├── .gitignore ├── LICENSE ├── README.md ├── gen_objs.py ├── gen_urdfs.py ├── objects.png ├── objs ├── 0000 │ ├── 0000.mtl │ ├── 0000.obj │ ├── 0000.urdf │ └── 0000.vhacd.obj ├── 0001 │ ├── 0001.mtl │ ├── 0001.obj │ ├── 0001.urdf │ └── 0001.vhacd.obj ├── 0002 │ ├── 0002.mtl │ ├── 0002.obj │ ├── 0002.urdf │ └── 0002.vhacd.obj ├── 0003 │ ├── 0003.mtl │ ├── 0003.obj │ ├── 0003.urdf │ └── 0003.vhacd.obj ├── 0004 │ ├── 0004.mtl │ ├── 0004.obj │ ├── 0004.urdf │ └── 0004.vhacd.obj ├── 0005 │ ├── 0005.mtl │ ├── 0005.obj │ ├── 0005.urdf │ └── 0005.vhacd.obj ├── 0006 │ ├── 0006.mtl │ ├── 0006.obj │ ├── 0006.urdf │ └── 0006.vhacd.obj ├── 0007 │ ├── 0007.mtl │ ├── 0007.obj │ ├── 0007.urdf │ └── 0007.vhacd.obj ├── 0008 │ ├── 0008.mtl │ ├── 0008.obj │ ├── 0008.urdf │ └── 0008.vhacd.obj └── 0009 │ ├── 0009.mtl │ ├── 0009.obj │ ├── 0009.urdf │ └── 0009.vhacd.obj ├── run_vhacd.sh └── template.urdf /.gitignore: -------------------------------------------------------------------------------- 1 | log.txt 2 | timings_0.json 3 | *~ 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016 Mat Kelcey 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # procedural generation of objects for bullet grasping 2 | 3 | ![objects](objects.png) 4 | 5 | ## generate .obj files 6 | 7 | we generate and export `.obj` files within blender 8 | 9 | start `blender` under this directory 10 | 11 | open blender console (ctrl-alt-w, shift-f4) and run generation script 12 | 13 | ``` 14 | f = "gen_objs.py" 15 | exec(compile(open(f).read(),f,'exec')) 16 | generate_n_objects(n=10, output_dir="objs") 17 | ``` 18 | 19 | ## run convex decomposition 20 | 21 | exported `.objs` are concave only so need to run a convex decomposition on 22 | meshes. we'll use `vhacd` to do this. 23 | 24 | ``` 25 | cd ~/dev 26 | git clone git@github.com:kmammou/v-hacd.git 27 | cd v-hacd/install 28 | python3 run.py --cmake 29 | ``` 30 | 31 | which builds the binary `$HOME/dev/v-hacd/build/linux/test/testVHACD` 32 | 33 | we can run vhacd on all exported `.obj` files to make a corresponding `.vhacd.obj` file. 34 | 35 | `.obj` are used for visual mesh, `.vhacd.obj` are used for collision. 36 | 37 | ``` 38 | # note: this script assumes path to testVHACD 39 | ./run_vhacd.sh objs 40 | ``` 41 | 42 | ## create urdfs 43 | 44 | to load objects into bullet we need to generate `.urdf` files. 45 | use the bullet example `data/cube.udf` as a template 46 | 47 | ``` 48 | ./gen_urdfs.py objs 49 | ``` 50 | -------------------------------------------------------------------------------- /gen_objs.py: -------------------------------------------------------------------------------- 1 | # Run from in blender; 2.76b 2 | 3 | import bmesh 4 | import bpy 5 | import os 6 | import random 7 | 8 | ORIGIN = 0, 0, 0 9 | 10 | # some debugging utils for dev in blender console 11 | def _l(): 12 | return bpy.context.scene.objects[0] 13 | def _m(): 14 | bpy.ops.mesh.primitive_cube_add(location=ORIGIN, radius=1.1) 15 | marker = bpy.context.scene.objects[0] 16 | marker.name = 'marker' 17 | return marker 18 | 19 | 20 | def recalc_com(obj): 21 | # recalculate center of mass; required whenever mesh changes 22 | # black magic from forums, required any time mesh data changed... 23 | bpy.ops.object.select_all(action='DESELECT') 24 | obj.select = True 25 | bpy.ops.object.origin_set(type='ORIGIN_CENTER_OF_MASS') 26 | 27 | 28 | def smooth(obj): 29 | obj.modifiers.new(type='SUBSURF', name='smooth') 30 | obj.modifiers['smooth'].levels = 1 31 | 32 | 33 | def union(o1, o2): 34 | # create boolean modifier against o1 that unions o2 35 | bool_modifier = o1.modifiers.new(type='BOOLEAN', name='o2_union') 36 | bool_modifier.object = o2 37 | bool_modifier.operation = 'UNION' 38 | # create mesh from o1 + modifier 39 | mesh = o1.to_mesh(bpy.context.scene, True, 'PREVIEW') 40 | # replace o1 mesh with this explicit flattened mesh 41 | bm = bmesh.new() 42 | bm.from_mesh(mesh) 43 | bm.to_mesh(o1.data) 44 | bm.free() 45 | # drop modifier 46 | o1.modifiers.remove(bool_modifier) 47 | # update center of mass 48 | recalc_com(o1) 49 | # remove o2 50 | bpy.context.scene.objects.unlink(o2) 51 | 52 | 53 | def rnd(magnitude): 54 | return (random.random() * 2 - 1) * magnitude 55 | 56 | 57 | def perturb_vertices(obj): 58 | mag = 0.01 59 | for vertex in obj.data.vertices: 60 | vertex.co += Vector((rnd(mag), rnd(mag), rnd(mag))) 61 | 62 | 63 | def create_prism(name, radius=1): 64 | # create (6, 2r, 2r) rectangular prism 65 | bpy.ops.mesh.primitive_cube_add(location=ORIGIN, radius=radius) 66 | prism = bpy.context.scene.objects[0] 67 | for i in range(4): 68 | # x values range from -r to r so shift -r values (first 4 vertices) 69 | # to -6-r to make total length 6 70 | prism.data.vertices[i].co.x = -6 + radius 71 | 72 | # since coplanar surfaces gives grief to later unioning do 73 | # a small perturbation of vertices 74 | perturb_vertices(prism) 75 | 76 | recalc_com(prism) 77 | prism.name = name 78 | prism.location = ORIGIN 79 | return prism 80 | 81 | 82 | def create_object(name, parts=5): 83 | assert parts >= 2 84 | 85 | # create base object 86 | o1 = create_prism(name, radius=1.0) 87 | add_pts = set([(-2, 0, 0), (0, 0, 0), (2, 0, 0)]) 88 | 89 | # add N-1 new objects 90 | for _ in range(parts-1): 91 | # create a new object 92 | o2 = create_prism('o2', 93 | radius=random.choice([0.25, 0.5, 1.0])) 94 | 95 | # decide where to add it 96 | add_pt = random.choice(list(add_pts)) 97 | add_pts.remove(add_pt) 98 | add_pt = Vector(add_pt) 99 | o2.location = add_pt 100 | 101 | # pick axis to align to and depending on this alignment 102 | # add a new set of add points 103 | axis = random.choice(['x', 'y', 'z']) 104 | if axis == 'x': 105 | # note: object created aligned with x axis 106 | add_pts.add(tuple(add_pt + Vector((2, 0, 0)))) 107 | add_pts.add(tuple(add_pt + Vector((-2, 0, 0)))) 108 | elif axis == 'y': 109 | o2.rotation_euler.z = pi/2 110 | add_pts.add(tuple(add_pt + Vector((0, 2, 0)))) 111 | add_pts.add(tuple(add_pt + Vector((0, -2, 0)))) 112 | else: # z 113 | o2.rotation_euler.y = pi/2 114 | add_pts.add(tuple(add_pt + Vector((0, 0, 2)))) 115 | add_pts.add(tuple(add_pt + Vector((0, 0, -2)))) 116 | 117 | # trigger redraw. TODO: why?!? 118 | bpy.ops.wm.redraw_timer(type='DRAW_WIN_SWAP', iterations=1) 119 | 120 | # add o2 to o1 and reset to origin 121 | union(o1, o2) 122 | o1.location = ORIGIN 123 | 124 | # smooth sometimes 125 | if random.random() < 0.5: 126 | smooth(o1) 127 | 128 | return o1 129 | 130 | 131 | def generate_n_objects(n, output_dir): 132 | for i in range(n): 133 | # create object 134 | obj_id = "%04d" % i 135 | obj = create_object(name=obj_id, 136 | parts=random.choice([4,5])) 137 | # export .obj to disk 138 | obj_dir = "%s/%s" % (output_dir, obj_id) 139 | os.makedirs(obj_dir) 140 | filepath = "%s/%s.obj" % (obj_dir, obj.name) 141 | bpy.ops.export_scene.obj(filepath=filepath, 142 | global_scale=0.015) 143 | # delete from scene 144 | bpy.context.scene.objects.unlink(obj) 145 | -------------------------------------------------------------------------------- /gen_urdfs.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import os 3 | from random import random 4 | import sys 5 | assert sys.argv[1], "usage: ./gen_urdfs.py " 6 | template = open("template.urdf").read() 7 | obj_dir = sys.argv[1] 8 | for obj_id in os.listdir(obj_dir): 9 | random_rgb = "%.3f %.3f %.3f" % (random(), random(), random()) 10 | urdf = template.replace("%%ID%%", obj_id).replace("%%RGB%%", random_rgb) 11 | with open("%s/%s/%s.urdf" % (obj_dir, obj_id, obj_id), "w") as f: 12 | f.write(urdf) 13 | -------------------------------------------------------------------------------- /objects.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/matpalm/procedural_objects/3705d834a286d1c54d3403d42d84f9e8ef85aa14/objects.png -------------------------------------------------------------------------------- /objs/0000/0000.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 0 3 | -------------------------------------------------------------------------------- /objs/0000/0000.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0000.mtl 4 | -------------------------------------------------------------------------------- /objs/0000/0000.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | -------------------------------------------------------------------------------- /objs/0000/0000.vhacd.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | -------------------------------------------------------------------------------- /objs/0001/0001.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /objs/0001/0001.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0001.mtl 4 | o 0001_Cube.379 5 | v -0.047496 -0.000012 -0.002493 6 | v -0.026384 0.014953 -0.002498 7 | v -0.032491 -0.014953 -0.002516 8 | v -0.025028 0.003298 0.012558 9 | v -0.025875 0.001640 -0.017579 10 | v -0.017461 -0.006468 0.003919 11 | v -0.003668 0.014978 0.009258 12 | v -0.007031 0.014984 0.024856 13 | v -0.017485 0.002372 -0.032517 14 | v -0.017478 0.011615 0.022535 15 | v -0.002482 0.000012 0.042467 16 | v -0.003937 -0.015018 0.008436 17 | v 0.012543 -0.001615 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0.858000 0.071100 0.508800 453 | vn -0.079400 0.394200 -0.915600 454 | vn 0.092900 0.311900 -0.945600 455 | vn 0.070100 0.003700 -0.997500 456 | vn 0.011300 -0.018500 -0.999800 457 | vn 0.151100 0.463900 -0.872900 458 | vn -0.030200 0.997900 -0.057900 459 | vn 0.080000 0.996700 0.013800 460 | vn 0.106400 0.909800 -0.401200 461 | vn -0.035700 0.957300 -0.286800 462 | vn 0.533100 -0.604100 -0.592400 463 | vn 0.402100 0.582400 -0.706400 464 | vn 0.554000 0.582000 0.595300 465 | vn 0.400500 -0.692600 0.600000 466 | vn 0.012500 -0.005200 -0.999900 467 | vn 0.054900 -0.129400 -0.990100 468 | vn -0.010300 -0.513900 -0.857800 469 | vn -0.081400 0.838200 0.539300 470 | vn 0.055500 0.986000 0.157100 471 | vn -0.037600 0.998800 -0.030100 472 | vn -0.011500 -0.999900 -0.005700 473 | vn 0.071600 -0.997400 0.004800 474 | vn 0.095400 -0.941100 0.324300 475 | vn -0.100900 -0.910100 0.401900 476 | vn 0.089400 -0.889800 0.447600 477 | vn -0.018500 -0.844200 -0.535600 478 | vn 0.055900 -0.989200 -0.135600 479 | vn -0.011600 -0.999900 -0.000800 480 | vn -0.053500 -0.020800 0.998400 481 | vn 0.053400 0.160200 0.985600 482 | vn -0.085800 0.517800 0.851200 483 | vn -0.051000 -0.235500 0.970500 484 | vn 0.105800 -0.375700 0.920700 485 | vn 0.077300 0.032200 0.996500 486 | vn -0.044300 -0.053800 0.997600 487 | usemtl None 488 | s off 489 | f 1//1 52//1 174//1 55//1 490 | f 1//2 55//2 171//2 51//2 491 | f 1//3 51//3 172//3 60//3 492 | f 1//4 60//4 173//4 52//4 493 | f 2//5 76//5 175//5 61//5 494 | f 2//6 61//6 172//6 51//6 495 | f 2//7 51//7 171//7 58//7 496 | f 2//8 58//8 176//8 76//8 497 | f 3//9 54//9 174//9 52//9 498 | f 3//10 52//10 173//10 59//10 499 | f 3//11 59//11 179//11 53//11 500 | f 3//12 53//12 180//12 54//12 501 | f 4//13 58//13 171//13 55//13 502 | f 4//14 55//14 174//14 54//14 503 | f 4//15 54//15 180//15 56//15 504 | f 4//16 56//16 178//16 57//16 505 | f 4//17 57//17 183//17 82//17 506 | f 4//18 82//18 176//18 58//18 507 | f 5//19 63//19 179//19 59//19 508 | f 5//20 59//20 173//20 60//20 509 | f 5//21 60//21 172//21 61//21 510 | f 5//22 61//22 175//22 75//22 511 | f 5//23 75//23 182//23 62//23 512 | f 5//24 62//24 177//24 63//24 513 | f 6//25 67//25 184//25 64//25 514 | f 6//26 64//26 178//26 56//26 515 | f 6//27 56//27 180//27 53//27 516 | f 6//28 53//28 179//28 63//28 517 | f 6//29 63//29 177//29 65//29 518 | f 6//30 65//30 185//30 66//30 519 | f 6//31 66//31 186//31 67//31 520 | f 7//32 78//32 208//32 68//32 521 | f 7//33 68//33 199//33 69//33 522 | f 7//34 69//34 216//34 70//34 523 | f 7//35 70//35 196//35 71//35 524 | f 7//36 71//36 184//36 88//36 525 | f 7//37 88//37 187//37 72//37 526 | f 7//38 72//38 181//38 73//38 527 | f 7//39 73//39 188//39 74//39 528 | f 7//40 74//40 182//40 75//40 529 | f 7//41 75//41 175//41 76//41 530 | f 7//42 76//42 176//42 77//42 531 | f 7//43 77//43 191//43 78//43 532 | f 8//44 83//44 212//44 79//44 533 | f 8//45 79//45 189//45 80//45 534 | f 8//46 80//46 194//46 81//46 535 | f 8//47 81//47 191//47 77//47 536 | f 8//48 77//48 176//48 82//48 537 | f 8//49 82//49 183//49 85//49 538 | f 8//50 85//50 184//50 71//50 539 | f 8//51 71//51 196//51 83//51 540 | f 9//52 62//52 182//52 74//52 541 | f 9//53 74//53 188//53 84//53 542 | f 9//54 84//54 185//54 65//54 543 | f 9//55 65//55 177//55 62//55 544 | f 10//56 64//56 184//56 85//56 545 | f 10//57 85//57 183//57 57//57 546 | f 10//58 57//58 178//58 64//58 547 | f 11//59 88//59 184//59 67//59 548 | f 11//60 67//60 186//60 86//60 549 | f 11//61 86//61 195//61 87//61 550 | f 11//62 87//62 187//62 88//62 551 | f 12//63 95//63 205//63 89//63 552 | f 12//64 89//64 190//64 90//64 553 | f 12//65 90//65 206//65 91//65 554 | f 12//66 91//66 198//66 92//66 555 | f 12//67 92//67 186//67 66//67 556 | f 12//68 66//68 185//68 102//68 557 | f 12//69 102//69 193//69 93//69 558 | f 12//70 93//70 197//70 94//70 559 | f 12//71 94//71 218//71 95//71 560 | f 13//72 100//72 192//72 96//72 561 | f 13//73 96//73 200//73 97//73 562 | f 13//74 97//74 197//74 93//74 563 | f 13//75 93//75 193//75 101//75 564 | f 13//76 101//76 181//76 72//76 565 | f 13//77 72//77 187//77 87//77 566 | f 13//78 87//78 195//78 98//78 567 | f 13//79 98//79 215//79 99//79 568 | f 13//80 99//80 201//80 100//80 569 | f 14//81 84//81 188//81 73//81 570 | f 14//82 73//82 181//82 101//82 571 | f 14//83 101//83 193//83 102//83 572 | f 14//84 102//84 185//84 84//84 573 | f 15//85 105//85 202//85 103//85 574 | f 15//86 103//86 194//86 80//86 575 | f 15//87 80//87 189//87 104//87 576 | f 15//88 104//88 203//88 105//88 577 | f 16//89 111//89 207//89 106//89 578 | f 16//90 106//90 204//90 107//90 579 | f 16//91 107//91 232//91 108//91 580 | f 16//92 108//92 214//92 109//92 581 | f 16//93 109//93 238//93 157//93 582 | f 16//94 157//94 233//94 150//94 583 | f 16//95 150//95 235//95 152//95 584 | f 16//96 152//96 236//96 136//96 585 | f 16//97 136//97 215//97 98//97 586 | f 16//98 98//98 195//98 86//98 587 | f 16//99 86//99 186//99 111//99 588 | f 17//100 111//100 186//100 92//100 589 | f 17//101 92//101 198//101 110//101 590 | f 17//102 110//102 207//102 111//102 591 | f 18//103 103//103 202//103 112//103 592 | f 18//104 112//104 191//104 81//104 593 | f 18//105 81//105 194//105 103//105 594 | f 19//106 96//106 192//106 113//106 595 | f 19//107 113//107 209//107 114//107 596 | f 19//108 114//108 210//108 115//108 597 | f 19//109 115//109 200//109 96//109 598 | f 20//110 117//110 211//110 116//110 599 | f 20//111 116//111 209//111 113//111 600 | f 20//112 113//112 192//112 100//112 601 | f 20//113 100//113 201//113 117//113 602 | f 21//114 105//114 203//114 118//114 603 | f 21//115 118//115 213//115 119//115 604 | f 21//116 119//116 220//116 127//116 605 | f 21//117 127//117 202//117 105//117 606 | f 22//118 120//118 213//118 118//118 607 | f 22//119 118//119 203//119 104//119 608 | f 22//120 104//120 189//120 79//120 609 | f 22//121 79//121 212//121 120//121 610 | f 23//122 89//122 205//122 121//122 611 | f 23//123 121//123 217//123 122//123 612 | f 23//124 122//124 190//124 89//124 613 | f 24//125 91//125 206//125 123//125 614 | f 24//126 123//126 217//126 124//126 615 | f 24//127 124//127 219//127 125//127 616 | f 24//128 125//128 204//128 106//128 617 | f 24//129 106//129 207//129 110//129 618 | f 24//130 110//130 198//130 91//130 619 | f 25//131 90//131 190//131 122//131 620 | f 25//132 122//132 217//132 123//132 621 | f 25//133 123//133 206//133 90//133 622 | f 26//134 78//134 191//134 112//134 623 | f 26//135 112//135 202//135 126//135 624 | f 26//136 126//136 208//136 78//136 625 | f 27//137 68//137 208//137 126//137 626 | f 27//138 126//138 202//138 127//138 627 | f 27//139 127//139 220//139 128//139 628 | f 27//140 128//140 199//140 68//140 629 | f 28//141 135//141 221//141 129//141 630 | f 28//142 129//142 210//142 114//142 631 | f 28//143 114//143 209//143 130//143 632 | f 28//144 130//144 222//144 131//144 633 | f 28//145 131//145 223//145 132//145 634 | f 28//146 132//146 224//146 133//146 635 | f 28//147 133//147 225//147 134//147 636 | f 28//148 134//148 226//148 135//148 637 | f 29//149 97//149 200//149 115//149 638 | f 29//150 115//150 210//150 129//150 639 | f 29//151 129//151 221//151 137//151 640 | f 29//152 137//152 236//152 151//152 641 | f 29//153 151//153 197//153 97//153 642 | f 30//154 138//154 211//154 117//154 643 | f 30//155 117//155 201//155 99//155 644 | f 30//156 99//156 215//156 136//156 645 | f 30//157 136//157 236//157 137//157 646 | f 30//158 137//158 221//158 138//158 647 | f 31//159 138//159 221//159 135//159 648 | f 31//160 135//160 226//160 139//160 649 | f 31//161 139//161 227//161 140//161 650 | f 31//162 140//162 228//162 141//162 651 | f 31//163 141//163 229//163 142//163 652 | f 31//164 142//164 230//164 143//164 653 | f 31//165 143//165 231//165 144//165 654 | f 31//166 144//166 222//166 130//166 655 | f 31//167 130//167 209//167 116//167 656 | f 31//168 116//168 211//168 138//168 657 | f 32//169 145//169 213//169 120//169 658 | f 32//170 120//170 212//170 83//170 659 | f 32//171 83//171 196//171 145//171 660 | f 33//172 69//172 199//172 128//172 661 | f 33//173 128//173 220//173 119//173 662 | f 33//174 119//174 213//174 146//174 663 | f 33//175 146//175 216//175 69//175 664 | f 34//176 70//176 216//176 146//176 665 | f 34//177 146//177 213//177 145//177 666 | f 34//178 145//178 196//178 70//178 667 | f 35//179 150//179 233//179 147//179 668 | f 35//180 147//180 234//180 148//180 669 | f 35//181 148//181 217//181 121//181 670 | f 35//182 121//182 205//182 95//182 671 | f 35//183 95//183 218//183 149//183 672 | f 35//184 149//184 235//184 150//184 673 | f 36//185 149//185 218//185 94//185 674 | f 36//186 94//186 197//186 151//186 675 | f 36//187 151//187 236//187 152//187 676 | f 36//188 152//188 235//188 149//188 677 | f 37//189 153//189 219//189 124//189 678 | f 37//190 124//190 217//190 148//190 679 | f 37//191 148//191 234//191 156//191 680 | f 37//192 156//192 237//192 153//192 681 | f 38//193 153//193 237//193 154//193 682 | f 38//194 154//194 232//194 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706 | f 44//218 163//218 241//218 164//218 707 | f 44//219 164//219 242//219 165//219 708 | f 45//220 132//220 223//220 161//220 709 | f 45//221 161//221 240//221 166//221 710 | f 45//222 166//222 224//222 132//222 711 | f 46//223 142//223 229//223 167//223 712 | f 46//224 167//224 241//224 162//224 713 | f 46//225 162//225 230//225 142//225 714 | f 47//226 134//226 225//226 168//226 715 | f 47//227 168//227 240//227 165//227 716 | f 47//228 165//228 242//228 169//228 717 | f 47//229 169//229 227//229 139//229 718 | f 47//230 139//230 226//230 134//230 719 | f 48//231 133//231 224//231 166//231 720 | f 48//232 166//232 240//232 168//232 721 | f 48//233 168//233 225//233 133//233 722 | f 49//234 141//234 228//234 170//234 723 | f 49//235 170//235 241//235 167//235 724 | f 49//236 167//236 229//236 141//236 725 | f 50//237 140//237 227//237 169//237 726 | f 50//238 169//238 242//238 164//238 727 | f 50//239 164//239 241//239 170//239 728 | f 50//240 170//240 228//240 140//240 729 | -------------------------------------------------------------------------------- /objs/0001/0001.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | -------------------------------------------------------------------------------- /objs/0002/0002.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /objs/0002/0002.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0002.mtl 4 | o 0002_Cube.383 5 | v -0.042986 0.007525 0.007391 6 | v -0.043025 0.007407 -0.007463 7 | v -0.043012 0.007382 -0.002473 8 | v -0.072964 0.007374 -0.007426 9 | v -0.073150 0.007589 0.007371 10 | v -0.042971 0.014927 0.015040 11 | v -0.073218 -0.007409 -0.007396 12 | v -0.073105 -0.007482 0.007407 13 | v -0.042982 -0.002500 0.007415 14 | v -0.043047 0.015144 -0.014890 15 | v -0.043023 0.002426 -0.007419 16 | v -0.043018 -0.007438 -0.007399 17 | v -0.042980 -0.007462 0.007396 18 | v -0.042955 -0.015058 0.014931 19 | v 0.046827 0.014946 0.014895 20 | v 0.046819 0.015018 -0.015027 21 | v -0.042992 -0.007486 0.002458 22 | v -0.043036 -0.014946 -0.014863 23 | v 0.016583 -0.007465 0.014913 24 | v 0.016468 0.007510 0.014940 25 | v 0.031431 0.007417 0.014925 26 | v 0.031444 -0.007537 0.014898 27 | v 0.047003 -0.015077 0.014896 28 | v 0.026446 -0.007482 0.014903 29 | v 0.016604 -0.007442 -0.014961 30 | v 0.021539 -0.007450 -0.014969 31 | v 0.031497 -0.007558 -0.014984 32 | v 0.046834 -0.015012 -0.015000 33 | v 0.016488 0.007565 -0.014974 34 | v 0.031484 0.007447 -0.014997 35 | v 0.031378 0.007388 0.044917 36 | v 0.016448 0.007455 0.045108 37 | v 0.016563 -0.007488 0.045128 38 | v 0.031392 -0.007515 0.045017 39 | v 0.016508 0.007620 -0.044855 40 | v 0.016624 -0.007418 -0.044891 41 | v 0.031536 0.007476 -0.044811 42 | v 0.031549 -0.007580 -0.045043 43 | vn 0.002100 0.999900 -0.014500 44 | vn -1.000000 -0.000500 0.002600 45 | vn -0.001100 1.000000 0.005100 46 | vn -0.000600 0.002400 1.000000 47 | vn -1.000000 -0.000400 0.002600 48 | vn -0.001200 -0.008700 -1.000000 49 | vn -1.000000 0.007000 -0.002500 50 | vn -0.000100 -0.002100 -1.000000 51 | vn 0.000400 -0.003800 1.000000 52 | vn 0.000600 1.000000 0.004800 53 | vn -0.001000 -1.000000 -0.004900 54 | vn 0.000700 -1.000000 0.004900 55 | vn 0.001400 -0.000900 1.000000 56 | vn 0.000700 -0.002600 1.000000 57 | vn 1.000000 0.003200 -0.003000 58 | vn -0.001500 -0.000900 -1.000000 59 | vn -0.000500 -1.000000 -0.003000 60 | vn 0.010200 0.004100 0.999900 61 | vn 0.005400 1.000000 0.001400 62 | vn -1.000000 -0.007700 -0.000700 63 | vn 1.000000 0.000900 0.001800 64 | vn -0.001800 -1.000000 -0.000800 65 | vn -0.010800 -0.999900 0.000700 66 | vn 0.008700 1.000000 0.001400 67 | vn -0.003500 0.008900 -1.000000 68 | vn 1.000000 0.000800 0.001800 69 | usemtl None 70 | s off 71 | f 3//1 4//1 5//1 1//1 72 | f 9//2 13//2 17//2 14//2 6//2 2//2 3//2 1//2 73 | f 2//3 4//3 3//3 74 | f 1//4 5//4 8//4 9//4 75 | f 6//5 10//5 18//5 14//5 17//5 12//5 11//5 2//5 76 | f 11//6 4//6 2//6 77 | f 8//7 5//7 4//7 7//7 78 | f 12//8 7//8 4//8 11//8 79 | f 9//9 8//9 13//9 80 | f 15//10 16//10 10//10 6//10 81 | f 17//11 8//11 7//11 12//11 82 | f 13//12 8//12 17//12 83 | f 19//13 20//13 21//13 22//13 23//13 15//13 6//13 84 | f 19//14 6//14 14//14 23//14 22//14 24//14 85 | f 15//15 23//15 28//15 16//15 86 | f 25//16 26//16 27//16 28//16 18//16 10//16 29//16 87 | f 27//16 30//16 29//16 10//16 16//16 28//16 88 | f 14//17 18//17 28//17 23//17 89 | f 32//18 33//18 34//18 31//18 90 | f 20//19 32//19 31//19 21//19 91 | f 32//20 20//20 19//20 33//20 92 | f 21//21 31//21 34//21 22//21 93 | f 34//22 33//22 19//22 24//22 94 | f 34//23 24//23 22//23 95 | f 29//20 35//20 36//20 25//20 96 | f 37//24 35//24 29//24 30//24 97 | f 36//25 35//25 37//25 38//25 98 | f 25//22 36//22 26//22 99 | f 37//26 30//26 27//26 38//26 100 | f 26//23 36//23 38//23 27//23 101 | -------------------------------------------------------------------------------- /objs/0002/0002.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | -------------------------------------------------------------------------------- /objs/0002/0002.vhacd.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | v -0.018791 -0.014931 0.015210 3 | v 0.003376 -0.015223 -0.015134 4 | v -0.043309 -0.015223 -0.015131 5 | v 0.003376 -0.014931 -0.015134 6 | v 0.046274 -0.015223 0.014919 7 | v -0.043011 -0.015223 0.015210 8 | v 0.046274 -0.014931 -0.015134 9 | v -0.043309 -0.014931 -0.015131 10 | v 0.046274 -0.014931 0.014919 11 | v 0.046274 -0.015223 -0.015134 12 | v -0.043011 -0.014931 0.015210 13 | f 8 6 11 14 | f 2 3 4 15 | f 3 2 5 16 | f 5 1 6 17 | f 3 5 6 18 | f 2 4 7 19 | f 4 1 7 20 | f 4 3 8 21 | f 1 4 8 22 | f 3 6 8 23 | f 1 5 9 24 | f 7 1 9 25 | f 5 7 9 26 | f 5 2 10 27 | f 2 7 10 28 | f 7 5 10 29 | f 6 1 11 30 | f 1 8 11 31 | o convex_1 32 | v 0.031675 0.015124 0.014916 33 | v -0.043301 0.015124 -0.015131 34 | v -0.043301 0.014832 -0.012211 35 | v 0.031675 0.014832 -0.015131 36 | v -0.043008 0.014832 0.015210 37 | v -0.043301 0.015416 -0.011920 38 | v 0.031675 0.015124 -0.015131 39 | v 0.031675 0.014832 0.014916 40 | v -0.043008 0.015124 0.015210 41 | v -0.028716 0.015416 -0.015131 42 | v -0.029009 0.014832 -0.015131 43 | v 0.030508 0.015124 0.015210 44 | f 12 21 23 45 | f 14 15 16 46 | f 14 16 17 47 | f 13 14 17 48 | f 15 13 18 49 | f 12 15 18 50 | f 15 12 19 51 | f 16 15 19 52 | f 17 16 20 53 | f 13 17 21 54 | f 12 18 21 55 | f 18 13 21 56 | f 14 13 22 57 | f 15 14 22 58 | f 13 15 22 59 | f 19 12 23 60 | f 16 19 23 61 | f 20 16 23 62 | f 17 20 23 63 | f 21 17 23 64 | o convex_2 65 | v 0.017094 0.007537 0.045266 66 | v 0.016510 -0.007636 0.014630 67 | v 0.016510 -0.002676 0.014630 68 | v 0.016218 -0.000632 0.045266 69 | v 0.017094 -0.007636 0.044678 70 | v 0.017094 0.007537 0.014924 71 | v 0.016218 0.007537 0.014924 72 | v 0.017094 -0.007636 0.014630 73 | v 0.016218 0.007537 0.045266 74 | v 0.016510 -0.007636 0.044678 75 | v 0.016218 0.001701 0.015221 76 | f 27 30 34 77 | f 24 27 28 78 | f 24 28 29 79 | f 24 29 30 80 | f 26 25 30 81 | f 29 26 30 82 | f 25 26 31 83 | f 28 25 31 84 | f 29 28 31 85 | f 26 29 31 86 | f 27 24 32 87 | f 24 30 32 88 | f 30 27 32 89 | f 27 25 33 90 | f 28 27 33 91 | f 25 28 33 92 | f 25 27 34 93 | f 30 25 34 94 | o convex_3 95 | v 0.031684 -0.001508 0.042345 96 | v 0.030516 -0.007636 0.014636 97 | v 0.030516 -0.007343 0.014636 98 | v 0.030225 -0.000631 0.045269 99 | v 0.031684 0.006953 0.014930 100 | v 0.030225 0.006953 0.044969 101 | v 0.031684 -0.007636 0.045269 102 | v 0.031684 -0.007636 0.014636 103 | v 0.031392 0.006953 0.044969 104 | v 0.030516 -0.007636 0.045269 105 | v 0.031392 0.006953 0.014930 106 | v 0.031684 0.006953 0.037676 107 | f 39 43 46 108 | f 37 36 40 109 | f 36 38 40 110 | f 39 35 41 111 | f 39 41 42 112 | f 36 37 42 113 | f 37 39 42 114 | f 41 36 42 115 | f 39 40 43 116 | f 40 38 43 117 | f 41 35 43 118 | f 38 41 43 119 | f 38 36 44 120 | f 36 41 44 121 | f 41 38 44 122 | f 39 37 45 123 | f 37 40 45 124 | f 40 39 45 125 | f 35 39 46 126 | f 43 35 46 127 | o convex_4 128 | v 0.017095 -0.007636 0.014630 129 | v 0.030516 -0.007344 0.044679 130 | v 0.030516 -0.007636 0.044679 131 | v 0.030516 -0.007344 0.014630 132 | v 0.017095 -0.007344 0.044679 133 | v 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59 60 64 176 | f 56 60 65 177 | f 63 56 65 178 | f 60 63 65 179 | f 60 59 66 180 | f 59 62 66 181 | o convex_6 182 | v 0.025262 0.007829 -0.044314 183 | v 0.016514 -0.007636 -0.044897 184 | v 0.017097 -0.007636 -0.045189 185 | v 0.031682 -0.007636 -0.044314 186 | v 0.031682 0.001992 -0.045189 187 | v 0.017096 0.007829 -0.044897 188 | v 0.016514 -0.007636 -0.044314 189 | v 0.031682 -0.007636 -0.045189 190 | v 0.031682 0.007536 -0.044314 191 | v 0.017096 0.007829 -0.044314 192 | v 0.031682 0.007536 -0.044897 193 | f 75 71 77 194 | f 68 69 70 195 | f 71 69 72 196 | f 69 68 72 197 | f 68 70 73 198 | f 70 67 73 199 | f 72 68 73 200 | f 70 69 74 201 | f 71 70 74 202 | f 69 71 74 203 | f 67 70 75 204 | f 70 71 75 205 | f 67 72 76 206 | f 73 67 76 207 | f 72 73 76 208 | f 71 72 77 209 | f 72 67 77 210 | f 67 75 77 211 | o convex_7 212 | v 0.031685 0.014832 -0.015134 213 | v 0.046856 0.015124 0.014922 214 | v 0.046856 0.014541 0.014922 215 | v 0.046856 0.015124 -0.015134 216 | v 0.031685 0.015124 0.014922 217 | v 0.046856 0.014541 -0.015134 218 | v 0.031685 0.015124 -0.015134 219 | v 0.031685 0.014832 0.014922 220 | f 80 82 85 221 | f 79 80 81 222 | f 80 79 82 223 | f 79 81 82 224 | f 80 78 83 225 | f 81 80 83 226 | f 78 81 83 227 | f 81 78 84 228 | f 78 82 84 229 | f 82 81 84 230 | f 78 80 85 231 | f 82 78 85 232 | o convex_8 233 | v -0.073364 0.001115 -0.007547 234 | v -0.072780 0.003160 0.007626 235 | v -0.072780 0.007829 0.007041 236 | v -0.072780 -0.007635 -0.007547 237 | v -0.073364 -0.007636 0.007626 238 | v -0.073364 0.007829 0.007041 239 | v -0.072780 0.007535 -0.007547 240 | v -0.072780 -0.007636 0.007626 241 | v -0.073364 -0.007635 -0.007547 242 | v -0.073072 0.007535 -0.007547 243 | f 92 86 95 244 | f 88 87 89 245 | f 90 87 91 246 | f 87 88 91 247 | f 86 90 91 248 | f 91 88 92 249 | f 88 89 92 250 | f 89 86 92 251 | f 89 87 93 252 | f 90 89 93 253 | f 87 90 93 254 | f 86 89 94 255 | f 90 86 94 256 | f 89 90 94 257 | f 86 91 95 258 | f 91 92 95 259 | o convex_9 260 | v 0.020890 0.007246 -0.024471 261 | v 0.031684 0.007537 -0.014842 262 | v 0.020306 0.007829 -0.014842 263 | v 0.025263 0.007829 -0.044314 264 | v 0.031684 0.006954 -0.044314 265 | v 0.017095 0.007537 -0.044314 266 | v 0.031684 0.006954 -0.014842 267 | v 0.017095 0.007537 -0.014842 268 | v 0.031684 0.007537 -0.044314 269 | v 0.017095 0.007829 -0.044314 270 | v 0.019721 0.007246 -0.014842 271 | v 0.017095 0.007829 -0.014842 272 | f 105 103 107 273 | f 98 97 99 274 | f 100 96 101 275 | f 99 100 101 276 | f 97 98 102 277 | f 100 97 102 278 | f 102 98 103 279 | f 99 97 104 280 | f 100 99 104 281 | f 97 100 104 282 | f 98 99 105 283 | f 99 101 105 284 | f 101 103 105 285 | f 96 100 106 286 | f 101 96 106 287 | f 100 102 106 288 | f 103 101 106 289 | f 102 103 106 290 | f 103 98 107 291 | f 98 105 107 292 | o convex_10 293 | v 0.030224 0.006954 0.044677 294 | v 0.031684 0.007537 0.037387 295 | v 0.030223 0.007537 0.044683 296 | v 0.017094 0.007246 0.014925 297 | v 0.031684 0.006954 0.014922 298 | v 0.017094 0.007537 0.044683 299 | v 0.031684 0.007537 0.014922 300 | v 0.017094 0.007537 0.014925 301 | v 0.017094 0.007246 0.044683 302 | v 0.031391 0.006954 0.044974 303 | f 116 108 117 304 | f 108 111 112 305 | f 110 109 114 306 | f 112 111 114 307 | f 109 112 114 308 | f 113 110 115 309 | f 111 113 115 310 | f 114 111 115 311 | f 110 114 115 312 | f 111 108 116 313 | f 113 111 116 314 | f 113 116 117 315 | f 109 110 117 316 | f 108 112 117 317 | f 112 109 117 318 | f 110 113 117 319 | o convex_11 320 | v -0.072779 -0.007636 0.007043 321 | v -0.048564 0.007829 0.007627 322 | v -0.042725 0.007537 0.007627 323 | v -0.072779 -0.007636 0.007627 324 | v -0.073361 0.007829 0.007043 325 | v -0.042728 -0.007636 0.007043 326 | v -0.042725 0.007537 0.007043 327 | v -0.042728 -0.007636 0.007627 328 | v -0.073361 0.007829 0.007627 329 | f 119 122 126 330 | f 120 119 121 331 | f 118 121 122 332 | f 121 118 123 333 | f 118 122 123 334 | f 123 122 124 335 | f 119 120 124 336 | f 122 119 124 337 | f 120 123 124 338 | f 120 121 125 339 | f 123 120 125 340 | f 121 123 125 341 | f 121 119 126 342 | f 122 121 126 343 | o convex_12 344 | v -0.072780 -0.007635 -0.007547 345 | v -0.043019 0.007536 -0.006963 346 | v -0.042728 -0.007344 -0.006963 347 | v -0.043019 0.007536 -0.007547 348 | v -0.072780 0.007536 -0.006963 349 | v -0.072780 -0.007635 -0.006963 350 | v -0.043025 -0.007635 -0.007547 351 | v -0.072780 0.007536 -0.007547 352 | f 131 130 134 353 | f 128 129 130 354 | f 129 128 131 355 | f 128 130 131 356 | f 131 127 132 357 | f 129 131 132 358 | f 130 129 133 359 | f 127 130 133 360 | f 132 127 133 361 | f 129 132 133 362 | f 130 127 134 363 | f 127 131 134 364 | o convex_13 365 | v -0.042728 -0.007344 0.007043 366 | v -0.072780 -0.007636 -0.006963 367 | v -0.072780 -0.007344 -0.006963 368 | v -0.042728 -0.007636 -0.006963 369 | v -0.072780 -0.007636 0.007043 370 | v -0.072780 -0.007344 0.007043 371 | v -0.042728 -0.007344 -0.006963 372 | v -0.042728 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99 100 272 | f 99 98 101 273 | f 100 97 103 274 | f 97 102 103 275 | f 98 100 104 276 | f 101 98 104 277 | f 103 101 104 278 | f 100 103 104 279 | f 100 99 105 280 | f 97 100 105 281 | f 99 102 105 282 | f 102 97 105 283 | f 99 101 106 284 | f 102 99 106 285 | f 101 103 106 286 | o convex_11 287 | v 0.089001 0.027560 -0.004356 288 | v 0.088625 0.012133 -0.004356 289 | v 0.088249 0.012134 -0.007743 290 | v 0.088249 0.027560 0.007685 291 | v 0.089001 0.012133 0.007685 292 | v 0.088249 0.012133 0.007685 293 | v 0.088249 0.027182 -0.007743 294 | v 0.089001 0.012134 -0.007743 295 | v 0.089001 0.027560 0.007685 296 | v 0.089001 0.027182 -0.007743 297 | f 114 113 116 298 | f 109 108 112 299 | f 110 109 112 300 | f 111 110 112 301 | f 108 111 112 302 | f 109 110 113 303 | f 110 107 113 304 | f 108 109 114 305 | f 107 111 114 306 | f 111 108 114 307 | f 109 113 114 308 | f 107 110 115 309 | f 111 107 115 310 | f 110 111 115 311 | f 113 107 116 312 | f 107 114 116 313 | o convex_12 314 | v 0.038200 -0.048073 0.003922 315 | v 0.039329 -0.025498 0.003922 316 | v 0.039329 -0.025498 -0.003227 317 | v 0.036695 -0.025498 0.003922 318 | v 0.039329 -0.054094 -0.003227 319 | v 0.039329 -0.054094 0.003922 320 | v 0.038952 -0.054094 -0.003227 321 | v 0.038952 -0.025498 -0.003227 322 | v 0.036695 -0.030018 0.003546 323 | f 120 124 125 324 | f 118 119 120 325 | f 117 118 120 326 | f 119 118 121 327 | f 118 117 122 328 | f 121 118 122 329 | f 121 122 123 330 | f 119 121 123 331 | f 122 117 123 332 | f 120 119 124 333 | f 119 123 124 334 | f 124 123 125 335 | f 117 120 125 336 | f 123 117 125 337 | o convex_13 338 | v 0.012987 0.004983 0.000536 339 | v -0.077702 0.004230 -0.015269 340 | v -0.077702 0.004230 0.000536 341 | v -0.077702 0.004983 -0.015269 342 | v 0.012987 0.004230 -0.015269 343 | v -0.077702 0.004983 0.000536 344 | v 0.012987 0.004983 -0.015269 345 | v 0.012987 0.004607 0.000536 346 | f 128 130 133 347 | f 127 128 129 348 | f 128 127 130 349 | f 127 129 130 350 | f 128 126 131 351 | f 129 128 131 352 | f 126 129 131 353 | f 129 126 132 354 | f 126 130 132 355 | f 130 129 132 356 | f 126 128 133 357 | f 130 126 133 358 | o convex_14 359 | v 0.012611 -0.025121 0.015210 360 | v -0.076942 -0.025498 -0.014517 361 | v -0.077702 -0.025498 0.000533 362 | v -0.076942 -0.025121 -0.014517 363 | v 0.012611 -0.025498 -0.014517 364 | v 0.012611 -0.025498 0.015210 365 | v -0.077702 -0.025121 0.015210 366 | v 0.012611 -0.025121 -0.014517 367 | v -0.077702 -0.025498 0.015210 368 | f 139 140 142 369 | f 135 136 137 370 | f 136 135 138 371 | f 135 137 138 372 | f 138 134 139 373 | f 136 138 139 374 | f 137 136 140 375 | f 134 137 140 376 | f 139 134 140 377 | f 137 134 141 378 | f 134 138 141 379 | f 138 137 141 380 | f 136 139 142 381 | f 140 136 142 382 | o convex_15 383 | v 0.039326 0.027938 0.003922 384 | v 0.031804 0.027185 -0.003980 385 | v 0.024278 0.027185 -0.000216 386 | v 0.031804 0.027938 -0.003980 387 | v 0.024278 0.027938 0.003922 388 | v 0.039326 0.027185 0.003922 389 | v 0.039705 0.027938 -0.003980 390 | v 0.039705 0.027185 -0.003980 391 | v 0.024278 0.027185 0.003922 392 | f 148 147 151 393 | f 144 145 146 394 | f 143 146 147 395 | f 146 145 147 396 | f 145 144 148 397 | f 143 147 148 398 | f 143 148 149 399 | f 144 146 149 400 | f 146 143 149 401 | f 148 144 150 402 | f 149 148 150 403 | f 144 149 150 404 | f 147 145 151 405 | f 145 148 151 406 | o convex_16 407 | v -0.077702 -0.022105 -0.015269 408 | v -0.076950 0.004604 0.015210 409 | v -0.076950 0.004983 0.010317 410 | v -0.076950 -0.025498 -0.014890 411 | v -0.077702 -0.025119 0.015210 412 | v -0.077702 0.004228 -0.015269 413 | v -0.077702 0.004604 0.015210 414 | v -0.076950 -0.025119 0.015210 415 | v -0.076950 0.004228 -0.015269 416 | v -0.077702 -0.025498 -0.014890 417 | f 155 156 161 418 | f 154 153 155 419 | f 152 156 157 420 | f 153 154 158 421 | f 156 153 158 422 | f 157 156 158 423 | f 154 157 158 424 | f 155 153 159 425 | f 156 155 159 426 | f 153 156 159 427 | f 154 155 160 428 | f 155 152 160 429 | f 157 154 160 430 | f 152 157 160 431 | f 152 155 161 432 | f 156 152 161 433 | o convex_17 434 | v -0.070171 0.004983 0.011447 435 | v -0.076950 0.004607 0.000538 436 | v -0.076950 0.004230 0.009941 437 | v 0.012979 0.004607 0.000538 438 | v 0.012979 0.004607 0.014459 439 | v 0.012979 0.004983 0.000538 440 | v 0.012979 0.004983 0.014459 441 | v -0.046841 0.004230 0.014459 442 | v -0.076950 0.004983 0.000538 443 | v -0.076950 0.004607 0.014459 444 | v -0.049852 0.004983 0.014459 445 | v -0.076950 0.004230 0.014459 446 | f 171 164 173 447 | f 164 163 165 448 | f 165 163 167 449 | f 166 165 167 450 | f 166 167 168 451 | f 167 162 168 452 | f 164 165 169 453 | f 165 166 169 454 | f 166 168 169 455 | f 163 164 170 456 | f 167 163 170 457 | f 162 167 170 458 | f 169 168 171 459 | f 162 170 171 460 | f 170 164 171 461 | f 168 162 172 462 | f 162 171 172 463 | f 171 168 172 464 | f 164 169 173 465 | f 169 171 173 466 | o convex_18 467 | v 0.039329 -0.025496 0.003922 468 | v 0.031803 -0.025498 -0.003980 469 | v 0.031803 -0.018725 -0.003980 470 | v 0.024654 -0.017597 0.003922 471 | v 0.039329 -0.017597 0.002417 472 | v 0.038951 -0.025498 -0.003980 473 | v 0.031429 -0.025496 0.003922 474 | v 0.039329 -0.018725 -0.003603 475 | v 0.039329 -0.017597 0.003922 476 | v 0.024654 -0.018349 0.002417 477 | f 180 177 183 478 | f 176 177 178 479 | f 174 175 179 480 | f 175 176 179 481 | f 175 174 180 482 | f 174 177 180 483 | f 178 174 181 484 | f 176 178 181 485 | f 179 176 181 486 | f 174 179 181 487 | f 177 174 182 488 | f 174 178 182 489 | f 178 177 182 490 | f 176 175 183 491 | f 177 176 183 492 | f 175 180 183 493 | o convex_19 494 | v 0.024657 -0.017972 0.002417 495 | v 0.013367 -0.017972 -0.007743 496 | v 0.013367 -0.017219 -0.007743 497 | v 0.042716 -0.017972 -0.007743 498 | v 0.042716 -0.017219 0.002417 499 | v 0.039326 -0.018724 0.002417 500 | v 0.042716 -0.017219 -0.007743 501 | v 0.031799 -0.018724 -0.003980 502 | v 0.013367 -0.017972 -0.002475 503 | v 0.013367 -0.017595 -0.002475 504 | v 0.031422 -0.018724 0.002417 505 | v 0.038949 -0.018724 -0.003980 506 | f 189 191 195 507 | f 185 186 187 508 | f 188 184 189 509 | f 187 188 189 510 | f 187 186 190 511 | f 188 187 190 512 | f 186 188 190 513 | f 185 187 191 514 | f 186 185 192 515 | f 184 188 193 516 | f 188 186 193 517 | f 192 184 193 518 | f 186 192 193 519 | f 189 184 194 520 | f 185 191 194 521 | f 191 189 194 522 | f 184 192 194 523 | f 192 185 194 524 | f 187 189 195 525 | f 191 187 195 526 | o convex_20 527 | v 0.013367 -0.017219 -0.007367 528 | v 0.042716 -0.002543 -0.006990 529 | v 0.042716 -0.002543 -0.007743 530 | v 0.042716 -0.017219 -0.006990 531 | v 0.042716 -0.017219 -0.007743 532 | v 0.013367 -0.002543 -0.007743 533 | v 0.013367 -0.002543 -0.007367 534 | v 0.013367 -0.017219 -0.007743 535 | f 196 201 203 536 | f 198 197 199 537 | f 197 196 199 538 | f 199 196 200 539 | f 198 199 200 540 | f 198 200 201 541 | f 197 198 201 542 | f 201 196 202 543 | f 196 197 202 544 | f 197 201 202 545 | f 200 196 203 546 | f 201 200 203 547 | o convex_21 548 | v 0.013367 -0.003295 0.002417 549 | v 0.039326 0.005358 0.003922 550 | v 0.042716 -0.002542 0.004299 551 | v 0.042716 -0.003671 0.002417 552 | v 0.013367 -0.003295 0.004299 553 | v 0.038949 0.005358 0.002417 554 | v 0.024657 0.005358 0.003922 555 | v 0.042716 -0.003671 0.004299 556 | v 0.024657 0.005358 0.003546 557 | f 210 209 212 558 | f 204 207 208 559 | f 205 206 209 560 | f 206 207 209 561 | f 207 204 209 562 | f 206 205 210 563 | f 204 208 210 564 | f 208 206 210 565 | f 205 209 210 566 | f 207 206 211 567 | f 208 207 211 568 | f 206 208 211 569 | f 209 204 212 570 | f 204 210 212 571 | o convex_22 572 | v 0.042339 -0.017972 0.002416 573 | v 0.042716 -0.002921 0.007685 574 | v 0.041963 -0.002921 0.007685 575 | v 0.042716 -0.002543 -0.006990 576 | v 0.042716 -0.017972 0.007685 577 | v 0.042339 -0.017218 -0.006990 578 | v 0.041963 -0.017972 0.007685 579 | v 0.042716 -0.017218 -0.006990 580 | v 0.042339 -0.002543 -0.006990 581 | f 216 218 221 582 | f 215 214 216 583 | f 214 215 217 584 | f 216 214 217 585 | f 213 217 219 586 | f 217 215 219 587 | f 218 213 219 588 | f 215 218 219 589 | f 217 213 220 590 | f 216 217 220 591 | f 213 218 220 592 | f 218 216 220 593 | f 215 216 221 594 | f 218 215 221 595 | o convex_23 596 | v -0.067539 -0.023240 -0.015269 597 | v 0.012979 0.004230 -0.014893 598 | v 0.012609 -0.025119 -0.014517 599 | v -0.076941 -0.021732 -0.014517 600 | v -0.076941 0.004230 -0.015269 601 | v 0.012609 -0.025498 -0.015269 602 | v 0.012979 0.004230 -0.015269 603 | v -0.076941 0.004230 -0.014893 604 | v -0.076941 -0.025498 -0.014893 605 | v -0.076941 -0.025498 -0.014517 606 | v -0.076941 -0.022108 -0.015269 607 | v -0.047220 -0.025498 -0.015269 608 | f 227 230 233 609 | f 224 223 225 610 | f 223 224 227 611 | f 222 226 227 612 | f 226 223 228 613 | f 223 227 228 614 | f 227 226 228 615 | f 225 223 229 616 | f 226 225 229 617 | f 223 226 229 618 | f 225 226 230 619 | f 230 227 231 620 | f 224 225 231 621 | f 227 224 231 622 | f 225 230 231 623 | f 226 222 232 624 | f 222 230 232 625 | f 230 226 232 626 | f 222 227 233 627 | f 230 222 233 628 | o convex_24 629 | v -0.076941 0.004226 0.014459 630 | v 0.012979 0.004983 0.015212 631 | v 0.012979 -0.001417 0.015212 632 | v 0.012979 0.004983 0.014459 633 | v -0.076941 -0.025121 0.014835 634 | v -0.076941 0.004606 0.015212 635 | v 0.012609 -0.025121 0.015212 636 | v 0.012609 -0.025121 0.014835 637 | v -0.076941 -0.025121 0.015212 638 | v -0.047220 0.004983 0.014459 639 | f 234 239 243 640 | f 235 236 237 641 | f 236 235 239 642 | f 234 238 239 643 | f 236 239 240 644 | f 237 236 241 645 | f 234 237 241 646 | f 238 234 241 647 | f 236 240 241 648 | f 240 238 241 649 | f 239 238 242 650 | f 238 240 242 651 | f 240 239 242 652 | f 235 237 243 653 | f 237 234 243 654 | f 239 235 243 655 | o convex_25 656 | v 0.039329 -0.002919 -0.003980 657 | v 0.039329 0.005359 0.002417 658 | v 0.038953 0.005359 0.002417 659 | v 0.038576 0.005359 -0.003980 660 | v 0.038953 -0.002919 0.002417 661 | v 0.039705 0.005359 -0.003603 662 | v 0.039705 -0.002919 -0.002475 663 | v 0.038576 -0.002919 -0.003603 664 | f 248 246 251 665 | f 246 245 247 666 | f 245 246 248 667 | f 247 245 249 668 | f 244 247 249 669 | f 248 244 250 670 | f 245 248 250 671 | f 249 245 250 672 | f 244 249 250 673 | f 246 247 251 674 | f 247 244 251 675 | f 244 248 251 676 | o convex_26 677 | v 0.074695 0.012133 -0.007743 678 | v 0.072809 0.027560 -0.007367 679 | v 0.072809 0.027560 -0.007743 680 | v -0.000560 0.012133 -0.007367 681 | v -0.000560 0.027560 -0.007743 682 | v 0.088247 0.012134 -0.007367 683 | v -0.000560 0.012133 -0.007743 684 | v -0.000560 0.027560 -0.007367 685 | v 0.088247 0.027184 -0.007743 686 | v 0.088247 0.027184 -0.007367 687 | v 0.088247 0.012134 -0.007743 688 | f 260 257 262 689 | f 254 252 256 690 | f 253 254 256 691 | f 253 255 257 692 | f 255 252 257 693 | f 252 255 258 694 | f 256 252 258 695 | f 255 256 258 696 | f 255 253 259 697 | f 256 255 259 698 | f 253 256 259 699 | f 252 254 260 700 | f 254 253 260 701 | f 257 260 261 702 | f 253 257 261 703 | f 260 253 261 704 | f 257 252 262 705 | f 252 260 262 706 | o convex_27 707 | v 0.012235 -0.017972 -0.007742 708 | v 0.013364 -0.002543 0.007684 709 | v 0.013364 -0.002543 -0.007742 710 | v 0.013364 -0.017972 0.007684 711 | v 0.012611 -0.002543 0.007684 712 | v 0.013364 -0.017972 -0.007742 713 | v 0.012235 -0.017972 0.007684 714 | v 0.012611 -0.002543 -0.007742 715 | v 0.012235 -0.011950 -0.007366 716 | f 270 263 271 717 | f 265 264 266 718 | f 264 265 267 719 | f 266 264 267 720 | f 263 265 268 721 | f 265 266 268 722 | f 266 263 268 723 | f 263 266 269 724 | f 266 267 269 725 | f 265 263 270 726 | f 267 265 270 727 | f 267 270 271 728 | f 263 269 271 729 | f 269 267 271 730 | o convex_28 731 | v 0.013364 -0.017972 0.007309 732 | v 0.041963 -0.003672 0.007685 733 | v 0.041963 -0.003672 0.007309 734 | v 0.013364 -0.003672 0.007685 735 | v 0.041963 -0.017972 0.007685 736 | v 0.041963 -0.017972 0.007309 737 | v 0.013364 -0.003672 0.007309 738 | v 0.013364 -0.017972 0.007685 739 | f 276 275 279 740 | f 273 274 275 741 | f 274 273 276 742 | f 273 275 276 743 | f 272 274 277 744 | f 276 272 277 745 | f 274 276 277 746 | f 274 272 278 747 | f 275 274 278 748 | f 272 275 278 749 | f 275 272 279 750 | f 272 276 279 751 | o convex_29 752 | v 0.033307 -0.002543 0.006933 753 | v 0.013364 -0.002920 0.004299 754 | v 0.013364 -0.002543 0.004299 755 | v 0.013364 -0.002543 0.007685 756 | v 0.041963 -0.003672 0.007309 757 | v 0.013364 -0.003672 0.007685 758 | v 0.025407 -0.003296 0.004299 759 | v 0.041963 -0.002920 0.007685 760 | f 284 286 287 761 | f 282 281 283 762 | f 280 282 283 763 | f 283 281 285 764 | f 282 280 286 765 | f 281 282 286 766 | f 285 281 286 767 | f 284 285 286 768 | f 280 283 287 769 | f 285 284 287 770 | f 283 285 287 771 | f 286 280 287 772 | o convex_30 773 | v -0.001688 0.014771 -0.003978 774 | v -0.001312 0.027560 0.006933 775 | v -0.000936 0.027560 0.001287 776 | v -0.001312 0.012133 0.006933 777 | v -0.000560 0.012133 -0.007743 778 | v -0.001312 0.027560 -0.007743 779 | v -0.001688 0.027560 0.006933 780 | v -0.000560 0.027560 -0.007743 781 | v -0.001688 0.012133 0.006933 782 | v -0.001312 0.012133 -0.007743 783 | f 292 296 297 784 | f 290 289 291 785 | f 290 291 292 786 | f 289 290 293 787 | f 293 288 294 788 | f 291 289 294 789 | f 289 293 294 790 | f 290 292 295 791 | f 293 290 295 792 | f 292 293 295 793 | f 292 291 296 794 | f 294 288 296 795 | f 291 294 296 796 | f 293 292 297 797 | f 288 293 297 798 | f 296 288 297 799 | -------------------------------------------------------------------------------- /objs/0005/0005.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /objs/0005/0005.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0005.mtl 4 | o 0005_Cube.396 5 | v -0.047935 0.020450 0.014869 6 | v -0.047942 0.020511 -0.014924 7 | v -0.047960 -0.009534 -0.014981 8 | v -0.047985 -0.009485 0.014996 9 | v -0.018022 -0.006090 0.015003 10 | v -0.036585 0.020502 -0.007426 11 | v -0.025404 0.020478 0.007441 12 | v -0.045273 0.020467 0.007471 13 | v -0.045052 0.020497 -0.007188 14 | v -0.045051 0.020498 -0.007395 15 | v -0.017998 0.020535 -0.014922 16 | v -0.017917 -0.009468 -0.014962 17 | v -0.017840 -0.009457 -0.005010 18 | v -0.015421 -0.009438 0.015025 19 | v -0.017939 0.020465 0.014860 20 | v -0.017940 0.020517 -0.007455 21 | v -0.017867 0.020482 0.007434 22 | v -0.017847 0.050540 0.014942 23 | v -0.018080 0.050373 -0.015030 24 | v -0.017836 -0.039657 -0.015053 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0.015008 303 | v -0.003171 0.035846 0.014734 304 | f 113 117 120 305 | f 111 112 113 306 | f 111 113 114 307 | f 113 110 115 308 | f 110 114 115 309 | f 114 113 115 310 | f 110 112 116 311 | f 112 111 116 312 | f 112 110 117 313 | f 113 112 117 314 | f 111 114 118 315 | f 116 111 118 316 | f 116 118 119 317 | f 114 110 119 318 | f 110 116 119 319 | f 118 114 119 320 | f 110 113 120 321 | f 117 110 120 322 | o convex_13 323 | v 0.023133 0.001589 0.015285 324 | v 0.030533 0.001863 0.044329 325 | v 0.030533 0.001589 0.044329 326 | v 0.030533 0.001863 0.015285 327 | v 0.023133 0.001863 0.044329 328 | v 0.023133 0.001589 0.044329 329 | v 0.030533 0.001589 0.015285 330 | v 0.023133 0.001863 0.015285 331 | f 125 124 128 332 | f 122 123 124 333 | f 123 122 125 334 | f 122 124 125 335 | f 121 123 126 336 | f 125 121 126 337 | f 123 125 126 338 | f 123 121 127 339 | f 124 123 127 340 | f 121 124 127 341 | f 124 121 128 342 | f 121 125 128 343 | o convex_14 344 | v 0.024230 0.009536 0.037206 345 | v 0.023134 0.006522 0.015285 346 | v 0.023408 0.006522 0.015285 347 | v 0.025874 0.009536 0.015285 348 | v 0.023134 0.009536 0.015285 349 | v 0.023134 0.008988 0.044332 350 | v 0.025874 0.008988 0.016380 351 | f 129 134 135 352 | f 131 130 132 353 | f 129 132 133 354 | f 132 130 133 355 | f 133 130 134 356 | f 130 131 134 357 | f 129 133 134 358 | f 134 131 135 359 | f 131 132 135 360 | f 132 129 135 361 | o convex_15 362 | v 0.045058 0.034750 0.007608 363 | v 0.011897 0.035024 -0.007739 364 | v 0.011897 0.035298 -0.007739 365 | v 0.011897 0.035024 0.007608 366 | v 0.045058 0.035298 -0.007739 367 | v 0.045058 0.035298 0.007608 368 | v 0.045058 0.034750 -0.007739 369 | v 0.011897 0.035298 0.007608 370 | f 139 141 143 371 | f 138 137 139 372 | f 137 136 139 373 | f 137 138 140 374 | f 140 138 141 375 | f 139 136 141 376 | f 136 140 141 377 | f 136 137 142 378 | f 140 136 142 379 | f 137 140 142 380 | f 138 139 143 381 | f 141 138 143 382 | o convex_16 383 | v 0.042317 0.020499 0.015007 384 | v 0.011901 0.020225 0.008431 385 | v -0.001258 0.019951 0.014733 386 | v -0.001258 0.021047 0.015007 387 | v 0.042317 0.020773 0.008431 388 | v 0.042317 0.020225 0.013363 389 | v 0.017109 0.020773 0.008431 390 | v 0.012174 0.021047 0.015281 391 | v 0.012174 0.019951 0.015281 392 | f 151 147 152 393 | f 145 146 147 394 | f 145 148 149 395 | f 148 144 149 396 | f 145 147 150 397 | f 147 148 150 398 | f 148 145 150 399 | f 144 148 151 400 | f 148 147 151 401 | f 146 145 152 402 | f 147 146 152 403 | f 145 149 152 404 | f 149 144 152 405 | f 144 151 152 406 | o convex_17 407 | v 0.023133 0.001589 -0.045011 408 | v 0.030259 0.007344 -0.045011 409 | v 0.030259 0.007344 -0.045285 410 | v 0.023133 0.007344 -0.045011 411 | v 0.030259 0.001589 -0.044737 412 | f 154 156 157 413 | f 154 155 156 414 | f 155 153 156 415 | f 156 153 157 416 | f 153 155 157 417 | f 155 154 157 418 | o convex_18 419 | v 0.023133 0.002137 -0.042541 420 | v 0.030259 0.001863 -0.015139 421 | v 0.023407 0.004329 -0.015139 422 | v 0.023133 0.001589 -0.015139 423 | v 0.030259 0.001589 -0.044737 424 | v 0.023133 0.001589 -0.044737 425 | v 0.030259 0.001863 -0.044737 426 | v 0.030259 0.001589 -0.015139 427 | v 0.023133 0.004329 -0.016784 428 | f 160 164 166 429 | f 159 160 161 430 | f 161 158 163 431 | f 162 161 163 432 | f 162 163 164 433 | f 160 159 164 434 | f 159 162 164 435 | f 163 158 164 436 | f 159 161 165 437 | f 161 162 165 438 | f 162 159 165 439 | f 161 160 166 440 | f 158 161 166 441 | f 164 158 166 442 | o convex_19 443 | v -0.048122 -0.009648 -0.008287 444 | v -0.047574 0.020496 0.015008 445 | v -0.047574 0.020773 -0.014587 446 | v -0.047574 -0.009645 -0.015139 447 | v -0.048122 0.020773 -0.015139 448 | v -0.048122 -0.009648 0.015008 449 | v -0.048122 0.020496 0.015008 450 | v -0.047848 -0.009648 0.015008 451 | v -0.048122 -0.009645 -0.015139 452 | f 171 170 175 453 | f 169 168 170 454 | f 169 170 171 455 | f 171 167 172 456 | f 171 172 173 457 | f 168 169 173 458 | f 169 171 173 459 | f 172 168 173 460 | f 170 168 174 461 | f 167 170 174 462 | f 168 172 174 463 | f 172 167 174 464 | f 170 167 175 465 | f 167 171 175 466 | o convex_20 467 | v 0.042317 -0.009373 -0.015139 468 | v -0.017965 0.020225 -0.014865 469 | v -0.017965 0.020225 -0.015139 470 | v -0.047574 -0.009648 -0.014865 471 | v 0.042317 -0.009095 -0.014865 472 | v -0.047574 -0.009648 -0.015139 473 | v -0.047574 0.020225 -0.014865 474 | v 0.030799 0.009260 -0.015139 475 | v -0.047574 0.020225 -0.015139 476 | v 0.030799 0.009260 -0.014865 477 | f 180 183 185 478 | f 179 176 180 479 | f 177 179 180 480 | f 178 176 181 481 | f 176 179 181 482 | f 181 179 182 483 | f 177 178 182 484 | f 179 177 182 485 | f 176 178 183 486 | f 178 177 183 487 | f 180 176 183 488 | f 178 181 184 489 | f 181 182 184 490 | f 182 178 184 491 | f 177 180 185 492 | f 183 177 185 493 | o convex_21 494 | v 0.045058 0.021047 0.007605 495 | v 0.011900 0.020499 -0.015139 496 | v 0.011897 0.020225 0.007332 497 | v 0.044782 0.020225 -0.007737 498 | v 0.042315 0.020773 -0.015139 499 | v 0.011897 0.020773 0.007605 500 | v 0.045058 0.020225 0.007605 501 | v 0.011900 0.020773 -0.015139 502 | v 0.044782 0.021047 -0.007737 503 | v 0.042315 0.020499 -0.015139 504 | f 187 190 195 505 | f 188 187 189 506 | f 191 188 192 507 | f 188 189 192 508 | f 189 186 192 509 | f 186 191 192 510 | f 187 188 193 511 | f 190 187 193 512 | f 188 191 193 513 | f 193 191 194 514 | f 186 189 194 515 | f 189 190 194 516 | f 191 186 194 517 | f 190 193 194 518 | f 189 187 195 519 | f 190 189 195 520 | o convex_22 521 | v -0.018524 0.020220 0.010623 522 | v -0.017427 0.035846 0.015008 523 | v -0.017427 0.035846 0.014734 524 | v -0.017427 -0.009648 0.015008 525 | v -0.018524 0.020492 0.015008 526 | v -0.017976 -0.009648 0.010623 527 | v -0.017702 0.020492 0.010623 528 | v -0.018249 -0.009648 0.015008 529 | f 201 199 203 530 | f 198 197 199 531 | f 198 196 200 532 | f 197 198 200 533 | f 199 197 200 534 | f 196 198 202 535 | f 198 199 202 536 | f 201 196 202 537 | f 199 201 202 538 | f 200 196 203 539 | f 199 200 203 540 | f 196 201 203 541 | o convex_23 542 | v -0.017979 0.020773 -0.015139 543 | v -0.017704 0.020499 0.010620 544 | v -0.018529 0.020499 0.015008 545 | v -0.047574 0.020225 -0.015139 546 | v -0.047574 0.020773 -0.014315 547 | v -0.017979 0.020225 -0.015139 548 | v -0.044284 0.020225 0.015008 549 | v -0.018529 0.020225 0.015008 550 | v -0.044284 0.020499 0.015008 551 | v -0.017704 0.020773 -0.007186 552 | f 208 212 213 553 | f 204 207 208 554 | f 207 204 209 555 | f 207 209 210 556 | f 208 207 210 557 | f 206 210 211 558 | f 205 206 211 559 | f 209 205 211 560 | f 210 209 211 561 | f 208 210 212 562 | f 210 206 212 563 | f 206 205 213 564 | f 204 208 213 565 | f 205 209 213 566 | f 209 204 213 567 | f 212 206 213 568 | o convex_24 569 | v 0.045058 0.034750 0.007608 570 | v 0.044510 0.021047 -0.007739 571 | v 0.044510 0.025707 -0.007739 572 | v 0.045058 0.025433 -0.007739 573 | v 0.044784 0.021047 0.007608 574 | v 0.045058 0.034750 -0.007739 575 | v 0.044784 0.034750 0.007608 576 | v 0.045058 0.021047 0.007608 577 | f 218 215 221 578 | f 215 216 217 579 | f 216 215 218 580 | f 217 216 219 581 | f 214 217 219 582 | f 218 214 220 583 | f 216 218 220 584 | f 214 219 220 585 | f 219 216 220 586 | f 215 217 221 587 | f 217 214 221 588 | f 214 218 221 589 | o convex_25 590 | v -0.044285 0.035571 0.007608 591 | v -0.045108 0.020225 -0.007465 592 | v -0.045382 0.026804 -0.007465 593 | v -0.047574 0.020225 0.015008 594 | v -0.044285 0.020225 0.015008 595 | v -0.045382 0.035296 -0.007465 596 | v -0.044285 0.035022 -0.007465 597 | v -0.045382 0.035571 0.007608 598 | v -0.044833 0.020225 -0.007465 599 | f 223 228 230 600 | f 224 223 225 601 | f 222 225 226 602 | f 225 223 226 603 | f 223 224 227 604 | f 224 225 227 605 | f 222 226 228 606 | f 223 227 228 607 | f 227 222 228 608 | f 225 222 229 609 | f 222 227 229 610 | f 227 225 229 611 | f 226 223 230 612 | f 228 226 230 613 | o convex_26 614 | v 0.042043 -0.009099 0.015282 615 | v 0.011903 -0.009647 -0.008013 616 | v 0.011903 -0.009373 -0.008013 617 | v 0.001216 -0.009373 0.015282 618 | v 0.030802 -0.009647 0.015282 619 | v 0.000939 -0.009647 0.015006 620 | v 0.029707 -0.009099 0.015006 621 | v 0.042043 -0.009373 0.015006 622 | f 235 232 238 623 | f 231 234 235 624 | f 232 235 236 625 | f 233 232 236 626 | f 234 233 236 627 | f 235 234 236 628 | f 231 233 237 629 | f 233 234 237 630 | f 234 231 237 631 | f 233 231 238 632 | f 232 233 238 633 | f 231 235 238 634 | o convex_27 635 | v -0.017427 -0.009648 0.014734 636 | v 0.012169 0.035846 0.015282 637 | v 0.031081 0.009537 0.015282 638 | v 0.031081 0.009537 0.014734 639 | v -0.017427 0.035846 0.014734 640 | v -0.016601 -0.009648 0.015282 641 | v 0.031081 0.001592 0.014734 642 | v -0.003448 0.035846 0.015282 643 | v 0.012169 0.035846 0.015008 644 | v 0.031081 0.001592 0.015282 645 | v -0.017427 0.035846 0.015008 646 | v -0.005367 -0.009648 0.015008 647 | v -0.002898 0.035846 0.014734 648 | f 243 247 251 649 | f 240 241 242 650 | f 242 239 243 651 | f 241 240 244 652 | f 242 241 245 653 | f 239 242 245 654 | f 240 243 246 655 | f 244 240 246 656 | f 240 242 247 657 | f 243 240 247 658 | f 241 244 248 659 | f 245 241 248 660 | f 243 239 249 661 | f 239 244 249 662 | f 246 243 249 663 | f 244 246 249 664 | f 244 239 250 665 | f 239 245 250 666 | f 248 244 250 667 | f 245 248 250 668 | f 242 243 251 669 | f 247 242 251 670 | -------------------------------------------------------------------------------- /objs/0006/0006.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /objs/0006/0006.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0006.mtl 4 | o 0006_Cube.401 5 | v -0.075091 -0.015088 0.014897 6 | v -0.075091 0.014874 0.015055 7 | v -0.074878 0.014897 -0.015067 8 | v -0.074932 0.007316 -0.007492 9 | v -0.074932 0.007394 -0.007492 10 | v -0.074932 0.007411 -0.007492 11 | v -0.074932 0.007411 -0.007475 12 | v -0.075017 0.007602 0.004591 13 | v -0.074969 0.002137 -0.002316 14 | v -0.074967 0.001371 -0.007507 15 | v -0.075055 -0.014904 -0.015088 16 | v -0.015181 -0.006223 0.014923 17 | v -0.015137 0.014936 -0.006699 18 | v -0.015163 -0.014981 -0.004892 19 | v -0.015151 -0.014920 -0.014905 20 | v -0.015142 -0.004951 -0.014899 21 | v 0.015006 0.014983 0.014969 22 | v -0.015187 -0.014961 0.014896 23 | v -0.004723 0.014951 0.014864 24 | v -0.015129 0.014934 -0.014938 25 | v -0.015147 -0.014991 -0.015100 26 | v 0.015017 0.014945 -0.015012 27 | v 0.015000 0.011295 -0.014988 28 | v -0.015134 0.007266 -0.014980 29 | v 0.015034 0.003313 0.014941 30 | v -0.015192 -0.015000 0.014956 31 | v -0.015129 0.014940 -0.014938 32 | v 0.015017 0.014909 -0.014976 33 | v 0.015006 0.014983 0.014906 34 | v 0.074931 0.015063 -0.014987 35 | v 0.015016 0.014946 -0.014976 36 | v 0.075033 -0.015022 0.015085 37 | v 0.074936 -0.014823 -0.015023 38 | v 0.074831 0.015130 0.015017 39 | v -0.075030 0.007411 -0.007492 40 | vn -1.000000 0.000000 -0.007100 41 | vn -1.000000 0.005900 -0.001200 42 | vn -0.000900 1.000000 -0.000100 43 | vn -0.000200 -1.000000 -0.006100 44 | vn 0.003000 0.000700 -1.000000 45 | vn 0.000600 -0.004100 1.000000 46 | vn -0.999900 0.000800 -0.015600 47 | vn 0.002100 -1.000000 0.001000 48 | vn 0.000600 -0.006600 -1.000000 49 | vn -0.001800 1.000000 -0.001000 50 | vn -1.000000 0.000700 -0.000900 51 | vn 1.000000 -0.004500 -0.006500 52 | vn 0.000200 0.003200 -1.000000 53 | vn 1.000000 0.002400 0.000300 54 | vn -0.001600 0.002900 1.000000 55 | vn 0.000800 -1.000000 -0.003500 56 | vn 1.000000 0.002500 0.000400 57 | vn 1.000000 0.003500 0.000000 58 | vn -0.999900 -0.010500 0.001300 59 | vn 0.001600 0.999900 -0.015800 60 | vn 0.001300 0.002500 -1.000000 61 | vn 0.000100 1.000000 -0.006900 62 | vn -0.000900 -0.011300 -0.999900 63 | usemtl None 64 | s off 65 | f 1//1 2//1 3//1 4//1 5//1 6//1 7//1 8//1 9//1 66 | f 1//2 9//2 10//2 4//2 3//2 11//2 67 | f 19//3 13//3 20//3 31//3 22//3 3//3 2//3 17//3 29//3 68 | f 14//4 1//4 11//4 15//4 69 | f 15//5 11//5 3//5 16//5 70 | f 2//6 1//6 18//6 12//6 25//6 17//6 71 | f 15//7 16//7 24//7 21//7 26//7 12//7 18//7 14//7 72 | f 18//8 1//8 14//8 73 | f 3//9 22//9 23//9 24//9 16//9 74 | f 13//10 19//10 34//10 30//10 27//10 75 | f 13//11 27//11 20//11 76 | f 23//12 22//12 28//12 77 | f 23//13 28//13 31//13 20//13 27//13 30//13 33//13 21//13 24//13 78 | f 29//14 17//14 25//14 79 | f 26//15 32//15 34//15 19//15 29//15 25//15 12//15 80 | f 26//16 21//16 33//16 32//16 81 | f 22//17 31//17 28//17 82 | f 30//18 34//18 32//18 33//18 83 | f 8//19 35//19 10//19 9//19 84 | f 7//20 35//20 8//20 85 | f 35//21 5//21 4//21 10//21 86 | f 6//22 35//22 7//22 87 | f 5//23 35//23 6//23 88 | -------------------------------------------------------------------------------- /objs/0006/0006.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | -------------------------------------------------------------------------------- /objs/0006/0006.vhacd.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | v -0.075152 -0.015027 0.014911 3 | v -0.015252 -0.015027 -0.015161 4 | v -0.015252 -0.014905 -0.015161 5 | v 0.014091 -0.015027 0.015035 6 | v -0.075152 -0.014782 -0.014913 7 | v -0.075152 -0.015149 0.004885 8 | v 0.014091 -0.014905 0.015035 9 | v 0.014091 -0.014905 -0.015161 10 | v -0.075152 -0.015027 -0.015037 11 | v -0.015130 -0.014782 -0.014916 12 | v -0.046298 -0.014905 0.014908 13 | v 0.014091 -0.015027 -0.015161 14 | v -0.046176 -0.015149 0.014908 15 | v -0.040795 -0.015149 0.003543 16 | v -0.075152 -0.015149 0.014911 17 | v -0.075152 -0.014905 0.005009 18 | f 11 5 16 19 | f 1 5 6 20 | f 1 4 7 21 | f 2 3 8 22 | f 7 4 8 23 | f 3 2 9 24 | f 5 3 9 25 | f 6 5 9 26 | f 3 5 10 27 | f 5 7 10 28 | f 7 8 10 29 | f 8 3 10 30 | f 1 7 11 31 | f 7 5 11 32 | f 2 8 12 33 | f 8 4 12 34 | f 9 2 14 35 | f 6 9 14 36 | f 2 12 14 37 | f 12 4 14 38 | f 4 13 14 39 | f 13 6 14 40 | f 4 1 15 41 | f 1 6 15 42 | f 13 4 15 43 | f 6 13 15 44 | f 5 1 16 45 | f 1 11 16 46 | o convex_1 47 | v 0.054921 -0.014782 -0.001830 48 | v 0.014097 -0.015027 -0.015161 49 | v 0.014097 -0.015027 0.015032 50 | v 0.074727 -0.015027 0.015157 51 | v 0.074727 -0.014905 -0.015036 52 | v 0.031090 -0.014782 -0.015161 53 | v 0.014097 -0.014905 0.015032 54 | v 0.074727 -0.014905 0.015157 55 | v 0.074727 -0.014782 -0.015036 56 | v 0.074727 -0.015027 -0.002688 57 | v 0.014097 -0.014905 -0.015161 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v 0.030916 -0.015231 0.013075 309 | v 0.031565 -0.015231 -0.017419 310 | v 0.031241 0.014292 -0.017422 311 | v 0.031565 -0.015231 0.013075 312 | v 0.031565 0.014292 -0.017422 313 | v 0.031241 0.014619 0.011453 314 | f 114 119 122 315 | f 116 115 117 316 | f 117 115 118 317 | f 114 117 120 318 | f 118 114 120 319 | f 117 118 120 320 | f 115 116 121 321 | f 114 118 121 322 | f 118 115 121 323 | f 116 119 121 324 | f 119 114 121 325 | f 116 117 122 326 | f 117 114 122 327 | f 119 116 122 328 | o convex_13 329 | v -0.006720 -0.045080 0.000746 330 | v 0.000742 -0.044431 0.001720 331 | v -0.002503 -0.044431 0.001720 332 | v 0.000742 -0.044431 -0.006067 333 | v 0.000742 -0.045080 0.001720 334 | v -0.006720 -0.045080 -0.006067 335 | v -0.006720 -0.044431 -0.006067 336 | f 126 128 129 337 | f 125 124 126 338 | f 125 123 127 339 | f 124 125 127 340 | f 126 124 127 341 | f 127 123 128 342 | f 126 127 128 343 | f 123 125 129 344 | f 125 126 129 345 | f 128 123 129 346 | o convex_14 347 | v 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144 385 | f 142 141 144 386 | f 140 138 145 387 | f 141 140 145 388 | o convex_16 389 | v 0.000742 -0.014909 0.001720 390 | v -0.006720 -0.044428 -0.001525 391 | v -0.006395 -0.044428 -0.001525 392 | v -0.006720 -0.014909 -0.001525 393 | v -0.006720 -0.044428 0.001395 394 | v 0.000742 -0.044428 0.001395 395 | v -0.006720 -0.014909 0.001395 396 | v -0.002503 -0.044428 0.001720 397 | v 0.000742 -0.014909 0.001395 398 | v -0.005098 -0.014909 0.001720 399 | f 153 146 155 400 | f 148 147 149 401 | f 147 148 150 402 | f 149 147 150 403 | f 150 148 151 404 | f 146 149 152 405 | f 149 150 152 406 | f 151 146 153 407 | f 150 151 153 408 | f 148 149 154 409 | f 149 146 154 410 | f 151 148 154 411 | f 146 151 154 412 | f 146 152 155 413 | f 152 150 155 414 | f 150 153 155 415 | o convex_17 416 | v -0.003801 0.014944 0.001394 417 | v -0.006395 0.044466 0.001720 418 | v -0.006720 0.044466 0.001720 419 | v -0.006395 0.044466 -0.005418 420 | v -0.006720 0.014944 -0.005418 421 | v -0.006720 0.014944 0.001720 422 | v -0.006720 0.044466 -0.005418 423 | v -0.006395 0.014944 -0.005418 424 | v -0.004450 0.024356 0.001720 425 | f 161 156 164 426 | f 158 157 159 427 | f 158 160 161 428 | f 157 158 161 429 | f 160 156 161 430 | f 158 159 162 431 | f 159 160 162 432 | f 160 158 162 433 | f 159 156 163 434 | f 156 160 163 435 | f 160 159 163 436 | f 159 157 164 437 | f 156 159 164 438 | f 157 161 164 439 | o convex_18 440 | v 0.000742 0.045442 0.001394 441 | v -0.006720 0.044469 -0.005418 442 | v -0.006720 0.045118 -0.005418 443 | v -0.006720 0.044469 0.001720 444 | v 0.000742 0.045118 -0.005418 445 | v -0.005747 0.045442 0.001720 446 | f 168 165 170 447 | f 167 166 168 448 | f 165 168 169 449 | f 167 165 169 450 | f 166 167 169 451 | f 168 166 169 452 | f 165 167 170 453 | f 167 168 170 454 | o convex_19 455 | v 0.066276 -0.002901 0.024108 456 | v 0.031245 -0.003875 0.023782 457 | v 0.031245 -0.003875 0.027676 458 | v 0.031245 -0.000306 0.023782 459 | v 0.071797 -0.003875 0.023782 460 | v 0.034817 -0.000306 0.024108 461 | v 0.031896 -0.003550 0.027676 462 | f 171 176 177 463 | f 172 173 174 464 | f 174 171 175 465 | f 173 172 175 466 | f 172 174 175 467 | f 171 174 176 468 | f 176 174 177 469 | f 174 173 177 470 | f 175 171 177 471 | f 173 175 177 472 | o convex_20 473 | v 0.001394 -0.014582 -0.017097 474 | v 0.001067 -0.015231 -0.019044 475 | v -0.007045 -0.015231 -0.017422 476 | v 0.030916 -0.015231 -0.008987 477 | v 0.030916 -0.014906 -0.019044 478 | v 0.001067 -0.014906 -0.008987 479 | v 0.030916 -0.014906 -0.008987 480 | v 0.030916 -0.015231 -0.019044 481 | v 0.001067 -0.015231 -0.008987 482 | v -0.007045 -0.014582 -0.017422 483 | f 180 183 187 484 | f 180 179 181 485 | f 183 181 184 486 | f 182 178 184 487 | f 181 182 184 488 | f 178 183 184 489 | f 181 179 185 490 | f 182 181 185 491 | f 179 182 185 492 | f 180 181 186 493 | f 183 180 186 494 | f 181 183 186 495 | f 179 180 187 496 | f 178 182 187 497 | f 182 179 187 498 | f 183 178 187 499 | o convex_21 500 | v 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0.015268 -0.017102 536 | v 0.030916 0.014944 -0.046624 537 | v 0.030916 0.014619 -0.036888 538 | v 0.001067 0.014944 -0.046624 539 | f 202 207 209 540 | f 200 199 201 541 | f 199 200 202 542 | f 202 200 203 543 | f 198 201 204 544 | f 202 198 204 545 | f 201 198 205 546 | f 198 203 205 547 | f 198 202 206 548 | f 203 198 206 549 | f 202 203 206 550 | f 201 199 207 551 | f 204 201 207 552 | f 202 204 207 553 | f 200 201 208 554 | f 203 200 208 555 | f 201 205 208 556 | f 205 203 208 557 | f 199 202 209 558 | f 207 199 209 559 | o convex_23 560 | v 0.031565 0.015268 -0.037212 561 | v 0.031241 0.014295 -0.017427 562 | v 0.031565 0.014295 -0.017427 563 | v 0.031241 0.015268 -0.008991 564 | v 0.030916 0.014619 -0.046624 565 | f 211 213 214 566 | f 211 212 213 567 | f 212 210 213 568 | f 213 210 214 569 | f 210 212 214 570 | f 212 211 214 571 | o convex_24 572 | v -0.006072 -0.044428 -0.006067 573 | v -0.006396 -0.014909 -0.001525 574 | v -0.006720 -0.014909 -0.001525 575 | v -0.006396 -0.044428 -0.001525 576 | v -0.006720 -0.014909 -0.006067 577 | v -0.006720 -0.044428 -0.006067 578 | v -0.006072 -0.014909 -0.006067 579 | v -0.006720 -0.044428 -0.001525 580 | f 220 218 222 581 | f 216 217 218 582 | f 215 216 218 583 | f 217 216 219 584 | f 217 219 220 585 | f 215 218 220 586 | f 219 215 220 587 | f 216 215 221 588 | f 215 219 221 589 | f 219 216 221 590 | f 218 217 222 591 | f 217 220 222 592 | o convex_25 593 | v 0.000742 0.014944 -0.006066 594 | v 0.001715 0.015272 0.002044 595 | v 0.001067 0.015272 0.002044 596 | v 0.001067 0.045439 -0.006066 597 | v 0.001715 0.014944 -0.008987 598 | v 0.000742 0.045439 0.001395 599 | v 0.000742 0.045439 -0.006066 600 | v 0.000742 0.014944 0.001395 601 | v 0.001067 0.045439 0.001395 602 | v 0.001067 0.015272 -0.008987 603 | f 223 229 232 604 | f 226 224 227 605 | f 225 224 228 606 | f 228 226 229 607 | f 223 228 229 608 | f 224 225 230 609 | f 223 227 230 610 | f 227 224 230 611 | f 228 223 230 612 | f 225 228 230 613 | f 224 226 231 614 | f 228 224 231 615 | f 226 228 231 616 | f 227 223 232 617 | f 226 227 232 618 | f 229 226 232 619 | o convex_26 620 | v -0.018076 -0.002252 0.027352 621 | v 0.001389 0.003912 0.031569 622 | v 0.001389 -0.003875 0.031569 623 | v 0.001385 0.003911 0.023783 624 | v -0.017750 0.003912 0.031569 625 | v 0.001383 -0.003875 0.023783 626 | v -0.018072 0.003911 0.023783 627 | v -0.017750 -0.003875 0.031569 628 | v -0.018070 -0.003875 0.023783 629 | f 240 233 241 630 | f 234 235 236 631 | f 235 234 237 632 | f 234 236 237 633 | f 236 235 238 634 | f 236 238 239 635 | f 233 237 239 636 | f 237 236 239 637 | f 237 233 240 638 | f 235 237 240 639 | f 238 235 240 640 | f 238 240 241 641 | f 239 238 241 642 | f 233 239 241 643 | -------------------------------------------------------------------------------- /objs/0008/0008.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /objs/0008/0008.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.76 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib 0008.mtl 4 | o 0008_Cube.410 5 | v -0.073872 0.015125 -0.023035 6 | v -0.073896 -0.015034 -0.022922 7 | v -0.073877 -0.015065 0.006944 8 | v -0.073952 0.015118 0.006851 9 | v -0.003700 -0.001891 -0.022951 10 | v -0.003680 -0.003794 -0.022941 11 | v 0.016261 -0.015081 -0.022866 12 | v 0.016287 0.014910 -0.023087 13 | v 0.003689 0.003744 -0.022978 14 | v -0.003693 0.003700 -0.022982 15 | v -0.001792 -0.003763 -0.022940 16 | v 0.003692 -0.003726 -0.022937 17 | v 0.003726 0.001868 -0.022968 18 | v 0.016163 -0.015058 0.007120 19 | v 0.016238 0.014995 0.006995 20 | v -0.003686 -0.003794 0.007036 21 | v 0.003691 0.003780 0.007021 22 | v 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0.010852 -0.055832 -0.007441 239 | v -0.003776 -0.026575 -0.007441 240 | v 0.010852 -0.026575 -0.007752 241 | f 91 90 94 242 | f 88 89 90 243 | f 89 88 91 244 | f 88 90 91 245 | f 87 89 92 246 | f 91 87 92 247 | f 89 91 92 248 | f 89 87 93 249 | f 90 89 93 250 | f 87 90 93 251 | f 90 87 94 252 | f 87 91 94 253 | o convex_10 254 | v 0.049144 -0.026569 -0.015221 255 | v 0.055059 -0.026258 0.014970 256 | v 0.049456 -0.026258 0.014970 257 | v 0.055059 -0.026569 0.014970 258 | v 0.055059 -0.026258 -0.015221 259 | v 0.055059 -0.026569 -0.015221 260 | v 0.049144 -0.026258 -0.015221 261 | v 0.049456 -0.026569 0.014970 262 | f 95 98 102 263 | f 96 97 98 264 | f 97 96 99 265 | f 96 98 99 266 | f 98 95 100 267 | f 95 99 100 268 | f 99 98 100 269 | f 95 97 101 270 | f 99 95 101 271 | f 97 99 101 272 | f 97 95 102 273 | f 98 97 102 274 | o convex_11 275 | v -0.035211 -0.026255 0.014973 276 | v 0.055049 0.003939 0.015284 277 | v 0.055049 -0.018473 0.015284 278 | v 0.055049 0.003939 0.014973 279 | v -0.035211 -0.002602 0.015284 280 | v -0.009381 0.003939 0.014973 281 | v 0.038241 -0.026255 0.014973 282 | v -0.035211 -0.026255 0.015284 283 | v -0.035211 -0.002602 0.014973 284 | v 0.038241 -0.026255 0.015284 285 | v -0.009381 0.003939 0.015284 286 | v 0.055049 -0.018473 0.014973 287 | f 109 106 114 288 | f 104 105 106 289 | f 105 104 107 290 | f 104 106 108 291 | f 106 103 108 292 | f 103 106 109 293 | f 107 103 110 294 | f 105 107 110 295 | f 103 109 110 296 | f 103 107 111 297 | f 107 108 111 298 | f 108 103 111 299 | f 109 105 112 300 | f 105 110 112 301 | f 110 109 112 302 | f 107 104 113 303 | f 104 108 113 304 | f 108 107 113 305 | f 106 105 114 306 | f 105 109 114 307 | o convex_12 308 | v -0.030239 0.004561 -0.007752 309 | v -0.022456 0.005184 0.007502 310 | v -0.022456 0.003939 0.007502 311 | v -0.027436 0.005495 -0.007752 312 | v -0.027436 0.003939 -0.007752 313 | v -0.023391 0.005495 0.007502 314 | v -0.030239 0.003939 -0.007440 315 | v -0.029927 0.005495 -0.007440 316 | f 115 121 122 317 | f 116 117 118 318 | f 115 118 119 319 | f 118 117 119 320 | f 117 116 120 321 | f 116 118 120 322 | f 115 119 121 323 | f 119 117 121 324 | f 117 120 121 325 | f 121 120 122 326 | f 118 115 122 327 | f 120 118 122 328 | o convex_13 329 | v -0.035220 -0.002911 -0.013667 330 | v -0.034908 -0.002911 0.014973 331 | v -0.034908 0.003313 0.014348 332 | v -0.034908 -0.026255 -0.013667 333 | v -0.035220 -0.026255 0.014973 334 | v -0.035220 0.003313 0.014348 335 | v -0.034908 0.003313 -0.013664 336 | v -0.034908 -0.026255 0.014973 337 | v -0.035220 -0.026255 -0.013667 338 | v -0.035220 0.003313 -0.013664 339 | f 129 123 132 340 | f 125 124 126 341 | f 127 124 128 342 | f 124 125 128 343 | f 123 127 128 344 | f 128 125 129 345 | f 125 126 129 346 | f 126 123 129 347 | f 126 124 130 348 | f 127 126 130 349 | f 124 127 130 350 | f 123 126 131 351 | f 127 123 131 352 | f 126 127 131 353 | f 123 128 132 354 | f 128 129 132 355 | o convex_14 356 | v -0.019967 0.066816 -0.007441 357 | v -0.029927 0.005495 -0.007752 358 | v -0.029927 0.005495 -0.007441 359 | v -0.019655 0.033520 -0.007752 360 | v -0.019655 0.033520 -0.007441 361 | v -0.019655 0.066816 -0.007752 362 | v -0.027748 0.031335 -0.007752 363 | v -0.027437 0.005495 -0.007752 364 | v -0.027748 0.031335 -0.007441 365 | f 139 135 141 366 | f 133 135 137 367 | f 136 134 138 368 | f 133 137 138 369 | f 137 136 138 370 | f 134 135 139 371 | f 138 134 139 372 | f 133 138 139 373 | f 135 134 140 374 | f 134 136 140 375 | f 136 137 140 376 | f 137 135 140 377 | f 135 133 141 378 | f 133 139 141 379 | o convex_15 380 | v -0.004400 0.033520 -0.007439 381 | v -0.004089 0.063398 0.006878 382 | v -0.004089 0.063398 -0.007751 383 | v -0.004089 0.005501 0.006878 384 | v -0.004400 0.063398 0.006878 385 | v -0.004400 0.005501 0.006878 386 | v -0.004400 0.063398 -0.007751 387 | v -0.004089 0.033520 -0.007439 388 | v -0.004089 0.005501 0.002519 389 | v -0.004400 0.005501 0.002519 390 | f 142 150 151 391 | f 144 143 145 392 | f 143 144 146 393 | f 145 143 146 394 | f 146 142 147 395 | f 145 146 147 396 | f 144 142 148 397 | f 142 146 148 398 | f 146 144 148 399 | f 142 144 149 400 | f 144 145 149 401 | f 149 145 150 402 | f 145 147 150 403 | f 142 149 150 404 | f 150 147 151 405 | f 147 142 151 406 | o convex_16 407 | v -0.013118 -0.026575 -0.007441 408 | v -0.027747 -0.050540 -0.007752 409 | v -0.027435 -0.056455 -0.007752 410 | v -0.027747 -0.050540 -0.007130 411 | v -0.013118 -0.055832 -0.007130 412 | v -0.027747 -0.026569 -0.007130 413 | v -0.013118 -0.026575 -0.007752 414 | v -0.027747 -0.026569 -0.007752 415 | v -0.019656 -0.056142 -0.007752 416 | v -0.013118 -0.033421 -0.007130 417 | v -0.013118 -0.055832 -0.007441 418 | v -0.027435 -0.056455 -0.007130 419 | f 160 156 163 420 | f 153 154 155 421 | f 153 155 157 422 | f 155 156 157 423 | f 154 153 158 424 | f 152 156 158 425 | f 157 152 158 426 | f 157 158 159 427 | f 153 157 159 428 | f 158 153 159 429 | f 154 158 160 430 | f 156 152 161 431 | f 152 157 161 432 | f 157 156 161 433 | f 158 156 162 434 | f 156 160 162 435 | f 160 158 162 436 | f 155 154 163 437 | f 156 155 163 438 | f 154 160 163 439 | o convex_17 440 | v -0.013117 -0.056455 -0.007440 441 | v -0.012494 -0.026569 0.007502 442 | v -0.012494 -0.026569 -0.007752 443 | v -0.012494 -0.056455 0.007502 444 | v -0.013117 -0.026569 -0.007752 445 | v -0.013117 -0.056142 0.007502 446 | v -0.012494 -0.056455 -0.007440 447 | v -0.012806 -0.026569 0.007502 448 | f 168 169 171 449 | f 166 165 167 450 | f 166 164 168 451 | f 165 166 168 452 | f 167 165 169 453 | f 164 167 169 454 | f 168 164 169 455 | f 164 166 170 456 | f 166 167 170 457 | f 167 164 170 458 | f 165 168 171 459 | f 169 165 171 460 | o convex_18 461 | v -0.021516 -0.026258 0.007811 462 | v -0.011867 -0.026569 -0.015224 463 | v -0.024008 -0.026569 -0.015221 464 | v -0.012492 -0.026569 0.007811 465 | v 0.049144 -0.026258 -0.015224 466 | v -0.024008 -0.026258 -0.015221 467 | v 0.049144 -0.026569 -0.014910 468 | v -0.027748 -0.026569 0.007497 469 | v -0.012492 -0.026258 0.007811 470 | v -0.027748 -0.026258 -0.007747 471 | v -0.027748 -0.026258 0.007497 472 | f 172 181 182 473 | f 174 173 175 474 | f 176 173 177 475 | f 173 174 177 476 | f 172 176 177 477 | f 175 173 178 478 | f 173 176 178 479 | f 174 175 179 480 | f 175 172 179 481 | f 172 175 180 482 | f 176 172 180 483 | f 175 178 180 484 | f 178 176 180 485 | f 172 177 181 486 | f 177 174 181 487 | f 174 179 181 488 | f 181 179 182 489 | f 179 172 182 490 | o convex_19 491 | v 0.011161 -0.025947 0.007501 492 | v -0.027741 -0.026258 -0.007752 493 | v -0.027741 -0.026258 0.007501 494 | v -0.027741 -0.025947 -0.007752 495 | v 0.010849 -0.026258 -0.007752 496 | v -0.027741 -0.025947 0.007501 497 | v 0.011161 -0.026258 0.007501 498 | v 0.010849 -0.025947 -0.007752 499 | f 187 186 190 500 | f 184 185 186 501 | f 185 184 187 502 | f 184 186 187 503 | f 185 183 188 504 | f 186 185 188 505 | f 183 186 188 506 | f 183 185 189 507 | f 187 183 189 508 | f 185 187 189 509 | f 186 183 190 510 | f 183 187 190 511 | o convex_20 512 | v -0.019966 0.003939 -0.007752 513 | v -0.012496 0.005495 0.007813 514 | v -0.012807 0.005495 0.007813 515 | v -0.017474 0.005495 -0.007752 516 | v -0.012496 0.003939 -0.007752 517 | v -0.012807 0.003939 0.007813 518 | v -0.012496 0.005495 -0.007752 519 | v -0.019342 0.004872 -0.007440 520 | f 194 191 198 521 | f 193 192 194 522 | f 191 194 195 523 | f 195 192 196 524 | f 193 191 196 525 | f 192 193 196 526 | f 191 195 196 527 | f 194 192 197 528 | f 195 194 197 529 | f 192 195 197 530 | f 191 193 198 531 | f 193 194 198 532 | o convex_21 533 | v 0.003382 0.005495 0.007501 534 | v -0.004400 0.003939 0.002209 535 | v -0.004400 0.004250 0.002209 536 | v -0.004400 0.003939 0.007812 537 | v 0.003382 0.003939 0.007189 538 | v -0.004400 0.005495 0.007812 539 | v -0.004089 0.005495 0.002522 540 | f 201 204 205 541 | f 201 200 202 542 | f 199 202 203 543 | f 200 201 203 544 | f 202 200 203 545 | f 201 202 204 546 | f 202 199 204 547 | f 199 203 205 548 | f 203 201 205 549 | f 204 199 205 550 | o convex_22 551 | v -0.023390 0.005495 0.007189 552 | v -0.018720 0.033824 0.007813 553 | v -0.019033 0.033824 0.007813 554 | v -0.018720 0.033824 -0.001526 555 | v -0.022767 0.005495 0.007501 556 | v -0.019343 0.033824 -0.001214 557 | v -0.023390 0.008609 0.007501 558 | v -0.019343 0.033824 0.007501 559 | f 212 208 213 560 | f 208 207 209 561 | f 206 209 210 562 | f 207 208 210 563 | f 209 207 210 564 | f 208 209 211 565 | f 209 206 211 566 | f 206 210 212 567 | f 210 208 212 568 | f 211 206 212 569 | f 211 212 213 570 | f 208 211 213 571 | o convex_23 572 | v -0.013741 0.033513 -0.006818 573 | v -0.012494 0.033824 0.007813 574 | v -0.018720 0.033824 0.007813 575 | v -0.012494 0.033201 0.007813 576 | v -0.012494 0.033824 -0.007752 577 | v -0.018720 0.033513 -0.001836 578 | v -0.012494 0.033201 -0.007752 579 | f 219 214 220 580 | f 215 216 217 581 | f 216 215 218 582 | f 215 217 218 583 | f 217 216 219 584 | f 218 214 219 585 | f 216 218 219 586 | f 214 218 220 587 | f 218 217 220 588 | f 217 219 220 589 | o convex_24 590 | v -0.004089 0.005501 0.006879 591 | v -0.003778 0.063398 0.007813 592 | v -0.004400 0.063398 0.007813 593 | v -0.003778 0.005501 0.007813 594 | v -0.004400 0.063398 0.006879 595 | v -0.004400 0.005501 0.007813 596 | f 223 225 226 597 | f 222 223 224 598 | f 221 222 224 599 | f 222 221 225 600 | f 223 222 225 601 | f 224 223 226 602 | f 221 224 226 603 | f 225 221 226 604 | o convex_25 605 | v 0.010231 0.042843 0.007190 606 | v -0.003778 0.005501 0.007502 607 | v 0.002138 0.005501 0.007190 608 | v -0.003778 0.063398 0.007502 609 | v 0.010231 0.041913 0.007813 610 | v -0.003778 0.005501 0.007813 611 | v 0.010231 0.063398 0.007813 612 | v -0.003778 0.063398 0.007813 613 | v 0.002450 0.005501 0.007813 614 | v 0.010231 0.029785 0.007190 615 | v 0.010231 0.063398 0.007502 616 | v 0.002138 0.024804 0.007190 617 | v 0.010231 0.029785 0.007502 618 | v 0.003381 0.005501 0.007190 619 | f 239 235 240 620 | f 229 228 230 621 | f 228 229 232 622 | f 230 228 232 623 | f 232 231 233 624 | f 231 227 233 625 | f 233 230 234 626 | f 230 232 234 627 | f 232 233 234 628 | f 232 229 235 629 | f 231 232 235 630 | f 229 227 236 631 | f 227 231 236 632 | f 227 230 237 633 | f 233 227 237 634 | f 230 233 237 635 | f 227 229 238 636 | f 229 230 238 637 | f 230 227 238 638 | f 231 235 239 639 | f 236 231 239 640 | f 236 239 240 641 | f 235 229 240 642 | f 229 236 240 643 | o convex_26 644 | v -0.034597 -0.026255 -0.015223 645 | v -0.034908 0.003939 -0.013667 646 | v -0.034597 0.003939 -0.014601 647 | v -0.035220 -0.001047 -0.015223 648 | v -0.035220 -0.026255 -0.013667 649 | v -0.035220 -0.026255 -0.015223 650 | f 245 244 246 651 | f 243 242 241 652 | f 242 243 244 653 | f 243 241 244 654 | f 241 242 245 655 | f 242 244 245 656 | f 244 241 246 657 | f 241 245 246 658 | o convex_27 659 | v -0.034281 -0.002910 0.014662 660 | v -0.010320 0.003316 0.014973 661 | v -0.010320 0.003005 0.014973 662 | v -0.035220 0.003316 0.014973 663 | v -0.034905 0.003316 0.014350 664 | v -0.035220 -0.002910 0.014973 665 | v -0.010320 0.003005 0.014662 666 | v -0.035220 -0.002910 0.014350 667 | f 253 247 254 668 | f 249 248 250 669 | f 250 248 251 670 | f 247 249 252 671 | f 249 250 252 672 | f 249 247 253 673 | f 248 249 253 674 | f 251 248 253 675 | f 251 253 254 676 | f 250 251 254 677 | f 247 252 254 678 | f 252 250 254 679 | o convex_28 680 | v -0.035217 0.003938 -0.005571 681 | v -0.009070 0.003627 0.014973 682 | v -0.009070 0.003316 0.014973 683 | v -0.035220 0.003627 0.014973 684 | v -0.034907 0.003316 -0.013667 685 | v -0.035220 0.003316 0.014973 686 | v -0.023701 0.003938 0.014970 687 | v -0.035217 0.003938 0.014970 688 | v -0.034907 0.003627 -0.013667 689 | f 256 259 263 690 | f 257 256 258 691 | f 256 257 259 692 | f 259 257 260 693 | f 257 258 260 694 | f 258 255 260 695 | f 255 259 260 696 | f 256 255 261 697 | f 258 256 261 698 | f 258 261 262 699 | f 255 258 262 700 | f 261 255 262 701 | f 255 256 263 702 | f 259 255 263 703 | o convex_29 704 | v -0.033974 -0.001665 -0.014601 705 | v -0.017164 0.003939 -0.014601 706 | v -0.017164 0.003939 -0.015223 707 | v -0.017164 -0.002599 -0.015223 708 | v -0.027437 0.003627 -0.013667 709 | v -0.034597 0.003939 -0.014912 710 | v -0.034597 -0.002599 -0.015223 711 | v -0.017164 -0.002287 -0.014601 712 | v -0.033039 0.003939 -0.013667 713 | f 269 264 272 714 | f 266 265 267 715 | f 265 266 269 716 | f 264 269 270 717 | f 266 267 270 718 | f 269 266 270 719 | f 270 267 271 720 | f 267 265 271 721 | f 268 264 271 722 | f 265 268 271 723 | f 264 270 271 724 | f 264 268 272 725 | f 268 265 272 726 | f 265 269 272 727 | o convex_30 728 | v -0.019032 0.068379 -0.007129 729 | v -0.019032 0.035076 -0.001526 730 | v -0.019343 0.035076 -0.001526 731 | v -0.019032 0.033516 -0.007752 732 | v -0.019654 0.068379 -0.007752 733 | v -0.019654 0.033516 -0.007752 734 | f 277 276 278 735 | f 275 274 273 736 | f 274 275 276 737 | f 273 274 276 738 | f 273 276 277 739 | f 275 273 277 740 | f 275 277 278 741 | f 276 275 278 742 | o convex_31 743 | v -0.013118 0.032266 -0.007441 744 | v -0.017475 0.005495 -0.007752 745 | v -0.017475 0.005495 -0.007441 746 | v -0.012495 0.005495 -0.007752 747 | v -0.012495 0.005495 -0.007130 748 | v -0.012495 0.033201 -0.007752 749 | v -0.012806 0.033201 -0.007130 750 | f 284 279 285 751 | f 279 280 281 752 | f 281 280 282 753 | f 281 282 283 754 | f 280 279 284 755 | f 282 280 284 756 | f 283 282 284 757 | f 283 284 285 758 | f 279 281 285 759 | f 281 283 285 760 | o convex_32 761 | v -0.012806 0.005495 -0.007130 762 | v -0.012494 0.033201 0.007813 763 | v -0.012806 0.033201 0.007813 764 | v -0.012494 0.005495 0.007813 765 | v -0.012494 0.033201 -0.007130 766 | v -0.012806 0.033201 -0.007130 767 | v -0.012806 0.005495 0.007813 768 | v -0.012494 0.005495 -0.007130 769 | f 290 289 293 770 | f 287 288 289 771 | f 288 287 290 772 | f 287 289 290 773 | f 286 288 291 774 | f 290 286 291 775 | f 288 290 291 776 | f 288 286 292 777 | f 289 288 292 778 | f 286 289 292 779 | f 289 286 293 780 | f 286 290 293 781 | o convex_33 782 | v -0.027437 -0.055832 -0.007130 783 | v -0.027437 -0.026575 0.006879 784 | v -0.027748 -0.026575 0.006879 785 | v -0.027437 -0.055832 0.006879 786 | v -0.027126 -0.050224 -0.007130 787 | v -0.027748 -0.026575 -0.007130 788 | v -0.027748 -0.055832 0.006879 789 | v -0.027748 -0.055832 -0.006817 790 | v -0.027437 -0.026575 -0.007130 791 | v -0.027126 -0.055832 -0.006506 792 | f 298 295 303 793 | f 295 296 297 794 | f 296 295 299 795 | f 298 294 299 796 | f 296 299 300 797 | f 297 296 300 798 | f 294 297 300 799 | f 294 300 301 800 | f 299 294 301 801 | f 300 299 301 802 | f 295 298 302 803 | f 299 295 302 804 | f 298 299 302 805 | f 295 297 303 806 | f 297 294 303 807 | f 294 298 303 808 | o convex_34 809 | v 0.034205 0.003939 -0.010866 810 | v 0.031404 0.003316 -0.015224 811 | v 0.031404 0.003316 -0.014912 812 | v 0.054436 0.003316 -0.015224 813 | v 0.031404 0.003939 -0.015224 814 | v 0.054436 0.003939 -0.015224 815 | v 0.031404 0.003627 -0.010554 816 | f 308 306 310 817 | f 306 305 307 818 | f 305 306 308 819 | f 307 305 308 820 | f 304 307 309 821 | f 308 304 309 822 | f 307 308 309 823 | f 306 307 310 824 | f 307 304 310 825 | f 304 308 310 826 | o convex_35 827 | v -0.034597 -0.026255 -0.015224 828 | v 0.031385 0.003936 -0.014912 829 | v 0.031385 0.003936 -0.015224 830 | v 0.054436 -0.026255 -0.014912 831 | v -0.034597 -0.002600 -0.014912 832 | v 0.054436 -0.026255 -0.015224 833 | v -0.034597 -0.026255 -0.014912 834 | v -0.017158 0.003936 -0.015224 835 | v 0.054436 0.003312 -0.014912 836 | v 0.054436 0.003312 -0.015224 837 | v -0.034597 -0.002600 -0.015224 838 | v -0.017158 0.003936 -0.014912 839 | f 318 315 322 840 | f 314 312 315 841 | f 311 313 316 842 | f 314 311 316 843 | f 311 314 317 844 | f 315 311 317 845 | f 314 315 317 846 | f 313 311 318 847 | f 312 313 318 848 | f 313 312 319 849 | f 312 314 319 850 | f 314 316 319 851 | f 319 316 320 852 | f 316 313 320 853 | f 313 319 320 854 | f 311 315 321 855 | f 318 311 321 856 | f 315 318 321 857 | f 315 312 322 858 | f 312 318 322 859 | o convex_36 860 | v 0.054436 -0.026255 -0.015223 861 | v 0.055059 0.003939 0.014350 862 | v 0.054748 0.003939 0.014350 863 | v 0.055059 -0.026255 0.014350 864 | v 0.055059 0.003939 -0.015223 865 | v 0.054436 0.003939 -0.015223 866 | v 0.055059 -0.026255 -0.015223 867 | v 0.054748 -0.026255 0.014350 868 | f 323 326 330 869 | f 324 325 326 870 | f 325 324 327 871 | f 324 326 327 872 | f 323 325 328 873 | f 327 323 328 874 | f 325 327 328 875 | f 326 323 329 876 | f 323 327 329 877 | f 327 326 329 878 | f 325 323 330 879 | f 326 325 330 880 | o convex_37 881 | v 0.055059 0.003939 0.014350 882 | v 0.037316 -0.026255 0.014662 883 | v 0.037316 -0.026255 0.014973 884 | v 0.055059 -0.026255 0.014973 885 | v 0.054745 0.003939 0.014973 886 | v 0.055059 -0.026255 0.014350 887 | f 331 334 336 888 | f 333 332 334 889 | f 334 331 335 890 | f 331 332 335 891 | f 332 333 335 892 | f 333 334 335 893 | f 332 331 336 894 | f 334 332 336 895 | -------------------------------------------------------------------------------- /run_vhacd.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ -z "$1" ]; then 3 | echo "usage: $0 " 4 | exit 1 5 | fi 6 | set -ex 7 | cd $1 8 | find -type f -name *obj \ 9 | | perl -ne'chomp; print "$ENV{'HOME'}/dev/v-hacd/build/linux/test/testVHACD --input $_";s/obj/vhacd.obj/;print " --output $_ --log /dev/null\n"' \ 10 | | parallel 11 | -------------------------------------------------------------------------------- /template.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 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 | 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