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- demo_assets/banana/mjcf/banana.mjcf +14 -6
- demo_assets/banana/mjcf/mesh/banana_0.obj +0 -0
- demo_assets/banana/mjcf/mesh/banana_collision.obj +0 -0
- demo_assets/banana/mjcf/mesh/banana_collision_0.obj +2380 -0
- demo_assets/banana/mjcf/mesh/banana_collision_1.obj +4075 -0
- demo_assets/banana/mjcf/mesh/banana_collision_2.obj +3640 -0
- demo_assets/banana/mjcf/mesh/banana_collision_3.obj +391 -0
- demo_assets/banana/mjcf/mesh/banana_collision_4.obj +394 -0
- demo_assets/book/mjcf/book.mjcf +12 -6
- demo_assets/book/mjcf/mesh/book_0.obj +0 -0
- demo_assets/book/mjcf/mesh/book_collision.obj +1667 -1659
- demo_assets/book/mjcf/mesh/book_collision_0.obj +391 -0
- demo_assets/book/mjcf/mesh/book_collision_1.obj +376 -0
- demo_assets/book/mjcf/mesh/book_collision_2.obj +550 -0
- demo_assets/book/mjcf/mesh/book_collision_3.obj +580 -0
- demo_assets/lamp/mjcf/lamp.mjcf +190 -6
- demo_assets/lamp/mjcf/mesh/lamp_0.obj +0 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision.obj +0 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_0.obj +1714 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_1.obj +559 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_10.obj +376 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_11.obj +220 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_12.obj +247 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_13.obj +217 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_14.obj +85 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_15.obj +295 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_16.obj +181 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_17.obj +85 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_18.obj +181 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_19.obj +223 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_2.obj +328 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_20.obj +187 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_21.obj +208 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_22.obj +202 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_23.obj +133 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_24.obj +175 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_25.obj +142 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_26.obj +205 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_27.obj +184 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_28.obj +136 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_29.obj +196 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_3.obj +85 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_30.obj +172 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_31.obj +397 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_32.obj +148 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_33.obj +133 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_34.obj +271 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_35.obj +208 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_36.obj +205 -0
- demo_assets/lamp/mjcf/mesh/lamp_collision_37.obj +136 -0
demo_assets/banana/mjcf/banana.mjcf
CHANGED
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@@ -1,15 +1,23 @@
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<?xml version='1.0' encoding='utf-8'?>
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<mujoco model="banana">
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<asset>
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-
<material name="material_0" texture="
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<texture name="
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<mesh name="
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<mesh name="
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</asset>
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<worldbody>
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<body name="banana">
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-
<geom type="mesh" mesh="
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<geom type="mesh" mesh="
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</body>
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</worldbody>
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</mujoco>
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<?xml version='1.0' encoding='utf-8'?>
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<mujoco model="banana">
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<asset>
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+
<material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+
<texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+
<mesh name="visual_mesh_0_0" file="mesh/banana_0.obj" scale="1.0 1.0 1.0" />
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| 7 |
+
<mesh name="collision_mesh_0_0" file="mesh/banana_collision_0.obj" scale="1.0 1.0 1.0" />
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+
<mesh name="collision_mesh_0_1" file="mesh/banana_collision_1.obj" scale="1.0 1.0 1.0" />
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+
<mesh name="collision_mesh_0_2" file="mesh/banana_collision_2.obj" scale="1.0 1.0 1.0" />
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+
<mesh name="collision_mesh_0_3" file="mesh/banana_collision_3.obj" scale="1.0 1.0 1.0" />
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+
<mesh name="collision_mesh_0_4" file="mesh/banana_collision_4.obj" scale="1.0 1.0 1.0" />
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</asset>
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<worldbody>
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<body name="banana">
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+
<geom type="mesh" mesh="visual_mesh_0_0" material="material_0" contype="0" conaffinity="0" />
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| 16 |
+
<geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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| 17 |
+
<geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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| 18 |
+
<geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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| 19 |
+
<geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+
<geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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</body>
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</worldbody>
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| 23 |
</mujoco>
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demo_assets/banana/mjcf/mesh/banana_0.obj
ADDED
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The diff for this file is too large to render.
See raw diff
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demo_assets/banana/mjcf/mesh/banana_collision.obj
CHANGED
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The diff for this file is too large to render.
See raw diff
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demo_assets/banana/mjcf/mesh/banana_collision_0.obj
ADDED
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@@ -0,0 +1,2380 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.03222511 0.00410637 0.02354581
|
| 3 |
+
v -0.03222511 0.00681210 0.02352123
|
| 4 |
+
v -0.03490873 0.00681210 0.02317698
|
| 5 |
+
v -0.03490873 0.00410637 0.02319172
|
| 6 |
+
v -0.03222511 0.00139596 0.02354088
|
| 7 |
+
v -0.02954658 0.01223292 0.02345239
|
| 8 |
+
v -0.03222511 0.01223292 0.02344255
|
| 9 |
+
v -0.03490873 0.00952252 0.02311797
|
| 10 |
+
v -0.03692017 0.00952252 0.02257208
|
| 11 |
+
v -0.03699146 0.00681211 0.02259667
|
| 12 |
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f 619 645 622
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f 622 645 624
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f 627 629 628
|
| 2122 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 2379 |
+
f 784 787 786
|
| 2380 |
+
|
demo_assets/banana/mjcf/mesh/banana_collision_1.obj
ADDED
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.05220469 -0.01945252 -0.00614942
|
| 3 |
+
v -0.05220469 -0.01945252 -0.00592334
|
| 4 |
+
v -0.05219133 -0.01945251 -0.00715960
|
| 5 |
+
v -0.05118970 -0.02300030 -0.00790041
|
| 6 |
+
v -0.05116967 -0.02300031 -0.00527395
|
| 7 |
+
v -0.05200436 -0.02005824 -0.00538458
|
| 8 |
+
v -0.05213791 -0.01945252 -0.00500937
|
| 9 |
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v -0.05208449 -0.01945251 -0.00802066
|
| 10 |
+
v -0.05197765 -0.02005823 -0.00772241
|
| 11 |
+
v -0.05038840 -0.02570749 -0.00790042
|
| 12 |
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v -0.05082244 -0.02300029 -0.01053168
|
| 13 |
+
v -0.04974068 -0.02732067 -0.00970432
|
| 14 |
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v -0.05153693 -0.02028694 -0.00264267
|
| 15 |
+
v -0.05195094 -0.01945253 -0.00370095
|
| 16 |
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v -0.05033498 -0.02570750 -0.00527396
|
| 17 |
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v -0.04968726 -0.02717236 -0.00380199
|
| 18 |
+
v -0.05166380 -0.01945250 -0.01053167
|
| 19 |
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v -0.05148351 -0.02028691 -0.01053167
|
| 20 |
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v -0.04981413 -0.02754319 -0.00790043
|
| 21 |
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v -0.05002781 -0.02583727 -0.01056055
|
| 22 |
+
v -0.04984084 -0.02501522 -0.01239811
|
| 23 |
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v -0.04958710 -0.02682620 -0.01145529
|
| 24 |
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v -0.04926658 -0.02830342 -0.01056056
|
| 25 |
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v -0.04829166 -0.03112804 -0.01053171
|
| 26 |
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v -0.04936006 -0.02889678 -0.00790044
|
| 27 |
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v -0.05176397 -0.01945253 -0.00264267
|
| 28 |
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v -0.05072895 -0.02300032 -0.00264268
|
| 29 |
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v -0.04976739 -0.02471859 -0.00101678
|
| 30 |
+
v -0.05076234 -0.02028695 -0.00002101
|
| 31 |
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v -0.05102277 -0.01945254 -0.00008836
|
| 32 |
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v -0.04977406 -0.02743194 -0.00527397
|
| 33 |
+
v -0.04948026 -0.02652337 -0.00205583
|
| 34 |
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v -0.04994100 -0.02565806 -0.00281105
|
| 35 |
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v -0.04932667 -0.02878554 -0.00527398
|
| 36 |
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v -0.04850534 -0.03112806 -0.00527398
|
| 37 |
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v -0.04681593 -0.03475003 -0.00264273
|
| 38 |
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v -0.04729671 -0.03339643 -0.00264272
|
| 39 |
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v -0.04808465 -0.03112807 -0.00264271
|
| 40 |
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v -0.04910631 -0.02821691 -0.00281106
|
| 41 |
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v -0.05090257 -0.01945249 -0.01315813
|
| 42 |
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v -0.05073563 -0.02028690 -0.01315813
|
| 43 |
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v -0.04954036 -0.02388413 -0.01414909
|
| 44 |
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v -0.04933335 -0.02583726 -0.01322550
|
| 45 |
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v -0.04859215 -0.02842084 -0.01315816
|
| 46 |
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v -0.05008123 -0.02298791 -0.01322549
|
| 47 |
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v -0.04757048 -0.03130110 -0.01330729
|
| 48 |
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v -0.04855876 -0.03112805 -0.00790044
|
| 49 |
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v -0.04717651 -0.03293901 -0.01252802
|
| 50 |
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v -0.04436527 -0.04082572 -0.01209031
|
| 51 |
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v -0.04401137 -0.04256871 -0.01053176
|
| 52 |
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v -0.04466576 -0.04157979 -0.00790048
|
| 53 |
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v -0.04708971 -0.03281544 -0.00098795
|
| 54 |
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v -0.04736348 -0.03107864 -0.00007397
|
| 55 |
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v -0.04821820 -0.02842089 -0.00002104
|
| 56 |
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v -0.04708971 -0.03013916 0.00159042
|
| 57 |
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v -0.04913303 -0.02565807 -0.00009319
|
| 58 |
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v -0.04944687 -0.02369258 0.00073900
|
| 59 |
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v -0.05000778 -0.02287671 -0.00009318
|
| 60 |
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v -0.04972733 -0.02188779 0.00146538
|
| 61 |
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v -0.05045517 -0.01945254 0.00134032
|
| 62 |
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v -0.04551381 -0.03926200 -0.00527401
|
| 63 |
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v -0.04615485 -0.03654864 -0.00264273
|
| 64 |
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v -0.04430518 -0.04064652 -0.00129584
|
| 65 |
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v -0.05004117 -0.01945248 -0.01514962
|
| 66 |
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v -0.04995436 -0.02028689 -0.01502455
|
| 67 |
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v -0.04976071 -0.02207934 -0.01467822
|
| 68 |
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v -0.04825827 -0.02570746 -0.01578461
|
| 69 |
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v -0.04750371 -0.02831576 -0.01584235
|
| 70 |
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v -0.04722993 -0.03050994 -0.01500054
|
| 71 |
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v -0.04690941 -0.03231475 -0.01428381
|
| 72 |
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v -0.04370420 -0.04182700 -0.01304276
|
| 73 |
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v -0.04236202 -0.04492977 -0.01338913
|
| 74 |
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v -0.04313661 -0.04468255 -0.01053176
|
| 75 |
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v -0.04413824 -0.04293339 -0.00790049
|
| 76 |
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v -0.04464573 -0.04151181 -0.00527402
|
| 77 |
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v -0.04541365 -0.03654865 -0.00002107
|
| 78 |
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v -0.04644199 -0.03376728 -0.00007398
|
| 79 |
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v -0.04678922 -0.03194395 0.00076784
|
| 80 |
+
v -0.04640192 -0.03107865 0.00252363
|
| 81 |
+
v -0.04673580 -0.02900190 0.00334620
|
| 82 |
+
v -0.05009459 -0.01945255 0.00223024
|
| 83 |
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v -0.04700957 -0.02719710 0.00401004
|
| 84 |
+
v -0.04513319 -0.03926201 -0.00264274
|
| 85 |
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v -0.04454557 -0.03907659 -0.00025679
|
| 86 |
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v -0.04445208 -0.04101736 -0.00264275
|
| 87 |
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v -0.04389785 -0.04237096 -0.00264276
|
| 88 |
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v -0.04290958 -0.04468258 -0.00264276
|
| 89 |
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v -0.04175437 -0.04633904 -0.00093508
|
| 90 |
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v -0.04215502 -0.04471967 -0.00004035
|
| 91 |
+
v -0.04350387 -0.04172198 -0.00025680
|
| 92 |
+
v -0.04400469 -0.03985538 0.00045994
|
| 93 |
+
v -0.04950697 -0.01945248 -0.01605878
|
| 94 |
+
v -0.04917977 -0.02028689 -0.01633779
|
| 95 |
+
v -0.04899948 -0.02298790 -0.01564510
|
| 96 |
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v -0.04704964 -0.02733919 -0.01721330
|
| 97 |
+
v -0.04678254 -0.02914398 -0.01675633
|
| 98 |
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v -0.04652211 -0.03130109 -0.01584236
|
| 99 |
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v -0.04241544 -0.04213603 -0.01597228
|
| 100 |
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v -0.04198140 -0.04419424 -0.01521706
|
| 101 |
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v -0.04159410 -0.04599905 -0.01441855
|
| 102 |
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v -0.04185453 -0.04655532 -0.01266757
|
| 103 |
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v -0.04338368 -0.04468256 -0.00790049
|
| 104 |
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v -0.04207489 -0.04704361 -0.01053177
|
| 105 |
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v -0.04332358 -0.04468257 -0.00527403
|
| 106 |
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v -0.04410485 -0.04286541 -0.00527403
|
| 107 |
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v -0.04434524 -0.03805059 0.00142203
|
| 108 |
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v -0.04540697 -0.03384147 0.00261021
|
| 109 |
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v -0.04457228 -0.03384148 0.00447663
|
| 110 |
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v -0.04504638 -0.03125172 0.00539542
|
| 111 |
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v -0.04622163 -0.02822930 0.00502984
|
| 112 |
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v -0.04947358 -0.01945255 0.00353866
|
| 113 |
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v -0.04723661 -0.02570754 0.00445261
|
| 114 |
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v -0.04196805 -0.04680877 -0.00264277
|
| 115 |
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v -0.04133368 -0.04816237 -0.00264278
|
| 116 |
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v -0.04038547 -0.05010314 -0.00264278
|
| 117 |
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v -0.03907668 -0.05172252 -0.00094954
|
| 118 |
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v -0.03955746 -0.05015260 -0.00004999
|
| 119 |
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v -0.04096642 -0.04730325 -0.00004036
|
| 120 |
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v -0.04143385 -0.04564679 0.00082070
|
| 121 |
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v -0.04183450 -0.04384200 0.00178278
|
| 122 |
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v -0.04351723 -0.03907660 0.00242258
|
| 123 |
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v -0.04925322 -0.01945248 -0.01646285
|
| 124 |
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v -0.04757717 -0.02300026 -0.01786749
|
| 125 |
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v -0.04726332 -0.02570746 -0.01748748
|
| 126 |
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v -0.04433189 -0.02989803 -0.01977243
|
| 127 |
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v -0.04497293 -0.03093023 -0.01848325
|
| 128 |
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v -0.04461902 -0.03384140 -0.01756448
|
| 129 |
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v -0.04433189 -0.03528770 -0.01717004
|
| 130 |
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v -0.04153401 -0.04314968 -0.01696803
|
| 131 |
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v -0.04126023 -0.04492976 -0.01597230
|
| 132 |
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v -0.03995144 -0.04759987 -0.01599154
|
| 133 |
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v -0.03935046 -0.04952209 -0.01525556
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| 134 |
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v -0.03885632 -0.05132690 -0.01427426
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| 135 |
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v -0.03975111 -0.05029471 -0.01330255
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| 136 |
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| 137 |
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| 138 |
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v -0.04057912 -0.05010311 -0.01053178
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 163 |
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| 168 |
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| 172 |
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| 174 |
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| 176 |
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| 184 |
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| 186 |
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| 188 |
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| 190 |
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| 199 |
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| 216 |
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| 217 |
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| 218 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 1104 1151 1152
|
| 3664 |
+
f 1104 1152 1153
|
| 3665 |
+
f 1104 1153 1121
|
| 3666 |
+
f 1105 1154 1155
|
| 3667 |
+
f 1105 1155 1107
|
| 3668 |
+
f 1105 1106 1156
|
| 3669 |
+
f 1105 1156 1154
|
| 3670 |
+
f 1106 1124 1157
|
| 3671 |
+
f 1106 1157 1156
|
| 3672 |
+
f 1107 1155 1108
|
| 3673 |
+
f 1108 1155 1154
|
| 3674 |
+
f 1109 1111 1158
|
| 3675 |
+
f 1109 1158 1110
|
| 3676 |
+
f 1110 1158 1112
|
| 3677 |
+
f 1111 1121 1158
|
| 3678 |
+
f 1112 1158 1159
|
| 3679 |
+
f 1112 1159 1160
|
| 3680 |
+
f 1112 1160 1113
|
| 3681 |
+
f 1113 1160 1114
|
| 3682 |
+
f 1114 1160 1115
|
| 3683 |
+
f 1115 1161 1116
|
| 3684 |
+
f 1115 1160 1161
|
| 3685 |
+
f 1116 1161 1162
|
| 3686 |
+
f 1116 1162 1117
|
| 3687 |
+
f 1117 1162 1120
|
| 3688 |
+
f 1118 1163 1164
|
| 3689 |
+
f 1118 1164 1119
|
| 3690 |
+
f 1118 1120 1163
|
| 3691 |
+
f 1119 1164 1165
|
| 3692 |
+
f 1119 1165 1122
|
| 3693 |
+
f 1120 1162 1163
|
| 3694 |
+
f 1121 1159 1158
|
| 3695 |
+
f 1121 1153 1160
|
| 3696 |
+
f 1121 1160 1159
|
| 3697 |
+
f 1122 1166 1124
|
| 3698 |
+
f 1122 1165 1166
|
| 3699 |
+
f 1124 1166 1157
|
| 3700 |
+
f 1125 1167 1126
|
| 3701 |
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f 1126 1168 1127
|
| 3702 |
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f 1126 1167 1168
|
| 3703 |
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f 1127 1129 1128
|
| 3704 |
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f 1127 1168 1169
|
| 3705 |
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f 1127 1169 1170
|
| 3706 |
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f 1127 1170 1129
|
| 3707 |
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f 1129 1170 1171
|
| 3708 |
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f 1129 1171 1131
|
| 3709 |
+
f 1129 1131 1130
|
| 3710 |
+
f 1131 1171 1132
|
| 3711 |
+
f 1132 1171 1172
|
| 3712 |
+
f 1132 1172 1173
|
| 3713 |
+
f 1132 1173 1174
|
| 3714 |
+
f 1132 1174 1133
|
| 3715 |
+
f 1133 1136 1134
|
| 3716 |
+
f 1133 1174 1136
|
| 3717 |
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f 1134 1136 1135
|
| 3718 |
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f 1136 1174 1139
|
| 3719 |
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f 1136 1139 1137
|
| 3720 |
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f 1139 1174 1173
|
| 3721 |
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f 1139 1173 1140
|
| 3722 |
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f 1140 1173 1175
|
| 3723 |
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f 1140 1175 1141
|
| 3724 |
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f 1141 1175 1176
|
| 3725 |
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f 1141 1176 1142
|
| 3726 |
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f 1142 1176 1177
|
| 3727 |
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f 1142 1177 1143
|
| 3728 |
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f 1143 1177 1178
|
| 3729 |
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f 1143 1178 1145
|
| 3730 |
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f 1144 1146 1179
|
| 3731 |
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f 1144 1179 1147
|
| 3732 |
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f 1145 1178 1180
|
| 3733 |
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f 1145 1180 1146
|
| 3734 |
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f 1146 1180 1181
|
| 3735 |
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f 1146 1181 1182
|
| 3736 |
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f 1146 1182 1183
|
| 3737 |
+
f 1146 1183 1179
|
| 3738 |
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f 1147 1179 1148
|
| 3739 |
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f 1148 1179 1184
|
| 3740 |
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f 1148 1184 1149
|
| 3741 |
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f 1149 1184 1185
|
| 3742 |
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f 1149 1185 1186
|
| 3743 |
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f 1149 1186 1150
|
| 3744 |
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f 1150 1186 1187
|
| 3745 |
+
f 1150 1187 1151
|
| 3746 |
+
f 1151 1187 1188
|
| 3747 |
+
f 1151 1188 1152
|
| 3748 |
+
f 1152 1188 1189
|
| 3749 |
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f 1152 1189 1153
|
| 3750 |
+
f 1153 1189 1188
|
| 3751 |
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f 1153 1188 1220
|
| 3752 |
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f 1153 1220 1219
|
| 3753 |
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f 1153 1219 1217
|
| 3754 |
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f 1153 1217 1216
|
| 3755 |
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f 1153 1216 1244
|
| 3756 |
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f 1153 1244 1243
|
| 3757 |
+
f 1153 1243 1242
|
| 3758 |
+
f 1153 1242 1267
|
| 3759 |
+
f 1153 1267 1266
|
| 3760 |
+
f 1153 1266 1240
|
| 3761 |
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f 1153 1240 1239
|
| 3762 |
+
f 1153 1239 1265
|
| 3763 |
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f 1153 1265 1264
|
| 3764 |
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f 1153 1264 1289
|
| 3765 |
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f 1153 1289 1288
|
| 3766 |
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f 1153 1288 1287
|
| 3767 |
+
f 1153 1287 1286
|
| 3768 |
+
f 1153 1286 1285
|
| 3769 |
+
f 1153 1285 1305
|
| 3770 |
+
f 1153 1305 1304
|
| 3771 |
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f 1153 1304 1303
|
| 3772 |
+
f 1153 1303 1301
|
| 3773 |
+
f 1153 1301 1300
|
| 3774 |
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f 1153 1300 1311
|
| 3775 |
+
f 1153 1311 1316
|
| 3776 |
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f 1153 1316 1318
|
| 3777 |
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f 1153 1318 1323
|
| 3778 |
+
f 1153 1323 1330
|
| 3779 |
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f 1153 1330 1339
|
| 3780 |
+
f 1153 1339 1345
|
| 3781 |
+
f 1153 1345 1351
|
| 3782 |
+
f 1153 1351 1353
|
| 3783 |
+
f 1153 1353 1358
|
| 3784 |
+
f 1153 1358 1354
|
| 3785 |
+
f 1153 1354 1347
|
| 3786 |
+
f 1153 1347 1341
|
| 3787 |
+
f 1153 1341 1337
|
| 3788 |
+
f 1153 1337 1325
|
| 3789 |
+
f 1153 1325 1319
|
| 3790 |
+
f 1153 1319 1313
|
| 3791 |
+
f 1153 1313 1308
|
| 3792 |
+
f 1153 1308 1307
|
| 3793 |
+
f 1153 1307 1306
|
| 3794 |
+
f 1153 1306 1292
|
| 3795 |
+
f 1153 1292 1291
|
| 3796 |
+
f 1153 1291 1271
|
| 3797 |
+
f 1153 1271 1246
|
| 3798 |
+
f 1153 1246 1223
|
| 3799 |
+
f 1153 1223 1194
|
| 3800 |
+
f 1153 1194 1160
|
| 3801 |
+
f 1154 1156 1191
|
| 3802 |
+
f 1154 1191 1192
|
| 3803 |
+
f 1154 1192 1193
|
| 3804 |
+
f 1154 1193 1190
|
| 3805 |
+
f 1156 1157 1166
|
| 3806 |
+
f 1156 1166 1191
|
| 3807 |
+
f 1160 1194 1162
|
| 3808 |
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f 1160 1162 1161
|
| 3809 |
+
f 1162 1194 1195
|
| 3810 |
+
f 1162 1195 1196
|
| 3811 |
+
f 1162 1196 1163
|
| 3812 |
+
f 1163 1197 1164
|
| 3813 |
+
f 1163 1196 1198
|
| 3814 |
+
f 1163 1198 1199
|
| 3815 |
+
f 1163 1199 1197
|
| 3816 |
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f 1164 1197 1200
|
| 3817 |
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f 1164 1200 1165
|
| 3818 |
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f 1165 1200 1201
|
| 3819 |
+
f 1165 1201 1202
|
| 3820 |
+
f 1165 1202 1166
|
| 3821 |
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f 1166 1202 1191
|
| 3822 |
+
f 1167 1203 1168
|
| 3823 |
+
f 1168 1204 1169
|
| 3824 |
+
f 1168 1203 1204
|
| 3825 |
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f 1169 1204 1205
|
| 3826 |
+
f 1169 1205 1206
|
| 3827 |
+
f 1169 1206 1170
|
| 3828 |
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f 1170 1206 1207
|
| 3829 |
+
f 1170 1207 1171
|
| 3830 |
+
f 1171 1207 1172
|
| 3831 |
+
f 1172 1207 1208
|
| 3832 |
+
f 1172 1208 1173
|
| 3833 |
+
f 1173 1208 1209
|
| 3834 |
+
f 1173 1209 1175
|
| 3835 |
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f 1175 1209 1210
|
| 3836 |
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f 1175 1210 1211
|
| 3837 |
+
f 1175 1211 1176
|
| 3838 |
+
f 1176 1211 1177
|
| 3839 |
+
f 1177 1211 1178
|
| 3840 |
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f 1178 1211 1212
|
| 3841 |
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f 1178 1212 1213
|
| 3842 |
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f 1178 1213 1180
|
| 3843 |
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f 1179 1183 1184
|
| 3844 |
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f 1180 1213 1214
|
| 3845 |
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f 1180 1214 1215
|
| 3846 |
+
f 1180 1215 1181
|
| 3847 |
+
f 1181 1215 1182
|
| 3848 |
+
f 1182 1215 1216
|
| 3849 |
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f 1182 1216 1183
|
| 3850 |
+
f 1183 1216 1217
|
| 3851 |
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f 1183 1217 1184
|
| 3852 |
+
f 1184 1217 1218
|
| 3853 |
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f 1184 1218 1185
|
| 3854 |
+
f 1185 1218 1219
|
| 3855 |
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f 1185 1219 1220
|
| 3856 |
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f 1185 1220 1186
|
| 3857 |
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f 1186 1220 1187
|
| 3858 |
+
f 1187 1220 1188
|
| 3859 |
+
f 1190 1193 1222
|
| 3860 |
+
f 1190 1222 1221
|
| 3861 |
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f 1191 1202 1193
|
| 3862 |
+
f 1191 1193 1192
|
| 3863 |
+
f 1193 1202 1201
|
| 3864 |
+
f 1193 1201 1200
|
| 3865 |
+
f 1193 1200 1222
|
| 3866 |
+
f 1194 1223 1224
|
| 3867 |
+
f 1194 1224 1198
|
| 3868 |
+
f 1194 1198 1195
|
| 3869 |
+
f 1195 1198 1196
|
| 3870 |
+
f 1197 1199 1225
|
| 3871 |
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f 1197 1225 1226
|
| 3872 |
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f 1197 1226 1200
|
| 3873 |
+
f 1198 1224 1227
|
| 3874 |
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f 1198 1227 1199
|
| 3875 |
+
f 1199 1227 1225
|
| 3876 |
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f 1200 1226 1222
|
| 3877 |
+
f 1203 1228 1204
|
| 3878 |
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f 1204 1229 1230
|
| 3879 |
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f 1204 1230 1231
|
| 3880 |
+
f 1204 1231 1205
|
| 3881 |
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f 1204 1228 1229
|
| 3882 |
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f 1205 1231 1232
|
| 3883 |
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f 1205 1232 1206
|
| 3884 |
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f 1206 1232 1207
|
| 3885 |
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f 1207 1232 1233
|
| 3886 |
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f 1207 1233 1234
|
| 3887 |
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f 1207 1234 1208
|
| 3888 |
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f 1208 1234 1209
|
| 3889 |
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f 1209 1234 1210
|
| 3890 |
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f 1210 1234 1211
|
| 3891 |
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f 1211 1235 1236
|
| 3892 |
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f 1211 1236 1237
|
| 3893 |
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f 1211 1237 1212
|
| 3894 |
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f 1211 1234 1235
|
| 3895 |
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f 1212 1237 1213
|
| 3896 |
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f 1213 1237 1238
|
| 3897 |
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f 1213 1238 1214
|
| 3898 |
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f 1214 1238 1239
|
| 3899 |
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f 1214 1239 1240
|
| 3900 |
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f 1214 1240 1241
|
| 3901 |
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f 1214 1241 1215
|
| 3902 |
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f 1215 1241 1242
|
| 3903 |
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f 1215 1242 1243
|
| 3904 |
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f 1215 1243 1244
|
| 3905 |
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f 1215 1244 1216
|
| 3906 |
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f 1217 1219 1218
|
| 3907 |
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f 1221 1222 1226
|
| 3908 |
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f 1221 1226 1245
|
| 3909 |
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f 1223 1246 1247
|
| 3910 |
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f 1223 1247 1248
|
| 3911 |
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f 1223 1248 1249
|
| 3912 |
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f 1223 1249 1250
|
| 3913 |
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f 1223 1250 1224
|
| 3914 |
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f 1224 1251 1252
|
| 3915 |
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f 1224 1252 1227
|
| 3916 |
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f 1224 1250 1251
|
| 3917 |
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f 1225 1227 1252
|
| 3918 |
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f 1225 1252 1253
|
| 3919 |
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f 1225 1253 1226
|
| 3920 |
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f 1226 1253 1245
|
| 3921 |
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f 1228 1254 1255
|
| 3922 |
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f 1228 1255 1230
|
| 3923 |
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f 1228 1230 1229
|
| 3924 |
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f 1230 1255 1256
|
| 3925 |
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f 1230 1256 1257
|
| 3926 |
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f 1230 1257 1231
|
| 3927 |
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f 1231 1257 1258
|
| 3928 |
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f 1231 1258 1232
|
| 3929 |
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f 1232 1258 1233
|
| 3930 |
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f 1233 1258 1259
|
| 3931 |
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f 1233 1259 1260
|
| 3932 |
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f 1233 1260 1261
|
| 3933 |
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f 1233 1261 1234
|
| 3934 |
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f 1234 1261 1262
|
| 3935 |
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f 1234 1262 1235
|
| 3936 |
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f 1235 1262 1236
|
| 3937 |
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f 1236 1262 1237
|
| 3938 |
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f 1237 1262 1263
|
| 3939 |
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f 1237 1263 1264
|
| 3940 |
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f 1237 1264 1265
|
| 3941 |
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f 1237 1265 1239
|
| 3942 |
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f 1237 1239 1238
|
| 3943 |
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f 1240 1266 1241
|
| 3944 |
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f 1241 1266 1267
|
| 3945 |
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f 1241 1267 1242
|
| 3946 |
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f 1245 1253 1269
|
| 3947 |
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f 1245 1269 1270
|
| 3948 |
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f 1245 1270 1268
|
| 3949 |
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f 1246 1271 1247
|
| 3950 |
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f 1247 1272 1273
|
| 3951 |
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f 1247 1273 1274
|
| 3952 |
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f 1247 1274 1248
|
| 3953 |
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f 1247 1271 1272
|
| 3954 |
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f 1248 1274 1275
|
| 3955 |
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f 1248 1275 1249
|
| 3956 |
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f 1249 1275 1276
|
| 3957 |
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f 1249 1276 1251
|
| 3958 |
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f 1249 1251 1250
|
| 3959 |
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f 1251 1276 1269
|
| 3960 |
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f 1251 1269 1252
|
| 3961 |
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f 1252 1269 1253
|
| 3962 |
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f 1254 1277 1255
|
| 3963 |
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f 1255 1278 1256
|
| 3964 |
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f 1255 1277 1279
|
| 3965 |
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f 1255 1279 1280
|
| 3966 |
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f 1255 1280 1278
|
| 3967 |
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f 1256 1278 1281
|
| 3968 |
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f 1256 1281 1282
|
| 3969 |
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f 1256 1282 1257
|
| 3970 |
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f 1257 1282 1258
|
| 3971 |
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f 1258 1282 1259
|
| 3972 |
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f 1259 1282 1283
|
| 3973 |
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f 1259 1283 1284
|
| 3974 |
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f 1259 1284 1260
|
| 3975 |
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f 1260 1262 1261
|
| 3976 |
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f 1260 1284 1285
|
| 3977 |
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f 1260 1285 1286
|
| 3978 |
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f 1260 1286 1287
|
| 3979 |
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f 1260 1287 1288
|
| 3980 |
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f 1260 1288 1262
|
| 3981 |
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f 1262 1288 1289
|
| 3982 |
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f 1262 1289 1263
|
| 3983 |
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f 1263 1289 1264
|
| 3984 |
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f 1268 1270 1290
|
| 3985 |
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f 1269 1276 1270
|
| 3986 |
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f 1270 1276 1275
|
| 3987 |
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f 1270 1275 1290
|
| 3988 |
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f 1271 1291 1272
|
| 3989 |
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f 1272 1291 1292
|
| 3990 |
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f 1272 1292 1293
|
| 3991 |
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f 1272 1293 1273
|
| 3992 |
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f 1273 1293 1294
|
| 3993 |
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f 1273 1294 1295
|
| 3994 |
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f 1273 1295 1296
|
| 3995 |
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f 1273 1296 1297
|
| 3996 |
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f 1273 1297 1274
|
| 3997 |
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f 1274 1297 1298
|
| 3998 |
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f 1274 1298 1299
|
| 3999 |
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f 1274 1299 1275
|
| 4000 |
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f 1275 1299 1290
|
| 4001 |
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f 1278 1300 1301
|
| 4002 |
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f 1278 1301 1281
|
| 4003 |
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f 1278 1280 1300
|
| 4004 |
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f 1280 1302 1300
|
| 4005 |
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f 1281 1283 1282
|
| 4006 |
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f 1281 1301 1283
|
| 4007 |
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f 1283 1301 1303
|
| 4008 |
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f 1283 1303 1304
|
| 4009 |
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f 1283 1304 1305
|
| 4010 |
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f 1283 1305 1284
|
| 4011 |
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f 1284 1305 1285
|
| 4012 |
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f 1292 1306 1293
|
| 4013 |
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f 1293 1306 1307
|
| 4014 |
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f 1293 1307 1308
|
| 4015 |
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f 1293 1308 1309
|
| 4016 |
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f 1293 1309 1310
|
| 4017 |
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f 1293 1310 1295
|
| 4018 |
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f 1293 1295 1294
|
| 4019 |
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f 1300 1302 1312
|
| 4020 |
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f 1300 1312 1311
|
| 4021 |
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f 1308 1313 1309
|
| 4022 |
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f 1309 1313 1314
|
| 4023 |
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f 1309 1314 1315
|
| 4024 |
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f 1309 1315 1310
|
| 4025 |
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f 1311 1312 1316
|
| 4026 |
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f 1312 1317 1318
|
| 4027 |
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f 1312 1318 1316
|
| 4028 |
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f 1313 1319 1320
|
| 4029 |
+
f 1313 1320 1321
|
| 4030 |
+
f 1313 1321 1315
|
| 4031 |
+
f 1313 1315 1314
|
| 4032 |
+
f 1317 1322 1318
|
| 4033 |
+
f 1318 1322 1324
|
| 4034 |
+
f 1318 1324 1323
|
| 4035 |
+
f 1319 1325 1326
|
| 4036 |
+
f 1319 1326 1327
|
| 4037 |
+
f 1319 1327 1328
|
| 4038 |
+
f 1319 1328 1329
|
| 4039 |
+
f 1319 1329 1320
|
| 4040 |
+
f 1320 1329 1321
|
| 4041 |
+
f 1323 1324 1331
|
| 4042 |
+
f 1323 1331 1332
|
| 4043 |
+
f 1323 1332 1333
|
| 4044 |
+
f 1323 1333 1334
|
| 4045 |
+
f 1323 1334 1335
|
| 4046 |
+
f 1323 1335 1336
|
| 4047 |
+
f 1323 1336 1330
|
| 4048 |
+
f 1325 1337 1338
|
| 4049 |
+
f 1325 1338 1326
|
| 4050 |
+
f 1330 1336 1340
|
| 4051 |
+
f 1330 1340 1339
|
| 4052 |
+
f 1337 1341 1342
|
| 4053 |
+
f 1337 1342 1343
|
| 4054 |
+
f 1337 1343 1338
|
| 4055 |
+
f 1338 1343 1342
|
| 4056 |
+
f 1338 1342 1344
|
| 4057 |
+
f 1339 1340 1345
|
| 4058 |
+
f 1340 1346 1345
|
| 4059 |
+
f 1341 1347 1342
|
| 4060 |
+
f 1342 1347 1348
|
| 4061 |
+
f 1342 1348 1349
|
| 4062 |
+
f 1342 1349 1350
|
| 4063 |
+
f 1342 1350 1344
|
| 4064 |
+
f 1345 1346 1351
|
| 4065 |
+
f 1346 1352 1353
|
| 4066 |
+
f 1346 1353 1351
|
| 4067 |
+
f 1347 1354 1355
|
| 4068 |
+
f 1347 1355 1356
|
| 4069 |
+
f 1347 1356 1348
|
| 4070 |
+
f 1352 1357 1353
|
| 4071 |
+
f 1353 1357 1359
|
| 4072 |
+
f 1353 1359 1358
|
| 4073 |
+
f 1354 1358 1359
|
| 4074 |
+
f 1354 1359 1355
|
| 4075 |
+
|
demo_assets/banana/mjcf/mesh/banana_collision_2.obj
ADDED
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@@ -0,0 +1,3640 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00798847 0.08245349 0.00260829
|
| 3 |
+
v 0.00798847 0.08188261 0.00504692
|
| 4 |
+
v 0.01067143 0.08167118 0.00456189
|
| 5 |
+
v 0.01067143 0.08202005 0.00260829
|
| 6 |
+
v 0.00798847 0.08235836 -0.00001448
|
| 7 |
+
v -0.00273662 0.08207821 -0.00001448
|
| 8 |
+
v -0.00273662 0.08215219 0.00260829
|
| 9 |
+
v -0.00273662 0.08180332 0.00524003
|
| 10 |
+
v -0.00273662 0.08143859 0.00682087
|
| 11 |
+
v -0.00005367 0.08143860 0.00680291
|
| 12 |
+
v 0.00262256 0.08140160 0.00668614
|
| 13 |
+
v 0.00416240 0.08136460 0.00659183
|
| 14 |
+
v 0.00798847 0.08121131 0.00635830
|
| 15 |
+
v 0.01067143 0.08074615 0.00587776
|
| 16 |
+
v 0.01203644 0.08136990 0.00398254
|
| 17 |
+
v 0.01207679 0.08140161 0.00260829
|
| 18 |
+
v 0.01207006 0.08139105 0.00074002
|
| 19 |
+
v 0.01090005 0.08182978 -0.00008633
|
| 20 |
+
v 0.01016711 0.08168706 -0.00264173
|
| 21 |
+
v 0.00960900 0.08145978 -0.00408335
|
| 22 |
+
v 0.00262256 0.08184564 -0.00264173
|
| 23 |
+
v -0.00273662 0.08169764 -0.00264173
|
| 24 |
+
v -0.00541958 0.08189850 -0.00001448
|
| 25 |
+
v -0.00541958 0.08202005 0.00260829
|
| 26 |
+
v -0.00541958 0.08170817 0.00524003
|
| 27 |
+
v -0.00541958 0.08139631 0.00670411
|
| 28 |
+
v -0.00273662 0.08094701 0.00813675
|
| 29 |
+
v -0.00541958 0.08093115 0.00801998
|
| 30 |
+
v -0.00005367 0.08085715 0.00811878
|
| 31 |
+
v -0.00256852 0.07945638 0.01074153
|
| 32 |
+
v -0.00005367 0.07950396 0.01028794
|
| 33 |
+
v -0.00156661 0.07860537 0.01178345
|
| 34 |
+
v -0.00005367 0.07839922 0.01160381
|
| 35 |
+
v 0.00262256 0.07928724 0.00990620
|
| 36 |
+
v 0.00483482 0.07897010 0.00952446
|
| 37 |
+
v 0.01067143 0.07939297 0.00699152
|
| 38 |
+
v 0.01212386 0.07882739 0.00663673
|
| 39 |
+
v 0.00661674 0.07861595 0.00916967
|
| 40 |
+
v 0.01255420 0.07983171 0.00501098
|
| 41 |
+
v 0.01451767 0.07818781 0.00260828
|
| 42 |
+
v 0.01324007 0.07999028 0.00260828
|
| 43 |
+
v 0.01451767 0.07840454 -0.00001449
|
| 44 |
+
v 0.01297783 0.08023873 -0.00008634
|
| 45 |
+
v 0.01194903 0.08130647 -0.00101148
|
| 46 |
+
v 0.01150523 0.08103690 -0.00264173
|
| 47 |
+
v 0.00905762 0.08145978 -0.00408335
|
| 48 |
+
v 0.01254748 0.07916572 -0.00440222
|
| 49 |
+
v 0.01057057 0.08003789 -0.00475252
|
| 50 |
+
v 0.00262256 0.07629023 -0.00948159
|
| 51 |
+
v -0.00005367 0.07678183 -0.00988578
|
| 52 |
+
v -0.00005367 0.07814028 -0.00874505
|
| 53 |
+
v -0.00273662 0.07835171 -0.00891122
|
| 54 |
+
v -0.00273662 0.07939303 -0.00759984
|
| 55 |
+
v -0.00273662 0.08074619 -0.00539024
|
| 56 |
+
v -0.00005367 0.08142278 -0.00411479
|
| 57 |
+
v -0.00273662 0.08140163 -0.00407886
|
| 58 |
+
v -0.00417560 0.08135934 -0.00399353
|
| 59 |
+
v -0.00521113 0.08150206 -0.00256987
|
| 60 |
+
v -0.00708718 0.08141220 -0.00164921
|
| 61 |
+
v -0.00802857 0.08154433 0.00006187
|
| 62 |
+
v -0.00970962 0.08140690 0.00099601
|
| 63 |
+
v -0.00810253 0.08172404 0.00260829
|
| 64 |
+
v -0.00978358 0.08141217 0.00430590
|
| 65 |
+
v -0.00790081 0.08149674 0.00520410
|
| 66 |
+
v -0.00687200 0.08135931 0.00659183
|
| 67 |
+
v -0.00541958 0.07973125 0.01049453
|
| 68 |
+
v -0.00790081 0.08087300 0.00762926
|
| 69 |
+
v -0.00810253 0.07956210 0.01049453
|
| 70 |
+
v -0.00335525 0.07872694 0.01191818
|
| 71 |
+
v -0.00541958 0.07878509 0.01199453
|
| 72 |
+
v -0.00388646 0.07597829 0.01447806
|
| 73 |
+
v -0.00005367 0.07704603 0.01268614
|
| 74 |
+
v 0.00262256 0.07783892 0.01122207
|
| 75 |
+
v 0.00412878 0.07604702 0.01188674
|
| 76 |
+
v 0.01231886 0.07727863 0.00682984
|
| 77 |
+
v 0.01378473 0.07727335 0.00506935
|
| 78 |
+
v 0.01480009 0.07636419 0.00408132
|
| 79 |
+
v 0.00941400 0.07604174 0.00923703
|
| 80 |
+
v 0.00968297 0.07456699 0.00943013
|
| 81 |
+
v 0.01102109 0.07456699 0.00844211
|
| 82 |
+
v 0.00262256 0.07648045 0.01220111
|
| 83 |
+
v 0.01512285 0.07683464 0.00260827
|
| 84 |
+
v 0.01537164 0.07705137 -0.00001450
|
| 85 |
+
v 0.01431594 0.07817726 -0.00264174
|
| 86 |
+
v 0.01521699 0.07681880 -0.00264175
|
| 87 |
+
v 0.01297783 0.07968373 -0.00264174
|
| 88 |
+
v 0.01495474 0.07639065 -0.00424056
|
| 89 |
+
v 0.01340818 0.07728925 -0.00488726
|
| 90 |
+
v 0.01081936 0.07733682 -0.00622110
|
| 91 |
+
v 0.00262256 0.07456706 -0.01040226
|
| 92 |
+
v 0.00000685 0.07447720 -0.01126903
|
| 93 |
+
v 0.00399430 0.07594137 -0.00923009
|
| 94 |
+
v -0.00273662 0.07522250 -0.01144417
|
| 95 |
+
v -0.00273662 0.07699326 -0.01012830
|
| 96 |
+
v -0.00541958 0.07701440 -0.01022261
|
| 97 |
+
v -0.00541958 0.07837286 -0.00890673
|
| 98 |
+
v -0.00541958 0.07934546 -0.00759535
|
| 99 |
+
v -0.00521113 0.08075676 -0.00503096
|
| 100 |
+
v -0.00810253 0.08019118 -0.00527348
|
| 101 |
+
v -0.00596424 0.08122191 -0.00340071
|
| 102 |
+
v -0.00802857 0.08099462 -0.00256987
|
| 103 |
+
v -0.00886909 0.08121661 -0.00075100
|
| 104 |
+
v -0.00989789 0.08143861 0.00260829
|
| 105 |
+
v -0.01067790 0.08094175 0.00006187
|
| 106 |
+
v -0.01346172 0.08012773 -0.00001449
|
| 107 |
+
v -0.01346172 0.08055587 0.00260829
|
| 108 |
+
v -0.01123601 0.08115317 0.00260829
|
| 109 |
+
v -0.00866064 0.08125360 0.00605740
|
| 110 |
+
v -0.01346172 0.08036029 0.00524003
|
| 111 |
+
v -0.01071825 0.08106331 0.00520410
|
| 112 |
+
v -0.00810253 0.07872694 0.01192717
|
| 113 |
+
v -0.01077876 0.08032328 0.00786728
|
| 114 |
+
v -0.01054342 0.07912866 0.01054393
|
| 115 |
+
v -0.00948772 0.07864765 0.01182387
|
| 116 |
+
v -0.00541958 0.07741604 0.01331039
|
| 117 |
+
v -0.00810253 0.07740018 0.01324303
|
| 118 |
+
v -0.00289128 0.07467797 0.01496757
|
| 119 |
+
v -0.00209782 0.07565585 0.01428495
|
| 120 |
+
v -0.00541958 0.07606286 0.01454094
|
| 121 |
+
v -0.00541958 0.07456696 0.01536728
|
| 122 |
+
v 0.00470706 0.07456698 0.01219661
|
| 123 |
+
v 0.00604518 0.07456698 0.01152745
|
| 124 |
+
v 0.00018840 0.07467797 0.01407835
|
| 125 |
+
v 0.00124410 0.07314507 0.01442416
|
| 126 |
+
v 0.01261472 0.07456699 0.00712623
|
| 127 |
+
v 0.01482026 0.07456700 0.00416215
|
| 128 |
+
v 0.01526406 0.07456701 0.00260826
|
| 129 |
+
v 0.01395284 0.07456700 0.00547353
|
| 130 |
+
v 0.00657639 0.07291779 0.01176996
|
| 131 |
+
v 0.00778675 0.07195577 0.01108731
|
| 132 |
+
v 0.00991159 0.07186062 0.00962324
|
| 133 |
+
v 0.01124971 0.07186063 0.00853192
|
| 134 |
+
v 0.01559354 0.07456702 -0.00001451
|
| 135 |
+
v 0.01521026 0.07435031 -0.00282589
|
| 136 |
+
v 0.01495474 0.07510619 -0.00424056
|
| 137 |
+
v 0.00732278 0.06914906 -0.00965677
|
| 138 |
+
v 0.00700002 0.07186069 -0.00943221
|
| 139 |
+
v 0.00670415 0.07328787 -0.00924807
|
| 140 |
+
v 0.00262256 0.07195056 -0.01141724
|
| 141 |
+
v 0.00094151 0.07291787 -0.01174957
|
| 142 |
+
v -0.00084712 0.07351517 -0.01199209
|
| 143 |
+
v -0.00273662 0.07386404 -0.01218071
|
| 144 |
+
v -0.00541958 0.07410720 -0.01236484
|
| 145 |
+
v -0.00541958 0.07546036 -0.01153848
|
| 146 |
+
v -0.00810253 0.07545508 -0.01148010
|
| 147 |
+
v -0.00810253 0.07688226 -0.01016423
|
| 148 |
+
v -0.00810253 0.07823543 -0.00871361
|
| 149 |
+
v -0.00810253 0.07918160 -0.00739774
|
| 150 |
+
v -0.01077876 0.07890145 -0.00699804
|
| 151 |
+
v -0.01229843 0.07869529 -0.00668816
|
| 152 |
+
v -0.01077876 0.07954102 -0.00527348
|
| 153 |
+
v -0.01077876 0.08023874 -0.00264174
|
| 154 |
+
v -0.01630605 0.07917099 -0.00014922
|
| 155 |
+
v -0.01787279 0.07880626 0.00063222
|
| 156 |
+
v -0.01614467 0.07965199 0.00260828
|
| 157 |
+
v -0.01638674 0.07926083 0.00544661
|
| 158 |
+
v -0.01743572 0.07861067 0.00646158
|
| 159 |
+
v -0.01564708 0.07898596 0.00741817
|
| 160 |
+
v -0.01372396 0.07940882 0.00812326
|
| 161 |
+
v -0.01299775 0.07893837 0.00969961
|
| 162 |
+
v -0.01127635 0.07838336 0.01145112
|
| 163 |
+
v -0.00952806 0.07595186 0.01446010
|
| 164 |
+
v -0.01040221 0.07716760 0.01301399
|
| 165 |
+
v -0.00810253 0.07604701 0.01452746
|
| 166 |
+
v -0.00541958 0.07186060 0.01649901
|
| 167 |
+
v -0.00273662 0.07186060 0.01605439
|
| 168 |
+
v -0.00054453 0.07384809 0.01475201
|
| 169 |
+
v -0.00810253 0.07456696 0.01535829
|
| 170 |
+
v -0.00795460 0.07162274 0.01667416
|
| 171 |
+
v 0.00018840 0.07208789 0.01506188
|
| 172 |
+
v 0.00165428 0.07133731 0.01462176
|
| 173 |
+
v 0.00257549 0.07208790 0.01400199
|
| 174 |
+
v 0.01264162 0.07186063 0.00721604
|
| 175 |
+
v 0.01475302 0.07302883 0.00408131
|
| 176 |
+
v 0.00553414 0.07195576 0.01248402
|
| 177 |
+
v 0.00676467 0.07111532 0.01188672
|
| 178 |
+
v 0.00981073 0.06914898 0.00957383
|
| 179 |
+
v 0.00675794 0.06914898 0.01188671
|
| 180 |
+
v 0.00810279 0.06914898 0.01088970
|
| 181 |
+
v 0.01483371 0.07277510 0.00260826
|
| 182 |
+
v 0.01437646 0.07142193 0.00260825
|
| 183 |
+
v 0.01490767 0.07267469 -0.00001451
|
| 184 |
+
v 0.01485388 0.07289670 -0.00206691
|
| 185 |
+
v 0.01464543 0.07330371 -0.00381841
|
| 186 |
+
v 0.00956194 0.06436536 -0.00691725
|
| 187 |
+
v 0.00677139 0.06198144 -0.00932445
|
| 188 |
+
v 0.00863400 0.06643741 -0.00853851
|
| 189 |
+
v 0.00729588 0.06643742 -0.00967474
|
| 190 |
+
v 0.00530552 0.06643742 -0.01090978
|
| 191 |
+
v 0.00379930 0.06643742 -0.01176307
|
| 192 |
+
v 0.00530552 0.06914906 -0.01078402
|
| 193 |
+
v 0.00530552 0.07186070 -0.01028101
|
| 194 |
+
v 0.00172825 0.07111011 -0.01202353
|
| 195 |
+
v 0.00000685 0.07195057 -0.01231545
|
| 196 |
+
v -0.00273662 0.07186071 -0.01301605
|
| 197 |
+
v -0.00541958 0.07186071 -0.01346515
|
| 198 |
+
v -0.00934651 0.07051811 -0.01448013
|
| 199 |
+
v -0.00831098 0.07159642 -0.01385138
|
| 200 |
+
v -0.00810253 0.07410191 -0.01243221
|
| 201 |
+
v -0.01077876 0.07392748 -0.01236933
|
| 202 |
+
v -0.01077876 0.07528065 -0.01126902
|
| 203 |
+
v -0.01077876 0.07661796 -0.00995315
|
| 204 |
+
v -0.01077876 0.07797642 -0.00831391
|
| 205 |
+
v -0.01495449 0.07598894 -0.00928848
|
| 206 |
+
v -0.01596312 0.07648052 -0.00788727
|
| 207 |
+
v -0.01797366 0.07616866 -0.00699805
|
| 208 |
+
v -0.01614467 0.07758526 -0.00527349
|
| 209 |
+
v -0.01730796 0.07857369 -0.00111479
|
| 210 |
+
v -0.01878728 0.07821425 -0.00014922
|
| 211 |
+
v -0.02149714 0.07694565 -0.00001450
|
| 212 |
+
v -0.01937901 0.07826182 0.00260828
|
| 213 |
+
v -0.01804762 0.07889083 0.00260828
|
| 214 |
+
v -0.01783917 0.07880096 0.00471008
|
| 215 |
+
v -0.01638674 0.07835694 0.00812326
|
| 216 |
+
v -0.01478639 0.07862652 0.00916967
|
| 217 |
+
v -0.01876711 0.07816666 0.00544661
|
| 218 |
+
v -0.02163834 0.07661262 0.00521306
|
| 219 |
+
v -0.02262008 0.07578274 0.00607085
|
| 220 |
+
v -0.02083144 0.07632718 0.00735978
|
| 221 |
+
v -0.01904953 0.07697734 0.00808733
|
| 222 |
+
v -0.01372396 0.07809264 0.01054393
|
| 223 |
+
v -0.01529742 0.07617916 0.01206189
|
| 224 |
+
v -0.01346172 0.07660202 0.01247955
|
| 225 |
+
v -0.01131670 0.07561885 0.01420411
|
| 226 |
+
v -0.01346172 0.07379523 0.01483284
|
| 227 |
+
v -0.01056359 0.07465682 0.01501248
|
| 228 |
+
v -0.00695942 0.07047043 0.01706039
|
| 229 |
+
v -0.00273662 0.06914896 0.01652594
|
| 230 |
+
v -0.00517751 0.06939739 0.01699750
|
| 231 |
+
v -0.01075187 0.07162274 0.01655739
|
| 232 |
+
v -0.00983738 0.07056029 0.01708733
|
| 233 |
+
v -0.00874806 0.07056029 0.01708733
|
| 234 |
+
v -0.00005367 0.06914896 0.01558283
|
| 235 |
+
v 0.00185600 0.06914897 0.01472953
|
| 236 |
+
v 0.00319412 0.06914897 0.01402893
|
| 237 |
+
v 0.01227851 0.06914899 0.00688370
|
| 238 |
+
v 0.01396629 0.07201922 0.00506933
|
| 239 |
+
v 0.00957538 0.06697122 0.00939868
|
| 240 |
+
v 0.01114885 0.06914899 0.00819508
|
| 241 |
+
v 0.01203644 0.06773239 0.00659178
|
| 242 |
+
v 0.01220455 0.06734124 0.00523998
|
| 243 |
+
v 0.01346869 0.06914901 0.00260824
|
| 244 |
+
v 0.00530552 0.06914897 0.01279390
|
| 245 |
+
v 0.00668398 0.06766366 0.01183731
|
| 246 |
+
v 0.01436974 0.07132150 -0.00001452
|
| 247 |
+
v 0.01349559 0.06914902 -0.00001453
|
| 248 |
+
v 0.01247351 0.06672282 -0.00001453
|
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| 3420 |
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| 3421 |
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| 3422 |
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| 3423 |
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| 3426 |
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| 3427 |
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| 3428 |
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| 3429 |
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| 3430 |
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f 1059 1114 1077
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| 3431 |
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| 3432 |
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| 3434 |
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| 3435 |
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f 1061 1116 1114
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| 3436 |
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f 1061 1114 1113
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| 3437 |
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f 1064 1117 1118
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| 3438 |
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f 1064 1118 1119
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| 3439 |
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f 1064 1119 1065
|
| 3440 |
+
f 1064 1112 1117
|
| 3441 |
+
f 1065 1119 1066
|
| 3442 |
+
f 1066 1120 1121
|
| 3443 |
+
f 1066 1121 1122
|
| 3444 |
+
f 1066 1122 1123
|
| 3445 |
+
f 1066 1123 1124
|
| 3446 |
+
f 1066 1124 1125
|
| 3447 |
+
f 1066 1125 1068
|
| 3448 |
+
f 1066 1119 1120
|
| 3449 |
+
f 1068 1125 1124
|
| 3450 |
+
f 1068 1124 1126
|
| 3451 |
+
f 1068 1126 1127
|
| 3452 |
+
f 1068 1127 1115
|
| 3453 |
+
f 1068 1115 1069
|
| 3454 |
+
f 1071 1074 1092
|
| 3455 |
+
f 1073 1128 1074
|
| 3456 |
+
f 1073 1076 1128
|
| 3457 |
+
f 1074 1129 1092
|
| 3458 |
+
f 1074 1128 1129
|
| 3459 |
+
f 1075 1086 1076
|
| 3460 |
+
f 1076 1130 1128
|
| 3461 |
+
f 1076 1086 1131
|
| 3462 |
+
f 1076 1131 1130
|
| 3463 |
+
f 1077 1114 1080
|
| 3464 |
+
f 1077 1080 1079
|
| 3465 |
+
f 1080 1115 1127
|
| 3466 |
+
f 1080 1127 1081
|
| 3467 |
+
f 1080 1114 1115
|
| 3468 |
+
f 1081 1127 1126
|
| 3469 |
+
f 1081 1126 1132
|
| 3470 |
+
f 1081 1132 1133
|
| 3471 |
+
f 1081 1133 1082
|
| 3472 |
+
f 1082 1133 1134
|
| 3473 |
+
f 1082 1134 1135
|
| 3474 |
+
f 1082 1135 1136
|
| 3475 |
+
f 1082 1136 1085
|
| 3476 |
+
f 1085 1131 1086
|
| 3477 |
+
f 1085 1136 1131
|
| 3478 |
+
f 1087 1089 1090
|
| 3479 |
+
f 1088 1093 1137
|
| 3480 |
+
f 1088 1137 1089
|
| 3481 |
+
f 1089 1137 1138
|
| 3482 |
+
f 1089 1138 1139
|
| 3483 |
+
f 1089 1139 1140
|
| 3484 |
+
f 1089 1140 1141
|
| 3485 |
+
f 1089 1141 1090
|
| 3486 |
+
f 1090 1141 1091
|
| 3487 |
+
f 1091 1141 1142
|
| 3488 |
+
f 1091 1142 1143
|
| 3489 |
+
f 1091 1143 1097
|
| 3490 |
+
f 1092 1129 1138
|
| 3491 |
+
f 1092 1138 1093
|
| 3492 |
+
f 1093 1138 1137
|
| 3493 |
+
f 1094 1097 1144
|
| 3494 |
+
f 1094 1144 1145
|
| 3495 |
+
f 1094 1145 1095
|
| 3496 |
+
f 1095 1146 1147
|
| 3497 |
+
f 1095 1147 1096
|
| 3498 |
+
f 1095 1145 1148
|
| 3499 |
+
f 1095 1148 1146
|
| 3500 |
+
f 1097 1143 1144
|
| 3501 |
+
f 1098 1149 1100
|
| 3502 |
+
f 1098 1100 1099
|
| 3503 |
+
f 1100 1149 1150
|
| 3504 |
+
f 1100 1150 1151
|
| 3505 |
+
f 1100 1151 1101
|
| 3506 |
+
f 1101 1151 1152
|
| 3507 |
+
f 1101 1152 1102
|
| 3508 |
+
f 1102 1152 1104
|
| 3509 |
+
f 1102 1104 1103
|
| 3510 |
+
f 1104 1152 1153
|
| 3511 |
+
f 1104 1153 1154
|
| 3512 |
+
f 1104 1154 1107
|
| 3513 |
+
f 1107 1155 1108
|
| 3514 |
+
f 1107 1154 1155
|
| 3515 |
+
f 1108 1155 1109
|
| 3516 |
+
f 1109 1156 1110
|
| 3517 |
+
f 1109 1155 1156
|
| 3518 |
+
f 1110 1156 1157
|
| 3519 |
+
f 1110 1157 1111
|
| 3520 |
+
f 1111 1157 1158
|
| 3521 |
+
f 1111 1158 1159
|
| 3522 |
+
f 1111 1159 1112
|
| 3523 |
+
f 1112 1159 1117
|
| 3524 |
+
f 1114 1116 1115
|
| 3525 |
+
f 1117 1159 1160
|
| 3526 |
+
f 1117 1160 1161
|
| 3527 |
+
f 1117 1161 1118
|
| 3528 |
+
f 1118 1120 1119
|
| 3529 |
+
f 1122 1162 1123
|
| 3530 |
+
f 1123 1162 1163
|
| 3531 |
+
f 1123 1163 1124
|
| 3532 |
+
f 1124 1164 1126
|
| 3533 |
+
f 1124 1163 1164
|
| 3534 |
+
f 1126 1164 1132
|
| 3535 |
+
f 1128 1130 1165
|
| 3536 |
+
f 1128 1165 1129
|
| 3537 |
+
f 1129 1165 1138
|
| 3538 |
+
f 1130 1131 1166
|
| 3539 |
+
f 1130 1166 1165
|
| 3540 |
+
f 1131 1136 1167
|
| 3541 |
+
f 1131 1167 1168
|
| 3542 |
+
f 1131 1168 1166
|
| 3543 |
+
f 1132 1164 1169
|
| 3544 |
+
f 1132 1169 1133
|
| 3545 |
+
f 1133 1169 1170
|
| 3546 |
+
f 1133 1170 1171
|
| 3547 |
+
f 1133 1171 1172
|
| 3548 |
+
f 1133 1172 1135
|
| 3549 |
+
f 1133 1135 1134
|
| 3550 |
+
f 1135 1172 1173
|
| 3551 |
+
f 1135 1173 1174
|
| 3552 |
+
f 1135 1174 1136
|
| 3553 |
+
f 1136 1174 1167
|
| 3554 |
+
f 1138 1165 1175
|
| 3555 |
+
f 1138 1175 1139
|
| 3556 |
+
f 1139 1175 1176
|
| 3557 |
+
f 1139 1176 1140
|
| 3558 |
+
f 1140 1176 1199
|
| 3559 |
+
f 1140 1199 1177
|
| 3560 |
+
f 1140 1177 1141
|
| 3561 |
+
f 1141 1177 1142
|
| 3562 |
+
f 1142 1177 1143
|
| 3563 |
+
f 1143 1177 1178
|
| 3564 |
+
f 1143 1178 1144
|
| 3565 |
+
f 1144 1178 1145
|
| 3566 |
+
f 1145 1178 1179
|
| 3567 |
+
f 1145 1179 1180
|
| 3568 |
+
f 1145 1180 1181
|
| 3569 |
+
f 1145 1181 1148
|
| 3570 |
+
f 1146 1148 1182
|
| 3571 |
+
f 1148 1181 1183
|
| 3572 |
+
f 1148 1183 1182
|
| 3573 |
+
f 1150 1184 1185
|
| 3574 |
+
f 1150 1185 1153
|
| 3575 |
+
f 1150 1153 1151
|
| 3576 |
+
f 1151 1153 1152
|
| 3577 |
+
f 1153 1185 1186
|
| 3578 |
+
f 1153 1186 1155
|
| 3579 |
+
f 1153 1155 1154
|
| 3580 |
+
f 1155 1186 1156
|
| 3581 |
+
f 1156 1186 1187
|
| 3582 |
+
f 1156 1187 1157
|
| 3583 |
+
f 1157 1187 1158
|
| 3584 |
+
f 1158 1187 1188
|
| 3585 |
+
f 1158 1188 1189
|
| 3586 |
+
f 1158 1189 1190
|
| 3587 |
+
f 1158 1190 1159
|
| 3588 |
+
f 1159 1190 1160
|
| 3589 |
+
f 1163 1191 1170
|
| 3590 |
+
f 1163 1170 1169
|
| 3591 |
+
f 1163 1169 1164
|
| 3592 |
+
f 1165 1166 1168
|
| 3593 |
+
f 1165 1168 1192
|
| 3594 |
+
f 1165 1192 1175
|
| 3595 |
+
f 1167 1193 1168
|
| 3596 |
+
f 1167 1174 1194
|
| 3597 |
+
f 1167 1194 1193
|
| 3598 |
+
f 1168 1193 1195
|
| 3599 |
+
f 1168 1195 1192
|
| 3600 |
+
f 1170 1191 1171
|
| 3601 |
+
f 1173 1196 1174
|
| 3602 |
+
f 1174 1196 1197
|
| 3603 |
+
f 1174 1197 1194
|
| 3604 |
+
f 1175 1192 1198
|
| 3605 |
+
f 1175 1198 1176
|
| 3606 |
+
f 1176 1198 1199
|
| 3607 |
+
f 1177 1199 1178
|
| 3608 |
+
f 1178 1199 1179
|
| 3609 |
+
f 1179 1199 1200
|
| 3610 |
+
f 1179 1200 1201
|
| 3611 |
+
f 1179 1201 1202
|
| 3612 |
+
f 1179 1202 1203
|
| 3613 |
+
f 1179 1203 1180
|
| 3614 |
+
f 1180 1204 1181
|
| 3615 |
+
f 1180 1203 1205
|
| 3616 |
+
f 1180 1205 1204
|
| 3617 |
+
f 1184 1206 1185
|
| 3618 |
+
f 1185 1206 1187
|
| 3619 |
+
f 1185 1187 1186
|
| 3620 |
+
f 1187 1206 1207
|
| 3621 |
+
f 1187 1207 1208
|
| 3622 |
+
f 1187 1208 1209
|
| 3623 |
+
f 1187 1209 1188
|
| 3624 |
+
f 1192 1195 1198
|
| 3625 |
+
f 1193 1201 1195
|
| 3626 |
+
f 1193 1194 1211
|
| 3627 |
+
f 1193 1211 1202
|
| 3628 |
+
f 1193 1202 1201
|
| 3629 |
+
f 1194 1197 1210
|
| 3630 |
+
f 1194 1210 1211
|
| 3631 |
+
f 1195 1201 1200
|
| 3632 |
+
f 1195 1200 1198
|
| 3633 |
+
f 1198 1200 1199
|
| 3634 |
+
f 1202 1212 1213
|
| 3635 |
+
f 1202 1213 1205
|
| 3636 |
+
f 1202 1205 1203
|
| 3637 |
+
f 1202 1211 1214
|
| 3638 |
+
f 1202 1214 1212
|
| 3639 |
+
f 1210 1214 1211
|
| 3640 |
+
|
demo_assets/banana/mjcf/mesh/banana_collision_3.obj
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.02454646 -0.07977163 0.01052355
|
| 3 |
+
v 0.02454646 -0.07949130 0.00832638
|
| 4 |
+
v 0.02454646 -0.07969154 0.01097805
|
| 5 |
+
v 0.01601287 -0.07948061 0.00261039
|
| 6 |
+
v 0.01601287 -0.07948327 0.00258808
|
| 7 |
+
v 0.01601287 -0.07932576 -0.00019184
|
| 8 |
+
v 0.02454646 -0.07895737 0.00589778
|
| 9 |
+
v 0.01601287 -0.07928571 -0.00039817
|
| 10 |
+
v 0.02454646 -0.07931780 0.01269842
|
| 11 |
+
v 0.01601287 -0.07885859 0.00465142
|
| 12 |
+
v 0.02454646 -0.07877850 0.00550463
|
| 13 |
+
v 0.01601287 -0.07914422 -0.00090285
|
| 14 |
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|
demo_assets/banana/mjcf/mesh/banana_collision_4.obj
ADDED
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.03212466 -0.08229859 0.01312458
|
| 3 |
+
v 0.03478444 -0.08170106 0.01288134
|
| 4 |
+
v 0.03387899 -0.08153810 0.01514319
|
| 5 |
+
v 0.03222786 -0.08173162 0.01591238
|
| 6 |
+
v 0.03057673 -0.08141588 0.01731564
|
| 7 |
+
v 0.03022387 -0.08164166 0.01575230
|
| 8 |
+
v 0.02938832 -0.08170276 0.01297697
|
| 9 |
+
v 0.02791862 -0.08132759 0.01165479
|
| 10 |
+
v 0.02944325 -0.08154827 0.01107894
|
| 11 |
+
v 0.03190496 -0.08186571 0.01027025
|
| 12 |
+
v 0.03480441 -0.08180290 0.01049893
|
| 13 |
+
v 0.03616094 -0.08127836 0.01184190
|
| 14 |
+
v 0.03566660 -0.08077760 0.01359441
|
| 15 |
+
v 0.03318991 -0.08117313 0.01689570
|
| 16 |
+
v 0.03140396 -0.08141588 0.01731564
|
| 17 |
+
v 0.03212466 -0.07900198 0.02013463
|
| 18 |
+
v 0.03037866 -0.07899010 0.02011384
|
| 19 |
+
v 0.02454646 -0.07893406 0.01319319
|
| 20 |
+
v 0.02454646 -0.07931940 0.01269841
|
| 21 |
+
v 0.02791862 -0.08132759 0.01200197
|
| 22 |
+
v 0.02454646 -0.07977264 0.01052596
|
| 23 |
+
v 0.02454646 -0.07949254 0.00832857
|
| 24 |
+
v 0.02454646 -0.07895949 0.00590041
|
| 25 |
+
v 0.03265229 -0.08151261 0.00888154
|
| 26 |
+
v 0.03480441 -0.08146338 0.00893975
|
| 27 |
+
v 0.03616759 -0.08128005 0.00916012
|
| 28 |
+
v 0.03617425 -0.08128685 0.01049893
|
| 29 |
+
v 0.03892724 -0.07868112 0.00970064
|
| 30 |
+
v 0.03875247 -0.07843667 0.01145107
|
| 31 |
+
v 0.03683836 -0.07988808 0.01288135
|
| 32 |
+
v 0.03646386 -0.07896971 0.01495610
|
| 33 |
+
v 0.03490428 -0.08007143 0.01592694
|
| 34 |
+
v 0.03407706 -0.07928378 0.01838212
|
| 35 |
+
v 0.03360269 -0.07871510 0.01986438
|
| 36 |
+
v 0.03222786 -0.08048394 0.01826777
|
| 37 |
+
v 0.03212466 -0.07719920 0.02108678
|
| 38 |
+
v 0.02999252 -0.07719920 0.02044648
|
| 39 |
+
v 0.02454646 -0.07662880 0.01493116
|
| 40 |
+
v 0.02454646 -0.07747078 0.01447380
|
| 41 |
+
v 0.02454646 -0.07787819 0.01414533
|
| 42 |
+
v 0.02454646 -0.07969116 0.01097916
|
| 43 |
+
v 0.02454646 -0.07877955 0.00550542
|
| 44 |
+
v 0.02454646 -0.07802584 0.00441192
|
| 45 |
+
v 0.02454646 -0.07797492 0.00435995
|
| 46 |
+
v 0.02454646 -0.07704805 0.00341822
|
| 47 |
+
v 0.03480441 -0.07991013 0.00769658
|
| 48 |
+
v 0.03892724 -0.07868111 0.00897510
|
| 49 |
+
v 0.03748583 -0.07792740 0.00709786
|
| 50 |
+
v 0.03896219 -0.07607876 0.00645757
|
| 51 |
+
v 0.04082470 -0.07448988 0.01049896
|
| 52 |
+
v 0.03950313 -0.07739948 0.01054676
|
| 53 |
+
v 0.03925846 -0.07662880 0.01256745
|
| 54 |
+
v 0.03839129 -0.07739949 0.01331585
|
| 55 |
+
v 0.03592958 -0.07817697 0.01670861
|
| 56 |
+
v 0.03545521 -0.07724333 0.01844242
|
| 57 |
+
v 0.03596453 -0.07552711 0.01935921
|
| 58 |
+
v 0.03646719 -0.07372093 0.02009516
|
| 59 |
+
v 0.03410368 -0.07719919 0.02033630
|
| 60 |
+
v 0.03496420 -0.07456971 0.02078535
|
| 61 |
+
v 0.03480441 -0.07178064 0.02139448
|
| 62 |
+
v 0.03212466 -0.07448992 0.02161483
|
| 63 |
+
v 0.02968459 -0.07448992 0.02055459
|
| 64 |
+
v 0.02834305 -0.07448991 0.01939665
|
| 65 |
+
v 0.02454646 -0.07454762 0.01574610
|
| 66 |
+
v 0.02454646 -0.07670854 0.00318538
|
| 67 |
+
v 0.03480441 -0.07834668 0.00662595
|
| 68 |
+
v 0.03932504 -0.07706844 0.00800843
|
| 69 |
+
v 0.04027876 -0.07448987 0.00786915
|
| 70 |
+
v 0.03748583 -0.07657275 0.00632244
|
| 71 |
+
v 0.02454646 -0.07448985 0.00175719
|
| 72 |
+
v 0.02454646 -0.07182300 0.00074477
|
| 73 |
+
v 0.03918855 -0.07448986 0.00629750
|
| 74 |
+
v 0.04127410 -0.07166517 0.01066112
|
| 75 |
+
v 0.04155040 -0.07068569 0.01164236
|
| 76 |
+
v 0.04155040 -0.07068570 0.01240532
|
| 77 |
+
v 0.04112763 -0.07166518 0.01321817
|
| 78 |
+
v 0.03979274 -0.07467492 0.01331586
|
| 79 |
+
v 0.03978443 -0.07190455 0.01588955
|
| 80 |
+
v 0.03922517 -0.07389407 0.01510372
|
| 81 |
+
v 0.03875080 -0.07570024 0.01431996
|
| 82 |
+
v 0.03831139 -0.07190456 0.01847778
|
| 83 |
+
v 0.03693323 -0.07178064 0.02042363
|
| 84 |
+
v 0.03212466 -0.07178064 0.02139240
|
| 85 |
+
v 0.03701812 -0.06907136 0.02030930
|
| 86 |
+
v 0.03480441 -0.06907137 0.02088308
|
| 87 |
+
v 0.02969957 -0.07178064 0.02042155
|
| 88 |
+
v 0.02835803 -0.07178063 0.01944655
|
| 89 |
+
v 0.02454646 -0.07178062 0.01584590
|
| 90 |
+
v 0.03994088 -0.07173306 0.00774235
|
| 91 |
+
v 0.03917357 -0.07260389 0.00630997
|
| 92 |
+
v 0.02454646 -0.06907129 0.00038097
|
| 93 |
+
v 0.04155040 -0.07033600 0.01164236
|
| 94 |
+
v 0.04155040 -0.07033601 0.01240532
|
| 95 |
+
v 0.04022883 -0.06907135 0.01575235
|
| 96 |
+
v 0.03915360 -0.07108463 0.01766493
|
| 97 |
+
v 0.03835800 -0.06907136 0.01906820
|
| 98 |
+
v 0.03195656 -0.06885577 0.02039869
|
| 99 |
+
v 0.03015397 -0.06961457 0.02010140
|
| 100 |
+
v 0.03657871 -0.06736872 0.01994341
|
| 101 |
+
v 0.03480441 -0.06722273 0.02003281
|
| 102 |
+
v 0.03273884 -0.06740437 0.01989768
|
| 103 |
+
v 0.02454646 -0.06928353 0.01496237
|
| 104 |
+
v 0.03948149 -0.06980296 0.00853233
|
| 105 |
+
v 0.02454646 -0.06643162 0.00188403
|
| 106 |
+
v 0.04013396 -0.06916639 0.01072142
|
| 107 |
+
v 0.03932670 -0.06730589 0.01312463
|
| 108 |
+
v 0.04082137 -0.06928862 0.01321818
|
| 109 |
+
v 0.03933003 -0.06722781 0.01575235
|
| 110 |
+
v 0.03900546 -0.06749772 0.01738637
|
| 111 |
+
v 0.03920520 -0.06907136 0.01775433
|
| 112 |
+
v 0.03095123 -0.06780838 0.01962326
|
| 113 |
+
v 0.03747751 -0.06685097 0.01830940
|
| 114 |
+
v 0.03489430 -0.06571022 0.01818052
|
| 115 |
+
v 0.03329144 -0.06495820 0.01716809
|
| 116 |
+
v 0.03212134 -0.06633661 0.01839672
|
| 117 |
+
v 0.02454646 -0.06895081 0.01473993
|
| 118 |
+
v 0.03748583 -0.06798660 0.00972770
|
| 119 |
+
v 0.03900047 -0.06760295 0.01154882
|
| 120 |
+
v 0.02454646 -0.06622452 0.00254928
|
| 121 |
+
v 0.03480441 -0.06556761 0.01312464
|
| 122 |
+
v 0.03748583 -0.06629415 0.01312464
|
| 123 |
+
v 0.03748583 -0.06592240 0.01575236
|
| 124 |
+
v 0.03003912 -0.06707505 0.01787075
|
| 125 |
+
v 0.02454646 -0.06694092 0.01312670
|
| 126 |
+
v 0.02454646 -0.06716839 0.01343230
|
| 127 |
+
v 0.03406041 -0.06495820 0.01716809
|
| 128 |
+
v 0.03329144 -0.06495820 0.01637603
|
| 129 |
+
v 0.02454646 -0.06511434 0.00786918
|
| 130 |
+
v 0.02454646 -0.06545386 0.01034723
|
| 131 |
+
v 0.02454646 -0.06547761 0.00524145
|
| 132 |
+
v 0.03489430 -0.06505326 0.01560060
|
| 133 |
+
v 0.03406041 -0.06495820 0.01637603
|
| 134 |
+
f 1 2 3
|
| 135 |
+
f 1 3 4
|
| 136 |
+
f 1 4 5
|
| 137 |
+
f 1 5 6
|
| 138 |
+
f 1 6 7
|
| 139 |
+
f 1 7 8
|
| 140 |
+
f 1 8 9
|
| 141 |
+
f 1 9 10
|
| 142 |
+
f 1 10 11
|
| 143 |
+
f 1 11 2
|
| 144 |
+
f 2 11 12
|
| 145 |
+
f 2 12 3
|
| 146 |
+
f 3 12 13
|
| 147 |
+
f 3 13 14
|
| 148 |
+
f 3 14 4
|
| 149 |
+
f 4 14 15
|
| 150 |
+
f 4 15 5
|
| 151 |
+
f 5 15 16
|
| 152 |
+
f 5 16 17
|
| 153 |
+
f 5 17 18
|
| 154 |
+
f 5 18 19
|
| 155 |
+
f 5 19 6
|
| 156 |
+
f 6 19 20
|
| 157 |
+
f 6 20 7
|
| 158 |
+
f 7 20 8
|
| 159 |
+
f 8 21 22
|
| 160 |
+
f 8 22 23
|
| 161 |
+
f 8 23 9
|
| 162 |
+
f 8 20 21
|
| 163 |
+
f 9 23 10
|
| 164 |
+
f 10 23 24
|
| 165 |
+
f 10 24 25
|
| 166 |
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demo_assets/book/mjcf/book.mjcf
CHANGED
|
@@ -1,15 +1,21 @@
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
<mujoco model="book">
|
| 3 |
<asset>
|
| 4 |
-
<material name="material_0" texture="
|
| 5 |
-
<texture name="
|
| 6 |
-
<mesh name="
|
| 7 |
-
<mesh name="
|
|
|
|
|
|
|
|
|
|
| 8 |
</asset>
|
| 9 |
<worldbody>
|
| 10 |
<body name="book">
|
| 11 |
-
<geom type="mesh" mesh="
|
| 12 |
-
<geom type="mesh" mesh="
|
|
|
|
|
|
|
|
|
|
| 13 |
</body>
|
| 14 |
</worldbody>
|
| 15 |
</mujoco>
|
|
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
<mujoco model="book">
|
| 3 |
<asset>
|
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|
| 5 |
+
<texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
|
| 6 |
+
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|
| 7 |
+
<mesh name="collision_mesh_0_0" file="mesh/book_collision_0.obj" scale="1.0 1.0 1.0" />
|
| 8 |
+
<mesh name="collision_mesh_0_1" file="mesh/book_collision_1.obj" scale="1.0 1.0 1.0" />
|
| 9 |
+
<mesh name="collision_mesh_0_2" file="mesh/book_collision_2.obj" scale="1.0 1.0 1.0" />
|
| 10 |
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<mesh name="collision_mesh_0_3" file="mesh/book_collision_3.obj" scale="1.0 1.0 1.0" />
|
| 11 |
</asset>
|
| 12 |
<worldbody>
|
| 13 |
<body name="book">
|
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|
| 15 |
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|
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|
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|
| 18 |
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<geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 19 |
</body>
|
| 20 |
</worldbody>
|
| 21 |
</mujoco>
|
demo_assets/book/mjcf/mesh/book_0.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
demo_assets/book/mjcf/mesh/book_collision.obj
CHANGED
|
@@ -1,445 +1,6 @@
|
|
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| 1 |
# https://github.com/mikedh/trimesh
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| 2 |
+
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| 3 |
+
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| 4 |
v -0.06686763 0.00352476 -0.01440062
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| 5 |
v -0.06688091 0.00174570 -0.01440062
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| 6 |
v -0.06645596 0.00174569 -0.01185453
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| 197 |
v 0.06442975 0.00352475 -0.01211116
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| 198 |
f 1 2 3
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|
| 1733 |
+
f 539 555 558
|
| 1734 |
+
f 539 558 559
|
| 1735 |
+
f 539 559 540
|
| 1736 |
+
f 540 559 541
|
| 1737 |
+
f 541 559 560
|
| 1738 |
+
f 541 560 542
|
| 1739 |
+
f 542 560 561
|
| 1740 |
+
f 542 561 543
|
| 1741 |
+
f 543 562 563
|
| 1742 |
+
f 543 563 564
|
| 1743 |
+
f 543 564 565
|
| 1744 |
+
f 543 565 566
|
| 1745 |
+
f 543 566 567
|
| 1746 |
+
f 543 567 568
|
| 1747 |
+
f 543 568 569
|
| 1748 |
+
f 543 569 570
|
| 1749 |
+
f 543 570 544
|
| 1750 |
+
f 543 561 562
|
| 1751 |
+
f 544 570 571
|
| 1752 |
+
f 544 571 545
|
| 1753 |
+
f 545 571 551
|
| 1754 |
+
f 545 551 548
|
| 1755 |
+
f 545 548 547
|
| 1756 |
+
f 545 547 546
|
| 1757 |
+
f 548 551 549
|
|
|
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|
| 1758 |
f 549 551 550
|
| 1759 |
+
f 551 571 552
|
| 1760 |
+
f 552 572 573
|
| 1761 |
+
f 552 573 574
|
| 1762 |
+
f 552 574 553
|
| 1763 |
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f 552 571 572
|
| 1764 |
+
f 554 575 555
|
| 1765 |
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f 554 557 575
|
| 1766 |
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f 555 576 558
|
| 1767 |
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f 555 575 577
|
| 1768 |
+
f 555 577 576
|
| 1769 |
+
f 557 578 577
|
| 1770 |
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f 557 577 575
|
| 1771 |
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f 558 576 579
|
| 1772 |
+
f 558 579 580
|
| 1773 |
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f 558 580 581
|
| 1774 |
+
f 558 581 582
|
| 1775 |
+
f 558 582 583
|
| 1776 |
+
f 558 583 584
|
| 1777 |
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f 558 584 559
|
| 1778 |
+
f 559 584 560
|
| 1779 |
+
f 560 584 585
|
| 1780 |
+
f 560 585 586
|
| 1781 |
+
f 560 586 587
|
| 1782 |
f 560 587 588
|
| 1783 |
+
f 560 588 589
|
| 1784 |
+
f 560 589 561
|
| 1785 |
f 561 589 562
|
| 1786 |
+
f 562 589 563
|
| 1787 |
+
f 563 589 590
|
| 1788 |
+
f 563 590 591
|
| 1789 |
+
f 563 591 564
|
| 1790 |
+
f 564 592 593
|
| 1791 |
+
f 564 593 566
|
| 1792 |
+
f 564 566 565
|
| 1793 |
+
f 564 591 594
|
| 1794 |
+
f 564 594 592
|
| 1795 |
f 566 568 567
|
| 1796 |
+
f 566 593 595
|
| 1797 |
+
f 566 595 596
|
| 1798 |
+
f 566 596 597
|
| 1799 |
+
f 566 597 568
|
| 1800 |
+
f 568 597 569
|
| 1801 |
+
f 569 597 570
|
| 1802 |
+
f 570 597 571
|
| 1803 |
+
f 571 597 598
|
| 1804 |
+
f 571 598 572
|
| 1805 |
+
f 572 598 599
|
| 1806 |
+
f 572 599 573
|
| 1807 |
+
f 573 600 574
|
| 1808 |
+
f 573 599 601
|
| 1809 |
+
f 573 601 602
|
| 1810 |
+
f 573 602 600
|
| 1811 |
+
f 576 577 603
|
| 1812 |
+
f 576 603 604
|
| 1813 |
+
f 576 604 579
|
| 1814 |
+
f 577 605 606
|
| 1815 |
+
f 577 606 603
|
| 1816 |
+
f 577 578 605
|
| 1817 |
+
f 578 604 603
|
| 1818 |
+
f 578 603 606
|
| 1819 |
+
f 578 606 605
|
| 1820 |
+
f 578 607 624
|
| 1821 |
+
f 578 624 633
|
| 1822 |
+
f 578 633 632
|
| 1823 |
+
f 578 632 635
|
| 1824 |
+
f 578 635 634
|
| 1825 |
+
f 578 634 627
|
| 1826 |
+
f 578 627 626
|
| 1827 |
+
f 578 626 630
|
| 1828 |
+
f 578 630 629
|
| 1829 |
+
f 578 629 625
|
| 1830 |
+
f 578 625 616
|
| 1831 |
+
f 578 616 615
|
| 1832 |
+
f 578 615 614
|
| 1833 |
+
f 578 614 613
|
| 1834 |
+
f 578 613 590
|
| 1835 |
+
f 578 590 589
|
| 1836 |
+
f 578 589 588
|
| 1837 |
+
f 578 588 612
|
| 1838 |
+
f 578 612 611
|
| 1839 |
+
f 578 611 610
|
| 1840 |
+
f 578 610 609
|
| 1841 |
+
f 578 609 608
|
| 1842 |
+
f 578 608 604
|
| 1843 |
+
f 579 604 580
|
| 1844 |
+
f 580 604 581
|
| 1845 |
+
f 581 604 582
|
| 1846 |
+
f 582 604 608
|
| 1847 |
+
f 582 608 609
|
| 1848 |
+
f 582 609 583
|
| 1849 |
+
f 583 609 610
|
| 1850 |
+
f 583 610 585
|
| 1851 |
+
f 583 585 584
|
| 1852 |
+
f 585 610 586
|
| 1853 |
+
f 586 610 611
|
| 1854 |
+
f 586 611 612
|
| 1855 |
+
f 586 612 587
|
| 1856 |
+
f 587 612 588
|
| 1857 |
+
f 590 613 591
|
| 1858 |
+
f 591 613 614
|
| 1859 |
+
f 591 614 615
|
| 1860 |
+
f 591 615 594
|
| 1861 |
+
f 592 594 595
|
| 1862 |
+
f 592 595 593
|
| 1863 |
+
f 594 616 617
|
| 1864 |
+
f 594 617 618
|
| 1865 |
+
f 594 618 595
|
| 1866 |
+
f 594 615 616
|
| 1867 |
+
f 595 618 596
|
| 1868 |
+
f 596 618 617
|
| 1869 |
+
f 596 617 619
|
| 1870 |
+
f 596 619 597
|
| 1871 |
+
f 597 619 598
|
| 1872 |
+
f 598 619 620
|
| 1873 |
+
f 598 620 599
|
| 1874 |
+
f 599 621 601
|
| 1875 |
+
f 599 620 621
|
| 1876 |
+
f 601 622 623
|
| 1877 |
+
f 601 623 602
|
| 1878 |
+
f 601 621 622
|
| 1879 |
+
f 607 623 624
|
| 1880 |
+
f 616 625 617
|
| 1881 |
+
f 617 626 627
|
| 1882 |
+
f 617 627 628
|
| 1883 |
+
f 617 628 619
|
| 1884 |
+
f 617 625 629
|
| 1885 |
+
f 617 629 630
|
| 1886 |
+
f 617 630 626
|
| 1887 |
+
f 619 628 631
|
| 1888 |
+
f 619 631 620
|
| 1889 |
+
f 620 631 621
|
| 1890 |
+
f 621 631 632
|
| 1891 |
+
f 621 632 622
|
| 1892 |
+
f 622 632 633
|
| 1893 |
+
f 622 633 624
|
| 1894 |
+
f 622 624 623
|
| 1895 |
f 627 634 628
|
| 1896 |
+
f 628 634 631
|
| 1897 |
f 631 635 632
|
| 1898 |
+
f 631 634 635
|
| 1899 |
|
demo_assets/book/mjcf/mesh/book_collision_0.obj
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.06082477 0.10532621 0.01480714
|
| 3 |
+
v -0.03199912 0.10254821 0.00060139
|
| 4 |
+
v -0.03330574 0.10255824 0.00060139
|
| 5 |
+
v -0.03543899 0.10256827 0.00060139
|
| 6 |
+
v -0.06426465 0.10531619 0.01480714
|
| 7 |
+
v -0.06082477 0.10512561 0.01805210
|
| 8 |
+
v -0.04362537 0.10507548 0.01480714
|
| 9 |
+
v 0.01271932 0.10213702 0.00060139
|
| 10 |
+
v -0.03674562 0.10255824 0.00060139
|
| 11 |
+
v -0.06426465 0.10453391 0.01278809
|
| 12 |
+
v -0.06613126 0.10431328 0.01305692
|
| 13 |
+
v -0.06655790 0.10465426 0.01480713
|
| 14 |
+
v -0.06661123 0.10469437 0.01747822
|
| 15 |
+
v -0.06454464 0.10493505 0.01835524
|
| 16 |
+
v -0.03887887 0.10252815 0.00060139
|
| 17 |
+
v -0.04018549 0.10250809 0.00060139
|
| 18 |
+
v -0.04362537 0.10236769 0.00060139
|
| 19 |
+
v -0.04575863 0.10224734 0.00060139
|
| 20 |
+
v -0.04706526 0.10216711 0.00060139
|
| 21 |
+
v -0.04921184 0.10200664 0.00060138
|
| 22 |
+
v -0.05050513 0.10189632 0.00060138
|
| 23 |
+
v -0.05265173 0.10164560 0.00060138
|
| 24 |
+
v -0.05394501 0.10144501 0.00060138
|
| 25 |
+
v -0.06359801 0.10438346 0.01981566
|
| 26 |
+
v -0.06082477 0.10439349 0.01982710
|
| 27 |
+
v -0.02642598 0.10454394 0.01702446
|
| 28 |
+
v -0.04018549 0.10501530 0.01480714
|
| 29 |
+
v 0.06509082 0.10094357 0.00060138
|
| 30 |
+
v -0.06657124 0.10245790 0.01266989
|
| 31 |
+
v -0.06779786 0.10245790 0.01480713
|
| 32 |
+
v -0.05530496 0.10114415 0.00060138
|
| 33 |
+
v -0.05610493 0.10093354 0.00060138
|
| 34 |
+
v -0.05737156 0.09965985 0.00060138
|
| 35 |
+
v -0.05802486 0.09896784 0.00060137
|
| 36 |
+
v -0.06711788 0.10273870 0.01835523
|
| 37 |
+
v -0.06589126 0.10407256 0.01964025
|
| 38 |
+
v -0.06454464 0.10273870 0.01993958
|
| 39 |
+
v -0.06082477 0.10245788 0.02004826
|
| 40 |
+
v 0.04766476 0.10074291 0.01968600
|
| 41 |
+
v 0.04593149 0.10168565 0.01836095
|
| 42 |
+
v 0.04238495 0.10202663 0.01796438
|
| 43 |
+
v -0.02297276 0.10448375 0.01691769
|
| 44 |
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|
demo_assets/book/mjcf/mesh/book_collision_1.obj
ADDED
|
@@ -0,0 +1,376 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.06686281 0.00286944 0.01480596
|
| 3 |
+
v -0.06674287 0.00286945 0.01214672
|
| 4 |
+
v -0.06846199 -0.09895289 0.01480559
|
| 5 |
+
v -0.06759577 -0.09895291 0.01805024
|
| 6 |
+
v -0.06611653 0.00286943 0.01656986
|
| 7 |
+
v -0.06699608 -0.07811931 0.01206798
|
| 8 |
+
v -0.05852045 0.00286949 0.00060103
|
| 9 |
+
v -0.05853378 0.00271029 0.00060103
|
| 10 |
+
v -0.05854711 0.00174450 0.00060103
|
| 11 |
+
v -0.05856044 -0.00073897 0.00060102
|
| 12 |
+
v -0.05896023 -0.09546112 0.00060067
|
| 13 |
+
v -0.06703606 -0.08854140 0.01216742
|
| 14 |
+
v -0.06700940 -0.09548238 0.01223054
|
| 15 |
+
v -0.06702273 -0.09895289 0.01231279
|
| 16 |
+
v -0.06652965 -0.10242338 0.01277192
|
| 17 |
+
v -0.06768906 -0.10242338 0.01480557
|
| 18 |
+
v -0.06700940 -0.10243401 0.01825493
|
| 19 |
+
v -0.06615651 -0.10128779 0.01976630
|
| 20 |
+
v -0.06615651 -0.09895291 0.01976823
|
| 21 |
+
v -0.06600992 -0.09347653 0.01968407
|
| 22 |
+
v -0.06426415 0.00286943 0.01736763
|
| 23 |
+
v -0.05896023 -0.09548234 0.00060067
|
| 24 |
+
v 0.06734786 0.00286949 0.00060103
|
| 25 |
+
v -0.06600992 -0.10418515 0.01316602
|
| 26 |
+
v -0.05768089 -0.09875119 0.00060066
|
| 27 |
+
v -0.06639639 -0.10449294 0.01480557
|
| 28 |
+
v -0.06651632 -0.10458846 0.01730985
|
| 29 |
+
v -0.06537025 -0.10360145 0.01947359
|
| 30 |
+
v -0.06425083 -0.10243401 0.01993848
|
| 31 |
+
v -0.06426415 -0.09895291 0.02007624
|
| 32 |
+
v -0.06082593 0.00286942 0.01811949
|
| 33 |
+
v 0.06732120 0.00286948 0.00182543
|
| 34 |
+
v 0.06766769 -0.09201186 0.00182508
|
| 35 |
+
v 0.06768102 -0.09201185 0.00060068
|
| 36 |
+
v -0.06426415 -0.10506604 0.01480556
|
| 37 |
+
v -0.05397613 -0.10047051 0.00060065
|
| 38 |
+
v -0.06425083 -0.10481135 0.01825493
|
| 39 |
+
v -0.06307810 -0.10427007 0.01975099
|
| 40 |
+
v -0.06083926 -0.10248707 0.01994804
|
| 41 |
+
v -0.06082593 -0.09895291 0.02014129
|
| 42 |
+
v 0.05271541 0.00286942 0.01863794
|
| 43 |
+
v 0.06676149 0.00286947 0.00507199
|
| 44 |
+
v 0.06722792 -0.09201187 0.00507164
|
| 45 |
+
v 0.06724124 -0.09548236 0.00507163
|
| 46 |
+
v 0.06761439 -0.09548235 0.00182507
|
| 47 |
+
v 0.06761439 -0.09548234 0.00060067
|
| 48 |
+
v -0.06082593 -0.10532077 0.01480556
|
| 49 |
+
v -0.04976498 -0.10076768 0.00060065
|
| 50 |
+
v -0.05738771 -0.10545873 0.01480556
|
| 51 |
+
v -0.05394949 -0.10555425 0.01480556
|
| 52 |
+
v -0.06083926 -0.10489625 0.01828744
|
| 53 |
+
v -0.06199866 -0.10427007 0.01975099
|
| 54 |
+
v 0.04926386 -0.09895291 0.01938560
|
| 55 |
+
v 0.05271541 -0.00172606 0.01865514
|
| 56 |
+
v 0.05615364 -0.00172606 0.01821895
|
| 57 |
+
v 0.05615364 0.00174443 0.01820175
|
| 58 |
+
v 0.05615364 0.00286942 0.01818836
|
| 59 |
+
v 0.06642833 0.00286947 0.00611656
|
| 60 |
+
v 0.06641501 -0.09548237 0.00831629
|
| 61 |
+
v 0.06514899 -0.09797647 0.01082629
|
| 62 |
+
v 0.06560209 -0.09858140 0.00831628
|
| 63 |
+
v 0.06598856 -0.09879366 0.00507162
|
| 64 |
+
v 0.06614847 -0.09878303 0.00182506
|
| 65 |
+
v 0.06705467 -0.09675592 0.00060066
|
| 66 |
+
v -0.04711302 -0.10092688 0.00060065
|
| 67 |
+
v -0.04362149 -0.10109669 0.00060065
|
| 68 |
+
v -0.04018326 -0.10121343 0.00060065
|
| 69 |
+
v -0.02428481 -0.10169102 0.00060065
|
| 70 |
+
v -0.05394949 -0.10502361 0.01772881
|
| 71 |
+
v -0.05738771 -0.10500239 0.01777664
|
| 72 |
+
v -0.02297882 -0.10172286 0.00060065
|
| 73 |
+
v -0.01051859 -0.10197758 0.00060065
|
| 74 |
+
v -0.00921259 -0.10198819 0.00060065
|
| 75 |
+
v 0.01485497 -0.10204126 0.00060065
|
| 76 |
+
v 0.01829320 -0.10204126 0.00060065
|
| 77 |
+
v 0.02058535 -0.10203064 0.00060065
|
| 78 |
+
v 0.02407688 -0.10197758 0.00060065
|
| 79 |
+
v -0.04705971 -0.10544812 0.01480556
|
| 80 |
+
v -0.04705971 -0.10497054 0.01769437
|
| 81 |
+
v -0.05051126 -0.10500239 0.01773455
|
| 82 |
+
v -0.04362149 -0.10491747 0.01760828
|
| 83 |
+
v 0.04582564 -0.10179722 0.01795840
|
| 84 |
+
v 0.04926386 -0.10160619 0.01795266
|
| 85 |
+
v 0.05271541 -0.10117104 0.01727733
|
| 86 |
+
v 0.05271541 -0.09895291 0.01847496
|
| 87 |
+
v 0.05615364 -0.09548241 0.01797756
|
| 88 |
+
v 0.05615364 -0.09201192 0.01805218
|
| 89 |
+
v 0.05959186 0.00174444 0.01722606
|
| 90 |
+
v 0.05959186 0.00286943 0.01722223
|
| 91 |
+
v 0.05725973 0.00286942 0.01788417
|
| 92 |
+
v 0.06572202 0.00286946 0.00831665
|
| 93 |
+
v 0.06532224 -0.09548238 0.01122997
|
| 94 |
+
v 0.06458928 -0.09548239 0.01285230
|
| 95 |
+
v 0.06236377 -0.09825242 0.01418191
|
| 96 |
+
v 0.06330994 -0.09888920 0.01176946
|
| 97 |
+
v 0.06303009 -0.09977008 0.00831627
|
| 98 |
+
v 0.06613515 -0.09880425 0.00060066
|
| 99 |
+
v 0.02518297 -0.10194573 0.00060065
|
| 100 |
+
v -0.04362149 -0.10538443 0.01480556
|
| 101 |
+
v -0.02297882 -0.10450355 0.01699992
|
| 102 |
+
v 0.04238742 -0.10230663 0.01480557
|
| 103 |
+
v 0.04582564 -0.10214743 0.01480557
|
| 104 |
+
v -0.01954059 -0.10442926 0.01687557
|
| 105 |
+
v -0.01610237 -0.10432314 0.01669956
|
| 106 |
+
v 0.04926386 -0.10186088 0.01480558
|
| 107 |
+
v 0.05476769 -0.10081019 0.01658861
|
| 108 |
+
v 0.05881893 -0.09789159 0.01676654
|
| 109 |
+
v 0.06111108 -0.09615102 0.01634566
|
| 110 |
+
v 0.05981841 -0.09518524 0.01689473
|
| 111 |
+
v 0.05989837 -0.09221356 0.01695213
|
| 112 |
+
v 0.06019155 0.00286943 0.01701370
|
| 113 |
+
v 0.06546883 0.00286946 0.00894798
|
| 114 |
+
v 0.06492244 0.00286945 0.01027951
|
| 115 |
+
v 0.06410953 0.00286945 0.01189993
|
| 116 |
+
v 0.06360312 0.00286944 0.01283544
|
| 117 |
+
v 0.06252368 0.00286944 0.01480596
|
| 118 |
+
v 0.06217719 0.00286943 0.01537416
|
| 119 |
+
v 0.06144424 0.00286943 0.01656029
|
| 120 |
+
v 0.06256366 -0.09518524 0.01508109
|
| 121 |
+
v 0.06303009 -0.09931368 0.00060066
|
| 122 |
+
v 0.06496242 -0.09903774 0.00060066
|
| 123 |
+
v 0.03549764 -0.10161673 0.00060065
|
| 124 |
+
v -0.04018326 -0.10526769 0.01480556
|
| 125 |
+
v 0.03829620 -0.10152121 0.00060065
|
| 126 |
+
v 0.04238742 -0.10126650 0.00060065
|
| 127 |
+
v 0.06132430 -0.09383736 0.01643368
|
| 128 |
+
f 1 2 3
|
| 129 |
+
f 1 3 4
|
| 130 |
+
f 1 4 5
|
| 131 |
+
f 1 5 21
|
| 132 |
+
f 1 21 31
|
| 133 |
+
f 1 31 41
|
| 134 |
+
f 1 41 57
|
| 135 |
+
f 1 57 90
|
| 136 |
+
f 1 90 89
|
| 137 |
+
f 1 89 111
|
| 138 |
+
f 1 111 118
|
| 139 |
+
f 1 118 117
|
| 140 |
+
f 1 117 116
|
| 141 |
+
f 1 116 115
|
| 142 |
+
f 1 115 114
|
| 143 |
+
f 1 114 113
|
| 144 |
+
f 1 113 112
|
| 145 |
+
f 1 112 91
|
| 146 |
+
f 1 91 58
|
| 147 |
+
f 1 58 42
|
| 148 |
+
f 1 42 32
|
| 149 |
+
f 1 32 23
|
| 150 |
+
f 1 23 7
|
| 151 |
+
f 1 7 2
|
| 152 |
+
f 2 6 3
|
| 153 |
+
f 2 7 8
|
| 154 |
+
f 2 8 9
|
| 155 |
+
f 2 9 10
|
| 156 |
+
f 2 10 11
|
| 157 |
+
f 2 11 6
|
| 158 |
+
f 3 12 13
|
| 159 |
+
f 3 13 14
|
| 160 |
+
f 3 14 15
|
| 161 |
+
f 3 15 16
|
| 162 |
+
f 3 16 17
|
| 163 |
+
f 3 17 4
|
| 164 |
+
f 3 6 12
|
| 165 |
+
f 4 17 18
|
| 166 |
+
f 4 18 19
|
| 167 |
+
f 4 19 5
|
| 168 |
+
f 5 19 20
|
| 169 |
+
f 5 20 21
|
| 170 |
+
f 6 11 22
|
| 171 |
+
f 6 22 12
|
| 172 |
+
f 7 23 34
|
| 173 |
+
f 7 34 46
|
| 174 |
+
f 7 46 64
|
| 175 |
+
f 7 64 97
|
| 176 |
+
f 7 97 121
|
| 177 |
+
f 7 121 120
|
| 178 |
+
f 7 120 125
|
| 179 |
+
f 7 125 124
|
| 180 |
+
f 7 124 122
|
| 181 |
+
f 7 122 98
|
| 182 |
+
f 7 98 77
|
| 183 |
+
f 7 77 76
|
| 184 |
+
f 7 76 75
|
| 185 |
+
f 7 75 74
|
| 186 |
+
f 7 74 73
|
| 187 |
+
f 7 73 72
|
| 188 |
+
f 7 72 71
|
| 189 |
+
f 7 71 68
|
| 190 |
+
f 7 68 67
|
| 191 |
+
f 7 67 66
|
| 192 |
+
f 7 66 65
|
| 193 |
+
f 7 65 48
|
| 194 |
+
f 7 48 36
|
| 195 |
+
f 7 36 25
|
| 196 |
+
f 7 25 22
|
| 197 |
+
f 7 22 11
|
| 198 |
+
f 7 11 10
|
| 199 |
+
f 7 10 9
|
| 200 |
+
f 7 9 8
|
| 201 |
+
f 12 22 13
|
| 202 |
+
f 13 22 14
|
| 203 |
+
f 14 22 15
|
| 204 |
+
f 15 24 16
|
| 205 |
+
f 15 22 25
|
| 206 |
+
f 15 25 24
|
| 207 |
+
f 16 24 26
|
| 208 |
+
f 16 26 27
|
| 209 |
+
f 16 27 17
|
| 210 |
+
f 17 27 28
|
| 211 |
+
f 17 28 18
|
| 212 |
+
f 18 28 29
|
| 213 |
+
f 18 29 30
|
| 214 |
+
f 18 30 19
|
| 215 |
+
f 19 30 20
|
| 216 |
+
f 20 30 31
|
| 217 |
+
f 20 31 21
|
| 218 |
+
f 23 32 33
|
| 219 |
+
f 23 33 34
|
| 220 |
+
f 24 35 26
|
| 221 |
+
f 24 25 36
|
| 222 |
+
f 24 36 35
|
| 223 |
+
f 26 35 27
|
| 224 |
+
f 27 35 37
|
| 225 |
+
f 27 37 38
|
| 226 |
+
f 27 38 28
|
| 227 |
+
f 28 38 29
|
| 228 |
+
f 29 38 39
|
| 229 |
+
f 29 39 40
|
| 230 |
+
f 29 40 30
|
| 231 |
+
f 30 40 31
|
| 232 |
+
f 31 40 41
|
| 233 |
+
f 32 42 43
|
| 234 |
+
f 32 43 44
|
| 235 |
+
f 32 44 33
|
| 236 |
+
f 33 45 34
|
| 237 |
+
f 33 44 45
|
| 238 |
+
f 34 45 46
|
| 239 |
+
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+
|
demo_assets/book/mjcf/mesh/book_collision_2.obj
ADDED
|
@@ -0,0 +1,550 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.05739139 0.10542149 -0.01764556
|
| 3 |
+
v -0.05739139 0.10511228 -0.01477019
|
| 4 |
+
v -0.05395262 0.10509233 -0.01476412
|
| 5 |
+
v -0.05050056 0.10505244 -0.01477828
|
| 6 |
+
v -0.04706178 0.10499259 -0.01483085
|
| 7 |
+
v -0.05395262 0.10535167 -0.01764556
|
| 8 |
+
v -0.05739139 0.10449389 -0.01950182
|
| 9 |
+
v -0.06083017 0.10449389 -0.01950991
|
| 10 |
+
v -0.06083017 0.10541152 -0.01764556
|
| 11 |
+
v -0.06083017 0.10511228 -0.01472166
|
| 12 |
+
v -0.03544428 0.10256880 0.00059948
|
| 13 |
+
v -0.03330666 0.10255883 0.00059948
|
| 14 |
+
v -0.03200550 0.10254886 0.00059948
|
| 15 |
+
v 0.01271192 0.10213991 0.00059948
|
| 16 |
+
v 0.01486282 0.10232943 -0.00142055
|
| 17 |
+
v -0.03330666 0.10471332 -0.01514023
|
| 18 |
+
v -0.05395262 0.10444403 -0.01946138
|
| 19 |
+
v -0.02985460 0.10462356 -0.01524740
|
| 20 |
+
v -0.01389547 0.10421461 -0.01598546
|
| 21 |
+
v -0.01389547 0.10421461 -0.01607038
|
| 22 |
+
v -0.05050056 0.10524195 -0.01764556
|
| 23 |
+
v -0.04128622 0.10421462 -0.01928748
|
| 24 |
+
v -0.04362300 0.10426450 -0.01932388
|
| 25 |
+
v -0.05050056 0.10438418 -0.01941689
|
| 26 |
+
v -0.06083017 0.10245916 -0.01990219
|
| 27 |
+
v 0.04238634 0.10080343 -0.01931175
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| 1 |
+
# https://github.com/mikedh/trimesh
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| 2 |
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v -0.06686763 0.00352476 -0.01440062
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v -0.06688091 0.00174570 -0.01440062
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v -0.06645596 0.00174569 -0.01185453
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v -0.06665516 0.00352476 -0.01315587
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v -0.06664188 0.00352477 -0.01574036
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v -0.06750507 -0.06075564 -0.01764612
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v -0.06785034 -0.08159297 -0.01764620
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v -0.06793001 -0.08853874 -0.01764623
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v -0.06796985 -0.09548452 -0.01764625
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| 11 |
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v -0.06644268 0.00352475 -0.01192121
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| 12 |
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v -0.06735898 -0.08506587 -0.01448581
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v -0.06646924 -0.00172720 -0.01183636
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v -0.06556621 0.00174569 -0.01023190
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| 15 |
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v -0.06641612 0.00352477 -0.01702149
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v -0.06743866 -0.05728275 -0.01764611
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| 17 |
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v -0.06600445 -0.02737967 -0.01927469
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| 18 |
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v -0.06605756 -0.03298317 -0.01931512
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v -0.06629660 -0.05728274 -0.01945868
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| 20 |
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v -0.06638956 -0.06770140 -0.01951328
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| 21 |
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v -0.06652236 -0.08506585 -0.01959013
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| 22 |
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v -0.06660204 -0.09548451 -0.01962452
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| 23 |
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v -0.06796985 -0.09895741 -0.01764626
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| 24 |
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v -0.06737226 -0.08853875 -0.01448785
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| 25 |
+
v -0.06552637 0.00352475 -0.01029858
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| 26 |
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v -0.06735898 -0.09548453 -0.01452425
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| 27 |
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v -0.06713323 -0.09902134 -0.01411001
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| 28 |
+
v -0.06557949 -0.00172720 -0.01021373
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| 29 |
+
v -0.05855448 0.00174565 0.00059911
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| 30 |
+
v -0.05851464 0.00352471 0.00059911
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| 31 |
+
v -0.06547326 0.00352478 -0.01781563
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| 32 |
+
v -0.06447727 0.00352478 -0.01864412
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| 33 |
+
v -0.06276417 0.00352478 -0.01929883
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| 34 |
+
v -0.06426479 -0.09201162 -0.02000037
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| 35 |
+
v -0.06426479 -0.09548451 -0.02001654
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| 36 |
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v -0.06658875 -0.09895740 -0.01961241
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| 37 |
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v -0.06426479 -0.09895740 -0.02000240
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| 38 |
+
v -0.06636300 -0.10148217 -0.01948713
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| 39 |
+
v -0.06702699 -0.10255813 -0.01781400
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| 40 |
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v -0.06642940 -0.10452894 -0.01535075
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| 41 |
+
v -0.06684107 -0.10218529 -0.01432221
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| 42 |
+
v -0.05896615 -0.09548458 0.00059875
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| 43 |
+
v -0.05896615 -0.09545262 0.00059875
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| 44 |
+
v 0.06733804 0.00352471 0.00059911
|
| 45 |
+
v -0.06182131 0.00352478 -0.01929883
|
| 46 |
+
v -0.06082532 -0.09201162 -0.02004280
|
| 47 |
+
v -0.06082532 -0.09548451 -0.02004483
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| 48 |
+
v -0.06422495 -0.10255813 -0.01960637
|
| 49 |
+
v -0.06082532 -0.09895740 -0.02003070
|
| 50 |
+
v -0.06082532 -0.10243029 -0.01979227
|
| 51 |
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v -0.06534045 -0.10379388 -0.01900621
|
| 52 |
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v -0.06305633 -0.10427326 -0.01935580
|
| 53 |
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v -0.06642940 -0.10452894 -0.01684203
|
| 54 |
+
v -0.06426479 -0.10490182 -0.01478294
|
| 55 |
+
v -0.05397295 -0.10047020 0.00059873
|
| 56 |
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v -0.05769129 -0.09875506 0.00059874
|
| 57 |
+
v 0.06735131 0.00174565 0.00059911
|
| 58 |
+
v 0.06735131 0.00352471 0.00023741
|
| 59 |
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v 0.04926422 0.00352478 -0.01871686
|
| 60 |
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v 0.04926422 -0.00520005 -0.01876943
|
| 61 |
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v 0.04238529 -0.09895740 -0.01934163
|
| 62 |
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v 0.03894582 -0.09895740 -0.01936588
|
| 63 |
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v 0.04238529 -0.10082169 -0.01933962
|
| 64 |
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v 0.03894582 -0.10085364 -0.01935781
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| 65 |
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v -0.05738586 -0.10243029 -0.01977206
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| 66 |
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v -0.05738586 -0.10436914 -0.01942652
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| 67 |
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v -0.06082532 -0.10434784 -0.01941440
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| 68 |
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v -0.06422495 -0.10481658 -0.01781401
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| 69 |
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v -0.06082532 -0.10527465 -0.01764629
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| 70 |
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v -0.06082532 -0.10509357 -0.01456470
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| 71 |
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v -0.04976325 -0.10076849 0.00059873
|
| 72 |
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v 0.06739115 0.00352472 -0.00142160
|
| 73 |
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v 0.06767003 -0.09201169 0.00059876
|
| 74 |
+
v 0.05270369 0.00352478 -0.01866432
|
| 75 |
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v 0.04926422 -0.00867295 -0.01878763
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| 76 |
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v 0.05270369 -0.00520005 -0.01870679
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| 77 |
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v 0.04472253 -0.09895740 -0.01929718
|
| 78 |
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v 0.04452334 -0.10075777 -0.01930325
|
| 79 |
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v 0.04238529 -0.10207875 -0.01764627
|
| 80 |
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v -0.04198129 -0.10415609 -0.01926689
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| 81 |
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v -0.05394639 -0.10433719 -0.01940227
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| 82 |
+
v -0.05738586 -0.10530662 -0.01764629
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| 83 |
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v -0.05738586 -0.10510422 -0.01460310
|
| 84 |
+
v 0.01485626 -0.10203620 0.00059873
|
| 85 |
+
v -0.00922002 -0.10199359 0.00059873
|
| 86 |
+
v -0.01052144 -0.10198293 0.00059873
|
| 87 |
+
v -0.02297789 -0.10172726 0.00059873
|
| 88 |
+
v -0.04018851 -0.10121592 0.00059873
|
| 89 |
+
v -0.04362798 -0.10108808 0.00059873
|
| 90 |
+
v -0.04712057 -0.10092829 0.00059873
|
| 91 |
+
v 0.06767003 -0.09201168 -0.00142195
|
| 92 |
+
v 0.06699276 0.00352473 -0.00466686
|
| 93 |
+
v 0.06760363 -0.09548458 0.00059875
|
| 94 |
+
v 0.05615644 0.00352478 -0.01828039
|
| 95 |
+
v 0.05615644 -0.00520005 -0.01833094
|
| 96 |
+
v 0.05615644 -0.02951028 -0.01847046
|
| 97 |
+
v 0.05615644 -0.05380985 -0.01859785
|
| 98 |
+
v 0.05270369 -0.06075563 -0.01893331
|
| 99 |
+
v 0.05270369 -0.07812007 -0.01900410
|
| 100 |
+
v 0.04926422 -0.09548451 -0.01916178
|
| 101 |
+
v 0.04573180 -0.10164196 -0.01791704
|
| 102 |
+
v 0.05270369 -0.09548451 -0.01903650
|
| 103 |
+
v 0.04926422 -0.09895740 -0.01892335
|
| 104 |
+
v 0.05270369 -0.09895740 -0.01837573
|
| 105 |
+
v 0.05270369 -0.10127977 -0.01688446
|
| 106 |
+
v 0.04926422 -0.10159936 -0.01733508
|
| 107 |
+
v 0.04238529 -0.10234509 -0.01440101
|
| 108 |
+
v -0.00293867 -0.10419870 -0.01610447
|
| 109 |
+
v -0.03329630 -0.10482724 -0.01742805
|
| 110 |
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v -0.03673577 -0.10489116 -0.01753313
|
| 111 |
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v -0.05394639 -0.10525335 -0.01764629
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| 112 |
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v -0.03673577 -0.10489117 -0.01477688
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| 113 |
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v -0.04018851 -0.10493378 -0.01473242
|
| 114 |
+
v -0.04362798 -0.10497639 -0.01469403
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| 115 |
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v -0.04706745 -0.10501899 -0.01466372
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| 116 |
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v -0.05050692 -0.10506162 -0.01464149
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| 117 |
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v 0.02057985 -0.10202554 0.00059873
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| 118 |
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v 0.01829573 -0.10203620 0.00059873
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| 119 |
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v 0.06760363 -0.09548457 -0.00142196
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| 120 |
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v 0.06715211 -0.09548456 -0.00466722
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| 121 |
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v 0.06719195 -0.09201167 -0.00466721
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| 122 |
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v 0.06612957 0.00352474 -0.00791212
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| 123 |
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v 0.06705916 -0.09675229 0.00059874
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| 124 |
+
v 0.05959591 0.00352477 -0.01715687
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| 125 |
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v 0.05959591 -0.05380986 -0.01746019
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v 0.05615644 -0.07117430 -0.01866662
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v 0.05270369 -0.08159296 -0.01901624
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v 0.05270369 -0.09201162 -0.01905063
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v 0.05615644 -0.08853873 -0.01868083
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v 0.05615644 -0.09201162 -0.01865659
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v 0.05615644 -0.09548451 -0.01852324
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v 0.05627596 -0.09919178 -0.01721180
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v 0.05522686 -0.10096019 -0.01641565
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v 0.04582476 -0.10208942 -0.01440100
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| 136 |
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v 0.06303538 -0.09998013 -0.00791250
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v 0.04238529 -0.10126918 0.00059873
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v 0.03829511 -0.10151420 0.00059873
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v 0.03550635 -0.10176986 -0.00142198
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v -0.00293867 -0.10419870 -0.01592867
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v -0.03329630 -0.10482725 -0.01483750
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v 0.02407244 -0.10197228 0.00059873
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v 0.02173520 -0.10201489 0.00059873
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v 0.06612957 -0.09884028 -0.00142197
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v 0.06593037 -0.09886158 -0.00466723
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v 0.06622253 -0.09548455 -0.00791248
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v 0.06566478 0.00352474 -0.00917506
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v 0.06614285 -0.09879767 0.00059874
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v 0.05615644 -0.07464718 -0.01867471
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v 0.06303538 -0.09930902 0.00059874
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v 0.03550635 -0.10162073 0.00059873
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v 0.02518795 -0.10214272 -0.00142199
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v 0.02173520 -0.10223860 -0.00142199
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v 0.02518795 -0.10194032 0.00059873
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v 0.06519998 -0.09548454 -0.01046464
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v 0.06522655 -0.09201165 -0.01056162
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v 0.06438991 -0.09548454 -0.01208727
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v 0.06129572 -0.09712509 -0.01600746
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v 0.06522655 -0.08853876 -0.01058384
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v 0.06518671 -0.00520008 -0.01047643
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v 0.06517343 0.00352475 -0.01048853
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v 0.06497423 -0.09904270 0.00059874
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v 0.06164100 -0.07117431 -0.01633067
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v 0.06292914 0.00352476 -0.01440062
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v 0.06307522 -0.08506587 -0.01440094
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v 0.06162772 -0.08506586 -0.01630041
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v 0.06161444 -0.08853874 -0.01628831
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v 0.06156132 -0.09201163 -0.01625195
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v 0.06145508 -0.09480273 -0.01615900
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v 0.06445632 -0.09201165 -0.01218425
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v 0.06448288 -0.08853876 -0.01220647
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v 0.06249091 -0.09577217 -0.01471621
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v 0.06299554 -0.09201164 -0.01440097
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v 0.06444304 0.00174569 -0.01211318
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v 0.06480159 0.00352475 -0.01131702
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v 0.06369937 0.00352476 -0.01323063
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v 0.06306194 -0.08853875 -0.01440096
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v 0.06442975 0.00352475 -0.01211116
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f 1 2 3
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|
demo_assets/lamp/mjcf/lamp.mjcf
CHANGED
|
@@ -1,15 +1,199 @@
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
<mujoco model="lamp">
|
| 3 |
<asset>
|
| 4 |
-
<material name="material_0" texture="
|
| 5 |
-
<texture name="
|
| 6 |
-
<mesh name="
|
| 7 |
-
<mesh name="
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|
| 8 |
</asset>
|
| 9 |
<worldbody>
|
| 10 |
<body name="lamp">
|
| 11 |
-
<geom type="mesh" mesh="
|
| 12 |
-
<geom type="mesh" mesh="
|
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|
| 13 |
</body>
|
| 14 |
</worldbody>
|
| 15 |
</mujoco>
|
|
|
|
| 1 |
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
<mujoco model="lamp">
|
| 3 |
<asset>
|
| 4 |
+
<material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
|
| 5 |
+
<texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
|
| 6 |
+
<mesh name="visual_mesh_0_0" file="mesh/lamp_0.obj" scale="1.0 1.0 1.0" />
|
| 7 |
+
<mesh name="collision_mesh_0_0" file="mesh/lamp_collision_0.obj" scale="1.0 1.0 1.0" />
|
| 8 |
+
<mesh name="collision_mesh_0_1" file="mesh/lamp_collision_1.obj" scale="1.0 1.0 1.0" />
|
| 9 |
+
<mesh name="collision_mesh_0_2" file="mesh/lamp_collision_2.obj" scale="1.0 1.0 1.0" />
|
| 10 |
+
<mesh name="collision_mesh_0_3" file="mesh/lamp_collision_3.obj" scale="1.0 1.0 1.0" />
|
| 11 |
+
<mesh name="collision_mesh_0_4" file="mesh/lamp_collision_4.obj" scale="1.0 1.0 1.0" />
|
| 12 |
+
<mesh name="collision_mesh_0_5" file="mesh/lamp_collision_5.obj" scale="1.0 1.0 1.0" />
|
| 13 |
+
<mesh name="collision_mesh_0_6" file="mesh/lamp_collision_6.obj" scale="1.0 1.0 1.0" />
|
| 14 |
+
<mesh name="collision_mesh_0_7" file="mesh/lamp_collision_7.obj" scale="1.0 1.0 1.0" />
|
| 15 |
+
<mesh name="collision_mesh_0_8" file="mesh/lamp_collision_8.obj" scale="1.0 1.0 1.0" />
|
| 16 |
+
<mesh name="collision_mesh_0_9" file="mesh/lamp_collision_9.obj" scale="1.0 1.0 1.0" />
|
| 17 |
+
<mesh name="collision_mesh_0_10" file="mesh/lamp_collision_10.obj" scale="1.0 1.0 1.0" />
|
| 18 |
+
<mesh name="collision_mesh_0_11" file="mesh/lamp_collision_11.obj" scale="1.0 1.0 1.0" />
|
| 19 |
+
<mesh name="collision_mesh_0_12" file="mesh/lamp_collision_12.obj" scale="1.0 1.0 1.0" />
|
| 20 |
+
<mesh name="collision_mesh_0_13" file="mesh/lamp_collision_13.obj" scale="1.0 1.0 1.0" />
|
| 21 |
+
<mesh name="collision_mesh_0_14" file="mesh/lamp_collision_14.obj" scale="1.0 1.0 1.0" />
|
| 22 |
+
<mesh name="collision_mesh_0_15" file="mesh/lamp_collision_15.obj" scale="1.0 1.0 1.0" />
|
| 23 |
+
<mesh name="collision_mesh_0_16" file="mesh/lamp_collision_16.obj" scale="1.0 1.0 1.0" />
|
| 24 |
+
<mesh name="collision_mesh_0_17" file="mesh/lamp_collision_17.obj" scale="1.0 1.0 1.0" />
|
| 25 |
+
<mesh name="collision_mesh_0_18" file="mesh/lamp_collision_18.obj" scale="1.0 1.0 1.0" />
|
| 26 |
+
<mesh name="collision_mesh_0_19" file="mesh/lamp_collision_19.obj" scale="1.0 1.0 1.0" />
|
| 27 |
+
<mesh name="collision_mesh_0_20" file="mesh/lamp_collision_20.obj" scale="1.0 1.0 1.0" />
|
| 28 |
+
<mesh name="collision_mesh_0_21" file="mesh/lamp_collision_21.obj" scale="1.0 1.0 1.0" />
|
| 29 |
+
<mesh name="collision_mesh_0_22" file="mesh/lamp_collision_22.obj" scale="1.0 1.0 1.0" />
|
| 30 |
+
<mesh name="collision_mesh_0_23" file="mesh/lamp_collision_23.obj" scale="1.0 1.0 1.0" />
|
| 31 |
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| 194 |
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<geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 195 |
+
<geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 196 |
+
<geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
|
| 197 |
</body>
|
| 198 |
</worldbody>
|
| 199 |
</mujoco>
|
demo_assets/lamp/mjcf/mesh/lamp_0.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
demo_assets/lamp/mjcf/mesh/lamp_collision.obj
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
demo_assets/lamp/mjcf/mesh/lamp_collision_0.obj
ADDED
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@@ -0,0 +1,1714 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.07509074 -0.00394137 -0.21892473
|
| 3 |
+
v 0.07437128 -0.00394140 -0.21066055
|
| 4 |
+
v 0.07375460 -0.01140580 -0.21114972
|
| 5 |
+
v 0.07428318 -0.01209911 -0.21892476
|
| 6 |
+
v 0.07429786 -0.01209908 -0.22718323
|
| 7 |
+
v 0.07428318 -0.01209905 -0.23544739
|
| 8 |
+
v 0.07507606 -0.00394134 -0.22718320
|
| 9 |
+
v 0.07500264 0.00420168 -0.23544733
|
| 10 |
+
v 0.07503201 0.00420162 -0.21892470
|
| 11 |
+
v 0.07350500 -0.00394141 -0.20640618
|
| 12 |
+
v 0.07341690 -0.00823418 -0.20649720
|
| 13 |
+
v 0.07413635 0.00489492 -0.20986425
|
| 14 |
+
v 0.07351967 0.00263789 -0.20639479
|
| 15 |
+
v 0.07346094 -0.01646565 -0.21423246
|
| 16 |
+
v 0.07351967 -0.01665742 -0.21892478
|
| 17 |
+
v 0.07354905 -0.01674590 -0.22718325
|
| 18 |
+
v 0.07353436 -0.01670161 -0.23544741
|
| 19 |
+
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|
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|
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|
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|
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|
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|
| 1714 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_1.obj
ADDED
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@@ -0,0 +1,559 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.02337769 -0.00393963 -0.19424028
|
| 3 |
+
v -0.02322109 0.00420575 -0.19424025
|
| 4 |
+
v -0.02018121 -0.01209420 -0.19424031
|
| 5 |
+
v -0.02272365 -0.00394039 0.01245491
|
| 6 |
+
v -0.02268220 0.00420512 -0.02059188
|
| 7 |
+
v -0.02318424 0.00434816 -0.19424025
|
| 8 |
+
v -0.01707225 -0.01691803 -0.19424033
|
| 9 |
+
v -0.01931992 -0.01209496 0.01245488
|
| 10 |
+
v -0.02265917 -0.00394042 0.02071662
|
| 11 |
+
v -0.02256706 0.00420499 0.01245494
|
| 12 |
+
v -0.02265457 0.00420509 -0.01233018
|
| 13 |
+
v -0.01951797 0.01236004 -0.11970692
|
| 14 |
+
v -0.01969760 0.01246598 -0.19424022
|
| 15 |
+
v -0.01236966 -0.02014770 -0.19424034
|
| 16 |
+
v -0.01650112 -0.01633074 0.01245486
|
| 17 |
+
v -0.01646888 -0.01629861 0.02071657
|
| 18 |
+
v -0.01925544 -0.01209499 0.02071659
|
| 19 |
+
v -0.01914029 -0.01209502 0.02897829
|
| 20 |
+
v -0.01901593 -0.01209505 0.03724000
|
| 21 |
+
v -0.02252100 -0.00394045 0.02897832
|
| 22 |
+
v -0.02236900 0.00420493 0.02897835
|
| 23 |
+
v -0.02250257 0.00420496 0.02071665
|
| 24 |
+
v -0.01896527 0.01212982 0.02071667
|
| 25 |
+
v -0.01899751 0.01217120 0.01245496
|
| 26 |
+
v -0.01904357 0.01225395 -0.00406844
|
| 27 |
+
v -0.01949033 0.01236001 -0.11144521
|
| 28 |
+
v -0.01678669 0.01688093 -0.19424021
|
| 29 |
+
v -0.01225912 -0.02019364 -0.19424034
|
| 30 |
+
v -0.01225912 -0.01979884 -0.11144533
|
| 31 |
+
v -0.01225912 -0.01913775 0.01245485
|
| 32 |
+
v -0.01638137 -0.01622057 0.03723998
|
| 33 |
+
v -0.01635834 -0.01619302 0.04153607
|
| 34 |
+
v -0.01811778 -0.01254989 0.04476450
|
| 35 |
+
v -0.02236440 -0.00394048 0.03724003
|
| 36 |
+
v -0.02222162 0.00420490 0.03724006
|
| 37 |
+
v -0.01883630 0.01202869 0.03724008
|
| 38 |
+
v -0.01890539 0.01208385 0.02897837
|
| 39 |
+
v -0.01599448 0.01610367 0.03724010
|
| 40 |
+
v -0.01604975 0.01615424 0.02897839
|
| 41 |
+
v -0.01610041 0.01620481 0.02071669
|
| 42 |
+
v -0.01614647 0.01625078 0.01245498
|
| 43 |
+
v -0.01627083 0.01637032 -0.01233014
|
| 44 |
+
v -0.01631228 0.01640711 -0.02059184
|
| 45 |
+
v -0.01633531 0.01643010 -0.02669280
|
| 46 |
+
v -0.01908041 0.01233212 -0.02059185
|
| 47 |
+
v -0.01660245 0.01669227 -0.11144520
|
| 48 |
+
v -0.01225912 0.01988549 -0.19424020
|
| 49 |
+
v -0.01225912 0.01957738 -0.11144519
|
| 50 |
+
v -0.00351718 -0.02363004 -0.19424036
|
| 51 |
+
v -0.00410212 -0.02318928 -0.11970706
|
| 52 |
+
v -0.00410212 -0.02316174 -0.11144535
|
| 53 |
+
v -0.00410212 -0.02251902 0.01245484
|
| 54 |
+
v -0.01225912 -0.01906427 0.02071656
|
| 55 |
+
v -0.01271510 -0.01796636 0.04476448
|
| 56 |
+
v -0.01573194 -0.01556364 0.04702692
|
| 57 |
+
v -0.01225912 -0.01885760 0.03723997
|
| 58 |
+
v -0.02154916 -0.00394051 0.04552716
|
| 59 |
+
v -0.01755587 -0.01012882 0.05091630
|
| 60 |
+
v -0.02145244 0.00420487 0.04552719
|
| 61 |
+
v -0.01844941 0.01152790 0.04552721
|
| 62 |
+
v -0.01548783 0.01560748 0.04552723
|
| 63 |
+
v -0.01140703 0.01837314 0.04552724
|
| 64 |
+
v -0.01191368 0.01877745 0.03724011
|
| 65 |
+
v -0.01197355 0.01883261 0.02897840
|
| 66 |
+
v -0.01202422 0.01888777 0.02071670
|
| 67 |
+
v -0.01206567 0.01891996 0.01245499
|
| 68 |
+
v -0.00410212 0.02328973 -0.19424018
|
| 69 |
+
v -0.00410212 0.02294487 -0.11144518
|
| 70 |
+
v -0.00347572 -0.02364382 -0.19424036
|
| 71 |
+
v 0.00405027 -0.02243633 0.01245484
|
| 72 |
+
v 0.00405027 -0.02237664 0.02071655
|
| 73 |
+
v -0.00410212 -0.02244555 0.02071655
|
| 74 |
+
v 0.00405027 -0.02312499 -0.11144534
|
| 75 |
+
v -0.00410212 -0.02152222 0.04552709
|
| 76 |
+
v -0.00305659 -0.01882095 0.06545688
|
| 77 |
+
v -0.00465483 -0.01773673 0.06545688
|
| 78 |
+
v -0.00877248 -0.01462651 0.06545690
|
| 79 |
+
v -0.01174326 -0.01166790 0.06545691
|
| 80 |
+
v -0.01563062 -0.00530963 0.06545693
|
| 81 |
+
v -0.00410212 -0.02223428 0.03723996
|
| 82 |
+
v -0.01654258 -0.00082577 0.06545695
|
| 83 |
+
v -0.01654258 0.00108539 0.06545695
|
| 84 |
+
v -0.01600369 0.00396590 0.06545696
|
| 85 |
+
v -0.01561680 0.00561979 0.06545697
|
| 86 |
+
v -0.01430412 0.00810980 0.06545698
|
| 87 |
+
v -0.01176629 0.01202859 0.06545699
|
| 88 |
+
v -0.00103461 0.02299016 0.06543161
|
| 89 |
+
v -0.00410212 0.02213122 0.02071671
|
| 90 |
+
v 0.00405027 0.02324379 -0.19424018
|
| 91 |
+
v 0.00339623 -0.02356113 -0.19424036
|
| 92 |
+
v 0.01220726 -0.01898155 0.01245485
|
| 93 |
+
v 0.01220726 -0.01972077 -0.10320904
|
| 94 |
+
v 0.01220726 -0.01892186 0.02071656
|
| 95 |
+
v 0.01220726 -0.01883000 0.02897826
|
| 96 |
+
v 0.00405027 -0.02217455 0.03723996
|
| 97 |
+
v 0.00343308 -0.02355654 -0.19424036
|
| 98 |
+
v 0.00405027 -0.02317087 -0.12796875
|
| 99 |
+
v 0.01220726 -0.02000987 -0.19424034
|
| 100 |
+
v 0.01220726 -0.01982175 -0.12796873
|
| 101 |
+
v 0.01220726 -0.01976209 -0.11144533
|
| 102 |
+
v 0.00405027 -0.02147168 0.04552709
|
| 103 |
+
v 0.00307843 -0.01887148 0.06545688
|
| 104 |
+
v -0.00047270 -0.01887148 0.06545688
|
| 105 |
+
v -0.00758877 0.01620924 0.06545701
|
| 106 |
+
v -0.00530425 0.01836388 0.06545702
|
| 107 |
+
v -0.00469167 0.01891058 0.06545702
|
| 108 |
+
v 0.00480563 0.01891058 0.06545702
|
| 109 |
+
v 0.00183024 0.02216782 0.06543161
|
| 110 |
+
v 0.00405027 0.02196118 0.03724012
|
| 111 |
+
v 0.00405027 0.02205769 0.02897841
|
| 112 |
+
v 0.00405027 0.02214041 0.02071671
|
| 113 |
+
v 0.00405027 0.02293109 -0.11144518
|
| 114 |
+
v 0.00419766 0.02320704 -0.19424018
|
| 115 |
+
v 0.01634334 -0.01622970 0.02071657
|
| 116 |
+
v 0.01631109 -0.01619757 0.02897827
|
| 117 |
+
v 0.01675786 -0.01664274 -0.09494732
|
| 118 |
+
v 0.01640321 -0.01628936 0.00419316
|
| 119 |
+
v 0.01629267 -0.01617461 0.03352857
|
| 120 |
+
v 0.01300408 -0.01825116 0.03665529
|
| 121 |
+
v 0.01164535 -0.01835687 0.04552710
|
| 122 |
+
v 0.00405027 -0.02318922 -0.13625588
|
| 123 |
+
v 0.01695131 -0.01683533 -0.19424033
|
| 124 |
+
v 0.01685459 -0.01673447 -0.13625585
|
| 125 |
+
v 0.01677629 -0.01667028 -0.10320903
|
| 126 |
+
v 0.00721911 -0.01580720 0.06545689
|
| 127 |
+
v 0.01572615 -0.01560958 0.04552711
|
| 128 |
+
v 0.00863771 0.01563497 0.06545701
|
| 129 |
+
v 0.01544980 0.01560748 0.04552723
|
| 130 |
+
v 0.01137360 0.01840530 0.04552724
|
| 131 |
+
v 0.01195394 0.01880043 0.03724011
|
| 132 |
+
v 0.01204606 0.01885558 0.02897840
|
| 133 |
+
v 0.01213818 0.01890156 0.02071670
|
| 134 |
+
v 0.01220726 0.01968305 -0.11144519
|
| 135 |
+
v 0.01231780 0.01995440 -0.19424020
|
| 136 |
+
v 0.01912989 -0.01209499 0.02071659
|
| 137 |
+
v 0.01933255 -0.01209486 -0.01233024
|
| 138 |
+
v 0.01950757 -0.01209474 -0.04540249
|
| 139 |
+
v 0.01980234 -0.01209453 -0.10320901
|
| 140 |
+
v 0.01905159 -0.01209502 0.02897829
|
| 141 |
+
v 0.01625582 -0.01614247 0.03901942
|
| 142 |
+
v 0.02006027 -0.01220905 -0.19424031
|
| 143 |
+
v 0.01994513 -0.01209441 -0.13625583
|
| 144 |
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v 0.01169141 -0.01170006 0.06545691
|
| 145 |
+
v 0.01850809 -0.01153919 0.04552713
|
| 146 |
+
v 0.00995039 0.01419701 0.06545700
|
| 147 |
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v 0.01842058 0.01153249 0.04552721
|
| 148 |
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v 0.01603014 0.01619556 0.03724010
|
| 149 |
+
v 0.01152099 0.01228586 0.06545700
|
| 150 |
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v 0.01612686 0.01628747 0.02897839
|
| 151 |
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v 0.01621898 0.01637019 0.02071669
|
| 152 |
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v 0.01627425 0.01641617 0.01387854
|
| 153 |
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v 0.01301329 0.01842840 0.01166695
|
| 154 |
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v 0.01220726 0.01963248 -0.10320890
|
| 155 |
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v 0.01668417 0.01681172 -0.11144520
|
| 156 |
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v 0.01670720 0.01683472 -0.11970691
|
| 157 |
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v 0.01690986 0.01704173 -0.19424021
|
| 158 |
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v 0.02269483 -0.00394042 0.02071662
|
| 159 |
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v 0.02289749 -0.00394029 -0.01233021
|
| 160 |
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v 0.02293433 -0.00394026 -0.02059191
|
| 161 |
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v 0.02259350 -0.00394045 0.02897832
|
| 162 |
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v 0.02247835 -0.00394048 0.03724003
|
| 163 |
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v 0.01842979 -0.01289442 0.03665531
|
| 164 |
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v 0.02362061 -0.00327808 -0.19424028
|
| 165 |
+
v 0.02302645 -0.00394017 -0.04540246
|
| 166 |
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v 0.02300342 -0.00394020 -0.03711533
|
| 167 |
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v 0.01412331 -0.00779046 0.06545692
|
| 168 |
+
v 0.02168154 -0.00394051 0.04552716
|
| 169 |
+
v 0.01556955 -0.00514424 0.06545693
|
| 170 |
+
v 0.02159403 0.00420487 0.04552719
|
| 171 |
+
v 0.02239545 0.00420490 0.03724006
|
| 172 |
+
v 0.01888578 0.01212057 0.03724008
|
| 173 |
+
v 0.01558797 0.00544062 0.06545697
|
| 174 |
+
v 0.01905619 0.01229061 0.02071668
|
| 175 |
+
v 0.01854955 0.01316354 0.01166693
|
| 176 |
+
v 0.01944769 0.01235977 -0.04540240
|
| 177 |
+
v 0.02012475 0.01236031 -0.19424022
|
| 178 |
+
v 0.02276852 0.00420499 0.01245494
|
| 179 |
+
v 0.02267641 0.00420496 0.02071665
|
| 180 |
+
v 0.02304948 0.00420518 -0.03711530
|
| 181 |
+
v 0.02292052 0.00420509 -0.01233018
|
| 182 |
+
v 0.02362522 -0.00303918 -0.19424028
|
| 183 |
+
v 0.02367588 0.00354879 -0.19424026
|
| 184 |
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demo_assets/lamp/mjcf/mesh/lamp_collision_10.obj
ADDED
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.09142898 -0.06742748 0.19196895
|
| 3 |
+
v 0.09142898 -0.06744491 0.19199201
|
| 4 |
+
v 0.09604536 -0.06742748 0.19199201
|
| 5 |
+
v 0.09189622 -0.06742745 0.18603077
|
| 6 |
+
v 0.01326835 -0.11223041 0.19199185
|
| 7 |
+
v 0.10468937 -0.06742748 0.19199201
|
| 8 |
+
v 0.09258775 -0.06742742 0.17776919
|
| 9 |
+
v 0.01326835 -0.11228269 0.19121354
|
| 10 |
+
v 0.01326835 -0.12349651 0.19199181
|
| 11 |
+
v 0.09334468 -0.06742739 0.16950185
|
| 12 |
+
v 0.09568091 -0.06742730 0.14476904
|
| 13 |
+
v 0.10369882 -0.06887424 0.19199201
|
| 14 |
+
v 0.10469872 -0.06742747 0.19192282
|
| 15 |
+
v 0.01326835 -0.11264872 0.18603061
|
| 16 |
+
v 0.01326835 -0.12457134 0.17776898
|
| 17 |
+
v 0.01725861 -0.12300263 0.19199181
|
| 18 |
+
v 0.10873571 -0.06742730 0.14476904
|
| 19 |
+
v 0.09070942 -0.07511423 0.13309442
|
| 20 |
+
v 0.02099657 -0.11568148 0.13309428
|
| 21 |
+
v 0.01326835 -0.11603014 0.14476886
|
| 22 |
+
v 0.01326835 -0.11412445 0.16650377
|
| 23 |
+
v 0.01326835 -0.11383395 0.17009551
|
| 24 |
+
v 0.01326835 -0.11339240 0.17565319
|
| 25 |
+
v 0.09927868 -0.07516093 0.19199198
|
| 26 |
+
v 0.10512858 -0.07198257 0.15298447
|
| 27 |
+
v 0.10495103 -0.06742746 0.18908056
|
| 28 |
+
v 0.01326835 -0.12510005 0.17057398
|
| 29 |
+
v 0.02037046 -0.12367076 0.17776899
|
| 30 |
+
v 0.01980042 -0.12267726 0.19199181
|
| 31 |
+
v 0.10807222 -0.06742733 0.15298448
|
| 32 |
+
v 0.10780122 -0.06790958 0.15298448
|
| 33 |
+
v 0.10816568 -0.06843828 0.14476904
|
| 34 |
+
v 0.10452116 -0.07511423 0.13309442
|
| 35 |
+
v 0.02099657 -0.12667450 0.13309423
|
| 36 |
+
v 0.01326835 -0.12678493 0.14476882
|
| 37 |
+
v 0.10054024 -0.07811240 0.15347449
|
| 38 |
+
v 0.09838157 -0.07629975 0.19199198
|
| 39 |
+
v 0.09779285 -0.08134874 0.15655887
|
| 40 |
+
v 0.10546500 -0.07251709 0.14476902
|
| 41 |
+
v 0.10750219 -0.06742736 0.15990852
|
| 42 |
+
v 0.01326835 -0.12517558 0.16950164
|
| 43 |
+
v 0.02037046 -0.12426338 0.16950164
|
| 44 |
+
v 0.02436073 -0.12213108 0.18997974
|
| 45 |
+
v 0.02386545 -0.12199746 0.19199181
|
| 46 |
+
v 0.10189525 -0.07729893 0.14476901
|
| 47 |
+
v 0.10307270 -0.07704905 0.13309442
|
| 48 |
+
v 0.02852855 -0.12529166 0.13309424
|
| 49 |
+
v 0.02099657 -0.12647115 0.13645536
|
| 50 |
+
v 0.09806385 -0.08165084 0.15105308
|
| 51 |
+
v 0.09835354 -0.08198200 0.14471710
|
| 52 |
+
v 0.09605470 -0.07923974 0.19199197
|
| 53 |
+
v 0.09197098 -0.08379498 0.19199195
|
| 54 |
+
v 0.08984035 -0.08970970 0.15846713
|
| 55 |
+
v 0.02520177 -0.12235766 0.18446819
|
| 56 |
+
v 0.03407941 -0.11927245 0.19199182
|
| 57 |
+
v 0.02629512 -0.12139319 0.19199181
|
| 58 |
+
v 0.09869930 -0.08237707 0.13645552
|
| 59 |
+
v 0.09883013 -0.08252232 0.13309440
|
| 60 |
+
v 0.02852855 -0.12505926 0.13645536
|
| 61 |
+
v 0.03296737 -0.12415865 0.13309424
|
| 62 |
+
v 0.03600446 -0.12315348 0.13645537
|
| 63 |
+
v 0.03493914 -0.12285138 0.14476884
|
| 64 |
+
v 0.09458755 -0.08605500 0.14471708
|
| 65 |
+
v 0.09495200 -0.08645588 0.13645550
|
| 66 |
+
v 0.09087763 -0.08493380 0.19199195
|
| 67 |
+
v 0.09011135 -0.08998276 0.15298440
|
| 68 |
+
v 0.08954131 -0.08941340 0.16397293
|
| 69 |
+
v 0.08393438 -0.09186544 0.19199192
|
| 70 |
+
v 0.08585943 -0.09406157 0.15298438
|
| 71 |
+
v 0.02856593 -0.12445502 0.14476883
|
| 72 |
+
v 0.03305147 -0.12229946 0.15874375
|
| 73 |
+
v 0.03669598 -0.11853454 0.19199182
|
| 74 |
+
v 0.09732560 -0.08418405 0.13309439
|
| 75 |
+
v 0.03662122 -0.12321159 0.13309425
|
| 76 |
+
v 0.04048066 -0.12200886 0.13309425
|
| 77 |
+
v 0.09050383 -0.09037783 0.14471707
|
| 78 |
+
v 0.09087763 -0.09074966 0.13645549
|
| 79 |
+
v 0.09344748 -0.08835001 0.13309438
|
| 80 |
+
v 0.09510152 -0.08660112 0.13309438
|
| 81 |
+
v 0.08801810 -0.08787379 0.19199194
|
| 82 |
+
v 0.08630799 -0.09442758 0.14476894
|
| 83 |
+
v 0.08268217 -0.09300425 0.19199192
|
| 84 |
+
v 0.08155143 -0.09771624 0.15723334
|
| 85 |
+
v 0.08179441 -0.09791958 0.15298437
|
| 86 |
+
v 0.04536803 -0.11568170 0.19199184
|
| 87 |
+
v 0.04183567 -0.12154985 0.13309425
|
| 88 |
+
v 0.08930769 -0.09255664 0.13309436
|
| 89 |
+
v 0.09101781 -0.09090072 0.13309437
|
| 90 |
+
v 0.08679392 -0.09497952 0.13309435
|
| 91 |
+
v 0.08222426 -0.09826236 0.14476893
|
| 92 |
+
v 0.07938342 -0.09593843 0.19199191
|
| 93 |
+
v 0.07530905 -0.09913408 0.19199190
|
| 94 |
+
v 0.07745837 -0.10116171 0.15298436
|
| 95 |
+
v 0.07749575 -0.10181242 0.14476892
|
| 96 |
+
v 0.04461110 -0.12056791 0.13309426
|
| 97 |
+
v 0.05304953 -0.11644848 0.14476886
|
| 98 |
+
v 0.04929289 -0.11418847 0.19199184
|
| 99 |
+
v 0.08271955 -0.09873876 0.13309434
|
| 100 |
+
v 0.07717803 -0.10296863 0.13309432
|
| 101 |
+
v 0.07999084 -0.10083626 0.13309433
|
| 102 |
+
v 0.07370173 -0.10027289 0.19199189
|
| 103 |
+
v 0.07215982 -0.10501972 0.15298434
|
| 104 |
+
v 0.07269248 -0.10533926 0.14471701
|
| 105 |
+
v 0.07333728 -0.10581566 0.13309431
|
| 106 |
+
v 0.04924616 -0.11880160 0.13309426
|
| 107 |
+
v 0.05725473 -0.11410115 0.14981344
|
| 108 |
+
v 0.05301215 -0.11708757 0.13645539
|
| 109 |
+
v 0.05769394 -0.11430449 0.14476887
|
| 110 |
+
v 0.05286263 -0.11246862 0.19199185
|
| 111 |
+
v 0.06901994 -0.10357312 0.19199188
|
| 112 |
+
v 0.06545954 -0.10601924 0.19199187
|
| 113 |
+
v 0.06808545 -0.10772731 0.15298433
|
| 114 |
+
v 0.06860876 -0.10807008 0.14471700
|
| 115 |
+
v 0.06954325 -0.10831407 0.13309430
|
| 116 |
+
v 0.06906667 -0.10838380 0.13645542
|
| 117 |
+
v 0.05301215 -0.11731417 0.13309427
|
| 118 |
+
v 0.06174962 -0.11214888 0.14471699
|
| 119 |
+
v 0.06167486 -0.10804702 0.19199186
|
| 120 |
+
v 0.05937602 -0.10920907 0.19199186
|
| 121 |
+
v 0.05828267 -0.11462403 0.13645540
|
| 122 |
+
v 0.06235704 -0.11246261 0.13645541
|
| 123 |
+
v 0.06526330 -0.10612963 0.19199187
|
| 124 |
+
v 0.06655289 -0.11015592 0.13309430
|
| 125 |
+
v 0.05614269 -0.11584998 0.13309427
|
| 126 |
+
v 0.05850695 -0.11473441 0.13309428
|
| 127 |
+
v 0.06256262 -0.11257880 0.13309429
|
| 128 |
+
f 1 2 3
|
| 129 |
+
f 1 3 6
|
| 130 |
+
f 1 6 13
|
| 131 |
+
f 1 13 26
|
| 132 |
+
f 1 26 40
|
| 133 |
+
f 1 40 30
|
| 134 |
+
f 1 30 17
|
| 135 |
+
f 1 17 11
|
| 136 |
+
f 1 11 10
|
| 137 |
+
f 1 10 7
|
| 138 |
+
f 1 7 4
|
| 139 |
+
f 1 4 5
|
| 140 |
+
f 1 5 2
|
| 141 |
+
f 2 5 9
|
| 142 |
+
f 2 9 16
|
| 143 |
+
f 2 16 29
|
| 144 |
+
f 2 29 44
|
| 145 |
+
f 2 44 56
|
| 146 |
+
f 2 56 55
|
| 147 |
+
f 2 55 72
|
| 148 |
+
f 2 72 85
|
| 149 |
+
f 2 85 97
|
| 150 |
+
f 2 97 109
|
| 151 |
+
f 2 109 119
|
| 152 |
+
f 2 119 118
|
| 153 |
+
f 2 118 122
|
| 154 |
+
f 2 122 111
|
| 155 |
+
f 2 111 110
|
| 156 |
+
f 2 110 101
|
| 157 |
+
f 2 101 92
|
| 158 |
+
f 2 92 91
|
| 159 |
+
f 2 91 82
|
| 160 |
+
f 2 82 68
|
| 161 |
+
f 2 68 80
|
| 162 |
+
f 2 80 65
|
| 163 |
+
f 2 65 52
|
| 164 |
+
f 2 52 51
|
| 165 |
+
f 2 51 37
|
| 166 |
+
f 2 37 24
|
| 167 |
+
f 2 24 12
|
| 168 |
+
f 2 12 6
|
| 169 |
+
f 2 6 3
|
| 170 |
+
f 4 7 5
|
| 171 |
+
f 5 8 14
|
| 172 |
+
f 5 14 23
|
| 173 |
+
f 5 23 22
|
| 174 |
+
f 5 22 21
|
| 175 |
+
f 5 21 20
|
| 176 |
+
f 5 20 35
|
| 177 |
+
f 5 35 41
|
| 178 |
+
f 5 41 27
|
| 179 |
+
f 5 27 15
|
| 180 |
+
f 5 15 9
|
| 181 |
+
f 5 7 10
|
| 182 |
+
f 5 10 11
|
| 183 |
+
f 5 11 8
|
| 184 |
+
f 6 12 13
|
| 185 |
+
f 8 11 14
|
| 186 |
+
f 9 15 16
|
| 187 |
+
f 11 17 33
|
| 188 |
+
f 11 33 18
|
| 189 |
+
f 11 18 19
|
| 190 |
+
f 11 19 20
|
| 191 |
+
f 11 20 21
|
| 192 |
+
f 11 21 22
|
| 193 |
+
f 11 22 23
|
| 194 |
+
f 11 23 14
|
| 195 |
+
f 12 24 25
|
| 196 |
+
f 12 25 13
|
| 197 |
+
f 13 25 26
|
| 198 |
+
f 15 27 28
|
| 199 |
+
f 15 28 16
|
| 200 |
+
f 16 28 29
|
| 201 |
+
f 17 30 31
|
| 202 |
+
f 17 31 32
|
| 203 |
+
f 17 32 33
|
| 204 |
+
f 18 33 46
|
| 205 |
+
f 18 46 58
|
| 206 |
+
f 18 58 73
|
| 207 |
+
f 18 73 79
|
| 208 |
+
f 18 79 78
|
| 209 |
+
f 18 78 88
|
| 210 |
+
f 18 88 87
|
| 211 |
+
f 18 87 89
|
| 212 |
+
f 18 89 98
|
| 213 |
+
f 18 98 100
|
| 214 |
+
f 18 100 99
|
| 215 |
+
f 18 99 104
|
| 216 |
+
f 18 104 114
|
| 217 |
+
f 18 114 123
|
| 218 |
+
f 18 123 126
|
| 219 |
+
f 18 126 125
|
| 220 |
+
f 18 125 124
|
| 221 |
+
f 18 124 116
|
| 222 |
+
f 18 116 105
|
| 223 |
+
f 18 105 95
|
| 224 |
+
f 18 95 86
|
| 225 |
+
f 18 86 75
|
| 226 |
+
f 18 75 74
|
| 227 |
+
f 18 74 60
|
| 228 |
+
f 18 60 47
|
| 229 |
+
f 18 47 34
|
| 230 |
+
f 18 34 19
|
| 231 |
+
f 19 34 35
|
| 232 |
+
f 19 35 20
|
| 233 |
+
f 24 36 25
|
| 234 |
+
f 24 37 38
|
| 235 |
+
f 24 38 36
|
| 236 |
+
f 25 39 32
|
| 237 |
+
f 25 32 31
|
| 238 |
+
f 25 31 26
|
| 239 |
+
f 25 36 39
|
| 240 |
+
f 26 31 40
|
| 241 |
+
f 27 41 42
|
| 242 |
+
f 27 42 28
|
| 243 |
+
f 28 42 43
|
| 244 |
+
f 28 43 29
|
| 245 |
+
f 29 43 44
|
| 246 |
+
f 30 40 31
|
| 247 |
+
f 32 39 33
|
| 248 |
+
f 33 39 45
|
| 249 |
+
f 33 45 46
|
| 250 |
+
f 34 47 48
|
| 251 |
+
f 34 48 35
|
| 252 |
+
f 35 48 41
|
| 253 |
+
f 36 45 39
|
| 254 |
+
f 36 38 49
|
| 255 |
+
f 36 49 50
|
| 256 |
+
f 36 50 45
|
| 257 |
+
f 37 51 38
|
| 258 |
+
f 38 51 52
|
| 259 |
+
f 38 52 53
|
| 260 |
+
f 38 53 49
|
| 261 |
+
f 41 48 42
|
| 262 |
+
f 42 48 43
|
| 263 |
+
f 43 48 54
|
| 264 |
+
f 43 54 55
|
| 265 |
+
f 43 55 56
|
| 266 |
+
f 43 56 44
|
| 267 |
+
f 45 50 46
|
| 268 |
+
f 46 57 58
|
| 269 |
+
f 46 50 57
|
| 270 |
+
f 47 59 48
|
| 271 |
+
f 47 60 61
|
| 272 |
+
f 47 61 62
|
| 273 |
+
f 47 62 59
|
| 274 |
+
f 48 59 54
|
| 275 |
+
f 49 63 50
|
| 276 |
+
f 49 53 63
|
| 277 |
+
f 50 63 64
|
| 278 |
+
f 50 64 57
|
| 279 |
+
f 52 65 53
|
| 280 |
+
f 53 66 63
|
| 281 |
+
f 53 65 67
|
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+
f 53 67 68
|
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+
f 53 68 69
|
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+
f 53 69 66
|
| 285 |
+
f 54 59 70
|
| 286 |
+
f 54 70 71
|
| 287 |
+
f 54 71 55
|
| 288 |
+
f 55 71 72
|
| 289 |
+
f 57 64 73
|
| 290 |
+
f 57 73 58
|
| 291 |
+
f 59 62 70
|
| 292 |
+
f 60 74 61
|
| 293 |
+
f 61 74 75
|
| 294 |
+
f 61 75 62
|
| 295 |
+
f 62 75 72
|
| 296 |
+
f 62 72 71
|
| 297 |
+
f 62 71 70
|
| 298 |
+
f 63 66 76
|
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+
f 63 76 64
|
| 300 |
+
f 64 76 77
|
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+
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|
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+
f 64 78 79
|
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+
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|
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+
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|
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+
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|
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+
f 66 81 76
|
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+
f 67 80 68
|
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+
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|
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+
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|
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+
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|
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+
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|
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+
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|
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+
f 75 86 85
|
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+
f 76 81 77
|
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+
f 77 81 87
|
| 316 |
+
f 77 87 88
|
| 317 |
+
f 77 88 78
|
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+
f 81 89 87
|
| 319 |
+
f 81 84 90
|
| 320 |
+
f 81 90 89
|
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+
f 82 91 83
|
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+
f 83 91 92
|
| 323 |
+
f 83 92 93
|
| 324 |
+
f 83 93 84
|
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+
f 84 93 94
|
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+
f 84 94 90
|
| 327 |
+
f 85 86 95
|
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+
f 85 95 96
|
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+
f 85 96 97
|
| 330 |
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f 89 90 98
|
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f 90 94 99
|
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+
f 90 99 100
|
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+
f 90 100 98
|
| 334 |
+
f 92 101 102
|
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+
f 92 102 93
|
| 336 |
+
f 93 102 103
|
| 337 |
+
f 93 103 94
|
| 338 |
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f 94 103 104
|
| 339 |
+
f 94 104 99
|
| 340 |
+
f 95 105 96
|
| 341 |
+
f 96 106 97
|
| 342 |
+
f 96 105 107
|
| 343 |
+
f 96 107 108
|
| 344 |
+
f 96 108 106
|
| 345 |
+
f 97 106 109
|
| 346 |
+
f 101 110 102
|
| 347 |
+
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|
| 348 |
+
f 102 111 112
|
| 349 |
+
f 102 112 113
|
| 350 |
+
f 102 113 103
|
| 351 |
+
f 103 113 104
|
| 352 |
+
f 104 113 115
|
| 353 |
+
f 104 115 114
|
| 354 |
+
f 105 116 107
|
| 355 |
+
f 106 108 117
|
| 356 |
+
f 106 117 118
|
| 357 |
+
f 106 118 119
|
| 358 |
+
f 106 119 109
|
| 359 |
+
f 107 116 120
|
| 360 |
+
f 107 120 108
|
| 361 |
+
f 108 120 121
|
| 362 |
+
f 108 121 117
|
| 363 |
+
f 111 122 117
|
| 364 |
+
f 111 117 112
|
| 365 |
+
f 112 117 121
|
| 366 |
+
f 112 121 113
|
| 367 |
+
f 113 121 123
|
| 368 |
+
f 113 123 115
|
| 369 |
+
f 114 115 123
|
| 370 |
+
f 116 124 120
|
| 371 |
+
f 117 122 118
|
| 372 |
+
f 120 124 125
|
| 373 |
+
f 120 125 121
|
| 374 |
+
f 121 125 126
|
| 375 |
+
f 121 126 123
|
| 376 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_11.obj
ADDED
|
@@ -0,0 +1,220 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.01335085 0.11252625 0.19199267
|
| 3 |
+
v -0.01335085 0.11365169 0.17572483
|
| 4 |
+
v -0.01335085 0.12377273 0.19199271
|
| 5 |
+
v -0.06927854 0.08985959 0.19199259
|
| 6 |
+
v -0.07452176 0.08985977 0.14476542
|
| 7 |
+
v -0.01335085 0.11616670 0.14476552
|
| 8 |
+
v -0.01335085 0.12410928 0.18741608
|
| 9 |
+
v -0.01696031 0.12332042 0.19199271
|
| 10 |
+
v -0.08612524 0.08985959 0.19199259
|
| 11 |
+
v -0.09098092 0.08985977 0.14476542
|
| 12 |
+
v -0.01335085 0.12682336 0.14476556
|
| 13 |
+
v -0.01335085 0.12480770 0.17777278
|
| 14 |
+
v -0.02042539 0.12381260 0.17777277
|
| 15 |
+
v -0.01936155 0.12297666 0.19199271
|
| 16 |
+
v -0.08390637 0.09201263 0.19199260
|
| 17 |
+
v -0.08983349 0.08989229 0.15782501
|
| 18 |
+
v -0.08986388 0.08985972 0.15785275
|
| 19 |
+
v -0.09030461 0.08985974 0.15298949
|
| 20 |
+
v -0.09006146 0.09012028 0.15298025
|
| 21 |
+
v -0.09043380 0.09043512 0.14476542
|
| 22 |
+
v -0.01335085 0.12537585 0.16950711
|
| 23 |
+
v -0.02042539 0.12592958 0.14476555
|
| 24 |
+
v -0.02572941 0.12270170 0.17777277
|
| 25 |
+
v -0.02487833 0.12251352 0.18303360
|
| 26 |
+
v -0.02088893 0.12312142 0.18589053
|
| 27 |
+
v -0.02042539 0.12436989 0.16950711
|
| 28 |
+
v -0.02858658 0.12437359 0.14476555
|
| 29 |
+
v -0.02670966 0.12118185 0.19199271
|
| 30 |
+
v -0.08262216 0.09314886 0.19199260
|
| 31 |
+
v -0.08146713 0.09785675 0.15592966
|
| 32 |
+
v -0.08495501 0.09488231 0.15310046
|
| 33 |
+
v -0.09040340 0.09046408 0.14476542
|
| 34 |
+
v -0.08175589 0.09811007 0.15042383
|
| 35 |
+
v -0.08607964 0.09454581 0.14476544
|
| 36 |
+
v -0.03286475 0.12248828 0.15796843
|
| 37 |
+
v -0.02841941 0.12076209 0.19199270
|
| 38 |
+
v -0.03433893 0.11928572 0.19199270
|
| 39 |
+
v -0.03456689 0.12297321 0.14476554
|
| 40 |
+
v -0.07927105 0.09608713 0.19199261
|
| 41 |
+
v -0.07519046 0.09924614 0.19199262
|
| 42 |
+
v -0.07826040 0.10051278 0.15310048
|
| 43 |
+
v -0.07756131 0.10172503 0.14476546
|
| 44 |
+
v -0.08202944 0.09831272 0.14476545
|
| 45 |
+
v -0.03674017 0.11863438 0.19199270
|
| 46 |
+
v -0.03458969 0.12296598 0.14476554
|
| 47 |
+
v -0.07358710 0.10038236 0.19199263
|
| 48 |
+
v -0.07200653 0.10512283 0.15298031
|
| 49 |
+
v -0.07255365 0.10544491 0.14476548
|
| 50 |
+
v -0.03757605 0.12137740 0.15298037
|
| 51 |
+
v -0.04490136 0.11833777 0.16124602
|
| 52 |
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v -0.04534210 0.11571058 0.19199269
|
| 53 |
+
v -0.04490136 0.11953196 0.14476553
|
| 54 |
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v -0.04490136 0.11896744 0.15298036
|
| 55 |
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v -0.06634537 0.10547730 0.19199265
|
| 56 |
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v -0.06541831 0.10621187 0.19114666
|
| 57 |
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v -0.07251566 0.10547024 0.14476548
|
| 58 |
+
v -0.06792594 0.10781865 0.15298032
|
| 59 |
+
v -0.04915673 0.11436087 0.19124377
|
| 60 |
+
v -0.04819927 0.11465397 0.19199268
|
| 61 |
+
v -0.04494695 0.11951387 0.14476553
|
| 62 |
+
v -0.04680867 0.11877207 0.14476553
|
| 63 |
+
v -0.05374644 0.11599663 0.14476552
|
| 64 |
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v -0.05242424 0.11594232 0.15298035
|
| 65 |
+
v -0.06438486 0.10666057 0.19199265
|
| 66 |
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v -0.05696077 0.11413668 0.14785821
|
| 67 |
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v -0.06034227 0.11268927 0.14476550
|
| 68 |
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v -0.06050944 0.11260242 0.14476550
|
| 69 |
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v -0.06846546 0.10814074 0.14476549
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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v -0.05402001 0.11586636 0.14476552
|
| 74 |
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v -0.06167207 0.10802114 0.19199266
|
| 75 |
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v -0.05972676 0.10899454 0.19199266
|
| 76 |
+
f 1 2 6
|
| 77 |
+
f 1 6 11
|
| 78 |
+
f 1 11 21
|
| 79 |
+
f 1 21 12
|
| 80 |
+
f 1 12 7
|
| 81 |
+
f 1 7 3
|
| 82 |
+
f 1 3 8
|
| 83 |
+
f 1 8 14
|
| 84 |
+
f 1 14 28
|
| 85 |
+
f 1 28 36
|
| 86 |
+
f 1 36 37
|
| 87 |
+
f 1 37 44
|
| 88 |
+
f 1 44 51
|
| 89 |
+
f 1 51 59
|
| 90 |
+
f 1 59 70
|
| 91 |
+
f 1 70 74
|
| 92 |
+
f 1 74 73
|
| 93 |
+
f 1 73 64
|
| 94 |
+
f 1 64 54
|
| 95 |
+
f 1 54 46
|
| 96 |
+
f 1 46 40
|
| 97 |
+
f 1 40 39
|
| 98 |
+
f 1 39 29
|
| 99 |
+
f 1 29 15
|
| 100 |
+
f 1 15 9
|
| 101 |
+
f 1 9 4
|
| 102 |
+
f 1 4 5
|
| 103 |
+
f 1 5 2
|
| 104 |
+
f 2 5 6
|
| 105 |
+
f 3 7 8
|
| 106 |
+
f 4 9 17
|
| 107 |
+
f 4 17 18
|
| 108 |
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f 4 18 10
|
| 109 |
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f 4 10 5
|
| 110 |
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f 5 10 20
|
| 111 |
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f 5 20 32
|
| 112 |
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f 5 32 34
|
| 113 |
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f 5 34 43
|
| 114 |
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f 5 43 42
|
| 115 |
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f 5 42 48
|
| 116 |
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|
| 117 |
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f 5 56 68
|
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|
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|
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|
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|
| 122 |
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f 5 72 62
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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f 5 45 38
|
| 128 |
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f 5 38 27
|
| 129 |
+
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
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|
| 134 |
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|
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
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|
| 149 |
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|
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|
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|
| 152 |
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|
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|
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|
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|
| 156 |
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|
| 157 |
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f 19 33 34
|
| 158 |
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f 19 34 32
|
| 159 |
+
f 21 22 26
|
| 160 |
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f 22 27 26
|
| 161 |
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f 23 27 35
|
| 162 |
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|
| 163 |
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f 24 36 28
|
| 164 |
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f 24 35 37
|
| 165 |
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f 24 37 36
|
| 166 |
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f 27 38 35
|
| 167 |
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f 29 39 30
|
| 168 |
+
f 30 33 31
|
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f 30 39 40
|
| 170 |
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f 30 40 41
|
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f 30 41 33
|
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f 33 41 42
|
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f 33 42 43
|
| 174 |
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f 33 43 34
|
| 175 |
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f 35 38 44
|
| 176 |
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f 35 44 37
|
| 177 |
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f 38 45 44
|
| 178 |
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f 40 46 47
|
| 179 |
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f 40 47 41
|
| 180 |
+
f 41 47 48
|
| 181 |
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f 41 48 42
|
| 182 |
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f 44 45 49
|
| 183 |
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f 44 49 50
|
| 184 |
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f 44 50 51
|
| 185 |
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f 45 52 53
|
| 186 |
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f 45 53 49
|
| 187 |
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f 46 54 55
|
| 188 |
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f 46 55 47
|
| 189 |
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f 47 56 48
|
| 190 |
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f 47 55 57
|
| 191 |
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f 47 57 56
|
| 192 |
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f 49 53 50
|
| 193 |
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f 50 53 58
|
| 194 |
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f 50 58 51
|
| 195 |
+
f 51 58 59
|
| 196 |
+
f 52 60 53
|
| 197 |
+
f 53 60 61
|
| 198 |
+
f 53 61 62
|
| 199 |
+
f 53 62 63
|
| 200 |
+
f 53 63 58
|
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+
f 54 64 55
|
| 202 |
+
f 55 64 65
|
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f 55 65 66
|
| 204 |
+
f 55 66 67
|
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+
f 55 67 57
|
| 206 |
+
f 56 57 68
|
| 207 |
+
f 57 67 69
|
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+
f 57 69 68
|
| 209 |
+
f 58 70 59
|
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+
f 58 63 71
|
| 211 |
+
f 58 71 72
|
| 212 |
+
f 58 72 65
|
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+
f 58 65 73
|
| 214 |
+
f 58 73 74
|
| 215 |
+
f 58 74 70
|
| 216 |
+
f 62 72 71
|
| 217 |
+
f 62 71 63
|
| 218 |
+
f 64 73 65
|
| 219 |
+
f 65 72 66
|
| 220 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_12.obj
ADDED
|
@@ -0,0 +1,247 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.10353117 -0.07511197 0.14476485
|
| 3 |
+
v 0.10128826 -0.06958188 0.21681995
|
| 4 |
+
v 0.08969057 -0.07511197 0.14476485
|
| 5 |
+
v 0.10439321 -0.07511193 0.13470074
|
| 6 |
+
v 0.10598161 -0.07319503 0.13309443
|
| 7 |
+
v 0.10547077 -0.07250469 0.14471568
|
| 8 |
+
v 0.10156363 -0.06917059 0.21681996
|
| 9 |
+
v 0.08720421 -0.06958188 0.21681995
|
| 10 |
+
v 0.10548673 -0.07247532 0.14476486
|
| 11 |
+
v 0.10820456 -0.00011823 0.21682021
|
| 12 |
+
v 0.09072024 -0.07511193 0.13309442
|
| 13 |
+
v 0.10452891 -0.07511193 0.13309442
|
| 14 |
+
v 0.10651240 -0.07237980 0.13309443
|
| 15 |
+
v 0.10849989 -0.06892059 0.13645461
|
| 16 |
+
v 0.10816465 -0.06842119 0.14476488
|
| 17 |
+
v 0.10518342 -0.06357414 0.21681998
|
| 18 |
+
v 0.12274757 -0.00011823 0.21682021
|
| 19 |
+
v 0.11335688 -0.00008142 0.19198776
|
| 20 |
+
v 0.11381983 -0.00008139 0.18566902
|
| 21 |
+
v 0.11688088 -0.00008124 0.14476513
|
| 22 |
+
v 0.11771898 -0.00040435 0.13309470
|
| 23 |
+
v 0.10844402 -0.06939796 0.13309445
|
| 24 |
+
v 0.11270236 -0.06225918 0.13309447
|
| 25 |
+
v 0.11257465 -0.06201681 0.13645463
|
| 26 |
+
v 0.10735050 -0.05949797 0.21681999
|
| 27 |
+
v 0.12275954 -0.00403281 0.21682020
|
| 28 |
+
v 0.12601615 -0.00008133 0.16951562
|
| 29 |
+
v 0.12439583 -0.00008142 0.19198776
|
| 30 |
+
v 0.12756464 -0.00008124 0.14476513
|
| 31 |
+
v 0.12795575 -0.00040435 0.13309470
|
| 32 |
+
v 0.11395552 -0.05983551 0.13309448
|
| 33 |
+
v 0.11468985 -0.05794065 0.13645465
|
| 34 |
+
v 0.11441847 -0.05740454 0.14324875
|
| 35 |
+
v 0.10965328 -0.05476816 0.21682001
|
| 36 |
+
v 0.12244825 -0.00807225 0.21682018
|
| 37 |
+
v 0.12242032 -0.00885075 0.21636942
|
| 38 |
+
v 0.12707774 -0.01211142 0.14471591
|
| 39 |
+
v 0.12599620 -0.00395919 0.16951561
|
| 40 |
+
v 0.12655094 -0.00395916 0.16125453
|
| 41 |
+
v 0.12630749 -0.00008132 0.16517199
|
| 42 |
+
v 0.12734514 -0.00008126 0.14866621
|
| 43 |
+
v 0.12756863 -0.00040439 0.14476513
|
| 44 |
+
v 0.12773226 -0.00040437 0.14005270
|
| 45 |
+
v 0.12785597 -0.00040436 0.13645486
|
| 46 |
+
v 0.12797570 -0.00395906 0.13309469
|
| 47 |
+
v 0.11481357 -0.05817566 0.13309449
|
| 48 |
+
v 0.11741167 -0.05285830 0.13309451
|
| 49 |
+
v 0.11716823 -0.05285831 0.13645467
|
| 50 |
+
v 0.11613058 -0.05360012 0.14476493
|
| 51 |
+
v 0.11056721 -0.05286595 0.21682002
|
| 52 |
+
v 0.12230856 -0.00932080 0.21682018
|
| 53 |
+
v 0.12228861 -0.01601889 0.20642003
|
| 54 |
+
v 0.12674250 -0.02026371 0.13645479
|
| 55 |
+
v 0.12758459 -0.01211139 0.13645482
|
| 56 |
+
v 0.12708972 -0.00395913 0.15298523
|
| 57 |
+
v 0.12656689 -0.00008130 0.16125454
|
| 58 |
+
v 0.12708972 -0.00008127 0.15298524
|
| 59 |
+
v 0.12758061 -0.00391503 0.14476512
|
| 60 |
+
v 0.12787195 -0.00395907 0.13645485
|
| 61 |
+
v 0.12787992 -0.00727140 0.13309467
|
| 62 |
+
v 0.12068824 -0.04447095 0.13309454
|
| 63 |
+
v 0.11332495 -0.04660115 0.21682004
|
| 64 |
+
v 0.12179772 -0.01256704 0.21682016
|
| 65 |
+
v 0.12051264 -0.02026401 0.21682014
|
| 66 |
+
v 0.11896016 -0.02842368 0.21682011
|
| 67 |
+
v 0.12241232 -0.02467789 0.18302176
|
| 68 |
+
v 0.12249614 -0.01714257 0.20091264
|
| 69 |
+
v 0.12453551 -0.02841606 0.14471585
|
| 70 |
+
v 0.12514612 -0.02841603 0.13645476
|
| 71 |
+
v 0.12538957 -0.02841602 0.13309460
|
| 72 |
+
v 0.12633542 -0.02356870 0.13309461
|
| 73 |
+
v 0.12694205 -0.02026370 0.13309463
|
| 74 |
+
v 0.12744490 -0.01542372 0.13309464
|
| 75 |
+
v 0.12770832 -0.01211138 0.13309466
|
| 76 |
+
v 0.12684627 -0.00008129 0.15691091
|
| 77 |
+
v 0.12254403 -0.03895528 0.13309456
|
| 78 |
+
v 0.11482954 -0.04253233 0.21682005
|
| 79 |
+
v 0.11837349 -0.03065638 0.21682010
|
| 80 |
+
v 0.12262783 -0.03349110 0.15298512
|
| 81 |
+
v 0.12295908 -0.03464414 0.14476500
|
| 82 |
+
v 0.12333024 -0.03639208 0.13309457
|
| 83 |
+
v 0.12327437 -0.03574578 0.13645473
|
| 84 |
+
v 0.11675317 -0.03655396 0.21682008
|
| 85 |
+
f 1 2 8
|
| 86 |
+
f 1 8 3
|
| 87 |
+
f 1 3 11
|
| 88 |
+
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|
| 89 |
+
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|
| 90 |
+
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|
| 91 |
+
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|
| 92 |
+
f 1 6 2
|
| 93 |
+
f 2 7 16
|
| 94 |
+
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|
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|
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|
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|
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+
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 18 28 27
|
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f 18 27 40
|
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f 18 40 56
|
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f 18 56 75
|
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f 18 75 57
|
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f 18 57 41
|
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|
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|
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|
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|
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|
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+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_13.obj
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.01343890 0.12173472 0.21683014
|
| 3 |
+
v -0.01826888 0.12106755 0.21683013
|
| 4 |
+
v -0.02042538 0.11991080 0.23562465
|
| 5 |
+
v -0.01343890 0.12078102 0.23562465
|
| 6 |
+
v -0.01343890 0.11038558 0.21683010
|
| 7 |
+
v -0.02023336 0.12074121 0.21683013
|
| 8 |
+
v -0.02858612 0.11843505 0.23562465
|
| 9 |
+
v -0.03673947 0.11523698 0.24077679
|
| 10 |
+
v -0.02858612 0.11633563 0.24158796
|
| 11 |
+
v -0.01343890 0.12036405 0.23649728
|
| 12 |
+
v -0.01343890 0.11028042 0.21790674
|
| 13 |
+
v -0.05837096 0.08469587 0.22630101
|
| 14 |
+
v -0.05967077 0.08469589 0.22032294
|
| 15 |
+
v -0.06055701 0.08469589 0.21939624
|
| 16 |
+
v -0.06381392 0.08634570 0.21683001
|
| 17 |
+
v -0.02631883 0.11953016 0.21683013
|
| 18 |
+
v -0.02858612 0.11903703 0.21683013
|
| 19 |
+
v -0.03673947 0.11677445 0.21683012
|
| 20 |
+
v -0.03673947 0.11616523 0.23562464
|
| 21 |
+
v -0.04125187 0.11442840 0.23996070
|
| 22 |
+
v -0.05304617 0.10772768 0.24109386
|
| 23 |
+
v -0.02042538 0.11702455 0.24168383
|
| 24 |
+
v -0.04433893 0.11041086 0.24135934
|
| 25 |
+
v -0.06089673 0.10220902 0.24153875
|
| 26 |
+
v -0.03673947 0.11020056 0.24194190
|
| 27 |
+
v -0.01343890 0.11749955 0.24167153
|
| 28 |
+
v -0.01343890 0.11017527 0.21909644
|
| 29 |
+
v -0.05837096 0.08469587 0.22721050
|
| 30 |
+
v -0.01343890 0.10967124 0.22617082
|
| 31 |
+
v -0.01343890 0.10960233 0.22736299
|
| 32 |
+
v -0.06757302 0.08469590 0.21683000
|
| 33 |
+
v -0.04074229 0.11544374 0.21683011
|
| 34 |
+
v -0.04247045 0.11486359 0.21683011
|
| 35 |
+
v -0.04543195 0.11376494 0.21683011
|
| 36 |
+
v -0.04655451 0.11333345 0.21683011
|
| 37 |
+
v -0.04555749 0.11287651 0.23562462
|
| 38 |
+
v -0.05304617 0.10945001 0.23562461
|
| 39 |
+
v -0.05796477 0.10655289 0.24026793
|
| 40 |
+
v -0.06765427 0.09959474 0.24102746
|
| 41 |
+
v -0.07752100 0.09176275 0.24089224
|
| 42 |
+
v -0.06997324 0.09450756 0.24143303
|
| 43 |
+
v -0.07715173 0.08469581 0.24144281
|
| 44 |
+
v -0.01343890 0.11206066 0.24167151
|
| 45 |
+
v -0.05891009 0.08469586 0.22847887
|
| 46 |
+
v -0.01343890 0.10960594 0.23443244
|
| 47 |
+
v -0.01343890 0.10962043 0.23562461
|
| 48 |
+
v -0.08887957 0.08469590 0.21683000
|
| 49 |
+
v -0.05142880 0.11108175 0.21683010
|
| 50 |
+
v -0.05304617 0.11031668 0.21683010
|
| 51 |
+
v -0.05840050 0.10677408 0.23562460
|
| 52 |
+
v -0.06247718 0.10454414 0.23562459
|
| 53 |
+
v -0.06888022 0.10046860 0.23562458
|
| 54 |
+
v -0.08182662 0.09003681 0.23998273
|
| 55 |
+
v -0.08500229 0.08508017 0.24082092
|
| 56 |
+
v -0.08534940 0.08469582 0.24082584
|
| 57 |
+
v -0.07694494 0.08469581 0.24141824
|
| 58 |
+
v -0.01343890 0.11164369 0.24079890
|
| 59 |
+
v -0.07156107 0.08469582 0.23988194
|
| 60 |
+
v -0.06128076 0.08469584 0.23385962
|
| 61 |
+
v -0.08754283 0.08469583 0.23562452
|
| 62 |
+
v -0.08605100 0.08617521 0.23562453
|
| 63 |
+
v -0.08670091 0.08684970 0.21683001
|
| 64 |
+
v -0.05925720 0.10718751 0.21683008
|
| 65 |
+
v -0.06333387 0.10505184 0.21683008
|
| 66 |
+
v -0.06823032 0.10185377 0.21683006
|
| 67 |
+
v -0.06989200 0.10076237 0.21683006
|
| 68 |
+
v -0.07367327 0.09809732 0.21683005
|
| 69 |
+
v -0.07296428 0.09754973 0.23562457
|
| 70 |
+
v -0.08262423 0.09078021 0.21683002
|
| 71 |
+
v -0.08742466 0.08469583 0.23715100
|
| 72 |
+
v -0.08560788 0.08469582 0.24072014
|
| 73 |
+
v -0.07720343 0.09528723 0.21683004
|
| 74 |
+
v -0.08128750 0.09189699 0.21683003
|
| 75 |
+
f 1 2 3
|
| 76 |
+
f 1 3 4
|
| 77 |
+
f 1 4 10
|
| 78 |
+
f 1 10 26
|
| 79 |
+
f 1 26 43
|
| 80 |
+
f 1 43 57
|
| 81 |
+
f 1 57 46
|
| 82 |
+
f 1 46 45
|
| 83 |
+
f 1 45 30
|
| 84 |
+
f 1 30 29
|
| 85 |
+
f 1 29 27
|
| 86 |
+
f 1 27 11
|
| 87 |
+
f 1 11 5
|
| 88 |
+
f 1 5 15
|
| 89 |
+
f 1 15 31
|
| 90 |
+
f 1 31 47
|
| 91 |
+
f 1 47 62
|
| 92 |
+
f 1 62 69
|
| 93 |
+
f 1 69 73
|
| 94 |
+
f 1 73 72
|
| 95 |
+
f 1 72 67
|
| 96 |
+
f 1 67 66
|
| 97 |
+
f 1 66 65
|
| 98 |
+
f 1 65 64
|
| 99 |
+
f 1 64 63
|
| 100 |
+
f 1 63 49
|
| 101 |
+
f 1 49 48
|
| 102 |
+
f 1 48 35
|
| 103 |
+
f 1 35 34
|
| 104 |
+
f 1 34 33
|
| 105 |
+
f 1 33 32
|
| 106 |
+
f 1 32 18
|
| 107 |
+
f 1 18 17
|
| 108 |
+
f 1 17 16
|
| 109 |
+
f 1 16 6
|
| 110 |
+
f 1 6 2
|
| 111 |
+
f 2 6 3
|
| 112 |
+
f 3 7 8
|
| 113 |
+
f 3 8 9
|
| 114 |
+
f 3 9 4
|
| 115 |
+
f 3 6 7
|
| 116 |
+
f 4 9 10
|
| 117 |
+
f 5 11 12
|
| 118 |
+
f 5 12 13
|
| 119 |
+
f 5 13 14
|
| 120 |
+
f 5 14 15
|
| 121 |
+
f 6 16 7
|
| 122 |
+
f 7 16 17
|
| 123 |
+
f 7 17 18
|
| 124 |
+
f 7 18 19
|
| 125 |
+
f 7 19 20
|
| 126 |
+
f 7 20 8
|
| 127 |
+
f 8 20 21
|
| 128 |
+
f 8 21 9
|
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+
f 9 22 10
|
| 130 |
+
f 9 21 23
|
| 131 |
+
f 9 23 24
|
| 132 |
+
f 9 24 25
|
| 133 |
+
f 9 25 22
|
| 134 |
+
f 10 22 26
|
| 135 |
+
f 11 27 12
|
| 136 |
+
f 12 28 44
|
| 137 |
+
f 12 44 59
|
| 138 |
+
f 12 59 58
|
| 139 |
+
f 12 58 56
|
| 140 |
+
f 12 56 42
|
| 141 |
+
f 12 42 55
|
| 142 |
+
f 12 55 71
|
| 143 |
+
f 12 71 70
|
| 144 |
+
f 12 70 60
|
| 145 |
+
f 12 60 47
|
| 146 |
+
f 12 47 31
|
| 147 |
+
f 12 31 14
|
| 148 |
+
f 12 14 13
|
| 149 |
+
f 12 27 29
|
| 150 |
+
f 12 29 30
|
| 151 |
+
f 12 30 28
|
| 152 |
+
f 14 31 15
|
| 153 |
+
f 18 32 19
|
| 154 |
+
f 19 32 33
|
| 155 |
+
f 19 33 20
|
| 156 |
+
f 20 33 34
|
| 157 |
+
f 20 34 35
|
| 158 |
+
f 20 35 36
|
| 159 |
+
f 20 36 37
|
| 160 |
+
f 20 37 38
|
| 161 |
+
f 20 38 21
|
| 162 |
+
f 21 38 39
|
| 163 |
+
f 21 39 24
|
| 164 |
+
f 21 24 23
|
| 165 |
+
f 22 25 26
|
| 166 |
+
f 24 39 40
|
| 167 |
+
f 24 40 41
|
| 168 |
+
f 24 41 42
|
| 169 |
+
f 24 42 25
|
| 170 |
+
f 25 43 26
|
| 171 |
+
f 25 42 43
|
| 172 |
+
f 28 30 45
|
| 173 |
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f 28 45 46
|
| 174 |
+
f 28 46 44
|
| 175 |
+
f 35 48 37
|
| 176 |
+
f 35 37 36
|
| 177 |
+
f 37 48 49
|
| 178 |
+
f 37 49 50
|
| 179 |
+
f 37 50 38
|
| 180 |
+
f 38 50 51
|
| 181 |
+
f 38 51 52
|
| 182 |
+
f 38 52 39
|
| 183 |
+
f 39 52 53
|
| 184 |
+
f 39 53 40
|
| 185 |
+
f 40 53 54
|
| 186 |
+
f 40 54 41
|
| 187 |
+
f 41 54 55
|
| 188 |
+
f 41 55 42
|
| 189 |
+
f 42 56 43
|
| 190 |
+
f 43 56 58
|
| 191 |
+
f 43 58 59
|
| 192 |
+
f 43 59 57
|
| 193 |
+
f 44 46 59
|
| 194 |
+
f 46 57 59
|
| 195 |
+
f 47 60 61
|
| 196 |
+
f 47 61 62
|
| 197 |
+
f 49 63 50
|
| 198 |
+
f 50 63 64
|
| 199 |
+
f 50 64 51
|
| 200 |
+
f 51 64 52
|
| 201 |
+
f 52 64 65
|
| 202 |
+
f 52 65 66
|
| 203 |
+
f 52 66 67
|
| 204 |
+
f 52 67 68
|
| 205 |
+
f 52 68 53
|
| 206 |
+
f 53 69 62
|
| 207 |
+
f 53 62 61
|
| 208 |
+
f 53 61 60
|
| 209 |
+
f 53 60 70
|
| 210 |
+
f 53 70 71
|
| 211 |
+
f 53 71 54
|
| 212 |
+
f 53 68 72
|
| 213 |
+
f 53 72 73
|
| 214 |
+
f 53 73 69
|
| 215 |
+
f 54 71 55
|
| 216 |
+
f 67 72 68
|
| 217 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_14.obj
ADDED
|
@@ -0,0 +1,85 @@
|
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|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00273034 -0.04395433 0.16124543
|
| 3 |
+
v 0.00279823 -0.04377761 0.16950649
|
| 4 |
+
v -0.00258794 -0.04395433 0.16124543
|
| 5 |
+
v 0.00296394 -0.04390976 0.15298437
|
| 6 |
+
v -0.00264720 -0.04377761 0.16950649
|
| 7 |
+
v 0.00289317 -0.04335595 0.17776755
|
| 8 |
+
v -0.00281752 -0.04390976 0.15298437
|
| 9 |
+
v 0.00299789 -0.04345742 0.14476493
|
| 10 |
+
v -0.00275307 -0.04335595 0.17776755
|
| 11 |
+
v 0.00011924 -0.04280624 0.18250135
|
| 12 |
+
v 0.00289317 -0.03716836 0.17776757
|
| 13 |
+
v 0.00268200 -0.03678569 0.19199212
|
| 14 |
+
v 0.00256578 -0.03882039 0.19199212
|
| 15 |
+
v 0.00226082 -0.04239569 0.18602860
|
| 16 |
+
v -0.00288023 -0.04345742 0.14476493
|
| 17 |
+
v 0.00299789 -0.03758297 0.14476495
|
| 18 |
+
v 0.00011867 -0.04280624 0.18250135
|
| 19 |
+
v -0.00219955 -0.04239569 0.18602860
|
| 20 |
+
v -0.00265583 -0.03678569 0.19199212
|
| 21 |
+
v -0.00275307 -0.03716836 0.17776757
|
| 22 |
+
v 0.00221422 -0.03085557 0.19199215
|
| 23 |
+
v 0.00119866 -0.04144657 0.19199211
|
| 24 |
+
v 0.00011924 -0.04171655 0.19030939
|
| 25 |
+
v -0.00288023 -0.03758297 0.14476495
|
| 26 |
+
v 0.00174528 -0.02973663 0.19199215
|
| 27 |
+
v 0.00011867 -0.04171655 0.19030939
|
| 28 |
+
v -0.00121680 -0.04144657 0.19199211
|
| 29 |
+
v -0.00175938 -0.02973663 0.19199215
|
| 30 |
+
v -0.00257470 -0.03578084 0.18526123
|
| 31 |
+
f 1 2 5
|
| 32 |
+
f 1 5 3
|
| 33 |
+
f 1 3 7
|
| 34 |
+
f 1 7 4
|
| 35 |
+
f 1 4 2
|
| 36 |
+
f 2 4 6
|
| 37 |
+
f 2 6 9
|
| 38 |
+
f 2 9 5
|
| 39 |
+
f 3 5 7
|
| 40 |
+
f 4 7 15
|
| 41 |
+
f 4 15 8
|
| 42 |
+
f 4 8 6
|
| 43 |
+
f 5 9 7
|
| 44 |
+
f 6 10 17
|
| 45 |
+
f 6 17 9
|
| 46 |
+
f 6 8 16
|
| 47 |
+
f 6 16 11
|
| 48 |
+
f 6 11 12
|
| 49 |
+
f 6 12 13
|
| 50 |
+
f 6 13 14
|
| 51 |
+
f 6 14 10
|
| 52 |
+
f 7 9 15
|
| 53 |
+
f 8 15 24
|
| 54 |
+
f 8 24 16
|
| 55 |
+
f 9 17 18
|
| 56 |
+
f 9 18 19
|
| 57 |
+
f 9 19 20
|
| 58 |
+
f 9 20 24
|
| 59 |
+
f 9 24 15
|
| 60 |
+
f 10 14 18
|
| 61 |
+
f 10 18 17
|
| 62 |
+
f 11 21 12
|
| 63 |
+
f 11 16 21
|
| 64 |
+
f 12 21 25
|
| 65 |
+
f 12 25 28
|
| 66 |
+
f 12 28 19
|
| 67 |
+
f 12 19 27
|
| 68 |
+
f 12 27 22
|
| 69 |
+
f 12 22 13
|
| 70 |
+
f 13 22 14
|
| 71 |
+
f 14 22 23
|
| 72 |
+
f 14 23 26
|
| 73 |
+
f 14 26 18
|
| 74 |
+
f 16 25 21
|
| 75 |
+
f 16 24 28
|
| 76 |
+
f 16 28 25
|
| 77 |
+
f 18 26 27
|
| 78 |
+
f 18 27 19
|
| 79 |
+
f 19 28 29
|
| 80 |
+
f 19 29 20
|
| 81 |
+
f 20 29 24
|
| 82 |
+
f 22 27 26
|
| 83 |
+
f 22 26 23
|
| 84 |
+
f 24 29 28
|
| 85 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_15.obj
ADDED
|
@@ -0,0 +1,295 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.07606153 0.10903730 0.06545736
|
| 3 |
+
v 0.06879349 0.09735465 0.10972888
|
| 4 |
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| 5 |
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| 6 |
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v 0.07547127 0.10853844 0.07624884
|
| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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v 0.07477367 0.10709972 0.10338643
|
| 11 |
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v 0.07727188 0.10819871 0.06545736
|
| 12 |
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|
| 13 |
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|
| 14 |
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v 0.11498341 0.03518301 0.09838105
|
| 15 |
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v 0.06744005 0.09653043 0.13309276
|
| 16 |
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v 0.06810783 0.09763650 0.13309277
|
| 17 |
+
v 0.07471405 0.10666594 0.10972891
|
| 18 |
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v 0.11410695 0.03518297 0.10869584
|
| 19 |
+
v 0.11403540 0.03518297 0.10972865
|
| 20 |
+
v 0.10957561 0.04283145 0.13309257
|
| 21 |
+
v 0.08085522 0.10559618 0.06545735
|
| 22 |
+
v 0.11544251 0.04067015 0.06545711
|
| 23 |
+
v 0.12646680 0.03685301 0.08723206
|
| 24 |
+
v 0.12601962 0.03518301 0.09838105
|
| 25 |
+
v 0.08386618 0.09763650 0.13309277
|
| 26 |
+
v 0.07853589 0.10382484 0.10972890
|
| 27 |
+
v 0.12529818 0.03518297 0.10972865
|
| 28 |
+
v 0.12130941 0.04283145 0.13309257
|
| 29 |
+
v 0.08359787 0.09974754 0.10972889
|
| 30 |
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v 0.08346671 0.10342017 0.06545734
|
| 31 |
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v 0.12679472 0.04067015 0.06545711
|
| 32 |
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v 0.12333659 0.03952048 0.12132786
|
| 33 |
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v 0.12491659 0.03683125 0.10972866
|
| 34 |
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v 0.12570362 0.03518299 0.10338617
|
| 35 |
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v 0.12552475 0.04498602 0.06545713
|
| 36 |
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v 0.08462339 0.09763653 0.12477737
|
| 37 |
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v 0.08547600 0.10169960 0.06545733
|
| 38 |
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v 0.08663865 0.09503397 0.13309276
|
| 39 |
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v 0.08724084 0.09562682 0.11991788
|
| 40 |
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v 0.12161348 0.04283146 0.12974257
|
| 41 |
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v 0.12117823 0.04442190 0.12848468
|
| 42 |
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v 0.12064759 0.04474720 0.13309257
|
| 43 |
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v 0.12269266 0.04197121 0.11991768
|
| 44 |
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v 0.12263899 0.04182662 0.12132786
|
| 45 |
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v 0.12184602 0.04283147 0.12716718
|
| 46 |
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v 0.12464232 0.04719094 0.06545713
|
| 47 |
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v 0.12246012 0.04934519 0.08443823
|
| 48 |
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v 0.12124382 0.04605575 0.11991770
|
| 49 |
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v 0.12228722 0.04283149 0.12133449
|
| 50 |
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v 0.08904742 0.09731139 0.07860572
|
| 51 |
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v 0.09227898 0.09532339 0.06545731
|
| 52 |
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v 0.09085399 0.09095666 0.13309274
|
| 53 |
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v 0.09143829 0.09154951 0.11991787
|
| 54 |
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v 0.11880524 0.04946068 0.13309259
|
| 55 |
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v 0.12316368 0.05087787 0.06545715
|
| 56 |
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v 0.11771414 0.05313317 0.12818017
|
| 57 |
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v 0.11733852 0.05313315 0.13309261
|
| 58 |
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v 0.09373378 0.09384862 0.06545730
|
| 59 |
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v 0.09251748 0.08919995 0.13309274
|
| 60 |
+
v 0.09545093 0.08716856 0.12132803
|
| 61 |
+
v 0.09585040 0.08760959 0.11165542
|
| 62 |
+
v 0.09720980 0.08909171 0.07860569
|
| 63 |
+
v 0.12236474 0.05254783 0.06545715
|
| 64 |
+
v 0.11529941 0.05942989 0.11991775
|
| 65 |
+
v 0.11525171 0.05932144 0.12133455
|
| 66 |
+
v 0.11497744 0.05880091 0.12818019
|
| 67 |
+
v 0.11478069 0.05842497 0.13309262
|
| 68 |
+
v 0.09968415 0.08758084 0.06545728
|
| 69 |
+
v 0.09493220 0.08662633 0.13309273
|
| 70 |
+
v 0.09865864 0.08255625 0.13309271
|
| 71 |
+
v 0.09963049 0.08361182 0.10972883
|
| 72 |
+
v 0.12120208 0.05495517 0.06545716
|
| 73 |
+
v 0.11982480 0.05774567 0.06545717
|
| 74 |
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v 0.11805399 0.06128801 0.06545719
|
| 75 |
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v 0.11557964 0.05998657 0.11165532
|
| 76 |
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v 0.11419638 0.06540859 0.09133690
|
| 77 |
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v 0.11316491 0.06350720 0.11991776
|
| 78 |
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v 0.11264023 0.06249505 0.13309264
|
| 79 |
+
v 0.10109722 0.08601932 0.06545728
|
| 80 |
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v 0.10055465 0.08013445 0.13309270
|
| 81 |
+
v 0.10361927 0.07853686 0.11165539
|
| 82 |
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v 0.10461497 0.07982376 0.08723221
|
| 83 |
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v 0.10547354 0.08095884 0.06545726
|
| 84 |
+
v 0.11693308 0.06344233 0.06545719
|
| 85 |
+
v 0.11510265 0.06687623 0.06545721
|
| 86 |
+
v 0.11244943 0.07096077 0.06545722
|
| 87 |
+
v 0.10943251 0.06943519 0.11991779
|
| 88 |
+
v 0.10836526 0.06947851 0.13309267
|
| 89 |
+
v 0.11021357 0.06651452 0.13309265
|
| 90 |
+
v 0.10274877 0.07728612 0.13309269
|
| 91 |
+
v 0.10330923 0.07787896 0.12133462
|
| 92 |
+
v 0.10631423 0.07392455 0.12132798
|
| 93 |
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v 0.10636789 0.07400409 0.11991780
|
| 94 |
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v 0.10668985 0.07445956 0.11165537
|
| 95 |
+
v 0.10837122 0.07687431 0.06545724
|
| 96 |
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v 0.11078595 0.07339703 0.06545723
|
| 97 |
+
v 0.10923575 0.06956531 0.12133459
|
| 98 |
+
v 0.10614132 0.07367875 0.12557175
|
| 99 |
+
v 0.10673755 0.07187863 0.13309267
|
| 100 |
+
v 0.10580147 0.07324496 0.13309268
|
| 101 |
+
f 1 2 3
|
| 102 |
+
f 1 3 4
|
| 103 |
+
f 1 4 5
|
| 104 |
+
f 1 5 6
|
| 105 |
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f 1 6 7
|
| 106 |
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f 1 7 8
|
| 107 |
+
f 1 8 9
|
| 108 |
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f 1 9 10
|
| 109 |
+
f 1 10 20
|
| 110 |
+
f 1 20 29
|
| 111 |
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f 1 29 36
|
| 112 |
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f 1 36 50
|
| 113 |
+
f 1 50 57
|
| 114 |
+
f 1 57 67
|
| 115 |
+
f 1 67 78
|
| 116 |
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f 1 78 82
|
| 117 |
+
f 1 82 94
|
| 118 |
+
f 1 94 95
|
| 119 |
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f 1 95 85
|
| 120 |
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f 1 85 84
|
| 121 |
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f 1 84 83
|
| 122 |
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f 1 83 73
|
| 123 |
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f 1 73 72
|
| 124 |
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f 1 72 71
|
| 125 |
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f 1 71 62
|
| 126 |
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f 1 62 54
|
| 127 |
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f 1 54 45
|
| 128 |
+
f 1 45 34
|
| 129 |
+
f 1 34 30
|
| 130 |
+
f 1 30 21
|
| 131 |
+
f 1 21 11
|
| 132 |
+
f 1 11 2
|
| 133 |
+
f 2 11 12
|
| 134 |
+
f 2 12 13
|
| 135 |
+
f 2 13 3
|
| 136 |
+
f 3 13 4
|
| 137 |
+
f 4 14 15
|
| 138 |
+
f 4 15 16
|
| 139 |
+
f 4 16 8
|
| 140 |
+
f 4 8 7
|
| 141 |
+
f 4 7 6
|
| 142 |
+
f 4 6 5
|
| 143 |
+
f 4 13 17
|
| 144 |
+
f 4 17 18
|
| 145 |
+
f 4 18 19
|
| 146 |
+
f 4 19 14
|
| 147 |
+
f 8 16 9
|
| 148 |
+
f 9 16 10
|
| 149 |
+
f 10 16 20
|
| 150 |
+
f 11 21 12
|
| 151 |
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f 12 21 30
|
| 152 |
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f 12 30 22
|
| 153 |
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f 12 22 23
|
| 154 |
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f 12 23 13
|
| 155 |
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f 13 23 33
|
| 156 |
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f 13 33 26
|
| 157 |
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f 13 26 18
|
| 158 |
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f 13 18 17
|
| 159 |
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f 14 19 27
|
| 160 |
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f 14 27 41
|
| 161 |
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f 14 41 53
|
| 162 |
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f 14 53 56
|
| 163 |
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f 14 56 66
|
| 164 |
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f 14 66 77
|
| 165 |
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f 14 77 88
|
| 166 |
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f 14 88 87
|
| 167 |
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f 14 87 98
|
| 168 |
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f 14 98 99
|
| 169 |
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f 14 99 89
|
| 170 |
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f 14 89 79
|
| 171 |
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f 14 79 69
|
| 172 |
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f 14 69 68
|
| 173 |
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f 14 68 58
|
| 174 |
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f 14 58 51
|
| 175 |
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f 14 51 37
|
| 176 |
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f 14 37 24
|
| 177 |
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f 14 24 15
|
| 178 |
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f 15 24 16
|
| 179 |
+
f 16 25 20
|
| 180 |
+
f 16 24 25
|
| 181 |
+
f 18 26 27
|
| 182 |
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|
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|
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|
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|
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|
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|
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f 73 83 75
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|
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|
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|
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f 79 90 80
|
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|
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|
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f 80 93 81
|
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f 81 93 82
|
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f 82 93 94
|
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f 85 95 93
|
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|
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+
f 86 93 91
|
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f 86 91 96
|
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|
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|
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f 93 95 94
|
| 294 |
+
f 97 99 98
|
| 295 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_16.obj
ADDED
|
@@ -0,0 +1,181 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.05497573 -0.11137422 0.19199185
|
| 3 |
+
v -0.05497573 -0.10937840 0.21679769
|
| 4 |
+
v -0.06172013 -0.10801540 0.19199186
|
| 5 |
+
v -0.05497573 -0.09891409 0.19199190
|
| 6 |
+
v -0.05497573 -0.10937270 0.21682686
|
| 7 |
+
v -0.05952624 -0.10710308 0.21682687
|
| 8 |
+
v -0.06555243 -0.10603091 0.19199187
|
| 9 |
+
v -0.06178185 -0.08788539 0.21682694
|
| 10 |
+
v -0.05497573 -0.09863466 0.19404628
|
| 11 |
+
v -0.09998142 -0.05312239 0.19199206
|
| 12 |
+
v -0.05497573 -0.09623967 0.21682691
|
| 13 |
+
v -0.06064843 -0.10649861 0.21682687
|
| 14 |
+
v -0.06360542 -0.10489048 0.21682687
|
| 15 |
+
v -0.06506427 -0.10389823 0.21682688
|
| 16 |
+
v -0.06990094 -0.10058503 0.21682689
|
| 17 |
+
v -0.06911540 -0.10352177 0.19199188
|
| 18 |
+
v -0.09773141 -0.05312248 0.21682706
|
| 19 |
+
v -0.11229752 -0.05312239 0.19199206
|
| 20 |
+
v -0.07126441 -0.09960419 0.21682689
|
| 21 |
+
v -0.07460294 -0.09858907 0.20256775
|
| 22 |
+
v -0.07512477 -0.09898822 0.19430400
|
| 23 |
+
v -0.07527065 -0.09909657 0.19199190
|
| 24 |
+
v -0.11021023 -0.05312248 0.21682706
|
| 25 |
+
v -0.10807245 -0.06150518 0.19199203
|
| 26 |
+
v -0.10719153 -0.05912730 0.21682704
|
| 27 |
+
v -0.07346391 -0.09797325 0.21682690
|
| 28 |
+
v -0.07363224 -0.09784780 0.21682690
|
| 29 |
+
v -0.07380057 -0.09771664 0.21682690
|
| 30 |
+
v -0.07720644 -0.09505923 0.21682691
|
| 31 |
+
v -0.07868213 -0.09535571 0.20256776
|
| 32 |
+
v -0.07640968 -0.09820697 0.19199190
|
| 33 |
+
v -0.10656871 -0.06439069 0.19199202
|
| 34 |
+
v -0.10502007 -0.06320464 0.21682703
|
| 35 |
+
v -0.08268837 -0.09056560 0.21682693
|
| 36 |
+
v -0.07934983 -0.09587462 0.19199191
|
| 37 |
+
v -0.10613666 -0.06520045 0.19199202
|
| 38 |
+
v -0.10178815 -0.06809175 0.21682701
|
| 39 |
+
v -0.08380495 -0.08945930 0.21682693
|
| 40 |
+
v -0.08751381 -0.08726945 0.20256779
|
| 41 |
+
v -0.08805247 -0.08782828 0.19199194
|
| 42 |
+
v -0.08344024 -0.09127837 0.20256777
|
| 43 |
+
v -0.08397889 -0.09179727 0.19199192
|
| 44 |
+
v -0.10556434 -0.06603302 0.19199202
|
| 45 |
+
v -0.10071084 -0.06970558 0.21682700
|
| 46 |
+
v -0.08676194 -0.08649967 0.21682694
|
| 47 |
+
v -0.08785047 -0.08538196 0.21682695
|
| 48 |
+
v -0.09072891 -0.08242232 0.21682696
|
| 49 |
+
v -0.09144711 -0.08319211 0.20256780
|
| 50 |
+
v -0.08511793 -0.09069667 0.19199193
|
| 51 |
+
v -0.08915222 -0.08668776 0.19199194
|
| 52 |
+
v -0.10363977 -0.06878737 0.19199201
|
| 53 |
+
v -0.10036857 -0.07343497 0.19199199
|
| 54 |
+
v -0.09922955 -0.07503740 0.19199198
|
| 55 |
+
v -0.09815785 -0.07329250 0.21682699
|
| 56 |
+
v -0.09185110 -0.08109932 0.21682696
|
| 57 |
+
v -0.09605934 -0.07910904 0.19199197
|
| 58 |
+
v -0.09311918 -0.08247356 0.19199196
|
| 59 |
+
v -0.09198015 -0.08375093 0.19199195
|
| 60 |
+
v -0.09805124 -0.07344076 0.21682699
|
| 61 |
+
v -0.09522891 -0.07700488 0.21682698
|
| 62 |
+
v -0.09552630 -0.07843046 0.20256782
|
| 63 |
+
f 1 2 3
|
| 64 |
+
f 1 3 7
|
| 65 |
+
f 1 7 16
|
| 66 |
+
f 1 16 22
|
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+
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|
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+
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|
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|
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f 1 42 49
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 5 55 47
|
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|
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|
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f 5 38 34
|
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f 5 34 29
|
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f 5 29 28
|
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f 5 28 27
|
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f 5 27 26
|
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|
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|
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|
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|
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f 5 12 6
|
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f 6 12 7
|
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|
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|
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|
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f 7 15 16
|
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f 8 11 9
|
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f 8 10 17
|
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f 10 18 23
|
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f 10 23 17
|
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f 15 19 20
|
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f 15 20 16
|
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|
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f 16 21 22
|
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f 18 24 25
|
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f 18 25 23
|
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|
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f 20 26 27
|
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|
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|
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|
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f 20 30 31
|
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|
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f 21 31 22
|
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f 24 32 25
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 34 41 35
|
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|
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|
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|
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|
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|
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|
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f 44 51 52
|
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|
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f 55 61 56
|
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f 56 61 60
|
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+
f 56 60 59
|
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+
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demo_assets/lamp/mjcf/mesh/lamp_collision_17.obj
ADDED
|
@@ -0,0 +1,85 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00012033 0.12443068 0.19199272
|
| 3 |
+
v 0.00405378 0.12442313 0.19199272
|
| 4 |
+
v 0.00012033 0.11324092 0.19199268
|
| 5 |
+
v 0.00012033 0.12367893 0.20256856
|
| 6 |
+
v 0.00633317 0.12424011 0.19199272
|
| 7 |
+
v 0.00405378 0.12366834 0.20256856
|
| 8 |
+
v 0.02192396 0.11120958 0.19199267
|
| 9 |
+
v 0.02192396 0.10935363 0.21226668
|
| 10 |
+
v 0.00012033 0.11111723 0.21682767
|
| 11 |
+
v 0.00012033 0.12338548 0.20654849
|
| 12 |
+
v 0.01220880 0.12376215 0.19199271
|
| 13 |
+
v 0.00012033 0.12282581 0.21402450
|
| 14 |
+
v 0.00405378 0.12257774 0.21682771
|
| 15 |
+
v 0.00435898 0.12255656 0.21682771
|
| 16 |
+
v 0.00813236 0.12243104 0.21496296
|
| 17 |
+
v 0.00975013 0.12260802 0.21082987
|
| 18 |
+
v 0.02192396 0.12231767 0.19199271
|
| 19 |
+
v 0.02192396 0.10898001 0.21682766
|
| 20 |
+
v 0.00012033 0.12261101 0.21682771
|
| 21 |
+
v 0.01921132 0.12286521 0.19199271
|
| 22 |
+
v 0.01220880 0.12359275 0.19430481
|
| 23 |
+
v 0.01268687 0.12291659 0.20289192
|
| 24 |
+
v 0.01716029 0.12257175 0.20035371
|
| 25 |
+
v 0.00689448 0.12235994 0.21682771
|
| 26 |
+
v 0.00997422 0.12196970 0.21682771
|
| 27 |
+
v 0.02036595 0.12055093 0.21682770
|
| 28 |
+
v 0.01572393 0.12228132 0.20586045
|
| 29 |
+
v 0.02088671 0.12254606 0.19199271
|
| 30 |
+
v 0.02192396 0.12024843 0.21682770
|
| 31 |
+
f 1 2 5
|
| 32 |
+
f 1 5 11
|
| 33 |
+
f 1 11 20
|
| 34 |
+
f 1 20 28
|
| 35 |
+
f 1 28 17
|
| 36 |
+
f 1 17 7
|
| 37 |
+
f 1 7 3
|
| 38 |
+
f 1 3 9
|
| 39 |
+
f 1 9 19
|
| 40 |
+
f 1 19 12
|
| 41 |
+
f 1 12 10
|
| 42 |
+
f 1 10 4
|
| 43 |
+
f 1 4 2
|
| 44 |
+
f 2 4 6
|
| 45 |
+
f 2 6 5
|
| 46 |
+
f 3 7 8
|
| 47 |
+
f 3 8 9
|
| 48 |
+
f 4 10 6
|
| 49 |
+
f 5 6 11
|
| 50 |
+
f 6 10 12
|
| 51 |
+
f 6 12 13
|
| 52 |
+
f 6 13 14
|
| 53 |
+
f 6 14 15
|
| 54 |
+
f 6 15 16
|
| 55 |
+
f 6 16 11
|
| 56 |
+
f 7 17 29
|
| 57 |
+
f 7 29 18
|
| 58 |
+
f 7 18 8
|
| 59 |
+
f 8 18 9
|
| 60 |
+
f 9 18 29
|
| 61 |
+
f 9 29 26
|
| 62 |
+
f 9 26 25
|
| 63 |
+
f 9 25 24
|
| 64 |
+
f 9 24 14
|
| 65 |
+
f 9 14 13
|
| 66 |
+
f 9 13 19
|
| 67 |
+
f 11 16 21
|
| 68 |
+
f 11 21 22
|
| 69 |
+
f 11 22 23
|
| 70 |
+
f 11 23 20
|
| 71 |
+
f 12 19 13
|
| 72 |
+
f 14 24 15
|
| 73 |
+
f 15 24 25
|
| 74 |
+
f 15 25 26
|
| 75 |
+
f 15 26 27
|
| 76 |
+
f 15 27 16
|
| 77 |
+
f 16 27 23
|
| 78 |
+
f 16 23 22
|
| 79 |
+
f 16 22 21
|
| 80 |
+
f 17 28 29
|
| 81 |
+
f 20 23 28
|
| 82 |
+
f 23 27 26
|
| 83 |
+
f 23 26 29
|
| 84 |
+
f 23 29 28
|
| 85 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_18.obj
ADDED
|
@@ -0,0 +1,181 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.04722141 -0.11244318 0.06545554
|
| 3 |
+
v 0.04722141 -0.12455946 0.06545549
|
| 4 |
+
v 0.04722141 -0.11247013 0.06495060
|
| 5 |
+
v -0.03158162 -0.11797375 0.06206943
|
| 6 |
+
v -0.03158162 -0.11784938 0.06511116
|
| 7 |
+
v -0.03158162 -0.11783694 0.06545552
|
| 8 |
+
v 0.04722141 -0.12487039 0.06206940
|
| 9 |
+
v 0.04483787 -0.12547154 0.06545549
|
| 10 |
+
v 0.04483787 -0.12580942 0.06206940
|
| 11 |
+
v 0.04722141 -0.11262559 0.06206945
|
| 12 |
+
v -0.03158162 -0.11911799 0.05820163
|
| 13 |
+
v 0.04722141 -0.11334487 0.05779669
|
| 14 |
+
v 0.04722141 -0.11343816 0.05725035
|
| 15 |
+
v -0.03158162 -0.12916758 0.06545548
|
| 16 |
+
v 0.04722141 -0.12381938 0.05617380
|
| 17 |
+
v 0.04002453 -0.12693917 0.06545548
|
| 18 |
+
v 0.03667680 -0.12829279 0.06206939
|
| 19 |
+
v 0.02709640 -0.13089637 0.05711194
|
| 20 |
+
v -0.03158162 -0.12012956 0.05578703
|
| 21 |
+
v 0.04722141 -0.11360813 0.05705444
|
| 22 |
+
v -0.03158162 -0.12927744 0.06459507
|
| 23 |
+
v -0.02682999 -0.13081555 0.06206938
|
| 24 |
+
v -0.02982290 -0.12961741 0.06545547
|
| 25 |
+
v 0.04483787 -0.12428163 0.05578499
|
| 26 |
+
v 0.04722141 -0.11788872 0.05575271
|
| 27 |
+
v 0.03667680 -0.12790102 0.06545548
|
| 28 |
+
v 0.03109980 -0.12983297 0.06206938
|
| 29 |
+
v 0.02701926 -0.13088810 0.06206938
|
| 30 |
+
v 0.02036235 -0.13205308 0.06206937
|
| 31 |
+
v 0.01220898 -0.13301284 0.06206937
|
| 32 |
+
v 0.02036235 -0.13148300 0.05640604
|
| 33 |
+
v -0.02041991 -0.12624885 0.05513969
|
| 34 |
+
v -0.03158162 -0.12463818 0.05578398
|
| 35 |
+
v 0.04471446 -0.11759852 0.05572645
|
| 36 |
+
v 0.03667680 -0.11949524 0.05553861
|
| 37 |
+
v -0.03158162 -0.12959873 0.06206938
|
| 38 |
+
v -0.02689941 -0.13082797 0.05721091
|
| 39 |
+
v -0.02041991 -0.13193907 0.06206938
|
| 40 |
+
v -0.02062047 -0.13155144 0.06545547
|
| 41 |
+
v -0.02447731 -0.13087360 0.06545547
|
| 42 |
+
v -0.02589663 -0.13062070 0.06545547
|
| 43 |
+
v 0.03667680 -0.12560209 0.05553859
|
| 44 |
+
v 0.02036235 -0.12624885 0.05517200
|
| 45 |
+
v 0.03338305 -0.12880895 0.06545548
|
| 46 |
+
v 0.02603962 -0.13068081 0.06545547
|
| 47 |
+
v 0.02060147 -0.13164265 0.06545547
|
| 48 |
+
v 0.01220898 -0.13263559 0.06545546
|
| 49 |
+
v 0.00405562 -0.13362022 0.06206937
|
| 50 |
+
v 0.00739564 -0.13299421 0.06545546
|
| 51 |
+
v 0.01220898 -0.13195978 0.05598190
|
| 52 |
+
v 0.00405562 -0.13226449 0.05575366
|
| 53 |
+
v -0.00410547 -0.13224377 0.05577587
|
| 54 |
+
v -0.01225883 -0.13190795 0.05602835
|
| 55 |
+
v -0.03158162 -0.12653077 0.05578398
|
| 56 |
+
v -0.03158162 -0.12928157 0.06131199
|
| 57 |
+
v -0.02041991 -0.13140008 0.05650400
|
| 58 |
+
v -0.01225883 -0.13293407 0.06206937
|
| 59 |
+
v -0.01225883 -0.13256925 0.06545546
|
| 60 |
+
v 0.00405562 -0.13322637 0.06545546
|
| 61 |
+
v -0.00410547 -0.13319320 0.06545546
|
| 62 |
+
v -0.00410547 -0.13358291 0.06206937
|
| 63 |
+
f 1 2 7
|
| 64 |
+
f 1 7 15
|
| 65 |
+
f 1 15 25
|
| 66 |
+
f 1 25 20
|
| 67 |
+
f 1 20 13
|
| 68 |
+
f 1 13 12
|
| 69 |
+
f 1 12 10
|
| 70 |
+
f 1 10 3
|
| 71 |
+
f 1 3 4
|
| 72 |
+
f 1 4 5
|
| 73 |
+
f 1 5 6
|
| 74 |
+
f 1 6 14
|
| 75 |
+
f 1 14 23
|
| 76 |
+
f 1 23 41
|
| 77 |
+
f 1 41 40
|
| 78 |
+
f 1 40 39
|
| 79 |
+
f 1 39 58
|
| 80 |
+
f 1 58 60
|
| 81 |
+
f 1 60 59
|
| 82 |
+
f 1 59 49
|
| 83 |
+
f 1 49 47
|
| 84 |
+
f 1 47 46
|
| 85 |
+
f 1 46 45
|
| 86 |
+
f 1 45 44
|
| 87 |
+
f 1 44 26
|
| 88 |
+
f 1 26 16
|
| 89 |
+
f 1 16 8
|
| 90 |
+
f 1 8 2
|
| 91 |
+
f 2 8 9
|
| 92 |
+
f 2 9 7
|
| 93 |
+
f 3 10 4
|
| 94 |
+
f 4 11 19
|
| 95 |
+
f 4 19 33
|
| 96 |
+
f 4 33 54
|
| 97 |
+
f 4 54 55
|
| 98 |
+
f 4 55 36
|
| 99 |
+
f 4 36 21
|
| 100 |
+
f 4 21 14
|
| 101 |
+
f 4 14 6
|
| 102 |
+
f 4 6 5
|
| 103 |
+
f 4 10 12
|
| 104 |
+
f 4 12 13
|
| 105 |
+
f 4 13 11
|
| 106 |
+
f 7 9 15
|
| 107 |
+
f 8 16 9
|
| 108 |
+
f 9 16 17
|
| 109 |
+
f 9 17 18
|
| 110 |
+
f 9 18 15
|
| 111 |
+
f 11 13 19
|
| 112 |
+
f 13 20 19
|
| 113 |
+
f 14 21 22
|
| 114 |
+
f 14 22 23
|
| 115 |
+
f 15 24 25
|
| 116 |
+
f 15 18 24
|
| 117 |
+
f 16 26 17
|
| 118 |
+
f 17 27 18
|
| 119 |
+
f 17 26 27
|
| 120 |
+
f 18 27 28
|
| 121 |
+
f 18 28 29
|
| 122 |
+
f 18 29 30
|
| 123 |
+
f 18 30 31
|
| 124 |
+
f 18 31 24
|
| 125 |
+
f 19 32 33
|
| 126 |
+
f 19 20 34
|
| 127 |
+
f 19 34 35
|
| 128 |
+
f 19 35 32
|
| 129 |
+
f 20 25 34
|
| 130 |
+
f 21 36 22
|
| 131 |
+
f 22 37 38
|
| 132 |
+
f 22 38 39
|
| 133 |
+
f 22 39 40
|
| 134 |
+
f 22 40 41
|
| 135 |
+
f 22 41 23
|
| 136 |
+
f 22 36 37
|
| 137 |
+
f 24 42 25
|
| 138 |
+
f 24 31 42
|
| 139 |
+
f 25 42 43
|
| 140 |
+
f 25 43 35
|
| 141 |
+
f 25 35 34
|
| 142 |
+
f 26 44 27
|
| 143 |
+
f 27 44 28
|
| 144 |
+
f 28 45 46
|
| 145 |
+
f 28 46 29
|
| 146 |
+
f 28 44 45
|
| 147 |
+
f 29 46 47
|
| 148 |
+
f 29 47 30
|
| 149 |
+
f 30 48 31
|
| 150 |
+
f 30 47 49
|
| 151 |
+
f 30 49 48
|
| 152 |
+
f 31 48 50
|
| 153 |
+
f 31 50 42
|
| 154 |
+
f 32 51 52
|
| 155 |
+
f 32 52 53
|
| 156 |
+
f 32 53 54
|
| 157 |
+
f 32 54 33
|
| 158 |
+
f 32 35 43
|
| 159 |
+
f 32 43 51
|
| 160 |
+
f 36 55 37
|
| 161 |
+
f 37 55 54
|
| 162 |
+
f 37 54 56
|
| 163 |
+
f 37 56 57
|
| 164 |
+
f 37 57 38
|
| 165 |
+
f 38 57 39
|
| 166 |
+
f 39 57 58
|
| 167 |
+
f 42 50 51
|
| 168 |
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f 42 51 43
|
| 169 |
+
f 48 59 60
|
| 170 |
+
f 48 60 61
|
| 171 |
+
f 48 61 52
|
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f 48 52 51
|
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f 48 51 50
|
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|
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|
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f 53 61 56
|
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f 53 56 54
|
| 178 |
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f 56 61 57
|
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+
f 57 61 58
|
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+
f 58 61 60
|
| 181 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_19.obj
ADDED
|
@@ -0,0 +1,223 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.00409747 0.12264482 0.21683259
|
| 3 |
+
v -0.00565291 0.12255551 0.21683259
|
| 4 |
+
v -0.00409747 0.12163598 0.23562283
|
| 5 |
+
v 0.00405761 0.12164124 0.23562283
|
| 6 |
+
v -0.00332414 0.12263956 0.21683259
|
| 7 |
+
v -0.00992378 0.12219298 0.21683259
|
| 8 |
+
v -0.01226134 0.12092669 0.23562282
|
| 9 |
+
v -0.01343011 0.12036451 0.23649771
|
| 10 |
+
v -0.01343011 0.11749843 0.24167325
|
| 11 |
+
v -0.01226134 0.11757725 0.24167080
|
| 12 |
+
v -0.00409747 0.11800019 0.24164130
|
| 13 |
+
v 0.00405761 0.11800808 0.24165113
|
| 14 |
+
v 0.01221268 0.11761403 0.24167816
|
| 15 |
+
v 0.02036776 0.11710176 0.24167570
|
| 16 |
+
v 0.01221268 0.12094771 0.23562282
|
| 17 |
+
v 0.00689606 0.12235848 0.21683259
|
| 18 |
+
v 0.00436518 0.12255551 0.21683259
|
| 19 |
+
v 0.00405761 0.12257652 0.21683259
|
| 20 |
+
v -0.01245467 0.12186723 0.21683259
|
| 21 |
+
v -0.01343011 0.12078221 0.23562282
|
| 22 |
+
v -0.01343011 0.11206317 0.24167323
|
| 23 |
+
v 0.03667791 0.11020063 0.24193618
|
| 24 |
+
v 0.02853162 0.11638196 0.24157740
|
| 25 |
+
v 0.02036776 0.12004139 0.23562282
|
| 26 |
+
v 0.00998058 0.12196968 0.21683259
|
| 27 |
+
v -0.01343011 0.12173325 0.21683259
|
| 28 |
+
v -0.01343011 0.11164549 0.24079835
|
| 29 |
+
v 0.05717985 0.09580992 0.24103913
|
| 30 |
+
v 0.06159132 0.09580992 0.24137580
|
| 31 |
+
v 0.06935095 0.09580992 0.24132420
|
| 32 |
+
v 0.06088830 0.10221455 0.24153312
|
| 33 |
+
v 0.05299686 0.10778379 0.24113502
|
| 34 |
+
v 0.03667791 0.11526812 0.24081802
|
| 35 |
+
v 0.02853162 0.11853612 0.23562282
|
| 36 |
+
v 0.02036776 0.12055110 0.21683258
|
| 37 |
+
v -0.01343011 0.11038461 0.21683255
|
| 38 |
+
v -0.01343011 0.10962008 0.23562278
|
| 39 |
+
v 0.05417442 0.09580994 0.23562273
|
| 40 |
+
v 0.07518605 0.09580994 0.23562273
|
| 41 |
+
v 0.06762854 0.09960856 0.24102440
|
| 42 |
+
v 0.05799711 0.10660953 0.24032156
|
| 43 |
+
v 0.04131787 0.11447477 0.24002424
|
| 44 |
+
v 0.03076372 0.11839433 0.21683257
|
| 45 |
+
v 0.02853162 0.11900643 0.21683258
|
| 46 |
+
v 0.03667791 0.11620860 0.23562281
|
| 47 |
+
v -0.01343011 0.11027953 0.21790649
|
| 48 |
+
v 0.05562440 0.09581001 0.21683249
|
| 49 |
+
v -0.01343011 0.10960696 0.23443334
|
| 50 |
+
v 0.05395472 0.09580997 0.22736299
|
| 51 |
+
v 0.07633725 0.09581001 0.21683249
|
| 52 |
+
v 0.07349879 0.09805084 0.21683250
|
| 53 |
+
v 0.07294515 0.09757529 0.23562274
|
| 54 |
+
v 0.06886762 0.10050439 0.23562275
|
| 55 |
+
v 0.06256677 0.10458150 0.23562276
|
| 56 |
+
v 0.05848923 0.10686698 0.23562277
|
| 57 |
+
v 0.05299686 0.10956491 0.23562278
|
| 58 |
+
v 0.04155514 0.11456410 0.23562280
|
| 59 |
+
v 0.04564147 0.11290121 0.23562279
|
| 60 |
+
v 0.03667791 0.11666839 0.21683257
|
| 61 |
+
v 0.04231089 0.11483738 0.21683256
|
| 62 |
+
v -0.01343011 0.11020335 0.21877153
|
| 63 |
+
v 0.05508835 0.09581001 0.21909832
|
| 64 |
+
v -0.01343011 0.10960172 0.22736304
|
| 65 |
+
v -0.01343011 0.10967266 0.22617114
|
| 66 |
+
v -0.01343011 0.11017707 0.21909837
|
| 67 |
+
v 0.05497411 0.09581000 0.21990684
|
| 68 |
+
v 0.07108215 0.09978204 0.21683251
|
| 69 |
+
v 0.06984307 0.10065157 0.21683251
|
| 70 |
+
v 0.06482523 0.10398786 0.21683252
|
| 71 |
+
v 0.06328737 0.10500977 0.21683253
|
| 72 |
+
v 0.05920983 0.10723746 0.21683253
|
| 73 |
+
v 0.05480714 0.10943101 0.21683254
|
| 74 |
+
v 0.06032588 0.10663062 0.21683253
|
| 75 |
+
v 0.05299686 0.11031631 0.21683255
|
| 76 |
+
v 0.04639722 0.11328219 0.21683256
|
| 77 |
+
f 1 2 3
|
| 78 |
+
f 1 3 4
|
| 79 |
+
f 1 4 5
|
| 80 |
+
f 1 5 18
|
| 81 |
+
f 1 18 17
|
| 82 |
+
f 1 17 16
|
| 83 |
+
f 1 16 25
|
| 84 |
+
f 1 25 35
|
| 85 |
+
f 1 35 44
|
| 86 |
+
f 1 44 43
|
| 87 |
+
f 1 43 59
|
| 88 |
+
f 1 59 60
|
| 89 |
+
f 1 60 75
|
| 90 |
+
f 1 75 74
|
| 91 |
+
f 1 74 72
|
| 92 |
+
f 1 72 71
|
| 93 |
+
f 1 71 73
|
| 94 |
+
f 1 73 70
|
| 95 |
+
f 1 70 69
|
| 96 |
+
f 1 69 68
|
| 97 |
+
f 1 68 67
|
| 98 |
+
f 1 67 51
|
| 99 |
+
f 1 51 50
|
| 100 |
+
f 1 50 47
|
| 101 |
+
f 1 47 36
|
| 102 |
+
f 1 36 26
|
| 103 |
+
f 1 26 19
|
| 104 |
+
f 1 19 6
|
| 105 |
+
f 1 6 2
|
| 106 |
+
f 2 6 3
|
| 107 |
+
f 3 6 7
|
| 108 |
+
f 3 7 8
|
| 109 |
+
f 3 8 9
|
| 110 |
+
f 3 9 10
|
| 111 |
+
f 3 10 11
|
| 112 |
+
f 3 11 12
|
| 113 |
+
f 3 12 4
|
| 114 |
+
f 4 12 13
|
| 115 |
+
f 4 13 14
|
| 116 |
+
f 4 14 15
|
| 117 |
+
f 4 15 16
|
| 118 |
+
f 4 16 17
|
| 119 |
+
f 4 17 18
|
| 120 |
+
f 4 18 5
|
| 121 |
+
f 6 19 20
|
| 122 |
+
f 6 20 7
|
| 123 |
+
f 7 20 8
|
| 124 |
+
f 8 20 26
|
| 125 |
+
f 8 26 36
|
| 126 |
+
f 8 36 46
|
| 127 |
+
f 8 46 61
|
| 128 |
+
f 8 61 65
|
| 129 |
+
f 8 65 64
|
| 130 |
+
f 8 64 63
|
| 131 |
+
f 8 63 48
|
| 132 |
+
f 8 48 37
|
| 133 |
+
f 8 37 27
|
| 134 |
+
f 8 27 21
|
| 135 |
+
f 8 21 9
|
| 136 |
+
f 9 21 22
|
| 137 |
+
f 9 22 13
|
| 138 |
+
f 9 13 10
|
| 139 |
+
f 10 13 12
|
| 140 |
+
f 10 12 11
|
| 141 |
+
f 13 22 14
|
| 142 |
+
f 14 23 15
|
| 143 |
+
f 14 22 23
|
| 144 |
+
f 15 23 24
|
| 145 |
+
f 15 24 16
|
| 146 |
+
f 16 24 25
|
| 147 |
+
f 19 26 20
|
| 148 |
+
f 21 27 28
|
| 149 |
+
f 21 28 29
|
| 150 |
+
f 21 29 22
|
| 151 |
+
f 22 29 30
|
| 152 |
+
f 22 30 31
|
| 153 |
+
f 22 31 23
|
| 154 |
+
f 23 31 32
|
| 155 |
+
f 23 32 33
|
| 156 |
+
f 23 33 24
|
| 157 |
+
f 24 33 34
|
| 158 |
+
f 24 34 35
|
| 159 |
+
f 24 35 25
|
| 160 |
+
f 27 37 28
|
| 161 |
+
f 28 38 49
|
| 162 |
+
f 28 49 66
|
| 163 |
+
f 28 66 62
|
| 164 |
+
f 28 62 47
|
| 165 |
+
f 28 47 50
|
| 166 |
+
f 28 50 39
|
| 167 |
+
f 28 39 30
|
| 168 |
+
f 28 30 29
|
| 169 |
+
f 28 37 38
|
| 170 |
+
f 30 39 40
|
| 171 |
+
f 30 40 31
|
| 172 |
+
f 31 40 32
|
| 173 |
+
f 32 40 41
|
| 174 |
+
f 32 41 42
|
| 175 |
+
f 32 42 33
|
| 176 |
+
f 33 42 34
|
| 177 |
+
f 34 43 44
|
| 178 |
+
f 34 44 35
|
| 179 |
+
f 34 42 45
|
| 180 |
+
f 34 45 43
|
| 181 |
+
f 36 47 46
|
| 182 |
+
f 37 48 38
|
| 183 |
+
f 38 48 49
|
| 184 |
+
f 39 50 51
|
| 185 |
+
f 39 51 52
|
| 186 |
+
f 39 52 40
|
| 187 |
+
f 40 52 53
|
| 188 |
+
f 40 53 41
|
| 189 |
+
f 41 53 54
|
| 190 |
+
f 41 54 55
|
| 191 |
+
f 41 55 56
|
| 192 |
+
f 41 56 42
|
| 193 |
+
f 42 57 45
|
| 194 |
+
f 42 56 58
|
| 195 |
+
f 42 58 57
|
| 196 |
+
f 43 45 59
|
| 197 |
+
f 45 57 60
|
| 198 |
+
f 45 60 59
|
| 199 |
+
f 46 47 61
|
| 200 |
+
f 47 62 63
|
| 201 |
+
f 47 63 64
|
| 202 |
+
f 47 64 65
|
| 203 |
+
f 47 65 61
|
| 204 |
+
f 48 63 49
|
| 205 |
+
f 49 63 66
|
| 206 |
+
f 51 67 53
|
| 207 |
+
f 51 53 52
|
| 208 |
+
f 53 67 68
|
| 209 |
+
f 53 68 69
|
| 210 |
+
f 53 69 70
|
| 211 |
+
f 53 70 54
|
| 212 |
+
f 54 70 55
|
| 213 |
+
f 55 71 72
|
| 214 |
+
f 55 72 56
|
| 215 |
+
f 55 70 73
|
| 216 |
+
f 55 73 71
|
| 217 |
+
f 56 74 58
|
| 218 |
+
f 56 72 74
|
| 219 |
+
f 57 58 75
|
| 220 |
+
f 57 75 60
|
| 221 |
+
f 58 74 75
|
| 222 |
+
f 62 66 63
|
| 223 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_2.obj
ADDED
|
@@ -0,0 +1,328 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.12756341 -0.00039131 0.14477430
|
| 3 |
+
v 0.12291884 -0.00039131 0.14477430
|
| 4 |
+
v 0.12756796 -0.00039131 0.14472513
|
| 5 |
+
v 0.12275035 -0.00010578 0.21682725
|
| 6 |
+
v 0.11688544 -0.00039131 0.14474972
|
| 7 |
+
v 0.10820645 -0.00010578 0.21682725
|
| 8 |
+
v 0.12773189 -0.00039129 0.14005328
|
| 9 |
+
v 0.12756796 -0.00006039 0.14477430
|
| 10 |
+
v 0.12734483 -0.00006041 0.14866751
|
| 11 |
+
v 0.12708985 -0.00006042 0.15298691
|
| 12 |
+
v 0.12684395 -0.00006044 0.15691290
|
| 13 |
+
v 0.12656619 -0.00006045 0.16124870
|
| 14 |
+
v 0.12601522 -0.00006048 0.16950229
|
| 15 |
+
v 0.12273668 0.00425646 0.21682727
|
| 16 |
+
v 0.12603342 0.00421904 0.16950231
|
| 17 |
+
v 0.11688544 -0.00039131 0.14472513
|
| 18 |
+
v 0.08143639 0.07567699 0.21682753
|
| 19 |
+
v 0.08663194 0.07644435 0.16124898
|
| 20 |
+
v 0.08831673 0.07644441 0.14477458
|
| 21 |
+
v 0.11771873 -0.00039127 0.13310289
|
| 22 |
+
v 0.11756846 -0.00039128 0.13499622
|
| 23 |
+
v 0.11745463 -0.00039128 0.13646333
|
| 24 |
+
v 0.12785483 -0.00039128 0.13646333
|
| 25 |
+
v 0.12755431 0.00421913 0.14472515
|
| 26 |
+
v 0.12708985 0.00421910 0.15298693
|
| 27 |
+
v 0.12657985 0.00421907 0.16124872
|
| 28 |
+
v 0.12237241 0.00870896 0.21682728
|
| 29 |
+
v 0.12540505 0.01237193 0.16950234
|
| 30 |
+
v 0.09647206 0.07567699 0.21682753
|
| 31 |
+
v 0.08374047 0.07644423 0.19198479
|
| 32 |
+
v 0.08377234 0.07644424 0.19161596
|
| 33 |
+
v 0.10246448 0.07644441 0.14477458
|
| 34 |
+
v 0.09061171 0.07500792 0.13310317
|
| 35 |
+
v 0.12795045 -0.00039127 0.13310289
|
| 36 |
+
v 0.12790948 -0.00039127 0.13456181
|
| 37 |
+
v 0.12795045 0.00090988 0.13310289
|
| 38 |
+
v 0.12783662 0.00421916 0.13646335
|
| 39 |
+
v 0.12759983 0.01237206 0.13310294
|
| 40 |
+
v 0.12747689 0.01237205 0.13646338
|
| 41 |
+
v 0.12754974 0.00426425 0.14477432
|
| 42 |
+
v 0.12700788 0.01237202 0.14477435
|
| 43 |
+
v 0.12234964 0.01651592 0.20688530
|
| 44 |
+
v 0.12193072 0.01195809 0.21682729
|
| 45 |
+
v 0.12482220 0.01237190 0.17776413
|
| 46 |
+
v 0.12655253 0.02052494 0.13646341
|
| 47 |
+
v 0.09811133 0.07644423 0.19198479
|
| 48 |
+
v 0.09803847 0.07372902 0.21682752
|
| 49 |
+
v 0.10014219 0.07644431 0.17081397
|
| 50 |
+
v 0.10200002 0.07644439 0.15016770
|
| 51 |
+
v 0.10354821 0.07500788 0.14477458
|
| 52 |
+
v 0.10393071 0.07500790 0.14002078
|
| 53 |
+
v 0.10447713 0.07500792 0.13310317
|
| 54 |
+
v 0.12793223 0.00421917 0.13310291
|
| 55 |
+
v 0.12675743 0.02052495 0.13310297
|
| 56 |
+
v 0.12251357 0.01737335 0.20256589
|
| 57 |
+
v 0.12244981 0.02512017 0.18347693
|
| 58 |
+
v 0.11948549 0.02642119 0.21682735
|
| 59 |
+
v 0.12065119 0.02032157 0.21682732
|
| 60 |
+
v 0.12096537 0.01844881 0.21682732
|
| 61 |
+
v 0.12181688 0.01274780 0.21682730
|
| 62 |
+
v 0.12431675 0.02052482 0.16950237
|
| 63 |
+
v 0.12527299 0.02867784 0.13310300
|
| 64 |
+
v 0.10072959 0.06996094 0.21682751
|
| 65 |
+
v 0.10504632 0.07204453 0.15298717
|
| 66 |
+
v 0.10111664 0.07644435 0.16029003
|
| 67 |
+
v 0.10537417 0.07257855 0.14477457
|
| 68 |
+
v 0.10581130 0.07324046 0.13310316
|
| 69 |
+
v 0.12282320 0.01901298 0.19430412
|
| 70 |
+
v 0.12373847 0.02052479 0.17776416
|
| 71 |
+
v 0.12303723 0.02105876 0.18614890
|
| 72 |
+
v 0.12265928 0.02606033 0.17776418
|
| 73 |
+
v 0.12244071 0.03311521 0.15862604
|
| 74 |
+
v 0.11901192 0.02867001 0.21682736
|
| 75 |
+
v 0.12423025 0.03301000 0.13310301
|
| 76 |
+
v 0.12295526 0.02740664 0.16950239
|
| 77 |
+
v 0.10187708 0.06826117 0.21682750
|
| 78 |
+
v 0.10809261 0.06850211 0.14477455
|
| 79 |
+
v 0.10608452 0.06544085 0.19097662
|
| 80 |
+
v 0.10837493 0.06945733 0.13310315
|
| 81 |
+
v 0.12296436 0.03490528 0.14477443
|
| 82 |
+
v 0.12295526 0.03493537 0.14477443
|
| 83 |
+
v 0.11852470 0.03682299 0.19430419
|
| 84 |
+
v 0.11788265 0.03682296 0.20256597
|
| 85 |
+
v 0.11676705 0.03682290 0.21682739
|
| 86 |
+
v 0.12332865 0.03662766 0.13310302
|
| 87 |
+
v 0.12326946 0.03598083 0.13646346
|
| 88 |
+
v 0.10500989 0.06359807 0.21682748
|
| 89 |
+
v 0.11264157 0.06247774 0.13310312
|
| 90 |
+
v 0.11022366 0.06649401 0.13310313
|
| 91 |
+
v 0.10842957 0.06897597 0.13646358
|
| 92 |
+
v 0.11251407 0.06222201 0.13646356
|
| 93 |
+
v 0.12210375 0.04045591 0.13310304
|
| 94 |
+
v 0.11541465 0.04094447 0.21682740
|
| 95 |
+
v 0.10723655 0.05951411 0.21682747
|
| 96 |
+
v 0.11478627 0.05840129 0.13310310
|
| 97 |
+
v 0.11465422 0.05814557 0.13646354
|
| 98 |
+
v 0.12155733 0.04208047 0.13310304
|
| 99 |
+
v 0.11482269 0.04269689 0.21682741
|
| 100 |
+
v 0.11042401 0.05312116 0.21682745
|
| 101 |
+
v 0.11438556 0.05761154 0.14295496
|
| 102 |
+
v 0.11734079 0.05311395 0.13310309
|
| 103 |
+
v 0.11708124 0.05311394 0.13646353
|
| 104 |
+
v 0.12064663 0.04472790 0.13310305
|
| 105 |
+
v 0.11372530 0.04566021 0.21682742
|
| 106 |
+
v 0.11115257 0.05152668 0.21682744
|
| 107 |
+
v 0.11604759 0.05384345 0.14477450
|
| 108 |
+
v 0.11561500 0.05474599 0.14477450
|
| 109 |
+
v 0.11881157 0.04944364 0.13310307
|
| 110 |
+
v 0.11427628 0.04925541 0.19148472
|
| 111 |
+
v 0.11327905 0.04677334 0.21682742
|
| 112 |
+
f 1 2 5
|
| 113 |
+
f 1 5 16
|
| 114 |
+
f 1 16 22
|
| 115 |
+
f 1 22 21
|
| 116 |
+
f 1 21 20
|
| 117 |
+
f 1 20 34
|
| 118 |
+
f 1 34 35
|
| 119 |
+
f 1 35 23
|
| 120 |
+
f 1 23 7
|
| 121 |
+
f 1 7 3
|
| 122 |
+
f 1 3 4
|
| 123 |
+
f 1 4 6
|
| 124 |
+
f 1 6 2
|
| 125 |
+
f 2 6 5
|
| 126 |
+
f 3 7 8
|
| 127 |
+
f 3 8 9
|
| 128 |
+
f 3 9 10
|
| 129 |
+
f 3 10 11
|
| 130 |
+
f 3 11 12
|
| 131 |
+
f 3 12 13
|
| 132 |
+
f 3 13 4
|
| 133 |
+
f 4 14 27
|
| 134 |
+
f 4 27 43
|
| 135 |
+
f 4 43 60
|
| 136 |
+
f 4 60 59
|
| 137 |
+
f 4 59 58
|
| 138 |
+
f 4 58 57
|
| 139 |
+
f 4 57 73
|
| 140 |
+
f 4 73 84
|
| 141 |
+
f 4 84 93
|
| 142 |
+
f 4 93 98
|
| 143 |
+
f 4 98 104
|
| 144 |
+
f 4 104 110
|
| 145 |
+
f 4 110 105
|
| 146 |
+
f 4 105 99
|
| 147 |
+
f 4 99 94
|
| 148 |
+
f 4 94 87
|
| 149 |
+
f 4 87 76
|
| 150 |
+
f 4 76 63
|
| 151 |
+
f 4 63 47
|
| 152 |
+
f 4 47 29
|
| 153 |
+
f 4 29 17
|
| 154 |
+
f 4 17 6
|
| 155 |
+
f 4 13 15
|
| 156 |
+
f 4 15 14
|
| 157 |
+
f 5 6 16
|
| 158 |
+
f 6 17 18
|
| 159 |
+
f 6 18 19
|
| 160 |
+
f 6 19 20
|
| 161 |
+
f 6 20 21
|
| 162 |
+
f 6 21 22
|
| 163 |
+
f 6 22 16
|
| 164 |
+
f 7 23 24
|
| 165 |
+
f 7 24 8
|
| 166 |
+
f 8 25 9
|
| 167 |
+
f 8 24 25
|
| 168 |
+
f 9 25 10
|
| 169 |
+
f 10 25 26
|
| 170 |
+
f 10 26 11
|
| 171 |
+
f 11 26 12
|
| 172 |
+
f 12 26 15
|
| 173 |
+
f 12 15 13
|
| 174 |
+
f 14 15 28
|
| 175 |
+
f 14 28 27
|
| 176 |
+
f 15 26 28
|
| 177 |
+
f 17 29 46
|
| 178 |
+
f 17 46 30
|
| 179 |
+
f 17 30 31
|
| 180 |
+
f 17 31 18
|
| 181 |
+
f 18 31 30
|
| 182 |
+
f 18 30 46
|
| 183 |
+
f 18 46 48
|
| 184 |
+
f 18 48 65
|
| 185 |
+
f 18 65 49
|
| 186 |
+
f 18 49 32
|
| 187 |
+
f 18 32 19
|
| 188 |
+
f 19 32 52
|
| 189 |
+
f 19 52 33
|
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+
f 19 33 20
|
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+
f 20 33 52
|
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+
f 20 52 67
|
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+
f 20 67 79
|
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+
f 20 79 89
|
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+
f 20 89 88
|
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+
f 20 88 95
|
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+
f 20 95 101
|
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f 20 101 108
|
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f 20 108 103
|
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f 20 103 97
|
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f 20 97 92
|
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f 20 92 85
|
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f 20 85 74
|
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f 20 74 62
|
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f 20 62 54
|
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f 20 54 38
|
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f 20 38 53
|
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f 20 53 36
|
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f 20 36 34
|
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f 23 35 36
|
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f 23 36 37
|
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f 23 37 24
|
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f 24 37 38
|
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f 24 38 39
|
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f 24 39 40
|
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f 24 40 25
|
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f 25 40 39
|
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f 25 39 41
|
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f 25 41 26
|
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f 26 41 28
|
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f 27 42 43
|
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f 27 28 44
|
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f 27 44 42
|
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f 28 41 45
|
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f 28 45 42
|
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f 28 42 44
|
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f 29 47 48
|
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|
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f 32 49 50
|
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f 32 50 51
|
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f 32 51 52
|
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f 34 36 35
|
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|
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|
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f 38 54 39
|
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f 39 54 41
|
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f 41 54 45
|
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|
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f 42 56 57
|
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|
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|
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|
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|
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f 42 45 61
|
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f 42 61 55
|
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f 45 54 62
|
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|
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|
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|
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|
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f 49 65 66
|
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|
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|
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f 51 66 67
|
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f 51 67 52
|
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f 55 68 56
|
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f 55 61 69
|
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f 55 69 68
|
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f 56 70 69
|
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f 56 69 61
|
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+
f 56 61 62
|
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+
f 56 62 71
|
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+
f 56 71 72
|
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+
f 56 72 73
|
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+
f 56 73 57
|
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+
f 56 68 70
|
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+
f 62 74 72
|
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+
f 62 72 75
|
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+
f 62 75 71
|
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+
f 63 76 64
|
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+
f 64 77 66
|
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+
f 64 66 65
|
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f 64 76 78
|
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f 64 78 77
|
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+
f 66 77 79
|
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+
f 66 79 67
|
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+
f 68 69 70
|
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+
f 71 75 72
|
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+
f 72 74 80
|
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+
f 72 80 81
|
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+
f 72 81 82
|
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+
f 72 82 83
|
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+
f 72 83 84
|
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+
f 72 84 73
|
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+
f 74 85 86
|
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+
f 74 86 80
|
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+
f 76 87 78
|
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+
f 77 88 89
|
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+
f 77 89 90
|
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+
f 77 90 79
|
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+
f 77 78 88
|
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+
f 78 87 91
|
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+
f 78 91 88
|
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+
f 79 90 89
|
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+
f 80 86 81
|
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+
f 81 86 85
|
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+
f 81 85 82
|
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+
f 82 85 92
|
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+
f 82 92 83
|
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+
f 83 92 93
|
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+
f 83 93 84
|
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+
f 87 94 91
|
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+
f 88 91 95
|
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+
f 91 96 95
|
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+
f 91 94 96
|
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+
f 92 97 93
|
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+
f 93 97 98
|
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+
f 94 99 100
|
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+
f 94 100 96
|
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+
f 95 96 101
|
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+
f 96 100 102
|
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+
f 96 102 101
|
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+
f 97 103 98
|
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+
f 98 103 104
|
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+
f 99 105 102
|
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+
f 99 102 106
|
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+
f 99 106 107
|
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+
f 99 107 100
|
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+
f 100 107 102
|
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+
f 101 102 108
|
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+
f 102 107 106
|
| 322 |
+
f 102 105 109
|
| 323 |
+
f 102 109 110
|
| 324 |
+
f 102 110 104
|
| 325 |
+
f 102 104 108
|
| 326 |
+
f 103 108 104
|
| 327 |
+
f 105 110 109
|
| 328 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_20.obj
ADDED
|
@@ -0,0 +1,187 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.06928591 0.08985598 0.19199259
|
| 3 |
+
v -0.07452760 0.08985616 0.14476542
|
| 4 |
+
v -0.08613227 0.08985598 0.19199259
|
| 5 |
+
v -0.10914846 0.02999418 0.19199237
|
| 6 |
+
v -0.10946500 0.02999420 0.18706902
|
| 7 |
+
v -0.10953475 0.02999421 0.18601038
|
| 8 |
+
v -0.11000687 0.02999423 0.17899751
|
| 9 |
+
v -0.11056484 0.02999426 0.17085201
|
| 10 |
+
v -0.11124084 0.02999430 0.16124570
|
| 11 |
+
v -0.11243189 0.02999435 0.14610584
|
| 12 |
+
v -0.11254455 0.02999436 0.14476520
|
| 13 |
+
v -0.09098230 0.08985616 0.14476542
|
| 14 |
+
v -0.08986636 0.08985611 0.15785275
|
| 15 |
+
v -0.08954446 0.08959241 0.16333545
|
| 16 |
+
v -0.08799394 0.08805708 0.19199258
|
| 17 |
+
v -0.12033466 0.02999418 0.19199237
|
| 18 |
+
v -0.12409021 0.02999436 0.14476520
|
| 19 |
+
v -0.09031167 0.08985613 0.15298949
|
| 20 |
+
v -0.09449643 0.08614116 0.14476541
|
| 21 |
+
v -0.09482906 0.08501609 0.15308194
|
| 22 |
+
v -0.09277960 0.08642236 0.16084373
|
| 23 |
+
v -0.09195874 0.08397879 0.19199257
|
| 24 |
+
v -0.09085890 0.08512141 0.19199257
|
| 25 |
+
v -0.12042049 0.02999419 0.19091986
|
| 26 |
+
v -0.11853199 0.03682063 0.19199240
|
| 27 |
+
v -0.12290990 0.03454727 0.14476522
|
| 28 |
+
v -0.09828954 0.08204529 0.14476539
|
| 29 |
+
v -0.09804811 0.08181089 0.15039142
|
| 30 |
+
v -0.09780131 0.08152961 0.15590186
|
| 31 |
+
v -0.09754916 0.08121903 0.16124589
|
| 32 |
+
v -0.09603620 0.07932625 0.19199255
|
| 33 |
+
v -0.11779697 0.03910001 0.19199240
|
| 34 |
+
v -0.11894510 0.04497736 0.15298009
|
| 35 |
+
v -0.11957818 0.04493051 0.14476526
|
| 36 |
+
v -0.10169636 0.07759199 0.14476538
|
| 37 |
+
v -0.10047849 0.07831855 0.15308192
|
| 38 |
+
v -0.10063408 0.07714073 0.16124587
|
| 39 |
+
v -0.09920160 0.07524796 0.19199254
|
| 40 |
+
v -0.09832173 0.07638473 0.19199254
|
| 41 |
+
v -0.11566167 0.04544011 0.19199243
|
| 42 |
+
v -0.11462621 0.04819999 0.19199244
|
| 43 |
+
v -0.11430430 0.04920200 0.19118807
|
| 44 |
+
v -0.11595138 0.05260071 0.15298011
|
| 45 |
+
v -0.11956208 0.04497739 0.14476526
|
| 46 |
+
v -0.10544119 0.07258202 0.14476536
|
| 47 |
+
v -0.10509782 0.07210736 0.15298018
|
| 48 |
+
v -0.10471691 0.07154481 0.16124585
|
| 49 |
+
v -0.10360096 0.06893130 0.19199251
|
| 50 |
+
v -0.11379462 0.05008679 0.19199244
|
| 51 |
+
v -0.11573141 0.05455199 0.14476529
|
| 52 |
+
v -0.11595674 0.05409494 0.14476529
|
| 53 |
+
v -0.11602113 0.05388400 0.14520446
|
| 54 |
+
v -0.11607478 0.05384884 0.14476529
|
| 55 |
+
v -0.10814519 0.06852717 0.14476534
|
| 56 |
+
v -0.10780182 0.06803493 0.15298017
|
| 57 |
+
v -0.10612256 0.06542726 0.19078132
|
| 58 |
+
v -0.10513538 0.06670465 0.19199251
|
| 59 |
+
v -0.10792522 0.06175327 0.19199249
|
| 60 |
+
v -0.11414872 0.05710677 0.14828329
|
| 61 |
+
v -0.11290938 0.06012448 0.14476531
|
| 62 |
+
v -0.10860122 0.06773026 0.14476534
|
| 63 |
+
v -0.11257675 0.06075732 0.14476531
|
| 64 |
+
v -0.10675027 0.06403267 0.19199250
|
| 65 |
+
f 1 2 12
|
| 66 |
+
f 1 12 18
|
| 67 |
+
f 1 18 13
|
| 68 |
+
f 1 13 3
|
| 69 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 2 17 26
|
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|
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f 2 54 45
|
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f 2 35 27
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f 2 27 19
|
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f 2 19 12
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f 13 21 22
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f 13 23 14
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f 14 23 15
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f 16 25 24
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f 17 24 26
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f 18 19 20
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f 19 27 28
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f 19 28 20
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f 20 28 29
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f 20 29 21
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f 21 29 22
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f 24 25 26
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f 25 32 33
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f 26 33 34
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f 27 35 28
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f 33 42 43
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f 37 46 38
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f 38 47 48
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f 41 49 42
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f 42 52 53
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f 42 53 43
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f 43 53 44
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f 45 54 46
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f 46 54 55
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f 46 55 56
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f 46 56 47
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f 47 56 57
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f 47 57 48
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f 49 58 59
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f 49 59 50
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f 50 59 60
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f 58 63 60
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| 186 |
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f 58 60 59
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| 187 |
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|
demo_assets/lamp/mjcf/mesh/lamp_collision_21.obj
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.02259168 0.01126044 0.22200608
|
| 3 |
+
v -0.02259168 0.01126044 0.22226392
|
| 4 |
+
v -0.02091384 0.01126045 0.22127803
|
| 5 |
+
v -0.10637568 0.00689977 0.22735856
|
| 6 |
+
v -0.02238872 0.01126043 0.22594601
|
| 7 |
+
v -0.00914186 0.01126046 0.21683154
|
| 8 |
+
v -0.10637568 0.00455653 0.21938430
|
| 9 |
+
v -0.10637568 0.00462763 0.23288714
|
| 10 |
+
v -0.01191572 0.01126040 0.23538003
|
| 11 |
+
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|
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|
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|
| 208 |
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|
demo_assets/lamp/mjcf/mesh/lamp_collision_22.obj
ADDED
|
@@ -0,0 +1,202 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
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| 3 |
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|
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
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|
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|
| 17 |
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|
| 18 |
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v -0.02858699 0.12820861 0.08722507
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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v -0.06194900 0.11600968 0.08722503
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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v -0.06119806 0.11795374 0.06545739
|
| 69 |
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v -0.06674152 0.11514748 0.06545738
|
| 70 |
+
f 1 2 3
|
| 71 |
+
f 1 3 4
|
| 72 |
+
f 1 4 5
|
| 73 |
+
f 1 5 6
|
| 74 |
+
f 1 6 7
|
| 75 |
+
f 1 7 14
|
| 76 |
+
f 1 14 25
|
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+
f 1 25 35
|
| 78 |
+
f 1 35 46
|
| 79 |
+
f 1 46 59
|
| 80 |
+
f 1 59 65
|
| 81 |
+
f 1 65 68
|
| 82 |
+
f 1 68 67
|
| 83 |
+
f 1 67 61
|
| 84 |
+
f 1 61 53
|
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+
f 1 53 38
|
| 86 |
+
f 1 38 52
|
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+
f 1 52 51
|
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f 1 51 36
|
| 89 |
+
f 1 36 27
|
| 90 |
+
f 1 27 26
|
| 91 |
+
f 1 26 16
|
| 92 |
+
f 1 16 15
|
| 93 |
+
f 1 15 8
|
| 94 |
+
f 1 8 2
|
| 95 |
+
f 2 8 3
|
| 96 |
+
f 3 8 9
|
| 97 |
+
f 3 9 10
|
| 98 |
+
f 3 10 11
|
| 99 |
+
f 3 11 19
|
| 100 |
+
f 3 19 18
|
| 101 |
+
f 3 18 17
|
| 102 |
+
f 3 17 29
|
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f 3 29 41
|
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+
f 3 41 40
|
| 105 |
+
f 3 40 56
|
| 106 |
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f 3 56 64
|
| 107 |
+
f 3 64 63
|
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+
f 3 63 62
|
| 109 |
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f 3 62 58
|
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f 3 58 45
|
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+
f 3 45 60
|
| 112 |
+
f 3 60 57
|
| 113 |
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f 3 57 42
|
| 114 |
+
f 3 42 30
|
| 115 |
+
f 3 30 23
|
| 116 |
+
f 3 23 12
|
| 117 |
+
f 3 12 6
|
| 118 |
+
f 3 6 5
|
| 119 |
+
f 3 5 4
|
| 120 |
+
f 6 12 22
|
| 121 |
+
f 6 22 13
|
| 122 |
+
f 6 13 7
|
| 123 |
+
f 7 13 22
|
| 124 |
+
f 7 22 14
|
| 125 |
+
f 8 15 10
|
| 126 |
+
f 8 10 9
|
| 127 |
+
f 10 16 17
|
| 128 |
+
f 10 17 18
|
| 129 |
+
f 10 18 19
|
| 130 |
+
f 10 19 11
|
| 131 |
+
f 10 15 16
|
| 132 |
+
f 12 20 21
|
| 133 |
+
f 12 21 22
|
| 134 |
+
f 12 23 20
|
| 135 |
+
f 14 22 21
|
| 136 |
+
f 14 21 24
|
| 137 |
+
f 14 24 20
|
| 138 |
+
f 14 20 25
|
| 139 |
+
f 16 26 17
|
| 140 |
+
f 17 26 27
|
| 141 |
+
f 17 27 28
|
| 142 |
+
f 17 28 29
|
| 143 |
+
f 20 30 31
|
| 144 |
+
f 20 31 32
|
| 145 |
+
f 20 32 33
|
| 146 |
+
f 20 33 34
|
| 147 |
+
f 20 34 25
|
| 148 |
+
f 20 24 21
|
| 149 |
+
f 20 23 30
|
| 150 |
+
f 25 34 35
|
| 151 |
+
f 27 36 28
|
| 152 |
+
f 28 37 38
|
| 153 |
+
f 28 38 39
|
| 154 |
+
f 28 39 40
|
| 155 |
+
f 28 40 41
|
| 156 |
+
f 28 41 29
|
| 157 |
+
f 28 36 37
|
| 158 |
+
f 30 42 31
|
| 159 |
+
f 31 42 32
|
| 160 |
+
f 32 42 43
|
| 161 |
+
f 32 43 44
|
| 162 |
+
f 32 44 33
|
| 163 |
+
f 33 44 34
|
| 164 |
+
f 34 44 35
|
| 165 |
+
f 35 45 46
|
| 166 |
+
f 35 44 47
|
| 167 |
+
f 35 47 48
|
| 168 |
+
f 35 48 49
|
| 169 |
+
f 35 49 50
|
| 170 |
+
f 35 50 45
|
| 171 |
+
f 36 51 37
|
| 172 |
+
f 37 51 52
|
| 173 |
+
f 37 52 38
|
| 174 |
+
f 38 53 54
|
| 175 |
+
f 38 54 55
|
| 176 |
+
f 38 55 39
|
| 177 |
+
f 39 55 40
|
| 178 |
+
f 40 55 54
|
| 179 |
+
f 40 54 56
|
| 180 |
+
f 42 57 49
|
| 181 |
+
f 42 49 43
|
| 182 |
+
f 43 49 48
|
| 183 |
+
f 43 48 47
|
| 184 |
+
f 43 47 44
|
| 185 |
+
f 45 58 59
|
| 186 |
+
f 45 59 46
|
| 187 |
+
f 45 50 60
|
| 188 |
+
f 49 57 50
|
| 189 |
+
f 50 57 60
|
| 190 |
+
f 53 61 54
|
| 191 |
+
f 54 61 62
|
| 192 |
+
f 54 62 63
|
| 193 |
+
f 54 63 64
|
| 194 |
+
f 54 64 56
|
| 195 |
+
f 58 65 59
|
| 196 |
+
f 58 62 66
|
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f 58 66 65
|
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f 61 67 62
|
| 199 |
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f 62 67 66
|
| 200 |
+
f 65 66 68
|
| 201 |
+
f 66 67 68
|
| 202 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_23.obj
ADDED
|
@@ -0,0 +1,133 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.00124431 0.04160374 0.19199241
|
| 3 |
+
v 0.00114316 0.04160374 0.19199241
|
| 4 |
+
v -0.00261373 0.03895678 0.19199240
|
| 5 |
+
v -0.00253141 0.03520647 0.20256964
|
| 6 |
+
v -0.00139290 0.03372498 0.20805151
|
| 7 |
+
v 0.00264712 0.03738726 0.19456683
|
| 8 |
+
v 0.00282784 0.03721632 0.19199240
|
| 9 |
+
v 0.00011910 0.03372498 0.20805151
|
| 10 |
+
v 0.00133391 0.03371980 0.20805151
|
| 11 |
+
v 0.00248448 0.03520647 0.20256964
|
| 12 |
+
v -0.00292497 0.03721114 0.19199240
|
| 13 |
+
v -0.01270574 0.00454110 0.21682486
|
| 14 |
+
v -0.00289686 0.02868488 0.21081553
|
| 15 |
+
v -0.00361169 0.02246373 0.21682492
|
| 16 |
+
v -0.00204548 0.02453571 0.21682493
|
| 17 |
+
v -0.00146117 0.02598092 0.21605188
|
| 18 |
+
v 0.00011910 0.02598610 0.21605188
|
| 19 |
+
v 0.00433983 0.02866419 0.20256962
|
| 20 |
+
v 0.00683372 0.01402559 0.21682489
|
| 21 |
+
v 0.00683372 0.01236801 0.21520829
|
| 22 |
+
v 0.00683372 0.00434428 0.21113147
|
| 23 |
+
v 0.00683372 -0.00438911 0.21088347
|
| 24 |
+
v 0.00181582 0.02988669 0.19199237
|
| 25 |
+
v 0.00138411 0.02598610 0.21605188
|
| 26 |
+
v 0.00197245 0.02450981 0.21682493
|
| 27 |
+
v 0.00284189 0.02869006 0.21081553
|
| 28 |
+
v -0.00263181 0.03147175 0.19199238
|
| 29 |
+
v -0.01367960 -0.00460152 0.21682482
|
| 30 |
+
v -0.00795692 0.01400487 0.21682489
|
| 31 |
+
v 0.00011910 0.02454089 0.21682493
|
| 32 |
+
v 0.00412899 0.01997217 0.21682491
|
| 33 |
+
v 0.00683372 -0.01131473 0.21682480
|
| 34 |
+
v 0.00683372 -0.01131472 0.21511096
|
| 35 |
+
v 0.00305072 -0.01131470 0.21008609
|
| 36 |
+
v 0.00297442 -0.01131470 0.20998642
|
| 37 |
+
v -0.00188485 0.02988669 0.19199237
|
| 38 |
+
v 0.00109095 -0.00256575 0.20605311
|
| 39 |
+
v 0.00012311 0.02454089 0.21682493
|
| 40 |
+
v -0.01032229 -0.00247771 0.21266055
|
| 41 |
+
v -0.00309364 -0.01126290 0.21000343
|
| 42 |
+
v -0.01016166 -0.01126293 0.21682480
|
| 43 |
+
v 0.00011910 -0.01131473 0.21682480
|
| 44 |
+
v 0.00011910 -0.01131470 0.20998642
|
| 45 |
+
v 0.00011910 -0.00256575 0.20605311
|
| 46 |
+
v -0.00191697 -0.00256057 0.20605311
|
| 47 |
+
f 1 2 7
|
| 48 |
+
f 1 7 23
|
| 49 |
+
f 1 23 36
|
| 50 |
+
f 1 36 27
|
| 51 |
+
f 1 27 11
|
| 52 |
+
f 1 11 3
|
| 53 |
+
f 1 3 4
|
| 54 |
+
f 1 4 5
|
| 55 |
+
f 1 5 8
|
| 56 |
+
f 1 8 2
|
| 57 |
+
f 2 6 7
|
| 58 |
+
f 2 8 9
|
| 59 |
+
f 2 9 10
|
| 60 |
+
f 2 10 6
|
| 61 |
+
f 3 11 12
|
| 62 |
+
f 3 12 4
|
| 63 |
+
f 4 12 5
|
| 64 |
+
f 5 12 13
|
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+
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|
| 66 |
+
f 5 14 15
|
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+
f 5 15 16
|
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+
f 5 16 17
|
| 69 |
+
f 5 17 24
|
| 70 |
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f 5 24 8
|
| 71 |
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f 6 10 18
|
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|
| 73 |
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|
| 74 |
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f 7 19 20
|
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|
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|
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|
| 78 |
+
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|
| 79 |
+
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|
| 80 |
+
f 9 25 26
|
| 81 |
+
f 9 26 10
|
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f 10 26 19
|
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f 10 19 18
|
| 84 |
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f 11 27 28
|
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f 11 28 12
|
| 86 |
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|
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|
| 88 |
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f 12 42 32
|
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f 12 32 19
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f 12 19 31
|
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f 12 31 25
|
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f 12 25 38
|
| 93 |
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f 12 38 30
|
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f 12 30 15
|
| 95 |
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f 12 15 14
|
| 96 |
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f 12 14 29
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f 12 29 13
|
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f 13 29 14
|
| 99 |
+
f 15 30 17
|
| 100 |
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f 15 17 16
|
| 101 |
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f 17 30 38
|
| 102 |
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f 17 38 24
|
| 103 |
+
f 19 26 31
|
| 104 |
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f 19 32 33
|
| 105 |
+
f 19 33 22
|
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f 19 22 21
|
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f 19 21 20
|
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f 22 33 34
|
| 109 |
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f 22 34 35
|
| 110 |
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f 22 35 23
|
| 111 |
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f 23 35 37
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| 112 |
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f 23 37 44
|
| 113 |
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f 23 44 36
|
| 114 |
+
f 24 38 25
|
| 115 |
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f 25 31 26
|
| 116 |
+
f 27 36 39
|
| 117 |
+
f 27 39 28
|
| 118 |
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f 28 39 40
|
| 119 |
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f 28 40 41
|
| 120 |
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f 32 42 43
|
| 121 |
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f 32 43 35
|
| 122 |
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f 32 35 34
|
| 123 |
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f 32 34 33
|
| 124 |
+
f 35 43 44
|
| 125 |
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f 35 44 37
|
| 126 |
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f 36 44 45
|
| 127 |
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f 36 45 40
|
| 128 |
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f 36 40 39
|
| 129 |
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f 40 43 41
|
| 130 |
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f 40 45 43
|
| 131 |
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f 41 43 42
|
| 132 |
+
f 43 45 44
|
| 133 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_24.obj
ADDED
|
@@ -0,0 +1,175 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.08980650 0.08186707 0.06545726
|
| 3 |
+
v -0.08995976 0.08186708 0.06207051
|
| 4 |
+
v -0.10466912 0.08186707 0.06545726
|
| 5 |
+
v -0.12050104 0.01891943 0.06545703
|
| 6 |
+
v -0.08996391 0.08186708 0.06205748
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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v -0.12647011 0.02051565 0.05522064
|
| 24 |
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v -0.13163143 0.01891946 0.05642603
|
| 25 |
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|
| 26 |
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|
| 27 |
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v -0.11510360 0.06674956 0.05679294
|
| 28 |
+
v -0.10853804 0.07707237 0.06207049
|
| 29 |
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v -0.10837649 0.07681351 0.06545724
|
| 30 |
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v -0.13098523 0.02405927 0.06545705
|
| 31 |
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v -0.13193796 0.02051562 0.06207029
|
| 32 |
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v -0.13100180 0.02656143 0.05723868
|
| 33 |
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v -0.13179712 0.01891946 0.05761239
|
| 34 |
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v -0.11044350 0.06945508 0.05556951
|
| 35 |
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v -0.12543039 0.03682263 0.05554835
|
| 36 |
+
v -0.13153616 0.02051564 0.05652424
|
| 37 |
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|
| 38 |
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v -0.11828075 0.06127691 0.06207044
|
| 39 |
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v -0.11526515 0.06701455 0.06207046
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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v -0.11004583 0.07437301 0.06545723
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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v -0.12420840 0.04497611 0.05588706
|
| 49 |
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|
| 50 |
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|
| 51 |
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v -0.11797422 0.06127690 0.06545719
|
| 52 |
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v -0.11510774 0.06676186 0.06545721
|
| 53 |
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|
| 54 |
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v -0.12327639 0.05096024 0.06207040
|
| 55 |
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v -0.12772109 0.03682259 0.06545710
|
| 56 |
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v -0.12628785 0.04163580 0.06545711
|
| 57 |
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v -0.12528541 0.04497608 0.06545713
|
| 58 |
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v -0.12393501 0.04851357 0.06545714
|
| 59 |
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v -0.12118037 0.05467645 0.06545716
|
| 60 |
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v -0.12310655 0.05060279 0.06545715
|
| 61 |
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f 1 2 5
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f 1 5 12
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f 1 12 21
|
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f 1 29 17
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f 4 11 18
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f 4 18 32
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f 4 32 23
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f 4 23 13
|
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f 4 13 8
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f 8 13 12
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f 9 15 10
|
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f 10 15 16
|
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f 11 17 18
|
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f 12 19 20
|
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f 12 20 21
|
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f 12 13 22
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f 12 22 19
|
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f 13 23 22
|
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f 14 24 15
|
| 112 |
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f 15 25 26
|
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f 15 26 27
|
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f 15 27 16
|
| 115 |
+
f 15 24 25
|
| 116 |
+
f 16 27 28
|
| 117 |
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f 17 29 30
|
| 118 |
+
f 17 30 18
|
| 119 |
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f 18 30 31
|
| 120 |
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f 18 31 32
|
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f 19 33 20
|
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| 123 |
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|
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f 21 25 24
|
| 126 |
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f 27 42 28
|
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f 29 43 44
|
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|
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f 31 35 32
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f 31 44 45
|
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f 31 45 46
|
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f 31 46 40
|
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f 31 40 47
|
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f 31 47 35
|
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f 33 34 48
|
| 150 |
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f 33 48 36
|
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f 34 35 47
|
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|
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f 34 36 48
|
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f 36 47 40
|
| 155 |
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f 37 49 50
|
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|
| 157 |
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f 37 51 38
|
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f 37 40 49
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f 38 51 52
|
| 160 |
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f 38 52 39
|
| 161 |
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f 39 52 41
|
| 162 |
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f 40 46 53
|
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f 40 53 49
|
| 164 |
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f 43 54 44
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f 44 54 45
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f 46 56 57
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f 46 57 53
|
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f 49 53 58
|
| 172 |
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f 49 58 50
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f 53 57 59
|
| 174 |
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f 53 59 58
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demo_assets/lamp/mjcf/mesh/lamp_collision_25.obj
ADDED
|
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.08066240 0.10108169 0.12133405
|
| 3 |
+
v -0.08298497 0.09921461 0.12133404
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
v -0.07951244 0.10108165 0.13309278
|
| 11 |
+
v -0.05985553 0.10108166 0.13011943
|
| 12 |
+
v -0.10489081 0.05489734 0.12135575
|
| 13 |
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v -0.10495312 0.05489734 0.12133388
|
| 14 |
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v -0.08655947 0.09496955 0.13309276
|
| 15 |
+
v -0.08706363 0.09542166 0.12133403
|
| 16 |
+
v -0.05950431 0.10108165 0.13309278
|
| 17 |
+
v -0.10430166 0.05489732 0.12824063
|
| 18 |
+
v -0.11737606 0.05489734 0.12133388
|
| 19 |
+
v -0.08910863 0.09254641 0.13309275
|
| 20 |
+
v -0.08779440 0.09472547 0.12133403
|
| 21 |
+
v -0.10389380 0.05489730 0.13309261
|
| 22 |
+
v -0.11705316 0.05489733 0.12582096
|
| 23 |
+
v -0.11572193 0.05825629 0.12133389
|
| 24 |
+
v -0.09084207 0.09089180 0.13309274
|
| 25 |
+
v -0.09130092 0.09134844 0.12133402
|
| 26 |
+
v -0.11649235 0.05489730 0.13309261
|
| 27 |
+
v -0.11702484 0.05489733 0.12619047
|
| 28 |
+
v -0.11479857 0.05831502 0.13309262
|
| 29 |
+
v -0.11524608 0.05920565 0.12133390
|
| 30 |
+
v -0.09537958 0.08714411 0.12133400
|
| 31 |
+
v -0.09492073 0.08664226 0.13309273
|
| 32 |
+
v -0.11687188 0.05489732 0.12818537
|
| 33 |
+
v -0.11394318 0.05996963 0.13309263
|
| 34 |
+
v -0.11315010 0.06328340 0.12133391
|
| 35 |
+
v -0.09603104 0.08644791 0.12133400
|
| 36 |
+
v -0.09718100 0.08422364 0.13309272
|
| 37 |
+
v -0.11268559 0.06239277 0.13309264
|
| 38 |
+
v -0.10841432 0.06947684 0.13309267
|
| 39 |
+
v -0.11005145 0.06829696 0.12133393
|
| 40 |
+
v -0.09918067 0.08306636 0.12133399
|
| 41 |
+
v -0.09872749 0.08256451 0.13309271
|
| 42 |
+
v -0.10585949 0.07325622 0.13309268
|
| 43 |
+
v -0.10618805 0.07367215 0.12550562
|
| 44 |
+
v -0.10674320 0.07333311 0.12133395
|
| 45 |
+
v -0.10926970 0.06955825 0.12133394
|
| 46 |
+
v -0.10334998 0.07785389 0.12133397
|
| 47 |
+
v -0.10281748 0.07729328 0.13309269
|
| 48 |
+
v -0.10482849 0.07462601 0.13309268
|
| 49 |
+
v -0.10635799 0.07390273 0.12133395
|
| 50 |
+
f 1 2 3
|
| 51 |
+
f 1 3 4
|
| 52 |
+
f 1 4 9
|
| 53 |
+
f 1 9 15
|
| 54 |
+
f 1 15 10
|
| 55 |
+
f 1 10 5
|
| 56 |
+
f 1 5 12
|
| 57 |
+
f 1 12 17
|
| 58 |
+
f 1 17 22
|
| 59 |
+
f 1 22 28
|
| 60 |
+
f 1 28 33
|
| 61 |
+
f 1 33 38
|
| 62 |
+
f 1 38 44
|
| 63 |
+
f 1 44 43
|
| 64 |
+
f 1 43 48
|
| 65 |
+
f 1 48 45
|
| 66 |
+
f 1 45 39
|
| 67 |
+
f 1 39 34
|
| 68 |
+
f 1 34 29
|
| 69 |
+
f 1 29 24
|
| 70 |
+
f 1 24 19
|
| 71 |
+
f 1 19 14
|
| 72 |
+
f 1 14 6
|
| 73 |
+
f 1 6 2
|
| 74 |
+
f 2 6 7
|
| 75 |
+
f 2 7 3
|
| 76 |
+
f 3 8 4
|
| 77 |
+
f 3 7 13
|
| 78 |
+
f 3 13 18
|
| 79 |
+
f 3 18 23
|
| 80 |
+
f 3 23 30
|
| 81 |
+
f 3 30 35
|
| 82 |
+
f 3 35 40
|
| 83 |
+
f 3 40 46
|
| 84 |
+
f 3 46 47
|
| 85 |
+
f 3 47 41
|
| 86 |
+
f 3 41 37
|
| 87 |
+
f 3 37 36
|
| 88 |
+
f 3 36 32
|
| 89 |
+
f 3 32 27
|
| 90 |
+
f 3 27 25
|
| 91 |
+
f 3 25 20
|
| 92 |
+
f 3 20 15
|
| 93 |
+
f 3 15 9
|
| 94 |
+
f 3 9 8
|
| 95 |
+
f 4 8 9
|
| 96 |
+
f 5 10 11
|
| 97 |
+
f 5 11 12
|
| 98 |
+
f 6 13 7
|
| 99 |
+
f 6 14 13
|
| 100 |
+
f 10 15 11
|
| 101 |
+
f 11 16 20
|
| 102 |
+
f 11 20 25
|
| 103 |
+
f 11 25 31
|
| 104 |
+
f 11 31 26
|
| 105 |
+
f 11 26 21
|
| 106 |
+
f 11 21 17
|
| 107 |
+
f 11 17 12
|
| 108 |
+
f 11 15 16
|
| 109 |
+
f 13 14 18
|
| 110 |
+
f 14 19 18
|
| 111 |
+
f 15 20 16
|
| 112 |
+
f 17 21 22
|
| 113 |
+
f 18 19 23
|
| 114 |
+
f 19 24 23
|
| 115 |
+
f 21 26 27
|
| 116 |
+
f 21 27 22
|
| 117 |
+
f 22 27 28
|
| 118 |
+
f 23 24 29
|
| 119 |
+
f 23 29 30
|
| 120 |
+
f 25 27 31
|
| 121 |
+
f 26 31 27
|
| 122 |
+
f 27 32 33
|
| 123 |
+
f 27 33 28
|
| 124 |
+
f 29 34 30
|
| 125 |
+
f 30 34 35
|
| 126 |
+
f 32 36 33
|
| 127 |
+
f 33 36 37
|
| 128 |
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f 33 37 38
|
| 129 |
+
f 34 39 40
|
| 130 |
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f 34 40 35
|
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f 37 41 42
|
| 132 |
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f 37 42 43
|
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f 37 43 44
|
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f 37 44 38
|
| 135 |
+
f 39 45 40
|
| 136 |
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f 40 45 46
|
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f 41 47 42
|
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+
f 42 47 46
|
| 139 |
+
f 42 46 48
|
| 140 |
+
f 42 48 43
|
| 141 |
+
f 45 48 46
|
| 142 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_26.obj
ADDED
|
@@ -0,0 +1,205 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.11545240 0.04065654 0.06545711
|
| 3 |
+
v 0.11048934 0.04281873 0.12132787
|
| 4 |
+
v 0.12679257 0.04065654 0.06545711
|
| 5 |
+
v 0.11928329 -0.02600676 0.06545686
|
| 6 |
+
v 0.11265201 -0.03961068 0.10972837
|
| 7 |
+
v 0.12228932 0.04281873 0.12132787
|
| 8 |
+
v 0.11042695 0.04281873 0.12209585
|
| 9 |
+
v 0.12791318 0.03681585 0.06545710
|
| 10 |
+
v 0.12264745 0.04180208 0.12132786
|
| 11 |
+
v 0.12650144 0.03680770 0.08686793
|
| 12 |
+
v 0.13063963 -0.02600676 0.06545686
|
| 13 |
+
v 0.12399450 -0.03961068 0.10972837
|
| 14 |
+
v 0.11186181 -0.03961072 0.12004980
|
| 15 |
+
v 0.10958360 0.04281869 0.13308595
|
| 16 |
+
v 0.12184800 0.04281871 0.12716718
|
| 17 |
+
v 0.12247646 0.04130181 0.12592914
|
| 18 |
+
v 0.12883972 0.03309620 0.06545708
|
| 19 |
+
v 0.12333831 0.03951058 0.12132786
|
| 20 |
+
v 0.12624729 0.02865017 0.11991765
|
| 21 |
+
v 0.13070895 0.02555200 0.06545705
|
| 22 |
+
v 0.13031848 0.02714153 0.06545706
|
| 23 |
+
v 0.12424173 0.03681565 0.11991768
|
| 24 |
+
v 0.13077827 -0.02552264 0.06545687
|
| 25 |
+
v 0.12491410 -0.03655266 0.10972839
|
| 26 |
+
v 0.12387435 -0.03961069 0.11164833
|
| 27 |
+
v 0.11177632 -0.03961073 0.12132756
|
| 28 |
+
v 0.12131427 0.04281869 0.13308595
|
| 29 |
+
v 0.11262659 -0.03447104 0.13308566
|
| 30 |
+
v 0.12161694 0.04281870 0.12974257
|
| 31 |
+
v 0.12410771 0.03692054 0.12132785
|
| 32 |
+
v 0.12220151 0.04065630 0.13143743
|
| 33 |
+
v 0.12333136 0.03661389 0.13308592
|
| 34 |
+
v 0.12423248 0.03298299 0.13308591
|
| 35 |
+
v 0.12563961 0.02865014 0.12818008
|
| 36 |
+
v 0.12676022 0.02049270 0.13308587
|
| 37 |
+
v 0.13156155 0.02066239 0.06545704
|
| 38 |
+
v 0.13161931 -0.02039904 0.06545689
|
| 39 |
+
v 0.12694277 -0.02024598 0.13308572
|
| 40 |
+
v 0.12633739 -0.02356220 0.13308570
|
| 41 |
+
v 0.12574589 -0.02840338 0.12817987
|
| 42 |
+
v 0.12633046 -0.02840335 0.11991744
|
| 43 |
+
v 0.12478933 -0.03655267 0.11164835
|
| 44 |
+
v 0.12332444 -0.03961072 0.11991739
|
| 45 |
+
v 0.12322508 -0.03961073 0.12132756
|
| 46 |
+
v 0.12156380 0.04207637 0.13308594
|
| 47 |
+
v 0.12382121 -0.03447104 0.13308566
|
| 48 |
+
v 0.12210447 0.04045457 0.13308594
|
| 49 |
+
v 0.12527455 0.02865012 0.13308590
|
| 50 |
+
v 0.12759896 0.01234335 0.13308584
|
| 51 |
+
v 0.13252505 0.01235167 0.06545701
|
| 52 |
+
v 0.13061885 0.01717666 0.08447783
|
| 53 |
+
v 0.13212071 0.01587767 0.06545702
|
| 54 |
+
v 0.13253661 -0.01208831 0.06545692
|
| 55 |
+
v 0.12744646 -0.01540478 0.13308573
|
| 56 |
+
v 0.12539239 -0.02840340 0.13308569
|
| 57 |
+
v 0.12461373 -0.03447100 0.12203598
|
| 58 |
+
v 0.12422324 -0.03655270 0.11991741
|
| 59 |
+
v 0.12408693 -0.03667374 0.12132758
|
| 60 |
+
v 0.13316276 0.00420232 0.06545698
|
| 61 |
+
v 0.13292477 0.00753468 0.06545699
|
| 62 |
+
v 0.12793168 0.00419400 0.13308581
|
| 63 |
+
v 0.13061192 0.00201558 0.10112183
|
| 64 |
+
v 0.13318587 -0.00393089 0.06545695
|
| 65 |
+
v 0.12770755 -0.01208856 0.13308575
|
| 66 |
+
v 0.13318818 -0.00059047 0.06545696
|
| 67 |
+
v 0.12795016 0.00090198 0.13308579
|
| 68 |
+
v 0.12797095 -0.00393921 0.13308578
|
| 69 |
+
v 0.13061192 -0.00155077 0.10112181
|
| 70 |
+
v 0.12787854 -0.00725543 0.13308576
|
| 71 |
+
f 1 2 6
|
| 72 |
+
f 1 6 3
|
| 73 |
+
f 1 3 8
|
| 74 |
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f 1 8 17
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
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|
| 79 |
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|
| 80 |
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|
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|
| 82 |
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f 1 59 65
|
| 83 |
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f 1 65 63
|
| 84 |
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f 1 63 53
|
| 85 |
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f 1 53 37
|
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|
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|
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|
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f 1 4 5
|
| 90 |
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|
| 91 |
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|
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|
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f 2 14 27
|
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|
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|
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f 2 15 6
|
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|
| 98 |
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|
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f 3 10 8
|
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|
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f 5 25 43
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 14 28 46
|
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f 14 46 55
|
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f 14 55 39
|
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f 14 39 38
|
| 128 |
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f 14 38 54
|
| 129 |
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f 14 54 64
|
| 130 |
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|
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|
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| 133 |
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f 14 66 61
|
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f 14 61 49
|
| 135 |
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f 14 49 35
|
| 136 |
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f 14 35 48
|
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f 14 48 33
|
| 138 |
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f 14 33 32
|
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f 14 32 47
|
| 140 |
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f 14 47 45
|
| 141 |
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f 14 45 27
|
| 142 |
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f 15 29 16
|
| 143 |
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f 16 30 22
|
| 144 |
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f 16 22 18
|
| 145 |
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f 16 29 31
|
| 146 |
+
f 16 31 32
|
| 147 |
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f 16 32 30
|
| 148 |
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f 19 33 34
|
| 149 |
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f 19 34 35
|
| 150 |
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f 19 35 20
|
| 151 |
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f 19 22 33
|
| 152 |
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f 20 35 36
|
| 153 |
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f 22 30 32
|
| 154 |
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f 22 32 33
|
| 155 |
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f 23 37 38
|
| 156 |
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f 23 38 39
|
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f 23 39 40
|
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f 23 40 41
|
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f 23 41 42
|
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f 23 42 24
|
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f 24 42 25
|
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|
| 163 |
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f 26 44 46
|
| 164 |
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f 26 46 28
|
| 165 |
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f 27 45 31
|
| 166 |
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f 27 31 29
|
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f 31 45 47
|
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f 31 47 32
|
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f 33 48 34
|
| 170 |
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f 34 48 35
|
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f 35 49 50
|
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f 35 50 51
|
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f 35 51 36
|
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f 36 51 52
|
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f 37 53 38
|
| 176 |
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f 38 53 54
|
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f 39 55 40
|
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f 40 55 46
|
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f 40 46 56
|
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f 40 56 41
|
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f 41 56 57
|
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f 41 57 42
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f 42 57 43
|
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f 43 57 44
|
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f 44 57 58
|
| 186 |
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f 44 58 46
|
| 187 |
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f 46 58 57
|
| 188 |
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f 46 57 56
|
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f 49 59 60
|
| 190 |
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f 49 60 50
|
| 191 |
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f 49 61 62
|
| 192 |
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f 49 62 59
|
| 193 |
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f 50 52 51
|
| 194 |
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f 53 63 54
|
| 195 |
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f 54 63 64
|
| 196 |
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f 59 62 65
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f 61 66 62
|
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f 62 68 65
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f 63 65 68
|
| 202 |
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f 63 68 64
|
| 203 |
+
f 64 68 69
|
| 204 |
+
f 67 69 68
|
| 205 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_27.obj
ADDED
|
@@ -0,0 +1,184 @@
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|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.04215296 0.12638641 0.06207066
|
| 3 |
+
v 0.04215296 0.12549885 0.05798092
|
| 4 |
+
v 0.04215296 0.12608709 0.06545742
|
| 5 |
+
v 0.04484541 0.12527692 0.06545742
|
| 6 |
+
v 0.04484541 0.12556075 0.06207066
|
| 7 |
+
v 0.05067457 0.12319732 0.05688938
|
| 8 |
+
v 0.04215296 0.12466287 0.05583992
|
| 9 |
+
v 0.04484541 0.12423972 0.05597010
|
| 10 |
+
v 0.04215296 0.11465176 0.06545738
|
| 11 |
+
v 0.04839945 0.12394039 0.06545742
|
| 12 |
+
v 0.05086978 0.12329535 0.06207065
|
| 13 |
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v 0.05494885 0.12137055 0.06207065
|
| 14 |
+
v 0.06116168 0.11842399 0.06207063
|
| 15 |
+
v 0.06683602 0.11524007 0.05671610
|
| 16 |
+
v 0.06116168 0.11664369 0.05573774
|
| 17 |
+
v 0.04215296 0.12017854 0.05574076
|
| 18 |
+
v 0.07747122 0.10204507 0.05522696
|
| 19 |
+
v 0.04215296 0.11483238 0.06230195
|
| 20 |
+
v 0.09717324 0.07366827 0.06207047
|
| 21 |
+
v 0.09698478 0.07366826 0.06545723
|
| 22 |
+
v 0.05049956 0.12313537 0.06545741
|
| 23 |
+
v 0.05457863 0.12121573 0.06545741
|
| 24 |
+
v 0.06116168 0.11809371 0.06545739
|
| 25 |
+
v 0.06680910 0.11522972 0.06545738
|
| 26 |
+
v 0.06709181 0.11540002 0.06207062
|
| 27 |
+
v 0.07747122 0.10757695 0.05667503
|
| 28 |
+
v 0.08162433 0.10618366 0.05784967
|
| 29 |
+
v 0.06946117 0.11050804 0.05565460
|
| 30 |
+
v 0.04215296 0.11839822 0.05574075
|
| 31 |
+
v 0.08485528 0.10147226 0.05655082
|
| 32 |
+
v 0.09322208 0.09332406 0.05639157
|
| 33 |
+
v 0.10881811 0.07366829 0.05611311
|
| 34 |
+
v 0.10678531 0.07366829 0.05583271
|
| 35 |
+
v 0.04215296 0.11484786 0.06207062
|
| 36 |
+
v 0.09759058 0.07366829 0.05768031
|
| 37 |
+
v 0.11060187 0.07366826 0.06545723
|
| 38 |
+
v 0.07088817 0.11256182 0.06545737
|
| 39 |
+
v 0.07117088 0.11272180 0.06207061
|
| 40 |
+
v 0.08162433 0.10618366 0.05829029
|
| 41 |
+
v 0.09012575 0.09837605 0.05743605
|
| 42 |
+
v 0.04707342 0.11355780 0.05702153
|
| 43 |
+
v 0.10244373 0.07366829 0.05614014
|
| 44 |
+
v 0.09925990 0.07366829 0.05645559
|
| 45 |
+
v 0.09823677 0.09022269 0.05746707
|
| 46 |
+
v 0.10012822 0.08574351 0.05641557
|
| 47 |
+
v 0.10787575 0.07616590 0.05633844
|
| 48 |
+
v 0.11091150 0.07366827 0.06207047
|
| 49 |
+
v 0.10854214 0.07712054 0.06207048
|
| 50 |
+
v 0.10838059 0.07689864 0.06545724
|
| 51 |
+
v 0.07457683 0.11004873 0.06545736
|
| 52 |
+
v 0.08084352 0.10560051 0.06545735
|
| 53 |
+
v 0.08345520 0.10342800 0.06545734
|
| 54 |
+
v 0.08546108 0.10170961 0.06545733
|
| 55 |
+
v 0.09012575 0.09837604 0.06002269
|
| 56 |
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v 0.07725582 0.10821164 0.06545736
|
| 57 |
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v 0.09823677 0.09022268 0.05986844
|
| 58 |
+
v 0.10564775 0.08119723 0.06207050
|
| 59 |
+
v 0.10547947 0.08097532 0.06545726
|
| 60 |
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v 0.09226625 0.09533141 0.06545731
|
| 61 |
+
v 0.09372691 0.09386071 0.06545730
|
| 62 |
+
v 0.09967723 0.08759604 0.06545728
|
| 63 |
+
v 0.10109750 0.08602730 0.06545728
|
| 64 |
+
f 1 2 7
|
| 65 |
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f 1 7 16
|
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f 1 16 29
|
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|
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|
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|
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f 1 4 5
|
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|
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f 1 6 2
|
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f 2 6 8
|
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f 3 9 20
|
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f 3 20 36
|
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|
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|
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|
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f 6 13 14
|
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f 6 14 15
|
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f 6 15 8
|
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f 7 8 15
|
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|
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f 7 17 16
|
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f 9 18 19
|
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f 9 19 20
|
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f 10 21 11
|
| 111 |
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|
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f 11 22 12
|
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f 12 23 13
|
| 114 |
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f 12 22 23
|
| 115 |
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f 13 23 24
|
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f 13 24 25
|
| 117 |
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f 13 25 14
|
| 118 |
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f 14 26 15
|
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f 14 25 27
|
| 120 |
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f 14 27 26
|
| 121 |
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f 15 26 28
|
| 122 |
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f 15 28 17
|
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f 16 17 29
|
| 124 |
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f 17 28 30
|
| 125 |
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f 17 30 31
|
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f 17 31 32
|
| 127 |
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f 17 32 33
|
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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f 19 42 33
|
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|
| 134 |
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|
| 135 |
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f 19 47 36
|
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f 19 36 20
|
| 137 |
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f 19 34 35
|
| 138 |
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f 24 37 25
|
| 139 |
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f 25 37 38
|
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f 25 38 39
|
| 141 |
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f 25 39 27
|
| 142 |
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f 26 27 30
|
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|
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|
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f 27 54 40
|
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f 27 40 30
|
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f 29 41 34
|
| 148 |
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f 29 33 42
|
| 149 |
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f 29 42 43
|
| 150 |
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f 29 43 35
|
| 151 |
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f 29 35 41
|
| 152 |
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f 30 40 31
|
| 153 |
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f 31 40 44
|
| 154 |
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f 31 44 45
|
| 155 |
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f 31 45 32
|
| 156 |
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f 32 45 46
|
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f 32 46 47
|
| 158 |
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f 34 41 35
|
| 159 |
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f 36 47 48
|
| 160 |
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f 36 48 49
|
| 161 |
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f 37 50 39
|
| 162 |
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f 37 39 38
|
| 163 |
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f 39 51 52
|
| 164 |
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f 39 52 53
|
| 165 |
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f 39 53 54
|
| 166 |
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f 39 50 55
|
| 167 |
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f 39 55 51
|
| 168 |
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f 40 54 56
|
| 169 |
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f 40 56 44
|
| 170 |
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f 44 56 57
|
| 171 |
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f 44 57 48
|
| 172 |
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f 44 48 46
|
| 173 |
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f 44 46 45
|
| 174 |
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|
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|
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|
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|
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|
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|
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|
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f 56 58 57
|
| 183 |
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|
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demo_assets/lamp/mjcf/mesh/lamp_collision_28.obj
ADDED
|
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.01183613 0.01126040 0.23538003
|
| 3 |
+
v 0.01683423 0.01126041 0.23166997
|
| 4 |
+
v 0.02519081 0.02347953 0.23200598
|
| 5 |
+
v 0.02790929 0.02898274 0.23225843
|
| 6 |
+
v 0.02772034 0.02898274 0.23230019
|
| 7 |
+
v 0.01183003 0.01126387 0.23538003
|
| 8 |
+
v -0.01191094 0.01126040 0.23538003
|
| 9 |
+
v 0.02431310 0.01126043 0.22561728
|
| 10 |
+
v 0.03099349 0.02898275 0.22844666
|
| 11 |
+
v 0.02033290 0.02898274 0.23267428
|
| 12 |
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v 0.00440603 0.01338396 0.23538004
|
| 13 |
+
v -0.01190485 0.01127254 0.23538003
|
| 14 |
+
v -0.02699667 0.02898274 0.23242731
|
| 15 |
+
v -0.02731363 0.02898274 0.23234013
|
| 16 |
+
v -0.02512543 0.02369640 0.23192789
|
| 17 |
+
v -0.02200467 0.01126043 0.22693933
|
| 18 |
+
v 0.02489214 0.01126044 0.22206885
|
| 19 |
+
v 0.03135920 0.02898275 0.22735889
|
| 20 |
+
v -0.02002981 0.02898274 0.23267973
|
| 21 |
+
v -0.00438941 0.01334058 0.23538004
|
| 22 |
+
v -0.01170980 0.01139919 0.23538003
|
| 23 |
+
v -0.03076963 0.02898275 0.22826325
|
| 24 |
+
v -0.02238867 0.01126043 0.22594598
|
| 25 |
+
v 0.02271005 0.01126045 0.22066691
|
| 26 |
+
v 0.02931729 0.02898278 0.22034918
|
| 27 |
+
v -0.03090982 0.02898275 0.22788916
|
| 28 |
+
v -0.02258372 0.01126044 0.22226316
|
| 29 |
+
v 0.02876872 0.02898278 0.22004590
|
| 30 |
+
v 0.01338432 0.01126046 0.21758336
|
| 31 |
+
v -0.03090982 0.02898275 0.22757863
|
| 32 |
+
v -0.02258372 0.01126044 0.22200529
|
| 33 |
+
v 0.02036338 0.02866529 0.21849868
|
| 34 |
+
v 0.02036947 0.02898279 0.21859675
|
| 35 |
+
v 0.01060489 0.01126046 0.21683154
|
| 36 |
+
v -0.02914830 0.02898278 0.22032194
|
| 37 |
+
v -0.02894106 0.02898278 0.22017302
|
| 38 |
+
v -0.02090752 0.01126045 0.22127708
|
| 39 |
+
v 0.00196793 0.02451013 0.21683159
|
| 40 |
+
v -0.02073686 0.02898279 0.21828077
|
| 41 |
+
v -0.00913151 0.01126046 0.21683154
|
| 42 |
+
v -0.02874601 0.02898278 0.22009312
|
| 43 |
+
v 0.00012716 0.02454136 0.21683159
|
| 44 |
+
v -0.00204274 0.02454136 0.21683159
|
| 45 |
+
v -0.00360922 0.02246812 0.21683158
|
| 46 |
+
v -0.00795513 0.01399645 0.21683155
|
| 47 |
+
v -0.00874142 0.01236041 0.21683155
|
| 48 |
+
f 1 2 3
|
| 49 |
+
f 1 3 4
|
| 50 |
+
f 1 4 5
|
| 51 |
+
f 1 5 6
|
| 52 |
+
f 1 6 11
|
| 53 |
+
f 1 11 20
|
| 54 |
+
f 1 20 21
|
| 55 |
+
f 1 21 12
|
| 56 |
+
f 1 12 7
|
| 57 |
+
f 1 7 16
|
| 58 |
+
f 1 16 23
|
| 59 |
+
f 1 23 27
|
| 60 |
+
f 1 27 31
|
| 61 |
+
f 1 31 37
|
| 62 |
+
f 1 37 40
|
| 63 |
+
f 1 40 34
|
| 64 |
+
f 1 34 29
|
| 65 |
+
f 1 29 24
|
| 66 |
+
f 1 24 17
|
| 67 |
+
f 1 17 8
|
| 68 |
+
f 1 8 2
|
| 69 |
+
f 2 8 3
|
| 70 |
+
f 3 8 4
|
| 71 |
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f 4 8 9
|
| 72 |
+
f 4 9 18
|
| 73 |
+
f 4 18 25
|
| 74 |
+
f 4 25 28
|
| 75 |
+
f 4 28 33
|
| 76 |
+
f 4 33 39
|
| 77 |
+
f 4 39 41
|
| 78 |
+
f 4 41 36
|
| 79 |
+
f 4 36 35
|
| 80 |
+
f 4 35 30
|
| 81 |
+
f 4 30 26
|
| 82 |
+
f 4 26 22
|
| 83 |
+
f 4 22 14
|
| 84 |
+
f 4 14 13
|
| 85 |
+
f 4 13 19
|
| 86 |
+
f 4 19 10
|
| 87 |
+
f 4 10 5
|
| 88 |
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f 5 10 6
|
| 89 |
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|
| 90 |
+
f 7 12 13
|
| 91 |
+
f 7 13 14
|
| 92 |
+
f 7 14 15
|
| 93 |
+
f 7 15 16
|
| 94 |
+
f 8 17 18
|
| 95 |
+
f 8 18 9
|
| 96 |
+
f 10 19 11
|
| 97 |
+
f 11 19 20
|
| 98 |
+
f 12 21 13
|
| 99 |
+
f 13 21 19
|
| 100 |
+
f 14 22 15
|
| 101 |
+
f 15 22 16
|
| 102 |
+
f 16 22 23
|
| 103 |
+
f 17 24 25
|
| 104 |
+
f 17 25 18
|
| 105 |
+
f 19 21 20
|
| 106 |
+
f 22 26 23
|
| 107 |
+
f 23 26 27
|
| 108 |
+
f 24 28 25
|
| 109 |
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f 24 29 28
|
| 110 |
+
f 26 30 31
|
| 111 |
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f 26 31 27
|
| 112 |
+
f 28 32 33
|
| 113 |
+
f 28 29 34
|
| 114 |
+
f 28 34 32
|
| 115 |
+
f 30 35 31
|
| 116 |
+
f 31 35 36
|
| 117 |
+
f 31 36 37
|
| 118 |
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f 32 34 38
|
| 119 |
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f 32 38 33
|
| 120 |
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f 33 38 39
|
| 121 |
+
f 34 40 46
|
| 122 |
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f 34 46 45
|
| 123 |
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f 34 45 44
|
| 124 |
+
f 34 44 43
|
| 125 |
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|
| 126 |
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f 34 42 38
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
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|
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|
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f 39 44 45
|
| 133 |
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f 39 45 46
|
| 134 |
+
f 39 46 40
|
| 135 |
+
f 39 40 41
|
| 136 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_29.obj
ADDED
|
@@ -0,0 +1,196 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.06677371 0.10000287 0.08722497
|
| 3 |
+
v -0.06680365 0.10000287 0.08690110
|
| 4 |
+
v -0.07595168 0.10906791 0.06545736
|
| 5 |
+
v -0.07595168 0.10817354 0.07624103
|
| 6 |
+
v -0.08512963 0.10000287 0.08722497
|
| 7 |
+
v -0.11223245 0.04386025 0.08722476
|
| 8 |
+
v -0.11599823 0.03598302 0.07624076
|
| 9 |
+
v -0.11684838 0.03598306 0.06545709
|
| 10 |
+
v -0.06806090 0.10000291 0.07627083
|
| 11 |
+
v -0.07726880 0.10816642 0.06545736
|
| 12 |
+
v -0.07616720 0.10803044 0.07624103
|
| 13 |
+
v -0.06806689 0.10000291 0.07624100
|
| 14 |
+
v -0.07595168 0.09470850 0.06545731
|
| 15 |
+
v -0.08025029 0.10506841 0.07624102
|
| 16 |
+
v -0.08516556 0.10000287 0.08691814
|
| 17 |
+
v -0.08859008 0.09686913 0.08722496
|
| 18 |
+
v -0.12419434 0.04386025 0.08722476
|
| 19 |
+
v -0.12725365 0.03598302 0.07624076
|
| 20 |
+
v -0.12793018 0.03598306 0.06545709
|
| 21 |
+
v -0.07916066 0.10680703 0.06545735
|
| 22 |
+
v -0.08086096 0.10554066 0.06545735
|
| 23 |
+
v -0.08517154 0.10000287 0.08686274
|
| 24 |
+
v -0.08722506 0.10003872 0.06545733
|
| 25 |
+
v -0.08860804 0.09688344 0.08686273
|
| 26 |
+
v -0.09377476 0.09379270 0.06545730
|
| 27 |
+
v -0.09273902 0.09279097 0.08722494
|
| 28 |
+
v -0.12363756 0.04559168 0.08722477
|
| 29 |
+
v -0.12422427 0.04386025 0.08685401
|
| 30 |
+
v -0.12707406 0.03683442 0.07624077
|
| 31 |
+
v -0.12772064 0.03683446 0.06545710
|
| 32 |
+
v -0.08543496 0.10164853 0.06545733
|
| 33 |
+
v -0.09528346 0.09229023 0.06545730
|
| 34 |
+
v -0.09683408 0.08864842 0.08686270
|
| 35 |
+
v -0.09681612 0.08862696 0.08722493
|
| 36 |
+
v -0.12345794 0.04607820 0.08722477
|
| 37 |
+
v -0.12364354 0.04564892 0.08685189
|
| 38 |
+
v -0.12441586 0.04497641 0.07859953
|
| 39 |
+
v -0.12470323 0.04386028 0.07972882
|
| 40 |
+
v -0.12637358 0.03915969 0.07624077
|
| 41 |
+
v -0.12528396 0.04498362 0.06545713
|
| 42 |
+
v -0.12628378 0.04164239 0.06545711
|
| 43 |
+
v -0.09775007 0.08963585 0.06545729
|
| 44 |
+
v -0.09719329 0.08902765 0.07859969
|
| 45 |
+
v -0.10112072 0.08600844 0.06545728
|
| 46 |
+
v -0.10048611 0.08455596 0.08722491
|
| 47 |
+
v -0.09697178 0.08845525 0.08722492
|
| 48 |
+
v -0.12247609 0.04924773 0.08409259
|
| 49 |
+
v -0.12093146 0.05194502 0.08722479
|
| 50 |
+
v -0.12393091 0.04851802 0.06545714
|
| 51 |
+
v -0.10550315 0.08088570 0.06545726
|
| 52 |
+
v -0.10456919 0.07968364 0.08722489
|
| 53 |
+
v -0.12310471 0.05061434 0.06545715
|
| 54 |
+
v -0.11650712 0.06128900 0.08686260
|
| 55 |
+
v -0.12117692 0.05469249 0.06545716
|
| 56 |
+
v -0.11646521 0.06131047 0.08722483
|
| 57 |
+
v -0.10669455 0.07921867 0.06545725
|
| 58 |
+
v -0.10759857 0.07560548 0.08722488
|
| 59 |
+
v -0.11437578 0.06560327 0.08722484
|
| 60 |
+
v -0.11438775 0.06563189 0.08686261
|
| 61 |
+
v -0.11796794 0.06128908 0.06545719
|
| 62 |
+
v -0.10837089 0.07681470 0.06545724
|
| 63 |
+
v -0.11169363 0.06971004 0.08686263
|
| 64 |
+
v -0.11169962 0.06965280 0.08722486
|
| 65 |
+
v -0.11190916 0.06933800 0.08722485
|
| 66 |
+
v -0.11244799 0.07085487 0.06545722
|
| 67 |
+
v -0.11510618 0.06677671 0.06545721
|
| 68 |
+
f 1 2 3
|
| 69 |
+
f 1 3 4
|
| 70 |
+
f 1 4 5
|
| 71 |
+
f 1 5 16
|
| 72 |
+
f 1 16 26
|
| 73 |
+
f 1 26 34
|
| 74 |
+
f 1 34 46
|
| 75 |
+
f 1 46 45
|
| 76 |
+
f 1 45 51
|
| 77 |
+
f 1 51 57
|
| 78 |
+
f 1 57 63
|
| 79 |
+
f 1 63 64
|
| 80 |
+
f 1 64 58
|
| 81 |
+
f 1 58 55
|
| 82 |
+
f 1 55 48
|
| 83 |
+
f 1 48 35
|
| 84 |
+
f 1 35 27
|
| 85 |
+
f 1 27 17
|
| 86 |
+
f 1 17 6
|
| 87 |
+
f 1 6 7
|
| 88 |
+
f 1 7 8
|
| 89 |
+
f 1 8 2
|
| 90 |
+
f 2 9 3
|
| 91 |
+
f 2 8 9
|
| 92 |
+
f 3 10 11
|
| 93 |
+
f 3 11 4
|
| 94 |
+
f 3 9 12
|
| 95 |
+
f 3 12 13
|
| 96 |
+
f 3 13 8
|
| 97 |
+
f 3 8 19
|
| 98 |
+
f 3 19 30
|
| 99 |
+
f 3 30 41
|
| 100 |
+
f 3 41 40
|
| 101 |
+
f 3 40 49
|
| 102 |
+
f 3 49 52
|
| 103 |
+
f 3 52 54
|
| 104 |
+
f 3 54 60
|
| 105 |
+
f 3 60 66
|
| 106 |
+
f 3 66 65
|
| 107 |
+
f 3 65 61
|
| 108 |
+
f 3 61 56
|
| 109 |
+
f 3 56 50
|
| 110 |
+
f 3 50 44
|
| 111 |
+
f 3 44 42
|
| 112 |
+
f 3 42 32
|
| 113 |
+
f 3 32 25
|
| 114 |
+
f 3 25 23
|
| 115 |
+
f 3 23 31
|
| 116 |
+
f 3 31 21
|
| 117 |
+
f 3 21 20
|
| 118 |
+
f 3 20 10
|
| 119 |
+
f 4 11 5
|
| 120 |
+
f 5 11 14
|
| 121 |
+
f 5 14 15
|
| 122 |
+
f 5 15 16
|
| 123 |
+
f 6 17 18
|
| 124 |
+
f 6 18 7
|
| 125 |
+
f 7 18 19
|
| 126 |
+
f 7 19 8
|
| 127 |
+
f 8 13 12
|
| 128 |
+
f 8 12 9
|
| 129 |
+
f 10 20 11
|
| 130 |
+
f 11 20 14
|
| 131 |
+
f 14 20 21
|
| 132 |
+
f 14 21 15
|
| 133 |
+
f 15 22 16
|
| 134 |
+
f 15 21 22
|
| 135 |
+
f 16 22 23
|
| 136 |
+
f 16 23 24
|
| 137 |
+
f 16 24 25
|
| 138 |
+
f 16 25 26
|
| 139 |
+
f 17 27 28
|
| 140 |
+
f 17 28 29
|
| 141 |
+
f 17 29 18
|
| 142 |
+
f 18 29 19
|
| 143 |
+
f 19 29 30
|
| 144 |
+
f 21 31 22
|
| 145 |
+
f 22 31 23
|
| 146 |
+
f 23 25 24
|
| 147 |
+
f 25 32 26
|
| 148 |
+
f 26 32 33
|
| 149 |
+
f 26 33 34
|
| 150 |
+
f 27 35 36
|
| 151 |
+
f 27 36 37
|
| 152 |
+
f 27 37 38
|
| 153 |
+
f 27 38 28
|
| 154 |
+
f 28 39 29
|
| 155 |
+
f 28 38 39
|
| 156 |
+
f 29 39 40
|
| 157 |
+
f 29 40 41
|
| 158 |
+
f 29 41 30
|
| 159 |
+
f 32 42 43
|
| 160 |
+
f 32 43 33
|
| 161 |
+
f 33 44 45
|
| 162 |
+
f 33 45 46
|
| 163 |
+
f 33 46 34
|
| 164 |
+
f 33 43 44
|
| 165 |
+
f 35 47 36
|
| 166 |
+
f 35 48 47
|
| 167 |
+
f 36 40 37
|
| 168 |
+
f 36 47 40
|
| 169 |
+
f 37 40 38
|
| 170 |
+
f 38 40 39
|
| 171 |
+
f 40 47 49
|
| 172 |
+
f 42 44 43
|
| 173 |
+
f 44 50 45
|
| 174 |
+
f 45 50 51
|
| 175 |
+
f 47 52 49
|
| 176 |
+
f 47 48 53
|
| 177 |
+
f 47 53 54
|
| 178 |
+
f 47 54 52
|
| 179 |
+
f 48 55 53
|
| 180 |
+
f 50 56 57
|
| 181 |
+
f 50 57 51
|
| 182 |
+
f 53 55 58
|
| 183 |
+
f 53 58 59
|
| 184 |
+
f 53 59 60
|
| 185 |
+
f 53 60 54
|
| 186 |
+
f 56 61 57
|
| 187 |
+
f 57 62 63
|
| 188 |
+
f 57 61 62
|
| 189 |
+
f 58 64 59
|
| 190 |
+
f 59 64 62
|
| 191 |
+
f 59 62 65
|
| 192 |
+
f 59 65 66
|
| 193 |
+
f 59 66 60
|
| 194 |
+
f 61 65 62
|
| 195 |
+
f 62 64 63
|
| 196 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_3.obj
ADDED
|
@@ -0,0 +1,85 @@
|
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|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00181612 0.02989255 0.19199237
|
| 3 |
+
v 0.00324461 0.03682180 0.18602890
|
| 4 |
+
v 0.00282791 0.03721546 0.19199240
|
| 5 |
+
v -0.00188328 0.02989255 0.19199237
|
| 6 |
+
v 0.00289296 0.03776936 0.14476523
|
| 7 |
+
v 0.00287750 0.04362077 0.17776787
|
| 8 |
+
v 0.00289296 0.04383190 0.14476525
|
| 9 |
+
v 0.00292194 0.04427654 0.15298469
|
| 10 |
+
v 0.00296832 0.04415045 0.16950681
|
| 11 |
+
v 0.00114309 0.04160128 0.19199241
|
| 12 |
+
v 0.00224570 0.04261386 0.18602892
|
| 13 |
+
v -0.00263038 0.03148147 0.19199238
|
| 14 |
+
v -0.00297880 0.03776936 0.14476523
|
| 15 |
+
v 0.00011906 0.04389269 0.17352870
|
| 16 |
+
v -0.00287898 0.04362077 0.17776787
|
| 17 |
+
v 0.00011906 0.04404147 0.14862534
|
| 18 |
+
v -0.00297880 0.04383190 0.14476525
|
| 19 |
+
v -0.00297430 0.04427654 0.15298469
|
| 20 |
+
v 0.00293418 0.04435865 0.16124575
|
| 21 |
+
v -0.00298718 0.04415045 0.16950681
|
| 22 |
+
v 0.00113729 0.04161969 0.19197854
|
| 23 |
+
v -0.00124246 0.04160128 0.19199241
|
| 24 |
+
v -0.00230384 0.04261386 0.18602892
|
| 25 |
+
v 0.00011906 0.04200631 0.18966711
|
| 26 |
+
v -0.00292277 0.03721546 0.19199240
|
| 27 |
+
v -0.00333496 0.03682180 0.18602890
|
| 28 |
+
v -0.00261170 0.03896299 0.19199240
|
| 29 |
+
v -0.00297301 0.04435865 0.16124575
|
| 30 |
+
v -0.00123602 0.04161969 0.19197854
|
| 31 |
+
f 1 2 3
|
| 32 |
+
f 1 3 10
|
| 33 |
+
f 1 10 22
|
| 34 |
+
f 1 22 27
|
| 35 |
+
f 1 27 25
|
| 36 |
+
f 1 25 12
|
| 37 |
+
f 1 12 4
|
| 38 |
+
f 1 4 13
|
| 39 |
+
f 1 13 5
|
| 40 |
+
f 1 5 2
|
| 41 |
+
f 2 6 3
|
| 42 |
+
f 2 5 7
|
| 43 |
+
f 2 7 8
|
| 44 |
+
f 2 8 9
|
| 45 |
+
f 2 9 6
|
| 46 |
+
f 3 6 11
|
| 47 |
+
f 3 11 10
|
| 48 |
+
f 4 12 13
|
| 49 |
+
f 5 13 17
|
| 50 |
+
f 5 17 7
|
| 51 |
+
f 6 9 14
|
| 52 |
+
f 6 14 15
|
| 53 |
+
f 6 15 23
|
| 54 |
+
f 6 23 11
|
| 55 |
+
f 7 16 8
|
| 56 |
+
f 7 17 16
|
| 57 |
+
f 8 16 18
|
| 58 |
+
f 8 18 28
|
| 59 |
+
f 8 28 19
|
| 60 |
+
f 8 19 9
|
| 61 |
+
f 9 19 28
|
| 62 |
+
f 9 28 20
|
| 63 |
+
f 9 20 14
|
| 64 |
+
f 10 11 21
|
| 65 |
+
f 10 21 29
|
| 66 |
+
f 10 29 22
|
| 67 |
+
f 11 23 24
|
| 68 |
+
f 11 24 21
|
| 69 |
+
f 12 25 26
|
| 70 |
+
f 12 26 13
|
| 71 |
+
f 13 26 17
|
| 72 |
+
f 14 20 15
|
| 73 |
+
f 15 20 26
|
| 74 |
+
f 15 26 25
|
| 75 |
+
f 15 25 27
|
| 76 |
+
f 15 27 23
|
| 77 |
+
f 16 17 18
|
| 78 |
+
f 17 26 18
|
| 79 |
+
f 18 26 20
|
| 80 |
+
f 18 20 28
|
| 81 |
+
f 21 24 29
|
| 82 |
+
f 22 29 23
|
| 83 |
+
f 22 23 27
|
| 84 |
+
f 23 29 24
|
| 85 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_30.obj
ADDED
|
@@ -0,0 +1,172 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00027831 0.13073595 0.09838316
|
| 3 |
+
v -0.00250623 0.13073313 0.09838316
|
| 4 |
+
v -0.00141488 0.13065729 0.10048871
|
| 5 |
+
v 0.00027831 0.13065729 0.10048871
|
| 6 |
+
v 0.00027831 0.11971282 0.09838312
|
| 7 |
+
v -0.00671112 0.13038770 0.09838316
|
| 8 |
+
v -0.01852332 0.12827571 0.10973425
|
| 9 |
+
v -0.01039440 0.12896940 0.10973425
|
| 10 |
+
v -0.00411115 0.12939909 0.10973426
|
| 11 |
+
v -0.00222537 0.12939629 0.10973426
|
| 12 |
+
v 0.00027831 0.12938505 0.10973426
|
| 13 |
+
v 0.00027831 0.11925220 0.10680645
|
| 14 |
+
v -0.06223328 0.10204493 0.09838305
|
| 15 |
+
v -0.00712840 0.13034558 0.09838316
|
| 16 |
+
v -0.02042515 0.12809036 0.10973425
|
| 17 |
+
v 0.00027831 0.11909212 0.10973422
|
| 18 |
+
v -0.06168760 0.10204491 0.10339416
|
| 19 |
+
v -0.08169292 0.10204493 0.09838305
|
| 20 |
+
v -0.01540978 0.12942441 0.09838316
|
| 21 |
+
v -0.02042515 0.12873352 0.09838315
|
| 22 |
+
v -0.02363498 0.12827014 0.09838315
|
| 23 |
+
v -0.02858616 0.12724784 0.10339426
|
| 24 |
+
v -0.02858616 0.12686869 0.10973425
|
| 25 |
+
v -0.06105366 0.10204489 0.10973415
|
| 26 |
+
v -0.08159662 0.10204492 0.09942083
|
| 27 |
+
v -0.08102688 0.10259819 0.09838306
|
| 28 |
+
v -0.02858616 0.12752591 0.09838315
|
| 29 |
+
v -0.03673914 0.12565547 0.09838314
|
| 30 |
+
v -0.03673914 0.12485784 0.10973424
|
| 31 |
+
v -0.08060960 0.10204489 0.10973415
|
| 32 |
+
v -0.08086638 0.10204490 0.10707415
|
| 33 |
+
v -0.07909295 0.10420461 0.09838306
|
| 34 |
+
v -0.03929097 0.12485788 0.09838314
|
| 35 |
+
v -0.04261315 0.12305482 0.10973423
|
| 36 |
+
v -0.04111255 0.12352383 0.10973423
|
| 37 |
+
v -0.07851518 0.10375804 0.10973416
|
| 38 |
+
v -0.07500843 0.10723773 0.09838307
|
| 39 |
+
v -0.07443067 0.10683327 0.10973417
|
| 40 |
+
v -0.07475967 0.10706078 0.10339418
|
| 41 |
+
v -0.04364030 0.12345647 0.09838313
|
| 42 |
+
v -0.04319894 0.12327671 0.10339424
|
| 43 |
+
v -0.04574274 0.12191741 0.10973423
|
| 44 |
+
v -0.06936715 0.11020060 0.10973418
|
| 45 |
+
v -0.06936715 0.11093083 0.09838309
|
| 46 |
+
v -0.04524521 0.12283019 0.09838313
|
| 47 |
+
v -0.04669767 0.12154669 0.10973423
|
| 48 |
+
v -0.06819556 0.11093360 0.10973419
|
| 49 |
+
v -0.06663076 0.11265802 0.09838309
|
| 50 |
+
v -0.04771679 0.12182758 0.09838313
|
| 51 |
+
v -0.05170501 0.11940385 0.10973422
|
| 52 |
+
v -0.06395054 0.11357072 0.10973420
|
| 53 |
+
v -0.06464868 0.11389654 0.09838310
|
| 54 |
+
v -0.04998775 0.12081935 0.09838312
|
| 55 |
+
v -0.05304512 0.11881127 0.10973422
|
| 56 |
+
v -0.06300364 0.11405097 0.10973420
|
| 57 |
+
v -0.06057219 0.11595232 0.09838311
|
| 58 |
+
v -0.05304512 0.11942075 0.09838312
|
| 59 |
+
v -0.05987405 0.11562088 0.10973420
|
| 60 |
+
f 1 2 3
|
| 61 |
+
f 1 3 4
|
| 62 |
+
f 1 4 11
|
| 63 |
+
f 1 11 16
|
| 64 |
+
f 1 16 12
|
| 65 |
+
f 1 12 5
|
| 66 |
+
f 1 5 13
|
| 67 |
+
f 1 13 18
|
| 68 |
+
f 1 18 26
|
| 69 |
+
f 1 26 32
|
| 70 |
+
f 1 32 37
|
| 71 |
+
f 1 37 44
|
| 72 |
+
f 1 44 48
|
| 73 |
+
f 1 48 52
|
| 74 |
+
f 1 52 56
|
| 75 |
+
f 1 56 57
|
| 76 |
+
f 1 57 53
|
| 77 |
+
f 1 53 49
|
| 78 |
+
f 1 49 45
|
| 79 |
+
f 1 45 40
|
| 80 |
+
f 1 40 33
|
| 81 |
+
f 1 33 28
|
| 82 |
+
f 1 28 27
|
| 83 |
+
f 1 27 21
|
| 84 |
+
f 1 21 20
|
| 85 |
+
f 1 20 19
|
| 86 |
+
f 1 19 14
|
| 87 |
+
f 1 14 6
|
| 88 |
+
f 1 6 2
|
| 89 |
+
f 2 6 3
|
| 90 |
+
f 3 6 7
|
| 91 |
+
f 3 7 8
|
| 92 |
+
f 3 8 9
|
| 93 |
+
f 3 9 4
|
| 94 |
+
f 4 9 10
|
| 95 |
+
f 4 10 11
|
| 96 |
+
f 5 12 13
|
| 97 |
+
f 6 14 15
|
| 98 |
+
f 6 15 7
|
| 99 |
+
f 7 15 23
|
| 100 |
+
f 7 23 29
|
| 101 |
+
f 7 29 35
|
| 102 |
+
f 7 35 34
|
| 103 |
+
f 7 34 42
|
| 104 |
+
f 7 42 46
|
| 105 |
+
f 7 46 50
|
| 106 |
+
f 7 50 54
|
| 107 |
+
f 7 54 58
|
| 108 |
+
f 7 58 55
|
| 109 |
+
f 7 55 51
|
| 110 |
+
f 7 51 47
|
| 111 |
+
f 7 47 43
|
| 112 |
+
f 7 43 38
|
| 113 |
+
f 7 38 36
|
| 114 |
+
f 7 36 30
|
| 115 |
+
f 7 30 24
|
| 116 |
+
f 7 24 16
|
| 117 |
+
f 7 16 11
|
| 118 |
+
f 7 11 10
|
| 119 |
+
f 7 10 9
|
| 120 |
+
f 7 9 8
|
| 121 |
+
f 12 16 13
|
| 122 |
+
f 13 17 24
|
| 123 |
+
f 13 24 30
|
| 124 |
+
f 13 30 31
|
| 125 |
+
f 13 31 25
|
| 126 |
+
f 13 25 18
|
| 127 |
+
f 13 16 17
|
| 128 |
+
f 14 19 15
|
| 129 |
+
f 15 20 21
|
| 130 |
+
f 15 21 22
|
| 131 |
+
f 15 22 23
|
| 132 |
+
f 15 19 20
|
| 133 |
+
f 16 24 17
|
| 134 |
+
f 18 25 26
|
| 135 |
+
f 21 27 22
|
| 136 |
+
f 22 27 28
|
| 137 |
+
f 22 28 23
|
| 138 |
+
f 23 28 29
|
| 139 |
+
f 25 31 32
|
| 140 |
+
f 25 32 26
|
| 141 |
+
f 28 33 34
|
| 142 |
+
f 28 34 35
|
| 143 |
+
f 28 35 29
|
| 144 |
+
f 30 36 32
|
| 145 |
+
f 30 32 31
|
| 146 |
+
f 32 36 38
|
| 147 |
+
f 32 38 39
|
| 148 |
+
f 32 39 37
|
| 149 |
+
f 33 40 41
|
| 150 |
+
f 33 41 34
|
| 151 |
+
f 34 41 42
|
| 152 |
+
f 37 39 43
|
| 153 |
+
f 37 43 44
|
| 154 |
+
f 38 43 39
|
| 155 |
+
f 40 45 46
|
| 156 |
+
f 40 46 42
|
| 157 |
+
f 40 42 41
|
| 158 |
+
f 43 47 48
|
| 159 |
+
f 43 48 44
|
| 160 |
+
f 45 49 46
|
| 161 |
+
f 46 49 50
|
| 162 |
+
f 47 51 52
|
| 163 |
+
f 47 52 48
|
| 164 |
+
f 49 53 54
|
| 165 |
+
f 49 54 50
|
| 166 |
+
f 51 55 52
|
| 167 |
+
f 52 55 56
|
| 168 |
+
f 53 57 54
|
| 169 |
+
f 54 57 56
|
| 170 |
+
f 54 56 58
|
| 171 |
+
f 55 58 56
|
| 172 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_31.obj
ADDED
|
@@ -0,0 +1,397 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.00284919 0.02782168 0.08722578
|
| 3 |
+
v -0.00041239 0.03294847 0.09846530
|
| 4 |
+
v 0.00292466 0.02782168 0.08722578
|
| 5 |
+
v -0.00707707 0.02219925 0.08722576
|
| 6 |
+
v -0.00185468 0.04208268 0.12817451
|
| 7 |
+
v -0.00085545 0.04133931 0.12258838
|
| 8 |
+
v 0.00036060 0.03294847 0.09846530
|
| 9 |
+
v 0.00078951 0.04133931 0.12258838
|
| 10 |
+
v 0.00174161 0.04208268 0.12817451
|
| 11 |
+
v 0.00682731 0.02285719 0.08722576
|
| 12 |
+
v -0.01678657 0.00900619 0.08722571
|
| 13 |
+
v -0.01625396 0.01634603 0.10782232
|
| 14 |
+
v -0.00235901 0.04266370 0.13308836
|
| 15 |
+
v -0.01686669 0.01693560 0.11333511
|
| 16 |
+
v 0.00223651 0.04266370 0.13308836
|
| 17 |
+
v 0.01629172 0.01642294 0.10751062
|
| 18 |
+
v 0.01670178 0.00894638 0.08722571
|
| 19 |
+
v -0.01686198 0.00876694 0.08722571
|
| 20 |
+
v -0.02336169 0.00358875 0.11227773
|
| 21 |
+
v -0.01903955 0.01309903 0.11101875
|
| 22 |
+
v -0.01793191 0.01439783 0.10974139
|
| 23 |
+
v -0.00269837 0.04304820 0.13644982
|
| 24 |
+
v 0.00031346 0.04281751 0.13439016
|
| 25 |
+
v -0.02049126 0.01233852 0.11991745
|
| 26 |
+
v 0.00257116 0.04304820 0.13644982
|
| 27 |
+
v 0.01962405 0.01233855 0.11166659
|
| 28 |
+
v 0.01650382 0.01665364 0.10974140
|
| 29 |
+
v 0.02294225 0.00417833 0.11166656
|
| 30 |
+
v 0.01805922 0.00419551 0.08722570
|
| 31 |
+
v -0.01812044 0.00419551 0.08722570
|
| 32 |
+
v -0.02455417 0.00047846 0.11543749
|
| 33 |
+
v -0.02380474 0.00471662 0.11991742
|
| 34 |
+
v -0.00297645 0.04383429 0.14476179
|
| 35 |
+
v -0.02100030 0.01072355 0.12132925
|
| 36 |
+
v 0.00289167 0.04383429 0.14476179
|
| 37 |
+
v 0.01669235 0.01681598 0.11166660
|
| 38 |
+
v 0.02032634 0.01233852 0.11991745
|
| 39 |
+
v 0.02354556 0.00417830 0.11991742
|
| 40 |
+
v 0.02355970 -0.00393064 0.11991739
|
| 41 |
+
v 0.02295168 -0.00393061 0.11166653
|
| 42 |
+
v 0.01807808 -0.00393907 0.08722567
|
| 43 |
+
v -0.01812044 0.00384518 0.08722569
|
| 44 |
+
v -0.02459187 0.00063224 0.11991740
|
| 45 |
+
v -0.02455417 -0.00022221 0.11543749
|
| 46 |
+
v -0.02404512 0.00335800 0.12132922
|
| 47 |
+
v -0.02370105 0.00450299 0.12132923
|
| 48 |
+
v -0.02323914 0.00358014 0.12752653
|
| 49 |
+
v -0.02118883 0.00397318 0.13308821
|
| 50 |
+
v -0.01994922 0.00420388 0.13644968
|
| 51 |
+
v -0.01650376 0.00853603 0.14077070
|
| 52 |
+
v -0.01708351 0.00420386 0.14144909
|
| 53 |
+
v -0.01316200 0.00412694 0.14476165
|
| 54 |
+
v -0.01172443 0.00409275 0.14597178
|
| 55 |
+
v -0.00865133 0.00130716 0.14911930
|
| 56 |
+
v -0.00387670 0.00409274 0.14959605
|
| 57 |
+
v -0.00100627 0.00862999 0.14905211
|
| 58 |
+
v 0.01880393 0.01300497 0.12855945
|
| 59 |
+
v 0.00101104 0.00862999 0.14905211
|
| 60 |
+
v 0.00385790 0.00411838 0.14959605
|
| 61 |
+
v 0.00859010 0.00134989 0.14911320
|
| 62 |
+
v 0.01166792 0.00411839 0.14597178
|
| 63 |
+
v 0.01308193 0.00414403 0.14476165
|
| 64 |
+
v 0.01697987 0.00420386 0.14141853
|
| 65 |
+
v 0.01640484 0.00847622 0.14071569
|
| 66 |
+
v 0.01972303 0.00420388 0.13644968
|
| 67 |
+
v 0.02090137 0.00420389 0.13308822
|
| 68 |
+
v 0.02261703 0.00419536 0.12817438
|
| 69 |
+
v 0.02338531 0.00419538 0.12132923
|
| 70 |
+
v 0.02266416 -0.00393922 0.12817435
|
| 71 |
+
v 0.02340887 -0.00393920 0.12132920
|
| 72 |
+
v 0.02050074 -0.01208231 0.11991736
|
| 73 |
+
v 0.01976074 -0.01208228 0.11166650
|
| 74 |
+
v 0.01672063 -0.00870703 0.08722565
|
| 75 |
+
v 0.01679604 -0.00847632 0.08722565
|
| 76 |
+
v -0.01803560 -0.00393907 0.08722567
|
| 77 |
+
v -0.02454945 0.00045278 0.12434230
|
| 78 |
+
v -0.02459187 -0.00037604 0.11991740
|
| 79 |
+
v -0.02336169 -0.00333248 0.11227771
|
| 80 |
+
v -0.02379532 -0.00445187 0.11991738
|
| 81 |
+
v -0.01998222 -0.00393925 0.13644965
|
| 82 |
+
v -0.01711179 -0.00393927 0.14147962
|
| 83 |
+
v -0.00865133 -0.00118790 0.14911930
|
| 84 |
+
v -0.00413122 -0.00392221 0.14966324
|
| 85 |
+
v 0.00405115 -0.00388803 0.14965712
|
| 86 |
+
v 0.00859010 -0.00112808 0.14911320
|
| 87 |
+
v 0.01703643 -0.00393927 0.14148574
|
| 88 |
+
v 0.01980788 -0.00393925 0.13644965
|
| 89 |
+
v 0.02097207 -0.00393924 0.13308819
|
| 90 |
+
v 0.01761617 -0.01018544 0.13644962
|
| 91 |
+
v 0.00299536 -0.04345864 0.14476147
|
| 92 |
+
v 0.01890763 -0.01281719 0.12876716
|
| 93 |
+
v 0.02087309 -0.01068953 0.12132917
|
| 94 |
+
v 0.00272670 -0.04278357 0.13644950
|
| 95 |
+
v 0.01681961 -0.01672207 0.11166648
|
| 96 |
+
v 0.01826190 -0.01392793 0.10974129
|
| 97 |
+
v 0.01636713 -0.01625209 0.10731492
|
| 98 |
+
v 0.00719024 -0.02237859 0.08722560
|
| 99 |
+
v -0.01669701 -0.00857885 0.08722565
|
| 100 |
+
v -0.02454945 -0.00018807 0.12434230
|
| 101 |
+
v -0.01984082 -0.01208228 0.11166650
|
| 102 |
+
v -0.02369634 -0.00423826 0.12132919
|
| 103 |
+
v -0.02068922 -0.01208231 0.11991736
|
| 104 |
+
v -0.02121711 -0.00370853 0.13308819
|
| 105 |
+
v -0.01771038 -0.01026235 0.13644962
|
| 106 |
+
v -0.00287747 -0.04345864 0.14476147
|
| 107 |
+
v -0.01653205 -0.00833980 0.14080120
|
| 108 |
+
v -0.01324684 -0.00393073 0.14476162
|
| 109 |
+
v -0.01172443 -0.00392220 0.14604510
|
| 110 |
+
v -0.00143048 -0.00856199 0.14915595
|
| 111 |
+
v 0.00133626 -0.00856199 0.14915595
|
| 112 |
+
v 0.01166792 -0.00388802 0.14603898
|
| 113 |
+
v 0.01317619 -0.00390510 0.14476162
|
| 114 |
+
v 0.01648025 -0.00833126 0.14080730
|
| 115 |
+
v -0.00266537 -0.04278357 0.13644950
|
| 116 |
+
v 0.00031346 -0.04262977 0.13486656
|
| 117 |
+
v 0.00242976 -0.04245032 0.13308804
|
| 118 |
+
v 0.00199142 -0.04194616 0.12817421
|
| 119 |
+
v 0.00706298 -0.02255803 0.08722560
|
| 120 |
+
v -0.00647376 -0.02202825 0.08722560
|
| 121 |
+
v -0.01637179 -0.01620936 0.10743716
|
| 122 |
+
v -0.02324857 -0.00330691 0.12752651
|
| 123 |
+
v -0.01663574 -0.01647426 0.10974128
|
| 124 |
+
v -0.01685255 -0.01669643 0.11166648
|
| 125 |
+
v -0.01904897 -0.01286846 0.12893217
|
| 126 |
+
v -0.01979840 -0.00764765 0.13308817
|
| 127 |
+
v -0.00239200 -0.04245032 0.13308804
|
| 128 |
+
v -0.00198194 -0.04194616 0.12817421
|
| 129 |
+
v 0.00097805 -0.04120275 0.12214192
|
| 130 |
+
v 0.00296708 -0.02698419 0.08722558
|
| 131 |
+
v -0.00256168 -0.02698419 0.08722558
|
| 132 |
+
v -0.00100627 -0.04120275 0.12214192
|
| 133 |
+
v 0.00040302 -0.03270920 0.09864230
|
| 134 |
+
v -0.00043125 -0.03270920 0.09864230
|
| 135 |
+
f 1 2 7
|
| 136 |
+
f 1 7 3
|
| 137 |
+
f 1 3 10
|
| 138 |
+
f 1 10 17
|
| 139 |
+
f 1 17 29
|
| 140 |
+
f 1 29 41
|
| 141 |
+
f 1 41 74
|
| 142 |
+
f 1 74 73
|
| 143 |
+
f 1 73 97
|
| 144 |
+
f 1 97 118
|
| 145 |
+
f 1 118 129
|
| 146 |
+
f 1 129 130
|
| 147 |
+
f 1 130 119
|
| 148 |
+
f 1 119 98
|
| 149 |
+
f 1 98 75
|
| 150 |
+
f 1 75 42
|
| 151 |
+
f 1 42 30
|
| 152 |
+
f 1 30 18
|
| 153 |
+
f 1 18 11
|
| 154 |
+
f 1 11 4
|
| 155 |
+
f 1 4 5
|
| 156 |
+
f 1 5 6
|
| 157 |
+
f 1 6 2
|
| 158 |
+
f 2 6 8
|
| 159 |
+
f 2 8 7
|
| 160 |
+
f 3 7 8
|
| 161 |
+
f 3 8 9
|
| 162 |
+
f 3 9 10
|
| 163 |
+
f 4 11 12
|
| 164 |
+
f 4 12 5
|
| 165 |
+
f 5 13 15
|
| 166 |
+
f 5 15 9
|
| 167 |
+
f 5 9 8
|
| 168 |
+
f 5 8 6
|
| 169 |
+
f 5 12 14
|
| 170 |
+
f 5 14 13
|
| 171 |
+
f 9 15 16
|
| 172 |
+
f 9 16 10
|
| 173 |
+
f 10 16 17
|
| 174 |
+
f 11 18 19
|
| 175 |
+
f 11 19 20
|
| 176 |
+
f 11 20 21
|
| 177 |
+
f 11 21 12
|
| 178 |
+
f 12 21 14
|
| 179 |
+
f 13 14 22
|
| 180 |
+
f 13 22 23
|
| 181 |
+
f 13 23 15
|
| 182 |
+
f 14 21 20
|
| 183 |
+
f 14 20 24
|
| 184 |
+
f 14 24 22
|
| 185 |
+
f 15 23 25
|
| 186 |
+
f 15 25 16
|
| 187 |
+
f 16 26 17
|
| 188 |
+
f 16 25 27
|
| 189 |
+
f 16 27 26
|
| 190 |
+
f 17 26 28
|
| 191 |
+
f 17 28 29
|
| 192 |
+
f 18 30 19
|
| 193 |
+
f 19 31 32
|
| 194 |
+
f 19 32 24
|
| 195 |
+
f 19 24 20
|
| 196 |
+
f 19 30 31
|
| 197 |
+
f 22 33 35
|
| 198 |
+
f 22 35 25
|
| 199 |
+
f 22 25 23
|
| 200 |
+
f 22 24 33
|
| 201 |
+
f 24 34 33
|
| 202 |
+
f 24 32 34
|
| 203 |
+
f 25 35 26
|
| 204 |
+
f 25 26 36
|
| 205 |
+
f 25 36 27
|
| 206 |
+
f 26 27 36
|
| 207 |
+
f 26 35 37
|
| 208 |
+
f 26 37 28
|
| 209 |
+
f 28 37 38
|
| 210 |
+
f 28 38 39
|
| 211 |
+
f 28 39 40
|
| 212 |
+
f 28 40 41
|
| 213 |
+
f 28 41 29
|
| 214 |
+
f 30 42 44
|
| 215 |
+
f 30 44 31
|
| 216 |
+
f 31 43 32
|
| 217 |
+
f 31 44 77
|
| 218 |
+
f 31 77 43
|
| 219 |
+
f 32 43 45
|
| 220 |
+
f 32 45 46
|
| 221 |
+
f 32 46 34
|
| 222 |
+
f 33 34 47
|
| 223 |
+
f 33 47 48
|
| 224 |
+
f 33 48 49
|
| 225 |
+
f 33 49 50
|
| 226 |
+
f 33 50 51
|
| 227 |
+
f 33 51 52
|
| 228 |
+
f 33 52 53
|
| 229 |
+
f 33 53 54
|
| 230 |
+
f 33 54 55
|
| 231 |
+
f 33 55 56
|
| 232 |
+
f 33 56 58
|
| 233 |
+
f 33 58 35
|
| 234 |
+
f 34 46 47
|
| 235 |
+
f 35 57 37
|
| 236 |
+
f 35 58 59
|
| 237 |
+
f 35 59 60
|
| 238 |
+
f 35 60 61
|
| 239 |
+
f 35 61 62
|
| 240 |
+
f 35 62 63
|
| 241 |
+
f 35 63 64
|
| 242 |
+
f 35 64 65
|
| 243 |
+
f 35 65 66
|
| 244 |
+
f 35 66 67
|
| 245 |
+
f 35 67 57
|
| 246 |
+
f 37 57 67
|
| 247 |
+
f 37 67 68
|
| 248 |
+
f 37 68 38
|
| 249 |
+
f 38 68 67
|
| 250 |
+
f 38 67 69
|
| 251 |
+
f 38 69 70
|
| 252 |
+
f 38 70 39
|
| 253 |
+
f 39 70 71
|
| 254 |
+
f 39 71 40
|
| 255 |
+
f 40 71 72
|
| 256 |
+
f 40 72 73
|
| 257 |
+
f 40 73 74
|
| 258 |
+
f 40 74 41
|
| 259 |
+
f 42 75 44
|
| 260 |
+
f 43 76 45
|
| 261 |
+
f 43 77 99
|
| 262 |
+
f 43 99 76
|
| 263 |
+
f 44 75 78
|
| 264 |
+
f 44 78 79
|
| 265 |
+
f 44 79 77
|
| 266 |
+
f 45 76 47
|
| 267 |
+
f 45 47 46
|
| 268 |
+
f 47 76 48
|
| 269 |
+
f 48 76 49
|
| 270 |
+
f 49 51 50
|
| 271 |
+
f 49 76 80
|
| 272 |
+
f 49 80 81
|
| 273 |
+
f 49 81 51
|
| 274 |
+
f 51 54 52
|
| 275 |
+
f 51 81 54
|
| 276 |
+
f 52 54 53
|
| 277 |
+
f 54 81 82
|
| 278 |
+
f 54 82 83
|
| 279 |
+
f 54 83 55
|
| 280 |
+
f 55 83 59
|
| 281 |
+
f 55 59 56
|
| 282 |
+
f 56 59 58
|
| 283 |
+
f 59 83 84
|
| 284 |
+
f 59 84 60
|
| 285 |
+
f 60 63 62
|
| 286 |
+
f 60 62 61
|
| 287 |
+
f 60 84 85
|
| 288 |
+
f 60 85 86
|
| 289 |
+
f 60 86 63
|
| 290 |
+
f 63 86 65
|
| 291 |
+
f 63 65 64
|
| 292 |
+
f 65 86 87
|
| 293 |
+
f 65 87 66
|
| 294 |
+
f 66 87 67
|
| 295 |
+
f 67 87 88
|
| 296 |
+
f 67 88 69
|
| 297 |
+
f 69 88 89
|
| 298 |
+
f 69 89 90
|
| 299 |
+
f 69 90 91
|
| 300 |
+
f 69 91 92
|
| 301 |
+
f 69 92 70
|
| 302 |
+
f 70 92 71
|
| 303 |
+
f 71 92 91
|
| 304 |
+
f 71 91 90
|
| 305 |
+
f 71 90 93
|
| 306 |
+
f 71 93 72
|
| 307 |
+
f 72 93 94
|
| 308 |
+
f 72 94 95
|
| 309 |
+
f 72 95 73
|
| 310 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 129 133 130
|
| 396 |
+
f 130 133 131
|
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+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_32.obj
ADDED
|
@@ -0,0 +1,148 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.00803636 -0.01218783 0.23537995
|
| 3 |
+
v 0.00429615 -0.01325074 0.23537994
|
| 4 |
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|
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|
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|
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|
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|
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v -0.02688684 -0.02840793 0.23247795
|
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v -0.03122649 -0.02984240 0.22904754
|
| 23 |
+
v 0.03182634 -0.02984239 0.22692284
|
| 24 |
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v 0.02142369 -0.01218778 0.22070132
|
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v -0.01690879 -0.01218782 0.23151009
|
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+
v -0.02062402 -0.01218781 0.22775099
|
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+
v -0.02080510 -0.01218781 0.22756213
|
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+
v -0.02086129 -0.01218781 0.22747859
|
| 29 |
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v -0.03196329 -0.02984239 0.22694825
|
| 30 |
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v 0.03182634 -0.02984239 0.22531387
|
| 31 |
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v 0.02142369 -0.01218778 0.22050339
|
| 32 |
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v -0.02132960 -0.01218778 0.22135691
|
| 33 |
+
v -0.03095174 -0.02984237 0.22124606
|
| 34 |
+
v 0.03084601 -0.02984237 0.22111167
|
| 35 |
+
v 0.02979077 -0.02984237 0.22035259
|
| 36 |
+
v 0.02863561 -0.02984237 0.21983867
|
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+
v 0.02085547 -0.01218778 0.22027094
|
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+
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|
| 39 |
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v -0.02874134 -0.02852195 0.22034352
|
| 40 |
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v -0.02871636 -0.02984237 0.22001299
|
| 41 |
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v 0.02179833 -0.02984236 0.21804265
|
| 42 |
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v 0.01063390 -0.01218777 0.21684781
|
| 43 |
+
v 0.01230107 -0.01218777 0.21730180
|
| 44 |
+
v -0.00971559 -0.01218777 0.21684054
|
| 45 |
+
v -0.02041796 -0.02840788 0.21850029
|
| 46 |
+
v -0.02043670 -0.02984236 0.21892522
|
| 47 |
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v 0.00229804 -0.02634256 0.21683140
|
| 48 |
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v 0.00417126 -0.02634256 0.21683140
|
| 49 |
+
v 0.01057146 -0.01218777 0.21683146
|
| 50 |
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v -0.00422079 -0.02632700 0.21683140
|
| 51 |
+
v -0.00920982 -0.01218777 0.21683146
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demo_assets/lamp/mjcf/mesh/lamp_collision_33.obj
ADDED
|
@@ -0,0 +1,133 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.10571242 -0.05605822 0.09838247
|
| 3 |
+
v -0.11807306 -0.05605822 0.09838247
|
| 4 |
+
v -0.10592809 -0.05605821 0.09512766
|
| 5 |
+
v -0.11760912 0.02735126 0.08722578
|
| 6 |
+
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|
| 7 |
+
v -0.11889811 -0.05605818 0.08722547
|
| 8 |
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v -0.11952504 -0.05286586 0.09838249
|
| 9 |
+
v -0.12231866 -0.04870188 0.08722550
|
| 10 |
+
v -0.12070869 -0.05221265 0.08722549
|
| 11 |
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v -0.12047296 -0.05271886 0.08722549
|
| 12 |
+
v -0.10647477 -0.05605818 0.08722547
|
| 13 |
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v -0.12842249 0.02735126 0.08722578
|
| 14 |
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|
| 15 |
+
v -0.12085916 -0.04988579 0.09838250
|
| 16 |
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v -0.12183216 -0.04766502 0.09838250
|
| 17 |
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v -0.12283024 -0.04519115 0.09838251
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 26 |
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v -0.12637366 -0.03687956 0.08722554
|
| 27 |
+
v -0.12358507 -0.04387664 0.09512771
|
| 28 |
+
v -0.13063431 0.00950345 0.09226848
|
| 29 |
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v -0.12962620 0.01230388 0.09838273
|
| 30 |
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v -0.13073713 0.01268766 0.08722573
|
| 31 |
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v -0.13080233 0.01205898 0.08722572
|
| 32 |
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v -0.12569658 -0.03656118 0.09838255
|
| 33 |
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v -0.12748209 -0.02840476 0.09838258
|
| 34 |
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v -0.12810902 -0.02840472 0.08722558
|
| 35 |
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v -0.13132143 0.00419649 0.08722570
|
| 36 |
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v -0.13067444 0.00221245 0.09838269
|
| 37 |
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v -0.13038354 0.00530683 0.09838270
|
| 38 |
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v -0.13031332 0.00660500 0.09777761
|
| 39 |
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v -0.12816921 -0.02345702 0.09838259
|
| 40 |
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v -0.13041615 -0.01540669 0.08722562
|
| 41 |
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v -0.13132896 -0.00394361 0.08722567
|
| 42 |
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v -0.13067444 -0.00187801 0.09838267
|
| 43 |
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v -0.12860305 -0.02024833 0.09838261
|
| 44 |
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v -0.12926008 -0.01529243 0.09838262
|
| 45 |
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v -0.13062930 -0.00912814 0.09215046
|
| 46 |
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v -0.13080484 -0.01169180 0.08722564
|
| 47 |
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f 1 2 6
|
| 48 |
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f 1 6 11
|
| 49 |
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f 1 11 3
|
| 50 |
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f 1 3 4
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| 51 |
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f 1 4 5
|
| 52 |
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f 1 5 13
|
| 53 |
+
f 1 13 20
|
| 54 |
+
f 1 20 28
|
| 55 |
+
f 1 28 36
|
| 56 |
+
f 1 36 35
|
| 57 |
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f 1 35 41
|
| 58 |
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f 1 41 43
|
| 59 |
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f 1 43 42
|
| 60 |
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f 1 42 38
|
| 61 |
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f 1 38 32
|
| 62 |
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f 1 32 31
|
| 63 |
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f 1 31 23
|
| 64 |
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f 1 23 17
|
| 65 |
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f 1 17 16
|
| 66 |
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f 1 16 15
|
| 67 |
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f 1 15 14
|
| 68 |
+
f 1 14 7
|
| 69 |
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f 1 7 2
|
| 70 |
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f 2 7 8
|
| 71 |
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f 2 8 9
|
| 72 |
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f 2 9 10
|
| 73 |
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f 2 10 6
|
| 74 |
+
f 3 11 4
|
| 75 |
+
f 4 12 13
|
| 76 |
+
f 4 13 5
|
| 77 |
+
f 4 11 6
|
| 78 |
+
f 4 6 10
|
| 79 |
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f 4 10 9
|
| 80 |
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f 4 9 8
|
| 81 |
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f 4 8 18
|
| 82 |
+
f 4 18 25
|
| 83 |
+
f 4 25 24
|
| 84 |
+
f 4 24 33
|
| 85 |
+
f 4 33 39
|
| 86 |
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f 4 39 45
|
| 87 |
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f 4 45 40
|
| 88 |
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f 4 40 34
|
| 89 |
+
f 4 34 30
|
| 90 |
+
f 4 30 29
|
| 91 |
+
f 4 29 21
|
| 92 |
+
f 4 21 19
|
| 93 |
+
f 4 19 12
|
| 94 |
+
f 7 14 8
|
| 95 |
+
f 8 14 15
|
| 96 |
+
f 8 15 16
|
| 97 |
+
f 8 16 17
|
| 98 |
+
f 8 17 18
|
| 99 |
+
f 12 19 13
|
| 100 |
+
f 13 19 21
|
| 101 |
+
f 13 21 22
|
| 102 |
+
f 13 22 20
|
| 103 |
+
f 17 23 24
|
| 104 |
+
f 17 24 25
|
| 105 |
+
f 17 25 26
|
| 106 |
+
f 17 26 18
|
| 107 |
+
f 18 26 25
|
| 108 |
+
f 20 22 27
|
| 109 |
+
f 20 27 28
|
| 110 |
+
f 21 29 22
|
| 111 |
+
f 22 29 30
|
| 112 |
+
f 22 30 27
|
| 113 |
+
f 23 31 24
|
| 114 |
+
f 24 31 32
|
| 115 |
+
f 24 32 33
|
| 116 |
+
f 27 30 34
|
| 117 |
+
f 27 34 35
|
| 118 |
+
f 27 35 36
|
| 119 |
+
f 27 36 37
|
| 120 |
+
f 27 37 28
|
| 121 |
+
f 28 37 36
|
| 122 |
+
f 32 38 39
|
| 123 |
+
f 32 39 33
|
| 124 |
+
f 34 40 35
|
| 125 |
+
f 35 40 41
|
| 126 |
+
f 38 42 39
|
| 127 |
+
f 39 42 43
|
| 128 |
+
f 39 43 44
|
| 129 |
+
f 39 44 45
|
| 130 |
+
f 40 45 44
|
| 131 |
+
f 40 44 41
|
| 132 |
+
f 41 44 43
|
| 133 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_34.obj
ADDED
|
@@ -0,0 +1,271 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.08384649 0.09764491 0.13309277
|
| 3 |
+
v 0.07470245 0.09273567 0.10972886
|
| 4 |
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| 5 |
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| 6 |
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v 0.06808673 0.09764491 0.13309277
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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v 0.08577642 0.09736761 0.11502531
|
| 11 |
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v 0.08534661 0.09736759 0.11991789
|
| 12 |
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v 0.08528761 0.09736759 0.12057995
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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v 0.08307956 0.09932894 0.12132807
|
| 17 |
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v 0.07851176 0.10384605 0.10972890
|
| 18 |
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v 0.07841062 0.10377472 0.11165548
|
| 19 |
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v 0.07794711 0.10346167 0.11991791
|
| 20 |
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v 0.07716333 0.10295047 0.13309279
|
| 21 |
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v 0.06531402 0.09804114 0.13309277
|
| 22 |
+
v 0.00013437 0.12036510 0.08723236
|
| 23 |
+
v 0.00012594 0.12171237 0.06545741
|
| 24 |
+
v 0.07605088 0.09498643 0.06545731
|
| 25 |
+
v 0.08452913 0.09890502 0.10972888
|
| 26 |
+
v 0.07605088 0.10904479 0.06545736
|
| 27 |
+
v 0.08357680 0.09976881 0.10972889
|
| 28 |
+
v 0.08349252 0.09969748 0.11165547
|
| 29 |
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v 0.00033663 0.12799638 0.13309288
|
| 30 |
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v 0.00017650 0.11970731 0.09838136
|
| 31 |
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v 0.07434006 0.10681383 0.11165549
|
| 32 |
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v 0.07380069 0.10642944 0.12132810
|
| 33 |
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v 0.07775327 0.10348939 0.12132809
|
| 34 |
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v 0.07314334 0.10592223 0.13309280
|
| 35 |
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v 0.00013437 0.13140019 0.08723240
|
| 36 |
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v 0.00012594 0.12112195 0.07624888
|
| 37 |
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v 0.00012594 0.13321503 0.06545745
|
| 38 |
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v 0.07087628 0.11257127 0.06545737
|
| 39 |
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v 0.00029449 0.13065127 0.10048010
|
| 40 |
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v 0.00017650 0.13072656 0.09838140
|
| 41 |
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v 0.00406166 0.12800034 0.13309288
|
| 42 |
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v 0.06930031 0.10949234 0.11991793
|
| 43 |
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v 0.06942672 0.10930214 0.12133473
|
| 44 |
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v 0.06935931 0.10844227 0.13309281
|
| 45 |
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v 0.00012594 0.13219271 0.07624893
|
| 46 |
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v 0.00406166 0.13321503 0.06545745
|
| 47 |
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v 0.06679729 0.11522603 0.06545738
|
| 48 |
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v 0.00139852 0.13065127 0.10048010
|
| 49 |
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v 0.00737374 0.12787355 0.13309288
|
| 50 |
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v 0.06597980 0.11472672 0.07860578
|
| 51 |
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v 0.06555842 0.11447708 0.08521970
|
| 52 |
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v 0.06316496 0.11321297 0.11991795
|
| 53 |
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v 0.06214522 0.11270970 0.13309282
|
| 54 |
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v 0.01221966 0.12765166 0.13309288
|
| 55 |
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v 0.01221123 0.13260086 0.06545745
|
| 56 |
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v 0.06115075 0.11808684 0.06545739
|
| 57 |
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v 0.05908597 0.11525753 0.11991795
|
| 58 |
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v 0.05806622 0.11476615 0.13309283
|
| 59 |
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v 0.01553173 0.12733863 0.13309288
|
| 60 |
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v 0.02037765 0.12679976 0.13309288
|
| 61 |
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v 0.01698972 0.13068699 0.08434585
|
| 62 |
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v 0.02051249 0.13156273 0.06545744
|
| 63 |
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v 0.05456030 0.12120916 0.06545741
|
| 64 |
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v 0.05299275 0.11813022 0.11991796
|
| 65 |
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v 0.05298433 0.11718318 0.13309284
|
| 66 |
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v 0.02369815 0.12618956 0.13309287
|
| 67 |
+
v 0.02374029 0.13098423 0.06545744
|
| 68 |
+
v 0.05048131 0.12312692 0.06545741
|
| 69 |
+
v 0.04902332 0.12248100 0.08345204
|
| 70 |
+
v 0.04550898 0.12122084 0.11991798
|
| 71 |
+
v 0.04526458 0.12119309 0.12132816
|
| 72 |
+
v 0.04454823 0.12043229 0.13309285
|
| 73 |
+
v 0.02854407 0.12524256 0.13309287
|
| 74 |
+
v 0.02853564 0.12676417 0.11165557
|
| 75 |
+
v 0.02500444 0.13069102 0.06545744
|
| 76 |
+
v 0.04838281 0.12393524 0.06545742
|
| 77 |
+
v 0.04481791 0.12527451 0.06545742
|
| 78 |
+
v 0.04481791 0.12437105 0.07860582
|
| 79 |
+
v 0.04230646 0.12294845 0.11165555
|
| 80 |
+
v 0.04146369 0.12265125 0.11991798
|
| 81 |
+
v 0.04130357 0.12260369 0.12133478
|
| 82 |
+
v 0.04092432 0.12247688 0.12471126
|
| 83 |
+
v 0.03613740 0.12330894 0.13309286
|
| 84 |
+
v 0.03669363 0.12469187 0.11165556
|
| 85 |
+
v 0.02916771 0.12969647 0.06545744
|
| 86 |
+
v 0.03044029 0.12641550 0.10972898
|
| 87 |
+
v 0.03670205 0.12639973 0.08723238
|
| 88 |
+
v 0.03670205 0.12775493 0.06545743
|
| 89 |
+
v 0.03670205 0.12695449 0.07860583
|
| 90 |
+
v 0.03670205 0.12642351 0.08686825
|
| 91 |
+
v 0.03679476 0.12396673 0.12132817
|
| 92 |
+
v 0.03669363 0.12409750 0.11991799
|
| 93 |
+
f 1 2 3
|
| 94 |
+
f 1 3 4
|
| 95 |
+
f 1 4 19
|
| 96 |
+
f 1 19 33
|
| 97 |
+
f 1 33 43
|
| 98 |
+
f 1 43 52
|
| 99 |
+
f 1 52 57
|
| 100 |
+
f 1 57 64
|
| 101 |
+
f 1 64 71
|
| 102 |
+
f 1 71 82
|
| 103 |
+
f 1 82 72
|
| 104 |
+
f 1 72 65
|
| 105 |
+
f 1 65 59
|
| 106 |
+
f 1 59 58
|
| 107 |
+
f 1 58 53
|
| 108 |
+
f 1 53 48
|
| 109 |
+
f 1 48 40
|
| 110 |
+
f 1 40 28
|
| 111 |
+
f 1 28 13
|
| 112 |
+
f 1 13 20
|
| 113 |
+
f 1 20 5
|
| 114 |
+
f 1 5 2
|
| 115 |
+
f 2 6 7
|
| 116 |
+
f 2 7 8
|
| 117 |
+
f 2 8 9
|
| 118 |
+
f 2 9 10
|
| 119 |
+
f 2 10 11
|
| 120 |
+
f 2 11 3
|
| 121 |
+
f 2 5 12
|
| 122 |
+
f 2 12 13
|
| 123 |
+
f 2 13 14
|
| 124 |
+
f 2 14 6
|
| 125 |
+
f 3 11 15
|
| 126 |
+
f 3 15 4
|
| 127 |
+
f 4 15 16
|
| 128 |
+
f 4 16 17
|
| 129 |
+
f 4 17 18
|
| 130 |
+
f 4 18 19
|
| 131 |
+
f 5 20 12
|
| 132 |
+
f 6 14 21
|
| 133 |
+
f 6 21 22
|
| 134 |
+
f 6 22 23
|
| 135 |
+
f 6 23 7
|
| 136 |
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f 7 24 8
|
| 137 |
+
f 7 23 25
|
| 138 |
+
f 7 25 24
|
| 139 |
+
f 8 24 26
|
| 140 |
+
f 8 26 27
|
| 141 |
+
f 8 27 15
|
| 142 |
+
f 8 15 9
|
| 143 |
+
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|
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|
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|
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|
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|
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|
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|
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+
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|
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+
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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+
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|
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+
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|
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|
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+
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|
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+
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|
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|
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|
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|
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|
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|
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+
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 65 72 66
|
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+
f 66 72 73
|
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+
f 66 73 74
|
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+
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|
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+
f 68 75 76
|
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+
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|
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+
f 68 77 69
|
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+
f 69 77 78
|
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+
f 69 78 79
|
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+
f 69 79 80
|
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+
f 69 80 81
|
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+
f 69 81 70
|
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+
f 70 81 71
|
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+
f 71 81 82
|
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+
f 72 82 83
|
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+
f 72 83 73
|
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+
f 73 84 74
|
| 250 |
+
f 73 83 85
|
| 251 |
+
f 73 85 86
|
| 252 |
+
f 73 86 84
|
| 253 |
+
f 76 87 88
|
| 254 |
+
f 76 88 89
|
| 255 |
+
f 76 89 86
|
| 256 |
+
f 76 86 78
|
| 257 |
+
f 76 78 77
|
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+
f 78 86 79
|
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+
f 79 86 80
|
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+
f 80 86 83
|
| 261 |
+
f 80 83 81
|
| 262 |
+
f 81 83 90
|
| 263 |
+
f 81 90 82
|
| 264 |
+
f 82 91 83
|
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+
f 82 90 91
|
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+
f 83 91 90
|
| 267 |
+
f 83 86 85
|
| 268 |
+
f 84 86 89
|
| 269 |
+
f 84 89 88
|
| 270 |
+
f 84 88 87
|
| 271 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_35.obj
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.06755670 -0.09636087 0.13309206
|
| 3 |
+
v 0.06755670 -0.10955408 0.13309201
|
| 4 |
+
v 0.06755670 -0.09651660 0.13109597
|
| 5 |
+
v 0.00028963 -0.11904168 0.10973334
|
| 6 |
+
v 0.00032913 -0.11763029 0.13309198
|
| 7 |
+
v 0.06755670 -0.11040417 0.12133494
|
| 8 |
+
v 0.06656245 -0.11016410 0.13309201
|
| 9 |
+
v 0.06755670 -0.09731154 0.12133499
|
| 10 |
+
v 0.00028963 -0.12945088 0.10973330
|
| 11 |
+
v 0.00028963 -0.11899301 0.11062278
|
| 12 |
+
v 0.06186112 -0.10179575 0.10973341
|
| 13 |
+
v 0.00028963 -0.11842198 0.12133264
|
| 14 |
+
v 0.00032913 -0.12789672 0.13309194
|
| 15 |
+
v 0.06333605 -0.11298375 0.12133493
|
| 16 |
+
v 0.06186112 -0.11449252 0.10973336
|
| 17 |
+
v 0.06256566 -0.11258468 0.13309200
|
| 18 |
+
v 0.06288831 -0.11275664 0.12818293
|
| 19 |
+
v 0.00028963 -0.12846451 0.12133260
|
| 20 |
+
v 0.00406254 -0.12950928 0.10973330
|
| 21 |
+
v 0.00405595 -0.12792269 0.13309194
|
| 22 |
+
v 0.06186112 -0.11386307 0.11992189
|
| 23 |
+
v 0.06186112 -0.11409668 0.11629325
|
| 24 |
+
v 0.05995821 -0.11550813 0.10973336
|
| 25 |
+
v 0.05985285 -0.11545298 0.11165857
|
| 26 |
+
v 0.05848328 -0.11473921 0.13309199
|
| 27 |
+
v 0.05934585 -0.11519018 0.11992189
|
| 28 |
+
v 0.00972519 -0.12910693 0.10973331
|
| 29 |
+
v 0.01221412 -0.12758523 0.13309194
|
| 30 |
+
v 0.05299182 -0.11873017 0.10973334
|
| 31 |
+
v 0.05299182 -0.11816887 0.11992188
|
| 32 |
+
v 0.05611945 -0.11585216 0.13309198
|
| 33 |
+
v 0.05299182 -0.11764325 0.12818291
|
| 34 |
+
v 0.05299182 -0.11808128 0.12133492
|
| 35 |
+
v 0.01846280 -0.12833468 0.10973331
|
| 36 |
+
v 0.02037888 -0.12708552 0.12818287
|
| 37 |
+
v 0.02037888 -0.12679351 0.13309194
|
| 38 |
+
v 0.05170785 -0.11928503 0.10973334
|
| 39 |
+
v 0.04691435 -0.12131301 0.10973333
|
| 40 |
+
v 0.05299182 -0.11731555 0.13309198
|
| 41 |
+
v 0.04714480 -0.12049214 0.12133491
|
| 42 |
+
v 0.02037230 -0.12809456 0.10973331
|
| 43 |
+
v 0.02853047 -0.12673826 0.11165852
|
| 44 |
+
v 0.02853047 -0.12620291 0.11992185
|
| 45 |
+
v 0.02853047 -0.12610557 0.12133261
|
| 46 |
+
v 0.02853047 -0.12563186 0.12818288
|
| 47 |
+
v 0.02853047 -0.12529118 0.13309195
|
| 48 |
+
v 0.04593984 -0.12107619 0.11992187
|
| 49 |
+
v 0.04595960 -0.12169589 0.10973333
|
| 50 |
+
v 0.04923209 -0.11880165 0.13309197
|
| 51 |
+
v 0.02663414 -0.12713412 0.10973331
|
| 52 |
+
v 0.02853047 -0.12684209 0.10973331
|
| 53 |
+
v 0.03667548 -0.12481736 0.10973332
|
| 54 |
+
v 0.03667548 -0.12468758 0.11165853
|
| 55 |
+
v 0.03667548 -0.12412301 0.11992185
|
| 56 |
+
v 0.03296841 -0.12416201 0.13309195
|
| 57 |
+
v 0.04567647 -0.12107295 0.12133263
|
| 58 |
+
v 0.04186405 -0.12254607 0.11992186
|
| 59 |
+
v 0.04265419 -0.12283156 0.11165854
|
| 60 |
+
v 0.04283197 -0.12289970 0.10973333
|
| 61 |
+
v 0.04459661 -0.12057330 0.13309197
|
| 62 |
+
v 0.04429372 -0.12105026 0.12867678
|
| 63 |
+
v 0.04126486 -0.12339615 0.10973333
|
| 64 |
+
v 0.04171919 -0.12249740 0.12133490
|
| 65 |
+
v 0.04121218 -0.12232544 0.12625311
|
| 66 |
+
v 0.03679400 -0.12398998 0.12133489
|
| 67 |
+
v 0.03660305 -0.12321453 0.13309196
|
| 68 |
+
v 0.04181796 -0.12155322 0.13309196
|
| 69 |
+
v 0.04062617 -0.12208535 0.13176122
|
| 70 |
+
v 0.03741294 -0.12328915 0.12867677
|
| 71 |
+
v 0.04046814 -0.12201072 0.13309196
|
| 72 |
+
f 1 2 6
|
| 73 |
+
f 1 6 8
|
| 74 |
+
f 1 8 3
|
| 75 |
+
f 1 3 4
|
| 76 |
+
f 1 4 5
|
| 77 |
+
f 1 5 13
|
| 78 |
+
f 1 13 20
|
| 79 |
+
f 1 20 28
|
| 80 |
+
f 1 28 36
|
| 81 |
+
f 1 36 46
|
| 82 |
+
f 1 46 55
|
| 83 |
+
f 1 55 66
|
| 84 |
+
f 1 66 70
|
| 85 |
+
f 1 70 67
|
| 86 |
+
f 1 67 60
|
| 87 |
+
f 1 60 49
|
| 88 |
+
f 1 49 39
|
| 89 |
+
f 1 39 31
|
| 90 |
+
f 1 31 25
|
| 91 |
+
f 1 25 16
|
| 92 |
+
f 1 16 7
|
| 93 |
+
f 1 7 2
|
| 94 |
+
f 2 7 6
|
| 95 |
+
f 3 8 4
|
| 96 |
+
f 4 9 18
|
| 97 |
+
f 4 18 12
|
| 98 |
+
f 4 12 10
|
| 99 |
+
f 4 10 5
|
| 100 |
+
f 4 8 11
|
| 101 |
+
f 4 11 15
|
| 102 |
+
f 4 15 23
|
| 103 |
+
f 4 23 29
|
| 104 |
+
f 4 29 37
|
| 105 |
+
f 4 37 38
|
| 106 |
+
f 4 38 48
|
| 107 |
+
f 4 48 59
|
| 108 |
+
f 4 59 62
|
| 109 |
+
f 4 62 52
|
| 110 |
+
f 4 52 51
|
| 111 |
+
f 4 51 50
|
| 112 |
+
f 4 50 41
|
| 113 |
+
f 4 41 34
|
| 114 |
+
f 4 34 27
|
| 115 |
+
f 4 27 19
|
| 116 |
+
f 4 19 9
|
| 117 |
+
f 5 10 12
|
| 118 |
+
f 5 12 18
|
| 119 |
+
f 5 18 13
|
| 120 |
+
f 6 7 14
|
| 121 |
+
f 6 14 15
|
| 122 |
+
f 6 15 11
|
| 123 |
+
f 6 11 8
|
| 124 |
+
f 7 16 17
|
| 125 |
+
f 7 17 14
|
| 126 |
+
f 9 13 18
|
| 127 |
+
f 9 19 13
|
| 128 |
+
f 13 19 20
|
| 129 |
+
f 14 17 21
|
| 130 |
+
f 14 21 22
|
| 131 |
+
f 14 22 15
|
| 132 |
+
f 15 22 24
|
| 133 |
+
f 15 24 23
|
| 134 |
+
f 16 25 17
|
| 135 |
+
f 17 25 26
|
| 136 |
+
f 17 26 21
|
| 137 |
+
f 19 27 28
|
| 138 |
+
f 19 28 20
|
| 139 |
+
f 21 26 22
|
| 140 |
+
f 22 26 24
|
| 141 |
+
f 23 24 29
|
| 142 |
+
f 24 26 30
|
| 143 |
+
f 24 30 29
|
| 144 |
+
f 25 31 26
|
| 145 |
+
f 26 31 32
|
| 146 |
+
f 26 32 33
|
| 147 |
+
f 26 33 30
|
| 148 |
+
f 27 34 28
|
| 149 |
+
f 28 34 35
|
| 150 |
+
f 28 35 36
|
| 151 |
+
f 29 30 37
|
| 152 |
+
f 30 33 38
|
| 153 |
+
f 30 38 37
|
| 154 |
+
f 31 39 32
|
| 155 |
+
f 32 39 40
|
| 156 |
+
f 32 40 33
|
| 157 |
+
f 33 40 38
|
| 158 |
+
f 34 41 35
|
| 159 |
+
f 35 42 36
|
| 160 |
+
f 35 41 42
|
| 161 |
+
f 36 42 43
|
| 162 |
+
f 36 43 44
|
| 163 |
+
f 36 44 45
|
| 164 |
+
f 36 45 46
|
| 165 |
+
f 38 40 47
|
| 166 |
+
f 38 47 48
|
| 167 |
+
f 39 49 47
|
| 168 |
+
f 39 47 40
|
| 169 |
+
f 41 50 42
|
| 170 |
+
f 42 50 51
|
| 171 |
+
f 42 51 52
|
| 172 |
+
f 42 52 43
|
| 173 |
+
f 43 52 53
|
| 174 |
+
f 43 53 54
|
| 175 |
+
f 43 54 55
|
| 176 |
+
f 43 55 44
|
| 177 |
+
f 44 55 45
|
| 178 |
+
f 45 55 46
|
| 179 |
+
f 47 49 56
|
| 180 |
+
f 47 56 57
|
| 181 |
+
f 47 57 58
|
| 182 |
+
f 47 58 59
|
| 183 |
+
f 47 59 48
|
| 184 |
+
f 49 60 61
|
| 185 |
+
f 49 61 56
|
| 186 |
+
f 52 62 57
|
| 187 |
+
f 52 57 63
|
| 188 |
+
f 52 63 64
|
| 189 |
+
f 52 64 53
|
| 190 |
+
f 53 64 54
|
| 191 |
+
f 54 64 65
|
| 192 |
+
f 54 65 66
|
| 193 |
+
f 54 66 55
|
| 194 |
+
f 56 61 57
|
| 195 |
+
f 57 61 63
|
| 196 |
+
f 57 62 58
|
| 197 |
+
f 58 62 59
|
| 198 |
+
f 60 67 68
|
| 199 |
+
f 60 68 61
|
| 200 |
+
f 61 68 64
|
| 201 |
+
f 61 64 63
|
| 202 |
+
f 64 68 66
|
| 203 |
+
f 64 66 69
|
| 204 |
+
f 64 69 65
|
| 205 |
+
f 65 69 66
|
| 206 |
+
f 66 68 70
|
| 207 |
+
f 67 70 68
|
| 208 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_36.obj
ADDED
|
@@ -0,0 +1,205 @@
|
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.08753788 -0.09622618 0.10973343
|
| 3 |
+
v 0.08374715 -0.09965824 0.10973341
|
| 4 |
+
v 0.08832546 -0.09643619 0.09837818
|
| 5 |
+
v 0.08853317 -0.09622614 0.09837818
|
| 6 |
+
v 0.07984390 -0.09031557 0.08722231
|
| 7 |
+
v 0.07028052 -0.09622618 0.10973343
|
| 8 |
+
v 0.08257877 -0.10060762 0.10973341
|
| 9 |
+
v 0.08081322 -0.10561062 0.06545657
|
| 10 |
+
v 0.08081322 -0.09108004 0.06545663
|
| 11 |
+
v 0.08081322 -0.09046676 0.07618778
|
| 12 |
+
v 0.08081322 -0.09046676 0.07624412
|
| 13 |
+
v 0.00029037 -0.11904076 0.10973334
|
| 14 |
+
v 0.07868418 -0.10373302 0.10973340
|
| 15 |
+
v 0.07916018 -0.10682886 0.06545657
|
| 16 |
+
v 0.00013459 -0.12160309 0.06545651
|
| 17 |
+
v 0.00013459 -0.12031352 0.08686247
|
| 18 |
+
v 0.00013459 -0.12029252 0.08722220
|
| 19 |
+
v 0.00017786 -0.11973805 0.09667046
|
| 20 |
+
v 0.00017786 -0.11964143 0.09837809
|
| 21 |
+
v 0.00029037 -0.12945035 0.10973330
|
| 22 |
+
v 0.07459919 -0.10672399 0.10973339
|
| 23 |
+
v 0.07739464 -0.10811430 0.06545656
|
| 24 |
+
v 0.00013459 -0.13320151 0.06545647
|
| 25 |
+
v 0.00013459 -0.13133644 0.08722216
|
| 26 |
+
v 0.00017786 -0.13058034 0.09837805
|
| 27 |
+
v 0.00405515 -0.12950917 0.10973330
|
| 28 |
+
v 0.00029037 -0.13026109 0.10316719
|
| 29 |
+
v 0.07099885 -0.11244113 0.06545655
|
| 30 |
+
v 0.07346543 -0.11078602 0.06545655
|
| 31 |
+
v 0.06931120 -0.11008884 0.10973338
|
| 32 |
+
v 0.06859286 -0.11397863 0.06545654
|
| 33 |
+
v 0.00406380 -0.13322672 0.06545647
|
| 34 |
+
v 0.00029037 -0.13045012 0.10134255
|
| 35 |
+
v 0.00405515 -0.13001325 0.10536023
|
| 36 |
+
v 0.00852960 -0.13034930 0.09971727
|
| 37 |
+
v 0.00972394 -0.12910589 0.10973331
|
| 38 |
+
v 0.00405515 -0.13044171 0.10122986
|
| 39 |
+
v 0.06404051 -0.11330666 0.10973336
|
| 40 |
+
v 0.06691385 -0.11502043 0.06545654
|
| 41 |
+
v 0.00740449 -0.13298307 0.06545647
|
| 42 |
+
v 0.01221648 -0.13262180 0.06545647
|
| 43 |
+
v 0.01631013 -0.13031985 0.09102314
|
| 44 |
+
v 0.01846513 -0.12833294 0.10973331
|
| 45 |
+
v 0.06308850 -0.11382336 0.10973336
|
| 46 |
+
v 0.05996418 -0.11550788 0.10973336
|
| 47 |
+
v 0.06114986 -0.11803240 0.06545653
|
| 48 |
+
v 0.02061149 -0.13163041 0.06545648
|
| 49 |
+
v 0.02853049 -0.12683745 0.10973331
|
| 50 |
+
v 0.02663512 -0.12713151 0.10973331
|
| 51 |
+
v 0.02037781 -0.12809350 0.10973331
|
| 52 |
+
v 0.05298853 -0.11872570 0.10973334
|
| 53 |
+
v 0.05091141 -0.12309438 0.06545651
|
| 54 |
+
v 0.05258176 -0.12230042 0.06545651
|
| 55 |
+
v 0.02605526 -0.13066844 0.06545648
|
| 56 |
+
v 0.03669183 -0.12482106 0.10973332
|
| 57 |
+
v 0.05170764 -0.11928440 0.10973334
|
| 58 |
+
v 0.04926703 -0.12232570 0.08484279
|
| 59 |
+
v 0.04709471 -0.12458986 0.06545650
|
| 60 |
+
v 0.03339440 -0.12879907 0.06545649
|
| 61 |
+
v 0.03669183 -0.12585021 0.09512319
|
| 62 |
+
v 0.04004983 -0.12692971 0.06545649
|
| 63 |
+
v 0.04483585 -0.12546363 0.06545650
|
| 64 |
+
v 0.04127879 -0.12339280 0.10973333
|
| 65 |
+
v 0.04690431 -0.12130919 0.10973333
|
| 66 |
+
v 0.04595230 -0.12169567 0.10973333
|
| 67 |
+
v 0.04284528 -0.12290130 0.10973333
|
| 68 |
+
v 0.03669183 -0.12789169 0.06545649
|
| 69 |
+
v 0.03669183 -0.12642570 0.08686245
|
| 70 |
+
v 0.03669183 -0.12640049 0.08722652
|
| 71 |
+
f 1 2 3
|
| 72 |
+
f 1 3 4
|
| 73 |
+
f 1 4 5
|
| 74 |
+
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|
| 75 |
+
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|
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+
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 92 |
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|
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+
f 1 38 30
|
| 94 |
+
f 1 30 21
|
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+
f 1 21 13
|
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+
f 1 13 7
|
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+
f 1 7 2
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 45 52 53
|
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f 45 53 46
|
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f 47 54 48
|
| 184 |
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f 48 54 55
|
| 185 |
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f 51 56 57
|
| 186 |
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f 51 57 52
|
| 187 |
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f 52 57 58
|
| 188 |
+
f 54 59 55
|
| 189 |
+
f 55 60 61
|
| 190 |
+
f 55 61 62
|
| 191 |
+
f 55 62 63
|
| 192 |
+
f 55 59 60
|
| 193 |
+
f 56 64 57
|
| 194 |
+
f 57 64 65
|
| 195 |
+
f 57 65 66
|
| 196 |
+
f 57 66 62
|
| 197 |
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f 57 62 58
|
| 198 |
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f 59 67 68
|
| 199 |
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f 59 68 69
|
| 200 |
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f 59 69 60
|
| 201 |
+
f 60 69 61
|
| 202 |
+
f 61 69 68
|
| 203 |
+
f 61 68 67
|
| 204 |
+
f 62 66 63
|
| 205 |
+
|
demo_assets/lamp/mjcf/mesh/lamp_collision_37.obj
ADDED
|
@@ -0,0 +1,136 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.07349893 -0.09606631 0.24063979
|
| 3 |
+
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