Add asset kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b

.gitattributes

@@ -4218,3 +4218,5 @@ dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/chopsticks_0
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsticks_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mjcf/mesh/chopsticks_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bowl_036">
+   <link name="bowl_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bowl_036.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/bowl_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>681dff1cbc3858eebdc64d41659cba0b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>bowl</category>
+         <name>amber bowl</name>
+         <color>brown,transparent</color>
+         <shape>hemisphere</shape>
+         <material>glass</material>
+         <description>translucent amber bowl with two small side tabs</description>
+         <min_height>0.0593</min_height>
+         <max_height>0.0593</max_height>
+         <real_height>0.0593</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152931</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064871 -0.064703 -0.030152</min>
+            <max>0.065129 0.064600 0.029145</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf38917530a7a998833773e78e39cdcc95e67ef63e70924ffa323e7e5b87261f
+size 4946201

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123e71af05b2eac6cb5f8a4715726040a0dc78ac9c838dd3a19a818270c94225
+size 13569408

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.mtl

@@ -0,0 +1,6 @@
+newmtl bowl_036_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/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bowl_036_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 bowl_036_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/bowl_036.xml

@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bowl_036">
+  <asset>
+    <material name="material_0" texture="texture_0_bowl_036_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bowl_036_geometry_Looks_material_0" type="2d" file="mesh/bowl_036_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bowl_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bowl_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bowl_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bowl_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bowl_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bowl_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bowl_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bowl_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bowl_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bowl_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bowl_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bowl_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bowl_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bowl_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bowl_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bowl_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bowl_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bowl_036_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bowl_036_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bowl_036_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bowl_036_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bowl_036_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bowl_036_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bowl_036_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bowl_036_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bowl_036_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bowl_036_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bowl_036_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bowl_036_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bowl_036_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bowl_036_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bowl_036_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/bowl_036_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/bowl_036_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/bowl_036_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/bowl_036_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/bowl_036_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/bowl_036_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/bowl_036_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/bowl_036_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/bowl_036_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/bowl_036_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/bowl_036_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/bowl_036_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/bowl_036_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/bowl_036_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/bowl_036_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bowl_036">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_0.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02013876 0.01755874 -0.01830088
+v 0.02013876 -0.00016131 -0.01982269
+v 0.02013876 0.01755878 -0.03023990
+v -0.00355139 0.01755874 -0.02011248
+v -0.00355139 -0.00016131 -0.02038370
+v 0.02013876 -0.00016128 -0.02762658
+v 0.02013876 0.01621105 -0.03015692
+v -0.00355139 -0.00016128 -0.02760555
+v 0.01886103 0.01755878 -0.03014990
+v -0.00355139 0.01755877 -0.02761016
+v 0.02013876 0.01617115 -0.03015107
+v -0.00355139 0.01172378 -0.02760901
+v -0.00355139 0.01647295 -0.02761016
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 13
+f 4 13 12
+f 4 12 8
+f 4 8 5
+f 6 8 11
+f 7 11 8
+f 8 12 9
+f 9 12 13
+f 9 13 10
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_1.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.04298528 0.01755872 -0.01307352
+v 0.04307786 0.01733670 -0.01307352
+v 0.04295957 0.01755872 -0.01310892
+v 0.03210464 0.01755872 -0.01307352
+v 0.04302643 0.01725344 -0.01318982
+v 0.04315501 0.01713723 -0.01307352
+v 0.04291328 0.01755872 -0.01316285
+v 0.03648416 -0.00016133 -0.01307358
+v 0.02014133 0.01755874 -0.01829996
+v 0.02014133 -0.00016131 -0.01982362
+v 0.04232951 0.01600631 -0.01451791
+v 0.04097426 0.01745640 -0.01536904
+v 0.04112084 0.01755873 -0.01516005
+v 0.04258668 0.01755872 -0.01353701
+v 0.04355619 0.01600804 -0.01307352
+v 0.04325788 0.01600631 -0.01346622
+v 0.04640815 -0.00016133 -0.01307358
+v 0.02014133 0.01755878 -0.03023934
+v 0.02014133 -0.00016128 -0.02762703
+v 0.04270755 0.01386415 -0.01493927
+v 0.04125971 0.01600632 -0.01564545
+v 0.04012047 0.01600632 -0.01669545
+v 0.03878064 0.01732457 -0.01739826
+v 0.03906352 0.01755873 -0.01705276
+v 0.04077624 0.01755873 -0.01550724
+v 0.04095111 0.01755873 -0.01534545
+v 0.04387765 0.01508007 -0.01307352
+v 0.04427882 0.01386415 -0.01307353
+v 0.04362048 0.01386415 -0.01388927
+v 0.04634643 -0.00016133 -0.01315617
+v 0.04641072 0.00101989 -0.01307358
+v 0.02014133 0.01621105 -0.03015676
+v 0.02044993 0.01755878 -0.03026125
+v 0.02689448 -0.00016127 -0.03028322
+v 0.02626185 -0.00016127 -0.03019052
+v 0.02548522 -0.00016127 -0.03007592
+v 0.04290556 0.01262744 -0.01515500
+v 0.04163774 0.01386416 -0.01600276
+v 0.04051907 0.01386416 -0.01705277
+v 0.02773026 0.01017485 -0.02981801
+v 0.03872663 0.01755873 -0.01735276
+v 0.02739081 0.01172379 -0.02953149
+v 0.04469543 0.01250774 -0.01307353
+v 0.04480344 0.01212962 -0.01307354
+v 0.04575495 -0.00016133 -0.01392640
+v 0.04575752 0.00101989 -0.01392808
+v 0.04570866 0.00316205 -0.01386740
+v 0.04631042 0.00316205 -0.01307357
+v 0.02105941 0.01755878 -0.03029159
+v 0.02689448 0.00316211 -0.03028827
+v 0.02857119 -0.00016127 -0.03012479
+v 0.04401908 0.01170118 -0.01414714
+v 0.04309844 0.01119991 -0.01535726
+v 0.04192319 0.01187812 -0.01630109
+v 0.04074023 0.01255632 -0.01724659
+v 0.02802600 0.00874732 -0.02995285
+v 0.02600726 0.01322764 -0.03000002
+v 0.02562923 0.01465516 -0.02984328
+v 0.02521005 0.01600637 -0.02947080
+v 0.02363106 0.01755878 -0.02987698
+v 0.04507346 0.01115827 -0.01307354
+v 0.04512489 0.01077494 -0.01314096
+v 0.04536920 -0.00016133 -0.01439831
+v 0.04489344 -0.00016132 -0.01497809
+v 0.04489344 0.00101990 -0.01497809
+v 0.04560837 0.00530247 -0.01374098
+v 0.04484202 0.00316205 -0.01491740
+v 0.04621528 0.00419063 -0.01307356
+v 0.02254839 0.01755878 -0.03012810
+v 0.02261268 0.01600637 -0.03027137
+v 0.02475229 0.01172379 -0.03028655
+v 0.02689448 0.00530253 -0.03028826
+v 0.02856862 0.00101995 -0.03012311
+v 0.02964100 0.00101995 -0.02967816
+v 0.02964100 -0.00016127 -0.02967648
+v 0.04436111 0.00958331 -0.01435276
+v 0.04329131 0.00958332 -0.01555445
+v 0.04220093 0.00958332 -0.01660446
+v 0.04094082 0.01112880 -0.01741851
+v 0.02942498 0.00530253 -0.02941691
+v 0.02956385 0.00316211 -0.02960231
+v 0.02816487 0.00744295 -0.03001521
+v 0.02696906 0.00951052 -0.03011465
+v 0.02632100 0.01172379 -0.03008431
+v 0.02485002 0.01391105 -0.03014497
+v 0.02414024 0.01600637 -0.03005395
+v 0.02377507 0.01721014 -0.02995957
+v 0.02323502 0.01755878 -0.03001518
+v 0.04515833 0.01082871 -0.01307354
+v 0.04518661 0.01070209 -0.01307354
+v 0.04541292 0.00958331 -0.01307354
+v 0.04525091 0.00958331 -0.01330107
+v 0.04441512 -0.00016132 -0.01547191
+v 0.04382364 0.00101990 -0.01607865
+v 0.04376964 0.00316206 -0.01602808
+v 0.04610726 0.00530247 -0.01307356
+v 0.04473143 0.00530247 -0.01479099
+v 0.04545407 0.00744289 -0.01355221
+v 0.04365905 0.00530248 -0.01592189
+v 0.02289556 0.01755878 -0.03007754
+v 0.02689448 0.00744295 -0.03024443
+v 0.02849404 0.00316211 -0.03011130
+v 0.02835518 0.00530253 -0.03008264
+v 0.04270240 0.00316206 -0.01707977
+v 0.04275641 0.00101990 -0.01713034
+v 0.04275641 -0.00016132 -0.01713034
+v 0.04456942 0.00744289 -0.01460221
+v 0.04349961 0.00744290 -0.01576345
+v 0.04242209 0.00744290 -0.01681515
+v 0.04258925 0.00530248 -0.01697358
+v 0.04547721 0.00924161 -0.01307355
+v 0.04579867 0.00745850 -0.01307355
+v 0.04382364 -0.00016132 -0.01607865
+v 0.04334531 -0.00016132 -0.01655057
+v 0.04592468 0.00661898 -0.01307356
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 26
+f 1 26 25
+f 1 25 24
+f 1 24 41
+f 1 41 60
+f 1 60 88
+f 1 88 100
+f 1 100 69
+f 1 69 49
+f 1 49 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 17
+f 1 17 31
+f 1 31 48
+f 1 48 68
+f 1 68 96
+f 1 96 115
+f 1 115 112
+f 1 112 111
+f 1 111 91
+f 1 91 90
+f 1 90 89
+f 1 89 61
+f 1 61 44
+f 1 44 43
+f 1 43 28
+f 1 28 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 5 6 15
+f 5 15 16
+f 5 16 11
+f 8 10 19
+f 8 19 36
+f 8 36 35
+f 8 35 34
+f 8 34 51
+f 8 51 75
+f 8 75 106
+f 8 106 114
+f 8 114 113
+f 8 113 93
+f 8 93 64
+f 8 64 63
+f 8 63 45
+f 8 45 30
+f 8 30 17
+f 9 18 32
+f 9 32 19
+f 9 19 10
+f 11 16 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 20
+f 17 30 31
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 32
+f 19 32 36
+f 20 29 37
+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 41 24
+f 23 40 42
+f 23 42 41
+f 28 43 29
+f 29 43 44
+f 29 44 37
+f 30 45 46
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 33 49 34
+f 34 50 51
+f 34 49 50
+f 37 44 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 39
+f 39 55 40
+f 40 56 57
+f 40 57 58
+f 40 58 42
+f 40 55 56
+f 41 42 58
+f 41 58 59
+f 41 59 60
+f 44 61 62
+f 44 62 52
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 66 48
+f 47 65 67
+f 47 67 66
+f 48 66 68
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 51
+f 51 73 74
+f 51 74 75
+f 51 72 73
+f 52 62 53
+f 53 62 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 79 55
+f 55 79 56
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 84
+f 56 84 57
+f 56 79 78
+f 56 78 80
+f 57 84 85
+f 57 85 86
+f 57 86 87
+f 57 87 58
+f 58 87 59
+f 59 87 60
+f 60 87 88
+f 61 89 62
+f 62 89 90
+f 62 90 91
+f 62 91 92
+f 62 92 76
+f 64 93 65
+f 65 93 94
+f 65 94 95
+f 65 95 67
+f 66 96 68
+f 66 67 97
+f 66 97 98
+f 66 98 96
+f 67 95 99
+f 67 99 97
+f 69 100 86
+f 69 86 70
+f 70 86 85
+f 70 85 71
+f 71 85 84
+f 71 84 101
+f 71 101 72
+f 72 101 102
+f 72 102 73
+f 73 102 74
+f 74 102 103
+f 74 103 81
+f 74 81 104
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 76 92 107
+f 76 107 77
+f 77 107 108
+f 77 108 109
+f 77 109 78
+f 78 109 80
+f 80 109 81
+f 81 103 82
+f 81 109 110
+f 81 110 104
+f 82 103 101
+f 82 101 83
+f 83 101 84
+f 86 100 88
+f 86 88 87
+f 91 111 92
+f 92 111 112
+f 92 112 98
+f 92 98 107
+f 93 113 94
+f 94 113 114
+f 94 114 105
+f 94 105 104
+f 94 104 95
+f 95 104 99
+f 96 98 115
+f 97 107 98
+f 97 99 108
+f 97 108 107
+f 98 112 115
+f 99 104 110
+f 99 110 108
+f 101 103 102
+f 105 114 106
+f 108 110 109
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_10.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00369819 -0.06010391 0.02636395
+v 0.01571153 -0.05951016 0.02567782
+v 0.01571153 -0.05952073 0.02578616
+v 0.00548091 -0.06004348 0.02663479
+v 0.00369819 -0.06010391 0.02708619
+v 0.00369819 -0.05990145 0.02548824
+v 0.01571153 -0.05927900 0.02368264
+v 0.00655453 -0.05999816 0.02683792
+v 0.00655453 -0.05999816 0.02683566
+v 0.01571153 -0.05878347 0.02796190
+v 0.00548091 -0.06004348 0.02694400
+v 0.00369819 -0.05996945 0.02726223
+v 0.00369819 -0.05986066 0.02531219
+v 0.00369819 -0.05434918 0.00620226
+v 0.00492116 -0.05425249 0.00620226
+v 0.00547620 -0.05420716 0.00620226
+v 0.00762228 -0.05394730 0.00620226
+v 0.00927800 -0.05369047 0.00620226
+v 0.01032928 -0.05350313 0.00620226
+v 0.01043512 -0.05348198 0.00620226
+v 0.01191444 -0.05315716 0.00620226
+v 0.01404524 -0.05262082 0.00620227
+v 0.01571153 -0.05212528 0.00620227
+v 0.01571153 -0.05783317 0.02857356
+v 0.01112069 -0.05789513 0.02896627
+v 0.00976248 -0.05797520 0.02901367
+v 0.00762228 -0.05808247 0.02906558
+v 0.00369819 -0.05910678 0.02832076
+v 0.00369819 -0.05928506 0.02813569
+v 0.00369819 -0.04725898 0.00620229
+v 0.01571153 -0.04467097 0.00620230
+v 0.01571153 -0.05696296 0.02902947
+v 0.01571153 -0.05670613 0.02912877
+v 0.00548091 -0.05816556 0.02909492
+v 0.00369819 -0.05821542 0.02910846
+v 0.00369819 -0.04949803 0.01503389
+v 0.00369819 -0.04953278 0.01516931
+v 0.00369819 -0.05003134 0.01708324
+v 0.00369819 -0.05010990 0.01738116
+v 0.01571153 -0.04703995 0.01517835
+v 0.01571153 -0.05503971 0.02923938
+v 0.00762228 -0.05678620 0.02924614
+v 0.00369819 -0.05798426 0.02913555
+v 0.00369819 -0.05061905 0.01912806
+v 0.01571153 -0.04765334 0.01739922
+v 0.01571153 -0.05464539 0.02925969
+v 0.00548091 -0.05678620 0.02925517
+v 0.00369819 -0.05678620 0.02925517
+v 0.00369819 -0.05072179 0.01948015
+v 0.01571153 -0.04779838 0.01787996
+v 0.01571153 -0.05346092 0.02912201
+v 0.00369819 -0.05654145 0.02922808
+v 0.00369819 -0.05113878 0.02081629
+v 0.01571153 -0.04829393 0.01950048
+v 0.01571153 -0.05318293 0.02907687
+v 0.00369819 -0.05538568 0.02908590
+v 0.00369819 -0.05271758 0.02578619
+v 0.01571153 -0.04900402 0.02164462
+v 0.01571153 -0.05235199 0.02864354
+v 0.01265410 -0.05352286 0.02896854
+v 0.00369819 -0.05520741 0.02897757
+v 0.00369819 -0.05318896 0.02703204
+v 0.01571153 -0.05039094 0.02582230
+v 0.01571153 -0.05207550 0.02839527
+v 0.00369819 -0.05431602 0.02835464
+v 0.00369819 -0.05329925 0.02730288
+v 0.01571153 -0.05052088 0.02616311
+v 0.01571153 -0.05123247 0.02756019
+v 0.00369819 -0.05414379 0.02817859
+v 0.01571153 -0.05106628 0.02738640
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 12
+f 1 12 29
+f 1 29 28
+f 1 28 35
+f 1 35 43
+f 1 43 48
+f 1 48 52
+f 1 52 56
+f 1 56 61
+f 1 61 65
+f 1 65 69
+f 1 69 66
+f 1 66 62
+f 1 62 57
+f 1 57 53
+f 1 53 49
+f 1 49 44
+f 1 44 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 30
+f 1 30 14
+f 1 14 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 7 23
+f 2 23 31
+f 2 31 40
+f 2 40 45
+f 2 45 50
+f 2 50 54
+f 2 54 58
+f 2 58 63
+f 2 63 67
+f 2 67 70
+f 2 70 68
+f 2 68 64
+f 2 64 59
+f 2 59 55
+f 2 55 51
+f 2 51 46
+f 2 46 41
+f 2 41 33
+f 2 33 32
+f 2 32 24
+f 2 24 10
+f 2 10 3
+f 3 8 9
+f 3 9 4
+f 3 10 8
+f 4 9 8
+f 4 8 11
+f 5 11 10
+f 5 10 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 8 10 11
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 12
+f 14 30 31
+f 14 31 23
+f 14 23 22
+f 14 22 21
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 33 41 42
+f 33 42 34
+f 34 42 35
+f 35 42 43
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 42 46 47
+f 42 47 43
+f 43 47 48
+f 44 49 45
+f 45 49 50
+f 46 51 52
+f 46 52 48
+f 46 48 47
+f 49 53 54
+f 49 54 50
+f 51 55 56
+f 51 56 52
+f 53 57 54
+f 54 57 58
+f 55 59 60
+f 55 60 56
+f 56 60 59
+f 56 59 61
+f 57 62 63
+f 57 63 58
+f 59 64 65
+f 59 65 61
+f 62 66 67
+f 62 67 63
+f 64 68 65
+f 65 68 69
+f 66 68 70
+f 66 70 67
+f 66 69 68
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_11.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.00094172 0.04625320 -0.01307341
+v -0.00013360 0.04625039 -0.01307341
+v 0.00119858 0.04558190 -0.01392179
+v -0.00094172 0.04558471 -0.01392516
+v -0.00308353 0.04553977 -0.01387119
+v -0.00308353 0.04615770 -0.01307341
+v 0.00119858 0.04624477 -0.01307341
+v 0.00205075 0.04620545 -0.01307341
+v 0.00334039 0.04552854 -0.01386107
+v 0.00119858 0.04470556 -0.01497257
+v -0.00094172 0.04470557 -0.01497595
+v -0.00308353 0.04466062 -0.01492198
+v -0.00354987 0.04483196 -0.01466898
+v -0.00354987 0.04551730 -0.01384758
+v -0.00354987 0.04611276 -0.01307341
+v 0.00334039 0.04613804 -0.01307341
+v 0.00547917 0.04542742 -0.01373963
+v 0.00334039 0.04465220 -0.01491185
+v 0.00334039 0.04358206 -0.01603684
+v 0.00119858 0.04363262 -0.01609081
+v -0.00094172 0.04363543 -0.01609250
+v -0.00308353 0.04359049 -0.01604527
+v -0.00354987 0.04356802 -0.01602503
+v -0.00354987 0.04463815 -0.01489836
+v -0.00354987 0.03632979 -0.01307345
+v 0.00435054 0.04604535 -0.01307341
+v 0.00547917 0.04593300 -0.01307341
+v 0.00677337 0.04576167 -0.01307341
+v 0.00762098 0.04527856 -0.01356085
+v 0.00547917 0.04454546 -0.01479210
+v 0.00547917 0.04347533 -0.01593227
+v 0.00334039 0.04253158 -0.01708930
+v 0.00119858 0.04258775 -0.01714159
+v -0.00094172 0.04259056 -0.01714327
+v -0.00308353 0.04253720 -0.01709605
+v -0.00354987 0.04274505 -0.01684642
+v 0.01196537 0.03443386 -0.01307345
+v -0.00354987 0.01755874 -0.02011185
+v 0.00765288 0.04563246 -0.01307341
+v 0.00976280 0.04508194 -0.01331629
+v 0.00762098 0.04439098 -0.01461163
+v 0.00762098 0.04332085 -0.01577541
+v 0.00547917 0.04241923 -0.01698304
+v 0.00334039 0.02948205 -0.02969019
+v 0.00119858 0.02958597 -0.02976777
+v -0.00094172 0.02960002 -0.02977789
+v -0.00354987 0.04251473 -0.01707581
+v -0.00308353 0.02951856 -0.02971886
+v 0.01196537 0.04473646 -0.01307342
+v 0.01196537 0.01755874 -0.01970199
+v -0.00354987 0.01755877 -0.02761062
+v 0.00941038 0.04532069 -0.01307341
+v 0.00976280 0.04525609 -0.01307341
+v 0.01090054 0.04502295 -0.01307341
+v 0.01098712 0.04494712 -0.01315269
+v 0.00976280 0.04418594 -0.01436707
+v 0.00976280 0.04311581 -0.01556458
+v 0.00762098 0.04225351 -0.01682787
+v 0.00547917 0.02932195 -0.02952321
+v 0.00907772 0.02788666 -0.02997187
+v 0.00762098 0.02805238 -0.03004102
+v 0.00547917 0.02825180 -0.03010005
+v 0.00334039 0.02840909 -0.03012535
+v 0.00119858 0.02851302 -0.03013547
+v -0.00094172 0.02852706 -0.03013547
+v -0.00308353 0.02844842 -0.03012704
+v -0.00354987 0.02841471 -0.03012366
+v -0.00354987 0.02948485 -0.02968513
+v 0.01196537 0.04471961 -0.01309535
+v 0.01143068 0.04488813 -0.01307342
+v 0.01196537 0.01755877 -0.02771013
+v 0.01196537 0.02251066 -0.03008826
+v 0.01196537 0.02162589 -0.02977286
+v -0.00354987 0.02526607 -0.03008319
+v 0.01104789 0.04498925 -0.01307341
+v 0.01190917 0.04384046 -0.01415624
+v 0.01140485 0.04292200 -0.01536387
+v 0.00976280 0.04203162 -0.01661536
+v 0.00762098 0.02912252 -0.02920950
+v 0.01050408 0.02761702 -0.02985549
+v 0.01196537 0.02620139 -0.03009668
+v 0.01190309 0.02621544 -0.03010005
+v 0.00977951 0.02682775 -0.03013378
+v 0.00762098 0.02671259 -0.03026871
+v 0.00547917 0.02671259 -0.03029907
+v -0.00354987 0.02671259 -0.03028895
+v 0.01196537 0.04382922 -0.01414950
+v 0.01196537 0.02257245 -0.03009838
+v 0.01196537 0.04377024 -0.01421865
+v 0.01196537 0.04284616 -0.01528460
+v 0.01196537 0.04193612 -0.01615323
+v 0.01196537 0.04175917 -0.01632020
+v 0.01131523 0.04076205 -0.01742326
+v 0.01196537 0.04066936 -0.01734230
+v 0.01190309 0.02728558 -0.02960249
+v 0.01196537 0.02722941 -0.02961767
+v 0.01196537 0.02617331 -0.03010174
+v 0.01196537 0.02457511 -0.03029908
+v 0.01190309 0.02457230 -0.03030245
+v 0.01196537 0.02451051 -0.03030245
+v 0.01196537 0.04160468 -0.01646526
+v 0.01196537 0.02727154 -0.02958563
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 25
+f 1 25 37
+f 1 37 49
+f 1 49 70
+f 1 70 75
+f 1 75 54
+f 1 54 53
+f 1 53 52
+f 1 52 39
+f 1 39 28
+f 1 28 27
+f 1 27 26
+f 1 26 16
+f 1 16 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 18
+f 3 18 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 23
+f 13 23 36
+f 13 36 47
+f 13 47 68
+f 13 68 67
+f 13 67 86
+f 13 86 74
+f 13 74 51
+f 13 51 38
+f 13 38 25
+f 13 25 15
+f 13 15 14
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 25 38 37
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 46 35
+f 35 47 36
+f 35 46 48
+f 35 48 47
+f 37 38 50
+f 37 50 71
+f 37 71 73
+f 37 73 72
+f 37 72 88
+f 37 88 100
+f 37 100 98
+f 37 98 97
+f 37 97 81
+f 37 81 96
+f 37 96 102
+f 37 102 94
+f 37 94 101
+f 37 101 92
+f 37 92 91
+f 37 91 90
+f 37 90 89
+f 37 89 87
+f 37 87 69
+f 37 69 49
+f 38 51 71
+f 38 71 50
+f 39 52 40
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 43
+f 43 58 44
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 44 58 59
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 48
+f 47 48 68
+f 48 67 68
+f 49 69 70
+f 51 72 73
+f 51 73 71
+f 51 74 72
+f 54 75 55
+f 55 75 70
+f 55 70 69
+f 55 69 76
+f 55 76 77
+f 55 77 56
+f 56 77 57
+f 57 77 78
+f 57 78 58
+f 58 78 59
+f 59 79 60
+f 59 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 83
+f 60 83 61
+f 61 83 84
+f 61 84 62
+f 62 84 63
+f 63 84 85
+f 63 85 64
+f 64 85 65
+f 65 85 86
+f 65 86 66
+f 66 86 67
+f 69 87 76
+f 72 74 88
+f 74 86 88
+f 76 87 89
+f 76 89 90
+f 76 90 77
+f 77 90 91
+f 77 91 92
+f 77 92 78
+f 78 92 93
+f 78 93 79
+f 79 93 94
+f 79 94 80
+f 80 95 96
+f 80 96 81
+f 80 94 95
+f 81 97 82
+f 82 97 98
+f 82 98 84
+f 82 84 83
+f 84 98 99
+f 84 99 85
+f 85 99 100
+f 85 100 86
+f 86 100 88
+f 92 101 93
+f 93 101 94
+f 94 102 95
+f 95 102 96
+f 98 100 99
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_12.obj

@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
+v -0.00355139 0.04611863 -0.01306694
+v -0.00355139 0.03633659 -0.01306698
+v -0.00355139 0.04551838 -0.01384647
+v -0.00522615 0.04544296 -0.01375873
+v -0.00522615 0.04596781 -0.01306694
+v -0.00355139 0.01530356 -0.02027852
+v -0.03328327 0.01530354 -0.01306705
+v -0.00355139 0.04483065 -0.01466819
+v -0.00522615 0.04456219 -0.01480823
+v -0.00736984 0.04529517 -0.01357650
+v -0.00741712 0.04566316 -0.01306694
+v -0.00355139 0.01530359 -0.02760978
+v -0.04380863 0.01530354 -0.01306705
+v -0.00355139 0.04463760 -0.01489766
+v -0.00522615 0.04349140 -0.01594715
+v -0.00736984 0.04333756 -0.01579530
+v -0.00736984 0.04440835 -0.01462769
+v -0.00950959 0.04509608 -0.01333353
+v -0.00950959 0.04528913 -0.01306694
+v -0.00355139 0.02526360 -0.03008162
+v -0.02055117 0.01530360 -0.03008671
+v -0.04356431 0.01606668 -0.01306705
+v -0.04314661 0.01600937 -0.01363904
+v -0.04322148 0.01530354 -0.01383139
+v -0.00355139 0.04356680 -0.01602477
+v -0.00522615 0.04243265 -0.01699833
+v -0.00355139 0.04274636 -0.01684648
+v -0.00736984 0.04227279 -0.01684648
+v -0.00950959 0.04313245 -0.01558607
+v -0.00950959 0.04420325 -0.01438472
+v -0.01077452 0.04496035 -0.01316481
+v -0.01084939 0.04500861 -0.01306694
+v -0.00355139 0.02671146 -0.03028915
+v -0.02231262 0.01530360 -0.03025375
+v -0.04298504 0.01762613 -0.01306705
+v -0.04286682 0.01748135 -0.01330496
+v -0.04222845 0.01600937 -0.01469022
+v -0.04287076 0.01530354 -0.01424815
+v -0.00355139 0.04251410 -0.01707595
+v -0.00355139 0.02948349 -0.02968509
+v -0.00522615 0.02936585 -0.02956529
+v -0.00950959 0.04205561 -0.01663726
+v -0.01118828 0.04293337 -0.01537854
+v -0.01169662 0.04385033 -0.01416875
+v -0.01214191 0.04465570 -0.01306695
+v -0.00522615 0.02671146 -0.03029927
+v -0.00355139 0.02841268 -0.03012379
+v -0.02235596 0.01600943 -0.03029594
+v -0.02442478 0.01530360 -0.03010527
+v -0.04246882 0.01884474 -0.01306704
+v -0.04168858 0.01828973 -0.01422621
+v -0.04235848 0.01530354 -0.01483364
+v -0.04049852 0.01909812 -0.01514747
+v -0.04081376 0.01767139 -0.01545963
+v -0.04115660 0.01600938 -0.01578696
+v -0.00522615 0.02829504 -0.03010861
+v -0.00736984 0.02809596 -0.03005968
+v -0.00896972 0.02791800 -0.02998712
+v -0.01039622 0.02768876 -0.02988589
+v -0.00736984 0.02916677 -0.02928183
+v -0.01113706 0.04078271 -0.01744041
+v -0.01187789 0.04176001 -0.01632174
+v -0.01261873 0.04273731 -0.01517100
+v -0.01379303 0.04345519 -0.01390722
+v -0.01379303 0.04413990 -0.01306695
+v -0.01165328 0.02457286 -0.03030266
+v -0.00736984 0.02671146 -0.03028071
+v -0.02021621 0.01814802 -0.03030268
+v -0.01807647 0.02028963 -0.03030436
+v -0.02234414 0.01810579 -0.03012551
+v -0.02023198 0.02030472 -0.03014070
+v -0.02509469 0.01530360 -0.02998041
+v -0.02440114 0.01580431 -0.03006141
+v -0.04175951 0.02028957 -0.01306704
+v -0.04078618 0.02177965 -0.01336062
+v -0.04116054 0.02028957 -0.01377908
+v -0.04127876 0.01530355 -0.01591013
+v -0.04019115 0.02028957 -0.01483026
+v -0.03869766 0.02185206 -0.01546804
+v -0.03911931 0.02028958 -0.01584769
+v -0.03828390 0.01895032 -0.01719921
+v -0.03955671 0.01831085 -0.01633026
+v -0.04001776 0.01600938 -0.01683814
+v -0.04081376 0.01530355 -0.01635389
+v -0.00961598 0.02686831 -0.03014404
+v -0.01165328 0.02631028 -0.03011198
+v -0.01341867 0.02591815 -0.03002593
+v -0.01484911 0.02563160 -0.02991458
+v -0.01165328 0.02738109 -0.02968004
+v -0.01593278 0.03995924 -0.01671319
+v -0.01379303 0.04036343 -0.01707764
+v -0.01256356 0.04057759 -0.01726493
+v -0.01379303 0.04147345 -0.01602646
+v -0.01379303 0.04254123 -0.01495840
+v -0.01593278 0.04308719 -0.01348034
+v -0.01594460 0.04340391 -0.01306695
+v -0.01593278 0.02243125 -0.03029760
+v -0.01399794 0.02478099 -0.03016598
+v -0.02162301 0.01960191 -0.03002427
+v -0.02362484 0.01736377 -0.02999897
+v -0.01952661 0.02168922 -0.03002258
+v -0.01802130 0.02241315 -0.03012213
+v -0.02580399 0.01530360 -0.02948773
+v -0.02505134 0.01638345 -0.02956197
+v -0.04095563 0.02190031 -0.01306703
+v -0.04027784 0.02312193 -0.01306703
+v -0.03954095 0.02253073 -0.01421607
+v -0.03827602 0.02327879 -0.01507321
+v -0.03737362 0.02247644 -0.01628638
+v -0.03646728 0.02167711 -0.01745398
+v -0.03792530 0.02028958 -0.01689887
+v -0.03861885 0.01752359 -0.01747087
+v -0.04015569 0.01530355 -0.01696131
+v -0.01593278 0.02416264 -0.03008837
+v -0.01727258 0.02368304 -0.02999220
+v -0.01869908 0.02311596 -0.02972730
+v -0.01593278 0.02523344 -0.02963280
+v -0.02541782 0.03409545 -0.01722614
+v -0.02461787 0.03528691 -0.01669634
+v -0.02289189 0.03601083 -0.01704223
+v -0.02226533 0.03735914 -0.01621714
+v -0.02163877 0.03868332 -0.01539205
+v -0.02021621 0.03786589 -0.01678913
+v -0.01870302 0.03826707 -0.01712827
+v -0.01727258 0.03860791 -0.01740667
+v -0.01739868 0.04080080 -0.01537855
+v -0.01593278 0.04109037 -0.01566201
+v -0.01593278 0.04216117 -0.01453153
+v -0.01720165 0.04284890 -0.01320025
+v -0.01729228 0.04291224 -0.01306695
+v -0.02095705 0.02103166 -0.02978130
+v -0.02304951 0.01879050 -0.02973237
+v -0.03601017 0.02310384 -0.01710471
+v -0.03525751 0.02474173 -0.01679593
+v -0.03407533 0.02556821 -0.01726668
+v -0.03855186 0.02585475 -0.01306702
+v -0.03850063 0.02577029 -0.01319694
+v -0.03888681 0.02457280 -0.01360021
+v -0.03785437 0.02457280 -0.01465139
+v -0.03637270 0.02578538 -0.01529593
+v -0.03678253 0.02457281 -0.01564688
+v -0.02917321 0.03144407 -0.01688195
+v -0.02774671 0.03209560 -0.01732908
+v -0.02663546 0.03361283 -0.01686339
+v -0.02799103 0.03442724 -0.01539375
+v -0.02645025 0.03519340 -0.01570759
+v -0.02561091 0.03637581 -0.01523177
+v -0.02449571 0.03674079 -0.01555236
+v -0.02306921 0.03827008 -0.01499554
+v -0.02230474 0.03952789 -0.01412827
+v -0.02021621 0.04013116 -0.01468338
+v -0.01882912 0.04047806 -0.01505290
+v -0.02021621 0.03906037 -0.01573795
+v -0.01805282 0.03954298 -0.01625256
+v -0.01801341 0.04166950 -0.01412658
+v -0.01850599 0.04236930 -0.01306695
+v -0.03206168 0.02786365 -0.01735441
+v -0.03137207 0.02929039 -0.01689208
+v -0.03080463 0.03087699 -0.01618680
+v -0.03360640 0.02671141 -0.01692246
+v -0.03515112 0.02658472 -0.01579367
+v -0.03440634 0.02811100 -0.01543428
+v -0.03673918 0.02831308 -0.01306701
+v -0.03656185 0.02815925 -0.01339772
+v -0.03718447 0.02649120 -0.01399839
+v -0.03583284 0.02721211 -0.01479986
+v -0.03023324 0.03241232 -0.01548150
+v -0.02858212 0.03296733 -0.01613785
+v -0.02941753 0.03383905 -0.01488589
+v -0.02871610 0.03522657 -0.01411141
+v -0.02703740 0.03585397 -0.01474077
+v -0.02558726 0.03849932 -0.01311759
+v -0.02449571 0.03781159 -0.01453323
+v -0.02801468 0.03657488 -0.01333864
+v -0.02631233 0.03719022 -0.01392918
+v -0.02449571 0.03884016 -0.01348205
+v -0.02154420 0.04076460 -0.01326100
+v -0.02283278 0.04019451 -0.01306696
+v -0.02021621 0.04109338 -0.01363220
+v -0.02027927 0.04152171 -0.01306696
+v -0.03292467 0.02870220 -0.01616317
+v -0.03235722 0.03031294 -0.01548995
+v -0.03519840 0.02884999 -0.01415530
+v -0.03378766 0.02954074 -0.01491121
+v -0.03583678 0.02944120 -0.01306700
+v -0.03165974 0.03173664 -0.01494157
+v -0.03098589 0.03319354 -0.01421266
+v -0.03031205 0.03459615 -0.01348374
+v -0.02562273 0.03851741 -0.01306697
+v -0.02814077 0.03671966 -0.01306698
+v -0.02927567 0.03583889 -0.01306698
+v -0.02166636 0.04085207 -0.01306696
+v -0.03456396 0.03041548 -0.01350907
+v -0.03313746 0.03107305 -0.01422617
+v -0.03480040 0.03063567 -0.01306700
+v -0.03249120 0.03254805 -0.01354112
+v -0.03162821 0.03386016 -0.01306699
+v -0.03051302 0.03481635 -0.01306698
+v -0.03381525 0.03173664 -0.01306699
+v -0.03273158 0.03279539 -0.01306699
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 33
+f 1 33 47
+f 1 47 40
+f 1 40 39
+f 1 39 27
+f 1 27 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 32
+f 1 32 45
+f 1 45 65
+f 1 65 96
+f 1 96 130
+f 1 130 156
+f 1 156 180
+f 1 180 192
+f 1 192 178
+f 1 178 189
+f 1 189 190
+f 1 190 191
+f 1 191 198
+f 1 198 197
+f 1 197 200
+f 1 200 199
+f 1 199 195
+f 1 195 185
+f 1 185 163
+f 1 163 136
+f 1 136 106
+f 1 106 105
+f 1 105 74
+f 1 74 50
+f 1 50 35
+f 1 35 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 9
+f 5 10 11
+f 6 7 13
+f 6 13 24
+f 6 24 38
+f 6 38 52
+f 6 52 77
+f 6 77 84
+f 6 84 113
+f 6 113 103
+f 6 103 72
+f 6 72 49
+f 6 49 34
+f 6 34 21
+f 6 21 12
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 21 20
+f 13 22 23
+f 13 23 24
+f 14 25 15
+f 15 26 16
+f 15 25 27
+f 15 27 26
+f 16 28 29
+f 16 29 17
+f 16 26 28
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 20 21 34
+f 20 34 33
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 26 27 39
+f 26 39 40
+f 26 40 41
+f 26 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 33 46 47
+f 33 34 48
+f 33 48 46
+f 34 49 48
+f 35 50 36
+f 36 50 51
+f 36 51 37
+f 37 52 38
+f 37 51 53
+f 37 53 54
+f 37 54 55
+f 37 55 52
+f 40 47 56
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 46 66 67
+f 46 67 47
+f 46 48 68
+f 46 68 69
+f 46 69 66
+f 47 67 56
+f 48 70 71
+f 48 71 68
+f 48 49 70
+f 49 72 73
+f 49 73 70
+f 50 74 75
+f 50 75 76
+f 50 76 53
+f 50 53 51
+f 52 55 77
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 54
+f 53 76 78
+f 54 82 83
+f 54 83 55
+f 55 83 84
+f 55 84 77
+f 56 67 57
+f 57 67 85
+f 57 85 58
+f 58 85 86
+f 58 86 87
+f 58 87 59
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 91
+f 59 91 92
+f 59 92 61
+f 59 61 60
+f 61 92 62
+f 62 92 63
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 65
+f 65 95 96
+f 66 97 98
+f 66 98 67
+f 66 69 97
+f 67 98 86
+f 67 86 85
+f 68 71 69
+f 69 71 97
+f 70 99 71
+f 70 73 100
+f 70 100 99
+f 71 101 102
+f 71 102 97
+f 71 99 101
+f 72 103 104
+f 72 104 100
+f 72 100 73
+f 74 105 75
+f 75 105 106
+f 75 106 107
+f 75 107 78
+f 75 78 76
+f 78 107 79
+f 79 108 109
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 79 107 108
+f 80 111 81
+f 81 112 82
+f 81 111 103
+f 81 103 112
+f 82 112 83
+f 83 113 84
+f 83 112 103
+f 83 103 113
+f 86 98 87
+f 87 98 114
+f 87 114 88
+f 88 114 115
+f 88 115 116
+f 88 116 117
+f 88 117 118
+f 88 118 119
+f 88 119 120
+f 88 120 121
+f 88 121 122
+f 88 122 123
+f 88 123 124
+f 88 124 89
+f 89 124 125
+f 89 125 90
+f 90 125 126
+f 90 126 127
+f 90 127 91
+f 91 93 92
+f 91 127 93
+f 93 127 94
+f 94 127 128
+f 94 128 95
+f 95 128 129
+f 95 129 96
+f 96 129 130
+f 97 102 114
+f 97 114 98
+f 99 131 101
+f 99 100 132
+f 99 132 131
+f 100 104 132
+f 101 131 116
+f 101 116 115
+f 101 115 102
+f 102 115 114
+f 103 111 110
+f 103 110 104
+f 104 110 133
+f 104 133 134
+f 104 134 135
+f 104 135 132
+f 106 136 137
+f 106 137 138
+f 106 138 108
+f 106 108 107
+f 108 138 139
+f 108 139 140
+f 108 140 141
+f 108 141 109
+f 109 141 133
+f 109 133 110
+f 116 131 142
+f 116 142 143
+f 116 143 144
+f 116 144 118
+f 116 118 117
+f 118 144 145
+f 118 145 146
+f 118 146 147
+f 118 147 119
+f 119 147 148
+f 119 148 120
+f 120 148 121
+f 121 148 149
+f 121 149 122
+f 122 149 150
+f 122 150 151
+f 122 151 152
+f 122 152 153
+f 122 153 123
+f 123 153 124
+f 124 153 154
+f 124 154 125
+f 125 154 126
+f 126 155 129
+f 126 129 128
+f 126 128 127
+f 126 154 152
+f 126 152 155
+f 129 155 156
+f 129 156 130
+f 131 132 157
+f 131 157 158
+f 131 158 159
+f 131 159 142
+f 132 135 160
+f 132 160 157
+f 133 141 134
+f 134 141 140
+f 134 140 135
+f 135 140 161
+f 135 161 162
+f 135 162 160
+f 136 163 137
+f 137 139 138
+f 137 163 164
+f 137 164 165
+f 137 165 140
+f 137 140 139
+f 140 165 166
+f 140 166 162
+f 140 162 161
+f 142 159 167
+f 142 167 143
+f 143 167 168
+f 143 168 145
+f 143 145 144
+f 145 168 167
+f 145 167 169
+f 145 169 170
+f 145 170 171
+f 145 171 147
+f 145 147 146
+f 147 172 173
+f 147 173 149
+f 147 149 148
+f 147 171 174
+f 147 174 175
+f 147 175 172
+f 149 173 176
+f 149 176 150
+f 150 177 151
+f 150 176 178
+f 150 178 177
+f 151 179 152
+f 151 177 179
+f 152 154 153
+f 152 179 155
+f 155 179 156
+f 156 179 177
+f 156 177 180
+f 157 160 162
+f 157 162 181
+f 157 181 182
+f 157 182 158
+f 158 182 159
+f 159 182 167
+f 162 166 183
+f 162 183 184
+f 162 184 182
+f 162 182 181
+f 163 185 164
+f 164 185 183
+f 164 183 166
+f 164 166 165
+f 167 182 186
+f 167 186 187
+f 167 187 169
+f 169 187 188
+f 169 188 170
+f 170 174 171
+f 170 188 174
+f 172 189 178
+f 172 178 176
+f 172 176 173
+f 172 175 174
+f 172 174 190
+f 172 190 189
+f 174 188 191
+f 174 191 190
+f 177 192 180
+f 177 178 192
+f 182 184 186
+f 183 193 184
+f 183 185 193
+f 184 193 194
+f 184 194 186
+f 185 195 193
+f 186 194 196
+f 186 196 187
+f 187 196 197
+f 187 197 188
+f 188 197 198
+f 188 198 191
+f 193 195 199
+f 193 199 194
+f 194 199 196
+f 196 199 200
+f 196 200 197
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_13.obj

@@ -0,0 +1,997 @@
+# https://github.com/mikedh/trimesh
+v 0.03063043 0.02248345 -0.01307350
+v 0.03063043 0.03474585 -0.01307345
+v 0.04061277 0.02248345 -0.01307350
+v 0.03063043 0.02248344 -0.01183864
+v 0.03128192 0.03418653 -0.01307345
+v 0.03063043 0.03550674 -0.01226126
+v 0.03115992 0.03526257 -0.01203750
+v 0.04037364 0.02289797 -0.01307350
+v 0.04055420 0.02303993 -0.01278758
+v 0.04070793 0.02248345 -0.01296576
+v 0.04770850 0.02248331 0.02579140
+v 0.03063043 0.04291401 0.02578733
+v 0.03222623 0.03331206 -0.01307346
+v 0.03191878 0.03390261 -0.01279168
+v 0.03063043 0.03618814 -0.01151123
+v 0.03262884 0.03455845 -0.01139106
+v 0.03991491 0.02367874 -0.01307349
+v 0.04075673 0.02248345 -0.01290775
+v 0.03873879 0.02562074 -0.01307349
+v 0.04015891 0.02465825 -0.01207069
+v 0.04111054 0.02400524 -0.01138281
+v 0.04131795 0.02248344 -0.01219501
+v 0.04797691 0.02248330 0.02629694
+v 0.03063043 0.04411497 0.02773493
+v 0.03351215 0.03204295 -0.01307346
+v 0.03409045 0.03175052 -0.01279997
+v 0.03336087 0.03317861 -0.01209552
+v 0.03063043 0.03649477 -0.01116315
+v 0.03183094 0.03598656 -0.01054572
+v 0.03325838 0.03522282 -0.00987857
+v 0.03405629 0.03387989 -0.01061203
+v 0.03475903 0.03245178 -0.01139936
+v 0.03864851 0.02575702 -0.01307349
+v 0.03909016 0.02650939 -0.01191736
+v 0.04068353 0.02543050 -0.01081511
+v 0.04184988 0.02451345 -0.00989932
+v 0.04300892 0.02359639 -0.00897940
+v 0.04259411 0.02248344 -0.01047947
+v 0.04256238 0.02248344 -0.01052505
+v 0.04145215 0.02248344 -0.01202097
+v 0.04870405 0.02248330 0.02766026
+v 0.03063043 0.04518249 0.02870045
+v 0.03437106 0.03114009 -0.01307347
+v 0.03546665 0.03100096 -0.01205824
+v 0.03617427 0.02949621 -0.01271710
+v 0.03063043 0.03685250 -0.01070318
+v 0.03100376 0.03727270 -0.00975839
+v 0.03246048 0.03653450 -0.00914511
+v 0.03464191 0.03445623 -0.00921141
+v 0.03618647 0.03167669 -0.01056645
+v 0.03541297 0.03308492 -0.00988686
+v 0.03680381 0.03025142 -0.01131649
+v 0.03720154 0.02775864 -0.01307348
+v 0.03818001 0.02708575 -0.01253064
+v 0.03877539 0.02792614 -0.01112589
+v 0.04030044 0.02682454 -0.01004849
+v 0.04116178 0.02618571 -0.00941449
+v 0.04258923 0.02502449 -0.00827495
+v 0.04300160 0.02571725 -0.00687434
+v 0.04328221 0.02441407 -0.00768238
+v 0.04419723 0.02248343 -0.00788958
+v 0.04329441 0.02248343 -0.00942280
+v 0.04875041 0.02248330 0.02770999
+v 0.04975328 0.02248329 0.02871279
+v 0.03063043 0.04532445 0.02877918
+v 0.03546909 0.02990505 -0.01307347
+v 0.03651344 0.02865865 -0.01307347
+v 0.03749191 0.02870975 -0.01192149
+v 0.03063043 0.03745725 -0.00991171
+v 0.03063043 0.03784336 -0.00940616
+v 0.03063043 0.03839416 -0.00863541
+v 0.03170894 0.03804495 -0.00784394
+v 0.03217255 0.03842255 -0.00668781
+v 0.03323154 0.03686385 -0.00765332
+v 0.03388792 0.03588434 -0.00822932
+v 0.03673305 0.03228994 -0.00916584
+v 0.03441254 0.03636983 -0.00682457
+v 0.03523972 0.03506097 -0.00753316
+v 0.03655736 0.03423477 -0.00683700
+v 0.03606935 0.03371805 -0.00823762
+v 0.03748215 0.03085049 -0.00978742
+v 0.03823125 0.02935140 -0.01040485
+v 0.03688433 0.02818167 -0.01307348
+v 0.03874855 0.03002144 -0.00900424
+v 0.03913896 0.02872394 -0.00979985
+v 0.04069817 0.02761382 -0.00871418
+v 0.04185476 0.02666553 -0.00779425
+v 0.04112030 0.02822424 -0.00731357
+v 0.04261607 0.02725323 -0.00574306
+v 0.04290888 0.02771318 -0.00459522
+v 0.04328221 0.02618286 -0.00574306
+v 0.04434120 0.02444245 -0.00562705
+v 0.04482677 0.02297743 -0.00625277
+v 0.04447296 0.02248343 -0.00738404
+v 0.05082447 0.02248329 0.02911889
+v 0.03063043 0.04622731 0.02910240
+v 0.03063043 0.03890805 -0.00784394
+v 0.03063774 0.03890238 -0.00784394
+v 0.03063043 0.03996138 -0.00609109
+v 0.03125264 0.03961784 -0.00584661
+v 0.03264837 0.03882287 -0.00528720
+v 0.03334379 0.03786607 -0.00588806
+v 0.03706734 0.03305652 -0.00765749
+v 0.03862410 0.03200885 -0.00671270
+v 0.03825077 0.03156027 -0.00784396
+v 0.03475659 0.03669065 -0.00574303
+v 0.03582778 0.03565151 -0.00574303
+v 0.03688189 0.03458114 -0.00574303
+v 0.03806777 0.03316724 -0.00590465
+v 0.03911700 0.03048990 -0.00784397
+v 0.04024431 0.02890564 -0.00794342
+v 0.04061521 0.02965234 -0.00643093
+v 0.04150339 0.02890563 -0.00573476
+v 0.04248186 0.02889143 -0.00379131
+v 0.04322852 0.02820151 -0.00319461
+v 0.04377998 0.02688413 -0.00379132
+v 0.04098854 0.03016339 -0.00502617
+v 0.04484873 0.02520618 -0.00363801
+v 0.04517082 0.02364464 -0.00485215
+v 0.04530015 0.02248342 -0.00577623
+v 0.04495122 0.02248342 -0.00650140
+v 0.05258865 0.02248329 0.02924735
+v 0.03063043 0.04807277 0.02921430
+v 0.03063043 0.04041281 -0.00527890
+v 0.03063043 0.04070240 -0.00474021
+v 0.03185778 0.04032479 -0.00363795
+v 0.03334379 0.03915505 -0.00353437
+v 0.03407581 0.03820677 -0.00416423
+v 0.03901452 0.03247164 -0.00530794
+v 0.03981486 0.03108612 -0.00587151
+v 0.03628407 0.03610294 -0.00424711
+v 0.03839962 0.03389974 -0.00416839
+v 0.04275027 0.02962961 -0.00212135
+v 0.04351646 0.02889143 -0.00146663
+v 0.04473893 0.02678192 -0.00174013
+v 0.04508786 0.02563205 -0.00257305
+v 0.04051516 0.03168234 -0.00363798
+v 0.04132771 0.03061197 -0.00363799
+v 0.04543191 0.02413581 -0.00363801
+v 0.04633230 0.02248341 -0.00346398
+v 0.04623470 0.02248341 -0.00369603
+v 0.04541483 0.02248342 -0.00553589
+v 0.05261061 0.02449626 0.02913133
+v 0.05044626 0.02671366 0.02924737
+v 0.04616393 0.03313587 0.02925982
+v 0.03331939 0.04597746 0.02925572
+v 0.05394289 0.02248329 0.02906502
+v 0.03117700 0.04811820 0.02923087
+v 0.03063043 0.04966271 0.02906097
+v 0.03063043 0.04101471 -0.00411035
+v 0.03078659 0.04113111 -0.00363795
+v 0.03221403 0.04060018 -0.00253155
+v 0.03448818 0.03857585 -0.00276361
+v 0.03538613 0.03734365 -0.00350536
+v 0.03934393 0.03316723 -0.00353853
+v 0.03666717 0.03648338 -0.00284650
+v 0.03753339 0.03520575 -0.00350951
+v 0.03876075 0.03430573 -0.00276777
+v 0.04078601 0.03203155 -0.00253158
+v 0.04192308 0.03104636 -0.00162409
+v 0.04305284 0.03006116 -0.00072074
+v 0.04494634 0.02754281 -0.00009503
+v 0.04536847 0.02611470 -0.00117243
+v 0.04587601 0.02478030 -0.00174014
+v 0.04693499 0.02287521 -0.00153710
+v 0.04665927 0.02248341 -0.00267251
+v 0.05188590 0.02671366 0.02907747
+v 0.05044382 0.02876638 0.02912720
+v 0.04830388 0.03099514 0.02922666
+v 0.04409231 0.03747413 0.02916038
+v 0.04200849 0.03968017 0.02916454
+v 0.03987586 0.04183226 0.02916454
+v 0.03766760 0.04391338 0.02916040
+v 0.05374524 0.02373253 0.02899044
+v 0.05510192 0.02248330 0.02788817
+v 0.03541053 0.04596611 0.02914384
+v 0.03311686 0.04801599 0.02907755
+v 0.03063043 0.05072741 0.02821150
+v 0.03117700 0.04946681 0.02904025
+v 0.03226771 0.04920277 0.02894495
+v 0.03063043 0.04135540 -0.00339761
+v 0.03063043 0.04207372 -0.00181467
+v 0.03122092 0.04173302 -0.00161162
+v 0.03260200 0.04090680 -0.00112680
+v 0.03331695 0.04005506 -0.00171107
+v 0.03481027 0.03886261 -0.00153704
+v 0.03588146 0.03787174 -0.00153704
+v 0.03698925 0.03680421 -0.00153704
+v 0.03806045 0.03569977 -0.00153705
+v 0.03904624 0.03462940 -0.00153705
+v 0.04024187 0.03313315 -0.00171110
+v 0.04109590 0.03241767 -0.00113097
+v 0.04252090 0.03148358 0.00056385
+v 0.04329929 0.03041322 0.00056384
+v 0.04442660 0.02874662 0.00058871
+v 0.04520499 0.02796301 0.00130558
+v 0.04564420 0.02678191 0.00058870
+v 0.04682275 0.02457587 0.00045608
+v 0.04717169 0.02337206 -0.00031467
+v 0.04712044 0.02248341 -0.00153710
+v 0.04701308 0.02248341 -0.00181474
+v 0.04732541 0.02248340 -0.00100669
+v 0.05161506 0.02799413 0.02899459
+v 0.04965324 0.03099514 0.02904018
+v 0.04819896 0.03293997 0.02907749
+v 0.04614685 0.03522267 0.02913965
+v 0.04541971 0.03680409 0.02905265
+v 0.04342617 0.03904704 0.02906508
+v 0.04137895 0.04120765 0.02906923
+v 0.03925120 0.04325185 0.02906510
+v 0.03699658 0.04524495 0.02905682
+v 0.05423326 0.02449627 0.02797106
+v 0.05333775 0.02516063 0.02872938
+v 0.05510436 0.02248330 0.02787988
+v 0.05393069 0.02619978 0.02732877
+v 0.03466387 0.04723238 0.02902367
+v 0.03063043 0.05142301 0.02738273
+v 0.03842402 0.04467712 0.02882475
+v 0.03609131 0.04667306 0.02866730
+v 0.03528609 0.04798477 0.02781783
+v 0.03448086 0.04925388 0.02696420
+v 0.03311686 0.04955483 0.02775567
+v 0.03063043 0.04240021 -0.00106877
+v 0.03164794 0.04232639 0.00056389
+v 0.03303878 0.04125602 0.00056388
+v 0.03410997 0.04039291 0.00056388
+v 0.03552277 0.03919478 0.00067990
+v 0.03627676 0.03824650 0.00005833
+v 0.03751631 0.03733228 0.00075449
+v 0.03843378 0.03609440 0.00005003
+v 0.03938297 0.03533918 0.00067575
+v 0.04057860 0.03392811 0.00056385
+v 0.04144971 0.03285775 0.00056385
+v 0.04280639 0.03186402 0.00203077
+v 0.04359453 0.03108893 0.00270620
+v 0.04475113 0.02939962 0.00266890
+v 0.04543679 0.02832925 0.00266889
+v 0.04654214 0.02654341 0.00279735
+v 0.04704968 0.02529417 0.00218406
+v 0.04742057 0.02386608 0.00108594
+v 0.04781830 0.02256573 0.00045607
+v 0.04777682 0.02248340 0.00024060
+v 0.05115632 0.02941939 0.02867967
+v 0.04939459 0.03209390 0.02894903
+v 0.04741325 0.03447313 0.02901948
+v 0.04485361 0.03822935 0.02882059
+v 0.04280639 0.04047514 0.02887862
+v 0.04067865 0.04263575 0.02888691
+v 0.05210551 0.02876639 0.02794207
+v 0.05555578 0.02248331 0.02557592
+v 0.05176390 0.03034497 0.02727906
+v 0.05471151 0.02457294 0.02578726
+v 0.05393801 0.02621399 0.02578727
+v 0.05341095 0.02728435 0.02578727
+v 0.03063043 0.05148548 0.02578736
+v 0.03915360 0.04532162 0.02742415
+v 0.03764808 0.04599735 0.02804573
+v 0.03686969 0.04730904 0.02726669
+v 0.03448086 0.04925388 0.02659126
+v 0.03063043 0.04270400 -0.00033946
+v 0.03063043 0.04305890 0.00056389
+v 0.03063043 0.04308161 0.00062191
+v 0.03203835 0.04261314 0.00203909
+v 0.03437594 0.04061436 0.00164542
+v 0.03660129 0.03855312 0.00145894
+v 0.03874123 0.03642090 0.00145064
+v 0.04080309 0.03419499 0.00164126
+v 0.04193285 0.03319560 0.00253631
+v 0.04305284 0.03219621 0.00343138
+v 0.04924331 0.03401320 0.02519473
+v 0.04498538 0.02976019 0.00405709
+v 0.05158090 0.03003267 0.02457314
+v 0.04727661 0.02571721 0.00358467
+v 0.04761822 0.02457586 0.00279734
+v 0.04864305 0.02248339 0.00283048
+v 0.04856252 0.02248339 0.00257771
+v 0.04805987 0.02248340 0.00106936
+v 0.04788418 0.02248340 0.00054309
+v 0.04785734 0.02248340 0.00046436
+v 0.04974596 0.03293998 0.02775147
+v 0.04943851 0.03429427 0.02696001
+v 0.04749377 0.03667918 0.02726251
+v 0.04684715 0.03589839 0.02866311
+v 0.04550023 0.03895903 0.02741998
+v 0.04344813 0.04115371 0.02747800
+v 0.04207437 0.04189474 0.02818245
+v 0.04133991 0.04326890 0.02748630
+v 0.05555334 0.02248331 0.02556763
+v 0.05257401 0.02885442 0.02578728
+v 0.05175170 0.03032227 0.02578728
+v 0.04943851 0.03429427 0.02659949
+v 0.04915546 0.02248338 0.00448801
+v 0.05375744 0.02584773 0.02447782
+v 0.03156985 0.05092049 0.02578736
+v 0.03063043 0.05124983 0.02495031
+v 0.04144239 0.04336828 0.02578733
+v 0.04029068 0.04443865 0.02578733
+v 0.03921948 0.04537842 0.02578734
+v 0.03791892 0.04645162 0.02578734
+v 0.03684773 0.04729202 0.02578734
+v 0.03530072 0.04845040 0.02584951
+v 0.03420025 0.04906083 0.02519064
+v 0.03341943 0.04975642 0.02584951
+v 0.03063043 0.04312420 0.00073379
+v 0.03126485 0.04339959 0.00271039
+v 0.03237752 0.04286583 0.00343971
+v 0.03337795 0.04174435 0.00254049
+v 0.03468583 0.04087840 0.00304603
+v 0.03542273 0.04000962 0.00247419
+v 0.03685505 0.03879161 0.00266893
+v 0.03792624 0.03774111 0.00266893
+v 0.03898036 0.03667358 0.00266892
+v 0.04019795 0.03523980 0.00247002
+v 0.04106174 0.03450162 0.00304187
+v 0.04729369 0.03642366 0.02460217
+v 0.04863085 0.03511480 0.02585360
+v 0.04994605 0.03323526 0.02585359
+v 0.05111240 0.03139264 0.02578729
+v 0.04888461 0.02248339 0.00360538
+v 0.04662023 0.03772116 0.02578731
+v 0.04554903 0.03901583 0.02578731
+v 0.04461204 0.04008619 0.02578732
+v 0.04354330 0.04125309 0.02578732
+v 0.04251358 0.04232346 0.02578733
+v 0.04747181 0.03665363 0.02578730
+v 0.03063043 0.04444724 0.00450467
+v 0.04112518 0.04306449 0.02411323
+v 0.03891935 0.04512289 0.02426656
+v 0.03661348 0.04711315 0.02459392
+v 0.03063043 0.04405828 0.00335683
+v 0.03063043 0.04382831 0.00269382
+v 0.04324073 0.04093511 0.02411736
+v 0.04529527 0.03872055 0.02429554
+f 1 2 5
+f 1 5 13
+f 1 13 25
+f 1 25 43
+f 1 43 66
+f 1 66 67
+f 1 67 83
+f 1 83 53
+f 1 53 33
+f 1 33 19
+f 1 19 17
+f 1 17 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 22
+f 1 22 40
+f 1 40 39
+f 1 39 38
+f 1 38 62
+f 1 62 61
+f 1 61 94
+f 1 94 121
+f 1 121 120
+f 1 120 142
+f 1 142 141
+f 1 141 140
+f 1 140 166
+f 1 166 201
+f 1 201 200
+f 1 200 202
+f 1 202 242
+f 1 242 279
+f 1 279 278
+f 1 278 277
+f 1 277 276
+f 1 276 275
+f 1 275 319
+f 1 319 292
+f 1 292 288
+f 1 288 250
+f 1 250 214
+f 1 214 175
+f 1 175 147
+f 1 147 122
+f 1 122 95
+f 1 95 64
+f 1 64 63
+f 1 63 41
+f 1 41 23
+f 1 23 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 42
+f 1 42 65
+f 1 65 96
+f 1 96 123
+f 1 123 149
+f 1 149 178
+f 1 178 217
+f 1 217 255
+f 1 255 295
+f 1 295 326
+f 1 326 330
+f 1 330 331
+f 1 331 304
+f 1 304 262
+f 1 262 261
+f 1 261 260
+f 1 260 223
+f 1 223 182
+f 1 182 181
+f 1 181 150
+f 1 150 125
+f 1 125 124
+f 1 124 99
+f 1 99 97
+f 1 97 71
+f 1 71 70
+f 1 70 69
+f 1 69 46
+f 1 46 28
+f 1 28 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 7 14
+f 5 14 13
+f 6 15 7
+f 7 15 16
+f 7 16 14
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 18
+f 11 23 24
+f 11 24 12
+f 13 14 25
+f 14 26 25
+f 14 16 27
+f 14 27 26
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 27
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 23 41 24
+f 24 41 42
+f 25 26 43
+f 26 27 32
+f 26 32 44
+f 26 44 45
+f 26 45 43
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 50 32
+f 31 49 51
+f 31 51 50
+f 32 50 52
+f 32 52 44
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 41 63 42
+f 42 64 65
+f 42 63 64
+f 43 45 66
+f 44 52 45
+f 45 67 66
+f 45 52 68
+f 45 68 67
+f 46 69 47
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 49
+f 49 76 51
+f 49 75 77
+f 49 77 78
+f 49 78 79
+f 49 79 80
+f 49 80 76
+f 50 51 76
+f 50 76 81
+f 50 81 52
+f 52 81 82
+f 52 82 55
+f 52 55 68
+f 53 83 54
+f 54 83 55
+f 55 83 68
+f 55 82 84
+f 55 84 85
+f 55 85 86
+f 55 86 56
+f 56 86 57
+f 57 86 58
+f 58 86 87
+f 58 87 59
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 91
+f 59 91 92
+f 59 92 93
+f 59 93 60
+f 60 93 94
+f 60 94 61
+f 64 95 96
+f 64 96 65
+f 67 68 83
+f 71 97 98
+f 71 98 72
+f 72 98 73
+f 73 77 74
+f 73 98 97
+f 73 97 99
+f 73 99 100
+f 73 100 101
+f 73 101 102
+f 73 102 77
+f 74 77 75
+f 76 84 81
+f 76 80 79
+f 76 79 103
+f 76 103 104
+f 76 104 105
+f 76 105 84
+f 77 79 78
+f 77 102 106
+f 77 106 107
+f 77 107 79
+f 79 107 108
+f 79 108 109
+f 79 109 104
+f 79 104 103
+f 81 84 82
+f 84 86 85
+f 84 105 104
+f 84 104 110
+f 84 110 111
+f 84 111 86
+f 86 111 88
+f 86 88 87
+f 88 111 112
+f 88 112 113
+f 88 113 89
+f 89 113 90
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 90 113 117
+f 90 117 114
+f 91 116 118
+f 91 118 119
+f 91 119 92
+f 92 119 93
+f 93 120 121
+f 93 121 94
+f 93 119 120
+f 95 122 96
+f 96 122 123
+f 99 124 100
+f 100 124 101
+f 101 124 125
+f 101 125 126
+f 101 126 127
+f 101 127 128
+f 101 128 102
+f 102 128 106
+f 104 109 129
+f 104 129 130
+f 104 130 112
+f 104 112 110
+f 106 128 131
+f 106 131 107
+f 107 131 108
+f 108 131 132
+f 108 132 109
+f 109 132 129
+f 110 112 111
+f 112 130 117
+f 112 117 113
+f 114 133 115
+f 114 117 133
+f 115 133 134
+f 115 134 135
+f 115 135 136
+f 115 136 116
+f 116 136 118
+f 117 130 129
+f 117 129 137
+f 117 137 138
+f 117 138 133
+f 118 136 119
+f 119 136 139
+f 119 139 140
+f 119 140 141
+f 119 141 142
+f 119 142 120
+f 122 143 144
+f 122 144 145
+f 122 145 146
+f 122 146 123
+f 122 147 143
+f 123 146 148
+f 123 148 149
+f 125 150 126
+f 126 150 151
+f 126 151 152
+f 126 152 127
+f 127 152 153
+f 127 153 128
+f 128 153 154
+f 128 154 131
+f 129 132 155
+f 129 155 137
+f 131 154 156
+f 131 156 157
+f 131 157 132
+f 132 157 158
+f 132 158 155
+f 133 138 159
+f 133 159 160
+f 133 160 161
+f 133 161 134
+f 134 161 162
+f 134 162 135
+f 135 162 163
+f 135 163 136
+f 136 163 164
+f 136 164 139
+f 137 155 159
+f 137 159 138
+f 139 164 165
+f 139 165 140
+f 140 165 166
+f 143 167 168
+f 143 168 144
+f 143 147 167
+f 144 169 145
+f 144 168 169
+f 145 169 170
+f 145 170 171
+f 145 171 172
+f 145 172 146
+f 146 172 173
+f 146 173 148
+f 147 174 167
+f 147 175 174
+f 148 173 176
+f 148 176 177
+f 148 177 149
+f 149 177 179
+f 149 179 180
+f 149 180 178
+f 150 181 151
+f 151 181 152
+f 152 181 182
+f 152 182 183
+f 152 183 184
+f 152 184 185
+f 152 185 153
+f 153 185 186
+f 153 186 187
+f 153 187 156
+f 153 156 154
+f 155 158 159
+f 156 158 157
+f 156 187 188
+f 156 188 189
+f 156 189 158
+f 158 189 190
+f 158 190 191
+f 158 191 159
+f 159 191 192
+f 159 192 160
+f 160 192 161
+f 161 192 193
+f 161 193 194
+f 161 194 195
+f 161 195 162
+f 162 195 196
+f 162 196 197
+f 162 197 163
+f 163 197 198
+f 163 198 164
+f 164 198 199
+f 164 199 165
+f 165 200 201
+f 165 201 166
+f 165 199 202
+f 165 202 200
+f 167 174 203
+f 167 203 168
+f 168 203 204
+f 168 204 205
+f 168 205 169
+f 169 205 206
+f 169 206 170
+f 170 206 207
+f 170 207 208
+f 170 208 171
+f 171 208 209
+f 171 209 172
+f 172 209 210
+f 172 210 173
+f 173 210 211
+f 173 211 176
+f 174 175 212
+f 174 212 213
+f 174 213 203
+f 175 214 215
+f 175 215 212
+f 176 211 216
+f 176 216 177
+f 177 216 180
+f 177 180 179
+f 178 180 217
+f 180 216 218
+f 180 218 219
+f 180 219 220
+f 180 220 221
+f 180 221 222
+f 180 222 217
+f 182 223 183
+f 183 223 224
+f 183 224 184
+f 184 224 225
+f 184 225 226
+f 184 226 185
+f 185 226 186
+f 186 226 227
+f 186 227 228
+f 186 228 187
+f 187 228 188
+f 188 228 229
+f 188 229 230
+f 188 230 189
+f 189 230 190
+f 190 230 231
+f 190 231 232
+f 190 232 191
+f 191 232 192
+f 192 232 233
+f 192 233 193
+f 193 233 234
+f 193 234 194
+f 194 234 235
+f 194 235 236
+f 194 236 195
+f 195 236 196
+f 196 236 237
+f 196 237 238
+f 196 238 197
+f 197 238 239
+f 197 239 198
+f 198 239 240
+f 198 240 199
+f 199 240 241
+f 199 241 202
+f 202 241 242
+f 203 213 243
+f 203 243 244
+f 203 244 204
+f 204 244 205
+f 205 244 245
+f 205 245 206
+f 206 245 207
+f 207 245 246
+f 207 246 247
+f 207 247 208
+f 208 247 209
+f 209 247 248
+f 209 248 210
+f 210 248 211
+f 211 248 218
+f 211 218 216
+f 212 215 213
+f 213 215 249
+f 213 249 243
+f 214 250 215
+f 215 251 249
+f 215 250 252
+f 215 252 253
+f 215 253 254
+f 215 254 251
+f 217 222 221
+f 217 221 255
+f 218 248 256
+f 218 256 257
+f 218 257 219
+f 219 257 258
+f 219 258 220
+f 220 258 221
+f 221 258 259
+f 221 259 255
+f 223 260 224
+f 224 260 261
+f 224 261 262
+f 224 262 263
+f 224 263 225
+f 225 263 264
+f 225 264 226
+f 226 264 227
+f 227 264 265
+f 227 265 228
+f 228 265 229
+f 229 265 266
+f 229 266 230
+f 230 266 231
+f 231 266 267
+f 231 267 232
+f 232 267 233
+f 233 267 234
+f 234 268 269
+f 234 269 235
+f 234 267 268
+f 235 269 270
+f 235 270 271
+f 235 271 236
+f 236 271 237
+f 237 271 272
+f 237 272 238
+f 238 273 239
+f 238 272 273
+f 239 273 274
+f 239 274 240
+f 240 274 275
+f 240 275 276
+f 240 276 241
+f 241 276 277
+f 241 277 278
+f 241 278 279
+f 241 279 242
+f 243 249 251
+f 243 251 244
+f 244 251 280
+f 244 280 281
+f 244 281 282
+f 244 282 283
+f 244 283 246
+f 244 246 245
+f 246 283 282
+f 246 282 284
+f 246 284 247
+f 247 284 285
+f 247 285 286
+f 247 286 248
+f 248 286 287
+f 248 287 256
+f 250 288 252
+f 251 254 289
+f 251 289 290
+f 251 290 291
+f 251 291 281
+f 251 281 280
+f 252 288 292
+f 252 292 293
+f 252 293 253
+f 253 293 254
+f 254 293 273
+f 254 273 272
+f 254 272 289
+f 255 259 294
+f 255 294 295
+f 256 258 257
+f 256 287 296
+f 256 296 297
+f 256 297 298
+f 256 298 258
+f 258 298 299
+f 258 299 259
+f 259 299 300
+f 259 300 301
+f 259 301 302
+f 259 302 303
+f 259 303 294
+f 262 304 263
+f 263 305 306
+f 263 306 307
+f 263 307 264
+f 263 304 305
+f 264 307 308
+f 264 308 309
+f 264 309 265
+f 265 309 310
+f 265 310 311
+f 265 311 266
+f 266 311 312
+f 266 312 313
+f 266 313 267
+f 267 313 314
+f 267 314 268
+f 268 314 315
+f 268 315 269
+f 269 315 270
+f 270 315 316
+f 270 316 291
+f 270 291 317
+f 270 317 318
+f 270 318 272
+f 270 272 271
+f 272 318 290
+f 272 290 289
+f 273 293 274
+f 274 319 275
+f 274 293 319
+f 281 291 282
+f 282 291 320
+f 282 320 321
+f 282 321 284
+f 284 321 322
+f 284 322 323
+f 284 323 285
+f 285 287 286
+f 285 323 324
+f 285 324 287
+f 287 324 296
+f 290 318 291
+f 291 318 317
+f 291 316 325
+f 291 325 320
+f 292 319 293
+f 294 303 302
+f 294 302 295
+f 295 302 326
+f 296 324 327
+f 296 327 297
+f 297 327 328
+f 297 328 298
+f 298 328 299
+f 299 328 329
+f 299 329 300
+f 300 329 301
+f 301 329 302
+f 302 329 306
+f 302 306 305
+f 302 305 330
+f 302 330 326
+f 304 331 305
+f 305 331 330
+f 306 329 307
+f 307 329 308
+f 308 329 328
+f 308 328 309
+f 309 328 310
+f 310 328 327
+f 310 327 311
+f 311 327 332
+f 311 332 312
+f 312 332 313
+f 313 332 333
+f 313 333 314
+f 314 333 315
+f 315 333 320
+f 315 320 325
+f 315 325 316
+f 320 333 321
+f 321 333 322
+f 322 333 332
+f 322 332 323
+f 323 332 324
+f 324 332 327
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_14.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00355139 0.05784134 0.01912930
+v -0.00355139 0.05427878 0.00610059
+v -0.00397297 0.05780951 0.01912930
+v -0.00355139 0.05056096 0.01912928
+v -0.00355139 0.04716748 0.00610056
+v -0.00462562 0.05419324 0.00610059
+v -0.00522962 0.05771403 0.01912930
+v -0.00355139 0.05005373 0.01737936
+v -0.03392972 0.03751994 0.01912923
+v -0.00355139 0.04949477 0.01527104
+v -0.03311087 0.03751995 0.01721096
+v -0.02874910 0.03751999 0.00610053
+v -0.00526610 0.05413953 0.00610059
+v -0.00565931 0.05766629 0.01912930
+v -0.00355139 0.04991847 0.01686918
+v -0.04496385 0.03751994 0.01912923
+v -0.03935355 0.03751999 0.00610053
+v -0.00685515 0.05752904 0.01912930
+v -0.00736996 0.05388691 0.00610059
+v -0.00736996 0.05746936 0.01912930
+v -0.04457470 0.03814454 0.01912923
+v -0.04342345 0.03943750 0.01912923
+v -0.04249921 0.04041418 0.01912924
+v -0.03871307 0.03819631 0.00610053
+v -0.00910899 0.05361638 0.00610059
+v -0.01540032 0.05631564 0.01912930
+v -0.04151416 0.04138888 0.01912924
+v -0.03842120 0.03849667 0.00610053
+v -0.01021565 0.05341548 0.00610059
+v -0.01713529 0.05598544 0.01912930
+v -0.04032238 0.04256647 0.01912925
+v -0.03812934 0.03877118 0.00610053
+v -0.01024403 0.05340951 0.00610059
+v -0.01169525 0.05308527 0.00610058
+v -0.01300864 0.05275308 0.00610058
+v -0.01379100 0.05255416 0.00610058
+v -0.01514899 0.05215434 0.00610058
+v -0.01592324 0.05192359 0.00610058
+v -0.01856624 0.05552395 0.01912929
+v -0.03935355 0.04347353 0.01912925
+v -0.03630923 0.04046794 0.00610054
+v -0.01735014 0.05145813 0.00610058
+v -0.02196323 0.05428072 0.01912929
+v -0.03788611 0.04484010 0.01912925
+v -0.03619978 0.04056740 0.00610054
+v -0.01841220 0.05106029 0.00610058
+v -0.02021610 0.05035613 0.00610057
+v -0.02217403 0.05419319 0.01912929
+v -0.03581468 0.04651697 0.01912926
+v -0.03383243 0.04253668 0.00610055
+v -0.03506475 0.04151822 0.00610054
+v -0.03612276 0.04063304 0.00610054
+v -0.02216997 0.04952863 0.00610057
+v -0.02318745 0.04907908 0.00610057
+v -0.02334959 0.05364617 0.01912929
+v -0.03286765 0.04325875 0.00610055
+v -0.03181775 0.04919440 0.01912927
+v -0.03020438 0.04514449 0.00610056
+v -0.03122185 0.04444629 0.00610055
+v -0.02442382 0.04845646 0.00610057
+v -0.02775595 0.05154361 0.01912928
+v -0.02654390 0.05214633 0.01912928
+v -0.02639391 0.05221993 0.01912928
+v -0.03075568 0.04989459 0.01912927
+v -0.02872884 0.04606150 0.00610056
+v -0.02641418 0.04741613 0.00610056
+v -0.03053273 0.05002786 0.01912927
+v -0.02739517 0.04687308 0.00610056
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 18
+f 1 18 20
+f 1 20 26
+f 1 26 30
+f 1 30 39
+f 1 39 43
+f 1 43 48
+f 1 48 55
+f 1 55 63
+f 1 63 62
+f 1 62 61
+f 1 61 67
+f 1 67 64
+f 1 64 57
+f 1 57 49
+f 1 49 44
+f 1 44 40
+f 1 40 31
+f 1 31 27
+f 1 27 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 12
+f 2 12 17
+f 2 17 24
+f 2 24 28
+f 2 28 32
+f 2 32 41
+f 2 41 45
+f 2 45 52
+f 2 52 51
+f 2 51 50
+f 2 50 56
+f 2 56 59
+f 2 59 58
+f 2 58 65
+f 2 65 68
+f 2 68 66
+f 2 66 60
+f 2 60 54
+f 2 54 53
+f 2 53 47
+f 2 47 46
+f 2 46 42
+f 2 42 38
+f 2 38 37
+f 2 37 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 29
+f 2 29 25
+f 2 25 19
+f 2 19 13
+f 2 13 6
+f 2 6 7
+f 2 7 3
+f 4 9 8
+f 5 10 9
+f 5 9 11
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 8 9 15
+f 9 16 17
+f 9 17 12
+f 9 12 11
+f 9 10 15
+f 13 18 14
+f 13 19 20
+f 13 20 18
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 19 25 26
+f 19 26 20
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 31 40 32
+f 32 40 41
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 47 48
+f 43 46 47
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 49 56 50
+f 49 57 58
+f 49 58 59
+f 49 59 56
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 57 64 58
+f 58 64 65
+f 60 66 61
+f 61 66 67
+f 64 67 68
+f 64 68 65
+f 66 68 67
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_15.obj

@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
+v -0.03551984 -0.02120995 -0.00765922
+v -0.04495931 -0.02120995 -0.00765922
+v -0.04125396 -0.00016341 -0.00765914
+v -0.05303582 -0.00016354 0.02652246
+v -0.05324328 -0.00016354 0.02712264
+v -0.04818461 -0.02121007 0.02581011
+v -0.04523673 -0.02063717 -0.00765922
+v -0.04512577 -0.02120995 -0.00738443
+v -0.04979605 -0.00016341 -0.00765914
+v -0.05378606 -0.00016354 0.02770475
+v -0.04881906 -0.02121008 0.02727080
+v -0.04545385 -0.02014886 -0.00765921
+v -0.04556722 -0.02120996 -0.00652754
+v -0.04675892 -0.01875813 -0.00632506
+v -0.05068862 -0.00016342 -0.00574288
+v -0.04979605 -0.00112148 -0.00765914
+v -0.05422511 -0.00016354 0.02817477
+v -0.04974298 -0.02121008 0.02820724
+v -0.04630299 -0.01814414 -0.00765921
+v -0.04597009 -0.02120996 -0.00569235
+v -0.04639707 -0.02032606 -0.00567064
+v -0.04704116 -0.01733030 -0.00690716
+v -0.04708941 -0.01956785 -0.00492583
+v -0.04731376 -0.01812560 -0.00567064
+v -0.05068862 -0.00112149 -0.00574288
+v -0.05120245 -0.00112149 -0.00453528
+v -0.05091779 -0.00016342 -0.00520055
+v -0.04969956 -0.00318183 -0.00765915
+v -0.05059213 -0.00326426 -0.00574289
+v -0.05481613 -0.00016355 0.02866649
+v -0.05529618 -0.00016355 0.02906421
+v -0.05090573 -0.02121009 0.02905690
+v -0.04632711 -0.01808439 -0.00765921
+v -0.04657317 -0.02120996 -0.00441966
+v -0.04677339 -0.02099568 -0.00420635
+v -0.04725586 -0.01610645 -0.00731210
+v -0.04706770 -0.01610645 -0.00765920
+v -0.04801092 -0.01610646 -0.00574294
+v -0.04734029 -0.02032607 -0.00355915
+v -0.04815084 -0.01824924 -0.00363869
+v -0.04884559 -0.01624451 -0.00372184
+v -0.05115420 -0.00326426 -0.00440875
+v -0.05160048 -0.00112150 -0.00348315
+v -0.05138096 -0.00016343 -0.00406164
+v -0.05120003 -0.00016342 -0.00453167
+v -0.04953311 -0.00515360 -0.00765916
+v -0.04953311 -0.00540496 -0.00761577
+v -0.05040155 -0.00540497 -0.00574290
+v -0.05602230 -0.00016355 0.02917267
+v -0.05661574 -0.00016355 0.02925945
+v -0.05233142 -0.02039006 0.02922684
+v -0.05233142 -0.02121009 0.02923767
+v -0.04671309 -0.02120996 -0.00411234
+v -0.04716178 -0.02120997 -0.00305659
+v -0.04772385 -0.01404403 -0.00765919
+v -0.04741749 -0.01503300 -0.00765920
+v -0.04870568 -0.01400077 -0.00569232
+v -0.04903375 -0.01473632 -0.00447748
+v -0.04743679 -0.02120997 -0.00236240
+v -0.04811224 -0.02038994 -0.00153805
+v -0.04887454 -0.01838110 -0.00167905
+v -0.04907718 -0.01704805 -0.00247085
+v -0.04931358 -0.01562228 -0.00307827
+v -0.05105771 -0.00540497 -0.00416290
+v -0.05146057 -0.00540498 -0.00311077
+v -0.05155223 -0.00326427 -0.00335662
+v -0.05221563 -0.00326427 -0.00153799
+v -0.05230971 -0.00112150 -0.00153798
+v -0.05191891 -0.00016343 -0.00261180
+v -0.05160048 -0.00016343 -0.00347954
+v -0.04951140 -0.00540496 -0.00765916
+v -0.04939078 -0.00754567 -0.00733015
+v -0.05011690 -0.00754568 -0.00574291
+v -0.05661574 -0.00540510 0.02927027
+v -0.05447358 -0.01610659 0.02926662
+v -0.05818616 -0.00016355 0.02913652
+v -0.05447358 -0.01824936 0.02922684
+v -0.05417203 -0.02121009 0.02910028
+v -0.04785171 -0.01359075 -0.00765919
+v -0.04895656 -0.01182504 -0.00643350
+v -0.04923639 -0.01331055 -0.00495474
+v -0.04954276 -0.01400078 -0.00372183
+v -0.04777451 -0.02120997 -0.00146574
+v -0.04881182 -0.02044558 0.00044328
+v -0.04906753 -0.01918259 -0.00033406
+v -0.04933530 -0.01775476 -0.00107164
+v -0.04962960 -0.01624451 -0.00167904
+v -0.05037260 -0.01396576 -0.00153803
+v -0.05097810 -0.00770227 -0.00357719
+v -0.05135442 -0.00709241 -0.00283599
+v -0.05202506 -0.00540498 -0.00153800
+v -0.05292244 -0.00326428 0.00056266
+v -0.05230971 -0.00016343 -0.00153798
+v -0.05301653 -0.00112151 0.00056267
+v -0.04921950 -0.00754567 -0.00765917
+v -0.04924363 -0.00922898 -0.00704090
+v -0.04962719 -0.00984091 -0.00592370
+v -0.05060419 -0.00968640 -0.00363866
+v -0.05661574 -0.00754581 0.02927026
+v -0.05661574 -0.00968652 0.02924133
+v -0.05818616 -0.00112162 0.02913290
+v -0.05814998 -0.00326439 0.02912928
+v -0.05877719 -0.00016355 0.02877135
+v -0.05925725 -0.00112161 0.02847487
+v -0.05629007 -0.01396588 0.02914731
+v -0.05596923 -0.01610659 0.02911476
+v -0.05447599 -0.02022112 0.02911114
+v -0.05570628 -0.01824936 0.02902436
+v -0.05556878 -0.01939697 0.02895567
+v -0.05519004 -0.02082274 0.02868449
+v -0.05513938 -0.02121008 0.02852902
+v -0.04833900 -0.01182503 -0.00765918
+v -0.04909889 -0.01065681 -0.00674805
+v -0.04838966 -0.01162929 -0.00765918
+v -0.04942455 -0.01182504 -0.00538136
+v -0.05013861 -0.01182505 -0.00363866
+v -0.04821597 -0.02120998 -0.00025091
+v -0.04848374 -0.02120998 0.00049028
+v -0.04900963 -0.02119556 0.00197266
+v -0.04930635 -0.01976773 0.00106517
+v -0.04962719 -0.01838111 0.00044329
+v -0.05044980 -0.01610648 0.00056261
+v -0.05102876 -0.01408733 0.00049393
+v -0.05118556 -0.01257503 -0.00025450
+v -0.05093226 -0.01184771 -0.00148378
+v -0.05124828 -0.00852024 -0.00254675
+v -0.05166079 -0.00770227 -0.00172240
+v -0.05245686 -0.00754570 0.00056264
+v -0.05273187 -0.00540499 0.00056265
+v -0.05333013 -0.00326429 0.00186788
+v -0.05337596 -0.00112152 0.00170881
+v -0.05301653 -0.00016344 0.00056267
+v -0.05337596 -0.00016345 0.00170519
+v -0.05317815 -0.00016344 0.00107608
+v -0.04882147 -0.00973995 -0.00765918
+v -0.05113490 -0.00968640 -0.00222859
+v -0.05808485 -0.00540510 0.02911842
+v -0.05798835 -0.00754581 0.02909310
+v -0.05786532 -0.00968652 0.02904247
+v -0.05925725 -0.00016354 0.02847125
+v -0.06011121 -0.00016354 0.02742274
+v -0.06011121 -0.00112161 0.02742274
+v -0.05922106 -0.00326438 0.02840255
+v -0.05776401 -0.01124209 0.02898824
+v -0.05759032 -0.01266991 0.02890145
+v -0.05736115 -0.01396588 0.02872429
+v -0.05787980 -0.01610658 0.02722382
+v -0.05600541 -0.02022111 0.02794692
+v -0.05588479 -0.02121008 0.02758536
+v -0.05537821 -0.02121008 0.02823978
+v -0.04878046 -0.00993568 -0.00765918
+v -0.04899757 -0.02120999 0.00195820
+v -0.04900481 -0.02120999 0.00197989
+v -0.04934495 -0.02120999 0.00310072
+v -0.04953311 -0.02044559 0.00267047
+v -0.05038467 -0.01824926 0.00266686
+v -0.05104082 -0.01621362 0.00254033
+v -0.05121933 -0.01488263 0.00175576
+v -0.05141232 -0.01345480 0.00114473
+v -0.05135201 -0.01114720 -0.00074982
+v -0.05159807 -0.01184772 0.00049394
+v -0.05150399 -0.00968641 -0.00118007
+v -0.05208536 -0.00968641 0.00056263
+v -0.05273669 -0.00968642 0.00266689
+v -0.05312990 -0.00756013 0.00276091
+v -0.05345798 -0.00685549 0.00352741
+v -0.05323605 -0.00540500 0.00218604
+v -0.05354242 -0.00540500 0.00323456
+v -0.05363167 -0.00326429 0.00291640
+v -0.05367992 -0.00112152 0.00275732
+v -0.05351347 -0.00016345 0.00217883
+v -0.06015946 -0.00016353 0.02578488
+v -0.06016187 -0.00112160 0.02578488
+v -0.06007261 -0.00326438 0.02735042
+v -0.05915593 -0.00540509 0.02824345
+v -0.05998577 -0.00540509 0.02719132
+v -0.05989892 -0.00701423 0.02700692
+v -0.05831643 -0.01190345 0.02807711
+v -0.05816687 -0.01396587 0.02767578
+v -0.05771335 -0.01726037 0.02689842
+v -0.05609708 -0.02121007 0.02578480
+v -0.05588962 -0.02121007 0.02497130
+v -0.05120486 -0.01699862 0.00392509
+v -0.05142921 -0.01557285 0.00315859
+v -0.05775195 -0.01527212 0.02455192
+v -0.05166803 -0.01408734 0.00254034
+v -0.05227835 -0.01182507 0.00266689
+v -0.05891469 -0.01182515 0.02578484
+v -0.05322640 -0.00968643 0.00437344
+v -0.05335425 -0.00828126 0.00389981
+v -0.05965287 -0.00765499 0.02579570
+v -0.05974936 -0.00540508 0.02506898
+v -0.05980726 -0.00402876 0.02481229
+v -0.05985309 -0.00260093 0.02466405
+v -0.05367992 -0.00016345 0.00275732
+v -0.05987480 -0.00112160 0.02460259
+v -0.05987480 -0.00016353 0.02460259
+v -0.06003884 -0.00329527 0.02562217
+v -0.05998577 -0.00540509 0.02611750
+v -0.05989892 -0.00701423 0.02650074
+v -0.05771335 -0.01726037 0.02671403
+v -0.05641551 -0.02039004 0.02578481
+v -0.05725983 -0.01808452 0.02592221
+v -0.05754931 -0.01669995 0.02531480
+v -0.05787980 -0.01603446 0.02592222
+v -0.05840810 -0.01396586 0.02578483
+v -0.05792805 -0.01396586 0.02407467
+v -0.05933203 -0.00968650 0.02578484
+f 1 2 7
+f 1 7 12
+f 1 12 19
+f 1 19 33
+f 1 33 37
+f 1 37 56
+f 1 56 55
+f 1 55 79
+f 1 79 112
+f 1 112 114
+f 1 114 151
+f 1 151 135
+f 1 135 95
+f 1 95 71
+f 1 71 46
+f 1 46 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 32
+f 1 32 52
+f 1 52 78
+f 1 78 111
+f 1 111 150
+f 1 150 149
+f 1 149 181
+f 1 181 182
+f 1 182 154
+f 1 154 153
+f 1 153 152
+f 1 152 118
+f 1 118 117
+f 1 117 83
+f 1 83 59
+f 1 59 54
+f 1 54 53
+f 1 53 34
+f 1 34 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 8 7
+f 3 9 15
+f 3 15 27
+f 3 27 45
+f 3 45 44
+f 3 44 70
+f 3 70 69
+f 3 69 93
+f 3 93 132
+f 3 132 134
+f 3 134 133
+f 3 133 171
+f 3 171 195
+f 3 195 197
+f 3 197 172
+f 3 172 141
+f 3 141 140
+f 3 140 103
+f 3 103 76
+f 3 76 50
+f 3 50 49
+f 3 49 31
+f 3 31 30
+f 3 30 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 7 8 12
+f 8 13 14
+f 8 14 12
+f 9 16 25
+f 9 25 15
+f 10 17 11
+f 11 17 18
+f 12 14 19
+f 13 20 21
+f 13 21 14
+f 14 22 19
+f 14 21 23
+f 14 23 24
+f 14 24 22
+f 15 25 26
+f 15 26 27
+f 16 28 29
+f 16 29 25
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 19 22 33
+f 20 34 21
+f 21 34 35
+f 21 35 23
+f 22 36 37
+f 22 37 33
+f 22 24 38
+f 22 38 36
+f 23 35 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 38
+f 25 29 26
+f 26 42 66
+f 26 66 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 26 29 42
+f 28 46 47
+f 28 47 29
+f 29 48 42
+f 29 47 48
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 34 53 35
+f 35 53 54
+f 35 54 39
+f 36 55 56
+f 36 56 37
+f 36 38 57
+f 36 57 55
+f 38 41 58
+f 38 58 57
+f 39 54 59
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 58
+f 42 48 64
+f 42 64 65
+f 42 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 46 71 47
+f 47 71 72
+f 47 72 48
+f 48 73 64
+f 48 72 73
+f 50 74 75
+f 50 75 52
+f 50 52 51
+f 50 76 74
+f 52 75 77
+f 52 77 78
+f 55 57 80
+f 55 80 79
+f 57 58 81
+f 57 81 80
+f 58 63 82
+f 58 82 81
+f 59 83 60
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 61 85 86
+f 61 86 62
+f 62 86 87
+f 62 87 63
+f 63 87 88
+f 63 88 82
+f 64 73 89
+f 64 89 90
+f 64 90 65
+f 65 90 91
+f 65 91 67
+f 65 67 66
+f 67 91 129
+f 67 129 92
+f 67 92 94
+f 67 94 68
+f 68 93 69
+f 68 94 132
+f 68 132 93
+f 71 95 72
+f 72 95 96
+f 72 96 73
+f 73 96 97
+f 73 97 98
+f 73 98 89
+f 74 99 75
+f 74 76 99
+f 75 99 100
+f 75 100 77
+f 76 101 102
+f 76 102 99
+f 76 103 104
+f 76 104 101
+f 77 100 105
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 78 107 108
+f 78 108 109
+f 78 109 110
+f 78 110 111
+f 79 80 112
+f 80 113 114
+f 80 114 112
+f 80 81 115
+f 80 115 113
+f 81 82 116
+f 81 116 115
+f 82 88 116
+f 83 117 84
+f 84 118 119
+f 84 119 120
+f 84 120 85
+f 84 117 118
+f 85 120 121
+f 85 121 86
+f 86 121 122
+f 86 122 87
+f 87 122 88
+f 88 122 123
+f 88 123 124
+f 88 124 125
+f 88 125 116
+f 89 98 126
+f 89 126 90
+f 90 126 127
+f 90 127 91
+f 91 127 128
+f 91 128 129
+f 92 129 130
+f 92 130 131
+f 92 131 94
+f 94 131 133
+f 94 133 134
+f 94 134 132
+f 95 135 96
+f 96 135 113
+f 96 113 97
+f 97 115 98
+f 97 113 115
+f 98 116 136
+f 98 136 126
+f 98 115 116
+f 99 102 137
+f 99 137 100
+f 100 137 138
+f 100 138 139
+f 100 139 105
+f 101 104 102
+f 102 104 137
+f 103 140 104
+f 104 140 141
+f 104 141 142
+f 104 142 143
+f 104 143 138
+f 104 138 137
+f 105 139 106
+f 106 139 144
+f 106 144 108
+f 106 108 107
+f 108 144 109
+f 109 144 145
+f 109 145 146
+f 109 146 147
+f 109 147 148
+f 109 148 149
+f 109 149 150
+f 109 150 110
+f 110 150 111
+f 113 135 151
+f 113 151 114
+f 116 125 136
+f 118 152 119
+f 119 152 153
+f 119 153 154
+f 119 154 155
+f 119 155 120
+f 120 155 156
+f 120 156 121
+f 121 156 122
+f 122 156 157
+f 122 157 158
+f 122 158 123
+f 123 158 159
+f 123 159 124
+f 124 160 125
+f 124 159 161
+f 124 161 160
+f 125 160 136
+f 126 136 162
+f 126 162 128
+f 126 128 127
+f 128 162 163
+f 128 163 164
+f 128 164 165
+f 128 165 166
+f 128 166 167
+f 128 167 129
+f 129 167 130
+f 130 167 168
+f 130 168 169
+f 130 169 170
+f 130 170 131
+f 131 170 171
+f 131 171 133
+f 136 160 162
+f 138 143 139
+f 139 143 144
+f 141 172 173
+f 141 173 142
+f 142 174 143
+f 142 173 174
+f 143 174 175
+f 143 175 144
+f 144 175 176
+f 144 176 177
+f 144 177 178
+f 144 178 145
+f 145 178 179
+f 145 179 146
+f 146 179 147
+f 147 179 177
+f 147 177 180
+f 147 180 148
+f 148 180 149
+f 149 180 181
+f 154 182 155
+f 155 182 156
+f 156 183 157
+f 156 182 183
+f 157 183 184
+f 157 184 158
+f 158 184 185
+f 158 185 186
+f 158 186 159
+f 159 186 187
+f 159 187 161
+f 160 161 163
+f 160 163 162
+f 161 187 163
+f 163 187 164
+f 164 187 188
+f 164 188 189
+f 164 189 190
+f 164 190 165
+f 165 190 166
+f 166 168 167
+f 166 190 191
+f 166 191 192
+f 166 192 168
+f 168 192 193
+f 168 193 169
+f 169 193 194
+f 169 194 170
+f 170 195 171
+f 170 194 196
+f 170 196 197
+f 170 197 195
+f 172 197 173
+f 173 197 196
+f 173 196 194
+f 173 194 198
+f 173 198 199
+f 173 199 176
+f 173 176 174
+f 174 176 175
+f 176 199 200
+f 176 200 177
+f 177 200 188
+f 177 188 180
+f 177 179 178
+f 180 188 201
+f 180 201 181
+f 181 202 182
+f 181 201 202
+f 182 202 183
+f 183 202 203
+f 183 203 204
+f 183 204 184
+f 184 204 185
+f 185 204 205
+f 185 205 206
+f 185 206 207
+f 185 207 187
+f 185 187 186
+f 187 207 188
+f 188 207 206
+f 188 206 201
+f 188 200 208
+f 188 208 189
+f 189 208 190
+f 190 208 191
+f 191 208 200
+f 191 200 192
+f 192 200 199
+f 192 199 193
+f 193 199 198
+f 193 198 194
+f 201 206 205
+f 201 205 204
+f 201 204 203
+f 201 203 202
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_16.obj

@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
+v 0.04379821 -0.01555758 -0.01295256
+v 0.04361765 -0.01610712 -0.01295256
+v 0.04324083 -0.01611013 -0.01344864
+v 0.04361765 -0.01555758 -0.01319041
+v 0.03329040 -0.01555758 -0.01295256
+v 0.04311522 -0.01749150 -0.01295256
+v 0.04301317 -0.01732933 -0.01317851
+v 0.04333503 -0.01555758 -0.01355907
+v 0.04231056 -0.01611013 -0.01450026
+v 0.04240868 -0.01555758 -0.01461069
+v 0.04309952 -0.01555758 -0.01382919
+v 0.00370211 -0.01555756 -0.02026126
+v 0.00370211 -0.03653934 -0.01295263
+v 0.04259317 -0.01867767 -0.01295257
+v 0.04124682 -0.02039236 -0.01359306
+v 0.04182775 -0.01813413 -0.01409933
+v 0.04095636 -0.01751250 -0.01535142
+v 0.04123897 -0.01611012 -0.01562324
+v 0.04133710 -0.01555757 -0.01571668
+v 0.00370211 -0.01555753 -0.02760733
+v 0.00370211 -0.04623593 -0.01295267
+v 0.04173747 -0.02045543 -0.01295258
+v 0.04092888 -0.02168364 -0.01323800
+v 0.04026944 -0.02039236 -0.01464298
+v 0.04063056 -0.01893892 -0.01502184
+v 0.03969636 -0.01816115 -0.01622636
+v 0.03876215 -0.01738338 -0.01738331
+v 0.04009673 -0.01611012 -0.01667487
+v 0.04105056 -0.01555757 -0.01598851
+v 0.00370211 -0.02529015 -0.03010306
+v 0.02055307 -0.01555752 -0.03013531
+v 0.00548416 -0.04606776 -0.01295267
+v 0.00370211 -0.04558128 -0.01380722
+v 0.00548416 -0.04550020 -0.01370698
+v 0.04105448 -0.02186983 -0.01295258
+v 0.04041468 -0.02301696 -0.01295258
+v 0.03910757 -0.02430223 -0.01357099
+v 0.03968851 -0.02244039 -0.01410444
+v 0.03884066 -0.02177072 -0.01536503
+v 0.03919786 -0.02039235 -0.01569630
+v 0.03841674 -0.01880979 -0.01709960
+v 0.02534969 -0.01555752 -0.02959845
+v 0.04020271 -0.01555757 -0.01676831
+v 0.00370211 -0.02681566 -0.03030524
+v 0.02261381 -0.01555752 -0.03026612
+v 0.00762341 -0.04534705 -0.01352350
+v 0.00763518 -0.04576446 -0.01295267
+v 0.00370211 -0.04485457 -0.01468215
+v 0.00548416 -0.04462334 -0.01475860
+v 0.00370211 -0.04470742 -0.01485883
+v 0.03885244 -0.02559651 -0.01295259
+v 0.03866010 -0.02572864 -0.01309190
+v 0.03842459 -0.02319714 -0.01497259
+v 0.03751001 -0.02238933 -0.01618900
+v 0.03659936 -0.02158153 -0.01736124
+v 0.03799674 -0.02039235 -0.01674793
+v 0.02518090 -0.01611007 -0.02944555
+v 0.02375605 -0.01729023 -0.02995352
+v 0.02410932 -0.01611007 -0.03004866
+v 0.02429773 -0.01555752 -0.03007245
+v 0.03614404 -0.02300794 -0.01701127
+v 0.00548416 -0.02681566 -0.03030864
+v 0.00370211 -0.02845228 -0.03012006
+v 0.02047064 -0.01825119 -0.03030011
+v 0.02261381 -0.01611007 -0.03026782
+v 0.00762341 -0.04446718 -0.01457512
+v 0.00976657 -0.04514886 -0.01327546
+v 0.00976657 -0.04538008 -0.01295267
+v 0.00548416 -0.04355127 -0.01590366
+v 0.00762341 -0.04339511 -0.01574906
+v 0.00370211 -0.04363835 -0.01599031
+v 0.03870328 -0.02583074 -0.01295259
+v 0.03853842 -0.02606197 -0.01295260
+v 0.03671712 -0.02812802 -0.01329408
+v 0.03719600 -0.02681572 -0.01376638
+v 0.03651693 -0.02573164 -0.01519685
+v 0.03782796 -0.02501694 -0.01438307
+v 0.03699581 -0.02430522 -0.01560968
+v 0.03561806 -0.02490282 -0.01639288
+v 0.03420105 -0.02550041 -0.01717607
+v 0.02317119 -0.01871965 -0.02959676
+v 0.02174241 -0.01955447 -0.02999261
+v 0.02251961 -0.01810404 -0.03007925
+v 0.00762341 -0.02681566 -0.03026447
+v 0.01833140 -0.02039230 -0.03030521
+v 0.01190582 -0.02467454 -0.03030693
+v 0.00370211 -0.02952133 -0.02962738
+v 0.00548416 -0.02832315 -0.03009627
+v 0.02039999 -0.02031723 -0.03010644
+v 0.00976657 -0.04318490 -0.01553500
+v 0.00976657 -0.04425697 -0.01432708
+v 0.01090489 -0.04502874 -0.01312596
+v 0.01104620 -0.04511282 -0.01295267
+v 0.00548416 -0.04248821 -0.01695528
+v 0.00370211 -0.04275848 -0.01686524
+v 0.00762341 -0.04232605 -0.01679899
+v 0.03689768 -0.02828417 -0.01295260
+v 0.03597918 -0.02941029 -0.01295261
+v 0.03470741 -0.03038925 -0.01340622
+v 0.03533936 -0.02881570 -0.01405180
+v 0.03454647 -0.02807696 -0.01533617
+v 0.03610478 -0.02681572 -0.01481800
+v 0.03503320 -0.02681571 -0.01573031
+v 0.03341994 -0.02699589 -0.01686858
+v 0.02106335 -0.02098089 -0.02966643
+v 0.03219919 -0.02783071 -0.01727632
+v 0.01963850 -0.02167457 -0.02999602
+v 0.00973910 -0.02690875 -0.03013025
+v 0.00762341 -0.02811895 -0.03003172
+v 0.01190582 -0.02627512 -0.03009458
+v 0.01618823 -0.02253342 -0.03027634
+v 0.01410787 -0.02477664 -0.03015233
+v 0.00370211 -0.04257830 -0.01704023
+v 0.00900508 -0.02796880 -0.02996546
+v 0.00548416 -0.02939221 -0.02947618
+v 0.01819009 -0.02244634 -0.03008436
+v 0.00976657 -0.04210684 -0.01658661
+v 0.01132096 -0.04300172 -0.01534472
+v 0.01182731 -0.04391764 -0.01413000
+v 0.01229834 -0.04477048 -0.01295266
+v 0.03494684 -0.03061147 -0.01295261
+v 0.03395376 -0.03171056 -0.01295262
+v 0.03263096 -0.03255139 -0.01344700
+v 0.03327863 -0.03105591 -0.01412825
+v 0.03393021 -0.02950338 -0.01480782
+v 0.03250143 -0.03030216 -0.01540753
+v 0.03325508 -0.02885473 -0.01580677
+v 0.01881028 -0.02310098 -0.02961037
+v 0.03135920 -0.02916403 -0.01698581
+v 0.03009528 -0.03001688 -0.01730181
+v 0.02924350 -0.03126911 -0.01697392
+v 0.02788538 -0.03210094 -0.01726275
+v 0.01738542 -0.02368957 -0.02995695
+v 0.01343273 -0.02594179 -0.03000623
+v 0.01618823 -0.02406494 -0.03005379
+v 0.01043386 -0.02768352 -0.02983294
+v 0.01268301 -0.04063838 -0.01722880
+v 0.01125816 -0.04085159 -0.01741228
+v 0.01200395 -0.04182756 -0.01628591
+v 0.01274974 -0.04280353 -0.01513406
+v 0.01404899 -0.04350022 -0.01384628
+v 0.01404899 -0.04422094 -0.01295266
+v 0.03288218 -0.03280064 -0.01295262
+v 0.03178704 -0.03387270 -0.01295262
+v 0.03046425 -0.03461744 -0.01339774
+v 0.03113153 -0.03319403 -0.01412317
+v 0.03179882 -0.03172558 -0.01484860
+v 0.03037004 -0.03241024 -0.01539905
+v 0.03111976 -0.03104389 -0.01585944
+v 0.02706108 -0.03333215 -0.01684482
+v 0.02555772 -0.03410992 -0.01716592
+v 0.02892164 -0.03316699 -0.01578470
+v 0.02813267 -0.03444325 -0.01532091
+v 0.01618823 -0.02513399 -0.02947956
+v 0.01485758 -0.02556042 -0.02984822
+v 0.01190582 -0.02734718 -0.02955942
+v 0.01742860 -0.03866543 -0.01736980
+v 0.01618823 -0.03999575 -0.01665117
+v 0.01404899 -0.04040415 -0.01701983
+v 0.01404899 -0.04151525 -0.01596991
+v 0.01404899 -0.04258732 -0.01489621
+v 0.01618823 -0.04313086 -0.01340967
+v 0.01618038 -0.04348221 -0.01295266
+v 0.03068013 -0.03485167 -0.01295263
+v 0.02945154 -0.03587568 -0.01295263
+v 0.02817977 -0.03661441 -0.01327202
+v 0.02887061 -0.03524506 -0.01403653
+v 0.02955752 -0.03383666 -0.01479933
+v 0.02689230 -0.03492373 -0.01571165
+v 0.02578146 -0.03641921 -0.01517990
+v 0.02495717 -0.03551832 -0.01637933
+v 0.02689230 -0.03599580 -0.01478745
+v 0.02305736 -0.03604684 -0.01699263
+v 0.02162858 -0.03649729 -0.01734600
+v 0.02047064 -0.03789067 -0.01672081
+v 0.01885345 -0.03832009 -0.01708608
+v 0.01820579 -0.03960236 -0.01621115
+v 0.01755813 -0.04085760 -0.01533452
+v 0.01618823 -0.04112787 -0.01559955
+v 0.01618823 -0.04219693 -0.01446128
+v 0.01735794 -0.04291164 -0.01315143
+v 0.01750710 -0.04299873 -0.01295266
+v 0.02832500 -0.03678258 -0.01295264
+v 0.02603660 -0.03845824 -0.01295264
+v 0.02576969 -0.03855433 -0.01306477
+v 0.02689230 -0.03708288 -0.01373753
+v 0.02506315 -0.03771951 -0.01435933
+v 0.02323400 -0.03831409 -0.01494206
+v 0.02435268 -0.03688767 -0.01559104
+v 0.02242933 -0.03740719 -0.01616867
+v 0.02180522 -0.03873750 -0.01534470
+v 0.02047064 -0.03909185 -0.01567089
+v 0.01898299 -0.04053928 -0.01500663
+v 0.01817046 -0.04172847 -0.01407902
+v 0.01869644 -0.04247321 -0.01295266
+v 0.02585212 -0.03858736 -0.01295264
+v 0.02566371 -0.03871049 -0.01295264
+v 0.02302596 -0.04028104 -0.01295265
+v 0.02434091 -0.03899577 -0.01354046
+v 0.02247250 -0.03957835 -0.01407393
+v 0.02171101 -0.04081857 -0.01320579
+v 0.02047064 -0.04016393 -0.01460908
+v 0.02047064 -0.04113088 -0.01355746
+v 0.02051775 -0.04159634 -0.01295265
+v 0.02187980 -0.04092668 -0.01295265
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 10
+f 1 10 19
+f 1 19 29
+f 1 29 43
+f 1 43 42
+f 1 42 60
+f 1 60 45
+f 1 45 31
+f 1 31 20
+f 1 20 12
+f 1 12 5
+f 1 5 13
+f 1 13 21
+f 1 21 32
+f 1 32 47
+f 1 47 68
+f 1 68 93
+f 1 93 120
+f 1 120 142
+f 1 142 163
+f 1 163 182
+f 1 182 195
+f 1 195 204
+f 1 204 205
+f 1 205 198
+f 1 198 197
+f 1 197 196
+f 1 196 184
+f 1 184 183
+f 1 183 165
+f 1 165 164
+f 1 164 144
+f 1 144 143
+f 1 143 122
+f 1 122 121
+f 1 121 98
+f 1 98 97
+f 1 97 73
+f 1 73 72
+f 1 72 51
+f 1 51 36
+f 1 36 35
+f 1 35 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 12 20 30
+f 12 30 44
+f 12 44 63
+f 12 63 87
+f 12 87 113
+f 12 113 95
+f 12 95 71
+f 12 71 50
+f 12 50 48
+f 12 48 33
+f 12 33 21
+f 12 21 13
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 20 31 30
+f 21 33 34
+f 21 34 32
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 43 29
+f 28 42 43
+f 30 31 44
+f 31 45 44
+f 32 34 46
+f 32 46 47
+f 33 48 34
+f 34 49 46
+f 34 48 50
+f 34 50 49
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 40 56 41
+f 41 56 42
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 56 55
+f 42 55 61
+f 42 61 57
+f 44 62 63
+f 44 45 64
+f 44 64 62
+f 45 60 65
+f 45 65 64
+f 46 49 66
+f 46 66 67
+f 46 67 47
+f 47 67 68
+f 49 69 70
+f 49 70 66
+f 49 50 69
+f 50 71 69
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 53 77 76
+f 53 76 78
+f 53 78 54
+f 54 78 61
+f 54 61 55
+f 57 61 58
+f 58 61 79
+f 58 79 80
+f 58 80 81
+f 58 81 82
+f 58 82 83
+f 58 83 59
+f 59 83 65
+f 59 65 60
+f 61 78 79
+f 62 84 63
+f 62 64 85
+f 62 85 86
+f 62 86 84
+f 63 84 88
+f 63 88 87
+f 64 65 89
+f 64 89 85
+f 65 83 89
+f 66 70 90
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 69 94 70
+f 69 71 95
+f 69 95 94
+f 70 94 96
+f 70 96 90
+f 73 97 74
+f 74 97 98
+f 74 98 99
+f 74 99 100
+f 74 100 101
+f 74 101 102
+f 74 102 76
+f 74 76 75
+f 76 102 101
+f 76 101 103
+f 76 103 80
+f 76 80 79
+f 76 79 78
+f 80 103 104
+f 80 104 81
+f 81 105 82
+f 81 104 106
+f 81 106 105
+f 82 105 107
+f 82 107 89
+f 82 89 83
+f 84 108 109
+f 84 109 88
+f 84 86 110
+f 84 110 108
+f 85 89 111
+f 85 111 86
+f 86 111 112
+f 86 112 110
+f 87 88 109
+f 87 109 114
+f 87 114 115
+f 87 115 96
+f 87 96 94
+f 87 94 113
+f 89 107 116
+f 89 116 111
+f 90 96 117
+f 90 117 118
+f 90 118 91
+f 91 118 92
+f 92 118 119
+f 92 119 120
+f 92 120 93
+f 94 95 113
+f 96 115 117
+f 98 121 99
+f 99 121 122
+f 99 122 123
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 100 125 101
+f 101 125 126
+f 101 126 127
+f 101 127 106
+f 101 106 104
+f 101 104 103
+f 105 128 107
+f 105 106 129
+f 105 129 130
+f 105 130 131
+f 105 131 132
+f 105 132 128
+f 106 127 126
+f 106 126 129
+f 107 128 133
+f 107 133 116
+f 108 114 109
+f 108 110 114
+f 110 112 134
+f 110 134 114
+f 111 116 135
+f 111 135 112
+f 112 135 134
+f 114 134 136
+f 114 136 137
+f 114 137 138
+f 114 138 115
+f 115 138 117
+f 116 133 135
+f 117 138 118
+f 118 138 139
+f 118 139 140
+f 118 140 119
+f 119 140 120
+f 120 140 141
+f 120 141 142
+f 122 143 123
+f 123 143 144
+f 123 144 145
+f 123 145 146
+f 123 146 147
+f 123 147 124
+f 124 147 126
+f 124 126 125
+f 126 147 148
+f 126 148 149
+f 126 149 130
+f 126 130 129
+f 128 132 150
+f 128 150 151
+f 128 151 133
+f 130 149 148
+f 130 148 131
+f 131 148 132
+f 132 148 152
+f 132 152 153
+f 132 153 150
+f 133 154 155
+f 133 155 134
+f 133 134 135
+f 133 151 154
+f 134 155 136
+f 136 155 156
+f 136 156 157
+f 136 157 158
+f 136 158 159
+f 136 159 137
+f 137 159 160
+f 137 160 140
+f 137 140 139
+f 137 139 138
+f 140 160 161
+f 140 161 141
+f 141 161 162
+f 141 162 142
+f 142 162 163
+f 144 164 145
+f 145 164 165
+f 145 165 166
+f 145 166 167
+f 145 167 168
+f 145 168 146
+f 146 168 148
+f 146 148 147
+f 148 168 153
+f 148 153 152
+f 150 169 151
+f 150 153 169
+f 151 169 170
+f 151 170 171
+f 151 171 154
+f 153 168 167
+f 153 167 166
+f 153 166 172
+f 153 172 170
+f 153 170 169
+f 154 171 173
+f 154 173 155
+f 155 173 174
+f 155 174 175
+f 155 175 176
+f 155 176 156
+f 156 176 157
+f 157 177 178
+f 157 178 158
+f 157 176 177
+f 158 178 179
+f 158 179 159
+f 159 179 160
+f 160 179 161
+f 161 179 180
+f 161 180 162
+f 162 180 181
+f 162 181 163
+f 163 181 182
+f 165 183 166
+f 166 183 184
+f 166 184 185
+f 166 185 186
+f 166 186 170
+f 166 170 172
+f 170 186 185
+f 170 185 187
+f 170 187 188
+f 170 188 189
+f 170 189 171
+f 171 189 173
+f 173 189 190
+f 173 190 174
+f 174 190 191
+f 174 191 175
+f 175 191 192
+f 175 192 176
+f 176 192 177
+f 177 192 193
+f 177 193 178
+f 178 181 180
+f 178 180 179
+f 178 193 194
+f 178 194 181
+f 181 194 195
+f 181 195 182
+f 184 196 185
+f 185 196 197
+f 185 197 198
+f 185 198 199
+f 185 199 188
+f 185 188 187
+f 188 199 200
+f 188 200 191
+f 188 191 189
+f 189 191 190
+f 191 200 201
+f 191 201 202
+f 191 202 193
+f 191 193 192
+f 193 202 203
+f 193 203 194
+f 194 203 195
+f 195 203 201
+f 195 201 204
+f 198 205 201
+f 198 201 199
+f 199 201 200
+f 201 205 204
+f 201 203 202
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_17.obj

@@ -0,0 +1,889 @@
+# https://github.com/mikedh/trimesh
+v -0.02980762 -0.05182088 0.02578460
+v -0.03021426 -0.05164710 0.02723051
+v -0.03016536 -0.05161713 0.02578460
+v -0.02990800 -0.05146431 0.02465317
+v -0.02980762 -0.05154821 0.02475439
+v -0.02980762 -0.05173399 0.02741125
+v -0.03419310 -0.04933391 0.02691603
+v -0.03419310 -0.04933391 0.02667746
+v -0.02980762 -0.05137443 0.02786310
+v -0.03195146 -0.04925901 0.02892585
+v -0.03306327 -0.04969947 0.02741487
+v -0.03123599 -0.05098489 0.02578460
+v -0.02980762 -0.05149727 0.02458088
+v -0.03391514 -0.04914213 0.02527492
+v -0.03241471 -0.04957061 0.02368442
+v -0.02980762 -0.04484528 0.00413572
+v -0.03659172 -0.04739526 0.02724860
+v -0.03762633 -0.04652032 0.02578462
+v -0.03655569 -0.04736829 0.02578462
+v -0.03502438 -0.04851890 0.02590028
+v -0.03314563 -0.04981333 0.02590028
+v -0.02980762 -0.05086805 0.02847761
+v -0.02980762 -0.04989723 0.02908490
+v -0.03052567 -0.04961558 0.02905960
+v -0.03437840 -0.04730538 0.02901261
+v -0.03580677 -0.04676304 0.02865114
+v -0.03633436 -0.04719749 0.02463151
+v -0.03213676 -0.04297554 0.00340554
+v -0.03102495 -0.04351789 0.00268981
+v -0.02980762 -0.04477636 0.00393330
+v -0.04000436 -0.04452174 0.02578463
+v -0.03893373 -0.04545062 0.02578462
+v -0.03736639 -0.04608286 0.02802578
+v -0.03887711 -0.04540269 0.02740404
+v -0.03864291 -0.04520492 0.02430256
+v -0.02980762 -0.04830617 0.02919696
+v -0.03111246 -0.04841404 0.02916443
+v -0.03306327 -0.04777581 0.02909936
+v -0.03513762 -0.04606190 0.02913552
+v -0.03671268 -0.04533378 0.02905238
+v -0.03814105 -0.04475248 0.02880297
+v -0.03440156 -0.04094701 0.00266814
+v -0.03415706 -0.04074925 0.00156563
+v -0.03293459 -0.04210660 0.00268982
+v -0.03180477 -0.04273284 0.00200301
+v -0.03035581 -0.04322124 0.00056432
+v -0.02980762 -0.04434188 0.00267174
+v -0.04118051 -0.04344905 0.02578463
+v -0.04086395 -0.04315241 0.02412545
+v -0.04039555 -0.04271197 0.02887526
+v -0.04108271 -0.04335917 0.02747273
+v -0.03666893 -0.03895742 0.00266815
+v -0.03547219 -0.04002713 0.00266814
+v -0.05233207 -0.02121308 0.02923682
+v -0.03306327 -0.04607987 0.02925842
+v -0.02980762 -0.04650536 0.02907768
+v -0.03739470 -0.04400040 0.02916445
+v -0.03896976 -0.04332622 0.02906685
+v -0.03639355 -0.03869673 0.00135598
+v -0.03511446 -0.03957766 0.00075953
+v -0.03380705 -0.04046159 0.00016309
+v -0.03308129 -0.04126761 0.00074507
+v -0.03142644 -0.04245716 0.00056432
+v -0.02999550 -0.04296954 -0.00072977
+v -0.02980762 -0.04316730 -0.00053818
+v -0.02980762 -0.04358679 0.00057517
+v -0.02980762 -0.04398831 0.00167768
+v -0.04225114 -0.04242729 0.02578463
+v -0.04299750 -0.04103998 0.02410015
+v -0.03773956 -0.03792068 0.00266815
+v -0.04181362 -0.04198384 0.02817401
+v -0.04112132 -0.04128570 0.02907047
+v -0.04254711 -0.04057556 0.02887527
+v -0.04320081 -0.04125273 0.02747635
+v -0.05417221 -0.02121308 0.02909946
+v -0.05233207 -0.02253148 0.02925851
+v -0.05090627 -0.02121308 0.02905608
+v -0.04590828 -0.03323747 0.02926570
+v -0.03960545 -0.04191793 0.02916807
+v -0.02980762 -0.04545362 0.02853908
+v -0.03853996 -0.03657531 0.00132707
+v -0.03731234 -0.03748620 0.00064025
+v -0.03606927 -0.03839710 -0.00004655
+v -0.03462289 -0.03901733 -0.00153946
+v -0.03308129 -0.04021588 -0.00174551
+v -0.03237868 -0.04103090 -0.00118160
+v -0.03099407 -0.04185189 -0.00165514
+v -0.02980762 -0.04304445 -0.00084905
+v -0.02980762 -0.04253506 -0.00204916
+v -0.04329861 -0.04135759 0.02578464
+v -0.04436924 -0.04021298 0.02578464
+v -0.04505898 -0.03884364 0.02424837
+v -0.04026172 -0.03611988 0.00476834
+v -0.03987311 -0.03568540 0.00266816
+v -0.03880247 -0.03685098 0.00266815
+v -0.04318280 -0.03914929 0.02906687
+v -0.04175186 -0.03978152 0.02916807
+v -0.04518766 -0.03691401 0.02905602
+v -0.04460859 -0.03834028 0.02882468
+v -0.04390599 -0.03982346 0.02815232
+v -0.04526229 -0.03907138 0.02742576
+v -0.05513990 -0.02121307 0.02853194
+v -0.05352366 -0.02392479 0.02900546
+v -0.05376301 -0.02253148 0.02908500
+v -0.05019080 -0.02681627 0.02926210
+v -0.05238868 -0.02465290 0.02913921
+v -0.04974299 -0.02121307 0.02820661
+v -0.04804954 -0.03109807 0.02923679
+v -0.04590313 -0.03534092 0.02914640
+v -0.04384422 -0.03758220 0.02916085
+v -0.02980762 -0.04438393 0.02756310
+v -0.04881906 -0.02121307 0.02727038
+v -0.04060402 -0.03436101 0.00150420
+v -0.03942787 -0.03531085 0.00071256
+v -0.03823370 -0.03625769 -0.00007546
+v -0.03681820 -0.03697981 -0.00153946
+v -0.03569353 -0.03804951 -0.00153946
+v -0.03428060 -0.03871470 -0.00284439
+v -0.03199007 -0.04072526 -0.00258414
+v -0.02980762 -0.04233730 -0.00249016
+v -0.04532149 -0.03914328 0.02578465
+v -0.04639212 -0.03786983 0.02578465
+v -0.04706384 -0.03655443 0.02454117
+v -0.04082020 -0.03461570 0.00266816
+v -0.04717708 -0.03460382 0.02902711
+v -0.04661603 -0.03603008 0.02869094
+v -0.04593916 -0.03757320 0.02805834
+v -0.04915106 -0.03221871 0.02895844
+v -0.04725943 -0.03680613 0.02728840
+v -0.05537925 -0.02121307 0.02824276
+v -0.05314019 -0.02535405 0.02878858
+v -0.05139526 -0.02816164 0.02900907
+v -0.05169895 -0.02681627 0.02909221
+v -0.05020882 -0.02890773 0.02914281
+v -0.04795431 -0.03305469 0.02908857
+v -0.02980762 -0.04340111 0.02582439
+v -0.04818594 -0.02121306 0.02581001
+v -0.04199378 -0.03314449 0.00261756
+v -0.04260116 -0.03203883 0.00188014
+v -0.04115735 -0.03327632 0.00070896
+v -0.04031320 -0.03401642 0.00010167
+v -0.03888226 -0.03482542 -0.00153945
+v -0.03788883 -0.03589513 -0.00153945
+v -0.03646561 -0.03663523 -0.00294921
+v -0.03518137 -0.03749518 -0.00359626
+v -0.03386624 -0.03835513 -0.00424692
+v -0.03311732 -0.03931397 -0.00358181
+v -0.03165549 -0.04046757 -0.00363965
+v -0.03058486 -0.04126161 -0.00363965
+v -0.02980762 -0.04177099 -0.00370833
+v -0.04920767 -0.03443002 0.02700645
+v -0.04920767 -0.03443002 0.02649316
+v -0.04725429 -0.03679713 0.02578465
+v -0.04902237 -0.03416932 0.02509062
+v -0.04285337 -0.03236843 0.00328268
+v -0.04860544 -0.03364497 0.02840900
+v -0.04793115 -0.03523004 0.02784870
+v -0.04943416 -0.03109807 0.02904882
+v -0.05093458 -0.02959090 0.02871988
+v -0.05154196 -0.03049580 0.02732096
+v -0.04952938 -0.03305468 0.02778002
+v -0.05588625 -0.02121307 0.02758487
+v -0.05578331 -0.02204306 0.02728484
+v -0.05406669 -0.02465289 0.02800779
+v -0.05372955 -0.02639378 0.02738965
+v -0.05191771 -0.02890772 0.02796800
+v -0.02980762 -0.02878175 -0.00766286
+v -0.03551852 -0.02121294 -0.00766283
+v -0.04344016 -0.03123281 0.00261757
+v -0.04312618 -0.03062154 0.00056437
+v -0.04234380 -0.03169424 0.00056436
+v -0.04083822 -0.03251823 -0.00153944
+v -0.03995289 -0.03358793 -0.00153944
+v -0.03856827 -0.03447485 -0.00289137
+v -0.03733550 -0.03536777 -0.00362156
+v -0.03608472 -0.03626067 -0.00435174
+v -0.03458686 -0.03686294 -0.00574344
+v -0.03311732 -0.03804950 -0.00592780
+v -0.03244045 -0.03895739 -0.00535305
+v -0.03011903 -0.04092301 -0.00506026
+v -0.02980762 -0.04128257 -0.00475662
+v -0.05155226 -0.03051376 0.02578468
+v -0.04974556 -0.03336929 0.02578828
+v -0.04842529 -0.03523902 0.02578827
+v -0.05090627 -0.03158346 0.02578467
+v -0.05136953 -0.03020514 0.02446528
+v -0.04478875 -0.02995336 0.00387190
+v -0.05322512 -0.02753838 0.02578469
+v -0.05244531 -0.02895566 0.02578468
+v -0.05609729 -0.02121306 0.02578471
+v -0.05577559 -0.02202807 0.02578471
+v -0.05533807 -0.02310077 0.02578471
+v -0.05463289 -0.02467386 0.02578470
+v -0.05376816 -0.02646568 0.02578469
+v -0.02980762 -0.03965254 -0.00766290
+v -0.04495861 -0.02121294 -0.00766283
+v -0.04458285 -0.02964174 0.00266818
+v -0.04427402 -0.02890762 0.00048846
+v -0.04285080 -0.03023801 -0.00085262
+v -0.04198349 -0.03100806 -0.00154666
+v -0.04059372 -0.03221260 -0.00266725
+v -0.03940728 -0.03314147 -0.00347696
+v -0.03820539 -0.03407333 -0.00429029
+v -0.03671526 -0.03476848 -0.00574343
+v -0.03565749 -0.03583818 -0.00574343
+v -0.03421369 -0.03652134 -0.00690739
+v -0.03196433 -0.03856487 -0.00675197
+v -0.03104040 -0.03975143 -0.00590612
+v -0.02980762 -0.04043161 -0.00638327
+v -0.02980762 -0.04104586 -0.00523015
+v -0.04709472 -0.02594723 0.00336584
+v -0.04640499 -0.02672029 0.00266457
+v -0.04527774 -0.02857204 0.00266819
+v -0.05356226 -0.02605817 0.02431347
+v -0.05588883 -0.02121306 0.02497138
+v -0.05561602 -0.02163555 0.02454845
+v -0.04922569 -0.02169240 0.00337309
+v -0.03034551 -0.03925702 -0.00766289
+v -0.02980762 -0.04022186 -0.00673752
+v -0.04439755 -0.02236654 -0.00766283
+v -0.04500750 -0.02180322 -0.00709892
+v -0.04512332 -0.02121294 -0.00738449
+v -0.04501522 -0.02816153 0.00113913
+v -0.04475272 -0.02774803 -0.00026340
+v -0.04336810 -0.02904844 -0.00154666
+v -0.04255740 -0.02982150 -0.00225515
+v -0.04106727 -0.03107398 -0.00347695
+v -0.04024886 -0.03177213 -0.00406617
+v -0.03872784 -0.03253320 -0.00574342
+v -0.03778589 -0.03360290 -0.00574342
+v -0.03635752 -0.03439393 -0.00691824
+v -0.03510159 -0.03513103 -0.00766288
+v -0.03495232 -0.03527486 -0.00766288
+v -0.03307357 -0.03701874 -0.00766289
+v -0.03301437 -0.03706968 -0.00766289
+v -0.03296547 -0.03711163 -0.00766289
+v -0.03160402 -0.03827122 -0.00766289
+v -0.03071354 -0.03897536 -0.00766289
+v -0.04750136 -0.02476067 0.00266458
+v -0.04686309 -0.02553074 0.00196331
+v -0.04550936 -0.02694501 0.00048847
+v -0.04864920 -0.02245647 0.00267182
+v -0.04893230 -0.02320257 0.00476838
+v -0.04934408 -0.02121298 0.00310198
+v -0.04900436 -0.02121298 0.00198140
+v -0.04427402 -0.02260325 -0.00766283
+v -0.04464462 -0.02323250 -0.00640851
+v -0.04533436 -0.02252236 -0.00572169
+v -0.04556598 -0.02121295 -0.00652779
+v -0.04514133 -0.02625284 -0.00153942
+v -0.04449535 -0.02732553 -0.00153942
+v -0.04296919 -0.02829336 -0.00363960
+v -0.04223827 -0.02936306 -0.00363961
+v -0.04079704 -0.03034586 -0.00514336
+v -0.03986796 -0.03107397 -0.00580125
+v -0.03842672 -0.03217662 -0.00680617
+v -0.03716050 -0.03303358 -0.00756527
+v -0.03712447 -0.03300062 -0.00766287
+v -0.03699578 -0.03314145 -0.00766287
+v -0.04719509 -0.02400858 0.00056439
+v -0.04661345 -0.02507828 0.00056439
+v -0.04791828 -0.02253137 0.00056440
+v -0.04848449 -0.02121297 0.00048849
+v -0.04324971 -0.02449096 -0.00766284
+v -0.04421483 -0.02462580 -0.00572170
+v -0.04498949 -0.02387971 -0.00500598
+v -0.04310816 -0.02474565 -0.00766284
+v -0.04281219 -0.02592322 -0.00699050
+v -0.04596747 -0.02121295 -0.00569278
+v -0.04636123 -0.02243248 -0.00356006
+v -0.04657227 -0.02121295 -0.00441676
+v -0.04699950 -0.02364302 -0.00053811
+v -0.04620939 -0.02448200 -0.00135867
+v -0.04489941 -0.02584833 -0.00273228
+v -0.04405011 -0.02666334 -0.00351670
+v -0.04272212 -0.02791880 -0.00473488
+v -0.04157428 -0.02887764 -0.00563858
+v -0.04042129 -0.02983648 -0.00654228
+v -0.03884365 -0.03097209 -0.00766286
+v -0.03728146 -0.03282084 -0.00766287
+v -0.04726201 -0.02243249 -0.00135866
+v -0.04777158 -0.02121296 -0.00146710
+v -0.04305669 -0.02670828 -0.00555905
+v -0.04459058 -0.02530598 -0.00413120
+v -0.04523913 -0.02462581 -0.00351669
+v -0.04671897 -0.02307969 -0.00194064
+v -0.04196547 -0.02661838 -0.00766285
+v -0.04092315 -0.02841020 -0.00740981
+v -0.04235151 -0.02735249 -0.00613380
+v -0.04130147 -0.02762216 -0.00766285
+v -0.04671125 -0.02121295 -0.00410950
+v -0.04706898 -0.02165043 -0.00280457
+v -0.04017165 -0.02924019 -0.00766286
+v -0.03891057 -0.03088519 -0.00766286
+v -0.04743444 -0.02121296 -0.00236357
+v -0.04057313 -0.02868287 -0.00766286
+v -0.04715906 -0.02121296 -0.00305760
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 16
+f 1 16 30
+f 1 30 47
+f 1 47 67
+f 1 67 66
+f 1 66 65
+f 1 65 88
+f 1 88 89
+f 1 89 120
+f 1 120 150
+f 1 150 181
+f 1 181 210
+f 1 210 209
+f 1 209 219
+f 1 219 195
+f 1 195 167
+f 1 167 136
+f 1 136 111
+f 1 111 80
+f 1 80 56
+f 1 56 36
+f 1 36 23
+f 1 23 22
+f 1 22 9
+f 1 9 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 8 12
+f 3 12 4
+f 4 13 5
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 13
+f 7 11 10
+f 7 10 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 14
+f 8 14 21
+f 8 21 12
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 17
+f 12 21 14
+f 14 20 27
+f 14 27 28
+f 14 28 29
+f 14 29 16
+f 14 16 15
+f 16 29 30
+f 17 31 32
+f 17 32 18
+f 17 26 33
+f 17 33 34
+f 17 34 31
+f 18 32 35
+f 18 35 27
+f 18 27 19
+f 19 27 20
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 33
+f 27 35 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 31 34 48
+f 31 48 49
+f 31 49 35
+f 31 35 32
+f 33 41 34
+f 34 41 50
+f 34 50 51
+f 34 51 48
+f 35 49 52
+f 35 52 53
+f 35 53 42
+f 36 54 55
+f 36 55 37
+f 36 56 54
+f 37 55 39
+f 37 39 38
+f 39 55 57
+f 39 57 40
+f 40 57 58
+f 40 58 50
+f 40 50 41
+f 42 53 43
+f 43 45 44
+f 43 53 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 45
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 48 68 49
+f 48 51 68
+f 49 68 69
+f 49 69 70
+f 49 70 52
+f 50 71 51
+f 50 58 72
+f 50 72 73
+f 50 73 71
+f 51 71 74
+f 51 74 68
+f 52 70 59
+f 52 59 53
+f 54 75 76
+f 54 76 55
+f 54 56 77
+f 54 77 107
+f 54 107 112
+f 54 112 137
+f 54 137 168
+f 54 168 196
+f 54 196 222
+f 54 222 249
+f 54 249 269
+f 54 269 271
+f 54 271 291
+f 54 291 297
+f 54 297 295
+f 54 295 282
+f 54 282 263
+f 54 263 245
+f 54 245 244
+f 54 244 215
+f 54 215 190
+f 54 190 162
+f 54 162 130
+f 54 130 102
+f 54 102 75
+f 55 76 78
+f 55 78 79
+f 55 79 57
+f 56 80 77
+f 57 79 58
+f 58 79 72
+f 59 70 81
+f 59 81 82
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 62 86 63
+f 63 86 87
+f 63 87 64
+f 64 88 65
+f 64 87 89
+f 64 89 88
+f 68 90 69
+f 68 74 90
+f 69 90 91
+f 69 91 92
+f 69 92 93
+f 69 93 94
+f 69 94 95
+f 69 95 70
+f 70 95 81
+f 71 73 74
+f 72 96 73
+f 72 79 97
+f 72 97 96
+f 73 96 98
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 74 100 101
+f 74 101 90
+f 75 102 103
+f 75 103 104
+f 75 104 76
+f 76 105 78
+f 76 104 106
+f 76 106 105
+f 77 80 107
+f 78 105 108
+f 78 108 109
+f 78 109 110
+f 78 110 97
+f 78 97 79
+f 80 111 112
+f 80 112 107
+f 81 95 94
+f 81 94 113
+f 81 113 114
+f 81 114 115
+f 81 115 82
+f 82 115 83
+f 83 115 116
+f 83 116 117
+f 83 117 84
+f 84 117 118
+f 84 118 85
+f 85 118 119
+f 85 119 86
+f 86 119 87
+f 87 119 89
+f 89 119 120
+f 90 101 91
+f 91 121 92
+f 91 101 121
+f 92 121 122
+f 92 122 123
+f 92 123 124
+f 92 124 94
+f 92 94 93
+f 94 124 113
+f 96 97 110
+f 96 110 109
+f 96 109 98
+f 98 125 99
+f 98 109 125
+f 99 126 127
+f 99 127 101
+f 99 101 100
+f 99 125 128
+f 99 128 126
+f 101 129 121
+f 101 127 129
+f 102 130 131
+f 102 131 103
+f 103 132 133
+f 103 133 104
+f 103 131 132
+f 104 133 106
+f 105 106 134
+f 105 134 108
+f 106 133 134
+f 108 134 135
+f 108 135 109
+f 109 135 125
+f 111 136 112
+f 112 136 137
+f 113 124 138
+f 113 138 139
+f 113 139 140
+f 113 140 141
+f 113 141 114
+f 114 141 142
+f 114 142 115
+f 115 142 143
+f 115 143 116
+f 116 143 144
+f 116 144 117
+f 117 144 118
+f 118 144 145
+f 118 145 146
+f 118 146 147
+f 118 147 119
+f 119 147 148
+f 119 148 149
+f 119 149 120
+f 120 149 150
+f 121 129 122
+f 122 129 151
+f 122 151 152
+f 122 152 153
+f 122 153 123
+f 123 153 154
+f 123 154 155
+f 123 155 138
+f 123 138 124
+f 125 135 128
+f 126 156 157
+f 126 157 129
+f 126 129 127
+f 126 128 156
+f 128 135 158
+f 128 158 132
+f 128 132 159
+f 128 159 160
+f 128 160 161
+f 128 161 151
+f 128 151 156
+f 129 157 151
+f 130 162 163
+f 130 163 131
+f 131 163 164
+f 131 164 165
+f 131 165 166
+f 131 166 159
+f 131 159 132
+f 132 158 134
+f 132 134 133
+f 134 158 135
+f 136 167 168
+f 136 168 137
+f 138 155 139
+f 139 155 169
+f 139 169 170
+f 139 170 171
+f 139 171 140
+f 140 171 172
+f 140 172 141
+f 141 172 173
+f 141 173 142
+f 142 173 174
+f 142 174 143
+f 143 174 144
+f 144 174 175
+f 144 175 176
+f 144 176 145
+f 145 176 146
+f 146 176 177
+f 146 177 178
+f 146 178 179
+f 146 179 147
+f 147 179 148
+f 148 180 149
+f 148 179 180
+f 149 180 181
+f 149 181 150
+f 151 182 152
+f 151 157 156
+f 151 161 160
+f 151 160 182
+f 152 183 154
+f 152 154 184
+f 152 184 153
+f 152 182 185
+f 152 185 183
+f 153 184 154
+f 154 183 185
+f 154 185 186
+f 154 186 187
+f 154 187 155
+f 155 187 169
+f 159 166 160
+f 160 166 165
+f 160 165 188
+f 160 188 189
+f 160 189 182
+f 162 190 163
+f 163 165 164
+f 163 190 191
+f 163 191 192
+f 163 192 193
+f 163 193 165
+f 165 193 194
+f 165 194 188
+f 167 195 218
+f 167 218 238
+f 167 238 237
+f 167 237 236
+f 167 236 235
+f 167 235 234
+f 167 234 233
+f 167 233 232
+f 167 232 259
+f 167 259 258
+f 167 258 280
+f 167 280 279
+f 167 279 294
+f 167 294 293
+f 167 293 296
+f 167 296 290
+f 167 290 287
+f 167 287 267
+f 167 267 264
+f 167 264 246
+f 167 246 220
+f 167 220 196
+f 167 196 168
+f 169 187 197
+f 169 197 170
+f 170 198 199
+f 170 199 171
+f 170 197 198
+f 171 199 200
+f 171 200 172
+f 172 200 201
+f 172 201 173
+f 173 201 174
+f 174 201 202
+f 174 202 203
+f 174 203 175
+f 175 203 176
+f 176 203 204
+f 176 204 205
+f 176 205 177
+f 177 205 206
+f 177 206 178
+f 178 206 207
+f 178 207 179
+f 179 207 208
+f 179 208 180
+f 180 208 209
+f 180 209 210
+f 180 210 181
+f 182 189 186
+f 182 186 185
+f 186 189 188
+f 186 188 211
+f 186 211 212
+f 186 212 213
+f 186 213 187
+f 187 213 197
+f 188 194 214
+f 188 214 211
+f 190 215 216
+f 190 216 191
+f 191 216 192
+f 192 216 217
+f 192 217 193
+f 193 217 214
+f 193 214 194
+f 195 219 218
+f 196 220 221
+f 196 221 222
+f 197 213 223
+f 197 223 198
+f 198 224 199
+f 198 223 224
+f 199 224 225
+f 199 225 226
+f 199 226 200
+f 200 226 201
+f 201 226 227
+f 201 227 228
+f 201 228 202
+f 202 228 203
+f 203 228 229
+f 203 229 230
+f 203 230 204
+f 204 230 231
+f 204 231 205
+f 205 231 206
+f 206 231 232
+f 206 232 233
+f 206 233 234
+f 206 234 207
+f 207 219 209
+f 207 209 208
+f 207 234 235
+f 207 235 236
+f 207 236 237
+f 207 237 238
+f 207 238 218
+f 207 218 219
+f 211 239 240
+f 211 240 212
+f 211 214 239
+f 212 240 241
+f 212 241 223
+f 212 223 213
+f 214 217 242
+f 214 242 243
+f 214 243 239
+f 215 244 216
+f 216 244 217
+f 217 244 245
+f 217 245 242
+f 220 246 221
+f 221 247 248
+f 221 248 249
+f 221 249 222
+f 221 246 247
+f 223 241 224
+f 224 250 251
+f 224 251 225
+f 224 241 250
+f 225 252 226
+f 225 251 252
+f 226 252 253
+f 226 253 227
+f 227 253 254
+f 227 254 228
+f 228 254 255
+f 228 255 229
+f 229 255 256
+f 229 256 230
+f 230 256 231
+f 231 256 257
+f 231 257 258
+f 231 258 259
+f 231 259 232
+f 239 243 242
+f 239 242 260
+f 239 260 240
+f 240 260 261
+f 240 261 241
+f 241 261 250
+f 242 245 262
+f 242 262 260
+f 245 263 262
+f 246 264 247
+f 247 265 266
+f 247 266 248
+f 247 264 267
+f 247 267 268
+f 247 268 265
+f 248 269 249
+f 248 266 270
+f 248 270 271
+f 248 271 269
+f 250 261 272
+f 250 272 273
+f 250 273 274
+f 250 274 251
+f 251 274 275
+f 251 275 252
+f 252 275 276
+f 252 276 253
+f 253 276 254
+f 254 277 278
+f 254 278 255
+f 254 276 277
+f 255 278 256
+f 256 278 279
+f 256 279 280
+f 256 280 258
+f 256 258 257
+f 260 262 272
+f 260 272 261
+f 262 263 281
+f 262 281 272
+f 263 282 281
+f 265 268 283
+f 265 283 284
+f 265 284 266
+f 266 284 285
+f 266 285 286
+f 266 286 270
+f 267 287 268
+f 268 288 289
+f 268 289 276
+f 268 276 283
+f 268 287 290
+f 268 290 288
+f 270 291 271
+f 270 286 292
+f 270 292 291
+f 272 281 286
+f 272 286 285
+f 272 285 273
+f 273 285 274
+f 274 285 284
+f 274 284 275
+f 275 284 276
+f 276 284 283
+f 276 289 277
+f 277 289 278
+f 278 289 288
+f 278 288 293
+f 278 293 294
+f 278 294 279
+f 281 282 295
+f 281 295 292
+f 281 292 286
+f 288 290 296
+f 288 296 293
+f 291 292 297
+f 292 295 297
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_18.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.05455759 -0.00016140 0.00609911
+v -0.05446118 -0.00016140 0.00570863
+v -0.04729227 -0.00016140 0.00609911
+v -0.05455759 0.00102048 0.00609911
+v -0.05422774 -0.00016140 0.00476649
+v -0.05422774 0.00102048 0.00476649
+v -0.04285864 -0.00016136 -0.00495130
+v -0.03727812 0.02128459 -0.00495122
+v -0.04221922 0.02128455 0.00609919
+v -0.05450008 0.00237659 0.00609912
+v -0.05367967 -0.00016139 0.00275565
+v -0.05368135 0.00102049 0.00275349
+v -0.05446625 0.00316171 0.00609912
+v -0.05413470 0.00316171 0.00476650
+v -0.05363230 0.00316172 0.00291467
+v -0.05102389 -0.00016136 -0.00495130
+v -0.04626548 0.02128459 -0.00495122
+v -0.05013581 0.02128455 0.00609919
+v -0.05337687 -0.00016139 0.00170426
+v -0.05333120 0.00316172 0.00186327
+v -0.05337687 0.00102049 0.00170318
+v -0.05435291 0.00451783 0.00609913
+v -0.05428694 0.00530295 0.00609913
+v -0.05395370 0.00530295 0.00476651
+v -0.05354096 0.00530296 0.00323377
+v -0.05120150 -0.00016136 -0.00453378
+v -0.05102389 0.00102052 -0.00495130
+v -0.04669006 0.02128458 -0.00408155
+v -0.04660717 0.02059394 -0.00495122
+v -0.04678817 0.02092772 -0.00424705
+v -0.04978396 0.02128455 0.00476657
+v -0.05058915 0.02021813 0.00609918
+v -0.05301656 -0.00016138 0.00056309
+v -0.05292691 0.00316173 0.00056310
+v -0.05323985 0.00530296 0.00218238
+v -0.05274253 0.00530297 0.00056311
+v -0.05301656 0.00102050 0.00056309
+v -0.05402474 0.00744838 0.00609914
+v -0.05366275 0.00746098 0.00466484
+v -0.05345807 0.00675774 0.00352150
+v -0.05138081 -0.00016137 -0.00406216
+v -0.05160241 0.00102051 -0.00348130
+v -0.05119981 0.00102052 -0.00453161
+v -0.05092916 0.00316175 -0.00495129
+v -0.04695056 0.02128458 -0.00348230
+v -0.04710112 0.01950023 -0.00495123
+v -0.04736162 0.02024335 -0.00358507
+v -0.04932385 0.02128456 0.00314730
+v -0.05020516 0.02028741 0.00476656
+v -0.05113384 0.01883263 0.00609918
+v -0.05262750 -0.00016138 -0.00059647
+v -0.05231287 0.00102051 -0.00153861
+v -0.05222152 0.00316174 -0.00153860
+v -0.05247019 0.00744421 0.00056312
+v -0.05203545 0.00530298 -0.00153859
+v -0.05368135 0.00958542 0.00609915
+v -0.05351051 0.00958542 0.00541121
+v -0.05335488 0.00818523 0.00389577
+v -0.05313498 0.00746099 0.00275892
+v -0.05160072 -0.00016137 -0.00348238
+v -0.05155673 0.00316174 -0.00336231
+v -0.05115414 0.00316175 -0.00441370
+v -0.05192042 -0.00016137 -0.00261163
+v -0.05073801 0.00530299 -0.00495128
+v -0.04714679 0.02128458 -0.00300961
+v -0.04763735 0.01807904 -0.00495123
+v -0.04818373 0.01814620 -0.00364132
+v -0.04814989 0.02028744 -0.00153854
+v -0.04889250 0.01829315 -0.00169538
+v -0.04909210 0.02128456 0.00238363
+v -0.04955560 0.02036089 0.00264431
+v -0.05041322 0.01814618 0.00266378
+v -0.05098160 0.01817346 0.00466596
+v -0.05140280 0.01747861 0.00529981
+v -0.05148907 0.01782079 0.00609918
+v -0.05231118 -0.00016137 -0.00153861
+v -0.05146201 0.00530298 -0.00312108
+v -0.05275099 0.00958543 0.00266375
+v -0.05210311 0.00958544 0.00056313
+v -0.05151275 0.00958544 -0.00120001
+v -0.05125056 0.00844136 -0.00255968
+v -0.05166669 0.00761426 -0.00173112
+v -0.05135713 0.00701387 -0.00283984
+v -0.05343777 0.01088486 0.00609915
+v -0.05340901 0.01067913 0.00579520
+v -0.05323140 0.00958542 0.00435982
+v -0.05106279 0.00530299 -0.00417247
+v -0.05043860 0.00750510 -0.00495127
+v -0.04773377 0.02128458 -0.00146281
+v -0.04836134 0.01606585 -0.00495124
+v -0.04886036 0.01616031 -0.00373327
+v -0.04908872 0.01697692 -0.00250016
+v -0.04907857 0.01910345 -0.00036492
+v -0.04883160 0.02036090 0.00042687
+v -0.04934246 0.01767596 -0.00109939
+v -0.04897539 0.02128456 0.00202235
+v -0.04902106 0.02112292 0.00192933
+v -0.04931708 0.01969544 0.00103585
+v -0.04964525 0.01829314 0.00042687
+v -0.05047412 0.01600496 0.00056315
+v -0.05105433 0.01612250 0.00252747
+v -0.05121165 0.01691392 0.00389796
+v -0.05166838 0.01612249 0.00466595
+v -0.05207098 0.01604692 0.00609917
+v -0.05229765 0.01172247 0.00266375
+v -0.05160917 0.01176237 0.00047876
+v -0.05135882 0.01107591 -0.00076733
+v -0.05114230 0.00958545 -0.00225140
+v -0.05061791 0.00958545 -0.00364135
+v -0.05098329 0.00761426 -0.00358079
+v -0.05318742 0.01197017 0.00609915
+v -0.05299288 0.01152513 0.00496339
+v -0.05031004 0.00825034 -0.00495127
+v -0.04844085 0.02128457 0.00048745
+v -0.04891787 0.01437386 -0.00495125
+v -0.04904136 0.01465516 -0.00449478
+v -0.04932047 0.01554943 -0.00309292
+v -0.04964356 0.01616031 -0.00169539
+v -0.05039124 0.01386373 -0.00153856
+v -0.05104249 0.01399807 0.00047877
+v -0.05122519 0.01479997 0.00173568
+v -0.05143325 0.01548853 0.00313754
+v -0.05235854 0.01386370 0.00476654
+v -0.05231287 0.01522191 0.00609917
+v -0.05167853 0.01399806 0.00252746
+v -0.05141802 0.01337249 0.00112237
+v -0.05119473 0.01250340 -0.00027732
+v -0.05094269 0.01176238 -0.00149639
+v -0.05015611 0.01172249 -0.00364135
+v -0.04961818 0.01172250 -0.00495126
+v -0.05005461 0.00968203 -0.00495126
+v -0.05273407 0.01376293 0.00609916
+v -0.04924773 0.01323816 -0.00495125
+v -0.04955221 0.01390991 -0.00373328
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 33
+f 1 33 51
+f 1 51 76
+f 1 76 63
+f 1 63 60
+f 1 60 41
+f 1 41 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 32
+f 1 32 50
+f 1 50 75
+f 1 75 104
+f 1 104 124
+f 1 124 132
+f 1 132 111
+f 1 111 84
+f 1 84 56
+f 1 56 38
+f 1 38 23
+f 1 23 22
+f 1 22 13
+f 1 13 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 6 12
+f 5 12 11
+f 6 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 27
+f 7 27 44
+f 7 44 64
+f 7 64 88
+f 7 88 113
+f 7 113 131
+f 7 131 130
+f 7 130 133
+f 7 133 115
+f 7 115 90
+f 7 90 66
+f 7 66 46
+f 7 46 29
+f 7 29 17
+f 7 17 8
+f 8 17 28
+f 8 28 45
+f 8 45 65
+f 8 65 89
+f 8 89 114
+f 8 114 96
+f 8 96 70
+f 8 70 48
+f 8 48 31
+f 8 31 18
+f 8 18 9
+f 11 12 19
+f 12 15 20
+f 12 20 21
+f 12 21 19
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 35
+f 15 35 20
+f 16 26 27
+f 17 29 30
+f 17 30 28
+f 18 31 32
+f 19 21 33
+f 20 34 21
+f 20 35 36
+f 20 36 34
+f 21 34 37
+f 21 37 33
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 35
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 28 30 45
+f 29 46 30
+f 30 46 47
+f 30 47 45
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 33 37 52
+f 33 52 51
+f 34 53 52
+f 34 52 37
+f 34 36 53
+f 35 40 54
+f 35 54 36
+f 36 54 55
+f 36 55 53
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 40
+f 40 58 59
+f 40 59 54
+f 41 60 42
+f 42 52 61
+f 42 61 62
+f 42 62 43
+f 42 60 63
+f 42 63 52
+f 43 62 44
+f 44 62 64
+f 45 47 65
+f 46 66 67
+f 46 67 47
+f 47 68 65
+f 47 67 69
+f 47 69 68
+f 48 70 71
+f 48 71 49
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 50 73 74
+f 50 74 75
+f 51 52 76
+f 52 53 61
+f 52 63 76
+f 53 55 77
+f 53 77 61
+f 54 59 78
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 82 83
+f 55 83 77
+f 56 84 85
+f 56 85 57
+f 57 85 86
+f 57 86 58
+f 58 86 78
+f 58 78 59
+f 61 77 87
+f 61 87 62
+f 62 87 64
+f 64 87 88
+f 65 68 89
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 69
+f 68 69 93
+f 68 93 94
+f 68 94 89
+f 69 92 95
+f 69 95 93
+f 70 96 97
+f 70 97 71
+f 71 98 72
+f 71 97 98
+f 72 99 100
+f 72 100 101
+f 72 101 102
+f 72 102 73
+f 72 98 99
+f 73 102 74
+f 74 102 103
+f 74 103 104
+f 74 104 75
+f 77 83 87
+f 78 86 85
+f 78 85 105
+f 78 105 79
+f 79 105 106
+f 79 106 107
+f 79 107 80
+f 80 107 108
+f 80 108 81
+f 81 108 109
+f 81 109 110
+f 81 110 83
+f 81 83 82
+f 83 110 87
+f 84 111 85
+f 85 111 112
+f 85 112 105
+f 87 110 88
+f 88 110 113
+f 89 94 114
+f 90 115 116
+f 90 116 91
+f 91 116 117
+f 91 117 92
+f 92 117 118
+f 92 118 95
+f 93 98 94
+f 93 95 99
+f 93 99 98
+f 94 98 97
+f 94 97 114
+f 95 118 100
+f 95 100 99
+f 96 114 97
+f 100 118 119
+f 100 119 120
+f 100 120 121
+f 100 121 101
+f 101 121 122
+f 101 122 102
+f 102 122 103
+f 103 122 123
+f 103 123 104
+f 104 123 124
+f 105 112 123
+f 105 123 125
+f 105 125 126
+f 105 126 127
+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 109 113 110
+f 109 129 130
+f 109 130 131
+f 109 131 113
+f 111 132 123
+f 111 123 112
+f 115 133 116
+f 116 133 134
+f 116 134 117
+f 117 134 119
+f 117 119 118
+f 119 134 129
+f 119 129 128
+f 119 128 127
+f 119 127 120
+f 120 127 126
+f 120 126 121
+f 121 126 125
+f 121 125 122
+f 122 125 123
+f 123 132 124
+f 129 134 133
+f 129 133 130
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_19.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00355325 0.01530356 -0.02027880
+v -0.00355325 -0.00016131 -0.02038322
+v -0.00355325 0.01530359 -0.02760969
+v -0.02253051 0.01530356 -0.01814073
+v -0.00355325 -0.00016128 -0.02760619
+v -0.02253051 -0.00016131 -0.01942506
+v -0.00355325 0.01386549 -0.02760970
+v -0.02054640 0.01530360 -0.03008692
+v -0.02253051 0.01530360 -0.03023159
+v -0.02253051 -0.00016128 -0.02822758
+v -0.02253051 0.01271653 -0.03012606
+v -0.02221283 0.01374137 -0.03016282
+v -0.02231130 0.01530360 -0.03025531
+v -0.02253051 0.01375802 -0.03017231
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 5
+f 3 7 8
+f 4 9 14
+f 4 14 11
+f 4 11 10
+f 4 10 6
+f 5 10 11
+f 5 11 12
+f 5 12 8
+f 5 8 7
+f 8 12 13
+f 9 13 14
+f 11 14 13
+f 11 13 12
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_2.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03964916 -0.04332828 0.01913773
+v 0.03964916 -0.03735772 0.00620232
+v 0.04047609 -0.04256348 0.01913773
+v 0.03964916 -0.03160699 0.01913777
+v 0.04066345 -0.03627602 0.00620233
+v 0.04356221 -0.03947893 0.01913774
+v 0.04172639 -0.04137614 0.01913774
+v 0.04146156 -0.04164234 0.01913774
+v 0.03964916 -0.02592375 0.00620236
+v 0.03964916 -0.03079992 0.01741955
+v 0.05068749 -0.00016145 0.01913789
+v 0.05044968 -0.00016145 0.01832119
+v 0.05017584 -0.00016144 0.01737915
+v 0.04983714 -0.00016144 0.01607750
+v 0.04958312 -0.00016144 0.01509493
+v 0.04746265 -0.00016140 0.00669627
+v 0.04733834 -0.00016140 0.00620246
+v 0.04489899 -0.03798736 0.01913775
+v 0.04380002 -0.03922118 0.01913775
+v 0.04148318 -0.03530417 0.00620233
+v 0.05805239 -0.00016145 0.01913789
+v 0.05454830 -0.00016140 0.00620246
+v 0.04264160 -0.03391401 0.00620234
+v 0.04658528 -0.03586620 0.01913776
+v 0.05805419 -0.00112485 0.01913789
+v 0.05454830 -0.00112480 0.00620246
+v 0.04347213 -0.03284076 0.00620234
+v 0.04456750 -0.03134496 0.00620234
+v 0.04752390 -0.03453942 0.01913776
+v 0.05801636 -0.00208402 0.01913788
+v 0.05796951 -0.00326291 0.01913788
+v 0.05448885 -0.00258679 0.00620245
+v 0.04528813 -0.03030973 0.00620235
+v 0.05002451 -0.03091824 0.01913778
+v 0.05792087 -0.00391785 0.01913788
+v 0.05446002 -0.00326286 0.00620245
+v 0.04619613 -0.02886887 0.00620235
+v 0.04702486 -0.02752096 0.00620236
+v 0.05018125 -0.03064781 0.01913778
+v 0.05780737 -0.00540519 0.01913787
+v 0.05433751 -0.00472485 0.00620244
+v 0.04756534 -0.02656602 0.00620236
+v 0.05170179 -0.02790130 0.01913779
+v 0.05778755 -0.00558689 0.01913787
+v 0.05428166 -0.00538824 0.00620244
+v 0.04862287 -0.02458852 0.00620237
+v 0.05231793 -0.02670550 0.01913779
+v 0.05663814 -0.01584619 0.01913783
+v 0.05401683 -0.00754743 0.00620243
+v 0.04925523 -0.02333780 0.00620237
+v 0.05239720 -0.02654916 0.01913779
+v 0.05661832 -0.01595605 0.01913783
+v 0.05376641 -0.00916576 0.00620243
+v 0.04970383 -0.02234060 0.00620238
+v 0.05437354 -0.02233643 0.01913781
+v 0.05382586 -0.02350687 0.01913780
+v 0.05621116 -0.01737156 0.01913783
+v 0.05269446 -0.01397006 0.00620241
+v 0.05322593 -0.01182777 0.00620242
+v 0.05356283 -0.01028127 0.00620242
+v 0.05357004 -0.01024747 0.00620242
+v 0.05053976 -0.02039269 0.00620239
+v 0.05446002 -0.02212516 0.01913781
+v 0.05124238 -0.01858421 0.00620239
+v 0.05163333 -0.01751095 0.00620240
+v 0.05208372 -0.01608699 0.00620240
+v 0.05227289 -0.01543205 0.00620240
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 19
+f 1 19 18
+f 1 18 24
+f 1 24 29
+f 1 29 34
+f 1 34 39
+f 1 39 43
+f 1 43 47
+f 1 47 51
+f 1 51 56
+f 1 56 55
+f 1 55 63
+f 1 63 57
+f 1 57 52
+f 1 52 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 31
+f 1 31 30
+f 1 30 25
+f 1 25 21
+f 1 21 11
+f 1 11 4
+f 1 4 10
+f 1 10 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 17
+f 2 17 22
+f 2 22 26
+f 2 26 32
+f 2 32 36
+f 2 36 41
+f 2 41 45
+f 2 45 49
+f 2 49 53
+f 2 53 61
+f 2 61 60
+f 2 60 59
+f 2 59 58
+f 2 58 67
+f 2 67 66
+f 2 66 65
+f 2 65 64
+f 2 64 62
+f 2 62 54
+f 2 54 50
+f 2 50 46
+f 2 46 42
+f 2 42 38
+f 2 38 37
+f 2 37 33
+f 2 33 28
+f 2 28 27
+f 2 27 23
+f 2 23 20
+f 2 20 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 4 17 10
+f 5 18 19
+f 5 19 6
+f 5 20 18
+f 9 10 17
+f 11 21 22
+f 11 22 17
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 18 20 23
+f 18 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 28 33 29
+f 29 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 48 49
+f 46 50 51
+f 46 51 47
+f 48 52 53
+f 48 53 49
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 52 57 58
+f 52 58 59
+f 52 59 60
+f 52 60 61
+f 52 61 53
+f 54 62 55
+f 55 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 57 67 58
+f 62 64 63
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_20.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v -0.00355139 0.03633441 -0.01307345
+v 0.01617389 0.03275748 -0.01307346
+v -0.00355139 0.04541928 0.00100656
+v -0.00355139 0.04611253 -0.01307341
+v 0.01617389 0.04331595 -0.01307342
+v 0.01617389 0.04258309 0.00100655
+v -0.00355139 0.05286032 0.00100658
+v -0.00355139 0.04658787 -0.01245872
+v -0.00334286 0.04613234 -0.01307341
+v 0.01526062 0.04369028 -0.01307342
+v 0.01617389 0.04336745 -0.01306929
+v 0.01617389 0.05042025 0.00100658
+v -0.00308413 0.05289993 0.00100658
+v -0.00355139 0.05272564 0.00056279
+v -0.00355139 0.04675027 -0.01222856
+v -0.00308413 0.04660966 -0.01248767
+v -0.00308413 0.04615611 -0.01307341
+v 0.01404420 0.04410224 -0.01307342
+v 0.01404420 0.04451024 -0.01256899
+v 0.01617389 0.04421909 -0.01196119
+v 0.01617389 0.05027764 0.00056278
+v 0.01572594 0.05056285 0.00100658
+v -0.00094285 0.05298905 0.00100658
+v -0.00308413 0.05276327 0.00056279
+v -0.00308413 0.05205621 -0.00154039
+v -0.00355139 0.05201660 -0.00154039
+v -0.00355139 0.04732662 -0.01140714
+v -0.00308413 0.04734642 -0.01143746
+v -0.00094285 0.04739594 -0.01150775
+v -0.00094285 0.04665521 -0.01255796
+v -0.00094285 0.04625315 -0.01307341
+v 0.01269841 0.04452807 -0.01307342
+v 0.01241458 0.04475782 -0.01290114
+v 0.01404420 0.04527474 -0.01151739
+v 0.01548845 0.04504301 -0.01119076
+v 0.01617389 0.04491823 -0.01100470
+v 0.01617389 0.04954484 -0.00154867
+v 0.01616810 0.04954880 -0.00154315
+v 0.01404420 0.05019447 -0.00154040
+v 0.01400365 0.05095698 0.00062481
+v 0.01419287 0.05102630 0.00100658
+v 0.00119843 0.05298510 0.00100658
+v 0.00119843 0.05284843 0.00056279
+v -0.00094285 0.05285041 0.00056279
+v -0.00094285 0.05214534 -0.00154039
+v -0.00308413 0.05150759 -0.00305092
+v -0.00355139 0.05148779 -0.00299993
+v -0.00355139 0.05158880 -0.00272153
+v -0.00355139 0.04822778 -0.00994758
+v -0.00308413 0.04826739 -0.00994758
+v -0.00094285 0.04836444 -0.00994758
+v 0.00119843 0.04739198 -0.01150223
+v 0.00119843 0.04665323 -0.01255244
+v -0.00013383 0.04625117 -0.01307341
+v 0.01234507 0.04463106 -0.01307342
+v 0.01142986 0.04488853 -0.01307342
+v 0.01104756 0.04498954 -0.01307341
+v 0.01178127 0.04546685 -0.01213898
+v 0.01190291 0.04664728 -0.01033901
+v 0.01396117 0.04639575 -0.00980288
+v 0.01617389 0.04552429 -0.01003856
+v 0.01617389 0.04550052 -0.01007715
+v 0.01617389 0.04917645 -0.00254513
+v 0.01544018 0.04929726 -0.00285798
+v 0.01190291 0.04996670 -0.00364219
+v 0.01174266 0.05085994 -0.00136535
+v 0.01234700 0.05118079 -0.00003398
+v 0.01390325 0.04946165 -0.00359258
+v 0.01362328 0.05119069 0.00100658
+v 0.00333972 0.05289201 0.00100658
+v 0.00333972 0.05275337 0.00056279
+v 0.00119843 0.05214336 -0.00154039
+v -0.00094285 0.05155314 -0.00316532
+v -0.00308413 0.05110158 -0.00410251
+v -0.00355139 0.05117089 -0.00382135
+v -0.00355139 0.04902198 -0.00856798
+v -0.00308413 0.04904179 -0.00860795
+v 0.00119843 0.04835652 -0.00994758
+v -0.00094285 0.04908734 -0.00869615
+v 0.00119843 0.04908536 -0.00869064
+v 0.00333972 0.04733850 -0.01142505
+v 0.00333972 0.04659975 -0.01247664
+v 0.00333972 0.04613828 -0.01307341
+v 0.00205186 0.04620562 -0.01307341
+v 0.00119843 0.04624523 -0.01307341
+v 0.01090082 0.04502321 -0.01307341
+v 0.00976163 0.04599765 -0.01204939
+v 0.00976163 0.04689485 -0.01074697
+v 0.01190291 0.04728105 -0.00928742
+v 0.01319077 0.04711468 -0.00900626
+v 0.01461958 0.04689880 -0.00861623
+v 0.01617389 0.04672451 -0.00796432
+v 0.01617389 0.04875459 -0.00359671
+v 0.01616810 0.04875855 -0.00359258
+v 0.01452304 0.04901405 -0.00425964
+v 0.00976163 0.05042818 -0.00364218
+v 0.00976163 0.05108771 -0.00191389
+v 0.01092013 0.05135310 -0.00054669
+v 0.01309423 0.04922597 -0.00477372
+v 0.01190291 0.04937254 -0.00510449
+v 0.01174266 0.05154125 0.00062481
+v 0.01252271 0.05147391 0.00100658
+v 0.00492299 0.05275337 0.00100658
+v 0.00548100 0.05256719 0.00056279
+v 0.00333972 0.05204631 -0.00154039
+v 0.00333972 0.05150165 -0.00302887
+v 0.00119843 0.05155117 -0.00315705
+v -0.00094285 0.05114516 -0.00421690
+v -0.00308413 0.05040838 -0.00574398
+v -0.00355139 0.05036877 -0.00574398
+v -0.00355139 0.05108177 -0.00405152
+v -0.00355139 0.04913686 -0.00833919
+v -0.00308413 0.04956862 -0.00755636
+v 0.00333972 0.04825155 -0.00994758
+v -0.00094285 0.04961220 -0.00764457
+v 0.00333972 0.04903189 -0.00858865
+v 0.00119843 0.04961021 -0.00763905
+v 0.00333972 0.04956070 -0.00753844
+v 0.00548100 0.04723947 -0.01128034
+v 0.00548100 0.04649676 -0.01233055
+v 0.00548100 0.04593428 -0.01307341
+v 0.00435147 0.04604519 -0.01307341
+v 0.00976163 0.04525692 -0.01307341
+v 0.00772848 0.04647299 -0.01191570
+v 0.00851432 0.04702161 -0.01095094
+v 0.00976163 0.04752270 -0.00969676
+v 0.00965158 0.04864964 -0.00767489
+v 0.01190291 0.04805942 -0.00784441
+v 0.01396117 0.04747911 -0.00788714
+v 0.01617389 0.04687702 -0.00768179
+v 0.01575684 0.04726917 -0.00721457
+v 0.01617389 0.04872686 -0.00366149
+v 0.01617389 0.04781580 -0.00575639
+v 0.01390325 0.04861992 -0.00558136
+v 0.00965158 0.04954089 -0.00581428
+v 0.00762035 0.04992116 -0.00574399
+v 0.00746009 0.05089757 -0.00345199
+v 0.00806637 0.05123823 -0.00233011
+v 0.00976163 0.05146401 -0.00086230
+v 0.00976163 0.05193539 0.00056279
+v 0.00976163 0.05207205 0.00100658
+v 0.01190291 0.04889918 -0.00615332
+v 0.01029068 0.04908337 -0.00656128
+v 0.01177162 0.05165216 0.00100658
+v 0.00549838 0.05270187 0.00100658
+v 0.00762035 0.05229387 0.00056279
+v 0.00548100 0.05186013 -0.00154039
+v 0.00548100 0.05140856 -0.00278906
+v 0.00333972 0.05108969 -0.00408046
+v 0.00119843 0.05114119 -0.00420864
+v -0.00094285 0.05049751 -0.00574398
+v -0.00355139 0.04954882 -0.00751639
+v 0.00548100 0.04805151 -0.00994758
+v 0.00548100 0.04946563 -0.00734549
+v 0.00548100 0.04893286 -0.00839708
+v 0.00119843 0.05048958 -0.00574398
+v 0.00333972 0.05038857 -0.00574398
+v 0.00708551 0.04713450 -0.01112460
+v 0.00677272 0.04576197 -0.01307341
+v 0.00941022 0.04532228 -0.01307341
+v 0.00765317 0.04563125 -0.01307341
+v 0.00772848 0.04763361 -0.01012952
+v 0.00762035 0.04878629 -0.00811316
+v 0.00886380 0.04922400 -0.00686036
+v 0.01617389 0.04719787 -0.00707675
+v 0.01617389 0.04755634 -0.00631734
+v 0.01617389 0.04775242 -0.00589697
+v 0.00548100 0.05020042 -0.00574399
+v 0.00548100 0.05099660 -0.00384065
+v 0.00762035 0.04932303 -0.00706158
+v 0.00663756 0.05134518 -0.00262505
+v 0.00746009 0.05158880 -0.00159414
+v 0.00930982 0.05214731 0.00100658
+v 0.00720522 0.05248203 0.00100658
+v 0.00762035 0.05242855 0.00100658
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 48
+f 1 48 47
+f 1 47 75
+f 1 75 111
+f 1 111 110
+f 1 110 152
+f 1 152 112
+f 1 112 76
+f 1 76 49
+f 1 49 27
+f 1 27 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 31
+f 1 31 54
+f 1 54 85
+f 1 85 84
+f 1 84 83
+f 1 83 122
+f 1 122 121
+f 1 121 159
+f 1 159 161
+f 1 161 160
+f 1 160 123
+f 1 123 86
+f 1 86 57
+f 1 57 56
+f 1 56 55
+f 1 55 32
+f 1 32 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 36
+f 2 36 62
+f 2 62 61
+f 2 61 92
+f 2 92 130
+f 2 130 165
+f 2 165 166
+f 2 166 167
+f 2 167 133
+f 2 133 132
+f 2 132 93
+f 2 93 63
+f 2 63 37
+f 2 37 21
+f 2 21 12
+f 2 12 6
+f 2 6 3
+f 3 6 12
+f 3 12 22
+f 3 22 41
+f 3 41 69
+f 3 69 102
+f 3 102 144
+f 3 144 141
+f 3 141 173
+f 3 173 175
+f 3 175 174
+f 3 174 145
+f 3 145 103
+f 3 103 70
+f 3 70 42
+f 3 42 23
+f 3 23 13
+f 3 13 7
+f 4 8 9
+f 5 10 11
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 21 22
+f 13 23 24
+f 13 24 14
+f 14 25 26
+f 14 24 25
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 24 44 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 28 51 29
+f 29 52 53
+f 29 53 30
+f 29 51 52
+f 30 53 54
+f 30 54 31
+f 32 55 33
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 60 61
+f 35 61 62
+f 35 62 36
+f 37 63 38
+f 38 63 64
+f 38 64 39
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 39 64 68
+f 39 68 65
+f 40 67 69
+f 40 69 41
+f 42 70 43
+f 43 71 72
+f 43 72 45
+f 43 45 44
+f 43 70 71
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 49 76 77
+f 49 77 50
+f 50 77 51
+f 51 78 52
+f 51 77 79
+f 51 79 80
+f 51 80 78
+f 52 78 81
+f 52 81 82
+f 52 82 53
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 54
+f 57 86 87
+f 57 87 58
+f 58 87 88
+f 58 88 59
+f 59 88 89
+f 59 89 90
+f 59 90 60
+f 60 90 91
+f 60 91 61
+f 61 91 92
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 68
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 65 68 99
+f 65 99 100
+f 65 100 96
+f 66 98 67
+f 67 98 101
+f 67 101 102
+f 67 102 69
+f 68 95 99
+f 70 103 104
+f 70 104 71
+f 71 104 147
+f 71 147 105
+f 71 105 72
+f 72 105 106
+f 72 106 107
+f 72 107 73
+f 73 107 108
+f 73 108 74
+f 74 108 109
+f 74 109 110
+f 74 110 111
+f 74 111 75
+f 76 112 77
+f 77 112 113
+f 77 113 79
+f 78 114 81
+f 78 80 114
+f 79 113 115
+f 79 115 117
+f 79 117 80
+f 80 116 114
+f 80 117 118
+f 80 118 116
+f 81 114 119
+f 81 119 82
+f 82 120 121
+f 82 121 122
+f 82 122 83
+f 82 119 120
+f 86 123 87
+f 87 123 124
+f 87 124 125
+f 87 125 88
+f 88 125 126
+f 88 126 89
+f 89 126 127
+f 89 127 128
+f 89 128 90
+f 90 128 129
+f 90 129 91
+f 91 130 92
+f 91 129 131
+f 91 131 130
+f 93 132 94
+f 94 132 95
+f 95 132 133
+f 95 133 134
+f 95 134 99
+f 96 100 135
+f 96 135 136
+f 96 136 137
+f 96 137 138
+f 96 138 97
+f 97 138 139
+f 97 139 98
+f 98 139 140
+f 98 140 141
+f 98 141 101
+f 99 134 142
+f 99 142 100
+f 100 142 143
+f 100 143 135
+f 101 144 102
+f 101 141 144
+f 103 145 104
+f 104 145 146
+f 104 146 147
+f 105 147 148
+f 105 148 106
+f 106 148 169
+f 106 169 149
+f 106 149 150
+f 106 150 107
+f 107 150 108
+f 108 150 151
+f 108 151 109
+f 109 151 113
+f 109 113 152
+f 109 152 110
+f 112 152 113
+f 113 151 115
+f 114 153 119
+f 114 116 153
+f 115 151 117
+f 116 118 154
+f 116 154 155
+f 116 155 153
+f 117 151 156
+f 117 156 118
+f 118 156 157
+f 118 157 154
+f 119 153 158
+f 119 158 120
+f 120 158 124
+f 120 124 159
+f 120 159 121
+f 123 160 124
+f 124 158 125
+f 124 160 161
+f 124 161 159
+f 125 158 162
+f 125 162 126
+f 126 162 163
+f 126 163 127
+f 127 163 164
+f 127 164 143
+f 127 143 128
+f 128 143 142
+f 128 142 129
+f 129 142 134
+f 129 134 131
+f 130 131 165
+f 131 134 166
+f 131 166 165
+f 133 167 134
+f 134 167 166
+f 135 143 164
+f 135 164 136
+f 136 168 169
+f 136 169 137
+f 136 164 170
+f 136 170 168
+f 137 169 171
+f 137 171 138
+f 138 171 172
+f 138 172 139
+f 139 172 146
+f 139 146 140
+f 140 146 141
+f 141 146 173
+f 145 174 146
+f 146 174 175
+f 146 175 173
+f 146 172 147
+f 147 172 171
+f 147 171 148
+f 148 171 169
+f 149 169 168
+f 149 168 157
+f 149 157 150
+f 150 157 156
+f 150 156 151
+f 153 162 158
+f 153 155 162
+f 154 170 155
+f 154 157 168
+f 154 168 170
+f 155 170 163
+f 155 163 162
+f 163 170 164
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_21.obj

@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v -0.00355313 0.05427686 0.00609931
+v -0.00355313 0.05393242 0.00472976
+v -0.00444276 0.05420749 0.00609931
+v -0.00355313 0.04716548 0.00609928
+v -0.00462381 0.05419314 0.00609931
+v -0.00355313 0.05357123 0.00337147
+v -0.00470912 0.05352818 0.00352343
+v -0.00534457 0.05375062 0.00459281
+v -0.02133520 0.04210882 0.00609926
+v -0.02133520 0.02984279 -0.01306700
+v -0.00355313 0.03634182 -0.01306698
+v -0.00526623 0.05413813 0.00609931
+v -0.00355313 0.05335596 0.00262290
+v -0.00534457 0.05324353 0.00275798
+v -0.00613670 0.05345642 0.00377483
+v -0.02133520 0.04987800 0.00609929
+v -0.02133520 0.04100141 -0.01306696
+v -0.00355313 0.04611786 -0.01306694
+v -0.00736755 0.05388696 0.00609931
+v -0.00355313 0.05327702 0.00236400
+v -0.00522618 0.05258814 0.00056106
+v -0.00736755 0.05296367 0.00266417
+v -0.00736755 0.05337029 0.00409752
+v -0.00736755 0.05364777 0.00514813
+v -0.02021403 0.05035640 0.00609929
+v -0.02133520 0.04953116 0.00476539
+v -0.02133520 0.04178596 -0.01207826
+v -0.02038638 0.04226436 -0.01208575
+v -0.02027670 0.04152525 -0.01306696
+v -0.00522618 0.04596956 -0.01306694
+v -0.00355313 0.04658908 -0.01245721
+v -0.00880384 0.05354013 0.00556650
+v -0.00910676 0.05361667 0.00609931
+v -0.00355313 0.05272448 0.00056106
+v -0.00355313 0.05217193 -0.00108240
+v -0.00522618 0.05187773 -0.00154017
+v -0.00736755 0.05232023 0.00056106
+v -0.00950892 0.05260726 0.00266417
+v -0.01841041 0.05105964 0.00609930
+v -0.02021403 0.04999999 0.00476539
+v -0.02133520 0.04922021 0.00362097
+v -0.02133520 0.04270210 -0.01090381
+v -0.02121682 0.04273319 -0.01095071
+v -0.01978924 0.04307285 -0.01140848
+v -0.01862454 0.04253945 -0.01280993
+v -0.01850442 0.04236962 -0.01306695
+v -0.00741630 0.04566339 -0.01306694
+v -0.00522618 0.04651493 -0.01234840
+v -0.00355313 0.04732581 -0.01140660
+v -0.00951415 0.05321004 0.00482544
+v -0.01023142 0.05340857 0.00608055
+v -0.01024186 0.05341096 0.00609931
+v -0.00355313 0.05201646 -0.00154017
+v -0.00522618 0.05141847 -0.00281779
+v -0.00643440 0.05135149 -0.00264519
+v -0.00723698 0.05160265 -0.00160583
+v -0.00950892 0.05147347 -0.00088916
+v -0.00950892 0.05195905 0.00056106
+v -0.01165029 0.05215757 0.00266417
+v -0.01165029 0.05275316 0.00476540
+v -0.01795950 0.05089220 0.00484419
+v -0.01734668 0.05145671 0.00609930
+v -0.01716911 0.05139212 0.00559651
+v -0.01807266 0.05021528 0.00266416
+v -0.02014962 0.04945702 0.00282175
+v -0.02082162 0.04899776 0.00222703
+v -0.02133520 0.04884228 0.00245216
+v -0.02133520 0.04277625 -0.01079312
+v -0.02022448 0.04384547 -0.00995638
+v -0.01807266 0.04452479 -0.01040102
+v -0.01671646 0.04480226 -0.01083627
+v -0.01797517 0.04336468 -0.01208575
+v -0.01728923 0.04291260 -0.01306695
+v -0.00950892 0.04529024 -0.01306694
+v -0.00752598 0.04649340 -0.01192440
+v -0.00691839 0.04714402 -0.01114207
+v -0.00522618 0.04725165 -0.01129778
+v -0.00355313 0.04822758 -0.00994698
+v -0.01169556 0.05308565 0.00609930
+v -0.00355313 0.05148783 -0.00299978
+v -0.00355313 0.05108119 -0.00405039
+v -0.00522618 0.05100944 -0.00386841
+v -0.00786198 0.05124385 -0.00234877
+v -0.00723698 0.05091136 -0.00346505
+v -0.00950892 0.05109794 -0.00193978
+v -0.01069103 0.05135866 -0.00056272
+v -0.01150231 0.05155241 0.00061359
+v -0.01303087 0.05141846 0.00134902
+v -0.01376381 0.05162176 0.00267542
+v -0.01378992 0.05221018 0.00476540
+v -0.01378992 0.05255463 0.00609930
+v -0.01659459 0.05119598 0.00419506
+v -0.01591910 0.05192315 0.00609930
+v -0.01590169 0.05160023 0.00484419
+v -0.01593129 0.05029422 0.00056105
+v -0.01807962 0.04955271 0.00058544
+v -0.01939404 0.04929198 0.00130023
+v -0.01590169 0.05097593 0.00267542
+v -0.02014962 0.04873943 0.00058544
+v -0.02133520 0.04818928 0.00051040
+v -0.02133520 0.04347232 -0.00969373
+v -0.02065971 0.04462046 -0.00838421
+v -0.01923213 0.04494816 -0.00896204
+v -0.01807266 0.04518497 -0.00934852
+v -0.01597307 0.04554139 -0.01005956
+v -0.01528888 0.04505820 -0.01121148
+v -0.01597307 0.04424493 -0.01196568
+v -0.01594348 0.04340296 -0.01306695
+v -0.00950892 0.04603414 -0.01204822
+v -0.01084771 0.04501037 -0.01306694
+v -0.00834597 0.04703399 -0.01097509
+v -0.00752598 0.04765590 -0.01014209
+v -0.00522618 0.04807928 -0.00994698
+v -0.00355313 0.04902172 -0.00856805
+v -0.00355313 0.05036840 -0.00574263
+v -0.00522618 0.05022487 -0.00574264
+v -0.00736755 0.04994980 -0.00574264
+v -0.00950892 0.05044971 -0.00364140
+v -0.01165029 0.04998327 -0.00364141
+v -0.01150231 0.05087070 -0.00137507
+v -0.01211861 0.05118643 -0.00005242
+v -0.01445845 0.05121752 0.00198314
+v -0.01376381 0.05096876 0.00061359
+v -0.01516701 0.05143041 0.00338459
+v -0.01514612 0.05215278 0.00609930
+v -0.01378992 0.05021530 -0.00154018
+v -0.01592955 0.04955989 -0.00155519
+v -0.01737106 0.04932547 -0.00086479
+v -0.01879864 0.04905996 -0.00010121
+v -0.02021403 0.04795726 -0.00154018
+v -0.02133520 0.04746691 -0.00154019
+v -0.02133520 0.04443867 -0.00811593
+v -0.02133520 0.04493620 -0.00724916
+v -0.02133520 0.04503667 -0.00706718
+v -0.02005386 0.04524477 -0.00774820
+v -0.01807266 0.04602456 -0.00784388
+v -0.01612454 0.04672780 -0.00790204
+v -0.01440274 0.04691198 -0.00864123
+v -0.01372899 0.04642164 -0.00981379
+v -0.01378992 0.04529740 -0.01154355
+v -0.01378992 0.04452480 -0.01259605
+v -0.01378992 0.04413969 -0.01306695
+v -0.01155280 0.04549115 -0.01214765
+v -0.00950892 0.04691678 -0.01078373
+v -0.01213950 0.04465636 -0.01306695
+v -0.01220043 0.04476639 -0.01291499
+v -0.00950892 0.04753869 -0.00973124
+v -0.00736755 0.04880644 -0.00814593
+v -0.00522618 0.04894757 -0.00842359
+v -0.00522618 0.04947619 -0.00737297
+v -0.00355313 0.04913653 -0.00833916
+v -0.00355313 0.04954795 -0.00751743
+v -0.00736755 0.04933746 -0.00709531
+v -0.00943580 0.04955751 -0.00582331
+v -0.00867327 0.04923699 -0.00688706
+v -0.01165029 0.04938050 -0.00512728
+v -0.01286722 0.04923220 -0.00478771
+v -0.01366457 0.04947378 -0.00360577
+v -0.01521576 0.04930634 -0.00288347
+v -0.01664334 0.04907193 -0.00226623
+v -0.01807962 0.04880642 -0.00155519
+v -0.02005212 0.04727794 -0.00346132
+v -0.02132650 0.04706983 -0.00263958
+v -0.02133520 0.04707462 -0.00261707
+v -0.02133520 0.04573033 -0.00561883
+v -0.02005212 0.04634268 -0.00558131
+v -0.01807266 0.04681868 -0.00630923
+v -0.01696716 0.04703636 -0.00676700
+v -0.01553958 0.04727796 -0.00723978
+v -0.01372899 0.04749563 -0.00790204
+v -0.01297516 0.04712487 -0.00902395
+v -0.01165029 0.04666801 -0.01037099
+v -0.01165029 0.04729710 -0.00932037
+v -0.00943580 0.04866770 -0.00769003
+v -0.01010085 0.04909347 -0.00657751
+v -0.01165029 0.04891168 -0.00617790
+v -0.01366457 0.04863660 -0.00559068
+v -0.01429480 0.04902649 -0.00428304
+v -0.01592955 0.04877532 -0.00360577
+v -0.01807266 0.04799553 -0.00364141
+v -0.01923039 0.04708659 -0.00477271
+v -0.02065797 0.04677562 -0.00403915
+v -0.02133520 0.04656991 -0.00377838
+v -0.01807266 0.04730905 -0.00525862
+v -0.01612454 0.04770133 -0.00593776
+v -0.01165029 0.04808884 -0.00784387
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 19
+f 1 19 33
+f 1 33 52
+f 1 52 79
+f 1 79 91
+f 1 91 125
+f 1 125 93
+f 1 93 62
+f 1 62 39
+f 1 39 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 18
+f 1 18 31
+f 1 31 49
+f 1 49 78
+f 1 78 114
+f 1 114 151
+f 1 151 152
+f 1 152 115
+f 1 115 81
+f 1 81 80
+f 1 80 53
+f 1 53 35
+f 1 35 34
+f 1 34 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 4 9 10
+f 4 10 11
+f 5 8 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 12
+f 9 16 26
+f 9 26 41
+f 9 41 67
+f 9 67 100
+f 9 100 131
+f 9 131 164
+f 9 164 183
+f 9 183 165
+f 9 165 134
+f 9 134 133
+f 9 133 132
+f 9 132 101
+f 9 101 68
+f 9 68 42
+f 9 42 27
+f 9 27 17
+f 9 17 10
+f 10 17 29
+f 10 29 46
+f 10 46 73
+f 10 73 108
+f 10 108 142
+f 10 142 145
+f 10 145 110
+f 10 110 74
+f 10 74 47
+f 10 47 30
+f 10 30 18
+f 10 18 11
+f 12 15 19
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 19
+f 16 25 26
+f 17 27 28
+f 17 28 29
+f 18 30 31
+f 19 24 32
+f 19 32 33
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 32 24
+f 23 38 32
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 30 47 48
+f 30 48 31
+f 31 48 77
+f 31 77 49
+f 32 38 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 38 59 60
+f 38 60 50
+f 39 61 40
+f 39 62 63
+f 39 63 61
+f 40 61 64
+f 40 64 65
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 42 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 72
+f 44 72 45
+f 45 72 73
+f 45 73 46
+f 47 74 75
+f 47 75 48
+f 48 75 76
+f 48 76 77
+f 49 77 78
+f 50 60 51
+f 51 60 79
+f 51 79 52
+f 53 80 54
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 83 56
+f 55 82 84
+f 55 84 83
+f 56 83 57
+f 57 83 85
+f 57 85 86
+f 57 86 58
+f 58 86 87
+f 58 87 59
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 60
+f 60 90 91
+f 60 91 79
+f 61 63 92
+f 61 92 64
+f 62 93 63
+f 63 93 94
+f 63 94 92
+f 64 95 96
+f 64 96 97
+f 64 97 65
+f 64 92 98
+f 64 98 95
+f 65 97 66
+f 66 99 100
+f 66 100 67
+f 66 97 99
+f 68 101 69
+f 69 101 102
+f 69 102 103
+f 69 103 70
+f 70 103 104
+f 70 104 71
+f 71 104 105
+f 71 105 106
+f 71 106 107
+f 71 107 73
+f 71 73 72
+f 73 107 108
+f 74 109 75
+f 74 110 109
+f 75 111 76
+f 75 109 111
+f 76 112 113
+f 76 113 77
+f 76 111 112
+f 77 113 78
+f 78 113 114
+f 81 115 116
+f 81 116 82
+f 82 116 117
+f 82 117 84
+f 83 84 118
+f 83 118 85
+f 84 117 118
+f 85 118 119
+f 85 119 86
+f 86 119 120
+f 86 120 121
+f 86 121 87
+f 87 121 88
+f 88 122 89
+f 88 121 123
+f 88 123 122
+f 89 122 124
+f 89 124 90
+f 90 124 94
+f 90 94 93
+f 90 93 125
+f 90 125 91
+f 92 94 124
+f 92 124 98
+f 95 126 127
+f 95 127 128
+f 95 128 96
+f 95 98 122
+f 95 122 123
+f 95 123 126
+f 96 128 129
+f 96 129 97
+f 97 129 99
+f 98 124 122
+f 99 129 130
+f 99 130 131
+f 99 131 100
+f 101 132 102
+f 102 132 133
+f 102 133 134
+f 102 134 135
+f 102 135 103
+f 103 135 136
+f 103 136 104
+f 104 136 137
+f 104 137 105
+f 105 137 138
+f 105 138 139
+f 105 139 106
+f 106 139 140
+f 106 140 141
+f 106 141 107
+f 107 141 108
+f 108 141 142
+f 109 110 143
+f 109 143 144
+f 109 144 111
+f 110 145 146
+f 110 146 143
+f 111 144 147
+f 111 147 112
+f 112 147 148
+f 112 148 149
+f 112 149 113
+f 113 149 114
+f 114 149 150
+f 114 150 151
+f 115 152 150
+f 115 150 116
+f 116 150 153
+f 116 153 117
+f 117 154 118
+f 117 153 155
+f 117 155 154
+f 118 154 156
+f 118 156 119
+f 119 126 120
+f 119 156 157
+f 119 157 158
+f 119 158 126
+f 120 126 121
+f 121 126 123
+f 126 158 159
+f 126 159 127
+f 127 159 160
+f 127 160 128
+f 128 160 161
+f 128 161 129
+f 129 161 130
+f 130 162 163
+f 130 163 164
+f 130 164 131
+f 130 161 162
+f 134 165 166
+f 134 166 135
+f 135 166 167
+f 135 167 136
+f 136 167 168
+f 136 168 137
+f 137 168 169
+f 137 169 138
+f 138 169 170
+f 138 170 171
+f 138 171 139
+f 139 171 172
+f 139 172 140
+f 140 143 146
+f 140 146 141
+f 140 172 143
+f 141 146 142
+f 142 146 145
+f 143 172 144
+f 144 172 173
+f 144 173 147
+f 147 173 174
+f 147 174 148
+f 148 155 153
+f 148 153 149
+f 148 174 155
+f 149 153 150
+f 150 152 151
+f 154 155 175
+f 154 175 156
+f 155 174 175
+f 156 175 176
+f 156 176 157
+f 157 176 177
+f 157 177 178
+f 157 178 158
+f 158 178 159
+f 159 178 179
+f 159 179 160
+f 160 179 180
+f 160 180 161
+f 161 180 162
+f 162 180 181
+f 162 181 182
+f 162 182 163
+f 163 182 183
+f 163 183 164
+f 165 183 182
+f 165 182 166
+f 166 182 181
+f 166 181 167
+f 167 181 168
+f 168 181 184
+f 168 184 185
+f 168 185 169
+f 169 185 177
+f 169 177 170
+f 170 177 176
+f 170 176 186
+f 170 186 171
+f 171 186 173
+f 171 173 172
+f 173 186 174
+f 174 186 175
+f 175 186 176
+f 177 185 178
+f 178 185 179
+f 179 185 184
+f 179 184 180
+f 180 184 181
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_22.obj

@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v 0.01571153 -0.05951900 0.02578693
+v 0.01571153 -0.05950910 0.02567770
+v 0.01672377 -0.06063710 0.02578693
+v 0.01691123 -0.06040954 0.02736966
+v 0.01571153 -0.05878350 0.02796200
+v 0.01571153 -0.05927823 0.02368433
+v 0.01681516 -0.06051837 0.02368643
+v 0.01771024 -0.06170574 0.02578692
+v 0.01900366 -0.06244126 0.02732554
+v 0.01571153 -0.05783360 0.02857431
+v 0.01829134 -0.06109557 0.02804812
+v 0.01983548 -0.06177832 0.02872657
+v 0.01757668 -0.05960807 0.02877174
+v 0.01703307 -0.06025120 0.02234631
+v 0.01571153 -0.05834811 0.02171092
+v 0.01784849 -0.06158700 0.02368642
+v 0.01891930 -0.06251381 0.02368642
+v 0.01878106 -0.06261935 0.02578692
+v 0.02047047 -0.06364841 0.02578692
+v 0.02167251 -0.06423879 0.02578691
+v 0.02312292 -0.06443010 0.02716274
+v 0.02051734 -0.06279747 0.02797144
+v 0.01571153 -0.05696287 0.02903117
+v 0.01900600 -0.06035018 0.02904796
+v 0.02126480 -0.06226646 0.02901224
+v 0.01571153 -0.05670561 0.02912884
+v 0.01918643 -0.06229941 0.02242086
+v 0.01571153 -0.05645490 0.01922182
+v 0.02047047 -0.06344062 0.02368642
+v 0.02200758 -0.06413655 0.02368641
+v 0.02307606 -0.06444329 0.02368641
+v 0.02274333 -0.06453234 0.02578691
+v 0.02475375 -0.06490834 0.02578691
+v 0.02475375 -0.06456533 0.02743475
+v 0.02475375 -0.06374407 0.02848607
+v 0.02249027 -0.06365831 0.02787377
+v 0.02051734 -0.06106590 0.02910782
+v 0.02261211 -0.06246765 0.02909311
+v 0.01571153 -0.05503999 0.02924018
+v 0.02047047 -0.06265892 0.02202912
+v 0.02356812 -0.06431135 0.02258679
+v 0.01571153 -0.05586452 0.01854021
+v 0.02475375 -0.06472363 0.02368641
+v 0.02689539 -0.06502708 0.02578691
+v 0.02689539 -0.06462140 0.02753873
+v 0.02689539 -0.06381334 0.02858899
+v 0.02475375 -0.06267215 0.02914667
+v 0.02261211 -0.06106590 0.02916979
+v 0.01571153 -0.05464420 0.02925908
+v 0.02282300 -0.06314047 0.02161322
+v 0.02047047 -0.06149134 0.02097782
+v 0.02207553 -0.06190032 0.02063964
+v 0.02475375 -0.06438061 0.02247862
+v 0.02350485 -0.06218398 0.02050626
+v 0.02475375 -0.06333176 0.02142733
+v 0.01608175 -0.05588101 0.01854021
+v 0.02689539 -0.06231920 0.02043169
+v 0.02475375 -0.06225983 0.02046320
+v 0.01571153 -0.04800149 0.01854024
+v 0.02689539 -0.06484237 0.02368641
+v 0.02903234 -0.06493473 0.02578691
+v 0.02903234 -0.06457852 0.02745366
+v 0.02903234 -0.06475992 0.02368641
+v 0.02903234 -0.06377045 0.02850497
+v 0.03117398 -0.06258639 0.02914877
+v 0.02903234 -0.06269853 0.02916138
+v 0.02689539 -0.06274471 0.02915928
+v 0.03331562 -0.06106590 0.02923911
+v 0.01618719 -0.05464420 0.02926958
+v 0.01571153 -0.05346013 0.02912150
+v 0.03964916 -0.03955800 0.02915621
+v 0.03964916 -0.03954811 0.02915516
+v 0.02689539 -0.06443998 0.02238620
+v 0.02689539 -0.06339113 0.02133596
+v 0.02144522 -0.05412634 0.01854022
+v 0.03759890 -0.05892529 0.02016599
+v 0.03545726 -0.06051505 0.02032772
+v 0.03331562 -0.06084487 0.02027836
+v 0.03132160 -0.06126375 0.02028780
+v 0.02903234 -0.06228622 0.02044849
+v 0.01571153 -0.04829173 0.01950332
+v 0.03964916 -0.03133542 0.01854030
+v 0.02903234 -0.06440040 0.02244501
+v 0.03117398 -0.06467746 0.02578691
+v 0.03249318 -0.06433775 0.02697579
+v 0.03117398 -0.06444989 0.02721105
+v 0.03117398 -0.06365831 0.02826131
+v 0.03043120 -0.06433114 0.02255214
+v 0.03115758 -0.06448946 0.02364230
+v 0.03264314 -0.06437073 0.02431236
+v 0.03496754 -0.06227306 0.02902800
+v 0.03331562 -0.06243137 0.02910466
+v 0.03759890 -0.06069649 0.02915719
+v 0.03964916 -0.05900119 0.02922020
+v 0.03331562 -0.04608524 0.02926331
+v 0.03545726 -0.04394138 0.02923076
+v 0.01571153 -0.05318308 0.02907739
+v 0.03964916 -0.03835744 0.02897767
+v 0.03964916 -0.04194264 0.02916566
+v 0.02903234 -0.06335485 0.02139372
+v 0.02239888 -0.05373714 0.01854022
+v 0.02592064 -0.05212100 0.01854023
+v 0.02676417 -0.05169553 0.01854023
+v 0.03270641 -0.04811692 0.01854024
+v 0.03332734 -0.04769805 0.01854024
+v 0.03964916 -0.05678473 0.02009038
+v 0.03964916 -0.05792922 0.02022166
+v 0.03964916 -0.05888571 0.02033928
+v 0.03956949 -0.05891540 0.02033613
+v 0.03759890 -0.06020172 0.02043380
+v 0.03213468 -0.06210812 0.02054302
+v 0.03070535 -0.06221036 0.02048945
+v 0.01571153 -0.04843356 0.01993287
+v 0.03964916 -0.03150693 0.01892259
+v 0.03964916 -0.04267811 0.01854026
+v 0.01571153 -0.04900086 0.02164688
+v 0.01571153 -0.05038944 0.02582162
+v 0.01571153 -0.05051808 0.02616295
+v 0.01571153 -0.05106229 0.02738754
+v 0.03272983 -0.06439381 0.02578691
+v 0.03380065 -0.06413984 0.02578691
+v 0.03545726 -0.06368469 0.02578692
+v 0.03897199 -0.06226975 0.02711549
+v 0.03759890 -0.06253031 0.02754504
+v 0.03559082 -0.06281396 0.02807857
+v 0.03639452 -0.06205867 0.02890512
+v 0.03185818 -0.06420910 0.02291132
+v 0.03331562 -0.06298215 0.02168884
+v 0.03545726 -0.06270180 0.02193460
+v 0.03333906 -0.06405409 0.02364230
+v 0.03545726 -0.06350658 0.02368642
+v 0.03964916 -0.06027762 0.02907107
+v 0.01571153 -0.05234862 0.02864364
+v 0.03964916 -0.03715686 0.02827506
+v 0.03866972 -0.04362471 0.01854026
+v 0.03958824 -0.04278035 0.01854026
+v 0.03963979 -0.04269460 0.01854026
+v 0.03964916 -0.05900775 0.02039074
+v 0.03874002 -0.06002692 0.02051572
+v 0.03331562 -0.06191682 0.02063754
+v 0.03964916 -0.03174771 0.01942566
+v 0.03964916 -0.03577160 0.02721116
+v 0.03964916 -0.03509216 0.02624808
+v 0.01571153 -0.05123050 0.02756083
+v 0.03759890 -0.06297556 0.02578692
+v 0.03917584 -0.06235879 0.02578692
+v 0.03964916 -0.06206526 0.02641077
+v 0.03964916 -0.06144848 0.02778765
+v 0.03964916 -0.06138911 0.02786642
+v 0.03759890 -0.06176842 0.02859634
+v 0.03964916 -0.06032379 0.02904691
+v 0.03759890 -0.06234559 0.02235260
+v 0.03868847 -0.06214769 0.02262251
+v 0.03545726 -0.06158699 0.02088330
+v 0.03759890 -0.06127036 0.02130235
+v 0.03759890 -0.06279086 0.02368642
+v 0.01571153 -0.05207156 0.02839578
+v 0.03964916 -0.03707111 0.02821834
+v 0.03964916 -0.03680725 0.02801879
+v 0.03964916 -0.06053815 0.02140843
+v 0.03942890 -0.06092404 0.02168570
+v 0.03896262 -0.06226314 0.02368642
+v 0.03964916 -0.06204546 0.02463059
+v 0.03964916 -0.06214770 0.02578692
+v 0.03964916 -0.06087127 0.02173506
+v 0.03964916 -0.06195970 0.02368642
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 23
+f 1 23 26
+f 1 26 39
+f 1 39 49
+f 1 49 70
+f 1 70 97
+f 1 97 133
+f 1 133 157
+f 1 157 144
+f 1 144 119
+f 1 119 118
+f 1 118 117
+f 1 117 116
+f 1 116 113
+f 1 113 81
+f 1 81 59
+f 1 59 42
+f 1 42 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 4
+f 4 8 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 14 7
+f 6 15 14
+f 7 16 8
+f 7 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 9 12 11
+f 10 13 23
+f 12 24 13
+f 12 22 25
+f 12 25 24
+f 13 24 26
+f 13 26 23
+f 14 27 16
+f 14 15 28
+f 14 28 27
+f 16 27 17
+f 17 27 29
+f 17 29 19
+f 17 19 18
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 25
+f 24 25 37
+f 24 37 26
+f 25 36 35
+f 25 35 38
+f 25 38 37
+f 26 37 39
+f 27 40 41
+f 27 41 30
+f 27 30 29
+f 27 28 42
+f 27 42 40
+f 30 41 31
+f 31 43 33
+f 31 33 32
+f 31 41 43
+f 33 43 60
+f 33 60 44
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 38
+f 37 38 47
+f 37 47 48
+f 37 48 49
+f 37 49 39
+f 40 50 41
+f 40 42 51
+f 40 51 52
+f 40 52 50
+f 41 53 43
+f 41 50 54
+f 41 54 55
+f 41 55 53
+f 42 56 57
+f 42 57 58
+f 42 58 54
+f 42 54 52
+f 42 52 51
+f 42 59 82
+f 42 82 115
+f 42 115 137
+f 42 137 136
+f 42 136 135
+f 42 135 105
+f 42 105 104
+f 42 104 103
+f 42 103 102
+f 42 102 101
+f 42 101 75
+f 42 75 56
+f 43 53 60
+f 44 61 62
+f 44 62 45
+f 44 60 63
+f 44 63 61
+f 45 62 64
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 47 67 48
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 71
+f 49 71 72
+f 49 72 70
+f 50 52 54
+f 53 73 60
+f 53 55 73
+f 54 58 55
+f 55 58 74
+f 55 74 73
+f 56 75 76
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 57
+f 57 80 74
+f 57 74 58
+f 59 81 82
+f 60 73 83
+f 60 83 63
+f 61 63 84
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 62 86 87
+f 62 87 64
+f 63 83 88
+f 63 88 89
+f 63 89 90
+f 63 90 84
+f 64 87 91
+f 64 91 92
+f 64 92 65
+f 65 92 93
+f 65 93 68
+f 65 68 66
+f 66 68 67
+f 68 93 94
+f 68 94 95
+f 68 95 69
+f 69 95 96
+f 69 96 71
+f 70 72 98
+f 70 98 97
+f 71 96 99
+f 71 99 94
+f 71 94 132
+f 71 132 151
+f 71 151 149
+f 71 149 148
+f 71 148 147
+f 71 147 164
+f 71 164 163
+f 71 163 166
+f 71 166 165
+f 71 165 160
+f 71 160 138
+f 71 138 108
+f 71 108 107
+f 71 107 106
+f 71 106 115
+f 71 115 82
+f 71 82 114
+f 71 114 141
+f 71 141 143
+f 71 143 142
+f 71 142 159
+f 71 159 158
+f 71 158 134
+f 71 134 98
+f 71 98 72
+f 73 74 100
+f 73 100 83
+f 74 80 100
+f 75 101 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 106
+f 76 106 107
+f 76 107 108
+f 76 108 109
+f 76 109 110
+f 76 110 77
+f 77 110 111
+f 77 111 78
+f 78 111 112
+f 78 112 79
+f 79 112 80
+f 80 112 100
+f 81 113 82
+f 82 113 116
+f 82 116 117
+f 82 117 118
+f 82 118 119
+f 82 119 114
+f 83 100 88
+f 84 90 120
+f 84 120 85
+f 85 120 121
+f 85 121 122
+f 85 122 123
+f 85 123 124
+f 85 124 125
+f 85 125 126
+f 85 126 86
+f 86 126 91
+f 86 91 87
+f 88 127 89
+f 88 100 111
+f 88 111 128
+f 88 128 129
+f 88 129 127
+f 89 127 90
+f 90 127 130
+f 90 130 131
+f 90 131 122
+f 90 122 121
+f 90 121 120
+f 91 126 132
+f 91 132 93
+f 91 93 92
+f 93 132 94
+f 94 99 96
+f 94 96 95
+f 97 98 133
+f 98 134 133
+f 100 112 111
+f 105 135 106
+f 106 135 136
+f 106 136 137
+f 106 137 115
+f 108 138 139
+f 108 139 109
+f 109 139 110
+f 110 139 111
+f 111 139 140
+f 111 140 128
+f 114 119 141
+f 119 142 143
+f 119 143 141
+f 119 144 142
+f 122 131 145
+f 122 145 123
+f 123 146 147
+f 123 147 148
+f 123 148 149
+f 123 149 150
+f 123 150 126
+f 123 126 124
+f 123 145 146
+f 124 126 125
+f 126 150 151
+f 126 151 132
+f 127 129 152
+f 127 152 153
+f 127 153 131
+f 127 131 130
+f 128 140 129
+f 129 140 154
+f 129 154 155
+f 129 155 152
+f 131 153 156
+f 131 156 145
+f 133 134 158
+f 133 158 159
+f 133 159 142
+f 133 142 157
+f 138 160 139
+f 139 160 161
+f 139 161 152
+f 139 152 155
+f 139 155 154
+f 139 154 140
+f 142 144 157
+f 145 156 162
+f 145 162 146
+f 146 162 163
+f 146 163 164
+f 146 164 147
+f 149 151 150
+f 152 161 153
+f 153 162 156
+f 153 161 165
+f 153 165 166
+f 153 166 162
+f 160 165 161
+f 162 166 163
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_23.obj

@@ -0,0 +1,1000 @@
+# https://github.com/mikedh/trimesh
+v 0.03964916 -0.06214987 0.02578754
+v 0.03964916 -0.06206213 0.02641029
+v 0.03964916 -0.06196053 0.02368627
+v 0.04025012 -0.06188202 0.02578754
+v 0.04188382 -0.06107848 0.02578755
+v 0.04322461 -0.06015026 0.02714807
+v 0.03964916 -0.06144793 0.02778766
+v 0.04003549 -0.06178504 0.02368627
+v 0.03964916 -0.06087066 0.02173475
+v 0.04188382 -0.06032572 0.02222858
+v 0.04302514 -0.06003479 0.02257665
+v 0.04188382 -0.06089837 0.02368628
+v 0.04327259 -0.06017796 0.02368628
+v 0.04342157 -0.06026108 0.02578755
+v 0.04173736 -0.06043196 0.02786502
+v 0.04449219 -0.05963765 0.02578755
+v 0.04720913 -0.05783661 0.02653029
+v 0.04578248 -0.05830304 0.02751201
+v 0.04501992 -0.05779044 0.02891318
+v 0.04235348 -0.05959147 0.02855024
+v 0.03964916 -0.06141099 0.02783724
+v 0.04092683 -0.06004867 0.02897466
+v 0.03964916 -0.06053815 0.02140851
+v 0.04017184 -0.05961916 0.02075006
+v 0.04188382 -0.05918968 0.02117745
+v 0.04298726 -0.05787354 0.02052299
+v 0.04371952 -0.05874173 0.02170897
+v 0.04434321 -0.05954528 0.02368628
+v 0.04558805 -0.05818294 0.02224248
+v 0.04701470 -0.05769806 0.02323411
+v 0.04726973 -0.05787816 0.02463429
+v 0.04726973 -0.05787816 0.02512912
+v 0.04636324 -0.05843695 0.02581235
+v 0.04811309 -0.05719007 0.02581235
+v 0.04968619 -0.05597090 0.02578756
+v 0.04955489 -0.05586008 0.02709354
+v 0.04820652 -0.05630342 0.02783231
+v 0.04636324 -0.05746255 0.02808319
+v 0.04359327 -0.05816451 0.02906887
+v 0.04885545 -0.05525050 0.02849473
+v 0.04742628 -0.05585548 0.02901532
+v 0.03964916 -0.06138790 0.02786699
+v 0.03974258 -0.06026110 0.02906688
+v 0.03964916 -0.06032575 0.02904704
+v 0.03964916 -0.05900495 0.02039109
+v 0.03964916 -0.05888488 0.02033953
+v 0.04188382 -0.05812291 0.02042779
+v 0.04383062 -0.05670978 0.02036334
+v 0.04545927 -0.05594781 0.02043572
+v 0.04688845 -0.05543058 0.02066381
+v 0.04441391 -0.05737479 0.02084130
+v 0.04624709 -0.05836768 0.02383504
+v 0.04623699 -0.05682062 0.02145314
+v 0.04830752 -0.05614177 0.02219091
+v 0.04939834 -0.05573076 0.02261336
+v 0.04811309 -0.05702844 0.02383504
+v 0.04956751 -0.05587393 0.02368629
+v 0.05075681 -0.05504729 0.02578757
+v 0.05033513 -0.05453470 0.02786306
+v 0.05178450 -0.05382352 0.02723238
+v 0.04173736 -0.05889416 0.02912439
+v 0.04616628 -0.05630804 0.02911151
+v 0.05111284 -0.05318624 0.02863356
+v 0.04968367 -0.05382353 0.02905004
+v 0.04820652 -0.05458089 0.02914226
+v 0.03964916 -0.06027958 0.02907084
+v 0.03964916 -0.05792894 0.02022153
+v 0.04188382 -0.05678366 0.02016997
+v 0.04617134 -0.05468707 0.02028005
+v 0.04780504 -0.05400360 0.02039409
+v 0.04923168 -0.05344020 0.02058051
+v 0.04843377 -0.05468708 0.02104757
+v 0.05024675 -0.05449312 0.02215522
+v 0.05163047 -0.05367572 0.02251023
+v 0.05183248 -0.05386507 0.02368630
+v 0.05063813 -0.05493646 0.02368630
+v 0.05194610 -0.05397591 0.02578757
+v 0.05301419 -0.05292761 0.02578758
+v 0.05389543 -0.05168998 0.02721851
+v 0.05252434 -0.05243811 0.02792653
+v 0.03974258 -0.05892648 0.02922256
+v 0.03964916 -0.05900037 0.02921959
+v 0.04419423 -0.05695919 0.02915713
+v 0.05326165 -0.05102499 0.02862067
+v 0.05183753 -0.05175926 0.02906096
+v 0.05041845 -0.05248429 0.02916111
+v 0.03964916 -0.05678366 0.02008965
+v 0.03974258 -0.05678366 0.02008965
+v 0.04402505 -0.05464550 0.02009561
+v 0.04843377 -0.05263665 0.02024932
+v 0.05003212 -0.05201321 0.02037724
+v 0.05145877 -0.05137131 0.02055177
+v 0.05062803 -0.05263666 0.02091768
+v 0.05244354 -0.05235034 0.02207987
+v 0.05375656 -0.05153756 0.02251619
+v 0.05290057 -0.05281216 0.02368631
+v 0.05394846 -0.05174077 0.02368631
+v 0.05404946 -0.05185622 0.02578758
+v 0.05592809 -0.04945022 0.02707374
+v 0.05461759 -0.05023529 0.02784721
+v 0.04402505 -0.03537901 0.02923257
+v 0.03964916 -0.04222297 0.02916610
+v 0.03964916 -0.05892187 0.02921959
+v 0.05472869 -0.04607905 0.02922757
+v 0.04616628 -0.03324085 0.02926729
+v 0.05533975 -0.04875290 0.02847591
+v 0.05592304 -0.04732593 0.02900842
+v 0.05391058 -0.04959801 0.02905204
+v 0.05256474 -0.05033228 0.02916311
+v 0.03964916 -0.04332665 0.01913773
+v 0.04616628 -0.05250273 0.02007380
+v 0.05062803 -0.05054005 0.02024337
+v 0.05208245 -0.04994433 0.02037923
+v 0.05271119 -0.05054006 0.02092660
+v 0.05350658 -0.04912232 0.02058847
+v 0.05426409 -0.05035996 0.02206203
+v 0.05579679 -0.04928857 0.02264412
+v 0.05517310 -0.05027684 0.02348105
+v 0.05597607 -0.04951025 0.02404529
+v 0.05512008 -0.05064629 0.02578758
+v 0.05634725 -0.04811099 0.02782044
+v 0.05602909 -0.04957490 0.02578759
+v 0.05705173 -0.04822181 0.02578759
+v 0.05789257 -0.04708115 0.02578760
+v 0.06019541 -0.04306807 0.02707178
+v 0.05835213 -0.04564032 0.02747933
+v 0.03964916 -0.03955374 0.02915620
+v 0.03964916 -0.04193665 0.02916512
+v 0.05472869 -0.01497182 0.02925347
+v 0.05701386 -0.04407020 0.02917403
+v 0.05901116 -0.03965533 0.02923156
+v 0.05466557 -0.04811100 0.02914030
+v 0.05472869 -0.01611248 0.02926536
+v 0.05782187 -0.04486912 0.02888150
+v 0.05822588 -0.04344214 0.02907190
+v 0.05633967 -0.04607905 0.02911155
+v 0.04047737 -0.04256467 0.01913773
+v 0.03964916 -0.03161064 0.01913777
+v 0.04830752 -0.05035995 0.02007083
+v 0.04146214 -0.04164106 0.01913774
+v 0.05044875 -0.04822179 0.02006885
+v 0.05258746 -0.04607901 0.02007481
+v 0.05271119 -0.04833262 0.02025230
+v 0.05403936 -0.04769533 0.02039906
+v 0.05491807 -0.04848965 0.02134310
+v 0.05600132 -0.04531242 0.02044469
+v 0.05546853 -0.04674402 0.02069557
+v 0.05632452 -0.04786159 0.02209674
+v 0.05664267 -0.04843424 0.02348105
+v 0.05822588 -0.04545096 0.02228119
+v 0.05779157 -0.04693799 0.02368633
+v 0.05748099 -0.04624529 0.02806439
+v 0.05849353 -0.04586660 0.02368633
+v 0.05858948 -0.04600976 0.02578760
+v 0.06028631 -0.04322507 0.02578761
+v 0.06104129 -0.04179809 0.02578762
+v 0.06231897 -0.03880098 0.02704502
+v 0.06046054 -0.04162723 0.02781947
+v 0.06011713 -0.04080061 0.02896481
+v 0.05965505 -0.04222758 0.02847295
+v 0.05966010 -0.04429646 0.02578761
+v 0.03964916 -0.03835766 0.02897771
+v 0.05399896 -0.01497182 0.02917613
+v 0.05331215 -0.01497182 0.02907002
+v 0.06291993 -0.02253158 0.02915627
+v 0.05686993 -0.01611248 0.02921082
+v 0.05694315 -0.01497182 0.02917811
+v 0.05896824 -0.04162724 0.02912744
+v 0.06072314 -0.03752179 0.02915621
+v 0.06115240 -0.03324085 0.02922861
+v 0.03964916 -0.03174918 0.01942633
+v 0.04839589 -0.01497178 0.01913784
+v 0.04172727 -0.04137783 0.01913774
+v 0.04356297 -0.03947981 0.01913774
+v 0.04380032 -0.03922120 0.01913775
+v 0.04489872 -0.03799279 0.01913775
+v 0.05472869 -0.04394085 0.02010060
+v 0.05474385 -0.04604668 0.02028999
+v 0.05646845 -0.04394085 0.02033661
+v 0.05791782 -0.04283715 0.02054089
+v 0.05687498 -0.04609749 0.02148888
+v 0.05753907 -0.04394086 0.02079871
+v 0.05868543 -0.04394086 0.02184984
+v 0.06044539 -0.04142864 0.02217907
+v 0.06007421 -0.04285562 0.02265901
+v 0.05966262 -0.04389007 0.02349000
+v 0.06024086 -0.04314195 0.02406019
+v 0.06190991 -0.04003861 0.02578762
+v 0.06238967 -0.03896722 0.02578763
+v 0.06297295 -0.03752177 0.02578763
+v 0.06374056 -0.03537899 0.02578764
+v 0.06444252 -0.03247425 0.02701827
+v 0.06257147 -0.03752178 0.02746944
+v 0.06209171 -0.03623336 0.02887459
+v 0.06235431 -0.03480638 0.02902433
+v 0.06031156 -0.03965533 0.02905703
+v 0.03964916 -0.03715696 0.02827563
+v 0.05280967 -0.01497182 0.02882311
+v 0.05224405 -0.01497181 0.02835208
+v 0.05174157 -0.01497181 0.02785924
+v 0.06306638 -0.02467436 0.02916022
+v 0.06413699 -0.02467436 0.02882802
+v 0.06265984 -0.02039342 0.02911760
+v 0.06119027 -0.01823217 0.02911562
+v 0.05848595 -0.01497182 0.02903730
+v 0.06050094 -0.01677748 0.02905018
+v 0.06252602 -0.03324085 0.02910466
+v 0.06272550 -0.03109808 0.02915425
+v 0.06291487 -0.02895530 0.02916912
+v 0.06306133 -0.02681714 0.02916715
+v 0.03964916 -0.03509269 0.02624776
+v 0.04847165 -0.01497178 0.01938773
+v 0.05668560 -0.01497178 0.01913784
+v 0.04658544 -0.03587310 0.01913776
+v 0.05706941 -0.04199203 0.02024837
+v 0.04752476 -0.03454310 0.01913776
+v 0.05002707 -0.03092255 0.01913778
+v 0.05018362 -0.03065008 0.01913778
+v 0.05170370 -0.02790696 0.01913779
+v 0.05686993 -0.03965529 0.02008475
+v 0.05901116 -0.03752175 0.02018095
+v 0.05825365 -0.04141016 0.02040604
+v 0.06008431 -0.03859777 0.02053099
+v 0.05968030 -0.04002475 0.02077790
+v 0.06071304 -0.03944749 0.02152064
+v 0.06247047 -0.03709690 0.02229411
+v 0.06219524 -0.03852388 0.02274431
+v 0.06188466 -0.03961837 0.02354157
+v 0.06071052 -0.04200590 0.02349001
+v 0.06235179 -0.03887948 0.02414549
+v 0.06355624 -0.03537899 0.02368637
+v 0.06447787 -0.03260354 0.02419013
+v 0.06422790 -0.03379500 0.02578765
+v 0.06450817 -0.03272361 0.02578765
+v 0.06486673 -0.03109806 0.02578766
+v 0.06521771 -0.02895528 0.02578766
+v 0.06459150 -0.03109807 0.02731081
+v 0.06288710 -0.03546213 0.02806046
+v 0.06379612 -0.03109807 0.02836194
+v 0.06398549 -0.02895530 0.02867232
+v 0.03964916 -0.03706921 0.02821812
+v 0.05120627 -0.01497181 0.02730095
+v 0.06413194 -0.02681714 0.02881711
+v 0.06487683 -0.02467435 0.02777690
+v 0.06479350 -0.02253157 0.02764601
+v 0.06399054 -0.02253158 0.02869714
+v 0.06241239 -0.01893412 0.02903430
+v 0.05952880 -0.01497182 0.02861288
+v 0.05970302 -0.01535050 0.02877847
+v 0.06193011 -0.01750714 0.02879236
+v 0.05083004 -0.01497181 0.02648682
+v 0.05057501 -0.01497180 0.02578772
+v 0.04852467 -0.01497178 0.01956126
+v 0.03964916 -0.03577154 0.02721162
+v 0.05663762 -0.01584459 0.01913783
+v 0.05781934 -0.01497178 0.01991825
+v 0.06021308 -0.01703145 0.02047157
+v 0.06209676 -0.01958985 0.02058362
+v 0.06234169 -0.02101683 0.02046660
+v 0.06247299 -0.02253154 0.02040115
+v 0.06256642 -0.02467432 0.02036246
+v 0.06255884 -0.02681710 0.02036543
+v 0.05898591 -0.03944748 0.02034655
+v 0.05231981 -0.02671088 0.01913779
+v 0.05240061 -0.02655387 0.01913779
+v 0.05437267 -0.02234220 0.01913781
+v 0.05901116 -0.03537897 0.02009568
+v 0.06115240 -0.03109804 0.02019783
+v 0.06059184 -0.03537897 0.02033268
+v 0.06025096 -0.03752176 0.02045265
+v 0.06223312 -0.03221100 0.02052705
+v 0.06196798 -0.03363798 0.02065893
+v 0.06166245 -0.03537898 0.02089691
+v 0.06277095 -0.03537898 0.02194804
+v 0.06432637 -0.03199395 0.02278797
+v 0.06269267 -0.03769726 0.02354158
+v 0.06415972 -0.03328702 0.02356838
+v 0.06464705 -0.03120889 0.02356839
+v 0.06503844 -0.02895528 0.02368639
+v 0.06541214 -0.02681712 0.02578767
+v 0.06476573 -0.02895529 0.02762119
+v 0.03964916 -0.03680598 0.02801880
+v 0.06486168 -0.02681713 0.02776598
+v 0.06544496 -0.02467434 0.02578768
+v 0.06527579 -0.02253156 0.02578769
+v 0.06456878 -0.02039341 0.02724242
+v 0.06373046 -0.02039341 0.02829356
+v 0.06320778 -0.01837994 0.02785030
+v 0.06122057 -0.01604782 0.02808433
+v 0.06066254 -0.01497181 0.02752804
+v 0.06257652 -0.01674976 0.02739019
+v 0.05661743 -0.01596005 0.01913783
+v 0.06115240 -0.02895526 0.02013139
+v 0.06043276 -0.01497179 0.02224264
+v 0.06099837 -0.01626485 0.02164567
+v 0.06242754 -0.01692523 0.02237154
+v 0.06169023 -0.01825061 0.02089896
+v 0.06329868 -0.02033336 0.02152468
+v 0.06282902 -0.01825061 0.02195009
+v 0.06354614 -0.02253155 0.02122519
+v 0.06363704 -0.02467433 0.02110024
+v 0.06362946 -0.02681711 0.02111709
+v 0.06247047 -0.02895526 0.02040013
+v 0.05445852 -0.02212977 0.01913781
+v 0.05621089 -0.01737317 0.01913783
+v 0.06232402 -0.03109805 0.02047549
+v 0.06121300 -0.03305147 0.02032078
+v 0.06292498 -0.03305148 0.02144926
+v 0.06354109 -0.02895527 0.02124896
+v 0.06446777 -0.03056697 0.02247363
+v 0.06458645 -0.02895527 0.02230009
+v 0.06523286 -0.02681712 0.02368640
+v 0.06526063 -0.02467434 0.02368641
+v 0.06508641 -0.02253156 0.02368642
+v 0.06463443 -0.02037493 0.02372610
+v 0.06482128 -0.02039340 0.02578770
+v 0.06439455 -0.01925737 0.02690924
+v 0.06181143 -0.01544284 0.02578771
+v 0.06128117 -0.01497180 0.02578772
+v 0.06277347 -0.01650961 0.02578771
+v 0.06065496 -0.01497179 0.02262442
+v 0.06169781 -0.01557215 0.02368644
+v 0.06266237 -0.01664354 0.02368644
+v 0.06379359 -0.01838916 0.02372610
+v 0.06425567 -0.01965450 0.02305179
+v 0.06447535 -0.02108148 0.02246473
+v 0.06460665 -0.02253155 0.02227632
+v 0.06469503 -0.02467433 0.02215137
+v 0.06468240 -0.02681711 0.02216822
+v 0.06442738 -0.01919271 0.02445197
+v 0.06443495 -0.01917885 0.02578770
+v 0.06384409 -0.01810746 0.02578770
+v 0.06116250 -0.01497180 0.02463644
+v 0.06104634 -0.01497180 0.02368645
+f 1 2 7
+f 1 7 21
+f 1 21 42
+f 1 42 44
+f 1 44 66
+f 1 66 82
+f 1 82 103
+f 1 103 102
+f 1 102 128
+f 1 128 127
+f 1 127 162
+f 1 162 197
+f 1 197 241
+f 1 241 282
+f 1 282 254
+f 1 254 211
+f 1 211 171
+f 1 171 138
+f 1 138 110
+f 1 110 87
+f 1 87 67
+f 1 67 46
+f 1 46 45
+f 1 45 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 8 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 15
+f 7 15 22
+f 7 22 21
+f 8 11 12
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 28 13
+f 11 13 12
+f 11 27 29
+f 11 29 30
+f 11 30 28
+f 13 28 16
+f 13 16 14
+f 15 20 22
+f 16 28 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 32
+f 17 32 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 39 22
+f 19 22 20
+f 19 38 37
+f 19 37 40
+f 19 40 41
+f 19 41 39
+f 21 22 42
+f 22 43 44
+f 22 44 42
+f 22 39 43
+f 23 45 24
+f 24 45 46
+f 24 46 26
+f 24 26 25
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 27
+f 27 51 29
+f 28 52 31
+f 28 30 52
+f 29 51 53
+f 29 53 54
+f 29 54 55
+f 29 55 30
+f 30 55 56
+f 30 56 31
+f 30 31 52
+f 31 56 57
+f 31 57 35
+f 31 35 32
+f 32 35 34
+f 35 57 58
+f 35 58 36
+f 36 59 40
+f 36 40 37
+f 36 58 60
+f 36 60 59
+f 39 61 43
+f 39 41 62
+f 39 62 61
+f 40 59 63
+f 40 63 41
+f 41 63 64
+f 41 64 65
+f 41 65 62
+f 43 66 44
+f 43 61 66
+f 46 67 68
+f 46 68 47
+f 47 68 48
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 71
+f 49 71 50
+f 50 72 54
+f 50 54 53
+f 50 53 51
+f 50 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 55 74 75
+f 55 75 76
+f 55 76 57
+f 55 57 56
+f 57 76 58
+f 58 76 75
+f 58 75 77
+f 58 77 60
+f 59 60 63
+f 60 78 79
+f 60 79 80
+f 60 80 63
+f 60 77 78
+f 61 62 81
+f 61 81 82
+f 61 82 66
+f 62 65 83
+f 62 83 81
+f 63 80 84
+f 63 84 85
+f 63 85 64
+f 64 85 86
+f 64 86 65
+f 65 81 83
+f 65 86 81
+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 71
+f 71 91 92
+f 71 92 93
+f 71 93 73
+f 71 73 72
+f 73 93 74
+f 74 93 94
+f 74 94 95
+f 74 95 96
+f 74 96 75
+f 75 96 78
+f 75 78 77
+f 78 96 97
+f 78 97 98
+f 78 98 79
+f 79 84 80
+f 79 98 99
+f 79 99 100
+f 79 100 84
+f 81 101 102
+f 81 102 103
+f 81 103 82
+f 81 86 104
+f 81 104 105
+f 81 105 101
+f 84 100 106
+f 84 106 107
+f 84 107 108
+f 84 108 85
+f 85 108 109
+f 85 109 86
+f 86 109 104
+f 87 110 88
+f 88 110 89
+f 89 110 111
+f 89 111 90
+f 90 111 112
+f 90 112 91
+f 91 112 113
+f 91 113 92
+f 92 114 95
+f 92 95 94
+f 92 94 93
+f 92 113 115
+f 92 115 114
+f 95 97 96
+f 95 114 116
+f 95 116 117
+f 95 117 97
+f 97 117 118
+f 97 118 119
+f 97 119 98
+f 98 119 120
+f 98 120 99
+f 99 121 106
+f 99 106 100
+f 99 120 122
+f 99 122 123
+f 99 123 124
+f 99 124 125
+f 99 125 126
+f 99 126 121
+f 101 127 128
+f 101 128 102
+f 101 105 129
+f 101 129 127
+f 104 130 131
+f 104 131 105
+f 104 109 132
+f 104 132 130
+f 105 133 129
+f 105 131 133
+f 106 121 134
+f 106 134 107
+f 107 132 108
+f 107 134 135
+f 107 135 136
+f 107 136 132
+f 108 132 109
+f 110 137 111
+f 110 138 172
+f 110 172 213
+f 110 213 255
+f 110 255 292
+f 110 292 305
+f 110 305 304
+f 110 304 266
+f 110 266 265
+f 110 265 264
+f 110 264 219
+f 110 219 218
+f 110 218 217
+f 110 217 216
+f 110 216 214
+f 110 214 176
+f 110 176 175
+f 110 175 174
+f 110 174 173
+f 110 173 140
+f 110 140 137
+f 111 139 112
+f 111 137 140
+f 111 140 139
+f 112 139 141
+f 112 141 142
+f 112 142 143
+f 112 143 113
+f 113 143 144
+f 113 144 115
+f 114 115 116
+f 115 145 116
+f 115 144 146
+f 115 146 147
+f 115 147 145
+f 116 145 148
+f 116 148 117
+f 117 149 119
+f 117 119 118
+f 117 148 150
+f 117 150 151
+f 117 151 149
+f 119 122 120
+f 119 149 151
+f 119 151 124
+f 119 124 123
+f 119 123 122
+f 121 126 152
+f 121 152 134
+f 124 151 153
+f 124 153 154
+f 124 154 125
+f 125 155 156
+f 125 156 157
+f 125 157 158
+f 125 158 159
+f 125 159 160
+f 125 160 134
+f 125 134 126
+f 125 154 161
+f 125 161 155
+f 126 134 152
+f 127 129 163
+f 127 163 164
+f 127 164 162
+f 129 133 165
+f 129 165 166
+f 129 166 167
+f 129 167 205
+f 129 205 248
+f 129 248 290
+f 129 290 319
+f 129 319 333
+f 129 333 334
+f 129 334 321
+f 129 321 294
+f 129 294 256
+f 129 256 213
+f 129 213 172
+f 129 172 212
+f 129 212 253
+f 129 253 252
+f 129 252 251
+f 129 251 242
+f 129 242 200
+f 129 200 199
+f 129 199 198
+f 129 198 164
+f 129 164 163
+f 130 132 136
+f 130 136 168
+f 130 168 131
+f 131 168 169
+f 131 169 170
+f 131 170 133
+f 133 170 165
+f 134 160 159
+f 134 159 135
+f 135 159 168
+f 135 168 136
+f 138 171 172
+f 139 140 141
+f 140 173 141
+f 141 173 174
+f 141 174 142
+f 142 174 175
+f 142 175 176
+f 142 176 177
+f 142 177 143
+f 143 177 178
+f 143 178 144
+f 144 178 146
+f 145 147 148
+f 146 178 179
+f 146 179 180
+f 146 180 147
+f 147 181 148
+f 147 180 182
+f 147 182 181
+f 148 181 150
+f 150 182 183
+f 150 183 184
+f 150 184 185
+f 150 185 151
+f 150 181 182
+f 151 185 153
+f 153 185 186
+f 153 186 187
+f 153 187 154
+f 154 187 161
+f 155 161 187
+f 155 187 156
+f 156 187 188
+f 156 188 157
+f 157 188 189
+f 157 189 190
+f 157 190 191
+f 157 191 192
+f 157 192 193
+f 157 193 159
+f 157 159 158
+f 159 193 194
+f 159 194 195
+f 159 195 196
+f 159 196 168
+f 162 164 198
+f 162 198 199
+f 162 199 200
+f 162 200 197
+f 165 201 202
+f 165 202 203
+f 165 203 166
+f 165 170 201
+f 166 204 167
+f 166 203 204
+f 167 204 206
+f 167 206 205
+f 168 196 169
+f 169 196 195
+f 169 195 207
+f 169 207 208
+f 169 208 170
+f 170 208 209
+f 170 209 210
+f 170 210 201
+f 171 211 172
+f 172 211 212
+f 176 214 177
+f 177 215 179
+f 177 179 178
+f 177 214 216
+f 177 216 217
+f 177 217 218
+f 177 218 219
+f 177 219 220
+f 177 220 221
+f 177 221 215
+f 179 215 222
+f 179 222 180
+f 180 222 223
+f 180 223 224
+f 180 224 184
+f 180 184 183
+f 180 183 182
+f 184 224 225
+f 184 225 226
+f 184 226 227
+f 184 227 185
+f 185 227 228
+f 185 228 229
+f 185 229 187
+f 185 187 186
+f 187 229 230
+f 187 230 188
+f 188 230 189
+f 189 230 190
+f 190 230 191
+f 191 230 231
+f 191 231 232
+f 191 232 233
+f 191 233 192
+f 192 233 234
+f 192 234 235
+f 192 235 236
+f 192 236 237
+f 192 237 194
+f 192 194 238
+f 192 238 193
+f 193 238 194
+f 194 237 195
+f 195 237 239
+f 195 239 240
+f 195 240 207
+f 197 200 242
+f 197 242 241
+f 201 210 202
+f 202 210 243
+f 202 243 244
+f 202 244 245
+f 202 245 246
+f 202 246 203
+f 203 246 247
+f 203 247 204
+f 204 247 206
+f 205 206 249
+f 205 249 248
+f 206 247 250
+f 206 250 249
+f 207 240 243
+f 207 243 208
+f 208 243 209
+f 209 243 210
+f 211 251 252
+f 211 252 253
+f 211 253 212
+f 211 254 251
+f 213 256 257
+f 213 257 258
+f 213 258 259
+f 213 259 260
+f 213 260 261
+f 213 261 262
+f 213 262 255
+f 215 221 263
+f 215 263 222
+f 219 264 220
+f 220 264 265
+f 220 265 221
+f 221 265 266
+f 221 266 267
+f 221 267 268
+f 221 268 269
+f 221 269 263
+f 222 263 223
+f 223 225 224
+f 223 263 270
+f 223 270 271
+f 223 271 272
+f 223 272 273
+f 223 273 274
+f 223 274 226
+f 223 226 225
+f 226 274 275
+f 226 275 227
+f 227 275 231
+f 227 231 276
+f 227 276 230
+f 227 230 228
+f 228 230 229
+f 230 276 231
+f 231 275 277
+f 231 277 232
+f 232 275 278
+f 232 278 279
+f 232 279 235
+f 232 235 234
+f 232 234 233
+f 232 277 275
+f 235 279 236
+f 236 279 312
+f 236 312 280
+f 236 280 281
+f 236 281 237
+f 237 281 240
+f 237 240 239
+f 240 281 243
+f 241 242 282
+f 242 251 254
+f 242 254 282
+f 243 281 283
+f 243 283 244
+f 244 283 284
+f 244 284 245
+f 245 284 285
+f 245 285 286
+f 245 286 246
+f 246 286 287
+f 246 287 247
+f 247 287 288
+f 247 288 250
+f 248 249 250
+f 248 250 289
+f 248 289 290
+f 250 288 291
+f 250 291 289
+f 255 262 293
+f 255 293 292
+f 256 294 295
+f 256 295 257
+f 257 295 296
+f 257 296 297
+f 257 297 258
+f 258 298 259
+f 258 297 299
+f 258 299 298
+f 259 298 300
+f 259 300 260
+f 260 300 301
+f 260 301 261
+f 261 301 262
+f 262 302 303
+f 262 303 293
+f 262 301 302
+f 263 269 270
+f 266 304 267
+f 267 304 305
+f 267 305 268
+f 268 306 307
+f 268 307 269
+f 268 305 292
+f 268 292 293
+f 268 293 303
+f 268 303 306
+f 269 307 271
+f 269 271 270
+f 271 308 272
+f 271 307 306
+f 271 306 309
+f 271 309 310
+f 271 310 308
+f 272 308 274
+f 272 274 273
+f 274 308 310
+f 274 310 275
+f 275 310 279
+f 275 279 278
+f 279 310 311
+f 279 311 312
+f 280 283 281
+f 280 312 284
+f 280 284 283
+f 284 312 313
+f 284 313 285
+f 285 313 314
+f 285 314 315
+f 285 315 316
+f 285 316 317
+f 285 317 286
+f 286 317 287
+f 287 317 288
+f 288 317 291
+f 289 291 290
+f 290 318 319
+f 290 291 318
+f 291 320 318
+f 291 317 320
+f 294 321 296
+f 294 296 295
+f 296 321 322
+f 296 322 323
+f 296 323 324
+f 296 324 325
+f 296 325 299
+f 296 299 297
+f 298 326 300
+f 298 299 326
+f 299 325 326
+f 300 327 301
+f 300 326 327
+f 301 328 302
+f 301 327 328
+f 302 329 309
+f 302 309 306
+f 302 306 303
+f 302 328 329
+f 309 329 311
+f 309 311 310
+f 311 329 312
+f 312 329 313
+f 313 329 328
+f 313 328 327
+f 313 327 314
+f 314 327 326
+f 314 326 315
+f 315 325 330
+f 315 330 316
+f 315 326 325
+f 316 330 331
+f 316 331 317
+f 317 331 332
+f 317 332 320
+f 318 320 322
+f 318 322 333
+f 318 333 319
+f 320 332 323
+f 320 323 322
+f 321 334 322
+f 322 334 333
+f 323 332 330
+f 323 330 324
+f 324 330 325
+f 330 332 331
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_24.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02250777 -0.00016131 -0.01939969
+v 0.02250777 -0.01555756 -0.01811821
+v 0.02250777 -0.00016128 -0.02826470
+v 0.00369819 -0.00016131 -0.02038429
+v 0.02250777 -0.01555752 -0.03025060
+v 0.00369819 -0.01555756 -0.02026083
+v 0.02250777 -0.01206111 -0.03008549
+v 0.00369819 -0.00016128 -0.02760434
+v 0.02250777 -0.01544750 -0.03025060
+v 0.02054874 -0.01555752 -0.03013540
+v 0.00369819 -0.01555753 -0.02760678
+v 0.02250777 -0.01396605 -0.03024822
+v 0.00369819 -0.01182602 -0.02760794
+v 0.00369819 -0.01432475 -0.02760795
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 8
+f 4 8 13
+f 4 13 14
+f 4 14 11
+f 4 11 6
+f 5 10 9
+f 7 12 8
+f 8 12 10
+f 8 10 13
+f 9 10 12
+f 10 11 14
+f 10 14 13
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_25.obj

@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.01617390 0.03275709 -0.01307346
+v 0.03062901 0.02004191 -0.01307351
+v 0.01617390 0.04257889 0.00100655
+v 0.01617390 0.04331640 -0.01307342
+v 0.03062901 0.03474347 -0.01307345
+v 0.03062901 0.03384836 0.00100651
+v 0.01617390 0.05042032 0.00100658
+v 0.01617390 0.04336695 -0.01306929
+v 0.01618946 0.04335803 -0.01307342
+v 0.03008562 0.03521330 -0.01307345
+v 0.03062901 0.03475536 -0.01306243
+v 0.03062901 0.04322119 0.00100655
+v 0.01832766 0.04967989 0.00100657
+v 0.01618805 0.05027461 0.00056278
+v 0.01617390 0.05027759 0.00056278
+v 0.01731021 0.04295362 -0.01307342
+v 0.01617390 0.04422632 -0.01195017
+v 0.03062901 0.03550471 -0.01226306
+v 0.02871864 0.03632543 -0.01307345
+v 0.02963279 0.03596265 -0.01268617
+v 0.03062901 0.04308144 0.00061789
+v 0.03057524 0.04309928 0.00056276
+v 0.03047901 0.04332527 0.00100655
+v 0.01909464 0.04940037 0.00100657
+v 0.01832766 0.04954607 0.00058896
+v 0.01617390 0.04976612 -0.00091330
+v 0.01761304 0.04932008 -0.00084577
+v 0.01749276 0.04288225 -0.01307342
+v 0.01691682 0.04478238 -0.01080348
+v 0.01617390 0.04491620 -0.01100470
+v 0.03040118 0.03658710 -0.01128451
+v 0.03062901 0.03618566 -0.01151192
+v 0.02830402 0.03664361 -0.01307345
+v 0.02884742 0.03727103 -0.01188679
+v 0.03062901 0.04306062 0.00056276
+v 0.03022854 0.04285544 -0.00069832
+v 0.02892100 0.04422330 0.00059997
+v 0.02904694 0.04428872 0.00100655
+v 0.03036156 0.04340556 0.00100655
+v 0.01996633 0.04905543 0.00100657
+v 0.01904086 0.04905543 -0.00009326
+v 0.01617390 0.04954608 -0.00154040
+v 0.01617390 0.04954311 -0.00154867
+v 0.01832766 0.04879079 -0.00154315
+v 0.01687012 0.04906139 -0.00224605
+v 0.01820879 0.04333126 -0.01207559
+v 0.01884275 0.04252542 -0.01279364
+v 0.01780974 0.04274844 -0.01307342
+v 0.01832907 0.04449394 -0.01035556
+v 0.02000878 0.04305769 -0.01139199
+v 0.01617390 0.04549903 -0.01007715
+v 0.01619654 0.04551389 -0.01003994
+v 0.01832907 0.04516002 -0.00930396
+v 0.03062901 0.03649194 -0.01116599
+v 0.02806346 0.03855861 -0.01108880
+v 0.02948986 0.03801443 -0.01037487
+v 0.03017618 0.03854075 -0.00897322
+v 0.03062901 0.03784493 -0.00940598
+v 0.03062901 0.03684877 -0.01070427
+v 0.02777478 0.03703612 -0.01307344
+v 0.03062901 0.04270379 -0.00034136
+v 0.02906392 0.04331636 -0.00145497
+v 0.02770827 0.04475261 -0.00007674
+v 0.03062901 0.04240048 -0.00107044
+v 0.02979694 0.04255809 -0.00209998
+v 0.02847808 0.04466637 0.00100655
+v 0.02057482 0.04879375 0.00100657
+v 0.02040501 0.04872536 0.00058896
+v 0.02047010 0.04792546 -0.00154040
+v 0.01617390 0.04917736 -0.00254513
+v 0.02029180 0.04725640 -0.00343823
+v 0.01832907 0.04796709 -0.00364219
+v 0.01617390 0.04875510 -0.00359671
+v 0.02062151 0.04223400 -0.01207559
+v 0.02160075 0.04095238 -0.01307343
+v 0.01940878 0.04201693 -0.01307343
+v 0.01871115 0.04233808 -0.01307342
+v 0.01945124 0.04493105 -0.00893460
+v 0.02044321 0.04382785 -0.00992831
+v 0.02143660 0.04271572 -0.01092339
+v 0.01617390 0.04553471 -0.01001926
+v 0.01635786 0.04670333 -0.00788714
+v 0.01832907 0.04598074 -0.00784442
+v 0.02578941 0.03848427 -0.01307344
+v 0.02689318 0.03896004 -0.01157807
+v 0.02557998 0.04047361 -0.01079109
+v 0.02699224 0.04007217 -0.01003306
+v 0.02777195 0.04049442 -0.00868929
+v 0.02887996 0.03891247 -0.00978362
+v 0.02689318 0.03807689 -0.01262966
+v 0.03062901 0.03889759 -0.00786099
+v 0.03062901 0.03839207 -0.00863831
+v 0.02907241 0.04002459 -0.00793127
+v 0.02836912 0.04303387 -0.00317775
+v 0.02695403 0.04454149 -0.00173199
+v 0.02628045 0.04517486 -0.00116002
+v 0.02695403 0.04544546 0.00059998
+v 0.02761346 0.04520162 0.00100656
+v 0.03062901 0.04207339 -0.00181607
+v 0.03062901 0.04135377 -0.00339966
+v 0.03062901 0.04123483 -0.00365463
+v 0.02906392 0.04228154 -0.00378417
+v 0.02223330 0.04805035 0.00100657
+v 0.02274839 0.04763107 0.00045664
+v 0.02198707 0.04725640 -0.00154041
+v 0.02155123 0.04705420 -0.00260164
+v 0.01945973 0.04707502 -0.00475030
+v 0.01832907 0.04729209 -0.00522165
+v 0.01635786 0.04768164 -0.00592178
+v 0.01617390 0.04781545 -0.00575639
+v 0.02186538 0.04081559 -0.01307343
+v 0.02087906 0.04459801 -0.00835437
+v 0.02261113 0.04309931 -0.00941010
+v 0.02028755 0.04521652 -0.00773003
+v 0.02171679 0.04499647 -0.00695271
+v 0.02261113 0.04240349 -0.01046030
+v 0.02415216 0.04090776 -0.01136305
+v 0.02252905 0.04126460 -0.01205768
+v 0.02374886 0.04280492 -0.00895528
+v 0.01617390 0.04672414 -0.00796432
+v 0.01617390 0.04687580 -0.00768179
+v 0.01617390 0.04719695 -0.00707675
+v 0.01718568 0.04702447 -0.00674046
+v 0.01832907 0.04679847 -0.00627048
+v 0.02364414 0.03979861 -0.01307343
+v 0.02318707 0.04034873 -0.01276471
+v 0.02497574 0.03969750 -0.01222307
+v 0.02466442 0.04165116 -0.00987319
+v 0.02634413 0.04096425 -0.00938943
+v 0.02682526 0.04165710 -0.00777277
+v 0.02838468 0.04091965 -0.00728764
+v 0.02981250 0.04041412 -0.00640970
+v 0.03062901 0.03996213 -0.00608996
+v 0.02705733 0.04358101 -0.00378417
+v 0.02580073 0.04489535 -0.00256168
+v 0.02787950 0.04271273 -0.00457941
+v 0.02495168 0.04568633 -0.00173198
+v 0.02474791 0.04662896 0.00045664
+v 0.02657337 0.04580527 0.00100656
+v 0.03062901 0.04101479 -0.00411082
+v 0.03033184 0.04079474 -0.00500943
+v 0.02267339 0.04784814 0.00100657
+v 0.02386489 0.04728315 0.00100656
+v 0.02355216 0.04698579 -0.00031378
+v 0.02305688 0.04675089 -0.00154041
+v 0.02240311 0.04628700 -0.00343823
+v 0.02088755 0.04675981 -0.00400330
+v 0.02029180 0.04631378 -0.00556759
+v 0.01617390 0.04755675 -0.00631734
+v 0.01617390 0.04775301 -0.00589697
+v 0.02225028 0.04060744 -0.01307343
+v 0.02250217 0.04415197 -0.00773004
+v 0.02250217 0.04525814 -0.00562272
+v 0.02314461 0.04463071 -0.00624155
+v 0.02457810 0.04307255 -0.00767215
+v 0.02587715 0.04280194 -0.00685486
+v 0.02517526 0.04239158 -0.00825652
+v 0.02303141 0.04015545 -0.01307343
+v 0.02740686 0.04241239 -0.00574401
+v 0.02907241 0.04130026 -0.00572335
+v 0.03062901 0.04041412 -0.00528094
+v 0.02537055 0.04465746 -0.00364221
+v 0.02429933 0.04524326 -0.00364220
+v 0.02633705 0.04308443 -0.00574401
+v 0.02497291 0.04670033 0.00100656
+v 0.02412527 0.04715231 0.00100656
+v 0.03062901 0.04070256 -0.00474205
+v 0.02381395 0.04497862 -0.00484264
+v 0.02461772 0.04414006 -0.00562273
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 42
+f 1 42 43
+f 1 43 70
+f 1 70 73
+f 1 73 110
+f 1 110 150
+f 1 150 149
+f 1 149 122
+f 1 122 121
+f 1 121 120
+f 1 120 81
+f 1 81 51
+f 1 51 30
+f 1 30 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 28
+f 1 28 48
+f 1 48 77
+f 1 77 76
+f 1 76 75
+f 1 75 111
+f 1 111 151
+f 1 151 158
+f 1 158 125
+f 1 125 84
+f 1 84 60
+f 1 60 33
+f 1 33 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 32
+f 2 32 54
+f 2 54 59
+f 2 59 58
+f 2 58 92
+f 2 92 91
+f 2 91 133
+f 2 133 161
+f 2 161 167
+f 2 167 140
+f 2 140 101
+f 2 101 100
+f 2 100 99
+f 2 99 64
+f 2 64 61
+f 2 61 35
+f 2 35 21
+f 2 21 12
+f 2 12 6
+f 2 6 3
+f 3 6 12
+f 3 12 23
+f 3 23 39
+f 3 39 38
+f 3 38 66
+f 3 66 98
+f 3 98 139
+f 3 139 165
+f 3 165 166
+f 3 166 143
+f 3 143 142
+f 3 142 103
+f 3 103 67
+f 3 67 40
+f 3 40 24
+f 3 24 13
+f 3 13 7
+f 4 8 9
+f 5 10 11
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 8 17 16
+f 10 18 11
+f 10 19 20
+f 10 20 18
+f 12 21 22
+f 12 22 23
+f 13 24 25
+f 13 25 14
+f 14 26 15
+f 14 25 27
+f 14 27 26
+f 16 17 29
+f 16 29 28
+f 17 30 29
+f 18 20 31
+f 18 31 32
+f 19 33 34
+f 19 34 20
+f 20 34 31
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 24 40 41
+f 24 41 25
+f 25 41 27
+f 26 27 42
+f 27 43 42
+f 27 41 44
+f 27 44 45
+f 27 45 43
+f 28 29 46
+f 28 46 47
+f 28 47 48
+f 29 49 50
+f 29 50 46
+f 29 30 51
+f 29 51 52
+f 29 52 53
+f 29 53 49
+f 31 54 32
+f 31 34 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 59
+f 31 59 54
+f 33 60 55
+f 33 55 34
+f 35 61 36
+f 36 62 63
+f 36 63 37
+f 36 61 64
+f 36 64 65
+f 36 65 62
+f 37 63 66
+f 37 66 38
+f 40 67 68
+f 40 68 41
+f 41 68 69
+f 41 69 44
+f 43 45 70
+f 44 69 71
+f 44 71 72
+f 44 72 45
+f 45 72 73
+f 45 73 70
+f 46 50 47
+f 47 74 75
+f 47 75 76
+f 47 76 77
+f 47 77 48
+f 47 50 74
+f 49 53 78
+f 49 78 50
+f 50 78 79
+f 50 79 80
+f 50 80 74
+f 51 81 52
+f 52 81 53
+f 53 81 82
+f 53 82 83
+f 53 83 78
+f 55 84 85
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 89
+f 55 89 57
+f 55 57 56
+f 55 60 90
+f 55 90 84
+f 57 91 92
+f 57 92 58
+f 57 89 88
+f 57 88 93
+f 57 93 91
+f 60 84 90
+f 62 65 94
+f 62 94 95
+f 62 95 63
+f 63 95 96
+f 63 96 97
+f 63 97 98
+f 63 98 66
+f 64 99 65
+f 65 99 100
+f 65 100 101
+f 65 101 102
+f 65 102 94
+f 67 103 104
+f 67 104 68
+f 68 104 105
+f 68 105 69
+f 69 105 106
+f 69 106 71
+f 71 106 107
+f 71 107 72
+f 72 107 108
+f 72 108 73
+f 73 108 109
+f 73 109 110
+f 74 80 75
+f 75 80 111
+f 78 112 113
+f 78 113 79
+f 78 83 114
+f 78 114 115
+f 78 115 112
+f 79 113 80
+f 80 116 117
+f 80 117 118
+f 80 118 111
+f 80 113 119
+f 80 119 116
+f 81 120 82
+f 82 120 121
+f 82 121 122
+f 82 122 123
+f 82 123 83
+f 83 123 124
+f 83 124 114
+f 84 125 126
+f 84 126 127
+f 84 127 86
+f 84 86 85
+f 86 127 117
+f 86 117 128
+f 86 128 129
+f 86 129 87
+f 87 129 88
+f 88 129 130
+f 88 130 131
+f 88 131 93
+f 91 93 132
+f 91 132 133
+f 93 131 132
+f 94 134 135
+f 94 135 95
+f 94 102 136
+f 94 136 134
+f 95 135 96
+f 96 135 137
+f 96 137 138
+f 96 138 97
+f 97 138 139
+f 97 139 98
+f 101 140 141
+f 101 141 102
+f 102 141 136
+f 103 142 104
+f 104 143 144
+f 104 144 105
+f 104 142 143
+f 105 144 145
+f 105 145 106
+f 106 145 146
+f 106 146 147
+f 106 147 107
+f 107 147 148
+f 107 148 124
+f 107 124 123
+f 107 123 108
+f 108 123 109
+f 109 123 149
+f 109 149 150
+f 109 150 110
+f 111 118 126
+f 111 126 151
+f 112 115 152
+f 112 152 119
+f 112 119 113
+f 114 124 148
+f 114 148 115
+f 115 148 153
+f 115 153 154
+f 115 154 152
+f 116 119 117
+f 117 119 128
+f 117 127 126
+f 117 126 118
+f 119 152 155
+f 119 155 156
+f 119 156 157
+f 119 157 129
+f 119 129 128
+f 122 149 123
+f 125 158 126
+f 126 158 151
+f 129 157 130
+f 130 157 156
+f 130 156 131
+f 131 156 159
+f 131 159 160
+f 131 160 132
+f 132 161 133
+f 132 160 141
+f 132 141 161
+f 134 162 135
+f 134 136 162
+f 135 162 163
+f 135 163 137
+f 136 141 160
+f 136 160 159
+f 136 159 164
+f 136 164 162
+f 137 145 144
+f 137 144 138
+f 137 163 145
+f 138 165 139
+f 138 144 166
+f 138 166 165
+f 140 167 141
+f 141 167 161
+f 143 166 144
+f 145 163 146
+f 146 163 168
+f 146 168 153
+f 146 153 147
+f 147 153 148
+f 152 154 155
+f 153 168 154
+f 154 168 169
+f 154 169 156
+f 154 156 155
+f 156 169 164
+f 156 164 159
+f 162 168 163
+f 162 164 169
+f 162 169 168
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_26.obj

@@ -0,0 +1,1081 @@
+# https://github.com/mikedh/trimesh
+v -0.02133694 0.04987572 0.00609929
+v -0.02133694 0.04210866 0.00609926
+v -0.02133694 0.04953145 0.00476539
+v -0.02217142 0.04952865 0.00609929
+v -0.02133694 0.02984378 -0.01306700
+v -0.04221564 0.02128455 0.00609919
+v -0.02133694 0.04921798 0.00362097
+v -0.02134822 0.04921798 0.00362847
+v -0.02170625 0.04937751 0.00476539
+v -0.02318631 0.04907802 0.00609929
+v -0.02133694 0.04100035 -0.01306696
+v -0.02993538 0.02128462 -0.01306703
+v -0.05013748 0.02128455 0.00609919
+v -0.02133694 0.04884012 0.00245216
+v -0.02217987 0.04858262 0.00282175
+v -0.02277754 0.04889050 0.00476539
+v -0.02449722 0.04805081 0.00476539
+v -0.02442956 0.04845666 0.00609929
+v -0.02133694 0.04178405 -0.01207826
+v -0.02166397 0.04085201 -0.01306696
+v -0.04124021 0.02128462 -0.01306703
+v -0.04963567 0.02246850 0.00609919
+v -0.04944679 0.02207945 0.00476529
+v -0.04978227 0.02128455 0.00476529
+v -0.02133694 0.04818798 0.00051040
+v -0.02250690 0.04764779 0.00043910
+v -0.02380371 0.04724194 0.00105633
+v -0.02451132 0.04744345 0.00278046
+v -0.02566154 0.04709918 0.00355717
+v -0.02598292 0.04727831 0.00476538
+v -0.02641989 0.04741265 0.00609928
+v -0.02133694 0.04270210 -0.01090381
+v -0.02283110 0.04019426 -0.01306696
+v -0.02296924 0.04037059 -0.01278742
+v -0.02229546 0.04129703 -0.01207263
+v -0.04191400 0.02128462 -0.01225281
+v -0.04095548 0.02190039 -0.01306703
+v -0.04929737 0.02322422 0.00609920
+v -0.04911413 0.02348452 0.00584405
+v -0.04895626 0.02315145 0.00476530
+v -0.04923817 0.02162324 0.00333007
+v -0.04932275 0.02128456 0.00314621
+v -0.02133694 0.04746586 -0.00154019
+v -0.02177391 0.04727554 -0.00154019
+v -0.02332163 0.04699843 -0.00034512
+v -0.02451132 0.04665416 0.00043909
+v -0.02523302 0.04687247 0.00215572
+v -0.02647909 0.04637706 0.00278046
+v -0.02705420 0.04667653 0.00476538
+v -0.02739814 0.04687246 0.00609928
+v -0.02133694 0.04277487 -0.01079312
+v -0.02393903 0.04092757 -0.01138598
+v -0.02235748 0.04243340 -0.01050233
+v -0.02352743 0.04282524 -0.00898456
+v -0.02235748 0.04312753 -0.00945171
+v -0.02562489 0.03851770 -0.01306697
+v -0.02459026 0.03997873 -0.01207263
+v -0.04267235 0.02128461 -0.01129600
+v -0.04275410 0.02146934 -0.01107649
+v -0.04038319 0.02320750 -0.01289817
+v -0.04027606 0.02312073 -0.01306703
+v -0.04157569 0.02233702 -0.01198640
+v -0.04914796 0.02355449 0.00609920
+v -0.04901264 0.02381759 0.00609920
+v -0.04861796 0.02457331 0.00609920
+v -0.04824019 0.02457051 0.00476530
+v -0.04752694 0.02468248 0.00262467
+v -0.04867434 0.02237335 0.00264342
+v -0.04897599 0.02128456 0.00202243
+v -0.04909158 0.02128456 0.00238452
+v -0.02133694 0.04707401 -0.00261707
+v -0.02284520 0.04676613 -0.00154019
+v -0.02449722 0.04591805 -0.00154019
+v -0.02595473 0.04512875 -0.00154019
+v -0.02672436 0.04547861 0.00055916
+v -0.02791968 0.04503638 0.00125895
+v -0.02830027 0.04527428 0.00266415
+v -0.02891203 0.04554296 0.00472223
+v -0.02873442 0.04606077 0.00609928
+v -0.02133694 0.04347181 -0.00969373
+v -0.02536552 0.04050213 -0.01082502
+v -0.02444648 0.04166929 -0.00990574
+v -0.02227009 0.04418833 -0.00774821
+v -0.02133694 0.04443743 -0.00811593
+v -0.02613234 0.04098354 -0.00942358
+v -0.02495675 0.04241100 -0.00829040
+v -0.02434499 0.04310793 -0.00769193
+v -0.02814522 0.03672077 -0.01306698
+v -0.02701755 0.03800269 -0.01254729
+v -0.02787740 0.03860445 -0.01114585
+v -0.02643962 0.03892073 -0.01192818
+v -0.04279639 0.02128461 -0.01113465
+v -0.04311496 0.02228104 -0.00986453
+v -0.04236788 0.02289680 -0.01051179
+v -0.04093856 0.02414793 -0.01149673
+v -0.04360267 0.02128461 -0.00985703
+v -0.04051287 0.02557539 -0.01093953
+v -0.04005053 0.02474410 -0.01213835
+v -0.03855074 0.02585529 -0.01306702
+v -0.04749311 0.02665292 0.00609921
+v -0.04733524 0.02626667 0.00476531
+v -0.04711253 0.02587483 0.00330007
+v -0.04688417 0.02546898 0.00189862
+v -0.04721401 0.02395476 0.00056096
+v -0.04795546 0.02242934 0.00056095
+v -0.04844035 0.02128457 0.00048591
+v -0.02133694 0.04656741 -0.00377838
+v -0.02216860 0.04631550 -0.00346132
+v -0.02438446 0.04520152 -0.00344443
+v -0.02558542 0.04491603 -0.00261145
+v -0.02702319 0.04449899 -0.00154020
+v -0.02749399 0.04477887 -0.00014251
+v -0.02869213 0.04427786 0.00055915
+v -0.02936873 0.04459693 0.00266414
+v -0.02971549 0.04482085 0.00399241
+v -0.03005097 0.04503915 0.00539387
+v -0.03020602 0.04514272 0.00609928
+v -0.02676383 0.04013547 -0.01005395
+v -0.02292413 0.04465294 -0.00628110
+v -0.02149764 0.04501122 -0.00698275
+v -0.02133694 0.04493564 -0.00724916
+v -0.02755883 0.04052731 -0.00873693
+v -0.02565872 0.04282245 -0.00688896
+v -0.02660877 0.04168048 -0.00781389
+v -0.02927852 0.03583911 -0.01306698
+v -0.02944485 0.03602384 -0.01274992
+v -0.02866112 0.03732254 -0.01194882
+v -0.03022012 0.03664239 -0.01134848
+v -0.02930671 0.03806985 -0.01044231
+v -0.02866676 0.03898511 -0.00982320
+v -0.04283304 0.02374207 -0.00911033
+v -0.04453581 0.02128460 -0.00835240
+v -0.04167719 0.02466014 -0.01002399
+v -0.04018303 0.02689369 -0.01012154
+v -0.03858739 0.02801886 -0.01121155
+v -0.03897361 0.02657461 -0.01196762
+v -0.04098931 0.02630311 -0.00953807
+v -0.04051851 0.02773056 -0.00883829
+v -0.03799254 0.02719878 -0.01261300
+v -0.03674083 0.02831276 -0.01306701
+v -0.04691800 0.02767733 0.00609921
+v -0.04691236 0.02766894 0.00605794
+v -0.04671502 0.02733586 0.00476531
+v -0.04644439 0.02663894 0.00262468
+v -0.04554789 0.02686566 0.00045028
+v -0.04664454 0.02502676 0.00056096
+v -0.04701386 0.02356851 -0.00057783
+v -0.04728732 0.02235098 -0.00138456
+v -0.04773274 0.02128458 -0.00146524
+v -0.02133694 0.04573053 -0.00561883
+v -0.02227009 0.04528830 -0.00564510
+v -0.02359509 0.04499721 -0.00487965
+v -0.02502159 0.04460255 -0.00401102
+v -0.02662851 0.04383284 -0.00362642
+v -0.02815931 0.04306313 -0.00324370
+v -0.02883591 0.04336542 -0.00149893
+v -0.03001996 0.04288399 -0.00076912
+v -0.03039209 0.04314709 0.00056103
+v -0.03104049 0.04345217 0.00265288
+v -0.03082624 0.04428904 0.00472222
+v -0.03122374 0.04444298 0.00609927
+v -0.02438446 0.04417712 -0.00564511
+v -0.02133694 0.04503641 -0.00706718
+v -0.02998331 0.03858765 -0.00904086
+v -0.02885282 0.04009627 -0.00796022
+v -0.02818468 0.04094995 -0.00733548
+v -0.02721489 0.04245857 -0.00574266
+v -0.02767442 0.04274406 -0.00464327
+v -0.02614361 0.04311352 -0.00574266
+v -0.03051613 0.03482030 -0.01306698
+v -0.03174247 0.03398062 -0.01286813
+v -0.03098129 0.03532690 -0.01210830
+v -0.03164661 0.03605182 -0.01062805
+v -0.03081496 0.03733094 -0.00983445
+v -0.04425671 0.02243497 -0.00783272
+v -0.04317980 0.02450339 -0.00777455
+v -0.04241581 0.02516953 -0.00842743
+v -0.04480927 0.02128460 -0.00787211
+v -0.04501789 0.02172404 -0.00712355
+v -0.03901026 0.02878017 -0.00986075
+v -0.03804610 0.02944632 -0.01050425
+v -0.03661961 0.03034198 -0.01140103
+v -0.03730467 0.02880257 -0.01200701
+v -0.04168000 0.02679292 -0.00793213
+v -0.04094420 0.02832954 -0.00743684
+v -0.04011819 0.02896769 -0.00802030
+v -0.03855919 0.03010686 -0.00910281
+v -0.03599376 0.02958628 -0.01280247
+v -0.03583870 0.02944353 -0.01306700
+v -0.04688699 0.02772771 0.00609921
+v -0.04559864 0.02904322 0.00460585
+v -0.04531108 0.02852262 0.00266408
+v -0.04503762 0.02809439 0.00107502
+v -0.04477544 0.02768015 -0.00032642
+v -0.04517013 0.02620512 -0.00154026
+v -0.04624141 0.02439701 -0.00138455
+v -0.04673476 0.02300873 -0.00197929
+v -0.04708433 0.02158127 -0.00284792
+v -0.04714635 0.02128458 -0.00301114
+v -0.02883591 0.04234381 -0.00382154
+v -0.02958863 0.04258731 -0.00217057
+v -0.03080932 0.04200513 -0.00149894
+v -0.03146337 0.04238298 0.00056103
+v -0.03182986 0.04264887 0.00194559
+v -0.03216534 0.04289517 0.00334704
+v -0.03248108 0.04313028 0.00476537
+v -0.03287013 0.04325623 0.00609927
+v -0.03227529 0.03658920 -0.00922661
+v -0.03155076 0.03812862 -0.00784391
+v -0.03198491 0.03847848 -0.00678204
+v -0.03047948 0.03896831 -0.00784391
+v -0.02961118 0.04045733 -0.00648748
+v -0.02885282 0.04136139 -0.00576894
+v -0.03013836 0.04083519 -0.00508604
+v -0.03163252 0.03386306 -0.01306699
+v -0.03273481 0.03279666 -0.01306699
+v -0.03392168 0.03184222 -0.01289064
+v -0.03318869 0.03325568 -0.01217772
+v -0.03245289 0.03462716 -0.01146667
+v -0.03387939 0.03396101 -0.01070498
+v -0.03307875 0.03529051 -0.00996579
+v -0.04465704 0.02315149 -0.00644064
+v -0.04283022 0.02585527 -0.00702598
+v -0.04510528 0.02128460 -0.00733180
+v -0.04591438 0.02128459 -0.00571272
+v -0.04536183 0.02243496 -0.00574087
+v -0.03729621 0.03093816 -0.00988514
+v -0.03600786 0.03176944 -0.01066559
+v -0.03528897 0.03109210 -0.01214584
+v -0.04237070 0.02728272 -0.00617985
+v -0.04043111 0.02975698 -0.00657195
+v -0.03886648 0.03089057 -0.00765258
+v -0.03797281 0.03153432 -0.00822478
+v -0.03654631 0.03236841 -0.00926414
+v -0.03480125 0.03063308 -0.01306700
+v -0.04616529 0.02885289 0.00609922
+v -0.04502916 0.03020757 0.00520057
+v -0.04481209 0.02988291 0.00379913
+v -0.04461757 0.02959182 0.00266409
+v -0.04431874 0.02882772 0.00045029
+v -0.04287533 0.03017681 -0.00091551
+v -0.04341379 0.02896487 -0.00158528
+v -0.04452735 0.02727432 -0.00154026
+v -0.04491922 0.02577968 -0.00277850
+v -0.04526880 0.02454255 -0.00354207
+v -0.04639082 0.02235098 -0.00358335
+v -0.04695183 0.02128458 -0.00348392
+v -0.03087980 0.04108148 -0.00345196
+v -0.03201310 0.04064205 -0.00262647
+v -0.03231475 0.04087996 -0.00154021
+v -0.03309566 0.04119903 0.00071674
+v -0.03295188 0.04203870 0.00265287
+v -0.03417822 0.04066162 0.00152158
+v -0.03354955 0.04231579 0.00476537
+v -0.03383428 0.04253410 0.00609927
+v -0.03446014 0.03452639 -0.00930353
+v -0.03370460 0.03595105 -0.00832608
+v -0.03301954 0.03696706 -0.00771446
+v -0.03422614 0.03643247 -0.00692651
+v -0.03312949 0.03797747 -0.00594530
+v -0.03246135 0.03887313 -0.00538060
+v -0.03106305 0.03966523 -0.00593403
+v -0.03156768 0.04030058 -0.00402604
+v -0.03382019 0.03174146 -0.01306699
+v -0.03458418 0.03253355 -0.01148919
+v -0.03523540 0.03316331 -0.00998456
+v -0.04424262 0.02454256 -0.00574086
+v -0.04500661 0.02380924 -0.00503920
+v -0.04309240 0.02662777 -0.00558513
+v -0.04668965 0.02128458 -0.00408052
+v -0.04274001 0.02784811 -0.00477841
+v -0.04159261 0.02880255 -0.00567517
+v -0.03988702 0.03098572 -0.00581963
+v -0.03843233 0.03208851 -0.00682334
+v -0.04081452 0.03026639 -0.00517050
+v -0.03717217 0.03294219 -0.00758316
+v -0.03588381 0.03379587 -0.00834298
+v -0.04516449 0.03040350 0.00609922
+v -0.04446252 0.03140552 0.00609923
+v -0.04432156 0.03094929 0.00460585
+v -0.04348990 0.03115642 0.00256090
+v -0.04316570 0.03058265 0.00056098
+v -0.04238761 0.03165464 0.00056099
+v -0.04202112 0.03093253 -0.00158528
+v -0.04257650 0.02975418 -0.00231696
+v -0.04300219 0.02823995 -0.00364149
+v -0.04408757 0.02658298 -0.00354206
+v -0.04460911 0.02523670 -0.00417807
+v -0.03295188 0.03946649 -0.00345572
+v -0.03430226 0.03863241 -0.00288351
+v -0.03338603 0.04001229 -0.00154021
+v -0.03382864 0.04037614 0.00012014
+v -0.03443194 0.04087434 0.00266413
+v -0.03513391 0.03949447 0.00071486
+v -0.03640817 0.03861281 0.00130957
+v -0.03550322 0.03995069 0.00266413
+v -0.03487455 0.04124659 0.00476536
+v -0.03506626 0.04151529 0.00609926
+v -0.03505780 0.03513096 -0.00763380
+v -0.03388784 0.03827136 -0.00428308
+v -0.03637153 0.03430807 -0.00694152
+v -0.03567519 0.03575231 -0.00574269
+v -0.03460391 0.03678512 -0.00574268
+v -0.04226639 0.02931194 -0.00364148
+v -0.04026197 0.03169385 -0.00410487
+v -0.03874244 0.03244957 -0.00574270
+v -0.03780366 0.03352156 -0.00574270
+v -0.04109926 0.03098571 -0.00349890
+v -0.04327001 0.03300651 0.00609923
+v -0.04314033 0.03263985 0.00476533
+v -0.04288096 0.03230399 0.00319128
+v -0.04263288 0.03197931 0.00178983
+v -0.04120639 0.03319406 0.00067356
+v -0.04087373 0.03245795 -0.00154024
+v -0.04061154 0.03213327 -0.00270530
+v -0.03519875 0.03740928 -0.00362644
+v -0.03647583 0.03654720 -0.00297169
+v -0.03572594 0.03797466 -0.00154022
+v -0.03465748 0.03894309 -0.00154022
+v -0.03594301 0.04033694 0.00476536
+v -0.03608679 0.03831332 -0.00009187
+v -0.03732722 0.03740087 0.00060228
+v -0.03855074 0.03648562 0.00129455
+v -0.03776419 0.03784309 0.00266412
+v -0.03669291 0.03887870 0.00266412
+v -0.03619110 0.04055525 0.00603735
+v -0.03612344 0.04063082 0.00609926
+v -0.03609243 0.03616656 -0.00437126
+v -0.03673238 0.03468592 -0.00574269
+v -0.03941904 0.03305692 -0.00350639
+v -0.03821526 0.03398338 -0.00431124
+v -0.04251448 0.03398055 0.00609923
+v -0.04229458 0.03371185 0.00476533
+v -0.04203804 0.03306530 0.00256091
+v -0.04062000 0.03428284 0.00144839
+v -0.04033244 0.03394698 0.00004694
+v -0.03997441 0.03352715 -0.00154024
+v -0.03857611 0.03438362 -0.00291166
+v -0.03734414 0.03527648 -0.00364146
+v -0.03790515 0.03580828 -0.00154023
+v -0.03683387 0.03690267 -0.00154022
+v -0.03710733 0.03926494 0.00476535
+v -0.03824345 0.03616654 -0.00010689
+v -0.03944159 0.03522609 0.00067169
+v -0.03989548 0.03561513 0.00266411
+v -0.03882420 0.03677110 0.00266412
+v -0.03817861 0.03825173 0.00476535
+v -0.03620237 0.04056365 0.00609926
+v -0.03813068 0.03876953 0.00609925
+v -0.03630950 0.04046569 0.00609926
+v -0.04065947 0.03614692 0.00609924
+v -0.04050160 0.03628687 0.00597917
+v -0.04122330 0.03498257 0.00476534
+v -0.04085117 0.03454874 0.00266411
+v -0.03890313 0.03474189 -0.00154023
+v -0.03838722 0.03845885 0.00589288
+v -0.04028734 0.03605176 0.00476534
+v -0.03921888 0.03717973 0.00476535
+v -0.03842106 0.03849243 0.00609925
+v -0.04052133 0.03630646 0.00609924
+v -0.03871425 0.03819295 0.00609925
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 32
+f 1 32 51
+f 1 51 80
+f 1 80 84
+f 1 84 121
+f 1 121 163
+f 1 163 150
+f 1 150 107
+f 1 107 71
+f 1 71 43
+f 1 43 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 31
+f 1 31 50
+f 1 50 79
+f 1 79 117
+f 1 117 161
+f 1 161 207
+f 1 207 255
+f 1 255 298
+f 1 298 327
+f 1 327 348
+f 1 348 350
+f 1 350 349
+f 1 349 359
+f 1 359 361
+f 1 361 360
+f 1 360 351
+f 1 351 332
+f 1 332 309
+f 1 309 279
+f 1 279 278
+f 1 278 236
+f 1 236 190
+f 1 190 141
+f 1 141 100
+f 1 100 65
+f 1 65 64
+f 1 64 63
+f 1 63 38
+f 1 38 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 6 12
+f 5 12 21
+f 5 21 37
+f 5 37 61
+f 5 61 99
+f 5 99 140
+f 5 140 189
+f 5 189 235
+f 5 235 264
+f 5 264 216
+f 5 216 215
+f 5 215 170
+f 5 170 125
+f 5 125 88
+f 5 88 56
+f 5 56 33
+f 5 33 20
+f 5 20 11
+f 6 13 24
+f 6 24 42
+f 6 42 70
+f 6 70 69
+f 6 69 106
+f 6 106 149
+f 6 149 199
+f 6 199 247
+f 6 247 270
+f 6 270 225
+f 6 225 224
+f 6 224 178
+f 6 178 132
+f 6 132 96
+f 6 96 92
+f 6 92 58
+f 6 58 36
+f 6 36 21
+f 6 21 12
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 20 19
+f 13 22 23
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 19 20 32
+f 20 33 34
+f 20 34 35
+f 20 35 32
+f 21 36 37
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 25 43 44
+f 25 44 26
+f 26 45 27
+f 26 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 31
+f 32 35 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 51
+f 33 56 34
+f 34 56 57
+f 34 57 52
+f 34 52 35
+f 36 58 59
+f 36 59 37
+f 37 60 61
+f 37 59 62
+f 37 62 60
+f 38 63 39
+f 39 63 64
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 67
+f 40 67 68
+f 40 68 41
+f 41 68 69
+f 41 69 70
+f 41 70 42
+f 43 71 44
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 47 75 48
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 49 77 78
+f 49 78 50
+f 50 78 79
+f 51 55 80
+f 52 57 81
+f 52 81 82
+f 52 82 53
+f 53 82 54
+f 54 83 84
+f 54 84 55
+f 54 82 85
+f 54 85 86
+f 54 86 87
+f 54 87 83
+f 55 84 80
+f 56 81 57
+f 56 88 89
+f 56 89 90
+f 56 90 91
+f 56 91 81
+f 58 92 59
+f 59 93 94
+f 59 94 95
+f 59 95 62
+f 59 92 96
+f 59 96 93
+f 60 97 98
+f 60 98 99
+f 60 99 61
+f 60 62 95
+f 60 95 97
+f 65 100 101
+f 65 101 66
+f 66 101 102
+f 66 102 67
+f 67 102 103
+f 67 103 104
+f 67 104 68
+f 68 104 105
+f 68 105 69
+f 69 105 106
+f 71 107 108
+f 71 108 72
+f 72 108 109
+f 72 109 73
+f 73 109 110
+f 73 110 74
+f 74 111 112
+f 74 112 75
+f 74 110 111
+f 75 112 76
+f 76 113 114
+f 76 114 77
+f 76 112 113
+f 77 114 115
+f 77 115 78
+f 78 115 116
+f 78 116 79
+f 79 116 117
+f 81 91 90
+f 81 90 118
+f 81 118 85
+f 81 85 82
+f 83 87 119
+f 83 119 120
+f 83 120 84
+f 84 120 121
+f 85 118 122
+f 85 122 86
+f 86 123 87
+f 86 122 124
+f 86 124 123
+f 87 123 119
+f 88 125 126
+f 88 126 127
+f 88 127 90
+f 88 90 89
+f 90 127 128
+f 90 128 129
+f 90 129 130
+f 90 130 122
+f 90 122 118
+f 93 131 94
+f 93 96 132
+f 93 132 131
+f 94 131 133
+f 94 133 97
+f 94 97 95
+f 97 134 135
+f 97 135 136
+f 97 136 99
+f 97 99 98
+f 97 133 137
+f 97 137 138
+f 97 138 134
+f 99 136 139
+f 99 139 140
+f 100 141 142
+f 100 142 101
+f 101 142 143
+f 101 143 102
+f 102 143 144
+f 102 144 103
+f 103 144 145
+f 103 145 146
+f 103 146 104
+f 104 146 147
+f 104 147 105
+f 105 147 148
+f 105 148 106
+f 106 148 149
+f 107 150 151
+f 107 151 108
+f 108 151 152
+f 108 152 109
+f 109 152 110
+f 110 152 153
+f 110 153 154
+f 110 154 155
+f 110 155 111
+f 111 155 156
+f 111 156 112
+f 112 156 113
+f 113 156 157
+f 113 157 158
+f 113 158 114
+f 114 158 159
+f 114 159 115
+f 115 159 160
+f 115 160 116
+f 116 160 161
+f 116 161 117
+f 119 152 151
+f 119 151 120
+f 119 123 162
+f 119 162 152
+f 120 150 163
+f 120 163 121
+f 120 151 150
+f 122 130 164
+f 122 164 165
+f 122 165 166
+f 122 166 124
+f 123 124 166
+f 123 166 167
+f 123 167 168
+f 123 168 169
+f 123 169 162
+f 125 170 126
+f 126 170 171
+f 126 171 172
+f 126 172 128
+f 126 128 127
+f 128 172 173
+f 128 173 174
+f 128 174 129
+f 129 174 164
+f 129 164 130
+f 131 132 175
+f 131 175 176
+f 131 176 177
+f 131 177 133
+f 132 178 179
+f 132 179 175
+f 133 177 137
+f 134 138 135
+f 135 138 180
+f 135 180 181
+f 135 181 182
+f 135 182 183
+f 135 183 139
+f 135 139 136
+f 137 177 138
+f 138 177 184
+f 138 184 185
+f 138 185 186
+f 138 186 187
+f 138 187 180
+f 139 183 140
+f 140 183 188
+f 140 188 189
+f 141 190 142
+f 142 190 191
+f 142 191 143
+f 143 191 192
+f 143 192 144
+f 144 192 193
+f 144 193 145
+f 145 193 194
+f 145 194 195
+f 145 195 146
+f 146 195 196
+f 146 196 147
+f 147 197 148
+f 147 196 197
+f 148 197 198
+f 148 198 149
+f 149 198 199
+f 152 162 153
+f 153 162 169
+f 153 169 168
+f 153 168 154
+f 154 168 155
+f 155 168 200
+f 155 200 201
+f 155 201 156
+f 156 201 157
+f 157 202 203
+f 157 203 158
+f 157 201 202
+f 158 203 204
+f 158 204 159
+f 159 204 205
+f 159 205 160
+f 160 205 206
+f 160 206 161
+f 161 206 207
+f 164 174 208
+f 164 208 209
+f 164 209 210
+f 164 210 211
+f 164 211 212
+f 164 212 165
+f 165 212 166
+f 166 212 213
+f 166 213 167
+f 167 213 168
+f 168 213 214
+f 168 214 200
+f 170 215 171
+f 171 215 216
+f 171 216 217
+f 171 217 218
+f 171 218 219
+f 171 219 172
+f 172 219 173
+f 173 219 220
+f 173 220 221
+f 173 221 208
+f 173 208 174
+f 175 179 222
+f 175 222 176
+f 176 223 177
+f 176 222 223
+f 177 223 184
+f 178 224 179
+f 179 224 225
+f 179 225 226
+f 179 226 222
+f 180 187 181
+f 181 227 182
+f 181 187 227
+f 182 227 228
+f 182 228 229
+f 182 229 188
+f 182 188 183
+f 184 223 230
+f 184 230 185
+f 185 231 186
+f 185 230 231
+f 186 231 187
+f 187 231 232
+f 187 232 233
+f 187 233 234
+f 187 234 227
+f 188 229 217
+f 188 217 235
+f 188 235 189
+f 190 236 237
+f 190 237 191
+f 191 237 238
+f 191 238 192
+f 192 238 239
+f 192 239 193
+f 193 239 240
+f 193 240 194
+f 194 240 241
+f 194 241 242
+f 194 242 243
+f 194 243 195
+f 195 243 244
+f 195 244 196
+f 196 244 245
+f 196 245 197
+f 197 245 246
+f 197 246 198
+f 198 247 199
+f 198 246 247
+f 200 214 248
+f 200 248 201
+f 201 248 249
+f 201 249 202
+f 202 249 250
+f 202 250 203
+f 203 250 251
+f 203 251 204
+f 204 252 205
+f 204 251 253
+f 204 253 252
+f 205 252 254
+f 205 254 206
+f 206 254 255
+f 206 255 207
+f 208 210 209
+f 208 221 256
+f 208 256 257
+f 208 257 258
+f 208 258 210
+f 210 258 259
+f 210 259 260
+f 210 260 261
+f 210 261 262
+f 210 262 212
+f 210 212 211
+f 212 262 214
+f 212 214 213
+f 214 262 263
+f 214 263 248
+f 216 264 217
+f 217 264 235
+f 217 229 265
+f 217 265 218
+f 218 265 220
+f 218 220 219
+f 220 256 221
+f 220 265 228
+f 220 228 266
+f 220 266 256
+f 222 267 223
+f 222 226 268
+f 222 268 267
+f 223 267 269
+f 223 269 230
+f 225 270 226
+f 226 270 268
+f 227 234 228
+f 228 265 229
+f 228 234 266
+f 230 269 271
+f 230 271 272
+f 230 272 231
+f 231 273 274
+f 231 274 232
+f 231 272 275
+f 231 275 273
+f 232 274 233
+f 233 274 234
+f 234 274 276
+f 234 276 277
+f 234 277 256
+f 234 256 266
+f 236 278 237
+f 237 278 279
+f 237 279 280
+f 237 280 238
+f 238 280 281
+f 238 281 239
+f 239 281 282
+f 239 282 240
+f 240 282 241
+f 241 282 283
+f 241 283 284
+f 241 284 285
+f 241 285 242
+f 242 285 286
+f 242 286 243
+f 243 287 244
+f 243 286 287
+f 244 287 288
+f 244 288 245
+f 245 268 246
+f 245 288 268
+f 246 268 270
+f 246 270 247
+f 248 263 249
+f 249 263 289
+f 249 289 290
+f 249 290 291
+f 249 291 250
+f 250 291 292
+f 250 292 251
+f 251 292 253
+f 252 253 293
+f 252 293 254
+f 253 292 294
+f 253 294 295
+f 253 295 296
+f 253 296 293
+f 254 293 297
+f 254 297 255
+f 255 297 298
+f 256 277 299
+f 256 299 257
+f 257 299 259
+f 257 259 258
+f 259 300 260
+f 259 299 301
+f 259 301 302
+f 259 302 303
+f 259 303 300
+f 260 300 261
+f 261 289 263
+f 261 263 262
+f 261 300 289
+f 267 268 288
+f 267 288 269
+f 269 288 271
+f 271 288 287
+f 271 287 286
+f 271 286 304
+f 271 304 275
+f 271 275 272
+f 273 275 305
+f 273 305 306
+f 273 306 274
+f 274 306 307
+f 274 307 301
+f 274 301 276
+f 275 308 305
+f 275 304 308
+f 276 301 277
+f 277 301 299
+f 279 309 310
+f 279 310 280
+f 280 310 311
+f 280 311 281
+f 281 311 312
+f 281 312 282
+f 282 312 283
+f 283 312 313
+f 283 313 314
+f 283 314 284
+f 284 314 315
+f 284 315 285
+f 285 315 308
+f 285 308 304
+f 285 304 286
+f 289 300 290
+f 290 300 316
+f 290 316 317
+f 290 317 318
+f 290 318 319
+f 290 319 291
+f 291 319 292
+f 292 319 294
+f 293 296 320
+f 293 320 297
+f 294 319 321
+f 294 321 295
+f 295 322 323
+f 295 323 324
+f 295 324 325
+f 295 325 296
+f 295 321 322
+f 296 325 320
+f 297 320 326
+f 297 326 298
+f 298 326 327
+f 300 303 328
+f 300 328 316
+f 301 307 329
+f 301 329 302
+f 302 328 303
+f 302 329 328
+f 305 308 315
+f 305 315 330
+f 305 330 331
+f 305 331 306
+f 306 331 307
+f 307 331 329
+f 309 332 310
+f 310 332 333
+f 310 333 311
+f 311 333 334
+f 311 334 312
+f 312 334 335
+f 312 335 313
+f 313 335 336
+f 313 336 314
+f 314 336 337
+f 314 337 315
+f 315 337 338
+f 315 338 330
+f 316 328 317
+f 317 339 338
+f 317 338 340
+f 317 340 341
+f 317 341 318
+f 317 328 339
+f 318 321 319
+f 318 341 321
+f 320 325 342
+f 320 342 326
+f 321 341 343
+f 321 343 322
+f 322 343 323
+f 323 343 344
+f 323 344 335
+f 323 335 345
+f 323 345 346
+f 323 346 324
+f 324 346 347
+f 324 347 325
+f 325 347 342
+f 326 348 327
+f 326 342 349
+f 326 349 350
+f 326 350 348
+f 328 329 331
+f 328 331 339
+f 330 338 331
+f 331 338 339
+f 332 351 352
+f 332 352 353
+f 332 353 333
+f 333 353 354
+f 333 354 334
+f 334 354 335
+f 335 354 345
+f 335 344 336
+f 336 344 343
+f 336 343 355
+f 336 355 337
+f 337 355 338
+f 338 355 340
+f 340 355 343
+f 340 343 341
+f 342 347 356
+f 342 356 349
+f 345 354 357
+f 345 357 346
+f 346 358 347
+f 346 357 358
+f 347 358 356
+f 349 356 359
+f 351 360 352
+f 352 357 353
+f 352 360 361
+f 352 361 356
+f 352 356 358
+f 352 358 357
+f 353 357 354
+f 356 361 359
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_27.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02475310 -0.01182601 -0.03029536
+v 0.02630793 -0.01182601 -0.03008486
+v 0.02483531 -0.01399619 -0.03014428
+v 0.02261110 -0.01555752 -0.03026652
+v 0.02261110 -0.01396605 -0.03026312
+v 0.02689510 -0.00016127 -0.03028344
+v 0.02689510 -0.00326283 -0.03029194
+v 0.02689510 -0.00540438 -0.03028685
+v 0.02689510 -0.00754442 -0.03024273
+v 0.02600025 -0.01330143 -0.02999829
+v 0.02696086 -0.00960308 -0.03011711
+v 0.02802482 -0.00883598 -0.02995243
+v 0.02429981 -0.01555752 -0.03007299
+v 0.02251011 -0.01555752 -0.03025124
+v 0.02251011 -0.01544750 -0.03025124
+v 0.02251011 -0.01396605 -0.03024784
+v 0.02548589 -0.00016127 -0.03007633
+v 0.02781813 -0.00016127 -0.03019686
+v 0.02856971 -0.00016127 -0.03012556
+v 0.02856971 -0.00112279 -0.03012726
+v 0.02849455 -0.00326283 -0.03011369
+v 0.02835128 -0.00540438 -0.03008144
+v 0.02816104 -0.00754442 -0.03001525
+v 0.02560567 -0.01472863 -0.02983023
+v 0.02771949 -0.01026318 -0.02980815
+v 0.02956320 -0.00326283 -0.02959082
+v 0.02942228 -0.00540438 -0.02939730
+v 0.04219910 -0.00968451 -0.01659901
+v 0.04094021 -0.01121268 -0.01741726
+v 0.04073353 -0.01263988 -0.01724072
+v 0.02535202 -0.01555752 -0.02959936
+v 0.02251011 -0.01555756 -0.01811840
+v 0.02251011 -0.01206111 -0.03008486
+v 0.02441489 -0.00016127 -0.02948726
+v 0.02964071 -0.00016127 -0.02967569
+v 0.02964071 -0.00112279 -0.02967400
+v 0.02737893 -0.01182601 -0.02950937
+v 0.04020272 -0.01555757 -0.01676879
+v 0.04050336 -0.01396610 -0.01704040
+v 0.04269702 -0.00326288 -0.01707432
+v 0.04258429 -0.00540443 -0.01696738
+v 0.04241988 -0.00754447 -0.01681120
+v 0.04328419 -0.00968451 -0.01554819
+v 0.04309395 -0.01128502 -0.01535296
+v 0.04191961 -0.01196170 -0.01629684
+v 0.04289901 -0.01271222 -0.01514926
+v 0.04162602 -0.01396610 -0.01598958
+v 0.02251011 -0.00016131 -0.01940004
+v 0.03329525 -0.01555758 -0.01295426
+v 0.02251011 -0.00016128 -0.02826497
+v 0.02277082 -0.00016128 -0.02843643
+v 0.04275809 -0.00016132 -0.01713033
+v 0.04275574 -0.00112284 -0.01713033
+v 0.04105060 -0.01555757 -0.01598789
+v 0.04133948 -0.01555757 -0.01571797
+v 0.04376567 -0.00326288 -0.01602349
+v 0.04365528 -0.00540443 -0.01591655
+v 0.04349792 -0.00754447 -0.01576038
+v 0.04456892 -0.00754448 -0.01460091
+v 0.04435519 -0.00968452 -0.01434798
+v 0.04512086 -0.01086004 -0.01313588
+v 0.04401228 -0.01178689 -0.01414257
+v 0.04487895 -0.01226011 -0.01295425
+v 0.04360831 -0.01396611 -0.01387605
+v 0.04269702 -0.01396611 -0.01492687
+v 0.03661394 -0.00016133 -0.01295420
+v 0.04379620 -0.01555758 -0.01295426
+v 0.04382439 -0.00016132 -0.01607950
+v 0.04382439 -0.00112284 -0.01607950
+v 0.04241049 -0.01555758 -0.01460943
+v 0.04489304 -0.00112284 -0.01497775
+v 0.04483667 -0.00326289 -0.01491155
+v 0.04472628 -0.00540444 -0.01478594
+v 0.04544967 -0.00754448 -0.01355009
+v 0.04524769 -0.00968452 -0.01329715
+v 0.04549195 -0.00968452 -0.01295424
+v 0.04521011 -0.01100924 -0.01295424
+v 0.04435049 -0.01396611 -0.01295425
+v 0.04333587 -0.01555758 -0.01355861
+v 0.04310100 -0.01555758 -0.01382853
+v 0.04650189 -0.00016133 -0.01295420
+v 0.04361771 -0.01555758 -0.01319022
+v 0.04489539 -0.00016132 -0.01497775
+v 0.04575501 -0.00112285 -0.01392693
+v 0.04570099 -0.00326289 -0.01386073
+v 0.04559765 -0.00540444 -0.01373512
+v 0.04618012 -0.00540444 -0.01295422
+v 0.04587714 -0.00755955 -0.01295423
+v 0.04649954 -0.00112285 -0.01295420
+v 0.04634687 -0.00016133 -0.01315621
+v 0.04536982 -0.00016133 -0.01439886
+v 0.04575501 -0.00016133 -0.01392693
+v 0.04638680 -0.00326289 -0.01295421
+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 2
+f 2 10 3
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 10 13
+f 3 13 4
+f 4 14 15
+f 4 15 5
+f 4 13 31
+f 4 31 38
+f 4 38 54
+f 4 54 55
+f 4 55 70
+f 4 70 80
+f 4 80 79
+f 4 79 82
+f 4 82 67
+f 4 67 49
+f 4 49 32
+f 4 32 14
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 34
+f 6 34 51
+f 6 51 50
+f 6 50 48
+f 6 48 66
+f 6 66 81
+f 6 81 90
+f 6 90 92
+f 6 92 91
+f 6 91 83
+f 6 83 68
+f 6 68 52
+f 6 52 35
+f 6 35 19
+f 6 19 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 9 23 11
+f 10 24 13
+f 10 12 25
+f 10 25 24
+f 11 23 12
+f 12 23 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 25
+f 13 24 31
+f 14 32 48
+f 14 48 50
+f 14 50 33
+f 14 33 16
+f 14 16 15
+f 16 33 17
+f 17 33 34
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 26
+f 22 26 23
+f 24 25 37
+f 24 37 38
+f 24 38 31
+f 25 30 39
+f 25 39 38
+f 25 38 37
+f 26 36 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 39
+f 32 49 48
+f 33 50 51
+f 33 51 34
+f 35 52 36
+f 36 52 53
+f 36 53 40
+f 38 39 54
+f 39 47 55
+f 39 55 54
+f 40 53 69
+f 40 69 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 62
+f 44 62 46
+f 44 46 45
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 55
+f 48 49 66
+f 49 67 78
+f 49 78 63
+f 49 63 77
+f 49 77 76
+f 49 76 88
+f 49 88 87
+f 49 87 93
+f 49 93 89
+f 49 89 81
+f 49 81 66
+f 52 68 69
+f 52 69 53
+f 55 65 70
+f 56 69 71
+f 56 71 72
+f 56 72 57
+f 57 72 73
+f 57 73 58
+f 58 73 59
+f 59 73 74
+f 59 74 75
+f 59 75 60
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 63
+f 61 63 62
+f 63 78 64
+f 64 78 79
+f 64 79 65
+f 65 79 80
+f 65 80 70
+f 67 82 78
+f 68 83 69
+f 69 83 71
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 72 85 86
+f 72 86 73
+f 73 86 74
+f 74 86 87
+f 74 87 88
+f 74 88 75
+f 75 88 76
+f 78 82 79
+f 81 89 84
+f 81 84 90
+f 83 91 84
+f 84 92 90
+f 84 89 85
+f 84 91 92
+f 85 89 93
+f 85 93 86
+f 86 93 87
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_28.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v -0.04125296 -0.00016327 -0.00766451
+v -0.03197105 -0.00016324 -0.01603618
+v -0.04979671 -0.00016327 -0.00766451
+v -0.03638253 -0.01970365 -0.00766458
+v -0.03197105 -0.00016321 -0.02565287
+v -0.03197105 -0.01970363 -0.01228890
+v -0.04971120 -0.00016327 -0.00784589
+v -0.04979496 -0.00112173 -0.00766451
+v -0.04564000 -0.01970365 -0.00766458
+v -0.03197105 -0.00112167 -0.02565111
+v -0.04028096 -0.00112169 -0.01921122
+v -0.04028096 -0.00016323 -0.01921122
+v -0.03197105 -0.01970360 -0.02082082
+v -0.04915278 -0.00016327 -0.00895354
+v -0.04915278 -0.00112173 -0.00895354
+v -0.04970945 -0.00112173 -0.00784589
+v -0.04953669 -0.00316683 -0.00801495
+v -0.04971469 -0.00284926 -0.00766452
+v -0.04501528 -0.01970365 -0.00881274
+v -0.04630138 -0.01814448 -0.00766458
+v -0.03197105 -0.00326243 -0.02537993
+v -0.04010122 -0.00540512 -0.01908093
+v -0.04022164 -0.00326245 -0.01916897
+v -0.04161069 -0.00112169 -0.01815992
+v -0.04155660 -0.00326245 -0.01811767
+v -0.04161069 -0.00016323 -0.01815992
+v -0.03308265 -0.01970361 -0.02027316
+v -0.03197105 -0.01848687 -0.02119767
+v -0.04853853 -0.00016326 -0.01000485
+v -0.04853678 -0.00112172 -0.01000485
+v -0.04913359 -0.00238820 -0.00892186
+v -0.04908472 -0.00381537 -0.00882852
+v -0.04953320 -0.00515454 -0.00766453
+v -0.04969898 -0.00318214 -0.00766452
+v -0.04490534 -0.01970365 -0.00900644
+v -0.04628742 -0.01812535 -0.00770508
+v -0.04494198 -0.01954678 -0.00906808
+v -0.04632581 -0.01808517 -0.00766458
+v -0.03991800 -0.00754587 -0.01894358
+v -0.03197105 -0.00540510 -0.02487278
+v -0.03685544 -0.01396623 -0.01976774
+v -0.03822530 -0.01230375 -0.01927819
+v -0.03845216 -0.01087658 -0.01943139
+v -0.03860572 -0.00968663 -0.01953528
+v -0.04126517 -0.00754587 -0.01789228
+v -0.04144142 -0.00540512 -0.01802963
+v -0.04268215 -0.00112170 -0.01729000
+v -0.04209058 -0.00016323 -0.01777075
+v -0.04262631 -0.00326246 -0.01724070
+v -0.03442285 -0.01970361 -0.01957758
+v -0.03286801 -0.01806791 -0.02087894
+v -0.03197105 -0.01741554 -0.02150055
+v -0.04746707 -0.00016326 -0.01172532
+v -0.04746707 -0.00112172 -0.01172356
+v -0.04741471 -0.00326248 -0.01164432
+v -0.04859087 -0.00316682 -0.00975304
+v -0.04826455 -0.00540515 -0.00994851
+v -0.04900271 -0.00540516 -0.00867005
+v -0.04951052 -0.00540516 -0.00766453
+v -0.04476748 -0.01970365 -0.00922657
+v -0.04668878 -0.01610703 -0.00836544
+v -0.04521072 -0.01824779 -0.00950128
+v -0.04455284 -0.01824778 -0.01055258
+v -0.04706571 -0.01610703 -0.00766457
+v -0.03967718 -0.00968663 -0.01875693
+v -0.04103483 -0.00968663 -0.01770563
+v -0.03482072 -0.01824775 -0.01980298
+v -0.03537913 -0.01623708 -0.02005127
+v -0.03652563 -0.01560958 -0.01956524
+v -0.03792515 -0.01396623 -0.01907216
+v -0.03956375 -0.01379788 -0.01789054
+v -0.04058286 -0.01297143 -0.01732703
+v -0.03929501 -0.01168391 -0.01861958
+v -0.04233489 -0.00754588 -0.01697481
+v -0.04251114 -0.00540513 -0.01713681
+v -0.04373441 -0.00112170 -0.01624222
+v -0.04373616 -0.00016324 -0.01624222
+v -0.04268215 -0.00016324 -0.01729000
+v -0.04356689 -0.00540513 -0.01608727
+v -0.04367857 -0.00326246 -0.01619292
+v -0.03447345 -0.01970361 -0.01954588
+v -0.03589217 -0.01824775 -0.01916375
+v -0.03620803 -0.01703676 -0.01936625
+v -0.04706745 -0.00016325 -0.01230468
+v -0.04674287 -0.00016325 -0.01277486
+v -0.04674113 -0.00112171 -0.01277486
+v -0.04668703 -0.00326247 -0.01269563
+v -0.04731350 -0.00540515 -0.01149641
+v -0.04716343 -0.00754590 -0.01127278
+v -0.04796615 -0.00754590 -0.00994852
+v -0.04885263 -0.00754591 -0.00838302
+v -0.04922084 -0.00754591 -0.00766454
+v -0.04422652 -0.01970364 -0.01005070
+v -0.04691214 -0.01481951 -0.00877397
+v -0.04559114 -0.01625242 -0.01011937
+v -0.04479540 -0.01706357 -0.01093470
+v -0.04341681 -0.01825352 -0.01214626
+v -0.04350058 -0.01970364 -0.01114251
+v -0.04741471 -0.01503187 -0.00766457
+v -0.04075213 -0.01182548 -0.01746966
+v -0.04210629 -0.00968664 -0.01675822
+v -0.03728298 -0.01623708 -0.01886261
+v -0.03892158 -0.01610699 -0.01770565
+v -0.04032983 -0.01439860 -0.01710691
+v -0.04154264 -0.01371945 -0.01618240
+v -0.04274497 -0.01304030 -0.01525436
+v -0.04182184 -0.01182548 -0.01648351
+v -0.04340111 -0.00754588 -0.01592527
+v -0.04318821 -0.00968664 -0.01570868
+v -0.04480587 -0.00112170 -0.01516802
+v -0.04480761 -0.00016324 -0.01516979
+v -0.04463660 -0.00540513 -0.01497434
+v -0.04474829 -0.00326246 -0.01510288
+v -0.03540182 -0.01970361 -0.01894891
+v -0.03746970 -0.01828027 -0.01804201
+v -0.03703693 -0.01970361 -0.01782188
+v -0.04615305 -0.00016325 -0.01351623
+v -0.04567316 -0.00016325 -0.01411848
+v -0.04567141 -0.00112171 -0.01411672
+v -0.04561557 -0.00326247 -0.01405158
+v -0.04550912 -0.00540514 -0.01392304
+v -0.04657884 -0.00540514 -0.01254595
+v -0.04642178 -0.00754589 -0.01232408
+v -0.04704302 -0.00892142 -0.01109492
+v -0.04750371 -0.00965605 -0.01007533
+v -0.04873746 -0.00983972 -0.00778606
+v -0.04882122 -0.00974024 -0.00766455
+v -0.04756304 -0.01405045 -0.00798330
+v -0.04713027 -0.01339234 -0.00915435
+v -0.04647414 -0.01405044 -0.00989219
+v -0.04505367 -0.01563640 -0.01130803
+v -0.04429981 -0.01625242 -0.01202651
+v -0.04284968 -0.01754375 -0.01328560
+v -0.04254429 -0.01897092 -0.01291052
+v -0.04313761 -0.01970364 -0.01165143
+v -0.04772359 -0.01404280 -0.00766456
+v -0.04291773 -0.01182548 -0.01543397
+v -0.03860572 -0.01758774 -0.01745735
+v -0.03999303 -0.01610700 -0.01680755
+v -0.04112557 -0.01610700 -0.01575801
+v -0.04250241 -0.01446747 -0.01499550
+v -0.04336621 -0.01383807 -0.01423828
+v -0.04477271 -0.01265578 -0.01301616
+v -0.04412007 -0.01189628 -0.01403752
+v -0.04447257 -0.00754589 -0.01478592
+v -0.04425793 -0.00968665 -0.01453235
+v -0.04535032 -0.00754589 -0.01373462
+v -0.03826718 -0.01901491 -0.01718441
+v -0.03754473 -0.01970362 -0.01745032
+v -0.04514441 -0.00968665 -0.01348105
+v -0.04631534 -0.00965605 -0.01189793
+v -0.04689120 -0.01034668 -0.01085896
+v -0.04733968 -0.01182551 -0.00951005
+v -0.04824885 -0.01182551 -0.00784593
+v -0.04839019 -0.01163038 -0.00766455
+v -0.04877934 -0.00993346 -0.00766455
+v -0.04785098 -0.01359130 -0.00766456
+v -0.04670623 -0.01182550 -0.01055959
+v -0.04532764 -0.01396626 -0.01169191
+v -0.04456855 -0.01396625 -0.01274321
+v -0.04312539 -0.01610701 -0.01360786
+v -0.04167002 -0.01834533 -0.01420484
+v -0.04219528 -0.01610701 -0.01465916
+v -0.04047816 -0.01914883 -0.01512407
+v -0.04181486 -0.01970363 -0.01334372
+v -0.04236979 -0.01970363 -0.01268160
+v -0.03954281 -0.01836828 -0.01631273
+v -0.04079750 -0.01772165 -0.01543752
+v -0.04555275 -0.01189629 -0.01220963
+v -0.04496467 -0.01122861 -0.01325917
+v -0.03808221 -0.01970362 -0.01702945
+v -0.03924441 -0.01970362 -0.01599047
+v -0.03985692 -0.01970362 -0.01543928
+v -0.04833959 -0.01182551 -0.00766455
+v -0.04033681 -0.01970362 -0.01497791
+v -0.04131403 -0.01970363 -0.01390019
+f 1 2 5
+f 1 5 12
+f 1 12 26
+f 1 26 48
+f 1 48 78
+f 1 78 77
+f 1 77 111
+f 1 111 118
+f 1 118 117
+f 1 117 85
+f 1 85 84
+f 1 84 53
+f 1 53 29
+f 1 29 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 34
+f 1 34 33
+f 1 33 59
+f 1 59 92
+f 1 92 127
+f 1 127 156
+f 1 156 155
+f 1 155 174
+f 1 174 157
+f 1 157 136
+f 1 136 99
+f 1 99 64
+f 1 64 38
+f 1 38 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 28
+f 2 28 52
+f 2 52 40
+f 2 40 21
+f 2 21 10
+f 2 10 5
+f 3 7 16
+f 3 16 8
+f 4 9 19
+f 4 19 35
+f 4 35 60
+f 4 60 93
+f 4 93 98
+f 4 98 135
+f 4 135 166
+f 4 166 165
+f 4 165 176
+f 4 176 175
+f 4 175 173
+f 4 173 172
+f 4 172 171
+f 4 171 149
+f 4 149 116
+f 4 116 114
+f 4 114 81
+f 4 81 50
+f 4 50 27
+f 4 27 13
+f 4 13 6
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 16
+f 8 16 17
+f 8 17 18
+f 9 20 19
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 24 26
+f 11 26 12
+f 11 23 25
+f 11 25 24
+f 13 27 28
+f 14 29 15
+f 15 30 31
+f 15 31 16
+f 15 29 30
+f 16 31 17
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 17 31 32
+f 19 20 36
+f 19 36 37
+f 19 37 35
+f 20 38 36
+f 21 39 22
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 39
+f 22 39 45
+f 22 45 46
+f 22 46 23
+f 23 46 25
+f 24 47 48
+f 24 48 26
+f 24 25 47
+f 25 46 49
+f 25 49 47
+f 27 50 51
+f 27 51 28
+f 28 51 52
+f 29 53 54
+f 29 54 30
+f 30 54 55
+f 30 55 56
+f 30 56 31
+f 31 56 32
+f 32 57 58
+f 32 58 59
+f 32 59 33
+f 32 56 57
+f 35 37 60
+f 36 38 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 37 63 60
+f 38 64 61
+f 39 44 65
+f 39 65 66
+f 39 66 45
+f 40 52 51
+f 40 51 67
+f 40 67 68
+f 40 68 69
+f 40 69 41
+f 41 69 70
+f 41 70 42
+f 42 70 71
+f 42 71 72
+f 42 72 73
+f 42 73 43
+f 43 73 65
+f 43 65 44
+f 45 74 75
+f 45 75 46
+f 45 66 74
+f 46 75 49
+f 47 76 77
+f 47 77 78
+f 47 78 48
+f 47 49 80
+f 47 80 76
+f 49 75 79
+f 49 79 80
+f 50 81 82
+f 50 82 83
+f 50 83 67
+f 50 67 51
+f 53 84 54
+f 54 84 85
+f 54 85 86
+f 54 86 55
+f 55 87 88
+f 55 88 56
+f 55 86 87
+f 56 88 57
+f 57 88 89
+f 57 89 90
+f 57 90 58
+f 58 90 91
+f 58 91 92
+f 58 92 59
+f 60 63 93
+f 61 64 94
+f 61 94 95
+f 61 95 62
+f 62 95 96
+f 62 96 63
+f 63 96 97
+f 63 97 98
+f 63 98 93
+f 64 99 94
+f 65 73 100
+f 65 100 66
+f 66 101 74
+f 66 100 101
+f 67 83 68
+f 68 83 69
+f 69 83 102
+f 69 102 70
+f 70 102 103
+f 70 103 71
+f 71 103 104
+f 71 104 72
+f 72 104 105
+f 72 105 106
+f 72 106 107
+f 72 107 100
+f 72 100 73
+f 74 108 75
+f 74 101 109
+f 74 109 108
+f 75 108 79
+f 76 110 111
+f 76 111 77
+f 76 80 110
+f 79 108 112
+f 79 112 113
+f 79 113 80
+f 80 113 110
+f 81 114 82
+f 82 115 83
+f 82 114 116
+f 82 116 115
+f 83 115 102
+f 85 117 86
+f 86 117 118
+f 86 118 119
+f 86 119 120
+f 86 120 87
+f 87 120 121
+f 87 121 122
+f 87 122 88
+f 88 122 89
+f 89 123 124
+f 89 124 90
+f 89 122 123
+f 90 124 125
+f 90 125 91
+f 91 125 126
+f 91 126 127
+f 91 127 92
+f 94 99 128
+f 94 128 129
+f 94 129 130
+f 94 130 95
+f 95 130 131
+f 95 131 96
+f 96 131 132
+f 96 132 133
+f 96 133 97
+f 97 134 135
+f 97 135 98
+f 97 133 134
+f 99 136 128
+f 100 107 101
+f 101 107 137
+f 101 137 109
+f 102 115 138
+f 102 138 103
+f 103 139 104
+f 103 138 139
+f 104 139 140
+f 104 140 105
+f 105 140 141
+f 105 141 106
+f 106 141 142
+f 106 142 143
+f 106 143 144
+f 106 144 137
+f 106 137 107
+f 108 145 112
+f 108 109 145
+f 109 146 145
+f 109 137 146
+f 110 119 118
+f 110 118 111
+f 110 113 120
+f 110 120 119
+f 112 145 147
+f 112 147 121
+f 112 121 113
+f 113 121 120
+f 115 116 148
+f 115 148 138
+f 116 149 148
+f 121 147 122
+f 122 147 123
+f 123 147 150
+f 123 150 151
+f 123 151 124
+f 124 151 152
+f 124 152 125
+f 125 152 153
+f 125 153 126
+f 126 153 154
+f 126 154 155
+f 126 155 156
+f 126 156 127
+f 128 136 157
+f 128 157 154
+f 128 154 129
+f 129 154 153
+f 129 153 158
+f 129 158 130
+f 130 158 159
+f 130 159 131
+f 131 159 160
+f 131 160 132
+f 132 160 161
+f 132 161 133
+f 133 162 134
+f 133 161 163
+f 133 163 162
+f 134 162 164
+f 134 164 165
+f 134 165 166
+f 134 166 135
+f 137 144 146
+f 138 148 167
+f 138 167 139
+f 139 167 168
+f 139 168 140
+f 140 168 163
+f 140 163 141
+f 141 163 161
+f 141 161 142
+f 142 160 143
+f 142 161 160
+f 143 169 170
+f 143 170 144
+f 143 160 159
+f 143 159 169
+f 144 170 146
+f 145 146 150
+f 145 150 147
+f 146 170 150
+f 148 164 167
+f 148 149 171
+f 148 171 172
+f 148 172 173
+f 148 173 164
+f 150 170 151
+f 151 170 152
+f 152 170 169
+f 152 169 158
+f 152 158 153
+f 154 174 155
+f 154 157 174
+f 158 169 159
+f 162 163 168
+f 162 168 164
+f 164 168 167
+f 164 173 175
+f 164 175 176
+f 164 176 165
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_29.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.05102487 -0.00016136 -0.00495210
+v -0.05068835 -0.00016136 -0.00574413
+v -0.04285732 -0.00016136 -0.00495210
+v -0.05102281 0.00102052 -0.00495210
+v -0.05068835 0.00102052 -0.00574413
+v -0.04971179 0.00102053 -0.00784617
+v -0.05014948 -0.00016135 -0.00690399
+v -0.03654584 -0.00016133 -0.01306711
+v -0.02993293 0.02128462 -0.01306703
+v -0.03727877 0.02128459 -0.00495202
+v -0.05092784 0.00316175 -0.00495209
+v -0.05059544 0.00316175 -0.00574412
+v -0.04953836 0.00306730 -0.00801538
+v -0.04913370 0.00229267 -0.00892181
+v -0.04915228 0.00102053 -0.00895439
+v -0.04915228 -0.00016135 -0.00895360
+v -0.04970972 -0.00016135 -0.00784617
+v -0.04650960 -0.00016133 -0.01306711
+v -0.04124074 0.02128462 -0.01306703
+v -0.04626598 0.02128459 -0.00495202
+v -0.05073790 0.00530299 -0.00495208
+v -0.05040756 0.00530299 -0.00574411
+v -0.04953630 0.00530300 -0.00762372
+v -0.04908415 0.00372016 -0.00882807
+v -0.04859484 0.00306731 -0.00975198
+v -0.04853910 0.00102054 -0.01000462
+v -0.04881369 -0.00016134 -0.00953273
+v -0.04674290 -0.00016133 -0.01277476
+v -0.04651373 0.00102055 -0.01306711
+v -0.04191380 0.02128462 -0.01225275
+v -0.04175895 0.02028748 -0.01306704
+v -0.04223175 0.02028748 -0.01250459
+v -0.04591499 0.02128459 -0.00571466
+v -0.04660663 0.02059394 -0.00495202
+v -0.05043853 0.00750510 -0.00495207
+v -0.05012471 0.00744423 -0.00574410
+v -0.04939384 0.00744424 -0.00733930
+v -0.04900570 0.00530300 -0.00867474
+v -0.04827483 0.00530301 -0.00994740
+v -0.04742009 0.00316177 -0.01165303
+v -0.04746757 0.00102054 -0.01172533
+v -0.04746757 -0.00016134 -0.01172295
+v -0.04853703 -0.00016134 -0.01000382
+v -0.04674496 0.00102055 -0.01277635
+v -0.04640843 0.00316178 -0.01306710
+v -0.04267357 0.02128461 -0.01129706
+v -0.04246711 0.01884109 -0.01306704
+v -0.04256002 0.01890617 -0.01292881
+v -0.04303075 0.02028747 -0.01145357
+v -0.04279745 0.02128461 -0.01113500
+v -0.04510567 0.02128460 -0.00733369
+v -0.04641669 0.02024336 -0.00568925
+v -0.04710007 0.01950023 -0.00495203
+v -0.05031052 0.00825034 -0.00495207
+v -0.04963333 0.00975340 -0.00593476
+v -0.04924725 0.00915303 -0.00704855
+v -0.04885911 0.00744424 -0.00839112
+v -0.04797959 0.00744425 -0.00994739
+v -0.04731892 0.00530301 -0.01150526
+v -0.04717027 0.00744425 -0.01128281
+v -0.04669334 0.00316178 -0.01270405
+v -0.04619165 0.00530302 -0.01306709
+v -0.04298532 0.01762353 -0.01306705
+v -0.04344160 0.01817352 -0.01215663
+v -0.04480836 0.01699374 -0.01095310
+v -0.04457300 0.01814623 -0.01058050
+v -0.04360470 0.02128461 -0.00985836
+v -0.04412292 0.02022659 -0.00985043
+v -0.04481043 0.02128460 -0.00787310
+v -0.04462875 0.02090044 -0.00852691
+v -0.04531626 0.02022658 -0.00783419
+v -0.04676561 0.01868152 -0.00635418
+v -0.04732924 0.01803915 -0.00568925
+v -0.04763687 0.01807904 -0.00495203
+v -0.05005451 0.00968203 -0.00495206
+v -0.04943307 0.01172250 -0.00540170
+v -0.04910480 0.01057841 -0.00676254
+v -0.04874762 0.00975341 -0.00778814
+v -0.04751299 0.00957499 -0.01008164
+v -0.04705052 0.00885494 -0.01110327
+v -0.04658805 0.00530302 -0.01255628
+v -0.04642908 0.00744426 -0.01233463
+v -0.04587370 0.00744426 -0.01306708
+v -0.04356754 0.01606378 -0.01306705
+v -0.04432525 0.01617083 -0.01203192
+v -0.04522748 0.01814623 -0.00952948
+v -0.04506438 0.01556625 -0.01132012
+v -0.04561562 0.01617083 -0.01013008
+v -0.04495289 0.01947295 -0.00908540
+v -0.04453584 0.02128460 -0.00835373
+v -0.04630727 0.01803916 -0.00771582
+v -0.04704846 0.01725404 -0.00692776
+v -0.04803533 0.01600498 -0.00574407
+v -0.04836154 0.01606585 -0.00495204
+v -0.04961682 0.01172250 -0.00495206
+v -0.04924313 0.01322766 -0.00497032
+v -0.04896441 0.01172250 -0.00645272
+v -0.04826864 0.01172251 -0.00784613
+v -0.04735195 0.01172252 -0.00952951
+v -0.04689981 0.01028243 -0.01087129
+v -0.04632791 0.00957499 -0.01190245
+v -0.04546904 0.00958129 -0.01306707
+v -0.04433557 0.01384487 -0.01306706
+v -0.04458333 0.01386377 -0.01275883
+v -0.04670986 0.01600499 -0.00839983
+v -0.04534310 0.01386376 -0.01170781
+v -0.04649515 0.01397712 -0.00989970
+v -0.04692871 0.01476643 -0.00880261
+v -0.04726524 0.01600499 -0.00734881
+v -0.04871665 0.01390992 -0.00570039
+v -0.04891692 0.01437386 -0.00495205
+v -0.04924725 0.01323816 -0.00495205
+v -0.04757493 0.01397711 -0.00799945
+v -0.04713930 0.01333894 -0.00916645
+v -0.04672018 0.01172252 -0.01058053
+v -0.04556814 0.01181069 -0.01221386
+v -0.04508709 0.01127959 -0.01306707
+v -0.04475262 0.01254964 -0.01306706
+v -0.04477946 0.01258322 -0.01302416
+f 1 2 7
+f 1 7 17
+f 1 17 16
+f 1 16 27
+f 1 27 43
+f 1 43 42
+f 1 42 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 10
+f 1 10 20
+f 1 20 34
+f 1 34 53
+f 1 53 74
+f 1 74 94
+f 1 94 111
+f 1 111 112
+f 1 112 95
+f 1 95 75
+f 1 75 54
+f 1 54 35
+f 1 35 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 18 29
+f 8 29 45
+f 8 45 62
+f 8 62 83
+f 8 83 102
+f 8 102 117
+f 8 117 118
+f 8 118 103
+f 8 103 84
+f 8 84 63
+f 8 63 47
+f 8 47 31
+f 8 31 19
+f 8 19 9
+f 9 19 30
+f 9 30 46
+f 9 46 50
+f 9 50 67
+f 9 67 90
+f 9 90 69
+f 9 69 51
+f 9 51 33
+f 9 33 20
+f 9 20 10
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 16 26 27
+f 18 28 29
+f 19 31 32
+f 19 32 30
+f 20 33 34
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 40 26
+f 25 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 28 42 44
+f 28 44 29
+f 29 44 45
+f 30 32 46
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 46
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 59 40
+f 39 58 60
+f 39 60 59
+f 40 61 44
+f 40 44 41
+f 40 59 61
+f 41 44 42
+f 44 61 45
+f 45 61 62
+f 47 63 48
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 66 68
+f 50 68 67
+f 51 69 70
+f 51 70 71
+f 51 71 52
+f 52 71 72
+f 52 72 53
+f 53 72 73
+f 53 73 74
+f 54 75 55
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 56 77 78
+f 56 78 57
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 60
+f 59 60 81
+f 59 81 61
+f 60 80 82
+f 60 82 81
+f 61 81 62
+f 62 81 83
+f 63 84 85
+f 63 85 65
+f 63 65 64
+f 65 86 66
+f 65 85 87
+f 65 87 88
+f 65 88 86
+f 66 86 89
+f 66 89 68
+f 67 68 70
+f 67 70 90
+f 68 89 70
+f 69 90 70
+f 70 89 71
+f 71 89 91
+f 71 91 72
+f 72 91 92
+f 72 92 73
+f 73 92 93
+f 73 93 94
+f 73 94 74
+f 75 95 76
+f 76 95 96
+f 76 96 97
+f 76 97 77
+f 77 97 98
+f 77 98 78
+f 78 98 99
+f 78 99 79
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 82
+f 81 82 83
+f 82 101 102
+f 82 102 83
+f 84 103 104
+f 84 104 85
+f 85 104 87
+f 86 88 105
+f 86 105 91
+f 86 91 89
+f 87 104 106
+f 87 106 107
+f 87 107 108
+f 87 108 88
+f 88 108 105
+f 91 105 92
+f 92 105 109
+f 92 109 93
+f 93 109 110
+f 93 110 111
+f 93 111 94
+f 95 112 96
+f 96 112 111
+f 96 111 110
+f 96 110 97
+f 97 110 113
+f 97 113 98
+f 98 113 114
+f 98 114 99
+f 99 114 115
+f 99 115 100
+f 100 115 116
+f 100 116 117
+f 100 117 101
+f 101 117 102
+f 103 118 119
+f 103 119 104
+f 104 119 106
+f 105 108 109
+f 106 119 116
+f 106 116 115
+f 106 115 107
+f 107 114 108
+f 107 115 114
+f 108 114 113
+f 108 113 109
+f 109 113 110
+f 116 119 117
+f 117 119 118
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_3.obj

@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v -0.01927237 -0.03661332 -0.00766288
+v -0.01927237 -0.04567581 -0.00766292
+v 0.00369819 -0.04114956 -0.00766290
+v 0.00369819 -0.02411113 -0.01897925
+v -0.01927237 -0.02411114 -0.01668271
+v -0.01927237 -0.04506131 -0.00883114
+v -0.01807168 -0.04608547 -0.00784691
+v -0.01807168 -0.04618039 -0.00766292
+v 0.00369819 -0.04950263 -0.00766293
+v 0.00369819 -0.02411109 -0.02950871
+v -0.01927237 -0.02411110 -0.02850232
+v -0.01927237 -0.04501885 -0.00890872
+v -0.01807168 -0.04526365 -0.00930773
+v -0.01610200 -0.04680487 -0.00788681
+v -0.01788280 -0.04625782 -0.00766292
+v -0.01919592 -0.04503384 -0.00893754
+v 0.00333843 -0.04953261 -0.00766293
+v 0.00333843 -0.04909547 -0.00852302
+v 0.00369819 -0.04908048 -0.00849199
+v 0.00369819 -0.02421851 -0.02957965
+v -0.01013901 -0.02411109 -0.03020033
+v -0.01824481 -0.02411109 -0.02920280
+v -0.01927237 -0.02416856 -0.02845798
+v -0.01927237 -0.04495141 -0.00901291
+v -0.01593112 -0.04561085 -0.01004147
+v -0.01807168 -0.04459669 -0.01035845
+v -0.01664614 -0.04488145 -0.01080402
+v -0.01435493 -0.04699971 -0.00861168
+v -0.01590413 -0.04698972 -0.00766292
+v -0.01626164 -0.04686732 -0.00766292
+v 0.00297642 -0.04955009 -0.00766293
+v 0.00119787 -0.04914543 -0.00861613
+v 0.00333843 -0.04828114 -0.00994838
+v 0.00369819 -0.04824866 -0.00994838
+v 0.00369819 -0.02529012 -0.03010280
+v -0.01220987 -0.02411109 -0.03029122
+v -0.01695643 -0.02411109 -0.02990107
+v -0.01593112 -0.02529262 -0.02960403
+v -0.01927237 -0.03821196 -0.01699532
+v -0.01927237 -0.04421950 -0.01011905
+v -0.01521834 -0.04513624 -0.01117865
+v -0.01370061 -0.04649012 -0.00980207
+v -0.01927237 -0.04357504 -0.01108998
+v -0.01927237 -0.04323282 -0.01157322
+v -0.01795026 -0.04343266 -0.01207420
+v -0.01715429 -0.04293306 -0.01318035
+v -0.01593112 -0.04431193 -0.01194785
+v -0.01292714 -0.04721203 -0.00900404
+v -0.01370061 -0.04756924 -0.00788681
+v -0.01429197 -0.04750179 -0.00766292
+v 0.00119787 -0.04962753 -0.00766293
+v -0.00094494 -0.04914543 -0.00861834
+v -0.00094494 -0.04838355 -0.00994838
+v 0.00119787 -0.04838105 -0.00994838
+v 0.00333843 -0.04740686 -0.01138259
+v 0.00369819 -0.04738938 -0.01135821
+v 0.00369819 -0.02681386 -0.03030453
+v -0.01458652 -0.02411109 -0.03020920
+v -0.01164775 -0.02467313 -0.03030674
+v -0.01625265 -0.02411109 -0.03006068
+v -0.01478214 -0.02568729 -0.02989886
+v -0.01869001 -0.03836683 -0.01712611
+v -0.01927237 -0.03936351 -0.01595346
+v -0.01379055 -0.04536605 -0.01150451
+v -0.01379055 -0.04459918 -0.01255523
+v -0.01164775 -0.04673991 -0.01032965
+v -0.01927237 -0.04251590 -0.01251312
+v -0.01858208 -0.04262332 -0.01279021
+v -0.01593112 -0.04316287 -0.01345079
+v -0.01927237 -0.04201132 -0.01314044
+v -0.01927237 -0.04142181 -0.01382541
+v -0.01797724 -0.04175653 -0.01411137
+v -0.01737465 -0.04088974 -0.01536604
+v -0.01593112 -0.04224113 -0.01450152
+v -0.01164775 -0.04737440 -0.00927892
+v -0.01164775 -0.04813876 -0.00784692
+v -0.01164775 -0.04823119 -0.00766293
+v -0.01344204 -0.04774909 -0.00766293
+v -0.01369612 -0.04767915 -0.00766293
+v -0.00094494 -0.04962753 -0.00766293
+v -0.00116079 -0.04962004 -0.00766293
+v -0.00308550 -0.04954010 -0.00766293
+v -0.00308550 -0.04910047 -0.00852967
+v -0.00308550 -0.04829363 -0.00994838
+v -0.00308550 -0.04741436 -0.01138924
+v -0.00094494 -0.04745932 -0.01145575
+v 0.00119787 -0.04745682 -0.01145353
+v 0.00119787 -0.04672242 -0.01250426
+v 0.00333843 -0.04666996 -0.01243332
+v 0.00369819 -0.04677738 -0.01223160
+v -0.00522606 -0.02681386 -0.03030453
+v 0.00369819 -0.02845000 -0.03012054
+v 0.00333843 -0.02847748 -0.03012497
+v 0.00119787 -0.02857739 -0.03013606
+v -0.00094494 -0.02859738 -0.03013607
+v -0.01593112 -0.02411109 -0.03009836
+v -0.01395694 -0.02485298 -0.03016486
+v -0.01593112 -0.02422100 -0.03008506
+v -0.00736887 -0.02681386 -0.03027793
+v -0.01164775 -0.02637922 -0.03010946
+v -0.01606378 -0.02411109 -0.03008728
+v -0.01335435 -0.02600203 -0.03002300
+v -0.01033463 -0.02776057 -0.02987227
+v -0.01164775 -0.02745083 -0.02965059
+v -0.01726222 -0.03870655 -0.01740320
+v -0.01803120 -0.03964078 -0.01624608
+v -0.01880244 -0.04057250 -0.01504239
+v -0.01927237 -0.04010040 -0.01527072
+v -0.01151059 -0.04555839 -0.01213628
+v -0.01213342 -0.04485147 -0.01289439
+v -0.01379055 -0.04353006 -0.01387862
+v -0.00950718 -0.04698221 -0.01072866
+v -0.01379055 -0.04261832 -0.01492935
+v -0.01927237 -0.04045761 -0.01491826
+v -0.01593112 -0.04004794 -0.01669607
+v -0.01593112 -0.04116951 -0.01564534
+v -0.00950718 -0.04760919 -0.00967793
+v -0.00937227 -0.04873577 -0.00766293
+v -0.01141615 -0.04828614 -0.00766293
+v -0.00522606 -0.04935775 -0.00766293
+v -0.00522606 -0.04900804 -0.00835012
+v -0.00522606 -0.04810628 -0.00994838
+v -0.00522606 -0.04731943 -0.01124959
+v -0.00308550 -0.04667496 -0.01243997
+v -0.00094494 -0.04672492 -0.01250648
+v -0.00094494 -0.04565330 -0.01389858
+v 0.00119787 -0.04565081 -0.01389193
+v 0.00333843 -0.04559835 -0.01382765
+v 0.00369819 -0.04665248 -0.01240894
+v 0.00369819 -0.04558336 -0.01380770
+v -0.00308550 -0.02851745 -0.03012941
+v 0.00369819 -0.02952161 -0.02962844
+v 0.00333843 -0.02954659 -0.02965725
+v 0.00119787 -0.02964901 -0.02974371
+v -0.00094494 -0.02966899 -0.02975257
+v -0.00522606 -0.02836757 -0.03010502
+v -0.00736887 -0.02817273 -0.03004960
+v -0.00957464 -0.02695374 -0.03014271
+v -0.00890684 -0.02800537 -0.02998089
+v -0.00736887 -0.02924184 -0.02923386
+v -0.01107438 -0.04086726 -0.01742538
+v -0.01250217 -0.04066243 -0.01725026
+v -0.01379055 -0.04044511 -0.01705740
+v -0.00950718 -0.04607047 -0.01205205
+v -0.01070563 -0.04504381 -0.01314489
+v -0.01254489 -0.04282064 -0.01515102
+v -0.01162526 -0.04393223 -0.01414906
+v -0.00818732 -0.04710961 -0.01093481
+v -0.01379055 -0.04154919 -0.01600667
+v -0.00743183 -0.04771161 -0.01012128
+v -0.00736887 -0.04886566 -0.00807968
+v -0.00736887 -0.04908048 -0.00766293
+v -0.00676178 -0.04722451 -0.01110994
+v -0.00522606 -0.04657754 -0.01230254
+v -0.00522606 -0.04550593 -0.01371681
+v -0.00308550 -0.04560585 -0.01383651
+v -0.00094494 -0.04478402 -0.01494930
+v 0.00119787 -0.04478153 -0.01494487
+v 0.00333843 -0.04472657 -0.01487837
+v 0.00369819 -0.04485646 -0.01468329
+v 0.00369819 -0.04257834 -0.01704189
+v 0.00333843 -0.04259833 -0.01705741
+v 0.00119787 -0.04265828 -0.01711283
+v -0.00308550 -0.02958656 -0.02968829
+v -0.00094494 -0.04266327 -0.01711726
+v -0.00308550 -0.04261081 -0.01707071
+v -0.00522606 -0.02943918 -0.02953090
+v -0.00950718 -0.04212622 -0.01660075
+v -0.01111710 -0.04301548 -0.01535718
+v -0.01180964 -0.04184395 -0.01630371
+v -0.00950718 -0.04516871 -0.01330007
+v -0.00743183 -0.04655007 -0.01190574
+v -0.00950718 -0.04427195 -0.01435079
+v -0.00736887 -0.04536104 -0.01353947
+v -0.00522606 -0.04463165 -0.01476753
+v -0.00308550 -0.04473407 -0.01488945
+v -0.00308550 -0.04366245 -0.01601998
+v -0.00094494 -0.04371490 -0.01606653
+v 0.00119787 -0.04370991 -0.01606210
+v 0.00333843 -0.04365495 -0.01600668
+v 0.00369819 -0.04470909 -0.01485842
+v 0.00369819 -0.04363747 -0.01598895
+v 0.00369819 -0.04275820 -0.01686456
+v -0.00522606 -0.04250341 -0.01696874
+v -0.00522606 -0.04356003 -0.01591801
+v -0.00736887 -0.04234104 -0.01681135
+v -0.00950718 -0.04320283 -0.01555004
+v -0.00736887 -0.04447678 -0.01459019
+v -0.00736887 -0.04340516 -0.01576062
+f 1 2 8
+f 1 8 15
+f 1 15 30
+f 1 30 29
+f 1 29 50
+f 1 50 79
+f 1 79 78
+f 1 78 77
+f 1 77 119
+f 1 119 118
+f 1 118 152
+f 1 152 120
+f 1 120 82
+f 1 82 81
+f 1 81 80
+f 1 80 51
+f 1 51 31
+f 1 31 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 39
+f 1 39 63
+f 1 63 108
+f 1 108 114
+f 1 114 71
+f 1 71 70
+f 1 70 67
+f 1 67 44
+f 1 44 43
+f 1 43 40
+f 1 40 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 19
+f 3 19 34
+f 3 34 56
+f 3 56 90
+f 3 90 129
+f 3 129 130
+f 3 130 160
+f 3 160 181
+f 3 181 182
+f 3 182 183
+f 3 183 161
+f 3 161 132
+f 3 132 92
+f 3 92 57
+f 3 57 35
+f 3 35 20
+f 3 20 10
+f 3 10 4
+f 4 10 21
+f 4 21 36
+f 4 36 58
+f 4 58 96
+f 4 96 101
+f 4 101 60
+f 4 60 37
+f 4 37 22
+f 4 22 11
+f 4 11 5
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 12 16
+f 7 16 13
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 11 22 23
+f 12 24 16
+f 13 25 14
+f 13 16 26
+f 13 26 27
+f 13 27 25
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 25 28
+f 16 24 26
+f 17 31 18
+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 22 37 38
+f 22 38 39
+f 22 39 23
+f 24 40 26
+f 25 27 41
+f 25 41 42
+f 25 42 28
+f 26 40 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 41
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 28 42 48
+f 31 51 32
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 32 51 52
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 35 57 36
+f 36 57 59
+f 36 59 58
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 39 62 63
+f 39 61 62
+f 41 64 42
+f 41 47 65
+f 41 65 64
+f 42 64 66
+f 42 66 48
+f 44 67 68
+f 44 68 45
+f 45 68 46
+f 46 69 47
+f 46 68 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 69
+f 47 69 65
+f 48 66 75
+f 48 75 76
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 79
+f 49 79 50
+f 51 80 52
+f 52 80 81
+f 52 81 82
+f 52 82 83
+f 52 83 84
+f 52 84 53
+f 53 84 85
+f 53 85 86
+f 53 86 54
+f 54 86 87
+f 54 87 55
+f 55 88 89
+f 55 89 90
+f 55 90 56
+f 55 87 88
+f 57 91 59
+f 57 92 93
+f 57 93 94
+f 57 94 95
+f 57 95 91
+f 58 59 97
+f 58 97 98
+f 58 98 96
+f 59 91 99
+f 59 99 100
+f 59 100 97
+f 60 101 98
+f 60 98 61
+f 61 98 102
+f 61 102 103
+f 61 103 104
+f 61 104 62
+f 62 105 106
+f 62 106 63
+f 62 104 105
+f 63 106 107
+f 63 107 108
+f 64 109 66
+f 64 65 110
+f 64 110 109
+f 65 69 111
+f 65 111 110
+f 66 112 75
+f 66 109 112
+f 67 70 68
+f 69 74 113
+f 69 113 111
+f 71 114 107
+f 71 107 72
+f 72 107 73
+f 73 107 106
+f 73 106 105
+f 73 105 115
+f 73 115 116
+f 73 116 74
+f 74 116 113
+f 75 112 117
+f 75 117 118
+f 75 118 76
+f 76 118 119
+f 76 119 77
+f 82 120 83
+f 83 120 121
+f 83 121 122
+f 83 122 84
+f 84 122 123
+f 84 123 85
+f 85 123 124
+f 85 124 125
+f 85 125 86
+f 86 125 88
+f 86 88 87
+f 88 125 126
+f 88 126 127
+f 88 127 128
+f 88 128 89
+f 89 129 90
+f 89 128 130
+f 89 130 129
+f 91 95 131
+f 91 131 99
+f 92 132 133
+f 92 133 134
+f 92 134 93
+f 93 134 94
+f 94 134 135
+f 94 135 95
+f 95 135 131
+f 96 98 101
+f 97 100 102
+f 97 102 98
+f 99 131 136
+f 99 136 137
+f 99 137 138
+f 99 138 100
+f 100 138 139
+f 100 139 102
+f 102 139 103
+f 103 139 140
+f 103 140 141
+f 103 141 142
+f 103 142 143
+f 103 143 115
+f 103 115 105
+f 103 105 104
+f 107 114 108
+f 109 144 112
+f 109 110 145
+f 109 145 144
+f 110 111 146
+f 110 146 147
+f 110 147 145
+f 111 113 146
+f 112 148 117
+f 112 144 148
+f 113 116 149
+f 113 149 146
+f 115 143 116
+f 116 143 149
+f 117 150 151
+f 117 151 118
+f 117 148 150
+f 118 151 152
+f 120 152 121
+f 121 152 151
+f 121 151 150
+f 121 150 122
+f 122 150 153
+f 122 153 123
+f 123 153 154
+f 123 154 124
+f 124 154 155
+f 124 155 156
+f 124 156 125
+f 125 156 126
+f 126 157 158
+f 126 158 127
+f 126 156 157
+f 127 158 128
+f 128 158 159
+f 128 159 130
+f 130 159 160
+f 131 135 136
+f 132 161 133
+f 133 161 162
+f 133 162 134
+f 134 162 163
+f 134 163 135
+f 135 164 136
+f 135 163 165
+f 135 165 166
+f 135 166 164
+f 136 164 137
+f 137 139 138
+f 137 164 139
+f 139 164 167
+f 139 167 140
+f 140 167 168
+f 140 168 141
+f 141 168 169
+f 141 169 170
+f 141 170 142
+f 142 170 146
+f 142 146 149
+f 142 149 143
+f 144 145 171
+f 144 171 172
+f 144 172 148
+f 145 147 169
+f 145 169 173
+f 145 173 171
+f 146 170 169
+f 146 169 147
+f 148 172 153
+f 148 153 150
+f 153 172 154
+f 154 172 174
+f 154 174 155
+f 155 174 175
+f 155 175 176
+f 155 176 156
+f 156 176 157
+f 157 176 177
+f 157 177 178
+f 157 178 158
+f 158 178 179
+f 158 179 180
+f 158 180 159
+f 159 181 160
+f 159 180 182
+f 159 182 181
+f 161 183 162
+f 162 183 180
+f 162 180 163
+f 163 180 179
+f 163 179 178
+f 163 178 165
+f 164 166 184
+f 164 184 167
+f 165 178 177
+f 165 177 166
+f 166 177 185
+f 166 185 184
+f 167 184 186
+f 167 186 168
+f 168 186 187
+f 168 187 169
+f 169 187 173
+f 171 174 172
+f 171 173 188
+f 171 188 174
+f 173 187 188
+f 174 188 175
+f 175 188 189
+f 175 189 185
+f 175 185 176
+f 176 185 177
+f 180 183 182
+f 184 185 189
+f 184 189 186
+f 186 189 187
+f 187 189 188
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_30.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.02663886 0.00530199 -0.03029590
+v -0.02663886 0.00744400 -0.03029083
+v -0.02449782 0.01172349 -0.03029082
+v -0.02663886 -0.00016127 -0.03024195
+v -0.02753330 -0.00016127 -0.03019979
+v -0.02863669 -0.00016127 -0.03014751
+v -0.02863434 0.00102100 -0.03014751
+v -0.02851461 0.00316149 -0.03014244
+v -0.02831506 0.00530199 -0.03012388
+v -0.02808030 0.00744400 -0.03007496
+v -0.02684075 0.00977070 -0.03015084
+v -0.02449782 0.01386550 -0.03023178
+v -0.02253052 0.01530360 -0.03023008
+v -0.02253052 0.01375802 -0.03017276
+v -0.02253052 0.01271653 -0.03012554
+v -0.02595335 -0.00016127 -0.03011547
+v -0.02970720 -0.00016127 -0.02986756
+v -0.02970486 0.00102100 -0.02986587
+v -0.02958513 0.00316149 -0.02980515
+v -0.02787606 0.00918335 -0.03000076
+v -0.02631019 0.01172349 -0.03011711
+v -0.02580076 0.01386550 -0.03000917
+v -0.02442740 0.01530360 -0.03010529
+v -0.02253052 0.01530356 -0.01814159
+v -0.02253052 -0.00016128 -0.02822664
+v -0.02539931 -0.00016127 -0.03001259
+v -0.04268018 -0.00016132 -0.01729168
+v -0.04268018 0.00102095 -0.01729168
+v -0.04262618 0.00316144 -0.01724445
+v -0.02938793 0.00530199 -0.02965842
+v -0.04251350 0.00530194 -0.01714156
+v -0.04234447 0.00744395 -0.01698471
+v -0.02768590 0.01061085 -0.02990968
+v -0.02558008 0.01495391 -0.02992316
+v -0.02509647 0.01530360 -0.02998049
+v -0.03328499 0.01530354 -0.01306874
+v -0.02253052 -0.00016131 -0.01942504
+v -0.04315440 -0.00016132 -0.01682116
+v -0.04373896 0.00102095 -0.01624102
+v -0.04368496 0.00316144 -0.01619210
+v -0.04357697 0.00530194 -0.01609090
+v -0.02915082 0.00744400 -0.02938520
+v -0.04211910 0.00958294 -0.01677221
+v -0.04341499 0.00744395 -0.01593405
+v -0.04319900 0.00958294 -0.01572155
+v -0.02738306 0.01172349 -0.02971911
+v -0.04183973 0.01172344 -0.01650238
+v -0.04059549 0.01291479 -0.01734053
+v -0.04034664 0.01434229 -0.01712804
+v -0.04015648 0.01530355 -0.01696107
+v -0.02580780 0.01530360 -0.02948805
+v -0.04380704 0.01530354 -0.01306874
+v -0.03654349 -0.00016133 -0.01306880
+v -0.04373661 -0.00016132 -0.01624102
+v -0.04480947 0.00102095 -0.01517180
+v -0.04475548 0.00316144 -0.01511277
+v -0.04464749 0.00530194 -0.01498627
+v -0.04293372 0.01172344 -0.01545003
+v -0.04448550 0.00744394 -0.01479738
+v -0.04426952 0.00958293 -0.01454609
+v -0.04276000 0.01298896 -0.01526957
+v -0.04156036 0.01366563 -0.01619881
+v -0.04127865 0.01530355 -0.01591041
+v -0.04081382 0.01530355 -0.01635395
+v -0.04369201 0.01530354 -0.01321883
+v -0.04433525 0.01384425 -0.01306875
+v -0.04650916 -0.00016133 -0.01306880
+v -0.04421553 -0.00016132 -0.01576206
+v -0.04480713 -0.00016132 -0.01516843
+v -0.04567340 -0.00016133 -0.01411777
+v -0.04567340 0.00102094 -0.01412114
+v -0.04562410 0.00316143 -0.01406211
+v -0.04551846 0.00530193 -0.01393562
+v -0.04535882 0.00744394 -0.01374504
+v -0.04413805 0.01181123 -0.01404353
+v -0.04515458 0.00958293 -0.01349543
+v -0.04497146 0.01115576 -0.01326945
+v -0.04475313 0.01254996 -0.01306875
+v -0.04338681 0.01376704 -0.01425095
+v -0.04252289 0.01441647 -0.01501660
+v -0.04235856 0.01530354 -0.01483445
+v -0.04322248 0.01530354 -0.01383101
+v -0.04651150 0.00055620 -0.01306880
+v -0.04651150 0.00102094 -0.01306880
+v -0.04640821 0.00316143 -0.01306879
+v -0.04619223 0.00530193 -0.01306878
+v -0.04587295 0.00744394 -0.01306877
+v -0.04546916 0.00957990 -0.01306876
+v -0.04508649 0.01128140 -0.01306876
+v -0.04287268 0.01530354 -0.01424757
+f 1 2 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 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 26
+f 4 26 25
+f 4 25 37
+f 4 37 53
+f 4 53 67
+f 4 67 70
+f 4 70 69
+f 4 69 68
+f 4 68 54
+f 4 54 38
+f 4 38 27
+f 4 27 17
+f 4 17 6
+f 4 6 5
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 20 11
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 35
+f 13 35 51
+f 13 51 50
+f 13 50 64
+f 13 64 63
+f 13 63 81
+f 13 81 90
+f 13 90 82
+f 13 82 65
+f 13 65 52
+f 13 52 36
+f 13 36 24
+f 13 24 37
+f 13 37 25
+f 13 25 15
+f 13 15 14
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 32
+f 19 32 30
+f 20 33 21
+f 20 30 33
+f 21 33 22
+f 22 34 35
+f 22 35 23
+f 22 33 34
+f 24 36 37
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 31
+f 30 42 33
+f 30 32 43
+f 30 43 42
+f 31 41 44
+f 31 44 32
+f 32 44 45
+f 32 45 43
+f 33 46 34
+f 33 42 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 46
+f 34 51 35
+f 34 46 50
+f 34 50 51
+f 36 52 66
+f 36 66 78
+f 36 78 89
+f 36 89 88
+f 36 88 87
+f 36 87 86
+f 36 86 85
+f 36 85 84
+f 36 84 83
+f 36 83 67
+f 36 67 53
+f 36 53 37
+f 38 54 39
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 44
+f 42 43 47
+f 43 45 58
+f 43 58 47
+f 44 57 59
+f 44 59 45
+f 45 59 60
+f 45 60 58
+f 47 58 61
+f 47 61 48
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 52 65 66
+f 54 68 55
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 56
+f 55 68 69
+f 56 72 73
+f 56 73 57
+f 57 73 74
+f 57 74 59
+f 58 60 75
+f 58 75 61
+f 59 74 76
+f 59 76 60
+f 60 76 77
+f 60 77 75
+f 61 75 78
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 63
+f 63 80 81
+f 65 82 66
+f 66 82 79
+f 66 79 78
+f 67 83 70
+f 70 83 71
+f 71 83 84
+f 71 84 72
+f 72 84 85
+f 72 85 73
+f 73 85 86
+f 73 86 74
+f 74 86 87
+f 74 87 76
+f 75 77 78
+f 76 87 88
+f 76 88 77
+f 77 88 89
+f 77 89 78
+f 79 82 90
+f 79 90 80
+f 80 90 81
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_31.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.03063042 0.03384599 0.00100651
+v 0.01542492 0.04287638 0.00100655
+v 0.03063042 0.04322361 0.00100655
+v 0.03063042 0.03968273 0.01740056
+v 0.01542492 0.05040673 0.02583268
+v 0.01542492 0.04889499 0.02133040
+v 0.01542492 0.04877452 0.02096811
+v 0.01542492 0.04829502 0.01951345
+v 0.01542492 0.04765489 0.01738676
+v 0.01542492 0.05065248 0.00100658
+v 0.03047861 0.04332755 0.00100655
+v 0.02956324 0.04455584 0.00266586
+v 0.03063042 0.04383067 0.00269352
+v 0.03063042 0.04026853 0.01901009
+v 0.03063042 0.04291645 0.02578564
+v 0.01542492 0.05102560 0.02729564
+v 0.03063042 0.04055907 0.01977338
+v 0.03063042 0.04125116 0.02156544
+v 0.01572855 0.05056272 0.00100658
+v 0.01542492 0.05075170 0.00129972
+v 0.03036102 0.04340786 0.00100655
+v 0.02904676 0.04429129 0.00100655
+v 0.02847820 0.04466923 0.00100655
+v 0.02813140 0.04501646 0.00132736
+v 0.02849159 0.04524322 0.00266587
+v 0.02992790 0.04479441 0.00407075
+v 0.03063042 0.04406216 0.00335724
+v 0.03063042 0.04411876 0.02773533
+v 0.01542492 0.05199643 0.02828293
+v 0.01617954 0.05041863 0.00100658
+v 0.01542492 0.05108710 0.00235339
+v 0.01614530 0.05096427 0.00269078
+v 0.02761343 0.04520543 0.00100656
+v 0.02671891 0.04634397 0.00280415
+v 0.02691091 0.04561408 0.00100656
+v 0.03021218 0.05139646 0.02457713
+v 0.03063042 0.04445190 0.00450493
+v 0.03063042 0.05125001 0.02495048
+v 0.03063042 0.04518406 0.02869774
+v 0.03058428 0.04527619 0.02875305
+v 0.01542492 0.05312551 0.02907388
+v 0.01832730 0.04967929 0.00100657
+v 0.01542492 0.05141072 0.00339046
+v 0.01542492 0.05142961 0.00345130
+v 0.01683146 0.05119103 0.00422565
+v 0.01832879 0.05020367 0.00266588
+v 0.02657304 0.04580777 0.00100656
+v 0.02545972 0.04685654 0.00219850
+v 0.02588987 0.04708803 0.00359785
+v 0.02749436 0.05323655 0.02578568
+v 0.02903337 0.05240273 0.02578567
+v 0.03049796 0.05156654 0.02578567
+v 0.03063042 0.05148622 0.02578567
+v 0.03063042 0.04532579 0.02878071
+v 0.03063042 0.04622576 0.02910151
+v 0.01542492 0.05454279 0.02924811
+v 0.01909383 0.04940056 0.00100657
+v 0.01542492 0.05773167 0.02490902
+v 0.01832879 0.05708209 0.02578569
+v 0.02158243 0.05562938 0.02469330
+v 0.01964900 0.04929426 0.00131077
+v 0.02497301 0.04670065 0.00100656
+v 0.02474826 0.04742345 0.00280415
+v 0.02403234 0.04722977 0.00108952
+v 0.02604168 0.05358142 0.02446099
+v 0.02642271 0.05377039 0.02578568
+v 0.02640485 0.05376093 0.02734820
+v 0.03052177 0.05158070 0.02727905
+v 0.03063042 0.05142480 0.02738414
+v 0.03063042 0.04807294 0.02921490
+v 0.02883541 0.04791704 0.02916513
+v 0.02689305 0.05026026 0.02925362
+v 0.01618847 0.05454279 0.02925917
+v 0.01542492 0.05607817 0.02911538
+v 0.01996603 0.04905569 0.00100657
+v 0.01542492 0.05784269 0.02536533
+v 0.01560799 0.05789466 0.02578569
+v 0.01667815 0.05759231 0.02578569
+v 0.01574195 0.05793481 0.02720716
+v 0.02200960 0.05580653 0.02722098
+v 0.02047060 0.05633094 0.02578569
+v 0.02192477 0.05577111 0.02578568
+v 0.02299493 0.05533412 0.02578568
+v 0.02475124 0.05456171 0.02578568
+v 0.02159136 0.04921394 0.00364211
+v 0.02040511 0.04945488 0.00283181
+v 0.02107638 0.04899427 0.00223999
+v 0.02412462 0.04715182 0.00100656
+v 0.02242784 0.04856672 0.00283181
+v 0.02386564 0.04728174 0.00100656
+v 0.02469170 0.05407037 0.02798427
+v 0.02536595 0.05316567 0.02874755
+v 0.02895448 0.05193265 0.02794277
+v 0.02961533 0.05097599 0.02868117
+v 0.03063042 0.05072797 0.02821103
+v 0.02895448 0.05026262 0.02913470
+v 0.03063042 0.04966265 0.02906280
+v 0.02261092 0.05240271 0.02925640
+v 0.02469170 0.05243341 0.02913471
+v 0.02047060 0.05423099 0.02914302
+v 0.01618847 0.05597423 0.02910155
+v 0.01542492 0.05723562 0.02819169
+v 0.02057478 0.04879350 0.00100657
+v 0.01542492 0.05794426 0.02578569
+v 0.01542492 0.05797732 0.02727630
+v 0.01934834 0.05558212 0.02893008
+v 0.02047060 0.05609944 0.02764135
+v 0.02047060 0.05530103 0.02869224
+v 0.02267343 0.04784865 0.00100657
+v 0.02223286 0.04804943 0.00100657
+v 0.02393857 0.05356959 0.02899645
+v 0.02818796 0.05143896 0.02899920
+v 0.02689305 0.05171769 0.02908217
+v 0.02261092 0.05379399 0.02907665
+v 0.01792097 0.05577109 0.02902410
+v 0.01542492 0.05782379 0.02747266
+f 1 2 10
+f 1 10 19
+f 1 19 30
+f 1 30 42
+f 1 42 57
+f 1 57 75
+f 1 75 103
+f 1 103 110
+f 1 110 109
+f 1 109 90
+f 1 90 88
+f 1 88 62
+f 1 62 47
+f 1 47 35
+f 1 35 33
+f 1 33 23
+f 1 23 22
+f 1 22 21
+f 1 21 11
+f 1 11 3
+f 1 3 13
+f 1 13 27
+f 1 27 37
+f 1 37 38
+f 1 38 53
+f 1 53 69
+f 1 69 95
+f 1 95 97
+f 1 97 70
+f 1 70 55
+f 1 55 54
+f 1 54 39
+f 1 39 28
+f 1 28 15
+f 1 15 18
+f 1 18 17
+f 1 17 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 16
+f 2 16 29
+f 2 29 41
+f 2 41 56
+f 2 56 74
+f 2 74 102
+f 2 102 116
+f 2 116 105
+f 2 105 104
+f 2 104 76
+f 2 76 58
+f 2 58 44
+f 2 44 43
+f 2 43 31
+f 2 31 20
+f 2 20 10
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 15 16
+f 5 14 17
+f 5 17 18
+f 5 18 15
+f 10 20 19
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 15 28 16
+f 16 28 29
+f 19 20 31
+f 19 31 32
+f 19 32 30
+f 23 33 24
+f 24 34 25
+f 24 33 35
+f 24 35 34
+f 25 34 36
+f 25 36 26
+f 26 37 27
+f 26 36 38
+f 26 38 37
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 30 32 42
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 42
+f 34 35 47
+f 34 47 48
+f 34 48 49
+f 34 49 36
+f 36 50 51
+f 36 51 52
+f 36 52 38
+f 36 49 50
+f 38 52 53
+f 39 54 40
+f 40 54 41
+f 41 55 56
+f 41 54 55
+f 42 46 57
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 45 60 46
+f 46 61 57
+f 46 60 61
+f 47 62 48
+f 48 63 49
+f 48 62 64
+f 48 64 63
+f 49 63 65
+f 49 65 50
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 51 68 52
+f 52 68 53
+f 53 68 69
+f 55 70 71
+f 55 71 56
+f 56 71 70
+f 56 70 72
+f 56 72 73
+f 56 73 74
+f 57 61 75
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 75
+f 62 88 64
+f 63 64 89
+f 63 89 65
+f 64 88 90
+f 64 90 89
+f 65 84 66
+f 65 89 85
+f 65 85 84
+f 66 84 67
+f 67 91 92
+f 67 92 93
+f 67 93 68
+f 67 84 80
+f 67 80 91
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 70 96 72
+f 70 97 96
+f 72 98 73
+f 72 96 99
+f 72 99 98
+f 73 98 100
+f 73 100 101
+f 73 101 74
+f 74 101 102
+f 75 87 103
+f 76 104 77
+f 77 104 79
+f 77 79 78
+f 79 105 106
+f 79 106 107
+f 79 107 80
+f 79 104 105
+f 80 84 83
+f 80 83 82
+f 80 82 81
+f 80 107 106
+f 80 106 108
+f 80 108 91
+f 85 89 87
+f 85 87 86
+f 87 89 109
+f 87 109 110
+f 87 110 103
+f 89 90 109
+f 91 108 92
+f 92 94 93
+f 92 108 111
+f 92 111 112
+f 92 112 94
+f 94 112 97
+f 94 97 95
+f 96 97 112
+f 96 112 113
+f 96 113 99
+f 98 99 100
+f 99 113 114
+f 99 114 100
+f 100 114 115
+f 100 115 101
+f 101 115 102
+f 102 115 106
+f 102 106 116
+f 105 116 106
+f 106 115 114
+f 106 114 111
+f 106 111 108
+f 111 114 113
+f 111 113 112
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_32.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01482790 0.04833859 0.01912927
+v -0.00355249 0.05056265 0.01912928
+v -0.00355249 0.05066567 0.01948248
+v -0.01482790 0.04840154 0.01934159
+v -0.01482790 0.05628821 0.01912930
+v -0.00355249 0.05784036 0.01912930
+v -0.00355249 0.05103424 0.02067103
+v -0.01482790 0.04845420 0.01951620
+v -0.01482790 0.05835200 0.02319996
+v -0.00936626 0.05715929 0.01912930
+v -0.00397084 0.05780945 0.01912930
+v -0.01482790 0.05850309 0.02360970
+v -0.00522587 0.05919561 0.02368709
+v -0.00355249 0.05931122 0.02368709
+v -0.00355249 0.05115786 0.02106689
+v -0.01482790 0.04914212 0.02161155
+v -0.00355249 0.05266879 0.02578737
+v -0.00522587 0.05771559 0.01912930
+v -0.00565746 0.05766637 0.01912930
+v -0.00685288 0.05752901 0.01912930
+v -0.00726129 0.05748208 0.01912930
+v -0.00736726 0.05746949 0.01912930
+v -0.00885740 0.05723941 0.01912930
+v -0.00420153 0.05779228 0.01912930
+v -0.01482790 0.05897698 0.02578740
+v -0.00522587 0.05997167 0.02650272
+v -0.00522587 0.05973016 0.02545108
+v -0.00355249 0.05978739 0.02519412
+v -0.01482790 0.05054202 0.02585087
+v -0.00355249 0.05308658 0.02692434
+v -0.00644558 0.05991444 0.02688369
+v -0.00644558 0.05991444 0.02675273
+v -0.01482790 0.05847561 0.02782421
+v -0.00522587 0.05997167 0.02701267
+v -0.00355249 0.06003120 0.02624576
+v -0.01482790 0.05084993 0.02667631
+v -0.00355249 0.05322394 0.02727060
+v -0.00355249 0.05920017 0.02819329
+v -0.00522587 0.05915439 0.02806431
+v -0.00355249 0.05985263 0.02737181
+v -0.00355249 0.06003120 0.02714263
+v -0.01482790 0.05742710 0.02872307
+v -0.01100431 0.05781285 0.02898002
+v -0.01482790 0.05108801 0.02721999
+v -0.00355249 0.05399772 0.02809207
+v -0.01482790 0.05147720 0.02764065
+v -0.00950754 0.05790327 0.02903161
+v -0.00355249 0.05896667 0.02841949
+v -0.01482790 0.05708828 0.02891851
+v -0.01243264 0.05764802 0.02889768
+v -0.01482790 0.05651939 0.02913380
+v -0.00355249 0.05421635 0.02832125
+v -0.01482790 0.05201633 0.02818036
+v -0.00736726 0.05800858 0.02907924
+v -0.00522587 0.05808413 0.02910305
+v -0.00355249 0.05812992 0.02911495
+v -0.01482790 0.05547890 0.02921118
+v -0.00950754 0.05668422 0.02923202
+v -0.00355249 0.05505309 0.02894132
+v -0.01482790 0.05265046 0.02877364
+v -0.00736726 0.05668422 0.02926179
+v -0.00355249 0.05782429 0.02914967
+v -0.01482790 0.05454372 0.02925582
+v -0.00355249 0.05528659 0.02908915
+v -0.01237855 0.05341737 0.02897406
+v -0.01482790 0.05316899 0.02906137
+v -0.00522587 0.05668422 0.02926476
+v -0.00355249 0.05668422 0.02926278
+v -0.01482790 0.05381572 0.02916653
+v -0.01379032 0.05454372 0.02923300
+v -0.00355249 0.05636715 0.02922706
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 29
+f 1 29 36
+f 1 36 44
+f 1 44 46
+f 1 46 53
+f 1 53 60
+f 1 60 66
+f 1 66 69
+f 1 69 63
+f 1 63 57
+f 1 57 51
+f 1 51 49
+f 1 49 42
+f 1 42 33
+f 1 33 25
+f 1 25 12
+f 1 12 9
+f 1 9 5
+f 1 5 10
+f 1 10 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 24
+f 1 24 11
+f 1 11 6
+f 1 6 2
+f 2 6 14
+f 2 14 28
+f 2 28 35
+f 2 35 41
+f 2 41 40
+f 2 40 38
+f 2 38 48
+f 2 48 56
+f 2 56 62
+f 2 62 68
+f 2 68 71
+f 2 71 64
+f 2 64 59
+f 2 59 52
+f 2 52 45
+f 2 45 37
+f 2 37 30
+f 2 30 17
+f 2 17 15
+f 2 15 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 17
+f 8 17 16
+f 9 12 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 11 24 12
+f 12 24 18
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 16 17 29
+f 17 30 29
+f 25 31 32
+f 25 32 26
+f 25 33 31
+f 26 32 31
+f 26 31 34
+f 26 34 41
+f 26 41 35
+f 26 35 27
+f 27 35 28
+f 29 30 36
+f 30 37 36
+f 31 33 34
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 33 42 43
+f 33 43 38
+f 36 37 44
+f 37 45 46
+f 37 46 44
+f 38 43 47
+f 38 47 48
+f 38 40 39
+f 42 49 50
+f 42 50 43
+f 43 50 49
+f 43 49 51
+f 43 51 47
+f 45 52 46
+f 46 52 53
+f 47 54 48
+f 47 51 54
+f 48 54 55
+f 48 55 56
+f 51 57 58
+f 51 58 54
+f 52 59 60
+f 52 60 53
+f 54 58 55
+f 55 58 61
+f 55 61 56
+f 56 61 62
+f 57 63 58
+f 58 63 61
+f 59 64 65
+f 59 65 60
+f 60 65 66
+f 61 67 62
+f 61 63 67
+f 62 67 68
+f 63 69 70
+f 63 70 71
+f 63 71 68
+f 63 68 67
+f 64 69 66
+f 64 66 65
+f 64 71 69
+f 69 71 70
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_33.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03196931 -0.01970363 -0.01228820
+v -0.03196931 -0.01970360 -0.02082394
+v -0.01927361 -0.01970361 -0.01803280
+v -0.01927361 -0.00016323 -0.01996465
+v -0.03196931 -0.00016324 -0.01603553
+v -0.02390944 -0.01970358 -0.02836989
+v -0.03196931 -0.01848687 -0.02119973
+v -0.03041451 -0.00540508 -0.02860096
+v -0.03018582 -0.00754584 -0.02832751
+v -0.02998448 -0.00901702 -0.02803816
+v -0.02838991 -0.01182543 -0.02865744
+v -0.02801581 -0.01352236 -0.02825166
+v -0.02555248 -0.01501648 -0.02991365
+v -0.02624475 -0.01610696 -0.02858336
+v -0.02516098 -0.01610695 -0.02963313
+v -0.02580230 -0.01751883 -0.02814228
+v -0.02445132 -0.01819797 -0.02893270
+v -0.01927361 -0.01970357 -0.03027181
+v -0.01927361 -0.00016320 -0.02761822
+v -0.03196931 -0.00016321 -0.02565278
+v -0.02272500 -0.01970357 -0.02937202
+v -0.02304193 -0.01887712 -0.02972135
+v -0.03196931 -0.00540510 -0.02487298
+v -0.03153307 -0.00326242 -0.02676431
+v -0.03056986 -0.00326241 -0.02875092
+v -0.02957807 -0.00326241 -0.02980245
+v -0.02937797 -0.00540508 -0.02965249
+v -0.02915177 -0.00754583 -0.02937903
+v -0.02765911 -0.01066610 -0.02990128
+v -0.02735586 -0.01182543 -0.02970720
+v -0.02409089 -0.01610695 -0.03009008
+v -0.02361364 -0.01744995 -0.02999481
+v -0.02586071 -0.01358931 -0.03003008
+v -0.02021942 -0.01970357 -0.03019595
+v -0.01927361 -0.01919086 -0.03031239
+v -0.02539837 -0.00016319 -0.03001239
+v -0.01927361 -0.01708454 -0.03013595
+v -0.03169216 -0.00016320 -0.02676430
+v -0.03169216 -0.00112166 -0.02676430
+v -0.03196931 -0.00112167 -0.02565102
+v -0.02160768 -0.01970357 -0.03002128
+v -0.03196931 -0.00326243 -0.02538109
+v -0.03064940 -0.00112165 -0.02881619
+v -0.02970608 -0.00112165 -0.02986772
+v -0.02830664 -0.00540508 -0.03012356
+v -0.02808168 -0.00754583 -0.03007594
+v -0.02787661 -0.00924084 -0.03000183
+v -0.02628576 -0.01182543 -0.03011652
+v -0.02470237 -0.01416707 -0.03016770
+v -0.02235588 -0.01610695 -0.03029827
+v -0.02233972 -0.01819797 -0.03012361
+v -0.02158655 -0.01970357 -0.03002658
+v -0.02161390 -0.01969018 -0.03002305
+v -0.02088932 -0.01970357 -0.03013596
+v -0.02021569 -0.01824771 -0.03031063
+v -0.02663749 -0.00540508 -0.03029823
+v -0.02663749 -0.00016319 -0.03024175
+v -0.03111672 -0.00016320 -0.02789698
+v -0.03064940 -0.00016319 -0.02881619
+v -0.03012865 -0.00016319 -0.02939665
+v -0.02970484 -0.00016319 -0.02986772
+v -0.02863475 -0.00112165 -0.03014824
+v -0.02850798 -0.00326241 -0.03014296
+v -0.02663749 -0.00754583 -0.03029471
+v -0.02682143 -0.00984729 -0.03015358
+v -0.02449730 -0.01182543 -0.03030001
+v -0.02863350 -0.00016319 -0.03014824
+v -0.02753234 -0.00016319 -0.03020117
+f 1 2 6
+f 1 6 21
+f 1 21 41
+f 1 41 52
+f 1 52 54
+f 1 54 34
+f 1 34 18
+f 1 18 3
+f 1 3 4
+f 1 4 5
+f 1 5 20
+f 1 20 40
+f 1 40 42
+f 1 42 23
+f 1 23 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 6
+f 3 18 35
+f 3 35 37
+f 3 37 19
+f 3 19 4
+f 4 19 36
+f 4 36 57
+f 4 57 68
+f 4 68 67
+f 4 67 61
+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 38
+f 4 38 20
+f 4 20 5
+f 6 17 22
+f 6 22 21
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 29
+f 9 29 10
+f 10 29 11
+f 11 29 30
+f 11 30 12
+f 12 30 13
+f 13 31 32
+f 13 32 22
+f 13 22 15
+f 13 15 14
+f 13 30 29
+f 13 29 33
+f 13 33 31
+f 15 22 17
+f 15 17 16
+f 18 34 35
+f 19 37 36
+f 20 38 39
+f 20 39 40
+f 21 22 41
+f 22 32 41
+f 23 42 24
+f 24 42 39
+f 24 39 25
+f 25 39 43
+f 25 43 44
+f 25 44 26
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 26 44 45
+f 27 47 29
+f 27 29 28
+f 29 48 33
+f 29 47 48
+f 31 33 49
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 41
+f 33 48 49
+f 34 54 50
+f 34 50 55
+f 34 55 35
+f 35 56 57
+f 35 57 36
+f 35 36 37
+f 35 55 56
+f 38 58 39
+f 39 42 40
+f 39 58 43
+f 41 53 52
+f 43 58 59
+f 43 59 44
+f 44 59 60
+f 44 60 61
+f 44 61 67
+f 44 67 62
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 48
+f 48 65 64
+f 48 64 49
+f 49 64 66
+f 49 66 50
+f 50 66 55
+f 50 54 51
+f 51 54 52
+f 55 66 56
+f 56 64 62
+f 56 62 67
+f 56 67 68
+f 56 68 57
+f 56 66 64
+f 62 64 63
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_34.obj

@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.01942310 -0.04320006 0.00620230
+v 0.01942310 -0.03126535 -0.01295261
+v 0.00369819 -0.04725661 0.00620229
+v 0.01942310 -0.05083181 0.00620227
+v 0.00369819 -0.03654226 -0.01295263
+v 0.01942310 -0.04209263 -0.01295265
+v 0.00369819 -0.05435051 0.00620226
+v 0.01862885 -0.05114368 0.00620227
+v 0.01942310 -0.05045892 0.00482415
+v 0.00369819 -0.04623506 -0.01295267
+v 0.01942310 -0.04249263 -0.01251016
+v 0.01869349 -0.04247681 -0.01295266
+v 0.00369819 -0.05397988 0.00474539
+v 0.00473718 -0.05360698 0.00359976
+v 0.00546370 -0.05381264 0.00464414
+v 0.00492189 -0.05425107 0.00620226
+v 0.01817785 -0.05095836 0.00489165
+v 0.01754984 -0.05153916 0.00620227
+v 0.01736359 -0.05147136 0.00567727
+v 0.01942310 -0.05014478 0.00373853
+v 0.00548217 -0.04606782 -0.01295267
+v 0.00369819 -0.04665314 -0.01240705
+v 0.01878277 -0.04260337 -0.01275953
+v 0.01942310 -0.04289265 -0.01199454
+v 0.01750366 -0.04299885 -0.01295266
+v 0.00369819 -0.05364540 0.00347039
+v 0.00369819 -0.05341940 0.00268852
+v 0.00548217 -0.05262165 0.00056228
+v 0.00546370 -0.05330189 0.00280477
+v 0.00616560 -0.05353466 0.00386414
+v 0.00547602 -0.05420587 0.00620226
+v 0.01678483 -0.05127701 0.00427665
+v 0.01832715 -0.05025326 0.00266416
+v 0.01616298 -0.05198889 0.00620227
+v 0.01611680 -0.05166346 0.00489165
+v 0.01942310 -0.04986229 0.00277291
+v 0.00763249 -0.04576500 -0.01295267
+v 0.00548217 -0.04656953 -0.01228517
+v 0.00369819 -0.04677745 -0.01223080
+v 0.01817323 -0.04339209 -0.01205454
+v 0.01942310 -0.04320904 -0.01156516
+v 0.01684948 -0.04486104 -0.01076829
+v 0.01615528 -0.04427346 -0.01193266
+v 0.01617683 -0.04348248 -0.01295266
+v 0.00369819 -0.05277080 0.00056228
+v 0.00369819 -0.05218774 -0.00118897
+v 0.00369819 -0.05207022 -0.00154146
+v 0.00548217 -0.05191880 -0.00154146
+v 0.00656118 -0.05143518 -0.00259521
+v 0.00741392 -0.05166795 -0.00157146
+v 0.00762326 -0.05235045 0.00056228
+v 0.00762326 -0.05299454 0.00266415
+v 0.00762326 -0.05343750 0.00422789
+v 0.00762326 -0.05371547 0.00527976
+v 0.00762326 -0.05394598 0.00620226
+v 0.01611680 -0.05103519 0.00272040
+v 0.01535796 -0.05151203 0.00345727
+v 0.01618607 -0.05032330 0.00056229
+v 0.01829175 -0.04961369 0.00062792
+v 0.01942310 -0.04940578 0.00127479
+v 0.01550726 -0.05218550 0.00620227
+v 0.01404498 -0.05224878 0.00476602
+v 0.00976435 -0.04538081 -0.01295267
+v 0.00765097 -0.04653564 -0.01189705
+v 0.00695677 -0.04721587 -0.01109455
+v 0.00548217 -0.04730853 -0.01123517
+v 0.00369819 -0.04738989 -0.01135517
+v 0.01942310 -0.04421244 -0.01008579
+v 0.01832715 -0.04456047 -0.01030516
+v 0.01832715 -0.04522941 -0.00925330
+v 0.01615528 -0.04557517 -0.01002018
+v 0.01542260 -0.04511867 -0.01115267
+v 0.01404498 -0.04457176 -0.01251391
+v 0.01404498 -0.04422147 -0.01295266
+v 0.00369819 -0.05156625 -0.00293459
+v 0.00548217 -0.05149167 -0.00274146
+v 0.00548217 -0.05107811 -0.00379146
+v 0.00741392 -0.05097415 -0.00343334
+v 0.00798960 -0.05132670 -0.00229334
+v 0.00976435 -0.05154140 -0.00079709
+v 0.00976435 -0.05198661 0.00056228
+v 0.00976435 -0.05263747 0.00266415
+v 0.00969508 -0.05327252 0.00487664
+v 0.00893469 -0.05361829 0.00565288
+v 0.00927795 -0.05369061 0.00620226
+v 0.01396648 -0.05168379 0.00272040
+v 0.01462835 -0.05129508 0.00205665
+v 0.01396648 -0.05103066 0.00065415
+v 0.01404498 -0.05025550 -0.00154145
+v 0.01613835 -0.04962046 -0.00151145
+v 0.01755292 -0.04940126 -0.00079146
+v 0.01898133 -0.04913459 -0.00003021
+v 0.01942310 -0.04930634 0.00098041
+v 0.01404498 -0.05261941 0.00620227
+v 0.01336617 -0.05279116 0.00620227
+v 0.01190389 -0.05278890 0.00476602
+v 0.01104500 -0.04511414 -0.01295267
+v 0.00976435 -0.04603168 -0.01204892
+v 0.00838518 -0.04710062 -0.01091642
+v 0.00765097 -0.04769498 -0.01010831
+v 0.00548217 -0.04808820 -0.00994706
+v 0.00369819 -0.04824866 -0.00994706
+v 0.01942310 -0.04499212 -0.00891955
+v 0.01940463 -0.04501246 -0.00890080
+v 0.01942310 -0.04501924 -0.00887643
+v 0.01832715 -0.04601587 -0.00784518
+v 0.01631844 -0.04676616 -0.00786393
+v 0.01391876 -0.04645428 -0.00978018
+v 0.01454831 -0.04698085 -0.00857643
+v 0.01404498 -0.04533788 -0.01146392
+v 0.01233026 -0.04483391 -0.01286453
+v 0.01229486 -0.04477289 -0.01295266
+v 0.00369819 -0.05115495 -0.00398271
+v 0.00548217 -0.05025549 -0.00574332
+v 0.00762326 -0.04997300 -0.00574332
+v 0.00976435 -0.05048827 -0.00364146
+v 0.00976435 -0.05117077 -0.00184896
+v 0.01084951 -0.05143744 -0.00049897
+v 0.01190389 -0.05218775 0.00266415
+v 0.01036157 -0.05348947 0.00616851
+v 0.01038312 -0.05349399 0.00620226
+v 0.01320148 -0.05149621 0.00141540
+v 0.01227485 -0.05127021 0.00001291
+v 0.01169764 -0.05093800 -0.00133709
+v 0.01190389 -0.05002273 -0.00364145
+v 0.01386335 -0.04953458 -0.00356645
+v 0.01539182 -0.04938317 -0.00281833
+v 0.01681870 -0.04914588 -0.00219395
+v 0.01829175 -0.04885887 -0.00151145
+v 0.01942310 -0.04835716 -0.00161270
+v 0.01942310 -0.04902385 0.00017979
+v 0.01191313 -0.05315727 0.00620226
+v 0.01173150 -0.04552546 -0.01211830
+v 0.00976435 -0.04696276 -0.01069330
+v 0.00976435 -0.04758876 -0.00964143
+v 0.00762326 -0.04885433 -0.00805519
+v 0.00548217 -0.04900122 -0.00833456
+v 0.00369819 -0.04908032 -0.00848831
+v 0.01942310 -0.04559778 -0.00776456
+v 0.01832715 -0.04686561 -0.00619893
+v 0.01711885 -0.04710290 -0.00669393
+v 0.01569197 -0.04734696 -0.00717581
+v 0.01312144 -0.04719329 -0.00897018
+v 0.01190389 -0.04671191 -0.01028455
+v 0.01391876 -0.04753679 -0.00786393
+v 0.00369819 -0.05040690 -0.00574333
+v 0.00548217 -0.04953908 -0.00728269
+v 0.00762326 -0.04939671 -0.00700332
+v 0.00877153 -0.04930857 -0.00682519
+v 0.00959657 -0.04961367 -0.00578644
+v 0.01190389 -0.04944644 -0.00503457
+v 0.01169764 -0.05161146 0.00065415
+v 0.01302754 -0.04930858 -0.00472707
+v 0.01445596 -0.04909841 -0.00421707
+v 0.01613835 -0.04882497 -0.00356645
+v 0.01832715 -0.04800914 -0.00364145
+v 0.01942310 -0.04757071 -0.00364144
+v 0.01190389 -0.04734922 -0.00923268
+v 0.00959657 -0.04870969 -0.00765394
+v 0.00369819 -0.04917072 -0.00831206
+v 0.01942310 -0.04658538 -0.00582581
+v 0.01942310 -0.04714132 -0.00471581
+v 0.01940770 -0.04715488 -0.00470081
+v 0.01832715 -0.04736279 -0.00514894
+v 0.01631844 -0.04774697 -0.00589332
+v 0.01386335 -0.04868032 -0.00555395
+v 0.01190389 -0.04809047 -0.00784519
+v 0.01190389 -0.04896507 -0.00608457
+v 0.00369819 -0.04961592 -0.00743832
+v 0.01019995 -0.04916394 -0.00651582
+v 0.01942310 -0.04716166 -0.00466894
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 31
+f 1 31 55
+f 1 55 85
+f 1 85 121
+f 1 121 132
+f 1 132 95
+f 1 95 94
+f 1 94 61
+f 1 61 34
+f 1 34 18
+f 1 18 8
+f 1 8 4
+f 1 4 9
+f 1 9 20
+f 1 20 36
+f 1 36 60
+f 1 60 93
+f 1 93 131
+f 1 131 130
+f 1 130 157
+f 1 157 171
+f 1 171 162
+f 1 162 161
+f 1 161 139
+f 1 139 105
+f 1 105 103
+f 1 103 68
+f 1 68 41
+f 1 41 24
+f 1 24 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 25
+f 2 25 44
+f 2 44 74
+f 2 74 112
+f 2 112 97
+f 2 97 63
+f 2 63 37
+f 2 37 21
+f 2 21 10
+f 2 10 5
+f 3 5 10
+f 3 10 22
+f 3 22 39
+f 3 39 67
+f 3 67 102
+f 3 102 138
+f 3 138 160
+f 3 160 169
+f 3 169 146
+f 3 146 113
+f 3 113 75
+f 3 75 47
+f 3 47 46
+f 3 46 45
+f 3 45 27
+f 3 27 26
+f 3 26 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 9
+f 8 18 19
+f 8 19 17
+f 9 17 20
+f 10 21 22
+f 11 23 12
+f 11 24 23
+f 12 23 25
+f 13 26 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 26 27
+f 15 31 16
+f 15 30 31
+f 17 32 33
+f 17 33 20
+f 17 19 32
+f 18 34 19
+f 19 34 35
+f 19 35 32
+f 20 33 36
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 23 24 40
+f 23 40 25
+f 24 41 40
+f 25 40 42
+f 25 42 43
+f 25 43 44
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 29
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 31
+f 31 54 55
+f 32 56 33
+f 32 35 57
+f 32 57 56
+f 33 58 59
+f 33 59 60
+f 33 60 36
+f 33 56 58
+f 34 61 35
+f 35 61 62
+f 35 62 57
+f 37 63 64
+f 37 64 38
+f 38 65 66
+f 38 66 39
+f 38 64 65
+f 39 66 67
+f 40 41 42
+f 41 68 69
+f 41 69 42
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 42 69 70
+f 43 73 44
+f 43 72 73
+f 44 73 74
+f 47 75 76
+f 47 76 48
+f 48 76 49
+f 49 77 78
+f 49 78 79
+f 49 79 50
+f 49 76 77
+f 50 80 51
+f 50 79 80
+f 51 81 82
+f 51 82 52
+f 51 80 81
+f 52 82 53
+f 53 82 83
+f 53 83 84
+f 53 84 54
+f 54 84 55
+f 55 84 85
+f 56 57 58
+f 57 62 86
+f 57 86 87
+f 57 87 58
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 59
+f 59 91 92
+f 59 92 60
+f 60 92 93
+f 61 94 62
+f 62 94 95
+f 62 95 96
+f 62 96 86
+f 63 97 98
+f 63 98 64
+f 64 98 99
+f 64 99 65
+f 65 100 101
+f 65 101 66
+f 65 99 100
+f 66 101 102
+f 66 102 67
+f 68 103 69
+f 69 103 104
+f 69 104 70
+f 70 104 105
+f 70 105 106
+f 70 106 107
+f 70 107 71
+f 71 108 72
+f 71 107 109
+f 71 109 108
+f 72 108 110
+f 72 110 73
+f 73 111 74
+f 73 110 111
+f 74 111 112
+f 75 113 76
+f 76 113 77
+f 77 113 114
+f 77 114 115
+f 77 115 78
+f 78 116 79
+f 78 115 116
+f 79 116 117
+f 79 117 80
+f 80 118 81
+f 80 117 118
+f 81 118 82
+f 82 118 119
+f 82 119 96
+f 82 96 83
+f 83 120 84
+f 83 96 120
+f 84 120 121
+f 84 121 85
+f 86 122 87
+f 86 96 119
+f 86 119 122
+f 87 122 88
+f 88 122 123
+f 88 123 89
+f 89 123 124
+f 89 124 125
+f 89 125 126
+f 89 126 127
+f 89 127 90
+f 90 127 128
+f 90 128 91
+f 91 128 129
+f 91 129 92
+f 92 129 130
+f 92 130 131
+f 92 131 93
+f 95 132 96
+f 96 132 121
+f 96 121 120
+f 97 112 111
+f 97 111 133
+f 97 133 134
+f 97 134 98
+f 98 134 99
+f 99 134 135
+f 99 135 100
+f 100 135 136
+f 100 136 137
+f 100 137 101
+f 101 137 138
+f 101 138 102
+f 103 105 104
+f 105 139 106
+f 106 139 140
+f 106 140 141
+f 106 141 107
+f 107 141 142
+f 107 142 109
+f 108 109 143
+f 108 143 144
+f 108 144 110
+f 109 142 145
+f 109 145 143
+f 110 144 133
+f 110 133 111
+f 113 146 114
+f 114 146 147
+f 114 147 148
+f 114 148 115
+f 115 148 149
+f 115 149 150
+f 115 150 116
+f 116 125 117
+f 116 150 151
+f 116 151 125
+f 117 125 124
+f 117 124 118
+f 118 152 119
+f 118 124 123
+f 118 123 152
+f 119 152 122
+f 122 152 123
+f 125 151 153
+f 125 153 126
+f 126 153 154
+f 126 154 127
+f 127 154 155
+f 127 155 128
+f 128 155 156
+f 128 156 129
+f 129 156 157
+f 129 157 130
+f 133 144 134
+f 134 144 158
+f 134 158 135
+f 135 158 159
+f 135 159 136
+f 136 159 149
+f 136 149 148
+f 136 148 137
+f 137 148 147
+f 137 147 160
+f 137 160 138
+f 139 161 140
+f 140 161 162
+f 140 162 163
+f 140 163 141
+f 141 163 164
+f 141 164 165
+f 141 165 142
+f 142 165 166
+f 142 166 145
+f 143 145 167
+f 143 167 158
+f 143 158 144
+f 145 166 168
+f 145 168 167
+f 146 169 147
+f 147 169 160
+f 149 170 150
+f 149 159 170
+f 150 170 151
+f 151 170 168
+f 151 168 153
+f 153 168 166
+f 153 166 154
+f 154 166 165
+f 154 165 155
+f 155 165 164
+f 155 164 156
+f 156 164 163
+f 156 163 171
+f 156 171 157
+f 158 167 159
+f 159 167 170
+f 162 171 163
+f 167 168 170
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_35.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01571153 -0.05586572 0.01854021
+v 0.01571153 -0.05212372 0.00620227
+v 0.01608175 -0.05588331 0.01854021
+v 0.01571153 -0.04799767 0.01854024
+v 0.01616610 -0.05198883 0.00620227
+v 0.01571153 -0.04466916 0.00620230
+v 0.02144522 -0.05412671 0.01854022
+v 0.01755091 -0.05153721 0.00620227
+v 0.01571153 -0.04779532 0.01787962
+v 0.03964916 -0.03133487 0.01854030
+v 0.03964916 -0.03092723 0.01768163
+v 0.03964916 -0.03080700 0.01741955
+v 0.03964916 -0.02592425 0.00620236
+v 0.01571153 -0.04703871 0.01517678
+v 0.02239888 -0.05373962 0.01854022
+v 0.01863110 -0.05114132 0.00620227
+v 0.02047047 -0.05042284 0.00620227
+v 0.01571153 -0.04765161 0.01739654
+v 0.03964916 -0.04267507 0.01854026
+v 0.03964916 -0.03736123 0.00620232
+v 0.02592064 -0.05212377 0.01854023
+v 0.02239186 -0.04959586 0.00620228
+v 0.02337598 -0.04914718 0.00620228
+v 0.03958824 -0.04277771 0.01854026
+v 0.03868378 -0.03838762 0.00620232
+v 0.02676417 -0.05169562 0.01854023
+v 0.02465768 -0.04850202 0.00620228
+v 0.03866972 -0.04362229 0.01854026
+v 0.03636172 -0.04058411 0.00620231
+v 0.03748175 -0.03953132 0.00620231
+v 0.03857834 -0.03849906 0.00620232
+v 0.03270641 -0.04811204 0.01854024
+v 0.02662124 -0.04745509 0.00620229
+v 0.02756787 -0.04692136 0.00620229
+v 0.03332734 -0.04769268 0.01854024
+v 0.03291260 -0.04337590 0.00620230
+v 0.03398342 -0.04255185 0.00620230
+v 0.03538697 -0.04139643 0.00620231
+v 0.02893862 -0.04607679 0.00620229
+v 0.03036325 -0.04518236 0.00620229
+v 0.03140127 -0.04446681 0.00620230
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 21
+f 1 21 26
+f 1 26 32
+f 1 32 35
+f 1 35 28
+f 1 28 24
+f 1 24 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 20
+f 2 20 25
+f 2 25 31
+f 2 31 30
+f 2 30 29
+f 2 29 38
+f 2 38 37
+f 2 37 36
+f 2 36 41
+f 2 41 40
+f 2 40 39
+f 2 39 34
+f 2 34 33
+f 2 33 27
+f 2 27 23
+f 2 23 22
+f 2 22 17
+f 2 17 16
+f 2 16 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 6 14 13
+f 7 8 16
+f 7 16 17
+f 7 17 15
+f 9 13 18
+f 10 19 20
+f 10 20 13
+f 10 13 12
+f 10 12 11
+f 13 14 18
+f 15 17 22
+f 15 22 23
+f 15 23 21
+f 19 24 20
+f 20 24 25
+f 21 23 27
+f 21 27 26
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 26 27 33
+f 26 33 34
+f 26 34 32
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 32 34 39
+f 32 39 40
+f 32 40 35
+f 35 40 41
+f 35 41 36
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_36.obj

@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v -0.03369295 0.03751994 0.01856515
+v -0.04438411 0.03751994 0.01856515
+v -0.03407852 0.03751994 0.01948283
+v -0.05113934 0.01422445 0.02703366
+v -0.05072292 0.01422445 0.02586980
+v -0.04867168 0.01422448 0.01950264
+v -0.04856372 0.01422448 0.01914333
+v -0.04839407 0.01422448 0.01856506
+v -0.04480053 0.03726454 0.01856515
+v -0.05891866 0.03751994 0.02025908
+v -0.03703047 0.03751991 0.02602912
+v -0.05137069 0.01422445 0.02729974
+v -0.03709216 0.03751991 0.02615797
+v -0.03789107 0.03751991 0.02731031
+v -0.05638005 0.01422448 0.01856506
+v -0.04556242 0.03635014 0.01856514
+v -0.05383835 0.02238792 0.01856509
+v -0.05414373 0.02163542 0.01856509
+v -0.05875518 0.03527385 0.02010089
+v -0.06063060 0.03313265 0.02028211
+v -0.06026662 0.03527385 0.02034916
+v -0.05895876 0.03751994 0.02026746
+v -0.04944282 0.03089569 0.01856512
+v -0.04990860 0.03013407 0.01856512
+v -0.05177785 0.02671363 0.01856511
+v -0.05211716 0.02605235 0.01856511
+v -0.05178402 0.01422445 0.02774601
+v -0.03845554 0.03751991 0.02779533
+v -0.05302094 0.01422444 0.02892662
+v -0.05199994 0.01422445 0.02796286
+v -0.05923020 0.01422447 0.02183769
+v -0.06015557 0.01465316 0.02225881
+v -0.06221299 0.01676927 0.02232377
+v -0.06149428 0.01814885 0.02085299
+v -0.06187061 0.01941897 0.02057119
+v -0.06210811 0.02084643 0.02045597
+v -0.06224075 0.02243125 0.02039102
+v -0.06230861 0.02457244 0.02036169
+v -0.06228702 0.02670907 0.02036904
+v -0.05626592 0.01534182 0.01856507
+v -0.05607776 0.01607379 0.01856507
+v -0.06108095 0.03113056 0.02027581
+v -0.06207727 0.03050803 0.02046961
+v -0.06191996 0.03193549 0.02055029
+v -0.06000752 0.03691109 0.02044136
+v -0.06084652 0.03751993 0.02135799
+v -0.03892748 0.03751991 0.02817141
+v -0.03913107 0.03751991 0.02832436
+v -0.04029087 0.03751990 0.02899795
+v -0.05319985 0.01422444 0.02902929
+v -0.05985946 0.01422447 0.02272708
+v -0.06023577 0.01422446 0.02368666
+v -0.06045170 0.01441828 0.02368666
+v -0.06152205 0.01539425 0.02368667
+v -0.06246284 0.01646599 0.02368667
+v -0.06360105 0.01825601 0.02366887
+v -0.06402673 0.01948282 0.02295652
+v -0.06262324 0.01814885 0.02190475
+v -0.06306742 0.02016463 0.02150563
+v -0.06331110 0.02243124 0.02120498
+v -0.06337896 0.02457243 0.02110652
+v -0.06336046 0.02670906 0.02114529
+v -0.06219448 0.02885027 0.02040781
+v -0.06326483 0.02885026 0.02130663
+v -0.06170095 0.03313264 0.02067181
+v -0.06305200 0.03109635 0.02153709
+v -0.06276205 0.03313264 0.02172252
+v -0.06133697 0.03527384 0.02098085
+v -0.06095448 0.03751993 0.02144913
+v -0.04108977 0.03751990 0.02912680
+v -0.05422393 0.01422444 0.02920004
+v -0.06027279 0.01422446 0.02403340
+v -0.06163309 0.01526427 0.02578810
+v -0.06257389 0.01633601 0.02578810
+v -0.06364424 0.01791853 0.02578811
+v -0.06419329 0.01904043 0.02435712
+v -0.06440922 0.02023303 0.02366887
+v -0.06423647 0.02091028 0.02244112
+v -0.06436603 0.02243124 0.02225570
+v -0.06443698 0.02457243 0.02215828
+v -0.06440613 0.02670906 0.02219601
+v -0.06429200 0.02885026 0.02235734
+v -0.06243200 0.03527384 0.02203157
+v -0.06417787 0.03025948 0.02252496
+v -0.06105627 0.03751993 0.02154865
+v -0.04133654 0.03751990 0.02915928
+v -0.05447378 0.01422444 0.02922937
+v -0.06045478 0.01422446 0.02578809
+v -0.06030672 0.01452773 0.02742126
+v -0.06236105 0.01659595 0.02742965
+v -0.06417170 0.01909059 0.02697397
+v -0.06421797 0.01899027 0.02578811
+v -0.06463439 0.02029003 0.02578811
+v -0.06486881 0.02243123 0.02368669
+v -0.06501070 0.02457242 0.02368670
+v -0.06493668 0.02670905 0.02368671
+v -0.06469916 0.02885025 0.02368672
+v -0.06215747 0.03683812 0.02236366
+v -0.06431976 0.03098004 0.02369929
+v -0.06402364 0.03168694 0.02300790
+v -0.06232095 0.03751992 0.02368151
+v -0.04153704 0.03751990 0.02916661
+v -0.04591098 0.03313261 0.02925040
+v -0.05447378 0.01600763 0.02926605
+v -0.05625666 0.01422444 0.02922099
+v -0.05975458 0.01422445 0.02768630
+v -0.06101309 0.01589362 0.02812629
+v -0.06298105 0.01821952 0.02790212
+v -0.06172254 0.01734616 0.02883026
+v -0.06435369 0.02029002 0.02731862
+v -0.06350235 0.02029002 0.02836934
+v -0.06506932 0.02243123 0.02578812
+v -0.06520504 0.02457242 0.02578813
+v -0.06512175 0.02670905 0.02578814
+v -0.06487499 0.02885025 0.02578815
+v -0.06417478 0.03230717 0.02440850
+v -0.06313528 0.03527383 0.02368674
+v -0.06381080 0.03306423 0.02369930
+v -0.06233329 0.03749711 0.02370141
+v -0.06232712 0.03751992 0.02371398
+v -0.04393068 0.03751990 0.02916870
+v -0.05018929 0.02670903 0.02925666
+v -0.05865338 0.03751990 0.02916975
+v -0.06089587 0.03313261 0.02922944
+v -0.06280831 0.02457240 0.02915608
+v -0.06268493 0.02243121 0.02914664
+v -0.05661448 0.01422444 0.02921261
+v -0.05917777 0.01422445 0.02825827
+v -0.05951707 0.01519128 0.02882292
+v -0.05812901 0.01422444 0.02902091
+v -0.06029438 0.01661875 0.02905339
+v -0.06217598 0.01877362 0.02903978
+v -0.06456961 0.02243122 0.02768318
+v -0.06375528 0.02243121 0.02873390
+v -0.06463131 0.02457241 0.02778062
+v -0.06459120 0.02670904 0.02773453
+v -0.06446782 0.02885024 0.02755331
+v -0.06427041 0.03099143 0.02718876
+v -0.06414086 0.03217718 0.02691326
+v -0.06448325 0.03099144 0.02578815
+v -0.06418095 0.03233225 0.02578816
+v -0.06388792 0.03340171 0.02578816
+v -0.06331419 0.03527383 0.02578817
+v -0.06253687 0.03741502 0.02578818
+v -0.06249677 0.03751992 0.02578818
+v -0.06031906 0.03751990 0.02914985
+v -0.06038383 0.03741500 0.02914880
+v -0.06242275 0.03099142 0.02914982
+v -0.06261090 0.02885023 0.02916763
+v -0.06276513 0.02670903 0.02916552
+v -0.06387866 0.02457240 0.02883134
+v -0.06243200 0.02029001 0.02911626
+v -0.06096374 0.01809637 0.02911206
+v -0.06383548 0.02670903 0.02878525
+v -0.06368125 0.02885023 0.02860403
+v -0.06349310 0.03099143 0.02824052
+v -0.06206185 0.03456464 0.02900527
+v -0.06253996 0.03527610 0.02802684
+v -0.06222225 0.03741501 0.02732183
+v -0.06220066 0.03751991 0.02728412
+v -0.06248752 0.03751991 0.02588980
+v -0.06036533 0.03751990 0.02914356
+v -0.06221916 0.03313261 0.02908593
+v -0.06177190 0.03599210 0.02881880
+v -0.06142642 0.03751991 0.02835055
+v -0.06215439 0.03751991 0.02735011
+v -0.06137090 0.03751991 0.02841550
+f 1 2 10
+f 1 10 22
+f 1 22 46
+f 1 46 69
+f 1 69 85
+f 1 85 101
+f 1 101 120
+f 1 120 145
+f 1 145 161
+f 1 161 160
+f 1 160 166
+f 1 166 165
+f 1 165 167
+f 1 167 162
+f 1 162 146
+f 1 146 123
+f 1 123 121
+f 1 121 102
+f 1 102 86
+f 1 86 70
+f 1 70 49
+f 1 49 48
+f 1 48 47
+f 1 47 28
+f 1 28 14
+f 1 14 13
+f 1 13 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 15
+f 1 15 40
+f 1 40 41
+f 1 41 18
+f 1 18 17
+f 1 17 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 12 27
+f 4 27 30
+f 4 30 29
+f 4 29 50
+f 4 50 71
+f 4 71 87
+f 4 87 105
+f 4 105 127
+f 4 127 130
+f 4 130 128
+f 4 128 106
+f 4 106 88
+f 4 88 72
+f 4 72 52
+f 4 52 51
+f 4 51 31
+f 4 31 15
+f 4 15 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 11 13
+f 4 13 14
+f 4 14 12
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 16 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 17
+f 12 14 27
+f 14 28 29
+f 14 29 30
+f 14 30 27
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 18 41 20
+f 18 20 19
+f 20 42 43
+f 20 43 21
+f 20 41 40
+f 20 40 42
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 22 45 46
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 58 35
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 40 63 42
+f 42 63 43
+f 43 63 62
+f 43 62 64
+f 43 64 44
+f 44 65 45
+f 44 64 66
+f 44 66 67
+f 44 67 65
+f 45 65 68
+f 45 68 46
+f 46 68 69
+f 49 70 71
+f 49 71 50
+f 52 72 73
+f 52 73 53
+f 53 73 54
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 76 77
+f 57 77 78
+f 57 78 58
+f 58 78 59
+f 59 78 60
+f 60 78 79
+f 60 79 80
+f 60 80 61
+f 61 80 62
+f 62 80 81
+f 62 81 64
+f 64 81 82
+f 64 82 66
+f 65 67 83
+f 65 83 68
+f 66 82 84
+f 66 84 67
+f 67 84 83
+f 68 83 69
+f 69 83 85
+f 70 86 71
+f 71 86 87
+f 72 88 73
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 74 90 91
+f 74 91 75
+f 75 91 92
+f 75 92 76
+f 76 92 93
+f 76 93 77
+f 77 93 94
+f 77 94 78
+f 78 94 79
+f 79 94 95
+f 79 95 80
+f 80 95 81
+f 81 95 96
+f 81 96 82
+f 82 96 97
+f 82 97 84
+f 83 84 98
+f 83 98 85
+f 84 97 99
+f 84 99 100
+f 84 100 98
+f 85 98 101
+f 86 102 103
+f 86 103 104
+f 86 104 87
+f 87 104 105
+f 88 106 89
+f 89 106 107
+f 89 107 90
+f 90 108 91
+f 90 107 109
+f 90 109 108
+f 91 110 93
+f 91 93 92
+f 91 108 111
+f 91 111 110
+f 93 110 112
+f 93 112 94
+f 94 112 95
+f 95 112 113
+f 95 113 96
+f 96 113 114
+f 96 114 97
+f 97 114 115
+f 97 115 116
+f 97 116 99
+f 98 100 117
+f 98 117 101
+f 99 116 100
+f 100 116 118
+f 100 118 117
+f 101 117 119
+f 101 119 120
+f 102 121 103
+f 103 122 104
+f 103 121 123
+f 103 123 124
+f 103 124 122
+f 104 124 125
+f 104 125 126
+f 104 126 105
+f 104 122 124
+f 105 126 127
+f 106 128 107
+f 107 128 109
+f 108 109 111
+f 109 128 129
+f 109 129 130
+f 109 130 131
+f 109 131 132
+f 109 132 111
+f 110 133 112
+f 110 111 134
+f 110 134 133
+f 111 132 134
+f 112 133 113
+f 113 133 135
+f 113 135 136
+f 113 136 114
+f 114 136 137
+f 114 137 115
+f 115 137 138
+f 115 138 139
+f 115 139 140
+f 115 140 116
+f 116 140 141
+f 116 141 142
+f 116 142 143
+f 116 143 117
+f 116 117 118
+f 117 143 120
+f 117 120 119
+f 120 143 144
+f 120 144 145
+f 123 146 124
+f 124 146 147
+f 124 147 148
+f 124 148 149
+f 124 149 150
+f 124 150 125
+f 125 150 151
+f 125 151 126
+f 126 151 152
+f 126 152 127
+f 127 152 153
+f 127 153 131
+f 127 131 130
+f 128 130 129
+f 131 153 132
+f 132 153 152
+f 132 152 134
+f 133 134 151
+f 133 151 135
+f 134 152 151
+f 135 151 136
+f 136 151 154
+f 136 154 137
+f 137 154 155
+f 137 155 156
+f 137 156 138
+f 138 156 157
+f 138 157 139
+f 139 142 141
+f 139 141 140
+f 139 157 158
+f 139 158 159
+f 139 159 160
+f 139 160 143
+f 139 143 142
+f 143 161 144
+f 143 160 161
+f 144 161 145
+f 146 162 147
+f 147 162 157
+f 147 157 163
+f 147 163 148
+f 148 154 149
+f 148 163 154
+f 149 154 151
+f 149 151 150
+f 154 163 157
+f 154 157 155
+f 155 157 156
+f 157 162 164
+f 157 164 158
+f 158 164 159
+f 159 164 165
+f 159 165 166
+f 159 166 160
+f 162 167 164
+f 164 167 165
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_37.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.04613545 -0.00016139 0.00254449
+v 0.04034834 0.02248339 0.00254457
+v 0.05356379 -0.00016139 0.00254449
+v 0.05017631 -0.00016144 0.01737875
+v 0.04855453 0.02248339 0.00254457
+v 0.05078691 -0.00016145 0.01947925
+v 0.04476646 0.02248334 0.01718788
+v 0.05356379 0.00102005 0.00254449
+v 0.05378353 0.00102005 0.00329261
+v 0.05378159 -0.00016139 0.00329261
+v 0.04864787 0.02228389 0.00254457
+v 0.04864398 0.02248339 0.00282708
+v 0.04876065 0.02224621 0.00283231
+v 0.05131195 -0.00016146 0.02114552
+v 0.04552485 0.02248333 0.01954472
+v 0.05348990 0.00279777 0.00254450
+v 0.05373686 0.00316129 0.00344434
+v 0.05994011 0.00316121 0.02535437
+v 0.05997706 0.00101997 0.02519479
+v 0.05997706 -0.00016147 0.02518956
+v 0.04896289 0.02158345 0.00254457
+v 0.04888705 0.02248339 0.00360397
+v 0.04940042 0.02141055 0.00364321
+v 0.05280540 -0.00016147 0.02578597
+v 0.04623657 0.02248332 0.02158244
+v 0.05347434 0.00316129 0.00254450
+v 0.05368825 0.00451120 0.00361176
+v 0.05988760 0.00534677 0.02587231
+v 0.06012679 0.00466184 0.02663090
+v 0.06017541 0.00316120 0.02640331
+v 0.06021041 0.00101996 0.02624373
+v 0.06010734 -0.00016147 0.02576766
+v 0.04941403 0.02053278 0.00254457
+v 0.04915735 0.02248338 0.00448812
+v 0.04963377 0.02021137 0.00283230
+v 0.05555506 0.02248331 0.02556894
+v 0.05580007 0.02135728 0.02473711
+v 0.05338100 -0.00016148 0.02731360
+v 0.04771057 0.02248331 0.02579128
+v 0.04625212 0.02248332 0.02162691
+v 0.05341017 0.00392380 0.00254450
+v 0.05329349 0.00526263 0.00254451
+v 0.05337517 0.00525598 0.00281394
+v 0.05361046 0.00593869 0.00389688
+v 0.05962898 0.00744368 0.02578600
+v 0.06012679 0.00466184 0.02694218
+v 0.05931201 0.00958492 0.02578601
+v 0.06017541 0.00316120 0.02705726
+v 0.06021041 0.00101996 0.02713311
+v 0.06021236 -0.00016148 0.02624112
+v 0.04960266 0.02006508 0.00254456
+v 0.05555700 0.02248331 0.02557678
+v 0.05597703 0.02178950 0.02613657
+v 0.05633095 0.02050167 0.02557678
+v 0.05721574 0.01814542 0.02578604
+v 0.05136835 0.01660717 0.00424483
+v 0.05036494 0.01814550 0.00266489
+v 0.05028521 0.01826298 0.00254456
+v 0.04797893 0.02248330 0.02629875
+v 0.05438247 -0.00016148 0.02836254
+v 0.04870620 0.02248330 0.02766420
+v 0.05326238 0.00551532 0.00254451
+v 0.05305625 0.00744376 0.00266485
+v 0.05810442 0.01551209 0.02717241
+v 0.05831249 0.01386516 0.02753076
+v 0.05843694 0.01158871 0.02803037
+v 0.05883169 0.00958491 0.02788912
+v 0.05796246 0.01078629 0.02895376
+v 0.05934895 0.00316120 0.02810620
+v 0.05891142 0.01172393 0.02578601
+v 0.05269651 0.00958500 0.00266486
+v 0.05938201 0.00101996 0.02818467
+v 0.06021236 -0.00016148 0.02713573
+v 0.05597703 0.02178950 0.02718812
+v 0.05510586 0.02248330 0.02787870
+v 0.05810442 0.01551209 0.02616009
+v 0.05778939 0.01613718 0.02558984
+v 0.05793524 0.01491140 0.02475800
+v 0.05159392 0.01517969 0.00346008
+v 0.05112916 0.01593777 0.00272242
+v 0.05107277 0.01594442 0.00254455
+v 0.05032799 0.01814550 0.00254456
+v 0.05545394 -0.00016149 0.02909235
+v 0.04975628 0.02248329 0.02871314
+v 0.05301931 0.00744376 0.00254452
+v 0.05626094 0.02028665 0.02760403
+v 0.05572035 0.01908524 0.02891193
+v 0.05746659 0.01386516 0.02858232
+v 0.05772327 0.01221157 0.02882820
+v 0.05594398 0.01765775 0.02901917
+v 0.05613260 0.01600417 0.02909241
+v 0.05803052 0.00958490 0.02899561
+v 0.05813553 0.00744366 0.02905315
+v 0.05821915 0.00530243 0.02908453
+v 0.05811025 0.01348391 0.02426885
+v 0.05833971 0.01406466 0.02558983
+v 0.05265956 0.00958500 0.00254453
+v 0.05263622 0.00970026 0.00254453
+v 0.05222008 0.01171071 0.00254453
+v 0.05225314 0.01172401 0.00266486
+v 0.05827943 0.00316119 0.02910283
+v 0.05831249 0.00101995 0.02911328
+v 0.05938396 -0.00016148 0.02818728
+v 0.05510197 0.02248330 0.02788916
+v 0.05543255 0.02028664 0.02865558
+v 0.05218896 0.01184814 0.00254453
+v 0.05173782 0.01368349 0.00254454
+v 0.05166004 0.01396500 0.00254454
+v 0.05119723 0.01554100 0.00254455
+v 0.05608593 -0.00016149 0.02917083
+v 0.05082386 0.02248329 0.02912121
+v 0.05394299 0.02248329 0.02906889
+v 0.05395077 0.02242787 0.02907151
+v 0.05436108 0.02028664 0.02913689
+v 0.05472860 0.01600417 0.02926244
+v 0.05639706 0.01386515 0.02913687
+v 0.05686960 0.00958490 0.02920226
+v 0.05686960 0.00744366 0.02924148
+v 0.05686960 0.00530243 0.02925717
+v 0.05751715 -0.00016149 0.02919960
+v 0.05831443 -0.00016149 0.02911328
+v 0.05686960 -0.00016149 0.02926761
+v 0.05258761 0.02028664 0.02923629
+v 0.05258761 0.02242787 0.02925200
+v 0.05258761 0.02248329 0.02924677
+v 0.05263622 0.02248329 0.02924153
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 33
+f 1 33 51
+f 1 51 58
+f 1 58 82
+f 1 82 81
+f 1 81 109
+f 1 109 108
+f 1 108 107
+f 1 107 106
+f 1 106 99
+f 1 99 98
+f 1 98 97
+f 1 97 85
+f 1 85 62
+f 1 62 42
+f 1 42 41
+f 1 41 26
+f 1 26 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 20
+f 1 20 32
+f 1 32 50
+f 1 50 73
+f 1 73 103
+f 1 103 121
+f 1 121 120
+f 1 120 122
+f 1 122 110
+f 1 110 83
+f 1 83 60
+f 1 60 38
+f 1 38 24
+f 1 24 14
+f 1 14 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 15
+f 2 15 25
+f 2 25 40
+f 2 40 39
+f 2 39 59
+f 2 59 61
+f 2 61 84
+f 2 84 111
+f 2 111 125
+f 2 125 126
+f 2 126 112
+f 2 112 104
+f 2 104 75
+f 2 75 52
+f 2 52 36
+f 2 36 34
+f 2 34 22
+f 2 22 12
+f 2 12 5
+f 3 8 9
+f 3 9 10
+f 5 12 13
+f 5 13 11
+f 6 14 7
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 13 21
+f 12 22 13
+f 13 22 23
+f 13 23 21
+f 14 24 15
+f 15 24 25
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 27 28
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 21 23 33
+f 22 34 23
+f 23 35 33
+f 23 34 36
+f 23 36 37
+f 23 37 35
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 45 29
+f 28 44 45
+f 29 46 48
+f 29 48 30
+f 29 45 47
+f 29 47 46
+f 30 48 49
+f 30 49 31
+f 31 49 73
+f 31 73 50
+f 31 50 32
+f 33 35 51
+f 35 37 51
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 51
+f 38 59 39
+f 38 60 61
+f 38 61 59
+f 42 62 43
+f 43 63 44
+f 43 62 63
+f 44 63 45
+f 45 63 47
+f 46 47 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 48
+f 47 70 64
+f 47 63 71
+f 47 71 70
+f 48 69 72
+f 48 72 49
+f 49 72 103
+f 49 103 73
+f 52 74 53
+f 52 75 74
+f 53 74 55
+f 53 55 54
+f 55 74 64
+f 55 64 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 58
+f 60 83 84
+f 60 84 61
+f 62 85 63
+f 63 85 97
+f 63 97 71
+f 64 74 86
+f 64 86 87
+f 64 87 65
+f 64 70 76
+f 65 87 88
+f 65 88 89
+f 65 89 68
+f 65 68 66
+f 66 68 67
+f 68 89 87
+f 68 87 90
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 69 92 93
+f 69 93 94
+f 69 94 72
+f 70 95 78
+f 70 78 96
+f 70 96 76
+f 70 71 95
+f 71 97 98
+f 71 98 99
+f 71 99 100
+f 71 100 95
+f 72 94 101
+f 72 101 102
+f 72 102 103
+f 74 75 104
+f 74 104 105
+f 74 105 87
+f 74 87 86
+f 76 96 78
+f 76 78 77
+f 78 95 100
+f 78 100 106
+f 78 106 107
+f 78 107 79
+f 79 107 108
+f 79 108 109
+f 79 109 81
+f 79 81 80
+f 83 110 111
+f 83 111 84
+f 87 105 112
+f 87 112 90
+f 87 89 88
+f 90 112 113
+f 90 113 114
+f 90 114 91
+f 91 114 115
+f 91 115 116
+f 91 116 92
+f 92 116 93
+f 93 116 117
+f 93 117 94
+f 94 117 118
+f 94 118 101
+f 99 106 100
+f 101 118 119
+f 101 119 102
+f 102 119 120
+f 102 120 121
+f 102 121 103
+f 104 112 105
+f 110 122 111
+f 111 122 123
+f 111 123 124
+f 111 124 125
+f 112 126 124
+f 112 124 113
+f 113 124 114
+f 114 124 115
+f 115 124 122
+f 115 122 119
+f 115 119 118
+f 115 118 117
+f 115 117 116
+f 119 122 120
+f 122 124 123
+f 124 126 125
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_38.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.03085850 -0.03603394 0.00620233
+v 0.03085850 -0.02006755 -0.01295257
+v 0.01942421 -0.04319801 0.00620230
+v 0.03085850 -0.04483921 0.00620230
+v 0.03085850 -0.03467574 -0.01295263
+v 0.01942421 -0.03126385 -0.01295261
+v 0.01942421 -0.05082884 0.00620227
+v 0.03036375 -0.04518251 0.00620229
+v 0.03022382 -0.04508915 0.00556104
+v 0.03085850 -0.04446881 0.00498168
+v 0.03085850 -0.03504313 -0.01259075
+v 0.03068164 -0.03485341 -0.01295263
+v 0.01942421 -0.04208975 -0.01295265
+v 0.01942421 -0.05066924 0.00560414
+v 0.01969734 -0.05072344 0.00620227
+v 0.02893992 -0.04607689 0.00620229
+v 0.02911902 -0.04556194 0.00482229
+v 0.02989026 -0.04486933 0.00416043
+v 0.03085850 -0.04438449 0.00472105
+v 0.03085850 -0.03547075 -0.01213513
+v 0.02960818 -0.03604291 -0.01266575
+v 0.02945370 -0.03587728 -0.01295263
+v 0.02051783 -0.04159589 -0.01295265
+v 0.01942421 -0.04249026 -0.01251016
+v 0.01942421 -0.05045844 0.00482415
+v 0.02046970 -0.05003685 0.00476603
+v 0.02046970 -0.05042230 0.00620227
+v 0.02756646 -0.04692007 0.00620229
+v 0.02720378 -0.04671229 0.00476604
+v 0.02843061 -0.04530596 0.00266417
+v 0.02950184 -0.04461636 0.00266418
+v 0.03085850 -0.04371596 0.00272418
+v 0.03085850 -0.03583814 -0.01173763
+v 0.03038278 -0.03667531 -0.01126326
+v 0.02882462 -0.03735588 -0.01186702
+v 0.02832650 -0.03678070 -0.01295264
+v 0.02187898 -0.04092736 -0.01295265
+v 0.02058947 -0.04228852 -0.01205454
+v 0.01942421 -0.04289079 -0.01199454
+v 0.01942421 -0.04986218 0.00277291
+v 0.02037344 -0.04952189 0.00286854
+v 0.02154653 -0.04929604 0.00370666
+v 0.02187338 -0.04944361 0.00476603
+v 0.02239053 -0.04959417 0.00620228
+v 0.02662060 -0.04745610 0.00620229
+v 0.02613256 -0.04732661 0.00476604
+v 0.02584712 -0.04716399 0.00367292
+v 0.02669336 -0.04639910 0.00284792
+v 0.02808696 -0.04508914 0.00140042
+v 0.02889402 -0.04427907 0.00064481
+v 0.03052829 -0.04316185 0.00056231
+v 0.03085850 -0.04329738 0.00156356
+v 0.03085850 -0.03721735 -0.01006140
+v 0.03085850 -0.03742514 -0.00979515
+v 0.02946826 -0.03809969 -0.01035390
+v 0.02803995 -0.03864174 -0.01106827
+v 0.02689260 -0.03815087 -0.01259826
+v 0.02603853 -0.03845803 -0.01295264
+v 0.02302520 -0.04028293 -0.01295265
+v 0.02313602 -0.04042145 -0.01272765
+v 0.02249798 -0.04131584 -0.01203578
+v 0.02138198 -0.04279141 -0.01088454
+v 0.01995479 -0.04313170 -0.01135704
+v 0.01942421 -0.04320999 -0.01156516
+v 0.01942421 -0.04940444 0.00127479
+v 0.01959548 -0.04937434 0.00137229
+v 0.02102266 -0.04907019 0.00230416
+v 0.02240060 -0.04862450 0.00286854
+v 0.02294461 -0.04894372 0.00476603
+v 0.02337444 -0.04914849 0.00620228
+v 0.02465612 -0.04850105 0.00620228
+v 0.02475238 -0.04804934 0.00476603
+v 0.02471992 -0.04748018 0.00284792
+v 0.02541169 -0.04693211 0.00227042
+v 0.02692730 -0.04550170 0.00064480
+v 0.02766384 -0.04482714 -0.00000206
+v 0.03019472 -0.04292998 -0.00063956
+v 0.03085850 -0.04292697 0.00056231
+v 0.03085850 -0.03755463 -0.00962265
+v 0.03015666 -0.03862669 -0.00895327
+v 0.02585271 -0.03858752 -0.01295264
+v 0.02886604 -0.03897901 -0.00977077
+v 0.02772989 -0.04057204 -0.00864391
+v 0.02696648 -0.04013237 -0.01000891
+v 0.02553481 -0.04055095 -0.01075140
+v 0.02689260 -0.03903021 -0.01154827
+v 0.02566466 -0.03870798 -0.01295264
+v 0.02494043 -0.03977401 -0.01219515
+v 0.02410763 -0.04098158 -0.01132703
+v 0.02261104 -0.04246619 -0.01040266
+v 0.02370578 -0.04288177 -0.00891767
+v 0.02261104 -0.04316483 -0.00935267
+v 0.02039358 -0.04390562 -0.00989267
+v 0.01942421 -0.04499274 -0.00891955
+v 0.01942421 -0.04421278 -0.01008579
+v 0.01942421 -0.04930506 0.00098041
+v 0.01942421 -0.04902199 0.00017979
+v 0.02037344 -0.04878409 0.00062792
+v 0.02271290 -0.04768795 0.00050417
+v 0.02398450 -0.04730551 0.00116792
+v 0.02471992 -0.04668516 0.00050418
+v 0.02623666 -0.04525476 -0.00110457
+v 0.02692730 -0.04459827 -0.00169893
+v 0.02904066 -0.04336963 -0.00141956
+v 0.02975929 -0.04263485 -0.00204018
+v 0.03085850 -0.04218918 -0.00125643
+v 0.03085850 -0.03878629 -0.00784515
+v 0.03061448 -0.03897902 -0.00784515
+v 0.02905297 -0.04009022 -0.00790516
+v 0.02835225 -0.04099363 -0.00724329
+v 0.02678514 -0.04173142 -0.00773079
+v 0.02630270 -0.04103880 -0.00935078
+v 0.02462030 -0.04172238 -0.00983453
+v 0.02513296 -0.04246620 -0.00821642
+v 0.02584152 -0.04288177 -0.00681580
+v 0.02455313 -0.04313171 -0.00764830
+v 0.02247000 -0.04420978 -0.00770267
+v 0.02083349 -0.04467655 -0.00830642
+v 0.01942421 -0.04501984 -0.00887643
+v 0.01942421 -0.04835647 -0.00161270
+v 0.02065999 -0.04781141 -0.00172333
+v 0.02206703 -0.04739886 -0.00114395
+v 0.02349422 -0.04705858 -0.00023457
+v 0.02492812 -0.04573958 -0.00169894
+v 0.02575869 -0.04497469 -0.00250519
+v 0.02833210 -0.04311065 -0.00312581
+v 0.02904066 -0.04234275 -0.00375205
+v 0.03075328 -0.04119842 -0.00364142
+v 0.03085850 -0.04134297 -0.00315205
+v 0.03085850 -0.04200548 -0.00168017
+v 0.03085850 -0.03926510 -0.00704828
+v 0.03085850 -0.03990955 -0.00596454
+v 0.02977944 -0.04049676 -0.00637141
+v 0.02905297 -0.04135802 -0.00570017
+v 0.02735154 -0.04247524 -0.00574330
+v 0.02784182 -0.04279143 -0.00452643
+v 0.02628031 -0.04315280 -0.00574330
+v 0.02458783 -0.04420076 -0.00558768
+v 0.02309013 -0.04470968 -0.00618392
+v 0.02166294 -0.04507103 -0.00690581
+v 0.02025926 -0.04527581 -0.00770268
+v 0.01942421 -0.04559803 -0.00776456
+v 0.01942421 -0.04757050 -0.00364144
+v 0.01991226 -0.04737476 -0.00364144
+v 0.02150063 -0.04713385 -0.00254644
+v 0.02271290 -0.04686584 -0.00172332
+v 0.02423188 -0.04530293 -0.00364144
+v 0.02376398 -0.04505298 -0.00478331
+v 0.02530087 -0.04472174 -0.00364143
+v 0.02703364 -0.04364065 -0.00375205
+v 0.03030778 -0.04087620 -0.00497079
+v 0.03085850 -0.04112013 -0.00364142
+v 0.03085850 -0.04018057 -0.00547704
+v 0.02247000 -0.04531196 -0.00558769
+v 0.02026150 -0.04636895 -0.00553894
+v 0.01942421 -0.04658577 -0.00582581
+v 0.01942421 -0.04714288 -0.00471581
+v 0.02098237 -0.04689896 -0.00364144
+v 0.02261104 -0.04612504 -0.00364144
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 44
+f 1 44 70
+f 1 70 71
+f 1 71 45
+f 1 45 28
+f 1 28 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 52
+f 1 52 78
+f 1 78 106
+f 1 106 130
+f 1 130 129
+f 1 129 152
+f 1 152 153
+f 1 153 132
+f 1 132 131
+f 1 131 107
+f 1 107 79
+f 1 79 54
+f 1 54 53
+f 1 53 33
+f 1 33 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 22
+f 2 22 36
+f 2 36 58
+f 2 58 81
+f 2 81 87
+f 2 87 59
+f 2 59 37
+f 2 37 23
+f 2 23 13
+f 2 13 6
+f 2 6 3
+f 3 6 13
+f 3 13 24
+f 3 24 39
+f 3 39 64
+f 3 64 95
+f 3 95 94
+f 3 94 119
+f 3 119 142
+f 3 142 156
+f 3 156 157
+f 3 157 143
+f 3 143 120
+f 3 120 97
+f 3 97 96
+f 3 96 65
+f 3 65 40
+f 3 40 25
+f 3 25 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 15 26 27
+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 19
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 49 31
+f 30 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 35
+f 35 56 36
+f 36 56 57
+f 36 57 58
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 38 62 63
+f 38 63 39
+f 39 63 64
+f 40 65 66
+f 40 66 41
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 44
+f 45 71 46
+f 46 72 47
+f 46 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 48
+f 48 74 75
+f 48 75 49
+f 49 75 76
+f 49 76 50
+f 50 76 77
+f 50 77 51
+f 51 77 78
+f 51 78 52
+f 54 79 80
+f 54 80 55
+f 55 80 56
+f 56 81 58
+f 56 58 57
+f 56 80 82
+f 56 82 83
+f 56 83 84
+f 56 84 85
+f 56 85 86
+f 56 86 81
+f 59 87 60
+f 60 87 88
+f 60 88 89
+f 60 89 61
+f 61 89 62
+f 62 89 90
+f 62 90 91
+f 62 91 92
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 95
+f 63 95 64
+f 65 96 66
+f 66 96 97
+f 66 97 98
+f 66 98 67
+f 67 98 99
+f 67 99 68
+f 68 99 100
+f 68 100 73
+f 68 73 69
+f 69 73 72
+f 69 72 70
+f 70 72 71
+f 73 100 74
+f 74 101 75
+f 74 100 101
+f 75 102 76
+f 75 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 77
+f 77 105 106
+f 77 106 78
+f 77 104 105
+f 79 107 80
+f 80 107 108
+f 80 108 109
+f 80 109 83
+f 80 83 82
+f 81 86 85
+f 81 85 87
+f 83 109 110
+f 83 110 111
+f 83 111 112
+f 83 112 84
+f 84 112 85
+f 85 88 87
+f 85 112 113
+f 85 113 89
+f 85 89 88
+f 89 113 91
+f 89 91 90
+f 91 113 112
+f 91 112 114
+f 91 114 115
+f 91 115 116
+f 91 116 117
+f 91 117 118
+f 91 118 92
+f 92 118 119
+f 92 119 94
+f 92 94 93
+f 97 120 121
+f 97 121 98
+f 98 121 122
+f 98 122 99
+f 99 122 123
+f 99 123 100
+f 100 123 101
+f 101 123 124
+f 101 124 102
+f 102 124 125
+f 102 125 103
+f 103 126 104
+f 103 125 126
+f 104 126 105
+f 105 127 128
+f 105 128 129
+f 105 129 130
+f 105 130 106
+f 105 126 127
+f 107 131 108
+f 108 131 132
+f 108 132 133
+f 108 133 109
+f 109 133 110
+f 110 134 135
+f 110 135 115
+f 110 115 111
+f 110 133 134
+f 111 115 114
+f 111 114 112
+f 115 135 136
+f 115 136 137
+f 115 137 138
+f 115 138 139
+f 115 139 116
+f 116 139 117
+f 117 139 140
+f 117 140 118
+f 118 140 119
+f 119 140 141
+f 119 141 142
+f 120 143 144
+f 120 144 121
+f 121 144 145
+f 121 145 122
+f 122 145 146
+f 122 146 123
+f 123 146 124
+f 124 147 125
+f 124 146 147
+f 125 147 148
+f 125 148 149
+f 125 149 150
+f 125 150 126
+f 126 150 136
+f 126 136 127
+f 127 136 151
+f 127 151 128
+f 128 152 129
+f 128 151 152
+f 132 153 133
+f 133 153 151
+f 133 151 134
+f 134 136 135
+f 134 151 136
+f 136 150 137
+f 137 150 149
+f 137 149 138
+f 138 149 148
+f 138 148 139
+f 139 148 154
+f 139 154 140
+f 140 154 155
+f 140 155 141
+f 141 155 156
+f 141 156 142
+f 143 157 144
+f 144 157 145
+f 145 157 158
+f 145 158 159
+f 145 159 146
+f 146 159 147
+f 147 159 148
+f 148 159 154
+f 151 153 152
+f 154 159 158
+f 154 158 157
+f 154 157 155
+f 155 157 156
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_39.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04839358 -0.01497178 0.01913883
+v 0.05668676 -0.01497178 0.01913883
+v 0.04852227 -0.01497178 0.01956141
+v 0.05078956 -0.00016145 0.01948210
+v 0.05068862 -0.00016145 0.01913888
+v 0.05782103 -0.01497178 0.01991851
+v 0.05687475 -0.01363079 0.01913883
+v 0.05057381 -0.01497180 0.02578798
+v 0.05280702 -0.00016147 0.02578803
+v 0.05131442 -0.00016146 0.02114860
+v 0.05805318 -0.00016145 0.01913888
+v 0.06043402 -0.01497179 0.02224170
+v 0.05778822 -0.00558630 0.01913886
+v 0.05780715 -0.00540364 0.01913886
+v 0.05082867 -0.01497181 0.02648632
+v 0.05338362 -0.00016148 0.02731367
+v 0.05806959 -0.00016145 0.01918848
+v 0.06104720 -0.01497180 0.02368600
+v 0.06065607 -0.01497179 0.02262460
+v 0.05805318 -0.00112262 0.01913888
+v 0.05792070 -0.00391768 0.01913887
+v 0.05796991 -0.00326385 0.01913887
+v 0.05801659 -0.00208233 0.01913887
+v 0.05120466 -0.01497181 0.02730172
+v 0.05438415 -0.00016148 0.02836416
+v 0.05951549 -0.00016147 0.02368605
+v 0.06116328 -0.01497180 0.02463631
+v 0.05977036 -0.00016147 0.02451335
+v 0.05997854 -0.00016147 0.02518987
+v 0.06021196 -0.00016148 0.02624036
+v 0.05174088 -0.01497181 0.02785920
+v 0.05486359 -0.00016149 0.02869151
+v 0.05224304 -0.01497181 0.02835221
+v 0.05281081 -0.01497182 0.02882340
+v 0.06128314 -0.01497180 0.02578798
+v 0.06021196 -0.00016148 0.02713611
+v 0.05545407 -0.00016149 0.02909425
+v 0.05331422 -0.01497182 0.02906940
+v 0.06066238 -0.01497181 0.02752789
+v 0.05938428 -0.00016148 0.02818660
+v 0.05608619 -0.00016149 0.02917163
+v 0.05400059 -0.01497182 0.02917654
+v 0.05952937 -0.01497182 0.02861310
+v 0.05831435 -0.00016149 0.02911409
+v 0.05687096 -0.00016149 0.02926685
+v 0.05472986 -0.01497182 0.02925292
+v 0.05472986 -0.01396717 0.02924300
+v 0.05848721 -0.01497182 0.02903766
+v 0.05831435 -0.00112266 0.02911508
+v 0.05751696 -0.00016149 0.02919940
+v 0.05687096 -0.00112266 0.02926983
+v 0.05694415 -0.01497182 0.02917852
+v 0.05687096 -0.00754491 0.02925095
+v 0.05687096 -0.00540368 0.02926683
+v 0.05687096 -0.00326389 0.02927180
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 18
+f 1 18 27
+f 1 27 35
+f 1 35 39
+f 1 39 43
+f 1 43 48
+f 1 48 52
+f 1 52 46
+f 1 46 42
+f 1 42 38
+f 1 38 34
+f 1 34 33
+f 1 33 31
+f 1 31 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 23
+f 1 23 22
+f 1 22 21
+f 1 21 14
+f 1 14 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 25
+f 4 25 32
+f 4 32 37
+f 4 37 41
+f 4 41 45
+f 4 45 50
+f 4 50 44
+f 4 44 40
+f 4 40 36
+f 4 36 30
+f 4 30 29
+f 4 29 28
+f 4 28 26
+f 4 26 17
+f 4 17 11
+f 4 11 5
+f 6 7 13
+f 6 13 14
+f 6 14 12
+f 8 15 9
+f 9 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 11 12 20
+f 12 14 21
+f 12 21 22
+f 12 22 23
+f 12 23 20
+f 15 24 16
+f 16 24 25
+f 17 26 18
+f 18 26 28
+f 18 28 29
+f 18 29 30
+f 18 30 27
+f 24 31 25
+f 25 31 33
+f 25 33 34
+f 25 34 32
+f 27 30 35
+f 30 36 35
+f 32 34 37
+f 34 38 37
+f 35 36 39
+f 36 40 39
+f 37 38 42
+f 37 42 41
+f 39 40 43
+f 40 44 43
+f 41 42 45
+f 42 46 47
+f 42 47 45
+f 43 44 49
+f 43 49 48
+f 44 50 51
+f 44 51 49
+f 45 51 50
+f 45 47 46
+f 45 46 51
+f 46 52 53
+f 46 53 54
+f 46 54 55
+f 46 55 51
+f 48 49 54
+f 48 54 53
+f 48 53 52
+f 49 51 55
+f 49 55 54
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_4.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01927237 -0.02411110 -0.02850425
+v -0.01927237 -0.02411114 -0.01668204
+v -0.01927237 -0.02298581 -0.02947296
+v -0.01868102 -0.02320618 -0.02971849
+v -0.01824481 -0.02411109 -0.02920344
+v 0.00369819 -0.02411113 -0.01897843
+v 0.00369819 -0.00016366 -0.02038473
+v -0.01927237 -0.00016366 -0.01996442
+v -0.01927237 -0.02219108 -0.02993331
+v -0.01725548 -0.02376882 -0.02998936
+v -0.01695643 -0.02411109 -0.02990263
+v 0.00369819 -0.02411109 -0.02950900
+v 0.00369819 -0.00016363 -0.02760348
+v -0.01927237 -0.00016363 -0.02761816
+v -0.01927237 -0.02189569 -0.03003739
+v -0.01800872 -0.02250756 -0.03012012
+v -0.01625265 -0.02411109 -0.03006141
+v -0.01013901 -0.02411109 -0.03020152
+v -0.01927237 -0.01919031 -0.03031225
+v -0.01927237 -0.01708509 -0.03013744
+v -0.01903178 -0.00016363 -0.02761816
+v -0.01927237 -0.02130491 -0.03013212
+v -0.01593112 -0.02253100 -0.03030425
+v -0.01593112 -0.02411109 -0.03009878
+v -0.01606378 -0.02411109 -0.03008677
+v -0.01220987 -0.02411109 -0.03029225
+v -0.01807168 -0.02038827 -0.03031358
+v -0.01927237 -0.02039296 -0.03021751
+v -0.01458652 -0.02411109 -0.03020953
+f 1 2 8
+f 1 8 14
+f 1 14 20
+f 1 20 19
+f 1 19 28
+f 1 28 22
+f 1 22 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 25
+f 1 25 24
+f 1 24 29
+f 1 29 26
+f 1 26 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 21
+f 7 21 14
+f 7 14 8
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 14 21 20
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 26 19
+f 19 27 28
+f 19 26 27
+f 22 28 23
+f 23 26 29
+f 23 29 24
+f 23 28 27
+f 23 27 26
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_40.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02875309 0.03751999 0.00610047
+v -0.03935506 0.03751999 0.00610047
+v -0.03310477 0.03751995 0.01718995
+v -0.04839107 0.01422448 0.01856506
+v -0.04803677 0.01422449 0.01736435
+v -0.04747962 0.01422449 0.01527654
+v -0.04508337 0.01422453 0.00610038
+v -0.03946595 0.03740597 0.00610047
+v -0.04479938 0.03726454 0.01856515
+v -0.04438017 0.03751994 0.01856515
+v -0.03369437 0.03751994 0.01856515
+v -0.05638311 0.01422448 0.01856506
+v -0.05259940 0.01422453 0.00610038
+v -0.04033412 0.03650526 0.00610046
+v -0.04555937 0.03635014 0.01856514
+v -0.04052344 0.03630687 0.00610046
+v -0.04066137 0.03614725 0.00610046
+v -0.04149168 0.03517584 0.00610046
+v -0.04251672 0.03397641 0.00610045
+v -0.05626682 0.01534182 0.01856507
+v -0.05607749 0.01607379 0.01856507
+v -0.05231272 0.01522330 0.00610039
+v -0.04326859 0.03300273 0.00610045
+v -0.04446401 0.03140196 0.00610045
+v -0.04944045 0.03089569 0.01856512
+v -0.05414642 0.02163542 0.01856509
+v -0.05148782 0.01782283 0.00610040
+v -0.05207201 0.01604876 0.00610039
+v -0.04516450 0.03039863 0.00610044
+v -0.04990834 0.03013407 0.01856512
+v -0.04616520 0.02885032 0.00610044
+v -0.04691707 0.02767597 0.00610043
+v -0.05383810 0.02238792 0.01856509
+v -0.05058719 0.02021941 0.00610040
+v -0.05113351 0.01883528 0.00610040
+v -0.05177991 0.02671363 0.01856511
+v -0.04749315 0.02664984 0.00610043
+v -0.05211528 0.02605235 0.01856511
+v -0.04914835 0.02355320 0.00610042
+v -0.04929710 0.02322484 0.00610042
+v -0.04963518 0.02246778 0.00610041
+v -0.04986507 0.02192735 0.00610041
+v -0.04861825 0.02457249 0.00610042
+f 1 2 10
+f 1 10 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 22
+f 1 22 28
+f 1 28 27
+f 1 27 35
+f 1 35 34
+f 1 34 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 43
+f 1 43 37
+f 1 37 32
+f 1 32 31
+f 1 31 29
+f 1 29 24
+f 1 24 23
+f 1 23 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 12 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 4 11 10
+f 4 10 9
+f 4 9 15
+f 4 15 25
+f 4 25 30
+f 4 30 36
+f 4 36 38
+f 4 38 33
+f 4 33 26
+f 4 26 21
+f 4 21 20
+f 4 20 12
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 15
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 19 23
+f 15 23 24
+f 15 24 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 24 29 25
+f 25 29 31
+f 25 31 32
+f 25 32 30
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 30 32 37
+f 30 37 36
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 36 39 38
+f 36 37 43
+f 36 43 39
+

dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mjcf/mesh/bowl_036_collision_41.obj

@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.01542306 0.05454250 0.02924930
+v 0.01404479 0.05626580 0.02914417
+v 0.00976137 0.05668357 0.02922441
+v 0.00762152 0.05668357 0.02926314
+v 0.00548167 0.05668357 0.02927144
+v -0.00355139 0.05668357 0.02926314
+v 0.01404479 0.05454250 0.02923270
+v 0.01542306 0.05312579 0.02907223
+v 0.01542306 0.05607713 0.02911650
+v 0.00976137 0.05788129 0.02901967
+v 0.00762152 0.05799753 0.02907500
+v 0.00548167 0.05808344 0.02910267
+v 0.00333997 0.05814408 0.02911927
+v 0.00119826 0.05817777 0.02912757
+v -0.00094159 0.05817777 0.02912480
+v -0.00355139 0.05782402 0.02914971
+v -0.00355139 0.05636688 0.02922717
+v -0.00355139 0.05528708 0.02908883
+v -0.00355139 0.05505292 0.02893942
+v 0.01542306 0.05199715 0.02828370
+v 0.01542306 0.05723612 0.02819242
+v 0.01404479 0.05733550 0.02862956
+v 0.01253092 0.05758649 0.02885920
+v 0.01110435 0.05779538 0.02896987
+v 0.00333997 0.05921547 0.02822010
+v 0.00119826 0.05924916 0.02830587
+v -0.00094159 0.05924748 0.02830587
+v -0.00308330 0.05814240 0.02911650
+v -0.00355139 0.05812892 0.02911374
+v -0.00355139 0.05421571 0.02831968
+v 0.01542306 0.05102852 0.02729598
+v 0.01542306 0.05782234 0.02747307
+v 0.01542306 0.05797732 0.02727663
+v 0.01404479 0.05815757 0.02758097
+v 0.01185107 0.05829570 0.02805132
+v 0.00548167 0.05915483 0.02804026
+v 0.00976137 0.05873032 0.02788809
+v 0.00661847 0.05990445 0.02685887
+v 0.00548167 0.05996005 0.02698891
+v 0.00333997 0.06004259 0.02716874
+v 0.00119826 0.06008302 0.02725451
+v -0.00094159 0.06008302 0.02725451
+v -0.00308330 0.05921210 0.02822840
+v -0.00355139 0.05896616 0.02841930
+v -0.00355139 0.05399503 0.02809004
+v -0.00355139 0.05322182 0.02726832
+v 0.01542306 0.05040862 0.02583239
+v 0.01542306 0.05794364 0.02578814
+v 0.01404479 0.05830919 0.02578814
+v 0.01190308 0.05880613 0.02578815
+v 0.00661847 0.05990445 0.02679523
+v 0.00548167 0.05996005 0.02654623
+v 0.00333997 0.06004259 0.02618655
+v 0.00119826 0.06008302 0.02601225
+v -0.00094159 0.06008302 0.02600948
+v -0.00308330 0.06004764 0.02717704
+v -0.00355139 0.05920031 0.02819243
+v -0.00355139 0.05308537 0.02692247
+v -0.00355139 0.05266761 0.02578812
+v 0.01542306 0.04889758 0.02133092
+v 0.01542306 0.05784425 0.02536483
+v 0.01514443 0.05776339 0.02471465
+v 0.00976137 0.05921548 0.02578815
+v 0.01404479 0.05790658 0.02431901
+v 0.01190308 0.05213537 0.00266661
+v 0.00976137 0.05258177 0.00266661
+v 0.00744692 0.05960966 0.02597075
+v 0.00548167 0.05972085 0.02549487
+v 0.00333997 0.05980002 0.02513520
+v 0.00119826 0.05984045 0.02496090
+v -0.00094159 0.05984214 0.02495813
+v -0.00308330 0.06004764 0.02617272
+v -0.00355139 0.06003080 0.02714107
+v -0.00355139 0.05985223 0.02737071
+v -0.00355139 0.05115825 0.02106532
+v 0.01542306 0.04829789 0.01951318
+v 0.01542306 0.04877798 0.02096848
+v 0.01542306 0.05773139 0.02490832
+v 0.01540263 0.05142617 0.00341086
+v 0.01400392 0.05160978 0.00269151
+v 0.01326278 0.05141438 0.00136902
+v 0.00762152 0.05293722 0.00266661
+v 0.00762152 0.05335835 0.00414128
+v 0.01252349 0.05147672 0.00100658
+v 0.01177120 0.05165191 0.00100658
+v 0.01137183 0.05173614 0.00100658
+v 0.00976137 0.05207137 0.00100658
+v 0.00931000 0.05214717 0.00100658
+v 0.00762152 0.05243018 0.00100658
+v 0.00633799 0.05344932 0.00380651
+v 0.00491142 0.05352850 0.00352707
+v 0.00333997 0.05358914 0.00331957
+v 0.00119826 0.05363462 0.00316463
+v -0.00308330 0.05980171 0.02512137
+v -0.00094159 0.05363462 0.00316186
+v -0.00355139 0.06003080 0.02624466
+v -0.00355139 0.05978655 0.02519330
+v -0.00355139 0.05103528 0.02066968
+v -0.00355139 0.05066637 0.01947999
+v 0.01542306 0.04765776 0.01738557
+v 0.01542306 0.05142280 0.00342193
+v 0.01542306 0.05141269 0.00338873
+v 0.01542306 0.05108758 0.00235397
+v 0.01469120 0.05121223 0.00200813
+v 0.01419339 0.05102862 0.00100658
+v 0.01362313 0.05119203 0.00100658
+v 0.00556898 0.05323033 0.00276346
+v 0.00549839 0.05270139 0.00100658
+v 0.00492442 0.05275361 0.00100658
+v 0.00333997 0.05328087 0.00226821
+v 0.00119826 0.05332635 0.00211328
+v -0.00094159 0.05332804 0.00211051
+v -0.00308330 0.05358914 0.00331403
+v -0.00308330 0.05328592 0.00226268
+v -0.00355139 0.05357061 0.00337490
+v -0.00355139 0.05005489 0.01737727
+v 0.01542306 0.04287537 0.00100655
+v 0.01542306 0.05075404 0.00129985
+v 0.01542306 0.05065465 0.00100658
+v 0.00333997 0.05289174 0.00100658
+v 0.00272699 0.05291870 0.00100658
+v 0.00119826 0.05298440 0.00100658
+v 0.00058342 0.05298608 0.00100658
+v -0.00094159 0.05298776 0.00100658
+v -0.00308330 0.05290017 0.00100658
+v -0.00355139 0.05335499 0.00262512
+v -0.00354024 0.05286142 0.00100658
+v -0.00355139 0.05327750 0.00236505
+v -0.00355139 0.04542242 0.00100656
+v -0.00355139 0.05285974 0.00100658
+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 20
+f 1 20 31
+f 1 31 47
+f 1 47 60
+f 1 60 77
+f 1 77 76
+f 1 76 100
+f 1 100 117
+f 1 117 119
+f 1 119 118
+f 1 118 103
+f 1 103 102
+f 1 102 101
+f 1 101 78
+f 1 78 61
+f 1 61 48
+f 1 48 33
+f 1 33 32
+f 1 32 21
+f 1 21 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 29
+f 6 29 44
+f 6 44 57
+f 6 57 74
+f 6 74 73
+f 6 73 96
+f 6 96 97
+f 6 97 115
+f 6 115 126
+f 6 126 128
+f 6 128 130
+f 6 130 129
+f 6 129 116
+f 6 116 99
+f 6 99 98
+f 6 98 75
+f 6 75 59
+f 6 59 58
+f 6 58 46
+f 6 46 45
+f 6 45 30
+f 6 30 19
+f 6 19 18
+f 6 18 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 28 16
+f 15 27 28
+f 16 28 29
+f 19 30 20
+f 20 30 31
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 38
+f 24 38 39
+f 24 39 36
+f 25 36 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 27 43 44
+f 27 44 29
+f 27 29 28
+f 27 42 56
+f 27 56 43
+f 30 45 31
+f 31 46 47
+f 31 45 46
+f 33 48 49
+f 33 49 50
+f 33 50 38
+f 33 38 34
+f 34 38 35
+f 35 38 37
+f 36 39 40
+f 38 51 52
+f 38 52 39
+f 38 50 51
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 72
+f 42 72 56
+f 43 57 44
+f 43 56 57
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 48 61 49
+f 49 61 62
+f 49 62 50
+f 50 63 51
+f 50 62 64
+f 50 64 65
+f 50 65 66
+f 50 66 63
+f 51 63 67
+f 51 67 68
+f 51 68 52
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 56 72 96
+f 56 96 73
+f 56 73 74
+f 56 74 57
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 65
+f 62 65 64
+f 63 66 82
+f 63 82 83
+f 63 83 67
+f 65 81 84
+f 65 84 85
+f 65 85 86
+f 65 86 66
+f 66 86 87
+f 66 87 88
+f 66 88 89
+f 66 89 82
+f 67 83 90
+f 67 90 68
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 70
+f 70 92 93
+f 70 93 71
+f 71 94 72
+f 71 93 95
+f 71 95 94
+f 72 94 97
+f 72 97 96
+f 75 98 76
+f 76 98 99
+f 76 99 100
+f 78 101 79
+f 79 101 102
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 80 104 81
+f 81 104 105
+f 81 105 106
+f 81 106 84
+f 82 107 90
+f 82 90 83
+f 82 89 107
+f 84 106 105
+f 84 105 119
+f 84 119 117
+f 84 117 129
+f 84 129 130
+f 84 130 127
+f 84 127 125
+f 84 125 124
+f 84 124 123
+f 84 123 122
+f 84 122 121
+f 84 121 120
+f 84 120 109
+f 84 109 108
+f 84 108 89
+f 84 89 88
+f 84 88 87
+f 84 87 86
+f 84 86 85
+f 89 108 107
+f 90 107 91
+f 91 107 108
+f 91 108 109
+f 91 109 110
+f 91 110 92
+f 92 110 111
+f 92 111 93
+f 93 111 112
+f 93 112 95
+f 94 95 113
+f 94 113 97
+f 95 112 114
+f 95 114 113
+f 97 113 115
+f 99 116 117
+f 99 117 100
+f 103 118 104
+f 104 118 105
+f 105 118 119
+f 109 120 110
+f 110 120 121
+f 110 121 111
+f 111 121 122
+f 111 122 123
+f 111 123 112
+f 112 123 124
+f 112 124 125
+f 112 125 114
+f 113 114 126
+f 113 126 115
+f 114 125 127
+f 114 127 128
+f 114 128 126
+f 116 129 117
+f 127 130 128
+