Add asset kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7

.gitattributes

@@ -4718,3 +4718,5 @@ dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_036_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mug_036_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47faf0748a047f31ef935ffc4f9a17b8d4adac0bb25698bc9bdd9818a163f67
+size 11070352

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.mtl

@@ -0,0 +1,6 @@
+newmtl mug_036_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_0.obj

@@ -0,0 +1,1330 @@
+# https://github.com/mikedh/trimesh
+v -0.00797074 0.04830478 -0.02975080
+v -0.00568580 0.04830004 -0.02975080
+v -0.00568580 0.04819103 -0.02999887
+v -0.00797074 0.04819577 -0.02999633
+v -0.01025567 0.04814363 -0.02988565
+v -0.01025567 0.04820051 -0.02975080
+v -0.00357302 0.04820525 -0.02975080
+v -0.00340087 0.04813890 -0.02988819
+v -0.00568580 0.04762701 -0.03112855
+v -0.00797074 0.04762227 -0.03112601
+v -0.01025567 0.04756540 -0.03101533
+v -0.01254061 0.04798723 -0.02975080
+v -0.01239454 0.04800145 -0.02975080
+v -0.01164855 0.04807254 -0.02975080
+v -0.00340087 0.04819577 -0.02975080
+v -0.00198713 0.04807254 -0.02975080
+v -0.00340087 0.04757014 -0.03101915
+v -0.00568580 0.04668856 -0.03255845
+v -0.00797074 0.04668382 -0.03255845
+v -0.00340087 0.04657481 -0.03255845
+v -0.01025567 0.04656533 -0.03255845
+v -0.01261886 0.04619089 -0.03275818
+v -0.01254061 0.04745164 -0.03079652
+v -0.01391783 0.04779290 -0.02975080
+v -0.00195061 0.04806780 -0.02975080
+v -0.00195061 0.04749904 -0.03087794
+v -0.00195061 0.04673596 -0.03207885
+v -0.00568580 0.04570744 -0.03392220
+v -0.00797074 0.04570744 -0.03391965
+v -0.00340087 0.04565057 -0.03385604
+v -0.01025567 0.04565057 -0.03385350
+v -0.00195061 0.04634256 -0.03268312
+v -0.00195061 0.04571693 -0.03359144
+v -0.00195061 0.04558421 -0.03377972
+v -0.01190938 0.04557473 -0.03376572
+v -0.01343267 0.04547520 -0.03364487
+v -0.01482033 0.04614350 -0.03235490
+v -0.01500813 0.04737580 -0.03021642
+v -0.01464296 0.04767915 -0.02975080
+v -0.00195061 0.03823769 -0.02975084
+v -0.00568580 0.04459837 -0.03505188
+v -0.00340087 0.04454149 -0.03498700
+v -0.00797074 0.04459363 -0.03505061
+v -0.01025567 0.04453201 -0.03498318
+v -0.00195061 0.04358408 -0.03579227
+v -0.01200329 0.04330917 -0.03601490
+v -0.01352658 0.04320964 -0.03593094
+v -0.01482033 0.04420971 -0.03469440
+v -0.01710526 0.04397747 -0.03447178
+v -0.01482033 0.04535197 -0.03348585
+v -0.01710526 0.04591599 -0.03203687
+v -0.01710526 0.04691131 -0.03029784
+v -0.01538896 0.04754643 -0.02975081
+v -0.00195061 -0.00011586 -0.03284867
+v -0.04552611 -0.00011587 -0.02975098
+v -0.00568580 0.04345611 -0.03614211
+v -0.00340087 0.04339923 -0.03609377
+v -0.00195061 0.04333287 -0.03603780
+v -0.00797074 0.04345136 -0.03613830
+v -0.01025567 0.04338974 -0.03608614
+v -0.01025567 0.04209108 -0.03704662
+v -0.01267625 0.04230436 -0.03669168
+v -0.01482033 0.04194415 -0.03669806
+v -0.01482033 0.04308641 -0.03582408
+v -0.01710526 0.04283995 -0.03560272
+v -0.01939020 0.04368361 -0.03418045
+v -0.01710526 0.04511498 -0.03316654
+v -0.01894156 0.04569323 -0.03171374
+v -0.01710526 0.04718148 -0.02975081
+v -0.01957800 0.04619562 -0.03050392
+v -0.00195061 -0.00011583 -0.04099045
+v -0.05524491 -0.00011587 -0.02975098
+v -0.00568580 0.04209108 -0.03714712
+v -0.00797074 0.04209108 -0.03714203
+v -0.00340087 0.04209108 -0.03706189
+v -0.00195061 0.04221906 -0.03685325
+v -0.01025567 0.04067866 -0.03804017
+v -0.01254061 0.04055069 -0.03795748
+v -0.01482033 0.04036109 -0.03782900
+v -0.01710526 0.04169768 -0.03652504
+v -0.01939020 0.04139908 -0.03629987
+v -0.01939020 0.04253660 -0.03531140
+v -0.02112738 0.04342291 -0.03390567
+v -0.01957800 0.04494910 -0.03250375
+v -0.02046485 0.04548942 -0.03139443
+v -0.01954149 0.04655584 -0.02975081
+v -0.02167514 0.04589228 -0.02990601
+v -0.00195061 0.03179176 -0.04273954
+v -0.03877042 -0.00011582 -0.04273584
+v -0.05523970 0.00109275 -0.02975098
+v -0.05516144 -0.00011587 -0.02994307
+v -0.00568580 0.04074975 -0.03808343
+v -0.00797074 0.04074975 -0.03808216
+v -0.00340087 0.04069288 -0.03804654
+v -0.00195061 0.04112419 -0.03763817
+v -0.00195061 0.04061704 -0.03799819
+v -0.01025567 0.03954113 -0.03870678
+v -0.01254061 0.03941316 -0.03863937
+v -0.01482033 0.03922357 -0.03853378
+v -0.01710526 0.03896289 -0.03838239
+v -0.01710526 0.04010041 -0.03765471
+v -0.02106478 0.04113840 -0.03609760
+v -0.01935368 0.03964066 -0.03753513
+v -0.02258807 0.04086350 -0.03588006
+v -0.02185772 0.04215269 -0.03489287
+v -0.02265067 0.04317171 -0.03361816
+v -0.02180555 0.04408647 -0.03274292
+v -0.02167514 0.04529034 -0.03103696
+v -0.02396007 0.04374521 -0.03215900
+v -0.02167514 0.04596338 -0.02975081
+v -0.02217073 0.04581171 -0.02975081
+v -0.00195061 0.03188655 -0.04273954
+v -0.03873390 0.00337259 -0.04274473
+v -0.03871304 0.00564764 -0.04274600
+v -0.03884346 -0.00011582 -0.04273584
+v -0.05515623 0.00109275 -0.02994307
+v -0.05513536 0.00337254 -0.02975097
+v -0.05510406 0.00337254 -0.02982730
+v -0.05460325 0.00109275 -0.03107275
+v -0.05460325 -0.00011587 -0.03107275
+v -0.00568580 0.03961223 -0.03874622
+v -0.00340087 0.03955535 -0.03871187
+v -0.00797074 0.03960749 -0.03874240
+v -0.00195061 0.03989187 -0.03842564
+v -0.00195061 0.03947478 -0.03866990
+v -0.00797074 0.03507635 -0.04135543
+v -0.01025567 0.03501948 -0.04129818
+v -0.01254061 0.03301460 -0.04230191
+v -0.01464296 0.03275866 -0.04220650
+v -0.01856595 0.03876856 -0.03826536
+v -0.02176382 0.03998665 -0.03673113
+v -0.02008924 0.03852684 -0.03812287
+v -0.02396007 0.03944159 -0.03651106
+v -0.02584332 0.03902449 -0.03621210
+v -0.02396007 0.04057911 -0.03563453
+v -0.02396007 0.04177825 -0.03450486
+v -0.02623979 0.04129481 -0.03403926
+v -0.02396007 0.04291577 -0.03328868
+v -0.02556683 0.04342766 -0.03171884
+v -0.02394964 0.04492065 -0.03023168
+v -0.02349057 0.04535670 -0.02975081
+v -0.02288542 0.04557472 -0.02975081
+v -0.00340087 0.03189129 -0.04273826
+v -0.00579014 0.03277287 -0.04253345
+v -0.00195061 0.03230365 -0.04262631
+v -0.03886432 0.00564764 -0.04274600
+v -0.01254061 0.03187707 -0.04273699
+v -0.03887476 0.00337259 -0.04274473
+v -0.03938078 -0.00011582 -0.04261880
+v -0.05506754 0.00410245 -0.02975096
+v -0.05491104 0.00564759 -0.02975096
+v -0.05454065 0.00337254 -0.03095697
+v -0.05351817 0.00337255 -0.03255861
+v -0.05363815 0.00109276 -0.03255862
+v -0.05409201 -0.00011586 -0.03186021
+v -0.00568580 0.03508109 -0.04135669
+v -0.00195061 0.03375398 -0.04193808
+v -0.00340087 0.03501948 -0.04129945
+v -0.01025567 0.03301934 -0.04242786
+v -0.01376133 0.03184863 -0.04273063
+v -0.01939020 0.03070163 -0.04236681
+v -0.02167514 0.03070162 -0.04196481
+v -0.02167514 0.03709545 -0.03859230
+v -0.02167514 0.03823298 -0.03794477
+v -0.02416353 0.03749833 -0.03774759
+v -0.02645889 0.03775901 -0.03685836
+v -0.02736661 0.03866428 -0.03594241
+v -0.02645889 0.03979232 -0.03532159
+v -0.02750224 0.04101041 -0.03375302
+v -0.02629196 0.04251290 -0.03250630
+v -0.02709012 0.04309587 -0.03120235
+v -0.02629196 0.04388740 -0.03038817
+v -0.02420526 0.04506758 -0.02975081
+v -0.00797074 0.03275866 -0.04253345
+v -0.00340087 0.03303356 -0.04242913
+v -0.00195061 0.03302408 -0.04235026
+v -0.03882781 0.00706480 -0.04273835
+v -0.03654287 0.01371933 -0.04273579
+v -0.03426315 0.01823151 -0.04273704
+v -0.03200430 0.02053974 -0.04273830
+v -0.03998592 0.00109280 -0.04248650
+v -0.02743964 0.02504244 -0.04273321
+v -0.03998592 -0.00011582 -0.04248395
+v -0.05474410 0.00684199 -0.02975095
+v -0.05442066 0.00564759 -0.03072288
+v -0.05315299 0.00564760 -0.03274561
+v -0.05254785 0.00488451 -0.03374425
+v -0.05262089 0.00337255 -0.03382695
+v -0.05363815 -0.00011586 -0.03255862
+v -0.05268349 0.00109276 -0.03389820
+v -0.05268349 -0.00011586 -0.03389947
+v -0.02396007 0.02842184 -0.04239607
+v -0.02623979 0.02842183 -0.04182488
+v -0.02794045 0.03445071 -0.03838368
+v -0.02623979 0.03492467 -0.03861775
+v -0.02506081 0.03637502 -0.03819794
+v -0.02353752 0.03671627 -0.03838877
+v -0.02852473 0.03719972 -0.03650215
+v -0.02623979 0.03606220 -0.03801857
+v -0.03018365 0.03671626 -0.03617649
+v -0.02852473 0.03833724 -0.03567652
+v -0.02836823 0.03983024 -0.03441327
+v -0.03034537 0.03908137 -0.03408506
+v -0.02902032 0.04060280 -0.03326706
+v -0.02836823 0.04150808 -0.03253176
+v -0.03008975 0.04119052 -0.03175956
+v -0.02864471 0.04278779 -0.03038817
+v -0.02802392 0.04345609 -0.02975082
+v -0.02793524 0.04349874 -0.02975082
+v -0.02783612 0.04354140 -0.02975082
+v -0.02628674 0.04420022 -0.02975082
+v -0.04001722 0.00337259 -0.04242415
+v -0.04000679 0.00564764 -0.04230329
+v -0.03973030 0.00786581 -0.04222186
+v -0.03744537 0.01459142 -0.04214806
+v -0.03352759 0.01975295 -0.04257929
+v -0.03124787 0.02206118 -0.04263526
+v -0.04189525 0.01931688 -0.03862035
+v -0.04141531 0.02101369 -0.03838500
+v -0.04095102 0.02253513 -0.03814074
+v -0.03933905 0.02387172 -0.03846768
+v -0.02895772 0.02431253 -0.04264034
+v -0.02972458 0.02280057 -0.04273449
+v -0.04204132 -0.00011583 -0.04135428
+v -0.04204132 0.00109279 -0.04135556
+v -0.02833171 0.02593824 -0.04225996
+v -0.05461369 0.00766669 -0.02975095
+v -0.05433198 0.00802691 -0.03018348
+v -0.05310604 0.00792739 -0.03232324
+v -0.05245395 0.00640595 -0.03362466
+v -0.05137930 0.00578032 -0.03483957
+v -0.05029944 0.00515468 -0.03602140
+v -0.05152537 0.00337256 -0.03495662
+v -0.05158276 0.00109277 -0.03502914
+v -0.05158276 -0.00011585 -0.03502914
+v -0.03080445 0.03236998 -0.03846129
+v -0.02945852 0.03398622 -0.03813943
+v -0.02862906 0.03522801 -0.03770689
+v -0.03088791 0.03538915 -0.03672988
+v -0.03170694 0.03623756 -0.03583047
+v -0.03102877 0.03766894 -0.03495776
+v -0.03186866 0.03862635 -0.03363472
+v -0.03097660 0.03991555 -0.03269713
+v -0.03308938 0.03913824 -0.03201272
+v -0.03160783 0.04074972 -0.03110186
+v -0.03083053 0.04164552 -0.03032839
+v -0.02902554 0.04294420 -0.02975082
+v -0.04654338 0.00337257 -0.03871710
+v -0.04641817 0.00564762 -0.03865221
+v -0.04621994 0.00792741 -0.03854534
+v -0.04595388 0.01020246 -0.03839140
+v -0.04575043 0.01167650 -0.03827054
+v -0.03993897 0.01020247 -0.04169518
+v -0.04407585 0.01476204 -0.03860002
+v -0.04369503 0.01663895 -0.03839392
+v -0.04335594 0.01816039 -0.03820309
+v -0.03289636 0.02141658 -0.04226252
+v -0.03888519 0.02511826 -0.03825268
+v -0.03061664 0.02368689 -0.04232612
+v -0.04303772 0.01931688 -0.03801990
+v -0.04219783 0.02170094 -0.03770440
+v -0.04235433 0.02395702 -0.03672737
+v -0.04048151 0.02387172 -0.03788249
+v -0.04775366 -0.00011584 -0.03809630
+v -0.04661119 0.00109278 -0.03874637
+v -0.03445617 0.02976789 -0.03830355
+v -0.03291723 0.03059734 -0.03850837
+v -0.03204603 0.03191497 -0.03824629
+v -0.05449892 0.00834921 -0.02975095
+v -0.05383639 0.01020243 -0.03029797
+v -0.05287651 0.01020244 -0.03199374
+v -0.05232353 0.00792739 -0.03345291
+v -0.05118106 0.00792740 -0.03469835
+v -0.05020032 0.00667612 -0.03593489
+v -0.04929260 0.00580876 -0.03670709
+v -0.04907350 0.00337257 -0.03706712
+v -0.05038290 0.00337256 -0.03609138
+v -0.05044028 0.00109277 -0.03613973
+v -0.05044028 -0.00011585 -0.03614100
+v -0.05097761 -0.00011585 -0.03561815
+v -0.03080445 0.03350751 -0.03788500
+v -0.03308938 0.03460710 -0.03626682
+v -0.03429445 0.03416631 -0.03598440
+v -0.03308938 0.03574463 -0.03542974
+v -0.03308938 0.03707174 -0.03430006
+v -0.03448747 0.03658828 -0.03386881
+v -0.03308938 0.03820926 -0.03314240
+v -0.03431532 0.03873536 -0.03150768
+v -0.03250511 0.04099618 -0.02975083
+v -0.03226514 0.04114785 -0.02975083
+v -0.03201995 0.04129004 -0.02975083
+v -0.03309981 0.04027101 -0.03032839
+v -0.04774844 0.00109278 -0.03809630
+v -0.04768584 0.00337257 -0.03805431
+v -0.04756064 0.00564762 -0.03797288
+v -0.04736240 0.00792741 -0.03784184
+v -0.04709635 0.01020246 -0.03765737
+v -0.04550524 0.01319320 -0.03812424
+v -0.04662684 0.01245381 -0.03753269
+v -0.04521832 0.01476204 -0.03794486
+v -0.04447754 0.01725511 -0.03775149
+v -0.04473316 0.01953964 -0.03685970
+v -0.03755492 0.02598562 -0.03851347
+v -0.03672545 0.02750706 -0.03830483
+v -0.03976160 0.02598562 -0.03738888
+v -0.03824875 0.02663496 -0.03793718
+v -0.03528042 0.02833177 -0.03855926
+v -0.04417497 0.02159192 -0.03649839
+v -0.04368981 0.02325555 -0.03617526
+v -0.04320466 0.02476751 -0.03583178
+v -0.04156138 0.02614676 -0.03625794
+v -0.04907350 -0.00011584 -0.03715872
+v -0.04907350 0.00109278 -0.03715745
+v -0.03597946 0.02902850 -0.03796389
+v -0.03528042 0.03059734 -0.03750082
+v -0.03356932 0.03128459 -0.03793208
+v -0.03291723 0.03279655 -0.03739395
+v -0.05410244 0.01020243 -0.02975094
+v -0.05314256 0.01261967 -0.03047860
+v -0.05266784 0.01195138 -0.03167952
+v -0.05208356 0.01020244 -0.03312342
+v -0.05094631 0.01020245 -0.03446427
+v -0.05008033 0.00792740 -0.03582929
+v -0.04893787 0.00792740 -0.03671089
+v -0.04972037 -0.00011585 -0.03668039
+v -0.03518130 0.03283920 -0.03631262
+v -0.03667329 0.03199080 -0.03604420
+v -0.03581774 0.03350750 -0.03550480
+v -0.03515000 0.03507633 -0.03468680
+v -0.03691848 0.03446964 -0.03399729
+v -0.03600555 0.03598634 -0.03325181
+v -0.03516043 0.03737981 -0.03237911
+v -0.03683501 0.03665464 -0.03174431
+v -0.03598990 0.03828508 -0.03029787
+v -0.03622465 0.03846045 -0.02975084
+v -0.03484743 0.03910979 -0.03029787
+v -0.03336587 0.04042742 -0.02975083
+v -0.04868224 0.01020245 -0.03652770
+v -0.04836924 0.01248224 -0.03629742
+v -0.04697115 0.01485682 -0.03673123
+v -0.04811883 0.01416483 -0.03609897
+v -0.04642861 0.01703708 -0.03650986
+v -0.04600605 0.01892821 -0.03621217
+v -0.04564610 0.02044966 -0.03594501
+v -0.03755492 0.02833177 -0.03750465
+v -0.03980334 0.02822274 -0.03631010
+v -0.04112317 0.02733168 -0.03597552
+v -0.04531744 0.02159192 -0.03567786
+v -0.04270385 0.02614676 -0.03543104
+v -0.04464970 0.02409447 -0.03495781
+v -0.04560958 0.02493813 -0.03364113
+v -0.04404455 0.02614676 -0.03430010
+v -0.03752362 0.03056889 -0.03636734
+v -0.05349209 0.01258175 -0.02975093
+v -0.05283999 0.01476201 -0.02982599
+v -0.05245917 0.01347282 -0.03135130
+v -0.05190619 0.01261968 -0.03248351
+v -0.05039855 0.01416482 -0.03388924
+v -0.05064896 0.01248224 -0.03415894
+v -0.04982471 0.01020245 -0.03559521
+v -0.03894779 0.02972049 -0.03604421
+v -0.03819658 0.03124193 -0.03553916
+v -0.03756014 0.03288660 -0.03476823
+v -0.03922428 0.03226570 -0.03403165
+v -0.03844176 0.03378239 -0.03335996
+v -0.03763839 0.03524221 -0.03255213
+v -0.03920341 0.03449334 -0.03185372
+v -0.03835830 0.03601477 -0.03087798
+v -0.03762274 0.03707172 -0.03019355
+v -0.03833222 0.03677786 -0.02975084
+v -0.03500393 0.03930412 -0.02975084
+v -0.04785278 0.01568627 -0.03588270
+v -0.04951171 0.01248224 -0.03528988
+v -0.04757108 0.01703708 -0.03563462
+v -0.04677813 0.01953963 -0.03531276
+v -0.04798320 0.02054918 -0.03373910
+v -0.04680421 0.02142129 -0.03440698
+v -0.04355418 0.02753548 -0.03386756
+v -0.04203610 0.02819431 -0.03468429
+v -0.04047108 0.02885312 -0.03550227
+v -0.04605300 0.02342144 -0.03408384
+v -0.04757108 0.02206588 -0.03325186
+v -0.04816579 0.02314653 -0.03174562
+v -0.04611560 0.02614675 -0.03202040
+v -0.04571391 0.02736959 -0.03151027
+v -0.04518702 0.02614675 -0.03315007
+v -0.05287129 0.01476201 -0.02975093
+v -0.05279826 0.01498951 -0.02975092
+v -0.05251655 0.01583792 -0.02975092
+v -0.05224528 0.01476201 -0.03095566
+v -0.05070112 0.01703707 -0.03211458
+v -0.05103499 0.01485681 -0.03272776
+v -0.05014293 0.01568626 -0.03359409
+v -0.04913088 0.01492318 -0.03488534
+v -0.03985029 0.03060207 -0.03476697
+v -0.04143096 0.02996694 -0.03399477
+v -0.04074757 0.03148364 -0.03335869
+v -0.03997549 0.03300982 -0.03260557
+v -0.04145183 0.03224199 -0.03185245
+v -0.04072670 0.03375868 -0.03095559
+v -0.03879650 0.03639395 -0.02975085
+v -0.03983464 0.03516163 -0.03016303
+v -0.04872919 0.01703708 -0.03450368
+v -0.04825447 0.01931686 -0.03402661
+v -0.04987166 0.01703707 -0.03324425
+v -0.04946997 0.01934056 -0.03248604
+v -0.04846835 0.02142128 -0.03252292
+v -0.04295426 0.02905218 -0.03324802
+v -0.04434712 0.02821326 -0.03237915
+v -0.05006990 0.02011786 -0.03117063
+v -0.04974646 0.02169143 -0.03036917
+v -0.04860399 0.02389065 -0.03032081
+v -0.04772758 0.02465848 -0.03108919
+v -0.04724764 0.02614674 -0.03032080
+v -0.04608430 0.02789569 -0.03029791
+v -0.04542699 0.02926546 -0.02975087
+v -0.04524962 0.02903321 -0.03029790
+v -0.04362200 0.02987214 -0.03174052
+v -0.05226094 0.01654887 -0.02975092
+v -0.05186446 0.01698018 -0.03019236
+v -0.05039333 0.01859643 -0.03168331
+v -0.04220304 0.03067789 -0.03254960
+v -0.04297512 0.03139358 -0.03087290
+v -0.04212479 0.03287236 -0.03016049
+v -0.04116491 0.03419947 -0.02975085
+v -0.03937035 0.03586784 -0.02975085
+v -0.04066410 0.03466870 -0.02975085
+v -0.05083154 0.01934055 -0.03036918
+v -0.05052375 0.02079563 -0.02975090
+v -0.05045594 0.02094730 -0.02975090
+v -0.05038812 0.02108475 -0.02975090
+v -0.04990296 0.02204691 -0.02975090
+v -0.04826491 0.02504239 -0.02975089
+v -0.04811883 0.02530308 -0.02975089
+v -0.04739892 0.02640742 -0.02975088
+v -0.04795712 0.02555902 -0.02975089
+v -0.04627732 0.02804262 -0.02975088
+v -0.04374720 0.03136514 -0.02975086
+v -0.04403934 0.03065892 -0.03019104
+v -0.05200531 0.01719821 -0.02975092
+v -0.04336116 0.03183437 -0.02975086
+v -0.04282905 0.03241735 -0.02975086
+v -0.04163442 0.03369706 -0.02975086
+v -0.05113411 0.01932633 -0.02975091
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 24
+f 1 24 39
+f 1 39 53
+f 1 53 69
+f 1 69 86
+f 1 86 110
+f 1 110 111
+f 1 111 142
+f 1 142 141
+f 1 141 173
+f 1 173 211
+f 1 211 210
+f 1 210 209
+f 1 209 208
+f 1 208 247
+f 1 247 291
+f 1 291 290
+f 1 290 289
+f 1 289 337
+f 1 337 371
+f 1 371 335
+f 1 335 370
+f 1 370 401
+f 1 401 426
+f 1 426 427
+f 1 427 425
+f 1 425 443
+f 1 443 442
+f 1 442 441
+f 1 441 438
+f 1 438 416
+f 1 416 437
+f 1 437 435
+f 1 435 436
+f 1 436 434
+f 1 434 433
+f 1 433 432
+f 1 432 431
+f 1 431 430
+f 1 430 429
+f 1 429 444
+f 1 444 440
+f 1 440 419
+f 1 419 389
+f 1 389 388
+f 1 388 387
+f 1 387 354
+f 1 354 318
+f 1 318 269
+f 1 269 227
+f 1 227 184
+f 1 184 151
+f 1 151 150
+f 1 150 117
+f 1 117 90
+f 1 90 72
+f 1 72 55
+f 1 55 40
+f 1 40 25
+f 1 25 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 9
+f 4 10 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 10 11
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 10
+f 9 17 20
+f 9 20 18
+f 10 19 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 20
+f 18 28 29
+f 18 29 19
+f 18 20 30
+f 18 30 28
+f 19 29 31
+f 19 31 21
+f 20 27 32
+f 20 32 33
+f 20 33 34
+f 20 34 30
+f 21 31 35
+f 21 35 22
+f 22 36 37
+f 22 37 23
+f 22 35 36
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 25 40 54
+f 25 54 71
+f 25 71 88
+f 25 88 112
+f 25 112 145
+f 25 145 176
+f 25 176 157
+f 25 157 125
+f 25 125 124
+f 25 124 96
+f 25 96 95
+f 25 95 76
+f 25 76 58
+f 25 58 45
+f 25 45 34
+f 25 34 33
+f 25 33 32
+f 25 32 27
+f 25 27 26
+f 28 41 29
+f 28 30 42
+f 28 42 41
+f 29 43 31
+f 29 41 43
+f 30 34 42
+f 31 44 35
+f 31 43 44
+f 34 45 42
+f 35 44 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 40 55 54
+f 41 56 43
+f 41 42 57
+f 41 57 56
+f 42 45 58
+f 42 58 57
+f 43 59 60
+f 43 60 44
+f 43 56 59
+f 44 60 46
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 49
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 49 64 65
+f 50 67 51
+f 51 67 68
+f 51 68 52
+f 52 69 53
+f 52 68 70
+f 52 70 69
+f 54 55 72
+f 54 72 91
+f 54 91 120
+f 54 120 155
+f 54 155 189
+f 54 189 191
+f 54 191 235
+f 54 235 280
+f 54 280 279
+f 54 279 325
+f 54 325 312
+f 54 312 264
+f 54 264 224
+f 54 224 183
+f 54 183 149
+f 54 149 115
+f 54 115 89
+f 54 89 71
+f 56 73 74
+f 56 74 59
+f 56 57 75
+f 56 75 73
+f 57 58 75
+f 58 76 75
+f 59 74 61
+f 59 61 60
+f 61 77 78
+f 61 78 62
+f 61 74 77
+f 62 78 79
+f 62 79 63
+f 63 79 80
+f 63 80 64
+f 64 80 65
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 70
+f 69 70 86
+f 70 85 87
+f 70 87 86
+f 71 89 88
+f 72 90 116
+f 72 116 91
+f 73 92 93
+f 73 93 74
+f 73 75 94
+f 73 94 92
+f 74 93 77
+f 75 76 95
+f 75 95 96
+f 75 96 94
+f 77 93 97
+f 77 97 98
+f 77 98 78
+f 78 98 99
+f 78 99 79
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 81
+f 81 102 82
+f 81 101 103
+f 81 103 102
+f 82 102 104
+f 82 104 105
+f 82 105 83
+f 83 105 106
+f 83 106 84
+f 84 106 107
+f 84 107 85
+f 85 108 87
+f 85 107 109
+f 85 109 108
+f 86 87 110
+f 87 108 111
+f 87 111 110
+f 88 89 113
+f 88 113 114
+f 88 114 112
+f 89 115 148
+f 89 148 113
+f 90 117 118
+f 90 118 116
+f 91 116 119
+f 91 119 120
+f 92 121 93
+f 92 94 122
+f 92 122 121
+f 93 123 97
+f 93 121 123
+f 94 96 124
+f 94 124 125
+f 94 125 122
+f 97 123 126
+f 97 126 127
+f 97 127 98
+f 98 128 99
+f 98 127 128
+f 99 128 129
+f 99 129 100
+f 100 130 101
+f 100 129 130
+f 101 130 103
+f 102 131 104
+f 102 103 131
+f 103 130 132
+f 103 132 131
+f 104 131 133
+f 104 133 134
+f 104 134 135
+f 104 135 136
+f 104 136 105
+f 105 136 106
+f 106 136 137
+f 106 137 138
+f 106 138 109
+f 106 109 107
+f 108 109 139
+f 108 139 140
+f 108 140 141
+f 108 141 142
+f 108 142 111
+f 109 138 139
+f 112 143 144
+f 112 144 145
+f 112 114 146
+f 112 146 147
+f 112 147 143
+f 113 148 146
+f 113 146 114
+f 115 149 148
+f 116 118 119
+f 117 150 118
+f 118 150 151
+f 118 151 152
+f 118 152 119
+f 119 152 153
+f 119 153 154
+f 119 154 155
+f 119 155 120
+f 121 156 126
+f 121 126 123
+f 121 122 156
+f 122 125 157
+f 122 157 158
+f 122 158 156
+f 126 156 159
+f 126 159 127
+f 127 159 128
+f 128 160 129
+f 128 159 160
+f 129 160 161
+f 129 161 162
+f 129 162 163
+f 129 163 132
+f 129 132 130
+f 131 132 164
+f 131 164 133
+f 132 163 164
+f 133 164 165
+f 133 165 134
+f 134 165 166
+f 134 166 167
+f 134 167 135
+f 135 167 168
+f 135 168 137
+f 135 137 136
+f 137 168 169
+f 137 169 138
+f 138 169 170
+f 138 170 139
+f 139 170 171
+f 139 171 172
+f 139 172 140
+f 140 172 173
+f 140 173 141
+f 143 147 144
+f 144 174 159
+f 144 159 175
+f 144 175 145
+f 144 147 174
+f 145 175 176
+f 146 177 178
+f 146 178 179
+f 146 179 180
+f 146 180 147
+f 146 148 181
+f 146 181 177
+f 147 160 174
+f 147 180 182
+f 147 182 160
+f 148 149 183
+f 148 183 181
+f 151 184 185
+f 151 185 152
+f 152 185 186
+f 152 186 153
+f 153 186 187
+f 153 187 188
+f 153 188 154
+f 154 189 155
+f 154 188 190
+f 154 190 191
+f 154 191 189
+f 156 158 175
+f 156 175 159
+f 157 176 175
+f 157 175 158
+f 159 174 160
+f 160 192 161
+f 160 182 192
+f 161 192 162
+f 162 192 193
+f 162 193 194
+f 162 194 195
+f 162 195 196
+f 162 196 197
+f 162 197 163
+f 163 197 164
+f 164 197 165
+f 165 197 196
+f 165 196 166
+f 166 198 167
+f 166 196 199
+f 166 199 198
+f 167 198 200
+f 167 200 201
+f 167 201 202
+f 167 202 169
+f 167 169 168
+f 169 202 203
+f 169 203 204
+f 169 204 205
+f 169 205 170
+f 170 205 171
+f 171 205 206
+f 171 206 207
+f 171 207 208
+f 171 208 209
+f 171 209 172
+f 172 209 210
+f 172 210 211
+f 172 211 173
+f 177 181 212
+f 177 212 213
+f 177 213 214
+f 177 214 178
+f 178 214 215
+f 178 215 179
+f 179 216 217
+f 179 217 180
+f 179 215 218
+f 179 218 219
+f 179 219 220
+f 179 220 221
+f 179 221 216
+f 180 217 222
+f 180 222 223
+f 180 223 182
+f 181 183 224
+f 181 224 225
+f 181 225 212
+f 182 223 222
+f 182 222 226
+f 182 226 192
+f 184 227 228
+f 184 228 185
+f 185 228 229
+f 185 229 186
+f 186 229 230
+f 186 230 187
+f 187 230 231
+f 187 231 232
+f 187 232 233
+f 187 233 188
+f 188 233 190
+f 190 233 234
+f 190 234 191
+f 191 234 235
+f 192 226 193
+f 193 226 236
+f 193 236 237
+f 193 237 194
+f 194 237 238
+f 194 238 199
+f 194 199 196
+f 194 196 195
+f 198 199 238
+f 198 238 200
+f 200 238 239
+f 200 239 240
+f 200 240 201
+f 201 240 241
+f 201 241 203
+f 201 203 202
+f 203 241 242
+f 203 242 204
+f 204 242 243
+f 204 243 206
+f 204 206 205
+f 206 243 244
+f 206 244 245
+f 206 245 246
+f 206 246 207
+f 207 246 247
+f 207 247 208
+f 212 225 248
+f 212 248 213
+f 213 248 249
+f 213 249 250
+f 213 250 214
+f 214 250 251
+f 214 251 252
+f 214 252 253
+f 214 253 215
+f 215 253 254
+f 215 254 255
+f 215 255 256
+f 215 256 218
+f 216 257 217
+f 216 221 258
+f 216 258 257
+f 217 259 222
+f 217 257 259
+f 218 256 219
+f 219 256 260
+f 219 260 261
+f 219 261 220
+f 220 261 262
+f 220 262 263
+f 220 263 258
+f 220 258 221
+f 222 259 226
+f 224 264 225
+f 225 264 265
+f 225 265 248
+f 226 259 266
+f 226 266 267
+f 226 267 268
+f 226 268 236
+f 227 269 228
+f 228 270 271
+f 228 271 229
+f 228 269 270
+f 229 271 272
+f 229 272 230
+f 230 272 273
+f 230 273 274
+f 230 274 231
+f 231 274 232
+f 232 274 275
+f 232 275 276
+f 232 276 277
+f 232 277 233
+f 233 277 234
+f 234 277 278
+f 234 278 279
+f 234 279 280
+f 234 280 235
+f 236 268 237
+f 237 268 281
+f 237 281 239
+f 237 239 238
+f 239 281 282
+f 239 282 240
+f 240 242 241
+f 240 282 283
+f 240 283 284
+f 240 284 285
+f 240 285 242
+f 242 285 286
+f 242 286 287
+f 242 287 288
+f 242 288 244
+f 242 244 243
+f 244 288 245
+f 245 289 290
+f 245 290 291
+f 245 291 246
+f 245 288 292
+f 245 292 289
+f 246 291 247
+f 248 265 293
+f 248 293 294
+f 248 294 249
+f 249 294 295
+f 249 295 250
+f 250 295 296
+f 250 296 251
+f 251 296 297
+f 251 297 252
+f 252 298 253
+f 252 297 299
+f 252 299 298
+f 253 298 254
+f 254 300 255
+f 254 298 300
+f 255 300 301
+f 255 301 256
+f 256 301 302
+f 256 302 260
+f 257 258 303
+f 257 303 304
+f 257 304 259
+f 258 263 305
+f 258 305 306
+f 258 306 304
+f 258 304 303
+f 259 304 307
+f 259 307 266
+f 260 302 308
+f 260 308 261
+f 261 308 309
+f 261 309 262
+f 262 309 310
+f 262 310 311
+f 262 311 263
+f 263 311 305
+f 264 312 313
+f 264 313 293
+f 264 293 265
+f 266 307 304
+f 266 304 314
+f 266 314 315
+f 266 315 316
+f 266 316 268
+f 266 268 267
+f 268 316 317
+f 268 317 281
+f 269 318 270
+f 270 318 319
+f 270 319 320
+f 270 320 271
+f 271 320 321
+f 271 321 272
+f 272 321 322
+f 272 322 273
+f 273 322 323
+f 273 323 274
+f 274 323 324
+f 274 324 275
+f 275 324 295
+f 275 295 276
+f 276 313 278
+f 276 278 277
+f 276 295 294
+f 276 294 313
+f 278 313 325
+f 278 325 279
+f 281 317 282
+f 282 317 283
+f 283 326 327
+f 283 327 328
+f 283 328 329
+f 283 329 286
+f 283 286 284
+f 283 317 326
+f 284 286 285
+f 286 329 330
+f 286 330 331
+f 286 331 332
+f 286 332 288
+f 286 288 287
+f 288 332 333
+f 288 333 334
+f 288 334 335
+f 288 335 336
+f 288 336 292
+f 289 292 337
+f 292 336 337
+f 293 313 294
+f 295 324 296
+f 296 324 338
+f 296 338 297
+f 297 338 339
+f 297 339 299
+f 298 299 340
+f 298 340 300
+f 299 339 341
+f 299 341 340
+f 300 340 342
+f 300 342 301
+f 301 342 343
+f 301 343 302
+f 302 343 344
+f 302 344 308
+f 304 306 345
+f 304 345 314
+f 305 346 306
+f 305 311 347
+f 305 347 346
+f 306 346 345
+f 308 344 309
+f 309 344 348
+f 309 348 310
+f 310 349 347
+f 310 347 311
+f 310 348 350
+f 310 350 351
+f 310 351 352
+f 310 352 349
+f 312 325 313
+f 314 345 353
+f 314 353 315
+f 315 326 316
+f 315 353 327
+f 315 327 326
+f 316 326 317
+f 318 354 319
+f 319 354 355
+f 319 355 356
+f 319 356 320
+f 320 356 357
+f 320 357 321
+f 321 357 358
+f 321 358 359
+f 321 359 322
+f 322 359 360
+f 322 360 323
+f 323 360 338
+f 323 338 324
+f 327 353 361
+f 327 361 362
+f 327 362 363
+f 327 363 328
+f 328 363 330
+f 328 330 329
+f 330 363 364
+f 330 364 365
+f 330 365 331
+f 331 365 366
+f 331 366 333
+f 331 333 332
+f 333 366 367
+f 333 367 368
+f 333 368 369
+f 333 369 334
+f 334 369 335
+f 335 369 370
+f 335 371 336
+f 336 371 337
+f 338 360 339
+f 339 360 341
+f 340 341 372
+f 340 372 342
+f 341 360 373
+f 341 373 372
+f 342 372 343
+f 343 372 374
+f 343 374 344
+f 344 374 375
+f 344 375 376
+f 344 376 377
+f 344 377 348
+f 345 346 361
+f 345 361 353
+f 346 347 361
+f 347 349 378
+f 347 378 379
+f 347 379 380
+f 347 380 361
+f 348 377 381
+f 348 381 350
+f 349 352 378
+f 350 381 351
+f 351 381 376
+f 351 376 382
+f 351 382 383
+f 351 383 384
+f 351 384 385
+f 351 385 386
+f 351 386 378
+f 351 378 352
+f 354 387 355
+f 355 387 388
+f 355 388 389
+f 355 389 390
+f 355 390 356
+f 356 390 391
+f 356 391 392
+f 356 392 357
+f 357 392 358
+f 358 392 393
+f 358 393 394
+f 358 394 373
+f 358 373 359
+f 359 373 360
+f 361 380 395
+f 361 395 362
+f 362 395 364
+f 362 364 363
+f 364 395 396
+f 364 396 397
+f 364 397 365
+f 365 397 398
+f 365 398 367
+f 365 367 366
+f 367 398 399
+f 367 399 400
+f 367 400 368
+f 368 401 370
+f 368 370 369
+f 368 400 402
+f 368 402 401
+f 372 373 394
+f 372 394 393
+f 372 393 403
+f 372 403 374
+f 374 403 404
+f 374 404 375
+f 375 404 376
+f 376 404 393
+f 376 393 405
+f 376 405 406
+f 376 406 407
+f 376 407 382
+f 376 381 377
+f 378 408 396
+f 378 396 379
+f 378 386 385
+f 378 385 409
+f 378 409 408
+f 379 396 380
+f 380 396 395
+f 382 407 383
+f 383 407 410
+f 383 410 411
+f 383 411 412
+f 383 412 413
+f 383 413 384
+f 384 413 385
+f 385 413 414
+f 385 414 415
+f 385 415 416
+f 385 416 417
+f 385 417 418
+f 385 418 409
+f 389 419 390
+f 390 419 420
+f 390 420 421
+f 390 421 391
+f 391 421 405
+f 391 405 393
+f 391 393 392
+f 393 404 403
+f 396 408 397
+f 397 408 422
+f 397 422 399
+f 397 399 398
+f 399 422 418
+f 399 418 423
+f 399 423 400
+f 400 423 424
+f 400 424 425
+f 400 425 402
+f 401 402 426
+f 402 425 427
+f 402 427 426
+f 405 421 406
+f 406 421 410
+f 406 410 407
+f 408 409 418
+f 408 418 422
+f 410 421 428
+f 410 428 429
+f 410 429 430
+f 410 430 411
+f 411 430 431
+f 411 431 432
+f 411 432 412
+f 412 433 434
+f 412 434 413
+f 412 432 433
+f 413 434 414
+f 414 435 415
+f 414 434 436
+f 414 436 435
+f 415 435 437
+f 415 437 416
+f 416 438 439
+f 416 439 417
+f 417 439 418
+f 418 439 423
+f 419 440 420
+f 420 440 428
+f 420 428 421
+f 423 439 441
+f 423 441 442
+f 423 442 424
+f 424 443 425
+f 424 442 443
+f 428 440 444
+f 428 444 429
+f 438 441 439
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_1.obj

@@ -0,0 +1,1033 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 -0.00003667 -0.04099104
+v 0.02628756 -0.00003666 -0.04253559
+v -0.00195061 -0.00003670 -0.03284897
+v -0.00195061 0.03179127 -0.04273915
+v 0.02738513 -0.00003667 -0.04198988
+v 0.02513112 0.00652889 -0.04273163
+v 0.02516056 0.00652889 -0.04273163
+v 0.02516056 0.00696198 -0.04273162
+v 0.02628756 0.00109215 -0.04253449
+v 0.02849952 0.00109214 -0.04143545
+v 0.03016900 -0.00003670 -0.03161377
+v -0.00195061 0.03606229 -0.03161364
+v -0.00195061 0.03188803 -0.04273915
+v -0.00111377 0.03178666 -0.04274024
+v 0.02849952 -0.00003667 -0.04143436
+v 0.02060208 0.01809347 -0.04273375
+v 0.02606889 0.00780514 -0.04230354
+v 0.02606889 0.00572259 -0.04245496
+v 0.02628756 0.00337282 -0.04249092
+v 0.02060208 0.01822247 -0.04273375
+v 0.02286450 0.01363350 -0.04272833
+v 0.02844485 0.00337281 -0.04138207
+v 0.03420602 0.00337280 -0.03816118
+v 0.03426069 0.00154827 -0.03819495
+v 0.03428592 0.00002782 -0.03820912
+v 0.03428592 -0.00003668 -0.03820912
+v 0.04101010 -0.00003670 -0.03161377
+v -0.00195061 0.04702791 -0.03161360
+v -0.00111377 0.03188342 -0.04274024
+v -0.00195061 0.03230269 -0.04262587
+v 0.02833551 0.00564886 -0.04126224
+v 0.02377703 0.01269820 -0.04250721
+v 0.02377703 0.01454116 -0.04224797
+v 0.02628756 0.01020558 -0.04187220
+v 0.03247346 0.01020557 -0.03848466
+v 0.03273419 0.00792491 -0.03862409
+v 0.02150621 0.01911630 -0.04215319
+v 0.01834807 0.02053078 -0.04273374
+v 0.01986616 0.01974292 -0.04262919
+v 0.03293184 0.00564885 -0.03872540
+v 0.03542554 0.00337280 -0.03731267
+v 0.03407566 0.00564885 -0.03808166
+v 0.03542554 0.00564885 -0.03714383
+v 0.03519846 0.00091245 -0.03755558
+v 0.03519846 -0.00003668 -0.03755449
+v 0.04048024 -0.00003670 -0.03233594
+v 0.04048024 0.00093086 -0.03233594
+v 0.04100589 0.00023974 -0.03161377
+v -0.00164363 0.04699566 -0.03161360
+v -0.00195061 0.04673303 -0.03207871
+v 0.00021509 0.03186038 -0.04273480
+v 0.01145989 0.02728984 -0.04272937
+v -0.00195061 0.03302605 -0.04235138
+v 0.03061475 0.01476229 -0.03868616
+v 0.02982417 0.01838832 -0.03826896
+v 0.03013535 0.01703835 -0.03843998
+v 0.03198566 0.01358280 -0.03820036
+v 0.03222115 0.01206236 -0.03833870
+v 0.03361729 0.01020557 -0.03778864
+v 0.03387381 0.00792491 -0.03795748
+v 0.02862147 0.01921305 -0.03863712
+v 0.01923958 0.02141079 -0.04235687
+v 0.02535820 0.02527178 -0.03831033
+v 0.02743559 0.02274231 -0.03821122
+v 0.02778042 0.02159507 -0.03838659
+v 0.01298219 0.02653883 -0.04261935
+v 0.01715799 0.02386654 -0.04232418
+v 0.03690158 0.00337279 -0.03622996
+v 0.03695204 0.00109212 -0.03627354
+v 0.03563160 0.00804469 -0.03670594
+v 0.03667029 0.00736280 -0.03603715
+v 0.03679224 0.00564884 -0.03614063
+v 0.03598905 -0.00003668 -0.03697719
+v 0.03987889 -0.00003670 -0.03315287
+v 0.03919343 0.00109212 -0.03407981
+v 0.03913877 0.00337278 -0.03401881
+v 0.04020690 0.00337278 -0.03255813
+v 0.04096384 0.00142845 -0.03161376
+v -0.00107171 0.04693115 -0.03161360
+v -0.00100864 0.04619397 -0.03276384
+v -0.00195061 0.04634140 -0.03268324
+v -0.00111377 0.03302145 -0.04230563
+v 0.00105193 0.03276343 -0.04222394
+v 0.00573656 0.03069932 -0.04240803
+v 0.00802001 0.03069931 -0.04205185
+v 0.01236822 0.02819749 -0.04211286
+v -0.00195061 0.03375401 -0.04193747
+v 0.03175857 0.01476229 -0.03806638
+v 0.02941205 0.01990876 -0.03804131
+v 0.03069465 0.01921305 -0.03747599
+v 0.03127918 0.01703835 -0.03777445
+v 0.03304538 0.01268436 -0.03769060
+v 0.03314210 0.01476229 -0.03714924
+v 0.03522790 0.01020556 -0.03666018
+v 0.03491671 0.01248162 -0.03643797
+v 0.02320933 0.02764920 -0.03836261
+v 0.02398309 0.02607807 -0.03860877
+v 0.02473162 0.02679222 -0.03800860
+v 0.02618663 0.02607807 -0.03753805
+v 0.02688050 0.02425354 -0.03792147
+v 0.02856680 0.02385731 -0.03709365
+v 0.02892004 0.02159507 -0.03775592
+v 0.01466008 0.02592605 -0.04235140
+v 0.02093850 0.02988839 -0.03835606
+v 0.03804120 0.00337279 -0.03514834
+v 0.03809587 0.00109212 -0.03520935
+v 0.03809587 -0.00003669 -0.03520935
+v 0.03695204 -0.00003669 -0.03627136
+v 0.03653152 0.00888324 -0.03591733
+v 0.03892430 0.00720614 -0.03377370
+v 0.03793186 0.00564884 -0.03502525
+v 0.03773001 0.00804469 -0.03484552
+v 0.03919343 -0.00003669 -0.03407981
+v 0.03902943 0.00564883 -0.03389462
+v 0.03998823 0.00564883 -0.03255812
+v 0.04079143 0.00394870 -0.03161376
+v 0.04084610 0.00337278 -0.03161376
+v 0.04093861 0.00193066 -0.03161376
+v 0.00006370 0.04678372 -0.03161360
+v 0.00116968 0.04615250 -0.03237825
+v -0.00018021 0.04547982 -0.03365484
+v -0.00170250 0.04557197 -0.03376594
+v -0.00195061 0.04571940 -0.03359166
+v -0.00195061 0.03947640 -0.03866972
+v -0.00111377 0.03943032 -0.03864468
+v 0.00116968 0.03924603 -0.03854120
+v 0.00345312 0.03297997 -0.04172725
+v 0.00345312 0.03899723 -0.03839960
+v 0.00500906 0.03879911 -0.03828305
+v 0.00802001 0.03714966 -0.03862289
+v 0.01030766 0.03668892 -0.03837347
+v 0.01151036 0.03642630 -0.03822533
+v 0.01239766 0.03526523 -0.03857606
+v 0.01441197 0.03450962 -0.03841377
+v 0.01593847 0.03406731 -0.03818285
+v 0.01715799 0.03250079 -0.03851835
+v 0.01852469 0.03201241 -0.03829178
+v 0.03090491 0.02150752 -0.03654904
+v 0.03212443 0.02068740 -0.03604472
+v 0.03246085 0.01931440 -0.03628763
+v 0.03320518 0.01688630 -0.03653054
+v 0.03433218 0.01602471 -0.03598919
+v 0.03455085 0.01476228 -0.03616130
+v 0.03636752 0.01020556 -0.03577572
+v 0.03605633 0.01248162 -0.03548924
+v 0.02246079 0.02916503 -0.03802929
+v 0.02398309 0.02841402 -0.03763608
+v 0.02623289 0.02833108 -0.03646188
+v 0.02761642 0.02751096 -0.03607193
+v 0.02812525 0.02614717 -0.03639108
+v 0.03017320 0.02346567 -0.03626582
+v 0.02969801 0.02498150 -0.03593579
+v 0.01934892 0.03066704 -0.03858698
+v 0.02004278 0.03140423 -0.03799551
+v 0.02170806 0.03066704 -0.03762627
+v 0.03878973 0.00872658 -0.03360923
+v 0.03748611 0.01020556 -0.03464509
+v 0.03952986 0.00795253 -0.03273675
+v 0.04061060 0.00564883 -0.03161375
+v 0.00124117 0.04658560 -0.03161360
+v 0.00294429 0.04628611 -0.03161360
+v 0.00345312 0.04593135 -0.03206781
+v 0.00116968 0.04536924 -0.03350779
+v 0.00116968 0.04423122 -0.03472230
+v -0.00001620 0.04322221 -0.03594334
+v -0.00085725 0.04439709 -0.03485519
+v -0.00195061 0.04558579 -0.03377901
+v -0.00195061 0.04358619 -0.03579302
+v -0.00195061 0.03989106 -0.03842573
+v -0.00111377 0.04057296 -0.03796934
+v 0.00116968 0.04038406 -0.03784952
+v 0.00653135 0.03855952 -0.03814036
+v 0.00345312 0.04013525 -0.03767960
+v 0.00575759 0.03966069 -0.03757177
+v 0.00802001 0.03829229 -0.03797915
+v 0.01030766 0.03783155 -0.03768832
+v 0.01239766 0.03732474 -0.03738552
+v 0.01303265 0.03603006 -0.03800203
+v 0.01505537 0.03526523 -0.03778528
+v 0.01731779 0.03544031 -0.03682021
+v 0.01715799 0.03363882 -0.03795739
+v 0.01934892 0.03285556 -0.03750317
+v 0.03169550 0.02220785 -0.03570706
+v 0.03309164 0.02150752 -0.03479101
+v 0.03360468 0.01931440 -0.03535415
+v 0.03401258 0.01754515 -0.03572233
+v 0.03533303 0.01680797 -0.03474310
+v 0.03663245 0.01607078 -0.03376278
+v 0.03569468 0.01476228 -0.03512979
+v 0.03719595 0.01248162 -0.03435969
+v 0.03685112 0.01476227 -0.03399916
+v 0.02395365 0.03065321 -0.03650435
+v 0.02543810 0.02986074 -0.03612639
+v 0.02696040 0.02902680 -0.03561553
+v 0.02853316 0.02837255 -0.03480514
+v 0.02926908 0.02614717 -0.03560356
+v 0.03208658 0.02514275 -0.03377800
+v 0.03090491 0.02407845 -0.03539770
+v 0.03082922 0.02599974 -0.03436945
+v 0.02160293 0.03291545 -0.03643790
+v 0.02315886 0.03211376 -0.03612202
+v 0.03862573 0.01020555 -0.03339682
+v 0.03942472 0.01020555 -0.03226727
+v 0.04002187 0.00921036 -0.03161374
+v 0.04024895 0.00793871 -0.03161374
+v 0.04050127 0.00638141 -0.03161375
+v 0.00345312 0.04618936 -0.03161360
+v 0.00517727 0.04581156 -0.03161360
+v 0.00533707 0.04570558 -0.03173451
+v 0.00345312 0.04514348 -0.03319845
+v 0.00345312 0.04400546 -0.03450663
+v 0.00116968 0.04311623 -0.03585184
+v -0.00153850 0.04331435 -0.03602068
+v 0.00116968 0.04197821 -0.03671998
+v -0.00091192 0.04231455 -0.03670581
+v -0.00195061 0.04333278 -0.03603702
+v -0.00195061 0.04061442 -0.03799766
+v -0.00195061 0.04112584 -0.03763821
+v -0.00195061 0.04222241 -0.03685503
+v 0.00345312 0.04173862 -0.03655115
+v 0.00818822 0.04001546 -0.03677553
+v 0.00573656 0.04143914 -0.03633330
+v 0.00753641 0.04117191 -0.03612525
+v 0.01030766 0.03951325 -0.03655877
+v 0.01259110 0.03901565 -0.03620478
+v 0.01384006 0.03872999 -0.03599129
+v 0.01471054 0.03754128 -0.03647055
+v 0.01666598 0.03679027 -0.03622765
+v 0.01944143 0.03474458 -0.03635728
+v 0.01818827 0.03632492 -0.03589545
+v 0.02076608 0.03426081 -0.03604903
+v 0.03247346 0.02386651 -0.03413963
+v 0.03446254 0.02080719 -0.03387604
+v 0.03481158 0.01931440 -0.03422461
+v 0.03632967 0.01759122 -0.03339353
+v 0.03716651 0.01691393 -0.03260710
+v 0.03807484 0.01470699 -0.03241431
+v 0.03833557 0.01248161 -0.03299488
+v 0.02468116 0.03138118 -0.03564166
+v 0.02633802 0.03074997 -0.03487485
+v 0.02792760 0.03011415 -0.03410911
+v 0.03004704 0.02771829 -0.03399475
+v 0.03382335 0.02517039 -0.03161368
+v 0.03410930 0.02471426 -0.03161368
+v 0.03370981 0.02403237 -0.03263212
+v 0.03406305 0.02232763 -0.03343381
+v 0.03156934 0.02666319 -0.03319743
+v 0.03259121 0.02599973 -0.03248942
+v 0.02228838 0.03363420 -0.03559592
+v 0.03914297 0.01248161 -0.03186534
+v 0.03980740 0.01021477 -0.03161373
+v 0.00592159 0.04562726 -0.03161360
+v 0.00669956 0.04541071 -0.03161360
+v 0.00595524 0.04498683 -0.03251658
+v 0.00757846 0.04345256 -0.03393478
+v 0.00573656 0.04371980 -0.03421907
+v 0.00345312 0.04287665 -0.03563726
+v 0.00905870 0.04091390 -0.03591721
+v 0.00573656 0.04258177 -0.03534970
+v 0.01030766 0.04065127 -0.03569392
+v 0.01259110 0.04015367 -0.03523099
+v 0.01392416 0.04104750 -0.03379319
+v 0.01464326 0.03968833 -0.03472013
+v 0.01536235 0.03830611 -0.03564600
+v 0.01944143 0.03588261 -0.03554144
+v 0.01731779 0.03754128 -0.03529635
+v 0.01833125 0.03869312 -0.03371042
+v 0.01923117 0.03747217 -0.03428009
+v 0.02162395 0.03517768 -0.03477353
+v 0.03607735 0.01954476 -0.03260709
+v 0.03507230 0.02157662 -0.03263213
+v 0.03688897 0.01893658 -0.03188710
+v 0.03821782 0.01589570 -0.03161371
+v 0.03847434 0.01516773 -0.03161371
+v 0.03889066 0.01395598 -0.03161372
+v 0.03897056 0.01368414 -0.03161372
+v 0.02404196 0.03301681 -0.03486503
+v 0.02571144 0.03239942 -0.03413415
+v 0.02944990 0.02923873 -0.03341200
+v 0.02723374 0.03163458 -0.03350022
+v 0.03220013 0.02756624 -0.03169100
+v 0.03230526 0.02748331 -0.03161367
+v 0.03442890 0.02417980 -0.03161368
+v 0.03465598 0.02338733 -0.03192738
+v 0.03084183 0.02840018 -0.03255150
+v 0.02340697 0.03457411 -0.03408948
+v 0.03928595 0.01248161 -0.03161372
+v 0.03936585 0.01214527 -0.03161373
+v 0.00705701 0.04530474 -0.03161360
+v 0.00821345 0.04412985 -0.03276821
+v 0.00910075 0.04320837 -0.03366138
+v 0.00831858 0.04219015 -0.03492600
+v 0.01030766 0.04183077 -0.03456437
+v 0.01259110 0.04135160 -0.03410145
+v 0.01030766 0.04296879 -0.03335422
+v 0.01269203 0.04258176 -0.03253293
+v 0.01476100 0.04158196 -0.03256671
+v 0.01545066 0.04065126 -0.03332699
+v 0.01715799 0.03903408 -0.03404264
+v 0.02095532 0.03667047 -0.03395115
+v 0.01724209 0.04024581 -0.03256671
+v 0.01781821 0.04064205 -0.03161362
+v 0.01844900 0.04025964 -0.03161362
+v 0.01923117 0.03914004 -0.03243927
+v 0.01984934 0.03819091 -0.03311460
+v 0.03648947 0.02030959 -0.03161370
+v 0.03633387 0.02062750 -0.03161369
+v 0.03717492 0.01862788 -0.03161370
+v 0.03669553 0.01983963 -0.03161370
+v 0.02492927 0.03391985 -0.03349150
+v 0.02869716 0.03083750 -0.03270290
+v 0.03011433 0.03003581 -0.03190558
+v 0.02645998 0.03315041 -0.03274319
+v 0.02794022 0.03238559 -0.03199379
+v 0.03054747 0.02976858 -0.03161366
+v 0.03214546 0.02770907 -0.03161367
+v 0.03222115 0.02760771 -0.03161367
+v 0.03516061 0.02282523 -0.03161369
+v 0.02248182 0.03609454 -0.03336514
+v 0.00907132 0.04462284 -0.03161361
+v 0.01030766 0.04379351 -0.03222467
+v 0.01199816 0.04346178 -0.03176283
+v 0.01329338 0.04298721 -0.03161361
+v 0.01653982 0.04124101 -0.03181949
+v 0.01384847 0.04272460 -0.03161361
+v 0.01705286 0.04109818 -0.03161362
+v 0.02076608 0.03880830 -0.03161363
+v 0.02162816 0.03746755 -0.03248611
+v 0.02411345 0.03534814 -0.03267565
+v 0.02569042 0.03460635 -0.03198507
+v 0.02988724 0.03057027 -0.03161366
+v 0.02635905 0.03429766 -0.03161364
+v 0.02698984 0.03368026 -0.03161365
+v 0.02761642 0.03306287 -0.03161365
+v 0.02857101 0.03204003 -0.03161365
+v 0.02330184 0.03674419 -0.03185872
+v 0.01183416 0.04361383 -0.03161361
+v 0.01207386 0.04351707 -0.03161361
+v 0.01246074 0.04336042 -0.03161361
+v 0.01631694 0.04148060 -0.03161362
+v 0.01664075 0.04131473 -0.03161362
+v 0.02077870 0.03879909 -0.03161363
+v 0.02376021 0.03655989 -0.03161364
+v 0.02534979 0.03520071 -0.03161364
+v 0.02307055 0.03709435 -0.03161363
+f 1 2 5
+f 1 5 15
+f 1 15 26
+f 1 26 45
+f 1 45 73
+f 1 73 108
+f 1 108 107
+f 1 107 113
+f 1 113 74
+f 1 74 46
+f 1 46 27
+f 1 27 11
+f 1 11 3
+f 1 3 12
+f 1 12 28
+f 1 28 50
+f 1 50 81
+f 1 81 123
+f 1 123 167
+f 1 167 168
+f 1 168 216
+f 1 216 219
+f 1 219 218
+f 1 218 217
+f 1 217 169
+f 1 169 124
+f 1 124 87
+f 1 87 53
+f 1 53 30
+f 1 30 13
+f 1 13 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 5
+f 3 11 12
+f 4 13 29
+f 4 29 14
+f 4 14 6
+f 5 10 15
+f 6 14 7
+f 7 14 16
+f 7 16 20
+f 7 20 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 20 21
+f 8 21 17
+f 9 19 10
+f 10 19 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 15
+f 11 27 48
+f 11 48 78
+f 11 78 118
+f 11 118 117
+f 11 117 116
+f 11 116 159
+f 11 159 206
+f 11 206 205
+f 11 205 204
+f 11 204 251
+f 11 251 288
+f 11 288 287
+f 11 287 276
+f 11 276 275
+f 11 275 274
+f 11 274 273
+f 11 273 308
+f 11 308 309
+f 11 309 306
+f 11 306 307
+f 11 307 318
+f 11 318 283
+f 11 283 244
+f 11 244 243
+f 11 243 282
+f 11 282 317
+f 11 317 316
+f 11 316 315
+f 11 315 331
+f 11 331 335
+f 11 335 334
+f 11 334 333
+f 11 333 332
+f 11 332 344
+f 11 344 343
+f 11 343 345
+f 11 345 342
+f 11 342 327
+f 11 327 303
+f 11 303 302
+f 11 302 326
+f 11 326 341
+f 11 341 340
+f 11 340 325
+f 11 325 323
+f 11 323 339
+f 11 339 338
+f 11 338 337
+f 11 337 320
+f 11 320 289
+f 11 289 253
+f 11 253 252
+f 11 252 208
+f 11 208 207
+f 11 207 161
+f 11 161 160
+f 11 160 119
+f 11 119 79
+f 11 79 49
+f 11 49 28
+f 11 28 12
+f 13 30 29
+f 14 29 20
+f 14 20 16
+f 17 31 22
+f 17 22 18
+f 17 21 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 31
+f 18 22 19
+f 20 37 33
+f 20 33 21
+f 20 29 38
+f 20 38 39
+f 20 39 37
+f 21 33 32
+f 22 31 40
+f 22 40 23
+f 23 41 24
+f 23 40 42
+f 23 42 43
+f 23 43 41
+f 24 41 44
+f 24 44 25
+f 25 44 26
+f 26 44 45
+f 27 46 47
+f 27 47 48
+f 28 49 50
+f 29 30 51
+f 29 51 52
+f 29 52 38
+f 30 53 51
+f 31 36 40
+f 33 54 34
+f 33 37 55
+f 33 55 56
+f 33 56 54
+f 34 54 57
+f 34 57 58
+f 34 58 35
+f 35 58 59
+f 35 59 60
+f 35 60 36
+f 36 60 42
+f 36 42 40
+f 37 61 55
+f 37 39 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 61
+f 38 52 66
+f 38 66 39
+f 39 66 67
+f 39 67 62
+f 41 68 69
+f 41 69 44
+f 41 43 68
+f 42 60 43
+f 43 60 70
+f 43 70 71
+f 43 71 72
+f 43 72 68
+f 44 73 45
+f 44 69 73
+f 46 74 47
+f 47 74 75
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 48
+f 49 79 80
+f 49 80 50
+f 50 80 81
+f 51 53 82
+f 51 82 83
+f 51 83 84
+f 51 84 52
+f 52 84 85
+f 52 85 86
+f 52 86 66
+f 53 87 82
+f 54 56 88
+f 54 88 57
+f 55 61 65
+f 55 65 89
+f 55 89 90
+f 55 90 91
+f 55 91 56
+f 56 91 88
+f 57 92 58
+f 57 88 93
+f 57 93 92
+f 58 92 59
+f 59 94 60
+f 59 92 95
+f 59 95 94
+f 60 94 70
+f 62 67 96
+f 62 96 97
+f 62 97 63
+f 63 97 96
+f 63 96 98
+f 63 98 99
+f 63 99 100
+f 63 100 64
+f 64 100 101
+f 64 101 102
+f 64 102 89
+f 64 89 65
+f 66 86 103
+f 66 103 67
+f 67 103 104
+f 67 104 96
+f 68 105 106
+f 68 106 69
+f 68 72 105
+f 69 106 107
+f 69 107 108
+f 69 108 73
+f 70 94 109
+f 70 109 71
+f 71 110 111
+f 71 111 72
+f 71 109 112
+f 71 112 110
+f 72 111 105
+f 74 113 75
+f 75 106 105
+f 75 105 76
+f 75 113 107
+f 75 107 106
+f 76 105 111
+f 76 111 114
+f 76 114 77
+f 77 114 115
+f 77 115 116
+f 77 116 117
+f 77 117 118
+f 77 118 78
+f 79 119 80
+f 80 119 120
+f 80 120 121
+f 80 121 122
+f 80 122 123
+f 80 123 81
+f 82 87 124
+f 82 124 125
+f 82 125 126
+f 82 126 83
+f 83 127 85
+f 83 85 84
+f 83 126 128
+f 83 128 129
+f 83 129 127
+f 85 127 130
+f 85 130 131
+f 85 131 132
+f 85 132 133
+f 85 133 134
+f 85 134 86
+f 86 134 135
+f 86 135 136
+f 86 136 137
+f 86 137 103
+f 88 91 93
+f 89 102 138
+f 89 138 90
+f 90 138 139
+f 90 139 140
+f 90 140 91
+f 91 140 141
+f 91 141 93
+f 92 93 95
+f 93 141 142
+f 93 142 143
+f 93 143 95
+f 94 144 109
+f 94 95 144
+f 95 145 144
+f 95 143 145
+f 96 104 146
+f 96 146 147
+f 96 147 98
+f 98 147 148
+f 98 148 99
+f 99 148 149
+f 99 149 150
+f 99 150 100
+f 100 150 101
+f 101 151 102
+f 101 150 152
+f 101 152 151
+f 102 151 138
+f 103 137 153
+f 103 153 104
+f 104 153 137
+f 104 137 154
+f 104 154 155
+f 104 155 146
+f 109 156 112
+f 109 144 157
+f 109 157 156
+f 110 115 114
+f 110 114 111
+f 110 112 156
+f 110 156 158
+f 110 158 115
+f 115 159 116
+f 115 158 159
+f 119 160 120
+f 120 160 161
+f 120 161 162
+f 120 162 163
+f 120 163 121
+f 121 163 164
+f 121 164 165
+f 121 165 166
+f 121 166 122
+f 122 167 123
+f 122 166 168
+f 122 168 167
+f 124 169 125
+f 125 169 170
+f 125 170 126
+f 126 170 171
+f 126 171 128
+f 127 129 172
+f 127 172 130
+f 128 171 173
+f 128 173 129
+f 129 173 174
+f 129 174 172
+f 130 172 175
+f 130 175 131
+f 131 175 176
+f 131 176 132
+f 132 176 177
+f 132 177 178
+f 132 178 134
+f 132 134 133
+f 134 178 135
+f 135 178 179
+f 135 179 180
+f 135 180 181
+f 135 181 137
+f 135 137 136
+f 137 181 182
+f 137 182 154
+f 138 151 139
+f 139 151 183
+f 139 183 184
+f 139 184 185
+f 139 185 186
+f 139 186 140
+f 140 186 142
+f 140 142 141
+f 142 186 187
+f 142 187 188
+f 142 188 189
+f 142 189 145
+f 142 145 143
+f 144 145 190
+f 144 190 157
+f 145 189 191
+f 145 191 190
+f 146 155 192
+f 146 192 147
+f 147 192 193
+f 147 193 148
+f 148 193 149
+f 149 193 194
+f 149 194 195
+f 149 195 196
+f 149 196 152
+f 149 152 150
+f 151 152 183
+f 152 197 198
+f 152 198 183
+f 152 196 199
+f 152 199 197
+f 154 182 200
+f 154 200 155
+f 155 200 201
+f 155 201 192
+f 156 157 190
+f 156 190 202
+f 156 202 203
+f 156 203 158
+f 158 203 204
+f 158 204 205
+f 158 205 206
+f 158 206 159
+f 161 207 162
+f 162 207 208
+f 162 208 209
+f 162 209 210
+f 162 210 163
+f 163 210 211
+f 163 211 164
+f 164 211 212
+f 164 212 165
+f 165 213 166
+f 165 212 214
+f 165 214 215
+f 165 215 213
+f 166 213 168
+f 168 213 216
+f 169 217 170
+f 170 217 218
+f 170 218 219
+f 170 219 215
+f 170 215 214
+f 170 214 171
+f 171 214 220
+f 171 220 173
+f 172 174 221
+f 172 221 175
+f 173 220 222
+f 173 222 174
+f 174 222 223
+f 174 223 221
+f 175 221 224
+f 175 224 176
+f 176 224 225
+f 176 225 177
+f 177 225 226
+f 177 226 227
+f 177 227 178
+f 178 227 179
+f 179 227 228
+f 179 228 180
+f 180 229 181
+f 180 228 230
+f 180 230 229
+f 181 229 182
+f 182 229 231
+f 182 231 200
+f 183 198 232
+f 183 232 184
+f 184 233 185
+f 184 232 233
+f 185 233 234
+f 185 234 186
+f 186 234 187
+f 187 234 188
+f 188 191 189
+f 188 234 235
+f 188 235 236
+f 188 236 237
+f 188 237 238
+f 188 238 191
+f 190 238 202
+f 190 191 238
+f 192 201 193
+f 193 201 239
+f 193 239 194
+f 194 239 240
+f 194 240 241
+f 194 241 195
+f 195 242 196
+f 195 241 242
+f 196 242 199
+f 197 243 244
+f 197 244 245
+f 197 245 246
+f 197 246 232
+f 197 232 198
+f 197 199 242
+f 197 242 247
+f 197 247 248
+f 197 248 243
+f 200 231 201
+f 201 231 249
+f 201 249 239
+f 202 238 250
+f 202 250 203
+f 203 250 251
+f 203 251 204
+f 208 252 209
+f 209 252 253
+f 209 253 254
+f 209 254 210
+f 210 254 255
+f 210 255 256
+f 210 256 211
+f 211 256 257
+f 211 257 212
+f 212 257 220
+f 212 220 214
+f 213 215 219
+f 213 219 216
+f 220 257 222
+f 221 223 258
+f 221 258 224
+f 222 257 259
+f 222 259 223
+f 223 259 258
+f 224 258 225
+f 225 258 260
+f 225 260 226
+f 226 260 261
+f 226 261 262
+f 226 262 263
+f 226 263 264
+f 226 264 228
+f 226 228 227
+f 228 264 230
+f 229 230 231
+f 230 265 231
+f 230 264 266
+f 230 266 267
+f 230 267 268
+f 230 268 265
+f 231 265 269
+f 231 269 249
+f 232 246 233
+f 233 270 235
+f 233 235 234
+f 233 246 271
+f 233 271 270
+f 235 272 236
+f 235 270 272
+f 236 273 274
+f 236 274 237
+f 236 272 273
+f 237 274 275
+f 237 275 238
+f 238 275 276
+f 238 276 250
+f 239 249 277
+f 239 277 278
+f 239 278 240
+f 240 278 241
+f 241 279 242
+f 241 278 280
+f 241 280 279
+f 242 279 247
+f 243 248 281
+f 243 281 282
+f 244 283 284
+f 244 284 245
+f 245 284 246
+f 246 284 271
+f 247 279 285
+f 247 285 281
+f 247 281 248
+f 249 269 286
+f 249 286 277
+f 250 287 288
+f 250 288 251
+f 250 276 287
+f 253 289 254
+f 254 289 290
+f 254 290 291
+f 254 291 255
+f 255 291 292
+f 255 292 259
+f 255 259 256
+f 256 259 257
+f 258 259 292
+f 258 292 291
+f 258 291 293
+f 258 293 260
+f 260 293 294
+f 260 294 261
+f 261 294 262
+f 262 294 295
+f 262 295 296
+f 262 296 297
+f 262 297 298
+f 262 298 299
+f 262 299 263
+f 263 299 264
+f 264 299 266
+f 265 268 300
+f 265 300 269
+f 266 299 267
+f 267 299 298
+f 267 298 301
+f 267 301 302
+f 267 302 303
+f 267 303 304
+f 267 304 305
+f 267 305 300
+f 267 300 268
+f 269 300 286
+f 270 271 306
+f 270 306 272
+f 271 307 306
+f 271 284 307
+f 272 308 273
+f 272 306 309
+f 272 309 308
+f 277 286 278
+f 278 286 310
+f 278 310 280
+f 279 280 311
+f 279 311 312
+f 279 312 285
+f 280 310 313
+f 280 313 314
+f 280 314 311
+f 281 285 312
+f 281 312 315
+f 281 315 316
+f 281 316 317
+f 281 317 282
+f 283 318 284
+f 284 318 307
+f 286 300 319
+f 286 319 310
+f 289 320 321
+f 289 321 290
+f 290 321 291
+f 291 295 294
+f 291 294 293
+f 291 321 295
+f 295 321 322
+f 295 322 296
+f 296 322 323
+f 296 323 297
+f 297 324 298
+f 297 323 325
+f 297 325 324
+f 298 324 301
+f 300 305 319
+f 301 324 326
+f 301 326 302
+f 303 327 304
+f 304 327 305
+f 305 327 328
+f 305 328 319
+f 310 319 329
+f 310 329 330
+f 310 330 313
+f 311 314 312
+f 312 314 331
+f 312 331 315
+f 313 330 332
+f 313 332 333
+f 313 333 334
+f 313 334 314
+f 314 334 335
+f 314 335 331
+f 319 328 336
+f 319 336 329
+f 320 337 322
+f 320 322 321
+f 322 337 338
+f 322 338 339
+f 322 339 323
+f 324 325 340
+f 324 340 341
+f 324 341 326
+f 327 342 328
+f 328 342 336
+f 329 336 330
+f 330 336 343
+f 330 343 344
+f 330 344 332
+f 336 342 345
+f 336 345 343
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_10.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v -0.05759178 -0.01724933 0.04202741
+v -0.05747163 -0.01724934 0.04433726
+v -0.05757491 -0.01724933 0.04191109
+v -0.05716177 -0.01851487 0.04202740
+v -0.05719128 -0.01859092 0.04363598
+v -0.05746530 -0.01724934 0.04436883
+v -0.05724186 -0.01724933 0.04065646
+v -0.05707323 -0.01827589 0.04089575
+v -0.05671278 -0.01965277 0.04202740
+v -0.05584854 -0.02168959 0.04202739
+v -0.05506651 -0.02340323 0.04202738
+v -0.05500959 -0.02328647 0.04428737
+v -0.05573682 -0.02168960 0.04428738
+v -0.05668959 -0.01937578 0.04434888
+v -0.05698891 -0.01805321 0.04514320
+v -0.05613100 -0.01724935 0.04628982
+v -0.05323685 -0.01724929 0.03072413
+v -0.05268879 -0.01872394 0.03072412
+v -0.05221241 -0.01986728 0.03072412
+v -0.05490841 -0.02308006 0.04072624
+v -0.05449527 -0.02454113 0.04202738
+v -0.05443624 -0.02442437 0.04428737
+v -0.05483464 -0.02292528 0.04548053
+v -0.05510656 -0.02168961 0.04577300
+v -0.05558084 -0.01941109 0.04616684
+v -0.05610359 -0.01724935 0.04631807
+v -0.04506450 -0.01724929 0.03072413
+v -0.05138189 -0.02169227 0.03072411
+v -0.05053240 -0.02342492 0.03072410
+v -0.05258550 -0.02752032 0.04078438
+v -0.05357411 -0.02624663 0.04202737
+v -0.05271619 -0.02773487 0.04390184
+v -0.05326425 -0.02647205 0.04450838
+v -0.05250119 -0.02737912 0.04540905
+v -0.05292277 -0.02586101 0.04584610
+v -0.05364578 -0.02168961 0.04678833
+v -0.05366896 -0.02379704 0.04608872
+v -0.05378490 -0.01724935 0.04749294
+v -0.05344764 -0.01930789 0.04735666
+v -0.04484317 -0.01724929 0.03072745
+v -0.03606164 -0.02998075 0.03072408
+v -0.04992322 -0.02456554 0.03072410
+v -0.05272462 -0.02775116 0.04202737
+v -0.04894937 -0.02624931 0.03072409
+v -0.04810410 -0.02763706 0.03072409
+v -0.04731996 -0.02878039 0.03072408
+v -0.05058089 -0.03020077 0.04045202
+v -0.04794811 -0.03423095 0.04088073
+v -0.05008553 -0.03175418 0.04202735
+v -0.05086967 -0.03061628 0.04202736
+v -0.05201215 -0.02888906 0.04202736
+v -0.05081065 -0.03052396 0.04428735
+v -0.05206064 -0.02850615 0.04450838
+v -0.05050078 -0.03007858 0.04571813
+v -0.05100036 -0.02852245 0.04608705
+v -0.05158847 -0.02647206 0.04646094
+v -0.05117953 -0.02386493 0.04738656
+v -0.05265296 -0.01724936 0.04769733
+v -0.05255388 -0.01847960 0.04768735
+v -0.05158425 -0.02168961 0.04756105
+v -0.04484739 -0.01724929 0.03083879
+v -0.03606164 -0.03007310 0.03252044
+v -0.03606164 -0.04027618 0.03072404
+v -0.04618169 -0.03036639 0.03072408
+v -0.04806194 -0.03436674 0.04202734
+v -0.04906952 -0.03307676 0.04202735
+v -0.04530902 -0.03150429 0.03072739
+v -0.04416653 -0.03285946 0.03072407
+v -0.04316739 -0.03400007 0.03072407
+v -0.04575589 -0.03660452 0.04077438
+v -0.04592453 -0.03678105 0.04202733
+v -0.04706490 -0.03550464 0.04202734
+v -0.04809145 -0.03440205 0.04367747
+v -0.05002018 -0.03166186 0.04428734
+v -0.04785537 -0.03411963 0.04518468
+v -0.04844768 -0.03260152 0.04587432
+v -0.04915594 -0.03082270 0.04627814
+v -0.04885873 -0.02831334 0.04726191
+v -0.04922761 -0.02624665 0.04752946
+v -0.04795022 -0.02741443 0.04768068
+v -0.05029632 -0.02303935 0.04769067
+v -0.05221873 -0.01724936 0.04769899
+v -0.05044176 -0.02168962 0.04769565
+v -0.04494857 -0.01724930 0.03299243
+v -0.03606164 -0.03013013 0.03328153
+v -0.03606164 -0.04487400 0.04171823
+v -0.03707554 -0.04370622 0.04041541
+v -0.03859956 -0.04317937 0.04163182
+v -0.04111007 -0.04106923 0.04087074
+v -0.03727579 -0.03937455 0.03072405
+v -0.04530480 -0.03150701 0.03072407
+v -0.04202701 -0.03517328 0.03072406
+v -0.04089295 -0.03631661 0.03072406
+v -0.04347514 -0.03887218 0.04077935
+v -0.04479890 -0.03791895 0.04202733
+v -0.04585286 -0.03670501 0.04428733
+v -0.04472723 -0.03784563 0.04428732
+v -0.04713235 -0.03523851 0.04437375
+v -0.04878284 -0.03324786 0.04437376
+v -0.04566315 -0.03650406 0.04542730
+v -0.04617115 -0.03535529 0.04582114
+v -0.04697426 -0.03324787 0.04643766
+v -0.04665175 -0.03071407 0.04742974
+v -0.04731363 -0.02893253 0.04759924
+v -0.04514038 -0.03140930 0.04763745
+v -0.04579383 -0.02989392 0.04769396
+v -0.05109943 -0.01724935 0.04758766
+v -0.04361848 -0.03225391 0.04769561
+v -0.04317160 -0.03168089 0.04769561
+v -0.03765100 -0.03763654 0.04769227
+v -0.03606164 -0.03880431 0.04769061
+v -0.03622184 -0.03858434 0.04769061
+v -0.04510666 -0.01724931 0.03521753
+v -0.03606164 -0.03030123 0.03519754
+v -0.03606164 -0.04499078 0.04205389
+v -0.03776693 -0.04387733 0.04224168
+v -0.03880613 -0.04333146 0.04313737
+v -0.03971885 -0.04244069 0.04224168
+v -0.04125341 -0.04119143 0.04202732
+v -0.04239589 -0.04018117 0.04202732
+v -0.04365642 -0.03904327 0.04202733
+v -0.03975258 -0.03732687 0.03072405
+v -0.03842671 -0.03846749 0.03072405
+v -0.03728633 -0.03936641 0.03072405
+v -0.04358475 -0.03897539 0.04428732
+v -0.04338029 -0.03877986 0.04542729
+v -0.04428879 -0.03741112 0.04575798
+v -0.04451223 -0.03535529 0.04677665
+v -0.04443213 -0.03303875 0.04750285
+v -0.04286596 -0.03377202 0.04765074
+v -0.04908638 -0.01724935 0.04695619
+v -0.03606164 -0.03841325 0.04765737
+v -0.03606164 -0.03748716 0.04756764
+v -0.04060206 -0.03599079 0.04765073
+v -0.03907805 -0.03668874 0.04769228
+v -0.03670244 -0.03888579 0.04769061
+v -0.03606164 -0.03933389 0.04768895
+v -0.04513406 -0.01724931 0.03548673
+v -0.03606164 -0.03069774 0.03832995
+v -0.03606164 -0.03057825 0.03750904
+v -0.03606164 -0.03044517 0.03644219
+v -0.03606164 -0.04487401 0.04424908
+v -0.03880613 -0.04333146 0.04316894
+v -0.04128503 -0.04121589 0.04369739
+v -0.04211976 -0.04025451 0.04438536
+v -0.04099414 -0.04097148 0.04520294
+v -0.03947012 -0.04157166 0.04587762
+v -0.04222726 -0.03929042 0.04581780
+v -0.04222726 -0.03763381 0.04677332
+v -0.04215348 -0.03527925 0.04752278
+v -0.04744011 -0.01724935 0.04590928
+v -0.03606164 -0.03539331 0.04696941
+v -0.03988116 -0.03752247 0.04749784
+v -0.03822435 -0.03820684 0.04763245
+v -0.03606164 -0.04030612 0.04757095
+v -0.04534485 -0.01724932 0.03750909
+v -0.03606164 -0.03092588 0.03976737
+v -0.03606164 -0.04402942 0.04586598
+v -0.03695961 -0.04363020 0.04573470
+v -0.03848151 -0.04309247 0.04467616
+v -0.03769738 -0.04382844 0.04406795
+v -0.03990013 -0.04215282 0.04418595
+v -0.03769738 -0.04227504 0.04628806
+v -0.04011725 -0.04009157 0.04643264
+v -0.03754139 -0.03975210 0.04742638
+v -0.04657376 -0.01724934 0.04428740
+v -0.03606164 -0.03343254 0.04601391
+v -0.03606164 -0.03233536 0.04484902
+v -0.03606164 -0.04207951 0.04692951
+v -0.04539966 -0.01724932 0.03795610
+v -0.03606164 -0.03102364 0.04026424
+v -0.04562520 -0.01724933 0.03976742
+v -0.04600673 -0.01724933 0.04218528
+v -0.03606164 -0.03194429 0.04390182
+v -0.03606164 -0.03138212 0.04202735
+v -0.04599619 -0.01724933 0.04213044
+f 1 2 6
+f 1 6 16
+f 1 16 26
+f 1 26 38
+f 1 38 58
+f 1 58 82
+f 1 82 107
+f 1 107 131
+f 1 131 151
+f 1 151 166
+f 1 166 173
+f 1 173 176
+f 1 176 172
+f 1 172 170
+f 1 170 156
+f 1 156 138
+f 1 138 113
+f 1 113 84
+f 1 84 61
+f 1 61 40
+f 1 40 27
+f 1 27 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 27 41
+f 17 41 63
+f 17 63 90
+f 17 90 124
+f 17 124 123
+f 17 123 122
+f 17 122 93
+f 17 93 92
+f 17 92 69
+f 17 69 68
+f 17 68 91
+f 17 91 64
+f 17 64 46
+f 17 46 45
+f 17 45 44
+f 17 44 42
+f 17 42 29
+f 17 29 28
+f 17 28 19
+f 17 19 18
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 36
+f 25 36 26
+f 26 36 39
+f 26 39 38
+f 27 40 41
+f 29 42 30
+f 30 43 31
+f 30 42 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 43
+f 31 43 32
+f 32 43 51
+f 32 51 50
+f 32 50 52
+f 32 52 53
+f 32 53 34
+f 32 34 33
+f 34 53 52
+f 34 52 54
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 37
+f 36 37 56
+f 36 56 57
+f 36 57 39
+f 38 39 59
+f 38 59 58
+f 39 57 60
+f 39 60 59
+f 40 61 62
+f 40 62 41
+f 41 62 85
+f 41 85 114
+f 41 114 141
+f 41 141 140
+f 41 140 139
+f 41 139 157
+f 41 157 171
+f 41 171 175
+f 41 175 174
+f 41 174 168
+f 41 168 167
+f 41 167 152
+f 41 152 133
+f 41 133 132
+f 41 132 111
+f 41 111 137
+f 41 137 155
+f 41 155 169
+f 41 169 158
+f 41 158 142
+f 41 142 115
+f 41 115 86
+f 41 86 63
+f 46 64 48
+f 46 48 47
+f 48 65 66
+f 48 66 49
+f 48 64 67
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 65
+f 49 66 73
+f 49 73 74
+f 49 74 52
+f 49 52 50
+f 52 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 55 78 56
+f 55 77 78
+f 56 78 57
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 60
+f 58 59 81
+f 58 81 83
+f 58 83 82
+f 59 60 81
+f 61 84 62
+f 62 84 85
+f 63 86 87
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 64 91 67
+f 65 73 66
+f 65 72 73
+f 67 91 68
+f 69 92 70
+f 70 93 94
+f 70 94 95
+f 70 95 71
+f 70 92 93
+f 71 96 73
+f 71 73 72
+f 71 95 97
+f 71 97 96
+f 73 96 98
+f 73 98 75
+f 73 75 99
+f 73 99 74
+f 74 99 75
+f 75 98 100
+f 75 100 76
+f 76 100 101
+f 76 101 102
+f 76 102 77
+f 77 102 78
+f 78 102 103
+f 78 103 104
+f 78 104 79
+f 79 104 80
+f 80 104 105
+f 80 105 106
+f 80 106 81
+f 81 106 83
+f 82 83 106
+f 82 106 108
+f 82 108 109
+f 82 109 110
+f 82 110 111
+f 82 111 112
+f 82 112 107
+f 84 113 114
+f 84 114 85
+f 86 115 88
+f 86 88 87
+f 88 115 116
+f 88 116 117
+f 88 117 118
+f 88 118 89
+f 89 118 119
+f 89 119 120
+f 89 120 121
+f 89 121 94
+f 89 94 93
+f 89 93 122
+f 89 122 123
+f 89 123 124
+f 89 124 90
+f 94 121 95
+f 95 121 125
+f 95 125 97
+f 96 97 100
+f 96 100 98
+f 97 125 126
+f 97 126 100
+f 100 126 127
+f 100 127 101
+f 101 128 102
+f 101 127 128
+f 102 128 103
+f 103 128 129
+f 103 129 105
+f 103 105 104
+f 105 129 130
+f 105 130 106
+f 106 130 108
+f 107 112 132
+f 107 132 133
+f 107 133 131
+f 108 130 134
+f 108 134 135
+f 108 135 110
+f 108 110 109
+f 110 135 136
+f 110 136 111
+f 111 136 137
+f 111 132 112
+f 113 138 139
+f 113 139 140
+f 113 140 141
+f 113 141 114
+f 115 142 143
+f 115 143 117
+f 115 117 116
+f 117 143 144
+f 117 144 119
+f 117 119 118
+f 119 144 120
+f 120 144 121
+f 121 144 125
+f 125 144 145
+f 125 145 126
+f 126 145 146
+f 126 146 147
+f 126 147 148
+f 126 148 127
+f 127 148 149
+f 127 149 128
+f 128 150 129
+f 128 149 150
+f 129 150 130
+f 130 150 134
+f 131 133 152
+f 131 152 151
+f 134 153 154
+f 134 154 136
+f 134 136 135
+f 134 150 153
+f 136 154 155
+f 136 155 137
+f 138 156 139
+f 139 156 157
+f 142 158 159
+f 142 159 160
+f 142 160 161
+f 142 161 143
+f 143 161 160
+f 143 160 162
+f 143 162 144
+f 144 146 145
+f 144 162 146
+f 146 162 160
+f 146 160 159
+f 146 159 147
+f 147 159 163
+f 147 163 164
+f 147 164 148
+f 148 164 149
+f 149 164 165
+f 149 165 153
+f 149 153 150
+f 151 152 167
+f 151 167 168
+f 151 168 166
+f 153 165 155
+f 153 155 154
+f 155 165 169
+f 156 170 157
+f 157 170 172
+f 157 172 171
+f 158 169 163
+f 158 163 159
+f 163 169 164
+f 164 169 165
+f 166 168 174
+f 166 174 173
+f 171 172 175
+f 172 176 175
+f 173 174 175
+f 173 175 176
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_11.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00195239 -0.04779031 0.04769288
+v -0.01481807 -0.04771683 0.04770041
+v -0.00195239 -0.04809532 0.04769288
+v -0.00195239 -0.04706800 0.04756113
+v -0.02015753 -0.04452955 0.04731455
+v -0.01710284 -0.04654395 0.04759125
+v -0.02015753 -0.04678795 0.04763642
+v -0.01710284 -0.04768218 0.04769477
+v -0.01481807 -0.04805649 0.04770041
+v -0.00195239 -0.04851122 0.04766653
+v -0.00195239 -0.04665209 0.04747077
+v -0.00195239 -0.04504528 0.04662747
+v -0.00195239 -0.04435348 0.04625666
+v -0.02015753 -0.04242088 0.04615501
+v -0.01855712 -0.04792479 0.04768535
+v -0.01855712 -0.04774733 0.04768535
+v -0.02015753 -0.04888969 0.04728629
+v -0.01710284 -0.04798856 0.04769477
+v -0.01025208 -0.04922797 0.04761006
+v -0.00796909 -0.04920024 0.04762324
+v -0.00568431 -0.04920579 0.04762324
+v -0.00340132 -0.04923768 0.04761571
+v -0.00195239 -0.04923352 0.04760065
+v -0.00195239 -0.04334420 0.04537195
+v -0.02015753 -0.04134504 0.04457572
+v -0.01710284 -0.04912677 0.04746888
+v -0.01481807 -0.04919608 0.04754041
+v -0.01253507 -0.04923074 0.04758559
+v -0.01934663 -0.04881899 0.04740300
+v -0.02015753 -0.05087914 0.04613992
+v -0.01938584 -0.05098034 0.04621334
+v -0.01481807 -0.05130060 0.04661616
+v -0.01253507 -0.05130060 0.04684581
+v -0.00796909 -0.05130060 0.04704534
+v -0.00568431 -0.05130060 0.04704722
+v -0.00195239 -0.04998770 0.04737288
+v -0.00195239 -0.04310851 0.04470935
+v -0.00195239 -0.04298651 0.04434041
+v -0.02015753 -0.04100400 0.04352160
+v -0.01025208 -0.05130060 0.04698134
+v -0.02015753 -0.05190366 0.04427074
+v -0.01769988 -0.05232097 0.04499921
+v -0.01617610 -0.05248179 0.04547921
+v -0.01481807 -0.05258854 0.04562227
+v -0.01700304 -0.05145726 0.04619074
+v -0.01253507 -0.05274104 0.04580675
+v -0.01025208 -0.05284224 0.04591592
+v -0.00796909 -0.05289215 0.04596863
+v -0.00568431 -0.05289354 0.04597051
+v -0.00340132 -0.05130060 0.04698887
+v -0.00195239 -0.05130060 0.04690981
+v -0.00195239 -0.04259139 0.04276864
+v -0.00195239 -0.04241809 0.04202699
+v -0.02015753 -0.04094022 0.04324677
+v -0.02015753 -0.05193693 0.04348955
+v -0.01857672 -0.05252059 0.04349332
+v -0.01935732 -0.05211994 0.04426321
+v -0.01700304 -0.05264953 0.04426321
+v -0.01481807 -0.05301831 0.04428767
+v -0.01253507 -0.05332469 0.04428766
+v -0.01025208 -0.05352849 0.04428766
+v -0.00796909 -0.05362831 0.04428766
+v -0.00568431 -0.05363524 0.04428766
+v -0.00340132 -0.05284640 0.04592157
+v -0.00195239 -0.05186485 0.04651828
+v -0.00195239 -0.04220736 0.04059262
+v -0.02015753 -0.04034130 0.03987922
+v -0.02015753 -0.04047716 0.04076770
+v -0.02015753 -0.04068235 0.04202700
+v -0.02015753 -0.05199238 0.04197049
+v -0.01857672 -0.05252059 0.04263496
+v -0.01481807 -0.05311811 0.04202695
+v -0.01253507 -0.05341896 0.04202695
+v -0.01025208 -0.05361721 0.04202695
+v -0.00796909 -0.05372119 0.04202695
+v -0.00568431 -0.05372950 0.04202695
+v -0.00340132 -0.05363523 0.04202695
+v -0.00340132 -0.05353958 0.04428766
+v -0.00195239 -0.05303911 0.04525898
+v -0.00195239 -0.05278540 0.04585568
+v -0.00195239 -0.04208674 0.03976628
+v -0.02015753 -0.04006401 0.03750744
+v -0.01804741 -0.05239581 0.04112907
+v -0.01935732 -0.05220588 0.04194037
+v -0.02015753 -0.04783875 0.02847206
+v -0.01721156 -0.05268972 0.04194037
+v -0.01652363 -0.05254693 0.04073189
+v -0.01253507 -0.04934020 0.02847206
+v -0.01025208 -0.04955786 0.02847206
+v -0.00796909 -0.04965906 0.02847206
+v -0.00568431 -0.04965490 0.02847206
+v -0.00195239 -0.05351461 0.04202695
+v -0.00340132 -0.04953845 0.02847206
+v -0.00195239 -0.05341619 0.04428766
+v -0.00195239 -0.04192175 0.03833191
+v -0.00195239 -0.04182748 0.03750744
+v -0.02015753 -0.03985189 0.03524860
+v -0.01912029 -0.04811325 0.02847206
+v -0.01710284 -0.04859017 0.02847206
+v -0.01481807 -0.04901856 0.02847206
+v -0.02015753 -0.03956627 0.02847209
+v -0.00195239 -0.04939426 0.02847206
+v -0.00195239 -0.04169576 0.03607496
+v -0.00195239 -0.04162229 0.03524860
+v -0.02015753 -0.03968968 0.03300106
+v -0.02015753 -0.03959400 0.03072717
+v -0.00195239 -0.04134776 0.02847209
+v -0.00195239 -0.04152662 0.03381424
+v -0.00195239 -0.04147394 0.03298789
+v -0.02015753 -0.03962313 0.03144623
+v -0.00195239 -0.04141571 0.03155352
+v -0.00195239 -0.04138520 0.03072717
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 23
+f 1 23 36
+f 1 36 51
+f 1 51 65
+f 1 65 80
+f 1 80 79
+f 1 79 94
+f 1 94 92
+f 1 92 102
+f 1 102 107
+f 1 107 112
+f 1 112 111
+f 1 111 109
+f 1 109 108
+f 1 108 104
+f 1 104 103
+f 1 103 96
+f 1 96 95
+f 1 95 81
+f 1 81 66
+f 1 66 53
+f 1 53 52
+f 1 52 38
+f 1 38 37
+f 1 37 24
+f 1 24 13
+f 1 13 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 18
+f 2 18 9
+f 2 7 8
+f 3 9 10
+f 4 11 5
+f 5 7 6
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 25
+f 5 25 39
+f 5 39 54
+f 5 54 69
+f 5 69 68
+f 5 68 67
+f 5 67 82
+f 5 82 97
+f 5 97 105
+f 5 105 110
+f 5 110 106
+f 5 106 101
+f 5 101 85
+f 5 85 70
+f 5 70 55
+f 5 55 41
+f 5 41 30
+f 5 30 17
+f 5 17 7
+f 7 15 16
+f 7 16 8
+f 7 17 15
+f 8 16 15
+f 8 15 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 13 24 14
+f 14 24 25
+f 15 26 27
+f 15 27 28
+f 15 28 18
+f 15 17 29
+f 15 29 26
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 29
+f 18 28 19
+f 19 28 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 26 29 33
+f 26 33 40
+f 26 40 27
+f 27 40 34
+f 27 34 28
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 44
+f 32 44 46
+f 32 46 33
+f 33 46 47
+f 33 47 40
+f 34 40 48
+f 34 48 49
+f 34 49 35
+f 35 50 36
+f 35 49 50
+f 36 50 51
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 40 47 48
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 56
+f 42 56 58
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 46
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 64 50
+f 49 63 64
+f 50 64 51
+f 51 64 65
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 55 70 56
+f 56 59 58
+f 56 70 71
+f 56 71 72
+f 56 72 59
+f 59 72 60
+f 60 72 73
+f 60 73 61
+f 61 73 74
+f 61 74 75
+f 61 75 62
+f 62 75 76
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 64
+f 64 78 79
+f 64 79 80
+f 64 80 65
+f 66 81 67
+f 67 81 82
+f 70 83 84
+f 70 84 71
+f 70 85 83
+f 71 84 83
+f 71 83 86
+f 71 86 72
+f 72 86 83
+f 72 83 87
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 73 89 74
+f 74 89 75
+f 75 89 90
+f 75 90 76
+f 76 90 91
+f 76 91 77
+f 77 92 78
+f 77 91 93
+f 77 93 92
+f 78 94 79
+f 78 92 94
+f 81 95 82
+f 82 95 96
+f 82 96 97
+f 83 85 98
+f 83 98 99
+f 83 99 100
+f 83 100 87
+f 85 101 107
+f 85 107 102
+f 85 102 93
+f 85 93 91
+f 85 91 90
+f 85 90 89
+f 85 89 88
+f 85 88 100
+f 85 100 99
+f 85 99 98
+f 87 100 88
+f 92 93 102
+f 96 103 97
+f 97 103 104
+f 97 104 105
+f 101 106 107
+f 104 108 105
+f 105 108 109
+f 105 109 110
+f 106 110 111
+f 106 111 112
+f 106 112 107
+f 109 111 110
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_12.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00796815 0.05227664 -0.01673745
+v -0.00796815 0.05220688 -0.01899698
+v -0.01025174 0.05217047 -0.01673745
+v -0.01025174 0.05211283 -0.01493475
+v -0.00978848 0.05213406 -0.01493475
+v -0.00796815 0.05221596 -0.01493475
+v -0.00568457 0.05221596 -0.01493475
+v -0.00568457 0.05227512 -0.01673745
+v -0.00568457 0.05220991 -0.01899698
+v -0.00796815 0.05150925 -0.02125796
+v -0.01025174 0.05140309 -0.02125796
+v -0.01025174 0.05209314 -0.01899698
+v -0.00568457 0.05151532 -0.02125796
+v -0.01253533 0.05195663 -0.01673745
+v -0.01253533 0.05190050 -0.01493475
+v -0.00340098 0.05211283 -0.01493475
+v -0.00340098 0.05217199 -0.01673745
+v -0.00340098 0.05210224 -0.01899698
+v -0.00340098 0.05141219 -0.02125796
+v -0.00796815 0.04904932 -0.02803657
+v -0.01025174 0.04894013 -0.02803657
+v -0.01253533 0.05119531 -0.02125796
+v -0.01253533 0.05187474 -0.01899698
+v -0.00568457 0.04904629 -0.02803657
+v -0.01481892 0.05156839 -0.01899698
+v -0.01481892 0.05164421 -0.01673745
+v -0.01481892 0.05158505 -0.01493475
+v -0.00310632 0.05208553 -0.01493475
+v -0.00195061 0.05203701 -0.01673745
+v -0.00195061 0.05196270 -0.01899698
+v -0.00195061 0.05152745 -0.02043130
+v -0.00195061 0.05127569 -0.02125796
+v -0.00340098 0.04893709 -0.02803657
+v -0.00796815 0.04830467 -0.02975080
+v -0.01025174 0.04820155 -0.02975080
+v -0.00597267 0.04830316 -0.02975080
+v -0.01253533 0.04803320 -0.02966523
+v -0.01253533 0.04872022 -0.02803657
+v -0.01500554 0.04827888 -0.02824541
+v -0.01710251 0.05059321 -0.02103462
+v -0.00356959 0.04820761 -0.02975080
+v -0.00568457 0.04830164 -0.02975080
+v -0.01867401 0.05041729 -0.02073006
+v -0.01710251 0.05116345 -0.01899698
+v -0.01710251 0.05122411 -0.01673745
+v -0.01710251 0.05116192 -0.01493475
+v -0.00195061 0.05197634 -0.01493475
+v -0.00195061 0.05200971 -0.01591079
+v -0.00195061 0.04879757 -0.02803657
+v -0.00198335 0.04807263 -0.02975080
+v -0.00340098 0.04819851 -0.02975080
+v -0.00195061 0.04836231 -0.02907062
+v -0.01164645 0.04807566 -0.02975080
+v -0.01253533 0.04798922 -0.02975080
+v -0.01391531 0.04779358 -0.02975080
+v -0.01436875 0.04790429 -0.02940708
+v -0.01589114 0.04777386 -0.02913733
+v -0.01710251 0.04809537 -0.02768705
+v -0.01867401 0.04791793 -0.02723747
+v -0.01867401 0.05081008 -0.01899698
+v -0.01867401 0.05086770 -0.01673745
+v -0.01867401 0.05081462 -0.01518275
+v -0.01867401 0.05080551 -0.01493475
+v -0.00195061 0.04434018 -0.01493478
+v -0.00195061 0.04806960 -0.02975080
+v -0.01463885 0.04768135 -0.02975080
+v -0.01538695 0.04754788 -0.02975081
+v -0.01710251 0.04718238 -0.02975081
+v -0.01710251 0.04764191 -0.02881683
+v -0.01867401 0.04790276 -0.02727517
+v -0.01867401 0.04311780 -0.01493478
+v -0.00195061 0.03823891 -0.02975084
+v -0.01867401 0.03678296 -0.02975084
+v -0.01867401 0.04677593 -0.02975081
+v -0.01867401 0.04748266 -0.02827007
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 13
+f 2 13 10
+f 3 12 14
+f 3 14 15
+f 3 15 4
+f 4 15 27
+f 4 27 46
+f 4 46 63
+f 4 63 71
+f 4 71 64
+f 4 64 47
+f 4 47 28
+f 4 28 16
+f 4 16 7
+f 4 7 6
+f 4 6 5
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 10 13 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 14
+f 13 24 20
+f 13 19 24
+f 14 23 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 33 24
+f 19 32 33
+f 20 34 35
+f 20 35 21
+f 20 24 36
+f 20 36 34
+f 21 35 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 25
+f 22 25 23
+f 24 41 42
+f 24 42 36
+f 24 33 41
+f 25 40 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 28 47 48
+f 28 48 29
+f 29 48 47
+f 29 47 64
+f 29 64 72
+f 29 72 65
+f 29 65 52
+f 29 52 49
+f 29 49 32
+f 29 32 31
+f 29 31 30
+f 32 49 33
+f 33 50 51
+f 33 51 41
+f 33 49 52
+f 33 52 50
+f 34 36 42
+f 34 42 41
+f 34 41 51
+f 34 51 50
+f 34 50 65
+f 34 65 72
+f 34 72 73
+f 34 73 74
+f 34 74 68
+f 34 68 67
+f 34 67 66
+f 34 66 55
+f 34 55 54
+f 34 54 53
+f 34 53 35
+f 35 53 37
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 37 53 54
+f 38 56 39
+f 39 57 58
+f 39 58 43
+f 39 43 40
+f 39 56 57
+f 43 59 70
+f 43 70 75
+f 43 75 74
+f 43 74 73
+f 43 73 71
+f 43 71 63
+f 43 63 62
+f 43 62 61
+f 43 61 60
+f 43 60 44
+f 43 58 59
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 50 52 65
+f 55 66 56
+f 56 66 57
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 57 66 67
+f 58 69 59
+f 59 69 70
+f 64 71 73
+f 64 73 72
+f 68 74 69
+f 69 74 75
+f 69 75 70
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_13.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v -0.03261252 0.03305587 0.02108400
+v -0.03261252 0.03301504 0.02168844
+v -0.03261252 0.04231520 0.02108404
+v -0.00195061 0.04141275 0.02108403
+v -0.03261252 0.03289048 0.02394727
+v -0.03261252 0.04689477 0.04202578
+v -0.03150801 0.04298285 0.02108404
+v -0.00195061 0.04938373 0.02108406
+v -0.00195061 0.04138212 0.02168847
+v -0.03261252 0.03287211 0.02443968
+v -0.00195061 0.04128819 0.02394730
+v -0.03261252 0.04677634 0.04428722
+v -0.03145699 0.04752567 0.04202578
+v -0.03036450 0.04361171 0.02108404
+v -0.03067064 0.04344429 0.02108404
+v -0.00279099 0.04946540 0.02108406
+v -0.00195061 0.05342224 0.04202581
+v -0.03261252 0.03280880 0.02620870
+v -0.00195061 0.04124327 0.02535158
+v -0.03261252 0.04629448 0.04536062
+v -0.02981825 0.04786050 0.04551695
+v -0.03133994 0.04747053 0.04428722
+v -0.03031648 0.04811166 0.04202579
+v -0.02985427 0.04387305 0.02108404
+v -0.00340027 0.04952257 0.02108406
+v -0.00340027 0.05354883 0.04202581
+v -0.00195061 0.05339161 0.04285171
+v -0.03261252 0.03280268 0.02663338
+v -0.00195061 0.04121876 0.02630253
+v -0.03261252 0.04601680 0.04583479
+v -0.02852166 0.04815043 0.04581917
+v -0.02497705 0.05001863 0.04526945
+v -0.02852166 0.04882626 0.04428723
+v -0.03019642 0.04805243 0.04428723
+v -0.03067064 0.04668445 0.04612399
+v -0.02852166 0.04893856 0.04202579
+v -0.02690993 0.04530840 0.02108405
+v -0.02811048 0.04474488 0.02108404
+v -0.02852166 0.04455091 0.02108404
+v -0.00507503 0.04960424 0.02108406
+v -0.00340027 0.05345898 0.04428725
+v -0.00568430 0.04963282 0.02108406
+v -0.00568430 0.05363867 0.04202581
+v -0.00195061 0.05333444 0.04428725
+v -0.03261252 0.03278226 0.02846754
+v -0.00195061 0.04120651 0.02842067
+v -0.03261252 0.04482646 0.04662681
+v -0.02852166 0.04664770 0.04683785
+v -0.02623762 0.04862820 0.04619695
+v -0.02345536 0.05028405 0.04569411
+v -0.02166955 0.05134986 0.04428724
+v -0.02411266 0.05053724 0.04442272
+v -0.02549929 0.05021873 0.04376095
+v -0.02625263 0.04974300 0.04442271
+v -0.02660379 0.04975118 0.04202579
+v -0.02607255 0.04566162 0.02108405
+v -0.00568430 0.05354678 0.04428725
+v -0.00340027 0.05275661 0.04593382
+v -0.00195061 0.05269536 0.04586608
+v -0.00735906 0.04963487 0.02108406
+v -0.00796834 0.04963487 0.02108406
+v -0.00796834 0.05362641 0.04202581
+v -0.03261252 0.03282308 0.03072897
+v -0.00195061 0.04124734 0.03072900
+v -0.03261252 0.04433236 0.04688213
+v -0.03069765 0.04418535 0.04740059
+v -0.02611457 0.04644965 0.04737716
+v -0.02166955 0.04892425 0.04704108
+v -0.02166955 0.05055969 0.04597550
+v -0.01614105 0.05237685 0.04547006
+v -0.01766274 0.05221147 0.04494379
+v -0.01931949 0.05200117 0.04422732
+v -0.01851512 0.05240748 0.04343529
+v -0.02166955 0.05144787 0.04202580
+v -0.02395359 0.05072918 0.04202580
+v -0.02546327 0.05020445 0.04202579
+v -0.02518115 0.05009623 0.04084818
+v -0.02576641 0.04579026 0.02108405
+v -0.00796834 0.05353249 0.04428725
+v -0.00796834 0.05279132 0.04596508
+v -0.00568430 0.05279949 0.04597550
+v -0.00340027 0.05120284 0.04700201
+v -0.00195061 0.05120284 0.04691864
+v -0.00964310 0.04955932 0.02108406
+v -0.01025238 0.04953074 0.02108406
+v -0.01025238 0.05351820 0.04202581
+v -0.03261252 0.03293129 0.03298780
+v -0.00195061 0.04134125 0.03298783
+v -0.03261252 0.04239474 0.04752826
+v -0.02986627 0.04330331 0.04768979
+v -0.02527119 0.04555740 0.04768719
+v -0.02395359 0.04677837 0.04751524
+v -0.01929248 0.04871804 0.04738759
+v -0.01253641 0.05120284 0.04683527
+v -0.01482045 0.05120284 0.04659818
+v -0.01938552 0.05086799 0.04619956
+v -0.01482045 0.05289750 0.04428724
+v -0.01698443 0.05253407 0.04422732
+v -0.01482045 0.05247893 0.04560815
+v -0.01253641 0.05320785 0.04428725
+v -0.01482045 0.05299143 0.04202580
+v -0.01851512 0.05240748 0.04272664
+v -0.02031594 0.04772992 0.02108406
+v -0.02133941 0.04740936 0.02108405
+v -0.01931949 0.05208490 0.04199454
+v -0.02166955 0.04730523 0.02108405
+v -0.02395359 0.04650487 0.02108405
+v -0.02526218 0.04599035 0.02108405
+v -0.01025238 0.05342223 0.04428725
+v -0.01025238 0.05273824 0.04591297
+v -0.00796834 0.05120284 0.04704109
+v -0.01025238 0.05120284 0.04697595
+v -0.00568430 0.05120284 0.04705672
+v -0.00195061 0.04913455 0.04759862
+v -0.01192714 0.04937353 0.02108406
+v -0.01253641 0.05330382 0.04202581
+v -0.03261252 0.03310891 0.03525185
+v -0.00195061 0.04143924 0.03442077
+v -0.00195061 0.04149641 0.03524667
+v -0.03261252 0.04211502 0.04758556
+v -0.03138796 0.04257644 0.04764289
+v -0.03236040 0.04105738 0.04768196
+v -0.03236040 0.04091854 0.04768196
+v -0.02852166 0.04310526 0.04768979
+v -0.02395359 0.04532872 0.04769501
+v -0.02395359 0.04563907 0.04769501
+v -0.01846710 0.04782170 0.04768459
+v -0.01710448 0.04901205 0.04746054
+v -0.01253641 0.05263002 0.04579834
+v -0.01698443 0.05135393 0.04617872
+v -0.01253641 0.04931431 0.02108406
+v -0.01421117 0.04907339 0.02108406
+v -0.01482045 0.04898355 0.02108406
+v -0.01797488 0.05228295 0.04122075
+v -0.01717352 0.05256879 0.04199454
+v -0.01917542 0.04803414 0.02108406
+v -0.01482045 0.04907738 0.04753870
+v -0.01253641 0.04912026 0.04758299
+v -0.01025238 0.04912843 0.04760904
+v -0.00796834 0.04909780 0.04762468
+v -0.00568430 0.04910393 0.04762728
+v -0.00340027 0.04914067 0.04761425
+v -0.00195061 0.04799729 0.04769502
+v -0.03261252 0.03322529 0.03627314
+v -0.00195061 0.04163321 0.03667960
+v -0.00195061 0.04171282 0.03750550
+v -0.03261252 0.04135140 0.04764028
+v -0.03261252 0.04071029 0.04765330
+v -0.03261252 0.04061841 0.04765330
+v -0.03187718 0.04091854 0.04768196
+v -0.00195061 0.04768490 0.04769502
+v -0.01482045 0.04763794 0.04769761
+v -0.01482045 0.04793807 0.04769762
+v -0.01710448 0.04787274 0.04769241
+v -0.01710448 0.04853641 0.02108406
+v -0.01858716 0.04817706 0.02108406
+v -0.03261252 0.03336616 0.03750547
+v -0.00195061 0.04198232 0.03976693
+v -0.03261252 0.04038362 0.04762986
+v -0.00195061 0.04654561 0.04748398
+v -0.03261252 0.03343762 0.03803956
+v -0.00195061 0.04231105 0.04202577
+v -0.03261252 0.03365812 0.03965227
+v -0.03261252 0.03810502 0.04712962
+v -0.00195061 0.04423844 0.04627248
+v -0.03261252 0.03752313 0.04687169
+v -0.00195061 0.04287864 0.04437319
+v -0.03261252 0.03410526 0.04202574
+v -0.00195061 0.04346666 0.04559509
+v -0.03261252 0.03593669 0.04600410
+v -0.03261252 0.03568351 0.04581391
+v -0.00195061 0.04314814 0.04516521
+v -0.03261252 0.03477290 0.04427416
+v -0.00216671 0.04324411 0.04538406
+v -0.03261252 0.03484845 0.04442526
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 45
+f 1 45 63
+f 1 63 87
+f 1 87 117
+f 1 117 144
+f 1 144 157
+f 1 157 161
+f 1 161 163
+f 1 163 168
+f 1 168 173
+f 1 173 175
+f 1 175 171
+f 1 171 170
+f 1 170 166
+f 1 166 164
+f 1 164 159
+f 1 159 149
+f 1 149 148
+f 1 148 147
+f 1 147 120
+f 1 120 89
+f 1 89 65
+f 1 65 47
+f 1 47 30
+f 1 30 20
+f 1 20 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 14
+f 1 14 24
+f 1 24 39
+f 1 39 38
+f 1 38 37
+f 1 37 56
+f 1 56 78
+f 1 78 108
+f 1 108 107
+f 1 107 106
+f 1 106 104
+f 1 104 103
+f 1 103 136
+f 1 136 156
+f 1 156 155
+f 1 155 133
+f 1 133 132
+f 1 132 131
+f 1 131 115
+f 1 115 85
+f 1 85 84
+f 1 84 61
+f 1 61 60
+f 1 60 42
+f 1 42 40
+f 1 40 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 17
+f 4 17 27
+f 4 27 44
+f 4 44 59
+f 4 59 83
+f 4 83 114
+f 4 114 143
+f 4 143 151
+f 4 151 160
+f 4 160 165
+f 4 165 169
+f 4 169 172
+f 4 172 167
+f 4 167 162
+f 4 162 158
+f 4 158 146
+f 4 146 145
+f 4 145 119
+f 4 119 118
+f 4 118 88
+f 4 88 64
+f 4 64 46
+f 4 46 29
+f 4 29 19
+f 4 19 11
+f 4 11 9
+f 4 9 5
+f 5 9 11
+f 5 11 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 10 11 18
+f 11 19 18
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 16 25 17
+f 17 26 27
+f 17 25 26
+f 18 19 29
+f 18 29 28
+f 20 30 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 30 35
+f 21 35 31
+f 22 34 23
+f 23 34 33
+f 23 33 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 25 40 26
+f 26 41 27
+f 26 40 42
+f 26 42 43
+f 26 43 41
+f 27 41 44
+f 28 29 45
+f 29 46 45
+f 30 47 35
+f 31 35 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 53
+f 33 53 36
+f 35 47 48
+f 36 53 55
+f 36 55 37
+f 37 55 56
+f 41 43 57
+f 41 57 58
+f 41 58 59
+f 41 59 44
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 57
+f 45 46 64
+f 45 64 63
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 53 52
+f 51 71 72
+f 51 72 73
+f 51 73 53
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 56
+f 57 62 79
+f 57 79 80
+f 57 80 81
+f 57 81 58
+f 58 81 82
+f 58 82 83
+f 58 83 59
+f 61 84 62
+f 62 84 85
+f 62 85 86
+f 62 86 79
+f 63 64 88
+f 63 88 87
+f 65 89 66
+f 66 89 90
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 69
+f 69 96 70
+f 70 97 98
+f 70 98 71
+f 70 96 99
+f 70 99 100
+f 70 100 97
+f 71 98 73
+f 71 73 72
+f 73 98 97
+f 73 97 101
+f 73 101 102
+f 73 102 74
+f 74 103 104
+f 74 104 75
+f 74 102 105
+f 74 105 103
+f 75 77 76
+f 75 104 106
+f 75 106 77
+f 77 106 107
+f 77 107 108
+f 77 108 78
+f 79 86 109
+f 79 109 110
+f 79 110 80
+f 80 111 81
+f 80 110 112
+f 80 112 111
+f 81 111 113
+f 81 113 82
+f 82 114 83
+f 82 113 114
+f 85 115 116
+f 85 116 86
+f 86 116 100
+f 86 100 109
+f 87 88 118
+f 87 118 119
+f 87 119 117
+f 89 120 90
+f 90 120 121
+f 90 121 122
+f 90 122 123
+f 90 123 124
+f 90 124 125
+f 90 125 126
+f 90 126 91
+f 91 126 127
+f 91 127 92
+f 92 127 93
+f 93 127 128
+f 93 128 94
+f 94 112 110
+f 94 110 129
+f 94 129 95
+f 94 128 112
+f 95 129 99
+f 95 99 130
+f 95 130 96
+f 96 130 99
+f 97 100 116
+f 97 116 101
+f 99 129 100
+f 100 129 109
+f 101 116 131
+f 101 131 132
+f 101 132 133
+f 101 133 134
+f 101 134 135
+f 101 135 102
+f 102 135 134
+f 102 134 105
+f 103 105 136
+f 105 134 136
+f 109 129 110
+f 111 112 137
+f 111 137 138
+f 111 138 139
+f 111 139 113
+f 112 128 137
+f 113 139 140
+f 113 140 141
+f 113 141 142
+f 113 142 114
+f 114 142 143
+f 115 131 116
+f 117 119 145
+f 117 145 146
+f 117 146 144
+f 120 147 122
+f 120 122 121
+f 122 147 148
+f 122 148 149
+f 122 149 123
+f 123 149 150
+f 123 150 124
+f 124 150 151
+f 124 151 125
+f 125 151 152
+f 125 152 153
+f 125 153 126
+f 126 153 154
+f 126 154 127
+f 127 154 139
+f 127 139 138
+f 127 138 137
+f 127 137 128
+f 133 155 134
+f 134 156 136
+f 134 155 156
+f 139 154 140
+f 140 154 153
+f 140 153 141
+f 141 153 143
+f 141 143 142
+f 143 153 152
+f 143 152 151
+f 144 146 157
+f 146 158 157
+f 149 159 150
+f 150 159 151
+f 151 159 160
+f 157 158 161
+f 158 162 163
+f 158 163 161
+f 159 164 160
+f 160 164 166
+f 160 166 165
+f 162 167 168
+f 162 168 163
+f 165 166 170
+f 165 170 171
+f 165 171 169
+f 167 172 173
+f 167 173 168
+f 169 174 172
+f 169 171 174
+f 171 175 172
+f 171 172 174
+f 172 175 173
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_14.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.01679130 -0.04602924 -0.02113526
+v 0.01679130 -0.04335678 -0.02777175
+v 0.01693979 -0.04596194 -0.02113630
+v 0.01693979 -0.04596194 -0.02113526
+v 0.01679130 -0.03643876 -0.02113522
+v 0.01797920 -0.04544316 -0.02113526
+v 0.01679130 -0.04304552 -0.02847273
+v 0.01724171 -0.04293335 -0.02818737
+v 0.01805839 -0.04319694 -0.02655487
+v 0.03316694 -0.01738678 -0.02113515
+v 0.02574012 -0.01738674 -0.03169731
+v 0.01679130 -0.02823633 -0.03169735
+v 0.01932795 -0.04469162 -0.02113525
+v 0.01679130 -0.04203318 -0.03038023
+v 0.01722686 -0.04180884 -0.03037299
+v 0.01876865 -0.04133773 -0.02967099
+v 0.01949377 -0.04170229 -0.02803228
+v 0.02084252 -0.04121996 -0.02727651
+v 0.02111227 -0.04364844 -0.02113525
+v 0.02006297 -0.04426258 -0.02113525
+v 0.04207369 -0.01738678 -0.02113515
+v 0.03753988 -0.01738674 -0.03169731
+v 0.01679130 -0.04120592 -0.03169740
+v 0.01679130 -0.04151439 -0.03124456
+v 0.01803364 -0.04089466 -0.03117735
+v 0.01949377 -0.04046281 -0.03037299
+v 0.02029065 -0.04086381 -0.02878288
+v 0.02406469 -0.04169390 -0.02113524
+v 0.02164435 -0.04331474 -0.02113525
+v 0.02165178 -0.04030578 -0.02803228
+v 0.02333215 -0.03911959 -0.02803744
+v 0.04144014 -0.01924038 -0.02113516
+v 0.04204152 -0.01738678 -0.02124578
+v 0.03840111 -0.01738675 -0.03034706
+v 0.03693604 -0.01905246 -0.03169732
+v 0.01773172 -0.04067872 -0.03169740
+v 0.02054802 -0.03893449 -0.03169739
+v 0.02075590 -0.03888962 -0.03158469
+v 0.02159981 -0.03921773 -0.03012278
+v 0.02293619 -0.03882233 -0.02925329
+v 0.02505213 -0.04097882 -0.02113524
+v 0.02447303 -0.03823345 -0.02803744
+v 0.02494076 -0.03860361 -0.02650936
+v 0.04102685 -0.02028356 -0.02113516
+v 0.03912375 -0.01893470 -0.02755041
+v 0.04041063 -0.01738677 -0.02568528
+v 0.03848773 -0.01738675 -0.03018991
+v 0.03741367 -0.01960771 -0.03049905
+v 0.03654255 -0.02049945 -0.03138716
+v 0.03641138 -0.02026950 -0.03169732
+v 0.02068661 -0.03884475 -0.03169739
+v 0.02086479 -0.03871576 -0.03169739
+v 0.02332473 -0.03687338 -0.03169739
+v 0.02227790 -0.03834000 -0.03076069
+v 0.02386918 -0.03752116 -0.03012795
+v 0.02539365 -0.03670232 -0.02949521
+v 0.02616826 -0.04008987 -0.02113524
+v 0.02585148 -0.03709493 -0.02803744
+v 0.02736605 -0.03643033 -0.02676989
+v 0.02759621 -0.03890929 -0.02113523
+v 0.02655432 -0.03977299 -0.02113524
+v 0.04044033 -0.02160155 -0.02113517
+v 0.03880945 -0.02045179 -0.02679052
+v 0.03857682 -0.01957968 -0.02819659
+v 0.03880203 -0.01814390 -0.02905678
+v 0.03946279 -0.01738676 -0.02815729
+v 0.03940340 -0.01738676 -0.02829790
+v 0.03688159 -0.02168845 -0.02973708
+v 0.03659204 -0.02287464 -0.02921394
+v 0.03623815 -0.02168845 -0.03086712
+v 0.03419893 -0.02496380 -0.03129102
+v 0.03472111 -0.02349998 -0.03169734
+v 0.02450273 -0.03587507 -0.03169738
+v 0.02480218 -0.03620037 -0.03100261
+v 0.02628704 -0.03535069 -0.03029543
+v 0.02772489 -0.03450100 -0.02958826
+v 0.02699483 -0.03609101 -0.02803743
+v 0.02818520 -0.03495249 -0.02803743
+v 0.02966760 -0.03416450 -0.02679780
+v 0.02997447 -0.03674442 -0.02113522
+v 0.02920729 -0.03745670 -0.02113523
+v 0.02842526 -0.03816897 -0.02113523
+v 0.03930440 -0.02398235 -0.02113518
+v 0.03768342 -0.02168846 -0.02803738
+v 0.03685189 -0.02335979 -0.02803739
+v 0.03651285 -0.02500587 -0.02676158
+v 0.03622082 -0.02449830 -0.02803739
+v 0.03463944 -0.02566486 -0.02978465
+v 0.03403807 -0.02470019 -0.03169734
+v 0.03380049 -0.02635190 -0.03044118
+v 0.03217208 -0.02762501 -0.03165393
+v 0.03215476 -0.02759977 -0.03169735
+v 0.02575992 -0.03478702 -0.03169738
+v 0.02718292 -0.03397100 -0.03109461
+v 0.02858612 -0.03308486 -0.03031507
+v 0.02995220 -0.03220153 -0.02953552
+v 0.02932855 -0.03380556 -0.02803742
+v 0.03218445 -0.03442532 -0.02113522
+v 0.03146429 -0.03519648 -0.02113522
+v 0.03068721 -0.03601251 -0.02113522
+v 0.03036549 -0.03266704 -0.02803742
+v 0.03186768 -0.03177529 -0.02659308
+v 0.03879460 -0.02499187 -0.02113518
+v 0.03813631 -0.02613600 -0.02113519
+v 0.03688654 -0.02822796 -0.02113519
+v 0.03683952 -0.02830367 -0.02113519
+v 0.03451075 -0.02772037 -0.02739019
+v 0.03505520 -0.02635191 -0.02810150
+v 0.03415191 -0.02718475 -0.02889759
+v 0.03253340 -0.02843825 -0.03015893
+v 0.03210279 -0.02766707 -0.03169735
+v 0.03160536 -0.02914211 -0.03082062
+v 0.03015266 -0.03017125 -0.03169736
+v 0.02690821 -0.03369337 -0.03169737
+v 0.02803672 -0.03255766 -0.03169737
+v 0.02944734 -0.03163227 -0.03104292
+v 0.03077878 -0.03070407 -0.03017755
+v 0.03208794 -0.02977587 -0.02931322
+v 0.03150636 -0.03133503 -0.02803742
+v 0.03298628 -0.03348029 -0.02113521
+v 0.03427070 -0.03192114 -0.02113521
+v 0.03343174 -0.03294748 -0.02113521
+v 0.03241213 -0.03019651 -0.02803741
+v 0.03625300 -0.02919261 -0.02113520
+v 0.03526803 -0.03059193 -0.02113520
+v 0.03398362 -0.02923746 -0.02616608
+v 0.03361983 -0.02849714 -0.02810150
+v 0.02913800 -0.03134342 -0.03169737
+v 0.03524328 -0.03062558 -0.02113520
+f 1 2 3
+f 1 3 4
+f 1 4 6
+f 1 6 13
+f 1 13 20
+f 1 20 19
+f 1 19 29
+f 1 29 28
+f 1 28 41
+f 1 41 57
+f 1 57 61
+f 1 61 60
+f 1 60 82
+f 1 82 81
+f 1 81 80
+f 1 80 100
+f 1 100 99
+f 1 99 98
+f 1 98 120
+f 1 120 122
+f 1 122 121
+f 1 121 129
+f 1 129 125
+f 1 125 124
+f 1 124 106
+f 1 106 105
+f 1 105 104
+f 1 104 103
+f 1 103 83
+f 1 83 62
+f 1 62 44
+f 1 44 32
+f 1 32 21
+f 1 21 10
+f 1 10 5
+f 1 5 12
+f 1 12 23
+f 1 23 24
+f 1 24 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 6 4
+f 5 10 11
+f 5 11 12
+f 6 9 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 13
+f 10 21 33
+f 10 33 46
+f 10 46 66
+f 10 66 67
+f 10 67 47
+f 10 47 34
+f 10 34 22
+f 10 22 11
+f 11 22 35
+f 11 35 50
+f 11 50 72
+f 11 72 89
+f 11 89 92
+f 11 92 111
+f 11 111 113
+f 11 113 128
+f 11 128 115
+f 11 115 114
+f 11 114 93
+f 11 93 73
+f 11 73 53
+f 11 53 52
+f 11 52 51
+f 11 51 37
+f 11 37 36
+f 11 36 23
+f 11 23 12
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 28 29
+f 18 29 19
+f 18 27 30
+f 18 30 31
+f 18 31 28
+f 21 32 33
+f 22 34 35
+f 23 36 25
+f 23 25 24
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 39 27
+f 26 38 39
+f 27 39 40
+f 27 40 30
+f 28 31 41
+f 30 40 31
+f 31 40 42
+f 31 42 43
+f 31 43 41
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 42
+f 41 43 57
+f 42 56 58
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 57
+f 44 62 63
+f 44 63 45
+f 45 64 65
+f 45 65 66
+f 45 66 46
+f 45 63 64
+f 47 67 65
+f 47 65 48
+f 48 65 68
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 53 73 74
+f 53 74 54
+f 54 74 55
+f 55 74 56
+f 56 74 75
+f 56 75 76
+f 56 76 77
+f 56 77 58
+f 58 77 59
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 60
+f 62 83 63
+f 63 84 64
+f 63 83 85
+f 63 85 84
+f 64 84 69
+f 64 69 68
+f 64 68 65
+f 65 67 66
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 71
+f 69 71 70
+f 69 84 85
+f 71 89 72
+f 71 88 90
+f 71 90 91
+f 71 91 92
+f 71 92 89
+f 73 93 74
+f 74 93 94
+f 74 94 75
+f 75 94 76
+f 76 94 95
+f 76 95 96
+f 76 96 97
+f 76 97 78
+f 76 78 77
+f 78 97 79
+f 79 98 99
+f 79 99 100
+f 79 100 80
+f 79 97 101
+f 79 101 102
+f 79 102 98
+f 83 103 85
+f 85 103 86
+f 86 103 104
+f 86 104 105
+f 86 105 106
+f 86 106 107
+f 86 107 108
+f 86 108 87
+f 87 108 109
+f 87 109 88
+f 88 109 90
+f 90 109 110
+f 90 110 91
+f 91 111 92
+f 91 110 112
+f 91 112 113
+f 91 113 111
+f 93 114 94
+f 94 114 115
+f 94 115 116
+f 94 116 95
+f 95 116 96
+f 96 101 97
+f 96 116 117
+f 96 117 118
+f 96 118 119
+f 96 119 101
+f 98 102 120
+f 101 119 102
+f 102 121 122
+f 102 122 120
+f 102 119 123
+f 102 123 121
+f 106 124 107
+f 107 124 125
+f 107 125 126
+f 107 126 127
+f 107 127 109
+f 107 109 108
+f 109 127 118
+f 109 118 110
+f 110 118 112
+f 112 118 117
+f 112 117 116
+f 112 116 113
+f 113 116 128
+f 115 128 116
+f 118 123 119
+f 118 127 123
+f 121 123 129
+f 123 127 126
+f 123 126 129
+f 125 129 126
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_15.obj

@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v -0.03713217 -0.02128792 -0.03141724
+v -0.04931401 -0.02128792 -0.03141724
+v -0.04243729 -0.02128795 -0.02544273
+v -0.03651822 -0.02181811 -0.03141724
+v -0.04852952 -0.02289575 -0.03141724
+v -0.04935861 -0.02128792 -0.03135349
+v -0.05215285 -0.02128795 -0.02544273
+v -0.02536750 -0.03705307 -0.02544279
+v -0.02615199 -0.03136398 -0.03141728
+v -0.04825928 -0.02340128 -0.03141725
+v -0.04860298 -0.02398326 -0.03032003
+v -0.04974167 -0.02179099 -0.03036622
+v -0.04984399 -0.02128793 -0.03062006
+v -0.05217121 -0.02128795 -0.02544332
+v -0.05216859 -0.02129534 -0.02544273
+v -0.02536750 -0.04647812 -0.02544282
+v -0.02536750 -0.03213831 -0.03141728
+v -0.04794706 -0.02398325 -0.03141725
+v -0.04772667 -0.02475019 -0.03108914
+v -0.04817007 -0.02548999 -0.02958191
+v -0.05011161 -0.02261710 -0.02893269
+v -0.05028215 -0.02128793 -0.02985446
+v -0.05201117 -0.02128794 -0.02587613
+v -0.05192459 -0.02159127 -0.02572465
+v -0.05197181 -0.02169237 -0.02544273
+v -0.02536750 -0.04641893 -0.02563525
+v -0.02626481 -0.04613780 -0.02544282
+v -0.02536750 -0.04380248 -0.03141732
+v -0.04755613 -0.02462441 -0.03141725
+v -0.04715470 -0.02528037 -0.03141725
+v -0.04583236 -0.02737647 -0.03141726
+v -0.04724653 -0.02624705 -0.03032004
+v -0.04848754 -0.02624706 -0.02796123
+v -0.04972855 -0.02399314 -0.02812265
+v -0.04769256 -0.02700904 -0.02866250
+v -0.05044482 -0.02325087 -0.02742606
+v -0.05087248 -0.02179100 -0.02812264
+v -0.05043957 -0.02128793 -0.02956787
+v -0.05132114 -0.02128794 -0.02760678
+v -0.05070981 -0.02399315 -0.02570360
+v -0.05089872 -0.02380080 -0.02544274
+v -0.02536750 -0.04637701 -0.02576626
+v -0.02683415 -0.04590600 -0.02544282
+v -0.02626743 -0.04603424 -0.02575866
+v -0.02536750 -0.04441406 -0.03033589
+v -0.02630941 -0.04400223 -0.03040490
+v -0.02576368 -0.04364465 -0.03141732
+v -0.04574315 -0.02751210 -0.03141726
+v -0.04608686 -0.02800037 -0.03029723
+v -0.04804938 -0.02755404 -0.02715644
+v -0.05003290 -0.02476993 -0.02640837
+v -0.04563295 -0.02963780 -0.02913158
+v -0.04684511 -0.02859469 -0.02814431
+v -0.05111124 -0.02128794 -0.02810451
+v -0.05057863 -0.02440743 -0.02544274
+v -0.05079902 -0.02399068 -0.02544274
+v -0.02552492 -0.04578023 -0.02733256
+v -0.02536750 -0.04589366 -0.02717757
+v -0.02811452 -0.04534129 -0.02544282
+v -0.02704667 -0.04546211 -0.02649970
+v -0.02536750 -0.04486287 -0.02948138
+v -0.02800170 -0.04362740 -0.02972294
+v -0.02711751 -0.04321065 -0.03122958
+v -0.02654817 -0.04333147 -0.03141732
+v -0.04567756 -0.02759841 -0.03141726
+v -0.04525777 -0.02913966 -0.03029724
+v -0.04831700 -0.02796094 -0.02577789
+v -0.04949767 -0.02611144 -0.02570361
+v -0.04599765 -0.03012114 -0.02762552
+v -0.04754039 -0.02910023 -0.02577790
+v -0.04976266 -0.02583525 -0.02544274
+v -0.04404562 -0.03076476 -0.03019664
+v -0.04349989 -0.03209146 -0.02937607
+v -0.04511871 -0.03084861 -0.02824257
+v -0.02536750 -0.04533388 -0.02851284
+v -0.02536750 -0.04580735 -0.02740508
+v -0.02626743 -0.04515880 -0.02806658
+v -0.02856579 -0.04512182 -0.02544282
+v -0.02844772 -0.04507249 -0.02575866
+v -0.03014001 -0.04358303 -0.02750099
+v -0.02866811 -0.04402937 -0.02816775
+v -0.02952344 -0.04325503 -0.02900705
+v -0.02866811 -0.04291226 -0.03040490
+v -0.02973858 -0.04172364 -0.03141731
+v -0.02729855 -0.04298377 -0.03141732
+v -0.02699944 -0.04312679 -0.03141732
+v -0.04399052 -0.02979068 -0.03141727
+v -0.04371241 -0.03014578 -0.03141727
+v -0.04854526 -0.02778585 -0.02544275
+v -0.04954227 -0.02619035 -0.02544275
+v -0.04760598 -0.02919147 -0.02544276
+v -0.04820418 -0.02831357 -0.02544275
+v -0.04629150 -0.03084862 -0.02565683
+v -0.04540994 -0.03163773 -0.02633003
+v -0.04298827 -0.03149962 -0.03088271
+v -0.04385671 -0.03249590 -0.02803787
+v -0.04213294 -0.03298169 -0.03016974
+v -0.04127761 -0.03441197 -0.02945737
+v -0.04282560 -0.03363519 -0.02803787
+v -0.03065163 -0.04407130 -0.02544281
+v -0.03086415 -0.04385923 -0.02574403
+v -0.03166438 -0.04316627 -0.02647453
+v -0.03086415 -0.04288761 -0.02816775
+v -0.03236491 -0.04130690 -0.02962233
+v -0.03085103 -0.04177050 -0.03034407
+v -0.03030268 -0.04142032 -0.03141731
+v -0.04338182 -0.03055514 -0.03141727
+v -0.04653551 -0.03063161 -0.02544276
+v -0.04614458 -0.03115194 -0.02544276
+v -0.04321128 -0.03404701 -0.02655931
+v -0.04447590 -0.03303843 -0.02569135
+v -0.04483273 -0.03274744 -0.02544277
+v -0.04215918 -0.03196569 -0.03141728
+v -0.04073713 -0.03387191 -0.03096400
+v -0.04051149 -0.03596062 -0.02803788
+v -0.04168429 -0.03482133 -0.02803788
+v -0.03984770 -0.03526274 -0.03017151
+v -0.03895564 -0.03663137 -0.02937900
+v -0.03085628 -0.04396526 -0.02544281
+v -0.03136266 -0.04369893 -0.02544281
+v -0.03265876 -0.04295914 -0.02544281
+v -0.03298148 -0.04265335 -0.02574403
+v -0.03443501 -0.04118361 -0.02720036
+v -0.03311266 -0.04164475 -0.02798702
+v -0.03164077 -0.04086795 -0.03112897
+v -0.03388928 -0.04082356 -0.02870641
+v -0.03311266 -0.04039448 -0.03034407
+v -0.03096385 -0.04106275 -0.03141731
+v -0.04092604 -0.03634532 -0.02657744
+v -0.04224313 -0.03537373 -0.02581477
+v -0.04287807 -0.03489779 -0.02544278
+v -0.04411121 -0.03356862 -0.02544277
+v -0.04110445 -0.03310744 -0.03141728
+v -0.03996839 -0.03423687 -0.03141729
+v -0.03882708 -0.03528739 -0.03141729
+v -0.03836531 -0.03611350 -0.03088623
+v -0.03937019 -0.03699141 -0.02803789
+v -0.03762542 -0.03718621 -0.03019842
+v -0.03651035 -0.03876445 -0.02915676
+v -0.03771463 -0.03825400 -0.02825722
+v -0.03307593 -0.04270020 -0.02544281
+v -0.03485217 -0.04146474 -0.02577794
+v -0.03599349 -0.04068055 -0.02577794
+v -0.03699049 -0.03913683 -0.02765012
+v -0.03547399 -0.03998020 -0.02817885
+v -0.03209991 -0.04035994 -0.03141731
+v -0.03152795 -0.04071505 -0.03141731
+v -0.03422511 -0.03899378 -0.03141730
+v -0.03488103 -0.03923053 -0.03029727
+v -0.03439040 -0.03888281 -0.03141730
+v -0.03851223 -0.03853759 -0.02635286
+v -0.03991067 -0.03760546 -0.02571184
+v -0.04048263 -0.03721336 -0.02544279
+v -0.04175775 -0.03602475 -0.02544278
+v -0.03743127 -0.03651052 -0.03141729
+v -0.03701148 -0.03685083 -0.03141730
+v -0.03665465 -0.03713689 -0.03141730
+v -0.03602234 -0.03839702 -0.03029727
+v -0.03449535 -0.03880636 -0.03141730
+v -0.03467901 -0.04169161 -0.02544280
+v -0.03495450 -0.04151406 -0.02544280
+v -0.03521162 -0.04134391 -0.02544280
+v -0.03608531 -0.04074467 -0.02544280
+v -0.03771463 -0.03943523 -0.02567090
+v -0.03959582 -0.03799262 -0.02544279
+v -0.03804259 -0.03927247 -0.02544279
+v -0.03748375 -0.03969662 -0.02544280
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 38
+f 1 38 54
+f 1 54 39
+f 1 39 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 47
+f 1 47 64
+f 1 64 86
+f 1 86 85
+f 1 85 84
+f 1 84 106
+f 1 106 128
+f 1 128 147
+f 1 147 146
+f 1 146 148
+f 1 148 150
+f 1 150 159
+f 1 159 157
+f 1 157 156
+f 1 156 155
+f 1 155 135
+f 1 135 134
+f 1 134 133
+f 1 133 113
+f 1 113 107
+f 1 107 88
+f 1 88 87
+f 1 87 65
+f 1 65 48
+f 1 48 31
+f 1 31 30
+f 1 30 29
+f 1 29 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 25
+f 3 25 41
+f 3 41 56
+f 3 56 55
+f 3 55 71
+f 3 71 90
+f 3 90 89
+f 3 89 92
+f 3 92 91
+f 3 91 108
+f 3 108 109
+f 3 109 112
+f 3 112 132
+f 3 132 131
+f 3 131 154
+f 3 154 153
+f 3 153 165
+f 3 165 166
+f 3 166 167
+f 3 167 163
+f 3 163 162
+f 3 162 161
+f 3 161 160
+f 3 160 141
+f 3 141 121
+f 3 121 120
+f 3 120 119
+f 3 119 100
+f 3 100 78
+f 3 78 59
+f 3 59 43
+f 3 43 27
+f 3 27 16
+f 3 16 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 8 16 26
+f 8 26 42
+f 8 42 58
+f 8 58 76
+f 8 76 75
+f 8 75 61
+f 8 61 45
+f 8 45 28
+f 8 28 17
+f 8 17 9
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 16 27 26
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 33 34
+f 20 34 21
+f 20 32 35
+f 20 35 33
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 21 34 36
+f 23 39 37
+f 23 37 36
+f 23 36 24
+f 24 36 40
+f 24 40 25
+f 25 40 41
+f 26 27 42
+f 27 43 44
+f 27 44 42
+f 28 45 46
+f 28 46 47
+f 31 48 32
+f 32 48 49
+f 32 49 35
+f 33 35 50
+f 33 50 51
+f 33 51 34
+f 34 51 36
+f 35 49 52
+f 35 52 53
+f 35 53 50
+f 36 51 40
+f 37 39 54
+f 37 54 38
+f 40 55 56
+f 40 56 41
+f 40 51 55
+f 42 44 57
+f 42 57 58
+f 43 59 60
+f 43 60 44
+f 44 60 57
+f 45 61 46
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 46 61 62
+f 48 65 66
+f 48 66 52
+f 48 52 49
+f 50 67 68
+f 50 68 51
+f 50 53 69
+f 50 69 70
+f 50 70 67
+f 51 68 71
+f 51 71 55
+f 52 66 72
+f 52 72 73
+f 52 73 74
+f 52 74 69
+f 52 69 53
+f 57 75 76
+f 57 76 58
+f 57 60 77
+f 57 77 75
+f 59 78 79
+f 59 79 60
+f 60 79 80
+f 60 80 81
+f 60 81 77
+f 61 75 62
+f 62 81 82
+f 62 82 83
+f 62 83 63
+f 62 75 77
+f 62 77 81
+f 63 83 84
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 65 87 66
+f 66 87 88
+f 66 88 72
+f 67 89 90
+f 67 90 68
+f 67 70 91
+f 67 91 92
+f 67 92 89
+f 68 90 71
+f 69 93 70
+f 69 74 94
+f 69 94 93
+f 70 93 91
+f 72 88 95
+f 72 95 73
+f 73 96 74
+f 73 95 97
+f 73 97 98
+f 73 98 99
+f 73 99 96
+f 74 96 94
+f 78 100 79
+f 79 100 101
+f 79 101 80
+f 80 101 102
+f 80 102 103
+f 80 103 82
+f 80 82 81
+f 82 103 104
+f 82 104 105
+f 82 105 83
+f 83 105 106
+f 83 106 84
+f 88 107 95
+f 91 93 108
+f 93 109 108
+f 93 94 109
+f 94 96 110
+f 94 110 111
+f 94 111 112
+f 94 112 109
+f 95 107 113
+f 95 113 114
+f 95 114 97
+f 96 99 110
+f 97 114 98
+f 98 115 116
+f 98 116 99
+f 98 114 117
+f 98 117 118
+f 98 118 115
+f 99 116 110
+f 100 119 101
+f 101 119 120
+f 101 120 102
+f 102 120 121
+f 102 121 122
+f 102 122 123
+f 102 123 124
+f 102 124 103
+f 103 124 104
+f 104 125 105
+f 104 124 126
+f 104 126 127
+f 104 127 125
+f 105 125 128
+f 105 128 106
+f 110 116 129
+f 110 129 130
+f 110 130 131
+f 110 131 132
+f 110 132 111
+f 111 132 112
+f 113 133 114
+f 114 133 134
+f 114 134 135
+f 114 135 136
+f 114 136 117
+f 115 129 116
+f 115 118 137
+f 115 137 129
+f 117 136 118
+f 118 136 138
+f 118 138 139
+f 118 139 140
+f 118 140 137
+f 121 141 122
+f 122 141 142
+f 122 142 123
+f 123 142 143
+f 123 143 144
+f 123 144 145
+f 123 145 126
+f 123 126 124
+f 125 146 147
+f 125 147 128
+f 125 127 148
+f 125 148 146
+f 126 145 139
+f 126 139 149
+f 126 149 127
+f 127 149 150
+f 127 150 148
+f 129 137 151
+f 129 151 152
+f 129 152 153
+f 129 153 154
+f 129 154 130
+f 130 154 131
+f 135 155 136
+f 136 155 138
+f 137 140 151
+f 138 155 156
+f 138 156 157
+f 138 157 158
+f 138 158 139
+f 139 158 159
+f 139 159 150
+f 139 150 149
+f 139 145 144
+f 139 144 140
+f 140 144 151
+f 141 160 142
+f 142 160 161
+f 142 161 162
+f 142 162 163
+f 142 163 143
+f 143 163 164
+f 143 164 144
+f 144 164 151
+f 151 165 152
+f 151 164 166
+f 151 166 165
+f 152 165 153
+f 157 159 158
+f 163 167 164
+f 164 167 166
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_16.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.05690712 -0.00118735 -0.02544265
+v -0.05675030 -0.00118734 -0.02592459
+v -0.05681032 -0.00328258 -0.02544266
+v -0.05690712 -0.00011589 -0.02544265
+v -0.05675223 -0.00011588 -0.02592518
+v -0.05598363 -0.00118734 -0.02803775
+v -0.05587134 -0.00346702 -0.02803776
+v -0.05675030 -0.00341936 -0.02559415
+v -0.05679096 -0.00352299 -0.02544266
+v -0.04818529 -0.00011589 -0.02544265
+v -0.05634567 -0.00011588 -0.02704463
+v -0.05598363 -0.00011588 -0.02803775
+v -0.05516275 -0.00118733 -0.02994269
+v -0.05510467 -0.00346701 -0.02982456
+v -0.05499432 -0.00574462 -0.02959354
+v -0.05565063 -0.00574463 -0.02803777
+v -0.05646764 -0.00574464 -0.02577781
+v -0.05662059 -0.00531565 -0.02544267
+v -0.04366272 -0.00011586 -0.03141716
+v -0.04243915 -0.02128795 -0.02544273
+v -0.03713055 -0.02128792 -0.03141724
+v -0.05554803 -0.00011587 -0.02904608
+v -0.05516082 -0.00011587 -0.02994211
+v -0.05460324 -0.00011587 -0.03107209
+v -0.05460324 -0.00118733 -0.03107267
+v -0.05454322 -0.00346701 -0.03095512
+v -0.05488009 -0.00744610 -0.02935668
+v -0.05442319 -0.00574462 -0.03072411
+v -0.05523632 -0.00813208 -0.02821558
+v -0.05614626 -0.00802225 -0.02577782
+v -0.05657412 -0.00574464 -0.02544267
+v -0.05438060 -0.00011586 -0.03141716
+v -0.05215416 -0.02128795 -0.02544273
+v -0.04931594 -0.02128792 -0.03141724
+v -0.05438060 -0.00118732 -0.03141716
+v -0.05435349 -0.00171579 -0.03141717
+v -0.05424894 -0.00346700 -0.03141717
+v -0.05418506 -0.00405557 -0.03141717
+v -0.05398952 -0.00574669 -0.03141718
+v -0.05433800 -0.00813207 -0.03018486
+v -0.05475425 -0.00896520 -0.02908705
+v -0.05385399 -0.00673109 -0.03141718
+v -0.05506208 -0.01029986 -0.02760674
+v -0.05571452 -0.01029987 -0.02577783
+v -0.05624693 -0.00804091 -0.02544268
+v -0.05632244 -0.00752487 -0.02544268
+v -0.05216965 -0.02128795 -0.02544332
+v -0.05279499 -0.01988905 -0.02544272
+v -0.04935853 -0.02128792 -0.03135349
+v -0.04976897 -0.02045065 -0.03141724
+v -0.05362942 -0.00806782 -0.03141719
+v -0.05334869 -0.00960557 -0.03141720
+v -0.05321317 -0.01029984 -0.03141720
+v -0.05385012 -0.01029985 -0.03029717
+v -0.05461292 -0.01029985 -0.02873613
+v -0.05488784 -0.01183553 -0.02716632
+v -0.05581713 -0.01029987 -0.02544269
+v -0.05587715 -0.00998486 -0.02544269
+v -0.05515307 -0.01258784 -0.02583866
+v -0.05527698 -0.01258577 -0.02544270
+v -0.05233808 -0.02015638 -0.02644286
+v -0.05201089 -0.02128794 -0.02587613
+v -0.05299246 -0.01940202 -0.02544272
+v -0.05290147 -0.01940202 -0.02572464
+v -0.04984447 -0.02128793 -0.03062006
+v -0.05006712 -0.02020818 -0.03116574
+v -0.04995289 -0.02006103 -0.03141723
+v -0.05289566 -0.01171739 -0.03141720
+v -0.05277756 -0.01220026 -0.03141720
+v -0.05315315 -0.01271838 -0.03048024
+v -0.05436705 -0.01258783 -0.02796703
+v -0.05469423 -0.01335256 -0.02663293
+v -0.05503691 -0.01350386 -0.02544270
+v -0.05265559 -0.01863728 -0.02727807
+v -0.05200896 -0.01940201 -0.02803431
+v -0.05111064 -0.02128794 -0.02810451
+v -0.05132167 -0.02128794 -0.02760678
+v -0.05310862 -0.01910359 -0.02544272
+v -0.05376300 -0.01713063 -0.02577785
+v -0.05028202 -0.02128793 -0.02985446
+v -0.05048724 -0.02109519 -0.02965911
+v -0.05084734 -0.01943309 -0.03036621
+v -0.05049305 -0.01884244 -0.03141723
+v -0.05022587 -0.01947868 -0.03141723
+v -0.05250265 -0.01328622 -0.03141721
+v -0.05246393 -0.01357222 -0.03135580
+v -0.05285306 -0.01485300 -0.02984448
+v -0.05367588 -0.01485301 -0.02803780
+v -0.05448708 -0.01493799 -0.02583866
+v -0.05474070 -0.01454837 -0.02544270
+v -0.05291889 -0.01709124 -0.02803430
+v -0.05234002 -0.01782488 -0.02878412
+v -0.05059372 -0.02128793 -0.02923507
+v -0.05386948 -0.01713478 -0.02544271
+v -0.05399339 -0.01679697 -0.02544271
+v -0.05455097 -0.01516388 -0.02544271
+v -0.05043883 -0.02128793 -0.02956787
+v -0.05188312 -0.01709123 -0.03020419
+v -0.05067116 -0.01839686 -0.03141723
+v -0.05243295 -0.01352663 -0.03141721
+v -0.05225677 -0.01485300 -0.03097446
+v -0.05240004 -0.01363439 -0.03141721
+v -0.05166047 -0.01573170 -0.03141722
+v -0.05261494 -0.01630578 -0.02938887
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 31
+f 1 31 46
+f 1 46 45
+f 1 45 58
+f 1 58 57
+f 1 57 60
+f 1 60 73
+f 1 73 90
+f 1 90 96
+f 1 96 95
+f 1 95 94
+f 1 94 78
+f 1 78 63
+f 1 63 48
+f 1 48 33
+f 1 33 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 19
+f 4 19 32
+f 4 32 24
+f 4 24 23
+f 4 23 22
+f 4 22 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 10 20 21
+f 10 21 19
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 27 16
+f 15 26 28
+f 15 28 27
+f 16 27 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 19 21 34
+f 19 34 50
+f 19 50 67
+f 19 67 84
+f 19 84 83
+f 19 83 99
+f 19 99 103
+f 19 103 102
+f 19 102 100
+f 19 100 85
+f 19 85 69
+f 19 69 68
+f 19 68 53
+f 19 53 52
+f 19 52 51
+f 19 51 42
+f 19 42 39
+f 19 39 38
+f 19 38 37
+f 19 37 36
+f 19 36 35
+f 19 35 32
+f 20 33 47
+f 20 47 62
+f 20 62 77
+f 20 77 76
+f 20 76 93
+f 20 93 97
+f 20 97 80
+f 20 80 65
+f 20 65 49
+f 20 49 34
+f 20 34 21
+f 24 32 25
+f 25 35 36
+f 25 36 26
+f 25 32 35
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 27 28 40
+f 27 40 41
+f 27 41 29
+f 28 39 42
+f 28 42 40
+f 29 41 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 33 48 47
+f 34 49 50
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 40 42 51
+f 41 54 55
+f 41 55 43
+f 43 55 56
+f 43 56 44
+f 44 57 58
+f 44 58 45
+f 44 56 59
+f 44 59 60
+f 44 60 57
+f 47 48 61
+f 47 61 62
+f 48 63 64
+f 48 64 61
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 53 68 54
+f 54 68 69
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 59
+f 59 72 73
+f 59 73 60
+f 61 64 74
+f 61 74 75
+f 61 75 76
+f 61 76 77
+f 61 77 62
+f 63 78 64
+f 64 78 79
+f 64 79 74
+f 65 80 66
+f 66 80 81
+f 66 81 82
+f 66 82 83
+f 66 83 84
+f 66 84 67
+f 69 85 86
+f 69 86 70
+f 70 86 87
+f 70 87 71
+f 71 87 88
+f 71 88 72
+f 72 88 89
+f 72 89 90
+f 72 90 73
+f 74 79 91
+f 74 91 92
+f 74 92 75
+f 75 81 93
+f 75 93 76
+f 75 92 81
+f 78 94 79
+f 79 94 95
+f 79 95 96
+f 79 96 89
+f 79 89 91
+f 80 97 81
+f 81 92 82
+f 81 97 93
+f 82 92 98
+f 82 98 83
+f 83 98 99
+f 85 100 86
+f 86 101 87
+f 86 100 102
+f 86 102 103
+f 86 103 101
+f 87 101 104
+f 87 104 88
+f 88 104 91
+f 88 91 89
+f 89 96 90
+f 91 104 92
+f 92 104 98
+f 98 104 101
+f 98 101 99
+f 99 101 103
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_17.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.02015908 -0.05199154 0.04196851
+v -0.02015908 -0.05193543 0.04348968
+v -0.02167208 -0.05159004 0.04202485
+v -0.02015908 -0.04850100 0.00932528
+v -0.02015908 -0.05190305 0.04427093
+v -0.02167208 -0.05149292 0.04428595
+v -0.02554173 -0.05033160 0.04382773
+v -0.02395558 -0.05087340 0.04202485
+v -0.02254220 -0.04779730 0.00932528
+v -0.02200674 -0.04796351 0.00932528
+v -0.02139967 -0.04815131 0.00932528
+v -0.02015908 -0.04054447 0.00932531
+v -0.02015908 -0.05087773 0.04613765
+v -0.02167208 -0.05067914 0.04599492
+v -0.02351040 -0.05039853 0.04570947
+v -0.02503273 -0.05013518 0.04533388
+v -0.02414548 -0.05066618 0.04446248
+v -0.02627799 -0.04987398 0.04446249
+v -0.02852258 -0.04897385 0.04428596
+v -0.02852258 -0.04907314 0.04202486
+v -0.02666091 -0.04986750 0.04202486
+v -0.02551838 -0.05032296 0.04202486
+v -0.02395558 -0.04729219 0.00932529
+v -0.02015908 -0.04046029 0.01038825
+v -0.03605953 -0.03128416 0.00932535
+v -0.03605953 -0.03117192 0.01038829
+v -0.03605953 -0.03094960 0.01264563
+v -0.03605953 -0.03074237 0.01490674
+v -0.03605953 -0.03054379 0.01716784
+v -0.03605953 -0.03036464 0.01942894
+v -0.02015908 -0.04888968 0.04728699
+v -0.02167208 -0.04902135 0.04706914
+v -0.02414548 -0.04923505 0.04637429
+v -0.02624063 -0.04875585 0.04620902
+v -0.02852258 -0.04827664 0.04584469
+v -0.02985501 -0.04797660 0.04553670
+v -0.03025505 -0.04817734 0.04428596
+v -0.03036090 -0.04822698 0.04202486
+v -0.02773184 -0.04576823 0.00932529
+v -0.02624063 -0.04640286 0.00932529
+v -0.02502650 -0.04687558 0.00932529
+v -0.02015908 -0.04039554 0.01125588
+v -0.03605953 -0.04097403 0.00932531
+v -0.03605953 -0.03004303 0.02390983
+v -0.02614412 -0.04654978 0.04739217
+v -0.02015908 -0.04678722 0.04763630
+v -0.02395558 -0.04689515 0.04752363
+v -0.02852258 -0.04674405 0.04687008
+v -0.03069245 -0.04679154 0.04614518
+v -0.03428659 -0.04563886 0.04545784
+v -0.03139758 -0.04759452 0.04428597
+v -0.03308958 -0.04597344 0.04578836
+v -0.03150343 -0.04764848 0.04202486
+v -0.02887281 -0.04522643 0.00932529
+v -0.02833735 -0.04548114 0.00932529
+v -0.02015908 -0.04024660 0.01340806
+v -0.03509601 -0.04163887 0.00932531
+v -0.03605953 -0.04499342 0.04205116
+v -0.02015908 -0.03974584 0.02175010
+v -0.02015908 -0.03982786 0.02018385
+v -0.02015908 -0.03995521 0.01793026
+v -0.02015908 -0.04000053 0.01716780
+v -0.02015908 -0.04009551 0.01566916
+v -0.02015908 -0.04014515 0.01490670
+v -0.03605953 -0.02998260 0.02620849
+v -0.02015908 -0.03959045 0.02620845
+v -0.02015908 -0.03963145 0.02476990
+v -0.02015908 -0.03965519 0.02394735
+v -0.02531914 -0.04566261 0.04768513
+v -0.03075627 -0.04430270 0.04741471
+v -0.02232895 -0.04552015 0.04768889
+v -0.02232895 -0.04574895 0.04768889
+v -0.02395558 -0.04575543 0.04769640
+v -0.02015908 -0.04452719 0.04731330
+v -0.03308958 -0.04446675 0.04678371
+v -0.03605953 -0.04487471 0.04424842
+v -0.03571708 -0.04509273 0.04428597
+v -0.03457456 -0.04581585 0.04428597
+v -0.03308958 -0.04666633 0.04428597
+v -0.03517851 -0.04441926 0.04599495
+v -0.03605953 -0.04402856 0.04586725
+v -0.03308958 -0.04678289 0.04202487
+v -0.03080608 -0.04422700 0.00932530
+v -0.03333085 -0.04277860 0.00932530
+v -0.03581826 -0.04515100 0.04202487
+v -0.03605953 -0.02994159 0.02846959
+v -0.02015908 -0.03956670 0.02846955
+v -0.02996241 -0.04343280 0.04769265
+v -0.03427569 -0.04107563 0.04768140
+v -0.03517228 -0.04197575 0.04727575
+v -0.03605953 -0.03841626 0.04765512
+v -0.03605953 -0.03880696 0.04768892
+v -0.02395558 -0.04542085 0.04769640
+v -0.02160981 -0.04464160 0.04747857
+v -0.03605953 -0.03748806 0.04756497
+v -0.03605953 -0.03933581 0.04768892
+v -0.02015908 -0.04241825 0.04615646
+v -0.03605953 -0.03343424 0.04601377
+v -0.03605953 -0.03539639 0.04696778
+v -0.03605953 -0.04208151 0.04693020
+v -0.03467573 -0.04587844 0.04202487
+v -0.03218832 -0.04346934 0.00932530
+v -0.03279539 -0.04310238 0.00932530
+v -0.03605953 -0.02998261 0.03072318
+v -0.02015908 -0.03959477 0.03072314
+v -0.03579803 -0.04040646 0.04759501
+v -0.03605953 -0.04030932 0.04756872
+v -0.02015908 -0.04134327 0.04457520
+v -0.03605953 -0.03233767 0.04484566
+v -0.03605953 -0.03007328 0.03251854
+v -0.02015908 -0.03968976 0.03299926
+v -0.02015908 -0.03962284 0.03144429
+v -0.02015908 -0.04100222 0.04351977
+v -0.03605953 -0.03194697 0.04389915
+v -0.03605953 -0.03012940 0.03327724
+v -0.02015908 -0.03985166 0.03524534
+v -0.02015908 -0.04093962 0.04324558
+v -0.03605953 -0.03138573 0.04202492
+v -0.03605953 -0.03030210 0.03519655
+v -0.02015908 -0.04006322 0.03750644
+v -0.02015908 -0.04068274 0.04202489
+v -0.03605953 -0.03102309 0.04026337
+v -0.03605953 -0.03044673 0.03643978
+v -0.02015908 -0.04034168 0.03987647
+v -0.02015908 -0.04047767 0.04076663
+v -0.03605953 -0.03092379 0.03976759
+v -0.03605953 -0.03057625 0.03750648
+v -0.03605953 -0.03069929 0.03832904
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 24
+f 1 24 42
+f 1 42 56
+f 1 56 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 68
+f 1 68 67
+f 1 67 66
+f 1 66 87
+f 1 87 105
+f 1 105 112
+f 1 112 111
+f 1 111 116
+f 1 116 120
+f 1 120 124
+f 1 124 125
+f 1 125 121
+f 1 121 117
+f 1 117 113
+f 1 113 108
+f 1 108 97
+f 1 97 74
+f 1 74 46
+f 1 46 31
+f 1 31 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 9
+f 4 9 23
+f 4 23 41
+f 4 41 40
+f 4 40 39
+f 4 39 55
+f 4 55 54
+f 4 54 83
+f 4 83 102
+f 4 102 103
+f 4 103 84
+f 4 84 57
+f 4 57 43
+f 4 43 25
+f 4 25 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 9
+f 9 22 23
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 24
+f 13 31 32
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 36 19
+f 16 19 18
+f 16 35 36
+f 19 37 20
+f 19 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 23
+f 24 30 42
+f 25 43 58
+f 25 58 76
+f 25 76 81
+f 25 81 100
+f 25 100 107
+f 25 107 96
+f 25 96 92
+f 25 92 91
+f 25 91 95
+f 25 95 99
+f 25 99 98
+f 25 98 109
+f 25 109 114
+f 25 114 118
+f 25 118 122
+f 25 122 126
+f 25 126 128
+f 25 128 127
+f 25 127 123
+f 25 123 119
+f 25 119 115
+f 25 115 110
+f 25 110 104
+f 25 104 86
+f 25 86 65
+f 25 65 44
+f 25 44 30
+f 25 30 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 30 44 42
+f 31 45 32
+f 31 46 47
+f 31 47 45
+f 32 45 48
+f 32 48 34
+f 32 34 33
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 50 51
+f 36 51 37
+f 36 49 52
+f 36 52 50
+f 37 51 53
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 42 44 56
+f 43 57 58
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 56
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 59
+f 45 47 69
+f 45 69 70
+f 45 70 48
+f 46 71 72
+f 46 72 73
+f 46 73 69
+f 46 69 47
+f 46 74 71
+f 48 75 49
+f 48 70 75
+f 49 75 52
+f 50 76 77
+f 50 77 78
+f 50 78 79
+f 50 79 51
+f 50 52 80
+f 50 80 81
+f 50 81 76
+f 51 79 82
+f 51 82 53
+f 52 75 80
+f 53 82 83
+f 53 83 54
+f 57 84 85
+f 57 85 58
+f 58 85 76
+f 65 86 66
+f 66 86 87
+f 69 73 88
+f 69 88 70
+f 70 88 89
+f 70 89 90
+f 70 90 75
+f 71 91 92
+f 71 92 93
+f 71 93 73
+f 71 73 72
+f 71 74 94
+f 71 94 95
+f 71 95 91
+f 73 93 92
+f 73 92 96
+f 73 96 88
+f 74 97 98
+f 74 98 99
+f 74 99 95
+f 74 95 94
+f 75 90 100
+f 75 100 81
+f 75 81 80
+f 76 85 77
+f 77 85 101
+f 77 101 78
+f 78 101 79
+f 79 101 82
+f 82 101 102
+f 82 102 83
+f 84 103 101
+f 84 101 85
+f 86 104 105
+f 86 105 87
+f 88 96 89
+f 89 96 106
+f 89 106 90
+f 90 106 107
+f 90 107 100
+f 96 107 106
+f 97 108 109
+f 97 109 98
+f 101 103 102
+f 104 110 111
+f 104 111 112
+f 104 112 105
+f 108 113 114
+f 108 114 109
+f 110 115 116
+f 110 116 111
+f 113 117 118
+f 113 118 114
+f 115 119 116
+f 116 119 120
+f 117 121 118
+f 118 121 122
+f 119 123 120
+f 120 123 124
+f 121 125 126
+f 121 126 122
+f 123 127 124
+f 124 127 128
+f 124 128 125
+f 125 128 126
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_18.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.03551676 0.01519372 -0.01682564
+v 0.02251762 0.03389746 -0.01682558
+v 0.04361333 0.01519372 -0.01682564
+v 0.03364705 0.01519364 0.00577641
+v 0.02251762 0.04342777 -0.01682554
+v 0.03359953 0.01519364 0.00635976
+v 0.03328550 0.01519362 0.01041192
+v 0.03312849 0.01519361 0.01264355
+v 0.02251762 0.03112265 0.01038457
+v 0.04337987 0.01588809 -0.01682564
+v 0.04362159 0.01519372 -0.01673560
+v 0.02361052 0.04270020 -0.01682554
+v 0.02251762 0.04345543 -0.01620695
+v 0.02287297 0.04323412 -0.01590549
+v 0.03298180 0.01519361 0.01490258
+v 0.02251762 0.03090409 0.01264360
+v 0.04297081 0.01703616 -0.01682564
+v 0.04297494 0.01703616 -0.01673560
+v 0.04340053 0.01584106 -0.01673560
+v 0.04333855 0.01564464 -0.01447265
+v 0.04349143 0.01519371 -0.01447265
+v 0.02379646 0.04257018 -0.01682554
+v 0.02251762 0.04342777 -0.01523600
+v 0.02287297 0.04323412 -0.01555704
+v 0.02378406 0.04258124 -0.01668851
+v 0.03294875 0.01519360 0.01544287
+v 0.02251762 0.03069661 0.01490263
+v 0.04293775 0.01712745 -0.01682564
+v 0.04210929 0.01931568 -0.01673559
+v 0.04198740 0.01931567 -0.01447264
+v 0.04285098 0.01703615 -0.01447265
+v 0.04000613 0.01703601 0.02317134
+v 0.04060733 0.01527933 0.02317134
+v 0.04063418 0.01519357 0.02317134
+v 0.02388943 0.04250378 -0.01682554
+v 0.02251762 0.04011898 0.02317143
+v 0.02551742 0.04123399 -0.01447256
+v 0.02558353 0.04128656 -0.01673551
+v 0.02558353 0.04128656 -0.01682555
+v 0.03284338 0.01519360 0.01716552
+v 0.02251762 0.03050018 0.01716557
+v 0.04210516 0.01931568 -0.01682563
+v 0.04139240 0.02102809 -0.01673558
+v 0.04133455 0.02090083 -0.01447263
+v 0.04139240 0.02102533 -0.01682562
+v 0.03922105 0.01904996 0.02317135
+v 0.03974168 0.01772484 0.02317135
+v 0.03256654 0.01519357 0.02317134
+v 0.02251762 0.03008796 0.02317139
+v 0.02367663 0.03928353 0.02317142
+v 0.02665991 0.04032937 -0.01447256
+v 0.02481912 0.03841210 0.02317142
+v 0.02672602 0.04038194 -0.01673551
+v 0.02672602 0.04038194 -0.01682555
+v 0.03272149 0.01519359 0.01942455
+v 0.02251762 0.03041165 0.01827747
+v 0.04087384 0.02216509 -0.01673558
+v 0.04082012 0.02203783 -0.01447263
+v 0.03873555 0.02018695 0.02317135
+v 0.04089243 0.02211806 -0.01682562
+v 0.02251762 0.03009073 0.02311266
+v 0.02251762 0.03016543 0.02168364
+v 0.03259546 0.01519358 0.02236090
+v 0.02803585 0.03919237 -0.01447257
+v 0.02528396 0.03802204 0.02317142
+v 0.02809163 0.03924218 -0.01673552
+v 0.02809163 0.03924218 -0.01682556
+v 0.02251762 0.03032036 0.01942460
+v 0.03262025 0.01519358 0.02168359
+v 0.02251762 0.03023182 0.02071268
+v 0.04003092 0.02387197 -0.01673557
+v 0.03992142 0.02387196 -0.01447262
+v 0.04083872 0.02223425 -0.01682562
+v 0.03807650 0.02159229 0.02317136
+v 0.03851036 0.02067108 0.02317136
+v 0.02917627 0.03817433 -0.01447257
+v 0.02923411 0.03822967 -0.01673552
+v 0.02617440 0.03727234 0.02317142
+v 0.02731689 0.03629026 0.02317141
+v 0.02923411 0.03822967 -0.01682556
+v 0.03915081 0.02554289 -0.01673557
+v 0.03909503 0.02544328 -0.01447262
+v 0.04002885 0.02387197 -0.01682561
+v 0.03999580 0.02393560 -0.01682561
+v 0.03915081 0.02554289 -0.01682561
+v 0.03704971 0.02362838 0.02317137
+v 0.03772322 0.02229496 0.02317136
+v 0.03036834 0.03703457 -0.01447257
+v 0.03042412 0.03708991 -0.01673552
+v 0.02848830 0.03515050 0.02317141
+v 0.03042412 0.03708991 -0.01682556
+v 0.03849796 0.02667988 -0.01673556
+v 0.03844218 0.02658305 -0.01447261
+v 0.03643199 0.02476814 0.02317137
+v 0.03849796 0.02667988 -0.01682560
+v 0.03151082 0.03587821 -0.01447258
+v 0.03156660 0.03593908 -0.01673553
+v 0.02963078 0.03402733 0.02317140
+v 0.03152115 0.03598611 -0.01682557
+v 0.03741952 0.02842549 -0.01673556
+v 0.03661792 0.02963718 -0.01517341
+v 0.03559940 0.02614858 0.02317138
+v 0.03615101 0.02523566 0.02317137
+v 0.03741952 0.02842549 -0.01682560
+v 0.03255414 0.03474121 -0.01447258
+v 0.03260993 0.03480208 -0.01673553
+v 0.03160792 0.03589482 -0.01682557
+v 0.03156660 0.03593908 -0.01682557
+v 0.03064311 0.03288757 0.02317140
+v 0.03738853 0.02847529 -0.01682560
+v 0.03663238 0.02965378 -0.01673555
+v 0.03581219 0.03079354 -0.01673555
+v 0.03466970 0.03233444 -0.01673554
+v 0.03461806 0.03226527 -0.01447259
+v 0.03266364 0.03043099 0.02317139
+v 0.03380199 0.02888457 0.02317139
+v 0.03459326 0.02774480 0.02317138
+v 0.03369456 0.03340503 -0.01447259
+v 0.03374828 0.03347420 -0.01673554
+v 0.03139306 0.03202445 0.02317140
+v 0.03178560 0.03157076 0.02317140
+v 0.03374828 0.03347420 -0.01682558
+v 0.03260993 0.03479932 -0.01682557
+v 0.03663238 0.02965378 -0.01682559
+v 0.03581219 0.03079354 -0.01682559
+v 0.03466970 0.03233444 -0.01682558
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 35
+f 1 35 39
+f 1 39 54
+f 1 54 67
+f 1 67 80
+f 1 80 91
+f 1 91 99
+f 1 99 108
+f 1 108 107
+f 1 107 123
+f 1 123 122
+f 1 122 126
+f 1 126 125
+f 1 125 124
+f 1 124 110
+f 1 110 104
+f 1 104 95
+f 1 95 85
+f 1 85 84
+f 1 84 83
+f 1 83 73
+f 1 73 60
+f 1 60 45
+f 1 45 42
+f 1 42 28
+f 1 28 17
+f 1 17 10
+f 1 10 3
+f 1 3 11
+f 1 11 21
+f 1 21 34
+f 1 34 48
+f 1 48 63
+f 1 63 69
+f 1 69 55
+f 1 55 40
+f 1 40 26
+f 1 26 15
+f 1 15 8
+f 1 8 7
+f 1 7 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 16
+f 2 16 27
+f 2 27 41
+f 2 41 56
+f 2 56 68
+f 2 68 70
+f 2 70 62
+f 2 62 61
+f 2 61 49
+f 2 49 36
+f 2 36 23
+f 2 23 13
+f 2 13 5
+f 3 10 11
+f 5 13 14
+f 5 14 12
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 12 14 22
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 22
+f 15 26 27
+f 15 27 16
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 28 29
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 22 25 35
+f 23 36 24
+f 24 37 38
+f 24 38 25
+f 24 36 37
+f 25 38 39
+f 25 39 35
+f 26 40 27
+f 27 40 41
+f 28 42 29
+f 29 43 44
+f 29 44 30
+f 29 42 45
+f 29 45 43
+f 30 44 46
+f 30 46 47
+f 30 47 32
+f 30 32 31
+f 32 47 46
+f 32 46 59
+f 32 59 75
+f 32 75 74
+f 32 74 87
+f 32 87 86
+f 32 86 94
+f 32 94 103
+f 32 103 102
+f 32 102 117
+f 32 117 116
+f 32 116 115
+f 32 115 121
+f 32 121 120
+f 32 120 109
+f 32 109 98
+f 32 98 90
+f 32 90 79
+f 32 79 78
+f 32 78 65
+f 32 65 52
+f 32 52 50
+f 32 50 36
+f 32 36 49
+f 32 49 48
+f 32 48 34
+f 32 34 33
+f 36 50 37
+f 37 51 53
+f 37 53 38
+f 37 50 52
+f 37 52 51
+f 38 53 54
+f 38 54 39
+f 40 55 41
+f 41 55 56
+f 43 57 58
+f 43 58 44
+f 43 45 57
+f 44 58 59
+f 44 59 46
+f 45 60 57
+f 48 61 62
+f 48 62 63
+f 48 49 61
+f 51 64 53
+f 51 52 64
+f 52 65 64
+f 53 66 67
+f 53 67 54
+f 53 64 66
+f 55 68 56
+f 55 69 62
+f 55 62 70
+f 55 70 68
+f 57 71 72
+f 57 72 58
+f 57 60 73
+f 57 73 71
+f 58 72 74
+f 58 74 75
+f 58 75 59
+f 62 69 63
+f 64 76 77
+f 64 77 66
+f 64 65 78
+f 64 78 79
+f 64 79 76
+f 66 77 80
+f 66 80 67
+f 71 81 82
+f 71 82 72
+f 71 73 83
+f 71 83 84
+f 71 84 85
+f 71 85 81
+f 72 82 86
+f 72 86 87
+f 72 87 74
+f 76 88 77
+f 76 79 88
+f 77 89 91
+f 77 91 80
+f 77 88 89
+f 79 90 88
+f 81 92 93
+f 81 93 82
+f 81 85 95
+f 81 95 92
+f 82 93 94
+f 82 94 86
+f 88 96 97
+f 88 97 89
+f 88 90 98
+f 88 98 96
+f 89 97 99
+f 89 99 91
+f 92 100 101
+f 92 101 93
+f 92 95 104
+f 92 104 100
+f 93 101 102
+f 93 102 103
+f 93 103 94
+f 96 105 106
+f 96 106 97
+f 96 98 105
+f 97 106 107
+f 97 107 108
+f 97 108 99
+f 98 109 105
+f 100 104 110
+f 100 110 111
+f 100 111 101
+f 101 111 112
+f 101 112 113
+f 101 113 114
+f 101 114 115
+f 101 115 116
+f 101 116 117
+f 101 117 102
+f 105 118 119
+f 105 119 106
+f 105 109 120
+f 105 120 121
+f 105 121 118
+f 106 119 122
+f 106 122 123
+f 106 123 107
+f 110 124 111
+f 111 124 125
+f 111 125 112
+f 112 125 126
+f 112 126 113
+f 113 126 122
+f 113 122 119
+f 113 119 114
+f 114 119 118
+f 114 118 121
+f 114 121 115
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_19.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 -0.05134634 -0.02113528
+v -0.00195061 -0.05131014 -0.02125728
+v -0.00190475 -0.05134408 -0.02113528
+v -0.00195061 -0.04280736 -0.02113525
+v -0.00111588 -0.05123548 -0.02125728
+v -0.00195061 -0.04885522 -0.02803748
+v -0.00111588 -0.05127168 -0.02113528
+v 0.01679130 -0.03644046 -0.02113522
+v 0.01679130 -0.02823403 -0.03169735
+v -0.00195061 -0.03595396 -0.03169738
+v 0.00284678 -0.05069924 -0.02113528
+v -0.00099113 -0.05125584 -0.02113528
+v -0.00111588 -0.04878055 -0.02803748
+v 0.00116815 -0.04927154 -0.02577844
+v -0.00195061 -0.04814702 -0.02970617
+v -0.00111588 -0.04810856 -0.02963069
+v 0.01679130 -0.04603154 -0.02113526
+v 0.01679130 -0.04120768 -0.03169740
+v -0.00195061 -0.04702477 -0.03169742
+v 0.00333110 -0.05061553 -0.02113528
+v 0.00133142 -0.04835745 -0.02823599
+v 0.00067649 -0.04799090 -0.02938877
+v -0.00195061 -0.04793886 -0.03011972
+v -0.00111588 -0.04753386 -0.03076072
+v 0.01472191 -0.04699314 -0.02113526
+v 0.01341203 -0.04547266 -0.02652800
+v 0.01502829 -0.04404950 -0.02818737
+v 0.01653446 -0.04359698 -0.02753499
+v 0.01679130 -0.04335489 -0.02777175
+v 0.01679130 -0.04151540 -0.03124456
+v 0.01656565 -0.04136379 -0.03169740
+v -0.00152316 -0.04698178 -0.03169742
+v -0.00195061 -0.04757232 -0.03083723
+v 0.00490332 -0.05026936 -0.02113527
+v 0.00345218 -0.04818323 -0.02767149
+v 0.00506843 -0.04800223 -0.02721761
+v 0.00219917 -0.04786420 -0.02912202
+v 0.00133142 -0.04746146 -0.03020449
+v -0.00109937 -0.04693879 -0.03169742
+v 0.00121768 -0.04660393 -0.03169742
+v 0.01467788 -0.04701350 -0.02113526
+v 0.01188935 -0.04578490 -0.02734373
+v 0.01262501 -0.04517174 -0.02807262
+v 0.01310566 -0.04767870 -0.02113527
+v 0.01589603 -0.04327116 -0.02904136
+v 0.01679130 -0.04304491 -0.02847273
+v 0.01679130 -0.04203126 -0.03038023
+v 0.01502829 -0.04293629 -0.03040815
+v 0.01347808 -0.04321686 -0.03123526
+v 0.01318638 -0.04301322 -0.03169741
+v 0.00573622 -0.05007477 -0.02113527
+v 0.00345218 -0.04773523 -0.02880152
+v 0.00579309 -0.04750219 -0.02799715
+v 0.00659112 -0.04780991 -0.02668619
+v 0.00629392 -0.04993449 -0.02113527
+v 0.00345218 -0.04699989 -0.03029754
+v 0.00345218 -0.04620345 -0.03169742
+v 0.01030979 -0.04606772 -0.02807262
+v 0.01107663 -0.04546812 -0.02885010
+v 0.01258648 -0.04788007 -0.02113527
+v 0.01213151 -0.04805429 -0.02113527
+v 0.01108764 -0.04843214 -0.02113527
+v 0.01437335 -0.04363091 -0.02972889
+v 0.01266537 -0.04401555 -0.03040815
+v 0.01198291 -0.04356302 -0.03169741
+v 0.00593068 -0.04629171 -0.03050638
+v 0.00801841 -0.04684605 -0.02803747
+v 0.00801841 -0.04599531 -0.02992121
+v 0.00796154 -0.04948198 -0.02113527
+v 0.00530876 -0.04579845 -0.03169742
+v 0.00955394 -0.04574642 -0.02944665
+v 0.01030979 -0.04504502 -0.03023964
+v 0.00801841 -0.04540025 -0.03105124
+v 0.01030428 -0.04416713 -0.03169741
+v 0.00682228 -0.04559029 -0.03139966
+v 0.00658195 -0.04544775 -0.03169742
+v 0.00807712 -0.04494546 -0.03169742
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 20
+f 1 20 34
+f 1 34 51
+f 1 51 55
+f 1 55 69
+f 1 69 62
+f 1 62 61
+f 1 61 60
+f 1 60 44
+f 1 44 41
+f 1 41 25
+f 1 25 17
+f 1 17 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 33
+f 1 33 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 13 14
+f 5 14 11
+f 6 15 16
+f 6 16 13
+f 8 17 29
+f 8 29 46
+f 8 46 47
+f 8 47 30
+f 8 30 18
+f 8 18 9
+f 9 18 31
+f 9 31 50
+f 9 50 65
+f 9 65 74
+f 9 74 77
+f 9 77 76
+f 9 76 70
+f 9 70 57
+f 9 57 40
+f 9 40 39
+f 9 39 32
+f 9 32 19
+f 9 19 10
+f 11 14 21
+f 11 21 20
+f 13 16 22
+f 13 22 21
+f 13 21 14
+f 15 23 16
+f 16 23 24
+f 16 24 22
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 18 30 31
+f 19 32 33
+f 20 21 35
+f 20 35 36
+f 20 36 34
+f 21 22 37
+f 21 37 35
+f 22 24 38
+f 22 38 37
+f 23 33 24
+f 24 33 39
+f 24 39 40
+f 24 40 38
+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 28 45 46
+f 28 46 29
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 32 39 33
+f 34 36 51
+f 35 37 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 51
+f 37 38 56
+f 37 56 52
+f 38 40 57
+f 38 57 56
+f 42 58 59
+f 42 59 43
+f 42 44 60
+f 42 60 61
+f 42 61 62
+f 42 62 58
+f 43 59 63
+f 43 63 45
+f 45 63 48
+f 45 48 47
+f 45 47 46
+f 48 63 49
+f 49 63 64
+f 49 64 65
+f 49 65 50
+f 52 56 66
+f 52 66 53
+f 53 67 54
+f 53 66 68
+f 53 68 67
+f 54 67 69
+f 54 69 55
+f 56 57 70
+f 56 70 66
+f 58 71 59
+f 58 62 69
+f 58 69 67
+f 58 67 71
+f 59 72 64
+f 59 64 63
+f 59 71 72
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 66 70 75
+f 66 75 68
+f 67 68 71
+f 68 75 73
+f 68 73 71
+f 70 76 75
+f 71 73 72
+f 73 75 74
+f 74 75 77
+f 75 76 77
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_2.obj

@@ -0,0 +1,1156 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 -0.00011586 -0.03284872
+v -0.00195061 -0.03658999 -0.03141840
+v -0.00195061 -0.00011583 -0.04099117
+v -0.04366046 -0.00011586 -0.03141827
+v -0.00195061 -0.04720123 -0.03141844
+v -0.00195061 -0.03187075 -0.04274331
+v -0.03876942 -0.00011582 -0.04273654
+v -0.05438174 -0.00011586 -0.03141827
+v -0.00195061 -0.04639925 -0.03267923
+v -0.00340304 -0.04735421 -0.03141844
+v -0.00195061 -0.03199591 -0.04274331
+v -0.00340304 -0.03187075 -0.04274442
+v -0.03873349 -0.00346748 -0.04274542
+v -0.03884127 -0.00011582 -0.04273654
+v -0.05364270 -0.00011586 -0.03255820
+v -0.05437661 -0.00119136 -0.03141827
+v -0.00195061 -0.04566216 -0.03375817
+v -0.00340304 -0.04662176 -0.03255837
+v -0.00568690 -0.04747474 -0.03141844
+v -0.00195061 -0.03313167 -0.04232970
+v -0.00340304 -0.03315022 -0.04240954
+v -0.00568690 -0.03314095 -0.04247386
+v -0.00340304 -0.03200982 -0.04274442
+v -0.03887207 -0.00346748 -0.04274542
+v -0.03938016 -0.00011582 -0.04261900
+v -0.05313461 -0.00011586 -0.03326898
+v -0.05268297 -0.00119136 -0.03389993
+v -0.05363757 -0.00119136 -0.03255820
+v -0.05435095 -0.00171984 -0.03141828
+v -0.00195061 -0.04557408 -0.03385131
+v -0.00340304 -0.04572706 -0.03383024
+v -0.00568690 -0.04672839 -0.03255837
+v -0.00797075 -0.04746547 -0.03141844
+v -0.00797075 -0.04672839 -0.03255837
+v -0.00195061 -0.03958467 -0.03868043
+v -0.00340304 -0.03966347 -0.03872257
+v -0.00568690 -0.03517142 -0.04134392
+v -0.00797075 -0.03314095 -0.04246831
+v -0.01025460 -0.03200055 -0.04274331
+v -0.03202563 -0.02067076 -0.04274217
+v -0.03885667 -0.00574363 -0.04274432
+v -0.03998577 -0.00119132 -0.04248261
+v -0.03998577 -0.00011582 -0.04248482
+v -0.05268297 -0.00011586 -0.03389882
+v -0.05210302 -0.00011585 -0.03449761
+v -0.05158466 -0.00119135 -0.03502987
+v -0.05152308 -0.00346751 -0.03496224
+v -0.05262138 -0.00346752 -0.03383119
+v -0.05351952 -0.00346752 -0.03255821
+v -0.05424830 -0.00346752 -0.03141828
+v -0.00195061 -0.04341845 -0.03602913
+v -0.00340304 -0.04461911 -0.03496128
+v -0.00568690 -0.04577805 -0.03389345
+v -0.00568690 -0.04467937 -0.03502338
+v -0.00797075 -0.04577805 -0.03389567
+v -0.00850450 -0.04744229 -0.03141844
+v -0.01025460 -0.04661712 -0.03255837
+v -0.01025460 -0.04572242 -0.03383246
+v -0.00195061 -0.04072506 -0.03800180
+v -0.00340304 -0.04080387 -0.03805281
+v -0.00568690 -0.04086413 -0.03809495
+v -0.00568690 -0.03972837 -0.03875251
+v -0.00797075 -0.03517142 -0.04133838
+v -0.01025460 -0.03314095 -0.04240067
+v -0.01371888 -0.03194028 -0.04273000
+v -0.01253846 -0.03197274 -0.04273777
+v -0.02746306 -0.02515354 -0.04273663
+v -0.02898221 -0.02440255 -0.04263572
+v -0.03124553 -0.02219129 -0.04263571
+v -0.03423251 -0.01828335 -0.04272995
+v -0.03655229 -0.01383303 -0.04273881
+v -0.03882074 -0.00710191 -0.04273657
+v -0.04001656 -0.00346748 -0.04241608
+v -0.04203867 -0.00119133 -0.04135267
+v -0.04203867 -0.00011583 -0.04135378
+v -0.05158466 -0.00011585 -0.03502876
+v -0.05044530 -0.00119135 -0.03614207
+v -0.05037858 -0.00346751 -0.03608885
+v -0.05029647 -0.00520592 -0.03601457
+v -0.05255466 -0.00500195 -0.03374803
+v -0.05315513 -0.00575294 -0.03274561
+v -0.05418159 -0.00405626 -0.03141828
+v -0.00195061 -0.04316812 -0.03621653
+v -0.00340304 -0.04348335 -0.03608457
+v -0.00340304 -0.04218532 -0.03705926
+v -0.00568690 -0.04353897 -0.03613115
+v -0.00797075 -0.04467473 -0.03502560
+v -0.01025460 -0.04734958 -0.03141844
+v -0.01185073 -0.04565289 -0.03374930
+v -0.01257952 -0.04626481 -0.03275575
+v -0.01025460 -0.04461911 -0.03496239
+v -0.00195061 -0.04231512 -0.03684969
+v -0.00568690 -0.04218532 -0.03714686
+v -0.00797075 -0.04086413 -0.03809495
+v -0.00797075 -0.03972374 -0.03874918
+v -0.01025460 -0.03965884 -0.03871703
+v -0.01253846 -0.03953367 -0.03865160
+v -0.01253846 -0.03310850 -0.04227315
+v -0.01461702 -0.03284890 -0.04218555
+v -0.01939002 -0.03079525 -0.04236518
+v -0.02395773 -0.02851910 -0.04238513
+v -0.02834067 -0.02604360 -0.04225539
+v -0.03061426 -0.02377672 -0.04231969
+v -0.03290838 -0.02153301 -0.04225204
+v -0.03354991 -0.01979924 -0.04257028
+v -0.03745043 -0.01469992 -0.04214224
+v -0.04095576 -0.02263171 -0.03814367
+v -0.04141253 -0.02111582 -0.03838208
+v -0.03972915 -0.00792707 -0.04221207
+v -0.04000116 -0.00574363 -0.04228968
+v -0.04654992 -0.00346750 -0.03871578
+v -0.04775600 -0.00119134 -0.03809701
+v -0.04661151 -0.00011584 -0.03874681
+v -0.05097906 -0.00011585 -0.03561868
+v -0.05044017 -0.00011585 -0.03614096
+v -0.04971652 -0.00011585 -0.03668098
+v -0.04907499 -0.00011584 -0.03715891
+v -0.04907499 -0.00119134 -0.03716002
+v -0.04907499 -0.00346750 -0.03706688
+v -0.04929054 -0.00587810 -0.03669985
+v -0.05019382 -0.00672644 -0.03593030
+v -0.05245202 -0.00652248 -0.03362495
+v -0.05310894 -0.00802446 -0.03232425
+v -0.05385312 -0.00673109 -0.03141829
+v -0.05398656 -0.00574831 -0.03141829
+v -0.00797075 -0.04353434 -0.03612671
+v -0.00797075 -0.04218532 -0.03714242
+v -0.01025460 -0.04348335 -0.03608235
+v -0.01084481 -0.04728931 -0.03141844
+v -0.01204063 -0.04340454 -0.03601804
+v -0.01336988 -0.04556481 -0.03364062
+v -0.01270782 -0.04448467 -0.03484263
+v -0.01255385 -0.04711315 -0.03141844
+v -0.01482231 -0.04622309 -0.03234879
+v -0.01025460 -0.04218532 -0.03705704
+v -0.01025460 -0.04079923 -0.03805170
+v -0.01253846 -0.04066943 -0.03796965
+v -0.01482231 -0.03933897 -0.03854514
+v -0.01710617 -0.03908401 -0.03839877
+v -0.01863558 -0.03888467 -0.03828012
+v -0.02015473 -0.03864361 -0.03813375
+v -0.02167387 -0.03722043 -0.03860502
+v -0.02167387 -0.03079526 -0.04194380
+v -0.02624158 -0.02851911 -0.04180408
+v -0.03080416 -0.03248733 -0.03846861
+v -0.03205643 -0.03202839 -0.03825349
+v -0.03292891 -0.03069792 -0.03851961
+v -0.03446345 -0.02987276 -0.03831003
+v -0.03528462 -0.02843104 -0.03856506
+v -0.03673191 -0.02761051 -0.03830891
+v -0.03755821 -0.02608535 -0.03851627
+v -0.03888746 -0.02521846 -0.03825346
+v -0.03934423 -0.02396217 -0.03846747
+v -0.04190010 -0.01941450 -0.03861382
+v -0.04336279 -0.01826483 -0.03820576
+v -0.04370152 -0.01674894 -0.03839758
+v -0.04409157 -0.01485755 -0.03860271
+v -0.04048359 -0.02396217 -0.03788753
+v -0.04235687 -0.02405026 -0.03673763
+v -0.04219263 -0.02180191 -0.03771231
+v -0.04303946 -0.01941450 -0.03802390
+v -0.04551834 -0.01330457 -0.03812922
+v -0.04575442 -0.01178868 -0.03827115
+v -0.04595458 -0.01030060 -0.03838869
+v -0.04621119 -0.00802444 -0.03853727
+v -0.04641135 -0.00574365 -0.03864593
+v -0.04768928 -0.00346750 -0.03805600
+v -0.04837700 -0.00011584 -0.03765457
+v -0.04775087 -0.00011584 -0.03809701
+v -0.04755071 -0.00574365 -0.03796730
+v -0.04893642 -0.00802445 -0.03670763
+v -0.05007578 -0.00802445 -0.03582386
+v -0.05117922 -0.00802445 -0.03469391
+v -0.05232371 -0.00802446 -0.03345420
+v -0.05362730 -0.00807082 -0.03141830
+v -0.05288312 -0.01030062 -0.03199825
+v -0.01356491 -0.04331182 -0.03593598
+v -0.01269756 -0.04240321 -0.03670443
+v -0.01482231 -0.04544428 -0.03347984
+v -0.01482231 -0.04430388 -0.03470402
+v -0.01348792 -0.04698799 -0.03141844
+v -0.01488903 -0.04675620 -0.03141844
+v -0.01639278 -0.04648733 -0.03141844
+v -0.01710617 -0.04600057 -0.03203054
+v -0.01482231 -0.04205553 -0.03671107
+v -0.01482231 -0.04047937 -0.03784101
+v -0.01710617 -0.04022440 -0.03766470
+v -0.01939515 -0.03975155 -0.03755160
+v -0.02179705 -0.04009925 -0.03675099
+v -0.02167387 -0.03836083 -0.03796077
+v -0.02395773 -0.03674758 -0.03835108
+v -0.02510222 -0.03649261 -0.03820914
+v -0.02601576 -0.03533831 -0.03854069
+v -0.02797115 -0.03456414 -0.03838989
+v -0.02948517 -0.03410057 -0.03814926
+v -0.03080416 -0.03362772 -0.03789421
+v -0.03292891 -0.03289991 -0.03739633
+v -0.03358071 -0.03139329 -0.03793191
+v -0.03528462 -0.03069792 -0.03749944
+v -0.03598773 -0.02912640 -0.03796184
+v -0.03755821 -0.02843104 -0.03750387
+v -0.03825620 -0.02673899 -0.03794076
+v -0.03976508 -0.02608535 -0.03739852
+v -0.04473823 -0.01963701 -0.03686846
+v -0.04448162 -0.01735622 -0.03776109
+v -0.04523093 -0.01485755 -0.03795402
+v -0.04157163 -0.02624297 -0.03626747
+v -0.04320882 -0.02486615 -0.03583057
+v -0.04369639 -0.02335490 -0.03618319
+v -0.04418395 -0.02169066 -0.03650697
+v -0.04697076 -0.01495491 -0.03674091
+v -0.04662691 -0.01255821 -0.03753930
+v -0.04709394 -0.01030060 -0.03765905
+v -0.04735055 -0.00802444 -0.03783646
+v -0.04868494 -0.01030061 -0.03653022
+v -0.04982430 -0.01030061 -0.03559322
+v -0.05094313 -0.01030061 -0.03446328
+v -0.05208249 -0.01030062 -0.03312820
+v -0.05334503 -0.00960526 -0.03141831
+v -0.05266757 -0.01205757 -0.03168223
+v -0.05289339 -0.01172380 -0.03141831
+v -0.05321159 -0.01030062 -0.03141831
+v -0.01482231 -0.04319593 -0.03583397
+v -0.01710617 -0.04521249 -0.03316048
+v -0.01710617 -0.04407209 -0.03448336
+v -0.01710617 -0.04635289 -0.03141844
+v -0.01855859 -0.04603766 -0.03141844
+v -0.01893838 -0.04578733 -0.03171008
+v -0.01710617 -0.04180984 -0.03653587
+v -0.01939002 -0.04150851 -0.03631299
+v -0.02111959 -0.04124428 -0.03610896
+v -0.02264387 -0.04098468 -0.03589716
+v -0.02395773 -0.03956613 -0.03652589
+v -0.02395773 -0.03788798 -0.03765471
+v -0.02601576 -0.03740586 -0.03733425
+v -0.02662650 -0.03608467 -0.03798071
+v -0.02864348 -0.03533831 -0.03772678
+v -0.03089654 -0.03549130 -0.03674543
+v -0.03308801 -0.03470786 -0.03627194
+v -0.03429409 -0.03426747 -0.03598585
+v -0.03518197 -0.03293700 -0.03631407
+v -0.03667546 -0.03208402 -0.03604350
+v -0.03752228 -0.03066548 -0.03636617
+v -0.03894905 -0.02981714 -0.03604238
+v -0.03980100 -0.02832906 -0.03631627
+v -0.04113026 -0.02744363 -0.03598250
+v -0.04564664 -0.02055027 -0.03594810
+v -0.04601103 -0.01902974 -0.03621865
+v -0.04643188 -0.01713371 -0.03652137
+v -0.04271099 -0.02624297 -0.03543028
+v -0.04404025 -0.02624297 -0.03429923
+v -0.04560045 -0.02502378 -0.03363389
+v -0.04464585 -0.02418470 -0.03495789
+v -0.04532331 -0.02169066 -0.03568086
+v -0.04785351 -0.01578007 -0.03588265
+v -0.04812039 -0.01425954 -0.03609998
+v -0.04837700 -0.01257677 -0.03630180
+v -0.04951636 -0.01257677 -0.03529273
+v -0.05065059 -0.01257677 -0.03416168
+v -0.05190800 -0.01272048 -0.03248506
+v -0.05039911 -0.01427346 -0.03389333
+v -0.05250334 -0.01329068 -0.03141832
+v -0.05277535 -0.01220128 -0.03141831
+v -0.01710617 -0.04295023 -0.03561330
+v -0.01957478 -0.04505024 -0.03250181
+v -0.02116065 -0.04352971 -0.03391451
+v -0.01939002 -0.04378467 -0.03419173
+v -0.01909235 -0.04590786 -0.03141844
+v -0.02033949 -0.04560190 -0.03141844
+v -0.01939002 -0.04264891 -0.03532166
+v -0.02189969 -0.04226414 -0.03490584
+v -0.02268493 -0.04327938 -0.03363174
+v -0.02395773 -0.04188865 -0.03453103
+v -0.02395773 -0.04070653 -0.03566097
+v -0.02624158 -0.03905156 -0.03615663
+v -0.02739634 -0.03877805 -0.03595481
+v -0.02829962 -0.03760521 -0.03641056
+v -0.03019855 -0.03682640 -0.03618768
+v -0.03172283 -0.03633965 -0.03583837
+v -0.03308801 -0.03584826 -0.03544250
+v -0.03449425 -0.03669198 -0.03387789
+v -0.03515631 -0.03518071 -0.03469179
+v -0.03581837 -0.03360455 -0.03550570
+v -0.03756334 -0.03298800 -0.03477162
+v -0.03819461 -0.03133303 -0.03554451
+v -0.03985233 -0.03070257 -0.03477272
+v -0.04046820 -0.02895952 -0.03550680
+v -0.04143819 -0.03007212 -0.03399984
+v -0.04204380 -0.02829661 -0.03468733
+v -0.04355781 -0.02763371 -0.03386787
+v -0.04680140 -0.02151450 -0.03440787
+v -0.04797669 -0.02063835 -0.03373701
+v -0.04678087 -0.01963702 -0.03531492
+v -0.04757124 -0.01713371 -0.03563649
+v -0.04571336 -0.02746682 -0.03151041
+v -0.04611368 -0.02624298 -0.03201384
+v -0.04688865 -0.02412444 -0.03268692
+v -0.04757124 -0.02215888 -0.03324578
+v -0.04605209 -0.02351251 -0.03408631
+v -0.04518474 -0.02624298 -0.03314378
+v -0.04874139 -0.01713371 -0.03450654
+v -0.05014763 -0.01579399 -0.03360060
+v -0.04913145 -0.01502908 -0.03488800
+v -0.05240069 -0.01363836 -0.03141832
+v -0.05104578 -0.01496419 -0.03273123
+v -0.02182271 -0.04418799 -0.03275019
+v -0.02048319 -0.04555554 -0.03141844
+v -0.02395773 -0.04385421 -0.03217801
+v -0.02395773 -0.04302905 -0.03330795
+v -0.02624158 -0.04140189 -0.03405532
+v -0.02624158 -0.04018732 -0.03518527
+v -0.02750925 -0.04110985 -0.03375593
+v -0.02821237 -0.03974229 -0.03467962
+v -0.02891549 -0.03834693 -0.03560330
+v -0.03105050 -0.03778137 -0.03496792
+v -0.03189733 -0.03874098 -0.03365501
+v -0.03308801 -0.03718799 -0.03431257
+v -0.03517684 -0.03748469 -0.03239533
+v -0.03601853 -0.03608933 -0.03326024
+v -0.03692694 -0.03457343 -0.03399875
+v -0.03308801 -0.03832840 -0.03317376
+v -0.03434028 -0.03884760 -0.03152930
+v -0.03923646 -0.03237144 -0.03403755
+v -0.04295734 -0.02915424 -0.03325024
+v -0.04076074 -0.03158801 -0.03337001
+v -0.04434818 -0.02831053 -0.03238087
+v -0.04845912 -0.02151451 -0.03251835
+v -0.04947017 -0.01943769 -0.03248952
+v -0.04988075 -0.01713372 -0.03325352
+v -0.04825383 -0.01941452 -0.03402752
+v -0.04573902 -0.02750854 -0.03141837
+v -0.04583140 -0.02737411 -0.03141837
+v -0.04715553 -0.02527874 -0.03141836
+v -0.04361940 -0.02997940 -0.03174329
+v -0.04567744 -0.02759662 -0.03141837
+v -0.04815632 -0.02323438 -0.03173883
+v -0.05070705 -0.01713372 -0.03212358
+v -0.05165651 -0.01573373 -0.03141833
+v -0.02243858 -0.04487872 -0.03141843
+v -0.02559492 -0.04353435 -0.03173113
+v -0.02631343 -0.04263038 -0.03251400
+v -0.02836633 -0.04162442 -0.03254171
+v -0.02902840 -0.04071117 -0.03328355
+v -0.03037305 -0.03919064 -0.03409634
+v -0.03100431 -0.04002972 -0.03271580
+v -0.03308801 -0.03926018 -0.03204382
+v -0.03683969 -0.03675687 -0.03175329
+v -0.03764546 -0.03534297 -0.03256054
+v -0.03844608 -0.03388734 -0.03336779
+v -0.03209748 -0.04035886 -0.03141842
+v -0.03422224 -0.03899131 -0.03141841
+v -0.03438647 -0.03888005 -0.03141841
+v -0.03448912 -0.03880588 -0.03141841
+v -0.03664980 -0.03713700 -0.03141841
+v -0.04221316 -0.03078139 -0.03255720
+v -0.03998577 -0.03311781 -0.03261598
+v -0.04146385 -0.03234827 -0.03186305
+v -0.04976785 -0.02045292 -0.03141835
+v -0.04995261 -0.02006352 -0.03141834
+v -0.05022462 -0.01948405 -0.03141834
+v -0.05039911 -0.01869134 -0.03169002
+v -0.04794589 -0.02398073 -0.03141836
+v -0.04338332 -0.03055423 -0.03141838
+v -0.04371178 -0.03014165 -0.03141838
+v -0.04398893 -0.02978933 -0.03141838
+v -0.04825896 -0.02340126 -0.03141836
+v -0.04853097 -0.02289597 -0.03141835
+v -0.05067112 -0.01839929 -0.03141834
+v -0.02525106 -0.04384494 -0.03141843
+v -0.02576428 -0.04364561 -0.03141843
+v -0.02654952 -0.04333038 -0.03141843
+v -0.02700115 -0.04312640 -0.03141843
+v -0.02729883 -0.04298269 -0.03141843
+v -0.03011643 -0.04130455 -0.03177659
+v -0.03152268 -0.04071581 -0.03141842
+v -0.03700906 -0.03684959 -0.03141841
+v -0.03742990 -0.03650654 -0.03141840
+v -0.03921593 -0.03459661 -0.03186084
+v -0.04110460 -0.03310390 -0.03141839
+v -0.04215671 -0.03196351 -0.03141839
+v -0.05049149 -0.01884432 -0.03141834
+v -0.02973665 -0.04172177 -0.03141842
+v -0.03030120 -0.04142044 -0.03141842
+v -0.03095812 -0.04105886 -0.03141842
+v -0.03882588 -0.03528734 -0.03141840
+v -0.03996524 -0.03423502 -0.03141840
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 30
+f 1 30 51
+f 1 51 83
+f 1 83 92
+f 1 92 59
+f 1 59 35
+f 1 35 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 43
+f 1 43 75
+f 1 75 113
+f 1 113 169
+f 1 169 168
+f 1 168 117
+f 1 117 116
+f 1 116 115
+f 1 115 114
+f 1 114 76
+f 1 76 45
+f 1 45 44
+f 1 44 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 16
+f 2 16 29
+f 2 29 50
+f 2 50 82
+f 2 82 125
+f 2 125 124
+f 2 124 175
+f 2 175 219
+f 2 219 222
+f 2 222 221
+f 2 221 263
+f 2 263 262
+f 2 262 304
+f 2 304 338
+f 2 338 368
+f 2 368 381
+f 2 381 360
+f 2 360 359
+f 2 359 358
+f 2 358 367
+f 2 367 366
+f 2 366 362
+f 2 362 333
+f 2 333 332
+f 2 332 331
+f 2 331 335
+f 2 335 365
+f 2 365 364
+f 2 364 363
+f 2 363 380
+f 2 380 379
+f 2 379 386
+f 2 386 385
+f 2 385 377
+f 2 377 376
+f 2 376 354
+f 2 354 353
+f 2 353 352
+f 2 352 351
+f 2 351 350
+f 2 350 375
+f 2 375 384
+f 2 384 383
+f 2 383 382
+f 2 382 373
+f 2 373 372
+f 2 372 371
+f 2 371 370
+f 2 370 369
+f 2 369 339
+f 2 339 307
+f 2 307 269
+f 2 269 268
+f 2 268 227
+f 2 227 226
+f 2 226 183
+f 2 183 182
+f 2 182 181
+f 2 181 133
+f 2 133 129
+f 2 129 88
+f 2 88 56
+f 2 56 33
+f 2 33 19
+f 2 19 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 23
+f 6 23 12
+f 6 12 13
+f 6 13 7
+f 7 13 24
+f 7 24 14
+f 8 15 28
+f 8 28 16
+f 9 10 18
+f 9 18 17
+f 10 19 18
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 12 23 13
+f 13 23 24
+f 14 24 25
+f 15 26 27
+f 15 27 28
+f 16 28 29
+f 17 18 31
+f 17 31 30
+f 18 19 32
+f 18 32 31
+f 19 33 34
+f 19 34 32
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 63
+f 22 63 38
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 49 29
+f 28 48 49
+f 29 49 50
+f 30 31 52
+f 30 52 51
+f 31 32 53
+f 31 53 54
+f 31 54 52
+f 32 34 55
+f 32 55 53
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 55
+f 35 59 60
+f 35 60 36
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 39
+f 39 66 67
+f 39 67 40
+f 40 67 68
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 41
+f 41 72 42
+f 41 71 72
+f 42 72 73
+f 42 73 74
+f 42 74 43
+f 43 74 75
+f 45 76 46
+f 46 76 77
+f 46 77 78
+f 46 78 47
+f 47 78 79
+f 47 79 80
+f 47 80 48
+f 48 80 49
+f 49 81 50
+f 49 80 81
+f 50 81 82
+f 51 52 84
+f 51 84 85
+f 51 85 83
+f 52 54 84
+f 53 55 54
+f 54 86 84
+f 54 55 87
+f 54 87 86
+f 55 58 91
+f 55 91 87
+f 56 88 57
+f 57 89 58
+f 57 88 90
+f 57 90 89
+f 58 89 91
+f 59 92 85
+f 59 85 60
+f 60 85 93
+f 60 93 61
+f 61 93 94
+f 61 94 62
+f 62 94 95
+f 62 95 63
+f 63 95 96
+f 63 96 64
+f 64 96 97
+f 64 97 98
+f 64 98 65
+f 65 98 99
+f 65 99 100
+f 65 100 101
+f 65 101 67
+f 65 67 66
+f 67 102 68
+f 67 101 102
+f 68 102 103
+f 68 103 69
+f 69 104 105
+f 69 105 70
+f 69 103 104
+f 70 106 71
+f 70 105 107
+f 70 107 108
+f 70 108 106
+f 71 106 109
+f 71 109 72
+f 72 109 110
+f 72 110 73
+f 73 110 111
+f 73 111 74
+f 74 111 112
+f 74 112 75
+f 75 112 113
+f 76 114 77
+f 77 115 116
+f 77 116 117
+f 77 117 118
+f 77 118 119
+f 77 119 78
+f 77 114 115
+f 78 119 79
+f 79 119 120
+f 79 120 121
+f 79 121 80
+f 80 122 81
+f 80 121 122
+f 81 123 124
+f 81 124 125
+f 81 125 82
+f 81 122 123
+f 83 85 92
+f 84 86 85
+f 85 86 93
+f 86 87 126
+f 86 126 127
+f 86 127 93
+f 87 91 128
+f 87 128 126
+f 88 129 90
+f 89 130 91
+f 89 90 131
+f 89 131 132
+f 89 132 130
+f 90 129 133
+f 90 133 134
+f 90 134 131
+f 91 130 128
+f 93 127 94
+f 94 127 135
+f 94 135 136
+f 94 136 96
+f 94 96 95
+f 96 136 97
+f 97 137 138
+f 97 138 98
+f 97 136 137
+f 98 138 99
+f 99 138 139
+f 99 139 140
+f 99 140 141
+f 99 141 142
+f 99 142 143
+f 99 143 100
+f 100 143 101
+f 101 143 144
+f 101 144 102
+f 102 144 145
+f 102 145 146
+f 102 146 147
+f 102 147 148
+f 102 148 103
+f 103 148 149
+f 103 149 150
+f 103 150 104
+f 104 150 151
+f 104 151 152
+f 104 152 105
+f 105 152 153
+f 105 153 107
+f 106 108 154
+f 106 154 155
+f 106 155 156
+f 106 156 157
+f 106 157 109
+f 107 153 152
+f 107 152 158
+f 107 158 159
+f 107 159 160
+f 107 160 161
+f 107 161 108
+f 108 161 155
+f 108 155 154
+f 109 157 162
+f 109 162 163
+f 109 163 164
+f 109 164 165
+f 109 165 110
+f 110 165 166
+f 110 166 111
+f 111 166 167
+f 111 167 112
+f 112 167 118
+f 112 118 117
+f 112 117 168
+f 112 168 169
+f 112 169 113
+f 118 167 119
+f 119 167 170
+f 119 170 120
+f 120 170 171
+f 120 171 121
+f 121 171 172
+f 121 172 173
+f 121 173 122
+f 122 174 123
+f 122 173 174
+f 123 175 124
+f 123 174 176
+f 123 176 175
+f 126 128 127
+f 127 128 135
+f 128 130 135
+f 130 132 177
+f 130 177 178
+f 130 178 135
+f 131 177 132
+f 131 134 179
+f 131 179 180
+f 131 180 177
+f 133 181 134
+f 134 182 183
+f 134 183 184
+f 134 184 179
+f 134 181 182
+f 135 178 137
+f 135 137 136
+f 137 178 185
+f 137 185 186
+f 137 186 138
+f 138 186 139
+f 139 186 187
+f 139 187 140
+f 140 188 141
+f 140 187 188
+f 141 188 189
+f 141 189 190
+f 141 190 142
+f 142 190 191
+f 142 191 143
+f 143 191 192
+f 143 192 193
+f 143 193 194
+f 143 194 144
+f 144 194 195
+f 144 195 145
+f 145 195 146
+f 146 195 196
+f 146 196 197
+f 146 197 198
+f 146 198 148
+f 146 148 147
+f 148 198 199
+f 148 199 200
+f 148 200 150
+f 148 150 149
+f 150 200 201
+f 150 201 202
+f 150 202 152
+f 150 152 151
+f 152 202 203
+f 152 203 158
+f 155 161 204
+f 155 204 205
+f 155 205 156
+f 156 205 206
+f 156 206 157
+f 157 206 162
+f 158 203 207
+f 158 207 159
+f 159 207 208
+f 159 208 209
+f 159 209 160
+f 160 209 210
+f 160 210 161
+f 161 210 204
+f 162 206 211
+f 162 211 212
+f 162 212 163
+f 163 212 213
+f 163 213 164
+f 164 213 214
+f 164 214 165
+f 165 214 170
+f 165 170 166
+f 166 170 167
+f 170 214 171
+f 171 214 215
+f 171 215 172
+f 172 216 217
+f 172 217 173
+f 172 215 216
+f 173 217 174
+f 174 218 176
+f 174 217 218
+f 175 176 219
+f 176 218 220
+f 176 220 221
+f 176 221 222
+f 176 222 219
+f 177 180 223
+f 177 223 185
+f 177 185 178
+f 179 184 224
+f 179 224 225
+f 179 225 180
+f 180 225 223
+f 183 226 184
+f 184 226 227
+f 184 227 228
+f 184 228 224
+f 185 223 229
+f 185 229 186
+f 186 229 187
+f 187 229 230
+f 187 230 188
+f 188 230 231
+f 188 231 189
+f 189 232 233
+f 189 233 190
+f 189 231 232
+f 190 233 234
+f 190 234 192
+f 190 192 191
+f 192 235 236
+f 192 236 194
+f 192 194 193
+f 192 234 235
+f 194 236 195
+f 195 236 237
+f 195 237 238
+f 195 238 196
+f 196 238 239
+f 196 239 197
+f 197 239 240
+f 197 240 241
+f 197 241 198
+f 198 241 199
+f 199 241 242
+f 199 242 243
+f 199 243 200
+f 200 243 201
+f 201 243 244
+f 201 244 245
+f 201 245 202
+f 202 245 203
+f 203 245 246
+f 203 246 207
+f 204 210 247
+f 204 247 248
+f 204 248 205
+f 205 248 249
+f 205 249 206
+f 206 249 211
+f 207 246 208
+f 208 250 251
+f 208 251 252
+f 208 252 253
+f 208 253 254
+f 208 254 209
+f 208 246 250
+f 209 254 247
+f 209 247 210
+f 211 255 256
+f 211 256 212
+f 211 249 255
+f 212 256 257
+f 212 257 213
+f 213 257 215
+f 213 215 214
+f 215 257 216
+f 216 258 259
+f 216 259 217
+f 216 257 258
+f 217 259 218
+f 218 260 220
+f 218 259 261
+f 218 261 260
+f 220 262 263
+f 220 263 221
+f 220 260 262
+f 223 225 264
+f 223 264 229
+f 224 228 265
+f 224 265 266
+f 224 266 267
+f 224 267 225
+f 225 267 264
+f 227 268 228
+f 228 268 269
+f 228 269 265
+f 229 264 230
+f 230 264 270
+f 230 270 231
+f 231 270 232
+f 232 270 271
+f 232 271 272
+f 232 272 273
+f 232 273 274
+f 232 274 275
+f 232 275 233
+f 233 275 234
+f 234 275 235
+f 235 275 276
+f 235 276 277
+f 235 277 236
+f 236 277 237
+f 237 278 238
+f 237 277 278
+f 238 279 239
+f 238 278 279
+f 239 279 240
+f 240 279 280
+f 240 280 281
+f 240 281 282
+f 240 282 283
+f 240 283 242
+f 240 242 241
+f 242 284 285
+f 242 285 244
+f 242 244 243
+f 242 283 284
+f 244 285 286
+f 244 286 287
+f 244 287 246
+f 244 246 245
+f 246 288 289
+f 246 289 290
+f 246 290 250
+f 246 287 288
+f 247 254 291
+f 247 291 292
+f 247 292 293
+f 247 293 294
+f 247 294 248
+f 248 294 255
+f 248 255 249
+f 250 290 251
+f 251 290 252
+f 252 295 296
+f 252 296 297
+f 252 297 298
+f 252 298 299
+f 252 299 253
+f 252 290 300
+f 252 300 295
+f 253 299 254
+f 254 299 291
+f 255 301 302
+f 255 302 303
+f 255 303 258
+f 255 258 256
+f 255 294 301
+f 256 258 257
+f 258 303 261
+f 258 261 259
+f 260 304 262
+f 260 261 305
+f 260 305 304
+f 261 303 302
+f 261 302 305
+f 264 267 270
+f 265 269 306
+f 265 306 272
+f 265 272 266
+f 266 270 267
+f 266 272 271
+f 266 271 270
+f 269 307 306
+f 272 306 308
+f 272 308 309
+f 272 309 310
+f 272 310 273
+f 273 310 274
+f 274 310 311
+f 274 311 276
+f 274 276 275
+f 276 311 312
+f 276 312 313
+f 276 313 314
+f 276 314 278
+f 276 278 277
+f 278 314 279
+f 279 314 315
+f 279 315 316
+f 279 316 317
+f 279 317 280
+f 280 317 281
+f 281 318 319
+f 281 319 320
+f 281 320 282
+f 281 317 316
+f 281 316 321
+f 281 321 322
+f 281 322 318
+f 282 320 283
+f 283 320 284
+f 284 320 323
+f 284 323 285
+f 285 323 286
+f 286 323 288
+f 286 288 287
+f 288 324 290
+f 288 290 289
+f 288 323 325
+f 288 325 324
+f 290 324 326
+f 290 326 295
+f 290 295 300
+f 291 299 292
+f 292 327 328
+f 292 328 329
+f 292 329 330
+f 292 330 293
+f 292 299 298
+f 292 298 327
+f 293 330 294
+f 294 330 301
+f 295 331 332
+f 295 332 333
+f 295 333 296
+f 295 326 334
+f 295 334 335
+f 295 335 331
+f 296 333 336
+f 296 336 297
+f 297 336 298
+f 298 336 327
+f 301 330 302
+f 302 330 329
+f 302 329 337
+f 302 337 305
+f 304 305 337
+f 304 337 338
+f 306 307 308
+f 307 339 308
+f 308 340 309
+f 308 339 340
+f 309 340 341
+f 309 341 312
+f 309 312 310
+f 310 312 311
+f 312 342 343
+f 312 343 344
+f 312 344 313
+f 312 341 342
+f 313 344 314
+f 314 344 315
+f 315 344 316
+f 316 344 343
+f 316 343 345
+f 316 345 346
+f 316 346 322
+f 316 322 321
+f 318 347 319
+f 318 322 347
+f 319 347 348
+f 319 348 349
+f 319 349 320
+f 320 349 323
+f 322 346 350
+f 322 350 351
+f 322 351 352
+f 322 352 353
+f 322 353 354
+f 322 354 347
+f 323 349 325
+f 324 334 326
+f 324 325 355
+f 324 355 334
+f 325 349 356
+f 325 356 357
+f 325 357 355
+f 327 336 358
+f 327 358 328
+f 328 358 359
+f 328 359 360
+f 328 360 361
+f 328 361 329
+f 329 361 337
+f 333 362 336
+f 334 355 357
+f 334 357 363
+f 334 363 364
+f 334 364 365
+f 334 365 335
+f 336 362 366
+f 336 366 367
+f 336 367 358
+f 337 361 338
+f 338 361 368
+f 339 369 340
+f 340 369 370
+f 340 370 371
+f 340 371 372
+f 340 372 341
+f 341 372 342
+f 342 372 373
+f 342 373 374
+f 342 374 343
+f 343 374 345
+f 345 375 346
+f 345 374 375
+f 346 375 350
+f 347 354 376
+f 347 376 377
+f 347 377 378
+f 347 378 348
+f 348 378 349
+f 349 378 356
+f 356 378 357
+f 357 379 380
+f 357 380 363
+f 357 378 379
+f 360 381 361
+f 361 381 368
+f 373 382 374
+f 374 382 383
+f 374 383 384
+f 374 384 375
+f 377 385 378
+f 378 385 386
+f 378 386 379
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_20.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 0.03606433 -0.03161255
+v -0.00113690 0.03572741 -0.03161255
+v -0.00195061 0.04412892 -0.01682699
+v -0.00195061 0.04703037 -0.03161251
+v 0.01438114 0.03011134 -0.03161257
+v -0.00195061 0.05203262 -0.01682696
+v 0.01438114 0.03927683 -0.01682701
+v -0.00195061 0.04749819 -0.03087722
+v -0.00164687 0.04699818 -0.03161251
+v 0.01438114 0.04243579 -0.03161252
+v -0.00116728 0.05196181 -0.01682696
+v -0.00195061 0.05196182 -0.01899666
+v 0.01438114 0.04780501 -0.01682697
+v -0.00195061 0.04807117 -0.02974676
+v -0.00111452 0.04745741 -0.03079616
+v -0.00107296 0.04693380 -0.03161251
+v 0.01384559 0.04272550 -0.03161252
+v 0.01351787 0.04313752 -0.03126803
+v 0.01438114 0.04298730 -0.03079617
+v -0.00102500 0.05194464 -0.01682696
+v -0.00111452 0.05188241 -0.01899666
+v -0.00195061 0.05152833 -0.02043107
+v 0.01438114 0.04777712 -0.01836559
+v 0.01403583 0.04791876 -0.01899667
+v 0.01407900 0.04793807 -0.01682697
+v -0.00195061 0.04836088 -0.02907081
+v -0.00111452 0.04803039 -0.02966570
+v 0.00074950 0.04790378 -0.02940806
+v 0.00137457 0.04738659 -0.03021574
+v 0.00006368 0.04678358 -0.03161251
+v 0.01329246 0.04298731 -0.03161252
+v 0.01245797 0.04336286 -0.03161252
+v 0.01207270 0.04351737 -0.03161252
+v 0.01268818 0.04394871 -0.03042852
+v 0.01438114 0.04356243 -0.02977428
+v 0.00116834 0.05164420 -0.01682696
+v 0.00116834 0.05157339 -0.01899666
+v -0.00111452 0.05119785 -0.02125755
+v -0.00195061 0.05127511 -0.02125755
+v 0.01438114 0.04776210 -0.01899667
+v 0.01258746 0.04848531 -0.01899667
+v 0.01258746 0.04853251 -0.01682697
+v 0.01438114 0.04769772 -0.01979855
+v 0.01391753 0.04786726 -0.02026318
+v -0.00195061 0.04879865 -0.02803590
+v -0.00111452 0.04871710 -0.02803590
+v 0.00227141 0.04777931 -0.02915187
+v 0.00137457 0.04827932 -0.02825301
+v 0.00345281 0.04694023 -0.03029679
+v 0.00294124 0.04628785 -0.03161251
+v 0.00124188 0.04658829 -0.03161251
+v 0.01182970 0.04361394 -0.03161252
+v 0.01438114 0.04358389 -0.02973231
+v 0.01033977 0.04497664 -0.03026061
+v 0.01112470 0.04538867 -0.02888989
+v 0.00125947 0.05162918 -0.01682696
+v 0.00345281 0.05117209 -0.01899666
+v 0.00573727 0.05034589 -0.02060188
+v 0.00345281 0.05059912 -0.02104478
+v 0.01030300 0.04930508 -0.01899667
+v 0.01030300 0.04936301 -0.01682697
+v 0.01039252 0.04933082 -0.01682697
+v 0.01438114 0.04736510 -0.02073216
+v 0.00720003 0.05015704 -0.02028778
+v 0.01438114 0.04457962 -0.02752642
+v 0.01345553 0.04539510 -0.02658268
+v 0.01265141 0.04510754 -0.02809670
+v 0.01193202 0.04570413 -0.02738311
+v 0.01033977 0.04600242 -0.02809670
+v 0.00345281 0.04765484 -0.02884646
+v 0.00345281 0.04810549 -0.02771601
+v 0.00595309 0.04621703 -0.03051681
+v 0.00517615 0.04581144 -0.03161251
+v 0.00345281 0.04618914 -0.03161251
+v 0.00906885 0.04462256 -0.03161252
+v 0.00801854 0.04532644 -0.03109144
+v 0.01438114 0.04430064 -0.02818066
+v 0.00960279 0.04566765 -0.02948189
+v 0.00345281 0.05122787 -0.01682696
+v 0.00354233 0.05120856 -0.01682696
+v 0.00573727 0.05065920 -0.01899666
+v 0.00855568 0.04987591 -0.01899667
+v 0.00871075 0.04988663 -0.01682697
+v 0.00664050 0.04772565 -0.02672307
+v 0.00582360 0.04742950 -0.02801564
+v 0.00511859 0.04791879 -0.02724704
+v 0.00741265 0.05021927 -0.01899667
+v 0.00801854 0.04679644 -0.02803591
+v 0.00801854 0.04592088 -0.02996099
+v 0.00685632 0.04550242 -0.03141711
+v 0.00592111 0.04562903 -0.03161251
+v 0.00539676 0.04575779 -0.03161251
+v 0.00705136 0.04530499 -0.03161251
+v 0.00573727 0.05071069 -0.01682696
+v 0.00580281 0.05069352 -0.01682696
+v 0.00864201 0.04990809 -0.01682697
+v 0.00750057 0.05024716 -0.01682697
+v 0.00669646 0.04541229 -0.03161251
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 22
+f 1 22 39
+f 1 39 45
+f 1 45 26
+f 1 26 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 30
+f 1 30 51
+f 1 51 50
+f 1 50 74
+f 1 74 73
+f 1 73 92
+f 1 92 91
+f 1 91 98
+f 1 98 93
+f 1 93 75
+f 1 75 52
+f 1 52 33
+f 1 33 32
+f 1 32 31
+f 1 31 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 13
+f 3 13 25
+f 3 25 42
+f 3 42 62
+f 3 62 61
+f 3 61 83
+f 3 83 96
+f 3 96 97
+f 3 97 95
+f 3 95 94
+f 3 94 80
+f 3 80 79
+f 3 79 56
+f 3 56 36
+f 3 36 20
+f 3 20 11
+f 3 11 6
+f 4 8 9
+f 5 10 19
+f 5 19 35
+f 5 35 53
+f 5 53 77
+f 5 77 65
+f 5 65 63
+f 5 63 43
+f 5 43 40
+f 5 40 23
+f 5 23 13
+f 5 13 7
+f 6 11 12
+f 8 14 27
+f 8 27 15
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 13 23 24
+f 13 24 25
+f 14 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 20 36 37
+f 20 37 21
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 23 40 24
+f 24 41 42
+f 24 42 25
+f 24 40 43
+f 24 43 44
+f 24 44 41
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 47 29
+f 28 46 48
+f 28 48 47
+f 29 47 49
+f 29 49 50
+f 29 50 51
+f 29 51 30
+f 33 52 34
+f 34 53 35
+f 34 52 54
+f 34 54 55
+f 34 55 53
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 48
+f 38 48 46
+f 38 46 45
+f 38 45 39
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 41 44 60
+f 43 63 44
+f 44 64 60
+f 44 63 65
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 64
+f 47 70 49
+f 47 48 71
+f 47 71 70
+f 48 59 71
+f 49 72 73
+f 49 73 74
+f 49 74 50
+f 49 70 72
+f 52 75 76
+f 52 76 54
+f 53 55 67
+f 53 67 77
+f 54 76 78
+f 54 78 55
+f 55 78 69
+f 55 69 68
+f 55 68 67
+f 56 79 57
+f 57 79 80
+f 57 80 81
+f 57 81 64
+f 57 64 58
+f 58 64 71
+f 58 71 59
+f 60 64 82
+f 60 82 83
+f 60 83 61
+f 64 84 85
+f 64 85 86
+f 64 86 71
+f 64 81 87
+f 64 87 82
+f 64 69 88
+f 64 88 84
+f 65 77 66
+f 66 77 67
+f 69 78 88
+f 70 71 86
+f 70 86 85
+f 70 85 72
+f 72 89 90
+f 72 90 91
+f 72 91 92
+f 72 92 73
+f 72 85 89
+f 75 93 90
+f 75 90 76
+f 76 90 89
+f 76 89 78
+f 78 89 88
+f 80 94 81
+f 81 94 95
+f 81 95 87
+f 82 87 96
+f 82 96 83
+f 84 88 85
+f 85 88 89
+f 87 97 96
+f 87 95 97
+f 90 93 98
+f 90 98 91
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_21.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v 0.02033581 -0.03198889 0.02848536
+v 0.02033581 -0.03204369 0.03072726
+v 0.02033581 -0.04161635 0.02848533
+v -0.00195061 -0.04134874 0.02848533
+v -0.00195061 -0.04136140 0.02929407
+v -0.00195061 -0.04138457 0.03072723
+v 0.02033581 -0.03211534 0.03286949
+v 0.02033581 -0.04649439 0.04202702
+v 0.01945011 -0.04217263 0.02848533
+v -0.00195061 -0.04939585 0.02848530
+v -0.00195061 -0.04141619 0.03155290
+v 0.02033581 -0.03235977 0.03524869
+v -0.00195061 -0.04147308 0.03298795
+v -0.00195061 -0.04162270 0.03524866
+v -0.00195061 -0.04169645 0.03607433
+v -0.00195061 -0.04182710 0.03750749
+v 0.02033581 -0.04638272 0.04428774
+v 0.01943920 -0.04699167 0.04202702
+v 0.01789250 -0.04310608 0.02848532
+v 0.01790341 -0.04309976 0.02848532
+v -0.00111509 -0.05344580 0.04202699
+v -0.00195061 -0.05351322 0.04202699
+v -0.00111509 -0.04931157 0.02848530
+v 0.02033581 -0.03261475 0.03752445
+v -0.00195061 -0.04208628 0.03976633
+v 0.02033581 -0.04610670 0.04513786
+v 0.01943920 -0.04687790 0.04428774
+v 0.01802776 -0.04774392 0.04202701
+v 0.01646579 -0.04809791 0.04060513
+v 0.01675157 -0.04371926 0.02848532
+v 0.00116896 -0.05316344 0.04202699
+v -0.00111509 -0.05334467 0.04428771
+v -0.00195061 -0.05341631 0.04428771
+v 0.00299053 -0.05256502 0.04070480
+v -0.00109764 -0.04930946 0.02848530
+v 0.02033581 -0.03293715 0.03976636
+v -0.00195061 -0.04241921 0.04202703
+v 0.02033581 -0.04584331 0.04567388
+v 0.01631090 -0.04802418 0.04559864
+v 0.01791213 -0.04768914 0.04428773
+v 0.01676902 -0.04824753 0.04428773
+v 0.01688682 -0.04830020 0.04202701
+v 0.01488637 -0.04464218 0.02848532
+v 0.01487110 -0.04919783 0.04202701
+v 0.01166426 -0.05024297 0.04077629
+v 0.01325459 -0.04539232 0.02848531
+v 0.00501280 -0.05253764 0.04355985
+v 0.00116896 -0.05305599 0.04428772
+v 0.00451324 -0.05242174 0.04099257
+v 0.00363190 -0.05272094 0.04185961
+v 0.00501280 -0.05253764 0.04250096
+v 0.00259132 -0.05249340 0.04549519
+v 0.00116896 -0.05260507 0.04564189
+v -0.00111509 -0.05275047 0.04581868
+v -0.00195061 -0.05303914 0.04525821
+v 0.00116896 -0.04898496 0.02848530
+v 0.02033581 -0.03336068 0.04202707
+v -0.00195061 -0.04259201 0.04276807
+v 0.02033581 -0.04542610 0.04599550
+v 0.01943920 -0.04608563 0.04589958
+v 0.01487110 -0.04834236 0.04591273
+v 0.01148101 -0.05017556 0.04543689
+v 0.01487110 -0.04910302 0.04428773
+v 0.01315424 -0.04991847 0.04202701
+v 0.01030299 -0.04656809 0.02848531
+v 0.01210056 -0.04588117 0.02848531
+v 0.01323495 -0.04540074 0.02848531
+v 0.01201330 -0.05037782 0.04202700
+v 0.01030299 -0.05096782 0.04202700
+v 0.00802112 -0.05166528 0.04202700
+v 0.00655732 -0.04779444 0.02848530
+v 0.00801894 -0.04734351 0.02848531
+v 0.00803857 -0.04733719 0.02848531
+v 0.01030299 -0.05087090 0.04428772
+v 0.00802112 -0.05156625 0.04428772
+v 0.00575888 -0.05215414 0.04430277
+v 0.00411402 -0.05233536 0.04506637
+v 0.00339412 -0.05267881 0.04430277
+v 0.00575888 -0.05224895 0.04185961
+v 0.00345302 -0.04855089 0.02848530
+v 0.00540984 -0.04809576 0.02848530
+v 0.00654205 -0.04779865 0.02848530
+v 0.01030299 -0.05037152 0.04567386
+v 0.00802112 -0.05071498 0.04602933
+v 0.00573707 -0.05100787 0.04623246
+v 0.00116896 -0.05130077 0.04664435
+v 0.00339412 -0.05146512 0.04621177
+v -0.00111509 -0.05130077 0.04686252
+v -0.00195061 -0.05278629 0.04585630
+v 0.02033581 -0.03383058 0.04364832
+v -0.00195061 -0.04298604 0.04434041
+v 0.02033581 -0.04447368 0.04660112
+v 0.01943920 -0.04446736 0.04693026
+v 0.01710497 -0.04683155 0.04621931
+v 0.01487110 -0.04674516 0.04695846
+v 0.01237980 -0.04907564 0.04609141
+v 0.01187587 -0.05032726 0.04428773
+v 0.01301680 -0.04987844 0.04428773
+v 0.01030299 -0.04902296 0.04667069
+v 0.00802112 -0.04902296 0.04711456
+v -0.00195061 -0.05130077 0.04690954
+v -0.00195061 -0.05186547 0.04651834
+v 0.00573489 -0.04882068 0.04741925
+v 0.00345302 -0.04912410 0.04748132
+v 0.02033581 -0.03389379 0.04384956
+v -0.00195061 -0.04310614 0.04470905
+v 0.02033581 -0.04342012 0.04711646
+v 0.01710279 -0.04429457 0.04745500
+v 0.01253469 -0.04655552 0.04742490
+v -0.00195061 -0.04998803 0.04737223
+v 0.00116896 -0.04918521 0.04754902
+v 0.00497354 -0.04792937 0.04768632
+v 0.01030299 -0.04689477 0.04754339
+v 0.02033581 -0.03409397 0.04444012
+v -0.00195061 -0.04334215 0.04537296
+v 0.02033581 -0.04199570 0.04749263
+v 0.01630654 -0.04342013 0.04769010
+v 0.01174061 -0.04566843 0.04768821
+v 0.02033581 -0.04133196 0.04766190
+v -0.00195061 -0.04923368 0.04759981
+v -0.00111509 -0.04923157 0.04759228
+v 0.00345302 -0.04798627 0.04769385
+v 0.02033581 -0.03440162 0.04509088
+v -0.00195061 -0.04435147 0.04625694
+v 0.02033581 -0.03466501 0.04547456
+v 0.01630654 -0.04318413 0.04769010
+v 0.01030299 -0.04575693 0.04769386
+v 0.02033581 -0.04110650 0.04768635
+v -0.00195061 -0.04851094 0.04766564
+v 0.00116896 -0.04804737 0.04769761
+v -0.00195061 -0.04504471 0.04662744
+v 0.02033581 -0.03657196 0.04673469
+v 0.02033581 -0.03555000 0.04615729
+v 0.01030299 -0.04543664 0.04769386
+v 0.02033581 -0.04068718 0.04768635
+v -0.00195061 -0.04809373 0.04769385
+v -0.00111509 -0.04809162 0.04769572
+v 0.00116896 -0.04773552 0.04769761
+v -0.00195061 -0.04665034 0.04747004
+v 0.02033581 -0.03768874 0.04715974
+v 0.02033581 -0.04042590 0.04767319
+v -0.00195061 -0.04779030 0.04769385
+v -0.00111509 -0.04777766 0.04769572
+v -0.00195061 -0.04706755 0.04756032
+v 0.02033581 -0.03911947 0.04754342
+v 0.02033581 -0.03966943 0.04761676
+f 1 2 7
+f 1 7 12
+f 1 12 24
+f 1 24 36
+f 1 36 57
+f 1 57 90
+f 1 90 105
+f 1 105 114
+f 1 114 123
+f 1 123 125
+f 1 125 133
+f 1 133 132
+f 1 132 140
+f 1 140 145
+f 1 145 146
+f 1 146 141
+f 1 141 135
+f 1 135 128
+f 1 128 119
+f 1 119 116
+f 1 116 107
+f 1 107 92
+f 1 92 59
+f 1 59 38
+f 1 38 26
+f 1 26 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 30
+f 1 30 43
+f 1 43 46
+f 1 46 67
+f 1 67 66
+f 1 66 65
+f 1 65 73
+f 1 73 72
+f 1 72 71
+f 1 71 82
+f 1 82 81
+f 1 81 80
+f 1 80 56
+f 1 56 35
+f 1 35 23
+f 1 23 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 22
+f 4 22 33
+f 4 33 55
+f 4 55 89
+f 4 89 102
+f 4 102 101
+f 4 101 110
+f 4 110 120
+f 4 120 129
+f 4 129 136
+f 4 136 142
+f 4 142 144
+f 4 144 139
+f 4 139 131
+f 4 131 124
+f 4 124 115
+f 4 115 106
+f 4 106 91
+f 4 91 58
+f 4 58 37
+f 4 37 25
+f 4 25 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 10 21 22
+f 10 23 21
+f 12 16 24
+f 16 25 24
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 21 23 34
+f 21 34 31
+f 23 35 34
+f 24 25 36
+f 25 37 36
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 43 30
+f 29 42 44
+f 29 44 45
+f 29 45 46
+f 29 46 43
+f 31 47 48
+f 31 48 32
+f 31 34 49
+f 31 49 50
+f 31 50 51
+f 31 51 47
+f 32 48 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 34 35 56
+f 34 56 49
+f 36 37 57
+f 37 58 57
+f 38 59 60
+f 38 60 39
+f 39 61 62
+f 39 62 63
+f 39 63 41
+f 39 41 40
+f 39 60 61
+f 41 63 42
+f 42 63 44
+f 44 63 64
+f 44 64 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 45 64 68
+f 45 68 69
+f 45 69 70
+f 45 70 49
+f 45 49 71
+f 45 71 72
+f 45 72 73
+f 45 73 65
+f 47 51 70
+f 47 70 69
+f 47 69 74
+f 47 74 75
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 48
+f 48 78 52
+f 49 70 79
+f 49 79 51
+f 49 51 50
+f 49 56 80
+f 49 80 81
+f 49 81 82
+f 49 82 71
+f 51 79 70
+f 52 78 77
+f 52 77 83
+f 52 83 84
+f 52 84 85
+f 52 85 53
+f 53 86 54
+f 53 85 87
+f 53 87 86
+f 54 86 88
+f 54 88 89
+f 54 89 55
+f 57 58 91
+f 57 91 90
+f 59 92 93
+f 59 93 60
+f 60 93 94
+f 60 94 61
+f 61 94 95
+f 61 95 96
+f 61 96 83
+f 61 83 62
+f 62 97 98
+f 62 98 63
+f 62 83 77
+f 62 77 75
+f 62 75 74
+f 62 74 97
+f 63 98 64
+f 64 98 68
+f 68 98 97
+f 68 97 74
+f 68 74 69
+f 75 77 76
+f 83 96 84
+f 84 96 99
+f 84 99 100
+f 84 100 85
+f 85 100 86
+f 85 86 87
+f 86 100 88
+f 88 101 102
+f 88 102 89
+f 88 100 103
+f 88 103 104
+f 88 104 101
+f 90 91 105
+f 91 106 105
+f 92 107 93
+f 93 107 108
+f 93 108 95
+f 93 95 94
+f 95 108 109
+f 95 109 100
+f 95 100 99
+f 95 99 96
+f 100 109 103
+f 101 104 111
+f 101 111 110
+f 103 112 104
+f 103 109 113
+f 103 113 112
+f 104 112 111
+f 105 106 114
+f 106 115 114
+f 107 116 108
+f 108 117 118
+f 108 118 109
+f 108 116 119
+f 108 119 117
+f 109 118 113
+f 110 111 121
+f 110 121 120
+f 111 112 121
+f 112 122 120
+f 112 120 121
+f 112 113 118
+f 112 118 122
+f 114 115 123
+f 115 124 125
+f 115 125 123
+f 117 126 134
+f 117 134 127
+f 117 127 118
+f 117 119 128
+f 117 128 135
+f 117 135 126
+f 118 127 122
+f 120 122 130
+f 120 130 129
+f 122 127 130
+f 124 131 132
+f 124 132 133
+f 124 133 125
+f 126 135 134
+f 127 134 138
+f 127 138 130
+f 129 130 137
+f 129 137 136
+f 130 138 143
+f 130 143 137
+f 131 139 132
+f 132 139 140
+f 134 135 138
+f 135 141 142
+f 135 142 143
+f 135 143 138
+f 136 137 143
+f 136 143 142
+f 139 144 145
+f 139 145 140
+f 141 146 142
+f 142 146 145
+f 142 145 144
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_22.obj

@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 0.04128899 0.02392542
+v -0.00195061 0.04128669 0.02394869
+v -0.00195061 0.04930564 0.02392545
+v 0.02251555 0.03004775 0.02392538
+v -0.00195061 0.04124532 0.02535189
+v 0.02251555 0.02996730 0.02620820
+v -0.00195061 0.05342423 0.04202747
+v -0.00111479 0.05335068 0.04202747
+v -0.00112677 0.04922750 0.02392545
+v 0.02251555 0.04010074 0.02392542
+v -0.00195061 0.04122003 0.02630365
+v 0.02251555 0.02995121 0.02773008
+v -0.00195061 0.05333458 0.04428703
+v -0.00111479 0.05326333 0.04428703
+v 0.00116993 0.05306339 0.04202746
+v -0.00109324 0.04922290 0.02392545
+v 0.02251555 0.04511339 0.04201581
+v 0.02207010 0.04042021 0.02392542
+v -0.00195061 0.04121084 0.02746950
+v 0.02251555 0.02994662 0.02846775
+v -0.00195061 0.05269563 0.04586707
+v -0.00111479 0.05265886 0.04582984
+v 0.00116993 0.05251866 0.04565997
+v 0.00263799 0.05240604 0.04550871
+v 0.00116993 0.05297374 0.04428702
+v 0.00116993 0.04890113 0.02392545
+v 0.00501133 0.05244282 0.04357262
+v 0.00501133 0.05244282 0.04250451
+v 0.00362948 0.05262440 0.04186224
+v 0.00450600 0.05232332 0.04099659
+v 0.02238144 0.04520302 0.04202744
+v 0.02251555 0.04498237 0.04428932
+v 0.02093732 0.04119476 0.02392542
+v -0.00195061 0.04120624 0.02841892
+v 0.02251555 0.02998108 0.02995240
+v -0.00195061 0.04124760 0.03072734
+v -0.00195061 0.05120170 0.04691889
+v -0.00111479 0.05120170 0.04687235
+v 0.00116993 0.05120170 0.04666059
+v 0.00342112 0.05137178 0.04622078
+v 0.00573698 0.05091900 0.04623707
+v 0.00342112 0.05258992 0.04431028
+v 0.00802170 0.05062022 0.04602997
+v 0.01030163 0.05027087 0.04566926
+v 0.00415875 0.05224515 0.04508053
+v 0.00345225 0.04846674 0.02392545
+v 0.00575853 0.05206360 0.04431028
+v 0.00802170 0.05147062 0.04428702
+v 0.01030163 0.05077422 0.04428702
+v 0.01030163 0.05088225 0.04202746
+v 0.00802170 0.05157406 0.04202746
+v 0.00575853 0.05215324 0.04186224
+v 0.00655124 0.04770599 0.02392545
+v 0.00542085 0.04800248 0.02392545
+v 0.02227846 0.04513866 0.04428700
+v 0.01943812 0.04212100 0.02392542
+v 0.02124147 0.04589942 0.04202744
+v 0.02113610 0.04584196 0.04428700
+v 0.02251555 0.04401936 0.04597874
+v 0.02077926 0.04562590 0.04556453
+v 0.02251555 0.03000177 0.03072730
+v -0.00195061 0.04130735 0.03216312
+v -0.00195061 0.04913548 0.04759837
+v -0.00111479 0.04913319 0.04758907
+v 0.00116993 0.04908952 0.04754718
+v 0.00345225 0.04902286 0.04748202
+v 0.00571782 0.04872178 0.04742385
+v 0.00802170 0.04892404 0.04711435
+v 0.01030163 0.04892404 0.04666524
+v 0.01238039 0.04897920 0.04609046
+v 0.01148231 0.05007781 0.04543656
+v 0.01487107 0.04825062 0.04591826
+v 0.01188226 0.05023181 0.04428701
+v 0.01167869 0.05015137 0.04076853
+v 0.00802170 0.04726241 0.02392544
+v 0.01203074 0.05028698 0.04202745
+v 0.00657519 0.04769909 0.02392545
+v 0.01791258 0.04302195 0.02392543
+v 0.01943812 0.04691070 0.04202744
+v 0.01943812 0.04679577 0.04428700
+v 0.02251555 0.04202668 0.04700495
+v 0.02161268 0.04438249 0.04612767
+v 0.01793413 0.04760020 0.04428700
+v 0.01632477 0.04793574 0.04560643
+v 0.01943812 0.04599364 0.04590196
+v 0.02251555 0.03013506 0.03295195
+v -0.00195061 0.04134183 0.03298922
+v -0.00195061 0.04799549 0.04769379
+v -0.00111479 0.04799319 0.04769611
+v 0.00116993 0.04794952 0.04769844
+v 0.00345225 0.04788287 0.04769379
+v 0.00494427 0.04782771 0.04768447
+v 0.01030163 0.04681645 0.04754252
+v 0.01254085 0.04646250 0.04742384
+v 0.01487107 0.04664637 0.04695843
+v 0.01487107 0.04901828 0.04428701
+v 0.01302462 0.04978363 0.04428701
+v 0.01711508 0.04673830 0.04622309
+v 0.01032079 0.04648556 0.02392544
+v 0.01030163 0.04649246 0.02392544
+v 0.00804325 0.04725551 0.02392544
+v 0.01317070 0.04982961 0.04202745
+v 0.01487107 0.04911482 0.04202745
+v 0.01327129 0.04532490 0.02392544
+v 0.01213851 0.04579376 0.02392544
+v 0.01677022 0.04363331 0.02392543
+v 0.01804430 0.04765767 0.04202745
+v 0.02251555 0.04024776 0.04760067
+v 0.01943812 0.04436870 0.04692584
+v 0.02155999 0.04189568 0.04736331
+v 0.01679177 0.04815869 0.04428701
+v 0.02251555 0.03026606 0.03435981
+v -0.00195061 0.04149580 0.03524877
+v -0.00195061 0.04768522 0.04769379
+v -0.00111479 0.04766913 0.04769611
+v 0.00116993 0.04762775 0.04769843
+v 0.01030163 0.04567646 0.04769610
+v 0.01175054 0.04557992 0.04768912
+v 0.01708634 0.04419173 0.04745175
+v 0.01690194 0.04820927 0.04202745
+v 0.01487107 0.04458483 0.02392543
+v 0.02251555 0.03924797 0.04769142
+v 0.02221380 0.04036268 0.04762394
+v 0.02069065 0.04101080 0.04768677
+v 0.02251555 0.03035339 0.03524873
+v -0.00195061 0.04170954 0.03750599
+v -0.00195061 0.04654524 0.04748201
+v 0.02251555 0.03738172 0.04754947
+v 0.02251555 0.03845963 0.04767978
+v 0.02251555 0.03858834 0.04769142
+v 0.01030163 0.04530642 0.04769610
+v 0.01628166 0.04331375 0.04768911
+v 0.02251555 0.03048440 0.03629590
+v -0.00195061 0.04198074 0.03976555
+v -0.00195061 0.04423770 0.04627194
+v 0.02251555 0.03342625 0.04596008
+v 0.02251555 0.03520288 0.04679550
+v 0.02251555 0.03064528 0.03750595
+v -0.00195061 0.04230940 0.04202743
+v -0.00195061 0.04346545 0.04559478
+v 0.02251555 0.03241499 0.04473606
+v 0.02251555 0.03076479 0.03827853
+v -0.00195061 0.04287708 0.04437309
+v 0.02251555 0.03100841 0.03976551
+v 0.02251555 0.03109804 0.04020531
+v 0.02251555 0.03148646 0.04202739
+v -0.00195061 0.04314598 0.04516428
+v 0.02251555 0.03195532 0.04364934
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 34
+f 1 34 36
+f 1 36 62
+f 1 62 87
+f 1 87 113
+f 1 113 126
+f 1 126 134
+f 1 134 139
+f 1 139 143
+f 1 143 147
+f 1 147 140
+f 1 140 135
+f 1 135 127
+f 1 127 114
+f 1 114 88
+f 1 88 63
+f 1 63 37
+f 1 37 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 46
+f 1 46 54
+f 1 54 53
+f 1 53 77
+f 1 77 75
+f 1 75 101
+f 1 101 100
+f 1 100 99
+f 1 99 105
+f 1 105 104
+f 1 104 121
+f 1 121 106
+f 1 106 78
+f 1 78 56
+f 1 56 33
+f 1 33 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 32
+f 4 32 59
+f 4 59 81
+f 4 81 108
+f 4 108 122
+f 4 122 130
+f 4 130 129
+f 4 129 128
+f 4 128 137
+f 4 137 136
+f 4 136 141
+f 4 141 148
+f 4 148 146
+f 4 146 145
+f 4 145 144
+f 4 144 142
+f 4 142 138
+f 4 138 133
+f 4 133 125
+f 4 125 112
+f 4 112 86
+f 4 86 61
+f 4 61 35
+f 4 35 20
+f 4 20 12
+f 4 12 6
+f 5 6 11
+f 6 12 11
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 18 17
+f 11 12 19
+f 12 20 19
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 26 16
+f 15 25 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 26
+f 17 31 32
+f 17 18 33
+f 17 33 31
+f 19 20 34
+f 20 35 36
+f 20 36 34
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 42 25
+f 24 41 43
+f 24 43 44
+f 24 44 45
+f 24 45 42
+f 25 42 27
+f 26 30 46
+f 27 45 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 28
+f 27 42 45
+f 28 30 29
+f 28 51 52
+f 28 52 30
+f 30 52 51
+f 30 51 53
+f 30 53 54
+f 30 54 46
+f 31 55 32
+f 31 33 56
+f 31 56 57
+f 31 57 58
+f 31 58 55
+f 32 55 60
+f 32 60 59
+f 35 61 36
+f 36 61 62
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 38
+f 38 66 67
+f 38 67 68
+f 38 68 39
+f 39 68 41
+f 39 41 40
+f 41 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 71 45
+f 44 70 72
+f 44 72 71
+f 45 71 48
+f 45 48 47
+f 48 71 49
+f 49 71 73
+f 49 73 50
+f 50 74 75
+f 50 75 51
+f 50 73 76
+f 50 76 74
+f 51 75 77
+f 51 77 53
+f 55 58 60
+f 56 78 57
+f 57 78 79
+f 57 79 80
+f 57 80 58
+f 58 80 60
+f 59 60 82
+f 59 82 81
+f 60 80 83
+f 60 83 84
+f 60 84 85
+f 60 85 82
+f 61 86 87
+f 61 87 62
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 64 92 65
+f 65 92 66
+f 66 92 67
+f 67 92 93
+f 67 93 94
+f 67 94 68
+f 68 94 95
+f 68 95 69
+f 69 95 72
+f 69 72 70
+f 71 72 84
+f 71 84 96
+f 71 96 97
+f 71 97 73
+f 72 95 98
+f 72 98 84
+f 73 97 76
+f 74 99 100
+f 74 100 101
+f 74 101 75
+f 74 76 102
+f 74 102 103
+f 74 103 104
+f 74 104 105
+f 74 105 99
+f 76 97 102
+f 78 106 107
+f 78 107 79
+f 79 107 80
+f 80 107 83
+f 81 82 109
+f 81 109 110
+f 81 110 108
+f 82 85 109
+f 83 107 111
+f 83 111 84
+f 84 98 85
+f 84 111 96
+f 85 98 109
+f 86 112 113
+f 86 113 87
+f 88 114 115
+f 88 115 89
+f 89 115 116
+f 89 116 90
+f 90 116 131
+f 90 131 117
+f 90 117 91
+f 91 117 118
+f 91 118 92
+f 92 118 93
+f 93 118 94
+f 94 118 119
+f 94 119 95
+f 95 119 109
+f 95 109 98
+f 96 103 102
+f 96 102 97
+f 96 111 120
+f 96 120 103
+f 103 120 104
+f 104 120 121
+f 106 121 107
+f 107 121 120
+f 107 120 111
+f 108 110 123
+f 108 123 122
+f 109 119 110
+f 110 124 123
+f 110 119 124
+f 112 125 126
+f 112 126 113
+f 114 127 128
+f 114 128 129
+f 114 129 130
+f 114 130 115
+f 115 130 116
+f 116 130 131
+f 117 131 130
+f 117 130 122
+f 117 122 132
+f 117 132 118
+f 118 132 119
+f 119 132 124
+f 122 123 124
+f 122 124 132
+f 125 133 134
+f 125 134 126
+f 127 135 136
+f 127 136 137
+f 127 137 128
+f 133 138 134
+f 134 138 139
+f 135 140 136
+f 136 140 141
+f 138 142 139
+f 139 142 144
+f 139 144 145
+f 139 145 146
+f 139 146 143
+f 140 147 141
+f 141 147 148
+f 143 146 148
+f 143 148 147
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_23.obj

@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v 0.03902167 0.01931434 0.04769640
+v 0.03889919 0.02059130 0.04768681
+v 0.03673300 0.02387159 0.04769162
+v 0.03441257 0.02753555 0.04769163
+v 0.03223504 0.02999283 0.04769164
+v 0.02317108 0.03884080 0.04769167
+v 0.02251556 0.03924498 0.04769167
+v 0.03858163 0.01931434 0.04769640
+v 0.03903075 0.01757169 0.04769399
+v 0.04007188 0.01519349 0.04764117
+v 0.04212465 0.01519349 0.04739628
+v 0.04016488 0.01931435 0.04751393
+v 0.03979288 0.02144653 0.04733387
+v 0.03787394 0.02387160 0.04752116
+v 0.03658330 0.02504019 0.04767961
+v 0.03155457 0.03150703 0.04766524
+v 0.02917970 0.03373293 0.04767004
+v 0.02707702 0.03582705 0.04766765
+v 0.02469308 0.03816132 0.04765325
+v 0.02251556 0.04024372 0.04760045
+v 0.02251556 0.03858600 0.04769167
+v 0.03871773 0.01757169 0.04769399
+v 0.03774011 0.01519349 0.04728824
+v 0.02256999 0.03851278 0.04769167
+v 0.02251556 0.03845713 0.04767966
+v 0.03785806 0.01690100 0.04750672
+v 0.04448364 0.01519349 0.04609020
+v 0.04227663 0.01703572 0.04712018
+v 0.04193639 0.02159297 0.04615264
+v 0.04019890 0.02405611 0.04642635
+v 0.03749060 0.02593935 0.04726187
+v 0.03593457 0.02656026 0.04760040
+v 0.03375705 0.02905268 0.04764602
+v 0.03305615 0.03072797 0.04753798
+v 0.03081965 0.03297731 0.04757400
+v 0.02630582 0.03745548 0.04755722
+v 0.02396270 0.03968724 0.04749720
+v 0.02251556 0.04202737 0.04700503
+v 0.03568960 0.01519349 0.04617183
+v 0.02251556 0.03737933 0.04755001
+v 0.02251556 0.03520029 0.04679373
+v 0.04552931 0.01519350 0.04428713
+v 0.04401185 0.01703572 0.04604218
+v 0.04247623 0.01947836 0.04637831
+v 0.04149181 0.02342349 0.04580212
+v 0.03960008 0.02614729 0.04608543
+v 0.04368068 0.01882816 0.04573008
+v 0.03780589 0.02845813 0.04629431
+v 0.03542648 0.03070161 0.04674569
+v 0.03527451 0.02834684 0.04744914
+v 0.03314462 0.03298024 0.04695698
+v 0.03086048 0.03525593 0.04703622
+v 0.02857634 0.03753456 0.04700982
+v 0.02629221 0.03981318 0.04686337
+v 0.02414190 0.04224997 0.04639761
+v 0.02251556 0.04401897 0.04597986
+v 0.03456908 0.01519350 0.04461125
+v 0.02251556 0.03342249 0.04596061
+v 0.04568582 0.01519351 0.04202790
+v 0.04558148 0.01553033 0.04202790
+v 0.04550436 0.01527258 0.04428713
+v 0.04109713 0.02494062 0.04529793
+v 0.03912828 0.02772007 0.04572050
+v 0.04336993 0.02034529 0.04526190
+v 0.03697344 0.03070161 0.04578053
+v 0.03527678 0.03275179 0.04584537
+v 0.03303801 0.03512121 0.04598703
+v 0.03074707 0.03743205 0.04601585
+v 0.02839942 0.03969017 0.04592943
+v 0.02629221 0.04148847 0.04587661
+v 0.02346822 0.04363237 0.04582140
+v 0.02251556 0.04498257 0.04428724
+v 0.03432865 0.01519350 0.04391499
+v 0.02251556 0.03241206 0.04473616
+v 0.04563365 0.01519351 0.04174459
+v 0.04505524 0.01703574 0.04202790
+v 0.04490781 0.01703573 0.04428713
+v 0.04302969 0.02157248 0.04441920
+v 0.04179576 0.02405612 0.04444082
+v 0.04131035 0.02531552 0.04379018
+v 0.04066163 0.02610337 0.04444083
+v 0.03862927 0.02924014 0.04467132
+v 0.03656969 0.03184093 0.04541801
+v 0.04395060 0.01947837 0.04441919
+v 0.04357634 0.02079927 0.04375656
+v 0.03441711 0.03427185 0.04556207
+v 0.03220556 0.03660319 0.04562209
+v 0.02991235 0.03884960 0.04560290
+v 0.02751933 0.04102279 0.04549967
+v 0.02499249 0.04311397 0.04505551
+v 0.02251556 0.04511437 0.04201600
+v 0.02414190 0.04391062 0.04429683
+v 0.02529871 0.04333657 0.04355016
+v 0.03407233 0.01519350 0.04295464
+v 0.02251556 0.03195223 0.04364855
+v 0.04063441 0.01519357 0.02317134
+v 0.04060719 0.01527851 0.02317134
+v 0.04000610 0.01703580 0.02317134
+v 0.04346066 0.02054740 0.04083708
+v 0.04418423 0.01931437 0.04202791
+v 0.04206114 0.02387162 0.04202793
+v 0.04130354 0.02530674 0.04202793
+v 0.03885382 0.02956817 0.04314436
+v 0.03885382 0.02956817 0.04316357
+v 0.03931428 0.02845814 0.04406389
+v 0.03673527 0.03205767 0.04428719
+v 0.03580982 0.03319698 0.04428719
+v 0.03466889 0.03455888 0.04428720
+v 0.04356953 0.02078171 0.04202792
+v 0.04303422 0.02192102 0.04202792
+v 0.03364137 0.03569527 0.04428720
+v 0.03249816 0.03689902 0.04428721
+v 0.03134589 0.03803833 0.04428721
+v 0.03020495 0.03911906 0.04428721
+v 0.02777111 0.04122781 0.04428722
+v 0.02891205 0.04025837 0.04428722
+v 0.02615157 0.04246964 0.04429683
+v 0.02529871 0.04333657 0.04252738
+v 0.02421675 0.04396042 0.04187434
+v 0.02511498 0.04320478 0.04102203
+v 0.02251556 0.04011786 0.02317143
+v 0.02784596 0.04128933 0.04202799
+v 0.03380468 0.01519351 0.04189345
+v 0.02251556 0.03148363 0.04202796
+v 0.03256848 0.01519357 0.02317134
+v 0.03974071 0.01772701 0.02317135
+v 0.03922128 0.01904790 0.02317135
+v 0.03873587 0.02018722 0.02317135
+v 0.03851132 0.02067047 0.02317136
+v 0.03807581 0.02159305 0.02317136
+v 0.04118559 0.02509879 0.04082748
+v 0.04063667 0.02644605 0.04202794
+v 0.03936645 0.02854308 0.04224642
+v 0.03872453 0.02938073 0.04163900
+v 0.03805086 0.03047610 0.04224643
+v 0.03680332 0.03214847 0.04202796
+v 0.03588694 0.03328779 0.04202796
+v 0.03474601 0.03464090 0.04202797
+v 0.03371622 0.03578021 0.04202797
+v 0.03257301 0.03697517 0.04202798
+v 0.03142301 0.03811449 0.04202798
+v 0.03027981 0.03918643 0.04202798
+v 0.02898690 0.04032575 0.04202799
+v 0.02615157 0.04257215 0.04187434
+v 0.02761914 0.04110188 0.04071470
+v 0.02481784 0.03841036 0.02317142
+v 0.02442770 0.03871203 0.02317142
+v 0.02367690 0.03928315 0.02317142
+v 0.02263804 0.04003000 0.02317143
+v 0.02251556 0.03008957 0.02317139
+v 0.02617426 0.03727397 0.02317142
+v 0.02528283 0.03802083 0.02317142
+v 0.03342815 0.01519351 0.03973265
+v 0.02251556 0.03109410 0.04020567
+v 0.03253899 0.01519357 0.02394682
+v 0.03772423 0.02229597 0.02317136
+v 0.03705056 0.02362858 0.02317137
+v 0.03643132 0.02476790 0.02317137
+v 0.03615006 0.02523651 0.02317137
+v 0.03559887 0.02614737 0.02317138
+v 0.03525183 0.02670385 0.02317138
+v 0.03459177 0.02774651 0.02317138
+v 0.03407460 0.02849336 0.02317138
+v 0.03380468 0.02888289 0.02317139
+v 0.03666042 0.03196103 0.04078430
+v 0.03178593 0.03157155 0.02317140
+v 0.03064273 0.03288660 0.02317140
+v 0.02963108 0.03402591 0.02317140
+v 0.02849015 0.03515058 0.02317141
+v 0.02771894 0.03590036 0.02317141
+v 0.02731746 0.03628989 0.02317141
+v 0.02251556 0.03005150 0.02388205
+v 0.03317410 0.01519352 0.03786716
+v 0.02251556 0.03100623 0.03976631
+v 0.03252538 0.01519357 0.02464788
+v 0.02251556 0.02996948 0.02620851
+v 0.03341454 0.02941594 0.02317139
+v 0.03266375 0.03043224 0.02317139
+v 0.03312874 0.01519352 0.03750703
+v 0.02251556 0.03076315 0.03827776
+v 0.03249589 0.01519356 0.02620846
+v 0.02251556 0.02995190 0.02773067
+v 0.03293140 0.01519353 0.03571357
+v 0.02251556 0.03064307 0.03750708
+v 0.03250270 0.01519356 0.02846769
+v 0.02251556 0.02994605 0.02846774
+v 0.03288377 0.01519353 0.03524779
+v 0.02251556 0.03048199 0.03629463
+v 0.03252085 0.01519355 0.02913274
+v 0.02251556 0.03000168 0.03072938
+v 0.02251556 0.02998118 0.02995149
+v 0.03274087 0.01519354 0.03352636
+v 0.02251556 0.03035020 0.03524784
+v 0.03257075 0.01519355 0.03072933
+v 0.02251556 0.03013640 0.03295260
+v 0.03269777 0.01519354 0.03298856
+v 0.02251556 0.03026233 0.03435952
+v 0.03260250 0.01519354 0.03133435
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 22
+f 1 22 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 6 17 18
+f 7 20 38
+f 7 38 56
+f 7 56 72
+f 7 72 91
+f 7 91 121
+f 7 121 150
+f 7 150 172
+f 7 172 176
+f 7 176 182
+f 7 182 186
+f 7 186 191
+f 7 191 190
+f 7 190 195
+f 7 195 197
+f 7 197 193
+f 7 193 188
+f 7 188 184
+f 7 184 180
+f 7 180 174
+f 7 174 154
+f 7 154 124
+f 7 124 95
+f 7 95 74
+f 7 74 58
+f 7 58 41
+f 7 41 40
+f 7 40 25
+f 7 25 21
+f 7 21 8
+f 8 21 22
+f 9 22 10
+f 10 23 39
+f 10 39 57
+f 10 57 73
+f 10 73 94
+f 10 94 123
+f 10 123 153
+f 10 153 173
+f 10 173 179
+f 10 179 183
+f 10 183 187
+f 10 187 192
+f 10 192 196
+f 10 196 198
+f 10 198 194
+f 10 194 189
+f 10 189 185
+f 10 185 181
+f 10 181 175
+f 10 175 155
+f 10 155 125
+f 10 125 96
+f 10 96 75
+f 10 75 59
+f 10 59 42
+f 10 42 27
+f 10 27 11
+f 10 22 24
+f 10 24 25
+f 10 25 26
+f 10 26 23
+f 11 27 28
+f 11 28 12
+f 12 28 13
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 13 28 29
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 16
+f 16 34 35
+f 16 35 18
+f 16 18 17
+f 16 33 34
+f 18 36 19
+f 18 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 21 25 24
+f 21 24 22
+f 23 26 25
+f 23 25 40
+f 23 40 41
+f 23 41 39
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 29 45 46
+f 29 46 30
+f 29 44 43
+f 29 43 47
+f 29 47 45
+f 30 46 31
+f 31 46 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 34
+f 32 34 33
+f 34 51 52
+f 34 52 35
+f 34 50 51
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 54 38
+f 37 53 54
+f 38 55 56
+f 38 54 55
+f 39 41 58
+f 39 58 57
+f 42 59 60
+f 42 60 61
+f 42 61 47
+f 42 47 43
+f 45 62 63
+f 45 63 46
+f 45 47 64
+f 45 64 62
+f 46 63 48
+f 47 61 64
+f 48 63 65
+f 48 65 49
+f 49 65 66
+f 49 66 51
+f 49 51 50
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 57 58 74
+f 57 74 73
+f 59 75 60
+f 60 75 76
+f 60 76 77
+f 60 77 61
+f 61 77 64
+f 62 64 78
+f 62 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 65
+f 64 77 84
+f 64 84 85
+f 64 85 78
+f 65 83 66
+f 66 83 86
+f 66 86 67
+f 67 86 87
+f 67 87 68
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 71
+f 71 90 72
+f 71 89 90
+f 72 90 92
+f 72 92 93
+f 72 93 91
+f 73 74 95
+f 73 95 94
+f 75 96 97
+f 75 97 98
+f 75 98 76
+f 76 98 99
+f 76 99 100
+f 76 100 85
+f 76 85 77
+f 77 85 84
+f 78 85 79
+f 79 85 80
+f 80 85 101
+f 80 101 102
+f 80 102 103
+f 80 103 104
+f 80 104 105
+f 80 105 81
+f 81 105 82
+f 82 105 104
+f 82 104 83
+f 83 106 107
+f 83 107 108
+f 83 108 86
+f 83 104 106
+f 85 109 110
+f 85 110 101
+f 85 100 109
+f 86 108 111
+f 86 111 87
+f 87 111 112
+f 87 112 113
+f 87 113 88
+f 88 114 89
+f 88 113 114
+f 89 115 90
+f 89 114 116
+f 89 116 115
+f 90 93 92
+f 90 115 117
+f 90 117 93
+f 91 93 118
+f 91 118 119
+f 91 119 120
+f 91 120 121
+f 93 117 115
+f 93 115 122
+f 93 122 118
+f 94 95 123
+f 95 124 123
+f 96 125 150
+f 96 150 121
+f 96 121 149
+f 96 149 148
+f 96 148 147
+f 96 147 146
+f 96 146 152
+f 96 152 151
+f 96 151 171
+f 96 171 170
+f 96 170 169
+f 96 169 168
+f 96 168 167
+f 96 167 166
+f 96 166 178
+f 96 178 177
+f 96 177 164
+f 96 164 163
+f 96 163 162
+f 96 162 161
+f 96 161 160
+f 96 160 159
+f 96 159 158
+f 96 158 157
+f 96 157 156
+f 96 156 130
+f 96 130 129
+f 96 129 128
+f 96 128 127
+f 96 127 126
+f 96 126 98
+f 96 98 97
+f 98 126 99
+f 99 126 127
+f 99 127 128
+f 99 128 129
+f 99 129 130
+f 99 130 131
+f 99 131 101
+f 99 101 110
+f 99 110 109
+f 99 109 100
+f 101 131 102
+f 102 131 132
+f 102 132 103
+f 103 132 133
+f 103 133 134
+f 103 134 135
+f 103 135 136
+f 103 136 104
+f 104 136 137
+f 104 137 107
+f 104 107 106
+f 107 137 108
+f 108 137 138
+f 108 138 139
+f 108 139 111
+f 111 139 112
+f 112 140 141
+f 112 141 113
+f 112 139 140
+f 113 141 114
+f 114 141 142
+f 114 142 143
+f 114 143 116
+f 115 116 143
+f 115 143 122
+f 118 120 119
+f 118 122 144
+f 118 144 120
+f 120 144 122
+f 120 122 145
+f 120 145 146
+f 120 146 147
+f 120 147 148
+f 120 148 149
+f 120 149 121
+f 122 143 151
+f 122 151 152
+f 122 152 146
+f 122 146 145
+f 123 124 153
+f 124 154 153
+f 125 155 150
+f 130 156 131
+f 131 156 157
+f 131 157 158
+f 131 158 159
+f 131 159 160
+f 131 160 161
+f 131 161 134
+f 131 134 132
+f 132 134 133
+f 134 161 162
+f 134 162 163
+f 134 163 164
+f 134 164 165
+f 134 165 136
+f 134 136 135
+f 136 165 137
+f 137 165 138
+f 138 165 166
+f 138 166 167
+f 138 167 168
+f 138 168 139
+f 139 168 140
+f 140 168 141
+f 141 169 170
+f 141 170 171
+f 141 171 142
+f 141 168 169
+f 142 171 143
+f 143 171 151
+f 150 155 172
+f 153 154 174
+f 153 174 173
+f 155 175 176
+f 155 176 172
+f 164 177 165
+f 165 178 166
+f 165 177 178
+f 173 174 179
+f 174 180 179
+f 175 181 176
+f 176 181 182
+f 179 180 183
+f 180 184 183
+f 181 185 186
+f 181 186 182
+f 183 184 187
+f 184 188 187
+f 185 189 190
+f 185 190 191
+f 185 191 186
+f 187 188 193
+f 187 193 192
+f 189 194 190
+f 190 194 195
+f 192 193 196
+f 193 197 196
+f 194 198 195
+f 195 198 196
+f 195 196 197
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_24.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.05461957 -0.00574449 0.04770332
+v -0.05466067 -0.00346700 0.04770167
+v -0.05501385 -0.00574449 0.04770332
+v -0.05456172 -0.00802199 0.04770331
+v -0.05222039 -0.01724936 0.04769829
+v -0.05468198 -0.00011616 0.04769835
+v -0.05504429 -0.00346700 0.04770167
+v -0.05496513 -0.00802199 0.04770331
+v -0.05619517 -0.00118782 0.04760526
+v -0.05265272 -0.01724936 0.04769829
+v -0.05110148 -0.01724935 0.04758691
+v -0.05240154 -0.01485447 0.04769331
+v -0.05353872 -0.00011615 0.04745565
+v -0.05505191 -0.00011616 0.04769835
+v -0.05619365 -0.00011615 0.04760526
+v -0.05618604 -0.00346699 0.04759195
+v -0.05488445 -0.01029780 0.04769665
+v -0.05821377 -0.00118782 0.04690043
+v -0.05726232 -0.00011615 0.04723289
+v -0.05481747 -0.01165960 0.04768501
+v -0.05380360 -0.01713195 0.04750047
+v -0.05378381 -0.01724935 0.04749216
+v -0.04908897 -0.01724935 0.04695689
+v -0.05255682 -0.00011615 0.04692370
+v -0.05615559 -0.00574448 0.04756368
+v -0.05968129 -0.00118782 0.04584318
+v -0.05821377 -0.00346699 0.04683392
+v -0.05821377 -0.00011615 0.04690043
+v -0.05899168 -0.00011615 0.04634022
+v -0.05610688 -0.00802198 0.04751546
+v -0.05602620 -0.01029779 0.04742901
+v -0.05571868 -0.01248137 0.04735586
+v -0.05593029 -0.01485446 0.04698350
+v -0.05610383 -0.01724935 0.04631855
+v -0.04744334 -0.01724935 0.04590961
+v -0.05145466 -0.00011615 0.04632526
+v -0.06028413 -0.00118781 0.04428723
+v -0.05963410 -0.00346699 0.04578831
+v -0.05967977 -0.00011615 0.04584152
+v -0.06028261 -0.00011614 0.04428723
+v -0.05821377 -0.00574448 0.04668098
+v -0.05804175 -0.01029779 0.04630028
+v -0.05779361 -0.01257697 0.04615897
+v -0.05750285 -0.01485446 0.04591960
+v -0.05725166 -0.01653323 0.04565029
+v -0.05613124 -0.01724935 0.04629029
+v -0.04657257 -0.01724934 0.04428717
+v -0.05031292 -0.00011615 0.04517990
+v -0.05091728 -0.00011615 0.04578999
+v -0.06039222 -0.00118780 0.04202645
+v -0.06018822 -0.00346698 0.04428722
+v -0.06039374 -0.00011613 0.04202645
+v -0.05953362 -0.00574448 0.04566529
+v -0.05842081 -0.00811925 0.04625873
+v -0.05943315 -0.00742493 0.04552897
+v -0.05931898 -0.00894270 0.04529458
+v -0.05880748 -0.01257696 0.04428718
+v -0.05822747 -0.01485445 0.04428718
+v -0.05746479 -0.01724934 0.04436862
+v -0.04600627 -0.01724933 0.04218597
+v -0.04994299 -0.00011614 0.04405118
+v -0.05978937 -0.00118780 0.04025772
+v -0.05973609 -0.00346697 0.04032919
+v -0.06029022 -0.00346697 0.04202644
+v -0.06009841 -0.00574446 0.04202643
+v -0.05999337 -0.00574447 0.04428721
+v -0.05979090 -0.00011613 0.04025772
+v -0.05965084 -0.00811924 0.04443847
+v -0.05950470 -0.00991541 0.04378682
+v -0.05921698 -0.01052419 0.04443846
+v -0.05891100 -0.01257695 0.04202640
+v -0.05832947 -0.01485444 0.04202640
+v -0.05763224 -0.01713193 0.04202639
+v -0.05747240 -0.01724934 0.04433704
+v -0.05747697 -0.01722754 0.04434868
+v -0.04599713 -0.01724933 0.04212945
+v -0.04946803 -0.00011613 0.04202645
+v -0.05628651 -0.00119279 0.03072253
+v -0.05617538 -0.00347028 0.03072252
+v -0.05963866 -0.00574446 0.04046715
+v -0.05949557 -0.00802196 0.04068158
+v -0.05939205 -0.00935189 0.04083950
+v -0.05980612 -0.00802196 0.04202642
+v -0.05628499 -0.00011609 0.03072752
+v -0.05628499 -0.00011945 0.03072253
+v -0.05949404 -0.00987179 0.04202641
+v -0.05926417 -0.01101054 0.04202641
+v -0.05724253 -0.01724933 0.04065662
+v -0.05757592 -0.01724933 0.04191168
+v -0.05759266 -0.01724933 0.04202639
+v -0.04597582 -0.01724933 0.04199480
+v -0.04931275 -0.00011613 0.04096421
+v -0.04562416 -0.01724933 0.03976727
+v -0.05595921 -0.00574945 0.03072251
+v -0.05563648 -0.00802695 0.03072250
+v -0.05520871 -0.01030109 0.03072249
+v -0.05487836 -0.01179370 0.03072249
+v -0.05458608 -0.01293580 0.03072248
+v -0.04848156 -0.00011609 0.03072253
+v -0.05403500 -0.01485775 0.03072248
+v -0.05327840 -0.01713525 0.03072247
+v -0.05323730 -0.01724929 0.03072247
+v -0.04914225 -0.00011613 0.03976733
+v -0.04540038 -0.01724932 0.03795698
+v -0.04845264 -0.00011609 0.03072253
+v -0.04506395 -0.01724929 0.03072247
+v -0.04902503 -0.00011612 0.03870509
+v -0.04534558 -0.01724932 0.03750814
+v -0.04845264 -0.00011609 0.03072752
+v -0.04484169 -0.01724929 0.03072746
+v -0.04489801 -0.01713189 0.03072247
+v -0.04890172 -0.00011612 0.03750820
+v -0.04513245 -0.01724931 0.03548674
+v -0.04853941 -0.00011610 0.03298830
+v -0.04494673 -0.01724930 0.03299323
+v -0.04869164 -0.00011611 0.03524742
+v -0.04510505 -0.01724931 0.03521744
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 14
+f 2 14 7
+f 2 5 6
+f 3 7 9
+f 3 9 8
+f 4 8 10
+f 4 10 5
+f 5 10 22
+f 5 22 34
+f 5 34 46
+f 5 46 59
+f 5 59 74
+f 5 74 90
+f 5 90 89
+f 5 89 88
+f 5 88 102
+f 5 102 106
+f 5 106 110
+f 5 110 115
+f 5 115 117
+f 5 117 113
+f 5 113 108
+f 5 108 104
+f 5 104 93
+f 5 93 91
+f 5 91 76
+f 5 76 60
+f 5 60 47
+f 5 47 35
+f 5 35 23
+f 5 23 11
+f 5 11 12
+f 5 12 6
+f 6 13 24
+f 6 24 36
+f 6 36 49
+f 6 49 48
+f 6 48 61
+f 6 61 77
+f 6 77 92
+f 6 92 103
+f 6 103 107
+f 6 107 112
+f 6 112 116
+f 6 116 114
+f 6 114 109
+f 6 109 105
+f 6 105 99
+f 6 99 84
+f 6 84 67
+f 6 67 52
+f 6 52 40
+f 6 40 39
+f 6 39 29
+f 6 29 28
+f 6 28 19
+f 6 19 15
+f 6 15 14
+f 6 12 11
+f 6 11 13
+f 7 14 15
+f 7 15 9
+f 8 9 16
+f 8 16 17
+f 8 17 10
+f 9 18 16
+f 9 15 19
+f 9 19 18
+f 10 17 20
+f 10 20 21
+f 10 21 22
+f 11 23 13
+f 13 23 24
+f 16 18 25
+f 16 25 17
+f 17 25 20
+f 18 26 27
+f 18 27 25
+f 18 19 28
+f 18 28 29
+f 18 29 26
+f 20 25 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 23 35 36
+f 23 36 24
+f 25 27 30
+f 26 37 38
+f 26 38 27
+f 26 29 39
+f 26 39 40
+f 26 40 37
+f 27 38 41
+f 27 41 31
+f 27 31 30
+f 31 42 33
+f 31 33 32
+f 31 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 45 46
+f 34 44 45
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 37 50 51
+f 37 51 38
+f 37 40 52
+f 37 52 50
+f 38 51 53
+f 38 53 41
+f 41 53 54
+f 41 54 42
+f 42 54 53
+f 42 53 55
+f 42 55 43
+f 43 55 56
+f 43 56 44
+f 44 56 45
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 45 56 57
+f 47 60 61
+f 47 61 48
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 50 52 67
+f 50 67 62
+f 51 64 65
+f 51 65 66
+f 51 66 53
+f 53 66 55
+f 55 66 56
+f 56 66 68
+f 56 68 69
+f 56 69 70
+f 56 70 57
+f 57 71 58
+f 57 70 69
+f 57 69 71
+f 58 71 72
+f 58 72 73
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 59 75 74
+f 60 76 77
+f 60 77 61
+f 62 67 78
+f 62 78 63
+f 63 79 80
+f 63 80 64
+f 63 78 79
+f 64 80 65
+f 65 80 81
+f 65 81 82
+f 65 82 83
+f 65 83 69
+f 65 69 66
+f 66 69 68
+f 67 84 85
+f 67 85 78
+f 69 83 86
+f 69 86 87
+f 69 87 71
+f 71 87 82
+f 71 82 72
+f 72 82 88
+f 72 88 89
+f 72 89 73
+f 73 89 90
+f 73 90 74
+f 76 91 77
+f 77 91 93
+f 77 93 92
+f 78 85 99
+f 78 99 105
+f 78 105 111
+f 78 111 106
+f 78 106 102
+f 78 102 101
+f 78 101 100
+f 78 100 98
+f 78 98 97
+f 78 97 96
+f 78 96 95
+f 78 95 94
+f 78 94 79
+f 79 94 80
+f 80 94 81
+f 81 94 82
+f 82 95 96
+f 82 96 97
+f 82 97 98
+f 82 98 88
+f 82 87 86
+f 82 86 83
+f 82 94 95
+f 84 99 85
+f 88 98 100
+f 88 100 101
+f 88 101 102
+f 92 93 103
+f 93 104 103
+f 103 104 108
+f 103 108 107
+f 105 109 110
+f 105 110 111
+f 106 111 110
+f 107 108 113
+f 107 113 112
+f 109 114 110
+f 110 114 115
+f 112 113 117
+f 112 117 116
+f 114 116 115
+f 115 116 117
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_25.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.02251555 0.04009991 0.02392542
+v 0.02207968 0.04041418 0.02392542
+v 0.02251555 0.03004773 0.02392538
+v 0.02251555 0.04342783 -0.01523795
+v 0.02093732 0.04119123 0.02392542
+v 0.02251555 0.03004988 0.02387751
+v -0.00195061 0.04128594 0.02392542
+v -0.00195061 0.04138066 0.02168364
+v 0.02251555 0.04345366 -0.01620726
+v 0.01983328 0.04508310 -0.01673379
+v 0.01975904 0.04504004 -0.01447605
+v 0.02188091 0.04377007 -0.01467152
+v 0.01945249 0.04211250 0.02392542
+v 0.02251555 0.03016613 0.02168360
+v -0.00195061 0.04142156 0.02085793
+v -0.00195061 0.04149475 0.01942590
+v -0.00195061 0.04930616 0.02392545
+v 0.02251555 0.04342783 -0.01682555
+v 0.02211321 0.04369689 -0.01682555
+v 0.02194317 0.04380452 -0.01668992
+v 0.01869092 0.04572670 -0.01673379
+v 0.01861668 0.04568579 -0.01447605
+v 0.02192880 0.04381098 -0.01682555
+v 0.01990513 0.04503790 -0.01682554
+v 0.01983089 0.04508095 -0.01682554
+v 0.01978538 0.04510678 -0.01682554
+v 0.01790300 0.04302732 0.02392543
+v 0.01943812 0.04212111 0.02392542
+v -0.00195061 0.04154211 0.01860019
+v -0.00195061 0.04162822 0.01716417
+v -0.00195061 0.04167988 0.01633846
+v -0.00195061 0.04182626 0.01407674
+v -0.00195061 0.04192097 0.01264471
+v -0.00195061 0.04197694 0.01181900
+v -0.00195061 0.04207596 0.01038298
+v 0.02251555 0.03032327 0.01942586
+v -0.00111479 0.04922652 0.02392545
+v -0.00111479 0.05188285 -0.01447603
+v -0.00195061 0.05196034 -0.01447603
+v 0.02251555 0.03390086 -0.01682559
+v 0.01868852 0.04572455 -0.01682554
+v 0.01721327 0.04648223 -0.01682554
+v 0.01715340 0.04651452 -0.01673379
+v 0.01715340 0.04642841 -0.01447605
+v 0.01677022 0.04363432 0.02392543
+v -0.00195061 0.04224602 0.00812525
+v 0.02251555 0.03050194 0.01716413
+v -0.00195061 0.04412955 -0.01682555
+v 0.00116993 0.04890149 0.02392545
+v 0.00116993 0.05156858 -0.01447603
+v 0.00116993 0.05164824 -0.01673377
+v -0.00111479 0.05196035 -0.01673377
+v -0.00195061 0.05200985 -0.01590806
+v 0.02251555 0.03112403 0.01038294
+v 0.01715340 0.04651236 -0.01682554
+v 0.01522312 0.04743579 -0.01673379
+v 0.01512493 0.04739057 -0.01447605
+v 0.01487107 0.04458357 0.02392543
+v 0.02251555 0.03069998 0.01490241
+v -0.00195061 0.05203353 -0.01682552
+v 0.02251555 0.03090662 0.01264467
+v 0.00345225 0.04846669 0.02392545
+v 0.00345225 0.05115100 -0.01447603
+v 0.00345225 0.05123065 -0.01673377
+v 0.00116993 0.05164608 -0.01682552
+v -0.00111479 0.05195604 -0.01682552
+v -0.00195061 0.05203784 -0.01673377
+v 0.01522073 0.04743363 -0.01682554
+v 0.01517523 0.04745516 -0.01682554
+v 0.01407837 0.04793732 -0.01682553
+v 0.01408076 0.04793732 -0.01673378
+v 0.01398257 0.04789641 -0.01447604
+v 0.01327129 0.04532403 0.02392544
+v 0.01329524 0.04531327 0.02392544
+v 0.00347141 0.04846238 0.02392545
+v 0.00573698 0.05063440 -0.01447603
+v 0.00573698 0.05071405 -0.01673377
+v 0.00345225 0.05122850 -0.01682552
+v 0.01264383 0.04850988 -0.01682553
+v 0.01258635 0.04853357 -0.01673378
+v 0.01258635 0.04845176 -0.01447604
+v 0.01213851 0.04579328 0.02392544
+v 0.00542085 0.04800175 0.02392545
+v 0.00737268 0.05021035 -0.01447604
+v 0.00750440 0.05024911 -0.01673378
+v 0.00580403 0.05069468 -0.01682552
+v 0.00573698 0.05071190 -0.01682552
+v 0.01258635 0.04853141 -0.01682553
+v 0.01039264 0.04933214 -0.01682553
+v 0.01030163 0.04936658 -0.01673378
+v 0.01030163 0.04928693 -0.01447604
+v 0.01032079 0.04648639 0.02392544
+v 0.00656321 0.04770255 0.02392545
+v 0.00851504 0.04987026 -0.01447604
+v 0.00864676 0.04990901 -0.01673378
+v 0.00864437 0.04990901 -0.01682553
+v 0.00750201 0.05024695 -0.01682553
+v 0.01030163 0.04936443 -0.01682553
+v 0.00802170 0.04726344 0.02392544
+f 1 2 5
+f 1 5 13
+f 1 13 28
+f 1 28 27
+f 1 27 45
+f 1 45 58
+f 1 58 74
+f 1 74 73
+f 1 73 82
+f 1 82 92
+f 1 92 99
+f 1 99 93
+f 1 93 83
+f 1 83 75
+f 1 75 62
+f 1 62 49
+f 1 49 37
+f 1 37 17
+f 1 17 7
+f 1 7 3
+f 1 3 6
+f 1 6 14
+f 1 14 36
+f 1 36 47
+f 1 47 59
+f 1 59 61
+f 1 61 54
+f 1 54 40
+f 1 40 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 8 15
+f 6 15 16
+f 6 16 14
+f 7 17 39
+f 7 39 53
+f 7 53 67
+f 7 67 60
+f 7 60 48
+f 7 48 46
+f 7 46 35
+f 7 35 34
+f 7 34 33
+f 7 33 32
+f 7 32 31
+f 7 31 30
+f 7 30 29
+f 7 29 16
+f 7 16 15
+f 7 15 8
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 21
+f 11 22 27
+f 11 27 28
+f 11 28 13
+f 11 13 12
+f 14 16 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 17 37 38
+f 17 38 39
+f 18 40 48
+f 18 48 60
+f 18 60 66
+f 18 66 65
+f 18 65 78
+f 18 78 87
+f 18 87 86
+f 18 86 97
+f 18 97 96
+f 18 96 98
+f 18 98 89
+f 18 89 88
+f 18 88 79
+f 18 79 70
+f 18 70 69
+f 18 69 68
+f 18 68 55
+f 18 55 42
+f 18 42 41
+f 18 41 26
+f 18 26 25
+f 18 25 24
+f 18 24 23
+f 18 23 19
+f 19 23 20
+f 21 26 41
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 22 43 44
+f 22 44 45
+f 22 45 27
+f 35 46 36
+f 36 46 48
+f 36 48 47
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 40 54 48
+f 42 55 43
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 47 48 59
+f 48 54 61
+f 48 61 59
+f 49 62 63
+f 49 63 50
+f 50 63 64
+f 50 64 51
+f 51 64 78
+f 51 78 65
+f 51 65 52
+f 52 65 66
+f 52 66 60
+f 52 60 67
+f 52 67 53
+f 55 68 56
+f 56 68 69
+f 56 69 70
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 73
+f 57 73 74
+f 57 74 58
+f 62 75 63
+f 63 76 77
+f 63 77 64
+f 63 75 76
+f 64 77 87
+f 64 87 78
+f 70 79 71
+f 71 79 80
+f 71 80 72
+f 72 80 81
+f 72 81 82
+f 72 82 73
+f 75 83 76
+f 76 84 77
+f 76 83 84
+f 77 85 86
+f 77 86 87
+f 77 84 85
+f 79 88 80
+f 80 88 89
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 92
+f 81 92 82
+f 83 93 84
+f 84 94 95
+f 84 95 85
+f 84 93 94
+f 85 95 96
+f 85 96 97
+f 85 97 86
+f 89 98 90
+f 90 98 96
+f 90 96 95
+f 90 95 91
+f 91 95 94
+f 91 94 99
+f 91 99 92
+f 93 99 94
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_26.obj

@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v 0.02033581 -0.04649442 0.04202698
+v 0.02091123 -0.04579630 0.04064653
+v 0.02124348 -0.04599007 0.04202698
+v 0.02114718 -0.04593308 0.04428629
+v 0.02033581 -0.04638330 0.04428629
+v 0.02033581 -0.04156763 0.02616549
+v 0.02511255 -0.04330016 0.04103222
+v 0.02238470 -0.04530619 0.04202698
+v 0.02083900 -0.04125419 0.02616549
+v 0.02229080 -0.04524921 0.04428629
+v 0.02078363 -0.04572223 0.04556136
+v 0.02033581 -0.04610691 0.04513774
+v 0.02033581 -0.03201050 0.02616552
+v 0.02530034 -0.04343694 0.04253702
+v 0.02421450 -0.04406382 0.04188157
+v 0.02086548 -0.04123709 0.02616549
+v 0.02088715 -0.04122284 0.02616549
+v 0.02200670 -0.04045634 0.02616549
+v 0.02358611 -0.03931655 0.02616550
+v 0.02472732 -0.03843321 0.02616550
+v 0.02762130 -0.04120010 0.04071610
+v 0.02785002 -0.04138532 0.04202700
+v 0.02615505 -0.04266758 0.04188157
+v 0.02530034 -0.04343694 0.04356340
+v 0.02414709 -0.04402109 0.04430526
+v 0.02500180 -0.04321755 0.04507031
+v 0.02347776 -0.04373900 0.04582693
+v 0.02161667 -0.04448556 0.04613463
+v 0.02033581 -0.04584191 0.04567517
+v 0.02033581 -0.03199056 0.02815295
+v 0.03157222 -0.01738416 0.02618033
+v 0.03157222 -0.01738701 0.02616558
+v 0.02608041 -0.03729627 0.02616550
+v 0.02722163 -0.03629896 0.02616551
+v 0.03001208 -0.03903735 0.04060230
+v 0.03027932 -0.03928525 0.04202701
+v 0.02899124 -0.04042504 0.04202700
+v 0.02777539 -0.04132549 0.04428631
+v 0.02615505 -0.04257071 0.04430526
+v 0.02752018 -0.04112034 0.04549815
+v 0.02629229 -0.04159050 0.04587541
+v 0.02414709 -0.04235131 0.04640229
+v 0.02033581 -0.04447416 0.04660251
+v 0.02033581 -0.04542589 0.04599552
+v 0.02033581 -0.03198771 0.02846698
+v 0.03157222 -0.01738416 0.02846704
+v 0.03960408 -0.01738416 0.02616558
+v 0.02842304 -0.03513922 0.02616551
+v 0.03142054 -0.03820531 0.04202701
+v 0.03019506 -0.03921118 0.04428632
+v 0.02891660 -0.04034812 0.04428631
+v 0.02990132 -0.03893764 0.04559090
+v 0.02839896 -0.03978108 0.04591966
+v 0.02629229 -0.03990931 0.04685964
+v 0.02033581 -0.04341986 0.04711675
+v 0.02033581 -0.03204186 0.03072839
+v 0.03163482 -0.01738417 0.03072845
+v 0.02033581 -0.03211310 0.03286968
+v 0.03995319 -0.01738416 0.02616558
+v 0.02954259 -0.03403078 0.02616551
+v 0.03229451 -0.03679766 0.04058333
+v 0.03255694 -0.03706552 0.04202701
+v 0.03248712 -0.03699144 0.04428632
+v 0.03133627 -0.03813123 0.04428632
+v 0.03220061 -0.03669795 0.04561409
+v 0.03074159 -0.03752715 0.04600398
+v 0.02857713 -0.03763258 0.04699875
+v 0.02393281 -0.03976969 0.04749612
+v 0.02155888 -0.04199228 0.04736967
+v 0.02033581 -0.04199228 0.04749191
+v 0.03174075 -0.01738418 0.03265898
+v 0.02033581 -0.03235532 0.03524911
+v 0.03176002 -0.01738418 0.03298776
+v 0.04492976 -0.01738421 0.04202709
+v 0.04345629 -0.02062691 0.04084473
+v 0.03922849 -0.01918218 0.02616557
+v 0.03059232 -0.03286819 0.02616552
+v 0.03449749 -0.03446110 0.04065500
+v 0.03369575 -0.03584879 0.04202702
+v 0.03362593 -0.03576902 0.04428633
+v 0.03440119 -0.03434999 0.04554454
+v 0.03303125 -0.03520768 0.04597027
+v 0.03085956 -0.03535585 0.04702616
+v 0.02634285 -0.03754995 0.04755514
+v 0.02857953 -0.03538435 0.04757834
+v 0.02221135 -0.04043646 0.04762469
+v 0.02068732 -0.04110325 0.04768580
+v 0.02033581 -0.04132836 0.04766262
+v 0.02033581 -0.03261463 0.03752106
+v 0.03194781 -0.01738419 0.03524917
+v 0.04415450 -0.01941303 0.04202708
+v 0.04478771 -0.01738422 0.04429904
+v 0.04356463 -0.02086628 0.04372366
+v 0.03808486 -0.02166407 0.02616556
+v 0.03874215 -0.02029917 0.02616557
+v 0.04355500 -0.02084347 0.04202707
+v 0.04300606 -0.02198326 0.04202707
+v 0.04200930 -0.02396649 0.04202706
+v 0.04116663 -0.02516327 0.04085104
+v 0.03171186 -0.03159448 0.02616552
+v 0.03471659 -0.03471185 0.04202702
+v 0.03664269 -0.03203620 0.04080464
+v 0.03464436 -0.03462923 0.04428633
+v 0.03492364 -0.03307627 0.04593023
+v 0.03654398 -0.03190799 0.04535066
+v 0.03708810 -0.03038922 0.04588809
+v 0.03314200 -0.03307627 0.04693343
+v 0.03303847 -0.03079385 0.04752988
+v 0.03081622 -0.03307343 0.04756992
+v 0.02713977 -0.03616226 0.04766896
+v 0.03155055 -0.03154897 0.04766265
+v 0.02033581 -0.04110325 0.04768580
+v 0.02311903 -0.03891770 0.04769003
+v 0.02033581 -0.03293378 0.03976562
+v 0.03219580 -0.01738420 0.03750637
+v 0.04471548 -0.01738422 0.04449083
+v 0.04336239 -0.02042462 0.04523057
+v 0.04393059 -0.01956407 0.04440020
+v 0.04300847 -0.02165273 0.04440019
+v 0.04176854 -0.02414602 0.04442546
+v 0.04129664 -0.02539409 0.04376369
+v 0.03705921 -0.02365015 0.02616555
+v 0.04128220 -0.02536558 0.04202706
+v 0.03555444 -0.02622037 0.02616554
+v 0.03640674 -0.02482698 0.02616555
+v 0.03703995 -0.02368719 0.02616555
+v 0.04061528 -0.02650537 0.04202705
+v 0.03947166 -0.02835183 0.04202705
+v 0.03873492 -0.02949162 0.04202704
+v 0.03455768 -0.02778189 0.02616554
+v 0.03261232 -0.03045469 0.02616553
+v 0.03586021 -0.03335550 0.04202703
+v 0.03678233 -0.03221287 0.04384375
+v 0.03780799 -0.03080238 0.04202704
+v 0.03678474 -0.03221856 0.04202703
+v 0.03375113 -0.02892167 0.02616553
+v 0.03592763 -0.03301358 0.04447391
+v 0.03563871 -0.03101041 0.04646557
+v 0.03746129 -0.03101040 0.04447392
+v 0.03866751 -0.02939190 0.04428635
+v 0.03911533 -0.02779050 0.04570685
+v 0.03779354 -0.02853992 0.04627800
+v 0.03749499 -0.02604378 0.04725170
+v 0.03527275 -0.02843448 0.04743927
+v 0.03593244 -0.02666496 0.04759733
+v 0.03372946 -0.02913545 0.04764159
+v 0.02561574 -0.03673501 0.04768793
+v 0.02934275 -0.03383139 0.04766687
+v 0.03440841 -0.02761670 0.04769218
+v 0.03220784 -0.03003020 0.04769006
+v 0.02782113 -0.03464349 0.04768582
+v 0.03658972 -0.02514620 0.04768165
+v 0.02265195 -0.03863276 0.04769003
+v 0.02033581 -0.04068438 0.04768580
+v 0.03900217 -0.01941306 0.04769642
+v 0.03857602 -0.01941306 0.04769642
+v 0.02033581 -0.03335835 0.04202703
+v 0.03248230 -0.01738421 0.03963290
+v 0.03225599 -0.01738420 0.03797214
+v 0.04395226 -0.01738423 0.04598720
+v 0.04367298 -0.01890585 0.04572164
+v 0.04147721 -0.02350490 0.04579116
+v 0.04108959 -0.02502367 0.04527060
+v 0.04064177 -0.02619194 0.04442545
+v 0.03941147 -0.02825211 0.04428636
+v 0.03958482 -0.02624609 0.04607568
+v 0.04019395 -0.02414603 0.04641711
+v 0.03978465 -0.02152167 0.04732127
+v 0.03787540 -0.02396651 0.04751726
+v 0.03673177 -0.02396652 0.04769219
+v 0.03888420 -0.02064974 0.04768377
+v 0.03871326 -0.01759510 0.04769433
+v 0.02033581 -0.04042223 0.04767316
+v 0.03971483 -0.01738424 0.04764374
+v 0.03929590 -0.01738424 0.04767535
+v 0.03901902 -0.01759510 0.04769433
+v 0.02033581 -0.03382853 0.04364985
+v 0.03288919 -0.01738421 0.04202709
+v 0.03283141 -0.01738421 0.04169620
+v 0.04384151 -0.01738423 0.04606518
+v 0.04192022 -0.02168978 0.04613892
+v 0.04229822 -0.01738423 0.04703044
+v 0.04204301 -0.01738423 0.04715057
+v 0.04014339 -0.01941305 0.04750464
+v 0.03991466 -0.01738423 0.04761002
+v 0.03908885 -0.01738424 0.04767535
+v 0.03843397 -0.01738423 0.04763742
+v 0.02033581 -0.03966710 0.04761625
+v 0.02033581 -0.03389121 0.04385007
+v 0.03353685 -0.01738422 0.04437070
+v 0.02033581 -0.03409353 0.04444018
+v 0.04247157 -0.01956408 0.04636444
+v 0.03778150 -0.01738423 0.04753204
+v 0.02033581 -0.03911716 0.04754461
+v 0.03410986 -0.01738423 0.04558465
+v 0.02033581 -0.03439843 0.04509142
+v 0.03742999 -0.01738423 0.04743931
+v 0.02033581 -0.03768672 0.04715892
+v 0.03461065 -0.01738423 0.04599141
+v 0.02033581 -0.03466343 0.04547499
+v 0.02033581 -0.03554677 0.04615784
+v 0.03527757 -0.01738423 0.04644032
+v 0.02033581 -0.03656973 0.04673321
+v 0.03500550 -0.01738423 0.04628015
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 29
+f 1 29 44
+f 1 44 43
+f 1 43 55
+f 1 55 70
+f 1 70 88
+f 1 88 112
+f 1 112 154
+f 1 154 173
+f 1 173 188
+f 1 188 194
+f 1 194 198
+f 1 198 203
+f 1 203 201
+f 1 201 200
+f 1 200 196
+f 1 196 191
+f 1 191 189
+f 1 189 177
+f 1 177 157
+f 1 157 114
+f 1 114 89
+f 1 89 72
+f 1 72 58
+f 1 58 56
+f 1 56 45
+f 1 45 30
+f 1 30 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 32
+f 6 32 47
+f 6 47 59
+f 6 59 76
+f 6 76 95
+f 6 95 94
+f 6 94 122
+f 6 122 126
+f 6 126 125
+f 6 125 124
+f 6 124 130
+f 6 130 136
+f 6 136 131
+f 6 131 100
+f 6 100 77
+f 6 77 60
+f 6 60 48
+f 6 48 34
+f 6 34 33
+f 6 33 20
+f 6 20 19
+f 6 19 18
+f 6 18 17
+f 6 17 16
+f 6 16 9
+f 7 14 15
+f 7 15 8
+f 7 9 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 14
+f 8 15 14
+f 8 14 24
+f 8 24 10
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 13 30 31
+f 13 31 32
+f 14 23 22
+f 14 22 24
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 24
+f 24 38 39
+f 24 39 26
+f 24 26 25
+f 26 39 38
+f 26 38 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 43 44
+f 28 44 29
+f 28 42 43
+f 30 45 31
+f 31 46 57
+f 31 57 71
+f 31 71 73
+f 31 73 90
+f 31 90 115
+f 31 115 159
+f 31 159 158
+f 31 158 179
+f 31 179 178
+f 31 178 190
+f 31 190 195
+f 31 195 199
+f 31 199 204
+f 31 204 202
+f 31 202 197
+f 31 197 193
+f 31 193 187
+f 31 187 186
+f 31 186 175
+f 31 175 174
+f 31 174 185
+f 31 185 183
+f 31 183 182
+f 31 182 180
+f 31 180 160
+f 31 160 116
+f 31 116 92
+f 31 92 74
+f 31 74 59
+f 31 59 47
+f 31 47 32
+f 31 45 46
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 50 51
+f 36 51 37
+f 36 49 64
+f 36 64 50
+f 37 51 38
+f 38 51 40
+f 40 51 50
+f 40 50 52
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 41 54 42
+f 42 55 43
+f 42 54 55
+f 45 56 46
+f 46 56 58
+f 46 58 57
+f 48 60 61
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 50 64 52
+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 54
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 57 58 71
+f 58 72 73
+f 58 73 71
+f 59 74 75
+f 59 75 76
+f 60 77 78
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 79 63
+f 63 65 64
+f 63 79 80
+f 63 80 65
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 84 68
+f 67 83 85
+f 67 85 84
+f 68 86 69
+f 68 84 86
+f 69 87 70
+f 69 86 87
+f 70 87 88
+f 72 89 90
+f 72 90 73
+f 74 91 75
+f 74 92 93
+f 74 93 91
+f 75 94 95
+f 75 95 76
+f 75 91 96
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 94
+f 77 100 78
+f 78 101 79
+f 78 100 102
+f 78 102 101
+f 79 101 80
+f 80 101 103
+f 80 103 81
+f 81 104 82
+f 81 103 105
+f 81 105 106
+f 81 106 104
+f 82 104 107
+f 82 107 83
+f 83 107 108
+f 83 108 109
+f 83 109 85
+f 84 85 110
+f 84 110 86
+f 85 109 111
+f 85 111 110
+f 86 110 87
+f 87 112 88
+f 87 110 113
+f 87 113 112
+f 89 114 115
+f 89 115 90
+f 91 93 96
+f 92 116 117
+f 92 117 118
+f 92 118 93
+f 93 119 120
+f 93 120 121
+f 93 121 97
+f 93 97 96
+f 93 118 117
+f 93 117 119
+f 94 99 122
+f 97 121 98
+f 98 121 123
+f 98 123 99
+f 99 124 125
+f 99 125 126
+f 99 126 122
+f 99 123 127
+f 99 127 128
+f 99 128 129
+f 99 129 130
+f 99 130 124
+f 100 131 102
+f 101 102 132
+f 101 132 133
+f 101 133 103
+f 102 134 135
+f 102 135 132
+f 102 131 136
+f 102 136 130
+f 102 130 129
+f 102 129 134
+f 103 133 137
+f 103 137 105
+f 104 106 138
+f 104 138 107
+f 105 139 140
+f 105 140 141
+f 105 141 106
+f 105 137 133
+f 105 133 139
+f 106 141 142
+f 106 142 138
+f 107 138 143
+f 107 143 144
+f 107 144 108
+f 108 111 109
+f 108 144 145
+f 108 145 146
+f 108 146 111
+f 110 147 113
+f 110 111 148
+f 110 148 149
+f 110 149 150
+f 110 150 151
+f 110 151 147
+f 111 146 152
+f 111 152 149
+f 111 149 148
+f 112 113 153
+f 112 153 154
+f 113 147 150
+f 113 150 149
+f 113 149 155
+f 113 155 156
+f 113 156 153
+f 114 157 158
+f 114 158 159
+f 114 159 115
+f 116 160 161
+f 116 161 117
+f 117 161 162
+f 117 162 163
+f 117 163 119
+f 119 163 120
+f 120 163 121
+f 121 164 165
+f 121 165 129
+f 121 129 128
+f 121 128 127
+f 121 127 123
+f 121 163 164
+f 129 165 140
+f 129 140 133
+f 129 133 134
+f 132 135 133
+f 133 135 134
+f 133 140 139
+f 138 142 143
+f 140 165 141
+f 141 166 142
+f 141 165 163
+f 141 163 162
+f 141 162 166
+f 142 166 143
+f 143 167 168
+f 143 168 169
+f 143 169 152
+f 143 152 145
+f 143 145 144
+f 143 166 167
+f 145 152 146
+f 147 151 150
+f 149 152 170
+f 149 170 155
+f 152 169 171
+f 152 171 155
+f 152 155 170
+f 153 156 172
+f 153 172 154
+f 154 172 173
+f 155 171 174
+f 155 174 175
+f 155 175 176
+f 155 176 172
+f 155 172 156
+f 157 177 178
+f 157 178 179
+f 157 179 158
+f 160 180 181
+f 160 181 161
+f 161 181 162
+f 162 167 166
+f 162 181 167
+f 163 165 164
+f 167 181 168
+f 168 181 182
+f 168 182 183
+f 168 183 184
+f 168 184 169
+f 169 184 171
+f 171 184 185
+f 171 185 174
+f 172 176 175
+f 172 175 186
+f 172 186 187
+f 172 187 188
+f 172 188 173
+f 177 189 178
+f 178 189 191
+f 178 191 190
+f 180 182 192
+f 180 192 181
+f 181 192 182
+f 183 185 184
+f 187 193 188
+f 188 193 194
+f 190 191 196
+f 190 196 195
+f 193 197 194
+f 194 197 198
+f 195 196 200
+f 195 200 201
+f 195 201 199
+f 197 202 198
+f 198 202 203
+f 199 201 204
+f 201 203 204
+f 202 204 203
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_27.obj

@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v -0.05726447 -0.00011403 0.00369519
+v -0.05726447 -0.00005104 0.00369519
+v -0.04981630 -0.00011403 0.00369519
+v -0.06039317 -0.00011417 0.04202630
+v -0.06039484 0.00109049 0.04202630
+v -0.05726281 0.00109063 0.00369519
+v -0.04964619 -0.00011404 0.00586634
+v -0.04490978 0.01999302 0.00369526
+v -0.04476803 0.01999301 0.00515992
+v -0.04451453 0.01999300 0.00812802
+v -0.04439278 0.01999299 0.00960130
+v -0.04421600 0.01999299 0.01178968
+v -0.06028144 -0.00011418 0.04428792
+v -0.06027977 0.00109048 0.04428792
+v -0.06017970 0.00336986 0.04428793
+v -0.06029144 0.00336987 0.04202631
+v -0.05725947 0.00118708 0.00369519
+v -0.04414929 0.01999298 0.01264694
+v -0.04404756 0.01999298 0.01396514
+v -0.04947442 -0.00011405 0.00812795
+v -0.05310010 0.01999302 0.00369526
+v -0.05999958 -0.00011419 0.04501594
+v -0.05967771 0.00109047 0.04583874
+v -0.05962600 0.00336985 0.04577844
+v -0.05942755 0.00727513 0.04551999
+v -0.05997957 0.00564729 0.04428794
+v -0.06009298 0.00564730 0.04202632
+v -0.05952595 0.00564728 0.04565352
+v -0.05715106 0.00339363 0.00369520
+v -0.05715940 0.00329325 0.00369520
+v -0.04397751 0.01999298 0.01490855
+v -0.04931264 -0.00011406 0.01038956
+v -0.05338862 0.01931196 0.00369526
+v -0.05717442 0.01844375 0.04243993
+v -0.05645561 0.01999288 0.04188853
+v -0.05967937 -0.00011419 0.04583874
+v -0.05899059 -0.00011419 0.04633845
+v -0.05821343 0.00109047 0.04689846
+v -0.05821343 0.00336985 0.04682524
+v -0.05821343 0.00564728 0.04667017
+v -0.05930914 0.00879275 0.04525721
+v -0.05802664 0.01020015 0.04629541
+v -0.05777480 0.01247954 0.04614895
+v -0.05747961 0.01475696 0.04589910
+v -0.05964102 0.00798966 0.04441718
+v -0.05949926 0.00980845 0.04375379
+v -0.05979779 0.00792472 0.04202633
+v -0.05693593 0.00567893 0.00369521
+v -0.05694426 0.00561200 0.00369521
+v -0.05695761 0.00547815 0.00369521
+v -0.05841355 0.00798965 0.04625232
+v -0.04389079 0.01999297 0.01612767
+v -0.04922925 -0.00011406 0.01158283
+v -0.05426086 0.01703454 0.00369525
+v -0.05828681 0.01475698 0.04202635
+v -0.05717442 0.01844375 0.04358150
+v -0.05470448 0.01576296 0.00369525
+v -0.05472616 0.01569801 0.00369525
+v -0.05635222 0.01999287 0.04430522
+v -0.05821343 -0.00011419 0.04689846
+v -0.05619378 -0.00011419 0.04760495
+v -0.05619211 0.00109047 0.04760495
+v -0.05617377 0.00336985 0.04759204
+v -0.05614541 0.00564728 0.04756190
+v -0.05610038 0.00792470 0.04751021
+v -0.05601366 0.01020015 0.04742406
+v -0.05723779 0.01640056 0.04563202
+v -0.05877546 0.01247955 0.04428797
+v -0.05920407 0.01042062 0.04441719
+v -0.05593027 0.01475696 0.04696313
+v -0.05610038 0.01710918 0.04630835
+v -0.05556003 0.01931180 0.04615759
+v -0.05888719 0.01247956 0.04202635
+v -0.05926077 0.01089501 0.04202634
+v -0.05948926 0.00975728 0.04202634
+v -0.05662072 0.00792486 0.00369522
+v -0.04382074 0.01999297 0.01717017
+v -0.04915754 -0.00011407 0.01264687
+v -0.05817840 0.01475697 0.04428797
+v -0.05507472 0.01455831 0.00369524
+v -0.05565676 0.01247970 0.00369524
+v -0.05744626 0.01710919 0.04431383
+v -0.05697762 0.01792015 0.04508925
+v -0.05666075 0.01924685 0.04431384
+v -0.05616042 0.01999287 0.04477047
+v -0.05565676 -0.00011420 0.04764803
+v -0.05503303 0.00336984 0.04769973
+v -0.05495797 0.00792469 0.04770406
+v -0.05487292 0.01020014 0.04769115
+v -0.05480788 0.01150124 0.04768253
+v -0.05571347 0.01234766 0.04734653
+v -0.05541828 0.01999286 0.04603697
+v -0.05378888 0.01703438 0.04749732
+v -0.05344032 0.01916614 0.04734224
+v -0.05351037 0.01999286 0.04714408
+v -0.05498966 0.01999286 0.04633421
+v -0.05617210 0.01029282 0.00369523
+v -0.05619211 0.01020031 0.00369523
+v -0.05660404 0.00801540 0.00369522
+v -0.04372568 0.01999296 0.01862621
+v -0.04901245 -0.00011407 0.01490848
+v -0.05505137 -0.00011420 0.04769542
+v -0.05466779 0.00336984 0.04769973
+v -0.05456439 0.00792469 0.04770406
+v -0.05264814 0.01703437 0.04769548
+v -0.05254141 0.01830792 0.04768256
+v -0.05276989 0.01999286 0.04741547
+v -0.04367898 0.01999296 0.01936285
+v -0.04363395 0.01999296 0.02008657
+v -0.04887236 -0.00011408 0.01717010
+v -0.05468113 -0.00011420 0.04769542
+v -0.05229291 0.01703437 0.04769548
+v -0.05103876 0.01999285 0.04768256
+v -0.05170586 0.01999285 0.04764380
+v -0.05181260 0.01999286 0.04763087
+v -0.04873394 -0.00011409 0.01942740
+v -0.04879898 -0.00011409 0.01836337
+v -0.04354556 0.01999295 0.02168909
+v -0.05057013 0.01999285 0.04768256
+v -0.05414411 -0.00011419 0.04758341
+v -0.04920424 0.01999286 0.04744563
+v -0.04983631 0.01999286 0.04757487
+v -0.05032830 0.01999285 0.04767394
+v -0.04866889 -0.00011410 0.02062498
+v -0.04347385 0.01999294 0.02328729
+v -0.04855715 -0.00011410 0.02288659
+v -0.04861219 -0.00011410 0.02168902
+v -0.05353872 -0.00011419 0.04745418
+v -0.04867056 0.01999286 0.04727763
+v -0.04851046 -0.00011411 0.02395063
+v -0.04344550 0.01999294 0.02395070
+v -0.05255642 -0.00011419 0.04692431
+v -0.04675098 0.01999286 0.04634283
+v -0.04847376 -0.00011411 0.02514390
+v -0.04337879 0.01999293 0.02620370
+v -0.04844208 -0.00011412 0.02620363
+v -0.05145403 -0.00011419 0.04632552
+v -0.04631736 0.01999286 0.04607574
+v -0.04841873 -0.00011412 0.02846524
+v -0.04335711 0.01999293 0.02846531
+v -0.05091702 -0.00011419 0.04578704
+v -0.04589209 0.01999286 0.04572250
+v -0.04845208 -0.00011413 0.03072685
+v -0.04339714 0.01999292 0.03072692
+v -0.05031329 -0.00011419 0.04517964
+v -0.04559189 0.01999286 0.04536064
+v -0.04849878 -0.00011414 0.03192012
+v -0.04349720 0.01999291 0.03298423
+v -0.04854048 -0.00011414 0.03298416
+v -0.04994305 -0.00011418 0.04405099
+v -0.04514160 0.01999287 0.04427076
+v -0.04354890 0.01999291 0.03382426
+v -0.04363395 0.01999290 0.03512092
+v -0.04869224 -0.00011415 0.03524577
+v -0.04946941 -0.00011417 0.04202630
+v -0.04454622 0.01999288 0.04213407
+v -0.04388579 0.01999289 0.03750746
+v -0.04902579 -0.00011416 0.03870066
+v -0.04890238 -0.00011416 0.03750739
+v -0.04931264 -0.00011417 0.04096227
+v -0.04416597 0.01999288 0.03976476
+v -0.04914253 -0.00011417 0.03976469
+f 1 2 6
+f 1 6 17
+f 1 17 30
+f 1 30 29
+f 1 29 50
+f 1 50 49
+f 1 49 48
+f 1 48 76
+f 1 76 99
+f 1 99 98
+f 1 98 97
+f 1 97 81
+f 1 81 80
+f 1 80 58
+f 1 58 57
+f 1 57 54
+f 1 54 33
+f 1 33 21
+f 1 21 8
+f 1 8 3
+f 1 3 7
+f 1 7 20
+f 1 20 32
+f 1 32 53
+f 1 53 78
+f 1 78 101
+f 1 101 110
+f 1 110 117
+f 1 117 116
+f 1 116 124
+f 1 124 127
+f 1 127 126
+f 1 126 130
+f 1 130 134
+f 1 134 136
+f 1 136 139
+f 1 139 143
+f 1 143 147
+f 1 147 149
+f 1 149 154
+f 1 154 159
+f 1 159 158
+f 1 158 162
+f 1 162 160
+f 1 160 155
+f 1 155 150
+f 1 150 145
+f 1 145 141
+f 1 141 137
+f 1 137 132
+f 1 132 128
+f 1 128 120
+f 1 120 111
+f 1 111 102
+f 1 102 86
+f 1 86 61
+f 1 61 60
+f 1 60 37
+f 1 37 36
+f 1 36 22
+f 1 22 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 12 18
+f 7 18 19
+f 7 19 20
+f 8 21 35
+f 8 35 59
+f 8 59 85
+f 8 85 92
+f 8 92 96
+f 8 96 95
+f 8 95 107
+f 8 107 115
+f 8 115 114
+f 8 114 113
+f 8 113 119
+f 8 119 123
+f 8 123 122
+f 8 122 121
+f 8 121 129
+f 8 129 133
+f 8 133 138
+f 8 138 142
+f 8 142 146
+f 8 146 151
+f 8 151 156
+f 8 156 161
+f 8 161 157
+f 8 157 153
+f 8 153 152
+f 8 152 148
+f 8 148 144
+f 8 144 140
+f 8 140 135
+f 8 135 131
+f 8 131 125
+f 8 125 118
+f 8 118 109
+f 8 109 108
+f 8 108 100
+f 8 100 77
+f 8 77 52
+f 8 52 31
+f 8 31 19
+f 8 19 18
+f 8 18 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 24 28
+f 15 28 25
+f 16 27 29
+f 16 29 30
+f 16 30 17
+f 19 31 20
+f 20 31 32
+f 21 33 34
+f 21 34 35
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 28
+f 25 41 26
+f 25 28 42
+f 25 42 43
+f 25 43 44
+f 25 44 41
+f 26 41 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 29
+f 28 40 51
+f 28 51 42
+f 31 52 32
+f 32 52 53
+f 33 54 34
+f 34 55 56
+f 34 56 35
+f 34 54 57
+f 34 57 58
+f 34 58 55
+f 35 56 59
+f 37 60 38
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 39
+f 39 65 66
+f 39 66 40
+f 40 66 42
+f 40 42 51
+f 41 44 67
+f 41 67 68
+f 41 68 69
+f 41 69 46
+f 41 46 45
+f 42 66 70
+f 42 70 43
+f 43 70 44
+f 44 70 71
+f 44 71 72
+f 44 72 67
+f 46 69 68
+f 46 68 73
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 47 75 76
+f 47 76 48
+f 52 77 78
+f 52 78 53
+f 55 73 79
+f 55 79 56
+f 55 58 80
+f 55 80 81
+f 55 81 73
+f 56 79 82
+f 56 82 83
+f 56 83 84
+f 56 84 59
+f 59 84 83
+f 59 83 85
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 63
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 65
+f 65 90 66
+f 66 91 70
+f 66 90 91
+f 67 83 79
+f 67 79 68
+f 67 72 92
+f 67 92 83
+f 68 79 73
+f 70 91 93
+f 70 93 94
+f 70 94 95
+f 70 95 96
+f 70 96 72
+f 70 72 71
+f 72 96 92
+f 73 81 74
+f 74 81 97
+f 74 97 98
+f 74 98 75
+f 75 98 99
+f 75 99 76
+f 77 100 78
+f 78 100 101
+f 79 83 82
+f 83 92 85
+f 86 102 87
+f 87 102 111
+f 87 111 103
+f 87 103 104
+f 87 104 88
+f 88 104 112
+f 88 112 105
+f 88 105 89
+f 89 105 90
+f 90 105 106
+f 90 106 93
+f 90 93 91
+f 93 106 94
+f 94 107 95
+f 94 106 107
+f 100 108 101
+f 101 108 109
+f 101 109 110
+f 103 111 112
+f 103 112 104
+f 105 113 106
+f 105 112 119
+f 105 119 113
+f 106 113 114
+f 106 114 115
+f 106 115 107
+f 109 116 117
+f 109 117 110
+f 109 118 116
+f 111 119 112
+f 111 120 121
+f 111 121 122
+f 111 122 123
+f 111 123 119
+f 116 118 124
+f 118 125 126
+f 118 126 127
+f 118 127 124
+f 120 128 121
+f 121 128 129
+f 125 130 126
+f 125 131 130
+f 128 132 133
+f 128 133 129
+f 130 131 134
+f 131 135 136
+f 131 136 134
+f 132 137 133
+f 133 137 138
+f 135 139 136
+f 135 140 139
+f 137 141 142
+f 137 142 138
+f 139 140 143
+f 140 144 143
+f 141 145 142
+f 142 145 146
+f 143 144 147
+f 144 148 149
+f 144 149 147
+f 145 150 151
+f 145 151 146
+f 148 152 149
+f 149 152 153
+f 149 153 154
+f 150 155 156
+f 150 156 151
+f 153 157 158
+f 153 158 159
+f 153 159 154
+f 155 160 161
+f 155 161 156
+f 157 162 158
+f 157 161 162
+f 160 162 161
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_28.obj

@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.02033581 -0.04482514 -0.01673669
+v 0.02033581 -0.04478483 -0.01899617
+v 0.02167222 -0.04399236 -0.01899617
+v 0.02169864 -0.04401386 -0.01673669
+v 0.02033581 -0.04479827 -0.01605608
+v 0.02033581 -0.04415353 -0.02105654
+v 0.02130454 -0.04376401 -0.02078337
+v 0.02281489 -0.04329390 -0.01899617
+v 0.02283911 -0.04331003 -0.01673669
+v 0.02161718 -0.04396820 -0.01447259
+v 0.02033581 -0.04473112 -0.01447259
+v 0.02033581 -0.04410249 -0.02113526
+v 0.02111079 -0.04364849 -0.02113526
+v 0.02164580 -0.04331538 -0.02113526
+v 0.02406544 -0.04169282 -0.02113525
+v 0.02540846 -0.04124690 -0.02040370
+v 0.02400820 -0.04244770 -0.01899617
+v 0.02400820 -0.04247458 -0.01673669
+v 0.02400820 -0.04237250 -0.01447259
+v 0.02275985 -0.04325632 -0.01447259
+v 0.02033581 -0.04156943 0.02616549
+v 0.02033581 -0.03394269 -0.02113522
+v 0.02505179 -0.04097825 -0.02113525
+v 0.02616803 -0.04008907 -0.02113525
+v 0.02655553 -0.03977208 -0.02113525
+v 0.02784130 -0.03912198 -0.02058426
+v 0.02804166 -0.03929392 -0.01899615
+v 0.02667222 -0.04043293 -0.01899616
+v 0.02552955 -0.04134092 -0.01899616
+v 0.02554276 -0.04135168 -0.01673668
+v 0.02547891 -0.04130334 -0.01447258
+v 0.02355685 -0.03933707 0.02616550
+v 0.02200688 -0.04045459 0.02616549
+v 0.02085540 -0.04124438 0.02616549
+v 0.02033581 -0.03201138 0.02616552
+v 0.03316715 -0.01738667 -0.02113516
+v 0.02033581 -0.03207584 0.02427183
+v 0.03162158 -0.01738684 0.02394315
+v 0.03162378 -0.01738684 0.02387833
+v 0.02759472 -0.03890976 -0.02113524
+v 0.02842475 -0.03816833 -0.02113524
+v 0.02920634 -0.03745644 -0.02113524
+v 0.03017288 -0.03693260 -0.02066760
+v 0.02918432 -0.03828385 -0.01899615
+v 0.02804606 -0.03930199 -0.01673667
+v 0.02668543 -0.04044100 -0.01673668
+v 0.02661938 -0.04038460 -0.01447258
+v 0.02472814 -0.03843445 0.02616550
+v 0.02358547 -0.03931558 0.02616550
+v 0.03157314 -0.01738685 0.02616558
+v 0.03159295 -0.01738684 0.02523031
+v 0.04207291 -0.01738667 -0.02113516
+v 0.02997693 -0.03674456 -0.02113523
+v 0.03068807 -0.03601387 -0.02113523
+v 0.03238335 -0.03464920 -0.02062129
+v 0.03152690 -0.03599239 -0.01899614
+v 0.03038424 -0.03714483 -0.01899615
+v 0.02918873 -0.03828386 -0.01673667
+v 0.02798001 -0.03924559 -0.01447257
+v 0.02605575 -0.03731693 0.02616550
+v 0.03995490 -0.01738685 0.02616558
+v 0.04124949 -0.02081984 -0.02033880
+v 0.04143883 -0.01924025 -0.02113517
+v 0.04271140 -0.01738668 -0.01899607
+v 0.03146746 -0.03519453 -0.02113523
+v 0.03451898 -0.03224491 -0.02045460
+v 0.03256829 -0.03485337 -0.01899614
+v 0.03218520 -0.03442354 -0.02113523
+v 0.03298661 -0.03348063 -0.02113522
+v 0.03256829 -0.03485069 -0.01673666
+v 0.03152250 -0.03598971 -0.01673666
+v 0.03038203 -0.03714484 -0.01673667
+v 0.03032039 -0.03708575 -0.01447257
+v 0.02912268 -0.03822477 -0.01447257
+v 0.02722263 -0.03629880 0.02616551
+v 0.03923716 -0.01915984 0.02616557
+v 0.04193641 -0.01941221 -0.01447250
+v 0.04270039 -0.01738670 -0.01447249
+v 0.03901919 -0.02541082 -0.02040364
+v 0.03930541 -0.02398167 -0.02113519
+v 0.04044147 -0.02160156 -0.02113518
+v 0.04102712 -0.02028525 -0.02113517
+v 0.04197384 -0.01941219 -0.01899608
+v 0.04133315 -0.02099445 -0.01899609
+v 0.04080695 -0.02213347 -0.01899609
+v 0.04282588 -0.01738669 -0.01673659
+v 0.03343135 -0.03294873 -0.02113522
+v 0.03427019 -0.03191986 -0.02113522
+v 0.03526975 -0.03059011 -0.02113521
+v 0.03659075 -0.02969556 -0.02016289
+v 0.03462686 -0.03238192 -0.01899613
+v 0.03370876 -0.03352094 -0.01899613
+v 0.03370876 -0.03352095 -0.01673665
+v 0.03250885 -0.03478623 -0.01447256
+v 0.03146305 -0.03592525 -0.01447256
+v 0.02954320 -0.03402883 0.02616552
+v 0.02838072 -0.03518128 0.02616551
+v 0.03922835 -0.01918133 0.02616557
+v 0.04130673 -0.02093538 -0.01447251
+v 0.04205310 -0.01941220 -0.01673660
+v 0.04281488 -0.01738669 -0.01648657
+v 0.03688577 -0.02822880 -0.02113520
+v 0.03813632 -0.02613613 -0.02113520
+v 0.03879462 -0.02499174 -0.02113519
+v 0.03991748 -0.02396825 -0.01899610
+v 0.03910506 -0.02556126 -0.01899610
+v 0.03845336 -0.02670028 -0.01899611
+v 0.04136177 -0.02105088 -0.01673661
+v 0.04083998 -0.02218989 -0.01673661
+v 0.03625169 -0.02919321 -0.02113521
+v 0.03734152 -0.02852431 -0.01899611
+v 0.03659735 -0.02970631 -0.01899612
+v 0.03576953 -0.03084533 -0.01899612
+v 0.03683954 -0.02830402 -0.02113520
+v 0.03577393 -0.03084802 -0.01673664
+v 0.03463126 -0.03238193 -0.01673665
+v 0.03457842 -0.03231210 -0.01447255
+v 0.03365152 -0.03345111 -0.01447255
+v 0.03170964 -0.03158962 0.02616552
+v 0.03059119 -0.03286832 0.02616552
+v 0.03874178 -0.02029886 0.02616557
+v 0.04078934 -0.02207439 -0.01447251
+v 0.03996811 -0.02396826 -0.01673662
+v 0.03912047 -0.02558545 -0.01673662
+v 0.03846878 -0.02672446 -0.01673663
+v 0.03986904 -0.02396827 -0.01447252
+v 0.03735913 -0.02852432 -0.01673663
+v 0.03659956 -0.02970901 -0.01673664
+v 0.03659515 -0.02970095 -0.01536152
+v 0.03261013 -0.03045329 0.02616553
+v 0.03808348 -0.02166353 0.02616556
+v 0.03907424 -0.02549950 -0.01447252
+v 0.03841814 -0.02663851 -0.01447253
+v 0.03807027 -0.02169039 0.02616556
+v 0.03702888 -0.02370785 0.02616555
+v 0.03553835 -0.02624645 0.02616554
+v 0.03454319 -0.02780185 0.02616554
+v 0.03375059 -0.02891938 0.02616553
+v 0.03640581 -0.02482537 0.02616555
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 35
+f 1 35 37
+f 1 37 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 17 9
+f 8 16 17
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 17 18
+f 10 20 21
+f 10 21 11
+f 12 22 36
+f 12 36 52
+f 12 52 63
+f 12 63 82
+f 12 82 81
+f 12 81 80
+f 12 80 104
+f 12 104 103
+f 12 103 102
+f 12 102 114
+f 12 114 110
+f 12 110 89
+f 12 89 88
+f 12 88 87
+f 12 87 69
+f 12 69 68
+f 12 68 65
+f 12 65 54
+f 12 54 53
+f 12 53 42
+f 12 42 41
+f 12 41 40
+f 12 40 25
+f 12 25 24
+f 12 24 23
+f 12 23 15
+f 12 15 14
+f 12 14 13
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 30 31
+f 18 31 19
+f 18 29 30
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 33
+f 21 33 32
+f 21 32 49
+f 21 49 48
+f 21 48 60
+f 21 60 75
+f 21 75 97
+f 21 97 96
+f 21 96 120
+f 21 120 119
+f 21 119 130
+f 21 130 138
+f 21 138 137
+f 21 137 136
+f 21 136 139
+f 21 139 135
+f 21 135 134
+f 21 134 131
+f 21 131 121
+f 21 121 98
+f 21 98 76
+f 21 76 61
+f 21 61 50
+f 21 50 35
+f 22 37 38
+f 22 38 39
+f 22 39 36
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 30
+f 28 30 29
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 35 50 51
+f 35 51 38
+f 35 38 37
+f 36 39 38
+f 36 38 51
+f 36 51 50
+f 36 50 61
+f 36 61 78
+f 36 78 101
+f 36 101 86
+f 36 86 64
+f 36 64 52
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 47
+f 45 47 46
+f 47 59 48
+f 48 59 60
+f 52 62 63
+f 52 64 62
+f 54 65 55
+f 55 66 67
+f 55 67 56
+f 55 65 68
+f 55 68 69
+f 55 69 66
+f 56 67 70
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 58 72 73
+f 58 73 74
+f 58 74 59
+f 59 74 75
+f 59 75 60
+f 61 76 77
+f 61 77 78
+f 62 79 80
+f 62 80 81
+f 62 81 82
+f 62 82 63
+f 62 64 83
+f 62 83 84
+f 62 84 85
+f 62 85 79
+f 64 86 83
+f 66 69 87
+f 66 87 88
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 70
+f 70 93 94
+f 70 94 95
+f 70 95 71
+f 71 95 73
+f 71 73 72
+f 73 95 96
+f 73 96 97
+f 73 97 75
+f 73 75 74
+f 76 98 77
+f 77 99 100
+f 77 100 101
+f 77 101 78
+f 77 98 99
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 79 85 105
+f 79 105 106
+f 79 106 107
+f 79 107 90
+f 79 90 102
+f 83 86 100
+f 83 100 84
+f 84 100 108
+f 84 108 109
+f 84 109 85
+f 85 109 105
+f 86 101 100
+f 89 110 90
+f 90 107 111
+f 90 111 112
+f 90 112 113
+f 90 113 91
+f 90 110 114
+f 90 114 102
+f 91 113 115
+f 91 115 116
+f 91 116 92
+f 92 116 93
+f 93 116 117
+f 93 117 118
+f 93 118 94
+f 94 118 119
+f 94 119 120
+f 94 120 96
+f 94 96 95
+f 98 121 99
+f 99 122 108
+f 99 108 100
+f 99 121 122
+f 105 109 123
+f 105 123 106
+f 106 123 124
+f 106 124 125
+f 106 125 107
+f 107 125 111
+f 108 122 109
+f 109 122 126
+f 109 126 123
+f 111 125 127
+f 111 127 112
+f 112 127 128
+f 112 128 115
+f 112 115 113
+f 115 128 129
+f 115 129 116
+f 116 129 117
+f 117 129 130
+f 117 130 119
+f 117 119 118
+f 121 131 122
+f 122 131 126
+f 123 126 132
+f 123 132 124
+f 124 132 125
+f 125 132 133
+f 125 133 129
+f 125 129 127
+f 126 131 134
+f 126 134 135
+f 126 135 132
+f 127 129 128
+f 129 133 136
+f 129 136 137
+f 129 137 138
+f 129 138 130
+f 132 135 139
+f 132 139 133
+f 133 139 136
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_29.obj

@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
+v -0.05645679 0.01999288 0.04188737
+v -0.05183778 0.01999293 0.02619628
+v -0.05635176 0.01999287 0.04430754
+v -0.05580093 0.02159398 0.04202628
+v -0.05489534 0.02295544 0.04074254
+v -0.04337932 0.01999293 0.02619628
+v -0.05112590 0.02159403 0.02619629
+v -0.05616037 0.01999287 0.04477263
+v -0.05482298 0.02280531 0.04546502
+v -0.05568890 0.02159397 0.04428650
+v -0.05498870 0.02314239 0.04428651
+v -0.05504238 0.02325564 0.04202629
+v -0.05040470 0.02307926 0.02619629
+v -0.05446821 0.02439326 0.04202629
+v -0.05257299 0.02740321 0.04080359
+v -0.04335831 0.01999293 0.02846703
+v -0.03261252 0.03280959 0.02619633
+v -0.03261252 0.03280433 0.02663196
+v -0.03261252 0.03278326 0.02846708
+v -0.05541815 0.01999286 0.04603743
+v -0.05508673 0.02159396 0.04575333
+v -0.05366298 0.02368750 0.04607533
+v -0.05291143 0.02574680 0.04584173
+v -0.05249131 0.02726626 0.04537875
+v -0.05441453 0.02428002 0.04428651
+v -0.04978852 0.02421951 0.02619630
+v -0.05270370 0.02761914 0.04387194
+v -0.05352994 0.02614973 0.04202630
+v -0.04796799 0.02732163 0.02619631
+v -0.04867519 0.02614978 0.02619631
+v -0.05270603 0.02762442 0.04202630
+v -0.05199416 0.02876204 0.04202631
+v -0.05085049 0.03048427 0.04202631
+v -0.04338865 0.01999292 0.03022849
+v -0.03261252 0.03282275 0.03072730
+v -0.03261252 0.04217653 0.02619636
+v -0.05498870 0.01999286 0.04633626
+v -0.05364431 0.02159396 0.04675928
+v -0.05158104 0.02636301 0.04645625
+v -0.05097653 0.02842758 0.04607534
+v -0.05048172 0.02994704 0.04570285
+v -0.05323819 0.02636302 0.04449065
+v -0.05078280 0.03038156 0.04428653
+v -0.05203384 0.02839599 0.04449065
+v -0.04717209 0.02846978 0.02619631
+v -0.05005693 0.03162452 0.04202632
+v -0.04339799 0.01999292 0.03072725
+v -0.03261252 0.03293071 0.03298753
+v -0.03309332 0.04188685 0.02619636
+v -0.03438870 0.04560250 0.04076788
+v -0.03261252 0.04689549 0.04202637
+v -0.05350893 0.01999286 0.04714439
+v -0.05116325 0.02372436 0.04738011
+v -0.04885491 0.02820901 0.04724543
+v -0.04914200 0.03070545 0.04625002
+v -0.04842312 0.03247508 0.04585859
+v -0.04783028 0.03399191 0.04511150
+v -0.04998457 0.03151918 0.04428654
+v -0.04603776 0.03006298 0.02619632
+v -0.04806602 0.03427633 0.04360469
+v -0.04806602 0.03427633 0.04244933
+v -0.04879890 0.03320192 0.04182850
+v -0.04792598 0.03410517 0.04094251
+v -0.04349835 0.01999291 0.03298748
+v -0.03261252 0.03310977 0.03525406
+v -0.04363373 0.01999290 0.03512564
+v -0.04354970 0.01999291 0.03382927
+v -0.03440271 0.04105997 0.02619636
+v -0.03746259 0.04388291 0.04202636
+v -0.03576810 0.04502316 0.04202637
+v -0.03462677 0.04575261 0.04202637
+v -0.03309332 0.04663215 0.04202637
+v -0.03309332 0.04651627 0.04428659
+v -0.03261252 0.04677698 0.04428659
+v -0.05276905 0.01999286 0.04741587
+v -0.05147601 0.02159396 0.04755267
+v -0.05026699 0.02286851 0.04768525
+v -0.04794698 0.02730575 0.04767896
+v -0.04921668 0.02614971 0.04752744
+v -0.04727712 0.02882522 0.04758637
+v -0.04662593 0.03057115 0.04740328
+v -0.04695969 0.03313343 0.04640997
+v -0.04630850 0.03486092 0.04593226
+v -0.04563631 0.03638039 0.04537668
+v -0.04685699 0.03532968 0.04449068
+v -0.04874054 0.03313344 0.04432863
+v -0.04515783 0.03121113 0.02619632
+v -0.04588371 0.03664373 0.04386986
+v -0.04588371 0.03664638 0.04202633
+v -0.04720243 0.03512428 0.04182851
+v -0.04572967 0.03648047 0.04080362
+v -0.04301988 0.03373918 0.02619633
+v -0.04401884 0.03260156 0.02619633
+v -0.03261252 0.03336520 0.03750587
+v -0.04388580 0.01999289 0.03750582
+v -0.03553937 0.04025416 0.02619636
+v -0.03860393 0.04308236 0.04202636
+v -0.03737857 0.04382496 0.04428658
+v -0.03567241 0.04496258 0.04428659
+v -0.03453107 0.04569203 0.04428659
+v -0.03425799 0.04552348 0.04543564
+v -0.03261252 0.04629243 0.04535988
+v -0.05180977 0.01999286 0.04763263
+v -0.05170474 0.01999285 0.04764526
+v -0.05103721 0.01999285 0.04768524
+v -0.05033234 0.02159395 0.04768736
+v -0.04575301 0.02972319 0.04769160
+v -0.04506681 0.03124266 0.04762425
+v -0.04438995 0.03289116 0.04747905
+v -0.04472838 0.03547450 0.04647312
+v -0.04411453 0.03715460 0.04594700
+v -0.04336998 0.03867406 0.04541457
+v -0.04463035 0.03766022 0.04464222
+v -0.04362672 0.03891634 0.04390775
+v -0.04477506 0.03778400 0.04202634
+v -0.04187154 0.03491366 0.02619634
+v -0.04346568 0.03876625 0.04079100
+v -0.03261252 0.03365486 0.03965456
+v -0.04416588 0.01999288 0.03976604
+v -0.03707515 0.03912180 0.02619635
+v -0.04108265 0.04094932 0.04090465
+v -0.04017005 0.04183413 0.04180538
+v -0.04126237 0.04110205 0.04241147
+v -0.04126237 0.04110205 0.04363839
+v -0.03851990 0.04302178 0.04428658
+v -0.03693511 0.04351685 0.04572184
+v -0.03309332 0.04585002 0.04576394
+v -0.03261252 0.04601592 0.04583550
+v -0.05096486 0.01999285 0.04768524
+v -0.05009194 0.02159395 0.04768736
+v -0.04319960 0.03162713 0.04769371
+v -0.04354503 0.03206953 0.04769371
+v -0.04280748 0.03358637 0.04764110
+v -0.04211895 0.03515850 0.04750221
+v -0.04245505 0.03776291 0.04647102
+v -0.04184587 0.03933504 0.04592385
+v -0.03944651 0.04145754 0.04586494
+v -0.04096828 0.04085450 0.04514520
+v -0.04363606 0.03892425 0.04202634
+v -0.04070454 0.03604602 0.02619634
+v -0.03261252 0.03410253 0.04202633
+v -0.04454399 0.01999288 0.04213570
+v -0.03822582 0.03820276 0.02619635
+v -0.03955620 0.03707040 0.02619635
+v -0.04210494 0.04023831 0.04180538
+v -0.04010236 0.04178672 0.04434970
+v -0.03768199 0.04216592 0.04627111
+v -0.03516126 0.04431213 0.04597017
+v -0.03309332 0.04437006 0.04675305
+v -0.03261252 0.04482563 0.04662888
+v -0.05056808 0.01999285 0.04768314
+v -0.05018530 0.02032993 0.04768314
+v -0.03626058 0.03852658 0.04768742
+v -0.03626058 0.03875832 0.04768742
+v -0.03900538 0.03655418 0.04768951
+v -0.04052949 0.03585107 0.04764321
+v -0.03983862 0.03740214 0.04748118
+v -0.03751394 0.03963524 0.04741384
+v -0.04010236 0.03998285 0.04641421
+v -0.03261252 0.03477140 0.04427392
+v -0.04513916 0.01999287 0.04426965
+v -0.03537599 0.04209219 0.04715710
+v -0.03261252 0.04433319 0.04688142
+v -0.05032534 0.01999285 0.04767472
+v -0.03261252 0.04061485 0.04765376
+v -0.03665503 0.03875832 0.04768742
+v -0.03261252 0.04070702 0.04765376
+v -0.03817914 0.03807365 0.04763060
+v -0.03310966 0.04192628 0.04756116
+v -0.03261252 0.04239239 0.04752750
+v -0.03261252 0.03484513 0.04442545
+v -0.04558963 0.01999286 0.04536399
+v -0.04983286 0.01999286 0.04757581
+v -0.03261252 0.04038312 0.04763061
+v -0.03261252 0.04134958 0.04764113
+v -0.03261252 0.04211325 0.04758431
+v -0.03261252 0.03567991 0.04581441
+v -0.04588838 0.01999286 0.04572386
+v -0.04920268 0.01999286 0.04744533
+v -0.03261252 0.03810262 0.04712973
+v -0.03261252 0.03593535 0.04600381
+v -0.04631551 0.01999286 0.04607531
+v -0.04866819 0.01999286 0.04727908
+v -0.03261252 0.03752064 0.04687298
+v -0.04674963 0.01999286 0.04634468
+f 1 2 6
+f 1 6 16
+f 1 16 34
+f 1 34 47
+f 1 47 64
+f 1 64 67
+f 1 67 66
+f 1 66 95
+f 1 95 119
+f 1 119 142
+f 1 142 161
+f 1 161 172
+f 1 172 178
+f 1 178 182
+f 1 182 185
+f 1 185 183
+f 1 183 179
+f 1 179 173
+f 1 173 164
+f 1 164 151
+f 1 151 129
+f 1 129 105
+f 1 105 104
+f 1 104 103
+f 1 103 75
+f 1 75 52
+f 1 52 37
+f 1 37 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 13
+f 2 13 26
+f 2 26 30
+f 2 30 29
+f 2 29 45
+f 2 45 59
+f 2 59 87
+f 2 87 93
+f 2 93 92
+f 2 92 116
+f 2 116 140
+f 2 140 144
+f 2 144 143
+f 2 143 120
+f 2 120 96
+f 2 96 68
+f 2 68 49
+f 2 49 36
+f 2 36 17
+f 2 17 6
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 7
+f 5 12 14
+f 5 14 15
+f 5 15 13
+f 6 17 18
+f 6 18 19
+f 6 19 16
+f 8 20 21
+f 8 21 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 11
+f 9 11 10
+f 9 21 22
+f 11 25 14
+f 11 14 12
+f 13 15 26
+f 14 25 27
+f 14 27 28
+f 14 28 15
+f 15 29 30
+f 15 30 26
+f 15 28 31
+f 15 31 32
+f 15 32 33
+f 15 33 29
+f 16 19 35
+f 16 35 34
+f 17 36 51
+f 17 51 74
+f 17 74 102
+f 17 102 128
+f 17 128 150
+f 17 150 163
+f 17 163 170
+f 17 170 176
+f 17 176 175
+f 17 175 167
+f 17 167 165
+f 17 165 174
+f 17 174 180
+f 17 180 184
+f 17 184 181
+f 17 181 177
+f 17 177 171
+f 17 171 160
+f 17 160 141
+f 17 141 118
+f 17 118 94
+f 17 94 65
+f 17 65 48
+f 17 48 35
+f 17 35 19
+f 17 19 18
+f 20 37 38
+f 20 38 22
+f 20 22 21
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 42 25
+f 24 41 43
+f 24 43 44
+f 24 44 27
+f 24 27 42
+f 25 42 27
+f 27 44 43
+f 27 43 33
+f 27 33 32
+f 27 32 31
+f 27 31 28
+f 29 33 45
+f 33 43 46
+f 33 46 45
+f 34 35 47
+f 35 48 47
+f 36 49 50
+f 36 50 51
+f 37 52 38
+f 38 53 39
+f 38 52 53
+f 39 54 40
+f 39 53 54
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 43
+f 43 58 46
+f 45 46 59
+f 46 58 60
+f 46 60 61
+f 46 61 62
+f 46 62 63
+f 46 63 59
+f 47 48 64
+f 48 65 66
+f 48 66 67
+f 48 67 64
+f 49 68 50
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 50 68 69
+f 51 72 73
+f 51 73 74
+f 52 75 53
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 54 79 78
+f 54 78 80
+f 55 82 56
+f 56 82 83
+f 56 83 84
+f 56 84 57
+f 57 84 85
+f 57 85 60
+f 57 60 86
+f 57 86 58
+f 58 86 60
+f 59 63 87
+f 60 85 88
+f 60 88 89
+f 60 89 61
+f 61 63 62
+f 61 89 90
+f 61 90 63
+f 63 90 89
+f 63 89 91
+f 63 91 92
+f 63 92 93
+f 63 93 87
+f 65 94 66
+f 66 94 95
+f 68 96 97
+f 68 97 69
+f 69 97 98
+f 69 98 70
+f 70 98 99
+f 70 99 100
+f 70 100 71
+f 71 100 72
+f 72 100 73
+f 73 100 101
+f 73 101 74
+f 74 101 102
+f 75 103 76
+f 76 103 77
+f 77 103 104
+f 77 104 105
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 78 107 108
+f 78 108 80
+f 80 108 109
+f 80 109 81
+f 81 109 82
+f 82 109 110
+f 82 110 83
+f 83 110 111
+f 83 111 84
+f 84 88 85
+f 84 111 112
+f 84 112 113
+f 84 113 88
+f 88 113 114
+f 88 114 115
+f 88 115 89
+f 89 115 91
+f 91 116 92
+f 91 115 117
+f 91 117 116
+f 94 118 95
+f 95 118 119
+f 96 120 121
+f 96 121 97
+f 97 122 123
+f 97 123 124
+f 97 124 125
+f 97 125 98
+f 97 121 122
+f 98 125 126
+f 98 126 101
+f 98 101 99
+f 99 101 100
+f 101 127 102
+f 101 126 127
+f 102 127 128
+f 105 129 130
+f 105 130 106
+f 106 130 131
+f 106 131 132
+f 106 132 107
+f 107 132 133
+f 107 133 108
+f 108 133 109
+f 109 133 134
+f 109 134 110
+f 110 134 135
+f 110 135 111
+f 111 135 136
+f 111 136 112
+f 112 114 113
+f 112 136 137
+f 112 137 138
+f 112 138 124
+f 112 124 114
+f 114 139 115
+f 114 124 139
+f 115 139 117
+f 116 117 140
+f 117 139 121
+f 117 121 140
+f 118 141 119
+f 119 141 142
+f 120 143 121
+f 121 143 144
+f 121 144 140
+f 121 139 145
+f 121 145 123
+f 121 123 122
+f 123 145 139
+f 123 139 124
+f 124 146 125
+f 124 138 146
+f 125 146 138
+f 125 138 126
+f 126 137 147
+f 126 147 148
+f 126 148 127
+f 126 138 137
+f 127 148 149
+f 127 149 128
+f 128 149 150
+f 129 151 152
+f 129 152 130
+f 130 152 131
+f 131 153 154
+f 131 154 132
+f 131 152 153
+f 132 154 155
+f 132 155 156
+f 132 156 133
+f 133 156 134
+f 134 156 157
+f 134 157 135
+f 135 157 158
+f 135 158 159
+f 135 159 136
+f 136 159 137
+f 137 159 147
+f 141 160 142
+f 142 160 161
+f 147 159 162
+f 147 162 149
+f 147 149 148
+f 149 163 150
+f 149 162 163
+f 151 164 152
+f 152 164 165
+f 152 165 153
+f 153 165 167
+f 153 167 154
+f 154 166 155
+f 154 167 166
+f 155 166 156
+f 156 166 168
+f 156 168 157
+f 157 168 158
+f 158 168 169
+f 158 169 170
+f 158 170 162
+f 158 162 159
+f 160 171 172
+f 160 172 161
+f 162 170 163
+f 164 173 174
+f 164 174 165
+f 166 167 175
+f 166 175 176
+f 166 176 169
+f 166 169 168
+f 169 176 170
+f 171 177 172
+f 172 177 178
+f 173 179 174
+f 174 179 180
+f 177 181 178
+f 178 181 182
+f 179 183 180
+f 180 183 185
+f 180 185 184
+f 181 184 182
+f 182 184 185
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_3.obj

@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 -0.04702541 -0.03169742
+v -0.00195061 -0.04639988 -0.03268019
+v -0.00107771 -0.04626649 -0.03275370
+v -0.00109434 -0.04693802 -0.03169742
+v -0.00195061 -0.03594976 -0.03169738
+v -0.00195061 -0.04566395 -0.03375918
+v 0.00117104 -0.04622969 -0.03234935
+v -0.00181760 -0.04565476 -0.03375269
+v -0.00029210 -0.04556276 -0.03363593
+v 0.00122092 -0.04660226 -0.03169742
+v 0.02573274 -0.01738609 -0.03169731
+v -0.00195061 -0.00004130 -0.03284868
+v -0.00195061 -0.04341478 -0.03602959
+v -0.00160145 -0.04340098 -0.03601662
+v -0.00007596 -0.04330899 -0.03593769
+v 0.00117104 -0.04544317 -0.03347916
+v 0.00345720 -0.04600892 -0.03203798
+v 0.00117104 -0.04430248 -0.03470842
+v 0.00345720 -0.04620210 -0.03169742
+v 0.03753766 -0.01738609 -0.03169731
+v 0.02798565 -0.00004130 -0.03229513
+v -0.00195061 -0.00004127 -0.04098977
+v -0.00195061 -0.04316641 -0.03621771
+v -0.00195061 -0.04231548 -0.03685019
+v -0.00094886 -0.04240288 -0.03670531
+v 0.00117104 -0.04205792 -0.03672152
+v 0.00117104 -0.04319860 -0.03583823
+v 0.00345720 -0.04407711 -0.03449219
+v 0.00345720 -0.04521780 -0.03316887
+v 0.00530276 -0.04578814 -0.03171472
+v 0.00531107 -0.04579734 -0.03169742
+v 0.03693078 -0.01905572 -0.03169732
+v 0.03686843 -0.01898213 -0.03185949
+v 0.03816115 -0.01467238 -0.03229518
+v 0.03861423 -0.01324652 -0.03229518
+v 0.03880544 -0.01257959 -0.03229518
+v 0.03897586 -0.01190806 -0.03229517
+v 0.03937490 -0.01029823 -0.03229517
+v 0.03938737 -0.01024764 -0.03229517
+v 0.03979057 -0.00803067 -0.03229516
+v 0.04014804 -0.00574470 -0.03229515
+v 0.04038081 -0.00346794 -0.03229514
+v 0.04051382 -0.00099800 -0.03229513
+v 0.04050967 -0.00004590 -0.03229513
+v 0.04042653 -0.00004130 -0.03229513
+v 0.02628973 -0.00004126 -0.04253582
+v -0.00195061 -0.03187455 -0.04274244
+v -0.00195061 -0.04071945 -0.03800161
+v -0.00111512 -0.04067345 -0.03797133
+v 0.00345720 -0.04181874 -0.03655178
+v 0.00117104 -0.04049407 -0.03784917
+v 0.00345720 -0.04295942 -0.03562308
+v 0.00573921 -0.04379654 -0.03420352
+v 0.00593457 -0.04505682 -0.03250504
+v 0.00752242 -0.04353438 -0.03392134
+v 0.00658717 -0.04544317 -0.03169742
+v 0.03641120 -0.02026999 -0.03169732
+v 0.03603294 -0.01961226 -0.03259143
+v 0.03630313 -0.01763447 -0.03336553
+v 0.03661903 -0.01738609 -0.03307145
+v 0.03708042 -0.01738609 -0.03244222
+v 0.03831911 -0.01257959 -0.03297522
+v 0.03713446 -0.01697674 -0.03259034
+v 0.03661488 -0.01611663 -0.03374069
+v 0.03861423 -0.01029823 -0.03337956
+v 0.03878050 -0.00879419 -0.03360011
+v 0.03951623 -0.00803067 -0.03273194
+v 0.03997346 -0.00574470 -0.03255895
+v 0.04020207 -0.00346794 -0.03255894
+v 0.03913381 -0.00346794 -0.03401633
+v 0.03918785 -0.00119117 -0.03408011
+v 0.03987785 -0.00004130 -0.03315464
+v 0.04048057 -0.00004130 -0.03233621
+v 0.02849692 -0.00004127 -0.04143304
+v 0.02628973 -0.00119114 -0.04253582
+v 0.02286049 -0.01371104 -0.04272831
+v -0.00111512 -0.03187455 -0.04274244
+v -0.00195061 -0.03199414 -0.04274244
+v 0.01825076 -0.02048613 -0.04273807
+v -0.00195061 -0.03958337 -0.03867949
+v -0.00111512 -0.03953737 -0.03865462
+v 0.00117104 -0.03935339 -0.03855298
+v 0.00345720 -0.04024110 -0.03767942
+v 0.00573921 -0.04152437 -0.03632906
+v 0.00345720 -0.03910502 -0.03841027
+v 0.00573921 -0.04266046 -0.03533333
+v 0.00817917 -0.04419670 -0.03275478
+v 0.00904375 -0.04328140 -0.03363808
+v 0.00903960 -0.04100463 -0.03591282
+v 0.01031154 -0.04386554 -0.03219474
+v 0.00808357 -0.04494183 -0.03169742
+v 0.03471528 -0.02350346 -0.03169734
+v 0.03462799 -0.02344826 -0.03189411
+v 0.03502703 -0.02164985 -0.03261198
+v 0.03444094 -0.02085873 -0.03385315
+v 0.03477348 -0.01941447 -0.03418721
+v 0.03682271 -0.01485636 -0.03396988
+v 0.03718018 -0.01257958 -0.03433856
+v 0.03519330 -0.01738608 -0.03460777
+v 0.03530137 -0.01684794 -0.03471913
+v 0.03430793 -0.01605682 -0.03597003
+v 0.03566300 -0.01485635 -0.03509969
+v 0.03747531 -0.01029822 -0.03462830
+v 0.03772055 -0.00808125 -0.03483695
+v 0.03892182 -0.00727635 -0.03376985
+v 0.03902574 -0.00574470 -0.03388985
+v 0.03803230 -0.00346793 -0.03514614
+v 0.03809049 -0.00119117 -0.03520992
+v 0.03863917 -0.00004129 -0.03465096
+v 0.03918785 -0.00004129 -0.03408011
+v 0.03428299 -0.00004128 -0.03820904
+v 0.03428299 -0.00011487 -0.03820904
+v 0.02849692 -0.00119115 -0.04143196
+v 0.02628973 -0.00346790 -0.04249258
+v 0.02286049 -0.01372024 -0.04272831
+v 0.02060342 -0.01816797 -0.04273374
+v 0.01837545 -0.02067011 -0.04273807
+v -0.00111512 -0.03198954 -0.04274244
+v -0.00195061 -0.03313482 -0.04232943
+v -0.00111512 -0.03312562 -0.04228295
+v 0.00102971 -0.03285885 -0.04220943
+v 0.00577662 -0.03975815 -0.03757022
+v 0.00503673 -0.03889804 -0.03828810
+v 0.00751826 -0.04125300 -0.03611932
+v 0.01031154 -0.04190153 -0.03455164
+v 0.01258938 -0.04142778 -0.03408134
+v 0.01031154 -0.04303763 -0.03332454
+v 0.00817501 -0.04010771 -0.03677558
+v 0.01031154 -0.03959718 -0.03655394
+v 0.01258938 -0.03908663 -0.03618850
+v 0.01031154 -0.04073786 -0.03568145
+v 0.01196173 -0.04354358 -0.03174822
+v 0.01031154 -0.04416451 -0.03169741
+v 0.03403359 -0.02469933 -0.03169734
+v 0.03403775 -0.02238118 -0.03340015
+v 0.03366781 -0.02410600 -0.03261199
+v 0.03210075 -0.02074833 -0.03602843
+v 0.03355973 -0.01941447 -0.03531702
+v 0.03243744 -0.02396340 -0.03411372
+v 0.03306509 -0.02156245 -0.03477213
+v 0.03397955 -0.01757926 -0.03569649
+v 0.03432872 -0.01738608 -0.03544026
+v 0.03603710 -0.01257958 -0.03546945
+v 0.03634470 -0.01029822 -0.03575810
+v 0.03241665 -0.01941447 -0.03626303
+v 0.03305262 -0.01738608 -0.03645655
+v 0.03318563 -0.01694453 -0.03649871
+v 0.03313991 -0.01485634 -0.03710956
+v 0.03452408 -0.01485635 -0.03613868
+v 0.03651096 -0.00888617 -0.03590297
+v 0.03665644 -0.00736833 -0.03602406
+v 0.03791176 -0.00574469 -0.03501965
+v 0.03677283 -0.00574469 -0.03612243
+v 0.03688922 -0.00346793 -0.03621973
+v 0.03751687 -0.00004129 -0.03574725
+v 0.03809049 -0.00004129 -0.03520992
+v 0.03695157 -0.00119117 -0.03627053
+v 0.03519330 -0.00004128 -0.03755278
+v 0.03519330 -0.00099798 -0.03755062
+v 0.03425389 -0.00163271 -0.03819283
+v 0.02844288 -0.00346791 -0.04137791
+v 0.02628973 -0.00574466 -0.04238664
+v 0.02628973 -0.00802603 -0.04219853
+v 0.02377496 -0.01280033 -0.04250992
+v 0.02377496 -0.01463094 -0.04224179
+v 0.02060342 -0.01832436 -0.04273374
+v 0.01756906 -0.02219256 -0.04266671
+v 0.01537435 -0.02437733 -0.04266997
+v 0.01384885 -0.02516845 -0.04273592
+v 0.00016929 -0.03195734 -0.04273379
+v 0.01147124 -0.02739461 -0.04273160
+v 0.00573921 -0.03079826 -0.04239537
+v 0.00802537 -0.03079827 -0.04202670
+v 0.00345720 -0.03307503 -0.04169264
+v 0.00655807 -0.03866346 -0.03814647
+v 0.01258938 -0.04022271 -0.03521115
+v 0.01390289 -0.04112883 -0.03377970
+v 0.01267252 -0.04265127 -0.03252449
+v 0.00802537 -0.03839209 -0.03798105
+v 0.01031154 -0.03792294 -0.03768157
+v 0.01239402 -0.03741699 -0.03736696
+v 0.01379897 -0.03880146 -0.03597552
+v 0.01198667 -0.04356197 -0.03169741
+v 0.01319210 -0.04301003 -0.03169741
+v 0.03218803 -0.02754184 -0.03169735
+v 0.03254966 -0.02607919 -0.03246929
+v 0.03206333 -0.02520988 -0.03376018
+v 0.03068332 -0.01929947 -0.03745122
+v 0.03167677 -0.02226158 -0.03569111
+v 0.03015127 -0.02353105 -0.03625548
+v 0.03089116 -0.02158085 -0.03652900
+v 0.03089116 -0.02416118 -0.03536894
+v 0.03489402 -0.01257958 -0.03642086
+v 0.03520161 -0.01029822 -0.03663924
+v 0.03137748 -0.01738607 -0.03758527
+v 0.03124863 -0.01713310 -0.03774961
+v 0.03173080 -0.01485634 -0.03804908
+v 0.03197189 -0.01363746 -0.03819179
+v 0.03303599 -0.01275896 -0.03767067
+v 0.03562144 -0.00808585 -0.03668248
+v 0.03542192 -0.00574468 -0.03710844
+v 0.03542192 -0.00346792 -0.03729115
+v 0.03695157 -0.00004129 -0.03627269
+v 0.03598722 -0.00004128 -0.03697760
+v 0.03418739 -0.00346792 -0.03815067
+v 0.03290298 -0.00574468 -0.03871396
+v 0.02832650 -0.00574467 -0.04126115
+v 0.03270346 -0.00802605 -0.03861774
+v 0.03245406 -0.01029821 -0.03847612
+v 0.02628973 -0.01029820 -0.04187094
+v 0.03058772 -0.01485634 -0.03867182
+v 0.03010555 -0.01713310 -0.03842425
+v 0.03004735 -0.01738607 -0.03839397
+v 0.02980627 -0.01846236 -0.03826100
+v 0.02150958 -0.01921667 -0.04213586
+v 0.01989264 -0.01984680 -0.04261805
+v 0.01925667 -0.02153482 -0.04233588
+v 0.01694972 -0.02375639 -0.04239752
+v 0.01471759 -0.02605615 -0.04232941
+v 0.01299674 -0.02668169 -0.04260295
+v 0.01237740 -0.02830073 -0.04208724
+v 0.01438506 -0.03459289 -0.03840594
+v 0.01239402 -0.03535180 -0.03856703
+v 0.01149618 -0.03651549 -0.03822106
+v 0.01031154 -0.03678226 -0.03837027
+v 0.00802537 -0.03725601 -0.03862542
+v 0.01542838 -0.04073787 -0.03331696
+v 0.01475085 -0.04165317 -0.03256124
+v 0.01461368 -0.03977196 -0.03470625
+v 0.01715755 -0.03910963 -0.03402187
+v 0.01468434 -0.03762398 -0.03644798
+v 0.01301752 -0.03611073 -0.03799402
+v 0.01663797 -0.03686046 -0.03621229
+v 0.01532447 -0.03837830 -0.03563387
+v 0.01651327 -0.04132200 -0.03180984
+v 0.01656731 -0.04135880 -0.03169740
+v 0.03215063 -0.02759703 -0.03169735
+v 0.03154375 -0.02673232 -0.03316231
+v 0.03002241 -0.02777641 -0.03397209
+v 0.03080802 -0.02607918 -0.03433753
+v 0.02967741 -0.02504889 -0.03592249
+v 0.02939892 -0.01998480 -0.03803612
+v 0.02877542 -0.02416117 -0.03685985
+v 0.02860915 -0.02191200 -0.03783288
+v 0.03359714 -0.01029821 -0.03776797
+v 0.03220051 -0.01211502 -0.03833233
+v 0.03385070 -0.00802605 -0.03793662
+v 0.03404606 -0.00574468 -0.03806418
+v 0.02787342 -0.02129567 -0.03843508
+v 0.02860915 -0.01929947 -0.03862319
+v 0.02742035 -0.02281811 -0.03820263
+v 0.02586576 -0.02396339 -0.03854104
+v 0.02535449 -0.02536164 -0.03830967
+v 0.02397032 -0.02617116 -0.03860160
+v 0.02318887 -0.02773040 -0.03835510
+v 0.02169247 -0.02850312 -0.03863295
+v 0.02091517 -0.02996117 -0.03834754
+v 0.01932733 -0.03075228 -0.03857674
+v 0.01850015 -0.03209074 -0.03828376
+v 0.01715755 -0.03256450 -0.03850972
+v 0.01590640 -0.03414213 -0.03817133
+v 0.01722822 -0.04031931 -0.03256124
+v 0.01830479 -0.03877387 -0.03369428
+v 0.01730304 -0.03762398 -0.03527060
+v 0.01503766 -0.03535180 -0.03776373
+v 0.01730304 -0.03552659 -0.03679394
+v 0.01815515 -0.03639591 -0.03588144
+v 0.01773533 -0.04067807 -0.03169740
+v 0.03210075 -0.02766603 -0.03169735
+v 0.03080802 -0.02846174 -0.03251578
+v 0.02941554 -0.02929425 -0.03337531
+v 0.02849692 -0.02843414 -0.03478296
+v 0.02922849 -0.02624476 -0.03557653
+v 0.02789005 -0.03018655 -0.03408671
+v 0.02758246 -0.02756942 -0.03605116
+v 0.02808957 -0.02624476 -0.03637226
+v 0.02700884 -0.02396339 -0.03798533
+v 0.02618166 -0.02617116 -0.03751720
+v 0.02471436 -0.02688409 -0.03799939
+v 0.02397032 -0.02850312 -0.03761666
+v 0.02243651 -0.02924824 -0.03801995
+v 0.02169247 -0.03075228 -0.03760046
+v 0.02002149 -0.03148361 -0.03798428
+v 0.01932733 -0.03293706 -0.03747505
+v 0.01715755 -0.03370518 -0.03793563
+v 0.01921510 -0.03920623 -0.03242717
+v 0.02068240 -0.03884286 -0.03169739
+v 0.01921510 -0.03755039 -0.03424567
+v 0.02091517 -0.03673628 -0.03392564
+v 0.01982197 -0.03825413 -0.03309316
+v 0.01943540 -0.03479987 -0.03633228
+v 0.02073228 -0.03433072 -0.03603281
+v 0.01943540 -0.03594055 -0.03551061
+v 0.02054523 -0.03893025 -0.03169739
+v 0.03014712 -0.03016817 -0.03169736
+v 0.03007645 -0.03010837 -0.03186818
+v 0.02866734 -0.03090869 -0.03267472
+v 0.02720836 -0.03170441 -0.03348019
+v 0.02692986 -0.02908727 -0.03559275
+v 0.02568702 -0.03247252 -0.03412131
+v 0.02631052 -0.03082589 -0.03485757
+v 0.02540852 -0.02993818 -0.03611387
+v 0.02621492 -0.02840654 -0.03643604
+v 0.02393291 -0.03073850 -0.03647930
+v 0.02312652 -0.03217815 -0.03610091
+v 0.02158024 -0.03298766 -0.03640796
+v 0.02159271 -0.03753660 -0.03246176
+v 0.02327616 -0.03681907 -0.03183145
+v 0.02085698 -0.03871408 -0.03169739
+v 0.02158440 -0.03525063 -0.03475164
+v 0.02338007 -0.03464809 -0.03407267
+v 0.02244067 -0.03617054 -0.03333749
+v 0.02225362 -0.03369599 -0.03557871
+v 0.02913289 -0.03134104 -0.03169737
+v 0.02792330 -0.03244953 -0.03197306
+v 0.02643106 -0.03322225 -0.03272230
+v 0.02490141 -0.03399037 -0.03347046
+v 0.02464785 -0.03146062 -0.03562844
+v 0.02401189 -0.03307965 -0.03485001
+v 0.02409086 -0.03542082 -0.03265095
+v 0.02565792 -0.03468029 -0.03196442
+v 0.02449821 -0.03587157 -0.03169738
+v 0.02332188 -0.03687427 -0.03169739
+v 0.02803138 -0.03255532 -0.03169737
+v 0.02690076 -0.03369140 -0.03169737
+v 0.02575768 -0.03478608 -0.03169738
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 56
+f 1 56 91
+f 1 91 133
+f 1 133 183
+f 1 183 184
+f 1 184 236
+f 1 236 268
+f 1 268 294
+f 1 294 287
+f 1 287 309
+f 1 309 323
+f 1 323 322
+f 1 322 326
+f 1 326 325
+f 1 325 324
+f 1 324 314
+f 1 314 295
+f 1 295 269
+f 1 269 237
+f 1 237 185
+f 1 185 134
+f 1 134 92
+f 1 92 57
+f 1 57 32
+f 1 32 20
+f 1 20 11
+f 1 11 5
+f 1 5 12
+f 1 12 22
+f 1 22 47
+f 1 47 78
+f 1 78 119
+f 1 119 80
+f 1 80 48
+f 1 48 24
+f 1 24 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 9 16
+f 7 16 17
+f 7 17 10
+f 8 15 9
+f 9 15 18
+f 9 18 16
+f 10 17 19
+f 11 20 45
+f 11 45 21
+f 11 21 12
+f 12 21 45
+f 12 45 73
+f 12 73 72
+f 12 72 110
+f 12 110 109
+f 12 109 156
+f 12 156 155
+f 12 155 203
+f 12 203 204
+f 12 204 158
+f 12 158 111
+f 12 111 74
+f 12 74 46
+f 12 46 22
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 18
+f 16 18 28
+f 16 28 29
+f 16 29 17
+f 17 30 31
+f 17 31 19
+f 17 29 30
+f 18 27 28
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 22 46 47
+f 24 48 49
+f 24 49 25
+f 25 49 26
+f 26 50 27
+f 26 49 51
+f 26 51 50
+f 27 50 52
+f 27 52 28
+f 28 52 53
+f 28 53 29
+f 29 54 30
+f 29 53 55
+f 29 55 54
+f 30 54 56
+f 30 56 31
+f 32 57 33
+f 33 57 58
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 34
+f 34 62 35
+f 34 61 63
+f 34 63 64
+f 34 64 62
+f 35 62 36
+f 36 62 65
+f 36 65 37
+f 37 65 38
+f 38 65 39
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 40 67 41
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 73
+f 43 73 44
+f 44 73 45
+f 46 74 75
+f 46 75 115
+f 46 115 76
+f 46 76 47
+f 47 77 118
+f 47 118 78
+f 47 76 79
+f 47 79 77
+f 48 80 81
+f 48 81 49
+f 49 81 82
+f 49 82 51
+f 50 51 83
+f 50 83 84
+f 50 84 52
+f 51 82 85
+f 51 85 83
+f 52 84 86
+f 52 86 53
+f 53 86 55
+f 54 55 87
+f 54 87 56
+f 55 88 87
+f 55 86 89
+f 55 89 88
+f 56 87 90
+f 56 90 91
+f 57 92 93
+f 57 93 94
+f 57 94 58
+f 58 94 95
+f 58 95 59
+f 59 95 96
+f 59 96 64
+f 59 64 60
+f 60 64 63
+f 60 63 61
+f 62 64 97
+f 62 97 98
+f 62 98 65
+f 64 96 99
+f 64 99 100
+f 64 100 101
+f 64 101 102
+f 64 102 97
+f 65 98 103
+f 65 103 66
+f 66 104 105
+f 66 105 67
+f 66 103 104
+f 67 105 68
+f 68 105 106
+f 68 106 69
+f 69 106 70
+f 70 106 107
+f 70 107 108
+f 70 108 71
+f 71 108 109
+f 71 109 110
+f 71 110 72
+f 74 111 112
+f 74 112 113
+f 74 113 75
+f 75 113 114
+f 75 114 115
+f 76 115 166
+f 76 166 116
+f 76 116 117
+f 76 117 79
+f 77 79 117
+f 77 117 118
+f 78 118 119
+f 80 119 81
+f 81 119 120
+f 81 120 82
+f 82 120 121
+f 82 121 85
+f 83 122 84
+f 83 85 123
+f 83 123 122
+f 84 122 124
+f 84 124 86
+f 85 121 123
+f 86 124 89
+f 87 88 90
+f 88 125 126
+f 88 126 127
+f 88 127 90
+f 88 89 125
+f 89 124 128
+f 89 128 129
+f 89 129 130
+f 89 130 131
+f 89 131 125
+f 90 127 132
+f 90 132 133
+f 90 133 91
+f 92 134 93
+f 93 135 94
+f 93 134 136
+f 93 136 135
+f 94 135 95
+f 95 137 138
+f 95 138 96
+f 95 135 139
+f 95 139 140
+f 95 140 137
+f 96 141 142
+f 96 142 99
+f 96 138 141
+f 97 102 143
+f 97 143 98
+f 98 143 144
+f 98 144 103
+f 99 142 100
+f 100 142 101
+f 101 142 141
+f 101 141 145
+f 101 145 146
+f 101 146 147
+f 101 147 148
+f 101 148 149
+f 101 149 143
+f 101 143 102
+f 103 144 150
+f 103 150 104
+f 104 151 105
+f 104 150 151
+f 105 151 152
+f 105 152 106
+f 106 152 107
+f 107 152 153
+f 107 153 154
+f 107 154 108
+f 108 155 156
+f 108 156 109
+f 108 154 157
+f 108 157 155
+f 111 158 112
+f 112 159 160
+f 112 160 113
+f 112 158 159
+f 113 160 161
+f 113 161 114
+f 114 161 162
+f 114 162 115
+f 115 162 163
+f 115 163 164
+f 115 164 165
+f 115 165 166
+f 116 166 117
+f 117 166 167
+f 117 167 168
+f 117 168 169
+f 117 169 118
+f 118 170 119
+f 118 169 171
+f 118 171 170
+f 119 170 120
+f 120 170 121
+f 121 170 172
+f 121 172 173
+f 121 173 174
+f 121 174 123
+f 122 128 124
+f 122 123 175
+f 122 175 128
+f 123 174 175
+f 125 131 126
+f 126 131 176
+f 126 176 177
+f 126 177 127
+f 127 178 132
+f 127 177 178
+f 128 175 179
+f 128 179 129
+f 129 179 180
+f 129 180 130
+f 130 180 181
+f 130 181 182
+f 130 182 131
+f 131 182 176
+f 132 183 133
+f 132 178 184
+f 132 184 183
+f 134 185 186
+f 134 186 187
+f 134 187 136
+f 135 136 187
+f 135 187 139
+f 137 188 145
+f 137 145 141
+f 137 141 138
+f 137 140 189
+f 137 189 190
+f 137 190 191
+f 137 191 188
+f 139 192 189
+f 139 189 140
+f 139 187 192
+f 143 149 193
+f 143 193 144
+f 144 194 150
+f 144 193 194
+f 145 188 195
+f 145 195 146
+f 146 195 196
+f 146 196 147
+f 147 196 148
+f 148 196 197
+f 148 197 198
+f 148 198 199
+f 148 199 193
+f 148 193 149
+f 150 194 200
+f 150 200 151
+f 151 200 201
+f 151 201 153
+f 151 153 152
+f 153 201 202
+f 153 202 154
+f 154 202 157
+f 155 157 203
+f 157 202 159
+f 157 159 204
+f 157 204 203
+f 158 204 159
+f 159 202 160
+f 160 202 205
+f 160 205 161
+f 161 206 207
+f 161 207 162
+f 161 205 206
+f 162 207 163
+f 163 207 206
+f 163 206 208
+f 163 208 209
+f 163 209 210
+f 163 210 164
+f 164 210 165
+f 165 210 211
+f 165 211 212
+f 165 212 213
+f 165 213 214
+f 165 214 215
+f 165 215 166
+f 166 215 216
+f 166 216 167
+f 167 217 218
+f 167 218 168
+f 167 216 217
+f 168 218 219
+f 168 219 220
+f 168 220 171
+f 168 171 169
+f 170 171 172
+f 171 220 221
+f 171 221 173
+f 171 173 172
+f 173 221 222
+f 173 222 223
+f 173 223 224
+f 173 224 225
+f 173 225 226
+f 173 226 174
+f 174 226 175
+f 175 226 179
+f 176 182 177
+f 177 227 228
+f 177 228 178
+f 177 182 229
+f 177 229 230
+f 177 230 227
+f 178 228 184
+f 179 226 225
+f 179 225 180
+f 180 225 224
+f 180 224 181
+f 181 231 182
+f 181 224 232
+f 181 232 231
+f 182 231 233
+f 182 233 234
+f 182 234 229
+f 184 228 235
+f 184 235 236
+f 185 237 238
+f 185 238 186
+f 186 238 187
+f 187 238 239
+f 187 239 240
+f 187 240 241
+f 187 241 192
+f 188 214 196
+f 188 196 195
+f 188 191 242
+f 188 242 214
+f 189 192 241
+f 189 241 190
+f 190 241 243
+f 190 243 244
+f 190 244 191
+f 191 244 242
+f 193 199 245
+f 193 245 194
+f 194 245 200
+f 196 214 197
+f 197 214 213
+f 197 213 212
+f 197 212 198
+f 198 246 199
+f 198 212 211
+f 198 211 210
+f 198 210 246
+f 199 246 245
+f 200 247 201
+f 200 245 247
+f 201 247 248
+f 201 248 205
+f 201 205 202
+f 205 248 206
+f 206 248 208
+f 208 247 209
+f 208 248 247
+f 209 247 245
+f 209 245 246
+f 209 246 210
+f 214 242 249
+f 214 249 250
+f 214 250 215
+f 215 250 249
+f 215 249 251
+f 215 251 252
+f 215 252 253
+f 215 253 217
+f 215 217 216
+f 217 253 254
+f 217 254 255
+f 217 255 218
+f 218 255 256
+f 218 256 257
+f 218 257 219
+f 219 257 258
+f 219 258 259
+f 219 259 221
+f 219 221 220
+f 221 259 260
+f 221 260 261
+f 221 261 222
+f 222 261 232
+f 222 232 224
+f 222 224 223
+f 227 262 235
+f 227 235 228
+f 227 230 263
+f 227 263 262
+f 229 234 230
+f 230 234 264
+f 230 264 263
+f 231 232 265
+f 231 265 233
+f 232 261 265
+f 233 265 266
+f 233 266 267
+f 233 267 234
+f 234 267 264
+f 235 262 268
+f 235 268 236
+f 237 269 238
+f 238 269 270
+f 238 270 271
+f 238 271 239
+f 239 272 273
+f 239 273 240
+f 239 271 274
+f 239 274 272
+f 240 273 241
+f 241 273 275
+f 241 275 276
+f 241 276 243
+f 242 244 251
+f 242 251 249
+f 243 276 277
+f 243 277 251
+f 243 251 244
+f 251 277 253
+f 251 253 252
+f 253 278 279
+f 253 279 255
+f 253 255 254
+f 253 277 278
+f 255 279 280
+f 255 280 281
+f 255 281 257
+f 255 257 256
+f 257 281 282
+f 257 282 283
+f 257 283 259
+f 257 259 258
+f 259 284 285
+f 259 285 261
+f 259 261 260
+f 259 283 284
+f 261 285 266
+f 261 266 265
+f 262 263 286
+f 262 286 268
+f 263 287 286
+f 263 264 267
+f 263 267 288
+f 263 288 289
+f 263 289 290
+f 263 290 287
+f 266 291 267
+f 266 285 291
+f 267 291 292
+f 267 292 293
+f 267 293 288
+f 268 286 294
+f 269 295 296
+f 269 296 270
+f 270 296 271
+f 271 296 297
+f 271 297 298
+f 271 298 274
+f 272 275 273
+f 272 274 299
+f 272 299 275
+f 274 298 300
+f 274 300 301
+f 274 301 299
+f 275 299 302
+f 275 302 303
+f 275 303 278
+f 275 278 276
+f 276 278 277
+f 278 303 279
+f 279 303 280
+f 280 302 304
+f 280 304 281
+f 280 303 302
+f 281 304 282
+f 282 304 305
+f 282 305 306
+f 282 306 283
+f 283 306 292
+f 283 292 284
+f 284 292 291
+f 284 291 285
+f 286 287 294
+f 287 290 307
+f 287 307 308
+f 287 308 309
+f 288 293 289
+f 289 293 310
+f 289 310 311
+f 289 311 312
+f 289 312 290
+f 290 312 307
+f 292 310 293
+f 292 306 305
+f 292 305 313
+f 292 313 310
+f 295 314 296
+f 296 314 315
+f 296 315 297
+f 297 315 298
+f 298 315 316
+f 298 316 317
+f 298 317 300
+f 299 301 318
+f 299 318 302
+f 300 317 311
+f 300 311 319
+f 300 319 318
+f 300 318 301
+f 302 318 305
+f 302 305 304
+f 305 318 313
+f 307 312 308
+f 308 312 320
+f 308 320 321
+f 308 321 322
+f 308 322 323
+f 308 323 309
+f 310 313 311
+f 311 313 319
+f 311 317 312
+f 312 317 320
+f 313 318 319
+f 314 324 315
+f 315 324 325
+f 315 325 321
+f 315 321 316
+f 316 321 317
+f 317 321 320
+f 321 326 322
+f 321 325 326
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_30.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00195061 0.04938303 0.02108145
+v -0.00301309 0.04948620 0.02108145
+v -0.00195061 0.04141280 0.02108142
+v -0.00195061 0.05196049 -0.01447291
+v -0.00340027 0.04952371 0.02108145
+v -0.03261252 0.03305429 0.02108139
+v -0.00195061 0.04142405 0.02085932
+v -0.00195061 0.05197737 -0.01493475
+v -0.00340027 0.05209743 -0.01447291
+v -0.00507503 0.04960437 0.02108145
+v -0.03261252 0.04231506 0.02108143
+v -0.03261252 0.03309930 0.02041861
+v -0.00195061 0.04192305 0.01264497
+v -0.00195061 0.04182926 0.01407984
+v -0.00195061 0.04162854 0.01716462
+v -0.00195061 0.04154412 0.01859949
+v -0.00195061 0.04149722 0.01942445
+v -0.00195061 0.04433916 -0.01493478
+v -0.00340027 0.05211243 -0.01493475
+v -0.00522210 0.05219497 -0.01493475
+v -0.00568430 0.05220059 -0.01447291
+v -0.00568430 0.04963251 0.02108145
+v -0.03244144 0.04241823 0.02108143
+v -0.03261252 0.04539523 -0.01447293
+v -0.03261252 0.03316122 0.01951608
+v -0.00195061 0.04207687 0.01038514
+v -0.00195061 0.04197933 0.01181648
+v -0.03261252 0.03478759 0.00134581
+v -0.03261252 0.03497892 -0.00055089
+v -0.03261252 0.03501644 -0.00091401
+v -0.03261252 0.03518152 -0.00245817
+v -0.03261252 0.03526593 -0.00320909
+v -0.03261252 0.03664655 -0.01493481
+v -0.00195061 0.04319489 -0.00309977
+v -0.03261252 0.03430925 0.00625680
+v -0.00568430 0.05221560 -0.01493475
+v -0.00796834 0.05220059 -0.01447291
+v -0.00735906 0.04963438 0.02108145
+v -0.03150801 0.04298096 0.02108143
+v -0.03218332 0.04564096 -0.01447293
+v -0.03261252 0.04541211 -0.01493477
+v -0.03261252 0.03328502 0.01791552
+v -0.00195061 0.04224758 0.00812533
+v -0.00195061 0.04213877 0.00955666
+v -0.00195061 0.04299042 -0.00090693
+v -0.03261252 0.03406726 0.00883392
+v -0.00796834 0.05221560 -0.01493475
+v -0.01025238 0.05209743 -0.01447291
+v -0.00964310 0.04955935 0.02108145
+v -0.00796834 0.04963438 0.02108145
+v -0.03067064 0.04344428 0.02108143
+v -0.03080570 0.04635939 -0.01447293
+v -0.03190419 0.04580228 -0.01493477
+v -0.03219833 0.04564846 -0.01493477
+v -0.03036450 0.04361310 0.02108143
+v -0.03261252 0.03334318 0.01716459
+v -0.00195061 0.04242579 0.00586197
+v -0.00195061 0.04279346 0.00134584
+v -0.03261252 0.03383653 0.01139340
+v -0.03261252 0.03392657 0.01038511
+v -0.01025238 0.05211243 -0.01493475
+v -0.01207420 0.05194361 -0.01493475
+v -0.01253641 0.05188546 -0.01447291
+v -0.01025238 0.04953122 0.02108145
+v -0.02873476 0.04736481 -0.01447293
+v -0.02875277 0.04737419 -0.01493477
+v -0.03040351 0.04657135 -0.01493477
+v -0.03080570 0.04637439 -0.01493477
+v -0.02852166 0.04455100 0.02108143
+v -0.00195061 0.04249144 0.00503701
+v -0.03261252 0.03349699 0.01531020
+v -0.00195061 0.04267528 0.00278071
+v -0.03261252 0.03353077 0.01490829
+v -0.01253641 0.05190047 -0.01493475
+v -0.01482045 0.05156845 -0.01447291
+v -0.01253641 0.04931550 0.02108145
+v -0.01192714 0.04937365 0.02108145
+v -0.02759424 0.04788065 -0.01447292
+v -0.02811048 0.04474420 0.02108143
+v -0.02690993 0.04530694 0.02108144
+v -0.02761225 0.04789003 -0.01493476
+v -0.01482045 0.05158346 -0.01493475
+v -0.01664227 0.05124769 -0.01493475
+v -0.01710448 0.05114640 -0.01447291
+v -0.01482045 0.04898536 0.02108145
+v -0.01421117 0.04907352 0.02108145
+v -0.02623762 0.04842650 -0.01447292
+v -0.02623762 0.04844339 -0.01493476
+v -0.02607255 0.04566146 0.02108144
+v -0.02576641 0.04579089 0.02108144
+v -0.01710448 0.05116141 -0.01493475
+v -0.01892331 0.05074873 -0.01493475
+v -0.01938552 0.05062868 -0.01447291
+v -0.01710448 0.04853705 0.02108145
+v -0.02395359 0.04927436 -0.01447292
+v -0.02526218 0.04598973 0.02108144
+v -0.02395359 0.04650557 0.02108144
+v -0.02395359 0.04928937 -0.01493476
+v -0.01938552 0.05064369 -0.01493475
+v -0.02068211 0.05030792 -0.01493476
+v -0.02101226 0.05020663 -0.01447292
+v -0.01917542 0.04803433 0.02108145
+v -0.02215277 0.04986711 -0.01447292
+v -0.02217979 0.04987461 -0.01493476
+v -0.02361444 0.04940192 -0.01493476
+v -0.02166955 0.04730466 0.02108144
+v -0.02103627 0.05021413 -0.01493476
+v -0.02031594 0.04772858 0.02108145
+v -0.01948156 0.04795368 0.02108145
+v -0.02133941 0.04740970 0.02108144
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 38
+f 1 38 50
+f 1 50 49
+f 1 49 64
+f 1 64 77
+f 1 77 76
+f 1 76 86
+f 1 86 85
+f 1 85 94
+f 1 94 102
+f 1 102 109
+f 1 109 108
+f 1 108 110
+f 1 110 106
+f 1 106 97
+f 1 97 96
+f 1 96 90
+f 1 90 89
+f 1 89 80
+f 1 80 79
+f 1 79 69
+f 1 69 55
+f 1 55 51
+f 1 51 39
+f 1 39 23
+f 1 23 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 27
+f 1 27 26
+f 1 26 44
+f 1 44 43
+f 1 43 57
+f 1 57 70
+f 1 70 72
+f 1 72 58
+f 1 58 45
+f 1 45 34
+f 1 34 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 24
+f 6 24 41
+f 6 41 33
+f 6 33 32
+f 6 32 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 35
+f 6 35 46
+f 6 46 60
+f 6 60 59
+f 6 59 73
+f 6 73 71
+f 6 71 56
+f 6 56 42
+f 6 42 25
+f 6 25 12
+f 6 12 27
+f 6 27 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 18 33
+f 8 33 41
+f 8 41 54
+f 8 54 53
+f 8 53 68
+f 8 68 67
+f 8 67 66
+f 8 66 81
+f 8 81 88
+f 8 88 98
+f 8 98 105
+f 8 105 104
+f 8 104 107
+f 8 107 100
+f 8 100 99
+f 8 99 92
+f 8 92 91
+f 8 91 83
+f 8 83 82
+f 8 82 74
+f 8 74 62
+f 8 62 61
+f 8 61 47
+f 8 47 36
+f 8 36 20
+f 8 20 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 23 24
+f 12 25 26
+f 12 26 27
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 34 35
+f 18 35 28
+f 20 36 21
+f 21 36 47
+f 21 47 37
+f 21 37 50
+f 21 50 38
+f 21 38 22
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 34 45 46
+f 34 46 35
+f 37 47 61
+f 37 61 48
+f 37 48 49
+f 37 49 50
+f 39 51 40
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 40 51 55
+f 40 55 52
+f 42 56 43
+f 43 56 57
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 48 61 62
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 52 55 69
+f 52 69 65
+f 56 70 57
+f 56 71 58
+f 56 58 72
+f 56 72 70
+f 58 71 73
+f 58 73 59
+f 62 74 63
+f 63 74 82
+f 63 82 75
+f 63 75 76
+f 63 76 77
+f 63 77 64
+f 65 78 81
+f 65 81 66
+f 65 69 79
+f 65 79 80
+f 65 80 78
+f 75 82 83
+f 75 83 84
+f 75 84 85
+f 75 85 86
+f 75 86 76
+f 78 87 88
+f 78 88 81
+f 78 80 89
+f 78 89 90
+f 78 90 87
+f 83 91 84
+f 84 91 92
+f 84 92 93
+f 84 93 94
+f 84 94 85
+f 87 95 88
+f 87 90 96
+f 87 96 97
+f 87 97 95
+f 88 95 98
+f 92 99 93
+f 93 99 100
+f 93 100 101
+f 93 101 102
+f 93 102 94
+f 95 103 104
+f 95 104 105
+f 95 105 98
+f 95 97 106
+f 95 106 103
+f 100 107 101
+f 101 107 104
+f 101 104 103
+f 101 103 108
+f 101 108 109
+f 101 109 102
+f 103 106 110
+f 103 110 108
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_31.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05919542 -0.00011396 -0.01656020
+v -0.05136961 -0.00011396 -0.01656020
+v -0.05912130 -0.00011397 -0.01447637
+v -0.05911851 0.00109069 -0.01447637
+v -0.05919123 0.00109070 -0.01656020
+v -0.04666936 0.01999309 -0.01656013
+v -0.04490870 0.01999302 0.00369526
+v -0.04982291 -0.00011403 0.00360398
+v -0.05890175 -0.00011398 -0.01221608
+v -0.05889755 0.00109068 -0.01221608
+v -0.05878707 0.00337006 -0.01221607
+v -0.05900663 0.00337007 -0.01447636
+v -0.05918283 0.00126982 -0.01656020
+v -0.05510631 0.01999309 -0.01656013
+v -0.05310091 0.01999302 0.00369526
+v -0.04981592 -0.00011403 0.00369519
+v -0.05726414 -0.00011403 0.00369519
+v -0.05726414 -0.00005104 0.00369519
+v -0.05726274 0.00109063 0.00369519
+v -0.05725855 0.00118708 0.00369519
+v -0.05715926 0.00329325 0.00369520
+v -0.05857171 0.00564749 -0.01221606
+v -0.05879406 0.00564750 -0.01447635
+v -0.05715226 0.00339363 0.00369520
+v -0.05710891 0.00482859 0.00289022
+v -0.05886958 0.00564751 -0.01656018
+v -0.05907935 0.00337008 -0.01656019
+v -0.05532867 0.01944588 -0.01656013
+v -0.05509233 0.01999309 -0.01583247
+v -0.05488675 0.01999308 -0.01313797
+v -0.05338899 0.01931196 0.00369526
+v -0.05825286 0.00792491 -0.01221605
+v -0.05694529 0.00561200 0.00369521
+v -0.05847521 0.00792492 -0.01447634
+v -0.05855213 0.00792493 -0.01656017
+v -0.05695788 0.00547815 0.00369521
+v -0.05537341 0.01932778 -0.01656013
+v -0.05615795 0.01703460 -0.01447631
+v -0.05504058 0.01999308 -0.01468647
+v -0.05496926 0.01999308 -0.01393105
+v -0.05515385 0.01908171 -0.01221601
+v -0.05426024 0.01703454 0.00369525
+v -0.05782492 0.01020036 -0.01221604
+v -0.05662084 0.00792486 0.00369522
+v -0.05660406 0.00801540 0.00369522
+v -0.05804588 0.01020037 -0.01447633
+v -0.05812420 0.01020038 -0.01656016
+v -0.05623627 0.01703461 -0.01656014
+v -0.05520700 0.01951083 -0.01437518
+v -0.05680125 0.01532015 -0.01656014
+v -0.05681523 0.01503472 -0.01447631
+v -0.05472593 0.01569801 0.00369525
+v -0.05592441 0.01703459 -0.01221602
+v -0.05470355 0.01576296 0.00369525
+v -0.05720541 0.01187349 -0.00995575
+v -0.05728651 0.01256243 -0.01233301
+v -0.05752006 0.01247976 -0.01447632
+v -0.05619292 0.01020031 0.00369523
+v -0.05617194 0.01029282 0.00369523
+v -0.05808364 0.01037950 -0.01656016
+v -0.05685159 0.01516268 -0.01656014
+v -0.05687816 0.01507410 -0.01656014
+v -0.05719142 0.01402495 -0.01656015
+v -0.05715226 0.01389503 -0.01447632
+v -0.05709073 0.01368244 -0.01316575
+v -0.05673692 0.01456821 -0.01233301
+v -0.05473991 0.01565273 0.00369525
+v -0.05565590 0.01247970 0.00369524
+v -0.05757041 0.01259000 -0.01656015
+v -0.05759837 0.01247977 -0.01656015
+v -0.05507414 0.01455831 0.00369524
+f 1 2 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 27
+f 1 27 26
+f 1 26 35
+f 1 35 47
+f 1 47 60
+f 1 60 70
+f 1 70 69
+f 1 69 63
+f 1 63 62
+f 1 62 61
+f 1 61 50
+f 1 50 48
+f 1 48 37
+f 1 37 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 29
+f 6 29 39
+f 6 39 40
+f 6 40 30
+f 6 30 15
+f 6 15 7
+f 7 15 31
+f 7 31 42
+f 7 42 54
+f 7 54 52
+f 7 52 67
+f 7 67 71
+f 7 71 68
+f 7 68 59
+f 7 59 58
+f 7 58 45
+f 7 45 44
+f 7 44 33
+f 7 33 36
+f 7 36 24
+f 7 24 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 22 23
+f 11 23 12
+f 11 21 24
+f 11 24 25
+f 11 25 22
+f 12 23 26
+f 12 26 27
+f 12 27 13
+f 14 28 29
+f 15 30 31
+f 22 32 34
+f 22 34 23
+f 22 25 33
+f 22 33 32
+f 23 34 35
+f 23 35 26
+f 24 36 25
+f 25 36 33
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 32 43 34
+f 32 33 44
+f 32 44 45
+f 32 45 43
+f 34 46 47
+f 34 47 35
+f 34 43 46
+f 37 48 38
+f 38 49 39
+f 38 48 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 41
+f 38 41 49
+f 39 49 40
+f 40 49 41
+f 41 53 42
+f 42 53 54
+f 43 55 56
+f 43 56 57
+f 43 57 46
+f 43 45 58
+f 43 58 59
+f 43 59 55
+f 46 57 60
+f 46 60 47
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 54 53
+f 55 59 68
+f 55 68 56
+f 56 65 57
+f 56 68 65
+f 57 65 64
+f 57 64 69
+f 57 69 70
+f 57 70 60
+f 63 69 64
+f 65 68 71
+f 65 71 66
+f 66 71 67
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_32.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.04399154 -0.01738421 0.03983970
+v 0.04493264 -0.01738421 0.04202682
+v 0.04358748 -0.01738421 0.04093180
+v 0.04358748 -0.01737911 0.03929657
+v 0.04358748 -0.00958671 0.02212378
+v 0.04936877 -0.00952391 0.03114383
+v 0.04936877 -0.01025069 0.03296593
+v 0.04936877 -0.01034238 0.03322289
+v 0.04936877 -0.01082294 0.03524649
+v 0.04936877 -0.01083483 0.03548301
+v 0.04936877 -0.01077371 0.03750660
+v 0.04478947 -0.01738422 0.04429862
+v 0.04358748 -0.01738423 0.04622293
+v 0.04358748 -0.00885146 0.02091489
+v 0.04936877 -0.00944071 0.03098907
+v 0.04936877 -0.01067862 0.03771685
+v 0.04488850 -0.01713121 0.04428694
+v 0.04471646 -0.01738422 0.04449134
+v 0.04936877 -0.00984997 0.03938712
+v 0.04384271 -0.01738423 0.04606525
+v 0.04358748 -0.01719235 0.04627257
+v 0.04358748 -0.00815695 0.02018488
+v 0.04469609 -0.00813828 0.02154271
+v 0.04936877 -0.00780210 0.02922244
+v 0.04588676 -0.00725360 0.02232236
+v 0.04555853 -0.00642325 0.02081562
+v 0.04570736 -0.01372324 0.04541993
+v 0.04395419 -0.01738423 0.04598641
+v 0.04936877 -0.00971414 0.03950392
+v 0.04400059 -0.01713122 0.04603021
+v 0.04358748 -0.01713122 0.04628718
+v 0.04358748 -0.00777659 0.01982572
+v 0.04936877 -0.00747437 0.02904723
+v 0.04358748 -0.00337525 0.01795106
+v 0.04576792 -0.00490350 0.02047398
+v 0.04584431 -0.01257536 0.04559805
+v 0.04936877 -0.00851192 0.04051719
+v 0.04936877 -0.00737253 0.04137276
+v 0.04936877 -0.00566939 0.04217871
+v 0.04464573 -0.01463170 0.04610030
+v 0.04456310 -0.01257536 0.04657919
+v 0.04358748 -0.01574901 0.04654998
+v 0.04936877 -0.00580009 0.02822671
+v 0.04358748 -0.00118817 0.01785179
+v 0.04591788 -0.00118817 0.02026667
+v 0.04584884 -0.00346694 0.02036303
+v 0.04936877 -0.00574405 0.02820043
+v 0.04609388 -0.01029828 0.04589299
+v 0.04936877 -0.00526696 0.04221959
+v 0.04643568 -0.00574412 0.04618501
+v 0.04629308 -0.00802290 0.04607988
+v 0.04456310 -0.01029828 0.04695004
+v 0.04358748 -0.01351269 0.04692375
+v 0.04358748 -0.00003689 0.01781675
+v 0.04591958 -0.00003689 0.02026083
+v 0.04936877 -0.00118820 0.02765440
+v 0.04936877 -0.00311038 0.02775951
+v 0.04936877 -0.00346697 0.02778287
+v 0.04936877 -0.00346703 0.04233348
+v 0.04773161 -0.00118826 0.04474545
+v 0.04653641 -0.00346704 0.04624342
+v 0.04456310 -0.00574412 0.04730339
+v 0.04456310 -0.00802290 0.04717782
+v 0.04358748 -0.01135956 0.04721869
+v 0.04358748 -0.00003700 0.04764505
+v 0.04936877 -0.00003692 0.02765148
+v 0.04936877 -0.00072293 0.02765148
+v 0.04936877 -0.00334987 0.04233932
+v 0.04772934 -0.00003698 0.04474253
+v 0.04658961 -0.00118827 0.04626971
+v 0.04936877 -0.00118826 0.04240065
+v 0.04936877 -0.00003698 0.04240357
+v 0.04458630 -0.00118827 0.04739977
+v 0.04434523 -0.00353157 0.04743188
+v 0.04358748 -0.00293216 0.04763920
+v 0.04358748 -0.00911644 0.04738222
+v 0.04358748 -0.00118828 0.04764798
+v 0.04458121 -0.00003699 0.04739685
+v 0.04658734 -0.00003699 0.04626679
+v 0.04559645 -0.00003699 0.04682744
+v 0.04358748 -0.00260275 0.04764504
+f 1 2 12
+f 1 12 18
+f 1 18 28
+f 1 28 20
+f 1 20 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 3 13 21
+f 3 21 31
+f 3 31 42
+f 3 42 53
+f 3 53 64
+f 3 64 76
+f 3 76 75
+f 3 75 81
+f 3 81 77
+f 3 77 65
+f 3 65 54
+f 3 54 44
+f 3 44 34
+f 3 34 32
+f 3 32 22
+f 3 22 14
+f 3 14 5
+f 3 5 4
+f 5 14 15
+f 5 15 6
+f 6 15 24
+f 6 24 33
+f 6 33 43
+f 6 43 47
+f 6 47 58
+f 6 58 57
+f 6 57 56
+f 6 56 67
+f 6 67 66
+f 6 66 72
+f 6 72 71
+f 6 71 68
+f 6 68 59
+f 6 59 49
+f 6 49 39
+f 6 39 38
+f 6 38 37
+f 6 37 29
+f 6 29 19
+f 6 19 16
+f 6 16 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 16 12
+f 12 17 18
+f 12 16 19
+f 12 19 17
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 15 23 25
+f 15 25 26
+f 15 26 24
+f 17 27 18
+f 17 19 27
+f 18 27 28
+f 19 29 27
+f 20 28 30
+f 20 30 21
+f 21 30 31
+f 22 26 23
+f 22 32 26
+f 23 26 25
+f 24 26 33
+f 26 32 34
+f 26 34 35
+f 26 35 33
+f 27 36 30
+f 27 30 28
+f 27 29 37
+f 27 37 38
+f 27 38 39
+f 27 39 36
+f 30 36 40
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 33 35 43
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 43
+f 36 48 40
+f 36 39 48
+f 39 49 50
+f 39 50 51
+f 39 51 48
+f 40 48 41
+f 41 52 53
+f 41 53 42
+f 41 48 52
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 58 47
+f 48 51 52
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 52
+f 52 63 64
+f 52 64 53
+f 54 65 78
+f 54 78 80
+f 54 80 79
+f 54 79 69
+f 54 69 72
+f 54 72 66
+f 54 66 55
+f 55 66 67
+f 55 67 56
+f 59 68 60
+f 60 69 79
+f 60 79 70
+f 60 70 61
+f 60 68 71
+f 60 71 72
+f 60 72 69
+f 61 70 62
+f 62 70 73
+f 62 73 74
+f 62 74 75
+f 62 75 76
+f 62 76 63
+f 63 76 64
+f 65 77 73
+f 65 73 78
+f 70 79 80
+f 70 80 73
+f 73 77 81
+f 73 81 74
+f 73 80 78
+f 74 81 75
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_33.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02015908 -0.05053066 -0.01441877
+v -0.02075837 -0.05022729 -0.01264540
+v -0.02103077 -0.05030644 -0.01441876
+v -0.02015908 -0.04276930 -0.01441874
+v -0.02015908 -0.04850137 0.00932528
+v -0.02105256 -0.05030078 -0.01441876
+v -0.02015908 -0.04181212 -0.00550077
+v -0.03605953 -0.03415059 -0.01441871
+v -0.03605953 -0.03292395 -0.00543567
+v -0.03605953 -0.03233231 -0.00082445
+v -0.02015908 -0.04054593 0.00932531
+v -0.02139967 -0.04815089 0.00932528
+v -0.02216707 -0.04997291 -0.01441876
+v -0.02015908 -0.04158601 -0.00317425
+v -0.03605953 -0.03128279 0.00932535
+v -0.03605953 -0.04344764 -0.01441874
+v -0.02015908 -0.04059680 0.00867221
+v -0.02254220 -0.04779853 0.00932528
+v -0.02389954 -0.04940386 -0.01441876
+v -0.02015908 -0.04116960 0.00143929
+v -0.03605953 -0.04097366 0.00932531
+v -0.02015908 -0.04064014 0.00812370
+v -0.03527190 -0.04395075 -0.01441874
+v -0.03333085 -0.04277880 0.00932530
+v -0.03509601 -0.04163881 0.00932531
+v -0.02395558 -0.04729166 0.00932529
+v -0.02395558 -0.04938502 -0.01441876
+v -0.03524232 -0.04396959 -0.01441874
+v -0.03218832 -0.04346845 0.00932530
+v -0.03335887 -0.04511147 -0.01441875
+v -0.02502650 -0.04687712 0.00932529
+v -0.02624375 -0.04854274 -0.01441876
+v -0.03080608 -0.04422781 0.00932530
+v -0.03222256 -0.04575778 -0.01441875
+v -0.02624063 -0.04640228 0.00932529
+v -0.02747656 -0.04792470 -0.01294290
+v -0.02760575 -0.04800196 -0.01441876
+v -0.02887281 -0.04522649 0.00932529
+v -0.03081075 -0.04649076 -0.01441875
+v -0.02773184 -0.04576916 0.00932529
+v -0.02765556 -0.04798123 -0.01441876
+v -0.03074382 -0.04652468 -0.01441875
+v -0.02876696 -0.04748378 -0.01441875
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 27
+f 1 27 32
+f 1 32 37
+f 1 37 41
+f 1 41 43
+f 1 43 42
+f 1 42 39
+f 1 39 34
+f 1 34 30
+f 1 30 28
+f 1 28 23
+f 1 23 16
+f 1 16 8
+f 1 8 4
+f 1 4 7
+f 1 7 14
+f 1 14 20
+f 1 20 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 4 10 7
+f 5 11 15
+f 5 15 21
+f 5 21 25
+f 5 25 24
+f 5 24 29
+f 5 29 33
+f 5 33 38
+f 5 38 40
+f 5 40 35
+f 5 35 31
+f 5 31 26
+f 5 26 18
+f 5 18 12
+f 5 12 6
+f 6 12 13
+f 7 10 15
+f 7 15 14
+f 8 16 21
+f 8 21 15
+f 8 15 10
+f 8 10 9
+f 11 17 15
+f 12 18 13
+f 13 18 19
+f 14 15 20
+f 15 17 22
+f 15 22 20
+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 18 26 27
+f 18 27 19
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 26 31 32
+f 26 32 27
+f 29 30 34
+f 29 34 33
+f 31 35 32
+f 32 36 37
+f 32 35 36
+f 33 34 39
+f 33 39 38
+f 35 40 36
+f 36 41 37
+f 36 40 41
+f 38 39 42
+f 38 42 43
+f 38 43 40
+f 40 43 41
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_34.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03815438 -0.00003676 -0.01682570
+v 0.03551701 0.01519372 -0.01682564
+v 0.04374697 -0.00003676 -0.01682570
+v 0.03651625 -0.00003684 0.00408622
+v 0.03360143 0.01519364 0.00635988
+v 0.03364820 0.01519364 0.00577682
+v 0.04361302 0.01519372 -0.01682564
+v 0.04374697 0.01480014 -0.01682565
+v 0.04374697 -0.00003683 0.00358133
+v 0.03637806 -0.00003684 0.00586471
+v 0.03343028 0.01519363 0.00854879
+v 0.04362153 0.01519372 -0.01673444
+v 0.04374697 0.01482250 -0.01673445
+v 0.04374697 0.00109174 0.00359436
+v 0.04318462 0.00109169 0.01645096
+v 0.04318356 -0.00003688 0.01645096
+v 0.03629302 -0.00003685 0.00700477
+v 0.03328784 0.01519362 0.01041523
+v 0.04349184 0.01519371 -0.01447387
+v 0.04374697 0.01446916 -0.01447388
+v 0.04374697 0.00336975 0.00327190
+v 0.04316655 0.00145993 0.01645097
+v 0.04374697 0.00559857 0.00234358
+v 0.04374697 0.00599215 0.00215465
+v 0.04374697 0.00811512 0.00078334
+v 0.03566796 -0.00003688 0.01645096
+v 0.03621010 -0.00003685 0.00812528
+v 0.03612612 -0.00003685 0.00926534
+v 0.03604533 -0.00003686 0.01038259
+v 0.03312945 0.01519361 0.01264323
+v 0.04374697 0.01446021 -0.01443479
+v 0.04068332 0.01519360 0.01645102
+v 0.04306663 0.00334883 0.01645097
+v 0.04374697 0.00981767 -0.00116127
+v 0.03288707 0.01519360 0.01645102
+v 0.03575512 -0.00003687 0.01490374
+v 0.03596773 -0.00003686 0.01152591
+v 0.03589332 -0.00003687 0.01264317
+v 0.03298062 0.01519361 0.01490380
+v 0.04085553 0.01466733 0.01645101
+v 0.04374697 0.01381914 -0.01222959
+v 0.04299434 0.00412854 0.01645098
+v 0.04374697 0.01024704 -0.00185833
+v 0.03582316 -0.00003687 0.01378648
+v 0.04096715 0.01428866 0.01645101
+v 0.04374697 0.01289182 -0.00907652
+v 0.04264673 0.00636779 0.01645098
+v 0.04374697 0.01076586 -0.00297885
+v 0.04199084 0.01020076 0.01645100
+v 0.04227361 0.00864432 0.01645099
+v 0.04240011 0.00792275 0.01645099
+v 0.04114999 0.01366399 0.01645101
+v 0.04131370 0.01304231 0.01645101
+v 0.04142212 0.01261891 0.01645101
+v 0.04182608 0.01092233 0.01645100
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 36
+f 1 36 44
+f 1 44 38
+f 1 38 37
+f 1 37 29
+f 1 29 28
+f 1 28 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 18
+f 2 18 30
+f 2 30 39
+f 2 39 35
+f 2 35 32
+f 2 32 19
+f 2 19 12
+f 2 12 7
+f 3 8 13
+f 3 13 20
+f 3 20 31
+f 3 31 41
+f 3 41 46
+f 3 46 48
+f 3 48 43
+f 3 43 34
+f 3 34 25
+f 3 25 24
+f 3 24 23
+f 3 23 21
+f 3 21 14
+f 3 14 9
+f 4 10 11
+f 4 11 5
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 22 33
+f 15 33 42
+f 15 42 47
+f 15 47 51
+f 15 51 50
+f 15 50 49
+f 15 49 55
+f 15 55 54
+f 15 54 53
+f 15 53 52
+f 15 52 45
+f 15 45 40
+f 15 40 32
+f 15 32 35
+f 15 35 26
+f 15 26 16
+f 15 21 23
+f 15 23 24
+f 15 24 25
+f 15 25 22
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 19 31 20
+f 19 32 31
+f 22 25 33
+f 25 34 33
+f 26 35 36
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 31 32 40
+f 31 40 41
+f 33 34 42
+f 34 43 42
+f 35 39 36
+f 36 39 44
+f 38 44 39
+f 40 45 46
+f 40 46 41
+f 42 43 47
+f 43 48 49
+f 43 49 50
+f 43 50 51
+f 43 51 47
+f 45 52 46
+f 46 52 48
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 48 55 49
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_35.obj

@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
+v 0.07889195 -0.00003686 0.01157404
+v 0.07888846 -0.00118747 0.01157404
+v 0.07889020 -0.00003686 0.01150365
+v 0.06544426 -0.00003686 0.01157404
+v 0.07888147 -0.00238572 0.01157403
+v 0.07885874 -0.00118747 0.01038378
+v 0.07886049 -0.00003686 0.01038378
+v 0.06544951 -0.00118747 0.01157404
+v 0.06103802 -0.00003679 -0.00702856
+v 0.06103802 -0.00118740 -0.00702856
+v 0.07887098 -0.00346590 0.01157403
+v 0.07883602 -0.00346590 0.01038377
+v 0.07867872 -0.00118746 0.00812485
+v 0.07877135 -0.00003685 0.00924152
+v 0.06551942 -0.00226765 0.01157403
+v 0.06103802 -0.00267563 -0.00715975
+v 0.06103802 -0.00346583 -0.00724614
+v 0.06103802 -0.00003674 -0.02111329
+v 0.07885350 -0.00466415 0.01157402
+v 0.07875038 -0.00574227 0.01038376
+v 0.07863327 -0.00346589 0.00812484
+v 0.07835363 -0.00118745 0.00586272
+v 0.07851966 -0.00003685 0.00698258
+v 0.07868222 -0.00003685 0.00812485
+v 0.06559807 -0.00346590 0.01157403
+v 0.06103802 -0.00562102 -0.00793407
+v 0.06278059 -0.00003674 -0.02054696
+v 0.06277360 -0.00118735 -0.02054696
+v 0.06103802 -0.00118735 -0.02111009
+v 0.07881155 -0.00574227 0.01157402
+v 0.07825400 -0.00802070 0.01038375
+v 0.07848646 -0.00574226 0.00812483
+v 0.07858259 -0.00694051 0.01157401
+v 0.07834838 -0.00802070 0.01157401
+v 0.07828720 -0.00346588 0.00586271
+v 0.07835712 -0.00003684 0.00586272
+v 0.07791842 -0.00118744 0.00369337
+v 0.07813690 -0.00003684 0.00475245
+v 0.06599133 -0.00535286 0.01157402
+v 0.06103802 -0.00762087 -0.00935791
+v 0.06392192 -0.00003675 -0.02010221
+v 0.06391493 -0.00118736 -0.02009901
+v 0.06383977 -0.00346579 -0.02006703
+v 0.06269670 -0.00346578 -0.02051497
+v 0.06103802 -0.00170414 -0.02109730
+v 0.07775237 -0.00923863 0.01038375
+v 0.07768071 -0.00916094 0.00924469
+v 0.07795687 -0.00806937 0.00834559
+v 0.07782229 -0.00727708 0.00586269
+v 0.07770169 -0.00694878 0.00463403
+v 0.07810194 -0.00574225 0.00586270
+v 0.07780656 -0.00929352 0.01157401
+v 0.07778209 -0.00574225 0.00427888
+v 0.07787996 -0.00346587 0.00385334
+v 0.07792017 -0.00003683 0.00367738
+v 0.07762129 -0.00346587 0.00272388
+v 0.07765799 -0.00118744 0.00256391
+v 0.07779083 -0.00003683 0.00310464
+v 0.06643353 -0.00649208 0.01157402
+v 0.06103802 -0.00798955 -0.00973547
+v 0.06103802 -0.00943946 -0.01162964
+v 0.06451792 -0.00003675 -0.01976625
+v 0.06511917 -0.00118736 -0.01942069
+v 0.06511917 -0.00346579 -0.01935351
+v 0.06361430 -0.00574216 -0.01997745
+v 0.06511917 -0.00574216 -0.01916154
+v 0.06103802 -0.00404161 -0.02100771
+v 0.06103802 -0.00346578 -0.02104931
+v 0.06247298 -0.00574215 -0.02042219
+v 0.07653764 -0.00990662 0.01038374
+v 0.07666873 -0.00967048 0.00834558
+v 0.07617759 -0.00973261 0.00586268
+v 0.07593290 -0.00961454 0.00360374
+v 0.07567073 -0.00942604 0.00134162
+v 0.07549070 -0.00926033 -0.00012061
+v 0.07751817 -0.00886060 0.00773767
+v 0.07732067 -0.00841630 0.00586269
+v 0.07710394 -0.00783322 0.00377013
+v 0.07642928 -0.00802066 0.00134162
+v 0.07579832 -0.00807658 -0.00089171
+v 0.07556936 -0.00735473 -0.00254272
+v 0.07705500 -0.00574223 0.00134163
+v 0.07752166 -0.00574224 0.00314942
+v 0.07722978 -0.00961042 0.01157400
+v 0.07725600 -0.00346586 0.00134164
+v 0.07766149 -0.00003683 0.00254791
+v 0.07733290 -0.00118743 0.00134165
+v 0.06757485 -0.00781357 0.01157401
+v 0.06103802 -0.00957928 -0.01186323
+v 0.06511917 -0.00003675 -0.01942389
+v 0.06597035 -0.00003675 -0.01887676
+v 0.06684077 -0.00003675 -0.01831682
+v 0.06683902 -0.00118736 -0.01831362
+v 0.06679532 -0.00346579 -0.01827844
+v 0.06667298 -0.00574216 -0.01817926
+v 0.06210244 -0.00731531 -0.02027822
+v 0.06647722 -0.00728321 -0.01802569
+v 0.06517859 -0.00803302 -0.01849283
+v 0.06103802 -0.00574215 -0.02087014
+v 0.06103802 -0.00623512 -0.02079015
+v 0.07653764 -0.00996772 0.01157400
+v 0.07425325 -0.01032499 0.00360374
+v 0.07425325 -0.01013442 0.00134161
+v 0.07438958 -0.00975020 -0.00089172
+v 0.07382853 -0.00969841 -0.00317625
+v 0.07343003 -0.00944570 -0.00543518
+v 0.07318883 -0.00924064 -0.00675342
+v 0.07524252 -0.00887403 -0.00162763
+v 0.07500131 -0.00807657 -0.00324984
+v 0.07421830 -0.00802064 -0.00543518
+v 0.07316960 -0.00704712 -0.00894516
+v 0.07481605 -0.00574221 -0.00543517
+v 0.07532466 -0.00574221 -0.00411052
+v 0.07572316 -0.00574222 -0.00298106
+v 0.07639957 -0.00574223 -0.00091730
+v 0.07659357 -0.00346586 -0.00091729
+v 0.07733814 -0.00003682 0.00134165
+v 0.07666873 -0.00118743 -0.00091728
+v 0.07667572 -0.00003682 -0.00091728
+v 0.07700431 -0.00003682 0.00020259
+v 0.06894863 -0.00895279 0.01157401
+v 0.06103802 -0.01034875 -0.01399418
+v 0.06798209 -0.00003676 -0.01734414
+v 0.06798209 -0.00118737 -0.01734094
+v 0.06793840 -0.00346580 -0.01730895
+v 0.06781605 -0.00574217 -0.01720018
+v 0.06103802 -0.00779896 -0.02040621
+v 0.06285225 -0.00805269 -0.01965749
+v 0.06119008 -0.00883358 -0.01996466
+v 0.06597909 -0.00880148 -0.01765773
+v 0.06877385 -0.00741060 -0.01586274
+v 0.06743677 -0.00810552 -0.01676184
+v 0.06445675 -0.00940422 -0.01814088
+v 0.07545400 -0.01023389 0.01157400
+v 0.07425325 -0.01042236 0.00586268
+v 0.07196886 -0.01042440 -0.00317625
+v 0.07196886 -0.01016547 -0.00543519
+v 0.07203178 -0.00970667 -0.00758213
+v 0.07128021 -0.00952024 -0.00995304
+v 0.07094639 -0.00927583 -0.01130008
+v 0.07283402 -0.00856538 -0.00826044
+v 0.07342129 -0.00789221 -0.00758212
+v 0.07237260 -0.00789220 -0.00979946
+v 0.07118234 -0.00783109 -0.01211919
+v 0.07085200 -0.00694560 -0.01337984
+v 0.07270818 -0.00574219 -0.01026980
+v 0.07326224 -0.00574220 -0.00914033
+v 0.07389670 -0.00574220 -0.00769410
+v 0.07539283 -0.00454603 -0.00429930
+v 0.07575113 -0.00365848 -0.00340020
+v 0.07590843 -0.00118742 -0.00317621
+v 0.07629295 -0.00003681 -0.00205955
+v 0.07008821 -0.00948304 0.01157401
+v 0.06103802 -0.01044196 -0.01447412
+v 0.06909545 -0.00003676 -0.01621467
+v 0.06909195 -0.00118737 -0.01621147
+v 0.06906224 -0.00346580 -0.01617949
+v 0.06896436 -0.00574217 -0.01607071
+v 0.06103802 -0.00866580 -0.02007345
+v 0.06103802 -0.00903346 -0.01978228
+v 0.06283478 -0.00966520 -0.01851524
+v 0.06103802 -0.00973874 -0.01897919
+v 0.06839632 -0.00892887 -0.01543719
+v 0.06687398 -0.00951297 -0.01615071
+v 0.06962853 -0.00793776 -0.01441011
+v 0.06517859 -0.00981849 -0.01683864
+v 0.07425325 -0.01046277 0.01157400
+v 0.07425325 -0.01046794 0.01038374
+v 0.07425325 -0.01046172 0.00812481
+v 0.07196886 -0.01049897 -0.00091732
+v 0.06968621 -0.01050930 -0.00769412
+v 0.06968621 -0.01025038 -0.00995305
+v 0.06970718 -0.00969630 -0.01211920
+v 0.06895912 -0.00946534 -0.01393017
+v 0.07047972 -0.00846490 -0.01280711
+v 0.07166124 -0.00574219 -0.01221516
+v 0.07010394 -0.00574218 -0.01461808
+v 0.07092191 -0.00574218 -0.01348861
+v 0.07279732 -0.00346582 -0.01045536
+v 0.07335138 -0.00346583 -0.00932590
+v 0.07407148 -0.00346583 -0.00769409
+v 0.07542603 -0.00302776 -0.00438568
+v 0.07505550 -0.00365847 -0.00525598
+v 0.07545050 -0.00118741 -0.00444966
+v 0.07591542 -0.00003681 -0.00317621
+v 0.07104601 -0.00980720 0.01157400
+v 0.06103802 -0.01061698 -0.01625311
+v 0.07196886 -0.01011064 0.01157400
+v 0.07023502 -0.00003677 -0.01480364
+v 0.07023153 -0.00118738 -0.01480044
+v 0.07020182 -0.00346581 -0.01474926
+v 0.06283478 -0.01043367 -0.01673625
+v 0.06103802 -0.00992101 -0.01855683
+v 0.06754164 -0.00985682 -0.01459890
+v 0.06511917 -0.01054656 -0.01447412
+v 0.07316960 -0.01030845 0.01157400
+v 0.06740356 -0.01055797 -0.00995305
+v 0.06740356 -0.01048961 -0.01221518
+v 0.07183777 -0.00346582 -0.01221515
+v 0.07100931 -0.00346581 -0.01361979
+v 0.07190244 -0.00118739 -0.01221514
+v 0.07282878 -0.00118739 -0.01051615
+v 0.07338109 -0.00118740 -0.00938668
+v 0.07413090 -0.00118740 -0.00769408
+v 0.07500306 -0.00118741 -0.00557593
+v 0.07500656 -0.00003680 -0.00558553
+v 0.07545400 -0.00003680 -0.00445606
+v 0.06103802 -0.01058280 -0.01673625
+v 0.07104601 -0.00003677 -0.01367417
+v 0.07104251 -0.00118738 -0.01366777
+v 0.07190768 -0.00003678 -0.01221514
+v 0.07283053 -0.00003678 -0.01051934
+v 0.07310493 -0.00003678 -0.00995941
+v 0.07338109 -0.00003679 -0.00938988
+v 0.07413440 -0.00003679 -0.00769408
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 23
+f 1 23 36
+f 1 36 38
+f 1 38 55
+f 1 55 58
+f 1 58 86
+f 1 86 117
+f 1 117 120
+f 1 120 119
+f 1 119 152
+f 1 152 185
+f 1 185 207
+f 1 207 206
+f 1 206 215
+f 1 215 214
+f 1 214 213
+f 1 213 212
+f 1 212 211
+f 1 211 209
+f 1 209 189
+f 1 189 155
+f 1 155 123
+f 1 123 92
+f 1 92 91
+f 1 91 90
+f 1 90 62
+f 1 62 41
+f 1 41 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 39
+f 1 39 59
+f 1 59 88
+f 1 88 121
+f 1 121 153
+f 1 153 186
+f 1 186 188
+f 1 188 196
+f 1 196 167
+f 1 167 134
+f 1 134 101
+f 1 101 84
+f 1 84 52
+f 1 52 34
+f 1 34 33
+f 1 33 30
+f 1 30 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 12
+f 8 10 16
+f 8 16 17
+f 8 17 15
+f 9 18 29
+f 9 29 45
+f 9 45 68
+f 9 68 67
+f 9 67 99
+f 9 99 100
+f 9 100 127
+f 9 127 159
+f 9 159 160
+f 9 160 162
+f 9 162 193
+f 9 193 208
+f 9 208 187
+f 9 187 154
+f 9 154 122
+f 9 122 89
+f 9 89 61
+f 9 61 60
+f 9 60 40
+f 9 40 26
+f 9 26 17
+f 9 17 16
+f 9 16 10
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 15 17 25
+f 17 26 25
+f 18 27 28
+f 18 28 29
+f 19 30 20
+f 20 31 32
+f 20 32 21
+f 20 30 33
+f 20 33 34
+f 20 34 31
+f 21 32 35
+f 21 35 22
+f 22 36 23
+f 22 35 37
+f 22 37 38
+f 22 38 36
+f 25 26 40
+f 25 40 39
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 31 34 46
+f 32 49 50
+f 32 50 51
+f 32 51 35
+f 34 52 46
+f 35 51 53
+f 35 53 54
+f 35 54 37
+f 37 55 38
+f 37 54 56
+f 37 56 57
+f 37 57 58
+f 37 58 55
+f 39 40 60
+f 39 60 61
+f 39 61 59
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 43
+f 43 65 44
+f 43 64 66
+f 43 66 65
+f 44 67 68
+f 44 68 45
+f 44 65 69
+f 44 69 67
+f 46 70 71
+f 46 71 72
+f 46 72 47
+f 46 52 70
+f 47 72 73
+f 47 73 74
+f 47 74 75
+f 47 75 76
+f 47 76 49
+f 47 49 48
+f 49 76 77
+f 49 77 50
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 50 82 83
+f 50 83 53
+f 50 53 51
+f 50 77 78
+f 52 84 70
+f 53 83 56
+f 53 56 54
+f 56 82 85
+f 56 85 57
+f 56 83 82
+f 57 86 58
+f 57 85 87
+f 57 87 86
+f 59 61 89
+f 59 89 88
+f 62 90 63
+f 63 90 91
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 66
+f 65 96 69
+f 65 66 97
+f 65 97 98
+f 65 98 96
+f 66 95 97
+f 67 69 99
+f 69 96 100
+f 69 100 99
+f 70 72 71
+f 70 84 101
+f 70 101 102
+f 70 102 72
+f 72 102 103
+f 72 103 73
+f 73 103 74
+f 74 103 104
+f 74 104 105
+f 74 105 75
+f 75 105 106
+f 75 106 107
+f 75 107 108
+f 75 108 80
+f 75 80 79
+f 75 79 78
+f 75 78 77
+f 75 77 76
+f 80 108 81
+f 81 109 110
+f 81 110 111
+f 81 111 112
+f 81 112 113
+f 81 113 114
+f 81 114 115
+f 81 115 82
+f 81 108 109
+f 82 115 85
+f 85 115 116
+f 85 116 87
+f 86 87 117
+f 87 116 118
+f 87 118 119
+f 87 119 120
+f 87 120 117
+f 88 89 122
+f 88 122 121
+f 92 123 124
+f 92 124 93
+f 93 124 125
+f 93 125 94
+f 94 125 95
+f 95 125 126
+f 95 126 97
+f 96 127 100
+f 96 98 128
+f 96 128 129
+f 96 129 127
+f 97 130 98
+f 97 126 131
+f 97 131 132
+f 97 132 130
+f 98 130 133
+f 98 133 128
+f 101 134 135
+f 101 135 102
+f 102 136 103
+f 102 135 136
+f 103 136 137
+f 103 137 105
+f 103 105 104
+f 105 137 106
+f 106 137 138
+f 106 138 107
+f 107 138 139
+f 107 139 140
+f 107 140 141
+f 107 141 142
+f 107 142 110
+f 107 110 109
+f 107 109 108
+f 110 142 111
+f 111 141 143
+f 111 143 144
+f 111 144 145
+f 111 145 146
+f 111 146 147
+f 111 147 148
+f 111 148 112
+f 111 142 141
+f 112 148 149
+f 112 149 113
+f 113 149 114
+f 114 149 116
+f 114 116 115
+f 116 149 150
+f 116 150 151
+f 116 151 118
+f 118 151 152
+f 118 152 119
+f 121 122 153
+f 122 154 153
+f 123 155 124
+f 124 155 156
+f 124 156 157
+f 124 157 125
+f 125 157 158
+f 125 158 126
+f 126 158 131
+f 127 129 159
+f 128 133 129
+f 129 160 159
+f 129 133 161
+f 129 161 162
+f 129 162 160
+f 130 132 163
+f 130 163 164
+f 130 164 133
+f 131 163 132
+f 131 158 145
+f 131 145 165
+f 131 165 163
+f 133 164 166
+f 133 166 161
+f 134 167 168
+f 134 168 169
+f 134 169 135
+f 135 169 170
+f 135 170 136
+f 136 170 171
+f 136 171 172
+f 136 172 137
+f 137 172 138
+f 138 172 139
+f 139 172 173
+f 139 173 140
+f 140 173 174
+f 140 174 163
+f 140 163 175
+f 140 175 144
+f 140 144 143
+f 140 143 141
+f 144 175 145
+f 145 176 146
+f 145 175 165
+f 145 158 177
+f 145 177 178
+f 145 178 176
+f 146 179 180
+f 146 180 147
+f 146 176 179
+f 147 180 181
+f 147 181 148
+f 148 181 149
+f 149 182 150
+f 149 181 183
+f 149 183 182
+f 150 182 151
+f 151 182 184
+f 151 184 185
+f 151 185 152
+f 153 154 186
+f 154 187 188
+f 154 188 186
+f 155 189 190
+f 155 190 156
+f 156 190 157
+f 157 190 191
+f 157 191 158
+f 158 191 177
+f 161 166 192
+f 161 192 162
+f 162 192 193
+f 163 165 175
+f 163 174 164
+f 164 174 194
+f 164 194 166
+f 166 194 195
+f 166 195 192
+f 167 196 187
+f 167 187 168
+f 168 187 197
+f 168 197 170
+f 168 170 169
+f 170 197 171
+f 171 197 195
+f 171 195 198
+f 171 198 172
+f 172 198 194
+f 172 194 173
+f 173 194 174
+f 176 178 199
+f 176 199 179
+f 177 191 178
+f 178 200 199
+f 178 191 200
+f 179 199 201
+f 179 201 202
+f 179 202 180
+f 180 202 203
+f 180 203 204
+f 180 204 181
+f 181 204 205
+f 181 205 183
+f 182 183 205
+f 182 205 184
+f 184 205 206
+f 184 206 207
+f 184 207 185
+f 187 208 195
+f 187 195 197
+f 187 196 188
+f 189 209 190
+f 190 209 210
+f 190 210 191
+f 191 210 200
+f 192 208 193
+f 192 195 208
+f 194 198 195
+f 199 200 201
+f 200 210 201
+f 201 211 202
+f 201 210 209
+f 201 209 211
+f 202 212 213
+f 202 213 203
+f 202 211 212
+f 203 213 214
+f 203 214 215
+f 203 215 204
+f 204 215 206
+f 204 206 205
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_36.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.05511032 0.01999309 -0.01673789
+v -0.05503545 0.01999310 -0.01899747
+v -0.05509050 0.01999309 -0.01583405
+v -0.05483945 0.02057431 -0.01506359
+v -0.05485707 0.02061173 -0.01673788
+v -0.05482183 0.02053191 -0.01899746
+v -0.05488349 0.01999310 -0.02029673
+v -0.05479321 0.02046456 -0.02013667
+v -0.05503985 0.01999308 -0.01468857
+v -0.05468970 0.02061172 -0.01372196
+v -0.05438139 0.02143739 -0.01437630
+v -0.05322523 0.02386952 -0.01447671
+v -0.05434395 0.02175171 -0.01673788
+v -0.05496938 0.01999308 -0.01393380
+v -0.05485487 0.02022507 -0.01372197
+v -0.05430652 0.02166940 -0.01899746
+v -0.05165725 0.01999313 -0.02804523
+v -0.05086005 0.02169188 -0.02811897
+v -0.05324725 0.02386954 -0.01899745
+v -0.05254695 0.02508686 -0.02019786
+v -0.05429110 0.02148479 -0.01372196
+v -0.05331772 0.02386953 -0.01673787
+v -0.05311732 0.02392191 -0.01372195
+v -0.05277157 0.02460041 -0.01372195
+v -0.05253373 0.02506439 -0.01372195
+v -0.05257337 0.02513423 -0.01447671
+v -0.05494736 0.01999308 -0.01372197
+v -0.05083803 0.01999314 -0.02975091
+v -0.05048347 0.02099842 -0.02966302
+v -0.05052532 0.02079388 -0.02975090
+v -0.05044163 0.02314867 -0.02742226
+v -0.05011130 0.02251757 -0.02892866
+v -0.05258658 0.02515920 -0.01899745
+v -0.05193473 0.02629668 -0.01899744
+v -0.05079399 0.02820497 -0.01899744
+v -0.05006946 0.02934495 -0.01899743
+v -0.04804342 0.03198662 -0.02028727
+v -0.05058698 0.02787820 -0.02069841
+v -0.04804342 0.02744668 -0.02714765
+v -0.04848166 0.02614954 -0.02795576
+v -0.04972371 0.02389452 -0.02811896
+v -0.05261962 0.02521656 -0.01673787
+v -0.05229589 0.02548097 -0.01372195
+v -0.05192372 0.02627421 -0.01447670
+v -0.04681239 0.01999308 -0.01372197
+v -0.04002076 0.01999314 -0.02975091
+v -0.04990429 0.02204611 -0.02975090
+v -0.05039098 0.02108573 -0.02975090
+v -0.05045925 0.02094854 -0.02975090
+v -0.04816675 0.02539122 -0.02958142
+v -0.04826805 0.02504698 -0.02975089
+v -0.05196997 0.02635654 -0.01673786
+v -0.05082922 0.02825735 -0.01673786
+v -0.05010910 0.02939733 -0.01673785
+v -0.04910930 0.03070445 -0.01899743
+v -0.04811830 0.03208391 -0.01899742
+v -0.04720438 0.03322139 -0.01899742
+v -0.04606143 0.03458339 -0.01899741
+v -0.04590948 0.03441128 -0.02047556
+v -0.04384600 0.03239824 -0.02803577
+v -0.04510567 0.03074190 -0.02823349
+v -0.04562759 0.02953208 -0.02911850
+v -0.04684101 0.02848937 -0.02813308
+v -0.04769327 0.02690788 -0.02865404
+v -0.05191271 0.02614699 -0.01372194
+v -0.05150090 0.02684795 -0.01372194
+v -0.05078298 0.02818749 -0.01447670
+v -0.03261252 0.03662885 -0.01372191
+v -0.03261252 0.02899826 -0.02975087
+v -0.04811830 0.02530891 -0.02975089
+v -0.04795754 0.02556334 -0.02975089
+v -0.05006285 0.02932747 -0.01447669
+v -0.04918417 0.03070444 -0.01673785
+v -0.04815133 0.03212381 -0.01673784
+v -0.04724182 0.03326130 -0.01673784
+v -0.04609887 0.03462578 -0.01673783
+v -0.04502859 0.03572337 -0.01899741
+v -0.04321397 0.03394982 -0.02656233
+v -0.04370286 0.03672866 -0.02054617
+v -0.04349585 0.03199165 -0.02936484
+v -0.04282858 0.03353324 -0.02803577
+v -0.04542719 0.02926767 -0.02975087
+v -0.04627945 0.02804786 -0.02975088
+v -0.04375131 0.03137052 -0.02975086
+v -0.04740038 0.02640898 -0.02975088
+v -0.05074113 0.02812014 -0.01372194
+v -0.03261252 0.04531716 -0.01372187
+v -0.03261252 0.04092442 -0.02975083
+v -0.05001881 0.02926012 -0.01372193
+v -0.04961801 0.02983136 -0.01372193
+v -0.04895294 0.03077178 -0.01372193
+v -0.04908727 0.03070443 -0.01447669
+v -0.05026105 0.02887846 -0.01372193
+v -0.04810288 0.03205894 -0.01447668
+v -0.04604602 0.03456840 -0.01447667
+v -0.04718896 0.03319643 -0.01447668
+v -0.04506163 0.03576577 -0.01673783
+v -0.04388565 0.03691823 -0.01899740
+v -0.04168563 0.03471313 -0.02803576
+v -0.04270746 0.03805572 -0.01899740
+v -0.04139274 0.03894626 -0.02048810
+v -0.04091266 0.03623976 -0.02655134
+v -0.04283299 0.03242070 -0.02975086
+v -0.04336372 0.03183949 -0.02975086
+v -0.04128043 0.03430903 -0.02944800
+v -0.04164159 0.03370038 -0.02975086
+v -0.03261252 0.04539450 -0.01447663
+v -0.03272263 0.04525480 -0.01372187
+v -0.03337228 0.04042802 -0.02975083
+v -0.03386998 0.04071738 -0.02868380
+v -0.03261252 0.04131356 -0.02902117
+v -0.04860719 0.03125073 -0.01372193
+v -0.04805884 0.03200406 -0.01372192
+v -0.04755233 0.03263766 -0.01372192
+v -0.04599977 0.03451602 -0.01372191
+v -0.04500877 0.03570838 -0.01447667
+v -0.04675953 0.03360303 -0.01372192
+v -0.04392088 0.03695314 -0.01673782
+v -0.04049644 0.03585311 -0.02803576
+v -0.04274270 0.03809063 -0.01673782
+v -0.04156451 0.03909592 -0.01899740
+v -0.03935349 0.03687585 -0.02803575
+v -0.03896150 0.04107405 -0.02030293
+v -0.04067041 0.03467073 -0.02975085
+v -0.04116811 0.03419927 -0.02975085
+v -0.03894829 0.03652414 -0.02936954
+v -0.03261252 0.04542444 -0.01527219
+v -0.03332824 0.04498290 -0.01447663
+v -0.03306838 0.04505524 -0.01372187
+v -0.03500632 0.03930550 -0.02975084
+v -0.03649722 0.03865942 -0.02913573
+v -0.03441833 0.04107658 -0.02717584
+v -0.03310141 0.04152559 -0.02797297
+v -0.03545778 0.03987174 -0.02815656
+v -0.03261252 0.04179499 -0.02801063
+v -0.04530828 0.03527434 -0.01372191
+v -0.04495812 0.03565600 -0.01372191
+v -0.04457714 0.03605512 -0.01372191
+v -0.04381958 0.03684587 -0.01372190
+v -0.04386582 0.03689576 -0.01447666
+v -0.04268324 0.03803574 -0.01447666
+v -0.04154249 0.03907345 -0.01447666
+v -0.04160195 0.03912584 -0.01673782
+v -0.04024759 0.04026583 -0.01673781
+v -0.04020354 0.04023590 -0.01899739
+v -0.03770403 0.03813557 -0.02824445
+v -0.03906280 0.04115388 -0.01899739
+v -0.03765999 0.04217412 -0.01899739
+v -0.03634307 0.04310956 -0.01899738
+v -0.03485437 0.04362593 -0.02072346
+v -0.03937551 0.03587059 -0.02975085
+v -0.03833607 0.03677858 -0.02975084
+v -0.03880073 0.03639692 -0.02975085
+v -0.03261252 0.04547433 -0.01673779
+v -0.03339871 0.04502532 -0.01673779
+v -0.03319610 0.04498041 -0.01372187
+v -0.03519131 0.04384541 -0.01447664
+v -0.03388980 0.04456133 -0.01372188
+v -0.03623075 0.03846236 -0.02975084
+v -0.03261252 0.04494053 -0.02077837
+v -0.04303119 0.03760420 -0.01372190
+v -0.04263038 0.03798585 -0.01372190
+v -0.04148743 0.03902855 -0.01372190
+v -0.04018593 0.04021343 -0.01447665
+v -0.03904518 0.04114139 -0.01447665
+v -0.03910684 0.04118879 -0.01673781
+v -0.03765999 0.04224895 -0.01673780
+v -0.03640032 0.04315196 -0.01673780
+v -0.03520232 0.04384543 -0.01899738
+v -0.03334145 0.04498542 -0.01899737
+v -0.03261252 0.04540699 -0.01899737
+v -0.03525737 0.04388534 -0.01673780
+v -0.03633206 0.04310705 -0.01447664
+v -0.03588721 0.04331409 -0.01372188
+v -0.03512744 0.04380301 -0.01372188
+v -0.04058673 0.03978438 -0.01372189
+v -0.04006040 0.04022341 -0.01372189
+v -0.03965520 0.04055518 -0.01372189
+v -0.03898792 0.04109898 -0.01372189
+v -0.03765999 0.04215665 -0.01447665
+v -0.03627039 0.04306464 -0.01372188
+v -0.03817971 0.04169018 -0.01372189
+v -0.03772826 0.04201945 -0.01372189
+f 1 2 7
+f 1 7 17
+f 1 17 28
+f 1 28 46
+f 1 46 45
+f 1 45 27
+f 1 27 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 5 13 6
+f 6 13 16
+f 6 16 8
+f 7 8 17
+f 8 18 17
+f 8 16 19
+f 8 19 20
+f 8 20 18
+f 10 21 11
+f 10 15 27
+f 10 27 45
+f 10 45 68
+f 10 68 87
+f 10 87 108
+f 10 108 129
+f 10 129 156
+f 10 156 158
+f 10 158 175
+f 10 175 174
+f 10 174 181
+f 10 181 183
+f 10 183 182
+f 10 182 179
+f 10 179 178
+f 10 178 177
+f 10 177 176
+f 10 176 163
+f 10 163 162
+f 10 162 161
+f 10 161 139
+f 10 139 138
+f 10 138 137
+f 10 137 136
+f 10 136 115
+f 10 115 117
+f 10 117 114
+f 10 114 113
+f 10 113 112
+f 10 112 91
+f 10 91 90
+f 10 90 89
+f 10 89 93
+f 10 93 86
+f 10 86 66
+f 10 66 65
+f 10 65 43
+f 10 43 25
+f 10 25 24
+f 10 24 23
+f 10 23 21
+f 11 21 12
+f 12 22 13
+f 12 21 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 22
+f 13 22 19
+f 13 19 16
+f 14 27 15
+f 17 18 29
+f 17 29 30
+f 17 30 28
+f 18 20 31
+f 18 31 32
+f 18 32 29
+f 19 22 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 31
+f 22 26 42
+f 22 42 33
+f 25 43 44
+f 25 44 26
+f 26 44 52
+f 26 52 42
+f 28 30 49
+f 28 49 48
+f 28 48 47
+f 28 47 51
+f 28 51 70
+f 28 70 71
+f 28 71 85
+f 28 85 83
+f 28 83 82
+f 28 82 84
+f 28 84 104
+f 28 104 103
+f 28 103 106
+f 28 106 125
+f 28 125 124
+f 28 124 151
+f 28 151 153
+f 28 153 152
+f 28 152 159
+f 28 159 130
+f 28 130 109
+f 28 109 88
+f 28 88 69
+f 28 69 46
+f 29 32 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 31 41 32
+f 32 41 50
+f 32 50 51
+f 32 51 47
+f 33 42 52
+f 33 52 34
+f 34 52 35
+f 35 53 54
+f 35 54 36
+f 35 52 53
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 39
+f 37 39 38
+f 39 63 64
+f 39 64 40
+f 40 64 50
+f 40 50 41
+f 43 65 44
+f 44 65 66
+f 44 66 67
+f 44 67 52
+f 45 46 68
+f 46 69 68
+f 50 70 51
+f 50 64 71
+f 50 71 70
+f 52 67 53
+f 53 67 72
+f 53 72 54
+f 54 72 73
+f 54 73 55
+f 55 73 56
+f 56 73 74
+f 56 74 75
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 59
+f 59 78 60
+f 59 77 79
+f 59 79 78
+f 60 80 61
+f 60 78 81
+f 60 81 80
+f 61 80 62
+f 62 82 83
+f 62 83 64
+f 62 64 63
+f 62 80 84
+f 62 84 82
+f 64 85 71
+f 64 83 85
+f 66 86 67
+f 67 86 72
+f 68 69 88
+f 68 88 111
+f 68 111 135
+f 68 135 160
+f 68 160 171
+f 68 171 154
+f 68 154 127
+f 68 127 107
+f 68 107 87
+f 72 89 90
+f 72 90 91
+f 72 91 92
+f 72 92 73
+f 72 86 93
+f 72 93 89
+f 73 92 94
+f 73 94 74
+f 74 94 75
+f 75 95 76
+f 75 94 96
+f 75 96 95
+f 76 97 77
+f 76 95 116
+f 76 116 97
+f 77 97 98
+f 77 98 79
+f 78 79 99
+f 78 99 81
+f 79 98 100
+f 79 100 101
+f 79 101 102
+f 79 102 99
+f 80 103 104
+f 80 104 84
+f 80 81 105
+f 80 105 106
+f 80 106 103
+f 81 99 105
+f 87 107 108
+f 88 109 110
+f 88 110 111
+f 91 112 92
+f 92 112 94
+f 94 113 114
+f 94 114 96
+f 94 112 113
+f 95 115 116
+f 95 96 115
+f 96 114 117
+f 96 117 115
+f 97 116 118
+f 97 118 98
+f 98 118 120
+f 98 120 100
+f 99 102 119
+f 99 119 105
+f 100 120 121
+f 100 121 101
+f 101 122 119
+f 101 119 102
+f 101 121 123
+f 101 123 122
+f 105 124 125
+f 105 125 106
+f 105 119 126
+f 105 126 124
+f 107 127 128
+f 107 128 108
+f 108 128 129
+f 109 130 131
+f 109 131 110
+f 110 132 133
+f 110 133 111
+f 110 131 134
+f 110 134 132
+f 111 133 135
+f 115 136 116
+f 116 136 137
+f 116 137 138
+f 116 138 139
+f 116 139 140
+f 116 140 118
+f 118 140 120
+f 119 122 126
+f 120 140 141
+f 120 141 142
+f 120 142 143
+f 120 143 121
+f 121 143 144
+f 121 144 145
+f 121 145 123
+f 122 123 146
+f 122 146 126
+f 123 147 148
+f 123 148 149
+f 123 149 150
+f 123 150 132
+f 123 132 134
+f 123 134 131
+f 123 131 146
+f 123 145 147
+f 124 126 151
+f 126 146 131
+f 126 131 152
+f 126 152 153
+f 126 153 151
+f 127 154 155
+f 127 155 128
+f 128 156 129
+f 128 155 157
+f 128 157 158
+f 128 158 156
+f 130 159 131
+f 131 159 152
+f 132 150 133
+f 133 150 160
+f 133 160 135
+f 139 161 141
+f 139 141 140
+f 141 161 162
+f 141 162 163
+f 141 163 142
+f 142 163 164
+f 142 164 144
+f 142 144 143
+f 144 164 165
+f 144 165 166
+f 144 166 145
+f 145 166 147
+f 147 166 167
+f 147 167 148
+f 148 167 168
+f 148 168 149
+f 149 168 169
+f 149 169 150
+f 150 169 170
+f 150 170 160
+f 154 171 155
+f 155 171 170
+f 155 170 169
+f 155 169 172
+f 155 172 157
+f 157 172 168
+f 157 168 173
+f 157 173 174
+f 157 174 175
+f 157 175 158
+f 160 170 171
+f 163 176 164
+f 164 177 178
+f 164 178 179
+f 164 179 165
+f 164 176 177
+f 165 179 180
+f 165 180 166
+f 166 180 167
+f 167 180 168
+f 168 180 173
+f 168 172 169
+f 173 180 181
+f 173 181 174
+f 179 182 180
+f 180 182 183
+f 180 183 181
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_37.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.05618515 -0.01737039 -0.01673702
+v -0.05611225 -0.01737040 -0.01469773
+v -0.05617727 -0.01737039 -0.01697261
+v -0.05542268 -0.01941185 -0.01673703
+v -0.04814278 -0.01737040 -0.01469773
+v -0.05485723 -0.02070795 -0.01490073
+v -0.05497741 -0.02035704 -0.01469774
+v -0.05608861 -0.01737038 -0.01899717
+v -0.05534387 -0.01941184 -0.01899718
+v -0.05484147 -0.02067207 -0.01899719
+v -0.05487890 -0.02075917 -0.01673704
+v -0.04447230 -0.01737036 -0.02544108
+v -0.03606150 -0.03412477 -0.01469780
+v -0.05471144 -0.02098459 -0.01469775
+v -0.05484738 -0.02068490 -0.01469775
+v -0.05436468 -0.02189645 -0.01673704
+v -0.05328304 -0.02396867 -0.01469776
+v -0.05605709 -0.01737038 -0.01916019
+v -0.05480600 -0.02059267 -0.02015935
+v -0.05432134 -0.02181191 -0.01899719
+v -0.03605953 -0.02949621 -0.02544113
+v -0.05377953 -0.01737036 -0.02544108
+v -0.03605953 -0.03507251 -0.01469780
+v -0.03605953 -0.03386093 -0.01669081
+v -0.05328698 -0.02396865 -0.01899720
+v -0.05336382 -0.02396866 -0.01673705
+v -0.05260529 -0.02528781 -0.01469776
+v -0.05536949 -0.01737037 -0.02127941
+v -0.05503652 -0.01941183 -0.02055794
+v -0.05310769 -0.01910702 -0.02544109
+v -0.05299145 -0.01940414 -0.02544109
+v -0.05279443 -0.01989082 -0.02544109
+v -0.05216791 -0.02129448 -0.02544110
+v -0.05255800 -0.02520582 -0.02021720
+v -0.03605953 -0.04076142 -0.02544117
+v -0.03605953 -0.04346122 -0.01469783
+v -0.05260923 -0.02529803 -0.01899720
+v -0.05264470 -0.02536208 -0.01673705
+v -0.05199847 -0.02649936 -0.01673706
+v -0.05195513 -0.02642765 -0.01469777
+v -0.05197089 -0.02169151 -0.02544110
+v -0.05089910 -0.02379957 -0.02544111
+v -0.05080059 -0.02398912 -0.02544111
+v -0.05057992 -0.02440663 -0.02544111
+v -0.04976426 -0.02583335 -0.02544111
+v -0.04954163 -0.02619195 -0.02544112
+v -0.04854470 -0.02778517 -0.02544112
+v -0.05059568 -0.02797985 -0.02070311
+v -0.04805610 -0.03209353 -0.02030137
+v -0.05008540 -0.02946549 -0.01899722
+v -0.05081438 -0.02832565 -0.01899721
+v -0.05195513 -0.02643787 -0.01899721
+v -0.03605953 -0.04254163 -0.02133105
+v -0.03897740 -0.04118408 -0.02032138
+v -0.03608515 -0.04074349 -0.02544117
+v -0.03639841 -0.04324862 -0.01469783
+v -0.03605953 -0.04347914 -0.01517111
+v -0.05085575 -0.02839738 -0.01673706
+v -0.05081438 -0.02833080 -0.01469777
+v -0.04836542 -0.02806437 -0.02544112
+v -0.04820386 -0.02831539 -0.02544112
+v -0.04483481 -0.03274668 -0.02544114
+v -0.04592237 -0.03452176 -0.02048648
+v -0.04608983 -0.03471388 -0.01899724
+v -0.04723058 -0.03335120 -0.01899723
+v -0.04814475 -0.03221136 -0.01899723
+v -0.04915153 -0.03079744 -0.01899722
+v -0.04760689 -0.02919140 -0.02544113
+v -0.04653707 -0.03063093 -0.02544113
+v -0.04614500 -0.03114834 -0.02544113
+v -0.05013663 -0.02953466 -0.01673707
+v -0.03605953 -0.04335106 -0.01938010
+v -0.03748399 -0.03969586 -0.02544117
+v -0.03639250 -0.04324092 -0.01899727
+v -0.03765934 -0.04233673 -0.01899727
+v -0.03909956 -0.04128141 -0.01899726
+v -0.04024227 -0.04034905 -0.01899726
+v -0.04158201 -0.03920921 -0.01899725
+v -0.04139287 -0.03904271 -0.02048544
+v -0.03959802 -0.03799251 -0.02544116
+v -0.03804156 -0.03927323 -0.02544116
+v -0.03645554 -0.04328703 -0.01673712
+v -0.03605953 -0.04353805 -0.01673712
+v -0.03765934 -0.04234443 -0.01469783
+v -0.03765934 -0.04242383 -0.01673712
+v -0.05009328 -0.02947064 -0.01469778
+v -0.04411372 -0.03356634 -0.02544114
+v -0.04287840 -0.03489829 -0.02544115
+v -0.04370786 -0.03683218 -0.02054749
+v -0.04505351 -0.03585117 -0.01899724
+v -0.04510079 -0.03590240 -0.01673709
+v -0.04613515 -0.03476512 -0.01673709
+v -0.04727589 -0.03340500 -0.01673708
+v -0.04818810 -0.03226772 -0.01673708
+v -0.04924610 -0.03079745 -0.01673707
+v -0.04916138 -0.03079746 -0.01469778
+v -0.03605953 -0.04345352 -0.01899727
+v -0.03915472 -0.04132753 -0.01673711
+v -0.04029547 -0.04039517 -0.01673711
+v -0.04163520 -0.03925789 -0.01673710
+v -0.04272473 -0.03817183 -0.01899725
+v -0.04176130 -0.03602276 -0.02544115
+v -0.04048658 -0.03721383 -0.02544116
+v -0.03780710 -0.04223685 -0.01469783
+v -0.03910350 -0.04128656 -0.01469782
+v -0.04391079 -0.03703199 -0.01899725
+v -0.04505351 -0.03584862 -0.01469780
+v -0.04515596 -0.03573848 -0.01469780
+v -0.04396004 -0.03707810 -0.01673710
+v -0.04391276 -0.03703457 -0.01469781
+v -0.04494318 -0.03596389 -0.01469780
+v -0.04608983 -0.03470878 -0.01469780
+v -0.04722861 -0.03334866 -0.01469779
+v -0.04814475 -0.03220882 -0.01469779
+v -0.04905696 -0.03094347 -0.01469778
+v -0.04024424 -0.04035419 -0.01469782
+v -0.04158595 -0.03921435 -0.01469781
+v -0.04277595 -0.03821794 -0.01673710
+v -0.04284294 -0.03806170 -0.01469781
+v -0.04261637 -0.03827430 -0.01469781
+v -0.04272670 -0.03817185 -0.01469781
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 15
+f 2 15 14
+f 2 14 17
+f 2 17 27
+f 2 27 40
+f 2 40 59
+f 2 59 86
+f 2 86 96
+f 2 96 115
+f 2 115 114
+f 2 114 113
+f 2 113 112
+f 2 112 108
+f 2 108 107
+f 2 107 111
+f 2 111 110
+f 2 110 119
+f 2 119 121
+f 2 121 120
+f 2 120 117
+f 2 117 116
+f 2 116 105
+f 2 105 104
+f 2 104 84
+f 2 84 56
+f 2 56 36
+f 2 36 23
+f 2 23 13
+f 2 13 5
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 13 12
+f 6 14 15
+f 6 15 7
+f 6 11 16
+f 6 16 17
+f 6 17 14
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 16
+f 10 16 11
+f 12 21 35
+f 12 35 55
+f 12 55 73
+f 12 73 81
+f 12 81 80
+f 12 80 103
+f 12 103 102
+f 12 102 88
+f 12 88 87
+f 12 87 62
+f 12 62 70
+f 12 70 69
+f 12 69 68
+f 12 68 61
+f 12 61 60
+f 12 60 47
+f 12 47 46
+f 12 46 45
+f 12 45 44
+f 12 44 43
+f 12 43 42
+f 12 42 41
+f 12 41 33
+f 12 33 32
+f 12 32 31
+f 12 31 30
+f 12 30 22
+f 12 13 21
+f 13 23 24
+f 13 24 21
+f 16 20 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 18 28 29
+f 18 29 19
+f 19 29 22
+f 19 22 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 25
+f 19 25 20
+f 21 24 23
+f 21 23 36
+f 21 36 57
+f 21 57 83
+f 21 83 97
+f 21 97 72
+f 21 72 53
+f 21 53 35
+f 22 29 28
+f 25 34 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 33 41 34
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 37
+f 34 41 42
+f 35 53 54
+f 35 54 55
+f 36 56 57
+f 37 52 39
+f 37 39 38
+f 39 52 58
+f 39 58 59
+f 39 59 40
+f 47 60 48
+f 48 60 61
+f 48 61 49
+f 49 62 63
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 49 61 68
+f 49 68 69
+f 49 69 70
+f 49 70 62
+f 50 67 71
+f 50 71 51
+f 51 58 52
+f 51 71 58
+f 53 72 54
+f 54 73 55
+f 54 72 74
+f 54 74 75
+f 54 75 76
+f 54 76 77
+f 54 77 78
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 73
+f 56 82 83
+f 56 83 57
+f 56 84 85
+f 56 85 82
+f 58 71 59
+f 59 71 86
+f 62 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 64 91 92
+f 64 92 93
+f 64 93 65
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 67
+f 67 95 71
+f 71 95 96
+f 71 96 86
+f 72 97 74
+f 74 97 82
+f 74 82 75
+f 75 82 85
+f 75 85 76
+f 76 98 77
+f 76 85 98
+f 77 98 99
+f 77 99 100
+f 77 100 78
+f 78 100 101
+f 78 101 79
+f 79 101 89
+f 79 89 102
+f 79 102 103
+f 79 103 80
+f 82 97 83
+f 84 104 85
+f 85 104 105
+f 85 105 98
+f 88 102 89
+f 89 101 106
+f 89 106 90
+f 90 106 91
+f 91 107 108
+f 91 108 92
+f 91 106 109
+f 91 109 110
+f 91 110 111
+f 91 111 107
+f 92 108 112
+f 92 112 93
+f 93 113 114
+f 93 114 94
+f 93 112 113
+f 94 114 115
+f 94 115 95
+f 95 115 96
+f 98 105 116
+f 98 116 99
+f 99 116 100
+f 100 117 118
+f 100 118 101
+f 100 116 117
+f 101 118 106
+f 106 118 109
+f 109 118 110
+f 110 118 119
+f 117 120 118
+f 118 121 119
+f 118 120 121
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_38.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.06335733 -0.00055492 0.04144766
+v 0.06283290 -0.00003697 0.04157309
+v 0.06283290 -0.00118810 0.04157461
+v 0.06335733 -0.00118810 0.04144766
+v 0.06335733 -0.00003697 0.04144613
+v 0.06054894 -0.00003697 0.04193254
+v 0.06283290 -0.00346604 0.04149660
+v 0.06335733 -0.00346604 0.04137117
+v 0.06054894 -0.00118810 0.04193101
+v 0.06054894 -0.00346604 0.04185452
+v 0.06335733 -0.00003692 0.02677880
+v 0.05826498 -0.00003697 0.04210080
+v 0.06054894 -0.00574292 0.04164496
+v 0.06283290 -0.00574292 0.04128397
+v 0.06335733 -0.00574292 0.04116772
+v 0.05826498 -0.00118810 0.04209774
+v 0.05826498 -0.00346604 0.04201819
+v 0.06335733 -0.00118805 0.02678186
+v 0.04936877 -0.00095338 0.02765220
+v 0.04936877 -0.00003692 0.02765067
+v 0.04936877 -0.00003698 0.04240366
+v 0.05826498 -0.00574292 0.04180709
+v 0.06054894 -0.00775237 0.04119524
+v 0.06283290 -0.00723759 0.04101628
+v 0.06335733 -0.00707797 0.04096275
+v 0.04936877 -0.00118811 0.04240060
+v 0.04936877 -0.00334977 0.04233941
+v 0.04936877 -0.00346605 0.04233481
+v 0.04936877 -0.00526620 0.04222009
+v 0.06335733 -0.00346599 0.02703423
+v 0.04936877 -0.00346599 0.02778220
+v 0.04936877 -0.00311082 0.02775926
+v 0.04936877 -0.00118805 0.02765373
+v 0.05808834 -0.00820901 0.04120289
+v 0.04936877 -0.00566787 0.04217879
+v 0.05873190 -0.00909271 0.04086485
+v 0.06054894 -0.00889187 0.04077308
+v 0.06283290 -0.00837708 0.04057423
+v 0.06335733 -0.00769846 0.04072260
+v 0.06335733 -0.00451775 0.02737379
+v 0.04936877 -0.00574287 0.02820130
+v 0.05720927 -0.00916353 0.04090003
+v 0.04936877 -0.00737183 0.04137421
+v 0.05552231 -0.00909059 0.04086332
+v 0.05704358 -0.00916353 0.04090003
+v 0.06054894 -0.00991932 0.03964422
+v 0.06283290 -0.00982840 0.03944384
+v 0.06335733 -0.00978083 0.03937195
+v 0.06335733 -0.00822910 0.04048857
+v 0.06335733 -0.00538876 0.02766288
+v 0.04936877 -0.00579889 0.02822578
+v 0.05616314 -0.00981467 0.03997308
+v 0.05808834 -0.00980304 0.03997308
+v 0.04936877 -0.00851027 0.04051763
+v 0.05369843 -0.00893626 0.04079602
+v 0.04936877 -0.00984954 0.03938725
+v 0.05141447 -0.00991403 0.03952797
+v 0.05369843 -0.00996688 0.03966564
+v 0.05598239 -0.01081780 0.03750737
+v 0.05826498 -0.01078714 0.03750737
+v 0.06054894 -0.01074381 0.03750737
+v 0.06283290 -0.01065924 0.03750737
+v 0.06335733 -0.01060745 0.03750737
+v 0.06335733 -0.00611812 0.02809576
+v 0.04936877 -0.00780095 0.02922154
+v 0.04936877 -0.00747221 0.02904716
+v 0.04936877 -0.00971425 0.03950503
+v 0.04936877 -0.01067932 0.03771692
+v 0.04936877 -0.01077340 0.03750737
+v 0.05141447 -0.01081357 0.03750737
+v 0.05369843 -0.01083577 0.03750737
+v 0.04936877 -0.01083470 0.03548218
+v 0.06335733 -0.01060532 0.03524662
+v 0.06335733 -0.00731894 0.02905328
+v 0.06335733 -0.00735382 0.02908693
+v 0.04936877 -0.00944149 0.03098975
+v 0.04936877 -0.01082307 0.03524662
+v 0.04936877 -0.01034211 0.03322296
+v 0.06335733 -0.00987066 0.03283903
+v 0.06335733 -0.00848275 0.03039780
+v 0.06335733 -0.00932311 0.03153123
+v 0.04936877 -0.00952500 0.03114271
+v 0.04936877 -0.01025014 0.03296752
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 39
+f 1 39 49
+f 1 49 48
+f 1 48 63
+f 1 63 73
+f 1 73 79
+f 1 79 81
+f 1 81 80
+f 1 80 75
+f 1 75 74
+f 1 74 64
+f 1 64 50
+f 1 50 40
+f 1 40 30
+f 1 30 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 21
+f 2 21 12
+f 2 12 6
+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 6 12 9
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 10 13
+f 9 12 16
+f 9 16 10
+f 10 16 17
+f 10 17 13
+f 11 18 19
+f 11 19 20
+f 12 21 26
+f 12 26 16
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 13 17 22
+f 14 25 15
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 22
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 32
+f 19 32 31
+f 19 31 41
+f 19 41 51
+f 19 51 66
+f 19 66 65
+f 19 65 76
+f 19 76 82
+f 19 82 83
+f 19 83 78
+f 19 78 77
+f 19 77 72
+f 19 72 69
+f 19 69 68
+f 19 68 56
+f 19 56 67
+f 19 67 54
+f 19 54 43
+f 19 43 35
+f 19 35 29
+f 19 29 28
+f 19 28 27
+f 19 27 26
+f 19 26 21
+f 19 21 20
+f 22 34 23
+f 22 29 35
+f 22 35 34
+f 23 34 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 30 40 41
+f 30 41 31
+f 34 35 42
+f 34 42 36
+f 35 43 44
+f 35 44 45
+f 35 45 42
+f 36 42 46
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 38 49 39
+f 40 50 41
+f 41 50 51
+f 42 45 52
+f 42 52 53
+f 42 53 46
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 52
+f 46 53 58
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 48
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 52 58 53
+f 54 67 55
+f 55 67 56
+f 56 68 57
+f 57 68 58
+f 58 68 69
+f 58 69 70
+f 58 70 71
+f 58 71 59
+f 59 71 72
+f 59 72 60
+f 60 72 73
+f 60 73 61
+f 61 73 62
+f 62 73 63
+f 64 74 65
+f 65 74 75
+f 65 75 76
+f 69 72 70
+f 70 72 71
+f 72 77 73
+f 73 77 78
+f 73 78 79
+f 75 80 76
+f 76 80 81
+f 76 81 82
+f 78 83 79
+f 79 83 82
+f 79 82 81
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_39.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.02033581 -0.03394459 -0.02113452
+v 0.02033581 -0.03593571 -0.01400656
+v 0.02033581 -0.04410255 -0.02113456
+v -0.00195061 -0.04280949 -0.02113456
+v -0.00195061 -0.04444538 -0.01400659
+v 0.02033581 -0.04468161 -0.01400659
+v 0.02033581 -0.04415406 -0.02105779
+v 0.01932576 -0.04469224 -0.02113456
+v -0.00195061 -0.05134758 -0.02113459
+v -0.00195061 -0.05197815 -0.01400662
+v 0.02006312 -0.04484324 -0.01400659
+v 0.01970753 -0.04510612 -0.01447696
+v 0.02033581 -0.04473312 -0.01447695
+v 0.02033581 -0.04478639 -0.01899631
+v 0.01849896 -0.04571533 -0.02030132
+v 0.01797758 -0.04544356 -0.02113457
+v -0.00195061 -0.05199412 -0.01899634
+v -0.00190480 -0.05134403 -0.02113459
+v -0.00195061 -0.05201900 -0.01447698
+v -0.00111509 -0.05194263 -0.01447698
+v -0.00177609 -0.05196216 -0.01400662
+v 0.01962245 -0.04510434 -0.01400660
+v 0.01934321 -0.04526420 -0.01400660
+v 0.01856659 -0.04575442 -0.01447696
+v 0.01978606 -0.04515407 -0.01673734
+v 0.02033581 -0.04482725 -0.01673733
+v 0.01975334 -0.04513274 -0.01899632
+v 0.01861022 -0.04577749 -0.01899632
+v 0.01715515 -0.04650573 -0.01899632
+v 0.01385669 -0.04793910 -0.02022107
+v 0.01693918 -0.04596221 -0.02113457
+v -0.00195061 -0.05205629 -0.01756293
+v -0.00111509 -0.05127120 -0.02113459
+v -0.00111509 -0.05191596 -0.01899634
+v -0.00195061 -0.05208826 -0.01673736
+v -0.00111509 -0.05190000 -0.01400662
+v -0.00111509 -0.05201189 -0.01673736
+v 0.00116896 -0.05170106 -0.01673736
+v 0.00116896 -0.05163002 -0.01447698
+v 0.01852078 -0.04572956 -0.01400660
+v 0.01750419 -0.04624287 -0.01400660
+v 0.01715515 -0.04646667 -0.01447696
+v 0.01715515 -0.04655369 -0.01673734
+v 0.01864512 -0.04579704 -0.01673734
+v 0.01515251 -0.04750040 -0.01673734
+v 0.01509579 -0.04747197 -0.01899632
+v 0.01395268 -0.04797995 -0.01899633
+v 0.01258704 -0.04851813 -0.01899633
+v 0.01030299 -0.04935294 -0.01899633
+v 0.00716160 -0.05024280 -0.02026644
+v 0.01258704 -0.04818243 -0.02063351
+v 0.01258704 -0.04788048 -0.02113458
+v 0.01310406 -0.04767799 -0.02113458
+v 0.01467694 -0.04701370 -0.02113457
+v 0.01472057 -0.04699417 -0.02113457
+v -0.00099074 -0.05125521 -0.02113459
+v 0.00116896 -0.05161402 -0.01899634
+v 0.00116896 -0.05158739 -0.01400662
+v 0.00345302 -0.05121615 -0.01899634
+v 0.00345302 -0.05128898 -0.01673736
+v 0.00345302 -0.05121795 -0.01447698
+v 0.01719441 -0.04639740 -0.01400660
+v 0.01551028 -0.04719135 -0.01400660
+v 0.01505216 -0.04745778 -0.01447696
+v 0.01401158 -0.04800661 -0.01673735
+v 0.01258704 -0.04857676 -0.01673735
+v 0.01030299 -0.04942045 -0.01673735
+v 0.00849669 -0.04995329 -0.01899633
+v 0.00735358 -0.05029964 -0.01899633
+v 0.00573707 -0.05071349 -0.01899634
+v 0.00573707 -0.05042041 -0.02056234
+v 0.00629336 -0.04993552 -0.02113458
+v 0.00794477 -0.04948792 -0.02113458
+v 0.00796440 -0.04948259 -0.02113458
+v 0.01108616 -0.04843287 -0.02113458
+v 0.01213111 -0.04805454 -0.02113458
+v 0.00284655 -0.05069927 -0.02113459
+v 0.00345302 -0.05066553 -0.02100199
+v 0.00345302 -0.05117354 -0.01400662
+v 0.00573707 -0.05077389 -0.01673736
+v 0.00573707 -0.05069398 -0.01447698
+v 0.00576979 -0.05064247 -0.01400662
+v 0.01496708 -0.04744712 -0.01400660
+v 0.01457877 -0.04761941 -0.01400660
+v 0.01385669 -0.04793912 -0.01400661
+v 0.01391123 -0.04796221 -0.01447697
+v 0.01258704 -0.04849151 -0.01447697
+v 0.01030299 -0.04933875 -0.01447697
+v 0.00858395 -0.04998882 -0.01673735
+v 0.00744084 -0.05032629 -0.01673735
+v 0.00345302 -0.05058915 -0.02113459
+v 0.00490373 -0.05026944 -0.02113458
+v 0.00573707 -0.05007406 -0.02113458
+v 0.00333085 -0.05061402 -0.02113459
+v 0.00729686 -0.05028367 -0.01447697
+v 0.00612102 -0.05055188 -0.01400662
+v 0.01302117 -0.04827482 -0.01400661
+v 0.01261540 -0.04843290 -0.01400661
+v 0.01030299 -0.04929257 -0.01400661
+v 0.00882828 -0.04977569 -0.01400661
+v 0.00843997 -0.04994798 -0.01447697
+v 0.00722050 -0.05026059 -0.01400661
+v 0.00802767 -0.05002436 -0.01400661
+v 0.00832653 -0.04993555 -0.01400661
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 31
+f 1 31 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 76
+f 1 76 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 93
+f 1 93 92
+f 1 92 91
+f 1 91 94
+f 1 94 77
+f 1 77 56
+f 1 56 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 21
+f 2 21 36
+f 2 36 58
+f 2 58 79
+f 2 79 82
+f 2 82 96
+f 2 96 102
+f 2 102 103
+f 2 103 104
+f 2 104 100
+f 2 100 99
+f 2 99 98
+f 2 98 97
+f 2 97 85
+f 2 85 84
+f 2 84 83
+f 2 83 63
+f 2 63 62
+f 2 62 41
+f 2 41 40
+f 2 40 23
+f 2 23 22
+f 2 22 11
+f 2 11 6
+f 3 7 8
+f 4 9 17
+f 4 17 32
+f 4 32 35
+f 4 35 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 17 18 33
+f 17 33 34
+f 17 34 32
+f 19 35 37
+f 19 37 20
+f 20 36 21
+f 20 37 38
+f 20 38 39
+f 20 39 58
+f 20 58 36
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 27 26
+f 25 44 28
+f 25 28 27
+f 28 44 43
+f 28 43 29
+f 29 43 45
+f 29 45 46
+f 29 46 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 31
+f 30 46 47
+f 32 34 37
+f 32 37 35
+f 33 56 34
+f 34 56 57
+f 34 57 37
+f 37 57 38
+f 38 57 59
+f 38 59 60
+f 38 60 61
+f 38 61 39
+f 39 61 58
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 45
+f 42 45 43
+f 45 64 65
+f 45 65 47
+f 45 47 46
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 59
+f 50 59 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 51
+f 51 75 76
+f 51 76 52
+f 56 77 78
+f 56 78 57
+f 57 78 71
+f 57 71 59
+f 58 61 79
+f 59 70 60
+f 60 70 80
+f 60 80 61
+f 61 80 81
+f 61 81 82
+f 61 82 79
+f 63 83 64
+f 64 83 84
+f 64 84 85
+f 64 85 86
+f 64 86 65
+f 65 86 66
+f 66 86 87
+f 66 87 88
+f 66 88 67
+f 67 88 89
+f 67 89 68
+f 68 89 69
+f 69 90 80
+f 69 80 70
+f 69 89 90
+f 71 91 92
+f 71 92 93
+f 71 93 72
+f 71 78 91
+f 77 94 78
+f 78 94 91
+f 80 90 81
+f 81 90 95
+f 81 95 96
+f 81 96 82
+f 85 97 86
+f 86 97 87
+f 87 97 98
+f 87 98 99
+f 87 99 88
+f 88 99 100
+f 88 100 101
+f 88 101 89
+f 89 101 90
+f 90 101 95
+f 95 102 96
+f 95 101 103
+f 95 103 102
+f 100 104 101
+f 101 104 103
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_4.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04767710 -0.00003581 0.02559610
+v 0.04767390 -0.00003581 0.02559798
+v 0.04767390 -0.00003029 0.02558857
+v 0.05235490 -0.00003583 0.02923573
+v 0.04767390 -0.00003588 0.04481667
+v 0.04767390 0.00109149 0.02558292
+v 0.05235490 0.00109147 0.02923008
+v 0.05235490 -0.00003587 0.04186994
+v 0.05235490 0.00042741 0.04187183
+v 0.05235490 0.00109143 0.04187371
+v 0.04767390 0.00109142 0.04481102
+v 0.04767390 0.00329976 0.02568649
+v 0.05235490 0.00208310 0.02927340
+v 0.05235490 0.00202901 0.04184548
+v 0.04767390 0.00336918 0.04458697
+v 0.05235490 0.00336919 0.04180217
+v 0.05235490 0.00430677 0.04172687
+v 0.05235490 0.00564585 0.04161013
+v 0.04767390 0.00336925 0.02569026
+v 0.05235490 0.00336923 0.02935436
+v 0.04767390 0.00556421 0.04405789
+v 0.05235490 0.00782544 0.04117142
+v 0.04767390 0.00533595 0.02600094
+v 0.05235490 0.00475133 0.02952760
+v 0.04767390 0.00797654 0.04220513
+v 0.05235490 0.00857329 0.04095865
+v 0.05235490 0.00892406 0.04084568
+v 0.04767390 0.00564590 0.02607249
+v 0.05235490 0.00598452 0.02977803
+v 0.04767390 0.01023115 0.03966135
+v 0.05235490 0.00997635 0.03978939
+v 0.04767390 0.00727397 0.02686520
+v 0.05235490 0.00787843 0.03056697
+v 0.04767390 0.01062605 0.03897409
+v 0.05235490 0.01113234 0.03750732
+v 0.04767390 0.00839024 0.02789891
+v 0.05235490 0.00927816 0.03158938
+v 0.05141412 0.01112131 0.03750732
+v 0.04767390 0.01109373 0.03737740
+v 0.04767390 0.01123162 0.03532317
+v 0.05235490 0.01096579 0.03524597
+v 0.05141412 0.01102425 0.03524597
+v 0.04913067 0.01115441 0.03524597
+v 0.04767390 0.00937083 0.02903994
+v 0.05235490 0.01009330 0.03298838
+v 0.04767390 0.01081579 0.03298838
+v 0.04767390 0.01006794 0.03072514
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 21
+f 2 21 25
+f 2 25 30
+f 2 30 34
+f 2 34 39
+f 2 39 40
+f 2 40 46
+f 2 46 47
+f 2 47 44
+f 2 44 36
+f 2 36 32
+f 2 32 28
+f 2 28 23
+f 2 23 19
+f 2 19 12
+f 2 12 6
+f 2 6 3
+f 3 6 4
+f 4 6 7
+f 4 7 13
+f 4 13 20
+f 4 20 24
+f 4 24 29
+f 4 29 33
+f 4 33 37
+f 4 37 45
+f 4 45 41
+f 4 41 35
+f 4 35 31
+f 4 31 27
+f 4 27 26
+f 4 26 22
+f 4 22 18
+f 4 18 17
+f 4 17 16
+f 4 16 14
+f 4 14 10
+f 4 10 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 11
+f 11 14 16
+f 11 16 17
+f 11 17 18
+f 11 18 15
+f 12 19 13
+f 13 19 20
+f 15 18 22
+f 15 22 21
+f 19 23 24
+f 19 24 20
+f 21 22 26
+f 21 26 27
+f 21 27 25
+f 23 28 29
+f 23 29 24
+f 25 27 31
+f 25 31 30
+f 28 32 33
+f 28 33 29
+f 30 31 34
+f 31 35 34
+f 32 36 37
+f 32 37 33
+f 34 35 38
+f 34 38 39
+f 35 40 39
+f 35 39 38
+f 35 41 42
+f 35 42 43
+f 35 43 40
+f 36 44 37
+f 37 44 45
+f 40 43 46
+f 41 45 47
+f 41 47 46
+f 41 46 42
+f 42 46 43
+f 44 47 45
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_40.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.04639657 0.01150285 -0.01682566
+v 0.04587508 0.01150286 -0.01881351
+v 0.03667313 0.01150285 -0.01682566
+v 0.06055265 0.01094598 -0.01682566
+v 0.04376603 0.01150287 -0.02165542
+v 0.03477862 0.01150287 -0.02223821
+v 0.03815508 -0.00003563 -0.01682570
+v 0.06283334 0.01073136 -0.01682566
+v 0.04330725 0.01150287 -0.02223821
+v 0.03635298 -0.00003561 -0.02223825
+v 0.06849049 -0.00003563 -0.01682570
+v 0.06283334 0.00978028 -0.01868636
+v 0.06070118 0.00992712 -0.01919975
+v 0.05826537 0.01049077 -0.01899683
+v 0.06407104 0.01036990 -0.01682566
+v 0.04397396 0.00989212 -0.02223821
+v 0.06004107 0.00927424 -0.02028904
+v 0.05826537 0.00792329 -0.02114363
+v 0.05598139 0.00792329 -0.02144615
+v 0.05598139 0.00564722 -0.02188273
+v 0.05369740 0.00564722 -0.02202948
+v 0.05369740 0.00336889 -0.02216883
+v 0.05369740 0.00109056 -0.02220805
+v 0.05141672 0.00109056 -0.02222977
+v 0.04540641 -0.00003561 -0.02223825
+v 0.06797890 -0.00003563 -0.01734545
+v 0.06849709 0.00109054 -0.01682570
+v 0.06156262 0.00895683 -0.02008772
+v 0.06527575 0.00997229 -0.01691308
+v 0.06462224 0.00944141 -0.01824504
+v 0.06527245 0.01000505 -0.01682566
+v 0.04446574 0.00863039 -0.02223822
+v 0.06070118 0.00808820 -0.02056931
+v 0.06054935 0.00564722 -0.02109172
+v 0.05826537 0.00564722 -0.02158444
+v 0.05598139 0.00336889 -0.02202208
+v 0.05598139 0.00109056 -0.02206341
+v 0.05369740 -0.00003561 -0.02220540
+v 0.05254220 -0.00003561 -0.02221600
+v 0.05141672 -0.00003561 -0.02222606
+v 0.04540971 0.00109056 -0.02223825
+v 0.04532389 0.00336889 -0.02223824
+v 0.04514566 0.00564722 -0.02223823
+v 0.04475289 0.00787246 -0.02223822
+v 0.06798220 0.00109054 -0.01734757
+v 0.06740461 -0.00003562 -0.01783711
+v 0.06844098 0.00336887 -0.01682569
+v 0.06614710 0.00887437 -0.01778357
+v 0.06289605 0.00808819 -0.01980851
+v 0.06217653 0.00743870 -0.02031448
+v 0.06551339 0.00991469 -0.01682566
+v 0.06254949 0.00564722 -0.02045860
+v 0.06054935 0.00336889 -0.02122895
+v 0.05826537 0.00336889 -0.02172326
+v 0.05826537 0.00109056 -0.02176513
+v 0.05711018 -0.00003561 -0.02191506
+v 0.05598139 -0.00003561 -0.02206023
+v 0.06684021 0.00109055 -0.01832030
+v 0.06794590 0.00336887 -0.01732107
+v 0.06683691 -0.00003562 -0.01831871
+v 0.06825285 0.00564720 -0.01682568
+v 0.06750362 0.00821808 -0.01682567
+v 0.06752343 0.00819888 -0.01682567
+v 0.06751683 0.00819097 -0.01683680
+v 0.06650685 0.00735624 -0.01805801
+v 0.06527575 0.00803849 -0.01859100
+v 0.06369148 0.00564721 -0.02000826
+v 0.06273102 0.00336889 -0.02052748
+v 0.06387301 0.00336888 -0.02008509
+v 0.06054935 0.00109056 -0.02127240
+v 0.05826537 -0.00003561 -0.02176407
+v 0.06596887 -0.00003562 -0.01887925
+v 0.06511732 0.00109055 -0.01943025
+v 0.06511732 0.00336888 -0.01937885
+v 0.06680390 0.00336888 -0.01829062
+v 0.06784358 0.00564720 -0.01722940
+v 0.06670159 0.00564721 -0.01821008
+v 0.06753003 0.00818307 -0.01682567
+v 0.06511732 0.00564721 -0.01922202
+v 0.06278383 0.00109056 -0.02055027
+v 0.06392582 0.00109055 -0.02010682
+v 0.06054935 -0.00003561 -0.02127081
+v 0.06511732 -0.00003562 -0.01942601
+v 0.06451662 -0.00003562 -0.01976721
+v 0.06277723 -0.00003561 -0.02054868
+v 0.06391922 -0.00003562 -0.02010417
+v 0.06334492 -0.00003562 -0.02032775
+f 1 2 5
+f 1 5 9
+f 1 9 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 27
+f 1 27 47
+f 1 47 61
+f 1 61 78
+f 1 78 63
+f 1 63 62
+f 1 62 51
+f 1 51 31
+f 1 31 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 6 9 16
+f 6 16 32
+f 6 32 44
+f 6 44 43
+f 6 43 42
+f 6 42 41
+f 6 41 25
+f 6 25 10
+f 7 10 25
+f 7 25 40
+f 7 40 39
+f 7 39 38
+f 7 38 57
+f 7 57 56
+f 7 56 71
+f 7 71 82
+f 7 82 85
+f 7 85 87
+f 7 87 86
+f 7 86 84
+f 7 84 83
+f 7 83 72
+f 7 72 60
+f 7 60 46
+f 7 46 26
+f 7 26 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 8 15 12
+f 9 14 13
+f 9 13 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 16
+f 11 26 27
+f 12 28 17
+f 12 17 13
+f 12 15 29
+f 12 29 30
+f 12 30 28
+f 15 31 29
+f 16 24 32
+f 17 28 18
+f 18 28 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 20 36 22
+f 20 22 21
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 24 25 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 32
+f 26 45 27
+f 26 46 45
+f 27 45 47
+f 28 30 48
+f 28 48 49
+f 28 49 50
+f 28 50 33
+f 29 31 51
+f 29 51 30
+f 30 51 48
+f 33 50 34
+f 34 50 52
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 45 46 58
+f 45 58 59
+f 45 59 47
+f 46 60 58
+f 47 59 61
+f 48 51 62
+f 48 62 63
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 67 50
+f 49 66 67
+f 50 67 52
+f 52 68 53
+f 52 67 69
+f 52 69 68
+f 53 70 54
+f 53 68 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 58 60 72
+f 58 72 73
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 59 76 61
+f 59 75 77
+f 59 77 76
+f 61 76 64
+f 61 64 78
+f 63 78 64
+f 64 76 65
+f 65 77 79
+f 65 79 66
+f 65 76 77
+f 66 79 67
+f 67 79 69
+f 68 69 80
+f 68 80 70
+f 69 79 74
+f 69 74 81
+f 69 81 80
+f 70 80 82
+f 70 82 71
+f 72 83 73
+f 73 83 84
+f 73 84 81
+f 73 81 74
+f 74 79 77
+f 74 77 75
+f 80 81 85
+f 80 85 82
+f 81 86 87
+f 81 87 85
+f 81 84 86
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_41.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03566852 -0.00003688 0.01645402
+v 0.04318303 -0.00003688 0.01645402
+v 0.03562757 -0.00003688 0.01716672
+v 0.03284349 0.01519360 0.01716678
+v 0.03288758 0.01519360 0.01645408
+v 0.04318408 0.00109169 0.01645402
+v 0.04321977 0.00104995 0.01677213
+v 0.04321977 -0.00003688 0.01678437
+v 0.03557088 -0.00003689 0.01830765
+v 0.03272171 0.01519359 0.01942722
+v 0.04068344 0.01519360 0.01645408
+v 0.04316623 0.00145993 0.01645403
+v 0.04321977 0.00317738 0.01742366
+v 0.04321977 0.00109169 0.01677213
+v 0.04321977 -0.00003700 0.04767508
+v 0.03551629 -0.00003689 0.01942716
+v 0.03261883 0.01519358 0.02168767
+v 0.04321977 0.00996518 0.02168765
+v 0.04082306 0.01476722 0.01645407
+v 0.04321977 0.01519352 0.03728443
+v 0.04306650 0.00334883 0.01645403
+v 0.04321977 0.00754406 0.01920084
+v 0.04321977 0.00095888 0.04767508
+v 0.04129548 0.01247865 0.04769960
+v 0.04091860 0.01247865 0.04769960
+v 0.04104562 0.01020064 0.04769041
+v 0.04219096 -0.00003699 0.04762920
+v 0.03546905 -0.00003690 0.02056809
+v 0.03542496 -0.00003690 0.02168761
+v 0.03253904 0.01519357 0.02394811
+v 0.04321977 0.00926599 0.02035400
+v 0.04085561 0.01466733 0.01645407
+v 0.04321977 0.01519349 0.04677891
+v 0.04299406 0.00412854 0.01645404
+v 0.04321977 0.00894546 0.01992883
+v 0.04321977 0.00279710 0.04767203
+v 0.04120939 0.01407236 0.04769042
+v 0.04096164 0.01407236 0.04769042
+v 0.04007245 0.01519349 0.04764149
+v 0.03977641 0.01247866 0.04757419
+v 0.04113171 0.00899603 0.04767817
+v 0.03774188 0.01519349 0.04728973
+v 0.03999477 -0.00003699 0.04714591
+v 0.03536197 -0.00003691 0.02394805
+v 0.03252540 0.01519357 0.02464857
+v 0.04114955 0.01366399 0.01645407
+v 0.04096689 0.01428866 0.01645407
+v 0.04212587 0.01519349 0.04739679
+v 0.04321977 0.01468809 0.04686149
+v 0.04264658 0.00636779 0.01645404
+v 0.04240092 0.00792275 0.01645405
+v 0.04227390 0.00864432 0.01645405
+v 0.04199150 0.01020076 0.01645406
+v 0.04182563 0.01092233 0.01645406
+v 0.04142250 0.01261891 0.01645407
+v 0.04131332 0.01304231 0.01645407
+v 0.04321977 0.01020065 0.04735089
+v 0.04243662 0.01247866 0.04752525
+v 0.04209438 0.01480140 0.04745490
+v 0.03569161 0.01519349 0.04617327
+v 0.03913497 -0.00003699 0.04661062
+v 0.03533573 -0.00003692 0.02620850
+v 0.03249600 0.01519356 0.02620856
+v 0.04321977 0.01247866 0.04718266
+v 0.03457147 0.01519350 0.04461329
+v 0.03826049 -0.00003699 0.04606310
+v 0.03535357 -0.00003692 0.02846894
+v 0.03250125 0.01519356 0.02846900
+v 0.03249600 0.01519356 0.02690902
+v 0.03432896 0.01519350 0.04391283
+v 0.03727472 -0.00003698 0.04428594
+v 0.03542391 -0.00003693 0.03072939
+v 0.03257054 0.01519355 0.03072945
+v 0.03252120 0.01519355 0.02913276
+v 0.03407071 0.01519350 0.04295543
+v 0.03672462 -0.00003698 0.04233137
+v 0.03700387 -0.00003698 0.04332548
+v 0.03548795 -0.00003694 0.03187032
+v 0.03260308 0.01519354 0.03133509
+v 0.03380301 0.01519351 0.04189097
+v 0.03661964 -0.00003697 0.04177468
+v 0.03555199 -0.00003694 0.03298677
+v 0.03269756 0.01519354 0.03298683
+v 0.03342823 0.01519351 0.03973146
+v 0.03651256 -0.00003697 0.04120268
+v 0.03573675 -0.00003695 0.03524722
+v 0.03273956 0.01519354 0.03352518
+v 0.03317418 0.01519352 0.03786560
+v 0.03628580 -0.00003697 0.03976505
+v 0.03639918 -0.00003697 0.04048692
+v 0.03293062 0.01519353 0.03571527
+v 0.03288233 0.01519353 0.03524728
+v 0.03598031 -0.00003696 0.03750460
+v 0.03312799 0.01519352 0.03750466
+v 0.03613463 -0.00003696 0.03864859
+f 1 2 8
+f 1 8 15
+f 1 15 27
+f 1 27 43
+f 1 43 61
+f 1 61 66
+f 1 66 71
+f 1 71 77
+f 1 77 76
+f 1 76 81
+f 1 81 85
+f 1 85 90
+f 1 90 89
+f 1 89 95
+f 1 95 93
+f 1 93 86
+f 1 86 82
+f 1 82 78
+f 1 78 72
+f 1 72 67
+f 1 67 62
+f 1 62 44
+f 1 44 29
+f 1 29 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 32
+f 1 32 47
+f 1 47 46
+f 1 46 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 34
+f 1 34 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 17
+f 4 17 30
+f 4 30 45
+f 4 45 63
+f 4 63 69
+f 4 69 68
+f 4 68 74
+f 4 74 73
+f 4 73 79
+f 4 79 83
+f 4 83 87
+f 4 87 92
+f 4 92 91
+f 4 91 94
+f 4 94 88
+f 4 88 84
+f 4 84 80
+f 4 80 75
+f 4 75 70
+f 4 70 65
+f 4 65 60
+f 4 60 42
+f 4 42 39
+f 4 39 48
+f 4 48 33
+f 4 33 20
+f 4 20 11
+f 4 11 5
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 13
+f 7 13 22
+f 7 22 35
+f 7 35 31
+f 7 31 18
+f 7 18 20
+f 7 20 33
+f 7 33 49
+f 7 49 64
+f 7 64 57
+f 7 57 36
+f 7 36 23
+f 7 23 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 20 18
+f 12 21 13
+f 13 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 18 31 32
+f 18 32 19
+f 21 34 22
+f 22 34 35
+f 23 36 24
+f 24 37 38
+f 24 38 25
+f 24 36 37
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 40
+f 27 40 42
+f 27 42 43
+f 29 44 30
+f 30 44 45
+f 31 35 46
+f 31 46 47
+f 31 47 32
+f 33 48 49
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 46
+f 36 57 58
+f 36 58 37
+f 37 39 38
+f 37 58 59
+f 37 59 48
+f 37 48 39
+f 39 42 40
+f 42 60 43
+f 43 60 61
+f 44 62 63
+f 44 63 45
+f 48 59 64
+f 48 64 49
+f 57 64 58
+f 58 64 59
+f 60 65 66
+f 60 66 61
+f 62 67 68
+f 62 68 69
+f 62 69 63
+f 65 70 71
+f 65 71 66
+f 67 72 73
+f 67 73 74
+f 67 74 68
+f 70 75 76
+f 70 76 77
+f 70 77 71
+f 72 78 79
+f 72 79 73
+f 75 80 76
+f 76 80 81
+f 78 82 83
+f 78 83 79
+f 80 84 85
+f 80 85 81
+f 82 86 87
+f 82 87 83
+f 84 88 89
+f 84 89 90
+f 84 90 85
+f 86 91 92
+f 86 92 87
+f 86 93 91
+f 88 94 93
+f 88 93 95
+f 88 95 89
+f 91 93 94
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_42.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04374781 -0.00003531 -0.01682570
+v 0.04374781 0.01480034 -0.01682565
+v 0.05235406 -0.00003531 -0.01682570
+v 0.04374781 -0.00003538 0.00357988
+v 0.04374781 0.01482216 -0.01673570
+v 0.05235406 0.01108525 -0.01682566
+v 0.05235406 -0.00003533 -0.01107064
+v 0.04374781 -0.00002519 0.00358188
+v 0.05235406 0.01109688 -0.01673571
+v 0.05235406 0.01109252 -0.01677169
+v 0.04374781 0.01446868 -0.01447485
+v 0.05235406 0.00086654 -0.01106664
+v 0.04374781 0.00109050 0.00359588
+v 0.04374781 0.01445995 -0.01443487
+v 0.05235406 0.01073759 -0.01540639
+v 0.05235406 0.00109055 -0.01106664
+v 0.04374781 0.00336843 0.00327405
+v 0.05235406 0.00325793 -0.01111861
+v 0.05235406 0.00336848 -0.01112260
+v 0.05235406 0.00564641 -0.01129651
+v 0.04374781 0.01381845 -0.01223000
+v 0.05235406 0.01042775 -0.01447486
+v 0.04374781 0.01289185 -0.00907561
+v 0.04374781 0.00559836 0.00234454
+v 0.05235406 0.00790398 -0.01190618
+v 0.05235406 0.00985027 -0.01349137
+v 0.04374781 0.01076663 -0.00298273
+v 0.04374781 0.01024588 -0.00186330
+v 0.04374781 0.00599111 0.00215463
+v 0.04595709 0.00722900 -0.00177135
+v 0.05235406 0.00850764 -0.01223802
+v 0.05235406 0.00946625 -0.01290567
+v 0.04374781 0.00981821 -0.00116366
+v 0.04374781 0.00811486 0.00078534
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 28
+f 1 28 27
+f 1 27 23
+f 1 23 21
+f 1 21 14
+f 1 14 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 9
+f 3 9 15
+f 3 15 22
+f 3 22 26
+f 3 26 32
+f 3 32 31
+f 3 31 25
+f 3 25 20
+f 3 20 19
+f 3 19 18
+f 3 18 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 5 11 9
+f 7 12 13
+f 7 13 8
+f 9 11 14
+f 9 14 15
+f 12 16 13
+f 13 16 18
+f 13 18 19
+f 13 19 20
+f 13 20 17
+f 14 21 15
+f 15 21 23
+f 15 23 22
+f 17 20 25
+f 17 25 24
+f 22 23 27
+f 22 27 28
+f 22 28 26
+f 24 25 30
+f 24 30 29
+f 25 31 30
+f 26 28 33
+f 26 33 32
+f 29 30 34
+f 30 31 32
+f 30 32 34
+f 32 33 34
+

dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_43.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.03279381 -0.01738408 0.00550102
+v 0.04058440 -0.01738408 0.00550102
+v 0.03261148 -0.01738409 0.00775656
+v 0.03640738 -0.00003684 0.00550108
+v 0.04075144 -0.01692900 0.00550102
+v 0.04358748 -0.01737911 0.03929698
+v 0.04358278 -0.01738420 0.03929285
+v 0.03637798 -0.00003684 0.00586874
+v 0.03241034 -0.01738410 0.01033433
+v 0.04357337 -0.00003684 0.00550108
+v 0.04080790 -0.01676429 0.00550102
+v 0.04358748 -0.01738421 0.04092873
+v 0.04133370 -0.01512059 0.00550102
+v 0.04138311 -0.01495588 0.00550103
+v 0.04202654 -0.01257521 0.00550103
+v 0.04253117 -0.01029813 0.00550104
+v 0.04259704 -0.00993136 0.00550104
+v 0.04293934 -0.00802275 0.00550105
+v 0.04298052 -0.00773748 0.00550105
+v 0.04326635 -0.00561662 0.00550106
+v 0.04329576 -0.00535512 0.00550106
+v 0.04358748 -0.00958671 0.02212431
+v 0.03239857 -0.01738410 0.01049130
+v 0.03629328 -0.00003685 0.00700891
+v 0.04356984 -0.00100303 0.00550108
+v 0.04358748 -0.00003689 0.01781981
+v 0.04358748 -0.00107609 0.01784873
+v 0.04358748 -0.00118817 0.01785286
+v 0.04358748 -0.00337525 0.01795200
+v 0.04358748 -0.00777659 0.01982333
+v 0.04358748 -0.00815695 0.02018686
+v 0.04358748 -0.00885146 0.02091806
+v 0.04358748 -0.01738423 0.04622472
+v 0.04345221 -0.00356029 0.00550107
+v 0.04347456 -0.00326822 0.00550107
+v 0.04348515 -0.00305936 0.00550107
+v 0.04356866 -0.00118812 0.00550108
+v 0.03224213 -0.01738411 0.01264770
+v 0.03612625 -0.00003685 0.00926858
+v 0.04358748 -0.00003699 0.04764172
+v 0.04358748 -0.01713122 0.04628668
+v 0.04229826 -0.01738423 0.04703027
+v 0.03604508 -0.00003686 0.01038809
+v 0.03217625 -0.01738411 0.01362263
+v 0.04343809 -0.00003700 0.04767890
+v 0.04344397 -0.00118828 0.04768303
+v 0.04358748 -0.00089961 0.04764585
+v 0.04358748 -0.01574901 0.04655107
+v 0.04227827 -0.01713122 0.04710463
+v 0.04204301 -0.01738423 0.04715007
+v 0.03589334 -0.00003687 0.01264776
+v 0.03209038 -0.01738411 0.01490738
+v 0.04333340 -0.00003700 0.04767890
+v 0.04330988 -0.00118828 0.04768303
+v 0.04132664 -0.01257537 0.04770363
+v 0.04343809 -0.00281500 0.04767889
+v 0.04358748 -0.00260274 0.04764171
+v 0.04358748 -0.00118828 0.04764585
+v 0.04358748 -0.01351269 0.04692287
+v 0.04358748 -0.01135956 0.04722031
+v 0.04210417 -0.01493565 0.04744751
+v 0.03991509 -0.01738423 0.04760861
+v 0.03200334 -0.01738412 0.01627062
+v 0.03194805 -0.01738412 0.01716705
+v 0.03575454 -0.00003687 0.01490744
+v 0.04219122 -0.00003699 0.04762933
+v 0.04109021 -0.00874288 0.04768713
+v 0.04100669 -0.01029829 0.04769538
+v 0.04088083 -0.01257537 0.04770363
+v 0.03929519 -0.01738424 0.04767471
+v 0.04122548 -0.01423097 0.04769124
+v 0.04253470 -0.01029828 0.04760450
+v 0.04358748 -0.00293216 0.04763758
+v 0.04358748 -0.00911644 0.04738143
+v 0.04246883 -0.01257536 0.04752600
+v 0.03971395 -0.01738423 0.04764166
+v 0.03185042 -0.01738413 0.01886903
+v 0.03562750 -0.00003688 0.01716711
+v 0.03999390 -0.00003699 0.04714600
+v 0.03778247 -0.01738423 0.04753012
+v 0.03843296 -0.01738423 0.04763753
+v 0.03909051 -0.01738424 0.04767471
+v 0.03181984 -0.01738413 0.01942672
+v 0.03551575 -0.00003689 0.01942678
+v 0.03826005 -0.00003699 0.04606367
+v 0.03500642 -0.01738423 0.04627842
+v 0.03527932 -0.01738423 0.04643953
+v 0.03743076 -0.01738423 0.04743924
+v 0.03170809 -0.01738414 0.02168640
+v 0.03546988 -0.00003690 0.02057108
+v 0.03777071 -0.00003699 0.04518376
+v 0.03411126 -0.01738423 0.04558441
+v 0.03461354 -0.01738423 0.04598924
+v 0.03162575 -0.01738415 0.02387997
+v 0.03542518 -0.00003690 0.02168646
+v 0.03727431 -0.00003698 0.04428732
+v 0.03353958 -0.01738422 0.04436988
+v 0.03162339 -0.01738415 0.02395020
+v 0.03536166 -0.00003691 0.02395026
+v 0.03672498 -0.00003698 0.04233335
+v 0.03289026 -0.01738421 0.04202759
+v 0.03157046 -0.01738416 0.02620987
+v 0.03533578 -0.00003692 0.02620993
+v 0.03651207 -0.00003697 0.04120144
+v 0.03248209 -0.01738421 0.03963159
+v 0.03157164 -0.01738416 0.02846542
+v 0.03535342 -0.00003692 0.02846548
+v 0.03639915 -0.00003697 0.04048678
+v 0.03628623 -0.00003697 0.03976384
+v 0.03613448 -0.00003696 0.03864847
+v 0.03225624 -0.01738420 0.03797092
+v 0.03163163 -0.01738417 0.03063008
+v 0.03542400 -0.00003693 0.03072515
+v 0.03598039 -0.00003696 0.03750417
+v 0.03219625 -0.01738420 0.03750411
+v 0.03163516 -0.01738417 0.03072509
+v 0.03174103 -0.01738418 0.03265428
+v 0.03548752 -0.00003694 0.03186531
+v 0.03573690 -0.00003695 0.03524450
+v 0.03194805 -0.01738419 0.03524444
+v 0.03175984 -0.01738418 0.03298476
+v 0.03555222 -0.00003694 0.03298482
+f 1 2 7
+f 1 7 12
+f 1 12 33
+f 1 33 42
+f 1 42 50
+f 1 50 62
+f 1 62 76
+f 1 76 70
+f 1 70 82
+f 1 82 81
+f 1 81 80
+f 1 80 88
+f 1 88 87
+f 1 87 86
+f 1 86 93
+f 1 93 92
+f 1 92 97
+f 1 97 101
+f 1 101 105
+f 1 105 111
+f 1 111 115
+f 1 115 120
+f 1 120 121
+f 1 121 117
+f 1 117 116
+f 1 116 112
+f 1 112 106
+f 1 106 102
+f 1 102 98
+f 1 98 94
+f 1 94 89
+f 1 89 83
+f 1 83 77
+f 1 77 64
+f 1 64 63
+f 1 63 52
+f 1 52 44
+f 1 44 38
+f 1 38 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 25
+f 1 25 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 4 8 24
+f 4 24 39
+f 4 39 43
+f 4 43 51
+f 4 51 65
+f 4 65 78
+f 4 78 84
+f 4 84 90
+f 4 90 95
+f 4 95 99
+f 4 99 103
+f 4 103 107
+f 4 107 113
+f 4 113 118
+f 4 118 122
+f 4 122 119
+f 4 119 114
+f 4 114 110
+f 4 110 109
+f 4 109 108
+f 4 108 104
+f 4 104 100
+f 4 100 96
+f 4 96 91
+f 4 91 85
+f 4 85 79
+f 4 79 66
+f 4 66 53
+f 4 53 45
+f 4 45 40
+f 4 40 26
+f 4 26 10
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 32
+f 6 32 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 27
+f 6 27 26
+f 6 26 40
+f 6 40 47
+f 6 47 58
+f 6 58 57
+f 6 57 73
+f 6 73 74
+f 6 74 60
+f 6 60 59
+f 6 59 48
+f 6 48 41
+f 6 41 33
+f 6 33 12
+f 8 9 23
+f 8 23 24
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 25
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 32
+f 23 38 39
+f 23 39 24
+f 25 32 37
+f 33 41 42
+f 38 43 39
+f 38 44 43
+f 40 45 46
+f 40 46 47
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 43 44 51
+f 44 52 51
+f 45 53 54
+f 45 54 46
+f 46 54 69
+f 46 69 55
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 48 59 49
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 62
+f 51 52 63
+f 51 63 64
+f 51 64 65
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 55 69 82
+f 55 82 70
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 57
+f 60 74 75
+f 60 75 61
+f 61 75 71
+f 61 71 62
+f 62 71 76
+f 64 77 65
+f 65 77 78
+f 66 79 80
+f 66 80 81
+f 66 81 67
+f 67 82 68
+f 67 81 82
+f 68 82 69
+f 70 76 71
+f 71 75 72
+f 72 75 74
+f 72 74 73
+f 77 83 78
+f 78 83 89
+f 78 89 84
+f 79 85 86
+f 79 86 87
+f 79 87 88
+f 79 88 80
+f 84 89 90
+f 85 91 92
+f 85 92 93
+f 85 93 86
+f 89 94 95
+f 89 95 90
+f 91 96 92
+f 92 96 97
+f 94 98 95
+f 95 98 99
+f 96 100 97
+f 97 100 101
+f 98 102 99
+f 99 102 103
+f 100 104 101
+f 101 104 105
+f 102 106 103
+f 103 106 107
+f 104 108 105
+f 105 108 109
+f 105 109 110
+f 105 110 111
+f 106 112 107
+f 107 112 113
+f 110 114 111
+f 111 114 115
+f 112 116 113
+f 113 116 117
+f 113 117 118
+f 114 119 120
+f 114 120 115
+f 117 121 118
+f 118 121 122
+f 119 122 121
+f 119 121 120
+