Add asset kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c

.gitattributes

@@ -4242,3 +4242,6 @@ dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/mesh/chopsti
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_plate">
+   <link name="fruit_plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.218769</scale>
+         <version>v0.1.7</version>
+         <category>fruit plate</category>
+         <description>flat circular plate with slightly raised edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260117162318</generate_time>
+         <gs_model>mesh/fruit_plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.597430229187012</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/8887816126ba52449505240857eb1e2c.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532fd4ef0472380f7425722e73dc51b450aa3783aeef40a99c496e7b8a0addfc
+size 292316

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d5e56b5a6de850d9e05de94610393e7ac63c5cda4bd1deff035cc32ae3178d
+size 664392

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/fruit_plate_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd75b278c30b887630be7440d2ce22a4f99cf59a4d59faba7ac74f0258cb288
+size 2566057

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/8887816126ba52449505240857eb1e2c.xml

@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_plate">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_plate.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_plate_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_plate_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_plate_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_plate_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_plate_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fruit_plate_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fruit_plate_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fruit_plate_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/fruit_plate_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/fruit_plate_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/fruit_plate_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/fruit_plate_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/fruit_plate_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/fruit_plate_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/fruit_plate_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/fruit_plate_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/fruit_plate_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/fruit_plate_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/fruit_plate_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/fruit_plate_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/fruit_plate_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/fruit_plate_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/fruit_plate_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/fruit_plate_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/fruit_plate_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_plate">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_0.obj

@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v 0.00177504 0.10991084 0.00886230
+v 0.00177504 0.10991083 0.01152825
+v 0.00539937 0.10986172 0.00889933
+v 0.00539937 0.10747348 0.00726026
+v 0.00177504 0.10751882 0.00722323
+v -0.00185812 0.10990329 0.00888205
+v 0.00177504 0.10857689 0.01316731
+v 0.00539937 0.10986171 0.01150357
+v -0.00185812 0.10990328 0.01152825
+v -0.00548245 0.10864113 0.01315991
+v -0.00185812 0.10860712 0.01316731
+v 0.00903254 0.10975213 0.00899066
+v 0.00903254 0.10741302 0.00735159
+v 0.00539937 0.08125199 -0.01057452
+v -0.00185812 0.08132756 -0.01055230
+v 0.00177504 0.08134268 -0.01057452
+v -0.00548245 0.10982772 0.00895611
+v 0.00539937 0.10666856 0.01338453
+v 0.00539937 0.10848620 0.01314263
+v -0.00603936 0.10680460 0.01342896
+v -0.00548245 0.10682349 0.01342402
+v 0.00903254 0.10975212 0.01138755
+v -0.00548245 0.10982771 0.01152085
+v -0.00603936 0.10862223 0.01314757
+v -0.00603936 0.10834638 0.01320187
+v 0.01265687 0.10959342 0.00914618
+v 0.01265687 0.10734122 0.00750710
+v 0.00903254 0.08108950 -0.01053749
+v 0.01265687 0.07810419 -0.01139653
+v -0.00548245 0.08119530 -0.01050787
+v -0.00603936 0.10980504 0.00897585
+v 0.00903254 0.10639648 0.01337712
+v 0.01629004 0.10584477 0.01336231
+v 0.01991437 0.10564826 0.01334257
+v 0.02354754 0.10546688 0.01329319
+v 0.02545694 0.10537241 0.01325617
+v 0.00903254 0.10821411 0.01302661
+v 0.01265687 0.10959341 0.01117032
+v -0.00603936 0.10632468 0.01343390
+v -0.00603936 0.10980503 0.01150603
+v -0.00603936 0.10962742 0.01175535
+v 0.01629004 0.10940070 0.00938068
+v 0.01650220 0.10686130 0.00753673
+v 0.01265687 0.08084009 -0.01042394
+v 0.01629004 0.07810419 -0.01130026
+v 0.00903254 0.07810419 -0.01132741
+v 0.02354754 0.07446892 -0.01167795
+v -0.00603936 0.07810419 -0.01091271
+v -0.00603936 0.08116129 -0.01049059
+v 0.01629004 0.10380418 0.01336230
+v 0.03295311 0.10144616 0.01326108
+v 0.03295311 0.10177493 0.01326108
+v 0.01912762 0.10918529 0.01040263
+v 0.01629004 0.10940069 0.01083214
+v 0.01265687 0.10788914 0.01280938
+v 0.04893552 0.09626912 0.01241685
+v 0.04167802 0.09990439 0.01234528
+v 0.03806253 0.10295394 0.01139987
+v 0.03080503 0.10600727 0.01100492
+v 0.02687131 0.10628313 0.01182692
+v -0.00603936 0.10327892 0.01340673
+v -0.00185812 0.10372860 0.01340427
+v 0.02354754 0.10479426 0.00685542
+v 0.01912762 0.10918529 0.00967443
+v 0.02717186 0.10650231 0.00867963
+v 0.02717186 0.10441638 0.00704055
+v 0.01629004 0.08050755 -0.01020425
+v 0.02019724 0.07844051 -0.01074732
+v 0.02354754 0.07776031 -0.01071276
+v 0.02717186 0.07446892 -0.01157427
+v 0.03401389 0.07130979 -0.01172239
+v 0.03032768 0.07130979 -0.01178410
+v -0.00603936 0.07580664 -0.01011787
+v 0.07434118 0.07446883 0.01280432
+v 0.03080503 0.10130635 0.01327096
+v 0.06708368 0.08173559 0.01282410
+v 0.05619301 0.08900613 0.01293027
+v 0.05256868 0.09263384 0.01289819
+v 0.04531119 0.09626912 0.01298953
+v 0.03334206 0.10560293 0.01043965
+v 0.05619301 0.09263385 0.01220949
+v 0.05241841 0.09637116 0.01128135
+v 0.04893552 0.09879719 0.01086913
+v 0.04509019 0.10000264 0.01126409
+v 0.04167802 0.10225107 0.01075560
+v -0.00603936 0.10296905 0.01337711
+v 0.07434118 0.07130970 0.01274013
+v 0.07796550 0.07130970 0.01274753
+v 0.03334206 0.10560293 0.00959049
+v 0.03080503 0.10600728 0.00910174
+v 0.03080503 0.10397047 0.00746266
+v 0.02717186 0.07715191 -0.01039681
+v 0.01917182 0.08018634 -0.00994260
+v 0.03097299 0.07474477 -0.01084608
+v 0.03442936 0.07130979 -0.01164587
+v -0.00603936 0.07130978 -0.00740011
+v 0.07796550 0.07446883 0.01233778
+v 0.07434118 0.07810410 0.01232546
+v 0.06345051 0.08537086 0.01280189
+v 0.05982618 0.08900613 0.01265874
+v 0.04372886 0.10182406 0.01016069
+v 0.06353891 0.08916863 0.01143932
+v 0.05953447 0.09257717 0.01099994
+v 0.05619301 0.09508634 0.01070620
+v 0.05110127 0.09826059 0.01025201
+v -0.00603936 0.10250803 0.01333268
+v 0.07070801 0.07130970 0.01254512
+v -0.00603936 0.10088312 0.01312779
+v -0.00603936 0.10014624 0.01301671
+v 0.08157215 0.07130971 0.01204155
+v 0.04372886 0.10182406 0.00980276
+v 0.04167802 0.10225108 0.00925230
+v 0.03806253 0.10295395 0.00861544
+v 0.03806253 0.10092470 0.00697636
+v 0.03553434 0.10143108 0.00676655
+v 0.02987685 0.07664554 -0.01002160
+v 0.03442936 0.07383029 -0.01058936
+v 0.03799181 0.07130979 -0.01094976
+v -0.00603936 0.07130973 0.00551245
+v 0.08143072 0.07424210 0.01086904
+v 0.07780638 0.07794161 0.01092337
+v 0.07070801 0.08173560 0.01222179
+v 0.06740191 0.08569585 0.01160468
+v 0.06640301 0.08806520 0.01080738
+v 0.06238973 0.09132637 0.01058524
+v 0.05812893 0.09452707 0.01008168
+v 0.05110127 0.09826059 0.00969908
+v 0.06708368 0.07130971 0.01223162
+v -0.00603936 0.09626912 0.01230330
+v -0.00603936 0.09571741 0.01216260
+v 0.08426830 0.07130971 0.01066908
+v 0.04893552 0.09879720 0.00910911
+v 0.04167802 0.10024828 0.00761323
+v 0.04597418 0.09744814 0.00690477
+v 0.03719623 0.07315387 -0.01013516
+v 0.03816861 0.07130979 -0.01089792
+v 0.05333775 0.09383933 0.00690969
+v -0.00603936 0.09263385 0.01134552
+v 0.08361416 0.07288171 0.01020008
+v 0.08010474 0.07662280 0.01030624
+v 0.07648041 0.08022406 0.01029637
+v 0.07409366 0.08155799 0.01084192
+v 0.07070801 0.08453952 0.01079996
+v 0.07272348 0.08371951 0.01017297
+v 0.05812893 0.09452707 0.00984717
+v 0.05619301 0.09508635 0.00922265
+v 0.08410918 0.07130972 0.00883501
+v 0.08361416 0.07288171 0.00963974
+v 0.04893552 0.09674905 0.00747005
+v 0.04062608 0.07130979 -0.01001915
+v 0.05808473 0.09085781 0.00667517
+v 0.06477649 0.08678796 0.00682327
+v 0.05619301 0.09311378 0.00758358
+v 0.08010474 0.07662281 0.00950399
+v 0.07648041 0.08022407 0.00952128
+v 0.07272348 0.08371951 0.00969656
+v 0.06238973 0.09132638 0.00928188
+v 0.06050685 0.09003778 0.00709481
+v 0.08299536 0.07130972 0.00775382
+v 0.08242961 0.07161958 0.00745514
+v 0.06881628 0.08349279 0.00670724
+v 0.07268813 0.08005403 0.00664551
+v 0.07640969 0.07653212 0.00661341
+v 0.08001634 0.07290440 0.00661340
+v 0.08094453 0.07130973 0.00650478
+v 0.06640301 0.08806521 0.00900786
+v 0.07883180 0.07532666 0.00731939
+v 0.07765611 0.07778670 0.00842034
+v 0.07510140 0.07895437 0.00733668
+v 0.07391686 0.08135017 0.00851662
+v 0.07070801 0.08269922 0.00731941
+v 0.07070801 0.08453953 0.00895848
+v 0.08257105 0.07130972 0.00735146
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 8 22
+f 3 22 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 15 6
+f 5 14 16
+f 5 16 15
+f 6 15 17
+f 6 17 23
+f 6 23 9
+f 7 18 19
+f 7 19 8
+f 7 11 20
+f 7 20 21
+f 7 21 18
+f 8 19 22
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 20
+f 10 20 11
+f 12 22 38
+f 12 38 26
+f 12 26 27
+f 12 27 13
+f 13 28 14
+f 13 27 28
+f 14 28 29
+f 14 29 16
+f 15 30 17
+f 15 16 29
+f 15 29 30
+f 17 30 31
+f 17 31 40
+f 17 40 23
+f 18 21 20
+f 18 20 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 22
+f 20 39 33
+f 20 33 32
+f 20 25 24
+f 20 24 41
+f 20 41 40
+f 20 40 31
+f 20 31 49
+f 20 49 48
+f 20 48 73
+f 20 73 96
+f 20 96 119
+f 20 119 138
+f 20 138 130
+f 20 130 129
+f 20 129 109
+f 20 109 108
+f 20 108 106
+f 20 106 86
+f 20 86 61
+f 20 61 39
+f 23 40 41
+f 23 41 24
+f 26 38 54
+f 26 54 42
+f 26 42 43
+f 26 43 27
+f 27 44 28
+f 27 43 44
+f 28 44 45
+f 28 45 29
+f 29 46 30
+f 29 45 47
+f 29 47 46
+f 30 48 49
+f 30 49 31
+f 30 46 48
+f 33 39 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 36 52 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 53
+f 37 55 54
+f 37 54 38
+f 39 61 62
+f 39 62 50
+f 42 63 43
+f 42 54 53
+f 42 53 64
+f 42 64 65
+f 42 65 66
+f 42 66 63
+f 43 63 44
+f 44 63 66
+f 44 66 67
+f 44 67 45
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 47
+f 46 47 48
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 73
+f 50 62 74
+f 50 74 75
+f 50 75 51
+f 51 75 74
+f 51 74 52
+f 52 74 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 56
+f 53 60 59
+f 53 59 80
+f 53 80 89
+f 53 89 64
+f 56 78 81
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 56 79 78
+f 57 83 84
+f 57 84 58
+f 58 84 85
+f 58 85 59
+f 59 85 80
+f 61 86 87
+f 61 87 88
+f 61 88 74
+f 61 74 62
+f 64 89 90
+f 64 90 65
+f 65 90 91
+f 65 91 66
+f 66 91 92
+f 66 92 69
+f 66 69 93
+f 66 93 67
+f 67 93 69
+f 67 69 68
+f 69 92 94
+f 69 94 70
+f 70 94 71
+f 71 94 95
+f 71 95 118
+f 71 118 136
+f 71 136 150
+f 71 150 165
+f 71 165 173
+f 71 173 159
+f 71 159 147
+f 71 147 131
+f 71 131 110
+f 71 110 88
+f 71 88 87
+f 71 87 107
+f 71 107 128
+f 71 128 119
+f 71 119 96
+f 71 96 72
+f 72 96 73
+f 74 88 76
+f 76 88 97
+f 76 97 98
+f 76 98 99
+f 76 99 77
+f 77 99 78
+f 78 99 100
+f 78 100 81
+f 80 85 101
+f 80 101 111
+f 80 111 89
+f 81 100 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 82 104 83
+f 83 104 105
+f 83 105 101
+f 83 101 85
+f 83 85 84
+f 86 106 87
+f 87 106 108
+f 87 108 109
+f 87 109 107
+f 88 110 97
+f 89 111 112
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 91
+f 91 114 115
+f 91 115 92
+f 92 115 114
+f 92 114 116
+f 92 116 117
+f 92 117 94
+f 94 117 95
+f 95 117 118
+f 97 110 120
+f 97 120 121
+f 97 121 98
+f 98 121 122
+f 98 122 99
+f 99 122 100
+f 100 122 102
+f 101 105 127
+f 101 127 111
+f 102 122 123
+f 102 123 124
+f 102 124 125
+f 102 125 103
+f 103 125 104
+f 104 125 126
+f 104 126 105
+f 105 126 145
+f 105 145 127
+f 107 109 129
+f 107 129 130
+f 107 130 128
+f 110 131 120
+f 111 127 132
+f 111 132 112
+f 112 133 113
+f 112 132 134
+f 112 134 133
+f 113 133 114
+f 114 117 116
+f 114 133 134
+f 114 134 117
+f 117 135 136
+f 117 136 118
+f 117 134 137
+f 117 137 135
+f 119 128 138
+f 120 131 139
+f 120 139 140
+f 120 140 121
+f 121 140 141
+f 121 141 142
+f 121 142 122
+f 122 143 123
+f 122 142 143
+f 123 143 124
+f 124 143 144
+f 124 144 125
+f 125 144 126
+f 126 144 156
+f 126 156 145
+f 127 145 146
+f 127 146 132
+f 128 130 138
+f 131 147 148
+f 131 148 139
+f 132 146 137
+f 132 137 149
+f 132 149 134
+f 134 149 137
+f 135 137 136
+f 136 137 151
+f 136 151 152
+f 136 152 150
+f 137 146 153
+f 137 153 151
+f 139 148 154
+f 139 154 140
+f 140 154 155
+f 140 155 141
+f 141 155 156
+f 141 156 144
+f 141 144 142
+f 142 144 143
+f 145 156 157
+f 145 157 146
+f 146 157 158
+f 146 158 153
+f 147 159 160
+f 147 160 148
+f 148 160 154
+f 150 152 161
+f 150 161 162
+f 150 162 163
+f 150 163 164
+f 150 164 165
+f 151 153 158
+f 151 158 152
+f 152 158 157
+f 152 157 166
+f 152 166 161
+f 154 160 167
+f 154 167 168
+f 154 168 155
+f 155 168 169
+f 155 169 170
+f 155 170 156
+f 156 170 171
+f 156 171 172
+f 156 172 166
+f 156 166 157
+f 159 173 160
+f 160 173 167
+f 161 166 171
+f 161 171 169
+f 161 169 162
+f 162 169 163
+f 163 169 167
+f 163 167 164
+f 164 167 173
+f 164 173 165
+f 166 172 171
+f 167 169 168
+f 169 171 170
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_1.obj

@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
+v -0.08956834 -0.06399152 0.01160843
+v -0.08955199 -0.06399152 0.01167775
+v -0.08852177 -0.06399152 0.00954181
+v -0.08754062 -0.06600618 0.00970905
+v -0.08781043 -0.06636065 0.01160843
+v -0.08762238 -0.06610490 0.01358753
+v -0.08860354 -0.06399153 0.01378162
+v -0.08826013 -0.06399151 0.00945863
+v -0.08534937 -0.06723560 0.00929831
+v -0.08416381 -0.06994126 0.00962671
+v -0.08302731 -0.07220719 0.01160840
+v -0.08455627 -0.07038996 0.01160841
+v -0.08637141 -0.06817788 0.01160842
+v -0.08424558 -0.06996370 0.01366376
+v -0.08539843 -0.06729395 0.01399651
+v -0.08532484 -0.06399153 0.01456581
+v -0.08531667 -0.06399151 0.00865971
+v -0.08495691 -0.06399151 0.00857219
+v -0.08186627 -0.07104953 0.00919606
+v -0.08077065 -0.07368340 0.00957384
+v -0.08122035 -0.07419492 0.01160840
+v -0.07954421 -0.07601214 0.01160839
+v -0.08076248 -0.07371931 0.01366721
+v -0.08185810 -0.07106301 0.01403202
+v -0.08168640 -0.06726254 0.01463425
+v -0.08168640 -0.06399153 0.01467932
+v -0.08168640 -0.06726252 0.00842921
+v -0.06917667 -0.06399150 0.00582710
+v -0.07805612 -0.07089697 0.00831049
+v -0.07828506 -0.07475129 0.00912933
+v -0.07722214 -0.07731337 0.00955217
+v -0.07358369 -0.08083116 0.00955302
+v -0.07772907 -0.07776206 0.01160838
+v -0.07724667 -0.07726851 0.01365854
+v -0.07829323 -0.07476926 0.01400948
+v -0.07805612 -0.07089699 0.01457359
+v -0.07805612 -0.06399153 0.01452248
+v -0.00912182 -0.10359810 0.01372689
+v -0.00603936 -0.10359810 0.01370436
+v -0.06719801 -0.06642345 0.00582710
+v -0.04544908 -0.06399150 0.00582710
+v -0.07443402 -0.07453143 0.00822989
+v -0.07080375 -0.07816588 0.00820821
+v -0.07464661 -0.07838126 0.00910851
+v -0.07582399 -0.07957929 0.01160838
+v -0.07093457 -0.08194392 0.00911283
+v -0.06721436 -0.08549312 0.00913708
+v -0.06982260 -0.08432651 0.00956860
+v -0.07351010 -0.08077732 0.01360999
+v -0.07460573 -0.07835436 0.01395747
+v -0.07443402 -0.07453145 0.01449126
+v -0.01637419 -0.10359810 0.01375809
+v -0.01275210 -0.10359810 0.01374856
+v -0.07443402 -0.06399153 0.01422181
+v -0.00603936 -0.10040337 0.01340890
+v -0.00603936 -0.09858614 0.01319488
+v -0.00603936 -0.10715179 0.01354405
+v -0.06643761 -0.06724457 0.00582709
+v -0.05873555 -0.06399152 0.01069513
+v -0.04261191 -0.06451648 0.00582710
+v -0.06360861 -0.07021943 0.00582708
+v -0.06717348 -0.08179584 0.00820387
+v -0.06354321 -0.08543030 0.00822812
+v -0.06602880 -0.08776803 0.00960152
+v -0.07400886 -0.08121704 0.01160837
+v -0.05991293 -0.08906027 0.00840487
+v -0.06338786 -0.08901091 0.00925491
+v -0.07197296 -0.08303426 0.01160836
+v -0.06971631 -0.08416948 0.01354153
+v -0.07087734 -0.08191253 0.01386388
+v -0.07080375 -0.07816590 0.01437340
+v -0.03452556 -0.09996365 0.01380662
+v -0.02363474 -0.10359810 0.01373642
+v -0.02000447 -0.10359810 0.01375375
+v -0.00912182 -0.10699923 0.01355272
+v -0.07052576 -0.06399153 0.01369757
+v -0.00603936 -0.09664777 0.01288900
+v -0.00603936 -0.09632919 0.01283789
+v -0.00603936 -0.09269473 0.01212910
+v -0.00603936 -0.10896902 0.01320784
+v -0.05981482 -0.06399152 0.01107899
+v -0.00603936 -0.07852932 0.00582705
+v -0.05995382 -0.07371479 0.00582707
+v -0.05630719 -0.07677491 0.00582706
+v -0.05628266 -0.08906027 0.00793089
+v -0.06207965 -0.09112877 0.00975315
+v -0.05266057 -0.09269472 0.00812757
+v -0.05653613 -0.09297740 0.00898542
+v -0.05991293 -0.09186912 0.00938921
+v -0.07015783 -0.08456432 0.01160836
+v -0.06180983 -0.09093585 0.01329022
+v -0.06575081 -0.08753472 0.01342281
+v -0.06705083 -0.08540340 0.01372350
+v -0.06717348 -0.08179586 0.01422088
+v -0.05266057 -0.09269474 0.01389417
+v -0.03814765 -0.09996365 0.01372950
+v -0.04540820 -0.09632919 0.01381791
+v -0.02726501 -0.10359810 0.01364631
+v -0.02363474 -0.10584608 0.01347040
+v -0.02000447 -0.10609286 0.01352239
+v -0.01637419 -0.10639797 0.01355358
+v -0.01275210 -0.10671207 0.01356051
+v -0.06897226 -0.06399153 0.01346101
+v -0.00603936 -0.08906028 0.01106850
+v -0.00912182 -0.10881645 0.01310905
+v -0.00603936 -0.10910362 0.01295828
+v -0.06355138 -0.06399153 0.01229817
+v -0.00603936 -0.08688858 0.01019161
+v -0.00603936 -0.10065910 0.00582697
+v -0.05259516 -0.07949402 0.00582705
+v -0.04560443 -0.08442072 0.00582703
+v -0.06205512 -0.09111082 0.01160834
+v -0.06387026 -0.08967050 0.01160834
+v -0.06615962 -0.08785328 0.01160835
+v -0.06797475 -0.08638155 0.01160835
+v -0.05548956 -0.09506386 0.00955470
+v -0.05086178 -0.09815538 0.00996195
+v -0.05086178 -0.09815538 0.01000874
+v -0.04177792 -0.09632917 0.00748462
+v -0.04540820 -0.09632917 0.00792480
+v -0.04903029 -0.09632917 0.00860848
+v -0.06323251 -0.08887183 0.01354584
+v -0.05561221 -0.09512218 0.01160832
+v -0.05497446 -0.09477221 0.01340892
+v -0.05991293 -0.09140249 0.01346265
+v -0.05622543 -0.09271717 0.01363941
+v -0.05991293 -0.08906029 0.01385952
+v -0.05266057 -0.09525232 0.01354582
+v -0.04900577 -0.09640098 0.01361428
+v -0.04540820 -0.09875216 0.01350769
+v -0.03814765 -0.10210842 0.01342535
+v -0.03452556 -0.10253468 0.01355013
+v -0.02726501 -0.10557686 0.01334649
+v -0.06786847 -0.06399153 0.01326432
+v -0.06678102 -0.06399153 0.01306069
+v -0.01275210 -0.10852929 0.01277372
+v -0.01275210 -0.10946258 0.01113516
+v -0.00912182 -0.10969140 0.01146963
+v -0.02909650 -0.10541981 0.01325117
+v -0.00603936 -0.10982153 0.01156841
+v -0.00603936 -0.10272760 0.00627668
+v -0.00912182 -0.10023284 0.00582697
+v -0.04180245 -0.08677190 0.00582702
+v -0.05230081 -0.09629777 0.00934847
+v -0.04903029 -0.09858613 0.00961794
+v -0.04101753 -0.10217571 0.00958326
+v -0.04900577 -0.09863997 0.01130416
+v -0.04091124 -0.10213085 0.01160829
+v -0.03814765 -0.08900642 0.00582701
+v -0.03452556 -0.09120503 0.00582700
+v -0.03087075 -0.09309405 0.00582700
+v -0.03452556 -0.09694838 0.00690232
+v -0.03452556 -0.09996363 0.00750626
+v -0.03814765 -0.09996363 0.00794298
+v -0.04540820 -0.09942519 0.00912143
+v -0.04779567 -0.09838423 0.01339244
+v -0.04017537 -0.10185266 0.01329971
+v -0.01563015 -0.10923374 0.01058666
+v -0.01275210 -0.10946257 0.00948013
+v -0.00912182 -0.10969139 0.00924444
+v -0.03281671 -0.10544672 0.01011182
+v -0.03054370 -0.10565761 0.01136566
+v -0.02726501 -0.10632169 0.01160828
+v -0.00603936 -0.10982152 0.00912746
+v -0.00603936 -0.10318526 0.00637633
+v -0.00912182 -0.10296989 0.00642399
+v -0.01060991 -0.09996362 0.00582697
+v -0.03814765 -0.10268274 0.00921587
+v -0.03281671 -0.10544672 0.00992726
+v -0.02726501 -0.09476321 0.00582699
+v -0.03170474 -0.09768872 0.00677667
+v -0.03065817 -0.09965403 0.00707647
+v -0.02726501 -0.10044822 0.00696383
+v -0.02363474 -0.10359808 0.00749585
+v -0.02726501 -0.10359808 0.00787192
+v -0.03089528 -0.10359808 0.00842301
+v -0.04204774 -0.10027772 0.00885628
+v -0.01563015 -0.10923374 0.00974095
+v -0.01275210 -0.10723253 0.00807727
+v -0.02726501 -0.10615566 0.00923925
+v -0.02363474 -0.10655500 0.00899403
+v -0.00912182 -0.10723253 0.00774800
+v -0.00603936 -0.10944910 0.00890044
+v -0.00603936 -0.10500249 0.00678531
+v -0.01275210 -0.10262439 0.00649504
+v -0.01275210 -0.09996362 0.00591189
+v -0.00912182 -0.10478713 0.00683471
+v -0.01275210 -0.09955530 0.00582697
+v -0.03089528 -0.10571594 0.00964478
+v -0.02928456 -0.09823613 0.00667443
+v -0.02363474 -0.09623942 0.00582699
+v -0.02726501 -0.09863098 0.00659124
+v -0.02363474 -0.09929505 0.00644913
+v -0.02363474 -0.10111229 0.00683299
+v -0.01994723 -0.10331989 0.00710852
+v -0.01637419 -0.10401985 0.00704180
+v -0.01275210 -0.10444163 0.00692743
+v -0.00603936 -0.10723253 0.00758249
+v -0.00603936 -0.10686011 0.00744385
+v -0.01637419 -0.10220710 0.00658689
+v -0.01637419 -0.09996362 0.00609559
+v -0.01637419 -0.09865790 0.00582698
+v -0.01998811 -0.09754513 0.00582698
+v -0.01994723 -0.10018348 0.00636940
+v -0.02111644 -0.10154303 0.00674287
+v -0.01869626 -0.10192442 0.00665622
+v -0.01825474 -0.09808357 0.00582698
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 37
+f 1 37 54
+f 1 54 76
+f 1 76 103
+f 1 103 134
+f 1 134 135
+f 1 135 107
+f 1 107 81
+f 1 81 59
+f 1 59 41
+f 1 41 28
+f 1 28 18
+f 1 18 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 18 27 19
+f 18 28 27
+f 19 27 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 22
+f 20 22 21
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 26
+f 26 36 38
+f 26 38 39
+f 26 39 37
+f 27 28 29
+f 28 40 29
+f 28 41 60
+f 28 60 82
+f 28 82 109
+f 28 109 142
+f 28 142 167
+f 28 167 188
+f 28 188 202
+f 28 202 207
+f 28 207 203
+f 28 203 191
+f 28 191 170
+f 28 170 151
+f 28 151 150
+f 28 150 149
+f 28 149 143
+f 28 143 111
+f 28 111 110
+f 28 110 84
+f 28 84 83
+f 28 83 61
+f 28 61 58
+f 28 58 40
+f 29 42 30
+f 29 40 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 32
+f 32 45 33
+f 32 44 46
+f 32 46 47
+f 32 47 48
+f 32 48 45
+f 33 45 34
+f 34 45 49
+f 34 49 50
+f 34 50 35
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 38
+f 37 39 55
+f 37 55 56
+f 37 56 54
+f 38 53 57
+f 38 57 39
+f 39 57 80
+f 39 80 106
+f 39 106 140
+f 39 140 164
+f 39 164 183
+f 39 183 198
+f 39 198 199
+f 39 199 184
+f 39 184 165
+f 39 165 141
+f 39 141 109
+f 39 109 82
+f 39 82 108
+f 39 108 104
+f 39 104 79
+f 39 79 78
+f 39 78 77
+f 39 77 56
+f 39 56 55
+f 40 58 42
+f 41 59 60
+f 42 58 61
+f 42 61 43
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 46
+f 45 48 64
+f 45 64 65
+f 45 65 49
+f 46 63 47
+f 47 63 66
+f 47 66 67
+f 47 67 64
+f 47 64 48
+f 49 65 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 51
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 52
+f 52 74 75
+f 52 75 57
+f 52 57 53
+f 54 56 77
+f 54 77 78
+f 54 78 79
+f 54 79 76
+f 57 75 80
+f 59 81 60
+f 60 81 82
+f 61 83 63
+f 61 63 62
+f 63 83 84
+f 63 84 85
+f 63 85 66
+f 64 67 86
+f 64 86 68
+f 64 68 65
+f 66 85 87
+f 66 87 88
+f 66 88 89
+f 66 89 67
+f 67 89 86
+f 68 86 90
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 69 93 70
+f 70 93 94
+f 70 94 71
+f 71 94 95
+f 71 95 72
+f 72 96 73
+f 72 95 97
+f 72 97 96
+f 73 96 98
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 102
+f 73 102 74
+f 74 102 75
+f 75 102 80
+f 76 79 103
+f 79 104 103
+f 80 102 101
+f 80 101 100
+f 80 100 99
+f 80 99 105
+f 80 105 106
+f 81 107 82
+f 82 107 108
+f 84 110 85
+f 85 110 111
+f 85 111 87
+f 86 112 113
+f 86 113 114
+f 86 114 115
+f 86 115 90
+f 86 89 116
+f 86 116 117
+f 86 117 118
+f 86 118 112
+f 87 111 119
+f 87 119 120
+f 87 120 121
+f 87 121 88
+f 88 116 89
+f 88 121 116
+f 90 115 91
+f 91 122 93
+f 91 93 92
+f 91 115 114
+f 91 114 113
+f 91 113 112
+f 91 112 123
+f 91 123 124
+f 91 124 125
+f 91 125 122
+f 93 122 126
+f 93 126 127
+f 93 127 94
+f 94 127 95
+f 95 127 126
+f 95 126 128
+f 95 128 129
+f 95 129 130
+f 95 130 97
+f 96 131 132
+f 96 132 98
+f 96 97 130
+f 96 130 131
+f 98 132 99
+f 99 132 133
+f 99 133 105
+f 103 104 134
+f 104 108 135
+f 104 135 134
+f 105 136 137
+f 105 137 138
+f 105 138 106
+f 105 133 139
+f 105 139 136
+f 106 138 140
+f 107 135 108
+f 109 141 142
+f 111 143 119
+f 112 118 123
+f 116 121 144
+f 116 144 145
+f 116 145 117
+f 117 145 146
+f 117 146 118
+f 118 147 123
+f 118 146 148
+f 118 148 147
+f 119 149 150
+f 119 150 151
+f 119 151 152
+f 119 152 153
+f 119 153 154
+f 119 154 120
+f 119 143 149
+f 120 154 121
+f 121 154 155
+f 121 155 144
+f 122 125 126
+f 123 147 124
+f 124 147 156
+f 124 156 128
+f 124 128 126
+f 124 126 125
+f 128 156 130
+f 128 130 129
+f 130 156 131
+f 131 157 139
+f 131 139 133
+f 131 133 132
+f 131 156 157
+f 136 139 137
+f 137 139 158
+f 137 158 178
+f 137 178 159
+f 137 159 160
+f 137 160 138
+f 138 160 164
+f 138 164 140
+f 139 157 161
+f 139 161 162
+f 139 162 163
+f 139 163 158
+f 141 165 142
+f 142 166 167
+f 142 165 166
+f 144 155 145
+f 145 155 146
+f 146 155 168
+f 146 168 169
+f 146 169 161
+f 146 161 148
+f 147 148 157
+f 147 157 156
+f 148 161 157
+f 151 170 171
+f 151 171 152
+f 152 171 153
+f 153 171 172
+f 153 172 173
+f 153 173 174
+f 153 174 175
+f 153 175 154
+f 154 175 176
+f 154 176 168
+f 154 168 177
+f 154 177 155
+f 155 177 168
+f 158 163 162
+f 158 162 161
+f 158 161 169
+f 158 169 178
+f 159 179 160
+f 159 178 180
+f 159 180 181
+f 159 181 179
+f 160 179 182
+f 160 182 183
+f 160 183 164
+f 165 184 166
+f 166 185 186
+f 166 186 167
+f 166 184 187
+f 166 187 185
+f 167 186 188
+f 168 176 189
+f 168 189 169
+f 169 189 178
+f 170 190 171
+f 170 191 190
+f 171 190 172
+f 172 190 192
+f 172 192 173
+f 173 192 193
+f 173 193 194
+f 173 194 195
+f 173 195 174
+f 174 195 196
+f 174 196 182
+f 174 182 179
+f 174 179 175
+f 175 179 181
+f 175 181 180
+f 175 180 176
+f 176 180 189
+f 178 189 180
+f 182 196 197
+f 182 197 187
+f 182 187 198
+f 182 198 183
+f 184 199 187
+f 185 187 197
+f 185 197 200
+f 185 200 186
+f 186 200 201
+f 186 201 188
+f 187 199 198
+f 188 201 202
+f 190 191 192
+f 191 193 192
+f 191 203 193
+f 193 203 204
+f 193 204 194
+f 194 204 205
+f 194 205 195
+f 195 206 196
+f 195 205 206
+f 196 206 197
+f 197 206 200
+f 200 206 201
+f 201 206 204
+f 201 204 207
+f 201 207 202
+f 203 207 204
+f 204 206 205
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_10.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.10373672 -0.03652830 0.01162285
+v -0.10342862 -0.03652831 0.01296804
+v -0.10245864 -0.03652830 0.00956566
+v -0.10219047 -0.03818937 0.00964718
+v -0.10183672 -0.04051164 0.00983106
+v -0.10211059 -0.04116747 0.01160834
+v -0.10207636 -0.04104922 0.01364651
+v -0.10303492 -0.03652831 0.01400977
+v -0.10118056 -0.03652829 0.00918611
+v -0.09983401 -0.03818936 0.00894967
+v -0.09994813 -0.04176147 0.00941165
+v -0.09885833 -0.04545722 0.00954298
+v -0.09834482 -0.04803484 0.00975584
+v -0.09868146 -0.04871217 0.01160831
+v -0.09927485 -0.04545723 0.01404506
+v -0.10260129 -0.03818938 0.01398349
+v -0.09857875 -0.04843265 0.01370626
+v -0.09983401 -0.03818938 0.01493826
+v -0.09983401 -0.03652832 0.01502070
+v -0.09983401 -0.03652829 0.00883102
+v -0.09620517 -0.04545721 0.00880108
+v -0.08580935 -0.03652828 0.00582721
+v -0.09638775 -0.04918253 0.00933915
+v -0.09532649 -0.05272239 0.00952212
+v -0.09776854 -0.05052645 0.01160830
+v -0.09472168 -0.05511724 0.00974858
+v -0.09564601 -0.05272241 0.01397710
+v -0.09620517 -0.04545723 0.01495635
+v -0.09489285 -0.05536184 0.01364827
+v -0.09620517 -0.04182332 0.01508138
+v -0.09620517 -0.03818939 0.01507504
+v -0.09620517 -0.03652832 0.01505150
+v -0.09257633 -0.05272239 0.00875487
+v -0.08541565 -0.03743945 0.00582720
+v -0.08517602 -0.03799314 0.00582720
+v -0.08343007 -0.04179909 0.00582719
+v -0.06747687 -0.03652828 0.00582721
+v -0.09266763 -0.05634019 0.00931919
+v -0.09657604 -0.05272240 0.01160830
+v -0.09501838 -0.05559030 0.01160829
+v -0.09140666 -0.05999025 0.00962355
+v -0.09086462 -0.06196311 0.00989167
+v -0.09275321 -0.05648535 0.01412292
+v -0.09257633 -0.05272241 0.01482317
+v -0.09257633 -0.04909118 0.01498080
+v -0.09091597 -0.06203300 0.01338011
+v -0.09154930 -0.05999026 0.01372343
+v -0.08168982 -0.06362419 0.01468363
+v -0.09257633 -0.04545724 0.01498081
+v -0.07806098 -0.06398705 0.01452237
+v -0.09257633 -0.03818938 0.01482231
+v -0.09257633 -0.03652831 0.01475891
+v -0.07806098 -0.06362419 0.01451514
+v -0.08894750 -0.05635631 0.00844867
+v -0.08894750 -0.05999024 0.00886263
+v -0.07959583 -0.04900512 0.00582716
+v -0.07805528 -0.03652830 0.01098513
+v -0.06476666 -0.03936124 0.00582720
+v -0.09095020 -0.06209212 0.01160826
+v -0.08883338 -0.06335539 0.00948947
+v -0.08852527 -0.06398704 0.00954200
+v -0.08956371 -0.06398704 0.01160825
+v -0.08962077 -0.06390909 0.01160826
+v -0.08887903 -0.06339573 0.01383575
+v -0.08894750 -0.05999026 0.01450428
+v -0.08531866 -0.06362419 0.01462837
+v -0.08894750 -0.05635633 0.01483945
+v -0.08531866 -0.05999026 0.01477422
+v -0.08955230 -0.06398704 0.01167709
+v -0.08860516 -0.06398705 0.01378139
+v -0.08168982 -0.06398705 0.01467909
+v -0.07443785 -0.06398705 0.01422163
+v -0.08894750 -0.03652831 0.01426160
+v -0.07443785 -0.06362419 0.01420353
+v -0.07053514 -0.06398705 0.01369805
+v -0.08531866 -0.06362417 0.00858815
+v -0.07800963 -0.05156393 0.00582715
+v -0.04672517 -0.06133414 0.00582711
+v -0.08176970 -0.03652831 0.01259302
+v -0.08826281 -0.06398703 0.00945866
+v -0.08532436 -0.06398705 0.01456586
+v -0.08544418 -0.03652831 0.01358855
+v -0.06897748 -0.06398705 0.01346072
+v -0.06787057 -0.06398705 0.01326415
+v -0.06678648 -0.06398705 0.01306124
+v -0.07738201 -0.05255304 0.00582715
+v -0.07468320 -0.05656596 0.00582713
+v -0.07240091 -0.05987735 0.00582712
+v -0.08495920 -0.06398703 0.00857274
+v -0.08531866 -0.06398703 0.00865970
+v -0.05874142 -0.06398704 0.01069515
+v -0.04544709 -0.06398702 0.00582710
+v -0.08369824 -0.03652831 0.01320266
+v -0.06355134 -0.06362418 0.01222786
+v -0.05982550 -0.06398704 0.01107833
+v -0.08384088 -0.03652831 0.01323708
+v -0.06355705 -0.06398705 0.01229851
+v -0.07066067 -0.06217811 0.00582711
+v -0.06918288 -0.06398702 0.00582710
+f 1 2 8
+f 1 8 19
+f 1 19 32
+f 1 32 52
+f 1 52 73
+f 1 73 82
+f 1 82 96
+f 1 96 93
+f 1 93 79
+f 1 79 57
+f 1 57 37
+f 1 37 22
+f 1 22 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 9 10
+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 7
+f 7 15 16
+f 7 16 8
+f 7 14 17
+f 7 17 15
+f 8 16 18
+f 8 18 19
+f 9 20 10
+f 10 21 12
+f 10 12 11
+f 10 20 22
+f 10 22 21
+f 12 21 23
+f 12 23 24
+f 12 24 13
+f 13 25 14
+f 13 24 26
+f 13 26 25
+f 14 25 17
+f 15 18 16
+f 15 17 27
+f 15 27 28
+f 15 28 18
+f 17 25 29
+f 17 29 27
+f 18 28 19
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 21 33 23
+f 21 22 34
+f 21 34 35
+f 21 35 36
+f 21 36 33
+f 22 37 58
+f 22 58 78
+f 22 78 92
+f 22 92 99
+f 22 99 98
+f 22 98 88
+f 22 88 87
+f 22 87 86
+f 22 86 77
+f 22 77 56
+f 22 56 36
+f 22 36 35
+f 22 35 34
+f 23 33 24
+f 24 33 38
+f 24 38 26
+f 25 26 39
+f 25 39 29
+f 26 40 39
+f 26 38 41
+f 26 41 42
+f 26 42 40
+f 27 29 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 30
+f 29 39 40
+f 29 40 46
+f 29 46 47
+f 29 47 43
+f 30 45 48
+f 30 48 49
+f 30 49 31
+f 31 49 48
+f 31 48 50
+f 31 50 32
+f 32 51 52
+f 32 50 53
+f 32 53 51
+f 33 54 55
+f 33 55 38
+f 33 36 56
+f 33 56 54
+f 37 57 58
+f 38 55 41
+f 40 42 59
+f 40 59 46
+f 41 55 60
+f 41 60 42
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 59
+f 43 47 64
+f 43 64 65
+f 43 65 44
+f 44 65 66
+f 44 66 67
+f 44 67 45
+f 45 67 68
+f 45 68 48
+f 46 59 63
+f 46 63 62
+f 46 62 69
+f 46 69 70
+f 46 70 47
+f 47 70 64
+f 48 68 71
+f 48 71 50
+f 50 72 53
+f 50 71 81
+f 50 81 70
+f 50 70 69
+f 50 69 62
+f 50 62 61
+f 50 61 80
+f 50 80 90
+f 50 90 89
+f 50 89 99
+f 50 99 92
+f 50 92 91
+f 50 91 95
+f 50 95 97
+f 50 97 85
+f 50 85 84
+f 50 84 83
+f 50 83 75
+f 50 75 72
+f 51 53 72
+f 51 72 52
+f 52 72 74
+f 52 74 75
+f 52 75 73
+f 54 56 55
+f 55 56 76
+f 55 76 60
+f 56 77 76
+f 57 78 58
+f 57 79 78
+f 60 76 80
+f 60 80 61
+f 64 70 81
+f 64 81 65
+f 65 81 66
+f 66 81 71
+f 66 71 68
+f 66 68 67
+f 72 75 74
+f 73 75 83
+f 73 83 84
+f 73 84 85
+f 73 85 82
+f 76 77 86
+f 76 86 87
+f 76 87 88
+f 76 88 89
+f 76 89 90
+f 76 90 80
+f 78 91 92
+f 78 79 91
+f 79 93 94
+f 79 94 95
+f 79 95 91
+f 82 85 96
+f 85 97 96
+f 88 98 89
+f 89 98 99
+f 93 96 97
+f 93 97 94
+f 94 97 95
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_11.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.05267559 -0.00317190 0.00567946
+v -0.07609178 -0.00317190 0.00582733
+v -0.05267559 -0.00317185 -0.00723399
+v -0.05267559 0.01631170 0.00575762
+v -0.09353064 -0.00317190 0.00582733
+v -0.05267559 0.01994384 0.00576427
+v -0.06187609 0.04175975 0.00582749
+v -0.05267559 0.00905668 -0.00680694
+v -0.07806017 -0.00317184 -0.01082789
+v -0.06355984 0.04391236 -0.01076625
+v -0.06135493 0.04391236 -0.00995874
+v -0.08422991 -0.00317185 -0.00746495
+v -0.09360681 -0.00184441 0.00582733
+v -0.05267559 0.02358981 0.00576429
+v -0.06129881 0.04391230 0.00582750
+v -0.05267559 0.01270264 -0.00666070
+v -0.08002454 -0.00317184 -0.01060026
+v -0.07806017 0.00905669 -0.01088767
+v -0.06717991 0.04175981 -0.01114675
+v -0.06729216 0.04391236 -0.01081111
+v -0.05267559 0.04391234 -0.00519014
+v -0.08375686 -0.00317185 -0.00806476
+v -0.08427000 -0.00184436 -0.00751645
+v -0.09362285 -0.00017123 0.00582734
+v -0.05267559 0.04390308 0.00574775
+v -0.05414286 0.04391230 0.00575606
+v -0.08339205 0.04391230 0.00582750
+v -0.08111898 -0.00317184 -0.01044076
+v -0.08115907 -0.00184435 -0.01045405
+v -0.07806017 0.01268883 -0.01089928
+v -0.07080800 0.03449091 -0.01106203
+v -0.07080800 0.03812305 -0.01089088
+v -0.07076791 0.04147402 -0.01028441
+v -0.06974563 0.04391236 -0.01008169
+v -0.05267559 0.04391234 -0.00508546
+v -0.08293503 -0.00317185 -0.00910488
+v -0.08297111 -0.00184436 -0.00915639
+v -0.08428604 0.00178778 -0.00753637
+v -0.09363086 0.00178773 0.00582735
+v -0.08674752 0.03639911 0.00582747
+v -0.07296080 0.04391235 -0.00689155
+v -0.07343385 0.04147401 -0.00796989
+v -0.07660893 0.03706751 -0.00690320
+v -0.08298714 0.00178778 -0.00917465
+v -0.08117109 0.00178779 -0.01045735
+v -0.08110695 0.00542454 -0.01044571
+v -0.07806017 0.01632558 -0.01086604
+v -0.07443208 0.02722201 -0.01096569
+v -0.07443208 0.03085415 -0.01076962
+v -0.07444411 0.03416365 -0.01028277
+v -0.07314521 0.03812305 -0.01003851
+v -0.07269621 0.04007740 -0.00975604
+v -0.07017058 0.04391236 -0.00976600
+v -0.09357474 0.00343787 0.00582735
+v -0.08421789 0.00542453 -0.00744996
+v -0.08292300 0.00542453 -0.00908824
+v -0.08762949 0.03360125 0.00582746
+v -0.07702185 0.03416364 -0.00802142
+v -0.08002855 0.02945751 -0.00664237
+v -0.08040138 0.02722200 -0.00715579
+v -0.07282449 0.04391235 -0.00704939
+v -0.07566282 0.03515925 -0.00908979
+v -0.07627619 0.03273937 -0.00972118
+v -0.08097065 0.00905669 -0.01039585
+v -0.08076219 0.01268883 -0.01029614
+v -0.07806017 0.01995773 -0.01070154
+v -0.07724234 0.02722201 -0.01030772
+v -0.07661294 0.03085415 -0.00995879
+v -0.07195055 0.04249729 -0.00900336
+v -0.07142137 0.04391235 -0.00859130
+v -0.09346249 0.00542448 0.00582736
+v -0.09336627 0.00682111 0.00582737
+v -0.08407357 0.00905668 -0.00725721
+v -0.08278269 0.00905668 -0.00889715
+v -0.09015512 0.02527682 0.00582743
+v -0.07905839 0.02722200 -0.00879406
+v -0.07953144 0.02441493 -0.00936398
+v -0.08077421 0.02335939 -0.00818595
+v -0.07993634 0.02199505 -0.00974947
+v -0.08049358 0.01632558 -0.01014826
+v -0.07821651 0.02335940 -0.01034096
+v -0.08016084 0.01995773 -0.00991729
+v -0.09314177 0.00905663 0.00582737
+v -0.08385708 0.01268882 -0.00695812
+v -0.08257422 0.01268882 -0.00859805
+v -0.09079654 0.02242365 0.00582742
+v -0.08345218 0.01785125 -0.00631675
+v -0.08169226 0.01995772 -0.00805803
+v -0.08251810 0.01651456 -0.00787528
+v -0.09307362 0.00963279 0.00582738
+v -0.08366064 0.01543136 -0.00666069
+v -0.09269678 0.01232463 0.00582739
+v -0.09127762 0.01995767 0.00582741
+v -0.09266070 0.01256432 0.00582739
+v -0.09142595 0.01918791 0.00582741
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 36
+f 1 36 28
+f 1 28 17
+f 1 17 9
+f 1 9 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 35
+f 1 35 25
+f 1 25 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 27
+f 2 27 40
+f 2 40 57
+f 2 57 75
+f 2 75 86
+f 2 86 93
+f 2 93 95
+f 2 95 94
+f 2 94 92
+f 2 92 90
+f 2 90 83
+f 2 83 72
+f 2 72 71
+f 2 71 54
+f 2 54 39
+f 2 39 24
+f 2 24 13
+f 2 13 5
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 5 13 12
+f 6 14 15
+f 6 15 7
+f 8 11 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 34
+f 10 34 53
+f 10 53 70
+f 10 70 61
+f 10 61 41
+f 10 41 27
+f 10 27 15
+f 10 15 26
+f 10 26 35
+f 10 35 21
+f 10 21 11
+f 11 21 16
+f 12 13 23
+f 12 23 22
+f 13 24 23
+f 14 25 15
+f 15 25 26
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 31 32
+f 19 32 20
+f 19 30 31
+f 20 32 33
+f 20 33 34
+f 22 23 36
+f 23 37 36
+f 23 24 38
+f 23 38 37
+f 24 39 38
+f 25 35 26
+f 27 41 42
+f 27 42 43
+f 27 43 40
+f 28 36 37
+f 28 37 29
+f 29 37 44
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 37 38 44
+f 38 39 54
+f 38 54 55
+f 38 55 56
+f 38 56 44
+f 40 43 58
+f 40 58 59
+f 40 59 60
+f 40 60 57
+f 41 61 52
+f 41 52 42
+f 42 52 43
+f 43 52 62
+f 43 62 63
+f 43 63 58
+f 44 56 46
+f 44 46 45
+f 46 56 64
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 49
+f 49 66 67
+f 49 67 50
+f 50 67 68
+f 50 68 63
+f 50 63 51
+f 51 63 52
+f 52 61 69
+f 52 69 53
+f 52 63 62
+f 53 69 70
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 56
+f 56 74 65
+f 56 65 64
+f 57 60 75
+f 58 63 59
+f 59 63 76
+f 59 76 60
+f 60 76 77
+f 60 77 78
+f 60 78 75
+f 61 70 69
+f 63 68 79
+f 63 79 77
+f 63 77 76
+f 65 80 66
+f 65 74 80
+f 66 81 67
+f 66 80 81
+f 67 81 82
+f 67 82 79
+f 67 79 68
+f 72 83 73
+f 73 83 84
+f 73 84 85
+f 73 85 74
+f 74 85 80
+f 75 78 87
+f 75 87 86
+f 77 79 78
+f 78 79 88
+f 78 88 87
+f 79 82 89
+f 79 89 88
+f 80 85 82
+f 80 82 81
+f 82 85 89
+f 83 90 84
+f 84 91 85
+f 84 90 92
+f 84 92 91
+f 85 91 89
+f 86 87 93
+f 87 89 91
+f 87 91 94
+f 87 94 95
+f 87 95 93
+f 87 88 89
+f 91 92 94
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_12.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.10997504 -0.00505745 0.01160840
+v -0.10996672 -0.00548256 0.01160840
+v -0.10971292 -0.00505746 0.01369322
+v -0.10920948 -0.00505745 0.00973335
+v -0.10920532 -0.00548256 0.00973521
+v -0.10977118 -0.00911761 0.01160839
+v -0.10955066 -0.00911762 0.01388814
+v -0.10912627 -0.00911761 0.00979089
+v -0.10901809 -0.01194863 0.00987628
+v -0.10966300 -0.00548257 0.01396891
+v -0.10967132 -0.00505746 0.01397355
+v -0.10709171 -0.00505744 0.00903532
+v -0.10709171 -0.00548255 0.00903810
+v -0.10709171 -0.00911760 0.00910678
+v -0.10936759 -0.01274958 0.01374053
+v -0.10885999 -0.01436994 0.01005078
+v -0.10933847 -0.01299601 0.01132897
+v -0.10911379 -0.01638462 0.01231568
+v -0.10894320 -0.01840854 0.01301742
+v -0.10894320 -0.01840854 0.01329589
+v -0.10911379 -0.01638462 0.01348433
+v -0.10709171 -0.01274958 0.01478202
+v -0.10709171 -0.00911762 0.01494819
+v -0.10742457 -0.01299600 0.00940194
+v -0.10642185 -0.02001964 0.00946411
+v -0.10603907 -0.02364854 0.00955692
+v -0.10568957 -0.02728358 0.00969800
+v -0.10709171 -0.00548258 0.01503639
+v -0.10709171 -0.00505747 0.01504196
+v -0.09343645 -0.00505743 0.00582732
+v -0.09341564 -0.00548254 0.00582732
+v -0.10346362 -0.02001964 0.00866769
+v -0.10346362 -0.02364853 0.00880783
+v -0.10682127 -0.01638460 0.00939265
+v -0.09309943 -0.00911759 0.00582731
+v -0.09262928 -0.01246922 0.00582729
+v -0.10611396 -0.02728359 0.01396883
+v -0.10651754 -0.02364855 0.01413778
+v -0.10709171 -0.01638462 0.01449982
+v -0.10863947 -0.01638461 0.01067641
+v -0.10543578 -0.02976958 0.00985022
+v -0.10652587 -0.02728358 0.01160832
+v -0.10567709 -0.03095559 0.01164080
+v -0.10536504 -0.03301340 0.01275467
+v -0.10536504 -0.03301340 0.01335153
+v -0.10565629 -0.03091863 0.01363001
+v -0.10346362 -0.02728359 0.01496019
+v -0.10346362 -0.02364856 0.01513192
+v -0.10346362 -0.02728357 0.00900646
+v -0.10368414 -0.03095558 0.00940745
+v -0.10346362 -0.02001967 0.01521363
+v -0.10346362 -0.01638463 0.01525541
+v -0.10346362 -0.01274959 0.01528234
+v -0.10346362 -0.00911763 0.01530092
+v -0.10346362 -0.00548258 0.01530929
+v -0.10346362 -0.00505747 0.01530929
+v -0.07601163 -0.00505743 0.00582732
+v -0.09257519 -0.01277419 0.00582729
+v -0.09190116 -0.01638459 0.00582728
+v -0.09117305 -0.02001963 0.00582727
+v -0.10303507 -0.03652831 0.01400964
+v -0.10346362 -0.03091863 0.01460559
+v -0.10504051 -0.03219089 0.01056960
+v -0.10278128 -0.03455057 0.00946777
+v -0.10246091 -0.03652830 0.00956523
+v -0.10373407 -0.03652830 0.01162221
+v -0.10342618 -0.03652831 0.01296816
+v -0.09983553 -0.03652832 0.01502050
+v -0.09983553 -0.03455060 0.01511889
+v -0.09983553 -0.03455057 0.00868990
+v -0.09983553 -0.03652829 0.00883099
+v -0.10117943 -0.03652829 0.00918651
+v -0.09094006 -0.02096844 0.00582726
+v -0.09029931 -0.02356842 0.00582725
+v -0.09983553 -0.03091864 0.01515325
+v -0.09620328 -0.03652832 0.01505206
+v -0.09983553 -0.00505747 0.01502339
+v -0.08894710 -0.00505746 0.01229530
+v -0.06842675 -0.03212310 0.00582722
+v -0.08913433 -0.02717574 0.00582724
+v -0.08792358 -0.03091860 0.00582723
+v -0.08669618 -0.03447971 0.00582721
+v -0.08581413 -0.03652828 0.00582721
+v -0.09257519 -0.03652831 0.01475873
+v -0.08894710 -0.03652831 0.01426212
+v -0.09620328 -0.00505746 0.01445716
+v -0.09101495 -0.00505746 0.01317712
+v -0.08177413 -0.03652831 0.01259315
+v -0.07805867 -0.03652830 0.01098544
+v -0.06747812 -0.03652828 0.00582721
+v -0.08544799 -0.03652831 0.01358822
+v -0.09282899 -0.00505746 0.01367466
+v -0.08384614 -0.03652831 0.01323735
+v -0.09122714 -0.00505746 0.01323560
+v -0.08370051 -0.03652831 0.01320300
+f 1 2 3
+f 1 3 11
+f 1 11 29
+f 1 29 56
+f 1 56 77
+f 1 77 86
+f 1 86 92
+f 1 92 94
+f 1 94 87
+f 1 87 78
+f 1 78 57
+f 1 57 30
+f 1 30 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 7 10
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 8
+f 6 15 7
+f 6 9 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 15
+f 7 15 22
+f 7 22 23
+f 7 23 10
+f 8 14 9
+f 9 14 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 16
+f 10 23 28
+f 10 28 11
+f 11 28 29
+f 12 30 13
+f 13 30 31
+f 13 31 14
+f 14 32 33
+f 14 33 34
+f 14 34 24
+f 14 31 35
+f 14 35 36
+f 14 36 32
+f 15 21 37
+f 15 37 38
+f 15 38 39
+f 15 39 22
+f 16 40 19
+f 16 19 18
+f 16 18 17
+f 16 27 41
+f 16 41 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 44
+f 19 44 45
+f 19 45 20
+f 20 37 21
+f 20 45 46
+f 20 46 37
+f 22 39 47
+f 22 47 48
+f 22 48 23
+f 23 48 28
+f 24 34 25
+f 25 34 33
+f 25 33 49
+f 25 49 26
+f 26 49 27
+f 27 49 50
+f 27 50 41
+f 28 48 51
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 30 57 79
+f 30 79 90
+f 30 90 83
+f 30 83 82
+f 30 82 81
+f 30 81 80
+f 30 80 74
+f 30 74 73
+f 30 73 60
+f 30 60 59
+f 30 59 58
+f 30 58 36
+f 30 36 35
+f 30 35 31
+f 32 36 33
+f 33 36 58
+f 33 58 59
+f 33 59 60
+f 33 60 49
+f 37 46 61
+f 37 61 62
+f 37 62 47
+f 37 47 38
+f 38 47 39
+f 41 63 43
+f 41 43 42
+f 41 50 64
+f 41 64 65
+f 41 65 63
+f 43 63 44
+f 44 63 66
+f 44 66 45
+f 45 66 67
+f 45 67 61
+f 45 61 46
+f 47 62 68
+f 47 68 69
+f 47 69 48
+f 48 69 51
+f 49 70 71
+f 49 71 72
+f 49 72 64
+f 49 64 50
+f 49 60 73
+f 49 73 74
+f 49 74 70
+f 51 69 52
+f 52 69 75
+f 52 75 53
+f 53 75 54
+f 54 75 76
+f 54 76 55
+f 55 76 56
+f 56 76 77
+f 57 78 79
+f 61 67 66
+f 61 66 65
+f 61 65 72
+f 61 72 71
+f 61 71 83
+f 61 83 90
+f 61 90 89
+f 61 89 88
+f 61 88 95
+f 61 95 93
+f 61 93 91
+f 61 91 85
+f 61 85 84
+f 61 84 76
+f 61 76 68
+f 61 68 62
+f 63 65 66
+f 64 72 65
+f 68 76 69
+f 69 76 75
+f 70 74 80
+f 70 80 81
+f 70 81 71
+f 71 81 82
+f 71 82 83
+f 76 84 77
+f 77 84 85
+f 77 85 86
+f 78 87 88
+f 78 88 89
+f 78 89 79
+f 79 89 90
+f 85 91 86
+f 86 91 93
+f 86 93 92
+f 87 94 95
+f 87 95 88
+f 92 93 95
+f 92 95 94
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_13.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.06669494 -0.08744117 0.00874701
+v 0.06669494 -0.08737254 0.01103864
+v 0.06638404 -0.08810110 0.01078611
+v 0.06638404 -0.08810109 0.00906512
+v 0.06669494 -0.08599462 0.00761969
+v 0.06669494 -0.08636418 0.01157720
+v 0.06352315 -0.08920977 0.01144255
+v 0.06235492 -0.09136377 0.01056983
+v 0.06461286 -0.08670205 0.00688023
+v 0.06235492 -0.09136376 0.00933647
+v 0.06348547 -0.08905666 0.00810800
+v 0.06669494 -0.08410458 0.00657468
+v 0.06669494 -0.08568314 0.01183532
+v 0.05983006 -0.08906196 0.01275195
+v 0.05619977 -0.09269418 0.01225873
+v 0.05952230 -0.09262555 0.01099119
+v 0.05619977 -0.09510158 0.01069191
+v 0.05810598 -0.09456836 0.01006127
+v 0.05983006 -0.09019701 0.00704485
+v 0.05793641 -0.09083581 0.00670302
+v 0.06219477 -0.08759426 0.00658095
+v 0.05810598 -0.09456836 0.00987920
+v 0.05619977 -0.09510157 0.00927577
+v 0.05952230 -0.09262554 0.00888721
+v 0.06621446 -0.08427880 0.00653004
+v 0.06669494 -0.08327571 0.00641284
+v 0.06345720 -0.08542446 0.01289777
+v 0.06669494 -0.08218819 0.01291173
+v 0.05256949 -0.09269418 0.01304703
+v 0.04531520 -0.09705497 0.01311328
+v 0.04894234 -0.09605188 0.01263822
+v 0.05239677 -0.09640559 0.01130091
+v 0.04894548 -0.09881299 0.01085932
+v 0.05106838 -0.09830617 0.01024124
+v 0.05651695 -0.09265193 0.00745433
+v 0.05551831 -0.09141654 0.00654745
+v 0.05638192 -0.08967434 0.00627539
+v 0.05664570 -0.08952652 0.00627539
+v 0.05728948 -0.08916224 0.00627539
+v 0.05983006 -0.08838089 0.00641562
+v 0.05256949 -0.09400345 0.00688578
+v 0.05074492 -0.09450499 0.00669324
+v 0.06120240 -0.08668620 0.00627540
+v 0.06342579 -0.08546666 0.00634099
+v 0.05106838 -0.09830617 0.00973129
+v 0.04894548 -0.09881298 0.00917461
+v 0.05239677 -0.09640558 0.00867095
+v 0.06669494 -0.08249964 0.00627542
+v 0.05619977 -0.08906196 0.01311261
+v 0.04773015 -0.09465284 0.01326258
+v 0.06669494 -0.08179224 0.01292080
+v 0.04347807 -0.09775713 0.01324652
+v 0.03626461 -0.10178530 0.01325000
+v 0.04168805 -0.10225516 0.01071001
+v 0.04367592 -0.10185920 0.01011497
+v 0.05256949 -0.09218733 0.00638979
+v 0.05256949 -0.09160132 0.00627538
+v 0.05983006 -0.08764177 0.00627540
+v 0.04930035 -0.09625247 0.00736782
+v 0.04531520 -0.09749842 0.00691855
+v 0.04832997 -0.09499069 0.00656069
+v 0.04938513 -0.09313762 0.00627538
+v 0.04989074 -0.09290005 0.00627538
+v 0.04317031 -0.09801578 0.00672392
+v 0.04531520 -0.09568229 0.00641420
+v 0.06294218 -0.08546139 0.00627541
+v 0.04367592 -0.10185920 0.00985057
+v 0.04168805 -0.10225515 0.00938317
+v 0.04505768 -0.10003780 0.00876929
+v 0.06669494 -0.04994163 0.00627554
+v 0.05983006 -0.08542446 0.01306101
+v 0.04773015 -0.09414602 0.01326258
+v 0.03461590 -0.09980025 0.01340138
+v 0.03461590 -0.09995335 0.01339999
+v 0.04105684 -0.09844344 0.01329326
+v 0.06669494 -0.07855069 0.01293058
+v 0.03461590 -0.10197008 0.01331209
+v 0.03461590 -0.10367003 0.01172014
+v 0.03461590 -0.10387593 0.01149621
+v 0.03770918 -0.10269335 0.01178572
+v 0.03805777 -0.10291507 0.00877835
+v 0.04185135 -0.09974215 0.00755267
+v 0.03805777 -0.10060798 0.00713899
+v 0.04922184 -0.09321154 0.00627538
+v 0.03461590 -0.10112007 0.00687738
+v 0.04075222 -0.09838534 0.00661510
+v 0.04185135 -0.09661674 0.00631095
+v 0.04531520 -0.09497485 0.00627537
+v 0.03461590 -0.10374393 0.00867301
+v 0.03461590 -0.07413181 0.00627545
+v 0.03461590 -0.08065188 0.00962113
+v 0.03461590 -0.08232544 0.01036687
+v 0.06669494 -0.05778154 0.00928777
+v 0.03461590 -0.09711832 0.01333303
+v 0.03461590 -0.10186449 0.01331837
+v 0.06669494 -0.07816002 0.01290895
+v 0.03461590 -0.09930396 0.00641488
+v 0.03805777 -0.09879185 0.00651883
+v 0.03928880 -0.09726611 0.00627536
+v 0.04143054 -0.09658507 0.00627537
+v 0.04184507 -0.09642669 0.00627537
+v 0.03461590 -0.09863347 0.00627536
+v 0.03461590 -0.08246271 0.01041780
+v 0.06669494 -0.05963462 0.00997839
+v 0.03461590 -0.09702856 0.01332744
+v 0.06669494 -0.07492375 0.01271852
+v 0.03461590 -0.09869154 0.00628722
+v 0.03805777 -0.09765678 0.00627536
+v 0.03461590 -0.08522911 0.01130514
+v 0.06669494 -0.06050044 0.01028952
+v 0.03461590 -0.09530220 0.01317607
+v 0.06669494 -0.07452779 0.01268016
+v 0.03461590 -0.08542445 0.01136304
+v 0.06669494 -0.06072745 0.01035649
+v 0.03461590 -0.09518606 0.01316352
+v 0.06669494 -0.07129153 0.01234532
+v 0.03461590 -0.08887718 0.01218410
+v 0.06669494 -0.06402179 0.01113290
+v 0.03461590 -0.09269418 0.01284682
+v 0.06669494 -0.07089557 0.01228811
+v 0.03461590 -0.08906195 0.01222177
+v 0.06669494 -0.06765401 0.01181654
+v 0.03461590 -0.09250941 0.01281891
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 26
+f 1 26 48
+f 1 48 70
+f 1 70 93
+f 1 93 104
+f 1 104 110
+f 1 110 114
+f 1 114 118
+f 1 118 122
+f 1 122 120
+f 1 120 116
+f 1 116 112
+f 1 112 106
+f 1 106 96
+f 1 96 76
+f 1 76 51
+f 1 51 28
+f 1 28 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 10
+f 3 10 4
+f 4 9 5
+f 4 10 11
+f 4 11 9
+f 5 9 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 22
+f 8 22 10
+f 9 11 19
+f 9 19 20
+f 9 20 21
+f 9 21 12
+f 10 22 23
+f 10 23 24
+f 10 24 19
+f 10 19 11
+f 12 25 26
+f 12 21 25
+f 13 27 14
+f 13 28 27
+f 14 29 30
+f 14 30 15
+f 14 27 29
+f 15 30 31
+f 15 31 32
+f 15 32 17
+f 15 17 16
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 34 45
+f 18 45 22
+f 19 24 23
+f 19 23 35
+f 19 35 20
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 20 35 41
+f 20 41 42
+f 20 42 36
+f 21 43 44
+f 21 44 25
+f 21 40 43
+f 22 45 23
+f 23 45 46
+f 23 46 47
+f 23 47 35
+f 25 44 26
+f 26 44 48
+f 27 49 50
+f 27 50 29
+f 27 28 49
+f 28 51 49
+f 29 50 52
+f 29 52 30
+f 30 52 53
+f 30 53 31
+f 31 53 32
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 67
+f 34 67 45
+f 35 47 41
+f 36 56 37
+f 36 42 56
+f 37 56 57
+f 37 57 63
+f 37 63 62
+f 37 62 84
+f 37 84 88
+f 37 88 101
+f 37 101 100
+f 37 100 99
+f 37 99 108
+f 37 108 102
+f 37 102 90
+f 37 90 70
+f 37 70 48
+f 37 48 66
+f 37 66 43
+f 37 43 58
+f 37 58 39
+f 37 39 38
+f 39 58 40
+f 40 58 43
+f 41 47 46
+f 41 46 59
+f 41 59 60
+f 41 60 42
+f 42 61 62
+f 42 62 63
+f 42 63 56
+f 42 60 64
+f 42 64 65
+f 42 65 61
+f 43 66 44
+f 44 66 48
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 60
+f 46 60 59
+f 49 51 71
+f 49 71 50
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 52
+f 50 71 72
+f 51 76 71
+f 52 75 77
+f 52 77 53
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 54
+f 54 80 79
+f 54 79 55
+f 55 79 67
+f 56 63 57
+f 60 69 68
+f 60 68 81
+f 60 81 82
+f 60 82 83
+f 60 83 64
+f 61 65 62
+f 62 65 84
+f 64 83 85
+f 64 85 86
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 65 88 84
+f 67 79 89
+f 67 89 68
+f 68 89 81
+f 70 90 91
+f 70 91 92
+f 70 92 93
+f 71 76 72
+f 72 76 73
+f 73 94 105
+f 73 105 111
+f 73 111 115
+f 73 115 119
+f 73 119 123
+f 73 123 121
+f 73 121 117
+f 73 117 113
+f 73 113 109
+f 73 109 103
+f 73 103 92
+f 73 92 91
+f 73 91 90
+f 73 90 102
+f 73 102 107
+f 73 107 97
+f 73 97 85
+f 73 85 89
+f 73 89 79
+f 73 79 78
+f 73 78 77
+f 73 77 95
+f 73 95 74
+f 73 76 94
+f 74 95 75
+f 75 95 77
+f 76 96 94
+f 81 89 83
+f 81 83 82
+f 83 89 85
+f 85 97 98
+f 85 98 86
+f 86 98 99
+f 86 99 100
+f 86 100 87
+f 87 100 101
+f 87 101 88
+f 92 103 104
+f 92 104 93
+f 94 96 106
+f 94 106 105
+f 97 107 108
+f 97 108 98
+f 98 108 99
+f 102 108 107
+f 103 109 110
+f 103 110 104
+f 105 106 111
+f 106 112 111
+f 109 113 110
+f 110 113 114
+f 111 112 116
+f 111 116 115
+f 113 117 114
+f 114 117 118
+f 115 116 119
+f 116 120 119
+f 117 121 118
+f 118 121 122
+f 119 120 122
+f 119 122 123
+f 121 123 122
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_14.obj

@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v 0.10547674 -0.03360469 0.01037377
+v 0.10547674 -0.03360468 0.00936808
+v 0.10430752 -0.03360469 0.01119578
+v 0.10286117 -0.03818987 0.01120429
+v 0.10218165 -0.04182639 0.01071685
+v 0.10174130 -0.04406627 0.01023728
+v 0.10141103 -0.03968662 0.00676755
+v 0.10431891 -0.03360468 0.00795696
+v 0.10174130 -0.04406627 0.00955632
+v 0.10218165 -0.04182638 0.00889702
+v 0.10357865 -0.03360469 0.01163269
+v 0.09974451 -0.04182639 0.01218701
+v 0.09989256 -0.04535223 0.01119704
+v 0.09875750 -0.04909416 0.01083753
+v 0.09818428 -0.05138675 0.01030679
+v 0.10180583 -0.03726227 0.00657666
+v 0.10284978 -0.03360467 0.00661670
+v 0.10092891 -0.04182638 0.00725761
+v 0.09798308 -0.04740237 0.00666454
+v 0.09835511 -0.04545762 0.00652874
+v 0.09818428 -0.05138674 0.00944739
+v 0.09862463 -0.04880428 0.00834527
+v 0.10069355 -0.03360470 0.01276106
+v 0.09974451 -0.03818988 0.01272496
+v 0.09611536 -0.04909417 0.01228997
+v 0.09623304 -0.05265163 0.01120620
+v 0.09497271 -0.05636193 0.01064265
+v 0.09439189 -0.05832249 0.01009225
+v 0.10024940 -0.03821620 0.00627554
+v 0.10221962 -0.03455860 0.00643562
+v 0.09911434 -0.04182637 0.00633457
+v 0.10237526 -0.03360467 0.00639824
+v 0.09726939 -0.04982672 0.00726151
+v 0.09416412 -0.05434865 0.00675176
+v 0.09485122 -0.05192430 0.00650773
+v 0.09608119 -0.04880427 0.00638834
+v 0.09609257 -0.04774494 0.00627550
+v 0.09721245 -0.04545762 0.00627551
+v 0.09439189 -0.05832249 0.00978785
+v 0.09497271 -0.05636192 0.00905900
+v 0.09974451 -0.03360470 0.01293360
+v 0.09974451 -0.03455863 0.01291981
+v 0.09611536 -0.04545765 0.01279775
+v 0.09248620 -0.05272542 0.01272950
+v 0.08885706 -0.05999319 0.01252545
+v 0.09248620 -0.05636193 0.01205968
+v 0.09243306 -0.05971913 0.01092539
+v 0.09118411 -0.06258091 0.01052389
+v 0.08359555 -0.07291074 0.01018075
+v 0.09962682 -0.03985527 0.00627553
+v 0.10155908 -0.03455860 0.00627555
+v 0.09882583 -0.04182637 0.00627553
+v 0.10235628 -0.03360467 0.00639365
+v 0.09350738 -0.05636192 0.00742024
+v 0.09014775 -0.06109467 0.00700890
+v 0.08695516 -0.06533727 0.00672548
+v 0.09096014 -0.05867558 0.00657920
+v 0.09328340 -0.05271485 0.00627549
+v 0.09169280 -0.05636191 0.00640340
+v 0.09546621 -0.04885698 0.00627550
+v 0.09228121 -0.05970858 0.00839903
+v 0.08359555 -0.07291074 0.00968479
+v 0.09118411 -0.06258090 0.00919412
+v 0.09706440 -0.03360470 0.01294606
+v 0.09611536 -0.03818988 0.01297688
+v 0.09611536 -0.04182640 0.01294538
+v 0.08885706 -0.05636194 0.01284626
+v 0.08523170 -0.06362444 0.01272618
+v 0.08160634 -0.07089220 0.01220002
+v 0.08903168 -0.06372457 0.01133343
+v 0.08793838 -0.06662324 0.01073119
+v 0.08142792 -0.07428629 0.01084268
+v 0.08010305 -0.07666847 0.01030407
+v 0.08443829 -0.07089220 0.01078037
+v 0.10182861 -0.03360467 0.00627556
+v 0.08428265 -0.06725566 0.00649651
+v 0.08577076 -0.06415144 0.00627544
+v 0.08772958 -0.06291292 0.00648407
+v 0.08793838 -0.06662323 0.00891071
+v 0.08124191 -0.07411763 0.00851378
+v 0.08238456 -0.07152990 0.00750023
+v 0.07875161 -0.07532453 0.00734276
+v 0.07996260 -0.07290017 0.00663229
+v 0.08890640 -0.05992992 0.00629252
+v 0.09236473 -0.05423270 0.00627548
+v 0.08890640 -0.05979816 0.00627546
+v 0.09107023 -0.05636191 0.00627547
+v 0.08010305 -0.07666846 0.00952799
+v 0.09611536 -0.03360470 0.01291392
+v 0.09611536 -0.03455863 0.01293687
+v 0.06669874 -0.07854999 0.01293015
+v 0.06669874 -0.08179123 0.01292095
+v 0.07434804 -0.07452346 0.01288818
+v 0.07797719 -0.07089221 0.01286261
+v 0.08160634 -0.06725569 0.01282325
+v 0.07797719 -0.07452346 0.01233974
+v 0.08558095 -0.06760352 0.01153481
+v 0.07779877 -0.07799132 0.01092008
+v 0.07647011 -0.08026810 0.01029422
+v 0.07571847 -0.03360467 0.00627556
+v 0.08134441 -0.07054961 0.00649322
+v 0.08307167 -0.06725566 0.00627543
+v 0.08518994 -0.06485767 0.00627544
+v 0.08618074 -0.06362968 0.00627545
+v 0.07761276 -0.07779631 0.00845472
+v 0.07500858 -0.07892415 0.00738080
+v 0.07633344 -0.07649980 0.00663950
+v 0.07771526 -0.07427572 0.00646435
+v 0.07892624 -0.07185138 0.00627542
+v 0.07647011 -0.08026810 0.00956669
+v 0.09343525 -0.03360470 0.01269874
+v 0.06669874 -0.07815998 0.01290915
+v 0.06669874 -0.08218650 0.01291177
+v 0.06708974 -0.08179123 0.01291374
+v 0.07434804 -0.07815998 0.01233644
+v 0.07071889 -0.08179122 0.01221113
+v 0.07408990 -0.08160676 0.01081969
+v 0.07270809 -0.08376232 0.01015447
+v 0.08284390 -0.03360469 0.01025306
+v 0.06669874 -0.04994266 0.00627550
+v 0.06669874 -0.05778491 0.00928796
+v 0.06669874 -0.05963480 0.00997809
+v 0.06669874 -0.06049913 0.01028970
+v 0.07999676 -0.07068664 0.00627542
+v 0.08146209 -0.06906865 0.00627543
+v 0.07385833 -0.08135905 0.00856295
+v 0.07071889 -0.08257649 0.00738866
+v 0.07258661 -0.08002038 0.00667557
+v 0.07401777 -0.07789117 0.00650172
+v 0.07647011 -0.07437059 0.00627541
+v 0.07781016 -0.07303193 0.00627541
+v 0.07415444 -0.07650507 0.00627540
+v 0.07270809 -0.08376232 0.00974445
+v 0.09248620 -0.03360470 0.01259640
+v 0.06669874 -0.07491873 0.01271892
+v 0.06669874 -0.08568599 0.01183587
+v 0.06669874 -0.08636586 0.01157739
+v 0.06739343 -0.08573869 0.01160692
+v 0.07071889 -0.08456868 0.01077507
+v 0.06669874 -0.08737249 0.01103879
+v 0.06669874 -0.08744626 0.00874662
+v 0.08324250 -0.03360469 0.01040395
+v 0.06669874 -0.06072048 0.01035662
+v 0.06669874 -0.06401443 0.01113268
+v 0.06669874 -0.08250269 0.00627538
+v 0.07071889 -0.08456867 0.00902807
+v 0.06863858 -0.08339338 0.00675362
+v 0.06669874 -0.08410487 0.00657452
+v 0.07071889 -0.08075822 0.00652270
+v 0.07236264 -0.07802292 0.00627539
+v 0.08980610 -0.03360469 0.01218638
+v 0.06669874 -0.07452346 0.01268022
+v 0.06669874 -0.08599692 0.00761956
+v 0.08516337 -0.03360469 0.01107113
+v 0.06669874 -0.06765095 0.01181625
+v 0.06725677 -0.08209688 0.00627538
+v 0.06669874 -0.08327743 0.00641314
+v 0.06740482 -0.08198620 0.00627538
+v 0.07071889 -0.07939320 0.00627539
+v 0.08885706 -0.03360469 0.01201647
+v 0.06669874 -0.07128222 0.01234500
+v 0.08617695 -0.03360469 0.01136963
+f 1 2 8
+f 1 8 17
+f 1 17 32
+f 1 32 53
+f 1 53 75
+f 1 75 100
+f 1 100 119
+f 1 119 142
+f 1 142 154
+f 1 154 162
+f 1 162 160
+f 1 160 151
+f 1 151 134
+f 1 134 111
+f 1 111 89
+f 1 89 64
+f 1 64 41
+f 1 41 23
+f 1 23 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 10
+f 2 10 7
+f 3 11 4
+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 6 15 21
+f 6 21 9
+f 7 16 17
+f 7 17 8
+f 7 10 18
+f 7 18 19
+f 7 19 20
+f 7 20 16
+f 9 18 10
+f 9 21 22
+f 9 22 19
+f 9 19 18
+f 11 23 24
+f 11 24 12
+f 12 25 13
+f 12 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 39
+f 15 39 21
+f 16 29 30
+f 16 30 17
+f 16 20 31
+f 16 31 29
+f 17 30 32
+f 19 22 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 31
+f 21 33 22
+f 21 39 40
+f 21 40 33
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 25 43 44
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 62
+f 28 62 39
+f 29 50 52
+f 29 52 38
+f 29 38 37
+f 29 37 60
+f 29 60 58
+f 29 58 85
+f 29 85 87
+f 29 87 86
+f 29 86 104
+f 29 104 77
+f 29 77 103
+f 29 103 102
+f 29 102 125
+f 29 125 124
+f 29 124 109
+f 29 109 131
+f 29 131 130
+f 29 130 132
+f 29 132 150
+f 29 150 159
+f 29 159 158
+f 29 158 156
+f 29 156 145
+f 29 145 120
+f 29 120 100
+f 29 100 75
+f 29 75 51
+f 29 51 30
+f 29 31 50
+f 30 51 32
+f 31 38 52
+f 31 52 50
+f 32 51 53
+f 33 40 34
+f 34 40 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 35 58 36
+f 35 57 59
+f 35 59 58
+f 36 60 37
+f 36 58 60
+f 39 61 40
+f 39 62 63
+f 39 63 61
+f 40 61 54
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 43
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 45
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 47
+f 47 70 48
+f 48 70 71
+f 48 71 49
+f 49 72 73
+f 49 73 88
+f 49 88 62
+f 49 71 74
+f 49 74 72
+f 51 75 53
+f 54 61 55
+f 55 61 63
+f 55 63 56
+f 56 76 77
+f 56 77 78
+f 56 78 57
+f 56 63 79
+f 56 79 62
+f 56 62 80
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 76
+f 57 78 84
+f 57 84 59
+f 58 59 85
+f 59 84 86
+f 59 86 87
+f 59 87 85
+f 62 88 80
+f 62 79 63
+f 64 89 90
+f 64 90 91
+f 64 91 65
+f 65 91 92
+f 65 92 66
+f 66 92 93
+f 66 93 94
+f 66 94 67
+f 67 94 95
+f 67 95 68
+f 68 95 96
+f 68 96 69
+f 69 96 72
+f 69 72 74
+f 69 74 97
+f 69 97 70
+f 70 97 71
+f 71 97 74
+f 72 96 98
+f 72 98 73
+f 73 98 99
+f 73 99 110
+f 73 110 88
+f 76 101 102
+f 76 102 103
+f 76 103 77
+f 76 83 101
+f 77 104 78
+f 78 104 84
+f 80 88 82
+f 80 82 81
+f 82 88 105
+f 82 105 106
+f 82 106 107
+f 82 107 83
+f 83 107 108
+f 83 108 109
+f 83 109 101
+f 84 104 86
+f 88 110 105
+f 89 111 91
+f 89 91 90
+f 91 112 135
+f 91 135 152
+f 91 152 161
+f 91 161 155
+f 91 155 144
+f 91 144 143
+f 91 143 123
+f 91 123 122
+f 91 122 121
+f 91 121 120
+f 91 120 145
+f 91 145 157
+f 91 157 148
+f 91 148 153
+f 91 153 141
+f 91 141 140
+f 91 140 137
+f 91 137 136
+f 91 136 113
+f 91 113 92
+f 91 111 112
+f 92 113 114
+f 92 114 93
+f 93 114 96
+f 93 96 94
+f 94 96 95
+f 96 114 115
+f 96 115 98
+f 98 115 116
+f 98 116 117
+f 98 117 99
+f 99 117 118
+f 99 118 133
+f 99 133 110
+f 100 120 121
+f 100 121 122
+f 100 122 123
+f 100 123 119
+f 101 124 125
+f 101 125 102
+f 101 109 124
+f 105 110 106
+f 106 110 126
+f 106 126 127
+f 106 127 128
+f 106 128 107
+f 107 129 108
+f 107 128 129
+f 108 130 131
+f 108 131 109
+f 108 129 132
+f 108 132 130
+f 110 133 126
+f 111 134 135
+f 111 135 112
+f 113 136 116
+f 113 116 115
+f 113 115 114
+f 116 136 137
+f 116 137 138
+f 116 138 139
+f 116 139 117
+f 117 139 118
+f 118 139 140
+f 118 140 141
+f 118 141 133
+f 119 123 143
+f 119 143 144
+f 119 144 142
+f 126 133 146
+f 126 146 127
+f 127 146 141
+f 127 141 147
+f 127 147 128
+f 128 147 148
+f 128 148 149
+f 128 149 129
+f 129 150 132
+f 129 149 150
+f 133 141 146
+f 134 151 152
+f 134 152 135
+f 137 140 139
+f 137 139 138
+f 141 153 147
+f 142 144 154
+f 144 155 154
+f 145 156 157
+f 147 153 148
+f 148 157 149
+f 149 157 158
+f 149 158 159
+f 149 159 150
+f 151 160 161
+f 151 161 152
+f 154 155 162
+f 155 161 160
+f 155 160 162
+f 156 158 157
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_15.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.05267559 -0.07942844 0.00582538
+v -0.05631510 -0.07677126 0.00582539
+v -0.05437536 -0.06171638 -0.00960909
+v -0.05267559 -0.06402275 -0.00850185
+v -0.05267559 -0.05779038 0.00582546
+v -0.05996260 -0.07371104 0.00582540
+v -0.05267559 -0.06098490 -0.01063437
+v -0.05267559 -0.06351520 -0.00894842
+v -0.05814285 -0.05820831 -0.00972615
+v -0.05629110 -0.05903680 -0.01017942
+v -0.05267559 -0.00318396 0.00568015
+v -0.07608842 -0.00318396 0.00582566
+v -0.06361811 -0.07021790 0.00582541
+v -0.05296755 -0.06029822 -0.01078657
+v -0.05267559 -0.06055945 -0.01077988
+v -0.06171437 -0.05451364 -0.00967763
+v -0.05902673 -0.05635724 -0.01017941
+v -0.05629110 -0.05635724 -0.01107759
+v -0.05267559 -0.00318391 -0.00723381
+v -0.09353406 -0.00318396 0.00582566
+v -0.06644173 -0.06723977 0.00582542
+v -0.05267559 -0.06027582 -0.01082504
+v -0.06269824 -0.05208785 -0.01026302
+v -0.06720562 -0.06641873 0.00582543
+v -0.07066116 -0.06217920 0.00582544
+v -0.06511791 -0.05059506 -0.00944848
+v -0.06602978 -0.04816926 -0.01013422
+v -0.06027057 -0.05306563 -0.01078654
+v -0.05267559 -0.05635724 -0.01118965
+v -0.06376609 -0.04926647 -0.01070123
+v -0.06717763 -0.04181742 -0.01110931
+v -0.06355012 -0.04545238 -0.01125819
+v -0.07806016 -0.00318390 -0.01082817
+v -0.05267559 -0.05634231 -0.01118965
+v -0.08422732 -0.00318391 -0.00746462
+v -0.09341408 -0.00548287 0.00582565
+v -0.07240092 -0.05987283 0.00582545
+v -0.06844946 -0.04646749 -0.00909387
+v -0.06925335 -0.04404169 -0.00989503
+v -0.06721362 -0.04533295 -0.01046706
+v -0.07101711 -0.03827950 -0.01053226
+v -0.07080914 -0.03455498 -0.01102399
+v -0.07806016 -0.01275271 -0.01090682
+v -0.07806016 -0.00911776 -0.01088841
+v -0.07806016 -0.00548281 -0.01085495
+v -0.08002389 -0.00318390 -0.01060070
+v -0.08375539 -0.00318391 -0.00806508
+v -0.08286751 -0.00548282 -0.00901511
+v -0.08415533 -0.00548282 -0.00737599
+v -0.09309812 -0.00911782 0.00582564
+v -0.07468461 -0.05656629 0.00582546
+v -0.07006924 -0.04533296 -0.00802510
+v -0.07187300 -0.04213838 -0.00823749
+v -0.07738025 -0.05255067 0.00582548
+v -0.07800816 -0.05156543 0.00582548
+v -0.07236892 -0.03955585 -0.00944844
+v -0.07297684 -0.03713005 -0.00996191
+v -0.06990126 -0.04181742 -0.01024793
+v -0.07354476 -0.03455498 -0.01027300
+v -0.07459662 -0.03085285 -0.01042518
+v -0.07443265 -0.02729253 -0.01088848
+v -0.07806016 -0.01638767 -0.01079644
+v -0.08105175 -0.00548281 -0.01041673
+v -0.08111974 -0.00318390 -0.01044014
+v -0.08293550 -0.00318391 -0.00910375
+v -0.08085178 -0.00911776 -0.01033144
+v -0.08059182 -0.01275271 -0.01019933
+v -0.08266754 -0.00911777 -0.00876256
+v -0.08397536 -0.00911777 -0.00712344
+v -0.09263019 -0.01246915 0.00582562
+v -0.07959595 -0.04899782 0.00582549
+v -0.07326481 -0.04115314 -0.00726405
+v -0.08343143 -0.04179509 0.00582552
+v -0.07629640 -0.03647324 -0.00648629
+v -0.07535652 -0.03455499 -0.00868405
+v -0.07591645 -0.03201724 -0.00937314
+v -0.07643238 -0.02959144 -0.00984647
+v -0.07682033 -0.02729253 -0.01010069
+v -0.07740825 -0.02365758 -0.01038168
+v -0.07828013 -0.01995545 -0.01041176
+v -0.08025586 -0.01638767 -0.00998692
+v -0.08240757 -0.01275272 -0.00838793
+v -0.08372339 -0.01275273 -0.00674880
+v -0.09257819 -0.01277517 0.00582562
+v -0.08517519 -0.03799593 0.00582553
+v -0.07671634 -0.03455499 -0.00704493
+v -0.07734825 -0.03085286 -0.00819062
+v -0.07880006 -0.02741943 -0.00796816
+v -0.07922400 -0.02365759 -0.00901016
+v -0.07963994 -0.02111984 -0.00948015
+v -0.07999989 -0.01870150 -0.00980127
+v -0.08221560 -0.01614137 -0.00777243
+v -0.08354741 -0.01477547 -0.00648788
+v -0.09190229 -0.01638773 0.00582561
+v -0.08541516 -0.03744360 0.00582553
+v -0.08669099 -0.03448786 0.00582554
+v -0.07973593 -0.02871817 -0.00618855
+v -0.08015987 -0.02629984 -0.00681408
+v -0.08058382 -0.02365759 -0.00737104
+v -0.08093177 -0.01995546 -0.00825581
+v -0.09030250 -0.02357554 0.00582558
+v -0.09117438 -0.02002269 0.00582560
+v -0.08791882 -0.03092008 0.00582556
+v -0.08913466 -0.02718063 0.00582557
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 15
+f 1 15 22
+f 1 22 29
+f 1 29 34
+f 1 34 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 20
+f 1 20 36
+f 1 36 50
+f 1 50 70
+f 1 70 84
+f 1 84 94
+f 1 94 102
+f 1 102 101
+f 1 101 104
+f 1 104 103
+f 1 103 96
+f 1 96 95
+f 1 95 85
+f 1 85 73
+f 1 73 71
+f 1 71 55
+f 1 55 54
+f 1 54 51
+f 1 51 37
+f 1 37 25
+f 1 25 24
+f 1 24 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 6 13 9
+f 7 10 14
+f 7 14 15
+f 9 16 17
+f 9 17 10
+f 9 13 16
+f 10 17 18
+f 10 18 14
+f 11 19 33
+f 11 33 46
+f 11 46 64
+f 11 64 65
+f 11 65 47
+f 11 47 35
+f 11 35 20
+f 11 20 12
+f 13 21 16
+f 14 18 15
+f 15 18 22
+f 16 23 17
+f 16 21 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 23
+f 17 23 28
+f 17 28 18
+f 18 29 22
+f 18 28 30
+f 18 30 31
+f 18 31 32
+f 18 32 29
+f 19 34 33
+f 20 35 36
+f 23 27 30
+f 23 30 28
+f 25 37 26
+f 26 38 39
+f 26 39 27
+f 26 37 38
+f 27 39 40
+f 27 40 30
+f 29 32 34
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 32 33 34
+f 33 45 46
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 37 51 38
+f 38 52 53
+f 38 53 39
+f 38 51 54
+f 38 54 55
+f 38 55 52
+f 39 53 56
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 41
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 41 58 59
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 46
+f 43 46 44
+f 44 46 45
+f 47 65 48
+f 48 63 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 48 65 63
+f 49 69 50
+f 50 69 70
+f 52 55 53
+f 53 55 71
+f 53 71 72
+f 53 72 56
+f 56 72 71
+f 56 71 73
+f 56 73 74
+f 56 74 75
+f 56 75 76
+f 56 76 57
+f 57 76 77
+f 57 77 59
+f 57 59 58
+f 59 77 78
+f 59 78 60
+f 60 78 79
+f 60 79 61
+f 61 79 62
+f 62 79 80
+f 62 80 67
+f 62 67 66
+f 62 66 63
+f 63 65 64
+f 67 80 81
+f 67 81 68
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 69 83 70
+f 70 83 84
+f 73 85 74
+f 74 86 75
+f 74 85 86
+f 75 86 76
+f 76 86 87
+f 76 87 77
+f 77 87 88
+f 77 88 89
+f 77 89 90
+f 77 90 91
+f 77 91 78
+f 78 91 79
+f 79 91 81
+f 79 81 80
+f 81 91 82
+f 82 91 92
+f 82 92 93
+f 82 93 83
+f 83 93 84
+f 84 93 94
+f 85 95 86
+f 86 96 87
+f 86 95 96
+f 87 97 98
+f 87 98 88
+f 87 96 97
+f 88 98 89
+f 89 98 99
+f 89 99 90
+f 90 99 100
+f 90 100 91
+f 91 100 92
+f 92 100 93
+f 93 100 101
+f 93 101 102
+f 93 102 94
+f 96 103 98
+f 96 98 97
+f 98 103 104
+f 98 104 101
+f 98 101 99
+f 99 101 100
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_16.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.08005952 0.00582763
+v -0.05046612 0.05851574 0.00582755
+v -0.00603936 0.10197484 0.00582771
+v -0.00603936 0.09005570 0.01037822
+v -0.05566365 0.06833117 0.01041946
+v -0.05047583 0.05851574 0.00582911
+v -0.05566365 0.05851574 0.00582755
+v -0.00911902 0.10173887 0.00582771
+v -0.00603936 0.10353628 0.00617393
+v -0.00603936 0.09221962 0.01119227
+v -0.05566365 0.07146408 0.01149629
+v -0.05566365 0.05851574 0.00636479
+v -0.00603936 0.09263634 0.01134666
+v -0.05566365 0.08100844 0.00582764
+v -0.01265529 0.10137738 0.00582771
+v -0.00911902 0.10353628 0.00622929
+v -0.00603936 0.10382748 0.00624020
+v -0.05566365 0.07447147 0.01221678
+v -0.00603936 0.09571402 0.01216305
+v -0.00603936 0.09626629 0.01230419
+v -0.05566365 0.08110885 0.00584480
+v -0.05561993 0.08106869 0.00582764
+v -0.01637614 0.10083012 0.00582771
+v -0.01354421 0.10521319 0.00672443
+v -0.01249985 0.10381744 0.00637432
+v -0.01112517 0.10537385 0.00668700
+v -0.00911902 0.10544414 0.00666595
+v -0.00603936 0.10554455 0.00663710
+v -0.05566365 0.07509905 0.01236416
+v -0.00603936 0.09962513 0.01292254
+v -0.05566365 0.08837880 0.00712514
+v -0.05172907 0.08444761 0.00582765
+v -0.02000469 0.10011719 0.00582771
+v -0.01637614 0.10314969 0.00636262
+v -0.01637614 0.10496717 0.00678525
+v -0.00911902 0.10726162 0.00744413
+v -0.00603936 0.10736204 0.00733730
+v -0.05566365 0.07825707 0.01283825
+v -0.00603936 0.10014728 0.01301767
+v -0.00603936 0.10088030 0.01312839
+v -0.05566365 0.08902647 0.00724134
+v -0.04749332 0.08752529 0.00582766
+v -0.05295316 0.08914696 0.00687642
+v -0.05030096 0.09045738 0.00675712
+v -0.02096648 0.09990129 0.00582771
+v -0.02363325 0.09990129 0.00596962
+v -0.02000469 0.10456049 0.00689518
+v -0.01249985 0.10681980 0.00747220
+v -0.02000469 0.10274301 0.00645151
+v -0.02363325 0.10229114 0.00654976
+v -0.01274758 0.10950085 0.00928198
+v -0.00911902 0.10969163 0.00908314
+v -0.00603936 0.10980209 0.00897632
+v -0.05566365 0.07911058 0.01296534
+v -0.00603936 0.10250701 0.01333269
+v -0.05566365 0.09285726 0.00844916
+v -0.05266171 0.09263635 0.00754544
+v -0.04906716 0.09253091 0.00699417
+v -0.04326729 0.09025153 0.00582767
+v -0.02312807 0.09939421 0.00582771
+v -0.02745125 0.10021258 0.00629010
+v -0.02637288 0.10194472 0.00662928
+v -0.02363325 0.09927371 0.00582770
+v -0.02363325 0.10410360 0.00708466
+v -0.01637614 0.10717125 0.00809287
+v -0.02879192 0.10163344 0.00671271
+v -0.01637614 0.10921968 0.00963910
+v -0.01274758 0.10950084 0.01118531
+v -0.02363325 0.10662399 0.00872368
+v -0.00911902 0.10969162 0.01143483
+v -0.00603936 0.10980208 0.01150813
+v -0.05566365 0.08025028 0.01309946
+v -0.00603936 0.10327517 0.01340832
+v -0.05566365 0.08270540 0.01337160
+v -0.05566365 0.08238408 0.01333729
+v -0.05566365 0.08108874 0.01319382
+v -0.05566365 0.09478521 0.00933417
+v -0.04902829 0.09626631 0.00813415
+v -0.04539974 0.09626631 0.00733103
+v -0.04212578 0.09633660 0.00688034
+v -0.04087740 0.09173765 0.00582768
+v -0.02590171 0.09861098 0.00582770
+v -0.02735410 0.09817418 0.00582770
+v -0.03088551 0.10353627 0.00796810
+v -0.02726181 0.10620225 0.00902076
+v -0.03088551 0.10122174 0.00680394
+v -0.02745125 0.10330532 0.00725542
+v -0.02882592 0.09761688 0.00582770
+v -0.03088551 0.09940425 0.00639926
+v -0.01838228 0.10902387 0.00990889
+v -0.01637614 0.10921968 0.01059427
+v -0.01274758 0.10826573 0.01282432
+v -0.00911902 0.10852682 0.01307384
+v -0.02885507 0.10521316 0.01318455
+v -0.02643603 0.10552444 0.01335141
+v -0.00603936 0.10962636 0.01175686
+v -0.00603936 0.10632273 0.01343329
+v -0.00911902 0.10353625 0.01347538
+v -0.05566365 0.08900135 0.01377631
+v -0.05566365 0.08599395 0.01362971
+v -0.05566365 0.09498100 0.00958914
+v -0.05552278 0.09507138 0.00942852
+v -0.05238483 0.09627635 0.00911116
+v -0.04902829 0.09862101 0.00944490
+v -0.04539974 0.09944942 0.00886167
+v -0.03789975 0.09958498 0.00726321
+v -0.03894411 0.09759178 0.00678210
+v -0.03451407 0.10043348 0.00701369
+v -0.03605875 0.09432331 0.00582769
+v -0.03814262 0.10273296 0.00897786
+v -0.03088551 0.10573031 0.00949639
+v -0.03088551 0.09678847 0.00582770
+v -0.03136640 0.09657760 0.00582769
+v -0.01838228 0.10902387 0.01010538
+v -0.03294995 0.10542906 0.00985585
+v -0.00603936 0.10862221 0.01314713
+v -0.02363325 0.10574033 0.01344264
+v -0.02749011 0.10613195 0.01189876
+v -0.03088551 0.10573030 0.01094437
+v -0.04005648 0.10174888 0.01327030
+v -0.03814262 0.10197983 0.01338570
+v -0.03451407 0.10238650 0.01350423
+v -0.00603936 0.10680472 0.01342939
+v -0.02000469 0.10353625 0.01363211
+v -0.01637614 0.10353625 0.01358610
+v -0.05566365 0.08962894 0.01379346
+v -0.05566365 0.09501614 0.01160944
+v -0.05099558 0.09816412 0.00987532
+v -0.04110570 0.10218068 0.00944024
+v -0.04210149 0.10024771 0.00852716
+v -0.03371743 0.09546802 0.00582769
+v -0.03294995 0.10542906 0.01024026
+v -0.00603936 0.10834607 0.01320405
+v -0.02000469 0.10597630 0.01348631
+v -0.02363325 0.10353625 0.01363289
+v -0.04089197 0.10209030 0.01160946
+v -0.04895057 0.09863104 0.01145116
+v -0.04769248 0.09828461 0.01336542
+v -0.04539974 0.09864107 0.01347926
+v -0.03814262 0.09990126 0.01362820
+v -0.00911902 0.10670932 0.01344654
+v -0.03451407 0.09990126 0.01368278
+v -0.01274758 0.10644825 0.01346837
+v -0.01637614 0.10620223 0.01348475
+v -0.05266171 0.09263633 0.01376072
+v -0.05566365 0.09262126 0.01359230
+v -0.05566365 0.09343963 0.01348548
+v -0.05489617 0.09465967 0.01337009
+v -0.05557621 0.09507137 0.01160944
+v -0.05099558 0.09816412 0.01025349
+v -0.05266171 0.09509646 0.01349251
+v -0.04895057 0.09629641 0.01355255
+v -0.04539974 0.09626629 0.01372097
+v -0.05566365 0.09298275 0.01355332
+f 1 2 7
+f 1 7 14
+f 1 14 22
+f 1 22 32
+f 1 32 42
+f 1 42 59
+f 1 59 81
+f 1 81 109
+f 1 109 131
+f 1 131 113
+f 1 113 112
+f 1 112 88
+f 1 88 83
+f 1 83 82
+f 1 82 63
+f 1 63 60
+f 1 60 45
+f 1 45 33
+f 1 33 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 28
+f 1 28 37
+f 1 37 53
+f 1 53 71
+f 1 71 96
+f 1 96 116
+f 1 116 133
+f 1 133 123
+f 1 123 97
+f 1 97 73
+f 1 73 55
+f 1 55 40
+f 1 40 39
+f 1 39 30
+f 1 30 20
+f 1 20 19
+f 1 19 13
+f 1 13 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 12
+f 2 12 7
+f 2 4 5
+f 3 8 9
+f 4 10 5
+f 5 11 18
+f 5 18 29
+f 5 29 38
+f 5 38 54
+f 5 54 72
+f 5 72 76
+f 5 76 75
+f 5 75 74
+f 5 74 100
+f 5 100 99
+f 5 99 126
+f 5 126 146
+f 5 146 154
+f 5 154 147
+f 5 147 127
+f 5 127 101
+f 5 101 77
+f 5 77 56
+f 5 56 41
+f 5 41 31
+f 5 31 21
+f 5 21 14
+f 5 14 7
+f 5 7 12
+f 5 12 6
+f 5 10 13
+f 5 13 11
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 11 13 19
+f 11 19 20
+f 11 20 18
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 20 29
+f 20 30 29
+f 21 31 22
+f 22 31 32
+f 23 33 34
+f 23 34 24
+f 24 26 25
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 26
+f 26 37 27
+f 27 37 28
+f 29 30 39
+f 29 39 40
+f 29 40 38
+f 31 41 32
+f 32 41 43
+f 32 43 44
+f 32 44 42
+f 33 45 46
+f 33 46 35
+f 33 35 34
+f 35 47 48
+f 35 48 36
+f 35 46 49
+f 35 49 50
+f 35 50 47
+f 36 48 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 38 40 54
+f 40 55 54
+f 41 56 57
+f 41 57 58
+f 41 58 44
+f 41 44 43
+f 42 44 58
+f 42 58 59
+f 45 60 46
+f 46 61 62
+f 46 62 50
+f 46 50 49
+f 46 60 63
+f 46 63 61
+f 47 64 65
+f 47 65 48
+f 47 50 62
+f 47 62 66
+f 47 66 64
+f 48 65 51
+f 51 67 91
+f 51 91 68
+f 51 68 70
+f 51 70 52
+f 51 65 69
+f 51 69 67
+f 52 70 71
+f 52 71 53
+f 54 55 72
+f 55 73 74
+f 55 74 75
+f 55 75 76
+f 55 76 72
+f 56 77 78
+f 56 78 57
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 61 66 62
+f 61 63 82
+f 61 82 83
+f 61 83 66
+f 64 84 85
+f 64 85 69
+f 64 69 65
+f 64 66 86
+f 64 86 87
+f 64 87 84
+f 66 83 88
+f 66 88 89
+f 66 89 86
+f 67 90 114
+f 67 114 91
+f 67 69 85
+f 67 85 90
+f 68 92 93
+f 68 93 70
+f 68 91 94
+f 68 94 95
+f 68 95 92
+f 70 93 96
+f 70 96 71
+f 73 97 98
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 77 101 102
+f 77 102 78
+f 78 103 104
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 78 102 103
+f 79 107 80
+f 79 106 108
+f 79 108 107
+f 80 107 81
+f 81 107 109
+f 84 87 108
+f 84 108 110
+f 84 110 85
+f 85 110 111
+f 85 111 90
+f 86 108 87
+f 86 89 107
+f 86 107 108
+f 88 112 89
+f 89 112 113
+f 89 113 107
+f 90 111 115
+f 90 115 132
+f 90 132 114
+f 91 114 94
+f 92 95 93
+f 93 116 96
+f 93 95 117
+f 93 117 116
+f 94 114 118
+f 94 118 119
+f 94 119 120
+f 94 120 95
+f 95 120 121
+f 95 121 122
+f 95 122 117
+f 97 123 124
+f 97 124 125
+f 97 125 98
+f 98 125 99
+f 99 125 126
+f 101 127 128
+f 101 128 102
+f 102 128 104
+f 102 104 103
+f 104 128 129
+f 104 129 105
+f 105 129 110
+f 105 110 130
+f 105 130 106
+f 106 130 110
+f 106 110 108
+f 107 113 131
+f 107 131 109
+f 110 129 115
+f 110 115 111
+f 114 132 119
+f 114 119 118
+f 115 129 132
+f 116 117 134
+f 116 134 133
+f 117 135 134
+f 117 122 135
+f 119 132 120
+f 120 132 136
+f 120 136 137
+f 120 137 138
+f 120 138 121
+f 121 138 139
+f 121 139 122
+f 122 140 135
+f 122 139 140
+f 123 133 141
+f 123 141 124
+f 124 135 142
+f 124 142 126
+f 124 126 125
+f 124 141 143
+f 124 143 144
+f 124 144 135
+f 126 142 145
+f 126 145 146
+f 127 147 148
+f 127 148 149
+f 127 149 150
+f 127 150 128
+f 128 150 129
+f 129 150 132
+f 132 150 136
+f 133 134 144
+f 133 144 143
+f 133 143 141
+f 134 135 144
+f 135 140 142
+f 136 150 137
+f 137 150 148
+f 137 148 138
+f 138 151 139
+f 138 148 151
+f 139 151 152
+f 139 152 145
+f 139 145 153
+f 139 153 140
+f 140 153 142
+f 142 153 145
+f 145 154 146
+f 145 152 151
+f 145 151 154
+f 147 154 148
+f 148 154 151
+f 148 150 149
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_17.obj

@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.03461277 -0.07412931 0.00627548
+v 0.03461277 -0.08065848 0.00962122
+v 0.03461277 -0.09863643 0.00627539
+v -0.00603936 -0.08072859 0.00627545
+v -0.00603936 -0.08688608 0.01019070
+v 0.03461277 -0.08233110 0.01036674
+v 0.03461277 -0.09869604 0.00628703
+v 0.03442574 -0.09868903 0.00627539
+v -0.00603936 -0.10272153 0.00627537
+v -0.00603936 -0.08906363 0.01106932
+v 0.03461277 -0.08246434 0.01041765
+v 0.03461277 -0.09930267 0.00641504
+v 0.03442574 -0.09933072 0.00640922
+v 0.03064146 -0.10017580 0.00637721
+v 0.03066136 -0.09966734 0.00627538
+v -0.00548625 -0.10279517 0.00627537
+v -0.00603936 -0.10272855 0.00627683
+v -0.00603936 -0.09269639 0.01212977
+v 0.03461277 -0.08523100 0.01130500
+v 0.03461277 -0.10111906 0.00687762
+v 0.03442574 -0.10114711 0.00686307
+v 0.03174372 -0.10152580 0.00675324
+v 0.02932831 -0.10185191 0.00666887
+v 0.02896222 -0.10007411 0.00627538
+v -0.00211979 -0.10315985 0.00627537
+v -0.00185716 -0.10341232 0.00632338
+v -0.00548625 -0.10322297 0.00636774
+v -0.00603936 -0.10318439 0.00637647
+v -0.00603936 -0.09632917 0.01283819
+v 0.03461277 -0.08906363 0.01222143
+v 0.03461277 -0.08888129 0.01218433
+v 0.03461277 -0.08543086 0.01136246
+v 0.03461277 -0.10374545 0.00867268
+v 0.03064146 -0.10327557 0.00756786
+v 0.02716757 -0.10385064 0.00732420
+v 0.02353848 -0.10416273 0.00708272
+v 0.01991338 -0.10445377 0.00695107
+v 0.02716757 -0.10203425 0.00661796
+v 0.02716757 -0.10046333 0.00627538
+v 0.02763712 -0.10037216 0.00627538
+v -0.00185716 -0.10318439 0.00627537
+v -0.00185716 -0.10522870 0.00673431
+v -0.00548625 -0.10503934 0.00677650
+v 0.00177193 -0.10346843 0.00630883
+v -0.00603936 -0.10500078 0.00678523
+v -0.00603936 -0.09858737 0.01319531
+v 0.03461277 -0.09251055 0.01281929
+v 0.03461277 -0.10387520 0.01149622
+v 0.03307677 -0.10556535 0.00975132
+v 0.03079666 -0.10587742 0.00937965
+v 0.02716757 -0.10631223 0.00896361
+v 0.02353848 -0.10669444 0.00872213
+v 0.01265918 -0.10723094 0.00787987
+v 0.00903010 -0.10723094 0.00762821
+v 0.01628429 -0.10471676 0.00686888
+v 0.02353848 -0.10234633 0.00654522
+v 0.02353848 -0.10110152 0.00627538
+v 0.00160082 -0.10330362 0.00627537
+v -0.00185716 -0.10723094 0.00743474
+v 0.00177193 -0.10528480 0.00672122
+v -0.00548625 -0.10723094 0.00755257
+v 0.00177193 -0.10330712 0.00627537
+v 0.00519011 -0.10321946 0.00627537
+v 0.00540101 -0.10341933 0.00631901
+v -0.00603936 -0.10685925 0.00744347
+v -0.00603936 -0.10040375 0.01340841
+v 0.03461277 -0.09518604 0.01316331
+v 0.03461277 -0.09269640 0.01284693
+v 0.03461277 -0.10366832 0.01172024
+v 0.03307677 -0.10556535 0.01028592
+v 0.01567944 -0.10925772 0.00968294
+v 0.01265918 -0.10949616 0.00940510
+v 0.00903010 -0.10971005 0.00919708
+v 0.00540101 -0.10985382 0.00908652
+v 0.00540101 -0.10723094 0.00748857
+v 0.01265918 -0.10494117 0.00680632
+v 0.01628429 -0.10290037 0.00642448
+v 0.01991338 -0.10263738 0.00648121
+v 0.01991338 -0.10168360 0.00627538
+v -0.00185716 -0.10994849 0.00903197
+v 0.00177193 -0.10723094 0.00741583
+v 0.00540101 -0.10523571 0.00673286
+v -0.00548625 -0.10984681 0.00910689
+v -0.00603936 -0.10945057 0.00890032
+v -0.00603936 -0.10723094 0.00758239
+v 0.00540101 -0.10321245 0.00627537
+v 0.00903010 -0.10330011 0.00634083
+v -0.00603936 -0.10359820 0.01370515
+v 0.03461277 -0.09530175 0.01317641
+v 0.03079666 -0.10587743 0.01082706
+v 0.03461277 -0.10197117 0.01331240
+v 0.02536497 -0.10541808 0.01324910
+v 0.01567944 -0.10925772 0.01049392
+v 0.01265918 -0.10949617 0.01100815
+v 0.00903010 -0.10971006 0.01136892
+v 0.00540101 -0.10985383 0.01153839
+v 0.00177193 -0.10995200 0.00902543
+v 0.00903010 -0.10511649 0.00676123
+v 0.01265918 -0.10312478 0.00637793
+v 0.01628429 -0.10220257 0.00627537
+v -0.00548625 -0.10984682 0.01158639
+v -0.00603936 -0.10982577 0.00912798
+v 0.00870778 -0.10300556 0.00627537
+v 0.00903010 -0.10298453 0.00627537
+v 0.01265918 -0.10263387 0.00627537
+v -0.00603936 -0.10715381 0.01354367
+v -0.00548625 -0.10718187 0.01354222
+v 0.00540101 -0.10706966 0.01353640
+v 0.00903010 -0.10359820 0.01367824
+v 0.03079666 -0.09996543 0.01347823
+v 0.03461277 -0.09711813 0.01333277
+v 0.03461277 -0.09702697 0.01332768
+v 0.02681342 -0.10613341 0.01177696
+v 0.03461277 -0.10186597 0.01331894
+v 0.03442574 -0.10198870 0.01331894
+v 0.02353848 -0.10555484 0.01331674
+v 0.00540101 -0.10888604 0.01317708
+v 0.00903010 -0.10860201 0.01300834
+v 0.01265918 -0.10826188 0.01264758
+v 0.00318456 -0.10902981 0.01324036
+v 0.00189528 -0.10977668 0.01193188
+v -0.00548625 -0.10899824 0.01322509
+v -0.00603936 -0.10982578 0.01156821
+v -0.00218744 -0.10977668 0.01193624
+v -0.00603936 -0.10897020 0.01320763
+v -0.00361599 -0.10904734 0.01324691
+v -0.00119660 -0.10906137 0.01325491
+v -0.00218744 -0.10759564 0.01348257
+v 0.00189528 -0.10758161 0.01348257
+v 0.00076517 -0.10906137 0.01325491
+v 0.00903010 -0.10678563 0.01353349
+v 0.01265918 -0.10359820 0.01366660
+v 0.03442574 -0.09996543 0.01340550
+v 0.03461277 -0.09980062 0.01340113
+v 0.01628429 -0.10359820 0.01364333
+v 0.01991338 -0.10359820 0.01359314
+v 0.03461277 -0.09995492 0.01339968
+v 0.03079666 -0.10242000 0.01340694
+v 0.01991338 -0.10582835 0.01342730
+v 0.01628429 -0.10610887 0.01348985
+v 0.01265918 -0.10644549 0.01351894
+v -0.00603936 -0.10910345 0.01295815
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 32
+f 1 32 31
+f 1 31 30
+f 1 30 47
+f 1 47 68
+f 1 68 67
+f 1 67 89
+f 1 89 112
+f 1 112 111
+f 1 111 134
+f 1 134 137
+f 1 137 114
+f 1 114 91
+f 1 91 69
+f 1 69 48
+f 1 48 33
+f 1 33 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 24
+f 1 24 40
+f 1 40 39
+f 1 39 57
+f 1 57 79
+f 1 79 100
+f 1 100 105
+f 1 105 104
+f 1 104 103
+f 1 103 86
+f 1 86 63
+f 1 63 62
+f 1 62 58
+f 1 58 41
+f 1 41 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 17
+f 4 17 28
+f 4 28 45
+f 4 45 65
+f 4 65 85
+f 4 85 84
+f 4 84 102
+f 4 102 123
+f 4 123 142
+f 4 142 125
+f 4 125 106
+f 4 106 88
+f 4 88 66
+f 4 66 46
+f 4 46 29
+f 4 29 18
+f 4 18 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 25 41 26
+f 26 42 43
+f 26 43 27
+f 26 41 44
+f 26 44 42
+f 27 43 45
+f 27 45 28
+f 29 46 47
+f 29 47 30
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 41 58 44
+f 42 59 43
+f 42 44 60
+f 42 60 59
+f 43 61 45
+f 43 59 61
+f 44 62 63
+f 44 63 64
+f 44 64 60
+f 44 58 62
+f 45 61 65
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 48 69 70
+f 48 70 49
+f 49 70 93
+f 49 93 71
+f 49 71 50
+f 50 71 51
+f 51 71 72
+f 51 72 52
+f 52 72 53
+f 53 72 73
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 56
+f 56 78 57
+f 57 78 79
+f 59 80 61
+f 59 60 81
+f 59 81 80
+f 60 64 82
+f 60 82 81
+f 61 83 84
+f 61 84 85
+f 61 85 65
+f 61 80 83
+f 63 86 64
+f 64 86 87
+f 64 87 82
+f 66 88 89
+f 66 89 67
+f 69 90 70
+f 69 91 92
+f 69 92 90
+f 70 90 93
+f 71 93 94
+f 71 94 72
+f 72 94 95
+f 72 95 73
+f 73 95 96
+f 73 96 74
+f 74 96 97
+f 74 97 75
+f 75 97 81
+f 75 81 82
+f 75 82 98
+f 75 98 76
+f 76 98 99
+f 76 99 77
+f 77 100 79
+f 77 79 78
+f 77 99 100
+f 80 81 97
+f 80 97 101
+f 80 101 83
+f 82 87 98
+f 83 101 123
+f 83 123 102
+f 83 102 84
+f 86 103 87
+f 87 103 104
+f 87 104 105
+f 87 105 99
+f 87 99 98
+f 88 106 107
+f 88 107 108
+f 88 108 109
+f 88 109 110
+f 88 110 111
+f 88 111 112
+f 88 112 89
+f 90 92 113
+f 90 113 93
+f 91 114 115
+f 91 115 92
+f 92 116 117
+f 92 117 118
+f 92 118 119
+f 92 119 94
+f 92 94 93
+f 92 93 113
+f 92 115 116
+f 94 119 118
+f 94 118 95
+f 95 118 117
+f 95 117 120
+f 95 120 96
+f 96 120 121
+f 96 121 101
+f 96 101 97
+f 99 105 100
+f 101 122 123
+f 101 121 124
+f 101 124 122
+f 106 125 122
+f 106 122 126
+f 106 126 107
+f 107 126 127
+f 107 127 128
+f 107 128 129
+f 107 129 108
+f 108 129 130
+f 108 130 120
+f 108 120 131
+f 108 131 132
+f 108 132 109
+f 109 132 110
+f 110 133 134
+f 110 134 111
+f 110 132 135
+f 110 135 136
+f 110 136 133
+f 114 137 133
+f 114 133 138
+f 114 138 115
+f 115 138 139
+f 115 139 116
+f 116 139 117
+f 117 139 120
+f 120 130 121
+f 120 139 140
+f 120 140 141
+f 120 141 131
+f 121 130 124
+f 122 124 126
+f 122 125 142
+f 122 142 123
+f 124 130 127
+f 124 127 126
+f 127 130 128
+f 128 130 129
+f 131 141 135
+f 131 135 132
+f 133 136 138
+f 133 137 134
+f 135 141 140
+f 135 140 136
+f 136 140 139
+f 136 139 138
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_18.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.07130428 -0.00000826
+v -0.00603936 0.01551000 -0.00000846
+v -0.00603936 0.07130426 0.00551416
+v 0.05524449 0.07130428 -0.00000826
+v -0.00603936 0.01550998 0.00574052
+v 0.08787531 0.01551000 -0.00000846
+v -0.00603936 0.01996194 0.00572782
+v 0.03504292 0.07130426 0.00589619
+v 0.07713851 0.07130426 0.00589619
+v 0.05619312 0.07063785 -0.00000826
+v -0.00603936 0.01632390 0.00573937
+v 0.07793622 0.01550998 0.00589599
+v 0.08762737 0.01689748 -0.00000846
+v 0.10336605 0.02051912 0.00589601
+v 0.10349541 0.01979260 0.00589600
+v 0.10408831 0.01550998 0.00589599
+v 0.07755892 0.07088365 0.00589619
+v 0.06322163 0.06473832 -0.00000828
+v 0.05942709 0.06816879 -0.00000827
+v 0.08634456 0.02237094 -0.00000844
+v 0.10247132 0.02449584 0.00589602
+v 0.07761283 0.07082903 0.00589619
+v 0.06680056 0.06093094 -0.00000830
+v 0.08549295 0.02589973 -0.00000842
+v 0.09974400 0.03440487 0.00589606
+v 0.08160140 0.06638252 0.00589617
+v 0.06986206 0.05709078 -0.00000831
+v 0.08522345 0.06210536 0.00589616
+v 0.08458743 0.02887135 -0.00000841
+v 0.09971166 0.03449773 0.00589606
+v 0.07127423 0.05510242 -0.00000832
+v 0.08886706 0.05689411 0.00589614
+v 0.08283030 0.03354181 -0.00000840
+v 0.09611117 0.04358192 0.00589609
+v 0.08167685 0.03660083 -0.00000839
+v 0.07421715 0.05069416 -0.00000833
+v 0.08925514 0.05629323 0.00589614
+v 0.09430014 0.04720904 0.00589610
+v 0.08057730 0.03884593 -0.00000838
+v 0.07821650 0.04362018 -0.00000836
+v 0.07690135 0.04602369 -0.00000835
+v 0.08963244 0.05563773 0.00589613
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 23
+f 1 23 27
+f 1 27 31
+f 1 31 36
+f 1 36 41
+f 1 41 40
+f 1 40 39
+f 1 39 35
+f 1 35 33
+f 1 33 29
+f 1 29 24
+f 1 24 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 16
+f 2 16 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 5 8 11
+f 5 12 8
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 11 8
+f 8 12 16
+f 8 16 15
+f 8 15 14
+f 8 14 21
+f 8 21 25
+f 8 25 30
+f 8 30 34
+f 8 34 38
+f 8 38 42
+f 8 42 37
+f 8 37 32
+f 8 32 28
+f 8 28 26
+f 8 26 22
+f 8 22 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 13 20 21
+f 13 21 14
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 28
+f 23 28 27
+f 24 29 25
+f 25 29 30
+f 27 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 35
+f 30 35 34
+f 31 32 36
+f 32 37 36
+f 34 35 39
+f 34 39 40
+f 34 40 38
+f 36 37 42
+f 36 42 41
+f 38 40 41
+f 38 41 42
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_19.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02090950 0.01173259 0.00532841
+v -0.02090950 0.01173259 0.00632842
+v -0.02090950 0.01738937 0.00532841
+v -0.02090950 0.01738937 0.00632842
+v -0.01834210 0.01173259 0.00532841
+v -0.01834210 0.01173259 0.00632842
+v -0.01834210 0.01738937 0.00532841
+v -0.01834210 0.01738937 0.00632842
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_2.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.10197578 0.00582771
+v -0.00603936 0.09001185 0.00018159
+v -0.00912111 0.10173706 0.00582771
+v -0.00603936 0.08005420 0.00582763
+v -0.00828063 0.08977883 0.00018159
+v -0.01265717 0.10137900 0.00582771
+v -0.00603936 0.04391232 0.00018142
+v -0.02000945 0.04391230 0.00567661
+v -0.01785904 0.04391230 0.00566721
+v -0.01637496 0.04391230 0.00566058
+v -0.01423212 0.04391230 0.00565063
+v -0.01274804 0.04391230 0.00564345
+v -0.01059762 0.04391230 0.00563239
+v -0.00697070 0.04391230 0.00561360
+v -0.00603936 0.04391230 0.00560862
+v -0.06129127 0.04391230 0.00582750
+v -0.00914382 0.08968220 0.00018159
+v -0.01637496 0.10082769 0.00582771
+v -0.07702561 0.04391232 0.00018142
+v -0.08339355 0.04391230 0.00582750
+v -0.01159711 0.08931277 0.00018159
+v -0.01456528 0.08876715 0.00018159
+v -0.02000945 0.10011725 0.00582771
+v -0.08326483 0.04421921 0.00582750
+v -0.07961519 0.05142031 0.00582753
+v -0.07686660 0.04422491 0.00018142
+v -0.01751074 0.08808512 0.00018158
+v -0.02097108 0.09990127 0.00582771
+v -0.07723762 0.05531356 0.00582754
+v -0.07625328 0.04535595 0.00018143
+v -0.07673788 0.04446931 0.00018142
+v -0.02312906 0.09939543 0.00582771
+v -0.02608966 0.08566960 0.00018157
+v -0.02363638 0.09927039 0.00582770
+v -0.07242191 0.06223048 0.00582757
+v -0.07348198 0.04966410 0.00018144
+v -0.07404987 0.04884567 0.00018144
+v -0.07569296 0.04624827 0.00018143
+v -0.02879282 0.08476022 0.00018157
+v -0.02735416 0.09817346 0.00582770
+v -0.02590037 0.09861109 0.00582770
+v -0.06949918 0.06579409 0.00582758
+v -0.06861327 0.05627411 0.00018147
+v -0.07121042 0.05285828 0.00018145
+v -0.03089023 0.09679235 0.00582770
+v -0.02882311 0.09761647 0.00582770
+v -0.03450958 0.08243564 0.00018156
+v -0.06611455 0.06971008 0.00582760
+v -0.06550123 0.05996844 0.00018148
+v -0.06626599 0.05907612 0.00018148
+v -0.03137483 0.09657637 0.00582769
+v -0.03675842 0.08152058 0.00018156
+v -0.06269207 0.07357491 0.00582761
+v -0.05924687 0.07741133 0.00582762
+v -0.06281322 0.06283864 0.00018149
+v -0.03372210 0.09546808 0.00582769
+v -0.03606181 0.09432568 0.00582769
+v -0.04384569 0.07785467 0.00018155
+v -0.05561995 0.08106019 0.00582764
+v -0.06201060 0.06366277 0.00018149
+v -0.04088509 0.09173964 0.00582768
+v -0.04768463 0.07548462 0.00018154
+v -0.05823981 0.06723206 0.00018151
+v -0.05914086 0.06639089 0.00018150
+v -0.05172801 0.08444761 0.00582765
+v -0.04327023 0.09025055 0.00582767
+v -0.04915357 0.07454683 0.00018153
+v -0.05529435 0.06978967 0.00018152
+v -0.04749533 0.08752243 0.00582766
+v -0.05052408 0.07355788 0.00018153
+v -0.05318180 0.07150611 0.00018152
+v -0.05420400 0.07071609 0.00018152
+f 1 2 3
+f 1 3 6
+f 1 6 18
+f 1 18 23
+f 1 23 28
+f 1 28 32
+f 1 32 34
+f 1 34 41
+f 1 41 40
+f 1 40 46
+f 1 46 45
+f 1 45 51
+f 1 51 56
+f 1 56 57
+f 1 57 61
+f 1 61 66
+f 1 66 69
+f 1 69 65
+f 1 65 59
+f 1 59 54
+f 1 54 53
+f 1 53 48
+f 1 48 42
+f 1 42 35
+f 1 35 29
+f 1 29 25
+f 1 25 24
+f 1 24 20
+f 1 20 16
+f 1 16 4
+f 1 4 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 19
+f 2 19 26
+f 2 26 31
+f 2 31 30
+f 2 30 38
+f 2 38 37
+f 2 37 36
+f 2 36 44
+f 2 44 43
+f 2 43 50
+f 2 50 49
+f 2 49 55
+f 2 55 60
+f 2 60 64
+f 2 64 63
+f 2 63 68
+f 2 68 72
+f 2 72 71
+f 2 71 70
+f 2 70 67
+f 2 67 62
+f 2 62 58
+f 2 58 52
+f 2 52 47
+f 2 47 39
+f 2 39 33
+f 2 33 27
+f 2 27 22
+f 2 22 21
+f 2 21 17
+f 2 17 5
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 16 8
+f 5 17 6
+f 6 17 18
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 7 8 16
+f 7 16 20
+f 7 20 19
+f 17 21 18
+f 18 22 23
+f 18 21 22
+f 19 20 24
+f 19 24 25
+f 19 25 26
+f 22 27 28
+f 22 28 23
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 27 33 34
+f 27 34 32
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 39 45 46
+f 39 46 40
+f 39 47 45
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 45 47 52
+f 45 52 51
+f 48 53 49
+f 49 53 54
+f 49 54 55
+f 51 52 56
+f 52 57 56
+f 52 58 57
+f 54 59 60
+f 54 60 55
+f 57 58 61
+f 58 62 61
+f 59 63 64
+f 59 64 60
+f 59 65 63
+f 61 62 66
+f 62 67 66
+f 63 65 68
+f 65 69 70
+f 65 70 71
+f 65 71 72
+f 65 72 68
+f 66 67 69
+f 67 70 69
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_20.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04096043 0.05931731 -0.00593349
+v -0.03455459 0.04391234 -0.00625988
+v -0.03814377 0.04391234 -0.00603050
+v -0.04029387 0.04391234 -0.00586970
+v -0.04096043 0.04391234 -0.00581925
+v -0.04096043 0.05931729 0.00018093
+v -0.00603936 0.05931732 -0.00726089
+v -0.00603936 0.05684885 -0.00736968
+v -0.00603936 0.05321474 -0.00752734
+v -0.00603936 0.05266134 -0.00755100
+v -0.00603936 0.04958215 -0.00766767
+v -0.00603936 0.04902874 -0.00768816
+v -0.00603936 0.04391235 -0.00787185
+v -0.04096043 0.04391232 0.00018087
+v -0.00603936 0.05931729 0.00018093
+v -0.00603936 0.04391232 0.00018087
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 15
+f 1 15 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 13 16
+f 2 16 14
+f 2 14 5
+f 2 5 4
+f 2 4 3
+f 6 14 16
+f 6 16 15
+f 7 15 16
+f 7 16 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_21.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.06375252 0.04799962 0.00589611
+v 0.06432684 0.04622155 0.00589610
+v 0.07568857 0.04799960 0.01015304
+v 0.09384420 0.04799962 0.00589611
+v 0.07794133 0.01550452 0.00589599
+v 0.08803422 0.01550450 0.01042254
+v 0.08856402 0.01550450 0.01063795
+v 0.07797695 0.04799960 0.01084526
+v 0.09248631 0.01550450 0.01183854
+v 0.09608361 0.04799962 0.00630568
+v 0.09430277 0.04721078 0.00589610
+v 0.10408401 0.01550452 0.00589599
+v 0.08160541 0.04799960 0.01171791
+v 0.09611477 0.01550449 0.01246010
+v 0.09611477 0.04539454 0.00603537
+v 0.09714320 0.04799962 0.00653345
+v 0.09611477 0.04358148 0.00589609
+v 0.10349633 0.01979224 0.00589600
+v 0.10614533 0.01550452 0.00636045
+v 0.08523386 0.04799959 0.01231958
+v 0.09974323 0.01550449 0.01281547
+v 0.08885786 0.04799959 0.01268387
+v 0.09800245 0.04737936 0.00665281
+v 0.09834972 0.04539454 0.00652178
+v 0.09906206 0.04175888 0.00634750
+v 0.09974323 0.03449074 0.00590155
+v 0.09781102 0.04799961 0.00681610
+v 0.09968980 0.03454482 0.00589606
+v 0.10346963 0.01995764 0.00589600
+v 0.10579806 0.01995764 0.00643867
+v 0.10795733 0.01550451 0.00744509
+v 0.10337168 0.01550449 0.01290466
+v 0.09974323 0.01632514 0.01282370
+v 0.09611477 0.03449071 0.01286631
+v 0.09248631 0.04175885 0.01279155
+v 0.09248631 0.04539451 0.01282793
+v 0.09248631 0.04799959 0.01283549
+v 0.09826958 0.04799961 0.00741571
+v 0.10171550 0.04393771 0.00961653
+v 0.10087850 0.04175887 0.00732238
+v 0.10137269 0.03956094 0.00679275
+v 0.10179564 0.03714035 0.00657938
+v 0.09999254 0.03826000 0.00626036
+v 0.09974323 0.03440168 0.00589606
+v 0.10217407 0.03449074 0.00645039
+v 0.10275284 0.03086144 0.00632894
+v 0.10337168 0.02052065 0.00589601
+v 0.10551313 0.02359330 0.00653816
+v 0.10337168 0.02359330 0.00602157
+v 0.10529053 0.02601072 0.00663559
+v 0.10789500 0.01632516 0.00752947
+v 0.10918165 0.01632516 0.00916844
+v 0.10923063 0.01550451 0.00908406
+v 0.10700013 0.01550450 0.01203886
+v 0.10337168 0.01632514 0.01290054
+v 0.09974323 0.03086141 0.01289236
+v 0.09611477 0.03812637 0.01289033
+v 0.09611477 0.04175885 0.01288417
+v 0.09611477 0.04539451 0.01276756
+v 0.09611477 0.04799959 0.01240739
+v 0.09895075 0.04799961 0.00838166
+v 0.10171550 0.04393771 0.01019555
+v 0.10543299 0.03346333 0.00943469
+v 0.10212954 0.04175887 0.00896134
+v 0.09911993 0.04799960 0.01017705
+v 0.10456484 0.03086143 0.00719267
+v 0.10498333 0.02843131 0.00680162
+v 0.10106549 0.02961775 0.00589604
+v 0.10361654 0.02722260 0.00629600
+v 0.10247236 0.02449665 0.00589602
+v 0.10918165 0.01632515 0.01051858
+v 0.10897686 0.01911153 0.00959792
+v 0.10923063 0.01550450 0.01058101
+v 0.10700013 0.01632515 0.01197163
+v 0.10337168 0.02722575 0.01262685
+v 0.10337168 0.02359327 0.01281207
+v 0.10337168 0.01995761 0.01287036
+v 0.09974323 0.03449071 0.01284847
+v 0.09974323 0.03812637 0.01265502
+v 0.09974323 0.04175886 0.01212197
+v 0.09903089 0.04799960 0.01091935
+v 0.10212954 0.04175886 0.01066960
+v 0.10543299 0.03346332 0.01032586
+v 0.10581142 0.03086143 0.00883164
+v 0.10613643 0.02722259 0.00806943
+v 0.10897686 0.01911153 0.01022291
+v 0.10629670 0.02722576 0.01115390
+v 0.10673301 0.02359328 0.01133432
+v 0.10337168 0.03086142 0.01221317
+v 0.10281516 0.03812638 0.01117933
+v 0.09986788 0.04524502 0.01117318
+v 0.10581142 0.03086142 0.01076149
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 20
+f 1 20 22
+f 1 22 37
+f 1 37 60
+f 1 60 81
+f 1 81 65
+f 1 65 61
+f 1 61 38
+f 1 38 27
+f 1 27 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 28
+f 1 28 44
+f 1 44 68
+f 1 68 70
+f 1 70 47
+f 1 47 29
+f 1 29 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 5 12 19
+f 5 19 31
+f 5 31 53
+f 5 53 73
+f 5 73 54
+f 5 54 32
+f 5 32 21
+f 5 21 14
+f 5 14 9
+f 5 9 7
+f 5 7 6
+f 8 9 13
+f 9 14 13
+f 10 15 11
+f 10 16 15
+f 11 15 17
+f 12 18 19
+f 13 14 20
+f 14 21 22
+f 14 22 20
+f 15 16 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 17
+f 16 27 23
+f 17 26 28
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 23 27 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 25
+f 25 42 43
+f 25 43 26
+f 26 44 28
+f 26 43 45
+f 26 45 46
+f 26 46 44
+f 29 47 30
+f 30 48 31
+f 30 47 49
+f 30 49 48
+f 31 48 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 34
+f 32 34 33
+f 34 57 36
+f 34 36 35
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 38 61 39
+f 39 62 83
+f 39 83 63
+f 39 63 64
+f 39 64 40
+f 39 61 65
+f 39 65 62
+f 40 64 41
+f 41 64 63
+f 41 63 66
+f 41 66 67
+f 41 67 42
+f 42 45 43
+f 42 67 50
+f 42 50 45
+f 44 46 49
+f 44 49 68
+f 45 50 46
+f 46 50 69
+f 46 69 49
+f 47 70 49
+f 48 49 69
+f 48 69 50
+f 49 70 68
+f 50 67 51
+f 51 67 52
+f 52 71 73
+f 52 73 53
+f 52 67 72
+f 52 72 86
+f 52 86 71
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 55 77 56
+f 56 78 58
+f 56 58 57
+f 56 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 60
+f 60 79 80
+f 60 80 81
+f 62 82 83
+f 62 65 81
+f 62 81 82
+f 63 83 86
+f 63 86 72
+f 63 72 84
+f 63 84 66
+f 66 84 67
+f 67 84 85
+f 67 85 72
+f 71 86 87
+f 71 87 88
+f 71 88 73
+f 72 85 84
+f 73 88 74
+f 74 88 75
+f 75 88 87
+f 75 87 89
+f 75 89 79
+f 75 79 78
+f 75 78 76
+f 76 78 77
+f 79 89 80
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 82
+f 82 91 90
+f 82 90 83
+f 83 92 86
+f 83 90 92
+f 86 92 87
+f 87 92 89
+f 89 92 90
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_22.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05566365 0.05234154 0.00559590
+v -0.05566365 0.05234154 0.00659590
+v -0.05566365 0.05851574 0.00559590
+v -0.05566365 0.05851574 0.00659590
+v -0.05046747 0.05234154 0.00559590
+v -0.05046747 0.05234154 0.00659590
+v -0.05046747 0.05851574 0.00559590
+v -0.05046747 0.05851574 0.00659590
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_23.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03503398 0.07130972 0.00589619
+v 0.05519082 0.07130970 0.01035146
+v 0.07714188 0.07130972 0.00589619
+v 0.06094365 0.05013303 0.00589611
+v 0.07568016 0.04800188 0.01015294
+v 0.07796999 0.04800188 0.01084475
+v 0.08160236 0.04800188 0.01171799
+v 0.05625732 0.07130970 0.01057300
+v 0.07749320 0.07130972 0.00593969
+v 0.07796999 0.07083056 0.00594037
+v 0.07761240 0.07083056 0.00589619
+v 0.06375418 0.04800190 0.00589611
+v 0.08522846 0.04800187 0.01231941
+v 0.05983323 0.07130970 0.01126004
+v 0.07793863 0.07130972 0.00600968
+v 0.08065506 0.07130972 0.00645208
+v 0.08137652 0.07057729 0.00645616
+v 0.08160236 0.06719805 0.00598725
+v 0.08160236 0.06638347 0.00589617
+v 0.09384202 0.04800190 0.00589611
+v 0.08885456 0.04800187 0.01268366
+v 0.06708543 0.07130970 0.01223319
+v 0.06345933 0.07130970 0.01179826
+v 0.08094364 0.07130972 0.00650645
+v 0.08355970 0.06919456 0.00663488
+v 0.08495243 0.06683525 0.00650780
+v 0.08522846 0.06356326 0.00606538
+v 0.08522846 0.06210524 0.00589616
+v 0.08963875 0.05564340 0.00589613
+v 0.09608166 0.04800190 0.00630521
+v 0.09248693 0.04800187 0.01283521
+v 0.08885456 0.04902864 0.01271628
+v 0.07434389 0.07083053 0.01273199
+v 0.07071152 0.07130969 0.01254579
+v 0.07071152 0.07083053 0.01251725
+v 0.08257476 0.07130971 0.00735183
+v 0.08704778 0.06538408 0.00669127
+v 0.08757476 0.06356326 0.00652884
+v 0.08892357 0.05990794 0.00628011
+v 0.08886711 0.05689835 0.00589614
+v 0.08924979 0.05629825 0.00589614
+v 0.09178430 0.05629825 0.00638815
+v 0.09281316 0.05297834 0.00620941
+v 0.09607539 0.04876856 0.00638472
+v 0.09714188 0.04800190 0.00653355
+v 0.09611303 0.04800187 0.01240776
+v 0.09248693 0.04902864 0.01283861
+v 0.07796999 0.07083053 0.01281082
+v 0.07434389 0.07130969 0.01274151
+v 0.08300136 0.07130971 0.00775482
+v 0.08410550 0.07130971 0.00883737
+v 0.08771905 0.06628307 0.00833175
+v 0.09118831 0.06252051 0.00918800
+v 0.09017200 0.06110355 0.00700249
+v 0.09424352 0.05440214 0.00671502
+v 0.09100011 0.05868494 0.00655738
+v 0.09483951 0.05197895 0.00650774
+v 0.09781316 0.04800189 0.00681557
+v 0.09903021 0.04800188 0.01091950
+v 0.09611303 0.04902864 0.01226573
+v 0.09248693 0.05266343 0.01272717
+v 0.08885456 0.05629822 0.01281689
+v 0.08160236 0.06719802 0.01278907
+v 0.07796999 0.07130969 0.01274898
+v 0.08426234 0.07130970 0.01067018
+v 0.09118831 0.06252050 0.01053831
+v 0.09439408 0.05826736 0.00978261
+v 0.09497752 0.05629824 0.00902692
+v 0.09816447 0.05131039 0.00947610
+v 0.09725481 0.04980673 0.00729195
+v 0.09827112 0.04800189 0.00741563
+v 0.09912432 0.04800188 0.01017741
+v 0.09816447 0.05131038 0.01028615
+v 0.09871654 0.04902865 0.01082436
+v 0.09623850 0.05257902 0.01121240
+v 0.09248693 0.05629823 0.01208907
+v 0.08885456 0.05992844 0.01253080
+v 0.08522846 0.06356323 0.01272245
+v 0.08160236 0.07083054 0.01223183
+v 0.08157727 0.07130970 0.01204155
+v 0.08446309 0.07083054 0.01081221
+v 0.08794490 0.06658196 0.01077685
+v 0.09243047 0.05965693 0.01094876
+v 0.09497752 0.05629823 0.01066945
+v 0.09439408 0.05826736 0.01010065
+v 0.08903650 0.06366364 0.01136739
+v 0.09894866 0.04800189 0.00838198
+v 0.09860362 0.04876855 0.00836295
+v 0.08558605 0.06755398 0.01156448
+f 1 2 8
+f 1 8 14
+f 1 14 23
+f 1 23 22
+f 1 22 34
+f 1 34 49
+f 1 49 64
+f 1 64 80
+f 1 80 65
+f 1 65 51
+f 1 51 50
+f 1 50 36
+f 1 36 24
+f 1 24 16
+f 1 16 15
+f 1 15 9
+f 1 9 3
+f 1 3 11
+f 1 11 19
+f 1 19 28
+f 1 28 40
+f 1 40 41
+f 1 41 29
+f 1 29 20
+f 1 20 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 20
+f 5 20 30
+f 5 30 45
+f 5 45 58
+f 5 58 71
+f 5 71 87
+f 5 87 72
+f 5 72 59
+f 5 59 46
+f 5 46 31
+f 5 31 21
+f 5 21 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 20 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 34
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 33
+f 31 33 32
+f 33 49 34
+f 36 50 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 37 50 51
+f 38 56 39
+f 39 56 42
+f 39 42 40
+f 40 42 41
+f 42 55 57
+f 42 57 43
+f 42 56 55
+f 43 57 44
+f 44 57 45
+f 45 57 55
+f 45 55 58
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 63 64
+f 48 64 49
+f 48 62 63
+f 51 65 53
+f 51 53 52
+f 53 65 66
+f 53 66 85
+f 53 85 67
+f 53 67 55
+f 53 55 54
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 58
+f 58 70 69
+f 58 69 71
+f 59 72 73
+f 59 73 74
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 78
+f 61 78 62
+f 62 78 63
+f 63 79 64
+f 63 78 79
+f 64 79 80
+f 65 81 82
+f 65 82 66
+f 65 80 81
+f 66 83 84
+f 66 84 85
+f 66 82 86
+f 66 86 83
+f 67 85 73
+f 67 73 69
+f 67 69 68
+f 69 73 72
+f 69 72 87
+f 69 87 88
+f 69 88 71
+f 71 88 87
+f 73 85 84
+f 73 84 74
+f 74 84 75
+f 75 84 76
+f 76 84 83
+f 76 83 86
+f 76 86 77
+f 77 86 79
+f 77 79 78
+f 79 86 89
+f 79 89 81
+f 79 81 80
+f 81 89 82
+f 82 89 86
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_24.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.06606190 0.05931729 0.00018093
+v -0.06254861 0.05931731 -0.00478168
+v -0.06269691 0.05915898 -0.00478168
+v -0.06451181 0.05713685 -0.00478169
+v -0.06546516 0.05460353 -0.00654586
+v -0.06606190 0.05531980 -0.00478170
+v -0.06626669 0.05907452 0.00018093
+v -0.04096043 0.05931729 0.00018093
+v -0.06032411 0.05931732 -0.00752005
+v -0.06199425 0.05840049 -0.00672238
+v -0.06321242 0.05591544 -0.00772637
+v -0.06443060 0.05336554 -0.00873148
+v -0.06611133 0.05235673 -0.00780693
+v -0.06885134 0.05066182 -0.00621599
+v -0.06801803 0.05273823 -0.00498802
+v -0.06861477 0.05626826 0.00018092
+v -0.04096043 0.04391232 0.00018087
+v -0.04096043 0.05931731 -0.00593351
+v -0.05985450 0.05931732 -0.00798784
+v -0.06092437 0.05722583 -0.00890800
+v -0.06543692 0.05094382 -0.00975535
+v -0.06201190 0.05480411 -0.00988884
+v -0.06806394 0.04928207 -0.00824275
+v -0.06972348 0.04823859 -0.00727295
+v -0.07214218 0.04650145 -0.00567650
+v -0.07084632 0.04908905 -0.00485454
+v -0.06955046 0.05157862 -0.00403147
+v -0.07121354 0.05285432 0.00018090
+v -0.04096043 0.04391234 -0.00581994
+v -0.07702900 0.04391232 0.00018087
+v -0.04845662 0.05931733 -0.01028380
+v -0.05930720 0.05931732 -0.00848984
+v -0.05850921 0.05852416 -0.00994951
+v -0.06335366 0.05235674 -0.01019225
+v -0.06612192 0.04902875 -0.01010731
+v -0.06952928 0.04441902 -0.01004003
+v -0.06872069 0.04684225 -0.00945858
+v -0.05979447 0.05612656 -0.01031470
+v -0.07083573 0.04546099 -0.00813905
+v -0.07292604 0.04407972 -0.00681841
+v -0.07349806 0.04533280 -0.00466368
+v -0.07282364 0.04751627 -0.00349198
+v -0.07348393 0.04965902 0.00018089
+v -0.06355846 0.04391236 -0.01076710
+v -0.04902863 0.05931733 -0.01056734
+v -0.07687011 0.04422295 0.00018087
+v -0.07572608 0.04391233 -0.00225189
+v -0.05706506 0.05931733 -0.01019222
+v -0.06354787 0.04902875 -0.01095795
+v -0.06737541 0.04553639 -0.01055856
+v -0.06974114 0.04391236 -0.01008306
+v -0.07016838 0.04391236 -0.00976751
+v -0.07141834 0.04391235 -0.00859141
+v -0.05618232 0.05931733 -0.01045039
+v -0.05991806 0.05266135 -0.01106937
+v -0.07282011 0.04391235 -0.00704900
+v -0.07295782 0.04391235 -0.00689234
+v -0.07310966 0.04391234 -0.00667388
+v -0.07427840 0.04391234 -0.00475085
+v -0.07508698 0.04391233 -0.00337945
+v -0.07625219 0.04535540 0.00018088
+v -0.07569431 0.04624357 0.00018088
+v -0.07405242 0.04884173 0.00018089
+v -0.06729066 0.04391236 -0.01081123
+v -0.06354787 0.04539616 -0.01105063
+v -0.05264785 0.05931733 -0.01101528
+v -0.07673946 0.04446874 0.00018087
+v -0.05629178 0.05629545 -0.01109031
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 28
+f 1 28 43
+f 1 43 63
+f 1 63 62
+f 1 62 61
+f 1 61 67
+f 1 67 46
+f 1 46 30
+f 1 30 17
+f 1 17 8
+f 1 8 18
+f 1 18 31
+f 1 31 45
+f 1 45 66
+f 1 66 54
+f 1 54 48
+f 1 48 32
+f 1 32 19
+f 1 19 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 8 17 29
+f 8 29 18
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 12
+f 12 21 13
+f 12 20 22
+f 12 22 21
+f 13 21 14
+f 14 21 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 14 16 15
+f 16 27 28
+f 17 30 47
+f 17 47 60
+f 17 60 59
+f 17 59 58
+f 17 58 57
+f 17 57 56
+f 17 56 53
+f 17 53 52
+f 17 52 51
+f 17 51 64
+f 17 64 44
+f 17 44 29
+f 18 29 31
+f 19 32 33
+f 19 33 20
+f 20 33 22
+f 21 22 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 23
+f 22 33 38
+f 22 38 34
+f 23 37 24
+f 24 39 40
+f 24 40 25
+f 24 37 39
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 27
+f 27 42 28
+f 28 42 43
+f 29 44 45
+f 29 45 31
+f 30 46 47
+f 32 48 33
+f 33 48 38
+f 34 49 35
+f 34 38 49
+f 35 50 36
+f 35 49 50
+f 36 51 52
+f 36 52 37
+f 36 50 51
+f 37 52 53
+f 37 53 39
+f 38 48 54
+f 38 54 55
+f 38 55 49
+f 39 53 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 40 53 56
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 46 67 47
+f 47 67 61
+f 47 61 60
+f 49 55 65
+f 49 65 64
+f 49 64 50
+f 50 64 51
+f 54 66 68
+f 54 68 55
+f 55 68 65
+f 65 68 66
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_3.obj

@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
+v -0.05566897 0.05233823 0.00582753
+v -0.05566897 0.08100177 0.00582764
+v -0.05566897 0.07146030 0.01149679
+v -0.07601276 -0.00505743 0.00582732
+v -0.05925310 0.07740658 0.00582762
+v -0.05992413 0.08536105 0.00725355
+v -0.05566897 0.08109973 0.00584437
+v -0.05566897 0.07445793 0.01221719
+v -0.08894864 -0.00505746 0.01229498
+v -0.09343279 -0.00505743 0.00582732
+v -0.05566897 0.07508487 0.01236406
+v -0.06717759 0.08172668 0.00790979
+v -0.06269876 0.07357629 0.00582761
+v -0.06355086 0.08536105 0.00788191
+v -0.05629206 0.08899542 0.00732607
+v -0.05566897 0.08837826 0.00712528
+v -0.09101497 -0.00505746 0.01317710
+v -0.10709296 -0.00505744 0.00903512
+v -0.09360854 -0.00184429 0.00582733
+v -0.05566897 0.07824902 0.01283813
+v -0.06612312 0.06970681 0.00582760
+v -0.07080965 0.07809230 0.00798693
+v -0.07829212 0.07467345 0.00907631
+v -0.07467071 0.07832741 0.00903079
+v -0.06726813 0.08546881 0.00900478
+v -0.05992413 0.08899542 0.00803716
+v -0.07099605 0.08192260 0.00900756
+v -0.05566897 0.09285510 0.00844895
+v -0.05566897 0.08902481 0.00724148
+v -0.09282568 -0.00505746 0.01367533
+v -0.05566897 0.07910128 0.01296548
+v -0.05566897 0.08024743 0.01309933
+v -0.05566897 0.08108011 0.01319415
+v -0.10920721 -0.00505745 0.00973320
+v -0.10923384 -0.00184431 0.00971834
+v -0.10709296 -0.00184430 0.00901468
+v -0.09361919 -0.00016915 0.00582734
+v -0.06950488 0.06578835 0.00582758
+v -0.07443638 0.07445794 0.00807986
+v -0.07723232 0.07727922 0.00951971
+v -0.07806844 0.07082356 0.00819046
+v -0.08183897 0.07095091 0.00916368
+v -0.08072591 0.07360566 0.00955874
+v -0.06611780 0.08779049 0.00953834
+v -0.06344435 0.08899542 0.00911355
+v -0.07361624 0.08083523 0.00951787
+v -0.06991495 0.08432266 0.00951509
+v -0.05992413 0.09186570 0.00925857
+v -0.05655834 0.09292368 0.00871851
+v -0.05566897 0.09478495 0.00933480
+v -0.09620211 -0.00505746 0.01445706
+v -0.05566897 0.08238300 0.01333730
+v -0.05566897 0.08269648 0.01337169
+v -0.10997411 -0.00505745 0.01160899
+v -0.11006997 -0.00184431 0.01160900
+v -0.11005932 0.00179007 0.01160902
+v -0.10921787 0.00179007 0.00973230
+v -0.10709296 0.00179008 0.00902493
+v -0.09362984 0.00179009 0.00582735
+v -0.07242331 0.06222255 0.00582757
+v -0.07959156 0.07597633 0.01160929
+v -0.07777554 0.07776902 0.01160930
+v -0.08169518 0.06718919 0.00835777
+v -0.08535386 0.06716959 0.00930310
+v -0.08416625 0.06981455 0.00962658
+v -0.08305853 0.07216562 0.01160928
+v -0.08124782 0.07416404 0.01160928
+v -0.06216620 0.09112118 0.00969823
+v -0.07590625 0.07959111 0.01160930
+v -0.07409554 0.08122706 0.01160931
+v -0.07206116 0.08303936 0.01160932
+v -0.05566897 0.09498086 0.00958949
+v -0.09983416 -0.00505747 0.01502314
+v -0.05566897 0.08598798 0.01363012
+v -0.10971315 -0.00505746 0.01369392
+v -0.10973445 -0.00184432 0.01401275
+v -0.10974511 0.00179006 0.01401835
+v -0.10968653 0.00542443 0.01398304
+v -0.10995813 0.00542444 0.01160903
+v -0.10910604 0.00905881 0.00981319
+v -0.10917526 0.00542444 0.00976391
+v -0.10709296 0.00542445 0.00906677
+v -0.09357659 0.00344563 0.00582735
+v -0.07724297 0.05530646 0.00582754
+v -0.08531658 0.06356461 0.00856038
+v -0.08432602 0.06999087 0.01363564
+v -0.08085906 0.07371340 0.01363286
+v -0.07730688 0.07726941 0.01359662
+v -0.08753736 0.06593527 0.00972416
+v -0.08894864 0.05993024 0.00883180
+v -0.08882615 0.06329032 0.00948898
+v -0.08461893 0.07035333 0.01160927
+v -0.08768647 0.06615077 0.01358728
+v -0.06626691 0.08787865 0.01160933
+v -0.06391832 0.08969094 0.01160934
+v -0.06210762 0.09107220 0.01160934
+v -0.05566897 0.09501025 0.01160936
+v -0.07358962 0.08073725 0.01355109
+v -0.06974453 0.08409733 0.01348138
+v -0.06581424 0.08749659 0.01341726
+v -0.10346090 -0.00505747 0.01530944
+v -0.05566897 0.08899540 0.01377607
+v -0.05566897 0.08962236 0.01379280
+v -0.10967055 -0.00505746 0.01397370
+v -0.10709296 -0.00505747 0.01504173
+v -0.10709296 -0.00184433 0.01508543
+v -0.10709296 0.00179005 0.01509753
+v -0.10709296 0.00542442 0.01506687
+v -0.10709296 0.00905880 0.01496835
+v -0.10956936 0.00905880 0.01390032
+v -0.10939362 0.01269317 0.01375627
+v -0.10976641 0.00905881 0.01160904
+v -0.10900484 0.01195847 0.00988756
+v -0.10709296 0.00905882 0.00913742
+v -0.09336356 0.00682531 0.00582737
+v -0.09345942 0.00542446 0.00582736
+v -0.07961819 0.05140760 0.00582753
+v -0.08544972 0.06729692 0.01396654
+v -0.08191885 0.07104885 0.01397770
+v -0.07833472 0.07474200 0.01393774
+v -0.07465473 0.07832739 0.01386154
+v -0.08642963 0.06818838 0.01160926
+v -0.09087118 0.06190905 0.00989054
+v -0.09144102 0.05993023 0.00962283
+v -0.08894864 0.05629586 0.00837632
+v -0.09257538 0.05266149 0.00868769
+v -0.09268721 0.05630566 0.00930399
+v -0.09100432 0.06210496 0.01343483
+v -0.08891669 0.06341765 0.01385776
+v -0.06179873 0.09085668 0.01327412
+v -0.05566897 0.09344286 0.01348513
+v -0.07089486 0.08186380 0.01376023
+v -0.06708705 0.08533164 0.01364684
+v -0.06322600 0.08882887 0.01350650
+v -0.10346090 -0.00184433 0.01531502
+v -0.05566897 0.09261998 0.01359203
+v -0.06355086 0.08536103 0.01390432
+v -0.07080965 0.07809228 0.01422406
+v -0.07443638 0.07445792 0.01437090
+v -0.10346090 0.00542442 0.01532342
+v -0.10346090 0.00179005 0.01532062
+v -0.10346090 0.00905879 0.01530391
+v -0.10346090 0.01269316 0.01525745
+v -0.10346090 0.01632753 0.01520541
+v -0.10346090 0.01996191 0.01515243
+v -0.10346090 0.02359628 0.01508181
+v -0.10709296 0.01269317 0.01478804
+v -0.10346090 0.02723066 0.01492845
+v -0.10709296 0.01632754 0.01452221
+v -0.10658703 0.02359629 0.01411696
+v -0.10916462 0.01632754 0.01352947
+v -0.10898887 0.01859046 0.01334172
+v -0.10898887 0.01859046 0.01282862
+v -0.10916462 0.01632755 0.01214354
+v -0.10935634 0.01297727 0.01130510
+v -0.10888236 0.01438792 0.01001120
+v -0.10610772 0.02359631 0.00951766
+v -0.10649116 0.01996194 0.00942840
+v -0.10686396 0.01632756 0.00936704
+v -0.10743912 0.01297728 0.00940143
+v -0.09307598 0.00963680 0.00582738
+v -0.09313989 0.00905883 0.00582737
+v -0.10346090 0.02359631 0.00874429
+v -0.10346090 0.01996194 0.00861600
+v -0.08326623 0.04421722 0.00582750
+v -0.08894864 0.05993022 0.01448983
+v -0.08531658 0.06356459 0.01457815
+v -0.08169518 0.06718917 0.01455121
+v -0.07806844 0.07082354 0.01447872
+v -0.08785689 0.06637610 0.01160925
+v -0.09102562 0.06213437 0.01160924
+v -0.08966760 0.06395645 0.01160924
+v -0.09472692 0.05510073 0.00974829
+v -0.09783174 0.05054551 0.01084605
+v -0.09505178 0.05568849 0.01160921
+v -0.09394938 0.05751058 0.01160922
+v -0.09620211 0.04539275 0.00867837
+v -0.09645773 0.04921325 0.00927421
+v -0.09541392 0.05266149 0.00949638
+v -0.09493462 0.05547297 0.01364022
+v -0.09171795 0.05993022 0.01374435
+v -0.09804477 0.05088837 0.01327305
+v -0.09283633 0.05653095 0.01408734
+v -0.05992413 0.09127791 0.01341821
+v -0.05618555 0.09261018 0.01356321
+v -0.05566897 0.09298243 0.01355299
+v -0.05992413 0.08899540 0.01373795
+v -0.08531658 0.05993022 0.01468132
+v -0.09257538 0.04902710 0.01487555
+v -0.09620211 0.04176814 0.01498148
+v -0.09983416 0.03449940 0.01503259
+v -0.09983416 0.03813378 0.01487551
+v -0.10346090 0.03086503 0.01458918
+v -0.10618228 0.02723066 0.01396732
+v -0.10571363 0.03086503 0.01365036
+v -0.10538876 0.03303978 0.01337151
+v -0.10538876 0.03303978 0.01263439
+v -0.10575624 0.03099239 0.01156915
+v -0.10665626 0.02723067 0.01160911
+v -0.10548995 0.02985604 0.00981048
+v -0.10867999 0.01632755 0.01050572
+v -0.10575091 0.02723067 0.00965338
+v -0.10346090 0.02723068 0.00891719
+v -0.09266058 0.01256585 0.00582739
+v -0.09079662 0.02243058 0.00582742
+v -0.09127593 0.01996195 0.00582741
+v -0.09142504 0.01918805 0.00582741
+v -0.08674384 0.03640969 0.00582747
+v -0.09257538 0.05266147 0.01475286
+v -0.08894864 0.05629584 0.01474916
+v -0.09837495 0.04812586 0.00972596
+v -0.10187920 0.04058283 0.00979844
+v -0.10216678 0.04126856 0.01160916
+v -0.10136261 0.04309064 0.01160917
+v -0.09860395 0.04921324 0.01180717
+v -0.09804477 0.05088837 0.01303137
+v -0.09894479 0.04539275 0.00948613
+v -0.09983416 0.03813380 0.00884008
+v -0.09999926 0.04177797 0.00934390
+v -0.09848679 0.04902710 0.01360953
+v -0.09617015 0.05231861 0.01382333
+v -0.09620211 0.04902710 0.01444703
+v -0.10210819 0.04108242 0.01364575
+v -0.09620211 0.04539273 0.01488204
+v -0.10263011 0.03813378 0.01395806
+v -0.09933888 0.04539273 0.01401851
+v -0.10509586 0.03228549 0.01045000
+v -0.10225732 0.03813379 0.00959765
+v -0.10285378 0.03449943 0.00941359
+v -0.10371653 0.03099240 0.00933642
+v -0.09015222 0.02528126 0.00582743
+v -0.09983416 0.03449943 0.00857330
+v -0.08763322 0.03360799 0.00582746
+f 1 2 7
+f 1 7 16
+f 1 16 29
+f 1 29 28
+f 1 28 50
+f 1 50 72
+f 1 72 97
+f 1 97 131
+f 1 131 186
+f 1 186 136
+f 1 136 103
+f 1 103 102
+f 1 102 74
+f 1 74 53
+f 1 53 52
+f 1 52 33
+f 1 33 32
+f 1 32 31
+f 1 31 20
+f 1 20 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 37
+f 1 37 59
+f 1 59 83
+f 1 83 116
+f 1 116 115
+f 1 115 162
+f 1 162 161
+f 1 161 204
+f 1 204 207
+f 1 207 206
+f 1 206 205
+f 1 205 231
+f 1 231 233
+f 1 233 208
+f 1 208 165
+f 1 165 117
+f 1 117 84
+f 1 84 60
+f 1 60 38
+f 1 38 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 9 17
+f 4 17 30
+f 4 30 51
+f 4 51 73
+f 4 73 101
+f 4 101 105
+f 4 105 104
+f 4 104 75
+f 4 75 54
+f 4 54 34
+f 4 34 18
+f 4 18 10
+f 4 8 11
+f 4 11 9
+f 5 12 6
+f 5 13 12
+f 6 14 15
+f 6 15 7
+f 6 12 14
+f 7 15 16
+f 9 11 17
+f 10 18 19
+f 11 20 17
+f 12 13 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 14 25 26
+f 14 26 15
+f 14 24 27
+f 14 27 25
+f 15 26 28
+f 15 28 29
+f 15 29 16
+f 17 20 31
+f 17 31 32
+f 17 32 33
+f 17 33 30
+f 18 34 35
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 21 38 22
+f 22 38 39
+f 22 39 23
+f 23 40 24
+f 23 39 41
+f 23 41 42
+f 23 42 43
+f 23 43 40
+f 24 40 27
+f 25 44 45
+f 25 45 26
+f 25 27 46
+f 25 46 47
+f 25 47 44
+f 26 45 48
+f 26 48 49
+f 26 49 28
+f 27 40 46
+f 28 49 50
+f 30 33 52
+f 30 52 53
+f 30 53 51
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 37
+f 38 41 39
+f 38 60 41
+f 40 43 61
+f 40 61 62
+f 40 62 46
+f 41 60 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 43 66 67
+f 43 67 61
+f 44 68 45
+f 44 47 69
+f 44 69 70
+f 44 70 71
+f 44 71 68
+f 45 68 48
+f 46 62 69
+f 46 69 47
+f 48 68 50
+f 48 50 49
+f 50 68 72
+f 51 53 74
+f 51 74 73
+f 54 75 55
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 58
+f 58 82 83
+f 58 83 59
+f 60 84 85
+f 60 85 63
+f 61 67 86
+f 61 86 87
+f 61 87 88
+f 61 88 62
+f 62 88 69
+f 63 85 64
+f 64 89 65
+f 64 85 90
+f 64 90 91
+f 64 91 89
+f 65 89 92
+f 65 92 66
+f 66 92 93
+f 66 93 86
+f 66 86 67
+f 68 94 95
+f 68 95 96
+f 68 96 97
+f 68 97 72
+f 68 71 94
+f 69 88 98
+f 69 98 70
+f 70 98 71
+f 71 98 99
+f 71 99 100
+f 71 100 94
+f 73 74 102
+f 73 102 103
+f 73 103 101
+f 75 104 76
+f 76 104 105
+f 76 105 106
+f 76 106 107
+f 76 107 77
+f 77 107 108
+f 77 108 78
+f 78 108 109
+f 78 109 110
+f 78 110 79
+f 79 110 111
+f 79 111 112
+f 79 112 113
+f 79 113 80
+f 80 114 81
+f 80 113 114
+f 81 114 82
+f 82 114 115
+f 82 115 116
+f 82 116 83
+f 84 90 85
+f 84 117 90
+f 86 93 118
+f 86 118 119
+f 86 119 87
+f 87 119 120
+f 87 120 88
+f 88 120 121
+f 88 121 98
+f 89 122 92
+f 89 91 123
+f 89 123 122
+f 90 124 91
+f 90 117 125
+f 90 125 126
+f 90 126 127
+f 90 127 124
+f 91 124 123
+f 92 122 93
+f 93 122 128
+f 93 128 129
+f 93 129 118
+f 94 100 130
+f 94 130 95
+f 95 130 96
+f 96 130 97
+f 97 130 131
+f 98 121 132
+f 98 132 99
+f 99 132 100
+f 100 133 134
+f 100 134 130
+f 100 132 133
+f 101 135 107
+f 101 107 106
+f 101 106 105
+f 101 103 135
+f 103 136 137
+f 103 137 138
+f 103 138 139
+f 103 139 140
+f 103 140 141
+f 103 141 135
+f 107 135 141
+f 107 141 140
+f 107 140 142
+f 107 142 108
+f 108 142 143
+f 108 143 144
+f 108 144 145
+f 108 145 146
+f 108 146 109
+f 109 147 110
+f 109 146 148
+f 109 148 147
+f 110 147 111
+f 111 147 149
+f 111 149 150
+f 111 150 151
+f 111 151 112
+f 112 151 152
+f 112 152 153
+f 112 153 154
+f 112 154 155
+f 112 155 156
+f 112 156 113
+f 113 156 157
+f 113 157 158
+f 113 158 159
+f 113 159 160
+f 113 160 114
+f 114 161 162
+f 114 162 115
+f 114 160 159
+f 114 159 163
+f 114 163 164
+f 114 164 161
+f 117 165 126
+f 117 126 125
+f 118 129 166
+f 118 166 167
+f 118 167 119
+f 119 167 120
+f 120 167 168
+f 120 168 169
+f 120 169 121
+f 121 169 139
+f 121 139 132
+f 122 170 128
+f 122 123 170
+f 123 171 172
+f 123 172 170
+f 123 124 173
+f 123 173 174
+f 123 174 175
+f 123 175 176
+f 123 176 171
+f 124 127 173
+f 126 165 177
+f 126 177 178
+f 126 178 179
+f 126 179 127
+f 127 179 173
+f 128 180 181
+f 128 181 129
+f 128 170 172
+f 128 172 171
+f 128 171 176
+f 128 176 182
+f 128 182 180
+f 129 181 183
+f 129 183 166
+f 130 184 131
+f 130 134 184
+f 131 185 186
+f 131 184 134
+f 131 134 185
+f 132 139 138
+f 132 138 133
+f 133 137 187
+f 133 187 134
+f 133 138 137
+f 134 187 185
+f 136 186 187
+f 136 187 137
+f 139 169 140
+f 140 169 188
+f 140 188 142
+f 142 188 189
+f 142 189 190
+f 142 190 191
+f 142 191 143
+f 143 191 144
+f 144 191 145
+f 145 191 146
+f 146 191 148
+f 147 148 149
+f 148 191 192
+f 148 192 193
+f 148 193 194
+f 148 194 150
+f 148 150 149
+f 150 194 151
+f 151 194 152
+f 152 194 195
+f 152 195 196
+f 152 196 197
+f 152 197 153
+f 153 197 198
+f 153 198 199
+f 153 199 200
+f 153 200 201
+f 153 201 156
+f 153 156 154
+f 154 156 155
+f 156 201 200
+f 156 200 202
+f 156 202 157
+f 157 202 203
+f 157 203 158
+f 158 203 163
+f 158 163 159
+f 161 164 204
+f 163 203 205
+f 163 205 206
+f 163 206 207
+f 163 207 204
+f 163 204 164
+f 165 208 177
+f 166 183 209
+f 166 209 167
+f 167 209 210
+f 167 210 168
+f 168 210 188
+f 168 188 169
+f 173 179 211
+f 173 211 174
+f 174 211 212
+f 174 212 213
+f 174 213 214
+f 174 214 215
+f 174 215 216
+f 174 216 175
+f 175 216 176
+f 176 216 182
+f 177 217 178
+f 177 208 218
+f 177 218 219
+f 177 219 217
+f 178 217 211
+f 178 211 179
+f 180 183 181
+f 180 182 220
+f 180 220 221
+f 180 221 222
+f 180 222 183
+f 182 213 223
+f 182 223 220
+f 182 216 213
+f 183 222 209
+f 185 187 186
+f 188 210 189
+f 189 210 224
+f 189 224 190
+f 190 224 191
+f 191 224 192
+f 192 225 193
+f 192 224 222
+f 192 222 226
+f 192 226 225
+f 193 225 194
+f 194 225 195
+f 195 225 223
+f 195 223 196
+f 196 223 213
+f 196 213 197
+f 197 227 198
+f 197 213 227
+f 198 227 200
+f 198 200 199
+f 200 227 212
+f 200 212 228
+f 200 228 229
+f 200 229 230
+f 200 230 202
+f 202 230 203
+f 203 231 205
+f 203 230 218
+f 203 218 232
+f 203 232 231
+f 208 233 232
+f 208 232 218
+f 209 222 224
+f 209 224 210
+f 211 217 212
+f 212 217 219
+f 212 219 228
+f 212 227 213
+f 213 216 214
+f 214 216 215
+f 218 230 229
+f 218 229 228
+f 218 228 219
+f 220 226 221
+f 220 223 226
+f 221 226 222
+f 223 225 226
+f 231 232 233
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_4.obj

@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 0.07130431 -0.00740073
+v -0.00603936 0.01551003 -0.00913824
+v -0.00603936 0.07130428 -0.00000826
+v 0.02669704 0.07130432 -0.01134840
+v -0.00603936 0.01551000 -0.00000846
+v 0.03032829 0.07130432 -0.01178308
+v 0.04626901 0.06205627 -0.01308432
+v 0.04641610 0.05992588 -0.01308291
+v 0.07071329 0.01996201 -0.01452064
+v 0.07071329 0.01632397 -0.01446383
+v 0.07071329 0.01551005 -0.01444678
+v 0.05524141 0.07130428 -0.00000826
+v 0.08787668 0.01551000 -0.00000846
+v 0.03401469 0.07130432 -0.01172342
+v 0.03443757 0.07082909 -0.01184558
+v 0.04762039 0.06205627 -0.01308432
+v 0.04887064 0.05998051 -0.01318803
+v 0.05982873 0.04539009 -0.01391681
+v 0.07071329 0.02359459 -0.01450357
+v 0.07434454 0.01551005 -0.01441553
+v 0.07153147 0.01551005 -0.01448514
+v 0.05619749 0.07063785 -0.00000826
+v 0.05297992 0.07130429 -0.00164472
+v 0.08441091 0.01551002 -0.00454991
+v 0.08438333 0.01632394 -0.00440360
+v 0.08762848 0.01689748 -0.00000846
+v 0.03443757 0.07130432 -0.01164529
+v 0.03827107 0.07110767 -0.01098048
+v 0.04168168 0.07005886 -0.01051596
+v 0.05003815 0.06122596 -0.01274908
+v 0.05164693 0.05880606 -0.01318803
+v 0.05274090 0.05650087 -0.01335140
+v 0.03798608 0.07130432 -0.01095207
+v 0.05644569 0.05292838 -0.01347785
+v 0.06345079 0.04176297 -0.01400207
+v 0.07071329 0.02722718 -0.01429617
+v 0.07434454 0.01632397 -0.01437434
+v 0.06708204 0.03449780 -0.01416261
+v 0.07493289 0.01551005 -0.01419819
+v 0.05943343 0.06816879 -0.00000827
+v 0.05052538 0.06520814 -0.00953297
+v 0.05035991 0.06873145 -0.00613788
+v 0.04640690 0.06851295 -0.00919629
+v 0.04794214 0.06957269 -0.00701150
+v 0.04936706 0.07130430 -0.00419174
+v 0.08318823 0.01551002 -0.00613949
+v 0.08311469 0.01632394 -0.00604290
+v 0.08397884 0.01996197 -0.00387799
+v 0.08635064 0.02237094 -0.00000844
+v 0.03816994 0.07130432 -0.01089809
+v 0.04063368 0.07130432 -0.01002019
+v 0.04398914 0.06934327 -0.00999890
+v 0.04524858 0.06725659 -0.01087111
+v 0.04810761 0.06608760 -0.01032279
+v 0.05256624 0.06257520 -0.01039098
+v 0.05274090 0.05998050 -0.01215530
+v 0.05406470 0.05785012 -0.01286984
+v 0.05540688 0.05542475 -0.01324771
+v 0.05999421 0.04917562 -0.01356451
+v 0.06346917 0.04529723 -0.01351906
+v 0.06622709 0.04176297 -0.01343669
+v 0.06732106 0.03829972 -0.01367819
+v 0.07000542 0.03449780 -0.01355320
+v 0.07096150 0.03101271 -0.01372936
+v 0.07335169 0.02722718 -0.01351771
+v 0.07394924 0.02359459 -0.01377910
+v 0.07466630 0.02020782 -0.01384589
+v 0.07670715 0.01632397 -0.01342400
+v 0.07676231 0.01551005 -0.01346377
+v 0.05446001 0.06181044 -0.00975601
+v 0.06322096 0.06473832 -0.00000828
+v 0.04922916 0.06740952 -0.00827153
+v 0.04506472 0.07067066 -0.00788371
+v 0.04557953 0.07130431 -0.00684814
+v 0.08165300 0.01551003 -0.00800039
+v 0.08147833 0.01632395 -0.00805864
+v 0.07979601 0.01820853 -0.00971781
+v 0.08271020 0.01996198 -0.00551729
+v 0.08549569 0.02589973 -0.00000842
+v 0.04220569 0.07130431 -0.00913094
+v 0.05587573 0.05965820 -0.01040378
+v 0.05644569 0.05650087 -0.01229026
+v 0.05782465 0.05431586 -0.01290110
+v 0.05890024 0.05189596 -0.01330596
+v 0.06227408 0.04806673 -0.01328467
+v 0.06554680 0.04401899 -0.01315400
+v 0.06935272 0.03720722 -0.01326340
+v 0.07286446 0.02989835 -0.01322649
+v 0.07609121 0.02158438 -0.01292253
+v 0.07642216 0.01916448 -0.01320238
+v 0.07851817 0.01632396 -0.01154321
+v 0.07857333 0.01551004 -0.01161424
+v 0.05816480 0.05826526 -0.00982847
+v 0.06679705 0.06093094 -0.00000830
+v 0.04328127 0.07130431 -0.00840931
+v 0.04465103 0.07130431 -0.00748880
+v 0.08001664 0.01551004 -0.00997636
+v 0.07995229 0.01632396 -0.00990391
+v 0.07795740 0.01989645 -0.01132017
+v 0.07950183 0.02063388 -0.00934846
+v 0.08068773 0.01963424 -0.00817653
+v 0.08043033 0.02359457 -0.00722901
+v 0.08458557 0.02887135 -0.00000841
+v 0.08005341 0.02623297 -0.00675596
+v 0.05955294 0.05596554 -0.01041515
+v 0.05999421 0.05292837 -0.01219368
+v 0.06131801 0.05049209 -0.01279315
+v 0.06469185 0.04643889 -0.01254600
+v 0.06804731 0.04176296 -0.01224771
+v 0.06868163 0.03962712 -0.01283438
+v 0.07234045 0.03232372 -0.01283868
+v 0.07516272 0.02722717 -0.01197927
+v 0.07576946 0.02359459 -0.01260858
+v 0.07728631 0.02359458 -0.01096928
+v 0.07890428 0.01551004 -0.01124632
+v 0.06168573 0.05453435 -0.00974467
+v 0.06985834 0.05709078 -0.00000831
+v 0.07909734 0.02359457 -0.00886689
+v 0.08168058 0.03660083 -0.00000839
+v 0.07964892 0.02865286 -0.00625735
+v 0.07924442 0.03085973 -0.00575022
+v 0.07672553 0.02722717 -0.01034140
+v 0.07871123 0.02735826 -0.00793217
+v 0.06243956 0.05266071 -0.01041517
+v 0.06367143 0.04932310 -0.01157718
+v 0.06594210 0.04815958 -0.01036120
+v 0.06695333 0.04520981 -0.01125331
+v 0.06915967 0.04397528 -0.00996063
+v 0.06981237 0.04176296 -0.01060841
+v 0.07081442 0.03833795 -0.01146500
+v 0.07181645 0.03449780 -0.01235142
+v 0.07348039 0.03449779 -0.01071213
+v 0.07436292 0.03091437 -0.01136843
+v 0.07633023 0.02949958 -0.00989818
+v 0.06507795 0.05057947 -0.00950177
+v 0.07127407 0.05510242 -0.00000832
+v 0.08057741 0.03884593 -0.00000838
+v 0.07585219 0.03192493 -0.00934984
+v 0.07668876 0.03449778 -0.00706277
+v 0.07624749 0.03650798 -0.00653291
+v 0.07727711 0.03077234 -0.00817791
+v 0.06836906 0.04640064 -0.00913955
+v 0.07421583 0.05069416 -0.00000833
+v 0.07257028 0.04364751 -0.00647322
+v 0.07162339 0.04176295 -0.00871057
+v 0.07227610 0.03946869 -0.00942227
+v 0.07289204 0.03704333 -0.01009560
+v 0.07530061 0.03449778 -0.00870065
+v 0.07565914 0.03892789 -0.00581695
+v 0.07822400 0.04362018 -0.00000836
+v 0.07428019 0.03798834 -0.00797759
+v 0.07690020 0.04602369 -0.00000835
+v 0.07309428 0.04176295 -0.00707269
+f 1 2 5
+f 1 5 3
+f 1 3 12
+f 1 12 23
+f 1 23 45
+f 1 45 74
+f 1 74 96
+f 1 96 95
+f 1 95 80
+f 1 80 51
+f 1 51 50
+f 1 50 33
+f 1 33 27
+f 1 27 14
+f 1 14 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 21
+f 2 21 20
+f 2 20 39
+f 2 39 69
+f 2 69 92
+f 2 92 115
+f 2 115 97
+f 2 97 75
+f 2 75 46
+f 2 46 24
+f 2 24 13
+f 2 13 5
+f 3 5 13
+f 3 13 26
+f 3 26 49
+f 3 49 79
+f 3 79 103
+f 3 103 119
+f 3 119 137
+f 3 137 150
+f 3 150 152
+f 3 152 143
+f 3 143 136
+f 3 136 117
+f 3 117 94
+f 3 94 71
+f 3 71 40
+f 3 40 22
+f 3 22 12
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 9
+f 7 9 8
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 12 22 23
+f 13 24 25
+f 13 25 26
+f 14 27 15
+f 15 27 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 18
+f 16 18 17
+f 16 27 33
+f 16 33 28
+f 18 32 34
+f 18 34 35
+f 18 35 19
+f 19 36 37
+f 19 37 20
+f 19 35 38
+f 19 38 36
+f 20 37 39
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 24 46 25
+f 25 46 47
+f 25 47 78
+f 25 78 48
+f 25 48 26
+f 26 48 49
+f 28 50 29
+f 28 33 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 53 54
+f 30 54 55
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 31 57 58
+f 31 58 34
+f 31 34 32
+f 34 59 35
+f 34 58 59
+f 35 60 61
+f 35 61 62
+f 35 62 38
+f 35 59 60
+f 36 38 62
+f 36 62 63
+f 36 63 64
+f 36 64 65
+f 36 65 66
+f 36 66 37
+f 37 66 67
+f 37 67 68
+f 37 68 69
+f 37 69 39
+f 40 70 41
+f 40 71 70
+f 41 54 43
+f 41 43 72
+f 41 72 42
+f 41 70 55
+f 41 55 54
+f 42 72 43
+f 43 54 52
+f 43 52 73
+f 43 73 44
+f 44 73 45
+f 45 73 74
+f 46 75 76
+f 46 76 77
+f 46 77 47
+f 47 77 78
+f 48 78 79
+f 48 79 49
+f 51 80 52
+f 52 80 73
+f 52 54 53
+f 55 70 57
+f 55 57 56
+f 57 70 81
+f 57 81 82
+f 57 82 83
+f 57 83 58
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 59 85 60
+f 60 85 61
+f 61 85 86
+f 61 86 87
+f 61 87 63
+f 61 63 62
+f 63 87 88
+f 63 88 65
+f 63 65 64
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 66 90 68
+f 66 68 67
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 70 93 81
+f 70 71 93
+f 71 94 93
+f 73 80 95
+f 73 95 96
+f 73 96 74
+f 75 97 98
+f 75 98 76
+f 76 98 77
+f 77 98 91
+f 77 91 90
+f 77 90 99
+f 77 99 100
+f 77 100 101
+f 77 101 78
+f 78 101 102
+f 78 102 79
+f 79 102 104
+f 79 104 103
+f 81 93 82
+f 82 93 83
+f 83 93 105
+f 83 105 106
+f 83 106 107
+f 83 107 85
+f 83 85 84
+f 85 107 86
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 87
+f 87 110 111
+f 87 111 88
+f 88 111 112
+f 88 112 113
+f 88 113 89
+f 89 113 114
+f 89 114 99
+f 89 99 90
+f 91 98 97
+f 91 97 115
+f 91 115 92
+f 93 116 105
+f 93 94 116
+f 94 117 116
+f 99 114 100
+f 100 114 118
+f 100 118 102
+f 100 102 101
+f 102 118 104
+f 103 104 120
+f 103 120 121
+f 103 121 119
+f 104 118 122
+f 104 122 123
+f 104 123 120
+f 105 116 106
+f 106 116 107
+f 107 116 124
+f 107 124 125
+f 107 125 108
+f 108 125 126
+f 108 126 127
+f 108 127 109
+f 109 128 129
+f 109 129 110
+f 109 127 128
+f 110 129 130
+f 110 130 131
+f 110 131 111
+f 111 131 132
+f 111 132 133
+f 111 133 112
+f 112 133 134
+f 112 134 122
+f 112 122 113
+f 113 122 114
+f 114 122 118
+f 116 117 135
+f 116 135 124
+f 117 136 135
+f 119 121 138
+f 119 138 139
+f 119 139 140
+f 119 140 137
+f 120 123 134
+f 120 134 141
+f 120 141 121
+f 121 141 138
+f 122 134 123
+f 124 135 125
+f 125 135 126
+f 126 135 136
+f 126 136 142
+f 126 142 128
+f 126 128 127
+f 128 142 143
+f 128 143 144
+f 128 144 145
+f 128 145 146
+f 128 146 129
+f 129 146 130
+f 130 146 147
+f 130 147 131
+f 131 147 132
+f 132 147 148
+f 132 148 138
+f 132 138 133
+f 133 138 134
+f 134 138 141
+f 136 143 142
+f 137 140 149
+f 137 149 150
+f 138 148 139
+f 139 148 140
+f 140 148 147
+f 140 147 151
+f 140 151 149
+f 143 152 144
+f 144 152 153
+f 144 153 145
+f 145 153 146
+f 146 153 150
+f 146 150 149
+f 146 149 151
+f 146 151 147
+f 150 153 152
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_5.obj

@@ -0,0 +1,832 @@
+# https://github.com/mikedh/trimesh
+v 0.09084145 0.00178398 0.00179576
+v 0.08387127 0.00178402 -0.00698001
+v 0.09071817 0.00541196 0.00179577
+v 0.09075611 -0.00185428 0.00179574
+v 0.08386179 -0.00185424 -0.00695725
+v 0.08248672 0.00178402 -0.00862029
+v 0.08380489 0.00541200 -0.00689864
+v 0.08366264 0.00905025 -0.00672126
+v 0.09043367 0.00905022 0.00179578
+v 0.09066127 -0.00349869 0.00179574
+v 0.08246775 -0.00185424 -0.00859590
+v 0.08374799 -0.00548222 -0.00682220
+v 0.08067541 0.00178403 -0.01069829
+v 0.08060903 0.00541201 -0.01062505
+v 0.08242033 0.00541200 -0.00853729
+v 0.08227808 0.00905026 -0.00835991
+v 0.08351091 0.01154770 -0.00654063
+v 0.09005435 0.01268847 0.00179580
+v 0.09052851 -0.00548226 0.00179573
+v 0.08064697 -0.00185423 -0.01065763
+v 0.08233499 -0.00548222 -0.00846085
+v 0.09040522 -0.00686973 0.00179572
+v 0.09017763 -0.00912052 0.00179572
+v 0.08358677 -0.00839078 -0.00663182
+v 0.07914862 0.00178404 -0.01233693
+v 0.07908223 0.00541202 -0.01226370
+v 0.07895895 0.00905027 -0.01210584
+v 0.08045730 0.00905027 -0.01046720
+v 0.08022970 0.01268852 -0.01022146
+v 0.08226860 0.01272962 -0.00780337
+v 0.08002107 0.01550458 -0.00997574
+v 0.08333073 0.01396292 -0.00632094
+v 0.08966553 0.01550453 0.00179581
+v 0.07910120 -0.00185422 -0.01229627
+v 0.08051421 -0.00548221 -0.01049817
+v 0.08028661 -0.00912047 -0.01024595
+v 0.09004486 -0.01016883 0.00179571
+v 0.08967502 -0.01275878 0.00179570
+v 0.08338762 -0.01081629 -0.00639425
+v 0.08235395 -0.00940825 -0.00785877
+v 0.07732783 0.00178404 -0.01380797
+v 0.07727093 0.00541202 -0.01377867
+v 0.07728042 -0.00185422 -0.01377870
+v 0.07713817 0.00905028 -0.01370706
+v 0.07695799 0.01268853 -0.01359476
+v 0.07675884 0.01550459 -0.01346294
+v 0.07876929 0.01268852 -0.01186011
+v 0.07857962 0.01550458 -0.01161438
+v 0.08165219 0.01550457 -0.00800025
+v 0.08318848 0.01550456 -0.00613867
+v -0.00603936 0.01550453 0.00179581
+v 0.07893050 -0.00548221 -0.01213681
+v 0.07711920 -0.00548220 -0.01368596
+v 0.07871238 -0.00912047 -0.01188460
+v 0.07996417 -0.01275873 -0.00989774
+v 0.07842789 -0.01275873 -0.01153639
+v 0.08906808 -0.01648954 0.00179569
+v 0.08319796 -0.01275875 -0.00615506
+v 0.08156684 -0.01275874 -0.00805894
+v 0.08900170 -0.01684925 0.00179569
+v 0.08854650 -0.01919254 0.00179568
+v 0.07434061 0.00178404 -0.01478920
+v 0.07434061 0.00541202 -0.01475340
+v 0.07434061 -0.00185422 -0.01476644
+v 0.07434061 0.00905028 -0.01467040
+v 0.07434061 0.01268853 -0.01455647
+v 0.07434061 -0.00912046 -0.01456631
+v 0.07434061 -0.00548220 -0.01468346
+v 0.07434061 0.01550459 -0.01441489
+v 0.07492857 0.01550459 -0.01419846
+v -0.00603936 -0.08930609 0.00179542
+v -0.00603936 0.01550457 -0.00913770
+v 0.07690109 -0.00912046 -0.01355416
+v 0.07434061 -0.01275872 -0.01438408
+v 0.07661659 -0.01275872 -0.01335403
+v 0.07978399 -0.01457786 -0.00970084
+v 0.07635106 -0.01544116 -0.01314249
+v 0.08783527 -0.02241969 0.00179567
+v 0.07070853 -0.01638670 -0.01482670
+v -0.00015975 -0.07626380 -0.01297999
+v 0.07152409 0.01550459 -0.01448486
+v 0.07070853 -0.02002496 -0.01478440
+v -0.00603936 -0.08010762 -0.00985893
+v -0.00547985 -0.08934721 0.00179542
+v 0.07070853 0.01550459 -0.01444743
+v -0.00603936 0.01268851 -0.00928579
+v 0.07464408 -0.01654086 -0.01389103
+v 0.07393283 -0.02002496 -0.01386989
+v 0.07070853 -0.02365294 -0.01455010
+v 0.07949001 -0.01700337 -0.00935750
+v 0.07606656 -0.01785639 -0.01289191
+v 0.07339229 -0.02365294 -0.01360629
+v 0.07909172 -0.02002498 -0.00890025
+v 0.08705764 -0.02532824 0.00179566
+v 0.01991628 -0.07088863 -0.01351859
+v 0.01629368 -0.07088863 -0.01343397
+v -0.00015975 -0.07634602 -0.01297999
+v -0.00603936 -0.07452689 -0.01257805
+v 0.06708593 -0.03092946 -0.01455826
+v 0.06345385 -0.03818542 -0.01444600
+v 0.05982177 -0.04181340 -0.01437441
+v -0.00603936 -0.07820627 -0.01134624
+v -0.00547985 -0.08012817 -0.00987357
+v -0.00185725 -0.08949109 0.00179542
+v -0.00603936 0.00156820 -0.00977564
+v -0.00603936 0.00361343 -0.00969753
+v -0.00603936 0.00479536 -0.00965033
+v -0.00603936 0.00566895 -0.00961453
+v -0.00603936 0.00905026 -0.00946644
+v 0.07033869 -0.03092946 -0.01378206
+v 0.06708593 -0.03455744 -0.01424584
+v 0.07728042 -0.02002497 -0.01093595
+v 0.07574413 -0.02002496 -0.01257622
+v 0.07292761 -0.02667454 -0.01328899
+v 0.07674935 -0.02365295 -0.01035992
+v 0.08644123 -0.02729126 0.00179565
+v 0.07637002 -0.02611956 -0.00993684
+v 0.05256708 -0.05271789 -0.01405226
+v 0.03080304 -0.06725038 -0.01357716
+v 0.02354836 -0.07088863 -0.01344374
+v 0.01629368 -0.07362246 -0.01327614
+v 0.01266159 -0.07394107 -0.01324522
+v 0.00177483 -0.07636657 -0.01298975
+v -0.00156327 -0.07779517 -0.01182465
+v -0.00547985 -0.07815488 -0.01141621
+v -0.00603936 -0.07759989 -0.01156592
+v 0.05982177 -0.04545166 -0.01416777
+v 0.05619917 -0.04907964 -0.01413849
+v -0.00185725 -0.08016928 -0.00992727
+v 0.00177483 -0.08947053 0.00179542
+v 0.06953261 -0.03455744 -0.01340130
+v 0.07251983 -0.02910005 -0.01297331
+v 0.06710490 -0.03796959 -0.01360960
+v 0.06374783 -0.04209089 -0.01383091
+v 0.07520359 -0.02365295 -0.01199856
+v 0.08618518 -0.02804152 0.00179565
+v 0.07596224 -0.02854508 -0.00948447
+v 0.05237742 -0.05623283 -0.01343555
+v 0.04893500 -0.05635615 -0.01390420
+v 0.03805772 -0.06362239 -0.01365199
+v 0.03439719 -0.06735315 -0.01336074
+v 0.03080304 -0.06971699 -0.01324358
+v 0.02682008 -0.07090919 -0.01327450
+v 0.01991628 -0.07329358 -0.01322895
+v 0.00725615 -0.07634602 -0.01297836
+v 0.00540691 -0.07635629 -0.01298813
+v 0.00177483 -0.07818572 -0.01154639
+v 0.06260984 -0.04545166 -0.01343551
+v 0.05968900 -0.04887409 -0.01346969
+v 0.05608537 -0.05260484 -0.01350225
+v 0.00177483 -0.08014873 -0.00990774
+v 0.00219209 -0.08946025 0.00179542
+v 0.06902999 -0.03663350 -0.01308073
+v 0.06591949 -0.04105286 -0.01336552
+v 0.07370523 -0.03092947 -0.01097016
+v 0.07214998 -0.03092946 -0.01260880
+v 0.08519892 -0.03092952 0.00179564
+v 0.07551653 -0.03092948 -0.00897840
+v 0.05480513 -0.05493785 -0.01318982
+v 0.05104028 -0.05840139 -0.01311010
+v 0.04893500 -0.05921332 -0.01335257
+v 0.04463909 -0.06249186 -0.01326634
+v 0.04159497 -0.06367378 -0.01341604
+v 0.03805772 -0.06620206 -0.01326960
+v 0.03316437 -0.06930588 -0.01309875
+v 0.02536914 -0.07270776 -0.01297835
+v 0.02354836 -0.07291331 -0.01308087
+v 0.00967437 -0.07605825 -0.01291327
+v 0.01266159 -0.07783627 -0.01114446
+v 0.00853638 -0.07809322 -0.01131857
+v 0.00739839 -0.07999457 -0.00972224
+v 0.00540691 -0.08006651 -0.00980360
+v 0.06184170 -0.04752772 -0.01310518
+v 0.05838980 -0.05130987 -0.01318331
+v 0.00540691 -0.08933693 0.00179542
+v 0.07134390 -0.03455745 -0.01180333
+v 0.07253879 -0.03640741 -0.00971394
+v 0.07046196 -0.03772294 -0.01109712
+v 0.06833772 -0.03903845 -0.01248028
+v 0.06515135 -0.04347836 -0.01289688
+v 0.07295605 -0.03455745 -0.01016469
+v 0.08419370 -0.03357085 0.00179563
+v 0.08317899 -0.03605802 0.00179562
+v 0.05345851 -0.05736335 -0.01235668
+v 0.05722336 -0.05373537 -0.01240874
+v 0.05230155 -0.05975804 -0.01117205
+v 0.04893500 -0.06103245 -0.01235506
+v 0.04705732 -0.06175188 -0.01295228
+v 0.04032422 -0.06568819 -0.01310850
+v 0.03080304 -0.07153613 -0.01217448
+v 0.02778737 -0.07213222 -0.01267242
+v 0.03558259 -0.06863785 -0.01277167
+v 0.01991628 -0.07511272 -0.01214521
+v 0.01629368 -0.07544159 -0.01252436
+v 0.01266159 -0.07576020 -0.01278472
+v 0.03080304 -0.07356081 -0.01053584
+v 0.02661145 -0.07432135 -0.01119814
+v 0.02543552 -0.07636658 -0.00972385
+v 0.02354836 -0.07663380 -0.01001188
+v 0.01991628 -0.07710657 -0.01050656
+v 0.01629368 -0.07749712 -0.01088571
+v 0.01266159 -0.07964514 -0.00929102
+v 0.00981662 -0.07985068 -0.00954324
+v 0.01180810 -0.08885388 0.00179542
+v 0.00928556 -0.08910054 0.00179542
+v 0.00896313 -0.08913137 0.00179542
+v 0.06317883 -0.04875077 -0.01111668
+v 0.06080802 -0.04994295 -0.01231760
+v 0.06442114 -0.04545166 -0.01225901
+v 0.08223067 -0.03827798 0.00179561
+v 0.08199359 -0.03880213 0.00179561
+v 0.08099785 -0.04092959 0.00179560
+v 0.07967019 -0.04344759 0.00179559
+v 0.07189394 -0.03881237 -0.00902237
+v 0.06947571 -0.04098092 -0.01029489
+v 0.06733249 -0.04222451 -0.01159508
+v 0.06875498 -0.04339615 -0.00954799
+v 0.06623243 -0.04545167 -0.01062036
+v 0.05609485 -0.05626367 -0.01128920
+v 0.05496634 -0.05869945 -0.01017129
+v 0.05971745 -0.05259458 -0.01126966
+v 0.05861739 -0.05515369 -0.01022334
+v 0.05114460 -0.06211160 -0.00998742
+v 0.04893500 -0.06294408 -0.01071643
+v 0.04712370 -0.06543125 -0.00969452
+v 0.04470547 -0.06624318 -0.01046421
+v 0.04273296 -0.06491737 -0.01264962
+v 0.03805772 -0.06802121 -0.01223956
+v 0.03444460 -0.07087837 -0.01139828
+v 0.03805772 -0.07002533 -0.01059930
+v 0.03330662 -0.07302637 -0.01002651
+v 0.03080304 -0.07536967 -0.00863848
+v 0.02785375 -0.07594522 -0.00926171
+v 0.03300315 -0.08418786 0.00179544
+v 0.03019611 -0.08512312 0.00179544
+v 0.02737959 -0.08598644 0.00179543
+v 0.02354836 -0.08699364 0.00179543
+v 0.01991628 -0.07892571 -0.00845135
+v 0.01629368 -0.07931626 -0.00890373
+v 0.01991628 -0.08770279 0.00179543
+v 0.01862655 -0.08791862 0.00179543
+v 0.01629368 -0.08826806 0.00179543
+v 0.01548760 -0.08838111 0.00179543
+v 0.01239606 -0.08878194 0.00179542
+v 0.06548326 -0.04754829 -0.00991413
+v 0.06209774 -0.05144349 -0.01013221
+v 0.07827616 -0.04588337 0.00179558
+v 0.07705282 -0.04790805 0.00179557
+v 0.07399921 -0.05250213 0.00179556
+v 0.05738457 -0.05757921 -0.00918191
+v 0.06210723 -0.06598629 0.00179551
+v 0.06022955 -0.06762043 0.00179550
+v 0.05847514 -0.06912095 0.00179550
+v 0.06103562 -0.05386900 -0.00914773
+v 0.06756009 -0.06049808 0.00179553
+v 0.06584363 -0.06235831 0.00179552
+v 0.06402284 -0.06417744 0.00179551
+v 0.05622761 -0.07092980 0.00179549
+v 0.05390422 -0.07268726 0.00179548
+v 0.05201705 -0.07407474 0.00179548
+v 0.05003506 -0.07544165 0.00179547
+v 0.04282779 -0.06866870 -0.00928284
+v 0.04040956 -0.06938812 -0.01001348
+v 0.04157600 -0.06717844 -0.01133155
+v 0.04787288 -0.07685996 0.00179547
+v 0.03572484 -0.07245085 -0.00943094
+v 0.04055181 -0.08102237 0.00179545
+v 0.03843705 -0.08200902 0.00179545
+v 0.03806720 -0.08217346 0.00179545
+v 0.03575329 -0.08312927 0.00179544
+v 0.03443512 -0.08364315 0.00179544
+v 0.02171809 -0.08737391 0.00179543
+v 0.07251983 -0.05446514 0.00179555
+v 0.07092664 -0.05657204 0.00179554
+v 0.06911534 -0.05875088 0.00179553
+v 0.04554948 -0.07829882 0.00179546
+v 0.03805772 -0.07184447 -0.00879955
+v 0.04295107 -0.07977879 0.00179546
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 33
+f 1 33 51
+f 1 51 71
+f 1 71 84
+f 1 84 104
+f 1 104 130
+f 1 130 152
+f 1 152 175
+f 1 175 206
+f 1 206 205
+f 1 205 204
+f 1 204 244
+f 1 244 243
+f 1 243 242
+f 1 242 241
+f 1 241 240
+f 1 240 272
+f 1 272 237
+f 1 237 236
+f 1 236 235
+f 1 235 234
+f 1 234 271
+f 1 271 270
+f 1 270 269
+f 1 269 268
+f 1 268 267
+f 1 267 278
+f 1 278 276
+f 1 276 265
+f 1 265 261
+f 1 261 260
+f 1 260 259
+f 1 259 258
+f 1 258 253
+f 1 253 252
+f 1 252 251
+f 1 251 257
+f 1 257 256
+f 1 256 255
+f 1 255 275
+f 1 275 274
+f 1 274 273
+f 1 273 249
+f 1 249 248
+f 1 248 247
+f 1 247 213
+f 1 213 212
+f 1 212 211
+f 1 211 210
+f 1 210 183
+f 1 183 182
+f 1 182 157
+f 1 157 136
+f 1 136 116
+f 1 116 94
+f 1 94 78
+f 1 78 61
+f 1 61 60
+f 1 60 57
+f 1 57 38
+f 1 38 37
+f 1 37 23
+f 1 23 22
+f 1 22 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 11 13
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 12
+f 11 20 13
+f 11 12 21
+f 11 21 20
+f 12 19 22
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 13 25 26
+f 13 26 14
+f 13 20 25
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 20 34 25
+f 20 21 35
+f 20 35 34
+f 21 24 36
+f 21 36 35
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 36
+f 25 41 42
+f 25 42 26
+f 25 34 43
+f 25 43 41
+f 26 42 44
+f 26 44 27
+f 27 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 31
+f 29 31 30
+f 31 49 32
+f 31 48 46
+f 31 46 70
+f 31 70 69
+f 31 69 81
+f 31 81 85
+f 31 85 72
+f 31 72 51
+f 31 51 33
+f 31 33 50
+f 31 50 49
+f 32 49 50
+f 32 50 33
+f 34 35 52
+f 34 52 53
+f 34 53 43
+f 35 36 54
+f 35 54 52
+f 36 40 55
+f 36 55 56
+f 36 56 54
+f 38 57 39
+f 39 58 59
+f 39 59 55
+f 39 55 40
+f 39 57 60
+f 39 60 61
+f 39 61 58
+f 41 62 63
+f 41 63 42
+f 41 43 64
+f 41 64 62
+f 42 63 65
+f 42 65 66
+f 42 66 44
+f 43 53 67
+f 43 67 68
+f 43 68 64
+f 44 66 45
+f 45 66 69
+f 45 69 70
+f 45 70 46
+f 46 48 47
+f 51 72 86
+f 51 86 109
+f 51 109 108
+f 51 108 107
+f 51 107 106
+f 51 106 105
+f 51 105 98
+f 51 98 126
+f 51 126 102
+f 51 102 83
+f 51 83 71
+f 52 54 73
+f 52 73 53
+f 53 73 74
+f 53 74 67
+f 54 56 75
+f 54 75 73
+f 55 59 76
+f 55 76 56
+f 56 76 77
+f 56 77 75
+f 58 76 59
+f 58 61 76
+f 61 78 76
+f 62 64 79
+f 62 79 80
+f 62 80 63
+f 63 81 65
+f 63 80 81
+f 64 68 82
+f 64 82 79
+f 65 81 66
+f 66 81 69
+f 67 74 82
+f 67 82 68
+f 71 83 84
+f 72 85 86
+f 73 75 74
+f 74 75 87
+f 74 87 88
+f 74 88 89
+f 74 89 82
+f 75 77 88
+f 75 88 87
+f 76 78 90
+f 76 90 91
+f 76 91 77
+f 77 91 92
+f 77 92 88
+f 78 93 90
+f 78 94 93
+f 79 82 95
+f 79 95 96
+f 79 96 80
+f 80 96 97
+f 80 97 98
+f 80 98 85
+f 80 85 81
+f 82 89 99
+f 82 99 100
+f 82 100 101
+f 82 101 95
+f 83 102 103
+f 83 103 84
+f 84 103 104
+f 85 105 106
+f 85 106 107
+f 85 107 108
+f 85 108 109
+f 85 109 86
+f 85 98 105
+f 88 92 110
+f 88 110 89
+f 89 110 111
+f 89 111 99
+f 90 93 112
+f 90 112 91
+f 91 112 113
+f 91 113 114
+f 91 114 92
+f 92 114 110
+f 93 94 115
+f 93 115 112
+f 94 116 117
+f 94 117 115
+f 95 101 118
+f 95 118 119
+f 95 119 120
+f 95 120 121
+f 95 121 122
+f 95 122 97
+f 95 97 96
+f 97 122 123
+f 97 123 124
+f 97 124 125
+f 97 125 102
+f 97 102 126
+f 97 126 98
+f 99 111 100
+f 100 111 127
+f 100 127 128
+f 100 128 101
+f 101 128 118
+f 102 125 103
+f 103 125 124
+f 103 124 129
+f 103 129 104
+f 104 129 130
+f 110 131 111
+f 110 114 132
+f 110 132 131
+f 111 131 133
+f 111 133 134
+f 111 134 127
+f 112 115 113
+f 113 115 135
+f 113 135 132
+f 113 132 114
+f 115 117 135
+f 116 136 137
+f 116 137 117
+f 117 137 132
+f 117 132 135
+f 118 128 138
+f 118 138 139
+f 118 139 119
+f 119 140 141
+f 119 141 142
+f 119 142 120
+f 119 139 140
+f 120 142 143
+f 120 143 144
+f 120 144 121
+f 121 144 145
+f 121 145 146
+f 121 146 122
+f 122 146 123
+f 123 146 147
+f 123 147 124
+f 124 147 129
+f 127 134 148
+f 127 148 149
+f 127 149 150
+f 127 150 128
+f 128 150 138
+f 129 147 151
+f 129 151 130
+f 130 151 152
+f 131 153 154
+f 131 154 133
+f 131 132 153
+f 132 137 155
+f 132 155 156
+f 132 156 153
+f 133 154 134
+f 134 154 148
+f 136 157 137
+f 137 157 158
+f 137 158 155
+f 138 150 159
+f 138 159 160
+f 138 160 161
+f 138 161 139
+f 139 161 162
+f 139 162 163
+f 139 163 140
+f 140 163 141
+f 141 163 164
+f 141 164 142
+f 142 165 166
+f 142 166 167
+f 142 167 143
+f 142 164 165
+f 143 167 144
+f 144 167 168
+f 144 168 145
+f 145 168 169
+f 145 169 170
+f 145 170 171
+f 145 171 172
+f 145 172 151
+f 145 151 147
+f 145 147 146
+f 148 154 173
+f 148 173 149
+f 149 173 174
+f 149 174 150
+f 150 174 159
+f 151 172 175
+f 151 175 152
+f 153 156 176
+f 153 176 177
+f 153 177 178
+f 153 178 179
+f 153 179 180
+f 153 180 154
+f 154 180 173
+f 155 158 181
+f 155 181 156
+f 156 181 176
+f 157 182 158
+f 158 182 183
+f 158 183 181
+f 159 184 160
+f 159 174 185
+f 159 185 184
+f 160 186 187
+f 160 187 188
+f 160 188 161
+f 160 184 186
+f 161 188 162
+f 162 188 189
+f 162 189 163
+f 163 189 164
+f 164 189 165
+f 165 190 191
+f 165 191 166
+f 165 189 192
+f 165 192 190
+f 166 193 194
+f 166 194 195
+f 166 195 167
+f 166 191 196
+f 166 196 197
+f 166 197 198
+f 166 198 199
+f 166 199 200
+f 166 200 193
+f 167 195 168
+f 168 195 169
+f 169 201 202
+f 169 202 203
+f 169 203 171
+f 169 171 170
+f 169 195 194
+f 169 194 201
+f 171 203 204
+f 171 204 205
+f 171 205 206
+f 171 206 172
+f 172 206 175
+f 173 207 208
+f 173 208 174
+f 173 180 209
+f 173 209 207
+f 174 208 185
+f 176 181 177
+f 177 181 210
+f 177 210 211
+f 177 211 212
+f 177 212 213
+f 177 213 214
+f 177 214 215
+f 177 215 178
+f 178 215 179
+f 179 215 216
+f 179 216 180
+f 180 216 217
+f 180 217 218
+f 180 218 209
+f 181 183 210
+f 184 185 219
+f 184 219 220
+f 184 220 186
+f 185 208 221
+f 185 221 222
+f 185 222 219
+f 186 220 223
+f 186 223 187
+f 187 223 224
+f 187 224 188
+f 188 224 225
+f 188 225 226
+f 188 226 227
+f 188 227 189
+f 189 228 192
+f 189 227 228
+f 190 192 229
+f 190 229 196
+f 190 196 191
+f 192 228 230
+f 192 230 229
+f 193 200 201
+f 193 201 194
+f 196 229 231
+f 196 231 232
+f 196 232 233
+f 196 233 198
+f 196 198 197
+f 198 234 235
+f 198 235 236
+f 198 236 199
+f 198 233 234
+f 199 236 237
+f 199 237 238
+f 199 238 200
+f 200 238 239
+f 200 239 201
+f 201 239 202
+f 202 239 240
+f 202 240 241
+f 202 241 242
+f 202 242 203
+f 203 242 243
+f 203 243 244
+f 203 244 204
+f 207 209 245
+f 207 245 246
+f 207 246 208
+f 208 246 221
+f 209 218 245
+f 213 215 214
+f 213 247 215
+f 215 217 216
+f 215 247 217
+f 217 247 248
+f 217 248 249
+f 217 249 218
+f 218 249 245
+f 219 222 220
+f 220 222 250
+f 220 250 251
+f 220 251 252
+f 220 252 253
+f 220 253 223
+f 221 246 222
+f 222 246 254
+f 222 254 255
+f 222 255 256
+f 222 256 257
+f 222 257 250
+f 223 253 258
+f 223 258 259
+f 223 259 225
+f 223 225 224
+f 225 259 260
+f 225 260 261
+f 225 261 226
+f 226 262 263
+f 226 263 264
+f 226 264 227
+f 226 261 265
+f 226 265 262
+f 227 264 228
+f 228 264 230
+f 229 230 231
+f 230 263 266
+f 230 266 231
+f 230 264 263
+f 231 266 267
+f 231 267 268
+f 231 268 269
+f 231 269 232
+f 232 269 270
+f 232 270 233
+f 233 270 271
+f 233 271 234
+f 237 272 239
+f 237 239 238
+f 239 272 240
+f 245 249 273
+f 245 273 274
+f 245 274 246
+f 246 274 275
+f 246 275 255
+f 246 255 254
+f 250 257 251
+f 262 265 276
+f 262 276 263
+f 263 277 266
+f 263 276 278
+f 263 278 277
+f 266 277 278
+f 266 278 267
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_6.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00603936 -0.10066074 0.00582697
+v -0.00876468 -0.10027864 0.00582697
+v -0.01637456 -0.07779165 -0.01083802
+v -0.01274994 -0.07804637 -0.01101818
+v -0.01091024 -0.07997099 -0.00969579
+v -0.00946769 -0.07851338 -0.01091729
+v -0.00603936 -0.07820204 -0.01134608
+v -0.00603936 -0.07852759 0.00582705
+v -0.00912075 -0.10022204 0.00582697
+v -0.02000375 -0.07746616 -0.01062362
+v -0.02363294 -0.07452262 -0.01136588
+v -0.02000375 -0.07452262 -0.01165234
+v -0.01274994 -0.07452262 -0.01216040
+v -0.00912075 -0.07452261 -0.01240362
+v -0.00603936 -0.07760767 -0.01156588
+v -0.00603936 0.00541987 0.00575169
+v -0.01274994 0.01631662 0.00580038
+v -0.01637456 0.01631662 0.00582380
+v -0.01834209 0.01631662 0.00582740
+v -0.01060895 -0.09995315 0.00582697
+v -0.02363294 -0.07704161 -0.01031554
+v -0.03088676 -0.07408392 -0.01062901
+v -0.01274994 -0.09954276 0.00582697
+v -0.03451595 -0.07088565 -0.01126858
+v -0.04177433 -0.06724868 -0.01122533
+v -0.04540351 -0.06361171 -0.01137665
+v -0.00603936 -0.07452261 -0.01257838
+v -0.00603936 0.00904268 0.00574810
+v -0.00603936 0.01631662 0.00573912
+v -0.00912075 0.01995359 0.00575535
+v -0.01274994 0.01995359 0.00578778
+v -0.01637456 0.01995359 0.00581300
+v -0.02000375 0.01995359 0.00582201
+v -0.02000375 0.01737799 0.00582740
+v -0.02645869 -0.07664537 -0.00998404
+v -0.01329318 -0.09941539 0.00582697
+v -0.01637456 -0.09865120 0.00582698
+v -0.03451595 -0.07339049 -0.01025968
+v -0.03805840 -0.07101301 -0.01059297
+v -0.04177433 -0.06981012 -0.01024525
+v -0.04519809 -0.06723453 -0.01046324
+v -0.04914683 -0.06378153 -0.01070464
+v -0.05267559 -0.06055496 -0.01078030
+v -0.05267559 -0.06027192 -0.01082534
+v -0.04903271 -0.05998889 -0.01131899
+v -0.05267559 -0.05633777 -0.01118926
+v -0.00603936 0.00157068 -0.00977476
+v -0.00603936 0.01995359 0.00572652
+v -0.00603936 0.02302449 0.00571212
+v -0.00603936 0.03393540 0.00565991
+v -0.00603936 0.04119518 0.00562211
+v -0.00603936 0.04391230 0.00560770
+v -0.01637456 0.02359056 0.00579140
+v -0.02000375 0.02359056 0.00580401
+v -0.05266189 0.04391230 0.00574823
+v -0.02091219 0.01631662 0.00582740
+v -0.05267559 0.04389814 0.00574823
+v -0.02887815 -0.07626326 -0.00962011
+v -0.01825535 -0.09808514 0.00582698
+v -0.01998549 -0.09754738 0.00582698
+v -0.03678932 -0.07292348 -0.00989755
+v -0.02338187 -0.09633034 0.00582699
+v -0.04385141 -0.06924406 -0.00984348
+v -0.04801014 -0.06600333 -0.01012633
+v -0.05195432 -0.06269186 -0.01025784
+v -0.05267559 -0.06097951 -0.01063437
+v -0.05267559 -0.05635193 -0.01118926
+v -0.05267559 0.04391234 -0.00518946
+v -0.03455247 0.04391234 -0.00625963
+v -0.00603936 0.04391235 -0.00787029
+v -0.00603936 0.00904273 -0.00946486
+v -0.00603936 0.00612751 -0.00959459
+v -0.00603936 0.00567466 -0.00961440
+v -0.00603936 0.00479726 -0.00965044
+v -0.00603936 0.00360852 -0.00969909
+v -0.00697063 0.04391230 0.00561311
+v -0.00729474 0.04391230 0.00561491
+v -0.01637456 0.04391230 0.00565995
+v -0.01785819 0.04391230 0.00566716
+v -0.02000375 0.04391230 0.00567617
+v -0.02363294 0.04391230 0.00568698
+v -0.05267559 0.04391234 -0.00508677
+v -0.04903271 0.02359056 0.00577338
+v -0.05267559 -0.05778130 0.00582713
+v -0.05267559 0.02359056 0.00576438
+v -0.02363294 -0.09623127 0.00582699
+v -0.02726213 -0.09475950 0.00582699
+v -0.03085937 -0.09308961 0.00582700
+v -0.03451595 -0.09120745 0.00582700
+v -0.05042960 -0.06511179 -0.00934622
+v -0.03814514 -0.08899979 0.00582701
+v -0.04179715 -0.08676383 0.00582702
+v -0.04559524 -0.08441466 0.00582703
+v -0.05259342 -0.07948990 0.00582705
+v -0.05267559 -0.06351266 -0.00894805
+v -0.05267559 -0.06402212 -0.00850126
+v -0.05267559 -0.07941914 0.00582705
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 27
+f 1 27 47
+f 1 47 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 70
+f 1 70 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 29
+f 1 29 28
+f 1 28 16
+f 1 16 8
+f 1 8 19
+f 1 19 34
+f 1 34 56
+f 1 56 84
+f 1 84 97
+f 1 97 94
+f 1 94 93
+f 1 93 92
+f 1 92 91
+f 1 91 89
+f 1 89 88
+f 1 88 87
+f 1 87 86
+f 1 86 62
+f 1 62 60
+f 1 60 59
+f 1 59 37
+f 1 37 36
+f 1 36 23
+f 1 23 20
+f 1 20 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 10
+f 4 7 6
+f 4 6 5
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 7
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 23
+f 10 23 21
+f 11 22 24
+f 11 24 12
+f 12 24 13
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 21 35 22
+f 21 23 36
+f 21 36 37
+f 21 37 35
+f 22 38 39
+f 22 39 24
+f 22 35 38
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 26 42 43
+f 27 45 46
+f 27 46 47
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 33 55 34
+f 34 55 57
+f 34 57 56
+f 35 58 38
+f 35 37 59
+f 35 59 60
+f 35 60 58
+f 38 61 40
+f 38 40 39
+f 38 58 62
+f 38 62 61
+f 40 63 41
+f 40 61 63
+f 41 64 42
+f 41 63 64
+f 42 64 65
+f 42 65 43
+f 43 66 95
+f 43 95 96
+f 43 96 97
+f 43 97 84
+f 43 84 85
+f 43 85 57
+f 43 57 82
+f 43 82 68
+f 43 68 46
+f 43 46 67
+f 43 67 44
+f 43 65 66
+f 44 67 45
+f 45 67 46
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 52 70 69
+f 52 69 68
+f 52 68 82
+f 52 82 55
+f 52 55 81
+f 52 81 80
+f 52 80 79
+f 52 79 78
+f 52 78 77
+f 52 77 76
+f 52 76 53
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 54
+f 54 80 81
+f 54 81 55
+f 55 82 57
+f 56 57 83
+f 56 83 84
+f 57 85 83
+f 58 60 62
+f 61 62 86
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 63
+f 63 90 64
+f 63 89 91
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 90
+f 64 90 65
+f 65 95 66
+f 65 90 96
+f 65 96 95
+f 83 85 84
+f 90 94 97
+f 90 97 96
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_7.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.10679154 -0.00184778 0.00627502
+v 0.10673632 -0.00540663 0.00627501
+v 0.10669215 -0.00548804 0.00626229
+v 0.09083220 0.00178086 0.00179739
+v 0.10671424 0.00178085 0.00626101
+v 0.10675841 0.00186226 0.00627504
+v 0.10657065 -0.00910504 0.00627500
+v 0.09075489 -0.00184777 0.00179737
+v 0.09079907 -0.00002183 0.00179738
+v 0.09071071 0.00540949 0.00179740
+v 0.10668110 0.00540948 0.00626190
+v 0.10672528 0.00540948 0.00627505
+v 0.09052295 -0.00548803 0.00179736
+v 0.09066654 -0.00349927 0.00179737
+v 0.10654856 -0.00938417 0.00627500
+v 0.09043460 0.00904975 0.00179741
+v 0.10658170 0.00904974 0.00627155
+v 0.10659274 0.00904974 0.00627506
+v 0.09040146 -0.00687203 0.00179735
+v 0.10625037 -0.01275694 0.00627498
+v 0.09004804 0.01267838 0.00179743
+v 0.10619515 0.01267837 0.00627508
+v 0.09018057 -0.00911667 0.00179735
+v 0.10578650 -0.01638557 0.00627497
+v 0.08974984 0.01487649 0.00179743
+v 0.10617305 0.01286445 0.00627508
+v 0.09003700 -0.01017502 0.00179734
+v 0.10528949 -0.02002583 0.00627496
+v 0.08966148 0.01550453 0.00179744
+v 0.10576441 0.01550452 0.00627509
+v 0.08967252 -0.01275693 0.00179733
+v 0.10467100 -0.02365446 0.00627494
+v 0.08906507 -0.01649023 0.00179732
+v -0.00603936 0.01550453 0.00179744
+v 0.07996439 0.01550452 0.00627509
+v 0.10436175 -0.02495705 0.00627494
+v 0.08783913 -0.02242165 0.00179730
+v 0.08854599 -0.01918844 0.00179731
+v 0.08899881 -0.01685077 0.00179732
+v -0.00603936 0.01550452 0.00574036
+v -0.00603936 -0.08930709 0.00179705
+v -0.00603936 -0.08072399 0.00627473
+v 0.10378743 -0.02728309 0.00627493
+v 0.10363281 -0.02738776 0.00624118
+v 0.08705497 -0.02532920 0.00179729
+v -0.00515580 -0.08936524 0.00179705
+v -0.00185349 -0.10318196 0.00627465
+v -0.00211856 -0.10315870 0.00627465
+v -0.00555341 -0.10278653 0.00627465
+v -0.00603936 -0.10271675 0.00627465
+v 0.10309163 -0.02971381 0.00627492
+v 0.10273820 -0.03092335 0.00627492
+v 0.08643648 -0.02729471 0.00179728
+v -0.00185349 -0.08948154 0.00179705
+v 0.00178016 -0.10330989 0.00627465
+v 0.10155644 -0.03456361 0.00627490
+v 0.08519949 -0.03093497 0.00179727
+v -0.00141171 -0.08948154 0.00179705
+v 0.00519292 -0.10321685 0.00627465
+v 0.00178016 -0.08946991 0.00179705
+v 0.10024215 -0.03821551 0.00627489
+v 0.10001020 -0.03836670 0.00622974
+v 0.08419444 -0.03357504 0.00179726
+v 0.09962365 -0.03985537 0.00627488
+v 0.00540277 -0.10320522 0.00627465
+v 0.00219985 -0.08945828 0.00179705
+v 0.00540277 -0.08933035 0.00179705
+v 0.09881740 -0.04183251 0.00627488
+v 0.08317835 -0.03605227 0.00179725
+v 0.00871613 -0.10300750 0.00627465
+v 0.00895911 -0.08913263 0.00179705
+v 0.09720490 -0.04544951 0.00627486
+v 0.08199657 -0.03880864 0.00179724
+v 0.08222851 -0.03828528 0.00179724
+v 0.00903642 -0.10298425 0.00627465
+v 0.01180859 -0.08885351 0.00179705
+v 0.01265902 -0.10263534 0.00627465
+v 0.09608939 -0.04772903 0.00627485
+v 0.08100257 -0.04093697 0.00179723
+v 0.01239395 -0.08878373 0.00179705
+v 0.01629267 -0.10219339 0.00627465
+v 0.09545986 -0.04884553 0.00627485
+v 0.07966618 -0.04346073 0.00179722
+v 0.01548642 -0.08837667 0.00179706
+v 0.01991528 -0.10168166 0.00627466
+v 0.09327304 -0.05270677 0.00627484
+v 0.07827457 -0.04587981 0.00179721
+v 0.01863411 -0.08792309 0.00179706
+v 0.02354893 -0.10110015 0.00627466
+v 0.09236739 -0.05423033 0.00627483
+v 0.07704863 -0.04790348 0.00179720
+v 0.01991528 -0.08770212 0.00179706
+v 0.02507307 -0.10083265 0.00627466
+v 0.09106414 -0.05634703 0.00627482
+v 0.08889941 -0.05978958 0.00627481
+v 0.07563493 -0.05004344 0.00179720
+v 0.02172658 -0.08737647 0.00179706
+v 0.02717153 -0.10046048 0.00627466
+v 0.07400034 -0.05249741 0.00179719
+v 0.08881105 -0.05991751 0.00627481
+v 0.02354893 -0.08699267 0.00179706
+v 0.02764645 -0.10036744 0.00627466
+v 0.08617141 -0.06362756 0.00627480
+v 0.07252037 -0.05446292 0.00179718
+v 0.02475278 -0.08667865 0.00179706
+v 0.03067265 -0.09966963 0.00627466
+v 0.02897179 -0.10006505 0.00627466
+v 0.08576276 -0.06415091 0.00627479
+v 0.07092996 -0.05656799 0.00179717
+v 0.02738138 -0.08599247 0.00179706
+v 0.03443883 -0.09868106 0.00627467
+v 0.08517740 -0.06486036 0.00627479
+v 0.06911866 -0.05874285 0.00179716
+v 0.03019773 -0.08512021 0.00179707
+v 0.03806144 -0.09765760 0.00627467
+v 0.08306789 -0.06725618 0.00627478
+v 0.06756138 -0.06049901 0.00179716
+v 0.03300305 -0.08418979 0.00179707
+v 0.04143002 -0.09657599 0.00627468
+v 0.03929843 -0.09726217 0.00627467
+v 0.08145540 -0.06907050 0.00627478
+v 0.06584947 -0.06235985 0.00179715
+v 0.07998648 -0.07068710 0.00627477
+v 0.04184971 -0.09642480 0.00627468
+v 0.03443883 -0.08364317 0.00179707
+v 0.06401608 -0.06418580 0.00179714
+v 0.07891516 -0.07185012 0.00627477
+v 0.07779966 -0.07302478 0.00627476
+v 0.07646327 -0.07436225 0.00627476
+v 0.04531770 -0.09497102 0.00627468
+v 0.03575313 -0.08313144 0.00179707
+v 0.03807249 -0.08216613 0.00179708
+v 0.06210538 -0.06598848 0.00179714
+v 0.07414392 -0.07650221 0.00627475
+v 0.04939313 -0.09313344 0.00627469
+v 0.03843696 -0.08200330 0.00179708
+v 0.06022781 -0.06761671 0.00179713
+v 0.07235470 -0.07802577 0.00627474
+v 0.05847173 -0.06911701 0.00179713
+v 0.04989013 -0.09290084 0.00627469
+v 0.04054646 -0.08102636 0.00179708
+v 0.07070907 -0.07938651 0.00627474
+v 0.05624073 -0.07091970 0.00179712
+v 0.05256291 -0.09159825 0.00627469
+v 0.04295417 -0.07977030 0.00179709
+v 0.05637327 -0.08966764 0.00627470
+v 0.06725213 -0.08209635 0.00627473
+v 0.05389930 -0.07268750 0.00179711
+v 0.06293372 -0.08545749 0.00627472
+v 0.04556068 -0.07829326 0.00179709
+v 0.05663834 -0.08952807 0.00627470
+v 0.05202173 -0.07407149 0.00179711
+v 0.06119973 -0.08667866 0.00627471
+v 0.04788003 -0.07686274 0.00179710
+v 0.05981916 -0.08764397 0.00627471
+v 0.05728996 -0.08915591 0.00627470
+v 0.05004476 -0.07544385 0.00179710
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 18
+f 1 18 22
+f 1 22 26
+f 1 26 30
+f 1 30 35
+f 1 35 42
+f 1 42 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 55
+f 1 55 59
+f 1 59 65
+f 1 65 70
+f 1 70 75
+f 1 75 77
+f 1 77 81
+f 1 81 85
+f 1 85 89
+f 1 89 93
+f 1 93 98
+f 1 98 102
+f 1 102 107
+f 1 107 106
+f 1 106 111
+f 1 111 115
+f 1 115 120
+f 1 120 119
+f 1 119 124
+f 1 124 130
+f 1 130 135
+f 1 135 140
+f 1 140 144
+f 1 144 146
+f 1 146 151
+f 1 151 156
+f 1 156 155
+f 1 155 153
+f 1 153 149
+f 1 149 147
+f 1 147 142
+f 1 142 138
+f 1 138 134
+f 1 134 129
+f 1 129 128
+f 1 128 127
+f 1 127 123
+f 1 123 121
+f 1 121 116
+f 1 116 112
+f 1 112 108
+f 1 108 103
+f 1 103 100
+f 1 100 95
+f 1 95 94
+f 1 94 90
+f 1 90 86
+f 1 86 82
+f 1 82 78
+f 1 78 72
+f 1 72 68
+f 1 68 64
+f 1 64 61
+f 1 61 56
+f 1 56 52
+f 1 52 51
+f 1 51 43
+f 1 43 36
+f 1 36 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 13
+f 4 13 19
+f 4 19 23
+f 4 23 27
+f 4 27 31
+f 4 31 33
+f 4 33 39
+f 4 39 38
+f 4 38 37
+f 4 37 45
+f 4 45 53
+f 4 53 57
+f 4 57 63
+f 4 63 69
+f 4 69 74
+f 4 74 73
+f 4 73 79
+f 4 79 83
+f 4 83 87
+f 4 87 91
+f 4 91 96
+f 4 96 99
+f 4 99 104
+f 4 104 109
+f 4 109 113
+f 4 113 117
+f 4 117 122
+f 4 122 126
+f 4 126 133
+f 4 133 137
+f 4 137 139
+f 4 139 143
+f 4 143 148
+f 4 148 152
+f 4 152 157
+f 4 157 154
+f 4 154 150
+f 4 150 145
+f 4 145 141
+f 4 141 136
+f 4 136 132
+f 4 132 131
+f 4 131 125
+f 4 125 118
+f 4 118 114
+f 4 114 110
+f 4 110 105
+f 4 105 101
+f 4 101 97
+f 4 97 92
+f 4 92 88
+f 4 88 84
+f 4 84 80
+f 4 80 76
+f 4 76 71
+f 4 71 67
+f 4 67 66
+f 4 66 60
+f 4 60 58
+f 4 58 54
+f 4 54 46
+f 4 46 41
+f 4 41 34
+f 4 34 29
+f 4 29 25
+f 4 25 21
+f 4 21 16
+f 4 16 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 7 15 13
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 13 15 19
+f 15 20 19
+f 16 21 17
+f 17 21 22
+f 17 22 18
+f 19 20 23
+f 20 24 23
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 24 28 27
+f 25 29 26
+f 26 29 30
+f 27 28 31
+f 28 32 33
+f 28 33 31
+f 29 34 40
+f 29 40 35
+f 29 35 30
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 41 50
+f 34 50 42
+f 34 42 40
+f 35 40 42
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 43 51 44
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 46 54 47
+f 47 54 55
+f 52 56 53
+f 53 56 57
+f 54 58 55
+f 55 58 60
+f 55 60 59
+f 56 61 62
+f 56 62 57
+f 57 62 64
+f 57 64 63
+f 59 60 66
+f 59 66 67
+f 59 67 65
+f 61 64 62
+f 63 64 68
+f 63 68 69
+f 65 67 71
+f 65 71 70
+f 68 72 73
+f 68 73 74
+f 68 74 69
+f 70 71 75
+f 71 76 77
+f 71 77 75
+f 72 78 79
+f 72 79 73
+f 76 80 77
+f 77 80 81
+f 78 82 83
+f 78 83 79
+f 80 84 81
+f 81 84 85
+f 82 86 83
+f 83 86 87
+f 84 88 85
+f 85 88 89
+f 86 90 87
+f 87 90 91
+f 88 92 89
+f 89 92 93
+f 90 94 91
+f 91 94 95
+f 91 95 96
+f 92 97 98
+f 92 98 93
+f 95 99 96
+f 95 100 99
+f 97 101 102
+f 97 102 98
+f 99 100 103
+f 99 103 104
+f 101 105 106
+f 101 106 107
+f 101 107 102
+f 103 108 109
+f 103 109 104
+f 105 110 106
+f 106 110 111
+f 108 112 109
+f 109 112 113
+f 110 114 115
+f 110 115 111
+f 112 116 113
+f 113 116 117
+f 114 118 119
+f 114 119 120
+f 114 120 115
+f 116 121 117
+f 117 121 123
+f 117 123 122
+f 118 124 119
+f 118 125 124
+f 122 123 127
+f 122 127 128
+f 122 128 129
+f 122 129 126
+f 124 125 131
+f 124 131 132
+f 124 132 130
+f 126 129 133
+f 129 134 133
+f 130 132 136
+f 130 136 135
+f 133 134 137
+f 134 138 139
+f 134 139 137
+f 135 136 141
+f 135 141 140
+f 138 142 139
+f 139 142 143
+f 140 141 144
+f 141 145 146
+f 141 146 144
+f 142 147 143
+f 143 147 149
+f 143 149 148
+f 145 150 151
+f 145 151 146
+f 148 149 152
+f 149 153 152
+f 150 154 155
+f 150 155 156
+f 150 156 151
+f 152 153 155
+f 152 155 157
+f 154 157 155
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_8.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.10976921 0.00178507 0.01109977
+v 0.10976921 0.00178508 0.00847042
+v 0.10970588 0.00541923 0.01105651
+v 0.10700272 0.00541922 0.01255834
+v 0.10700272 0.00178506 0.01260487
+v 0.10700272 -0.00184909 0.01259305
+v 0.10976587 -0.00184908 0.01108926
+v 0.10853595 0.00178508 0.00683093
+v 0.10850262 0.00541924 0.00685781
+v 0.10970588 0.00541924 0.00849731
+v 0.10976587 -0.00184907 0.00845794
+v 0.10855595 -0.00184907 0.00681911
+v 0.10958255 0.00905339 0.01096344
+v 0.10700272 0.00905338 0.01245412
+v 0.10337296 0.01550449 0.01290450
+v 0.10337296 0.01268754 0.01291760
+v 0.10337296 0.00905338 0.01292938
+v 0.10337296 0.00541922 0.01294052
+v 0.10337296 0.00178506 0.01294378
+v 0.10337296 -0.01274676 0.01295487
+v 0.10337296 -0.01638091 0.01295420
+v 0.10700272 -0.00548325 0.01254585
+v 0.10337296 -0.02001507 0.01292535
+v 0.10970254 -0.00548324 0.01104336
+v 0.10672941 0.00541925 0.00627570
+v 0.10659275 0.00905341 0.00627571
+v 0.10636943 0.01268757 0.00631178
+v 0.10839929 0.00905340 0.00695025
+v 0.10958255 0.00905340 0.00858909
+v 0.10970254 -0.00548323 0.00849661
+v 0.10850596 -0.00548323 0.00685777
+v 0.10678940 -0.00184906 0.00627567
+v 0.10678940 -0.00175773 0.00627567
+v 0.10676273 0.00178509 0.00627569
+v 0.10656942 -0.00909815 0.00627565
+v 0.10673274 -0.00548322 0.00627566
+v 0.10673607 -0.00540150 0.00627566
+v 0.10940590 0.01268755 0.01079629
+v 0.10700272 0.01268754 0.01227125
+v 0.10700272 0.01550450 0.01203920
+v 0.09974653 0.01550449 0.01281535
+v 0.09706338 -0.03360470 0.01294562
+v 0.09974653 -0.02728338 0.01296858
+v 0.09974653 -0.03091754 0.01297185
+v 0.10337296 -0.02364923 0.01286371
+v 0.10700272 -0.00911260 0.01245734
+v 0.09974653 -0.03360470 0.01293382
+v 0.10957588 -0.00911259 0.01095682
+v 0.10656608 0.00934183 0.00627571
+v 0.10619944 0.01268757 0.00627573
+v 0.10616944 0.01292792 0.00627573
+v 0.10576614 0.01550452 0.00627574
+v 0.10614611 0.01550452 0.00636096
+v 0.10818264 0.01268756 0.00715480
+v 0.10940590 0.01268756 0.00879364
+v 0.10957588 -0.00911258 0.00860476
+v 0.10837597 -0.00911258 0.00696593
+v 0.10613278 -0.01638088 0.00635363
+v 0.10638276 -0.01274673 0.00630382
+v 0.10654941 -0.00938177 0.00627565
+v 0.10923257 0.01550450 0.01058129
+v 0.09611677 0.01550449 0.01246005
+v 0.09343361 -0.03360470 0.01269848
+v 0.09611677 -0.03360470 0.01291416
+v 0.10700272 -0.01274676 0.01229147
+v 0.10337296 -0.02728338 0.01269588
+v 0.10069313 -0.03360470 0.01276076
+v 0.10939589 -0.01274675 0.01079226
+v 0.07997450 0.01550452 0.00627574
+v 0.10795932 0.01550451 0.00744521
+v 0.10923257 0.01550451 0.00908405
+v 0.10939589 -0.01274674 0.00879747
+v 0.10819598 -0.01274674 0.00715864
+v 0.10556948 -0.02364920 0.00650503
+v 0.10585613 -0.02001504 0.00641458
+v 0.10528950 -0.02001504 0.00627561
+v 0.10579614 -0.01638088 0.00627562
+v 0.10625277 -0.01274673 0.00627563
+v 0.09249034 0.01550450 0.01183860
+v 0.08981051 -0.03360469 0.01218651
+v 0.09249034 -0.03360470 0.01259622
+v 0.10700272 -0.01638090 0.01198074
+v 0.10337296 -0.03091754 0.01231042
+v 0.10633943 -0.02728337 0.01117570
+v 0.10357961 -0.03360469 0.01163259
+v 0.10672607 -0.02364922 0.01134549
+v 0.10915925 -0.01638090 0.01049595
+v 0.07571811 -0.03360467 0.00627556
+v 0.08284098 -0.03360469 0.01025334
+v 0.08705070 0.01451424 0.00996901
+v 0.08803730 0.01550450 0.01042199
+v 0.10915925 -0.01638089 0.00918357
+v 0.10794932 -0.01638089 0.00754408
+v 0.10534283 -0.02623060 0.00660531
+v 0.10467621 -0.02364920 0.00627559
+v 0.10436623 -0.02494711 0.00627559
+v 0.08857060 0.01550450 0.01063767
+v 0.08516082 -0.03360469 0.01107079
+v 0.08618076 -0.03360469 0.01136972
+v 0.08886058 -0.03360469 0.01201673
+v 0.10587279 -0.03091753 0.01081449
+v 0.10430956 -0.03360469 0.01119600
+v 0.10895260 -0.01902480 0.01019439
+v 0.10182973 -0.03360467 0.00627556
+v 0.08324428 -0.03360469 0.01040346
+v 0.10895260 -0.01902480 0.00961949
+v 0.10620277 -0.02737951 0.00805863
+v 0.10501952 -0.02865337 0.00678361
+v 0.10237636 -0.03360467 0.00639815
+v 0.10281633 -0.03091751 0.00629261
+v 0.10379293 -0.02726893 0.00627558
+v 0.10547616 -0.03360469 0.01037396
+v 0.10235636 -0.03360467 0.00639356
+v 0.10273633 -0.03091751 0.00627557
+v 0.10547616 -0.03360468 0.00936837
+v 0.10587279 -0.03091752 0.00876857
+v 0.10462954 -0.03091752 0.00712973
+v 0.10284966 -0.03360467 0.00661644
+v 0.10309631 -0.02970132 0.00627557
+v 0.10431956 -0.03360468 0.00795701
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 11 12
+f 2 12 8
+f 3 10 29
+f 3 29 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 22 7
+f 6 21 23
+f 6 23 22
+f 7 22 24
+f 7 24 30
+f 7 30 11
+f 8 12 25
+f 8 25 9
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 10 28 29
+f 11 30 31
+f 11 31 12
+f 12 32 33
+f 12 33 34
+f 12 34 25
+f 12 31 35
+f 12 35 36
+f 12 36 37
+f 12 37 32
+f 13 29 55
+f 13 55 38
+f 13 38 39
+f 13 39 14
+f 14 39 15
+f 15 39 40
+f 15 40 61
+f 15 61 71
+f 15 71 70
+f 15 70 53
+f 15 53 52
+f 15 52 69
+f 15 69 91
+f 15 91 97
+f 15 97 79
+f 15 79 62
+f 15 62 41
+f 15 41 16
+f 16 41 42
+f 16 42 17
+f 17 42 18
+f 18 42 43
+f 18 43 44
+f 18 44 19
+f 19 44 20
+f 20 44 21
+f 21 44 23
+f 22 23 45
+f 22 45 46
+f 22 46 24
+f 23 44 47
+f 23 47 45
+f 24 46 48
+f 24 48 56
+f 24 56 30
+f 25 34 33
+f 25 33 32
+f 25 32 37
+f 25 37 36
+f 25 36 35
+f 25 35 60
+f 25 60 78
+f 25 78 77
+f 25 77 76
+f 25 76 95
+f 25 95 96
+f 25 96 111
+f 25 111 119
+f 25 119 114
+f 25 114 104
+f 25 104 88
+f 25 88 69
+f 25 69 52
+f 25 52 51
+f 25 51 50
+f 25 50 49
+f 25 49 26
+f 26 49 27
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 53
+f 27 53 28
+f 28 53 54
+f 28 54 55
+f 28 55 29
+f 30 56 31
+f 31 56 57
+f 31 57 58
+f 31 58 59
+f 31 59 60
+f 31 60 35
+f 38 55 71
+f 38 71 61
+f 38 61 40
+f 38 40 39
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 63
+f 42 63 81
+f 42 81 80
+f 42 80 100
+f 42 100 99
+f 42 99 98
+f 42 98 105
+f 42 105 89
+f 42 89 88
+f 42 88 104
+f 42 104 113
+f 42 113 109
+f 42 109 118
+f 42 118 120
+f 42 120 115
+f 42 115 112
+f 42 112 102
+f 42 102 85
+f 42 85 67
+f 42 67 47
+f 42 47 44
+f 42 44 43
+f 45 65 46
+f 45 47 66
+f 45 66 65
+f 46 65 48
+f 47 67 66
+f 48 65 68
+f 48 68 72
+f 48 72 56
+f 53 70 54
+f 54 70 71
+f 54 71 55
+f 56 72 73
+f 56 73 57
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 58 75 76
+f 58 76 77
+f 58 77 59
+f 59 77 78
+f 59 78 60
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 65 66 82
+f 65 82 68
+f 66 67 83
+f 66 83 84
+f 66 84 82
+f 67 85 83
+f 68 82 86
+f 68 86 84
+f 68 84 87
+f 68 87 92
+f 68 92 72
+f 69 88 89
+f 69 89 90
+f 69 90 91
+f 72 92 73
+f 73 92 93
+f 73 93 94
+f 73 94 74
+f 74 95 75
+f 74 94 96
+f 74 96 95
+f 75 95 76
+f 79 97 98
+f 79 98 99
+f 79 99 100
+f 79 100 80
+f 82 84 86
+f 83 101 84
+f 83 85 102
+f 83 102 101
+f 84 101 103
+f 84 103 87
+f 87 103 106
+f 87 106 92
+f 89 105 97
+f 89 97 91
+f 89 91 90
+f 92 106 107
+f 92 107 108
+f 92 108 93
+f 93 108 94
+f 94 108 109
+f 94 109 110
+f 94 110 111
+f 94 111 96
+f 97 105 98
+f 101 102 112
+f 101 112 103
+f 103 112 115
+f 103 115 106
+f 104 114 110
+f 104 110 113
+f 106 115 116
+f 106 116 107
+f 107 116 108
+f 108 116 117
+f 108 117 118
+f 108 118 109
+f 109 113 110
+f 110 114 119
+f 110 119 111
+f 115 120 117
+f 115 117 116
+f 117 120 118
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/mjcf/mesh/fruit_plate_collision_9.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00604524 0.09001304 0.00018104
+v -0.00811341 0.08979670 0.00018104
+v -0.00604524 0.05932030 0.00018093
+v -0.00604524 0.08646153 -0.00471027
+v -0.00914162 0.08968553 0.00018104
+v -0.00604524 0.05932033 -0.00726048
+v -0.06605744 0.05932030 0.00018093
+v -0.00604524 0.08623619 -0.00501757
+v -0.00806053 0.08727880 -0.00327660
+v -0.00921212 0.08621815 -0.00453452
+v -0.01048123 0.08712556 -0.00305994
+v -0.01159169 0.08931596 0.00018104
+v -0.05264371 0.05932034 -0.01101546
+v -0.00604524 0.07809955 -0.01091369
+v -0.06550515 0.05996930 0.00018093
+v -0.06254390 0.05932032 -0.00478222
+v -0.00604524 0.08438832 -0.00746820
+v -0.00911811 0.08420504 -0.00724381
+v -0.01274916 0.08388955 -0.00684809
+v -0.01274916 0.08543394 -0.00478213
+v -0.01456469 0.08876910 0.00018104
+v -0.05617488 0.05932034 -0.01044950
+v -0.05266133 0.05993329 -0.01110057
+v -0.00911811 0.07809955 -0.01091148
+v -0.00604524 0.08115530 -0.01049143
+v -0.04177406 0.06720159 -0.01111159
+v -0.06281417 0.06283577 0.00018094
+v -0.06098102 0.06097889 -0.00478222
+v -0.05841343 0.06205156 -0.00675532
+v -0.06032297 0.05932033 -0.00752025
+v -0.00604524 0.08318945 -0.00885767
+v -0.00604524 0.08297312 -0.00910749
+v -0.00911811 0.08277481 -0.00888310
+v -0.01501710 0.08365216 -0.00654853
+v -0.01274916 0.08244129 -0.00848627
+v -0.01743780 0.08337874 -0.00618707
+v -0.01750831 0.08809005 0.00018103
+v -0.05706207 0.05932034 -0.01019195
+v -0.05615725 0.05981610 -0.01034449
+v -0.04903029 0.06356594 -0.01105192
+v -0.01274916 0.07809955 -0.01084295
+v -0.00911811 0.08096000 -0.01039858
+v -0.04558138 0.06744798 -0.01058212
+v -0.04177406 0.07022730 -0.01037430
+v -0.03840741 0.07114673 -0.01054784
+v -0.03452371 0.07083424 -0.01096457
+v -0.06200923 0.06366205 0.00018094
+v -0.05916550 0.06278470 -0.00478221
+v -0.05723834 0.06460253 -0.00478220
+v -0.05467662 0.06555802 -0.00662929
+v -0.05598098 0.06328950 -0.00778442
+v -0.05727946 0.06094886 -0.00894066
+v -0.05967079 0.05967488 -0.00783086
+v -0.05985293 0.05932033 -0.00798782
+v -0.01274916 0.08062648 -0.01020956
+v -0.01637434 0.08024188 -0.00995422
+v -0.01854239 0.08000451 -0.00977073
+v -0.01628621 0.08225500 -0.00780867
+v -0.01985263 0.08100806 -0.00824198
+v -0.02363644 0.08067154 -0.00735547
+v -0.02000539 0.08303320 -0.00571287
+v -0.02609239 0.08566828 0.00018102
+v -0.05930651 0.05932033 -0.00848967
+v -0.05485876 0.06210567 -0.00992996
+v -0.05242632 0.06341570 -0.01026932
+v -0.04903029 0.06627616 -0.01019856
+v -0.01637434 0.07809955 -0.01068156
+v -0.02363644 0.07739345 -0.01033338
+v -0.04449441 0.06950317 -0.01003384
+v -0.03978815 0.07256494 -0.00962484
+v -0.03736745 0.07305470 -0.00999846
+v -0.03452371 0.07361056 -0.01030133
+v -0.03080453 0.07462915 -0.01038424
+v -0.02726161 0.07446690 -0.01073132
+v -0.05914787 0.06638729 0.00018095
+v -0.05795515 0.06525153 -0.00295391
+v -0.05824304 0.06723160 0.00018096
+v -0.05542281 0.06621304 -0.00478220
+v -0.05420659 0.07071402 0.00018097
+v -0.05281410 0.06819612 -0.00506628
+v -0.05077531 0.06896532 -0.00634630
+v -0.05242632 0.06628816 -0.00785626
+v -0.05347803 0.06452742 -0.00881463
+v -0.02726161 0.07682256 -0.01007914
+v -0.02953543 0.07645298 -0.00983596
+v -0.02096309 0.07963793 -0.00945680
+v -0.02363644 0.07921127 -0.00899365
+v -0.02745551 0.07883568 -0.00796786
+v -0.02636854 0.08022985 -0.00681495
+v -0.02879512 0.08476087 0.00018102
+v -0.05105733 0.06555503 -0.00982384
+v -0.04690924 0.06882411 -0.00952095
+v -0.04177406 0.07204212 -0.00904895
+v -0.04177406 0.07344229 -0.00741077
+v -0.03666239 0.07642593 -0.00660162
+v -0.03452371 0.07687363 -0.00713662
+v -0.03195612 0.07594519 -0.00937944
+v -0.05529355 0.06978858 0.00018097
+v -0.05052266 0.07356245 0.00018098
+v -0.04835461 0.06977659 -0.00733561
+v -0.04934756 0.06824721 -0.00828072
+v -0.04915367 0.07455099 0.00018098
+v -0.04643332 0.07219835 -0.00575049
+v -0.03080453 0.07743851 -0.00819557
+v -0.02878924 0.07981520 -0.00628215
+v -0.03089266 0.07941558 -0.00573720
+v -0.03451196 0.08243525 0.00018101
+v -0.04401262 0.07288342 -0.00672101
+v -0.03675052 0.08152183 0.00018101
+v -0.03907721 0.07589409 -0.00585770
+v -0.04768480 0.07548244 0.00018099
+v -0.04384223 0.07785914 0.00018100
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 37
+f 1 37 62
+f 1 62 90
+f 1 90 107
+f 1 107 109
+f 1 109 112
+f 1 112 111
+f 1 111 102
+f 1 102 99
+f 1 99 79
+f 1 79 98
+f 1 98 77
+f 1 77 75
+f 1 75 47
+f 1 47 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 6
+f 1 6 14
+f 1 14 25
+f 1 25 32
+f 1 32 31
+f 1 31 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 7 16
+f 3 16 30
+f 3 30 54
+f 3 54 63
+f 3 63 38
+f 3 38 22
+f 3 22 13
+f 3 13 6
+f 4 8 9
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 9 10
+f 6 13 14
+f 7 15 16
+f 8 17 18
+f 8 18 10
+f 8 10 9
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 13 23 14
+f 14 24 25
+f 14 23 26
+f 14 26 24
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 34 20
+f 19 33 35
+f 19 35 34
+f 20 34 21
+f 21 34 36
+f 21 36 37
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 26
+f 24 41 25
+f 24 26 41
+f 25 41 42
+f 25 42 32
+f 26 40 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 41
+f 27 47 28
+f 28 47 48
+f 28 48 29
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 29 48 49
+f 30 53 54
+f 32 42 33
+f 33 42 55
+f 33 55 56
+f 33 56 57
+f 33 57 35
+f 34 35 58
+f 34 58 36
+f 35 57 58
+f 36 58 57
+f 36 57 59
+f 36 59 60
+f 36 60 61
+f 36 61 37
+f 37 61 62
+f 38 63 52
+f 38 52 64
+f 38 64 39
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 40 66 43
+f 41 67 42
+f 41 46 67
+f 42 67 68
+f 42 68 55
+f 43 69 44
+f 43 66 69
+f 44 70 71
+f 44 71 72
+f 44 72 45
+f 44 69 70
+f 45 72 46
+f 46 72 73
+f 46 73 74
+f 46 74 67
+f 47 75 48
+f 48 75 76
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 50 82 83
+f 50 83 51
+f 51 83 52
+f 52 63 54
+f 52 54 53
+f 52 83 64
+f 55 68 56
+f 56 68 57
+f 57 68 84
+f 57 84 85
+f 57 85 86
+f 57 86 59
+f 59 86 60
+f 60 87 88
+f 60 88 89
+f 60 89 62
+f 60 62 61
+f 60 86 87
+f 62 89 90
+f 64 83 91
+f 64 91 65
+f 65 91 66
+f 66 91 92
+f 66 92 69
+f 67 74 68
+f 68 74 73
+f 68 73 72
+f 68 72 84
+f 69 92 70
+f 70 92 93
+f 70 93 94
+f 70 94 95
+f 70 95 96
+f 70 96 97
+f 70 97 85
+f 70 85 71
+f 71 85 72
+f 72 85 84
+f 75 77 76
+f 77 98 78
+f 78 98 79
+f 79 99 81
+f 79 81 80
+f 81 100 101
+f 81 101 91
+f 81 91 82
+f 81 99 102
+f 81 102 103
+f 81 103 100
+f 82 91 83
+f 85 104 88
+f 85 88 87
+f 85 87 86
+f 85 97 104
+f 88 104 89
+f 89 104 105
+f 89 105 90
+f 90 105 106
+f 90 106 95
+f 90 95 107
+f 91 101 92
+f 92 108 93
+f 92 101 100
+f 92 100 108
+f 93 108 94
+f 94 108 109
+f 94 109 110
+f 94 110 95
+f 95 110 109
+f 95 109 107
+f 95 106 96
+f 96 106 105
+f 96 105 104
+f 96 104 97
+f 100 103 108
+f 102 111 103
+f 103 112 108
+f 103 111 112
+f 108 112 109
+

dataset/kitchen_supplies/tableware/8887816126ba52449505240857eb1e2c/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377341d8dc8f8279ae081108d380811c1c95ea4e4318ac024fe52ac798524726
+size 75928