Add asset kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217

.gitattributes

@@ -4710,3 +4710,6 @@ dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.g
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_cup">
+   <link name="red_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>red cup</category>
+         <description>cylindrical red cup with black rim and smooth surface</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120013911</generate_time>
+         <gs_model>mesh/red_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.549077033996582</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/5f00883830bd52d49ec6accbcbd5e217.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8b8ec4c081aca80b1c9a4446fd3f9d0379efde3c9db03f6bc16ad9bc030ff1
+size 735388

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/material.mtl

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

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f4a7091bd575be61241260ed56c5e7d0fe30f73c9b4fcd9668f11c0594936f
+size 2015824

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4529020f080f3369856dc542176ead7ae246a2af0d23986d1d10bcbb542552ab
+size 3647753

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/5f00883830bd52d49ec6accbcbd5e217.xml

@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="red_cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/red_cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/red_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/red_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/red_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/red_cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/red_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/red_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/red_cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/red_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/red_cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/red_cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/red_cup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/red_cup_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/red_cup_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/red_cup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/red_cup_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/red_cup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/red_cup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/red_cup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/red_cup_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/red_cup_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/red_cup_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/red_cup_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/red_cup_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/red_cup_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/red_cup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/red_cup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/red_cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/red_cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/red_cup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/red_cup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/red_cup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/red_cup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/red_cup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/red_cup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/red_cup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/red_cup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/red_cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/red_cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/red_cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/red_cup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/red_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/red_cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/red_cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/red_cup_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/red_cup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/red_cup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/red_cup_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/red_cup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="red_cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_0.obj

@@ -0,0 +1,997 @@
+# https://github.com/mikedh/trimesh
+v -0.00005427 0.00001438 -0.08803229
+v -0.00005427 0.00001436 -0.08167283
+v 0.00277850 0.00001438 -0.08803294
+v -0.02142690 0.00001066 -0.08803036
+v -0.02289262 0.00001066 -0.08802972
+v -0.02427377 0.00001066 -0.08802907
+v -0.02860044 0.00001066 -0.08802328
+v -0.02998160 0.00001066 -0.08802071
+v -0.03283551 0.00001066 -0.08729722
+v -0.03430827 0.00001066 -0.08651645
+v -0.03465356 0.00001066 -0.08578717
+v -0.03501294 0.00001065 -0.08501541
+v -0.03592196 0.00001064 -0.08213370
+v -0.03599243 0.00001064 -0.08146429
+v 0.00139735 0.00001436 -0.08165610
+v 0.01850674 0.00001438 -0.08803616
+v -0.01571908 -0.01568513 -0.08803685
+v -0.01571908 -0.01852876 -0.08803751
+v -0.02427377 -0.00429945 -0.08802974
+v -0.02712768 -0.00429945 -0.08802780
+v -0.02712768 -0.00145210 -0.08802650
+v -0.02998160 -0.00145210 -0.08802200
+v -0.03283551 -0.00145210 -0.08729917
+v -0.03430827 -0.00145210 -0.08651775
+v -0.03501999 -0.00145211 -0.08501542
+v -0.03592901 -0.00145212 -0.08213371
+v -0.03599948 -0.00145212 -0.08146430
+v -0.02926283 0.00001064 -0.08146429
+v 0.02897108 0.00001436 -0.08151256
+v 0.01565987 -0.02706337 -0.08803883
+v -0.00005427 -0.02276815 -0.08803881
+v -0.01286517 -0.01852876 -0.08803815
+v 0.02274885 0.00001438 -0.08803551
+v -0.01286517 -0.02137239 -0.08803752
+v -0.01571908 -0.02137239 -0.08803624
+v -0.01857299 -0.01852876 -0.08803494
+v -0.02142690 -0.02137239 -0.08803044
+v -0.02712768 -0.00714680 -0.08802652
+v -0.02998160 -0.00429945 -0.08802201
+v -0.03253250 -0.00714680 -0.08721808
+v -0.03306100 -0.00410963 -0.08709191
+v -0.02998160 -0.00714680 -0.08800272
+v -0.03427304 -0.00303396 -0.08647462
+v -0.03572465 -0.00429947 -0.08213372
+v -0.03475926 -0.00410964 -0.08521433
+v -0.03579512 -0.00429947 -0.08146431
+v -0.00006131 -0.03020850 -0.08146440
+v 0.03598959 0.00001436 -0.08151256
+v 0.02421456 0.00001438 -0.08803487
+v 0.02992239 -0.00145210 -0.08803230
+v 0.02421456 -0.01853248 -0.08803365
+v 0.02136065 -0.02421974 -0.08786825
+v 0.01850674 -0.02706337 -0.08783543
+v 0.01280596 -0.02991072 -0.08797190
+v 0.00995204 -0.02991072 -0.08803305
+v 0.00424422 -0.02706337 -0.08803883
+v -0.00005427 -0.02421974 -0.08803882
+v -0.01001125 -0.02137239 -0.08803816
+v -0.00431047 -0.02421974 -0.08803817
+v -0.01001125 -0.02421974 -0.08803625
+v -0.01286517 -0.02421974 -0.08803496
+v -0.01857299 -0.02137239 -0.08803366
+v -0.01857299 -0.02421974 -0.08802981
+v -0.02142690 -0.02421974 -0.08783542
+v -0.02427377 -0.01852876 -0.08802335
+v -0.02712768 -0.01283778 -0.08802333
+v -0.03221540 -0.00999043 -0.08710995
+v -0.02998160 -0.00999043 -0.08789394
+v -0.02712768 -0.01568513 -0.08796219
+v -0.03415324 -0.00492847 -0.08630792
+v -0.03466765 -0.00714681 -0.08450694
+v -0.03533709 -0.00714682 -0.08213373
+v -0.03540755 -0.00714682 -0.08146432
+v -0.00006131 -0.03800988 -0.08146443
+v 0.03598255 -0.00145212 -0.08151257
+v 0.03591913 0.00001436 -0.08213370
+v 0.02559572 0.00001438 -0.08803423
+v 0.02992239 0.00001438 -0.08803165
+v 0.03277630 -0.00145210 -0.08734873
+v 0.02992239 -0.00429945 -0.08802909
+v 0.02706847 -0.01283778 -0.08803234
+v 0.02706847 -0.01568513 -0.08797378
+v 0.02421456 -0.02137239 -0.08783091
+v 0.02131132 -0.02704848 -0.08711130
+v 0.02420047 -0.02417880 -0.08710936
+v 0.01565987 -0.02991072 -0.08761273
+v 0.00995204 -0.03275807 -0.08755288
+v 0.00709813 -0.03275807 -0.08785540
+v 0.00424422 -0.03275807 -0.08797191
+v 0.00424422 -0.02991072 -0.08803240
+v 0.00139735 -0.03275807 -0.08798864
+v -0.00145656 -0.03275807 -0.08798864
+v -0.00716439 -0.02991072 -0.08803111
+v -0.00716439 -0.02706337 -0.08803433
+v -0.01286517 -0.02706337 -0.08803110
+v -0.01001125 -0.02991072 -0.08802725
+v -0.01571908 -0.02706337 -0.08802338
+v -0.01857299 -0.02706337 -0.08779166
+v -0.02132825 -0.02700010 -0.08706045
+v -0.02421035 -0.02412669 -0.08706494
+v -0.02427377 -0.02137239 -0.08779937
+v -0.03177850 -0.01283778 -0.08680036
+v -0.03396298 -0.00714680 -0.08594748
+v -0.02998160 -0.01283778 -0.08758306
+v -0.02712768 -0.01852876 -0.08758115
+v -0.03444216 -0.00920881 -0.08400553
+v -0.03525957 -0.00780562 -0.08146432
+v -0.03465356 -0.01009095 -0.08217880
+v -0.03444216 -0.01139366 -0.08146433
+v -0.00145656 -0.03800988 -0.08146443
+v -0.00005427 -0.03800615 -0.08151270
+v 0.00139735 -0.03800243 -0.08151270
+v 0.00201041 -0.03795032 -0.08151270
+v 0.00424422 -0.03775678 -0.08151270
+v 0.00702766 -0.03731014 -0.08151270
+v 0.00780985 -0.03717614 -0.08151270
+v 0.00846519 -0.03702726 -0.08151270
+v 0.00925442 -0.03678905 -0.08151270
+v 0.01280596 -0.03546029 -0.08151269
+v 0.01490587 -0.03452606 -0.08151269
+v 0.01633635 -0.03377049 -0.08151268
+v 0.01966944 -0.03166754 -0.08151268
+v 0.02004292 -0.03141444 -0.08151268
+v 0.02040934 -0.03111668 -0.08151267
+v 0.02312937 -0.02880158 -0.08151267
+v 0.02343942 -0.02851126 -0.08151266
+v 0.02455985 -0.02745048 -0.08151266
+v 0.02600442 -0.02602495 -0.08151266
+v 0.02630743 -0.02567508 -0.08151265
+v 0.02847077 -0.02316271 -0.08151265
+v 0.02863284 -0.02297288 -0.08151264
+v 0.02876673 -0.02277189 -0.08151264
+v 0.03097939 -0.01928063 -0.08151263
+v 0.03114147 -0.01898287 -0.08151263
+v 0.03174044 -0.01786626 -0.08151263
+v 0.03199412 -0.01733773 -0.08151262
+v 0.03278335 -0.01568515 -0.08151262
+v 0.03298065 -0.01522734 -0.08151262
+v 0.03387558 -0.01299413 -0.08151261
+v 0.03429134 -0.01191474 -0.08151260
+v 0.03432657 -0.01180680 -0.08151260
+v 0.03436181 -0.01168025 -0.08151260
+v 0.03472119 -0.01013561 -0.08151260
+v 0.03537653 -0.00714682 -0.08151259
+v 0.03577115 -0.00429947 -0.08151258
+v 0.03591208 -0.00145212 -0.08213371
+v 0.03503124 -0.00145211 -0.08501542
+v 0.03503124 0.00001437 -0.08501541
+v 0.03277630 0.00001438 -0.08734807
+v 0.03429134 -0.00145210 -0.08656152
+v 0.03299475 -0.00422501 -0.08711444
+v 0.03249443 -0.00714680 -0.08721615
+v 0.02992239 -0.00999415 -0.08789716
+v 0.02992239 -0.00714680 -0.08800336
+v 0.02992239 -0.01283778 -0.08760559
+v 0.02706847 -0.01853248 -0.08762492
+v 0.02033183 -0.02880900 -0.08671609
+v 0.01826715 -0.02981767 -0.08695554
+v 0.02324212 -0.02608820 -0.08676308
+v 0.02697687 -0.02114163 -0.08696194
+v 0.02596214 -0.02320363 -0.08671286
+v 0.01565987 -0.03180896 -0.08682167
+v 0.01262274 -0.03282507 -0.08708043
+v 0.00709813 -0.03489080 -0.08707078
+v 0.00424422 -0.03514017 -0.08718728
+v 0.00139735 -0.03524067 -0.08720338
+v -0.00005427 -0.03397518 -0.08760373
+v -0.00006131 -0.03397518 -0.08760373
+v -0.00145656 -0.03524067 -0.08720338
+v -0.00431047 -0.03275807 -0.08796740
+v -0.01286517 -0.02991072 -0.08794550
+v -0.01600095 -0.03019360 -0.08733080
+v -0.01857299 -0.02938592 -0.08700575
+v -0.02031353 -0.02874201 -0.08667298
+v -0.02322381 -0.02601004 -0.08672381
+v -0.02596498 -0.02311802 -0.08668002
+v -0.02700084 -0.02110068 -0.08691238
+v -0.03148254 -0.01443081 -0.08653903
+v -0.03003092 -0.01549903 -0.08708359
+v -0.03370930 -0.01009094 -0.08498520
+v -0.02898096 -0.01852876 -0.08680038
+v -0.03417438 -0.01110333 -0.08317005
+v -0.03284256 -0.01283779 -0.08501546
+v -0.03425894 -0.01201523 -0.08146433
+v -0.00431047 -0.03776422 -0.08146443
+v -0.00145656 -0.03793544 -0.08213384
+v -0.00005427 -0.03793916 -0.08213384
+v 0.00139735 -0.03793544 -0.08213384
+v 0.00424422 -0.03768978 -0.08213384
+v 0.00700652 -0.03726175 -0.08200897
+v 0.00790145 -0.03688955 -0.08288629
+v 0.00976883 -0.03652479 -0.08200896
+v 0.01280596 -0.03538585 -0.08213383
+v 0.01483541 -0.03448884 -0.08213383
+v 0.01625884 -0.03372954 -0.08213382
+v 0.01871109 -0.03217746 -0.08216858
+v 0.01980333 -0.03123950 -0.08315274
+v 0.02116334 -0.03035366 -0.08216857
+v 0.02308709 -0.02875692 -0.08213381
+v 0.02451052 -0.02740210 -0.08213380
+v 0.02596214 -0.02598028 -0.08213380
+v 0.02756879 -0.02405227 -0.08225287
+v 0.02842849 -0.02269744 -0.08329368
+v 0.02940093 -0.02159946 -0.08225286
+v 0.03093711 -0.01920619 -0.08213377
+v 0.03169815 -0.01779182 -0.08213377
+v 0.03271288 -0.01568515 -0.08213376
+v 0.03384740 -0.01280058 -0.08229145
+v 0.03416450 -0.01125965 -0.08335800
+v 0.03462253 -0.01018400 -0.08229144
+v 0.03531311 -0.00714682 -0.08213373
+v 0.03570068 -0.00429947 -0.08213372
+v 0.03472823 -0.00422502 -0.08521690
+v 0.03424201 -0.00322751 -0.08650745
+v 0.03429134 0.00001438 -0.08656087
+v 0.03219142 -0.00999415 -0.08710995
+v 0.03174748 -0.01283778 -0.08681774
+v 0.02999285 -0.01553997 -0.08710161
+v 0.02899222 -0.01853248 -0.08683643
+v 0.02223444 -0.02798644 -0.08565081
+v 0.01917617 -0.03079285 -0.08501552
+v 0.01715377 -0.03138092 -0.08650176
+v 0.02514473 -0.02509815 -0.08570873
+v 0.02855533 -0.02003991 -0.08651588
+v 0.02797045 -0.02207959 -0.08501549
+v 0.01155164 -0.03425061 -0.08653202
+v 0.00995204 -0.03450371 -0.08676825
+v 0.00424422 -0.03656200 -0.08550602
+v 0.00139735 -0.03666620 -0.08580597
+v -0.00005427 -0.03666620 -0.08580855
+v -0.00145656 -0.03666248 -0.08581047
+v -0.00431047 -0.03511784 -0.08718085
+v -0.00716439 -0.03275807 -0.08783738
+v -0.01001125 -0.03275807 -0.08752070
+v -0.01264672 -0.03279902 -0.08704889
+v -0.01523990 -0.03187596 -0.08687316
+v -0.01714251 -0.03132882 -0.08645220
+v -0.01874211 -0.03083007 -0.08530067
+v -0.02132825 -0.02913655 -0.08474905
+v -0.02221614 -0.02790828 -0.08553109
+v -0.02512642 -0.02501627 -0.08555940
+v -0.02637369 -0.02412670 -0.08476511
+v -0.02793805 -0.02196793 -0.08501549
+v -0.02857226 -0.01997291 -0.08647339
+v -0.03101041 -0.01632533 -0.08575440
+v -0.03185602 -0.01549904 -0.08488224
+v -0.03152482 -0.01733772 -0.08383369
+v -0.03385023 -0.01277453 -0.08217881
+v -0.03272981 -0.01568515 -0.08213376
+v -0.03282142 -0.01568515 -0.08146435
+v -0.00707983 -0.03731014 -0.08146443
+v -0.00706573 -0.03725430 -0.08199030
+v -0.00431047 -0.03768978 -0.08213384
+v -0.00431047 -0.03721707 -0.08406228
+v -0.00145656 -0.03734735 -0.08436995
+v -0.00005427 -0.03763766 -0.08327443
+v 0.00139735 -0.03734362 -0.08436545
+v 0.00424422 -0.03721335 -0.08406614
+v 0.00599885 -0.03709797 -0.08375975
+v 0.00995204 -0.03549005 -0.08501554
+v 0.01444079 -0.03428784 -0.08383827
+v 0.01775274 -0.03177919 -0.08501553
+v 0.02131132 -0.02923705 -0.08481985
+v 0.02286864 -0.02856336 -0.08373011
+v 0.02574370 -0.02575695 -0.08378802
+v 0.02642723 -0.02417881 -0.08485523
+v 0.02897108 -0.02065777 -0.08501549
+v 0.03148676 -0.01738239 -0.08389806
+v 0.03440409 -0.00936142 -0.08406732
+v 0.03183909 -0.01553998 -0.08492085
+v 0.03286791 -0.01283779 -0.08501546
+v 0.03370646 -0.01018399 -0.08502253
+v 0.03462958 -0.00714681 -0.08455586
+v 0.03409403 -0.00512574 -0.08631114
+v 0.03392491 -0.00714680 -0.08599575
+v 0.03144447 -0.01449036 -0.08655898
+v 0.02400316 -0.02686984 -0.08471942
+v 0.01550484 -0.03318239 -0.08488487
+v 0.01345425 -0.03381885 -0.08575897
+v 0.03099349 -0.01638860 -0.08581877
+v 0.03037338 -0.01841339 -0.08492086
+v 0.01262274 -0.03458932 -0.08488488
+v 0.00700652 -0.03637590 -0.08483789
+v -0.00005427 -0.03734735 -0.08436802
+v -0.00431047 -0.03653967 -0.08550280
+v -0.00716439 -0.03486474 -0.08705147
+v -0.01155448 -0.03422455 -0.08650757
+v -0.01001125 -0.03447765 -0.08673800
+v -0.01579659 -0.03281019 -0.08511595
+v -0.01790356 -0.03184247 -0.08453085
+v -0.01345709 -0.03377420 -0.08570233
+v -0.01979912 -0.03119483 -0.08304332
+v -0.02286443 -0.02850381 -0.08361038
+v -0.02399895 -0.02679167 -0.08458554
+v -0.02573244 -0.02567507 -0.08363869
+v -0.02842428 -0.02261556 -0.08310508
+v -0.02898096 -0.02054239 -0.08501549
+v -0.03036916 -0.01838361 -0.08488225
+v -0.03098927 -0.01919502 -0.08213377
+v -0.03175032 -0.01777693 -0.08213377
+v -0.03179260 -0.01786254 -0.08146436
+v -0.00789724 -0.03716498 -0.08146443
+v -0.00794657 -0.03687838 -0.08285604
+v -0.00604396 -0.03709425 -0.08374881
+v -0.00706573 -0.03634612 -0.08483146
+v -0.01264672 -0.03455583 -0.08485076
+v -0.01001125 -0.03544911 -0.08501554
+v -0.01445772 -0.03426551 -0.08378163
+v -0.01626872 -0.03368488 -0.08213382
+v -0.01874211 -0.03213652 -0.08210293
+v -0.01964409 -0.03168243 -0.08146441
+v -0.02051083 -0.03103852 -0.08146440
+v -0.02122255 -0.03029411 -0.08210292
+v -0.02309697 -0.02871597 -0.08213381
+v -0.02452040 -0.02731649 -0.08213380
+v -0.02593679 -0.02589468 -0.08213380
+v -0.02834676 -0.02327809 -0.08146438
+v -0.02891050 -0.02254857 -0.08146437
+v -0.02943900 -0.02154735 -0.08213958
+v -0.03103860 -0.01928063 -0.08146436
+v -0.03162348 -0.01819380 -0.08146436
+v -0.00927840 -0.03678905 -0.08146443
+v -0.00982099 -0.03650618 -0.08199029
+v -0.01286517 -0.03534863 -0.08213383
+v -0.01483824 -0.03446651 -0.08213383
+v -0.01634623 -0.03372954 -0.08146441
+v -0.02316039 -0.02877180 -0.08146440
+v -0.02458383 -0.02737604 -0.08146439
+v -0.02566902 -0.02628549 -0.08146439
+v -0.02599317 -0.02595423 -0.08146439
+v -0.01286517 -0.03543051 -0.08146442
+v -0.01438021 -0.03475310 -0.08146442
+v -0.01491576 -0.03450745 -0.08146442
+f 1 2 15
+f 1 15 29
+f 1 29 48
+f 1 48 76
+f 1 76 148
+f 1 148 215
+f 1 215 149
+f 1 149 78
+f 1 78 77
+f 1 77 49
+f 1 49 33
+f 1 33 16
+f 1 16 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 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
+f 2 14 15
+f 3 16 4
+f 4 17 5
+f 4 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 9
+f 9 23 10
+f 10 24 25
+f 10 25 11
+f 10 23 24
+f 11 25 12
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 14 27 46
+f 14 46 73
+f 14 73 107
+f 14 107 109
+f 14 109 184
+f 14 184 250
+f 14 250 301
+f 14 301 321
+f 14 321 320
+f 14 320 318
+f 14 318 317
+f 14 317 330
+f 14 330 329
+f 14 329 328
+f 14 328 327
+f 14 327 312
+f 14 312 311
+f 14 311 326
+f 14 326 333
+f 14 333 332
+f 14 332 331
+f 14 331 322
+f 14 322 302
+f 14 302 251
+f 14 251 185
+f 14 185 110
+f 14 110 74
+f 14 74 47
+f 14 47 28
+f 14 28 48
+f 14 48 29
+f 14 29 15
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 16 33 30
+f 17 32 18
+f 18 32 58
+f 18 58 34
+f 18 34 35
+f 18 35 62
+f 18 62 36
+f 18 36 20
+f 18 20 19
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 22
+f 20 22 21
+f 22 39 23
+f 23 40 41
+f 23 41 24
+f 23 39 42
+f 23 42 40
+f 24 41 43
+f 24 43 25
+f 25 44 26
+f 25 43 45
+f 25 45 44
+f 26 44 46
+f 26 46 27
+f 28 47 48
+f 30 33 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 56
+f 30 56 57
+f 30 57 31
+f 31 57 32
+f 32 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 35
+f 35 61 63
+f 35 63 62
+f 36 62 37
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 38
+f 38 66 39
+f 39 66 42
+f 40 67 43
+f 40 43 41
+f 40 42 68
+f 40 68 67
+f 42 66 69
+f 42 69 68
+f 43 67 70
+f 43 70 45
+f 44 45 71
+f 44 71 72
+f 44 72 73
+f 44 73 46
+f 45 70 71
+f 47 74 48
+f 48 75 146
+f 48 146 76
+f 48 74 75
+f 49 77 50
+f 50 77 78
+f 50 78 149
+f 50 149 79
+f 50 79 80
+f 50 80 81
+f 50 81 51
+f 51 81 82
+f 51 82 83
+f 51 83 52
+f 52 84 53
+f 52 83 85
+f 52 85 84
+f 53 86 54
+f 53 84 86
+f 54 87 88
+f 54 88 89
+f 54 89 55
+f 54 86 87
+f 55 90 56
+f 55 89 91
+f 55 91 92
+f 55 92 90
+f 56 90 93
+f 56 93 94
+f 56 94 60
+f 56 60 59
+f 56 59 58
+f 56 58 57
+f 60 94 93
+f 60 93 61
+f 61 95 63
+f 61 93 95
+f 63 95 96
+f 63 96 97
+f 63 97 64
+f 64 97 98
+f 64 98 99
+f 64 99 100
+f 64 100 101
+f 64 101 65
+f 65 101 69
+f 65 69 66
+f 67 102 103
+f 67 103 70
+f 67 68 104
+f 67 104 102
+f 68 69 104
+f 69 101 105
+f 69 105 104
+f 70 103 71
+f 71 106 72
+f 71 103 106
+f 72 107 73
+f 72 106 108
+f 72 108 109
+f 72 109 107
+f 74 110 111
+f 74 111 112
+f 74 112 113
+f 74 113 114
+f 74 114 115
+f 74 115 116
+f 74 116 117
+f 74 117 118
+f 74 118 119
+f 74 119 120
+f 74 120 121
+f 74 121 122
+f 74 122 123
+f 74 123 124
+f 74 124 125
+f 74 125 126
+f 74 126 127
+f 74 127 128
+f 74 128 129
+f 74 129 130
+f 74 130 131
+f 74 131 132
+f 74 132 133
+f 74 133 134
+f 74 134 135
+f 74 135 136
+f 74 136 137
+f 74 137 138
+f 74 138 139
+f 74 139 140
+f 74 140 141
+f 74 141 142
+f 74 142 143
+f 74 143 144
+f 74 144 145
+f 74 145 75
+f 75 145 212
+f 75 212 146
+f 76 146 147
+f 76 147 148
+f 79 149 215
+f 79 215 150
+f 79 150 151
+f 79 151 152
+f 79 152 153
+f 79 153 154
+f 79 154 80
+f 80 154 81
+f 81 154 82
+f 82 154 153
+f 82 153 155
+f 82 155 156
+f 82 156 83
+f 83 156 85
+f 84 157 158
+f 84 158 86
+f 84 85 159
+f 84 159 157
+f 85 156 160
+f 85 160 161
+f 85 161 159
+f 86 158 162
+f 86 162 163
+f 86 163 87
+f 87 164 88
+f 87 163 164
+f 88 164 165
+f 88 165 89
+f 89 165 166
+f 89 166 91
+f 90 92 93
+f 91 166 167
+f 91 167 168
+f 91 168 92
+f 92 168 169
+f 92 169 170
+f 92 170 96
+f 92 96 93
+f 93 96 95
+f 96 170 171
+f 96 171 97
+f 97 171 98
+f 98 172 173
+f 98 173 99
+f 98 171 172
+f 99 173 174
+f 99 174 175
+f 99 175 100
+f 100 175 176
+f 100 176 177
+f 100 177 105
+f 100 105 101
+f 102 178 103
+f 102 104 179
+f 102 179 178
+f 103 178 180
+f 103 180 106
+f 104 105 179
+f 105 177 181
+f 105 181 179
+f 106 182 108
+f 106 180 183
+f 106 183 182
+f 108 182 109
+f 109 182 184
+f 110 185 253
+f 110 253 186
+f 110 186 187
+f 110 187 111
+f 111 187 188
+f 111 188 112
+f 112 188 113
+f 113 188 189
+f 113 189 114
+f 114 189 190
+f 114 190 115
+f 115 190 116
+f 116 190 191
+f 116 191 117
+f 117 191 192
+f 117 192 118
+f 118 192 193
+f 118 193 119
+f 119 193 194
+f 119 194 120
+f 120 194 121
+f 121 194 195
+f 121 195 196
+f 121 196 122
+f 122 196 197
+f 122 197 123
+f 123 197 124
+f 124 197 198
+f 124 198 199
+f 124 199 125
+f 125 199 126
+f 126 199 127
+f 127 199 200
+f 127 200 201
+f 127 201 128
+f 128 201 129
+f 129 201 130
+f 130 201 131
+f 131 201 202
+f 131 202 203
+f 131 203 204
+f 131 204 132
+f 132 204 205
+f 132 205 133
+f 133 205 134
+f 134 205 206
+f 134 206 135
+f 135 206 207
+f 135 207 136
+f 136 207 137
+f 137 207 138
+f 138 207 139
+f 139 207 208
+f 139 208 140
+f 140 208 209
+f 140 209 141
+f 141 209 142
+f 142 209 210
+f 142 210 143
+f 143 210 211
+f 143 211 144
+f 144 211 145
+f 145 211 212
+f 146 212 147
+f 147 212 213
+f 147 213 214
+f 147 214 150
+f 147 150 148
+f 148 150 215
+f 150 214 151
+f 151 214 152
+f 152 216 153
+f 152 214 216
+f 153 216 155
+f 155 216 217
+f 155 217 218
+f 155 218 156
+f 156 218 219
+f 156 219 160
+f 157 159 220
+f 157 220 221
+f 157 221 222
+f 157 222 158
+f 158 222 162
+f 159 161 223
+f 159 223 220
+f 160 219 224
+f 160 224 161
+f 161 224 225
+f 161 225 223
+f 162 222 226
+f 162 226 163
+f 163 226 227
+f 163 227 164
+f 164 227 228
+f 164 228 229
+f 164 229 165
+f 165 229 166
+f 166 229 230
+f 166 230 169
+f 166 169 168
+f 166 168 167
+f 169 231 232
+f 169 232 170
+f 169 230 231
+f 170 232 233
+f 170 233 171
+f 171 233 234
+f 171 234 172
+f 172 234 235
+f 172 235 236
+f 172 236 173
+f 173 236 237
+f 173 237 174
+f 174 238 239
+f 174 239 240
+f 174 240 175
+f 174 237 238
+f 175 240 241
+f 175 241 176
+f 176 241 242
+f 176 242 243
+f 176 243 244
+f 176 244 177
+f 177 244 181
+f 178 245 246
+f 178 246 183
+f 178 183 180
+f 178 179 181
+f 178 181 244
+f 178 244 245
+f 182 183 247
+f 182 247 248
+f 182 248 184
+f 183 246 247
+f 184 248 249
+f 184 249 250
+f 185 251 252
+f 185 252 253
+f 186 253 254
+f 186 254 255
+f 186 255 187
+f 187 256 188
+f 187 255 256
+f 188 257 258
+f 188 258 189
+f 188 256 257
+f 189 258 259
+f 189 259 190
+f 190 259 191
+f 191 260 192
+f 191 259 260
+f 192 260 261
+f 192 261 193
+f 193 261 194
+f 194 261 195
+f 195 197 196
+f 195 261 197
+f 197 262 221
+f 197 221 263
+f 197 263 264
+f 197 264 198
+f 197 261 262
+f 198 264 199
+f 199 264 200
+f 200 265 201
+f 200 264 265
+f 201 265 202
+f 202 265 203
+f 203 205 204
+f 203 265 266
+f 203 266 225
+f 203 225 267
+f 203 267 268
+f 203 268 205
+f 205 268 206
+f 206 268 207
+f 207 268 209
+f 207 209 208
+f 209 269 211
+f 209 211 210
+f 209 268 270
+f 209 270 271
+f 209 271 272
+f 209 272 269
+f 211 269 273
+f 211 273 212
+f 212 273 213
+f 213 273 274
+f 213 274 214
+f 214 274 216
+f 216 274 275
+f 216 275 217
+f 217 275 272
+f 217 272 276
+f 217 276 218
+f 218 276 219
+f 219 276 224
+f 220 263 221
+f 220 223 277
+f 220 277 264
+f 220 264 263
+f 221 262 222
+f 222 262 278
+f 222 278 279
+f 222 279 226
+f 223 225 266
+f 223 266 265
+f 223 265 277
+f 224 276 280
+f 224 280 281
+f 224 281 267
+f 224 267 225
+f 226 279 282
+f 226 282 260
+f 226 260 283
+f 226 283 227
+f 227 283 228
+f 228 283 259
+f 228 259 258
+f 228 258 257
+f 228 257 229
+f 229 257 284
+f 229 284 230
+f 230 284 255
+f 230 255 231
+f 231 255 285
+f 231 285 286
+f 231 286 232
+f 232 286 233
+f 233 286 234
+f 234 286 235
+f 235 287 236
+f 235 286 288
+f 235 288 287
+f 236 287 237
+f 237 289 290
+f 237 290 238
+f 237 287 291
+f 237 291 289
+f 238 292 239
+f 238 290 292
+f 239 292 293
+f 239 293 240
+f 240 293 294
+f 240 294 241
+f 241 295 242
+f 241 294 295
+f 242 295 296
+f 242 296 243
+f 243 296 297
+f 243 297 244
+f 244 297 298
+f 244 298 245
+f 245 247 246
+f 245 298 247
+f 247 298 297
+f 247 297 296
+f 247 296 299
+f 247 299 300
+f 247 300 249
+f 247 249 248
+f 249 300 250
+f 250 300 301
+f 251 302 252
+f 252 302 303
+f 252 303 304
+f 252 304 253
+f 253 304 254
+f 254 304 285
+f 254 285 255
+f 255 284 256
+f 256 284 257
+f 259 283 260
+f 260 282 261
+f 261 282 279
+f 261 279 278
+f 261 278 262
+f 264 277 265
+f 267 281 268
+f 268 280 270
+f 268 281 280
+f 269 272 275
+f 269 275 273
+f 270 280 276
+f 270 276 271
+f 271 276 272
+f 273 275 274
+f 285 304 305
+f 285 305 288
+f 285 288 286
+f 287 306 291
+f 287 288 305
+f 287 305 307
+f 287 307 306
+f 289 291 308
+f 289 308 290
+f 290 308 292
+f 291 306 308
+f 292 308 309
+f 292 309 310
+f 292 310 311
+f 292 311 312
+f 292 312 313
+f 292 313 293
+f 293 313 314
+f 293 314 315
+f 293 315 295
+f 293 295 294
+f 295 316 317
+f 295 317 296
+f 295 315 316
+f 296 317 318
+f 296 318 319
+f 296 319 299
+f 299 320 321
+f 299 321 300
+f 299 319 318
+f 299 318 320
+f 300 321 301
+f 302 322 303
+f 303 322 323
+f 303 323 307
+f 303 307 304
+f 304 307 305
+f 306 307 308
+f 307 323 308
+f 308 323 324
+f 308 324 325
+f 308 325 309
+f 309 326 311
+f 309 311 310
+f 309 325 326
+f 312 327 314
+f 312 314 313
+f 314 327 328
+f 314 328 315
+f 315 328 316
+f 316 328 329
+f 316 329 330
+f 316 330 317
+f 322 331 324
+f 322 324 323
+f 324 331 325
+f 325 331 332
+f 325 332 333
+f 325 333 326
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_1.obj

@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
+v 0.00004978 0.03806405 -0.08150717
+v -0.00145805 0.03799329 -0.08213368
+v -0.00145805 0.03805288 -0.08150717
+v 0.00004978 0.02982622 -0.08150720
+v 0.03598398 0.00139974 -0.08157698
+v 0.03577261 0.00424872 -0.08157697
+v 0.03538508 0.00709398 -0.08157696
+v 0.03526530 0.00764515 -0.08157696
+v 0.03472276 0.01008820 -0.08157695
+v 0.03438456 0.01148103 -0.08157695
+v 0.03424364 0.01192793 -0.08157695
+v 0.03384907 0.01291856 -0.08157694
+v 0.03275695 0.01563719 -0.08157693
+v 0.03172825 0.01781210 -0.08157692
+v 0.03158733 0.01808768 -0.08157692
+v 0.03098138 0.01923100 -0.08157692
+v 0.02886760 0.02255667 -0.08157691
+v 0.02834620 0.02324564 -0.08157690
+v 0.02599991 0.02598289 -0.08157689
+v 0.02461891 0.02740552 -0.08157689
+v 0.02318859 0.02881325 -0.08157688
+v 0.02041249 0.03117436 -0.08157688
+v 0.01979245 0.03162499 -0.08157687
+v 0.01637518 0.03374403 -0.08157687
+v 0.01494486 0.03449631 -0.08157686
+v 0.01447983 0.03470859 -0.08157686
+v 0.01280290 0.03546087 -0.08157686
+v 0.01234491 0.03563590 -0.08157686
+v 0.00929403 0.03678667 -0.08157685
+v 0.00794121 0.03716653 -0.08157685
+v 0.00710275 0.03733039 -0.08157685
+v 0.00424915 0.03781453 -0.08157685
+v 0.00139555 0.03805660 -0.08157685
+v 0.00139555 0.03800074 -0.08213368
+v -0.00145805 0.03736020 -0.08446583
+v -0.00430460 0.03723358 -0.08419285
+v -0.00430460 0.03774750 -0.08213368
+v -0.00430460 0.03781453 -0.08150717
+v -0.00207105 0.03800446 -0.08150717
+v -0.02915557 0.00001808 -0.08150731
+v -0.01571900 0.00424872 -0.08150857
+v 0.03597694 0.00001808 -0.08157699
+v 0.03592057 0.00001808 -0.08213382
+v 0.03592057 0.00139974 -0.08213381
+v 0.03570919 0.00424872 -0.08213380
+v 0.03532167 0.00709398 -0.08213379
+v 0.03462412 0.01013289 -0.08228785
+v 0.03415909 0.01120918 -0.08335100
+v 0.03382089 0.01273980 -0.08228784
+v 0.03267945 0.01563719 -0.08213376
+v 0.03169301 0.01774134 -0.08213375
+v 0.03093910 0.01915651 -0.08213375
+v 0.02840257 0.02261999 -0.08324867
+v 0.02940309 0.02153253 -0.08222580
+v 0.02754297 0.02400909 -0.08222579
+v 0.02595059 0.02593075 -0.08213372
+v 0.02456959 0.02735710 -0.08213372
+v 0.02313927 0.02876856 -0.08213371
+v 0.02120164 0.03036250 -0.08224431
+v 0.01982768 0.03120789 -0.08327805
+v 0.01872852 0.03217616 -0.08224430
+v 0.01630472 0.03370679 -0.08213370
+v 0.01488144 0.03445907 -0.08213369
+v 0.01280290 0.03539011 -0.08213369
+v 0.00981543 0.03651480 -0.08207871
+v 0.00805395 0.03686115 -0.08300185
+v 0.00710275 0.03727453 -0.08207870
+v 0.00424915 0.03775495 -0.08213368
+v 0.00424915 0.03723358 -0.08420116
+v 0.00139555 0.03736020 -0.08447862
+v 0.00004978 0.03736020 -0.08447287
+v 0.00004978 0.03666006 -0.08591321
+v -0.00145805 0.03665262 -0.08590618
+v -0.00430460 0.03653343 -0.08563320
+v -0.00622109 0.03710323 -0.08386553
+v -0.00716525 0.03727081 -0.08204801
+v -0.00716525 0.03732295 -0.08150717
+v -0.03599011 0.00001808 -0.08150731
+v 0.03503278 0.00001809 -0.08501513
+v 0.03503278 0.00139975 -0.08501512
+v 0.03473685 0.00418915 -0.08522672
+v 0.03463821 0.00709399 -0.08457398
+v 0.03440569 0.00930986 -0.08407342
+v 0.03369406 0.01013290 -0.08502595
+v 0.03282036 0.01278822 -0.08501508
+v 0.03180575 0.01545099 -0.08489808
+v 0.03148164 0.01731679 -0.08386114
+v 0.02892397 0.02052329 -0.08501505
+v 0.02790935 0.02194592 -0.08501505
+v 0.02636630 0.02407613 -0.08481814
+v 0.02572512 0.02568497 -0.08372621
+v 0.02289266 0.02853767 -0.08375434
+v 0.01916537 0.03072375 -0.08501502
+v 0.01774209 0.03171810 -0.08501501
+v 0.01446573 0.03425425 -0.08385468
+v 0.02127914 0.02918940 -0.08483474
+v 0.01263380 0.03457080 -0.08489417
+v 0.00994930 0.03550184 -0.08501500
+v 0.00615155 0.03709578 -0.08385978
+v 0.00424915 0.03653716 -0.08564151
+v 0.00139555 0.03666006 -0.08591896
+v -0.00145805 0.03523371 -0.08723016
+v -0.00430460 0.03510709 -0.08719820
+v -0.00715820 0.03486130 -0.08709080
+v -0.01001180 0.03447399 -0.08679096
+v -0.00716525 0.03635467 -0.08490120
+v -0.01001180 0.03548322 -0.08501564
+v -0.00812349 0.03686115 -0.08295198
+v -0.00802485 0.03715163 -0.08150717
+v -0.03599716 0.00139974 -0.08150730
+v -0.03591966 0.00001808 -0.08213382
+v 0.03429296 0.00001810 -0.08656095
+v 0.03429296 0.00139976 -0.08656030
+v 0.03424364 0.00319853 -0.08650595
+v 0.03410272 0.00509413 -0.08632886
+v 0.03392657 0.00709400 -0.08601368
+v 0.03142527 0.01437844 -0.08653405
+v 0.03094615 0.01627776 -0.08578095
+v 0.03031201 0.01835211 -0.08489807
+v 0.02850121 0.01990509 -0.08646115
+v 0.02590831 0.02306317 -0.08667147
+v 0.02506280 0.02496248 -0.08564667
+v 0.02397773 0.02677987 -0.08470113
+v 0.02217398 0.02787477 -0.08567542
+v 0.02027157 0.02871644 -0.08667975
+v 0.01711500 0.03130473 -0.08647517
+v 0.01551558 0.03310721 -0.08489418
+v 0.01347931 0.03375150 -0.08577449
+v 0.01157691 0.03421702 -0.08654803
+v 0.00710275 0.03635840 -0.08489737
+v 0.00994930 0.03448516 -0.08679800
+v 0.00710275 0.03486875 -0.08709144
+v 0.00424915 0.03511454 -0.08720012
+v 0.00139555 0.03523744 -0.08722825
+v 0.00004978 0.03271246 -0.08801970
+v -0.00145805 0.03271246 -0.08801970
+v -0.00430460 0.03271246 -0.08798519
+v -0.00715820 0.03271246 -0.08787587
+v -0.01001180 0.03271246 -0.08757795
+v -0.01268221 0.03276460 -0.08708314
+v -0.01160418 0.03420212 -0.08653397
+v -0.01268221 0.03454474 -0.08487627
+v -0.01449301 0.03423936 -0.08382335
+v -0.00984974 0.03649618 -0.08204802
+v -0.00862375 0.03699894 -0.08150717
+v -0.03591966 0.00139974 -0.08213381
+v -0.03579987 0.00424872 -0.08150729
+v -0.03572942 0.00424872 -0.08213380
+v -0.03501778 0.00001809 -0.08501577
+v 0.03351086 0.00001810 -0.08696626
+v 0.03277104 0.00139976 -0.08734791
+v 0.03300356 0.00418916 -0.08711392
+v 0.03250329 0.00709400 -0.08721684
+v 0.03217214 0.00994298 -0.08709728
+v 0.03171415 0.01278823 -0.08678657
+v 0.02996677 0.01545100 -0.08706721
+v 0.02890987 0.01848246 -0.08677696
+v 0.02694406 0.02104096 -0.08689842
+v 0.02415388 0.02407614 -0.08705951
+v 0.02316040 0.02597546 -0.08672898
+v 0.02127914 0.02696236 -0.08706397
+v 0.01824235 0.02974431 -0.08690798
+v 0.01566354 0.03172556 -0.08678906
+v 0.01263380 0.03276460 -0.08707865
+v 0.00994930 0.03270874 -0.08758115
+v 0.00710275 0.03270874 -0.08787906
+v 0.00424915 0.03270874 -0.08798902
+v 0.00139555 0.03270874 -0.08801906
+v 0.00424915 0.02986348 -0.08803697
+v 0.00139555 0.02986348 -0.08803825
+v -0.01001180 0.02986348 -0.08803122
+v -0.01286540 0.02986348 -0.08796856
+v -0.01571900 0.02986348 -0.08760225
+v -0.01571900 0.03173673 -0.08681654
+v -0.01720569 0.03132335 -0.08649498
+v -0.01350658 0.03374776 -0.08574381
+v -0.01286540 0.03533797 -0.08213369
+v -0.01555694 0.03310349 -0.08487628
+v -0.01780459 0.03171438 -0.08501565
+v -0.01986905 0.03119672 -0.08318024
+v -0.01628972 0.03365838 -0.08213370
+v -0.01486644 0.03442555 -0.08213369
+v -0.00928607 0.03678667 -0.08150717
+v -0.03501073 0.00139975 -0.08501576
+v -0.03542644 0.00709398 -0.08150728
+v -0.03535599 0.00709398 -0.08213379
+v -0.03467253 0.00709399 -0.08451708
+v -0.03475003 0.00404018 -0.08520947
+v -0.03431319 0.00139976 -0.08651490
+v -0.03431319 0.00001810 -0.08651619
+v 0.03277104 0.00001810 -0.08734856
+v 0.03130549 0.00001810 -0.08769953
+v 0.02991745 0.00139976 -0.08803068
+v 0.02991745 0.00424874 -0.08802684
+v 0.02991745 0.00709400 -0.08799998
+v 0.02991745 0.00994298 -0.08787914
+v 0.02991745 0.01278823 -0.08756460
+v 0.02707089 0.01848246 -0.08755435
+v 0.02421729 0.02132027 -0.08778384
+v 0.02136369 0.02416925 -0.08782666
+v 0.01851009 0.02701450 -0.08778446
+v 0.01566354 0.02986348 -0.08756262
+v 0.01280290 0.02986348 -0.08794875
+v 0.00994930 0.02986348 -0.08802802
+v 0.00710275 0.02986348 -0.08803442
+v 0.00994930 0.02701450 -0.08803507
+v 0.01851009 0.01848246 -0.08803510
+v 0.00710275 0.02701450 -0.08803698
+v 0.02136369 0.01278823 -0.08803639
+v 0.02136369 0.00424874 -0.08803642
+v 0.01704454 0.00001810 -0.08803580
+v -0.02141915 0.00001810 -0.08803005
+v -0.02141915 0.00424874 -0.08803003
+v -0.01571900 0.02701823 -0.08802931
+v -0.01857260 0.02701823 -0.08783305
+v -0.01831894 0.02976665 -0.08695272
+v -0.02037635 0.02876113 -0.08672066
+v -0.01923491 0.03074237 -0.08501566
+v -0.01286540 0.03540873 -0.08150718
+v -0.02136983 0.02918195 -0.08480597
+v -0.02291993 0.02850416 -0.08370575
+v -0.02122891 0.03029919 -0.08218485
+v -0.02011565 0.03137919 -0.08150719
+v -0.01978449 0.03159892 -0.08150719
+v -0.01877693 0.03211285 -0.08218484
+v -0.01636018 0.03369934 -0.08150719
+v -0.01493690 0.03446279 -0.08150718
+v -0.03427091 0.00294529 -0.08647080
+v -0.03475003 0.01004351 -0.08150727
+v -0.03466548 0.01007703 -0.08221305
+v -0.03444706 0.00921675 -0.08402739
+v -0.03396794 0.00709400 -0.08595742
+v -0.03415113 0.00484833 -0.08629945
+v -0.03305196 0.00404019 -0.08708900
+v -0.03283354 0.00139976 -0.08729549
+v -0.03283354 0.00001810 -0.08729741
+v 0.02991745 0.00001810 -0.08803133
+v 0.02421729 0.00994298 -0.08803513
+v 0.02707089 0.00994298 -0.08802745
+v 0.02707089 0.01278823 -0.08802041
+v 0.02707089 0.01563721 -0.08794241
+v 0.02421729 0.01848246 -0.08801656
+v 0.02136369 0.02132027 -0.08801910
+v 0.01851009 0.02416925 -0.08801846
+v 0.01566354 0.02701450 -0.08801397
+v 0.01566354 0.02416925 -0.08802932
+v 0.01851009 0.02132027 -0.08802997
+v 0.02136369 0.01563721 -0.08803383
+v 0.02421729 0.00709400 -0.08803577
+v 0.02136369 0.00001810 -0.08803580
+v 0.02421729 0.00424874 -0.08803578
+v -0.02289175 0.00001810 -0.08802941
+v -0.02427275 0.00139976 -0.08802876
+v -0.01857260 0.02416925 -0.08802740
+v -0.02141915 0.02416925 -0.08785543
+v -0.02136983 0.02698099 -0.08710745
+v -0.02327223 0.02601643 -0.08675456
+v -0.02227875 0.02791201 -0.08562683
+v -0.02404728 0.02679104 -0.08466789
+v -0.02576648 0.02566263 -0.08370704
+v -0.02455458 0.02730124 -0.08213372
+v -0.02313131 0.02870153 -0.08213371
+v -0.02043976 0.03110360 -0.08150720
+v -0.03222759 0.00993925 -0.08711838
+v -0.03253761 0.00709400 -0.08722003
+v -0.03444001 0.01135441 -0.08150727
+v -0.03419340 0.01111607 -0.08322762
+v -0.03286877 0.01278822 -0.08501572
+v -0.03372837 0.01007704 -0.08499847
+v -0.03179074 0.01278823 -0.08681470
+v -0.02997994 0.00709400 -0.08800317
+v -0.02997994 0.00424874 -0.08801916
+v -0.02997994 0.00001810 -0.08802110
+v 0.02845189 0.00001810 -0.08803261
+v 0.02421729 0.01278823 -0.08803128
+v 0.02421729 0.01563721 -0.08802488
+v 0.02136369 0.01848246 -0.08802806
+v 0.02559829 0.00001810 -0.08803453
+v -0.02427275 0.00001810 -0.08802877
+v -0.02712635 0.00001810 -0.08802558
+v -0.02141915 0.02132399 -0.08802358
+v -0.02427275 0.01848619 -0.08801911
+v -0.02712635 0.00709400 -0.08802235
+v -0.02427275 0.02132399 -0.08780686
+v -0.02424456 0.02410221 -0.08709084
+v -0.02599195 0.02310414 -0.08669384
+v -0.02517463 0.02500717 -0.08562812
+v -0.02641471 0.02410220 -0.08480663
+v -0.02844393 0.02258647 -0.08310355
+v -0.02755615 0.02397185 -0.08213884
+v -0.02596377 0.02587862 -0.08213372
+v -0.02349065 0.02844828 -0.08150721
+v -0.02460390 0.02734966 -0.08150721
+v -0.02318063 0.02874249 -0.08150720
+v -0.02997994 0.01278823 -0.08759528
+v -0.02997994 0.00993925 -0.08790088
+v -0.03435546 0.01165607 -0.08150727
+v -0.03385520 0.01272117 -0.08221304
+v -0.03270672 0.01563719 -0.08213376
+v -0.03152300 0.01728700 -0.08384580
+v -0.03186825 0.01546961 -0.08488977
+v -0.03426387 0.01194283 -0.08150727
+v -0.03149482 0.01440824 -0.08655003
+v -0.03003631 0.01546962 -0.08709087
+v -0.02712635 0.01563721 -0.08795967
+v -0.02712635 0.01278823 -0.08801786
+v -0.02712635 0.01848619 -0.08758887
+v -0.02701361 0.02106330 -0.08692654
+v -0.02857781 0.01993861 -0.08648224
+v -0.02797186 0.02194219 -0.08501569
+v -0.03095228 0.01909320 -0.08213375
+v -0.02940218 0.02151391 -0.08213885
+v -0.02862713 0.02283971 -0.08150723
+v -0.02897942 0.02051957 -0.08501569
+v -0.02828892 0.02325681 -0.08150722
+v -0.02600605 0.02592703 -0.08150721
+v -0.03202326 0.01723485 -0.08150725
+v -0.03173438 0.01767430 -0.08213376
+v -0.03298151 0.01514932 -0.08150725
+v -0.03278422 0.01563719 -0.08150725
+v -0.03102274 0.01630756 -0.08576624
+v -0.03037452 0.01833349 -0.08488976
+v -0.02900056 0.01848619 -0.08680828
+v -0.03099456 0.01916769 -0.08150724
+v -0.02891601 0.02241887 -0.08150723
+v -0.03176961 0.01775251 -0.08150724
+f 1 2 3
+f 1 3 39
+f 1 39 38
+f 1 38 77
+f 1 77 109
+f 1 109 145
+f 1 145 183
+f 1 183 219
+f 1 219 227
+f 1 227 226
+f 1 226 224
+f 1 224 223
+f 1 223 263
+f 1 263 294
+f 1 294 292
+f 1 292 293
+f 1 293 316
+f 1 316 315
+f 1 315 313
+f 1 313 325
+f 1 325 324
+f 1 324 326
+f 1 326 317
+f 1 317 320
+f 1 320 319
+f 1 319 302
+f 1 302 297
+f 1 297 266
+f 1 266 229
+f 1 229 185
+f 1 185 147
+f 1 147 110
+f 1 110 78
+f 1 78 40
+f 1 40 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 17
+f 1 17 18
+f 1 18 19
+f 1 19 20
+f 1 20 21
+f 1 21 22
+f 1 22 23
+f 1 23 24
+f 1 24 25
+f 1 25 26
+f 1 26 27
+f 1 27 28
+f 1 28 29
+f 1 29 30
+f 1 30 31
+f 1 31 32
+f 1 32 33
+f 1 33 34
+f 1 34 2
+f 2 35 36
+f 2 36 37
+f 2 37 38
+f 2 38 39
+f 2 39 3
+f 2 34 35
+f 4 40 41
+f 4 41 42
+f 4 42 5
+f 5 42 43
+f 5 43 44
+f 5 44 45
+f 5 45 6
+f 6 45 46
+f 6 46 7
+f 7 46 8
+f 8 46 9
+f 9 47 10
+f 9 46 47
+f 10 47 48
+f 10 48 11
+f 11 48 49
+f 11 49 12
+f 12 49 50
+f 12 50 13
+f 13 50 51
+f 13 51 14
+f 14 51 15
+f 15 51 16
+f 16 52 17
+f 16 51 52
+f 17 53 18
+f 17 52 54
+f 17 54 53
+f 18 53 55
+f 18 55 56
+f 18 56 19
+f 19 56 57
+f 19 57 20
+f 20 57 58
+f 20 58 21
+f 21 58 22
+f 22 59 60
+f 22 60 23
+f 22 58 59
+f 23 60 61
+f 23 61 62
+f 23 62 24
+f 24 62 63
+f 24 63 25
+f 25 63 26
+f 26 63 27
+f 27 64 28
+f 27 63 64
+f 28 64 29
+f 29 65 66
+f 29 66 30
+f 29 64 65
+f 30 66 67
+f 30 67 31
+f 31 68 32
+f 31 67 68
+f 32 68 34
+f 32 34 33
+f 34 68 69
+f 34 69 70
+f 34 70 71
+f 34 71 35
+f 35 71 72
+f 35 72 73
+f 35 73 74
+f 35 74 36
+f 36 74 75
+f 36 75 37
+f 37 75 76
+f 37 76 38
+f 38 76 77
+f 40 78 111
+f 40 111 149
+f 40 149 190
+f 40 190 236
+f 40 236 273
+f 40 273 280
+f 40 280 279
+f 40 279 252
+f 40 252 212
+f 40 212 211
+f 40 211 250
+f 40 250 278
+f 40 278 274
+f 40 274 237
+f 40 237 192
+f 40 192 191
+f 40 191 150
+f 40 150 112
+f 40 112 79
+f 40 79 43
+f 40 43 42
+f 40 42 41
+f 43 79 80
+f 43 80 44
+f 44 80 45
+f 45 80 81
+f 45 81 82
+f 45 82 46
+f 46 82 83
+f 46 83 48
+f 46 48 47
+f 48 83 84
+f 48 84 85
+f 48 85 86
+f 48 86 87
+f 48 87 50
+f 48 50 49
+f 50 87 51
+f 51 87 52
+f 52 53 54
+f 52 87 53
+f 53 88 89
+f 53 89 90
+f 53 90 91
+f 53 91 55
+f 53 87 88
+f 55 91 56
+f 56 91 57
+f 57 91 92
+f 57 92 58
+f 58 92 59
+f 59 92 60
+f 60 93 94
+f 60 94 95
+f 60 95 62
+f 60 62 61
+f 60 92 96
+f 60 96 93
+f 62 95 63
+f 63 95 64
+f 64 95 65
+f 65 95 66
+f 66 95 97
+f 66 97 98
+f 66 98 99
+f 66 99 67
+f 67 99 68
+f 68 99 69
+f 69 99 100
+f 69 100 70
+f 70 100 101
+f 70 101 72
+f 70 72 71
+f 72 102 73
+f 72 101 102
+f 73 102 103
+f 73 103 104
+f 73 104 74
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 75 106 107
+f 75 107 108
+f 75 108 76
+f 76 108 109
+f 76 109 77
+f 78 110 111
+f 79 112 80
+f 80 112 113
+f 80 113 114
+f 80 114 81
+f 81 114 115
+f 81 115 82
+f 82 115 116
+f 82 116 83
+f 83 116 84
+f 84 116 117
+f 84 117 85
+f 85 117 86
+f 86 117 118
+f 86 118 87
+f 87 118 119
+f 87 119 88
+f 88 120 89
+f 88 119 120
+f 89 120 121
+f 89 121 90
+f 90 121 122
+f 90 122 91
+f 91 122 123
+f 91 123 92
+f 92 123 124
+f 92 124 96
+f 93 96 125
+f 93 125 126
+f 93 126 94
+f 94 126 127
+f 94 127 95
+f 95 127 128
+f 95 128 97
+f 96 124 125
+f 97 129 98
+f 97 128 129
+f 98 130 99
+f 98 129 130
+f 99 130 100
+f 100 130 131
+f 100 131 132
+f 100 132 101
+f 101 132 133
+f 101 133 134
+f 101 134 102
+f 102 135 136
+f 102 136 137
+f 102 137 103
+f 102 134 135
+f 103 137 138
+f 103 138 104
+f 104 138 139
+f 104 139 105
+f 105 139 140
+f 105 140 141
+f 105 141 106
+f 106 141 107
+f 107 141 142
+f 107 142 143
+f 107 143 108
+f 108 144 145
+f 108 145 109
+f 108 143 144
+f 110 146 111
+f 110 147 148
+f 110 148 146
+f 111 146 149
+f 112 150 113
+f 113 150 151
+f 113 151 152
+f 113 152 114
+f 114 152 153
+f 114 153 154
+f 114 154 115
+f 115 154 116
+f 116 154 155
+f 116 155 117
+f 117 155 156
+f 117 156 157
+f 117 157 120
+f 117 120 118
+f 118 120 119
+f 120 157 158
+f 120 158 121
+f 121 158 159
+f 121 159 160
+f 121 160 122
+f 122 160 124
+f 122 124 123
+f 124 160 125
+f 125 160 161
+f 125 161 162
+f 125 162 126
+f 126 162 163
+f 126 163 129
+f 126 129 128
+f 126 128 127
+f 129 131 130
+f 129 163 164
+f 129 164 131
+f 131 164 165
+f 131 165 132
+f 132 165 166
+f 132 166 133
+f 133 167 134
+f 133 166 167
+f 134 167 168
+f 134 168 135
+f 135 168 169
+f 135 169 170
+f 135 170 136
+f 136 171 137
+f 136 170 171
+f 137 171 172
+f 137 172 138
+f 138 172 139
+f 139 172 173
+f 139 173 140
+f 140 173 174
+f 140 174 141
+f 141 174 175
+f 141 175 176
+f 141 176 142
+f 142 176 143
+f 143 177 144
+f 143 176 178
+f 143 178 179
+f 143 179 180
+f 143 180 181
+f 143 181 182
+f 143 182 177
+f 144 183 145
+f 144 177 183
+f 146 148 184
+f 146 184 149
+f 147 185 186
+f 147 186 148
+f 148 186 187
+f 148 187 188
+f 148 188 184
+f 149 184 189
+f 149 189 190
+f 150 191 151
+f 151 191 192
+f 151 192 193
+f 151 193 194
+f 151 194 195
+f 151 195 153
+f 151 153 152
+f 153 195 196
+f 153 196 154
+f 154 196 197
+f 154 197 156
+f 154 156 155
+f 156 197 198
+f 156 198 157
+f 157 198 158
+f 158 198 159
+f 159 198 199
+f 159 199 200
+f 159 200 161
+f 159 161 160
+f 161 200 201
+f 161 201 202
+f 161 202 162
+f 162 202 163
+f 163 202 164
+f 164 202 165
+f 165 202 203
+f 165 203 166
+f 166 203 167
+f 167 203 204
+f 167 204 168
+f 168 204 205
+f 168 205 169
+f 169 205 206
+f 169 206 207
+f 169 207 208
+f 169 208 170
+f 170 208 209
+f 170 209 210
+f 170 210 211
+f 170 211 212
+f 170 212 213
+f 170 213 214
+f 170 214 171
+f 171 214 172
+f 172 214 215
+f 172 215 173
+f 173 215 216
+f 173 216 174
+f 174 216 175
+f 175 216 217
+f 175 217 218
+f 175 218 179
+f 175 179 178
+f 175 178 176
+f 177 182 219
+f 177 219 183
+f 179 218 180
+f 180 218 220
+f 180 220 221
+f 180 221 222
+f 180 222 223
+f 180 223 224
+f 180 224 225
+f 180 225 181
+f 181 225 224
+f 181 224 226
+f 181 226 182
+f 182 226 227
+f 182 227 219
+f 184 188 228
+f 184 228 189
+f 185 229 230
+f 185 230 186
+f 186 230 231
+f 186 231 187
+f 187 231 232
+f 187 232 233
+f 187 233 188
+f 188 233 228
+f 189 228 234
+f 189 234 235
+f 189 235 236
+f 189 236 190
+f 192 237 193
+f 193 237 238
+f 193 238 239
+f 193 239 194
+f 194 239 240
+f 194 240 195
+f 195 240 241
+f 195 241 196
+f 196 241 197
+f 197 241 198
+f 198 241 199
+f 199 242 200
+f 199 241 242
+f 200 243 244
+f 200 244 245
+f 200 245 201
+f 200 242 243
+f 201 245 203
+f 201 203 202
+f 203 245 204
+f 204 245 244
+f 204 244 246
+f 204 246 205
+f 205 246 247
+f 205 247 206
+f 206 247 207
+f 207 247 248
+f 207 248 238
+f 207 238 209
+f 207 209 208
+f 209 238 249
+f 209 249 251
+f 209 251 210
+f 210 250 211
+f 210 251 250
+f 212 252 213
+f 213 252 253
+f 213 253 214
+f 214 253 254
+f 214 254 255
+f 214 255 215
+f 215 255 256
+f 215 256 216
+f 216 256 217
+f 217 256 257
+f 217 257 258
+f 217 258 220
+f 217 220 218
+f 220 258 221
+f 221 259 260
+f 221 260 261
+f 221 261 262
+f 221 262 222
+f 221 258 259
+f 222 262 223
+f 223 262 263
+f 228 233 264
+f 228 264 265
+f 228 265 234
+f 229 266 230
+f 230 266 267
+f 230 267 231
+f 231 267 268
+f 231 268 269
+f 231 269 232
+f 232 269 270
+f 232 270 264
+f 232 264 233
+f 234 265 235
+f 235 265 271
+f 235 271 272
+f 235 272 236
+f 236 272 273
+f 237 274 249
+f 237 249 238
+f 238 275 239
+f 238 248 275
+f 239 275 276
+f 239 276 240
+f 240 276 242
+f 240 242 241
+f 242 276 277
+f 242 277 243
+f 243 277 247
+f 243 247 246
+f 243 246 244
+f 247 277 248
+f 248 277 275
+f 249 274 251
+f 250 251 278
+f 251 274 278
+f 252 279 253
+f 253 279 280
+f 253 280 254
+f 254 281 282
+f 254 282 255
+f 254 280 283
+f 254 283 272
+f 254 272 281
+f 255 282 284
+f 255 284 285
+f 255 285 256
+f 256 285 257
+f 257 285 286
+f 257 286 287
+f 257 287 258
+f 258 287 259
+f 259 287 260
+f 260 287 288
+f 260 288 289
+f 260 289 290
+f 260 290 291
+f 260 291 261
+f 261 292 262
+f 261 291 293
+f 261 293 292
+f 262 292 294
+f 262 294 263
+f 264 270 295
+f 264 295 296
+f 264 296 265
+f 265 296 271
+f 266 297 267
+f 267 298 299
+f 267 299 300
+f 267 300 301
+f 267 301 268
+f 267 297 302
+f 267 302 298
+f 268 301 303
+f 268 303 269
+f 269 303 270
+f 270 303 304
+f 270 304 295
+f 271 296 305
+f 271 305 306
+f 271 306 272
+f 272 283 273
+f 272 306 281
+f 273 283 280
+f 275 277 276
+f 281 306 282
+f 282 306 305
+f 282 305 284
+f 284 305 307
+f 284 307 285
+f 285 307 308
+f 285 308 286
+f 286 308 309
+f 286 309 310
+f 286 310 288
+f 286 288 287
+f 288 310 289
+f 289 311 312
+f 289 312 313
+f 289 313 290
+f 289 310 314
+f 289 314 300
+f 289 300 311
+f 290 313 315
+f 290 315 291
+f 291 316 293
+f 291 315 316
+f 295 304 307
+f 295 307 305
+f 295 305 296
+f 298 302 299
+f 299 317 318
+f 299 318 300
+f 299 302 319
+f 299 319 320
+f 299 320 317
+f 300 321 301
+f 300 318 311
+f 300 314 322
+f 300 322 321
+f 301 321 303
+f 303 321 309
+f 303 309 323
+f 303 323 304
+f 304 323 307
+f 307 323 308
+f 308 323 309
+f 309 321 322
+f 309 322 314
+f 309 314 310
+f 311 324 325
+f 311 325 312
+f 311 318 324
+f 312 325 313
+f 317 326 318
+f 318 326 324
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_10.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.04109555 0.00001754 0.06496998
+v 0.04109555 0.00139920 0.06496999
+v 0.03392644 0.00001754 0.06496998
+v 0.04118856 0.00001755 0.06201363
+v 0.04109210 0.00147192 0.06496999
+v 0.04118856 0.00139921 0.06201364
+v 0.02374466 0.02653918 0.06497008
+v 0.02359480 0.02668116 0.06495840
+v 0.02359480 0.02645608 0.06201373
+v 0.03156832 0.00001785 -0.01870760
+v 0.04053401 0.00001773 0.01299430
+v 0.04090090 0.00424563 0.06497000
+v 0.04098014 0.00424564 0.06201365
+v 0.04053228 0.00139939 0.01299431
+v 0.04033764 0.00424582 0.01299432
+v 0.02359480 0.02919515 0.06497009
+v 0.02359480 0.02626564 0.05924434
+v 0.02359480 0.02167770 -0.01573948
+v 0.02359480 0.02150111 -0.01870752
+v 0.02359480 0.02147687 -0.01926841
+v 0.02359480 0.02139377 -0.02158208
+v 0.02359480 0.02137992 -0.02204948
+v 0.03144430 0.00001789 -0.03040447
+v 0.04049267 0.00001774 0.01011974
+v 0.04089401 0.00431835 0.06497000
+v 0.04059946 0.00709207 0.06201366
+v 0.04055640 0.00709206 0.06497001
+v 0.03999658 0.00616078 0.00435897
+v 0.04048922 0.00139940 0.01011975
+v 0.04025840 0.00424584 0.00723352
+v 0.02359480 0.03539358 0.06497011
+v 0.02359480 0.02131067 -0.02486561
+v 0.02359480 0.02125181 -0.02735455
+v 0.03143741 0.00001790 -0.03202870
+v 0.04047027 0.00001775 0.00871752
+v 0.04044444 0.00139941 0.00723351
+v 0.04013266 0.00947794 0.06201366
+v 0.04012577 0.00941214 0.06497001
+v 0.04001725 0.00627158 0.00723352
+v 0.03976232 0.00769480 0.00723353
+v 0.04021534 0.00424585 0.00435897
+v 0.03995524 0.00592186 0.00148441
+v 0.03974337 0.00758400 0.00435898
+v 0.02398409 0.03510963 0.06497011
+v 0.02359480 0.03456273 0.00435908
+v 0.02359480 0.02124835 -0.02768174
+v 0.02359480 0.02122412 -0.03022911
+v 0.03142363 0.00001791 -0.03600167
+v 0.04044616 0.00001775 0.00723350
+v 0.04039793 0.00139942 0.00435896
+v 0.03980194 0.01090115 0.06201367
+v 0.03924040 0.00994216 0.00723354
+v 0.03977093 0.01087344 0.06497002
+v 0.03919906 0.00994217 0.00435899
+v 0.04013094 0.00424586 0.00148441
+v 0.03992079 0.00572102 -0.00002298
+v 0.03969686 0.00734507 0.00148442
+v 0.03911293 0.00994218 0.00148443
+v 0.02403577 0.03507154 0.06497011
+v 0.02542583 0.03400153 0.06497010
+v 0.02359480 0.03455926 0.00411369
+v 0.02359480 0.02122412 -0.03054461
+v 0.03140985 0.00001798 -0.05340090
+v 0.04039793 0.00001776 0.00435895
+v 0.04031352 0.00001777 0.00148439
+v 0.04031180 0.00139943 0.00148440
+v 0.03926107 0.01278838 0.06201368
+v 0.03921456 0.01278837 0.06497003
+v 0.03829301 0.01278860 0.00148444
+v 0.03836708 0.01278859 0.00435900
+v 0.03743692 0.00139964 -0.05440582
+v 0.03732324 0.00315875 -0.05440582
+v 0.03725262 0.00424607 -0.05440581
+v 0.03709242 0.00584935 -0.05440581
+v 0.03692017 0.00672890 -0.05440581
+v 0.03681165 0.00727256 -0.05440580
+v 0.03642925 0.00891740 -0.05440580
+v 0.03618982 0.00994239 -0.05440579
+v 0.02701055 0.03255408 0.06497010
+v 0.02489875 0.03349618 0.00435907
+v 0.02359480 0.03451079 0.00148452
+v 0.02359480 0.02130386 -0.05440575
+v 0.03141846 0.00001798 -0.05440583
+v 0.03743865 0.00001798 -0.05440583
+v 0.03743865 0.00031232 -0.05440583
+v 0.03831713 0.01563481 0.06201369
+v 0.03829129 0.01563480 0.06497004
+v 0.03919217 0.01285763 0.06497003
+v 0.03745071 0.01521603 0.00148445
+v 0.03535096 0.01278881 -0.05440578
+v 0.03748516 0.01531644 0.00435901
+v 0.02839889 0.03126245 0.06497009
+v 0.02645590 0.03207297 0.00435907
+v 0.02486774 0.03346156 0.00148451
+v 0.02359480 0.03052531 -0.05440572
+v 0.03743176 0.01790295 0.06201370
+v 0.03742831 0.01789948 0.06497005
+v 0.03693051 0.01674312 0.00435901
+v 0.03688572 0.01663925 0.00148445
+v 0.03454655 0.01505349 -0.05440577
+v 0.02972867 0.02979768 0.06497009
+v 0.02788214 0.03062551 0.00435906
+v 0.02642489 0.03203835 0.00148451
+v 0.02574622 0.02853420 -0.05440573
+v 0.03678581 0.01932616 0.06201370
+v 0.03676687 0.01935039 0.06497005
+v 0.03611404 0.01847799 0.00435902
+v 0.03601930 0.01847800 0.00148446
+v 0.03418482 0.01593304 -0.05440577
+v 0.03395745 0.01647670 -0.05440577
+v 0.03111702 0.02822903 0.06497008
+v 0.02914474 0.02920230 0.00435906
+v 0.02785113 0.03058743 0.00148450
+v 0.02712940 0.02701749 -0.05440573
+v 0.03571786 0.02132420 0.06201371
+v 0.03572819 0.02131727 0.06497006
+v 0.03481526 0.02101969 0.00435903
+v 0.03476531 0.02092966 0.00148447
+v 0.03335284 0.01770946 -0.05440576
+v 0.03297561 0.01847821 -0.05440576
+v 0.03115147 0.02818748 0.06497008
+v 0.03112219 0.02815632 0.06201373
+v 0.03057098 0.02742588 0.00435905
+v 0.02910857 0.02916422 0.00148450
+v 0.02845746 0.02553887 -0.05440574
+v 0.02764271 0.02644612 -0.05440573
+v 0.03456377 0.02332224 0.06201372
+v 0.03457238 0.02333609 0.06497007
+v 0.03402807 0.02244290 0.00435903
+v 0.03397812 0.02235288 0.00148447
+v 0.03224699 0.01983216 -0.05440576
+v 0.03179742 0.02066670 -0.05440575
+v 0.03222632 0.02677119 0.06497008
+v 0.03221426 0.02673311 0.06201373
+v 0.03165100 0.02600267 0.00435905
+v 0.03053481 0.02737395 0.00148449
+v 0.02886397 0.02499521 -0.05440574
+v 0.03161138 0.02595073 0.00148449
+v 0.03363878 0.02474546 0.06201372
+v 0.03365429 0.02475930 0.06497007
+v 0.03281025 0.02417085 0.00148448
+v 0.03289982 0.02417084 0.00435904
+v 0.03094132 0.02208991 -0.05440575
+v 0.02951508 0.02411565 -0.05440574
+v 0.03006112 0.02334345 -0.05440574
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 27
+f 1 27 38
+f 1 38 53
+f 1 53 68
+f 1 68 88
+f 1 88 87
+f 1 87 97
+f 1 97 106
+f 1 106 116
+f 1 116 128
+f 1 128 140
+f 1 140 133
+f 1 133 121
+f 1 121 111
+f 1 111 101
+f 1 101 92
+f 1 92 79
+f 1 79 60
+f 1 60 59
+f 1 59 44
+f 1 44 31
+f 1 31 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 23
+f 1 23 34
+f 1 34 48
+f 1 48 63
+f 1 63 83
+f 1 83 84
+f 1 84 65
+f 1 65 64
+f 1 64 49
+f 1 49 35
+f 1 35 24
+f 1 24 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 6 12
+f 6 13 12
+f 6 11 14
+f 6 14 15
+f 6 15 13
+f 7 16 8
+f 8 16 31
+f 8 31 45
+f 8 45 61
+f 8 61 81
+f 8 81 95
+f 8 95 82
+f 8 82 62
+f 8 62 47
+f 8 47 46
+f 8 46 33
+f 8 33 32
+f 8 32 22
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 18
+f 8 18 17
+f 8 17 9
+f 9 17 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 17 18
+f 11 24 14
+f 12 13 25
+f 13 26 27
+f 13 27 25
+f 13 15 28
+f 13 28 26
+f 14 24 29
+f 14 29 41
+f 14 41 30
+f 14 30 15
+f 15 30 28
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 24 35 36
+f 24 36 29
+f 26 37 38
+f 26 38 27
+f 26 28 39
+f 26 39 40
+f 26 40 37
+f 28 41 42
+f 28 42 43
+f 28 43 39
+f 28 30 41
+f 29 36 41
+f 31 44 45
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 35 49 50
+f 35 50 36
+f 36 50 41
+f 37 51 38
+f 37 40 52
+f 37 52 51
+f 38 51 53
+f 39 43 40
+f 40 43 54
+f 40 54 52
+f 41 50 55
+f 41 55 42
+f 42 55 56
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 43 58 54
+f 44 59 45
+f 45 59 60
+f 45 60 61
+f 47 62 63
+f 47 63 48
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 55
+f 51 67 53
+f 51 52 54
+f 51 54 67
+f 53 67 68
+f 54 58 69
+f 54 69 70
+f 54 70 67
+f 55 66 71
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 78
+f 58 78 69
+f 60 79 80
+f 60 80 61
+f 61 80 81
+f 62 82 63
+f 63 82 83
+f 65 84 85
+f 65 85 66
+f 66 85 71
+f 67 86 87
+f 67 87 88
+f 67 88 68
+f 67 70 86
+f 69 89 70
+f 69 78 90
+f 69 90 89
+f 70 89 91
+f 70 91 86
+f 71 85 84
+f 71 84 83
+f 71 83 82
+f 71 82 95
+f 71 95 104
+f 71 104 114
+f 71 114 126
+f 71 126 125
+f 71 125 137
+f 71 137 144
+f 71 144 145
+f 71 145 143
+f 71 143 132
+f 71 132 131
+f 71 131 120
+f 71 120 119
+f 71 119 110
+f 71 110 109
+f 71 109 100
+f 71 100 90
+f 71 90 78
+f 71 78 77
+f 71 77 76
+f 71 76 75
+f 71 75 74
+f 71 74 73
+f 71 73 72
+f 79 92 93
+f 79 93 80
+f 80 93 103
+f 80 103 94
+f 80 94 81
+f 81 94 95
+f 86 96 97
+f 86 97 87
+f 86 91 98
+f 86 98 96
+f 89 99 98
+f 89 98 91
+f 89 90 100
+f 89 100 99
+f 92 101 102
+f 92 102 93
+f 93 102 103
+f 94 103 95
+f 95 103 104
+f 96 105 97
+f 96 98 105
+f 97 105 106
+f 98 99 107
+f 98 107 105
+f 99 108 107
+f 99 100 109
+f 99 109 110
+f 99 110 108
+f 101 111 112
+f 101 112 102
+f 102 112 113
+f 102 113 103
+f 103 113 104
+f 104 113 114
+f 105 115 116
+f 105 116 106
+f 105 107 117
+f 105 117 115
+f 107 108 117
+f 108 118 117
+f 108 110 119
+f 108 119 120
+f 108 120 118
+f 111 121 122
+f 111 122 112
+f 112 123 124
+f 112 124 113
+f 112 122 123
+f 113 124 125
+f 113 125 126
+f 113 126 114
+f 115 127 128
+f 115 128 116
+f 115 117 129
+f 115 129 127
+f 117 118 130
+f 117 130 129
+f 118 120 131
+f 118 131 132
+f 118 132 130
+f 121 133 134
+f 121 134 122
+f 122 134 123
+f 123 135 136
+f 123 136 124
+f 123 134 135
+f 124 136 125
+f 125 136 138
+f 125 138 137
+f 127 139 140
+f 127 140 128
+f 127 129 139
+f 129 130 141
+f 129 141 142
+f 129 142 139
+f 130 132 143
+f 130 143 141
+f 133 140 139
+f 133 139 134
+f 134 139 135
+f 135 142 138
+f 135 138 136
+f 135 139 142
+f 137 138 144
+f 138 142 141
+f 138 141 143
+f 138 143 145
+f 138 145 144
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_11.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.02354737 -0.03552548 0.06627717
+v 0.02415015 -0.03508363 0.06627717
+v 0.02354737 -0.02683108 0.06627720
+v 0.02354737 -0.03466244 0.00436413
+v 0.02619339 -0.03337885 0.06627718
+v 0.02491701 -0.03356650 0.00436414
+v 0.03341813 0.00001754 0.06627730
+v 0.02354737 -0.02160857 -0.01582460
+v 0.02354737 -0.03456153 0.00148171
+v 0.02485310 -0.03352474 0.00148172
+v 0.02699652 -0.03264127 0.06627718
+v 0.02647146 -0.03214353 0.00436414
+v 0.02643692 -0.03210177 0.00148172
+v 0.04116274 0.00001754 0.06627730
+v 0.03156833 0.00001785 -0.01870694
+v 0.02354737 -0.02144156 -0.01870702
+v 0.02354737 -0.03052550 -0.05440657
+v 0.02908812 -0.03057813 0.06627719
+v 0.02789810 -0.03069968 0.00436415
+v 0.02786356 -0.03065444 0.00148173
+v 0.02422096 -0.02991665 -0.05440657
+v 0.02570805 -0.02854934 -0.05440656
+v 0.04116274 -0.00008683 0.06627730
+v 0.04119210 -0.00145065 0.06201272
+v 0.04118865 0.00001755 0.06201273
+v 0.03144397 0.00001789 -0.03041383
+v 0.02354737 -0.02133022 -0.02158944
+v 0.02354737 -0.02121529 -0.05440654
+v 0.02976689 -0.02982663 0.06627719
+v 0.02916066 -0.02927671 0.00436415
+v 0.02911575 -0.02923147 0.00148173
+v 0.02707079 -0.02706722 -0.05440656
+v 0.02843525 -0.02556423 -0.05440655
+v 0.04116101 -0.00145066 0.06627729
+v 0.04096930 -0.00429661 0.06627728
+v 0.04098484 -0.00429660 0.06201271
+v 0.04037861 -0.00429643 0.01588212
+v 0.04053750 -0.00145047 0.01299971
+v 0.04053405 0.00001773 0.01299972
+v 0.03143706 0.00001790 -0.03203224
+v 0.02354737 -0.02121191 -0.02699990
+v 0.02354737 -0.02125367 -0.02447187
+v 0.03141807 0.00001798 -0.05440646
+v 0.02354737 -0.02120137 -0.05329611
+v 0.03140943 0.00001798 -0.05340235
+v 0.03159596 -0.02770087 0.06627720
+v 0.03058730 -0.02749538 0.00436416
+v 0.03054239 -0.02743970 0.00148174
+v 0.02911057 -0.02468400 -0.05440655
+v 0.04062386 -0.00714256 0.06627727
+v 0.04058932 -0.00714255 0.06201270
+v 0.04005390 -0.00648133 0.01299970
+v 0.04000899 -0.00626560 0.00723485
+v 0.03998654 -0.00615078 0.00436424
+v 0.04033888 -0.00429642 0.01299970
+v 0.04049606 -0.00145046 0.01011728
+v 0.04049260 0.00001774 0.01011729
+v 0.02354737 -0.02120843 -0.02735429
+v 0.03143361 0.00001790 -0.03311906
+v 0.03743897 0.00001798 -0.05440646
+v 0.02354737 -0.02119442 -0.05041368
+v 0.02354737 -0.02119450 -0.02990595
+v 0.03142497 0.00001791 -0.03600148
+v 0.03219184 -0.02693198 0.06627720
+v 0.03167369 -0.02607241 0.00436416
+v 0.03162878 -0.02601673 0.00148174
+v 0.02952682 -0.02414126 -0.05440655
+v 0.04016617 -0.00963363 0.06627726
+v 0.04007462 -0.00658223 0.01588212
+v 0.03973610 -0.00757375 0.00436423
+v 0.03969810 -0.00734760 0.00148181
+v 0.03994509 -0.00592462 0.00148182
+v 0.04020762 -0.00429639 0.00436424
+v 0.04025425 -0.00429640 0.00723485
+v 0.04029743 -0.00429641 0.01011727
+v 0.04044942 -0.00145045 0.00723486
+v 0.04044769 0.00001775 0.00723487
+v 0.03142843 0.00001791 -0.03483197
+v 0.04031297 0.00001777 0.00148184
+v 0.03743897 -0.00145022 -0.05440647
+v 0.03294488 -0.02591258 0.06627720
+v 0.03295352 -0.02421802 0.00436417
+v 0.03368929 -0.02488624 0.06627721
+v 0.03286543 -0.02421801 0.00148175
+v 0.03040767 -0.02292007 -0.05440654
+v 0.03095346 -0.02216162 -0.05440654
+v 0.03998827 -0.01037469 0.06627726
+v 0.03920068 -0.00998828 0.00436422
+v 0.03912468 -0.00998827 0.00148180
+v 0.03683619 -0.00737174 -0.05440649
+v 0.03710044 -0.00594877 -0.05440648
+v 0.03991400 -0.00574370 0.00000516
+v 0.04012126 -0.00429638 0.00148182
+v 0.04039933 -0.00145044 0.00436425
+v 0.04042351 0.00001776 0.00584091
+v 0.04039761 0.00001776 0.00436426
+v 0.04031297 -0.00145043 0.00148183
+v 0.03726107 -0.00429617 -0.05440648
+v 0.03405890 -0.02255150 0.00436418
+v 0.03463232 -0.02345978 0.06627721
+v 0.03401572 -0.02247147 0.00148176
+v 0.03181013 -0.02073864 -0.05440654
+v 0.03932503 -0.01283445 0.06627725
+v 0.03839927 -0.01283771 0.00436421
+v 0.03831637 -0.01283770 0.00148179
+v 0.03625759 -0.00998806 -0.05440650
+v 0.03661338 -0.00838069 -0.05440649
+v 0.03720062 -0.00492242 -0.05440648
+v 0.03485858 -0.02112853 0.00436418
+v 0.03589143 -0.02127487 0.06627722
+v 0.03528692 -0.02233950 0.06627722
+v 0.03480677 -0.02104850 0.00148176
+v 0.03300533 -0.01852590 -0.05440653
+v 0.03839755 -0.01568388 0.06627724
+v 0.03750805 -0.01545403 0.00436420
+v 0.03746315 -0.01533225 0.00148178
+v 0.03541646 -0.01283749 -0.05440651
+v 0.03619368 -0.01852612 0.00436419
+v 0.03708145 -0.01891253 0.06627723
+v 0.03609523 -0.01852611 0.00148177
+v 0.03397427 -0.01656714 -0.05440652
+v 0.03744070 -0.01813320 0.06627723
+v 0.03696745 -0.01687701 0.00436420
+v 0.03691909 -0.01675522 0.00148178
+v 0.03456842 -0.01514069 -0.05440652
+v 0.03434216 -0.01568692 -0.05440652
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 29
+f 1 29 46
+f 1 46 64
+f 1 64 81
+f 1 81 83
+f 1 83 100
+f 1 100 111
+f 1 111 110
+f 1 110 119
+f 1 119 122
+f 1 122 114
+f 1 114 103
+f 1 103 87
+f 1 87 68
+f 1 68 50
+f 1 50 35
+f 1 35 34
+f 1 34 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 42
+f 1 42 41
+f 1 41 58
+f 1 58 62
+f 1 62 61
+f 1 61 44
+f 1 44 28
+f 1 28 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 12
+f 5 12 11
+f 6 10 13
+f 6 13 12
+f 7 14 25
+f 7 25 39
+f 7 39 57
+f 7 57 77
+f 7 77 95
+f 7 95 96
+f 7 96 79
+f 7 79 60
+f 7 60 43
+f 7 43 45
+f 7 45 63
+f 7 63 78
+f 7 78 59
+f 7 59 40
+f 7 40 26
+f 7 26 15
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 17 13
+f 11 12 18
+f 12 13 19
+f 12 19 18
+f 13 20 19
+f 13 17 21
+f 13 21 22
+f 13 22 20
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 15 27 16
+f 17 28 43
+f 17 43 60
+f 17 60 80
+f 17 80 98
+f 17 98 108
+f 17 108 91
+f 17 91 90
+f 17 90 107
+f 17 107 106
+f 17 106 117
+f 17 117 125
+f 17 125 126
+f 17 126 121
+f 17 121 113
+f 17 113 102
+f 17 102 86
+f 17 86 85
+f 17 85 67
+f 17 67 49
+f 17 49 33
+f 17 33 32
+f 17 32 22
+f 17 22 21
+f 18 19 29
+f 19 20 30
+f 19 30 29
+f 20 31 30
+f 20 22 32
+f 20 32 33
+f 20 33 31
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 28 44 45
+f 28 45 43
+f 29 30 46
+f 30 31 47
+f 30 47 46
+f 31 48 47
+f 31 33 48
+f 33 49 48
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 55 38
+f 37 54 55
+f 38 55 75
+f 38 75 56
+f 38 56 57
+f 38 57 39
+f 40 58 41
+f 40 59 58
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 46 47 64
+f 47 48 66
+f 47 66 65
+f 47 65 64
+f 48 49 67
+f 48 67 66
+f 50 68 51
+f 51 69 52
+f 51 68 70
+f 51 70 69
+f 52 69 70
+f 52 70 53
+f 53 70 54
+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 75
+f 54 75 55
+f 56 75 74
+f 56 74 76
+f 56 76 77
+f 56 77 57
+f 58 59 78
+f 58 78 63
+f 58 63 62
+f 60 79 97
+f 60 97 80
+f 64 65 81
+f 65 66 82
+f 65 82 83
+f 65 83 81
+f 66 84 82
+f 66 67 85
+f 66 85 86
+f 66 86 84
+f 68 87 88
+f 68 88 70
+f 70 88 89
+f 70 89 71
+f 71 89 90
+f 71 90 91
+f 71 91 92
+f 71 92 72
+f 72 92 93
+f 72 93 73
+f 73 93 97
+f 73 97 94
+f 73 94 76
+f 73 76 74
+f 76 94 95
+f 76 95 77
+f 79 96 94
+f 79 94 97
+f 80 97 98
+f 82 84 99
+f 82 99 83
+f 83 99 100
+f 84 101 99
+f 84 86 101
+f 86 102 101
+f 87 103 88
+f 88 104 89
+f 88 103 104
+f 89 104 105
+f 89 105 106
+f 89 106 107
+f 89 107 90
+f 91 108 92
+f 92 108 98
+f 92 98 93
+f 93 98 97
+f 94 96 95
+f 99 101 109
+f 99 109 110
+f 99 110 111
+f 99 111 100
+f 101 112 109
+f 101 102 112
+f 102 113 112
+f 103 114 104
+f 104 115 105
+f 104 114 115
+f 105 115 116
+f 105 116 117
+f 105 117 106
+f 109 112 118
+f 109 118 110
+f 110 118 119
+f 112 120 118
+f 112 113 120
+f 113 121 120
+f 114 122 123
+f 114 123 115
+f 115 123 116
+f 116 123 124
+f 116 124 125
+f 116 125 117
+f 118 120 123
+f 118 123 119
+f 119 123 122
+f 120 124 123
+f 120 121 124
+f 121 126 124
+f 124 126 125
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_12.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.03352704 0.00001754 0.06624427
+v -0.02355697 0.02601100 0.05308959
+v -0.02355697 0.02602836 0.05336119
+v -0.02355697 0.02621243 0.05615983
+v -0.02355697 0.02641387 0.05912379
+v -0.02355697 0.02664656 0.06200509
+v -0.02355697 0.02700429 0.06624437
+v -0.04109786 0.00001754 0.06624427
+v -0.03152162 0.00001785 -0.01880130
+v -0.02355697 0.02164892 -0.01581365
+v -0.02355697 0.03549973 0.06624440
+v -0.04110132 0.00139987 0.06624428
+v -0.04119977 0.00001755 0.06200499
+v -0.03133162 0.00001790 -0.03337313
+v -0.02355697 0.02148569 -0.01870676
+v -0.02419089 0.03503085 0.06624440
+v -0.02355697 0.03463860 0.00436731
+v -0.04094068 0.00424790 0.06624429
+v -0.04120150 0.00139988 0.06200500
+v -0.04118941 0.00001756 0.06052891
+v -0.03132816 0.00001791 -0.03462484
+v -0.02355697 0.02128775 -0.02735066
+v -0.02355697 0.02132247 -0.02446936
+v -0.02355697 0.02138845 -0.02158806
+v -0.02622222 0.03332898 0.06624439
+v -0.02495955 0.03349592 0.00436730
+v -0.02355697 0.03454831 0.00147420
+v -0.02490427 0.03345078 0.00147419
+v -0.04062458 0.00709245 0.06624430
+v -0.04100113 0.00424791 0.06200501
+v -0.04098904 0.00424792 0.05912371
+v -0.04118077 0.00139989 0.05912370
+v -0.04117559 0.00001756 0.05912369
+v -0.03132471 0.00001791 -0.03592378
+v -0.02355697 0.02123227 -0.05041286
+v -0.02704269 0.03257530 0.06624439
+v -0.02651586 0.03207538 0.00436730
+v -0.02646749 0.03202677 0.00147419
+v -0.02355697 0.03043625 -0.05439233
+v -0.04019102 0.00947506 0.06624430
+v -0.04061767 0.00709246 0.06200502
+v -0.04058831 0.00709247 0.05912372
+v -0.04006147 0.00613058 0.00723669
+v -0.04029121 0.00424811 0.00723669
+v -0.04049848 0.00140008 0.00723668
+v -0.04049503 0.00001775 0.00723667
+v -0.03132125 0.00001798 -0.05439244
+v -0.02355697 0.02125310 -0.05281001
+v -0.02912238 0.03052959 0.06624438
+v -0.02794262 0.03063053 0.00436729
+v -0.02789426 0.03057844 0.00147418
+v -0.02445344 0.02960616 -0.05439233
+v -0.02566947 0.02846695 -0.05439234
+v -0.02570229 0.02843569 -0.05439234
+v -0.02355697 0.02127048 -0.05439236
+v -0.04000275 0.01024611 0.06624431
+v -0.03922545 0.00994068 0.00723671
+v -0.04016511 0.00932225 0.06200502
+v -0.03977992 0.00755459 0.00723670
+v -0.03976092 0.00743651 0.00436721
+v -0.04003729 0.00601250 0.00436720
+v -0.04024457 0.00424812 0.00436720
+v -0.04045357 0.00140009 0.00436719
+v -0.04045012 0.00001776 0.00436718
+v -0.03742213 0.00001798 -0.05439244
+v -0.02981331 0.02976896 0.06624438
+v -0.02916384 0.02915443 0.00147418
+v -0.02921047 0.02920652 0.00436729
+v -0.02687169 0.02718881 -0.05439234
+v -0.02792535 0.02605307 -0.05439234
+v -0.02846427 0.02546958 -0.05439235
+v -0.03932218 0.01275723 0.06624432
+v -0.03981274 0.01074626 0.06200503
+v -0.03842398 0.01278870 0.00723672
+v -0.03918054 0.00994069 0.00436722
+v -0.03908727 0.00994070 0.00147411
+v -0.03974883 0.00691554 0.00142687
+v -0.04000447 0.00584927 0.00234793
+v -0.04011157 0.00439400 0.00142686
+v -0.04033957 0.00140010 0.00147408
+v -0.04033784 0.00001777 0.00147407
+v -0.03743595 0.00140031 -0.05439243
+v -0.03164426 0.02764336 0.06624437
+v -0.03059060 0.02736921 0.00147417
+v -0.03063724 0.02744213 0.00436728
+v -0.02954039 0.02404904 -0.05439235
+v -0.03167535 0.02594867 0.00147417
+v -0.03839116 0.01563304 0.06624433
+v -0.03753096 0.01528247 0.00436724
+v -0.03837734 0.01278871 0.00436723
+v -0.03828061 0.01278872 0.00147412
+v -0.03622165 0.00994091 -0.05439240
+v -0.03660684 0.00821820 -0.05439241
+v -0.03686767 0.00704426 -0.05439241
+v -0.03704558 0.00614818 -0.05439242
+v -0.03712849 0.00572445 -0.05439242
+v -0.03718895 0.00503328 -0.05439242
+v -0.03724768 0.00434211 -0.05439242
+v -0.03225055 0.02686884 0.06624437
+v -0.03173063 0.02601812 0.00436728
+v -0.03096715 0.02205195 -0.05439236
+v -0.03287929 0.02417039 0.00147416
+v -0.03299502 0.02417038 0.00436727
+v -0.03746877 0.01805733 0.06624434
+v -0.03697821 0.01670648 0.00436724
+v -0.03747914 0.01515397 0.00147413
+v -0.03540463 0.01278893 -0.05439239
+v -0.03297948 0.02586855 0.06624437
+v -0.03373950 0.02481618 0.06624436
+v -0.03151298 0.02116628 -0.05439236
+v -0.03404523 0.02236780 0.00147415
+v -0.03410396 0.02246852 0.00436726
+v -0.03467916 0.02339216 0.06624436
+v -0.03417823 0.02415280 0.06624436
+v -0.03710949 0.01885964 0.06624434
+v -0.03618019 0.01847781 0.00436725
+v -0.03692639 0.01657451 0.00147413
+v -0.03460315 0.01502914 -0.05439238
+v -0.03510580 0.01362597 -0.05439239
+v -0.03184463 0.02062794 -0.05439236
+v -0.03483289 0.02094379 0.00147415
+v -0.03489334 0.02104798 0.00436726
+v -0.03592801 0.02122142 0.06624435
+v -0.03531308 0.02229811 0.06624435
+v -0.03606792 0.01847782 0.00147414
+v -0.03400378 0.01645316 -0.05439238
+v -0.03437688 0.01556749 -0.05439238
+v -0.03300711 0.01847803 -0.05439237
+v -0.03362377 0.01722768 -0.05439238
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 25
+f 1 25 36
+f 1 36 49
+f 1 49 66
+f 1 66 83
+f 1 83 99
+f 1 99 108
+f 1 108 109
+f 1 109 114
+f 1 114 113
+f 1 113 124
+f 1 124 123
+f 1 123 115
+f 1 115 104
+f 1 104 88
+f 1 88 72
+f 1 72 56
+f 1 56 40
+f 1 40 29
+f 1 29 18
+f 1 18 12
+f 1 12 8
+f 1 8 13
+f 1 13 20
+f 1 20 33
+f 1 33 46
+f 1 46 64
+f 1 64 81
+f 1 81 65
+f 1 65 47
+f 1 47 34
+f 1 34 21
+f 1 21 14
+f 1 14 9
+f 1 9 2
+f 2 9 10
+f 2 10 15
+f 2 15 24
+f 2 24 23
+f 2 23 22
+f 2 22 35
+f 2 35 48
+f 2 48 55
+f 2 55 39
+f 2 39 27
+f 2 27 17
+f 2 17 11
+f 2 11 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 11 17 16
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 17 26
+f 16 26 25
+f 17 27 28
+f 17 28 26
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 34 22
+f 22 34 35
+f 25 26 37
+f 25 37 36
+f 26 28 38
+f 26 38 37
+f 27 39 28
+f 28 39 38
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 34 47 35
+f 35 47 48
+f 36 37 49
+f 37 38 50
+f 37 50 49
+f 38 51 50
+f 38 39 52
+f 38 52 53
+f 38 53 54
+f 38 54 51
+f 39 55 47
+f 39 47 65
+f 39 65 82
+f 39 82 98
+f 39 98 97
+f 39 97 96
+f 39 96 95
+f 39 95 94
+f 39 94 93
+f 39 93 92
+f 39 92 107
+f 39 107 119
+f 39 119 118
+f 39 118 127
+f 39 127 126
+f 39 126 129
+f 39 129 128
+f 39 128 120
+f 39 120 110
+f 39 110 101
+f 39 101 86
+f 39 86 71
+f 39 71 70
+f 39 70 69
+f 39 69 54
+f 39 54 53
+f 39 53 52
+f 40 56 57
+f 40 57 58
+f 40 58 42
+f 40 42 41
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 47 55 48
+f 49 50 66
+f 50 51 67
+f 50 67 68
+f 50 68 66
+f 51 54 69
+f 51 69 70
+f 51 70 71
+f 51 71 67
+f 56 72 73
+f 56 73 57
+f 57 74 75
+f 57 75 59
+f 57 59 58
+f 57 73 72
+f 57 72 74
+f 59 75 60
+f 60 75 76
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 63
+f 63 80 81
+f 63 81 64
+f 65 81 82
+f 66 68 83
+f 67 84 85
+f 67 85 68
+f 67 71 84
+f 68 85 83
+f 71 86 87
+f 71 87 84
+f 72 88 74
+f 74 88 89
+f 74 89 90
+f 74 90 75
+f 75 90 76
+f 76 90 91
+f 76 91 92
+f 76 92 93
+f 76 93 94
+f 76 94 77
+f 77 94 95
+f 77 95 96
+f 77 96 78
+f 78 96 79
+f 79 96 97
+f 79 97 98
+f 79 98 80
+f 80 98 82
+f 80 82 81
+f 83 85 99
+f 84 87 100
+f 84 100 85
+f 85 100 99
+f 86 101 87
+f 87 102 103
+f 87 103 100
+f 87 101 102
+f 88 104 89
+f 89 105 106
+f 89 106 90
+f 89 104 105
+f 90 106 91
+f 91 106 107
+f 91 107 92
+f 99 100 108
+f 100 103 109
+f 100 109 108
+f 101 110 111
+f 101 111 102
+f 102 111 112
+f 102 112 103
+f 103 112 113
+f 103 113 114
+f 103 114 109
+f 104 115 105
+f 105 116 117
+f 105 117 106
+f 105 115 116
+f 106 117 118
+f 106 118 119
+f 106 119 107
+f 110 120 111
+f 111 121 122
+f 111 122 112
+f 111 120 121
+f 112 122 123
+f 112 123 124
+f 112 124 113
+f 115 123 116
+f 116 122 125
+f 116 125 117
+f 116 123 122
+f 117 125 126
+f 117 126 127
+f 117 127 118
+f 120 128 121
+f 121 125 122
+f 121 128 125
+f 125 128 129
+f 125 129 126
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_13.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01344317 -0.02699688 -0.08146374
+v -0.01344317 -0.03517747 -0.08146377
+v -0.01344317 -0.02698584 -0.08146109
+v -0.01343531 -0.02698952 -0.08146374
+v -0.01286801 -0.03543483 -0.08146377
+v -0.01328071 -0.03662734 -0.07060028
+v -0.01344317 -0.03655136 -0.07060028
+v -0.00005843 -0.03021396 -0.08146375
+v -0.01344317 -0.02954368 -0.05440173
+v -0.00928075 -0.03679275 -0.08146378
+v -0.00873703 -0.03707831 -0.08093133
+v -0.01185393 -0.03718620 -0.07060029
+v -0.01344317 -0.03669108 -0.06878838
+v -0.00005843 -0.03801218 -0.08146378
+v -0.00005843 -0.03339193 -0.05440174
+v -0.01344317 -0.03675854 -0.05440176
+v -0.00789720 -0.03716900 -0.08146378
+v -0.00716220 -0.03856985 -0.07060029
+v -0.01001445 -0.03778794 -0.07060029
+v -0.01001445 -0.03797791 -0.06772085
+v -0.01211204 -0.03728425 -0.06772085
+v -0.01344317 -0.03676584 -0.06772085
+v -0.00145770 -0.03801341 -0.08146378
+v -0.00005843 -0.03929783 -0.07060029
+v -0.00145770 -0.03930151 -0.07060029
+v -0.00005843 -0.03950623 -0.05440177
+v -0.01209894 -0.03727940 -0.05440176
+v -0.01344317 -0.03676706 -0.06752483
+v -0.01211466 -0.03728916 -0.06483611
+v -0.00708228 -0.03731361 -0.08146378
+v -0.00430995 -0.03905762 -0.07060029
+v -0.00430995 -0.03924637 -0.06772085
+v -0.00716220 -0.03875492 -0.06772085
+v -0.01001445 -0.03798650 -0.06483611
+v -0.00430995 -0.03776952 -0.08146378
+v -0.00005843 -0.03939466 -0.06918839
+v -0.00005843 -0.03949148 -0.06772086
+v -0.00145770 -0.03949148 -0.06772086
+v -0.00041218 -0.03950501 -0.05440177
+v -0.00005843 -0.03949394 -0.06630630
+v -0.01080710 -0.03770834 -0.05440176
+v -0.00653462 -0.03740553 -0.08146378
+v -0.00430995 -0.03925867 -0.05440176
+v -0.00716220 -0.03875983 -0.06483611
+v -0.00716220 -0.03875497 -0.05440176
+v -0.01001445 -0.03796939 -0.05440176
+v -0.00145770 -0.03950133 -0.05440177
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 35
+f 1 35 42
+f 1 42 30
+f 1 30 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 9 15
+f 8 15 26
+f 8 26 40
+f 8 40 37
+f 8 37 36
+f 8 36 24
+f 8 24 14
+f 9 16 27
+f 9 27 41
+f 9 41 46
+f 9 46 45
+f 9 45 43
+f 9 43 47
+f 9 47 39
+f 9 39 26
+f 9 26 15
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 24 25
+f 14 25 23
+f 16 28 29
+f 16 29 27
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 18 20 19
+f 18 30 31
+f 20 33 34
+f 20 34 21
+f 21 34 29
+f 21 29 28
+f 21 28 22
+f 23 25 31
+f 23 31 35
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 31
+f 26 39 38
+f 26 38 40
+f 27 29 41
+f 29 34 41
+f 30 42 31
+f 31 42 35
+f 31 38 32
+f 32 38 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 41
+f 37 40 38
+f 38 39 47
+f 38 47 43
+f 43 45 44
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_14.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.03569068 -0.00998868 0.08774486
+v -0.03569068 -0.01283502 0.08768126
+v -0.03283844 -0.01686936 0.08765459
+v -0.03569068 -0.00884857 0.08773871
+v -0.03811735 -0.00884857 0.08720751
+v -0.03767028 -0.01283502 0.08698598
+v -0.03590992 -0.01582113 0.08725875
+v -0.03564340 -0.01686936 0.08721979
+v -0.03800558 -0.00998868 0.08717469
+v -0.03283844 -0.01568136 0.08759511
+v -0.03031290 -0.01686936 0.08693059
+v -0.03308347 -0.00884857 0.08705163
+v -0.03868909 -0.00884857 0.08660247
+v -0.03735646 -0.01496526 0.08674191
+v -0.03953595 -0.00884856 0.08518934
+v -0.03700611 -0.01686308 0.08624762
+v -0.03700396 -0.01686936 0.08624351
+v -0.02717049 -0.01686935 0.08567334
+v -0.02423442 -0.01686935 0.08449197
+v -0.02252135 -0.01686935 0.08375361
+v -0.02998834 -0.00884856 0.08568362
+v -0.03863965 -0.01283501 0.08507856
+v -0.03943708 -0.00979708 0.08487963
+v -0.03993573 -0.00884856 0.08391567
+v -0.03767028 -0.01582112 0.08520366
+v -0.03743814 -0.01686935 0.08466425
+v -0.03700826 -0.01686936 0.08622916
+v -0.02237305 -0.01686935 0.08365927
+v -0.02591095 -0.00884856 0.08360802
+v -0.02709956 -0.00884856 0.08429100
+v -0.03906523 -0.01283500 0.08219487
+v -0.04108996 -0.00884851 0.07066423
+v -0.04002816 -0.01442264 0.07222296
+v -0.03759934 -0.01686935 0.08356492
+v -0.02111780 -0.01686934 0.08266044
+v -0.02581852 -0.00884856 0.08354854
+v -0.04034627 -0.00884850 0.06679196
+v -0.04089866 -0.00998862 0.07066422
+v -0.04002816 -0.01442263 0.07184353
+v -0.03882880 -0.01686930 0.07073599
+v -0.01977443 -0.01686934 0.08116116
+v -0.02482765 -0.00884855 0.08224822
+v -0.04033122 -0.00893801 0.06679196
+v -0.03309422 -0.00884850 0.06679196
+v -0.04020441 -0.00965333 0.06679195
+v -0.04026029 -0.01278313 0.07079548
+v -0.03941558 -0.01280118 0.06679194
+v -0.03879656 -0.01470450 0.06679194
+v -0.03847630 -0.01568129 0.06679193
+v -0.03939624 -0.01549521 0.07079547
+v -0.03800988 -0.01686929 0.06679193
+v -0.01975079 -0.01686934 0.08109758
+v -0.02410546 -0.00884855 0.08036951
+v -0.02713395 -0.00884850 0.06728215
+v -0.02428171 -0.01283495 0.06737853
+v -0.03040318 -0.01686929 0.06679193
+v -0.03962837 -0.01202148 0.06679195
+v -0.01955519 -0.01686933 0.07931117
+v -0.02384323 -0.00884854 0.07931120
+v -0.02546387 -0.00884850 0.06760825
+v -0.02015702 -0.01686929 0.06804098
+v -0.02134993 -0.01686929 0.06772924
+v -0.02309094 -0.01686929 0.06753439
+v -0.01913176 -0.01686930 0.07066420
+v -0.02385183 -0.00884851 0.07071141
+v -0.02453533 -0.00884850 0.06801435
+v -0.01939828 -0.01686929 0.06858040
+v -0.01956379 -0.01650810 0.06866859
+v -0.02272984 -0.01116326 0.06899882
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 3 10 4
+f 3 8 17
+f 3 17 27
+f 3 27 26
+f 3 26 34
+f 3 34 40
+f 3 40 51
+f 3 51 56
+f 3 56 63
+f 3 63 62
+f 3 62 61
+f 3 61 67
+f 3 67 64
+f 3 64 58
+f 3 58 52
+f 3 52 41
+f 3 41 35
+f 3 35 28
+f 3 28 20
+f 3 20 19
+f 3 19 18
+f 3 18 11
+f 3 11 10
+f 4 10 12
+f 4 12 21
+f 4 21 30
+f 4 30 29
+f 4 29 36
+f 4 36 42
+f 4 42 53
+f 4 53 59
+f 4 59 65
+f 4 65 66
+f 4 66 60
+f 4 60 54
+f 4 54 44
+f 4 44 37
+f 4 37 32
+f 4 32 24
+f 4 24 15
+f 4 15 13
+f 4 13 5
+f 5 13 9
+f 6 14 8
+f 6 8 7
+f 6 9 13
+f 6 13 15
+f 6 15 14
+f 8 14 16
+f 8 16 17
+f 10 11 12
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 14 15 22
+f 14 22 16
+f 15 23 22
+f 15 24 23
+f 16 22 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 22 23 24
+f 22 24 31
+f 22 31 26
+f 22 26 25
+f 24 32 33
+f 24 33 31
+f 26 31 34
+f 28 35 36
+f 28 36 29
+f 31 33 34
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 37 43 38
+f 37 44 56
+f 37 56 51
+f 37 51 49
+f 37 49 48
+f 37 48 47
+f 37 47 57
+f 37 57 45
+f 37 45 43
+f 38 43 45
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 41 52 53
+f 41 53 42
+f 44 54 55
+f 44 55 56
+f 45 57 46
+f 46 57 47
+f 49 51 50
+f 52 58 59
+f 52 59 53
+f 54 60 55
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 55 60 61
+f 58 64 59
+f 59 64 65
+f 60 66 61
+f 61 66 67
+f 64 67 68
+f 64 68 65
+f 65 68 69
+f 65 69 66
+f 66 69 68
+f 66 68 67
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_15.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03743909 0.00001934 -0.05440583
+v 0.03743909 0.00031185 -0.05440583
+v 0.03141669 0.00001934 -0.05440583
+v 0.03755759 0.00001939 -0.06771994
+v 0.03743786 0.00087103 -0.05440583
+v 0.02803580 0.01391709 -0.05440578
+v 0.02494746 0.01391719 -0.08157657
+v 0.02882209 0.00001944 -0.08157662
+v 0.03755265 0.00140032 -0.06771993
+v 0.03743662 0.00140027 -0.05440582
+v 0.03741811 0.00001940 -0.07060032
+v 0.03741441 0.00140033 -0.07060031
+v 0.03494817 0.01391709 -0.05440578
+v 0.03344843 0.01391719 -0.08157657
+v 0.03598256 0.00001944 -0.08157662
+v 0.03736256 0.00424654 -0.06771992
+v 0.03725271 0.00424649 -0.05440581
+v 0.03732306 0.00315807 -0.05440582
+v 0.03598379 0.00140037 -0.08157661
+v 0.03721444 0.00419349 -0.07069871
+v 0.03713544 0.00605605 -0.06980508
+v 0.03535057 0.01278514 -0.05440578
+v 0.03544068 0.01278519 -0.06771989
+v 0.03502223 0.01391714 -0.06771989
+v 0.03385577 0.01291449 -0.08157657
+v 0.03378048 0.01391718 -0.07924940
+v 0.03395452 0.01349678 -0.07924940
+v 0.03715272 0.00614311 -0.06771992
+v 0.03709224 0.00584919 -0.05440581
+v 0.03577395 0.00424659 -0.08157660
+v 0.03701571 0.00510776 -0.07172799
+v 0.03538637 0.00709144 -0.08157659
+v 0.03684043 0.00703834 -0.07069870
+v 0.03622819 0.00993898 -0.07060028
+v 0.03686389 0.00756622 -0.06771991
+v 0.03618993 0.00993892 -0.05440579
+v 0.03629732 0.00993897 -0.06771990
+v 0.03537032 0.01278520 -0.07060027
+v 0.03498520 0.01391714 -0.06919599
+v 0.03425076 0.01192538 -0.08157658
+v 0.03433964 0.01175668 -0.08142765
+v 0.03493830 0.01391715 -0.07060027
+v 0.03681204 0.00727229 -0.05440580
+v 0.03692067 0.00672944 -0.05440581
+v 0.03569989 0.00479624 -0.08157660
+v 0.03526910 0.00764110 -0.08157659
+v 0.03472599 0.01008460 -0.08157658
+v 0.03439025 0.01147641 -0.08157658
+v 0.03642939 0.00891581 -0.05440580
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 17
+f 1 17 29
+f 1 29 44
+f 1 44 43
+f 1 43 49
+f 1 49 36
+f 1 36 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 15
+f 1 15 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 9
+f 6 13 24
+f 6 24 39
+f 6 39 42
+f 6 42 26
+f 6 26 14
+f 6 14 7
+f 7 14 25
+f 7 25 40
+f 7 40 48
+f 7 48 47
+f 7 47 46
+f 7 46 32
+f 7 32 45
+f 7 45 30
+f 7 30 19
+f 7 19 15
+f 7 15 8
+f 9 12 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 15 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 16
+f 13 22 23
+f 13 23 24
+f 14 26 27
+f 14 27 25
+f 16 21 28
+f 16 28 29
+f 16 29 17
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 28
+f 22 36 37
+f 22 37 23
+f 23 37 34
+f 23 34 38
+f 23 38 24
+f 24 38 39
+f 25 27 41
+f 25 41 40
+f 26 42 27
+f 27 42 41
+f 28 35 43
+f 28 43 44
+f 28 44 29
+f 30 45 31
+f 31 45 32
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 41
+f 34 41 38
+f 34 37 35
+f 35 37 36
+f 35 36 49
+f 35 49 43
+f 38 42 39
+f 38 41 42
+f 40 41 48
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_16.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01282816 0.03542683 -0.08150718
+v -0.00878896 0.03704505 -0.08102942
+v -0.00928693 0.03678942 -0.08150717
+v -0.01282816 0.02763962 -0.08150721
+v -0.01282816 0.03685328 -0.07059858
+v -0.01197846 0.03718489 -0.07059858
+v -0.00802877 0.03715116 -0.08150717
+v -0.00862381 0.03700044 -0.08150717
+v -0.01001559 0.03782639 -0.07059858
+v -0.00716269 0.03859450 -0.07059858
+v -0.01264662 0.02732972 -0.08150721
+v -0.01282816 0.02724049 -0.08150190
+v -0.01282816 0.03695818 -0.06914941
+v -0.01282816 0.03705465 -0.06771882
+v -0.01223942 0.03727772 -0.06771882
+v -0.01001559 0.03800846 -0.06771882
+v -0.00716774 0.03732721 -0.08150717
+v -0.00716269 0.03878380 -0.06771882
+v -0.00430979 0.03929025 -0.06771882
+v -0.00430979 0.03908286 -0.07059858
+v -0.00493004 0.03771067 -0.08150717
+v 0.00005088 0.02982698 -0.08150720
+v -0.01282816 0.02980638 -0.05439498
+v -0.01282816 0.03705705 -0.06654038
+v -0.01282816 0.03705946 -0.06483641
+v -0.01224825 0.03727771 -0.06483641
+v -0.01001559 0.03801086 -0.06483641
+v -0.00716269 0.03879344 -0.06483641
+v -0.00430979 0.03929988 -0.06483641
+v -0.00145689 0.03954829 -0.06771881
+v -0.00145689 0.03934090 -0.07059858
+v -0.00430979 0.03781678 -0.08150717
+v 0.00005088 0.03806397 -0.08150717
+v 0.00005088 0.03340215 -0.05439497
+v -0.01282816 0.03699189 -0.05439495
+v -0.01215748 0.03725477 -0.05439495
+v -0.01001559 0.03797103 -0.05439495
+v -0.00893772 0.03827007 -0.05439495
+v -0.00716269 0.03875843 -0.05439495
+v -0.00608608 0.03895498 -0.05439495
+v -0.00430979 0.03927573 -0.05439495
+v -0.00145689 0.03955431 -0.06483640
+v -0.00323318 0.03937822 -0.05439495
+v -0.00145689 0.03954704 -0.05439494
+v 0.00005088 0.03954950 -0.06771881
+v 0.00005088 0.03944098 -0.06923965
+v 0.00005088 0.03934331 -0.07059858
+v 0.00005088 0.03955914 -0.06483640
+v -0.00145689 0.03805915 -0.08150717
+v 0.00005088 0.03955066 -0.05439494
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 17
+f 1 17 21
+f 1 21 32
+f 1 32 49
+f 1 49 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 12
+f 1 12 23
+f 1 23 35
+f 1 35 25
+f 1 25 24
+f 1 24 14
+f 1 14 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 7
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 9
+f 7 10 17
+f 9 16 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 17
+f 11 22 12
+f 12 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 22 33 47
+f 22 47 46
+f 22 46 45
+f 22 45 48
+f 22 48 50
+f 22 50 34
+f 22 34 23
+f 23 34 50
+f 23 50 44
+f 23 44 43
+f 23 43 41
+f 23 41 40
+f 23 40 39
+f 23 39 38
+f 23 38 37
+f 23 37 36
+f 23 36 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 42 30
+f 29 41 43
+f 29 43 44
+f 29 44 42
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 30 42 48
+f 30 48 45
+f 31 47 33
+f 31 33 49
+f 31 49 32
+f 42 44 48
+f 44 50 48
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_17.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01344407 -0.03676745 -0.06752483
+v -0.01353920 -0.03672820 -0.06772084
+v -0.01344407 -0.03676567 -0.06772085
+v -0.01344407 -0.03675858 -0.05440176
+v -0.01352664 -0.03672646 -0.05440175
+v -0.01572185 -0.03568982 -0.05440175
+v -0.01572185 -0.03568799 -0.06772084
+v -0.01572185 -0.03547922 -0.07060028
+v -0.01344407 -0.03669073 -0.06878838
+v -0.01344407 -0.02954134 -0.05440173
+v -0.01651881 -0.03526517 -0.05440175
+v -0.01782014 -0.03457110 -0.05440175
+v -0.01780130 -0.03456749 -0.06772084
+v -0.01761911 -0.03446042 -0.07060028
+v -0.01344407 -0.03654976 -0.07060028
+v -0.01492041 -0.03451212 -0.08146377
+v -0.02261174 -0.02239011 -0.05440170
+v -0.01344407 -0.02698621 -0.08146109
+v -0.02054038 -0.02043805 -0.08146372
+v -0.02261174 -0.01853962 -0.08146371
+v -0.01924533 -0.03370932 -0.05440174
+v -0.01923187 -0.03369857 -0.06483609
+v -0.01922648 -0.03369321 -0.06772083
+v -0.01904519 -0.03358614 -0.07060027
+v -0.01661035 -0.03387873 -0.07924921
+v -0.01438283 -0.03475657 -0.08146377
+v -0.01344407 -0.03517765 -0.08146377
+v -0.01634649 -0.03373241 -0.08146376
+v -0.02261174 -0.03130416 -0.05440173
+v -0.01344407 -0.02699691 -0.08146374
+v -0.02261174 -0.02924148 -0.08146375
+v -0.02128977 -0.03228549 -0.05440174
+v -0.02124759 -0.03226939 -0.06772083
+v -0.02111656 -0.03216410 -0.07060027
+v -0.02013921 -0.03143967 -0.08111939
+v -0.01965188 -0.03168411 -0.08146376
+v -0.02261174 -0.03123631 -0.06772082
+v -0.02051794 -0.03104178 -0.08146375
+v -0.02261174 -0.02929680 -0.08112998
+v -0.02261174 -0.03113996 -0.06909299
+v -0.02254264 -0.03108464 -0.07060026
+v -0.02261174 -0.03102398 -0.07060026
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 27
+f 1 27 30
+f 1 30 18
+f 1 18 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 9
+f 2 9 3
+f 4 10 17
+f 4 17 29
+f 4 29 32
+f 4 32 21
+f 4 21 12
+f 4 12 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 15
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 16
+f 15 16 26
+f 15 26 27
+f 16 28 36
+f 16 36 38
+f 16 38 31
+f 16 31 20
+f 16 20 19
+f 16 19 30
+f 16 30 27
+f 16 27 26
+f 16 25 28
+f 17 20 31
+f 17 31 39
+f 17 39 42
+f 17 42 40
+f 17 40 37
+f 17 37 29
+f 18 30 19
+f 21 32 22
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 28
+f 24 28 25
+f 28 35 36
+f 29 37 33
+f 29 33 32
+f 31 38 35
+f 31 35 39
+f 33 37 40
+f 33 40 34
+f 34 40 41
+f 34 41 35
+f 35 38 36
+f 35 41 39
+f 39 41 42
+f 40 42 41
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_18.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02252049 0.01848230 -0.08150724
+v -0.02252049 0.02930969 -0.08150720
+v -0.01290785 0.02716749 -0.08150721
+v -0.01282910 0.02980422 -0.05439498
+v -0.02252049 0.02249383 -0.05439501
+v -0.02015717 0.03140643 -0.08125504
+v -0.02044749 0.03111001 -0.08150720
+v -0.02252049 0.03111361 -0.07059861
+v -0.01287749 0.02720931 -0.08150721
+v -0.01282910 0.02724205 -0.08150190
+v -0.01282910 0.03699278 -0.05439495
+v -0.02252049 0.03136268 -0.05439497
+v -0.01636316 0.03369956 -0.08150719
+v -0.01978716 0.03159737 -0.08150719
+v -0.02012017 0.03137915 -0.08150719
+v -0.02115525 0.03215561 -0.07059860
+v -0.01911356 0.03357768 -0.07059860
+v -0.02252049 0.03132454 -0.06811431
+v -0.01282910 0.02764030 -0.08150721
+v -0.01358525 0.03669818 -0.05439496
+v -0.01282910 0.03705829 -0.06483641
+v -0.01367633 0.03674005 -0.06483642
+v -0.02220266 0.03160273 -0.05439497
+v -0.02131559 0.03228107 -0.06483643
+v -0.02252049 0.03136636 -0.06483643
+v -0.01524555 0.03430149 -0.08150718
+v -0.01768760 0.03445057 -0.07059859
+v -0.01572181 0.03551985 -0.07059859
+v -0.02131179 0.03227562 -0.06771884
+v -0.01930900 0.03369951 -0.06771884
+v -0.02252049 0.03135728 -0.06771884
+v -0.01282910 0.03542533 -0.08150718
+v -0.01491254 0.03606716 -0.05439496
+v -0.01282910 0.03705647 -0.06654038
+v -0.01282910 0.03705466 -0.06771882
+v -0.01366779 0.03673460 -0.06771883
+v -0.01572181 0.03574896 -0.06483642
+v -0.01572181 0.03567800 -0.05439496
+v -0.02131464 0.03226466 -0.05439497
+v -0.01932418 0.03370496 -0.06483643
+v -0.01493626 0.03446334 -0.08150718
+v -0.01788209 0.03456149 -0.06771883
+v -0.01340689 0.03662732 -0.07059859
+v -0.01572181 0.03573624 -0.06771883
+v -0.01282910 0.03685281 -0.07059858
+v -0.01286895 0.03541078 -0.08150718
+v -0.01282910 0.03695828 -0.06914941
+v -0.01789728 0.03456693 -0.06483642
+v -0.01785743 0.03453961 -0.05439496
+v -0.01705574 0.03496878 -0.05439496
+v -0.02054900 0.03280294 -0.05439497
+v -0.01928338 0.03368855 -0.05439497
+f 1 2 7
+f 1 7 15
+f 1 15 14
+f 1 14 13
+f 1 13 26
+f 1 26 41
+f 1 41 46
+f 1 46 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 25
+f 1 25 31
+f 1 31 18
+f 1 18 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 11 20
+f 4 20 33
+f 4 33 38
+f 4 38 50
+f 4 50 49
+f 4 49 52
+f 4 52 51
+f 4 51 39
+f 4 39 23
+f 4 23 12
+f 4 12 5
+f 4 10 19
+f 4 19 32
+f 4 32 45
+f 4 45 47
+f 4 47 35
+f 4 35 34
+f 4 34 21
+f 4 21 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 8 16
+f 6 16 17
+f 6 17 13
+f 8 18 16
+f 9 19 10
+f 11 21 22
+f 11 22 20
+f 12 23 24
+f 12 24 25
+f 13 17 27
+f 13 27 28
+f 13 28 26
+f 16 18 29
+f 16 29 30
+f 16 30 17
+f 17 30 27
+f 18 31 29
+f 20 22 33
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 33
+f 23 39 24
+f 24 40 29
+f 24 29 25
+f 24 39 40
+f 25 29 31
+f 26 28 41
+f 27 30 42
+f 27 42 28
+f 28 43 41
+f 28 42 44
+f 28 44 36
+f 28 36 43
+f 29 40 30
+f 30 40 48
+f 30 48 42
+f 32 46 45
+f 35 47 36
+f 36 47 43
+f 36 44 37
+f 37 44 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 39 51 40
+f 40 51 52
+f 40 52 48
+f 41 43 46
+f 42 48 44
+f 43 45 46
+f 43 47 45
+f 48 52 49
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_19.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01281809 0.02975176 -0.03022908
+v 0.01281809 0.02975446 -0.02733115
+v 0.00005088 0.03330105 -0.03600155
+v 0.00005088 0.03330377 -0.03735703
+v 0.00005088 0.03330783 -0.03888779
+v 0.00005088 0.03331325 -0.04024327
+v 0.01281809 0.02980324 -0.04176235
+v 0.00005088 0.03331864 -0.03311531
+v 0.01281809 0.02979506 -0.02445660
+v 0.00005088 0.03345531 -0.02006296
+v 0.00005088 0.03343637 -0.02158204
+v 0.00005088 0.03333086 -0.04312951
+v 0.00005088 0.03340400 -0.05440571
+v 0.01281809 0.02984387 -0.04753483
+v 0.01281809 0.02987085 -0.02157036
+v 0.00005088 0.03347561 -0.01870748
+v 0.00005088 0.03954957 -0.05440568
+v 0.01280809 0.02996708 -0.05440572
+v 0.01281809 0.02996167 -0.05439403
+v 0.01281809 0.02986690 -0.05040939
+v 0.01281809 0.02999808 -0.01870749
+v 0.00005088 0.03679310 0.06497012
+v 0.00005088 0.03356224 -0.01582124
+v 0.00005088 0.03352027 -0.01717672
+v 0.00139683 0.03955499 -0.05440568
+v 0.00005088 0.04271284 0.00231420
+v 0.01281809 0.02998603 -0.05440572
+v 0.01281809 0.03348346 0.05344851
+v 0.01281809 0.03364183 0.05624127
+v 0.01281809 0.03419409 0.06497011
+v 0.00005088 0.04358031 0.06497014
+v 0.00139683 0.04270879 0.00239600
+v 0.00284777 0.04267765 0.00287509
+v 0.00248784 0.03945482 -0.05440569
+v 0.00005088 0.04275480 0.00426563
+v 0.00139683 0.04276427 0.00435911
+v 0.01281809 0.03703720 -0.05440569
+v 0.01281809 0.03573319 0.06497011
+v 0.00139683 0.04357624 0.06497014
+v 0.00139683 0.04280758 0.00723366
+v 0.00005088 0.04280352 0.00723366
+v 0.00295774 0.04268982 0.00435911
+v 0.00438368 0.04252468 0.00435911
+v 0.00397877 0.04247325 0.00174163
+v 0.00424996 0.03929238 -0.05440569
+v 0.00005088 0.04278052 0.00571459
+v 0.01272686 0.03707375 -0.05440569
+v 0.01281809 0.04055513 0.00147286
+v 0.01281809 0.04115321 0.06495845
+v 0.01280809 0.04115727 0.06497013
+v 0.00424996 0.04325949 0.06497014
+v 0.00314145 0.04271147 0.00723366
+v 0.00456739 0.04254497 0.00723366
+v 0.00710184 0.04213483 0.00435910
+v 0.00710184 0.04202519 0.00148454
+v 0.00534097 0.03910016 -0.05440569
+v 0.01218073 0.03728898 -0.05440569
+v 0.01280809 0.04055919 0.00148454
+v 0.01281809 0.04064852 0.00434741
+v 0.00995496 0.04206692 0.06497013
+v 0.01280809 0.04065258 0.00435910
+v 0.00655071 0.04288047 0.06497014
+v 0.00710184 0.04216595 0.00723365
+v 0.00471111 0.04255985 0.01011990
+v 0.00328392 0.04272906 0.01011990
+v 0.00995496 0.04152027 0.00435910
+v 0.00995496 0.04141740 0.00148454
+v 0.00710184 0.03878747 -0.05440569
+v 0.01080228 0.03774516 -0.05440569
+v 0.00995496 0.03802536 -0.05440569
+v 0.00801414 0.04258537 0.06497014
+v 0.00662444 0.04286828 0.06497014
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 20
+f 1 20 19
+f 1 19 27
+f 1 27 37
+f 1 37 48
+f 1 48 59
+f 1 59 49
+f 1 49 38
+f 1 38 30
+f 1 30 29
+f 1 29 28
+f 1 28 21
+f 1 21 15
+f 1 15 9
+f 1 9 2
+f 2 8 3
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 8 11
+f 3 11 10
+f 3 10 16
+f 3 16 24
+f 3 24 23
+f 3 23 22
+f 3 22 31
+f 3 31 41
+f 3 41 46
+f 3 46 35
+f 3 35 26
+f 3 26 17
+f 3 17 13
+f 3 13 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 9 15 16
+f 9 16 10
+f 13 17 25
+f 13 25 34
+f 13 34 45
+f 13 45 56
+f 13 56 68
+f 13 68 70
+f 13 70 69
+f 13 69 57
+f 13 57 47
+f 13 47 37
+f 13 37 27
+f 13 27 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 17 26 25
+f 18 27 19
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 38
+f 22 38 50
+f 22 50 60
+f 22 60 71
+f 22 71 72
+f 22 72 62
+f 22 62 51
+f 22 51 39
+f 22 39 31
+f 25 26 32
+f 25 32 33
+f 25 33 34
+f 26 35 36
+f 26 36 32
+f 31 39 40
+f 31 40 41
+f 32 36 33
+f 33 36 40
+f 33 40 39
+f 33 39 42
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 35 46 36
+f 36 46 41
+f 36 41 40
+f 37 47 48
+f 38 49 50
+f 39 51 52
+f 39 52 42
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 44 55 45
+f 45 55 56
+f 47 57 48
+f 48 58 61
+f 48 61 59
+f 48 57 58
+f 49 59 61
+f 49 61 50
+f 50 61 60
+f 51 62 63
+f 51 63 54
+f 51 54 64
+f 51 64 53
+f 51 53 65
+f 51 65 52
+f 52 65 53
+f 53 64 54
+f 54 63 66
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 56
+f 57 69 58
+f 58 69 70
+f 58 70 67
+f 58 67 66
+f 58 66 61
+f 60 61 66
+f 60 66 71
+f 62 72 63
+f 63 72 71
+f 63 71 66
+f 67 70 68
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_2.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01301413 -0.02402025 0.06786397
+v -0.00005843 -0.02732374 0.06787155
+v -0.00716149 -0.02706890 0.06748649
+v -0.01001489 -0.02706890 0.06734043
+v -0.01301413 -0.02723107 0.06806123
+v -0.01301413 -0.02372118 0.06793985
+v -0.00005843 -0.02859481 0.06764012
+v -0.01301413 -0.02334312 0.06819212
+v -0.01301413 -0.02241221 0.07066562
+v -0.00005843 -0.02642654 0.07066560
+v -0.00005843 -0.02991431 0.06743906
+v -0.00145723 -0.02991431 0.06750355
+v -0.00431063 -0.02991431 0.06771979
+v -0.00697888 -0.03009017 0.06824522
+v -0.01001489 -0.02930879 0.06840266
+v -0.01299131 -0.02725635 0.06806503
+v -0.01301413 -0.02724898 0.06806882
+v -0.01301413 -0.02263550 0.07931143
+v -0.00005843 -0.02696469 0.07931141
+v -0.00005843 -0.03161713 0.06879150
+v -0.00145723 -0.03158870 0.06883133
+v -0.00431063 -0.03146865 0.06902481
+v -0.01147203 -0.03317042 0.07119290
+v -0.01301413 -0.03317042 0.07159124
+v -0.01301413 -0.02280400 0.08043246
+v -0.00005843 -0.02773871 0.08206563
+v -0.00005843 -0.03220897 0.07066558
+v -0.01011635 -0.03317042 0.07145277
+v -0.01301413 -0.03317048 0.08671856
+v -0.01301413 -0.02358959 0.08215289
+v -0.00005843 -0.02866542 0.08350722
+v -0.00005843 -0.03269234 0.07354878
+v -0.00005843 -0.03317044 0.07690619
+v -0.00005843 -0.03317047 0.08563547
+v -0.01301413 -0.02685519 0.08438736
+v -0.01301413 -0.02396975 0.08261952
+v -0.01301413 -0.02527347 0.08376900
+v -0.00005843 -0.03008918 0.08422612
+v -0.00005843 -0.03276083 0.08545337
+v -0.01301413 -0.02608012 0.08408576
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 24
+f 1 24 29
+f 1 29 35
+f 1 35 40
+f 1 40 37
+f 1 37 36
+f 1 36 30
+f 1 30 25
+f 1 25 18
+f 1 18 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 19
+f 2 19 26
+f 2 26 31
+f 2 31 38
+f 2 38 39
+f 2 39 34
+f 2 34 33
+f 2 33 32
+f 2 32 27
+f 2 27 20
+f 2 20 11
+f 2 11 7
+f 3 7 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 18 25 19
+f 19 25 26
+f 20 27 28
+f 20 28 23
+f 20 23 21
+f 21 23 22
+f 23 28 33
+f 23 33 34
+f 23 34 29
+f 23 29 24
+f 25 30 26
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 29 34 35
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 34 39 37
+f 34 37 40
+f 34 40 35
+f 37 39 38
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_20.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01268181 -0.04144562 0.06677999
+v -0.01268181 -0.03434754 0.06678001
+v -0.01286888 -0.04138587 0.06677999
+v -0.01286888 -0.04061290 0.00435625
+v -0.01268181 -0.04066866 0.00435625
+v -0.02360128 -0.02705629 0.06678004
+v -0.01268181 -0.03364447 0.05602017
+v -0.02360128 -0.02596882 0.05336285
+v -0.01366312 -0.04107916 0.06677999
+v -0.01456212 -0.03999351 0.00435625
+v -0.01447339 -0.03995366 0.00147352
+v -0.01286888 -0.04052525 0.00147352
+v -0.01268181 -0.04058899 0.00166333
+v -0.02360128 -0.03561819 0.06678001
+v -0.01268181 -0.03349310 0.05336283
+v -0.02360128 -0.02140977 -0.01870558
+v -0.02360128 -0.02154521 -0.01647531
+v -0.01556481 -0.04033231 0.06677999
+v -0.01598919 -0.03934026 0.00435626
+v -0.01589939 -0.03930241 0.00147353
+v -0.01609181 -0.04009332 0.06677999
+v -0.01436543 -0.03990785 -0.00009242
+v -0.01268181 -0.03705368 -0.05438990
+v -0.01268181 -0.04058301 0.00147352
+v -0.02290538 -0.03613202 0.06678001
+v -0.02360128 -0.03461020 0.00435627
+v -0.02350614 -0.03468788 0.00435627
+v -0.01268181 -0.03018478 -0.01606014
+v -0.02360128 -0.02138388 -0.01920383
+v -0.01844567 -0.03890433 0.06678000
+v -0.01857394 -0.03798995 0.00435626
+v -0.01884546 -0.03773700 0.00131931
+v -0.01572194 -0.03568943 -0.05438989
+v -0.01436543 -0.03633073 -0.05438989
+v -0.01352629 -0.03672507 -0.05438989
+v -0.01268181 -0.02993569 -0.05438987
+v -0.02223407 -0.03662195 0.06678001
+v -0.02360128 -0.03452854 0.00147354
+v -0.02153925 -0.03611187 0.00435627
+v -0.02345697 -0.03464604 0.00147354
+v -0.01268181 -0.03006328 -0.01870561
+v -0.02360128 -0.02127632 -0.02158832
+v -0.02080701 -0.03753411 0.06678000
+v -0.02011218 -0.03710369 0.00435626
+v -0.02007263 -0.03707779 0.00217345
+v -0.01997749 -0.03701604 0.00025162
+v -0.01782032 -0.03457214 -0.05438989
+v -0.01651939 -0.03526522 -0.05438989
+v -0.02360128 -0.02122841 -0.05438984
+v -0.02360128 -0.02115672 -0.05070041
+v -0.02360128 -0.02115273 -0.05041569
+v -0.01268181 -0.02988790 -0.05041572
+v -0.02360128 -0.03041567 -0.05438987
+v -0.02271618 -0.03122824 -0.05438987
+v -0.02118542 -0.03625326 0.00131932
+v -0.02129018 -0.03228578 -0.05438988
+v -0.01268181 -0.02995772 -0.02158835
+v -0.02360128 -0.02126238 -0.02196794
+v -0.01924525 -0.03370978 -0.05438988
+v -0.02360128 -0.02110302 -0.03023653
+v -0.01268181 -0.02981029 -0.03621557
+v -0.01268181 -0.02982223 -0.03888477
+v -0.01268181 -0.02986602 -0.04753299
+v -0.01268181 -0.02986809 -0.02447109
+v -0.02360128 -0.02117474 -0.02447106
+v -0.02360128 -0.02110104 -0.02757919
+v -0.01268181 -0.02981030 -0.03311930
+v -0.02360128 -0.02116678 -0.02475577
+v -0.01268181 -0.02982227 -0.02735382
+v -0.02360128 -0.02110104 -0.02735379
+v -0.01268181 -0.02981429 -0.03023656
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 37
+f 1 37 43
+f 1 43 30
+f 1 30 21
+f 1 21 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 24
+f 1 24 23
+f 1 23 36
+f 1 36 52
+f 1 52 63
+f 1 63 62
+f 1 62 61
+f 1 61 67
+f 1 67 71
+f 1 71 69
+f 1 69 64
+f 1 64 57
+f 1 57 41
+f 1 41 28
+f 1 28 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 8 17
+f 6 17 16
+f 6 16 29
+f 6 29 42
+f 6 42 58
+f 6 58 65
+f 6 65 68
+f 6 68 70
+f 6 70 66
+f 6 66 60
+f 6 60 51
+f 6 51 50
+f 6 50 49
+f 6 49 53
+f 6 53 38
+f 6 38 26
+f 6 26 14
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 21
+f 10 21 19
+f 11 20 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 26 27
+f 14 27 25
+f 15 28 29
+f 15 29 16
+f 19 21 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 22
+f 22 35 23
+f 23 35 34
+f 23 34 33
+f 23 33 48
+f 23 48 47
+f 23 47 59
+f 23 59 56
+f 23 56 54
+f 23 54 53
+f 23 53 49
+f 23 49 36
+f 25 27 37
+f 26 38 27
+f 27 39 37
+f 27 38 40
+f 27 40 39
+f 28 41 29
+f 29 41 42
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 32 45 46
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 37 39 44
+f 37 44 43
+f 38 53 54
+f 38 54 40
+f 39 40 45
+f 39 45 44
+f 40 55 45
+f 40 54 56
+f 40 56 55
+f 41 57 58
+f 41 58 42
+f 45 55 46
+f 46 55 59
+f 46 59 47
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 52
+f 55 56 59
+f 57 64 65
+f 57 65 58
+f 60 66 61
+f 61 66 70
+f 61 70 67
+f 64 68 65
+f 64 69 70
+f 64 70 68
+f 67 70 71
+f 69 71 70
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_21.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00139715 -0.04374599 0.06627714
+v 0.00276207 -0.04363970 0.06627714
+v 0.00063788 -0.04373918 0.06627714
+v -0.00005717 -0.04275374 0.00247399
+v 0.00060137 -0.04275374 0.00247399
+v 0.00113021 -0.04278101 0.00436410
+v 0.00255683 -0.04271151 0.00436410
+v 0.00278851 -0.04272241 0.00593526
+v 0.00425039 -0.04350889 0.06627714
+v -0.00005717 -0.04373100 0.06627714
+v -0.00005717 -0.03950495 -0.05440661
+v 0.00139715 -0.03951177 -0.05440661
+v 0.00149033 -0.04264609 0.00149349
+v 0.00425039 -0.04242534 0.00148168
+v 0.00425039 -0.04254935 0.00436410
+v 0.00704696 -0.04305103 0.06627714
+v 0.00710111 -0.04214873 0.00436411
+v -0.00005717 -0.03671331 0.06627717
+v -0.00005717 -0.03339342 -0.05440658
+v 0.00315870 -0.03936460 -0.05440660
+v 0.00425039 -0.03927330 -0.05440660
+v 0.00710111 -0.04202609 0.00148169
+v 0.00915226 -0.04255366 0.06627714
+v 0.00995434 -0.04151782 0.00436411
+v 0.00995434 -0.04140335 0.00148169
+v 0.01280380 -0.03431094 0.06627717
+v 0.01280380 -0.03370725 0.05667304
+v 0.01280380 -0.03368136 0.05624777
+v 0.01280380 -0.03351783 0.05324721
+v 0.01280380 -0.03017496 -0.01582463
+v 0.01280380 -0.03004141 -0.01870705
+v -0.00005717 -0.03359796 -0.01582464
+v 0.01280380 -0.02987505 -0.05041371
+v 0.01280380 -0.02989684 -0.05329614
+v 0.01280380 -0.02991047 -0.05439476
+v 0.01139481 -0.03058090 -0.05440657
+v -0.00005717 -0.03331582 -0.03452495
+v 0.00601194 -0.03897624 -0.05440660
+v 0.00710111 -0.03878956 -0.05440660
+v 0.00999715 -0.04231520 0.06627714
+v 0.01280380 -0.04064299 0.00436411
+v 0.01280380 -0.04053534 0.00146987
+v 0.00886266 -0.03832898 -0.05440660
+v 0.00995434 -0.03804146 -0.05440660
+v 0.01280380 -0.04140221 0.06627715
+v 0.01280380 -0.02995419 -0.02158947
+v -0.00005717 -0.03352301 -0.01870706
+v 0.01280380 -0.02982607 -0.03023675
+v 0.01280380 -0.03285654 -0.05440658
+v -0.00005717 -0.03331720 -0.03311918
+v 0.01131926 -0.04189550 0.06627715
+v 0.01280380 -0.04141448 0.06626534
+v 0.01215282 -0.03731925 -0.05440660
+v 0.01280380 -0.03706988 -0.05440660
+v 0.01280380 -0.02989014 -0.02447190
+v -0.00005717 -0.03347122 -0.02158948
+v -0.00005717 -0.03332537 -0.03164253
+v 0.01280380 -0.02984789 -0.02735432
+v -0.00005717 -0.03342351 -0.02447191
+v -0.00005717 -0.03337854 -0.02735433
+v -0.00005717 -0.03333628 -0.03023676
+f 1 2 9
+f 1 9 16
+f 1 16 23
+f 1 23 40
+f 1 40 51
+f 1 51 45
+f 1 45 26
+f 1 26 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 4
+f 4 10 18
+f 4 18 32
+f 4 32 47
+f 4 47 56
+f 4 56 59
+f 4 59 60
+f 4 60 61
+f 4 61 57
+f 4 57 50
+f 4 50 37
+f 4 37 19
+f 4 19 11
+f 4 11 12
+f 4 12 5
+f 5 7 6
+f 5 12 13
+f 5 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 15 17
+f 9 17 16
+f 11 19 36
+f 11 36 49
+f 11 49 54
+f 11 54 53
+f 11 53 44
+f 11 44 43
+f 11 43 39
+f 11 39 38
+f 11 38 21
+f 11 21 20
+f 11 20 12
+f 12 20 14
+f 12 14 13
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 17
+f 16 17 24
+f 16 24 23
+f 17 22 25
+f 17 25 24
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 37 33
+f 21 38 22
+f 22 38 39
+f 22 39 25
+f 23 24 40
+f 24 41 40
+f 24 25 42
+f 24 42 41
+f 25 39 43
+f 25 43 44
+f 25 44 42
+f 26 45 52
+f 26 52 41
+f 26 41 42
+f 26 42 54
+f 26 54 49
+f 26 49 35
+f 26 35 34
+f 26 34 33
+f 26 33 48
+f 26 48 58
+f 26 58 55
+f 26 55 46
+f 26 46 31
+f 26 31 30
+f 26 30 29
+f 26 29 28
+f 26 28 27
+f 31 46 32
+f 32 46 47
+f 33 37 48
+f 35 49 36
+f 37 50 48
+f 40 41 51
+f 41 52 51
+f 42 44 53
+f 42 53 54
+f 45 51 52
+f 46 55 47
+f 47 55 56
+f 48 50 57
+f 48 57 58
+f 55 59 56
+f 55 58 61
+f 55 61 60
+f 55 60 59
+f 57 61 58
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_22.obj

@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v -0.03882949 -0.01687176 0.07073687
+v -0.03801076 -0.01687175 0.06679399
+v -0.03748515 -0.01821512 0.06679398
+v -0.03814216 -0.01853006 0.07066498
+v -0.03735628 -0.02043440 0.07259534
+v -0.03729058 -0.01753119 0.08432545
+v -0.03759886 -0.01687181 0.08356357
+v -0.03040210 -0.01687175 0.06679399
+v -0.03731585 -0.02034828 0.07066498
+v -0.03644405 -0.02036795 0.06679398
+v -0.03462969 -0.02339919 0.08219380
+v -0.03450335 -0.02318268 0.08448149
+v -0.03572892 -0.02137676 0.08219381
+v -0.03679024 -0.01917964 0.08219382
+v -0.03656281 -0.02177284 0.07066497
+v -0.03434415 -0.02575373 0.07175747
+v -0.03434415 -0.02575374 0.07227703
+v -0.03510982 -0.02161296 0.08529677
+v -0.03661083 -0.01850058 0.08520232
+v -0.03700503 -0.01687182 0.08624350
+v -0.03743714 -0.01687181 0.08466429
+v -0.02309163 -0.01687175 0.06753533
+v -0.02142889 -0.01853005 0.06743264
+v -0.01857596 -0.02137671 0.06737924
+v -0.01572303 -0.02422336 0.06736896
+v -0.01301413 -0.03420758 0.06679392
+v -0.03601194 -0.02122170 0.06679397
+v -0.03373768 -0.02482128 0.08219380
+v -0.03231248 -0.02685602 0.08219379
+v -0.03205473 -0.02652142 0.08507702
+v -0.03360628 -0.02416929 0.08529676
+v -0.03421275 -0.02272014 0.08640366
+v -0.03471056 -0.02349509 0.06679396
+v -0.03500874 -0.02438084 0.07074300
+v -0.03410156 -0.02443003 0.06679396
+v -0.03377811 -0.02491965 0.06679396
+v -0.03276986 -0.02632453 0.06679395
+v -0.03225689 -0.02703804 0.06679395
+v -0.03151143 -0.02861514 0.06886806
+v -0.03170348 -0.02884642 0.07066494
+v -0.03170096 -0.02884397 0.07274317
+v -0.03124358 -0.02827812 0.08219379
+v -0.03470298 -0.02082319 0.08686982
+v -0.03522353 -0.01853012 0.08715939
+v -0.03564300 -0.01687182 0.08721895
+v -0.02135055 -0.01687175 0.06772837
+v -0.01301413 -0.02402161 0.06786387
+v -0.01301413 -0.04133037 0.06679390
+v -0.03097066 -0.02794352 0.08507702
+v -0.03168074 -0.02601705 0.08673632
+v -0.03037683 -0.02933603 0.06679394
+v -0.02990176 -0.02987239 0.06679394
+v -0.03045769 -0.03026852 0.07066494
+v -0.02903249 -0.03180872 0.07066493
+v -0.02898195 -0.03175952 0.07293415
+v -0.02853468 -0.03131422 0.08219377
+v -0.02981585 -0.02989213 0.08219378
+v -0.02954294 -0.02958213 0.08507701
+v -0.03228721 -0.02422343 0.08705052
+v -0.03309078 -0.02161297 0.08730929
+v -0.03283809 -0.01853012 0.08773644
+v -0.03283809 -0.01687182 0.08765431
+v -0.02015530 -0.01687175 0.06804051
+v -0.01301413 -0.02372145 0.06793986
+v -0.01301413 -0.04200453 0.07087232
+v -0.01366356 -0.04107942 0.06679390
+v -0.02904007 -0.02902117 0.08684926
+v -0.02999021 -0.02700612 0.08715525
+v -0.02756181 -0.03227126 0.06679393
+v -0.02876716 -0.03154299 0.06853742
+v -0.02752137 -0.03323082 0.07066493
+v -0.02606838 -0.03449054 0.07279655
+v -0.02710948 -0.03263545 0.08219377
+v -0.02679866 -0.03233529 0.08507700
+v -0.02822387 -0.03100669 0.08507701
+v -0.02998515 -0.02422343 0.08771589
+v -0.02713222 -0.02707009 0.08776927
+v -0.01572303 -0.03560760 0.08776513
+v -0.03031366 -0.01687182 0.08693145
+v -0.01301413 -0.03560760 0.08757005
+v -0.01939722 -0.01687175 0.06858060
+v -0.01301413 -0.02334255 0.06819245
+v -0.01572303 -0.04092196 0.07066490
+v -0.01301413 -0.04136979 0.08219374
+v -0.01757781 -0.04010267 0.07275546
+v -0.01556636 -0.04033146 0.06679390
+v -0.02623263 -0.03180878 0.08684308
+v -0.02716255 -0.02994627 0.08721685
+v -0.02710443 -0.03269691 0.06679393
+v -0.02586622 -0.03431830 0.06875509
+v -0.02609617 -0.03451514 0.07066492
+v -0.02297286 -0.03711331 0.07230779
+v -0.02555540 -0.03406001 0.08219376
+v -0.02520921 -0.03375739 0.08507700
+v -0.02428182 -0.02991429 0.08776721
+v -0.02142889 -0.03276095 0.08773845
+v -0.01857596 -0.03560760 0.08753924
+v -0.01301413 -0.03845672 0.08750227
+v -0.02717013 -0.01687181 0.08567465
+v -0.01301413 -0.03346215 0.08684514
+v -0.01301413 -0.02685603 0.08438701
+v -0.01301413 -0.02608101 0.08408514
+v -0.01301413 -0.02527401 0.08376890
+v -0.01913189 -0.01687176 0.07066499
+v -0.01301413 -0.02241254 0.07066497
+v -0.01351952 -0.02233133 0.06861139
+v -0.01757276 -0.04009774 0.07066490
+v -0.01728468 -0.03994518 0.06894400
+v -0.01301413 -0.04090971 0.08507697
+v -0.01496494 -0.04017160 0.08507697
+v -0.01546275 -0.04039794 0.08219374
+v -0.01900049 -0.03932025 0.07066491
+v -0.01688795 -0.03975332 0.08219374
+v -0.01857596 -0.03881838 0.08219375
+v -0.01609196 -0.04009281 0.06679390
+v -0.02324830 -0.03448813 0.08675888
+v -0.02423128 -0.03275849 0.08716139
+v -0.02478721 -0.03471934 0.06679392
+v -0.02429445 -0.03510808 0.06679392
+v -0.02272269 -0.03694353 0.06970178
+v -0.02406703 -0.03610454 0.07066287
+v -0.02297286 -0.03711330 0.07162394
+v -0.02413020 -0.03516225 0.08219376
+v -0.02077188 -0.03751684 0.08219375
+v -0.02219961 -0.03658682 0.08219376
+v -0.02378148 -0.03489901 0.08507699
+v -0.02115598 -0.03550673 0.08696219
+v -0.01857596 -0.03743321 0.08681637
+v -0.01550824 -0.03848379 0.08707718
+v -0.01301413 -0.04016668 0.08677734
+v -0.02423633 -0.01687181 0.08449179
+v -0.01301413 -0.02397000 0.08261889
+v -0.02237144 -0.01687181 0.08366009
+v -0.02252053 -0.01687181 0.08375250
+v -0.01955642 -0.01687179 0.07931265
+v -0.01301413 -0.02263646 0.07931263
+v -0.01844708 -0.03890444 0.06679391
+v -0.01441407 -0.03992803 0.08657198
+v -0.01639014 -0.03949499 0.08507697
+v -0.02163357 -0.03777268 0.07066286
+v -0.02080979 -0.03753401 0.06679391
+v -0.01857596 -0.03832385 0.08507698
+v -0.02039789 -0.03728065 0.08507698
+v -0.02002138 -0.03704201 0.08653092
+v -0.02290716 -0.03613160 0.06679392
+v -0.02223499 -0.03662121 0.06679392
+v -0.02182562 -0.03632356 0.08507699
+v -0.01301413 -0.02359110 0.08215273
+v -0.02111807 -0.01687180 0.08266204
+v -0.01975099 -0.01687180 0.08109721
+v -0.01301413 -0.02280378 0.08043183
+v -0.01377980 -0.02244456 0.08138880
+v -0.01977374 -0.01687180 0.08116087
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 21
+f 1 21 20
+f 1 20 45
+f 1 45 62
+f 1 62 79
+f 1 79 99
+f 1 99 131
+f 1 131 134
+f 1 134 133
+f 1 133 149
+f 1 149 153
+f 1 153 150
+f 1 150 135
+f 1 135 104
+f 1 104 81
+f 1 81 63
+f 1 63 46
+f 1 46 22
+f 1 22 8
+f 1 8 2
+f 2 8 26
+f 2 26 48
+f 2 48 66
+f 2 66 86
+f 2 86 115
+f 2 115 137
+f 2 137 141
+f 2 141 146
+f 2 146 145
+f 2 145 119
+f 2 119 118
+f 2 118 89
+f 2 89 69
+f 2 69 52
+f 2 52 51
+f 2 51 38
+f 2 38 37
+f 2 37 36
+f 2 36 35
+f 2 35 33
+f 2 33 27
+f 2 27 10
+f 2 10 3
+f 3 9 4
+f 3 10 9
+f 4 9 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 15
+f 5 15 16
+f 5 16 17
+f 5 17 11
+f 6 14 13
+f 6 13 12
+f 6 12 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 9 10 27
+f 9 27 15
+f 11 17 12
+f 12 17 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 18
+f 15 27 33
+f 15 33 34
+f 15 34 16
+f 16 34 33
+f 16 33 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 17
+f 17 40 41
+f 17 41 42
+f 17 42 29
+f 17 29 28
+f 18 32 19
+f 19 32 20
+f 20 43 44
+f 20 44 45
+f 20 32 43
+f 22 46 23
+f 23 46 24
+f 24 46 47
+f 24 47 25
+f 25 47 26
+f 26 47 64
+f 26 64 82
+f 26 82 105
+f 26 105 136
+f 26 136 151
+f 26 151 148
+f 26 148 132
+f 26 132 103
+f 26 103 102
+f 26 102 101
+f 26 101 100
+f 26 100 80
+f 26 80 98
+f 26 98 130
+f 26 130 109
+f 26 109 84
+f 26 84 65
+f 26 65 48
+f 29 42 30
+f 30 42 49
+f 30 49 50
+f 30 50 32
+f 30 32 31
+f 32 50 43
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 49
+f 43 50 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 46 63 64
+f 46 64 47
+f 48 65 66
+f 49 58 67
+f 49 67 50
+f 50 67 68
+f 50 68 59
+f 52 69 70
+f 52 70 54
+f 52 54 53
+f 54 70 69
+f 54 69 71
+f 54 71 55
+f 55 71 72
+f 55 72 56
+f 56 58 57
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 56 75 58
+f 58 75 67
+f 59 68 76
+f 59 76 60
+f 60 76 61
+f 61 76 77
+f 61 77 78
+f 61 78 62
+f 62 78 80
+f 62 80 79
+f 63 81 82
+f 63 82 64
+f 65 83 66
+f 65 84 85
+f 65 85 83
+f 66 83 86
+f 67 75 87
+f 67 87 88
+f 67 88 68
+f 68 88 76
+f 69 89 90
+f 69 90 71
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 93
+f 72 93 73
+f 73 93 74
+f 74 87 75
+f 74 93 94
+f 74 94 87
+f 76 88 77
+f 77 88 95
+f 77 95 78
+f 78 96 97
+f 78 97 98
+f 78 98 80
+f 78 95 96
+f 79 80 100
+f 79 100 101
+f 79 101 102
+f 79 102 103
+f 79 103 99
+f 81 104 105
+f 81 105 106
+f 81 106 82
+f 82 106 105
+f 83 85 107
+f 83 107 108
+f 83 108 86
+f 84 109 110
+f 84 110 111
+f 84 111 85
+f 85 112 107
+f 85 111 113
+f 85 113 114
+f 85 114 92
+f 85 92 112
+f 86 108 115
+f 87 94 116
+f 87 116 117
+f 87 117 88
+f 88 117 96
+f 88 96 95
+f 89 118 90
+f 90 118 119
+f 90 119 120
+f 90 120 121
+f 90 121 91
+f 91 121 122
+f 91 122 92
+f 92 123 93
+f 92 122 112
+f 92 114 124
+f 92 124 125
+f 92 125 123
+f 93 123 126
+f 93 126 94
+f 94 126 116
+f 96 117 97
+f 97 117 127
+f 97 127 128
+f 97 128 129
+f 97 129 98
+f 98 129 130
+f 99 103 131
+f 103 132 133
+f 103 133 134
+f 103 134 131
+f 104 135 136
+f 104 136 105
+f 107 112 108
+f 108 112 137
+f 108 137 115
+f 109 130 138
+f 109 138 110
+f 110 138 139
+f 110 139 113
+f 110 113 111
+f 112 140 141
+f 112 141 137
+f 112 122 140
+f 113 139 142
+f 113 142 114
+f 114 142 143
+f 114 143 124
+f 116 126 144
+f 116 144 127
+f 116 127 117
+f 119 145 120
+f 120 122 121
+f 120 145 146
+f 120 146 141
+f 120 141 140
+f 120 140 122
+f 123 125 126
+f 124 143 125
+f 125 143 147
+f 125 147 126
+f 126 147 144
+f 127 144 128
+f 128 144 138
+f 128 138 129
+f 129 138 130
+f 132 148 149
+f 132 149 133
+f 135 150 136
+f 136 150 151
+f 138 144 139
+f 139 144 142
+f 142 144 143
+f 143 144 147
+f 148 151 152
+f 148 152 153
+f 148 153 149
+f 150 153 151
+f 151 153 152
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_23.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03494882 0.01391709 -0.05440578
+v 0.03454557 0.01505288 -0.05440577
+v 0.02803430 0.01391709 -0.05440578
+v 0.03502243 0.01391714 -0.06771989
+v 0.03418392 0.01593232 -0.05440577
+v 0.03458078 0.01511208 -0.06771988
+v 0.01867624 0.02615831 -0.05440573
+v 0.02494748 0.01391719 -0.08157657
+v 0.03498563 0.01391714 -0.06919599
+v 0.03395669 0.01647655 -0.05440577
+v 0.03493922 0.01391715 -0.07060027
+v 0.03453277 0.01498392 -0.07060026
+v 0.03397589 0.01653575 -0.06771988
+v 0.01867624 0.03405950 -0.05440570
+v 0.01867624 0.02237641 -0.08157654
+v 0.02005563 0.02047950 -0.08157654
+v 0.03344782 0.01391719 -0.08157657
+v 0.03335341 0.01771092 -0.05440576
+v 0.03378067 0.01391718 -0.07924940
+v 0.03275973 0.01563270 -0.08157656
+v 0.03391669 0.01640562 -0.07060026
+v 0.03298856 0.01847999 -0.06771987
+v 0.03297576 0.01847994 -0.05440576
+v 0.01925872 0.03371443 -0.05440571
+v 0.01867624 0.03404771 -0.06656287
+v 0.01867624 0.03231254 -0.08157650
+v 0.03173719 0.01781159 -0.08157655
+v 0.03189561 0.01811722 -0.07924938
+v 0.03284774 0.01848000 -0.07060025
+v 0.03179160 0.02064311 -0.06771986
+v 0.03179640 0.02066869 -0.05440575
+v 0.02151982 0.03217244 -0.05440571
+v 0.01924592 0.03370264 -0.06771982
+v 0.01867624 0.03404377 -0.06771981
+v 0.01979959 0.03162634 -0.08157650
+v 0.01867624 0.03231451 -0.08156320
+v 0.03159477 0.01808568 -0.08157655
+v 0.03115312 0.01954089 -0.07924938
+v 0.03170999 0.02048537 -0.07060024
+v 0.03091148 0.02206678 -0.06771986
+v 0.03094029 0.02209039 -0.05440575
+v 0.03126993 0.02154616 -0.05440575
+v 0.02278079 0.03127722 -0.05440572
+v 0.02127979 0.03227897 -0.06771982
+v 0.02113577 0.03216856 -0.07060020
+v 0.01906829 0.03359223 -0.07060020
+v 0.01867624 0.03383082 -0.07060020
+v 0.02041407 0.03117479 -0.08157651
+v 0.01867624 0.03260831 -0.07953923
+v 0.02015164 0.03144296 -0.08135310
+v 0.03098189 0.01923526 -0.08157655
+v 0.02865998 0.02295613 -0.08132388
+v 0.03001216 0.02132738 -0.07924937
+v 0.03080107 0.02190904 -0.07060024
+v 0.02937368 0.02390061 -0.07060023
+v 0.02948409 0.02404652 -0.06771985
+v 0.02951289 0.02411745 -0.05440574
+v 0.03005857 0.02334646 -0.05440574
+v 0.02301442 0.03106229 -0.05440572
+v 0.02422099 0.02982600 -0.06771983
+v 0.02270558 0.03121615 -0.06771983
+v 0.02256316 0.03110179 -0.07060021
+v 0.01867624 0.03262014 -0.07945412
+v 0.02287520 0.02909055 -0.08157651
+v 0.02886801 0.02255979 -0.08157654
+v 0.02835114 0.02325191 -0.08157653
+v 0.02600362 0.02598489 -0.08157652
+v 0.02619405 0.02619389 -0.07924935
+v 0.02827753 0.02532231 -0.07060023
+v 0.02840074 0.02547019 -0.06771985
+v 0.02845515 0.02553915 -0.05440574
+v 0.02886161 0.02499492 -0.05440574
+v 0.02405296 0.03010200 -0.05440572
+v 0.02567398 0.02846739 -0.06929967
+v 0.02574599 0.02853636 -0.05440573
+v 0.02339847 0.02900575 -0.07924934
+v 0.02319525 0.02881449 -0.08157651
+v 0.02573959 0.02625898 -0.08157652
+v 0.02482427 0.02761757 -0.07924935
+v 0.02700856 0.02701809 -0.06771984
+v 0.02764225 0.02644620 -0.05440573
+v 0.02626926 0.02796255 -0.05440573
+v 0.02462104 0.02740856 -0.08157652
+v 0.02712698 0.02701804 -0.05440573
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 23
+f 1 23 31
+f 1 31 42
+f 1 42 41
+f 1 41 58
+f 1 58 57
+f 1 57 72
+f 1 72 71
+f 1 71 81
+f 1 81 84
+f 1 84 82
+f 1 82 75
+f 1 75 73
+f 1 73 59
+f 1 59 43
+f 1 43 32
+f 1 32 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 19
+f 1 19 11
+f 1 11 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 10
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 14 25
+f 7 25 34
+f 7 34 47
+f 7 47 63
+f 7 63 49
+f 7 49 36
+f 7 36 26
+f 7 26 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 26
+f 8 26 35
+f 8 35 48
+f 8 48 64
+f 8 64 77
+f 8 77 83
+f 8 83 78
+f 8 78 67
+f 8 67 66
+f 8 66 65
+f 8 65 51
+f 8 51 37
+f 8 37 27
+f 8 27 20
+f 8 20 17
+f 10 13 18
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 18
+f 14 24 25
+f 17 20 19
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 36 35
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 35 36 49
+f 35 49 50
+f 35 50 48
+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 57
+f 40 57 58
+f 40 58 41
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 45
+f 45 61 62
+f 45 62 50
+f 45 50 46
+f 46 50 63
+f 46 63 47
+f 48 50 64
+f 49 63 50
+f 50 62 64
+f 51 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 55
+f 52 55 54
+f 52 54 53
+f 55 69 70
+f 55 70 56
+f 56 71 72
+f 56 72 57
+f 56 70 71
+f 59 73 60
+f 60 74 61
+f 60 73 75
+f 60 75 74
+f 61 74 62
+f 62 74 76
+f 62 76 77
+f 62 77 64
+f 67 78 79
+f 67 79 68
+f 68 79 74
+f 68 74 69
+f 69 74 70
+f 70 74 80
+f 70 80 81
+f 70 81 71
+f 74 79 77
+f 74 77 76
+f 74 75 82
+f 74 82 80
+f 77 79 83
+f 78 83 79
+f 80 82 84
+f 80 84 81
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_24.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.01810431 0.01783960 0.07066559
+v -0.01810431 0.01785514 0.07050716
+v -0.01810431 0.01835003 0.07931164
+v -0.02178141 0.01330243 0.07941512
+v -0.02152401 0.01330246 0.07074373
+v -0.01810431 0.01873874 0.06821099
+v -0.02177925 0.01330247 0.06896931
+v -0.01950377 0.01640669 0.06860177
+v -0.01810431 0.01836557 0.07947218
+v -0.02228971 0.01330242 0.08147471
+v -0.02203015 0.01330247 0.06830180
+v -0.01856286 0.01850295 0.06805467
+v -0.01810431 0.02131955 0.06746743
+v -0.01810431 0.01919215 0.08159514
+v -0.02327604 0.01330242 0.08266188
+v -0.01810431 0.01956787 0.08202818
+v -0.02428184 0.01330247 0.06729629
+v -0.02127527 0.01552828 0.06784341
+v -0.01857584 0.02132732 0.06736181
+v -0.01810431 0.03135256 0.06624650
+v -0.02352046 0.01330242 0.08292593
+v -0.01810431 0.02051623 0.08282245
+v -0.03189560 0.01330248 0.06624643
+v -0.01810431 0.03900429 0.06624652
+v -0.02491776 0.01330241 0.08403917
+v -0.01810431 0.02079608 0.08303158
+v -0.01810431 0.02193619 0.08387020
+v -0.03914383 0.01330248 0.06624643
+v -0.01848499 0.03879440 0.06624652
+v -0.01810431 0.03977385 0.07066567
+v -0.02659841 0.01330241 0.08479540
+v -0.01810431 0.02217975 0.08399694
+v -0.01810431 0.02464396 0.08492430
+v -0.04019288 0.01330246 0.07114508
+v -0.04003714 0.01440630 0.07182739
+v -0.03839110 0.01563453 0.06624644
+v -0.01901060 0.03927375 0.07066566
+v -0.01966599 0.03809738 0.06624652
+v -0.02162567 0.03773200 0.07066355
+v -0.01810431 0.03913379 0.08219513
+v -0.02298620 0.03707384 0.07235558
+v -0.02934110 0.01330240 0.08593610
+v -0.01810431 0.03055181 0.08686984
+v -0.04019721 0.01330245 0.07242097
+v -0.04003714 0.01440629 0.07223720
+v -0.03738098 0.02043335 0.07262590
+v -0.03819210 0.01847961 0.07066559
+v -0.03746966 0.01805986 0.06624645
+v -0.02298620 0.03707385 0.07162258
+v -0.02075182 0.03745218 0.06624652
+v -0.01857584 0.03887985 0.08219513
+v -0.01857584 0.03850412 0.08507855
+v -0.01810431 0.03886689 0.08423359
+v -0.02608145 0.03444381 0.07066565
+v -0.02607280 0.03443343 0.07286677
+v -0.02567914 0.03410951 0.08219512
+v -0.02425156 0.03521335 0.08219512
+v -0.02233297 0.03663590 0.08219512
+v -0.02090539 0.03754022 0.08219513
+v -0.03208379 0.01330240 0.08706412
+v -0.01810431 0.03268694 0.08752258
+v -0.04019721 0.01330245 0.07255194
+v -0.03853169 0.01330241 0.08511649
+v -0.03770110 0.01587803 0.08531295
+v -0.03730095 0.01751306 0.08451024
+v -0.03660230 0.02178336 0.07066560
+v -0.03734421 0.02036080 0.07066559
+v -0.03681211 0.01918437 0.08219506
+v -0.03574791 0.02132727 0.08219507
+v -0.03446309 0.02307630 0.08507849
+v -0.03462748 0.02334320 0.08219508
+v -0.03434412 0.02570379 0.07227315
+v -0.03434412 0.02570380 0.07171547
+v -0.03711060 0.01886313 0.06624645
+v -0.02270934 0.03688469 0.06970030
+v -0.02419099 0.03503202 0.06624651
+v -0.02407419 0.03603220 0.07066354
+v -0.02141802 0.03702463 0.06624652
+v -0.02063069 0.03737178 0.08507855
+v -0.01810431 0.03874510 0.08507855
+v -0.02023919 0.03712820 0.08666708
+v -0.02584136 0.03424948 0.06882575
+v -0.02750904 0.03317673 0.07066564
+v -0.02899069 0.03172566 0.07299773
+v -0.02859270 0.03131881 0.08375829
+v -0.02543256 0.03388148 0.08507853
+v -0.02400714 0.03501122 0.08507854
+v -0.02205827 0.03643378 0.08507854
+v -0.03262886 0.01330240 0.08725213
+v -0.01810431 0.03318185 0.08764933
+v -0.03764919 0.01330240 0.08698385
+v -0.03739396 0.01509290 0.08678740
+v -0.03708681 0.01698963 0.08643252
+v -0.03669314 0.01846920 0.08531296
+v -0.03538237 0.02132726 0.08507849
+v -0.03467939 0.02339508 0.06624647
+v -0.03531315 0.02230161 0.06624646
+v -0.03592744 0.02122368 0.06624646
+v -0.03504061 0.02435380 0.07071842
+v -0.03428572 0.02278608 0.08654027
+v -0.03355030 0.02449885 0.08507850
+v -0.03374064 0.02476575 0.08219508
+v -0.03231306 0.02683610 0.08219509
+v -0.03127050 0.02826124 0.08219509
+v -0.03171175 0.02880542 0.07278648
+v -0.03172257 0.02881579 0.07066563
+v -0.03329939 0.02679727 0.07071843
+v -0.03414296 0.02542136 0.06979530
+v -0.02217940 0.03652454 0.06624651
+v -0.02622205 0.03332963 0.06624650
+v -0.01810431 0.03801957 0.08652132
+v -0.01857584 0.03755315 0.08696493
+v -0.02345773 0.03458626 0.08687619
+v -0.02128608 0.03554240 0.08713391
+v -0.02902098 0.03175418 0.07066564
+v -0.02704183 0.03257560 0.06624650
+v -0.03044639 0.03024093 0.07066563
+v -0.02724515 0.03224386 0.08486307
+v -0.03106069 0.02800470 0.08507851
+v -0.02943844 0.02997140 0.08486306
+v -0.02827041 0.03098973 0.08568056
+v -0.03517255 0.01330240 0.08768939
+v -0.01810431 0.03555795 0.08772116
+v -0.02142884 0.03271026 0.08782465
+v -0.03742856 0.01330240 0.08707890
+v -0.03531531 0.01847955 0.08718877
+v -0.03464045 0.02132725 0.08682544
+v -0.03374064 0.02481763 0.06624647
+v -0.03276080 0.02391065 0.08700079
+v -0.03175717 0.02607686 0.08680434
+v -0.03212272 0.02658215 0.08507851
+v -0.03152573 0.02857741 0.06887853
+v -0.03225034 0.02686984 0.06624648
+v -0.03297927 0.02587224 0.06624648
+v -0.01810431 0.03770344 0.08699873
+v -0.01857584 0.03555795 0.08770215
+v -0.02636697 0.03191477 0.08692054
+v -0.02435754 0.03280354 0.08727965
+v -0.02912264 0.03052857 0.06624649
+v -0.02981263 0.02976936 0.06624649
+v -0.02912912 0.02909298 0.08691209
+v -0.03283867 0.01847955 0.08773588
+v -0.03573493 0.01330240 0.08764080
+v -0.01810431 0.03602436 0.08761764
+v -0.02724515 0.02997139 0.08729654
+v -0.02713484 0.02701746 0.08779295
+v -0.03595772 0.01587802 0.08727748
+v -0.03283867 0.02132725 0.08752887
+v -0.03004191 0.02702005 0.08722894
+v -0.03164253 0.02764460 0.06624648
+v -0.02998567 0.02417235 0.08775702
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 24
+f 1 24 30
+f 1 30 40
+f 1 40 53
+f 1 53 80
+f 1 80 111
+f 1 111 135
+f 1 135 144
+f 1 144 123
+f 1 123 90
+f 1 90 61
+f 1 61 43
+f 1 43 33
+f 1 33 32
+f 1 32 27
+f 1 27 26
+f 1 26 22
+f 1 22 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 15
+f 4 15 21
+f 4 21 25
+f 4 25 31
+f 4 31 42
+f 4 42 60
+f 4 60 89
+f 4 89 122
+f 4 122 143
+f 4 143 125
+f 4 125 91
+f 4 91 63
+f 4 63 62
+f 4 62 44
+f 4 44 34
+f 4 34 28
+f 4 28 23
+f 4 23 17
+f 4 17 11
+f 4 11 7
+f 4 7 5
+f 4 9 10
+f 6 8 11
+f 6 11 12
+f 6 12 13
+f 7 11 8
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 11 17 18
+f 11 18 12
+f 12 18 17
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 15 16 22
+f 15 22 21
+f 17 23 20
+f 17 20 19
+f 20 23 28
+f 20 28 36
+f 20 36 48
+f 20 48 74
+f 20 74 98
+f 20 98 97
+f 20 97 96
+f 20 96 128
+f 20 128 134
+f 20 134 133
+f 20 133 150
+f 20 150 140
+f 20 140 139
+f 20 139 116
+f 20 116 110
+f 20 110 76
+f 20 76 109
+f 20 109 78
+f 20 78 50
+f 20 50 38
+f 20 38 29
+f 20 29 24
+f 21 22 26
+f 21 26 27
+f 21 27 25
+f 24 29 30
+f 25 27 32
+f 25 32 33
+f 25 33 31
+f 28 34 35
+f 28 35 36
+f 29 37 30
+f 29 38 39
+f 29 39 37
+f 30 37 41
+f 30 41 40
+f 31 33 43
+f 31 43 42
+f 34 44 35
+f 35 44 62
+f 35 62 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 37 39 49
+f 37 49 41
+f 38 50 39
+f 39 50 49
+f 40 41 51
+f 40 51 52
+f 40 52 53
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 51
+f 41 49 54
+f 42 43 60
+f 43 61 60
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 66 67
+f 46 67 47
+f 46 65 68
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 66
+f 47 67 74
+f 47 74 48
+f 49 75 76
+f 49 76 77
+f 49 77 54
+f 49 50 75
+f 50 78 75
+f 51 59 79
+f 51 79 52
+f 52 80 53
+f 52 79 81
+f 52 81 80
+f 54 76 82
+f 54 82 83
+f 54 83 55
+f 54 77 76
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 86 87
+f 56 87 57
+f 56 85 86
+f 57 87 58
+f 58 88 79
+f 58 79 59
+f 58 87 88
+f 60 61 89
+f 61 90 89
+f 63 91 92
+f 63 92 93
+f 63 93 64
+f 64 93 65
+f 65 94 95
+f 65 95 68
+f 65 93 94
+f 66 96 97
+f 66 97 98
+f 66 98 67
+f 66 73 99
+f 66 99 96
+f 67 98 74
+f 68 95 69
+f 69 95 70
+f 70 95 100
+f 70 100 101
+f 70 101 102
+f 70 102 72
+f 70 72 71
+f 72 102 103
+f 72 103 104
+f 72 104 85
+f 72 85 105
+f 72 105 106
+f 72 106 73
+f 73 106 107
+f 73 107 108
+f 73 108 99
+f 75 78 109
+f 75 109 76
+f 76 110 82
+f 79 88 81
+f 80 81 111
+f 81 112 111
+f 81 88 87
+f 81 87 113
+f 81 113 114
+f 81 114 112
+f 82 110 83
+f 83 115 84
+f 83 110 116
+f 83 116 115
+f 84 115 117
+f 84 117 105
+f 84 105 85
+f 85 118 86
+f 85 104 119
+f 85 119 120
+f 85 120 121
+f 85 121 118
+f 86 113 87
+f 86 118 121
+f 86 121 113
+f 89 90 122
+f 90 123 124
+f 90 124 122
+f 91 125 126
+f 91 126 92
+f 92 126 127
+f 92 127 93
+f 93 127 100
+f 93 100 94
+f 94 100 95
+f 96 99 108
+f 96 108 128
+f 100 129 130
+f 100 130 131
+f 100 131 101
+f 100 127 129
+f 101 131 102
+f 102 131 103
+f 103 131 104
+f 104 131 119
+f 105 117 106
+f 106 117 132
+f 106 132 107
+f 107 133 108
+f 107 132 133
+f 108 133 134
+f 108 134 128
+f 111 112 135
+f 112 114 136
+f 112 136 135
+f 113 121 137
+f 113 137 138
+f 113 138 114
+f 114 138 136
+f 115 116 139
+f 115 139 117
+f 117 139 140
+f 117 140 132
+f 119 121 120
+f 119 131 130
+f 119 130 121
+f 121 130 141
+f 121 141 137
+f 122 142 143
+f 122 124 142
+f 123 136 124
+f 123 144 136
+f 124 136 138
+f 124 138 145
+f 124 145 146
+f 124 146 142
+f 125 143 147
+f 125 147 126
+f 126 148 129
+f 126 129 127
+f 126 147 143
+f 126 143 148
+f 129 148 149
+f 129 149 130
+f 130 149 141
+f 132 150 133
+f 132 140 150
+f 135 136 144
+f 137 141 145
+f 137 145 138
+f 141 149 145
+f 142 148 143
+f 142 146 151
+f 142 151 148
+f 145 149 151
+f 145 151 146
+f 148 151 149
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_25.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00005843 -0.04377269 0.06677998
+v -0.00005843 -0.03670207 0.06678001
+v -0.00145718 -0.04375492 0.06677998
+v -0.00118534 -0.04278014 0.00435624
+v -0.00065772 -0.04275279 0.00247001
+v -0.00005843 -0.04275279 0.00247001
+v -0.01268181 -0.03349542 0.05336283
+v -0.01268181 -0.03364579 0.05602017
+v -0.01268181 -0.03364715 0.05604389
+v -0.01268181 -0.03434975 0.06678001
+v -0.00005843 -0.03359904 -0.01582288
+v -0.01268181 -0.03006304 -0.01870561
+v -0.01268181 -0.03018333 -0.01606014
+v -0.00431029 -0.04346652 0.06677998
+v -0.00284605 -0.04272273 0.00594590
+v -0.00261128 -0.04271180 0.00435624
+v -0.00154738 -0.04264618 0.00149723
+v -0.00145718 -0.03950089 -0.05438991
+v -0.00041306 -0.03950499 -0.05438991
+v -0.00005843 -0.03950499 -0.05438991
+v -0.01268181 -0.04144498 0.06677999
+v -0.00005843 -0.03352249 -0.01870562
+v -0.01268181 -0.02986893 -0.02447109
+v -0.01268181 -0.02995095 -0.02180188
+v -0.01268181 -0.02995778 -0.02158835
+v -0.00704973 -0.04301547 0.06677998
+v -0.00716217 -0.04211996 0.00435625
+v -0.00431029 -0.04253548 0.00435624
+v -0.00431029 -0.04242065 0.00147351
+v -0.00254455 -0.03940931 -0.05438990
+v -0.00005843 -0.03339251 -0.05438988
+v -0.01002022 -0.04229104 0.06677998
+v -0.01268181 -0.04066975 0.00435625
+v -0.00005843 -0.03347191 -0.02158836
+v -0.01268181 -0.02986483 -0.02468462
+v -0.00751309 -0.04291569 0.06677998
+v -0.01001528 -0.04148985 0.00435625
+v -0.01001528 -0.04139279 0.00147352
+v -0.00716217 -0.04201334 0.00147352
+v -0.00431029 -0.03925896 -0.05438990
+v -0.01268181 -0.02993443 -0.05438987
+v -0.01268181 -0.02988796 -0.05041572
+v -0.01268181 -0.02986611 -0.04753299
+v -0.01268181 -0.02982240 -0.03888477
+v -0.01268181 -0.02980875 -0.03600204
+v -0.00005843 -0.03332696 -0.03741376
+v -0.01268181 -0.04058910 0.00166333
+v -0.00005843 -0.03342406 -0.02447110
+v -0.00005843 -0.03337758 -0.02735383
+v -0.01268181 -0.02982244 -0.02735382
+v -0.01268181 -0.04058226 0.00147352
+v -0.01001528 -0.03797004 -0.05438990
+v -0.00716217 -0.03875460 -0.05438990
+v -0.01268181 -0.03705289 -0.05438990
+v -0.01268181 -0.02981012 -0.03311930
+v -0.00005843 -0.03331605 -0.03311931
+v -0.00005843 -0.03331604 -0.03453102
+v -0.00005843 -0.03333656 -0.03023657
+v -0.00005843 -0.03332562 -0.03164828
+v -0.01268181 -0.02982108 -0.02755550
+v -0.01209858 -0.03727842 -0.05438990
+v -0.01080609 -0.03770760 -0.05438990
+v -0.01268181 -0.02981423 -0.03023656
+f 1 2 10
+f 1 10 21
+f 1 21 32
+f 1 32 36
+f 1 36 26
+f 1 26 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 20
+f 1 20 31
+f 1 31 46
+f 1 46 57
+f 1 57 56
+f 1 56 59
+f 1 59 58
+f 1 58 49
+f 1 49 48
+f 1 48 34
+f 1 34 22
+f 1 22 11
+f 1 11 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 11 12
+f 2 12 13
+f 2 13 7
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 5 16 17
+f 7 13 12
+f 7 12 25
+f 7 25 24
+f 7 24 23
+f 7 23 35
+f 7 35 50
+f 7 50 60
+f 7 60 63
+f 7 63 55
+f 7 55 45
+f 7 45 44
+f 7 44 43
+f 7 43 42
+f 7 42 41
+f 7 41 54
+f 7 54 51
+f 7 51 47
+f 7 47 33
+f 7 33 21
+f 7 21 10
+f 7 10 9
+f 7 9 8
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 30 40
+f 18 40 53
+f 18 53 52
+f 18 52 62
+f 18 62 61
+f 18 61 54
+f 18 54 41
+f 18 41 31
+f 18 31 20
+f 18 20 19
+f 18 29 30
+f 21 33 32
+f 22 34 35
+f 22 35 23
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 29
+f 29 39 40
+f 29 40 30
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 32 33 37
+f 32 37 36
+f 33 47 37
+f 34 48 35
+f 35 48 49
+f 35 49 50
+f 37 47 38
+f 38 47 51
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 49 58 50
+f 50 58 59
+f 50 59 60
+f 51 54 61
+f 51 61 62
+f 51 62 52
+f 55 63 56
+f 56 63 60
+f 56 60 59
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_26.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01242542 0.02988415 -0.04701195
+v -0.01242542 0.02988550 -0.04753154
+v 0.00005088 0.03330350 -0.03736432
+v 0.00005088 0.03330078 -0.03599452
+v -0.01242542 0.02995843 -0.03023193
+v 0.00005088 0.03333055 -0.04312691
+v 0.00005088 0.03331297 -0.04024561
+v 0.00005088 0.03330755 -0.03888762
+v -0.01242542 0.02990038 -0.04989326
+v 0.00005088 0.03331834 -0.03311322
+v -0.01242542 0.02997193 -0.02735063
+v 0.00005088 0.03340357 -0.05439232
+v -0.01242542 0.02990580 -0.05041283
+v 0.00005088 0.03343589 -0.02158802
+v 0.00005088 0.03345480 -0.02006471
+v -0.01242542 0.03000841 -0.02446933
+v -0.01242542 0.02995851 -0.05276275
+v -0.01242542 0.02997203 -0.05329413
+v -0.01242542 0.02999906 -0.05417978
+v -0.01242542 0.03000582 -0.05439233
+v 0.00005088 0.03955033 -0.05439229
+v 0.00005088 0.03347642 -0.01870672
+v -0.01242542 0.03002193 -0.02390251
+v -0.01242542 0.03715002 -0.05439230
+v -0.00095177 0.04271676 0.00226541
+v 0.00005088 0.04271271 0.00231264
+v -0.00145737 0.03954763 -0.05439229
+v -0.01242542 0.03008139 -0.02158803
+v 0.00005088 0.03351966 -0.01718341
+v -0.01215675 0.03725408 -0.05439230
+v -0.01242542 0.04064757 0.00147422
+v -0.00285448 0.04267351 0.00302116
+v -0.00172482 0.04274108 0.00413117
+v -0.00145737 0.04279783 0.00723683
+v 0.00005088 0.04278027 0.00572533
+v 0.00005088 0.04275459 0.00426106
+v -0.00431021 0.03927597 -0.05439230
+v 0.00005088 0.03356156 -0.01581361
+v -0.01242542 0.03010301 -0.02098579
+v -0.01001467 0.03797175 -0.05439230
+v -0.01242542 0.04074892 0.00436733
+v -0.01001467 0.04149497 0.00436733
+v -0.01001467 0.04138550 0.00147422
+v -0.00431021 0.04242078 0.00147423
+v -0.00409039 0.04255727 0.00413117
+v -0.00299370 0.04268702 0.00493415
+v -0.00278975 0.04356800 0.06624443
+v -0.00145737 0.04368829 0.06624443
+v 0.00005088 0.04280324 0.00723683
+v -0.00608591 0.03895431 -0.05439230
+v -0.00716183 0.04201126 0.00147422
+v -0.01242542 0.03018545 -0.01870673
+v 0.00005088 0.03676034 0.06624441
+v -0.00893753 0.03827044 -0.05439230
+v -0.01242542 0.04149880 0.06624442
+v -0.01134706 0.04185155 0.06624442
+v -0.01004887 0.04226918 0.06624443
+v -0.00918544 0.04250704 0.06624443
+v -0.00710932 0.04297738 0.06624443
+v -0.00716183 0.04212748 0.00436733
+v -0.00716183 0.03875834 -0.05439230
+v -0.00455690 0.04254375 0.00723683
+v -0.00431021 0.04341527 0.06624443
+v -0.00065379 0.04368693 0.06624443
+v 0.00005088 0.04368558 0.06624443
+v -0.01242542 0.03373565 0.05336121
+v -0.01242542 0.03449922 0.06624440
+v -0.01242542 0.03423163 0.06200512
+v -0.01242542 0.03417893 0.06113128
+v -0.01242542 0.03388836 0.05624250
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 23
+f 1 23 28
+f 1 28 39
+f 1 39 52
+f 1 52 66
+f 1 66 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 55
+f 1 55 41
+f 1 41 31
+f 1 31 24
+f 1 24 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 13
+f 1 13 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 6
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 21
+f 3 21 26
+f 3 26 36
+f 3 36 35
+f 3 35 49
+f 3 49 65
+f 3 65 53
+f 3 53 38
+f 3 38 29
+f 3 29 22
+f 3 22 15
+f 3 15 14
+f 3 14 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 9 12
+f 9 13 12
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 24
+f 12 24 30
+f 12 30 40
+f 12 40 54
+f 12 54 61
+f 12 61 50
+f 12 50 37
+f 12 37 27
+f 12 27 21
+f 12 13 17
+f 15 22 16
+f 16 22 23
+f 21 25 26
+f 21 27 25
+f 22 28 23
+f 22 29 28
+f 24 31 30
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 25 27 32
+f 27 37 32
+f 28 29 38
+f 28 38 39
+f 30 31 40
+f 31 41 42
+f 31 42 43
+f 31 43 40
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 32 37 44
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 37 50 51
+f 37 51 44
+f 38 52 39
+f 38 53 52
+f 40 43 54
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 43 60 51
+f 43 51 61
+f 43 61 54
+f 44 51 60
+f 44 60 45
+f 45 60 62
+f 45 62 63
+f 45 63 46
+f 46 63 47
+f 47 63 59
+f 47 59 58
+f 47 58 57
+f 47 57 56
+f 47 56 55
+f 47 55 67
+f 47 67 53
+f 47 53 65
+f 47 65 64
+f 47 64 48
+f 48 64 49
+f 49 64 65
+f 50 61 51
+f 52 53 66
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 66
+f 59 63 60
+f 60 63 62
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_27.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01280506 -0.04141569 0.06626534
+v 0.01546014 -0.04035676 0.06627715
+v 0.01280822 -0.04141371 0.06627715
+v 0.01280506 -0.04140183 0.06627715
+v 0.01280506 -0.04064156 0.00436411
+v 0.01280822 -0.04064156 0.00436411
+v 0.01454953 -0.04001214 0.00436411
+v 0.01741071 -0.03940273 0.06627716
+v 0.01597644 -0.03937282 0.00436412
+v 0.01280506 -0.03430997 0.06627717
+v 0.01280506 -0.04053467 0.00146987
+v 0.01280822 -0.04053467 0.00148169
+v 0.01442966 -0.03996067 0.00148169
+v 0.01842227 -0.03885248 0.06627716
+v 0.01851375 -0.03805658 0.00436412
+v 0.01585657 -0.03932135 0.00148170
+v 0.01851375 -0.03796552 0.00148170
+v 0.02354737 -0.02683215 0.06627720
+v 0.02354737 -0.02161043 -0.01582460
+v 0.01280506 -0.03367854 0.05624777
+v 0.01280506 -0.03707067 -0.05440660
+v 0.01358108 -0.03677377 -0.05440660
+v 0.02069565 -0.03751249 0.06627716
+v 0.02010470 -0.03713818 0.00436412
+v 0.02004266 -0.03709859 0.00148170
+v 0.01486288 -0.03617404 -0.05440659
+v 0.01566203 -0.03579995 -0.05440659
+v 0.01702585 -0.03507948 -0.05440659
+v 0.01786076 -0.03463414 -0.05440659
+v 0.01997010 -0.03705107 -0.00004221
+v 0.02354737 -0.03552527 0.06627717
+v 0.02354737 -0.02144416 -0.01870702
+v 0.01280506 -0.03351623 0.05324721
+v 0.01280506 -0.03285474 -0.05440658
+v 0.02137808 -0.03706715 0.06627716
+v 0.02153056 -0.03613269 0.00436413
+v 0.02212256 -0.03657628 0.06627717
+v 0.02146957 -0.03608320 0.00148171
+v 0.01874088 -0.03410171 -0.05440659
+v 0.01928662 -0.03377116 -0.05440658
+v 0.02129607 -0.03234804 -0.05440658
+v 0.02348848 -0.03470957 0.00436413
+v 0.02354737 -0.03466405 0.00448226
+v 0.02354737 -0.02133529 -0.02158944
+v 0.01280506 -0.03004228 -0.01870705
+v 0.01280506 -0.03017490 -0.01582463
+v 0.01280506 -0.02991151 -0.05439476
+v 0.01280822 -0.02990953 -0.05440657
+v 0.02342539 -0.03466008 0.00148171
+v 0.02272298 -0.03128119 -0.05440657
+v 0.02354737 -0.03456309 0.00148171
+v 0.02354737 -0.03466207 0.00436413
+v 0.01280506 -0.02995518 -0.02158947
+v 0.02354737 -0.02125809 -0.02447187
+v 0.01280506 -0.02989568 -0.05329614
+v 0.02354737 -0.02121641 -0.05427660
+v 0.02354737 -0.02121839 -0.05440654
+v 0.02354737 -0.03052906 -0.05440657
+v 0.01280506 -0.02988985 -0.02447190
+v 0.02354737 -0.02121057 -0.02735429
+v 0.02354737 -0.02120454 -0.05329611
+v 0.01280506 -0.02987589 -0.05041371
+v 0.01280506 -0.02984827 -0.02735432
+v 0.02354737 -0.02119473 -0.03023672
+v 0.01280506 -0.02982649 -0.03023675
+v 0.02354737 -0.02119663 -0.05041368
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 33
+f 1 33 46
+f 1 46 45
+f 1 45 53
+f 1 53 59
+f 1 59 63
+f 1 63 65
+f 1 65 62
+f 1 62 55
+f 1 55 47
+f 1 47 34
+f 1 34 21
+f 1 21 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 14
+f 2 14 23
+f 2 23 35
+f 2 35 37
+f 2 37 31
+f 2 31 18
+f 2 18 10
+f 2 10 4
+f 2 4 3
+f 2 7 9
+f 2 9 8
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 16
+f 7 16 9
+f 8 9 15
+f 8 15 14
+f 9 16 17
+f 9 17 15
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 12 21 13
+f 13 21 22
+f 13 22 16
+f 14 15 24
+f 14 24 23
+f 15 17 25
+f 15 25 24
+f 16 22 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 25
+f 18 31 43
+f 18 43 52
+f 18 52 51
+f 18 51 58
+f 18 58 57
+f 18 57 56
+f 18 56 61
+f 18 61 66
+f 18 66 64
+f 18 64 60
+f 18 60 54
+f 18 54 44
+f 18 44 32
+f 18 32 19
+f 19 32 20
+f 20 32 33
+f 21 34 48
+f 21 48 57
+f 21 57 58
+f 21 58 50
+f 21 50 41
+f 21 41 40
+f 21 40 39
+f 21 39 29
+f 21 29 28
+f 21 28 27
+f 21 27 26
+f 21 26 22
+f 23 24 35
+f 24 25 36
+f 24 36 37
+f 24 37 35
+f 25 30 38
+f 25 38 36
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 30 41 38
+f 31 37 42
+f 31 42 43
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 34 47 48
+f 36 38 42
+f 36 42 37
+f 38 41 49
+f 38 49 42
+f 41 50 49
+f 42 49 51
+f 42 51 52
+f 42 52 43
+f 44 53 45
+f 44 54 53
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 49 50 51
+f 50 58 51
+f 53 54 59
+f 54 60 59
+f 55 61 56
+f 55 62 61
+f 59 60 63
+f 60 64 65
+f 60 65 63
+f 61 62 66
+f 62 65 66
+f 64 66 65
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_28.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.02355588 0.02123444 -0.05041286
+v -0.02355588 0.02125627 -0.05281001
+v -0.01242542 0.02990542 -0.05041283
+v -0.01242542 0.02990144 -0.04989326
+v -0.01242542 0.02988556 -0.04753154
+v -0.01242542 0.02988358 -0.04701195
+v -0.02355588 0.02128990 -0.02735066
+v -0.02355588 0.02127413 -0.05439236
+v -0.01242542 0.02995898 -0.05276275
+v -0.01242542 0.02995890 -0.03023193
+v -0.02355588 0.02132361 -0.02446936
+v -0.01242542 0.02997278 -0.02735063
+v -0.02355588 0.03043906 -0.05439233
+v -0.01242542 0.03000660 -0.05439233
+v -0.01242542 0.02999867 -0.05417978
+v -0.01242542 0.02997288 -0.05329413
+v -0.01242542 0.03000848 -0.02446933
+v -0.02355588 0.02138907 -0.02158806
+v -0.02274084 0.03119685 -0.05439233
+v -0.02355588 0.03454918 0.00147420
+v -0.01242542 0.03715009 -0.05439230
+v -0.01242542 0.03002236 -0.02390251
+v -0.01242542 0.03008186 -0.02158803
+v -0.02355588 0.02149023 -0.01870676
+v -0.02220257 0.03160352 -0.05439232
+v -0.02347524 0.03461465 0.00147420
+v -0.02355588 0.03464043 0.00441454
+v -0.02353190 0.03466026 0.00436731
+v -0.01242542 0.04064724 0.00147422
+v -0.01358478 0.03669780 -0.05439231
+v -0.01450441 0.03991920 0.00147422
+v -0.01437802 0.03986565 -0.00011994
+v -0.01286890 0.04051036 0.00147422
+v -0.01242542 0.03018501 -0.01870673
+v -0.02355588 0.02165090 -0.01581365
+v -0.01242542 0.03373367 0.05336121
+v -0.01242542 0.03388641 0.05624250
+v -0.02131453 0.03226610 -0.05439232
+v -0.02153028 0.03603700 0.00147420
+v -0.02158803 0.03608261 0.00436731
+v -0.02355588 0.03549917 0.06624440
+v -0.02217642 0.03652477 0.06624440
+v -0.01242542 0.04074839 0.00436733
+v -0.01491302 0.03606696 -0.05439231
+v -0.01593072 0.03926456 0.00147421
+v -0.01604404 0.03932009 0.00436732
+v -0.01461773 0.03996680 0.00436733
+v -0.01286890 0.04061152 0.00436733
+v -0.01242542 0.03422958 0.06200512
+v -0.01242542 0.03449738 0.06624440
+v -0.02355588 0.02603077 0.05336119
+v -0.02054853 0.03280369 -0.05439232
+v -0.02003532 0.03700508 -0.00004910
+v -0.02010396 0.03704871 0.00147421
+v -0.02016171 0.03708639 0.00436732
+v -0.02355588 0.02700475 0.06624437
+v -0.02141696 0.03702468 0.06624441
+v -0.01242542 0.04150002 0.06624442
+v -0.01572261 0.03567815 -0.05439231
+v -0.01857414 0.03790966 0.00147421
+v -0.01857414 0.03800288 0.00436732
+v -0.01745292 0.03936153 0.06624441
+v -0.01551776 0.04029786 0.06624442
+v -0.01286890 0.04135322 0.06624442
+v -0.02355588 0.02664967 0.06200509
+v -0.02355588 0.02641758 0.05912379
+v -0.02355588 0.02621524 0.05615983
+v -0.01928348 0.03368844 -0.05439232
+v -0.01785826 0.03453947 -0.05439231
+v -0.02075011 0.03745316 0.06624441
+v -0.01966376 0.03809788 0.06624441
+v -0.01848370 0.03879418 0.06624441
+v -0.01705521 0.03496796 -0.05439231
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 18
+f 1 18 24
+f 1 24 35
+f 1 35 51
+f 1 51 67
+f 1 67 66
+f 1 66 65
+f 1 65 56
+f 1 56 41
+f 1 41 27
+f 1 27 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 9 16
+f 3 16 15
+f 3 15 14
+f 3 14 21
+f 3 21 29
+f 3 29 43
+f 3 43 58
+f 3 58 50
+f 3 50 49
+f 3 49 37
+f 3 37 36
+f 3 36 34
+f 3 34 23
+f 3 23 22
+f 3 22 17
+f 3 17 12
+f 3 12 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 3 8 9
+f 6 10 7
+f 7 10 12
+f 7 12 11
+f 8 13 19
+f 8 19 25
+f 8 25 38
+f 8 38 52
+f 8 52 68
+f 8 68 69
+f 8 69 73
+f 8 73 59
+f 8 59 44
+f 8 44 30
+f 8 30 21
+f 8 21 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 11 17 18
+f 11 12 17
+f 13 20 19
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 20 26
+f 19 26 25
+f 20 27 28
+f 20 28 26
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 29
+f 23 34 24
+f 24 34 36
+f 24 36 37
+f 24 37 35
+f 25 26 38
+f 26 39 38
+f 26 28 40
+f 26 40 39
+f 27 41 28
+f 28 41 42
+f 28 42 40
+f 29 33 48
+f 29 48 43
+f 30 44 45
+f 30 45 31
+f 31 33 32
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 33
+f 35 37 49
+f 35 49 50
+f 35 50 51
+f 38 39 53
+f 38 53 52
+f 39 54 53
+f 39 40 54
+f 40 55 54
+f 40 42 55
+f 41 56 50
+f 41 50 58
+f 41 58 64
+f 41 64 63
+f 41 63 62
+f 41 62 72
+f 41 72 71
+f 41 71 70
+f 41 70 57
+f 41 57 42
+f 42 57 55
+f 43 48 58
+f 44 59 45
+f 45 60 46
+f 45 59 60
+f 46 60 61
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 47 63 64
+f 47 64 48
+f 48 64 58
+f 50 56 65
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 52 53 68
+f 53 54 60
+f 53 60 69
+f 53 69 68
+f 54 55 61
+f 54 61 60
+f 55 57 70
+f 55 70 71
+f 55 71 72
+f 55 72 61
+f 59 73 60
+f 60 73 69
+f 61 72 62
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_29.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02359308 0.02122489 -0.03022911
+v 0.02359308 0.02125024 -0.02768174
+v 0.01281914 0.02975377 -0.02735452
+v 0.01281914 0.02975183 -0.03021739
+v 0.01281914 0.02975183 -0.03022908
+v 0.02359308 0.02130691 -0.05440575
+v 0.02359308 0.02125414 -0.02735455
+v 0.01281914 0.02979473 -0.02445660
+v 0.01281914 0.02980259 -0.04176235
+v 0.01281914 0.02984358 -0.04753483
+v 0.01281914 0.02986701 -0.05040939
+v 0.01281914 0.02996066 -0.05439403
+v 0.01281914 0.02998797 -0.05440572
+v 0.02359308 0.03052834 -0.05440572
+v 0.02359308 0.02131461 -0.02486561
+v 0.02359308 0.02132436 -0.02446831
+v 0.02359308 0.02138483 -0.02204948
+v 0.02359308 0.02139653 -0.02158208
+v 0.01281914 0.02987080 -0.02157036
+v 0.01281914 0.03703815 -0.05440569
+v 0.02301299 0.03106286 -0.05440572
+v 0.02359308 0.03451166 0.00148452
+v 0.02359308 0.02148041 -0.01926841
+v 0.02359308 0.02150186 -0.01870752
+v 0.01281914 0.02999954 -0.01868412
+v 0.01281914 0.04055524 0.00147286
+v 0.01451302 0.03994854 0.00148454
+v 0.01360912 0.03672603 -0.05440570
+v 0.02277884 0.03127745 -0.05440572
+v 0.02343909 0.03463846 0.00148452
+v 0.02347073 0.03466576 0.00435908
+v 0.02359308 0.03456042 0.00411369
+v 0.02359308 0.02166962 -0.01592645
+v 0.01281914 0.03363945 0.05624127
+v 0.01281914 0.03348145 0.05344851
+v 0.01281914 0.04064886 0.00435910
+v 0.01594005 0.03929502 0.00148453
+v 0.01461005 0.03999145 0.00435910
+v 0.01439805 0.03634367 -0.05440570
+v 0.02151739 0.03217286 -0.05440571
+v 0.02147099 0.03606255 0.00148452
+v 0.02153216 0.03608790 0.00435908
+v 0.02359308 0.03539319 0.06497011
+v 0.02359308 0.03456432 0.00435908
+v 0.02359308 0.02625957 0.05912750
+v 0.01281914 0.03419150 0.06497011
+v 0.01281914 0.04115195 0.06495845
+v 0.01851356 0.03793922 0.00148453
+v 0.01566161 0.03573112 -0.05440570
+v 0.01603603 0.03933793 0.00435909
+v 0.01519648 0.04024288 0.06497013
+v 0.01659397 0.03960693 0.06201378
+v 0.02005556 0.03316972 -0.05440571
+v 0.01997118 0.03700089 -0.00004623
+v 0.02004396 0.03704965 0.00148453
+v 0.02010513 0.03708866 0.00435909
+v 0.02205741 0.03649929 0.06497011
+v 0.02359308 0.02919940 0.06497009
+v 0.02359308 0.02645464 0.06194362
+v 0.02359308 0.02668483 0.06495840
+v 0.02230000 0.02792749 0.06497008
+v 0.01281914 0.03573263 0.06497011
+v 0.01512370 0.04027019 0.06497013
+v 0.01783221 0.03456259 -0.05440570
+v 0.01851356 0.03802309 0.00435909
+v 0.01850934 0.03862371 0.06497012
+v 0.01658870 0.03962643 0.06497013
+v 0.01925714 0.03371400 -0.05440571
+v 0.02063143 0.03741227 0.06497012
+v 0.02202260 0.03652270 0.06497011
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
+f 1 22 32
+f 1 32 44
+f 1 44 43
+f 1 43 58
+f 1 58 60
+f 1 60 59
+f 1 59 45
+f 1 45 33
+f 1 33 24
+f 1 24 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 19
+f 3 19 25
+f 3 25 35
+f 3 35 34
+f 3 34 46
+f 3 46 62
+f 3 62 47
+f 3 47 36
+f 3 36 26
+f 3 26 20
+f 3 20 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 20
+f 6 20 28
+f 6 28 39
+f 6 39 49
+f 6 49 64
+f 6 64 68
+f 6 68 53
+f 6 53 40
+f 6 40 29
+f 6 29 21
+f 6 21 14
+f 6 9 10
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 14 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 27
+f 20 27 28
+f 21 29 22
+f 22 30 31
+f 22 31 32
+f 22 29 30
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 26 36 27
+f 27 37 28
+f 27 36 38
+f 27 38 37
+f 28 37 39
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 33 45 34
+f 34 45 46
+f 36 47 38
+f 37 48 49
+f 37 49 39
+f 37 38 50
+f 37 50 48
+f 38 47 51
+f 38 51 52
+f 38 52 50
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 70
+f 43 70 69
+f 43 69 66
+f 43 66 67
+f 43 67 51
+f 43 51 63
+f 43 63 62
+f 43 62 46
+f 43 46 61
+f 43 61 58
+f 45 59 46
+f 46 60 61
+f 46 59 60
+f 47 62 63
+f 47 63 51
+f 48 55 54
+f 48 54 64
+f 48 64 49
+f 48 50 65
+f 48 65 55
+f 50 52 66
+f 50 66 65
+f 51 67 52
+f 52 67 66
+f 53 68 54
+f 54 68 64
+f 55 65 56
+f 56 65 69
+f 56 69 70
+f 56 70 57
+f 58 61 60
+f 65 66 69
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_3.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01708021 0.02156823 0.08285608
+v 0.01708021 0.02238094 0.08378113
+v 0.01681444 0.02252948 0.08374756
+v 0.01595435 0.02156823 0.08199630
+v 0.01708021 0.02156828 0.06764862
+v 0.01229179 0.02558233 0.08361516
+v 0.01708021 0.02419136 0.08442831
+v 0.01229179 0.02695930 0.08425300
+v 0.01229179 0.02485930 0.08284117
+v 0.01229179 0.02431935 0.08219587
+v 0.01388402 0.02250426 0.08117382
+v 0.01467803 0.02156824 0.07931252
+v 0.01540407 0.02156828 0.06803841
+v 0.01229179 0.02434462 0.06780343
+v 0.01708021 0.02275654 0.06733903
+v 0.01708021 0.02701815 0.08524521
+v 0.01229179 0.03111073 0.08563314
+v 0.01229179 0.02986455 0.08524522
+v 0.01229179 0.02326842 0.07937221
+v 0.01229179 0.02325908 0.07931253
+v 0.01229179 0.02282566 0.07066438
+v 0.01410572 0.02156827 0.07066438
+v 0.01508675 0.02156828 0.06820254
+v 0.01229179 0.02405036 0.06791719
+v 0.01229179 0.02720411 0.06783328
+v 0.01566093 0.02417274 0.06731852
+v 0.01708021 0.02287424 0.06738006
+v 0.01708021 0.03111072 0.08637169
+v 0.01229179 0.03111076 0.07580629
+v 0.01346639 0.02224648 0.06859233
+v 0.01425243 0.02156827 0.06951552
+v 0.01229179 0.02774966 0.06807946
+v 0.01301314 0.02726203 0.06800113
+v 0.01566093 0.02646238 0.06842822
+v 0.01708021 0.02526851 0.06836853
+v 0.01708021 0.02414845 0.06782767
+v 0.01708021 0.03111077 0.07276629
+v 0.01573124 0.03111077 0.07337802
+v 0.01229179 0.02954605 0.07050774
+v 0.01229179 0.02862404 0.06870613
+v 0.01708021 0.02599062 0.06882361
+v 0.01229179 0.02884637 0.06899147
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 31
+f 1 31 23
+f 1 23 13
+f 1 13 5
+f 1 5 15
+f 1 15 27
+f 1 27 36
+f 1 36 35
+f 1 35 41
+f 1 41 37
+f 1 37 28
+f 1 28 16
+f 1 16 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 9 10
+f 5 13 14
+f 5 14 15
+f 6 8 18
+f 6 18 17
+f 6 17 29
+f 6 29 39
+f 6 39 42
+f 6 42 40
+f 6 40 32
+f 6 32 25
+f 6 25 14
+f 6 14 24
+f 6 24 21
+f 6 21 20
+f 6 20 19
+f 6 19 10
+f 6 10 9
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 13 23 24
+f 13 24 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 16 28 17
+f 17 28 37
+f 17 37 38
+f 17 38 29
+f 21 24 30
+f 21 30 31
+f 21 31 22
+f 23 30 24
+f 23 31 30
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 29 38 39
+f 32 40 33
+f 33 40 34
+f 34 41 35
+f 34 40 37
+f 34 37 41
+f 37 40 42
+f 37 42 39
+f 37 39 38
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_30.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01810126 0.01783976 0.07066419
+v -0.01810126 0.01785514 0.07050766
+v -0.00905343 0.02435557 0.07061396
+v -0.00905343 0.02478233 0.07931212
+v -0.01810126 0.01834854 0.07931210
+v -0.01810126 0.01873820 0.06821185
+v -0.01669027 0.01946488 0.06869304
+v -0.00905343 0.02485542 0.06832202
+v -0.00905343 0.02488870 0.08022619
+v -0.01810126 0.01836648 0.07947249
+v -0.01810126 0.02131812 0.06746785
+v -0.00905343 0.02701753 0.06730747
+v -0.00905343 0.02519500 0.08133737
+v -0.01810126 0.01919184 0.08159437
+v -0.01572127 0.02417231 0.06737124
+v -0.01001623 0.02701753 0.06724370
+v -0.01810126 0.02412489 0.06826405
+v -0.00905343 0.02952184 0.06828919
+v -0.00905343 0.02554104 0.08178957
+v -0.00905343 0.02635744 0.08273844
+v -0.01810126 0.01956608 0.08202725
+v -0.01810126 0.03093162 0.07040721
+v -0.00905343 0.03093162 0.07024488
+v -0.00905343 0.02687393 0.08330853
+v -0.01810126 0.02051577 0.08282345
+v -0.01810126 0.03093156 0.08698414
+v -0.00905343 0.03093157 0.08528161
+v -0.00905343 0.02781721 0.08396944
+v -0.01810126 0.02193581 0.08386893
+v -0.01810126 0.02079645 0.08303023
+v -0.01810126 0.03055220 0.08687012
+v -0.01764864 0.03093156 0.08690298
+v -0.01810126 0.02464261 0.08492408
+v -0.01810126 0.02217803 0.08399647
+v -0.00905343 0.03082519 0.08524103
+v -0.00905343 0.02837600 0.08422259
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 21
+f 1 21 25
+f 1 25 30
+f 1 30 29
+f 1 29 34
+f 1 34 33
+f 1 33 31
+f 1 31 26
+f 1 26 22
+f 1 22 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 18
+f 3 18 23
+f 3 23 27
+f 3 27 35
+f 3 35 36
+f 3 36 28
+f 3 28 24
+f 3 24 20
+f 3 20 19
+f 3 19 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 11 17 15
+f 12 16 18
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 17 22
+f 15 22 16
+f 16 22 18
+f 18 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 32
+f 22 32 27
+f 22 27 23
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 32
+f 27 32 31
+f 27 31 33
+f 27 33 34
+f 27 34 35
+f 28 36 34
+f 28 34 29
+f 34 36 35
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_31.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04180798 0.00139869 0.07066529
+v -0.04169100 0.00424469 0.07066530
+v -0.04110269 0.00139871 0.06624638
+v -0.04109753 0.00001754 0.06624637
+v -0.04179766 0.00001752 0.07066528
+v -0.04073457 0.00001748 0.08219394
+v -0.04073973 0.00139865 0.08219395
+v -0.04143125 0.00709143 0.07066531
+v -0.04093927 0.00424471 0.06624639
+v -0.04060039 0.00424465 0.08219396
+v -0.03352689 0.00001754 0.06624637
+v -0.04032516 0.00001747 0.08520435
+v -0.04036472 0.00139864 0.08507822
+v -0.04022022 0.00404870 0.08525692
+v -0.04135900 0.00751488 0.07066531
+v -0.04062447 0.00709145 0.06624640
+v -0.04013421 0.00709138 0.08436348
+v -0.04010325 0.00751483 0.08422474
+v -0.03336175 0.00751490 0.06624640
+v -0.02713459 0.00709144 0.06686657
+v -0.02713459 0.00424470 0.06688127
+v -0.02713459 0.00001753 0.06700739
+v -0.04014453 0.00001746 0.08594854
+v -0.03999488 0.00001746 0.08654557
+v -0.03999488 0.00139863 0.08654558
+v -0.03997939 0.00297061 0.08652877
+v -0.03989854 0.00486770 0.08633747
+v -0.04054534 0.00751490 0.06624640
+v -0.03972652 0.00709137 0.08580562
+v -0.03968524 0.00751483 0.08566267
+v -0.02713459 0.00751489 0.06691912
+v -0.02485187 0.00751489 0.06792399
+v -0.02629684 0.00001753 0.06767589
+v -0.03940484 0.00001746 0.08685881
+v -0.03854474 0.00139863 0.08731710
+v -0.03878729 0.00404869 0.08714052
+v -0.03830047 0.00709137 0.08726247
+v -0.03826090 0.00751482 0.08725406
+v -0.02473318 0.00751489 0.06832972
+v -0.02542298 0.00001753 0.06839906
+v -0.03867031 0.00001746 0.08724352
+v -0.03569091 0.00001746 0.08767658
+v -0.03569091 0.00751482 0.08772076
+v -0.03791170 0.00751482 0.08733605
+v -0.02428592 0.00751488 0.07068213
+v -0.02530944 0.00001752 0.07066528
+v -0.03322585 0.00751482 0.08698498
+v -0.03529354 0.00751482 0.08761775
+v -0.03339443 0.00001746 0.08690506
+v -0.02423431 0.00751485 0.07933073
+v -0.02507034 0.00001749 0.07931178
+v -0.02998670 0.00751483 0.08553233
+v -0.02998670 0.00001747 0.08539565
+v -0.02492928 0.00751484 0.08191017
+v -0.02534901 0.00001748 0.08152333
+v -0.02952740 0.00751483 0.08531580
+v -0.02769710 0.00001747 0.08420158
+v -0.02740466 0.00751483 0.08425837
+v -0.02582895 0.00751483 0.08315259
+v -0.02627104 0.00001748 0.08296547
+v -0.02578594 0.00001748 0.08222338
+v -0.02601473 0.00751483 0.08336072
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 16
+f 3 16 28
+f 3 28 19
+f 3 19 11
+f 3 11 4
+f 4 11 22
+f 4 22 33
+f 4 33 40
+f 4 40 46
+f 4 46 51
+f 4 51 55
+f 4 55 61
+f 4 61 60
+f 4 60 57
+f 4 57 53
+f 4 53 49
+f 4 49 42
+f 4 42 41
+f 4 41 34
+f 4 34 24
+f 4 24 23
+f 4 23 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 10
+f 8 15 16
+f 8 16 9
+f 8 10 17
+f 8 17 18
+f 8 18 15
+f 10 14 17
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 17
+f 15 28 16
+f 15 18 30
+f 15 30 38
+f 15 38 44
+f 15 44 43
+f 15 43 48
+f 15 48 47
+f 15 47 52
+f 15 52 56
+f 15 56 58
+f 15 58 62
+f 15 62 59
+f 15 59 54
+f 15 54 50
+f 15 50 45
+f 15 45 39
+f 15 39 32
+f 15 32 31
+f 15 31 19
+f 15 19 28
+f 17 27 29
+f 17 29 18
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 24 34 35
+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 29
+f 29 38 30
+f 32 39 40
+f 32 40 33
+f 34 41 35
+f 35 37 36
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 37
+f 37 44 38
+f 39 45 40
+f 40 45 46
+f 42 47 48
+f 42 48 43
+f 42 49 47
+f 45 50 51
+f 45 51 46
+f 47 49 53
+f 47 53 52
+f 50 54 55
+f 50 55 51
+f 52 53 56
+f 53 57 58
+f 53 58 56
+f 54 59 60
+f 54 60 61
+f 54 61 55
+f 57 60 62
+f 57 62 58
+f 59 62 60
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_32.obj

@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
+v 0.04123394 -0.00808073 0.07066569
+v 0.04044525 -0.00808071 0.06627938
+v 0.04007429 -0.00808078 0.08424729
+v 0.03999947 -0.00898432 0.08399496
+v 0.04091909 -0.00999088 0.07066568
+v 0.04016469 -0.00963357 0.06627937
+v 0.01877649 -0.03863978 0.06627716
+v 0.01877649 -0.03092357 0.06627719
+v 0.03325974 -0.00808071 0.06627938
+v 0.03960668 -0.00808078 0.08563720
+v 0.03944770 -0.00995658 0.08500427
+v 0.03870577 -0.01283556 0.08507785
+v 0.03914220 -0.01283555 0.08219289
+v 0.04000259 -0.01454641 0.07229950
+v 0.04000259 -0.01454640 0.07170232
+v 0.04013040 -0.01369783 0.07121028
+v 0.04025509 -0.01282864 0.07070983
+v 0.03998700 -0.01037564 0.06627937
+v 0.02069678 -0.03750949 0.06627927
+v 0.01877649 -0.03864322 0.06627927
+v 0.01842423 -0.03884591 0.06627716
+v 0.03932301 -0.01283205 0.06627936
+v 0.03839403 -0.01568354 0.06627935
+v 0.03743700 -0.01813652 0.06627934
+v 0.03707850 -0.01891638 0.06627934
+v 0.03588768 -0.02128003 0.06627933
+v 0.03528291 -0.02234848 0.06627933
+v 0.03463138 -0.02346503 0.06627932
+v 0.03368682 -0.02488734 0.06627932
+v 0.03294177 -0.02591113 0.06627931
+v 0.03219048 -0.02693492 0.06627931
+v 0.03159195 -0.02770104 0.06627931
+v 0.02976518 -0.02982420 0.06627930
+v 0.02908560 -0.03057315 0.06627930
+v 0.02699385 -0.03264134 0.06627929
+v 0.02618957 -0.03337654 0.06627929
+v 0.02415082 -0.03507713 0.06627928
+v 0.02212453 -0.03657159 0.06627928
+v 0.01411292 -0.03368574 0.06627718
+v 0.02577496 -0.01174986 0.06627937
+v 0.02664782 -0.00808071 0.06631723
+v 0.02547569 -0.00999086 0.06628568
+v 0.03799501 -0.00999094 0.08721635
+v 0.03766457 -0.01283557 0.08704602
+v 0.03734037 -0.01504462 0.08679368
+v 0.03817270 -0.00808079 0.08725421
+v 0.03696628 -0.01694103 0.08633318
+v 0.03841897 -0.01369788 0.08512832
+v 0.03727802 -0.01765561 0.08441128
+v 0.03822881 -0.01568360 0.08219078
+v 0.03679794 -0.01935619 0.08219077
+v 0.03734972 -0.02050706 0.07270951
+v 0.03822258 -0.01853506 0.07066986
+v 0.03940406 -0.01557363 0.07071192
+v 0.02155406 -0.03777061 0.07070974
+v 0.01896977 -0.03931660 0.07067189
+v 0.02291011 -0.03710755 0.07169592
+v 0.01877649 -0.03942998 0.07067189
+v 0.01754513 -0.04011364 0.07067188
+v 0.01741420 -0.03939903 0.06627716
+v 0.03732166 -0.02045552 0.07066985
+v 0.03654232 -0.02187783 0.07066985
+v 0.03498364 -0.02440638 0.07070769
+v 0.03408584 -0.02547484 0.06976776
+v 0.03323792 -0.02685592 0.07070768
+v 0.03166053 -0.02886227 0.07066982
+v 0.03039800 -0.03028458 0.07066982
+v 0.02897337 -0.03180652 0.07066981
+v 0.02745210 -0.03322884 0.07066981
+v 0.02602435 -0.03449655 0.07066980
+v 0.02577496 -0.03429384 0.06882149
+v 0.02400430 -0.03607346 0.07070975
+v 0.00939012 -0.03551345 0.06627928
+v 0.01411292 -0.04087975 0.06627715
+v 0.02594953 -0.00808071 0.06632774
+v 0.02562533 -0.00837273 0.06632774
+v 0.01122313 -0.02556758 0.06631086
+v 0.03562893 -0.01283557 0.08766422
+v 0.03715332 -0.01369789 0.08710700
+v 0.03517692 -0.01853512 0.08715954
+v 0.03464385 -0.02083349 0.08687777
+v 0.03739024 -0.00808079 0.08740350
+v 0.03415442 -0.02272991 0.08642568
+v 0.03659220 -0.01857633 0.08525026
+v 0.03769263 -0.01586913 0.08525027
+v 0.03510210 -0.02162022 0.08530702
+v 0.03447863 -0.02326240 0.08450377
+v 0.03578792 -0.02137972 0.08219076
+v 0.03461891 -0.02349601 0.08219075
+v 0.03428847 -0.02576687 0.07230367
+v 0.03428847 -0.02576686 0.07169387
+v 0.02291011 -0.03710756 0.07233516
+v 0.01754825 -0.04012053 0.07280616
+v 0.01566225 -0.04100001 0.07067188
+v 0.01546585 -0.04035068 0.06627715
+v 0.03166989 -0.02887602 0.07281882
+v 0.02894220 -0.03177562 0.07302067
+v 0.02602123 -0.03449312 0.07287978
+v 0.00939012 -0.04248414 0.06627925
+v 0.00939012 -0.02689026 0.06702998
+v 0.01281298 -0.04140882 0.06627926
+v 0.01132288 -0.04189323 0.06627926
+v 0.01000112 -0.04230893 0.06627925
+v 0.02545076 -0.00808071 0.06666418
+v 0.00939012 -0.02468465 0.06810029
+v 0.03562893 -0.00999094 0.08767264
+v 0.02137013 -0.03275479 0.08773776
+v 0.02992417 -0.02422780 0.08766418
+v 0.03569440 -0.01369789 0.08754857
+v 0.03586273 -0.01586914 0.08725628
+v 0.03303217 -0.02162023 0.08727518
+v 0.03226530 -0.02422780 0.08708803
+v 0.03166677 -0.02607955 0.08678102
+v 0.03562893 -0.00808079 0.08761799
+v 0.03360577 -0.02421748 0.08530701
+v 0.03206891 -0.02661548 0.08507360
+v 0.03373670 -0.02491488 0.08219075
+v 0.03230895 -0.02692467 0.08219074
+v 0.03123657 -0.02834698 0.08219074
+v 0.02559104 -0.03413586 0.08219071
+v 0.02416640 -0.03524210 0.08219492
+v 0.02224611 -0.03666441 0.08219492
+v 0.02082459 -0.03756795 0.08219491
+v 0.01877649 -0.03874978 0.08219491
+v 0.01851463 -0.03890094 0.08218860
+v 0.01689672 -0.03978387 0.08218859
+v 0.01546897 -0.04042288 0.08218859
+v 0.01156292 -0.04277963 0.07227416
+v 0.01156292 -0.04277962 0.07173586
+v 0.01411292 -0.04163559 0.07070342
+v 0.01263529 -0.04222994 0.07073075
+v 0.02852447 -0.03135996 0.08371731
+v 0.01104856 -0.04262502 0.06981396
+v 0.01004165 -0.04303385 0.07073075
+v 0.00939012 -0.04292390 0.06906748
+v 0.02471506 -0.00808072 0.06763564
+v 0.00939012 -0.02409031 0.07045536
+v 0.00939012 -0.03845091 0.08775876
+v 0.00996060 -0.03845091 0.08775666
+v 0.01877649 -0.03534518 0.08761999
+v 0.02425057 -0.03280976 0.08721627
+v 0.02713413 -0.02996857 0.08723311
+v 0.02994911 -0.02704493 0.08718265
+v 0.02901390 -0.02906503 0.08687564
+v 0.02812857 -0.03096143 0.08563712
+v 0.03097160 -0.02803779 0.08507360
+v 0.03488388 -0.00808079 0.08738669
+v 0.00939012 -0.03597732 0.08719103
+v 0.02530424 -0.03387820 0.08507358
+v 0.02388272 -0.03501880 0.08507357
+v 0.02193126 -0.03644111 0.08507357
+v 0.02050351 -0.03736870 0.08507356
+v 0.01877649 -0.03870168 0.08257340
+v 0.01877649 -0.03832378 0.08507356
+v 0.01851463 -0.03846464 0.08507146
+v 0.01641976 -0.03954340 0.08507145
+v 0.01499201 -0.04020302 0.08507145
+v 0.01281298 -0.04145698 0.08218648
+v 0.00996060 -0.04230899 0.08218647
+v 0.00939012 -0.04245328 0.08218647
+v 0.00939012 -0.04312318 0.07243607
+v 0.00939012 -0.04317814 0.07071603
+v 0.02935369 -0.02996856 0.08483808
+v 0.02713413 -0.03224289 0.08483807
+v 0.02453737 -0.00808072 0.06844730
+v 0.00939012 -0.02499389 0.07987774
+v 0.02418511 -0.00808076 0.07931216
+v 0.02405730 -0.00808073 0.07068462
+v 0.00939012 -0.03894562 0.08765783
+v 0.01281298 -0.03845091 0.08757162
+v 0.01851463 -0.03559941 0.08760737
+v 0.02622698 -0.03189934 0.08687984
+v 0.01877649 -0.03559941 0.08755480
+v 0.02117686 -0.03556162 0.08706697
+v 0.02332160 -0.03458250 0.08683146
+v 0.03351848 -0.00808079 0.08687993
+v 0.00939012 -0.03548604 0.08704174
+v 0.02009825 -0.03711792 0.08660856
+v 0.01442466 -0.03994536 0.08659593
+v 0.01411292 -0.04015493 0.08629734
+v 0.01411292 -0.04053283 0.08507145
+v 0.01281298 -0.04101724 0.08507145
+v 0.00996060 -0.04185895 0.08507145
+v 0.00939012 -0.04216471 0.08400956
+v 0.00939012 -0.02532715 0.08133073
+v 0.02493951 -0.00808077 0.08210250
+v 0.00939012 -0.04069775 0.08715527
+v 0.00996060 -0.04063934 0.08712792
+v 0.01411292 -0.03847839 0.08735503
+v 0.01548768 -0.03850588 0.08712583
+v 0.01851463 -0.03752331 0.08690294
+v 0.01877649 -0.03733092 0.08692187
+v 0.02716842 -0.00808078 0.08419052
+v 0.00939012 -0.03047702 0.08510934
+v 0.01411292 -0.04000377 0.08664220
+v 0.00939012 -0.04198262 0.08508827
+v 0.01281298 -0.04022708 0.08683775
+v 0.00939012 -0.02551610 0.08165455
+v 0.02550063 -0.00808078 0.08303822
+v 0.00939012 -0.04102756 0.08669476
+v 0.01411292 -0.03938881 0.08698074
+v 0.02579990 -0.00808078 0.08349030
+v 0.00939012 -0.02807215 0.08410423
+v 0.00939012 -0.02630284 0.08278372
+v 0.00939012 -0.02659143 0.08315170
+v 0.00939012 -0.02772860 0.08394863
+f 1 2 9
+f 1 9 41
+f 1 41 75
+f 1 75 104
+f 1 104 136
+f 1 136 165
+f 1 165 168
+f 1 168 167
+f 1 167 186
+f 1 186 199
+f 1 199 202
+f 1 202 193
+f 1 193 176
+f 1 176 147
+f 1 147 114
+f 1 114 82
+f 1 82 46
+f 1 46 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 21
+f 7 21 60
+f 7 60 95
+f 7 95 74
+f 7 74 39
+f 7 39 8
+f 7 18 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 31
+f 7 31 32
+f 7 32 33
+f 7 33 34
+f 7 34 35
+f 7 35 36
+f 7 36 37
+f 7 37 38
+f 7 38 19
+f 8 39 40
+f 8 40 9
+f 9 40 42
+f 9 42 41
+f 10 43 44
+f 10 44 45
+f 10 45 12
+f 10 12 11
+f 10 46 43
+f 12 45 47
+f 12 47 48
+f 12 48 49
+f 12 49 13
+f 13 49 50
+f 13 50 14
+f 14 50 49
+f 14 49 51
+f 14 51 52
+f 14 52 15
+f 15 52 53
+f 15 53 54
+f 15 54 23
+f 15 23 22
+f 15 22 16
+f 16 22 18
+f 16 18 17
+f 19 55 56
+f 19 56 20
+f 19 38 57
+f 19 57 55
+f 20 56 58
+f 20 58 21
+f 21 58 59
+f 21 59 60
+f 23 54 24
+f 24 53 25
+f 24 54 53
+f 25 53 61
+f 25 61 26
+f 26 61 62
+f 26 62 27
+f 27 62 28
+f 28 62 63
+f 28 63 64
+f 28 64 29
+f 29 64 30
+f 30 64 31
+f 31 64 65
+f 31 65 32
+f 32 65 66
+f 32 66 33
+f 33 66 67
+f 33 67 34
+f 34 67 68
+f 34 68 35
+f 35 68 69
+f 35 69 36
+f 36 69 70
+f 36 70 71
+f 36 71 37
+f 37 71 70
+f 37 70 72
+f 37 72 57
+f 37 57 38
+f 39 73 40
+f 39 74 99
+f 39 99 73
+f 40 73 42
+f 41 42 75
+f 42 76 75
+f 42 73 77
+f 42 77 76
+f 43 46 78
+f 43 78 44
+f 44 78 79
+f 44 79 80
+f 44 80 45
+f 45 80 81
+f 45 81 47
+f 46 82 78
+f 47 81 83
+f 47 83 84
+f 47 84 49
+f 47 49 85
+f 47 85 48
+f 48 85 49
+f 49 84 86
+f 49 86 87
+f 49 87 51
+f 51 88 52
+f 51 87 88
+f 52 62 61
+f 52 61 53
+f 52 88 89
+f 52 89 90
+f 52 90 91
+f 52 91 62
+f 55 57 56
+f 56 57 58
+f 57 72 70
+f 57 70 92
+f 57 92 93
+f 57 93 58
+f 58 93 59
+f 59 93 94
+f 59 94 95
+f 59 95 60
+f 62 91 63
+f 63 91 64
+f 64 91 65
+f 65 91 66
+f 66 96 67
+f 66 91 96
+f 67 96 68
+f 68 96 97
+f 68 97 69
+f 69 97 98
+f 69 98 70
+f 70 98 92
+f 73 99 135
+f 73 135 162
+f 73 162 161
+f 73 161 160
+f 73 160 184
+f 73 184 196
+f 73 196 200
+f 73 200 187
+f 73 187 169
+f 73 169 138
+f 73 138 148
+f 73 148 177
+f 73 177 194
+f 73 194 203
+f 73 203 206
+f 73 206 205
+f 73 205 204
+f 73 204 198
+f 73 198 185
+f 73 185 166
+f 73 166 137
+f 73 137 105
+f 73 105 100
+f 73 100 77
+f 74 95 101
+f 74 101 102
+f 74 102 103
+f 74 103 99
+f 75 76 104
+f 76 105 104
+f 76 77 105
+f 77 100 105
+f 78 82 106
+f 78 106 107
+f 78 107 108
+f 78 108 80
+f 78 80 109
+f 78 109 79
+f 79 109 110
+f 79 110 80
+f 80 110 109
+f 80 108 111
+f 80 111 112
+f 80 112 81
+f 81 112 113
+f 81 113 83
+f 82 114 106
+f 83 115 87
+f 83 87 86
+f 83 86 84
+f 83 113 116
+f 83 116 115
+f 87 115 116
+f 87 116 117
+f 87 117 89
+f 87 89 88
+f 89 117 90
+f 90 118 119
+f 90 119 96
+f 90 96 91
+f 90 117 118
+f 92 98 120
+f 92 120 121
+f 92 121 122
+f 92 122 123
+f 92 123 124
+f 92 124 125
+f 92 125 93
+f 93 125 126
+f 93 126 127
+f 93 127 128
+f 93 128 94
+f 94 128 129
+f 94 129 130
+f 94 130 95
+f 95 130 131
+f 95 131 101
+f 96 119 132
+f 96 132 97
+f 97 132 98
+f 98 132 120
+f 99 103 133
+f 99 133 134
+f 99 134 135
+f 101 131 129
+f 101 129 133
+f 101 133 102
+f 102 133 103
+f 104 105 136
+f 105 137 136
+f 106 114 138
+f 106 138 107
+f 107 138 139
+f 107 139 140
+f 107 140 141
+f 107 141 142
+f 107 142 108
+f 108 112 111
+f 108 142 143
+f 108 143 112
+f 112 143 113
+f 113 143 144
+f 113 144 145
+f 113 145 146
+f 113 146 116
+f 114 147 148
+f 114 148 138
+f 116 146 119
+f 116 119 118
+f 116 118 117
+f 119 146 132
+f 120 149 150
+f 120 150 121
+f 120 132 149
+f 121 150 122
+f 122 150 151
+f 122 151 152
+f 122 152 123
+f 123 152 153
+f 123 153 124
+f 124 153 125
+f 125 153 126
+f 126 153 154
+f 126 154 155
+f 126 155 156
+f 126 156 157
+f 126 157 127
+f 127 157 158
+f 127 158 128
+f 128 159 160
+f 128 160 161
+f 128 161 162
+f 128 162 129
+f 128 158 159
+f 129 131 130
+f 129 162 134
+f 129 134 133
+f 132 146 163
+f 132 163 145
+f 132 145 164
+f 132 164 149
+f 134 162 135
+f 136 137 165
+f 137 166 167
+f 137 167 168
+f 137 168 165
+f 138 169 139
+f 139 169 170
+f 139 170 171
+f 139 171 140
+f 140 171 141
+f 141 172 142
+f 141 171 173
+f 141 173 174
+f 141 174 175
+f 141 175 172
+f 142 144 143
+f 142 172 144
+f 144 172 145
+f 145 163 146
+f 145 172 175
+f 145 175 149
+f 145 149 164
+f 147 176 177
+f 147 177 148
+f 149 175 150
+f 150 175 178
+f 150 178 151
+f 151 178 152
+f 152 178 154
+f 152 154 153
+f 154 178 155
+f 155 178 156
+f 156 179 157
+f 156 178 179
+f 157 180 181
+f 157 181 158
+f 157 179 180
+f 158 181 182
+f 158 182 159
+f 159 183 160
+f 159 182 183
+f 160 183 184
+f 166 185 167
+f 167 185 186
+f 169 187 170
+f 170 187 188
+f 170 188 189
+f 170 189 171
+f 171 189 190
+f 171 190 191
+f 171 191 192
+f 171 192 173
+f 173 192 174
+f 174 192 178
+f 174 178 175
+f 176 193 177
+f 177 193 194
+f 178 192 191
+f 178 191 179
+f 179 191 190
+f 179 190 195
+f 179 195 183
+f 179 183 180
+f 180 183 182
+f 180 182 181
+f 183 196 184
+f 183 195 197
+f 183 197 196
+f 185 198 186
+f 186 198 199
+f 187 200 188
+f 188 197 201
+f 188 201 190
+f 188 190 189
+f 188 200 197
+f 190 201 195
+f 193 202 203
+f 193 203 194
+f 195 201 197
+f 196 197 200
+f 198 204 199
+f 199 204 202
+f 202 204 205
+f 202 205 206
+f 202 206 203
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_33.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03563267 0.00001860 0.08750305
+v 0.03848492 0.00001860 0.08737417
+v 0.03563267 0.00993803 0.08766973
+v 0.03301663 0.01169376 0.08700536
+v 0.03375462 0.00001860 0.08673646
+v 0.03848492 0.00139941 0.08736974
+v 0.03998820 0.00001860 0.08660759
+v 0.03563267 0.01169376 0.08766306
+v 0.03107349 0.01169376 0.08603213
+v 0.03107349 0.00001861 0.08557437
+v 0.03998400 0.00139941 0.08660316
+v 0.03872846 0.00421476 0.08716088
+v 0.03825502 0.00709182 0.08728533
+v 0.04021600 0.00001860 0.08586323
+v 0.03797893 0.00993803 0.08721645
+v 0.03776897 0.01169376 0.08710313
+v 0.03107349 0.01169379 0.07814412
+v 0.03107349 0.00001866 0.06945393
+v 0.04045220 0.00001861 0.08507887
+v 0.04044170 0.00139942 0.08507888
+v 0.03994621 0.00324545 0.08656094
+v 0.03984228 0.00514292 0.08637208
+v 0.03968166 0.00709182 0.08591214
+v 0.03830750 0.01169376 0.08626100
+v 0.03253583 0.01169384 0.06497225
+v 0.03107349 0.00421824 0.07065159
+v 0.03107349 0.00139947 0.06962726
+v 0.03392784 0.00001868 0.06497221
+v 0.04085741 0.00001862 0.08219474
+v 0.04084796 0.00139943 0.08219475
+v 0.04023384 0.00421477 0.08527664
+v 0.04068000 0.00424564 0.08219476
+v 0.04012992 0.00709183 0.08447007
+v 0.03998715 0.00887043 0.08393458
+v 0.03942867 0.00986717 0.08496781
+v 0.03894367 0.01169377 0.08503669
+v 0.03953154 0.01169384 0.06497225
+v 0.04109571 0.00001868 0.06497221
+v 0.04179276 0.00001866 0.07066490
+v 0.04179801 0.00139947 0.07066491
+v 0.04167309 0.00424568 0.07066492
+v 0.04035982 0.00709184 0.08219477
+v 0.04142954 0.00709188 0.07066493
+v 0.03939927 0.01169378 0.08219478
+v 0.03916202 0.01169377 0.08370795
+v 0.04098024 0.00993809 0.07066494
+v 0.04052568 0.01169382 0.07197147
+v 0.04054458 0.01169382 0.07070717
+v 0.03977089 0.01086970 0.06497225
+v 0.04109571 0.00139949 0.06497222
+v 0.04109151 0.00147036 0.06497222
+v 0.04090150 0.00424570 0.06497223
+v 0.04089520 0.00431657 0.06497223
+v 0.04055613 0.00709190 0.06497224
+v 0.04054353 0.00716392 0.06497224
+v 0.04012572 0.00941002 0.06497224
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 38
+f 1 38 39
+f 1 39 29
+f 1 29 19
+f 1 19 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 4
+f 4 8 16
+f 4 16 24
+f 4 24 36
+f 4 36 45
+f 4 45 44
+f 4 44 47
+f 4 47 48
+f 4 48 37
+f 4 37 25
+f 4 25 17
+f 4 17 9
+f 4 9 10
+f 4 10 5
+f 6 7 11
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 7 14 11
+f 8 13 15
+f 8 15 16
+f 9 17 26
+f 9 26 27
+f 9 27 18
+f 9 18 10
+f 11 14 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 15
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 17 25 26
+f 18 27 25
+f 18 25 28
+f 19 29 30
+f 19 30 20
+f 20 31 21
+f 20 30 32
+f 20 32 31
+f 21 31 22
+f 22 31 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 25 37 49
+f 25 49 56
+f 25 56 55
+f 25 55 54
+f 25 54 53
+f 25 53 52
+f 25 52 51
+f 25 51 50
+f 25 50 38
+f 25 38 28
+f 25 27 26
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 32
+f 31 32 33
+f 32 42 34
+f 32 34 33
+f 32 41 43
+f 32 43 42
+f 34 44 45
+f 34 45 36
+f 34 36 35
+f 34 42 43
+f 34 43 46
+f 34 46 47
+f 34 47 44
+f 37 48 49
+f 38 50 40
+f 38 40 39
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 43
+f 43 52 53
+f 43 53 54
+f 43 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 49
+f 46 49 48
+f 46 48 47
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_34.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00005088 0.02973984 0.06728790
+v 0.00139647 0.02986439 0.06739933
+v 0.00995408 0.02701894 0.06728978
+v 0.00005088 0.02741814 0.06766939
+v 0.00005088 0.03153142 0.06880067
+v 0.00139647 0.03153249 0.06879689
+v 0.00424940 0.02986439 0.06758629
+v 0.00995408 0.02932894 0.06833418
+v 0.01229179 0.02720523 0.06783369
+v 0.01229179 0.02434382 0.06780346
+v 0.01229179 0.02405108 0.06791678
+v 0.01229179 0.02282474 0.07066467
+v 0.00005088 0.02642600 0.07066469
+v 0.00005088 0.03178263 0.06967697
+v 0.01229179 0.03369875 0.07302922
+v 0.00424940 0.03144945 0.06895365
+v 0.00701607 0.03007516 0.06816609
+v 0.01219833 0.02880094 0.06879688
+v 0.01229179 0.02775027 0.06808110
+v 0.01229179 0.02325904 0.07931252
+v 0.00005088 0.02686135 0.07931253
+v 0.00005088 0.03205409 0.07066471
+v 0.01008588 0.03369875 0.07367323
+v 0.01229179 0.02862423 0.06870623
+v 0.00600957 0.03135258 0.06912551
+v 0.01229179 0.03369870 0.08657985
+v 0.01229179 0.02326862 0.07937296
+v 0.00005088 0.02728609 0.08071387
+v 0.00005088 0.03369873 0.07837582
+v 0.00005088 0.03369870 0.08582630
+v 0.01229179 0.03363270 0.08655908
+v 0.00005088 0.02766931 0.08195090
+v 0.01229179 0.02431929 0.08219640
+v 0.00005088 0.03271191 0.08541459
+v 0.01229179 0.02696034 0.08425309
+v 0.00005088 0.02823350 0.08271200
+v 0.01229179 0.02485899 0.08284230
+v 0.00005088 0.02874553 0.08339190
+v 0.00005088 0.03016985 0.08423988
+v 0.01229179 0.02558179 0.08361474
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 28
+f 1 28 32
+f 1 32 36
+f 1 36 38
+f 1 38 39
+f 1 39 34
+f 1 34 30
+f 1 30 29
+f 1 29 22
+f 1 22 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 16 7
+f 6 15 16
+f 7 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 9
+f 8 17 15
+f 8 15 18
+f 9 19 24
+f 9 24 15
+f 9 15 26
+f 9 26 31
+f 9 31 35
+f 9 35 40
+f 9 40 37
+f 9 37 33
+f 9 33 27
+f 9 27 20
+f 9 20 12
+f 9 12 11
+f 9 11 10
+f 12 20 13
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 15 24 18
+f 15 17 25
+f 15 25 16
+f 15 23 29
+f 15 29 30
+f 15 30 26
+f 16 25 17
+f 18 24 19
+f 20 27 21
+f 21 27 28
+f 22 29 23
+f 26 30 31
+f 27 32 28
+f 27 33 32
+f 30 34 35
+f 30 35 31
+f 32 33 36
+f 33 37 38
+f 33 38 36
+f 34 39 35
+f 35 39 40
+f 37 40 38
+f 38 40 39
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_35.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00905343 0.02435458 0.07061275
+v -0.00905343 0.02485643 0.06832225
+v 0.00004999 0.02642585 0.07066593
+v -0.00905343 0.02478309 0.07931190
+v -0.00905343 0.02701886 0.06730798
+v -0.00325540 0.02840505 0.06631931
+v -0.00226441 0.02840505 0.06631931
+v 0.00004999 0.02741733 0.06766840
+v 0.00004999 0.02686188 0.07931191
+v -0.00905343 0.02489022 0.08022573
+v -0.00325540 0.02848775 0.06631931
+v -0.00905343 0.02952150 0.06828879
+v -0.00226441 0.02848775 0.06631931
+v 0.00004999 0.02973953 0.06728633
+v 0.00004999 0.02728571 0.08071417
+v -0.00905343 0.02519564 0.08133848
+v -0.00696450 0.03004871 0.06817850
+v -0.00424818 0.02960796 0.06733951
+v -0.00145700 0.03152887 0.06880481
+v -0.00137056 0.02960796 0.06716817
+v -0.00905343 0.03201191 0.07075852
+v 0.00004999 0.03153075 0.06880087
+v 0.00004999 0.02767008 0.08195100
+v 0.00004999 0.02823301 0.08271121
+v 0.00004999 0.02874706 0.08339266
+v -0.00905343 0.02554242 0.08178949
+v -0.00588082 0.03131742 0.06917900
+v -0.00431056 0.03141985 0.06900372
+v -0.00905343 0.03240285 0.07136511
+v -0.00905343 0.03289247 0.07287373
+v 0.00004999 0.03178260 0.06967728
+v 0.00004999 0.03016988 0.08423953
+v -0.00905343 0.02781855 0.08396773
+v -0.00905343 0.02687501 0.08330796
+v -0.00905343 0.02635815 0.08273878
+v -0.00905343 0.03306163 0.07354729
+v 0.00004999 0.03205420 0.07066595
+v 0.00004999 0.03271199 0.08541531
+v -0.00905343 0.02837678 0.08422376
+v -0.00905343 0.03395440 0.07826811
+v 0.00004999 0.03395440 0.07837643
+v 0.00004999 0.03377675 0.08586041
+v -0.00905343 0.03082491 0.08524199
+v -0.00905343 0.03395437 0.08643747
+v 0.00004999 0.03395437 0.08593328
+v -0.00905343 0.03328243 0.08618734
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 26
+f 1 26 35
+f 1 35 34
+f 1 34 33
+f 1 33 39
+f 1 39 43
+f 1 43 46
+f 1 46 44
+f 1 44 40
+f 1 40 36
+f 1 36 30
+f 1 30 29
+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 22
+f 3 22 31
+f 3 31 37
+f 3 37 41
+f 3 41 45
+f 3 45 42
+f 3 42 38
+f 3 38 32
+f 3 32 25
+f 3 25 24
+f 3 24 23
+f 3 23 15
+f 3 15 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 5 12 11
+f 6 11 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 11 12 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 12 21 17
+f 13 20 14
+f 14 20 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 17 21 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 22 20
+f 19 28 29
+f 19 29 22
+f 21 29 28
+f 21 28 27
+f 22 29 30
+f 22 30 31
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 30 36 37
+f 30 37 31
+f 32 38 33
+f 33 38 39
+f 36 40 41
+f 36 41 37
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 45 43
+f 43 45 46
+f 44 46 45
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_36.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03277627 0.01847878 0.08770750
+v 0.03302729 0.02156728 0.08730248
+v 0.02970453 0.02156728 0.08732918
+v 0.03277627 0.01702923 0.08758287
+v 0.03562805 0.01169490 0.08766296
+v 0.03562805 0.01278593 0.08765852
+v 0.03517518 0.01847878 0.08717117
+v 0.03464468 0.02076906 0.08688409
+v 0.03507943 0.02156729 0.08530179
+v 0.02966313 0.02107636 0.08726687
+v 0.03277627 0.01563187 0.08746269
+v 0.01853809 0.02156729 0.08396652
+v 0.03776817 0.01169490 0.08710214
+v 0.03301435 0.01169490 0.08700423
+v 0.03585837 0.01580098 0.08726685
+v 0.03554524 0.01702923 0.08722457
+v 0.03763620 0.01278593 0.08703094
+v 0.03731790 0.01496508 0.08677724
+v 0.03696078 0.01686205 0.08630545
+v 0.03692455 0.01703020 0.08619641
+v 0.03658554 0.01850295 0.08523725
+v 0.03508202 0.02156729 0.08529289
+v 0.01595545 0.02156730 0.08199477
+v 0.02522502 0.01169491 0.08385744
+v 0.02697956 0.01169491 0.08459851
+v 0.03830644 0.01169490 0.08625870
+v 0.03894304 0.01169491 0.08503470
+v 0.03865062 0.01278594 0.08507699
+v 0.03765431 0.01580099 0.08523724
+v 0.03703323 0.01702923 0.08585146
+v 0.03725837 0.01757040 0.08438266
+v 0.03558406 0.02156730 0.08249328
+v 0.01468224 0.02156731 0.07931088
+v 0.02387676 0.01169492 0.08237083
+v 0.02434257 0.01169492 0.08294500
+v 0.03916042 0.01169491 0.08370611
+v 0.03910608 0.01278595 0.08219503
+v 0.03738000 0.01702924 0.08464527
+v 0.03678739 0.01926445 0.08219283
+v 0.03998594 0.01443653 0.07226951
+v 0.03575226 0.02132474 0.08219284
+v 0.03733083 0.02043861 0.07268793
+v 0.03561770 0.02156730 0.08219284
+v 0.01410775 0.02156734 0.07066722
+v 0.02289339 0.01169493 0.07931084
+v 0.03939850 0.01169492 0.08219502
+v 0.04023954 0.01278598 0.07278360
+v 0.04052420 0.01169496 0.07197352
+v 0.04054490 0.01169496 0.07070724
+v 0.03998594 0.01443654 0.07173986
+v 0.03731013 0.02039707 0.07066721
+v 0.03667870 0.02156734 0.07066722
+v 0.03819258 0.01847884 0.07066721
+v 0.01425266 0.02156734 0.06951889
+v 0.02248969 0.01169497 0.06877109
+v 0.02240947 0.01169496 0.07014865
+v 0.03953048 0.01169498 0.06497225
+v 0.04026542 0.01281111 0.07073395
+v 0.03921218 0.01278601 0.06497226
+v 0.03919148 0.01285655 0.06497226
+v 0.03828833 0.01563195 0.06497227
+v 0.03826504 0.01570056 0.06497227
+v 0.03742658 0.01790097 0.06497228
+v 0.03676410 0.01935245 0.06497228
+v 0.03572639 0.02131997 0.06497229
+v 0.03558406 0.02156736 0.06497229
+v 0.01508853 0.02156735 0.06820587
+v 0.02292703 0.01169497 0.06822141
+v 0.03253302 0.01169498 0.06497225
+v 0.02792411 0.02156736 0.06497229
+v 0.01540683 0.02156735 0.06803896
+v 0.02540358 0.01169498 0.06638318
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 22
+f 2 22 32
+f 2 32 43
+f 2 43 52
+f 2 52 66
+f 2 66 70
+f 2 70 71
+f 2 71 67
+f 2 67 54
+f 2 54 44
+f 2 44 33
+f 2 33 23
+f 2 23 12
+f 2 12 3
+f 3 10 11
+f 3 11 4
+f 3 12 10
+f 4 11 5
+f 5 13 6
+f 5 11 14
+f 5 14 25
+f 5 25 24
+f 5 24 35
+f 5 35 34
+f 5 34 45
+f 5 45 56
+f 5 56 55
+f 5 55 68
+f 5 68 72
+f 5 72 69
+f 5 69 57
+f 5 57 49
+f 5 49 48
+f 5 48 46
+f 5 46 36
+f 5 36 27
+f 5 27 26
+f 5 26 13
+f 6 15 16
+f 6 16 7
+f 6 13 17
+f 6 17 15
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 10 14 11
+f 10 12 14
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 13 26 17
+f 15 17 16
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 27 36 28
+f 28 36 37
+f 28 37 31
+f 28 31 38
+f 28 38 29
+f 29 38 30
+f 30 38 31
+f 31 39 32
+f 31 37 40
+f 31 40 39
+f 32 41 42
+f 32 42 43
+f 32 39 41
+f 33 44 45
+f 33 45 34
+f 36 46 37
+f 37 46 40
+f 39 40 42
+f 39 42 41
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 42
+f 42 51 52
+f 42 52 43
+f 42 50 53
+f 42 53 51
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 46 48 47
+f 49 57 58
+f 49 58 50
+f 50 58 57
+f 50 57 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 53
+f 51 64 65
+f 51 65 52
+f 51 53 64
+f 52 65 66
+f 53 63 64
+f 54 67 55
+f 55 67 68
+f 57 69 70
+f 57 70 66
+f 57 66 65
+f 57 65 64
+f 57 64 63
+f 57 63 62
+f 57 62 61
+f 57 61 60
+f 57 60 59
+f 67 71 72
+f 67 72 68
+f 69 72 70
+f 70 72 71
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_37.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03144228 -0.00884779 0.08631455
+v -0.02998606 -0.00884778 0.08568387
+v -0.03144228 0.00001746 0.08603533
+v -0.03144228 -0.00884776 0.07820117
+v -0.02709817 -0.00884778 0.08429142
+v -0.02998606 0.00001747 0.08539515
+v -0.03144228 0.00001751 0.07327922
+v -0.03144228 -0.00700371 0.07659407
+v -0.02973232 -0.00884773 0.07066528
+v -0.02590983 -0.00884778 0.08360755
+v -0.02769644 0.00001747 0.08420027
+v -0.03069371 0.00001752 0.07066531
+v -0.03144228 -0.00164169 0.07327921
+v -0.03066469 -0.00144816 0.07066530
+v -0.02941161 -0.00884773 0.06970786
+v -0.02581682 -0.00884778 0.08354867
+v -0.02627072 0.00001748 0.08296551
+v -0.03007833 0.00001753 0.06920068
+v -0.02946965 -0.00144815 0.06784623
+v -0.02932231 -0.00429534 0.06797159
+v -0.02913406 -0.00714079 0.06827553
+v -0.02899267 -0.00884772 0.06856617
+v -0.02482715 -0.00884777 0.08224741
+v -0.02578482 0.00001748 0.08222274
+v -0.02949792 0.00001753 0.06783294
+v -0.02713389 -0.00429534 0.06690779
+v -0.02713389 -0.00714079 0.06702556
+v -0.02793455 -0.00884772 0.06778162
+v -0.02410462 -0.00884777 0.08036866
+v -0.02534877 0.00001748 0.08152367
+v -0.02836465 0.00001753 0.06742452
+v -0.02713389 0.00001753 0.06700849
+v -0.02453546 -0.00884772 0.06801338
+v -0.02546336 -0.00884772 0.06760685
+v -0.02713389 -0.00884772 0.06728201
+v -0.02384120 -0.00884776 0.07931246
+v -0.02521185 0.00001748 0.08044278
+v -0.02629676 0.00001753 0.06767717
+v -0.02542318 0.00001753 0.06839903
+v -0.02385088 -0.00884773 0.07071087
+v -0.02506898 0.00001749 0.07931249
+v -0.02530933 0.00001752 0.07066531
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 28
+f 1 28 35
+f 1 35 34
+f 1 34 33
+f 1 33 40
+f 1 40 36
+f 1 36 29
+f 1 29 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 17
+f 3 17 24
+f 3 24 30
+f 3 30 37
+f 3 37 41
+f 3 41 42
+f 3 42 39
+f 3 39 38
+f 3 38 32
+f 3 32 31
+f 3 31 25
+f 3 25 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 12 18 14
+f 12 14 13
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 23 29 30
+f 23 30 24
+f 25 31 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 26 31 32
+f 27 34 35
+f 27 35 28
+f 29 36 30
+f 30 36 37
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 36 41 37
+f 36 40 41
+f 39 42 40
+f 40 42 41
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_38.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04179710 0.00001752 0.07066555
+v -0.04112609 0.00001753 0.06679199
+v -0.04112305 -0.00144815 0.06679198
+v -0.04178696 -0.00144816 0.07066554
+v -0.04073078 -0.00144820 0.08219394
+v -0.04073585 0.00001748 0.08219395
+v -0.03339728 0.00001753 0.06679199
+v -0.04101560 -0.00331822 0.06679198
+v -0.04164405 -0.00429535 0.07066553
+v -0.04057063 -0.00429539 0.08219393
+v -0.04025539 -0.00429540 0.08491095
+v -0.04027769 -0.00170681 0.08536414
+v -0.04032635 0.00001747 0.08520421
+v -0.03309724 -0.00884772 0.06679196
+v -0.03144303 0.00001751 0.07328005
+v -0.04094567 -0.00429534 0.06679197
+v -0.04137341 -0.00714080 0.07066552
+v -0.04011146 -0.00714085 0.08430602
+v -0.03991077 -0.00429541 0.08635251
+v -0.03996955 -0.00282712 0.08651452
+v -0.03999388 -0.00092929 0.08654529
+v -0.04014491 0.00001746 0.08594857
+v -0.04034662 -0.00884772 0.06679196
+v -0.03144303 -0.00164169 0.07328004
+v -0.03144303 -0.00700371 0.07659377
+v -0.03144303 -0.00884776 0.07820142
+v -0.03144303 0.00001746 0.08603470
+v -0.04075308 -0.00616454 0.06679197
+v -0.04063043 -0.00714079 0.06679196
+v -0.04108960 -0.00884773 0.07066552
+v -0.04000402 -0.00872021 0.08378722
+v -0.03971210 -0.00714085 0.08574758
+v -0.03868936 -0.00884779 0.08660268
+v -0.03811768 -0.00884779 0.08720760
+v -0.03828493 -0.00714086 0.08725886
+v -0.03848461 -0.00429541 0.08728964
+v -0.03999489 0.00001746 0.08654529
+v -0.03882924 -0.00170682 0.08715225
+v -0.03940497 0.00001746 0.08685903
+v -0.03144303 -0.00884779 0.08631355
+v -0.03197011 0.00001746 0.08627256
+v -0.03993712 -0.00884778 0.08391641
+v -0.03953573 -0.00884778 0.08518982
+v -0.03569311 -0.00884779 0.08774075
+v -0.03867111 0.00001746 0.08724249
+v -0.03308407 -0.00884779 0.08705176
+v -0.03339626 0.00001746 0.08690620
+v -0.03569311 -0.00714086 0.08773255
+v -0.03569311 -0.00429541 0.08771206
+v -0.03569311 0.00001746 0.08767517
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 37
+f 1 37 39
+f 1 39 45
+f 1 45 50
+f 1 50 47
+f 1 47 41
+f 1 41 27
+f 1 27 15
+f 1 15 7
+f 1 7 2
+f 2 7 14
+f 2 14 23
+f 2 23 29
+f 2 29 28
+f 2 28 16
+f 2 16 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 9 10
+f 7 15 14
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 15 24
+f 14 24 25
+f 14 25 26
+f 14 26 40
+f 14 40 46
+f 14 46 44
+f 14 44 34
+f 14 34 33
+f 14 33 43
+f 14 43 42
+f 14 42 30
+f 14 30 23
+f 15 27 40
+f 15 40 26
+f 15 26 25
+f 15 25 24
+f 16 28 17
+f 17 28 29
+f 17 29 23
+f 17 23 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 33 34
+f 19 34 20
+f 19 32 33
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 37 22
+f 21 36 38
+f 21 38 39
+f 21 39 37
+f 27 41 40
+f 30 42 31
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 34 44 35
+f 35 44 36
+f 36 44 45
+f 36 45 38
+f 38 45 39
+f 40 41 46
+f 41 47 46
+f 44 46 48
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 46 47 50
+f 46 50 49
+f 46 49 48
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_39.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.04136022 0.00751545 0.07066493
+v -0.04094468 0.00993902 0.07066494
+v -0.04054467 0.00751547 0.06624641
+v -0.04010194 0.00751540 0.08422364
+v -0.04001262 0.00871132 0.08382789
+v -0.04019903 0.01330245 0.07255109
+v -0.04019903 0.01330245 0.07242058
+v -0.04019321 0.01330246 0.07114491
+v -0.04027670 0.01272064 0.07078494
+v -0.04000097 0.01024553 0.06624642
+v -0.04018932 0.00947506 0.06624641
+v -0.03336198 0.00751547 0.06624641
+v -0.03968640 0.00751540 0.08566351
+v -0.03946892 0.00977185 0.08490359
+v -0.03869997 0.01278517 0.08507832
+v -0.03908250 0.01278518 0.08219439
+v -0.03853297 0.01330241 0.08511832
+v -0.03914270 0.01330248 0.06624643
+v -0.03932134 0.01275522 0.06624643
+v -0.03189593 0.01330248 0.06624643
+v -0.02713466 0.00751546 0.06692003
+v -0.03826112 0.00751539 0.08725283
+v -0.03803782 0.00993896 0.08719811
+v -0.03772325 0.01278516 0.08704024
+v -0.03764946 0.01330240 0.08698340
+v -0.02428217 0.01330247 0.06729686
+v -0.02428217 0.01278523 0.06725686
+v -0.02485111 0.00751546 0.06792414
+v -0.03791160 0.00751539 0.08733493
+v -0.03569213 0.01278516 0.08771386
+v -0.03742809 0.01330240 0.08708023
+v -0.02202969 0.01330247 0.06830307
+v -0.02220639 0.01278523 0.06841043
+v -0.02272291 0.01108681 0.06896826
+v -0.02473460 0.00751546 0.06832831
+v -0.03569213 0.00751539 0.08772015
+v -0.03569213 0.00993896 0.08774964
+v -0.03517367 0.01330240 0.08768860
+v -0.03573679 0.01330240 0.08764018
+v -0.02177919 0.01330247 0.06896827
+v -0.02152288 0.01330246 0.07074495
+v -0.02428605 0.00751545 0.07068178
+v -0.03529407 0.00751539 0.08761911
+v -0.03262799 0.01330240 0.08725285
+v -0.02178114 0.01330243 0.07941570
+v -0.02423556 0.00751542 0.07933148
+v -0.03322606 0.00751539 0.08698549
+v -0.03208428 0.01330240 0.08706340
+v -0.02228989 0.01330242 0.08147445
+v -0.02284524 0.01134056 0.08077135
+v -0.02492878 0.00751541 0.08191018
+v -0.02998715 0.00751540 0.08553299
+v -0.02659872 0.01330241 0.08479625
+v -0.02934247 0.01330240 0.08593719
+v -0.02327632 0.01330242 0.08266171
+v -0.02582977 0.00751540 0.08315217
+v -0.02952889 0.00751540 0.08531617
+v -0.02491713 0.01330241 0.08404053
+v -0.02351904 0.01330242 0.08292695
+v -0.02601424 0.00751540 0.08336057
+v -0.02740457 0.00751540 0.08425733
+f 1 2 3
+f 1 3 12
+f 1 12 21
+f 1 21 28
+f 1 28 35
+f 1 35 42
+f 1 42 46
+f 1 46 51
+f 1 51 56
+f 1 56 60
+f 1 60 61
+f 1 61 57
+f 1 57 52
+f 1 52 47
+f 1 47 43
+f 1 43 36
+f 1 36 29
+f 1 29 22
+f 1 22 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 5 6
+f 3 11 10
+f 3 10 19
+f 3 19 18
+f 3 18 20
+f 3 20 12
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 25
+f 6 25 31
+f 6 31 39
+f 6 39 38
+f 6 38 44
+f 6 44 48
+f 6 48 54
+f 6 54 53
+f 6 53 58
+f 6 58 59
+f 6 59 55
+f 6 55 49
+f 6 49 45
+f 6 45 41
+f 6 41 40
+f 6 40 32
+f 6 32 26
+f 6 26 20
+f 6 20 18
+f 6 18 8
+f 6 8 7
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 12 20 21
+f 13 15 14
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 15 25 17
+f 15 17 16
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 26 32 27
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 32 40 33
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 36 43 44
+f 36 44 37
+f 37 44 38
+f 41 45 46
+f 41 46 42
+f 43 47 44
+f 44 47 48
+f 45 49 50
+f 45 50 46
+f 46 50 51
+f 47 52 53
+f 47 53 54
+f 47 54 48
+f 49 55 56
+f 49 56 51
+f 49 51 50
+f 52 57 58
+f 52 58 53
+f 55 59 60
+f 55 60 56
+f 57 61 58
+f 58 61 60
+f 58 60 59
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_4.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.03599818 0.00001501 -0.08146364
+v -0.03716273 0.00001498 -0.07218690
+v -0.02927294 0.00001501 -0.08146364
+v -0.03599818 -0.00145058 -0.08146365
+v -0.03716273 -0.00072088 -0.07218690
+v -0.03730101 0.00001497 -0.07084651
+v -0.03131817 0.00001491 -0.05440162
+v -0.02261174 -0.02238908 -0.05440170
+v -0.02261174 -0.01853796 -0.08146371
+v -0.03579584 -0.00429592 -0.08146366
+v -0.03704481 -0.00429596 -0.07144255
+v -0.03710304 -0.00261880 -0.07190877
+v -0.03729665 -0.00158246 -0.07080944
+v -0.03748297 0.00001496 -0.06772071
+v -0.03742183 0.00001491 -0.05440162
+v -0.02261174 -0.03130530 -0.05440173
+v -0.02261174 -0.02924171 -0.08146375
+v -0.03570850 -0.00495820 -0.08146366
+v -0.03715108 -0.00589647 -0.06945316
+v -0.03721513 -0.00429596 -0.07000151
+v -0.03747133 -0.00145063 -0.06772072
+v -0.03741310 -0.00088958 -0.05440162
+v -0.02271801 -0.03122558 -0.05440173
+v -0.02267434 -0.03118874 -0.06772082
+v -0.02261174 -0.03123473 -0.06772082
+v -0.02261174 -0.02929690 -0.08112998
+v -0.02277623 -0.02910374 -0.08146375
+v -0.03540717 -0.00714126 -0.08146367
+v -0.03683665 -0.00696347 -0.07048893
+v -0.03621071 -0.00998971 -0.07060019
+v -0.03630824 -0.00998972 -0.06772075
+v -0.03688469 -0.00732528 -0.06772074
+v -0.03715108 -0.00589954 -0.06772073
+v -0.03728209 -0.00429597 -0.06772073
+v -0.03740728 -0.00145068 -0.05440163
+v -0.02443280 -0.02964960 -0.05440173
+v -0.02423192 -0.02976300 -0.06772082
+v -0.02261174 -0.03113968 -0.06909299
+v -0.02412856 -0.02966181 -0.07060026
+v -0.02261174 -0.03102316 -0.07060026
+v -0.02316345 -0.02877260 -0.08146375
+v -0.03526452 -0.00780354 -0.08146367
+v -0.03444788 -0.01139088 -0.08146368
+v -0.03438383 -0.01178334 -0.08124646
+v -0.03540717 -0.01283505 -0.07060020
+v -0.03550762 -0.01283506 -0.06772076
+v -0.03618305 -0.00998977 -0.05440166
+v -0.03680608 -0.00714136 -0.05440165
+v -0.03709722 -0.00546421 -0.05440164
+v -0.03721658 -0.00404154 -0.05440163
+v -0.02569487 -0.02847835 -0.05440172
+v -0.02565848 -0.02844151 -0.06772081
+v -0.02555513 -0.02833725 -0.07060025
+v -0.02336142 -0.02895657 -0.07924920
+v -0.02478798 -0.02757376 -0.07924919
+v -0.02459001 -0.02737752 -0.08146374
+v -0.03426155 -0.01201330 -0.08146368
+v -0.03282480 -0.01568035 -0.08146370
+v -0.03400972 -0.01347890 -0.07924914
+v -0.03459636 -0.01505491 -0.07060021
+v -0.03465750 -0.01520822 -0.06772077
+v -0.03457452 -0.01502737 -0.05440168
+v -0.03535622 -0.01283511 -0.05440167
+v -0.02597436 -0.02817481 -0.05440172
+v -0.02698606 -0.02701884 -0.06772081
+v -0.02688416 -0.02691458 -0.07060025
+v -0.02599765 -0.02595485 -0.08146374
+v -0.02567449 -0.02628599 -0.08146374
+v -0.03180000 -0.01785728 -0.08146371
+v -0.03399080 -0.01647451 -0.07060021
+v -0.03405630 -0.01662783 -0.06772077
+v -0.03398643 -0.01644698 -0.05440168
+v -0.02685505 -0.02721819 -0.05440172
+v -0.02841263 -0.02545513 -0.06772080
+v -0.02831073 -0.02533861 -0.07060024
+v -0.02869357 -0.02296540 -0.08118028
+v -0.02835149 -0.02328121 -0.08146373
+v -0.03162532 -0.01818842 -0.08146371
+v -0.03293979 -0.01852573 -0.07060022
+v -0.03307081 -0.01852574 -0.06772078
+v -0.03295581 -0.01852579 -0.05440169
+v -0.03335030 -0.01773167 -0.05440169
+v -0.02843155 -0.02547971 -0.05440171
+v -0.02950876 -0.02403246 -0.06772080
+v -0.02943306 -0.02391594 -0.07060024
+v -0.03085817 -0.02197203 -0.07060023
+v -0.03119589 -0.01956204 -0.07924916
+v -0.03104159 -0.01927995 -0.08146371
+v -0.02891484 -0.02254841 -0.08146372
+v -0.03178690 -0.02054936 -0.07060023
+v -0.03185386 -0.02065975 -0.06772079
+v -0.03180873 -0.02062607 -0.05440170
+v -0.02884497 -0.02493701 -0.05440171
+v -0.02951312 -0.02405397 -0.05440171
+v -0.03093387 -0.02208242 -0.06772079
+v -0.03093678 -0.02204874 -0.05440170
+v -0.03127013 -0.02150911 -0.05440170
+v -0.03005464 -0.02329358 -0.05440171
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 27
+f 1 27 41
+f 1 41 56
+f 1 56 68
+f 1 68 67
+f 1 67 77
+f 1 77 89
+f 1 89 88
+f 1 88 78
+f 1 78 69
+f 1 69 58
+f 1 58 57
+f 1 57 43
+f 1 43 42
+f 1 42 28
+f 1 28 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 7 15 22
+f 7 22 35
+f 7 35 50
+f 7 50 49
+f 7 49 48
+f 7 48 47
+f 7 47 63
+f 7 63 62
+f 7 62 72
+f 7 72 82
+f 7 82 81
+f 7 81 92
+f 7 92 97
+f 7 97 96
+f 7 96 98
+f 7 98 94
+f 7 94 93
+f 7 93 83
+f 7 83 73
+f 7 73 64
+f 7 64 51
+f 7 51 36
+f 7 36 23
+f 7 23 16
+f 7 16 8
+f 8 16 25
+f 8 25 38
+f 8 38 40
+f 8 40 26
+f 8 26 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 11 20 12
+f 11 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 16 23 24
+f 16 24 25
+f 17 26 27
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 21
+f 19 21 20
+f 21 34 35
+f 21 35 22
+f 23 36 37
+f 23 37 24
+f 24 38 25
+f 24 37 39
+f 24 39 38
+f 26 40 27
+f 27 40 41
+f 28 42 30
+f 28 30 29
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 30 42 43
+f 31 47 48
+f 31 48 32
+f 31 46 47
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 35
+f 36 51 52
+f 36 52 37
+f 37 52 39
+f 38 39 40
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 54 41
+f 41 54 53
+f 41 53 55
+f 41 55 56
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 51 64 65
+f 51 65 52
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 55
+f 55 68 56
+f 58 60 59
+f 58 69 70
+f 58 70 60
+f 60 70 71
+f 60 71 61
+f 61 71 72
+f 61 72 62
+f 64 73 65
+f 65 73 74
+f 65 74 66
+f 66 74 75
+f 66 75 67
+f 67 75 76
+f 67 76 77
+f 69 78 79
+f 69 79 70
+f 70 79 71
+f 71 79 80
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 73 83 74
+f 74 83 84
+f 74 84 85
+f 74 85 75
+f 75 85 76
+f 76 85 86
+f 76 86 87
+f 76 87 88
+f 76 88 89
+f 76 89 77
+f 78 88 87
+f 78 87 79
+f 79 87 90
+f 79 90 80
+f 80 90 91
+f 80 91 92
+f 80 92 81
+f 83 93 84
+f 84 93 94
+f 84 94 95
+f 84 95 86
+f 84 86 85
+f 86 95 90
+f 86 90 87
+f 90 95 91
+f 91 95 96
+f 91 96 97
+f 91 97 92
+f 94 98 95
+f 95 98 96
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_40.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.00715961 -0.03845682 0.08779564
+v -0.01301194 -0.03561025 0.08756816
+v -0.01001451 -0.03845682 0.08775773
+v -0.00430910 -0.04118438 0.08729221
+v 0.00424903 -0.04115516 0.08730485
+v 0.00710174 -0.03845682 0.08777036
+v -0.01301194 -0.03346477 0.08684359
+v -0.01301194 -0.03845790 0.08750075
+v -0.01286722 -0.03845682 0.08752602
+v 0.00938435 -0.03845682 0.08775983
+v 0.00938435 -0.03598460 0.08719323
+v 0.00938435 -0.03549123 0.08704789
+v -0.00715961 -0.04094960 0.08724587
+v -0.00227207 -0.04270341 0.08647494
+v -0.00037319 -0.04273046 0.08652549
+v -0.00137745 -0.04157279 0.08714898
+v -0.00005963 -0.04156522 0.08715109
+v 0.00122091 -0.04155764 0.08714898
+v 0.00015306 -0.04273155 0.08652760
+v 0.00710174 -0.04094635 0.08726482
+v 0.00938435 -0.03895234 0.08765873
+v -0.01301194 -0.03317157 0.08671720
+v 0.00938435 -0.03401764 0.08642653
+v -0.01286722 -0.04019224 0.08679932
+v -0.01301194 -0.04016736 0.08677616
+v -0.01001451 -0.04061636 0.08710475
+v -0.00137745 -0.04302798 0.08533751
+v -0.00430910 -0.04260712 0.08624534
+v -0.00430910 -0.04302474 0.08480249
+v -0.00005963 -0.04273155 0.08652760
+v -0.00005963 -0.04302582 0.08532066
+v 0.00122091 -0.04302258 0.08530381
+v 0.00205633 -0.04267745 0.08641807
+v 0.00938435 -0.04070400 0.08715951
+v -0.01301194 -0.03317151 0.07159150
+v -0.00005963 -0.03317156 0.08563454
+v 0.00938435 -0.03401761 0.07768728
+v -0.01001451 -0.04184002 0.08507633
+v -0.00743370 -0.04244158 0.08517321
+v -0.01301194 -0.04091172 0.08507633
+v -0.01286722 -0.04096690 0.08507633
+v -0.00145858 -0.04348563 0.08219483
+v -0.00666625 -0.04288841 0.08427380
+v -0.00430910 -0.04332767 0.08219483
+v -0.00005963 -0.04324437 0.08381883
+v 0.00139632 -0.04347373 0.08219483
+v 0.00424903 -0.04300743 0.08472035
+v 0.00424903 -0.04257791 0.08616109
+v 0.00938435 -0.04103291 0.08670243
+v -0.01301194 -0.03420907 0.06679323
+v -0.01147047 -0.03317151 0.07119340
+v -0.00005963 -0.03317153 0.07690793
+v 0.00938435 -0.03552253 0.06627717
+v -0.01001451 -0.04232039 0.08219483
+v -0.01301194 -0.04136829 0.08219484
+v -0.01286722 -0.04142671 0.08219484
+v -0.00145858 -0.04420292 0.07066678
+v -0.00005963 -0.04421374 0.07066678
+v 0.00139632 -0.04422348 0.07066467
+v -0.00005963 -0.04348022 0.08219483
+v -0.00852786 -0.04271313 0.08219483
+v -0.00710260 -0.04296955 0.08219483
+v -0.00430910 -0.04396597 0.07066678
+v 0.00424903 -0.04329846 0.08219483
+v 0.00654699 -0.04287543 0.08422114
+v 0.00733855 -0.04243184 0.08513951
+v 0.00938435 -0.04198608 0.08508897
+v -0.01301194 -0.04132929 0.06679321
+v -0.01011538 -0.03317151 0.07145459
+v -0.00005963 -0.03671374 0.06627717
+v 0.00938435 -0.04248695 0.06627714
+v -0.01147485 -0.04273582 0.07214544
+v -0.01301194 -0.04200334 0.07087321
+v -0.00145858 -0.04375499 0.06679320
+v -0.00005963 -0.04373117 0.06627714
+v 0.00139632 -0.04374632 0.06627714
+v 0.00424903 -0.04402656 0.07066467
+v -0.00715961 -0.04357648 0.07066678
+v -0.00430910 -0.04346719 0.06679320
+v 0.00698114 -0.04295332 0.08219483
+v 0.00840640 -0.04270231 0.08219483
+v 0.00938435 -0.04245780 0.08219483
+v 0.00938435 -0.04217001 0.08401683
+v -0.01286722 -0.04138555 0.06679321
+v 0.00938435 -0.04292947 0.06906595
+v 0.00915192 -0.04255403 0.06627714
+v -0.01147485 -0.04273581 0.07202537
+v -0.01260190 -0.04216780 0.07090480
+v -0.00704778 -0.04301494 0.06679320
+v -0.00751264 -0.04291540 0.06679320
+v -0.01001890 -0.04229004 0.06679320
+v 0.00276019 -0.04363921 0.06627714
+v 0.00710174 -0.04366087 0.07066467
+v 0.00424903 -0.04350829 0.06627714
+v -0.01002109 -0.04297492 0.07090479
+v -0.00907604 -0.04285373 0.06861519
+v 0.00938435 -0.04312640 0.07243611
+v -0.01097711 -0.04259624 0.07010228
+v 0.00938435 -0.04317724 0.07071312
+v 0.00704692 -0.04304955 0.06627714
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 22
+f 2 22 35
+f 2 35 50
+f 2 50 68
+f 2 68 73
+f 2 73 55
+f 2 55 40
+f 2 40 25
+f 2 25 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 12
+f 2 12 7
+f 3 9 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 10
+f 5 10 6
+f 5 16 17
+f 7 12 23
+f 7 23 22
+f 8 24 9
+f 8 25 24
+f 9 26 13
+f 9 24 26
+f 10 21 34
+f 10 34 49
+f 10 49 67
+f 10 67 83
+f 10 83 82
+f 10 82 97
+f 10 97 99
+f 10 99 85
+f 10 85 71
+f 10 71 53
+f 10 53 37
+f 10 37 23
+f 10 23 12
+f 10 12 11
+f 13 26 14
+f 14 27 15
+f 14 26 28
+f 14 28 29
+f 14 29 27
+f 15 27 30
+f 15 30 16
+f 16 30 19
+f 16 19 17
+f 17 19 18
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 30 27
+f 19 27 31
+f 20 34 21
+f 20 33 34
+f 22 23 36
+f 22 36 52
+f 22 52 69
+f 22 69 51
+f 22 51 35
+f 23 37 52
+f 23 52 36
+f 24 25 38
+f 24 38 39
+f 24 39 28
+f 24 28 26
+f 25 40 41
+f 25 41 38
+f 27 29 42
+f 27 42 31
+f 28 39 43
+f 28 43 29
+f 29 43 44
+f 29 44 42
+f 31 45 32
+f 31 42 45
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 35 51 50
+f 37 53 52
+f 38 41 54
+f 38 54 43
+f 38 43 39
+f 40 55 56
+f 40 56 41
+f 41 56 54
+f 42 44 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 45
+f 43 54 61
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 57
+f 45 60 46
+f 46 60 59
+f 46 59 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 50 51 69
+f 50 69 53
+f 50 53 70
+f 50 70 75
+f 50 75 68
+f 52 53 69
+f 53 71 86
+f 53 86 100
+f 53 100 94
+f 53 94 92
+f 53 92 76
+f 53 76 75
+f 53 75 70
+f 54 72 61
+f 54 56 72
+f 55 73 72
+f 55 72 56
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 57 63 74
+f 58 76 59
+f 59 76 77
+f 59 77 64
+f 61 72 62
+f 62 78 63
+f 62 72 78
+f 63 79 74
+f 63 78 79
+f 64 77 80
+f 64 80 65
+f 65 80 81
+f 65 81 82
+f 65 82 83
+f 65 83 67
+f 65 67 66
+f 68 75 84
+f 68 84 73
+f 71 85 86
+f 72 73 87
+f 72 87 78
+f 73 84 88
+f 73 88 87
+f 74 79 75
+f 75 79 89
+f 75 89 90
+f 75 90 91
+f 75 91 84
+f 76 92 77
+f 77 93 80
+f 77 92 94
+f 77 94 93
+f 78 90 89
+f 78 89 79
+f 78 87 95
+f 78 95 96
+f 78 96 90
+f 80 93 81
+f 81 93 97
+f 81 97 82
+f 84 91 98
+f 84 98 88
+f 85 99 100
+f 85 100 86
+f 87 88 98
+f 87 98 95
+f 90 96 91
+f 91 96 98
+f 93 94 100
+f 93 100 99
+f 93 99 97
+f 95 98 96
+

dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mjcf/mesh/red_cup_collision_41.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02304753 0.02156822 0.08521117
+v 0.02304753 0.02763376 0.08686693
+v 0.02136937 0.02980569 0.08714437
+v 0.01893010 0.03111072 0.08694180
+v 0.02136703 0.02156822 0.08481264
+v 0.02304753 0.02156827 0.07031382
+v 0.02304753 0.02984026 0.08746143
+v 0.02136820 0.03111072 0.08739758
+v 0.01708079 0.03111072 0.08637154
+v 0.01708079 0.02701815 0.08524641
+v 0.01708079 0.02419136 0.08442954
+v 0.01868944 0.02156822 0.08401559
+v 0.02249730 0.02156827 0.06957182
+v 0.02304753 0.02720785 0.06497009
+v 0.02304753 0.03057731 0.08733373
+v 0.02304753 0.03111072 0.08724125
+v 0.01708079 0.03111077 0.07276665
+v 0.01853582 0.02156822 0.08396715
+v 0.01708079 0.02238094 0.08378220
+v 0.02114215 0.02156828 0.06840266
+v 0.02099437 0.02156828 0.06831459
+v 0.01827180 0.02156828 0.06735681
+v 0.01833664 0.03111080 0.06497010
+v 0.02304753 0.03111080 0.06497010
+v 0.01708079 0.02599062 0.06882323
+v 0.01708079 0.02156823 0.08285524
+v 0.01708079 0.02156828 0.06764965
+v 0.01708079 0.02275654 0.06733920
+v 0.01708079 0.02414845 0.06782800
+v 0.01708079 0.02526851 0.06836965
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 26
+f 1 26 27
+f 1 27 22
+f 1 22 21
+f 1 21 20
+f 1 20 13
+f 1 13 6
+f 1 6 14
+f 1 14 24
+f 1 24 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 16
+f 4 16 24
+f 4 24 23
+f 4 23 17
+f 4 17 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 9 17 25
+f 9 25 30
+f 9 30 29
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 19
+f 9 19 11
+f 9 11 10
+f 11 18 12
+f 11 19 18
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 17 23 25
+f 18 19 26
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 25
+