├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── add_license_header.py ├── dexmimicgen ├── __init__.py ├── environments │ ├── __init__.py │ ├── two_arm_box_cleanup.py │ ├── two_arm_can_sort.py │ ├── two_arm_coffee.py │ ├── two_arm_dexmg_env.py │ ├── two_arm_drawer_cleanup.py │ ├── two_arm_lift_tray.py │ ├── two_arm_pouring.py │ ├── two_arm_threading.py │ ├── two_arm_three_piece_assembly.py │ └── two_arm_transport.py ├── models │ ├── __init__.py │ ├── assets │ │ ├── objects │ │ │ ├── cabinet.xml │ │ │ ├── cabinet_long.xml │ │ │ ├── coffee_base.xml │ │ │ ├── coffee_body.xml │ │ │ ├── coffee_lid.xml │ │ │ ├── coffee_pod.xml │ │ │ ├── drawer_long.xml │ │ │ ├── meshes │ │ │ │ ├── coffee_base.stl │ │ │ │ ├── coffee_body.stl │ │ │ │ ├── coffee_lid.stl │ │ │ │ └── coffee_pod.stl │ │ │ └── objaverse │ │ │ │ ├── bowl_7 │ │ │ │ ├── collision │ │ │ │ │ ├── model_normalized_collision_0.obj │ │ │ │ │ ├── model_normalized_collision_1.obj │ │ │ │ │ ├── model_normalized_collision_10.obj │ │ │ │ │ ├── model_normalized_collision_11.obj │ │ │ │ │ ├── model_normalized_collision_12.obj │ │ │ │ │ ├── model_normalized_collision_13.obj │ │ │ │ │ ├── model_normalized_collision_14.obj │ │ │ │ │ ├── model_normalized_collision_15.obj │ │ │ │ │ ├── model_normalized_collision_16.obj │ │ │ │ │ ├── model_normalized_collision_17.obj │ │ │ │ │ ├── model_normalized_collision_18.obj │ │ │ │ │ ├── model_normalized_collision_19.obj │ │ │ │ │ ├── model_normalized_collision_2.obj │ │ │ │ │ ├── model_normalized_collision_20.obj │ │ │ │ │ ├── model_normalized_collision_21.obj │ │ │ │ │ ├── model_normalized_collision_22.obj │ │ │ │ │ ├── model_normalized_collision_23.obj │ │ │ │ │ ├── model_normalized_collision_24.obj │ │ │ │ │ ├── model_normalized_collision_25.obj │ │ │ │ │ ├── model_normalized_collision_26.obj │ │ │ │ │ ├── model_normalized_collision_27.obj │ │ │ │ │ ├── model_normalized_collision_28.obj │ │ │ │ │ ├── model_normalized_collision_29.obj │ │ │ │ │ ├── model_normalized_collision_3.obj │ │ │ │ │ ├── model_normalized_collision_30.obj │ │ │ │ │ ├── model_normalized_collision_31.obj │ │ │ │ │ ├── model_normalized_collision_4.obj │ │ │ │ │ ├── model_normalized_collision_5.obj │ │ │ │ │ ├── model_normalized_collision_6.obj │ │ │ │ │ ├── model_normalized_collision_7.obj │ │ │ │ │ ├── model_normalized_collision_8.obj │ │ │ │ │ └── model_normalized_collision_9.obj │ │ │ │ ├── model.xml │ │ │ │ └── visual │ │ │ │ │ ├── image0.png │ │ │ │ │ ├── material.mtl │ │ │ │ │ ├── material_0.jpeg │ │ │ │ │ └── model_normalized_0.obj │ │ │ │ ├── cup_2 │ │ │ │ ├── collision │ │ │ │ │ ├── model_normalized_collision_0.obj │ │ │ │ │ ├── model_normalized_collision_1.obj │ │ │ │ │ ├── model_normalized_collision_10.obj │ │ │ │ │ ├── model_normalized_collision_11.obj │ │ │ │ │ ├── model_normalized_collision_12.obj │ │ │ │ │ ├── model_normalized_collision_13.obj │ │ │ │ │ ├── model_normalized_collision_14.obj │ │ │ │ │ ├── model_normalized_collision_15.obj │ │ │ │ │ ├── model_normalized_collision_16.obj │ │ │ │ │ ├── model_normalized_collision_17.obj │ │ │ │ │ ├── model_normalized_collision_18.obj │ │ │ │ │ ├── model_normalized_collision_19.obj │ │ │ │ │ ├── model_normalized_collision_2.obj │ │ │ │ │ ├── model_normalized_collision_20.obj │ │ │ │ │ ├── model_normalized_collision_21.obj │ │ │ │ │ ├── model_normalized_collision_22.obj │ │ │ │ │ ├── model_normalized_collision_23.obj │ │ │ │ │ ├── model_normalized_collision_24.obj │ │ │ │ │ ├── model_normalized_collision_25.obj │ │ │ │ │ ├── model_normalized_collision_26.obj │ │ │ │ │ ├── model_normalized_collision_27.obj │ │ │ │ │ ├── model_normalized_collision_28.obj │ │ │ │ │ ├── model_normalized_collision_29.obj │ │ │ │ │ ├── model_normalized_collision_3.obj │ │ │ │ │ ├── model_normalized_collision_30.obj │ │ │ │ │ ├── model_normalized_collision_31.obj │ │ │ │ │ ├── model_normalized_collision_4.obj │ │ │ │ │ ├── model_normalized_collision_5.obj │ │ │ │ │ ├── model_normalized_collision_6.obj │ │ │ │ │ ├── model_normalized_collision_7.obj │ │ │ │ │ ├── model_normalized_collision_8.obj │ │ │ │ │ └── model_normalized_collision_9.obj │ │ │ │ ├── model.xml │ │ │ │ └── visual │ │ │ │ │ ├── image0.png │ │ │ │ │ ├── material.mtl │ │ │ │ │ ├── material_0.png │ │ │ │ │ └── model_normalized_0.obj │ │ │ │ └── mug_1 │ │ │ │ ├── collision │ │ │ │ ├── model_normalized_collision_0.obj │ │ │ │ ├── model_normalized_collision_1.obj │ │ │ │ ├── model_normalized_collision_10.obj │ │ │ │ ├── model_normalized_collision_11.obj │ │ │ │ ├── model_normalized_collision_12.obj │ │ │ │ ├── model_normalized_collision_13.obj │ │ │ │ ├── model_normalized_collision_14.obj │ │ │ │ ├── model_normalized_collision_15.obj │ │ │ │ ├── model_normalized_collision_16.obj │ │ │ │ ├── model_normalized_collision_17.obj │ │ │ │ ├── model_normalized_collision_18.obj │ │ │ │ ├── model_normalized_collision_19.obj │ │ │ │ ├── model_normalized_collision_2.obj │ │ │ │ ├── model_normalized_collision_20.obj │ │ │ │ ├── model_normalized_collision_21.obj │ │ │ │ ├── model_normalized_collision_22.obj │ │ │ │ ├── model_normalized_collision_23.obj │ │ │ │ ├── model_normalized_collision_24.obj │ │ │ │ ├── model_normalized_collision_25.obj │ │ │ │ ├── model_normalized_collision_26.obj │ │ │ │ ├── model_normalized_collision_27.obj │ │ │ │ ├── model_normalized_collision_28.obj │ │ │ │ ├── model_normalized_collision_29.obj │ │ │ │ ├── model_normalized_collision_3.obj │ │ │ │ ├── model_normalized_collision_30.obj │ │ │ │ ├── model_normalized_collision_31.obj │ │ │ │ ├── model_normalized_collision_4.obj │ │ │ │ ├── model_normalized_collision_5.obj │ │ │ │ ├── model_normalized_collision_6.obj │ │ │ │ ├── model_normalized_collision_7.obj │ │ │ │ ├── model_normalized_collision_8.obj │ │ │ │ └── model_normalized_collision_9.obj │ │ │ │ ├── model.xml │ │ │ │ └── visual │ │ │ │ ├── image0.png │ │ │ │ ├── material.mtl │ │ │ │ ├── material_0.png │ │ │ │ └── model_normalized_0.obj │ │ └── textures │ │ │ ├── RangeTop.png │ │ │ ├── blue-wood.png │ │ │ ├── brass-ambra.png │ │ │ ├── bread.png │ │ │ ├── can.png │ │ │ ├── ceramic.png │ │ │ ├── cereal.png │ │ │ ├── clay.png │ │ │ ├── cream-plaster.png │ │ │ ├── dark-wood.png │ │ │ ├── dirt.png │ │ │ ├── glass.png │ │ │ ├── gray-felt.png │ │ │ ├── gray-plaster.png │ │ │ ├── gray-woodgrain.png │ │ │ ├── green-wood.png │ │ │ ├── lemon.png │ │ │ ├── light-gray-floor-tile.png │ │ │ ├── light-gray-plaster.png │ │ │ ├── light-wood.png │ │ │ ├── metal.png │ │ │ ├── pink-plaster.png │ │ │ ├── red-wood.png │ │ │ ├── soda.png │ │ │ ├── steel-brushed.png │ │ │ ├── steel-scratched.png │ │ │ ├── white-bricks.png │ │ │ ├── white-plaster.png │ │ │ ├── wood-tiles.png │ │ │ ├── wood-varnished-panels.png │ │ │ └── yellow-plaster.png │ └── objects │ │ ├── __init__.py │ │ ├── composite │ │ ├── __init__.py │ │ ├── bin.py │ │ ├── box_pattern_object.py │ │ ├── lid.py │ │ ├── needle.py │ │ ├── pot_with_handles.py │ │ └── ring_tripod.py │ │ ├── composite_body │ │ ├── __init__.py │ │ ├── coffee_machine.py │ │ ├── cup.py │ │ └── stacked_box.py │ │ └── xml_objects.py └── utils │ ├── config_utils.py │ ├── mjcf_utils.py │ └── transform_utils.py ├── environments.md ├── images ├── TwoArmBoxCleanup.png ├── TwoArmCanSortRandom.png ├── TwoArmCoffee.png ├── TwoArmDrawerCleanup.png ├── TwoArmLiftTray.png ├── TwoArmPouring.png ├── TwoArmThreading.png ├── TwoArmThreePieceAssembly.png ├── TwoArmTransport.png └── dexmimicgen.gif ├── requirements.txt ├── scripts ├── demo_random_action.py ├── download_hf_dataset.py ├── generate_training_config.py └── playback_datasets.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | env/ 12 | build/ 13 | develop-eggs/ 14 | dist/ 15 | downloads/ 16 | eggs/ 17 | .eggs/ 18 | lib/ 19 | lib64/ 20 | parts/ 21 | sdist/ 22 | var/ 23 | wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | 28 | # PyInstaller 29 | # Usually these files are written by a python script from a template 30 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 31 | *.manifest 32 | *.spec 33 | 34 | # Installer logs 35 | pip-log.txt 36 | pip-delete-this-directory.txt 37 | 38 | # Unit test / coverage reports 39 | htmlcov/ 40 | .tox/ 41 | .coverage 42 | .coverage.* 43 | .cache 44 | nosetests.xml 45 | coverage.xml 46 | *.cover 47 | .hypothesis/ 48 | /tests/output 49 | 50 | # Translations 51 | *.mo 52 | *.pot 53 | 54 | # Django stuff: 55 | *.log 56 | local_settings.py 57 | 58 | # Flask stuff: 59 | instance/ 60 | .webassets-cache 61 | 62 | # Scrapy stuff: 63 | .scrapy 64 | 65 | # Sphinx documentation 66 | docs/_build/ 67 | 68 | # PyBuilder 69 | target/ 70 | 71 | # Jupyter Notebook 72 | .ipynb_checkpoints 73 | 74 | # pyenv 75 | .python-version 76 | 77 | # celery beat schedule file 78 | celerybeat-schedule 79 | 80 | # SageMath parsed files 81 | *.sage.py 82 | 83 | # dotenv 84 | .env 85 | 86 | # virtualenv 87 | .venv 88 | venv/ 89 | ENV/ 90 | 91 | # Spyder project settings 92 | .spyderproject 93 | .spyproject 94 | 95 | # Rope project settings 96 | .ropeproject 97 | 98 | # mkdocs documentation 99 | /site 100 | 101 | # mypy 102 | .mypy_cache/ 103 | 104 | # mac 105 | .DS_Store 106 | __MACOSX 107 | 108 | # mujoco-key 109 | mjkey.txt 110 | 111 | .mujocomanip_temp_model.xml 112 | 113 | *.jpg 114 | .idea 115 | 116 | .pytest_cache/ 117 | 118 | MUJOCO_LOG.TXT 119 | datasets -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | repos: 2 | - repo: https://github.com/psf/black 3 | rev: 25.1.0 # Replace by any tag/version: https://github.com/psf/black/tags 4 | hooks: 5 | - id: black 6 | language_version: python3 # Should be a command that runs python3.6+ 7 | - repo: https://github.com/pycqa/isort 8 | rev: 6.0.0 9 | hooks: 10 | - id: isort 11 | args: ["--profile", "black"] 12 | # - repo: local 13 | # hooks: 14 | # - id: no-github-remote-urls 15 | # name: Check remote URLs for forbidden keywords 16 | # entry: python check_no_github_urls.py 17 | # language: python 18 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # DexMimicGen 2 | 3 |

4 | 5 |

6 | 7 | This repository contains the official release of simulation environments and datasets for the [ICRA 2025](https://2025.ieee-icra.org) paper "DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning". 8 | 9 | Website: https://dexmimicgen.github.io 10 | 11 | Paper: https://arxiv.org/abs/2410.24185 12 | 13 | For business inquiries, please submit this form: [NVIDIA Research Licensing](https://www.nvidia.com/en-us/research/inquiries/) 14 | 15 | ------- 16 | 17 | ## Getting Started 18 | 19 | To use this repository, you need to first install the latest robosuite. For more 20 | information, please refer to [robosuite](https://github.com/ARISE-Initiative/robosuite). 21 | 22 | ```bash 23 | git clone https://github.com/ARISE-Initiative/robosuite 24 | pip install -e robosuite 25 | ``` 26 | 27 | Then git clone this repository and install. 28 | 29 | ```bash 30 | git clone https://github.com/NVlabs/dexmimicgen.git 31 | cd dexmimicgen 32 | pip install -e . 33 | ``` 34 | 35 | After installation, you can run the following command to test the environments. 36 | 37 | ```bash 38 | python scripts demo_random_action.py --env TwoArmThreading --render 39 | ``` 40 | 41 | Note: If you are on a headless machine, you can run without the `--render` flag. 42 | 43 | ## Environments 44 | 45 | For detailed information about the environments, please refer to [environments.md](environments.md). 46 | 47 | ## Datasets 48 | 49 | You can download the datasets from [HuggingFace](https://huggingface.co/datasets/MimicGen/dexmimicgen_datasets/tree/main). 50 | 51 | You can also run the script to download the datasets. 52 | 53 | ```bash 54 | python scripts/download_hf_datasets.py --path /path/to/save/datasets 55 | ``` 56 | 57 | By default, the datasets will be saved to `./datasets`. 58 | 59 | And then, you can playback one demo in the dataset by running: 60 | 61 | ```bash 62 | python scripts/playback_datasets.py --dataset xxxxx.hdf5 --n 1 63 | ``` 64 | 65 | ## Launch Training with robomimic 66 | 67 | We provide config and training code to reproduce the BC-RNN result in our paper. 68 | 69 | First, you need to install robomimic 70 | 71 | ```bash 72 | 73 | git clone https://github.com/ARISE-Initiative/robomimic.git -b dexmimicgen 74 | cd robomimic 75 | pip install -e . 76 | ``` 77 | 78 | Then you need to generate the config file for the training. 79 | 80 | ```bash 81 | cd dexmimicgen 82 | python scripts/generate_training_config.py --dataset_dir /path/to/datasets --config_dir /path/to/save/config --output_dir /path/to/save/output 83 | ``` 84 | 85 | By default, it will try to find the datasets in `./datasets`, and save the config and output in `./datasets/train_configs/bcrnn_action_dict` and `./datasets/train_results/bcrnn_action_dict` respectively. 86 | 87 | After that, you can run the training script. 88 | 89 | ```bash 90 | cd robomimic 91 | python scripts/train.py --config /path/to/config 92 | ``` 93 | 94 | ## License 95 | 96 | The code is released under the [NVIDIA Source Code License](https://github.com/NVlabs/mimicgen/blob/main/LICENSE) and the datasets are released under [CC-BY 4.0](https://creativecommons.org/licenses/by/4.0/). 97 | 98 | ## Citation 99 | 100 | Please cite [the DexMimicGen paper](https://arxiv.org/abs/2410.24185) if you use this code in your work: 101 | 102 | ```bibtex 103 | @inproceedings{jiang2024dexmimicen, 104 | title = {DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning}, 105 | author = {Jiang, Zhenyu and Xie, Yuqi and Lin, Kevin and Xu, Zhenjia and Wan, Weikang and Mandlekar, Ajay and Fan, Linxi and Zhu, Yuke}, 106 | booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)}, 107 | year = {2025} 108 | } 109 | ``` 110 | -------------------------------------------------------------------------------- /add_license_header.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | """ 6 | Adds license header to new files that don't have the license header. 7 | """ 8 | 9 | import os 10 | 11 | LICENSE_TEXT = """# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 12 | # 13 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 14 | """ 15 | 16 | 17 | def check_license_exists(filename): 18 | with open(filename, "r") as f: 19 | lines_to_check = LICENSE_TEXT.strip().split("\n") 20 | for line in lines_to_check: 21 | file_line = f.readline().strip() 22 | if file_line != line: 23 | return False 24 | return True 25 | 26 | 27 | def add_license_header(filename): 28 | if not check_license_exists(filename): 29 | with open(filename, "r+") as f: 30 | content = f.read() 31 | f.seek(0, 0) 32 | f.write(LICENSE_TEXT + "\n" + content) 33 | 34 | 35 | if __name__ == "__main__": 36 | for root, dirs, files in os.walk("."): 37 | for file in files: 38 | if file.endswith(".py"): 39 | add_license_header(os.path.join(root, file)) 40 | -------------------------------------------------------------------------------- /dexmimicgen/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | from dexmimicgen.environments.two_arm_box_cleanup import TwoArmBoxCleanup 6 | from dexmimicgen.environments.two_arm_can_sort import ( 7 | TwoArmCanSortBlue, 8 | TwoArmCanSortRandom, 9 | TwoArmCanSortRed, 10 | ) 11 | from dexmimicgen.environments.two_arm_coffee import TwoArmCoffee 12 | from dexmimicgen.environments.two_arm_drawer_cleanup import ( 13 | TwoArmDrawerCleanup, 14 | ) 15 | from dexmimicgen.environments.two_arm_lift_tray import TwoArmLiftTray 16 | from dexmimicgen.environments.two_arm_pouring import TwoArmPouring 17 | from dexmimicgen.environments.two_arm_threading import TwoArmThreading 18 | from dexmimicgen.environments.two_arm_three_piece_assembly import ( 19 | TwoArmThreePieceAssembly, 20 | ) 21 | from dexmimicgen.environments.two_arm_transport import TwoArmTransport 22 | 23 | __version__ = "0.1.0" 24 | -------------------------------------------------------------------------------- /dexmimicgen/environments/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | -------------------------------------------------------------------------------- /dexmimicgen/models/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | import os 6 | 7 | assets_root = os.path.join(os.path.dirname(__file__), "assets") 8 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/cabinet.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/coffee_base.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/coffee_body.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/coffee_lid.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/coffee_pod.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/meshes/coffee_base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/meshes/coffee_base.stl -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/meshes/coffee_body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/meshes/coffee_body.stl -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/meshes/coffee_lid.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/meshes/coffee_lid.stl -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/meshes/coffee_pod.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/meshes/coffee_pod.stl -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_0.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.05230396 -0.42444360 -0.01760006 3 | v 0.12787839 -0.30872496 -0.12506018 4 | v -0.10353499 -0.32725426 -0.02648727 5 | v -0.09585197 -0.27162363 -0.16207369 6 | v 0.02139072 -0.31218721 -0.14139552 7 | v 0.12878788 -0.28030303 -0.12999000 8 | v -0.09477708 -0.41959535 -0.01475140 9 | v 0.07916016 -0.34230353 -0.11019666 10 | v -0.09848485 -0.28030303 -0.12999000 11 | v 0.09585199 -0.27162370 -0.16207375 12 | v 0.05441213 -0.33978762 -0.02554837 13 | v -0.02109211 -0.40006441 -0.05338685 14 | v 0.05178732 -0.41919825 -0.02634704 15 | v -0.12863542 -0.32525496 -0.11180996 16 | v 0.12589796 -0.27489642 -0.15048000 17 | v 0.06507054 -0.32712913 -0.12557284 18 | v -0.09332753 -0.41481684 -0.02415150 19 | v 0.05138057 -0.38476502 -0.06841725 20 | v -0.12692803 -0.33477782 -0.10469057 21 | v -0.11792549 -0.30959401 -0.07119580 22 | v 0.12334258 -0.28526721 -0.14391875 23 | v 0.02109206 -0.40006444 -0.05338688 24 | v -0.07818729 -0.36939892 -0.08283725 25 | v -0.11264523 -0.27703561 -0.15376745 26 | v 0.12503394 -0.30185787 -0.13117156 27 | v -0.02139067 -0.31218714 -0.14139544 28 | v -0.11834557 -0.29582731 -0.11706215 29 | v -0.07916026 -0.34230345 -0.11019651 30 | v -0.12647583 -0.31813557 -0.11795654 31 | v -0.06506974 -0.32712921 -0.12557277 32 | f 9 6 4 33 | f 9 3 6 34 | f 10 5 4 35 | f 10 4 6 36 | f 11 1 2 37 | f 11 2 6 38 | f 11 6 3 39 | f 11 7 1 40 | f 11 3 7 41 | f 13 8 2 42 | f 13 2 1 43 | f 15 10 6 44 | f 15 6 2 45 | f 16 8 5 46 | f 16 5 10 47 | f 16 10 2 48 | f 16 2 8 49 | f 17 1 7 50 | f 17 13 1 51 | f 17 12 13 52 | f 18 5 8 53 | f 18 8 13 54 | f 19 7 3 55 | f 19 17 7 56 | f 20 3 9 57 | f 20 19 3 58 | f 20 14 19 59 | f 21 15 2 60 | f 21 10 15 61 | f 22 12 5 62 | f 22 5 18 63 | f 22 18 13 64 | f 22 13 12 65 | f 23 12 17 66 | f 23 17 19 67 | f 24 20 9 68 | f 24 9 4 69 | f 25 21 2 70 | f 25 2 10 71 | f 25 10 21 72 | f 26 5 12 73 | f 26 4 5 74 | f 27 14 20 75 | f 27 20 24 76 | f 28 26 12 77 | f 28 12 23 78 | f 28 23 19 79 | f 29 27 24 80 | f 29 14 27 81 | f 29 24 4 82 | f 29 4 14 83 | f 30 4 26 84 | f 30 26 28 85 | f 30 28 19 86 | f 30 19 14 87 | f 30 14 4 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_10.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.23140427 -0.44052601 0.15065500 3 | v -0.22729592 -0.40253684 0.04758056 4 | v -0.24961868 -0.28314909 0.09305018 5 | v -0.33174476 -0.25491354 0.16128609 6 | v -0.39942547 -0.29373958 0.15141271 7 | v -0.24116829 -0.33345829 0.15723723 8 | v -0.31144988 -0.35377810 0.06434100 9 | v -0.36739518 -0.29232208 0.15923381 10 | v -0.35422466 -0.27336225 0.01950644 11 | v -0.28194556 -0.26378261 0.12135700 12 | v -0.23236908 -0.41202799 0.15817714 13 | v -0.24637094 -0.26404018 0.03390093 14 | v -0.25506226 -0.39779104 0.06434100 15 | v -0.31342398 -0.38648670 0.15065500 16 | v -0.39358215 -0.28894407 0.11798217 17 | v -0.28137019 -0.36920175 0.05086343 18 | v -0.24885671 -0.31252363 0.14893870 19 | v -0.22896390 -0.43596040 0.13381645 20 | v -0.31868119 -0.25662707 0.15635256 21 | v -0.27305715 -0.41826209 0.15065500 22 | v -0.29169049 -0.38177709 0.15596732 23 | v -0.38648665 -0.31342394 0.15065500 24 | v -0.31375153 -0.34143116 0.04912310 25 | v -0.23982155 -0.39762418 0.05053970 26 | v -0.28084435 -0.38371253 0.07645298 27 | v -0.36676352 -0.30695521 0.15655303 28 | v -0.24723434 -0.41149248 0.15618517 29 | v -0.38679361 -0.29852434 0.12068212 30 | v -0.27094509 -0.41431070 0.13608175 31 | v -0.38329496 -0.31080457 0.13722513 32 | f 8 4 5 33 | f 11 2 6 34 | f 11 6 4 35 | f 11 4 8 36 | f 12 6 2 37 | f 12 3 6 38 | f 12 2 9 39 | f 12 10 3 40 | f 12 9 4 41 | f 15 5 4 42 | f 15 4 9 43 | f 16 9 2 44 | f 16 13 7 45 | f 17 6 3 46 | f 17 3 10 47 | f 18 11 1 48 | f 18 2 11 49 | f 18 13 2 50 | f 18 1 13 51 | f 19 12 4 52 | f 19 10 12 53 | f 19 17 10 54 | f 19 4 6 55 | f 19 6 17 56 | f 20 13 1 57 | f 21 11 8 58 | f 21 14 20 59 | f 22 8 5 60 | f 22 5 15 61 | f 22 7 14 62 | f 23 15 9 63 | f 23 7 15 64 | f 23 16 7 65 | f 23 9 16 66 | f 24 16 2 67 | f 24 2 13 68 | f 24 13 16 69 | f 25 20 14 70 | f 25 14 7 71 | f 25 7 13 72 | f 26 21 8 73 | f 26 14 21 74 | f 26 22 14 75 | f 26 8 22 76 | f 27 21 20 77 | f 27 11 21 78 | f 27 20 1 79 | f 27 1 11 80 | f 28 22 15 81 | f 28 15 7 82 | f 29 25 13 83 | f 29 13 20 84 | f 29 20 25 85 | f 30 28 7 86 | f 30 7 22 87 | f 30 22 28 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_11.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.44052580 -0.23140415 0.15065500 3 | v 0.49194384 -0.08179371 0.15065500 4 | v 0.34652188 -0.23945477 0.16217076 5 | v 0.40052866 -0.02412238 0.15187301 6 | v 0.27839695 -0.21541568 0.00389042 7 | v 0.47212050 -0.02221984 0.15844812 8 | v 0.41519684 -0.16920049 0.01799346 9 | v 0.27389942 -0.24202775 0.05100063 10 | v 0.41119757 -0.02368091 0.15766231 11 | v 0.44193377 -0.18670215 0.15669962 12 | v 0.45933944 -0.10819646 0.06417632 13 | v 0.38550394 -0.22629030 0.01841078 14 | v 0.35173047 -0.02379308 0.00567215 15 | v 0.31978662 -0.24238275 0.15187301 16 | v 0.45985760 -0.19523688 0.15065500 17 | v 0.47174354 -0.06763723 0.15720557 18 | v 0.41202791 -0.23236899 0.15817711 19 | v 0.44613979 -0.02115331 0.01729725 20 | v 0.26464973 -0.23443668 0.00895115 21 | v 0.38543678 -0.02412828 0.12263612 22 | v 0.28992518 -0.24274523 0.09613334 23 | v 0.45661345 -0.14226865 0.15655067 24 | v 0.47339190 -0.13816607 0.13609311 25 | v 0.42919596 -0.17989376 0.04977554 26 | v 0.49785573 -0.02176992 0.15065500 27 | v 0.42937473 -0.12345048 0.01853386 28 | v 0.47453201 -0.02096505 0.07489994 29 | v 0.47293728 -0.10772517 0.10593618 30 | v 0.44243692 -0.13796834 0.04999684 31 | v 0.41278657 -0.19437294 0.03538170 32 | v 0.41375598 -0.22519402 0.06434100 33 | v 0.44383450 -0.05122923 0.01852774 34 | v 0.49291526 -0.02128332 0.13450760 35 | v 0.47336617 -0.08145626 0.09041159 36 | v 0.42670182 -0.20886354 0.07643790 37 | v 0.44299478 -0.10783440 0.03453553 38 | v 0.45862433 -0.06634512 0.04902384 39 | v 0.47318170 -0.03598357 0.07531709 40 | f 9 3 6 41 | f 12 5 7 42 | f 12 1 8 43 | f 13 7 5 44 | f 14 1 3 45 | f 14 9 4 46 | f 14 3 9 47 | f 15 10 1 48 | f 17 10 6 49 | f 17 6 3 50 | f 17 3 1 51 | f 17 1 10 52 | f 18 7 13 53 | f 18 13 9 54 | f 19 12 8 55 | f 19 5 12 56 | f 19 13 5 57 | f 20 4 9 58 | f 20 9 13 59 | f 20 19 8 60 | f 20 13 19 61 | f 21 8 1 62 | f 21 1 14 63 | f 21 20 8 64 | f 21 14 4 65 | f 21 4 20 66 | f 22 15 2 67 | f 22 10 15 68 | f 22 2 16 69 | f 22 16 6 70 | f 22 6 10 71 | f 23 15 11 72 | f 23 2 15 73 | f 24 11 15 74 | f 25 16 2 75 | f 25 6 16 76 | f 26 7 18 77 | f 27 18 9 78 | f 28 23 11 79 | f 28 2 23 80 | f 29 24 7 81 | f 29 11 24 82 | f 30 12 7 83 | f 30 7 24 84 | f 31 1 12 85 | f 31 30 24 86 | f 31 12 30 87 | f 32 26 18 88 | f 33 27 9 89 | f 33 9 6 90 | f 33 6 25 91 | f 34 28 11 92 | f 34 2 28 93 | f 34 33 25 94 | f 34 25 2 95 | f 35 31 24 96 | f 35 24 15 97 | f 35 15 1 98 | f 35 1 31 99 | f 36 26 32 100 | f 36 11 29 101 | f 36 29 7 102 | f 36 7 26 103 | f 37 36 32 104 | f 37 11 36 105 | f 37 32 18 106 | f 37 18 27 107 | f 38 34 11 108 | f 38 11 37 109 | f 38 37 27 110 | f 38 27 33 111 | f 38 33 34 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_12.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.08306493 -0.48969915 0.15129796 3 | v 0.25734547 -0.27079130 -0.08725994 4 | v 0.26127243 -0.42456092 0.15065500 5 | v 0.27148255 -0.28801742 0.14000365 6 | v 0.05343368 -0.31470161 -0.11361678 7 | v 0.27037237 -0.31696765 0.16040135 8 | v 0.18027805 -0.38446036 -0.02415150 9 | v 0.08927399 -0.39079602 0.14976890 10 | v 0.09848485 -0.28030303 -0.12999000 11 | v 0.08290203 -0.45774205 0.16099678 12 | v 0.25506228 -0.39779107 0.06434100 13 | v 0.05178732 -0.41919825 -0.02634704 14 | v 0.13968361 -0.27234102 -0.14697293 15 | v 0.05089793 -0.36471327 0.06041171 16 | v 0.19523690 -0.45985764 0.15065500 17 | v 0.26263509 -0.39680730 0.15791987 18 | v 0.08571524 -0.40936733 0.16044530 19 | v 0.23672800 -0.35428751 -0.02415150 20 | v 0.12589796 -0.27489642 -0.15048000 21 | v 0.08924639 -0.37555315 0.12135700 22 | v 0.05170116 -0.35771695 -0.10138746 23 | v 0.05238188 -0.44038623 0.01228068 24 | v 0.13946558 -0.47767613 0.15065500 25 | v 0.17989369 -0.42919601 0.04977553 26 | v 0.18670218 -0.44193376 0.15669964 27 | v 0.25284266 -0.34106239 -0.02415150 28 | v 0.19557887 -0.30898245 -0.09693425 29 | v 0.05154087 -0.37124098 -0.08490235 30 | v 0.09332743 -0.41481651 -0.02415150 31 | v 0.05176657 -0.43413905 0.00046390 32 | v 0.20886357 -0.42670186 0.07643791 33 | v 0.10819641 -0.45933961 0.06417622 34 | v 0.14226863 -0.45661346 0.15655066 35 | v 0.18278375 -0.27224846 -0.13013694 36 | v 0.23717624 -0.31013196 -0.06565844 37 | v 0.13862748 -0.33854960 -0.09752335 38 | v 0.07818713 -0.36939895 -0.08283739 39 | v 0.15322234 -0.41247217 0.00435453 40 | v 0.08199840 -0.46371890 0.06145597 41 | v 0.13816600 -0.47339199 0.13609313 42 | v 0.10772510 -0.47293750 0.10593612 43 | v 0.20984476 -0.28344955 -0.10879988 44 | v 0.15186555 -0.29708849 -0.12419670 45 | v 0.07856083 -0.35547933 -0.09903869 46 | v 0.16496708 -0.35385901 -0.06609700 47 | v 0.15404525 -0.38488188 -0.03766527 48 | v 0.13796825 -0.44243698 0.04999681 49 | v 0.08187344 -0.47760168 0.10425463 50 | v 0.21285902 -0.27197094 -0.11455088 51 | v 0.18199222 -0.28160691 -0.12374382 52 | v 0.12334258 -0.28526721 -0.14391875 53 | v 0.12476830 -0.32765836 -0.11083711 54 | f 3 2 4 55 | f 6 3 4 56 | f 8 6 4 57 | f 11 2 3 58 | f 13 9 4 59 | f 13 4 2 60 | f 14 4 9 61 | f 14 9 5 62 | f 14 1 10 63 | f 16 3 6 64 | f 16 6 10 65 | f 17 10 6 66 | f 17 6 8 67 | f 17 14 10 68 | f 17 8 14 69 | f 19 5 9 70 | f 19 9 13 71 | f 20 14 8 72 | f 20 8 4 73 | f 20 4 14 74 | f 21 14 5 75 | f 21 5 19 76 | f 22 1 14 77 | f 23 10 1 78 | f 24 18 11 79 | f 24 7 18 80 | f 25 16 10 81 | f 25 15 3 82 | f 25 3 16 83 | f 25 23 15 84 | f 26 18 2 85 | f 26 2 11 86 | f 26 11 18 87 | f 28 21 12 88 | f 28 14 21 89 | f 30 22 14 90 | f 30 12 29 91 | f 30 28 12 92 | f 30 14 28 93 | f 31 24 11 94 | f 31 15 24 95 | f 31 11 3 96 | f 31 3 15 97 | f 32 24 15 98 | f 33 25 10 99 | f 33 10 23 100 | f 33 23 25 101 | f 34 13 2 102 | f 35 27 2 103 | f 35 2 18 104 | f 35 18 27 105 | f 37 29 12 106 | f 37 12 21 107 | f 38 7 24 108 | f 39 30 29 109 | f 39 22 30 110 | f 39 29 32 111 | f 40 32 15 112 | f 40 15 23 113 | f 41 23 1 114 | f 41 40 23 115 | f 41 32 40 116 | f 42 2 27 117 | f 43 27 36 118 | f 44 37 21 119 | f 44 36 29 120 | f 44 29 37 121 | f 45 36 27 122 | f 45 7 36 123 | f 45 27 18 124 | f 45 18 7 125 | f 46 36 7 126 | f 46 29 36 127 | f 46 38 29 128 | f 46 7 38 129 | f 47 38 24 130 | f 47 24 32 131 | f 47 32 29 132 | f 47 29 38 133 | f 48 1 22 134 | f 48 22 39 135 | f 48 41 1 136 | f 48 39 32 137 | f 48 32 41 138 | f 49 42 34 139 | f 49 34 2 140 | f 49 2 42 141 | f 50 42 27 142 | f 50 34 42 143 | f 50 27 43 144 | f 50 13 34 145 | f 51 43 36 146 | f 51 50 43 147 | f 51 19 13 148 | f 51 13 50 149 | f 51 44 21 150 | f 51 21 19 151 | f 52 51 36 152 | f 52 36 44 153 | f 52 44 51 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_13.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.35308400 -0.15044693 0.11089865 3 | v -0.32193671 -0.09732580 -0.05070343 4 | v -0.34094437 0.11824317 0.03455337 5 | v -0.43817718 0.16561605 0.05743142 6 | v -0.47767613 -0.13946558 0.15065500 7 | v -0.32193675 0.09732581 -0.05070344 8 | v -0.40839683 0.10057236 0.16229800 9 | v -0.42176176 -0.14088880 0.01434907 10 | v -0.41414888 0.15832715 0.01016412 11 | v -0.32421096 -0.14311272 0.00926546 12 | v -0.36817656 0.11731165 0.12347489 13 | v -0.39353307 -0.14611422 0.16174862 14 | v -0.48967465 0.09765077 0.15085503 15 | v -0.45661347 -0.14226864 0.15655064 16 | v -0.40181181 0.09397866 -0.03918068 17 | v -0.33331064 0.11592753 0.00652038 18 | v -0.33828149 -0.15063348 0.06533150 19 | v -0.44335612 0.16259090 0.06566564 20 | v -0.38746601 0.10341548 0.15155639 21 | v -0.47318176 -0.03598358 0.07531704 22 | v -0.45768687 0.09713970 0.16023063 23 | v -0.40181162 -0.09397860 -0.03918058 24 | v -0.41481684 0.09332753 -0.02415150 25 | v -0.36740896 -0.14738187 0.13903824 26 | v -0.45933960 -0.10819638 0.06417623 27 | v -0.49194394 -0.08179372 0.15065500 28 | v -0.47174354 -0.06763725 0.15720557 29 | v -0.44299489 0.10783444 0.03453547 30 | v -0.42789185 -0.05115127 -0.01135287 31 | v -0.44243693 -0.13796820 0.04999684 32 | v -0.41481651 -0.09332743 -0.02415150 33 | v -0.48867990 0.02086620 0.12066454 34 | v -0.47293750 -0.10772510 0.10593612 35 | v -0.47336624 -0.08145630 0.09041156 36 | v -0.47174354 0.06763723 0.15720559 37 | v -0.44844396 0.13979044 0.06181359 38 | v -0.45862438 0.06634512 0.04902382 39 | v -0.45862439 -0.06634513 0.04902388 40 | v -0.42789203 0.05115140 -0.01135300 41 | v -0.47339199 -0.13816600 0.13609313 42 | v -0.49194390 0.08179371 0.15065500 43 | v -0.48867988 -0.02086617 0.12066454 44 | v -0.47647777 0.09477722 0.10473063 45 | v -0.47318177 0.03598357 0.07531707 46 | v -0.47336622 0.08145625 0.09041157 47 | f 9 4 3 48 | f 10 2 6 49 | f 10 8 2 50 | f 11 3 4 51 | f 14 5 8 52 | f 14 1 12 53 | f 15 6 2 54 | f 15 9 6 55 | f 16 9 3 56 | f 16 6 9 57 | f 16 10 6 58 | f 17 8 10 59 | f 17 14 8 60 | f 17 1 14 61 | f 17 11 1 62 | f 17 3 11 63 | f 17 16 3 64 | f 17 10 16 65 | f 18 11 4 66 | f 18 7 11 67 | f 19 11 7 68 | f 19 7 12 69 | f 21 12 7 70 | f 21 18 13 71 | f 21 7 18 72 | f 22 15 2 73 | f 22 2 8 74 | f 23 4 9 75 | f 23 9 15 76 | f 24 19 12 77 | f 24 12 1 78 | f 24 1 11 79 | f 24 11 19 80 | f 26 5 14 81 | f 27 14 12 82 | f 27 12 21 83 | f 27 26 14 84 | f 30 25 8 85 | f 30 8 5 86 | f 31 22 8 87 | f 31 8 25 88 | f 31 29 22 89 | f 33 5 26 90 | f 34 20 25 91 | f 34 33 26 92 | f 34 25 33 93 | f 35 27 21 94 | f 35 21 13 95 | f 35 26 27 96 | f 36 18 4 97 | f 36 4 23 98 | f 36 23 28 99 | f 37 28 23 100 | f 37 36 28 101 | f 38 25 20 102 | f 38 20 29 103 | f 38 31 25 104 | f 38 29 31 105 | f 39 23 15 106 | f 39 15 22 107 | f 39 22 29 108 | f 39 37 23 109 | f 39 29 20 110 | f 40 30 5 111 | f 40 25 30 112 | f 40 33 25 113 | f 40 5 33 114 | f 41 32 26 115 | f 41 35 13 116 | f 41 26 35 117 | f 42 32 20 118 | f 42 26 32 119 | f 42 34 26 120 | f 42 20 34 121 | f 43 13 18 122 | f 43 18 36 123 | f 43 41 13 124 | f 44 20 32 125 | f 44 39 20 126 | f 44 37 39 127 | f 45 43 36 128 | f 45 36 37 129 | f 45 37 44 130 | f 45 44 32 131 | f 45 32 41 132 | f 45 41 43 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_14.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.08179371 -0.49194395 0.15065500 3 | v 0.08245784 -0.43808084 0.01351129 4 | v 0.08830443 -0.37244798 0.10995394 5 | v -0.09374991 -0.35560301 0.05886265 6 | v -0.09404065 -0.46262190 0.06235409 7 | v 0.05304490 -0.34105730 -0.02157898 8 | v -0.09686706 -0.39618193 0.15530956 9 | v 0.03598357 -0.47318179 0.07531703 10 | v 0.08367308 -0.35718060 0.05388792 11 | v -0.10587055 -0.39555943 -0.04228464 12 | v 0.08571524 -0.40936733 0.16044530 13 | v -0.09765076 -0.48967464 0.15085499 14 | v -0.05115141 -0.42789201 -0.01135299 15 | v 0.08145629 -0.47336625 0.09041156 16 | v 0.07241236 -0.35036234 0.01947210 17 | v -0.05304490 -0.34105725 -0.02157897 18 | v 0.05115126 -0.42789187 -0.01135288 19 | v 0.08748650 -0.38490317 0.13778086 20 | v 0.00708067 -0.47224615 0.15886232 21 | v -0.02086619 -0.48867986 0.12066455 22 | v -0.09800857 -0.47570264 0.15489877 23 | v -0.03598357 -0.47318172 0.07531709 24 | v -0.09477708 -0.41959535 -0.01475140 25 | v 0.06634512 -0.45862440 0.04902388 26 | v 0.08290203 -0.45774205 0.16099678 27 | v -0.08179370 -0.49194385 0.15065500 28 | v 0.02086617 -0.48867992 0.12066453 29 | v -0.06634511 -0.45862434 0.04902383 30 | v -0.09331675 -0.42993282 0.00307250 31 | v 0.08192046 -0.44777629 0.03157525 32 | v -0.09477672 -0.47647778 0.10473066 33 | v -0.08145625 -0.47336618 0.09041158 34 | f 1 2 3 35 | f 7 3 4 36 | f 9 3 2 37 | f 9 6 4 38 | f 9 4 3 39 | f 10 7 4 40 | f 12 10 5 41 | f 14 2 1 42 | f 15 9 2 43 | f 15 2 6 44 | f 15 6 9 45 | f 16 10 4 46 | f 16 4 6 47 | f 16 6 10 48 | f 17 10 6 49 | f 17 6 2 50 | f 17 13 10 51 | f 17 8 13 52 | f 18 11 1 53 | f 18 1 3 54 | f 18 3 7 55 | f 18 7 11 56 | f 21 7 10 57 | f 21 10 12 58 | f 21 19 7 59 | f 22 13 8 60 | f 23 5 10 61 | f 23 10 13 62 | f 24 14 8 63 | f 24 8 17 64 | f 25 11 7 65 | f 25 7 19 66 | f 25 19 1 67 | f 25 1 11 68 | f 26 1 19 69 | f 26 21 12 70 | f 26 19 21 71 | f 27 26 20 72 | f 27 1 26 73 | f 27 14 1 74 | f 27 8 14 75 | f 27 22 8 76 | f 27 20 22 77 | f 28 22 5 78 | f 28 5 13 79 | f 28 13 22 80 | f 29 23 13 81 | f 29 13 5 82 | f 29 5 23 83 | f 30 2 14 84 | f 30 14 24 85 | f 30 24 17 86 | f 30 17 2 87 | f 31 26 12 88 | f 31 12 5 89 | f 32 31 5 90 | f 32 5 22 91 | f 32 22 20 92 | f 32 20 26 93 | f 32 26 31 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_15.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.32787941 0.05323928 -0.06759787 3 | v -0.20454545 0.21969697 -0.12999000 4 | v -0.25787373 0.24131028 0.00586792 5 | v -0.35031458 0.25500178 -0.00810951 6 | v -0.28826587 0.09630418 -0.14880769 7 | v -0.21145051 0.24326233 -0.10039151 8 | v -0.33331064 0.11592753 0.00652038 9 | v -0.23484848 0.15909091 -0.12999000 10 | v -0.32579584 0.05303407 -0.12764375 11 | v -0.26895671 0.22553684 -0.10983117 12 | v -0.24493128 0.24312320 -0.02524832 13 | v -0.33346403 0.08567106 -0.02382826 14 | v -0.29545455 0.05303030 -0.12999000 15 | v -0.23484848 0.15909091 -0.16547599 16 | v -0.30898245 0.19557901 -0.09693435 17 | v -0.22929321 0.22929321 -0.13319354 18 | v -0.27874302 0.09801162 -0.15592707 19 | v -0.31272351 0.10968251 -0.12626267 20 | v -0.31459443 0.22568716 -0.07036625 21 | v -0.28160697 0.18199229 -0.12374391 22 | v -0.20454545 0.23484848 -0.12999000 23 | v -0.23778927 0.17937279 -0.15393222 24 | v -0.31443095 0.09504895 -0.12842232 25 | v -0.28344959 0.20984480 -0.10879987 26 | v -0.28271175 0.13712836 -0.14041164 27 | v -0.22631063 0.18238706 -0.15968320 28 | v -0.24248293 0.15507303 -0.16273509 29 | v -0.29708843 0.15186563 -0.12419675 30 | f 6 3 2 31 | f 7 3 4 32 | f 8 2 3 33 | f 11 6 4 34 | f 11 4 3 35 | f 11 3 6 36 | f 12 1 3 37 | f 12 3 7 38 | f 12 7 4 39 | f 12 9 1 40 | f 12 4 9 41 | f 13 8 3 42 | f 13 3 1 43 | f 13 1 9 44 | f 14 2 8 45 | f 14 8 13 46 | f 16 10 4 47 | f 17 13 9 48 | f 17 9 5 49 | f 17 14 13 50 | f 18 9 4 51 | f 18 4 15 52 | f 19 15 4 53 | f 19 4 10 54 | f 21 6 2 55 | f 21 16 4 56 | f 21 4 6 57 | f 22 10 16 58 | f 23 5 9 59 | f 23 9 18 60 | f 23 18 17 61 | f 23 17 5 62 | f 24 19 10 63 | f 24 15 19 64 | f 24 20 15 65 | f 24 22 20 66 | f 24 10 22 67 | f 25 17 18 68 | f 26 21 2 69 | f 26 2 14 70 | f 26 16 21 71 | f 26 22 16 72 | f 27 20 22 73 | f 27 14 17 74 | f 27 17 25 75 | f 27 26 14 76 | f 27 22 26 77 | f 28 25 18 78 | f 28 18 15 79 | f 28 15 20 80 | f 28 27 25 81 | f 28 20 27 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_16.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.39657628 0.23220858 0.04204441 3 | v 0.39104012 0.22924940 0.03022766 4 | v 0.28137023 0.36920180 0.05086333 5 | v 0.18872521 0.44571857 0.10011167 6 | v 0.30656045 0.23152832 0.11631633 7 | v 0.29852448 0.38679378 0.12068198 8 | v 0.32363570 0.31158175 0.02063694 9 | v 0.25506243 0.39779114 0.06434100 10 | v 0.23271272 0.42782240 0.11621998 11 | v 0.35428700 0.23672800 -0.02415150 12 | v 0.37499675 0.27097443 0.04688104 13 | v 0.28084439 0.38371258 0.07645296 14 | v 0.18278378 0.27224846 -0.13013689 15 | v 0.19050457 0.32783543 0.09900507 16 | v 0.25686359 0.41631239 0.12023242 17 | v 0.19978463 0.22904735 -0.14881683 18 | v 0.39166363 0.24473419 0.04500360 19 | v 0.31158180 0.32363581 0.02063688 20 | v 0.29582461 0.38350385 0.10683900 21 | v 0.18279501 0.38916940 -0.01410012 22 | v 0.24527547 0.29300837 0.11014990 23 | v 0.31459445 0.22568720 -0.07036634 24 | v 0.18710681 0.23206159 -0.15353652 25 | v 0.18285277 0.43473200 0.06159237 26 | v 0.23672649 0.35428801 -0.02415150 27 | v 0.35835999 0.22797881 -0.02480428 28 | v 0.25263779 0.26505496 -0.09636003 29 | v 0.16903525 0.33116710 -0.08828618 30 | v 0.19532578 0.42972075 0.06434100 31 | v 0.25747812 0.22855106 -0.11558218 32 | v 0.20984481 0.28344961 -0.10879991 33 | v 0.26505502 0.25263773 -0.09635993 34 | v 0.18409257 0.24354021 -0.14778551 35 | v 0.16875022 0.34578535 -0.07264157 36 | v 0.25446387 0.24122883 -0.11086245 37 | v 0.18244967 0.31276568 -0.10043264 38 | v 0.18184713 0.41769907 0.03242261 39 | v 0.21014623 0.36849543 -0.02415150 40 | v 0.19557904 0.30898250 -0.09693450 41 | v 0.17281843 0.32309345 -0.09483078 42 | v 0.17224836 0.35232995 -0.06354157 43 | v 0.23717630 0.31013180 -0.06565854 44 | f 5 2 1 45 | f 6 5 1 46 | f 11 10 7 47 | f 12 8 6 48 | f 12 3 8 49 | f 14 9 4 50 | f 15 5 6 51 | f 15 6 8 52 | f 15 4 9 53 | f 17 11 6 54 | f 17 6 1 55 | f 17 10 11 56 | f 17 1 2 57 | f 17 2 10 58 | f 18 12 7 59 | f 18 3 12 60 | f 18 7 10 61 | f 19 11 7 62 | f 19 7 12 63 | f 19 12 6 64 | f 19 6 11 65 | f 21 14 5 66 | f 21 9 14 67 | f 21 15 9 68 | f 21 5 15 69 | f 22 2 5 70 | f 22 5 16 71 | f 23 13 16 72 | f 23 16 5 73 | f 23 5 14 74 | f 24 14 4 75 | f 25 18 10 76 | f 25 3 18 77 | f 25 8 3 78 | f 26 22 10 79 | f 26 10 2 80 | f 26 2 22 81 | f 27 25 10 82 | f 29 24 4 83 | f 29 8 20 84 | f 29 15 8 85 | f 29 4 15 86 | f 30 22 16 87 | f 31 16 13 88 | f 32 27 10 89 | f 32 10 22 90 | f 32 22 30 91 | f 33 23 14 92 | f 33 14 28 93 | f 33 28 13 94 | f 33 13 23 95 | f 34 28 14 96 | f 34 14 24 97 | f 35 30 16 98 | f 35 32 30 99 | f 35 27 32 100 | f 35 31 27 101 | f 35 16 31 102 | f 37 34 24 103 | f 37 20 34 104 | f 37 29 20 105 | f 37 24 29 106 | f 38 20 8 107 | f 38 8 25 108 | f 39 31 13 109 | f 39 13 36 110 | f 39 27 31 111 | f 39 38 25 112 | f 40 36 13 113 | f 40 13 28 114 | f 40 28 34 115 | f 40 39 36 116 | f 40 34 39 117 | f 41 34 20 118 | f 41 20 38 119 | f 41 39 34 120 | f 41 38 39 121 | f 42 39 25 122 | f 42 25 27 123 | f 42 27 39 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_17.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.23220858 -0.39657626 0.04204440 3 | v -0.22568718 -0.31459444 -0.07036625 4 | v -0.24637094 -0.26404018 0.03390093 5 | v -0.30090254 -0.19126021 0.01678626 6 | v -0.38570287 -0.24964681 0.03946747 7 | v -0.23479836 -0.20450432 -0.14267023 8 | v -0.22924944 -0.39104010 0.03022759 9 | v -0.37499660 -0.27097438 0.04688106 10 | v -0.22929321 -0.22929321 -0.13319354 11 | v -0.31552709 -0.19907718 -0.08783451 12 | v -0.27097438 -0.37499661 0.04688109 13 | v -0.25775567 -0.19847581 -0.13116827 14 | v -0.26505501 -0.25263773 -0.09636002 15 | v -0.24473422 -0.39166359 0.04500355 16 | v -0.23672700 -0.35428801 -0.02415150 17 | v -0.28646396 -0.19716704 -0.11351970 18 | v -0.22855109 -0.25747809 -0.11558217 19 | v -0.34106217 -0.25284257 -0.02415150 20 | v -0.22797900 -0.35836018 -0.02480441 21 | v -0.25263782 -0.26505499 -0.09635996 22 | v -0.31332072 -0.20949027 -0.08417411 23 | v -0.28344971 -0.20984481 -0.10879997 24 | v -0.37108648 -0.25261393 0.01926513 25 | v -0.31158171 -0.32363571 0.02063703 26 | v -0.22593234 -0.33004469 -0.05552988 27 | v -0.24122889 -0.25446384 -0.11086246 28 | v -0.24024850 -0.22684561 -0.12747980 29 | v -0.37463054 -0.24372854 0.01583385 30 | v -0.32363575 -0.31158166 0.02063705 31 | f 6 4 3 32 | f 7 2 3 33 | f 7 3 1 34 | f 8 3 4 35 | f 8 4 5 36 | f 9 6 3 37 | f 9 3 2 38 | f 10 5 4 39 | f 11 3 8 40 | f 12 4 6 41 | f 14 1 3 42 | f 14 3 11 43 | f 15 14 11 44 | f 15 7 1 45 | f 15 1 14 46 | f 16 10 4 47 | f 16 4 12 48 | f 16 12 6 49 | f 16 6 9 50 | f 17 9 2 51 | f 19 7 15 52 | f 20 17 2 53 | f 20 18 13 54 | f 20 15 18 55 | f 21 10 16 56 | f 21 18 10 57 | f 21 13 18 58 | f 22 16 9 59 | f 22 21 16 60 | f 22 13 21 61 | f 23 8 5 62 | f 24 18 15 63 | f 24 15 11 64 | f 24 11 8 65 | f 25 19 15 66 | f 25 2 7 67 | f 25 7 19 68 | f 25 20 2 69 | f 25 15 20 70 | f 26 20 13 71 | f 26 9 17 72 | f 26 17 20 73 | f 27 22 9 74 | f 27 13 22 75 | f 27 26 13 76 | f 27 9 26 77 | f 28 23 5 78 | f 28 5 10 79 | f 28 10 18 80 | f 28 18 23 81 | f 29 24 8 82 | f 29 18 24 83 | f 29 23 18 84 | f 29 8 23 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_18.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.37954336 -0.23120296 0.01287462 3 | v 0.42176179 -0.14088888 0.01434905 4 | v 0.26464973 -0.23443668 0.00895115 5 | v 0.31996132 -0.14893995 0.00574782 6 | v 0.21969697 -0.15909091 -0.16547599 7 | v 0.41847932 -0.15504468 0.01617126 8 | v 0.27234109 -0.13968365 -0.14697303 9 | v 0.21246242 -0.22603309 -0.14409721 10 | v 0.21969697 -0.15909091 -0.12999000 11 | v 0.39041661 -0.21376466 0.01545164 12 | v 0.41575467 -0.13906656 0.00253219 13 | v 0.22349122 -0.23947176 -0.08384461 14 | v 0.30898243 -0.19557894 -0.09693441 15 | v 0.24248295 -0.15507296 -0.16273513 16 | v 0.26197034 -0.14223902 -0.15353430 17 | v 0.21181778 -0.19807923 -0.16071460 18 | v 0.29964387 -0.13807997 -0.12770387 19 | v 0.38446034 -0.18027804 -0.02415150 20 | v 0.26895670 -0.22553684 -0.10983123 21 | v 0.28160699 -0.18199226 -0.12374392 22 | v 0.41247220 -0.15322248 0.00435449 23 | v 0.36849554 -0.21014636 -0.02415150 24 | v 0.38740985 -0.13966058 -0.03981952 25 | v 0.22403775 -0.22403704 -0.13930505 26 | v 0.23778924 -0.17937291 -0.15393227 27 | v 0.32462248 -0.16553704 -0.09738614 28 | v 0.28344957 -0.20984479 -0.10879993 29 | v 0.36847103 -0.22528477 -0.01075892 30 | v 0.38488199 -0.15404528 -0.03766535 31 | v 0.29708849 -0.15186561 -0.12419680 32 | v 0.35385899 -0.16496697 -0.06609695 33 | f 6 2 4 34 | f 6 4 3 35 | f 9 3 4 36 | f 9 4 7 37 | f 10 6 3 38 | f 10 3 1 39 | f 11 4 2 40 | f 11 2 6 41 | f 12 1 3 42 | f 12 9 8 43 | f 12 3 9 44 | f 15 9 7 45 | f 15 5 9 46 | f 15 14 5 47 | f 16 9 5 48 | f 16 8 9 49 | f 16 5 14 50 | f 17 7 4 51 | f 17 4 11 52 | f 17 15 7 53 | f 17 14 15 54 | f 18 6 10 55 | f 19 12 8 56 | f 19 1 12 57 | f 21 11 6 58 | f 21 6 18 59 | f 23 17 11 60 | f 24 19 8 61 | f 24 8 16 62 | f 25 16 14 63 | f 25 14 20 64 | f 26 13 20 65 | f 26 17 23 66 | f 26 22 13 67 | f 26 18 22 68 | f 27 20 13 69 | f 27 13 19 70 | f 27 25 20 71 | f 27 16 25 72 | f 27 24 16 73 | f 27 19 24 74 | f 28 19 13 75 | f 28 13 22 76 | f 28 1 19 77 | f 28 10 1 78 | f 28 22 18 79 | f 28 18 10 80 | f 29 21 18 81 | f 29 26 23 82 | f 29 23 11 83 | f 29 11 21 84 | f 30 26 20 85 | f 30 17 26 86 | f 30 20 14 87 | f 30 14 17 88 | f 31 29 18 89 | f 31 18 26 90 | f 31 26 29 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_19.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.44052604 0.23140428 0.15065500 3 | v 0.43596047 0.22896393 0.13381638 4 | v 0.32586226 0.35287760 0.09181596 5 | v 0.23140428 0.44052597 0.15065500 6 | v 0.29114433 0.21887655 0.04623384 7 | v 0.31342403 0.38648676 0.15065500 8 | v 0.41826211 0.27305716 0.15065500 9 | v 0.41202795 0.23236906 0.15817713 10 | v 0.40253692 0.22729592 0.04758059 11 | v 0.30335577 0.34722608 0.04514067 12 | v 0.27094525 0.41431081 0.13608170 13 | v 0.38648679 0.31342396 0.15065500 14 | v 0.24116833 0.33345841 0.15723730 15 | v 0.23236906 0.41202794 0.15817717 16 | v 0.39779112 0.25506225 0.06434100 17 | v 0.23271272 0.42782240 0.11621998 18 | v 0.28215569 0.40046193 0.12127201 19 | v 0.27305730 0.41826222 0.15065500 20 | v 0.38177712 0.29169044 0.15596732 21 | v 0.33345831 0.24116836 0.15723716 22 | v 0.38371265 0.28084434 0.07645283 23 | v 0.36920189 0.28137020 0.05086341 24 | v 0.24527547 0.29300837 0.11014990 25 | v 0.22896394 0.43596035 0.13381646 26 | v 0.31144992 0.35377815 0.06434100 27 | v 0.29169049 0.38177710 0.15596734 28 | v 0.41149247 0.24723435 0.15618516 29 | v 0.41431076 0.27094505 0.13608174 30 | v 0.35287748 0.32586217 0.09181599 31 | v 0.39762426 0.23982154 0.05053976 32 | v 0.35377817 0.31144984 0.06434100 33 | v 0.24885674 0.31252367 0.14893867 34 | v 0.29547355 0.24729870 0.12135700 35 | v 0.24723437 0.41149248 0.15618520 36 | v 0.32221999 0.35175007 0.15713887 37 | v 0.31375157 0.34143121 0.04912300 38 | v 0.24729864 0.29547361 0.12135700 39 | v 0.31252365 0.24885685 0.14893866 40 | f 7 1 2 41 | f 8 5 2 42 | f 8 2 1 43 | f 9 2 5 44 | f 10 9 5 45 | f 12 3 6 46 | f 14 13 8 47 | f 15 2 9 48 | f 16 10 5 49 | f 17 6 3 50 | f 17 16 11 51 | f 18 17 11 52 | f 18 6 17 53 | f 18 4 14 54 | f 18 16 4 55 | f 18 11 16 56 | f 19 7 12 57 | f 20 5 8 58 | f 20 8 13 59 | f 21 12 7 60 | f 22 9 10 61 | f 23 16 5 62 | f 24 14 4 63 | f 24 4 16 64 | f 24 16 23 65 | f 24 23 13 66 | f 24 13 14 67 | f 25 17 3 68 | f 25 10 16 69 | f 25 16 17 70 | f 26 6 18 71 | f 27 19 8 72 | f 27 7 19 73 | f 27 8 1 74 | f 27 1 7 75 | f 28 21 7 76 | f 28 15 21 77 | f 28 7 2 78 | f 28 2 15 79 | f 29 3 12 80 | f 30 22 15 81 | f 30 15 9 82 | f 30 9 22 83 | f 31 21 15 84 | f 31 15 22 85 | f 31 25 3 86 | f 31 3 29 87 | f 31 29 12 88 | f 31 12 21 89 | f 34 26 18 90 | f 34 18 14 91 | f 34 14 26 92 | f 35 26 14 93 | f 35 14 8 94 | f 35 8 19 95 | f 35 19 12 96 | f 35 12 6 97 | f 35 6 26 98 | f 36 31 22 99 | f 36 22 10 100 | f 36 10 25 101 | f 36 25 31 102 | f 37 32 13 103 | f 37 13 23 104 | f 37 33 32 105 | f 37 23 5 106 | f 37 5 33 107 | f 38 33 5 108 | f 38 5 20 109 | f 38 32 33 110 | f 38 20 13 111 | f 38 13 32 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_2.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.18750346 -0.27799946 -0.12399030 3 | v 0.31202757 -0.09891605 -0.12939518 4 | v 0.30364981 0.15537268 -0.11805016 5 | v -0.11184216 0.31984290 -0.12011606 6 | v -0.28114652 -0.09414458 -0.15495435 7 | v -0.32155036 -0.09720861 -0.12227574 8 | v 0.12239090 -0.26833512 -0.15662664 9 | v -0.18750346 -0.27799949 -0.12399033 10 | v -0.26978568 0.15346930 -0.14346594 11 | v 0.25285371 -0.15251759 -0.15617386 12 | v -0.26350665 -0.20319554 -0.12502167 13 | v -0.12239102 -0.26833512 -0.15662654 14 | v -0.32155034 0.09720859 -0.12227570 15 | v 0.21246242 -0.22603309 -0.14409721 16 | v 0.28114658 0.09414456 -0.15495437 17 | v -0.25501894 -0.18107831 -0.14203460 18 | v -0.25285366 0.15251769 -0.15617381 19 | v -0.23454905 0.23454905 -0.12708217 20 | v -0.31218719 -0.02139072 -0.14139550 21 | v 0.17937287 -0.23778920 -0.15393224 22 | v 0.29778882 0.09459677 -0.14168840 23 | v 0.28114657 -0.09414460 -0.15495452 24 | v 0.09414457 0.28114662 -0.15495447 25 | v -0.23778929 -0.17937284 -0.15393219 26 | v 0.25285366 0.15251757 -0.15617376 27 | v -0.28114649 0.09414453 -0.15495430 28 | v -0.20319552 0.26350661 -0.12502163 29 | v -0.31443098 -0.09504898 -0.12842235 30 | v 0.16725489 -0.26723027 -0.13995879 31 | v 0.20974173 -0.20974116 -0.15592815 32 | v 0.29778876 -0.09459679 -0.14168847 33 | v 0.11184220 0.31984302 -0.12011622 34 | v -0.09414454 0.28114649 -0.15495430 35 | v -0.17937279 -0.23778927 -0.15393222 36 | v 0.20974089 0.20974189 -0.15592797 37 | v 0.29708857 0.15186559 -0.12419676 38 | v -0.31218715 0.02139066 -0.14139545 39 | v 0.18278375 -0.27224846 -0.13013694 40 | v 0.02139078 0.31218722 -0.14139553 41 | v -0.18107832 0.25501887 -0.14203461 42 | v -0.16725489 -0.26723039 -0.13995890 43 | v -0.22403737 -0.22403737 -0.13930491 44 | v 0.18107833 0.25501883 -0.14203450 45 | v -0.31443095 0.09504895 -0.12842232 46 | v -0.02139072 0.31218719 -0.14139550 47 | v -0.10968251 0.31272352 -0.12626267 48 | v -0.17937284 0.23778932 -0.15393221 49 | v -0.18278373 -0.27224851 -0.13013697 50 | v 0.17937288 0.23778920 -0.15393211 51 | v 0.10968255 0.31272364 -0.12626284 52 | v 0.19051771 0.26652085 -0.12974131 53 | v -0.22329636 0.19506482 -0.15496346 54 | v -0.22403737 0.22403737 -0.13930491 55 | f 1 2 3 56 | f 6 3 4 57 | f 8 1 3 58 | f 8 3 6 59 | f 8 7 1 60 | f 11 8 6 61 | f 12 7 8 62 | f 13 6 4 63 | f 14 10 2 64 | f 14 2 1 65 | f 16 11 6 66 | f 16 6 5 67 | f 17 7 12 68 | f 17 12 5 69 | f 18 9 13 70 | f 18 17 9 71 | f 19 6 13 72 | f 21 15 3 73 | f 21 3 2 74 | f 22 2 10 75 | f 22 15 21 76 | f 24 16 5 77 | f 24 5 12 78 | f 25 10 7 79 | f 25 7 17 80 | f 25 22 10 81 | f 25 15 22 82 | f 26 13 9 83 | f 26 9 17 84 | f 26 17 5 85 | f 26 5 19 86 | f 27 18 13 87 | f 27 13 4 88 | f 28 19 5 89 | f 28 5 6 90 | f 28 6 19 91 | f 29 1 7 92 | f 29 7 20 93 | f 30 20 7 94 | f 30 7 10 95 | f 30 10 14 96 | f 30 14 1 97 | f 31 22 21 98 | f 31 21 2 99 | f 31 2 22 100 | f 32 4 3 101 | f 34 24 12 102 | f 35 25 17 103 | f 35 3 25 104 | f 35 33 23 105 | f 35 17 33 106 | f 36 25 3 107 | f 36 3 15 108 | f 36 15 25 109 | f 37 26 19 110 | f 37 19 13 111 | f 38 29 20 112 | f 38 1 29 113 | f 38 30 1 114 | f 38 20 30 115 | f 39 32 23 116 | f 39 4 32 117 | f 39 23 33 118 | f 40 27 4 119 | f 41 34 12 120 | f 41 12 8 121 | f 42 8 11 122 | f 42 24 34 123 | f 42 11 16 124 | f 42 16 24 125 | f 44 37 13 126 | f 44 13 26 127 | f 44 26 37 128 | f 45 39 33 129 | f 45 33 4 130 | f 45 4 39 131 | f 46 40 4 132 | f 46 4 33 133 | f 46 33 40 134 | f 47 40 33 135 | f 47 18 27 136 | f 47 27 40 137 | f 48 41 8 138 | f 48 34 41 139 | f 48 42 34 140 | f 48 8 42 141 | f 49 35 23 142 | f 49 23 43 143 | f 50 43 23 144 | f 50 23 32 145 | f 50 32 43 146 | f 51 43 32 147 | f 51 32 3 148 | f 51 3 35 149 | f 51 49 43 150 | f 51 35 49 151 | f 52 47 33 152 | f 52 33 17 153 | f 52 17 18 154 | f 53 52 18 155 | f 53 18 47 156 | f 53 47 52 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_20.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.30967080 -0.10279731 -0.08637012 3 | v -0.29545455 -0.09848485 -0.12999000 4 | v -0.32033082 0.23039488 -0.06126627 5 | v -0.32606722 0.23510260 -0.05216628 6 | v -0.40744952 -0.02181945 -0.04428688 7 | v -0.32193671 -0.09732580 -0.05070343 8 | v -0.29545455 -0.05303030 -0.12999000 9 | v -0.39499328 -0.09650645 -0.04628188 10 | v -0.39246560 0.11089120 -0.04412782 11 | v -0.31784584 -0.06578183 -0.13274161 12 | v -0.37806370 0.15657314 -0.04476663 13 | v -0.34752500 0.21513458 -0.04394709 14 | v -0.34230348 0.07916014 -0.11019659 15 | v -0.36939890 -0.07818712 -0.08283731 16 | v -0.33578106 0.23064004 -0.04642989 17 | v -0.31802635 0.17011002 -0.10183514 18 | v -0.40744956 0.02181951 -0.04428689 19 | v -0.33854959 0.13862747 -0.09752322 20 | v -0.32712919 -0.06507005 -0.12557279 21 | v -0.33107320 -0.09550118 -0.11515636 22 | v -0.31552705 0.19907710 -0.08783441 23 | v -0.31784584 0.06578181 -0.13274161 24 | v -0.36939899 0.07818715 -0.08283731 25 | v -0.40006441 -0.02109207 -0.05338686 26 | v -0.32462245 0.16553708 -0.09738604 27 | v -0.38789199 -0.09435229 -0.05538187 28 | v -0.34230348 -0.07916017 -0.11019660 29 | v -0.31073217 0.05304272 -0.12763327 30 | v -0.33004467 0.22593232 -0.05552987 31 | v -0.31813545 0.12647573 -0.11795641 32 | v -0.32712919 0.06507005 -0.12557279 33 | v -0.40006444 0.02109211 -0.05338688 34 | v -0.37119335 0.15375309 -0.05383261 35 | v -0.32765830 0.12476829 -0.11083703 36 | f 6 1 3 37 | f 6 3 4 38 | f 7 1 2 39 | f 7 3 1 40 | f 8 2 1 41 | f 8 1 6 42 | f 10 7 2 43 | f 12 9 5 44 | f 12 11 9 45 | f 12 8 6 46 | f 12 5 8 47 | f 14 8 5 48 | f 15 12 6 49 | f 15 6 4 50 | f 17 5 9 51 | f 20 10 2 52 | f 20 2 8 53 | f 20 19 10 54 | f 21 3 7 55 | f 22 7 10 56 | f 23 17 9 57 | f 23 18 13 58 | f 23 9 18 59 | f 24 14 5 60 | f 24 5 17 61 | f 25 16 18 62 | f 25 21 16 63 | f 26 20 8 64 | f 26 8 14 65 | f 26 14 20 66 | f 27 20 14 67 | f 27 19 20 68 | f 27 24 19 69 | f 27 14 24 70 | f 28 21 7 71 | f 28 7 22 72 | f 29 3 21 73 | f 29 15 4 74 | f 29 4 3 75 | f 29 21 12 76 | f 29 12 15 77 | f 30 18 16 78 | f 30 28 22 79 | f 30 16 21 80 | f 30 21 28 81 | f 31 22 10 82 | f 31 10 19 83 | f 32 24 17 84 | f 32 17 23 85 | f 32 23 13 86 | f 32 13 31 87 | f 32 31 19 88 | f 32 19 24 89 | f 33 25 18 90 | f 33 11 12 91 | f 33 12 21 92 | f 33 21 25 93 | f 33 18 9 94 | f 33 9 11 95 | f 34 13 18 96 | f 34 18 30 97 | f 34 31 13 98 | f 34 30 22 99 | f 34 22 31 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_21.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.12878788 0.28030303 -0.12999000 3 | v 0.13539598 0.29266576 -0.10128318 4 | v -0.20607342 0.32861621 -0.06963441 5 | v -0.11089122 0.39246546 -0.04412776 6 | v 0.11089119 0.39246556 -0.04412784 7 | v -0.06578181 0.31784584 -0.13274161 8 | v -0.08724898 0.32351418 -0.05567809 9 | v 0.12780374 0.38311938 -0.04907497 10 | v -0.08333333 0.29545455 -0.12999000 11 | v -0.07916014 0.34230348 -0.11019659 12 | v 0.13332924 0.30395072 -0.06973256 13 | v 0.12526674 0.31414979 -0.04838785 14 | v -0.20200521 0.35130816 -0.04744521 15 | v 0.12476832 0.32765843 -0.11083719 16 | v 0.09848485 0.28030303 -0.12999000 17 | v -0.15375309 0.37119335 -0.05383261 18 | v 0.02181950 0.40744960 -0.04428698 19 | v -0.18509267 0.36316505 -0.04439879 20 | v -0.20957156 0.33516081 -0.06053441 21 | v 0.06578185 0.31784597 -0.13274178 22 | v 0.07818717 0.36939906 -0.08283748 23 | v -0.07818721 0.36939886 -0.08283732 24 | v -0.15657315 0.37806370 -0.04476663 25 | v 0.06506951 0.32712946 -0.12557298 26 | v 0.12349542 0.36891679 -0.06727499 27 | v -0.12349542 0.36891677 -0.06727487 28 | v -0.02181944 0.40744951 -0.04428687 29 | v 0.02109223 0.40006452 -0.05338694 30 | v -0.06507005 0.32712919 -0.12557279 31 | v 0.07916018 0.34230361 -0.11019676 32 | v -0.02109206 0.40006441 -0.05338685 33 | f 9 3 6 34 | f 9 7 3 35 | f 10 6 3 36 | f 11 1 2 37 | f 11 2 8 38 | f 12 7 11 39 | f 12 11 8 40 | f 12 8 5 41 | f 13 7 12 42 | f 14 8 2 43 | f 14 2 1 44 | f 15 9 6 45 | f 15 7 9 46 | f 15 11 7 47 | f 15 1 11 48 | f 16 10 3 49 | f 18 12 5 50 | f 18 5 4 51 | f 18 13 12 52 | f 18 16 3 53 | f 19 3 7 54 | f 19 7 13 55 | f 19 18 3 56 | f 19 13 18 57 | f 20 14 1 58 | f 20 15 6 59 | f 20 1 15 60 | f 21 5 8 61 | f 21 17 5 62 | f 23 18 4 63 | f 23 16 18 64 | f 24 20 6 65 | f 25 21 8 66 | f 25 8 14 67 | f 25 14 21 68 | f 26 22 10 69 | f 26 10 16 70 | f 26 16 23 71 | f 26 23 4 72 | f 26 4 22 73 | f 27 22 4 74 | f 27 4 5 75 | f 27 5 17 76 | f 28 17 21 77 | f 28 27 17 78 | f 29 24 6 79 | f 29 6 10 80 | f 29 28 24 81 | f 30 21 14 82 | f 30 14 20 83 | f 30 20 24 84 | f 30 28 21 85 | f 30 24 28 86 | f 31 10 22 87 | f 31 22 27 88 | f 31 27 28 89 | f 31 29 10 90 | f 31 28 29 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_22.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.08335540 0.32583033 -0.05186126 3 | v 0.18859082 0.36970960 -0.03529880 4 | v -0.19126015 0.30090242 0.01678627 5 | v -0.09513895 0.43593976 0.01488950 6 | v -0.10836341 0.39928376 -0.03702646 7 | v 0.18380064 0.40620232 0.01506964 8 | v 0.13033159 0.37630105 -0.05617626 9 | v -0.20957156 0.33516081 -0.06053441 10 | v 0.15504462 0.41847934 0.01617124 11 | v 0.08798661 0.34109776 0.00420475 12 | v 0.05115138 0.42789200 -0.01135299 13 | v -0.20123897 0.39532916 0.01249256 14 | v -0.15504465 0.41847924 0.01617123 15 | v 0.18027796 0.38446032 -0.02415150 16 | v 0.19853858 0.38832058 -0.00153888 17 | v 0.09332749 0.41481670 -0.02415150 18 | v -0.05115126 0.42789183 -0.01135286 19 | v 0.09513900 0.43593994 0.01488938 20 | v -0.18027801 0.38446051 -0.02415150 21 | v -0.18380067 0.40620240 0.01506957 22 | v -0.09332750 0.41481640 -0.02415150 23 | v 0.18084150 0.40066615 0.00325285 24 | v 0.12527589 0.38993770 -0.04197368 25 | v 0.15322239 0.41247224 0.00435445 26 | v 0.09331676 0.42993286 0.00307258 27 | v -0.15404531 0.38488208 -0.03766533 28 | v -0.19532067 0.38425686 -0.01114106 29 | v -0.18084153 0.40066625 0.00325275 30 | v -0.15322246 0.41247215 0.00435440 31 | v -0.09331672 0.42993266 0.00307272 32 | v -0.18130950 0.37123877 -0.03785419 33 | v -0.19822203 0.35938187 -0.04090062 34 | f 7 2 1 35 | f 8 1 3 36 | f 8 7 1 37 | f 8 5 7 38 | f 9 3 6 39 | f 10 1 2 40 | f 10 6 3 41 | f 10 3 1 42 | f 12 8 3 43 | f 13 9 4 44 | f 13 3 9 45 | f 14 2 7 46 | f 15 10 2 47 | f 15 6 10 48 | f 15 2 14 49 | f 17 4 11 50 | f 18 11 4 51 | f 18 4 9 52 | f 20 12 3 53 | f 20 3 13 54 | f 21 16 7 55 | f 21 7 5 56 | f 21 17 11 57 | f 21 11 16 58 | f 22 9 6 59 | f 22 15 14 60 | f 22 6 15 61 | f 23 16 14 62 | f 23 14 7 63 | f 23 7 16 64 | f 24 16 9 65 | f 24 14 16 66 | f 24 22 14 67 | f 24 9 22 68 | f 25 16 11 69 | f 25 11 18 70 | f 25 18 9 71 | f 25 9 16 72 | f 26 5 8 73 | f 26 21 5 74 | f 27 8 12 75 | f 27 12 19 76 | f 28 20 13 77 | f 28 19 12 78 | f 28 12 20 79 | f 29 13 4 80 | f 29 4 21 81 | f 29 28 13 82 | f 29 19 28 83 | f 29 26 19 84 | f 29 21 26 85 | f 30 21 4 86 | f 30 4 17 87 | f 30 17 21 88 | f 31 26 8 89 | f 31 8 19 90 | f 31 19 26 91 | f 32 27 19 92 | f 32 19 8 93 | f 32 8 27 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_24.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.25724902 -0.28913600 0.12410879 3 | v 0.25747810 -0.22855111 -0.11558224 4 | v 0.27345477 -0.27526906 0.12325517 5 | v 0.26677103 -0.19072304 -0.08273885 6 | v 0.12878788 -0.26515152 -0.12999000 7 | v 0.27293753 -0.19578375 -0.05470588 8 | v 0.25263775 -0.26505491 -0.09635995 9 | v 0.18710684 -0.23206162 -0.15353661 10 | v 0.26378246 -0.28194552 0.12135700 11 | v 0.27460656 -0.22745658 0.02043729 12 | v 0.26757586 -0.28325711 0.12801549 13 | v 0.13351566 -0.28914805 -0.11529966 14 | v 0.20454545 -0.21969697 -0.12999000 15 | v 0.19978463 -0.22904736 -0.14881691 16 | v 0.18278375 -0.27224846 -0.13013694 17 | v 0.25446383 -0.24122889 -0.11086254 18 | v 0.12878788 -0.28030303 -0.12999000 19 | v 0.19546153 -0.26923419 -0.12541723 20 | v 0.18409257 -0.24354023 -0.14778558 21 | f 6 2 4 22 | f 6 4 5 23 | f 7 2 6 24 | f 9 5 1 25 | f 9 3 5 26 | f 10 6 5 27 | f 10 5 3 28 | f 10 7 6 29 | f 10 3 7 30 | f 11 7 3 31 | f 11 1 7 32 | f 11 9 1 33 | f 11 3 9 34 | f 12 7 1 35 | f 12 1 5 36 | f 13 8 5 37 | f 13 5 4 38 | f 13 4 8 39 | f 14 8 4 40 | f 14 4 2 41 | f 15 7 12 42 | f 15 8 14 43 | f 16 14 2 44 | f 16 2 7 45 | f 17 15 12 46 | f 17 12 5 47 | f 17 5 8 48 | f 18 15 14 49 | f 18 14 16 50 | f 18 16 7 51 | f 18 7 15 52 | f 19 17 8 53 | f 19 8 15 54 | f 19 15 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_25.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.30625860 -0.25886664 0.15187301 3 | v -0.25082079 -0.25100014 0.00839825 4 | v -0.37330196 -0.14916949 0.15102638 5 | v -0.47462926 -0.14313750 0.15121883 6 | v -0.39762404 -0.23982149 0.05053982 7 | v -0.32421096 -0.14311272 0.00926546 8 | v -0.39353307 -0.14611422 0.16174862 9 | v -0.27627547 -0.25912926 0.09558050 10 | v -0.43422683 -0.24318880 0.15065500 11 | v -0.42176176 -0.14088880 0.01434907 12 | v -0.46277173 -0.13954054 0.10433433 13 | v -0.34531675 -0.15439385 0.09336451 14 | v -0.37463054 -0.24372854 0.01583385 15 | v -0.44264147 -0.14262644 0.16059441 16 | v -0.33174476 -0.25491354 0.16128609 17 | v -0.26474732 -0.23179976 0.00333759 18 | v -0.43209934 -0.13942850 0.03217296 19 | v -0.45985764 -0.19523690 0.15065500 20 | v -0.25841179 -0.26024982 0.05044777 21 | v -0.41519668 -0.16920033 0.01799355 22 | v -0.41149247 -0.24723433 0.15618512 23 | v -0.42670171 -0.20886349 0.07643802 24 | v -0.42919586 -0.17989361 0.04977557 25 | v -0.44193378 -0.18670219 0.15669959 26 | v -0.43020521 -0.24103920 0.13582272 27 | v -0.41278644 -0.19437276 0.03538175 28 | v -0.44516149 -0.15394620 0.06363586 29 | v -0.38550376 -0.22629024 0.01841088 30 | v -0.44844403 -0.13979044 0.06181362 31 | v -0.45892631 -0.15352555 0.10556977 32 | f 7 1 3 33 | f 7 3 6 34 | f 8 3 1 35 | f 12 6 3 36 | f 12 3 8 37 | f 13 9 5 38 | f 14 11 4 39 | f 14 7 6 40 | f 14 6 11 41 | f 15 1 7 42 | f 15 7 14 43 | f 16 10 6 44 | f 16 6 2 45 | f 16 13 10 46 | f 16 2 13 47 | f 17 11 6 48 | f 17 6 10 49 | f 18 4 11 50 | f 19 12 8 51 | f 19 2 6 52 | f 19 6 12 53 | f 19 13 2 54 | f 19 8 1 55 | f 20 10 13 56 | f 21 1 15 57 | f 21 19 1 58 | f 21 9 13 59 | f 21 13 19 60 | f 21 15 14 61 | f 23 13 5 62 | f 23 5 22 63 | f 23 22 18 64 | f 24 21 14 65 | f 24 18 9 66 | f 24 9 21 67 | f 24 14 4 68 | f 24 4 18 69 | f 25 22 5 70 | f 25 5 9 71 | f 25 9 18 72 | f 25 18 22 73 | f 26 23 20 74 | f 26 13 23 75 | f 27 20 23 76 | f 27 23 18 77 | f 28 26 20 78 | f 28 20 13 79 | f 28 13 26 80 | f 29 27 11 81 | f 29 11 17 82 | f 29 17 10 83 | f 29 10 20 84 | f 29 20 27 85 | f 30 27 18 86 | f 30 18 11 87 | f 30 11 27 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_26.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.32168181 -0.36624581 0.11680222 3 | v -0.31773387 -0.34628366 0.06093988 4 | v -0.33174476 -0.25491354 0.16128609 5 | v -0.42936891 -0.24869084 0.15117033 6 | v -0.40744488 -0.28788639 0.15065500 7 | v -0.39166344 -0.24473416 0.04500364 8 | v -0.32491823 -0.29476572 0.16427411 9 | v -0.35287741 -0.32586224 0.09181599 10 | v -0.35422466 -0.27336225 0.01950644 11 | v -0.41831383 -0.24278176 0.10438321 12 | v -0.31628201 -0.35966608 0.08911611 13 | v -0.31954639 -0.33334072 0.04427059 14 | v -0.38177709 -0.29169045 0.15596726 15 | v -0.39734277 -0.24776981 0.15991187 16 | v -0.33126207 -0.35945726 0.11950215 17 | v -0.39779087 -0.25506218 0.06434100 18 | v -0.40316021 -0.24278064 0.06235661 19 | v -0.41826191 -0.27305705 0.15065500 20 | v -0.35377808 -0.31144988 0.06434100 21 | v -0.39680729 -0.26263510 0.15791987 22 | v -0.32793380 -0.34025013 0.06434100 23 | v -0.38675078 -0.25725981 0.04796277 24 | v -0.41431055 -0.27094499 0.13608181 25 | v -0.38371243 -0.28084428 0.07645290 26 | v -0.32865214 -0.32865223 0.04832227 27 | v -0.36920173 -0.28137018 0.05086339 28 | f 9 6 3 29 | f 11 7 1 30 | f 11 2 7 31 | f 12 7 2 32 | f 12 3 7 33 | f 12 9 3 34 | f 13 1 7 35 | f 14 7 3 36 | f 14 10 4 37 | f 14 3 10 38 | f 15 5 8 39 | f 15 13 5 40 | f 15 1 13 41 | f 15 11 1 42 | f 17 10 3 43 | f 17 3 6 44 | f 17 16 10 45 | f 18 4 10 46 | f 18 14 4 47 | f 19 8 5 48 | f 20 13 7 49 | f 20 7 14 50 | f 20 5 13 51 | f 20 18 5 52 | f 20 14 18 53 | f 21 15 8 54 | f 21 2 11 55 | f 21 11 15 56 | f 21 8 19 57 | f 21 12 2 58 | f 22 6 9 59 | f 22 19 16 60 | f 22 17 6 61 | f 22 16 17 62 | f 23 5 18 63 | f 23 18 10 64 | f 23 10 16 65 | f 24 19 5 66 | f 24 16 19 67 | f 24 23 16 68 | f 24 5 23 69 | f 25 19 9 70 | f 25 9 12 71 | f 25 21 19 72 | f 25 12 21 73 | f 26 22 9 74 | f 26 9 19 75 | f 26 19 22 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_27.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.32411921 -0.21176829 0.12210762 3 | v -0.23484848 -0.20454545 -0.12999000 4 | v -0.23484848 -0.18939394 -0.12999000 5 | v -0.32972394 -0.06938502 -0.05301911 6 | v -0.30898250 -0.19557904 -0.09693453 7 | v -0.28030303 -0.09848485 -0.12999000 8 | v -0.24326233 -0.21145051 -0.10039151 9 | v -0.33493033 -0.19429681 0.12463575 10 | v -0.31443098 -0.09504898 -0.12842235 11 | v -0.27874306 -0.09801164 -0.15592712 12 | v -0.25775567 -0.19847581 -0.13116827 13 | v -0.32994648 -0.20678447 0.12753873 14 | v -0.33346401 -0.08567109 -0.02382826 15 | v -0.33007812 -0.19980184 0.12135700 16 | v -0.26197031 -0.14223900 -0.15353422 17 | v -0.29708851 -0.15186567 -0.12419678 18 | v -0.32590709 -0.06822717 -0.06703561 19 | v -0.25685960 -0.16981030 -0.14652009 20 | v -0.31272354 -0.10968256 -0.12626272 21 | v -0.28271184 -0.13712831 -0.14041171 22 | v -0.28826590 -0.09630421 -0.14880774 23 | v -0.28160707 -0.18199231 -0.12374392 24 | v -0.26923432 -0.19546156 -0.12541729 25 | f 6 1 3 26 | f 7 2 3 27 | f 7 3 1 28 | f 7 1 5 29 | f 10 6 3 30 | f 11 7 5 31 | f 11 2 7 32 | f 12 8 5 33 | f 12 5 1 34 | f 13 8 4 35 | f 13 5 8 36 | f 13 9 5 37 | f 13 4 9 38 | f 14 6 4 39 | f 14 4 8 40 | f 14 1 6 41 | f 14 12 1 42 | f 14 8 12 43 | f 15 10 3 44 | f 15 3 2 45 | f 17 9 4 46 | f 17 4 6 47 | f 17 6 10 48 | f 18 15 2 49 | f 18 2 11 50 | f 19 16 5 51 | f 19 5 9 52 | f 19 9 10 53 | f 20 10 15 54 | f 20 19 10 55 | f 20 16 19 56 | f 21 17 10 57 | f 21 10 9 58 | f 21 9 17 59 | f 22 5 16 60 | f 22 16 20 61 | f 22 20 15 62 | f 22 15 18 63 | f 23 22 18 64 | f 23 18 11 65 | f 23 11 5 66 | f 23 5 22 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_28.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.24274514 0.28992515 0.09613339 3 | v 0.23515414 0.28067548 0.05408387 4 | v 0.25372652 0.40653084 0.08736326 5 | v 0.14523220 0.37547393 0.15214698 6 | v 0.16098632 0.34641156 0.10767780 7 | v 0.23945477 0.34652193 0.16217089 8 | v 0.14405180 0.37158267 0.14493116 9 | v 0.20925944 0.30119864 0.05210643 10 | v 0.24238279 0.31978665 0.15187301 11 | v 0.23434178 0.37026414 0.16438608 12 | v 0.18674415 0.32080014 0.07097208 13 | v 0.21613301 0.29442272 0.04902318 14 | v 0.17799083 0.37822489 0.16090904 15 | f 1 2 3 16 | f 5 2 1 17 | f 7 5 1 18 | f 7 4 3 19 | f 7 3 5 20 | f 9 1 3 21 | f 9 3 6 22 | f 9 7 1 23 | f 9 4 7 24 | f 10 6 3 25 | f 11 5 3 26 | f 11 3 8 27 | f 12 8 3 28 | f 12 3 2 29 | f 12 11 8 30 | f 12 2 5 31 | f 12 5 11 32 | f 13 10 3 33 | f 13 3 4 34 | f 13 6 10 35 | f 13 9 6 36 | f 13 4 9 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_29.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.26127243 -0.42456092 0.15065500 3 | v 0.44052580 -0.23140415 0.15065500 4 | v 0.26242419 -0.38304037 0.16132881 5 | v 0.33345830 -0.24116829 0.15723722 6 | v 0.26322911 -0.23327081 -0.10943560 7 | v 0.41202791 -0.23236899 0.15817711 8 | v 0.38648662 -0.31342410 0.15065500 9 | v 0.25633499 -0.25633401 -0.10175050 10 | v 0.28194561 -0.26378265 0.12135700 11 | v 0.31459444 -0.22568719 -0.07036626 12 | v 0.31342408 -0.38648672 0.15065500 13 | v 0.38177707 -0.29169047 0.15596723 14 | v 0.25886964 -0.42006561 0.13407551 15 | v 0.27208581 -0.30390401 0.15546779 16 | v 0.28314911 -0.24961883 0.09305012 17 | v 0.27470771 -0.23025655 -0.10368459 18 | v 0.43596024 -0.22896381 0.13381647 19 | v 0.27305705 -0.41826191 0.15065500 20 | v 0.32363572 -0.31158174 0.02063703 21 | v 0.29169047 -0.38177709 0.15596729 22 | v 0.41826188 -0.27305704 0.15065500 23 | v 0.31252377 -0.24885680 0.14893889 24 | v 0.35377812 -0.31144992 0.06434100 25 | v 0.35428801 -0.23672700 -0.02415150 26 | v 0.25623904 -0.34520085 -0.01407352 27 | v 0.41149246 -0.24723433 0.15618510 28 | v 0.35287749 -0.32586239 0.09181605 29 | v 0.26916191 -0.38793972 0.06355025 30 | v 0.38371248 -0.28084433 0.07645291 31 | v 0.40253684 -0.22729592 0.04758056 32 | v 0.25659635 -0.37593918 0.03108181 33 | v 0.26663478 -0.33940597 -0.01009115 34 | v 0.26752953 -0.40038517 0.09089845 35 | v 0.31144984 -0.35377817 0.06434100 36 | v 0.39779104 -0.25506226 0.06434100 37 | v 0.35836015 -0.22797902 -0.02480440 38 | v 0.26021905 -0.39228708 0.05977949 39 | v 0.32586226 -0.35287759 0.09181605 40 | v 0.28084439 -0.38371271 0.07645291 41 | v 0.31158159 -0.32363580 0.02063704 42 | v 0.36920176 -0.28137021 0.05086344 43 | v 0.41431053 -0.27094500 0.13608176 44 | v 0.25860601 -0.40442090 0.08879291 45 | f 6 4 3 46 | f 10 4 6 47 | f 12 6 3 48 | f 13 1 3 49 | f 13 3 8 50 | f 14 3 4 51 | f 14 8 3 52 | f 14 5 8 53 | f 15 14 9 54 | f 15 5 14 55 | f 16 4 10 56 | f 16 15 4 57 | f 16 5 15 58 | f 16 10 8 59 | f 16 8 5 60 | f 17 10 6 61 | f 17 6 2 62 | f 18 11 3 63 | f 18 3 1 64 | f 18 1 13 65 | f 20 12 3 66 | f 20 3 11 67 | f 20 11 7 68 | f 20 7 12 69 | f 21 12 7 70 | f 21 2 6 71 | f 22 14 4 72 | f 22 9 14 73 | f 22 15 9 74 | f 22 4 15 75 | f 24 8 10 76 | f 24 23 19 77 | f 26 21 6 78 | f 26 6 12 79 | f 26 12 21 80 | f 27 23 7 81 | f 27 7 11 82 | f 29 21 7 83 | f 29 7 23 84 | f 30 10 17 85 | f 31 13 8 86 | f 31 8 25 87 | f 32 24 19 88 | f 32 25 8 89 | f 32 8 24 90 | f 33 11 18 91 | f 33 18 13 92 | f 34 19 23 93 | f 34 23 27 94 | f 34 31 25 95 | f 34 28 31 96 | f 35 29 23 97 | f 35 24 30 98 | f 35 30 17 99 | f 35 17 2 100 | f 35 2 21 101 | f 36 30 24 102 | f 36 24 10 103 | f 36 10 30 104 | f 37 31 28 105 | f 37 28 33 106 | f 38 34 27 107 | f 38 27 11 108 | f 39 33 28 109 | f 39 28 34 110 | f 39 34 38 111 | f 39 38 11 112 | f 39 11 33 113 | f 40 32 19 114 | f 40 19 34 115 | f 40 34 25 116 | f 40 25 32 117 | f 41 35 23 118 | f 41 23 24 119 | f 41 24 35 120 | f 42 35 21 121 | f 42 21 29 122 | f 42 29 35 123 | f 43 37 33 124 | f 43 33 13 125 | f 43 13 31 126 | f 43 31 37 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_3.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.19759660 0.25999512 -0.08582211 3 | v 0.19000562 0.25074535 -0.12787159 4 | v 0.15619944 0.39198328 -0.02856535 5 | v 0.00799651 0.37548405 0.08330248 6 | v 0.15909091 0.25000000 -0.12999000 7 | v 0.17197370 0.36696760 0.15392066 8 | v 0.18480763 0.37778324 -0.02875421 9 | v 0.12334262 0.28526718 -0.14391875 10 | v 0.11576911 0.37824287 0.14135592 11 | v 0.19633170 0.32358577 0.09548742 12 | v 0.12845334 0.26452564 -0.15704126 13 | v 0.18199233 0.28160703 -0.12374390 14 | v 0.00877623 0.35309774 0.00528119 15 | v 0.12743005 0.39703899 -0.03287367 16 | v 0.17972830 0.35117255 0.13915205 17 | v 0.16981031 0.25685957 -0.14652007 18 | v 0.18579802 0.26076984 -0.13588791 19 | v 0.13862750 0.33854970 -0.09752343 20 | v 0.12878788 0.26515152 -0.12999000 21 | v 0.00604175 0.35563709 0.01321998 22 | v 0.08569881 0.37901008 0.12579256 23 | v 0.12424280 0.34107756 -0.09967759 24 | v 0.15186566 0.29708849 -0.12419673 25 | v 0.16553711 0.32462250 -0.09738618 26 | v 0.12527589 0.38993770 -0.04197368 27 | v 0.16496704 0.35385899 -0.06609697 28 | f 5 2 1 29 | f 7 1 2 30 | f 7 3 6 31 | f 9 6 3 32 | f 10 5 1 33 | f 10 7 6 34 | f 10 1 7 35 | f 10 4 5 36 | f 12 11 8 37 | f 13 8 11 38 | f 14 9 3 39 | f 15 9 4 40 | f 15 6 9 41 | f 15 10 6 42 | f 15 4 10 43 | f 16 2 5 44 | f 16 5 11 45 | f 16 11 12 46 | f 17 12 7 47 | f 17 7 2 48 | f 17 16 12 49 | f 17 2 16 50 | f 18 3 7 51 | f 19 13 11 52 | f 19 11 5 53 | f 20 5 4 54 | f 20 14 13 55 | f 20 4 14 56 | f 20 19 5 57 | f 20 13 19 58 | f 21 14 4 59 | f 21 4 9 60 | f 21 9 14 61 | f 22 8 13 62 | f 22 18 8 63 | f 22 14 3 64 | f 22 3 18 65 | f 23 12 8 66 | f 23 8 18 67 | f 24 7 12 68 | f 24 23 18 69 | f 24 12 23 70 | f 25 22 13 71 | f 25 13 14 72 | f 25 14 22 73 | f 26 24 18 74 | f 26 18 7 75 | f 26 7 24 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_30.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.00790907 -0.48065685 0.15628627 3 | v 0.00708067 -0.47224615 0.15886232 4 | v -0.15853830 -0.46029946 0.15403592 5 | v -0.16225687 -0.36198369 0.14168007 6 | v 0.00852616 -0.39601330 0.14014918 7 | v -0.16097132 -0.39256252 0.16360116 8 | v -0.09923523 -0.47974641 0.15361072 9 | v 0.00822215 -0.42322933 0.16338820 10 | v -0.16107727 -0.46866948 0.14302628 11 | v -0.06763723 -0.47174354 0.15720558 12 | v 0.00911653 -0.40200662 0.15187301 13 | v -0.15766945 -0.44228370 0.15936768 14 | v -0.16472511 -0.36660143 0.15187301 15 | v -0.14738193 -0.36740922 0.13903810 16 | v -0.09800857 -0.47570264 0.15489877 17 | f 8 2 1 18 | f 9 3 6 19 | f 9 7 3 20 | f 9 5 1 21 | f 9 1 7 22 | f 10 7 1 23 | f 10 1 2 24 | f 11 8 1 25 | f 11 1 5 26 | f 11 5 4 27 | f 12 8 6 28 | f 12 2 8 29 | f 12 10 2 30 | f 12 6 3 31 | f 13 9 6 32 | f 13 4 9 33 | f 13 11 4 34 | f 13 6 8 35 | f 13 8 11 36 | f 14 9 4 37 | f 14 4 5 38 | f 14 5 9 39 | f 15 7 10 40 | f 15 10 12 41 | f 15 12 3 42 | f 15 3 7 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_31.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.34451958 -0.26539763 -0.00412723 3 | v -0.31586828 -0.24188404 -0.05655860 4 | v -0.33720407 -0.10195716 0.00536259 5 | v -0.43160938 -0.09842151 0.00888234 6 | v -0.38446034 -0.18027797 -0.02415150 7 | v -0.32155036 -0.09720861 -0.12227574 8 | v -0.37463054 -0.24372854 0.01583385 9 | v -0.35428751 -0.23672751 -0.02415150 10 | v -0.32193671 -0.09732580 -0.05070343 11 | v -0.40181162 -0.09397860 -0.03918058 12 | v -0.41847922 -0.15504456 0.01617131 13 | v -0.31802646 -0.17011008 -0.10183524 14 | v -0.41959517 -0.09477703 -0.01475122 15 | v -0.33107320 -0.09550118 -0.11515636 16 | v -0.31552709 -0.19907718 -0.08783451 17 | v -0.33854958 -0.13862751 -0.09752335 18 | v -0.38488186 -0.15404528 -0.03766526 19 | v -0.41303010 -0.12308855 -0.01110674 20 | v -0.32558214 -0.23742145 -0.05082222 21 | v -0.32462251 -0.16553711 -0.09738622 22 | v -0.31813550 -0.12647576 -0.11795648 23 | v -0.39928377 -0.10836330 -0.03702642 24 | v -0.41247212 -0.15322232 0.00435452 25 | v -0.35385901 -0.16496701 -0.06609698 26 | v -0.32765834 -0.12476833 -0.11083709 27 | f 1 2 3 28 | f 7 1 3 29 | f 8 2 1 30 | f 8 7 5 31 | f 8 1 7 32 | f 9 3 2 33 | f 11 7 3 34 | f 11 3 4 35 | f 11 5 7 36 | f 13 4 3 37 | f 13 3 9 38 | f 13 9 10 39 | f 14 10 9 40 | f 14 9 6 41 | f 15 8 5 42 | f 15 9 2 43 | f 16 10 14 44 | f 17 16 5 45 | f 18 4 13 46 | f 18 17 5 47 | f 18 13 17 48 | f 19 15 2 49 | f 19 2 8 50 | f 19 8 15 51 | f 20 15 5 52 | f 20 12 15 53 | f 20 16 12 54 | f 21 15 12 55 | f 21 6 9 56 | f 21 9 15 57 | f 21 12 16 58 | f 21 14 6 59 | f 22 17 13 60 | f 22 13 10 61 | f 22 10 16 62 | f 22 16 17 63 | f 23 18 5 64 | f 23 5 11 65 | f 23 11 4 66 | f 23 4 18 67 | f 24 20 5 68 | f 24 5 16 69 | f 24 16 20 70 | f 25 21 16 71 | f 25 16 14 72 | f 25 14 21 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_4.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.48967468 0.09765077 0.15085511 3 | v 0.47647775 0.09477821 0.10473058 4 | v 0.44052604 0.23140428 0.15065500 5 | v 0.31978669 0.24238289 0.15187301 6 | v 0.28030303 0.09848485 -0.12999000 7 | v 0.34652190 0.23945483 0.16217067 8 | v 0.45985786 0.19523701 0.15065500 9 | v 0.39644495 0.10154297 0.15619056 10 | v 0.36849546 0.21014613 -0.02415150 11 | v 0.47767627 0.13946562 0.15065500 12 | v 0.45768689 0.09713971 0.16023071 13 | v 0.21969697 0.15909091 -0.12999000 14 | v 0.40181171 0.09397863 -0.03918065 15 | v 0.42919619 0.17989373 0.04977543 16 | v 0.21145045 0.24326237 -0.10039153 17 | v 0.45933972 0.10819645 0.06417616 18 | v 0.44193384 0.18670222 0.15669958 19 | v 0.31443103 0.09504900 -0.12842242 20 | v 0.37150667 0.10317044 0.12168726 21 | v 0.38446051 0.18027794 -0.02415150 22 | v 0.41375613 0.22519404 0.06434100 23 | v 0.26095691 0.24384057 0.01988445 24 | v 0.47339212 0.13816604 0.13609309 25 | v 0.46262225 0.09404067 0.06235393 26 | v 0.45661356 0.14226863 0.15655067 27 | v 0.41202795 0.23236906 0.15817713 28 | v 0.22403687 0.22403786 -0.13930492 29 | v 0.38746599 0.10341539 0.15155646 30 | v 0.28992509 0.24274516 0.09613339 31 | v 0.41303023 0.12308860 -0.01110679 32 | v 0.30898248 0.19557889 -0.09693445 33 | v 0.42670206 0.20886361 0.07643791 34 | v 0.36847092 0.22528453 -0.01075879 35 | v 0.44627756 0.09367873 0.03271326 36 | v 0.21181773 0.19807909 -0.16071441 37 | v 0.20454545 0.21969697 -0.12999000 38 | v 0.41247228 0.15322237 0.00435447 39 | v 0.38488194 0.15404531 -0.03766533 40 | v 0.26895677 0.22553680 -0.10983120 41 | v 0.21969697 0.15909091 -0.16547599 42 | v 0.24248289 0.15507293 -0.16273502 43 | v 0.20454545 0.23484848 -0.12999000 44 | v 0.44243709 0.13796828 0.04999675 45 | v 0.39928386 0.10836333 -0.03702649 46 | v 0.33854967 0.13862753 -0.09752342 47 | v 0.30490820 0.09675641 -0.13554180 48 | v 0.28344968 0.20984478 -0.10879995 49 | v 0.21246240 0.22603310 -0.14409713 50 | v 0.35385913 0.16496696 -0.06609706 51 | v 0.28160699 0.18199227 -0.12374387 52 | v 0.31272362 0.10968254 -0.12626278 53 | v 0.23778930 0.17937282 -0.15393218 54 | v 0.26723033 0.16725492 -0.13995881 55 | f 6 3 4 56 | f 8 6 4 57 | f 10 1 2 58 | f 11 1 10 59 | f 11 6 8 60 | f 11 2 1 61 | f 16 14 7 62 | f 17 10 7 63 | f 18 11 8 64 | f 18 8 5 65 | f 19 12 5 66 | f 19 5 8 67 | f 21 14 20 68 | f 22 4 3 69 | f 22 3 15 70 | f 23 16 7 71 | f 23 7 10 72 | f 23 10 2 73 | f 23 2 16 74 | f 24 16 2 75 | f 25 17 11 76 | f 25 11 10 77 | f 25 10 17 78 | f 26 3 6 79 | f 26 6 11 80 | f 26 11 17 81 | f 26 17 7 82 | f 26 7 3 83 | f 28 19 8 84 | f 28 8 4 85 | f 28 4 19 86 | f 29 19 4 87 | f 29 12 19 88 | f 29 4 22 89 | f 29 22 15 90 | f 31 9 20 91 | f 32 7 14 92 | f 32 14 21 93 | f 32 21 3 94 | f 32 3 7 95 | f 33 15 3 96 | f 33 3 21 97 | f 33 9 31 98 | f 33 21 20 99 | f 33 20 9 100 | f 34 18 13 101 | f 34 13 30 102 | f 34 16 24 103 | f 34 11 18 104 | f 34 24 2 105 | f 34 2 11 106 | f 36 29 15 107 | f 36 12 29 108 | f 37 30 20 109 | f 37 20 14 110 | f 38 20 30 111 | f 39 15 33 112 | f 39 33 31 113 | f 40 5 12 114 | f 40 36 35 115 | f 40 12 36 116 | f 41 40 35 117 | f 42 36 15 118 | f 42 35 36 119 | f 42 15 39 120 | f 43 37 14 121 | f 43 14 16 122 | f 43 30 37 123 | f 43 34 30 124 | f 43 16 34 125 | f 44 38 30 126 | f 44 30 13 127 | f 45 20 38 128 | f 45 13 18 129 | f 45 44 13 130 | f 45 38 44 131 | f 46 18 5 132 | f 46 5 40 133 | f 46 40 41 134 | f 47 39 31 135 | f 48 27 35 136 | f 48 35 42 137 | f 48 42 39 138 | f 48 39 27 139 | f 49 45 31 140 | f 49 31 20 141 | f 49 20 45 142 | f 50 31 45 143 | f 50 47 31 144 | f 51 45 18 145 | f 51 18 46 146 | f 51 46 41 147 | f 51 41 45 148 | f 52 41 35 149 | f 52 39 47 150 | f 52 35 27 151 | f 52 27 39 152 | f 52 50 41 153 | f 52 47 50 154 | f 53 50 45 155 | f 53 45 41 156 | f 53 41 50 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_5.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.18939394 0.23484848 -0.12999000 3 | v -0.08333333 0.29545455 -0.12999000 4 | v -0.19878096 0.31497292 0.07285230 5 | v -0.16846515 0.36040364 -0.05699692 6 | v -0.12845332 0.26452559 -0.15704121 7 | v -0.08286914 0.36968186 -0.08083862 8 | v -0.20229025 0.33668987 -0.06308981 9 | v -0.09848485 0.28030303 -0.12999000 10 | v -0.08567109 0.33346401 -0.02382826 11 | v -0.16267037 0.33245431 0.06721170 12 | v -0.13862747 0.33854958 -0.09752322 13 | v -0.08086758 0.33278063 -0.11731597 14 | v -0.21145051 0.24326233 -0.10039151 15 | v -0.19847582 0.25775561 -0.13116827 16 | v -0.21178981 0.30428183 0.06612296 17 | v -0.12817742 0.36919970 -0.06527621 18 | v -0.14875330 0.33476382 0.05131500 19 | v -0.19557899 0.30898241 -0.09693439 20 | v -0.08071502 0.36258056 -0.08993863 21 | v -0.12334261 0.28526710 -0.14391865 22 | v -0.16981036 0.25685955 -0.14652015 23 | v -0.20454545 0.23484848 -0.12999000 24 | v -0.21360273 0.29133937 0.03500672 25 | v -0.16496697 0.35385904 -0.06609688 26 | v -0.12476829 0.32765830 -0.11083704 27 | v -0.15186562 0.29708843 -0.12419667 28 | v -0.18199236 0.28160691 -0.12374390 29 | v -0.19546155 0.26923422 -0.12541726 30 | f 7 3 4 31 | f 8 5 2 32 | f 8 1 5 33 | f 9 8 2 34 | f 10 4 3 35 | f 12 2 5 36 | f 12 9 2 37 | f 15 1 8 38 | f 15 3 7 39 | f 15 8 9 40 | f 15 10 3 41 | f 15 9 10 42 | f 16 10 6 43 | f 16 4 10 44 | f 16 11 4 45 | f 17 10 9 46 | f 17 9 6 47 | f 17 6 10 48 | f 18 7 4 49 | f 18 14 7 50 | f 19 12 11 51 | f 19 6 9 52 | f 19 9 12 53 | f 19 16 6 54 | f 19 11 16 55 | f 20 12 5 56 | f 21 20 5 57 | f 22 13 7 58 | f 22 7 14 59 | f 22 1 13 60 | f 22 14 21 61 | f 22 21 5 62 | f 22 5 1 63 | f 23 13 1 64 | f 23 1 15 65 | f 23 15 7 66 | f 23 7 13 67 | f 24 18 4 68 | f 24 4 11 69 | f 24 11 18 70 | f 25 20 11 71 | f 25 11 12 72 | f 25 12 20 73 | f 26 18 11 74 | f 26 11 20 75 | f 26 20 21 76 | f 27 26 21 77 | f 27 18 26 78 | f 28 27 21 79 | f 28 21 14 80 | f 28 14 18 81 | f 28 18 27 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_6.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.23434178 0.37026414 0.16438608 3 | v 0.25372652 0.40653084 0.08736326 4 | v 0.19523697 0.45985757 0.15065500 5 | v -0.08179371 0.49194390 0.15065500 6 | v -0.19126015 0.30090242 0.01678627 7 | v 0.05122930 0.44383459 0.01852778 8 | v 0.06763726 0.47174361 0.15720557 9 | v 0.23140428 0.44052597 0.15065500 10 | v 0.19853858 0.38832058 -0.00153888 11 | v -0.20819359 0.36288581 0.16129739 12 | v 0.08179380 0.49194423 0.15065500 13 | v -0.19632630 0.40128974 0.01802871 14 | v 0.18670220 0.44193377 0.15669958 15 | v 0.23236906 0.41202794 0.15817717 16 | v 0.10819642 0.45933962 0.06417620 17 | v -0.21176825 0.32411903 0.12210771 18 | v -0.20210298 0.42724863 0.15843437 19 | v 0.03598366 0.47318190 0.07531703 20 | v -0.08798678 0.34109770 0.00420474 21 | v -0.05122918 0.44383446 0.01852788 22 | v 0.14226864 0.45661348 0.15655068 23 | v 0.12345052 0.42937486 0.01853385 24 | v 0.17989363 0.42919583 0.04977558 25 | v 0.13816605 0.47339208 0.13609310 26 | v -0.20460809 0.31072325 0.06933468 27 | v -0.06763725 0.47174353 0.15720556 28 | v -0.19523699 0.45985781 0.15065500 29 | v 0.02086628 0.48867997 0.12066451 30 | v 0.06634521 0.45862456 0.04902380 31 | v 0.08145636 0.47336652 0.09041148 32 | v -0.16920045 0.41519674 0.01799342 33 | v -0.03598357 0.47318174 0.07531704 34 | v 0.10783446 0.44299496 0.03453550 35 | v 0.20912726 0.44234649 0.12172057 36 | v 0.16920039 0.41519682 0.01799347 37 | v 0.10772514 0.47293754 0.10593611 38 | v -0.19532568 0.42972074 0.06434100 39 | v -0.14226865 0.45661353 0.15655067 40 | v -0.12345050 0.42937471 0.01853397 41 | v -0.02086616 0.48867987 0.12066455 42 | v 0.22495148 0.42845353 0.10613032 43 | v 0.13796826 0.44243700 0.04999678 44 | v 0.18380064 0.40620232 0.01506964 45 | v -0.17989361 0.42919586 0.04977551 46 | v -0.18670220 0.44193381 0.15669961 47 | v -0.10819638 0.45933950 0.06417628 48 | v -0.06634512 0.45862436 0.04902390 49 | v -0.10783444 0.44299482 0.03453562 50 | v -0.13796821 0.44243687 0.04999687 51 | v -0.08145628 0.47336620 0.09041157 52 | v -0.13816610 0.47339202 0.13609312 53 | v -0.10772517 0.47293740 0.10593615 54 | f 9 2 1 55 | f 9 1 5 56 | f 13 8 3 57 | f 14 1 2 58 | f 14 2 8 59 | f 14 13 1 60 | f 14 8 13 61 | f 16 1 10 62 | f 17 16 10 63 | f 17 12 16 64 | f 17 10 1 65 | f 19 9 5 66 | f 19 5 12 67 | f 20 6 9 68 | f 20 18 6 69 | f 21 7 1 70 | f 21 1 13 71 | f 21 11 7 72 | f 21 13 3 73 | f 21 3 11 74 | f 22 9 6 75 | f 23 15 3 76 | f 23 2 9 77 | f 24 11 3 78 | f 24 3 15 79 | f 25 5 1 80 | f 25 1 16 81 | f 25 16 12 82 | f 25 12 5 83 | f 26 11 4 84 | f 26 7 11 85 | f 26 17 1 86 | f 26 1 7 87 | f 28 4 11 88 | f 29 18 15 89 | f 29 6 18 90 | f 30 15 18 91 | f 30 28 11 92 | f 30 18 28 93 | f 31 19 12 94 | f 31 9 19 95 | f 32 18 20 96 | f 32 28 18 97 | f 33 22 6 98 | f 33 29 15 99 | f 33 6 29 100 | f 34 23 3 101 | f 34 8 2 102 | f 34 3 8 103 | f 35 22 33 104 | f 35 9 22 105 | f 36 24 15 106 | f 36 11 24 107 | f 36 30 11 108 | f 36 15 30 109 | f 37 12 17 110 | f 37 17 27 111 | f 38 26 4 112 | f 38 4 27 113 | f 38 17 26 114 | f 39 20 9 115 | f 39 9 31 116 | f 40 4 28 117 | f 40 28 32 118 | f 41 34 2 119 | f 41 2 23 120 | f 41 23 34 121 | f 42 15 23 122 | f 42 23 35 123 | f 42 35 33 124 | f 42 33 15 125 | f 43 35 23 126 | f 43 23 9 127 | f 43 9 35 128 | f 44 31 12 129 | f 44 12 37 130 | f 45 38 27 131 | f 45 27 17 132 | f 45 17 38 133 | f 46 44 37 134 | f 46 37 27 135 | f 47 46 32 136 | f 47 32 20 137 | f 48 20 39 138 | f 48 39 31 139 | f 48 31 46 140 | f 48 47 20 141 | f 48 46 47 142 | f 49 46 31 143 | f 49 31 44 144 | f 49 44 46 145 | f 50 32 46 146 | f 50 40 32 147 | f 50 4 40 148 | f 51 46 27 149 | f 51 27 4 150 | f 52 50 46 151 | f 52 4 50 152 | f 52 51 4 153 | f 52 46 51 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_7.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.39644509 0.10154299 0.15619056 3 | v -0.25787373 0.24131028 0.00586792 4 | v -0.31978659 0.24238275 0.15187301 5 | v -0.44052601 0.23140427 0.15065500 6 | v -0.40181181 0.09397866 -0.03918068 7 | v -0.32606722 0.23510260 -0.05216628 8 | v -0.34652184 0.23945478 0.16217063 9 | v -0.38746601 0.10341548 0.15155639 10 | v -0.48967465 0.09765077 0.15085503 11 | v -0.26095696 0.24384061 0.01988443 12 | v -0.42919587 0.17989359 0.04977551 13 | v -0.32193675 0.09732581 -0.05070344 14 | v -0.45768687 0.09713970 0.16023063 15 | v -0.28992509 0.24274509 0.09613341 16 | v -0.38446051 0.18027801 -0.02415150 17 | v -0.41375581 0.22519393 0.06434100 18 | v -0.45985781 0.19523699 0.15065500 19 | v -0.46262201 0.09404060 0.06235399 20 | v -0.33720417 0.10195709 0.00536256 21 | v -0.41202797 0.23236906 0.15817715 22 | v -0.38488208 0.15404530 -0.03766533 23 | v -0.36847091 0.22528458 -0.01075893 24 | v -0.42670173 0.20886350 0.07643804 25 | v -0.45661351 0.14226867 0.15655062 26 | v -0.45933947 0.10819637 0.06417621 27 | v -0.47647777 0.09477722 0.10473063 28 | v -0.34374181 0.22826393 -0.04044892 29 | v -0.41303027 0.12308861 -0.01110693 30 | v -0.47767616 0.13946567 0.15065500 31 | v -0.44193381 0.18670221 0.15669961 32 | v -0.35559869 0.21135139 -0.03740251 33 | v -0.36849554 0.21014624 -0.02415150 34 | v -0.41247224 0.15322238 0.00435437 35 | v -0.39928397 0.10836336 -0.03702652 36 | v -0.47339199 0.13816609 0.13609320 37 | f 7 1 3 38 | f 7 3 4 39 | f 8 3 1 40 | f 10 2 6 41 | f 10 6 4 42 | f 10 4 3 43 | f 12 6 2 44 | f 12 5 6 45 | f 12 8 1 46 | f 13 1 7 47 | f 13 12 1 48 | f 14 10 3 49 | f 14 3 8 50 | f 14 8 10 51 | f 16 4 6 52 | f 16 15 11 53 | f 18 5 12 54 | f 18 12 13 55 | f 19 10 8 56 | f 19 8 12 57 | f 19 12 2 58 | f 19 2 10 59 | f 20 13 7 60 | f 20 7 4 61 | f 20 4 17 62 | f 21 6 5 63 | f 22 16 6 64 | f 23 16 11 65 | f 23 11 17 66 | f 23 17 4 67 | f 23 4 16 68 | f 25 17 11 69 | f 26 18 13 70 | f 26 13 9 71 | f 26 25 18 72 | f 27 6 21 73 | f 27 22 6 74 | f 28 15 21 75 | f 28 18 25 76 | f 28 5 18 77 | f 29 9 13 78 | f 29 13 24 79 | f 29 26 9 80 | f 30 20 17 81 | f 30 29 24 82 | f 30 17 29 83 | f 30 24 13 84 | f 30 13 20 85 | f 31 27 21 86 | f 31 21 15 87 | f 31 15 27 88 | f 32 27 15 89 | f 32 22 27 90 | f 32 15 16 91 | f 32 16 22 92 | f 33 11 15 93 | f 33 15 28 94 | f 33 28 25 95 | f 33 25 11 96 | f 34 28 21 97 | f 34 21 5 98 | f 34 5 28 99 | f 35 29 17 100 | f 35 17 25 101 | f 35 25 26 102 | f 35 26 29 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_8.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.37271478 -0.06982211 0.09491341 3 | v 0.49785573 -0.02176992 0.15065500 4 | v 0.41119757 -0.02368091 0.15766231 5 | v 0.38746599 0.10341539 0.15155646 6 | v 0.39555927 0.10587050 -0.04228456 7 | v 0.45768689 0.09713971 0.16023071 8 | v 0.40052866 -0.02412238 0.15187301 9 | v 0.37652380 -0.06572039 0.10682158 10 | v 0.44613979 -0.02115331 0.01729725 11 | v 0.32957052 0.09964149 -0.02267045 12 | v 0.47212050 -0.02221984 0.15844812 13 | v 0.40839678 0.10057237 0.16229797 14 | v 0.48967468 0.09765077 0.15085511 15 | v 0.47453201 -0.02096505 0.07489994 16 | v 0.34102105 0.10311505 0.01937905 17 | v 0.34379169 -0.02301118 -0.02236085 18 | v 0.47174354 0.06763726 0.15720559 19 | v 0.36080660 -0.06864926 0.05286390 20 | v 0.48867996 0.02086617 0.12066452 21 | v 0.46262225 0.09404067 0.06235393 22 | v 0.37150667 0.10317044 0.12168726 23 | v 0.33978764 0.05441213 -0.02554838 24 | v 0.49194399 0.08179372 0.15065500 25 | v 0.48867982 -0.02086620 0.12066456 26 | v 0.47318183 0.03598358 0.07531702 27 | v 0.44383452 0.05122920 0.01852785 28 | v 0.47647775 0.09477821 0.10473058 29 | v 0.43593998 0.09513902 0.01488938 30 | v 0.45862443 0.06634512 0.04902387 31 | v 0.47336629 0.08145629 0.09041155 32 | v 0.44627756 0.09367873 0.03271326 33 | f 7 3 4 34 | f 8 1 2 35 | f 8 3 7 36 | f 8 7 4 37 | f 11 8 2 38 | f 11 3 8 39 | f 12 4 3 40 | f 12 11 6 41 | f 12 3 11 42 | f 13 5 4 43 | f 13 12 6 44 | f 13 4 12 45 | f 14 2 1 46 | f 15 5 10 47 | f 16 5 9 48 | f 17 11 2 49 | f 17 13 6 50 | f 17 6 11 51 | f 18 14 1 52 | f 18 9 14 53 | f 18 16 9 54 | f 18 10 16 55 | f 18 15 10 56 | f 18 1 15 57 | f 20 5 13 58 | f 21 8 4 59 | f 21 4 5 60 | f 21 5 15 61 | f 21 15 1 62 | f 21 1 8 63 | f 22 16 10 64 | f 22 10 5 65 | f 22 5 16 66 | f 23 17 2 67 | f 23 13 17 68 | f 23 2 19 69 | f 24 19 2 70 | f 24 2 14 71 | f 24 14 19 72 | f 25 14 9 73 | f 25 19 14 74 | f 26 9 5 75 | f 26 25 9 76 | f 27 20 13 77 | f 27 13 23 78 | f 27 23 19 79 | f 28 26 5 80 | f 28 5 20 81 | f 29 26 20 82 | f 29 20 25 83 | f 29 25 26 84 | f 30 25 20 85 | f 30 20 27 86 | f 30 27 19 87 | f 30 19 25 88 | f 31 28 20 89 | f 31 20 26 90 | f 31 26 28 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/collision/model_normalized_collision_9.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.42176179 -0.14088888 0.01434905 3 | v 0.43593983 -0.09513896 0.01488940 4 | v 0.34415266 0.09027632 0.01681309 5 | v 0.32725440 0.10353508 -0.02648729 6 | v 0.26515152 -0.09848485 -0.16547599 7 | v 0.43593998 0.09513902 0.01488938 8 | v 0.33854970 -0.13862750 -0.09752343 9 | v 0.31996132 -0.14893995 0.00574782 10 | v 0.30490820 0.09675641 -0.13554180 11 | v 0.41481670 -0.09332749 -0.02415150 12 | v 0.26515152 -0.09848485 -0.12999000 13 | v 0.27907122 -0.15137972 -0.11693708 14 | v 0.30967093 0.10279735 -0.08637016 15 | v 0.31218721 -0.02139079 -0.14139552 16 | v 0.40091331 -0.13916065 -0.02415150 17 | v 0.42789198 -0.05115139 -0.01135299 18 | v 0.29545455 0.09848485 -0.12999000 19 | v 0.30867636 -0.15100669 -0.02580280 20 | v 0.26197034 -0.14223902 -0.15353430 21 | v 0.32712927 -0.06506953 -0.12557288 22 | v 0.30312329 0.02199026 -0.14879941 23 | v 0.42993276 -0.09331673 0.00307257 24 | v 0.25796445 -0.12494631 -0.16318800 25 | v 0.26515152 -0.12878788 -0.12999000 26 | v 0.27162377 -0.09585204 -0.16207392 27 | v 0.36939889 -0.07818724 -0.08283725 28 | v 0.36939899 0.07818714 -0.08283738 29 | v 0.28271185 -0.13712828 -0.14041177 30 | v 0.34230341 -0.07916022 -0.11019659 31 | v 0.26833520 -0.12239094 -0.15662674 32 | v 0.40006441 -0.02109211 -0.05338685 33 | v 0.32712913 0.06507054 -0.12557284 34 | v 0.41481665 0.09332747 -0.02415150 35 | v 0.34230353 0.07916019 -0.11019667 36 | v 0.31218721 0.02139072 -0.14139552 37 | v 0.31443103 0.09504900 -0.12842242 38 | v 0.40006444 0.02109207 -0.05338688 39 | v 0.42789189 0.05115128 -0.01135289 40 | v 0.42993287 0.09331678 0.00307260 41 | f 1 2 3 42 | f 6 3 2 43 | f 6 4 3 44 | f 8 1 3 45 | f 11 8 3 46 | f 11 3 4 47 | f 13 4 6 48 | f 13 6 9 49 | f 15 10 1 50 | f 15 7 10 51 | f 15 12 7 52 | f 15 1 12 53 | f 16 6 2 54 | f 17 9 5 55 | f 17 13 9 56 | f 17 11 4 57 | f 17 4 13 58 | f 18 12 1 59 | f 18 1 8 60 | f 19 7 12 61 | f 19 12 18 62 | f 21 5 9 63 | f 22 16 2 64 | f 22 10 16 65 | f 22 2 1 66 | f 22 1 10 67 | f 23 17 5 68 | f 23 11 17 69 | f 24 18 8 70 | f 24 8 11 71 | f 24 19 18 72 | f 24 23 19 73 | f 24 11 23 74 | f 25 14 20 75 | f 25 21 14 76 | f 25 5 21 77 | f 25 23 5 78 | f 26 10 7 79 | f 28 7 19 80 | f 28 19 23 81 | f 29 25 20 82 | f 29 7 25 83 | f 29 26 7 84 | f 29 20 14 85 | f 30 25 7 86 | f 30 23 25 87 | f 30 28 23 88 | f 30 7 28 89 | f 31 16 10 90 | f 31 10 26 91 | f 31 29 14 92 | f 31 26 29 93 | f 32 21 9 94 | f 33 9 6 95 | f 35 14 21 96 | f 35 21 32 97 | f 35 32 34 98 | f 36 33 27 99 | f 36 9 33 100 | f 36 27 34 101 | f 36 34 32 102 | f 36 32 9 103 | f 37 27 33 104 | f 37 34 27 105 | f 37 35 34 106 | f 37 31 14 107 | f 37 14 35 108 | f 37 16 31 109 | f 38 6 16 110 | f 38 37 33 111 | f 38 16 37 112 | f 39 38 33 113 | f 39 33 6 114 | f 39 6 38 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/visual/image0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/bowl_7/visual/image0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/visual/material.mtl: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | 3 | newmtl material_0 4 | Ka 1.00000000 1.00000000 1.00000000 5 | Kd 0.80000000 0.80000000 0.80000000 6 | Ks 0.50196078 0.50196078 0.50196078 7 | Ns 250.00000000 8 | map_Kd material_0.jpeg -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/bowl_7/visual/material_0.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/bowl_7/visual/material_0.jpeg -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_0.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.28331946 0.14818015 0.49976552 3 | v -0.13326477 0.22327840 -0.41653516 4 | v -0.26312741 0.12290829 0.34038922 5 | v -0.14810415 0.28328602 0.49976552 6 | v -0.19560557 0.25648314 0.48965908 7 | v -0.13913603 0.24968673 0.26450956 8 | v -0.15787514 0.25656518 0.49999999 9 | v -0.21298936 0.12057781 -0.41686926 10 | v -0.21687155 0.15642168 -0.34018662 11 | v -0.19590122 0.25677320 0.49976552 12 | v -0.17192658 0.27086090 0.49976552 13 | v -0.12764144 0.27310300 0.25088899 14 | v -0.25713280 0.15776775 0.49999999 15 | v -0.27293530 0.11271001 0.14483146 16 | v -0.13865275 0.20330560 -0.41724524 17 | v -0.15653898 0.21120074 -0.41565921 18 | v -0.25562929 0.19530572 0.48965908 19 | v -0.12794580 0.22823198 -0.38551564 20 | v -0.12807623 0.27393662 0.26598193 21 | v -0.25592498 0.19559582 0.49976552 22 | v -0.28387795 0.11815502 0.34103977 23 | v -0.26230568 0.11496008 0.00815319 24 | v -0.20993786 0.12659872 -0.41768893 25 | v -0.27123335 0.17246919 0.49976552 26 | v -0.19850947 0.16842318 -0.41566401 27 | f 7 3 6 28 | f 8 6 3 29 | f 11 4 2 30 | f 11 5 10 31 | f 11 10 7 32 | f 11 7 4 33 | f 13 1 3 34 | f 13 3 7 35 | f 13 7 10 36 | f 14 8 3 37 | f 15 6 8 38 | f 15 12 6 39 | f 16 11 2 40 | f 16 5 11 41 | f 18 2 4 42 | f 18 4 12 43 | f 18 15 2 44 | f 18 12 15 45 | f 19 7 6 46 | f 19 6 12 47 | f 19 12 4 48 | f 19 4 7 49 | f 20 13 10 50 | f 20 10 5 51 | f 20 5 17 52 | f 21 14 3 53 | f 21 3 1 54 | f 21 1 14 55 | f 22 9 8 56 | f 22 8 14 57 | f 22 14 1 58 | f 22 1 9 59 | f 23 15 8 60 | f 23 2 15 61 | f 24 17 9 62 | f 24 9 1 63 | f 24 20 17 64 | f 24 1 13 65 | f 24 13 20 66 | f 25 9 17 67 | f 25 16 2 68 | f 25 2 23 69 | f 25 23 8 70 | f 25 8 9 71 | f 25 17 5 72 | f 25 5 16 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_1.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.14648702 -0.28416206 0.49976552 3 | v -0.12783562 -0.23167391 -0.34001341 4 | v -0.27896194 -0.06413386 0.26463755 5 | v -0.31119458 -0.07706204 0.49976552 6 | v -0.25343986 -0.18784609 0.41795875 7 | v -0.25401238 -0.07763778 -0.35596959 8 | v -0.29145333 -0.07883806 0.49999999 9 | v -0.14337942 -0.24776029 0.26390744 10 | v -0.18354231 -0.25774783 0.43311036 11 | v -0.26912030 -0.17526381 0.49976552 12 | v -0.23614571 -0.08361504 -0.35681272 13 | v -0.28849809 -0.06064179 0.14472328 14 | v -0.20991329 -0.16841094 -0.29409928 15 | v -0.29591548 -0.06188906 0.26546686 16 | v -0.12794275 -0.26219224 0.09936554 17 | v -0.15607464 -0.25797542 0.49999999 18 | v -0.15470705 -0.21725470 -0.35507701 19 | v -0.30008384 -0.11500228 0.48965908 20 | v -0.17077606 -0.27207595 0.49976552 21 | v -0.13869888 -0.20805090 -0.35666748 22 | v -0.25541316 -0.07532551 -0.33994947 23 | v -0.22197694 -0.14407995 -0.35477316 24 | v -0.22490501 -0.16824808 -0.12741840 25 | v -0.13255005 -0.27145137 0.26538797 26 | v -0.17065719 -0.27183706 0.49325599 27 | v -0.30045117 -0.11519385 0.49976552 28 | v -0.25377645 -0.08513583 -0.33974447 29 | v -0.13343647 -0.22777823 -0.35594810 30 | v -0.27126839 -0.06538797 0.14296677 31 | v -0.22667194 -0.10172792 -0.35720108 32 | v -0.26875303 -0.17507228 0.48965908 33 | v -0.22162371 -0.15904723 -0.24868774 34 | v -0.14329379 -0.27774474 0.43267097 35 | v -0.23764039 -0.11404393 -0.35480913 36 | f 10 5 9 37 | f 14 7 3 38 | f 14 4 7 39 | f 14 12 4 40 | f 14 3 12 41 | f 15 1 2 42 | f 16 7 10 43 | f 16 8 3 44 | f 16 3 7 45 | f 17 9 5 46 | f 19 10 9 47 | f 19 16 10 48 | f 19 1 16 49 | f 20 15 2 50 | f 20 8 15 51 | f 21 6 4 52 | f 21 4 12 53 | f 21 11 6 54 | f 22 17 13 55 | f 23 17 5 56 | f 23 13 17 57 | f 24 15 8 58 | f 24 1 15 59 | f 24 8 16 60 | f 25 1 19 61 | f 25 19 9 62 | f 25 9 17 63 | f 26 4 18 64 | f 26 10 7 65 | f 26 7 4 66 | f 27 18 4 67 | f 27 4 6 68 | f 28 20 2 69 | f 28 25 17 70 | f 28 2 1 71 | f 28 1 25 72 | f 29 20 11 73 | f 29 3 8 74 | f 29 8 20 75 | f 29 11 21 76 | f 29 21 12 77 | f 29 12 3 78 | f 30 22 6 79 | f 30 6 11 80 | f 30 11 20 81 | f 30 20 28 82 | f 30 28 17 83 | f 30 17 22 84 | f 31 26 18 85 | f 31 10 26 86 | f 31 23 5 87 | f 31 5 10 88 | f 32 22 13 89 | f 32 13 23 90 | f 32 31 22 91 | f 32 23 31 92 | f 33 24 16 93 | f 33 16 1 94 | f 33 1 24 95 | f 34 27 6 96 | f 34 6 22 97 | f 34 18 27 98 | f 34 31 18 99 | f 34 22 31 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_10.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.31448320 0.05750471 0.49976552 3 | v 0.28963559 0.07102578 0.19037413 4 | v 0.26231578 0.18830979 0.49976552 5 | v 0.16372718 0.27558332 0.49976552 6 | v 0.27978541 0.05931352 0.26484797 7 | v 0.18366476 0.22457776 0.05440253 8 | v 0.29474201 0.05928075 0.49999999 9 | v 0.30273220 0.10992448 0.48965908 10 | v 0.29673962 0.05706885 0.26568296 11 | v 0.24590406 0.15734947 0.08430248 12 | v 0.17568712 0.26916938 0.48965908 13 | v 0.16438611 0.22095369 0.05209952 14 | v 0.30309950 0.11011605 0.49976552 15 | v 0.18389398 0.24054528 0.49999999 16 | v 0.28820343 0.09668484 0.23600747 17 | v 0.30555779 0.05600386 0.40244666 18 | v 0.23086305 0.18090047 0.08455046 19 | v 0.28706679 0.13995947 0.48965908 20 | v 0.14995434 0.24805095 0.05354535 21 | v 0.17587167 0.26954025 0.49976552 22 | v 0.18371913 0.25493620 0.40288254 23 | v 0.16062747 0.23919730 0.26419994 24 | v 0.27233178 0.07575948 0.18861698 25 | v 0.20650366 0.20210986 0.05371876 26 | v 0.28716741 0.08576225 0.19053004 27 | v 0.25828114 0.13350200 0.08343290 28 | v 0.24138275 0.17014280 0.11492317 29 | v 0.17024083 0.23906828 0.06952480 30 | v 0.16179881 0.27170796 0.47825020 31 | v 0.14728542 0.25783886 0.17513067 32 | v 0.16211046 0.24203124 0.05396420 33 | v 0.26240110 0.12774824 0.09935946 34 | v 0.23758165 0.13851094 0.08277337 35 | v 0.24346311 0.18045118 0.22106025 36 | v 0.14979851 0.26288931 0.26568835 37 | f 9 5 2 38 | f 9 2 1 39 | f 13 7 1 40 | f 13 3 7 41 | f 13 1 8 42 | f 14 7 3 43 | f 15 8 1 44 | f 16 7 5 45 | f 16 5 9 46 | f 16 9 1 47 | f 16 1 7 48 | f 18 10 3 49 | f 18 13 8 50 | f 18 3 13 51 | f 19 4 11 52 | f 20 11 4 53 | f 20 3 11 54 | f 20 14 3 55 | f 20 4 14 56 | f 21 11 3 57 | f 22 12 5 58 | f 22 5 7 59 | f 23 2 5 60 | f 23 5 12 61 | f 24 17 10 62 | f 24 6 3 63 | f 24 3 17 64 | f 24 12 19 65 | f 25 15 1 66 | f 25 1 2 67 | f 26 18 8 68 | f 26 10 18 69 | f 26 2 23 70 | f 26 24 10 71 | f 27 3 10 72 | f 27 10 17 73 | f 28 11 21 74 | f 28 21 3 75 | f 28 3 6 76 | f 29 22 7 77 | f 29 7 14 78 | f 29 14 4 79 | f 30 19 12 80 | f 30 12 22 81 | f 30 4 19 82 | f 31 24 19 83 | f 31 6 24 84 | f 31 28 6 85 | f 31 19 11 86 | f 31 11 28 87 | f 32 26 8 88 | f 32 8 15 89 | f 32 15 25 90 | f 32 25 2 91 | f 32 2 26 92 | f 33 26 23 93 | f 33 23 12 94 | f 33 12 24 95 | f 33 24 26 96 | f 34 27 17 97 | f 34 17 3 98 | f 34 3 27 99 | f 35 30 22 100 | f 35 22 29 101 | f 35 29 4 102 | f 35 4 30 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_11.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.29145333 -0.07883806 0.49999999 3 | v -0.27083618 -0.06276747 0.12877364 4 | v -0.28630714 0.07371698 0.40148137 5 | v -0.31231459 0.07307848 0.49976552 6 | v -0.31382142 -0.05980442 0.49314692 7 | v -0.29154968 0.04194106 0.14452874 8 | v -0.29269449 0.07466642 0.49999999 9 | v -0.27649326 -0.07887025 0.26478937 10 | v -0.31408898 -0.05984942 0.49976552 11 | v -0.27492105 0.04397366 0.14367474 12 | v -0.30335418 0.07174659 0.40231528 13 | v -0.31344877 0.01038886 0.41778527 14 | v -0.28757092 -0.06048588 0.12963033 15 | v -0.28552188 -0.08038847 0.41574926 16 | v -0.29818436 0.01037206 0.17536814 17 | v -0.31484559 0.05605102 0.49976552 18 | v -0.31353895 -0.01430238 0.41778295 19 | v -0.29344730 -0.07662554 0.26562277 20 | v -0.29497545 -0.01627645 0.12916260 21 | v -0.31119458 -0.07706204 0.49976552 22 | v -0.27824221 -0.01855828 0.12831817 23 | v -0.29823058 -0.01427600 0.17536862 24 | f 7 3 4 25 | f 8 2 3 26 | f 9 1 7 27 | f 10 3 2 28 | f 11 6 4 29 | f 11 4 3 30 | f 11 10 6 31 | f 11 3 10 32 | f 14 7 1 33 | f 14 3 7 34 | f 14 8 3 35 | f 16 15 12 36 | f 16 4 6 37 | f 16 6 15 38 | f 16 9 7 39 | f 16 7 4 40 | f 17 5 9 41 | f 17 16 12 42 | f 17 9 16 43 | f 17 12 15 44 | f 18 13 2 45 | f 18 2 8 46 | f 18 8 14 47 | f 19 2 13 48 | f 19 6 10 49 | f 19 15 6 50 | f 19 13 5 51 | f 20 5 13 52 | f 20 13 18 53 | f 20 9 5 54 | f 20 1 9 55 | f 20 18 14 56 | f 20 14 1 57 | f 21 19 10 58 | f 21 10 2 59 | f 21 2 19 60 | f 22 17 15 61 | f 22 15 19 62 | f 22 19 5 63 | f 22 5 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_12.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.06163306 -0.31378912 0.49976552 3 | v 0.06072993 -0.29326678 0.22044778 4 | v 0.06526415 -0.28992824 0.44604237 5 | v -0.14648702 -0.28416206 0.49976552 6 | v -0.02578563 -0.31934441 0.49976552 7 | v 0.06298683 -0.27638530 0.21960253 8 | v 0.06340909 -0.29404792 0.49999999 9 | v 0.01436414 -0.30299923 0.25109312 10 | v -0.10755496 -0.28211855 0.49999999 11 | v 0.02968557 -0.31916128 0.49976552 12 | v -0.07166770 -0.29191762 0.22053048 13 | v -0.08885007 -0.27497745 0.26514286 14 | v -0.10426851 -0.27551389 0.38631864 15 | v -0.11011187 -0.30226216 0.49976552 16 | v -0.07625247 -0.29245884 0.49999999 17 | v -0.01044821 -0.30294220 0.25109342 18 | v -0.08690765 -0.29251258 0.26594756 19 | v -0.07368192 -0.27516531 0.21967762 20 | v -0.14635806 -0.28390289 0.49270348 21 | v -0.10999309 -0.30202348 0.49326111 22 | f 1 2 3 23 | f 6 3 2 24 | f 7 1 3 25 | f 9 7 3 26 | f 10 7 5 27 | f 10 1 7 28 | f 10 5 8 29 | f 10 8 2 30 | f 10 2 1 31 | f 13 9 3 32 | f 13 3 6 33 | f 13 6 12 34 | f 13 4 9 35 | f 14 9 4 36 | f 15 5 7 37 | f 15 7 9 38 | f 15 14 5 39 | f 15 9 14 40 | f 16 8 5 41 | f 16 5 11 42 | f 16 11 2 43 | f 16 2 8 44 | f 17 11 5 45 | f 18 12 6 46 | f 18 17 12 47 | f 18 11 17 48 | f 18 6 2 49 | f 18 2 11 50 | f 19 13 12 51 | f 19 4 13 52 | f 19 12 17 53 | f 20 17 5 54 | f 20 5 14 55 | f 20 19 17 56 | f 20 14 4 57 | f 20 4 19 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_13.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.25845440 -0.08480040 -0.00851788 3 | v 0.24592773 -0.07583317 -0.49999995 4 | v 0.28228794 -0.04643049 0.00806153 5 | v 0.25988397 0.06106261 -0.05397353 6 | v 0.22939529 0.05848358 -0.49999995 7 | v 0.26588081 -0.04849601 0.00719668 8 | v 0.27789804 -0.07608100 0.00833799 9 | v 0.22939529 -0.07788006 -0.49999995 10 | v 0.25776541 0.01015619 -0.47619354 11 | v 0.26149001 -0.07814638 0.00746590 12 | v 0.24228820 -0.08429550 -0.25087338 13 | v 0.25872886 0.00027378 -0.47625746 14 | v 0.24845974 0.05659375 -0.49999995 15 | v 0.27679537 0.05626292 -0.05219611 16 | v 0.24496750 0.06110214 -0.29641223 17 | v 0.27307380 0.01018257 -0.23377921 18 | v 0.27399326 0.00025701 -0.23384033 19 | f 5 1 4 20 | f 6 3 4 21 | f 7 1 2 22 | f 7 2 3 23 | f 7 3 6 24 | f 8 5 2 25 | f 10 6 4 26 | f 10 4 1 27 | f 10 7 6 28 | f 10 1 7 29 | f 11 8 2 30 | f 11 2 1 31 | f 11 1 5 32 | f 11 5 8 33 | f 13 2 5 34 | f 13 12 2 35 | f 13 9 12 36 | f 14 13 4 37 | f 14 4 3 38 | f 15 13 5 39 | f 15 5 4 40 | f 15 4 13 41 | f 16 12 9 42 | f 16 9 13 43 | f 16 13 14 44 | f 17 16 14 45 | f 17 14 3 46 | f 17 12 16 47 | f 17 3 2 48 | f 17 2 12 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_14.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.14480116 0.23784118 0.12792817 3 | v 0.12333468 0.19484722 -0.50000000 4 | v 0.11634987 0.22626465 -0.50000000 5 | v 0.06228549 0.28277512 0.05321805 6 | v 0.04757711 0.19484721 -0.48268642 7 | v 0.13177850 0.25712463 0.05396824 8 | v 0.14379132 0.20550871 -0.35678283 9 | v 0.06434019 0.26629517 0.05236553 10 | v 0.04757711 0.19484722 -0.49999999 11 | v 0.08468309 0.26897862 -0.11246898 12 | v 0.10144654 0.27221804 0.05397228 13 | v 0.14460705 0.20714805 -0.32659085 14 | v 0.13250899 0.22828966 -0.35522481 15 | v 0.12662473 0.24691361 0.12833998 16 | v 0.04744346 0.26970563 -0.18933731 17 | v 0.13878024 0.24089269 0.12874784 18 | v 0.04955665 0.25361924 -0.19021049 19 | v 0.04536995 0.25575599 -0.41573152 20 | v 0.04680261 0.25024280 -0.50000000 21 | v 0.08601779 0.24135779 -0.50000000 22 | v 0.08400123 0.25245679 -0.35479788 23 | v 0.06019520 0.25356104 -0.41559329 24 | f 5 2 1 25 | f 7 2 3 26 | f 9 2 5 27 | f 11 10 4 28 | f 11 6 3 29 | f 12 1 2 30 | f 12 2 7 31 | f 13 7 3 32 | f 13 3 6 33 | f 13 12 7 34 | f 13 6 1 35 | f 13 1 12 36 | f 14 4 8 37 | f 14 11 4 38 | f 15 8 4 39 | f 16 1 6 40 | f 16 6 11 41 | f 16 11 14 42 | f 16 14 8 43 | f 16 8 5 44 | f 16 5 1 45 | f 17 15 5 46 | f 17 5 8 47 | f 17 8 15 48 | f 18 9 5 49 | f 18 5 15 50 | f 19 9 18 51 | f 19 3 2 52 | f 19 2 9 53 | f 19 18 15 54 | f 19 15 4 55 | f 20 3 19 56 | f 20 11 3 57 | f 20 10 11 58 | f 21 10 20 59 | f 22 21 20 60 | f 22 20 19 61 | f 22 10 21 62 | f 22 19 4 63 | f 22 4 10 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_15.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.31399247 -0.06179032 0.49976552 3 | v 0.27856805 -0.04587756 -0.05231026 4 | v 0.31985536 0.02555723 0.49976552 5 | v 0.29474201 0.05928075 0.49999999 6 | v 0.27455247 -0.06493650 0.18848316 7 | v 0.27803589 0.07162303 0.00833159 8 | v 0.29437241 -0.06337827 0.49999999 9 | v 0.28925765 0.00024023 0.00857680 10 | v 0.28009299 -0.06125574 0.00819976 11 | v 0.31448320 0.05750471 0.49976552 12 | v 0.26149741 0.07393762 0.00746511 13 | v 0.28761257 -0.06462563 0.40073261 14 | v 0.31872696 -0.02993887 0.49976552 15 | v 0.28838218 0.01020895 0.00863512 16 | v 0.26368541 -0.06332119 0.00733129 17 | v 0.27679537 0.05626292 -0.05219611 18 | v 0.27504037 0.07621494 0.23390495 19 | v 0.26035462 0.05859394 -0.05307067 20 | v 0.29427145 0.07180532 0.26583887 21 | v 0.26225846 -0.04795757 -0.05318728 22 | f 7 3 4 23 | f 9 2 1 24 | f 9 1 5 25 | f 10 4 3 26 | f 12 5 1 27 | f 12 1 7 28 | f 13 1 2 29 | f 13 2 8 30 | f 13 8 3 31 | f 13 7 1 32 | f 13 3 7 33 | f 14 3 8 34 | f 15 9 5 35 | f 15 5 11 36 | f 16 10 3 37 | f 16 6 10 38 | f 16 3 14 39 | f 16 14 8 40 | f 16 8 2 41 | f 17 6 11 42 | f 17 4 10 43 | f 17 11 5 44 | f 17 5 12 45 | f 17 12 7 46 | f 17 7 4 47 | f 18 15 11 48 | f 18 11 6 49 | f 18 6 16 50 | f 19 17 10 51 | f 19 10 6 52 | f 19 6 17 53 | f 20 15 18 54 | f 20 2 9 55 | f 20 9 15 56 | f 20 18 16 57 | f 20 16 2 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_16.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.06101537 -0.27981276 0.00821934 3 | v 0.06072211 -0.24776576 -0.49999990 4 | v 0.06272862 -0.22939521 -0.49999991 5 | v -0.05916761 -0.26430064 0.00729356 6 | v -0.01039787 -0.25714906 -0.47615798 7 | v 0.06333000 -0.26327458 0.00735581 8 | v 0.01431139 -0.27238252 -0.23373555 9 | v -0.05848350 -0.22939521 -0.49999991 10 | v 0.06523093 -0.24427605 -0.29636971 11 | v 0.01428501 -0.25707416 -0.47614988 12 | v -0.05710214 -0.28070813 0.00816101 13 | v -0.05685594 -0.24874874 -0.49999990 14 | v 0.06534321 -0.26009535 -0.03883502 15 | v -0.01041466 -0.27241345 -0.23374085 16 | v -0.06073162 -0.24451963 -0.31153340 17 | v -0.06068996 -0.25939086 -0.06909197 18 | f 7 2 1 19 | f 8 3 2 20 | f 8 4 6 21 | f 9 1 2 22 | f 9 2 3 23 | f 10 7 5 24 | f 10 2 7 25 | f 11 7 1 26 | f 11 6 4 27 | f 11 1 6 28 | f 12 8 2 29 | f 12 10 5 30 | f 12 2 10 31 | f 13 8 6 32 | f 13 3 8 33 | f 13 9 3 34 | f 13 6 1 35 | f 13 1 9 36 | f 14 5 7 37 | f 14 7 11 38 | f 14 12 5 39 | f 14 11 12 40 | f 15 12 11 41 | f 15 8 12 42 | f 16 15 11 43 | f 16 11 4 44 | f 16 4 8 45 | f 16 8 15 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_17.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.29069794 0.04406662 0.40121215 3 | v -0.24614150 0.12199551 0.08293773 4 | v -0.24803408 0.15324028 0.34038528 5 | v -0.26013979 0.15172470 0.49999999 6 | v -0.30141956 0.11180500 0.49976552 7 | v -0.25295210 0.15568746 0.43096122 8 | v -0.27492105 0.04397366 0.14367474 9 | v -0.29269449 0.07466642 0.49999999 10 | v -0.27183855 0.14246729 0.34187747 11 | v -0.28496484 0.08641683 0.14494344 12 | v -0.31231459 0.07307848 0.49976552 13 | v -0.28632646 0.14213709 0.49976552 14 | v -0.26123483 0.09166353 0.08294167 15 | v -0.27293530 0.11271001 0.14483146 16 | v -0.30774408 0.04209608 0.40203882 17 | v -0.25818333 0.09768444 0.08212200 18 | v -0.29154968 0.04194106 0.14452874 19 | v -0.28285068 0.09495302 0.16034730 20 | v -0.30123425 0.04112845 0.29638819 21 | f 6 1 3 22 | f 6 4 1 23 | f 7 2 3 24 | f 7 3 1 25 | f 8 1 4 26 | f 8 4 5 27 | f 9 3 2 28 | f 9 6 3 29 | f 11 8 5 30 | f 11 5 10 31 | f 12 5 4 32 | f 12 4 6 33 | f 12 6 9 34 | f 14 9 2 35 | f 14 13 10 36 | f 14 12 9 37 | f 14 5 12 38 | f 15 1 8 39 | f 15 8 11 40 | f 16 2 7 41 | f 16 7 13 42 | f 16 14 2 43 | f 16 13 14 44 | f 17 13 7 45 | f 17 10 13 46 | f 17 11 10 47 | f 18 14 10 48 | f 18 10 5 49 | f 18 5 14 50 | f 19 17 7 51 | f 19 7 1 52 | f 19 1 15 53 | f 19 15 11 54 | f 19 11 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_18.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.22307087 -0.20803853 0.31115798 3 | v 0.27358033 -0.08602194 -0.03675820 4 | v 0.30026723 -0.09230536 0.40182283 5 | v 0.28761257 -0.06462563 0.40073261 6 | v 0.26368541 -0.06332119 0.00733129 7 | v 0.30465713 -0.06265486 0.40154636 8 | v 0.28066754 -0.09592643 0.40112105 9 | v 0.24218093 -0.17245736 0.13010794 10 | v 0.24251142 -0.16016414 0.30971755 11 | v 0.28977755 -0.06044312 0.16005921 12 | v 0.23941959 -0.19406165 0.34135653 13 | v 0.29212072 -0.10169836 0.34181585 14 | v 0.22473883 -0.17937201 0.00798212 15 | v 0.28009299 -0.06125574 0.00819976 16 | v 0.24688098 -0.18651654 0.34202765 17 | v 0.24418076 -0.11554026 0.00657417 18 | v 0.24120360 -0.15958627 0.02401412 19 | v 0.27510812 -0.07566630 -0.03694085 20 | v 0.25604189 -0.15943041 0.23615712 21 | v 0.22122040 -0.19107144 0.09919826 22 | v 0.22172864 -0.20672162 0.28097209 23 | v 0.23220022 -0.17182690 0.00865323 24 | v 0.27098904 -0.09111046 -0.03761016 25 | v 0.27472329 -0.07786125 -0.03787082 26 | f 7 4 1 27 | f 7 6 4 28 | f 7 3 6 29 | f 9 1 4 30 | f 9 4 5 31 | f 10 5 4 32 | f 10 4 6 33 | f 10 6 3 34 | f 11 7 1 35 | f 11 3 7 36 | f 12 2 3 37 | f 14 5 10 38 | f 15 3 11 39 | f 15 11 1 40 | f 15 1 8 41 | f 17 2 8 42 | f 18 5 14 43 | f 18 16 5 44 | f 18 14 10 45 | f 18 10 3 46 | f 19 12 3 47 | f 19 3 15 48 | f 19 15 8 49 | f 19 8 2 50 | f 19 2 12 51 | f 20 16 13 52 | f 21 5 16 53 | f 21 9 5 54 | f 21 1 9 55 | f 21 16 20 56 | f 21 20 13 57 | f 21 13 1 58 | f 22 17 8 59 | f 22 8 1 60 | f 22 1 13 61 | f 23 22 13 62 | f 23 2 17 63 | f 23 17 22 64 | f 24 13 16 65 | f 24 16 18 66 | f 24 23 13 67 | f 24 2 23 68 | f 24 18 3 69 | f 24 3 2 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_19.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.26067396 -0.07875796 0.00725468 3 | v -0.22515016 -0.07788006 -0.49999995 4 | v -0.22515016 0.04333206 -0.49999995 5 | v -0.28279508 0.04289191 0.00776224 6 | v -0.24517114 -0.07615107 -0.49999995 7 | v -0.26638889 0.04495757 0.00690524 8 | v -0.23776922 -0.08446183 -0.32662074 9 | v -0.27721175 -0.07644325 0.00811549 10 | v -0.25086023 0.04264936 -0.49999995 11 | v -0.28537487 0.02587170 0.00855398 12 | v -0.25568900 -0.08046753 -0.06912813 13 | v -0.23626170 0.06013522 -0.44765672 14 | v -0.26854100 -0.01437916 -0.29436710 15 | v -0.23534856 0.05999949 -0.46275177 16 | v -0.25193125 0.05796007 -0.44674789 17 | v -0.26858553 0.01047673 -0.29437318 18 | v -0.25302105 -0.02946872 -0.49999995 19 | v -0.28384938 -0.01440553 -0.05195277 20 | v -0.25100128 0.05782183 -0.46184084 21 | v -0.25339123 0.02562190 -0.49999995 22 | v -0.28508989 -0.02976565 0.00857493 23 | v -0.28384994 0.01049351 -0.05195604 24 | f 1 2 3 25 | f 5 3 2 26 | f 6 1 3 27 | f 7 5 2 28 | f 7 2 1 29 | f 8 5 7 30 | f 9 3 5 31 | f 10 6 4 32 | f 10 4 9 33 | f 10 1 6 34 | f 11 8 7 35 | f 11 7 1 36 | f 11 1 8 37 | f 12 6 3 38 | f 12 4 6 39 | f 14 12 3 40 | f 14 3 9 41 | f 15 9 4 42 | f 15 4 12 43 | f 15 12 14 44 | f 17 9 5 45 | f 18 16 13 46 | f 18 13 17 47 | f 19 15 14 48 | f 19 14 9 49 | f 19 9 15 50 | f 20 9 17 51 | f 20 10 9 52 | f 20 17 13 53 | f 20 13 16 54 | f 21 10 18 55 | f 21 8 1 56 | f 21 1 10 57 | f 21 18 17 58 | f 21 17 5 59 | f 21 5 8 60 | f 22 18 10 61 | f 22 16 18 62 | f 22 20 16 63 | f 22 10 20 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_2.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.06399572 0.29428073 0.49999999 3 | v 0.07822311 0.25776063 -0.05317178 4 | v 0.06016437 0.31395968 0.49313900 5 | v -0.05572108 0.31478320 0.49976552 6 | v -0.15571643 0.25242630 0.43098883 7 | v -0.01212129 0.28035855 -0.11329540 8 | v 0.06020430 0.31422834 0.49976552 9 | v 0.07876155 0.26138299 0.00721218 10 | v -0.15166258 0.25980548 0.49999999 11 | v 0.07614311 0.27407033 -0.05229435 12 | v -0.00028277 0.31502887 0.41768577 13 | v -0.13001831 0.24735706 -0.09791603 14 | v 0.07669604 0.27779024 0.00807744 15 | v 0.01464715 0.28323500 -0.05191731 16 | v -0.01017362 0.31423054 0.41773927 17 | v -0.08580367 0.26801768 -0.11251585 18 | v -0.14189159 0.28652632 0.49976552 19 | v -0.13516439 0.22692051 -0.09860594 20 | v -0.00029955 0.29976442 0.17526864 21 | v -0.01027676 0.28454086 -0.05199644 22 | v -0.11185660 0.30219174 0.49976552 23 | v -0.13999996 0.26774806 0.26641673 24 | v -0.01446904 0.26401735 -0.11416305 25 | v -0.15105910 0.24349693 0.26493295 26 | v -0.09278198 0.24796213 -0.11416035 27 | v -0.09466332 0.26797412 -0.06693249 28 | v -0.06114690 0.25614071 -0.11461045 29 | v -0.11190602 0.25683197 -0.09751721 30 | f 7 4 1 31 | f 8 5 2 32 | f 8 1 5 33 | f 9 5 1 34 | f 9 1 4 35 | f 10 2 6 36 | f 11 7 3 37 | f 11 4 7 38 | f 13 7 1 39 | f 13 1 8 40 | f 13 8 2 41 | f 13 2 10 42 | f 13 10 3 43 | f 13 3 7 44 | f 14 10 6 45 | f 14 3 10 46 | f 15 4 11 47 | f 16 4 6 48 | f 17 5 9 49 | f 19 11 3 50 | f 19 3 14 51 | f 19 15 11 52 | f 20 6 4 53 | f 20 4 15 54 | f 20 15 19 55 | f 20 19 14 56 | f 20 14 6 57 | f 21 12 17 58 | f 21 4 16 59 | f 21 17 9 60 | f 21 9 4 61 | f 22 17 12 62 | f 22 5 17 63 | f 23 6 2 64 | f 23 2 18 65 | f 24 18 2 66 | f 24 2 5 67 | f 24 12 18 68 | f 24 22 12 69 | f 24 5 22 70 | f 25 18 12 71 | f 25 12 16 72 | f 25 23 18 73 | f 26 21 16 74 | f 27 25 16 75 | f 27 16 6 76 | f 27 6 23 77 | f 27 23 25 78 | f 28 26 16 79 | f 28 16 12 80 | f 28 12 21 81 | f 28 21 26 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_20.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.24086561 0.13232114 0.08358513 3 | v 0.22753354 0.13327012 -0.35592981 4 | v 0.23086305 0.18090047 0.08455046 5 | v 0.11836583 0.26061912 0.00827055 6 | v 0.12652766 0.23156704 -0.09891953 7 | v 0.14466512 0.22226993 -0.35480596 8 | v 0.17341568 0.21471409 0.08293269 9 | v 0.25411306 0.13132804 0.00796816 10 | v 0.20747274 0.13861218 -0.35663385 11 | v 0.12938271 0.23730473 0.00675239 12 | v 0.21515645 0.15711759 -0.35506022 13 | v 0.16211046 0.24203124 0.05396420 14 | v 0.13250899 0.22828966 -0.35522481 15 | v 0.21556926 0.19590698 0.08456311 16 | v 0.23248712 0.12795115 -0.32491029 17 | v 0.11710928 0.25809390 -0.03700829 18 | v 0.14276184 0.23374283 0.05244823 19 | v 0.22733739 0.16849899 -0.09719236 20 | v 0.14379132 0.20550871 -0.35678283 21 | v 0.13779822 0.25407066 0.05312650 22 | v 0.15859792 0.22271816 -0.24872380 23 | v 0.24744412 0.12784970 -0.11277542 24 | v 0.11977821 0.24830600 -0.15859361 25 | v 0.24173597 0.15517551 0.00883774 26 | v 0.18765963 0.18348606 -0.37154291 27 | v 0.16867302 0.22474061 -0.11227835 28 | v 0.18456692 0.16518240 -0.37126635 29 | v 0.21419797 0.16420631 -0.29410279 30 | v 0.16927312 0.18018889 -0.37125403 31 | v 0.17681974 0.17272903 -0.37190754 32 | f 8 3 1 33 | f 9 1 5 34 | f 10 5 1 35 | f 14 7 1 36 | f 14 1 3 37 | f 15 2 11 38 | f 15 9 2 39 | f 15 1 9 40 | f 16 10 4 41 | f 16 5 10 42 | f 16 4 12 43 | f 17 4 10 44 | f 17 10 1 45 | f 17 1 7 46 | f 19 9 5 47 | f 19 5 13 48 | f 20 14 12 49 | f 20 7 14 50 | f 20 17 7 51 | f 20 12 4 52 | f 20 4 17 53 | f 21 13 12 54 | f 21 6 13 55 | f 22 8 1 56 | f 22 1 15 57 | f 23 13 5 58 | f 23 5 16 59 | f 23 16 12 60 | f 23 12 13 61 | f 24 18 3 62 | f 24 3 8 63 | f 24 8 22 64 | f 24 11 18 65 | f 24 22 15 66 | f 24 15 11 67 | f 25 11 2 68 | f 25 6 21 69 | f 25 13 6 70 | f 26 21 12 71 | f 26 12 14 72 | f 26 25 21 73 | f 27 25 2 74 | f 27 2 9 75 | f 28 18 11 76 | f 28 11 25 77 | f 28 14 3 78 | f 28 3 18 79 | f 28 26 14 80 | f 28 25 26 81 | f 29 9 19 82 | f 29 19 13 83 | f 29 13 25 84 | f 30 27 9 85 | f 30 9 29 86 | f 30 29 25 87 | f 30 25 27 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_21.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.13343647 -0.22777823 -0.35594810 3 | v -0.12944191 -0.21975049 -0.49999990 4 | v -0.13424107 -0.12333461 -0.48268636 5 | v -0.25401238 -0.07763778 -0.35596959 6 | v -0.21426759 -0.15881224 -0.35513451 7 | v -0.24517114 -0.07615107 -0.49999995 8 | v -0.23614571 -0.08361504 -0.35681272 9 | v -0.15470705 -0.21725470 -0.35507701 10 | v -0.13424107 -0.12333460 -0.49999994 11 | v -0.24205230 -0.08604204 -0.49999995 12 | v -0.13869888 -0.20805090 -0.35666748 13 | v -0.19484713 -0.07788006 -0.48268638 14 | v -0.16433399 -0.19858684 -0.46075485 15 | v -0.23764039 -0.11404393 -0.35480913 16 | v -0.19484713 -0.07788006 -0.49999995 17 | v -0.15139439 -0.21260275 -0.44562591 18 | v -0.21072148 -0.14611204 -0.49999995 19 | v -0.14158643 -0.21370744 -0.49999990 20 | v -0.20891485 -0.15484487 -0.46077489 21 | f 1 2 3 22 | f 8 2 1 23 | f 9 3 2 24 | f 10 4 6 25 | f 11 1 3 26 | f 11 3 7 27 | f 12 6 4 28 | f 12 4 7 29 | f 12 7 3 30 | f 12 3 9 31 | f 14 5 8 32 | f 14 4 10 33 | f 14 7 4 34 | f 14 8 1 35 | f 14 11 7 36 | f 14 1 11 37 | f 15 12 9 38 | f 15 6 12 39 | f 15 10 6 40 | f 16 8 5 41 | f 16 5 13 42 | f 17 9 2 43 | f 17 15 9 44 | f 17 10 15 45 | f 17 14 10 46 | f 17 5 14 47 | f 18 16 13 48 | f 18 2 8 49 | f 18 8 16 50 | f 18 17 2 51 | f 18 13 17 52 | f 19 17 13 53 | f 19 13 5 54 | f 19 5 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_22.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.26910566 0.04536140 0.05219321 3 | v -0.21737094 0.10760654 -0.44746911 4 | v -0.23845695 0.04531001 -0.44779245 5 | v -0.20975557 0.19460872 0.00759697 6 | v -0.26956833 0.11103462 0.08445967 7 | v -0.20505777 0.18999950 -0.09805366 8 | v -0.22389832 0.15630908 0.00663417 9 | v -0.24614150 0.12199551 0.08293773 10 | v -0.24001916 0.09625823 -0.44589581 11 | v -0.21351598 0.15312938 -0.41565136 12 | v -0.26652605 0.07528099 0.08265441 13 | v -0.22339127 0.09545072 -0.44788455 14 | v -0.28558500 0.04330661 0.05304108 15 | v -0.24119264 0.15744819 0.00856799 16 | v -0.20605458 0.16067449 -0.41632247 17 | v -0.25412621 0.04313482 -0.44688613 18 | v -0.28305506 0.07323359 0.08350344 19 | v -0.21721696 0.18706361 0.00826808 20 | v -0.22143137 0.14000289 -0.40020217 21 | v -0.25544102 0.04107809 -0.43086321 22 | v -0.25414325 0.08059547 -0.35491523 23 | v -0.22484121 0.16452677 -0.15774168 24 | v -0.27070542 0.04109487 -0.18844608 25 | v -0.26717061 0.09469001 -0.06688864 26 | v -0.25291104 0.07100507 -0.40040084 27 | v -0.25324606 0.05590334 -0.43072497 28 | f 6 3 2 29 | f 7 1 3 30 | f 7 4 1 31 | f 7 6 4 32 | f 7 3 6 33 | f 8 1 4 34 | f 8 4 5 35 | f 11 8 5 36 | f 11 1 8 37 | f 12 9 2 38 | f 12 2 3 39 | f 13 1 11 40 | f 15 6 2 41 | f 15 2 9 42 | f 15 9 10 43 | f 15 10 4 44 | f 15 4 6 45 | f 16 12 3 46 | f 16 9 12 47 | f 17 13 11 48 | f 17 11 5 49 | f 18 14 5 50 | f 18 5 4 51 | f 19 14 10 52 | f 19 10 9 53 | f 19 9 5 54 | f 19 5 14 55 | f 20 16 3 56 | f 20 3 1 57 | f 20 17 16 58 | f 20 13 17 59 | f 22 10 14 60 | f 22 14 18 61 | f 22 18 4 62 | f 22 4 10 63 | f 23 20 1 64 | f 23 1 13 65 | f 23 13 20 66 | f 24 21 17 67 | f 24 17 5 68 | f 24 5 9 69 | f 24 9 21 70 | f 25 21 9 71 | f 25 17 21 72 | f 26 25 9 73 | f 26 9 16 74 | f 26 16 17 75 | f 26 17 25 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_23.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.15588632 -0.18614687 -0.46231387 3 | v 0.22939529 -0.07788006 -0.49999995 4 | v 0.23411799 0.05927772 -0.47756561 5 | v 0.15363771 0.13424115 -0.48268638 6 | v 0.15363772 -0.18394066 -0.49999991 7 | v 0.19909226 0.13424115 -0.49999995 8 | v 0.20096517 0.13521801 -0.47740191 9 | v 0.20061950 -0.13924607 -0.46222554 10 | v 0.22939529 0.05848358 -0.49999995 11 | v 0.15363771 0.13424116 -0.49999996 12 | v 0.22997965 -0.07817083 -0.47731264 13 | v 0.18729297 -0.17236385 -0.49999993 14 | v 0.18901156 -0.17405006 -0.46124148 15 | f 5 1 4 16 | f 7 4 1 17 | f 7 3 6 18 | f 8 7 1 19 | f 8 3 7 20 | f 9 6 3 21 | f 9 3 2 22 | f 10 5 4 23 | f 10 7 6 24 | f 10 4 7 25 | f 10 9 2 26 | f 10 6 9 27 | f 11 2 3 28 | f 11 3 8 29 | f 12 10 2 30 | f 12 5 10 31 | f 12 1 5 32 | f 13 11 8 33 | f 13 8 1 34 | f 13 1 12 35 | f 13 12 2 36 | f 13 2 11 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_24.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.19484713 0.04333206 -0.48268638 3 | v -0.13424107 0.14939267 -0.49999998 4 | v -0.13424107 0.14939267 -0.48268638 5 | v -0.13326477 0.22327840 -0.41653516 6 | v -0.20977025 0.14945427 -0.49999995 7 | v -0.13086345 0.21867442 -0.50000000 8 | v -0.13865275 0.20330560 -0.41724524 9 | v -0.25086023 0.04264936 -0.49999995 10 | v -0.15653898 0.21120074 -0.41565921 11 | v -0.19484713 0.04333206 -0.49999995 12 | v -0.15370683 0.20737957 -0.49112494 13 | v -0.23864871 0.10311562 -0.41655165 14 | v -0.16475239 0.19533726 -0.49999999 15 | v -0.21351598 0.15312938 -0.41565136 16 | v -0.23700783 0.09475980 -0.49999995 17 | v -0.25319624 0.04299658 -0.46197907 18 | v -0.21901028 0.10842227 -0.41727713 19 | v -0.14277465 0.21246185 -0.50000000 20 | v -0.22660932 0.12742790 -0.41571396 21 | v -0.25193125 0.05796007 -0.44674789 22 | v -0.24001916 0.09625823 -0.44589581 23 | v -0.23626170 0.06013522 -0.44765672 24 | v -0.23754382 0.04517428 -0.46288750 25 | f 1 2 3 26 | f 6 3 2 27 | f 6 4 3 28 | f 7 1 3 29 | f 7 3 4 30 | f 9 4 6 31 | f 9 7 4 32 | f 10 2 1 33 | f 10 1 8 34 | f 13 5 9 35 | f 13 9 11 36 | f 14 9 5 37 | f 15 13 8 38 | f 15 5 13 39 | f 16 8 1 40 | f 17 1 7 41 | f 18 13 11 42 | f 18 8 13 43 | f 18 10 8 44 | f 18 6 2 45 | f 18 2 10 46 | f 18 11 9 47 | f 18 9 6 48 | f 19 9 14 49 | f 19 12 17 50 | f 19 17 7 51 | f 19 7 9 52 | f 19 14 5 53 | f 19 15 12 54 | f 19 5 15 55 | f 20 15 8 56 | f 20 8 16 57 | f 21 20 12 58 | f 21 12 15 59 | f 21 15 20 60 | f 22 17 12 61 | f 22 12 20 62 | f 22 1 17 63 | f 22 20 16 64 | f 23 22 16 65 | f 23 16 1 66 | f 23 1 22 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_25.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.22753354 0.13327012 -0.35592981 3 | v 0.21958225 0.12912294 -0.49999995 4 | v 0.15332487 0.20938868 -0.46074570 5 | v 0.12035289 0.23430939 -0.35564366 6 | v 0.12333468 0.13424115 -0.48268638 7 | v 0.21515645 0.15711759 -0.35506022 8 | v 0.20747274 0.13861218 -0.35663385 9 | v 0.12239293 0.22325764 -0.50000000 10 | v 0.14466512 0.22226993 -0.35480596 11 | v 0.19920623 0.16436916 -0.46078367 12 | v 0.13163578 0.21152963 -0.35719070 13 | v 0.14668194 0.21117151 -0.50000000 14 | v 0.12333468 0.13424116 -0.49999997 15 | v 0.21098836 0.15494363 -0.43052496 16 | v 0.21336969 0.14103415 -0.49999995 17 | v 0.11700209 0.22757546 -0.47638724 18 | f 5 2 1 19 | f 6 1 2 20 | f 7 5 1 21 | f 7 1 6 22 | f 9 6 3 23 | f 9 7 6 24 | f 9 4 7 25 | f 10 3 6 26 | f 11 7 4 27 | f 11 4 5 28 | f 11 5 7 29 | f 12 3 10 30 | f 12 9 3 31 | f 12 8 4 32 | f 12 4 9 33 | f 13 2 5 34 | f 13 12 2 35 | f 13 8 12 36 | f 14 10 6 37 | f 15 12 10 38 | f 15 2 12 39 | f 15 10 14 40 | f 15 14 6 41 | f 15 6 2 42 | f 16 13 5 43 | f 16 5 4 44 | f 16 4 8 45 | f 16 8 13 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_26.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.13516439 0.22692051 -0.09860594 3 | v -0.08878653 0.20999873 -0.50000000 4 | v -0.09320537 0.24877389 -0.09906436 5 | v -0.08842776 0.26847125 -0.09835008 6 | v -0.12465088 0.22191474 -0.50000000 7 | v -0.11190602 0.25683197 -0.09751721 8 | v -0.13737896 0.20086339 -0.46253618 9 | v -0.08270471 0.24379277 -0.50000000 10 | v -0.13001831 0.24735706 -0.09791603 11 | v -0.13424107 0.20999873 -0.50000000 12 | v -0.14050741 0.22201302 -0.12960968 13 | v -0.08604211 0.25647850 -0.29455481 14 | v -0.14076971 0.20736441 -0.34176529 15 | f 1 2 3 16 | f 3 2 4 17 | f 6 1 3 18 | f 6 3 4 19 | f 8 4 2 20 | f 9 1 6 21 | f 9 8 5 22 | f 9 6 8 23 | f 10 2 7 24 | f 10 8 2 25 | f 10 5 8 26 | f 10 9 5 27 | f 11 2 1 28 | f 11 1 9 29 | f 12 8 6 30 | f 12 6 4 31 | f 12 4 8 32 | f 13 7 2 33 | f 13 2 11 34 | f 13 10 7 35 | f 13 11 9 36 | f 13 9 10 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_27.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.06340652 -0.23342661 -0.47752275 3 | v 0.15363772 -0.15363763 -0.49999993 4 | v 0.15363771 0.13424115 -0.48268638 5 | v -0.05848350 0.19484721 -0.48268642 6 | v -0.22515016 -0.07788006 -0.49999995 7 | v 0.12333468 0.19484722 -0.50000000 8 | v 0.13855877 -0.19923131 -0.47728232 9 | v -0.05848350 -0.22939521 -0.49999991 10 | v -0.22963796 -0.08022077 -0.47758228 11 | v 0.15363771 0.13424116 -0.49999996 12 | v 0.12333468 0.19484720 -0.48268641 13 | v -0.17969561 0.14939267 -0.49999996 14 | v 0.13848620 -0.19909218 -0.49999990 15 | v 0.15363771 -0.15363763 -0.48268635 16 | v -0.13542917 -0.20147986 -0.47743583 17 | v -0.05848350 0.19484722 -0.49999999 18 | v -0.17969562 0.14939267 -0.48268639 19 | v -0.22515016 0.04333206 -0.49999995 20 | v 0.06272862 -0.22939521 -0.49999991 21 | v -0.05924866 -0.23454292 -0.47759100 22 | v -0.19484713 -0.12333460 -0.49999995 23 | v -0.13424107 0.17969570 -0.50000000 24 | v -0.13424106 0.17969569 -0.48268639 25 | v -0.22515016 0.04333206 -0.48268638 26 | v -0.13424107 -0.19909218 -0.49999991 27 | f 10 6 3 28 | f 10 3 2 29 | f 10 2 6 30 | f 11 6 4 31 | f 11 3 6 32 | f 11 7 3 33 | f 11 9 7 34 | f 11 4 9 35 | f 13 7 1 36 | f 13 2 7 37 | f 14 7 2 38 | f 14 2 3 39 | f 14 3 7 40 | f 15 7 9 41 | f 16 4 6 42 | f 18 5 9 43 | f 18 17 12 44 | f 19 13 1 45 | f 19 2 13 46 | f 20 1 7 47 | f 20 7 15 48 | f 20 19 1 49 | f 20 8 19 50 | f 21 15 9 51 | f 21 9 5 52 | f 21 19 8 53 | f 21 2 19 54 | f 21 6 2 55 | f 22 4 16 56 | f 22 12 17 57 | f 22 18 12 58 | f 22 5 18 59 | f 22 21 5 60 | f 22 16 6 61 | f 22 6 21 62 | f 23 17 9 63 | f 23 9 4 64 | f 23 22 17 65 | f 23 4 22 66 | f 24 18 9 67 | f 24 9 17 68 | f 24 17 18 69 | f 25 20 15 70 | f 25 8 20 71 | f 25 21 8 72 | f 25 15 21 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_28.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.04757711 0.19484721 -0.48268642 3 | v 0.04757711 0.19484722 -0.49999999 4 | v 0.04715020 0.25258123 -0.46194034 5 | v -0.08381208 0.24591589 -0.46145114 6 | v -0.13424106 0.17969569 -0.48268639 7 | v -0.02534037 0.25371514 -0.50000000 8 | v 0.04932789 0.23692870 -0.46284944 9 | v -0.05848350 0.17969570 -0.48268642 10 | v 0.04680261 0.25024280 -0.50000000 11 | v -0.04047648 0.25362353 -0.46104854 12 | v -0.13424107 0.20999873 -0.50000000 13 | v -0.13737896 0.20086339 -0.46253618 14 | v -0.13424107 0.17969570 -0.50000000 15 | v 0.01495116 0.25497730 -0.50000000 16 | v -0.08270471 0.24379277 -0.50000000 17 | v -0.13118953 0.20414810 -0.46171766 18 | v -0.05848350 0.17969570 -0.49999999 19 | v 0.03012999 0.25516102 -0.46114860 20 | v -0.04032057 0.25269635 -0.47614148 21 | f 7 1 2 22 | f 8 2 1 23 | f 9 7 2 24 | f 9 3 7 25 | f 11 6 9 26 | f 12 5 8 27 | f 12 8 1 28 | f 12 1 7 29 | f 12 4 11 30 | f 13 12 11 31 | f 13 5 12 32 | f 13 11 9 33 | f 13 9 2 34 | f 14 9 6 35 | f 14 6 10 36 | f 15 4 10 37 | f 15 11 4 38 | f 15 6 11 39 | f 16 10 4 40 | f 16 4 12 41 | f 16 12 7 42 | f 17 13 2 43 | f 17 2 8 44 | f 17 8 5 45 | f 17 5 13 46 | f 18 14 10 47 | f 18 3 9 48 | f 18 9 14 49 | f 18 10 16 50 | f 18 16 7 51 | f 18 7 3 52 | f 19 15 10 53 | f 19 10 6 54 | f 19 6 15 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_29.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.26331180 -0.09713041 0.14340185 3 | v -0.25600599 -0.09331990 0.00753794 4 | v -0.24919301 0.11597460 0.08375740 5 | v -0.25247169 0.11760606 0.14414136 6 | v -0.28317991 0.04069697 0.00869221 7 | v -0.28308813 -0.09258292 0.14410793 8 | v -0.26638889 0.04495757 0.00690524 9 | v -0.27293530 0.11271001 0.14483146 10 | v -0.27474357 -0.09117973 0.00827140 11 | v -0.26956833 0.11103462 0.08445967 12 | v -0.28496484 0.08641683 0.14494344 13 | v -0.28602991 -0.07537826 0.14487919 14 | v -0.28508989 -0.02976565 0.00857493 15 | v -0.28310489 0.08614036 0.11475754 16 | v -0.28849809 -0.06064179 0.14472328 17 | f 1 2 3 18 | f 1 3 4 19 | f 7 3 2 20 | f 8 4 3 21 | f 9 2 1 22 | f 9 1 6 23 | f 9 7 2 24 | f 10 7 5 25 | f 10 3 7 26 | f 10 8 3 27 | f 12 6 1 28 | f 12 1 4 29 | f 12 4 8 30 | f 12 8 11 31 | f 12 9 6 32 | f 13 5 7 33 | f 13 7 9 34 | f 13 9 12 35 | f 13 11 5 36 | f 14 10 5 37 | f 14 5 11 38 | f 14 11 8 39 | f 14 8 10 40 | f 15 13 12 41 | f 15 12 11 42 | f 15 11 13 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_3.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.10293821 -0.30684341 0.49976552 3 | v 0.13848620 -0.19909218 -0.49999990 4 | v 0.17973589 -0.26678787 0.49976552 5 | v 0.19003533 -0.23537487 0.49999999 6 | v 0.06272862 -0.19909218 -0.48268633 7 | v 0.17606393 -0.20622971 0.00695767 8 | v 0.08430154 -0.24296018 -0.49999990 9 | v 0.06340909 -0.29404792 0.49999999 10 | v 0.14983914 -0.22211228 -0.31009438 11 | v 0.19166150 -0.22181887 0.37055613 12 | v 0.15488026 -0.20031130 -0.31071163 13 | v 0.06272862 -0.19909218 -0.49999991 14 | v 0.06163306 -0.31378912 0.49976552 15 | v 0.13246031 -0.21784189 -0.49999990 16 | v 0.17783158 -0.24798525 0.26597443 17 | v 0.06072211 -0.24776576 -0.49999990 18 | v 0.06013267 -0.30486644 0.40249032 19 | v 0.06020945 -0.25986854 -0.30965973 20 | f 1 3 4 21 | f 7 3 1 22 | f 8 1 4 23 | f 10 4 3 24 | f 10 6 5 25 | f 10 8 4 26 | f 10 5 8 27 | f 11 2 5 28 | f 11 5 6 29 | f 11 9 2 30 | f 11 6 9 31 | f 12 5 2 32 | f 13 1 8 33 | f 14 2 9 34 | f 14 12 2 35 | f 14 7 12 36 | f 14 9 3 37 | f 14 3 7 38 | f 15 9 6 39 | f 15 6 10 40 | f 15 10 3 41 | f 15 3 9 42 | f 16 7 1 43 | f 16 1 13 44 | f 16 12 7 45 | f 17 13 8 46 | f 17 8 5 47 | f 18 16 13 48 | f 18 13 17 49 | f 18 17 5 50 | f 18 5 12 51 | f 18 12 16 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_30.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.06072993 -0.29326678 0.22044778 3 | v 0.07575185 -0.27734459 0.00837525 4 | v 0.07852186 -0.26351451 0.05279560 5 | v -0.07587731 -0.27478345 0.21877203 6 | v -0.01043144 -0.28767782 0.00867629 7 | v 0.06298683 -0.27638530 0.21960253 8 | v 0.07621957 -0.28012610 0.05365409 9 | v 0.01433777 -0.28769088 0.00867878 10 | v -0.07166770 -0.29191762 0.22053048 11 | v -0.07399279 -0.26210525 0.00742817 12 | v 0.06530368 -0.27501179 0.20360368 13 | v 0.07806640 -0.26080592 0.00750763 14 | v -0.07192739 -0.27851317 0.00829925 15 | f 8 1 5 16 | f 8 7 1 17 | f 8 2 7 18 | f 9 5 1 19 | f 9 6 4 20 | f 9 1 6 21 | f 10 8 5 22 | f 10 4 3 23 | f 11 6 1 24 | f 11 3 4 25 | f 11 4 6 26 | f 11 7 3 27 | f 11 1 7 28 | f 12 10 3 29 | f 12 2 8 30 | f 12 8 10 31 | f 12 7 2 32 | f 12 3 7 33 | f 13 9 4 34 | f 13 4 10 35 | f 13 10 5 36 | f 13 5 9 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_31.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.14779554 -0.26364867 0.26593847 3 | v 0.23021639 -0.15404621 0.08327771 4 | v 0.22105753 -0.20606316 0.26587914 5 | v 0.23677374 -0.15730911 0.20404562 6 | v 0.15885536 -0.23939888 0.26446724 7 | v 0.22054929 -0.19041299 0.08410531 8 | v 0.14876660 -0.25035895 0.08398948 9 | v 0.23210634 -0.17144908 0.26492117 10 | v 0.15996448 -0.22637384 0.08250361 11 | v 0.14736075 -0.26281505 0.25084552 12 | v 0.17435326 -0.24131632 0.14523085 13 | v 0.15971929 -0.25746012 0.26637326 14 | v 0.22435095 -0.16355423 0.08247458 15 | v 0.18366230 -0.22940773 0.09983141 16 | v 0.16069035 -0.24417040 0.08442427 17 | f 5 4 2 18 | f 6 2 4 19 | f 6 4 3 20 | f 8 5 1 21 | f 8 3 4 22 | f 8 4 5 23 | f 9 5 2 24 | f 9 6 7 25 | f 10 1 5 26 | f 10 9 7 27 | f 10 5 9 28 | f 12 8 1 29 | f 12 3 8 30 | f 12 11 3 31 | f 12 7 11 32 | f 12 10 7 33 | f 12 1 10 34 | f 13 9 2 35 | f 13 2 6 36 | f 13 6 9 37 | f 14 6 3 38 | f 14 3 11 39 | f 15 14 11 40 | f 15 11 7 41 | f 15 7 6 42 | f 15 6 14 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_4.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.17331480 0.24939660 0.49999999 3 | v 0.15491737 0.22772192 0.05285609 4 | v 0.16372718 0.27558332 0.49976552 5 | v 0.06240778 0.31390081 0.49976552 6 | v 0.01834229 0.27779121 0.12834724 7 | v 0.10144654 0.27221804 0.05397228 8 | v 0.11520754 0.29972658 0.49976552 9 | v 0.17356338 0.23001614 0.26473808 10 | v 0.06399572 0.29428073 0.49999999 11 | v 0.14995434 0.24805095 0.05354535 12 | v 0.01589125 0.29160478 0.08391922 13 | v 0.08917473 0.28360762 0.12990172 14 | v 0.17676935 0.23328373 0.34021803 15 | v 0.01793846 0.27507443 0.08305928 16 | v 0.01630595 0.29439471 0.12919806 17 | v 0.10027436 0.25485711 0.05204430 18 | v 0.11502300 0.29935573 0.48965908 19 | v 0.06228549 0.28277512 0.05321805 20 | v 0.16195463 0.25686960 0.26610720 21 | v 0.14276184 0.23374283 0.05244823 22 | v 0.14535506 0.28426255 0.48965908 23 | v 0.06434019 0.26629517 0.05236553 24 | f 7 1 3 25 | f 9 5 1 26 | f 9 7 4 27 | f 9 1 7 28 | f 10 8 2 29 | f 13 3 1 30 | f 13 1 5 31 | f 14 2 8 32 | f 14 5 11 33 | f 14 13 5 34 | f 14 8 13 35 | f 15 9 4 36 | f 15 5 9 37 | f 15 11 5 38 | f 15 4 11 39 | f 17 7 3 40 | f 17 10 6 41 | f 17 6 12 42 | f 17 12 4 43 | f 17 4 7 44 | f 18 11 4 45 | f 18 4 12 46 | f 18 12 6 47 | f 18 6 10 48 | f 18 10 16 49 | f 18 14 11 50 | f 19 10 3 51 | f 19 3 13 52 | f 19 13 8 53 | f 19 8 10 54 | f 20 16 10 55 | f 20 10 2 56 | f 21 17 3 57 | f 21 3 10 58 | f 21 10 17 59 | f 22 18 16 60 | f 22 14 18 61 | f 22 16 20 62 | f 22 20 2 63 | f 22 2 14 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_5.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.16687889 -0.24088407 0.08359066 3 | v 0.24592773 -0.07583317 -0.49999995 4 | v 0.23220022 -0.17182690 0.00865323 5 | v 0.27751321 -0.07827595 0.00740802 6 | v 0.13848620 -0.15363764 -0.48268635 7 | v 0.26147487 -0.11667929 0.00850637 8 | v 0.14437152 -0.21162933 -0.49999990 9 | v 0.25927407 -0.08520826 0.00657811 10 | v 0.21201424 -0.14498891 -0.49999995 11 | v 0.25752119 -0.08440893 -0.27909732 12 | v 0.22054929 -0.19041299 0.08410531 13 | v 0.13848620 -0.15363763 -0.49999992 14 | v 0.13791540 -0.22830082 -0.31052917 15 | v 0.17933150 -0.20943567 0.08243761 16 | v 0.19909226 -0.07788006 -0.48268638 17 | v 0.24133111 -0.14449820 -0.08205536 18 | v 0.24220044 -0.08432471 -0.49999995 19 | v 0.15711980 -0.21198468 -0.40019472 20 | v 0.23021639 -0.15404621 0.08327771 21 | v 0.15278120 -0.24290453 0.00769113 22 | v 0.13246031 -0.21784189 -0.49999990 23 | v 0.25984371 -0.07564951 -0.27935798 24 | v 0.19909226 -0.07788006 -0.49999995 25 | v 0.21349278 -0.15318652 -0.41527886 26 | v 0.17552979 -0.23629438 0.08406735 27 | v 0.16847329 -0.19906792 -0.41531683 28 | v 0.16963871 -0.22887503 -0.06685063 29 | f 10 2 4 30 | f 10 4 6 31 | f 11 3 6 32 | f 11 6 4 33 | f 14 8 5 34 | f 15 8 4 35 | f 15 5 8 36 | f 15 12 5 37 | f 16 9 6 38 | f 16 6 3 39 | f 17 9 2 40 | f 17 2 10 41 | f 17 10 6 42 | f 17 6 9 43 | f 19 11 4 44 | f 19 4 8 45 | f 19 8 14 46 | f 19 14 1 47 | f 20 5 13 48 | f 20 14 5 49 | f 20 1 14 50 | f 21 20 13 51 | f 21 7 1 52 | f 21 1 20 53 | f 21 12 9 54 | f 21 9 7 55 | f 21 13 5 56 | f 21 5 12 57 | f 22 15 4 58 | f 22 4 2 59 | f 22 2 15 60 | f 23 15 2 61 | f 23 12 15 62 | f 23 2 9 63 | f 23 9 12 64 | f 24 16 3 65 | f 24 9 16 66 | f 25 19 1 67 | f 25 11 19 68 | f 25 3 11 69 | f 25 24 3 70 | f 26 18 7 71 | f 26 7 9 72 | f 26 24 18 73 | f 26 9 24 74 | f 27 25 1 75 | f 27 18 24 76 | f 27 24 25 77 | f 27 1 7 78 | f 27 7 18 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_6.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.28916198 0.07349395 0.18944696 3 | v 0.24845974 0.05659375 -0.49999995 4 | v 0.23844962 0.16136406 0.00800413 5 | v 0.23463889 0.15212759 0.14358072 6 | v 0.21424377 0.05848358 -0.48268638 7 | v 0.26740280 0.13035699 0.18991714 8 | v 0.28050407 0.05688656 0.00817568 9 | v 0.27233178 0.07575948 0.18861698 10 | v 0.19909226 0.13424115 -0.49999995 11 | v 0.24261771 0.16353802 0.08346886 12 | v 0.24420051 0.08192289 -0.49999995 13 | v 0.27494102 0.05595110 -0.08238201 14 | v 0.19909226 0.08878661 -0.48268638 15 | v 0.24654792 0.13528488 0.18925705 16 | v 0.26396608 0.05920122 0.00731329 17 | v 0.21424377 0.05848358 -0.49999995 18 | v 0.27222920 0.09466867 -0.00632714 19 | v 0.21958225 0.12912294 -0.49999995 20 | v 0.25963263 0.05592472 -0.32479634 21 | v 0.27687768 0.11224470 0.19031597 22 | v 0.19909226 0.08878661 -0.49999995 23 | f 7 2 1 24 | f 8 7 1 25 | f 10 4 6 26 | f 10 9 4 27 | f 10 3 9 28 | f 11 1 2 29 | f 11 2 9 30 | f 12 2 7 31 | f 13 5 8 32 | f 13 4 9 33 | f 14 6 4 34 | f 14 13 8 35 | f 14 4 13 36 | f 15 8 5 37 | f 15 7 8 38 | f 15 12 7 39 | f 15 5 12 40 | f 16 9 2 41 | f 16 5 13 42 | f 17 1 11 43 | f 18 11 9 44 | f 18 9 3 45 | f 18 3 10 46 | f 18 10 6 47 | f 18 6 11 48 | f 19 12 5 49 | f 19 2 12 50 | f 19 16 2 51 | f 19 5 16 52 | f 20 14 8 53 | f 20 8 1 54 | f 20 6 14 55 | f 20 1 17 56 | f 20 17 11 57 | f 20 11 6 58 | f 21 16 13 59 | f 21 13 9 60 | f 21 9 16 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_7.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.17973589 -0.26678787 0.49976552 3 | v 0.29654733 -0.09175243 0.34145104 4 | v 0.30661205 -0.10136986 0.49976552 5 | v 0.29820299 -0.01849311 0.46161833 6 | v 0.19463353 -0.20958334 0.26424301 7 | v 0.31534671 -0.01653708 0.46243343 8 | v 0.29437241 -0.06337827 0.49999999 9 | v 0.26345951 -0.18791663 0.49976552 10 | v 0.17773010 -0.26294220 0.47810931 11 | v 0.29458064 -0.01795468 0.40123437 12 | v 0.31399247 -0.06179032 0.49976552 13 | v 0.19760971 -0.22765492 0.49999999 14 | v 0.25591438 -0.17451848 0.34222660 15 | v 0.29184141 -0.08040573 0.49999999 16 | v 0.17783158 -0.24798525 0.26597443 17 | v 0.23210634 -0.17144908 0.26492117 18 | v 0.31162682 -0.01598415 0.40206164 19 | v 0.19164710 -0.26057531 0.49976552 20 | v 0.29212072 -0.10169836 0.34181585 21 | v 0.21351242 -0.21381186 0.26653760 22 | v 0.22464649 -0.17899571 0.26426765 23 | v 0.18349943 -0.24439945 0.26651229 24 | f 7 6 4 25 | f 10 9 4 26 | f 10 5 9 27 | f 11 3 2 28 | f 11 6 7 29 | f 12 7 4 30 | f 12 9 1 31 | f 12 4 9 32 | f 13 3 8 33 | f 14 8 3 34 | f 14 12 8 35 | f 14 7 12 36 | f 14 11 7 37 | f 14 3 11 38 | f 15 9 5 39 | f 15 1 9 40 | f 17 16 10 41 | f 17 2 16 42 | f 17 11 2 43 | f 17 6 11 44 | f 17 10 4 45 | f 17 4 6 46 | f 18 12 1 47 | f 18 8 12 48 | f 18 1 15 49 | f 19 2 3 50 | f 19 3 13 51 | f 20 13 8 52 | f 20 19 13 53 | f 20 16 2 54 | f 20 2 19 55 | f 21 5 10 56 | f 21 10 16 57 | f 21 16 20 58 | f 21 20 15 59 | f 21 15 5 60 | f 22 18 15 61 | f 22 15 20 62 | f 22 20 8 63 | f 22 8 18 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_8.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.10164337 -0.30054126 0.46244207 3 | v -0.05685594 -0.24874874 -0.49999990 4 | v -0.05848350 -0.21424369 -0.48268633 5 | v -0.15575299 -0.25732904 0.49124663 6 | v -0.12944191 -0.21975049 -0.49999990 7 | v -0.07628113 -0.27750021 0.26406000 8 | v -0.08092223 -0.24389362 -0.49999990 9 | v -0.14648702 -0.28416206 0.49976552 10 | v -0.08878653 -0.19909218 -0.49999991 11 | v -0.10755496 -0.28211855 0.49999999 12 | v -0.05710214 -0.28070813 0.00816101 13 | v -0.08801352 -0.29995236 0.38669114 14 | v -0.14470619 -0.26543167 0.26580681 15 | v -0.08114958 -0.25808525 -0.29430142 16 | v -0.05848350 -0.21424369 -0.49999991 17 | v -0.13424107 -0.19909218 -0.49999991 18 | v -0.08878653 -0.19909218 -0.48268633 19 | v -0.10393804 -0.29000127 0.49999999 20 | v -0.15003159 -0.26098241 0.49999999 21 | v -0.05627274 -0.27512830 -0.08239667 22 | v -0.05916761 -0.26430064 0.00729356 23 | v -0.07208241 -0.29470754 0.26580933 24 | v -0.14033034 -0.21132957 -0.29628352 25 | v -0.05625596 -0.25986391 -0.32481380 26 | f 8 5 7 27 | f 9 7 5 28 | f 10 6 3 29 | f 13 8 4 30 | f 13 5 8 31 | f 14 8 7 32 | f 14 1 8 33 | f 14 12 1 34 | f 14 7 2 35 | f 14 2 12 36 | f 15 9 3 37 | f 15 2 7 38 | f 15 7 9 39 | f 16 9 5 40 | f 17 3 9 41 | f 17 10 3 42 | f 17 16 4 43 | f 17 9 16 44 | f 18 8 1 45 | f 18 1 12 46 | f 18 6 10 47 | f 19 4 8 48 | f 19 18 10 49 | f 19 8 18 50 | f 19 17 4 51 | f 19 10 17 52 | f 20 11 2 53 | f 21 3 6 54 | f 21 20 3 55 | f 21 11 20 56 | f 22 18 12 57 | f 22 6 18 58 | f 22 21 6 59 | f 22 11 21 60 | f 22 12 2 61 | f 22 2 11 62 | f 23 13 4 63 | f 23 5 13 64 | f 23 16 5 65 | f 23 4 16 66 | f 24 20 2 67 | f 24 3 20 68 | f 24 15 3 69 | f 24 2 15 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/collision/model_normalized_collision_9.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.07822311 0.25776063 -0.05317178 3 | v 0.04932789 0.23692870 -0.46284944 4 | v 0.07709396 0.26531572 -0.18906085 5 | v -0.01274493 0.28406726 -0.05292361 6 | v -0.09516125 0.23737232 -0.25083601 7 | v 0.04495524 0.25296607 -0.46101036 8 | v 0.07614311 0.27407033 -0.05229435 9 | v 0.08159298 0.24776329 -0.18989940 10 | v -0.09278198 0.24796213 -0.11416035 11 | v -0.08381208 0.24591589 -0.46145114 12 | v -0.01507633 0.26762882 -0.05377910 13 | v 0.01463036 0.26797055 -0.29433444 14 | v 0.08444804 0.25350099 -0.08422747 15 | v -0.08923029 0.22600106 -0.46217990 16 | v -0.08827185 0.26754407 -0.11344303 17 | v -0.04047648 0.25362353 -0.46104854 18 | v -0.01025038 0.26923243 -0.29441076 19 | v -0.08483119 0.25286892 -0.35492075 20 | f 6 3 2 21 | f 8 2 3 22 | f 11 7 4 23 | f 11 1 7 24 | f 11 9 1 25 | f 11 4 9 26 | f 12 4 7 27 | f 12 7 3 28 | f 12 3 6 29 | f 13 7 1 30 | f 13 9 5 31 | f 13 1 9 32 | f 13 8 3 33 | f 13 3 7 34 | f 14 2 8 35 | f 14 10 2 36 | f 14 5 10 37 | f 14 13 5 38 | f 14 8 13 39 | f 15 9 4 40 | f 15 10 5 41 | f 15 5 9 42 | f 16 6 2 43 | f 16 2 10 44 | f 17 12 6 45 | f 17 6 16 46 | f 17 4 12 47 | f 17 16 15 48 | f 17 15 4 49 | f 18 16 10 50 | f 18 10 15 51 | f 18 15 16 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/visual/image0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/cup_2/visual/image0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/visual/material.mtl: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | 3 | newmtl material_0 4 | Ka 1.00000000 1.00000000 1.00000000 5 | Kd 0.80000000 0.80000000 0.80000000 6 | Ks 0.50196078 0.50196078 0.50196078 7 | Ns 0.00000000 8 | map_Kd material_0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/cup_2/visual/material_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/cup_2/visual/material_0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_0.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.18938658 -0.34150040 -0.23390472 3 | v 0.26002285 -0.31849170 -0.38597219 4 | v 0.26563355 -0.12087758 -0.31512548 5 | v 0.00735578 -0.12070780 -0.31154908 6 | v 0.01473142 -0.30138703 -0.38597219 7 | v 0.08155480 -0.29552751 -0.23445565 8 | v 0.26267378 -0.32665017 -0.27935926 9 | v 0.11700146 -0.33207217 -0.38597219 10 | v 0.26523250 -0.12059743 -0.39228854 11 | v 0.18969187 -0.30376829 -0.23399797 12 | v 0.08623693 -0.33422832 -0.23390472 13 | v 0.23131513 -0.33109687 -0.36689010 14 | v 0.00751363 -0.12061187 -0.39265386 15 | v 0.20098559 -0.33096762 -0.38597219 16 | v 0.26689719 -0.26081287 -0.29531585 17 | v 0.03040823 -0.31535488 -0.36689010 18 | v 0.01126620 -0.30919496 -0.27935926 19 | v 0.23175658 -0.33318499 -0.27935926 20 | v 0.04566579 -0.31511600 -0.38597219 21 | v 0.26664949 -0.16773326 -0.31017709 22 | v 0.08751291 -0.32826224 -0.37870766 23 | v 0.00577956 -0.13705750 -0.30991619 24 | v 0.02954230 -0.31730612 -0.27935926 25 | v 0.00535414 -0.24520836 -0.29474633 26 | f 6 3 4 27 | f 9 4 3 28 | f 10 3 6 29 | f 10 7 3 30 | f 10 1 7 31 | f 11 10 6 32 | f 11 1 10 33 | f 11 8 1 34 | f 12 2 7 35 | f 13 4 9 36 | f 14 9 2 37 | f 14 13 9 38 | f 14 8 13 39 | f 14 2 12 40 | f 14 12 1 41 | f 14 1 8 42 | f 15 7 2 43 | f 15 2 9 44 | f 15 3 7 45 | f 17 11 6 46 | f 17 5 16 47 | f 18 12 7 48 | f 18 7 1 49 | f 18 1 12 50 | f 19 13 8 51 | f 19 5 13 52 | f 19 16 5 53 | f 20 15 9 54 | f 20 9 3 55 | f 20 3 15 56 | f 21 8 11 57 | f 21 11 16 58 | f 21 19 8 59 | f 21 16 19 60 | f 22 17 6 61 | f 22 6 4 62 | f 22 4 13 63 | f 23 17 16 64 | f 23 16 11 65 | f 23 11 17 66 | f 24 13 5 67 | f 24 5 17 68 | f 24 22 13 69 | f 24 17 22 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_1.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.36611794 -0.26502802 0.38901924 3 | v 0.47632223 -0.10017887 -0.37974406 4 | v 0.43112168 -0.19949723 0.38901924 5 | v 0.48579416 -0.07294005 0.39006731 6 | v 0.39803603 -0.10419096 -0.30070428 7 | v 0.45809896 -0.15489562 0.38337438 8 | v 0.37477760 -0.25607008 -0.37879906 9 | v 0.45787455 -0.07861636 0.38901924 10 | v 0.43544341 -0.07625937 -0.29356368 11 | v 0.45939963 -0.15564740 -0.35401818 12 | v 0.47425277 -0.11466041 0.38901924 13 | v 0.37605047 -0.25782818 0.38901924 14 | v 0.37115353 -0.18106099 -0.39218221 15 | v 0.38634211 -0.20989200 0.38901924 16 | v 0.49133182 -0.07473248 -0.27935926 17 | v 0.45998443 -0.10469764 -0.38815426 18 | v 0.43252186 -0.18793322 -0.38597219 19 | v 0.42955071 -0.19835279 -0.37807205 20 | v 0.36431806 -0.26254184 -0.38147561 21 | v 0.37212281 -0.16692489 -0.29884880 22 | v 0.47233295 -0.11403956 -0.37833788 23 | v 0.45983956 -0.14075024 -0.38597219 24 | v 0.38595295 -0.24292620 -0.38597219 25 | v 0.47289894 -0.10397380 -0.38597219 26 | v 0.36996375 -0.25518142 -0.38613994 27 | f 9 8 4 28 | f 9 5 8 29 | f 10 6 3 30 | f 11 4 3 31 | f 11 3 6 32 | f 11 6 10 33 | f 12 1 7 34 | f 12 3 4 35 | f 12 4 1 36 | f 14 8 5 37 | f 14 1 4 38 | f 14 4 8 39 | f 15 9 4 40 | f 15 2 9 41 | f 15 4 11 42 | f 15 11 10 43 | f 16 9 2 44 | f 16 5 9 45 | f 16 13 5 46 | f 17 13 16 47 | f 18 12 7 48 | f 18 3 12 49 | f 18 10 3 50 | f 19 7 1 51 | f 20 5 13 52 | f 20 14 5 53 | f 20 1 14 54 | f 20 19 1 55 | f 20 13 19 56 | f 21 15 10 57 | f 21 2 15 58 | f 22 17 16 59 | f 22 21 10 60 | f 22 18 17 61 | f 22 10 18 62 | f 23 18 7 63 | f 23 17 18 64 | f 23 7 19 65 | f 23 13 17 66 | f 24 22 16 67 | f 24 16 2 68 | f 24 2 21 69 | f 24 21 22 70 | f 25 23 19 71 | f 25 19 13 72 | f 25 13 23 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_10.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.14533955 -0.10584580 0.39215299 3 | v -0.14512140 -0.07547155 0.12972674 4 | v -0.13762978 -0.10333067 0.32692929 5 | v -0.15072897 0.07864373 0.39062920 6 | v -0.23107256 -0.03980667 0.27930506 7 | v -0.14472474 0.07668534 0.12972839 8 | v -0.17513888 0.07177886 0.38901924 9 | v -0.22402361 -0.05742077 0.21519500 10 | v -0.17106758 -0.08425912 0.38901924 11 | v -0.23104654 0.05946068 0.26265352 12 | v -0.16920894 -0.10375025 0.32592900 13 | v -0.18779038 -0.04335415 0.13047747 14 | v -0.23044098 0.04067618 0.27919144 15 | v -0.18324760 0.07447580 0.13004361 16 | v -0.18336411 -0.07251177 0.13003213 17 | v -0.16514294 -0.10242062 0.38901924 18 | v -0.22408163 0.05742778 0.21527245 19 | v -0.22692700 -0.05714106 0.27043842 20 | v -0.18745057 0.04460419 0.13063238 21 | v -0.22148075 -0.05307252 0.20877843 22 | f 1 3 4 23 | f 6 3 2 24 | f 6 4 3 25 | f 7 1 4 26 | f 9 7 5 27 | f 9 1 7 28 | f 10 8 5 29 | f 10 7 4 30 | f 11 2 3 31 | f 11 3 1 32 | f 13 10 5 33 | f 13 5 7 34 | f 13 7 10 35 | f 14 10 4 36 | f 14 4 6 37 | f 15 11 8 38 | f 15 2 11 39 | f 15 8 12 40 | f 15 12 14 41 | f 15 14 6 42 | f 15 6 2 43 | f 16 11 1 44 | f 16 1 9 45 | f 16 9 5 46 | f 17 8 10 47 | f 17 10 14 48 | f 18 16 5 49 | f 18 5 8 50 | f 18 8 11 51 | f 18 11 16 52 | f 19 17 14 53 | f 19 14 12 54 | f 19 12 17 55 | f 20 17 12 56 | f 20 12 8 57 | f 20 8 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_11.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.16897930 0.07471237 0.39200532 3 | v -0.09699920 0.16648291 -0.27924814 4 | v -0.11790877 0.09297482 -0.29447021 5 | v -0.10646488 0.17193289 0.38901924 6 | v -0.14466115 0.15930232 -0.27941057 7 | v -0.14673667 0.08228357 0.38901924 8 | v -0.14224165 0.15763733 0.38901924 9 | v -0.17927843 0.08710293 -0.27833992 10 | v -0.14684225 0.06157957 -0.18847247 11 | v -0.20126303 0.06850042 0.26343236 12 | v -0.14822349 0.06172324 -0.00666489 13 | v -0.17371758 0.09979288 -0.27777955 14 | v -0.15581232 0.13102294 0.38901924 15 | v -0.18280830 0.07362093 -0.12817185 16 | v -0.17583666 0.07200648 0.38481680 17 | v -0.19753954 0.06796791 0.20749056 18 | f 3 2 4 19 | f 5 4 2 20 | f 5 2 3 21 | f 6 3 4 22 | f 6 4 1 23 | f 7 1 4 24 | f 7 4 5 25 | f 8 5 3 26 | f 9 8 3 27 | f 10 7 5 28 | f 11 6 1 29 | f 11 9 3 30 | f 11 3 6 31 | f 12 10 5 32 | f 12 5 8 33 | f 12 8 10 34 | f 13 1 7 35 | f 13 7 10 36 | f 14 10 8 37 | f 14 8 9 38 | f 15 11 1 39 | f 15 10 11 40 | f 15 13 10 41 | f 15 1 13 42 | f 16 14 9 43 | f 16 10 14 44 | f 16 11 10 45 | f 16 9 11 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_12.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.23127760 -0.05941806 0.26260839 3 | v -0.22762560 -0.05408854 0.21391231 4 | v -0.23077049 0.05312580 0.27428800 5 | v -0.40953200 0.04309552 0.23709202 6 | v -0.46469170 -0.04419337 0.15753016 7 | v -0.36849162 -0.02766369 0.26312002 8 | v -0.23112293 -0.05301990 0.27420552 9 | v -0.45138169 -0.04837652 0.14594281 10 | v -0.36848626 0.02765663 0.26312082 11 | v -0.40973146 -0.04282613 0.23735289 12 | v -0.23369703 -0.02855751 0.28050048 13 | v -0.23205575 -0.06050732 0.23794668 14 | v -0.45111700 0.04089972 0.09978851 15 | v -0.37928800 0.04335733 0.25084064 16 | v -0.37930545 -0.04337037 0.25083291 17 | v -0.44886210 -0.04169181 0.19822996 18 | v -0.40846133 -0.01260836 0.24774467 19 | v -0.23286099 0.02991862 0.28057926 20 | v -0.22735350 0.05417177 0.21373674 21 | v -0.44124699 -0.01351826 0.10131211 22 | v -0.47475291 0.01408092 0.17117188 23 | v -0.39337365 0.03653693 0.24810205 24 | v -0.35312114 -0.03529252 0.26172288 25 | v -0.39360669 -0.03541704 0.24862310 26 | v -0.44583349 -0.03506380 0.21031285 27 | v -0.45734087 0.04885811 0.15918318 28 | v -0.48962131 -0.01420001 0.09917731 29 | v -0.44542157 0.03612538 0.20995901 30 | v -0.40841044 0.01393937 0.24763134 31 | v -0.41803940 -0.03461158 0.23536781 32 | v -0.47487115 -0.01275074 0.17122867 33 | v -0.45186339 0.04857771 0.14605710 34 | v -0.48948814 0.01552983 0.09916621 35 | v -0.46866170 0.04090380 0.15826277 36 | v -0.44838713 0.04212792 0.19797203 37 | v -0.45944691 0.02640922 0.19521722 38 | v -0.41757746 0.03568392 0.23501544 39 | v -0.46454991 -0.04220584 0.16824927 40 | v -0.45945539 -0.02640901 0.19520261 41 | v -0.46121111 0.03690231 0.18125337 42 | f 7 1 2 43 | f 7 2 3 44 | f 10 8 1 45 | f 11 6 7 46 | f 11 9 6 47 | f 12 8 2 48 | f 12 2 1 49 | f 12 1 8 50 | f 14 9 3 51 | f 14 3 4 52 | f 15 10 1 53 | f 15 1 7 54 | f 16 5 8 55 | f 16 8 10 56 | f 17 6 9 57 | f 18 11 7 58 | f 18 7 3 59 | f 18 3 9 60 | f 18 9 11 61 | f 19 3 2 62 | f 20 2 8 63 | f 20 19 2 64 | f 20 13 19 65 | f 22 14 4 66 | f 22 9 14 67 | f 23 15 7 68 | f 23 7 6 69 | f 23 6 15 70 | f 24 15 6 71 | f 24 10 15 72 | f 24 17 10 73 | f 24 6 17 74 | f 25 16 10 75 | f 26 4 3 76 | f 26 3 19 77 | f 27 20 8 78 | f 27 8 5 79 | f 27 13 20 80 | f 29 17 9 81 | f 29 9 22 82 | f 29 22 4 83 | f 29 28 25 84 | f 29 25 17 85 | f 30 25 10 86 | f 30 10 17 87 | f 30 17 25 88 | f 32 26 19 89 | f 32 19 13 90 | f 32 13 26 91 | f 33 26 13 92 | f 33 13 27 93 | f 33 31 21 94 | f 33 27 31 95 | f 34 33 21 96 | f 34 26 33 97 | f 35 28 4 98 | f 35 4 26 99 | f 35 26 34 100 | f 36 25 28 101 | f 36 21 31 102 | f 37 29 4 103 | f 37 4 28 104 | f 37 28 29 105 | f 38 5 16 106 | f 38 31 27 107 | f 38 27 5 108 | f 39 36 31 109 | f 39 25 36 110 | f 39 31 38 111 | f 39 38 16 112 | f 39 16 25 113 | f 40 34 21 114 | f 40 21 36 115 | f 40 35 34 116 | f 40 36 28 117 | f 40 28 35 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_13.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.21643648 -0.33238262 0.38901924 3 | v 0.29280014 -0.31156616 -0.35477022 4 | v 0.30442729 -0.30367589 0.38901924 5 | v 0.31821317 -0.26739835 0.38686275 6 | v 0.12879031 -0.30440838 -0.23403737 7 | v 0.30603999 -0.30728502 -0.18845018 8 | v 0.31293588 -0.27727219 0.39200532 9 | v 0.12878061 -0.34157114 -0.23390472 10 | v 0.12879886 -0.31181485 0.37183111 11 | v 0.31485767 -0.26277146 -0.18850572 12 | v 0.23175658 -0.33318499 -0.27935926 13 | v 0.27352201 -0.31747898 0.38901924 14 | v 0.26478095 -0.31668071 -0.38511534 15 | v 0.14395103 -0.31238760 0.38901924 16 | v 0.12877943 -0.34058847 0.37198624 17 | v 0.28717494 -0.31412099 -0.35403566 18 | v 0.23112036 -0.33016947 0.38411022 19 | v 0.28655736 -0.31274086 0.38343862 20 | v 0.26054952 -0.32011205 -0.38091745 21 | v 0.27766641 -0.31160810 -0.38325316 22 | v 0.14392734 -0.33760010 0.38901924 23 | v 0.18938658 -0.34150040 -0.27935926 24 | v 0.27259380 -0.31540443 -0.37908463 25 | v 0.19213873 -0.30019355 -0.28021834 26 | f 6 4 3 27 | f 7 3 4 28 | f 9 4 5 29 | f 10 5 4 30 | f 10 6 2 31 | f 10 4 6 32 | f 12 7 1 33 | f 12 3 7 34 | f 12 11 6 35 | f 14 7 4 36 | f 14 4 9 37 | f 15 14 9 38 | f 15 9 5 39 | f 15 5 8 40 | f 16 2 6 41 | f 16 6 11 42 | f 17 12 1 43 | f 17 11 12 44 | f 18 12 6 45 | f 18 6 3 46 | f 18 3 12 47 | f 19 8 5 48 | f 19 5 13 49 | f 19 16 11 50 | f 20 10 2 51 | f 20 19 13 52 | f 21 1 7 53 | f 21 7 14 54 | f 21 15 1 55 | f 21 14 15 56 | f 22 1 15 57 | f 22 17 1 58 | f 22 11 17 59 | f 22 15 8 60 | f 22 19 11 61 | f 22 8 19 62 | f 23 20 2 63 | f 23 19 20 64 | f 23 2 16 65 | f 23 16 19 66 | f 24 20 13 67 | f 24 13 5 68 | f 24 5 10 69 | f 24 10 20 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_14.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.27709270 -0.04533312 -0.23049014 3 | v -0.27692734 -0.04549984 -0.26544795 4 | v -0.27859556 0.05218400 -0.25672002 5 | v -0.46643511 0.04738178 -0.12569453 6 | v -0.46689885 -0.04698994 -0.12578247 7 | v -0.40882659 0.02727758 -0.24667294 8 | v -0.27689920 0.04617869 -0.23144424 9 | v -0.43471366 -0.01271490 -0.13150520 10 | v -0.37790747 0.02758038 -0.26043346 11 | v -0.40831548 0.04401440 -0.23707473 12 | v -0.47454998 0.01406487 -0.16938451 13 | v -0.40871523 -0.04346674 -0.23759712 14 | v -0.45311945 0.04763302 -0.12931174 15 | v -0.27805827 0.04053772 -0.26758805 16 | v -0.44612625 -0.04241685 -0.13099973 17 | v -0.43488222 0.01403989 -0.13157477 18 | v -0.38004134 0.04369613 -0.25060537 19 | v -0.47679436 0.03782662 -0.12456305 20 | v -0.44545310 0.03652224 -0.20921942 21 | v -0.46016692 -0.02637069 -0.19372114 22 | v -0.37791851 -0.02758789 -0.26042855 23 | v -0.44374323 0.04009134 -0.13039068 24 | v -0.35336174 0.03735205 -0.26131204 25 | v -0.47716245 -0.03697418 -0.12463724 26 | v -0.41859028 0.03636216 -0.23408938 27 | v -0.46189559 0.03702768 -0.17975655 28 | v -0.44920959 -0.04197407 -0.19653630 29 | v -0.46015839 0.02637090 -0.19373583 30 | v -0.44586579 -0.03545575 -0.20955827 31 | v -0.38022514 -0.04334671 -0.25098849 32 | v -0.40883764 -0.02728509 -0.24666803 33 | v -0.47466481 -0.01273422 -0.16943659 34 | v -0.47439573 0.03655295 -0.13921103 35 | v -0.44858008 0.04256569 -0.19618550 36 | v -0.46416779 -0.04246035 -0.16796492 37 | v -0.36830465 -0.03539124 -0.26003799 38 | v -0.41883113 -0.03526361 -0.23452338 39 | v -0.46396408 0.04465079 -0.15545299 40 | v -0.47472460 -0.03572684 -0.13927650 41 | v -0.29436325 -0.04458096 -0.26388295 42 | f 5 2 1 43 | f 7 1 2 44 | f 8 4 5 45 | f 10 4 3 46 | f 12 2 5 47 | f 13 7 3 48 | f 13 3 4 49 | f 14 7 2 50 | f 14 3 7 51 | f 15 8 5 52 | f 15 5 1 53 | f 15 1 8 54 | f 16 8 1 55 | f 16 1 7 56 | f 16 4 8 57 | f 17 9 6 58 | f 17 6 10 59 | f 17 10 3 60 | f 18 5 4 61 | f 21 14 2 62 | f 21 9 14 63 | f 21 6 9 64 | f 22 16 7 65 | f 22 7 13 66 | f 22 13 4 67 | f 22 4 16 68 | f 23 14 9 69 | f 23 9 17 70 | f 23 17 3 71 | f 23 3 14 72 | f 24 18 11 73 | f 24 5 18 74 | f 25 19 10 75 | f 25 10 6 76 | f 25 6 19 77 | f 27 12 5 78 | f 28 26 19 79 | f 28 11 26 80 | f 29 19 6 81 | f 29 27 20 82 | f 29 12 27 83 | f 29 28 19 84 | f 29 20 28 85 | f 30 2 12 86 | f 31 6 21 87 | f 31 29 6 88 | f 31 30 12 89 | f 31 21 30 90 | f 32 24 11 91 | f 32 28 20 92 | f 32 11 28 93 | f 33 26 11 94 | f 33 11 18 95 | f 34 10 19 96 | f 34 19 26 97 | f 35 20 27 98 | f 35 32 20 99 | f 35 27 5 100 | f 35 5 24 101 | f 36 30 21 102 | f 36 21 2 103 | f 37 31 12 104 | f 37 12 29 105 | f 37 29 31 106 | f 38 33 18 107 | f 38 18 4 108 | f 38 26 33 109 | f 38 34 26 110 | f 38 4 10 111 | f 38 10 34 112 | f 39 35 24 113 | f 39 24 32 114 | f 39 32 35 115 | f 40 36 2 116 | f 40 2 30 117 | f 40 30 36 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_15.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.26814246 -0.32420814 -0.27935926 3 | v 0.36343231 -0.26131950 -0.38597219 4 | v 0.37441549 -0.18441715 -0.29461832 5 | v 0.26626883 -0.01473872 -0.32031534 6 | v 0.26409316 -0.31514107 -0.38622524 7 | v 0.34100209 -0.01450131 -0.39258450 8 | v 0.34127191 -0.01448781 -0.31214003 9 | v 0.36124074 -0.27344992 -0.27935926 10 | v 0.31780179 -0.29969461 -0.36689010 11 | v 0.26689719 -0.26081287 -0.29531585 12 | v 0.37115353 -0.18106099 -0.39218221 13 | v 0.26525479 -0.01450368 -0.39170258 14 | v 0.32916450 -0.28615111 -0.38597219 15 | v 0.31867251 -0.30164398 -0.27935926 16 | v 0.34325904 -0.28469667 -0.35395526 17 | v 0.30255646 -0.29949099 -0.38597219 18 | v 0.35784493 -0.26876408 -0.37778123 19 | v 0.34410793 -0.28586789 -0.27935926 20 | f 7 4 1 21 | f 7 3 6 22 | f 8 2 3 23 | f 8 7 1 24 | f 8 3 7 25 | f 9 1 5 26 | f 10 5 1 27 | f 10 1 4 28 | f 10 4 5 29 | f 11 6 3 30 | f 11 3 2 31 | f 12 5 4 32 | f 12 7 6 33 | f 12 4 7 34 | f 12 11 5 35 | f 12 6 11 36 | f 13 11 2 37 | f 14 8 1 38 | f 14 1 9 39 | f 15 14 9 40 | f 16 13 9 41 | f 16 9 5 42 | f 16 5 11 43 | f 16 11 13 44 | f 17 13 2 45 | f 17 9 13 46 | f 17 15 9 47 | f 17 2 8 48 | f 17 8 15 49 | f 18 15 8 50 | f 18 8 14 51 | f 18 14 15 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_16.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.44592531 0.15158209 0.39273696 3 | v 0.45903457 0.15917093 -0.27935926 4 | v 0.43112168 0.19949723 0.38901924 5 | v 0.33690948 0.28303126 0.39048034 6 | v 0.41942180 0.14501158 -0.27843286 7 | v 0.36060252 0.27391250 -0.18845018 8 | v 0.37541223 0.25829082 0.38901924 9 | v 0.32576045 0.25825127 0.28124677 10 | v 0.43433631 0.20183585 -0.27935926 11 | v 0.35884651 0.27149136 0.38357255 12 | v 0.42502748 0.15702611 0.38901924 13 | v 0.33408952 0.24883621 -0.18836152 14 | v 0.42776466 0.20915148 -0.27935926 15 | v 0.34073617 0.28831176 -0.18845018 16 | v 0.34834732 0.27790947 0.38901924 17 | v 0.32958953 0.26353356 0.39099820 18 | v 0.33475064 0.25550190 0.38901924 19 | f 1 2 3 20 | f 5 2 1 21 | f 7 1 3 22 | f 7 4 1 23 | f 9 3 2 24 | f 10 7 6 25 | f 11 8 5 26 | f 11 5 1 27 | f 12 5 8 28 | f 13 7 3 29 | f 13 3 9 30 | f 13 6 7 31 | f 13 5 12 32 | f 13 9 2 33 | f 13 2 5 34 | f 14 10 6 35 | f 14 13 12 36 | f 14 6 13 37 | f 14 12 8 38 | f 14 8 4 39 | f 15 4 7 40 | f 15 7 10 41 | f 15 14 4 42 | f 15 10 14 43 | f 16 11 1 44 | f 16 1 4 45 | f 16 4 8 46 | f 17 16 8 47 | f 17 8 11 48 | f 17 11 16 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_17.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.10815241 0.20784344 0.39011719 3 | v 0.00761428 0.21269927 -0.39239541 4 | v 0.00087046 0.27335487 0.38901924 5 | v 0.01307442 0.30646357 0.38490179 6 | v -0.07078579 0.25617043 -0.33883079 7 | v 0.00698259 0.21364005 -0.30128788 8 | v 0.00980078 0.29868735 0.39200532 9 | v -0.10611222 0.20600318 -0.38597219 10 | v -0.07079790 0.25618719 0.35650353 11 | v 0.01438626 0.30350787 -0.37978230 12 | v -0.06444080 0.22309236 0.38901924 13 | v -0.04182173 0.27316002 0.38901924 14 | v -0.08249257 0.24390010 -0.33882150 15 | v -0.02578522 0.28709680 -0.36689010 16 | v 0.00961156 0.29911478 -0.38597219 17 | v -0.01481073 0.29283178 0.38901924 18 | v -0.10197795 0.21742205 0.38901924 19 | v -0.09857626 0.21435444 -0.38597219 20 | v 0.00147532 0.29845929 -0.37792750 21 | v -0.02528679 0.28641178 0.38351097 22 | v 0.00034000 0.30101728 0.38384434 23 | v -0.08256354 0.24389961 0.35649989 24 | v -0.05623865 0.25699768 -0.38597219 25 | v -0.01211487 0.28912820 -0.38597219 26 | f 6 2 4 27 | f 6 4 3 28 | f 6 1 2 29 | f 7 3 4 30 | f 8 2 1 31 | f 10 4 2 32 | f 11 6 3 33 | f 11 1 6 34 | f 11 7 1 35 | f 11 3 7 36 | f 12 1 7 37 | f 13 8 1 38 | f 14 5 9 39 | f 15 10 2 40 | f 16 12 7 41 | f 16 7 4 42 | f 17 12 9 43 | f 17 1 12 44 | f 17 13 1 45 | f 18 13 5 46 | f 18 8 13 47 | f 18 2 8 48 | f 19 14 4 49 | f 19 4 10 50 | f 19 10 15 51 | f 20 9 12 52 | f 20 12 16 53 | f 20 16 14 54 | f 20 14 9 55 | f 21 16 4 56 | f 21 4 14 57 | f 21 14 16 58 | f 22 17 9 59 | f 22 13 17 60 | f 22 9 5 61 | f 22 5 13 62 | f 23 18 5 63 | f 23 5 14 64 | f 23 2 18 65 | f 24 15 2 66 | f 24 2 23 67 | f 24 19 15 68 | f 24 23 14 69 | f 24 14 19 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_18.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.26566340 0.24444748 -0.29992251 3 | v 0.26513316 0.24299555 -0.39233105 4 | v 0.26267378 0.32665017 -0.27935926 5 | v 0.08651146 0.33428700 -0.21875321 6 | v 0.00761591 0.24299834 -0.39204894 7 | v 0.19247423 0.30312248 -0.23486870 8 | v 0.26666699 0.26224912 -0.29538128 9 | v 0.00412587 0.26602137 -0.23445504 10 | v 0.10231608 0.33123483 -0.37926697 11 | v 0.18938501 0.34150040 -0.23390472 12 | v 0.00520622 0.24634914 -0.29436670 13 | v 0.05292385 0.28879020 -0.21877020 14 | v 0.26002285 0.31849170 -0.38597219 15 | v 0.01522941 0.30160804 -0.38597219 16 | v 0.12877904 0.34157114 -0.21875321 17 | v 0.01176420 0.30941598 -0.23390472 18 | v 0.04732907 0.28624366 -0.21966322 19 | v 0.05622118 0.31907875 -0.38597219 20 | v 0.23104612 0.33115797 -0.36689010 21 | v 0.12880811 0.30532714 -0.21983899 22 | v 0.08695807 0.33220085 -0.36689010 23 | v 0.03090624 0.31557589 -0.36689010 24 | v 0.23148484 0.33324242 -0.27935926 25 | v 0.21570632 0.33026671 -0.37894540 26 | v 0.03004030 0.31752715 -0.23390472 27 | f 5 2 1 28 | f 7 1 2 29 | f 7 2 3 30 | f 7 6 1 31 | f 7 3 6 32 | f 10 6 3 33 | f 11 8 5 34 | f 11 5 1 35 | f 11 1 8 36 | f 13 3 2 37 | f 14 5 8 38 | f 15 6 10 39 | f 15 4 12 40 | f 16 14 8 41 | f 17 8 1 42 | f 17 16 8 43 | f 17 12 4 44 | f 17 4 16 45 | f 18 13 2 46 | f 18 2 5 47 | f 18 5 14 48 | f 18 9 13 49 | f 19 3 13 50 | f 19 9 10 51 | f 20 15 12 52 | f 20 6 15 53 | f 20 12 17 54 | f 20 17 1 55 | f 20 1 6 56 | f 21 15 10 57 | f 21 10 9 58 | f 21 4 15 59 | f 21 9 18 60 | f 22 18 14 61 | f 22 14 16 62 | f 22 21 18 63 | f 23 19 10 64 | f 23 10 3 65 | f 23 3 19 66 | f 24 19 13 67 | f 24 13 9 68 | f 24 9 19 69 | f 25 22 16 70 | f 25 16 4 71 | f 25 4 21 72 | f 25 21 22 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_19.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.45095003 -0.04960510 0.16099319 3 | v -0.44307874 -0.03880507 -0.13025151 4 | v -0.43256437 -0.01440711 0.14503369 5 | v -0.45139695 0.04978820 0.16109672 6 | v -0.49099861 -0.01282609 -0.08079720 7 | v -0.44374323 0.04009134 -0.13039068 8 | v -0.44481122 -0.04396718 0.14779136 9 | v -0.47885979 -0.04275685 -0.08114267 10 | v -0.49122379 -0.01284675 0.08281105 11 | v -0.48854277 0.03615787 -0.03513318 12 | v -0.47716245 -0.03697418 -0.12463724 13 | v -0.45312267 -0.04763284 -0.12929659 14 | v -0.47669009 0.02594896 0.15669138 15 | v -0.47897456 -0.04287224 0.08311632 16 | v -0.48907213 -0.03509197 -0.03516962 17 | v -0.47679436 0.03782662 -0.12456305 18 | v -0.49118762 0.02549658 -0.06566973 19 | v -0.46689885 -0.04698994 -0.12578247 20 | v -0.47246335 -0.03456191 0.15582167 21 | v -0.49130634 0.02550192 0.06767749 22 | v -0.49118781 -0.02549657 -0.06566769 23 | v -0.49130652 -0.02550192 0.06767544 24 | v -0.45311945 0.04763302 -0.12931174 25 | v -0.49087547 0.01415681 -0.08077995 26 | v -0.46469170 -0.04419337 0.15753016 27 | v -0.49108568 0.01417616 0.08280338 28 | v -0.48950775 0.03666841 0.02206803 29 | v -0.48902906 -0.03507471 0.03719116 30 | v -0.46643511 0.04738178 -0.12569453 31 | v -0.47427560 0.03685047 0.14113070 32 | v -0.47875894 0.04397002 -0.06596694 33 | v -0.47880978 0.04400819 0.06796335 34 | v -0.46402105 0.04471777 0.15744627 35 | f 1 3 4 36 | f 6 3 2 37 | f 6 4 3 38 | f 7 1 2 39 | f 7 2 3 40 | f 7 3 1 41 | f 12 2 1 42 | f 12 6 2 43 | f 13 1 4 44 | f 15 8 14 45 | f 15 11 8 46 | f 17 10 16 47 | f 18 12 1 48 | f 18 8 11 49 | f 18 11 12 50 | f 18 14 8 51 | f 18 1 14 52 | f 19 13 9 53 | f 19 1 13 54 | f 21 5 11 55 | f 21 11 15 56 | f 21 17 5 57 | f 21 20 17 58 | f 22 21 15 59 | f 22 9 20 60 | f 22 20 21 61 | f 22 19 9 62 | f 22 14 19 63 | f 23 12 11 64 | f 23 11 16 65 | f 23 6 12 66 | f 23 4 6 67 | f 24 17 16 68 | f 24 5 17 69 | f 24 16 11 70 | f 24 11 5 71 | f 25 19 14 72 | f 25 14 1 73 | f 25 1 19 74 | f 26 20 9 75 | f 26 9 13 76 | f 26 13 20 77 | f 27 10 17 78 | f 27 17 20 79 | f 28 22 15 80 | f 28 15 14 81 | f 28 14 22 82 | f 29 23 16 83 | f 29 4 23 84 | f 30 20 13 85 | f 31 29 16 86 | f 31 16 10 87 | f 31 10 27 88 | f 32 27 20 89 | f 32 20 30 90 | f 32 31 27 91 | f 32 4 29 92 | f 32 29 31 93 | f 33 30 13 94 | f 33 13 4 95 | f 33 32 30 96 | f 33 4 32 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_2.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.01287285 -0.30557466 0.38901924 3 | v 0.01393871 -0.30317317 -0.38015272 4 | v 0.00761258 -0.18105726 -0.39275725 5 | v -0.05862576 -0.23165187 0.38986860 6 | v -0.04120598 -0.27096929 -0.37868209 7 | v 0.00037244 -0.27313383 0.38901924 8 | v -0.02429330 -0.28370519 -0.37767292 9 | v -0.04246088 -0.27269453 0.38901924 10 | v -0.04697653 -0.26374228 -0.38597219 11 | v 0.00664417 -0.18247728 -0.30515426 12 | v 0.00102780 -0.29812459 -0.37829796 13 | v -0.02535023 -0.28515599 0.38901924 14 | v 0.00911356 -0.29889376 -0.38597219 15 | v -0.05293905 -0.18109731 -0.39218521 16 | v -0.04709520 -0.23925356 0.38901924 17 | v 0.00021455 -0.29995685 0.38901924 18 | v -0.01275400 -0.28866279 -0.38597219 19 | v -0.05368373 -0.18166467 -0.29729038 20 | f 1 2 3 21 | f 6 4 1 22 | f 8 5 7 23 | f 9 7 5 24 | f 9 8 4 25 | f 9 5 8 26 | f 10 6 1 27 | f 10 1 3 28 | f 11 2 1 29 | f 12 8 7 30 | f 12 4 8 31 | f 13 3 2 32 | f 13 2 11 33 | f 14 9 4 34 | f 14 3 13 35 | f 15 10 4 36 | f 15 4 6 37 | f 15 6 10 38 | f 16 11 1 39 | f 16 1 4 40 | f 16 4 12 41 | f 16 12 7 42 | f 16 7 11 43 | f 17 13 11 44 | f 17 11 7 45 | f 17 7 9 46 | f 17 14 13 47 | f 17 9 14 48 | f 18 10 3 49 | f 18 3 14 50 | f 18 14 4 51 | f 18 4 10 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_20.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.36002522 0.23341377 0.28122027 3 | v 0.33947261 0.27141646 -0.38703623 4 | v 0.36506861 0.27067545 0.28124679 5 | v 0.26144734 0.32287184 0.38901924 6 | v 0.26513234 0.27329410 -0.39196248 7 | v 0.31758067 0.30054203 -0.35404904 8 | v 0.34166899 0.25929588 0.39224451 9 | v 0.36506861 0.27067545 -0.18845018 10 | v 0.35842199 0.23120302 -0.18848087 11 | v 0.27241572 0.28966525 0.38901924 12 | v 0.31695947 0.29915407 0.38348167 13 | v 0.26059025 0.32023954 -0.38052651 14 | v 0.32852633 0.28661354 -0.38597219 15 | v 0.33828226 0.23947088 -0.27906958 16 | v 0.33121495 0.29032829 0.38901924 17 | v 0.27214683 0.31574523 -0.37870946 18 | v 0.26416363 0.31664193 -0.38597219 19 | v 0.27302190 0.31770234 0.38901924 20 | v 0.28942540 0.30535694 -0.38597219 21 | f 7 1 3 22 | f 8 3 1 23 | f 8 6 3 24 | f 9 8 1 25 | f 9 2 8 26 | f 10 5 1 27 | f 10 4 5 28 | f 10 7 4 29 | f 10 1 7 30 | f 11 6 4 31 | f 11 3 6 32 | f 12 5 4 33 | f 12 4 6 34 | f 13 8 2 35 | f 13 6 8 36 | f 13 2 5 37 | f 14 5 2 38 | f 14 2 9 39 | f 14 9 1 40 | f 14 1 5 41 | f 15 7 3 42 | f 15 3 11 43 | f 16 12 6 44 | f 16 6 13 45 | f 17 5 12 46 | f 17 12 16 47 | f 18 15 11 48 | f 18 11 4 49 | f 18 4 7 50 | f 18 7 15 51 | f 19 17 16 52 | f 19 16 13 53 | f 19 13 5 54 | f 19 5 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_21.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.14251172 -0.07956108 -0.06734832 3 | v -0.13671297 -0.07767212 -0.27989960 4 | v -0.13186719 0.09258549 -0.27956871 5 | v -0.15387328 0.14255455 -0.12784468 6 | v -0.27692734 -0.04549984 -0.26544795 7 | v -0.13676990 0.09418342 -0.18851414 8 | v -0.24614234 -0.05697699 -0.25965015 9 | v -0.27751986 0.01420239 -0.22158350 10 | v -0.18766882 0.04595305 -0.29420686 11 | v -0.22747832 -0.05779909 -0.26905146 12 | v -0.18355504 -0.07323282 -0.12814002 13 | v -0.18759598 0.04468032 -0.12859819 14 | v -0.27680697 0.04551095 -0.26546563 15 | v -0.18347105 0.07450306 -0.29354074 16 | v -0.23100973 -0.03988556 -0.27943361 17 | v -0.27709270 -0.04533312 -0.23049014 18 | v -0.14790107 -0.06034635 -0.06726848 19 | v -0.17189756 0.09927146 -0.12871482 20 | v -0.27689920 0.04617869 -0.23144424 21 | v -0.26247008 -0.01297506 -0.27670639 22 | v -0.15386061 0.14254173 -0.18845569 23 | v -0.24608768 -0.05724238 -0.23654326 24 | v -0.27744120 -0.01287413 -0.22142169 25 | v -0.14396871 -0.07509558 -0.06723829 26 | v -0.15838361 0.13199847 -0.12784360 27 | v -0.24507742 -0.03661485 -0.27645025 28 | v -0.26256292 0.01431040 -0.27661444 29 | v -0.17927843 0.08710293 -0.27833992 30 | v -0.14773820 -0.06190454 -0.06738358 31 | f 1 2 3 32 | f 6 1 3 33 | f 6 3 4 34 | f 6 4 1 35 | f 10 7 5 36 | f 10 5 2 37 | f 10 2 7 38 | f 11 7 2 39 | f 11 2 1 40 | f 13 5 8 41 | f 14 3 2 42 | f 14 2 9 43 | f 15 9 2 44 | f 15 2 5 45 | f 16 11 1 46 | f 17 12 8 47 | f 17 1 4 48 | f 18 12 17 49 | f 19 13 8 50 | f 19 8 12 51 | f 19 12 18 52 | f 20 9 15 53 | f 21 4 3 54 | f 21 19 4 55 | f 21 13 19 56 | f 22 16 5 57 | f 22 5 7 58 | f 22 7 11 59 | f 22 11 16 60 | f 23 8 5 61 | f 23 5 16 62 | f 23 17 8 63 | f 24 16 1 64 | f 24 1 17 65 | f 25 18 17 66 | f 25 17 4 67 | f 25 19 18 68 | f 25 4 19 69 | f 26 20 15 70 | f 26 15 5 71 | f 26 5 20 72 | f 27 14 9 73 | f 27 9 20 74 | f 27 13 14 75 | f 27 20 5 76 | f 27 5 13 77 | f 28 14 13 78 | f 28 13 21 79 | f 28 21 3 80 | f 28 3 14 81 | f 29 23 16 82 | f 29 17 23 83 | f 29 24 17 84 | f 29 16 24 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_22.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.00664417 -0.18247728 -0.30515426 3 | v 0.00761258 -0.18105726 -0.39275725 4 | v 0.00579315 0.13839028 -0.30979965 5 | v -0.16000673 0.13073364 -0.27792472 6 | v -0.23159282 -0.05286944 -0.27424383 7 | v -0.15000209 0.13407009 -0.38597219 8 | v 0.00751480 0.13710516 -0.39280239 9 | v -0.13162115 -0.18272361 -0.27932062 10 | v -0.08758457 0.13985862 -0.29636991 11 | v -0.23388200 0.04502277 -0.27649034 12 | v -0.14540579 -0.14296315 -0.38597219 13 | v -0.17377417 -0.04316120 -0.38597219 14 | v -0.05639196 -0.18418035 -0.29624153 15 | v -0.15393146 0.13040902 -0.37823771 16 | v -0.12475533 -0.17882452 -0.38597219 17 | v -0.17363620 0.04448999 -0.38597219 18 | v -0.15632307 -0.11469463 -0.38597219 19 | v -0.15592705 0.11590854 -0.38597219 20 | v -0.15429648 -0.12917026 -0.37836492 21 | v -0.16921009 -0.08365283 -0.37822711 22 | v -0.16885013 0.08486304 -0.37809798 23 | f 1 3 4 24 | f 7 1 2 25 | f 7 3 1 26 | f 8 1 4 27 | f 8 4 5 28 | f 9 6 4 29 | f 9 4 3 30 | f 9 7 6 31 | f 9 3 7 32 | f 10 5 4 33 | f 12 7 2 34 | f 12 5 10 35 | f 13 2 1 36 | f 13 1 8 37 | f 14 10 4 38 | f 14 4 6 39 | f 14 6 10 40 | f 15 8 5 41 | f 15 5 11 42 | f 15 11 2 43 | f 15 13 8 44 | f 15 2 13 45 | f 16 7 12 46 | f 16 12 10 47 | f 17 12 2 48 | f 17 2 11 49 | f 18 6 7 50 | f 18 7 16 51 | f 18 10 6 52 | f 19 17 11 53 | f 19 11 5 54 | f 19 5 17 55 | f 20 17 5 56 | f 20 5 12 57 | f 20 12 17 58 | f 21 18 16 59 | f 21 16 10 60 | f 21 10 18 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_23.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.42382392 0.14755770 -0.18837983 3 | v 0.44490525 0.15099145 -0.38738163 4 | v 0.42023227 0.21753661 -0.18845018 5 | v 0.34073617 0.28831176 -0.18845018 6 | v 0.26519769 0.15226974 -0.39261858 7 | v 0.37420499 0.25661979 -0.37847100 8 | v 0.45903457 0.15917093 -0.27935926 9 | v 0.26679291 0.15409127 -0.31167693 10 | v 0.36060252 0.27391250 -0.18845018 11 | v 0.26513234 0.27329410 -0.39196248 12 | v 0.42961594 0.19840026 -0.37783278 13 | v 0.34848686 0.23840168 -0.18854868 14 | v 0.35935011 0.27218396 -0.36689010 15 | v 0.26794734 0.27965885 -0.27980312 16 | v 0.26666699 0.26224912 -0.29538128 17 | v 0.34566024 0.27419775 -0.38597219 18 | v 0.43433631 0.20183585 -0.27935926 19 | v 0.43193946 0.18893914 -0.38597219 20 | v 0.33572543 0.28139684 -0.38597219 21 | v 0.33119075 0.25059364 -0.20420101 22 | f 5 2 1 23 | f 7 1 2 24 | f 7 3 1 25 | f 8 5 1 26 | f 9 1 3 27 | f 9 4 1 28 | f 10 2 5 29 | f 12 8 1 30 | f 12 1 4 31 | f 13 4 9 32 | f 13 9 3 33 | f 15 10 5 34 | f 15 5 8 35 | f 15 14 10 36 | f 15 8 14 37 | f 16 13 6 38 | f 17 11 6 39 | f 17 3 7 40 | f 17 7 11 41 | f 17 13 3 42 | f 17 6 13 43 | f 18 11 7 44 | f 18 7 2 45 | f 18 2 10 46 | f 18 10 16 47 | f 18 16 6 48 | f 18 6 11 49 | f 19 14 4 50 | f 19 10 14 51 | f 19 16 10 52 | f 19 4 13 53 | f 19 13 16 54 | f 20 12 4 55 | f 20 4 14 56 | f 20 14 8 57 | f 20 8 12 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_24.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.13819900 -0.10845872 0.38901924 3 | v -0.11745789 -0.09148457 -0.29434650 4 | v -0.14852836 -0.07658282 0.38714179 5 | v -0.20191489 -0.06863242 -0.26201450 6 | v -0.17386097 -0.09856842 -0.27940697 7 | v -0.13671297 -0.07767212 -0.27989960 8 | v -0.20231825 -0.06523599 0.26547666 9 | v -0.12629813 -0.10952082 -0.28022256 10 | v -0.18501623 -0.07316374 -0.27937271 11 | v -0.14533955 -0.10584580 0.39215299 12 | v -0.17094665 -0.09938297 0.32387079 13 | v -0.12815757 -0.11012759 -0.25004630 14 | v -0.14882437 -0.09183106 0.39200532 15 | v -0.20044068 -0.06848488 0.20711239 16 | v -0.17968120 -0.07192374 0.32521102 17 | v -0.14266582 -0.09476417 0.38901924 18 | f 6 3 2 19 | f 7 6 4 20 | f 7 3 6 21 | f 8 5 2 22 | f 8 2 1 23 | f 9 5 4 24 | f 9 2 5 25 | f 9 6 2 26 | f 9 4 6 27 | f 11 5 1 28 | f 11 1 10 29 | f 12 8 1 30 | f 12 1 5 31 | f 12 5 8 32 | f 13 10 1 33 | f 14 11 7 34 | f 14 7 4 35 | f 14 4 5 36 | f 14 5 11 37 | f 15 11 10 38 | f 15 7 11 39 | f 15 10 13 40 | f 15 13 3 41 | f 15 3 7 42 | f 16 13 1 43 | f 16 3 13 44 | f 16 1 2 45 | f 16 2 3 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_25.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.13734257 0.16354013 0.38980129 3 | v -0.09732076 0.16646467 -0.39064684 4 | v -0.10646488 0.17193289 0.38901924 5 | v -0.07338655 0.21749016 0.39074857 6 | v -0.12686468 0.18783818 -0.36708852 7 | v -0.05849261 0.21772181 -0.23438110 8 | v -0.13449974 0.16190248 -0.38597219 9 | v -0.11631573 0.20153610 0.38901924 10 | v -0.08409374 0.19685039 0.29631416 11 | v -0.09693826 0.21139717 -0.38644363 12 | v -0.12615637 0.18742591 0.38369576 13 | v -0.06143589 0.22037882 0.03873597 14 | v -0.07877946 0.20720712 0.38901924 15 | v -0.11291248 0.19846723 -0.38597219 16 | v -0.13191789 0.17556841 0.38901924 17 | v -0.12794753 0.17328097 -0.38597219 18 | f 1 2 3 19 | f 1 3 4 20 | f 7 2 1 21 | f 7 1 5 22 | f 8 1 4 23 | f 9 3 2 24 | f 9 2 6 25 | f 10 6 2 26 | f 10 5 8 27 | f 10 8 4 28 | f 11 8 5 29 | f 12 9 6 30 | f 12 10 4 31 | f 12 6 10 32 | f 13 4 3 33 | f 13 3 9 34 | f 13 12 4 35 | f 13 9 12 36 | f 14 5 10 37 | f 14 10 2 38 | f 15 11 5 39 | f 15 5 1 40 | f 15 1 8 41 | f 15 8 11 42 | f 16 7 5 43 | f 16 5 14 44 | f 16 14 2 45 | f 16 2 7 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_26.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.00925216 0.13576085 -0.31043601 3 | v 0.00751480 0.13710516 -0.39280239 4 | v 0.00761428 0.21269927 -0.39239541 5 | v -0.10546398 0.21901215 -0.23390472 6 | v -0.15741760 0.13629449 -0.27919065 7 | v 0.00957456 0.20993776 -0.30197760 8 | v -0.15000209 0.13407009 -0.38597219 9 | v -0.09953813 0.16794485 -0.23398337 10 | v -0.05849261 0.21772181 -0.23438110 11 | v -0.14050665 0.15664623 -0.37826206 12 | v -0.10521750 0.15606425 -0.24955897 13 | v -0.14466115 0.15930232 -0.27941057 14 | v -0.09693826 0.21139717 -0.38644363 15 | v -0.14482496 0.14397179 -0.38597219 16 | f 6 1 2 17 | f 6 2 3 18 | f 7 2 1 19 | f 7 1 5 20 | f 7 3 2 21 | f 8 4 5 22 | f 9 6 3 23 | f 9 3 4 24 | f 9 4 8 25 | f 9 8 1 26 | f 9 1 6 27 | f 10 7 5 28 | f 11 8 5 29 | f 11 5 1 30 | f 11 1 8 31 | f 12 10 5 32 | f 12 5 4 33 | f 12 4 10 34 | f 13 10 4 35 | f 13 4 3 36 | f 14 13 3 37 | f 14 3 7 38 | f 14 7 10 39 | f 14 10 13 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_27.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.48579416 -0.07294005 0.39006731 3 | v 0.49241287 -0.07139212 -0.32481381 4 | v 0.48941340 0.07075251 0.38391642 5 | v 0.45388890 0.09382067 0.38952010 6 | v 0.43817913 -0.07160691 -0.29330425 7 | v 0.48506327 0.09410191 -0.18845018 8 | v 0.47604899 0.09118456 0.39203088 9 | v 0.49144442 -0.04306781 0.38901924 10 | v 0.45787455 -0.07861636 0.38901924 11 | v 0.49364511 0.05979715 -0.32481381 12 | v 0.43806578 0.06017206 -0.29459845 13 | v 0.48940452 -0.07075593 0.38396716 14 | v 0.49130272 0.04439567 0.38901924 15 | v 0.49237484 0.07150964 -0.18845018 16 | v 0.44753743 0.09176436 -0.18845473 17 | v 0.48569690 0.07425246 0.38989137 18 | f 7 6 4 19 | f 7 3 6 20 | f 8 7 1 21 | f 9 5 2 22 | f 9 2 1 23 | f 9 4 5 24 | f 9 7 4 25 | f 9 1 7 26 | f 10 8 2 27 | f 11 5 4 28 | f 11 10 2 29 | f 11 2 5 30 | f 12 8 1 31 | f 12 1 2 32 | f 12 2 8 33 | f 13 7 8 34 | f 13 8 10 35 | f 14 10 6 36 | f 14 6 3 37 | f 14 13 10 38 | f 14 3 13 39 | f 15 11 4 40 | f 15 4 6 41 | f 15 6 10 42 | f 15 10 11 43 | f 16 13 3 44 | f 16 3 7 45 | f 16 7 13 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_28.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.30473566 -0.30436635 0.38475476 3 | v 0.37450814 -0.21440988 -0.18848396 4 | v 0.36124074 -0.27344992 -0.18845018 5 | v 0.37875701 -0.21822852 0.38695955 6 | v 0.31825659 -0.26745826 0.38901924 7 | v 0.35891810 -0.27024699 0.38901924 8 | v 0.30603999 -0.30728502 -0.18845018 9 | v 0.32308002 -0.25896148 0.03866043 10 | v 0.34353669 -0.28507731 0.37165383 11 | v 0.37520432 -0.23018728 0.39200532 12 | v 0.30810950 -0.29676980 0.39177141 13 | v 0.32205633 -0.25755420 -0.18859977 14 | v 0.33185318 -0.28986565 0.38901924 15 | v 0.31867251 -0.30164398 -0.18845018 16 | v 0.36774276 -0.22194168 -0.18856993 17 | v 0.31744427 -0.29889665 0.38369251 18 | v 0.34410793 -0.28586789 -0.18845018 19 | f 3 2 4 20 | f 8 5 4 21 | f 8 4 2 22 | f 9 3 6 23 | f 10 6 3 24 | f 10 3 4 25 | f 10 4 5 26 | f 11 5 1 27 | f 11 10 5 28 | f 11 6 10 29 | f 12 8 2 30 | f 12 5 8 31 | f 12 7 1 32 | f 12 1 5 33 | f 13 9 6 34 | f 13 11 1 35 | f 13 6 11 36 | f 14 7 12 37 | f 15 12 2 38 | f 15 2 3 39 | f 15 3 12 40 | f 16 13 1 41 | f 16 9 13 42 | f 16 14 9 43 | f 16 1 7 44 | f 16 7 14 45 | f 17 3 9 46 | f 17 9 14 47 | f 17 14 12 48 | f 17 12 3 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_29.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.31867251 -0.30164398 -0.18845018 3 | v 0.37818641 -0.20256290 -0.27996559 4 | v 0.36124074 -0.27344992 -0.27935926 5 | v 0.37450814 -0.21440988 -0.18848396 6 | v 0.21608993 -0.30044436 -0.18831696 7 | v 0.37891238 -0.20321501 -0.26487719 8 | v 0.36124074 -0.27344992 -0.18845018 9 | v 0.22115135 -0.29408756 -0.27981452 10 | v 0.35918131 -0.19910135 -0.29499995 11 | v 0.34410793 -0.28586789 -0.27935926 12 | v 0.22338411 -0.33495463 -0.27935926 13 | v 0.34410793 -0.28586789 -0.18845018 14 | v 0.31867251 -0.30164398 -0.27935926 15 | f 6 3 2 16 | f 7 4 5 17 | f 7 6 4 18 | f 7 3 6 19 | f 9 5 4 20 | f 9 4 6 21 | f 9 6 2 22 | f 9 8 5 23 | f 9 2 3 24 | f 10 3 7 25 | f 10 9 3 26 | f 11 1 5 27 | f 11 5 8 28 | f 11 8 9 29 | f 12 10 7 30 | f 12 1 10 31 | f 12 7 5 32 | f 12 5 1 33 | f 13 10 1 34 | f 13 1 11 35 | f 13 11 9 36 | f 13 9 10 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_3.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.26791734 0.29474372 0.39062587 3 | v 0.26794734 0.27965885 -0.27980312 4 | v 0.26267378 0.32665017 -0.27935926 5 | v 0.10182925 0.33351605 0.38901924 6 | v 0.08369627 0.30200411 0.32676098 7 | v 0.23085704 0.33026641 0.38388356 8 | v 0.27080673 0.28606355 0.05391959 9 | v 0.08218610 0.30906735 0.39200532 10 | v 0.12878875 0.30441385 -0.23395080 11 | v 0.26144734 0.32287184 0.38901924 12 | v 0.18938501 0.34150040 -0.27935926 13 | v 0.23567121 0.27729092 -0.29418780 14 | v 0.12877904 0.34157114 -0.23390472 15 | v 0.21616481 0.33244003 0.38901924 16 | v 0.23148484 0.33324242 -0.27935926 17 | v 0.19186835 0.30025618 -0.28013364 18 | v 0.08651146 0.33428700 0.32670133 19 | v 0.08479233 0.32718081 0.39056305 20 | v 0.08715577 0.33128045 0.38405753 21 | f 7 2 3 22 | f 7 3 1 23 | f 8 5 1 24 | f 10 1 3 25 | f 10 3 6 26 | f 12 2 7 27 | f 12 5 9 28 | f 12 3 2 29 | f 12 7 1 30 | f 12 1 5 31 | f 13 11 9 32 | f 13 9 5 33 | f 14 10 6 34 | f 14 8 1 35 | f 14 1 10 36 | f 14 6 11 37 | f 14 13 4 38 | f 14 11 13 39 | f 15 11 6 40 | f 15 6 3 41 | f 15 12 11 42 | f 15 3 12 43 | f 16 12 9 44 | f 16 9 11 45 | f 16 11 12 46 | f 17 4 13 47 | f 17 13 5 48 | f 17 5 8 49 | f 18 14 4 50 | f 18 8 14 51 | f 18 17 8 52 | f 19 18 4 53 | f 19 4 17 54 | f 19 17 18 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_30.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.14512140 -0.07547155 0.12972674 3 | v -0.14498558 -0.07048657 -0.12773079 4 | v -0.14313184 0.07616574 -0.12783762 5 | v -0.18324760 0.07447580 0.13004361 6 | v -0.18355504 -0.07323282 -0.12814002 7 | v -0.14472474 0.07668534 0.12972839 8 | v -0.14385868 -0.07505971 -0.08238892 9 | v -0.18336411 -0.07251177 0.13003213 10 | v -0.18881008 -0.02823087 -0.12867174 11 | v -0.18878519 0.02957149 0.13056206 12 | v -0.14744066 -0.06029849 -0.12787100 13 | v -0.18280830 0.07362093 -0.12817185 14 | v -0.18907062 -0.02831181 0.13042048 15 | v -0.18887655 0.02963803 -0.12854122 16 | f 6 1 3 17 | f 6 3 4 18 | f 7 2 3 19 | f 7 3 1 20 | f 7 5 2 21 | f 7 1 5 22 | f 8 5 1 23 | f 10 6 4 24 | f 10 1 6 25 | f 11 9 3 26 | f 11 3 2 27 | f 11 2 5 28 | f 11 5 9 29 | f 12 4 3 30 | f 13 9 5 31 | f 13 5 8 32 | f 13 8 1 33 | f 13 1 10 34 | f 14 12 3 35 | f 14 3 9 36 | f 14 10 4 37 | f 14 4 12 38 | f 14 13 10 39 | f 14 9 13 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_31.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.48245460 -0.10216256 -0.27935926 3 | v 0.49133182 -0.07473248 -0.32481381 4 | v 0.49133182 -0.07473248 -0.27935926 5 | v 0.26328612 -0.07367867 -0.31825999 6 | v 0.26571507 -0.10578307 -0.31604945 7 | v 0.39611172 -0.07322527 -0.30252076 8 | v 0.48245460 -0.10216256 -0.32481381 9 | v 0.26307204 -0.10393513 -0.31639665 10 | v 0.42061658 -0.10666749 -0.29483589 11 | v 0.32779992 -0.10635158 -0.30992706 12 | f 1 2 3 13 | f 6 3 2 14 | f 6 2 4 15 | f 6 4 3 16 | f 7 2 1 17 | f 7 4 2 18 | f 8 5 1 19 | f 8 1 3 20 | f 8 3 4 21 | f 8 7 5 22 | f 8 4 7 23 | f 9 7 1 24 | f 9 1 5 25 | f 10 9 5 26 | f 10 5 7 27 | f 10 7 9 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_4.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.00490460 0.27941715 0.39132916 3 | v 0.12880811 0.30532714 -0.21983899 4 | v 0.12879557 0.31025706 0.32647619 5 | v 0.04430526 0.31952452 0.38901924 6 | v 0.01176420 0.30941598 -0.23390472 7 | v 0.12877904 0.34157114 -0.21875321 8 | v 0.09775182 0.30713111 0.38718695 9 | v 0.00412587 0.26602137 -0.23445504 10 | v 0.01337084 0.30579567 0.38901924 11 | v 0.12877904 0.34157114 0.32670133 12 | v 0.08341452 0.33362508 -0.23390472 13 | v 0.03180453 0.28708459 0.38901924 14 | v 0.08479233 0.32718081 0.39056305 15 | v 0.00195694 0.27090588 0.31107375 16 | v 0.03125600 0.31479122 0.38357055 17 | v 0.03004030 0.31752715 -0.23390472 18 | v 0.08651146 0.33428700 0.32670133 19 | v 0.08182774 0.29559237 -0.23437102 20 | v 0.08015196 0.30343330 0.38901924 21 | v 0.01679489 0.27161547 -0.23485104 22 | v 0.08651146 0.33428700 -0.21875321 23 | f 8 2 3 24 | f 9 5 1 25 | f 10 3 2 26 | f 10 2 6 27 | f 10 7 3 28 | f 11 6 2 29 | f 12 7 1 30 | f 12 3 7 31 | f 13 9 1 32 | f 13 4 9 33 | f 13 7 10 34 | f 14 8 3 35 | f 14 1 5 36 | f 14 5 8 37 | f 14 12 1 38 | f 14 3 12 39 | f 15 9 4 40 | f 15 5 9 41 | f 16 15 4 42 | f 16 5 15 43 | f 17 10 6 44 | f 17 13 10 45 | f 17 4 13 46 | f 17 16 4 47 | f 17 11 16 48 | f 18 11 2 49 | f 18 2 8 50 | f 19 13 1 51 | f 19 1 7 52 | f 19 7 13 53 | f 20 16 11 54 | f 20 8 5 55 | f 20 5 16 56 | f 20 18 8 57 | f 20 11 18 58 | f 21 17 6 59 | f 21 6 11 60 | f 21 11 17 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_5.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.26563355 -0.12087758 -0.31512548 3 | v 0.34100209 -0.01450131 -0.39258450 4 | v 0.34198354 0.15318878 -0.30413727 5 | v 0.00743800 0.24328495 -0.29538334 6 | v 0.00751363 -0.12061187 -0.39265386 7 | v 0.26513316 0.24299555 -0.39233105 8 | v 0.34127191 -0.01448781 -0.31214003 9 | v 0.26523250 -0.12059743 -0.39228854 10 | v 0.00735578 -0.12070780 -0.31154908 11 | v 0.34085405 0.15210626 -0.39268938 12 | v 0.26566340 0.24444748 -0.29992251 13 | v 0.00761591 0.24299834 -0.39204894 14 | v 0.34295985 0.07728970 -0.30969631 15 | v -0.02410657 0.13808370 -0.30634064 16 | v -0.02320283 0.21354199 -0.29746885 17 | f 1 3 4 18 | f 7 1 2 19 | f 7 3 1 20 | f 8 5 2 21 | f 8 2 1 22 | f 8 1 5 23 | f 9 5 1 24 | f 9 1 4 25 | f 10 6 3 26 | f 10 2 5 27 | f 11 4 3 28 | f 11 3 6 29 | f 12 11 6 30 | f 12 4 11 31 | f 12 10 5 32 | f 12 6 10 33 | f 13 7 2 34 | f 13 3 7 35 | f 13 10 3 36 | f 13 2 10 37 | f 14 12 5 38 | f 14 5 9 39 | f 15 14 9 40 | f 15 9 4 41 | f 15 4 12 42 | f 15 12 14 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_6.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v -0.04867408 -0.26607426 0.39002739 3 | v -0.04697653 -0.26374228 -0.38597219 4 | v -0.05293905 -0.18109731 -0.39218521 5 | v -0.16514294 -0.10242062 0.38901924 6 | v -0.09748037 -0.22725940 -0.33889747 7 | v -0.13819900 -0.10845872 0.38901924 8 | v -0.07054563 -0.25449756 -0.36689010 9 | v -0.12594700 -0.18593909 0.38901924 10 | v -0.17141167 -0.10414605 -0.27936796 11 | v -0.06510885 -0.22235225 0.38901924 12 | v -0.09750640 -0.22721720 0.35658320 13 | v -0.14163276 -0.14951535 -0.38597219 14 | v -0.15620832 -0.12980900 0.38901924 15 | v -0.12629813 -0.10952082 -0.28022256 16 | v -0.16025641 -0.12955073 -0.27940222 17 | v -0.07006887 -0.25384227 0.38330765 18 | v -0.11358051 -0.19772692 -0.38597219 19 | v -0.14692172 -0.14383608 -0.38073206 20 | v -0.05957153 -0.26023307 0.38901924 21 | v -0.08153191 -0.24160341 0.38325351 22 | v -0.12715509 -0.14990338 -0.38779362 23 | v -0.05687779 -0.25653227 -0.38597219 24 | v -0.12433104 -0.18501677 -0.37783522 25 | v -0.14102649 -0.15559288 -0.37846109 26 | v -0.12852836 -0.17227232 -0.38597219 27 | f 1 2 3 28 | f 6 4 1 29 | f 7 2 1 30 | f 10 6 1 31 | f 10 1 3 32 | f 10 3 6 33 | f 11 5 7 34 | f 11 8 5 35 | f 13 8 1 36 | f 13 1 4 37 | f 13 4 9 38 | f 14 6 3 39 | f 14 9 4 40 | f 14 4 6 41 | f 15 5 8 42 | f 15 13 9 43 | f 15 8 13 44 | f 16 11 7 45 | f 17 7 5 46 | f 18 9 14 47 | f 18 15 9 48 | f 19 16 7 49 | f 19 7 1 50 | f 19 1 8 51 | f 20 8 11 52 | f 20 11 16 53 | f 20 19 8 54 | f 20 16 19 55 | f 21 3 17 56 | f 21 12 18 57 | f 21 18 14 58 | f 21 14 3 59 | f 22 17 3 60 | f 22 3 2 61 | f 22 2 7 62 | f 22 7 17 63 | f 23 17 5 64 | f 23 5 15 65 | f 23 18 12 66 | f 24 23 15 67 | f 24 15 18 68 | f 24 18 23 69 | f 25 23 12 70 | f 25 17 23 71 | f 25 21 17 72 | f 25 12 21 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_7.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.48569690 0.07425246 0.38989137 3 | v 0.49364511 0.05979715 -0.32481381 4 | v 0.45923008 0.15689376 0.37166806 5 | v 0.44090908 0.17898160 0.39003800 6 | v 0.43806578 0.06017206 -0.29459845 7 | v 0.43950863 0.17816997 -0.38252899 8 | v 0.46321885 0.14405107 0.38901924 9 | v 0.49237484 0.07150964 -0.18845018 10 | v 0.49364511 0.05979715 -0.18845018 11 | v 0.42502748 0.15702611 0.38901924 12 | v 0.45881921 0.15665568 -0.35398253 13 | v 0.46040181 0.09102429 -0.38831276 14 | v 0.44627679 0.17331758 0.38901924 15 | v 0.47611604 0.07605482 0.39259745 16 | v 0.47470620 0.11615090 0.38400085 17 | v 0.40507383 0.13909498 -0.29468718 18 | v 0.49237484 0.07150964 -0.32481381 19 | v 0.47996079 0.08754781 -0.38102185 20 | v 0.45388890 0.09382067 0.38952010 21 | v 0.47829620 0.10216094 0.38901924 22 | v 0.44490525 0.15099145 -0.38738163 23 | v 0.41172280 0.15809497 -0.28012210 24 | v 0.45925715 0.14175616 -0.38597219 25 | v 0.47198192 0.11526688 -0.37821384 26 | v 0.44445942 0.17226402 -0.37857660 27 | v 0.44469715 0.16602247 -0.38605208 28 | v 0.47526159 0.09092990 -0.38623279 29 | v 0.44888331 0.15967382 -0.38597219 30 | f 9 5 2 31 | f 9 1 5 32 | f 9 8 1 33 | f 9 2 8 34 | f 12 2 5 35 | f 13 7 3 36 | f 13 4 7 37 | f 13 3 11 38 | f 13 11 6 39 | f 13 6 4 40 | f 14 7 4 41 | f 14 1 7 42 | f 14 4 10 43 | f 14 5 1 44 | f 15 1 8 45 | f 15 8 3 46 | f 15 3 7 47 | f 16 5 10 48 | f 16 12 5 49 | f 17 11 3 50 | f 17 3 8 51 | f 17 8 2 52 | f 18 17 2 53 | f 18 2 12 54 | f 19 14 10 55 | f 19 10 5 56 | f 19 5 14 57 | f 20 15 7 58 | f 20 7 1 59 | f 20 1 15 60 | f 21 16 6 61 | f 21 12 16 62 | f 22 16 10 63 | f 22 10 4 64 | f 22 4 6 65 | f 22 6 16 66 | f 23 12 21 67 | f 24 11 17 68 | f 24 17 18 69 | f 24 23 11 70 | f 24 18 23 71 | f 25 23 6 72 | f 25 6 11 73 | f 25 11 23 74 | f 26 23 21 75 | f 26 21 6 76 | f 27 23 18 77 | f 27 18 12 78 | f 27 12 23 79 | f 28 26 6 80 | f 28 6 23 81 | f 28 23 26 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_8.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.14392734 -0.33760010 0.38901924 3 | v 0.12878061 -0.34157114 -0.23390472 4 | v 0.03621997 -0.26064225 -0.29460779 5 | v 0.00477568 -0.27836497 0.39079129 6 | v 0.03077133 -0.31453660 0.38378233 7 | v 0.14395103 -0.31238760 0.38901924 8 | v 0.07195094 -0.33017679 0.37173293 9 | v 0.04380726 -0.31930352 0.38901924 10 | v 0.01126620 -0.30919496 -0.27935926 11 | v 0.14393092 -0.34057075 0.37198583 12 | v 0.12879031 -0.30440838 -0.23403737 13 | v 0.08706558 -0.33035912 0.38901924 14 | v 0.01287285 -0.30557466 0.38901924 15 | v 0.08654356 -0.33279673 -0.35430040 16 | v 0.02954230 -0.31730612 -0.27935926 17 | v 0.00481750 -0.26311855 -0.27979919 18 | v 0.14395035 -0.31179730 0.37183171 19 | v 0.06724902 -0.27641868 -0.29435910 20 | v 0.06896341 -0.32900504 -0.35491775 21 | v 0.00195035 -0.26957564 0.06907097 22 | v 0.08345479 -0.33209371 -0.35508596 23 | f 6 3 4 24 | f 6 4 1 25 | f 8 5 7 26 | f 10 6 1 27 | f 10 7 2 28 | f 12 1 4 29 | f 12 4 8 30 | f 12 8 7 31 | f 12 10 1 32 | f 12 7 10 33 | f 13 8 4 34 | f 13 5 8 35 | f 13 9 5 36 | f 13 4 9 37 | f 14 2 7 38 | f 14 11 2 39 | f 15 7 5 40 | f 15 5 9 41 | f 17 11 3 42 | f 17 3 6 43 | f 17 6 10 44 | f 17 10 2 45 | f 17 2 11 46 | f 18 14 3 47 | f 18 3 11 48 | f 18 11 14 49 | f 19 14 7 50 | f 19 7 15 51 | f 19 15 9 52 | f 19 9 16 53 | f 19 16 3 54 | f 20 16 9 55 | f 20 9 4 56 | f 20 4 3 57 | f 20 3 16 58 | f 21 19 3 59 | f 21 3 14 60 | f 21 14 19 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/collision/model_normalized_collision_9.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.39873082 -0.17864555 -0.29077508 3 | v 0.49098067 -0.07109005 -0.35420585 4 | v 0.45903457 0.15917093 -0.27935926 5 | v 0.34198354 0.15318878 -0.30413727 6 | v 0.34094589 -0.18104095 -0.39234964 7 | v 0.45545330 0.14832616 -0.38597219 8 | v 0.34165472 -0.18184203 -0.30119129 9 | v 0.44747166 -0.07524849 -0.27939343 10 | v 0.43909185 -0.17658556 -0.38597219 11 | v 0.49237484 0.07150964 -0.32481381 12 | v 0.34085405 0.15210626 -0.39268938 13 | v 0.45028091 -0.17429240 -0.32481381 14 | v 0.48915087 -0.04282516 -0.37919953 15 | v 0.47433495 -0.09953584 -0.38597219 16 | v 0.46283759 0.15260141 -0.32481381 17 | v 0.49241287 -0.07139212 -0.32481381 18 | v 0.49098144 0.07109022 -0.35419110 19 | v 0.44946570 -0.15866790 -0.38597219 20 | v 0.47837951 0.08703615 -0.38597219 21 | v 0.44498354 -0.17122436 -0.37877860 22 | v 0.48902078 0.04415445 -0.37916081 23 | f 8 7 1 24 | f 8 3 4 25 | f 8 4 7 26 | f 9 7 5 27 | f 9 1 7 28 | f 11 4 3 29 | f 11 3 6 30 | f 11 7 4 31 | f 11 5 7 32 | f 12 8 1 33 | f 12 1 9 34 | f 14 13 2 35 | f 15 6 3 36 | f 15 3 10 37 | f 16 12 2 38 | f 16 8 12 39 | f 16 10 3 40 | f 16 3 8 41 | f 17 2 13 42 | f 17 16 2 43 | f 17 10 16 44 | f 17 15 10 45 | f 17 6 15 46 | f 18 9 5 47 | f 18 5 14 48 | f 18 14 2 49 | f 19 13 14 50 | f 19 6 17 51 | f 19 11 6 52 | f 19 14 5 53 | f 19 5 11 54 | f 20 12 9 55 | f 20 9 18 56 | f 20 18 2 57 | f 20 2 12 58 | f 21 19 17 59 | f 21 17 13 60 | f 21 13 19 -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/visual/image0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/mug_1/visual/image0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/visual/material.mtl: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | 3 | newmtl material_0 4 | Ka 0.14901961 0.14901961 0.14901961 5 | Kd 0.80000000 0.80000000 0.80000000 6 | Ks 0.50196078 0.50196078 0.50196078 7 | Ns 321.67744100 8 | map_Kd material_0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/objects/objaverse/mug_1/visual/material_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/objects/objaverse/mug_1/visual/material_0.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/RangeTop.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/RangeTop.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/blue-wood.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/blue-wood.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/brass-ambra.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/brass-ambra.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/bread.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/bread.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/can.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/can.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/ceramic.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/ceramic.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/cereal.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/cereal.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/clay.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/clay.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/cream-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/cream-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/dark-wood.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/dark-wood.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/dirt.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/dirt.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/glass.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/glass.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/gray-felt.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/gray-felt.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/gray-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/gray-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/gray-woodgrain.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/gray-woodgrain.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/green-wood.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/green-wood.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/lemon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/lemon.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/light-gray-floor-tile.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/light-gray-floor-tile.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/light-gray-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/light-gray-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/light-wood.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/light-wood.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/metal.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/metal.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/pink-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/pink-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/red-wood.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/red-wood.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/soda.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/soda.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/steel-brushed.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/steel-brushed.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/steel-scratched.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/steel-scratched.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/white-bricks.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/white-bricks.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/white-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/white-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/wood-tiles.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/wood-tiles.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/wood-varnished-panels.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/wood-varnished-panels.png -------------------------------------------------------------------------------- /dexmimicgen/models/assets/textures/yellow-plaster.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/dexmimicgen/models/assets/textures/yellow-plaster.png -------------------------------------------------------------------------------- /dexmimicgen/models/objects/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | from .composite import * 6 | from .composite_body import * 7 | from .xml_objects import ( 8 | CoffeeMachineBaseObject, 9 | CoffeeMachineBodyObject, 10 | CoffeeMachineLidObject, 11 | CoffeeMachinePodObject, 12 | DrawerObject, 13 | LongDrawerObject, 14 | ) 15 | -------------------------------------------------------------------------------- /dexmimicgen/models/objects/composite/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | from .bin import Bin 6 | from .box_pattern_object import BoxPatternObject 7 | from .lid import Lid 8 | from .needle import NeedleObject 9 | from .pot_with_handles import PotWithHandlesObject 10 | from .ring_tripod import RingTripodObject 11 | -------------------------------------------------------------------------------- /dexmimicgen/models/objects/composite_body/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | from .coffee_machine import CoffeeMachineObject 6 | from .cup import CupObject 7 | from .stacked_box import StackedBoxObject 8 | -------------------------------------------------------------------------------- /dexmimicgen/utils/mjcf_utils.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | import os 6 | 7 | import dexmimicgen 8 | 9 | 10 | def xml_path_completion(xml_path, root=None): 11 | """ 12 | Takes in a local xml path and returns a full path. 13 | if @xml_path is absolute, do nothing 14 | if @xml_path is not absolute, load xml that is shipped by the package 15 | 16 | Args: 17 | xml_path (str): local xml path 18 | root (str): root folder for xml path. If not specified defaults to robosuite.models.assets_root 19 | 20 | Returns: 21 | str: Full (absolute) xml path 22 | """ 23 | if xml_path.startswith("/"): 24 | full_path = xml_path 25 | else: 26 | if root is None: 27 | root = dexmimicgen.models.assets_root 28 | full_path = os.path.join(root, xml_path) 29 | return full_path 30 | -------------------------------------------------------------------------------- /dexmimicgen/utils/transform_utils.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | """ 6 | Utility functions of matrix and vector transformations. 7 | 8 | NOTE: convention for quaternions is (x, y, z, w) 9 | """ 10 | 11 | import numpy as np 12 | from robosuite.utils.transform_utils import * 13 | 14 | 15 | def unmake_pose(pose): 16 | """ 17 | Split homogenous pose matrices back into translation vectors and rotation matrices. 18 | 19 | Args: 20 | pose (np.array): batch of pose matrices with last 2 dimensions of (4, 4) 21 | 22 | Returns: 23 | pos (np.array): batch of position vectors with last dimension of 3 24 | rot (np.array): batch of rotation matrices with last 2 dimensions of (3, 3) 25 | """ 26 | return pose[..., :3, 3], pose[..., :3, :3] 27 | 28 | 29 | def standardize_quat(quaternions): 30 | """ 31 | Convert a unit quaternion to a standard form: one in which the real 32 | part is non negative. 33 | 34 | Args: 35 | quaternions: Quaternions with real part last (e.g. xyzw), 36 | as tensor of shape (..., 4). 37 | 38 | Returns: 39 | Standardized quaternions as tensor of shape (..., 4). 40 | """ 41 | # if isinstance(quaternions, torch.Tensor): 42 | # return torch.where(quaternions[..., 3:4] < 0, -quaternions, quaternions) 43 | return np.where(quaternions[..., 3:4] < 0, -quaternions, quaternions) 44 | 45 | 46 | def pose_in_world_to_pose_in_ref(pos_in_world, rot_in_world, ref_pos, ref_rot): 47 | """ 48 | Takes a pose in world frame and a reference pose (in world frame) and 49 | transforms the pose to be with respect to the reference frame. 50 | """ 51 | 52 | # Let O be the frame of the item of interest, R be the reference frame, 53 | # and W be the world frame. Then, 54 | # 55 | # T^O_R = (T^R_W)^-1 T^O_W 56 | pose_in_world = make_pose(pos_in_world, rot_in_world) 57 | ref_pose = make_pose(ref_pos, ref_rot) 58 | world_in_ref = pose_inv(ref_pose) 59 | return np.matmul(world_in_ref, pose_in_world) 60 | 61 | 62 | def extract_top_down_angle(rotation_matrix): 63 | """ 64 | Gets top-down angle about z-axis for a given 3D rotation matrix, assuming 65 | that the rotation matrix corresponds to a simple rotation about z-axis. 66 | """ 67 | return np.arctan2(rotation_matrix[1, 0], rotation_matrix[0, 0]) 68 | -------------------------------------------------------------------------------- /environments.md: -------------------------------------------------------------------------------- 1 | # Avaibale Environments 2 | 3 | We provide the following environments with suggested embodiments: 4 | 5 | * TwoArmThreading (Two Panda arms with parallel grippers) 6 | ![TwoArmThreading](images/TwoArmThreading.png) 7 | * TwoArmThreePieceAssembly (Two Panda arms with parallel grippers) 8 | ![TwoArmThreePieceAssembly](images/TwoArmThreePieceAssembly.png) 9 | * TwoArmTransport (Two Panda arms with parallel grippers) 10 | ![TwoArmTransport](images/TwoArmTransport.png) 11 | * TwoArmDrawerCleanup (Two Panda arms with dexterous hands) 12 | ![TwoArmDrawerCleanup](images/TwoArmDrawerCleanup.png) 13 | * TwoArmBoxCleanup (Two Panda arms with dexterous hands) 14 | ![TwoArmBoxCleanup](images/TwoArmBoxCleanup.png) 15 | * TwoArmLiftTray (Two Panda arms with dexterous hands) 16 | ![TwoArmLiftTray](images/TwoArmLiftTray.png) 17 | * TwoArmCoffee (Humanoid robot with dexterous hands) 18 | ![TwoArmCoffee](images/TwoArmCoffee.png) 19 | * TwoArmPouring (Humanoid robot with dexterous hands) 20 | ![TwoArmPouring](images/TwoArmPouring.png) 21 | * TwoArmCanSortRandom (Humanoid robot with dexterous hands) 22 | ![TwoArmCanSortRandom](images/TwoArmCanSortRandom.png) -------------------------------------------------------------------------------- /images/TwoArmBoxCleanup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmBoxCleanup.png -------------------------------------------------------------------------------- /images/TwoArmCanSortRandom.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmCanSortRandom.png -------------------------------------------------------------------------------- /images/TwoArmCoffee.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmCoffee.png -------------------------------------------------------------------------------- /images/TwoArmDrawerCleanup.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmDrawerCleanup.png -------------------------------------------------------------------------------- /images/TwoArmLiftTray.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmLiftTray.png -------------------------------------------------------------------------------- /images/TwoArmPouring.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmPouring.png -------------------------------------------------------------------------------- /images/TwoArmThreading.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmThreading.png -------------------------------------------------------------------------------- /images/TwoArmThreePieceAssembly.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmThreePieceAssembly.png -------------------------------------------------------------------------------- /images/TwoArmTransport.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/TwoArmTransport.png -------------------------------------------------------------------------------- /images/dexmimicgen.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/dexmimicgen/e606f36a38b1d4ba8f56d06d6c0cd059b20ebbaf/images/dexmimicgen.gif -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | h5py==3.12.1 2 | imageio==2.36.1 3 | numpy==1.23.3 4 | setuptools==69.5.1 5 | termcolor==2.5.0 6 | huggingface_hub==0.29.1 7 | -------------------------------------------------------------------------------- /scripts/demo_random_action.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | """ 6 | Run random actions in dexmimicgen environments. 7 | 8 | Args: 9 | --env (str): Name of the environment to run (default: "TwoArmThreading"). 10 | --render (bool): Whether to render the environment. 11 | 12 | Example usage: 13 | python script.py --env TwoArmPouring --render 14 | """ 15 | 16 | import argparse 17 | 18 | import numpy as np 19 | import robosuite 20 | from robosuite import load_composite_controller_config 21 | 22 | # IMPORTANT: you need to import the package to register the environments 23 | import dexmimicgen 24 | 25 | ENV_ROBOTS = { 26 | "TwoArmThreading": ["Panda", "Panda"], 27 | "TwoArmThreePieceAssembly": ["Panda", "Panda"], 28 | "TwoArmTransport": ["Panda", "Panda"], 29 | "TwoArmLiftTray": ["PandaDexRH", "PandaDexLH"], 30 | "TwoArmBoxCleanup": ["PandaDexRH", "PandaDexLH"], 31 | "TwoArmDrawerCleanup": ["PandaDexRH", "PandaDexLH"], 32 | "TwoArmCoffee": ["GR1FixedLowerBody"], 33 | "TwoArmPouring": ["GR1FixedLowerBody"], 34 | "TwoArmCanSortRandom": ["GR1ArmsOnly"], 35 | } 36 | 37 | if __name__ == "__main__": 38 | # Parse arguments 39 | parser = argparse.ArgumentParser() 40 | parser.add_argument( 41 | "--env", 42 | type=str, 43 | default="TwoArmThreading", 44 | help="Name of the environment to run", 45 | ) 46 | 47 | parser.add_argument( 48 | "--render", 49 | action="store_true", 50 | help="Whether to render the environment", 51 | ) 52 | 53 | args = parser.parse_args() 54 | 55 | assert args.env in ENV_ROBOTS, f"Environment {args.env} not found!" 56 | 57 | # Create dict to hold options that will be passed to env creation call 58 | env_kwargs = { 59 | "env_name": args.env, 60 | "robots": ENV_ROBOTS[args.env], 61 | "controller_configs": load_composite_controller_config( 62 | robot=ENV_ROBOTS[args.env][0] 63 | ), 64 | "has_renderer": args.render, 65 | "has_offscreen_renderer": True, 66 | "ignore_done": True, 67 | "use_camera_obs": True, 68 | "control_freq": 20, 69 | } 70 | 71 | # initialize the task 72 | env = robosuite.make( 73 | **env_kwargs, 74 | ) 75 | env.reset() 76 | if args.render: 77 | env.render() 78 | 79 | # do visualization 80 | for i in range(1000): 81 | # action = np.zeros_like(low) 82 | action = np.random.randn(*env.action_spec[0].shape) 83 | obs, reward, done, _ = env.step(action) 84 | if args.render: 85 | env.render() 86 | -------------------------------------------------------------------------------- /scripts/download_hf_dataset.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # Licensed under the NVIDIA Source Code License [see LICENSE for details]. 4 | 5 | """ 6 | Dataset Downloader for dexmimicgen 7 | 8 | This script downloads datasets for specified tasks from the Hugging Face Hub 9 | and saves them to a local directory. 10 | 11 | Args: 12 | --path (str): Path to store the dataset (default: "../datasets/"). 13 | --tasks (list of str): List of task names to download. Task names are 14 | automatically converted from CamelCase to snake_case. 15 | 16 | Example usage: 17 | # Download all datasets to ./datasets 18 | python download_hf_dataset.py 19 | 20 | # Download TwoArmBoxCleanup dataset to /your/dataset/path 21 | python download_hf_dataset.py --path /your/dataset/path --tasks TwoArmBoxCleanup 22 | """ 23 | 24 | import argparse 25 | import os 26 | import re 27 | 28 | from huggingface_hub import hf_hub_download, list_repo_files 29 | 30 | import dexmimicgen 31 | 32 | DEXMG_ENV_PATH = os.path.join(dexmimicgen.__path__[0], "../datasets/") 33 | REPO_ID = "MimicGen/dexmimicgen_datasets" 34 | 35 | 36 | def camel_to_snake(name): 37 | return re.sub(r"(?=3.9", 31 | description="DexMimicGen environments", 32 | author="Zhenyu Jiang", 33 | url="https://github.com/nvglab/dexmimicgen", 34 | author_email="yukez@cs.utexas.edu", 35 | version="0.1", 36 | long_description=long_description, 37 | long_description_content_type="text/markdown", 38 | ) 39 | --------------------------------------------------------------------------------