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cup/cup_2/collision/model_normalized_collision_0.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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+v -0.13326477 0.22327840 -0.41653516
+v -0.26312741 0.12290829 0.34038922
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+v -0.21687155 0.15642168 -0.34018662
+v -0.19590122 0.25677320 0.49976552
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+v -0.15653898 0.21120074 -0.41565921
+v -0.25562929 0.19530572 0.48965908
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+v -0.27123335 0.17246919 0.49976552
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cup/cup_2/collision/model_normalized_collision_1.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.14648702 -0.28416206 0.49976552
+v -0.12783562 -0.23167391 -0.34001341
+v -0.27896194 -0.06413386 0.26463755
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+v -0.25401238 -0.07763778 -0.35596959
+v -0.29145333 -0.07883806 0.49999999
+v -0.14337942 -0.24776029 0.26390744
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+v -0.26912030 -0.17526381 0.49976552
+v -0.23614571 -0.08361504 -0.35681272
+v -0.28849809 -0.06064179 0.14472328
+v -0.20991329 -0.16841094 -0.29409928
+v -0.29591548 -0.06188906 0.26546686
+v -0.12794275 -0.26219224 0.09936554
+v -0.15607464 -0.25797542 0.49999999
+v -0.15470705 -0.21725470 -0.35507701
+v -0.30008384 -0.11500228 0.48965908
+v -0.17077606 -0.27207595 0.49976552
+v -0.13869888 -0.20805090 -0.35666748
+v -0.25541316 -0.07532551 -0.33994947
+v -0.22197694 -0.14407995 -0.35477316
+v -0.22490501 -0.16824808 -0.12741840
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+v -0.23764039 -0.11404393 -0.35480913
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cup/cup_2/collision/model_normalized_collision_10.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.31448320 0.05750471 0.49976552
+v 0.28963559 0.07102578 0.19037413
+v 0.26231578 0.18830979 0.49976552
+v 0.16372718 0.27558332 0.49976552
+v 0.27978541 0.05931352 0.26484797
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+v 0.29474201 0.05928075 0.49999999
+v 0.30273220 0.10992448 0.48965908
+v 0.29673962 0.05706885 0.26568296
+v 0.24590406 0.15734947 0.08430248
+v 0.17568712 0.26916938 0.48965908
+v 0.16438611 0.22095369 0.05209952
+v 0.30309950 0.11011605 0.49976552
+v 0.18389398 0.24054528 0.49999999
+v 0.28820343 0.09668484 0.23600747
+v 0.30555779 0.05600386 0.40244666
+v 0.23086305 0.18090047 0.08455046
+v 0.28706679 0.13995947 0.48965908
+v 0.14995434 0.24805095 0.05354535
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+v 0.16179881 0.27170796 0.47825020
+v 0.14728542 0.25783886 0.17513067
+v 0.16211046 0.24203124 0.05396420
+v 0.26240110 0.12774824 0.09935946
+v 0.23758165 0.13851094 0.08277337
+v 0.24346311 0.18045118 0.22106025
+v 0.14979851 0.26288931 0.26568835
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cup/cup_2/collision/model_normalized_collision_11.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.29145333 -0.07883806 0.49999999
+v -0.27083618 -0.06276747 0.12877364
+v -0.28630714 0.07371698 0.40148137
+v -0.31231459 0.07307848 0.49976552
+v -0.31382142 -0.05980442 0.49314692
+v -0.29154968 0.04194106 0.14452874
+v -0.29269449 0.07466642 0.49999999
+v -0.27649326 -0.07887025 0.26478937
+v -0.31408898 -0.05984942 0.49976552
+v -0.27492105 0.04397366 0.14367474
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+v -0.31344877 0.01038886 0.41778527
+v -0.28757092 -0.06048588 0.12963033
+v -0.28552188 -0.08038847 0.41574926
+v -0.29818436 0.01037206 0.17536814
+v -0.31484559 0.05605102 0.49976552
+v -0.31353895 -0.01430238 0.41778295
+v -0.29344730 -0.07662554 0.26562277
+v -0.29497545 -0.01627645 0.12916260
+v -0.31119458 -0.07706204 0.49976552
+v -0.27824221 -0.01855828 0.12831817
+v -0.29823058 -0.01427600 0.17536862
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+f 22 5 17

cup/cup_2/collision/model_normalized_collision_12.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.06163306 -0.31378912 0.49976552
+v 0.06072993 -0.29326678 0.22044778
+v 0.06526415 -0.28992824 0.44604237
+v -0.14648702 -0.28416206 0.49976552
+v -0.02578563 -0.31934441 0.49976552
+v 0.06298683 -0.27638530 0.21960253
+v 0.06340909 -0.29404792 0.49999999
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+v -0.10755496 -0.28211855 0.49999999
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+v -0.10426851 -0.27551389 0.38631864
+v -0.11011187 -0.30226216 0.49976552
+v -0.07625247 -0.29245884 0.49999999
+v -0.01044821 -0.30294220 0.25109342
+v -0.08690765 -0.29251258 0.26594756
+v -0.07368192 -0.27516531 0.21967762
+v -0.14635806 -0.28390289 0.49270348
+v -0.10999309 -0.30202348 0.49326111
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+f 20 14 4
+f 20 4 19

cup/cup_2/collision/model_normalized_collision_13.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.25845440 -0.08480040 -0.00851788
+v 0.24592773 -0.07583317 -0.49999995
+v 0.28228794 -0.04643049 0.00806153
+v 0.25988397 0.06106261 -0.05397353
+v 0.22939529 0.05848358 -0.49999995
+v 0.26588081 -0.04849601 0.00719668
+v 0.27789804 -0.07608100 0.00833799
+v 0.22939529 -0.07788006 -0.49999995
+v 0.25776541 0.01015619 -0.47619354
+v 0.26149001 -0.07814638 0.00746590
+v 0.24228820 -0.08429550 -0.25087338
+v 0.25872886 0.00027378 -0.47625746
+v 0.24845974 0.05659375 -0.49999995
+v 0.27679537 0.05626292 -0.05219611
+v 0.24496750 0.06110214 -0.29641223
+v 0.27307380 0.01018257 -0.23377921
+v 0.27399326 0.00025701 -0.23384033
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+f 16 13 14
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+f 17 14 3
+f 17 12 16
+f 17 3 2
+f 17 2 12

cup/cup_2/collision/model_normalized_collision_14.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14480116 0.23784118 0.12792817
+v 0.12333468 0.19484722 -0.50000000
+v 0.11634987 0.22626465 -0.50000000
+v 0.06228549 0.28277512 0.05321805
+v 0.04757711 0.19484721 -0.48268642
+v 0.13177850 0.25712463 0.05396824
+v 0.14379132 0.20550871 -0.35678283
+v 0.06434019 0.26629517 0.05236553
+v 0.04757711 0.19484722 -0.49999999
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+v 0.04744346 0.26970563 -0.18933731
+v 0.13878024 0.24089269 0.12874784
+v 0.04955665 0.25361924 -0.19021049
+v 0.04536995 0.25575599 -0.41573152
+v 0.04680261 0.25024280 -0.50000000
+v 0.08601779 0.24135779 -0.50000000
+v 0.08400123 0.25245679 -0.35479788
+v 0.06019520 0.25356104 -0.41559329
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+f 22 19 4
+f 22 4 10

cup/cup_2/collision/model_normalized_collision_15.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.31399247 -0.06179032 0.49976552
+v 0.27856805 -0.04587756 -0.05231026
+v 0.31985536 0.02555723 0.49976552
+v 0.29474201 0.05928075 0.49999999
+v 0.27455247 -0.06493650 0.18848316
+v 0.27803589 0.07162303 0.00833159
+v 0.29437241 -0.06337827 0.49999999
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+v 0.31872696 -0.02993887 0.49976552
+v 0.28838218 0.01020895 0.00863512
+v 0.26368541 -0.06332119 0.00733129
+v 0.27679537 0.05626292 -0.05219611
+v 0.27504037 0.07621494 0.23390495
+v 0.26035462 0.05859394 -0.05307067
+v 0.29427145 0.07180532 0.26583887
+v 0.26225846 -0.04795757 -0.05318728
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+f 20 16 2

cup/cup_2/collision/model_normalized_collision_16.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.06101537 -0.27981276 0.00821934
+v 0.06072211 -0.24776576 -0.49999990
+v 0.06272862 -0.22939521 -0.49999991
+v -0.05916761 -0.26430064 0.00729356
+v -0.01039787 -0.25714906 -0.47615798
+v 0.06333000 -0.26327458 0.00735581
+v 0.01431139 -0.27238252 -0.23373555
+v -0.05848350 -0.22939521 -0.49999991
+v 0.06523093 -0.24427605 -0.29636971
+v 0.01428501 -0.25707416 -0.47614988
+v -0.05710214 -0.28070813 0.00816101
+v -0.05685594 -0.24874874 -0.49999990
+v 0.06534321 -0.26009535 -0.03883502
+v -0.01041466 -0.27241345 -0.23374085
+v -0.06073162 -0.24451963 -0.31153340
+v -0.06068996 -0.25939086 -0.06909197
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+f 16 11 4
+f 16 4 8
+f 16 8 15

cup/cup_2/collision/model_normalized_collision_17.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.29069794 0.04406662 0.40121215
+v -0.24614150 0.12199551 0.08293773
+v -0.24803408 0.15324028 0.34038528
+v -0.26013979 0.15172470 0.49999999
+v -0.30141956 0.11180500 0.49976552
+v -0.25295210 0.15568746 0.43096122
+v -0.27492105 0.04397366 0.14367474
+v -0.29269449 0.07466642 0.49999999
+v -0.27183855 0.14246729 0.34187747
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+v -0.31231459 0.07307848 0.49976552
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+v -0.27293530 0.11271001 0.14483146
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+v -0.25818333 0.09768444 0.08212200
+v -0.29154968 0.04194106 0.14452874
+v -0.28285068 0.09495302 0.16034730
+v -0.30123425 0.04112845 0.29638819
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+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 6 3
+f 11 8 5
+f 11 5 10
+f 12 5 4
+f 12 4 6
+f 12 6 9
+f 14 9 2
+f 14 13 10
+f 14 12 9
+f 14 5 12
+f 15 1 8
+f 15 8 11
+f 16 2 7
+f 16 7 13
+f 16 14 2
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+f 17 13 7
+f 17 10 13
+f 17 11 10
+f 18 14 10
+f 18 10 5
+f 18 5 14
+f 19 17 7
+f 19 7 1
+f 19 1 15
+f 19 15 11
+f 19 11 17

cup/cup_2/collision/model_normalized_collision_18.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.22307087 -0.20803853 0.31115798
+v 0.27358033 -0.08602194 -0.03675820
+v 0.30026723 -0.09230536 0.40182283
+v 0.28761257 -0.06462563 0.40073261
+v 0.26368541 -0.06332119 0.00733129
+v 0.30465713 -0.06265486 0.40154636
+v 0.28066754 -0.09592643 0.40112105
+v 0.24218093 -0.17245736 0.13010794
+v 0.24251142 -0.16016414 0.30971755
+v 0.28977755 -0.06044312 0.16005921
+v 0.23941959 -0.19406165 0.34135653
+v 0.29212072 -0.10169836 0.34181585
+v 0.22473883 -0.17937201 0.00798212
+v 0.28009299 -0.06125574 0.00819976
+v 0.24688098 -0.18651654 0.34202765
+v 0.24418076 -0.11554026 0.00657417
+v 0.24120360 -0.15958627 0.02401412
+v 0.27510812 -0.07566630 -0.03694085
+v 0.25604189 -0.15943041 0.23615712
+v 0.22122040 -0.19107144 0.09919826
+v 0.22172864 -0.20672162 0.28097209
+v 0.23220022 -0.17182690 0.00865323
+v 0.27098904 -0.09111046 -0.03761016
+v 0.27472329 -0.07786125 -0.03787082
+f 7 4 1
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+f 7 3 6
+f 9 1 4
+f 9 4 5
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+f 11 7 1
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+f 12 2 3
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+f 15 3 11
+f 15 11 1
+f 15 1 8
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+f 18 5 14
+f 18 16 5
+f 18 14 10
+f 18 10 3
+f 19 12 3
+f 19 3 15
+f 19 15 8
+f 19 8 2
+f 19 2 12
+f 20 16 13
+f 21 5 16
+f 21 9 5
+f 21 1 9
+f 21 16 20
+f 21 20 13
+f 21 13 1
+f 22 17 8
+f 22 8 1
+f 22 1 13
+f 23 22 13
+f 23 2 17
+f 23 17 22
+f 24 13 16
+f 24 16 18
+f 24 23 13
+f 24 2 23
+f 24 18 3
+f 24 3 2

cup/cup_2/collision/model_normalized_collision_19.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.26067396 -0.07875796 0.00725468
+v -0.22515016 -0.07788006 -0.49999995
+v -0.22515016 0.04333206 -0.49999995
+v -0.28279508 0.04289191 0.00776224
+v -0.24517114 -0.07615107 -0.49999995
+v -0.26638889 0.04495757 0.00690524
+v -0.23776922 -0.08446183 -0.32662074
+v -0.27721175 -0.07644325 0.00811549
+v -0.25086023 0.04264936 -0.49999995
+v -0.28537487 0.02587170 0.00855398
+v -0.25568900 -0.08046753 -0.06912813
+v -0.23626170 0.06013522 -0.44765672
+v -0.26854100 -0.01437916 -0.29436710
+v -0.23534856 0.05999949 -0.46275177
+v -0.25193125 0.05796007 -0.44674789
+v -0.26858553 0.01047673 -0.29437318
+v -0.25302105 -0.02946872 -0.49999995
+v -0.28384938 -0.01440553 -0.05195277
+v -0.25100128 0.05782183 -0.46184084
+v -0.25339123 0.02562190 -0.49999995
+v -0.28508989 -0.02976565 0.00857493
+v -0.28384994 0.01049351 -0.05195604
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 5 7
+f 9 3 5
+f 10 6 4
+f 10 4 9
+f 10 1 6
+f 11 8 7
+f 11 7 1
+f 11 1 8
+f 12 6 3
+f 12 4 6
+f 14 12 3
+f 14 3 9
+f 15 9 4
+f 15 4 12
+f 15 12 14
+f 17 9 5
+f 18 16 13
+f 18 13 17
+f 19 15 14
+f 19 14 9
+f 19 9 15
+f 20 9 17
+f 20 10 9
+f 20 17 13
+f 20 13 16
+f 21 10 18
+f 21 8 1
+f 21 1 10
+f 21 18 17
+f 21 17 5
+f 21 5 8
+f 22 18 10
+f 22 16 18
+f 22 20 16
+f 22 10 20

cup/cup_2/collision/model_normalized_collision_2.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.06399572 0.29428073 0.49999999
+v 0.07822311 0.25776063 -0.05317178
+v 0.06016437 0.31395968 0.49313900
+v -0.05572108 0.31478320 0.49976552
+v -0.15571643 0.25242630 0.43098883
+v -0.01212129 0.28035855 -0.11329540
+v 0.06020430 0.31422834 0.49976552
+v 0.07876155 0.26138299 0.00721218
+v -0.15166258 0.25980548 0.49999999
+v 0.07614311 0.27407033 -0.05229435
+v -0.00028277 0.31502887 0.41768577
+v -0.13001831 0.24735706 -0.09791603
+v 0.07669604 0.27779024 0.00807744
+v 0.01464715 0.28323500 -0.05191731
+v -0.01017362 0.31423054 0.41773927
+v -0.08580367 0.26801768 -0.11251585
+v -0.14189159 0.28652632 0.49976552
+v -0.13516439 0.22692051 -0.09860594
+v -0.00029955 0.29976442 0.17526864
+v -0.01027676 0.28454086 -0.05199644
+v -0.11185660 0.30219174 0.49976552
+v -0.13999996 0.26774806 0.26641673
+v -0.01446904 0.26401735 -0.11416305
+v -0.15105910 0.24349693 0.26493295
+v -0.09278198 0.24796213 -0.11416035
+v -0.09466332 0.26797412 -0.06693249
+v -0.06114690 0.25614071 -0.11461045
+v -0.11190602 0.25683197 -0.09751721
+f 7 4 1
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 2 6
+f 11 7 3
+f 11 4 7
+f 13 7 1
+f 13 1 8
+f 13 8 2
+f 13 2 10
+f 13 10 3
+f 13 3 7
+f 14 10 6
+f 14 3 10
+f 15 4 11
+f 16 4 6
+f 17 5 9
+f 19 11 3
+f 19 3 14
+f 19 15 11
+f 20 6 4
+f 20 4 15
+f 20 15 19
+f 20 19 14
+f 20 14 6
+f 21 12 17
+f 21 4 16
+f 21 17 9
+f 21 9 4
+f 22 17 12
+f 22 5 17
+f 23 6 2
+f 23 2 18
+f 24 18 2
+f 24 2 5
+f 24 12 18
+f 24 22 12
+f 24 5 22
+f 25 18 12
+f 25 12 16
+f 25 23 18
+f 26 21 16
+f 27 25 16
+f 27 16 6
+f 27 6 23
+f 27 23 25
+f 28 26 16
+f 28 16 12
+f 28 12 21
+f 28 21 26

cup/cup_2/collision/model_normalized_collision_20.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.24086561 0.13232114 0.08358513
+v 0.22753354 0.13327012 -0.35592981
+v 0.23086305 0.18090047 0.08455046
+v 0.11836583 0.26061912 0.00827055
+v 0.12652766 0.23156704 -0.09891953
+v 0.14466512 0.22226993 -0.35480596
+v 0.17341568 0.21471409 0.08293269
+v 0.25411306 0.13132804 0.00796816
+v 0.20747274 0.13861218 -0.35663385
+v 0.12938271 0.23730473 0.00675239
+v 0.21515645 0.15711759 -0.35506022
+v 0.16211046 0.24203124 0.05396420
+v 0.13250899 0.22828966 -0.35522481
+v 0.21556926 0.19590698 0.08456311
+v 0.23248712 0.12795115 -0.32491029
+v 0.11710928 0.25809390 -0.03700829
+v 0.14276184 0.23374283 0.05244823
+v 0.22733739 0.16849899 -0.09719236
+v 0.14379132 0.20550871 -0.35678283
+v 0.13779822 0.25407066 0.05312650
+v 0.15859792 0.22271816 -0.24872380
+v 0.24744412 0.12784970 -0.11277542
+v 0.11977821 0.24830600 -0.15859361
+v 0.24173597 0.15517551 0.00883774
+v 0.18765963 0.18348606 -0.37154291
+v 0.16867302 0.22474061 -0.11227835
+v 0.18456692 0.16518240 -0.37126635
+v 0.21419797 0.16420631 -0.29410279
+v 0.16927312 0.18018889 -0.37125403
+v 0.17681974 0.17272903 -0.37190754
+f 8 3 1
+f 9 1 5
+f 10 5 1
+f 14 7 1
+f 14 1 3
+f 15 2 11
+f 15 9 2
+f 15 1 9
+f 16 10 4
+f 16 5 10
+f 16 4 12
+f 17 4 10
+f 17 10 1
+f 17 1 7
+f 19 9 5
+f 19 5 13
+f 20 14 12
+f 20 7 14
+f 20 17 7
+f 20 12 4
+f 20 4 17
+f 21 13 12
+f 21 6 13
+f 22 8 1
+f 22 1 15
+f 23 13 5
+f 23 5 16
+f 23 16 12
+f 23 12 13
+f 24 18 3
+f 24 3 8
+f 24 8 22
+f 24 11 18
+f 24 22 15
+f 24 15 11
+f 25 11 2
+f 25 6 21
+f 25 13 6
+f 26 21 12
+f 26 12 14
+f 26 25 21
+f 27 25 2
+f 27 2 9
+f 28 18 11
+f 28 11 25
+f 28 14 3
+f 28 3 18
+f 28 26 14
+f 28 25 26
+f 29 9 19
+f 29 19 13
+f 29 13 25
+f 30 27 9
+f 30 9 29
+f 30 29 25
+f 30 25 27

cup/cup_2/collision/model_normalized_collision_21.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.13343647 -0.22777823 -0.35594810
+v -0.12944191 -0.21975049 -0.49999990
+v -0.13424107 -0.12333461 -0.48268636
+v -0.25401238 -0.07763778 -0.35596959
+v -0.21426759 -0.15881224 -0.35513451
+v -0.24517114 -0.07615107 -0.49999995
+v -0.23614571 -0.08361504 -0.35681272
+v -0.15470705 -0.21725470 -0.35507701
+v -0.13424107 -0.12333460 -0.49999994
+v -0.24205230 -0.08604204 -0.49999995
+v -0.13869888 -0.20805090 -0.35666748
+v -0.19484713 -0.07788006 -0.48268638
+v -0.16433399 -0.19858684 -0.46075485
+v -0.23764039 -0.11404393 -0.35480913
+v -0.19484713 -0.07788006 -0.49999995
+v -0.15139439 -0.21260275 -0.44562591
+v -0.21072148 -0.14611204 -0.49999995
+v -0.14158643 -0.21370744 -0.49999990
+v -0.20891485 -0.15484487 -0.46077489
+f 1 2 3
+f 8 2 1
+f 9 3 2
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 12 6 4
+f 12 4 7
+f 12 7 3
+f 12 3 9
+f 14 5 8
+f 14 4 10
+f 14 7 4
+f 14 8 1
+f 14 11 7
+f 14 1 11
+f 15 12 9
+f 15 6 12
+f 15 10 6
+f 16 8 5
+f 16 5 13
+f 17 9 2
+f 17 15 9
+f 17 10 15
+f 17 14 10
+f 17 5 14
+f 18 16 13
+f 18 2 8
+f 18 8 16
+f 18 17 2
+f 18 13 17
+f 19 17 13
+f 19 13 5
+f 19 5 17

cup/cup_2/collision/model_normalized_collision_22.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.26910566 0.04536140 0.05219321
+v -0.21737094 0.10760654 -0.44746911
+v -0.23845695 0.04531001 -0.44779245
+v -0.20975557 0.19460872 0.00759697
+v -0.26956833 0.11103462 0.08445967
+v -0.20505777 0.18999950 -0.09805366
+v -0.22389832 0.15630908 0.00663417
+v -0.24614150 0.12199551 0.08293773
+v -0.24001916 0.09625823 -0.44589581
+v -0.21351598 0.15312938 -0.41565136
+v -0.26652605 0.07528099 0.08265441
+v -0.22339127 0.09545072 -0.44788455
+v -0.28558500 0.04330661 0.05304108
+v -0.24119264 0.15744819 0.00856799
+v -0.20605458 0.16067449 -0.41632247
+v -0.25412621 0.04313482 -0.44688613
+v -0.28305506 0.07323359 0.08350344
+v -0.21721696 0.18706361 0.00826808
+v -0.22143137 0.14000289 -0.40020217
+v -0.25544102 0.04107809 -0.43086321
+v -0.25414325 0.08059547 -0.35491523
+v -0.22484121 0.16452677 -0.15774168
+v -0.27070542 0.04109487 -0.18844608
+v -0.26717061 0.09469001 -0.06688864
+v -0.25291104 0.07100507 -0.40040084
+v -0.25324606 0.05590334 -0.43072497
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 4
+f 8 4 5
+f 11 8 5
+f 11 1 8
+f 12 9 2
+f 12 2 3
+f 13 1 11
+f 15 6 2
+f 15 2 9
+f 15 9 10
+f 15 10 4
+f 15 4 6
+f 16 12 3
+f 16 9 12
+f 17 13 11
+f 17 11 5
+f 18 14 5
+f 18 5 4
+f 19 14 10
+f 19 10 9
+f 19 9 5
+f 19 5 14
+f 20 16 3
+f 20 3 1
+f 20 17 16
+f 20 13 17
+f 22 10 14
+f 22 14 18
+f 22 18 4
+f 22 4 10
+f 23 20 1
+f 23 1 13
+f 23 13 20
+f 24 21 17
+f 24 17 5
+f 24 5 9
+f 24 9 21
+f 25 21 9
+f 25 17 21
+f 26 25 9
+f 26 9 16
+f 26 16 17
+f 26 17 25

cup/cup_2/collision/model_normalized_collision_23.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.15588632 -0.18614687 -0.46231387
+v 0.22939529 -0.07788006 -0.49999995
+v 0.23411799 0.05927772 -0.47756561
+v 0.15363771 0.13424115 -0.48268638
+v 0.15363772 -0.18394066 -0.49999991
+v 0.19909226 0.13424115 -0.49999995
+v 0.20096517 0.13521801 -0.47740191
+v 0.20061950 -0.13924607 -0.46222554
+v 0.22939529 0.05848358 -0.49999995
+v 0.15363771 0.13424116 -0.49999996
+v 0.22997965 -0.07817083 -0.47731264
+v 0.18729297 -0.17236385 -0.49999993
+v 0.18901156 -0.17405006 -0.46124148
+f 5 1 4
+f 7 4 1
+f 7 3 6
+f 8 7 1
+f 8 3 7
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 7 6
+f 10 4 7
+f 10 9 2
+f 10 6 9
+f 11 2 3
+f 11 3 8
+f 12 10 2
+f 12 5 10
+f 12 1 5
+f 13 11 8
+f 13 8 1
+f 13 1 12
+f 13 12 2
+f 13 2 11

cup/cup_2/collision/model_normalized_collision_24.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.19484713 0.04333206 -0.48268638
+v -0.13424107 0.14939267 -0.49999998
+v -0.13424107 0.14939267 -0.48268638
+v -0.13326477 0.22327840 -0.41653516
+v -0.20977025 0.14945427 -0.49999995
+v -0.13086345 0.21867442 -0.50000000
+v -0.13865275 0.20330560 -0.41724524
+v -0.25086023 0.04264936 -0.49999995
+v -0.15653898 0.21120074 -0.41565921
+v -0.19484713 0.04333206 -0.49999995
+v -0.15370683 0.20737957 -0.49112494
+v -0.23864871 0.10311562 -0.41655165
+v -0.16475239 0.19533726 -0.49999999
+v -0.21351598 0.15312938 -0.41565136
+v -0.23700783 0.09475980 -0.49999995
+v -0.25319624 0.04299658 -0.46197907
+v -0.21901028 0.10842227 -0.41727713
+v -0.14277465 0.21246185 -0.50000000
+v -0.22660932 0.12742790 -0.41571396
+v -0.25193125 0.05796007 -0.44674789
+v -0.24001916 0.09625823 -0.44589581
+v -0.23626170 0.06013522 -0.44765672
+v -0.23754382 0.04517428 -0.46288750
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 4 6
+f 9 7 4
+f 10 2 1
+f 10 1 8
+f 13 5 9
+f 13 9 11
+f 14 9 5
+f 15 13 8
+f 15 5 13
+f 16 8 1
+f 17 1 7
+f 18 13 11
+f 18 8 13
+f 18 10 8
+f 18 6 2
+f 18 2 10
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+f 18 9 6
+f 19 9 14
+f 19 12 17
+f 19 17 7
+f 19 7 9
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+f 19 15 12
+f 19 5 15
+f 20 15 8
+f 20 8 16
+f 21 20 12
+f 21 12 15
+f 21 15 20
+f 22 17 12
+f 22 12 20
+f 22 1 17
+f 22 20 16
+f 23 22 16
+f 23 16 1
+f 23 1 22

cup/cup_2/collision/model_normalized_collision_25.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.22753354 0.13327012 -0.35592981
+v 0.21958225 0.12912294 -0.49999995
+v 0.15332487 0.20938868 -0.46074570
+v 0.12035289 0.23430939 -0.35564366
+v 0.12333468 0.13424115 -0.48268638
+v 0.21515645 0.15711759 -0.35506022
+v 0.20747274 0.13861218 -0.35663385
+v 0.12239293 0.22325764 -0.50000000
+v 0.14466512 0.22226993 -0.35480596
+v 0.19920623 0.16436916 -0.46078367
+v 0.13163578 0.21152963 -0.35719070
+v 0.14668194 0.21117151 -0.50000000
+v 0.12333468 0.13424116 -0.49999997
+v 0.21098836 0.15494363 -0.43052496
+v 0.21336969 0.14103415 -0.49999995
+v 0.11700209 0.22757546 -0.47638724
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 1 6
+f 9 6 3
+f 9 7 6
+f 9 4 7
+f 10 3 6
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 3 10
+f 12 9 3
+f 12 8 4
+f 12 4 9
+f 13 2 5
+f 13 12 2
+f 13 8 12
+f 14 10 6
+f 15 12 10
+f 15 2 12
+f 15 10 14
+f 15 14 6
+f 15 6 2
+f 16 13 5
+f 16 5 4
+f 16 4 8
+f 16 8 13

cup/cup_2/collision/model_normalized_collision_26.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.13516439 0.22692051 -0.09860594
+v -0.08878653 0.20999873 -0.50000000
+v -0.09320537 0.24877389 -0.09906436
+v -0.08842776 0.26847125 -0.09835008
+v -0.12465088 0.22191474 -0.50000000
+v -0.11190602 0.25683197 -0.09751721
+v -0.13737896 0.20086339 -0.46253618
+v -0.08270471 0.24379277 -0.50000000
+v -0.13001831 0.24735706 -0.09791603
+v -0.13424107 0.20999873 -0.50000000
+v -0.14050741 0.22201302 -0.12960968
+v -0.08604211 0.25647850 -0.29455481
+v -0.14076971 0.20736441 -0.34176529
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 9 1 6
+f 9 8 5
+f 9 6 8
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 10 9 5
+f 11 2 1
+f 11 1 9
+f 12 8 6
+f 12 6 4
+f 12 4 8
+f 13 7 2
+f 13 2 11
+f 13 10 7
+f 13 11 9
+f 13 9 10

cup/cup_2/collision/model_normalized_collision_27.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06340652 -0.23342661 -0.47752275
+v 0.15363772 -0.15363763 -0.49999993
+v 0.15363771 0.13424115 -0.48268638
+v -0.05848350 0.19484721 -0.48268642
+v -0.22515016 -0.07788006 -0.49999995
+v 0.12333468 0.19484722 -0.50000000
+v 0.13855877 -0.19923131 -0.47728232
+v -0.05848350 -0.22939521 -0.49999991
+v -0.22963796 -0.08022077 -0.47758228
+v 0.15363771 0.13424116 -0.49999996
+v 0.12333468 0.19484720 -0.48268641
+v -0.17969561 0.14939267 -0.49999996
+v 0.13848620 -0.19909218 -0.49999990
+v 0.15363771 -0.15363763 -0.48268635
+v -0.13542917 -0.20147986 -0.47743583
+v -0.05848350 0.19484722 -0.49999999
+v -0.17969562 0.14939267 -0.48268639
+v -0.22515016 0.04333206 -0.49999995
+v 0.06272862 -0.22939521 -0.49999991
+v -0.05924866 -0.23454292 -0.47759100
+v -0.19484713 -0.12333460 -0.49999995
+v -0.13424107 0.17969570 -0.50000000
+v -0.13424106 0.17969569 -0.48268639
+v -0.22515016 0.04333206 -0.48268638
+v -0.13424107 -0.19909218 -0.49999991
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 4
+f 11 3 6
+f 11 7 3
+f 11 9 7
+f 11 4 9
+f 13 7 1
+f 13 2 7
+f 14 7 2
+f 14 2 3
+f 14 3 7
+f 15 7 9
+f 16 4 6
+f 18 5 9
+f 18 17 12
+f 19 13 1
+f 19 2 13
+f 20 1 7
+f 20 7 15
+f 20 19 1
+f 20 8 19
+f 21 15 9
+f 21 9 5
+f 21 19 8
+f 21 2 19
+f 21 6 2
+f 22 4 16
+f 22 12 17
+f 22 18 12
+f 22 5 18
+f 22 21 5
+f 22 16 6
+f 22 6 21
+f 23 17 9
+f 23 9 4
+f 23 22 17
+f 23 4 22
+f 24 18 9
+f 24 9 17
+f 24 17 18
+f 25 20 15
+f 25 8 20
+f 25 21 8
+f 25 15 21

cup/cup_2/collision/model_normalized_collision_28.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04757711 0.19484721 -0.48268642
+v 0.04757711 0.19484722 -0.49999999
+v 0.04715020 0.25258123 -0.46194034
+v -0.08381208 0.24591589 -0.46145114
+v -0.13424106 0.17969569 -0.48268639
+v -0.02534037 0.25371514 -0.50000000
+v 0.04932789 0.23692870 -0.46284944
+v -0.05848350 0.17969570 -0.48268642
+v 0.04680261 0.25024280 -0.50000000
+v -0.04047648 0.25362353 -0.46104854
+v -0.13424107 0.20999873 -0.50000000
+v -0.13737896 0.20086339 -0.46253618
+v -0.13424107 0.17969570 -0.50000000
+v 0.01495116 0.25497730 -0.50000000
+v -0.08270471 0.24379277 -0.50000000
+v -0.13118953 0.20414810 -0.46171766
+v -0.05848350 0.17969570 -0.49999999
+v 0.03012999 0.25516102 -0.46114860
+v -0.04032057 0.25269635 -0.47614148
+f 7 1 2
+f 8 2 1
+f 9 7 2
+f 9 3 7
+f 11 6 9
+f 12 5 8
+f 12 8 1
+f 12 1 7
+f 12 4 11
+f 13 12 11
+f 13 5 12
+f 13 11 9
+f 13 9 2
+f 14 9 6
+f 14 6 10
+f 15 4 10
+f 15 11 4
+f 15 6 11
+f 16 10 4
+f 16 4 12
+f 16 12 7
+f 17 13 2
+f 17 2 8
+f 17 8 5
+f 17 5 13
+f 18 14 10
+f 18 3 9
+f 18 9 14
+f 18 10 16
+f 18 16 7
+f 18 7 3
+f 19 15 10
+f 19 10 6
+f 19 6 15

cup/cup_2/collision/model_normalized_collision_29.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.26331180 -0.09713041 0.14340185
+v -0.25600599 -0.09331990 0.00753794
+v -0.24919301 0.11597460 0.08375740
+v -0.25247169 0.11760606 0.14414136
+v -0.28317991 0.04069697 0.00869221
+v -0.28308813 -0.09258292 0.14410793
+v -0.26638889 0.04495757 0.00690524
+v -0.27293530 0.11271001 0.14483146
+v -0.27474357 -0.09117973 0.00827140
+v -0.26956833 0.11103462 0.08445967
+v -0.28496484 0.08641683 0.14494344
+v -0.28602991 -0.07537826 0.14487919
+v -0.28508989 -0.02976565 0.00857493
+v -0.28310489 0.08614036 0.11475754
+v -0.28849809 -0.06064179 0.14472328
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 8 4 3
+f 9 2 1
+f 9 1 6
+f 9 7 2
+f 10 7 5
+f 10 3 7
+f 10 8 3
+f 12 6 1
+f 12 1 4
+f 12 4 8
+f 12 8 11
+f 12 9 6
+f 13 5 7
+f 13 7 9
+f 13 9 12
+f 13 11 5
+f 14 10 5
+f 14 5 11
+f 14 11 8
+f 14 8 10
+f 15 13 12
+f 15 12 11
+f 15 11 13

cup/cup_2/collision/model_normalized_collision_3.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.10293821 -0.30684341 0.49976552
+v 0.13848620 -0.19909218 -0.49999990
+v 0.17973589 -0.26678787 0.49976552
+v 0.19003533 -0.23537487 0.49999999
+v 0.06272862 -0.19909218 -0.48268633
+v 0.17606393 -0.20622971 0.00695767
+v 0.08430154 -0.24296018 -0.49999990
+v 0.06340909 -0.29404792 0.49999999
+v 0.14983914 -0.22211228 -0.31009438
+v 0.19166150 -0.22181887 0.37055613
+v 0.15488026 -0.20031130 -0.31071163
+v 0.06272862 -0.19909218 -0.49999991
+v 0.06163306 -0.31378912 0.49976552
+v 0.13246031 -0.21784189 -0.49999990
+v 0.17783158 -0.24798525 0.26597443
+v 0.06072211 -0.24776576 -0.49999990
+v 0.06013267 -0.30486644 0.40249032
+v 0.06020945 -0.25986854 -0.30965973
+f 1 3 4
+f 7 3 1
+f 8 1 4
+f 10 4 3
+f 10 6 5
+f 10 8 4
+f 10 5 8
+f 11 2 5
+f 11 5 6
+f 11 9 2
+f 11 6 9
+f 12 5 2
+f 13 1 8
+f 14 2 9
+f 14 12 2
+f 14 7 12
+f 14 9 3
+f 14 3 7
+f 15 9 6
+f 15 6 10
+f 15 10 3
+f 15 3 9
+f 16 7 1
+f 16 1 13
+f 16 12 7
+f 17 13 8
+f 17 8 5
+f 18 16 13
+f 18 13 17
+f 18 17 5
+f 18 5 12
+f 18 12 16

cup/cup_2/collision/model_normalized_collision_30.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06072993 -0.29326678 0.22044778
+v 0.07575185 -0.27734459 0.00837525
+v 0.07852186 -0.26351451 0.05279560
+v -0.07587731 -0.27478345 0.21877203
+v -0.01043144 -0.28767782 0.00867629
+v 0.06298683 -0.27638530 0.21960253
+v 0.07621957 -0.28012610 0.05365409
+v 0.01433777 -0.28769088 0.00867878
+v -0.07166770 -0.29191762 0.22053048
+v -0.07399279 -0.26210525 0.00742817
+v 0.06530368 -0.27501179 0.20360368
+v 0.07806640 -0.26080592 0.00750763
+v -0.07192739 -0.27851317 0.00829925
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 6 4
+f 9 1 6
+f 10 8 5
+f 10 4 3
+f 11 6 1
+f 11 3 4
+f 11 4 6
+f 11 7 3
+f 11 1 7
+f 12 10 3
+f 12 2 8
+f 12 8 10
+f 12 7 2
+f 12 3 7
+f 13 9 4
+f 13 4 10
+f 13 10 5
+f 13 5 9

cup/cup_2/collision/model_normalized_collision_31.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.14779554 -0.26364867 0.26593847
+v 0.23021639 -0.15404621 0.08327771
+v 0.22105753 -0.20606316 0.26587914
+v 0.23677374 -0.15730911 0.20404562
+v 0.15885536 -0.23939888 0.26446724
+v 0.22054929 -0.19041299 0.08410531
+v 0.14876660 -0.25035895 0.08398948
+v 0.23210634 -0.17144908 0.26492117
+v 0.15996448 -0.22637384 0.08250361
+v 0.14736075 -0.26281505 0.25084552
+v 0.17435326 -0.24131632 0.14523085
+v 0.15971929 -0.25746012 0.26637326
+v 0.22435095 -0.16355423 0.08247458
+v 0.18366230 -0.22940773 0.09983141
+v 0.16069035 -0.24417040 0.08442427
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 5 1
+f 8 3 4
+f 8 4 5
+f 9 5 2
+f 9 6 7
+f 10 1 5
+f 10 9 7
+f 10 5 9
+f 12 8 1
+f 12 3 8
+f 12 11 3
+f 12 7 11
+f 12 10 7
+f 12 1 10
+f 13 9 2
+f 13 2 6
+f 13 6 9
+f 14 6 3
+f 14 3 11
+f 15 14 11
+f 15 11 7
+f 15 7 6
+f 15 6 14

cup/cup_2/collision/model_normalized_collision_4.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.17331480 0.24939660 0.49999999
+v 0.15491737 0.22772192 0.05285609
+v 0.16372718 0.27558332 0.49976552
+v 0.06240778 0.31390081 0.49976552
+v 0.01834229 0.27779121 0.12834724
+v 0.10144654 0.27221804 0.05397228
+v 0.11520754 0.29972658 0.49976552
+v 0.17356338 0.23001614 0.26473808
+v 0.06399572 0.29428073 0.49999999
+v 0.14995434 0.24805095 0.05354535
+v 0.01589125 0.29160478 0.08391922
+v 0.08917473 0.28360762 0.12990172
+v 0.17676935 0.23328373 0.34021803
+v 0.01793846 0.27507443 0.08305928
+v 0.01630595 0.29439471 0.12919806
+v 0.10027436 0.25485711 0.05204430
+v 0.11502300 0.29935573 0.48965908
+v 0.06228549 0.28277512 0.05321805
+v 0.16195463 0.25686960 0.26610720
+v 0.14276184 0.23374283 0.05244823
+v 0.14535506 0.28426255 0.48965908
+v 0.06434019 0.26629517 0.05236553
+f 7 1 3
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 8 2
+f 13 3 1
+f 13 1 5
+f 14 2 8
+f 14 5 11
+f 14 13 5
+f 14 8 13
+f 15 9 4
+f 15 5 9
+f 15 11 5
+f 15 4 11
+f 17 7 3
+f 17 10 6
+f 17 6 12
+f 17 12 4
+f 17 4 7
+f 18 11 4
+f 18 4 12
+f 18 12 6
+f 18 6 10
+f 18 10 16
+f 18 14 11
+f 19 10 3
+f 19 3 13
+f 19 13 8
+f 19 8 10
+f 20 16 10
+f 20 10 2
+f 21 17 3
+f 21 3 10
+f 21 10 17
+f 22 18 16
+f 22 14 18
+f 22 16 20
+f 22 20 2
+f 22 2 14

cup/cup_2/collision/model_normalized_collision_5.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.16687889 -0.24088407 0.08359066
+v 0.24592773 -0.07583317 -0.49999995
+v 0.23220022 -0.17182690 0.00865323
+v 0.27751321 -0.07827595 0.00740802
+v 0.13848620 -0.15363764 -0.48268635
+v 0.26147487 -0.11667929 0.00850637
+v 0.14437152 -0.21162933 -0.49999990
+v 0.25927407 -0.08520826 0.00657811
+v 0.21201424 -0.14498891 -0.49999995
+v 0.25752119 -0.08440893 -0.27909732
+v 0.22054929 -0.19041299 0.08410531
+v 0.13848620 -0.15363763 -0.49999992
+v 0.13791540 -0.22830082 -0.31052917
+v 0.17933150 -0.20943567 0.08243761
+v 0.19909226 -0.07788006 -0.48268638
+v 0.24133111 -0.14449820 -0.08205536
+v 0.24220044 -0.08432471 -0.49999995
+v 0.15711980 -0.21198468 -0.40019472
+v 0.23021639 -0.15404621 0.08327771
+v 0.15278120 -0.24290453 0.00769113
+v 0.13246031 -0.21784189 -0.49999990
+v 0.25984371 -0.07564951 -0.27935798
+v 0.19909226 -0.07788006 -0.49999995
+v 0.21349278 -0.15318652 -0.41527886
+v 0.17552979 -0.23629438 0.08406735
+v 0.16847329 -0.19906792 -0.41531683
+v 0.16963871 -0.22887503 -0.06685063
+f 10 2 4
+f 10 4 6
+f 11 3 6
+f 11 6 4
+f 14 8 5
+f 15 8 4
+f 15 5 8
+f 15 12 5
+f 16 9 6
+f 16 6 3
+f 17 9 2
+f 17 2 10
+f 17 10 6
+f 17 6 9
+f 19 11 4
+f 19 4 8
+f 19 8 14
+f 19 14 1
+f 20 5 13
+f 20 14 5
+f 20 1 14
+f 21 20 13
+f 21 7 1
+f 21 1 20
+f 21 12 9
+f 21 9 7
+f 21 13 5
+f 21 5 12
+f 22 15 4
+f 22 4 2
+f 22 2 15
+f 23 15 2
+f 23 12 15
+f 23 2 9
+f 23 9 12
+f 24 16 3
+f 24 9 16
+f 25 19 1
+f 25 11 19
+f 25 3 11
+f 25 24 3
+f 26 18 7
+f 26 7 9
+f 26 24 18
+f 26 9 24
+f 27 25 1
+f 27 18 24
+f 27 24 25
+f 27 1 7
+f 27 7 18

cup/cup_2/collision/model_normalized_collision_6.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.28916198 0.07349395 0.18944696
+v 0.24845974 0.05659375 -0.49999995
+v 0.23844962 0.16136406 0.00800413
+v 0.23463889 0.15212759 0.14358072
+v 0.21424377 0.05848358 -0.48268638
+v 0.26740280 0.13035699 0.18991714
+v 0.28050407 0.05688656 0.00817568
+v 0.27233178 0.07575948 0.18861698
+v 0.19909226 0.13424115 -0.49999995
+v 0.24261771 0.16353802 0.08346886
+v 0.24420051 0.08192289 -0.49999995
+v 0.27494102 0.05595110 -0.08238201
+v 0.19909226 0.08878661 -0.48268638
+v 0.24654792 0.13528488 0.18925705
+v 0.26396608 0.05920122 0.00731329
+v 0.21424377 0.05848358 -0.49999995
+v 0.27222920 0.09466867 -0.00632714
+v 0.21958225 0.12912294 -0.49999995
+v 0.25963263 0.05592472 -0.32479634
+v 0.27687768 0.11224470 0.19031597
+v 0.19909226 0.08878661 -0.49999995
+f 7 2 1
+f 8 7 1
+f 10 4 6
+f 10 9 4
+f 10 3 9
+f 11 1 2
+f 11 2 9
+f 12 2 7
+f 13 5 8
+f 13 4 9
+f 14 6 4
+f 14 13 8
+f 14 4 13
+f 15 8 5
+f 15 7 8
+f 15 12 7
+f 15 5 12
+f 16 9 2
+f 16 5 13
+f 17 1 11
+f 18 11 9
+f 18 9 3
+f 18 3 10
+f 18 10 6
+f 18 6 11
+f 19 12 5
+f 19 2 12
+f 19 16 2
+f 19 5 16
+f 20 14 8
+f 20 8 1
+f 20 6 14
+f 20 1 17
+f 20 17 11
+f 20 11 6
+f 21 16 13
+f 21 13 9
+f 21 9 16

cup/cup_2/collision/model_normalized_collision_7.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.17973589 -0.26678787 0.49976552
+v 0.29654733 -0.09175243 0.34145104
+v 0.30661205 -0.10136986 0.49976552
+v 0.29820299 -0.01849311 0.46161833
+v 0.19463353 -0.20958334 0.26424301
+v 0.31534671 -0.01653708 0.46243343
+v 0.29437241 -0.06337827 0.49999999
+v 0.26345951 -0.18791663 0.49976552
+v 0.17773010 -0.26294220 0.47810931
+v 0.29458064 -0.01795468 0.40123437
+v 0.31399247 -0.06179032 0.49976552
+v 0.19760971 -0.22765492 0.49999999
+v 0.25591438 -0.17451848 0.34222660
+v 0.29184141 -0.08040573 0.49999999
+v 0.17783158 -0.24798525 0.26597443
+v 0.23210634 -0.17144908 0.26492117
+v 0.31162682 -0.01598415 0.40206164
+v 0.19164710 -0.26057531 0.49976552
+v 0.29212072 -0.10169836 0.34181585
+v 0.21351242 -0.21381186 0.26653760
+v 0.22464649 -0.17899571 0.26426765
+v 0.18349943 -0.24439945 0.26651229
+f 7 6 4
+f 10 9 4
+f 10 5 9
+f 11 3 2
+f 11 6 7
+f 12 7 4
+f 12 9 1
+f 12 4 9
+f 13 3 8
+f 14 8 3
+f 14 12 8
+f 14 7 12
+f 14 11 7
+f 14 3 11
+f 15 9 5
+f 15 1 9
+f 17 16 10
+f 17 2 16
+f 17 11 2
+f 17 6 11
+f 17 10 4
+f 17 4 6
+f 18 12 1
+f 18 8 12
+f 18 1 15
+f 19 2 3
+f 19 3 13
+f 20 13 8
+f 20 19 13
+f 20 16 2
+f 20 2 19
+f 21 5 10
+f 21 10 16
+f 21 16 20
+f 21 20 15
+f 21 15 5
+f 22 18 15
+f 22 15 20
+f 22 20 8
+f 22 8 18

cup/cup_2/collision/model_normalized_collision_8.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.10164337 -0.30054126 0.46244207
+v -0.05685594 -0.24874874 -0.49999990
+v -0.05848350 -0.21424369 -0.48268633
+v -0.15575299 -0.25732904 0.49124663
+v -0.12944191 -0.21975049 -0.49999990
+v -0.07628113 -0.27750021 0.26406000
+v -0.08092223 -0.24389362 -0.49999990
+v -0.14648702 -0.28416206 0.49976552
+v -0.08878653 -0.19909218 -0.49999991
+v -0.10755496 -0.28211855 0.49999999
+v -0.05710214 -0.28070813 0.00816101
+v -0.08801352 -0.29995236 0.38669114
+v -0.14470619 -0.26543167 0.26580681
+v -0.08114958 -0.25808525 -0.29430142
+v -0.05848350 -0.21424369 -0.49999991
+v -0.13424107 -0.19909218 -0.49999991
+v -0.08878653 -0.19909218 -0.48268633
+v -0.10393804 -0.29000127 0.49999999
+v -0.15003159 -0.26098241 0.49999999
+v -0.05627274 -0.27512830 -0.08239667
+v -0.05916761 -0.26430064 0.00729356
+v -0.07208241 -0.29470754 0.26580933
+v -0.14033034 -0.21132957 -0.29628352
+v -0.05625596 -0.25986391 -0.32481380
+f 8 5 7
+f 9 7 5
+f 10 6 3
+f 13 8 4
+f 13 5 8
+f 14 8 7
+f 14 1 8
+f 14 12 1
+f 14 7 2
+f 14 2 12
+f 15 9 3
+f 15 2 7
+f 15 7 9
+f 16 9 5
+f 17 3 9
+f 17 10 3
+f 17 16 4
+f 17 9 16
+f 18 8 1
+f 18 1 12
+f 18 6 10
+f 19 4 8
+f 19 18 10
+f 19 8 18
+f 19 17 4
+f 19 10 17
+f 20 11 2
+f 21 3 6
+f 21 20 3
+f 21 11 20
+f 22 18 12
+f 22 6 18
+f 22 21 6
+f 22 11 21
+f 22 12 2
+f 22 2 11
+f 23 13 4
+f 23 5 13
+f 23 16 5
+f 23 4 16
+f 24 20 2
+f 24 3 20
+f 24 15 3
+f 24 2 15

cup/cup_2/collision/model_normalized_collision_9.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07822311 0.25776063 -0.05317178
+v 0.04932789 0.23692870 -0.46284944
+v 0.07709396 0.26531572 -0.18906085
+v -0.01274493 0.28406726 -0.05292361
+v -0.09516125 0.23737232 -0.25083601
+v 0.04495524 0.25296607 -0.46101036
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cup/cup_2/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cup_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert3SG" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="lambert3SG"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00028806177499999814 -0.0002481435500000003 -0.05749999999999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00028806177499999814 -0.0002481435500000003 0.05749999884999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03678336639999999 0.03622832004999999 -5.749999996973452e-10" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

cup/cup_2/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.png

cup/cup_2/visual/model_normalized_0.obj

@@ -0,0 +1,2068 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.00245137 0.25756405 -0.50000000
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+v -0.15337562 0.20693266 -0.50000000
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cup/cup_3/collision/model_normalized_collision_0.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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cup/cup_3/collision/model_normalized_collision_1.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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cup/cup_3/collision/model_normalized_collision_10.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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cup/cup_3/collision/model_normalized_collision_11.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.36005026 0.08763537 0.48453677
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+f 37 34 10
+f 37 10 36

cup/cup_3/collision/model_normalized_collision_12.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07750027 -0.23203027 -0.41427260
+v 0.15883803 -0.17098603 -0.45604142
+v 0.15883803 0.11689275 -0.43736357
+v -0.12904076 0.11689275 -0.43736357
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+v 0.15883803 -0.14068301 -0.43736357
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+v -0.12904076 0.11689275 -0.49999999
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+v -0.06244278 -0.23094464 -0.45604142
+v 0.15883803 0.11689275 -0.49999999
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+v -0.12145597 -0.20545232 -0.45604142
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+v 0.14839463 -0.16173467 -0.49999999
+v -0.06305669 -0.23256334 -0.44466236
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+f 26 11 19
+f 26 19 23

cup/cup_3/collision/model_normalized_collision_13.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.21976930 -0.21628062 0.14397549
+v -0.21293043 -0.22537255 0.00900260
+v -0.28211815 0.05667174 0.00733508
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+v -0.30718801 -0.04513404 0.01052503
+v -0.33871508 0.05194856 0.22245445
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+f 27 4 16
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+f 27 26 10
+f 27 10 4

cup/cup_3/collision/model_normalized_collision_14.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.08182832 -0.36862543 0.44918914
+v -0.02101001 -0.33657388 0.19188135
+v -0.02512263 -0.32499060 0.26249330
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+v -0.14450786 -0.35363629 0.49081795
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+v -0.15974799 -0.27763214 0.21959055
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+f 27 20 9
+f 27 9 23

cup/cup_3/collision/model_normalized_collision_15.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17958650 -0.14519387 -0.37222962
+v -0.17460867 -0.14078344 -0.41668931
+v -0.19121543 0.11771600 -0.41693165
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+v -0.24899162 -0.03057653 -0.38379194
+v -0.20299289 0.12389714 -0.32801217
+v -0.21203366 -0.13652841 -0.36985200
+v -0.23310160 -0.07584903 -0.41397925
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+v -0.23247670 -0.08816972 -0.39858435
+v -0.23453646 -0.06852058 -0.28255032
+v -0.24980054 0.09473954 -0.27768661
+v -0.24065230 0.11185416 -0.27865351
+v -0.21568335 -0.11534049 -0.41333038
+v -0.22166801 -0.11848137 -0.36890408
+v -0.24751238 0.03672466 -0.38356015
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+f 21 12 5
+f 21 17 9
+f 21 9 12

cup/cup_3/collision/model_normalized_collision_16.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34088070 0.02598366 0.21966283
+v 0.30899667 0.02598366 0.01008724
+v 0.27983377 0.20933837 0.26827516
+v 0.19479612 0.26144818 0.26366251
+v 0.31905436 0.02598366 0.21839538
+v 0.26723786 0.15562314 0.00977709
+v 0.28735468 0.02598366 0.00648309
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+v 0.27687208 0.13757615 0.01072502
+v 0.23384553 0.25432010 0.23808060
+v 0.32351101 0.12304621 0.23779426
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+f 29 8 26

cup/cup_3/collision/model_normalized_collision_17.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.08242928 -0.34743974 0.31142821
+v 0.16753090 -0.14838500 -0.41840398
+v 0.16318016 -0.28333655 0.26400821
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+v 0.18174410 -0.21252214 -0.05507213
+v 0.06943236 -0.31972871 0.26328619
+v 0.14872099 -0.18663228 -0.45604142
+v 0.15883803 -0.14068301 -0.43736357
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+v 0.06667832 -0.34250148 0.26673048
+v 0.15534853 -0.31330037 0.26664862
+v 0.15591509 -0.15324521 -0.46212121
+v 0.05277742 -0.20128907 -0.43736357
+v 0.11296746 -0.33655581 0.31078455
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+v 0.08420075 -0.34688194 0.30919164
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cup/cup_3/collision/model_normalized_collision_18.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.18886359 -0.33651801 0.46498918
+v -0.18249790 -0.29699287 0.26706611
+v -0.19510245 -0.30010106 0.47747351
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+v -0.21244757 -0.28812715 0.47747351
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+f 23 21 12
+f 23 12 3

cup/cup_3/collision/model_normalized_collision_19.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.33327702 0.17336067 0.44832445
+v -0.12710297 0.32390473 0.26598287
+v -0.13562966 0.33123910 0.47747351
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+v -0.29366319 0.20771901 0.32925265
+v -0.30784937 0.21249525 0.41986769
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cup/cup_3/collision/model_normalized_collision_2.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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cup/cup_3/collision/model_normalized_collision_20.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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