04791352 -0.00119835 -0.04463462 +v -0.02543101 0.00279805 -0.04993448 +v -0.03576760 -0.01226730 -0.04463467 +v -0.04729415 -0.00095648 -0.04993449 +v -0.04736487 -0.00116441 -0.04993449 +v -0.04813054 -0.00367432 -0.04993450 +v -0.04819638 -0.00371856 -0.04944472 +v -0.04839877 -0.00287063 -0.04503620 +v -0.04841828 -0.00279838 -0.04463463 +v -0.04800130 -0.00147412 -0.04463463 +v -0.03220258 -0.01226728 -0.04993454 +v -0.05033978 -0.01226730 -0.04463467 +v -0.04848656 -0.00495139 -0.04993451 +v -0.04855483 -0.00464761 -0.04851862 +v -0.04874259 -0.00392798 -0.04463463 +v -0.04980088 -0.01226728 -0.04993454 +v -0.05012519 -0.01045492 -0.04463466 +v -0.05030076 -0.01226729 -0.04503624 +v -0.04870602 -0.00593205 -0.04993451 +v -0.04894255 -0.00580819 -0.04735487 +v -0.04917664 -0.00580819 -0.04503621 +v -0.04921565 -0.00580820 -0.04463464 +v -0.04884744 -0.00434089 -0.04463464 +v -0.05001546 -0.01226728 -0.04786544 +v -0.04969603 -0.01137657 -0.04993453 +v -0.05008618 -0.01045491 -0.04503623 +v -0.04971310 -0.00813230 -0.04463465 +v -0.05024955 -0.01226729 -0.04554677 +v -0.04914006 -0.00795826 -0.04993452 +v -0.04943999 -0.00813229 -0.04735488 +v -0.04967408 -0.00813229 -0.04503622 +v -0.04961312 -0.01045490 -0.04967460 +v -0.04958630 -0.01045490 -0.04993453 +v -0.04920346 -0.00813228 -0.04967459 +v -0.04917664 -0.00813228 -0.04993452 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 19 +f 1 19 28 +f 1 28 27 +f 1 27 33 +f 1 33 41 +f 1 41 40 +f 1 40 45 +f 1 45 35 +f 1 35 30 +f 1 30 21 +f 1 21 10 +f 1 10 5 +f 1 5 11 +f 1 11 20 +f 1 20 13 +f 1 13 12 +f 1 12 6 +f 1 6 2 +f 2 6 3 +f 3 6 7 +f 3 7 8 +f 3 8 9 +f 3 9 4 +f 5 10 11 +f 6 12 7 +f 7 12 13 +f 7 13 20 +f 7 20 29 +f 7 29 34 +f 7 34 43 +f 7 43 51 +f 7 51 53 +f 7 53 47 +f 7 47 37 +f 7 37 31 +f 7 31 24 +f 7 24 23 +f 7 23 22 +f 7 22 15 +f 7 15 14 +f 7 14 8 +f 8 15 16 +f 8 16 17 +f 8 17 18 +f 8 18 9 +f 8 14 15 +f 9 18 17 +f 9 17 19 +f 10 20 11 +f 10 21 20 +f 15 22 16 +f 16 22 23 +f 16 23 24 +f 16 24 25 +f 16 25 26 +f 16 26 27 +f 16 27 28 +f 16 28 17 +f 17 28 19 +f 20 21 29 +f 21 30 36 +f 21 36 46 +f 21 46 42 +f 21 42 34 +f 21 34 29 +f 24 31 25 +f 25 31 32 +f 25 32 33 +f 25 33 26 +f 26 33 27 +f 30 35 44 +f 30 44 36 +f 31 37 38 +f 31 38 39 +f 31 39 32 +f 32 39 40 +f 32 40 41 +f 32 41 33 +f 34 42 43 +f 35 45 49 +f 35 49 44 +f 36 44 46 +f 37 47 38 +f 38 47 48 +f 38 48 49 +f 38 49 39 +f 39 49 45 +f 39 45 40 +f 42 46 44 +f 42 44 50 +f 42 50 43 +f 43 50 51 +f 44 49 48 +f 44 48 52 +f 44 52 50 +f 47 53 52 +f 47 52 48 +f 50 52 53 +f 50 53 51 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_17.obj b/demo_assets/mug/mjcf/mesh/mug_collision_17.obj new file mode 100644 index 0000000000000000000000000000000000000000..f608871c8b7631d539b1c679970a54f1edaf1bd8 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_17.obj @@ -0,0 +1,412 @@ +# https://github.com/mikedh/trimesh +v -0.04593348 -0.03888278 -0.04454148 +v -0.04550357 -0.03888276 -0.04890099 +v -0.04580027 -0.03917252 -0.04454148 +v -0.02931834 -0.03888278 -0.04454148 +v -0.04546724 -0.03888276 -0.04924842 +v -0.04532494 -0.03918845 -0.04924842 +v -0.04456503 -0.04082057 -0.04924843 +v -0.04483751 -0.04065311 -0.04735506 +v -0.04511907 -0.04065312 -0.04454149 +v -0.01500715 -0.05063987 -0.04454153 +v -0.01540073 -0.04787535 -0.04924846 +v -0.02658749 -0.03889073 -0.04924842 +v -0.02716575 -0.03888276 -0.04881575 +v -0.02722631 -0.03888276 -0.04924842 +v -0.04438943 -0.04117410 -0.04924843 +v -0.04422292 -0.04234902 -0.04503638 +v -0.04491320 -0.04106514 -0.04454149 +v -0.01500715 -0.06603864 -0.04454158 +v -0.01500715 -0.04820496 -0.04924846 +v -0.04404429 -0.04185459 -0.04924843 +v -0.04400494 -0.04194497 -0.04919222 +v -0.04411393 -0.04264675 -0.04454150 +v -0.04424714 -0.04239688 -0.04454150 +v -0.01500715 -0.06599078 -0.04503646 +v -0.01504045 -0.06602801 -0.04454158 +v -0.01500715 -0.06557610 -0.04924852 +v -0.04395650 -0.04201940 -0.04924843 +v -0.04358410 -0.04351064 -0.04503638 +v -0.04361135 -0.04355850 -0.04454150 +v -0.01500715 -0.06576484 -0.04735515 +v -0.01504045 -0.06598015 -0.04503646 +v -0.01709615 -0.06535283 -0.04454158 +v -0.01699019 -0.06534219 -0.04503646 +v -0.01611523 -0.06522256 -0.04924852 +v -0.01500715 -0.06558141 -0.04921857 +v -0.01504045 -0.06556812 -0.04924852 +v -0.04343576 -0.04293381 -0.04924844 +v -0.04342062 -0.04389343 -0.04454150 +v -0.01504045 -0.06575420 -0.04735515 +v -0.01801350 -0.06500727 -0.04454158 +v -0.01641496 -0.06512421 -0.04924852 +v -0.04216116 -0.04509490 -0.04924845 +v -0.04260621 -0.04529960 -0.04454151 +v -0.01962718 -0.06438792 -0.04454158 +v -0.01735652 -0.06476004 -0.04924852 +v -0.01966351 -0.06432145 -0.04503646 +v -0.01966351 -0.06407424 -0.04735515 +v -0.04200373 -0.04535008 -0.04924845 +v -0.04154960 -0.04635221 -0.04797437 +v -0.04164951 -0.04650640 -0.04642890 +v -0.04173730 -0.04663665 -0.04503639 +v -0.04176758 -0.04668185 -0.04454151 +v -0.02214004 -0.06334326 -0.04454157 +v -0.01756845 -0.06467764 -0.04924852 +v -0.02182517 -0.06317312 -0.04735514 +v -0.01966351 -0.06385892 -0.04924851 +v -0.04146180 -0.04621931 -0.04924845 +v -0.04134070 -0.04639475 -0.04924845 +v -0.04050207 -0.04758561 -0.04924845 +v -0.04089868 -0.04741815 -0.04726292 +v -0.04092895 -0.04779827 -0.04503640 +v -0.04159804 -0.04692906 -0.04454151 +v -0.02323903 -0.06284884 -0.04454157 +v -0.02220664 -0.06323426 -0.04526040 +v -0.02157389 -0.06306147 -0.04924851 +v -0.02312701 -0.06271858 -0.04618243 +v -0.02298169 -0.06264680 -0.04735514 +v -0.04026895 -0.04790990 -0.04924846 +v -0.03961500 -0.04918318 -0.04735509 +v -0.04095923 -0.04784347 -0.04454152 +v -0.03977243 -0.04938520 -0.04503640 +v -0.02331472 -0.06281428 -0.04454157 +v -0.02272738 -0.06252452 -0.04924851 +v -0.02415940 -0.06228795 -0.04526040 +v -0.02428656 -0.06197163 -0.04735514 +v -0.02404739 -0.06184668 -0.04924851 +v -0.03947876 -0.04900507 -0.04924846 +v -0.03883390 -0.05054682 -0.04503641 +v -0.03866738 -0.05034480 -0.04735509 +v -0.03980574 -0.04942508 -0.04454152 +v -0.02397473 -0.06246606 -0.04454157 +v -0.02430170 -0.06229328 -0.04454157 +v -0.02635135 -0.06119545 -0.04454156 +v -0.02677520 -0.06091634 -0.04499958 +v -0.02632713 -0.06088178 -0.04735513 +v -0.02428656 -0.06172175 -0.04924851 +v -0.03852811 -0.05016669 -0.04924846 +v -0.03886720 -0.05058670 -0.04454153 +v -0.03751389 -0.05168717 -0.04735510 +v -0.03767738 -0.05187059 -0.04503641 +v -0.03771371 -0.05190781 -0.04454153 +v -0.03737159 -0.05152767 -0.04924847 +v -0.02673887 -0.06098546 -0.04454156 +v -0.02737163 -0.06063990 -0.04454156 +v -0.02766227 -0.06034217 -0.04574836 +v -0.02609400 -0.06075418 -0.04924850 +v -0.02748365 -0.06024116 -0.04735513 +v -0.03646031 -0.05284613 -0.04735510 +v -0.03662985 -0.05302955 -0.04503641 +v -0.03748967 -0.05215768 -0.04454153 +v -0.03717783 -0.05174033 -0.04924847 +v -0.02819814 -0.06013484 -0.04454156 +v -0.02871586 -0.05972813 -0.04499958 +v -0.02890962 -0.05928954 -0.04735513 +v -0.02725053 -0.06010824 -0.04924850 +v -0.02907008 -0.05890941 -0.04924850 +v -0.02875521 -0.05911940 -0.04924850 +v -0.03631196 -0.05268664 -0.04924847 +v -0.03515543 -0.05389344 -0.04924848 +v -0.03530378 -0.05404231 -0.04735511 +v -0.03547332 -0.05420978 -0.04503642 +v -0.03666315 -0.05306677 -0.04454153 +v -0.02879154 -0.05973080 -0.04454156 +v -0.03024779 -0.05871804 -0.04454156 +v -0.03035073 -0.05828475 -0.04735512 +v -0.03018421 -0.05816246 -0.04909229 +v -0.02994504 -0.05830335 -0.04924849 +v -0.03493442 -0.05410610 -0.04924848 +v -0.03410185 -0.05520393 -0.04735511 +v -0.03428350 -0.05537139 -0.04503642 +v -0.03525534 -0.05449155 -0.04454154 +v -0.03550966 -0.05424168 -0.04454154 +v -0.03641792 -0.05331664 -0.04454154 +v -0.03059596 -0.05846817 -0.04454155 +v -0.03055660 -0.05843892 -0.04503643 +v -0.03171312 -0.05756704 -0.04503643 +v -0.03150422 -0.05741021 -0.04735512 +v -0.03115908 -0.05739160 -0.04924849 +v -0.03038100 -0.05798702 -0.04924849 +v -0.03394139 -0.05505506 -0.04924848 +v -0.03278487 -0.05610770 -0.04924849 +v -0.03294836 -0.05624859 -0.04735512 +v -0.03431680 -0.05540330 -0.04454154 +v -0.03312698 -0.05640542 -0.04503643 +v -0.03316331 -0.05643733 -0.04454155 +v -0.03175248 -0.05759629 -0.04454155 +v -0.03286359 -0.05668454 -0.04454155 +v -0.03251845 -0.05632035 -0.04924849 +f 1 2 3 +f 1 3 9 +f 1 9 17 +f 1 17 23 +f 1 23 22 +f 1 22 29 +f 1 29 38 +f 1 38 43 +f 1 43 52 +f 1 52 62 +f 1 62 70 +f 1 70 80 +f 1 80 88 +f 1 88 91 +f 1 91 100 +f 1 100 112 +f 1 112 123 +f 1 123 122 +f 1 122 121 +f 1 121 133 +f 1 133 135 +f 1 135 137 +f 1 137 136 +f 1 136 124 +f 1 124 114 +f 1 114 113 +f 1 113 102 +f 1 102 94 +f 1 94 93 +f 1 93 83 +f 1 83 82 +f 1 82 81 +f 1 81 72 +f 1 72 63 +f 1 63 53 +f 1 53 44 +f 1 44 40 +f 1 40 32 +f 1 32 25 +f 1 25 18 +f 1 18 10 +f 1 10 4 +f 1 4 13 +f 1 13 14 +f 1 14 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 3 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 5 14 12 +f 5 12 11 +f 5 11 19 +f 5 19 26 +f 5 26 36 +f 5 36 34 +f 5 34 41 +f 5 41 45 +f 5 45 54 +f 5 54 56 +f 5 56 65 +f 5 65 73 +f 5 73 76 +f 5 76 86 +f 5 86 96 +f 5 96 105 +f 5 105 107 +f 5 107 106 +f 5 106 117 +f 5 117 129 +f 5 129 128 +f 5 128 138 +f 5 138 131 +f 5 131 130 +f 5 130 118 +f 5 118 109 +f 5 109 108 +f 5 108 101 +f 5 101 92 +f 5 92 87 +f 5 87 77 +f 5 77 68 +f 5 68 59 +f 5 59 58 +f 5 58 57 +f 5 57 48 +f 5 48 42 +f 5 42 37 +f 5 37 27 +f 5 27 20 +f 5 20 15 +f 5 15 7 +f 5 7 6 +f 7 15 9 +f 7 9 8 +f 9 15 16 +f 9 16 17 +f 10 18 24 +f 10 24 30 +f 10 30 35 +f 10 35 26 +f 10 26 19 +f 10 19 11 +f 12 14 13 +f 15 20 21 +f 15 21 16 +f 16 21 22 +f 16 22 23 +f 16 23 17 +f 18 25 31 +f 18 31 24 +f 20 27 21 +f 21 27 28 +f 21 28 29 +f 21 29 22 +f 24 31 39 +f 24 39 30 +f 25 32 33 +f 25 33 34 +f 25 34 31 +f 26 35 36 +f 27 37 28 +f 28 37 38 +f 28 38 29 +f 30 39 36 +f 30 36 35 +f 31 34 39 +f 32 40 33 +f 33 41 34 +f 33 40 41 +f 34 36 39 +f 37 42 43 +f 37 43 38 +f 40 44 41 +f 41 44 46 +f 41 46 47 +f 41 47 45 +f 42 48 49 +f 42 49 50 +f 42 50 43 +f 43 50 51 +f 43 51 52 +f 44 53 46 +f 45 47 54 +f 46 53 47 +f 47 53 55 +f 47 55 56 +f 47 56 54 +f 48 57 49 +f 49 57 58 +f 49 58 59 +f 49 59 60 +f 49 60 50 +f 50 60 61 +f 50 61 62 +f 50 62 51 +f 51 62 52 +f 53 63 64 +f 53 64 55 +f 55 65 56 +f 55 64 66 +f 55 66 67 +f 55 67 65 +f 59 68 60 +f 60 68 69 +f 60 69 61 +f 61 70 62 +f 61 69 71 +f 61 71 70 +f 63 72 66 +f 63 66 64 +f 65 67 73 +f 66 72 74 +f 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129 +f 116 129 117 +f 118 130 119 +f 119 130 131 +f 119 131 132 +f 119 132 120 +f 120 133 121 +f 120 132 134 +f 120 134 135 +f 120 135 133 +f 124 136 126 +f 124 126 125 +f 126 136 137 +f 126 137 134 +f 126 134 132 +f 126 132 127 +f 127 132 131 +f 127 131 138 +f 127 138 128 +f 134 137 135 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_18.obj b/demo_assets/mug/mjcf/mesh/mug_collision_18.obj new file mode 100644 index 0000000000000000000000000000000000000000..302dd043deb36a62acb2b13c5a1d70a822020f0a --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_18.obj @@ -0,0 +1,523 @@ +# https://github.com/mikedh/trimesh +v -0.05361307 -0.01742525 0.00549896 +v -0.05356191 -0.01926045 0.00549895 +v -0.05354107 -0.01510143 0.00549896 +v -0.05319436 -0.01606537 -0.00478825 +v -0.05327962 -0.01742522 -0.00328925 +v -0.05319815 -0.01887117 -0.00487643 +v -0.05354676 -0.01974740 0.00549895 +v -0.05347097 -0.01510142 0.00366685 +v -0.05336488 -0.01275112 0.00549897 +v -0.05315078 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a/demo_assets/mug/mjcf/mesh/mug_collision_19.obj b/demo_assets/mug/mjcf/mesh/mug_collision_19.obj new file mode 100644 index 0000000000000000000000000000000000000000..ca1541c67bc6008bfd6b85e468cd4fe0a94dfc88 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_19.obj @@ -0,0 +1,529 @@ +# https://github.com/mikedh/trimesh +v 0.01667600 -0.06835225 0.00075780 +v 0.01715681 -0.06820462 0.00075780 +v 0.01667600 -0.05528306 0.00075785 +v 0.01667600 -0.06827548 -0.00097159 +v 0.01732049 -0.06807764 -0.00097159 +v 0.01732049 -0.06815147 0.00075780 +v 0.02973697 -0.04636554 0.00075788 +v 0.02973697 -0.03818901 -0.04453425 +v 0.01667600 -0.04973750 -0.04453429 +v 0.01667600 -0.06803628 -0.00625730 +v 0.01667600 -0.06795655 -0.00801772 +v 0.01753915 -0.06768784 -0.00806650 +v 0.01845600 -0.06735713 -0.00893119 +v 0.01863119 -0.06771150 0.00075780 +v 0.02973697 -0.06245547 0.00075782 +v 0.02973697 -0.05903299 -0.04453433 +v 0.01667600 -0.06544652 -0.04453435 +v 0.01667600 -0.06785024 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a/demo_assets/mug/mjcf/mesh/mug_collision_23.obj b/demo_assets/mug/mjcf/mesh/mug_collision_23.obj new file mode 100644 index 0000000000000000000000000000000000000000..a7d578c2594a66fcd0b39228a6d7ece33147f5c9 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_23.obj @@ -0,0 +1,166 @@ +# https://github.com/mikedh/trimesh +v 0.01137587 0.02201837 -0.00475097 +v 0.01137587 0.02189510 -0.00568370 +v 0.01137587 0.03466234 -0.00475092 +v -0.01121899 0.02208001 -0.00475097 +v 0.01137587 0.02171901 -0.00709464 +v -0.01121899 0.02167675 -0.00792613 +v 0.01130509 0.03467818 -0.00475092 +v 0.01137587 0.03451095 -0.02184162 +v 0.01064158 0.03733207 -0.02051253 +v 0.01061946 0.03733206 -0.01952164 +v 0.01027001 0.03733205 -0.01720166 +v 0.00962640 0.03733205 -0.01505832 +v 0.00799195 0.03733204 -0.01271250 +v -0.01121899 0.03463944 -0.00475092 +v 0.01137587 0.01934174 -0.02675736 +v -0.01121899 0.02140557 -0.01024610 +v 0.01096449 0.03475038 -0.00475092 +v 0.01137587 0.03447222 -0.02415944 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353 362 354 +f 354 362 361 +f 354 361 363 +f 354 363 356 +f 355 357 364 +f 356 364 357 +f 356 363 365 +f 356 365 364 +f 358 366 365 +f 358 365 359 +f 359 365 360 +f 360 363 361 +f 360 365 363 +f 364 365 366 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_26.obj b/demo_assets/mug/mjcf/mesh/mug_collision_26.obj new file mode 100644 index 0000000000000000000000000000000000000000..8c3124321275e199b7e6941ee346a4e032867aba --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_26.obj @@ -0,0 +1,244 @@ +# https://github.com/mikedh/trimesh +v -0.02716582 -0.03888276 -0.04881563 +v -0.02931607 -0.03888278 -0.04454102 +v -0.02848038 -0.03888276 -0.04881731 +v -0.02716582 -0.03888015 -0.04881731 +v -0.03578753 -0.01226730 -0.04454093 +v -0.04593329 -0.03888278 -0.04454102 +v -0.04551199 -0.03888276 -0.04881731 +v -0.03417830 -0.01226728 -0.04881722 +v -0.05034660 -0.01226730 -0.04454093 +v -0.04595862 -0.03882546 -0.04454102 +v -0.04582509 -0.03851803 -0.04735518 +v -0.04569617 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290 306 305 +f 290 305 291 +f 291 305 304 +f 291 304 311 +f 291 311 293 +f 291 293 292 +f 293 311 294 +f 294 303 297 +f 294 297 295 +f 294 311 300 +f 297 303 299 +f 299 303 302 +f 299 302 313 +f 299 313 312 +f 300 311 304 +f 301 314 302 +f 302 314 313 +f 306 310 307 +f 307 310 315 +f 307 315 316 +f 307 316 308 +f 309 317 310 +f 310 317 315 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_33.obj b/demo_assets/mug/mjcf/mesh/mug_collision_33.obj new file mode 100644 index 0000000000000000000000000000000000000000..3dd4782d0f7bf93663ea8df377e5a3eb90ac4069 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_33.obj @@ -0,0 +1,358 @@ +# https://github.com/mikedh/trimesh +v -0.02042726 0.01228927 -0.04463405 +v -0.02042726 0.02979315 -0.04463399 +v -0.01121989 0.01697146 -0.04463404 +v -0.01121989 0.02356350 0.05701224 +v -0.02042726 0.01978399 0.05701222 +v -0.02013431 0.02991846 -0.04463399 +v -0.02042726 0.02982896 -0.04432903 +v -0.01121989 0.03281574 -0.04463398 +v 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0.02597745 0.06194419 +v -0.02042726 0.02130549 0.06136579 +v -0.02042726 0.03031481 -0.03956535 +v -0.01989185 0.03063700 -0.03829293 +v -0.01121989 0.03501996 -0.02415960 +v -0.01121989 0.03481028 -0.02647309 +v -0.01121989 0.02670881 0.06233327 +v -0.02042726 0.02196780 0.06175488 +v -0.02042726 0.03037873 -0.03882924 +v -0.02042726 0.03044777 -0.03798797 +v -0.01966290 0.03092851 -0.03574809 +v -0.01121989 0.03841052 0.04545537 +v -0.01966290 0.03109728 -0.03343461 +v -0.01966290 0.03125837 -0.03111060 +v -0.01966290 0.03140924 -0.02879710 +v -0.01966290 0.03153197 -0.02647310 +v -0.01121989 0.02822521 0.06256462 +v -0.01272966 0.02670881 0.06246998 +v -0.01974583 0.02455566 0.06264874 +v -0.02042726 0.02379362 0.06254358 +v -0.02042726 0.03061909 -0.03574809 +v -0.02042726 0.03242430 0.00831335 +v -0.02042726 0.03248311 0.01062684 +v -0.02042726 0.03252401 0.01294032 +v -0.02042726 0.03255724 0.01526433 +v -0.02042726 0.03257515 0.01757782 +v -0.02042726 0.03258025 0.01934448 +v -0.02042726 0.03258025 0.01990182 +v -0.02042726 0.03257513 0.02222582 +v -0.02042726 0.03256744 0.02401352 +v -0.02042726 0.03256489 0.02453931 +v -0.02042726 0.03255465 0.02636907 +v -0.02042726 0.03253162 0.02874565 +v -0.02042726 0.03252651 0.02917680 +v -0.02042726 0.03248304 0.03118533 +v -0.02042726 0.03247535 0.03150081 +v -0.02042726 0.03239097 0.03376172 +v -0.02042726 0.03237050 0.03419287 +v -0.02042726 0.03225798 0.03632759 +v -0.02042726 0.03152658 0.05005078 +v -0.02042726 0.03138848 0.05238529 +v -0.02042726 0.03131431 0.05322657 +v -0.02042726 0.03118390 0.05468825 +v -0.01121989 0.03819316 0.04762163 +v -0.02042726 0.03122256 -0.02647311 +v -0.02042726 0.03135040 -0.02339195 +v -0.02042726 0.03144245 -0.02106795 +v -0.02042726 0.03150126 -0.01952212 +v -0.02042726 0.03152939 -0.01875446 +v -0.02042726 0.03158564 -0.01719811 +v -0.02042726 0.03085434 -0.03248818 +v -0.02042726 0.03094895 -0.03111060 +v -0.02042726 0.03100777 -0.03024830 +v -0.02042726 0.03109982 -0.02879711 +v -0.02042726 0.03114328 -0.02798739 +v -0.01121989 0.02903328 0.06259618 +v -0.02042726 0.02528446 0.06279596 +v -0.01504074 0.02670881 0.06262772 +v -0.02042726 0.02455566 0.06268028 +v -0.02042726 0.03104837 0.05570830 +v -0.01121989 0.03270540 0.06074540 +v -0.02042726 0.03086936 0.05701226 +v -0.02042726 0.03070825 0.05785353 +v -0.02042726 0.03046020 0.05893666 +v -0.02042726 0.03013799 0.06001980 +v -0.01898689 0.03038348 0.06073487 +v -0.01735092 0.03150609 0.05933627 +v -0.01355170 0.03242411 0.06020909 +v -0.01201128 0.03262101 0.06064024 +v -0.01272966 0.02903328 0.06257515 +v -0.02042726 0.02576265 0.06278544 +v -0.02042726 0.02541743 0.06279596 +v -0.01121989 0.03054969 0.06212297 +v -0.01504074 0.03104578 0.06131325 +v -0.01121989 0.03236018 0.06101881 +v -0.02042726 0.02995643 0.06028269 +v -0.01735092 0.03067756 0.06102932 +v -0.02042726 0.02899748 0.06134479 +v -0.01504074 0.02903328 0.06243844 +v -0.02042726 0.02600047 0.06274339 +v -0.01121989 0.03141657 0.06170234 +v -0.01735092 0.02903328 0.06212297 +v -0.01276031 0.03153164 0.06135532 +v -0.01971969 0.02918927 0.06140788 +v -0.02042726 0.02828914 0.06174439 +v -0.02042726 0.02650935 0.06257514 +f 1 2 6 +f 1 6 13 +f 1 13 21 +f 1 21 32 +f 1 32 34 +f 1 34 24 +f 1 24 23 +f 1 23 15 +f 1 15 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 10 +f 1 10 18 +f 1 18 17 +f 1 17 27 +f 1 27 36 +f 1 36 42 +f 1 42 54 +f 1 54 93 +f 1 93 91 +f 1 91 106 +f 1 106 105 +f 1 105 114 +f 1 114 120 +f 1 120 119 +f 1 119 112 +f 1 112 110 +f 1 110 99 +f 1 99 98 +f 1 98 97 +f 1 97 96 +f 1 96 94 +f 1 94 77 +f 1 77 76 +f 1 76 75 +f 1 75 74 +f 1 74 73 +f 1 73 72 +f 1 72 71 +f 1 71 70 +f 1 70 69 +f 1 69 68 +f 1 68 67 +f 1 67 66 +f 1 66 65 +f 1 65 64 +f 1 64 63 +f 1 63 62 +f 1 62 61 +f 1 61 60 +f 1 60 59 +f 1 59 58 +f 1 58 57 +f 1 57 56 +f 1 56 84 +f 1 84 83 +f 1 83 82 +f 1 82 81 +f 1 81 80 +f 1 80 79 +f 1 79 89 +f 1 89 88 +f 1 88 87 +f 1 87 86 +f 1 86 85 +f 1 85 55 +f 1 55 44 +f 1 44 43 +f 1 43 37 +f 1 37 28 +f 1 28 19 +f 1 19 11 +f 1 11 7 +f 1 7 2 +f 2 7 6 +f 3 8 14 +f 3 14 22 +f 3 22 33 +f 3 33 40 +f 3 40 39 +f 3 39 46 +f 3 46 78 +f 3 78 95 +f 3 95 109 +f 3 109 115 +f 3 115 107 +f 3 107 90 +f 3 90 51 +f 3 51 41 +f 3 41 35 +f 3 35 25 +f 3 25 16 +f 3 16 9 +f 3 9 4 +f 4 9 10 +f 4 10 5 +f 6 7 11 +f 6 11 12 +f 6 12 13 +f 8 15 14 +f 9 16 17 +f 9 17 18 +f 9 18 10 +f 11 19 12 +f 12 19 20 +f 12 20 13 +f 13 20 21 +f 14 15 23 +f 14 23 24 +f 14 24 22 +f 16 25 26 +f 16 26 17 +f 17 26 27 +f 19 28 29 +f 19 29 20 +f 20 29 30 +f 20 30 31 +f 20 31 32 +f 20 32 21 +f 22 24 34 +f 22 34 33 +f 25 27 26 +f 25 35 36 +f 25 36 27 +f 28 37 29 +f 29 37 38 +f 29 38 39 +f 29 39 40 +f 29 40 30 +f 30 40 31 +f 31 40 32 +f 32 40 33 +f 32 33 34 +f 35 41 42 +f 35 42 36 +f 37 43 38 +f 38 43 44 +f 38 44 45 +f 38 45 39 +f 39 45 47 +f 39 47 48 +f 39 48 49 +f 39 49 50 +f 39 50 46 +f 41 51 52 +f 41 52 53 +f 41 53 54 +f 41 54 42 +f 44 55 45 +f 45 55 47 +f 46 56 57 +f 46 57 58 +f 46 58 59 +f 46 59 60 +f 46 60 61 +f 46 61 62 +f 46 62 63 +f 46 63 64 +f 46 64 65 +f 46 65 66 +f 46 66 67 +f 46 67 68 +f 46 68 69 +f 46 69 70 +f 46 70 71 +f 46 71 72 +f 46 72 73 +f 46 73 74 +f 46 74 75 +f 46 75 76 +f 46 76 77 +f 46 77 78 +f 46 50 79 +f 46 79 80 +f 46 80 81 +f 46 81 82 +f 46 82 83 +f 46 83 84 +f 46 84 56 +f 47 55 85 +f 47 85 48 +f 48 85 86 +f 48 86 87 +f 48 87 49 +f 49 88 89 +f 49 89 50 +f 49 87 88 +f 50 89 79 +f 51 90 91 +f 51 91 92 +f 51 92 52 +f 52 92 53 +f 53 91 93 +f 53 93 54 +f 53 92 91 +f 77 94 78 +f 78 94 96 +f 78 96 97 +f 78 97 98 +f 78 98 99 +f 78 99 100 +f 78 100 101 +f 78 101 102 +f 78 102 103 +f 78 103 95 +f 90 104 105 +f 90 105 106 +f 90 106 91 +f 90 107 104 +f 95 103 108 +f 95 108 109 +f 99 110 100 +f 100 111 103 +f 100 103 102 +f 100 102 101 +f 100 110 112 +f 100 112 111 +f 103 111 108 +f 104 107 113 +f 104 113 114 +f 104 114 105 +f 107 115 113 +f 108 116 115 +f 108 115 117 +f 108 117 109 +f 108 111 116 +f 109 117 115 +f 111 112 118 +f 111 118 116 +f 112 119 116 +f 112 116 118 +f 113 120 114 +f 113 115 116 +f 113 116 120 +f 116 119 120 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_34.obj b/demo_assets/mug/mjcf/mesh/mug_collision_34.obj new file mode 100644 index 0000000000000000000000000000000000000000..c4e944f675302bf1a723f3179a6467881e5a1aeb --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_34.obj @@ -0,0 +1,307 @@ +# https://github.com/mikedh/trimesh +v -0.01064195 0.03733206 -0.01952052 +v -0.01063361 0.03733207 -0.02184025 +v -0.01048986 0.03733206 -0.01853066 +v -0.01024402 0.04297080 -0.01256563 +v -0.01046694 0.04297080 -0.01488536 +v -0.01046694 0.04297909 -0.01488536 +v -0.01026069 0.04297081 -0.01720293 +v -0.01045236 0.03832549 -0.02184025 +v -0.01028569 0.03733208 -0.02418579 +v -0.01028152 0.03733205 -0.01720295 +v -0.00968775 0.04297908 -0.01031907 +v -0.00994193 0.04297908 -0.01134552 +v -0.01024402 0.04297909 -0.01256563 +v -0.01025860 0.04297910 -0.01720078 +v -0.00973775 0.03733209 -0.02647970 +v -0.01002734 0.03733205 -0.01633574 +v -0.00968150 0.04297908 -0.01030616 +v -0.00963567 0.03733205 -0.01504462 +v -0.00965650 0.04297911 -0.01936557 +v -0.00967317 0.04290116 -0.01941291 +v -0.00965233 0.03733209 -0.02675729 +v -0.00893148 0.04222338 -0.00958528 +v -0.00832521 0.04297907 -0.00789391 +v -0.00798770 0.03733204 -0.01274856 +v -0.00827521 0.04297907 -0.00780998 +v -0.00957525 0.04297911 -0.01948823 +v -0.00942941 0.04208024 -0.02099455 +v -0.00951900 0.03757091 -0.02675729 +v 0.00957742 0.03733209 -0.02675729 +v -0.00102082 0.03733203 -0.01047188 +v -0.00474385 0.04177005 -0.00672114 +v -0.00565638 0.04297906 -0.00569253 +v -0.00571263 0.04297906 -0.00571836 +v -0.00818145 0.04297907 -0.00769593 +v -0.00815020 0.04297912 -0.02156048 +v -0.00852730 0.03873072 -0.02675729 +v 0.00952950 0.03743491 -0.02675729 +v 0.00962743 0.04297911 -0.01936987 +v 0.00963992 0.04297911 -0.01933329 +v 0.01001077 0.03733208 -0.02523376 +v 0.00121050 0.03733203 -0.01047188 +v 0.00345015 0.04297906 -0.00477368 +v 0.00113966 0.04297906 -0.00477583 +v -0.00033955 0.04297906 -0.00484900 +v -0.00117082 0.04297906 -0.00489204 +v -0.00348131 0.04297906 -0.00510507 +v -0.00802312 0.04297912 -0.02170035 +v -0.00735643 0.03985847 -0.02675728 +v 0.00944617 0.03754990 -0.02675729 +v 0.00940033 0.04208189 -0.02100531 +v 0.00901491 0.04297912 -0.02049100 +v 0.01024619 0.04297081 -0.01720293 +v 0.01024411 0.04297910 -0.01719432 +v 0.01049204 0.03733207 -0.02283226 +v 0.00799196 0.03733204 -0.01271198 +v 0.00506062 0.04164179 -0.00656621 +v 0.00408767 0.04297906 -0.00489849 +v -0.00577930 0.04297913 -0.02364135 +v -0.00576680 0.04089833 -0.02675728 +v -0.00736893 0.04216538 -0.02347351 +v 0.00871281 0.03847255 -0.02675729 +v 0.00811696 0.04297912 -0.02157339 +v 0.00848781 0.03871303 -0.02675729 +v 0.00748569 0.03970092 -0.02675728 +v 0.01047329 0.04297909 -0.01487675 +v 0.01056079 0.03733207 -0.02184025 +v 0.00962534 0.03733205 -0.01505753 +v 0.00837322 0.04297907 -0.00763998 +v 0.00829197 0.04297907 -0.00753669 +v 0.00811071 0.04297907 -0.00731075 +v 0.00725444 0.04297906 -0.00632088 +v 0.00660233 0.04194143 -0.00692342 +v 0.00601898 0.04297906 -0.00545368 +v 0.00590439 0.04297906 -0.00540203 +v -0.00353548 0.04297913 -0.02478830 +v -0.00386882 0.04165569 -0.02675728 +v -0.00544179 0.04106030 -0.02675728 +v 0.00803779 0.04297912 -0.02166162 +v 0.00731485 0.03984355 -0.02675728 +v 0.01061912 0.03733206 -0.01952052 +v 0.01064204 0.03733207 -0.02051254 +v 0.01025453 0.04297909 -0.01256563 +v 0.00992743 0.03733205 -0.01606245 +v 0.00967743 0.04297908 -0.01017274 +v 0.00924408 0.04297907 -0.00897415 +v -0.00248545 0.04297913 -0.02507450 +v -0.00232919 0.04197135 -0.02675728 +v -0.00348131 0.04176957 -0.02675728 +v 0.00799612 0.04297912 -0.02170466 +v 0.00572314 0.04086571 -0.02675728 +v 0.00734819 0.04217201 -0.02347136 +v 0.01026911 0.03733205 -0.01720295 +v 0.00969201 0.04297908 -0.01022224 +v -0.00117082 0.04297913 -0.02536500 +v -0.00117082 0.04215876 -0.02675728 +v 0.00655233 0.04297912 -0.02301946 +v 0.00345015 0.04172258 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b/demo_assets/mug/mjcf/mesh/mug_collision_40.obj @@ -0,0 +1,1267 @@ +# https://github.com/mikedh/trimesh +v -0.05359721 -0.01226545 0.01945015 +v -0.05332606 -0.01024539 0.01764850 +v -0.05358450 -0.01226544 0.01760045 +v -0.05359721 -0.01226545 0.01994861 +v -0.05333029 -0.01022462 0.02010477 +v -0.05318201 -0.00927487 0.01845926 +v -0.05317142 -0.00933097 0.01690983 +v -0.05334512 -0.01056544 0.01527031 +v -0.05358026 -0.01226544 0.01705394 +v -0.05358026 -0.01226546 0.02223072 +v -0.05335572 -0.01050519 0.02223073 +v -0.05317777 -0.00929566 0.02100561 +v -0.05318201 -0.00927487 0.01945618 +v -0.05299772 -0.00835213 0.02010478 +v -0.05298924 -0.00835212 0.01764851 +v -0.05316083 -0.00940371 0.01527032 +v -0.05332818 -0.01068389 0.01295217 +v -0.05354636 -0.01226543 0.01470578 +v -0.05352730 -0.01226547 0.02454885 +v -0.05332818 -0.01064444 0.02454886 +v -0.05314812 -0.00948271 0.02454887 +v -0.05316930 -0.00934346 0.02223074 +v -0.05293628 -0.00813184 0.02223074 +v -0.05242153 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0.03630474 0.01062783 +v -0.00348242 0.03665829 0.01241386 +v 0.00344909 0.03668147 0.01241386 +v 0.00807378 0.03513256 -0.00475092 +v 0.00807378 0.03522383 -0.00328580 +v -0.00810490 0.03510937 -0.00475092 +v -0.00579366 0.03616564 0.00830917 +v -0.00117118 0.03680608 0.01241387 +v -0.00348242 0.03654672 0.01062783 +v 0.00344909 0.03657136 0.01062783 +v 0.00167087 0.03678869 0.01241387 +v 0.00722006 0.03520935 -0.00475092 +v -0.00579366 0.03587586 0.00367185 +v -0.00579366 0.03572808 0.00135320 +v -0.00579366 0.03557738 -0.00096714 +v -0.00579366 0.03542380 -0.00328580 +v -0.00579366 0.03531803 -0.00475092 +v -0.00063815 0.03681043 0.01241387 +v -0.00117118 0.03669017 0.01062783 +v -0.00348242 0.03593963 0.00135320 +v -0.00117118 0.03593383 -0.00096714 +v 0.00344909 0.03641487 0.00830917 +v 0.00113785 0.03593239 -0.00096714 +v 0.00113785 0.03670466 0.01062783 +v 0.00576254 0.03559187 -0.00096714 +v 0.00113785 0.03681912 0.01241387 +v 0.00490882 0.03536874 -0.00475092 +v 0.00344909 0.03559333 -0.00328580 +v 0.00344909 0.03578459 -0.00096714 +v -0.00348242 0.03578459 -0.00096714 +v -0.00348242 0.03560057 -0.00328580 +v -0.00348242 0.03545423 -0.00475092 +v -0.00117118 0.03572954 -0.00328580 +v 0.00344909 0.03594253 0.00135320 +v 0.00113785 0.03572664 -0.00328580 +v 0.00259758 0.03548466 -0.00475092 +v -0.00117118 0.03555277 -0.00475092 +v 0.00113785 0.03554552 -0.00475092 +f 1 2 5 +f 1 5 11 +f 1 11 19 +f 1 19 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 14 +f 1 14 23 +f 1 23 22 +f 1 22 29 +f 1 29 28 +f 1 28 37 +f 1 37 42 +f 1 42 50 +f 1 50 65 +f 1 65 57 +f 1 57 47 +f 1 47 41 +f 1 41 33 +f 1 33 26 +f 1 26 16 +f 1 16 9 +f 1 9 4 +f 1 4 2 +f 2 4 6 +f 2 6 12 +f 2 12 21 +f 2 21 32 +f 2 32 39 +f 2 39 45 +f 2 45 56 +f 2 56 71 +f 2 71 76 +f 2 76 77 +f 2 77 75 +f 2 75 66 +f 2 66 51 +f 2 51 43 +f 2 43 38 +f 2 38 35 +f 2 35 27 +f 2 27 17 +f 2 17 10 +f 2 10 5 +f 3 7 8 +f 4 9 15 +f 4 15 24 +f 4 24 30 +f 4 30 20 +f 4 20 12 +f 4 12 6 +f 5 10 11 +f 7 13 8 +f 8 13 14 +f 9 16 15 +f 10 17 18 +f 10 18 11 +f 11 18 19 +f 12 20 21 +f 13 19 22 +f 13 22 23 +f 13 23 14 +f 15 16 25 +f 15 25 24 +f 16 26 25 +f 17 27 28 +f 17 28 18 +f 18 28 29 +f 18 29 22 +f 18 22 19 +f 20 30 25 +f 20 25 31 +f 20 31 32 +f 20 32 21 +f 24 25 30 +f 25 26 31 +f 26 33 34 +f 26 34 32 +f 26 32 31 +f 27 35 28 +f 28 36 37 +f 28 35 38 +f 28 38 36 +f 32 34 39 +f 33 40 39 +f 33 39 34 +f 33 41 40 +f 36 38 37 +f 37 38 42 +f 38 43 44 +f 38 44 42 +f 39 40 45 +f 40 41 46 +f 40 46 45 +f 41 47 48 +f 41 48 46 +f 42 44 49 +f 42 49 50 +f 43 51 49 +f 43 49 44 +f 45 46 52 +f 45 52 53 +f 45 53 54 +f 45 54 55 +f 45 55 56 +f 46 48 52 +f 47 57 58 +f 47 58 48 +f 48 59 54 +f 48 54 53 +f 48 53 52 +f 48 58 60 +f 48 60 59 +f 49 61 62 +f 49 62 63 +f 49 63 50 +f 49 51 64 +f 49 64 61 +f 50 63 65 +f 51 66 67 +f 51 67 68 +f 51 68 64 +f 54 59 55 +f 55 59 69 +f 55 69 56 +f 56 69 70 +f 56 70 71 +f 57 60 58 +f 57 65 63 +f 57 63 60 +f 59 60 69 +f 60 72 70 +f 60 70 69 +f 60 63 62 +f 60 62 72 +f 61 73 62 +f 61 64 73 +f 62 74 72 +f 62 73 68 +f 62 68 67 +f 62 67 74 +f 64 68 73 +f 66 75 74 +f 66 74 67 +f 70 72 71 +f 71 72 76 +f 72 74 76 +f 74 75 77 +f 74 77 76 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_43.obj b/demo_assets/mug/mjcf/mesh/mug_collision_43.obj new file mode 100644 index 0000000000000000000000000000000000000000..85ef5f8f21499bba376e43de12fd0000933f63df --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_43.obj @@ -0,0 +1,172 @@ +# https://github.com/mikedh/trimesh +v 0.03196107 -0.02997038 -0.04917720 +v 0.02165187 -0.04394924 -0.04917725 +v 0.03392357 -0.02997040 -0.04453865 +v 0.04864909 -0.02997038 -0.04917720 +v 0.02165187 -0.04410421 -0.04917725 +v 0.02165187 -0.04410421 -0.04910232 +v 0.02203041 -0.04410421 -0.04848521 +v 0.02447079 -0.04410423 -0.04453870 +v 0.04907864 -0.02997040 -0.04453865 +v 0.04871620 -0.02997038 -0.04850923 +v 0.04857392 -0.03036195 -0.04899329 +v 0.04856318 -0.03032736 -0.04917720 +v 0.04273472 -0.04410421 -0.04917725 +v 0.04327434 -0.04410423 -0.04453870 +v 0.04892024 -0.03055430 -0.04453865 +v 0.04876721 -0.03096799 -0.04503634 +v 0.04891487 -0.02997039 -0.04640270 +v 0.04848532 -0.03057780 -0.04917720 +v 0.04865445 -0.03062070 -0.04735538 +v 0.04828934 -0.03178295 -0.04735539 +v 0.04823833 -0.03135540 -0.04917721 +v 0.04832424 -0.03108559 -0.04917720 +v 0.04341126 -0.04294334 -0.04917725 +v 0.04343005 -0.04328926 -0.04735543 +v 0.04295486 -0.04410422 -0.04733454 +v 0.04322333 -0.04410422 -0.04503639 +v 0.04356160 -0.04352033 -0.04503639 +v 0.04358576 -0.04356600 -0.04453870 +v 0.04877527 -0.03107731 -0.04453865 +v 0.04841820 -0.03219806 -0.04453866 +v 0.04839673 -0.03212886 -0.04503635 +v 0.04765844 -0.03368545 -0.04735539 +v 0.04747319 -0.03368544 -0.04917721 +v 0.04760743 -0.03327727 -0.04917721 +v 0.04394283 -0.04198863 -0.04917724 +v 0.04396967 -0.04194021 -0.04917724 +v 0.04406901 -0.04212701 -0.04735542 +v 0.04419250 -0.04235807 -0.04503639 +v 0.04421935 -0.04240375 -0.04453870 +v 0.04793764 -0.03364395 -0.04453866 +v 0.04787858 -0.03368545 -0.04503635 +v 0.04701679 -0.03600858 -0.04503636 +v 0.04663289 -0.03593938 -0.04917722 +v 0.04453346 -0.04080978 -0.04917724 +v 0.04480461 -0.04065205 -0.04735542 +v 0.04503550 -0.04065205 -0.04503638 +v 0.04508382 -0.04065206 -0.04453869 +v 0.04706244 -0.03600859 -0.04453867 +v 0.04640200 -0.03762605 -0.04453868 +v 0.04637784 -0.03757070 -0.04503637 +v 0.04628656 -0.03735209 -0.04694128 +v 0.04667853 -0.03623549 -0.04757064 +v 0.04617381 -0.03707258 -0.04917723 +v 0.04567177 -0.03830125 -0.04917723 +v 0.04589728 -0.03873295 -0.04503637 +v 0.04592144 -0.03878693 -0.04453868 +v 0.04587312 -0.03820856 -0.04757065 +v 0.04620871 -0.03716113 -0.04848746 +f 1 2 3 +f 1 3 9 +f 1 9 17 +f 1 17 10 +f 1 10 4 +f 1 4 12 +f 1 12 18 +f 1 18 22 +f 1 22 21 +f 1 21 34 +f 1 34 33 +f 1 33 43 +f 1 43 53 +f 1 53 54 +f 1 54 44 +f 1 44 36 +f 1 36 35 +f 1 35 23 +f 1 23 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 3 +f 3 8 14 +f 3 14 28 +f 3 28 39 +f 3 39 47 +f 3 47 56 +f 3 56 49 +f 3 49 48 +f 3 48 40 +f 3 40 30 +f 3 30 29 +f 3 29 15 +f 3 15 9 +f 4 10 11 +f 4 11 12 +f 5 13 25 +f 5 25 26 +f 5 26 14 +f 5 14 8 +f 5 8 7 +f 5 7 6 +f 9 15 16 +f 9 16 17 +f 10 17 11 +f 11 18 12 +f 11 17 19 +f 11 19 20 +f 11 20 21 +f 11 21 22 +f 11 22 18 +f 13 23 24 +f 13 24 25 +f 14 26 27 +f 14 27 28 +f 15 29 16 +f 16 19 17 +f 16 29 30 +f 16 30 31 +f 16 31 20 +f 16 20 19 +f 20 31 32 +f 20 32 33 +f 20 33 34 +f 20 34 21 +f 23 35 24 +f 24 27 26 +f 24 26 25 +f 24 35 36 +f 24 36 27 +f 27 36 37 +f 27 37 38 +f 27 38 39 +f 27 39 28 +f 30 40 31 +f 31 40 41 +f 31 41 32 +f 32 41 42 +f 32 42 43 +f 32 43 33 +f 36 44 37 +f 37 44 45 +f 37 45 38 +f 38 45 46 +f 38 46 39 +f 39 46 47 +f 40 48 41 +f 41 48 42 +f 42 48 49 +f 42 49 50 +f 42 50 51 +f 42 51 52 +f 42 52 43 +f 43 52 53 +f 44 54 45 +f 45 54 55 +f 45 55 46 +f 46 55 56 +f 46 56 47 +f 49 56 55 +f 49 55 50 +f 50 55 57 +f 50 57 51 +f 51 57 58 +f 51 58 52 +f 52 58 53 +f 53 58 54 +f 54 57 55 +f 54 58 57 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_44.obj b/demo_assets/mug/mjcf/mesh/mug_collision_44.obj new file mode 100644 index 0000000000000000000000000000000000000000..72b603a32cc437e121b30cf50a130f40e9e15678 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_44.obj @@ -0,0 +1,160 @@ +# https://github.com/mikedh/trimesh +v 0.03367626 -0.01226728 -0.04917714 +v 0.03196049 -0.02997038 -0.04917720 +v 0.03392346 -0.02997040 -0.04453865 +v 0.03572713 -0.01226730 -0.04453859 +v 0.04991473 -0.01226728 -0.04917714 +v 0.04864942 -0.02997038 -0.04917720 +v 0.04907791 -0.02997040 -0.04453865 +v 0.05035238 -0.01226730 -0.04453859 +v 0.04991657 -0.01226728 -0.04916442 +v 0.04991657 -0.01228114 -0.04917714 +v 0.04884535 -0.02915420 -0.04917720 +v 0.04905960 -0.02903810 -0.04735538 +v 0.04871718 -0.02997038 -0.04850923 +v 0.04905777 -0.02997040 -0.04477932 +v 0.04932694 -0.02903811 -0.04453865 +v 0.05035421 -0.01228116 -0.04453859 +v 0.05031026 -0.01226729 -0.04503628 +v 0.04997516 -0.01277848 -0.04917714 +v 0.05009602 -0.01226729 -0.04735532 +v 0.05015644 -0.01277849 -0.04735532 +v 0.04935807 -0.02671430 -0.04917719 +v 0.04955400 -0.02671431 -0.04735537 +v 0.04978656 -0.02671431 -0.04503633 +v 0.04928482 -0.02903810 -0.04503634 +v 0.04891494 -0.02997039 -0.04640270 +v 0.04943498 -0.02853904 -0.04453864 +v 0.05041097 -0.01277850 -0.04453859 +v 0.05036886 -0.01277849 -0.04503628 +v 0.05014546 -0.01226729 -0.04684538 +v 0.05015461 -0.01510227 -0.04917715 +v 0.05033223 -0.01510228 -0.04735533 +v 0.04944230 -0.02621696 -0.04917719 +v 0.04994953 -0.02439225 -0.04735536 +v 0.05018208 -0.02439225 -0.04503632 +v 0.05022603 -0.02439226 -0.04453863 +v 0.04991473 -0.02621698 -0.04453864 +v 0.04982867 -0.02671432 -0.04453864 +v 0.05054831 -0.01460322 -0.04453859 +v 0.05054281 -0.01510228 -0.04503629 +v 0.05023518 -0.01742433 -0.04917715 +v 0.05062338 -0.01742434 -0.04503629 +v 0.05041097 -0.01742434 -0.04735533 +v 0.04974993 -0.02439224 -0.04917718 +v 0.05000995 -0.02206845 -0.04917717 +v 0.05020405 -0.02206846 -0.04735535 +v 0.05042928 -0.02206846 -0.04503631 +v 0.05047140 -0.02206847 -0.04453862 +v 0.05058493 -0.01510056 -0.04453860 +v 0.05066733 -0.01742435 -0.04453860 +v 0.05034871 -0.01974813 -0.04735534 +v 0.05016560 -0.01974812 -0.04917716 +v 0.05056662 -0.01974813 -0.04503630 +v 0.05060690 -0.01976200 -0.04453861 +v 0.05062521 -0.01911737 -0.04453861 +f 1 2 3 +f 1 3 4 +f 1 4 8 +f 1 8 17 +f 1 17 29 +f 1 29 19 +f 1 19 9 +f 1 9 5 +f 1 5 10 +f 1 10 18 +f 1 18 30 +f 1 30 40 +f 1 40 51 +f 1 51 44 +f 1 44 43 +f 1 43 32 +f 1 32 21 +f 1 21 11 +f 1 11 6 +f 1 6 2 +f 2 6 13 +f 2 13 25 +f 2 25 14 +f 2 14 7 +f 2 7 3 +f 3 7 15 +f 3 15 26 +f 3 26 37 +f 3 37 36 +f 3 36 35 +f 3 35 47 +f 3 47 53 +f 3 53 54 +f 3 54 49 +f 3 49 48 +f 3 48 38 +f 3 38 27 +f 3 27 16 +f 3 16 8 +f 3 8 4 +f 5 9 10 +f 6 11 12 +f 6 12 13 +f 7 14 15 +f 8 16 17 +f 9 18 10 +f 9 19 20 +f 9 20 18 +f 11 21 22 +f 11 22 12 +f 12 22 23 +f 12 23 24 +f 12 24 13 +f 13 24 25 +f 14 25 24 +f 14 24 15 +f 15 24 26 +f 16 27 28 +f 16 28 17 +f 17 28 29 +f 18 20 30 +f 19 29 20 +f 20 29 28 +f 20 28 31 +f 20 31 30 +f 21 32 33 +f 21 33 22 +f 22 33 34 +f 22 34 23 +f 23 34 35 +f 23 35 36 +f 23 36 37 +f 23 37 26 +f 23 26 24 +f 27 38 28 +f 28 38 39 +f 28 39 31 +f 30 31 40 +f 31 39 41 +f 31 41 42 +f 31 42 40 +f 32 43 33 +f 33 43 44 +f 33 44 45 +f 33 45 34 +f 34 45 46 +f 34 46 35 +f 35 46 47 +f 38 48 39 +f 39 48 49 +f 39 49 41 +f 40 42 50 +f 40 50 51 +f 41 49 52 +f 41 52 42 +f 42 52 50 +f 44 51 45 +f 45 51 50 +f 45 50 46 +f 46 52 47 +f 46 50 52 +f 47 52 53 +f 49 54 52 +f 52 54 53 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_45.obj b/demo_assets/mug/mjcf/mesh/mug_collision_45.obj new file mode 100644 index 0000000000000000000000000000000000000000..3aa1d8909369325a4f8d06ddd1012a392a6fcb93 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_45.obj @@ -0,0 +1,955 @@ +# https://github.com/mikedh/trimesh +v 0.01081208 0.06387493 0.03509475 +v 0.01059955 0.06155322 0.03509475 +v 0.01019361 0.06630772 0.03509476 +v 0.01078445 0.06387493 0.03614319 +v 0.01075682 0.06155320 0.04078281 +v 0.01074619 0.05922882 0.04310168 +v 0.01078020 0.06155321 0.03846393 +v 0.01054429 0.04297941 0.04773937 +v 0.01025100 0.04297942 0.04541863 +v 0.00979405 0.05924472 0.03509474 +v 0.00956239 0.04297943 0.04373217 +v 0.00993857 0.06641349 0.03633348 +v 0.01060167 0.06387492 0.03846393 +v 0.00949438 0.06765633 0.03509477 +v 0.01034876 0.06155319 0.04310169 +v 0.01027650 0.05922881 0.04541869 +v 0.01066756 0.05690710 0.04541868 +v 0.01067393 0.05458537 0.04541867 +v 0.01054216 0.04297941 0.04774683 +v 0.01046140 0.05226364 0.04773940 +v 0.00916283 0.05813939 0.03509473 +v 0.00860388 0.04297943 0.04257180 +v 0.00744771 0.04297944 0.04149538 +v 0.00978130 0.06588461 0.03846394 +v 0.00943062 0.06757700 0.03568615 +v 0.00997470 0.06408382 0.04097870 +v 0.00811293 0.06858977 0.03509477 +v 0.00957302 0.06136279 0.04526572 +v 0.00961128 0.06335926 0.04310169 +v 0.00932436 0.06284097 0.04439265 +v 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312 313 +f 295 313 296 +f 296 313 314 +f 296 314 297 +f 297 314 300 +f 297 300 301 +f 297 301 298 +f 298 301 299 +f 300 314 302 +f 302 314 315 +f 302 315 303 +f 303 315 316 +f 303 316 317 +f 303 317 304 +f 304 317 305 +f 306 318 319 +f 306 319 307 +f 310 312 311 +f 312 318 313 +f 312 319 318 +f 313 318 314 +f 314 318 316 +f 314 316 315 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_46.obj b/demo_assets/mug/mjcf/mesh/mug_collision_46.obj new file mode 100644 index 0000000000000000000000000000000000000000..0c01610c6b05c18ced043297718ea8cdc61c45dc --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_46.obj @@ -0,0 +1,289 @@ +# https://github.com/mikedh/trimesh +v -0.00116963 0.04297892 0.05408108 +v -0.00313251 0.04297892 0.05376613 +v -0.00266045 0.03816078 0.05367733 +v -0.00116963 0.03816078 0.05384643 +v 0.00113797 0.04297043 0.05403881 +v 0.00114675 0.04297892 0.05403881 +v -0.00313910 0.04297043 0.05376402 +v -0.00372533 0.03816078 0.05341523 +v -0.00429619 0.04297892 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60 68 +f 60 69 70 +f 60 70 71 +f 60 71 68 +f 65 72 67 +f 65 67 66 +f 67 72 73 +f 69 74 75 +f 69 75 70 +f 72 76 73 +f 73 76 77 +f 73 77 78 +f 73 78 79 +f 74 80 81 +f 74 81 75 +f 78 82 79 +f 79 82 83 +f 79 83 84 +f 80 85 81 +f 81 85 86 +f 83 87 84 +f 84 87 88 +f 85 89 86 +f 86 89 91 +f 86 91 92 +f 86 92 93 +f 86 93 90 +f 87 94 88 +f 88 94 96 +f 88 96 95 +f 90 93 96 +f 93 97 96 +f 95 96 97 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_47.obj b/demo_assets/mug/mjcf/mesh/mug_collision_47.obj new file mode 100644 index 0000000000000000000000000000000000000000..d755f54dab30be028dd27bab82ebfcd46b07f3c2 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_47.obj @@ -0,0 +1,529 @@ +# https://github.com/mikedh/trimesh +v 0.00113845 0.07094483 0.02454689 +v 0.00113845 0.07091955 0.02686582 +v 0.00345065 0.07086010 0.02686582 +v 0.00345065 0.07088092 0.02454689 +v 0.00113845 0.07091809 0.02222797 +v -0.00117160 0.07094185 0.02454689 +v 0.00113845 0.07081997 0.02918328 +v -0.00117160 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441 446 442 +f 442 446 447 +f 442 447 448 +f 442 448 443 + diff --git a/demo_assets/mug/mjcf/mesh/mug_collision_8.obj b/demo_assets/mug/mjcf/mesh/mug_collision_8.obj new file mode 100644 index 0000000000000000000000000000000000000000..9e1e8ddbc81f5fb8b56b8aac8a420f32f99a3459 --- /dev/null +++ b/demo_assets/mug/mjcf/mesh/mug_collision_8.obj @@ -0,0 +1,160 @@ +# https://github.com/mikedh/trimesh +v 0.01137587 0.01468446 -0.04907039 +v -0.01121899 0.01468715 -0.04907039 +v 0.01137587 0.03239941 -0.04907032 +v 0.01137587 0.01934239 -0.02675954 +v -0.01121899 0.01949030 -0.02675954 +v -0.01121899 0.03237520 -0.04907032 +v 0.01137587 0.03247202 -0.04849153 +v 0.00514769 0.03432231 -0.04907031 +v 0.00450408 0.03481447 -0.04843692 +v 0.00344909 0.04172072 -0.02675946 +v 0.00572273 0.04086549 -0.02675946 +v 0.00731516 0.03984084 -0.02675946 +v 0.00748547 0.03969830 -0.02675946 +v 0.00848737 0.03871130 -0.02675947 +v 0.00871297 0.03847194 -0.02675947 +v 0.01137587 0.03438678 -0.02675948 +v 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a/demo_assets/rubik's_cube/mjcf/rubik's_cube.mjcf +++ b/demo_assets/rubik's_cube/mjcf/rubik's_cube.mjcf @@ -1,15 +1,27 @@ - - - - + + + + + + + + + + - - + + + + + + + + \ No newline at end of file diff --git a/demo_assets/table/mjcf/mesh/table_0.obj b/demo_assets/table/mjcf/mesh/table_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..61ece6d77004ebed9ac0f5f527bd240f7acac2ff --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_0.obj @@ -0,0 +1,48174 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.28034002 0.12445133 -0.14130857 +v 0.28348309 0.12704536 -0.13167586 +v 0.28591372 0.13810364 -0.12316296 +v 0.28485826 0.16332260 -0.12204005 +v 0.28541412 0.16840647 -0.12546770 +v 0.28163160 0.16283528 -0.13208371 +v 0.27521574 0.34443171 -0.14782264 +v 0.26724481 0.35608428 -0.15411729 +v 0.26808107 0.34098243 -0.15410991 +v 0.27970650 0.42762939 -0.14618345 +v 0.28660101 0.45054355 -0.14903865 +v 0.27355575 0.44597103 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b/demo_assets/table/mjcf/mesh/table_collision_11.obj @@ -0,0 +1,328 @@ +# https://github.com/mikedh/trimesh +v 0.24145727 0.56104139 -0.22024358 +v 0.24145727 0.55049282 -0.21363507 +v 0.24145727 0.56216667 -0.21974616 +v 0.27312668 0.56104199 -0.38332553 +v 0.24145727 0.54485023 -0.20965574 +v 0.24145727 0.57807440 -0.21008198 +v 0.27979524 0.57509588 -0.38332548 +v 0.28233797 0.57281297 -0.39497933 +v 0.27995929 0.56104204 -0.39704007 +v 0.27975423 0.54494803 -0.39718228 +v 0.27749857 0.53818821 -0.38233082 +v 0.24145727 0.51283208 -0.16609626 +v 0.24145727 0.58024399 -0.20247859 +v 0.27723608 0.57746779 -0.36151017 +v 0.29410020 0.58318325 -0.36151015 +v 0.29410020 0.57856888 -0.38332546 +v 0.24145727 0.58426744 -0.18691650 +v 0.29410020 0.57346062 -0.39561886 +v 0.29410020 0.56104205 -0.40030882 +v 0.29410020 0.54187983 -0.39895877 +v 0.29410020 0.53087793 -0.38744711 +v 0.28258404 0.52758299 -0.37437213 +v 0.28082874 0.51283230 -0.22663913 +v 0.24145727 0.51283027 0.32549464 +v 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+f 61 70 81 +f 61 81 82 +f 61 82 83 +f 61 83 84 +f 61 84 62 +f 62 84 85 +f 62 85 86 +f 62 86 87 +f 62 87 65 +f 65 87 88 +f 66 73 89 +f 66 89 90 +f 66 90 91 +f 66 91 67 +f 68 93 81 +f 68 81 70 +f 68 69 93 +f 69 79 94 +f 69 94 93 +f 74 92 78 +f 74 77 75 +f 75 77 76 +f 78 95 96 +f 78 96 97 +f 78 97 98 +f 78 98 99 +f 78 99 79 +f 78 92 100 +f 78 100 95 +f 79 99 94 +f 81 93 94 +f 81 94 82 +f 82 94 99 +f 82 99 83 +f 83 99 98 +f 83 98 101 +f 83 101 85 +f 83 85 84 +f 85 101 86 +f 86 101 102 +f 86 102 103 +f 86 103 87 +f 87 103 88 +f 88 103 104 +f 95 105 106 +f 95 106 96 +f 95 100 107 +f 95 107 108 +f 95 108 109 +f 95 109 110 +f 95 110 105 +f 96 102 101 +f 96 101 97 +f 96 106 102 +f 97 101 98 +f 102 106 103 +f 103 106 110 +f 103 110 104 +f 105 110 106 +f 107 109 108 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_12.obj b/demo_assets/table/mjcf/mesh/table_collision_12.obj new file mode 100644 index 0000000000000000000000000000000000000000..b03240efa1ebec79cc9ebcd6e284d04a5429bcdd --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_12.obj @@ -0,0 +1,253 @@ +# https://github.com/mikedh/trimesh +v -0.29222824 -0.59489803 0.32575043 +v -0.28313187 -0.59440136 0.32575044 +v -0.29690059 -0.59376830 0.32575044 +v -0.29741564 -0.59368906 -0.03416160 +v -0.29702015 -0.59367922 -0.05594188 +v -0.28652577 -0.59446819 -0.03416160 +v -0.28280995 -0.59446819 -0.03416160 +v -0.28280075 -0.59447802 -0.01232475 +v -0.23294090 -0.58605455 0.27138464 +v -0.23294090 -0.58601565 0.28909172 +v -0.23294090 -0.58600591 0.29322148 +v -0.23294090 -0.58569439 0.32575047 +v -0.30132460 -0.59166459 0.32575045 +v -0.31501054 -0.58268351 -0.05594184 +v -0.31501054 -0.58263476 -0.07777869 +v -0.31495535 -0.58253721 -0.12145240 +v -0.31490018 -0.58247869 -0.14328924 +v -0.31483579 -0.58239094 -0.16506953 +v -0.31478060 -0.58229347 -0.18690639 +v -0.31548880 -0.58301609 0.32575048 +v -0.29607281 -0.59364019 -0.07777873 +v -0.28613028 -0.59443891 -0.05594188 +v -0.31467943 -0.58208889 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-0.55905539 -0.20664997 +v -0.32486111 -0.56124656 -0.25219056 +v -0.32474155 -0.56148030 -0.25219056 +v -0.32565210 -0.56124869 0.32575056 +v -0.32688457 -0.55026083 -0.19426064 +v -0.28397804 -0.59430236 -0.09961559 +v -0.29420571 -0.59073724 -0.25219067 +v -0.23294090 -0.58521526 -0.18690640 +v -0.28321465 -0.59430236 -0.09961559 +v -0.23294090 -0.58578024 -0.16919930 +v -0.31545202 -0.49540973 0.00951246 +v -0.32688457 -0.55024135 -0.19426064 +v -0.23294090 -0.54554697 -0.20778135 +v -0.27186488 -0.53926494 -0.25219048 +v -0.27199365 -0.53909935 -0.25219048 +v -0.28161428 -0.52705183 -0.25219044 +v -0.28057496 -0.49540896 -0.20246340 +v -0.32688457 -0.55024133 -0.19799441 +v -0.31834924 -0.53925518 -0.25219048 +v -0.31483579 -0.49540901 -0.18690607 +v -0.27420106 -0.58156279 -0.25219064 +v -0.23294090 -0.57826132 -0.20744205 +v -0.23294090 -0.58381279 -0.19114928 +v -0.31544283 -0.49540957 -0.03416124 +v -0.23294090 -0.55820804 -0.21507922 +v -0.26455284 -0.56101282 -0.25219056 +v 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47 53 60 +f 47 60 66 +f 47 66 50 +f 47 49 48 +f 50 66 68 +f 50 68 67 +f 52 60 53 +f 55 69 70 +f 55 70 71 +f 55 71 56 +f 59 72 66 +f 61 73 62 +f 62 73 75 +f 62 75 74 +f 64 76 77 +f 64 77 65 +f 66 72 78 +f 66 78 79 +f 66 79 80 +f 66 80 68 +f 67 81 82 +f 67 68 81 +f 69 83 75 +f 69 75 70 +f 74 75 83 +f 76 84 77 +f 77 84 82 +f 77 82 85 +f 81 85 82 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_13.obj b/demo_assets/table/mjcf/mesh/table_collision_13.obj new file mode 100644 index 0000000000000000000000000000000000000000..7cc5c55972a1d3788cf0a0208efb94e668b865bc --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_13.obj @@ -0,0 +1,262 @@ +# https://github.com/mikedh/trimesh +v -0.23293170 -0.56124767 -0.21667503 +v -0.23293170 -0.55820836 -0.21506941 +v 0.24494326 -0.55816379 -0.22026084 +v 0.24494326 -0.56124766 -0.22095664 +v -0.23293170 -0.57826242 -0.20746963 +v -0.23293170 -0.54554319 -0.20779064 +v 0.24494326 -0.54487471 -0.21014551 +v 0.24494326 -0.57805740 -0.20993155 +v -0.14166956 -0.57862786 -0.20698797 +v -0.14166956 -0.58545522 -0.18691799 +v -0.23293170 -0.58381519 -0.19114604 +v -0.23293170 -0.49539937 -0.16561666 +v -0.22881531 -0.49539937 -0.16593780 +v -0.20701719 -0.49539937 -0.16609836 +v -0.14166956 -0.49539937 -0.16631244 +v -0.05452380 -0.49539937 -0.16658003 +v -0.01092753 -0.49539937 -0.16668705 +v 0.24494326 -0.49539937 -0.16706170 +v 0.24494326 -0.58510760 -0.18691799 +v 0.20691347 -0.58525910 -0.18691799 +v -0.11987142 -0.58547300 -0.18691799 +v -0.23293170 -0.58590983 -0.16508180 +v -0.23293170 -0.58521455 -0.18691799 +v -0.23293170 -0.49540118 0.32569727 +v 0.24494326 -0.49540118 0.32569727 +v 0.24494326 -0.58558895 -0.17070140 +v 0.24494326 -0.58573157 -0.16508180 +v 0.20691347 -0.58578505 -0.16508180 +v -0.09807329 -0.58599006 -0.16508180 +v -0.11987142 -0.58598113 -0.16508180 +v -0.20701719 -0.58601686 -0.14324562 +v -0.23293170 -0.58598120 -0.14736667 +v -0.23293170 -0.58568884 0.32569694 +v 0.24494326 -0.58571556 0.32569694 +v 0.20691347 -0.58583860 -0.14324562 +v 0.18511535 -0.58587425 -0.14324562 +v 0.24494326 -0.58586695 0.28764422 +v 0.20691347 -0.58625905 0.27137412 +v 0.18511535 -0.58631253 0.27137412 +v -0.09807329 -0.58601686 -0.14324562 +v 0.05442009 -0.58642829 0.24953795 +v -0.22881531 -0.58599014 -0.14324562 +v -0.01092753 -0.58644616 0.24953795 +v -0.05452380 -0.58642829 0.24953795 +v -0.20701719 -0.58603476 -0.12146297 +v -0.14166956 -0.58638383 0.27137412 +v -0.16346769 -0.58634818 0.27137412 +v -0.18521905 -0.58631253 0.27137412 +v -0.20701719 -0.58626794 0.27137412 +v -0.22881531 -0.58608969 0.27137412 +v -0.23293170 -0.58605404 0.27137412 +v -0.20701719 -0.58587598 0.32569694 +v -0.23293170 -0.58600957 0.29321030 +v -0.20701719 -0.58621455 0.29321030 +v 0.20691347 -0.58600076 0.32569694 +v 0.20691347 -0.58621455 0.29321030 +v 0.24494326 -0.58573337 0.32296743 +v 0.18511535 -0.58590109 -0.12146297 +v 0.16336398 -0.58635707 0.27137412 +v 0.24494326 -0.58586697 0.29321030 +v 0.18511535 -0.58626802 0.29321030 +v 0.03262196 -0.58643722 0.24953795 +v 0.09796958 -0.58641948 0.27137412 +v 0.05442009 -0.58643730 0.27137412 +v -0.01092753 -0.58645513 0.27137412 +v -0.03272567 -0.58644624 0.27137412 +v -0.11987142 -0.58640165 0.27137412 +v -0.14166956 -0.58633043 0.29321030 +v -0.16346769 -0.58630371 0.29321030 +v -0.18521905 -0.58627696 0.29321030 +v -0.19635199 -0.58592946 0.32569694 +v -0.18521905 -0.58598294 0.32569694 +v 0.19578053 -0.58603641 0.32569694 +v 0.24494326 -0.58581356 0.30942685 +v 0.18511535 -0.58606317 0.32569694 +v 0.14156585 -0.58638383 0.27137412 +v 0.16336398 -0.58630371 0.29321030 +v 0.14156585 -0.58633043 0.29321030 +v 0.05442009 -0.58638391 0.29321030 +v -0.01092753 -0.58638391 0.29321030 +v -0.05452380 -0.58636608 0.29321030 +v 0.02148900 -0.58614337 0.32569694 +v -0.16346769 -0.58603641 0.32569694 +v -0.17455387 -0.58600969 0.32569694 +v 0.16336398 -0.58609882 0.32569694 +v 0.15223103 -0.58610771 0.32569694 +v 0.05442009 -0.58615230 0.32569694 +v 0.04328714 -0.58615230 0.32569694 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 23 +f 1 23 22 +f 1 22 32 +f 1 32 51 +f 1 51 53 +f 1 53 33 +f 1 33 24 +f 1 24 12 +f 1 12 6 +f 1 6 2 +f 2 6 3 +f 3 6 7 +f 3 7 18 +f 3 18 25 +f 3 25 34 +f 3 34 57 +f 3 57 74 +f 3 74 60 +f 3 60 37 +f 3 37 27 +f 3 27 26 +f 3 26 19 +f 3 19 8 +f 3 8 4 +f 4 8 5 +f 5 8 9 +f 5 9 10 +f 5 10 11 +f 6 12 13 +f 6 13 14 +f 6 14 7 +f 7 14 15 +f 7 15 16 +f 7 16 17 +f 7 17 18 +f 8 19 20 +f 8 20 21 +f 8 21 10 +f 8 10 9 +f 10 21 22 +f 10 22 23 +f 10 23 11 +f 12 24 25 +f 12 25 18 +f 12 18 17 +f 12 17 16 +f 12 16 15 +f 12 15 14 +f 12 14 13 +f 19 26 20 +f 20 26 27 +f 20 27 28 +f 20 28 29 +f 20 29 21 +f 21 29 30 +f 21 30 22 +f 22 30 31 +f 22 31 32 +f 24 33 52 +f 24 52 71 +f 24 71 72 +f 24 72 84 +f 24 84 83 +f 24 83 82 +f 24 82 88 +f 24 88 87 +f 24 87 86 +f 24 86 85 +f 24 85 75 +f 24 75 73 +f 24 73 55 +f 24 55 34 +f 24 34 25 +f 27 35 36 +f 27 36 28 +f 27 37 38 +f 27 38 39 +f 27 39 35 +f 28 36 29 +f 29 40 31 +f 29 31 30 +f 29 36 41 +f 29 41 40 +f 31 42 32 +f 31 40 43 +f 31 43 44 +f 31 44 45 +f 31 45 42 +f 32 42 46 +f 32 46 47 +f 32 47 48 +f 32 48 49 +f 32 49 50 +f 32 50 51 +f 33 53 54 +f 33 54 52 +f 34 55 56 +f 34 56 57 +f 35 58 36 +f 35 39 59 +f 35 59 58 +f 36 58 41 +f 37 60 38 +f 38 60 56 +f 38 56 61 +f 38 61 39 +f 39 61 59 +f 40 41 62 +f 40 62 43 +f 41 63 64 +f 41 64 62 +f 41 58 63 +f 42 45 46 +f 43 62 65 +f 43 65 66 +f 43 66 44 +f 44 66 67 +f 44 67 45 +f 45 67 46 +f 46 67 68 +f 46 68 69 +f 46 69 70 +f 46 70 47 +f 47 70 48 +f 48 70 49 +f 49 70 54 +f 49 54 53 +f 49 53 50 +f 50 53 51 +f 52 54 71 +f 54 70 72 +f 54 72 71 +f 55 73 56 +f 56 60 74 +f 56 74 57 +f 56 73 75 +f 56 75 61 +f 58 59 76 +f 58 76 63 +f 59 61 77 +f 59 77 78 +f 59 78 76 +f 61 75 85 +f 61 85 77 +f 62 64 65 +f 63 76 78 +f 63 78 79 +f 63 79 64 +f 64 79 65 +f 65 79 80 +f 65 80 81 +f 65 81 66 +f 66 81 68 +f 66 68 67 +f 68 81 82 +f 68 82 83 +f 68 83 69 +f 69 83 70 +f 70 83 84 +f 70 84 72 +f 77 85 78 +f 78 85 86 +f 78 86 79 +f 79 86 87 +f 79 87 88 +f 79 88 80 +f 80 88 82 +f 80 82 81 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_14.obj b/demo_assets/table/mjcf/mesh/table_collision_14.obj new file mode 100644 index 0000000000000000000000000000000000000000..7e85142573b8febc5d40d8c1cb8d5a9732d67edd --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_14.obj @@ -0,0 +1,160 @@ +# https://github.com/mikedh/trimesh +v -0.25549148 0.09315678 0.28215486 +v -0.25549148 0.51278935 0.28215640 +v -0.31418671 0.09315678 0.28215486 +v -0.25549148 0.09315843 -0.16550026 +v -0.31500413 0.51278935 0.28215640 +v -0.25549148 0.51279100 -0.16564524 +v -0.31479243 0.27499481 0.28215553 +v -0.31459247 0.09315696 0.23350624 +v -0.28085492 0.09315856 -0.20110749 +v -0.27913777 0.51279115 -0.20745567 +v -0.31521583 0.51278955 0.22774420 +v -0.31513939 0.31895497 0.22774349 +v -0.31512762 0.29701608 0.22774341 +v -0.31483359 0.29701588 0.28215561 +v -0.31481594 0.28616968 0.28215557 +v -0.31509822 0.27499501 0.22774333 +v -0.31463954 0.09315698 0.22774266 +v -0.29066392 0.09315857 -0.20491735 +v -0.29420411 0.51279119 -0.21683372 +v -0.31525111 0.51278962 0.21006267 +v -0.31519232 0.31895505 0.20591020 +v -0.31518055 0.29701616 0.20591012 +v -0.31515115 0.27499509 0.20591004 +v -0.31473361 0.09315706 0.20590937 +v -0.31471010 0.09315704 0.21167299 +v -0.29420411 0.09315858 -0.20623613 +v -0.30542447 0.09315857 -0.20384278 +v -0.30945275 0.09315857 -0.20296359 +v -0.29549198 0.51279118 -0.21639413 +v -0.31525700 0.51278963 0.20591091 +v -0.31544518 0.51279019 0.05312695 +v -0.31554514 0.51279074 -0.09545644 +v -0.31532758 0.31895586 -0.01232469 +v -0.31530404 0.29701697 -0.01232477 +v -0.31526288 0.27499590 -0.01232485 +v -0.31489240 0.09315795 -0.03415878 +v -0.31072298 0.51279116 -0.20867680 +v -0.31069945 0.09315855 -0.19876301 +v -0.31555691 0.51279082 -0.11728969 +v -0.31556868 0.51279092 -0.14327469 +v -0.31533346 0.31895594 -0.03415795 +v -0.31530993 0.29701705 -0.03415803 +v -0.31526876 0.27499598 -0.03415811 +v -0.31488064 0.09315803 -0.05594320 +v -0.31162861 0.51279114 -0.20540423 +v -0.31413378 0.09315851 -0.18694274 +v -0.31553340 0.51279100 -0.16510794 +v -0.31525111 0.27499606 -0.05594253 +v -0.31529228 0.29701713 -0.05594245 +v -0.31494531 0.27499646 -0.16510881 +v -0.31444546 0.09315843 -0.16510948 +v -0.31539814 0.51279108 -0.18694120 +v -0.31421611 0.09315849 -0.18117917 +v -0.31543930 0.51279106 -0.18274062 +f 1 2 5 +f 1 5 14 +f 1 14 15 +f 1 15 7 +f 1 7 3 +f 1 3 8 +f 1 8 17 +f 1 17 25 +f 1 25 24 +f 1 24 36 +f 1 36 44 +f 1 44 51 +f 1 51 53 +f 1 53 46 +f 1 46 38 +f 1 38 28 +f 1 28 27 +f 1 27 26 +f 1 26 18 +f 1 18 9 +f 1 9 4 +f 1 4 6 +f 1 6 2 +f 2 6 10 +f 2 10 19 +f 2 19 29 +f 2 29 37 +f 2 37 45 +f 2 45 52 +f 2 52 54 +f 2 54 47 +f 2 47 40 +f 2 40 39 +f 2 39 32 +f 2 32 31 +f 2 31 30 +f 2 30 20 +f 2 20 11 +f 2 11 5 +f 3 7 8 +f 4 9 10 +f 4 10 6 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 7 15 16 +f 7 16 17 +f 7 17 8 +f 9 18 19 +f 9 19 10 +f 11 20 21 +f 11 21 12 +f 12 21 22 +f 12 22 13 +f 13 16 14 +f 13 22 23 +f 13 23 16 +f 14 16 15 +f 16 23 24 +f 16 24 25 +f 16 25 17 +f 18 26 19 +f 19 26 27 +f 19 27 28 +f 19 28 29 +f 20 30 21 +f 21 30 31 +f 21 31 22 +f 22 31 32 +f 22 32 33 +f 22 33 34 +f 22 34 23 +f 23 34 35 +f 23 35 36 +f 23 36 24 +f 28 37 29 +f 28 38 37 +f 32 39 33 +f 33 39 40 +f 33 40 41 +f 33 41 42 +f 33 42 34 +f 34 42 43 +f 34 43 35 +f 35 43 36 +f 36 43 44 +f 37 38 46 +f 37 46 45 +f 40 47 48 +f 40 48 49 +f 40 49 42 +f 40 42 41 +f 42 49 48 +f 42 48 43 +f 43 48 44 +f 44 48 47 +f 44 47 50 +f 44 50 51 +f 45 46 52 +f 46 53 52 +f 47 54 50 +f 50 54 51 +f 51 54 52 +f 51 52 53 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_15.obj b/demo_assets/table/mjcf/mesh/table_collision_15.obj new file mode 100644 index 0000000000000000000000000000000000000000..df41ccacbd76fa6bbb0137b113accfb5b21a8323 --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_15.obj @@ -0,0 +1,154 @@ +# https://github.com/mikedh/trimesh +v -0.25096931 0.56104136 -0.22457862 +v 0.24145727 0.56216400 -0.21973155 +v 0.24145727 0.56104135 -0.22027012 +v -0.25096931 0.55350468 -0.22220896 +v -0.25096931 0.57707284 -0.21310711 +v 0.24145727 0.57807393 -0.21009116 +v 0.24145727 0.55048711 -0.21359192 +v 0.24145727 0.54485243 -0.20971429 +v -0.25096931 0.54595364 -0.21294567 +v -0.25096931 0.57844574 -0.21041429 +v 0.24145727 0.58024765 -0.20244352 +v 0.24145727 0.51283208 -0.16609060 +v -0.22879661 0.51283208 -0.16565975 +v -0.25096931 0.51283207 -0.16425949 +v -0.25096931 0.58433772 -0.18693281 +v 0.14153554 0.58438777 -0.18693281 +v 0.16332263 0.58438065 -0.18693281 +v 0.18515790 0.58436633 -0.18693281 +v 0.20694499 0.58435204 -0.18693281 +v 0.24145727 0.58426622 -0.18693281 +v 0.24145727 0.51283027 0.32551187 +v -0.25096931 0.51283027 0.32551187 +v -0.25096931 0.58446635 -0.16512092 +v 0.14153554 0.58458078 -0.16512092 +v 0.16332263 0.58455934 -0.16512092 +v 0.18515790 0.58453073 -0.16512092 +v 0.20694499 0.58450212 -0.16512092 +v 0.24145727 0.58430907 -0.17783106 +v 0.24145727 0.58485784 0.32551214 +v -0.25096931 0.58500084 0.32551214 +v -0.25096931 0.58502249 0.27138631 +v -0.20700953 0.58540138 0.29319821 +v -0.18522246 0.58548720 0.29319821 +v -0.16343537 0.58553010 0.29319821 +v -0.14164830 0.58555870 0.29319821 +v 0.20694499 0.58584482 0.27138631 +v 0.24145727 0.58469461 -0.01232993 +v 0.20694499 0.58517961 0.32551214 +v 0.24145727 0.58512243 0.31506397 +v 0.20694499 0.58557295 0.31506397 +v 0.14153554 0.58555862 0.31506397 +v -0.25096931 0.58505093 0.31544096 +v 0.18515790 0.58518677 0.32551214 +v 0.11974846 0.58580184 0.29319821 +v 0.20694499 0.58587334 0.29319821 +v 0.22873206 0.58549445 0.27138631 +v 0.24145727 0.58473745 0.00953583 +v 0.19643704 0.58518677 0.32551214 +v 0.24145727 0.58524410 0.29319821 +v 0.22873206 0.58550865 0.29319821 +v 0.24145727 0.58525127 0.28048806 +v 0.24145727 0.58524418 0.27138631 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 14 +f 1 14 22 +f 1 22 30 +f 1 30 42 +f 1 42 31 +f 1 31 23 +f 1 23 15 +f 1 15 10 +f 1 10 5 +f 1 5 6 +f 1 6 2 +f 2 6 11 +f 2 11 20 +f 2 20 28 +f 2 28 37 +f 2 37 47 +f 2 47 52 +f 2 52 51 +f 2 51 49 +f 2 49 39 +f 2 39 29 +f 2 29 21 +f 2 21 12 +f 2 12 8 +f 2 8 7 +f 2 7 3 +f 3 7 4 +f 4 7 8 +f 4 8 9 +f 5 10 6 +f 6 10 11 +f 8 12 9 +f 9 12 13 +f 9 13 14 +f 10 15 16 +f 10 16 17 +f 10 17 11 +f 11 17 18 +f 11 18 19 +f 11 19 20 +f 12 21 22 +f 12 22 14 +f 12 14 13 +f 15 23 24 +f 15 24 16 +f 16 24 17 +f 17 24 18 +f 18 24 19 +f 19 24 25 +f 19 25 26 +f 19 26 27 +f 19 27 20 +f 20 27 28 +f 21 29 38 +f 21 38 48 +f 21 48 43 +f 21 43 30 +f 21 30 22 +f 23 31 32 +f 23 32 33 +f 23 33 34 +f 23 34 35 +f 23 35 36 +f 23 36 24 +f 24 36 25 +f 25 36 26 +f 26 36 27 +f 27 36 28 +f 28 36 37 +f 29 39 40 +f 29 40 38 +f 30 41 35 +f 30 35 34 +f 30 34 33 +f 30 33 32 +f 30 32 42 +f 30 43 41 +f 31 42 32 +f 35 41 44 +f 35 44 36 +f 36 44 45 +f 36 45 46 +f 36 46 37 +f 37 46 47 +f 38 40 48 +f 39 49 50 +f 39 50 45 +f 39 45 40 +f 40 45 41 +f 40 41 43 +f 40 43 48 +f 41 45 44 +f 45 50 46 +f 46 50 51 +f 46 51 52 +f 46 52 47 +f 49 51 50 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_16.obj b/demo_assets/table/mjcf/mesh/table_collision_16.obj new file mode 100644 index 0000000000000000000000000000000000000000..a73b2e6487e09cb0841115f4a1d1fa723750ed9f --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_16.obj @@ -0,0 +1,286 @@ +# https://github.com/mikedh/trimesh +v -0.29420555 -0.49539921 -0.20890527 +v -0.28058544 -0.49539924 -0.20248758 +v -0.30958023 -0.49539923 -0.20435939 +v -0.30945253 0.09311749 -0.20297565 +v -0.30542700 0.09311749 -0.20386700 +v -0.29420555 0.09311750 -0.20627363 +v -0.28085750 0.09311748 -0.20114839 +v -0.28078532 0.07687221 -0.20119302 +v -0.25876437 -0.45121451 -0.16678897 +v -0.25876437 -0.47322056 -0.16674448 +v -0.25876437 -0.49539937 -0.16656629 +v -0.28073535 0.05486619 -0.20119310 +v -0.25876437 0.03286007 -0.16718830 +v -0.25876437 0.01085405 -0.16723294 +v -0.25876437 -0.01115195 -0.16723302 +v -0.30973569 -0.49539923 -0.20427026 +v -0.31423316 0.05486614 -0.18693154 +v -0.31069627 0.09311747 -0.19874175 +v -0.31482173 -0.40720243 -0.18693324 +v -0.25876437 0.09311735 -0.16638586 +v -0.25876437 0.08706858 -0.16656415 +v -0.25876437 0.08441864 -0.16660873 +v -0.25876437 0.06517780 -0.16692077 +v -0.25876437 0.05486606 -0.16700995 +v -0.25876437 -0.49540089 0.24639470 +v -0.31483838 -0.49539929 -0.18693356 +v -0.31458296 0.05486606 -0.16509355 +v -0.31418874 0.07687216 -0.18693146 +v -0.31533810 -0.42920853 -0.16509533 +v -0.31413322 0.09311743 -0.18693140 +v -0.31484393 -0.49539929 -0.18675529 +v -0.31537141 -0.47322056 -0.16509549 +v -0.31536586 -0.45121451 -0.16509541 +v -0.25876437 0.09311583 0.24639686 +v -0.31517708 -0.49540089 0.24639470 +v -0.31487725 0.09311695 -0.05594799 +v -0.31451634 0.07687208 -0.16509347 +v -0.31538807 -0.29717286 -0.05594942 +v -0.31421650 0.09311741 -0.18118221 +v -0.31535475 -0.49539937 -0.16509557 +v -0.31539362 -0.47322064 -0.14325750 +v -0.31538807 -0.49539945 -0.14325758 +v -0.31547692 -0.40720299 -0.03415640 +v -0.31546024 -0.36319099 -0.03415623 +v -0.31544914 -0.34118498 -0.03415615 +v -0.31543248 -0.31917896 -0.03415607 +v -0.31447192 0.09311583 0.24639686 +v -0.31519929 -0.47322208 0.24639478 +v -0.31526592 -0.47322201 0.22772105 +v -0.31523260 -0.49540082 0.22789924 +v -0.31488280 0.09311692 -0.05019881 +v -0.31481617 0.09311700 -0.07203680 +v -0.31541027 -0.29717294 -0.03415599 +v -0.31479396 0.09311703 -0.07778599 +v -0.31444416 0.09311735 -0.16509341 +v -0.31546024 -0.47322096 -0.05595007 +v -0.31547692 -0.42920901 -0.03415648 +v -0.31539917 -0.49539953 -0.12146415 +v -0.31548245 -0.42920909 -0.01231848 +v -0.31547135 -0.38519705 -0.01231831 +v -0.31546024 -0.36319107 -0.01231823 +v -0.31532699 -0.29717383 0.20592828 +v -0.31458852 0.09311588 0.23351689 +v -0.31524926 -0.29394798 0.24639544 +v -0.31527147 -0.38519801 0.24639511 +v -0.31532144 -0.40720396 0.22772129 +v -0.31529368 -0.47322193 0.20592763 +v -0.31543803 -0.49540018 0.05328440 +v -0.31489390 0.09311687 -0.03415456 +v -0.31529923 -0.27516783 0.20592836 +v -0.31547135 -0.47322104 -0.03415664 +v -0.31544359 -0.49539985 -0.03415672 +v -0.31547692 -0.42920926 0.03131294 +v -0.31547692 -0.40720315 0.00951959 +v -0.31547692 -0.47322112 -0.01231864 +v -0.31547692 -0.47322120 0.00951935 +v -0.31547692 -0.45121524 0.03131286 +v -0.31546580 -0.38519713 0.00951968 +v -0.31547135 -0.40720324 0.03131302 +v -0.31532144 -0.31917993 0.22772162 +v -0.31531034 -0.29717391 0.22772170 +v -0.31463848 0.09311590 0.22772313 +v -0.31471068 0.09311596 0.21167890 +v -0.31473289 0.09311598 0.20592971 +v -0.31527702 -0.27516791 0.22772178 +v -0.31526592 -0.31595399 0.24639536 +v -0.31528257 -0.36319203 0.24639519 +v -0.31545469 -0.47322137 0.05310621 +v -0.31533254 -0.38519794 0.22772138 +v -0.31544914 -0.49540010 0.03144641 +v -0.31547135 -0.47322129 0.03131278 +v -0.31544914 -0.49540001 0.00951927 +v -0.31534920 -0.38519786 0.20592796 +v -0.31533254 -0.36319196 0.22772146 +v -0.31546024 -0.45121532 0.05310629 +v -0.31527702 -0.33796001 0.24639528 +f 1 2 11 +f 1 11 25 +f 1 25 35 +f 1 35 50 +f 1 50 68 +f 1 68 90 +f 1 90 92 +f 1 92 72 +f 1 72 58 +f 1 58 42 +f 1 42 40 +f 1 40 31 +f 1 31 26 +f 1 26 16 +f 1 16 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 2 +f 2 9 10 +f 2 10 11 +f 2 8 12 +f 2 12 13 +f 2 13 14 +f 2 14 15 +f 2 15 9 +f 3 16 4 +f 4 17 18 +f 4 18 30 +f 4 30 39 +f 4 39 55 +f 4 55 54 +f 4 54 52 +f 4 52 36 +f 4 36 51 +f 4 51 69 +f 4 69 84 +f 4 84 83 +f 4 83 82 +f 4 82 63 +f 4 63 47 +f 4 47 34 +f 4 34 20 +f 4 20 7 +f 4 7 6 +f 4 6 5 +f 4 16 19 +f 4 19 17 +f 7 20 21 +f 7 21 22 +f 7 22 23 +f 7 23 8 +f 8 23 24 +f 8 24 13 +f 8 13 12 +f 9 15 14 +f 9 14 13 +f 9 13 24 +f 9 24 23 +f 9 23 22 +f 9 22 21 +f 9 21 20 +f 9 20 34 +f 9 34 25 +f 9 25 11 +f 9 11 10 +f 16 26 19 +f 17 27 28 +f 17 28 18 +f 17 19 29 +f 17 29 27 +f 18 28 30 +f 19 26 31 +f 19 31 32 +f 19 32 33 +f 19 33 29 +f 25 34 47 +f 25 47 64 +f 25 64 86 +f 25 86 96 +f 25 96 87 +f 25 87 65 +f 25 65 48 +f 25 48 35 +f 27 36 37 +f 27 37 28 +f 27 29 36 +f 28 37 30 +f 29 33 38 +f 29 38 36 +f 30 37 39 +f 31 40 32 +f 32 41 33 +f 32 40 42 +f 32 42 41 +f 33 41 43 +f 33 43 44 +f 33 44 45 +f 33 45 46 +f 33 46 38 +f 35 48 49 +f 35 49 50 +f 36 52 37 +f 36 38 53 +f 36 53 51 +f 37 52 54 +f 37 54 55 +f 37 55 39 +f 38 46 53 +f 41 56 57 +f 41 57 43 +f 41 42 56 +f 42 58 71 +f 42 71 56 +f 43 57 59 +f 43 59 74 +f 43 74 60 +f 43 60 44 +f 44 60 61 +f 44 61 45 +f 45 61 46 +f 46 61 62 +f 46 62 53 +f 47 63 64 +f 48 65 66 +f 48 66 49 +f 49 66 67 +f 49 67 50 +f 50 67 68 +f 51 53 69 +f 53 62 70 +f 53 70 69 +f 56 71 57 +f 57 71 75 +f 57 75 59 +f 58 72 71 +f 59 73 74 +f 59 75 76 +f 59 76 77 +f 59 77 73 +f 60 74 78 +f 60 78 61 +f 61 78 62 +f 62 78 79 +f 62 79 80 +f 62 80 81 +f 62 81 70 +f 63 82 64 +f 64 82 83 +f 64 83 84 +f 64 84 85 +f 64 85 81 +f 64 81 86 +f 65 87 89 +f 65 89 66 +f 66 88 68 +f 66 68 67 +f 66 89 88 +f 68 88 91 +f 68 91 90 +f 69 70 84 +f 70 81 85 +f 70 85 84 +f 71 72 75 +f 72 92 75 +f 73 79 74 +f 73 77 93 +f 73 93 94 +f 73 94 80 +f 73 80 79 +f 74 79 78 +f 75 92 90 +f 75 90 76 +f 76 91 77 +f 76 90 91 +f 77 91 88 +f 77 88 95 +f 77 95 89 +f 77 89 93 +f 80 94 96 +f 80 96 86 +f 80 86 81 +f 87 96 94 +f 87 94 89 +f 88 89 95 +f 89 94 93 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_17.obj b/demo_assets/table/mjcf/mesh/table_collision_17.obj new file mode 100644 index 0000000000000000000000000000000000000000..5fc907bfdd378c247d42781ce73a2d4fdc91c0ac --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_17.obj @@ -0,0 +1,43 @@ +# https://github.com/mikedh/trimesh +v 0.22854615 0.09315678 0.28215486 +v 0.22854615 0.09315838 -0.15163392 +v 0.22854615 0.51278935 0.28215640 +v -0.25549148 0.09315678 0.28215486 +v 0.21267371 0.09315843 -0.16630884 +v 0.22854615 0.09319951 -0.16626489 +v 0.22854615 0.51279100 -0.16534069 +v -0.25549148 0.51278935 0.28215640 +v -0.25549148 0.09315843 -0.16551798 +v 0.14155581 0.09315843 -0.16652850 +v 0.05854545 0.51279100 -0.16551644 +v -0.25549148 0.51279100 -0.16564824 +v -0.22881636 0.09315843 -0.16666034 +v -0.20702138 0.09315843 -0.16670425 +v -0.20285192 0.51279100 -0.16564824 +f 1 2 6 +f 1 6 7 +f 1 7 3 +f 1 3 8 +f 1 8 4 +f 1 4 9 +f 1 9 13 +f 1 13 14 +f 1 14 10 +f 1 10 5 +f 1 5 2 +f 2 5 6 +f 3 7 11 +f 3 11 15 +f 3 15 12 +f 3 12 8 +f 4 8 12 +f 4 12 9 +f 5 10 6 +f 6 10 7 +f 7 10 11 +f 9 12 13 +f 10 14 15 +f 10 15 11 +f 12 15 14 +f 12 14 13 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_18.obj b/demo_assets/table/mjcf/mesh/table_collision_18.obj new file mode 100644 index 0000000000000000000000000000000000000000..be48768ef2ffac6e7889e66d3ec237042bc947ee --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_18.obj @@ -0,0 +1,121 @@ +# https://github.com/mikedh/trimesh +v 0.22897447 -0.49540089 0.24639470 +v -0.25875884 -0.49540089 0.24639470 +v 0.22897447 -0.49539937 -0.16675297 +v 0.22897447 0.09311583 0.24639686 +v -0.25875884 -0.49539937 -0.16659088 +v -0.25875884 0.09311583 0.24639686 +v 0.20710857 -0.49539937 -0.16679349 +v 0.22897447 -0.03338840 -0.16735908 +v 0.22897447 0.09311735 -0.16630509 +v -0.25875884 -0.47322056 -0.16671238 +v 0.09797013 -0.49539937 -0.16675297 +v -0.25875884 0.09311735 -0.16638616 +v 0.20691762 -0.49539937 -0.16679349 +v 0.14155868 -0.03315796 -0.16752117 +v 0.22897447 -0.03315797 -0.16735908 +v 0.14728773 0.09311735 -0.16650770 +v 0.22897447 0.07687208 -0.16662933 +v -0.25875884 -0.46285122 -0.16675285 +v -0.22882454 0.09311735 -0.16666979 +v -0.25875884 0.08706858 -0.16654823 +v -0.25875884 -0.45121451 -0.16679333 +v -0.22882454 -0.01115194 -0.16752109 +v 0.11978828 -0.03315796 -0.16752117 +v -0.22882454 0.03286008 -0.16756145 +v 0.11978828 -0.01115194 -0.16748058 +v 0.14155868 0.03286007 -0.16735884 +v 0.22897447 0.03286007 -0.16723731 +v 0.11978828 0.09311735 -0.16654821 +v 0.14155868 0.07687208 -0.16683194 +v 0.22897447 0.05486606 -0.16703462 +v -0.20127735 0.09311735 -0.16666979 +v -0.22882454 0.07687208 -0.16703454 +v -0.25875884 0.06517780 -0.16691300 +v -0.25875884 -0.01115195 -0.16723747 +v -0.25875884 0.03286007 -0.16715624 +v -0.25875884 0.04328700 -0.16711569 +v -0.25875884 0.05486606 -0.16703462 +v -0.22882454 0.05486606 -0.16739928 +v -0.25875884 0.01085405 -0.16723739 +v 0.14155868 0.05486606 -0.16719667 +v 0.01656986 0.09311735 -0.16658872 +f 1 2 5 +f 1 5 11 +f 1 11 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 15 +f 1 15 27 +f 1 27 30 +f 1 30 17 +f 1 17 9 +f 1 9 4 +f 1 4 6 +f 1 6 2 +f 2 6 12 +f 2 12 20 +f 2 20 33 +f 2 33 37 +f 2 37 36 +f 2 36 35 +f 2 35 39 +f 2 39 34 +f 2 34 21 +f 2 21 18 +f 2 18 10 +f 2 10 5 +f 3 7 8 +f 4 9 16 +f 4 16 28 +f 4 28 41 +f 4 41 31 +f 4 31 19 +f 4 19 12 +f 4 12 6 +f 5 10 11 +f 7 13 23 +f 7 23 14 +f 7 14 8 +f 8 14 15 +f 9 17 16 +f 10 18 13 +f 10 13 11 +f 12 19 20 +f 13 18 21 +f 13 21 22 +f 13 22 23 +f 14 23 24 +f 14 24 25 +f 14 25 26 +f 14 26 27 +f 14 27 15 +f 16 17 29 +f 16 29 28 +f 17 30 29 +f 19 31 32 +f 19 32 20 +f 20 32 33 +f 21 34 22 +f 22 34 24 +f 22 24 23 +f 24 35 36 +f 24 36 37 +f 24 37 38 +f 24 38 40 +f 24 40 26 +f 24 26 25 +f 24 34 39 +f 24 39 35 +f 26 40 27 +f 27 40 30 +f 28 29 32 +f 28 32 41 +f 29 30 40 +f 29 40 38 +f 29 38 32 +f 31 41 32 +f 32 38 33 +f 33 38 37 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_2.obj b/demo_assets/table/mjcf/mesh/table_collision_2.obj new file mode 100644 index 0000000000000000000000000000000000000000..4f581fe0fc0d3091c5d222ab9e3ac34efb6e8fdb --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_2.obj @@ -0,0 +1,331 @@ +# https://github.com/mikedh/trimesh +v -0.25097654 0.51283027 0.32556569 +v -0.25097654 0.58500167 0.32556596 +v -0.31536761 0.51283027 0.32556569 +v -0.25097654 0.51283207 -0.16425912 +v -0.25097654 0.58505026 0.31540127 +v -0.28126588 0.59534421 0.32556600 +v -0.32074257 0.53998153 0.32556579 +v -0.32106812 0.53904462 -0.16511201 +v -0.31555570 0.51283190 -0.11727404 +v -0.27913903 0.51283223 -0.20740579 +v -0.28252462 0.52746463 -0.37494559 +v -0.27734498 0.53802571 -0.38269345 +v -0.27347472 0.53904534 -0.36151106 +v -0.26851933 0.56104148 -0.36151098 +v -0.25097654 0.54508197 -0.21167058 +v -0.25097654 0.58505026 0.31518801 +v -0.28831917 0.59549799 0.32556600 +v -0.25097654 0.58502615 0.27140163 +v -0.25097654 0.58446934 -0.16511184 +v -0.28178673 0.59482778 -0.07775225 +v -0.32310814 0.55227448 0.32556584 +v -0.32487328 0.56104076 -0.16511193 +v -0.32106087 0.53904470 -0.18693412 +v -0.31556293 0.51283200 -0.14328999 +v -0.31556293 0.51283198 -0.13909616 +v -0.32464179 0.56050482 0.32556587 +v -0.29420776 0.51283227 -0.21678858 +v -0.29420776 0.52694668 -0.37750451 +v -0.29420776 0.53036998 -0.38845112 +v -0.27978289 0.54467802 -0.39733629 +v -0.27263554 0.56104156 -0.38333310 +v -0.27950799 0.57538195 -0.38333305 +v -0.25097654 0.57844850 -0.21039098 +v -0.25097654 0.57707272 -0.21309210 +v -0.25097654 0.56104098 -0.22460741 +v -0.25097654 0.55351468 -0.22219065 +v -0.25097654 0.54595600 -0.21295005 +v -0.29284050 0.59549799 0.32556600 +v -0.25097654 0.58433992 -0.18693395 +v -0.28189524 0.59477930 -0.09957437 +v -0.29351327 0.59482778 -0.07775225 +v -0.31440547 0.58300431 -0.09957441 +v -0.31439824 0.58298830 -0.14328973 +v -0.31439824 0.58293172 -0.16511185 +v -0.32483710 0.56104084 -0.18693404 +v -0.32471412 0.56103939 0.20593517 +v -0.31463696 0.58267921 0.27140162 +v -0.32464179 0.56104092 -0.20875616 +v -0.32426560 0.56104100 -0.23057829 +v -0.32345538 0.56104116 -0.27422252 +v -0.32300686 0.56104124 -0.29604463 +v -0.31539654 0.51283216 -0.18693422 +v -0.31543994 0.51283214 -0.18274040 +v -0.31552675 0.51283208 -0.16511211 +v -0.31553400 0.51283206 -0.16091828 +v -0.31923788 0.57253070 0.32556591 +v -0.32467072 0.56103931 0.22775730 +v -0.29548820 0.51283226 -0.21636211 +v -0.30640451 0.52716518 -0.37672262 +v -0.30926923 0.54385254 -0.39762062 +v -0.29420776 0.54137620 -0.39904225 +v -0.29420776 0.56104162 -0.40060599 +v -0.27977564 0.56104161 -0.39726515 +v -0.28213397 0.57304320 -0.39520375 +v -0.29420776 0.57884566 -0.38333303 +v -0.29420776 0.58338563 -0.36151090 +v -0.27710624 0.57765596 -0.36151092 +v -0.30244021 0.59365285 0.32556599 +v -0.30456704 0.59401868 -0.12139649 +v -0.30462492 0.59401049 -0.09957437 +v -0.28287909 0.59426982 -0.20271409 +v -0.28252462 0.59443972 -0.18693392 +v -0.28234376 0.59452865 -0.16511181 +v -0.29373031 0.59477930 -0.09957437 +v -0.31439099 0.58301250 -0.12139653 +v -0.31394250 0.58380394 0.32556595 +v -0.31436206 0.58281040 -0.18693396 +v -0.31428248 0.58266481 -0.20875608 +v -0.31458633 0.58267107 0.29322372 +v -0.31413782 0.58238976 -0.23057821 +v -0.31394972 0.58185571 -0.25240032 +v -0.32243536 0.56104132 -0.31786676 +v -0.31618506 0.53904534 -0.36151106 +v -0.31162756 0.51283222 -0.20541551 +v -0.31072329 0.51283224 -0.20861418 +v -0.31201097 0.53753203 -0.38375971 +v -0.30921860 0.56104161 -0.39754949 +v -0.31674934 0.56104156 -0.38333310 +v -0.30642621 0.57315649 -0.39534589 +v -0.29420776 0.57362585 -0.39577237 +v -0.30908839 0.57551145 -0.38333305 +v -0.31149734 0.57777736 -0.36151092 +v -0.29420776 0.58525497 -0.33968876 +v -0.30761985 0.58929082 0.32556597 +v -0.30413300 0.59399444 -0.14328969 +v -0.28736426 0.59426982 -0.20271409 +v -0.29420776 0.58699485 -0.31786666 +v -0.29420776 0.58854857 -0.29604453 +v -0.29420776 0.59157511 -0.25240029 +v -0.29420776 0.59286180 -0.23057817 +v -0.29052558 0.59443972 -0.18693392 +v -0.29234135 0.59452865 -0.16511181 +v -0.31369653 0.58116788 -0.27422245 +v -0.30323596 0.59392979 -0.16511181 +v -0.31337099 0.58043153 -0.29604456 +v -0.32162515 0.56104140 -0.33968885 +v -0.32064853 0.56104148 -0.36151098 +v -0.31227864 0.57876456 -0.33968878 +v -0.30142019 0.59381658 -0.18693392 +v -0.29445371 0.59366288 -0.20946685 +v -0.31292970 0.57967090 -0.31786669 +f 1 2 6 +f 1 6 17 +f 1 17 38 +f 1 38 68 +f 1 68 94 +f 1 94 76 +f 1 76 56 +f 1 56 26 +f 1 26 21 +f 1 21 7 +f 1 7 3 +f 1 3 9 +f 1 9 25 +f 1 25 24 +f 1 24 55 +f 1 55 54 +f 1 54 53 +f 1 53 52 +f 1 52 84 +f 1 84 85 +f 1 85 58 +f 1 58 27 +f 1 27 10 +f 1 10 4 +f 1 4 15 +f 1 15 37 +f 1 37 36 +f 1 36 35 +f 1 35 34 +f 1 34 33 +f 1 33 39 +f 1 39 19 +f 1 19 18 +f 1 18 16 +f 1 16 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 9 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 14 +f 4 14 15 +f 5 16 6 +f 6 16 18 +f 6 18 19 +f 6 19 20 +f 6 20 17 +f 7 21 8 +f 8 22 23 +f 8 23 24 +f 8 24 25 +f 8 25 9 +f 8 21 26 +f 8 26 22 +f 10 27 28 +f 10 28 11 +f 11 28 29 +f 11 29 30 +f 11 30 12 +f 12 30 31 +f 12 31 14 +f 12 14 13 +f 14 31 32 +f 14 32 33 +f 14 33 34 +f 14 34 35 +f 14 35 36 +f 14 36 37 +f 14 37 15 +f 17 20 41 +f 17 41 38 +f 19 39 40 +f 19 40 20 +f 20 40 74 +f 20 74 41 +f 22 42 43 +f 22 43 44 +f 22 44 45 +f 22 45 23 +f 22 26 46 +f 22 46 47 +f 22 47 42 +f 23 45 48 +f 23 48 49 +f 23 49 50 +f 23 50 51 +f 23 51 52 +f 23 52 53 +f 23 53 54 +f 23 54 55 +f 23 55 24 +f 26 56 57 +f 26 57 46 +f 27 58 59 +f 27 59 28 +f 28 59 29 +f 29 60 61 +f 29 61 30 +f 29 59 60 +f 30 61 62 +f 30 62 63 +f 30 63 31 +f 31 63 64 +f 31 64 32 +f 32 64 65 +f 32 65 66 +f 32 66 67 +f 32 67 33 +f 33 67 39 +f 38 41 69 +f 38 69 70 +f 38 70 68 +f 39 67 71 +f 39 71 72 +f 39 72 73 +f 39 73 40 +f 40 73 102 +f 40 102 74 +f 41 74 69 +f 42 75 43 +f 42 47 76 +f 42 76 75 +f 43 75 70 +f 43 70 69 +f 43 69 44 +f 44 69 77 +f 44 77 45 +f 45 77 78 +f 45 78 48 +f 46 57 56 +f 46 56 47 +f 47 56 79 +f 47 79 76 +f 48 78 80 +f 48 80 49 +f 49 80 50 +f 50 80 81 +f 50 81 51 +f 51 82 52 +f 51 81 82 +f 52 82 83 +f 52 83 59 +f 52 59 84 +f 56 76 79 +f 58 85 59 +f 59 83 86 +f 59 86 60 +f 59 85 84 +f 60 87 62 +f 60 62 61 +f 60 86 88 +f 60 88 87 +f 62 87 89 +f 62 89 90 +f 62 90 64 +f 62 64 63 +f 64 90 65 +f 65 90 89 +f 65 89 91 +f 65 91 66 +f 66 92 93 +f 66 93 71 +f 66 71 67 +f 66 91 92 +f 68 70 94 +f 69 74 95 +f 69 95 80 +f 69 80 78 +f 69 78 77 +f 70 75 76 +f 70 76 94 +f 71 96 101 +f 71 101 72 +f 71 93 97 +f 71 97 98 +f 71 98 99 +f 71 99 100 +f 71 100 96 +f 72 101 102 +f 72 102 73 +f 74 102 95 +f 80 95 81 +f 81 103 82 +f 81 95 104 +f 81 104 103 +f 82 103 105 +f 82 105 106 +f 82 106 83 +f 83 106 107 +f 83 107 86 +f 86 107 88 +f 87 88 89 +f 88 91 89 +f 88 107 91 +f 91 107 92 +f 92 97 93 +f 92 107 108 +f 92 108 109 +f 92 109 97 +f 95 102 104 +f 96 100 110 +f 96 110 109 +f 96 109 101 +f 97 109 98 +f 98 109 99 +f 99 109 100 +f 100 109 110 +f 101 109 104 +f 101 104 102 +f 103 104 105 +f 104 109 111 +f 104 111 105 +f 105 111 106 +f 106 111 107 +f 107 111 108 +f 108 111 109 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_3.obj b/demo_assets/table/mjcf/mesh/table_collision_3.obj new file mode 100644 index 0000000000000000000000000000000000000000..9b3325afc9b09f4baace16cc819b6ce810407e01 --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_3.obj @@ -0,0 +1,100 @@ +# https://github.com/mikedh/trimesh +v 0.30648364 0.09315678 0.28215486 +v 0.31984409 0.23099383 0.27137203 +v 0.31594766 0.23099379 0.28215537 +v 0.22854613 0.09315678 0.28215486 +v 0.30745774 0.09315722 0.16224030 +v 0.31815504 0.23099463 0.05310958 +v 0.31855720 0.36295720 -0.09960377 +v 0.31953130 0.36295655 0.07492632 +v 0.31979942 0.36295583 0.27137251 +v 0.30929870 0.09315851 -0.18691973 +v 0.31577786 0.36295579 0.28215585 +v 0.22854613 0.51278935 0.28215640 +v 0.22854613 0.09315838 -0.15162431 +v 0.31559020 0.23099520 -0.09960425 +v 0.30858378 0.51279116 -0.20858469 +v 0.31059454 0.51279108 -0.18691819 +v 0.30905743 0.51278979 0.16224184 +v 0.30840504 0.51278935 0.28215640 +v 0.31047837 0.51279092 -0.14328567 +v 0.31041580 0.51279085 -0.12561300 +v 0.31039793 0.51279084 -0.12141948 +v 0.30875358 0.09315852 -0.19156255 +v 0.22854613 0.51279100 -0.16535154 +v 0.22854613 0.09319951 -0.16630162 +v 0.22874274 0.09315843 -0.16630162 +v 0.30719858 0.09315857 -0.20449255 +v 0.29567909 0.51279122 -0.22505920 +v 0.28081724 0.51279122 -0.22665673 +v 0.28237226 0.09315863 -0.22016831 +v 0.29978999 0.09315860 -0.21253012 +v 0.29714471 0.09895145 -0.21542562 +v 0.29282826 0.51279123 -0.22785489 +v 0.28611675 0.09315863 -0.22016831 +v 0.29701066 0.09315861 -0.21542564 +f 1 2 3 +f 1 3 11 +f 1 11 18 +f 1 18 12 +f 1 12 4 +f 1 4 13 +f 1 13 25 +f 1 25 29 +f 1 29 33 +f 1 33 34 +f 1 34 30 +f 1 30 26 +f 1 26 22 +f 1 22 10 +f 1 10 5 +f 1 5 2 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 3 +f 2 5 10 +f 2 10 6 +f 3 9 11 +f 4 12 23 +f 4 23 24 +f 4 24 13 +f 6 10 14 +f 6 14 7 +f 7 14 10 +f 7 10 15 +f 7 15 16 +f 7 16 8 +f 8 16 9 +f 9 17 18 +f 9 18 11 +f 9 16 19 +f 9 19 20 +f 9 20 21 +f 9 21 17 +f 10 22 15 +f 12 18 17 +f 12 17 21 +f 12 21 20 +f 12 20 19 +f 12 19 16 +f 12 16 15 +f 12 15 27 +f 12 27 32 +f 12 32 28 +f 12 28 23 +f 13 24 25 +f 15 22 26 +f 15 26 27 +f 23 28 24 +f 24 28 29 +f 24 29 25 +f 26 30 27 +f 27 30 31 +f 27 31 32 +f 28 32 29 +f 29 32 33 +f 30 34 31 +f 31 34 32 +f 32 34 33 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_4.obj b/demo_assets/table/mjcf/mesh/table_collision_4.obj new file mode 100644 index 0000000000000000000000000000000000000000..45800f91b9b37a0ffd39ba590c83524cb97f021a --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_4.obj @@ -0,0 +1,157 @@ +# https://github.com/mikedh/trimesh +v 0.28199385 -0.18719984 -0.22045315 +v 0.22897447 -0.03338840 -0.16735171 +v 0.22897447 -0.01115195 -0.16735163 +v 0.28207433 -0.12118180 -0.22040720 +v 0.28728775 -0.18719984 -0.22045315 +v 0.28219059 -0.36319031 -0.22031670 +v 0.22897447 -0.49539937 -0.16675933 +v 0.22897447 0.03286007 -0.16726008 +v 0.28708207 -0.12118180 -0.22040720 +v 0.28236943 0.09311755 -0.22017793 +v 0.29817957 -0.18719986 -0.21574627 +v 0.29802754 -0.25316026 -0.21588360 +v 0.29794706 -0.27516628 -0.21592938 +v 0.29784870 -0.31917830 -0.21592954 +v 0.28685852 -0.36319031 -0.22031670 +v 0.28255723 -0.49539917 -0.22018009 +v 0.22897447 -0.49540089 0.24639470 +v 0.22897447 0.05486606 -0.16703150 +v 0.29806331 -0.14318783 -0.21570042 +v 0.28611630 0.09311755 -0.22017793 +v 0.22897447 0.07687208 -0.16662014 +v 0.22897447 0.09311735 -0.16630019 +v 0.30720244 0.09311749 -0.20450357 +v 0.30740810 -0.29717232 -0.20505339 +v 0.29817063 -0.20914825 -0.21574635 +v 0.30726503 -0.49539923 -0.20491703 +v 0.29775034 -0.36319033 -0.21588400 +v 0.29669514 -0.49539919 -0.21593019 +v 0.28588379 -0.49539917 -0.22018009 +v 0.22897447 0.09311583 0.24639686 +v 0.30764956 -0.49540089 0.24639470 +v 0.29700813 0.09311753 -0.21542535 +v 0.29978919 0.09311752 -0.21254639 +v 0.30930389 0.09311743 -0.18690992 +v 0.30975102 -0.29717238 -0.18691135 +v 0.30740810 -0.31917834 -0.20500777 +v 0.30945592 -0.49539929 -0.18709487 +v 0.29763408 -0.38519631 -0.21583840 +v 0.30974208 -0.31917840 -0.18691143 +v 0.30967948 -0.36319043 -0.18691159 +v 0.30647811 0.09311583 0.24639686 +v 0.30806090 -0.49540058 0.16226500 +v 0.32032986 -0.36319132 0.05313908 +v 0.31765609 -0.36791580 0.24639517 +v 0.30746178 0.09311614 0.16226716 +v 0.31762924 -0.23115468 -0.09962826 +v 0.31889907 -0.36319075 -0.09962874 +v 0.30947380 -0.49539929 -0.18691208 +v 0.31575135 -0.23115596 0.24639567 +v 0.30937544 -0.49539945 -0.14327065 +v 0.31680655 -0.23115525 0.05313956 +v 0.31788858 -0.36371050 0.24639518 +v 0.30942909 -0.49539937 -0.16511421 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 5 +f 1 5 15 +f 1 15 6 +f 1 6 7 +f 1 7 2 +f 2 7 17 +f 2 17 30 +f 2 30 22 +f 2 22 21 +f 2 21 18 +f 2 18 8 +f 2 8 3 +f 3 8 4 +f 4 8 10 +f 4 10 20 +f 4 20 9 +f 5 9 11 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 5 14 15 +f 6 15 29 +f 6 29 16 +f 6 16 7 +f 7 16 29 +f 7 29 28 +f 7 28 26 +f 7 26 37 +f 7 37 48 +f 7 48 53 +f 7 53 50 +f 7 50 42 +f 7 42 31 +f 7 31 17 +f 8 18 10 +f 9 19 11 +f 9 20 19 +f 10 18 21 +f 10 21 22 +f 10 22 30 +f 10 30 41 +f 10 41 45 +f 10 45 34 +f 10 34 23 +f 10 23 33 +f 10 33 32 +f 10 32 20 +f 11 19 23 +f 11 23 24 +f 11 24 25 +f 11 25 12 +f 12 25 24 +f 12 24 26 +f 12 26 13 +f 13 26 14 +f 14 26 27 +f 14 27 15 +f 15 27 28 +f 15 28 29 +f 17 31 44 +f 17 44 52 +f 17 52 49 +f 17 49 41 +f 17 41 30 +f 19 20 32 +f 19 32 33 +f 19 33 23 +f 23 34 35 +f 23 35 24 +f 24 35 36 +f 24 36 26 +f 26 28 38 +f 26 38 27 +f 26 36 39 +f 26 39 40 +f 26 40 37 +f 27 38 28 +f 31 42 43 +f 31 43 44 +f 34 45 46 +f 34 46 47 +f 34 47 35 +f 35 47 39 +f 35 39 36 +f 37 40 47 +f 37 47 48 +f 39 47 40 +f 41 49 45 +f 42 50 43 +f 43 47 46 +f 43 46 51 +f 43 51 49 +f 43 49 52 +f 43 52 44 +f 43 50 53 +f 43 53 48 +f 43 48 47 +f 45 49 51 +f 45 51 46 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_5.obj b/demo_assets/table/mjcf/mesh/table_collision_5.obj new file mode 100644 index 0000000000000000000000000000000000000000..ffe63ca235ffa5447d8347551d8f39f2d9a5aee8 --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_5.obj @@ -0,0 +1,40 @@ +# https://github.com/mikedh/trimesh +v -0.32181125 0.51278910 0.35233516 +v -0.31496094 0.51278935 0.28215640 +v -0.32187410 0.34118097 0.35233453 +v 0.31947732 0.51278910 0.35233516 +v -0.31483525 0.30814965 0.28215565 +v -0.32193695 0.09315653 0.35233362 +v 0.30835343 0.51278935 0.28215640 +v 0.32010578 0.20897248 0.35233405 +v 0.31576933 0.36295579 0.28215585 +v -0.31477240 0.27499481 0.28215553 +v -0.31414393 0.09315678 0.28215486 +v 0.32004294 0.09315653 0.35233362 +v 0.31589502 0.23099379 0.28215537 +v 0.30646800 0.09315678 0.28215486 +f 1 2 3 +f 1 3 6 +f 1 6 12 +f 1 12 8 +f 1 8 4 +f 1 4 7 +f 1 7 2 +f 2 5 6 +f 2 6 3 +f 2 7 9 +f 2 9 13 +f 2 13 14 +f 2 14 11 +f 2 11 10 +f 2 10 5 +f 4 8 9 +f 4 9 7 +f 5 10 6 +f 6 10 11 +f 6 11 14 +f 6 14 12 +f 8 12 13 +f 8 13 9 +f 12 14 13 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_6.obj b/demo_assets/table/mjcf/mesh/table_collision_6.obj new file mode 100644 index 0000000000000000000000000000000000000000..040b67fb393e1e4789965398ced87e358da7250c --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_6.obj @@ -0,0 +1,298 @@ +# https://github.com/mikedh/trimesh +v -0.38222493 0.51278899 0.38055061 +v -0.38252416 0.29701552 0.38054982 +v -0.38102808 0.51278898 0.38361797 +v -0.37781133 0.51278904 0.36700695 +v -0.37713814 0.31895447 0.36369686 +v -0.37736256 0.16497141 0.36361235 +v -0.38267378 0.14295030 0.38054926 +v -0.37586640 0.51278893 0.39659855 +v -0.37676410 0.51278905 0.36381119 +v -0.37713814 0.29701558 0.36367211 +v -0.35955855 0.51278908 0.35797783 +v -0.35955855 0.29701561 0.35771526 +v -0.35955855 0.09315651 0.35747741 +v -0.37736256 0.14295036 0.36359743 +v -0.37870903 0.09315647 0.36806241 +v -0.38259897 0.09315642 0.38054907 +v -0.37571679 0.09315636 0.39667113 +v -0.37586640 0.47301957 0.39658854 +v -0.37586640 0.49499954 0.39659849 +v -0.36382253 0.09315635 0.40083990 +v -0.35955855 0.09894918 0.40233161 +v -0.35955855 0.51278891 0.40218001 +v -0.32178112 0.51278910 0.35234203 +v -0.32193073 0.09315653 0.35234049 +v -0.37728775 0.09315648 0.36356270 +v -0.32185592 0.36320206 0.35234148 +v -0.35955855 0.09315634 0.40233159 +v -0.33771498 0.09315634 0.40280084 +v -0.34190416 0.51278891 0.40254061 +v 0.31946220 0.51278910 0.35234203 +v 0.31998585 0.09315653 0.35234049 +v -0.33771498 0.51278891 0.40262456 +v -0.31594620 0.09315634 0.40279588 +v 0.18510931 0.49499952 0.40268379 +v 0.18510931 0.51278891 0.40268385 +v -0.29417744 0.20897229 0.40278152 +v -0.31594620 0.18695124 0.40277649 +v 0.35940901 0.51278907 0.35985973 +v 0.35940901 0.49499968 0.35979051 +v 0.35940901 0.47301971 0.35973114 +v 0.35940901 0.20897245 0.35913251 +v 0.35940901 0.09315650 0.35908762 +v 0.32006066 0.23099354 0.35234100 +v 0.32006066 0.09878505 0.35234051 +v -0.29417744 0.51278891 0.40263939 +v -0.14164650 0.09315634 0.40273664 +v 0.20687807 0.49499952 0.40267883 +v 0.15915137 0.51278891 0.40268385 +v 0.20276370 0.51278891 0.40267889 +v -0.16760444 0.51278891 0.40265418 +v -0.27240868 0.51278891 0.40264431 +v 0.36247606 0.51278906 0.36091181 +v 0.37534282 0.49499966 0.36529789 +v 0.37541763 0.47301969 0.36524840 +v 0.37541763 0.45099864 0.36520882 +v 0.37564205 0.20897243 0.36498565 +v 0.37571686 0.09315648 0.36493089 +v 0.36374780 0.09315650 0.36063859 +v -0.12563787 0.09315634 0.40272676 +v 0.20687807 0.47301955 0.40267383 +v 0.22872164 0.49499952 0.40265908 +v 0.24630122 0.51278891 0.40264431 +v 0.22872164 0.51278891 0.40265914 +v 0.37526801 0.51278905 0.36536707 +v 0.38095335 0.51278899 0.38055061 +v 0.38110296 0.45099858 0.38055039 +v 0.38140219 0.23099343 0.38054958 +v 0.37564205 0.23099349 0.36503511 +v 0.38155181 0.09315642 0.38054907 +v -0.11987774 0.09315634 0.40272181 +v 0.14157179 0.29701544 0.40263365 +v 0.22872164 0.47301955 0.40265404 +v 0.25049040 0.49499952 0.40263933 +v 0.26814479 0.51278891 0.40261964 +v 0.37601609 0.51278893 0.39647014 +v 0.37609090 0.29701546 0.39654343 +v 0.37609090 0.27499439 0.39656314 +v 0.37609090 0.09894920 0.39646862 +v 0.37609090 0.09315636 0.39644885 +v 0.05442195 0.09315634 0.40249461 +v 0.33764025 0.27499437 0.40239650 +v 0.16334055 0.29701544 0.40261390 +v 0.33764025 0.29701544 0.40241633 +v 0.27225916 0.49499952 0.40261463 +v 0.27225916 0.51278891 0.40261469 +v 0.35940901 0.51278891 0.40192319 +v 0.35940901 0.27499437 0.40204086 +v 0.35940901 0.09894918 0.40178831 +v 0.35940901 0.09315634 0.40175863 +v 0.33764025 0.09315634 0.40206981 +v 0.33764025 0.47301955 0.40245156 +v 0.31587149 0.49499952 0.40253559 +v 0.29410273 0.49499952 0.40258005 +v 0.28991355 0.51278891 0.40258998 +v 0.35529464 0.51278891 0.40202690 +v 0.33764025 0.49499952 0.40244668 +v 0.35372367 0.09315634 0.40185249 +v 0.31587149 0.51278891 0.40253565 +v 0.31168231 0.51278891 0.40254553 +v 0.33764025 0.51278891 0.40243687 +f 1 2 3 +f 1 3 8 +f 1 8 22 +f 1 22 29 +f 1 29 32 +f 1 32 45 +f 1 45 51 +f 1 51 50 +f 1 50 48 +f 1 48 35 +f 1 35 49 +f 1 49 63 +f 1 63 62 +f 1 62 74 +f 1 74 85 +f 1 85 94 +f 1 94 99 +f 1 99 98 +f 1 98 100 +f 1 100 95 +f 1 95 86 +f 1 86 75 +f 1 75 65 +f 1 65 64 +f 1 64 52 +f 1 52 38 +f 1 38 30 +f 1 30 23 +f 1 23 11 +f 1 11 9 +f 1 9 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 7 8 +f 2 8 3 +f 2 6 7 +f 4 9 5 +f 5 10 6 +f 5 9 11 +f 5 11 12 +f 5 12 13 +f 5 13 10 +f 6 14 7 +f 6 10 13 +f 6 13 14 +f 7 14 15 +f 7 15 16 +f 7 16 17 +f 7 17 18 +f 7 18 19 +f 7 19 8 +f 8 19 17 +f 8 17 20 +f 8 20 21 +f 8 21 22 +f 11 23 12 +f 12 23 13 +f 13 24 31 +f 13 31 42 +f 13 42 58 +f 13 58 57 +f 13 57 69 +f 13 69 79 +f 13 79 89 +f 13 89 97 +f 13 97 90 +f 13 90 80 +f 13 80 70 +f 13 70 59 +f 13 59 46 +f 13 46 33 +f 13 33 28 +f 13 28 27 +f 13 27 20 +f 13 20 17 +f 13 17 16 +f 13 16 15 +f 13 15 25 +f 13 25 14 +f 13 23 26 +f 13 26 24 +f 14 25 15 +f 17 19 18 +f 20 27 21 +f 21 27 28 +f 21 28 22 +f 22 28 29 +f 23 30 43 +f 23 43 44 +f 23 44 31 +f 23 31 24 +f 23 24 26 +f 28 32 29 +f 28 33 47 +f 28 47 34 +f 28 34 35 +f 28 35 36 +f 28 36 37 +f 28 37 32 +f 30 38 39 +f 30 39 40 +f 30 40 41 +f 30 41 42 +f 30 42 43 +f 31 44 42 +f 32 37 36 +f 32 36 45 +f 33 46 47 +f 34 47 35 +f 35 48 36 +f 35 47 49 +f 36 50 51 +f 36 51 45 +f 36 48 50 +f 38 52 39 +f 39 52 53 +f 39 53 54 +f 39 54 40 +f 40 54 41 +f 41 54 55 +f 41 55 56 +f 41 56 57 +f 41 57 58 +f 41 58 42 +f 42 44 43 +f 46 59 60 +f 46 60 47 +f 47 60 72 +f 47 72 61 +f 47 61 62 +f 47 62 63 +f 47 63 49 +f 52 64 53 +f 53 64 65 +f 53 65 54 +f 54 65 66 +f 54 66 67 +f 54 67 68 +f 54 68 56 +f 54 56 55 +f 56 68 69 +f 56 69 57 +f 59 70 71 +f 59 71 60 +f 60 71 72 +f 61 72 73 +f 61 73 62 +f 62 73 74 +f 65 75 66 +f 66 75 67 +f 67 75 69 +f 67 69 68 +f 69 75 76 +f 69 76 77 +f 69 77 78 +f 69 78 79 +f 70 80 81 +f 70 81 82 +f 70 82 71 +f 71 82 72 +f 72 82 83 +f 72 83 84 +f 72 84 73 +f 73 84 74 +f 74 84 85 +f 75 77 76 +f 75 86 87 +f 75 87 77 +f 77 87 78 +f 78 88 79 +f 78 87 88 +f 79 88 89 +f 80 90 81 +f 81 90 88 +f 81 88 87 +f 81 87 83 +f 81 83 82 +f 83 87 91 +f 83 91 92 +f 83 92 93 +f 83 93 84 +f 84 93 94 +f 84 94 85 +f 86 95 87 +f 87 95 96 +f 87 96 91 +f 88 90 97 +f 88 97 89 +f 91 96 98 +f 91 98 92 +f 92 98 99 +f 92 99 94 +f 92 94 93 +f 95 100 96 +f 96 100 98 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_7.obj b/demo_assets/table/mjcf/mesh/table_collision_7.obj new file mode 100644 index 0000000000000000000000000000000000000000..2d600fd46fc367740aa1f62f36eb1230f05569ec --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_7.obj @@ -0,0 +1,79 @@ +# https://github.com/mikedh/trimesh +v -0.31601694 0.09311550 0.33837527 +v -0.31443935 0.09311583 0.24639686 +v -0.31519658 -0.27194196 0.24639552 +v -0.31608002 0.05486421 0.33837513 +v 0.31110742 0.09311550 0.33837527 +v 0.30643772 0.09311583 0.24639686 +v -0.31525966 -0.31595399 0.24639536 +v -0.31658486 -0.27516831 0.33837392 +v 0.31161222 -0.25108843 0.33837401 +v 0.32801919 -0.35063365 0.26469907 +v 0.32801919 -0.35063363 0.25889190 +v 0.31571396 -0.23115596 0.24639567 +v -0.31525966 -0.38519801 0.24639511 +v -0.31664798 -0.36319236 0.33837360 +v 0.31161222 -0.34118635 0.33837368 +v 0.32801919 -0.35691287 0.26469905 +v 0.32801919 -0.35691285 0.25889188 +v 0.31785951 -0.36371050 0.24639518 +v -0.31658486 -0.49534361 0.33837311 +v -0.31519658 -0.47322208 0.24639478 +v 0.31154914 -0.49540122 0.33837311 +v 0.31760707 -0.36791580 0.24639517 +v 0.30763672 -0.49540089 0.24639470 +v -0.31513346 -0.49540089 0.24639470 +v -0.31601694 -0.49540122 0.33689657 +v -0.31601694 -0.49540122 0.33700460 +v -0.31513346 -0.49540122 0.33837311 +f 1 2 3 +f 1 3 4 +f 1 4 8 +f 1 8 14 +f 1 14 19 +f 1 19 27 +f 1 27 21 +f 1 21 15 +f 1 15 9 +f 1 9 5 +f 1 5 6 +f 1 6 2 +f 2 6 12 +f 2 12 18 +f 2 18 22 +f 2 22 23 +f 2 23 24 +f 2 24 20 +f 2 20 13 +f 2 13 7 +f 2 7 3 +f 3 7 8 +f 3 8 4 +f 5 9 10 +f 5 10 11 +f 5 11 6 +f 6 11 12 +f 7 13 14 +f 7 14 8 +f 9 15 16 +f 9 16 10 +f 10 16 17 +f 10 17 11 +f 11 17 18 +f 11 18 12 +f 13 19 14 +f 13 20 19 +f 15 21 16 +f 16 21 17 +f 17 22 18 +f 17 21 23 +f 17 23 22 +f 19 20 24 +f 19 24 25 +f 19 25 26 +f 19 26 27 +f 21 27 26 +f 21 26 25 +f 21 25 24 +f 21 24 23 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_8.obj b/demo_assets/table/mjcf/mesh/table_collision_8.obj new file mode 100644 index 0000000000000000000000000000000000000000..77dbf521ba69fa39d65e6c4aa2de0c0ce9009468 --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_8.obj @@ -0,0 +1,367 @@ +# https://github.com/mikedh/trimesh +v -0.38255070 0.09311534 0.38055184 +v -0.38262554 0.07687007 0.38055178 +v -0.38075390 0.09311533 0.38480243 +v -0.37873252 0.09311539 0.36806589 +v -0.37738493 0.07687013 0.36349902 +v -0.38270043 0.03285806 0.38055162 +v -0.37566302 0.09311528 0.39666851 +v -0.37731004 0.09311540 0.36356231 +v -0.37738493 0.05486412 0.36344200 +v -0.37745977 -0.01115389 0.36343544 +v -0.31599465 0.09311550 0.33837531 +v -0.38277528 -0.09917800 0.38055114 +v -0.37611222 -0.49522861 0.39680553 +v -0.37596248 -0.27516853 0.39676204 +v -0.37573786 0.03285800 0.39669995 +v -0.36383415 0.09311527 0.40083686 +v -0.37738493 0.03285813 0.36342927 +v -0.31606952 0.07687023 0.33837525 +v -0.31659359 -0.27516831 0.33837396 +v -0.37745977 -0.16519597 0.36353607 +v -0.38285016 -0.31918049 0.38055033 +v -0.31659359 -0.49534361 0.33837315 +v 0.31108449 0.09311550 0.33837531 +v -0.37611222 -0.49540144 0.39680553 +v -0.35956677 -0.49522863 0.40253617 +v -0.35956677 -0.27516855 0.40249904 +v -0.35956677 -0.16519611 0.40248047 +v -0.35956677 -0.14319010 0.40247419 +v -0.37573786 -0.01115402 0.39672508 +v -0.35956677 0.03285798 0.40238000 +v -0.35956677 0.07686999 0.40234850 +v 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0.38055184 +v 0.38160842 0.07687007 0.38055178 +v 0.38175816 0.03285806 0.38055162 +v 0.38198278 -0.18720205 0.38055081 +v 0.37539452 -0.49540132 0.36514145 +v 0.37599345 -0.20915038 0.36461751 +v 0.31160856 -0.34118635 0.33837372 +v -0.33778071 -0.49540146 0.40294731 +v -0.33778071 -0.20915052 0.40296100 +v -0.31599465 -0.16519611 0.40298645 +v -0.31599465 -0.14319010 0.40298021 +v -0.31599465 -0.12118409 0.40296765 +v -0.31599465 0.05486397 0.40284180 +v -0.31599465 0.07686999 0.40281659 +v -0.31599465 0.09311526 0.40279768 +v 0.37756567 0.09311530 0.39226618 +v 0.37614319 0.07687001 0.39639649 +v 0.37621807 0.03285800 0.39636468 +v 0.38153358 -0.34118651 0.38055025 +v 0.37621807 -0.14319008 0.39650953 +v 0.37621807 -0.16519609 0.39652210 +v 0.37621807 -0.31918055 0.39651522 +v 0.37621807 -0.34118657 0.39650249 +v 0.37599345 -0.49540144 0.39628687 +v 0.38100949 -0.49540138 0.38054968 +v -0.31614439 -0.49540146 0.40297260 +v -0.31599465 -0.23115653 0.40298621 +v -0.29413373 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114 +f 98 114 99 +f 99 114 112 +f 99 112 115 +f 99 115 101 +f 99 101 100 +f 101 115 112 +f 101 112 116 +f 101 116 117 +f 101 117 103 +f 102 103 118 +f 103 117 119 +f 103 119 106 +f 103 106 105 +f 103 105 110 +f 103 110 109 +f 103 109 108 +f 103 108 120 +f 103 120 121 +f 103 121 118 +f 106 119 122 +f 107 123 120 +f 107 120 108 +f 112 113 117 +f 112 117 116 +f 113 122 119 +f 113 119 117 +f 120 123 121 + diff --git a/demo_assets/table/mjcf/mesh/table_collision_9.obj b/demo_assets/table/mjcf/mesh/table_collision_9.obj new file mode 100644 index 0000000000000000000000000000000000000000..0bb3a1c2b21a8d028d27b7c8ff0fd6e2cf6ab787 --- /dev/null +++ b/demo_assets/table/mjcf/mesh/table_collision_9.obj @@ -0,0 +1,217 @@ +# https://github.com/mikedh/trimesh +v -0.29421002 -0.59073558 -0.25220520 +v -0.27420493 -0.58156711 -0.25220517 +v -0.31410867 -0.58151584 -0.25220517 +v -0.31433333 -0.58140692 -0.25243775 +v -0.31409094 -0.58095196 -0.27427298 +v -0.29421002 -0.59072917 -0.25243778 +v 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-0.31792886 +v -0.32246777 -0.56125013 -0.33973504 +v -0.32127361 -0.56125005 -0.36155573 +v -0.31260121 -0.57881818 -0.33973511 +v -0.29421002 -0.58835201 -0.29609372 +v -0.27724943 -0.57770970 -0.36155579 +v -0.27594296 -0.57938206 -0.31792893 +v -0.27185801 -0.53926793 -0.25220501 +v -0.28230390 -0.52751064 -0.36155561 +v -0.27752729 -0.53840251 -0.38238782 +v -0.28267634 -0.52777970 -0.37443580 +v -0.27947814 -0.57558246 -0.38339102 +v -0.27272110 -0.56124997 -0.38339097 +v -0.30781866 -0.52649232 -0.25220496 +v -0.30744623 -0.52676760 -0.31792873 +v -0.30729845 -0.52684437 -0.33973492 +v -0.30712109 -0.52694042 -0.36155561 +v -0.30638213 -0.52740808 -0.37609305 +v -0.31209871 -0.53796041 -0.38337633 +v -0.31718866 -0.56124997 -0.38339097 +v -0.31169081 -0.57785706 -0.36155579 +v -0.30940299 -0.57580671 -0.38339103 +v -0.29421002 -0.58683347 -0.31792896 +v -0.29421002 -0.58330943 -0.36155581 +v -0.29421002 -0.58509705 -0.33973513 +v -0.28172457 -0.52713297 -0.27427279 +v -0.28162406 -0.52704974 -0.25220497 +v -0.29421002 -0.52619719 -0.36155560 +v -0.29421002 -0.52528778 -0.25220496 +v -0.28177187 -0.52700488 -0.25220497 +v -0.27992152 -0.54516827 -0.39723054 +v -0.29421002 -0.53107925 -0.38757763 +v -0.29421002 -0.52726713 -0.37666000 +v -0.29421002 -0.57913837 -0.38339104 +v -0.28203788 -0.57333996 -0.39535534 +v -0.27980919 -0.56124992 -0.39728875 +v -0.30920200 -0.54443786 -0.39755038 +v -0.30940299 -0.56124992 -0.39771035 +v -0.30673092 -0.57357704 -0.39560248 +v -0.29421002 -0.56124991 -0.40070507 +v -0.29421002 -0.54208006 -0.39893141 +v -0.29421002 -0.57406395 -0.39606767 +f 1 2 8 +f 1 8 21 +f 1 21 39 +f 1 39 58 +f 1 58 61 +f 1 61 60 +f 1 60 45 +f 1 45 26 +f 1 26 25 +f 1 25 12 +f 1 12 11 +f 1 11 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 2 +f 2 7 9 +f 2 9 10 +f 2 10 8 +f 3 11 4 +f 4 11 12 +f 4 12 13 +f 4 13 14 +f 4 14 15 +f 4 15 5 +f 5 15 16 +f 5 16 6 +f 6 16 17 +f 6 17 18 +f 6 18 19 +f 6 19 9 +f 6 9 7 +f 8 20 21 +f 8 10 22 +f 8 22 20 +f 9 19 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50 68 51 +f 51 68 69 +f 51 69 70 +f 51 70 53 +f 52 53 55 +f 52 55 56 +f 52 56 54 +f 53 70 65 +f 53 65 55 +f 57 61 58 +f 62 67 71 +f 62 71 72 +f 62 72 63 +f 63 72 68 +f 65 70 73 +f 65 73 66 +f 66 73 71 +f 66 71 67 +f 68 72 71 +f 68 71 69 +f 69 71 70 +f 70 71 73 + diff --git a/demo_assets/table/mjcf/table.mjcf b/demo_assets/table/mjcf/table.mjcf index fe8c825d82140b0c4dd8a4e8c76d182cae08eb01..814611e2ddb3790cb51ffecc06f6dd00ca337614 100644 --- a/demo_assets/table/mjcf/table.mjcf +++ b/demo_assets/table/mjcf/table.mjcf @@ -1,15 +1,51 @@ - - - - + + + + + + + + + + + + + + + + + + + + + + - - + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/demo_assets/vase/mjcf/mesh/vase_0.obj b/demo_assets/vase/mjcf/mesh/vase_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..f50712f4a33623a3798f014f8981cf9e3a2ecd31 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_0.obj @@ -0,0 +1,53257 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.01956097 -0.07898552 -0.09416473 +v -0.01906933 -0.07749478 -0.09711359 +v -0.01491426 -0.07929834 -0.09546972 +v -0.01539568 -0.08104765 -0.09190102 +v -0.01969726 -0.07988135 -0.09231216 +v -0.01535257 -0.07690478 -0.09952450 +v -0.01867544 -0.07519002 -0.10121598 +v -0.01170952 -0.07909593 -0.09688977 +v -0.01120197 -0.08122917 -0.09296282 +v -0.00865483 -0.07945643 -0.09709978 +v -0.00833306 -0.08190096 -0.09243991 +v -0.01232994 -0.07716801 -0.09999891 +v -0.01148510 -0.08182960 -0.09164477 +v -0.00887577 -0.07608284 -0.10270373 +v -0.01492544 -0.07462488 -0.10342312 +v -0.00880283 -0.07539423 -0.10380864 +v -0.01869868 -0.07372857 -0.10348830 +v -0.02338642 -0.07468779 -0.09973442 +v -0.02323575 -0.07701082 -0.09576187 +v -0.02466652 -0.07498445 -0.09853563 +v -0.02316033 -0.07265541 -0.10305781 +v -0.02317190 -0.07868339 -0.09264154 +v -0.02443712 -0.07186540 -0.10363969 +v -0.02108311 -0.07277470 -0.10381388 +v -0.02660906 -0.07521214 -0.09695525 +v 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9136 +f 9140 9141 9144 +f 9141 9145 9146 +f 9141 9146 9144 +f 9142 9143 9148 +f 9142 9148 9147 +f 9145 9149 9146 +f 9146 9149 9150 +f 9147 9148 9151 +f 9148 9152 9153 +f 9148 9153 9151 +f 9149 9154 9155 +f 9149 9155 9150 +f 9152 9156 9153 +f 9153 9156 9155 +f 9153 9155 9157 +f 9154 9157 9155 diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_0.obj b/demo_assets/vase/mjcf/mesh/vase_collision_0.obj new file mode 100644 index 0000000000000000000000000000000000000000..da3e4935f1c90257af26f552b12f55db4cf68aea --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_0.obj @@ -0,0 +1,220 @@ +# https://github.com/mikedh/trimesh +v -0.02646827 -0.00001985 0.09218968 +v -0.03133431 -0.00001985 0.09218968 +v -0.02646525 -0.00001985 0.09183327 +v -0.00242127 0.02646076 0.09184726 +v -0.00242127 0.02646726 0.09218978 +v -0.03133431 0.00239220 0.09218969 +v -0.03320239 0.00080602 0.04490835 +v -0.03319938 -0.00001967 0.04490835 +v -0.02642910 -0.00001983 0.08687603 +v -0.00242127 0.02642502 0.08689464 +v -0.00242127 0.03150593 0.09218980 +v -0.03054188 0.00728133 0.09218971 +v -0.03268415 0.00726526 0.04490838 +v -0.03319636 0.00239238 0.04490836 +v -0.02829416 -0.00001967 0.04490835 +v -0.02642006 -0.00001982 0.08442749 +v -0.00242127 0.02640229 0.08194202 +v -0.00243935 0.03150593 0.09218980 +v -0.00242127 0.03318349 0.04490847 +v -0.02970426 0.01026552 0.09218972 +v -0.03146688 0.01216739 0.04490839 +v -0.00242127 0.02826511 0.04490845 +v -0.02787836 -0.00001968 0.04725506 +v -0.02641102 -0.00001981 0.08192340 +v -0.02640801 -0.00001980 0.07947487 +v -0.00242127 0.02640231 0.07697088 +v -0.00279489 0.03144416 0.09218980 +v -0.00243935 0.03318349 0.04490847 +v -0.00400612 0.03305996 0.04490847 +v -0.00729033 0.03261786 0.04490847 +v -0.02962894 0.01052558 0.09218972 +v -0.03068952 0.01412109 0.04490840 +v -0.00242127 0.02783925 0.04725516 +v -0.02751982 -0.00001969 0.04975914 +v -0.02640801 -0.00001979 0.07697078 +v -0.02641403 -0.00001978 0.07452224 +v -0.00242127 0.02641858 0.07201826 +v -0.00732347 0.03062497 0.09218979 +v -0.00989961 0.03201972 0.04490847 +v -0.02857438 0.01279136 0.09218973 +v -0.02997845 0.01581798 0.04490841 +v -0.00242127 0.02713382 0.05222629 +v -0.02717633 -0.00001970 0.05220768 +v -0.02642307 -0.00001977 0.07201816 +v -0.00242127 0.02645435 0.06707027 +v -0.00758259 0.03054695 0.09218979 +v -0.01221061 0.03139883 0.04490847 +v -0.02849001 0.01296690 0.09218973 +v -0.02927942 0.01697200 0.04490841 +v -0.02612779 0.01696857 0.09218974 +v -0.02583553 0.01746268 0.09218974 +v -0.00242127 0.02670145 0.05716040 +v -0.02670931 -0.00001972 0.05716030 +v -0.02646525 -0.00001976 0.06707017 +v -0.02652551 -0.00001974 0.06211292 +v -0.00242127 0.02652264 0.06211302 +v -0.01058357 0.02961724 0.09218979 +v -0.01584432 0.02993599 0.04490846 +v -0.02849905 0.01825930 0.04490842 +v -0.02514856 0.01851918 0.09218975 +v -0.01302714 0.02843396 0.09218978 +v -0.01713088 0.02914931 0.04490846 +v -0.01750751 0.02579111 0.09218977 +v -0.02592291 0.02165308 0.04490843 +v -0.02447063 0.01955617 0.09218975 +v -0.01828488 0.02844065 0.04490845 +v -0.01790222 0.02554080 0.09218977 +v -0.02467250 0.02308666 0.04490843 +v -0.02247600 0.02157813 0.09218976 +v -0.02394335 0.02390585 0.04490844 +v -0.02004147 0.02715335 0.04490845 +v -0.01960458 0.02443879 0.09218977 +v -0.02204514 0.02201373 0.09218976 +v -0.02168960 0.02586280 0.04490844 +f 1 2 8 +f 1 8 15 +f 1 15 23 +f 1 23 34 +f 1 34 43 +f 1 43 53 +f 1 53 55 +f 1 55 54 +f 1 54 44 +f 1 44 36 +f 1 36 35 +f 1 35 25 +f 1 25 24 +f 1 24 16 +f 1 16 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 18 +f 1 18 27 +f 1 27 38 +f 1 38 46 +f 1 46 57 +f 1 57 61 +f 1 61 63 +f 1 63 67 +f 1 67 72 +f 1 72 73 +f 1 73 69 +f 1 69 65 +f 1 65 60 +f 1 60 51 +f 1 51 50 +f 1 50 48 +f 1 48 40 +f 1 40 31 +f 1 31 20 +f 1 20 12 +f 1 12 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 3 9 4 +f 4 9 10 +f 4 10 17 +f 4 17 26 +f 4 26 37 +f 4 37 45 +f 4 45 56 +f 4 56 52 +f 4 52 42 +f 4 42 33 +f 4 33 22 +f 4 22 19 +f 4 19 11 +f 4 11 5 +f 6 12 13 +f 6 13 14 +f 6 14 7 +f 7 14 13 +f 7 13 21 +f 7 21 32 +f 7 32 41 +f 7 41 49 +f 7 49 59 +f 7 59 64 +f 7 64 68 +f 7 68 70 +f 7 70 74 +f 7 74 71 +f 7 71 66 +f 7 66 62 +f 7 62 58 +f 7 58 47 +f 7 47 39 +f 7 39 30 +f 7 30 29 +f 7 29 28 +f 7 28 19 +f 7 19 22 +f 7 22 15 +f 7 15 8 +f 9 16 17 +f 9 17 10 +f 11 19 28 +f 11 28 18 +f 12 20 21 +f 12 21 13 +f 15 22 23 +f 16 24 17 +f 17 24 25 +f 17 25 35 +f 17 35 26 +f 18 28 29 +f 18 29 30 +f 18 30 27 +f 20 31 21 +f 21 31 32 +f 22 33 23 +f 23 33 34 +f 26 36 37 +f 26 35 36 +f 27 30 38 +f 30 39 38 +f 31 40 41 +f 31 41 32 +f 33 42 43 +f 33 43 34 +f 36 44 37 +f 37 44 45 +f 38 39 47 +f 38 47 46 +f 40 48 41 +f 41 48 50 +f 41 50 51 +f 41 51 49 +f 42 52 53 +f 42 53 43 +f 44 54 45 +f 45 54 55 +f 45 55 56 +f 46 47 57 +f 47 58 57 +f 49 51 59 +f 51 60 59 +f 52 56 55 +f 52 55 53 +f 57 58 61 +f 58 62 63 +f 58 63 61 +f 59 60 65 +f 59 65 64 +f 62 66 63 +f 63 66 67 +f 64 65 68 +f 65 69 70 +f 65 70 68 +f 66 71 72 +f 66 72 67 +f 69 73 70 +f 70 73 72 +f 70 72 74 +f 71 74 72 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_1.obj b/demo_assets/vase/mjcf/mesh/vase_collision_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..7c53056742fedc7a18864fbae8be861c981a3b1b --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_1.obj @@ -0,0 +1,109 @@ +# https://github.com/mikedh/trimesh +v 0.01436801 0.01996453 0.11659952 +v 0.02464057 -0.00001463 0.11659945 +v 0.02509738 -0.00001465 0.12125861 +v 0.01550668 0.01996451 0.12155329 +v 0.01623312 0.01996462 0.09219801 +v 0.02647893 -0.00001454 0.09219794 +v 0.02683324 -0.00001466 0.12650699 +v 0.02738586 -0.00001467 0.12790728 +v 0.02766217 -0.00001467 0.12860198 +v 0.02796077 -0.00001468 0.12935122 +v 0.01783974 0.01996450 0.12617608 +v 0.02375593 0.01996462 0.09219801 +v 0.03132107 -0.00001454 0.09219794 +v 0.03711470 -0.00001468 0.12935122 +v 0.01986305 0.01996448 0.12935129 +v 0.01911433 0.01996449 0.12821287 +v 0.02403669 0.01996462 0.09320185 +v 0.02546727 0.01793072 0.09219801 +v 0.03131439 0.00239289 0.09219795 +v 0.03713253 0.00239275 0.12935123 +v 0.03162635 0.01996448 0.12935129 +v 0.02447345 0.01954610 0.09350738 +v 0.02565445 0.01765692 0.09219800 +v 0.03125868 0.00274882 0.09219795 +v 0.03657991 0.00733278 0.12935125 +v 0.03687405 0.00504856 0.12935124 +v 0.03174000 0.01976109 0.12935129 +v 0.02847328 0.01292615 0.09219799 +v 0.02830838 0.01320385 0.09219799 +v 0.02577033 0.01746722 0.09219800 +v 0.03053447 0.00728012 0.09219797 +v 0.03566853 0.01067894 0.12935126 +v 0.03313493 0.01705052 0.12935128 +v 0.02963424 0.01048351 0.09219798 +v 0.03531422 0.01180932 0.12935126 +v 0.03349368 0.01623892 0.12935128 +v 0.03436496 0.01415613 0.12935127 +f 1 2 3 +f 1 3 4 +f 1 4 11 +f 1 11 16 +f 1 16 15 +f 1 15 21 +f 1 21 17 +f 1 17 12 +f 1 12 5 +f 1 5 6 +f 1 6 2 +f 2 6 13 +f 2 13 14 +f 2 14 10 +f 2 10 9 +f 2 9 8 +f 2 8 7 +f 2 7 3 +f 3 7 4 +f 4 7 8 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 5 12 18 +f 5 18 23 +f 5 23 30 +f 5 30 29 +f 5 29 28 +f 5 28 34 +f 5 34 31 +f 5 31 24 +f 5 24 19 +f 5 19 13 +f 5 13 6 +f 10 14 20 +f 10 20 26 +f 10 26 25 +f 10 25 32 +f 10 32 35 +f 10 35 37 +f 10 37 36 +f 10 36 33 +f 10 33 27 +f 10 27 21 +f 10 21 15 +f 10 15 16 +f 10 16 11 +f 12 17 18 +f 13 19 20 +f 13 20 14 +f 17 22 18 +f 17 21 22 +f 18 22 21 +f 18 21 23 +f 19 24 25 +f 19 25 26 +f 19 26 20 +f 21 27 28 +f 21 28 29 +f 21 29 30 +f 21 30 23 +f 24 31 25 +f 25 31 32 +f 27 33 28 +f 28 33 34 +f 31 34 32 +f 32 34 35 +f 33 36 34 +f 34 36 37 +f 34 37 35 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_10.obj b/demo_assets/vase/mjcf/mesh/vase_collision_10.obj new file mode 100644 index 0000000000000000000000000000000000000000..170ba4cf7ab196a372bc4a7a38c80d333c9d2e9c --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_10.obj @@ -0,0 +1,118 @@ +# https://github.com/mikedh/trimesh +v -0.00243804 -0.03728612 0.12935108 +v 0.00065340 -0.03725506 0.12935108 +v -0.00245011 -0.02800892 0.12935112 +v -0.00245011 -0.03728198 0.12934018 +v -0.00245011 -0.03141318 0.09219782 +v -0.00243804 -0.03141525 0.09219782 +v 0.00244868 -0.03140697 0.09219782 +v 0.00244868 -0.03723435 0.12935108 +v -0.00245011 -0.02794473 0.12935112 +v -0.00245011 -0.03124959 0.09219783 +v 0.00280291 -0.03134899 0.09219782 +v 0.00736559 -0.03662553 0.12935109 +v 0.00503293 -0.03696101 0.12935108 +v 0.01811114 -0.02128916 0.12935114 +v 0.01811114 -0.01980646 0.12690337 +v 0.01811114 -0.01675613 0.12081846 +v -0.00245011 -0.02683890 0.12650689 +v -0.00243804 -0.02653230 0.09219784 +v -0.00245011 -0.02652816 0.09220875 +v 0.00733339 -0.03060143 0.09219783 +v 0.01072270 -0.03568953 0.12935109 +v 0.01811114 -0.03256676 0.12935110 +v 0.01811114 -0.01613488 0.11747229 +v -0.00245011 -0.02509941 0.12117123 +v -0.00245011 -0.02512426 0.12126580 +v -0.00245011 -0.02513462 0.12129853 +v 0.01811114 -0.01842510 0.09219787 +v -0.00245011 -0.02453199 0.11659936 +v 0.01811114 -0.01615559 0.11658848 +v 0.01057577 -0.02969027 0.09219783 +v 0.01180148 -0.03533749 0.12935109 +v 0.01710079 -0.03309896 0.12935110 +v 0.01301712 -0.02855340 0.09219784 +v 0.01329688 -0.02839188 0.09219784 +v 0.01710079 -0.02619061 0.09219784 +v 0.01729602 -0.02606637 0.09219784 +v 0.01811114 -0.02554245 0.09219785 +v -0.00245011 -0.02452785 0.11762866 +v 0.01618906 -0.03351726 0.12935110 +v 0.01452661 -0.03421512 0.12935109 +f 1 2 8 +f 1 8 13 +f 1 13 12 +f 1 12 21 +f 1 21 31 +f 1 31 40 +f 1 40 39 +f 1 39 32 +f 1 32 22 +f 1 22 14 +f 1 14 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 2 +f 2 7 8 +f 3 9 17 +f 3 17 26 +f 3 26 25 +f 3 25 24 +f 3 24 38 +f 3 38 28 +f 3 28 19 +f 3 19 10 +f 3 10 5 +f 3 5 4 +f 5 10 18 +f 5 18 27 +f 5 27 37 +f 5 37 36 +f 5 36 35 +f 5 35 34 +f 5 34 33 +f 5 33 30 +f 5 30 20 +f 5 20 11 +f 5 11 7 +f 5 7 6 +f 7 11 12 +f 7 12 13 +f 7 13 8 +f 9 14 15 +f 9 15 16 +f 9 16 17 +f 10 19 18 +f 11 20 12 +f 12 20 21 +f 14 22 37 +f 14 37 27 +f 14 27 29 +f 14 29 23 +f 14 23 16 +f 14 16 15 +f 16 23 24 +f 16 24 25 +f 16 25 26 +f 16 26 17 +f 18 19 27 +f 19 28 29 +f 19 29 27 +f 20 30 21 +f 21 30 31 +f 22 32 33 +f 22 33 34 +f 22 34 35 +f 22 35 36 +f 22 36 37 +f 23 29 28 +f 23 28 38 +f 23 38 24 +f 30 33 32 +f 30 32 39 +f 30 39 40 +f 30 40 31 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_11.obj b/demo_assets/vase/mjcf/mesh/vase_collision_11.obj new file mode 100644 index 0000000000000000000000000000000000000000..859f5b9c0a3838d34a7a07ef801e5e2c1dd2a5a3 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_11.obj @@ -0,0 +1,196 @@ +# https://github.com/mikedh/trimesh +v 0.04640726 0.01216290 0.15050024 +v 0.04640726 0.00727838 0.15043604 +v 0.05051324 0.00010748 0.15008612 +v 0.05051636 0.00239193 0.15008820 +v 0.05024844 0.00727838 0.14999921 +v 0.04675307 0.01724565 0.15000129 +v 0.04605523 0.01976875 0.14993919 +v 0.04147572 0.01976875 0.15017936 +v 0.04640726 0.00010748 0.15032214 +v 0.04859733 0.00010748 0.15019792 +v 0.05114565 0.00010749 0.14832837 +v 0.05186529 0.00010749 0.14632010 +v 0.05186529 0.00239194 0.14632011 +v 0.05132323 0.00727839 0.14632013 +v 0.04975622 0.01216290 0.14970107 +v 0.04925777 0.01574642 0.14924767 +v 0.04719856 0.01976876 0.14772389 +v 0.03869375 0.01976875 0.14904272 +v 0.04512687 0.00010748 0.14972174 +v 0.05109269 0.00010750 0.14459340 +v 0.05020171 0.00239196 0.14262447 +v 0.04992757 0.00727841 0.14283360 +v 0.05036371 0.01216291 0.14632014 +v 0.04945715 0.01216292 0.14323527 +v 0.04906463 0.01521527 0.14361210 +v 0.04931697 0.01591772 0.14632016 +v 0.04833253 0.01835998 0.14632017 +v 0.04765651 0.01976876 0.14632017 +v 0.03814546 0.01976875 0.14866798 +v 0.04367202 0.00010748 0.14903230 +v 0.05020483 0.00010751 0.14262654 +v 0.03712986 0.00239200 0.12935125 +v 0.03687441 0.00504789 0.12935126 +v 0.03657846 0.00733426 0.12935127 +v 0.04577797 0.01976878 0.14259141 +v 0.03567190 0.01067914 0.12935128 +v 0.03531675 0.01180885 0.12935128 +v 0.03436658 0.01415489 0.12935129 +v 0.03349430 0.01623726 0.12935130 +v 0.03313915 0.01704942 0.12935130 +v 0.03607066 0.01976876 0.14710070 +v 0.03296781 0.01976877 0.14462245 +v 0.04237294 0.00010749 0.14791843 +v 0.03711740 0.00010755 0.12935124 +v 0.03174349 0.01976112 0.12935131 +v 0.03174349 0.01976882 0.12935958 +v 0.03173726 0.01976877 0.14354793 +v 0.04122961 0.00010749 0.14693293 +v 0.02796462 0.00010755 0.12935124 +v 0.02956277 0.01976882 0.12935131 +v 0.03064690 0.01976878 0.14258105 +v 0.03840091 0.00010750 0.14445676 +v 0.02852537 0.00010755 0.13075496 +v 0.02004549 0.01976882 0.12935131 +v 0.02808300 0.01976879 0.14016906 +v 0.03709871 0.00010750 0.14317726 +v 0.02963754 0.00010754 0.13323113 +v 0.02009222 0.01976882 0.12944033 +v 0.02648484 0.01976879 0.13842787 +v 0.03363448 0.00010752 0.13957893 +v 0.03595851 0.00010751 0.14205511 +v 0.02120439 0.01976882 0.13139891 +v 0.03051294 0.00010754 0.13471560 +v 0.02567175 0.01976879 0.13748584 +v 0.03151607 0.00010753 0.13641538 +v 0.02360630 0.01976880 0.13486888 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 2 +f 2 9 10 +f 2 10 3 +f 2 8 9 +f 3 11 4 +f 3 10 9 +f 3 9 19 +f 3 19 30 +f 3 30 43 +f 3 43 48 +f 3 48 52 +f 3 52 56 +f 3 56 61 +f 3 61 60 +f 3 60 65 +f 3 65 63 +f 3 63 57 +f 3 57 53 +f 3 53 49 +f 3 49 44 +f 3 44 31 +f 3 31 20 +f 3 20 12 +f 3 12 11 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 5 13 14 +f 5 14 15 +f 5 15 6 +f 6 15 7 +f 7 15 16 +f 7 16 17 +f 7 17 28 +f 7 28 35 +f 7 35 46 +f 7 46 50 +f 7 50 54 +f 7 54 58 +f 7 58 62 +f 7 62 66 +f 7 66 64 +f 7 64 59 +f 7 59 55 +f 7 55 51 +f 7 51 47 +f 7 47 42 +f 7 42 41 +f 7 41 29 +f 7 29 18 +f 7 18 8 +f 8 18 9 +f 9 18 19 +f 12 20 13 +f 13 20 21 +f 13 21 22 +f 13 22 14 +f 14 23 16 +f 14 16 15 +f 14 22 24 +f 14 24 25 +f 14 25 23 +f 16 23 26 +f 16 26 27 +f 16 27 28 +f 16 28 17 +f 18 29 30 +f 18 30 19 +f 20 31 21 +f 21 31 32 +f 21 32 33 +f 21 33 22 +f 22 33 34 +f 22 34 24 +f 23 25 26 +f 24 34 25 +f 25 35 28 +f 25 28 27 +f 25 27 26 +f 25 34 36 +f 25 36 37 +f 25 37 38 +f 25 38 39 +f 25 39 40 +f 25 40 35 +f 29 41 30 +f 30 41 42 +f 30 42 43 +f 31 44 32 +f 32 44 49 +f 32 49 54 +f 32 54 50 +f 32 50 45 +f 32 45 40 +f 32 40 39 +f 32 39 38 +f 32 38 37 +f 32 37 36 +f 32 36 34 +f 32 34 33 +f 35 40 45 +f 35 45 46 +f 42 47 48 +f 42 48 43 +f 45 50 46 +f 47 51 52 +f 47 52 48 +f 49 53 54 +f 51 55 52 +f 52 55 56 +f 53 57 54 +f 54 57 58 +f 55 59 60 +f 55 60 61 +f 55 61 56 +f 57 62 58 +f 57 63 62 +f 59 64 60 +f 60 64 66 +f 60 66 62 +f 60 62 65 +f 62 63 65 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_12.obj b/demo_assets/vase/mjcf/mesh/vase_collision_12.obj new file mode 100644 index 0000000000000000000000000000000000000000..0be0beb79473a711445cb858b32aa51b244413e2 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_12.obj @@ -0,0 +1,118 @@ +# https://github.com/mikedh/trimesh +v 0.01811115 -0.03256774 0.12935110 +v 0.01970736 -0.03172651 0.12935110 +v 0.01811115 -0.02128761 0.12935114 +v 0.01811115 -0.02554142 0.09219785 +v 0.02112684 -0.03090440 0.12935111 +v 0.01811115 -0.01980270 0.12690337 +v 0.02796193 -0.00001787 0.12935122 +v 0.02766241 -0.00001786 0.12860198 +v 0.02683453 -0.00001785 0.12650699 +v 0.02509692 -0.00001784 0.12125861 +v 0.01811115 -0.01842283 0.09219787 +v 0.01963481 -0.02455998 0.09219785 +v 0.02524017 -0.02744707 0.12935112 +v 0.01811115 -0.01675321 0.12081846 +v 0.03711693 -0.00001787 0.12935122 +v 0.02464113 -0.00001782 0.11659945 +v 0.02648106 -0.00001773 0.09219794 +v 0.01811115 -0.01615414 0.11658848 +v 0.01981341 -0.02438154 0.09219785 +v 0.02638059 -0.02643377 0.12935112 +v 0.01811115 -0.01613503 0.11747229 +v 0.03710204 -0.00249695 0.12935121 +v 0.03132738 -0.00249681 0.09219793 +v 0.03132738 -0.00213992 0.09219793 +v 0.03132180 -0.00001773 0.09219794 +v 0.02248493 -0.02169215 0.09219786 +v 0.02997488 -0.02227542 0.12935114 +v 0.02281794 -0.02135439 0.09219786 +v 0.02448299 -0.01965918 0.09219787 +v 0.03652718 -0.00739457 0.12935119 +v 0.03054974 -0.00738168 0.09219791 +v 0.03083996 -0.02117927 0.12935114 +v 0.02509878 -0.01871598 0.09219787 +v 0.03510398 -0.01254710 0.12935117 +v 0.02971070 -0.01036741 0.09219790 +v 0.03300174 -0.01715156 0.12935116 +v 0.02584294 -0.01756566 0.09219788 +v 0.02849586 -0.01306317 0.09219789 +v 0.02963628 -0.01061914 0.09219790 +v 0.02858144 -0.01288473 0.09219789 +f 1 2 5 +f 1 5 13 +f 1 13 20 +f 1 20 27 +f 1 27 32 +f 1 32 36 +f 1 36 34 +f 1 34 30 +f 1 30 22 +f 1 22 15 +f 1 15 7 +f 1 7 3 +f 1 3 6 +f 1 6 14 +f 1 14 21 +f 1 21 18 +f 1 18 11 +f 1 11 4 +f 1 4 2 +f 2 4 5 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 6 +f 4 11 17 +f 4 17 25 +f 4 25 24 +f 4 24 23 +f 4 23 31 +f 4 31 35 +f 4 35 39 +f 4 39 40 +f 4 40 38 +f 4 38 37 +f 4 37 33 +f 4 33 29 +f 4 29 28 +f 4 28 26 +f 4 26 19 +f 4 19 12 +f 4 12 5 +f 5 12 13 +f 6 10 14 +f 7 15 25 +f 7 25 17 +f 7 17 16 +f 7 16 10 +f 7 10 9 +f 7 9 8 +f 10 16 14 +f 11 18 16 +f 11 16 17 +f 12 19 20 +f 12 20 13 +f 14 16 21 +f 15 22 23 +f 15 23 24 +f 15 24 25 +f 16 18 21 +f 19 26 20 +f 20 26 28 +f 20 28 29 +f 20 29 27 +f 22 30 23 +f 23 30 31 +f 27 29 32 +f 29 33 32 +f 30 34 31 +f 31 34 35 +f 32 33 37 +f 32 37 38 +f 32 38 36 +f 34 36 39 +f 34 39 35 +f 36 38 40 +f 36 40 39 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_13.obj b/demo_assets/vase/mjcf/mesh/vase_collision_13.obj new file mode 100644 index 0000000000000000000000000000000000000000..a255da3e8e1edaa103135c2569348de0ae037ecf --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_13.obj @@ -0,0 +1,172 @@ +# https://github.com/mikedh/trimesh +v 0.03132153 -0.00002310 0.09218968 +v 0.03131428 0.00239295 0.09218969 +v 0.02647985 -0.00002310 0.09218968 +v 0.03304459 -0.00002292 0.04490835 +v 0.03307213 0.00239313 0.04490836 +v 0.03126066 0.00274965 0.09218969 +v 0.03297793 0.00417382 0.04490837 +v 0.03266491 0.00725589 0.04490838 +v 0.01826739 0.01804296 0.09218975 +v 0.01826739 0.01801509 0.09183334 +v 0.01826739 0.01780890 0.08727416 +v 0.01826739 0.01779496 0.08687610 +v 0.01826739 0.01770302 0.08244188 +v 0.02645521 -0.00002309 0.08932457 +v 0.02821885 -0.00002292 0.04490835 +v 0.03053318 0.00728079 0.09218971 +v 0.03207800 0.00988095 0.04490839 +v 0.01826739 0.02128387 0.09218976 +v 0.01826739 0.01769466 0.08192346 +v 0.02644217 -0.00002308 0.08687603 +v 0.01826739 0.02153485 0.04490843 +v 0.02778845 -0.00002293 0.04725506 +v 0.02963469 0.01048548 0.09218972 +v 0.03147224 0.01216603 0.04490839 +v 0.02130195 0.02263820 0.09218976 +v 0.01826739 0.02522981 0.09218051 +v 0.02643202 -0.00002307 0.08437194 +v 0.01826739 0.01767518 0.07697084 +v 0.01826739 0.02076571 0.04774115 +v 0.01826739 0.02844582 0.04490845 +v 0.02713052 -0.00002295 0.05220768 +v 0.02847246 0.01292940 0.09218973 +v 0.02998684 0.01582215 0.04490841 +v 0.02199031 0.02195546 0.09218976 +v 0.02399886 0.02395090 0.04490844 +v 0.02320472 0.02464479 0.04490844 +v 0.02174105 0.02587093 0.04490845 +v 0.02642767 -0.00002306 0.08192340 +v 0.01826739 0.01775880 0.07201823 +v 0.02648419 -0.00002301 0.06707017 +v 0.02644796 -0.00002302 0.07201816 +v 0.02642912 -0.00002304 0.07697078 +v 0.02670736 -0.00002297 0.05716030 +v 0.01826739 0.01928038 0.05596156 +v 0.02830870 0.01320528 0.09218973 +v 0.02921878 0.01710960 0.04490841 +v 0.02577120 0.01746890 0.09218974 +v 0.02259896 0.02133682 0.09218976 +v 0.02594510 0.02169369 0.04490843 +v 0.01826739 0.01800125 0.06707024 +v 0.02653926 -0.00002299 0.06211292 +v 0.01826739 0.01908252 0.05716037 +v 0.01826739 0.01842484 0.06211299 +v 0.01826739 0.01846107 0.06182139 +v 0.02852318 0.01826607 0.04490842 +v 0.02565382 0.01765561 0.09218974 +v 0.02546832 0.01793149 0.09218975 +v 0.02723631 0.02004119 0.04490842 +f 1 2 6 +f 1 6 16 +f 1 16 23 +f 1 23 32 +f 1 32 45 +f 1 45 47 +f 1 47 56 +f 1 56 57 +f 1 57 48 +f 1 48 34 +f 1 34 25 +f 1 25 18 +f 1 18 9 +f 1 9 3 +f 1 3 14 +f 1 14 20 +f 1 20 27 +f 1 27 38 +f 1 38 42 +f 1 42 41 +f 1 41 40 +f 1 40 51 +f 1 51 43 +f 1 43 31 +f 1 31 22 +f 1 22 15 +f 1 15 4 +f 1 4 5 +f 1 5 2 +f 2 5 7 +f 2 7 8 +f 2 8 6 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 13 +f 3 13 14 +f 4 15 21 +f 4 21 30 +f 4 30 37 +f 4 37 36 +f 4 36 35 +f 4 35 49 +f 4 49 58 +f 4 58 55 +f 4 55 46 +f 4 46 33 +f 4 33 24 +f 4 24 17 +f 4 17 8 +f 4 8 7 +f 4 7 5 +f 6 8 16 +f 8 17 16 +f 9 18 26 +f 9 26 30 +f 9 30 21 +f 9 21 29 +f 9 29 44 +f 9 44 52 +f 9 52 54 +f 9 54 53 +f 9 53 50 +f 9 50 39 +f 9 39 28 +f 9 28 19 +f 9 19 13 +f 9 13 12 +f 9 12 11 +f 9 11 10 +f 13 19 14 +f 14 19 20 +f 15 22 21 +f 16 17 24 +f 16 24 23 +f 18 25 26 +f 19 27 20 +f 19 28 27 +f 21 22 31 +f 21 31 29 +f 23 24 33 +f 23 33 32 +f 25 34 35 +f 25 35 36 +f 25 36 26 +f 26 36 37 +f 26 37 30 +f 27 28 38 +f 28 39 40 +f 28 40 41 +f 28 41 42 +f 28 42 38 +f 29 31 43 +f 29 43 44 +f 32 33 45 +f 33 46 47 +f 33 47 45 +f 34 48 35 +f 35 48 49 +f 39 50 51 +f 39 51 40 +f 43 52 44 +f 43 51 50 +f 43 50 53 +f 43 53 54 +f 43 54 52 +f 46 55 47 +f 47 55 56 +f 48 57 49 +f 49 57 58 +f 55 58 57 +f 55 57 56 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_14.obj b/demo_assets/vase/mjcf/mesh/vase_collision_14.obj new file mode 100644 index 0000000000000000000000000000000000000000..521f4c0e40c030897afefd928972bec06567689a --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_14.obj @@ -0,0 +1,145 @@ +# https://github.com/mikedh/trimesh +v -0.02013266 -0.03136285 0.12935110 +v -0.02013266 -0.01945693 0.12935115 +v -0.02109067 -0.03082586 0.12935111 +v -0.02013266 -0.02402277 0.09273251 +v -0.02013266 -0.01933111 0.12916930 +v -0.02506454 -0.00001465 0.12123679 +v -0.02678695 -0.00001466 0.12650699 +v -0.02764982 -0.00001467 0.12867472 +v -0.02792020 -0.00001468 0.12935122 +v -0.02191682 -0.03029500 0.12935111 +v -0.02087703 -0.02324030 0.09219785 +v -0.02013266 -0.02385707 0.09219785 +v -0.02638472 -0.02644092 0.12935112 +v -0.02013266 -0.01917462 0.12892561 +v -0.02013266 -0.01857625 0.12798723 +v -0.02013266 -0.01761886 0.12647056 +v -0.02013266 -0.01719847 0.12568494 +v -0.02013266 -0.01408695 0.11971278 +v -0.02485425 -0.00001464 0.11900360 +v -0.03718146 -0.00001468 0.12935122 +v -0.02203865 -0.02209573 0.09219786 +v -0.02013266 -0.01619494 0.09219788 +v -0.02746957 -0.02522885 0.12935113 +v -0.02449709 -0.01968693 0.09296531 +v -0.02328706 -0.02084070 0.09219786 +v -0.02013266 -0.01374634 0.11710132 +v -0.02462894 -0.00001463 0.11651579 +v -0.03717812 -0.00073272 0.12935122 +v -0.03133496 -0.00001454 0.09219794 +v -0.03133663 -0.00249699 0.09219793 +v -0.02647151 -0.00001454 0.09219794 +v -0.03077084 -0.02117224 0.12935114 +v -0.02516635 -0.01858840 0.09219787 +v -0.03716310 -0.00249713 0.12935121 +v -0.03127989 -0.00285294 0.09219793 +v -0.03657227 -0.00744975 0.12935119 +v -0.03689439 -0.00515755 0.12935120 +v -0.03146014 -0.02016883 0.12935115 +v -0.02561031 -0.01791332 0.09219787 +v -0.03052216 -0.00738210 0.09219791 +v -0.03564431 -0.01070240 0.12935118 +v -0.03045040 -0.00763372 0.09219791 +v -0.03296224 -0.01723838 0.12935116 +v -0.02847264 -0.01301593 0.09219789 +v -0.02831241 -0.01329824 0.09219789 +v -0.02582394 -0.01756350 0.09219788 +v -0.03527880 -0.01179173 0.12935118 +v -0.02960922 -0.01057338 0.09219790 +v -0.03341453 -0.01624724 0.12935116 +f 1 2 9 +f 1 9 20 +f 1 20 28 +f 1 28 34 +f 1 34 37 +f 1 37 36 +f 1 36 41 +f 1 41 47 +f 1 47 49 +f 1 49 43 +f 1 43 38 +f 1 38 32 +f 1 32 23 +f 1 23 13 +f 1 13 10 +f 1 10 3 +f 1 3 4 +f 1 4 12 +f 1 12 22 +f 1 22 26 +f 1 26 18 +f 1 18 17 +f 1 17 16 +f 1 16 15 +f 1 15 14 +f 1 14 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 3 10 4 +f 4 11 12 +f 4 10 13 +f 4 13 11 +f 5 14 6 +f 6 14 15 +f 6 15 16 +f 6 16 17 +f 6 17 18 +f 6 18 19 +f 6 19 27 +f 6 27 31 +f 6 31 29 +f 6 29 20 +f 6 20 9 +f 6 9 8 +f 6 8 7 +f 11 21 25 +f 11 25 33 +f 11 33 39 +f 11 39 46 +f 11 46 45 +f 11 45 44 +f 11 44 48 +f 11 48 42 +f 11 42 40 +f 11 40 35 +f 11 35 30 +f 11 30 29 +f 11 29 31 +f 11 31 22 +f 11 22 12 +f 11 13 21 +f 13 23 24 +f 13 24 25 +f 13 25 21 +f 18 26 27 +f 18 27 19 +f 20 29 30 +f 20 30 28 +f 22 31 27 +f 22 27 26 +f 23 32 24 +f 24 33 25 +f 24 32 33 +f 28 30 34 +f 30 35 36 +f 30 36 37 +f 30 37 34 +f 32 38 33 +f 33 38 39 +f 35 40 36 +f 36 40 42 +f 36 42 41 +f 38 43 44 +f 38 44 45 +f 38 45 46 +f 38 46 39 +f 41 42 48 +f 41 48 47 +f 43 49 48 +f 43 48 44 +f 47 48 49 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_15.obj b/demo_assets/vase/mjcf/mesh/vase_collision_15.obj new file mode 100644 index 0000000000000000000000000000000000000000..73514a92f89dcfb356779c81c56908c3c8b5588a --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_15.obj @@ -0,0 +1,640 @@ +# https://github.com/mikedh/trimesh +v 0.02701073 0.05590090 -0.11991944 +v 0.02701073 0.05695016 -0.11907786 +v 0.02999977 0.05590090 -0.11872624 +v 0.02701073 0.05590087 -0.11247202 +v 0.02773032 0.05785990 -0.11805758 +v 0.02701073 0.05931026 -0.11702577 +v 0.03175828 0.05590089 -0.11795959 +v 0.06357326 0.05590068 -0.06103179 +v 0.02701073 0.08048710 -0.06103170 +v 0.02807095 0.06296377 -0.11323865 +v 0.03175828 0.05964450 -0.11469702 +v 0.03175828 0.05682517 -0.11717565 +v 0.02701073 0.06167618 -0.11485263 +v 0.03248638 0.05590089 -0.11762526 +v 0.07050511 0.05590068 -0.06103179 +v 0.02701073 0.08559099 -0.06103169 +v 0.03175828 0.06208599 -0.11238554 +v 0.02701073 0.06468443 -0.11187827 +v 0.02701073 0.06659983 -0.10986078 +v 0.02791340 0.06782930 -0.10817185 +v 0.03175828 0.06454200 -0.10991266 +v 0.03470475 0.05888008 -0.11399378 +v 0.03604172 0.05590089 -0.11584412 +v 0.06918517 0.05765623 -0.06103179 +v 0.07047105 0.05590069 -0.06181573 +v 0.02701073 0.08559099 -0.06105475 +v 0.03175828 0.08424235 -0.06103169 +v 0.03481119 0.06380374 -0.10913450 +v 0.02701073 0.06905876 -0.10704205 +v 0.03175828 0.06905875 -0.10470752 +v 0.03175828 0.06698639 -0.10718616 +v 0.03617372 0.05590089 -0.11577494 +v 0.03638235 0.06088559 -0.11112317 +v 0.03795777 0.05789767 -0.11311762 +v 0.06754587 0.05961815 -0.06103178 +v 0.06829952 0.05851948 -0.06356806 +v 0.07000694 0.05590070 -0.06660583 +v 0.02701073 0.08557646 -0.06172916 +v 0.03452166 0.08316112 -0.06103169 +v 0.03449611 0.08314950 -0.06172916 +v 0.03175828 0.08421911 -0.06172916 +v 0.03806422 0.06289109 -0.10814881 +v 0.03440244 0.06846290 -0.10395817 +v 0.03623333 0.06569880 -0.10605061 +v 0.02701073 0.06965750 -0.10627539 +v 0.02701073 0.07234023 -0.10273036 +v 0.03162629 0.07156708 -0.10110485 +v 0.03942675 0.05590088 -0.11397073 +v 0.04067857 0.05963286 -0.10981469 +v 0.04393586 0.05856325 -0.10875407 +v 0.04214754 0.05660135 -0.11164773 +v 0.06377338 0.06374543 -0.06103177 +v 0.06360732 0.06357687 -0.06485923 +v 0.06376061 0.06373091 -0.06172924 +v 0.06806960 0.05827825 -0.06668076 +v 0.06935548 0.05590072 -0.07066963 +v 0.02701073 0.08526547 -0.06666913 +v 0.03696143 0.08201303 -0.06103170 +v 0.03694014 0.08200141 -0.06172917 +v 0.03425767 0.08304197 -0.06441531 +v 0.03197969 0.08369013 -0.06631175 +v 0.04049122 0.06433853 -0.10484588 +v 0.04221567 0.06146978 -0.10679997 +v 0.03316765 0.07277619 -0.09806708 +v 0.03627591 0.06932904 -0.10118557 +v 0.03765972 0.06759385 -0.10272462 +v 0.02701073 0.07240998 -0.10262661 +v 0.02991036 0.07349992 -0.09928911 +v 0.04150886 0.05590087 -0.11266801 +v 0.04374851 0.06330961 -0.10362963 +v 0.04641395 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https://github.com/mikedh/trimesh +v -0.00242127 0.03318598 0.04490847 +v 0.00244713 0.03319813 0.04490847 +v -0.00242127 0.02826495 0.04490845 +v -0.00242127 0.03150697 0.09218980 +v 0.00728312 0.03262535 0.04490847 +v 0.00244713 0.03149329 0.09218980 +v 0.01826739 0.02153594 0.04490843 +v 0.01826739 0.02076715 0.04774115 +v -0.00242127 0.02784105 0.04725516 +v -0.00242127 0.02646743 0.09218978 +v 0.01221632 0.03136585 0.04490847 +v 0.00733172 0.03061665 0.09218979 +v 0.01826739 0.02844574 0.04490845 +v 0.01826739 0.01928276 0.05596156 +v 0.01826739 0.01908525 0.05716037 +v -0.00242127 0.02713759 0.05220778 +v -0.00242127 0.02646287 0.09184726 +v 0.01826739 0.01769651 0.08192347 +v 0.01826739 0.01770411 0.08244188 +v 0.01826739 0.01779829 0.08687610 +v 0.01826739 0.01781196 0.08727416 +v 0.01826739 0.01801705 0.09183334 +v 0.01826739 0.01803072 0.09200460 +v 0.01826739 0.01804591 0.09218975 +v 0.01414221 0.03060924 0.04490846 +v 0.01034511 0.02970355 0.09218979 +v 0.01060432 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0000000000000000000000000000000000000000..65467ca95e7df838e8409702b3725f6f48673050 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_18.obj @@ -0,0 +1,184 @@ +# https://github.com/mikedh/trimesh +v -0.00242903 -0.05184105 0.14632006 +v -0.00242903 -0.05054374 0.15006680 +v -0.00243936 -0.05055093 0.15006680 +v -0.00243936 -0.05184465 0.14632006 +v -0.00242903 -0.05020590 0.14266241 +v -0.00243936 -0.04647209 0.15034022 +v -0.00242903 -0.04646490 0.15033607 +v -0.00732483 -0.04647209 0.15043756 +v -0.01220824 -0.04647209 0.15051005 +v -0.00732483 -0.05029578 0.14997568 +v -0.00732483 -0.05131637 0.14632006 +v -0.00732483 -0.04993279 0.14287160 +v -0.00243936 -0.05020590 0.14266241 +v -0.00243936 -0.03728655 0.12935315 +v -0.00242903 -0.03728655 0.12935523 +v -0.02353740 -0.03762443 0.14958220 +v -0.02197711 -0.04158468 0.15046864 +v -0.00242903 -0.04368698 0.14906646 +v -0.00243936 -0.04369058 0.14907060 +v -0.02197711 -0.04554492 0.14988662 +v -0.01731483 -0.04682427 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+v -0.02353740 -0.02872280 0.12935318 +v -0.02191511 -0.03029683 0.12935318 +v -0.02108846 -0.03082870 0.12935318 +v -0.01717637 -0.03307835 0.12935317 +v -0.02353740 -0.01513147 0.12935323 +v -0.00242903 -0.02853592 0.13086722 +v -0.00242903 -0.03594974 0.14211981 +v -0.02353740 -0.02399713 0.13927407 +v -0.02353740 -0.01599395 0.13044888 +v -0.00242903 -0.03362102 0.13964271 +v -0.00242903 -0.03144683 0.13640963 +v -0.00242903 -0.02963201 0.13334846 +v -0.02353740 -0.02158575 0.13690053 +v -0.02353740 -0.01691753 0.13157145 +v -0.02353740 -0.01977094 0.13493294 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 15 +f 1 15 29 +f 1 29 45 +f 1 45 53 +f 1 53 59 +f 1 59 58 +f 1 58 57 +f 1 57 54 +f 1 54 46 +f 1 46 31 +f 1 31 18 +f 1 18 7 +f 1 7 2 +f 2 6 3 +f 2 7 6 +f 3 6 8 +f 3 8 9 +f 3 9 10 +f 3 10 4 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 5 13 14 +f 5 14 15 +f 6 7 16 +f 6 16 17 +f 6 17 8 +f 7 18 19 +f 7 19 16 +f 8 17 9 +f 9 20 21 +f 9 21 22 +f 9 22 10 +f 9 17 23 +f 9 23 20 +f 10 22 11 +f 11 24 25 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a/demo_assets/vase/mjcf/mesh/vase_collision_19.obj b/demo_assets/vase/mjcf/mesh/vase_collision_19.obj new file mode 100644 index 0000000000000000000000000000000000000000..c38089acbe94692021baf9f84778d84413bf3f5b --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_19.obj @@ -0,0 +1,268 @@ +# https://github.com/mikedh/trimesh +v -0.00244041 0.05183547 0.14632121 +v -0.00244041 0.05048309 0.15008491 +v -0.00242360 0.05048839 0.15007248 +v -0.00242360 0.05183017 0.14631085 +v -0.00244041 0.05016226 0.14262176 +v -0.00732321 0.04989709 0.14282487 +v -0.00732321 0.05130778 0.14632121 +v -0.00732321 0.05022322 0.15000200 +v -0.01221021 0.04636764 0.15052219 +v -0.00732321 0.04636764 0.15046830 +v -0.00242360 0.04638090 0.15036054 +v -0.00242360 0.05015166 0.14261347 +v -0.00520957 0.03699659 0.12935138 +v -0.00242360 0.03723790 0.12935138 +v -0.00244041 0.03723790 0.12935138 +v -0.00760055 0.03667573 0.12935137 +v -0.01221021 0.04940917 0.14324351 +v -0.01526091 0.04901141 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87 +f 43 87 90 +f 43 90 81 +f 43 81 64 +f 43 64 67 +f 43 67 66 +f 43 66 83 +f 43 83 88 +f 43 88 79 +f 43 79 62 +f 43 62 46 +f 43 46 44 +f 45 46 61 +f 46 62 63 +f 46 63 61 +f 47 64 48 +f 47 65 66 +f 47 66 67 +f 47 67 64 +f 50 55 68 +f 50 68 69 +f 50 69 56 +f 53 70 54 +f 54 71 55 +f 54 70 72 +f 54 72 71 +f 55 71 73 +f 55 73 74 +f 55 74 69 +f 55 69 68 +f 56 69 75 +f 56 75 57 +f 57 75 76 +f 57 76 58 +f 58 77 78 +f 58 78 59 +f 58 76 77 +f 62 79 80 +f 62 80 63 +f 65 82 83 +f 65 83 66 +f 69 74 75 +f 71 84 73 +f 71 72 84 +f 72 81 84 +f 73 84 85 +f 73 85 76 +f 73 76 86 +f 73 86 75 +f 73 75 74 +f 75 86 76 +f 76 85 77 +f 77 87 78 +f 77 85 87 +f 79 88 89 +f 79 89 80 +f 81 90 85 +f 81 85 84 +f 82 89 88 +f 82 88 83 +f 85 90 87 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_2.obj b/demo_assets/vase/mjcf/mesh/vase_collision_2.obj new file mode 100644 index 0000000000000000000000000000000000000000..0989666a6db0fb7560bbe807031187684f2d7332 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_2.obj @@ -0,0 +1,133 @@ +# https://github.com/mikedh/trimesh +v 0.02559881 0.02209033 0.04490611 +v 0.03590772 0.02209041 0.02117749 +v 0.03425563 0.02443040 0.02117750 +v 0.03254025 0.02658103 0.02117751 +v 0.02399669 0.02395395 0.04490612 +v 0.01756153 0.02209033 0.04490611 +v 0.02765393 0.02209041 0.02117749 +v 0.03207394 0.02708331 0.02117751 +v 0.02966242 0.02960867 0.02117752 +v 0.02764061 0.03151813 0.02117753 +v 0.02320062 0.02464558 0.04490612 +v 0.01819439 0.02209033 0.04254602 +v 0.00188001 0.02826917 0.04490613 +v 0.02674129 0.02209041 0.02244812 +v 0.00188001 0.03322825 0.02694766 +v 0.00188001 0.03502412 0.02280125 +v 0.00188001 0.03597088 0.02117754 +v 0.02707104 0.03200048 0.02117753 +v 0.02173839 0.02587338 0.04490613 +v 0.01986313 0.02209035 0.03734268 +v 0.00188001 0.03319431 0.04490615 +v 0.00188001 0.02879538 0.04196532 +v 0.02178502 0.02209037 0.03233214 +v 0.02409994 0.02209039 0.02744007 +v 0.00188001 0.03157390 0.03239258 +v 0.00188001 0.03178318 0.03169338 +v 0.00188001 0.04245069 0.02117757 +v 0.02437307 0.03414314 0.02117754 +v 0.01826767 0.02844856 0.04490613 +v 0.00244959 0.03319630 0.04490615 +v 0.00244959 0.04245269 0.02117757 +v 0.02258775 0.03544468 0.02117754 +v 0.02170508 0.03601672 0.02117754 +v 0.01582618 0.02991354 0.04490614 +v 0.00440145 0.04222945 0.02117757 +v 0.00728594 0.03262426 0.04490615 +v 0.01807781 0.03810159 0.02117755 +v 0.01623587 0.03894071 0.02117755 +v 0.01523329 0.03935729 0.02117755 +v 0.01414411 0.03061115 0.04490614 +v 0.00741917 0.04182683 0.02117756 +v 0.01221889 0.03136856 0.04490615 +v 0.00930775 0.04139431 0.02117756 +v 0.01272185 0.04034789 0.02117756 +v 0.01221889 0.04053525 0.02117756 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 19 +f 1 19 29 +f 1 29 34 +f 1 34 40 +f 1 40 42 +f 1 42 36 +f 1 36 30 +f 1 30 21 +f 1 21 13 +f 1 13 6 +f 1 6 12 +f 1 12 20 +f 1 20 23 +f 1 23 24 +f 1 24 14 +f 1 14 7 +f 1 7 2 +f 2 7 17 +f 2 17 27 +f 2 27 31 +f 2 31 35 +f 2 35 41 +f 2 41 43 +f 2 43 45 +f 2 45 44 +f 2 44 39 +f 2 39 38 +f 2 38 37 +f 2 37 33 +f 2 33 32 +f 2 32 28 +f 2 28 18 +f 2 18 10 +f 2 10 9 +f 2 9 8 +f 2 8 4 +f 2 4 3 +f 4 8 5 +f 5 8 9 +f 5 9 10 +f 5 10 11 +f 6 13 12 +f 7 14 15 +f 7 15 16 +f 7 16 17 +f 10 18 11 +f 11 18 19 +f 12 13 20 +f 13 21 27 +f 13 27 17 +f 13 17 16 +f 13 16 15 +f 13 15 26 +f 13 26 25 +f 13 25 22 +f 13 22 23 +f 13 23 20 +f 14 24 22 +f 14 22 25 +f 14 25 26 +f 14 26 15 +f 18 28 19 +f 19 28 29 +f 21 30 31 +f 21 31 27 +f 22 24 23 +f 28 32 29 +f 29 32 33 +f 29 33 34 +f 30 35 31 +f 30 36 35 +f 33 37 34 +f 34 38 39 +f 34 39 40 +f 34 37 38 +f 35 36 41 +f 36 42 43 +f 36 43 41 +f 39 44 40 +f 40 44 42 +f 42 44 45 +f 42 45 43 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_20.obj b/demo_assets/vase/mjcf/mesh/vase_collision_20.obj new file mode 100644 index 0000000000000000000000000000000000000000..16059f157b270f02e6190615a24e7997c303d574 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_20.obj @@ -0,0 +1,646 @@ +# https://github.com/mikedh/trimesh +v 0.02690081 -0.05594014 -0.11993446 +v 0.02690081 -0.05593723 -0.11897150 +v 0.02928014 -0.05593723 -0.11895997 +v 0.03195368 -0.05593724 -0.11788168 +v 0.02690081 -0.05809099 -0.11815846 +v 0.02690081 -0.05593726 -0.11250177 +v 0.03250374 -0.05593724 -0.11762796 +v 0.03475088 -0.05901071 -0.11401254 +v 0.03223511 -0.05628359 -0.11746074 +v 0.03175754 -0.05975288 -0.11468718 +v 0.02798388 -0.06304462 -0.11321104 +v 0.02690081 -0.06171454 -0.11484865 +v 0.02690081 -0.08055131 -0.06103807 +v 0.06355863 -0.05593745 -0.06103221 +v 0.03611964 -0.05593724 -0.11588656 +v 0.03800860 -0.05803570 -0.11312452 +v 0.03639680 -0.06098693 -0.11112940 +v 0.03478073 -0.06389741 -0.10913429 +v 0.03175754 -0.06219477 -0.11236916 +v 0.03648634 -0.05634181 -0.11536759 +v 0.03175754 -0.06459884 -0.10989545 +v 0.02780052 -0.06787603 -0.10811946 +v 0.02690081 -0.06564369 -0.11089302 +v 0.02690081 -0.06477054 -0.11182714 +v 0.02690081 -0.06325709 -0.11342439 +v 0.02690081 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164 +f 164 193 173 +f 166 171 194 +f 167 173 193 +f 167 193 191 +f 167 191 195 +f 167 195 196 +f 167 196 168 +f 168 197 169 +f 168 196 198 +f 168 198 197 +f 169 197 199 +f 169 199 170 +f 170 199 200 +f 170 200 201 +f 170 201 171 +f 171 201 194 +f 174 202 175 +f 175 203 176 +f 175 202 203 +f 176 199 197 +f 176 197 177 +f 176 203 199 +f 177 197 198 +f 177 198 178 +f 178 204 179 +f 178 198 204 +f 179 204 205 +f 179 205 180 +f 180 205 181 +f 181 205 182 +f 182 205 206 +f 182 206 207 +f 182 207 208 +f 182 208 183 +f 183 208 209 +f 184 210 185 +f 185 210 207 +f 185 207 186 +f 186 207 187 +f 187 207 206 +f 187 206 205 +f 187 205 211 +f 187 211 188 +f 188 211 204 +f 188 204 189 +f 189 204 212 +f 189 212 190 +f 190 212 191 +f 191 212 196 +f 191 196 195 +f 191 193 192 +f 194 201 213 +f 196 212 198 +f 198 212 204 +f 199 203 200 +f 200 203 214 +f 200 214 215 +f 200 215 201 +f 201 215 213 +f 202 214 203 +f 204 211 205 +f 207 216 209 +f 207 209 208 +f 207 210 216 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_21.obj b/demo_assets/vase/mjcf/mesh/vase_collision_21.obj new file mode 100644 index 0000000000000000000000000000000000000000..cf3a43bfc45e22415f6c97f2a86fc977af160eb1 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_21.obj @@ -0,0 +1,142 @@ +# https://github.com/mikedh/trimesh +v 0.02184896 -0.03610986 0.02117728 +v 0.02173718 -0.03618669 0.02117728 +v 0.02184896 -0.02803739 0.02117731 +v 0.02184896 -0.02581165 0.04490594 +v 0.02170150 -0.02594132 0.04490593 +v 0.01999855 -0.02723070 0.04490593 +v 0.01818382 -0.02851769 0.04490593 +v 0.02052181 -0.03686139 0.02117727 +v 0.01702791 -0.02919960 0.04490592 +v 0.01574119 -0.02994874 0.04490592 +v 0.02184896 -0.02721141 0.02230857 +v -0.00243705 -0.03586254 0.02117728 +v -0.00244894 -0.03586014 0.02117960 +v 0.02184896 -0.01792167 0.04490596 +v 0.01806252 -0.03821081 0.02117727 +v 0.01221400 -0.03132456 0.04490591 +v 0.01723246 -0.03863100 0.02117727 +v 0.02184896 -0.02704574 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31 35 40 +f 31 40 41 +f 31 41 32 +f 33 39 42 +f 34 43 35 +f 35 43 40 +f 36 44 45 +f 36 45 37 +f 38 46 39 +f 39 46 47 +f 39 47 42 +f 44 48 45 +f 45 48 47 +f 45 47 46 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_22.obj b/demo_assets/vase/mjcf/mesh/vase_collision_22.obj new file mode 100644 index 0000000000000000000000000000000000000000..be2f11fb2a177811d9bc19b1be1077b12726c096 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_22.obj @@ -0,0 +1,526 @@ +# https://github.com/mikedh/trimesh +v -0.08563631 0.00005016 -0.03218643 +v -0.08045186 0.00005016 -0.03218643 +v -0.08564377 -0.00249984 -0.03218644 +v -0.08557418 0.00005016 -0.03200385 +v -0.06025333 0.00005006 -0.00601620 +v -0.06025333 -0.05268969 -0.03218662 +v -0.08544743 -0.00717382 -0.03218646 +v -0.08537535 -0.00738382 -0.03200388 +v -0.08399847 -0.00249986 -0.02746230 +v -0.08481615 0.00005015 -0.02982599 +v -0.06025333 0.00005004 0.00111402 +v -0.06025333 -0.06124567 -0.03218665 +v -0.08543500 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100644 index 0000000000000000000000000000000000000000..15f17d66690260c72c438dba9b632407c88e5667 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_23.obj @@ -0,0 +1,274 @@ +# https://github.com/mikedh/trimesh +v -0.00241870 0.05183043 0.14630961 +v -0.00241870 0.05048719 0.15007370 +v 0.00244940 0.05046523 0.15008828 +v 0.00244940 0.05179277 0.14632003 +v 0.00244940 0.05014200 0.14263092 +v -0.00241870 0.05015142 0.14261425 +v -0.00241870 0.04637906 0.15036114 +v 0.00733219 0.04636964 0.15055904 +v 0.01221990 0.04636964 0.15062986 +v 0.00733219 0.05021101 0.15001953 +v 0.01221990 0.04975909 0.14974874 +v 0.00733219 0.05124983 0.14632003 +v 0.00733219 0.04985013 0.14284755 +v 0.00244940 0.03724644 0.12935138 +v -0.00241870 0.03723389 0.12935138 +v -0.00241870 0.04359217 0.14907797 +v 0.04147257 0.01976875 0.15017982 +v 0.04152160 0.02194050 0.15050477 +v 0.02199040 0.04549403 0.14989871 +v 0.01739684 0.04675566 0.15004659 +v 0.03175109 0.03659673 0.15051108 +v 0.02703498 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55 +f 43 55 44 +f 45 46 61 +f 45 61 62 +f 45 62 63 +f 45 63 64 +f 45 64 65 +f 45 65 66 +f 45 66 60 +f 48 50 69 +f 48 69 68 +f 51 70 52 +f 52 71 72 +f 52 72 53 +f 52 70 73 +f 52 73 74 +f 52 74 71 +f 53 72 75 +f 53 75 76 +f 53 76 56 +f 53 56 54 +f 56 76 77 +f 56 77 57 +f 57 77 76 +f 57 76 78 +f 57 78 75 +f 57 75 79 +f 57 79 80 +f 57 80 58 +f 58 81 82 +f 58 82 59 +f 58 80 81 +f 60 66 83 +f 66 84 83 +f 67 85 86 +f 68 69 87 +f 69 83 87 +f 70 88 89 +f 70 89 73 +f 71 74 89 +f 71 89 72 +f 72 89 79 +f 72 79 75 +f 73 89 74 +f 75 78 76 +f 79 89 85 +f 79 85 90 +f 79 90 81 +f 79 81 80 +f 83 84 91 +f 83 91 87 +f 85 89 86 +f 86 89 92 +f 86 92 88 +f 88 92 89 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_24.obj b/demo_assets/vase/mjcf/mesh/vase_collision_24.obj new file mode 100644 index 0000000000000000000000000000000000000000..1013194642f74efa3956bde9aa666ee3d5f565e6 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_24.obj @@ -0,0 +1,649 @@ +# https://github.com/mikedh/trimesh 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@@ +# https://github.com/mikedh/trimesh +v -0.03247482 0.01835942 0.12935129 +v -0.02127089 0.01835942 0.12935129 +v -0.03096784 0.02126379 0.12935130 +v -0.02525425 0.01835956 0.09219801 +v -0.00246746 0.02799817 0.12935132 +v -0.01965229 0.01835943 0.12677257 +v -0.00246746 0.02514372 0.12113867 +v -0.00246746 0.02691921 0.12648163 +v -0.00246746 0.02692660 0.12650345 +v -0.03016001 0.02232430 0.12935130 +v -0.02446992 0.01956048 0.09219801 +v -0.02514850 0.01852400 0.09219801 +v -0.01803075 0.01835956 0.09219801 +v -0.00246746 0.03723230 0.12935136 +v -0.01724054 0.01835945 0.12155329 +v -0.00246746 0.02465782 0.11679958 +v -0.02655560 0.02650718 0.12935132 +v -0.02204641 0.02201774 0.09219802 +v -0.00246746 0.02646298 0.09219804 +v -0.01630932 0.01835947 0.11659952 +v -0.00246746 0.03150314 0.09219806 +v -0.00520822 0.03699396 0.12935136 +v -0.01663833 0.01835946 0.11847264 +v -0.02544519 0.02747715 0.12935132 +v -0.01960529 0.02444175 0.09219803 +v -0.00279646 0.03144587 0.09219806 +v -0.00759941 0.03667433 0.12935135 +v -0.02125621 0.03090069 0.12935133 +v -0.01790149 0.02554474 0.09219803 +v -0.00732327 0.03062739 0.09219805 +v -0.01090712 0.03573577 0.12935135 +v -0.01981092 0.03173395 0.12935134 +v -0.01302805 0.02843433 0.09219804 +v -0.01750492 0.02579232 0.09219803 +v -0.01058398 0.02961862 0.09219805 +v -0.01195877 0.03539028 0.12935135 +v -0.01709366 0.03313440 0.12935134 +v -0.01634751 0.03348174 0.12935134 +v -0.01472010 0.03419305 0.12935135 +f 1 2 5 +f 1 5 14 +f 1 14 22 +f 1 22 27 +f 1 27 31 +f 1 31 36 +f 1 36 39 +f 1 39 38 +f 1 38 37 +f 1 37 32 +f 1 32 28 +f 1 28 24 +f 1 24 17 +f 1 17 10 +f 1 10 3 +f 1 3 4 +f 1 4 13 +f 1 13 20 +f 1 20 23 +f 1 23 15 +f 1 15 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 5 +f 3 10 11 +f 3 11 12 +f 3 12 4 +f 4 12 11 +f 4 11 18 +f 4 18 25 +f 4 25 29 +f 4 29 34 +f 4 34 33 +f 4 33 35 +f 4 35 30 +f 4 30 26 +f 4 26 21 +f 4 21 19 +f 4 19 13 +f 5 9 8 +f 5 8 7 +f 5 7 16 +f 5 16 19 +f 5 19 21 +f 5 21 14 +f 6 15 7 +f 7 15 16 +f 10 17 11 +f 11 17 18 +f 13 19 16 +f 13 16 20 +f 14 21 22 +f 15 23 16 +f 16 23 20 +f 17 24 25 +f 17 25 18 +f 21 26 27 +f 21 27 22 +f 24 28 25 +f 25 28 29 +f 26 30 27 +f 27 30 31 +f 28 32 33 +f 28 33 34 +f 28 34 29 +f 30 35 31 +f 31 35 36 +f 32 37 33 +f 33 37 35 +f 35 37 38 +f 35 38 39 +f 35 39 36 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_27.obj b/demo_assets/vase/mjcf/mesh/vase_collision_27.obj new file mode 100644 index 0000000000000000000000000000000000000000..7ec978d4d49d0ee74536dd6f23b068e250716b18 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_27.obj @@ -0,0 +1,154 @@ +# https://github.com/mikedh/trimesh +v 0.03557871 -0.00001034 0.02117741 +v 0.03536809 -0.00001034 0.02151655 +v 0.04214753 -0.00001034 0.02117741 +v 0.02184896 -0.02803371 0.02117731 +v 0.03511575 -0.00001034 0.02192306 +v 0.03304536 -0.00001042 0.04490603 +v 0.03303940 -0.00249471 0.04490602 +v 0.04211375 -0.00249463 0.02117740 +v 0.02184896 -0.03611207 0.02117728 +v 0.02184896 -0.02720679 0.02230857 +v 0.03280693 -0.00001036 0.02743999 +v 0.03337321 -0.00001036 0.02592313 +v 0.03394942 -0.00001035 0.02439929 +v 0.02822107 -0.00001042 0.04490603 +v 0.03259433 -0.00727247 0.04490600 +v 0.04189717 -0.00429689 0.02117739 +v 0.02184896 -0.02581100 0.04490594 +v 0.02356965 -0.03493177 0.02117728 +v 0.02184896 -0.02704423 0.02254550 +v 0.02877940 -0.00001041 0.04182119 +v 0.02184896 -0.02200855 0.03219261 +v 0.02184896 -0.02198734 0.03224836 +v 0.02184896 -0.02011089 0.03734253 +v 0.02184896 -0.01854542 0.04249941 +v 0.02184896 -0.01792347 0.04490596 +v 0.03134852 -0.01226932 0.04490598 +v 0.04113220 -0.00893683 0.02117738 +v 0.04150376 -0.00724765 0.02117738 +v 0.02563607 -0.03336628 0.02117729 +v 0.02662358 -0.03260297 0.02117729 +v 0.02395512 -0.02400874 0.04490594 +v 0.02184896 -0.02491688 0.02628309 +v 0.02184896 -0.02425959 0.02743990 +v 0.03060937 -0.01417759 0.04490598 +v 0.03875980 -0.01624128 0.02117735 +v 0.03995196 -0.01298307 0.02117736 +v 0.04013476 -0.01247774 0.02117736 +v 0.04020629 -0.01226924 0.02117736 +v 0.02714217 -0.03214710 0.02117729 +v 0.02881318 -0.03053920 0.02117730 +v 0.03048023 -0.02883235 0.02117730 +v 0.03155913 -0.02771213 0.02117731 +v 0.02469823 -0.02316769 0.04490594 +v 0.02992785 -0.01584203 0.04490597 +v 0.03802264 -0.01796226 0.02117734 +v 0.03205189 -0.02713965 0.02117731 +v 0.02589636 -0.02175768 0.04490595 +v 0.02847540 -0.01828038 0.04490596 +v 0.03598802 -0.02171873 0.02117733 +v 0.03318445 -0.02569430 0.02117732 +v 0.03481771 -0.02345738 0.02117732 +v 0.03543764 -0.02259866 0.02117733 +f 1 2 5 +f 1 5 13 +f 1 13 12 +f 1 12 11 +f 1 11 20 +f 1 20 14 +f 1 14 6 +f 1 6 3 +f 1 3 8 +f 1 8 16 +f 1 16 28 +f 1 28 27 +f 1 27 38 +f 1 38 37 +f 1 37 36 +f 1 36 35 +f 1 35 45 +f 1 45 49 +f 1 49 52 +f 1 52 51 +f 1 51 50 +f 1 50 46 +f 1 46 42 +f 1 42 41 +f 1 41 40 +f 1 40 39 +f 1 39 30 +f 1 30 29 +f 1 29 18 +f 1 18 9 +f 1 9 4 +f 1 4 2 +f 2 4 5 +f 3 6 7 +f 3 7 8 +f 4 9 17 +f 4 17 25 +f 4 25 24 +f 4 24 23 +f 4 23 22 +f 4 22 21 +f 4 21 33 +f 4 33 32 +f 4 32 19 +f 4 19 10 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 6 14 25 +f 6 25 17 +f 6 17 31 +f 6 31 43 +f 6 43 47 +f 6 47 48 +f 6 48 44 +f 6 44 34 +f 6 34 26 +f 6 26 15 +f 6 15 7 +f 7 15 8 +f 8 15 16 +f 9 18 17 +f 10 19 11 +f 11 19 20 +f 14 20 21 +f 14 21 22 +f 14 22 23 +f 14 23 24 +f 14 24 25 +f 15 26 27 +f 15 27 28 +f 15 28 16 +f 17 18 29 +f 17 29 30 +f 17 30 31 +f 19 32 20 +f 20 32 33 +f 20 33 21 +f 26 34 35 +f 26 35 36 +f 26 36 37 +f 26 37 38 +f 26 38 27 +f 30 39 31 +f 31 39 40 +f 31 40 41 +f 31 41 42 +f 31 42 43 +f 34 44 35 +f 35 44 45 +f 42 46 43 +f 43 46 47 +f 44 48 49 +f 44 49 45 +f 46 50 47 +f 47 50 48 +f 48 50 51 +f 48 51 52 +f 48 52 49 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_28.obj b/demo_assets/vase/mjcf/mesh/vase_collision_28.obj new file mode 100644 index 0000000000000000000000000000000000000000..e510347e639f8e032d6567fd5fbdce63244b0554 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_28.obj @@ -0,0 +1,280 @@ +# https://github.com/mikedh/trimesh +v -0.02353947 -0.04586758 0.14632012 +v -0.02353947 -0.04550305 0.14488030 +v -0.02353947 -0.04514754 0.14966171 +v -0.02549971 -0.04464801 0.14938205 +v -0.02569047 -0.04476051 0.14632013 +v -0.02503522 -0.04438247 0.14350473 +v -0.02353947 -0.04476050 0.14319811 +v -0.02353947 -0.04166431 0.15034332 +v -0.02702310 -0.04184433 0.15006365 +v -0.03091040 -0.04038623 0.14963480 +v -0.03913566 -0.03432432 0.14886416 +v -0.03141912 -0.04077774 0.14632014 +v -0.02813179 -0.04322140 0.14632013 +v -0.03051780 -0.04007568 0.14311733 +v -0.02353947 -0.02871688 0.12935113 +v -0.03663352 -0.03181315 0.15051322 +v -0.02353947 -0.03762304 0.14958303 +v -0.04640153 0.00010748 0.15029582 +v -0.04640153 -0.00738102 0.15043666 +v -0.04640153 -0.01226835 0.15049673 +v -0.03663352 -0.03551240 0.14951673 +v -0.03913566 -0.03432432 0.14842290 +v -0.03386044 -0.03885161 0.14632015 +v -0.04007569 -0.03181315 0.14948982 +v -0.04460441 -0.02560274 0.14941112 +v -0.04319990 -0.02826241 0.14632019 +v -0.03877347 -0.03392377 0.14512067 +v -0.03551931 -0.03552138 0.14296198 +v -0.02638444 -0.02643972 0.12935114 +v -0.02353947 -0.01513497 0.12935118 +v -0.04547256 -0.02204300 0.14990212 +v -0.04179262 -0.02711034 0.15007819 +v -0.02353947 -0.03521537 0.14807278 +v -0.03363096 0.00010752 0.13957492 +v -0.03470093 0.00010751 0.14073092 +v -0.03592297 0.00010751 0.14205057 +v -0.03836152 0.00010750 0.14448893 +v -0.03970244 0.00010750 0.14564699 +v -0.04123690 0.00010749 0.14696665 +v -0.04368097 0.00010748 0.14901760 +v -0.05050172 0.00010748 0.15007622 +v -0.05046854 -0.00249819 0.15006585 +v -0.05017823 -0.00738102 0.14997054 +v -0.04045999 -0.03210116 0.14659155 +v -0.03694318 -0.03602093 0.14659154 +v -0.04473713 -0.02581874 0.14632020 +v -0.04922714 -0.01582809 0.14923921 +v -0.04662548 -0.02204299 0.14632021 +v -0.04435005 -0.02514369 0.14346751 +v -0.04004527 -0.03066556 0.14306766 +v -0.02746824 -0.02522914 0.12935115 +v -0.02791890 0.00010755 0.12935124 +v -0.02353947 -0.01516647 0.12939468 +v -0.04970269 -0.01226835 0.14967427 +v -0.02353947 -0.03190315 0.14567588 +v -0.02962477 0.00010754 0.13326048 +v -0.03062563 0.00010753 0.13494267 +v -0.03150483 0.00010753 0.13641563 +v -0.03263563 0.00010752 0.13809783 +v -0.05119015 0.00010749 0.14807291 +v -0.05178458 0.00010749 0.14632029 +v -0.05173758 -0.00249818 0.14632028 +v -0.05116527 -0.00738101 0.14632026 +v -0.05021418 -0.01226834 0.14632024 +v -0.04924927 -0.01590908 0.14632023 +v -0.04828711 -0.01835274 0.14632022 +v -0.04900043 -0.01518902 0.14366849 +v -0.04511037 -0.02204297 0.14285015 +v -0.03296464 -0.01724111 0.12935118 +v -0.03146336 -0.02017081 0.12935117 +v -0.03077216 -0.02117437 0.12935116 +v -0.02353947 -0.01691709 0.13157201 +v -0.02353947 -0.01599453 0.13044916 +v -0.03718371 0.00010755 0.12935124 +v -0.02848844 0.00010755 0.13078483 +v -0.02353947 -0.02450463 0.13973436 +v -0.02353947 -0.02399609 0.13927445 +v -0.02353947 -0.02158392 0.13690032 +v -0.02353947 -0.01977030 0.13493224 +v -0.02353947 -0.03008952 0.14434173 +v -0.02901652 0.00010755 0.13194290 +v -0.02353947 -0.02938747 0.14379481 +v -0.05012294 0.00010751 0.14270107 +v -0.05011188 -0.00249816 0.14270521 +v -0.04982710 -0.00738099 0.14291650 +v -0.04935433 -0.01226833 0.14332253 +v -0.03657546 -0.00744846 0.12935121 +v -0.03564649 -0.01070667 0.12935120 +v -0.03528154 -0.01179125 0.12935120 +v -0.03341530 -0.01625104 0.12935118 +v -0.03717818 -0.00073401 0.12935124 +v -0.02353947 -0.02678629 0.14169000 +v -0.03716436 -0.00249812 0.12935123 +v -0.03689618 -0.00515780 0.12935122 +f 1 2 7 +f 1 7 15 +f 1 15 30 +f 1 30 53 +f 1 53 73 +f 1 73 72 +f 1 72 79 +f 1 79 78 +f 1 78 77 +f 1 77 76 +f 1 76 92 +f 1 92 82 +f 1 82 80 +f 1 80 55 +f 1 55 33 +f 1 33 17 +f 1 17 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 3 8 9 +f 3 9 4 +f 4 9 10 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 5 13 6 +f 6 13 12 +f 6 12 14 +f 6 14 15 +f 6 15 7 +f 8 16 9 +f 8 17 18 +f 8 18 19 +f 8 19 20 +f 8 20 16 +f 9 16 10 +f 10 21 11 +f 10 16 21 +f 11 22 23 +f 11 23 12 +f 11 21 24 +f 11 24 25 +f 11 25 26 +f 11 26 22 +f 12 23 14 +f 14 23 27 +f 14 27 28 +f 14 28 29 +f 14 29 15 +f 15 29 51 +f 15 51 71 +f 15 71 70 +f 15 70 69 +f 15 69 90 +f 15 90 89 +f 15 89 88 +f 15 88 87 +f 15 87 94 +f 15 94 93 +f 15 93 91 +f 15 91 74 +f 15 74 52 +f 15 52 30 +f 16 31 32 +f 16 32 24 +f 16 24 21 +f 16 20 31 +f 17 33 34 +f 17 34 35 +f 17 35 36 +f 17 36 37 +f 17 37 38 +f 17 38 39 +f 17 39 40 +f 17 40 18 +f 18 40 39 +f 18 39 38 +f 18 38 37 +f 18 37 36 +f 18 36 35 +f 18 35 34 +f 18 34 59 +f 18 59 58 +f 18 58 57 +f 18 57 56 +f 18 56 81 +f 18 81 75 +f 18 75 52 +f 18 52 74 +f 18 74 83 +f 18 83 61 +f 18 61 60 +f 18 60 41 +f 18 41 19 +f 19 41 20 +f 20 41 42 +f 20 42 43 +f 20 43 31 +f 22 26 44 +f 22 44 27 +f 22 27 45 +f 22 45 23 +f 23 45 27 +f 24 32 25 +f 25 46 26 +f 25 32 31 +f 25 31 47 +f 25 47 48 +f 25 48 46 +f 26 46 49 +f 26 49 27 +f 26 27 44 +f 27 49 50 +f 27 50 28 +f 28 50 29 +f 29 50 51 +f 30 52 53 +f 31 43 54 +f 31 54 47 +f 33 55 56 +f 33 56 57 +f 33 57 58 +f 33 58 59 +f 33 59 34 +f 41 60 42 +f 42 60 61 +f 42 61 62 +f 42 62 43 +f 43 62 54 +f 46 48 49 +f 47 54 63 +f 47 63 64 +f 47 64 65 +f 47 65 66 +f 47 66 48 +f 48 66 67 +f 48 67 49 +f 49 67 68 +f 49 68 69 +f 49 69 70 +f 49 70 71 +f 49 71 50 +f 50 71 51 +f 52 72 73 +f 52 73 53 +f 52 75 76 +f 52 76 77 +f 52 77 78 +f 52 78 79 +f 52 79 72 +f 54 62 63 +f 55 80 56 +f 56 80 82 +f 56 82 81 +f 61 83 84 +f 61 84 62 +f 62 84 85 +f 62 85 63 +f 63 85 86 +f 63 86 67 +f 63 67 64 +f 64 67 65 +f 65 67 66 +f 67 86 87 +f 67 87 88 +f 67 88 89 +f 67 89 90 +f 67 90 68 +f 68 90 69 +f 74 91 84 +f 74 84 83 +f 75 81 82 +f 75 82 92 +f 75 92 76 +f 84 91 93 +f 84 93 85 +f 85 93 94 +f 85 94 87 +f 85 87 86 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_29.obj b/demo_assets/vase/mjcf/mesh/vase_collision_29.obj new file mode 100644 index 0000000000000000000000000000000000000000..f235b06ceb31cf2b37e45076605e0d2dd0070b4a --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_29.obj @@ -0,0 +1,367 @@ +# https://github.com/mikedh/trimesh +v -0.00003101 0.09049807 -0.05676964 +v -0.00003101 0.09041180 -0.05425703 +v 0.00245075 0.09032553 -0.05181659 +v 0.00245075 0.09049553 -0.05676964 +v -0.00003101 0.09039660 -0.06103167 +v -0.00003101 0.09032553 -0.05181659 +v 0.00245075 0.08984095 -0.04686573 +v 0.00733401 0.09003886 -0.05181659 +v 0.00733401 0.09023422 -0.05676964 +v -0.00003101 0.08984602 -0.04686573 +v 0.00245075 0.09039152 -0.06103167 +v 0.00176549 0.09039406 -0.06103167 +v -0.00003101 0.08520343 -0.06103169 +v 0.00245075 0.08898343 -0.04191268 +v 0.00733401 0.08953398 -0.04686573 +v -0.00003101 0.08941727 -0.04435312 +v 0.01221727 0.08947057 -0.05181659 +v 0.01221727 0.08966594 -0.05676964 +v 0.00733401 0.09012007 -0.06103167 +v -0.00003101 0.08258773 -0.03869159 +v 0.05465409 0.06458550 -0.06103176 +v -0.00003101 0.08899359 -0.04191268 +v -0.00003101 0.08858259 -0.04014577 +v 0.00213590 0.08822741 -0.03869157 +v 0.00245075 0.08822487 -0.03869157 +v 0.00733401 0.08802445 -0.03900428 +v 0.00733401 0.08867139 -0.04191268 +v 0.01182216 0.08820458 -0.04211606 +v 0.01221727 0.08896062 -0.04686573 +v 0.01967489 0.08793824 -0.04909844 +v 0.01710670 0.08859785 -0.05181659 +v 0.01221727 0.08954418 -0.06103167 +v 0.01710670 0.08875770 -0.05676964 +v -0.00003101 0.08824009 -0.03869157 +v 0.05115369 0.06458542 -0.03869165 +v 0.06284018 0.06458550 -0.06103176 +v 0.00442010 0.08811325 -0.03869157 +v 0.00733401 0.08790268 -0.03869157 +v 0.00993306 0.08793059 -0.03934104 +v 0.01521143 0.08800418 -0.04390484 +v 0.01694619 0.08818431 -0.04721562 +v 0.01996504 0.08801690 -0.05181660 +v 0.02687322 0.08461478 -0.04191270 +v 0.02687322 0.08530993 -0.04686575 +v 0.03196638 0.08370403 -0.04713910 +v 0.03175030 0.08421652 -0.05181661 +v 0.01710670 0.08862326 -0.06103167 +v 0.02021816 0.08808288 -0.05676965 +v 0.01951438 0.08810825 -0.06103168 +v 0.06001888 0.06458542 -0.03869165 +v 0.05981515 0.06733557 -0.06103175 +v 0.05871009 0.06843408 -0.06007831 +v 0.06289574 0.06458550 -0.06006083 +v 0.00933423 0.08772763 -0.03869157 +v 0.01056276 0.08755511 -0.03869157 +v 0.02198996 0.08515007 -0.03869158 +v 0.02370002 0.08473401 -0.03869158 +v 0.03175030 0.08438144 -0.05676966 +v 0.02673123 0.08388666 -0.03869158 +v 0.02960192 0.08312050 -0.03908082 +v 0.03040448 0.08341733 -0.04191270 +v 0.03430614 0.08306726 -0.04897380 +v 0.03448518 0.08314845 -0.05181661 +v 0.01995269 0.08801185 -0.06103168 +v 0.03175030 0.08424191 -0.06103169 +v 0.06102517 0.06458543 -0.04191277 +v 0.05993862 0.06465899 -0.03869165 +v 0.05749391 0.06923322 -0.06103175 +v 0.05874096 0.06846197 -0.05676972 +v 0.06118568 0.06627511 -0.05676973 +v 0.06303773 0.06458549 -0.05676973 +v 0.05257361 0.07283064 -0.06103173 +v 0.05060425 0.07442131 -0.05676970 +v 0.03466421 0.08322712 -0.05676966 +v 0.03410859 0.08332353 -0.06103169 +v 0.02898456 0.08321183 -0.03869158 +v 0.02942906 0.08304692 -0.03869158 +v 0.02999085 0.08283636 -0.03869159 +v 0.03991171 0.07857933 -0.03869160 +v 0.04057845 0.07894466 -0.04191272 +v 0.04180698 0.07911973 -0.04723096 +v 0.03692989 0.08200935 -0.05181662 +v 0.06044486 0.06511565 -0.04191277 +v 0.06125976 0.06458544 -0.04292525 +v 0.05764825 0.06755875 -0.04191276 +v 0.05674691 0.06731773 -0.03869164 +v 0.05869157 0.06842137 -0.05341521 +v 0.06279697 0.06458547 -0.05180794 +v 0.05047461 0.07433506 -0.06103173 +v 0.05045609 0.07431981 -0.05181665 +v 0.05290080 0.07256423 -0.05181665 +v 0.04667171 0.07677816 -0.06103172 +v 0.04677667 0.07686441 -0.05676969 +v 0.03451604 0.08316117 -0.06103169 +v 0.03710275 0.08208041 -0.05676967 +v 0.03696076 0.08201446 -0.06103170 +v 0.04841882 0.07356882 -0.03869162 +v 0.04898679 0.07334303 -0.03911804 +v 0.04943128 0.07364240 -0.04191274 +v 0.04401093 0.07816077 -0.04912471 +v 0.04152299 0.07968042 -0.05181663 +v 0.04152299 0.07985803 -0.05676968 +v 0.05826560 0.06801289 -0.04686581 +v 0.06201910 0.06458545 -0.04651156 +v 0.05520970 0.06947670 -0.04191275 +v 0.05462939 0.06903779 -0.03869164 +v 0.05515414 0.06862173 -0.03869164 +v 0.05854341 0.06825899 -0.05011317 +v 0.06061771 0.06654401 -0.05178607 +v 0.06225370 0.06458546 -0.04767712 +v 0.05007333 0.07406609 -0.04686579 +v 0.05251187 0.07236125 -0.04686579 +v 0.04659763 0.07676291 -0.05181664 +v 0.04422700 0.07829019 -0.06103171 +v 0.04433812 0.07835361 -0.05676968 +v 0.04090564 0.08004070 -0.06103171 +v 0.04888801 0.07327453 -0.03869162 +v 0.04942511 0.07288637 -0.03869162 +v 0.05187600 0.07191980 -0.04191275 +v 0.04415909 0.07824450 -0.05181663 +v 0.04383190 0.07850076 -0.06103171 +v 0.04152299 0.07972865 -0.06103171 +v 0.05582706 0.06991815 -0.04686580 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 13 +f 1 13 20 +f 1 20 34 +f 1 34 23 +f 1 23 22 +f 1 22 16 +f 1 16 10 +f 1 10 6 +f 1 6 2 +f 2 6 3 +f 3 7 8 +f 3 8 9 +f 3 9 4 +f 3 6 10 +f 3 10 7 +f 4 11 12 +f 4 12 5 +f 4 9 11 +f 5 12 11 +f 5 11 19 +f 5 19 32 +f 5 32 47 +f 5 47 49 +f 5 49 64 +f 5 64 65 +f 5 65 75 +f 5 75 94 +f 5 94 96 +f 5 96 116 +f 5 116 122 +f 5 122 121 +f 5 121 114 +f 5 114 92 +f 5 92 89 +f 5 89 72 +f 5 72 68 +f 5 68 51 +f 5 51 36 +f 5 36 21 +f 5 21 13 +f 7 14 15 +f 7 15 8 +f 7 10 16 +f 7 16 14 +f 8 15 17 +f 8 17 18 +f 8 18 9 +f 9 18 19 +f 9 19 11 +f 13 21 20 +f 14 16 22 +f 14 22 23 +f 14 23 24 +f 14 24 25 +f 14 25 26 +f 14 26 27 +f 14 27 15 +f 15 27 28 +f 15 28 29 +f 15 29 17 +f 17 29 30 +f 17 30 31 +f 17 31 18 +f 18 32 19 +f 18 31 33 +f 18 33 32 +f 20 21 35 +f 20 35 50 +f 20 50 67 +f 20 67 86 +f 20 86 107 +f 20 107 106 +f 20 106 118 +f 20 118 117 +f 20 117 97 +f 20 97 79 +f 20 79 78 +f 20 78 77 +f 20 77 76 +f 20 76 59 +f 20 59 57 +f 20 57 56 +f 20 56 55 +f 20 55 54 +f 20 54 38 +f 20 38 37 +f 20 37 25 +f 20 25 24 +f 20 24 34 +f 21 36 53 +f 21 53 71 +f 21 71 88 +f 21 88 110 +f 21 110 104 +f 21 104 84 +f 21 84 66 +f 21 66 50 +f 21 50 35 +f 23 34 24 +f 25 37 26 +f 26 37 38 +f 26 38 39 +f 26 39 27 +f 27 39 28 +f 28 39 40 +f 28 40 29 +f 29 40 41 +f 29 41 30 +f 30 42 31 +f 30 41 40 +f 30 40 43 +f 30 43 44 +f 30 44 45 +f 30 45 46 +f 30 46 42 +f 31 42 33 +f 32 33 47 +f 33 42 48 +f 33 48 49 +f 33 49 47 +f 36 51 52 +f 36 52 53 +f 38 54 39 +f 39 54 55 +f 39 55 56 +f 39 56 40 +f 40 56 57 +f 40 57 43 +f 42 46 58 +f 42 58 48 +f 43 57 59 +f 43 59 60 +f 43 60 61 +f 43 61 45 +f 43 45 44 +f 45 61 62 +f 45 62 46 +f 46 62 63 +f 46 63 58 +f 48 64 49 +f 48 58 65 +f 48 65 64 +f 50 66 67 +f 51 68 52 +f 52 69 70 +f 52 70 71 +f 52 71 53 +f 52 68 72 +f 52 72 73 +f 52 73 69 +f 58 63 74 +f 58 74 75 +f 58 75 65 +f 59 76 60 +f 60 76 77 +f 60 77 78 +f 60 78 79 +f 60 79 61 +f 61 79 80 +f 61 80 62 +f 62 80 81 +f 62 81 82 +f 62 82 63 +f 63 82 74 +f 66 83 67 +f 66 84 83 +f 67 83 85 +f 67 85 86 +f 69 87 70 +f 69 73 87 +f 70 87 71 +f 71 87 88 +f 72 89 73 +f 73 90 91 +f 73 91 87 +f 73 89 92 +f 73 92 93 +f 73 93 90 +f 74 94 75 +f 74 82 95 +f 74 95 96 +f 74 96 94 +f 79 97 98 +f 79 98 80 +f 80 98 99 +f 80 99 100 +f 80 100 81 +f 81 100 101 +f 81 101 82 +f 82 101 102 +f 82 102 95 +f 83 84 103 +f 83 103 85 +f 84 104 103 +f 85 103 105 +f 85 105 106 +f 85 106 107 +f 85 107 86 +f 87 108 109 +f 87 109 88 +f 87 91 108 +f 88 109 108 +f 88 108 110 +f 90 111 112 +f 90 112 91 +f 90 93 113 +f 90 113 100 +f 90 100 111 +f 91 112 108 +f 92 114 93 +f 93 114 115 +f 93 115 113 +f 95 102 116 +f 95 116 96 +f 97 117 98 +f 98 117 118 +f 98 118 106 +f 98 106 105 +f 98 105 119 +f 98 119 99 +f 99 119 112 +f 99 112 111 +f 99 111 100 +f 100 113 120 +f 100 120 101 +f 101 120 115 +f 101 115 102 +f 102 115 114 +f 102 114 121 +f 102 121 122 +f 102 122 116 +f 103 108 123 +f 103 123 105 +f 103 104 110 +f 103 110 108 +f 105 112 119 +f 105 123 112 +f 108 112 123 +f 113 115 120 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_3.obj b/demo_assets/vase/mjcf/mesh/vase_collision_3.obj new file mode 100644 index 0000000000000000000000000000000000000000..680af970a53c296c1ce7d964c6c8da050effc079 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_3.obj @@ -0,0 +1,208 @@ +# https://github.com/mikedh/trimesh +v -0.00003338 -0.02816222 0.04490825 +v -0.00003338 -0.03304905 0.04490823 +v -0.00003338 -0.02795039 0.04610243 +v 0.02299940 -0.01640385 0.04490829 +v 0.00244881 -0.03303927 0.04490823 +v 0.00244881 -0.03140833 0.09218956 +v -0.00003338 -0.03141159 0.09218956 +v -0.00003338 -0.02774671 0.04725496 +v -0.00003338 -0.02741756 0.04976830 +v -0.00003338 -0.02710960 0.05220758 +v 0.02239335 -0.01640386 0.04753735 +v 0.02959055 -0.01640385 0.04490829 +v 0.00445544 -0.03290076 0.04490823 +v 0.00280548 -0.03134967 0.09218956 +v 0.00720441 -0.03258464 0.04490823 +v -0.00003338 -0.02653943 0.09218958 +v -0.00003338 -0.02691570 0.05472092 +v 0.02153792 -0.01640388 0.05220762 +v 0.02847414 -0.01828428 0.04490828 +v 0.02652260 -0.01640403 0.09218962 +v 0.02615433 -0.01703464 0.09218962 +v 0.02584116 -0.01756748 0.09218962 +v 0.00733200 -0.03060174 0.09218957 +v 0.00990699 -0.03195240 0.04490823 +v 0.01995175 -0.01640403 0.09191190 +v 0.01994885 -0.01640403 0.09183321 +v 0.01978647 -0.01640401 0.08687597 +v -0.00003338 -0.02653780 0.09201369 +v 0.01996915 -0.01640403 0.09218962 +v -0.00003338 -0.02673647 0.05716020 +v 0.02086518 -0.01640390 0.05716024 +v 0.02589336 -0.02175997 0.04490827 +v 0.02509592 -0.01871790 0.09218961 +v 0.02448117 -0.01966300 0.09218961 +v 0.01057683 -0.02969086 0.09218957 +v 0.01221810 -0.03132668 0.04490823 +v -0.00003338 -0.02653617 0.09183317 +v 0.01971977 -0.01640399 0.08192334 +v -0.00003338 -0.02666152 0.05967817 +v 0.02001845 -0.01640394 0.06707011 +v 0.02028232 -0.01640392 0.06284881 +v 0.02033452 -0.01640392 0.06211286 +v 0.02469576 -0.02316947 0.04490826 +v 0.02248324 -0.02169497 0.09218960 +v 0.02395342 -0.02401192 0.04490826 +v 0.01301843 -0.02855511 0.09218958 +v 0.01574130 -0.02994813 0.04490824 +v -0.00003338 -0.02650519 0.08687593 +v 0.01971977 -0.01640398 0.07839634 +v -0.00003338 -0.02649050 0.08192330 +v -0.00003338 -0.02659146 0.06211282 +v 0.01996915 -0.01640394 0.06817635 +v 0.01980966 -0.02438525 0.09218959 +v 0.02170321 -0.02593797 0.04490825 +v 0.01963278 -0.02456123 0.09218959 +v 0.01709839 -0.02618909 0.09218958 +v 0.01702879 -0.02919857 0.04490824 +v 0.01972267 -0.01640397 0.07697072 +v -0.00003338 -0.02649049 0.07948402 +v -0.00003338 -0.02656051 0.06463079 +v 0.01982416 -0.01640395 0.07201810 +v 0.01999815 -0.02722852 0.04490825 +v 0.01729557 -0.02606525 0.09218958 +v 0.01818290 -0.02851582 0.04490825 +v 0.01979517 -0.01640396 0.07334652 +v -0.00003338 -0.02653771 0.06707007 +v -0.00003338 -0.02652143 0.06957878 +v -0.00003338 -0.02650676 0.07201806 +v -0.00003338 -0.02649862 0.07453141 +v -0.00003338 -0.02649374 0.07697068 +f 1 2 7 +f 1 7 16 +f 1 16 28 +f 1 28 37 +f 1 37 48 +f 1 48 50 +f 1 50 59 +f 1 59 70 +f 1 70 69 +f 1 69 68 +f 1 68 67 +f 1 67 66 +f 1 66 60 +f 1 60 51 +f 1 51 39 +f 1 39 30 +f 1 30 17 +f 1 17 10 +f 1 10 9 +f 1 9 8 +f 1 8 3 +f 1 3 4 +f 1 4 12 +f 1 12 19 +f 1 19 32 +f 1 32 43 +f 1 43 45 +f 1 45 54 +f 1 54 62 +f 1 62 64 +f 1 64 57 +f 1 57 47 +f 1 47 36 +f 1 36 24 +f 1 24 15 +f 1 15 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 3 8 4 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 4 11 18 +f 4 18 31 +f 4 31 42 +f 4 42 41 +f 4 41 40 +f 4 40 52 +f 4 52 61 +f 4 61 65 +f 4 65 58 +f 4 58 49 +f 4 49 38 +f 4 38 27 +f 4 27 26 +f 4 26 25 +f 4 25 29 +f 4 29 20 +f 4 20 12 +f 5 13 6 +f 6 14 23 +f 6 23 35 +f 6 35 46 +f 6 46 56 +f 6 56 63 +f 6 63 55 +f 6 55 53 +f 6 53 44 +f 6 44 34 +f 6 34 33 +f 6 33 22 +f 6 22 21 +f 6 21 20 +f 6 20 29 +f 6 29 16 +f 6 16 7 +f 6 13 15 +f 6 15 14 +f 10 17 18 +f 10 18 11 +f 12 20 21 +f 12 21 22 +f 12 22 19 +f 14 15 23 +f 15 24 23 +f 16 25 26 +f 16 26 27 +f 16 27 28 +f 16 29 25 +f 17 30 18 +f 18 30 31 +f 19 22 33 +f 19 33 34 +f 19 34 32 +f 23 24 36 +f 23 36 35 +f 27 37 28 +f 27 38 37 +f 30 39 40 +f 30 40 41 +f 30 41 42 +f 30 42 31 +f 32 34 43 +f 34 44 45 +f 34 45 43 +f 35 36 47 +f 35 47 46 +f 37 38 48 +f 38 49 59 +f 38 59 50 +f 38 50 48 +f 39 51 40 +f 40 51 52 +f 44 53 45 +f 45 53 55 +f 45 55 54 +f 46 47 56 +f 47 57 56 +f 49 58 59 +f 51 60 61 +f 51 61 52 +f 54 55 62 +f 55 63 64 +f 55 64 62 +f 56 57 64 +f 56 64 63 +f 58 65 60 +f 58 60 66 +f 58 66 67 +f 58 67 68 +f 58 68 69 +f 58 69 70 +f 58 70 59 +f 60 65 61 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_30.obj b/demo_assets/vase/mjcf/mesh/vase_collision_30.obj new file mode 100644 index 0000000000000000000000000000000000000000..1c5567b531a2fa802fa382538a1a9a21089e0a2a --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_30.obj @@ -0,0 +1,82 @@ +# https://github.com/mikedh/trimesh +v -0.03719249 0.00239359 0.12935123 +v -0.03718023 -0.00001468 0.12935122 +v -0.03664461 0.00742776 0.12935125 +v -0.03133540 0.00239373 0.09219795 +v -0.03133540 -0.00001454 0.09219794 +v -0.02791722 -0.00001468 0.12935122 +v -0.03520333 0.01254647 0.12935127 +v -0.02970400 0.01026424 0.09219798 +v -0.03054218 0.00727862 0.09219797 +v -0.02647186 -0.00001454 0.09219794 +v -0.02127305 0.01835942 0.12935129 +v -0.02764737 -0.00001467 0.12867472 +v -0.01724156 0.01835945 0.12155329 +v -0.01965596 0.01835943 0.12677257 +v -0.03317737 0.01705007 0.12935128 +v -0.02963040 0.01052323 0.09219798 +v -0.01803273 0.01835956 0.09219801 +v -0.02462784 -0.00001463 0.11651579 +v -0.03247411 0.01835942 0.12935129 +v -0.02678465 -0.00001466 0.12650699 +v -0.02506534 -0.00001465 0.12123679 +v -0.01663643 0.01835946 0.11847264 +v -0.02848964 0.01296568 0.09219799 +v -0.02857551 0.01278762 0.09219799 +v -0.02525751 0.01835956 0.09219801 +v -0.01630729 0.01835947 0.11659952 +v -0.02485477 -0.00001464 0.11900360 +v -0.02584015 0.01746388 0.09219800 +f 1 2 6 +f 1 6 11 +f 1 11 19 +f 1 19 15 +f 1 15 7 +f 1 7 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 10 +f 2 10 18 +f 2 18 27 +f 2 27 21 +f 2 21 20 +f 2 20 12 +f 2 12 6 +f 3 7 8 +f 3 8 9 +f 3 9 4 +f 4 9 8 +f 4 8 16 +f 4 16 24 +f 4 24 23 +f 4 23 28 +f 4 28 25 +f 4 25 17 +f 4 17 10 +f 4 10 5 +f 6 12 13 +f 6 13 14 +f 6 14 11 +f 7 15 16 +f 7 16 8 +f 10 17 18 +f 11 14 13 +f 11 13 22 +f 11 22 26 +f 11 26 17 +f 11 17 25 +f 11 25 19 +f 12 20 13 +f 13 21 22 +f 13 20 21 +f 15 19 23 +f 15 23 24 +f 15 24 16 +f 17 26 18 +f 18 26 27 +f 19 25 28 +f 19 28 23 +f 21 27 26 +f 21 26 22 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_31.obj b/demo_assets/vase/mjcf/mesh/vase_collision_31.obj new file mode 100644 index 0000000000000000000000000000000000000000..99ab1dae7dde08a0b3d1e6352746264cebe8b6db --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_31.obj @@ -0,0 +1,172 @@ +# https://github.com/mikedh/trimesh +v -0.00245116 -0.03728329 0.12933455 +v -0.00003338 -0.03141041 0.09218831 +v -0.00245116 -0.02800763 0.12935112 +v -0.00416071 -0.03705750 0.12935108 +v -0.00747162 -0.03672343 0.12935109 +v -0.00720998 -0.03263132 0.04490823 +v -0.00243935 -0.03305524 0.04490823 +v -0.00046815 -0.03305063 0.04490823 +v -0.00003338 -0.03304833 0.04490823 +v -0.00003338 -0.02653758 0.09218833 +v -0.00245116 -0.02794312 0.12935112 +v -0.01256685 -0.03526043 0.12935109 +v -0.01220487 -0.03139641 0.04490823 +v -0.00003338 -0.02815937 0.04490825 +v -0.00245116 -0.02453094 0.11762204 +v -0.00245116 -0.02510233 0.12116804 +v -0.00245116 -0.02513689 0.12129203 +v -0.00245116 -0.02683952 0.12649944 +v -0.00003338 -0.02653528 0.09200648 +v -0.02013099 -0.01918123 0.12892133 +v -0.02013099 -0.01946002 0.12935115 +v -0.02013099 -0.01408719 0.11970505 +v -0.02013099 -0.01719984 0.12568118 +v -0.02013099 -0.01762146 0.12646642 +v -0.02013099 -0.01857990 0.12797904 +v -0.01717616 -0.03307630 0.12935110 +v -0.01575776 -0.02997718 0.04490824 +v -0.01410722 -0.03065915 0.04490824 +v -0.01839390 -0.02145721 0.04490827 +v -0.01839390 -0.02067620 0.04766903 +v -0.00003338 -0.02774467 0.04725573 +v -0.00245116 -0.02453324 0.11659708 +v -0.02013099 -0.01374620 0.11709307 +v -0.02013099 -0.01389135 0.11821721 +v -0.00003338 -0.02650300 0.08688171 +v -0.00003338 -0.02648916 0.08193053 +v -0.00003338 -0.02648915 0.07949214 +v -0.00003338 -0.02649144 0.07697108 +v -0.02013099 -0.03136217 0.12935110 +v -0.01819914 -0.02850266 0.04490825 +v -0.01839390 -0.02835290 0.04490825 +v -0.02013099 -0.01619750 0.09219663 +v -0.01839390 -0.01926622 0.05626542 +v -0.01839390 -0.01913029 0.05716639 +v -0.00003338 -0.02741752 0.04976851 +v -0.00003338 -0.02650524 0.07201990 +v -0.00003338 -0.02651907 0.06958151 +v -0.00003338 -0.02653749 0.06707699 +v -0.00003338 -0.02656052 0.06463859 +v -0.00003338 -0.02659046 0.06211754 +v -0.00003338 -0.02666187 0.05967914 +v -0.00003338 -0.02673789 0.05716636 +v -0.01839390 -0.01799679 0.06707702 +v -0.02013099 -0.02402398 0.09272561 +v -0.02013099 -0.02386271 0.09219660 +v -0.01839390 -0.01850133 0.06211757 +v -0.00003338 -0.02710881 0.05221517 +v -0.00003338 -0.02691298 0.05472796 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 9 +f 1 9 2 +f 2 10 11 +f 2 11 3 +f 2 9 14 +f 2 14 31 +f 2 31 45 +f 2 45 57 +f 2 57 58 +f 2 58 52 +f 2 52 51 +f 2 51 50 +f 2 50 49 +f 2 49 48 +f 2 48 47 +f 2 47 46 +f 2 46 38 +f 2 38 37 +f 2 37 36 +f 2 36 35 +f 2 35 19 +f 2 19 10 +f 3 11 21 +f 3 21 39 +f 3 39 26 +f 3 26 12 +f 3 12 5 +f 3 5 4 +f 5 12 13 +f 5 13 6 +f 6 13 28 +f 6 28 27 +f 6 27 40 +f 6 40 41 +f 6 41 29 +f 6 29 14 +f 6 14 9 +f 6 9 8 +f 6 8 7 +f 10 15 16 +f 10 16 17 +f 10 17 18 +f 10 18 11 +f 10 19 15 +f 11 20 21 +f 11 18 22 +f 11 22 23 +f 11 23 24 +f 11 24 25 +f 11 25 20 +f 12 26 27 +f 12 27 28 +f 12 28 13 +f 14 29 30 +f 14 30 31 +f 15 32 33 +f 15 33 34 +f 15 34 22 +f 15 22 16 +f 15 19 35 +f 15 35 36 +f 15 36 37 +f 15 37 38 +f 15 38 32 +f 16 22 17 +f 17 22 18 +f 20 25 24 +f 20 24 23 +f 20 23 22 +f 20 22 34 +f 20 34 33 +f 20 33 42 +f 20 42 55 +f 20 55 54 +f 20 54 39 +f 20 39 21 +f 26 39 27 +f 27 39 40 +f 29 41 55 +f 29 55 42 +f 29 42 30 +f 30 43 31 +f 30 42 43 +f 31 43 44 +f 31 44 45 +f 32 38 46 +f 32 46 47 +f 32 47 48 +f 32 48 49 +f 32 49 33 +f 33 49 50 +f 33 50 51 +f 33 51 52 +f 33 52 53 +f 33 53 42 +f 39 54 41 +f 39 41 40 +f 41 54 55 +f 42 53 56 +f 42 56 44 +f 42 44 43 +f 44 56 45 +f 45 56 57 +f 52 58 53 +f 53 58 57 +f 53 57 56 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_32.obj b/demo_assets/vase/mjcf/mesh/vase_collision_32.obj new file mode 100644 index 0000000000000000000000000000000000000000..afb02402a1c4e7f30697dc12a9d84f2af9608565 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_32.obj @@ -0,0 +1,190 @@ +# https://github.com/mikedh/trimesh +v -0.04685729 0.00003881 -0.14187123 +v -0.04124772 0.00003881 -0.14187123 +v -0.04685729 -0.00249989 -0.14187124 +v -0.05586053 0.00003875 -0.12494391 +v -0.02788116 -0.02987370 -0.14187134 +v -0.04295140 0.00003877 -0.13107091 +v -0.02788116 -0.03221928 -0.13107103 +v -0.02788116 -0.03215489 -0.13135009 +v -0.04665460 -0.00650110 -0.14187125 +v -0.05586053 -0.00738419 -0.12452326 +v -0.05586053 -0.00305184 -0.12489395 +v -0.05586053 -0.00249535 -0.12493560 +v -0.05586053 0.00003872 -0.11794640 +v -0.02788116 -0.03776574 -0.14187137 +v -0.04336774 0.00003877 -0.12965058 +v -0.02788116 -0.03360361 -0.12831367 +v -0.04657516 -0.00738413 -0.14187126 +v -0.05586053 -0.01226843 -0.12388601 +v -0.05586053 -0.00858455 -0.12437331 +v -0.04885131 0.00003874 -0.12365688 +v -0.05586053 -0.04694570 -0.09932402 +v -0.02788116 -0.04694562 -0.11935441 +v -0.02788116 -0.04694560 -0.12612700 +v -0.03143919 -0.04694560 -0.12474832 +v -0.03200069 -0.04694560 -0.12451924 +v -0.03412619 -0.04694561 -0.12363206 +v -0.03609557 -0.04694561 -0.12263241 +v -0.03682964 -0.04694561 -0.12225754 +v -0.04121211 -0.04694562 -0.11991670 +v -0.04362795 -0.04694562 -0.11849638 +v -0.04619717 -0.04694563 -0.11665537 +v -0.04685181 -0.04694563 -0.11618053 +v -0.04946486 -0.04694564 -0.11421456 +v -0.02825094 -0.03748980 -0.14187137 +v -0.04375943 0.00003876 -0.12832188 +v -0.02788116 -0.03487296 -0.12713910 +v -0.04587397 -0.01138994 -0.14187127 +v -0.05586053 -0.02184835 -0.12157853 +v -0.05586053 -0.01715727 -0.12292387 +v -0.04682989 0.00003875 -0.12541042 +v -0.05586053 -0.04694566 -0.10866654 +v -0.02788116 -0.03958704 -0.12392359 +v -0.05141506 -0.04694565 -0.11261930 +v -0.03073251 -0.03548919 -0.14187136 +v -0.02788116 -0.03676320 -0.12583957 +v -0.04568771 -0.01229596 -0.14187128 +v -0.05586053 -0.02692116 -0.11985416 +v -0.05586053 -0.02229446 -0.12142858 +v -0.05586053 -0.04646275 -0.10905807 +v -0.05583315 -0.04694566 -0.10869570 +v -0.05476766 -0.04694566 -0.10974116 +v -0.03317301 -0.03325403 -0.14187135 +v -0.04451540 -0.01611321 -0.14187129 +v -0.05586053 -0.03199857 -0.11778825 +v -0.05586053 -0.04394244 -0.11088241 +v -0.03973850 -0.02544937 -0.14187132 +v -0.03839911 -0.02729821 -0.14187133 +v -0.03548476 -0.03080731 -0.14187134 +v -0.03360030 -0.03280792 -0.14187135 +v -0.05586053 -0.04147732 -0.11260262 +v -0.05586053 -0.03727834 -0.11511421 +v -0.05586053 -0.03646890 -0.11555572 +v -0.05586053 -0.03250907 -0.11755084 +v -0.05586053 -0.04240174 -0.11199035 +f 1 2 5 +f 1 5 14 +f 1 14 34 +f 1 34 44 +f 1 44 52 +f 1 52 59 +f 1 59 58 +f 1 58 57 +f 1 57 56 +f 1 56 53 +f 1 53 46 +f 1 46 37 +f 1 37 17 +f 1 17 9 +f 1 9 3 +f 1 3 4 +f 1 4 13 +f 1 13 20 +f 1 20 40 +f 1 40 35 +f 1 35 15 +f 1 15 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 2 8 5 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 4 +f 4 12 11 +f 4 11 10 +f 4 10 19 +f 4 19 18 +f 4 18 39 +f 4 39 38 +f 4 38 48 +f 4 48 47 +f 4 47 54 +f 4 54 63 +f 4 63 62 +f 4 62 61 +f 4 61 60 +f 4 60 64 +f 4 64 55 +f 4 55 49 +f 4 49 41 +f 4 41 21 +f 4 21 13 +f 5 8 7 +f 5 7 16 +f 5 16 36 +f 5 36 45 +f 5 45 42 +f 5 42 22 +f 5 22 23 +f 5 23 14 +f 6 15 16 +f 6 16 7 +f 9 17 18 +f 9 18 19 +f 9 19 10 +f 13 21 22 +f 13 22 20 +f 14 23 24 +f 14 24 25 +f 14 25 26 +f 14 26 27 +f 14 27 28 +f 14 28 29 +f 14 29 30 +f 14 30 31 +f 14 31 32 +f 14 32 33 +f 14 33 34 +f 15 35 16 +f 16 35 36 +f 17 37 38 +f 17 38 39 +f 17 39 18 +f 20 22 40 +f 21 41 50 +f 21 50 51 +f 21 51 43 +f 21 43 33 +f 21 33 32 +f 21 32 31 +f 21 31 30 +f 21 30 29 +f 21 29 28 +f 21 28 27 +f 21 27 26 +f 21 26 25 +f 21 25 24 +f 21 24 23 +f 21 23 22 +f 22 42 35 +f 22 35 40 +f 33 43 34 +f 34 43 44 +f 35 42 45 +f 35 45 36 +f 37 46 47 +f 37 47 48 +f 37 48 38 +f 41 49 50 +f 43 51 44 +f 44 51 52 +f 46 53 54 +f 46 54 47 +f 49 55 56 +f 49 56 57 +f 49 57 50 +f 50 57 58 +f 50 58 51 +f 51 59 52 +f 51 58 59 +f 53 56 60 +f 53 60 61 +f 53 61 62 +f 53 62 63 +f 53 63 54 +f 55 64 56 +f 56 64 60 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_33.obj b/demo_assets/vase/mjcf/mesh/vase_collision_33.obj new file mode 100644 index 0000000000000000000000000000000000000000..3674548f424a515a700b096920a6d4c70c3921ea --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_33.obj @@ -0,0 +1,187 @@ +# https://github.com/mikedh/trimesh +v -0.01839504 -0.02835653 0.04490825 +v -0.02168062 -0.02592144 0.04490825 +v -0.01839504 -0.02145340 0.04490827 +v -0.01839504 -0.02529204 0.09218959 +v -0.02307341 -0.02474549 0.04490826 +v -0.02087625 -0.02324246 0.09218959 +v -0.02829671 -0.00002292 0.04490835 +v -0.02808946 -0.00002293 0.04607014 +v -0.02788076 -0.00002293 0.04725506 +v -0.02751988 -0.00002294 0.04975914 +v -0.02717784 -0.00002295 0.05220768 +v -0.01839504 -0.02067131 0.04766693 +v -0.01839504 -0.01806442 0.09218961 +v -0.02392995 -0.02399666 0.04490826 +v -0.02203860 -0.02209702 0.09218960 +v -0.03320117 -0.00002292 0.04490835 +v -0.02670972 -0.00002297 0.05716030 +v -0.01839504 -0.01926242 0.05626228 +v -0.02646913 -0.00002310 0.09218968 +v -0.01839504 -0.01803946 0.09186560 +v -0.02588651 -0.02174462 0.04490827 +v -0.02328645 -0.02084065 0.09218960 +v -0.03319682 -0.00249684 0.04490834 +v -0.03133736 -0.00249702 0.09218967 +v -0.03133591 -0.00002310 0.09218968 +v -0.02652566 -0.00002299 0.06211292 +v -0.01839504 -0.01799222 0.06707010 +v -0.01839504 -0.01849697 0.06211285 +v -0.01839504 -0.01912653 0.05716023 +v -0.01839504 -0.01780370 0.08759339 +v -0.01839504 -0.01777319 0.08687596 +v -0.01839504 -0.01765668 0.08279815 +v -0.01839504 -0.01764004 0.08192334 +v -0.02646769 -0.00002310 0.09201379 +v -0.02718219 -0.02008332 0.04490828 +v -0.02516621 -0.01858860 0.09218961 +v -0.03308088 -0.00414428 0.04490833 +v -0.03127939 -0.00285203 0.09218967 +v -0.03266782 -0.00731711 0.04490832 +v -0.02646624 -0.00002301 0.06707017 +v -0.01839504 -0.01768993 0.07201810 +v -0.02643000 -0.00002308 0.08687603 +v -0.02646624 -0.00002310 0.09183327 +v -0.01839504 -0.01760398 0.07790108 +v -0.02846918 -0.01833327 0.04490828 +v -0.02560969 -0.01791188 0.09218961 +v -0.03052285 -0.00738108 0.09218965 +v -0.03206201 -0.00994079 0.04490831 +v -0.02644450 -0.00002302 0.06956963 +v -0.01839504 -0.01759842 0.07697072 +v -0.02641116 -0.00002306 0.08192340 +v -0.02918224 -0.01717674 0.04490829 +v -0.02582274 -0.01756520 0.09218962 +v -0.03045038 -0.00763623 0.09218965 +v -0.03142867 -0.01226772 0.04490830 +v -0.02642421 -0.00002302 0.07201816 +v -0.02640826 -0.00002305 0.07947487 +v -0.02641551 -0.00002303 0.07452224 +v -0.02640971 -0.00002304 0.07697078 +v -0.02996921 -0.01588985 0.04490829 +v -0.02830976 -0.01329685 0.09218963 +v -0.02960834 -0.01057332 0.09218964 +v -0.02847208 -0.01301673 0.09218963 +f 1 2 5 +f 1 5 14 +f 1 14 21 +f 1 21 35 +f 1 35 45 +f 1 45 52 +f 1 52 60 +f 1 60 55 +f 1 55 48 +f 1 48 39 +f 1 39 37 +f 1 37 23 +f 1 23 16 +f 1 16 7 +f 1 7 3 +f 1 3 12 +f 1 12 18 +f 1 18 29 +f 1 29 28 +f 1 28 27 +f 1 27 41 +f 1 41 50 +f 1 50 44 +f 1 44 33 +f 1 33 32 +f 1 32 31 +f 1 31 30 +f 1 30 20 +f 1 20 13 +f 1 13 4 +f 1 4 2 +f 2 4 6 +f 2 6 5 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 4 13 19 +f 4 19 25 +f 4 25 24 +f 4 24 38 +f 4 38 47 +f 4 47 54 +f 4 54 62 +f 4 62 63 +f 4 63 61 +f 4 61 53 +f 4 53 46 +f 4 46 36 +f 4 36 22 +f 4 22 15 +f 4 15 6 +f 5 6 14 +f 6 15 14 +f 7 16 25 +f 7 25 19 +f 7 19 34 +f 7 34 43 +f 7 43 42 +f 7 42 51 +f 7 51 57 +f 7 57 59 +f 7 59 58 +f 7 58 56 +f 7 56 49 +f 7 49 40 +f 7 40 26 +f 7 26 17 +f 7 17 11 +f 7 11 10 +f 7 10 9 +f 7 9 8 +f 11 17 12 +f 12 17 18 +f 13 20 19 +f 14 15 22 +f 14 22 21 +f 16 23 24 +f 16 24 25 +f 17 26 27 +f 17 27 28 +f 17 28 29 +f 17 29 18 +f 19 20 30 +f 19 30 31 +f 19 31 32 +f 19 32 33 +f 19 33 34 +f 21 22 36 +f 21 36 35 +f 23 37 24 +f 24 37 39 +f 24 39 38 +f 26 40 41 +f 26 41 27 +f 33 42 43 +f 33 43 34 +f 33 44 42 +f 35 36 45 +f 36 46 45 +f 38 39 47 +f 39 48 47 +f 40 49 41 +f 41 49 50 +f 42 44 51 +f 44 50 51 +f 45 46 52 +f 46 53 52 +f 47 48 55 +f 47 55 54 +f 49 56 50 +f 50 57 51 +f 50 56 58 +f 50 58 59 +f 50 59 57 +f 52 53 60 +f 53 61 60 +f 54 55 62 +f 55 60 62 +f 60 61 63 +f 60 63 62 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_34.obj b/demo_assets/vase/mjcf/mesh/vase_collision_34.obj new file mode 100644 index 0000000000000000000000000000000000000000..15b33851539b866ec8dc7cae7f528a81efc0304b --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_34.obj @@ -0,0 +1,184 @@ +# https://github.com/mikedh/trimesh +v 0.02477369 -0.04513556 0.14632163 +v 0.02477369 -0.04437575 0.14351358 +v 0.02477369 -0.04501780 0.14872557 +v 0.02198599 -0.04658678 0.14632163 +v 0.01830102 -0.04836091 0.14632162 +v 0.01508732 -0.04905992 0.14367936 +v 0.02198599 -0.04508996 0.14292917 +v 0.01710021 -0.03309647 0.12935317 +v 0.01970685 -0.03172883 0.12935317 +v 0.02112333 -0.03090824 0.12935318 +v 0.02477369 -0.02780826 0.12935319 +v 0.02477369 -0.04480126 0.14944262 +v 0.01583017 -0.04931067 0.14922501 +v 0.01585946 -0.04932206 0.14632162 +v 0.01221442 -0.05030220 0.14632162 +v 0.00733396 -0.05125195 0.14632161 +v 0.01221442 -0.04942462 0.14332705 +v 0.00736591 -0.03662574 0.12935316 +v 0.01072605 -0.03568739 0.12935316 +v 0.01180173 -0.03533408 0.12935316 +v 0.01452552 -0.03421338 0.12935316 +v 0.01618961 -0.03351436 0.12935317 +v 0.02477369 -0.01303395 0.12935324 +v 0.02198599 -0.04552687 0.14985293 +v 0.02477369 -0.04347920 0.14993792 +v 0.01221442 -0.04979314 0.14964776 +v 0.00244817 -0.05181800 0.14632161 +v 0.00733396 -0.04991848 0.14289393 +v 0.00503351 -0.03696005 0.12935315 +v -0.00242696 -0.02794882 0.12935319 +v -0.00242696 -0.02853767 0.13086602 +v -0.00242696 -0.02963179 0.13334663 +v -0.00242696 -0.03144772 0.13640957 +v -0.00242696 -0.03362076 0.13964246 +v 0.02477369 -0.01446997 0.13124324 +v 0.01221442 -0.04646902 0.15052231 +v 0.01731587 -0.04682613 0.15000214 +v 0.02477369 -0.04172027 0.15020318 +v 0.00733396 -0.05024903 0.14994619 +v 0.00244817 -0.05052255 0.15006223 +v -0.00242696 -0.05184459 0.14632161 +v 0.00244817 -0.05020720 0.14266183 +v 0.00244817 -0.03723358 0.12935315 +v -0.00242696 -0.03722598 0.12935315 +v -0.00242696 -0.03594956 0.14211892 +v 0.02477369 -0.01937450 0.13641791 +v 0.00733396 -0.04646902 0.15047257 +v -0.00242696 -0.05054155 0.15006637 +v 0.02198599 -0.04158351 0.15044979 +v 0.02477369 -0.03860889 0.15016797 +v -0.00242696 -0.05020341 0.14266390 +v -0.00242696 -0.03728677 0.12935523 +v 0.00065361 -0.03725258 0.12935315 +v -0.00242696 -0.03839233 0.14449798 +v 0.02477369 -0.02485268 0.14117189 +v -0.00242696 -0.04124158 0.14697445 +v -0.00242696 -0.04646522 0.15033579 +v 0.02477369 -0.03718426 0.14972862 +v 0.02477369 -0.02963563 0.14485446 +v -0.00242696 -0.04368435 0.14906545 +v 0.02477369 -0.03504163 0.14854945 +v 0.02477369 -0.03342704 0.14750500 +f 1 2 11 +f 1 11 23 +f 1 23 35 +f 1 35 46 +f 1 46 55 +f 1 55 59 +f 1 59 62 +f 1 62 61 +f 1 61 58 +f 1 58 50 +f 1 50 38 +f 1 38 25 +f 1 25 12 +f 1 12 3 +f 1 3 4 +f 1 4 2 +f 2 4 5 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 11 +f 3 12 13 +f 3 13 4 +f 4 13 5 +f 5 13 14 +f 5 14 6 +f 6 14 15 +f 6 15 16 +f 6 16 17 +f 6 17 18 +f 6 18 19 +f 6 19 20 +f 6 20 21 +f 6 21 22 +f 6 22 8 +f 6 8 7 +f 8 22 21 +f 8 21 20 +f 8 20 19 +f 8 19 18 +f 8 18 29 +f 8 29 43 +f 8 43 53 +f 8 53 44 +f 8 44 30 +f 8 30 23 +f 8 23 11 +f 8 11 10 +f 8 10 9 +f 12 24 13 +f 12 25 24 +f 13 26 16 +f 13 16 15 +f 13 15 14 +f 13 24 26 +f 16 27 28 +f 16 28 17 +f 16 26 27 +f 17 28 18 +f 18 28 29 +f 23 30 31 +f 23 31 32 +f 23 32 33 +f 23 33 34 +f 23 34 35 +f 24 25 36 +f 24 36 37 +f 24 37 26 +f 25 38 36 +f 26 39 27 +f 26 37 39 +f 27 39 40 +f 27 40 41 +f 27 41 42 +f 27 42 28 +f 28 42 43 +f 28 43 29 +f 30 44 52 +f 30 52 51 +f 30 51 41 +f 30 41 48 +f 30 48 57 +f 30 57 60 +f 30 60 56 +f 30 56 54 +f 30 54 45 +f 30 45 34 +f 30 34 33 +f 30 33 32 +f 30 32 31 +f 34 45 35 +f 35 45 46 +f 36 47 48 +f 36 48 40 +f 36 40 39 +f 36 39 37 +f 36 38 49 +f 36 49 47 +f 38 50 49 +f 40 48 41 +f 41 51 42 +f 42 51 52 +f 42 52 53 +f 42 53 43 +f 44 53 52 +f 45 54 46 +f 46 54 56 +f 46 56 55 +f 47 49 57 +f 47 57 48 +f 49 50 57 +f 50 58 57 +f 55 56 60 +f 55 60 59 +f 57 58 60 +f 58 61 60 +f 59 60 62 +f 60 61 62 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_35.obj b/demo_assets/vase/mjcf/mesh/vase_collision_35.obj new file mode 100644 index 0000000000000000000000000000000000000000..5032da59d732f610e270596ddd4d80ad3f5e44b4 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_35.obj @@ -0,0 +1,262 @@ +# https://github.com/mikedh/trimesh +v 0.05186641 0.00010749 0.14632156 +v 0.05109203 0.00010750 0.14459419 +v 0.05114772 0.00010749 0.14832754 +v 0.05186376 -0.00249658 0.14632155 +v 0.05020892 -0.00249656 0.14262741 +v 0.05020361 0.00010751 0.14262536 +v 0.05051124 0.00010748 0.15008587 +v 0.05050594 -0.00249659 0.15008379 +v 0.05022218 -0.00738143 0.14997440 +v 0.05129888 -0.00738142 0.14632153 +v 0.04992515 -0.00738140 0.14285441 +v 0.03710544 -0.00249652 0.12935328 +v 0.03711870 0.00010755 0.12935329 +v 0.04859651 0.00010748 0.15019937 +v 0.04640861 -0.00738143 0.15042429 +v 0.04640861 -0.01227070 0.15043460 +v 0.04675868 -0.01735040 0.14995166 +v 0.04547512 -0.02204038 0.14986290 +v 0.04972625 -0.01227070 0.14965655 +v 0.04923299 -0.01585350 0.14921696 +v 0.05032826 -0.01227069 0.14632151 +v 0.04907121 -0.01534418 0.14360972 +v 0.04945310 -0.01227068 0.14325063 +v 0.03652996 -0.00739464 0.12935326 +v 0.02796403 0.00010755 0.12935329 +v 0.04640861 0.00010748 0.15032113 +v 0.02477369 -0.03860808 0.15016829 +v 0.02477369 -0.04172145 0.15020335 +v 0.04152365 -0.02204038 0.15038917 +v 0.04178090 -0.02707579 0.15001148 +v 0.04457874 -0.02555232 0.14935314 +v 0.04930194 -0.01603950 0.14632150 +v 0.04834987 -0.01848413 0.14632149 +v 0.03300281 -0.01715547 0.12935323 +v 0.03510584 -0.01254963 0.12935324 +v 0.04662873 -0.02204037 0.14632148 +v 0.04431619 -0.02506958 0.14351682 +v 0.04511975 -0.02204035 0.14286262 +v 0.02852625 0.00010755 0.13075459 +v 0.02477369 -0.01303679 0.12935324 +v 0.02477369 -0.01447168 0.13124365 +v 0.02477369 -0.01937868 0.13641749 +v 0.02477369 -0.02484813 0.14117238 +v 0.04512771 0.00010748 0.14972059 +v 0.02477369 -0.03718648 0.14972870 +v 0.04367442 0.00010748 0.14903335 +v 0.02477369 -0.04347964 0.14993917 +v 0.02701727 -0.04183217 0.15000730 +v 0.03223108 -0.03717319 0.15007128 +v 0.03711074 -0.03227950 0.15006717 +v 0.04032230 -0.03096418 0.14961316 +v 0.04070154 -0.03145575 0.14632144 +v 0.04314402 -0.02816966 0.14632146 +v 0.04468747 -0.02572503 0.14632147 +v 0.03084144 -0.02118114 0.12935321 +v 0.04000141 -0.03055229 0.14311436 +v 0.02963744 0.00010754 0.13323111 +v 0.02477369 -0.02963112 0.14485412 +v 0.02477369 -0.02780645 0.12935319 +v 0.02477369 -0.03503857 0.14854823 +v 0.04237229 0.00010749 0.14791685 +v 0.04123193 0.00010749 0.14693243 +v 0.03840226 0.00010750 0.14445592 +v 0.03710279 0.00010750 0.14317845 +v 0.03596243 0.00010751 0.14205370 +v 0.03487246 0.00010751 0.14089592 +v 0.03363398 0.00010752 0.13957925 +v 0.02477369 -0.04479939 0.14944388 +v 0.02548442 -0.04461781 0.14933863 +v 0.03091835 -0.04036627 0.14959041 +v 0.03579801 -0.03586230 0.14965029 +v 0.03875232 -0.03389596 0.14632144 +v 0.02997689 -0.02227945 0.12935321 +v 0.03541877 -0.03545041 0.14301941 +v 0.02638079 -0.02643356 0.12935319 +v 0.03151504 0.00010753 0.13641549 +v 0.02477369 -0.03342651 0.14750604 +v 0.02524044 -0.02744330 0.12935319 +v 0.03045955 -0.04001639 0.14313083 +v 0.02494872 -0.04433436 0.14354977 +v 0.02477369 -0.04437864 0.14351262 +v 0.02477369 -0.04501639 0.14872568 +v 0.02477369 -0.04513596 0.14632139 +v 0.02561172 -0.04469752 0.14632140 +v 0.02805420 -0.04316076 0.14632140 +v 0.03137714 -0.04071613 0.14632141 +v 0.03381962 -0.03879851 0.14632142 +v 0.03631249 -0.03635830 0.14632143 +f 1 2 6 +f 1 6 13 +f 1 13 25 +f 1 25 39 +f 1 39 57 +f 1 57 76 +f 1 76 67 +f 1 67 66 +f 1 66 65 +f 1 65 64 +f 1 64 63 +f 1 63 62 +f 1 62 61 +f 1 61 46 +f 1 46 44 +f 1 44 26 +f 1 26 14 +f 1 14 7 +f 1 7 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 4 +f 4 8 9 +f 4 9 10 +f 4 10 11 +f 4 11 5 +f 5 12 13 +f 5 13 6 +f 5 11 12 +f 7 14 15 +f 7 15 16 +f 7 16 8 +f 8 16 9 +f 9 16 17 +f 9 17 18 +f 9 18 19 +f 9 19 10 +f 10 19 20 +f 10 20 21 +f 10 21 22 +f 10 22 23 +f 10 23 11 +f 11 23 24 +f 11 24 12 +f 12 24 35 +f 12 35 34 +f 12 34 55 +f 12 55 73 +f 12 73 75 +f 12 75 78 +f 12 78 59 +f 12 59 40 +f 12 40 25 +f 12 25 13 +f 14 26 15 +f 15 26 27 +f 15 27 28 +f 15 28 29 +f 15 29 16 +f 16 29 30 +f 16 30 18 +f 16 18 17 +f 18 30 31 +f 18 31 20 +f 18 20 19 +f 20 32 21 +f 20 31 33 +f 20 33 32 +f 21 32 22 +f 22 34 35 +f 22 35 24 +f 22 24 23 +f 22 32 33 +f 22 33 36 +f 22 36 37 +f 22 37 38 +f 22 38 34 +f 25 40 41 +f 25 41 42 +f 25 42 43 +f 25 43 39 +f 26 44 27 +f 27 45 60 +f 27 60 77 +f 27 77 58 +f 27 58 43 +f 27 43 42 +f 27 42 41 +f 27 41 40 +f 27 40 59 +f 27 59 81 +f 27 81 83 +f 27 83 82 +f 27 82 68 +f 27 68 47 +f 27 47 28 +f 27 44 46 +f 27 46 45 +f 28 47 48 +f 28 48 49 +f 28 49 29 +f 29 49 50 +f 29 50 30 +f 30 50 51 +f 30 51 31 +f 31 51 52 +f 31 52 53 +f 31 53 54 +f 31 54 36 +f 31 36 33 +f 34 38 37 +f 34 37 55 +f 36 54 37 +f 37 54 53 +f 37 53 52 +f 37 52 56 +f 37 56 55 +f 39 43 58 +f 39 58 57 +f 45 46 61 +f 45 61 62 +f 45 62 63 +f 45 63 64 +f 45 64 65 +f 45 65 66 +f 45 66 67 +f 45 67 60 +f 47 68 69 +f 47 69 48 +f 48 69 70 +f 48 70 49 +f 49 70 71 +f 49 71 50 +f 50 71 51 +f 51 71 72 +f 51 72 52 +f 52 72 56 +f 55 56 73 +f 56 72 74 +f 56 74 75 +f 56 75 73 +f 57 58 77 +f 57 77 76 +f 59 78 79 +f 59 79 80 +f 59 80 81 +f 60 67 76 +f 60 76 77 +f 68 82 69 +f 69 82 83 +f 69 83 84 +f 69 84 85 +f 69 85 86 +f 69 86 70 +f 70 87 71 +f 70 86 87 +f 71 87 88 +f 71 88 72 +f 72 88 74 +f 74 88 87 +f 74 87 79 +f 74 79 75 +f 75 79 78 +f 79 87 86 +f 79 86 80 +f 80 86 85 +f 80 85 84 +f 80 84 83 +f 80 83 81 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_36.obj b/demo_assets/vase/mjcf/mesh/vase_collision_36.obj new file mode 100644 index 0000000000000000000000000000000000000000..1721ec22f71ea0aa3d203faab82ae17fc5fde220 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_36.obj @@ -0,0 +1,118 @@ +# https://github.com/mikedh/trimesh +v -0.00246452 0.03150200 0.09219806 +v -0.00243782 0.03150707 0.09219806 +v -0.00246452 0.02646243 0.09219804 +v -0.00246452 0.03723333 0.12935136 +v 0.00209386 0.03149354 0.09219806 +v -0.00243782 0.03723502 0.12935136 +v 0.00244758 0.03724686 0.12935136 +v 0.01622951 0.01996462 0.09219801 +v -0.00246452 0.02465730 0.11679958 +v -0.00246452 0.02800004 0.12935132 +v 0.00244758 0.03149185 0.09219806 +v 0.00761998 0.03668860 0.12935135 +v 0.02375116 0.01996462 0.09219801 +v 0.01437078 0.01996453 0.11659952 +v 0.01550537 0.01996451 0.12155329 +v -0.00246452 0.02514450 0.12113867 +v -0.00246452 0.02691907 0.12648163 +v 0.01986019 0.01996448 0.12935129 +v 0.00733299 0.03061724 0.09219805 +v 0.01263886 0.03525743 0.12935135 +v 0.02259655 0.02133828 0.09219802 +v 0.02403481 0.01996462 0.09320185 +v 0.01783795 0.01996450 0.12617608 +v 0.01911270 0.01996449 0.12821287 +v 0.03162655 0.01996448 0.12935129 +v 0.01034966 0.02970372 0.09219805 +v 0.01710047 0.03318679 0.12935134 +v 0.01060662 0.02962252 0.09219805 +v 0.02198921 0.02195744 0.09219802 +v 0.02653758 0.02650966 0.12935132 +v 0.02750866 0.02539314 0.12935131 +v 0.03093245 0.02119942 0.12935130 +v 0.02130512 0.03093006 0.12935133 +v 0.01304932 0.02844510 0.09219804 +v 0.01287246 0.02853476 0.09219804 +v 0.02129845 0.02263919 0.09219802 +v 0.02236963 0.03010451 0.12935133 +v 0.01959657 0.02442732 0.09331099 +v 0.01816164 0.02532561 0.09219803 +v 0.01752094 0.02575192 0.09219803 +f 1 2 5 +f 1 5 11 +f 1 11 19 +f 1 19 26 +f 1 26 28 +f 1 28 35 +f 1 35 34 +f 1 34 40 +f 1 40 39 +f 1 39 36 +f 1 36 29 +f 1 29 21 +f 1 21 13 +f 1 13 8 +f 1 8 3 +f 1 3 9 +f 1 9 16 +f 1 16 17 +f 1 17 10 +f 1 10 4 +f 1 4 2 +f 2 4 6 +f 2 6 7 +f 2 7 5 +f 3 8 9 +f 4 10 18 +f 4 18 25 +f 4 25 32 +f 4 32 31 +f 4 31 30 +f 4 30 37 +f 4 37 33 +f 4 33 27 +f 4 27 20 +f 4 20 12 +f 4 12 7 +f 4 7 6 +f 5 7 11 +f 7 12 11 +f 8 13 22 +f 8 22 25 +f 8 25 18 +f 8 18 24 +f 8 24 23 +f 8 23 15 +f 8 15 14 +f 8 14 9 +f 9 14 15 +f 9 15 16 +f 10 17 18 +f 11 12 19 +f 12 20 19 +f 13 21 22 +f 15 23 16 +f 16 23 24 +f 16 24 18 +f 16 18 17 +f 19 20 26 +f 20 27 28 +f 20 28 26 +f 21 29 30 +f 21 30 22 +f 22 30 31 +f 22 31 32 +f 22 32 25 +f 27 33 34 +f 27 34 35 +f 27 35 28 +f 29 36 30 +f 30 36 38 +f 30 38 37 +f 33 37 39 +f 33 39 40 +f 33 40 34 +f 36 39 38 +f 37 38 39 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_37.obj b/demo_assets/vase/mjcf/mesh/vase_collision_37.obj new file mode 100644 index 0000000000000000000000000000000000000000..cc7ddb69aeb502d74ee4e3ca05f87a324bbbba99 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_37.obj @@ -0,0 +1,175 @@ +# https://github.com/mikedh/trimesh +v -0.01489349 0.02403932 0.04490612 +v -0.01489349 0.02417106 0.04435558 +v -0.01489349 0.03031232 0.04490614 +v -0.02829825 -0.00001042 0.04490603 +v -0.01489349 0.02587203 0.03734270 +v -0.01489349 0.03957274 0.02117756 +v -0.01735071 0.03861570 0.02117755 +v -0.01584580 0.02993649 0.04490614 +v -0.03319929 -0.00001042 0.04490603 +v -0.02836799 -0.00001042 0.04450881 +v -0.01489349 0.02718555 0.03254587 +v -0.01489349 0.02656172 0.03472942 +v -0.01489349 0.03221871 0.02117753 +v -0.01819840 0.03817787 0.02117755 +v -0.01713074 0.02914994 0.04490614 +v -0.02052418 0.03684501 0.02117755 +v -0.02170988 0.03616307 0.02117754 +v -0.03320197 0.00080325 0.04490603 +v -0.04229585 -0.00001034 0.02117741 +v -0.02883208 -0.00001041 0.04192804 +v -0.01489349 0.02823170 0.02989310 +v -0.01489349 0.03190100 0.02165605 +v -0.03397723 -0.00001035 0.02443181 +v -0.03507171 -0.00001034 0.02195558 +v -0.03557067 -0.00001034 0.02117741 +v -0.01828693 0.02844088 0.04490613 +v -0.02353938 0.03486508 0.02117754 +v -0.03319660 0.00239571 0.04490604 +v -0.04227976 0.00239579 0.02117742 +v -0.03287738 -0.00001036 0.02743999 +v -0.01489349 0.03149804 0.02226697 +v -0.01489349 0.02870053 0.02876417 +v -0.02004400 0.02715064 0.04490613 +v -0.02663774 0.03253643 0.02117753 +v -0.03268423 0.00726611 0.04490606 +v -0.04205979 0.00428661 0.02117743 +v -0.02169378 0.02586426 0.04490613 +v -0.02715548 0.03207923 0.02117753 +v -0.02394445 0.02390758 0.04490612 +v -0.04169228 0.00720807 0.02117744 +v -0.03146635 0.01216750 0.04490607 +v -0.04130867 0.00901751 0.02117744 +v -0.02882403 0.03048289 0.02117752 +v -0.02467410 0.02308617 0.04490611 +v -0.03160853 0.02771254 0.02117751 +v -0.03068841 0.01412030 0.04490608 +v -0.03898289 0.01631729 0.02117747 +v -0.03999421 0.01352757 0.02117746 +v -0.04033490 0.01257441 0.02117746 +v -0.04047439 0.01216758 0.02117745 +v -0.02592418 0.02165256 0.04490611 +v -0.03212358 0.02712747 0.02117751 +v -0.02997753 0.01582126 0.04490609 +v -0.03819958 0.01816161 0.02117748 +v -0.03330659 0.02562799 0.02117750 +v -0.03559481 0.02263291 0.02117749 +v -0.02850212 0.01826227 0.04490610 +v -0.02928006 0.01697590 0.04490609 +v -0.03621985 0.02166426 0.02117749 +f 1 2 5 +f 1 5 12 +f 1 12 11 +f 1 11 21 +f 1 21 32 +f 1 32 31 +f 1 31 22 +f 1 22 13 +f 1 13 6 +f 1 6 3 +f 1 3 8 +f 1 8 15 +f 1 15 26 +f 1 26 33 +f 1 33 37 +f 1 37 39 +f 1 39 44 +f 1 44 51 +f 1 51 57 +f 1 57 58 +f 1 58 53 +f 1 53 46 +f 1 46 41 +f 1 41 35 +f 1 35 28 +f 1 28 18 +f 1 18 9 +f 1 9 4 +f 1 4 2 +f 2 4 5 +f 3 6 7 +f 3 7 8 +f 4 9 19 +f 4 19 25 +f 4 25 24 +f 4 24 23 +f 4 23 30 +f 4 30 20 +f 4 20 10 +f 4 10 11 +f 4 11 12 +f 4 12 5 +f 6 13 25 +f 6 25 19 +f 6 19 29 +f 6 29 36 +f 6 36 40 +f 6 40 42 +f 6 42 50 +f 6 50 49 +f 6 49 48 +f 6 48 47 +f 6 47 54 +f 6 54 59 +f 6 59 56 +f 6 56 55 +f 6 55 52 +f 6 52 45 +f 6 45 43 +f 6 43 38 +f 6 38 34 +f 6 34 27 +f 6 27 17 +f 6 17 16 +f 6 16 14 +f 6 14 7 +f 7 14 8 +f 8 14 16 +f 8 16 17 +f 8 17 15 +f 9 18 19 +f 10 20 11 +f 11 20 21 +f 13 22 23 +f 13 23 24 +f 13 24 25 +f 15 17 26 +f 17 27 26 +f 18 28 19 +f 19 28 29 +f 20 30 31 +f 20 31 32 +f 20 32 21 +f 22 31 23 +f 23 31 30 +f 26 27 33 +f 27 34 33 +f 28 35 29 +f 29 35 36 +f 33 34 37 +f 34 38 39 +f 34 39 37 +f 35 40 36 +f 35 41 42 +f 35 42 40 +f 38 43 39 +f 39 43 45 +f 39 45 44 +f 41 46 47 +f 41 47 48 +f 41 48 49 +f 41 49 50 +f 41 50 42 +f 44 45 52 +f 44 52 51 +f 46 53 47 +f 47 53 54 +f 51 52 55 +f 51 55 56 +f 51 56 57 +f 53 58 59 +f 53 59 54 +f 56 59 57 +f 57 59 58 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_38.obj b/demo_assets/vase/mjcf/mesh/vase_collision_38.obj new file mode 100644 index 0000000000000000000000000000000000000000..b953eea1ce1edf65061c4e815e578c91e9479bb1 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_38.obj @@ -0,0 +1,553 @@ +# https://github.com/mikedh/trimesh +v 0.04699613 0.00239554 -0.13548911 +v 0.06807741 0.00728395 -0.11342249 +v 0.06825202 0.00239546 -0.11359657 +v 0.04699613 0.00004426 -0.13548477 +v 0.04699613 0.00728403 -0.13510180 +v 0.07279539 0.00728393 -0.10830074 +v 0.06777452 0.01216697 -0.11310917 +v 0.07006580 0.01216696 -0.11062880 +v 0.07293080 0.00239544 -0.10849223 +v 0.07293080 0.00004416 -0.10849224 +v 0.06824845 0.00004418 -0.11359223 +v 0.04699613 0.00004422 -0.12502369 +v 0.04699613 0.00898460 -0.13448389 +v 0.05865569 0.02445382 -0.11871824 +v 0.06151713 0.02194395 -0.11680793 +v 0.06412556 0.02194394 -0.11433192 +v 0.06482399 0.01705546 -0.11501512 +v 0.06726495 0.01705545 -0.11256521 +v 0.07250676 0.01216695 -0.10789605 +v 0.07480518 0.00728392 -0.10582473 +v 0.07495840 0.00239543 -0.10601621 +v 0.06955624 0.01705544 -0.11008919 +v 0.07391432 0.00004415 -0.10729992 +v 0.07767374 0.00004409 -0.09103391 +v 0.05374528 0.05590079 -0.09103370 +v 0.04699613 0.05590083 -0.09939299 +v 0.05621830 0.02638406 -0.11992796 +v 0.04699613 0.03207638 -0.12442307 +v 0.04820770 0.03320280 -0.12320028 +v 0.04926604 0.02994382 -0.12393570 +v 0.05255153 0.02682699 -0.12269118 +v 0.05461475 0.03080776 -0.11941447 +v 0.06366231 0.02476548 -0.11388370 +v 0.05787174 0.02771280 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64 +f 7 64 93 +f 7 93 124 +f 7 124 123 +f 7 123 122 +f 7 122 127 +f 7 127 125 +f 7 125 94 +f 7 94 68 +f 7 68 67 +f 7 67 66 +f 7 66 65 +f 7 65 42 +f 7 42 30 +f 7 30 29 +f 7 29 16 +f 7 16 15 +f 7 15 8 +f 8 15 9 +f 9 15 16 +f 9 16 29 +f 9 29 17 +f 9 17 13 +f 10 12 18 +f 11 19 20 +f 11 20 12 +f 11 13 21 +f 11 21 22 +f 11 22 23 +f 11 23 24 +f 11 24 19 +f 12 20 25 +f 12 25 18 +f 13 17 21 +f 14 26 27 +f 14 27 28 +f 17 30 31 +f 17 31 21 +f 17 29 30 +f 19 32 20 +f 19 24 32 +f 20 32 33 +f 20 33 34 +f 20 34 35 +f 20 35 25 +f 21 31 22 +f 22 31 36 +f 22 36 37 +f 22 37 23 +f 23 37 24 +f 24 37 38 +f 24 38 33 +f 24 33 32 +f 26 39 58 +f 26 58 79 +f 26 79 82 +f 26 82 81 +f 26 81 107 +f 26 107 106 +f 26 106 105 +f 26 105 134 +f 26 134 152 +f 26 152 151 +f 26 151 156 +f 26 156 155 +f 26 155 144 +f 26 144 143 +f 26 143 113 +f 26 113 87 +f 26 87 84 +f 26 84 59 +f 26 59 40 +f 26 40 27 +f 27 40 61 +f 27 61 86 +f 27 86 112 +f 27 112 142 +f 27 142 154 +f 27 154 148 +f 27 148 147 +f 27 147 117 +f 27 117 90 +f 27 90 62 +f 27 62 41 +f 27 41 28 +f 30 42 31 +f 31 42 43 +f 31 43 44 +f 31 44 45 +f 31 45 36 +f 33 38 46 +f 33 46 47 +f 33 47 48 +f 33 48 49 +f 33 49 50 +f 33 50 34 +f 34 50 51 +f 34 51 52 +f 34 52 53 +f 34 53 54 +f 34 54 35 +f 36 45 55 +f 36 55 37 +f 37 55 56 +f 37 56 46 +f 37 46 38 +f 39 57 58 +f 40 59 60 +f 40 60 61 +f 41 62 63 +f 41 63 64 +f 42 65 43 +f 43 65 66 +f 43 66 67 +f 43 67 68 +f 43 68 69 +f 43 69 70 +f 43 70 44 +f 44 70 45 +f 45 70 69 +f 45 69 71 +f 45 71 72 +f 45 72 55 +f 46 56 73 +f 46 73 74 +f 46 74 47 +f 47 74 75 +f 47 75 76 +f 47 76 77 +f 47 77 48 +f 48 77 49 +f 49 77 78 +f 49 78 51 +f 49 51 50 +f 51 79 58 +f 51 58 80 +f 51 80 57 +f 51 57 52 +f 51 78 81 +f 51 81 82 +f 51 82 79 +f 55 73 56 +f 55 72 71 +f 55 71 83 +f 55 83 73 +f 57 80 58 +f 59 84 60 +f 60 85 86 +f 60 86 61 +f 60 84 87 +f 60 87 88 +f 60 88 89 +f 60 89 85 +f 62 90 63 +f 63 91 92 +f 63 92 93 +f 63 93 64 +f 63 90 91 +f 68 94 69 +f 69 94 95 +f 69 95 96 +f 69 96 97 +f 69 97 71 +f 71 97 83 +f 73 83 98 +f 73 98 74 +f 74 98 99 +f 74 99 75 +f 75 100 76 +f 75 99 101 +f 75 101 102 +f 75 102 100 +f 76 100 77 +f 77 103 78 +f 77 100 104 +f 77 104 105 +f 77 105 106 +f 77 106 103 +f 78 103 81 +f 81 103 107 +f 83 97 108 +f 83 108 109 +f 83 109 110 +f 83 110 98 +f 85 89 111 +f 85 111 112 +f 85 112 86 +f 87 113 114 +f 87 114 88 +f 88 114 115 +f 88 115 89 +f 89 115 116 +f 89 116 111 +f 90 117 91 +f 91 117 118 +f 91 118 119 +f 91 119 92 +f 92 119 120 +f 92 120 121 +f 92 121 122 +f 92 122 123 +f 92 123 124 +f 92 124 93 +f 94 125 95 +f 95 126 96 +f 95 125 127 +f 95 127 122 +f 95 122 121 +f 95 121 126 +f 96 126 97 +f 97 126 121 +f 97 121 128 +f 97 128 108 +f 98 110 109 +f 98 109 129 +f 98 129 101 +f 98 101 99 +f 100 130 104 +f 100 102 131 +f 100 131 132 +f 100 132 130 +f 101 129 133 +f 101 133 102 +f 102 133 131 +f 103 106 107 +f 104 130 105 +f 105 130 134 +f 108 128 135 +f 108 135 136 +f 108 136 109 +f 109 137 129 +f 109 136 138 +f 109 138 137 +f 111 139 112 +f 111 116 140 +f 111 140 141 +f 111 141 139 +f 112 139 142 +f 113 143 114 +f 114 143 144 +f 114 144 145 +f 114 145 115 +f 115 145 131 +f 115 131 146 +f 115 146 140 +f 115 140 116 +f 117 147 118 +f 118 147 148 +f 118 148 149 +f 118 149 139 +f 118 139 150 +f 118 150 119 +f 119 150 120 +f 120 150 135 +f 120 135 128 +f 120 128 121 +f 129 137 133 +f 130 132 151 +f 130 151 152 +f 130 152 134 +f 131 153 132 +f 131 133 146 +f 131 145 153 +f 132 153 151 +f 133 137 140 +f 133 140 146 +f 135 141 138 +f 135 138 136 +f 135 150 139 +f 135 139 141 +f 137 138 140 +f 138 141 140 +f 139 149 154 +f 139 154 142 +f 144 155 153 +f 144 153 145 +f 148 154 149 +f 151 153 156 +f 153 155 156 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_4.obj b/demo_assets/vase/mjcf/mesh/vase_collision_4.obj new file mode 100644 index 0000000000000000000000000000000000000000..4f66e4dcaae10b57425fa41ab9d83402610f4f5d --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_4.obj @@ -0,0 +1,109 @@ +# https://github.com/mikedh/trimesh +v -0.02374910 -0.02619670 0.02117731 +v -0.02374910 -0.02511165 0.02239685 +v -0.00244894 -0.03586155 0.02117960 +v -0.00244894 -0.03589860 0.02117728 +v -0.02374910 -0.03478709 0.02117728 +v -0.02374910 -0.02233290 0.02743991 +v -0.00244894 -0.03530315 0.02205534 +v -0.00244894 -0.04244328 0.02117725 +v -0.02262529 -0.03561014 0.02117728 +v -0.01820097 -0.02850713 0.04490593 +v -0.02167871 -0.02592684 0.04490593 +v -0.02307148 -0.02474652 0.04490594 +v -0.02374910 -0.02415636 0.04490594 +v -0.02374910 -0.01979497 0.03220191 +v -0.00244894 -0.03403816 0.02452460 +v -0.00244894 -0.03305374 0.04490126 +v -0.00720895 -0.03263296 0.04490591 +v -0.00435878 -0.04223421 0.02117725 +v -0.02170373 -0.03621353 0.02117728 +v -0.01575737 -0.02997856 0.04490592 +v -0.02374910 -0.01540719 0.04490597 +v -0.02374910 -0.01594706 0.04269919 +v -0.00244894 -0.03286579 0.02743987 +v -0.00452141 -0.03279174 0.04490591 +v -0.00244894 -0.02820809 0.04490593 +v -0.01220873 -0.03139706 0.04490591 +v -0.00915007 -0.04144292 0.02117726 +v -0.00732571 -0.04185842 0.02117726 +v -0.01816761 -0.03825130 0.02117727 +v -0.01628070 -0.03911669 0.02117727 +v -0.01410815 -0.03065870 0.04490592 +v -0.00244894 -0.02818427 0.04490593 +v -0.00244894 -0.02864210 0.04229728 +v -0.00244894 -0.02925077 0.03933556 +v -0.01534454 -0.03949513 0.02117726 +v -0.01386212 -0.04004030 0.02117726 +v -0.01220873 -0.04063840 0.02117726 +f 1 2 3 +f 1 3 4 +f 1 4 8 +f 1 8 18 +f 1 18 28 +f 1 28 27 +f 1 27 37 +f 1 37 36 +f 1 36 35 +f 1 35 30 +f 1 30 29 +f 1 29 19 +f 1 19 9 +f 1 9 5 +f 1 5 13 +f 1 13 21 +f 1 21 22 +f 1 22 14 +f 1 14 6 +f 1 6 2 +f 2 6 7 +f 2 7 3 +f 3 7 15 +f 3 15 23 +f 3 23 34 +f 3 34 33 +f 3 33 32 +f 3 32 25 +f 3 25 16 +f 3 16 8 +f 3 8 4 +f 5 9 10 +f 5 10 11 +f 5 11 12 +f 5 12 13 +f 6 14 7 +f 7 14 15 +f 8 16 17 +f 8 17 18 +f 9 19 10 +f 10 19 20 +f 10 20 31 +f 10 31 26 +f 10 26 17 +f 10 17 24 +f 10 24 25 +f 10 25 32 +f 10 32 21 +f 10 21 13 +f 10 13 12 +f 10 12 11 +f 14 22 23 +f 14 23 15 +f 16 24 17 +f 16 25 24 +f 17 26 27 +f 17 27 28 +f 17 28 18 +f 19 29 20 +f 20 29 30 +f 20 30 31 +f 21 32 33 +f 21 33 34 +f 21 34 22 +f 22 34 23 +f 26 31 35 +f 26 35 36 +f 26 36 37 +f 26 37 27 +f 30 35 31 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_40.obj b/demo_assets/vase/mjcf/mesh/vase_collision_40.obj new file mode 100644 index 0000000000000000000000000000000000000000..937a2a8d032ce39beb407a7ee1036296702f2c0d --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_40.obj @@ -0,0 +1,250 @@ +# https://github.com/mikedh/trimesh +v -0.00243841 0.04320152 0.02012429 +v -0.00732972 0.04320152 0.01935815 +v -0.00003101 0.04320152 0.02010464 +v -0.00243841 0.07276623 -0.01019715 +v -0.00732425 0.07266816 -0.01033958 +v -0.01221010 0.06997526 -0.00811974 +v -0.01221010 0.04320152 0.01794373 +v -0.01709048 0.06950533 -0.00858139 +v -0.02197632 0.06883517 -0.00923950 +v -0.00003101 0.04320155 0.01148554 +v -0.00003101 0.07275806 -0.01021189 +v -0.00003101 0.07376738 -0.01142986 +v -0.00243841 0.07481758 -0.01267729 +v -0.00732425 0.07469908 -0.01281481 +v -0.01221010 0.07241889 -0.01064898 +v -0.01625704 0.04320153 0.01631813 +v -0.02461053 0.06842655 -0.00963730 +v -0.02794700 0.06773596 -0.01024628 +v -0.02794700 0.06563966 -0.00835058 +v -0.01709048 0.07194897 -0.01118431 +v -0.02074940 0.07358351 -0.01422431 +v -0.00003101 0.04417818 0.01029213 +v -0.02794700 0.04320158 0.00228202 +v -0.00003101 0.07480532 -0.01268712 +v -0.00243841 0.07726121 -0.01595303 +v -0.00732425 0.07714271 -0.01612983 +v -0.01221010 0.07444981 -0.01312421 +v -0.01709048 0.07402075 -0.01366444 +v -0.01721345 0.04320153 0.01590068 +v -0.02794700 0.06239919 -0.00551194 +v -0.02400663 0.07305228 -0.01483330 +v -0.02648781 0.06981998 -0.01203394 +v -0.02786502 0.06780134 -0.01028066 +v -0.02794700 0.06778499 -0.01030031 +v -0.01536896 0.07828689 -0.01937610 +v -0.02221679 0.07481350 -0.01674865 +v -0.02686217 0.07431498 -0.01800100 +v -0.00003101 0.04862822 0.00493407 +v -0.02794700 0.04320155 0.01015462 +v -0.02794700 0.07422103 -0.03004810 +v -0.00003101 0.07954144 -0.03004808 +v -0.00003101 0.07724895 -0.01596777 +v -0.00243841 0.07890801 -0.01842825 +v -0.00732425 0.07878951 -0.01860505 +v -0.01221010 0.07689344 -0.01651782 +v -0.01848683 0.04320153 0.01533099 +v -0.02794700 0.06184345 -0.00505520 +v -0.02197632 0.04320154 0.01352368 +v -0.02686217 0.07257828 -0.01552577 +v -0.02794700 0.06965245 -0.01248577 +v -0.01221010 0.07853208 -0.01899794 +v -0.01221010 0.08357872 -0.02833897 +v -0.01703583 0.07930440 -0.02180222 +v -0.02197632 0.07891620 -0.02317735 +v -0.02197632 0.07739609 -0.02070213 +v -0.02794700 0.07411884 -0.01829567 +v -0.02532919 0.07843402 -0.02403189 +v -0.02686217 0.04320155 0.01080780 +v -0.02794700 0.08024837 -0.03004808 +v -0.00003101 0.08493539 -0.03004806 +v -0.00003101 0.07806214 -0.01719064 +v -0.00003101 0.07889575 -0.01844789 +v -0.00003101 0.08399961 -0.02750898 +v -0.00243841 0.08400370 -0.02750898 +v -0.00732425 0.08386067 -0.02778401 +v -0.02586478 0.04320155 0.01136277 +v -0.02794700 0.07240257 -0.01589411 +v -0.02794700 0.07183048 -0.01511324 +v -0.01221010 0.08426115 -0.03004806 +v -0.01451913 0.08388929 -0.03004806 +v -0.01577065 0.08326408 -0.02898724 +v -0.02794700 0.07586779 -0.02126200 +v -0.02287807 0.08177666 -0.03004807 +v -0.02691955 0.07924721 -0.02685581 +v -0.02794700 0.07908376 -0.02727818 +v -0.02794700 0.07832777 -0.02575571 +v -0.02794700 0.07738792 -0.02399261 +v -0.02672007 0.08065701 -0.03004807 +v -0.02794700 0.08002770 -0.02951767 +v -0.00108032 0.08493948 -0.03004806 +v -0.00003101 0.08481689 -0.02972392 +v -0.00243841 0.08494357 -0.03004806 +v -0.00732425 0.08471473 -0.03004806 +v -0.01636361 0.08357056 -0.03004806 +f 1 2 7 +f 1 7 16 +f 1 16 29 +f 1 29 46 +f 1 46 48 +f 1 48 66 +f 1 66 58 +f 1 58 39 +f 1 39 23 +f 1 23 10 +f 1 10 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 8 +f 2 8 9 +f 2 9 7 +f 3 10 22 +f 3 22 38 +f 3 38 41 +f 3 41 60 +f 3 60 81 +f 3 81 63 +f 3 63 62 +f 3 62 61 +f 3 61 42 +f 3 42 24 +f 3 24 12 +f 3 12 11 +f 3 11 4 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 5 13 14 +f 5 14 27 +f 5 27 15 +f 5 15 6 +f 6 15 8 +f 7 9 17 +f 7 17 18 +f 7 18 19 +f 7 19 16 +f 8 15 20 +f 8 20 9 +f 9 20 21 +f 9 21 17 +f 10 23 22 +f 12 24 13 +f 13 24 25 +f 13 25 14 +f 14 25 26 +f 14 26 27 +f 15 27 28 +f 15 28 20 +f 16 19 30 +f 16 30 29 +f 17 21 31 +f 17 31 32 +f 17 32 33 +f 17 33 18 +f 18 33 34 +f 18 34 50 +f 18 50 68 +f 18 68 67 +f 18 67 56 +f 18 56 72 +f 18 72 77 +f 18 77 76 +f 18 76 75 +f 18 75 79 +f 18 79 59 +f 18 59 40 +f 18 40 23 +f 18 23 39 +f 18 39 47 +f 18 47 30 +f 18 30 19 +f 20 28 21 +f 21 28 35 +f 21 35 36 +f 21 36 37 +f 21 37 31 +f 22 23 38 +f 23 40 41 +f 23 41 38 +f 24 42 25 +f 25 42 43 +f 25 43 44 +f 25 44 26 +f 26 44 45 +f 26 45 27 +f 27 45 28 +f 28 45 35 +f 29 30 46 +f 30 47 48 +f 30 48 46 +f 31 37 49 +f 31 49 32 +f 32 50 33 +f 32 49 50 +f 33 50 34 +f 35 45 51 +f 35 51 52 +f 35 52 53 +f 35 53 54 +f 35 54 55 +f 35 55 36 +f 36 55 37 +f 37 56 49 +f 37 55 54 +f 37 54 57 +f 37 57 56 +f 39 58 47 +f 40 59 78 +f 40 78 73 +f 40 73 84 +f 40 84 70 +f 40 70 69 +f 40 69 83 +f 40 83 82 +f 40 82 80 +f 40 80 60 +f 40 60 41 +f 42 61 43 +f 43 61 62 +f 43 62 63 +f 43 63 64 +f 43 64 44 +f 44 51 45 +f 44 64 65 +f 44 65 51 +f 47 58 66 +f 47 66 48 +f 49 67 68 +f 49 68 50 +f 49 56 67 +f 51 65 52 +f 52 65 69 +f 52 69 70 +f 52 70 71 +f 52 71 53 +f 53 71 54 +f 54 71 57 +f 56 57 72 +f 57 71 73 +f 57 73 74 +f 57 74 75 +f 57 75 76 +f 57 76 77 +f 57 77 72 +f 59 79 78 +f 60 80 81 +f 63 81 82 +f 63 82 64 +f 64 82 83 +f 64 83 65 +f 65 83 69 +f 70 84 71 +f 71 84 73 +f 73 78 74 +f 74 78 79 +f 74 79 75 +f 80 82 81 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_41.obj b/demo_assets/vase/mjcf/mesh/vase_collision_41.obj new file mode 100644 index 0000000000000000000000000000000000000000..ccf8455e7caecf5361901bf0063aa3cd65ffc4a6 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_41.obj @@ -0,0 +1,229 @@ +# https://github.com/mikedh/trimesh +v -0.09036177 0.00004732 -0.06102918 +v -0.08519755 0.00004732 -0.06102918 +v -0.09036019 -0.00249417 -0.06102919 +v -0.09047205 -0.00249418 -0.05677125 +v -0.09040588 0.00004732 -0.05934915 +v -0.08045396 0.00004722 -0.03218643 +v -0.07438072 -0.02999757 -0.03218654 +v -0.07949296 -0.02999747 -0.06102929 +v -0.09031924 -0.00317954 -0.06102919 +v -0.09017272 -0.00738300 -0.05677127 +v -0.09027827 -0.00249420 -0.05181588 +v -0.09047205 0.00004731 -0.05677124 +v -0.09041534 0.00004732 -0.05898774 +v -0.08563866 0.00004722 -0.03218643 +v -0.08039567 -0.02999757 -0.03218654 +v -0.08487932 -0.02999747 -0.06102929 +v -0.09005298 -0.00738299 -0.06102921 +v -0.08948426 -0.01226887 -0.06102923 +v -0.08959769 -0.01226888 -0.05677129 +v -0.08940234 -0.01226890 -0.05181592 +v -0.08997107 -0.00738302 -0.05181590 +v -0.08978044 -0.00249422 -0.04686335 +v -0.09004038 0.00004728 -0.04944125 +v -0.09027827 0.00004729 -0.05181587 +v -0.08812625 0.00004724 -0.03873711 +v -0.08813098 -0.00249425 -0.03872300 +v -0.08564339 -0.00238543 -0.03218644 +v 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@@ +# https://github.com/mikedh/trimesh +v -0.00003101 0.03596191 0.02117408 +v -0.00003101 0.03766856 0.01825081 +v -0.00003101 0.04245037 0.02117411 +v -0.02307870 0.02674927 0.02117405 +v -0.02671524 0.02674929 0.01737655 +v -0.04184770 0.02674934 0.00405939 +v -0.04519806 0.02674935 0.00122250 +v -0.04758519 0.02674935 -0.00077473 +v -0.06396008 0.02674940 -0.01411262 +v -0.00003101 0.04317654 0.01151278 +v -0.00003101 0.04319744 0.02010639 +v -0.00079182 0.04319744 0.02011330 +v -0.00243908 0.04319744 0.02012367 +v -0.00243908 0.04246003 0.02117411 +v -0.03243179 0.02674927 0.02117405 +v -0.06456733 0.02674940 -0.01411953 +v -0.06396706 0.02676550 -0.01411953 +v -0.05452323 0.04319756 -0.01411947 +v -0.00003101 0.04319747 0.01148859 +v -0.00733200 0.04319744 0.01936002 +v -0.00739482 0.04185788 0.02117410 +v -0.03212467 0.02713085 0.02117405 +v -0.05313423 0.04317982 -0.00517341 +v -0.05786661 0.04319754 -0.00889143 +v -0.05874608 0.04319755 -0.00960325 +v -0.05960461 0.04056996 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+f 123 140 141 +f 123 141 142 +f 123 142 131 +f 123 131 124 +f 124 131 130 +f 128 137 143 +f 128 143 144 +f 128 144 145 +f 128 145 129 +f 131 142 132 +f 132 142 146 +f 132 146 133 +f 133 146 134 +f 134 146 147 +f 134 147 148 +f 134 148 149 +f 134 149 135 +f 135 149 136 +f 136 150 151 +f 136 151 137 +f 136 149 152 +f 136 152 150 +f 137 151 143 +f 141 153 146 +f 141 146 142 +f 146 153 154 +f 146 154 155 +f 146 155 147 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_45.obj b/demo_assets/vase/mjcf/mesh/vase_collision_45.obj new file mode 100644 index 0000000000000000000000000000000000000000..a8d6395f26fb43ece4d85831e053edaac1630e85 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_45.obj @@ -0,0 +1,367 @@ +# https://github.com/mikedh/trimesh +v -0.02710457 0.08562051 -0.06103169 +v -0.02710457 0.08560849 -0.06148396 +v -0.02754937 0.08550017 -0.06103169 +v -0.02710457 0.08050296 -0.06103170 +v -0.02710457 0.08560247 -0.06169338 +v -0.03175125 0.08431781 -0.06103169 +v 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103 +f 91 103 94 +f 92 107 114 +f 92 114 93 +f 92 94 117 +f 92 117 107 +f 94 103 118 +f 94 118 99 +f 94 99 117 +f 95 113 119 +f 95 119 120 +f 95 120 111 +f 97 109 98 +f 98 109 121 +f 98 121 117 +f 98 117 99 +f 99 118 100 +f 100 118 103 +f 101 122 105 +f 101 105 102 +f 101 104 122 +f 106 123 114 +f 106 114 107 +f 107 117 110 +f 108 117 121 +f 108 121 109 +f 108 110 117 +f 114 123 115 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_46.obj b/demo_assets/vase/mjcf/mesh/vase_collision_46.obj new file mode 100644 index 0000000000000000000000000000000000000000..45033292929d76ad7b14e17047740b1e7d7e4325 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_46.obj @@ -0,0 +1,346 @@ +# https://github.com/mikedh/trimesh +v 0.07937144 -0.03029546 -0.06103211 +v 0.07491662 -0.03029556 -0.03376920 +v 0.08476932 -0.03029546 -0.06103211 +v 0.06020150 -0.05957433 -0.06103222 +v 0.08085236 -0.03029556 -0.03376920 +v 0.06020150 -0.05376921 -0.03376929 +v 0.08483685 -0.03029547 -0.05676986 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151 172 171 +f 151 171 152 +f 152 170 153 +f 153 170 182 +f 153 182 154 +f 157 181 187 +f 157 187 158 +f 158 187 169 +f 158 169 159 +f 161 177 162 +f 162 177 188 +f 162 188 165 +f 163 178 164 +f 165 188 174 +f 165 174 166 +f 166 174 186 +f 166 186 167 +f 167 189 168 +f 167 186 185 +f 167 185 189 +f 169 182 170 +f 169 187 182 +f 172 184 173 +f 173 184 186 +f 173 186 174 +f 174 188 175 +f 175 188 176 +f 176 188 177 +f 181 182 187 +f 183 190 191 +f 183 191 185 +f 185 191 189 +f 189 191 192 +f 190 193 191 +f 191 193 192 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_48.obj b/demo_assets/vase/mjcf/mesh/vase_collision_48.obj new file mode 100644 index 0000000000000000000000000000000000000000..6335b407440ab6328537f3c189b1ddf1e598fd84 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_48.obj @@ -0,0 +1,355 @@ +# https://github.com/mikedh/trimesh +v -0.08414742 -0.00249457 -0.08939557 +v -0.08373213 -0.00249457 -0.09052308 +v -0.08408375 -0.00386144 -0.08939557 +v 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95 107 109 +f 95 109 110 +f 95 110 111 +f 95 111 103 +f 96 112 97 +f 97 112 108 +f 99 102 113 +f 99 113 106 +f 99 106 100 +f 101 105 114 +f 101 114 102 +f 102 114 113 +f 103 111 104 +f 105 115 114 +f 106 113 109 +f 106 109 107 +f 109 113 116 +f 109 116 110 +f 110 116 117 +f 110 117 111 +f 113 114 116 +f 114 115 118 +f 114 118 116 +f 116 118 119 +f 116 119 117 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_49.obj b/demo_assets/vase/mjcf/mesh/vase_collision_49.obj new file mode 100644 index 0000000000000000000000000000000000000000..0cbc52833d61bf98832cbbd65047d48404bf1f5f --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_49.obj @@ -0,0 +1,202 @@ +# https://github.com/mikedh/trimesh +v -0.08061277 -0.02691891 -0.06103210 +v -0.08519681 0.00003851 -0.06103200 +v -0.08567142 -0.02691891 -0.06103210 +v -0.07346883 -0.02691880 -0.08939566 +v -0.09036129 0.00003851 -0.06103200 +v -0.07869946 0.00003862 -0.08939556 +v -0.08801139 -0.01995262 -0.06103207 +v -0.08572433 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index 0000000000000000000000000000000000000000..082fa7cbffa4931fd6f2a712cf9df25aa8b32405 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_51.obj @@ -0,0 +1,307 @@ +# https://github.com/mikedh/trimesh +v -0.05453240 0.04319756 -0.01412508 +v -0.06903803 0.04319764 -0.03610692 +v -0.06301071 0.04319756 -0.01412508 +v -0.06899352 0.00005009 -0.01412524 +v -0.08165535 0.00005017 -0.03610708 +v -0.07551676 0.04319764 -0.03610692 +v -0.06350344 0.04319756 -0.01465445 +v -0.06397075 0.04173622 -0.01412509 +v -0.07593003 0.00005009 -0.01412524 +v -0.08700556 0.00005017 -0.03610708 +v -0.07426107 0.04319763 -0.03254980 +v -0.07656265 0.04139419 -0.03610693 +v -0.06407248 0.04319757 -0.01539040 +v -0.06763928 0.03767320 -0.01567663 +v -0.06462880 0.04064233 -0.01412509 +v -0.07593321 0.00041753 -0.01412524 +v -0.07730017 0.00005010 -0.01588766 +v -0.08557502 0.00005016 -0.03200337 +v -0.08699920 0.00239422 -0.03610707 +v -0.07305306 0.04319762 -0.02982547 +v -0.07729063 0.04008491 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86 87 +f 68 87 88 +f 68 88 89 +f 68 89 69 +f 69 89 70 +f 70 89 90 +f 71 91 73 +f 72 73 74 +f 73 91 92 +f 73 92 74 +f 74 92 75 +f 75 92 93 +f 75 93 76 +f 76 93 77 +f 77 93 86 +f 77 85 94 +f 77 94 95 +f 77 95 78 +f 78 95 96 +f 78 96 79 +f 81 97 82 +f 82 97 83 +f 83 98 95 +f 83 95 84 +f 83 97 99 +f 83 99 98 +f 84 95 85 +f 85 95 94 +f 86 93 92 +f 86 92 100 +f 86 100 87 +f 87 100 88 +f 88 100 92 +f 88 92 101 +f 88 101 89 +f 89 101 90 +f 90 101 102 +f 91 103 92 +f 92 103 101 +f 95 98 96 +f 101 103 102 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_52.obj b/demo_assets/vase/mjcf/mesh/vase_collision_52.obj new file mode 100644 index 0000000000000000000000000000000000000000..28fbe78151de827b3368da036f0f807d67b11ce8 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_52.obj @@ -0,0 +1,355 @@ +# https://github.com/mikedh/trimesh +v 0.07951856 0.00005011 -0.01926437 +v 0.07953208 0.00239466 -0.01926436 +v 0.07325194 0.00005011 -0.01926437 +v 0.08402987 0.00005014 -0.02740857 +v 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102 +f 101 110 107 +f 108 118 119 +f 108 119 112 +f 108 112 109 +f 109 112 111 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_53.obj b/demo_assets/vase/mjcf/mesh/vase_collision_53.obj new file mode 100644 index 0000000000000000000000000000000000000000..fcd35d95f502c6ba4b34689cf0f7d03c42dbedaf --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_53.obj @@ -0,0 +1,211 @@ +# https://github.com/mikedh/trimesh +v 0.08519542 0.00005026 -0.06103200 +v 0.08097902 0.00005016 -0.03376909 +v 0.09032432 0.00005026 -0.06103200 +v 0.07937263 -0.03029546 -0.06103211 +v 0.07491786 -0.03029556 -0.03376920 +v 0.08625368 0.00005016 -0.03376909 +v 0.09042908 0.00005025 -0.05676975 +v 0.09041693 -0.00249539 -0.05676976 +v 0.09030914 -0.00249538 -0.06103201 +v 0.08477028 -0.03029546 -0.06103211 +v 0.08085452 -0.03029556 -0.03376920 +v 0.08625672 -0.00249548 -0.03376910 +v 0.08815159 -0.00249546 -0.03866388 +v 0.08815008 0.00005018 -0.03866921 +v 0.09021955 0.00005023 -0.05181626 +v 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@@ -0,0 +1,343 @@ +# https://github.com/mikedh/trimesh +v 0.04695564 0.00239508 -0.14098168 +v 0.04638287 0.00239510 -0.14593479 +v 0.04670362 0.00728215 -0.14098166 +v 0.04690066 0.00356631 -0.13979492 +v 0.04692357 0.00239507 -0.13979492 +v 0.04691899 0.00060375 -0.13979493 +v 0.04694648 0.00004340 -0.14098169 +v 0.04481119 0.00239511 -0.14916493 +v 0.04459583 0.00728218 -0.14900417 +v 0.04598880 0.00728217 -0.14593477 +v 0.04636454 0.00004342 -0.14593480 +v 0.04586050 0.01216922 -0.14098165 +v 0.04653408 0.00845338 -0.13979490 +v 0.04670821 0.00728214 -0.13979490 +v 0.04691440 0.00004339 -0.13979493 +v 0.04152119 0.00239511 -0.15040241 +v 0.04152119 0.00728218 -0.15026644 +v 0.04561307 0.00004342 -0.14747866 +v 0.04479744 0.00004343 -0.14915308 +v 0.04152119 0.00004343 -0.15039163 +v 0.04193359 0.01244943 -0.14960400 +v 0.04427049 0.01100719 -0.14871933 +v 0.04489825 0.01244942 -0.14628106 +v 0.04589258 0.01216921 -0.13979489 +v 0.04437130 0.01565540 -0.14486234 +v 0.04458208 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84 85 +f 67 85 68 +f 67 76 84 +f 68 85 86 +f 68 86 87 +f 68 87 69 +f 69 87 88 +f 73 89 74 +f 74 89 90 +f 74 90 91 +f 74 91 92 +f 74 92 75 +f 75 92 76 +f 76 92 93 +f 76 93 85 +f 76 85 84 +f 78 94 79 +f 79 86 95 +f 79 95 80 +f 79 94 96 +f 79 96 86 +f 80 95 97 +f 80 97 81 +f 81 97 98 +f 85 93 86 +f 86 96 99 +f 86 99 100 +f 86 100 88 +f 86 88 87 +f 86 93 95 +f 90 98 97 +f 90 97 91 +f 91 97 93 +f 91 93 92 +f 93 97 95 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_58.obj b/demo_assets/vase/mjcf/mesh/vase_collision_58.obj new file mode 100644 index 0000000000000000000000000000000000000000..37771fb33120b92395e01547cb3eebde73277dfb --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_58.obj @@ -0,0 +1,250 @@ +# https://github.com/mikedh/trimesh +v 0.04217398 0.00239462 0.02117742 +v 0.04165471 0.00726890 0.02117744 +v 0.04215705 0.00035188 0.02117741 +v 0.07279389 0.00005008 -0.01020297 +v 0.07279389 0.00239474 -0.01020296 +v 0.07264714 0.00727990 -0.01038900 +v 0.04046942 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0.00727993 -0.01854782 +v 0.07689160 0.01216780 -0.01651305 +v 0.07824057 0.01510544 -0.01926431 +v 0.03821174 0.01806739 0.02117748 +v 0.06768587 0.02783784 -0.01031768 +v 0.06563702 0.02783783 -0.00840564 +v 0.07817849 0.01536656 -0.01926431 +v 0.07476937 0.02204965 -0.01679012 +v 0.07427832 0.02682330 -0.01814793 +v 0.07249475 0.02682329 -0.01566980 +v 0.07179487 0.02783786 -0.01528185 +v 0.06956540 0.02783785 -0.01255037 +v 0.06775925 0.02783784 -0.01038893 +v 0.03134272 0.02783772 0.02117751 +v 0.02227245 0.02783772 0.02066288 +v 0.03756265 0.00004997 0.01803818 +v 0.03659749 0.00004997 0.01955039 +v 0.07951616 0.00005011 -0.01926437 +v 0.07953310 0.00239477 -0.01926436 +v 0.07931297 0.00629528 -0.01926435 +v 0.07924524 0.00727993 -0.01926434 +v 0.07872033 0.01216781 -0.01926433 +v 0.07857358 0.01216781 -0.01899118 +v 0.07839297 0.01423231 -0.01926432 +v 0.03686277 0.02049365 0.02117749 +v 0.06310276 0.02783782 -0.00613732 +v 0.03618546 0.02170679 0.02117749 +v 0.07641184 0.02197894 -0.01926429 +v 0.07561601 0.02472616 -0.01926428 +v 0.07494999 0.02683418 -0.01926427 +v 0.07456054 0.02783787 -0.01920489 +v 0.07408642 0.02783787 -0.01842899 +v 0.07284469 0.02783786 -0.01670301 +v 0.03208211 0.02708155 0.02117751 +v 0.02281430 0.02783773 0.01996615 +v 0.02340694 0.02783773 0.01924172 +v 0.04242233 0.00005000 0.01212789 +v 0.07324544 0.00005011 -0.01926437 +v 0.03254494 0.02657835 0.02117751 +v 0.03426078 0.02442681 0.02117750 +v 0.07459440 0.02783787 -0.01926427 +v 0.05106928 0.00005003 0.00244894 +v 0.04864226 0.00005002 0.00492310 +v 0.04727636 0.00005002 0.00644323 +v 0.04581451 0.00005001 0.00807817 +v 0.02414069 0.02783773 0.01854103 +v 0.05351323 0.00005004 -0.00001732 +v 0.06767459 0.02783787 -0.01925635 +v 0.06874134 0.02543065 -0.01926428 +v 0.02549530 0.02783774 0.01729405 +v 0.07144492 0.02783787 -0.01926427 +f 1 2 7 +f 1 7 15 +f 1 15 25 +f 1 25 37 +f 1 37 58 +f 1 58 60 +f 1 60 73 +f 1 73 72 +f 1 72 67 +f 1 67 47 +f 1 47 30 +f 1 30 19 +f 1 19 10 +f 1 10 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 2 +f 2 6 8 +f 2 8 9 +f 2 9 7 +f 3 10 4 +f 4 11 12 +f 4 12 5 +f 4 10 19 +f 4 19 31 +f 4 31 50 +f 4 50 49 +f 4 49 70 +f 4 70 78 +f 4 78 77 +f 4 77 76 +f 4 76 75 +f 4 75 80 +f 4 80 71 +f 4 71 51 +f 4 51 32 +f 4 32 20 +f 4 20 11 +f 5 12 6 +f 6 12 13 +f 6 13 14 +f 6 14 8 +f 7 9 16 +f 7 16 17 +f 7 17 15 +f 8 14 9 +f 9 14 18 +f 9 18 16 +f 11 20 21 +f 11 21 12 +f 12 21 13 +f 13 21 22 +f 13 22 23 +f 13 23 14 +f 14 23 24 +f 14 24 18 +f 15 17 25 +f 16 18 17 +f 17 18 26 +f 17 26 27 +f 17 27 28 +f 17 28 29 +f 17 29 25 +f 18 24 26 +f 19 30 31 +f 20 32 33 +f 20 33 21 +f 21 33 34 +f 21 34 22 +f 22 34 35 +f 22 35 23 +f 23 35 24 +f 24 35 36 +f 24 36 26 +f 25 29 38 +f 25 38 39 +f 25 39 37 +f 26 36 40 +f 26 40 41 +f 26 41 27 +f 27 41 42 +f 27 42 43 +f 27 43 28 +f 28 43 44 +f 28 44 45 +f 28 45 29 +f 29 45 46 +f 29 46 38 +f 30 47 59 +f 30 59 39 +f 30 39 38 +f 30 38 46 +f 30 46 45 +f 30 45 44 +f 30 44 66 +f 30 66 65 +f 30 65 64 +f 30 64 74 +f 30 74 84 +f 30 84 81 +f 30 81 83 +f 30 83 79 +f 30 79 69 +f 30 69 68 +f 30 68 48 +f 30 48 49 +f 30 49 50 +f 30 50 31 +f 32 51 52 +f 32 52 33 +f 33 52 34 +f 34 52 53 +f 34 53 54 +f 34 54 55 +f 34 55 56 +f 34 56 35 +f 35 56 36 +f 36 56 57 +f 36 57 55 +f 36 55 54 +f 36 54 53 +f 36 53 52 +f 36 52 51 +f 36 51 71 +f 36 71 82 +f 36 82 84 +f 36 84 74 +f 36 74 63 +f 36 63 62 +f 36 62 61 +f 36 61 40 +f 37 39 58 +f 39 59 60 +f 39 60 58 +f 40 61 41 +f 41 61 42 +f 42 61 62 +f 42 62 63 +f 42 63 64 +f 42 64 65 +f 42 65 66 +f 42 66 43 +f 43 66 44 +f 47 67 59 +f 48 68 49 +f 49 68 69 +f 49 69 70 +f 55 57 56 +f 59 67 72 +f 59 72 73 +f 59 73 60 +f 63 74 64 +f 69 75 76 +f 69 76 77 +f 69 77 78 +f 69 78 70 +f 69 79 71 +f 69 71 80 +f 69 80 75 +f 71 81 82 +f 71 79 83 +f 71 83 81 +f 81 84 82 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_59.obj b/demo_assets/vase/mjcf/mesh/vase_collision_59.obj new file mode 100644 index 0000000000000000000000000000000000000000..6193416e75ceb0affde2b38fa6098a6769ee7e74 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_59.obj @@ -0,0 +1,307 @@ +# https://github.com/mikedh/trimesh +v -0.07895028 0.04319773 -0.06103184 +v -0.07273890 0.04319773 -0.06103184 +v -0.07985051 0.04148298 -0.06103185 +v -0.07910975 0.04319772 -0.05676952 +v -0.06903725 0.04319764 -0.03610692 +v -0.08519733 0.00005026 -0.06103200 +v -0.08015058 0.04089591 -0.06103185 +v -0.07999740 0.04148297 -0.05676953 +v -0.07981483 0.04148295 -0.05181675 +v -0.07903211 0.04319771 -0.05468594 +v -0.07551932 0.04319764 -0.03610692 +v -0.08165726 0.00005017 -0.03610708 +v -0.09036159 0.00005026 -0.06103200 +v -0.08213151 0.03730591 -0.05676954 +v -0.08207275 0.03713275 -0.06103186 +v -0.08336959 0.03486471 -0.05676955 +v -0.08206436 0.03704403 -0.05181676 +v -0.07917900 0.04177435 -0.04712015 +v -0.07856836 0.04319769 -0.04826928 +v -0.07890830 0.04319770 -0.05181674 +v -0.07588865 0.04319765 -0.03708283 +v -0.07567671 0.04292733 -0.03610692 +v -0.08700409 0.00005017 -0.03610708 +v -0.09036369 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+v -0.08801764 0.00608136 -0.03910313 +v -0.08977822 0.00239426 -0.04686655 +v -0.08935433 0.00005020 -0.04449264 +v -0.08845830 0.00753849 -0.04149899 +v -0.08945087 0.00728087 -0.04686653 +v -0.09004053 0.00005022 -0.04944299 +v -0.08995659 0.00728089 -0.05181687 +v -0.08960196 0.01216752 -0.05676964 +v -0.08949913 0.01216753 -0.06103196 +v -0.08957887 0.01148332 -0.06103196 +v -0.08783507 0.01942772 -0.04950635 +v -0.08842054 0.01750181 -0.05142160 +v -0.08879825 0.01636993 -0.06103194 +v -0.08936693 0.01216750 -0.05181686 +v -0.08801343 0.01507748 -0.04395095 +v -0.08468531 0.02193645 -0.03695848 +v -0.08441881 0.02193644 -0.03610700 +v -0.08614372 0.01216744 -0.03610704 +v -0.08776162 0.00933771 -0.03957155 +v -0.08978032 0.00005021 -0.04686656 +v -0.08824007 0.01216747 -0.04292382 +v -0.08886960 0.01216748 -0.04686652 +v -0.08821279 0.01612914 -0.04686650 +v -0.08566318 0.01705406 -0.03695850 +v -0.08458459 0.02118888 -0.03610700 +v -0.08554987 0.01621357 -0.03610702 +v -0.08540508 0.01708784 -0.03610702 +f 1 2 6 +f 1 6 13 +f 1 13 24 +f 1 24 42 +f 1 42 62 +f 1 62 86 +f 1 86 85 +f 1 85 89 +f 1 89 66 +f 1 66 65 +f 1 65 45 +f 1 45 43 +f 1 43 28 +f 1 28 27 +f 1 27 26 +f 1 26 15 +f 1 15 7 +f 1 7 3 +f 1 3 4 +f 1 4 10 +f 1 10 20 +f 1 20 19 +f 1 19 33 +f 1 33 49 +f 1 49 34 +f 1 34 21 +f 1 21 11 +f 1 11 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 4 +f 4 8 9 +f 4 9 10 +f 5 11 22 +f 5 22 37 +f 5 37 54 +f 5 54 53 +f 5 53 52 +f 5 52 71 +f 5 71 70 +f 5 70 69 +f 5 69 74 +f 5 74 93 +f 5 93 101 +f 5 101 103 +f 5 103 102 +f 5 102 94 +f 5 94 76 +f 5 76 58 +f 5 58 39 +f 5 39 23 +f 5 23 12 +f 5 12 6 +f 6 12 23 +f 6 23 38 +f 6 38 55 +f 6 55 75 +f 6 75 79 +f 6 79 96 +f 6 96 82 +f 6 82 59 +f 6 59 40 +f 6 40 25 +f 6 25 13 +f 7 14 8 +f 7 15 14 +f 8 14 9 +f 9 14 16 +f 9 16 17 +f 9 17 18 +f 9 18 19 +f 9 19 20 +f 9 20 10 +f 11 21 22 +f 13 25 24 +f 14 15 26 +f 14 26 16 +f 16 26 27 +f 16 27 28 +f 16 28 29 +f 16 29 30 +f 16 30 17 +f 17 30 31 +f 17 31 18 +f 18 32 33 +f 18 33 19 +f 18 31 32 +f 21 34 35 +f 21 35 36 +f 21 36 22 +f 22 36 37 +f 23 39 38 +f 24 25 40 +f 24 40 41 +f 24 41 42 +f 28 43 29 +f 29 44 30 +f 29 43 45 +f 29 45 46 +f 29 46 44 +f 30 44 31 +f 31 44 47 +f 31 47 48 +f 31 48 32 +f 32 35 34 +f 32 34 49 +f 32 49 33 +f 32 48 35 +f 35 48 50 +f 35 50 51 +f 35 51 52 +f 35 52 53 +f 35 53 54 +f 35 54 36 +f 36 54 37 +f 38 39 56 +f 38 56 57 +f 38 57 55 +f 39 58 56 +f 40 59 60 +f 40 60 41 +f 41 60 61 +f 41 61 42 +f 42 61 62 +f 44 63 47 +f 44 46 64 +f 44 64 63 +f 45 65 46 +f 46 65 66 +f 46 66 67 +f 46 67 64 +f 47 63 68 +f 47 68 48 +f 48 68 50 +f 50 69 70 +f 50 70 71 +f 50 71 72 +f 50 72 52 +f 50 52 51 +f 50 68 73 +f 50 73 74 +f 50 74 69 +f 52 72 71 +f 55 57 75 +f 56 58 76 +f 56 76 77 +f 56 77 57 +f 57 78 79 +f 57 79 75 +f 57 77 80 +f 57 80 81 +f 57 81 78 +f 59 82 60 +f 60 82 78 +f 60 78 83 +f 60 83 61 +f 61 83 84 +f 61 84 85 +f 61 85 86 +f 61 86 62 +f 63 64 87 +f 63 87 68 +f 64 67 88 +f 64 88 87 +f 66 89 67 +f 67 89 84 +f 67 84 90 +f 67 90 88 +f 68 87 91 +f 68 91 92 +f 68 92 73 +f 73 92 74 +f 74 92 93 +f 76 94 77 +f 77 94 95 +f 77 95 80 +f 78 82 96 +f 78 96 79 +f 78 81 83 +f 80 95 97 +f 80 97 81 +f 81 97 98 +f 81 98 83 +f 83 98 90 +f 83 90 84 +f 84 89 85 +f 87 88 99 +f 87 99 91 +f 88 90 99 +f 90 98 99 +f 91 99 98 +f 91 98 97 +f 91 97 100 +f 91 100 92 +f 92 100 101 +f 92 101 93 +f 94 102 95 +f 95 102 103 +f 95 103 100 +f 95 100 97 +f 100 103 101 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_6.obj b/demo_assets/vase/mjcf/mesh/vase_collision_6.obj new file mode 100644 index 0000000000000000000000000000000000000000..f19a34ea7e406c38ede5495685fc81ab881df3b4 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_6.obj @@ -0,0 +1,142 @@ +# https://github.com/mikedh/trimesh +v 0.02652472 -0.01640403 0.09218962 +v 0.02849542 -0.01306082 0.09218963 +v 0.01997096 -0.01640403 0.09218962 +v 0.02958967 -0.01640385 0.04490829 +v 0.02992616 -0.01583943 0.04490829 +v 0.02858150 -0.01288284 0.09218963 +v 0.02648038 -0.00002310 0.09218968 +v 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78 +f 65 78 79 +f 65 79 71 +f 65 71 66 +f 67 80 81 +f 67 81 68 +f 68 81 82 +f 68 82 69 +f 69 82 83 +f 71 79 84 +f 71 84 85 +f 71 85 72 +f 72 85 82 +f 72 82 86 +f 72 86 74 +f 72 74 73 +f 74 86 75 +f 75 86 81 +f 75 81 80 +f 75 80 87 +f 75 87 76 +f 81 86 82 +f 82 85 88 +f 82 88 83 +f 84 89 85 +f 85 89 88 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_61.obj b/demo_assets/vase/mjcf/mesh/vase_collision_61.obj new file mode 100644 index 0000000000000000000000000000000000000000..45b8c4f5a2b0f327527ef721f7be9476b5cef38f --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_61.obj @@ -0,0 +1,472 @@ +# https://github.com/mikedh/trimesh +v -0.05478719 0.05488522 -0.09099418 +v -0.06282198 0.05488522 -0.09099418 +v -0.06450069 0.05488511 -0.06103474 +v -0.08519541 0.00004388 -0.06103200 +v -0.07768652 0.00004399 -0.09099438 +v -0.06399916 0.05427856 -0.08990011 +v -0.06314588 0.05488522 -0.09043395 +v -0.06369268 0.05391349 -0.09099418 +v -0.06870093 0.05488511 -0.06103180 +v 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+v -0.08325201 0.01216651 -0.08946617 +v -0.08240570 0.01299328 -0.09099433 +v -0.07819849 0.03912806 -0.07922928 +v -0.07712579 0.04218821 -0.07658355 +v -0.07452067 0.04664423 -0.07655713 +v -0.07887764 0.03652962 -0.08114465 +v -0.07720589 0.03133812 -0.09099426 +v -0.07847711 0.03005500 -0.08966261 +v -0.07913536 0.03169245 -0.08647717 +v -0.08342267 0.02557748 -0.08041140 +v -0.08071655 0.03170853 -0.08153771 +v -0.08330078 0.02993684 -0.07519619 +v -0.06931042 0.05488516 -0.07462707 +v -0.07211406 0.05205049 -0.07163231 +v -0.07378928 0.04960773 -0.07163232 +v -0.07905526 0.04071180 -0.07163235 +v -0.07014628 0.05488515 -0.07079048 +v -0.07821590 0.04402963 -0.06471885 +v -0.07688200 0.04673543 -0.06103183 +v -0.07835870 0.04427121 -0.06172701 +v -0.08950013 0.01216640 -0.06103196 +v -0.08899513 0.00728092 -0.07163247 +v -0.08905782 0.01216642 -0.06668126 +v -0.08866775 0.01705729 -0.06172711 +v -0.08807568 0.01073837 -0.07475043 +v -0.08510486 0.01705736 -0.08153777 +v 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+f 113 138 126 +f 113 126 125 +f 113 125 114 +f 114 125 142 +f 114 142 115 +f 115 142 116 +f 116 142 143 +f 116 143 144 +f 116 144 145 +f 116 145 146 +f 116 146 117 +f 122 147 142 +f 122 142 123 +f 123 142 124 +f 124 142 125 +f 126 138 128 +f 126 128 127 +f 128 138 141 +f 128 141 148 +f 128 148 149 +f 128 149 129 +f 129 149 131 +f 131 149 148 +f 131 148 150 +f 131 150 151 +f 131 151 132 +f 132 151 133 +f 133 152 153 +f 133 153 134 +f 133 151 152 +f 137 141 138 +f 139 154 140 +f 140 154 148 +f 140 148 141 +f 142 147 143 +f 148 154 155 +f 148 155 150 +f 150 155 156 +f 150 156 151 +f 151 156 157 +f 151 157 158 +f 151 158 152 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_62.obj b/demo_assets/vase/mjcf/mesh/vase_collision_62.obj new file mode 100644 index 0000000000000000000000000000000000000000..b15de26d5b9effe01701972c4d99788c7d06030b --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_62.obj @@ -0,0 +1,307 @@ +# https://github.com/mikedh/trimesh +v -0.00000175 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a/demo_assets/vase/mjcf/mesh/vase_collision_66.obj b/demo_assets/vase/mjcf/mesh/vase_collision_66.obj new file mode 100644 index 0000000000000000000000000000000000000000..4b66977d3884f3311783d204448e58ba0c231e02 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_66.obj @@ -0,0 +1,415 @@ +# https://github.com/mikedh/trimesh +v -0.02710408 0.07557908 -0.08379208 +v -0.02710408 0.05488791 -0.11316249 +v -0.02710408 0.08142814 -0.08379206 +v -0.05867757 0.05488780 -0.08379216 +v -0.02710408 0.05488793 -0.12064488 +v -0.02710408 0.08051350 -0.08648701 +v -0.03162171 0.07899342 -0.08637879 +v -0.03169073 0.07981711 -0.08379207 +v -0.06627852 0.05488780 -0.08379216 +v -0.02969270 0.05488793 -0.11966719 +v -0.02710408 0.05548817 -0.12015784 +v -0.02710408 0.07871540 -0.09093172 +v -0.02991130 0.07837760 -0.08949585 +v -0.03477407 0.07839318 -0.08465070 +v -0.03519208 0.07848932 -0.08379207 +v -0.06330641 0.05841127 -0.08379215 +v -0.06540031 0.05488781 -0.08587019 +v -0.02710408 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73 +f 1 73 46 +f 1 46 27 +f 1 27 16 +f 1 16 9 +f 1 9 4 +f 1 4 2 +f 2 4 9 +f 2 9 17 +f 2 17 29 +f 2 29 44 +f 2 44 47 +f 2 47 76 +f 2 76 109 +f 2 109 112 +f 2 112 132 +f 2 132 139 +f 2 139 133 +f 2 133 138 +f 2 138 136 +f 2 136 122 +f 2 122 120 +f 2 120 118 +f 2 118 87 +f 2 87 53 +f 2 53 32 +f 2 32 19 +f 2 19 10 +f 2 10 5 +f 3 6 7 +f 3 7 8 +f 5 10 11 +f 6 12 13 +f 6 13 7 +f 7 14 8 +f 7 13 14 +f 8 14 15 +f 9 16 17 +f 10 18 11 +f 10 19 18 +f 12 20 21 +f 12 21 13 +f 13 21 22 +f 13 22 23 +f 13 23 14 +f 14 23 24 +f 14 24 25 +f 14 25 15 +f 16 26 17 +f 16 27 28 +f 16 28 26 +f 17 26 29 +f 18 19 30 +f 18 30 31 +f 19 32 30 +f 20 33 21 +f 21 34 35 +f 21 35 22 +f 21 33 36 +f 21 36 34 +f 22 35 37 +f 22 37 38 +f 22 38 39 +f 22 39 23 +f 23 39 24 +f 24 39 40 +f 24 40 41 +f 24 41 42 +f 24 42 25 +f 25 42 43 +f 26 28 44 +f 26 44 29 +f 27 45 28 +f 27 46 45 +f 28 47 44 +f 28 45 48 +f 28 48 47 +f 30 32 49 +f 30 49 50 +f 30 50 31 +f 31 51 52 +f 31 50 51 +f 32 53 54 +f 32 54 49 +f 34 36 55 +f 34 55 56 +f 34 56 57 +f 34 57 58 +f 34 58 59 +f 34 59 37 +f 34 37 35 +f 37 60 61 +f 37 61 62 +f 37 62 38 +f 37 59 60 +f 38 62 39 +f 39 62 63 +f 39 63 40 +f 40 63 64 +f 40 64 65 +f 40 65 66 +f 40 66 67 +f 40 67 68 +f 40 68 41 +f 41 68 67 +f 41 67 69 +f 41 69 70 +f 41 70 42 +f 42 70 71 +f 42 71 43 +f 45 46 72 +f 45 72 48 +f 46 73 74 +f 46 74 72 +f 47 48 75 +f 47 75 76 +f 48 72 77 +f 48 77 78 +f 48 78 79 +f 48 79 75 +f 49 80 81 +f 49 81 50 +f 49 54 82 +f 49 82 80 +f 50 81 51 +f 51 83 84 +f 51 84 85 +f 51 85 52 +f 51 81 86 +f 51 86 83 +f 53 87 54 +f 54 87 88 +f 54 88 89 +f 54 89 90 +f 54 90 91 +f 54 91 82 +f 58 92 93 +f 58 93 59 +f 59 93 60 +f 60 93 94 +f 60 94 80 +f 60 80 95 +f 60 95 96 +f 60 96 97 +f 60 97 62 +f 60 62 61 +f 62 97 98 +f 62 98 64 +f 62 64 63 +f 64 99 100 +f 64 100 65 +f 64 98 99 +f 65 100 101 +f 65 101 102 +f 65 102 66 +f 66 102 103 +f 66 103 67 +f 67 104 69 +f 67 103 77 +f 67 77 105 +f 67 105 104 +f 69 104 70 +f 70 106 107 +f 70 107 71 +f 70 104 106 +f 72 74 77 +f 73 108 74 +f 74 108 105 +f 74 105 77 +f 75 79 76 +f 76 79 109 +f 77 110 78 +f 77 103 110 +f 78 110 79 +f 79 111 112 +f 79 112 109 +f 79 110 113 +f 79 113 114 +f 79 114 111 +f 80 94 86 +f 80 86 81 +f 80 82 91 +f 80 91 95 +f 83 115 116 +f 83 116 117 +f 83 117 84 +f 83 86 94 +f 83 94 93 +f 83 93 115 +f 87 118 88 +f 88 118 89 +f 89 99 119 +f 89 119 90 +f 89 118 120 +f 89 120 121 +f 89 121 122 +f 89 122 123 +f 89 123 124 +f 89 124 125 +f 89 125 99 +f 90 119 91 +f 91 119 96 +f 91 96 95 +f 92 115 93 +f 96 119 99 +f 96 99 97 +f 97 99 98 +f 99 125 124 +f 99 124 126 +f 99 126 100 +f 100 126 101 +f 101 124 127 +f 101 127 114 +f 101 114 128 +f 101 128 102 +f 101 126 124 +f 102 128 110 +f 102 110 103 +f 104 129 130 +f 104 130 106 +f 104 105 108 +f 104 108 131 +f 104 131 129 +f 110 114 113 +f 110 128 114 +f 111 132 112 +f 111 114 132 +f 114 133 134 +f 114 134 132 +f 114 127 124 +f 114 124 135 +f 114 135 133 +f 120 122 121 +f 122 136 123 +f 123 136 124 +f 124 136 137 +f 124 137 138 +f 124 138 135 +f 132 134 139 +f 133 139 134 +f 133 135 138 +f 136 138 137 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_67.obj b/demo_assets/vase/mjcf/mesh/vase_collision_67.obj new file mode 100644 index 0000000000000000000000000000000000000000..8ece63820f7a7358a0e34eb3f7b9e0ff0cfff328 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_67.obj @@ -0,0 +1,91 @@ +# https://github.com/mikedh/trimesh +v -0.02788116 -0.04694562 -0.11935592 +v -0.02788116 -0.03958856 -0.12393033 +v -0.02788116 -0.04694560 -0.12613360 +v -0.00000438 -0.04694560 -0.12504634 +v -0.02788116 -0.03676524 -0.12584628 +v -0.02788116 -0.03775594 -0.14193194 +v -0.02761374 -0.03795677 -0.14193194 +v -0.02527522 -0.03971067 -0.14193195 +v -0.01561549 -0.04440672 -0.14193196 +v -0.01308868 -0.04521506 -0.14193197 +v -0.01218274 -0.04541923 -0.14193197 +v -0.00732558 -0.04638322 -0.14193197 +v -0.00732558 -0.04654723 -0.14097952 +v -0.00243842 -0.04688027 -0.14097952 +v -0.00732558 -0.04694556 -0.13512999 +v -0.00000438 -0.04694556 -0.13582168 +v -0.00000438 -0.04626445 -0.12563638 +v -0.02788116 -0.03487577 -0.12714347 +v -0.02788116 -0.02984997 -0.14193191 +v -0.00243842 -0.04674470 -0.14193197 +v -0.00150792 -0.04674972 -0.14193197 +v -0.00000438 -0.04689198 -0.14097952 +v -0.00626956 -0.04694556 -0.13527584 +v -0.00211915 -0.04694556 -0.13580400 +v -0.00000438 -0.04369048 -0.12811364 +v -0.02788116 -0.03360552 -0.12832132 +v -0.02788116 -0.03222147 -0.13107261 +v -0.00000438 -0.04283528 -0.13107265 +v -0.00000438 -0.04128550 -0.14193195 +v -0.00000438 -0.04675642 -0.14193197 +v -0.00243842 -0.04694556 -0.13579737 +f 1 2 5 +f 1 5 18 +f 1 18 26 +f 1 26 27 +f 1 27 19 +f 1 19 6 +f 1 6 3 +f 1 3 15 +f 1 15 23 +f 1 23 31 +f 1 31 24 +f 1 24 16 +f 1 16 4 +f 1 4 2 +f 2 4 5 +f 3 6 7 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 13 +f 3 13 14 +f 3 14 15 +f 4 16 22 +f 4 22 30 +f 4 30 29 +f 4 29 28 +f 4 28 25 +f 4 25 17 +f 4 17 18 +f 4 18 5 +f 6 19 29 +f 6 29 30 +f 6 30 21 +f 6 21 20 +f 6 20 12 +f 6 12 11 +f 6 11 10 +f 6 10 9 +f 6 9 8 +f 6 8 7 +f 12 20 13 +f 13 20 14 +f 14 20 21 +f 14 21 22 +f 14 22 15 +f 15 22 23 +f 16 24 22 +f 17 25 26 +f 17 26 18 +f 19 27 28 +f 19 28 29 +f 21 30 22 +f 22 24 31 +f 22 31 23 +f 25 28 27 +f 25 27 26 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_68.obj b/demo_assets/vase/mjcf/mesh/vase_collision_68.obj new file mode 100644 index 0000000000000000000000000000000000000000..6c5d760dc19a79dc482a5d589b61859118bf4afd --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_68.obj @@ -0,0 +1,325 @@ +# https://github.com/mikedh/trimesh +v -0.03418115 -0.07756002 -0.06103228 +v -0.00003679 -0.08530061 -0.06103231 +v -0.03418115 -0.08346785 -0.06103231 +v -0.03418115 -0.06474599 -0.01924324 +v -0.00003679 -0.09049050 -0.06103233 +v -0.00003679 -0.07344720 -0.01924327 +v -0.03174465 -0.08436780 -0.06103231 +v -0.03174465 -0.08449421 -0.05676954 +v -0.03418115 -0.08358920 -0.05676954 +v -0.03418115 -0.07182678 -0.01924326 +v -0.00003679 -0.09056887 -0.05676956 +v -0.00243986 -0.09055623 -0.05676956 +v -0.00175470 -0.09048039 -0.06103233 +v -0.00003679 -0.07969123 -0.01924329 +v -0.02034092 -0.08788165 -0.06103232 +v -0.01989306 -0.08809653 -0.06068050 +v -0.01995322 -0.08811171 -0.05676955 +v -0.01973263 -0.08805610 -0.05357044 +v -0.03174465 -0.08427935 -0.05181541 +v -0.03418115 -0.08338951 -0.05181541 +v -0.03418115 -0.07280256 -0.02056873 +v -0.03339906 -0.07294414 -0.02018419 +v -0.03286096 -0.07253461 -0.01924327 +v -0.00003679 -0.09036665 -0.05181543 +v -0.00243986 -0.09035907 -0.05181543 +v -0.00732622 -0.09024024 -0.05676956 +v -0.00243986 -0.09047533 -0.06103233 +v -0.00118986 -0.07968871 -0.01924329 +v -0.00003679 -0.08340729 -0.02616928 +v -0.01930817 -0.08819764 -0.06103232 +v -0.01709560 -0.08871588 -0.05676956 +v -0.01220924 -0.08952987 -0.06103233 +v -0.01739640 -0.08843277 -0.05187679 +v -0.01572194 -0.08823056 -0.04686128 +v -0.02686164 -0.08525516 -0.04686127 +v -0.03185495 -0.08372828 -0.04720492 +v -0.03418115 -0.08318475 -0.04900493 +v -0.03418115 -0.07332332 -0.02136238 +v -0.03062500 -0.07359635 -0.01924327 +v -0.00003679 -0.08980547 -0.04686129 +v -0.00243986 -0.08980295 -0.04686129 +v -0.00732622 -0.09003550 -0.05181543 +v -0.01220924 -0.08962594 -0.05676956 +v -0.01152742 -0.08961582 -0.06103233 +v -0.00732622 -0.09014416 -0.06103233 +v -0.00243986 -0.07968365 -0.01924329 +v -0.00243986 -0.08272729 -0.02491744 +v -0.00243986 -0.08405698 -0.02739656 +v -0.00003679 -0.08405698 -0.02738838 +v -0.01220924 -0.08942120 -0.05181543 +v -0.01220924 -0.08887013 -0.04686129 +v -0.01475603 -0.08802580 -0.04428399 +v -0.02686164 -0.08444370 -0.04191123 +v -0.03006685 -0.08338702 -0.04191123 +v -0.03418115 -0.08163515 -0.04191122 +v -0.03418115 -0.07425613 -0.02291694 +v -0.03023396 -0.07376572 -0.01924327 +v -0.00003679 -0.08887520 -0.04191125 +v -0.00243986 -0.08888026 -0.04191125 +v -0.00732622 -0.08947936 -0.04686129 +v -0.00732622 -0.07932974 -0.01924329 +v -0.00732622 -0.08387749 -0.02780566 +v -0.00732622 -0.08539425 -0.03200706 +v -0.00243986 -0.08818003 -0.03884304 +v -0.00003679 -0.08818003 -0.03885122 +v -0.01220924 -0.08824068 -0.04329808 +v -0.02197527 -0.08568240 -0.04191123 +v -0.01709560 -0.08557118 -0.03696119 +v -0.02197527 -0.08460045 -0.03696119 +v -0.02932153 -0.08312665 -0.03941576 +v -0.03418115 -0.08045967 -0.03715345 +v -0.03176137 -0.07468335 -0.02194329 +v -0.03418115 -0.07623044 -0.02681971 +v -0.03054145 -0.07872047 -0.02849291 +v -0.02841912 -0.07781042 -0.02518743 +v -0.02516378 -0.07848033 -0.02413197 +v -0.02685161 -0.07493363 -0.01924328 +v -0.00003679 -0.08853394 -0.04040578 +v -0.00573531 -0.08807891 -0.03918667 +v -0.00734628 -0.08847831 -0.04159624 +v -0.00832555 -0.07922357 -0.01924329 +v -0.01220924 -0.08231017 -0.02602608 +v -0.01220924 -0.08357414 -0.02850112 +v -0.01220924 -0.08491141 -0.03200706 +v -0.01220924 -0.07875590 -0.01924329 +v -0.01220924 -0.08026507 -0.02209877 +v -0.00899066 -0.08774016 -0.03974304 +v -0.01712902 -0.08397607 -0.03175751 +v -0.02197527 -0.08348059 -0.03350843 +v -0.02448864 -0.08314183 -0.03442071 +v -0.02641378 -0.08345528 -0.03743983 +v -0.03127006 -0.08171859 -0.03743982 +v -0.03418115 -0.07896566 -0.03272704 +v -0.03418115 -0.07784074 -0.03015793 +v -0.03379679 -0.07792669 -0.02992474 +v -0.03418115 -0.07812892 -0.03076748 +v -0.03199866 -0.07944092 -0.03174931 +v -0.02641378 -0.08171355 -0.03246523 +v -0.02681819 -0.07928674 -0.02692608 +v -0.02197527 -0.07893789 -0.02332196 +v -0.02197527 -0.07741607 -0.02084284 +v -0.02197527 -0.08065942 -0.02705291 +v -0.02199533 -0.07637204 -0.01924328 +v -0.01694520 -0.07934490 -0.02185740 +v -0.01552809 -0.08329605 -0.02912703 +v -0.01392047 -0.07847782 -0.01924329 +v -0.01521726 -0.07836153 -0.01941920 +v -0.01538103 -0.07819469 -0.01924329 +v -0.01503009 -0.07827559 -0.01924329 +f 1 2 5 +f 1 5 13 +f 1 13 27 +f 1 27 45 +f 1 45 44 +f 1 44 32 +f 1 32 30 +f 1 30 15 +f 1 15 7 +f 1 7 3 +f 1 3 9 +f 1 9 20 +f 1 20 37 +f 1 37 55 +f 1 55 71 +f 1 71 93 +f 1 93 96 +f 1 96 94 +f 1 94 73 +f 1 73 56 +f 1 56 38 +f 1 38 21 +f 1 21 10 +f 1 10 4 +f 1 4 2 +f 2 4 6 +f 2 6 14 +f 2 14 29 +f 2 29 49 +f 2 49 65 +f 2 65 78 +f 2 78 58 +f 2 58 40 +f 2 40 24 +f 2 24 11 +f 2 11 5 +f 3 7 8 +f 3 8 9 +f 4 10 23 +f 4 23 39 +f 4 39 57 +f 4 57 77 +f 4 77 103 +f 4 103 108 +f 4 108 109 +f 4 109 106 +f 4 106 85 +f 4 85 81 +f 4 81 61 +f 4 61 46 +f 4 46 28 +f 4 28 14 +f 4 14 6 +f 5 11 12 +f 5 12 13 +f 7 15 16 +f 7 16 8 +f 8 16 17 +f 8 17 18 +f 8 18 19 +f 8 19 20 +f 8 20 9 +f 10 21 22 +f 10 22 23 +f 11 24 25 +f 11 25 12 +f 12 26 27 +f 12 27 13 +f 12 25 26 +f 14 28 29 +f 15 30 16 +f 16 31 17 +f 16 30 32 +f 16 32 31 +f 17 31 18 +f 18 33 34 +f 18 34 35 +f 18 35 19 +f 18 31 33 +f 19 35 36 +f 19 36 37 +f 19 37 20 +f 21 38 22 +f 22 38 39 +f 22 39 23 +f 24 40 41 +f 24 41 25 +f 25 42 26 +f 25 41 60 +f 25 60 42 +f 26 43 44 +f 26 44 45 +f 26 45 27 +f 26 42 50 +f 26 50 43 +f 28 46 47 +f 28 47 48 +f 28 48 29 +f 29 48 49 +f 31 32 43 +f 31 43 50 +f 31 50 33 +f 32 44 43 +f 33 50 34 +f 34 50 51 +f 34 51 52 +f 34 52 53 +f 34 53 35 +f 35 53 36 +f 36 53 54 +f 36 54 37 +f 37 54 55 +f 38 56 39 +f 39 56 57 +f 40 58 59 +f 40 59 41 +f 41 59 60 +f 42 60 51 +f 42 51 50 +f 46 61 47 +f 47 61 48 +f 48 61 62 +f 48 62 63 +f 48 63 64 +f 48 64 49 +f 49 64 65 +f 51 60 66 +f 51 66 52 +f 52 67 53 +f 52 66 68 +f 52 68 69 +f 52 69 67 +f 53 70 54 +f 53 67 69 +f 53 69 70 +f 54 70 55 +f 55 70 71 +f 56 72 57 +f 56 73 74 +f 56 74 75 +f 56 75 72 +f 57 72 75 +f 57 75 76 +f 57 76 77 +f 58 78 59 +f 59 78 65 +f 59 65 64 +f 59 64 79 +f 59 79 80 +f 59 80 60 +f 60 80 66 +f 61 81 62 +f 62 82 83 +f 62 83 84 +f 62 84 63 +f 62 81 85 +f 62 85 86 +f 62 86 82 +f 63 84 79 +f 63 79 64 +f 66 80 79 +f 66 79 87 +f 66 87 68 +f 68 84 88 +f 68 88 69 +f 68 87 84 +f 69 88 89 +f 69 89 90 +f 69 90 91 +f 69 91 70 +f 70 91 90 +f 70 90 92 +f 70 92 71 +f 71 92 93 +f 73 94 95 +f 73 95 74 +f 74 95 96 +f 74 96 93 +f 74 93 97 +f 74 97 98 +f 74 98 99 +f 74 99 76 +f 74 76 75 +f 76 100 101 +f 76 101 77 +f 76 99 102 +f 76 102 100 +f 77 101 103 +f 79 84 87 +f 82 86 104 +f 82 104 83 +f 83 104 105 +f 83 105 84 +f 84 105 88 +f 85 106 107 +f 85 107 86 +f 86 107 104 +f 88 105 89 +f 89 105 102 +f 89 102 99 +f 89 99 90 +f 90 99 98 +f 90 98 97 +f 90 97 92 +f 92 97 93 +f 94 96 95 +f 100 104 107 +f 100 107 101 +f 100 102 105 +f 100 105 104 +f 101 107 103 +f 103 107 108 +f 106 109 107 +f 107 109 108 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_69.obj b/demo_assets/vase/mjcf/mesh/vase_collision_69.obj new file mode 100644 index 0000000000000000000000000000000000000000..e643aedb7687c9ecca300174fc1cbb3c5f1f15db --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_69.obj @@ -0,0 +1,268 @@ +# https://github.com/mikedh/trimesh +v -0.02710025 0.07561486 -0.09694064 +v -0.02710025 0.06913850 -0.09694067 +v -0.02710025 0.07613738 -0.09599863 +v -0.02643888 0.07642258 -0.09594942 +v -0.02660688 0.07580639 -0.09694064 +v 0.00014422 0.07496119 -0.09694064 +v 0.00014422 0.08520333 -0.06103169 +v -0.02710025 0.08050479 -0.06103170 +v -0.02710025 0.07698674 -0.09440284 +v -0.02710025 0.07770077 -0.09304956 +v -0.02452941 0.07817335 -0.09399860 +v -0.02654021 0.07583137 -0.09694064 +v 0.00014422 0.08061318 -0.09694062 +v 0.00014422 0.09039734 -0.06103167 +v -0.02710025 0.08561969 -0.06103169 +v -0.02710025 0.07819832 -0.09201616 +v -0.02197724 0.07858970 -0.09480002 +v -0.02643888 0.07879579 -0.09126396 +v -0.02068649 0.08335482 -0.08489130 +v -0.02197724 0.07737396 -0.09694064 +v -0.00243995 0.08061110 -0.09694062 +v 0.00014422 0.08380033 -0.09079996 +v 0.00014422 0.09038902 -0.06140074 +v -0.00243995 0.09040358 -0.06103167 +v -0.02001178 0.08803037 -0.06103168 +v -0.02710025 0.08560929 -0.06148512 +v -0.02710025 0.07871667 -0.09092652 +v -0.01681957 0.07908516 -0.09656101 +v -0.01972109 0.07805678 -0.09694063 +v -0.01485144 0.08306131 -0.08906708 +v -0.02217993 0.08393562 -0.08175594 +v -0.01709159 0.08514512 -0.08153802 +v -0.01672356 0.08364003 -0.08652225 +v -0.02686024 0.08059441 -0.08649062 +v -0.02710025 0.08051322 -0.08648358 +v -0.02550281 0.08337354 -0.08024802 +v -0.00666156 0.08034464 -0.09694062 +v -0.00243995 0.08378577 -0.09078239 +v -0.00075984 0.08795550 -0.07922516 +v 0.00014422 0.08795550 -0.07922516 +v 0.00014422 0.09038070 -0.06172763 +v -0.00243995 0.09038694 -0.06172763 +v -0.00312266 0.09036403 -0.06103167 +v -0.01709159 0.08863825 -0.06103167 +v -0.01997445 0.08801998 -0.06172764 +v -0.02710025 0.08560097 -0.06172765 +v -0.01220860 0.08001363 -0.09639933 +v -0.01653955 0.07895194 -0.09694063 +v -0.01712892 0.07878956 -0.09694063 +v -0.01220860 0.08329864 -0.08962596 +v -0.01220860 0.08449772 -0.08649061 +v -0.02702291 0.08382527 -0.07665221 +v -0.02197724 0.08524920 -0.07658894 +v -0.01105385 0.08813036 -0.07504235 +v -0.02710025 0.08300090 -0.07931656 +v -0.02710025 0.08381070 -0.07661003 +v -0.00732561 0.08030092 -0.09694063 +v -0.00732561 0.08361922 -0.09038520 +v -0.00732561 0.08506604 -0.08649061 +v -0.00732561 0.08833853 -0.07587539 +v -0.00240795 0.08842180 -0.07694394 +v 0.00014422 0.08842805 -0.07697558 +v 0.00014422 0.09020584 -0.06434628 +v -0.00732561 0.09010174 -0.06172763 +v -0.00732561 0.09012046 -0.06103167 +v -0.00243995 0.09004762 -0.06668022 +v -0.01289398 0.08940642 -0.06103167 +v -0.01220860 0.08951260 -0.06172763 +v -0.01709159 0.08861744 -0.06172763 +v -0.01962509 0.08793047 -0.06444823 +v -0.02710025 0.08532410 -0.06643771 +v -0.01220860 0.07974925 -0.09694063 +v -0.02686024 0.08485780 -0.07163284 +v -0.01555282 0.08808454 -0.07039556 +v -0.01249395 0.08842178 -0.07188239 +v -0.00732561 0.08912958 -0.07163282 +v -0.02710025 0.08477870 -0.07163284 +v -0.01149122 0.07984293 -0.09694063 +v -0.00243995 0.08948141 -0.07163282 +v 0.00014422 0.08894015 -0.07441315 +v 0.00014422 0.09004554 -0.06668022 +v -0.00732561 0.08971454 -0.06668022 +v -0.00800832 0.09003927 -0.06103167 +v 0.00014422 0.08975619 -0.06929888 +v 0.00014422 0.08948973 -0.07163282 +v -0.01220860 0.08953133 -0.06103167 +v -0.01220860 0.08910250 -0.06668022 +v -0.01714492 0.08823232 -0.06633225 +v -0.02710025 0.08480784 -0.07139733 +v -0.02710025 0.08530120 -0.06666970 +f 1 2 8 +f 1 8 15 +f 1 15 26 +f 1 26 46 +f 1 46 71 +f 1 71 90 +f 1 90 89 +f 1 89 77 +f 1 77 56 +f 1 56 55 +f 1 55 35 +f 1 35 27 +f 1 27 16 +f 1 16 10 +f 1 10 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 12 +f 1 12 20 +f 1 20 29 +f 1 29 49 +f 1 49 48 +f 1 48 72 +f 1 72 78 +f 1 78 57 +f 1 57 37 +f 1 37 21 +f 1 21 13 +f 1 13 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 3 9 4 +f 4 9 10 +f 4 10 11 +f 4 11 12 +f 4 12 5 +f 6 13 22 +f 6 22 40 +f 6 40 62 +f 6 62 80 +f 6 80 85 +f 6 85 84 +f 6 84 81 +f 6 81 63 +f 6 63 41 +f 6 41 23 +f 6 23 14 +f 6 14 7 +f 7 14 24 +f 7 24 43 +f 7 43 65 +f 7 65 83 +f 7 83 86 +f 7 86 67 +f 7 67 44 +f 7 44 25 +f 7 25 15 +f 7 15 8 +f 10 16 11 +f 11 17 12 +f 11 16 18 +f 11 18 19 +f 11 19 17 +f 12 17 20 +f 13 21 22 +f 14 23 24 +f 15 25 26 +f 16 27 18 +f 17 28 29 +f 17 29 20 +f 17 19 30 +f 17 30 28 +f 18 27 19 +f 19 31 32 +f 19 32 33 +f 19 33 30 +f 19 27 34 +f 19 34 35 +f 19 35 36 +f 19 36 31 +f 21 37 38 +f 21 38 22 +f 22 38 39 +f 22 39 40 +f 23 41 42 +f 23 42 24 +f 24 42 43 +f 25 44 45 +f 25 45 26 +f 26 45 46 +f 27 35 34 +f 28 47 48 +f 28 48 49 +f 28 49 29 +f 28 30 50 +f 28 50 47 +f 30 33 51 +f 30 51 50 +f 31 36 52 +f 31 52 53 +f 31 53 54 +f 31 54 32 +f 32 51 33 +f 32 54 51 +f 35 55 36 +f 36 55 56 +f 36 56 52 +f 37 57 38 +f 38 57 58 +f 38 58 59 +f 38 59 39 +f 39 60 61 +f 39 61 62 +f 39 62 40 +f 39 59 60 +f 41 63 42 +f 42 64 65 +f 42 65 43 +f 42 63 66 +f 42 66 64 +f 44 67 68 +f 44 68 69 +f 44 69 45 +f 45 69 70 +f 45 70 71 +f 45 71 46 +f 47 72 48 +f 47 50 58 +f 47 58 72 +f 50 51 58 +f 51 59 58 +f 51 54 60 +f 51 60 59 +f 52 56 73 +f 52 73 53 +f 53 73 74 +f 53 74 54 +f 54 74 75 +f 54 75 76 +f 54 76 60 +f 56 77 73 +f 57 78 58 +f 58 78 72 +f 60 76 79 +f 60 79 61 +f 61 79 80 +f 61 80 62 +f 63 81 66 +f 64 66 82 +f 64 82 68 +f 64 68 83 +f 64 83 65 +f 66 81 84 +f 66 84 85 +f 66 85 79 +f 66 79 82 +f 67 86 68 +f 68 82 87 +f 68 87 88 +f 68 88 69 +f 68 86 83 +f 69 88 70 +f 70 88 74 +f 70 74 73 +f 70 73 89 +f 70 89 90 +f 70 90 71 +f 73 77 89 +f 74 88 87 +f 74 87 75 +f 75 87 76 +f 76 87 82 +f 76 82 79 +f 79 85 80 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_7.obj b/demo_assets/vase/mjcf/mesh/vase_collision_7.obj new file mode 100644 index 0000000000000000000000000000000000000000..c8707aa7d3686340a7596b02c0e5bacba7d0471f --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_7.obj @@ -0,0 +1,178 @@ +# https://github.com/mikedh/trimesh +v -0.04535167 0.02474566 0.14632104 +v -0.04487030 0.02474565 0.14955761 +v -0.04464842 0.02474567 0.14378024 +v -0.04677698 0.02193600 0.14632103 +v -0.04929666 0.01589221 0.14930082 +v -0.04556604 0.02193599 0.14991791 +v -0.04350892 0.02474565 0.15001732 +v -0.04446791 0.02474567 0.14338681 +v -0.04904846 0.01522419 0.14362284 +v -0.04837529 0.01847518 0.14632102 +v -0.04933803 0.01603210 0.14632101 +v -0.05039479 0.01216611 0.14632099 +v -0.05133873 0.00727996 0.14632098 +v -0.04980812 0.01216610 0.14975636 +v -0.04640091 0.01216610 0.15050388 +v -0.04167745 0.02474565 0.15027201 +v -0.04516740 0.02193602 0.14283391 +v -0.02799597 0.02474572 0.12935133 +v -0.03016214 0.02232194 0.12935132 +v -0.03097069 0.02126078 0.12935132 +v -0.03317447 0.01704991 0.12935130 +v -0.03664562 0.00742713 0.12935127 +v -0.04942829 0.01216612 0.14326458 +v -0.03520150 0.01254481 0.12935129 +v -0.05182387 0.00239381 0.14632096 +v -0.05029325 0.00727995 0.15002140 +v -0.04988710 0.00727998 0.14288355 +v -0.05053018 0.00239380 0.15008349 +v -0.05050009 0.00010748 0.15007521 +v -0.04640091 0.00727995 0.15042106 +v -0.04151574 0.02193599 0.15048116 +v -0.03849213 0.02474565 0.15019334 +v -0.01340439 0.02474572 0.12935133 +v -0.03719092 0.00239387 0.12935125 +v -0.05178250 0.00010749 0.14632095 +v -0.05118830 0.00010749 0.14807280 +v -0.05013155 0.00239383 0.14269717 +v -0.05012403 0.00010751 0.14270130 +v -0.04640091 0.00010748 0.15029677 +v -0.03710066 0.02474565 0.14973570 +v -0.02792075 0.00010755 0.12935124 +v -0.01468679 0.02474572 0.13115080 +v -0.03362576 0.00010752 0.13957448 +v -0.03263293 0.00010752 0.13809804 +v -0.03150472 0.00010753 0.13641660 +v -0.02962436 0.00010754 0.13326080 +v -0.02901512 0.00010755 0.13194173 +v -0.02848862 0.00010755 0.13078419 +v -0.02822161 0.00010755 0.13011120 +v -0.03717964 0.00010755 0.12935124 +v -0.04367815 0.00010748 0.14901705 +v -0.03470509 0.02474565 0.14843942 +v -0.01949299 0.02474570 0.13630901 +v -0.03591980 0.00010751 0.14204902 +v -0.04123745 0.00010749 0.14696702 +v -0.02483696 0.02474568 0.14112763 +v -0.02953410 0.02474567 0.14489017 +v -0.03332490 0.02474566 0.14754692 +v -0.03836050 0.00010750 0.14449042 +v -0.03970308 0.00010750 0.14564796 +f 1 2 7 +f 1 7 16 +f 1 16 32 +f 1 32 40 +f 1 40 52 +f 1 52 58 +f 1 58 57 +f 1 57 56 +f 1 56 53 +f 1 53 42 +f 1 42 33 +f 1 33 18 +f 1 18 8 +f 1 8 3 +f 1 3 4 +f 1 4 2 +f 2 4 5 +f 2 5 6 +f 2 6 7 +f 3 8 9 +f 3 9 4 +f 4 9 10 +f 4 10 5 +f 5 10 11 +f 5 11 12 +f 5 12 13 +f 5 13 14 +f 5 14 6 +f 6 14 15 +f 6 15 7 +f 7 15 16 +f 8 17 9 +f 8 18 19 +f 8 19 20 +f 8 20 21 +f 8 21 17 +f 9 22 23 +f 9 23 13 +f 9 13 12 +f 9 12 11 +f 9 11 10 +f 9 17 21 +f 9 21 24 +f 9 24 22 +f 13 25 26 +f 13 26 14 +f 13 23 27 +f 13 27 25 +f 14 26 15 +f 15 26 28 +f 15 28 29 +f 15 29 30 +f 15 30 31 +f 15 31 16 +f 16 31 32 +f 18 33 41 +f 18 41 50 +f 18 50 34 +f 18 34 22 +f 18 22 24 +f 18 24 21 +f 18 21 20 +f 18 20 19 +f 22 34 27 +f 22 27 23 +f 25 35 36 +f 25 36 29 +f 25 29 28 +f 25 28 26 +f 25 27 37 +f 25 37 38 +f 25 38 35 +f 27 34 37 +f 29 36 35 +f 29 35 38 +f 29 38 50 +f 29 50 41 +f 29 41 49 +f 29 49 48 +f 29 48 47 +f 29 47 46 +f 29 46 45 +f 29 45 44 +f 29 44 43 +f 29 43 54 +f 29 54 59 +f 29 59 60 +f 29 60 55 +f 29 55 51 +f 29 51 39 +f 29 39 30 +f 30 39 31 +f 31 39 32 +f 32 39 40 +f 33 42 43 +f 33 43 44 +f 33 44 45 +f 33 45 46 +f 33 46 47 +f 33 47 48 +f 33 48 49 +f 33 49 41 +f 34 50 37 +f 37 50 38 +f 39 51 40 +f 40 51 52 +f 42 53 54 +f 42 54 43 +f 51 55 56 +f 51 56 57 +f 51 57 58 +f 51 58 52 +f 53 56 59 +f 53 59 54 +f 55 60 56 +f 56 60 59 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_70.obj b/demo_assets/vase/mjcf/mesh/vase_collision_70.obj new file mode 100644 index 0000000000000000000000000000000000000000..6e1b9b2ab5faba567eff878934cd2f69c5e492dd --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_70.obj @@ -0,0 +1,241 @@ +# https://github.com/mikedh/trimesh +v 0.00014422 0.08036684 -0.09747427 +v 0.00127488 0.08036893 -0.09747427 +v 0.00014422 0.07465772 -0.09747430 +v 0.00014422 0.08379981 -0.09080002 +v 0.00244760 0.08381237 -0.09081429 +v 0.00244760 0.08037102 -0.09747427 +v 0.02700647 0.06902600 -0.09747432 +v 0.00014422 0.08520345 -0.06103169 +v 0.00014422 0.08795662 -0.07922800 +v 0.00733308 0.08515544 -0.08649084 +v 0.00733308 0.08368475 -0.09050751 +v 0.00733308 0.08010325 -0.09747428 +v 0.00099616 0.08795662 -0.07922800 +v 0.02700647 0.07555937 -0.09747429 +v 0.02700647 0.08048803 -0.06103170 +v 0.00014422 0.09039585 -0.06103167 +v 0.00014422 0.08842940 -0.07697352 +v 0.00255278 0.08843359 -0.07700206 +v 0.01221856 0.08460524 -0.08649084 +v 0.00733308 0.08835618 -0.07597827 +v 0.01221856 0.08338559 -0.08981547 +v 0.01221856 0.07961371 -0.09747428 +v 0.02671987 0.07566188 -0.09747429 +v 0.02473728 0.07824552 -0.09414251 +v 0.02700647 0.07612630 -0.09646477 +v 0.02700647 0.08559257 -0.06103169 +v 0.00176395 0.09039375 -0.06103167 +v 0.00014422 0.09038121 -0.06172728 +v 0.00014422 0.08893985 -0.07441226 +v 0.00244760 0.08949632 -0.07163340 +v 0.01709878 0.08508847 -0.08153598 +v 0.01688317 0.08366382 -0.08653721 +v 0.01511094 0.08311782 -0.08920191 +v 0.01096695 0.08813443 -0.07508290 +v 0.00733308 0.08915532 -0.07163340 +v 0.01696731 0.07918484 -0.09662528 +v 0.01637832 0.07887105 -0.09747428 +v 0.02197375 0.07727692 -0.09747429 +v 0.02700647 0.07685224 -0.09506286 +v 0.02198426 0.07868066 -0.09499151 +v 0.02198426 0.08019945 -0.09144570 +v 0.02656736 0.07887730 -0.09131372 +v 0.02700647 0.07881871 -0.09109255 +v 0.02700647 0.07848400 -0.09179172 +v 0.01994646 0.08801303 -0.06103168 +v 0.02700647 0.08559257 -0.06105309 +v 0.00244760 0.09039166 -0.06103167 +v 0.00244760 0.09037493 -0.06172728 +v 0.00014422 0.09020549 -0.06434560 +v 0.00014422 0.08949004 -0.07163340 +v 0.00014422 0.08975571 -0.06930045 +v 0.00244760 0.09004232 -0.06667856 +v 0.00733308 0.08972224 -0.06667856 +v 0.02213940 0.08387300 -0.08170008 +v 0.02061433 0.08333118 -0.08491413 +v 0.01244469 0.08842520 -0.07180107 +v 0.01544750 0.08807374 -0.07026004 +v 0.02198426 0.08514703 -0.07658828 +v 0.01221856 0.08910718 -0.06667856 +v 0.01769041 0.07851749 -0.09747428 +v 0.02700647 0.08048186 -0.08662283 +v 0.01951260 0.08810718 -0.06103168 +v 0.02700647 0.08557794 -0.06172730 +v 0.01990439 0.08800049 -0.06172729 +v 0.00733308 0.09011969 -0.06103167 +v 0.00733308 0.09010088 -0.06172728 +v 0.00014422 0.09004440 -0.06667856 +v 0.01221856 0.08952348 -0.06172728 +v 0.02534730 0.08333743 -0.08015548 +v 0.02700647 0.08053207 -0.08648728 +v 0.02686975 0.08474115 -0.07163342 +v 0.01708564 0.08821388 -0.06621126 +v 0.01955993 0.08791055 -0.06424930 +v 0.02700647 0.08372864 -0.07643845 +v 0.02693285 0.08374119 -0.07648126 +v 0.01709878 0.08860300 -0.06172728 +v 0.01709878 0.08862390 -0.06103167 +v 0.02700647 0.08526623 -0.06667144 +v 0.01221856 0.08954439 -0.06103167 +v 0.02700647 0.08469303 -0.07163342 +v 0.02700647 0.08466584 -0.07177968 +f 1 2 6 +f 1 6 12 +f 1 12 22 +f 1 22 37 +f 1 37 60 +f 1 60 38 +f 1 38 23 +f 1 23 14 +f 1 14 7 +f 1 7 3 +f 1 3 8 +f 1 8 16 +f 1 16 28 +f 1 28 49 +f 1 49 67 +f 1 67 51 +f 1 51 50 +f 1 50 29 +f 1 29 17 +f 1 17 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 4 9 5 +f 5 10 11 +f 5 11 12 +f 5 12 6 +f 5 9 13 +f 5 13 10 +f 7 14 25 +f 7 25 39 +f 7 39 44 +f 7 44 43 +f 7 43 61 +f 7 61 70 +f 7 70 74 +f 7 74 81 +f 7 81 80 +f 7 80 78 +f 7 78 63 +f 7 63 46 +f 7 46 26 +f 7 26 15 +f 7 15 8 +f 8 15 26 +f 8 26 45 +f 8 45 62 +f 8 62 77 +f 8 77 79 +f 8 79 65 +f 8 65 47 +f 8 47 27 +f 8 27 16 +f 9 17 18 +f 9 18 13 +f 10 19 11 +f 10 13 20 +f 10 20 19 +f 11 19 21 +f 11 21 22 +f 11 22 12 +f 13 18 20 +f 14 23 24 +f 14 24 25 +f 16 27 28 +f 17 29 18 +f 18 29 30 +f 18 30 20 +f 19 31 32 +f 19 32 33 +f 19 33 21 +f 19 20 34 +f 19 34 31 +f 20 30 35 +f 20 35 34 +f 21 33 36 +f 21 36 22 +f 22 36 37 +f 23 38 24 +f 24 39 25 +f 24 38 40 +f 24 40 41 +f 24 41 42 +f 24 42 43 +f 24 43 44 +f 24 44 39 +f 26 46 45 +f 27 47 48 +f 27 48 28 +f 28 48 49 +f 29 50 30 +f 30 50 51 +f 30 51 52 +f 30 52 53 +f 30 53 35 +f 31 54 55 +f 31 55 32 +f 31 34 54 +f 32 55 33 +f 33 55 41 +f 33 41 40 +f 33 40 36 +f 34 35 56 +f 34 56 57 +f 34 57 58 +f 34 58 54 +f 35 53 59 +f 35 59 56 +f 36 40 60 +f 36 60 37 +f 38 60 40 +f 41 55 42 +f 42 55 43 +f 43 55 61 +f 45 46 63 +f 45 63 64 +f 45 64 62 +f 47 65 48 +f 48 66 52 +f 48 52 49 +f 48 65 66 +f 49 52 67 +f 51 67 52 +f 52 66 53 +f 53 66 68 +f 53 68 59 +f 54 58 69 +f 54 69 55 +f 55 69 70 +f 55 70 61 +f 56 59 57 +f 57 71 58 +f 57 59 72 +f 57 72 73 +f 57 73 71 +f 58 74 75 +f 58 75 69 +f 58 71 74 +f 59 68 76 +f 59 76 73 +f 59 73 72 +f 62 64 76 +f 62 76 77 +f 63 78 64 +f 64 78 73 +f 64 73 76 +f 65 79 66 +f 66 79 68 +f 68 79 77 +f 68 77 76 +f 69 75 74 +f 69 74 70 +f 71 80 81 +f 71 81 74 +f 71 73 78 +f 71 78 80 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_71.obj b/demo_assets/vase/mjcf/mesh/vase_collision_71.obj new file mode 100644 index 0000000000000000000000000000000000000000..659d241565410b1fe9febd406c95d6e17dab8919 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_71.obj @@ -0,0 +1,163 @@ +# https://github.com/mikedh/trimesh +v 0.04214465 0.00004705 0.02117740 +v 0.03558228 0.00004705 0.02117740 +v 0.04211295 -0.00249672 0.02117739 +v 0.06019909 -0.00249664 0.00129200 +v 0.06019909 -0.00211828 0.00129200 +v 0.06019909 0.00004713 0.00128876 +v 0.01971926 -0.02968070 0.02117729 +v 0.03639069 0.00004706 0.01987919 +v 0.04189499 -0.00429831 0.02117738 +v 0.06019909 -0.00827105 0.00081164 +v 0.06019909 -0.00738335 0.00092523 +v 0.06019909 -0.00287500 0.00126603 +v 0.06019909 0.00004715 -0.00581896 +v 0.02015517 -0.02968070 0.02070020 +v 0.02964999 -0.02968070 0.02117729 +v 0.03660071 0.00004706 0.01954815 +v 0.03755971 0.00004706 0.01803897 +v 0.04241808 0.00004709 0.01212885 +v 0.04581022 0.00004710 0.00807842 +v 0.04727249 0.00004711 0.00644592 +v 0.04863965 0.00004711 0.00492376 +v 0.04150268 -0.00724664 0.02117737 +v 0.06019909 -0.01226716 0.00026312 +v 0.06002869 0.00004715 -0.00567616 +v 0.06019909 -0.02968058 -0.01197909 +v 0.03314121 -0.02968065 0.00937653 +v 0.03183349 -0.02968066 0.01043133 +v 0.03070806 -0.02968066 0.01136929 +v 0.02019083 -0.02968070 0.02066125 +v 0.03048218 -0.02883084 0.02117729 +v 0.05962448 -0.02968061 -0.00396587 +v 0.05107280 0.00004712 0.00245067 +v 0.02032160 -0.02968070 0.02052494 +v 0.04113017 -0.00893473 0.02117737 +v 0.06019909 -0.01702581 -0.00070081 +v 0.05875663 0.00004715 -0.00458241 +v 0.02794600 -0.02968067 0.01372555 +v 0.06019909 -0.02968060 -0.00446568 +v 0.03156006 -0.02771030 0.02117730 +v 0.03543962 -0.02259948 0.02117732 +v 0.03482142 -0.02345807 0.02117731 +v 0.03318876 -0.02569624 0.02117731 +v 0.03205540 -0.02713984 0.02117730 +v 0.05351387 0.00004713 -0.00001594 +v 0.02265568 -0.02968069 0.01830500 +v 0.04020685 -0.01226724 0.02117735 +v 0.06019909 -0.02212207 -0.00198282 +v 0.06019909 -0.01799500 -0.00094423 +v 0.06019909 -0.02716013 -0.00350499 +v 0.03876439 -0.01624006 0.02117734 +v 0.03802732 -0.01796016 0.02117733 +v 0.03599044 -0.02172051 0.02117732 +v 0.04013552 -0.01247679 0.02117735 +v 0.06019909 -0.02692438 -0.00342061 +v 0.03995323 -0.01298322 0.02117735 +f 1 2 7 +f 1 7 15 +f 1 15 30 +f 1 30 39 +f 1 39 43 +f 1 43 42 +f 1 42 41 +f 1 41 40 +f 1 40 52 +f 1 52 51 +f 1 51 50 +f 1 50 55 +f 1 55 53 +f 1 53 46 +f 1 46 34 +f 1 34 22 +f 1 22 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 6 +f 1 6 13 +f 1 13 24 +f 1 24 36 +f 1 36 44 +f 1 44 32 +f 1 32 21 +f 1 21 20 +f 1 20 19 +f 1 19 18 +f 1 18 17 +f 1 17 16 +f 1 16 8 +f 1 8 2 +f 2 8 7 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 4 +f 4 12 11 +f 4 11 10 +f 4 10 23 +f 4 23 35 +f 4 35 48 +f 4 48 47 +f 4 47 54 +f 4 54 49 +f 4 49 38 +f 4 38 25 +f 4 25 13 +f 4 13 6 +f 4 6 5 +f 7 14 29 +f 7 29 33 +f 7 33 45 +f 7 45 37 +f 7 37 28 +f 7 28 27 +f 7 27 26 +f 7 26 25 +f 7 25 38 +f 7 38 31 +f 7 31 15 +f 7 8 16 +f 7 16 17 +f 7 17 18 +f 7 18 19 +f 7 19 20 +f 7 20 21 +f 7 21 14 +f 9 22 23 +f 9 23 10 +f 13 25 26 +f 13 26 27 +f 13 27 28 +f 13 28 24 +f 14 21 29 +f 15 31 30 +f 21 32 33 +f 21 33 29 +f 22 34 35 +f 22 35 23 +f 24 28 37 +f 24 37 36 +f 30 31 39 +f 31 38 40 +f 31 40 41 +f 31 41 42 +f 31 42 43 +f 31 43 39 +f 32 44 33 +f 33 44 45 +f 34 46 47 +f 34 47 48 +f 34 48 35 +f 36 37 45 +f 36 45 44 +f 38 49 50 +f 38 50 51 +f 38 51 52 +f 38 52 40 +f 46 53 54 +f 46 54 47 +f 49 54 50 +f 50 54 55 +f 53 55 54 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_72.obj b/demo_assets/vase/mjcf/mesh/vase_collision_72.obj new file mode 100644 index 0000000000000000000000000000000000000000..e38f180bca5087a8e225b6fda5d98777ea282f60 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_72.obj @@ -0,0 +1,379 @@ +# https://github.com/mikedh/trimesh +v -0.00003679 -0.08530100 -0.06103231 +v 0.03433397 -0.07730284 -0.06103228 +v -0.00003679 -0.09048937 -0.06103233 +v -0.00003679 -0.07087666 -0.01624868 +v 0.03433397 -0.06216075 -0.01624865 +v 0.03433397 -0.08322287 -0.06103231 +v 0.00244951 -0.09050328 -0.06103233 +v -0.00003679 -0.09052831 -0.05893673 +v -0.00003679 -0.07782044 -0.01624871 +v 0.03433397 -0.06983342 -0.01624868 +v 0.03433397 -0.08327851 -0.06058951 +v 0.03365436 -0.08350941 -0.06103231 +v 0.00313248 -0.09046433 -0.06103233 +v 0.00733462 -0.09030020 -0.05677098 +v 0.00244951 -0.09057840 -0.05677098 +v -0.00003679 -0.09056728 -0.05677098 +v 0.00244951 -0.07783158 -0.01624871 +v -0.00003679 -0.07914744 -0.01820840 +v 0.03279307 -0.07056508 -0.01624868 +v 0.03433397 -0.07007545 -0.01659941 +v 0.03433397 -0.08334528 -0.05677096 +v 0.03175347 -0.08436348 -0.05677096 +v 0.03210674 -0.08407136 -0.06103231 +v 0.00733462 -0.09021395 -0.06103233 +v 0.01221637 -0.08968817 -0.05677098 +v 0.00733462 -0.09007488 -0.05181695 +v 0.00244951 -0.09037534 -0.05181695 +v 0.00801760 -0.09013050 -0.06103233 +v -0.00003679 -0.09036699 -0.05181695 +v 0.00672903 -0.07754225 -0.01624870 +v 0.00244951 -0.07915300 -0.01820402 +v 0.00733462 -0.07898887 -0.01844953 +v -0.00003679 -0.08340938 -0.02616995 +v 0.03177702 -0.07099907 -0.01624868 +v 0.03178712 -0.07176132 -0.01729648 +v 0.03343904 -0.07295478 -0.02016369 +v 0.03433397 -0.07190041 -0.01924740 +v 0.03433397 -0.08322012 -0.05295680 +v 0.02007562 -0.08815531 -0.05677097 +v 0.01992086 -0.08811079 -0.06103232 +v 0.03222113 -0.08396012 -0.05146620 +v 0.01710149 -0.08878403 -0.05677098 +v 0.01221637 -0.08946007 -0.05181695 +v 0.01221637 -0.08959358 -0.06103233 +v 0.01290271 -0.08946838 -0.06103233 +v 0.01710149 -0.08869222 -0.06103233 +v 0.00733462 -0.08948234 -0.04686292 +v 0.00244951 -0.08980783 -0.04686292 +v -0.00003679 -0.08980505 -0.04686292 +v 0.00733462 -0.07750052 -0.01624870 +v 0.00244951 -0.08273615 -0.02490732 +v 0.01221637 -0.07866894 -0.01893616 +v 0.01221637 -0.07700255 -0.01645914 +v 0.00244951 -0.08405758 -0.02738434 +v 0.00733462 -0.08388509 -0.02777015 +v -0.00003679 -0.08405758 -0.02738873 +v 0.02870869 -0.07230937 -0.01624869 +v 0.03018229 -0.07372260 -0.01904575 +v 0.03433397 -0.07279898 -0.02060210 +v 0.03433397 -0.07424003 -0.02294321 +v 0.03433397 -0.08321455 -0.05284719 +v 0.01980647 -0.08807742 -0.05329438 +v 0.03416239 -0.08305599 -0.04958104 +v 0.03118825 -0.08383495 -0.04686290 +v 0.02686836 -0.08523149 -0.04686290 +v 0.01745139 -0.08846134 -0.05171172 +v 0.01571535 -0.08822211 -0.04686291 +v 0.01221637 -0.08885918 -0.04686292 +v 0.01221637 -0.08821656 -0.04339947 +v 0.00731107 -0.08846694 -0.04161952 +v 0.00244951 -0.08887311 -0.04190888 +v -0.00003679 -0.08887589 -0.04190888 +v 0.01008334 -0.07713886 -0.01624870 +v 0.01221637 -0.08032142 -0.02210150 +v 0.01703084 -0.07937833 -0.02181652 +v 0.01535200 -0.07838240 -0.01938334 +v 0.01260328 -0.07677165 -0.01624870 +v 0.01221637 -0.07684120 -0.01624870 +v -0.00003679 -0.08818041 -0.03884878 +v 0.00244951 -0.08817763 -0.03885316 +v 0.00733462 -0.08539847 -0.03200519 +v 0.01221637 -0.08489493 -0.03200519 +v 0.01221637 -0.08356517 -0.02849791 +v 0.01221637 -0.08232720 -0.02602088 +v 0.02686836 -0.07306607 -0.01624869 +v 0.03178712 -0.07469906 -0.02192610 +v 0.02686836 -0.07433464 -0.01809440 +v 0.02523326 -0.07850478 -0.02408748 +v 0.02849000 -0.07782598 -0.02521858 +v 0.03433397 -0.07513860 -0.02470124 +v 0.03433397 -0.08299201 -0.04973447 +v 0.01931190 -0.08777699 -0.04998877 +v 0.03433397 -0.08294193 -0.04939251 +v 0.03433397 -0.08141466 -0.04169842 +v 0.03022267 -0.08345940 -0.04282514 +v 0.02731919 -0.08414655 -0.04146607 +v 0.02198324 -0.08563212 -0.04190886 +v 0.01466902 -0.08800791 -0.04438151 +v 0.01710149 -0.08552363 -0.03695922 +v 0.00892599 -0.08771581 -0.03977820 +v 0.00566924 -0.08807469 -0.03919950 +v 0.01539910 -0.08327583 -0.02915991 +v 0.02198324 -0.07897772 -0.02323697 +v 0.01860538 -0.07788442 -0.01997958 +v 0.02219520 -0.07487712 -0.01676603 +v 0.02188567 -0.07462675 -0.01624869 +v 0.01845398 -0.07550864 -0.01624870 +v 0.01705775 -0.08394350 -0.03180790 +v 0.02267967 -0.07440419 -0.01624869 +v 0.02198324 -0.07745599 -0.02075994 +v 0.02114887 -0.08355681 -0.03332918 +v 0.02686499 -0.07924477 -0.02694153 +v 0.03046154 -0.07866613 -0.02851981 +v 0.03433397 -0.07613454 -0.02681000 +v 0.03433397 -0.08082767 -0.03916879 +v 0.02925036 -0.08304211 -0.03952391 +v 0.02599361 -0.08362633 -0.03780535 +v 0.02246099 -0.08425229 -0.03647697 +v 0.02440561 -0.08309499 -0.03449974 +v 0.02686836 -0.08128116 -0.03200518 +v 0.03195534 -0.07940611 -0.03177719 +v 0.03433397 -0.07891370 -0.03284253 +v 0.03371829 -0.07788995 -0.02997533 +v 0.03433397 -0.07733634 -0.02935716 +v 0.03433397 -0.08026850 -0.03693728 +v 0.03175347 -0.08128392 -0.03695921 +v 0.03433397 -0.07941444 -0.03428051 +f 1 2 6 +f 1 6 12 +f 1 12 23 +f 1 23 40 +f 1 40 46 +f 1 46 45 +f 1 45 44 +f 1 44 28 +f 1 28 24 +f 1 24 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 16 +f 1 16 29 +f 1 29 49 +f 1 49 72 +f 1 72 79 +f 1 79 56 +f 1 56 33 +f 1 33 18 +f 1 18 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 10 +f 2 10 20 +f 2 20 37 +f 2 37 59 +f 2 59 60 +f 2 60 90 +f 2 90 114 +f 2 114 124 +f 2 124 122 +f 2 122 127 +f 2 127 125 +f 2 125 115 +f 2 115 94 +f 2 94 93 +f 2 93 91 +f 2 91 61 +f 2 61 38 +f 2 38 21 +f 2 21 11 +f 2 11 6 +f 3 7 8 +f 4 9 17 +f 4 17 30 +f 4 30 50 +f 4 50 73 +f 4 73 78 +f 4 78 77 +f 4 77 107 +f 4 107 106 +f 4 106 109 +f 4 109 85 +f 4 85 57 +f 4 57 34 +f 4 34 19 +f 4 19 10 +f 4 10 5 +f 6 11 12 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 7 16 8 +f 9 18 17 +f 10 19 20 +f 11 21 22 +f 11 22 12 +f 12 22 23 +f 13 24 14 +f 14 25 26 +f 14 26 27 +f 14 27 15 +f 14 24 28 +f 14 28 25 +f 15 27 29 +f 15 29 16 +f 17 18 31 +f 17 31 32 +f 17 32 30 +f 18 33 31 +f 19 34 35 +f 19 35 36 +f 19 36 37 +f 19 37 20 +f 21 38 22 +f 22 39 40 +f 22 40 23 +f 22 38 41 +f 22 41 39 +f 25 42 43 +f 25 43 26 +f 25 28 44 +f 25 44 45 +f 25 45 46 +f 25 46 42 +f 26 43 47 +f 26 47 48 +f 26 48 27 +f 27 48 49 +f 27 49 29 +f 30 32 50 +f 31 33 51 +f 31 51 32 +f 32 52 53 +f 32 53 50 +f 32 51 54 +f 32 54 55 +f 32 55 52 +f 33 56 54 +f 33 54 51 +f 34 57 35 +f 35 58 36 +f 35 57 58 +f 36 59 37 +f 36 58 60 +f 36 60 59 +f 38 61 41 +f 39 41 62 +f 39 62 42 +f 39 42 40 +f 40 42 46 +f 41 63 64 +f 41 64 65 +f 41 65 62 +f 41 61 63 +f 42 62 66 +f 42 66 43 +f 43 66 67 +f 43 67 68 +f 43 68 47 +f 47 68 69 +f 47 69 70 +f 47 70 71 +f 47 71 48 +f 48 71 72 +f 48 72 49 +f 50 53 73 +f 52 55 74 +f 52 74 75 +f 52 75 76 +f 52 76 53 +f 53 77 78 +f 53 78 73 +f 53 76 77 +f 54 56 79 +f 54 79 80 +f 54 80 55 +f 55 80 81 +f 55 81 82 +f 55 82 83 +f 55 83 84 +f 55 84 74 +f 57 85 58 +f 58 86 60 +f 58 85 87 +f 58 87 88 +f 58 88 86 +f 60 89 90 +f 60 86 89 +f 61 91 63 +f 62 65 92 +f 62 92 66 +f 63 91 93 +f 63 93 94 +f 63 94 64 +f 64 95 65 +f 64 94 95 +f 65 67 92 +f 65 95 96 +f 65 96 67 +f 66 92 67 +f 67 96 97 +f 67 97 98 +f 67 98 68 +f 68 98 69 +f 69 98 99 +f 69 99 100 +f 69 100 101 +f 69 101 70 +f 70 101 71 +f 71 101 80 +f 71 80 79 +f 71 79 72 +f 74 84 75 +f 75 84 83 +f 75 83 102 +f 75 102 103 +f 75 103 76 +f 76 103 104 +f 76 104 105 +f 76 105 106 +f 76 106 107 +f 76 107 77 +f 80 101 81 +f 81 101 82 +f 82 108 102 +f 82 102 83 +f 82 101 100 +f 82 100 99 +f 82 99 108 +f 85 109 87 +f 86 88 89 +f 87 105 110 +f 87 110 103 +f 87 103 88 +f 87 109 105 +f 88 103 102 +f 88 102 111 +f 88 111 112 +f 88 112 113 +f 88 113 89 +f 89 113 90 +f 90 113 114 +f 94 115 95 +f 95 115 116 +f 95 116 96 +f 96 116 117 +f 96 117 118 +f 96 118 97 +f 97 118 98 +f 98 118 99 +f 99 118 111 +f 99 111 108 +f 102 108 111 +f 103 110 104 +f 104 110 105 +f 105 109 106 +f 111 119 112 +f 111 118 119 +f 112 119 120 +f 112 120 113 +f 113 120 121 +f 113 121 122 +f 113 122 123 +f 113 123 124 +f 113 124 114 +f 115 125 116 +f 116 125 126 +f 116 126 119 +f 116 119 117 +f 117 119 118 +f 119 127 122 +f 119 122 121 +f 119 121 120 +f 119 126 127 +f 122 124 123 +f 125 127 126 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_73.obj b/demo_assets/vase/mjcf/mesh/vase_collision_73.obj new file mode 100644 index 0000000000000000000000000000000000000000..1ed24b6184b4db7e63fd24b0a77d32dbfa0cbc05 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_73.obj @@ -0,0 +1,301 @@ +# https://github.com/mikedh/trimesh +v -0.06025333 -0.04162387 -0.01923906 +v -0.06025333 -0.02659706 -0.01078466 +v -0.02764417 -0.06768576 -0.01923916 +v -0.06025333 -0.05223106 -0.01923910 +v -0.06025333 -0.02659709 -0.00342617 +v -0.04780145 -0.02659710 -0.00085861 +v -0.02764417 -0.07463027 -0.01923918 +v -0.04224423 -0.02659711 0.00376617 +v -0.03758077 -0.02659713 0.00780147 +v -0.02764417 -0.03659779 0.00790034 +v -0.05895739 -0.05382495 -0.01923911 +v -0.06025333 -0.05081582 -0.01770410 +v -0.06025333 -0.02687920 -0.00350925 +v -0.03261087 -0.02659718 0.02117730 +v -0.02764417 -0.07417890 -0.01843608 +v -0.03014667 -0.07370872 -0.01907302 +v -0.03023924 -0.07376043 -0.01923918 +v -0.03224379 -0.02659715 0.01260427 +v -0.02764417 -0.03122839 0.01261613 +v -0.05880417 -0.05400362 -0.01923911 +v -0.05886802 -0.04922665 -0.01438882 +v -0.05986072 -0.05105092 -0.01746673 +v -0.06025333 -0.04836621 -0.01528291 +v -0.06025333 -0.02693092 -0.00352507 +v -0.03254384 -0.02668652 0.02117730 +v -0.02764417 -0.02659718 0.02117730 +v -0.06025333 -0.02973316 -0.00455764 +v -0.06025333 -0.03158095 -0.00527372 +v -0.06025333 -0.03275639 -0.00576429 +v -0.06025333 -0.03566208 -0.00708566 +v -0.06025333 -0.03651310 -0.00749315 +v -0.06025333 -0.03867591 -0.00857319 +v -0.05952556 -0.04055661 -0.00890157 +v -0.05845944 -0.04381493 -0.00986688 +v -0.02764417 -0.07416009 -0.01840443 +v -0.03286304 -0.07252857 -0.01923918 +v -0.03062866 -0.07359118 -0.01923918 +v -0.02764417 -0.07280599 -0.01651733 +v -0.03174904 -0.06913862 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b/demo_assets/vase/mjcf/mesh/vase_collision_74.obj @@ -0,0 +1,280 @@ +# https://github.com/mikedh/trimesh +v 0.06019575 -0.03754533 -0.01624418 +v 0.06019575 -0.03693893 -0.01596213 +v 0.06019575 -0.04923350 -0.01624422 +v 0.02608015 -0.06599494 -0.01624428 +v 0.06019575 -0.02968349 -0.01197673 +v 0.06019575 -0.04653032 -0.01382295 +v 0.05885651 -0.04920361 -0.01440904 +v 0.05944764 -0.05031392 -0.01624422 +v 0.02608015 -0.07331018 -0.01624431 +v 0.02608015 -0.03736607 0.00823580 +v 0.03314039 -0.02968356 0.00937503 +v 0.06019575 -0.02968351 -0.00446753 +v 0.06019575 -0.04549261 -0.01302441 +v 0.05985175 -0.04647481 -0.01336873 +v 0.05843236 -0.04376310 -0.00989252 +v 0.05736698 -0.04647482 -0.01089253 +v 0.05388027 -0.04907978 -0.00959217 +v 0.05566036 -0.05077086 -0.01266179 +v 0.05418419 -0.05425126 -0.01421492 +v 0.05744045 -0.05245767 -0.01600979 +v 0.05782452 -0.05223134 -0.01624423 +v 0.02687167 -0.07306250 -0.01624431 +v 0.02608015 -0.07277211 -0.01540914 +v 0.02608015 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-0.00417082 +v 0.06019575 -0.03282228 -0.00572762 +v 0.06019575 -0.03873254 -0.00861044 +v 0.05773101 -0.03669983 -0.00549686 +v 0.02881207 -0.03054197 0.02117729 +v 0.04640924 -0.05499861 -0.00874237 +v 0.04372074 -0.05851316 -0.00987791 +v 0.04640924 -0.05744128 -0.01087426 +v 0.02714219 -0.03214765 0.02117728 +v 0.02662453 -0.03260885 0.02117728 +v 0.02608015 -0.02968361 0.02117729 +v 0.05852587 -0.03408205 -0.00487781 +v 0.05290840 -0.05725336 -0.01624425 +v 0.04736775 -0.06177148 -0.01624427 +v 0.05026332 -0.05953377 -0.01624426 +v 0.05216698 -0.05792382 -0.01624425 +v 0.04640924 -0.05995656 -0.01335047 +v 0.04370069 -0.06338998 -0.01487796 +v 0.04597173 -0.06281346 -0.01624427 +v 0.03178111 -0.07099561 -0.01624430 +v 0.02642414 -0.06985542 -0.01207211 +v 0.02608015 -0.06961201 -0.01165087 +v 0.03445625 -0.06858709 -0.01451168 +v 0.03175773 -0.06693872 -0.01131020 +v 0.02775337 -0.06784405 -0.01034316 +v 0.02608015 -0.03220741 0.01292816 +v 0.02794707 -0.02968358 0.01372671 +v 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0000000000000000000000000000000000000000..3c26a49e79145947edc1d8528a3de75376a68756 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_75.obj @@ -0,0 +1,235 @@ +# https://github.com/mikedh/trimesh +v -0.04700647 0.05488526 -0.10062511 +v -0.04700647 0.05488529 -0.10976068 +v -0.04700647 0.02763681 -0.11923894 +v 0.00014422 0.05488533 -0.11894433 +v -0.04700647 0.05483729 -0.10980876 +v -0.04689109 0.05488529 -0.10985083 +v -0.04700647 0.02763683 -0.12618076 +v -0.03959879 0.02763683 -0.12398402 +v 0.00014422 0.04366962 -0.12820316 +v 0.00014422 0.04615815 -0.12572692 +v 0.00014422 0.04860133 -0.12349110 +v 0.00014422 0.05488535 -0.12571187 +v -0.04359571 0.05341033 -0.11348102 +v -0.04700647 0.05178597 -0.11233909 +v -0.04606955 0.05488530 -0.11043382 +v -0.04066033 0.02763685 -0.13132253 +v -0.04700647 0.03125894 -0.12468421 +v -0.03642803 0.02763683 -0.12618978 +v 0.00014422 0.04287746 -0.13107305 +v -0.03564341 0.02763684 -0.12677278 +v -0.03370957 0.02763684 -0.12862393 +v 0.00014422 0.04907079 -0.13132245 +v -0.00121731 0.05488535 -0.12571187 +v -0.04543263 0.05015363 -0.11478526 +v -0.04290340 0.05488530 -0.11262757 +v -0.04055879 0.05488531 -0.11417220 +v -0.04033725 0.05463993 -0.11453582 +v -0.04166187 0.05137791 -0.11630885 +v -0.04700647 0.04942814 -0.11420828 +v -0.04046648 0.02790624 -0.13132253 +v -0.03241726 0.02763685 -0.13132253 +v -0.04700647 0.03208312 -0.12433260 +v -0.04700647 0.03391283 -0.12354526 +v 0.00014422 0.04284545 -0.13132247 +v -0.03246803 0.02763685 -0.13107311 +v -0.00244039 0.04907079 -0.13132245 +v -0.00244039 0.05488535 -0.12570887 +v -0.04298648 0.04792383 -0.11808489 +v -0.04700647 0.04698229 -0.11596328 +v -0.03946495 0.05488531 -0.11481830 +v -0.03428188 0.05375976 -0.11873998 +v -0.03754033 0.05260483 -0.11783546 +v -0.03973264 0.04934548 -0.11907358 +v -0.03930802 0.02951459 -0.13132252 +v -0.04700647 0.03735357 -0.12176019 +v -0.00732346 0.04855601 -0.13132245 +v -0.00732346 0.05488535 -0.12533323 +v -0.00640961 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a/demo_assets/vase/mjcf/mesh/vase_collision_76.obj b/demo_assets/vase/mjcf/mesh/vase_collision_76.obj new file mode 100644 index 0000000000000000000000000000000000000000..bb57cf951807c759c3e2188e398951342452a241 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_76.obj @@ -0,0 +1,283 @@ +# https://github.com/mikedh/trimesh +v 0.06019655 -0.06286348 -0.03533777 +v 0.05882178 -0.06375604 -0.03409677 +v 0.05909521 -0.06400397 -0.03533778 +v 0.06019655 -0.05461150 -0.03533774 +v 0.06019655 -0.06181805 -0.03297351 +v 0.06019655 -0.06135525 -0.03208388 +v 0.05790019 -0.06293376 -0.03079428 +v 0.05623425 -0.06501224 -0.03226892 +v 0.05361888 -0.06831798 -0.03472103 +v 0.05442146 -0.06789650 -0.03533779 +v 0.05746472 -0.06536759 -0.03533778 +v 0.06019655 -0.03754560 -0.01624605 +v 0.03433397 -0.07365678 -0.03533781 +v 0.06019655 -0.06026436 -0.03007658 +v 0.05937371 -0.05943793 -0.02705070 +v 0.05464173 -0.06430565 -0.02814408 +v 0.05863695 -0.05870241 -0.02455375 +v 0.05623425 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-0.02164749 +v 0.04878056 -0.06349990 -0.01969628 +v 0.05028193 -0.06464865 -0.02299877 +v 0.04805899 -0.06790894 -0.02558732 +v 0.04642343 -0.06977254 -0.02716101 +v 0.04360045 -0.07303697 -0.03000000 +v 0.06019655 -0.05113225 -0.01802163 +v 0.05983957 -0.05104548 -0.01745720 +v 0.05782677 -0.05223555 -0.01624610 +v 0.05719888 -0.05293389 -0.01624610 +v 0.05509746 -0.05516941 -0.01624611 +v 0.05573548 -0.05580164 -0.01765532 +v 0.05290743 -0.05726030 -0.01624612 +v 0.05216814 -0.05792559 -0.01624612 +v 0.05026421 -0.05953301 -0.01624613 +v 0.05098831 -0.05992556 -0.01744788 +v 0.04034452 -0.07403697 -0.02805253 +v 0.04179526 -0.07481380 -0.03179236 +v 0.03855959 -0.07784269 -0.03523130 +v 0.04286115 -0.07563197 -0.03533782 +v 0.04557527 -0.07408239 -0.03533781 +v 0.03433397 -0.07007423 -0.01659940 +v 0.03563533 -0.06921060 -0.01624616 +v 0.03615942 -0.07903689 -0.03533783 +v 0.03530113 -0.07871046 -0.03327261 +v 0.03433397 -0.07891294 -0.03283901 +v 0.04736780 -0.06177265 -0.01624614 +v 0.04685638 -0.06259083 -0.01677693 +v 0.04597530 -0.06281397 -0.01624614 +v 0.04552463 -0.06465692 -0.01818241 +v 0.04312953 -0.06791721 -0.02042707 +v 0.04679308 -0.06628499 -0.02171291 +v 0.04480559 -0.06900810 -0.02372956 +v 0.04179526 -0.07242128 -0.02666014 +v 0.03702024 -0.07492539 -0.02666015 +v 0.03889885 -0.07318988 -0.02475191 +v 0.03844818 -0.07793360 -0.03533783 +v 0.03873681 -0.07778897 -0.03533783 +v 0.03433397 -0.07189652 -0.01924775 +v 0.03630626 -0.06956597 -0.01723112 +v 0.03987107 -0.06894200 -0.01893749 +v 0.03717468 -0.06841309 -0.01624616 +v 0.03433397 -0.07733858 -0.02935335 +v 0.04241555 -0.06526436 -0.01624615 +v 0.04178766 -0.06617757 -0.01690963 +v 0.04151169 -0.06996265 -0.02208673 +v 0.03564292 -0.07399979 -0.02346418 +v 0.03702024 -0.07233039 -0.02192788 +v 0.03433397 -0.07279733 -0.02060277 +v 0.03966346 -0.06697096 -0.01624616 +v 0.03433397 -0.07513614 -0.02469772 +v 0.03433397 -0.07423533 -0.02294273 +f 1 2 3 +f 1 3 11 +f 1 11 10 +f 1 10 19 +f 1 19 22 +f 1 22 38 +f 1 38 64 +f 1 64 63 +f 1 63 81 +f 1 81 80 +f 1 80 67 +f 1 67 42 +f 1 42 25 +f 1 25 13 +f 1 13 4 +f 1 4 12 +f 1 12 24 +f 1 24 41 +f 1 41 50 +f 1 50 31 +f 1 31 30 +f 1 30 26 +f 1 26 14 +f 1 14 6 +f 1 6 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 11 +f 2 11 3 +f 4 13 12 +f 6 14 15 +f 6 15 7 +f 7 16 8 +f 7 15 17 +f 7 17 18 +f 7 18 16 +f 8 16 9 +f 9 19 10 +f 9 16 20 +f 9 20 21 +f 9 21 22 +f 9 22 19 +f 12 23 39 +f 12 39 66 +f 12 66 85 +f 12 85 93 +f 12 93 87 +f 12 87 72 +f 12 72 70 +f 12 70 58 +f 12 58 57 +f 12 57 56 +f 12 56 54 +f 12 54 53 +f 12 53 52 +f 12 52 40 +f 12 40 24 +f 12 13 23 +f 13 25 43 +f 13 43 69 +f 13 69 86 +f 13 86 94 +f 13 94 95 +f 13 95 92 +f 13 92 82 +f 13 82 65 +f 13 65 39 +f 13 39 23 +f 14 26 15 +f 15 26 17 +f 16 18 27 +f 16 27 28 +f 16 28 29 +f 16 29 20 +f 17 26 30 +f 17 30 31 +f 17 31 32 +f 17 32 33 +f 17 33 34 +f 17 34 35 +f 17 35 36 +f 17 36 27 +f 17 27 18 +f 20 29 21 +f 21 37 22 +f 21 29 37 +f 22 37 38 +f 24 40 41 +f 25 42 43 +f 27 44 45 +f 27 45 46 +f 27 46 47 +f 27 47 28 +f 27 36 35 +f 27 35 44 +f 28 47 29 +f 29 47 48 +f 29 48 49 +f 29 49 37 +f 31 50 33 +f 31 33 32 +f 33 50 51 +f 33 51 40 +f 33 40 52 +f 33 52 53 +f 33 53 54 +f 33 54 55 +f 33 55 35 +f 33 35 34 +f 35 55 54 +f 35 54 56 +f 35 56 57 +f 35 57 58 +f 35 58 59 +f 35 59 45 +f 35 45 44 +f 37 49 60 +f 37 60 61 +f 37 61 62 +f 37 62 63 +f 37 63 64 +f 37 64 38 +f 39 65 66 +f 40 51 41 +f 41 51 50 +f 42 67 43 +f 43 67 68 +f 43 68 69 +f 45 59 58 +f 45 58 70 +f 45 70 71 +f 45 71 72 +f 45 72 73 +f 45 73 74 +f 45 74 75 +f 45 75 46 +f 46 75 76 +f 46 76 47 +f 47 76 48 +f 48 76 49 +f 49 76 77 +f 49 77 60 +f 60 78 68 +f 60 68 61 +f 60 77 79 +f 60 79 78 +f 61 68 62 +f 62 68 67 +f 62 67 80 +f 62 80 81 +f 62 81 63 +f 65 82 66 +f 66 82 83 +f 66 83 84 +f 66 84 85 +f 68 86 69 +f 68 78 86 +f 70 72 71 +f 72 87 73 +f 73 87 88 +f 73 88 74 +f 74 84 89 +f 74 89 76 +f 74 76 75 +f 74 88 84 +f 76 89 79 +f 76 79 77 +f 78 79 90 +f 78 90 86 +f 79 89 84 +f 79 84 91 +f 79 91 90 +f 82 92 84 +f 82 84 83 +f 84 88 93 +f 84 93 85 +f 84 92 91 +f 86 90 94 +f 87 93 88 +f 90 95 94 +f 90 91 92 +f 90 92 95 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_77.obj b/demo_assets/vase/mjcf/mesh/vase_collision_77.obj new file mode 100644 index 0000000000000000000000000000000000000000..bf82301ef523c45b577464079652543716643d53 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_77.obj @@ -0,0 +1,331 @@ +# https://github.com/mikedh/trimesh +v -0.00244302 0.04685577 -0.14210865 +v -0.00621589 0.04671370 -0.14210865 +v -0.00244302 0.00728407 -0.13992154 +v 0.00014422 0.04684202 -0.14210865 +v -0.00244302 0.04647542 -0.14593472 +v -0.00732339 0.04607673 -0.14593472 +v -0.00732339 0.04662205 -0.14210865 +v -0.00244302 0.00239890 -0.13968033 +v 0.00013503 0.00728407 -0.14000483 +v 0.00013503 0.00986872 -0.14013463 +v 0.00013503 0.01704983 -0.14050780 +v -0.01110085 0.04599880 -0.14210865 +v -0.01227269 0.04575592 -0.14210865 +v -0.01613747 0.04453692 -0.14210866 +v -0.00732799 0.01704983 -0.14052187 +v -0.00732799 0.00728407 -0.14002647 +v 0.00013503 0.00497896 -0.13989126 +v 0.00013503 0.00239890 -0.13981014 +v 0.00014422 0.04119154 -0.14210867 +v 0.00014422 0.04645251 -0.14593472 +v 0.00014422 0.04561387 -0.14767197 +v -0.00244302 0.04486690 -0.14922750 +v -0.00732339 0.04460569 -0.14903711 +v -0.01105949 0.04425741 -0.14873532 +v -0.01249787 0.04494022 -0.14628844 +v -0.00732799 0.00239890 -0.13982312 +v -0.00732799 0.00003880 -0.13986749 +v -0.00479589 0.00003880 -0.13979501 +v -0.00244302 0.00003880 -0.13974200 +v 0.00013503 0.00003880 -0.13987073 +v -0.01572388 0.04436737 -0.14487356 +v -0.02513537 0.03952803 -0.14490169 +v -0.02541569 0.03972507 -0.14210867 +v -0.02715737 0.03846483 -0.14210868 +v -0.03080616 0.03548149 -0.14210869 +v -0.03269489 0.03374922 -0.14210870 +v 0.00014422 0.02763589 -0.14214442 +v 0.00014422 0.04485316 -0.14922425 +v -0.00244302 0.04148028 -0.15053749 +v -0.00732339 0.04148028 -0.15033195 +v 0.00014422 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-0.14976839 +v -0.02099946 0.03980301 -0.14899818 +v -0.03515806 0.03035804 -0.14593478 +v -0.03956969 0.02512915 -0.14492879 +v -0.03975351 0.02539952 -0.14230344 +v -0.04451899 0.01603705 -0.14230347 +v -0.04436734 0.01565670 -0.14480225 +v -0.04489122 0.01238465 -0.14624421 +v -0.04596197 0.00728410 -0.14593378 +v -0.04637096 0.00239893 -0.14593380 +v -0.04665588 0.00003882 -0.14354968 +v -0.03662860 0.00003884 -0.15038079 +v 0.00014422 0.03659511 -0.15054941 +v 0.00014422 0.03189784 -0.14922754 +v -0.02685866 0.03551818 -0.14920157 +v -0.02966649 0.03446415 -0.14866179 +v -0.03451009 0.02963856 -0.14866722 +v -0.02197829 0.03170994 -0.15069869 +v -0.03662860 0.01217386 -0.15066956 +v -0.02685866 0.03170994 -0.15041528 +v -0.03719384 0.02763591 -0.14622902 +v -0.03895850 0.02422637 -0.14822805 +v -0.04056231 0.02233830 -0.14632099 +v -0.03782801 0.02678352 -0.14632097 +v -0.04308981 0.01719191 -0.14624420 +v -0.04377912 0.01415358 -0.14810262 +v -0.04423867 0.01090445 -0.14869326 +v 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43 +f 42 66 64 +f 44 65 67 +f 44 67 68 +f 44 68 45 +f 45 68 58 +f 45 58 57 +f 46 69 47 +f 46 62 69 +f 47 69 48 +f 48 69 70 +f 48 70 49 +f 49 70 50 +f 50 70 71 +f 50 71 72 +f 50 72 51 +f 51 72 73 +f 51 73 52 +f 52 73 74 +f 52 74 75 +f 52 75 53 +f 53 75 76 +f 53 76 54 +f 54 76 77 +f 54 77 55 +f 56 78 79 +f 56 79 80 +f 56 80 63 +f 58 68 81 +f 58 81 82 +f 58 82 60 +f 60 82 61 +f 61 82 62 +f 62 82 83 +f 62 83 69 +f 64 84 65 +f 64 66 79 +f 64 79 85 +f 64 85 84 +f 65 84 86 +f 65 86 67 +f 67 86 81 +f 67 81 68 +f 69 83 87 +f 69 87 70 +f 70 88 89 +f 70 89 73 +f 70 73 72 +f 70 72 71 +f 70 87 90 +f 70 90 88 +f 73 89 88 +f 73 88 91 +f 73 91 92 +f 73 92 74 +f 74 92 93 +f 74 93 75 +f 75 93 94 +f 75 94 76 +f 76 94 95 +f 76 95 96 +f 76 96 97 +f 76 97 77 +f 78 98 85 +f 78 85 79 +f 81 86 99 +f 81 99 82 +f 82 99 83 +f 83 100 88 +f 83 88 90 +f 83 90 87 +f 83 99 100 +f 84 85 101 +f 84 101 102 +f 84 102 86 +f 85 98 103 +f 85 103 104 +f 85 104 101 +f 86 102 105 +f 86 105 99 +f 88 106 92 +f 88 92 91 +f 88 100 106 +f 92 106 93 +f 93 106 107 +f 93 107 108 +f 93 108 94 +f 94 108 109 +f 94 109 95 +f 95 109 104 +f 95 104 103 +f 95 103 110 +f 95 110 96 +f 99 105 100 +f 100 105 102 +f 100 102 111 +f 100 111 106 +f 101 104 109 +f 101 109 107 +f 101 107 111 +f 101 111 102 +f 106 111 107 +f 107 109 108 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_78.obj b/demo_assets/vase/mjcf/mesh/vase_collision_78.obj new file mode 100644 index 0000000000000000000000000000000000000000..876ce90173c17adc4bc89f4a8a2d46ff04890f86 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_78.obj @@ -0,0 +1,376 @@ +# https://github.com/mikedh/trimesh +v 0.03134226 0.02783772 0.02117751 +v 0.02966598 0.02961094 0.02117752 +v 0.02187283 0.02783772 0.02117751 +v 0.06310312 0.02783782 -0.00613732 +v 0.06447747 0.03171159 -0.00880148 +v 0.06104681 0.03216118 -0.00604229 +v 0.06377988 0.03463939 -0.00944674 +v 0.06114052 0.03640182 -0.00808891 +v 0.05782960 0.03659963 -0.00540494 +v 0.05956315 0.04050937 -0.00886875 +v 0.05642402 0.04182220 -0.00703589 +v 0.05850636 0.04376808 -0.00982674 +v 0.05308187 0.04313862 -0.00520301 +v 0.05499241 0.04636856 -0.00870247 +v 0.05389919 0.04899423 -0.00957336 +v 0.02764611 0.03151725 0.02117753 +v 0.04833935 0.04830003 -0.00508819 +v 0.04906816 0.05390028 -0.00954563 +v 0.02141471 0.02811467 0.02117751 +v 0.02281509 0.02783773 0.01996615 +v 0.06563837 0.02783783 -0.00840564 +v 0.06768427 0.02783784 -0.01031768 +v 0.06775715 0.02783784 -0.01038893 +v 0.06691901 0.03171160 -0.01132316 +v 0.06851200 0.03438763 -0.01451384 +v 0.06569043 0.03614287 -0.01245929 +v 0.06282201 0.03789810 -0.01040868 +v 0.06143205 0.04207758 -0.01176650 +v 0.06330094 0.04364580 -0.01489384 +v 0.05985467 0.04636858 -0.01333411 +v 0.05883953 0.04908057 -0.01442670 +v 0.05743396 0.04636857 -0.01085598 +v 0.05566397 0.05066676 -0.01267695 +v 0.05416989 0.05415206 -0.01422874 +v 0.05232182 0.05225294 -0.01092722 +v 0.05093186 0.05087535 -0.00873808 +v 0.02707347 0.03199922 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-0.01670301 +v 0.06917834 0.03955625 -0.01926422 +v 0.06895449 0.03997348 -0.01926422 +v 0.06729383 0.04264591 -0.01926421 +v 0.07408746 0.02783787 -0.01842899 +v 0.07459763 0.02783787 -0.01926427 +v 0.07383757 0.02996718 -0.01926426 +v 0.07371785 0.03027290 -0.01926426 +v 0.06620060 0.04433281 -0.01926421 +v 0.06511779 0.04593339 -0.01926420 +v 0.05892803 0.05404418 -0.01926417 +v 0.05418551 0.05888907 -0.01926415 +v 0.05413345 0.05893943 -0.01926415 +v 0.04830290 0.06374116 -0.01926414 +v 0.04298774 0.06458280 -0.01567362 +v 0.04073881 0.06458279 -0.01401493 +v 0.04058784 0.06437777 -0.01364282 +v 0.04641318 0.06438858 -0.01839718 +v 0.04591342 0.06458281 -0.01822696 +v 0.03693855 0.06458278 -0.01159223 +v 0.03537679 0.06458278 -0.01067777 +v 0.03992149 0.06458279 -0.01344884 +v 0.02141471 0.06458279 -0.01296589 +v 0.03175873 0.06458277 -0.00886074 +v 0.02549610 0.02783774 0.01729405 +v 0.02141471 0.03630104 0.01218344 +v 0.06767386 0.02783787 -0.01925635 +v 0.07144809 0.02783787 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84 +f 43 84 85 +f 43 85 78 +f 44 86 45 +f 45 87 46 +f 45 86 88 +f 45 88 89 +f 45 89 87 +f 47 48 90 +f 47 90 91 +f 47 91 52 +f 49 55 54 +f 49 54 92 +f 49 92 93 +f 49 93 94 +f 49 94 56 +f 49 56 50 +f 50 56 51 +f 52 91 95 +f 52 95 96 +f 52 96 97 +f 52 97 98 +f 52 98 53 +f 53 98 97 +f 53 97 96 +f 53 96 118 +f 53 118 124 +f 53 124 122 +f 53 122 119 +f 53 119 104 +f 53 104 69 +f 53 69 68 +f 53 68 103 +f 53 103 102 +f 53 102 101 +f 53 101 62 +f 53 62 58 +f 53 58 100 +f 53 100 99 +f 53 99 94 +f 53 94 93 +f 53 93 92 +f 53 92 54 +f 56 94 57 +f 57 94 99 +f 57 99 100 +f 57 100 58 +f 60 101 102 +f 60 102 64 +f 60 64 66 +f 60 63 62 +f 60 62 101 +f 64 102 103 +f 64 103 68 +f 64 68 73 +f 69 104 71 +f 69 71 70 +f 71 105 106 +f 71 106 107 +f 71 107 74 +f 71 104 108 +f 71 108 109 +f 71 109 105 +f 74 107 75 +f 75 110 111 +f 75 111 83 +f 75 83 76 +f 75 107 112 +f 75 112 110 +f 76 83 82 +f 76 82 77 +f 78 85 114 +f 78 114 111 +f 78 111 110 +f 78 110 112 +f 78 112 106 +f 78 106 105 +f 78 105 109 +f 78 109 120 +f 78 120 119 +f 78 119 122 +f 78 122 113 +f 78 113 81 +f 78 81 80 +f 78 80 79 +f 83 111 114 +f 83 114 84 +f 84 114 85 +f 87 89 115 +f 89 116 117 +f 89 117 115 +f 104 119 120 +f 104 120 108 +f 106 112 107 +f 108 120 109 +f 113 122 117 +f 113 117 121 +f 116 123 117 +f 117 124 118 +f 117 123 125 +f 117 125 126 +f 117 126 121 +f 117 122 124 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_79.obj b/demo_assets/vase/mjcf/mesh/vase_collision_79.obj new file mode 100644 index 0000000000000000000000000000000000000000..a0cc0136ada97161ecbad7d154beedfbcae3cae6 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_79.obj @@ -0,0 +1,313 @@ +# https://github.com/mikedh/trimesh +v 0.08495293 0.02986310 -0.06103189 +v 0.08494682 0.02986311 -0.06129620 +v 0.08447023 0.03171364 -0.06103188 +v 0.07955149 0.02986310 -0.06103189 +v 0.08493460 0.02986311 -0.06172791 +v 0.08444884 0.03171365 -0.06172790 +v 0.08330011 0.03472652 -0.06172789 +v 0.08330927 0.03475200 -0.06103187 +v 0.06357627 0.05590068 -0.06103179 +v 0.05374489 0.05590079 -0.09103077 +v 0.07135765 0.02986321 -0.09103087 +v 0.08482157 0.02986311 -0.06360156 +v 0.08451605 0.02986313 -0.06670277 +v 0.08385004 0.03205778 -0.06671745 +v 0.08315346 0.03439771 -0.06509341 +v 0.08211473 0.03717097 -0.06172788 +v 0.08212084 0.03719390 -0.06103186 +v 0.07050222 0.05590068 -0.06103179 +v 0.06198760 0.05590079 -0.09103077 +v 0.07775507 0.02986321 -0.09103087 +v 0.08428997 0.02986313 -0.06878200 +v 0.08363007 0.03081390 -0.07163359 +v 0.07911766 0.04085934 -0.07163355 +v 0.07929791 0.04188400 -0.06680258 +v 0.08183366 0.03777506 -0.06103186 +v 0.07997309 0.04148635 -0.06172787 +v 0.07049917 0.05590068 -0.06115808 +v 0.07271718 0.05307134 -0.06103181 +v 0.06227784 0.05557452 -0.09103078 +v 0.06345101 0.05590078 -0.08833776 +v 0.06401926 0.05432553 -0.08989425 +v 0.07715016 0.03136455 -0.09103086 +v 0.07847302 0.03001360 -0.08963591 +v 0.07849136 0.02986321 -0.08970933 +v 0.08393253 0.02986314 -0.07163359 +v 0.08330011 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0.03171372 -0.08153632 +v 0.07886713 0.03649047 -0.08116628 +v 0.07822556 0.03916431 -0.07926912 +v 0.08001892 0.03660005 -0.07658494 +v 0.07405227 0.04515436 -0.08153627 +v 0.07457164 0.04663783 -0.07654085 +v 0.07380480 0.04960990 -0.07163352 +v 0.07291882 0.04844251 -0.07816487 +v 0.06861110 0.05397374 -0.07968315 +v 0.06907548 0.05456764 -0.07658487 +v 0.07211227 0.05205180 -0.07163351 +v 0.07419586 0.05019869 -0.06667921 +v 0.07691186 0.04686209 -0.06172785 +v 0.07825917 0.04478214 -0.06103184 +v 0.07000729 0.05590070 -0.06660282 +v 0.07658496 0.04741011 -0.06103183 +v 0.07447082 0.05060396 -0.06172783 +v 0.07249416 0.05264313 -0.06667920 +v 0.06601730 0.05090229 -0.09103079 +v 0.06456612 0.05590078 -0.08600892 +v 0.06800924 0.05321671 -0.08298701 +v 0.06908465 0.04978584 -0.08649058 +v 0.07158984 0.04610769 -0.08634081 +v 0.07279967 0.04312032 -0.08789436 +v 0.06932905 0.04619437 -0.09103081 +v 0.06931072 0.04622240 -0.09103081 +v 0.07246972 0.04100979 -0.09103083 +v 0.07372842 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diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_8.obj b/demo_assets/vase/mjcf/mesh/vase_collision_8.obj new file mode 100644 index 0000000000000000000000000000000000000000..9638716335023537ae2028f27f9fdaf172ddc0c0 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_8.obj @@ -0,0 +1,88 @@ +# https://github.com/mikedh/trimesh +v -0.01489081 0.02404127 0.04490612 +v 0.00188001 0.02826949 0.04490613 +v -0.01489081 0.03031419 0.04490614 +v -0.01489081 0.02417290 0.04435558 +v 0.00188001 0.02879600 0.04196532 +v 0.00188001 0.03319731 0.04490615 +v -0.01220675 0.03139964 0.04490615 +v -0.01489081 0.03957128 0.02117756 +v -0.01489081 0.02587322 0.03734270 +v -0.01489081 0.02656381 0.03472942 +v -0.01489081 0.02718769 0.03254587 +v 0.00188001 0.03157278 0.03239258 +v -0.00243910 0.03318830 0.04490615 +v 0.00188001 0.04245079 0.02117757 +v -0.00243910 0.04246161 0.02117757 +v -0.00989863 0.03202351 0.04490615 +v -0.01220675 0.04060444 0.02117756 +v -0.01393210 0.03994632 0.02117756 +v -0.01489081 0.03222193 0.02117753 +v -0.01489081 0.02823348 0.02989310 +v 0.00188001 0.03322983 0.02694766 +v 0.00188001 0.03178374 0.03169338 +v -0.00400520 0.03306388 0.04490615 +v 0.00188001 0.03597053 0.02117754 +v -0.00739351 0.04185758 0.02117756 +v -0.00728845 0.03262033 0.04490615 +v -0.01489081 0.03190458 0.02165605 +v -0.01489081 0.02870228 0.02876417 +v -0.01489081 0.03150069 0.02226697 +v 0.00188001 0.03502571 0.02280125 +f 1 2 6 +f 1 6 13 +f 1 13 23 +f 1 23 26 +f 1 26 16 +f 1 16 7 +f 1 7 3 +f 1 3 8 +f 1 8 19 +f 1 19 27 +f 1 27 29 +f 1 29 28 +f 1 28 20 +f 1 20 11 +f 1 11 10 +f 1 10 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 12 +f 2 12 22 +f 2 22 21 +f 2 21 30 +f 2 30 24 +f 2 24 14 +f 2 14 6 +f 3 7 8 +f 4 9 5 +f 5 9 10 +f 5 10 11 +f 5 11 12 +f 6 14 15 +f 6 15 13 +f 7 16 17 +f 7 17 18 +f 7 18 8 +f 8 18 17 +f 8 17 25 +f 8 25 15 +f 8 15 14 +f 8 14 24 +f 8 24 19 +f 11 20 21 +f 11 21 22 +f 11 22 12 +f 13 15 23 +f 15 25 23 +f 16 26 25 +f 16 25 17 +f 19 24 27 +f 20 28 21 +f 21 28 29 +f 21 29 30 +f 23 25 26 +f 24 30 29 +f 24 29 27 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_80.obj b/demo_assets/vase/mjcf/mesh/vase_collision_80.obj new file mode 100644 index 0000000000000000000000000000000000000000..3f260ae18891e75b209f06714f8560c12250f3e8 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_80.obj @@ -0,0 +1,280 @@ +# https://github.com/mikedh/trimesh +v 0.06019655 -0.06717789 -0.05677164 +v 0.06019655 -0.06717226 -0.05801662 +v 0.06019655 -0.06695569 -0.05243306 +v 0.05865720 -0.06849438 -0.05387170 +v 0.05870531 -0.06853376 -0.05677164 +v 0.05869518 -0.06852531 -0.05998848 +v 0.05988767 -0.06732416 -0.06103225 +v 0.06019655 -0.06707661 -0.05997841 +v 0.06019655 -0.06689098 -0.05177661 +v 0.05850023 -0.06830592 -0.05056936 +v 0.05659377 -0.06990652 -0.05206083 +v 0.05291503 -0.07268858 -0.05181687 +v 0.05306694 -0.07274483 -0.05677166 +v 0.05740142 -0.06939453 -0.06103225 +v 0.05863949 -0.06846061 -0.06103225 +v 0.05295048 -0.07270262 -0.06103227 +v 0.06019655 -0.06702317 -0.06103225 +v 0.06019655 -0.06650561 -0.04857234 +v 0.05818375 -0.06804715 -0.04686710 +v 0.05574055 -0.07000781 -0.04686711 +v 0.05248462 -0.07245231 -0.04686712 +v 0.05047435 -0.07443265 -0.05181687 +v 0.05062626 -0.07452546 -0.05677166 +v 0.05050726 -0.07443824 -0.06103227 +v 0.06019655 -0.05957715 -0.06103222 +v 0.06019655 -0.06628340 -0.04705321 +v 0.06019655 -0.06529886 -0.04221663 +v 0.05753561 -0.06756052 -0.04191231 +v 0.05509240 -0.06951274 -0.04191232 +v 0.05175292 -0.07195724 -0.04191232 +v 0.05004394 -0.07415137 -0.04686712 +v 0.04409415 -0.07830616 -0.04882893 +v 0.04672219 -0.07687715 -0.05181688 +v 0.04686144 -0.07696995 -0.05677167 +v 0.04670700 -0.07687993 -0.06103228 +v 0.06019655 -0.05460947 -0.03534026 +v 0.03433397 -0.07730469 -0.06103228 +v 0.06019655 -0.06523416 -0.04191230 +v 0.05438096 -0.06896422 -0.03802645 +v 0.05945220 -0.06433120 -0.03696003 +v 0.04886917 -0.07335813 -0.03939973 +v 0.04930971 -0.07365630 -0.04191233 +v 0.04364096 -0.07791235 -0.04552910 +v 0.04181804 -0.07921196 -0.04705577 +v 0.04152688 -0.07984486 -0.05181689 +v 0.04427898 -0.07841867 -0.05181689 +v 0.04441822 -0.07850304 -0.05677168 +v 0.04426379 -0.07841020 -0.06103229 +v 0.03433397 -0.07365632 -0.03534033 +v 0.06019655 -0.06286564 -0.03534029 +v 0.03433397 -0.08322325 -0.06103231 +v 0.06019655 -0.06499787 -0.04116783 +v 0.05607728 -0.06702607 -0.03660793 +v 0.05442146 -0.06789810 -0.03534031 +v 0.05299352 -0.06899236 -0.03534031 +v 0.05124402 -0.07087425 -0.03706317 +v 0.06019655 -0.06360826 -0.03696002 +v 0.05909521 -0.06400490 -0.03534030 +v 0.04802354 -0.07278991 -0.03609738 +v 0.04640318 -0.07430892 -0.03743291 +v 0.04293204 -0.07758044 -0.04191234 +v 0.04641077 -0.07544818 -0.04191234 +v 0.04048884 -0.07893068 -0.04191235 +v 0.03433397 -0.08294199 -0.04939233 +v 0.03433397 -0.08299263 -0.04973439 +v 0.03626575 -0.08226686 -0.05146730 +v 0.03698226 -0.08217401 -0.05677169 +v 0.04152688 -0.07999956 -0.05677168 +v 0.04152688 -0.07981389 -0.06103229 +v 0.03433397 -0.07975491 -0.03534035 +v 0.03440993 -0.08319230 -0.06103231 +v 0.03433397 -0.08327952 -0.06058965 +v 0.05746472 -0.06537202 -0.03534030 +v 0.04844889 -0.07218230 -0.03534033 +v 0.04773745 -0.07265770 -0.03534033 +v 0.04557527 -0.07408389 -0.03534033 +v 0.04138257 -0.07700096 -0.03691480 +v 0.03965840 -0.07851436 -0.03853707 +v 0.03664300 -0.08052284 -0.04191236 +v 0.03433397 -0.08141456 -0.04170109 +v 0.03433397 -0.08321484 -0.05285063 +v 0.03438461 -0.08319796 -0.05288332 +v 0.03453905 -0.08326546 -0.05677170 +v 0.03446563 -0.08323450 -0.06050413 +v 0.03512390 -0.08286318 -0.06103230 +v 0.03433397 -0.08026686 -0.03693745 +v 0.03615942 -0.07904040 -0.03534035 +v 0.03433397 -0.08334703 -0.05677170 +v 0.04286115 -0.07563104 -0.03534034 +v 0.03873681 -0.07778862 -0.03534035 +v 0.03681516 -0.07928794 -0.03691481 +v 0.03433397 -0.08082665 -0.03917340 +v 0.03844818 -0.07793209 -0.03534035 +v 0.03433397 -0.08322047 -0.05295878 +f 1 2 8 +f 1 8 17 +f 1 17 25 +f 1 25 36 +f 1 36 50 +f 1 50 57 +f 1 57 52 +f 1 52 38 +f 1 38 27 +f 1 27 26 +f 1 26 18 +f 1 18 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 8 +f 3 9 4 +f 4 9 10 +f 4 10 11 +f 4 11 12 +f 4 12 13 +f 4 13 5 +f 5 13 6 +f 6 14 15 +f 6 15 7 +f 6 13 16 +f 6 16 14 +f 7 17 8 +f 7 15 14 +f 7 14 16 +f 7 16 24 +f 7 24 35 +f 7 35 48 +f 7 48 69 +f 7 69 85 +f 7 85 71 +f 7 71 51 +f 7 51 37 +f 7 37 25 +f 7 25 17 +f 9 18 10 +f 10 19 20 +f 10 20 12 +f 10 12 11 +f 10 18 19 +f 12 21 22 +f 12 22 23 +f 12 23 13 +f 12 20 21 +f 13 23 16 +f 16 23 24 +f 18 26 19 +f 19 26 27 +f 19 27 28 +f 19 28 20 +f 20 28 29 +f 20 29 21 +f 21 30 31 +f 21 31 22 +f 21 29 30 +f 22 31 32 +f 22 32 33 +f 22 33 23 +f 23 33 34 +f 23 34 24 +f 24 34 35 +f 25 37 36 +f 27 38 28 +f 28 39 29 +f 28 38 40 +f 28 40 39 +f 29 39 30 +f 30 41 42 +f 30 42 31 +f 30 39 41 +f 31 42 32 +f 32 43 44 +f 32 44 45 +f 32 45 46 +f 32 46 33 +f 32 42 43 +f 33 46 34 +f 34 46 47 +f 34 47 35 +f 35 47 48 +f 36 49 70 +f 36 70 87 +f 36 87 93 +f 36 93 90 +f 36 90 89 +f 36 89 76 +f 36 76 75 +f 36 75 74 +f 36 74 55 +f 36 55 54 +f 36 54 73 +f 36 73 58 +f 36 58 50 +f 36 37 49 +f 37 51 72 +f 37 72 88 +f 37 88 94 +f 37 94 81 +f 37 81 65 +f 37 65 64 +f 37 64 80 +f 37 80 92 +f 37 92 86 +f 37 86 70 +f 37 70 49 +f 38 52 40 +f 39 40 53 +f 39 53 54 +f 39 54 55 +f 39 55 56 +f 39 56 41 +f 40 57 58 +f 40 58 53 +f 40 52 57 +f 41 56 59 +f 41 59 60 +f 41 60 61 +f 41 61 62 +f 41 62 42 +f 42 62 43 +f 43 61 63 +f 43 63 44 +f 43 62 61 +f 44 63 64 +f 44 64 65 +f 44 65 45 +f 45 47 46 +f 45 65 66 +f 45 66 67 +f 45 67 68 +f 45 68 47 +f 47 68 48 +f 48 68 69 +f 50 58 57 +f 51 71 72 +f 53 73 54 +f 53 58 73 +f 55 74 59 +f 55 59 56 +f 59 74 75 +f 59 75 76 +f 59 76 60 +f 60 76 77 +f 60 77 78 +f 60 78 61 +f 61 78 63 +f 63 78 79 +f 63 79 64 +f 64 79 80 +f 65 81 82 +f 65 82 66 +f 66 82 67 +f 67 82 83 +f 67 83 84 +f 67 84 68 +f 68 84 69 +f 69 84 85 +f 70 86 87 +f 71 84 72 +f 71 85 84 +f 72 84 88 +f 76 89 77 +f 77 90 78 +f 77 89 90 +f 78 87 91 +f 78 91 92 +f 78 92 80 +f 78 80 79 +f 78 90 93 +f 78 93 87 +f 81 94 82 +f 82 94 88 +f 82 88 83 +f 83 88 84 +f 86 92 91 +f 86 91 87 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_81.obj b/demo_assets/vase/mjcf/mesh/vase_collision_81.obj new file mode 100644 index 0000000000000000000000000000000000000000..ad97eaa42d3cd58a1103a0c8ecfb70b9ad0fb84f --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_81.obj @@ -0,0 +1,337 @@ +# https://github.com/mikedh/trimesh +v 0.08487278 -0.02992432 -0.06103211 +v 0.08435666 -0.03181368 -0.06103212 +v 0.08486362 -0.02992431 -0.06172705 +v 0.07950693 -0.02992432 -0.06103211 +v 0.08434444 -0.03181367 -0.06172706 +v 0.08325722 -0.03473430 -0.06103213 +v 0.08325112 -0.03471901 -0.06172707 +v 0.08449104 -0.02992430 -0.06665876 +v 0.07143526 -0.02992421 -0.09086181 +v 0.05367330 -0.05593480 -0.09086191 +v 0.06356209 -0.05593491 -0.06103221 +v 0.08312590 -0.03444146 -0.06496232 +v 0.08380389 -0.03214468 -0.06664125 +v 0.08225857 -0.03683501 -0.06103214 +v 0.08208754 -0.03716093 -0.06172708 +v 0.08390161 -0.02992428 -0.07163427 +v 0.07787915 -0.02992421 -0.09086181 +v 0.06190988 -0.05593480 -0.09086191 +v 0.07045493 -0.05593491 -0.06103221 +v 0.08276248 -0.03399584 -0.06826471 +v 0.08359316 -0.03085623 -0.07163427 +v 0.07927177 -0.04197599 -0.06676683 +v 0.07907937 -0.04090143 -0.07163431 +v 0.08209060 -0.03717876 -0.06103214 +v 0.08022462 -0.04098296 -0.06103215 +v 0.07991616 -0.04158642 -0.06172709 +v 0.08327249 -0.02998282 -0.07507683 +v 0.08330303 -0.02992426 -0.07501259 +v 0.07837696 -0.02992421 -0.08989824 +v 0.07729279 -0.03133232 -0.09086182 +v 0.06196180 -0.05588387 -0.09086191 +v 0.06416372 -0.05593481 -0.08649082 +v 0.07043966 -0.05593490 -0.06164247 +v 0.07265991 -0.05309067 -0.06103220 +v 0.07997419 -0.03670000 -0.07658352 +v 0.07828534 -0.04422949 -0.06517258 +v 0.07795246 -0.04386280 -0.06847498 +v 0.07764401 -0.04334335 -0.07163432 +v 0.07716453 -0.04231207 -0.07658355 +v 0.07853576 -0.03986761 -0.07658354 +v 0.07992838 -0.04158643 -0.06103215 +v 0.07843804 -0.04448923 -0.06103216 +v 0.07843193 -0.04447394 -0.06172710 +v 0.08328471 -0.02992426 -0.07510894 +v 0.07885949 -0.03659049 -0.08112688 +v 0.08064302 -0.03181360 -0.08153857 +v 0.08324195 -0.02992426 -0.07525202 +v 0.07847774 -0.02992421 -0.08968800 +v 0.07845331 -0.03012027 -0.08959165 +v 0.07518555 -0.03611175 -0.09086183 +v 0.06231606 -0.05551466 -0.09086190 +v 0.06396827 -0.05434335 -0.08982825 +v 0.06475314 -0.05527022 -0.08649081 +v 0.06557467 -0.05593482 -0.08316213 +v 0.07000599 -0.05593489 -0.06617999 +v 0.07002126 -0.05585595 -0.06667930 +v 0.07265074 -0.05307284 -0.06172713 +v 0.07291338 -0.05274947 -0.06103219 +v 0.07820288 -0.03922848 -0.07919976 +v 0.07688051 -0.04691840 -0.06172711 +v 0.07417163 -0.05025406 -0.06667927 +v 0.07376544 -0.04965057 -0.07163434 +v 0.07343867 -0.04915657 -0.07473819 +v 0.07453200 -0.04670701 -0.07646384 +v 0.07404031 -0.04521485 -0.08153862 +v 0.07689272 -0.04693114 -0.06103217 +v 0.07763179 -0.03814628 -0.08250216 +v 0.07845331 -0.03488954 -0.08477968 +v 0.08032845 -0.02992423 -0.08460738 +v 0.08127824 -0.02992424 -0.08164660 +v 0.08194706 -0.02992425 -0.07949755 +v 0.07907632 -0.03177539 -0.08645569 +v 0.07859379 -0.02992421 -0.08940186 +v 0.07769287 -0.03337702 -0.08808207 +v 0.07420216 -0.03824810 -0.09086184 +v 0.06262146 -0.05518109 -0.09086190 +v 0.06368730 -0.05400978 -0.09086190 +v 0.06539142 -0.05187343 -0.09086189 +v 0.06620379 -0.05085235 -0.09086189 +v 0.06850038 -0.04905975 -0.08918001 +v 0.06719633 -0.05228085 -0.08649080 +v 0.06796288 -0.05325865 -0.08288765 +v 0.06617935 -0.05593483 -0.08171094 +v 0.06995407 -0.05593489 -0.06667930 +v 0.06992048 -0.05593488 -0.06688369 +v 0.06913866 -0.05593487 -0.07163437 +v 0.06962730 -0.05533903 -0.07163436 +v 0.07246139 -0.05269598 -0.06667928 +v 0.07443732 -0.05063093 -0.06172713 +v 0.07444954 -0.05064876 -0.06103219 +v 0.07650181 -0.04114839 -0.08112690 +v 0.07207048 -0.05209248 -0.07163435 +v 0.07290117 -0.04849451 -0.07803768 +v 0.06902566 -0.05459039 -0.07658359 +v 0.06858284 -0.05403529 -0.07958524 +v 0.07237283 -0.04765676 -0.08153863 +v 0.07351197 -0.04440002 -0.08461035 +v 0.07437319 -0.04163217 -0.08635352 +v 0.07376850 -0.04003307 -0.08999172 +v 0.07971155 -0.02992422 -0.08647027 +v 0.07353334 -0.03963075 -0.09086185 +v 0.06805755 -0.04843845 -0.09086188 +v 0.07159101 -0.04620535 -0.08635354 +v 0.06907453 -0.04983893 -0.08649079 +v 0.06927915 -0.04662802 -0.09086187 +v 0.07281871 -0.04328727 -0.08791276 +v 0.06973419 -0.05151952 -0.08135761 +v 0.06634427 -0.05593483 -0.08128464 +v 0.06870805 -0.05593486 -0.07337755 +v 0.06791401 -0.05593485 -0.07658360 +v 0.07279428 -0.04091664 -0.09086185 +v 0.06961508 -0.04610603 -0.09086187 +v 0.07216211 -0.04195045 -0.09086185 +f 1 2 3 +f 1 3 8 +f 1 8 16 +f 1 16 28 +f 1 28 44 +f 1 44 47 +f 1 47 71 +f 1 71 70 +f 1 70 69 +f 1 69 100 +f 1 100 73 +f 1 73 48 +f 1 48 29 +f 1 29 17 +f 1 17 9 +f 1 9 4 +f 1 4 11 +f 1 11 19 +f 1 19 34 +f 1 34 58 +f 1 58 90 +f 1 90 66 +f 1 66 42 +f 1 42 41 +f 1 41 25 +f 1 25 24 +f 1 24 14 +f 1 14 6 +f 1 6 2 +f 2 5 3 +f 2 6 7 +f 2 7 5 +f 3 5 8 +f 4 9 10 +f 4 10 11 +f 5 7 12 +f 5 12 13 +f 5 13 8 +f 6 14 7 +f 7 14 15 +f 7 15 12 +f 8 13 16 +f 9 17 30 +f 9 30 50 +f 9 50 75 +f 9 75 101 +f 9 101 111 +f 9 111 113 +f 9 113 112 +f 9 112 105 +f 9 105 102 +f 9 102 79 +f 9 79 78 +f 9 78 77 +f 9 77 76 +f 9 76 51 +f 9 51 31 +f 9 31 18 +f 9 18 10 +f 10 18 32 +f 10 32 54 +f 10 54 83 +f 10 83 108 +f 10 108 110 +f 10 110 109 +f 10 109 86 +f 10 86 85 +f 10 85 84 +f 10 84 55 +f 10 55 33 +f 10 33 19 +f 10 19 11 +f 12 20 21 +f 12 21 13 +f 12 15 22 +f 12 22 23 +f 12 23 20 +f 13 21 16 +f 14 24 15 +f 15 24 25 +f 15 25 26 +f 15 26 22 +f 16 21 27 +f 16 27 28 +f 17 29 30 +f 18 31 32 +f 19 33 34 +f 20 23 21 +f 21 35 27 +f 21 23 35 +f 22 26 36 +f 22 36 23 +f 23 36 37 +f 23 37 38 +f 23 38 39 +f 23 39 40 +f 23 40 35 +f 25 41 26 +f 26 42 43 +f 26 43 36 +f 26 41 42 +f 27 44 28 +f 27 35 45 +f 27 45 46 +f 27 46 47 +f 27 47 44 +f 29 48 49 +f 29 49 30 +f 30 49 50 +f 31 51 32 +f 32 51 52 +f 32 52 53 +f 32 53 54 +f 33 55 56 +f 33 56 57 +f 33 57 34 +f 34 57 58 +f 35 40 59 +f 35 59 45 +f 36 43 60 +f 36 60 61 +f 36 61 62 +f 36 62 37 +f 37 62 38 +f 38 62 63 +f 38 63 39 +f 39 63 64 +f 39 64 65 +f 39 65 59 +f 39 59 40 +f 42 66 43 +f 43 66 60 +f 45 59 67 +f 45 67 68 +f 45 68 46 +f 46 69 70 +f 46 70 71 +f 46 71 47 +f 46 68 72 +f 46 72 69 +f 48 73 49 +f 49 73 72 +f 49 72 68 +f 49 68 74 +f 49 74 50 +f 50 74 75 +f 51 76 52 +f 52 76 77 +f 52 77 78 +f 52 78 79 +f 52 79 80 +f 52 80 81 +f 52 81 53 +f 53 81 82 +f 53 82 83 +f 53 83 54 +f 55 84 56 +f 56 84 85 +f 56 85 86 +f 56 86 87 +f 56 87 88 +f 56 88 57 +f 57 88 89 +f 57 89 58 +f 58 89 90 +f 59 65 91 +f 59 91 67 +f 60 66 90 +f 60 90 89 +f 60 89 61 +f 61 89 88 +f 61 88 92 +f 61 92 62 +f 62 92 63 +f 63 93 65 +f 63 65 64 +f 63 92 94 +f 63 94 95 +f 63 95 93 +f 65 93 96 +f 65 96 97 +f 65 97 91 +f 67 91 97 +f 67 97 98 +f 67 98 68 +f 68 98 99 +f 68 99 74 +f 69 72 100 +f 72 73 100 +f 74 99 75 +f 75 99 101 +f 79 102 80 +f 80 103 104 +f 80 104 81 +f 80 102 105 +f 80 105 106 +f 80 106 103 +f 81 104 82 +f 82 104 107 +f 82 107 95 +f 82 95 108 +f 82 108 83 +f 86 109 94 +f 86 94 87 +f 87 92 88 +f 87 94 92 +f 93 95 96 +f 94 109 110 +f 94 110 95 +f 95 110 108 +f 95 107 96 +f 96 107 104 +f 96 104 97 +f 97 104 103 +f 97 103 106 +f 97 106 98 +f 98 106 99 +f 99 106 111 +f 99 111 101 +f 105 112 106 +f 106 112 113 +f 106 113 111 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_82.obj b/demo_assets/vase/mjcf/mesh/vase_collision_82.obj new file mode 100644 index 0000000000000000000000000000000000000000..1eec084dec7129a1edaf4954b8a1527944526a00 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_82.obj @@ -0,0 +1,262 @@ +# https://github.com/mikedh/trimesh +v 0.05049355 0.06458288 -0.03718757 +v 0.05953352 0.06458288 -0.03718757 +v 0.05465848 0.06458296 -0.06103176 +v 0.07595863 0.03759248 -0.06103186 +v 0.07286194 0.03759240 -0.03718767 +v 0.05970334 0.06444286 -0.03718757 +v 0.05985771 0.06458288 -0.03816095 +v 0.06284633 0.06458296 -0.06103176 +v 0.08192354 0.03759248 -0.06103186 +v 0.07915102 0.03759240 -0.03718767 +v 0.05973112 0.06441908 -0.03718757 +v 0.05981757 0.06433982 -0.03718757 +v 0.06289573 0.06286032 -0.04191207 +v 0.06102784 0.06458289 -0.04191206 +v 0.06289882 0.06458296 -0.06006071 +v 0.06340207 0.06408363 -0.06103176 +v 0.08183400 0.03777477 -0.06103186 +v 0.08203160 0.03759247 -0.05676955 +v 0.08000316 0.03759241 -0.04076372 +v 0.07912015 0.03767166 -0.03718767 +v 0.06214549 0.06212848 -0.03718758 +v 0.06329710 0.06325664 -0.04545543 +v 0.06126557 0.06458290 -0.04292512 +v 0.06452589 0.05968729 -0.03718759 +v 0.06519895 0.06041649 -0.04191208 +v 0.06303775 0.06458295 -0.05676945 +v 0.06386518 0.06382735 -0.05676946 +v 0.06377873 0.06374017 -0.06103177 +v 0.07999081 0.04148676 -0.06103185 +v 0.08009887 0.04148675 -0.05676954 +v 0.07993523 0.04148673 -0.05181630 +v 0.08186488 0.03759245 -0.05181631 +v 0.08025941 0.03759241 -0.04191216 +v 0.07896887 0.04058049 -0.04191215 +v 0.07852119 0.03974033 -0.03828475 +v 0.07829890 0.03939159 -0.03718767 +v 0.06360584 0.06356840 -0.04875837 +v 0.06225972 0.06458292 -0.04767761 +v 0.06202508 0.06458291 -0.04651283 +v 0.06812583 0.05832142 -0.04686533 +v 0.06531010 0.06138875 -0.04701003 +v 0.06463704 0.05956312 -0.03718759 +v 0.06763802 0.05772167 -0.04191209 +v 0.06280311 0.06458293 -0.05180687 +v 0.06376021 0.06372164 -0.05181622 +v 0.06630425 0.06118272 -0.05676947 +v 0.06848706 0.05870188 -0.05285029 +v 0.06846545 0.05867549 -0.06025914 +v 0.06754539 0.05961339 -0.06103178 +v 0.07977468 0.04191740 -0.06103185 +v 0.07854898 0.04457258 -0.05676953 +v 0.07843165 0.04439027 -0.05181629 +v 0.07827420 0.04412341 -0.04861605 +v 0.07924056 0.04180903 -0.04692608 +v 0.08180930 0.03759245 -0.05131445 +v 0.08096644 0.03759243 -0.04540884 +v 0.07376038 0.04957115 -0.04191212 +v 0.07342077 0.04904275 -0.03898032 +v 0.07436552 0.04647738 -0.03718764 +v 0.07744368 0.04095035 -0.03718766 +v 0.06836047 0.05856449 -0.04954969 +v 0.06965411 0.05527783 -0.04191210 +v 0.07008944 0.05588022 -0.04686533 +v 0.06696496 0.05684187 -0.03718760 +v 0.06661917 0.06060939 -0.05144742 +v 0.06851794 0.05873889 -0.05676947 +v 0.07273844 0.05311145 -0.05181625 +v 0.07279093 0.05322243 -0.05676949 +v 0.07271683 0.05307185 -0.06103181 +v 0.06918482 0.05765568 -0.06103179 +v 0.07847179 0.04444313 -0.06103184 +v 0.07825876 0.04478395 -0.06103184 +v 0.07702070 0.04701641 -0.05676952 +v 0.07693117 0.04683410 -0.05181628 +v 0.07421115 0.05026337 -0.04686536 +v 0.08123196 0.03759243 -0.04697978 +v 0.07209626 0.05201234 -0.04191211 +v 0.06906441 0.05424745 -0.03718761 +v 0.07148804 0.05090798 -0.03718762 +v 0.07310894 0.04856455 -0.03718763 +v 0.07253159 0.05270456 -0.04686535 +v 0.06705758 0.05672827 -0.03718760 +v 0.06895326 0.05439804 -0.03718761 +v 0.07448901 0.05067026 -0.05181626 +v 0.07457855 0.05078124 -0.05676950 +v 0.07448593 0.05063066 -0.06103181 +v 0.07692808 0.04688432 -0.06103183 +v 0.07658538 0.04741272 -0.06103183 +f 1 2 7 +f 1 7 14 +f 1 14 23 +f 1 23 39 +f 1 39 38 +f 1 38 44 +f 1 44 26 +f 1 26 15 +f 1 15 8 +f 1 8 3 +f 1 3 4 +f 1 4 5 +f 1 5 10 +f 1 10 20 +f 1 20 36 +f 1 36 60 +f 1 60 59 +f 1 59 80 +f 1 80 79 +f 1 79 78 +f 1 78 83 +f 1 83 82 +f 1 82 64 +f 1 64 42 +f 1 42 24 +f 1 24 21 +f 1 21 12 +f 1 12 11 +f 1 11 6 +f 1 6 2 +f 2 6 7 +f 3 8 16 +f 3 16 28 +f 3 28 49 +f 3 49 70 +f 3 70 69 +f 3 69 86 +f 3 86 88 +f 3 88 87 +f 3 87 72 +f 3 72 71 +f 3 71 50 +f 3 50 29 +f 3 29 17 +f 3 17 9 +f 3 9 4 +f 4 9 18 +f 4 18 32 +f 4 32 55 +f 4 55 76 +f 4 76 56 +f 4 56 33 +f 4 33 19 +f 4 19 10 +f 4 10 5 +f 6 11 7 +f 7 11 12 +f 7 12 13 +f 7 13 14 +f 8 15 16 +f 9 17 18 +f 10 19 20 +f 12 21 13 +f 13 22 23 +f 13 23 14 +f 13 21 24 +f 13 24 25 +f 13 25 22 +f 15 26 27 +f 15 27 28 +f 15 28 16 +f 17 29 30 +f 17 30 18 +f 18 30 31 +f 18 31 32 +f 19 33 34 +f 19 34 35 +f 19 35 20 +f 20 35 36 +f 22 37 38 +f 22 38 39 +f 22 39 23 +f 22 25 40 +f 22 40 41 +f 22 41 37 +f 24 42 43 +f 24 43 25 +f 25 43 40 +f 26 44 45 +f 26 45 27 +f 27 46 28 +f 27 45 47 +f 27 47 46 +f 28 46 48 +f 28 48 49 +f 29 50 30 +f 30 50 51 +f 30 51 31 +f 31 51 52 +f 31 52 53 +f 31 53 54 +f 31 54 32 +f 32 54 55 +f 33 56 34 +f 34 56 54 +f 34 54 53 +f 34 53 57 +f 34 57 58 +f 34 58 35 +f 35 58 59 +f 35 59 60 +f 35 60 36 +f 37 45 44 +f 37 44 38 +f 37 41 40 +f 37 40 61 +f 37 61 45 +f 40 62 63 +f 40 63 61 +f 40 43 62 +f 42 64 43 +f 43 64 62 +f 45 61 65 +f 45 65 47 +f 46 47 66 +f 46 66 48 +f 47 61 67 +f 47 67 68 +f 47 68 66 +f 47 65 61 +f 48 66 68 +f 48 68 69 +f 48 69 70 +f 48 70 49 +f 50 71 51 +f 51 71 72 +f 51 72 73 +f 51 73 74 +f 51 74 52 +f 52 74 53 +f 53 74 75 +f 53 75 57 +f 54 56 76 +f 54 76 55 +f 57 75 77 +f 57 77 58 +f 58 77 78 +f 58 78 79 +f 58 79 80 +f 58 80 59 +f 61 63 81 +f 61 81 67 +f 62 64 82 +f 62 82 83 +f 62 83 77 +f 62 77 81 +f 62 81 63 +f 67 81 84 +f 67 84 85 +f 67 85 68 +f 68 85 69 +f 69 85 86 +f 72 87 73 +f 73 87 88 +f 73 88 85 +f 73 85 84 +f 73 84 74 +f 74 84 75 +f 75 81 77 +f 75 84 81 +f 77 83 78 +f 85 88 86 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_83.obj b/demo_assets/vase/mjcf/mesh/vase_collision_83.obj new file mode 100644 index 0000000000000000000000000000000000000000..74ce616c3cbb35782ca492fad106d2c789a7b4f5 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_83.obj @@ -0,0 +1,208 @@ +# https://github.com/mikedh/trimesh +v 0.02608015 -0.06599259 -0.01624428 +v 0.02608015 -0.07330720 -0.01624431 +v -0.00003679 -0.07087057 -0.01624430 +v 0.02608015 -0.03736579 0.00823580 +v 0.02608015 -0.07276992 -0.01540914 +v 0.02396594 -0.07314697 -0.01485602 +v 0.02268004 -0.07440062 -0.01624431 +v -0.00003679 -0.07782228 -0.01624433 +v -0.00003679 -0.05358327 -0.00000972 +v 0.02608015 -0.03220505 0.01292816 +v 0.02608015 -0.03361895 0.01160580 +v 0.02608015 -0.03472651 0.01058015 +v 0.02608015 -0.07031444 -0.01246040 +v 0.02070900 -0.07367011 -0.01426261 +v 0.02188753 -0.07462213 -0.01624431 +v 0.02449258 -0.06848109 -0.00968748 +v 0.00142552 -0.07782699 -0.01624433 +v 0.00244810 -0.07747823 -0.01572051 +v -0.00003679 -0.07747351 -0.01572783 +v -0.00003679 -0.05114193 0.00244818 +v 0.02608015 -0.02968359 0.01535309 +v 0.02608015 -0.06961221 -0.01165087 +v 0.01709925 -0.07190745 -0.01127724 +v 0.01709925 -0.07408957 -0.01375711 +v 0.01260497 -0.07677127 -0.01624432 +v 0.01845419 -0.07550346 -0.01624432 +v 0.02198468 -0.06884871 -0.00932118 +v 0.02608015 -0.06655347 -0.00854460 +v 0.01723219 -0.03863364 0.02117726 +v 0.01623261 -0.03902482 0.02117726 +v 0.01364290 -0.04000984 0.02117725 +v 0.01221639 -0.04054242 0.02117725 +v 0.00244810 -0.07782699 -0.01624433 +v -0.00003679 -0.07503217 -0.01271683 +v 0.00733353 -0.07750179 -0.01624432 +v 0.00733353 -0.07731327 -0.01596593 +v 0.00733353 -0.07487193 -0.01288533 +v 0.00244810 -0.07503217 -0.01271683 +v -0.00003679 -0.04990241 0.00370460 +v -0.00003679 -0.03776172 0.01820289 +v -0.00003679 -0.03651748 0.02015529 +v -0.00003679 -0.03587652 0.02117727 +v 0.02602391 -0.02968359 0.01540071 +v 0.02608015 -0.02968361 0.02117729 +v -0.00003679 -0.04870531 0.00492073 +v -0.00003679 -0.04733853 0.00646653 +v -0.00003679 -0.04590107 0.00809292 +v -0.00003679 -0.04257840 0.01214423 +v 0.01221639 -0.07237875 -0.01074611 +v 0.01709925 -0.06946612 -0.00872045 +v 0.01221639 -0.07455616 -0.01322232 +v 0.01221639 -0.07684197 -0.01624432 +v 0.00736165 -0.04182907 0.02117725 +v 0.02608015 -0.03302514 0.02117728 +v 0.02563532 -0.03336920 0.02117728 +v 0.02356713 -0.03493392 0.02117727 +v 0.02173670 -0.03619230 0.02117727 +v 0.02051982 -0.03686626 0.02117726 +v 0.01806304 -0.03821418 0.02117726 +v -0.00003679 -0.07283121 -0.01024061 +v 0.01008429 -0.07713889 -0.01624432 +v 0.00733353 -0.07268981 -0.01040911 +v 0.00244810 -0.07283121 -0.01024061 +v 0.01971453 -0.02968361 0.02117729 +v 0.02018748 -0.02968361 0.02066081 +v 0.02031786 -0.02968361 0.02052528 +v 0.02265192 -0.02968360 0.01830182 +v -0.00003679 -0.04245119 0.02117724 +v 0.00244810 -0.04244647 0.02117724 +v 0.00026488 -0.04245119 0.02117724 +f 1 2 7 +f 1 7 15 +f 1 15 26 +f 1 26 25 +f 1 25 52 +f 1 52 61 +f 1 61 35 +f 1 35 33 +f 1 33 17 +f 1 17 8 +f 1 8 3 +f 1 3 4 +f 1 4 12 +f 1 12 11 +f 1 11 10 +f 1 10 21 +f 1 21 44 +f 1 44 54 +f 1 54 28 +f 1 28 22 +f 1 22 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 3 8 19 +f 3 19 34 +f 3 34 60 +f 3 60 68 +f 3 68 42 +f 3 42 41 +f 3 41 40 +f 3 40 48 +f 3 48 47 +f 3 47 46 +f 3 46 45 +f 3 45 39 +f 3 39 20 +f 3 20 9 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 4 +f 5 13 6 +f 6 14 15 +f 6 15 7 +f 6 13 16 +f 6 16 14 +f 8 17 18 +f 8 18 19 +f 9 20 21 +f 9 21 10 +f 13 22 16 +f 14 23 24 +f 14 24 25 +f 14 25 26 +f 14 26 15 +f 14 16 27 +f 14 27 23 +f 16 22 28 +f 16 28 29 +f 16 29 30 +f 16 30 31 +f 16 31 32 +f 16 32 27 +f 17 33 18 +f 18 34 19 +f 18 33 35 +f 18 35 36 +f 18 36 37 +f 18 37 38 +f 18 38 34 +f 20 39 21 +f 21 40 41 +f 21 41 42 +f 21 42 43 +f 21 43 67 +f 21 67 66 +f 21 66 65 +f 21 65 64 +f 21 64 44 +f 21 39 45 +f 21 45 46 +f 21 46 47 +f 21 47 48 +f 21 48 40 +f 23 49 24 +f 23 27 50 +f 23 50 49 +f 24 51 52 +f 24 52 25 +f 24 49 51 +f 27 32 53 +f 27 53 50 +f 28 54 55 +f 28 55 56 +f 28 56 57 +f 28 57 58 +f 28 58 59 +f 28 59 29 +f 29 59 58 +f 29 58 57 +f 29 57 56 +f 29 56 55 +f 29 55 54 +f 29 54 44 +f 29 44 64 +f 29 64 42 +f 29 42 68 +f 29 68 70 +f 29 70 69 +f 29 69 53 +f 29 53 32 +f 29 32 31 +f 29 31 30 +f 34 38 63 +f 34 63 60 +f 35 61 36 +f 36 61 52 +f 36 52 51 +f 36 51 37 +f 37 51 49 +f 37 49 62 +f 37 62 38 +f 38 62 63 +f 42 64 65 +f 42 65 66 +f 42 66 67 +f 42 67 43 +f 49 50 53 +f 49 53 62 +f 53 69 62 +f 60 63 70 +f 60 70 68 +f 62 69 63 +f 63 69 70 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_84.obj b/demo_assets/vase/mjcf/mesh/vase_collision_84.obj new file mode 100644 index 0000000000000000000000000000000000000000..91dd72ac9a20227260953c05c1a9555d1727e4b3 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_84.obj @@ -0,0 +1,217 @@ +# https://github.com/mikedh/trimesh +v 0.04696939 -0.05593731 -0.09926735 +v 0.04696939 -0.05593727 -0.10881339 +v 0.04696939 -0.02798451 -0.11910821 +v -0.00000438 -0.05593724 -0.11798341 +v 0.04640842 -0.05593727 -0.10928421 +v 0.04696939 -0.05492752 -0.10982139 +v 0.04696939 -0.02798449 -0.12603786 +v 0.03944696 -0.02798449 -0.12387018 +v -0.00000438 -0.04368890 -0.12811082 +v -0.00000438 -0.04626390 -0.12563347 +v -0.00000438 -0.04870755 -0.12349423 +v -0.00000438 -0.05593721 -0.12490674 +v 0.04427033 -0.05593726 -0.11086100 +v 0.04640842 -0.05515739 -0.11003310 +v 0.04367258 -0.05355655 -0.11352794 +v 0.04696939 -0.05184629 -0.11245041 +v 0.04696939 -0.03131474 -0.12464753 +v 0.04016886 -0.02798447 -0.13154872 +v 0.03587427 -0.02798449 -0.12616426 +v -0.00000438 -0.04283512 -0.13107163 +v 0.03412701 -0.02798448 -0.12735870 +v 0.03334074 -0.02798448 -0.12807284 +v -0.00000438 -0.04887171 -0.13154880 +v 0.00245098 -0.04890454 -0.13154880 +v 0.00245098 -0.05593721 -0.12490989 +v 0.04252766 -0.05593726 -0.11213128 +v 0.04292310 -0.04799062 -0.11803709 +v 0.04547042 -0.05029745 -0.11473816 +v 0.04696939 -0.04960240 -0.11422309 +v 0.04696939 -0.05147687 -0.11275691 +v 0.04041715 -0.05477700 -0.11454542 +v 0.04167242 -0.05148232 -0.11628968 +v 0.04696939 -0.03211104 -0.12431258 +v 0.04696939 -0.03394446 -0.12352577 +v 0.03916188 -0.02941563 -0.13154873 +v 0.03185097 -0.02798447 -0.13154872 +v -0.00000438 -0.04277219 -0.13154878 +v 0.03192454 -0.02798447 -0.13107157 +v 0.00733412 -0.04848860 -0.13154880 +v 0.00733412 -0.05593721 -0.12453702 +v 0.00295217 -0.05593721 -0.12487513 +v 0.04146551 -0.05593726 -0.11282013 +v 0.04465656 -0.04473151 -0.11916831 +v 0.03966767 -0.04940809 -0.11904510 +v 0.04696939 -0.04703561 -0.11600211 +v 0.03749739 -0.05593725 -0.11515529 +v 0.03611797 -0.05593724 -0.11589155 +v 0.03417759 -0.05378913 -0.11867225 +v 0.03663755 -0.05294084 -0.11804342 +v 0.04696939 -0.03574230 -0.12259677 +v 0.03695941 -0.03218217 -0.13154874 +v 0.04696939 -0.03739511 -0.12174044 +v 0.04696939 -0.04103732 -0.11974657 +v 0.01221726 -0.04764305 -0.13154880 +v 0.01221726 -0.05593721 -0.12390188 +v 0.00847904 -0.05593721 -0.12439167 +v 0.04696939 -0.04345087 -0.11835306 +v 0.03213605 -0.03703661 -0.13154876 +v 0.03457302 -0.03463675 -0.13154875 +v 0.03684446 -0.03230531 -0.13154874 +v 0.03663755 -0.05049719 -0.11985404 +v 0.02675632 -0.04146690 -0.13154877 +v 0.03199811 -0.03715427 -0.13154876 +v 0.03249930 -0.05593724 -0.11762949 +v 0.03092216 -0.05467847 -0.11941798 +v 0.01657622 -0.04649921 -0.13154879 +v 0.01710499 -0.05593722 -0.12293496 +v 0.02065929 -0.04453171 -0.13154878 +v 0.03194753 -0.05593724 -0.11788229 +v 0.02686667 -0.05593723 -0.11995201 +v 0.01701763 -0.04635692 -0.13154879 +v 0.02184559 -0.05593722 -0.12162992 +v 0.02234218 -0.05593722 -0.12146876 +f 1 2 6 +f 1 6 16 +f 1 16 30 +f 1 30 29 +f 1 29 45 +f 1 45 57 +f 1 57 53 +f 1 53 52 +f 1 52 50 +f 1 50 34 +f 1 34 33 +f 1 33 17 +f 1 17 7 +f 1 7 3 +f 1 3 4 +f 1 4 12 +f 1 12 25 +f 1 25 41 +f 1 41 40 +f 1 40 56 +f 1 56 55 +f 1 55 67 +f 1 67 72 +f 1 72 73 +f 1 73 70 +f 1 70 69 +f 1 69 64 +f 1 64 47 +f 1 47 46 +f 1 46 42 +f 1 42 26 +f 1 26 13 +f 1 13 5 +f 1 5 2 +f 2 5 6 +f 3 7 18 +f 3 18 36 +f 3 36 38 +f 3 38 22 +f 3 22 21 +f 3 21 19 +f 3 19 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 3 11 4 +f 4 11 10 +f 4 10 9 +f 4 9 20 +f 4 20 37 +f 4 37 23 +f 4 23 12 +f 5 13 14 +f 5 14 6 +f 6 14 15 +f 6 15 16 +f 7 17 18 +f 8 19 9 +f 9 19 21 +f 9 21 22 +f 9 22 20 +f 12 23 24 +f 12 24 25 +f 13 15 14 +f 13 26 15 +f 15 27 28 +f 15 28 29 +f 15 29 30 +f 15 30 16 +f 15 26 31 +f 15 31 32 +f 15 32 27 +f 17 33 18 +f 18 33 34 +f 18 34 35 +f 18 35 51 +f 18 51 60 +f 18 60 59 +f 18 59 58 +f 18 58 63 +f 18 63 62 +f 18 62 68 +f 18 68 71 +f 18 71 66 +f 18 66 54 +f 18 54 39 +f 18 39 24 +f 18 24 23 +f 18 23 37 +f 18 37 36 +f 20 22 38 +f 20 38 37 +f 24 39 40 +f 24 40 41 +f 24 41 25 +f 26 42 31 +f 27 43 28 +f 27 32 44 +f 27 44 43 +f 28 43 29 +f 29 43 45 +f 31 42 46 +f 31 46 47 +f 31 47 48 +f 31 48 49 +f 31 49 44 +f 31 44 32 +f 34 50 35 +f 35 50 52 +f 35 52 53 +f 35 53 51 +f 36 37 38 +f 39 54 55 +f 39 55 56 +f 39 56 40 +f 43 53 57 +f 43 57 45 +f 43 44 58 +f 43 58 59 +f 43 59 60 +f 43 60 51 +f 43 51 53 +f 44 49 61 +f 44 61 62 +f 44 62 63 +f 44 63 58 +f 47 64 48 +f 48 61 49 +f 48 64 65 +f 48 65 62 +f 48 62 61 +f 54 66 67 +f 54 67 55 +f 62 65 68 +f 64 69 65 +f 65 70 71 +f 65 71 68 +f 65 69 70 +f 66 71 72 +f 66 72 67 +f 70 73 71 +f 71 73 72 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_85.obj b/demo_assets/vase/mjcf/mesh/vase_collision_85.obj new file mode 100644 index 0000000000000000000000000000000000000000..d8b45d60e08ce0dccbaac7edadb7fbaec0539c56 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_85.obj @@ -0,0 +1,259 @@ +# https://github.com/mikedh/trimesh +v 0.07777933 0.00003862 -0.09086170 +v 0.08519480 0.00003851 -0.06103200 +v 0.08349022 0.00003862 -0.09086170 +v 0.07143800 -0.02992421 -0.09086181 +v 0.09032333 0.00003851 -0.06103200 +v 0.07950794 -0.02992432 -0.06103211 +v 0.08368620 0.00003862 -0.09049963 +v 0.08352350 -0.00185019 -0.09086171 +v 0.07788102 -0.02992421 -0.09086181 +v 0.09030854 0.00003852 -0.06172694 +v 0.09030854 -0.00249554 -0.06103201 +v 0.08487127 -0.02992432 -0.06103211 +v 0.08444050 0.00003861 -0.08844402 +v 0.08370653 -0.00249543 -0.09054344 +v 0.08352720 -0.00216694 -0.09086171 +v 0.07837834 -0.02992421 -0.08989824 +v 0.07813799 -0.02930829 -0.09086181 +v 0.09029190 -0.00249553 -0.06172695 +v 0.09009962 0.00003853 -0.06411249 +v 0.09000718 -0.00738180 -0.06103203 +v 0.08486756 -0.02992431 -0.06145841 +v 0.08802529 -0.01996115 -0.06103207 +v 0.08514674 0.00003861 -0.08649061 +v 0.08517447 -0.00249544 -0.08649062 +v 0.08498034 -0.00738170 -0.08649064 +v 0.08358081 -0.00738169 -0.09023103 +v 0.08324249 -0.00738169 -0.09086173 +v 0.08353089 -0.00249543 -0.09086171 +v 0.07848187 -0.02992421 -0.08968800 +v 0.07879986 -0.02754267 -0.09086180 +v 0.08985744 -0.00249552 -0.06667910 +v 0.08998685 -0.00738179 -0.06172697 +v 0.08987222 0.00003853 -0.06667909 +v 0.08953759 -0.01158470 -0.06103204 +v 0.08486387 -0.02992431 -0.06172705 +v 0.08801790 -0.01993181 -0.06172701 +v 0.08811403 -0.01954467 -0.06103207 +v 0.08837471 0.00003857 -0.07597605 +v 0.08837286 -0.00249548 -0.07599066 +v 0.08820647 -0.00738174 -0.07532494 +v 0.08444420 -0.01226797 -0.08649066 +v 0.08329795 -0.01226796 -0.08955947 +v 0.08267306 -0.01226796 -0.09086175 +v 0.07859465 -0.02992421 -0.08940186 +v 0.08074108 -0.02692383 -0.08649071 +v 0.07909936 -0.02663052 -0.09086180 +v 0.08952465 -0.00738178 -0.06667912 +v 0.08920666 -0.00249550 -0.07163417 +v 0.08943961 -0.01226806 -0.06172699 +v 0.08955793 0.00003854 -0.06906757 +v 0.08945994 -0.01226807 -0.06103205 +v 0.08449042 -0.02992430 -0.06665876 +v 0.08793285 -0.01960331 -0.06422644 +v 0.08858732 -0.01715139 -0.06172700 +v 0.08860396 -0.01715140 -0.06103206 +v 0.08881287 0.00003856 -0.07373356 +v 0.08886649 -0.00738176 -0.07163419 +v 0.08804563 -0.01058745 -0.07463002 +v 0.08507648 -0.01715132 -0.08153851 +v 0.08363073 -0.01678468 -0.08648483 +v 0.08308904 -0.01491346 -0.08906892 +v 0.08249742 -0.01331501 -0.09086175 +v 0.07971316 -0.02992422 -0.08647027 +v 0.08334048 -0.02077348 -0.08482634 +v 0.08274146 -0.02403197 -0.08364088 +v 0.08342921 -0.02562749 -0.08033847 +v 0.07923062 -0.02618472 -0.09086180 +v 0.08896817 -0.01226805 -0.06667914 +v 0.08921406 0.00003855 -0.07163416 +v 0.08820277 -0.01708392 -0.06619736 +v 0.08872598 -0.01646803 -0.06103206 +v 0.08390250 -0.02992428 -0.07163427 +v 0.08489530 -0.02692389 -0.07163426 +v 0.08541850 -0.02692391 -0.06667919 +v 0.08806227 -0.01541213 -0.06998739 +v 0.08830076 -0.01223577 -0.07163712 +v 0.08524842 -0.02203760 -0.07658347 +v 0.08393023 -0.02225755 -0.08181009 +v 0.08039166 -0.02206395 -0.09086178 +v 0.08058024 -0.02135711 -0.09086178 +v 0.08179859 -0.01664096 -0.09086176 +v 0.08033065 -0.02992423 -0.08460738 +v 0.08387107 -0.02712331 -0.07666817 +v 0.08328685 -0.02992426 -0.07510894 +v 0.08194834 -0.02992425 -0.07949755 +v 0.08127908 -0.02992424 -0.08164660 +v 0.08330534 -0.02992426 -0.07501259 +f 1 2 5 +f 1 5 10 +f 1 10 19 +f 1 19 33 +f 1 33 50 +f 1 50 69 +f 1 69 56 +f 1 56 38 +f 1 38 23 +f 1 23 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 15 +f 1 15 28 +f 1 28 27 +f 1 27 43 +f 1 43 62 +f 1 62 81 +f 1 81 80 +f 1 80 79 +f 1 79 67 +f 1 67 46 +f 1 46 30 +f 1 30 17 +f 1 17 9 +f 1 9 4 +f 1 4 2 +f 2 4 6 +f 2 6 12 +f 2 12 22 +f 2 22 37 +f 2 37 55 +f 2 55 71 +f 2 71 51 +f 2 51 34 +f 2 34 20 +f 2 20 11 +f 2 11 5 +f 3 7 8 +f 4 9 16 +f 4 16 29 +f 4 29 44 +f 4 44 63 +f 4 63 82 +f 4 82 86 +f 4 86 85 +f 4 85 84 +f 4 84 87 +f 4 87 72 +f 4 72 52 +f 4 52 35 +f 4 35 21 +f 4 21 12 +f 4 12 6 +f 5 11 10 +f 7 13 14 +f 7 14 8 +f 8 14 15 +f 9 17 16 +f 10 18 19 +f 10 11 18 +f 11 20 18 +f 12 21 22 +f 13 23 24 +f 13 24 14 +f 14 24 25 +f 14 25 26 +f 14 26 27 +f 14 27 28 +f 14 28 15 +f 16 17 29 +f 17 30 29 +f 18 31 19 +f 18 20 32 +f 18 32 31 +f 19 31 33 +f 20 34 32 +f 21 35 22 +f 22 36 37 +f 22 35 36 +f 23 38 24 +f 24 39 25 +f 24 38 39 +f 25 40 41 +f 25 41 42 +f 25 42 26 +f 25 39 40 +f 26 42 43 +f 26 43 27 +f 29 30 45 +f 29 45 44 +f 30 46 45 +f 31 32 47 +f 31 47 48 +f 31 48 33 +f 32 34 49 +f 32 49 47 +f 33 48 50 +f 34 51 49 +f 35 52 53 +f 35 53 36 +f 36 53 54 +f 36 54 37 +f 37 54 55 +f 38 56 39 +f 39 48 40 +f 39 56 48 +f 40 57 58 +f 40 58 41 +f 40 48 57 +f 41 58 59 +f 41 59 60 +f 41 60 61 +f 41 61 42 +f 42 61 62 +f 42 62 43 +f 44 45 63 +f 45 46 64 +f 45 64 65 +f 45 65 66 +f 45 66 63 +f 46 67 64 +f 47 49 68 +f 47 68 57 +f 47 57 48 +f 48 56 69 +f 48 69 50 +f 49 51 54 +f 49 54 70 +f 49 70 68 +f 51 71 54 +f 52 72 73 +f 52 73 74 +f 52 74 53 +f 53 70 54 +f 53 74 73 +f 53 73 75 +f 53 75 70 +f 54 71 55 +f 57 68 76 +f 57 76 58 +f 58 76 75 +f 58 75 77 +f 58 77 59 +f 59 77 78 +f 59 78 64 +f 59 64 60 +f 60 64 61 +f 61 64 79 +f 61 79 80 +f 61 80 81 +f 61 81 62 +f 63 66 82 +f 64 78 66 +f 64 66 65 +f 64 67 79 +f 66 78 77 +f 66 77 83 +f 66 83 84 +f 66 84 85 +f 66 85 86 +f 66 86 82 +f 68 70 75 +f 68 75 76 +f 72 87 73 +f 73 77 75 +f 73 87 83 +f 73 83 77 +f 83 87 84 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_86.obj b/demo_assets/vase/mjcf/mesh/vase_collision_86.obj new file mode 100644 index 0000000000000000000000000000000000000000..8290033e803ad59446b13ccfae289b2d422b7273 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_86.obj @@ -0,0 +1,229 @@ +# https://github.com/mikedh/trimesh +v 0.07136016 0.02986066 -0.09103087 +v 0.07955516 0.02986055 -0.06103189 +v 0.07775676 0.02986066 -0.09103087 +v 0.07767501 0.00003862 -0.09103098 +v 0.08519562 0.00003851 -0.06103200 +v 0.08495595 0.02986055 -0.06103189 +v 0.07849619 0.02986066 -0.08970933 +v 0.07884175 0.02715753 -0.09103088 +v 0.08339536 0.00003862 -0.09103098 +v 0.09032516 0.00003851 -0.06103200 +v 0.08493366 0.02986056 -0.06172791 +v 0.08806229 0.01997923 -0.06103193 +v 0.08805300 0.01994713 -0.06172795 +v 0.07970008 0.02986065 -0.08645540 +v 0.08070518 0.02682474 -0.08649066 +v 0.08335634 0.02059818 -0.08487839 +v 0.07904054 0.02652991 -0.09103088 +v 0.08368518 0.00003862 -0.09049943 +v 0.08335448 0.00239438 -0.09103097 +v 0.08366661 0.00239438 -0.09046124 +v 0.09030844 0.00003852 -0.06172802 +v 0.09034002 0.00239427 -0.06103199 +v 0.08482405 0.02986056 -0.06360156 +v 0.08865123 0.01705132 -0.06103194 +v 0.08863266 0.01705133 -0.06172796 +v 0.08795082 0.01956765 -0.06438571 +v 0.08127554 0.02986063 -0.08161269 +v 0.08337864 0.02550525 -0.08020307 +v 0.08505999 0.01705140 -0.08153638 +v 0.08372791 0.01705142 -0.08588866 +v 0.08302007 0.01457599 -0.08895464 +v 0.08152078 0.01705143 -0.09103092 +v 0.08033547 0.02195269 -0.09103090 +v 0.08390626 0.02211029 -0.08172725 +v 0.08443947 0.00003861 -0.08844370 +v 0.08327831 0.00372259 -0.09103097 +v 0.08302193 0.00728104 -0.09103095 +v 0.08350497 0.00728104 -0.09008825 +v 0.08486306 0.00728103 -0.08649073 +v 0.08512130 0.00239437 -0.08649075 +v 0.09009850 0.00003853 -0.06411266 +v 0.09032330 0.00239428 -0.06172801 +v 0.09030472 0.00307735 -0.06103199 +v 0.08451750 0.02986058 -0.06670277 +v 0.08951328 0.01216758 -0.06103196 +v 0.08949284 0.01216759 -0.06172798 +v 0.08489836 0.02682468 -0.07163360 +v 0.08429084 0.02986058 -0.06878200 +v 0.08822578 0.01702507 -0.06629461 +v 0.08807529 0.01538161 -0.07008009 +v 0.08331361 0.02986061 -0.07519587 +v 0.08383753 0.02701152 -0.07671419 +v 0.08519934 0.02193804 -0.07658499 +v 0.08808458 0.01065551 -0.07474075 +v 0.08406419 0.01263475 -0.08697821 +v 0.08329317 0.01131822 -0.08957431 +v 0.08243113 0.01242166 -0.09103093 +v 0.08235496 0.01286537 -0.09103093 +v 0.08514545 0.00003861 -0.08649076 +v 0.08255003 0.01140580 -0.09103094 +v 0.08824064 0.00728099 -0.07538097 +v 0.08837813 0.00239433 -0.07596540 +v 0.08987184 0.00003853 -0.06667939 +v 0.08988484 0.00239429 -0.06667938 +v 0.09006135 0.00728094 -0.06172799 +v 0.09007992 0.00728093 -0.06103197 +v 0.09000189 0.00796401 -0.06103197 +v 0.08904138 0.01216760 -0.06667935 +v 0.08393413 0.02986059 -0.07163359 +v 0.08835955 0.01223768 -0.07169240 +v 0.08894663 0.00728097 -0.07163367 +v 0.08837626 0.00003857 -0.07598010 +v 0.08922345 0.00239431 -0.07163369 +v 0.08955787 0.00003854 -0.06906697 +v 0.08960988 0.00728095 -0.06667936 +v 0.08881286 0.00003856 -0.07373348 +v 0.08921416 0.00003855 -0.07163370 +f 1 2 6 +f 1 6 11 +f 1 11 23 +f 1 23 44 +f 1 44 48 +f 1 48 69 +f 1 69 51 +f 1 51 27 +f 1 27 14 +f 1 14 7 +f 1 7 3 +f 1 3 8 +f 1 8 17 +f 1 17 33 +f 1 33 32 +f 1 32 58 +f 1 58 57 +f 1 57 60 +f 1 60 37 +f 1 37 36 +f 1 36 19 +f 1 19 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 10 +f 2 10 22 +f 2 22 43 +f 2 43 66 +f 2 66 67 +f 2 67 45 +f 2 45 24 +f 2 24 12 +f 2 12 6 +f 3 7 8 +f 4 9 18 +f 4 18 35 +f 4 35 59 +f 4 59 72 +f 4 72 76 +f 4 76 77 +f 4 77 74 +f 4 74 63 +f 4 63 41 +f 4 41 21 +f 4 21 10 +f 4 10 5 +f 6 12 13 +f 6 13 11 +f 7 14 15 +f 7 15 16 +f 7 16 8 +f 8 16 17 +f 9 19 20 +f 9 20 18 +f 10 21 42 +f 10 42 22 +f 11 13 23 +f 12 24 13 +f 13 24 25 +f 13 25 26 +f 13 26 23 +f 14 27 28 +f 14 28 15 +f 15 28 16 +f 16 29 30 +f 16 30 31 +f 16 31 32 +f 16 32 33 +f 16 33 17 +f 16 28 34 +f 16 34 29 +f 18 20 35 +f 19 36 20 +f 20 36 37 +f 20 37 38 +f 20 38 39 +f 20 39 40 +f 20 40 35 +f 21 41 42 +f 22 42 43 +f 23 26 44 +f 24 45 25 +f 25 45 46 +f 25 46 26 +f 26 47 48 +f 26 48 44 +f 26 46 49 +f 26 49 50 +f 26 50 47 +f 27 51 28 +f 28 51 52 +f 28 52 34 +f 29 34 53 +f 29 53 54 +f 29 54 55 +f 29 55 30 +f 30 55 31 +f 31 55 56 +f 31 56 57 +f 31 57 58 +f 31 58 32 +f 34 52 53 +f 35 40 59 +f 37 60 38 +f 38 60 56 +f 38 56 39 +f 39 56 55 +f 39 55 54 +f 39 54 61 +f 39 61 62 +f 39 62 40 +f 40 62 59 +f 41 63 42 +f 42 64 65 +f 42 65 66 +f 42 66 43 +f 42 63 64 +f 45 67 65 +f 45 65 46 +f 46 65 75 +f 46 75 68 +f 46 68 49 +f 47 52 51 +f 47 51 69 +f 47 69 48 +f 47 50 53 +f 47 53 52 +f 49 68 50 +f 50 68 70 +f 50 70 54 +f 50 54 53 +f 54 70 71 +f 54 71 61 +f 56 60 57 +f 59 62 72 +f 61 71 73 +f 61 73 62 +f 62 73 72 +f 63 74 64 +f 64 73 75 +f 64 75 65 +f 64 74 73 +f 65 67 66 +f 68 75 71 +f 68 71 70 +f 71 75 73 +f 72 73 76 +f 73 74 77 +f 73 77 76 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_87.obj b/demo_assets/vase/mjcf/mesh/vase_collision_87.obj new file mode 100644 index 0000000000000000000000000000000000000000..300a91c77f4771f01a1232fde86283fe72d5b3a3 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_87.obj @@ -0,0 +1,100 @@ +# https://github.com/mikedh/trimesh +v -0.03807252 0.02763689 -0.14230149 +v -0.04700478 0.02763683 -0.12618171 +v -0.03155433 0.02763689 -0.14230149 +v -0.03975747 0.02540008 -0.14230150 +v -0.04700478 0.02762332 -0.12618849 +v -0.04700478 0.02763681 -0.11924035 +v -0.04097720 0.02300659 -0.14230151 +v -0.04452642 0.01603683 -0.14230153 +v -0.04539088 0.01337320 -0.14230154 +v -0.04566832 0.01222238 -0.14230155 +v -0.04654125 0.00728142 -0.14230156 +v -0.04675102 0.00728142 -0.14098100 +v -0.04696418 0.00239448 -0.14098102 +v -0.03023818 0.02763689 -0.14138501 +v -0.02972389 0.02763419 -0.14230149 +v -0.04700478 0.01216832 -0.13323375 +v -0.03960014 0.02763683 -0.12398530 +v -0.04700478 0.00003875 -0.12526759 +v -0.04680854 0.00239448 -0.14230158 +v -0.04696418 0.00003881 -0.14098103 +v -0.04700478 0.00003879 -0.13554307 +v -0.04700478 0.00239446 -0.13554080 +v -0.04700478 0.00621972 -0.13530151 +v -0.04700478 0.00728140 -0.13518637 +v -0.03246955 0.02763685 -0.13107340 +v -0.04295312 0.00003877 -0.13107350 +v -0.04106178 0.00003881 -0.14230159 +v -0.03643155 0.02763683 -0.12619300 +v -0.04683223 0.00003875 -0.12541657 +v -0.03564490 0.02763684 -0.12677540 +v -0.04680854 0.00003881 -0.14230159 +v -0.03371127 0.02763684 -0.12862643 +v -0.04376007 0.00003876 -0.12832630 +v -0.04336928 0.00003877 -0.12965589 +f 1 2 6 +f 1 6 17 +f 1 17 28 +f 1 28 30 +f 1 30 32 +f 1 32 25 +f 1 25 14 +f 1 14 3 +f 1 3 15 +f 1 15 27 +f 1 27 31 +f 1 31 19 +f 1 19 11 +f 1 11 10 +f 1 10 9 +f 1 9 8 +f 1 8 7 +f 1 7 4 +f 1 4 2 +f 2 5 16 +f 2 16 24 +f 2 24 23 +f 2 23 22 +f 2 22 21 +f 2 21 18 +f 2 18 6 +f 2 4 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 11 +f 2 11 12 +f 2 12 13 +f 2 13 5 +f 3 14 15 +f 5 13 16 +f 6 18 17 +f 11 19 12 +f 12 19 13 +f 13 19 31 +f 13 31 20 +f 13 20 21 +f 13 21 22 +f 13 22 23 +f 13 23 24 +f 13 24 16 +f 14 25 15 +f 15 25 26 +f 15 26 27 +f 17 18 28 +f 18 21 20 +f 18 20 31 +f 18 31 27 +f 18 27 26 +f 18 26 34 +f 18 34 33 +f 18 33 29 +f 18 29 30 +f 18 30 28 +f 25 32 33 +f 25 33 34 +f 25 34 26 +f 29 33 30 +f 30 33 32 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_88.obj b/demo_assets/vase/mjcf/mesh/vase_collision_88.obj new file mode 100644 index 0000000000000000000000000000000000000000..5450558a558f2b7e827f258852fa777a1aac8a13 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_88.obj @@ -0,0 +1,298 @@ +# https://github.com/mikedh/trimesh +v 0.03467276 0.06458281 -0.01926413 +v 0.04699020 0.06458281 -0.01926413 +v 0.05049081 0.06458288 -0.03718524 +v 0.07286162 0.03759240 -0.03718534 +v 0.06280825 0.03759233 -0.01926423 +v 0.04830946 0.06374266 -0.01926414 +v 0.04892773 0.06352866 -0.01954832 +v 0.04977675 0.06458282 -0.02209193 +v 0.05952970 0.06458288 -0.03718524 +v 0.07915314 0.03759240 -0.03718534 +v 0.07017085 0.03759233 -0.01926423 +v 0.04873180 0.06344147 -0.01926414 +v 0.04920638 0.06306367 -0.01926414 +v 0.05413510 0.05894218 -0.01926415 +v 0.05249364 0.06242168 -0.02209720 +v 0.05363004 0.06335695 -0.02472503 +v 0.05005106 0.06439260 -0.02209719 +v 0.05021651 0.06458282 -0.02261118 +v 0.05944262 0.06458288 -0.03692562 +v 0.05966467 0.06441115 -0.03695719 +v 0.05969950 0.06444286 -0.03718524 +v 0.07911830 0.03767166 -0.03718534 +v 0.07914008 0.03759240 -0.03714324 +v 0.07152059 0.03759234 -0.02127106 +v 0.06918250 0.03955532 -0.01926422 +v 0.05419170 0.05888934 -0.01926415 +v 0.05870244 0.05866743 -0.02446366 +v 0.05591588 0.05974800 -0.02252700 +v 0.05268957 0.06458283 -0.02561967 +v 0.05630339 0.06214958 -0.02664590 +v 0.05801016 0.06293425 -0.03051220 +v 0.05475772 0.06429222 -0.02802821 +v 0.05424395 0.06458284 -0.02781946 +v 0.05898980 0.06380348 -0.03381539 +v 0.05741801 0.06458286 -0.03281197 +v 0.06210726 0.06209414 -0.03695720 +v 0.05981270 0.06433982 -0.03718524 +v 0.07829975 0.03939159 -0.03718534 +v 0.07785565 0.03868881 -0.03498028 +v 0.07875693 0.03759239 -0.03605562 +v 0.07253507 0.03759234 -0.02283231 +v 0.06895173 0.03997011 -0.01926422 +v 0.07310980 0.03886050 -0.02474792 +v 0.05892885 0.05404659 -0.01926417 +v 0.05736141 0.05730152 -0.02116047 +v 0.05975610 0.05586164 -0.02252701 +v 0.06338298 0.05358162 -0.02472681 +v 0.06220305 0.05629759 -0.02664767 +v 0.06299983 0.05803074 -0.03044731 +v 0.05952534 0.05946532 -0.02705113 +v 0.05673444 0.06458286 -0.03170155 +v 0.05528891 0.06458285 -0.02942457 +v 0.06099699 0.06095542 -0.03213135 +v 0.06386627 0.05897922 -0.03374874 +v 0.06448889 0.05965030 -0.03695721 +v 0.06452373 0.05968729 -0.03718526 +v 0.06225094 0.06201752 -0.03718525 +v 0.06214209 0.06212848 -0.03718525 +v 0.07744202 0.04095035 -0.03718533 +v 0.07385869 0.04490538 -0.03317342 +v 0.07486881 0.04180898 -0.03171392 +v 0.07402414 0.04039550 -0.02804935 +v 0.07664959 0.03759237 -0.03091225 +v 0.07753345 0.03759238 -0.03296644 +v 0.07437680 0.03759236 -0.02603376 +v 0.06990090 0.04146548 -0.02205518 +v 0.06786323 0.04308237 -0.02037463 +v 0.06729286 0.04264644 -0.01926421 +v 0.06897351 0.04484987 -0.02367607 +v 0.06287356 0.04915628 -0.01926419 +v 0.06348312 0.04879433 -0.01964135 +v 0.06262538 0.05167410 -0.02161483 +v 0.06466305 0.05032669 -0.02294454 +v 0.06791984 0.04810743 -0.02539519 +v 0.06614341 0.05150767 -0.02671260 +v 0.06437134 0.05477316 -0.02802825 +v 0.06574720 0.05589867 -0.03240677 +v 0.06844667 0.05376924 -0.03436625 +v 0.06693148 0.05679960 -0.03695722 +v 0.06463257 0.05956312 -0.03718526 +v 0.07436375 0.04647738 -0.03718531 +v 0.07436810 0.04646946 -0.03718005 +v 0.07301836 0.04365307 -0.02987022 +v 0.07284420 0.04816295 -0.03567667 +v 0.06940890 0.05114046 -0.03243135 +v 0.06883418 0.04943637 -0.02869663 +v 0.06983124 0.04643771 -0.02704943 +v 0.07481657 0.03759236 -0.02691087 +v 0.06626097 0.04682078 -0.02165871 +v 0.06620436 0.04433202 -0.01926421 +v 0.06335685 0.04853542 -0.01926419 +v 0.06762812 0.05269129 -0.03106482 +v 0.07148576 0.05090534 -0.03718003 +v 0.07148576 0.05090798 -0.03718529 +v 0.06891690 0.05435577 -0.03695723 +v 0.06705775 0.05672827 -0.03718527 +v 0.06696196 0.05684187 -0.03718527 +v 0.06895173 0.05439804 -0.03718528 +v 0.07310980 0.04856455 -0.03718530 +v 0.06906494 0.05424745 -0.03718528 +f 1 2 8 +f 1 8 18 +f 1 18 29 +f 1 29 33 +f 1 33 52 +f 1 52 51 +f 1 51 35 +f 1 35 19 +f 1 19 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 25 +f 1 25 42 +f 1 42 68 +f 1 68 90 +f 1 90 91 +f 1 91 70 +f 1 70 44 +f 1 44 26 +f 1 26 14 +f 1 14 13 +f 1 13 12 +f 1 12 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 3 9 21 +f 3 21 37 +f 3 37 58 +f 3 58 57 +f 3 57 56 +f 3 56 80 +f 3 80 97 +f 3 97 96 +f 3 96 98 +f 3 98 100 +f 3 100 94 +f 3 94 99 +f 3 99 81 +f 3 81 59 +f 3 59 38 +f 3 38 22 +f 3 22 10 +f 3 10 4 +f 4 10 23 +f 4 23 40 +f 4 40 64 +f 4 64 63 +f 4 63 88 +f 4 88 65 +f 4 65 41 +f 4 41 24 +f 4 24 11 +f 4 11 5 +f 6 12 7 +f 7 12 13 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 7 16 17 +f 7 17 8 +f 8 17 18 +f 9 19 20 +f 9 20 21 +f 10 22 23 +f 11 24 25 +f 14 26 27 +f 14 27 28 +f 14 28 16 +f 14 16 15 +f 16 29 18 +f 16 18 17 +f 16 28 27 +f 16 27 30 +f 16 30 31 +f 16 31 32 +f 16 32 33 +f 16 33 29 +f 19 34 20 +f 19 35 34 +f 20 34 36 +f 20 36 37 +f 20 37 21 +f 22 38 39 +f 22 39 40 +f 22 40 23 +f 24 41 25 +f 25 41 43 +f 25 43 42 +f 26 44 45 +f 26 45 27 +f 27 45 44 +f 27 44 46 +f 27 46 47 +f 27 47 48 +f 27 48 49 +f 27 49 50 +f 27 50 31 +f 27 31 30 +f 31 51 52 +f 31 52 32 +f 31 50 53 +f 31 53 34 +f 31 34 51 +f 32 52 33 +f 34 35 51 +f 34 53 54 +f 34 54 36 +f 36 54 55 +f 36 55 56 +f 36 56 57 +f 36 57 58 +f 36 58 37 +f 38 59 60 +f 38 60 39 +f 39 61 62 +f 39 62 63 +f 39 63 64 +f 39 64 40 +f 39 60 61 +f 41 65 43 +f 42 43 66 +f 42 66 67 +f 42 67 68 +f 43 65 62 +f 43 62 69 +f 43 69 66 +f 44 70 71 +f 44 71 72 +f 44 72 47 +f 44 47 46 +f 47 72 71 +f 47 71 73 +f 47 73 74 +f 47 74 75 +f 47 75 76 +f 47 76 48 +f 48 76 49 +f 49 54 53 +f 49 53 50 +f 49 76 77 +f 49 77 54 +f 54 77 78 +f 54 78 79 +f 54 79 55 +f 55 79 80 +f 55 80 56 +f 59 81 82 +f 59 82 60 +f 60 83 62 +f 60 62 61 +f 60 82 84 +f 60 84 85 +f 60 85 86 +f 60 86 83 +f 62 83 87 +f 62 87 69 +f 62 65 88 +f 62 88 63 +f 66 69 67 +f 67 69 89 +f 67 89 71 +f 67 71 90 +f 67 90 68 +f 69 87 74 +f 69 74 89 +f 70 91 71 +f 71 91 90 +f 71 89 74 +f 71 74 73 +f 74 87 86 +f 74 86 75 +f 75 86 76 +f 76 86 92 +f 76 92 77 +f 77 92 78 +f 78 86 85 +f 78 85 84 +f 78 84 93 +f 78 93 94 +f 78 94 95 +f 78 95 79 +f 78 92 86 +f 79 96 97 +f 79 97 80 +f 79 95 98 +f 79 98 96 +f 81 99 82 +f 82 99 84 +f 83 86 87 +f 84 99 93 +f 93 99 94 +f 94 100 95 +f 95 100 98 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_89.obj b/demo_assets/vase/mjcf/mesh/vase_collision_89.obj new file mode 100644 index 0000000000000000000000000000000000000000..01cf4161d0d452c9b53d8535ecd1b481b0ef9394 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_89.obj @@ -0,0 +1,229 @@ +# https://github.com/mikedh/trimesh +v -0.02965171 -0.07123088 -0.09122754 +v -0.00000438 -0.07757487 -0.09122756 +v -0.02965171 -0.07761635 -0.09122757 +v -0.02965171 -0.07963372 -0.06103229 +v -0.00000438 -0.08530090 -0.06103231 +v -0.00000438 -0.08339664 -0.09122759 +v -0.02647687 -0.07886252 -0.09122757 +v -0.02965171 -0.07848170 -0.08956927 +v -0.02965171 -0.08494458 -0.06103231 +v -0.00000438 -0.09048921 -0.06103233 +v -0.00000438 -0.08379067 -0.09051520 +v -0.00101429 -0.08338344 -0.09122759 +v -0.02642463 -0.07887949 -0.09122757 +v -0.02965171 -0.07859859 -0.08926480 +v -0.02044641 -0.08337593 -0.08470671 +v -0.02034194 -0.08788185 -0.06103232 +v -0.02965171 -0.08493138 -0.06172697 +v -0.00175722 -0.09047978 -0.06103233 +v -0.00000438 -0.09048354 -0.06138114 +v -0.00243920 -0.08377748 -0.09047973 +v -0.00000438 -0.08804015 -0.07917018 +v -0.00054997 -0.08804015 -0.07917018 +v -0.00243920 -0.08336270 -0.09122759 +v -0.02197869 -0.08015960 -0.09122757 +v -0.02541762 -0.08344005 -0.08007174 +v -0.02965171 -0.07965813 -0.08639455 +v -0.01709164 -0.08376807 -0.08574426 +v -0.01709164 -0.08511040 -0.08153791 +v -0.02203383 -0.08393587 -0.08165024 +v -0.02164786 -0.08025010 -0.09122757 +v -0.01456686 -0.08305918 -0.08893375 +v -0.01946552 -0.08791577 -0.06398534 +v -0.01930881 -0.08819858 -0.06103232 +v -0.02685994 -0.08541965 -0.06668118 +v -0.02965171 -0.08454488 -0.06654816 +v -0.00243920 -0.09047601 -0.06103233 +v -0.00243920 -0.09046468 -0.06172699 +v -0.00000438 -0.09047789 -0.06172699 +v -0.00732335 -0.08359649 -0.09006885 +v -0.00421235 -0.08324582 -0.09122759 +v -0.00243920 -0.08525555 -0.08649212 +v -0.00732335 -0.08498218 -0.08649212 +v -0.00000438 -0.08950316 -0.07163541 +v -0.00228249 -0.08844738 -0.07690295 +v -0.00732335 -0.08834558 -0.07565257 +v -0.00243920 -0.08948997 -0.07163541 +v -0.02965171 -0.08201100 -0.07926180 +v -0.02965171 -0.08125499 -0.08158815 +v -0.02965171 -0.08034627 -0.08436677 +v -0.02197579 -0.08523674 -0.07658370 +v -0.02697312 -0.08385860 -0.07656301 +v -0.02965171 -0.08333260 -0.07498747 +v -0.01264570 -0.08415832 -0.08696507 +v -0.01073035 -0.08815894 -0.07480717 +v -0.01687399 -0.08144160 -0.09122758 +v -0.01269794 -0.08231449 -0.09122758 +v -0.01259637 -0.08233333 -0.09122758 +v -0.01130786 -0.08336648 -0.08953973 +v -0.02685994 -0.08487101 -0.07163539 +v -0.01548101 -0.08817969 -0.07018993 +v -0.01644158 -0.08837389 -0.06668119 +v -0.01753856 -0.08850399 -0.06209353 +v -0.01221040 -0.08951450 -0.06172699 +v -0.01221040 -0.08952960 -0.06103233 +v -0.02965171 -0.08392460 -0.07163539 +v -0.00732335 -0.09014608 -0.06103233 +v -0.00732335 -0.09012911 -0.06172699 +v -0.00243920 -0.09012156 -0.06668120 +v -0.00000438 -0.09013664 -0.06668120 +v -0.00732335 -0.08299318 -0.09122758 +v -0.00000438 -0.08981990 -0.06916718 +v -0.00732335 -0.08911479 -0.07163541 +v -0.00732335 -0.08975769 -0.06668120 +v -0.02965171 -0.08338351 -0.07473621 +v -0.01230036 -0.08846437 -0.07175955 +v -0.01221040 -0.08914121 -0.06668120 +v -0.01152551 -0.08961632 -0.06103233 +f 1 2 6 +f 1 6 12 +f 1 12 23 +f 1 23 40 +f 1 40 70 +f 1 70 57 +f 1 57 56 +f 1 56 55 +f 1 55 30 +f 1 30 24 +f 1 24 13 +f 1 13 7 +f 1 7 3 +f 1 3 8 +f 1 8 14 +f 1 14 26 +f 1 26 49 +f 1 49 48 +f 1 48 47 +f 1 47 52 +f 1 52 74 +f 1 74 65 +f 1 65 35 +f 1 35 17 +f 1 17 9 +f 1 9 4 +f 1 4 5 +f 1 5 2 +f 2 5 10 +f 2 10 19 +f 2 19 38 +f 2 38 69 +f 2 69 71 +f 2 71 43 +f 2 43 21 +f 2 21 11 +f 2 11 6 +f 3 7 8 +f 4 9 16 +f 4 16 33 +f 4 33 64 +f 4 64 77 +f 4 77 66 +f 4 66 36 +f 4 36 18 +f 4 18 10 +f 4 10 5 +f 6 11 12 +f 7 13 8 +f 8 13 15 +f 8 15 14 +f 9 17 16 +f 10 18 19 +f 11 20 12 +f 11 21 22 +f 11 22 20 +f 12 20 23 +f 13 24 15 +f 14 15 25 +f 14 25 26 +f 15 27 28 +f 15 28 29 +f 15 29 25 +f 15 24 30 +f 15 30 31 +f 15 31 27 +f 16 32 33 +f 16 17 34 +f 16 34 32 +f 17 35 34 +f 18 36 37 +f 18 37 38 +f 18 38 19 +f 20 39 40 +f 20 40 23 +f 20 22 41 +f 20 41 42 +f 20 42 39 +f 21 43 22 +f 22 44 45 +f 22 45 42 +f 22 42 41 +f 22 43 46 +f 22 46 44 +f 25 47 48 +f 25 48 49 +f 25 49 26 +f 25 29 50 +f 25 50 51 +f 25 51 52 +f 25 52 47 +f 27 53 28 +f 27 31 53 +f 28 53 54 +f 28 54 50 +f 28 50 29 +f 30 55 31 +f 31 55 56 +f 31 56 57 +f 31 57 58 +f 31 58 53 +f 32 34 59 +f 32 59 60 +f 32 60 61 +f 32 61 33 +f 33 61 62 +f 33 62 63 +f 33 63 64 +f 34 35 59 +f 35 65 59 +f 36 66 37 +f 37 67 68 +f 37 68 69 +f 37 69 38 +f 37 66 67 +f 39 58 57 +f 39 57 70 +f 39 70 40 +f 39 42 58 +f 42 53 58 +f 42 45 53 +f 43 71 46 +f 44 46 45 +f 45 46 72 +f 45 72 54 +f 45 54 53 +f 46 71 68 +f 46 68 73 +f 46 73 72 +f 50 54 60 +f 50 60 59 +f 50 59 51 +f 51 59 74 +f 51 74 52 +f 54 72 75 +f 54 75 60 +f 59 65 74 +f 60 76 61 +f 60 75 76 +f 61 76 63 +f 61 63 62 +f 63 67 66 +f 63 66 77 +f 63 77 64 +f 63 76 73 +f 63 73 67 +f 67 73 68 +f 68 71 69 +f 72 73 76 +f 72 76 75 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_9.obj b/demo_assets/vase/mjcf/mesh/vase_collision_9.obj new file mode 100644 index 0000000000000000000000000000000000000000..e0841b1ed37811873a856dc02801125ebe126f13 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_9.obj @@ -0,0 +1,139 @@ +# https://github.com/mikedh/trimesh +v -0.04229442 -0.00001034 0.02117741 +v -0.03557131 -0.00001034 0.02117741 +v -0.04229805 -0.00035077 0.02117741 +v -0.03320069 -0.00001042 0.04490603 +v -0.03507175 -0.00001034 0.02195558 +v -0.02374910 -0.02619319 0.02117731 +v -0.04230714 -0.00249552 0.02117740 +v -0.03319706 -0.00249560 0.04490602 +v -0.02829778 -0.00001042 0.04490603 +v -0.03453405 -0.00001035 0.02317279 +v -0.02374910 -0.02510721 0.02239685 +v -0.02374910 -0.03478918 0.02117728 +v -0.03397818 -0.00001035 0.02443181 +v -0.03308080 -0.00414330 0.04490601 +v -0.04174037 -0.00734331 0.02117738 +v -0.02836863 -0.00001042 0.04450881 +v -0.02374910 -0.01540829 0.04490597 +v -0.02374910 -0.01594959 0.04269919 +v -0.02374910 -0.01979306 0.03220191 +v -0.02374910 -0.02232928 0.02743991 +v -0.03287916 -0.00001036 0.02743999 +v -0.02883367 -0.00001041 0.04192804 +v -0.02374910 -0.02415407 0.04490594 +v -0.02445393 -0.03430576 0.02117728 +v -0.03267025 -0.00731956 0.04490600 +v -0.04052508 -0.01226940 0.02117736 +v -0.03206352 -0.00994091 0.04490599 +v -0.02392894 -0.02399406 0.04490594 +v -0.02769650 -0.03163335 0.02117729 +v -0.02711883 -0.03213378 0.02117729 +v -0.04000373 -0.01373668 0.02117736 +v -0.03143136 -0.01226948 0.04490598 +v -0.02588901 -0.02174379 0.04490595 +v -0.03254309 -0.02668342 0.02117731 +v -0.03208532 -0.02719748 0.02117731 +v -0.02968564 -0.02974053 0.02117730 +v -0.03940608 -0.01539800 0.02117735 +v -0.03902097 -0.01639888 0.02117735 +v -0.03861769 -0.01739976 0.02117735 +v -0.02997084 -0.01589171 0.04490597 +v -0.02718423 -0.02008247 0.04490596 +v -0.03425248 -0.02452506 0.02117732 +v -0.03820351 -0.01826106 0.02117734 +v -0.03689014 -0.02058283 0.02117733 +v -0.03619076 -0.02176754 0.02117733 +v -0.02918426 -0.01717856 0.04490597 +v -0.02847035 -0.01833263 0.04490596 +f 1 2 6 +f 1 6 12 +f 1 12 24 +f 1 24 30 +f 1 30 29 +f 1 29 36 +f 1 36 35 +f 1 35 34 +f 1 34 42 +f 1 42 45 +f 1 45 44 +f 1 44 43 +f 1 43 39 +f 1 39 38 +f 1 38 37 +f 1 37 31 +f 1 31 26 +f 1 26 15 +f 1 15 7 +f 1 7 3 +f 1 3 4 +f 1 4 9 +f 1 9 16 +f 1 16 22 +f 1 22 21 +f 1 21 13 +f 1 13 10 +f 1 10 5 +f 1 5 2 +f 2 5 6 +f 3 7 4 +f 4 7 8 +f 4 8 14 +f 4 14 25 +f 4 25 27 +f 4 27 32 +f 4 32 40 +f 4 40 46 +f 4 46 47 +f 4 47 41 +f 4 41 33 +f 4 33 28 +f 4 28 23 +f 4 23 17 +f 4 17 9 +f 5 10 6 +f 6 11 20 +f 6 20 19 +f 6 19 18 +f 6 18 17 +f 6 17 23 +f 6 23 12 +f 6 10 13 +f 6 13 11 +f 7 14 8 +f 7 15 14 +f 9 17 18 +f 9 18 19 +f 9 19 16 +f 11 13 21 +f 11 21 22 +f 11 22 20 +f 12 23 24 +f 14 15 25 +f 15 26 27 +f 15 27 25 +f 16 19 22 +f 19 20 22 +f 23 28 29 +f 23 29 30 +f 23 30 24 +f 26 31 32 +f 26 32 27 +f 28 33 34 +f 28 34 35 +f 28 35 36 +f 28 36 29 +f 31 37 32 +f 32 37 38 +f 32 38 39 +f 32 39 40 +f 33 41 42 +f 33 42 34 +f 39 43 40 +f 40 43 44 +f 40 44 45 +f 40 45 46 +f 41 47 42 +f 42 47 45 +f 45 47 46 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_90.obj b/demo_assets/vase/mjcf/mesh/vase_collision_90.obj new file mode 100644 index 0000000000000000000000000000000000000000..01692c402e29c546fe03ecf2b08a3be9721ec649 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_90.obj @@ -0,0 +1,316 @@ +# https://github.com/mikedh/trimesh +v -0.05586601 -0.05352181 -0.09122748 +v -0.05586601 -0.06182053 -0.09122751 +v -0.05586601 -0.06366003 -0.06103223 +v -0.02965171 -0.07963000 -0.06103229 +v -0.02965171 -0.07122965 -0.09122754 +v -0.05117279 -0.06570845 -0.09122752 +v -0.05428792 -0.06403825 -0.08983230 +v -0.05586601 -0.06429048 -0.08649205 +v -0.05586601 -0.07057153 -0.06103226 +v -0.02965171 -0.08494512 -0.06103231 +v -0.02965171 -0.07761210 -0.09122757 +v -0.05102909 -0.06581918 -0.09122752 +v -0.05105988 -0.06585610 -0.09112111 +v -0.04893523 -0.06852904 -0.08910514 +v -0.05217610 -0.06727409 -0.08649206 +v -0.05524247 -0.06482876 -0.08649205 +v -0.05586601 -0.06561928 -0.08332916 +v -0.05586601 -0.07054692 -0.06172692 +v -0.05305110 -0.07275541 -0.06103227 +v -0.03174813 -0.08436685 -0.06103231 +v -0.02965171 -0.08492973 -0.06172697 +v -0.02965171 -0.07847951 -0.08956927 +v -0.02985442 -0.07845490 -0.08946581 +v -0.03157108 -0.07686159 -0.09122756 +v -0.05077506 -0.06600988 -0.09122752 +v -0.04640259 -0.06911037 -0.09122753 +v -0.04618961 -0.06934722 -0.09103244 +v -0.04307191 -0.07283528 -0.08780453 +v -0.04611263 -0.07160493 -0.08628811 +v -0.04973326 -0.06911347 -0.08649206 +v -0.05319480 -0.06804308 -0.08288281 +v -0.05586601 -0.06627137 -0.08175066 +v -0.05586601 -0.07008552 -0.06636484 +v -0.05303058 -0.07274617 -0.06172693 +v -0.05270982 -0.07300456 -0.06103227 +v -0.03461949 -0.08330260 -0.06103231 +v -0.03459640 -0.08329336 -0.06172697 +v -0.03174813 -0.08434531 -0.06172697 +v -0.02965171 -0.08454524 -0.06654816 +v -0.02965171 -0.07859639 -0.08926480 +v -0.02965171 -0.07965451 -0.08639455 +v -0.03158904 -0.07903318 -0.08632952 +v -0.03467338 -0.07845492 -0.08456776 +v -0.03311068 -0.07771055 -0.08786959 +v -0.03640543 -0.07470539 -0.09122755 +v -0.04608953 -0.06931338 -0.09122753 +v -0.04122695 -0.07224469 -0.09122755 +v -0.03981822 -0.07375188 -0.08984120 +v -0.04147586 -0.07435476 -0.08628812 +v -0.04429077 -0.07355197 -0.08450271 +v -0.04158106 -0.07203553 -0.09122754 +v -0.04757782 -0.07245697 -0.08153787 +v -0.05396203 -0.06864904 -0.07958099 +v -0.05145248 -0.06981786 -0.08135458 +v -0.05586601 -0.06643747 -0.08130431 +v -0.05586601 -0.07005169 -0.06668113 +v -0.05581469 -0.07009168 -0.06668113 +v -0.05262002 -0.07253393 -0.06668114 +v -0.05058774 -0.07451173 -0.06172693 +v -0.05060827 -0.07452404 -0.06103227 +v -0.03672105 -0.08233370 -0.06103230 +v -0.03703923 -0.08216451 -0.06172696 +v -0.03430644 -0.08316724 -0.06462382 +v -0.03200217 -0.08380702 -0.06643583 +v -0.02965171 -0.08392389 -0.07163539 +v -0.02965171 -0.08034351 -0.08436677 +v -0.02965171 -0.08125399 -0.08158815 +v -0.03174813 -0.08054653 -0.08153790 +v -0.03792964 -0.07767366 -0.08241581 +v -0.03643366 -0.07884249 -0.08107380 +v -0.03711878 -0.07437627 -0.09122755 +v -0.04513498 -0.07407181 -0.08153787 +v -0.04104990 -0.07652328 -0.08107379 +v -0.04845026 -0.07299218 -0.07810303 +v -0.05453169 -0.06910120 -0.07658364 +v -0.05586601 -0.06801234 -0.07658364 +v -0.04910972 -0.07352125 -0.07480416 +v -0.05586601 -0.06924579 -0.07163533 +v -0.05530149 -0.06970410 -0.07163534 +v -0.05203240 -0.07214942 -0.07163535 +v -0.05017718 -0.07423796 -0.06668114 +v -0.04681571 -0.07695705 -0.06172694 +v -0.04683368 -0.07696936 -0.06103228 +v -0.03706233 -0.08217067 -0.06103230 +v -0.04091647 -0.08028516 -0.06103229 +v -0.04151691 -0.07997141 -0.06172695 +v -0.04189155 -0.07931316 -0.06668116 +v -0.03060370 -0.08360092 -0.07163539 +v -0.04078047 -0.07911322 -0.07163537 +v -0.02965171 -0.08338253 -0.07473621 +v -0.02965171 -0.08201066 -0.07926180 +v -0.02965171 -0.08333330 -0.07498747 +v -0.02980053 -0.08330254 -0.07490174 +v -0.03911000 -0.07824886 -0.07911399 +v -0.04217125 -0.07721229 -0.07658367 +v -0.04665406 -0.07458857 -0.07650680 +v -0.05586601 -0.06883361 -0.07329955 +v -0.04958956 -0.07384115 -0.07163535 +v -0.04322074 -0.07768601 -0.07163537 +v -0.04376730 -0.07799668 -0.06833355 +v -0.04412911 -0.07833503 -0.06503173 +v -0.04437288 -0.07848268 -0.06172695 +v -0.04439084 -0.07849192 -0.06103229 +v -0.04151691 -0.07998988 -0.06103229 +v -0.03972841 -0.07856569 -0.07658368 +v -0.03663381 -0.07994983 -0.07658368 +f 1 2 8 +f 1 8 17 +f 1 17 32 +f 1 32 55 +f 1 55 76 +f 1 76 97 +f 1 97 78 +f 1 78 56 +f 1 56 33 +f 1 33 18 +f 1 18 9 +f 1 9 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 24 +f 1 24 45 +f 1 45 71 +f 1 71 47 +f 1 47 51 +f 1 51 46 +f 1 46 26 +f 1 26 25 +f 1 25 12 +f 1 12 6 +f 1 6 2 +f 2 6 7 +f 2 7 8 +f 3 9 19 +f 3 19 35 +f 3 35 60 +f 3 60 83 +f 3 83 103 +f 3 103 104 +f 3 104 85 +f 3 85 84 +f 3 84 61 +f 3 61 36 +f 3 36 20 +f 3 20 10 +f 3 10 4 +f 4 10 21 +f 4 21 39 +f 4 39 65 +f 4 65 90 +f 4 90 92 +f 4 92 91 +f 4 91 67 +f 4 67 66 +f 4 66 41 +f 4 41 40 +f 4 40 22 +f 4 22 11 +f 4 11 5 +f 6 12 13 +f 6 13 7 +f 7 13 14 +f 7 14 15 +f 7 15 16 +f 7 16 8 +f 8 16 17 +f 9 18 19 +f 10 20 21 +f 11 22 23 +f 11 23 24 +f 12 25 13 +f 13 25 14 +f 14 25 26 +f 14 26 27 +f 14 27 28 +f 14 28 29 +f 14 29 30 +f 14 30 15 +f 15 30 31 +f 15 31 16 +f 16 31 17 +f 17 31 32 +f 18 33 34 +f 18 34 19 +f 19 34 35 +f 20 36 37 +f 20 37 38 +f 20 38 21 +f 21 38 39 +f 22 40 23 +f 23 40 41 +f 23 41 42 +f 23 42 43 +f 23 43 44 +f 23 44 45 +f 23 45 24 +f 26 46 27 +f 27 46 28 +f 28 47 48 +f 28 48 49 +f 28 49 50 +f 28 50 29 +f 28 46 51 +f 28 51 47 +f 29 50 30 +f 30 50 52 +f 30 52 31 +f 31 53 32 +f 31 52 54 +f 31 54 53 +f 32 53 55 +f 33 56 57 +f 33 57 34 +f 34 58 59 +f 34 59 60 +f 34 60 35 +f 34 57 58 +f 36 61 37 +f 37 61 62 +f 37 62 63 +f 37 63 38 +f 38 63 64 +f 38 64 39 +f 39 64 65 +f 41 66 42 +f 42 66 67 +f 42 67 68 +f 42 68 43 +f 43 69 49 +f 43 49 48 +f 43 48 44 +f 43 68 70 +f 43 70 69 +f 44 48 45 +f 45 48 71 +f 47 71 48 +f 49 69 50 +f 50 72 52 +f 50 69 73 +f 50 73 72 +f 52 72 74 +f 52 74 54 +f 53 75 76 +f 53 76 55 +f 53 54 74 +f 53 74 77 +f 53 77 75 +f 56 78 79 +f 56 79 57 +f 57 79 58 +f 58 79 80 +f 58 80 81 +f 58 81 59 +f 59 82 60 +f 59 81 82 +f 60 82 83 +f 61 84 62 +f 62 84 85 +f 62 85 86 +f 62 86 87 +f 62 87 63 +f 63 88 64 +f 63 87 89 +f 63 89 88 +f 64 88 65 +f 65 88 90 +f 67 91 68 +f 68 91 92 +f 68 92 93 +f 68 93 70 +f 69 70 94 +f 69 94 73 +f 70 93 94 +f 72 73 94 +f 72 94 95 +f 72 95 96 +f 72 96 74 +f 74 96 77 +f 75 79 97 +f 75 97 76 +f 75 77 80 +f 75 80 79 +f 77 98 80 +f 77 96 95 +f 77 95 99 +f 77 99 100 +f 77 100 98 +f 78 97 79 +f 80 98 81 +f 81 98 101 +f 81 101 82 +f 82 101 102 +f 82 102 83 +f 83 102 103 +f 85 104 86 +f 86 104 103 +f 86 103 102 +f 86 102 101 +f 86 101 87 +f 87 101 100 +f 87 100 89 +f 88 93 90 +f 88 89 93 +f 89 100 99 +f 89 99 95 +f 89 95 105 +f 89 105 106 +f 89 106 93 +f 90 93 92 +f 93 106 94 +f 94 106 105 +f 94 105 95 +f 98 100 101 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_91.obj b/demo_assets/vase/mjcf/mesh/vase_collision_91.obj new file mode 100644 index 0000000000000000000000000000000000000000..42660d329e3ffdc33b9e5a2f3afcb2662a074401 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_91.obj @@ -0,0 +1,94 @@ +# https://github.com/mikedh/trimesh +v 0.02926163 0.02934607 -0.13979374 +v 0.03058937 0.02934604 -0.13107397 +v 0.03688267 0.02934607 -0.13979374 +v 0.04172501 0.00003880 -0.13979385 +v 0.04186386 0.00003880 -0.13859434 +v 0.04216585 0.00003879 -0.13602751 +v 0.04246785 0.00003878 -0.13364091 +v 0.04279762 0.00003877 -0.13107408 +v 0.03116385 0.02934604 -0.12990968 +v 0.04321069 0.00003877 -0.12966118 +v 0.04365153 0.00003876 -0.12815713 +v 0.04699084 0.02934602 -0.12551147 +v 0.03806636 0.02794038 -0.13979375 +v 0.04691621 0.00003880 -0.13979385 +v 0.03272243 0.02934603 -0.12740500 +v 0.04498795 0.00003876 -0.12687476 +v 0.04123557 0.02280816 -0.13979377 +v 0.03985230 0.02549619 -0.13979376 +v 0.04699084 0.02934600 -0.11862930 +v 0.04699084 0.00898358 -0.13448407 +v 0.04692489 0.00239406 -0.13979384 +v 0.04690059 0.00356451 -0.13979384 +v 0.04671140 0.00727956 -0.13979382 +v 0.04653785 0.00845288 -0.13979382 +v 0.04589567 0.01216793 -0.13979381 +v 0.04459917 0.01621288 -0.13979379 +v 0.04699084 0.00003879 -0.13548679 +v 0.03616760 0.02934602 -0.12519864 +v 0.04624626 0.00003875 -0.12568146 +v 0.04699084 0.00003875 -0.12502680 +v 0.04699084 0.00727955 -0.13510350 +v 0.04699084 0.00239405 -0.13548885 +f 1 2 9 +f 1 9 15 +f 1 15 28 +f 1 28 19 +f 1 19 12 +f 1 12 3 +f 1 3 13 +f 1 13 18 +f 1 18 17 +f 1 17 26 +f 1 26 25 +f 1 25 24 +f 1 24 23 +f 1 23 22 +f 1 22 21 +f 1 21 14 +f 1 14 4 +f 1 4 5 +f 1 5 6 +f 1 6 7 +f 1 7 8 +f 1 8 2 +f 2 8 10 +f 2 10 11 +f 2 11 9 +f 3 12 13 +f 4 14 27 +f 4 27 30 +f 4 30 29 +f 4 29 16 +f 4 16 11 +f 4 11 10 +f 4 10 8 +f 4 8 7 +f 4 7 6 +f 4 6 5 +f 9 11 15 +f 11 16 15 +f 12 17 18 +f 12 18 13 +f 12 19 30 +f 12 30 27 +f 12 27 32 +f 12 32 31 +f 12 31 20 +f 12 20 21 +f 12 21 22 +f 12 22 23 +f 12 23 24 +f 12 24 25 +f 12 25 26 +f 12 26 17 +f 14 21 27 +f 15 16 29 +f 15 29 30 +f 15 30 28 +f 19 28 30 +f 20 31 21 +f 21 31 32 +f 21 32 27 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_92.obj b/demo_assets/vase/mjcf/mesh/vase_collision_92.obj new file mode 100644 index 0000000000000000000000000000000000000000..6b5dc448e9e7cc9dc021c9865b8a57d81fd64d84 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_92.obj @@ -0,0 +1,118 @@ +# https://github.com/mikedh/trimesh +v 0.02141471 0.06457922 -0.01296787 +v -0.00003101 0.06457921 -0.00970573 +v 0.02141471 0.06457919 -0.00535064 +v 0.02141471 0.05106662 -0.00151700 +v -0.00003101 0.05344068 -0.00004636 +v -0.00003101 0.06457918 -0.00251298 +v 0.02141471 0.04680398 0.00213283 +v 0.02141471 0.04646126 0.00242696 +v 0.02129716 0.06457919 -0.00531387 +v 0.01221589 0.04053851 0.02117755 +v 0.01271971 0.04035287 0.02117755 +v 0.01523038 0.03936040 0.02117754 +v 0.01623382 0.03894270 0.02117754 +v 0.01807694 0.03810375 0.02117754 +v 0.02141471 0.03618664 0.02117753 +v -0.00003101 0.05099877 0.00246374 +v 0.02141471 0.04125256 0.00730343 +v 0.02141471 0.03630092 0.01218325 +v 0.02141471 0.03145280 0.01710653 +v 0.00244818 0.06457918 -0.00253303 +v -0.00003101 0.04245204 0.02117756 +v 0.00244818 0.04245561 0.02117756 +v 0.01710080 0.06457919 -0.00430114 +v 0.00930636 0.04139532 0.02117755 +v 0.02141471 0.02811123 0.02117750 +v -0.00003101 0.04862469 0.00493708 +v 0.02141471 0.03140639 0.01716001 +v 0.00633175 0.06457918 -0.00279373 +v -0.00003101 0.03596530 0.02117753 +v 0.00440046 0.04223070 0.02117756 +v 0.01221589 0.06457918 -0.00344884 +v 0.01179815 0.06457918 -0.00339870 +v 0.00733309 0.06457918 -0.00286727 +v 0.01437180 0.06457918 -0.00381984 +v 0.00741705 0.04183086 0.02117755 +v -0.00003101 0.03622234 0.02073300 +v -0.00003101 0.03767178 0.01824964 +v -0.00003101 0.04417641 0.01029151 +v 0.02141471 0.02823975 0.02102041 +v 0.02141471 0.03127073 0.01732043 +f 1 2 6 +f 1 6 20 +f 1 20 28 +f 1 28 33 +f 1 33 32 +f 1 32 31 +f 1 31 34 +f 1 34 23 +f 1 23 9 +f 1 9 3 +f 1 3 15 +f 1 15 25 +f 1 25 39 +f 1 39 40 +f 1 40 27 +f 1 27 19 +f 1 19 18 +f 1 18 17 +f 1 17 8 +f 1 8 7 +f 1 7 4 +f 1 4 2 +f 2 5 16 +f 2 16 26 +f 2 26 38 +f 2 38 37 +f 2 37 36 +f 2 36 29 +f 2 29 21 +f 2 21 6 +f 2 4 7 +f 2 7 8 +f 2 8 5 +f 3 9 10 +f 3 10 11 +f 3 11 12 +f 3 12 13 +f 3 13 14 +f 3 14 15 +f 5 8 17 +f 5 17 18 +f 5 18 19 +f 5 19 16 +f 6 21 22 +f 6 22 20 +f 9 23 24 +f 9 24 10 +f 10 24 35 +f 10 35 30 +f 10 30 22 +f 10 22 21 +f 10 21 29 +f 10 29 25 +f 10 25 15 +f 10 15 14 +f 10 14 13 +f 10 13 12 +f 10 12 11 +f 16 19 26 +f 19 27 26 +f 20 22 28 +f 22 30 31 +f 22 31 32 +f 22 32 33 +f 22 33 28 +f 23 34 35 +f 23 35 24 +f 25 29 36 +f 25 36 37 +f 25 37 38 +f 25 38 39 +f 26 27 40 +f 26 40 38 +f 30 35 31 +f 31 35 34 +f 38 40 39 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_93.obj b/demo_assets/vase/mjcf/mesh/vase_collision_93.obj new file mode 100644 index 0000000000000000000000000000000000000000..c8c09de7f3255ae4e63d12f21681519f8d86c80b --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_93.obj @@ -0,0 +1,256 @@ +# https://github.com/mikedh/trimesh +v -0.02764417 -0.06768774 -0.01923916 +v -0.00003679 -0.07344128 -0.01923918 +v -0.02764417 -0.07462628 -0.01923918 +v -0.02764417 -0.03660214 0.00790034 +v -0.00003679 -0.05358205 -0.00001209 +v -0.00003679 -0.07969376 -0.01923920 +v -0.02764417 -0.03122804 0.01261613 +v -0.02764417 -0.02659716 0.01680573 +v -0.02684967 -0.07492773 -0.01923919 +v -0.02764417 -0.07415852 -0.01840443 +v -0.00003679 -0.05234507 0.00123412 +v -0.00003679 -0.07914803 -0.01820664 +v -0.00243919 -0.07914283 -0.01821059 +v -0.00243919 -0.07968336 -0.01923920 +v -0.02764417 -0.02659718 0.02117730 +v -0.02700100 -0.02659716 0.01736751 +v -0.00003679 -0.03587456 0.02117727 +v -0.00003679 -0.03651903 0.02015658 +v -0.00003679 -0.03679969 0.01971348 +v -0.00003679 -0.03776120 0.01820222 +v -0.00003679 -0.04257918 0.01214529 +v -0.00003679 -0.04590551 0.00809415 +v -0.00003679 -0.04733998 0.00646421 +v -0.00003679 -0.04870690 0.00492129 +v -0.00003679 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+v 0.02541065 -0.03980354 -0.14214663 +v 0.02711112 -0.03858079 -0.14214662 +v 0.03974970 -0.02548777 -0.14098357 +v 0.04449720 -0.01604010 -0.14098354 +v 0.04571051 -0.01227110 -0.14098353 +v 0.04662509 -0.00738469 -0.14098351 +v 0.04692841 -0.00249828 -0.14098349 +v 0.04694679 0.00003881 -0.14098348 +v 0.04479594 0.00003884 -0.14915137 +v 0.01710596 -0.03669855 -0.15066599 +v 0.00733519 -0.04158039 -0.15023606 +v 0.00244980 -0.04475861 -0.14908705 +v -0.00000438 -0.04316492 -0.14975023 +v 0.04478215 -0.00249825 -0.14913849 +v 0.04152369 -0.00738466 -0.15019725 +v 0.04184540 -0.01233061 -0.14954482 +v 0.04058154 -0.01715290 -0.14938575 +v 0.03697840 -0.02231409 -0.14965772 +v 0.03175292 -0.02692115 -0.15026397 +v 0.02686294 -0.03181214 -0.15030482 +v -0.00000438 -0.04474488 -0.14907307 +v 0.00733519 -0.04452963 -0.14889679 +v 0.00733519 -0.04584399 -0.14593448 +v 0.03032361 -0.03515525 -0.14593444 +v 0.03276861 -0.03280134 -0.14593443 +v 0.03504815 -0.03035584 -0.14593442 +v 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-0.02412304 -0.14797664 +v 0.04041150 -0.02231410 -0.14616871 +v 0.01393482 -0.04376028 -0.14789502 +v 0.01715192 -0.04302754 -0.14612150 +v 0.02419275 -0.03897920 -0.14814007 +v 0.02233603 -0.04053625 -0.14626874 +v 0.04292543 -0.01717123 -0.14610635 +v 0.04368834 -0.01399758 -0.14787234 +v 0.02093889 -0.03981725 -0.14894839 +v 0.03502976 -0.02797903 -0.14891071 +v 0.03633039 -0.02797904 -0.14717265 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 11 +f 1 11 6 +f 1 6 25 +f 1 25 55 +f 1 55 83 +f 1 83 56 +f 1 56 26 +f 1 26 7 +f 1 7 2 +f 2 8 9 +f 2 9 29 +f 2 29 60 +f 2 60 68 +f 2 68 33 +f 2 33 13 +f 2 13 12 +f 2 12 11 +f 2 11 5 +f 2 5 4 +f 2 4 3 +f 2 7 10 +f 2 10 8 +f 6 11 12 +f 6 12 13 +f 6 13 14 +f 6 14 15 +f 6 15 16 +f 6 16 17 +f 6 17 18 +f 6 18 19 +f 6 19 20 +f 6 20 21 +f 6 21 22 +f 6 22 23 +f 6 23 24 +f 6 24 25 +f 7 26 10 +f 8 27 28 +f 8 28 9 +f 8 10 27 +f 9 28 29 +f 10 26 30 +f 10 30 31 +f 10 31 32 +f 10 32 27 +f 13 33 34 +f 13 34 35 +f 13 35 15 +f 13 15 36 +f 13 36 14 +f 14 36 15 +f 15 35 16 +f 16 37 38 +f 16 38 39 +f 16 39 40 +f 16 40 41 +f 16 41 42 +f 16 42 17 +f 16 35 43 +f 16 43 44 +f 16 44 45 +f 16 45 46 +f 16 46 47 +f 16 47 48 +f 16 48 49 +f 16 49 37 +f 17 42 18 +f 18 42 50 +f 18 50 19 +f 19 50 51 +f 19 51 20 +f 20 51 21 +f 21 51 22 +f 22 51 52 +f 22 52 53 +f 22 53 23 +f 23 53 54 +f 23 54 24 +f 24 54 55 +f 24 55 25 +f 26 56 30 +f 27 32 57 +f 27 57 28 +f 28 57 58 +f 28 58 59 +f 28 59 60 +f 28 60 29 +f 30 56 61 +f 30 61 62 +f 30 62 31 +f 31 62 63 +f 31 63 64 +f 31 64 65 +f 31 65 66 +f 31 66 67 +f 31 67 32 +f 32 67 57 +f 33 68 34 +f 34 59 69 +f 34 69 70 +f 34 70 43 +f 34 43 35 +f 34 68 59 +f 37 49 71 +f 37 71 38 +f 38 71 72 +f 38 72 39 +f 39 72 73 +f 39 73 40 +f 40 73 74 +f 40 74 42 +f 40 42 41 +f 42 74 75 +f 42 75 50 +f 43 70 44 +f 44 70 45 +f 45 70 46 +f 46 70 76 +f 46 76 77 +f 46 77 47 +f 47 77 78 +f 47 78 48 +f 48 78 49 +f 49 78 71 +f 50 75 51 +f 51 75 79 +f 51 79 52 +f 52 80 81 +f 52 81 53 +f 52 79 80 +f 53 81 82 +f 53 82 54 +f 54 82 83 +f 54 83 55 +f 56 83 61 +f 57 67 84 +f 57 84 85 +f 57 85 58 +f 58 69 59 +f 58 85 86 +f 58 86 69 +f 59 68 60 +f 61 87 62 +f 61 83 82 +f 61 82 87 +f 62 87 63 +f 63 87 88 +f 63 88 64 +f 64 88 89 +f 64 89 65 +f 65 90 66 +f 65 89 90 +f 66 90 91 +f 66 91 67 +f 67 92 84 +f 67 91 93 +f 67 93 92 +f 69 86 94 +f 69 94 70 +f 70 94 76 +f 71 78 95 +f 71 95 96 +f 71 96 72 +f 72 97 73 +f 72 96 97 +f 73 97 98 +f 73 98 75 +f 73 75 74 +f 75 98 99 +f 75 99 100 +f 75 100 101 +f 75 101 79 +f 76 94 102 +f 76 102 77 +f 77 102 103 +f 77 103 104 +f 77 104 105 +f 77 105 78 +f 78 105 104 +f 78 104 95 +f 79 101 106 +f 79 106 107 +f 79 107 80 +f 80 107 88 +f 80 88 81 +f 81 88 87 +f 81 87 82 +f 84 92 108 +f 84 108 85 +f 85 108 94 +f 85 94 86 +f 88 107 89 +f 89 107 100 +f 89 100 97 +f 89 97 109 +f 89 109 90 +f 90 109 93 +f 90 93 91 +f 92 96 104 +f 92 104 108 +f 92 93 96 +f 93 109 97 +f 93 97 96 +f 94 108 102 +f 95 104 96 +f 97 100 110 +f 97 110 98 +f 98 110 99 +f 99 110 100 +f 100 107 106 +f 100 106 101 +f 102 108 104 +f 102 104 103 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_96.obj b/demo_assets/vase/mjcf/mesh/vase_collision_96.obj new file mode 100644 index 0000000000000000000000000000000000000000..0df8233900cbe514d795d5dd90e55de0a2c3b7af --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_96.obj @@ -0,0 +1,187 @@ +# https://github.com/mikedh/trimesh +v 0.04699257 0.05589823 -0.09939364 +v 0.04699257 0.02934600 -0.11863071 +v 0.04699257 0.05589826 -0.10887766 +v 0.00014422 0.05589829 -0.11804526 +v 0.04699257 0.02934602 -0.12550839 +v 0.00014422 0.04860195 -0.12349129 +v 0.00014422 0.04745045 -0.12454332 +v 0.00014422 0.04615858 -0.12572586 +v 0.00014422 0.04366842 -0.12820563 +v 0.03616554 0.02934602 -0.12519594 +v 0.04699257 0.05549796 -0.10925339 +v 0.04584613 0.05589826 -0.10974379 +v 0.00014422 0.05589832 -0.12489527 +v 0.04699257 0.03133712 -0.12473717 +v 0.03688092 0.02934607 -0.13979374 +v 0.00014422 0.04287823 -0.13107298 +v 0.03116245 0.02934604 -0.12991027 +v 0.03271703 0.02934603 -0.12740282 +v 0.04699257 0.05488192 -0.10982685 +v 0.04246640 0.05589827 -0.11205745 +v 0.02797533 0.03801228 -0.13979371 +v 0.02738835 0.03844637 -0.13979371 +v 0.02553111 0.03980583 -0.13979370 +v 0.00014422 0.04692804 -0.13979368 +v 0.00194643 0.05589832 -0.12489527 +v 0.04699257 0.03208053 -0.12442076 +v 0.03561983 0.03085109 -0.13979374 +v 0.04699257 0.05134942 -0.11277727 +v 0.04699257 0.04695395 -0.11600850 +v 0.04699257 0.04575825 -0.11678368 +v 0.04699257 0.04196062 -0.11916458 +v 0.04699257 0.04093648 -0.11975387 +v 0.04699257 0.03680873 -0.12207545 +v 0.04699257 0.03580538 -0.12262520 +v 0.02925935 0.02934607 -0.13979374 +v 0.00014422 0.04225960 -0.13602460 +v 0.03058464 0.02934604 -0.13107303 +v 0.03332694 0.03329188 -0.13979373 +v 0.03088272 0.03556890 -0.13979372 +v 0.03019027 0.03615375 -0.13979372 +v 0.04150798 0.05589827 -0.11267442 +v 0.01622656 0.04454964 -0.13979369 +v 0.03942603 0.05589828 -0.11397561 +v 0.00014422 0.04183072 -0.13979370 +v 0.00245087 0.04692804 -0.13979368 +v 0.00245087 0.05589832 -0.12489131 +v 0.00014422 0.04198928 -0.13836200 +v 0.01523603 0.04487455 -0.13979369 +v 0.02999308 0.05589830 -0.11873343 +v 0.03175402 0.05589829 -0.11796221 +v 0.03247857 0.05589829 -0.11762999 +v 0.03603714 0.05589829 -0.11584630 +v 0.03617013 0.05589829 -0.11577907 +v 0.00733473 0.04670189 -0.13979368 +v 0.00733473 0.05589832 -0.12451164 +v 0.01221859 0.04585711 -0.13979368 +v 0.02644368 0.05589830 -0.12014535 +v 0.01221859 0.05589832 -0.12388280 +v 0.01466739 0.05589831 -0.12343589 +v 0.01710244 0.05589831 -0.12294548 +v 0.01810673 0.05589831 -0.12271213 +v 0.02190376 0.05589831 -0.12166406 +v 0.02307313 0.05589831 -0.12127647 +f 1 2 5 +f 1 5 14 +f 1 14 26 +f 1 26 34 +f 1 34 33 +f 1 33 32 +f 1 32 31 +f 1 31 30 +f 1 30 29 +f 1 29 28 +f 1 28 19 +f 1 19 11 +f 1 11 3 +f 1 3 12 +f 1 12 20 +f 1 20 41 +f 1 41 43 +f 1 43 53 +f 1 53 52 +f 1 52 51 +f 1 51 50 +f 1 50 49 +f 1 49 57 +f 1 57 63 +f 1 63 62 +f 1 62 61 +f 1 61 60 +f 1 60 59 +f 1 59 58 +f 1 58 55 +f 1 55 46 +f 1 46 25 +f 1 25 13 +f 1 13 4 +f 1 4 2 +f 2 4 6 +f 2 6 7 +f 2 7 8 +f 2 8 9 +f 2 9 10 +f 2 10 18 +f 2 18 17 +f 2 17 37 +f 2 37 35 +f 2 35 15 +f 2 15 5 +f 3 11 12 +f 4 13 24 +f 4 24 44 +f 4 44 47 +f 4 47 36 +f 4 36 16 +f 4 16 9 +f 4 9 8 +f 4 8 7 +f 4 7 6 +f 5 15 14 +f 9 16 17 +f 9 17 18 +f 9 18 10 +f 11 19 12 +f 12 19 21 +f 12 21 22 +f 12 22 23 +f 12 23 20 +f 13 25 45 +f 13 45 24 +f 14 15 26 +f 15 27 28 +f 15 28 29 +f 15 29 30 +f 15 30 31 +f 15 31 32 +f 15 32 33 +f 15 33 34 +f 15 34 26 +f 15 35 44 +f 15 44 24 +f 15 24 45 +f 15 45 54 +f 15 54 56 +f 15 56 48 +f 15 48 42 +f 15 42 23 +f 15 23 22 +f 15 22 21 +f 15 21 40 +f 15 40 39 +f 15 39 38 +f 15 38 27 +f 16 36 37 +f 16 37 17 +f 19 28 38 +f 19 38 39 +f 19 39 40 +f 19 40 21 +f 20 23 41 +f 23 42 43 +f 23 43 41 +f 25 46 45 +f 27 38 28 +f 35 37 44 +f 36 47 37 +f 37 47 44 +f 42 48 49 +f 42 49 50 +f 42 50 51 +f 42 51 52 +f 42 52 53 +f 42 53 43 +f 45 46 54 +f 46 55 54 +f 48 56 49 +f 49 56 57 +f 54 55 58 +f 54 58 59 +f 54 59 60 +f 54 60 61 +f 54 61 56 +f 56 61 62 +f 56 62 63 +f 56 63 57 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_97.obj b/demo_assets/vase/mjcf/mesh/vase_collision_97.obj new file mode 100644 index 0000000000000000000000000000000000000000..e3b4c3871d370efea84aa05d28f94385eb3ec6e3 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_97.obj @@ -0,0 +1,100 @@ +# https://github.com/mikedh/trimesh +v 0.04167682 0.00003881 -0.14021121 +v 0.04186434 0.00003880 -0.13859397 +v 0.04692735 0.00003881 -0.14021121 +v 0.03045639 -0.02798170 -0.14021131 +v 0.03057117 -0.02798171 -0.13921164 +v 0.04216664 0.00003879 -0.13602664 +v 0.04696777 0.00003879 -0.13556397 +v 0.04696777 -0.00249556 -0.13556398 +v 0.04696777 -0.00618738 -0.13518809 +v 0.04696777 -0.00738050 -0.13504764 +v 0.04691927 -0.00249554 -0.14021122 +v 0.03803152 -0.02798170 -0.14021131 +v 0.03192745 -0.02798174 -0.13107381 +v 0.04279870 0.00003877 -0.13107371 +v 0.04246731 0.00003878 -0.13364105 +v 0.04696777 0.00003875 -0.12504676 +v 0.04696777 -0.01226819 -0.13295125 +v 0.04663476 -0.00738048 -0.14021124 +v 0.04696777 -0.02798176 -0.12604034 +v 0.03805092 -0.02795701 -0.14021131 +v 0.03334516 -0.02798175 -0.12807480 +v 0.04365224 0.00003876 -0.12815731 +v 0.04321092 0.00003877 -0.12966302 +v 0.04624679 0.00003875 -0.12568085 +v 0.03413080 -0.02798175 -0.12736015 +v 0.03587667 -0.02798176 -0.12616839 +v 0.03944923 -0.02798176 -0.12387163 +v 0.04696777 -0.02798178 -0.11911079 +v 0.04574405 -0.01226816 -0.14021126 +v 0.03832088 -0.02757850 -0.14021131 +v 0.03977253 -0.02551317 -0.14021130 +v 0.04451386 -0.01606694 -0.14021127 +v 0.04471592 -0.01544981 -0.14021127 +v 0.04498912 0.00003876 -0.12687468 +f 1 2 6 +f 1 6 15 +f 1 15 14 +f 1 14 23 +f 1 23 22 +f 1 22 34 +f 1 34 24 +f 1 24 16 +f 1 16 7 +f 1 7 3 +f 1 3 11 +f 1 11 18 +f 1 18 29 +f 1 29 33 +f 1 33 32 +f 1 32 31 +f 1 31 30 +f 1 30 20 +f 1 20 12 +f 1 12 4 +f 1 4 5 +f 1 5 2 +f 2 5 6 +f 3 7 8 +f 3 8 9 +f 3 9 10 +f 3 10 11 +f 4 12 19 +f 4 19 28 +f 4 28 27 +f 4 27 26 +f 4 26 25 +f 4 25 21 +f 4 21 13 +f 4 13 5 +f 5 13 14 +f 5 14 15 +f 5 15 6 +f 7 16 28 +f 7 28 19 +f 7 19 17 +f 7 17 10 +f 7 10 9 +f 7 9 8 +f 10 17 11 +f 11 17 19 +f 11 19 18 +f 12 20 19 +f 13 21 22 +f 13 22 23 +f 13 23 14 +f 16 24 25 +f 16 25 26 +f 16 26 27 +f 16 27 28 +f 18 19 29 +f 19 20 30 +f 19 30 31 +f 19 31 32 +f 19 32 33 +f 19 33 29 +f 21 25 24 +f 21 24 34 +f 21 34 22 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_98.obj b/demo_assets/vase/mjcf/mesh/vase_collision_98.obj new file mode 100644 index 0000000000000000000000000000000000000000..7c03207ceada82e931ebef5973e09234d9eafb03 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_98.obj @@ -0,0 +1,106 @@ +# https://github.com/mikedh/trimesh +v 0.02952227 -0.02798374 -0.14214574 +v 0.03185042 -0.02798378 -0.13154872 +v 0.03772193 -0.02798374 -0.14214574 +v -0.00000438 -0.04119611 -0.14214579 +v 0.04017200 -0.02798378 -0.13154872 +v -0.00000438 -0.04277114 -0.13154878 +v 0.03797362 -0.02798374 -0.14107836 +v 0.03916130 -0.02941336 -0.13154873 +v 0.03733259 -0.02850601 -0.14214574 +v -0.00000438 -0.04672601 -0.14214581 +v -0.00000438 -0.04887247 -0.13154880 +v 0.03695899 -0.03218241 -0.13154874 +v 0.03546063 -0.03082447 -0.14214575 +v 0.00244962 -0.04674444 -0.14214581 +v 0.00244962 -0.04890524 -0.13154880 +v 0.03684494 -0.03230529 -0.13154874 +v 0.03322686 -0.03326787 -0.14214576 +v 0.00618567 -0.04657649 -0.14214581 +v 0.00733402 -0.04648638 -0.14214581 +v 0.00733402 -0.04848742 -0.13154880 +v 0.03457578 -0.03463809 -0.13154875 +v 0.03213751 -0.03703643 -0.13154876 +v 0.03265269 -0.03382086 -0.14214576 +v 0.01107008 -0.04583303 -0.14214581 +v 0.01221842 -0.04764360 -0.13154880 +v 0.03199986 -0.03715317 -0.13154876 +v 0.03078466 -0.03556790 -0.14214577 +v 0.01223022 -0.04560774 -0.14214581 +v 0.01229708 -0.04762312 -0.13154879 +v 0.02675759 -0.04146445 -0.13154877 +v 0.02711546 -0.03858271 -0.14214578 +v 0.01592302 -0.04451609 -0.14214580 +v 0.01657585 -0.04649871 -0.13154879 +v 0.02065405 -0.04453047 -0.13154878 +v 0.02540867 -0.03980544 -0.14214579 +v 0.01701631 -0.04635534 -0.13154879 +f 1 2 5 +f 1 5 7 +f 1 7 3 +f 1 3 9 +f 1 9 13 +f 1 13 17 +f 1 17 23 +f 1 23 27 +f 1 27 31 +f 1 31 35 +f 1 35 32 +f 1 32 28 +f 1 28 24 +f 1 24 19 +f 1 19 18 +f 1 18 14 +f 1 14 10 +f 1 10 4 +f 1 4 2 +f 2 4 6 +f 2 6 11 +f 2 11 15 +f 2 15 20 +f 2 20 25 +f 2 25 29 +f 2 29 33 +f 2 33 36 +f 2 36 34 +f 2 34 30 +f 2 30 26 +f 2 26 22 +f 2 22 21 +f 2 21 16 +f 2 16 12 +f 2 12 8 +f 2 8 5 +f 3 7 8 +f 3 8 9 +f 4 10 11 +f 4 11 6 +f 5 8 7 +f 8 12 9 +f 9 12 13 +f 10 14 15 +f 10 15 11 +f 12 16 17 +f 12 17 13 +f 14 18 15 +f 15 18 19 +f 15 19 20 +f 16 21 17 +f 17 22 23 +f 17 21 22 +f 19 24 25 +f 19 25 20 +f 22 26 27 +f 22 27 23 +f 24 28 25 +f 25 28 29 +f 26 30 27 +f 27 30 31 +f 28 32 33 +f 28 33 29 +f 30 34 35 +f 30 35 31 +f 32 36 33 +f 32 35 36 +f 34 36 35 + diff --git a/demo_assets/vase/mjcf/mesh/vase_collision_99.obj b/demo_assets/vase/mjcf/mesh/vase_collision_99.obj new file mode 100644 index 0000000000000000000000000000000000000000..b0ed8925013b8244465ff88b1c716580276d4830 --- /dev/null +++ b/demo_assets/vase/mjcf/mesh/vase_collision_99.obj @@ -0,0 +1,115 @@ +# https://github.com/mikedh/trimesh +v -0.00244023 0.04907280 -0.13132545 +v -0.00244023 0.04685706 -0.14210803 +v -0.00621504 0.04671648 -0.14210803 +v -0.00732552 0.04662625 -0.14210803 +v -0.00732552 0.04855452 -0.13132545 +v 0.00014422 0.04907070 -0.13132545 +v 0.00014422 0.04684237 -0.14210803 +v -0.01110033 0.04599887 -0.14210803 +v -0.01221081 0.04766486 -0.13132545 +v 0.00014422 0.04284722 -0.13132547 +v 0.00014422 0.04119382 -0.14210805 +v -0.01227072 0.04575547 -0.14210803 +v -0.01221081 0.04597579 -0.14098080 +v -0.01245048 0.04760191 -0.13132546 +v -0.03241905 0.02763894 -0.13132553 +v -0.02983060 0.02763898 -0.14210810 +v -0.01613741 0.04453847 -0.14210804 +v -0.01671662 0.04640380 -0.13132546 +v -0.04066372 0.02763894 -0.13132553 +v -0.03811123 0.02763898 -0.14210810 +v -0.02083895 0.04453213 -0.13132547 +v -0.01699224 0.04631567 -0.13132546 +v -0.02542066 0.03972503 -0.14210805 +v -0.02302795 0.04339907 -0.13132547 +v -0.03930559 0.02951480 -0.13132552 +v -0.03804332 0.02772921 -0.14210810 +v -0.02715827 0.03846607 -0.14210806 +v -0.02680276 0.04143508 -0.13132548 +v -0.03703671 0.03214813 -0.13132551 +v -0.03703271 0.03215233 -0.13132974 +v -0.03554675 0.03078430 -0.14210809 +v -0.03743216 0.02852236 -0.14210810 +v -0.03790751 0.02790756 -0.14210810 +v -0.02954699 0.03928646 -0.13132549 +v -0.03081325 0.03548443 -0.14210807 +v -0.03469592 0.03465976 -0.13132550 +v -0.03325390 0.03322668 -0.14210808 +v -0.03219136 0.03699094 -0.13132549 +v -0.03269866 0.03374915 -0.14210808 +f 1 2 3 +f 1 3 4 +f 1 4 5 +f 1 5 9 +f 1 9 14 +f 1 14 18 +f 1 18 22 +f 1 22 21 +f 1 21 24 +f 1 24 28 +f 1 28 34 +f 1 34 38 +f 1 38 36 +f 1 36 29 +f 1 29 25 +f 1 25 19 +f 1 19 15 +f 1 15 10 +f 1 10 6 +f 1 6 2 +f 2 6 7 +f 2 7 11 +f 2 11 16 +f 2 16 20 +f 2 20 26 +f 2 26 33 +f 2 33 32 +f 2 32 31 +f 2 31 37 +f 2 37 39 +f 2 39 35 +f 2 35 27 +f 2 27 23 +f 2 23 17 +f 2 17 12 +f 2 12 8 +f 2 8 4 +f 2 4 3 +f 4 8 5 +f 5 8 9 +f 6 10 11 +f 6 11 7 +f 8 12 13 +f 8 13 9 +f 9 13 14 +f 10 15 11 +f 11 15 16 +f 12 17 18 +f 12 18 13 +f 13 18 14 +f 15 19 20 +f 15 20 16 +f 17 21 22 +f 17 22 18 +f 17 23 24 +f 17 24 21 +f 19 25 20 +f 20 25 26 +f 23 27 28 +f 23 28 24 +f 25 29 30 +f 25 30 31 +f 25 31 32 +f 25 32 33 +f 25 33 26 +f 27 34 28 +f 27 35 34 +f 29 36 30 +f 30 36 31 +f 31 36 37 +f 34 35 38 +f 35 39 38 +f 36 38 39 +f 36 39 37 + diff --git a/demo_assets/vase/mjcf/vase.mjcf b/demo_assets/vase/mjcf/vase.mjcf index 23d5e5786a4e0a8acd70acf58931b28c95a21f00..6487b019b4527e3a58e0763795bfd5595e5ddc7e 100644 --- a/demo_assets/vase/mjcf/vase.mjcf +++ b/demo_assets/vase/mjcf/vase.mjcf @@ -1,15 +1,213 @@ - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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