Add asset kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066

.gitattributes

@@ -4634,3 +4634,5 @@ dataset/kitchen_supplies/ware/0b544e095b4e56f0bf9dc72283fc5ba9/mesh/water_bottle
 dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/0b5c3a6c03d85ea0b1c6336ac5113eda.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_019">
+   <link name="coffee_cup_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_019.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>100010c9cd8e5ae0af7bcc0a057b3066</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>ribbed mug</name>
+         <color>pink</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>pink ribbed ceramic coffee cup with rounded handle</description>
+         <min_height>0.0450</min_height>
+         <max_height>0.0450</max_height>
+         <real_height>0.0450</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202048</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034187 -0.031790 -0.023650</min>
+            <max>0.044665 0.031629 0.021325</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Blue incorrectly mixes handle with bottom foot nub; unsupported by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/coffee_cup_019.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9604b28a3bc451abb77d84d2f87c7ab9cc387f6885c816938ba12ca607c5520b
+size 5009534

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20b9e2a69bfa0740b6e798837e43f4b24bb6ae7124c142d17c4bf07bc480e47
+size 11816560

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/coffee_cup_019.mtl

@@ -0,0 +1,6 @@
+newmtl coffee_cup_019_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_019_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_019_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/coffee_cup_019.xml

@@ -0,0 +1,124 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_019">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_019_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_019_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_019_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_019_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_019_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_019_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_019_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_019_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_019_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_019_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_019_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_019_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_019_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_019_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_019_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_019_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_019_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_019_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_019_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_019_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_019_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_019_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_019_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_019_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_019_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_019_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_019_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_019_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_019_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_019_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_019">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_0.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.01562369 -0.02669471 0.02009853
+v 0.01609780 -0.02637956 0.02009853
+v 0.01586007 -0.02622087 0.02091238
+v 0.01562369 -0.02647791 0.02065297
+v 0.01562369 -0.02653825 0.01879893
+v 0.01598641 -0.02630580 0.01881164
+v 0.01674717 -0.02593477 0.02009853
+v 0.01818310 -0.02473676 0.02073945
+v 0.01828362 -0.02482168 0.01927707
+v 0.01731637 -0.02505414 0.02097597
+v 0.01626898 -0.02544529 0.02114891
+v 0.01562369 -0.02632369 0.02094035
+v 0.01562369 -0.02245015 -0.00049424
+v 0.01588724 -0.02232946 -0.00049424
+v 0.01611954 -0.02246356 0.00079265
+v 0.01687894 -0.02213501 0.00145135
+v 0.01828362 -0.02482168 0.01988237
+v 0.01766279 -0.02522624 0.02022571
+v 0.01876453 -0.02433219 0.02022571
+v 0.01964212 -0.02358343 0.02009854
+v 0.01954023 -0.02348956 0.02079285
+v 0.01883382 -0.02380248 0.02097343
+v 0.01963805 -0.02358119 0.01916517
+v 0.01766279 -0.02421821 0.02118706
+v 0.01883382 -0.02278997 0.02135238
+v 0.01562369 -0.02541623 0.02128879
+v 0.01562369 -0.02599513 0.02109549
+v 0.01562369 -0.02223557 -0.00146068
+v 0.01570248 -0.02221545 -0.00141745
+v 0.01677026 -0.02200089 0.00079265
+v 0.01932423 -0.01941039 0.00052816
+v 0.01949540 -0.01955569 0.00138778
+v 0.02029148 -0.02295536 0.02009855
+v 0.02084303 -0.02220213 0.02079795
+v 0.02003744 -0.02269609 0.02096581
+v 0.02093677 -0.02230047 0.01914738
+v 0.02013390 -0.02149137 0.02136001
+v 0.01623366 -0.02408857 0.02144902
+v 0.01562369 -0.02469653 0.02144393
+v 0.01562369 -0.02217522 -0.00169466
+v 0.01571471 -0.02099284 -0.00453040
+v 0.01574867 -0.02103083 -0.00435491
+v 0.01839502 -0.01846045 -0.00435490
+v 0.01955654 -0.01836658 -0.00140218
+v 0.02208877 -0.01565987 0.00012888
+v 0.02216213 -0.01576045 0.00079267
+v 0.02340787 -0.01957810 0.01939662
+v 0.02219202 -0.02096834 0.01922876
+v 0.02094356 -0.02230717 0.02009855
+v 0.02133888 -0.02137514 0.02094546
+v 0.02210100 -0.02086330 0.02075980
+v 0.02143398 -0.02019500 0.02132442
+v 0.02273134 -0.01759779 0.02144905
+v 0.02663158 -0.00981512 0.02144653
+v 0.02793166 -0.00386077 0.02143384
+v 0.01562369 -0.02408857 0.02136763
+v 0.01562369 -0.02104424 -0.00453040
+v 0.01562777 -0.02104201 -0.00453040
+v 0.01835970 -0.01842469 -0.00453039
+v 0.01943291 -0.01812743 -0.00225926
+v 0.02078733 -0.01565539 -0.00372162
+v 0.02340651 -0.01179981 -0.00250084
+v 0.02350976 -0.01195403 -0.00178109
+v 0.02367685 -0.01219544 -0.00049420
+v 0.02464818 -0.01162549 0.00296718
+v 0.02617377 -0.01473460 0.01881169
+v 0.02583958 -0.01538055 0.01881168
+v 0.02485739 -0.01723123 0.01904821
+v 0.02488592 -0.01727816 0.02009857
+v 0.02340787 -0.01957810 0.01959500
+v 0.02217707 -0.02095269 0.02009855
+v 0.02159428 -0.02160088 0.02009855
+v 0.02237270 -0.02019500 0.02094293
+v 0.02331685 -0.01946412 0.02045208
+v 0.02363067 -0.01859913 0.02095056
+v 0.02282372 -0.01897910 0.02117182
+v 0.02403142 -0.01630143 0.02139055
+v 0.02533150 -0.01370646 0.02141599
+v 0.02793166 -0.00462294 0.02142620
+v 0.02663158 -0.01111149 0.02137277
+v 0.02793166 -0.00592154 0.02139059
+v 0.02739506 -0.00386077 0.02131176
+v 0.02856608 -0.00386077 0.02124564
+v 0.02657453 -0.00386077 0.02104472
+v 0.01562369 -0.02330852 0.02117689
+v 0.01562369 -0.01422714 -0.00453037
+v 0.02056997 -0.01538493 -0.00453038
+v 0.02092726 -0.01482391 -0.00453037
+v 0.02465497 -0.00894780 -0.00234060
+v 0.02477724 -0.00930095 -0.00148352
+v 0.02237677 -0.01208143 -0.00453036
+v 0.02358584 -0.00945293 -0.00453035
+v 0.02490222 -0.00946412 -0.00049419
+v 0.02603520 -0.00926969 0.00488989
+v 0.02744261 -0.01214410 0.01904823
+v 0.02666419 -0.01370645 0.01881169
+v 0.02624713 -0.01488435 0.02009858
+v 0.02591294 -0.01553030 0.02009857
+v 0.02546735 -0.01630142 0.02009857
+v 0.02446886 -0.01792635 0.02009856
+v 0.02477860 -0.01710607 0.02084375
+v 0.02374614 -0.01897909 0.02005279
+v 0.02289844 -0.02008323 0.02005279
+v 0.02405180 -0.01756427 0.02109553
+v 0.02540758 -0.01504082 0.02114386
+v 0.02633543 -0.01370646 0.02104468
+v 0.02670358 -0.01241009 0.02112352
+v 0.02773604 -0.00981512 0.02111336
+v 0.02793166 -0.00721791 0.02131428
+v 0.02894103 -0.00462294 0.02108286
+v 0.02898450 -0.00386077 0.02110321
+v 0.02632592 -0.00386077 0.02092264
+v 0.02607188 -0.00386077 0.02078785
+v 0.02598630 -0.00386077 0.02073698
+v 0.01562369 -0.02289055 0.02101667
+v 0.02022763 -0.00386067 -0.00453033
+v 0.01562369 -0.01932552 0.01510105
+v 0.02600396 -0.00532469 -0.00122410
+v 0.02395670 -0.00851194 -0.00453035
+v 0.02486011 -0.00559065 -0.00453034
+v 0.02926163 -0.00386074 0.01247647
+v 0.02859461 -0.00920716 0.01941956
+v 0.02746706 -0.01221115 0.02009859
+v 0.02719264 -0.01285934 0.02009858
+v 0.02680683 -0.01370645 0.02009858
+v 0.02611943 -0.01463179 0.02088445
+v 0.02501226 -0.01630143 0.02100906
+v 0.02736789 -0.01197871 0.02084123
+v 0.02752412 -0.01111149 0.02098365
+v 0.02863673 -0.00808961 0.02081072
+v 0.02872774 -0.00721791 0.02091245
+v 0.02884593 -0.00592154 0.02101928
+v 0.02930374 -0.00386077 0.02050555
+v 0.02593196 -0.00386077 0.02065306
+v 0.01562369 -0.02228036 0.02068605
+v 0.02502312 -0.00386067 -0.00453033
+v 0.02344591 -0.00386074 0.01356498
+v 0.01562369 -0.01975019 0.01623789
+v 0.02370402 -0.00386074 0.01491037
+v 0.02498509 -0.00462284 -0.00453034
+v 0.02504350 -0.00462284 -0.00435485
+v 0.02508018 -0.00386067 -0.00435484
+v 0.02524048 -0.00386068 -0.00382330
+v 0.02600396 -0.00513917 -0.00122410
+v 0.02949937 -0.00386076 0.02009862
+v 0.02941514 -0.00462293 0.02009861
+v 0.02922359 -0.00592153 0.02009861
+v 0.02580969 -0.00386068 -0.00173020
+v 0.02898586 -0.00721790 0.02009860
+v 0.02859461 -0.00920716 0.01953909
+v 0.02788004 -0.01111148 0.02009859
+v 0.02851718 -0.00895459 0.02039871
+v 0.02869786 -0.00851874 0.02001976
+v 0.02562494 -0.00386076 0.02015458
+v 0.01562369 -0.02223119 0.02064027
+v 0.02499324 -0.00447756 -0.00453034
+v 0.01562369 -0.02026874 0.01752478
+v 0.02389965 -0.00386075 0.01570132
+v 0.02545648 -0.00386068 -0.00306795
+v 0.02560592 -0.00386068 -0.00252370
+v 0.02835416 -0.00971006 0.02001975
+v 0.02540894 -0.00386076 0.01975020
+v 0.02492396 -0.00386076 0.01879902
+v 0.01562369 -0.02184451 0.02019011
+v 0.02403414 -0.00386075 0.01623541
+v 0.01562369 -0.02054814 0.01810972
+v 0.02482071 -0.00386076 0.01855741
+v 0.01562369 -0.02167911 0.01997648
+v 0.01562369 -0.02067777 0.01837931
+v 0.01562369 -0.02086776 0.01876588
+v 0.02429633 -0.00386075 0.01707723
+v 0.02468622 -0.00386076 0.01821915
+v 0.01562369 -0.02123655 0.01934829
+v 0.01562369 -0.02108457 0.01911431
+v 0.02444712 -0.00386075 0.01756045
+v 0.02466312 -0.00386076 0.01815811
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 27
+f 1 27 26
+f 1 26 39
+f 1 39 56
+f 1 56 85
+f 1 85 115
+f 1 115 135
+f 1 135 155
+f 1 155 164
+f 1 164 168
+f 1 168 173
+f 1 173 174
+f 1 174 170
+f 1 170 169
+f 1 169 166
+f 1 166 157
+f 1 157 138
+f 1 138 117
+f 1 117 86
+f 1 86 57
+f 1 57 40
+f 1 40 28
+f 1 28 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 10
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 9
+f 7 17 18
+f 7 18 8
+f 7 9 17
+f 8 18 17
+f 8 17 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 10
+f 9 23 20
+f 9 20 17
+f 9 16 23
+f 10 22 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 13 28 29
+f 13 29 14
+f 14 29 16
+f 14 16 15
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 23
+f 17 20 19
+f 20 23 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 25
+f 22 25 24
+f 23 36 33
+f 23 32 36
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 25 35 37
+f 28 40 29
+f 29 31 30
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 36
+f 33 49 34
+f 33 36 49
+f 34 50 35
+f 34 49 51
+f 34 51 50
+f 35 50 37
+f 36 48 49
+f 37 52 53
+f 37 53 38
+f 37 50 52
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 56
+f 40 57 58
+f 40 58 41
+f 41 58 57
+f 41 57 86
+f 41 86 116
+f 41 116 136
+f 41 136 156
+f 41 156 140
+f 41 140 120
+f 41 120 119
+f 41 119 92
+f 41 92 91
+f 41 91 88
+f 41 88 87
+f 41 87 59
+f 41 59 42
+f 42 59 43
+f 43 59 44
+f 44 60 61
+f 44 61 45
+f 44 59 60
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 49 72 51
+f 50 51 73
+f 50 73 52
+f 51 72 71
+f 51 71 74
+f 51 74 75
+f 51 75 73
+f 52 76 77
+f 52 77 53
+f 52 73 76
+f 53 77 78
+f 53 78 54
+f 54 79 55
+f 54 78 80
+f 54 80 81
+f 54 81 79
+f 55 82 56
+f 55 79 83
+f 55 83 111
+f 55 111 133
+f 55 133 145
+f 55 145 121
+f 55 121 148
+f 55 148 160
+f 55 160 159
+f 55 159 143
+f 55 143 142
+f 55 142 136
+f 55 136 116
+f 55 116 137
+f 55 137 139
+f 55 139 158
+f 55 158 165
+f 55 165 171
+f 55 171 175
+f 55 175 176
+f 55 176 172
+f 55 172 167
+f 55 167 163
+f 55 163 162
+f 55 162 154
+f 55 154 134
+f 55 134 114
+f 55 114 113
+f 55 113 112
+f 55 112 84
+f 55 84 82
+f 56 82 84
+f 56 84 85
+f 59 87 61
+f 59 61 60
+f 61 87 88
+f 61 88 62
+f 62 89 90
+f 62 90 63
+f 62 88 91
+f 62 91 92
+f 62 92 89
+f 63 90 64
+f 64 90 65
+f 65 90 93
+f 65 93 94
+f 65 94 95
+f 65 95 96
+f 65 96 66
+f 66 96 95
+f 66 95 97
+f 66 97 98
+f 66 98 67
+f 67 98 68
+f 68 98 99
+f 68 99 69
+f 69 100 70
+f 69 99 101
+f 69 101 100
+f 70 100 102
+f 70 102 74
+f 70 74 103
+f 70 103 71
+f 71 103 74
+f 73 75 76
+f 74 102 100
+f 74 100 101
+f 74 101 75
+f 75 101 104
+f 75 104 76
+f 76 104 77
+f 77 104 105
+f 77 105 78
+f 78 105 106
+f 78 106 80
+f 79 81 83
+f 80 106 107
+f 80 107 108
+f 80 108 109
+f 80 109 81
+f 81 109 110
+f 81 110 111
+f 81 111 83
+f 84 112 85
+f 85 112 113
+f 85 113 114
+f 85 114 115
+f 86 117 116
+f 89 118 90
+f 89 92 119
+f 89 119 120
+f 89 120 118
+f 90 94 93
+f 90 118 121
+f 90 121 94
+f 94 121 122
+f 94 122 95
+f 95 122 123
+f 95 123 124
+f 95 124 125
+f 95 125 97
+f 97 125 126
+f 97 126 98
+f 98 126 101
+f 98 101 99
+f 101 126 127
+f 101 127 104
+f 104 127 105
+f 105 127 106
+f 106 127 126
+f 106 126 128
+f 106 128 129
+f 106 129 107
+f 107 129 108
+f 108 129 130
+f 108 130 131
+f 108 131 132
+f 108 132 109
+f 109 132 110
+f 110 132 133
+f 110 133 111
+f 114 134 135
+f 114 135 115
+f 116 117 137
+f 117 138 139
+f 117 139 137
+f 118 120 140
+f 118 140 141
+f 118 141 142
+f 118 142 143
+f 118 143 144
+f 118 144 121
+f 121 145 146
+f 121 146 147
+f 121 147 122
+f 121 144 148
+f 122 147 149
+f 122 149 150
+f 122 150 151
+f 122 151 123
+f 123 151 128
+f 123 128 124
+f 124 128 125
+f 125 128 126
+f 128 130 129
+f 128 151 152
+f 128 152 130
+f 130 152 153
+f 130 153 149
+f 130 149 147
+f 130 147 131
+f 131 147 146
+f 131 146 132
+f 132 146 145
+f 132 145 133
+f 134 154 135
+f 135 154 155
+f 136 142 141
+f 136 141 156
+f 138 157 139
+f 139 157 158
+f 140 156 141
+f 143 159 144
+f 144 159 160
+f 144 160 148
+f 149 153 150
+f 150 153 152
+f 150 152 161
+f 150 161 151
+f 151 161 152
+f 154 162 155
+f 155 162 163
+f 155 163 164
+f 157 165 158
+f 157 166 165
+f 163 167 164
+f 164 167 168
+f 165 166 169
+f 165 169 170
+f 165 170 171
+f 167 172 168
+f 168 172 173
+f 170 174 175
+f 170 175 171
+f 172 176 173
+f 173 176 175
+f 173 175 174
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_1.obj

@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v -0.02114086 0.00991249 -0.01537764
+v -0.02117780 0.00991249 -0.01535240
+v -0.02114086 0.01095153 -0.01483317
+v -0.02114086 0.00991246 -0.00760723
+v -0.02168001 0.00991248 -0.01489447
+v -0.02114086 0.01225034 -0.01412644
+v -0.02114086 0.01873327 0.01623770
+v -0.02663286 0.00991238 0.01496844
+v -0.02232307 0.00991248 -0.01423462
+v -0.02213143 0.01291470 -0.01273821
+v -0.02114086 0.01304222 -0.01355672
+v -0.02114086 0.01920242 0.01738794
+v -0.02690533 0.00991237 0.01597806
+v -0.02320512 0.00991248 -0.01330072
+v -0.02114086 0.01610111 -0.01071537
+v -0.02114086 0.01606805 -0.01074782
+v -0.02345680 0.01034542 -0.01276707
+v -0.02466096 0.01004314 -0.01136443
+v -0.02356879 0.01319335 -0.01040889
+v -0.02330556 0.01405922 -0.01000865
+v -0.02209333 0.01673870 -0.00882235
+v -0.02114086 0.02000059 0.01888433
+v -0.02741677 0.00991237 0.01755377
+v -0.02724822 0.00991237 0.01706339
+v -0.02697344 0.00991237 0.01622685
+v -0.02354686 0.00991248 -0.01290048
+v -0.02114086 0.01703941 -0.00967691
+v -0.02477756 0.00991247 -0.01121299
+v -0.02605445 0.01037216 -0.00892694
+v -0.02494612 0.01057368 -0.01050626
+v -0.02455128 0.00991247 -0.01155554
+v -0.02474408 0.01423081 -0.00762164
+v -0.02231384 0.01706144 -0.00796418
+v -0.02220647 0.01815400 -0.00643532
+v -0.02188321 0.01792731 -0.00729350
+v -0.02114086 0.02017848 0.01918722
+v -0.02747796 0.00991236 0.01770522
+v -0.02114086 0.01850509 -0.00723220
+v -0.02610294 0.00991246 -0.00899184
+v -0.02648278 0.00991246 -0.00821660
+v -0.02713738 0.00991246 -0.00682478
+v -0.02719049 0.00991245 -0.00670939
+v -0.02755647 0.00991245 -0.00589810
+v -0.02732903 0.01161586 -0.00502550
+v -0.02612834 0.01443073 -0.00404112
+v -0.02586742 0.01529661 -0.00341010
+v -0.02351568 0.01820122 -0.00395456
+v -0.02331364 0.01791471 -0.00481273
+v -0.02114086 0.02077680 -0.00307474
+v -0.02114086 0.02015968 -0.00426466
+v -0.02114086 0.02054058 0.01971006
+v -0.02793400 0.00991236 0.01881940
+v -0.02781970 0.00991236 0.01854536
+v -0.02765691 0.00991245 -0.00566733
+v -0.02606484 0.01554062 -0.00255193
+v -0.02814989 0.00991245 -0.00434401
+v -0.02863709 0.01163316 -0.00120700
+v -0.02367732 0.01838227 -0.00306754
+v -0.02114086 0.02166314 -0.00081754
+v -0.02114086 0.02112001 -0.00220576
+v -0.02828035 0.00991236 0.01952613
+v -0.02114086 0.02074366 0.01998049
+v -0.02731056 0.01546504 0.00146849
+v -0.02469790 0.01936462 0.00279182
+v -0.02458361 0.01923710 0.00208148
+v -0.02476602 0.01817602 -0.00005313
+v -0.02824456 0.00991244 -0.00403752
+v -0.02932864 0.00991243 -0.00044258
+v -0.02940138 0.00991243 -0.00010724
+v -0.03265825 0.01071684 0.01907901
+v -0.02872022 0.01177012 -0.00049306
+v -0.02339215 0.01936778 -0.00106635
+v -0.02114086 0.02180010 -0.00043172
+v -0.02842697 0.00991236 0.01978574
+v -0.02114086 0.02103806 0.02031943
+v -0.02885991 0.01199053 0.00079420
+v -0.03126822 0.01429683 0.01932061
+v -0.02993014 0.01681417 0.01942158
+v -0.02739253 0.01560200 0.00232667
+v -0.02214066 0.02200948 0.00388798
+v -0.02114086 0.02222674 0.00093126
+v -0.02114086 0.02219211 0.00079063
+v -0.02878949 0.01833338 0.01906462
+v -0.02761420 0.01975814 0.01880861
+v -0.02708428 0.02040676 0.01880861
+v -0.02643544 0.02114669 0.01880862
+v -0.02584318 0.02179688 0.01880862
+v -0.02519319 0.02245652 0.01880862
+v -0.02453050 0.02310514 0.01880862
+v -0.03280141 0.00991236 0.01877973
+v -0.03293533 0.00991236 0.02009584
+v -0.03267095 0.01075934 0.02009584
+v -0.03244236 0.01140796 0.02009584
+v -0.02114086 0.02110104 0.02038794
+v -0.02877910 0.00991236 0.02030497
+v -0.03210062 0.01225022 0.02009584
+v -0.03126822 0.01429683 0.01975690
+v -0.02993014 0.01681417 0.01952975
+v -0.02880911 0.01836330 0.02009587
+v -0.02833923 0.01901192 0.02009587
+v -0.02388051 0.02368606 0.01880863
+v -0.02312200 0.02433468 0.01880863
+v -0.02247201 0.02485263 0.01880863
+v -0.02114086 0.02592947 0.01901056
+v -0.02768924 0.01985103 0.02009587
+v -0.02715932 0.02049965 0.02009588
+v -0.02651048 0.02123328 0.02009588
+v -0.02592284 0.02188190 0.02009588
+v -0.02527285 0.02253209 0.02009588
+v -0.02461593 0.02318071 0.02009589
+v -0.02396594 0.02376478 0.02009589
+v -0.03288223 0.00991236 0.02031939
+v -0.03258205 0.01049642 0.02082060
+v -0.03118856 0.01414254 0.02061508
+v -0.02885760 0.00991235 0.02042036
+v -0.02114086 0.02163000 0.02087112
+v -0.03149566 0.01364507 0.02014993
+v -0.03094265 0.01477700 0.02014993
+v -0.03018760 0.01620333 0.02001292
+v -0.02984240 0.01667563 0.02038792
+v -0.02950528 0.01732425 0.02001292
+v -0.02870059 0.01821058 0.02082784
+v -0.02321897 0.02441340 0.02009589
+v -0.02256899 0.02492663 0.02009589
+v -0.02171580 0.02557525 0.02009589
+v -0.02114086 0.02599401 0.02009590
+v -0.02751837 0.01963533 0.02091437
+v -0.02629344 0.02099240 0.02095044
+v -0.02503386 0.02229436 0.02096126
+v -0.02372580 0.02355224 0.02095045
+v -0.02235887 0.02476289 0.02090358
+v -0.03266980 0.00991235 0.02090713
+v -0.03159495 0.01225021 0.02106218
+v -0.03138136 0.01327824 0.02090714
+v -0.03009293 0.01580974 0.02091436
+v -0.02932056 0.00991235 0.02087108
+v -0.02114086 0.02179058 0.02094684
+v -0.02948912 0.00991235 0.02099007
+v -0.02894881 0.01744074 0.02100090
+v -0.02795824 0.01867973 0.02106582
+v -0.02114086 0.02584444 0.02061872
+v -0.02670329 0.02005568 0.02113793
+v -0.02542755 0.02138912 0.02115958
+v -0.02412296 0.02268794 0.02115958
+v -0.02278257 0.02396313 0.02113074
+v -0.02140062 0.02520842 0.02105141
+v -0.02114086 0.02560672 0.02092521
+v -0.03255435 0.00991235 0.02097925
+v -0.03035269 0.01484626 0.02107661
+v -0.03194130 0.01093881 0.02111266
+v -0.03188242 0.00991235 0.02129656
+v -0.03056743 0.01225021 0.02143357
+v -0.03068058 0.01364506 0.02116676
+v -0.02114086 0.02263441 0.02122448
+v -0.02114086 0.02295714 0.02132544
+v -0.03030074 0.00991235 0.02130737
+v -0.02935173 0.01620332 0.02115956
+v -0.02796748 0.01744074 0.02138672
+v -0.02666865 0.01873797 0.02144803
+v -0.02536867 0.02003521 0.02145524
+v -0.02276872 0.02263126 0.02145525
+v -0.02146874 0.02392850 0.02143723
+v -0.02114086 0.02425438 0.02141920
+v -0.02114086 0.02521157 0.02111992
+v -0.02114086 0.02541466 0.02103699
+v -0.02926745 0.01484626 0.02144079
+v -0.03160880 0.00991235 0.02136867
+v -0.03056743 0.01095297 0.02145882
+v -0.02114086 0.02392850 0.02142281
+v -0.03056743 0.00991235 0.02139391
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 16
+f 1 16 15
+f 1 15 27
+f 1 27 38
+f 1 38 50
+f 1 50 49
+f 1 49 60
+f 1 60 59
+f 1 59 73
+f 1 73 82
+f 1 82 81
+f 1 81 104
+f 1 104 126
+f 1 126 141
+f 1 141 147
+f 1 147 165
+f 1 165 164
+f 1 164 163
+f 1 163 169
+f 1 169 155
+f 1 155 154
+f 1 154 137
+f 1 137 116
+f 1 116 94
+f 1 94 75
+f 1 75 62
+f 1 62 51
+f 1 51 36
+f 1 36 22
+f 1 22 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 25
+f 1 25 24
+f 1 24 23
+f 1 23 37
+f 1 37 53
+f 1 53 52
+f 1 52 61
+f 1 61 74
+f 1 74 95
+f 1 95 115
+f 1 115 136
+f 1 136 138
+f 1 138 156
+f 1 156 170
+f 1 170 167
+f 1 167 151
+f 1 151 148
+f 1 148 132
+f 1 132 112
+f 1 112 91
+f 1 91 90
+f 1 90 69
+f 1 69 68
+f 1 68 67
+f 1 67 56
+f 1 56 54
+f 1 54 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 28
+f 1 28 31
+f 1 31 26
+f 1 26 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 15 16
+f 10 16 11
+f 10 14 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 15
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 26 17
+f 15 21 27
+f 17 26 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 26 31
+f 18 31 28
+f 19 29 32
+f 19 32 20
+f 19 30 29
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 27
+f 22 36 23
+f 23 36 37
+f 27 35 38
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 34
+f 34 48 47
+f 34 47 49
+f 34 49 50
+f 34 50 35
+f 35 50 38
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 43 54 44
+f 44 55 45
+f 44 54 56
+f 44 56 57
+f 44 57 55
+f 45 55 46
+f 46 55 47
+f 47 55 58
+f 47 58 59
+f 47 59 60
+f 47 60 49
+f 51 61 52
+f 51 62 61
+f 55 57 63
+f 55 63 64
+f 55 64 65
+f 55 65 66
+f 55 66 58
+f 56 67 57
+f 57 68 69
+f 57 69 70
+f 57 70 71
+f 57 71 63
+f 57 67 68
+f 58 66 65
+f 58 65 72
+f 58 72 73
+f 58 73 59
+f 61 62 74
+f 62 75 74
+f 63 71 76
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 64
+f 64 80 81
+f 64 81 82
+f 64 82 73
+f 64 73 72
+f 64 72 65
+f 64 79 83
+f 64 83 84
+f 64 84 85
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 80
+f 69 90 70
+f 70 90 91
+f 70 91 92
+f 70 92 93
+f 70 93 77
+f 70 77 71
+f 71 77 76
+f 74 75 94
+f 74 94 95
+f 77 93 96
+f 77 96 97
+f 77 97 98
+f 77 98 78
+f 78 98 99
+f 78 99 100
+f 78 100 83
+f 78 83 79
+f 80 89 101
+f 80 101 102
+f 80 102 81
+f 81 102 103
+f 81 103 104
+f 83 100 105
+f 83 105 84
+f 84 105 106
+f 84 106 85
+f 85 106 86
+f 86 106 107
+f 86 107 108
+f 86 108 87
+f 87 108 88
+f 88 108 109
+f 88 109 110
+f 88 110 89
+f 89 110 111
+f 89 111 101
+f 91 112 113
+f 91 113 92
+f 92 113 93
+f 93 114 96
+f 93 113 114
+f 94 115 95
+f 94 116 115
+f 96 114 117
+f 96 117 97
+f 97 117 114
+f 97 114 118
+f 97 118 119
+f 97 119 98
+f 98 119 120
+f 98 120 121
+f 98 121 99
+f 99 121 120
+f 99 120 122
+f 99 122 100
+f 100 122 105
+f 101 111 123
+f 101 123 102
+f 102 123 103
+f 103 123 104
+f 104 123 124
+f 104 124 125
+f 104 125 126
+f 105 122 127
+f 105 127 106
+f 106 127 107
+f 107 127 128
+f 107 128 108
+f 108 128 129
+f 108 129 109
+f 109 129 110
+f 110 129 130
+f 110 130 111
+f 111 130 131
+f 111 131 123
+f 112 132 113
+f 113 132 133
+f 113 133 134
+f 113 134 114
+f 114 120 119
+f 114 119 118
+f 114 134 135
+f 114 135 120
+f 115 116 136
+f 116 137 138
+f 116 138 136
+f 120 135 122
+f 122 135 139
+f 122 139 140
+f 122 140 127
+f 123 131 141
+f 123 141 124
+f 124 141 125
+f 125 141 126
+f 127 140 142
+f 127 142 128
+f 128 142 143
+f 128 143 129
+f 129 143 144
+f 129 144 130
+f 130 144 145
+f 130 145 131
+f 131 145 146
+f 131 146 147
+f 131 147 141
+f 132 148 133
+f 133 149 134
+f 133 148 150
+f 133 150 151
+f 133 151 152
+f 133 152 153
+f 133 153 149
+f 134 149 135
+f 135 149 139
+f 137 154 138
+f 138 154 155
+f 138 155 156
+f 139 149 157
+f 139 157 158
+f 139 158 140
+f 140 158 142
+f 142 158 159
+f 142 159 143
+f 143 159 160
+f 143 160 161
+f 143 161 144
+f 144 161 162
+f 144 162 145
+f 145 162 163
+f 145 163 164
+f 145 164 146
+f 146 165 147
+f 146 164 165
+f 148 151 150
+f 149 153 166
+f 149 166 157
+f 151 167 152
+f 152 167 168
+f 152 168 166
+f 152 166 153
+f 155 169 170
+f 155 170 156
+f 157 166 158
+f 158 166 159
+f 159 166 168
+f 159 168 160
+f 160 168 161
+f 161 168 162
+f 162 168 169
+f 162 169 163
+f 167 170 168
+f 168 170 169
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_10.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.00030547 -0.03057710 0.02139827
+v -0.00066782 -0.03057710 0.02141346
+v 0.00030547 -0.03081247 0.02130459
+v 0.00030547 -0.02960576 0.02136282
+v -0.00846706 -0.02927878 0.02145397
+v -0.00976693 -0.02927878 0.02146409
+v -0.00196769 -0.03057710 0.02141852
+v -0.00196769 -0.03152713 0.02104885
+v -0.00066782 -0.03151329 0.02103873
+v 0.00030547 -0.03148133 0.02101341
+v 0.00030547 -0.02927878 0.02133750
+v -0.01074238 -0.02795491 0.02121598
+v -0.01074238 -0.02927878 0.02144384
+v -0.00456852 -0.03057710 0.02139827
+v -0.00326865 -0.03057710 0.02141346
+v -0.00326865 -0.03151968 0.02104379
+v -0.00196769 -0.03194888 0.02009686
+v -0.00066782 -0.03191587 0.02009686
+v 0.00030547 -0.03158251 0.02077794
+v 0.00030547 -0.02858543 0.02104634
+v 0.00030547 -0.02836283 0.02095266
+v -0.01074238 -0.02716144 0.02087924
+v -0.00976693 -0.03046207 0.02114255
+v -0.00716719 -0.03057710 0.02130965
+v -0.00586731 -0.03057710 0.02136788
+v -0.01074238 -0.03033958 0.02109191
+v -0.00456852 -0.03148879 0.02101847
+v -0.00326865 -0.03193504 0.02009686
+v -0.00326865 -0.03183386 0.01881066
+v -0.00196769 -0.03184557 0.01881066
+v -0.00066782 -0.03180723 0.01881066
+v 0.00030547 -0.03182321 0.01977531
+v 0.00030547 -0.03184984 0.02009686
+v 0.00030547 -0.02787715 0.02039311
+v 0.00030547 -0.02769502 0.02016018
+v -0.01074238 -0.02653730 0.02007663
+v -0.00815020 -0.03128536 0.02081593
+v -0.00716719 -0.03135885 0.02089947
+v -0.00586731 -0.03143447 0.02097290
+v -0.01074238 -0.03087637 0.02011459
+v -0.00901750 -0.03120229 0.02064123
+v -0.00456852 -0.03187433 0.02009686
+v -0.00456852 -0.03176889 0.01881066
+v -0.00286203 -0.02871741 -0.00022411
+v -0.00196769 -0.02912002 0.00207992
+v 0.00030547 -0.03173907 0.01881066
+v 0.00030547 -0.02735953 0.01966646
+v 0.00030547 -0.02728071 0.01954493
+v -0.01074238 -0.02617837 0.01948670
+v -0.00716719 -0.03160381 0.02009686
+v -0.00586731 -0.03176143 0.02009686
+v -0.00936789 -0.03128109 0.01929933
+v -0.00936789 -0.03128109 0.01978292
+v -0.00978748 -0.03110855 0.02016777
+v -0.01074238 -0.03077306 0.01882080
+v -0.00853735 -0.03137482 0.02016776
+v -0.00586731 -0.03165067 0.01881066
+v -0.00683411 -0.02871102 0.00103678
+v -0.00678977 -0.02741803 -0.00396877
+v -0.00196769 -0.02792180 -0.00306741
+v -0.00196769 -0.02828818 -0.00178121
+v -0.00219803 -0.02871741 -0.00022411
+v -0.00184657 -0.02883351 0.00067472
+v 0.00030547 -0.02850227 0.00070764
+v -0.01074238 -0.02602074 0.01920312
+v 0.00030547 -0.02696119 0.01884106
+v -0.01074238 -0.02580560 0.01874233
+v -0.00846706 -0.03136736 0.01906638
+v -0.01074238 -0.02787070 0.00207993
+v -0.00770141 -0.02859707 0.00163430
+v -0.01074238 -0.02763638 0.00079372
+v -0.01074238 -0.02747768 0.00002656
+v -0.01074238 -0.02741910 -0.00025448
+v -0.00722774 -0.02853103 0.00068232
+v -0.00716719 -0.02827648 -0.00049501
+v -0.01074238 -0.02635722 -0.00404472
+v -0.01074238 -0.02624112 -0.00440172
+v -0.00720071 -0.02712938 -0.00440172
+v -0.00311076 -0.02745103 -0.00440172
+v -0.00202609 -0.02750322 -0.00440172
+v -0.00716719 -0.02794204 -0.00178121
+v -0.01074238 -0.02703354 -0.00178121
+v -0.01074238 -0.02666503 -0.00306741
+v 0.00030547 -0.02756181 -0.00310792
+v 0.00030547 -0.02793991 -0.00178121
+v -0.00201960 -0.02750322 -0.00440172
+v 0.00030547 -0.02715495 -0.00440172
+v 0.00030547 -0.02825198 -0.00049501
+v 0.00030547 -0.02844369 0.00041647
+v 0.00030547 -0.02657245 0.01784856
+v -0.01074238 -0.02530714 0.01752449
+v -0.01074238 -0.02727106 -0.00089758
+v -0.01074238 -0.02106918 -0.00440170
+v 0.00030547 -0.02242926 -0.00440170
+v 0.00030547 -0.02644570 0.01752448
+v -0.01074238 -0.02490455 0.01632184
+v -0.01074238 -0.02426763 0.01366588
+v 0.00030547 -0.02543175 0.01366335
+v 0.00030547 -0.02621777 0.01684087
+v 0.00030547 -0.02612724 0.01656742
+v 0.00030547 -0.02598559 0.01608636
+v 0.00030547 -0.02593873 0.01592432
+v -0.01074238 -0.02480337 0.01595725
+v -0.01074238 -0.02453283 0.01493183
+v 0.00030547 -0.02569375 0.01494955
+v 0.00030547 -0.02574488 0.01516223
+v -0.01074238 -0.02461272 0.01525591
+f 1 2 3
+f 1 3 10
+f 1 10 19
+f 1 19 33
+f 1 33 32
+f 1 32 46
+f 1 46 64
+f 1 64 89
+f 1 89 88
+f 1 88 85
+f 1 85 84
+f 1 84 87
+f 1 87 94
+f 1 94 98
+f 1 98 105
+f 1 105 106
+f 1 106 102
+f 1 102 101
+f 1 101 100
+f 1 100 99
+f 1 99 95
+f 1 95 90
+f 1 90 66
+f 1 66 48
+f 1 48 47
+f 1 47 35
+f 1 35 34
+f 1 34 21
+f 1 21 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 36
+f 12 36 49
+f 12 49 65
+f 12 65 67
+f 12 67 91
+f 12 91 96
+f 12 96 103
+f 12 103 107
+f 12 107 104
+f 12 104 97
+f 12 97 93
+f 12 93 77
+f 12 77 76
+f 12 76 83
+f 12 83 82
+f 12 82 92
+f 12 92 73
+f 12 73 72
+f 12 72 71
+f 12 71 69
+f 12 69 55
+f 12 55 40
+f 12 40 26
+f 12 26 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 13 26 23
+f 14 25 16
+f 14 16 15
+f 16 25 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 23 26 37
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 27
+f 24 27 25
+f 26 40 41
+f 26 41 37
+f 27 39 42
+f 27 42 28
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 31
+f 31 46 32
+f 31 45 46
+f 35 47 36
+f 36 47 48
+f 36 48 49
+f 37 41 50
+f 37 50 51
+f 37 51 38
+f 38 51 42
+f 38 42 39
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 40 55 52
+f 41 54 53
+f 41 53 56
+f 41 56 50
+f 42 51 43
+f 43 51 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 48 65 49
+f 48 66 67
+f 48 67 65
+f 50 56 53
+f 50 53 52
+f 50 52 51
+f 51 52 68
+f 51 68 57
+f 52 55 69
+f 52 69 70
+f 52 70 58
+f 52 58 68
+f 57 68 58
+f 58 70 71
+f 58 71 72
+f 58 72 73
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 59 76 77
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 60
+f 59 75 81
+f 59 81 82
+f 59 82 83
+f 59 83 76
+f 60 84 85
+f 60 85 61
+f 60 80 86
+f 60 86 87
+f 60 87 84
+f 61 85 62
+f 62 85 88
+f 62 88 89
+f 62 89 64
+f 62 64 63
+f 66 90 91
+f 66 91 67
+f 69 71 70
+f 73 75 74
+f 73 92 75
+f 75 92 81
+f 77 93 94
+f 77 94 87
+f 77 87 86
+f 77 86 80
+f 77 80 79
+f 77 79 78
+f 81 92 82
+f 90 95 91
+f 91 95 96
+f 93 97 98
+f 93 98 94
+f 95 99 96
+f 96 99 100
+f 96 100 101
+f 96 101 102
+f 96 102 103
+f 97 104 105
+f 97 105 98
+f 102 106 107
+f 102 107 103
+f 104 107 106
+f 104 106 105
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_11.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.02302345 -0.00985208 -0.00440166
+v -0.02820962 -0.00985208 -0.00440166
+v -0.02515285 -0.00001963 -0.00440162
+v -0.02825410 -0.00001970 0.01366278
+v -0.02643494 -0.00985215 0.01366274
+v -0.02831081 -0.00961916 -0.00440166
+v -0.02823075 -0.00985208 -0.00434345
+v -0.02868554 -0.00927173 -0.00389543
+v -0.02976192 -0.00001963 -0.00440162
+v -0.02836196 -0.00001970 0.01421962
+v -0.02644272 -0.00985215 0.01370324
+v -0.02875448 -0.00854602 -0.00440165
+v -0.02939830 -0.00985210 -0.00052656
+v -0.02994539 -0.00920629 0.00003788
+v -0.02882676 -0.00948635 -0.00306777
+v -0.02879451 -0.00848347 -0.00433837
+v -0.02993760 -0.00153646 -0.00440163
+v -0.03001989 -0.00108892 -0.00403967
+v -0.03015888 -0.00001964 -0.00309558
+v -0.02849206 -0.00001970 0.01488530
+v -0.02670626 -0.00985215 0.01495360
+v -0.02994428 -0.00532181 -0.00378912
+v -0.02878451 -0.00844785 -0.00440165
+v -0.02942054 -0.00985210 -0.00043797
+v -0.03124193 -0.00533240 0.00131356
+v -0.03002434 -0.00932371 0.00079215
+v -0.03285538 -0.00985217 0.01871227
+v -0.03326903 -0.00851435 0.01881099
+v -0.03385725 -0.00675787 0.01934000
+v -0.02997763 -0.00202635 -0.00440163
+v -0.03005881 -0.00202635 -0.00415105
+v -0.03038684 -0.00202636 -0.00306775
+v -0.03121858 -0.00137575 0.00014674
+v -0.03053139 -0.00001964 -0.00178194
+v -0.02855544 -0.00001971 0.01517891
+v -0.02863217 -0.00001971 0.01553073
+v -0.02705430 -0.00985216 0.01623686
+v -0.03073488 -0.00202636 -0.00178195
+v -0.02969853 -0.00458167 -0.00440164
+v -0.02943722 -0.00582997 -0.00440164
+v -0.02966740 -0.00985210 0.00079214
+v -0.03154327 -0.00202638 0.00208050
+v -0.03120857 -0.00227564 0.00019483
+v -0.03392953 -0.00591957 0.01913245
+v -0.03414414 -0.00332479 0.01881101
+v -0.03423199 -0.00202644 0.01881101
+v -0.03014888 -0.00949504 0.00208048
+v -0.03300438 -0.00985217 0.02005881
+v -0.02989980 -0.00985211 0.00208047
+v -0.03301662 -0.00981271 0.02009678
+v -0.03385725 -0.00675787 0.01969688
+v -0.03411745 -0.00462218 0.02009680
+v -0.03425645 -0.00332479 0.02009681
+v -0.03091279 -0.00001965 -0.00036706
+v -0.03121858 -0.00141039 0.00014674
+v -0.03427646 -0.00001972 0.01881102
+v -0.02883121 -0.00001971 0.01623690
+v -0.02901579 -0.00001971 0.01682158
+v -0.02923818 -0.00001971 0.01752270
+v -0.02747239 -0.00985216 0.01749735
+v -0.03108403 -0.00191665 -0.00036707
+v -0.03130754 -0.00191665 0.00069346
+v -0.03427535 -0.00072905 0.01881102
+v -0.03434207 -0.00202644 0.02009681
+v -0.03300438 -0.00985217 0.02009678
+v -0.03337133 -0.00851435 0.02009679
+v -0.03270082 -0.00985218 0.02093710
+v -0.03367823 -0.00720060 0.02011450
+v -0.03377497 -0.00636520 0.02055492
+v -0.03392953 -0.00592727 0.02011451
+v -0.03385392 -0.00549995 0.02079032
+v -0.03391285 -0.00462219 0.02085866
+v -0.03398180 -0.00332480 0.02093460
+v -0.03433429 -0.00001972 0.01951467
+v -0.02944278 -0.00001972 0.01806941
+v -0.02750798 -0.00985216 0.01759606
+v -0.03438099 -0.00072905 0.02009682
+v -0.03402405 -0.00202645 0.02097509
+v -0.03186907 -0.00985218 0.02133448
+v -0.03270638 -0.00981272 0.02094469
+v -0.03288207 -0.00851436 0.02107632
+v -0.03303330 -0.00721697 0.02113706
+v -0.03316784 -0.00462219 0.02127375
+v -0.03316784 -0.00332480 0.02133957
+v -0.03438210 -0.00001972 0.02009682
+v -0.02968853 -0.00001972 0.01872243
+v -0.02799946 -0.00985217 0.01881098
+v -0.03404295 -0.00072906 0.02099282
+v -0.03404406 -0.00001973 0.02099535
+v -0.03419752 -0.00001973 0.02058785
+v -0.03316784 -0.00202645 0.02136995
+v -0.03056697 -0.00985218 0.02138257
+v -0.03186796 -0.00981272 0.02134208
+v -0.03186796 -0.00851436 0.02142814
+v -0.02995540 -0.00001972 0.01936533
+v -0.02845425 -0.00985217 0.01972724
+v -0.03316784 -0.00072906 0.02138261
+v -0.03316784 -0.00001973 0.02138514
+v -0.03186796 -0.00721697 0.02145598
+v -0.03186796 -0.00001973 0.02130415
+v -0.03186796 -0.00591958 0.02144334
+v -0.02954286 -0.00985218 0.02098266
+v -0.03040240 -0.00001972 0.02009682
+v -0.02847316 -0.00985217 0.01975508
+v -0.03140094 -0.00001973 0.02109407
+v -0.03101398 -0.00001973 0.02091689
+v -0.02889681 -0.00985217 0.02037014
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 40
+f 1 40 39
+f 1 39 30
+f 1 30 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 37
+f 1 37 60
+f 1 60 76
+f 1 76 87
+f 1 87 96
+f 1 96 104
+f 1 104 107
+f 1 107 102
+f 1 102 92
+f 1 92 79
+f 1 79 67
+f 1 67 65
+f 1 65 48
+f 1 48 27
+f 1 27 49
+f 1 49 41
+f 1 41 24
+f 1 24 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 19
+f 3 19 34
+f 3 34 54
+f 3 54 56
+f 3 56 74
+f 3 74 85
+f 3 85 90
+f 3 90 89
+f 3 89 98
+f 3 98 100
+f 3 100 105
+f 3 105 106
+f 3 106 103
+f 3 103 95
+f 3 95 86
+f 3 86 75
+f 3 75 59
+f 3 59 58
+f 3 58 57
+f 3 57 36
+f 3 36 35
+f 3 35 20
+f 3 20 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 8 12
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 16 12
+f 8 15 14
+f 8 14 16
+f 9 17 18
+f 9 18 19
+f 10 20 11
+f 11 20 21
+f 12 16 22
+f 12 22 23
+f 13 24 14
+f 14 25 22
+f 14 22 16
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 25
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 22 38 32
+f 22 32 31
+f 22 31 30
+f 22 30 39
+f 22 39 40
+f 22 40 23
+f 22 25 38
+f 24 41 26
+f 25 42 43
+f 25 43 38
+f 25 29 44
+f 25 44 45
+f 25 45 46
+f 25 46 42
+f 26 41 47
+f 26 47 27
+f 27 48 29
+f 27 29 28
+f 27 47 49
+f 29 48 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 44
+f 32 38 33
+f 33 54 34
+f 33 38 55
+f 33 55 42
+f 33 42 56
+f 33 56 54
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 38 43 61
+f 38 61 55
+f 41 49 47
+f 42 55 62
+f 42 62 43
+f 42 46 63
+f 42 63 56
+f 43 62 55
+f 43 55 61
+f 44 53 45
+f 45 53 46
+f 46 53 64
+f 46 64 63
+f 48 65 50
+f 50 66 51
+f 50 65 67
+f 50 67 66
+f 51 66 68
+f 51 68 69
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 64
+f 56 63 74
+f 59 75 76
+f 59 76 60
+f 63 64 77
+f 63 77 74
+f 64 73 78
+f 64 78 77
+f 66 67 69
+f 66 69 68
+f 67 79 80
+f 67 80 69
+f 69 71 70
+f 69 80 71
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 72 82 73
+f 73 82 83
+f 73 83 84
+f 73 84 78
+f 74 77 85
+f 75 86 76
+f 76 86 87
+f 77 78 88
+f 77 88 89
+f 77 89 90
+f 77 90 85
+f 78 84 91
+f 78 91 88
+f 79 92 93
+f 79 93 80
+f 80 93 81
+f 81 93 82
+f 82 93 83
+f 83 93 94
+f 83 94 84
+f 84 94 91
+f 86 95 87
+f 87 95 96
+f 88 91 97
+f 88 97 89
+f 89 97 98
+f 91 94 99
+f 91 99 97
+f 92 100 101
+f 92 101 99
+f 92 99 94
+f 92 94 93
+f 92 102 100
+f 95 103 96
+f 96 103 104
+f 97 99 98
+f 98 99 101
+f 98 101 100
+f 100 102 105
+f 102 106 105
+f 102 107 106
+f 103 107 104
+f 103 106 107
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_12.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.01535246 -0.01876113 -0.00440169
+v -0.02269803 -0.01876113 -0.00440169
+v -0.02302462 -0.00985208 -0.00440166
+v -0.02644080 -0.00985215 0.01370473
+v -0.02670518 -0.00985215 0.01495284
+v -0.02705250 -0.00985216 0.01623639
+v -0.02040675 -0.01876120 0.01363888
+v -0.02283108 -0.01866956 -0.00440169
+v -0.02282590 -0.01876113 -0.00417637
+v -0.02820851 -0.00985208 -0.00440166
+v -0.02710088 -0.00985216 0.01638322
+v -0.02078172 -0.01876120 0.01495028
+v -0.02286564 -0.01863991 -0.00440169
+v -0.02351536 -0.01835999 -0.00396118
+v -0.02316285 -0.01876114 -0.00356624
+v -0.02744993 -0.01191190 -0.00440166
+v -0.02863877 -0.01179507 -0.00121431
+v -0.02822924 -0.00985208 -0.00434343
+v -0.02747067 -0.00985216 0.01749715
+v -0.02118779 -0.01876121 0.01609205
+v -0.02367606 -0.01765273 -0.00440168
+v -0.02356201 -0.01876114 -0.00274346
+v -0.02367779 -0.01854050 -0.00306751
+v -0.02606583 -0.01570105 -0.00255610
+v -0.02586712 -0.01545077 -0.00341434
+v -0.02567877 -0.01501995 -0.00440168
+v -0.02569605 -0.01499205 -0.00440168
+v -0.02612286 -0.01458567 -0.00403205
+v -0.02966691 -0.00985210 0.00079329
+v -0.02941981 -0.00985210 -0.00043709
+v -0.02939907 -0.00985210 -0.00052570
+v -0.02730997 -0.01561997 0.00146923
+v -0.02872171 -0.01193024 -0.00049279
+v -0.03265974 -0.01087249 0.01906931
+v -0.02750695 -0.00985216 0.01759842
+v -0.02123963 -0.01876121 0.01623636
+v -0.02387996 -0.01876114 -0.00181687
+v -0.02455559 -0.01876115 0.00039833
+v -0.02989846 -0.00985211 0.00207937
+v -0.02476986 -0.01876115 0.00116795
+v -0.02739291 -0.01576124 0.00232746
+v -0.02992956 -0.01697086 0.01942119
+v -0.03126873 -0.01445756 0.01931993
+v -0.03243511 -0.01155619 0.02009716
+v -0.03267184 -0.01090737 0.02009716
+v -0.03300361 -0.00985217 0.02005919
+v -0.03285500 -0.00985217 0.01871235
+v -0.02799770 -0.00985217 0.01881108
+v -0.02168372 -0.01876121 0.01727180
+v -0.02848844 -0.01876122 0.01883637
+v -0.02878738 -0.01849088 0.01906675
+v -0.02860767 -0.01876122 0.01947688
+v -0.02863186 -0.01876122 0.02009713
+v -0.02992956 -0.01697086 0.01952752
+v -0.03126873 -0.01445756 0.01974525
+v -0.03209124 -0.01240907 0.02009715
+v -0.03118406 -0.01429188 0.02060095
+v -0.03258026 -0.01064576 0.02081868
+v -0.03300361 -0.00985217 0.02009716
+v -0.02181677 -0.01876121 0.01754775
+v -0.02845215 -0.00985217 0.01972754
+v -0.02880638 -0.01851965 0.02009713
+v -0.02807891 -0.01876123 0.02102625
+v -0.02869925 -0.01836792 0.02082878
+v -0.02950275 -0.01748189 0.02001360
+v -0.02983971 -0.01683133 0.02038575
+v -0.03018530 -0.01635954 0.02001360
+v -0.03093696 -0.01493545 0.02014272
+v -0.03149337 -0.01379828 0.02014272
+v -0.03009026 -0.01596625 0.02090980
+v -0.03137587 -0.01342679 0.02090222
+v -0.03158495 -0.01240908 0.02105918
+v -0.03270122 -0.00985218 0.02093767
+v -0.02248895 -0.01876122 0.01881105
+v -0.02889624 -0.00985217 0.02036805
+v -0.02310756 -0.01876122 0.01975029
+v -0.02795623 -0.01876123 0.02108701
+v -0.02894635 -0.01759963 0.02099841
+v -0.03034773 -0.01500348 0.02107183
+v -0.03067777 -0.01379829 0.02116551
+v -0.03056718 -0.01240908 0.02143386
+v -0.03187006 -0.00985218 0.02133514
+v -0.03193746 -0.01109139 0.02111489
+v -0.02348944 -0.01876122 0.02020599
+v -0.02954250 -0.00985218 0.02098324
+v -0.02666716 -0.01876123 0.02144650
+v -0.02796659 -0.01759963 0.02139082
+v -0.02935069 -0.01635955 0.02116044
+v -0.02926775 -0.01500348 0.02144398
+v -0.03056718 -0.01111144 0.02146172
+v -0.03056718 -0.00985218 0.02138071
+v -0.02389897 -0.01876123 0.02057815
+v -0.02425665 -0.01876123 0.02090220
+v -0.02666716 -0.01759963 0.02139335
+v -0.02796659 -0.01630112 0.02145917
+v -0.02536773 -0.01876123 0.02128195
+f 1 2 8
+f 1 8 13
+f 1 13 21
+f 1 21 26
+f 1 26 27
+f 1 27 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 20
+f 1 20 36
+f 1 36 49
+f 1 49 60
+f 1 60 74
+f 1 74 76
+f 1 76 84
+f 1 84 92
+f 1 92 93
+f 1 93 96
+f 1 96 86
+f 1 86 77
+f 1 77 63
+f 1 63 53
+f 1 53 52
+f 1 52 50
+f 1 50 40
+f 1 40 38
+f 1 38 37
+f 1 37 22
+f 1 22 15
+f 1 15 9
+f 1 9 2
+f 2 9 8
+f 3 10 18
+f 3 18 31
+f 3 31 30
+f 3 30 29
+f 3 29 39
+f 3 39 47
+f 3 47 46
+f 3 46 59
+f 3 59 73
+f 3 73 82
+f 3 82 91
+f 3 91 85
+f 3 85 75
+f 3 75 61
+f 3 61 48
+f 3 48 35
+f 3 35 19
+f 3 19 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 12
+f 6 12 7
+f 8 9 14
+f 8 14 13
+f 9 15 14
+f 10 16 17
+f 10 17 18
+f 11 19 12
+f 12 19 20
+f 13 14 21
+f 14 15 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 21
+f 16 27 28
+f 16 28 24
+f 16 24 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 17 24 32
+f 17 32 33
+f 17 33 34
+f 17 34 29
+f 19 35 20
+f 20 35 36
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 28 25
+f 24 38 32
+f 25 28 26
+f 26 28 27
+f 29 34 39
+f 32 38 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 39
+f 35 48 36
+f 36 48 49
+f 40 50 51
+f 40 51 41
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 59 46
+f 45 58 59
+f 48 60 49
+f 48 61 60
+f 50 52 51
+f 53 62 54
+f 53 63 64
+f 53 64 62
+f 54 62 65
+f 54 65 66
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 57
+f 55 57 69
+f 55 69 56
+f 56 69 57
+f 57 70 71
+f 57 71 58
+f 57 68 67
+f 57 67 66
+f 57 66 70
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 60 61 74
+f 61 75 76
+f 61 76 74
+f 62 64 66
+f 62 66 65
+f 63 77 78
+f 63 78 64
+f 64 78 70
+f 64 70 66
+f 70 78 79
+f 70 79 71
+f 71 79 72
+f 72 79 80
+f 72 80 81
+f 72 81 82
+f 72 82 83
+f 72 83 73
+f 73 83 82
+f 75 84 76
+f 75 85 84
+f 77 86 87
+f 77 87 78
+f 78 87 88
+f 78 88 79
+f 79 88 89
+f 79 89 80
+f 80 89 81
+f 81 89 90
+f 81 90 82
+f 82 90 91
+f 84 85 92
+f 85 91 93
+f 85 93 92
+f 86 94 95
+f 86 95 89
+f 86 89 87
+f 86 96 94
+f 87 89 88
+f 89 95 90
+f 90 95 94
+f 90 94 91
+f 91 94 96
+f 91 96 93
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_13.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v -0.01074413 -0.02927931 0.02144357
+v -0.01074413 -0.02795461 0.02121571
+v -0.01106810 -0.02798189 0.02126888
+v -0.02666758 -0.01876241 0.02144614
+v -0.02666758 -0.01889761 0.02145374
+v -0.02536645 -0.02019621 0.02146386
+v -0.01366859 -0.02798189 0.02145877
+v -0.01106810 -0.02927931 0.02143597
+v -0.01074413 -0.03033954 0.02109417
+v -0.02536820 -0.01876241 0.02128410
+v -0.02536645 -0.01889761 0.02131954
+v -0.01074413 -0.02716122 0.02087897
+v -0.02795644 -0.01876241 0.02108662
+v -0.02670260 -0.02021519 0.02113725
+v -0.02542424 -0.02154699 0.02116003
+v -0.02276771 -0.02279104 0.02146132
+v -0.02411961 -0.02284678 0.02116003
+v -0.01886959 -0.02538587 0.02145118
+v -0.01756846 -0.02668329 0.02143598
+v -0.01496796 -0.02798189 0.02142585
+v -0.01236922 -0.02927931 0.02134482
+v -0.01106810 -0.03029921 0.02107645
+v -0.01074413 -0.03087676 0.02011434
+v -0.02425621 -0.01876241 0.02090179
+v -0.01074413 -0.02653741 0.02007637
+v -0.02807903 -0.01876241 0.02102585
+v -0.02795644 -0.01884068 0.02106636
+v -0.02751514 -0.01979536 0.02091445
+v -0.02629282 -0.02115089 0.02094735
+v -0.02502847 -0.02245068 0.02095748
+v -0.02146658 -0.02408965 0.02144106
+v -0.02372035 -0.02371252 0.02094987
+v -0.02278171 -0.02412285 0.02113217
+v -0.02016721 -0.02538587 0.02137270
+v -0.01891337 -0.02675800 0.02115241
+v -0.01756846 -0.02775182 0.02106380
+v -0.01635665 -0.02808863 0.02116254
+v -0.01496796 -0.02899468 0.02105619
+v -0.01364583 -0.02934572 0.02110936
+v -0.01236922 -0.03012014 0.02094226
+v -0.01319928 -0.02999206 0.02081820
+v -0.01106810 -0.03079730 0.02009661
+v -0.01074413 -0.03077239 0.01882055
+v -0.02389721 -0.01876241 0.02058024
+v -0.02348744 -0.01876240 0.02020552
+v -0.01074413 -0.02617807 0.01948644
+v -0.02863240 -0.01876240 0.02009665
+v -0.02833470 -0.01917036 0.02009665
+v -0.02768501 -0.02001001 0.02009665
+v -0.02715791 -0.02065872 0.02009664
+v -0.02650822 -0.02139281 0.02009664
+v -0.02591982 -0.02204152 0.02009664
+v -0.02527014 -0.02268786 0.02009664
+v -0.02460994 -0.02333775 0.02009663
+v -0.02396026 -0.02392242 0.02009663
+v -0.02321601 -0.02457112 0.02009663
+v -0.02235793 -0.02492099 0.02090683
+v -0.02139478 -0.02536690 0.02105115
+v -0.02016721 -0.02633937 0.02098278
+v -0.01850884 -0.02749803 0.02090429
+v -0.01598190 -0.02878951 0.02090428
+v -0.01684873 -0.02859146 0.02056754
+v -0.01496796 -0.02948921 0.02009661
+v -0.01409938 -0.02983906 0.02009661
+v -0.01344970 -0.03008218 0.02009661
+v -0.01236922 -0.03043084 0.02009661
+v -0.01341467 -0.03006913 0.01907880
+v -0.01106810 -0.03068819 0.01881043
+v -0.01175981 -0.02735920 0.00003664
+v -0.01106810 -0.02786086 0.00207986
+v -0.01074413 -0.02787034 0.00207986
+v -0.01074413 -0.02601915 0.01920287
+v -0.02310568 -0.01876240 0.01974979
+v -0.02860788 -0.01876240 0.01947635
+v -0.02761146 -0.01991632 0.01881047
+v -0.02708436 -0.02056621 0.01881046
+v -0.02643467 -0.02130980 0.01881046
+v -0.02584277 -0.02195850 0.01881046
+v -0.02519309 -0.02261314 0.01881046
+v -0.02452589 -0.02326185 0.01881045
+v -0.02387620 -0.02384533 0.01881045
+v -0.02256632 -0.02508464 0.02009663
+v -0.02091496 -0.02610218 0.02081314
+v -0.02311794 -0.02449404 0.01881045
+v -0.02103929 -0.02618993 0.01909654
+v -0.01937568 -0.02723948 0.02031690
+v -0.01891337 -0.02758104 0.01997003
+v -0.01748966 -0.02833648 0.02012194
+v -0.01700283 -0.02867328 0.01970924
+v -0.01635665 -0.02889505 0.02012193
+v -0.01700283 -0.02867328 0.01934212
+v -0.01735832 -0.02496716 0.00079368
+v -0.01710090 -0.02483433 -0.00049504
+v -0.01695030 -0.02475606 -0.00120396
+v -0.01182811 -0.02611514 -0.00393839
+v -0.01106810 -0.02664288 -0.00306743
+v -0.01106810 -0.02701526 -0.00178124
+v -0.01106810 -0.02726313 -0.00087230
+v -0.01106810 -0.02741256 -0.00022920
+v -0.01106810 -0.02762484 0.00079367
+v -0.01074413 -0.02763670 0.00079367
+v -0.01074413 -0.02580450 0.01874208
+v -0.01074413 -0.02530640 0.01752426
+v -0.02248752 -0.01876240 0.01881047
+v -0.02848880 -0.01876240 0.01883578
+v -0.02469400 -0.01952134 0.00279894
+v -0.02213728 -0.02216835 0.00388763
+v -0.02170649 -0.02573334 0.02009663
+v -0.02105681 -0.02620060 0.02009662
+v -0.02246650 -0.02500992 0.01881045
+v -0.02112335 -0.02237707 0.00079369
+v -0.01951927 -0.02733317 0.01945353
+v -0.01827069 -0.02479046 0.00247231
+v -0.02003762 -0.02689082 0.01997003
+v -0.01951927 -0.02733317 0.01945859
+v -0.01816211 -0.02468966 0.00161401
+v -0.01766478 -0.02504188 0.00205708
+v -0.02081865 -0.02214344 -0.00114066
+v -0.01710265 -0.02361042 -0.00413586
+v -0.01656154 -0.02376697 -0.00440171
+v -0.01109611 -0.02621000 -0.00440172
+v -0.01105934 -0.02623372 -0.00436374
+v -0.01104008 -0.02622660 -0.00440172
+v -0.01074413 -0.02666541 -0.00306743
+v -0.01074413 -0.02703305 -0.00178124
+v -0.01074413 -0.02727144 -0.00089762
+v -0.01074413 -0.02741968 -0.00025452
+v -0.01074413 -0.02490318 0.01632162
+v -0.02181507 -0.01876239 0.01754960
+v -0.02477105 -0.01876233 0.00116842
+v -0.02455566 -0.01876233 0.00039873
+v -0.02458017 -0.01939326 0.00207989
+v -0.02092547 -0.02222646 -0.00049503
+v -0.02205323 -0.02205095 0.00302933
+v -0.02339113 -0.01952845 -0.00106722
+v -0.02356099 -0.01876232 -0.00274332
+v -0.02087819 -0.02092310 -0.00387254
+v -0.02019348 -0.02122669 -0.00440170
+v -0.01074413 -0.02624083 -0.00440172
+v -0.01074413 -0.02635588 -0.00404473
+v -0.01074413 -0.02480356 0.01595703
+v -0.02168198 -0.01876239 0.01727362
+v -0.02389196 -0.01876232 -0.00177108
+v -0.02387795 -0.01876232 -0.00181665
+v -0.02316172 -0.01876232 -0.00356617
+v -0.02282374 -0.01876231 -0.00417635
+v -0.02269591 -0.01876231 -0.00440169
+v -0.02030730 -0.02112944 -0.00440170
+v -0.01074413 -0.02107015 -0.00440170
+v -0.01074413 -0.02461262 0.01525571
+v -0.02123718 -0.01876239 0.01623556
+v -0.01535322 -0.01876231 -0.00440169
+v -0.02040537 -0.01876238 0.01363786
+v -0.02078012 -0.01876238 0.01494937
+v -0.01074413 -0.02426869 0.01366569
+v -0.01074413 -0.02453197 0.01493163
+v -0.02118639 -0.01876239 0.01609377
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 23
+f 1 23 43
+f 1 43 71
+f 1 71 101
+f 1 101 127
+f 1 127 126
+f 1 126 125
+f 1 125 124
+f 1 124 140
+f 1 140 139
+f 1 139 149
+f 1 149 155
+f 1 155 156
+f 1 156 150
+f 1 150 141
+f 1 141 128
+f 1 128 103
+f 1 103 102
+f 1 102 72
+f 1 72 46
+f 1 46 25
+f 1 25 12
+f 1 12 2
+f 2 10 11
+f 2 11 3
+f 2 12 10
+f 3 11 4
+f 4 11 10
+f 4 10 24
+f 4 24 44
+f 4 44 45
+f 4 45 73
+f 4 73 104
+f 4 104 129
+f 4 129 142
+f 4 142 151
+f 4 151 157
+f 4 157 154
+f 4 154 153
+f 4 153 152
+f 4 152 147
+f 4 147 146
+f 4 146 145
+f 4 145 136
+f 4 136 144
+f 4 144 143
+f 4 143 131
+f 4 131 130
+f 4 130 105
+f 4 105 74
+f 4 74 47
+f 4 47 26
+f 4 26 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 16 7
+f 6 15 17
+f 6 17 16
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 23
+f 10 12 24
+f 12 25 24
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 17
+f 16 31 19
+f 16 19 18
+f 16 17 31
+f 17 30 32
+f 17 32 33
+f 17 33 31
+f 19 31 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 24 25 44
+f 25 45 44
+f 25 46 45
+f 26 28 27
+f 26 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 32
+f 31 33 34
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 33
+f 33 57 58
+f 33 58 34
+f 34 58 35
+f 35 58 59
+f 35 59 36
+f 36 38 37
+f 36 59 60
+f 36 60 61
+f 36 61 38
+f 38 61 41
+f 38 41 40
+f 38 40 39
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 71
+f 45 46 72
+f 45 72 73
+f 47 74 48
+f 48 74 49
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 50 76 77
+f 50 77 51
+f 51 77 52
+f 52 77 78
+f 52 78 79
+f 52 79 53
+f 53 79 54
+f 54 79 80
+f 54 80 55
+f 55 80 81
+f 55 81 56
+f 56 82 83
+f 56 83 57
+f 56 81 84
+f 56 84 85
+f 56 85 82
+f 57 83 58
+f 58 83 59
+f 59 83 60
+f 60 83 86
+f 60 86 62
+f 60 62 61
+f 62 86 87
+f 62 87 88
+f 62 88 89
+f 62 89 90
+f 62 90 63
+f 63 90 89
+f 63 89 64
+f 64 89 91
+f 64 91 67
+f 64 67 65
+f 65 67 66
+f 67 91 69
+f 67 69 68
+f 69 92 93
+f 69 93 94
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 98
+f 69 98 99
+f 69 99 100
+f 69 100 70
+f 69 91 92
+f 70 100 101
+f 70 101 71
+f 72 102 73
+f 73 102 103
+f 73 103 104
+f 74 105 75
+f 75 105 106
+f 75 106 76
+f 76 106 77
+f 77 106 78
+f 78 106 79
+f 79 106 80
+f 80 106 107
+f 80 107 81
+f 81 107 84
+f 82 108 83
+f 82 85 108
+f 83 108 109
+f 83 109 86
+f 84 110 85
+f 84 107 111
+f 84 111 110
+f 85 112 108
+f 85 110 111
+f 85 111 113
+f 85 113 112
+f 86 109 114
+f 86 114 115
+f 86 115 87
+f 87 115 89
+f 87 89 88
+f 89 115 112
+f 89 112 91
+f 91 112 116
+f 91 116 117
+f 91 117 92
+f 92 117 116
+f 92 116 93
+f 93 116 94
+f 94 116 118
+f 94 118 119
+f 94 119 120
+f 94 120 95
+f 95 120 121
+f 95 121 96
+f 96 121 122
+f 96 122 123
+f 96 123 124
+f 96 124 97
+f 97 125 98
+f 97 124 125
+f 98 125 126
+f 98 126 99
+f 99 127 100
+f 99 126 127
+f 100 127 101
+f 103 128 104
+f 104 128 129
+f 105 130 106
+f 106 130 131
+f 106 131 132
+f 106 132 118
+f 106 118 133
+f 106 133 111
+f 106 111 134
+f 106 134 107
+f 107 134 111
+f 108 112 115
+f 108 115 109
+f 109 115 114
+f 111 133 116
+f 111 116 113
+f 112 113 116
+f 116 133 118
+f 118 135 136
+f 118 136 137
+f 118 137 138
+f 118 138 119
+f 118 132 135
+f 119 138 120
+f 120 138 148
+f 120 148 147
+f 120 147 152
+f 120 152 149
+f 120 149 139
+f 120 139 123
+f 120 123 121
+f 121 123 122
+f 123 139 140
+f 123 140 124
+f 128 141 142
+f 128 142 129
+f 131 143 132
+f 132 143 144
+f 132 144 135
+f 135 144 136
+f 136 145 137
+f 137 145 146
+f 137 146 147
+f 137 147 148
+f 137 148 138
+f 141 150 142
+f 142 150 151
+f 149 152 153
+f 149 153 154
+f 149 154 155
+f 150 156 151
+f 151 156 155
+f 151 155 157
+f 154 157 155
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_14.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01558531 -0.01860865 -0.00440250
+v -0.01558328 -0.01047011 -0.01270365
+v -0.01558531 -0.01047168 -0.01270121
+v -0.01558531 -0.02412739 -0.00440252
+v -0.00867778 -0.02171471 -0.00440251
+v -0.00867778 -0.01547589 -0.01270367
+v -0.01558531 -0.01145056 -0.01270365
+v -0.01558531 -0.02411641 -0.00443665
+v -0.01148717 -0.02595495 -0.00479910
+v -0.01109636 -0.02620908 -0.00440253
+v -0.00867778 -0.02649615 -0.00440253
+v -0.00867778 -0.02244570 -0.01270369
+v -0.01558531 -0.01915139 -0.01270368
+v -0.01558531 -0.02387326 -0.00516072
+v -0.01075152 -0.02489135 -0.00791640
+v -0.01062035 -0.02608986 -0.00515423
+v -0.01103889 -0.02622634 -0.00440253
+v -0.01558531 -0.02350147 -0.00625942
+v -0.01558531 -0.02346539 -0.00634881
+v -0.00867778 -0.02559570 -0.00686972
+v -0.00867778 -0.02285044 -0.01207876
+v -0.00976840 -0.02274376 -0.01207876
+v -0.00976840 -0.02233746 -0.01270369
+v -0.01558531 -0.01977889 -0.01208851
+v -0.01471713 -0.01997026 -0.01270368
+v -0.00976840 -0.02464192 -0.00865835
+v -0.00867778 -0.02493684 -0.00831460
+v -0.00867778 -0.02550001 -0.00710132
+v -0.01558531 -0.02220414 -0.00897608
+v -0.01065281 -0.02359558 -0.01040798
+v -0.00976840 -0.02367088 -0.01056563
+v -0.00976840 -0.02422621 -0.00950431
+v -0.00867778 -0.02334615 -0.01127751
+v -0.00976840 -0.02329909 -0.01120924
+v -0.01039790 -0.02218058 -0.01270369
+v -0.01456094 -0.02100092 -0.01167650
+v -0.01542777 -0.02066051 -0.01122792
+v -0.01558531 -0.02057423 -0.01115641
+v -0.01398689 -0.02038283 -0.01270368
+v -0.00867778 -0.02437210 -0.00944418
+v -0.01044523 -0.02216333 -0.01270369
+v -0.00867778 -0.02372578 -0.01063470
+v -0.00867778 -0.02427013 -0.00964002
+v -0.01367181 -0.02055539 -0.01270369
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 38
+f 1 38 29
+f 1 29 19
+f 1 19 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 6 12
+f 2 12 23
+f 2 23 35
+f 2 35 41
+f 2 41 44
+f 2 44 39
+f 2 39 25
+f 2 25 13
+f 2 13 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 5 11 20
+f 5 20 28
+f 5 28 27
+f 5 27 40
+f 5 40 43
+f 5 43 42
+f 5 42 33
+f 5 33 21
+f 5 21 12
+f 5 12 6
+f 8 14 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 9 14 18
+f 9 18 19
+f 9 19 15
+f 11 17 16
+f 11 16 20
+f 12 21 22
+f 12 22 23
+f 13 25 24
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 19 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 26
+f 16 28 20
+f 21 33 34
+f 21 34 22
+f 22 35 23
+f 22 34 30
+f 22 30 35
+f 24 25 36
+f 24 36 37
+f 24 37 38
+f 25 39 36
+f 26 32 27
+f 27 32 40
+f 29 38 37
+f 29 37 36
+f 29 36 30
+f 30 34 31
+f 30 36 41
+f 30 41 35
+f 31 34 42
+f 31 42 43
+f 31 43 32
+f 32 43 40
+f 33 42 34
+f 36 39 44
+f 36 44 41
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_15.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00775965 0.01240858 -0.01309179
+v 0.01238508 0.00657945 -0.01309182
+v 0.00775965 0.01776373 -0.00861523
+v 0.00775965 0.02038108 -0.01309177
+v 0.01988577 0.00657945 -0.01309182
+v 0.01724599 0.00657943 -0.00861528
+v 0.00775965 0.02321826 -0.00861521
+v 0.00775965 0.02099347 -0.01234326
+v 0.00850390 0.02022472 -0.01309177
+v 0.01977675 0.00705015 -0.01309181
+v 0.02081463 0.00775537 -0.01148525
+v 0.02006311 0.00657945 -0.01284641
+v 0.02260841 0.00657943 -0.00861528
+v 0.01011888 0.02243648 -0.00861522
+v 0.01057096 0.02209934 -0.00907887
+v 0.00775965 0.02273454 -0.00960694
+v 0.00949964 0.02087131 -0.01175340
+v 0.00843268 0.02060096 -0.01260181
+v 0.00775965 0.02204398 -0.01075554
+v 0.00950400 0.01976869 -0.01309177
+v 0.01977384 0.00705992 -0.01309181
+v 0.02218540 0.00790194 -0.00905789
+v 0.02141934 0.00657944 -0.01077576
+v 0.02113734 0.00657944 -0.01125957
+v 0.02090912 0.00657944 -0.01162330
+v 0.02047449 0.00657945 -0.01226663
+v 0.01975204 0.00712344 -0.01309181
+v 0.01962121 0.00791987 -0.01289285
+v 0.01957033 0.01041178 -0.01156193
+v 0.02094255 0.01059093 -0.00916963
+v 0.02251828 0.00657943 -0.00880285
+v 0.02243252 0.00745730 -0.00861527
+v 0.01079481 0.02218729 -0.00861522
+v 0.01036600 0.02067098 -0.01142209
+v 0.01437218 0.01948690 -0.00901096
+v 0.01316713 0.01949668 -0.01034274
+v 0.01198242 0.01825237 -0.01296249
+v 0.01210889 0.01801620 -0.01309177
+v 0.02228715 0.00812833 -0.00861527
+v 0.02228279 0.00657943 -0.00924502
+v 0.02205748 0.00657944 -0.00965827
+v 0.01935520 0.00811206 -0.01309181
+v 0.01867490 0.00958278 -0.01309180
+v 0.01819375 0.01292161 -0.01145412
+v 0.01937555 0.01386299 -0.00870641
+v 0.01840744 0.01012840 -0.01309180
+v 0.01701487 0.01305029 -0.01288757
+v 0.02107774 0.01083035 -0.00861526
+v 0.01447539 0.01960905 -0.00861523
+v 0.01284878 0.01794780 -0.01261015
+v 0.01320637 0.01834845 -0.01175209
+v 0.01699306 0.01692658 -0.00905172
+v 0.01582435 0.01696405 -0.01044837
+v 0.01542896 0.01667577 -0.01130598
+v 0.01255515 0.01766603 -0.01309178
+v 0.01821410 0.01422783 -0.01019508
+v 0.01710063 0.01706014 -0.00861524
+v 0.01927670 0.01405518 -0.00861525
+v 0.01944532 0.01378644 -0.00861525
+v 0.01656860 0.01326365 -0.01309179
+v 0.01464110 0.01569693 -0.01309178
+v 0.01461639 0.01575882 -0.01306943
+v 0.01548129 0.01527835 -0.01260797
+v 0.01578801 0.01581093 -0.01174991
+v 0.01455824 0.01578488 -0.01309178
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 19
+f 1 19 8
+f 1 8 4
+f 1 4 9
+f 1 9 20
+f 1 20 38
+f 1 38 55
+f 1 55 65
+f 1 65 61
+f 1 61 60
+f 1 60 46
+f 1 46 43
+f 1 43 42
+f 1 42 27
+f 1 27 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 12
+f 2 12 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 41
+f 2 41 40
+f 2 40 31
+f 2 31 13
+f 2 13 6
+f 2 6 3
+f 3 6 13
+f 3 13 32
+f 3 32 39
+f 3 39 48
+f 3 48 59
+f 3 59 58
+f 3 58 57
+f 3 57 49
+f 3 49 33
+f 3 33 14
+f 3 14 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 8 19 17
+f 9 18 17
+f 9 17 20
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 11 21 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 22
+f 13 31 22
+f 13 22 32
+f 14 33 15
+f 15 34 17
+f 15 17 16
+f 15 33 35
+f 15 35 36
+f 15 36 34
+f 16 17 19
+f 17 34 20
+f 20 37 38
+f 20 34 37
+f 22 39 32
+f 22 31 40
+f 22 40 41
+f 22 41 23
+f 22 30 39
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 44 45
+f 29 45 30
+f 29 43 46
+f 29 46 47
+f 29 47 44
+f 30 48 39
+f 30 45 48
+f 33 49 35
+f 34 36 50
+f 34 50 37
+f 35 51 36
+f 35 49 52
+f 35 52 53
+f 35 53 54
+f 35 54 51
+f 36 51 50
+f 37 50 38
+f 38 50 55
+f 44 47 56
+f 44 56 45
+f 45 56 52
+f 45 52 57
+f 45 57 58
+f 45 58 59
+f 45 59 48
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 56
+f 49 57 52
+f 50 51 54
+f 50 54 62
+f 50 62 55
+f 52 64 54
+f 52 54 53
+f 52 56 64
+f 54 64 63
+f 54 63 62
+f 55 62 65
+f 61 65 62
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_16.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.01940736 -0.00001958 -0.01969039
+v -0.01141978 -0.00001958 -0.01969039
+v -0.01855656 -0.00001957 -0.02237633
+v -0.01855794 -0.00072976 -0.02237633
+v -0.01940323 -0.00072977 -0.01969039
+v -0.00534305 -0.00818198 -0.01969042
+v -0.00534305 -0.01180268 -0.02297206
+v -0.00534305 -0.01181403 -0.02298114
+v -0.01451734 -0.00001957 -0.02279083
+v -0.01825369 -0.00001957 -0.02306282
+v -0.01825369 -0.00072976 -0.02306124
+v -0.01823579 -0.00157941 -0.02304151
+v -0.01843266 -0.00201720 -0.02247384
+v -0.01929447 -0.00209342 -0.01969040
+v -0.00534305 -0.01658436 -0.01969045
+v -0.00534305 -0.01238963 -0.02340986
+v -0.01487115 -0.00001957 -0.02312440
+v -0.01794255 -0.00001956 -0.02320730
+v -0.01756672 -0.00001956 -0.02338178
+v -0.01756672 -0.00072975 -0.02337981
+v -0.01767272 -0.00201719 -0.02327679
+v -0.01743180 -0.00332408 -0.02330126
+v -0.01727899 -0.00462287 -0.02326890
+v -0.01817797 -0.00244364 -0.02296769
+v -0.01836658 -0.00332409 -0.02213751
+v -0.01928896 -0.00214044 -0.01969040
+v -0.00586894 -0.01650004 -0.01969045
+v -0.00534305 -0.01581578 -0.02228086
+v -0.00534305 -0.01283878 -0.02352592
+v -0.01516714 -0.00001956 -0.02340113
+v -0.01697749 -0.00001956 -0.02353574
+v -0.01626712 -0.00202692 -0.02372247
+v -0.01626712 -0.00332408 -0.02369365
+v -0.01626712 -0.00462287 -0.02362774
+v -0.01626712 -0.00592003 -0.02347694
+v -0.01708763 -0.00592003 -0.02316192
+v -0.01808160 -0.00332409 -0.02278097
+v -0.01912376 -0.00320087 -0.01969040
+v -0.01827296 -0.00416887 -0.02189553
+v -0.01910448 -0.00332410 -0.01969040
+v -0.00721948 -0.01619196 -0.01969045
+v -0.00664402 -0.01568768 -0.02185333
+v -0.00586894 -0.01577524 -0.02212335
+v -0.00534305 -0.01560499 -0.02292905
+v -0.00534305 -0.01370463 -0.02371540
+v -0.01626712 -0.00001956 -0.02371970
+v -0.01576738 -0.00001956 -0.02357522
+v -0.01236832 -0.00981152 -0.02369723
+v -0.01496752 -0.00592003 -0.02370550
+v -0.01496752 -0.00721881 -0.02364630
+v -0.01627262 -0.00713126 -0.02325115
+v -0.01695271 -0.00664159 -0.02305652
+v -0.01794531 -0.00460990 -0.02234516
+v -0.01750752 -0.00592004 -0.02237635
+v -0.01879473 -0.00471369 -0.01969041
+v -0.00846814 -0.01573958 -0.01969045
+v -0.00846814 -0.01489317 -0.02237638
+v -0.00711348 -0.01536177 -0.02231994
+v -0.00586894 -0.01552878 -0.02276681
+v -0.00534305 -0.01542501 -0.02307590
+v -0.00916200 -0.01437593 -0.02304234
+v -0.00846814 -0.01450725 -0.02315090
+v -0.00534305 -0.01431754 -0.02352908
+v -0.00586894 -0.01370463 -0.02370593
+v -0.01106872 -0.01111031 -0.02368184
+v -0.01236832 -0.01111031 -0.02348565
+v -0.01366654 -0.00981152 -0.02348762
+v -0.01366654 -0.00851436 -0.02368025
+v -0.00846814 -0.01240747 -0.02369488
+v -0.01584309 -0.00823709 -0.02317891
+v -0.01506251 -0.00860678 -0.02334984
+v -0.01555950 -0.00910133 -0.02293771
+v -0.01674345 -0.00756257 -0.02237636
+v -0.01709176 -0.00691399 -0.02237636
+v -0.01835969 -0.00592005 -0.01969041
+v -0.00970992 -0.01521099 -0.01969045
+v -0.00942082 -0.01449916 -0.02237638
+v -0.00716854 -0.01470831 -0.02326656
+v -0.00534305 -0.01498396 -0.02329776
+v -0.01007199 -0.01416514 -0.02237638
+v -0.01164968 -0.01299445 -0.02292312
+v -0.01078374 -0.01327495 -0.02317893
+v -0.00966449 -0.01370626 -0.02324090
+v -0.00846814 -0.01370463 -0.02346513
+v -0.00716854 -0.01370463 -0.02363843
+v -0.00976774 -0.01240747 -0.02363408
+v -0.01115683 -0.01249989 -0.02335144
+v -0.01236832 -0.01206696 -0.02317576
+v -0.01356604 -0.01101140 -0.02317023
+v -0.01463436 -0.00981152 -0.02317813
+v -0.01436453 -0.01051362 -0.02305931
+v -0.01523184 -0.00979207 -0.02245572
+v -0.01575499 -0.00934779 -0.02207950
+v -0.01607989 -0.00860679 -0.02245571
+v -0.01689351 -0.00782201 -0.02157658
+v -0.01780902 -0.00718316 -0.01969042
+v -0.01096271 -0.01455916 -0.01969044
+v -0.01034458 -0.01431755 -0.02146922
+v -0.00586894 -0.01488019 -0.02329893
+v -0.01115683 -0.01349872 -0.02244704
+v -0.01189061 -0.01318091 -0.02206531
+v -0.01234079 -0.01266367 -0.02244704
+v -0.01306493 -0.01180106 -0.02305575
+v -0.01389507 -0.01134381 -0.02237637
+v -0.01452973 -0.01069522 -0.02237637
+v -0.01626299 -0.00977587 -0.01969043
+v -0.01714820 -0.00842844 -0.01969042
+v -0.01509280 -0.01123356 -0.01969043
+v -0.01231738 -0.01368844 -0.01969044
+v -0.01378769 -0.01252910 -0.01969044
+v -0.01324527 -0.01196320 -0.02237637
+f 1 2 9
+f 1 9 17
+f 1 17 30
+f 1 30 47
+f 1 47 46
+f 1 46 31
+f 1 31 19
+f 1 19 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 38
+f 1 38 40
+f 1 40 55
+f 1 55 75
+f 1 75 96
+f 1 96 107
+f 1 107 106
+f 1 106 108
+f 1 108 110
+f 1 110 109
+f 1 109 97
+f 1 97 76
+f 1 76 56
+f 1 56 41
+f 1 41 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 6 15 28
+f 6 28 44
+f 6 44 60
+f 6 60 79
+f 6 79 63
+f 6 63 45
+f 6 45 29
+f 6 29 16
+f 6 16 8
+f 6 8 7
+f 8 16 17
+f 8 17 9
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 20 21
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 28
+f 16 29 30
+f 16 30 17
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 22
+f 20 22 21
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 37 25
+f 24 36 37
+f 25 38 26
+f 25 37 39
+f 25 39 40
+f 25 40 38
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 31 46 32
+f 32 46 45
+f 32 45 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 50 35
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 44
+f 42 44 43
+f 44 59 61
+f 44 61 62
+f 44 62 60
+f 45 63 64
+f 45 64 48
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 48 64 69
+f 48 69 65
+f 49 68 50
+f 50 70 51
+f 50 68 67
+f 50 67 71
+f 50 71 70
+f 51 70 52
+f 52 70 72
+f 52 72 73
+f 52 73 74
+f 52 74 54
+f 52 54 53
+f 54 75 55
+f 54 74 75
+f 56 76 77
+f 56 77 57
+f 57 77 61
+f 57 61 58
+f 58 61 59
+f 60 62 78
+f 60 78 79
+f 61 77 80
+f 61 80 81
+f 61 81 82
+f 61 82 62
+f 62 82 83
+f 62 83 84
+f 62 84 78
+f 63 79 85
+f 63 85 64
+f 64 85 86
+f 64 86 69
+f 65 69 86
+f 65 86 66
+f 66 86 87
+f 66 87 88
+f 66 88 89
+f 66 89 67
+f 67 90 71
+f 67 89 90
+f 70 71 90
+f 70 90 91
+f 70 91 72
+f 72 91 92
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 73 95 74
+f 73 94 95
+f 74 95 96
+f 74 96 75
+f 76 97 98
+f 76 98 77
+f 77 98 80
+f 78 99 79
+f 78 84 85
+f 78 85 99
+f 79 99 85
+f 80 98 100
+f 80 100 81
+f 81 100 101
+f 81 101 102
+f 81 102 103
+f 81 103 82
+f 82 103 88
+f 82 88 87
+f 82 87 86
+f 82 86 84
+f 82 84 83
+f 84 86 85
+f 88 103 89
+f 89 91 90
+f 89 103 91
+f 91 103 104
+f 91 104 105
+f 91 105 92
+f 92 105 93
+f 93 106 107
+f 93 107 95
+f 93 95 94
+f 93 105 108
+f 93 108 106
+f 95 107 96
+f 97 109 101
+f 97 101 100
+f 97 100 98
+f 101 109 110
+f 101 110 111
+f 101 111 102
+f 102 111 103
+f 103 111 104
+f 104 108 105
+f 104 111 110
+f 104 110 108
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_17.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.00030547 0.03041767 0.02139495
+v -0.00066807 0.03041767 0.02140837
+v 0.00030547 0.02912034 0.02133903
+v 0.00030547 0.03131956 0.02101472
+v -0.00066807 0.03134973 0.02103709
+v -0.00196882 0.03136804 0.02104827
+v -0.00196882 0.03041767 0.02141284
+v -0.00976658 0.02912034 0.02146428
+v -0.00846718 0.02912034 0.02145086
+v -0.01356566 0.02782193 0.02145309
+v -0.01356566 0.02653861 0.02106391
+v -0.01356566 0.02646857 0.02103707
+v 0.00030547 0.02819906 0.02095655
+v 0.00030547 0.03168700 0.02009769
+v -0.00066807 0.03175057 0.02009769
+v -0.00196882 0.03178721 0.02009769
+v -0.00326822 0.03136050 0.02104380
+v -0.00326822 0.03041767 0.02141284
+v -0.00456898 0.03041767 0.02140166
+v -0.01106733 0.02912034 0.02143968
+v -0.01356566 0.02792429 0.02145085
+v -0.01356566 0.02588994 0.02071946
+v 0.00030547 0.02753101 0.02016925
+v 0.00030547 0.03157494 0.01881161
+v -0.00066807 0.03164282 0.01881161
+v -0.00196882 0.03168054 0.01881161
+v -0.00326822 0.03177320 0.02009769
+v -0.00326822 0.03166761 0.01881161
+v -0.00456898 0.03133141 0.02102367
+v -0.00586838 0.03041767 0.02137034
+v -0.00716642 0.03041767 0.02130772
+v -0.01236673 0.02912034 0.02134798
+v -0.01356566 0.02918499 0.02112655
+v -0.01356566 0.02554945 0.02026318
+v -0.01356566 0.02549665 0.02018937
+v -0.01356566 0.02546648 0.02014687
+v 0.00030547 0.02711724 0.01955417
+v 0.00030547 0.02834569 0.00070136
+v -0.00196882 0.02896740 0.00208139
+v -0.00456898 0.03171502 0.02009769
+v -0.00456898 0.03160726 0.01881161
+v -0.00286768 0.02856119 -0.00022238
+v -0.00586838 0.03128077 0.02097893
+v -0.00976658 0.03030669 0.02113997
+v -0.01106733 0.03014398 0.02108181
+v -0.01356566 0.02924102 0.02109971
+v -0.01356566 0.02473593 0.01889881
+v -0.01356566 0.02448810 0.01836202
+v 0.00030547 0.02706121 0.01943115
+v 0.00030547 0.02809785 -0.00049302
+v -0.00218607 0.02856119 -0.00022238
+v -0.00183847 0.02867972 0.00066558
+v -0.00586838 0.03161050 0.02009769
+v -0.00586838 0.03149736 0.01881161
+v -0.00684055 0.02855041 0.00103239
+v -0.00192537 0.02822717 -0.00138544
+v -0.00240739 0.02819915 -0.00138544
+v -0.00716642 0.02789421 -0.00138544
+v -0.00716642 0.02812802 -0.00049302
+v -0.00716642 0.03120211 0.02090288
+v -0.01236673 0.02996404 0.02094985
+v -0.00816575 0.03112668 0.02081565
+v -0.01356566 0.02931322 0.02105497
+v 0.00030547 0.02679399 0.01884067
+v -0.01356566 0.02419287 0.01762615
+v 0.00030547 0.02788344 -0.00138544
+v -0.00716642 0.03145102 0.02009769
+v -0.00846718 0.03120750 0.01906658
+v -0.00936332 0.03112023 0.01930591
+v -0.01176524 0.02720459 0.00001918
+v -0.01106733 0.02696539 -0.00138544
+v -0.00903202 0.03104694 0.02065461
+v -0.01320584 0.02983366 0.02082013
+v -0.01356566 0.02977439 0.02053383
+v 0.00030547 0.02665499 0.01848728
+v -0.01356566 0.02418101 0.01759260
+v 0.00030547 0.02627679 0.01752328
+v 0.00030547 0.02322748 -0.00138545
+v -0.00936332 0.03112023 0.01979573
+v -0.00854593 0.03121505 0.02017373
+v -0.01341766 0.02990910 0.01908224
+v -0.01236673 0.03027653 0.02009768
+v -0.01106733 0.03064396 0.02009768
+v -0.01142307 0.02681777 -0.00138544
+v -0.01237081 0.02637383 -0.00138544
+v -0.01272655 0.02618742 -0.00138544
+v -0.01356566 0.02574241 -0.00138545
+v -0.01356566 0.02603117 -0.00049302
+v -0.01356566 0.02604841 -0.00043486
+v -0.01356566 0.02634042 0.00070360
+v -0.01356566 0.02658824 0.00196507
+v -0.00978559 0.03095321 0.02017373
+v -0.01345839 0.02992310 0.02009768
+v -0.01356566 0.02988431 0.02009768
+v -0.01356566 0.02375216 0.01635350
+v -0.01356566 0.02369505 0.01618575
+v 0.00030547 0.02596323 0.01658164
+v -0.01356566 0.02077935 -0.00138546
+v 0.00030547 0.02507536 0.01237448
+v -0.01356566 0.02979919 0.01893238
+v 0.00030547 0.02577897 0.01593748
+v 0.00030547 0.02591690 0.01642061
+v -0.01356566 0.02340089 0.01510320
+v -0.01356566 0.02286861 0.01237447
+v 0.00030547 0.02527255 0.01366279
+v -0.01356566 0.02336211 0.01494887
+v 0.00030547 0.02553223 0.01494887
+v -0.01356566 0.02288692 0.01248630
+v 0.00030547 0.02546650 0.01462679
+v -0.01356566 0.02307226 0.01361358
+v -0.01356566 0.02325005 0.01445457
+f 1 2 3
+f 1 3 13
+f 1 13 23
+f 1 23 37
+f 1 37 49
+f 1 49 64
+f 1 64 75
+f 1 75 77
+f 1 77 97
+f 1 97 102
+f 1 102 101
+f 1 101 107
+f 1 107 109
+f 1 109 105
+f 1 105 99
+f 1 99 78
+f 1 78 66
+f 1 66 50
+f 1 50 38
+f 1 38 24
+f 1 24 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 17 18
+f 6 18 7
+f 6 16 17
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 10
+f 8 10 9
+f 10 21 33
+f 10 33 46
+f 10 46 63
+f 10 63 74
+f 10 74 94
+f 10 94 100
+f 10 100 91
+f 10 91 90
+f 10 90 89
+f 10 89 88
+f 10 88 87
+f 10 87 98
+f 10 98 104
+f 10 104 108
+f 10 108 110
+f 10 110 111
+f 10 111 106
+f 10 106 103
+f 10 103 96
+f 10 96 95
+f 10 95 76
+f 10 76 65
+f 10 65 48
+f 10 48 47
+f 10 47 36
+f 10 36 35
+f 10 35 34
+f 10 34 22
+f 10 22 12
+f 10 12 11
+f 12 22 13
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 27
+f 17 29 30
+f 17 30 19
+f 17 19 18
+f 17 27 29
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 39 28
+f 27 40 29
+f 27 28 40
+f 28 41 40
+f 28 39 42
+f 28 42 41
+f 29 40 43
+f 29 43 31
+f 29 31 30
+f 31 44 32
+f 31 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 51
+f 39 51 42
+f 40 53 43
+f 40 41 53
+f 41 54 53
+f 41 42 55
+f 41 55 54
+f 42 51 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 42 59 55
+f 43 53 60
+f 43 60 44
+f 44 60 45
+f 45 61 46
+f 45 60 62
+f 45 62 61
+f 46 61 63
+f 48 64 49
+f 48 65 64
+f 50 66 51
+f 51 66 56
+f 53 67 62
+f 53 62 60
+f 53 54 68
+f 53 68 69
+f 53 69 67
+f 54 55 68
+f 55 59 70
+f 55 70 69
+f 55 69 68
+f 56 66 78
+f 56 78 98
+f 56 98 87
+f 56 87 86
+f 56 86 85
+f 56 85 84
+f 56 84 71
+f 56 71 58
+f 56 58 57
+f 58 71 70
+f 58 70 59
+f 61 62 72
+f 61 72 73
+f 61 73 63
+f 62 67 72
+f 63 73 74
+f 64 65 75
+f 65 76 77
+f 65 77 75
+f 67 69 79
+f 67 79 80
+f 67 80 72
+f 69 81 82
+f 69 82 83
+f 69 83 79
+f 69 70 81
+f 70 71 84
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 88
+f 70 88 89
+f 70 89 90
+f 70 90 91
+f 70 91 81
+f 72 80 79
+f 72 79 92
+f 72 92 83
+f 72 83 73
+f 73 83 82
+f 73 82 93
+f 73 93 94
+f 73 94 74
+f 76 95 77
+f 77 95 96
+f 77 96 97
+f 78 99 98
+f 79 83 92
+f 81 100 94
+f 81 94 93
+f 81 93 82
+f 81 91 100
+f 96 101 102
+f 96 102 97
+f 96 103 101
+f 98 99 104
+f 99 105 104
+f 101 103 106
+f 101 106 107
+f 104 105 108
+f 105 109 110
+f 105 110 108
+f 106 111 107
+f 107 111 110
+f 107 110 109
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_18.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00974341 -0.02445436 -0.00453041
+v 0.00974341 -0.02404111 -0.00563450
+v 0.01181221 -0.02353645 -0.00523158
+v 0.01102815 -0.02402437 -0.00453041
+v 0.00974341 -0.01932156 -0.00453039
+v 0.00974341 -0.02403725 -0.00564382
+v 0.01053382 -0.02348110 -0.00639875
+v 0.01140049 -0.02333047 -0.00608975
+v 0.01099384 -0.02363558 -0.00565385
+v 0.01199012 -0.02366777 -0.00453041
+v 0.01057068 -0.02225936 -0.00907723
+v 0.01408307 -0.02077114 -0.00743902
+v 0.01448082 -0.02096684 -0.00658085
+v 0.01560926 -0.02087414 -0.00506094
+v 0.01761452 -0.01130373 -0.00453036
+v 0.01146021 -0.01130371 -0.01185390
+v 0.00974341 -0.01310218 -0.01185391
+v 0.00974341 -0.02360984 -0.00663534
+v 0.01571473 -0.02099258 -0.00453040
+v 0.00974341 -0.02287988 -0.00821690
+v 0.00974341 -0.02235978 -0.00928514
+v 0.00974341 -0.02201089 -0.00992179
+v 0.00974341 -0.02126806 -0.01116783
+v 0.01036354 -0.02082778 -0.01141947
+v 0.01316049 -0.01965111 -0.01033832
+v 0.01437280 -0.01964726 -0.00901055
+v 0.01823592 -0.01830324 -0.00512186
+v 0.02272299 -0.01130373 -0.00453036
+v 0.01870738 -0.01130371 -0.01185390
+v 0.00974341 -0.02076598 -0.01185394
+v 0.01835792 -0.01842554 -0.00453039
+v 0.01012083 -0.02057416 -0.01185394
+v 0.01316304 -0.01845899 -0.01185393
+v 0.01320370 -0.01850534 -0.01175427
+v 0.01541102 -0.01681886 -0.01128682
+v 0.01581766 -0.01711754 -0.01042936
+v 0.01698549 -0.01708021 -0.00904136
+v 0.01962106 -0.01452733 -0.00784048
+v 0.02056905 -0.01538602 -0.00453038
+v 0.02233668 -0.01130373 -0.00563588
+v 0.02237607 -0.01208131 -0.00453036
+v 0.02221723 -0.01191266 -0.00532329
+v 0.02202661 -0.01162686 -0.00618147
+v 0.02022594 -0.01130371 -0.00963139
+v 0.01819018 -0.01307386 -0.01144884
+v 0.01797415 -0.01271211 -0.01185391
+v 0.01513526 -0.01650732 -0.01185392
+v 0.01574269 -0.01588293 -0.01185392
+v 0.01578335 -0.01595374 -0.01173849
+v 0.01820924 -0.01438056 -0.01018559
+v 0.01936817 -0.01402010 -0.00869722
+v 0.02067198 -0.01160754 -0.00865850
+v 0.02100238 -0.01130372 -0.00837029
+v 0.02085497 -0.01450417 -0.00519856
+v 0.02092613 -0.01482215 -0.00453037
+v 0.02226043 -0.01130373 -0.00585311
+v 0.02188429 -0.01130373 -0.00670771
+v 0.02031235 -0.01130372 -0.00950305
+v 0.01750269 -0.01351286 -0.01185391
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 39
+f 1 39 55
+f 1 55 41
+f 1 41 28
+f 1 28 15
+f 1 15 5
+f 1 5 17
+f 1 17 30
+f 1 30 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 8
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 5 15 16
+f 5 16 17
+f 6 18 7
+f 7 18 11
+f 7 11 8
+f 10 14 19
+f 11 18 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 14
+f 14 26 27
+f 14 27 19
+f 15 28 40
+f 15 40 56
+f 15 56 57
+f 15 57 53
+f 15 53 58
+f 15 58 44
+f 15 44 29
+f 15 29 16
+f 16 29 46
+f 16 46 59
+f 16 59 48
+f 16 48 47
+f 16 47 33
+f 16 33 32
+f 16 32 30
+f 16 30 17
+f 19 27 31
+f 23 30 24
+f 24 30 32
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 31
+f 28 41 42
+f 28 42 43
+f 28 43 40
+f 29 44 45
+f 29 45 46
+f 33 47 35
+f 33 35 34
+f 35 37 36
+f 35 47 48
+f 35 48 49
+f 35 49 37
+f 37 49 50
+f 37 50 38
+f 38 50 45
+f 38 45 51
+f 38 51 52
+f 38 52 53
+f 38 53 43
+f 38 43 54
+f 38 54 39
+f 39 54 55
+f 40 43 56
+f 41 55 42
+f 42 55 54
+f 42 54 43
+f 43 53 57
+f 43 57 56
+f 44 58 45
+f 45 50 49
+f 45 49 48
+f 45 48 59
+f 45 59 46
+f 45 58 52
+f 45 52 51
+f 52 58 53
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_19.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01904569 0.00657945 -0.01415000
+v 0.02397447 0.00145343 -0.01415001
+v 0.01828977 0.00657946 -0.01511891
+v 0.00980274 0.00657945 -0.01415000
+v 0.01679912 0.00657946 -0.01650560
+v 0.01799776 0.00657946 -0.01540929
+v 0.01814847 0.00657946 -0.01526904
+v 0.02403099 0.00134510 -0.01415002
+v 0.01343869 0.00657947 -0.01919504
+v 0.01656363 0.00657946 -0.01670956
+v 0.00030782 0.00657945 -0.01458952
+v 0.00030782 0.00024345 -0.01458361
+v 0.00030782 -0.00072841 -0.01458312
+v 0.00030782 -0.00202524 -0.01458263
+v 0.00030782 -0.00235226 -0.01458263
+v 0.00030782 -0.00386064 -0.01458313
+v 0.01095193 -0.00386064 -0.01415003
+v 0.02436067 0.00056945 -0.01415002
+v 0.01380605 0.00575988 -0.01919504
+v 0.00131100 0.00657947 -0.01919504
+v 0.00030782 0.00657947 -0.01894812
+v 0.00030782 -0.00386062 -0.01906618
+v 0.02004651 -0.00386064 -0.01415003
+v 0.02209291 0.00123372 -0.01530461
+v 0.02436067 -0.00072841 -0.01415002
+v 0.01490814 0.00056947 -0.01919506
+v 0.01479275 0.00186631 -0.01919505
+v 0.01410984 0.00464597 -0.01919504
+v 0.00030782 -0.00060882 -0.01919506
+v 0.00030782 -0.00332308 -0.01911309
+v 0.00437472 -0.00386062 -0.01919507
+v 0.01986754 -0.00386064 -0.01434559
+v 0.02319029 -0.00208349 -0.01415003
+v 0.01451252 0.00316417 -0.01919505
+v 0.02434655 -0.00104112 -0.01415002
+v 0.01490814 -0.00072839 -0.01919506
+v 0.00030782 -0.00124957 -0.01919506
+v 0.00030782 -0.00230217 -0.01917334
+v 0.00030782 -0.00202522 -0.01918914
+v 0.01435945 -0.00386062 -0.01919507
+v 0.01714529 -0.00386063 -0.01682119
+v 0.02397447 -0.00161238 -0.01415003
+v 0.01670963 -0.00386063 -0.01719849
+v 0.02400509 -0.00158070 -0.01415003
+v 0.01447720 -0.00352747 -0.01919507
+v 0.01472211 -0.00253312 -0.01919507
+v 0.01479275 -0.00202522 -0.01919507
+v 0.01486575 -0.00137732 -0.01919507
+v 0.01461614 -0.00386062 -0.01899161
+v 0.01635169 -0.00386063 -0.01750516
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 5
+f 1 5 10
+f 1 10 9
+f 1 9 20
+f 1 20 21
+f 1 21 11
+f 1 11 4
+f 1 4 17
+f 1 17 23
+f 1 23 33
+f 1 33 42
+f 1 42 44
+f 1 44 35
+f 1 35 25
+f 1 25 18
+f 1 18 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 8 18 19
+f 8 19 9
+f 9 19 28
+f 9 28 34
+f 9 34 27
+f 9 27 26
+f 9 26 36
+f 9 36 48
+f 9 48 47
+f 9 47 46
+f 9 46 45
+f 9 45 40
+f 9 40 31
+f 9 31 37
+f 9 37 29
+f 9 29 20
+f 11 21 29
+f 11 29 37
+f 11 37 39
+f 11 39 38
+f 11 38 30
+f 11 30 22
+f 11 22 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 16 22 31
+f 16 31 40
+f 16 40 49
+f 16 49 50
+f 16 50 43
+f 16 43 41
+f 16 41 32
+f 16 32 23
+f 16 23 17
+f 18 24 19
+f 18 25 36
+f 18 36 26
+f 18 26 27
+f 18 27 24
+f 19 24 28
+f 20 29 21
+f 22 30 31
+f 23 32 33
+f 24 27 34
+f 24 34 28
+f 25 35 36
+f 30 38 31
+f 31 38 39
+f 31 39 37
+f 32 41 33
+f 33 41 43
+f 33 43 42
+f 35 44 40
+f 35 40 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 40 44 42
+f 40 42 49
+f 42 43 50
+f 42 50 49
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_2.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00030639 -0.02711057 -0.00453042
+v 0.00030639 -0.02673037 -0.00564383
+v 0.00193305 -0.02719491 -0.00461645
+v 0.00193305 -0.02722395 -0.00453042
+v 0.00030639 -0.02238081 -0.00453040
+v 0.00030639 -0.02624093 -0.00692858
+v 0.00114974 -0.02607502 -0.00766416
+v 0.00193305 -0.02680918 -0.00564383
+v 0.00650636 -0.02605015 -0.00503945
+v 0.00200510 -0.02721150 -0.00453042
+v 0.00147766 -0.02607502 -0.00766416
+v 0.00974121 -0.01932258 -0.00453039
+v 0.00974121 -0.01310100 -0.01185391
+v 0.00030639 -0.01752245 -0.01185392
+v 0.00030639 -0.02571279 -0.00814020
+v 0.00030639 -0.02502426 -0.00955831
+v 0.00106845 -0.02479752 -0.01025661
+v 0.00191920 -0.02626858 -0.00698522
+v 0.00974121 -0.02404128 -0.00563450
+v 0.00973937 -0.02445466 -0.00453041
+v 0.00664400 -0.02614278 -0.00453042
+v 0.00234410 -0.02598101 -0.00745052
+v 0.00583205 -0.02491505 -0.00797244
+v 0.00656456 -0.02480030 -0.00770215
+v 0.00974121 -0.02361130 -0.00663033
+v 0.00191920 -0.02574044 -0.00814307
+v 0.00147581 -0.02479752 -0.01025661
+v 0.00974121 -0.02445328 -0.00453041
+v 0.00974121 -0.02076595 -0.01185394
+v 0.00030639 -0.02373848 -0.01185395
+v 0.00030639 -0.02440625 -0.01072190
+v 0.00031378 -0.02373986 -0.01185395
+v 0.00063246 -0.02374677 -0.01185395
+v 0.00583205 -0.02459706 -0.00861553
+v 0.00559281 -0.02363893 -0.01049176
+v 0.00974121 -0.02201027 -0.00992179
+v 0.00974121 -0.02236007 -0.00928514
+v 0.00974121 -0.02287991 -0.00821690
+v 0.00067126 -0.02374539 -0.01185395
+v 0.00113866 -0.02370944 -0.01185395
+v 0.00183699 -0.02365414 -0.01185395
+v 0.00193305 -0.02364446 -0.01185395
+v 0.00193305 -0.02368041 -0.01180018
+v 0.00974121 -0.02117105 -0.01130118
+v 0.00958788 -0.02088762 -0.01185394
+v 0.00479564 -0.02288681 -0.01185394
+v 0.00580434 -0.02258818 -0.01185394
+v 0.00949551 -0.02103417 -0.01175285
+v 0.00974121 -0.02126783 -0.01116783
+v 0.00936803 -0.02100099 -0.01185394
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 20
+f 1 20 28
+f 1 28 12
+f 1 12 5
+f 1 5 14
+f 1 14 30
+f 1 30 31
+f 1 31 16
+f 1 16 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 8
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 27
+f 7 27 11
+f 8 18 9
+f 8 11 18
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 9 18 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 19
+f 11 26 22
+f 11 22 18
+f 11 27 26
+f 12 28 19
+f 12 19 25
+f 12 25 38
+f 12 38 37
+f 12 37 36
+f 12 36 49
+f 12 49 44
+f 12 44 29
+f 12 29 13
+f 13 29 45
+f 13 45 50
+f 13 50 47
+f 13 47 46
+f 13 46 42
+f 13 42 41
+f 13 41 40
+f 13 40 39
+f 13 39 33
+f 13 33 32
+f 13 32 30
+f 13 30 14
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 27
+f 19 28 20
+f 22 26 23
+f 23 34 24
+f 23 26 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 26 27 34
+f 27 33 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 35
+f 27 35 34
+f 29 44 45
+f 30 32 31
+f 35 43 42
+f 35 42 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 44 49 48
+f 44 48 45
+f 45 48 50
+f 47 50 48
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_20.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.02083523 -0.00386068 -0.00293346
+v 0.02018081 0.00657941 -0.00293343
+v 0.02549442 -0.00386068 -0.00293346
+v 0.02344660 -0.00386074 0.01356404
+v 0.02490198 0.00657941 -0.00293343
+v 0.02290207 0.00657935 0.01366145
+v 0.02565856 -0.00202528 -0.00293346
+v 0.02560572 -0.00386068 -0.00252494
+v 0.02370443 -0.00386074 0.01491073
+v 0.02491396 0.00657941 -0.00289780
+v 0.02600444 0.00516096 -0.00122098
+v 0.02493932 0.00647620 -0.00293343
+v 0.02315426 0.00657935 0.01490600
+v 0.02566489 0.00186625 -0.00293344
+v 0.02588750 -0.00202528 -0.00206892
+v 0.02602205 -0.00286226 -0.00129701
+v 0.02581001 -0.00386068 -0.00172928
+v 0.02390027 -0.00386075 0.01570164
+v 0.02508443 0.00657941 -0.00238003
+v 0.02625874 0.00186624 -0.00049420
+v 0.02605445 0.00186625 -0.00143475
+v 0.02588961 0.00186625 -0.00207840
+v 0.02546272 0.00446809 -0.00293343
+v 0.02517249 0.00582829 -0.00293343
+v 0.02526759 0.00657941 -0.00175300
+v 0.02556275 0.00657940 -0.00049419
+v 0.02608686 0.00534695 -0.00049419
+v 0.02663984 0.00575980 0.00336773
+v 0.02737669 0.00234857 0.00544594
+v 0.02737669 0.00164446 0.00498280
+v 0.02403411 -0.00386075 0.01623603
+v 0.02335291 0.00657934 0.01569454
+v 0.02605163 -0.00202528 -0.00142527
+v 0.02625451 -0.00202529 -0.00049422
+v 0.02737669 -0.00211013 0.00502553
+v 0.02610024 -0.00386069 -0.00047522
+v 0.02737669 0.00056938 0.00492578
+v 0.02737669 -0.00042394 0.00492578
+v 0.02585580 0.00657940 0.00089287
+v 0.02618055 0.00578843 0.00089287
+v 0.02642076 0.00575980 0.00208042
+v 0.02628692 0.00657939 0.00336773
+v 0.02682229 0.00575979 0.00465504
+v 0.02732104 0.00523246 0.00746004
+v 0.02737669 0.00282070 0.00585208
+v 0.02429616 -0.00386075 0.01707682
+v 0.02354029 0.00657934 0.01637620
+v 0.02737669 -0.00072848 0.00492816
+v 0.02737669 -0.00153376 0.00496615
+v 0.02737669 -0.00179333 0.00498752
+v 0.02737669 -0.00313002 0.00605157
+v 0.02643908 -0.00386069 0.00132511
+v 0.02634609 -0.00386069 0.00079308
+v 0.02620520 -0.00386069 0.00005918
+v 0.02606643 0.00657939 0.00208042
+v 0.02632848 0.00657939 0.00366462
+v 0.02646796 0.00657938 0.00469542
+v 0.02662012 0.00657938 0.00594235
+v 0.02697586 0.00575979 0.00594235
+v 0.02712168 0.00570357 0.00711090
+v 0.02737669 0.00657935 0.01289666
+v 0.02737669 0.00536531 0.00853359
+v 0.02737669 0.00484310 0.00797782
+v 0.02444691 -0.00386075 0.01755897
+v 0.02390590 0.00657934 0.01752337
+v 0.02737669 -0.00327923 0.00626771
+v 0.02656306 -0.00386070 0.00208039
+v 0.02714352 0.00602651 0.00851696
+v 0.02737669 0.00657932 0.02129267
+v 0.02467374 -0.00386076 0.01818837
+v 0.02440746 0.00657933 0.01881068
+v 0.02737669 -0.00362874 0.00722013
+v 0.02664125 -0.00386070 0.00261242
+v 0.02663210 0.00657932 0.02131167
+v 0.02737669 0.00575973 0.02133067
+v 0.02482097 -0.00386076 0.01855889
+v 0.02492452 -0.00386076 0.01879878
+v 0.02463007 0.00657933 0.01931420
+v 0.02737669 -0.00374422 0.00760252
+v 0.02737669 -0.00386072 0.00812504
+v 0.02575295 0.00657932 0.02092453
+v 0.02657433 -0.00386077 0.02104563
+v 0.02737669 -0.00386077 0.02130452
+v 0.02540918 -0.00386076 0.01975119
+v 0.02562615 -0.00386076 0.02015496
+v 0.02475898 0.00657933 0.01954934
+v 0.02508443 0.00657933 0.02007424
+v 0.02598612 -0.00386077 0.02073686
+v 0.02607277 -0.00386077 0.02078674
+v 0.02632566 -0.00386077 0.02092450
+v 0.02593258 -0.00386077 0.02065136
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 36
+f 1 36 54
+f 1 54 53
+f 1 53 52
+f 1 52 67
+f 1 67 73
+f 1 73 80
+f 1 80 83
+f 1 83 82
+f 1 82 90
+f 1 90 89
+f 1 89 88
+f 1 88 91
+f 1 91 85
+f 1 85 84
+f 1 84 77
+f 1 77 76
+f 1 76 70
+f 1 70 64
+f 1 64 46
+f 1 46 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 32
+f 2 32 47
+f 2 47 65
+f 2 65 71
+f 2 71 78
+f 2 78 86
+f 2 86 87
+f 2 87 81
+f 2 81 74
+f 2 74 69
+f 2 69 61
+f 2 61 58
+f 2 58 57
+f 2 57 56
+f 2 56 42
+f 2 42 55
+f 2 55 39
+f 2 39 26
+f 2 26 25
+f 2 25 19
+f 2 19 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 11
+f 5 11 12
+f 6 9 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 13
+f 10 19 11
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 11 14 23
+f 11 23 24
+f 11 24 12
+f 11 19 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 20
+f 13 18 31
+f 13 31 32
+f 14 22 15
+f 15 22 21
+f 15 21 33
+f 15 33 16
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 20 34 21
+f 20 30 37
+f 20 37 38
+f 20 38 34
+f 21 34 33
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 63
+f 29 63 62
+f 29 62 61
+f 29 61 69
+f 29 69 75
+f 29 75 83
+f 29 83 80
+f 29 80 79
+f 29 79 72
+f 29 72 66
+f 29 66 51
+f 29 51 35
+f 29 35 50
+f 29 50 49
+f 29 49 48
+f 29 48 38
+f 29 38 37
+f 29 37 30
+f 31 46 47
+f 31 47 32
+f 34 38 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 39 55 41
+f 39 41 40
+f 41 55 42
+f 42 56 43
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 43 56 57
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 46 64 47
+f 47 64 65
+f 51 66 67
+f 51 67 52
+f 58 61 68
+f 58 68 59
+f 59 68 60
+f 60 68 61
+f 64 70 65
+f 65 70 71
+f 66 72 73
+f 66 73 67
+f 69 74 75
+f 70 76 71
+f 71 76 77
+f 71 77 78
+f 72 79 73
+f 73 79 80
+f 74 81 82
+f 74 82 83
+f 74 83 75
+f 77 84 78
+f 78 84 85
+f 78 85 86
+f 81 87 88
+f 81 88 89
+f 81 89 90
+f 81 90 82
+f 85 91 86
+f 86 91 87
+f 87 91 88
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_21.obj

@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v 0.03941264 -0.00072806 0.00760961
+v 0.03941264 0.00056873 0.00760961
+v 0.03987455 -0.00205704 0.00760960
+v 0.03191396 -0.00072807 0.01073757
+v 0.03191396 -0.00066012 0.01073663
+v 0.03191396 0.00056872 0.01073475
+v 0.03952563 0.00093710 0.00760961
+v 0.03191396 0.00061021 0.01073851
+v 0.04013779 -0.00238106 0.00760960
+v 0.03191396 -0.00202129 0.01114515
+v 0.03987703 0.00189914 0.00760962
+v 0.03191396 0.00186981 0.01113858
+v 0.04057239 -0.00284742 0.00760960
+v 0.03191396 -0.00207565 0.01117904
+v 0.04088903 -0.00309205 0.00760960
+v 0.04031908 0.00247566 0.00760962
+v 0.03191396 0.00253645 0.01167418
+v 0.04088778 0.00293415 0.00760962
+v 0.04071022 0.00281398 0.00760962
+v 0.03191396 -0.00215362 0.01125152
+v 0.04223256 -0.00367929 0.00760960
+v 0.03191396 -0.00307562 0.01225589
+v 0.03191396 0.00294486 0.01229074
+v 0.04184638 0.00342411 0.00760962
+v 0.04354628 -0.00314855 0.00760960
+v 0.04223256 -0.00368859 0.00851514
+v 0.03191396 -0.00372580 0.01374221
+v 0.03191396 -0.00372366 0.01366314
+v 0.03191396 -0.00311639 0.01231613
+v 0.03191396 -0.00310280 0.01229072
+v 0.03191396 0.00357001 0.01366316
+v 0.04223256 0.00353283 0.00760962
+v 0.04411747 -0.00257347 0.00760960
+v 0.04336499 -0.00314712 0.00851514
+v 0.04223256 -0.00355412 0.00980285
+v 0.04093249 -0.00370219 0.01108961
+v 0.03963242 -0.00371650 0.01237638
+v 0.03313332 -0.00365284 0.01494991
+v 0.03191396 -0.00353911 0.01494991
+v 0.03703352 -0.00371936 0.01366314
+v 0.03443338 -0.00368074 0.01494991
+v 0.03191396 0.00339333 0.01494993
+v 0.03313332 0.00350635 0.01494993
+v 0.03443338 0.00353639 0.01494993
+v 0.03703352 0.00357001 0.01366316
+v 0.03963242 0.00358145 0.01237640
+v 0.04223256 0.00354356 0.00851516
+v 0.04319985 0.00316661 0.00760962
+v 0.04412864 -0.00255988 0.00760960
+v 0.04315266 -0.00296188 0.00980285
+v 0.04227850 -0.00313140 0.01107832
+v 0.04105293 -0.00324299 0.01249310
+v 0.03974541 -0.00322940 0.01377798
+v 0.03833235 -0.00369719 0.01366314
+v 0.03313332 -0.00304487 0.01599193
+v 0.03443338 -0.00307420 0.01602770
+v 0.03191396 -0.00350121 0.01501392
+v 0.03573345 -0.00363282 0.01494991
+v 0.03191396 0.00279249 0.01587617
+v 0.03313332 0.00289192 0.01598913
+v 0.03443338 0.00292267 0.01602867
+v 0.03573345 0.00348203 0.01494993
+v 0.03833235 0.00354783 0.01366316
+v 0.03974293 0.00308004 0.01377706
+v 0.04105666 0.00309650 0.01249877
+v 0.04093249 0.00355786 0.01108963
+v 0.04223256 0.00340121 0.00980287
+v 0.04337120 0.00299638 0.00851516
+v 0.04355249 0.00299709 0.00760962
+v 0.04413237 -0.00254987 0.00760960
+v 0.04428510 -0.00165864 0.00851514
+v 0.04401441 -0.00230811 0.00851514
+v 0.04298131 -0.00278449 0.01064155
+v 0.04187619 -0.00293112 0.01214387
+v 0.04069904 -0.00296189 0.01342593
+v 0.03938780 -0.00290967 0.01458092
+v 0.03828516 -0.00307634 0.01498568
+v 0.03703352 -0.00345757 0.01494991
+v 0.03313332 -0.00226736 0.01663485
+v 0.03191396 -0.00289609 0.01591098
+v 0.03191396 -0.00294330 0.01587145
+v 0.03443338 -0.00233532 0.01667156
+v 0.03573345 -0.00302842 0.01596558
+v 0.03191396 0.00181900 0.01656333
+v 0.03313332 0.00209868 0.01663298
+v 0.03443338 0.00216663 0.01667158
+v 0.03573345 0.00287046 0.01596748
+v 0.03703352 0.00330321 0.01494993
+v 0.03828889 0.00292196 0.01498287
+v 0.04070650 0.00281182 0.01342407
+v 0.03938408 0.00275173 0.01457529
+v 0.04188239 0.00277749 0.01215237
+v 0.04228223 0.00297634 0.01108116
+v 0.04315639 0.00280396 0.00980287
+v 0.04413610 0.00241700 0.00761621
+v 0.04413610 0.00241843 0.00760962
+v 0.04434843 -0.00195333 0.00760960
+v 0.04420191 -0.00143118 0.00921830
+v 0.04455207 -0.00100416 0.00760961
+v 0.04380207 -0.00192830 0.00970966
+v 0.04317874 -0.00201557 0.01107832
+v 0.04274290 -0.00244116 0.01149908
+v 0.04156576 -0.00265575 0.01300046
+v 0.04025451 -0.00264717 0.01428440
+v 0.03868748 -0.00242973 0.01543845
+v 0.03782201 -0.00274159 0.01565683
+v 0.03703352 -0.00287964 0.01579991
+v 0.03313332 -0.00161861 0.01699254
+v 0.03225419 -0.00148414 0.01692948
+v 0.03191396 -0.00198125 0.01655860
+v 0.03443338 -0.00168656 0.01702455
+v 0.03573345 -0.00220442 0.01660943
+v 0.03191396 0.00170170 0.01663393
+v 0.03225419 0.00132117 0.01692760
+v 0.03313332 0.00144992 0.01698786
+v 0.03443338 0.00151787 0.01701892
+v 0.03573345 0.00204002 0.01661133
+v 0.03703352 0.00272240 0.01580369
+v 0.03782697 0.00258792 0.01566250
+v 0.04025079 0.00248422 0.01428160
+v 0.04157321 0.00250425 0.01300896
+v 0.03869245 0.00226677 0.01543376
+v 0.04274911 0.00229754 0.01150475
+v 0.04298255 0.00262657 0.01064628
+v 0.04402186 0.00215879 0.00851516
+v 0.04428882 0.00151003 0.00851516
+v 0.04413982 0.00241057 0.00760962
+v 0.04459429 -0.00072806 0.00760961
+v 0.04442790 -0.00072806 0.00851515
+v 0.04423171 -0.00072806 0.00931244
+v 0.04401441 -0.00072807 0.00995535
+v 0.04352890 -0.00072807 0.01108962
+v 0.04297261 -0.00157567 0.01187749
+v 0.04228223 -0.00211572 0.01243850
+v 0.04182155 -0.00179027 0.01329603
+v 0.04106287 -0.00221872 0.01379022
+v 0.04055997 -0.00178240 0.01454138
+v 0.03969202 -0.00210643 0.01499039
+v 0.03912953 -0.00156496 0.01568413
+v 0.03828516 -0.00200915 0.01586674
+v 0.03693667 -0.00192046 0.01645412
+v 0.03313332 -0.00072809 0.01716199
+v 0.03443338 -0.00072809 0.01722506
+v 0.03201205 -0.00072809 0.01698314
+v 0.03191396 -0.00072809 0.01696149
+v 0.03191396 -0.00186252 0.01663014
+v 0.03573345 -0.00155567 0.01696242
+v 0.03643750 -0.00141690 0.01689841
+v 0.03191396 0.00103292 0.01689466
+v 0.03201329 0.00056870 0.01698220
+v 0.03313332 0.00056870 0.01715728
+v 0.03443338 0.00056870 0.01721941
+v 0.03573345 0.00139127 0.01695868
+v 0.03643378 0.00125465 0.01689654
+v 0.03693418 0.00175892 0.01645696
+v 0.03828889 0.00184690 0.01586958
+v 0.03968705 0.00194275 0.01498382
+v 0.04056122 0.00161874 0.01453387
+v 0.04106659 0.00206149 0.01378836
+v 0.04182031 0.00163948 0.01329605
+v 0.04228471 0.00196851 0.01244982
+v 0.03912456 0.00140128 0.01568415
+v 0.04298131 0.00143278 0.01189068
+v 0.04318619 0.00186552 0.01108116
+v 0.04380580 0.00177039 0.00970968
+v 0.04420191 0.00127328 0.00921925
+v 0.04459801 0.00056873 0.00760961
+v 0.04435215 0.00180473 0.00760962
+v 0.04443038 0.00056873 0.00851515
+v 0.04423171 0.00056873 0.00931338
+v 0.04401441 0.00056872 0.00995629
+v 0.04353635 0.00056872 0.01108962
+v 0.04305457 0.00056872 0.01200740
+v 0.04304712 -0.00072807 0.01199704
+v 0.04262369 -0.00072808 0.01263995
+v 0.04197304 -0.00072808 0.01347395
+v 0.04138944 -0.00072808 0.01411780
+v 0.04074002 -0.00072808 0.01469106
+v 0.03990311 -0.00072809 0.01533491
+v 0.03925246 -0.00072809 0.01576132
+v 0.03833235 -0.00072809 0.01624892
+v 0.03573345 -0.00072809 0.01710457
+v 0.03573345 0.00056870 0.01710080
+v 0.03191396 0.00056870 0.01696055
+v 0.03721605 -0.00072809 0.01672428
+v 0.03656540 -0.00072809 0.01693796
+v 0.03656291 0.00056870 0.01693702
+v 0.03721233 0.00056870 0.01672334
+v 0.03833235 0.00056870 0.01624798
+v 0.03989939 0.00056870 0.01532927
+v 0.04074002 0.00056871 0.01468635
+v 0.04139068 0.00056871 0.01411780
+v 0.04197304 0.00056871 0.01347395
+v 0.04262245 0.00056871 0.01264937
+v 0.03924997 0.00056870 0.01576132
+f 1 2 7
+f 1 7 11
+f 1 11 16
+f 1 16 19
+f 1 19 18
+f 1 18 24
+f 1 24 32
+f 1 32 48
+f 1 48 69
+f 1 69 96
+f 1 96 127
+f 1 127 168
+f 1 168 167
+f 1 167 128
+f 1 128 99
+f 1 99 97
+f 1 97 70
+f 1 70 49
+f 1 49 33
+f 1 33 25
+f 1 25 21
+f 1 21 15
+f 1 15 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 14
+f 4 14 20
+f 4 20 22
+f 4 22 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 39
+f 4 39 57
+f 4 57 81
+f 4 81 80
+f 4 80 110
+f 4 110 146
+f 4 146 145
+f 4 145 184
+f 4 184 149
+f 4 149 113
+f 4 113 84
+f 4 84 59
+f 4 59 42
+f 4 42 31
+f 4 31 23
+f 4 23 17
+f 4 17 12
+f 4 12 8
+f 4 8 6
+f 4 6 5
+f 7 8 11
+f 8 12 11
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 11 12 16
+f 12 17 18
+f 12 18 19
+f 12 19 16
+f 14 15 20
+f 15 21 22
+f 15 22 20
+f 17 23 24
+f 17 24 18
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 23 32 24
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 38 39
+f 27 37 40
+f 27 40 41
+f 27 41 38
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 33 49 50
+f 33 50 34
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 40
+f 38 55 39
+f 38 41 56
+f 38 56 55
+f 39 55 57
+f 40 54 41
+f 41 54 58
+f 41 58 56
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 67 68
+f 47 68 48
+f 47 66 67
+f 48 68 69
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 73 51
+f 50 72 73
+f 51 73 74
+f 51 74 52
+f 52 75 53
+f 52 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 54 77 78
+f 54 78 58
+f 55 79 80
+f 55 80 81
+f 55 81 57
+f 55 56 82
+f 55 82 79
+f 56 58 83
+f 56 83 82
+f 58 78 83
+f 59 84 85
+f 59 85 60
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 63
+f 63 88 89
+f 63 89 64
+f 64 90 65
+f 64 89 91
+f 64 91 90
+f 65 90 92
+f 65 92 93
+f 65 93 67
+f 65 67 66
+f 67 93 94
+f 67 94 68
+f 68 95 96
+f 68 96 69
+f 68 94 95
+f 70 97 71
+f 71 98 72
+f 71 97 99
+f 71 99 98
+f 72 98 100
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 74
+f 74 102 103
+f 74 103 75
+f 75 104 76
+f 75 103 104
+f 76 104 105
+f 76 105 106
+f 76 106 77
+f 77 106 107
+f 77 107 78
+f 78 107 83
+f 79 108 109
+f 79 109 110
+f 79 110 80
+f 79 82 108
+f 82 111 108
+f 82 83 112
+f 82 112 147
+f 82 147 111
+f 83 107 112
+f 84 113 85
+f 85 113 114
+f 85 114 115
+f 85 115 86
+f 86 115 116
+f 86 116 153
+f 86 153 117
+f 86 117 87
+f 87 117 118
+f 87 118 88
+f 88 118 89
+f 89 118 119
+f 89 119 91
+f 90 91 120
+f 90 120 121
+f 90 121 92
+f 91 122 120
+f 91 119 122
+f 92 121 123
+f 92 123 124
+f 92 124 93
+f 93 124 94
+f 94 124 125
+f 94 125 95
+f 95 126 127
+f 95 127 96
+f 95 125 126
+f 98 99 128
+f 98 128 129
+f 98 129 130
+f 98 130 131
+f 98 131 132
+f 98 132 133
+f 98 133 101
+f 98 101 100
+f 101 133 102
+f 102 133 134
+f 102 134 103
+f 103 134 135
+f 103 135 136
+f 103 136 104
+f 104 136 137
+f 104 137 138
+f 104 138 105
+f 105 138 139
+f 105 139 140
+f 105 140 106
+f 106 140 141
+f 106 141 107
+f 107 141 112
+f 108 142 109
+f 108 111 143
+f 108 143 142
+f 109 142 144
+f 109 144 145
+f 109 145 146
+f 109 146 110
+f 111 147 143
+f 112 141 148
+f 112 148 147
+f 113 149 114
+f 114 149 150
+f 114 150 151
+f 114 151 115
+f 115 151 152
+f 115 152 116
+f 116 152 153
+f 117 153 154
+f 117 154 155
+f 117 155 118
+f 118 155 119
+f 119 156 122
+f 119 155 156
+f 120 157 158
+f 120 158 159
+f 120 159 121
+f 120 122 157
+f 121 159 160
+f 121 160 161
+f 121 161 123
+f 122 162 157
+f 122 156 162
+f 123 161 163
+f 123 163 164
+f 123 164 124
+f 124 164 165
+f 124 165 125
+f 125 165 166
+f 125 166 126
+f 126 167 168
+f 126 168 127
+f 126 166 167
+f 128 167 129
+f 129 167 169
+f 129 169 130
+f 130 170 171
+f 130 171 131
+f 130 169 170
+f 131 171 172
+f 131 172 132
+f 132 172 173
+f 132 173 174
+f 132 174 133
+f 133 174 175
+f 133 175 135
+f 133 135 134
+f 135 176 177
+f 135 177 137
+f 135 137 136
+f 135 175 176
+f 137 178 179
+f 137 179 139
+f 137 139 138
+f 137 177 178
+f 139 180 181
+f 139 181 148
+f 139 148 140
+f 139 179 180
+f 140 148 141
+f 142 151 150
+f 142 150 144
+f 142 143 151
+f 143 152 151
+f 143 147 182
+f 143 182 183
+f 143 183 152
+f 144 150 184
+f 144 184 145
+f 147 148 182
+f 148 181 185
+f 148 185 186
+f 148 186 182
+f 149 184 150
+f 152 183 153
+f 153 183 154
+f 154 183 187
+f 154 187 188
+f 154 188 189
+f 154 189 162
+f 154 162 156
+f 154 156 155
+f 157 162 158
+f 158 162 190
+f 158 190 191
+f 158 191 192
+f 158 192 160
+f 158 160 159
+f 160 192 193
+f 160 193 194
+f 160 194 163
+f 160 163 161
+f 162 189 195
+f 162 195 190
+f 163 194 173
+f 163 173 172
+f 163 172 166
+f 163 166 164
+f 164 166 165
+f 166 170 169
+f 166 169 167
+f 166 172 171
+f 166 171 170
+f 173 194 175
+f 173 175 174
+f 175 194 176
+f 176 193 192
+f 176 192 177
+f 176 194 193
+f 177 192 178
+f 178 191 179
+f 178 192 191
+f 179 191 190
+f 179 190 195
+f 179 195 180
+f 180 195 189
+f 180 189 181
+f 181 189 185
+f 182 186 187
+f 182 187 183
+f 185 188 187
+f 185 187 186
+f 185 189 188
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_22.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00534305 -0.01658360 -0.01969005
+v -0.00534305 -0.01581505 -0.02228077
+v -0.00465302 -0.01586770 -0.02248749
+v -0.00465689 -0.01669484 -0.01969005
+v -0.00534305 -0.00818147 -0.01969002
+v -0.00534305 -0.01560444 -0.02292905
+v -0.00514345 -0.01563332 -0.02299083
+v -0.00326743 -0.01602990 -0.02237621
+v -0.00461984 -0.01669909 -0.01969005
+v -0.00427649 -0.01570040 -0.02307439
+v 0.00030547 -0.00815769 -0.01969002
+v 0.00030547 -0.01151547 -0.02273894
+v -0.00534305 -0.01180421 -0.02297219
+v -0.00534305 -0.01542611 -0.02307557
+v -0.00326743 -0.01573947 -0.02311597
+v -0.00196809 -0.01604094 -0.02237621
+v -0.00196809 -0.01683327 -0.01969005
+v -0.00277589 -0.01682392 -0.01969005
+v -0.00326743 -0.01681798 -0.01969005
+v -0.00534305 -0.01498451 -0.02329774
+v -0.00465302 -0.01512208 -0.02329655
+v -0.00326743 -0.01500319 -0.02343753
+v 0.00030547 -0.01661502 -0.01969005
+v 0.00030547 -0.01201225 -0.02315555
+v 0.00010642 -0.01179911 -0.02297734
+v -0.00534305 -0.01181525 -0.02298130
+v -0.00196809 -0.01574371 -0.02311993
+v -0.00066765 -0.01595262 -0.02237621
+v -0.00066765 -0.01674580 -0.01969005
+v -0.00066765 -0.01570040 -0.02307320
+v -0.00534305 -0.01431787 -0.02352900
+v -0.00196809 -0.01500319 -0.02344268
+v -0.00534305 -0.01370559 -0.02371513
+v -0.00456732 -0.01370559 -0.02372899
+v -0.00049459 -0.01672711 -0.01969005
+v 0.00003454 -0.01566219 -0.02303162
+v 0.00030547 -0.01572758 -0.02267323
+v 0.00030547 -0.01235194 -0.02340505
+v -0.00534305 -0.01239185 -0.02340980
+v -0.00066765 -0.01500319 -0.02338328
+v 0.00030547 -0.01505414 -0.02328071
+v 0.00030547 -0.01533863 -0.02315359
+v -0.00066765 -0.01370559 -0.02373572
+v 0.00030547 -0.01370559 -0.02371473
+v -0.00534305 -0.01283854 -0.02352623
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 18
+f 1 18 17
+f 1 17 29
+f 1 29 35
+f 1 35 23
+f 1 23 11
+f 1 11 5
+f 1 5 13
+f 1 13 26
+f 1 26 39
+f 1 39 45
+f 1 45 33
+f 1 33 31
+f 1 31 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 8
+f 5 11 12
+f 5 12 13
+f 6 14 7
+f 7 14 10
+f 8 10 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 14 20
+f 10 20 21
+f 10 21 22
+f 10 22 15
+f 11 23 37
+f 11 37 42
+f 11 42 41
+f 11 41 44
+f 11 44 38
+f 11 38 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 24
+f 13 24 26
+f 15 22 27
+f 15 27 16
+f 16 28 29
+f 16 29 17
+f 16 27 30
+f 16 30 28
+f 20 22 21
+f 20 31 22
+f 22 32 27
+f 22 31 33
+f 22 33 34
+f 22 34 32
+f 23 35 36
+f 23 36 37
+f 24 38 39
+f 24 39 26
+f 27 32 40
+f 27 40 30
+f 28 35 29
+f 28 30 36
+f 28 36 35
+f 30 40 41
+f 30 41 42
+f 30 42 36
+f 32 34 43
+f 32 43 44
+f 32 44 40
+f 33 45 34
+f 34 45 43
+f 36 42 37
+f 38 44 43
+f 38 43 45
+f 38 45 39
+f 40 44 41
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_23.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01356566 0.02637460 0.00087749
+v -0.01356566 0.02634064 0.00070172
+v -0.01453035 0.02599794 0.00079154
+v -0.01454667 0.02600720 0.00087749
+v -0.01356566 0.02136217 0.00087747
+v -0.01356566 0.02604733 -0.00043724
+v -0.01437390 0.02590686 0.00003042
+v -0.01709225 0.02467189 -0.00049532
+v -0.01735177 0.02480774 0.00079153
+v -0.01737179 0.02481236 0.00087748
+v -0.02114011 0.01557017 0.00087745
+v -0.02114011 0.01060408 -0.00703262
+v -0.01356566 0.01825780 -0.00703259
+v -0.01402094 0.02578336 -0.00082749
+v -0.01356566 0.02561819 -0.00179921
+v -0.01694172 0.02459007 -0.00118675
+v -0.02081311 0.02197965 -0.00113334
+v -0.01801690 0.02440328 0.00087748
+v -0.02114011 0.02221430 0.00087747
+v -0.02114011 0.01860359 -0.00703259
+v -0.01356566 0.02355736 -0.00703257
+v -0.01356566 0.02517669 -0.00316581
+v -0.01565373 0.02329492 -0.00632487
+v -0.01690465 0.02327176 -0.00498460
+v -0.01958296 0.02073390 -0.00639612
+v -0.01979429 0.02088518 -0.00564274
+v -0.02088355 0.02076631 -0.00388281
+v -0.02101703 0.02094383 -0.00306981
+v -0.02114011 0.02077711 -0.00307755
+v -0.02114011 0.02111982 -0.00220959
+v -0.02114011 0.02166319 -0.00081976
+v -0.02096141 0.02209235 -0.00027544
+v -0.02112306 0.02221430 0.00079152
+v -0.02113418 0.02222202 0.00087747
+v -0.02114011 0.02219269 0.00078920
+v -0.01985805 0.01998212 -0.00703259
+v -0.02114011 0.02015964 -0.00426608
+v -0.02068706 0.02050852 -0.00474071
+v -0.01504421 0.02310351 -0.00703258
+v -0.01356566 0.02357125 -0.00701089
+v -0.01356566 0.02475836 -0.00428852
+v -0.01356566 0.02421651 -0.00559163
+v -0.01356566 0.02360985 -0.00693733
+v -0.01619874 0.02257864 -0.00703258
+v -0.01924187 0.02055330 -0.00703258
+v -0.02114011 0.02180058 -0.00043571
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 34
+f 1 34 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 21
+f 1 21 40
+f 1 40 43
+f 1 43 42
+f 1 42 41
+f 1 41 22
+f 1 22 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 6 14 7
+f 6 15 14
+f 7 14 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 11 19 35
+f 11 35 46
+f 11 46 31
+f 11 31 30
+f 11 30 29
+f 11 29 37
+f 11 37 20
+f 11 20 12
+f 12 20 36
+f 12 36 45
+f 12 45 44
+f 12 44 39
+f 12 39 21
+f 12 21 13
+f 14 15 22
+f 14 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 17 24 25
+f 18 32 33
+f 18 33 34
+f 19 34 35
+f 20 37 27
+f 20 27 38
+f 20 38 25
+f 20 25 36
+f 21 39 40
+f 22 41 23
+f 23 41 42
+f 23 42 43
+f 23 43 40
+f 23 40 39
+f 23 39 44
+f 23 44 24
+f 24 44 25
+f 25 38 27
+f 25 27 26
+f 25 44 45
+f 25 45 36
+f 27 37 29
+f 27 29 28
+f 31 46 32
+f 32 46 35
+f 32 35 33
+f 33 35 34
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_24.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02114011 0.01557023 0.00087745
+v -0.02114011 0.02221516 0.00087747
+v -0.01356566 0.02136317 0.00087747
+v -0.01356566 0.02286811 0.01237542
+v -0.01356566 0.02288492 0.01248623
+v -0.01356566 0.02306569 0.01358223
+v -0.01356566 0.02307130 0.01361446
+v -0.02114011 0.01765390 0.01248016
+v -0.02114011 0.02222917 0.00092985
+v -0.02113418 0.02222356 0.00087747
+v -0.01356566 0.02637419 0.00087749
+v -0.01356566 0.02324926 0.01445461
+v -0.02114011 0.01781645 0.01321554
+v -0.02114011 0.02592851 0.01900988
+v -0.02104446 0.02603641 0.01909248
+v -0.01827124 0.02463237 0.00247917
+v -0.01815408 0.02452308 0.00162090
+v -0.01801690 0.02440397 0.00087748
+v -0.01454667 0.02600705 0.00087749
+v -0.01356566 0.02658718 0.00196341
+v -0.01356566 0.02336136 0.01495023
+v -0.02114011 0.01791875 0.01364065
+v -0.02114011 0.02599437 0.02009782
+v -0.01952364 0.02717706 0.01944505
+v -0.01765950 0.02488321 0.00206213
+v -0.01737179 0.02481315 0.00087748
+v -0.01700846 0.02851670 0.01933626
+v -0.01356566 0.02979888 0.01893333
+v -0.01356566 0.02340059 0.01510133
+v -0.01356566 0.02369486 0.01618726
+v -0.02114011 0.01828869 0.01495021
+v -0.02114011 0.02584442 0.02061760
+v -0.02106448 0.02605042 0.02009782
+v -0.01952364 0.02717706 0.01947729
+v -0.01700846 0.02851670 0.01971704
+v -0.01410918 0.02968397 0.02009783
+v -0.01356566 0.02988436 0.02009783
+v -0.01356566 0.02375091 0.01635246
+v -0.01356566 0.02418952 0.01762173
+v -0.02114011 0.01873429 0.01623761
+v -0.02091989 0.02594672 0.02081707
+v -0.02114011 0.02560760 0.02092586
+v -0.01938275 0.02708738 0.02033556
+v -0.02004121 0.02674266 0.01998298
+v -0.01891709 0.02742509 0.01998298
+v -0.01749118 0.02817758 0.02012603
+v -0.01684607 0.02843121 0.02057530
+v -0.01635445 0.02874090 0.02012604
+v -0.01496784 0.02933785 0.02009783
+v -0.01356566 0.02977505 0.02053301
+v -0.01356566 0.02419652 0.01763986
+v -0.02114011 0.01882537 0.01646325
+v -0.01356566 0.02448658 0.01836113
+v -0.01851593 0.02733820 0.02090370
+v -0.02016726 0.02618914 0.02098832
+v -0.02114011 0.02541423 0.02103868
+v -0.01597925 0.02863019 0.02090371
+v -0.01496784 0.02884039 0.02105683
+v -0.01356566 0.02931262 0.02105482
+v -0.02114011 0.01920372 0.01738800
+v -0.01356566 0.02473181 0.01889301
+v -0.01756755 0.02759183 0.02106488
+v -0.02016726 0.02522645 0.02137312
+v -0.01891709 0.02660252 0.02115554
+v -0.02114011 0.02521244 0.02111927
+v -0.01635445 0.02792814 0.02116159
+v -0.01496784 0.02782165 0.02142551
+v -0.01356566 0.02918510 0.02112735
+v -0.01365093 0.02918931 0.02111123
+v -0.01356566 0.02924115 0.02109914
+v -0.02114011 0.02000105 0.01888493
+v -0.01356566 0.02477525 0.01896756
+v -0.01756755 0.02652405 0.02143559
+v -0.02114011 0.02425536 0.02142148
+v -0.01366798 0.02782165 0.02145976
+v -0.01356566 0.02792394 0.02144969
+v -0.01356566 0.02546468 0.02014616
+v -0.02114011 0.02018041 0.01918714
+v -0.01886741 0.02522645 0.02145170
+v -0.02114011 0.02392886 0.02142349
+v -0.01356566 0.02782165 0.02145372
+v -0.02114011 0.02295776 0.02132879
+v -0.01356566 0.02554876 0.02026302
+v -0.02114011 0.02054194 0.01970896
+v -0.01356566 0.02653806 0.02106287
+v -0.02114011 0.02263546 0.02122604
+v -0.01356566 0.02588927 0.02072036
+v -0.02114011 0.02074513 0.01998296
+v -0.02114011 0.02179189 0.02094599
+v -0.01356566 0.02646800 0.02103668
+v -0.02114011 0.02163074 0.02087346
+v -0.02114011 0.02110246 0.02038993
+v -0.02114011 0.02103940 0.02031942
+f 1 2 10
+f 1 10 18
+f 1 18 26
+f 1 26 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 22
+f 1 22 31
+f 1 31 40
+f 1 40 52
+f 1 52 60
+f 1 60 71
+f 1 71 78
+f 1 78 84
+f 1 84 88
+f 1 88 93
+f 1 93 92
+f 1 92 91
+f 1 91 89
+f 1 89 86
+f 1 86 82
+f 1 82 80
+f 1 80 74
+f 1 74 65
+f 1 65 56
+f 1 56 42
+f 1 42 32
+f 1 32 23
+f 1 23 14
+f 1 14 9
+f 1 9 2
+f 2 9 10
+f 3 11 20
+f 3 20 28
+f 3 28 37
+f 3 37 50
+f 3 50 59
+f 3 59 70
+f 3 70 68
+f 3 68 76
+f 3 76 81
+f 3 81 85
+f 3 85 90
+f 3 90 87
+f 3 87 83
+f 3 83 77
+f 3 77 72
+f 3 72 61
+f 3 61 53
+f 3 53 51
+f 3 51 39
+f 3 39 38
+f 3 38 30
+f 3 30 29
+f 3 29 21
+f 3 21 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 12 21 13
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 25 26
+f 16 26 17
+f 16 24 27
+f 16 27 25
+f 17 26 18
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 27
+f 25 27 26
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 32 41 33
+f 32 42 41
+f 33 41 43
+f 33 43 44
+f 33 44 34
+f 34 44 43
+f 34 43 45
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 37
+f 39 51 40
+f 40 51 53
+f 40 53 52
+f 41 54 43
+f 41 42 55
+f 41 55 54
+f 42 56 55
+f 43 54 47
+f 43 47 45
+f 45 47 46
+f 47 50 49
+f 47 49 48
+f 47 54 57
+f 47 57 50
+f 50 57 58
+f 50 58 59
+f 52 53 60
+f 53 61 60
+f 54 55 62
+f 54 62 57
+f 55 56 63
+f 55 63 64
+f 55 64 62
+f 56 65 63
+f 57 62 58
+f 58 62 66
+f 58 66 67
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 60 61 71
+f 61 72 71
+f 62 64 73
+f 62 73 66
+f 63 65 74
+f 63 74 73
+f 63 73 64
+f 66 73 67
+f 67 73 75
+f 67 75 76
+f 67 76 68
+f 68 70 69
+f 71 72 77
+f 71 77 78
+f 73 74 79
+f 73 79 75
+f 74 80 79
+f 75 81 76
+f 75 79 82
+f 75 82 81
+f 77 83 84
+f 77 84 78
+f 79 80 82
+f 81 82 85
+f 82 86 85
+f 83 87 88
+f 83 88 84
+f 85 89 90
+f 85 86 89
+f 87 91 92
+f 87 92 93
+f 87 93 88
+f 87 90 91
+f 89 91 90
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_25.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02858271 -0.00896166 -0.00440246
+v -0.02342370 -0.00896166 -0.00440246
+v -0.02850765 -0.00896166 -0.00472427
+v -0.02745040 -0.01191148 -0.00440247
+v -0.01658276 -0.00896163 -0.01270364
+v -0.01558658 -0.01860980 -0.00440250
+v -0.02847202 -0.00896166 -0.00482016
+v -0.02732953 -0.01177490 -0.00502984
+v -0.02569595 -0.01499342 -0.00440249
+v -0.01630668 -0.00934465 -0.01270364
+v -0.02413616 -0.00896163 -0.01270364
+v -0.01558658 -0.02412790 -0.00440252
+v -0.01558658 -0.01047291 -0.01270121
+v -0.01589828 -0.00992808 -0.01270365
+v -0.02810943 -0.00896166 -0.00563931
+v -0.02597967 -0.01417098 -0.00489251
+v -0.02752037 -0.00896165 -0.00696961
+v -0.02604964 -0.01052489 -0.00892403
+v -0.02473794 -0.01438326 -0.00761650
+v -0.02489825 -0.01458516 -0.00693144
+v -0.02567814 -0.01502163 -0.00440249
+v -0.02420741 -0.00896163 -0.01260856
+v -0.02404965 -0.00918283 -0.01270364
+v -0.02466033 -0.01020125 -0.01136603
+v -0.01638810 -0.02384287 -0.00440252
+v -0.01565910 -0.02345689 -0.00633337
+v -0.01558658 -0.02387405 -0.00516072
+v -0.01558658 -0.01144975 -0.01270365
+v -0.01560694 -0.01044471 -0.01270365
+v -0.02689188 -0.00896165 -0.00825847
+v -0.02675066 -0.00896165 -0.00851770
+v -0.02629900 -0.00896165 -0.00931572
+v -0.02539061 -0.00896164 -0.01082724
+v -0.02494532 -0.01073420 -0.01050788
+v -0.02209164 -0.01689513 -0.00882247
+v -0.02231047 -0.01721876 -0.00796513
+v -0.02331683 -0.01807833 -0.00481939
+v -0.02356492 -0.01334703 -0.01041037
+v -0.02330029 -0.01421252 -0.01000811
+v -0.02367433 -0.01765226 -0.00440249
+v -0.02427357 -0.00896163 -0.01251510
+v -0.02379011 -0.00980635 -0.01270365
+v -0.02352293 -0.01044471 -0.01270365
+v -0.02347968 -0.01052933 -0.01270365
+v -0.02214380 -0.01308722 -0.01270366
+v -0.02473031 -0.00896164 -0.01184467
+v -0.02445041 -0.00896163 -0.01226156
+v -0.01656113 -0.02376567 -0.00440252
+v -0.01691355 -0.02343610 -0.00499576
+v -0.01639574 -0.02381318 -0.00448298
+v -0.01558658 -0.02346431 -0.00634881
+v -0.01558658 -0.02350142 -0.00625942
+v -0.01597080 -0.02357565 -0.00564425
+v -0.01568200 -0.02219055 -0.00894520
+v -0.01558658 -0.02220391 -0.00897608
+v -0.01558658 -0.01915164 -0.01270368
+v -0.02092625 -0.01703764 -0.01029255
+v -0.01946951 -0.01948271 -0.00879079
+v -0.02187918 -0.01808426 -0.00729471
+v -0.02220487 -0.01831289 -0.00643656
+v -0.01958656 -0.02089454 -0.00640243
+v -0.02068834 -0.02066295 -0.00473245
+v -0.02030921 -0.02112761 -0.00440251
+v -0.02286390 -0.01863949 -0.00440250
+v -0.01980921 -0.01593905 -0.01270367
+v -0.02090844 -0.01580249 -0.01157084
+v -0.02019598 -0.02122559 -0.00440251
+v -0.01979649 -0.02104745 -0.00564424
+v -0.01827614 -0.01958811 -0.01021698
+v -0.01716545 -0.01840639 -0.01270368
+v -0.01558658 -0.02057385 -0.01115641
+v -0.01558658 -0.01977962 -0.01208851
+v -0.01691355 -0.01853703 -0.01270368
+v -0.01831685 -0.01837522 -0.01157491
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 41
+f 1 41 47
+f 1 47 46
+f 1 46 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 17
+f 1 17 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 40
+f 1 40 64
+f 1 64 63
+f 1 63 67
+f 1 67 48
+f 1 48 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 6 10
+f 5 10 14
+f 5 14 29
+f 5 29 28
+f 5 28 56
+f 5 56 73
+f 5 73 70
+f 5 70 65
+f 5 65 45
+f 5 45 44
+f 5 44 43
+f 5 43 42
+f 5 42 23
+f 5 23 11
+f 6 12 27
+f 6 27 52
+f 6 52 51
+f 6 51 55
+f 6 55 71
+f 6 71 72
+f 6 72 56
+f 6 56 28
+f 6 28 13
+f 6 13 14
+f 6 14 10
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 18
+f 8 18 19
+f 8 19 16
+f 9 19 20
+f 9 20 21
+f 9 16 19
+f 11 23 24
+f 11 24 22
+f 12 25 26
+f 12 26 27
+f 13 28 29
+f 13 29 14
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 24
+f 18 24 34
+f 18 34 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 19 34 38
+f 19 38 39
+f 19 39 35
+f 20 37 21
+f 21 37 40
+f 22 24 41
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 38
+f 24 38 34
+f 24 33 46
+f 24 46 47
+f 24 47 41
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 26 51 52
+f 26 52 27
+f 26 50 53
+f 26 53 49
+f 26 49 54
+f 26 54 55
+f 26 55 51
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 36
+f 35 39 57
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 40
+f 38 45 39
+f 39 45 57
+f 45 65 66
+f 45 66 57
+f 48 67 49
+f 49 53 50
+f 49 67 68
+f 49 68 61
+f 49 61 54
+f 54 61 69
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 56 72 73
+f 57 66 65
+f 57 65 74
+f 57 74 69
+f 57 69 58
+f 58 69 61
+f 58 61 59
+f 59 61 60
+f 61 68 62
+f 62 68 67
+f 62 67 63
+f 65 70 74
+f 69 74 70
+f 70 73 72
+f 70 72 71
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_26.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02502315 -0.00386067 -0.00453033
+v 0.02499793 -0.00438442 -0.00453034
+v 0.02474833 -0.00538894 -0.00517057
+v 0.02489570 -0.00386067 -0.00491318
+v 0.02022510 -0.00386067 -0.00453033
+v 0.02498598 -0.00462189 -0.00453034
+v 0.02393715 -0.00386066 -0.00778524
+v 0.02485985 -0.00558926 -0.00453034
+v 0.02395574 -0.00850959 -0.00453035
+v 0.02357869 -0.00847900 -0.00562440
+v 0.02343132 -0.00802226 -0.00640801
+v 0.02273432 -0.00386065 -0.01055119
+v 0.01506195 -0.00386065 -0.01185387
+v 0.01146142 -0.01130169 -0.01185390
+v 0.01761498 -0.01130171 -0.00453036
+v 0.02358666 -0.00945074 -0.00453035
+v 0.02345788 -0.00927227 -0.00518205
+v 0.02327865 -0.00888692 -0.00604022
+v 0.02218601 -0.00805576 -0.00905782
+v 0.02261616 -0.00386065 -0.01076054
+v 0.02176249 -0.00386065 -0.01185387
+v 0.01870762 -0.01130169 -0.01185390
+v 0.02272370 -0.01130171 -0.00453036
+v 0.02226035 -0.01130171 -0.00585311
+v 0.02188331 -0.01130171 -0.00670771
+v 0.02094069 -0.01074153 -0.00915892
+v 0.02081855 -0.00791589 -0.01148682
+v 0.02177842 -0.00391965 -0.01185387
+v 0.02179303 -0.00386502 -0.01185387
+v 0.01902492 -0.01088211 -0.01185390
+v 0.01956659 -0.01056596 -0.01155780
+v 0.02031272 -0.01130170 -0.00950305
+v 0.02100176 -0.01130170 -0.00837029
+v 0.01942719 -0.01028406 -0.01185390
+v 0.02060215 -0.00755385 -0.01185389
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 20
+f 1 20 21
+f 1 21 13
+f 1 13 5
+f 1 5 15
+f 1 15 23
+f 1 23 16
+f 1 16 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 5 13 14
+f 5 14 15
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 13 21 29
+f 13 29 28
+f 13 28 35
+f 13 35 34
+f 13 34 30
+f 13 30 22
+f 13 22 14
+f 14 22 32
+f 14 32 33
+f 14 33 25
+f 14 25 24
+f 14 24 23
+f 14 23 15
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 30 31
+f 22 31 32
+f 25 33 26
+f 26 33 32
+f 26 32 31
+f 26 31 27
+f 27 31 34
+f 27 34 35
+f 27 35 28
+f 30 34 31
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_27.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00867778 -0.02649580 -0.00440253
+v -0.00867778 -0.02649344 -0.00440904
+v -0.00721633 -0.02712333 -0.00440253
+v -0.00867778 -0.02171452 -0.00440251
+v -0.00867778 -0.02559628 -0.00686972
+v -0.00716709 -0.02666651 -0.00564426
+v -0.00720050 -0.02712922 -0.00440253
+v 0.00030547 -0.02242801 -0.00440251
+v -0.00867778 -0.01547683 -0.01270367
+v -0.00867778 -0.02550091 -0.00710132
+v -0.00659288 -0.02606369 -0.00763605
+v -0.00708267 -0.02620145 -0.00685347
+v -0.00270536 -0.02736234 -0.00508434
+v -0.00311073 -0.02745064 -0.00440253
+v 0.00030547 -0.01647758 -0.01270367
+v 0.00030547 -0.02715394 -0.00440253
+v -0.00867778 -0.02244564 -0.01270369
+v -0.00867778 -0.02493696 -0.00831460
+v -0.00295333 -0.02615906 -0.00784328
+v -0.00867778 -0.02437182 -0.00944418
+v -0.00658233 -0.02476859 -0.01020319
+v -0.00246530 -0.02736234 -0.00508434
+v -0.00202652 -0.02750362 -0.00440253
+v 0.00030547 -0.02319209 -0.01270370
+v -0.00201948 -0.02750362 -0.00440253
+v 0.00030547 -0.02673009 -0.00564426
+v -0.00586743 -0.02321092 -0.01270370
+v -0.00688394 -0.02364891 -0.01176022
+v -0.00867778 -0.02285066 -0.01207876
+v -0.00297356 -0.02486984 -0.01038685
+v -0.00196848 -0.02533020 -0.00950431
+v -0.00196848 -0.02585059 -0.00847063
+v -0.00196848 -0.02615200 -0.00782702
+v -0.00867778 -0.02427056 -0.00964002
+v -0.00586743 -0.02332160 -0.01254767
+v -0.00278890 -0.02351821 -0.01270370
+v -0.00867778 -0.02372544 -0.01063470
+v -0.00867778 -0.02366540 -0.01073791
+v -0.00867778 -0.02334633 -0.01127751
+v -0.00196848 -0.02654406 -0.00693149
+v 0.00030547 -0.02624030 -0.00692824
+v 0.00030547 -0.02331335 -0.01252573
+v -0.00236242 -0.02352646 -0.01270370
+v -0.00263062 -0.02352646 -0.01270370
+v -0.00196848 -0.02449897 -0.01102071
+v -0.00196848 -0.02486513 -0.01037709
+v 0.00030547 -0.02502407 -0.00955795
+v 0.00030547 -0.02440596 -0.01072166
+v 0.00030547 -0.02571166 -0.00813988
+v 0.00030547 -0.02372309 -0.01188211
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 23
+f 1 23 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 39
+f 1 39 38
+f 1 38 37
+f 1 37 34
+f 1 34 20
+f 1 20 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 8 15 9
+f 8 16 26
+f 8 26 41
+f 8 41 49
+f 8 49 47
+f 8 47 48
+f 8 48 50
+f 8 50 42
+f 8 42 24
+f 8 24 15
+f 9 15 24
+f 9 24 43
+f 9 43 44
+f 9 44 36
+f 9 36 27
+f 9 27 17
+f 10 18 11
+f 11 19 13
+f 11 18 20
+f 11 20 21
+f 11 21 19
+f 13 22 25
+f 13 25 23
+f 13 23 14
+f 13 19 22
+f 16 25 22
+f 16 22 26
+f 17 27 28
+f 17 28 21
+f 17 21 29
+f 19 21 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 22
+f 20 34 21
+f 21 28 35
+f 21 35 36
+f 21 36 30
+f 21 34 37
+f 21 37 38
+f 21 38 39
+f 21 39 29
+f 22 33 40
+f 22 40 41
+f 22 41 26
+f 24 42 43
+f 27 36 35
+f 27 35 28
+f 30 36 44
+f 30 44 43
+f 30 43 45
+f 30 45 46
+f 30 46 31
+f 31 47 32
+f 31 46 48
+f 31 48 47
+f 32 47 49
+f 32 49 33
+f 33 49 40
+f 40 49 41
+f 42 50 43
+f 43 50 45
+f 45 50 48
+f 45 48 46
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_28.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01233026 0.00918920 -0.02362047
+v -0.01366859 0.00918920 -0.02356012
+v -0.01236869 0.00965500 -0.02369549
+v -0.00992588 0.01095239 -0.02363840
+v -0.01095131 0.00953777 -0.02346388
+v -0.01108306 0.00918920 -0.02339049
+v -0.01480162 0.00918920 -0.02324206
+v -0.01366859 0.00965500 -0.02348671
+v -0.01106878 0.01095239 -0.02368407
+v -0.01236869 0.01095239 -0.02348997
+v -0.00992588 0.01226072 -0.02360251
+v -0.00992588 0.00987384 -0.02329914
+v -0.01060328 0.00918920 -0.02314909
+v -0.01544608 0.00918919 -0.02277069
+v -0.01463694 0.00965500 -0.02317518
+v -0.01357088 0.01085391 -0.02317355
+v -0.01115332 0.01233887 -0.02334806
+v -0.01307244 0.01164797 -0.02305937
+v -0.01236869 0.01190902 -0.02317681
+v -0.00992588 0.01238577 -0.02356336
+v -0.00992588 0.00921732 -0.02281472
+v -0.01000053 0.00918919 -0.02284245
+v -0.01014436 0.00918919 -0.02291585
+v -0.01436576 0.01035527 -0.02305774
+v -0.02113976 0.00918917 -0.01578487
+v -0.02113976 0.00965497 -0.01554021
+v -0.02113976 0.01095079 -0.01483722
+v -0.02113976 0.01224974 -0.01413097
+v -0.02102338 0.01224974 -0.01426635
+v -0.02083125 0.01291250 -0.01402494
+v -0.01077565 0.01311730 -0.02317354
+v -0.01164298 0.01282968 -0.02291746
+v -0.01970811 0.01567139 -0.01294028
+v -0.01706987 0.01819113 -0.01286524
+v -0.00992588 0.01344712 -0.02322247
+v -0.00992588 0.00918919 -0.02279026
+v -0.02113976 0.00918914 -0.00811728
+v -0.02113976 0.01304223 -0.01355846
+v -0.01413849 0.01925093 -0.01389281
+v -0.01327116 0.01950259 -0.01416683
+v -0.01042981 0.02199107 -0.01273638
+v -0.02090481 0.01563543 -0.01156693
+v -0.02092238 0.01687811 -0.01028655
+v -0.01831817 0.01821457 -0.01158160
+v -0.01827096 0.01942599 -0.01021315
+v -0.01456338 0.02083904 -0.01167293
+v -0.00992588 0.02166438 -0.01331867
+v -0.00992588 0.00918916 -0.01450123
+v -0.02113976 0.01060532 -0.00703262
+v -0.02113976 0.01606841 -0.01074977
+v -0.00992588 0.02205359 -0.01282772
+v -0.01064829 0.02343538 -0.01040233
+v -0.00992588 0.02318997 -0.01106128
+v -0.02113976 0.01610124 -0.01071878
+v -0.02113976 0.01704067 -0.00967817
+v -0.01946657 0.01932125 -0.00878923
+v -0.01924150 0.02055298 -0.00703258
+v -0.01567554 0.02202856 -0.00894417
+v -0.00992588 0.01991836 -0.00703259
+v -0.02113976 0.01860378 -0.00703259
+v -0.01076027 0.02473431 -0.00791497
+v -0.00992588 0.02349634 -0.01053281
+v -0.02113976 0.01850530 -0.00723321
+v -0.01969822 0.01962449 -0.00793130
+v -0.01985742 0.01998245 -0.00703259
+v -0.01619814 0.02257721 -0.00703258
+v -0.01591598 0.02221457 -0.00821835
+v -0.01112807 0.02495315 -0.00703257
+v -0.00992588 0.02515792 -0.00703257
+v -0.00992588 0.02476870 -0.00799326
+v -0.00992588 0.02452017 -0.00853477
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 23
+f 1 23 22
+f 1 22 36
+f 1 36 48
+f 1 48 37
+f 1 37 25
+f 1 25 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 4 9 11
+f 4 11 20
+f 4 20 35
+f 4 35 47
+f 4 47 51
+f 4 51 53
+f 4 53 62
+f 4 62 71
+f 4 71 70
+f 4 70 69
+f 4 69 59
+f 4 59 48
+f 4 48 36
+f 4 36 21
+f 4 21 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 9 10 11
+f 10 17 11
+f 10 16 18
+f 10 18 19
+f 10 19 17
+f 11 17 20
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 24 15
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 24
+f 15 24 16
+f 16 24 18
+f 17 19 31
+f 17 31 20
+f 18 32 31
+f 18 31 19
+f 18 24 33
+f 18 33 34
+f 18 34 32
+f 20 31 35
+f 21 36 22
+f 24 30 33
+f 25 37 49
+f 25 49 60
+f 25 60 63
+f 25 63 55
+f 25 55 54
+f 25 54 50
+f 25 50 38
+f 25 38 28
+f 25 28 27
+f 25 27 26
+f 28 38 30
+f 28 30 29
+f 30 38 33
+f 31 32 39
+f 31 39 40
+f 31 40 41
+f 31 41 35
+f 32 34 39
+f 33 38 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 39
+f 35 41 47
+f 37 48 49
+f 38 50 42
+f 39 46 40
+f 40 46 41
+f 41 51 47
+f 41 46 52
+f 41 52 53
+f 41 53 51
+f 42 50 54
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 45
+f 43 45 44
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 58 52
+f 48 59 49
+f 49 59 69
+f 49 69 68
+f 49 68 66
+f 49 66 57
+f 49 57 65
+f 49 65 60
+f 52 58 61
+f 52 61 62
+f 52 62 53
+f 55 63 64
+f 55 64 56
+f 56 64 57
+f 57 64 65
+f 57 66 67
+f 57 67 58
+f 58 67 66
+f 58 66 68
+f 58 68 61
+f 60 65 63
+f 61 68 69
+f 61 69 70
+f 61 70 71
+f 61 71 62
+f 63 65 64
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_29.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01902646 -0.00001960 -0.01270361
+v -0.01658354 -0.00896163 -0.01270364
+v -0.02573365 -0.00001960 -0.01270361
+v -0.02515145 -0.00001963 -0.00440243
+v -0.02342449 -0.00896166 -0.00440246
+v -0.02413520 -0.00896163 -0.01270364
+v -0.02589756 -0.00202665 -0.01270362
+v -0.02607852 -0.00001960 -0.01230379
+v -0.02976191 -0.00001963 -0.00440243
+v -0.02858175 -0.00896166 -0.00440246
+v -0.02420732 -0.00896163 -0.01260856
+v -0.02468987 -0.00780712 -0.01270364
+v -0.02588052 -0.00332472 -0.01253215
+v -0.02595001 -0.00202665 -0.01263129
+v -0.02575463 -0.00332472 -0.01270362
+v -0.02638405 -0.00202666 -0.01198768
+v -0.02628701 -0.00001961 -0.01198035
+v -0.02975797 -0.00001963 -0.00442844
+v -0.02993762 -0.00153652 -0.00440244
+v -0.02875353 -0.00854590 -0.00440246
+v -0.02850701 -0.00896166 -0.00472427
+v -0.02427289 -0.00896163 -0.01251510
+v -0.02469774 -0.00780099 -0.01269633
+v -0.02469381 -0.00779486 -0.01270364
+v -0.02444991 -0.00896163 -0.01226156
+v -0.02571267 -0.00356980 -0.01270362
+v -0.02576644 -0.00462103 -0.01236557
+v -0.02620309 -0.00462104 -0.01172195
+v -0.02631324 -0.00332473 -0.01188853
+v -0.02703444 -0.00202666 -0.01095481
+v -0.02740816 -0.00113123 -0.01031362
+v -0.02699511 -0.00001961 -0.01076220
+v -0.02936197 -0.00001963 -0.00564416
+v -0.02984845 -0.00202668 -0.00479658
+v -0.02997827 -0.00202668 -0.00440244
+v -0.02878369 -0.00844786 -0.00440246
+v -0.02866568 -0.00803035 -0.00513547
+v -0.02852668 -0.00889602 -0.00475596
+v -0.02850570 -0.00896166 -0.00472915
+v -0.02615195 -0.00805659 -0.01037378
+v -0.02470299 -0.00776423 -0.01270364
+v -0.02473052 -0.00896164 -0.01184467
+v -0.02552778 -0.00459215 -0.01270363
+v -0.02677875 -0.00462104 -0.01079147
+v -0.02731244 -0.00391205 -0.01013891
+v -0.02703182 -0.00341751 -0.01069395
+v -0.02740816 -0.00202666 -0.01031119
+v -0.02783170 -0.00202667 -0.00950423
+v -0.02839031 -0.00202667 -0.00839010
+v -0.02868928 -0.00118113 -0.00773428
+v -0.02764943 -0.00001961 -0.00955461
+v -0.02954292 -0.00202668 -0.00564417
+v -0.02914036 -0.00001963 -0.00622682
+v -0.02926493 -0.00462106 -0.00564418
+v -0.02969896 -0.00458080 -0.00440245
+v -0.02943671 -0.00582985 -0.00440245
+v -0.02875353 -0.00548673 -0.00659822
+v -0.02746454 -0.00815988 -0.00788790
+v -0.02832474 -0.00848375 -0.00559624
+v -0.02847161 -0.00896166 -0.00482016
+v -0.02539010 -0.00896164 -0.01082724
+v -0.02629882 -0.00896165 -0.00931572
+v -0.02675121 -0.00896165 -0.00851770
+v -0.02724425 -0.00462104 -0.01002027
+v -0.02758780 -0.00462105 -0.00937666
+v -0.02817264 -0.00462105 -0.00821864
+v -0.02865125 -0.00290284 -0.00764409
+v -0.02869715 -0.00202667 -0.00774648
+v -0.02904070 -0.00202667 -0.00693140
+v -0.02886630 -0.00001962 -0.00694033
+v -0.02832212 -0.00001962 -0.00818611
+v -0.02882303 -0.00462106 -0.00678757
+v -0.02855160 -0.00462105 -0.00743118
+v -0.02752093 -0.00896165 -0.00696961
+v -0.02689151 -0.00896165 -0.00825847
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 41
+f 1 41 43
+f 1 43 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 32
+f 1 32 51
+f 1 51 71
+f 1 71 70
+f 1 70 53
+f 1 53 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 10
+f 2 10 21
+f 2 21 39
+f 2 39 60
+f 2 60 74
+f 2 74 75
+f 2 75 63
+f 2 63 62
+f 2 62 61
+f 2 61 42
+f 2 42 25
+f 2 25 22
+f 2 22 11
+f 2 11 6
+f 3 7 8
+f 4 9 19
+f 4 19 35
+f 4 35 55
+f 4 55 56
+f 4 56 36
+f 4 36 20
+f 4 20 10
+f 4 10 5
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 7 15 13
+f 8 16 17
+f 8 14 16
+f 9 18 19
+f 10 20 21
+f 11 22 12
+f 12 23 24
+f 12 22 25
+f 12 25 23
+f 13 15 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 16
+f 13 16 14
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 18 33 19
+f 19 34 35
+f 19 33 34
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 23 40 41
+f 23 41 24
+f 23 25 40
+f 25 42 40
+f 26 43 27
+f 27 43 41
+f 27 41 28
+f 28 40 44
+f 28 44 45
+f 28 45 29
+f 28 41 40
+f 29 46 30
+f 29 45 46
+f 30 46 45
+f 30 45 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 33 52 34
+f 33 53 50
+f 33 50 52
+f 34 52 54
+f 34 54 55
+f 34 55 35
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 58
+f 38 58 60
+f 38 60 39
+f 40 42 61
+f 40 61 62
+f 40 62 63
+f 40 63 58
+f 40 58 64
+f 40 64 44
+f 44 64 45
+f 45 64 65
+f 45 65 66
+f 45 66 49
+f 45 49 48
+f 45 48 47
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 52
+f 50 53 70
+f 50 70 71
+f 50 71 51
+f 52 69 72
+f 52 72 54
+f 54 56 55
+f 54 72 57
+f 54 57 56
+f 57 72 73
+f 57 73 66
+f 57 66 58
+f 58 74 60
+f 58 66 65
+f 58 65 64
+f 58 63 75
+f 58 75 74
+f 66 73 67
+f 67 73 72
+f 67 72 69
+f 67 69 68
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_3.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.03103158 -0.00001965 0.00072100
+v -0.03126993 0.00107701 0.00072100
+v -0.02667028 -0.00001965 0.00072100
+v -0.03427670 -0.00001972 0.01881193
+v -0.03130918 0.00175658 0.00072101
+v -0.02460547 0.00991243 0.00072104
+v -0.02806215 -0.00001970 0.01237567
+v -0.03433509 -0.00001972 0.01951421
+v -0.03438487 0.00056944 0.02009878
+v -0.03427765 0.00056944 0.01881193
+v -0.03154276 0.00186740 0.00208092
+v -0.03125366 0.00248379 0.00072101
+v -0.03124217 0.00517194 0.00131370
+v -0.02953633 0.00991243 0.00072104
+v -0.02615432 0.00991238 0.01239398
+v -0.02825360 -0.00001970 0.01366252
+v -0.03438295 -0.00001972 0.02009878
+v -0.03404408 -0.00001973 0.02099591
+v -0.03404504 0.00056943 0.02099591
+v -0.03402589 0.00186733 0.02097969
+v -0.03434371 0.00186734 0.02009879
+v -0.03423362 0.00186734 0.01881194
+v -0.03102966 0.00451376 0.00072102
+v -0.03001592 0.00914925 0.00072103
+v -0.03088799 0.00567555 0.00072102
+v -0.03090713 0.00555305 0.00072102
+v -0.03414077 0.00316524 0.01881194
+v -0.03392826 0.00576006 0.01914482
+v -0.03385263 0.00658255 0.01935186
+v -0.03002358 0.00916091 0.00079410
+v -0.03014994 0.00933590 0.00208094
+v -0.03280156 0.00991236 0.01877950
+v -0.02631227 0.00991238 0.01336013
+v -0.02636204 0.00991238 0.01366256
+v -0.02836177 -0.00001970 0.01421866
+v -0.03316723 -0.00001973 0.02138359
+v -0.03316723 0.00056943 0.02138562
+v -0.03316723 0.00186733 0.02137345
+v -0.03316723 0.00446312 0.02127603
+v -0.03398090 0.00316523 0.02093503
+v -0.03316723 0.00316523 0.02133895
+v -0.03425373 0.00316524 0.02009879
+v -0.03325913 0.00835586 0.01881196
+v -0.03411875 0.00446313 0.02009880
+v -0.03385263 0.00658255 0.01967864
+v -0.03301503 0.00965375 0.02009882
+v -0.03293462 0.00991236 0.02009882
+v -0.02663295 0.00991238 0.01496970
+v -0.02849196 -0.00001970 0.01488644
+v -0.03186727 -0.00001973 0.02130646
+v -0.03186727 0.00576005 0.02144653
+v -0.03186727 0.00705795 0.02145669
+v -0.03186727 0.00835585 0.02143233
+v -0.03302939 0.00705795 0.02113802
+v -0.03186727 0.00965374 0.02134506
+v -0.03391198 0.00446312 0.02085994
+v -0.03385455 0.00533520 0.02078890
+v -0.03392826 0.00576492 0.02010286
+v -0.03377318 0.00620046 0.02053722
+v -0.03367458 0.00703171 0.02010287
+v -0.03336634 0.00835586 0.02009881
+v -0.03288197 0.00991236 0.02032005
+v -0.02855514 -0.00001971 0.01517872
+v -0.02690481 0.00991237 0.01598050
+v -0.02863267 -0.00001971 0.01552987
+v -0.02948942 0.00991235 0.02098986
+v -0.03030023 0.00991235 0.02131056
+v -0.03056730 0.00991235 0.02139378
+v -0.03101435 -0.00001973 0.02091676
+v -0.03160881 0.00991235 0.02136739
+v -0.03288005 0.00835585 0.02107713
+v -0.03188258 0.00991235 0.02129838
+v -0.03270870 0.00965374 0.02094724
+v -0.03266945 0.00991235 0.02090665
+v -0.02697374 0.00991237 0.01622813
+v -0.02883274 -0.00001971 0.01623621
+v -0.02932095 0.00991235 0.02087214
+v -0.03040265 -0.00001972 0.02009878
+v -0.02885859 0.00991235 0.02041951
+v -0.03255363 0.00991235 0.02097972
+v -0.02901749 -0.00001971 0.01682077
+v -0.02724847 0.00991237 0.01706235
+v -0.02923958 -0.00001971 0.01752305
+v -0.02842782 0.00991236 0.01978827
+v -0.02878009 0.00991236 0.02030585
+v -0.02995561 -0.00001972 0.01936604
+v -0.02741695 0.00991237 0.01755354
+v -0.02944348 -0.00001972 0.01806905
+v -0.02828136 0.00991236 0.01952440
+v -0.02980915 -0.00001972 0.01901490
+v -0.02782091 0.00991236 0.01854811
+v -0.02793483 0.00991236 0.01881806
+v -0.02747917 0.00991236 0.01770780
+v -0.02968854 -0.00001972 0.01872262
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 26
+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 35
+f 1 35 49
+f 1 49 63
+f 1 63 65
+f 1 65 76
+f 1 76 81
+f 1 81 83
+f 1 83 88
+f 1 88 94
+f 1 94 90
+f 1 90 86
+f 1 86 78
+f 1 78 69
+f 1 69 50
+f 1 50 36
+f 1 36 18
+f 1 18 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 13
+f 5 13 12
+f 6 14 32
+f 6 32 47
+f 6 47 62
+f 6 62 74
+f 6 74 80
+f 6 80 72
+f 6 72 70
+f 6 70 68
+f 6 68 67
+f 6 67 66
+f 6 66 77
+f 6 77 79
+f 6 79 85
+f 6 85 84
+f 6 84 89
+f 6 89 92
+f 6 92 91
+f 6 91 93
+f 6 93 87
+f 6 87 82
+f 6 82 75
+f 6 75 64
+f 6 64 48
+f 6 48 34
+f 6 34 33
+f 6 33 15
+f 6 15 7
+f 7 15 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 13
+f 12 13 23
+f 13 24 25
+f 13 25 26
+f 13 26 23
+f 13 22 27
+f 13 27 28
+f 13 28 29
+f 13 29 24
+f 14 24 30
+f 14 30 31
+f 14 31 32
+f 15 33 16
+f 16 33 34
+f 16 34 35
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 39 40
+f 20 40 21
+f 20 38 41
+f 20 41 39
+f 21 40 42
+f 21 42 22
+f 22 42 27
+f 24 29 43
+f 24 43 32
+f 24 32 30
+f 27 42 28
+f 28 42 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 32
+f 29 32 43
+f 30 32 31
+f 32 46 47
+f 34 48 49
+f 34 49 35
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 38
+f 38 52 53
+f 38 53 41
+f 39 54 40
+f 39 41 53
+f 39 53 55
+f 39 55 54
+f 40 54 56
+f 40 56 42
+f 42 56 57
+f 42 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 47
+f 48 63 49
+f 48 64 65
+f 48 65 63
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 50 69 66
+f 51 68 52
+f 52 68 53
+f 53 68 70
+f 53 70 55
+f 54 55 71
+f 54 71 56
+f 55 70 72
+f 55 72 71
+f 56 71 57
+f 57 71 73
+f 57 73 74
+f 57 74 59
+f 57 59 58
+f 59 74 62
+f 59 62 61
+f 59 61 60
+f 64 75 65
+f 65 75 76
+f 66 69 77
+f 69 78 79
+f 69 79 77
+f 71 72 80
+f 71 80 73
+f 73 80 74
+f 75 81 76
+f 75 82 83
+f 75 83 81
+f 78 84 85
+f 78 85 79
+f 78 86 84
+f 82 87 83
+f 83 87 88
+f 84 86 89
+f 86 90 91
+f 86 91 92
+f 86 92 89
+f 87 93 94
+f 87 94 88
+f 90 94 91
+f 91 94 93
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_30.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00030547 0.01568622 -0.01309178
+v 0.00775820 0.01240746 -0.01309179
+v 0.00030547 0.02009796 -0.00861523
+v 0.00030547 0.02276782 -0.01309176
+v 0.00775820 0.01776485 -0.00861523
+v 0.00775820 0.02038154 -0.01309177
+v 0.00030547 0.02532751 -0.00861521
+v 0.00030547 0.02315520 -0.01252643
+v 0.00033683 0.02276909 -0.01309176
+v 0.00775820 0.02321721 -0.00861521
+v 0.00555944 0.02164874 -0.01309176
+v 0.00530702 0.02206650 -0.01283583
+v 0.00775820 0.02099299 -0.01234326
+v 0.00192134 0.02534017 -0.00861521
+v 0.00106343 0.02463885 -0.01025683
+v 0.00030547 0.02503381 -0.00921997
+v 0.00030547 0.02356408 -0.01188267
+v 0.00063302 0.02316026 -0.01253388
+v 0.00063302 0.02277795 -0.01309176
+v 0.00775820 0.02273363 -0.00960694
+v 0.00699002 0.02376788 -0.00861521
+v 0.00453228 0.02198674 -0.01309176
+v 0.00190894 0.02261338 -0.01309176
+v 0.00193301 0.02308810 -0.01244712
+v 0.00193301 0.02352104 -0.01180335
+v 0.00147853 0.02463885 -0.01025683
+v 0.00559226 0.02348053 -0.01049084
+v 0.00645893 0.02326659 -0.01012624
+v 0.00775820 0.02204497 -0.01075554
+v 0.00583301 0.02442617 -0.00861521
+v 0.00030547 0.02486546 -0.00956267
+v 0.00030547 0.02373245 -0.01159913
+v 0.00030547 0.02424895 -0.01072223
+v 0.00679597 0.02353242 -0.00926818
+v 0.00594827 0.02380208 -0.00962052
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 31
+f 1 31 33
+f 1 33 32
+f 1 32 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 23
+f 1 23 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 29
+f 2 29 20
+f 2 20 10
+f 2 10 5
+f 3 5 10
+f 3 10 21
+f 3 21 30
+f 3 30 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 8 17 15
+f 8 15 18
+f 8 18 9
+f 9 18 19
+f 10 20 21
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 14 30 26
+f 14 26 15
+f 15 31 16
+f 15 26 18
+f 15 17 32
+f 15 32 33
+f 15 33 31
+f 18 26 19
+f 19 26 24
+f 19 24 23
+f 20 29 28
+f 20 28 34
+f 20 34 21
+f 21 34 30
+f 24 26 25
+f 26 30 27
+f 27 30 35
+f 27 35 28
+f 28 35 30
+f 28 30 34
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_31.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00192537 0.02822655 -0.00138600
+v 0.00030547 0.02788302 -0.00138600
+v -0.00196882 0.02813871 -0.00178233
+v -0.00240739 0.02819922 -0.00138600
+v 0.00030547 0.02322681 -0.00138601
+v 0.00030547 0.02778738 -0.00178233
+v -0.00196882 0.02777664 -0.00306974
+v -0.00244541 0.02720865 -0.00509399
+v -0.00271425 0.02720865 -0.00509399
+v -0.00680118 0.02726427 -0.00397794
+v -0.00716642 0.02789473 -0.00138600
+v 0.00030547 0.02105341 -0.00703202
+v -0.01356566 0.02078013 -0.00138602
+v -0.01356566 0.01825734 -0.00703203
+v 0.00030547 0.02749362 -0.00281270
+v 0.00030547 0.02740481 -0.00311341
+v 0.00030547 0.02700273 -0.00438589
+v 0.00030547 0.02668750 -0.00531620
+v 0.00030547 0.02657624 -0.00564344
+v 0.00030547 0.02622198 -0.00657984
+v 0.00030547 0.02608633 -0.00693582
+v -0.00196882 0.02638692 -0.00693029
+v -0.00196882 0.02634301 -0.00703200
+v -0.00592269 0.02608633 -0.00703200
+v -0.00697769 0.02601606 -0.00703200
+v -0.00716642 0.02779128 -0.00178233
+v -0.01062334 0.02593505 -0.00516364
+v -0.01106054 0.02608047 -0.00436543
+v -0.01106733 0.02648450 -0.00306974
+v -0.01106733 0.02685438 -0.00178233
+v -0.01106733 0.02696563 -0.00138600
+v 0.00030547 0.02601997 -0.00703200
+v -0.01356566 0.02574083 -0.00138601
+v -0.01356566 0.02355767 -0.00703201
+v -0.01112572 0.02495327 -0.00703201
+v -0.01106054 0.02559835 -0.00561305
+v -0.01148961 0.02579452 -0.00480103
+v -0.01183177 0.02596042 -0.00394367
+v -0.01142307 0.02681729 -0.00138600
+v -0.01272655 0.02618586 -0.00138600
+v -0.01201643 0.02610583 -0.00306974
+v -0.01356566 0.02561786 -0.00179948
+v -0.01356566 0.02357134 -0.00701101
+v -0.01354257 0.02357231 -0.00703201
+v -0.01118139 0.02492692 -0.00703201
+v -0.01114201 0.02496303 -0.00699442
+v -0.01177474 0.02463023 -0.00703201
+v -0.01356566 0.02421642 -0.00559204
+v -0.01356566 0.02475807 -0.00428861
+v -0.01356566 0.02517674 -0.00316704
+v -0.01237081 0.02637324 -0.00138600
+v -0.01356566 0.02361037 -0.00693694
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 31
+f 1 31 39
+f 1 39 51
+f 1 51 40
+f 1 40 33
+f 1 33 13
+f 1 13 5
+f 1 5 2
+f 2 5 12
+f 2 12 32
+f 2 32 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 13 14
+f 5 14 12
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 24 25
+f 9 25 10
+f 9 23 24
+f 10 26 11
+f 10 25 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 26
+f 11 26 31
+f 12 14 34
+f 12 34 44
+f 12 44 47
+f 12 47 45
+f 12 45 35
+f 12 35 25
+f 12 25 24
+f 12 24 23
+f 12 23 32
+f 13 33 42
+f 13 42 50
+f 13 50 49
+f 13 49 48
+f 13 48 52
+f 13 52 43
+f 13 43 34
+f 13 34 14
+f 21 32 23
+f 21 23 22
+f 25 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 31
+f 31 38 39
+f 33 40 41
+f 33 41 38
+f 33 38 42
+f 34 43 44
+f 35 45 46
+f 35 46 37
+f 35 37 36
+f 37 46 45
+f 37 45 47
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 42
+f 38 41 39
+f 39 41 51
+f 40 51 41
+f 43 52 47
+f 43 47 44
+f 47 52 48
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_32.obj

@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v 0.02570569 0.00056871 -0.01374441
+v 0.02570569 -0.00072818 -0.01374335
+v 0.02570569 0.00133752 -0.01351372
+v 0.02883996 0.00139457 -0.01279728
+v 0.02793357 0.00056871 -0.01312746
+v 0.02793357 -0.00072818 -0.01312746
+v 0.02570569 -0.00197914 -0.01336769
+v 0.02883996 -0.00155265 -0.01279624
+v 0.02570569 0.00182037 -0.01336449
+v 0.02897719 0.00056871 -0.01283538
+v 0.02793357 0.00163182 -0.01292532
+v 0.03220126 0.00236653 -0.01134537
+v 0.03179296 0.00190733 -0.01167872
+v 0.03276204 0.00150101 -0.01155067
+v 0.03183362 0.00056870 -0.01199303
+v 0.03053417 0.00056871 -0.01238563
+v 0.02962777 0.00056871 -0.01264808
+v 0.02897719 -0.00072818 -0.01283538
+v 0.02570569 -0.00230545 -0.01315075
+v 0.02793357 -0.00178851 -0.01292429
+v 0.02663242 -0.00212038 -0.01305551
+v 0.02706613 -0.00261576 -0.01265761
+v 0.02962777 -0.00072818 -0.01264913
+v 0.03053417 -0.00072818 -0.01238563
+v 0.03183362 -0.00072819 -0.01199197
+v 0.03276204 -0.00165424 -0.01154858
+v 0.03178618 -0.00206195 -0.01167662
+v 0.03218771 -0.00251906 -0.01134328
+v 0.02570569 0.00257248 -0.01281421
+v 0.02619701 0.00254604 -0.01276553
+v 0.02706444 0.00245908 -0.01265971
+v 0.02663242 0.00196231 -0.01305443
+v 0.02793357 0.00228096 -0.01253907
+v 0.03133383 0.00255369 -0.01147554
+v 0.03313307 0.00279790 -0.01050513
+v 0.03402761 0.00264414 -0.01028396
+v 0.03317035 0.00190733 -0.01116442
+v 0.03529657 0.00147666 -0.01027338
+v 0.03356848 0.00056870 -0.01134115
+v 0.03291791 0.00056870 -0.01161206
+v 0.02619870 -0.00270760 -0.01276873
+v 0.02570569 -0.00273404 -0.01281846
+v 0.03132197 -0.00271039 -0.01147238
+v 0.02793357 -0.00243765 -0.01253909
+v 0.03291791 -0.00072819 -0.01161100
+v 0.03356848 -0.00072819 -0.01134221
+v 0.03528979 -0.00162293 -0.01026917
+v 0.03317035 -0.00206195 -0.01116444
+v 0.03402084 -0.00280362 -0.01028716
+v 0.03313307 -0.00295808 -0.01050515
+v 0.02570569 0.00282642 -0.01210519
+v 0.03053417 0.00302541 -0.01079192
+v 0.02923302 0.00271510 -0.01172740
+v 0.03053417 0.00262813 -0.01157184
+v 0.03179296 0.00284938 -0.01086705
+v 0.03313307 0.00330996 -0.00950404
+v 0.03444777 0.00296905 -0.00956436
+v 0.03573198 0.00274292 -0.00912942
+v 0.03644524 0.00255646 -0.00890296
+v 0.03489335 0.00234218 -0.01003422
+v 0.03444777 0.00189203 -0.01051995
+v 0.03573029 0.00189203 -0.00976754
+v 0.03768370 0.00121922 -0.00886170
+v 0.03608607 0.00056870 -0.00996968
+v 0.03543549 0.00056870 -0.01035170
+v 0.03443253 0.00056870 -0.01090093
+v 0.03053417 -0.00278623 -0.01157080
+v 0.02923302 -0.00287668 -0.01172954
+v 0.03053417 -0.00317933 -0.01079194
+v 0.02570569 -0.00279805 -0.01265867
+v 0.03178618 -0.00300678 -0.01086495
+v 0.03443253 -0.00072819 -0.01089987
+v 0.03488657 -0.00248845 -0.01002577
+v 0.03444439 -0.00204386 -0.01051997
+v 0.03543041 -0.00072819 -0.01034958
+v 0.03608099 -0.00072819 -0.00996650
+v 0.03767862 -0.00135646 -0.00885852
+v 0.03674342 -0.00202578 -0.00910510
+v 0.03572690 -0.00204386 -0.00975592
+v 0.03643338 -0.00270901 -0.00889663
+v 0.03573198 -0.00289199 -0.00911780
+v 0.03444439 -0.00312228 -0.00956015
+v 0.03313307 -0.00346530 -0.00950406
+v 0.02570569 0.00302541 -0.01079192
+v 0.02663411 0.00305046 -0.01079192
+v 0.02793357 0.00308455 -0.01079192
+v 0.02923302 0.00308385 -0.01079192
+v 0.03183362 0.00331901 -0.00950404
+v 0.03443253 0.00347068 -0.00821828
+v 0.03573198 0.00327378 -0.00821828
+v 0.03693995 0.00282015 -0.00818230
+v 0.03787006 0.00264830 -0.00772937
+v 0.03731098 0.00208474 -0.00858655
+v 0.03693995 0.00173756 -0.00906381
+v 0.03772097 0.00056869 -0.00889027
+v 0.03703143 0.00056869 -0.00935484
+v 0.03820891 0.00171529 -0.00811669
+v 0.03906109 0.00134654 -0.00764684
+v 0.03913733 0.00056869 -0.00771669
+v 0.03837155 0.00056869 -0.00835904
+v 0.03773283 -0.00049094 -0.00889874
+v 0.02923302 -0.00324264 -0.01079194
+v 0.02570569 -0.00298661 -0.01210415
+v 0.03716019 -0.00084508 -0.00925325
+v 0.03739399 -0.00202578 -0.00864583
+v 0.03823262 -0.00084508 -0.00845851
+v 0.03913733 -0.00072820 -0.00771669
+v 0.03906109 -0.00150396 -0.00764685
+v 0.03831056 -0.00197221 -0.00796115
+v 0.03786159 -0.00279946 -0.00771987
+v 0.03693317 -0.00296922 -0.00817597
+v 0.03573198 -0.00342146 -0.00821830
+v 0.03183362 -0.00347156 -0.00950406
+v 0.03443253 -0.00361975 -0.00821830
+v 0.02570569 0.00283547 -0.00990194
+v 0.03963203 0.00347345 -0.00306995
+v 0.03833258 0.00344075 -0.00564359
+v 0.03703143 0.00340250 -0.00693146
+v 0.03831395 0.00290851 -0.00692723
+v 0.03919154 0.00267682 -0.00649547
+v 0.03873580 0.00221206 -0.00735264
+v 0.03955919 0.00178000 -0.00686056
+v 0.04035546 0.00134862 -0.00636743
+v 0.03978790 0.00056869 -0.00708598
+v 0.02793357 -0.00324752 -0.01079194
+v 0.02570569 -0.00307497 -0.01170943
+v 0.03872733 -0.00236948 -0.00734949
+v 0.03978790 -0.00072820 -0.00708598
+v 0.04035546 -0.00150745 -0.00636744
+v 0.03955749 -0.00193811 -0.00685846
+v 0.03918815 -0.00283356 -0.00649231
+v 0.03831056 -0.00306385 -0.00692513
+v 0.03703143 -0.00355853 -0.00693148
+v 0.02570569 -0.00318420 -0.01079194
+v 0.02663411 -0.00321342 -0.01079194
+v 0.03833258 -0.00360237 -0.00564361
+v 0.03976927 -0.00363438 -0.00293346
+v 0.02570569 0.00274640 -0.00950404
+v 0.03962187 0.00342753 -0.00293344
+v 0.04093149 0.00334682 -0.00293344
+v 0.03963203 0.00343519 -0.00435677
+v 0.03962865 0.00291894 -0.00562877
+v 0.04044017 0.00265525 -0.00519066
+v 0.04005897 0.00221344 -0.00604783
+v 0.04042323 0.00056868 -0.00644257
+v 0.04067905 0.00181547 -0.00562877
+v 0.04157867 0.00118512 -0.00499596
+v 0.04005559 -0.00237228 -0.00604468
+v 0.04042323 -0.00072821 -0.00644257
+v 0.04157698 -0.00133073 -0.00499384
+v 0.04067736 -0.00197430 -0.00562668
+v 0.04043847 -0.00281130 -0.00518645
+v 0.03962526 -0.00307360 -0.00562668
+v 0.02570569 -0.00290591 -0.00950300
+v 0.03963203 -0.00358567 -0.00435679
+v 0.04093149 -0.00350219 -0.00293346
+v 0.03962187 -0.00358359 -0.00293346
+v 0.02570569 -0.00265196 -0.00890086
+v 0.02570569 0.00256411 -0.00904265
+v 0.03837155 0.00287371 -0.00293344
+v 0.02570569 0.00249384 -0.00890084
+v 0.02570569 0.00206595 -0.00839183
+v 0.04190735 0.00278882 -0.00293344
+v 0.04093149 0.00332595 -0.00306995
+v 0.04089760 0.00284310 -0.00427105
+v 0.04163289 0.00256618 -0.00378532
+v 0.04137367 0.00186696 -0.00472927
+v 0.04117376 0.00067930 -0.00554518
+v 0.04162103 0.00031960 -0.00504993
+v 0.04184805 0.00186696 -0.00408586
+v 0.04266635 0.00175771 -0.00293344
+v 0.04271548 0.00056867 -0.00343929
+v 0.04199206 0.00067930 -0.00448271
+v 0.04137029 -0.00202579 -0.00472929
+v 0.04163458 -0.00272712 -0.00378746
+v 0.04162103 -0.00046591 -0.00504993
+v 0.04117207 -0.00083048 -0.00554518
+v 0.04199037 -0.00083048 -0.00448165
+v 0.04271210 -0.00072822 -0.00343717
+v 0.04289676 -0.00129734 -0.00293345
+v 0.04266296 -0.00191587 -0.00293346
+v 0.04184636 -0.00202579 -0.00408588
+v 0.04089591 -0.00299915 -0.00427319
+v 0.04093149 -0.00348062 -0.00306997
+v 0.04107550 -0.00344584 -0.00293346
+v 0.03843085 -0.00307569 -0.00293346
+v 0.02570569 -0.00199517 -0.00813576
+v 0.03816655 0.00271159 -0.00293344
+v 0.02570569 0.00183983 -0.00813680
+v 0.04200561 0.00269629 -0.00293344
+v 0.04186161 0.00276447 -0.00306995
+v 0.04254945 0.00196296 -0.00293344
+v 0.04250710 0.00189060 -0.00307101
+v 0.04301366 0.00056867 -0.00293345
+v 0.04301197 -0.00044644 -0.00293345
+v 0.04250371 -0.00204737 -0.00306891
+v 0.04254606 -0.00211834 -0.00293346
+v 0.04185991 -0.00292402 -0.00306997
+v 0.04301027 -0.00072822 -0.00293345
+v 0.04190565 -0.00294767 -0.00293346
+v 0.03836647 -0.00303395 -0.00293346
+v 0.02570569 -0.00092370 -0.00750292
+v 0.03773283 -0.00258797 -0.00293346
+v 0.03739061 0.00203950 -0.00293344
+v 0.02570569 0.00056869 -0.00743731
+v 0.02570569 -0.00072820 -0.00743731
+v 0.03737705 -0.00219974 -0.00293346
+v 0.03723474 -0.00203554 -0.00293346
+v 0.03717205 0.00177163 -0.00293344
+v 0.03674850 -0.00072822 -0.00293345
+v 0.03675189 0.00056867 -0.00293345
+v 0.03716866 -0.00193883 -0.00293346
+v 0.03675867 -0.00078944 -0.00293345
+f 1 2 7
+f 1 7 19
+f 1 19 42
+f 1 42 70
+f 1 70 103
+f 1 103 126
+f 1 126 134
+f 1 134 154
+f 1 154 158
+f 1 158 187
+f 1 187 202
+f 1 202 206
+f 1 206 205
+f 1 205 189
+f 1 189 162
+f 1 162 161
+f 1 161 159
+f 1 159 138
+f 1 138 115
+f 1 115 84
+f 1 84 51
+f 1 51 29
+f 1 29 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 10
+f 5 10 18
+f 5 18 6
+f 6 18 8
+f 7 8 20
+f 7 20 21
+f 7 21 22
+f 7 22 19
+f 8 18 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 20
+f 9 29 30
+f 9 30 31
+f 9 31 32
+f 9 32 11
+f 10 17 23
+f 10 23 18
+f 11 32 31
+f 11 31 33
+f 11 33 34
+f 11 34 12
+f 12 34 35
+f 12 35 36
+f 12 36 37
+f 12 37 14
+f 12 14 13
+f 14 37 38
+f 14 38 39
+f 14 39 40
+f 14 40 15
+f 15 40 45
+f 15 45 25
+f 15 25 24
+f 15 24 16
+f 16 24 23
+f 16 23 17
+f 19 22 41
+f 19 41 42
+f 20 28 43
+f 20 43 44
+f 20 44 22
+f 20 22 21
+f 22 44 43
+f 22 43 41
+f 25 45 26
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 28
+f 26 28 27
+f 28 48 49
+f 28 49 50
+f 28 50 43
+f 29 51 52
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 34
+f 30 34 31
+f 31 34 33
+f 34 54 55
+f 34 55 35
+f 35 56 57
+f 35 57 36
+f 35 55 56
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 38
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 39
+f 38 61 60
+f 38 60 62
+f 39 46 40
+f 39 66 46
+f 40 46 45
+f 41 43 67
+f 41 67 68
+f 41 68 69
+f 41 69 42
+f 42 69 70
+f 43 50 71
+f 43 71 67
+f 46 66 72
+f 46 72 47
+f 47 73 74
+f 47 74 48
+f 47 72 75
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 73
+f 48 74 49
+f 49 74 73
+f 49 73 80
+f 49 80 81
+f 49 81 82
+f 49 82 50
+f 50 82 83
+f 50 83 71
+f 51 84 85
+f 51 85 86
+f 51 86 87
+f 51 87 52
+f 52 87 56
+f 52 56 55
+f 52 55 53
+f 53 55 54
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 57
+f 57 90 58
+f 58 90 91
+f 58 91 59
+f 59 91 92
+f 59 92 93
+f 59 93 94
+f 59 94 62
+f 59 62 60
+f 62 94 63
+f 63 95 96
+f 63 96 64
+f 63 94 93
+f 63 93 97
+f 63 97 98
+f 63 98 99
+f 63 99 100
+f 63 100 95
+f 64 76 75
+f 64 75 65
+f 64 96 101
+f 64 101 76
+f 65 75 72
+f 65 72 66
+f 67 71 68
+f 68 71 69
+f 69 102 103
+f 69 103 70
+f 69 71 83
+f 69 83 102
+f 73 79 80
+f 76 101 104
+f 76 104 77
+f 77 105 78
+f 77 104 101
+f 77 101 106
+f 77 106 107
+f 77 107 108
+f 77 108 109
+f 77 109 105
+f 78 105 80
+f 78 80 79
+f 80 105 110
+f 80 110 111
+f 80 111 81
+f 81 111 112
+f 81 112 82
+f 82 112 83
+f 83 113 102
+f 83 112 114
+f 83 114 113
+f 84 88 85
+f 84 115 116
+f 84 116 89
+f 84 89 88
+f 85 88 86
+f 86 88 87
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 90 118 119
+f 90 119 91
+f 91 119 92
+f 92 119 120
+f 92 120 121
+f 92 121 93
+f 93 121 97
+f 95 101 96
+f 95 100 101
+f 97 121 98
+f 98 121 122
+f 98 122 123
+f 98 123 124
+f 98 124 99
+f 99 107 101
+f 99 101 100
+f 99 124 128
+f 99 128 107
+f 101 107 106
+f 102 113 125
+f 102 125 126
+f 102 126 103
+f 105 109 127
+f 105 127 110
+f 107 128 108
+f 108 128 129
+f 108 129 130
+f 108 130 127
+f 108 127 109
+f 110 127 131
+f 110 131 132
+f 110 132 111
+f 111 132 112
+f 112 132 133
+f 112 133 114
+f 113 134 135
+f 113 135 125
+f 113 114 134
+f 114 133 136
+f 114 136 137
+f 114 137 134
+f 115 138 116
+f 116 139 140
+f 116 140 141
+f 116 141 117
+f 116 138 139
+f 117 141 142
+f 117 142 119
+f 117 119 118
+f 119 142 120
+f 120 142 143
+f 120 143 144
+f 120 144 121
+f 121 144 122
+f 122 144 123
+f 123 145 124
+f 123 144 146
+f 123 146 147
+f 123 147 145
+f 124 145 149
+f 124 149 128
+f 125 135 126
+f 126 135 134
+f 127 130 148
+f 127 148 131
+f 128 149 129
+f 129 148 130
+f 129 149 150
+f 129 150 151
+f 129 151 148
+f 131 148 152
+f 131 152 153
+f 131 153 132
+f 132 153 136
+f 132 136 133
+f 134 137 154
+f 136 153 155
+f 136 155 137
+f 137 155 156
+f 137 156 185
+f 137 185 200
+f 137 200 197
+f 137 197 181
+f 137 181 180
+f 137 180 199
+f 137 199 195
+f 137 195 194
+f 137 194 171
+f 137 171 192
+f 137 192 190
+f 137 190 163
+f 137 163 140
+f 137 140 139
+f 137 139 160
+f 137 160 188
+f 137 188 204
+f 137 204 209
+f 137 209 211
+f 137 211 210
+f 137 210 213
+f 137 213 212
+f 137 212 208
+f 137 208 207
+f 137 207 203
+f 137 203 201
+f 137 201 186
+f 137 186 157
+f 137 157 158
+f 137 158 154
+f 138 159 139
+f 139 159 161
+f 139 161 162
+f 139 162 160
+f 140 163 164
+f 140 164 141
+f 141 164 142
+f 142 164 165
+f 142 165 143
+f 143 165 166
+f 143 166 167
+f 143 167 144
+f 144 167 146
+f 145 147 168
+f 145 168 169
+f 145 169 176
+f 145 176 149
+f 146 167 147
+f 147 169 168
+f 147 167 170
+f 147 170 171
+f 147 171 172
+f 147 172 173
+f 147 173 169
+f 148 151 174
+f 148 174 175
+f 148 175 152
+f 149 176 177
+f 149 177 150
+f 150 174 151
+f 150 177 176
+f 150 176 178
+f 150 178 179
+f 150 179 180
+f 150 180 181
+f 150 181 182
+f 150 182 174
+f 152 175 183
+f 152 183 153
+f 153 183 184
+f 153 184 155
+f 155 184 156
+f 156 184 185
+f 157 186 158
+f 158 186 187
+f 160 162 189
+f 160 189 188
+f 163 190 191
+f 163 191 164
+f 164 191 165
+f 165 191 166
+f 166 191 190
+f 166 190 192
+f 166 192 193
+f 166 193 170
+f 166 170 167
+f 169 173 172
+f 169 172 176
+f 170 193 171
+f 171 193 192
+f 171 194 172
+f 172 194 195
+f 172 195 179
+f 172 179 176
+f 174 182 175
+f 175 182 196
+f 175 196 197
+f 175 197 198
+f 175 198 183
+f 176 179 178
+f 179 195 199
+f 179 199 180
+f 181 197 196
+f 181 196 182
+f 183 198 184
+f 184 198 185
+f 185 198 200
+f 186 201 187
+f 187 201 203
+f 187 203 202
+f 188 189 205
+f 188 205 204
+f 197 200 198
+f 202 203 207
+f 202 207 208
+f 202 208 206
+f 204 205 209
+f 205 206 210
+f 205 210 211
+f 205 211 209
+f 206 208 212
+f 206 212 213
+f 206 213 210
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_33.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.04486139 -0.00072783 0.00465289
+v 0.04460727 -0.00202614 0.00465288
+v 0.04484551 -0.00072782 0.00336597
+v 0.04486059 0.00056906 0.00465289
+v 0.04480421 0.00056906 0.00593981
+v 0.04480262 -0.00072783 0.00593981
+v 0.04454454 -0.00202614 0.00593980
+v 0.04424674 -0.00276117 0.00593980
+v 0.04427931 -0.00280216 0.00465288
+v 0.04426342 -0.00278165 0.00336596
+v 0.04458265 -0.00202613 0.00336596
+v 0.04474069 -0.00072782 0.00208008
+v 0.04484471 0.00056907 0.00336597
+v 0.04460330 0.00186666 0.00465290
+v 0.04454613 0.00186666 0.00593982
+v 0.04466762 0.00056905 0.00722777
+v 0.04466365 -0.00072784 0.00722777
+v 0.04437698 -0.00208905 0.00719061
+v 0.04420704 -0.00270887 0.00673652
+v 0.04353284 -0.00336827 0.00593980
+v 0.04353284 -0.00341703 0.00465288
+v 0.04353284 -0.00338875 0.00336596
+v 0.04422372 -0.00272864 0.00246914
+v 0.04441748 -0.00211730 0.00205633
+v 0.04473910 0.00056907 0.00208008
+v 0.04432854 -0.00174342 0.00079211
+v 0.04451119 -0.00072781 0.00079212
+v 0.04457868 0.00186667 0.00336598
+v 0.04427613 0.00264197 0.00465290
+v 0.04424674 0.00260380 0.00593982
+v 0.04420942 0.00255221 0.00675718
+v 0.04438174 0.00193732 0.00720198
+v 0.04435237 0.00180516 0.00760859
+v 0.04459775 0.00056905 0.00760858
+v 0.04459695 0.00018387 0.00760858
+v 0.04459377 -0.00072784 0.00760858
+v 0.04455169 -0.00100419 0.00760858
+v 0.04434839 -0.00195336 0.00760857
+v 0.04413319 -0.00254986 0.00760857
+v 0.04413001 -0.00256399 0.00759412
+v 0.04411810 -0.00257318 0.00760857
+v 0.04354713 -0.00314848 0.00760857
+v 0.04363131 -0.00314848 0.00719061
+v 0.04223288 -0.00367925 0.00760857
+v 0.04223288 -0.00368629 0.00079211
+v 0.04223288 -0.00355483 -0.00049481
+v 0.04338752 -0.00315481 0.00079211
+v 0.04364243 -0.00316613 0.00205633
+v 0.04414907 -0.00261132 0.00161257
+v 0.04450563 0.00056908 0.00079212
+v 0.04432298 0.00157691 0.00079213
+v 0.04441510 0.00195855 0.00205945
+v 0.04403710 -0.00239222 0.00079211
+v 0.04423007 -0.00149606 0.00001294
+v 0.04427216 -0.00072781 -0.00011708
+v 0.04426819 0.00056908 -0.00011192
+v 0.04422054 0.00256706 0.00247329
+v 0.04426025 0.00262007 0.00336598
+v 0.04353284 0.00325260 0.00465290
+v 0.04353284 0.00321020 0.00593982
+v 0.04353284 0.00322152 0.00336598
+v 0.04363449 0.00299746 0.00720198
+v 0.04355349 0.00299675 0.00760859
+v 0.04413636 0.00241792 0.00760859
+v 0.04413954 0.00241085 0.00760859
+v 0.04412842 -0.00256046 0.00760857
+v 0.04088924 -0.00309194 0.00760857
+v 0.03843146 -0.00307564 -0.00293346
+v 0.03962342 -0.00358380 -0.00293346
+v 0.03977033 -0.00363398 -0.00293346
+v 0.04093212 -0.00368345 -0.00178173
+v 0.04316596 -0.00296681 -0.00049481
+v 0.04093212 -0.00350181 -0.00293346
+v 0.04107665 -0.00344598 -0.00293346
+v 0.04229323 -0.00314844 -0.00178379
+v 0.04422451 0.00132743 0.00002018
+v 0.04404028 0.00222642 0.00079213
+v 0.04414986 0.00245257 0.00161671
+v 0.04298649 -0.00278942 -0.00135654
+v 0.04382428 -0.00196746 -0.00044734
+v 0.04321361 -0.00204731 -0.00178379
+v 0.04300555 -0.00162962 -0.00263830
+v 0.04360907 -0.00072780 -0.00178172
+v 0.04404743 -0.00072781 -0.00076003
+v 0.04404981 0.00056908 -0.00075487
+v 0.04338990 0.00299537 0.00079213
+v 0.04364322 0.00300242 0.00205945
+v 0.04223288 0.00353247 0.00760859
+v 0.04223288 0.00352331 0.00079213
+v 0.04320011 0.00316637 0.00760859
+v 0.04223288 0.00339892 -0.00049479
+v 0.04057318 -0.00284740 0.00760857
+v 0.03773344 -0.00258798 -0.00293346
+v 0.03836714 -0.00303394 -0.00293346
+v 0.04190650 -0.00294772 -0.00293346
+v 0.04361225 0.00056909 -0.00178172
+v 0.04300555 0.00147444 -0.00264138
+v 0.04321758 0.00189072 -0.00178687
+v 0.04382984 0.00180307 -0.00044319
+v 0.04298887 0.00263210 -0.00136168
+v 0.04316993 0.00281020 -0.00049479
+v 0.04276732 -0.00249469 -0.00221414
+v 0.04254655 -0.00211870 -0.00293346
+v 0.04266249 -0.00191586 -0.00293346
+v 0.04289755 -0.00129674 -0.00293345
+v 0.04309449 -0.00072780 -0.00279310
+v 0.04184694 0.00342363 0.00760859
+v 0.04093212 0.00352332 -0.00178171
+v 0.03962342 0.00342791 -0.00293344
+v 0.04229482 0.00299184 -0.00178687
+v 0.04093212 0.00334663 -0.00293344
+v 0.04013880 -0.00238094 0.00760857
+v 0.03737847 -0.00219927 -0.00293346
+v 0.04309449 0.00056909 -0.00279516
+v 0.04301349 0.00056909 -0.00293345
+v 0.04266646 0.00175785 -0.00293344
+v 0.04276970 0.00233951 -0.00222032
+v 0.04200655 0.00269642 -0.00293344
+v 0.04190729 0.00278830 -0.00293344
+v 0.04301111 -0.00072780 -0.00293345
+v 0.04301190 -0.00044652 -0.00293345
+v 0.04088844 0.00293456 0.00760859
+v 0.03837349 0.00287311 -0.00293344
+v 0.03987516 -0.00205725 0.00760857
+v 0.03723553 -0.00203601 -0.00293346
+v 0.04254973 0.00196281 -0.00293344
+v 0.04071136 0.00281441 0.00760859
+v 0.03816861 0.00271197 -0.00293344
+v 0.03941378 -0.00072784 0.00760858
+v 0.03675906 -0.00079000 -0.00293345
+v 0.03717041 -0.00193847 -0.00293346
+v 0.04031986 0.00247516 0.00760859
+v 0.03739117 0.00203984 -0.00293344
+v 0.03941378 0.00056905 0.00760858
+v 0.03674874 -0.00072780 -0.00293345
+v 0.03987833 0.00189916 0.00760859
+v 0.03717359 0.00177198 -0.00293344
+v 0.03952654 0.00093656 0.00760858
+v 0.03675350 0.00056909 -0.00293345
+v 0.03675271 0.00047014 -0.00293345
+f 1 2 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 25 13
+f 12 24 26
+f 12 26 27
+f 12 27 25
+f 13 25 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 43 42
+f 20 42 44
+f 20 44 21
+f 21 44 45
+f 21 45 22
+f 22 45 46
+f 22 46 47
+f 22 47 48
+f 22 48 23
+f 23 48 47
+f 23 47 49
+f 23 49 24
+f 24 49 26
+f 25 27 50
+f 25 50 51
+f 25 51 52
+f 25 52 28
+f 26 49 53
+f 26 53 54
+f 26 54 27
+f 27 54 55
+f 27 55 56
+f 27 56 50
+f 28 52 57
+f 28 57 58
+f 28 58 29
+f 29 59 60
+f 29 60 30
+f 29 58 61
+f 29 61 59
+f 30 62 31
+f 30 60 62
+f 31 62 63
+f 31 63 64
+f 31 64 65
+f 31 65 32
+f 32 65 33
+f 33 65 64
+f 33 64 63
+f 33 63 90
+f 33 90 88
+f 33 88 107
+f 33 107 122
+f 33 122 127
+f 33 127 132
+f 33 132 136
+f 33 136 138
+f 33 138 134
+f 33 134 129
+f 33 129 124
+f 33 124 112
+f 33 112 92
+f 33 92 67
+f 33 67 44
+f 33 44 42
+f 33 42 41
+f 33 41 66
+f 33 66 39
+f 33 39 38
+f 33 38 37
+f 33 37 36
+f 33 36 35
+f 33 35 34
+f 39 66 40
+f 40 66 41
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 46
+f 46 72 47
+f 46 71 73
+f 46 73 74
+f 46 74 75
+f 46 75 72
+f 47 72 49
+f 49 72 53
+f 50 56 76
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 57
+f 53 72 79
+f 53 79 80
+f 53 80 54
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 55
+f 55 84 85
+f 55 85 56
+f 56 85 76
+f 57 61 58
+f 57 78 86
+f 57 86 87
+f 57 87 61
+f 59 88 60
+f 59 61 89
+f 59 89 88
+f 60 88 90
+f 60 90 63
+f 60 63 62
+f 61 87 86
+f 61 86 91
+f 61 91 89
+f 67 92 93
+f 67 93 94
+f 67 94 68
+f 68 94 93
+f 68 93 113
+f 68 113 125
+f 68 125 131
+f 68 131 130
+f 68 130 135
+f 68 135 140
+f 68 140 139
+f 68 139 137
+f 68 137 133
+f 68 133 128
+f 68 128 123
+f 68 123 109
+f 68 109 111
+f 68 111 119
+f 68 119 118
+f 68 118 126
+f 68 126 116
+f 68 116 115
+f 68 115 121
+f 68 121 120
+f 68 120 105
+f 68 105 104
+f 68 104 103
+f 68 103 95
+f 68 95 74
+f 68 74 73
+f 68 73 70
+f 68 70 69
+f 70 73 71
+f 72 75 79
+f 74 95 75
+f 75 95 79
+f 76 85 96
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 77
+f 77 99 100
+f 77 100 101
+f 77 101 78
+f 78 101 86
+f 79 95 102
+f 79 102 81
+f 79 81 80
+f 81 102 82
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 106
+f 82 106 83
+f 83 96 84
+f 83 106 96
+f 84 96 85
+f 86 101 91
+f 88 89 108
+f 88 108 109
+f 88 109 107
+f 89 91 108
+f 91 101 110
+f 91 110 111
+f 91 111 108
+f 92 112 93
+f 93 112 113
+f 95 103 102
+f 96 106 114
+f 96 114 97
+f 97 114 115
+f 97 115 116
+f 97 116 117
+f 97 117 98
+f 98 117 100
+f 98 100 99
+f 100 117 118
+f 100 118 119
+f 100 119 110
+f 100 110 101
+f 105 120 106
+f 106 120 121
+f 106 121 115
+f 106 115 114
+f 107 109 123
+f 107 123 122
+f 108 111 109
+f 110 119 111
+f 112 124 125
+f 112 125 113
+f 116 126 117
+f 117 126 118
+f 122 123 127
+f 123 128 127
+f 124 129 130
+f 124 130 131
+f 124 131 125
+f 127 128 133
+f 127 133 132
+f 129 134 135
+f 129 135 130
+f 132 133 137
+f 132 137 136
+f 134 138 139
+f 134 139 140
+f 134 140 135
+f 136 137 138
+f 137 139 138
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_34.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00846675 0.01255591 -0.02364339
+v -0.00716694 0.01255591 -0.02362541
+v -0.00974253 0.01255591 -0.02354204
+v -0.00716694 0.01354785 -0.02362867
+v -0.00586713 0.01354785 -0.02369733
+v -0.00456832 0.01354785 -0.02372839
+v -0.00066789 0.01354785 -0.02373165
+v 0.00030547 0.01255591 -0.02349791
+v -0.00992378 0.01255591 -0.02350935
+v -0.00846675 0.01354785 -0.02346358
+v -0.00716694 0.01454789 -0.02326253
+v -0.00586713 0.01472199 -0.02329849
+v -0.00326851 0.01484615 -0.02343089
+v -0.00196770 0.01484615 -0.02343906
+v 0.00030547 0.01354785 -0.02370877
+v 0.00030547 0.01255587 -0.01434089
+v -0.00992378 0.01344664 -0.02322329
+v -0.00992378 0.01255587 -0.01381292
+v -0.00966241 0.01354920 -0.02323801
+v -0.00846675 0.01434680 -0.02314647
+v -0.00513611 0.01547504 -0.02299117
+v -0.00426991 0.01553712 -0.02306800
+v -0.00464943 0.01496356 -0.02329358
+v -0.00326851 0.01557626 -0.02310886
+v -0.00196770 0.01558166 -0.02311540
+v 0.00030547 0.01387445 -0.02362050
+v -0.00066789 0.01484615 -0.02337531
+v 0.00030547 0.02105280 -0.00703258
+v -0.00992378 0.01991915 -0.00703259
+v -0.00915871 0.01421589 -0.02304022
+v -0.00992378 0.02166418 -0.01331924
+v -0.00992378 0.02205286 -0.01282886
+v -0.00657211 0.02201642 -0.01405154
+v -0.00586713 0.02205151 -0.01410058
+v -0.00272576 0.02332281 -0.01278471
+v -0.00066789 0.01553577 -0.02306473
+v -0.00243034 0.02332281 -0.01278471
+v 0.00030547 0.01489204 -0.02327233
+v 0.00000905 0.01549933 -0.02302550
+v 0.00030547 0.01515250 -0.02315627
+v 0.00030547 0.02601925 -0.00703256
+v -0.00992378 0.02515687 -0.00703257
+v -0.00976756 0.02257784 -0.01208021
+v -0.00658913 0.02461165 -0.01021022
+v -0.00976756 0.02207310 -0.01285665
+v -0.00992378 0.02319054 -0.01106022
+v -0.00586713 0.02315951 -0.01254606
+v -0.00586713 0.02258054 -0.01336664
+v -0.00296409 0.02471152 -0.01038349
+v -0.00196770 0.02433499 -0.01101772
+v 0.00030547 0.02356303 -0.01188405
+v 0.00030547 0.02325803 -0.01236626
+v 0.00030547 0.02315547 -0.01252808
+v 0.00030547 0.02258189 -0.01336664
+v 0.00030547 0.02205826 -0.01410875
+v 0.00030547 0.01545615 -0.02294213
+v -0.00196770 0.02634180 -0.00703256
+v 0.00030547 0.02555770 -0.00814246
+v -0.00697868 0.02601520 -0.00703256
+v -0.00660215 0.02590859 -0.00764717
+v -0.00992378 0.02476819 -0.00799371
+v -0.00992378 0.02349555 -0.01053224
+v -0.00992378 0.02451987 -0.00853476
+v -0.00295207 0.02600036 -0.00784495
+v -0.00196770 0.02470477 -0.01037368
+v -0.00196770 0.02517172 -0.00950571
+v 0.00030547 0.02424861 -0.01072349
+v 0.00030547 0.02373173 -0.01159963
+v -0.00592120 0.02608538 -0.00703256
+v -0.00196770 0.02599361 -0.00783024
+v 0.00030547 0.02503406 -0.00922129
+v -0.00196770 0.02569265 -0.00847428
+v 0.00030547 0.02486537 -0.00956292
+f 1 2 8
+f 1 8 16
+f 1 16 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 7 14 15
+f 8 15 26
+f 8 26 38
+f 8 38 40
+f 8 40 56
+f 8 56 55
+f 8 55 54
+f 8 54 53
+f 8 53 52
+f 8 52 51
+f 8 51 68
+f 8 68 67
+f 8 67 73
+f 8 73 71
+f 8 71 58
+f 8 58 41
+f 8 41 28
+f 8 28 16
+f 9 17 10
+f 9 18 29
+f 9 29 42
+f 9 42 61
+f 9 61 63
+f 9 63 62
+f 9 62 46
+f 9 46 32
+f 9 32 31
+f 9 31 17
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 22
+f 13 22 24
+f 13 24 25
+f 13 25 14
+f 14 26 15
+f 14 25 27
+f 14 27 26
+f 16 28 29
+f 16 29 18
+f 17 30 19
+f 17 31 30
+f 19 30 20
+f 20 30 32
+f 20 32 21
+f 21 33 22
+f 21 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 24
+f 24 35 25
+f 25 36 27
+f 25 35 37
+f 25 37 36
+f 26 27 38
+f 27 36 39
+f 27 39 40
+f 27 40 38
+f 28 41 57
+f 28 57 69
+f 28 69 59
+f 28 59 42
+f 28 42 29
+f 30 31 32
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 32 46 43
+f 33 45 44
+f 33 44 47
+f 33 47 48
+f 33 48 35
+f 33 35 34
+f 35 48 47
+f 35 47 44
+f 35 44 49
+f 35 49 37
+f 36 37 39
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 39
+f 39 56 40
+f 39 55 56
+f 41 58 57
+f 42 59 60
+f 42 60 61
+f 43 46 44
+f 44 46 62
+f 44 62 63
+f 44 63 60
+f 44 60 64
+f 44 64 49
+f 49 65 50
+f 49 64 66
+f 49 66 65
+f 50 65 67
+f 50 67 68
+f 50 68 51
+f 57 64 60
+f 57 60 69
+f 57 58 70
+f 57 70 64
+f 58 71 72
+f 58 72 70
+f 59 69 60
+f 60 63 61
+f 64 72 66
+f 64 70 72
+f 65 66 67
+f 66 72 73
+f 66 73 67
+f 71 73 72
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_35.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.02049255 -0.00386247 -0.01358011
+v 0.01937214 -0.00721835 -0.01358013
+v 0.02046489 -0.00386247 -0.01362117
+v 0.01240665 -0.00386247 -0.01358011
+v 0.01931484 -0.00737423 -0.01358013
+v 0.01924963 -0.00721835 -0.01373669
+v 0.02013489 -0.00386247 -0.01405527
+v 0.00030547 -0.00386247 -0.01458352
+v 0.00030547 -0.01500840 -0.01358016
+v 0.01839006 -0.00954546 -0.01358014
+v 0.01820036 -0.00920804 -0.01403284
+v 0.01819048 -0.00658751 -0.01530775
+v 0.01986813 -0.00386247 -0.01434539
+v 0.00030547 -0.00386245 -0.01906627
+v 0.00030547 -0.02258756 -0.01358018
+v 0.01821419 -0.00989756 -0.01358014
+v 0.01796323 -0.01007360 -0.01378652
+v 0.01696337 -0.00928322 -0.01538166
+v 0.01687247 -0.00646831 -0.01657610
+v 0.01714516 -0.00386246 -0.01682134
+v 0.00030547 -0.00723850 -0.01917249
+v 0.00434249 -0.00386245 -0.01917247
+v 0.00030547 -0.02221529 -0.01410296
+v 0.00063349 -0.02259489 -0.01358018
+v 0.01805808 -0.01020930 -0.01358014
+v 0.01666696 -0.01254192 -0.01358015
+v 0.01559200 -0.01177904 -0.01530942
+v 0.01561374 -0.00920253 -0.01661005
+v 0.01435106 -0.00458497 -0.01917248
+v 0.01351520 -0.00679289 -0.01917248
+v 0.01671044 -0.00386246 -0.01719850
+v 0.00030547 -0.01699990 -0.01917252
+v 0.01438860 -0.00386245 -0.01917247
+v 0.00030547 -0.02208509 -0.01426499
+v 0.00063349 -0.02221896 -0.01410734
+v 0.00143773 -0.02222079 -0.01410898
+v 0.00177168 -0.02245919 -0.01358018
+v 0.01599116 -0.01346249 -0.01358015
+v 0.01572045 -0.01317642 -0.01413687
+v 0.01422459 -0.01165801 -0.01654109
+v 0.01415148 -0.01552554 -0.01392065
+v 0.01320101 -0.01456644 -0.01549226
+v 0.01220312 -0.00925570 -0.01917249
+v 0.01328598 -0.00729352 -0.01917249
+v 0.01461585 -0.00386245 -0.01899127
+v 0.01635278 -0.00386246 -0.01750505
+v 0.00030547 -0.01959659 -0.01696044
+v 0.00038451 -0.01701274 -0.01917252
+v 0.00030547 -0.02168899 -0.01474672
+v 0.00063349 -0.02168899 -0.01475110
+v 0.00063349 -0.02103981 -0.01551364
+v 0.00152467 -0.02098113 -0.01544083
+v 0.00453416 -0.02057035 -0.01503465
+v 0.00453416 -0.02115535 -0.01439090
+v 0.00453416 -0.02179168 -0.01358018
+v 0.01433130 -0.01567774 -0.01358016
+v 0.01265761 -0.01370455 -0.01638728
+v 0.01146211 -0.01280230 -0.01775143
+v 0.01072900 -0.01117020 -0.01917250
+v 0.01181779 -0.00984252 -0.01917250
+v 0.01226833 -0.01755190 -0.01358016
+v 0.01191067 -0.01721081 -0.01425950
+v 0.01140085 -0.01666249 -0.01511784
+v 0.01040889 -0.01568140 -0.01660516
+v 0.01171504 -0.01437939 -0.01660351
+v 0.01200749 -0.01370455 -0.01683068
+v 0.00052085 -0.01703475 -0.01917252
+v 0.00063349 -0.01977081 -0.01679129
+v 0.00030547 -0.01977631 -0.01679840
+v 0.00030547 -0.02152578 -0.01494324
+v 0.00063349 -0.02041998 -0.01615685
+v 0.00030547 -0.02103981 -0.01551364
+v 0.00030547 -0.02088944 -0.01567567
+v 0.00030547 -0.02042548 -0.01615740
+v 0.00154246 -0.01967545 -0.01669768
+v 0.00453416 -0.01992118 -0.01566745
+v 0.00537792 -0.02101048 -0.01419000
+v 0.00810682 -0.01847613 -0.01552786
+v 0.00907902 -0.01954342 -0.01400825
+v 0.00565654 -0.02131672 -0.01358018
+v 0.00964219 -0.01231451 -0.01917251
+v 0.00986943 -0.01207978 -0.01917250
+v 0.00927662 -0.01971947 -0.01358017
+v 0.01053535 -0.01703476 -0.01539264
+v 0.00848226 -0.01337445 -0.01917251
+v 0.00795664 -0.01712094 -0.01670862
+v 0.00717611 -0.01439222 -0.01917251
+v 0.00278340 -0.01645526 -0.01917252
+v 0.00030547 -0.02026227 -0.01632380
+v 0.00323394 -0.01804151 -0.01771313
+v 0.00323394 -0.01877688 -0.01706937
+v 0.00453416 -0.01922616 -0.01631066
+v 0.00713264 -0.01798284 -0.01636650
+v 0.00713264 -0.01733367 -0.01691335
+v 0.00644696 -0.01484150 -0.01917251
+v 0.00318651 -0.01632506 -0.01917252
+v 0.00384650 -0.01610683 -0.01917252
+v 0.00457961 -0.01580059 -0.01917252
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 31
+f 1 31 46
+f 1 46 45
+f 1 45 33
+f 1 33 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 37
+f 1 37 55
+f 1 55 80
+f 1 80 83
+f 1 83 61
+f 1 61 56
+f 1 56 38
+f 1 38 26
+f 1 26 25
+f 1 25 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 21
+f 8 21 32
+f 8 32 47
+f 8 47 69
+f 8 69 89
+f 8 89 74
+f 8 74 73
+f 8 73 72
+f 8 72 70
+f 8 70 49
+f 8 49 34
+f 8 34 23
+f 8 23 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 14 22 21
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 29 20
+f 19 28 30
+f 19 30 29
+f 20 29 31
+f 21 22 33
+f 21 33 29
+f 21 29 30
+f 21 30 44
+f 21 44 43
+f 21 43 60
+f 21 60 59
+f 21 59 82
+f 21 82 81
+f 21 81 85
+f 21 85 87
+f 21 87 95
+f 21 95 98
+f 21 98 97
+f 21 97 96
+f 21 96 88
+f 21 88 67
+f 21 67 48
+f 21 48 32
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 26 38 39
+f 26 39 27
+f 27 40 28
+f 27 39 41
+f 27 41 42
+f 27 42 40
+f 28 40 43
+f 28 43 44
+f 28 44 30
+f 29 33 45
+f 29 45 46
+f 29 46 31
+f 32 48 47
+f 34 49 35
+f 35 50 36
+f 35 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 38 56 41
+f 38 41 39
+f 40 42 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 43
+f 41 56 61
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 57
+f 47 48 67
+f 47 67 68
+f 47 68 69
+f 49 70 50
+f 50 70 51
+f 51 71 52
+f 51 70 72
+f 51 72 73
+f 51 73 74
+f 51 74 71
+f 52 71 68
+f 52 68 75
+f 52 75 76
+f 52 76 53
+f 53 77 54
+f 53 76 78
+f 53 78 79
+f 53 79 77
+f 54 77 55
+f 55 77 80
+f 57 66 58
+f 58 66 65
+f 58 65 64
+f 58 64 81
+f 58 81 82
+f 58 82 59
+f 61 83 79
+f 61 79 62
+f 62 79 84
+f 62 84 63
+f 63 84 64
+f 64 85 81
+f 64 84 78
+f 64 78 86
+f 64 86 87
+f 64 87 85
+f 67 75 68
+f 67 88 75
+f 68 71 89
+f 68 89 69
+f 71 74 89
+f 75 88 90
+f 75 90 91
+f 75 91 92
+f 75 92 76
+f 76 92 78
+f 77 79 80
+f 78 84 79
+f 78 92 93
+f 78 93 94
+f 78 94 86
+f 79 83 80
+f 86 94 95
+f 86 95 87
+f 88 96 90
+f 90 96 97
+f 90 97 92
+f 90 92 91
+f 92 98 94
+f 92 94 93
+f 92 97 98
+f 94 98 95
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_36.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01371920 0.02522621 0.02140302
+v 0.01371920 0.02652253 0.02130988
+v 0.01363254 0.02652381 0.02133079
+v 0.01233135 0.02652381 0.02145816
+v 0.00323348 0.02912031 0.02144106
+v 0.01363254 0.02522621 0.02140112
+v 0.01371920 0.02393372 0.02098669
+v 0.01226964 0.02785088 0.02108175
+v 0.01371920 0.02737052 0.02091636
+v 0.01363254 0.02739358 0.02093538
+v 0.01103147 0.02782270 0.02134410
+v 0.00973158 0.02782270 0.02144865
+v 0.00583325 0.02912031 0.02145437
+v 0.00453337 0.02912031 0.02146387
+v 0.00030547 0.03041791 0.02139544
+v 0.00030547 0.02912031 0.02133840
+v 0.01371920 0.02390811 0.02097719
+v 0.00973158 0.02895634 0.02110648
+v 0.01103147 0.02868734 0.02094869
+v 0.01371920 0.02769077 0.02009892
+v 0.01179433 0.02852466 0.02080420
+v 0.00713182 0.02912031 0.02140114
+v 0.00193360 0.03041791 0.02134981
+v 0.00063241 0.03041791 0.02139163
+v 0.00030547 0.03131970 0.02101334
+v 0.00030547 0.02819930 0.02095629
+v 0.01371920 0.02295637 0.02008940
+v 0.00816910 0.02989528 0.02088026
+v 0.00713182 0.03005156 0.02102093
+v 0.01363254 0.02773945 0.02009892
+v 0.01371920 0.02769205 0.02000387
+v 0.00903569 0.02974925 0.02065593
+v 0.01261496 0.02828129 0.02009892
+v 0.01196502 0.02860665 0.02009893
+v 0.01103147 0.02902040 0.02009893
+v 0.00583325 0.03022449 0.02111789
+v 0.00323348 0.03041791 0.02126997
+v 0.00063241 0.03130946 0.02100573
+v 0.00030547 0.03168735 0.02009894
+v 0.00030547 0.02753065 0.02016926
+v 0.01371920 0.02293715 0.02006658
+v 0.00400947 0.03109169 0.02077570
+v 0.01371920 0.02754474 0.01879481
+v 0.01194663 0.02859769 0.01913131
+v 0.00968825 0.02956865 0.02017497
+v 0.00922607 0.02982484 0.01979667
+v 0.00853412 0.03000033 0.02017497
+v 0.00713182 0.03045123 0.02009893
+v 0.00922607 0.02982484 0.01930430
+v 0.00323348 0.03115702 0.02085364
+v 0.00193360 0.03124541 0.02094869
+v 0.00063241 0.03166557 0.02009894
+v 0.00030547 0.03157462 0.01881194
+v 0.00030547 0.02711691 0.01955332
+v 0.01371920 0.02223647 0.01896589
+v 0.00487606 0.03099051 0.02034797
+v 0.00447953 0.03114294 0.01999057
+v 0.00323348 0.03135302 0.02009894
+v 0.00193360 0.03153363 0.02009894
+v 0.01371920 0.02442696 0.00293829
+v 0.01319794 0.02476898 0.00208092
+v 0.01319400 0.02476513 0.00204290
+v 0.00719747 0.02745386 0.00204291
+v 0.00520432 0.03107121 0.01948870
+v 0.00571639 0.03084960 0.01999057
+v 0.00520432 0.03107121 0.01943927
+v 0.00713182 0.02772029 0.00336793
+v 0.00063241 0.03155285 0.01881194
+v 0.00193360 0.02873865 0.00208094
+v 0.00193360 0.02873225 0.00204292
+v 0.00030547 0.02860543 0.00215888
+v 0.00030547 0.02679410 0.01884044
+v 0.01371920 0.02154221 0.01749259
+v 0.01371920 0.02167029 0.01776824
+v 0.01371920 0.02214553 0.01878909
+v 0.00453337 0.03114166 0.01924917
+v 0.00193360 0.03141066 0.01881194
+v 0.01371920 0.02422841 0.00208092
+v 0.01371920 0.02421945 0.00204290
+v 0.00278049 0.02858622 0.00204292
+v 0.00196380 0.02872840 0.00204292
+v 0.00067574 0.02859134 0.00204292
+v 0.00030547 0.02854523 0.00204291
+v 0.00030547 0.02665448 0.01848684
+v 0.00030547 0.02627533 0.01752492
+v 0.01371920 0.02107978 0.01627973
+v 0.01371920 0.01911101 0.00204288
+v 0.00030547 0.02393251 0.00204290
+v 0.00030547 0.02596150 0.01658201
+v 0.01371920 0.02105929 0.01622460
+v 0.01371526 0.01860247 0.00204288
+v 0.01371920 0.01862809 0.00217976
+v 0.00030547 0.02492266 0.01108992
+v 0.00030547 0.02577704 0.01593945
+v 0.01371920 0.02066220 0.01494900
+v 0.01371920 0.01991285 0.01108990
+v 0.01371920 0.01993207 0.01122297
+v 0.00030547 0.02507637 0.01237501
+v 0.00030547 0.02553110 0.01494901
+v 0.01371920 0.02038552 0.01382168
+v 0.01371920 0.02010755 0.01241492
+v 0.00030547 0.02522111 0.01333884
+v 0.00030547 0.02546578 0.01462584
+v 0.01371920 0.02034709 0.01366199
+v 0.01371920 0.02014982 0.01264874
+v 0.00030547 0.02527107 0.01366201
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 27
+f 1 27 41
+f 1 41 55
+f 1 55 75
+f 1 75 74
+f 1 74 73
+f 1 73 86
+f 1 86 90
+f 1 90 95
+f 1 95 100
+f 1 100 104
+f 1 104 105
+f 1 105 101
+f 1 101 97
+f 1 97 96
+f 1 96 92
+f 1 92 87
+f 1 87 79
+f 1 79 78
+f 1 78 60
+f 1 60 43
+f 1 43 31
+f 1 31 20
+f 1 20 9
+f 1 9 2
+f 2 8 3
+f 2 9 10
+f 2 10 8
+f 3 8 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 11 12
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 8 18 11
+f 8 10 19
+f 8 19 18
+f 9 20 21
+f 9 21 10
+f 10 21 19
+f 11 22 12
+f 11 18 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 13 15 14
+f 15 24 25
+f 15 25 39
+f 15 39 53
+f 15 53 71
+f 15 71 83
+f 15 83 88
+f 15 88 93
+f 15 93 98
+f 15 98 102
+f 15 102 106
+f 15 106 103
+f 15 103 99
+f 15 99 94
+f 15 94 89
+f 15 89 85
+f 15 85 84
+f 15 84 72
+f 15 72 54
+f 15 54 40
+f 15 40 26
+f 15 26 16
+f 16 26 17
+f 17 26 27
+f 18 19 28
+f 18 28 29
+f 18 29 22
+f 19 21 28
+f 20 30 21
+f 20 31 30
+f 21 32 28
+f 21 30 33
+f 21 33 34
+f 21 34 35
+f 21 35 32
+f 22 29 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 25
+f 23 25 24
+f 25 38 39
+f 26 40 27
+f 27 40 41
+f 28 32 42
+f 28 42 29
+f 29 42 36
+f 30 31 33
+f 31 43 44
+f 31 44 33
+f 32 35 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 42
+f 33 44 34
+f 34 44 49
+f 34 49 46
+f 34 46 35
+f 35 46 45
+f 36 42 50
+f 36 50 51
+f 36 51 37
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 39 52 68
+f 39 68 53
+f 40 54 41
+f 41 54 55
+f 42 48 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 42 59 50
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 49
+f 46 49 66
+f 46 66 64
+f 46 64 48
+f 46 48 47
+f 48 64 65
+f 48 65 56
+f 49 63 67
+f 49 67 66
+f 50 59 52
+f 50 52 51
+f 52 59 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 54 72 73
+f 54 73 74
+f 54 74 75
+f 54 75 55
+f 56 65 64
+f 56 64 57
+f 57 64 58
+f 58 64 66
+f 58 66 59
+f 59 66 76
+f 59 76 77
+f 59 77 68
+f 60 78 62
+f 60 62 61
+f 62 78 79
+f 62 79 87
+f 62 87 91
+f 62 91 88
+f 62 88 83
+f 62 83 82
+f 62 82 70
+f 62 70 81
+f 62 81 80
+f 62 80 63
+f 63 80 67
+f 66 67 80
+f 66 80 81
+f 66 81 76
+f 68 77 69
+f 69 81 70
+f 69 77 76
+f 69 76 81
+f 70 82 71
+f 71 82 83
+f 72 84 73
+f 73 84 85
+f 73 85 86
+f 85 89 90
+f 85 90 86
+f 87 92 91
+f 88 91 93
+f 89 94 95
+f 89 95 90
+f 91 92 96
+f 91 96 97
+f 91 97 98
+f 91 98 93
+f 94 99 95
+f 95 99 100
+f 97 101 98
+f 98 101 102
+f 99 103 104
+f 99 104 100
+f 101 105 106
+f 101 106 102
+f 103 106 104
+f 104 106 105
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_37.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.01371920 0.01367398 -0.00861187
+v 0.01371920 0.02008659 -0.00861185
+v 0.01947768 0.01367398 -0.00861187
+v 0.01371920 0.01367398 -0.00784662
+v 0.01402282 0.01990544 -0.00861185
+v 0.01371920 0.02041319 -0.00803497
+v 0.01407385 0.02061079 -0.00742571
+v 0.01944707 0.01378513 -0.00861187
+v 0.01954529 0.01367398 -0.00848237
+v 0.02025458 0.01367389 0.01527862
+v 0.01371920 0.02066286 0.01494900
+v 0.01447569 0.01961041 -0.00861185
+v 0.01371920 0.02067254 -0.00754638
+v 0.01371920 0.02090171 -0.00705485
+v 0.01371920 0.02147394 -0.00575099
+v 0.01447314 0.02080153 -0.00656922
+v 0.01927740 0.01405409 -0.00861187
+v 0.01962821 0.01437932 -0.00784662
+v 0.01969965 0.01367398 -0.00816450
+v 0.02054799 0.01367389 0.01623518
+v 0.01371920 0.02105806 0.01622343
+v 0.01682424 0.01804191 -0.00748753
+v 0.01710234 0.01706073 -0.00861186
+v 0.01561361 0.02071782 -0.00506521
+v 0.01371920 0.02258272 -0.00309911
+v 0.01544777 0.02193227 -0.00227793
+v 0.02022269 0.01367398 -0.00706960
+v 0.01823643 0.01814481 -0.00511525
+v 0.02079165 0.01550456 -0.00373487
+v 0.02085926 0.01435461 -0.00520946
+v 0.02073041 0.01367389 0.01673848
+v 0.01371920 0.02154110 0.01749198
+v 0.01371920 0.02107178 0.01626170
+v 0.01570546 0.02206126 -0.00142144
+v 0.01575138 0.02087563 -0.00435588
+v 0.01839845 0.01830537 -0.00435589
+v 0.01371920 0.02386304 0.00077719
+v 0.02096387 0.01367397 -0.00540960
+v 0.01943303 0.01797464 -0.00226617
+v 0.01955933 0.01821891 -0.00140674
+v 0.02209285 0.01551004 0.00010609
+v 0.02219491 0.01367396 -0.00178055
+v 0.02174076 0.01367396 -0.00320215
+v 0.02131851 0.01367397 -0.00448836
+v 0.02099193 0.01367389 0.01745958
+v 0.02105699 0.01367389 0.01762734
+v 0.01371920 0.02214489 0.01878996
+v 0.01371920 0.02418825 0.00191034
+v 0.01588660 0.02217240 -0.00049432
+v 0.01688037 0.02197890 0.00144530
+v 0.01933098 0.01926045 0.00050344
+v 0.01950320 0.01940591 0.00135993
+v 0.02216940 0.01561296 0.00079482
+v 0.02583319 0.01521493 0.01881055
+v 0.02617125 0.01456585 0.01881054
+v 0.02660498 0.01367388 0.01881054
+v 0.02289654 0.01367395 0.00081541
+v 0.02286210 0.01367395 0.00065353
+v 0.02252914 0.01367395 -0.00062091
+v 0.02160171 0.01367388 0.01884880
+v 0.01371920 0.02223546 0.01896362
+v 0.01371920 0.02442566 0.00293754
+v 0.01446931 0.02728540 0.01918732
+v 0.01827853 0.02465751 0.01928150
+v 0.01963587 0.02341972 0.01916377
+v 0.02093325 0.02213940 0.01914904
+v 0.02218725 0.02080555 0.01922557
+v 0.02340554 0.01941819 0.01939921
+v 0.02485600 0.01707024 0.01905189
+v 0.02591100 0.01537000 0.02009675
+v 0.02624651 0.01472229 0.02009674
+v 0.02673255 0.01367388 0.01993780
+v 0.02178669 0.01367388 0.01918433
+v 0.01371920 0.02293531 0.02006440
+v 0.01371920 0.02754476 0.01879587
+v 0.01371920 0.02769159 0.02000261
+v 0.01371920 0.02769159 0.02009679
+v 0.01445910 0.02727991 0.02009679
+v 0.01510971 0.02686823 0.02009679
+v 0.01609072 0.02622052 0.02009679
+v 0.01674132 0.02577317 0.02009678
+v 0.01827853 0.02465751 0.01985838
+v 0.01963842 0.02342247 0.02009678
+v 0.02028775 0.02279534 0.02009677
+v 0.02093963 0.02214626 0.02009677
+v 0.02159023 0.02144366 0.02009677
+v 0.02217705 0.02079457 0.02009677
+v 0.02340554 0.01941819 0.01959052
+v 0.02488790 0.01712101 0.02009675
+v 0.02546706 0.01614396 0.02009675
+v 0.02478329 0.01695359 0.02084728
+v 0.02612149 0.01447801 0.02088848
+v 0.02675041 0.01367388 0.02009674
+v 0.02224211 0.01367388 0.01994369
+v 0.01371920 0.02295452 0.02009088
+v 0.01433281 0.02720306 0.02077669
+v 0.01371920 0.02737047 0.02091502
+v 0.01817520 0.02457105 0.02071487
+v 0.01765854 0.02506233 0.02021157
+v 0.01876074 0.02416898 0.02021157
+v 0.01953764 0.02333052 0.02079139
+v 0.02084140 0.02204333 0.02079727
+v 0.02210306 0.02070948 0.02076195
+v 0.02289909 0.01992593 0.02005261
+v 0.02331880 0.01930840 0.02044995
+v 0.02374488 0.01882125 0.02005261
+v 0.02446819 0.01777010 0.02009676
+v 0.02363134 0.01844250 0.02095031
+v 0.02405104 0.01740781 0.02109746
+v 0.02501674 0.01614395 0.02101211
+v 0.02630902 0.01367387 0.02102387
+v 0.02241943 0.01367388 0.02019093
+v 0.02309555 0.01367387 0.02091791
+v 0.01371920 0.02390687 0.02097682
+v 0.01585726 0.02605996 0.02091208
+v 0.01371920 0.02652241 0.02130942
+v 0.01483288 0.02650595 0.02102981
+v 0.01730900 0.02489490 0.02097976
+v 0.01883346 0.02363653 0.02097387
+v 0.02003644 0.02253735 0.02096503
+v 0.02133764 0.02121860 0.02094738
+v 0.02237478 0.02003707 0.02094737
+v 0.02282383 0.01882124 0.02117400
+v 0.02403191 0.01614395 0.02139179
+v 0.02540966 0.01488421 0.02114454
+v 0.02533949 0.01367387 0.02138589
+v 0.02403191 0.01367387 0.02128876
+v 0.01371920 0.02393294 0.02098565
+v 0.01626804 0.02528737 0.02114753
+v 0.01371920 0.02522699 0.02140359
+v 0.01493366 0.02522699 0.02143597
+v 0.01765854 0.02405507 0.02119168
+v 0.01883346 0.02263066 0.02135355
+v 0.02013339 0.02133249 0.02135943
+v 0.02143204 0.02003707 0.02133293
+v 0.02273198 0.01744074 0.02145065
+v 0.02403191 0.01484578 0.02143887
+v 0.01623359 0.02392883 0.02145068
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 27
+f 1 27 38
+f 1 38 44
+f 1 44 43
+f 1 43 42
+f 1 42 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 72
+f 1 72 93
+f 1 93 111
+f 1 111 126
+f 1 126 127
+f 1 127 113
+f 1 113 112
+f 1 112 94
+f 1 94 73
+f 1 73 60
+f 1 60 46
+f 1 46 45
+f 1 45 31
+f 1 31 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 33
+f 1 33 32
+f 1 32 47
+f 1 47 61
+f 1 61 74
+f 1 74 95
+f 1 95 114
+f 1 114 128
+f 1 128 130
+f 1 130 116
+f 1 116 97
+f 1 97 77
+f 1 77 76
+f 1 76 75
+f 1 75 62
+f 1 62 48
+f 1 48 37
+f 1 37 25
+f 1 25 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 5 7 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 21
+f 10 21 11
+f 12 22 23
+f 12 16 24
+f 12 24 22
+f 15 25 16
+f 16 25 26
+f 16 26 24
+f 17 23 18
+f 18 27 19
+f 18 23 28
+f 18 28 29
+f 18 29 30
+f 18 30 27
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 24 28
+f 22 28 23
+f 24 26 34
+f 24 34 35
+f 24 35 36
+f 24 36 28
+f 25 37 26
+f 26 37 34
+f 27 30 38
+f 28 36 29
+f 29 36 39
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 42 43
+f 30 43 44
+f 30 44 38
+f 30 41 42
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 34 36 35
+f 34 37 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 36
+f 36 40 39
+f 36 51 40
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 46 60 47
+f 47 60 61
+f 48 50 49
+f 48 62 50
+f 50 52 51
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 60 73 61
+f 61 73 74
+f 62 75 63
+f 63 75 76
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 64
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 65 83 84
+f 65 84 66
+f 66 84 85
+f 66 85 67
+f 67 85 86
+f 67 86 87
+f 67 87 88
+f 67 88 68
+f 68 88 89
+f 68 89 69
+f 69 89 90
+f 69 90 70
+f 70 90 91
+f 70 91 92
+f 70 92 71
+f 71 93 72
+f 71 92 93
+f 73 94 74
+f 74 94 95
+f 77 96 78
+f 77 97 96
+f 78 96 79
+f 79 96 80
+f 80 96 81
+f 81 96 98
+f 81 98 99
+f 81 99 82
+f 82 99 98
+f 82 98 100
+f 82 100 83
+f 83 100 98
+f 83 98 101
+f 83 101 84
+f 84 101 102
+f 84 102 85
+f 85 102 103
+f 85 103 86
+f 86 103 87
+f 87 104 88
+f 87 103 104
+f 88 104 105
+f 88 105 106
+f 88 106 107
+f 88 107 89
+f 89 107 91
+f 89 91 90
+f 91 108 109
+f 91 109 110
+f 91 110 92
+f 91 107 105
+f 91 105 103
+f 91 103 108
+f 92 110 111
+f 92 111 93
+f 94 112 95
+f 95 112 113
+f 95 113 114
+f 96 97 115
+f 96 115 98
+f 97 116 117
+f 97 117 115
+f 98 115 118
+f 98 118 101
+f 101 118 119
+f 101 119 120
+f 101 120 102
+f 102 120 121
+f 102 121 103
+f 103 105 104
+f 103 121 122
+f 103 122 108
+f 105 107 106
+f 108 122 123
+f 108 123 109
+f 109 123 124
+f 109 124 110
+f 110 124 125
+f 110 125 111
+f 111 125 126
+f 113 127 114
+f 114 127 128
+f 115 117 129
+f 115 129 118
+f 116 130 131
+f 116 131 129
+f 116 129 117
+f 118 129 132
+f 118 132 119
+f 119 132 133
+f 119 133 120
+f 120 133 134
+f 120 134 121
+f 121 134 135
+f 121 135 122
+f 122 135 123
+f 123 135 124
+f 124 136 126
+f 124 126 125
+f 124 135 136
+f 126 136 137
+f 126 137 127
+f 127 137 130
+f 127 130 128
+f 129 131 133
+f 129 133 132
+f 130 137 138
+f 130 138 131
+f 131 138 133
+f 133 138 134
+f 134 138 136
+f 134 136 135
+f 136 138 137
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_38.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01626745 -0.00001956 -0.02371981
+v -0.01626745 0.00186799 -0.02372307
+v -0.01366736 0.00835540 -0.02369040
+v -0.01232976 0.00918920 -0.02362075
+v -0.01108266 0.00918920 -0.02339006
+v -0.01516734 -0.00001956 -0.02340097
+v -0.01648183 -0.00001956 -0.02366431
+v -0.01648183 0.00056996 -0.02366431
+v -0.01648183 0.00186799 -0.02365451
+v -0.01626745 0.00316511 -0.02370565
+v -0.01626745 0.00446313 -0.02364253
+v -0.01496773 0.00705828 -0.02363381
+v -0.01366736 0.00918920 -0.02355982
+v -0.01060320 0.00918920 -0.02314956
+v -0.00999987 0.00918919 -0.02284269
+v -0.00992478 0.00918919 -0.02279046
+v -0.00992478 -0.00001958 -0.01870646
+v -0.01648183 -0.00001960 -0.01403807
+v -0.01648183 0.00316511 -0.02363166
+v -0.01648183 0.00446313 -0.02356309
+v -0.01626745 0.00576025 -0.02347712
+v -0.01506400 0.00844824 -0.02334762
+v -0.01480085 0.00918920 -0.02324206
+v -0.00992478 0.00918916 -0.01450161
+v -0.00992478 -0.00001960 -0.01458652
+v -0.01648183 0.00918916 -0.01260596
+v -0.01648183 0.00576025 -0.02339333
+v -0.01627131 0.00696723 -0.02324532
+v -0.01583999 0.00807776 -0.02317459
+v -0.01556143 0.00894310 -0.02294172
+v -0.01544526 0.00918919 -0.02277087
+v -0.01648183 0.00918918 -0.01979028
+v -0.01648183 0.00681490 -0.02318547
+v -0.01648183 0.00781184 -0.02240850
+v -0.01608004 0.00844823 -0.02245747
+v -0.01575270 0.00918919 -0.02210053
+v -0.01575847 0.00918919 -0.02208639
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 25
+f 1 25 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 23
+f 4 23 31
+f 4 31 36
+f 4 36 37
+f 4 37 32
+f 4 32 26
+f 4 26 24
+f 4 24 16
+f 4 16 15
+f 4 15 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 7 18 26
+f 7 26 32
+f 7 32 34
+f 7 34 33
+f 7 33 27
+f 7 27 20
+f 7 20 19
+f 7 19 9
+f 7 9 8
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 16 24 25
+f 16 25 17
+f 18 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 24 26 25
+f 27 33 28
+f 28 33 29
+f 29 33 30
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 30 33 34
+f 32 37 34
+f 34 37 35
+f 35 37 36
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_39.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00030547 0.00655717 -0.01459001
+v 0.00030547 0.00655719 -0.01894048
+v 0.00013022 0.00655717 -0.01458942
+v 0.00030547 0.00543379 -0.01458882
+v 0.00030547 -0.00001893 -0.01916846
+v 0.00016227 -0.00001893 -0.01922351
+v 0.00012922 0.00056948 -0.01920974
+v -0.00066789 -0.00001893 -0.01942694
+v -0.00992378 0.00655720 -0.02069418
+v 0.00030547 -0.00001895 -0.01458345
+v 0.00030547 0.00316514 -0.01458644
+v -0.00196770 0.00655717 -0.01458822
+v -0.00196770 -0.00001893 -0.01961481
+v -0.00992378 -0.00001893 -0.01870655
+v -0.00992378 0.00655717 -0.01458762
+v -0.00326851 -0.00001893 -0.01963755
+v -0.00456832 -0.00001893 -0.01951489
+v -0.00456832 -0.00001895 -0.01458286
+v -0.00326851 0.00655717 -0.01458762
+v -0.00456832 0.00186730 -0.01458344
+v -0.00586713 0.00056946 -0.01458226
+v -0.00992378 -0.00001895 -0.01458585
+v -0.00905757 -0.00001895 -0.01458465
+v -0.00716694 0.00056946 -0.01458286
+v -0.00716694 -0.00001895 -0.01458286
+v -0.00846675 -0.00001895 -0.01458405
+f 1 2 9
+f 1 9 15
+f 1 15 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 3 12 10
+f 5 10 18
+f 5 18 25
+f 5 25 26
+f 5 26 23
+f 5 23 22
+f 5 22 14
+f 5 14 17
+f 5 17 16
+f 5 16 13
+f 5 13 8
+f 5 8 6
+f 6 8 7
+f 8 13 9
+f 9 14 22
+f 9 22 15
+f 9 13 16
+f 9 16 17
+f 9 17 14
+f 10 12 19
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 15 22 23
+f 15 23 24
+f 15 24 21
+f 15 21 19
+f 18 21 25
+f 19 21 20
+f 21 24 25
+f 23 26 24
+f 24 26 25
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_4.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.00030630 -0.03185063 0.02009873
+v 0.00030630 -0.03182236 0.01977306
+v 0.00063295 -0.03182825 0.02009873
+v 0.00063295 -0.03147016 0.02100706
+v 0.00030630 -0.03158206 0.02077807
+v 0.00030630 -0.03173872 0.01881130
+v 0.00063295 -0.03171634 0.01881130
+v 0.00193287 -0.03169043 0.02009873
+v 0.00323278 -0.03131231 0.02084677
+v 0.00193287 -0.03140184 0.02094345
+v 0.00030630 -0.03148076 0.02101469
+v 0.00323278 -0.03057726 0.02126151
+v 0.00193287 -0.03057726 0.02134547
+v 0.00030630 -0.03081286 0.02130476
+v 0.00030630 -0.02850279 0.00070837
+v 0.00105818 -0.02869598 0.00110019
+v 0.00193287 -0.02889624 0.00207976
+v 0.00193287 -0.03157616 0.01881130
+v 0.00453270 -0.03130052 0.01924893
+v 0.00519937 -0.03122984 0.01944230
+v 0.00323278 -0.03150902 0.02009873
+v 0.00401223 -0.03125223 0.02077554
+v 0.00583178 -0.03038054 0.02111393
+v 0.00713170 -0.02927915 0.02139635
+v 0.00583178 -0.02927915 0.02145233
+v 0.00063295 -0.03057726 0.02139381
+v 0.00030630 -0.03057726 0.02139890
+v 0.00030630 -0.02844272 0.00041831
+v 0.00030630 -0.02825189 -0.00049510
+v 0.00030630 -0.02793971 -0.00177999
+v 0.00193287 -0.02837086 -0.00049510
+v 0.00193287 -0.02857818 0.00039033
+v 0.00193287 -0.02871011 0.00103403
+v 0.00265551 -0.02867242 0.00123504
+v 0.00883930 -0.03003892 0.01910136
+v 0.00883930 -0.03008015 0.01999951
+v 0.00519937 -0.03122984 0.01948301
+v 0.00667472 -0.02742967 -0.00025848
+v 0.00689193 -0.02754157 0.00079233
+v 0.00448007 -0.03130170 0.01998679
+v 0.00816261 -0.03005189 0.02087985
+v 0.00713170 -0.03020620 0.02101470
+v 0.00487773 -0.03115092 0.02034045
+v 0.00713170 -0.03060552 0.02009874
+v 0.00883930 -0.02993763 0.02069666
+v 0.00883930 -0.02798103 0.02143962
+v 0.00883930 -0.02932391 0.02113937
+v 0.00883930 -0.02903178 0.02122588
+v 0.00453270 -0.02927915 0.02146251
+v 0.00323278 -0.02927915 0.02143452
+v 0.00030630 -0.02960544 0.02136328
+v 0.00193287 -0.02805162 -0.00177999
+v 0.00030630 -0.02756159 -0.00310813
+v 0.00099552 -0.02741906 -0.00397830
+v 0.00883930 -0.02683009 0.00209249
+v 0.00883930 -0.03000124 0.02046513
+v 0.00853019 -0.03015672 0.02016998
+v 0.00571231 -0.03100839 0.01998679
+v 0.00262877 -0.02735898 -0.00379256
+v 0.00664381 -0.02614331 -0.00453042
+v 0.00713170 -0.02674644 -0.00177999
+v 0.00883930 -0.02613980 -0.00086403
+v 0.00883930 -0.02626937 -0.00040096
+v 0.00883930 -0.02632827 -0.00016943
+v 0.00883930 -0.02657564 0.00083304
+v 0.00883930 -0.02665221 0.00119688
+v 0.00883930 -0.02757464 0.02135565
+v 0.00843245 -0.02798103 0.02143707
+v 0.00030630 -0.02927915 0.02133783
+v 0.00193287 -0.02769470 -0.00306743
+v 0.00030630 -0.02715989 -0.00438539
+v 0.00030630 -0.02711042 -0.00453042
+v 0.00193287 -0.02722468 -0.00453042
+v 0.00193287 -0.02741788 -0.00397066
+v 0.00200555 -0.02721172 -0.00453042
+v 0.00669059 -0.02617394 -0.00435486
+v 0.00883930 -0.02488407 -0.00453041
+v 0.00883930 -0.02499244 -0.00425053
+v 0.00883930 -0.02544597 -0.00299872
+v 0.00883930 -0.02559793 -0.00255346
+v 0.00883930 -0.02585943 -0.00177998
+v 0.00883930 -0.02593365 -0.00154337
+v 0.00883930 -0.02666289 0.02102235
+v 0.00030630 -0.02858533 0.02104779
+v 0.00030630 -0.02238208 -0.00453040
+v 0.00883930 -0.01981765 -0.00453039
+v 0.00883930 -0.02647560 0.02094093
+v 0.00030630 -0.02836387 0.02095365
+v 0.00030630 -0.02543189 0.01366159
+v 0.00883930 -0.02330331 0.01366159
+v 0.00883930 -0.02631539 0.02084679
+v 0.00883930 -0.02607862 0.02068649
+v 0.00030630 -0.02787736 0.02039389
+v 0.00030630 -0.02569340 0.01494903
+v 0.00883930 -0.02343525 0.01431549
+v 0.00883930 -0.02565572 0.02008095
+v 0.00030630 -0.02769478 0.02016236
+v 0.00030630 -0.02574524 0.01516275
+v 0.00883930 -0.02356129 0.01491086
+v 0.00883930 -0.02547550 0.01978581
+v 0.00030630 -0.02728131 0.01954663
+v 0.00030630 -0.02735906 0.01966621
+v 0.00030630 -0.02593725 0.01592350
+v 0.00883930 -0.02394178 0.01627717
+v 0.00883930 -0.02498900 0.01893346
+v 0.00030630 -0.02704219 0.01901995
+v 0.00883930 -0.02490301 0.01877062
+v 0.00030630 -0.02598437 0.01608633
+v 0.00030630 -0.02612690 0.01656721
+v 0.00030630 -0.02621643 0.01683946
+v 0.00030630 -0.02644495 0.01752388
+v 0.00883930 -0.02423863 0.01714224
+v 0.00883930 -0.02468273 0.01828211
+v 0.00030630 -0.02696091 0.01883931
+v 0.00883930 -0.02436349 0.01750354
+v 0.00030630 -0.02657218 0.01784956
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 14
+f 1 14 27
+f 1 27 51
+f 1 51 69
+f 1 69 84
+f 1 84 88
+f 1 88 93
+f 1 93 97
+f 1 97 102
+f 1 102 101
+f 1 101 106
+f 1 106 114
+f 1 114 116
+f 1 116 111
+f 1 111 110
+f 1 110 109
+f 1 109 108
+f 1 108 103
+f 1 103 98
+f 1 98 94
+f 1 94 89
+f 1 89 85
+f 1 85 72
+f 1 72 71
+f 1 71 53
+f 1 53 30
+f 1 30 29
+f 1 29 28
+f 1 28 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 11
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 18 8
+f 7 17 18
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 8 18 19
+f 9 22 23
+f 9 23 10
+f 10 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 18
+f 18 34 19
+f 19 34 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 20 34 38
+f 20 38 39
+f 20 39 35
+f 21 37 40
+f 21 40 22
+f 22 41 42
+f 22 42 23
+f 22 40 43
+f 22 43 44
+f 22 44 45
+f 22 45 41
+f 23 42 24
+f 24 46 25
+f 24 42 47
+f 24 47 48
+f 24 48 46
+f 25 49 27
+f 25 27 26
+f 25 46 49
+f 27 49 50
+f 27 50 51
+f 30 52 31
+f 30 53 54
+f 30 54 52
+f 31 52 34
+f 31 34 32
+f 32 34 33
+f 34 52 38
+f 35 39 55
+f 35 55 66
+f 35 66 65
+f 35 65 64
+f 35 64 63
+f 35 63 62
+f 35 62 82
+f 35 82 81
+f 35 81 80
+f 35 80 79
+f 35 79 78
+f 35 78 77
+f 35 77 86
+f 35 86 90
+f 35 90 95
+f 35 95 99
+f 35 99 104
+f 35 104 112
+f 35 112 115
+f 35 115 113
+f 35 113 107
+f 35 107 105
+f 35 105 100
+f 35 100 96
+f 35 96 92
+f 35 92 91
+f 35 91 87
+f 35 87 83
+f 35 83 67
+f 35 67 46
+f 35 46 48
+f 35 48 47
+f 35 47 45
+f 35 45 56
+f 35 56 36
+f 36 56 57
+f 36 57 44
+f 36 44 37
+f 37 44 58
+f 37 58 43
+f 37 43 40
+f 38 52 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 39
+f 39 66 55
+f 41 47 42
+f 41 45 47
+f 43 58 44
+f 44 57 56
+f 44 56 45
+f 46 67 68
+f 46 68 49
+f 49 68 50
+f 50 68 69
+f 50 69 51
+f 52 54 70
+f 52 70 59
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 70
+f 59 74 73
+f 59 73 75
+f 59 75 60
+f 59 70 74
+f 60 76 61
+f 60 75 73
+f 60 73 72
+f 60 72 85
+f 60 85 86
+f 60 86 77
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 76
+f 61 82 62
+f 61 76 82
+f 67 83 69
+f 67 69 68
+f 69 83 84
+f 83 87 88
+f 83 88 84
+f 85 89 86
+f 86 89 90
+f 87 91 88
+f 88 91 92
+f 88 92 93
+f 89 94 95
+f 89 95 90
+f 92 96 97
+f 92 97 93
+f 94 98 99
+f 94 99 95
+f 96 100 101
+f 96 101 102
+f 96 102 97
+f 98 103 99
+f 99 103 104
+f 100 105 101
+f 101 105 107
+f 101 107 106
+f 103 108 104
+f 104 108 109
+f 104 109 110
+f 104 110 111
+f 104 111 112
+f 106 107 113
+f 106 113 114
+f 111 115 112
+f 111 116 115
+f 113 115 114
+f 114 115 116
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_40.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00953260 -0.02091552 -0.01185482
+v 0.00953260 -0.01995717 -0.01302971
+v 0.00958901 -0.02088714 -0.01185482
+v 0.00953260 -0.01327881 -0.01185479
+v 0.01012070 -0.02057325 -0.01185482
+v 0.00953260 -0.01946130 -0.01358017
+v 0.01198584 -0.01840945 -0.01296080
+v 0.01506200 -0.00386232 -0.01185475
+v 0.01240832 -0.00386231 -0.01358011
+v 0.00953260 -0.00962073 -0.01358014
+v 0.01285240 -0.01810893 -0.01261286
+v 0.01316326 -0.01845955 -0.01185481
+v 0.01227030 -0.01755295 -0.01358016
+v 0.02176163 -0.00386232 -0.01185475
+v 0.02049179 -0.00386231 -0.01358011
+v 0.01513522 -0.01650613 -0.01185480
+v 0.01433227 -0.01567800 -0.01358016
+v 0.01460712 -0.01591008 -0.01306247
+v 0.02177003 -0.00386232 -0.01191573
+v 0.02179283 -0.00386566 -0.01185475
+v 0.02128034 -0.00386231 -0.01284470
+v 0.01937199 -0.00721818 -0.01358013
+v 0.01574133 -0.01588003 -0.01185480
+v 0.01599097 -0.01346412 -0.01358015
+v 0.01700996 -0.01319866 -0.01287954
+v 0.01547368 -0.01542089 -0.01259714
+v 0.02177843 -0.00391908 -0.01185475
+v 0.02060222 -0.00755378 -0.01185477
+v 0.01961083 -0.00807135 -0.01288036
+v 0.01931558 -0.00737346 -0.01358013
+v 0.01750325 -0.01351255 -0.01185479
+v 0.01666790 -0.01254084 -0.01358015
+v 0.01805775 -0.01020842 -0.01358014
+v 0.01835901 -0.01063751 -0.01292783
+v 0.01942720 -0.01028523 -0.01185478
+v 0.01839021 -0.00954559 -0.01358014
+v 0.01821498 -0.00989788 -0.01358014
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 16
+f 1 16 23
+f 1 23 31
+f 1 31 35
+f 1 35 28
+f 1 28 27
+f 1 27 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 9
+f 4 9 10
+f 5 7 11
+f 5 11 12
+f 6 13 7
+f 6 10 9
+f 6 9 15
+f 6 15 22
+f 6 22 30
+f 6 30 36
+f 6 36 37
+f 6 37 33
+f 6 33 32
+f 6 32 24
+f 6 24 17
+f 6 17 13
+f 7 13 11
+f 8 14 19
+f 8 19 21
+f 8 21 15
+f 8 15 9
+f 11 16 12
+f 11 13 17
+f 11 17 18
+f 11 18 16
+f 14 20 19
+f 15 21 22
+f 16 18 23
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 23
+f 19 20 27
+f 19 27 28
+f 19 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 23 26 25
+f 23 25 31
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 31
+f 28 35 29
+f 29 35 36
+f 29 36 30
+f 33 37 35
+f 33 35 34
+f 35 37 36
+

dataset/kitchen_supplies/ware/100010c9cd8e5ae0af7bcc0a057b3066/mjcf/mesh/coffee_cup_019_collision_41.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03029512 -0.00379448 0.01344096
+v 0.03183275 -0.00372985 0.01366310
+v 0.03191271 -0.00372549 0.01374243
+v 0.03053281 -0.00377850 0.01366310
+v 0.03029512 -0.00376180 0.01366310
+v 0.03029512 -0.00361149 0.01237470
+v 0.03191271 -0.00372332 0.01366310
+v 0.03029512 -0.00357299 0.01217002
+v 0.03191271 -0.00353887 0.01494991
+v 0.03183275 -0.00353161 0.01494991
+v 0.03029512 -0.00330941 0.01494991
+v 0.03191271 -0.00311625 0.01231600
+v 0.03029512 -0.00299497 0.01089194
+v 0.03191271 -0.00350112 0.01501417
+v 0.03029512 -0.00286065 0.01574802
+v 0.03191271 -0.00310318 0.01229061
+v 0.03029512 -0.00288822 0.01070471
+v 0.03191271 -0.00294343 0.01587178
+v 0.03191271 -0.00289550 0.01591145
+v 0.03191271 -0.00198127 0.01655882
+v 0.03029512 -0.00224341 0.01614707
+v 0.03191271 -0.00307558 0.01225570
+v 0.03029512 -0.00202119 0.00954563
+v 0.03191271 -0.00186291 0.01663101
+v 0.03029512 -0.00202629 0.01622958
+v 0.03191271 -0.00215408 0.01125132
+v 0.03029512 -0.00187087 0.00940362
+v 0.03191271 -0.00072792 0.01696185
+v 0.03029512 -0.00103509 0.01657390
+v 0.03191271 -0.00207565 0.01117913
+v 0.03029512 -0.00072789 0.00885701
+v 0.03191271 -0.00202119 0.01114502
+v 0.03191271 0.00056900 0.01696026
+v 0.03029512 0.00056900 0.01663023
+v 0.03029512 0.00021899 0.01663023
+v 0.03029512 -0.00072792 0.01662864
+v 0.03029512 0.00056903 0.00886733
+v 0.03191271 0.00056902 0.01073487
+v 0.03191271 -0.00072790 0.01073725
+v 0.03191271 0.00103301 0.01689441
+v 0.03029512 0.00186664 0.01623594
+v 0.03029512 0.00118336 0.00909264
+v 0.03191271 0.00186957 0.01113869
+v 0.03191271 0.00060968 0.01073883
+v 0.03191271 0.00170180 0.01663420
+v 0.03029512 0.00270681 0.01575280
+v 0.03029512 0.00171781 0.00939650
+v 0.03191271 0.00253691 0.01167420
+v 0.03191271 0.00181872 0.01656360
+v 0.03029512 0.00314759 0.01513478
+v 0.03191271 0.00279249 0.01587656
+v 0.03029512 0.00199882 0.00971305
+v 0.03191271 0.00294500 0.01229063
+v 0.03029512 0.00250568 0.01032313
+v 0.03191271 0.00339304 0.01494993
+v 0.03183275 0.00338578 0.01494993
+v 0.03029512 0.00355207 0.01389874
+v 0.03029512 0.00272934 0.01066903
+v 0.03191271 0.00357022 0.01366312
+v 0.03183275 0.00357603 0.01366312
+v 0.03053281 0.00362396 0.01366312
+v 0.03029512 0.00360725 0.01366312
+v 0.03029512 0.00293121 0.01112124
+v 0.03053281 0.00340175 0.01237710
+v 0.03029512 0.00345549 0.01237472
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 21
+f 1 21 25
+f 1 25 29
+f 1 29 36
+f 1 36 35
+f 1 35 34
+f 1 34 41
+f 1 41 46
+f 1 46 50
+f 1 50 57
+f 1 57 62
+f 1 62 65
+f 1 65 63
+f 1 63 58
+f 1 58 54
+f 1 54 52
+f 1 52 47
+f 1 47 42
+f 1 42 37
+f 1 37 31
+f 1 31 27
+f 1 27 23
+f 1 23 17
+f 1 17 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 12
+f 3 12 16
+f 3 16 22
+f 3 22 26
+f 3 26 30
+f 3 30 32
+f 3 32 39
+f 3 39 38
+f 3 38 44
+f 3 44 43
+f 3 43 48
+f 3 48 53
+f 3 53 59
+f 3 59 55
+f 3 55 51
+f 3 51 49
+f 3 49 45
+f 3 45 40
+f 3 40 33
+f 3 33 28
+f 3 28 24
+f 3 24 20
+f 3 20 19
+f 3 19 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 7 8 12
+f 8 13 12
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 12 13 16
+f 13 17 16
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 15 20 21
+f 16 17 23
+f 16 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 23 27 26
+f 24 28 29
+f 24 29 25
+f 26 27 30
+f 27 31 32
+f 27 32 30
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 33 40 34
+f 34 40 41
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 40 45 41
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 45 49 46
+f 46 49 51
+f 46 51 50
+f 47 52 48
+f 48 52 54
+f 48 54 53
+f 50 55 56
+f 50 56 57
+f 50 51 55
+f 53 54 58
+f 53 58 59
+f 55 59 60
+f 55 60 61
+f 55 61 57
+f 55 57 56
+f 57 61 62
+f 58 63 59
+f 59 63 64
+f 59 64 65
+f 59 65 60
+f 60 65 61
+f 61 65 62
+f 63 65 64
+