Add asset food/ingredients/6765535ef0c8544ebf7db217923ce868

.gitattributes

@@ -3634,5 +3634,6 @@ dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/chili_009.usd filter=l
 dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/mesh/chili_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/chili_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/bread_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/bread_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.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/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.127192</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>smooth red spherical object resembling a ripe tomato</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120011017</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: visible seam suggests redundant or overlapping geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.250344753265381</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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>
+   </custom_data>
+</robot>

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358b1e518a5850adf297227dc751d29b6218f203ef6e277c88bf9f20a43207d3
+size 951231

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/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/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddba57f43759d32f9cd64e3de4820a4f34c598c09ca5a68f40458d6e6d7dcb86
+size 2927916

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62e1b472b7313ce912f046d870d08338db925a30c16605e695c6d22537586d7
+size 2942153

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/6765535ef0c8544ebf7db217923ce868.xml

@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tomato">
+  <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/tomato.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tomato_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tomato_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tomato_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tomato_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tomato_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tomato_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tomato_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tomato_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tomato_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tomato_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tomato_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tomato_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tomato_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tomato_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tomato_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tomato_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tomato_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tomato_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tomato_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tomato_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tomato_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tomato_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tomato_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tomato_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tomato_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tomato_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tomato_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/tomato_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/tomato_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/tomato_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/tomato_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/tomato_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/tomato_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/tomato_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/tomato_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/tomato_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/tomato_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/tomato_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/tomato_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/tomato_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/tomato_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/tomato_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/tomato_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/tomato_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/tomato_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/tomato_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/tomato_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/tomato_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/tomato_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/tomato_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/tomato_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/tomato_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/tomato_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/tomato_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/tomato_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/tomato_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/tomato_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/tomato_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/tomato_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/tomato_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/tomato_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/tomato_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/tomato_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/tomato_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/tomato_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/tomato_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/tomato_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/tomato_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/tomato_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/tomato_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/tomato_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/tomato_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/tomato_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/tomato_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/tomato_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/tomato_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/tomato_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/tomato_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/tomato_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/tomato_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/tomato_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/tomato_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/tomato_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/tomato_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/tomato_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/tomato_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/tomato_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/tomato_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/tomato_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/tomato_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/tomato_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/tomato_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/tomato_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/tomato_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_99" file="mesh/tomato_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tomato">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_0.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.03391479 -0.05064450 0.02804674
+v -0.03391479 -0.05062471 0.02777509
+v -0.03391479 -0.05057028 0.02980599
+v -0.03483078 -0.04960034 0.02804675
+v -0.03391479 -0.05058017 0.02720851
+v -0.03391479 -0.05055544 0.03012643
+v -0.03479063 -0.04954096 0.03012644
+v -0.03569251 -0.04855122 0.02804675
+v -0.03566972 -0.04852153 0.02720852
+v -0.03515529 -0.04914506 0.02720852
+v -0.03480040 -0.04956570 0.02720852
+v -0.03417852 -0.05027830 0.02720852
+v -0.03391479 -0.04659651 0.02720853
+v -0.03391479 -0.05023872 0.03098615
+v -0.03549390 -0.04831370 0.03126362
+v -0.03563499 -0.04849185 0.03012644
+v -0.03751365 -0.04614124 0.02939965
+v -0.03673332 -0.04720025 0.02804676
+v -0.03703720 -0.04675981 0.02720853
+v -0.03608865 -0.04798708 0.02720852
+v -0.03854252 -0.00009409 0.02720870
+v -0.03391479 -0.00009410 0.02862738
+v -0.03391479 -0.04980820 0.03141131
+v -0.03586942 -0.04711119 0.03138312
+v -0.03772637 -0.04448346 0.03131869
+v -0.03958115 -0.04195964 0.03120145
+v -0.03730419 -0.04587897 0.03078611
+v -0.03427836 -0.04909065 0.03147351
+v -0.03922300 -0.04349371 0.02804677
+v -0.03752342 -0.04615608 0.02804676
+v -0.03973418 -0.04222687 0.03012646
+v -0.03986550 -0.04244460 0.02804677
+v -0.03750931 -0.04613629 0.02720853
+v -0.04139034 -0.00009409 0.02720870
+v -0.03391479 -0.00009410 0.03044258
+v -0.03391479 -0.04911044 0.03154378
+v -0.03433372 -0.04711119 0.03172370
+v -0.03845244 -0.04276628 0.03136657
+v -0.04177780 -0.03807495 0.02956259
+v -0.03971138 -0.04083135 0.03126321
+v -0.04168229 -0.03585796 0.03120460
+v -0.04198509 -0.03659036 0.03020391
+v -0.03947479 -0.04305823 0.02720854
+v -0.03921432 -0.04347886 0.02720854
+v -0.03986007 -0.04242975 0.02720854
+v -0.03863151 -0.04438941 0.02720854
+v -0.03779257 -0.04569586 0.02720853
+v -0.04185703 -0.03826794 0.02804679
+v -0.04185268 -0.03825804 0.02720856
+v -0.04143267 -0.00009409 0.02804693
+v -0.04177888 -0.00145991 0.02720869
+v -0.03850019 -0.00009410 0.03045332
+v -0.03391479 -0.01736982 0.03117647
+v -0.03391479 -0.04711119 0.03175458
+v -0.03433372 -0.04501791 0.03176800
+v -0.03641749 -0.04292464 0.03165344
+v -0.03850019 -0.04083136 0.03146773
+v -0.04379863 -0.03177533 0.02936569
+v -0.04244960 -0.03664973 0.02804680
+v -0.04172787 -0.03455647 0.03122026
+v -0.04296078 -0.02618336 0.03112139
+v -0.04300745 -0.02827663 0.03105828
+v -0.04417089 -0.02827663 0.03001822
+v -0.04396251 -0.03036991 0.02972955
+v -0.04244743 -0.03664973 0.02720857
+v -0.04209253 -0.03761472 0.02720856
+v -0.04368684 -0.00844245 0.02804690
+v -0.04172679 -0.00165787 0.02928435
+v -0.04116460 -0.00009410 0.02873166
+v -0.04367491 -0.00843750 0.02720867
+v -0.03973309 -0.00009410 0.03008545
+v -0.04058288 -0.00316721 0.03038797
+v -0.04058288 -0.00526048 0.03062291
+v -0.03850019 -0.00316721 0.03057459
+v -0.03575329 -0.01844862 0.03117378
+v -0.03391479 -0.01750343 0.03118095
+v -0.03391479 -0.04501791 0.03178009
+v -0.04173981 -0.02489671 0.03116973
+v -0.04191889 -0.02618336 0.03117733
+v -0.04058288 -0.03455648 0.03131648
+v -0.04386049 -0.03200295 0.02804681
+v -0.04466361 -0.02827662 0.02804683
+v -0.04424903 -0.03036990 0.02804682
+v -0.04386592 -0.03202275 0.02720858
+v -0.04252666 -0.02415936 0.03110976
+v -0.04266666 -0.01572687 0.03087081
+v -0.04266666 -0.01363359 0.03080637
+v -0.04430221 -0.01572687 0.02997305
+v -0.04434779 -0.01782015 0.03000482
+v -0.04439338 -0.01990847 0.03003525
+v -0.04439012 -0.02200175 0.03005807
+v -0.04434237 -0.02409503 0.03007372
+v -0.04428593 -0.02618336 0.03008132
+v -0.04487091 -0.02618335 0.02804683
+v -0.04394623 -0.00948662 0.02720867
+v -0.04394623 -0.00948662 0.02804690
+v -0.04386266 -0.00984293 0.02941813
+v -0.04191889 -0.00316721 0.02956719
+v -0.04074133 -0.00009410 0.02976591
+v -0.04266666 -0.01154031 0.03063006
+v -0.03391479 -0.02618337 0.03141676
+v -0.04426205 -0.03036990 0.02720859
+v -0.04402980 -0.03134478 0.02720858
+v -0.04467555 -0.02827662 0.02720860
+v -0.04421864 -0.01363359 0.02990280
+v -0.04489044 -0.01572686 0.02804687
+v -0.04500223 -0.01990846 0.02804686
+v -0.04499789 -0.02200174 0.02804685
+v -0.04493820 -0.02409502 0.02804684
+v -0.04487416 -0.02618335 0.02720860
+v -0.04421213 -0.01070893 0.02720866
+v -0.04439229 -0.01154030 0.02720866
+v -0.04439120 -0.01154030 0.02804689
+v -0.04473633 -0.01363358 0.02804688
+v -0.04404391 -0.01154031 0.02971530
+v -0.04217068 -0.00526048 0.02981109
+v -0.04473741 -0.01363358 0.02720865
+v -0.04482858 -0.01488064 0.02720865
+v -0.04488719 -0.01572686 0.02720864
+v -0.04492083 -0.01697392 0.02720864
+v -0.04496207 -0.01906719 0.02720863
+v -0.04496967 -0.01990846 0.02720863
+v -0.04496750 -0.02200174 0.02720862
+v -0.04492300 -0.02409502 0.02720861
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 35
+f 1 35 53
+f 1 53 76
+f 1 76 101
+f 1 101 77
+f 1 77 54
+f 1 54 36
+f 1 36 23
+f 1 23 14
+f 1 14 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 6 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 20
+f 5 20 19
+f 5 19 33
+f 5 33 47
+f 5 47 46
+f 5 46 44
+f 5 44 43
+f 5 43 45
+f 5 45 49
+f 5 49 66
+f 5 66 65
+f 5 65 84
+f 5 84 103
+f 5 103 102
+f 5 102 104
+f 5 104 110
+f 5 110 124
+f 5 124 123
+f 5 123 122
+f 5 122 121
+f 5 121 120
+f 5 120 119
+f 5 119 118
+f 5 118 117
+f 5 117 112
+f 5 112 111
+f 5 111 95
+f 5 95 70
+f 5 70 51
+f 5 51 34
+f 5 34 21
+f 5 21 13
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 13 21 22
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 17
+f 15 17 16
+f 15 23 28
+f 15 28 24
+f 17 29 30
+f 17 30 18
+f 17 27 31
+f 17 31 32
+f 17 32 29
+f 18 30 33
+f 18 33 19
+f 21 34 50
+f 21 50 69
+f 21 69 99
+f 21 99 71
+f 21 71 52
+f 21 52 35
+f 21 35 22
+f 23 36 28
+f 24 28 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 39 31
+f 26 31 27
+f 26 38 40
+f 26 40 41
+f 26 41 42
+f 26 42 39
+f 28 36 37
+f 29 43 44
+f 29 44 30
+f 29 32 45
+f 29 45 43
+f 30 44 46
+f 30 46 47
+f 30 47 33
+f 31 39 32
+f 32 39 48
+f 32 48 49
+f 32 49 45
+f 34 51 50
+f 35 52 53
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 40
+f 39 42 58
+f 39 58 59
+f 39 59 48
+f 40 57 41
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 58
+f 41 58 42
+f 41 57 60
+f 48 59 65
+f 48 65 66
+f 48 66 49
+f 50 67 68
+f 50 68 69
+f 50 51 70
+f 50 70 67
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 75 76
+f 53 74 73
+f 53 73 75
+f 54 77 55
+f 55 77 78
+f 55 78 56
+f 56 78 79
+f 56 79 61
+f 56 61 80
+f 56 80 60
+f 56 60 57
+f 58 81 59
+f 58 64 82
+f 58 82 83
+f 58 83 81
+f 59 81 84
+f 59 84 65
+f 60 80 61
+f 61 79 78
+f 61 78 85
+f 61 85 86
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 90
+f 61 90 91
+f 61 91 92
+f 61 92 62
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 82
+f 63 82 64
+f 67 70 95
+f 67 95 96
+f 67 96 97
+f 67 97 68
+f 68 98 99
+f 68 99 69
+f 68 97 98
+f 71 99 72
+f 72 99 100
+f 72 100 73
+f 73 100 87
+f 73 87 86
+f 73 86 75
+f 75 86 78
+f 75 78 101
+f 75 101 76
+f 77 101 78
+f 78 86 85
+f 81 83 102
+f 81 102 103
+f 81 103 84
+f 82 104 102
+f 82 102 83
+f 82 94 104
+f 87 105 88
+f 87 100 105
+f 88 105 106
+f 88 106 107
+f 88 107 89
+f 89 107 90
+f 90 107 91
+f 91 107 108
+f 91 108 92
+f 92 108 93
+f 93 108 109
+f 93 109 94
+f 94 110 104
+f 94 109 110
+f 95 111 96
+f 96 111 112
+f 96 112 113
+f 96 113 97
+f 97 113 114
+f 97 114 115
+f 97 115 98
+f 98 115 116
+f 98 116 99
+f 99 116 100
+f 100 116 115
+f 100 115 105
+f 105 114 106
+f 105 115 114
+f 106 114 117
+f 106 117 118
+f 106 118 119
+f 106 119 120
+f 106 120 107
+f 107 120 121
+f 107 121 122
+f 107 122 123
+f 107 123 108
+f 108 123 124
+f 108 124 110
+f 108 110 109
+f 112 117 114
+f 112 114 113
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_1.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.03915704 -0.00009637 0.00788130
+v -0.03992843 -0.00009638 0.01128857
+v -0.03674462 -0.00009637 0.00788130
+v -0.04179733 -0.00778546 0.00788127
+v -0.04032862 -0.00009639 0.01348693
+v -0.04168702 -0.00612201 0.01001910
+v -0.03854266 -0.00009644 0.02720870
+v -0.03858051 -0.00107522 0.02720870
+v -0.03685252 -0.00109162 0.00788130
+v -0.04225952 -0.00944657 0.00788127
+v -0.04191811 -0.00726548 0.00932666
+v -0.04096393 -0.00009641 0.01874445
+v -0.04179813 -0.00579497 0.01140584
+v -0.04228287 -0.00735255 0.01140583
+v -0.04189073 -0.00516912 0.01359285
+v -0.04139069 -0.00009644 0.02720870
+v -0.04239318 -0.02413074 0.02720861
+v -0.04119020 -0.02413067 0.00788121
+v -0.04251155 -0.00944657 0.00932477
+v -0.04267420 -0.01153825 0.00788126
+v -0.04373708 -0.01450990 0.01019123
+v -0.04123127 -0.00009642 0.02184145
+v -0.04214679 -0.00526089 0.01556608
+v -0.04235051 -0.00526089 0.01764525
+v -0.04253088 -0.00735256 0.01348690
+v -0.04371212 -0.01256411 0.01241986
+v -0.04377815 -0.01223471 0.01348689
+v -0.04372500 -0.01042774 0.01643632
+v -0.04177478 -0.00149873 0.02596573
+v -0.04177881 -0.00145874 0.02720869
+v -0.04492155 -0.02413074 0.02720861
+v -0.04339004 -0.02413067 0.00788121
+v -0.04279257 -0.01217822 0.00788126
+v -0.04402776 -0.01362759 0.01348688
+v -0.04380392 -0.01373817 0.01159878
+v -0.04380955 -0.01572161 0.00976744
+v -0.04405434 -0.01572161 0.01140580
+v -0.04431683 -0.01572162 0.01348687
+v -0.04377412 -0.01023716 0.01764523
+v -0.04384901 -0.00994541 0.01972440
+v -0.04390135 -0.00972190 0.02180546
+v -0.04424759 -0.01362760 0.01556605
+v -0.04386431 -0.01148181 0.01567200
+v -0.04404709 -0.01153828 0.01764523
+v -0.04393194 -0.00956663 0.02388463
+v -0.04394724 -0.00947958 0.02596571
+v -0.04367508 -0.00843727 0.02720867
+v -0.04496745 -0.02199906 0.02720862
+v -0.04487565 -0.02409306 0.01972435
+v -0.04488773 -0.02413072 0.02180541
+v -0.04358329 -0.02413067 0.00845445
+v -0.04371615 -0.02314482 0.00825012
+v -0.04351807 -0.02350481 0.00788121
+v -0.04312512 -0.01452871 0.00788125
+v -0.04362999 -0.01697567 0.00835421
+v -0.04373628 -0.01837091 0.00815744
+v -0.04387880 -0.01772858 0.00916014
+v -0.04423068 -0.01781329 0.01140579
+v -0.04453022 -0.01572163 0.01556604
+v -0.04448915 -0.01781330 0.01348686
+v -0.04419364 -0.01153829 0.01972440
+v -0.04429751 -0.01153830 0.02180546
+v -0.04442715 -0.01362760 0.01764522
+v -0.04436032 -0.01153831 0.02388463
+v -0.04439253 -0.01153832 0.02596570
+v -0.04439253 -0.01153832 0.02720866
+v -0.04421296 -0.01071012 0.02720866
+v -0.04394644 -0.00948429 0.02720867
+v -0.04496986 -0.01990738 0.02720863
+v -0.04488934 -0.02199903 0.01972436
+v -0.04487404 -0.02413071 0.01972435
+v -0.04487485 -0.02413071 0.01976219
+v -0.04486357 -0.02199902 0.01764519
+v -0.04481929 -0.02409305 0.01764518
+v -0.04383451 -0.02413067 0.00933984
+v -0.04384015 -0.02394244 0.00926984
+v -0.04398348 -0.02199899 0.00932472
+v -0.04375077 -0.02199899 0.00809689
+v -0.04366462 -0.02199899 0.00788122
+v -0.04339084 -0.01644157 0.00788124
+v -0.04360020 -0.01814268 0.00788123
+v -0.04364287 -0.01873324 0.00788123
+v -0.04376688 -0.01990731 0.00802690
+v -0.04401166 -0.01990731 0.00932473
+v -0.04433294 -0.01990732 0.01140579
+v -0.04469770 -0.01572163 0.01764521
+v -0.04469609 -0.01781331 0.01556603
+v -0.04458739 -0.01990733 0.01348686
+v -0.04456967 -0.01362761 0.01972439
+v -0.04466710 -0.01362762 0.02180545
+v -0.04471864 -0.01362763 0.02388462
+v -0.04473796 -0.01362764 0.02596569
+v -0.04473716 -0.01362764 0.02720865
+v -0.04496181 -0.01906506 0.02720863
+v -0.04487485 -0.01781332 0.01972437
+v -0.04488854 -0.01990735 0.01972437
+v -0.04486518 -0.01990734 0.01764520
+v -0.04481848 -0.02413070 0.01768112
+v -0.04477178 -0.02199902 0.01556602
+v -0.04477903 -0.01990734 0.01556603
+v -0.04467999 -0.02409305 0.01556601
+v -0.04417270 -0.02413068 0.01140388
+v -0.04417673 -0.02409303 0.01140577
+v -0.04431201 -0.02199900 0.01140578
+v -0.04370166 -0.02022024 0.00788123
+v -0.04370648 -0.01990731 0.00788123
+v -0.04457450 -0.02199901 0.01348685
+v -0.04480480 -0.01572164 0.01972438
+v -0.04482492 -0.01781331 0.01764520
+v -0.04485713 -0.01572165 0.02180544
+v -0.04487968 -0.01572166 0.02388461
+v -0.04482895 -0.01487936 0.02720865
+v -0.04492074 -0.01697103 0.02720864
+v -0.04467918 -0.02413070 0.01560384
+v -0.04445775 -0.02409304 0.01348684
+v -0.04445855 -0.02413069 0.01352278
+v -0.04467596 -0.02413070 0.01556601
+v -0.04417834 -0.02413068 0.01144361
+v -0.04445453 -0.02413069 0.01348684
+v -0.04488773 -0.01572167 0.02720864
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 32
+f 1 32 53
+f 1 53 79
+f 1 79 105
+f 1 105 106
+f 1 106 82
+f 1 82 81
+f 1 81 80
+f 1 80 54
+f 1 54 33
+f 1 33 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 6 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 11 14
+f 6 14 13
+f 7 16 30
+f 7 30 47
+f 7 47 68
+f 7 68 67
+f 7 67 66
+f 7 66 93
+f 7 93 112
+f 7 112 120
+f 7 120 113
+f 7 113 94
+f 7 94 69
+f 7 69 48
+f 7 48 31
+f 7 31 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 10 19 11
+f 10 20 21
+f 10 21 19
+f 11 19 14
+f 12 15 23
+f 12 23 24
+f 12 24 22
+f 14 25 15
+f 14 19 26
+f 14 26 27
+f 14 27 28
+f 14 28 25
+f 15 25 23
+f 16 22 29
+f 16 29 30
+f 17 31 50
+f 17 50 72
+f 17 72 71
+f 17 71 98
+f 17 98 114
+f 17 114 117
+f 17 117 116
+f 17 116 119
+f 17 119 118
+f 17 118 102
+f 17 102 75
+f 17 75 51
+f 17 51 32
+f 17 32 18
+f 19 21 26
+f 20 33 21
+f 21 34 35
+f 21 35 26
+f 21 33 36
+f 21 36 37
+f 21 37 38
+f 21 38 34
+f 22 24 39
+f 22 39 40
+f 22 40 41
+f 22 41 29
+f 23 25 28
+f 23 28 24
+f 24 28 39
+f 26 35 34
+f 26 34 27
+f 27 34 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 39
+f 29 41 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 31 48 49
+f 31 49 50
+f 32 51 52
+f 32 52 53
+f 33 54 55
+f 33 55 36
+f 34 38 42
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 38
+f 38 59 42
+f 38 58 60
+f 38 60 59
+f 39 44 61
+f 39 61 40
+f 40 61 62
+f 40 62 41
+f 41 62 45
+f 42 63 44
+f 42 44 43
+f 42 59 63
+f 44 63 61
+f 45 62 64
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 48 69 70
+f 48 70 49
+f 49 71 72
+f 49 72 50
+f 49 70 73
+f 49 73 74
+f 49 74 71
+f 51 75 52
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 53
+f 54 80 55
+f 55 80 56
+f 56 81 82
+f 56 82 83
+f 56 83 84
+f 56 84 57
+f 56 80 81
+f 57 84 58
+f 58 84 85
+f 58 85 60
+f 59 86 63
+f 59 60 87
+f 59 87 86
+f 60 85 88
+f 60 88 87
+f 61 63 89
+f 61 89 62
+f 62 89 90
+f 62 90 64
+f 63 86 89
+f 64 90 91
+f 64 91 65
+f 65 91 92
+f 65 92 66
+f 66 92 93
+f 69 94 95
+f 69 95 96
+f 69 96 70
+f 70 96 97
+f 70 97 73
+f 71 74 98
+f 73 99 74
+f 73 97 100
+f 73 100 99
+f 74 99 101
+f 74 101 98
+f 75 102 103
+f 75 103 76
+f 76 103 77
+f 77 103 104
+f 77 104 84
+f 77 84 83
+f 77 83 78
+f 78 83 79
+f 79 83 105
+f 82 106 83
+f 83 106 105
+f 84 104 85
+f 85 104 107
+f 85 107 88
+f 86 108 89
+f 86 87 109
+f 86 109 108
+f 87 88 100
+f 87 100 109
+f 88 107 99
+f 88 99 100
+f 89 108 90
+f 90 108 110
+f 90 110 91
+f 91 110 111
+f 91 111 92
+f 92 111 112
+f 92 112 93
+f 94 113 111
+f 94 111 95
+f 95 109 97
+f 95 97 96
+f 95 111 110
+f 95 110 109
+f 97 109 100
+f 98 101 114
+f 99 107 101
+f 101 115 116
+f 101 116 117
+f 101 117 114
+f 101 107 115
+f 102 118 103
+f 103 115 104
+f 103 118 119
+f 103 119 115
+f 104 115 107
+f 108 109 110
+f 111 113 120
+f 111 120 112
+f 115 119 116
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_10.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.00026044 0.06157662 0.02793831
+v -0.00026044 0.05843718 0.00829597
+v -0.00026044 0.06386336 0.02793831
+v -0.02224976 0.05650757 0.02793829
+v -0.00026044 0.06086434 0.00829598
+v -0.02362910 0.05334439 0.00829596
+v -0.00026044 0.06381898 0.02596543
+v -0.00099929 0.06385408 0.02596543
+v -0.00099929 0.06389124 0.02793831
+v -0.02224976 0.05976374 0.02793830
+v -0.02362910 0.05615245 0.02182158
+v -0.02362910 0.05611631 0.02166198
+v -0.00026044 0.06105739 0.00889015
+v -0.00099929 0.06090150 0.00829598
+v -0.00099929 0.06123703 0.00932665
+v -0.02362910 0.05605029 0.00829597
+v -0.00026044 0.06371677 0.02388678
+v -0.00099929 0.06375601 0.02388678
+v -0.00308317 0.06377975 0.02388678
+v -0.00308317 0.06386440 0.02596543
+v -0.00308317 0.06388608 0.02793831
+v -0.01958487 0.06100777 0.02793830
+v -0.01950024 0.06097886 0.02596542
+v -0.02343466 0.05886454 0.02182159
+v -0.02344381 0.05885938 0.02182159
+v -0.02362910 0.05874582 0.02182159
+v -0.00026044 0.06119883 0.00932665
+v -0.00308088 0.06093764 0.00829598
+v -0.00099929 0.06286199 0.01596063
+v -0.00308088 0.06127213 0.00932666
+v -0.00308088 0.06288160 0.01581257
+v -0.02362910 0.05622889 0.00887476
+v -0.02289711 0.05647254 0.00829597
+v -0.00026044 0.06355780 0.02182160
+v -0.00099929 0.06359806 0.02180429
+v -0.00308088 0.06363213 0.02182160
+v -0.00308317 0.06363213 0.02182160
+v -0.00516475 0.06360426 0.02180429
+v -0.00516704 0.06374982 0.02388678
+v -0.00516704 0.06382620 0.02596543
+v -0.00516704 0.06384376 0.02793831
+v -0.01766341 0.06167160 0.02793831
+v -0.01937214 0.06092106 0.02388677
+v -0.01766341 0.06160965 0.02596543
+v -0.01766341 0.06153946 0.02388678
+v -0.02320592 0.05874376 0.01972372
+v -0.02362910 0.05850838 0.01972371
+v -0.01915941 0.06083745 0.02180428
+v -0.02183116 0.05938384 0.01972372
+v -0.02362910 0.05874478 0.02180428
+v -0.00026044 0.06170676 0.01140723
+v -0.00516475 0.06090976 0.00829598
+v -0.00099929 0.06312112 0.01764700
+v -0.00026044 0.06298897 0.01704706
+v -0.00026044 0.06284134 0.01608754
+v -0.00516475 0.06124116 0.00932665
+v -0.00308088 0.06316241 0.01764700
+v -0.00516475 0.06286921 0.01590102
+v -0.00516475 0.06313867 0.01764700
+v -0.02362910 0.05635898 0.00932664
+v -0.02315559 0.05662636 0.00932664
+v -0.02288110 0.05648079 0.00829597
+v -0.00026044 0.06334411 0.01972373
+v -0.00099929 0.06338850 0.01972373
+v -0.00308088 0.06342773 0.01972373
+v -0.00516475 0.06340295 0.01972373
+v -0.00724862 0.06328836 0.01972373
+v -0.00724862 0.06348863 0.02180429
+v -0.00725091 0.06363315 0.02388678
+v -0.00725091 0.06370748 0.02596543
+v -0.00714340 0.06373019 0.02793831
+v -0.01323032 0.06291976 0.02793831
+v -0.01315483 0.06290944 0.02596543
+v -0.01766341 0.06139184 0.02180429
+v -0.01294439 0.06286299 0.02388678
+v -0.02199128 0.05902871 0.01758162
+v -0.02300919 0.05863949 0.01823155
+v -0.02362910 0.05840204 0.01897570
+v -0.01891694 0.06074454 0.02011791
+v -0.00724862 0.06080239 0.00829598
+v -0.00026044 0.06306537 0.01758355
+v -0.00724862 0.06113173 0.00932665
+v -0.00724862 0.06166959 0.01140723
+v -0.00933249 0.06153435 0.01140723
+v -0.00724862 0.06281037 0.01627214
+v -0.00724862 0.06302304 0.01764700
+v -0.02362910 0.05675231 0.01069574
+v -0.02081324 0.05858066 0.01240135
+v -0.01972441 0.05777438 0.00829597
+v -0.01897641 0.05867669 0.00997658
+v -0.00917237 0.06284649 0.01771815
+v -0.00933249 0.06308704 0.01972373
+v -0.00933249 0.06329041 0.02182160
+v -0.00725091 0.06348966 0.02182160
+v -0.00933249 0.06342667 0.02388678
+v -0.00933249 0.06349893 0.02596543
+v -0.00922727 0.06352888 0.02793831
+v -0.00725091 0.06372399 0.02793831
+v -0.01141408 0.06324393 0.02793831
+v -0.01141408 0.06322328 0.02596543
+v -0.01141408 0.06314071 0.02388678
+v -0.01268819 0.06280519 0.02227925
+v -0.01557725 0.06149407 0.01764700
+v -0.01786013 0.06105839 0.01954489
+v -0.02151091 0.05890895 0.01556643
+v -0.01868819 0.06063201 0.01873150
+v -0.02362910 0.05739238 0.01348777
+v -0.02362910 0.05819659 0.01771621
+v -0.00855476 0.06070225 0.00829598
+v -0.00924786 0.06091699 0.00922858
+v -0.00837176 0.06276184 0.01655288
+v -0.01141637 0.06124528 0.01140722
+v -0.01141637 0.06169539 0.01348779
+v -0.02362910 0.05697840 0.01158026
+v -0.02106714 0.05869835 0.01348778
+v -0.01974728 0.05923520 0.01348778
+v -0.01663863 0.06066816 0.01449538
+v -0.01970153 0.05881503 0.01158797
+v -0.01787386 0.05852803 0.00829597
+v -0.01771602 0.05893583 0.00929973
+v -0.01724938 0.05877787 0.00829598
+v -0.01055857 0.06278455 0.01845846
+v -0.01098633 0.06286198 0.01972373
+v -0.00934851 0.06328835 0.02182160
+v -0.00933249 0.06351751 0.02793831
+v -0.01157649 0.06296624 0.02182160
+v -0.01185785 0.06291668 0.02182160
+v -0.01259212 0.06276595 0.02182160
+v -0.01557725 0.06116370 0.01556643
+v -0.01690855 0.06076519 0.01556643
+v -0.01740264 0.06094277 0.01764699
+v -0.01349566 0.06165615 0.01556644
+v -0.01343848 0.05978549 0.00829598
+v -0.01141637 0.06080445 0.00990544
+v -0.01259669 0.06069192 0.01026310
+v -0.01337443 0.06084574 0.01148990
+v -0.01349566 0.06130102 0.01348779
+v -0.01547889 0.06081683 0.01367623
+v -0.01471717 0.06071256 0.01223983
+v -0.01558411 0.05925793 0.00829598
+v -0.01158564 0.06295282 0.02167161
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 51
+f 1 51 55
+f 1 55 54
+f 1 54 81
+f 1 81 63
+f 1 63 34
+f 1 34 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 41
+f 1 41 71
+f 1 71 98
+f 1 98 97
+f 1 97 125
+f 1 125 99
+f 1 99 72
+f 1 72 42
+f 1 42 22
+f 1 22 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 16
+f 2 16 33
+f 2 33 62
+f 2 62 89
+f 2 89 119
+f 2 119 121
+f 2 121 140
+f 2 140 133
+f 2 133 109
+f 2 109 80
+f 2 80 52
+f 2 52 28
+f 2 28 14
+f 2 14 5
+f 3 7 8
+f 3 8 9
+f 4 10 26
+f 4 26 11
+f 4 11 12
+f 4 12 6
+f 5 14 15
+f 5 15 13
+f 6 12 11
+f 6 11 26
+f 6 26 50
+f 6 50 47
+f 6 47 78
+f 6 78 108
+f 6 108 107
+f 6 107 114
+f 6 114 87
+f 6 87 60
+f 6 60 32
+f 6 32 16
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 13 15 27
+f 14 28 15
+f 15 29 27
+f 15 28 30
+f 15 30 31
+f 15 31 29
+f 16 32 33
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 22 42 23
+f 23 43 24
+f 23 42 44
+f 23 44 45
+f 23 45 43
+f 24 46 47
+f 24 47 25
+f 24 43 48
+f 24 48 49
+f 24 49 46
+f 25 50 26
+f 25 47 50
+f 27 29 51
+f 28 52 30
+f 29 31 53
+f 29 53 54
+f 29 54 55
+f 29 55 51
+f 30 52 56
+f 30 56 31
+f 31 57 53
+f 31 56 58
+f 31 58 59
+f 31 59 57
+f 32 60 61
+f 32 61 33
+f 33 61 62
+f 34 63 64
+f 34 64 35
+f 35 64 65
+f 35 65 36
+f 36 65 37
+f 37 66 38
+f 37 65 66
+f 38 66 67
+f 38 67 68
+f 38 68 39
+f 39 68 69
+f 39 69 40
+f 40 69 70
+f 40 70 41
+f 41 70 71
+f 42 72 73
+f 42 73 44
+f 43 45 74
+f 43 74 48
+f 44 73 45
+f 45 73 75
+f 45 75 74
+f 46 49 76
+f 46 76 77
+f 46 77 78
+f 46 78 47
+f 48 74 79
+f 48 79 49
+f 49 79 76
+f 52 80 56
+f 53 57 64
+f 53 64 63
+f 53 63 81
+f 53 81 54
+f 56 80 82
+f 56 82 83
+f 56 83 58
+f 57 65 64
+f 57 59 65
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 59
+f 59 86 67
+f 59 67 66
+f 59 66 65
+f 60 87 61
+f 61 87 88
+f 61 88 62
+f 62 88 90
+f 62 90 89
+f 67 86 91
+f 67 91 92
+f 67 92 93
+f 67 93 68
+f 68 93 94
+f 68 94 69
+f 69 94 93
+f 69 93 95
+f 69 95 70
+f 70 95 96
+f 70 96 97
+f 70 97 98
+f 70 98 71
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 75
+f 74 75 102
+f 74 102 103
+f 74 103 104
+f 74 104 79
+f 75 101 102
+f 76 105 77
+f 76 79 106
+f 76 106 105
+f 77 107 108
+f 77 108 78
+f 77 105 107
+f 79 104 106
+f 80 109 82
+f 82 109 110
+f 82 110 84
+f 82 84 83
+f 84 111 85
+f 84 110 112
+f 84 112 113
+f 84 113 111
+f 85 111 86
+f 86 111 91
+f 87 114 88
+f 88 115 116
+f 88 116 117
+f 88 117 118
+f 88 118 90
+f 88 114 115
+f 89 90 119
+f 90 117 120
+f 90 120 121
+f 90 121 119
+f 90 118 117
+f 91 111 122
+f 91 122 92
+f 92 122 123
+f 92 123 124
+f 92 124 93
+f 93 124 95
+f 95 124 101
+f 95 101 100
+f 95 100 96
+f 96 100 99
+f 96 99 125
+f 96 125 97
+f 101 124 126
+f 101 126 102
+f 102 126 127
+f 102 127 123
+f 102 123 128
+f 102 128 103
+f 103 129 130
+f 103 130 131
+f 103 131 104
+f 103 128 123
+f 103 123 122
+f 103 122 132
+f 103 132 129
+f 104 131 106
+f 105 116 115
+f 105 115 107
+f 105 106 130
+f 105 130 116
+f 106 131 130
+f 107 115 114
+f 109 133 134
+f 109 134 110
+f 110 134 112
+f 111 113 122
+f 112 134 135
+f 112 135 136
+f 112 136 137
+f 112 137 113
+f 113 137 122
+f 116 130 117
+f 117 130 129
+f 117 129 138
+f 117 138 139
+f 117 139 120
+f 120 139 121
+f 121 139 140
+f 122 137 132
+f 123 127 141
+f 123 141 124
+f 124 141 126
+f 126 141 127
+f 129 132 137
+f 129 137 138
+f 133 140 135
+f 133 135 134
+f 135 140 139
+f 135 139 136
+f 136 139 137
+f 137 139 138
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_11.obj

@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
+v -0.04267382 0.03767360 0.00829590
+v -0.04202975 0.03832044 0.00724381
+v -0.04249502 0.03767360 0.00766365
+v -0.03996872 0.03767360 0.00829590
+v -0.04214318 0.03861363 0.00829590
+v -0.04137030 0.03936675 0.00724381
+v -0.04177981 0.03790449 0.00575440
+v -0.04238543 0.03767360 0.00728380
+v -0.04153564 0.03964894 0.00829591
+v -0.02303447 0.05365044 0.00829596
+v -0.02303447 0.03767368 -0.01398032
+v -0.03999180 0.04037459 0.00516214
+v -0.04185479 0.03767361 0.00562945
+v -0.04198168 0.03767361 0.00600680
+v -0.03971879 0.03998613 0.00369522
+v -0.04017636 0.03879505 0.00303297
+v -0.04129532 0.03767361 0.00417752
+v -0.04161639 0.03767361 0.00499220
+v -0.04143374 0.03979737 0.00829591
+v -0.02303447 0.05639173 0.00829597
+v -0.02303447 0.03767369 -0.01723403
+v -0.03920930 0.04142090 0.00516214
+v -0.03971110 0.04205307 0.00779361
+v -0.03778081 0.04223267 0.00308297
+v -0.03752510 0.04191383 0.00190593
+v -0.03939387 0.03956284 0.00230827
+v -0.03980723 0.03806943 0.00100377
+v -0.04034940 0.03767362 0.00178846
+v -0.04019559 0.04156931 0.00829591
+v -0.02580494 0.05481769 0.00829596
+v -0.02303447 0.05638807 0.00828097
+v -0.02337285 0.03767369 -0.01704911
+v -0.02327288 0.03794122 -0.01691416
+v -0.02303447 0.03779463 -0.01714657
+v -0.03753856 0.04401560 0.00600432
+v -0.03978415 0.04215202 0.00829591
+v -0.03844987 0.04383418 0.00829592
+v -0.03775773 0.04427763 0.00724383
+v -0.03724825 0.04367660 0.00461737
+v -0.03690410 0.04327898 0.00308297
+v -0.03554098 0.04410357 0.00174850
+v -0.03634847 0.04278790 0.00113374
+v -0.03715596 0.04145024 0.00051897
+v -0.03770198 0.04005577 -0.00045064
+v -0.03797306 0.04076492 0.00112873
+v -0.03909202 0.03911574 0.00100377
+v -0.03956882 0.03768829 -0.00009079
+v -0.04005139 0.03767363 0.00104626
+v -0.02658359 0.05433943 0.00829596
+v -0.02547617 0.05469125 0.00724387
+v -0.02303447 0.05634043 0.00812354
+v -0.02395540 0.03767369 -0.01670674
+v -0.02303447 0.03911946 -0.01609198
+v -0.02303447 0.03804933 -0.01695415
+v -0.02455140 0.03767369 -0.01634439
+v -0.02490132 0.03969300 -0.01455258
+v -0.03683681 0.04532394 0.00724384
+v -0.03552560 0.04616686 0.00585439
+v -0.03638692 0.04493364 0.00523713
+v -0.03792308 0.04447736 0.00829592
+v -0.03701177 0.04552367 0.00829593
+v -0.03586205 0.04445906 0.00308297
+v -0.03347418 0.04618703 0.00174601
+v -0.03430475 0.04493916 0.00105378
+v -0.03513531 0.04366380 0.00036155
+v -0.03576784 0.04226933 -0.00068304
+v -0.03486999 0.04550537 0.00308298
+v -0.03652919 0.04092434 -0.00126032
+v -0.03729054 0.03950422 -0.00183760
+v -0.03843641 0.03859716 -0.00096295
+v -0.03956113 0.03767363 -0.00011828
+v -0.03957267 0.03767363 -0.00009829
+v -0.03958228 0.03767363 -0.00007580
+v -0.03778081 0.03810975 -0.00262979
+v -0.03832682 0.03767364 -0.00217497
+v -0.02681238 0.05419283 0.00829596
+v -0.02371123 0.05573939 0.00744879
+v -0.02510127 0.05446587 0.00598687
+v -0.02751028 0.05261696 0.00516218
+v -0.02651822 0.05402242 0.00724387
+v -0.02303447 0.05598494 0.00717141
+v -0.02391502 0.05481586 0.00524216
+v -0.02303447 0.03984327 -0.01550221
+v -0.02515318 0.03767369 -0.01594454
+v -0.02599912 0.03815378 -0.01499492
+v -0.02705847 0.03767368 -0.01462257
+v -0.02599912 0.03920008 -0.01416025
+v -0.02724689 0.03991656 -0.01267332
+v -0.02583378 0.04068067 -0.01303068
+v -0.02503013 0.04188091 -0.01256587
+v -0.02409190 0.04083093 -0.01404028
+v -0.02351320 0.04016393 -0.01496492
+v -0.03579668 0.04644354 0.00724384
+v -0.03473349 0.04748802 0.00724384
+v -0.03341843 0.04822283 0.00593187
+v -0.03431628 0.04703909 0.00519965
+v -0.03521221 0.04585168 0.00446744
+v -0.03649651 0.04607706 0.00829593
+v -0.03131126 0.04819169 0.00188597
+v -0.03217259 0.04698963 0.00112376
+v -0.03303006 0.04577474 0.00035906
+v -0.03382794 0.04652419 0.00308298
+v -0.03268976 0.04756867 0.00308298
+v -0.03363761 0.04426850 -0.00107789
+v -0.03329538 0.04392584 -0.00212497
+v -0.03479309 0.04292900 -0.00125781
+v -0.03533334 0.04179291 -0.00207000
+v -0.03582360 0.04030132 -0.00315708
+v -0.03544485 0.03982857 -0.00429663
+v -0.03690218 0.03876026 -0.00325705
+v -0.03725401 0.03767364 -0.00388930
+v -0.03747511 0.03767364 -0.00355443
+v -0.03797114 0.03767364 -0.00275724
+v -0.02935982 0.05246670 0.00829595
+v -0.02818319 0.05291198 0.00724636
+v -0.02928676 0.05241355 0.00794109
+v -0.02460908 0.05417635 0.00459992
+v -0.02587800 0.05368526 0.00524216
+v -0.02715268 0.05236776 0.00395766
+v -0.02855233 0.05185651 0.00516218
+v -0.02894454 0.05213321 0.00655414
+v -0.02303447 0.05524648 0.00524716
+v -0.02322097 0.05456667 0.00374775
+v -0.02303447 0.04029771 -0.01511736
+v -0.02707578 0.03767368 -0.01461007
+v -0.02785251 0.03846711 -0.01337806
+v -0.02863500 0.03926421 -0.01212855
+v -0.02948479 0.04007047 -0.01074159
+v -0.02798517 0.04069166 -0.01140132
+v -0.02733340 0.04207697 -0.01067411
+v -0.02641825 0.04131101 -0.01206107
+v -0.02391695 0.04223273 -0.01289323
+v -0.02303447 0.04182960 -0.01377039
+v -0.02303447 0.04129820 -0.01424270
+v -0.02572804 0.04267800 -0.01127636
+v -0.02503782 0.04397351 -0.01049167
+v -0.02391695 0.04327903 -0.01188862
+v -0.02303447 0.04355206 -0.01215852
+v -0.03596972 0.04662312 0.00829593
+v -0.03492190 0.04766760 0.00829594
+v -0.03369144 0.04847386 0.00724385
+v -0.03123244 0.05021650 0.00615678
+v -0.03215721 0.04906940 0.00535210
+v -0.03307813 0.04791315 0.00454492
+v -0.03250519 0.04952201 0.00724385
+v -0.02905990 0.05012855 0.00214087
+v -0.03082484 0.04779040 0.00049901
+v -0.03164387 0.04639776 -0.00065554
+v -0.03164771 0.04848121 0.00308299
+v -0.02947518 0.05047305 0.00352783
+v -0.03230332 0.04541925 -0.00124031
+v -0.03115169 0.04595250 -0.00204250
+v -0.03214375 0.04440227 -0.00295465
+v -0.03137855 0.04407978 -0.00439908
+v -0.03276859 0.04341094 -0.00351193
+v -0.03347226 0.04201647 -0.00442658
+v -0.03379526 0.04277875 -0.00295465
+v -0.03496035 0.04134763 -0.00315708
+v -0.03419708 0.04061834 -0.00505383
+v -0.03353186 0.04001548 -0.00656573
+v -0.03491998 0.03913775 -0.00568109
+v -0.03544677 0.03774328 -0.00636832
+v -0.03579668 0.03854038 -0.00508633
+v -0.03701754 0.03767365 -0.00423166
+v -0.02962514 0.05225780 0.00829595
+v -0.03146315 0.05041072 0.00724386
+v -0.02524354 0.05245938 0.00172604
+v -0.02596259 0.05273242 0.00319046
+v -0.02663358 0.05203243 0.00257071
+v -0.02810629 0.05125366 0.00304802
+v -0.03016924 0.05069842 0.00534461
+v -0.02303447 0.05460881 0.00365529
+v -0.02303447 0.05446039 0.00336040
+v -0.02389580 0.05279290 0.00102132
+v -0.02922332 0.03767368 -0.01292823
+v -0.02933098 0.03786975 -0.01269832
+v -0.03087291 0.03936132 -0.01011434
+v -0.03017308 0.04078327 -0.00939961
+v -0.02872344 0.04146494 -0.01007185
+v -0.02799478 0.04280442 -0.00931464
+v -0.02726611 0.04409078 -0.00855744
+v -0.02642594 0.04347327 -0.00994439
+v -0.02303447 0.04248744 -0.01315812
+v -0.02391695 0.04431435 -0.01084903
+v -0.02583955 0.04443894 -0.00930964
+v -0.02488401 0.04595618 -0.00830253
+v -0.02408037 0.04545593 -0.00944208
+v -0.02303447 0.04567217 -0.00991439
+v -0.02303447 0.04393137 -0.01177867
+v -0.03440664 0.04815502 0.00829594
+v -0.03387985 0.04864794 0.00829594
+v -0.03271668 0.04969425 0.00829594
+v -0.03086522 0.04991415 0.00476983
+v -0.03167463 0.05058664 0.00829595
+v -0.02756219 0.05056285 0.00100382
+v -0.02860424 0.04980606 0.00100381
+v -0.02943481 0.04834929 -0.00043062
+v -0.03029421 0.04715638 -0.00123781
+v -0.02964821 0.04643076 -0.00315706
+v -0.02918487 0.04606062 -0.00426162
+v -0.03069026 0.04556402 -0.00315706
+v -0.02997890 0.04480908 -0.00502133
+v -0.02938289 0.04414208 -0.00653823
+v -0.03077101 0.04351356 -0.00578353
+v -0.03213798 0.04276593 -0.00510380
+v -0.03150736 0.04211909 -0.00660821
+v -0.03289356 0.04140994 -0.00581103
+v -0.03420862 0.03852390 -0.00716051
+v -0.03222257 0.04075578 -0.00728045
+v -0.03155159 0.04010161 -0.00872988
+v -0.03293778 0.03930634 -0.00795270
+v -0.03349726 0.03791187 -0.00859494
+v -0.03539678 0.03767365 -0.00649327
+v -0.03546215 0.03767365 -0.00641080
+v -0.02457448 0.05208009 0.00033909
+v -0.02596259 0.05161832 0.00102132
+v -0.02303447 0.05322718 0.00101633
+v -0.02318636 0.05245573 -0.00031566
+v -0.02943481 0.03767368 -0.01275080
+v -0.02965975 0.03767368 -0.01254838
+v -0.03123244 0.03767367 -0.01112644
+v -0.03147084 0.03796685 -0.01068412
+v -0.03220527 0.03863567 -0.00935464
+v -0.03086137 0.04149791 -0.00799517
+v -0.02947133 0.04213742 -0.00868490
+v -0.02865423 0.04353190 -0.00792519
+v -0.02786981 0.04481459 -0.00712050
+v -0.02708731 0.04604596 -0.00631581
+v -0.02599912 0.04557504 -0.00782771
+v -0.02303447 0.04458004 -0.01110643
+v -0.02349590 0.04636481 -0.00877984
+v -0.02303447 0.04610461 -0.00940709
+v -0.02599912 0.04640694 -0.00678562
+v -0.02459947 0.04790037 -0.00599593
+v -0.02404768 0.04713259 -0.00741538
+v -0.02303447 0.04748625 -0.00769527
+v -0.02710654 0.05024400 -0.00011325
+v -0.02798709 0.04908225 -0.00096541
+v -0.02886764 0.04791501 -0.00181757
+v -0.02682584 0.04795899 -0.00398672
+v -0.02790249 0.04639229 -0.00506630
+v -0.02847543 0.04553655 -0.00564607
+v -0.02813705 0.04751371 -0.00323952
+v -0.03012117 0.04282641 -0.00726794
+v -0.03261094 0.03767367 -0.00974199
+v -0.03331653 0.03767366 -0.00898979
+v -0.03359339 0.03767366 -0.00868241
+v -0.03384717 0.03767366 -0.00838502
+v -0.02389580 0.05163114 -0.00103787
+v -0.02505320 0.05025501 -0.00220742
+v -0.02584916 0.05055185 -0.00091542
+v -0.02303447 0.05248505 -0.00039313
+v -0.02303447 0.05237694 -0.00057805
+v -0.03158235 0.03767367 -0.01079907
+v -0.03192841 0.03767367 -0.01045421
+v -0.02607987 0.04749540 -0.00527622
+v -0.02303447 0.04651873 -0.00890729
+v -0.02543772 0.04840428 -0.00460897
+v -0.02303447 0.04999848 -0.00436157
+v -0.02320943 0.04829433 -0.00652822
+v -0.02303447 0.04819538 -0.00678062
+v -0.02644132 0.04981706 -0.00150020
+v -0.02747760 0.04842076 -0.00259977
+v -0.02593952 0.04910975 -0.00309707
+v -0.02303447 0.05186387 -0.00141522
+v -0.02371315 0.05050238 -0.00300210
+v -0.02303447 0.05025684 -0.00398422
+v -0.02303447 0.05015790 -0.00413666
+v -0.02427070 0.04980057 -0.00359437
+v -0.02303447 0.04832548 -0.00661068
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 13
+f 1 13 18
+f 1 18 17
+f 1 17 28
+f 1 28 48
+f 1 48 73
+f 1 73 72
+f 1 72 71
+f 1 71 75
+f 1 75 113
+f 1 113 112
+f 1 112 111
+f 1 111 164
+f 1 164 214
+f 1 214 213
+f 1 213 248
+f 1 248 247
+f 1 247 246
+f 1 246 245
+f 1 245 255
+f 1 255 254
+f 1 254 221
+f 1 221 220
+f 1 220 219
+f 1 219 175
+f 1 175 125
+f 1 125 86
+f 1 86 84
+f 1 84 55
+f 1 55 52
+f 1 52 32
+f 1 32 21
+f 1 21 11
+f 1 11 4
+f 1 4 10
+f 1 10 20
+f 1 20 30
+f 1 30 49
+f 1 49 76
+f 1 76 114
+f 1 114 165
+f 1 165 194
+f 1 194 192
+f 1 192 191
+f 1 191 190
+f 1 190 140
+f 1 140 139
+f 1 139 98
+f 1 98 61
+f 1 61 60
+f 1 60 37
+f 1 37 36
+f 1 36 29
+f 1 29 19
+f 1 19 9
+f 1 9 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 4 11 10
+f 6 9 12
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 13
+f 9 19 12
+f 10 11 21
+f 10 21 34
+f 10 34 54
+f 10 54 53
+f 10 53 83
+f 10 83 124
+f 10 124 134
+f 10 134 133
+f 10 133 183
+f 10 183 138
+f 10 138 189
+f 10 189 230
+f 10 230 188
+f 10 188 232
+f 10 232 257
+f 10 257 236
+f 10 236 261
+f 10 261 270
+f 10 270 259
+f 10 259 268
+f 10 268 267
+f 10 267 265
+f 10 265 253
+f 10 253 252
+f 10 252 217
+f 10 217 173
+f 10 173 172
+f 10 172 122
+f 10 122 81
+f 10 81 51
+f 10 51 31
+f 10 31 20
+f 12 22 15
+f 12 19 23
+f 12 23 22
+f 15 22 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 19 29 23
+f 20 31 30
+f 21 32 33
+f 21 33 34
+f 22 23 35
+f 22 35 24
+f 23 29 36
+f 23 36 37
+f 23 37 38
+f 23 38 35
+f 24 35 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 28
+f 30 31 50
+f 30 50 49
+f 31 51 50
+f 32 52 33
+f 33 53 54
+f 33 54 34
+f 33 52 55
+f 33 55 56
+f 33 56 53
+f 35 38 57
+f 35 57 58
+f 35 58 59
+f 35 59 39
+f 37 60 38
+f 38 60 61
+f 38 61 57
+f 39 59 62
+f 39 62 40
+f 40 62 41
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 41 62 67
+f 41 67 63
+f 42 66 43
+f 43 66 68
+f 43 68 44
+f 44 47 46
+f 44 46 45
+f 44 68 69
+f 44 69 70
+f 44 70 47
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 47 70 74
+f 47 74 75
+f 47 75 71
+f 49 50 76
+f 50 51 77
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 76
+f 51 81 82
+f 51 82 77
+f 53 56 83
+f 55 84 56
+f 56 85 86
+f 56 86 87
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 91
+f 56 91 92
+f 56 92 83
+f 56 84 85
+f 57 93 58
+f 57 61 93
+f 58 93 94
+f 58 94 95
+f 58 95 96
+f 58 96 97
+f 58 97 59
+f 59 97 62
+f 61 98 93
+f 62 97 67
+f 63 99 100
+f 63 100 101
+f 63 101 64
+f 63 67 102
+f 63 102 103
+f 63 103 99
+f 64 101 104
+f 64 104 65
+f 65 104 105
+f 65 105 106
+f 65 106 107
+f 65 107 66
+f 66 107 68
+f 67 97 102
+f 68 107 69
+f 69 107 108
+f 69 108 109
+f 69 109 110
+f 69 110 74
+f 69 74 70
+f 74 110 111
+f 74 111 112
+f 74 112 113
+f 74 113 75
+f 76 80 115
+f 76 115 116
+f 76 116 114
+f 77 82 78
+f 78 82 117
+f 78 117 118
+f 78 118 79
+f 79 119 120
+f 79 120 121
+f 79 121 116
+f 79 116 115
+f 79 115 80
+f 79 118 119
+f 81 122 82
+f 82 122 123
+f 82 123 117
+f 83 92 124
+f 84 86 85
+f 86 125 87
+f 87 125 88
+f 88 125 126
+f 88 126 127
+f 88 127 128
+f 88 128 129
+f 88 129 130
+f 88 130 131
+f 88 131 89
+f 89 131 90
+f 90 132 133
+f 90 133 134
+f 90 134 91
+f 90 131 130
+f 90 130 135
+f 90 135 136
+f 90 136 137
+f 90 137 138
+f 90 138 132
+f 91 134 92
+f 92 134 124
+f 93 98 139
+f 93 139 140
+f 93 140 94
+f 94 141 95
+f 94 140 141
+f 95 142 143
+f 95 143 144
+f 95 144 96
+f 95 141 145
+f 95 145 142
+f 96 144 97
+f 97 144 102
+f 99 146 147
+f 99 147 148
+f 99 148 100
+f 99 103 149
+f 99 149 150
+f 99 150 146
+f 100 148 101
+f 101 148 151
+f 101 151 105
+f 101 105 104
+f 102 144 103
+f 103 144 149
+f 105 107 106
+f 105 151 152
+f 105 152 153
+f 105 153 154
+f 105 154 155
+f 105 155 156
+f 105 156 157
+f 105 157 107
+f 107 157 156
+f 107 156 158
+f 107 158 109
+f 107 109 108
+f 109 156 159
+f 109 159 160
+f 109 160 161
+f 109 161 162
+f 109 162 163
+f 109 163 164
+f 109 164 111
+f 109 111 110
+f 109 158 156
+f 114 116 165
+f 116 121 142
+f 116 142 166
+f 116 166 165
+f 117 123 167
+f 117 167 168
+f 117 168 119
+f 117 119 118
+f 119 168 169
+f 119 169 170
+f 119 170 150
+f 119 150 120
+f 120 150 171
+f 120 171 121
+f 121 171 142
+f 122 172 123
+f 123 172 173
+f 123 173 174
+f 123 174 167
+f 125 175 176
+f 125 176 126
+f 126 176 127
+f 127 176 128
+f 128 177 178
+f 128 178 179
+f 128 179 130
+f 128 130 129
+f 128 176 177
+f 130 179 180
+f 130 180 181
+f 130 181 182
+f 130 182 136
+f 130 136 135
+f 132 138 183
+f 132 183 133
+f 136 184 137
+f 136 182 181
+f 136 181 185
+f 136 185 186
+f 136 186 187
+f 136 187 188
+f 136 188 184
+f 137 189 138
+f 137 184 189
+f 140 190 141
+f 141 190 191
+f 141 191 192
+f 141 192 145
+f 142 171 150
+f 142 150 193
+f 142 193 143
+f 142 145 166
+f 143 193 149
+f 143 149 144
+f 145 192 194
+f 145 194 166
+f 146 150 170
+f 146 170 169
+f 146 169 195
+f 146 195 196
+f 146 196 197
+f 146 197 147
+f 147 197 198
+f 147 198 152
+f 147 152 148
+f 148 152 151
+f 149 193 150
+f 152 198 199
+f 152 199 200
+f 152 200 201
+f 152 201 154
+f 152 154 153
+f 154 200 202
+f 154 202 203
+f 154 203 204
+f 154 204 205
+f 154 205 156
+f 154 156 155
+f 154 201 200
+f 156 205 206
+f 156 206 207
+f 156 207 160
+f 156 160 159
+f 160 208 161
+f 160 207 209
+f 160 209 210
+f 160 210 211
+f 160 211 208
+f 161 208 162
+f 162 208 212
+f 162 212 213
+f 162 213 214
+f 162 214 164
+f 162 164 163
+f 165 166 194
+f 167 174 215
+f 167 215 216
+f 167 216 169
+f 167 169 168
+f 169 216 195
+f 173 217 218
+f 173 218 174
+f 174 218 215
+f 175 219 176
+f 176 219 220
+f 176 220 221
+f 176 221 222
+f 176 222 177
+f 177 222 223
+f 177 223 210
+f 177 210 178
+f 178 210 224
+f 178 224 225
+f 178 225 179
+f 179 225 180
+f 180 225 226
+f 180 226 181
+f 181 226 203
+f 181 203 227
+f 181 227 228
+f 181 228 229
+f 181 229 186
+f 181 186 185
+f 184 188 230
+f 184 230 189
+f 186 231 232
+f 186 232 188
+f 186 188 187
+f 186 229 228
+f 186 228 233
+f 186 233 234
+f 186 234 235
+f 186 235 236
+f 186 236 231
+f 195 216 237
+f 195 237 196
+f 196 237 197
+f 197 237 238
+f 197 238 239
+f 197 239 198
+f 198 239 199
+f 199 239 200
+f 200 240 241
+f 200 241 242
+f 200 242 203
+f 200 203 202
+f 200 239 243
+f 200 243 240
+f 203 226 225
+f 203 225 244
+f 203 244 206
+f 203 206 204
+f 203 242 228
+f 203 228 227
+f 204 206 205
+f 206 244 224
+f 206 224 209
+f 206 209 207
+f 208 211 212
+f 209 224 210
+f 210 223 211
+f 211 223 212
+f 212 223 245
+f 212 245 246
+f 212 246 247
+f 212 247 248
+f 212 248 213
+f 215 237 216
+f 215 218 249
+f 215 249 250
+f 215 250 251
+f 215 251 237
+f 217 252 218
+f 218 252 253
+f 218 253 249
+f 221 254 222
+f 222 254 255
+f 222 255 223
+f 223 255 245
+f 224 244 225
+f 228 242 241
+f 228 241 240
+f 228 240 256
+f 228 256 233
+f 231 236 257
+f 231 257 232
+f 233 256 234
+f 234 256 258
+f 234 258 259
+f 234 259 260
+f 234 260 235
+f 235 260 236
+f 236 260 261
+f 237 251 262
+f 237 262 263
+f 237 263 238
+f 238 263 239
+f 239 263 243
+f 240 258 256
+f 240 243 263
+f 240 263 262
+f 240 262 264
+f 240 264 258
+f 249 265 266
+f 249 266 250
+f 249 253 265
+f 250 262 251
+f 250 266 267
+f 250 267 268
+f 250 268 269
+f 250 269 258
+f 250 258 264
+f 250 264 262
+f 258 268 259
+f 258 269 268
+f 259 270 260
+f 260 270 261
+f 265 267 266
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_12.obj

@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.00061095 -0.02654020 -0.03027982
+v 0.00111848 -0.02654020 -0.03021770
+v -0.00061095 -0.02657555 -0.03026911
+v -0.00061095 -0.02654021 -0.02804355
+v 0.00317122 -0.02654020 -0.03004205
+v 0.00129065 -0.02848814 -0.02956438
+v -0.00061095 -0.02831512 -0.02971432
+v 0.01893314 -0.02654023 -0.02228580
+v -0.00061095 -0.04554712 -0.01502228
+v 0.01893314 -0.04554715 -0.00839915
+v 0.00525457 -0.02654020 -0.02975930
+v 0.00317122 -0.02811232 -0.02951083
+v 0.00211902 -0.02932351 -0.02915526
+v 0.00073012 -0.02945002 -0.02921310
+v -0.00061095 -0.02854210 -0.02962436
+v 0.01893314 -0.02654022 -0.02493548
+v -0.00061095 -0.04554711 -0.01824173
+v 0.01893314 -0.04554714 -0.01215411
+v 0.00563527 -0.02654020 -0.02968862
+v 0.00654590 -0.02738673 -0.02921952
+v 0.00525457 -0.02770488 -0.02934589
+v 0.00525457 -0.03211985 -0.02742238
+v 0.00129065 -0.03023701 -0.02881254
+v 0.00309470 -0.03261661 -0.02750378
+v -0.00061095 -0.03049562 -0.02876756
+v -0.00061095 -0.02948909 -0.02923024
+v 0.00108787 -0.03246591 -0.02775868
+v 0.01813730 -0.02654022 -0.02534246
+v 0.01893314 -0.02691046 -0.02480910
+v 0.01868253 -0.02707604 -0.02488193
+v -0.00061095 -0.04448290 -0.01920349
+v 0.00108787 -0.04446244 -0.01918635
+v 0.00108787 -0.04550990 -0.01823959
+v 0.00108787 -0.04554711 -0.01820318
+v 0.01816982 -0.04554713 -0.01266820
+v 0.01893314 -0.04458897 -0.01314157
+v 0.00706818 -0.02654020 -0.02938445
+v 0.01145871 -0.02827606 -0.02743736
+v 0.01073365 -0.02953003 -0.02716961
+v 0.00941936 -0.02998400 -0.02737096
+v 0.00751967 -0.03056819 -0.02761515
+v 0.00694574 -0.03175333 -0.02723603
+v 0.00734749 -0.03468921 -0.02553527
+v 0.00525457 -0.03316545 -0.02683547
+v 0.00373941 -0.03341476 -0.02696613
+v 0.00235050 -0.03355057 -0.02710108
+v -0.00061095 -0.03090308 -0.02857264
+v 0.00108787 -0.03362872 -0.02715034
+v -0.00061095 -0.03268172 -0.02769870
+v -0.00061095 -0.03246591 -0.02781009
+v 0.01780633 -0.02654022 -0.02550954
+v 0.01893314 -0.02733466 -0.02465273
+v 0.01729363 -0.02792071 -0.02527392
+v -0.00061095 -0.04349126 -0.02004959
+v 0.00317122 -0.04437314 -0.01910924
+v 0.00108787 -0.04324195 -0.02022309
+v 0.00317122 -0.04541873 -0.01815177
+v 0.00317122 -0.04554711 -0.01802967
+v 0.01893314 -0.04407176 -0.01366423
+v 0.01739311 -0.04554713 -0.01316515
+v 0.01840322 -0.04372384 -0.01435824
+v 0.01149506 -0.02654021 -0.02801356
+v 0.01290118 -0.02757465 -0.02721030
+v 0.01316327 -0.03190590 -0.02523324
+v 0.01152376 -0.03254778 -0.02548385
+v 0.00833464 -0.03139426 -0.02704110
+v 0.00941936 -0.03409943 -0.02533606
+v 0.00751967 -0.03245660 -0.02671123
+v 0.00804959 -0.03547620 -0.02486268
+v 0.00666069 -0.03573109 -0.02508116
+v 0.00525457 -0.03592272 -0.02520968
+v 0.00317122 -0.03612738 -0.02535320
+v 0.00108787 -0.03467618 -0.02648847
+v -0.00061095 -0.03471897 -0.02651632
+v -0.00061095 -0.03386686 -0.02705395
+v -0.00061095 -0.03367151 -0.02717605
+v 0.01597168 -0.02654021 -0.02629566
+v 0.01893314 -0.02847700 -0.02419862
+v 0.01670248 -0.02931609 -0.02498689
+v 0.01341006 -0.02654021 -0.02738595
+v 0.01893314 -0.02984447 -0.02363100
+v -0.00061095 -0.04326428 -0.02024237
+v 0.00317122 -0.04314520 -0.02014598
+v 0.00525457 -0.04423546 -0.01899143
+v -0.00061095 -0.04241216 -0.02095566
+v 0.00108787 -0.04219448 -0.02109703
+v 0.00525457 -0.04528292 -0.01801468
+v 0.00525457 -0.04554711 -0.01776192
+v 0.01893314 -0.04354523 -0.01418045
+v 0.01579377 -0.04554713 -0.01408407
+v 0.01701432 -0.04415920 -0.01477594
+v 0.01766859 -0.04287358 -0.01558562
+v 0.01893314 -0.04197496 -0.01564773
+v 0.01893314 -0.04248660 -0.01517649
+v 0.01185855 -0.02654021 -0.02789575
+v 0.01531358 -0.02995982 -0.02527607
+v 0.01455217 -0.03135519 -0.02492693
+v 0.01530784 -0.03404176 -0.02321546
+v 0.01223160 -0.03330128 -0.02483910
+v 0.01084270 -0.03372733 -0.02512185
+v 0.01150271 -0.03627808 -0.02335041
+v 0.00894109 -0.03793393 -0.02308267
+v 0.00733792 -0.03820742 -0.02327545
+v 0.00525457 -0.03696646 -0.02450711
+v 0.00108787 -0.03626505 -0.02544959
+v 0.00525457 -0.03848277 -0.02346609
+v 0.00317122 -0.03717298 -0.02463135
+v 0.00216685 -0.03979257 -0.02292203
+v -0.00061095 -0.03501293 -0.02632354
+v 0.01893314 -0.03037285 -0.02340608
+v 0.01775277 -0.03037285 -0.02398871
+v 0.01775277 -0.03196916 -0.02320689
+v 0.01587220 -0.03054216 -0.02474913
+v 0.00317122 -0.04209959 -0.02101777
+v 0.00480117 -0.04198982 -0.02092566
+v 0.00676208 -0.04409406 -0.01886719
+v -0.00061095 -0.04221866 -0.02111631
+v -0.00061095 -0.04116004 -0.02196454
+v -0.00061095 -0.04091817 -0.02215733
+v 0.00108787 -0.04088655 -0.02213805
+v 0.00572519 -0.04554712 -0.01767624
+v 0.01566942 -0.04554713 -0.01415476
+v 0.01566942 -0.04453687 -0.01513794
+v 0.01566942 -0.04343359 -0.01617682
+v 0.01693588 -0.04202519 -0.01680870
+v 0.01832478 -0.04156193 -0.01639529
+v 0.01893314 -0.04137030 -0.01618537
+v 0.01587029 -0.03266685 -0.02368670
+v 0.01669674 -0.03350036 -0.02290272
+v 0.01727450 -0.03602320 -0.02111843
+v 0.01438000 -0.03543714 -0.02277849
+v 0.01299109 -0.03586878 -0.02308909
+v 0.01364728 -0.03466688 -0.02351963
+v 0.01032808 -0.03763439 -0.02283848
+v 0.01097279 -0.04003444 -0.02102420
+v 0.00941936 -0.04033212 -0.02124911
+v 0.00733792 -0.03925303 -0.02252146
+v -0.00061095 -0.03630413 -0.02547530
+v 0.00108787 -0.03984095 -0.02295844
+v 0.00525457 -0.03953024 -0.02268641
+v 0.00355575 -0.03969583 -0.02280636
+v 0.00298565 -0.03889580 -0.02345752
+v 0.00619198 -0.04185773 -0.02080571
+v 0.01893314 -0.03126962 -0.02299053
+v 0.01884323 -0.03146683 -0.02294342
+v 0.00815098 -0.04390615 -0.01868084
+v 0.00791185 -0.04554712 -0.01720714
+v 0.00727288 -0.04554712 -0.01736136
+v 0.00733792 -0.04169773 -0.02067719
+v 0.00941936 -0.04266147 -0.01940056
+v -0.00061095 -0.04006607 -0.02282778
+v 0.01405477 -0.04554712 -0.01499443
+v 0.01432260 -0.04380569 -0.01652597
+v 0.01566942 -0.04238613 -0.01713430
+v 0.01416382 -0.04161773 -0.01854374
+v 0.01566942 -0.04116563 -0.01817531
+v 0.01671970 -0.03979445 -0.01876437
+v 0.01752320 -0.04067819 -0.01759911
+v 0.01893314 -0.04027818 -0.01713429
+v 0.01775277 -0.03301477 -0.02264568
+v 0.01893314 -0.03377199 -0.02162608
+v 0.01893314 -0.03429665 -0.02132834
+v 0.01788286 -0.03470039 -0.02162180
+v 0.01563307 -0.03669112 -0.02142045
+v 0.01866340 -0.03549482 -0.02073286
+v 0.01893314 -0.03775906 -0.01909209
+v 0.01893314 -0.03798418 -0.01893786
+v 0.01630265 -0.03741671 -0.02064077
+v 0.01491375 -0.03788928 -0.02097278
+v 0.01358606 -0.03829115 -0.02124482
+v 0.01236169 -0.03969024 -0.02073288
+v 0.01277492 -0.04200100 -0.01885862
+v 0.01150271 -0.04228007 -0.01909211
+v 0.00941936 -0.04137772 -0.02043943
+v 0.00733792 -0.04065212 -0.02148259
+v -0.00061095 -0.03987071 -0.02297986
+v 0.01893314 -0.03140358 -0.02292628
+v 0.01893314 -0.03155614 -0.02284917
+v 0.00941936 -0.04370707 -0.01850733
+v 0.00941936 -0.04554712 -0.01678944
+v 0.01338136 -0.04554712 -0.01532644
+v 0.01365111 -0.04505223 -0.01566917
+v 0.01293370 -0.04417221 -0.01686869
+v 0.01354780 -0.04290334 -0.01770622
+v 0.01566942 -0.04011817 -0.01901070
+v 0.01754998 -0.03866140 -0.01915206
+v 0.01811052 -0.03930513 -0.01838950
+v 0.01893314 -0.03988748 -0.01745345
+v 0.01893314 -0.03533668 -0.02068145
+v 0.01893314 -0.03577018 -0.02040513
+v 0.01893314 -0.03906699 -0.01810247
+v 0.01358606 -0.03933675 -0.02048654
+v 0.01150271 -0.04332567 -0.01818817
+v 0.01351719 -0.04088656 -0.01936842
+v 0.01150271 -0.04446989 -0.01714715
+v 0.01132288 -0.04554712 -0.01617897
+v 0.01156202 -0.04554712 -0.01609757
+v 0.01150271 -0.04554712 -0.01612113
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 25
+f 1 25 47
+f 1 47 50
+f 1 50 49
+f 1 49 76
+f 1 76 75
+f 1 75 74
+f 1 74 109
+f 1 109 138
+f 1 138 176
+f 1 176 151
+f 1 151 119
+f 1 119 118
+f 1 118 117
+f 1 117 85
+f 1 85 82
+f 1 82 54
+f 1 54 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 28
+f 1 28 51
+f 1 51 77
+f 1 77 80
+f 1 80 95
+f 1 95 62
+f 1 62 37
+f 1 37 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 10 18
+f 8 18 36
+f 8 36 59
+f 8 59 89
+f 8 89 94
+f 8 94 93
+f 8 93 127
+f 8 127 159
+f 8 159 188
+f 8 188 191
+f 8 191 167
+f 8 167 166
+f 8 166 190
+f 8 190 189
+f 8 189 162
+f 8 162 161
+f 8 161 178
+f 8 178 177
+f 8 177 144
+f 8 144 110
+f 8 110 81
+f 8 81 78
+f 8 78 52
+f 8 52 29
+f 8 29 16
+f 9 17 34
+f 9 34 58
+f 9 58 88
+f 9 88 121
+f 9 121 148
+f 9 148 147
+f 9 147 180
+f 9 180 196
+f 9 196 198
+f 9 198 197
+f 9 197 181
+f 9 181 152
+f 9 152 122
+f 9 122 90
+f 9 90 60
+f 9 60 35
+f 9 35 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 23 14
+f 13 22 24
+f 13 24 23
+f 14 25 26
+f 14 26 15
+f 14 23 27
+f 14 27 25
+f 16 29 30
+f 16 30 28
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 18 35 36
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 21 42 22
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 24
+f 23 24 27
+f 24 45 46
+f 24 46 27
+f 25 27 47
+f 27 46 48
+f 27 48 49
+f 27 49 50
+f 27 50 47
+f 28 30 51
+f 29 52 30
+f 30 52 53
+f 30 53 51
+f 31 54 32
+f 32 55 33
+f 32 54 56
+f 32 56 55
+f 33 57 58
+f 33 58 34
+f 33 55 57
+f 35 59 36
+f 35 60 61
+f 35 61 59
+f 37 62 38
+f 38 62 63
+f 38 63 39
+f 39 63 64
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 40 66 41
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 67 69
+f 43 69 70
+f 43 70 44
+f 43 68 67
+f 44 70 45
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 51 53 77
+f 52 78 53
+f 53 79 63
+f 53 63 80
+f 53 80 77
+f 53 78 81
+f 53 81 79
+f 54 82 56
+f 55 56 83
+f 55 83 84
+f 55 84 57
+f 56 82 85
+f 56 85 86
+f 56 86 83
+f 57 87 58
+f 57 84 87
+f 58 87 88
+f 59 61 89
+f 60 90 91
+f 60 91 61
+f 61 91 92
+f 61 92 93
+f 61 93 94
+f 61 94 89
+f 62 95 63
+f 63 95 80
+f 63 79 96
+f 63 96 64
+f 64 96 97
+f 64 97 98
+f 64 98 99
+f 64 99 100
+f 64 100 65
+f 65 100 66
+f 66 100 67
+f 67 100 101
+f 67 101 102
+f 67 102 69
+f 69 102 70
+f 70 102 103
+f 70 103 104
+f 70 104 71
+f 71 104 72
+f 72 105 73
+f 72 104 106
+f 72 106 107
+f 72 107 108
+f 72 108 105
+f 73 105 74
+f 74 105 109
+f 79 97 96
+f 79 81 110
+f 79 110 111
+f 79 111 112
+f 79 112 113
+f 79 113 97
+f 83 86 114
+f 83 114 115
+f 83 115 84
+f 84 116 87
+f 84 115 116
+f 85 117 86
+f 86 117 118
+f 86 118 119
+f 86 119 120
+f 86 120 114
+f 87 121 88
+f 87 116 121
+f 90 122 91
+f 91 123 124
+f 91 124 125
+f 91 125 92
+f 91 122 123
+f 92 125 126
+f 92 126 93
+f 93 126 127
+f 97 113 112
+f 97 112 128
+f 97 128 98
+f 98 128 129
+f 98 129 130
+f 98 130 131
+f 98 131 132
+f 98 132 133
+f 98 133 99
+f 99 133 132
+f 99 132 100
+f 100 132 101
+f 101 134 102
+f 101 132 135
+f 101 135 134
+f 102 136 103
+f 102 134 135
+f 102 135 136
+f 103 136 137
+f 103 137 106
+f 103 106 104
+f 105 138 109
+f 105 108 139
+f 105 139 138
+f 106 140 115
+f 106 115 141
+f 106 141 108
+f 106 108 142
+f 106 142 107
+f 106 137 143
+f 106 143 140
+f 107 142 108
+f 108 120 139
+f 108 141 115
+f 108 115 114
+f 108 114 120
+f 110 144 111
+f 111 144 145
+f 111 145 112
+f 112 145 129
+f 112 129 128
+f 115 143 116
+f 115 140 143
+f 116 146 147
+f 116 147 148
+f 116 148 121
+f 116 143 149
+f 116 149 150
+f 116 150 146
+f 119 151 120
+f 120 151 139
+f 122 152 123
+f 123 152 153
+f 123 153 124
+f 124 153 154
+f 124 154 125
+f 125 154 155
+f 125 155 156
+f 125 156 157
+f 125 157 158
+f 125 158 159
+f 125 159 126
+f 126 159 127
+f 129 145 160
+f 129 160 161
+f 129 161 162
+f 129 162 163
+f 129 163 130
+f 130 164 131
+f 130 163 165
+f 130 165 166
+f 130 166 167
+f 130 167 168
+f 130 168 169
+f 130 169 164
+f 131 164 169
+f 131 169 132
+f 132 170 135
+f 132 169 170
+f 135 171 172
+f 135 172 173
+f 135 173 174
+f 135 174 136
+f 135 170 171
+f 136 175 137
+f 136 174 149
+f 136 149 175
+f 137 175 143
+f 138 139 176
+f 139 151 176
+f 143 175 149
+f 144 177 145
+f 145 177 178
+f 145 178 160
+f 146 150 179
+f 146 179 180
+f 146 180 147
+f 149 174 150
+f 150 174 173
+f 150 173 179
+f 152 181 182
+f 152 182 153
+f 153 182 183
+f 153 183 184
+f 153 184 154
+f 154 184 155
+f 155 172 185
+f 155 185 157
+f 155 157 156
+f 155 184 172
+f 157 185 169
+f 157 169 168
+f 157 168 186
+f 157 186 167
+f 157 167 187
+f 157 187 158
+f 158 187 188
+f 158 188 159
+f 160 178 161
+f 162 189 165
+f 162 165 163
+f 165 189 190
+f 165 190 166
+f 167 191 187
+f 167 186 168
+f 169 185 192
+f 169 192 170
+f 170 192 171
+f 171 192 172
+f 172 193 173
+f 172 192 194
+f 172 194 185
+f 172 184 183
+f 172 183 193
+f 173 193 179
+f 179 193 195
+f 179 195 180
+f 180 195 196
+f 181 197 183
+f 181 183 182
+f 183 197 198
+f 183 198 195
+f 183 195 193
+f 185 194 192
+f 187 191 188
+f 195 198 196
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_13.obj

@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v -0.02303255 0.04459694 -0.01108647
+v -0.02303255 0.04567189 -0.00991371
+v -0.02246877 0.04578706 -0.01016887
+v -0.02108020 0.04617577 -0.01061294
+v -0.02180059 0.04495205 -0.01146430
+v -0.02297200 0.04459694 -0.01112327
+v -0.02303255 0.04459693 -0.00724189
+v -0.02303255 0.04610377 -0.00940829
+v -0.02166486 0.04696757 -0.00928562
+v -0.02085886 0.04814329 -0.00840236
+v -0.01974801 0.04753544 -0.00974196
+v -0.01974801 0.04648929 -0.01095888
+v -0.01974801 0.04551032 -0.01199915
+v -0.02151661 0.04459694 -0.01198935
+v -0.02200522 0.04459694 -0.01170720
+v -0.00170075 0.04459695 -0.01348842
+v -0.02303255 0.05365073 0.00829596
+v -0.02303255 0.04651807 -0.00890778
+v -0.01975427 0.04948697 -0.00722224
+v -0.01974801 0.04837683 -0.00870168
+v -0.02224743 0.04776098 -0.00791412
+v -0.02303255 0.04819767 -0.00678307
+v -0.02303255 0.04832724 -0.00661133
+v -0.02183191 0.04970451 -0.00562013
+v -0.02045378 0.05004683 -0.00608874
+v -0.01906520 0.05033796 -0.00646903
+v -0.01814854 0.04788096 -0.01015659
+v -0.01675997 0.04816090 -0.01050007
+v -0.01827591 0.04584466 -0.01234264
+v -0.01974801 0.04459695 -0.01291185
+v -0.00170075 0.04459696 -0.01672699
+v -0.00170075 0.05849438 0.00829597
+v -0.02303255 0.05639248 0.00829597
+v -0.02303255 0.04748745 -0.00769577
+v -0.01766410 0.04982289 -0.00788222
+v -0.02303255 0.04999884 -0.00435905
+v -0.02288012 0.05020359 -0.00420448
+v -0.02183191 0.05046273 -0.00457985
+v -0.02098832 0.05238707 -0.00227114
+v -0.01974801 0.05194557 -0.00371132
+v -0.01975427 0.05084184 -0.00533061
+v -0.01851813 0.05217913 -0.00408915
+v -0.01712956 0.05247186 -0.00446453
+v -0.01766410 0.05060511 -0.00684194
+v -0.01558020 0.04836725 -0.01073806
+v -0.01558020 0.04740907 -0.01177834
+v -0.01688734 0.04611659 -0.01262233
+v -0.01632356 0.05006923 -0.00822571
+v -0.01493499 0.05032038 -0.00852013
+v -0.01757432 0.04493447 -0.01352030
+v -0.01776642 0.04459695 -0.01377057
+v -0.00210166 0.04459696 -0.01673926
+v -0.00170075 0.04464175 -0.01668528
+v -0.00170075 0.06091301 0.00829598
+v -0.02289683 0.05647086 0.00829597
+v -0.02303255 0.05633969 0.00812423
+v -0.02303255 0.05015881 -0.00413823
+v -0.02303255 0.05025797 -0.00398367
+v -0.02303255 0.05186399 -0.00141488
+v -0.02237690 0.05204155 -0.00170193
+v -0.02174212 0.05274217 -0.00103704
+v -0.02028047 0.05417543 0.00032219
+v -0.01964987 0.05369395 -0.00094135
+v -0.01974801 0.05263181 -0.00267105
+v -0.01558020 0.05271820 -0.00482029
+v -0.01766410 0.05467452 -0.00053652
+v -0.01493290 0.05449537 -0.00231038
+v -0.01349630 0.04974132 -0.00983764
+v -0.01349630 0.04869517 -0.01111344
+v -0.01349630 0.04775459 -0.01215371
+v -0.01558020 0.04636293 -0.01287013
+v -0.01558020 0.04531838 -0.01390795
+v -0.01731331 0.04459695 -0.01395458
+v -0.01281767 0.05239028 -0.00641749
+v -0.01349630 0.05052033 -0.00879736
+v -0.00308097 0.04459696 -0.01676870
+v -0.00308097 0.04535678 -0.01604247
+v -0.00170075 0.04533439 -0.01601548
+v -0.00170075 0.06079144 0.00791814
+v -0.00308097 0.06093861 0.00829598
+v -0.02287595 0.05647726 0.00827879
+v -0.02288012 0.05647886 0.00829597
+v -0.02234557 0.05623412 0.00689013
+v -0.02303255 0.05598458 0.00717228
+v -0.02303255 0.05237906 -0.00057824
+v -0.02303255 0.05248623 -0.00039178
+v -0.02115746 0.05455293 0.00170840
+v -0.01964987 0.05479449 0.00101161
+v -0.01889189 0.05445217 -0.00015624
+v -0.01349630 0.05402348 -0.00367205
+v -0.01766410 0.05550952 0.00100180
+v -0.01658665 0.05644369 0.00206416
+v -0.01519808 0.05665804 0.00168878
+v -0.01560943 0.05492886 -0.00119651
+v -0.01241885 0.05645330 -0.00002374
+v -0.01349630 0.05468252 -0.00263178
+v -0.01141657 0.04999086 -0.01019094
+v -0.01141657 0.05077947 -0.00915066
+v -0.01129755 0.04879595 -0.01160659
+v -0.01191354 0.04797375 -0.01238679
+v -0.01349630 0.04670845 -0.01321117
+v -0.01349630 0.04566550 -0.01425144
+v -0.01558020 0.04459695 -0.01461456
+v -0.01051244 0.05441220 -0.00424126
+v -0.01141657 0.05255984 -0.00665793
+v -0.01141657 0.05182562 -0.00769820
+v -0.00366563 0.04459696 -0.01675889
+v -0.00516487 0.04533598 -0.01603265
+v -0.00516487 0.04640453 -0.01499238
+v -0.00308097 0.04641093 -0.01500220
+v -0.00170075 0.04569110 -0.01566463
+v -0.00170075 0.05894070 0.00330072
+v -0.00308097 0.06080424 0.00788380
+v -0.00516487 0.06090981 0.00829598
+v -0.00516487 0.06079144 0.00792551
+v -0.01972504 0.05777295 0.00829597
+v -0.02172333 0.05670761 0.00744707
+v -0.02095491 0.05654765 0.00601179
+v -0.02172333 0.05588701 0.00525612
+v -0.02303255 0.05524716 0.00524630
+v -0.02254812 0.05418982 0.00236102
+v -0.02303255 0.05446176 0.00335958
+v -0.02303255 0.05460892 0.00365400
+v -0.02184444 0.05487926 0.00306517
+v -0.01891695 0.05656046 0.00394597
+v -0.01766410 0.05626293 0.00244690
+v -0.01766410 0.05677801 0.00348717
+v -0.01576813 0.05705635 0.00288853
+v -0.01349630 0.05687879 0.00126678
+v -0.01240841 0.05853598 0.00414471
+v -0.01160241 0.05703076 0.00080308
+v -0.01103237 0.05660046 -0.00026418
+v -0.01160241 0.05605819 -0.00100513
+v -0.01128920 0.05483289 -0.00324515
+v -0.01011570 0.05012683 -0.01037985
+v -0.01052496 0.04813851 -0.01255117
+v -0.01058970 0.04607020 -0.01465135
+v -0.01197827 0.04588305 -0.01446489
+v -0.01349630 0.04459696 -0.01528681
+v -0.01362994 0.04459696 -0.01524510
+v -0.00933267 0.05447778 -0.00434430
+v -0.00933267 0.05378995 -0.00538457
+v -0.00933267 0.05274540 -0.00693763
+v -0.00933267 0.05671564 -0.00047272
+v -0.00516487 0.04459696 -0.01672945
+v -0.00724877 0.04525760 -0.01595905
+v -0.00724877 0.04633734 -0.01491878
+v -0.00582888 0.04459696 -0.01668283
+v -0.00724877 0.04738509 -0.01383925
+v -0.00516487 0.04745228 -0.01389814
+v -0.00308097 0.04745707 -0.01390304
+v -0.00170075 0.04673724 -0.01460474
+v -0.00170075 0.04638374 -0.01497521
+v -0.00170075 0.05685640 -0.00072543
+v -0.00308097 0.05686920 -0.00075242
+v -0.00308097 0.05895189 0.00327618
+v -0.00516487 0.05894070 0.00331299
+v -0.00724877 0.06080264 0.00829598
+v -0.00724877 0.06073385 0.00808007
+v -0.00724877 0.05888951 0.00343811
+v -0.01787500 0.05852637 0.00829597
+v -0.01725066 0.05877752 0.00829598
+v -0.01974801 0.05743543 0.00724343
+v -0.01705647 0.05871193 0.00787644
+v -0.01966657 0.05679080 0.00525612
+v -0.02030552 0.05625012 0.00462558
+v -0.01489531 0.05867355 0.00593820
+v -0.01349630 0.05884791 0.00549903
+v -0.01159615 0.05902707 0.00496662
+v -0.01101984 0.05868156 0.00388219
+v -0.00933267 0.05879673 0.00364175
+v -0.00872713 0.05026920 -0.01051970
+v -0.00933267 0.04824409 -0.01266649
+v -0.00933267 0.04724113 -0.01370431
+v -0.00933267 0.04619497 -0.01477402
+v -0.00933267 0.04510564 -0.01581430
+v -0.00933267 0.04459696 -0.01629764
+v -0.01097390 0.04459696 -0.01594925
+v -0.01122029 0.04491368 -0.01558858
+v -0.01139360 0.04459696 -0.01584375
+v -0.00724877 0.05456096 -0.00447679
+v -0.00724877 0.05388592 -0.00551706
+v -0.00724877 0.05680841 -0.00064201
+v -0.00724877 0.05283978 -0.00708238
+v -0.00724877 0.04459696 -0.01658224
+v -0.00724877 0.04836566 -0.01279897
+v -0.00516487 0.04842164 -0.01285786
+v -0.00308097 0.04842644 -0.01286276
+v -0.00170075 0.04775780 -0.01352275
+v -0.00170075 0.04742988 -0.01387360
+v -0.00170075 0.05456896 -0.00448661
+v -0.00308097 0.05458976 -0.00452095
+v -0.00516487 0.05686280 -0.00074261
+v -0.00516487 0.05459775 -0.00453568
+v -0.00855382 0.06070346 0.00829598
+v -0.00849535 0.06068427 0.00821747
+v -0.00933267 0.05940458 0.00516290
+v -0.01558229 0.05925740 0.00829598
+v -0.01558647 0.05893108 0.00720664
+v -0.01349630 0.05944456 0.00724344
+v -0.00724877 0.05033318 -0.01060067
+v -0.00724877 0.04941180 -0.01164094
+v -0.00516487 0.05392271 -0.00557595
+v -0.00516487 0.05287657 -0.00712409
+v -0.00516487 0.05036678 -0.01064727
+v -0.00516487 0.04946779 -0.01168755
+v -0.00170075 0.04839925 -0.01283332
+v -0.00308097 0.04947419 -0.01166547
+v -0.00170075 0.05388912 -0.00552688
+v -0.00308097 0.05391312 -0.00556122
+v -0.01343783 0.05978528 0.00829598
+v -0.00308097 0.05286697 -0.00710937
+v -0.00308097 0.05034598 -0.01062520
+v -0.00170075 0.04875277 -0.01242850
+v -0.00170075 0.04973973 -0.01126801
+v -0.00170075 0.04944539 -0.01161886
+v -0.00170075 0.05284298 -0.00707257
+v -0.00170075 0.05030919 -0.01058104
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 30
+f 1 30 51
+f 1 51 73
+f 1 73 103
+f 1 103 140
+f 1 140 139
+f 1 139 180
+f 1 180 178
+f 1 178 177
+f 1 177 185
+f 1 185 148
+f 1 148 145
+f 1 145 107
+f 1 107 76
+f 1 76 52
+f 1 52 31
+f 1 31 16
+f 1 16 7
+f 1 7 17
+f 1 17 33
+f 1 33 56
+f 1 56 84
+f 1 84 120
+f 1 120 123
+f 1 123 122
+f 1 122 86
+f 1 86 85
+f 1 85 59
+f 1 59 58
+f 1 58 57
+f 1 57 36
+f 1 36 23
+f 1 23 22
+f 1 22 34
+f 1 34 18
+f 1 18 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 7 16 17
+f 8 18 9
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 19
+f 11 27 12
+f 11 20 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 14
+f 16 31 53
+f 16 53 78
+f 16 78 111
+f 16 111 153
+f 16 153 152
+f 16 152 190
+f 16 190 189
+f 16 189 207
+f 16 207 214
+f 16 214 216
+f 16 216 215
+f 16 215 218
+f 16 218 217
+f 16 217 209
+f 16 209 191
+f 16 191 154
+f 16 154 112
+f 16 112 79
+f 16 79 54
+f 16 54 32
+f 16 32 17
+f 17 32 54
+f 17 54 80
+f 17 80 114
+f 17 114 158
+f 17 158 195
+f 17 195 211
+f 17 211 198
+f 17 198 162
+f 17 162 161
+f 17 161 116
+f 17 116 82
+f 17 82 55
+f 17 55 33
+f 18 34 21
+f 19 26 20
+f 20 26 35
+f 20 35 28
+f 20 28 27
+f 21 34 22
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 35
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 28 35 48
+f 28 48 49
+f 28 49 45
+f 29 47 50
+f 29 50 51
+f 29 51 30
+f 31 52 53
+f 33 55 56
+f 35 44 48
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 39
+f 37 39 38
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 40
+f 40 42 41
+f 40 64 42
+f 42 64 43
+f 43 65 49
+f 43 49 48
+f 43 48 44
+f 43 64 66
+f 43 66 67
+f 43 67 65
+f 45 49 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 47
+f 47 71 72
+f 47 72 73
+f 47 73 50
+f 49 65 74
+f 49 74 75
+f 49 75 68
+f 50 73 51
+f 52 76 53
+f 53 76 77
+f 53 77 78
+f 54 79 80
+f 55 81 56
+f 55 82 81
+f 56 81 83
+f 56 83 84
+f 59 85 60
+f 60 85 61
+f 61 85 86
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 63 89 64
+f 64 89 66
+f 65 67 90
+f 65 90 74
+f 66 89 91
+f 66 91 92
+f 66 92 93
+f 66 93 94
+f 66 94 67
+f 67 94 93
+f 67 93 95
+f 67 95 96
+f 67 96 90
+f 68 97 69
+f 68 75 98
+f 68 98 97
+f 69 97 99
+f 69 99 100
+f 69 100 70
+f 70 100 101
+f 70 101 71
+f 71 101 102
+f 71 102 72
+f 72 102 103
+f 72 103 73
+f 74 90 104
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 75 106 98
+f 76 107 108
+f 76 108 77
+f 77 108 109
+f 77 109 110
+f 77 110 111
+f 77 111 78
+f 79 112 113
+f 79 113 80
+f 80 113 115
+f 80 115 114
+f 81 82 116
+f 81 116 117
+f 81 117 83
+f 83 118 119
+f 83 119 120
+f 83 120 84
+f 83 117 118
+f 86 121 87
+f 86 122 121
+f 87 121 122
+f 87 122 123
+f 87 123 124
+f 87 124 125
+f 87 125 88
+f 88 126 91
+f 88 91 89
+f 88 125 126
+f 90 96 104
+f 91 126 92
+f 92 126 127
+f 92 127 128
+f 92 128 93
+f 93 129 95
+f 93 128 130
+f 93 130 129
+f 95 129 130
+f 95 130 131
+f 95 131 132
+f 95 132 133
+f 95 133 134
+f 95 134 96
+f 96 134 104
+f 97 135 99
+f 97 98 135
+f 98 106 135
+f 99 136 100
+f 99 135 136
+f 100 136 137
+f 100 137 138
+f 100 138 101
+f 101 138 102
+f 102 138 139
+f 102 139 140
+f 102 140 103
+f 104 141 142
+f 104 142 143
+f 104 143 105
+f 104 134 132
+f 104 132 144
+f 104 144 141
+f 105 143 106
+f 106 143 135
+f 107 145 108
+f 108 146 147
+f 108 147 109
+f 108 145 148
+f 108 148 146
+f 109 147 149
+f 109 149 150
+f 109 150 110
+f 110 150 151
+f 110 151 152
+f 110 152 153
+f 110 153 111
+f 112 154 155
+f 112 155 156
+f 112 156 113
+f 113 156 157
+f 113 157 115
+f 114 115 159
+f 114 159 158
+f 115 157 160
+f 115 160 159
+f 116 161 117
+f 117 161 162
+f 117 162 163
+f 117 163 118
+f 118 163 162
+f 118 162 164
+f 118 164 165
+f 118 165 166
+f 118 166 119
+f 119 166 123
+f 119 123 120
+f 123 166 124
+f 124 166 125
+f 125 166 165
+f 125 165 164
+f 125 164 167
+f 125 167 127
+f 125 127 126
+f 127 167 128
+f 128 167 130
+f 130 167 168
+f 130 168 169
+f 130 169 170
+f 130 170 131
+f 131 170 132
+f 132 134 133
+f 132 170 171
+f 132 171 144
+f 135 172 136
+f 135 143 172
+f 136 172 173
+f 136 173 174
+f 136 174 175
+f 136 175 137
+f 137 175 176
+f 137 176 177
+f 137 177 178
+f 137 178 179
+f 137 179 138
+f 138 179 139
+f 139 179 180
+f 141 181 182
+f 141 182 142
+f 141 144 183
+f 141 183 181
+f 142 182 184
+f 142 184 143
+f 143 184 172
+f 144 171 160
+f 144 160 183
+f 146 148 185
+f 146 185 177
+f 146 177 176
+f 146 176 175
+f 146 175 147
+f 147 175 174
+f 147 174 149
+f 149 174 173
+f 149 173 186
+f 149 186 150
+f 150 186 187
+f 150 187 188
+f 150 188 151
+f 151 188 189
+f 151 189 190
+f 151 190 152
+f 154 191 192
+f 154 192 155
+f 155 193 156
+f 155 192 194
+f 155 194 193
+f 156 193 157
+f 157 193 183
+f 157 183 160
+f 158 159 196
+f 158 196 195
+f 159 160 197
+f 159 197 196
+f 160 171 197
+f 162 198 164
+f 164 198 199
+f 164 199 167
+f 167 199 200
+f 167 200 168
+f 168 200 169
+f 169 197 170
+f 169 200 195
+f 169 195 196
+f 169 196 197
+f 170 197 171
+f 172 201 202
+f 172 202 186
+f 172 186 173
+f 172 184 201
+f 178 180 179
+f 181 194 203
+f 181 203 182
+f 181 183 193
+f 181 193 194
+f 182 203 184
+f 184 203 204
+f 184 204 205
+f 184 205 201
+f 186 202 187
+f 187 202 206
+f 187 206 188
+f 188 207 189
+f 188 206 208
+f 188 208 207
+f 191 209 210
+f 191 210 192
+f 192 210 203
+f 192 203 194
+f 195 200 211
+f 198 211 199
+f 199 211 200
+f 201 205 206
+f 201 206 202
+f 203 210 212
+f 203 212 204
+f 204 212 205
+f 205 213 208
+f 205 208 206
+f 205 212 213
+f 207 208 214
+f 208 213 215
+f 208 215 216
+f 208 216 214
+f 209 217 212
+f 209 212 210
+f 212 217 213
+f 213 218 215
+f 213 217 218
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_14.obj

@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
+v -0.03902704 -0.03988325 0.00788115
+v -0.03893078 -0.03988325 0.00750197
+v -0.03762944 -0.04214405 0.00724423
+v -0.03852612 -0.04079535 0.00788115
+v -0.03637268 -0.03988325 0.00788115
+v -0.03886482 -0.03988325 0.00724423
+v -0.03747436 -0.04190882 0.00614634
+v -0.03690926 -0.04318983 0.00724422
+v -0.03771145 -0.04226927 0.00788114
+v -0.02081728 -0.05455981 0.00788110
+v -0.02081728 -0.03988317 -0.01419301
+v -0.03833003 -0.03988324 0.00527894
+v -0.03784336 -0.04083934 0.00533842
+v -0.03724261 -0.04153822 0.00476098
+v -0.03641903 -0.04292922 0.00516245
+v -0.03559722 -0.04427453 0.00556393
+v -0.03586640 -0.04464006 0.00724422
+v -0.03698591 -0.04331675 0.00788114
+v -0.02081728 -0.05717089 0.00788109
+v -0.02081728 -0.03988316 -0.01743710
+v -0.03774532 -0.03988323 0.00346978
+v -0.03766331 -0.04014383 0.00359866
+v -0.03557405 -0.04216095 0.00160611
+v -0.03588423 -0.04259415 0.00308316
+v -0.03533874 -0.04394794 0.00417609
+v -0.03504638 -0.04568754 0.00724421
+v -0.03480573 -0.04499203 0.00498648
+v -0.03514622 -0.04581446 0.00788113
+v -0.03558118 -0.04525772 0.00788113
+v -0.03591632 -0.04480251 0.00788114
+v -0.02145725 -0.05685784 0.00788109
+v -0.02125046 -0.05678507 0.00724417
+v -0.02081728 -0.05715058 0.00781169
+v -0.02081728 -0.04036713 -0.01708766
+v -0.02127364 -0.04017084 -0.01697862
+v -0.02138416 -0.03988316 -0.01712484
+v -0.03668286 -0.03988322 0.00098158
+v -0.03570596 -0.04030966 -0.00070862
+v -0.03522822 -0.04170404 0.00022074
+v -0.03333682 -0.04403083 -0.00012623
+v -0.03361135 -0.04435405 0.00100139
+v -0.03511056 -0.04363994 0.00308316
+v -0.03339387 -0.04618165 0.00390099
+v -0.03397501 -0.04508171 0.00315750
+v -0.03364879 -0.04646933 0.00516244
+v -0.03400532 -0.04690255 0.00724421
+v -0.03356857 -0.04765728 0.00788112
+v -0.02509029 -0.05476288 0.00788110
+v -0.02524360 -0.05462411 0.00770762
+v -0.02351086 -0.05481025 0.00516241
+v -0.02089750 -0.05658707 0.00603724
+v -0.02081728 -0.05664799 0.00612150
+v -0.02081728 -0.04085618 -0.01670105
+v -0.02081728 -0.04141461 -0.01624256
+v -0.02205979 -0.04101525 -0.01578408
+v -0.02254467 -0.03988316 -0.01639126
+v -0.03590206 -0.03988322 -0.00081271
+v -0.03531200 -0.03988321 -0.00201220
+v -0.03497686 -0.04093916 -0.00127119
+v -0.03349192 -0.04215247 -0.00245582
+v -0.03376822 -0.04288182 -0.00092176
+v -0.03213354 -0.04489217 -0.00087467
+v -0.03132065 -0.04618841 -0.00023776
+v -0.03268616 -0.04539983 0.00100138
+v -0.03294464 -0.04354854 -0.00151160
+v -0.03155596 -0.04435911 -0.00265161
+v -0.03306586 -0.04581951 0.00251314
+v -0.03268081 -0.04751512 0.00516244
+v -0.03220841 -0.04707006 0.00316989
+v -0.03135273 -0.04830199 0.00382663
+v -0.03308725 -0.04794833 0.00724420
+v -0.03320491 -0.04807187 0.00788112
+v -0.02528282 -0.05464950 0.00788110
+v -0.02766622 -0.05280837 0.00724419
+v -0.02730612 -0.05254099 0.00571508
+v -0.02489420 -0.05435843 0.00631977
+v -0.02735782 -0.05321789 0.00788110
+v -0.02455193 -0.05415367 0.00516241
+v -0.02309194 -0.05456487 0.00382661
+v -0.02081728 -0.05660738 0.00598519
+v -0.02081728 -0.05616909 0.00485013
+v -0.02081728 -0.04256870 -0.01524382
+v -0.02145725 -0.04237240 -0.01503069
+v -0.02284593 -0.04185968 -0.01456971
+v -0.02391731 -0.04032652 -0.01503811
+v -0.02488350 -0.03988317 -0.01467380
+v -0.03365770 -0.03988320 -0.00475815
+v -0.03355966 -0.04017934 -0.00461689
+v -0.03397501 -0.04086131 -0.00315222
+v -0.03306408 -0.04157542 -0.00384118
+v -0.03231002 -0.04300196 -0.00324640
+v -0.03089816 -0.04575519 -0.00162561
+v -0.03004784 -0.04700405 -0.00088708
+v -0.02919930 -0.04822583 -0.00015103
+v -0.03058441 -0.04757602 0.00100138
+v -0.03099621 -0.04795847 0.00243878
+v -0.03164509 -0.04653023 0.00100138
+v -0.03109603 -0.04384976 -0.00403946
+v -0.03030276 -0.04516461 -0.00335546
+v -0.03163974 -0.04857783 0.00516243
+v -0.03009953 -0.04914132 0.00320953
+v -0.02920464 -0.05031911 0.00397780
+v -0.03051667 -0.04962531 0.00516243
+v -0.03204619 -0.04896874 0.00724420
+v -0.03154705 -0.04968285 0.00788112
+v -0.02783557 -0.05287267 0.00788111
+v -0.02884277 -0.05209426 0.00788111
+v -0.02870729 -0.05198765 0.00724419
+v -0.02947739 -0.05056448 0.00516242
+v -0.02691929 -0.05222285 0.00432971
+v -0.02548960 -0.05271189 0.00308313
+v -0.02613492 -0.05307234 0.00507816
+v -0.02509385 -0.05243606 0.00184398
+v -0.02457867 -0.05210607 0.00045862
+v -0.02389770 -0.05281003 0.00109058
+v -0.02256071 -0.05423658 0.00243876
+v -0.02117203 -0.05464609 0.00159614
+v -0.02185300 -0.05492869 0.00311286
+v -0.02081728 -0.05591865 0.00421073
+v -0.02081728 -0.04327775 -0.01462177
+v -0.02081728 -0.04359927 -0.01432685
+v -0.02202413 -0.04301376 -0.01406663
+v -0.02291546 -0.04400540 -0.01254496
+v -0.02373191 -0.04282085 -0.01302575
+v -0.02514020 -0.04205090 -0.01266886
+v -0.02391731 -0.04137401 -0.01417071
+v -0.02496194 -0.03988317 -0.01461433
+v -0.03292860 -0.03988320 -0.00586099
+v -0.03239024 -0.04102375 -0.00543720
+v -0.03119052 -0.04186817 -0.00626000
+v -0.03167540 -0.04245536 -0.00487216
+v -0.02901747 -0.04597010 -0.00405929
+v -0.02951126 -0.04642530 -0.00267145
+v -0.02873402 -0.04782138 -0.00153888
+v -0.02805662 -0.04872503 -0.00093913
+v -0.02697455 -0.05017864 0.00005962
+v -0.02741843 -0.05055263 0.00144498
+v -0.02880711 -0.04998235 0.00259244
+v -0.02954335 -0.04853042 0.00100137
+v -0.03075020 -0.04306287 -0.00543474
+v -0.02918503 -0.04403758 -0.00635170
+v -0.02960752 -0.04447079 -0.00523647
+v -0.03095521 -0.05001453 0.00724420
+v -0.02810118 -0.05081831 0.00320457
+v -0.03108177 -0.05012960 0.00788112
+v -0.02948987 -0.05153414 0.00788111
+v -0.02991592 -0.05094017 0.00724419
+v -0.02653067 -0.05195548 0.00308313
+v -0.02603509 -0.05132935 0.00095180
+v -0.02318999 -0.05253082 -0.00039887
+v -0.02550921 -0.05065415 -0.00107792
+v -0.02506533 -0.05032924 -0.00224271
+v -0.02389770 -0.05171686 -0.00108536
+v -0.02117737 -0.05256296 -0.00250294
+v -0.02081728 -0.05398951 -0.00005936
+v -0.02081728 -0.05473239 0.00142762
+v -0.02081728 -0.05497269 0.00196293
+v -0.02081728 -0.04551824 -0.01247062
+v -0.02183339 -0.04438276 -0.01291175
+v -0.02081728 -0.04581439 -0.01217075
+v -0.02203839 -0.04555548 -0.01157348
+v -0.02287089 -0.04606314 -0.01043346
+v -0.02373191 -0.04450969 -0.01137768
+v -0.02515625 -0.04414248 -0.01061685
+v -0.02430414 -0.04344698 -0.01200469
+v -0.02584257 -0.04278025 -0.01133307
+v -0.02726334 -0.04211521 -0.01066393
+v -0.02652889 -0.04134017 -0.01205177
+v -0.02576413 -0.04058544 -0.01334792
+v -0.02505107 -0.03988317 -0.01454245
+v -0.03160231 -0.04031809 -0.00731575
+v -0.03127787 -0.03988319 -0.00822528
+v -0.03120299 -0.03988319 -0.00832689
+v -0.03078229 -0.04136388 -0.00731575
+v -0.02926882 -0.04204584 -0.00852516
+v -0.02965387 -0.04281749 -0.00715467
+v -0.02679450 -0.04796352 -0.00390069
+v -0.02818140 -0.04719526 -0.00328606
+v -0.02852902 -0.04551827 -0.00523648
+v -0.02704942 -0.04607331 -0.00628480
+v -0.02748795 -0.04644729 -0.00523648
+v -0.02734534 -0.04841535 -0.00251533
+v -0.02655206 -0.04986389 -0.00107791
+v -0.02860746 -0.04344022 -0.00773955
+v -0.02721877 -0.04413741 -0.00854995
+v -0.02782844 -0.04478553 -0.00701093
+v -0.02256606 -0.05215683 -0.00178424
+v -0.02592992 -0.04915146 -0.00307294
+v -0.02540582 -0.04849656 -0.00470614
+v -0.02442358 -0.04988926 -0.00363056
+v -0.02303490 -0.05035630 -0.00435918
+v -0.02380322 -0.05066599 -0.00302586
+v -0.02185656 -0.05176423 -0.00317952
+v -0.02081728 -0.05205022 -0.00369748
+v -0.02081728 -0.05264249 -0.00267147
+v -0.02081728 -0.05292509 -0.00213863
+v -0.02081728 -0.04673833 -0.01114473
+v -0.02148043 -0.04651496 -0.01094399
+v -0.02081728 -0.04734415 -0.01045329
+v -0.02081728 -0.04773843 -0.00997747
+v -0.02206157 -0.04726292 -0.00958341
+v -0.02264271 -0.04800920 -0.00814849
+v -0.02391731 -0.04651328 -0.00891923
+v -0.02501720 -0.04611561 -0.00841613
+v -0.02391731 -0.04566716 -0.00995763
+v -0.02578196 -0.04483799 -0.00917696
+v -0.02654493 -0.04350959 -0.00993779
+v -0.02793540 -0.04277856 -0.00923148
+v -0.02865202 -0.04133679 -0.00991300
+v -0.02924921 -0.03994241 -0.01057471
+v -0.02791579 -0.04064129 -0.01131324
+v -0.02717777 -0.03994578 -0.01264160
+v -0.02720273 -0.03988317 -0.01266391
+v -0.03110317 -0.03988319 -0.00845081
+v -0.02995157 -0.04057531 -0.00914473
+v -0.02606005 -0.04754723 -0.00533314
+v -0.02640588 -0.04553349 -0.00767017
+v -0.02582652 -0.04643882 -0.00711255
+v -0.02477476 -0.04802951 -0.00608902
+v -0.02390483 -0.04919375 -0.00522410
+v -0.02338608 -0.04849995 -0.00676312
+v -0.02230579 -0.04989433 -0.00574206
+v -0.02091711 -0.05032754 -0.00638890
+v -0.02169969 -0.05066598 -0.00512498
+v -0.02081728 -0.05170161 -0.00426501
+v -0.02081728 -0.04855070 -0.00892419
+v -0.02125225 -0.04844917 -0.00873336
+v -0.02177991 -0.04917005 -0.00726869
+v -0.02401535 -0.04760137 -0.00740003
+v -0.02927060 -0.03988318 -0.01059701
+v -0.02081728 -0.05035292 -0.00642855
+v -0.02081728 -0.05044261 -0.00628730
+v -0.02081728 -0.04887053 -0.00849049
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 29
+f 1 29 28
+f 1 28 47
+f 1 47 72
+f 1 72 105
+f 1 105 145
+f 1 145 146
+f 1 146 107
+f 1 107 106
+f 1 106 77
+f 1 77 73
+f 1 73 48
+f 1 48 31
+f 1 31 19
+f 1 19 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 36
+f 1 36 56
+f 1 56 86
+f 1 86 127
+f 1 127 170
+f 1 170 213
+f 1 213 230
+f 1 230 214
+f 1 214 173
+f 1 173 172
+f 1 172 128
+f 1 128 87
+f 1 87 58
+f 1 58 57
+f 1 57 37
+f 1 37 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 33
+f 10 33 52
+f 10 52 80
+f 10 80 81
+f 10 81 119
+f 10 119 157
+f 10 157 156
+f 10 156 155
+f 10 155 196
+f 10 196 195
+f 10 195 194
+f 10 194 225
+f 10 225 232
+f 10 232 231
+f 10 231 233
+f 10 233 226
+f 10 226 200
+f 10 200 199
+f 10 199 197
+f 10 197 160
+f 10 160 158
+f 10 158 121
+f 10 121 120
+f 10 120 82
+f 10 82 54
+f 10 54 53
+f 10 53 34
+f 10 34 20
+f 10 20 11
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 26 17
+f 16 25 27
+f 16 27 26
+f 17 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 31 32
+f 19 32 33
+f 20 34 35
+f 20 35 36
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 25
+f 25 43 27
+f 25 42 44
+f 25 44 43
+f 26 27 45
+f 26 45 46
+f 26 46 47
+f 26 47 28
+f 27 43 45
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 40 61 60
+f 40 60 65
+f 40 65 66
+f 40 66 62
+f 41 64 67
+f 41 67 43
+f 41 43 44
+f 41 44 42
+f 43 68 45
+f 43 67 69
+f 43 69 70
+f 43 70 68
+f 45 68 71
+f 45 71 72
+f 45 72 46
+f 46 72 47
+f 48 73 49
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 49 73 77
+f 49 77 74
+f 50 76 78
+f 50 78 79
+f 50 79 51
+f 51 80 52
+f 51 79 81
+f 51 81 80
+f 54 82 83
+f 54 83 55
+f 55 83 84
+f 55 84 56
+f 56 84 85
+f 56 85 86
+f 58 87 88
+f 58 88 89
+f 58 89 60
+f 58 60 59
+f 60 89 90
+f 60 90 91
+f 60 91 65
+f 62 66 92
+f 62 92 63
+f 63 92 93
+f 63 93 94
+f 63 94 95
+f 63 95 96
+f 63 96 97
+f 63 97 64
+f 64 97 67
+f 65 91 66
+f 66 91 98
+f 66 98 99
+f 66 99 92
+f 67 97 69
+f 68 100 71
+f 68 70 100
+f 69 97 96
+f 69 96 70
+f 70 96 101
+f 70 101 102
+f 70 102 103
+f 70 103 100
+f 71 104 72
+f 71 100 104
+f 72 104 105
+f 74 77 106
+f 74 106 107
+f 74 107 108
+f 74 108 75
+f 75 78 76
+f 75 108 109
+f 75 109 102
+f 75 102 110
+f 75 110 111
+f 75 111 112
+f 75 112 78
+f 78 112 111
+f 78 111 79
+f 79 111 113
+f 79 113 114
+f 79 114 115
+f 79 115 116
+f 79 116 117
+f 79 117 118
+f 79 118 119
+f 79 119 81
+f 82 120 83
+f 83 120 121
+f 83 121 122
+f 83 122 84
+f 84 122 123
+f 84 123 124
+f 84 124 125
+f 84 125 126
+f 84 126 85
+f 85 126 86
+f 86 126 127
+f 87 128 88
+f 88 128 129
+f 88 129 90
+f 88 90 89
+f 90 129 130
+f 90 130 131
+f 90 131 91
+f 91 131 98
+f 92 99 132
+f 92 132 133
+f 92 133 93
+f 93 133 134
+f 93 134 94
+f 94 134 135
+f 94 135 136
+f 94 136 137
+f 94 137 138
+f 94 138 139
+f 94 139 95
+f 95 139 96
+f 96 139 138
+f 96 138 101
+f 98 132 99
+f 98 131 130
+f 98 130 140
+f 98 140 141
+f 98 141 142
+f 98 142 132
+f 100 103 143
+f 100 143 104
+f 101 138 102
+f 102 109 103
+f 102 138 137
+f 102 137 144
+f 102 144 110
+f 103 109 143
+f 104 143 145
+f 104 145 105
+f 107 146 108
+f 108 147 109
+f 108 146 147
+f 109 147 143
+f 110 144 137
+f 110 137 148
+f 110 148 111
+f 111 148 113
+f 113 137 149
+f 113 149 114
+f 113 148 137
+f 114 150 115
+f 114 149 151
+f 114 151 152
+f 114 152 153
+f 114 153 150
+f 115 150 116
+f 116 150 117
+f 117 150 154
+f 117 154 155
+f 117 155 156
+f 117 156 157
+f 117 157 119
+f 117 119 118
+f 121 158 159
+f 121 159 123
+f 121 123 122
+f 123 159 158
+f 123 158 160
+f 123 160 161
+f 123 161 162
+f 123 162 163
+f 123 163 164
+f 123 164 165
+f 123 165 125
+f 123 125 124
+f 125 165 164
+f 125 164 166
+f 125 166 167
+f 125 167 168
+f 125 168 169
+f 125 169 170
+f 125 170 127
+f 125 127 126
+f 128 171 129
+f 128 172 171
+f 129 171 130
+f 130 171 172
+f 130 172 173
+f 130 173 174
+f 130 174 175
+f 130 175 176
+f 130 176 141
+f 130 141 140
+f 132 177 178
+f 132 178 133
+f 132 142 141
+f 132 141 179
+f 132 179 180
+f 132 180 181
+f 132 181 177
+f 133 178 182
+f 133 182 134
+f 134 182 135
+f 135 182 136
+f 136 149 137
+f 136 182 183
+f 136 183 151
+f 136 151 149
+f 141 176 175
+f 141 175 184
+f 141 184 185
+f 141 185 186
+f 141 186 179
+f 143 147 145
+f 145 147 146
+f 150 153 187
+f 150 187 154
+f 151 183 152
+f 152 187 153
+f 152 183 182
+f 152 182 188
+f 152 188 189
+f 152 189 190
+f 152 190 191
+f 152 191 192
+f 152 192 187
+f 154 187 193
+f 154 193 194
+f 154 194 195
+f 154 195 196
+f 154 196 155
+f 160 197 198
+f 160 198 162
+f 160 162 161
+f 162 199 200
+f 162 200 201
+f 162 201 202
+f 162 202 203
+f 162 203 204
+f 162 204 205
+f 162 205 164
+f 162 164 163
+f 162 198 199
+f 164 167 166
+f 164 205 204
+f 164 204 206
+f 164 206 185
+f 164 185 207
+f 164 207 167
+f 167 207 185
+f 167 185 208
+f 167 208 175
+f 167 175 209
+f 167 209 210
+f 167 210 211
+f 167 211 212
+f 167 212 168
+f 168 212 169
+f 169 212 170
+f 170 212 213
+f 173 214 175
+f 173 175 174
+f 175 214 215
+f 175 215 210
+f 175 210 209
+f 175 208 185
+f 175 185 184
+f 177 188 182
+f 177 182 178
+f 177 181 180
+f 177 180 216
+f 177 216 189
+f 177 189 188
+f 179 186 180
+f 180 186 185
+f 180 185 217
+f 180 217 204
+f 180 204 218
+f 180 218 219
+f 180 219 216
+f 185 206 204
+f 185 204 217
+f 187 192 191
+f 187 191 193
+f 189 216 219
+f 189 219 190
+f 190 219 220
+f 190 220 191
+f 191 220 221
+f 191 221 222
+f 191 222 223
+f 191 223 224
+f 191 224 193
+f 193 224 194
+f 194 224 225
+f 197 199 198
+f 200 226 227
+f 200 227 201
+f 201 227 202
+f 202 204 203
+f 202 227 228
+f 202 228 221
+f 202 221 219
+f 202 219 229
+f 202 229 204
+f 204 229 219
+f 204 219 218
+f 210 215 214
+f 210 214 230
+f 210 230 213
+f 210 213 212
+f 210 212 211
+f 219 221 220
+f 221 228 222
+f 222 228 223
+f 223 231 232
+f 223 232 225
+f 223 225 224
+f 223 228 227
+f 223 227 233
+f 223 233 231
+f 226 233 227
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_15.obj

@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v 0.02054367 0.05813446 0.02253529
+v 0.02054367 0.05805705 0.02180492
+v 0.02054367 0.05550655 0.02253528
+v 0.02321657 0.05663393 0.02253529
+v 0.02054367 0.05801736 0.02149689
+v 0.02192148 0.05727900 0.02180492
+v 0.02054367 0.05202322 0.00829595
+v 0.03853381 0.03785943 0.02253522
+v 0.02389236 0.05619330 0.02253529
+v 0.02314193 0.05658630 0.02180492
+v 0.02054367 0.05774346 0.01965704
+v 0.02205058 0.05695151 0.01982987
+v 0.02054367 0.05485558 0.00829596
+v 0.03568339 0.03785948 0.00829590
+v 0.04115225 0.03785943 0.02253522
+v 0.02425749 0.05595512 0.02253529
+v 0.02418285 0.05590749 0.02180492
+v 0.02300678 0.05650095 0.02059230
+v 0.02054367 0.05759063 0.01871621
+v 0.02155433 0.05687015 0.01764436
+v 0.02054367 0.05494688 0.00854685
+v 0.02078171 0.05472656 0.00829596
+v 0.03846321 0.03785948 0.00829590
+v 0.04109173 0.03785943 0.02180485
+v 0.03983900 0.04003877 0.02180486
+v 0.03986926 0.04008442 0.02253523
+v 0.02524798 0.05527631 0.02253528
+v 0.02570792 0.05486148 0.02180491
+v 0.02548803 0.05470270 0.01972533
+v 0.02522982 0.05451415 0.01764435
+v 0.02507449 0.05440102 0.01652092
+v 0.02054367 0.05698725 0.01556477
+v 0.02119525 0.05665777 0.01556477
+v 0.02409611 0.05487539 0.01572226
+v 0.02223617 0.05603056 0.01556477
+v 0.02054367 0.05524262 0.00939847
+v 0.02142522 0.05471267 0.00932600
+v 0.02112263 0.05453007 0.00829596
+v 0.03805572 0.03852241 0.00829590
+v 0.03879404 0.03785948 0.00931339
+v 0.04091623 0.03785944 0.01972527
+v 0.03972199 0.03987007 0.01972528
+v 0.03909865 0.04108478 0.02180486
+v 0.03913496 0.04113241 0.02253523
+v 0.03961508 0.04045162 0.02253523
+v 0.02577449 0.05490912 0.02253528
+v 0.02645230 0.05439703 0.02253528
+v 0.02674884 0.05407350 0.02180491
+v 0.02791886 0.05289849 0.01972532
+v 0.02653097 0.05394450 0.01972533
+v 0.02627074 0.05376190 0.01764435
+v 0.02741252 0.05250551 0.01556475
+v 0.02722290 0.05235864 0.01426570
+v 0.02349899 0.05473448 0.01348656
+v 0.02054367 0.05667565 0.01404271
+v 0.02096327 0.05652281 0.01434238
+v 0.02054367 0.05570706 0.01085502
+v 0.02296239 0.05333520 0.00829596
+v 0.02318026 0.05452410 0.01200214
+v 0.02526008 0.05244003 0.00996018
+v 0.03963525 0.03785947 0.01205923
+v 0.03752517 0.03929848 0.00829590
+v 0.03767041 0.03990384 0.00997547
+v 0.04067415 0.03785944 0.01771398
+v 0.03964937 0.03976487 0.01856283
+v 0.03897560 0.04091608 0.01972528
+v 0.03805773 0.04252576 0.02180487
+v 0.03876983 0.04164053 0.02253523
+v 0.02901223 0.05244793 0.02253527
+v 0.02896180 0.05205693 0.01972532
+v 0.02872779 0.05188822 0.01764434
+v 0.02768687 0.05271590 0.01764434
+v 0.02845546 0.05166394 0.01556475
+v 0.02938744 0.05035198 0.01348654
+v 0.02922203 0.05020312 0.01242584
+v 0.02696872 0.05213832 0.01287885
+v 0.02560705 0.05268416 0.01140557
+v 0.02620014 0.05287073 0.01353813
+v 0.02054367 0.05587577 0.01139584
+v 0.02380158 0.05278540 0.00829595
+v 0.02664797 0.05191603 0.01140557
+v 0.02752953 0.05052269 0.00932599
+v 0.02728745 0.05032421 0.00829594
+v 0.02701108 0.05052865 0.00829595
+v 0.02480821 0.05208674 0.00829595
+v 0.03788021 0.04019561 0.01140553
+v 0.03967963 0.03785947 0.01222091
+v 0.03736177 0.03952475 0.00829591
+v 0.03573987 0.04218045 0.00932595
+v 0.03710759 0.04124360 0.01140553
+v 0.03741018 0.03959819 0.00858861
+v 0.03556437 0.04195617 0.00829591
+v 0.04031306 0.03785945 0.01557306
+v 0.04004678 0.03831993 0.01556470
+v 0.04011335 0.03881017 0.01777949
+v 0.03793468 0.04235111 0.01972529
+v 0.03918136 0.03905234 0.01348650
+v 0.03813842 0.04055287 0.01348651
+v 0.03764419 0.04195812 0.01611248
+v 0.03777935 0.04214073 0.01764430
+v 0.03714390 0.04339711 0.01972529
+v 0.03725687 0.04357177 0.02180487
+v 0.03809203 0.04257538 0.02253524
+v 0.02944998 0.05207676 0.02253527
+v 0.02911511 0.05217601 0.02133797
+v 0.03012375 0.05101092 0.01972532
+v 0.02992808 0.05084222 0.01764434
+v 0.02968197 0.05061793 0.01556475
+v 0.03043038 0.04940918 0.01348654
+v 0.03137850 0.04818257 0.01221119
+v 0.03017217 0.04907376 0.01162579
+v 0.02894768 0.04996296 0.01103899
+v 0.02822145 0.05073903 0.01160210
+v 0.02857246 0.04964540 0.00932598
+v 0.02915949 0.04873635 0.00829594
+v 0.03976436 0.03785946 0.01261676
+v 0.03606667 0.04259130 0.01140554
+v 0.03488656 0.04322646 0.00932596
+v 0.03734563 0.04159888 0.01348651
+v 0.03542921 0.04212091 0.00829591
+v 0.03993583 0.03785946 0.01348650
+v 0.03985513 0.03800634 0.01348650
+v 0.03557849 0.04406205 0.01403848
+v 0.03573987 0.04426052 0.01556472
+v 0.03697849 0.04318673 0.01764431
+v 0.03593555 0.04450069 0.01764431
+v 0.03610097 0.04470512 0.01972529
+v 0.03621595 0.04487382 0.02180487
+v 0.03571567 0.04560423 0.02253525
+v 0.03728511 0.04362338 0.02253524
+v 0.03123124 0.05042340 0.02253527
+v 0.03137245 0.05026858 0.02232061
+v 0.03126150 0.05015942 0.02093375
+v 0.03116265 0.05006217 0.01972531
+v 0.03096900 0.04988553 0.01764433
+v 0.03072289 0.04966720 0.01556474
+v 0.03156006 0.04836119 0.01348654
+v 0.03260300 0.04727946 0.01348653
+v 0.03342201 0.04606276 0.01231433
+v 0.03228427 0.04700160 0.01157002
+v 0.03112231 0.04794240 0.01082434
+v 0.02977275 0.04859939 0.00932598
+v 0.02954681 0.04839892 0.00829594
+v 0.03520731 0.04363929 0.01140554
+v 0.03538483 0.04385761 0.01265162
+v 0.03365602 0.04423277 0.00829592
+v 0.03384564 0.04444713 0.00932596
+v 0.03357734 0.04623345 0.01348653
+v 0.03486236 0.04530851 0.01556473
+v 0.03506812 0.04554669 0.01764432
+v 0.03521740 0.04575311 0.01972530
+v 0.03541509 0.04597143 0.02253525
+v 0.03138456 0.05028050 0.02253526
+v 0.03330300 0.04836315 0.02253526
+v 0.03345026 0.04818253 0.02228019
+v 0.03335141 0.04807932 0.02089333
+v 0.03325660 0.04798406 0.01972531
+v 0.03203816 0.04883754 0.01764433
+v 0.03182231 0.04862120 0.01556474
+v 0.03286322 0.04755336 0.01556473
+v 0.03319002 0.04580276 0.01092747
+v 0.03186265 0.04660662 0.00932597
+v 0.03166496 0.04639623 0.00829593
+v 0.03081568 0.04765263 0.00932598
+v 0.03059983 0.04741842 0.00829593
+v 0.03335746 0.04456622 0.00829592
+v 0.03290559 0.04549313 0.00932597
+v 0.03382144 0.04650735 0.01556473
+v 0.03402720 0.04674355 0.01764432
+v 0.03417648 0.04693805 0.01972530
+v 0.03346438 0.04819642 0.02253526
+v 0.03307908 0.04778955 0.01764433
+v 0.03127764 0.04678129 0.00829593
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 32
+f 1 32 55
+f 1 55 79
+f 1 79 57
+f 1 57 36
+f 1 36 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 26
+f 1 26 45
+f 1 45 44
+f 1 44 68
+f 1 68 103
+f 1 103 130
+f 1 130 129
+f 1 129 152
+f 1 152 171
+f 1 171 154
+f 1 154 153
+f 1 153 131
+f 1 131 104
+f 1 104 69
+f 1 69 47
+f 1 47 46
+f 1 46 27
+f 1 27 16
+f 1 16 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 12
+f 7 13 22
+f 7 22 38
+f 7 38 58
+f 7 58 80
+f 7 80 85
+f 7 85 84
+f 7 84 83
+f 7 83 115
+f 7 115 143
+f 7 143 165
+f 7 165 173
+f 7 173 163
+f 7 163 166
+f 7 166 146
+f 7 146 120
+f 7 120 92
+f 7 92 88
+f 7 88 62
+f 7 62 39
+f 7 39 23
+f 7 23 14
+f 7 14 8
+f 8 14 23
+f 8 23 40
+f 8 40 61
+f 8 61 87
+f 8 87 116
+f 8 116 121
+f 8 121 93
+f 8 93 64
+f 8 64 41
+f 8 41 24
+f 8 24 15
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 12
+f 11 12 20
+f 11 20 19
+f 12 18 20
+f 13 21 22
+f 15 24 25
+f 15 25 26
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 20
+f 19 20 33
+f 19 33 32
+f 20 31 34
+f 20 34 35
+f 20 35 33
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 23 39 40
+f 24 41 25
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 25 41 42
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 29 50 51
+f 29 51 30
+f 30 51 31
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 34
+f 32 33 55
+f 33 35 56
+f 33 56 55
+f 34 54 35
+f 35 54 56
+f 36 57 37
+f 37 58 38
+f 37 57 59
+f 37 59 60
+f 37 60 58
+f 39 61 40
+f 39 62 63
+f 39 63 61
+f 41 64 65
+f 41 65 42
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 47 69 48
+f 48 69 49
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 51
+f 51 72 52
+f 52 72 71
+f 52 71 73
+f 52 73 53
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 54
+f 54 59 56
+f 54 78 77
+f 54 77 59
+f 55 56 79
+f 56 59 79
+f 57 79 59
+f 58 60 80
+f 59 77 60
+f 60 77 81
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 85
+f 60 85 80
+f 61 86 87
+f 61 63 86
+f 62 88 63
+f 63 89 90
+f 63 90 86
+f 63 88 91
+f 63 91 92
+f 63 92 89
+f 64 93 94
+f 64 94 95
+f 64 95 65
+f 65 96 66
+f 65 95 94
+f 65 94 97
+f 65 97 98
+f 65 98 99
+f 65 99 100
+f 65 100 96
+f 66 96 67
+f 67 96 101
+f 67 101 102
+f 67 102 103
+f 67 103 68
+f 69 104 105
+f 69 105 70
+f 70 105 104
+f 70 104 106
+f 70 106 107
+f 70 107 71
+f 71 107 108
+f 71 108 73
+f 73 108 74
+f 74 108 109
+f 74 109 75
+f 75 109 110
+f 75 110 111
+f 75 111 112
+f 75 112 113
+f 75 113 76
+f 76 81 77
+f 76 113 81
+f 81 113 82
+f 82 113 112
+f 82 112 114
+f 82 114 83
+f 83 114 115
+f 86 98 97
+f 86 97 87
+f 86 90 98
+f 87 97 116
+f 88 92 91
+f 89 117 90
+f 89 92 118
+f 89 118 117
+f 90 119 98
+f 90 117 119
+f 92 120 118
+f 93 121 122
+f 93 122 94
+f 94 122 97
+f 96 100 101
+f 97 122 116
+f 98 119 99
+f 99 119 123
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 100 125 101
+f 101 125 126
+f 101 126 127
+f 101 127 102
+f 102 127 128
+f 102 128 129
+f 102 129 130
+f 102 130 103
+f 104 131 132
+f 104 132 133
+f 104 133 134
+f 104 134 106
+f 106 134 107
+f 107 134 135
+f 107 135 136
+f 107 136 108
+f 108 136 109
+f 109 136 137
+f 109 137 110
+f 110 137 138
+f 110 138 139
+f 110 139 140
+f 110 140 141
+f 110 141 111
+f 111 141 112
+f 112 141 142
+f 112 142 114
+f 114 142 143
+f 114 143 115
+f 116 122 121
+f 117 118 144
+f 117 144 145
+f 117 145 123
+f 117 123 119
+f 118 120 146
+f 118 146 147
+f 118 147 144
+f 123 145 139
+f 123 139 148
+f 123 148 149
+f 123 149 124
+f 124 126 125
+f 124 149 150
+f 124 150 126
+f 126 150 127
+f 127 150 151
+f 127 151 152
+f 127 152 129
+f 127 129 128
+f 131 153 132
+f 132 153 154
+f 132 154 155
+f 132 155 156
+f 132 156 133
+f 133 156 134
+f 134 156 157
+f 134 157 158
+f 134 158 135
+f 135 158 159
+f 135 159 136
+f 136 159 137
+f 137 159 160
+f 137 160 138
+f 138 160 148
+f 138 148 139
+f 139 145 144
+f 139 144 147
+f 139 147 161
+f 139 161 140
+f 140 161 162
+f 140 162 141
+f 141 162 163
+f 141 163 164
+f 141 164 142
+f 142 164 143
+f 143 164 165
+f 146 166 147
+f 147 166 167
+f 147 167 161
+f 148 168 149
+f 148 160 168
+f 149 168 150
+f 150 168 169
+f 150 169 151
+f 151 169 170
+f 151 170 156
+f 151 156 152
+f 152 156 155
+f 152 155 171
+f 154 171 155
+f 156 170 157
+f 157 170 169
+f 157 169 172
+f 157 172 158
+f 158 172 159
+f 159 172 160
+f 160 172 168
+f 161 167 162
+f 162 167 163
+f 163 173 164
+f 163 167 166
+f 164 173 165
+f 168 172 169
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_16.obj

@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
+v 0.02039330 0.02407465 -0.02115808
+v -0.00170075 0.02407467 -0.02768900
+v 0.02039330 0.02407466 -0.02395357
+v 0.02039330 0.03899500 -0.01089355
+v -0.00170075 0.04701713 -0.01089352
+v -0.00170075 0.02407468 -0.03002201
+v 0.01973800 0.02407466 -0.02432056
+v 0.02039330 0.02576299 -0.02324393
+v 0.02039330 0.04262339 -0.01089353
+v -0.00170075 0.05004799 -0.01089351
+v -0.00170075 0.02459338 -0.02982354
+v -0.00099571 0.02407468 -0.03002014
+v 0.01953687 0.02407466 -0.02443103
+v 0.01983316 0.02608591 -0.02340120
+v 0.02039330 0.02662495 -0.02284510
+v 0.01843174 0.02463150 -0.02479241
+v 0.02039330 0.04245812 -0.01106953
+v 0.02037600 0.04263611 -0.01089353
+v -0.00148448 0.05003782 -0.01089351
+v -0.00170075 0.04973778 -0.01127173
+v -0.00170075 0.02566131 -0.02940599
+v -0.00099571 0.02565368 -0.02940599
+v 0.00108696 0.02407468 -0.02991528
+v 0.01864584 0.02407466 -0.02491037
+v 0.01704329 0.02543244 -0.02515565
+v 0.01913677 0.02753014 -0.02311098
+v 0.02039330 0.02703940 -0.02263914
+v 0.01784781 0.02407466 -0.02530919
+v 0.01960824 0.04272256 -0.01132979
+v 0.01923626 0.04339636 -0.01089353
+v 0.02039330 0.04134443 -0.01220047
+v -0.00099571 0.05001239 -0.01089351
+v -0.00099571 0.04943012 -0.01159940
+v -0.00170075 0.04944283 -0.01162187
+v -0.00170075 0.02991773 -0.02740625
+v 0.00108696 0.02550620 -0.02934233
+v -0.00099571 0.02989993 -0.02739876
+v 0.00317179 0.02407468 -0.02970745
+v 0.00317179 0.02526465 -0.02923560
+v 0.01563754 0.02613168 -0.02542526
+v 0.01631014 0.02682583 -0.02479988
+v 0.01769642 0.02407466 -0.02538408
+v 0.01550994 0.02407467 -0.02634837
+v 0.01772237 0.02822684 -0.02341618
+v 0.01839497 0.02892352 -0.02271402
+v 0.02039330 0.02988465 -0.02112248
+v 0.01983316 0.02822683 -0.02233768
+v 0.02039330 0.02819123 -0.02203623
+v 0.01892267 0.04190891 -0.01259929
+v 0.01775265 0.04330483 -0.01189713
+v 0.01775265 0.04428884 -0.01089353
+v 0.02039330 0.04036297 -0.01314603
+v 0.01959743 0.04062232 -0.01341004
+v 0.00071930 0.04984966 -0.01089351
+v -0.00170075 0.04875124 -0.01243074
+v 0.00108696 0.04828339 -0.01271348
+v -0.00099571 0.04838255 -0.01282020
+v -0.00170075 0.03380292 -0.02522115
+v 0.00317179 0.02822685 -0.02783130
+v 0.00108696 0.02974228 -0.02732387
+v -0.00099571 0.03378766 -0.02520992
+v 0.00108696 0.03366561 -0.02512940
+v 0.00509010 0.02407468 -0.02941910
+v 0.00428342 0.02511972 -0.02917194
+v 0.01396146 0.02407467 -0.02694753
+v 0.01358731 0.02460100 -0.02686702
+v 0.01358731 0.02613423 -0.02619482
+v 0.01492169 0.02741319 -0.02511445
+v 0.01563754 0.02815819 -0.02440294
+v 0.01700652 0.02951596 -0.02306042
+v 0.01772237 0.03025588 -0.02227214
+v 0.01896160 0.03150179 -0.02092400
+v 0.01972719 0.03024571 -0.02126479
+v 0.02035004 0.03089663 -0.02054766
+v 0.02039330 0.03081527 -0.02057200
+v 0.01888158 0.03979087 -0.01464957
+v 0.01775265 0.04118679 -0.01398861
+v 0.01775265 0.04225980 -0.01294942
+v 0.01634042 0.04371675 -0.01230906
+v 0.01762073 0.04436258 -0.01089353
+v 0.02039330 0.03927216 -0.01417773
+v 0.02027003 0.03931539 -0.01422080
+v 0.00319775 0.04945809 -0.01089351
+v 0.00257489 0.04817405 -0.01259364
+v -0.00170075 0.04839781 -0.01283518
+v 0.00108696 0.04731717 -0.01375267
+v -0.00099571 0.04741379 -0.01386127
+v -0.00170075 0.03484796 -0.02452461
+v -0.00099571 0.03483270 -0.02451712
+v 0.00317179 0.02952361 -0.02721152
+v 0.00444778 0.02936088 -0.02712539
+v 0.00317179 0.03057119 -0.02664419
+v 0.00108696 0.03471065 -0.02443286
+v 0.00254245 0.03353848 -0.02504889
+v 0.00321072 0.03258498 -0.02551325
+v 0.00753394 0.02407468 -0.02885925
+v 0.00518742 0.02832347 -0.02748677
+v 0.00733714 0.02770815 -0.02733511
+v 0.00873856 0.02737251 -0.02717408
+v 0.00942629 0.02622323 -0.02751861
+v 0.01358731 0.02407467 -0.02708609
+v 0.01321965 0.02407467 -0.02721903
+v 0.01252327 0.02507140 -0.02705426
+v 0.01113482 0.02558502 -0.02730142
+v 0.01342078 0.02815819 -0.02530730
+v 0.01400471 0.02880911 -0.02475681
+v 0.01551859 0.03025589 -0.02330008
+v 0.01611333 0.03091189 -0.02265223
+v 0.01775265 0.03196201 -0.02122358
+v 0.01775265 0.03300959 -0.02052331
+v 0.01937683 0.03390715 -0.01908156
+v 0.01986344 0.03243240 -0.01981554
+v 0.02039330 0.03088392 -0.02052893
+v 0.02039330 0.03228747 -0.01960958
+v 0.01775265 0.04013921 -0.01496413
+v 0.01632744 0.04161396 -0.01439866
+v 0.02039330 0.03913994 -0.01429944
+v 0.02039330 0.03831358 -0.01500908
+v 0.01967961 0.03864413 -0.01515325
+v 0.01871505 0.03758892 -0.01661747
+v 0.01791485 0.03871533 -0.01610256
+v 0.01495197 0.04409306 -0.01269665
+v 0.01562240 0.04493977 -0.01144962
+v 0.01591437 0.04531099 -0.01089352
+v 0.01563970 0.04285478 -0.01354671
+v 0.00448022 0.04924705 -0.01089351
+v 0.00525446 0.04880208 -0.01127922
+v 0.00396550 0.04804183 -0.01246632
+v 0.00427044 0.04602295 -0.01461210
+v 0.00317179 0.04611449 -0.01470572
+v -0.00170075 0.04742905 -0.01387625
+v 0.00108696 0.04626959 -0.01486674
+v -0.00099571 0.04636876 -0.01496598
+v -0.00170075 0.03633796 -0.02348356
+v -0.00099571 0.03633033 -0.02347607
+v 0.00108696 0.03621845 -0.02339368
+v 0.00525446 0.03212730 -0.02543835
+v 0.00733714 0.03173573 -0.02521366
+v 0.00863259 0.03147637 -0.02506387
+v 0.00317179 0.03602267 -0.02325513
+v 0.00393090 0.03339609 -0.02491782
+v 0.00923598 0.02407467 -0.02845481
+v 0.00936358 0.03039828 -0.02545334
+v 0.01150248 0.02966853 -0.02520806
+v 0.01214912 0.02407467 -0.02756355
+v 0.01169928 0.02423994 -0.02764594
+v 0.01070012 0.02407467 -0.02801293
+v 0.01261410 0.02932019 -0.02502456
+v 0.01342078 0.03013639 -0.02423254
+v 0.01472272 0.03143059 -0.02295930
+v 0.01568945 0.03242478 -0.02188454
+v 0.01665617 0.03341897 -0.02078919
+v 0.01775049 0.03456570 -0.01944292
+v 0.02039330 0.03393257 -0.01846929
+v 0.02039330 0.03297907 -0.01914335
+v 0.01844255 0.03530307 -0.01857600
+v 0.02039330 0.03594127 -0.01698821
+v 0.01997806 0.03456570 -0.01824833
+v 0.01732660 0.03803389 -0.01700880
+v 0.01618903 0.03942982 -0.01642086
+v 0.01556401 0.04072149 -0.01558764
+v 0.01493899 0.04199536 -0.01475442
+v 0.02039330 0.03651083 -0.01652011
+v 0.01983749 0.03718718 -0.01629354
+v 0.01983749 0.03614469 -0.01714736
+v 0.01788458 0.03668629 -0.01779147
+v 0.01358731 0.04442361 -0.01303742
+v 0.01358731 0.04547118 -0.01195329
+v 0.01515742 0.04572036 -0.01089352
+v 0.01358731 0.04338366 -0.01407848
+v 0.00525446 0.04911737 -0.01089351
+v 0.00711222 0.04872071 -0.01089351
+v 0.00733714 0.04858341 -0.01100211
+v 0.00525446 0.04791216 -0.01232027
+v 0.00565889 0.04586276 -0.01444545
+v 0.00507929 0.04508472 -0.01533859
+v 0.00420123 0.04391509 -0.01667549
+v 0.00337292 0.04482536 -0.01593028
+v 0.00281279 0.04403713 -0.01678971
+v 0.00108696 0.04521948 -0.01590593
+v -0.00170075 0.04638148 -0.01497909
+v -0.00099571 0.04532118 -0.01600516
+v -0.00170075 0.03983158 -0.02091648
+v -0.00099571 0.03982141 -0.02090899
+v 0.00033002 0.03977564 -0.02087154
+v 0.00317179 0.03848396 -0.02146510
+v 0.00317179 0.03706770 -0.02250616
+v 0.00525446 0.03317488 -0.02477740
+v 0.00733714 0.03278077 -0.02456394
+v 0.01002103 0.03114837 -0.02483170
+v 0.00941981 0.03395293 -0.02325701
+v 0.01079528 0.03364018 -0.02304356
+v 0.00525446 0.03682106 -0.02232828
+v 0.00525446 0.03577348 -0.02307725
+v 0.00643097 0.03560058 -0.02295367
+v 0.01150248 0.03071357 -0.02458642
+v 0.01167765 0.02407467 -0.02771147
+v 0.01358731 0.03177895 -0.02318398
+v 0.01526556 0.03387156 -0.02111686
+v 0.01584516 0.03454281 -0.02037725
+v 0.01705194 0.03578110 -0.01892989
+v 0.01566998 0.03726347 -0.01845242
+v 0.01456485 0.03760673 -0.01871455
+v 0.01556401 0.03871533 -0.01731587
+v 0.01479842 0.03982902 -0.01676163
+v 0.01358731 0.04118172 -0.01610442
+v 0.01358731 0.04233609 -0.01506523
+v 0.01212966 0.04373200 -0.01441925
+v 0.01206694 0.04581191 -0.01230905
+v 0.01358731 0.04645519 -0.01091411
+v 0.01366517 0.04643740 -0.01089352
+v 0.00733714 0.04866986 -0.01089351
+v 0.00801189 0.04848933 -0.01089351
+v 0.00733714 0.04767059 -0.01204316
+v 0.00733714 0.04662302 -0.01317410
+v 0.00733714 0.04563647 -0.01421515
+v 0.00733714 0.04459144 -0.01524872
+v 0.00525446 0.04378541 -0.01655378
+v 0.00525446 0.04159618 -0.01854603
+v 0.00393090 0.04176654 -0.01868833
+v 0.00254245 0.04189876 -0.01882314
+v 0.00108696 0.04417444 -0.01691890
+v -0.00170075 0.04568733 -0.01566626
+v -0.00170075 0.04533136 -0.01601827
+v -0.00099571 0.04427360 -0.01701439
+v -0.00170075 0.04463975 -0.01668673
+v -0.00170075 0.04087661 -0.02005330
+v -0.00099571 0.04086898 -0.02004582
+v -0.00099571 0.04210472 -0.01900476
+v 0.00108696 0.04200809 -0.01891863
+v 0.00172063 0.03966885 -0.02075358
+v 0.00525446 0.03823478 -0.02128910
+v 0.00317179 0.03953155 -0.02063937
+v 0.00525446 0.03928236 -0.02046524
+v 0.00720954 0.03458097 -0.02342364
+v 0.00849850 0.03769065 -0.02087530
+v 0.00941981 0.03500051 -0.02251178
+v 0.01150248 0.03598198 -0.02115242
+v 0.01275684 0.03566923 -0.02092212
+v 0.01149599 0.03249344 -0.02349668
+v 0.00733714 0.03790424 -0.02103820
+v 0.01414745 0.03526748 -0.02063751
+v 0.01566998 0.03622098 -0.01925756
+v 0.01317640 0.03796525 -0.01901975
+v 0.01375600 0.03867211 -0.01818092
+v 0.01366084 0.03663797 -0.01983051
+v 0.01358731 0.04013668 -0.01702938
+v 0.01199557 0.04157074 -0.01645081
+v 0.01073905 0.04403712 -0.01471135
+v 0.01140299 0.04492452 -0.01351674
+v 0.01136839 0.04281157 -0.01558201
+v 0.01067849 0.04609923 -0.01261238
+v 0.01130351 0.04697899 -0.01138970
+v 0.01358731 0.04647300 -0.01089352
+v 0.01155222 0.04732733 -0.01089352
+v 0.00941981 0.04809268 -0.01089351
+v 0.00941981 0.04736039 -0.01170801
+v 0.00941981 0.04631282 -0.01284081
+v 0.00941981 0.04531355 -0.01387999
+v 0.00941981 0.04426851 -0.01493603
+v 0.00733714 0.04349809 -0.01628978
+v 0.00733714 0.04245051 -0.01724844
+v 0.00733714 0.04128852 -0.01828951
+v 0.00733714 0.04024094 -0.01918264
+v 0.00525446 0.04055114 -0.01942793
+v 0.00108696 0.04305313 -0.01795808
+v -0.00099571 0.04315229 -0.01805545
+v -0.00170075 0.04428632 -0.01702563
+v -0.00170075 0.04129615 -0.01970130
+v -0.00170075 0.04211489 -0.01901225
+v -0.00170075 0.04246832 -0.01869393
+v 0.00733714 0.03894926 -0.02022370
+v 0.00895915 0.03995870 -0.01894672
+v 0.00942197 0.03868737 -0.01980054
+v 0.00988478 0.03739824 -0.02065061
+v 0.00928356 0.03666087 -0.02136775
+v 0.01150248 0.03702700 -0.02037350
+v 0.01150248 0.03837207 -0.01933432
+v 0.01150248 0.03941711 -0.01848237
+v 0.01138137 0.04083591 -0.01732522
+v 0.01060712 0.04189112 -0.01673916
+v 0.00941981 0.04315483 -0.01597521
+v 0.01089044 0.04760194 -0.01089352
+v 0.00941981 0.04210979 -0.01693389
+v -0.00170075 0.04316247 -0.01806481
+v -0.00170075 0.04354387 -0.01771280
+v 0.01034760 0.03968409 -0.01869769
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 38
+f 1 38 63
+f 1 63 96
+f 1 96 142
+f 1 142 147
+f 1 147 197
+f 1 197 145
+f 1 145 102
+f 1 102 101
+f 1 101 65
+f 1 65 43
+f 1 43 42
+f 1 42 28
+f 1 28 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 48
+f 1 48 46
+f 1 46 75
+f 1 75 113
+f 1 113 114
+f 1 114 155
+f 1 155 154
+f 1 154 157
+f 1 157 163
+f 1 163 118
+f 1 118 117
+f 1 117 81
+f 1 81 52
+f 1 52 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 34
+f 2 34 55
+f 2 55 85
+f 2 85 131
+f 2 131 181
+f 2 181 223
+f 2 223 224
+f 2 224 226
+f 2 226 268
+f 2 268 286
+f 2 286 285
+f 2 285 271
+f 2 271 270
+f 2 270 269
+f 2 269 227
+f 2 227 183
+f 2 183 134
+f 2 134 88
+f 2 88 58
+f 2 58 35
+f 2 35 21
+f 2 21 11
+f 2 11 6
+f 3 7 8
+f 4 9 18
+f 4 18 30
+f 4 30 51
+f 4 51 80
+f 4 80 124
+f 4 124 169
+f 4 169 211
+f 4 211 254
+f 4 254 255
+f 4 255 283
+f 4 283 256
+f 4 256 213
+f 4 213 212
+f 4 212 172
+f 4 172 171
+f 4 171 126
+f 4 126 83
+f 4 83 54
+f 4 54 32
+f 4 32 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 8
+f 8 14 15
+f 8 13 16
+f 8 16 14
+f 9 17 18
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 13 24 16
+f 14 16 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 16 24 28
+f 16 28 25
+f 17 29 30
+f 17 30 18
+f 17 31 29
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 21 35 22
+f 22 36 23
+f 22 35 37
+f 22 37 36
+f 23 36 39
+f 23 39 38
+f 25 40 41
+f 25 41 26
+f 25 28 42
+f 25 42 43
+f 25 43 40
+f 26 41 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 29 31 49
+f 29 49 30
+f 30 50 51
+f 30 49 50
+f 31 52 53
+f 31 53 49
+f 32 54 33
+f 33 55 34
+f 33 54 56
+f 33 56 57
+f 33 57 55
+f 35 58 37
+f 36 59 39
+f 36 37 60
+f 36 60 59
+f 37 58 61
+f 37 61 62
+f 37 62 60
+f 38 39 64
+f 38 64 63
+f 39 59 64
+f 40 43 65
+f 40 65 66
+f 40 66 67
+f 40 67 68
+f 40 68 41
+f 41 68 69
+f 41 69 44
+f 44 69 70
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 48 47
+f 49 53 76
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 78 79
+f 50 79 51
+f 51 79 80
+f 52 81 82
+f 52 82 53
+f 53 82 76
+f 54 83 84
+f 54 84 56
+f 55 57 85
+f 56 84 86
+f 56 86 57
+f 57 86 87
+f 57 87 131
+f 57 131 85
+f 58 88 89
+f 58 89 61
+f 59 60 90
+f 59 90 91
+f 59 91 64
+f 60 62 92
+f 60 92 90
+f 61 89 62
+f 62 89 93
+f 62 93 94
+f 62 94 95
+f 62 95 92
+f 63 64 96
+f 64 91 97
+f 64 97 98
+f 64 98 99
+f 64 99 100
+f 64 100 96
+f 65 101 66
+f 66 101 102
+f 66 102 103
+f 66 103 67
+f 67 104 105
+f 67 105 68
+f 67 103 104
+f 68 105 106
+f 68 106 69
+f 69 106 70
+f 70 107 108
+f 70 108 71
+f 70 106 107
+f 71 108 72
+f 72 108 109
+f 72 109 110
+f 72 110 111
+f 72 111 112
+f 72 112 74
+f 72 74 73
+f 74 113 75
+f 74 112 114
+f 74 114 113
+f 76 115 116
+f 76 116 77
+f 76 82 117
+f 76 117 118
+f 76 118 119
+f 76 119 120
+f 76 120 121
+f 76 121 115
+f 77 116 78
+f 78 116 79
+f 79 122 123
+f 79 123 124
+f 79 124 80
+f 79 116 125
+f 79 125 122
+f 81 117 82
+f 83 126 84
+f 84 126 127
+f 84 127 128
+f 84 128 129
+f 84 129 130
+f 84 130 86
+f 86 130 132
+f 86 132 87
+f 87 132 133
+f 87 133 131
+f 88 134 135
+f 88 135 89
+f 89 135 136
+f 89 136 93
+f 90 92 91
+f 91 92 95
+f 91 95 137
+f 91 137 138
+f 91 138 139
+f 91 139 98
+f 91 98 97
+f 93 136 140
+f 93 140 94
+f 94 141 95
+f 94 140 141
+f 95 141 137
+f 96 100 142
+f 98 139 143
+f 98 143 99
+f 99 104 100
+f 99 143 144
+f 99 144 104
+f 100 104 142
+f 102 145 146
+f 102 146 103
+f 103 146 104
+f 104 146 147
+f 104 147 142
+f 104 144 148
+f 104 148 105
+f 105 148 106
+f 106 148 149
+f 106 149 150
+f 106 150 107
+f 107 150 108
+f 108 150 151
+f 108 151 109
+f 109 151 152
+f 109 152 110
+f 110 152 153
+f 110 153 111
+f 111 154 155
+f 111 155 112
+f 111 153 156
+f 111 156 157
+f 111 157 158
+f 111 158 154
+f 112 155 114
+f 115 121 159
+f 115 159 160
+f 115 160 116
+f 116 160 161
+f 116 161 162
+f 116 162 125
+f 118 163 164
+f 118 164 119
+f 119 164 120
+f 120 159 121
+f 120 164 165
+f 120 165 166
+f 120 166 159
+f 122 167 168
+f 122 168 169
+f 122 169 123
+f 122 125 162
+f 122 162 170
+f 122 170 167
+f 123 169 124
+f 126 171 127
+f 127 171 172
+f 127 172 173
+f 127 173 174
+f 127 174 128
+f 128 174 129
+f 129 174 175
+f 129 175 176
+f 129 176 177
+f 129 177 178
+f 129 178 130
+f 130 178 179
+f 130 179 180
+f 130 180 132
+f 131 133 181
+f 132 180 182
+f 132 182 133
+f 133 182 181
+f 134 183 135
+f 135 183 184
+f 135 184 185
+f 135 185 136
+f 136 186 187
+f 136 187 140
+f 136 185 186
+f 137 141 188
+f 137 188 189
+f 137 189 138
+f 138 189 139
+f 139 190 143
+f 139 189 191
+f 139 191 192
+f 139 192 190
+f 140 187 193
+f 140 193 194
+f 140 194 141
+f 141 194 195
+f 141 195 188
+f 143 190 144
+f 144 190 196
+f 144 196 148
+f 145 197 146
+f 146 197 147
+f 148 196 198
+f 148 198 149
+f 149 198 150
+f 150 198 199
+f 150 199 151
+f 151 199 152
+f 152 199 200
+f 152 200 201
+f 152 201 153
+f 153 201 156
+f 154 158 157
+f 156 201 166
+f 156 166 165
+f 156 165 157
+f 157 165 164
+f 157 164 163
+f 159 166 201
+f 159 201 202
+f 159 202 203
+f 159 203 204
+f 159 204 160
+f 160 205 161
+f 160 204 205
+f 161 205 162
+f 162 205 206
+f 162 206 207
+f 162 207 170
+f 167 170 208
+f 167 208 209
+f 167 209 168
+f 168 209 210
+f 168 210 211
+f 168 211 169
+f 170 207 208
+f 172 212 173
+f 173 212 213
+f 173 213 214
+f 173 214 174
+f 174 214 175
+f 175 214 215
+f 175 215 216
+f 175 216 217
+f 175 217 218
+f 175 218 176
+f 176 218 177
+f 177 179 178
+f 177 218 219
+f 177 219 220
+f 177 220 221
+f 177 221 179
+f 179 222 180
+f 179 221 222
+f 180 222 182
+f 181 182 223
+f 182 224 223
+f 182 222 225
+f 182 225 226
+f 182 226 224
+f 183 227 228
+f 183 228 184
+f 184 228 185
+f 185 228 229
+f 185 229 230
+f 185 230 221
+f 185 221 231
+f 185 231 186
+f 186 232 187
+f 186 231 233
+f 186 233 234
+f 186 234 232
+f 187 232 193
+f 188 195 189
+f 189 195 235
+f 189 235 191
+f 190 192 196
+f 191 235 195
+f 191 195 236
+f 191 236 237
+f 191 237 192
+f 192 237 238
+f 192 238 239
+f 192 239 198
+f 192 198 240
+f 192 240 196
+f 193 232 195
+f 193 195 194
+f 195 232 241
+f 195 241 236
+f 196 240 198
+f 198 239 242
+f 198 242 199
+f 199 242 200
+f 200 242 243
+f 200 243 201
+f 201 243 202
+f 202 243 203
+f 203 244 245
+f 203 245 205
+f 203 205 204
+f 203 243 242
+f 203 242 246
+f 203 246 244
+f 205 247 206
+f 205 245 247
+f 206 248 207
+f 206 247 248
+f 207 248 208
+f 208 249 250
+f 208 250 209
+f 208 248 251
+f 208 251 249
+f 209 252 253
+f 209 253 210
+f 209 250 252
+f 210 254 211
+f 210 253 255
+f 210 255 254
+f 213 256 214
+f 214 256 257
+f 214 257 258
+f 214 258 215
+f 215 258 216
+f 216 258 259
+f 216 259 260
+f 216 260 217
+f 217 260 261
+f 217 261 218
+f 218 261 262
+f 218 262 219
+f 219 263 264
+f 219 264 265
+f 219 265 220
+f 219 262 263
+f 220 265 234
+f 220 234 233
+f 220 233 221
+f 221 233 231
+f 221 230 266
+f 221 266 222
+f 222 266 267
+f 222 267 225
+f 225 267 268
+f 225 268 226
+f 227 269 228
+f 228 269 270
+f 228 270 229
+f 229 270 271
+f 229 271 267
+f 229 267 230
+f 230 267 266
+f 232 234 272
+f 232 272 241
+f 234 265 264
+f 234 264 272
+f 236 241 272
+f 236 272 273
+f 236 273 274
+f 236 274 275
+f 236 275 276
+f 236 276 237
+f 237 276 238
+f 238 276 275
+f 238 275 277
+f 238 277 239
+f 239 277 244
+f 239 244 246
+f 239 246 242
+f 244 278 279
+f 244 279 247
+f 244 247 245
+f 244 277 278
+f 247 279 280
+f 247 280 281
+f 247 281 248
+f 248 281 251
+f 249 282 260
+f 249 260 259
+f 249 259 252
+f 249 252 250
+f 249 251 281
+f 249 281 282
+f 252 259 258
+f 252 258 257
+f 252 257 283
+f 252 283 253
+f 253 283 255
+f 256 283 257
+f 260 282 261
+f 261 282 284
+f 261 284 262
+f 262 284 263
+f 263 273 264
+f 263 284 273
+f 264 273 272
+f 267 271 285
+f 267 285 286
+f 267 286 268
+f 273 284 281
+f 273 281 287
+f 273 287 274
+f 274 278 275
+f 274 287 278
+f 275 278 277
+f 278 287 279
+f 279 287 281
+f 279 281 280
+f 281 284 282
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_17.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.02362910 0.05334254 0.00829596
+v -0.02362910 0.05604729 0.00829597
+v -0.02362910 0.05611514 0.02166381
+v -0.04314255 0.03637372 0.02181864
+v -0.04070148 0.03637377 0.00829589
+v -0.02362910 0.05622688 0.00887459
+v -0.02580422 0.05481647 0.00829596
+v -0.02362910 0.05615018 0.02182269
+v -0.04303012 0.03659492 0.02182261
+v -0.04474903 0.03637372 0.02182261
+v -0.04337174 0.03637377 0.00829589
+v -0.02419991 0.05603634 0.00932610
+v -0.02498693 0.05649186 0.01238338
+v -0.02362910 0.05635829 0.00932610
+v -0.02611990 0.05493692 0.00930225
+v -0.02658260 0.05433903 0.00829596
+v -0.02720963 0.05449889 0.00997886
+v -0.02362910 0.05874543 0.02182270
+v -0.04571768 0.03637372 0.02182261
+v -0.04367011 0.03637377 0.00932602
+v -0.04268633 0.03765059 0.00829590
+v -0.02623449 0.05599909 0.01348633
+v -0.02519233 0.05660574 0.01348633
+v -0.02362910 0.05739198 0.01348633
+v -0.02393396 0.05683133 0.01157702
+v -0.02362910 0.05675030 0.01069519
+v -0.02749935 0.05469819 0.01140620
+v -0.02689395 0.05424047 0.00859255
+v -0.02681179 0.05419229 0.00829596
+v -0.02854151 0.05395356 0.01140620
+v -0.02935881 0.05246650 0.00829595
+v -0.02956854 0.05262638 0.00932608
+v -0.02362910 0.05874543 0.02180549
+v -0.02732206 0.05666266 0.02182269
+v -0.04541714 0.03694971 0.02182262
+v -0.04541714 0.03694752 0.02180541
+v -0.04551660 0.03637373 0.01995832
+v -0.04400741 0.03637376 0.01067922
+v -0.04373282 0.03768780 0.01233564
+v -0.04332849 0.03699576 0.00932603
+v -0.04224093 0.03886609 0.00919494
+v -0.04214363 0.03861422 0.00829590
+v -0.02659557 0.05617210 0.01556513
+v -0.02555341 0.05680722 0.01556513
+v -0.02785611 0.05495223 0.01348632
+v -0.02362910 0.05819354 0.01771542
+v -0.02362910 0.05697588 0.01157834
+v -0.02995773 0.05290670 0.01140619
+v -0.03119448 0.05226938 0.01249193
+v -0.02962475 0.05225845 0.00829595
+v -0.03061070 0.05180510 0.00932608
+v -0.03099772 0.05211389 0.01140619
+v -0.02362910 0.05850672 0.01972536
+v -0.02424963 0.05816069 0.01972536
+v -0.02717719 0.05656411 0.02007492
+v -0.02837719 0.05593336 0.02182269
+v -0.02836422 0.05594212 0.02180548
+v -0.04448957 0.03867769 0.02182262
+v -0.04419768 0.03884853 0.01976369
+v -0.04547768 0.03637373 0.01962068
+v -0.04541497 0.03648104 0.01954256
+v -0.04423228 0.03637376 0.01177687
+v -0.04407228 0.03664752 0.01154781
+v -0.04384093 0.03787615 0.01348626
+v -0.04322471 0.03892301 0.01348626
+v -0.04196418 0.04024364 0.01140615
+v -0.04176742 0.03995017 0.00980138
+v -0.04445282 0.03659714 0.01348625
+v -0.04155553 0.03968080 0.00841508
+v -0.04153607 0.03964795 0.00829591
+v -0.02704098 0.05647432 0.01868861
+v -0.02586260 0.05698900 0.01764525
+v -0.02925935 0.05448135 0.01610004
+v -0.02362910 0.05839940 0.01897726
+v -0.03239015 0.05095315 0.01140090
+v -0.03340636 0.05029612 0.01209073
+v -0.03214366 0.05165178 0.01330624
+v -0.03138042 0.05242925 0.01387956
+v -0.03167448 0.05058741 0.00829595
+v -0.03187988 0.05076043 0.00932608
+v -0.02795557 0.05594651 0.01951881
+v -0.02983664 0.05489745 0.02182268
+v -0.02965935 0.05477043 0.01972535
+v -0.04381498 0.03989538 0.02182263
+v -0.04416525 0.03844118 0.01764518
+v -0.04374147 0.03978806 0.02048135
+v -0.04545606 0.03637373 0.01944988
+v -0.04401606 0.03818275 0.01556506
+v -0.04454579 0.03637375 0.01347698
+v -0.04336742 0.03922742 0.01556506
+v -0.04218255 0.04056338 0.01348627
+v -0.04122904 0.04129050 0.01140615
+v -0.03993391 0.04235489 0.00932605
+v -0.04106472 0.04070138 0.00919495
+v -0.04459552 0.03637375 0.01377887
+v -0.04019553 0.04156865 0.00829591
+v -0.04143445 0.03979906 0.00829591
+v -0.02944313 0.05461495 0.01764524
+v -0.03048529 0.05383309 0.01764524
+v -0.03158367 0.05259788 0.01556511
+v -0.03317718 0.05007493 0.01070310
+v -0.03406798 0.04881783 0.00932607
+v -0.03435771 0.04916823 0.01131482
+v -0.03553393 0.04826154 0.01192655
+v -0.03463231 0.04950111 0.01348630
+v -0.03359015 0.05046037 0.01348631
+v -0.03262366 0.05171747 0.01556511
+v -0.03271664 0.04969386 0.00829594
+v -0.03292204 0.04986469 0.00932607
+v -0.03070151 0.05399733 0.01972535
+v -0.03087880 0.05410683 0.02180547
+v -0.03087880 0.05410683 0.02182268
+v -0.04310363 0.04093348 0.02182263
+v -0.04194039 0.04227601 0.01972531
+v -0.04180201 0.04207672 0.01764519
+v -0.04169174 0.04192122 0.01616884
+v -0.03955337 0.04393611 0.01240054
+v -0.03936094 0.04369959 0.01101424
+v -0.03912527 0.04340175 0.00932605
+v -0.03978472 0.04215121 0.00829591
+v -0.03180853 0.05278623 0.01764523
+v -0.03285069 0.05190800 0.01764523
+v -0.03388204 0.04864700 0.00829594
+v -0.03440961 0.04815423 0.00829594
+v -0.03510582 0.04784324 0.00932607
+v -0.03572852 0.04845425 0.01348630
+v -0.03613933 0.04679857 0.00932606
+v -0.03759230 0.04616344 0.01196626
+v -0.03677068 0.04739644 0.01348629
+v -0.03486150 0.04971792 0.01556510
+v -0.03382150 0.05067061 0.01556511
+v -0.03200312 0.05295048 0.01972534
+v -0.03215231 0.05305997 0.02180546
+v -0.03215448 0.05305997 0.02182267
+v -0.03088962 0.05409807 0.02182268
+v -0.04206363 0.04242930 0.02182264
+v -0.04205499 0.04244025 0.02180543
+v -0.04118148 0.04332068 0.01972531
+v -0.04103445 0.04312139 0.01764520
+v -0.03983229 0.04429090 0.01556508
+v -0.03965283 0.04406314 0.01348628
+v -0.03879878 0.04510781 0.01348629
+v -0.03775662 0.04634958 0.01348629
+v -0.03847662 0.04493699 0.01148959
+v -0.03808311 0.04467200 0.00932605
+v -0.03792311 0.04447708 0.00829592
+v -0.03844851 0.04383539 0.00829592
+v -0.03403123 0.05086115 0.01764523
+v -0.03304528 0.05205254 0.01972534
+v -0.03492204 0.04766803 0.00829594
+v -0.03596852 0.04662336 0.00829593
+v -0.03594257 0.04867106 0.01556510
+v -0.03649609 0.04607803 0.00829593
+v -0.03717933 0.04571886 0.00932606
+v -0.03737176 0.04593786 0.01057995
+v -0.03698473 0.04760668 0.01556509
+v -0.03507122 0.04990846 0.01764522
+v -0.03319447 0.05217518 0.02182267
+v -0.04130039 0.04347835 0.02182264
+v -0.04129391 0.04348711 0.02180543
+v -0.04013932 0.04467853 0.01972531
+v -0.03999229 0.04449457 0.01764520
+v -0.03915554 0.04554143 0.01764521
+v -0.03898689 0.04533775 0.01556509
+v -0.03794473 0.04656201 0.01556509
+v -0.03701068 0.04552394 0.00829593
+v -0.03420420 0.05100568 0.01972534
+v -0.03524203 0.05006175 0.01972533
+v -0.03538257 0.05020191 0.02182266
+v -0.03611771 0.04886160 0.01764522
+v -0.03715987 0.04779284 0.01764522
+v -0.04129391 0.04348711 0.02182264
+v -0.04025175 0.04482744 0.02182264
+v -0.04025175 0.04482525 0.02180543
+v -0.03928310 0.04572539 0.01972532
+v -0.03811338 0.04675036 0.01764521
+v -0.03533068 0.05014935 0.02103484
+v -0.03730689 0.04795708 0.01972533
+v -0.03740419 0.04805563 0.02113282
+v -0.03647879 0.04908278 0.02182266
+v -0.03938472 0.04587211 0.02182265
+v -0.03824095 0.04691241 0.01972532
+v -0.03744527 0.04809505 0.02182266
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 47
+f 1 47 24
+f 1 24 46
+f 1 46 74
+f 1 74 53
+f 1 53 33
+f 1 33 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 42
+f 1 42 70
+f 1 70 97
+f 1 97 96
+f 1 96 120
+f 1 120 147
+f 1 147 146
+f 1 146 166
+f 1 166 153
+f 1 153 151
+f 1 151 150
+f 1 150 124
+f 1 124 123
+f 1 123 108
+f 1 108 79
+f 1 79 50
+f 1 50 31
+f 1 31 29
+f 1 29 16
+f 1 16 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 19
+f 4 19 37
+f 4 37 60
+f 4 60 87
+f 4 87 95
+f 4 95 89
+f 4 89 62
+f 4 62 38
+f 4 38 20
+f 4 20 11
+f 4 11 5
+f 4 8 9
+f 6 12 13
+f 6 13 14
+f 6 7 15
+f 6 15 12
+f 7 16 17
+f 7 17 15
+f 8 18 34
+f 8 34 56
+f 8 56 82
+f 8 82 112
+f 8 112 135
+f 8 135 134
+f 8 134 158
+f 8 158 169
+f 8 169 180
+f 8 180 183
+f 8 183 181
+f 8 181 173
+f 8 173 172
+f 8 172 159
+f 8 159 136
+f 8 136 113
+f 8 113 84
+f 8 84 58
+f 8 58 35
+f 8 35 19
+f 8 19 10
+f 8 10 9
+f 11 20 21
+f 12 15 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 15 17
+f 13 17 27
+f 13 27 22
+f 16 28 17
+f 16 29 28
+f 17 30 27
+f 17 28 31
+f 17 31 32
+f 17 32 30
+f 18 33 34
+f 19 35 36
+f 19 36 37
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 42
+f 22 43 44
+f 22 44 23
+f 22 27 45
+f 22 45 43
+f 23 44 46
+f 23 46 24
+f 24 47 25
+f 25 47 26
+f 27 30 45
+f 28 29 31
+f 30 32 48
+f 30 48 49
+f 30 49 45
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 49
+f 32 49 48
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 57
+f 34 57 56
+f 35 58 36
+f 36 58 59
+f 36 59 37
+f 37 59 61
+f 37 61 60
+f 38 62 63
+f 38 63 39
+f 39 64 65
+f 39 65 66
+f 39 66 67
+f 39 67 41
+f 39 41 40
+f 39 63 68
+f 39 68 64
+f 41 67 69
+f 41 69 42
+f 42 69 70
+f 43 71 44
+f 43 45 71
+f 44 72 46
+f 44 71 72
+f 45 73 71
+f 45 49 73
+f 46 72 74
+f 49 52 75
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 73
+f 50 79 51
+f 51 79 80
+f 51 80 52
+f 52 80 75
+f 53 74 72
+f 53 72 71
+f 53 71 54
+f 54 71 55
+f 55 71 81
+f 55 81 57
+f 56 57 82
+f 57 81 83
+f 57 83 82
+f 58 84 59
+f 59 85 61
+f 59 84 86
+f 59 86 85
+f 60 61 87
+f 61 85 88
+f 61 88 87
+f 62 89 68
+f 62 68 63
+f 64 88 65
+f 64 68 88
+f 65 88 90
+f 65 90 91
+f 65 91 66
+f 66 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 94
+f 67 94 69
+f 68 89 95
+f 68 95 87
+f 68 87 88
+f 69 94 96
+f 69 96 97
+f 69 97 70
+f 71 73 98
+f 71 98 83
+f 71 83 81
+f 73 99 98
+f 73 78 100
+f 73 100 99
+f 75 80 101
+f 75 101 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 106
+f 76 106 77
+f 77 106 78
+f 78 106 107
+f 78 107 100
+f 79 108 80
+f 80 108 109
+f 80 109 101
+f 82 83 110
+f 82 110 111
+f 82 111 112
+f 83 98 110
+f 84 113 86
+f 85 86 90
+f 85 90 88
+f 86 91 90
+f 86 113 114
+f 86 114 115
+f 86 115 116
+f 86 116 91
+f 91 116 117
+f 91 117 92
+f 92 117 93
+f 93 117 118
+f 93 118 119
+f 93 119 120
+f 93 120 94
+f 94 120 96
+f 98 99 110
+f 99 100 121
+f 99 121 110
+f 100 107 122
+f 100 122 121
+f 101 109 102
+f 102 123 124
+f 102 124 125
+f 102 125 104
+f 102 104 103
+f 102 109 123
+f 104 126 105
+f 104 125 127
+f 104 127 128
+f 104 128 129
+f 104 129 126
+f 105 130 106
+f 105 126 130
+f 106 130 131
+f 106 131 107
+f 107 131 122
+f 108 123 109
+f 110 121 132
+f 110 132 111
+f 111 132 133
+f 111 133 134
+f 111 134 135
+f 111 135 112
+f 113 136 137
+f 113 137 114
+f 114 137 138
+f 114 138 115
+f 115 138 139
+f 115 139 116
+f 116 139 140
+f 116 140 141
+f 116 141 117
+f 117 141 142
+f 117 142 143
+f 117 143 128
+f 117 128 144
+f 117 144 118
+f 118 144 145
+f 118 145 119
+f 119 145 146
+f 119 146 147
+f 119 147 120
+f 121 122 132
+f 122 131 148
+f 122 148 149
+f 122 149 132
+f 124 150 125
+f 125 150 151
+f 125 151 127
+f 126 152 130
+f 126 129 152
+f 127 151 153
+f 127 153 154
+f 127 154 155
+f 127 155 128
+f 128 155 145
+f 128 145 144
+f 128 143 129
+f 129 143 156
+f 129 156 152
+f 130 157 148
+f 130 148 131
+f 130 152 157
+f 132 149 158
+f 132 158 133
+f 133 158 134
+f 136 159 160
+f 136 160 137
+f 137 160 138
+f 138 160 161
+f 138 161 162
+f 138 162 139
+f 139 162 140
+f 140 162 163
+f 140 163 164
+f 140 164 141
+f 141 164 142
+f 142 164 143
+f 143 165 156
+f 143 164 165
+f 145 155 154
+f 145 154 146
+f 146 154 166
+f 148 167 149
+f 148 157 168
+f 148 168 167
+f 149 167 169
+f 149 169 158
+f 152 170 157
+f 152 156 170
+f 153 166 154
+f 156 165 171
+f 156 171 170
+f 157 170 168
+f 159 172 160
+f 160 172 173
+f 160 173 174
+f 160 174 161
+f 161 174 175
+f 161 175 163
+f 161 163 162
+f 163 175 176
+f 163 176 165
+f 163 165 164
+f 165 176 171
+f 167 168 177
+f 167 177 169
+f 168 170 178
+f 168 178 179
+f 168 179 177
+f 169 177 179
+f 169 179 180
+f 170 171 178
+f 171 176 178
+f 173 181 174
+f 174 181 175
+f 175 182 176
+f 175 181 179
+f 175 179 182
+f 176 182 179
+f 176 179 178
+f 179 181 183
+f 179 183 180
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_18.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04033270 -0.00009907 0.00788411
+v 0.04289254 -0.00009907 0.00788411
+v 0.03947298 -0.00178077 0.00788410
+v 0.04403046 0.01561252 0.00829723
+v 0.04484285 -0.01571966 0.00788405
+v 0.04627153 0.01561252 0.00829723
+v 0.03899192 -0.00319286 0.00788410
+v 0.04570546 0.01561248 0.01774901
+v 0.04502542 -0.01781252 0.00788404
+v 0.04651882 0.01561252 0.00929835
+v 0.04661059 0.01357359 0.00932702
+v 0.04635267 0.01357359 0.00829722
+v 0.03897357 -0.00379274 0.00788410
+v 0.03956668 -0.00399833 0.01059055
+v 0.04166382 -0.00404891 0.01893508
+v 0.04659803 0.01561247 0.02253514
+v 0.04506406 -0.01881682 0.00788404
+v 0.04652558 0.01561252 0.00932703
+v 0.04797261 0.01469244 0.01655283
+v 0.04798517 0.01357356 0.01647825
+v 0.04799000 0.01148070 0.01646103
+v 0.04797841 0.01032811 0.01652844
+v 0.04585519 -0.01881683 0.01039830
+v 0.04628408 0.01148073 0.00829721
+v 0.03893783 -0.00524864 0.00788409
+v 0.03956668 -0.00451733 0.01059054
+v 0.04165899 -0.00525879 0.01896662
+v 0.04244819 -0.00525880 0.02194845
+v 0.04265105 -0.00331086 0.02194846
+v 0.04267519 -0.00316594 0.02194846
+v 0.04857828 0.01561247 0.02253514
+v 0.04383147 -0.00009575 0.02253508
+v 0.04293311 -0.01881682 0.00788404
+v 0.04691390 0.01561251 0.01135078
+v 0.04692453 0.01561251 0.01140671
+v 0.04804313 0.01561248 0.01782359
+v 0.04804893 0.01550127 0.01775905
+v 0.04820735 0.01561248 0.01906566
+v 0.04829139 0.01561248 0.01972399
+v 0.04845560 0.01357355 0.01972398
+v 0.04816581 0.01357356 0.01764287
+v 0.04818416 0.01148070 0.01764286
+v 0.04849328 0.01148069 0.01972397
+v 0.04641160 -0.01881684 0.01348626
+v 0.04604839 -0.01881683 0.01143814
+v 0.03910108 -0.00583504 0.00788409
+v 0.04496939 -0.01881687 0.02194840
+v 0.04169183 -0.00637431 0.01881028
+v 0.04263752 -0.00735166 0.02194844
+v 0.04857732 0.01561247 0.02251506
+v 0.04875602 0.01357354 0.02253513
+v 0.04624641 -0.00009575 0.02253508
+v 0.04851453 0.01561247 0.02180367
+v 0.04869033 0.01357354 0.02180366
+v 0.04873863 0.01148068 0.02180365
+v 0.04865073 0.00938783 0.02180364
+v 0.04671201 -0.01881685 0.01556307
+v 0.04706846 -0.01881687 0.02194840
+v 0.04880625 0.01148068 0.02253512
+v 0.04666468 0.00101977 0.02253508
+v 0.04872318 0.00938783 0.02253511
+v 0.04683180 -0.01881685 0.01664737
+v 0.04706749 -0.01881687 0.02180497
+v 0.04847878 0.00729497 0.02253511
+v 0.04828945 0.00624011 0.02253510
+v 0.04814263 0.00545150 0.02253510
+v 0.04693612 0.00181512 0.02253509
+v 0.04705783 -0.01881687 0.02080673
+v 0.04703175 -0.01881686 0.01972529
+v 0.04699601 -0.01881686 0.01872705
+v 0.04692453 -0.01881685 0.01764418
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 33
+f 1 33 46
+f 1 46 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 16
+f 4 16 31
+f 4 31 50
+f 4 50 53
+f 4 53 39
+f 4 39 38
+f 4 38 36
+f 4 36 35
+f 4 35 34
+f 4 34 18
+f 4 18 10
+f 4 10 6
+f 4 7 8
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 12 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 17
+f 12 23 24
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 32
+f 16 32 52
+f 16 52 60
+f 16 60 67
+f 16 67 66
+f 16 66 65
+f 16 65 64
+f 16 64 61
+f 16 61 59
+f 16 59 51
+f 16 51 31
+f 17 23 45
+f 17 45 44
+f 17 44 57
+f 17 57 62
+f 17 62 71
+f 17 71 70
+f 17 70 69
+f 17 69 68
+f 17 68 63
+f 17 63 58
+f 17 58 47
+f 17 47 33
+f 17 24 23
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 22
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 23
+f 25 46 47
+f 25 47 48
+f 25 48 27
+f 25 27 26
+f 27 48 28
+f 28 48 49
+f 28 49 32
+f 28 32 29
+f 29 32 30
+f 31 51 50
+f 32 49 47
+f 32 47 58
+f 32 58 52
+f 33 47 46
+f 36 38 37
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 43
+f 40 43 41
+f 41 43 42
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 47 49 48
+f 50 51 53
+f 51 59 54
+f 51 54 53
+f 52 58 60
+f 54 59 55
+f 55 59 61
+f 55 61 56
+f 56 61 62
+f 56 62 57
+f 58 63 61
+f 58 61 64
+f 58 64 65
+f 58 65 66
+f 58 66 67
+f 58 67 60
+f 61 63 68
+f 61 68 69
+f 61 69 70
+f 61 70 71
+f 61 71 62
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_19.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.03568458 0.03785532 0.00829590
+v 0.03853478 0.03785527 0.02253522
+v 0.03846536 0.03785532 0.00829590
+v 0.04402944 0.01561252 0.00829582
+v 0.04570573 0.01561248 0.01775014
+v 0.04659815 0.01561247 0.02253514
+v 0.04115273 0.03785527 0.02253522
+v 0.03879481 0.03785532 0.00931339
+v 0.03927447 0.03712151 0.00932594
+v 0.03962286 0.03606327 0.00829589
+v 0.04627122 0.01561252 0.00829582
+v 0.04857865 0.01561247 0.02253514
+v 0.04111738 0.03785527 0.02209756
+v 0.04213225 0.03630927 0.02253521
+v 0.03963674 0.03785531 0.01205923
+v 0.03971500 0.03777474 0.01213449
+v 0.03994095 0.03607415 0.00932593
+v 0.03978443 0.03580850 0.00829589
+v 0.04652620 0.01561252 0.00932586
+v 0.04626870 0.01566914 0.00829582
+v 0.04857739 0.01561247 0.02251563
+v 0.04857486 0.01566909 0.02253514
+v 0.04109340 0.03785527 0.02180485
+v 0.04210448 0.03625483 0.02180484
+v 0.04091794 0.03785528 0.01972527
+v 0.04412158 0.03211330 0.02253520
+v 0.03968092 0.03785531 0.01222091
+v 0.04014922 0.03669908 0.01142642
+v 0.03976550 0.03785530 0.01261676
+v 0.04176366 0.03563428 0.01631596
+v 0.04203127 0.03410571 0.01348649
+v 0.04186212 0.03375950 0.01183201
+v 0.04165637 0.03341328 0.01044516
+v 0.04044459 0.03453904 0.00829589
+v 0.04691498 0.01561251 0.01134969
+v 0.04652368 0.01566914 0.00932586
+v 0.04604907 0.01758531 0.00829582
+v 0.04851554 0.01561247 0.02180477
+v 0.04851049 0.01566909 0.02180477
+v 0.04815579 0.01793583 0.02166122
+v 0.04824289 0.01786615 0.02253515
+v 0.04199592 0.03605887 0.01972526
+v 0.04136984 0.03710405 0.01972527
+v 0.04409381 0.03204797 0.02180483
+v 0.04067559 0.03785528 0.01771398
+v 0.04592536 0.02730328 0.02253518
+v 0.03993716 0.03785530 0.01348650
+v 0.04031458 0.03785529 0.01557306
+v 0.04126254 0.03685801 0.01764429
+v 0.04186212 0.03581283 0.01764428
+v 0.04213982 0.03463047 0.01559953
+v 0.04377698 0.03135120 0.01663653
+v 0.04395118 0.02966150 0.01348647
+v 0.04383757 0.02937190 0.01226827
+v 0.04224080 0.03259238 0.01124521
+v 0.04202748 0.03204585 0.00932592
+v 0.04188863 0.03173882 0.00829588
+v 0.04173716 0.03203713 0.00829588
+v 0.04149606 0.03309103 0.00932592
+v 0.04804345 0.01561248 0.01782401
+v 0.04692255 0.01566913 0.01140544
+v 0.04619423 0.01796418 0.00912097
+v 0.04672312 0.01776167 0.01140545
+v 0.04587235 0.01879380 0.00829583
+v 0.04829086 0.01561248 0.01972519
+v 0.04828707 0.01566910 0.01972519
+v 0.04805607 0.01729566 0.01972519
+v 0.04801820 0.01908771 0.02225778
+v 0.04802957 0.01914432 0.02253515
+v 0.04248063 0.03450199 0.01764428
+v 0.04399157 0.03181064 0.01972525
+v 0.04592031 0.02728804 0.02239022
+v 0.04457221 0.03031690 0.01972524
+v 0.04624977 0.02623850 0.02253518
+v 0.04388932 0.03157547 0.01802339
+v 0.04423266 0.03051941 0.01745609
+v 0.04412158 0.03009916 0.01556467
+v 0.04447754 0.02822438 0.01348646
+v 0.04408371 0.02824616 0.01150723
+v 0.04394234 0.02756461 0.00978168
+v 0.04208807 0.03124454 0.00829587
+v 0.04820754 0.01561248 0.01906591
+v 0.04798538 0.01685146 0.01853068
+v 0.04602003 0.01985421 0.00977468
+v 0.04637220 0.01985421 0.01140545
+v 0.04674331 0.01985420 0.01348643
+v 0.04462523 0.02403931 0.00829585
+v 0.04590390 0.02099738 0.01026531
+v 0.04662718 0.02194674 0.01556464
+v 0.04686449 0.02194674 0.01764423
+v 0.04662718 0.02403927 0.01972522
+v 0.04680011 0.02403926 0.02180480
+v 0.04683798 0.02403926 0.02253517
+v 0.04616898 0.02630165 0.02174070
+v 0.04611344 0.02586399 0.01972523
+v 0.04665495 0.02477306 0.02253517
+v 0.04599353 0.02547205 0.01764424
+v 0.04591274 0.02519551 0.01639119
+v 0.04599605 0.02342524 0.01384885
+v 0.04471863 0.02613184 0.01140548
+v 0.04421878 0.02629299 0.00918233
+v 0.04409633 0.02595983 0.00829586
+v 0.04372649 0.02696364 0.00829586
+v 0.04602382 0.02148949 0.01140546
+v 0.04622073 0.02214925 0.01328713
+v 0.04430209 0.02526304 0.00829585
+v 0.04586351 0.02298322 0.01246198
+v 0.04609829 0.02408936 0.01564410
+v 0.04638483 0.02403928 0.01764424
+f 1 2 7
+f 1 7 13
+f 1 13 23
+f 1 23 25
+f 1 25 45
+f 1 45 48
+f 1 48 47
+f 1 47 29
+f 1 29 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 34
+f 1 34 58
+f 1 58 57
+f 1 57 81
+f 1 81 103
+f 1 103 102
+f 1 102 106
+f 1 106 87
+f 1 87 64
+f 1 64 37
+f 1 37 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 41
+f 2 41 69
+f 2 69 93
+f 2 93 96
+f 2 96 74
+f 2 74 46
+f 2 46 26
+f 2 26 14
+f 2 14 7
+f 3 8 9
+f 3 9 10
+f 4 11 19
+f 4 19 35
+f 4 35 60
+f 4 60 82
+f 4 82 65
+f 4 65 38
+f 4 38 21
+f 4 21 12
+f 4 12 6
+f 4 6 5
+f 7 14 13
+f 8 15 16
+f 8 16 9
+f 9 17 10
+f 9 16 17
+f 10 17 18
+f 11 20 36
+f 11 36 19
+f 12 21 22
+f 13 14 23
+f 14 24 25
+f 14 25 23
+f 14 26 24
+f 15 27 16
+f 16 28 17
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 28
+f 17 28 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 19 36 35
+f 20 37 36
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 24 42 43
+f 24 43 25
+f 24 26 44
+f 24 44 42
+f 25 43 45
+f 26 46 44
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 52 53
+f 31 53 32
+f 31 51 52
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 33 59 34
+f 34 59 58
+f 35 36 61
+f 35 61 60
+f 36 37 62
+f 36 62 63
+f 36 63 61
+f 37 64 62
+f 38 65 66
+f 38 66 39
+f 39 66 67
+f 39 67 40
+f 40 67 68
+f 40 68 41
+f 41 68 69
+f 42 70 50
+f 42 50 49
+f 42 49 45
+f 42 45 43
+f 42 44 71
+f 42 71 70
+f 44 46 72
+f 44 72 73
+f 44 73 71
+f 45 49 48
+f 46 74 72
+f 50 70 51
+f 51 70 75
+f 51 75 52
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 53 77 78
+f 53 78 54
+f 54 78 79
+f 54 79 80
+f 54 80 56
+f 54 56 55
+f 56 81 57
+f 56 80 81
+f 60 61 63
+f 60 63 83
+f 60 83 82
+f 62 64 84
+f 62 84 63
+f 63 84 85
+f 63 85 86
+f 63 86 83
+f 64 87 88
+f 64 88 84
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 83 89
+f 67 89 68
+f 68 89 90
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 70 71 75
+f 71 73 75
+f 72 74 94
+f 72 94 95
+f 72 95 73
+f 73 95 76
+f 73 76 75
+f 74 96 92
+f 74 92 94
+f 76 95 97
+f 76 97 77
+f 77 97 78
+f 78 97 98
+f 78 98 99
+f 78 99 100
+f 78 100 79
+f 79 100 101
+f 79 101 80
+f 80 101 102
+f 80 102 103
+f 80 103 81
+f 83 86 89
+f 84 88 85
+f 85 88 104
+f 85 104 105
+f 85 105 86
+f 86 105 89
+f 87 106 88
+f 88 106 107
+f 88 107 104
+f 89 105 99
+f 89 99 108
+f 89 108 109
+f 89 109 91
+f 89 91 90
+f 91 109 97
+f 91 97 95
+f 91 95 94
+f 91 94 92
+f 92 96 93
+f 97 109 98
+f 98 109 108
+f 98 108 99
+f 99 105 107
+f 99 107 100
+f 100 107 101
+f 101 107 106
+f 101 106 102
+f 104 107 105
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_2.obj

@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v -0.04338976 -0.02413067 0.00788121
+v -0.04358262 -0.02413067 0.00845445
+v -0.04119070 -0.02413067 0.00788121
+v -0.04283918 -0.02828130 0.00788120
+v -0.04275299 -0.02892086 0.00788119
+v -0.04378841 -0.02573345 0.00992633
+v -0.04383474 -0.02413067 0.00933984
+v -0.04239312 -0.02413074 0.02720861
+v -0.03391582 -0.04659802 0.02720853
+v -0.03391582 -0.04357107 0.00788114
+v -0.04252026 -0.03037345 0.00788119
+v -0.04417844 -0.02413068 0.01144361
+v -0.04417198 -0.02413068 0.01140388
+v -0.04380457 -0.02779194 0.01184089
+v -0.04392309 -0.02633417 0.01125063
+v -0.04492188 -0.02413074 0.02720861
+v -0.03391582 -0.05058294 0.02720851
+v -0.03391474 -0.04475698 0.01140570
+v -0.03391582 -0.04724527 0.00788113
+v -0.04239420 -0.03101300 0.00788119
+v -0.04426356 -0.02618659 0.01348683
+v -0.04445427 -0.02413069 0.01348684
+v -0.04234464 -0.03246560 0.00932468
+v -0.04377979 -0.02965106 0.01400330
+v -0.04392201 -0.02840561 0.01338088
+v -0.04488848 -0.02413072 0.02184136
+v -0.04487124 -0.02618663 0.02388457
+v -0.04487878 -0.02618664 0.02596564
+v -0.04487447 -0.02618664 0.02720860
+v -0.03480040 -0.04956794 0.02720852
+v -0.03391582 -0.05048455 0.02596555
+v -0.03391582 -0.05044570 0.02552663
+v -0.03391582 -0.05029034 0.02388449
+v -0.03391582 -0.05023079 0.02325639
+v -0.03391582 -0.05008837 0.02180532
+v -0.03391582 -0.04985014 0.01968075
+v -0.03391582 -0.04957309 0.01772076
+v -0.03391582 -0.04928826 0.01582700
+v -0.03391582 -0.04924683 0.01556592
+v -0.03391582 -0.04889726 0.01353593
+v -0.03391582 -0.04888691 0.01348675
+v -0.03391582 -0.04884548 0.01330891
+v -0.03391582 -0.04837680 0.01140568
+v -0.03391582 -0.04778385 0.00942489
+v -0.03391582 -0.04758188 0.00879112
+v -0.03525939 -0.04595581 0.00860572
+v -0.03514626 -0.04581081 0.00788113
+v -0.04203434 -0.03248631 0.00788118
+v -0.04445858 -0.02413069 0.01352278
+v -0.04419999 -0.02828133 0.01556600
+v -0.04449629 -0.02618660 0.01556600
+v -0.04169925 -0.03373694 0.00796442
+v -0.04183932 -0.03415641 0.00932467
+v -0.04200201 -0.03473124 0.01127708
+v -0.04237912 -0.03455777 0.01348680
+v -0.04265387 -0.03246561 0.01140574
+v -0.04386706 -0.03002910 0.01556599
+v -0.04487447 -0.02413071 0.01976219
+v -0.04483999 -0.02618662 0.02180540
+v -0.04468053 -0.02828136 0.02388457
+v -0.04469238 -0.02828137 0.02596564
+v -0.04467515 -0.02828137 0.02720860
+v -0.03515487 -0.04914589 0.02720852
+v -0.03557184 -0.04839239 0.02388449
+v -0.03475622 -0.04951874 0.02596556
+v -0.03466895 -0.04943846 0.02388449
+v -0.03457844 -0.04934783 0.02180532
+v -0.03542855 -0.04822148 0.02023696
+v -0.03534343 -0.04813344 0.01885021
+v -0.03512686 -0.04789522 0.01556592
+v -0.03497602 -0.04769324 0.01348675
+v -0.03474976 -0.04743430 0.01140569
+v -0.03547164 -0.04618367 0.00999246
+v -0.03558262 -0.04525411 0.00788113
+v -0.04172296 -0.03358935 0.00788118
+v -0.04467622 -0.02413070 0.01556601
+v -0.04438316 -0.02828133 0.01764517
+v -0.04467084 -0.02618660 0.01764517
+v -0.04467946 -0.02413070 0.01560384
+v -0.04163676 -0.03382239 0.00788118
+v -0.04053777 -0.03664989 0.00788117
+v -0.04154410 -0.03554428 0.01049952
+v -0.04171218 -0.03583169 0.01188627
+v -0.03984928 -0.03840284 0.00788116
+v -0.04182855 -0.03613723 0.01348680
+v -0.04195569 -0.03646867 0.01556597
+v -0.04257414 -0.03455778 0.01556597
+v -0.04374208 -0.03155162 0.01825055
+v -0.04392956 -0.03052884 0.01759218
+v -0.04481845 -0.02413070 0.01768112
+v -0.04478289 -0.02618661 0.01972434
+v -0.04462343 -0.02828135 0.02180540
+v -0.04420861 -0.03037350 0.02180539
+v -0.04426464 -0.03037351 0.02388456
+v -0.04428080 -0.03037352 0.02596563
+v -0.04426141 -0.03037352 0.02720859
+v -0.03566989 -0.04852187 0.02720852
+v -0.03563541 -0.04847267 0.02596556
+v -0.03549750 -0.04830176 0.02180532
+v -0.03746491 -0.04607498 0.02479639
+v -0.03612457 -0.04700709 0.01764510
+v -0.03732700 -0.04595845 0.02180533
+v -0.03724188 -0.04584192 0.01972427
+v -0.03716538 -0.04569173 0.01764510
+v -0.03601360 -0.04684914 0.01556593
+v -0.03584767 -0.04664717 0.01348676
+v -0.03563649 -0.04638823 0.01140569
+v -0.03603084 -0.04516348 0.00930949
+v -0.03591878 -0.04480098 0.00788114
+v -0.03751878 -0.04405787 0.01215488
+v -0.03716430 -0.04359955 0.00932464
+v -0.04410949 -0.03037349 0.01972433
+v -0.04452323 -0.02828134 0.01972434
+v -0.04481629 -0.02413070 0.01764518
+v -0.03997319 -0.03884302 0.00936060
+v -0.04037077 -0.03874205 0.01140572
+v -0.03771272 -0.04226866 0.00788114
+v -0.03960578 -0.03990723 0.01007762
+v -0.04157966 -0.03766752 0.01672189
+v -0.03991070 -0.04049242 0.01348678
+v -0.04167663 -0.03781771 0.01810675
+v -0.04200201 -0.03684412 0.01750702
+v -0.04378949 -0.03173028 0.01972432
+v -0.04223905 -0.03664993 0.01972431
+v -0.04383905 -0.03191154 0.02180538
+v -0.04386599 -0.03201771 0.02388455
+v -0.04387568 -0.03205656 0.02596562
+v -0.04402976 -0.03134968 0.02720858
+v -0.03608902 -0.04798847 0.02720852
+v -0.03740349 -0.04602837 0.02340964
+v -0.03748754 -0.04610606 0.02596557
+v -0.03800686 -0.04520497 0.02401694
+v -0.03809198 -0.04491237 0.02180534
+v -0.03703717 -0.04676115 0.02720853
+v -0.03801979 -0.04479585 0.01972428
+v -0.03792390 -0.04464566 0.01764511
+v -0.03705548 -0.04550271 0.01556593
+v -0.03688956 -0.04527484 0.01348676
+v -0.03698760 -0.04331473 0.00788114
+v -0.03955945 -0.04191136 0.01645324
+v -0.03914033 -0.04119929 0.01140571
+v -0.03800578 -0.04306358 0.01143976
+v -0.03789696 -0.04255348 0.00932464
+v -0.03763514 -0.04422877 0.01348677
+v -0.03973400 -0.04015321 0.01140571
+v -0.04125104 -0.03860484 0.01750702
+v -0.03995919 -0.04096627 0.01568324
+v -0.04023070 -0.04083422 0.01764512
+v -0.04173158 -0.03794976 0.01972430
+v -0.04233818 -0.03664994 0.02180537
+v -0.04178222 -0.03807664 0.02180536
+v -0.04240282 -0.03664995 0.02388454
+v -0.04244269 -0.03664996 0.02596561
+v -0.04386599 -0.03202808 0.02720858
+v -0.04244700 -0.03664996 0.02720857
+v -0.03750909 -0.04613713 0.02720853
+v -0.03918020 -0.04339247 0.02388451
+v -0.03913279 -0.04331478 0.02180534
+v -0.03906060 -0.04321120 0.01972428
+v -0.03896579 -0.04306101 0.01764511
+v -0.03779461 -0.04445664 0.01556594
+v -0.03962195 -0.04201494 0.01764512
+v -0.03971245 -0.04216513 0.01972429
+v -0.04036861 -0.04083423 0.01972429
+v -0.04124026 -0.03899583 0.01972430
+v -0.04181885 -0.03817246 0.02388453
+v -0.03977171 -0.04226612 0.02180534
+v -0.03981588 -0.04234640 0.02388451
+v -0.04184578 -0.03824497 0.02596560
+v -0.04185225 -0.03825791 0.02720856
+v -0.04209252 -0.03761577 0.02720856
+v -0.03779245 -0.04569954 0.02720853
+v -0.03920282 -0.04345980 0.02596558
+v -0.03985144 -0.04241114 0.02596558
+v -0.03986006 -0.04243185 0.02720854
+v -0.03863178 -0.04439195 0.02720854
+v -0.03921467 -0.04348052 0.02720854
+v -0.03947542 -0.04305846 0.02720854
+f 1 2 7
+f 1 7 13
+f 1 13 12
+f 1 12 22
+f 1 22 49
+f 1 49 76
+f 1 76 79
+f 1 79 114
+f 1 114 90
+f 1 90 58
+f 1 58 26
+f 1 26 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 47
+f 1 47 74
+f 1 74 109
+f 1 109 139
+f 1 139 117
+f 1 117 84
+f 1 84 81
+f 1 81 80
+f 1 80 75
+f 1 75 48
+f 1 48 20
+f 1 20 11
+f 1 11 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 5 11 6
+f 6 12 13
+f 6 13 7
+f 6 11 14
+f 6 14 15
+f 6 15 12
+f 8 16 29
+f 8 29 62
+f 8 62 96
+f 8 96 128
+f 8 128 154
+f 8 154 155
+f 8 155 171
+f 8 171 170
+f 8 170 175
+f 8 175 178
+f 8 178 177
+f 8 177 176
+f 8 176 172
+f 8 172 156
+f 8 156 134
+f 8 134 129
+f 8 129 97
+f 8 97 63
+f 8 63 30
+f 8 30 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 14
+f 12 15 21
+f 12 21 22
+f 14 20 23
+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 14 21 15
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 43
+f 18 43 44
+f 18 44 45
+f 18 45 19
+f 19 45 46
+f 19 46 47
+f 20 48 23
+f 21 49 22
+f 21 25 50
+f 21 50 51
+f 21 51 49
+f 23 48 52
+f 23 52 53
+f 23 53 54
+f 23 54 55
+f 23 55 56
+f 23 56 24
+f 24 57 50
+f 24 50 25
+f 24 56 55
+f 24 55 57
+f 26 58 27
+f 27 58 59
+f 27 59 60
+f 27 60 61
+f 27 61 28
+f 28 61 29
+f 29 61 62
+f 30 63 64
+f 30 64 65
+f 30 65 31
+f 31 65 66
+f 31 66 32
+f 32 66 67
+f 32 67 33
+f 33 67 34
+f 34 67 35
+f 35 67 36
+f 36 67 68
+f 36 68 69
+f 36 69 37
+f 37 69 70
+f 37 70 38
+f 38 70 39
+f 39 70 40
+f 40 70 71
+f 40 71 41
+f 41 71 42
+f 42 71 43
+f 43 71 72
+f 43 72 44
+f 44 72 73
+f 44 73 45
+f 45 73 46
+f 46 73 74
+f 46 74 47
+f 48 75 52
+f 49 51 76
+f 50 77 51
+f 50 57 77
+f 51 77 78
+f 51 78 79
+f 51 79 76
+f 52 75 80
+f 52 80 81
+f 52 81 53
+f 53 82 83
+f 53 83 54
+f 53 81 84
+f 53 84 82
+f 54 83 55
+f 55 83 85
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 57
+f 57 88 89
+f 57 89 77
+f 58 90 59
+f 59 90 91
+f 59 91 60
+f 60 91 92
+f 60 92 93
+f 60 93 94
+f 60 94 95
+f 60 95 61
+f 61 95 62
+f 62 95 96
+f 63 97 98
+f 63 98 64
+f 64 99 65
+f 64 98 100
+f 64 100 99
+f 65 99 66
+f 66 99 67
+f 67 99 68
+f 68 101 69
+f 68 99 102
+f 68 102 103
+f 68 103 104
+f 68 104 101
+f 69 101 105
+f 69 105 70
+f 70 105 71
+f 71 105 106
+f 71 106 107
+f 71 107 72
+f 72 107 73
+f 73 108 109
+f 73 109 74
+f 73 107 110
+f 73 110 111
+f 73 111 108
+f 77 89 112
+f 77 112 113
+f 77 113 78
+f 78 91 90
+f 78 90 114
+f 78 114 79
+f 78 113 91
+f 82 84 83
+f 83 84 115
+f 83 115 116
+f 83 116 85
+f 84 117 118
+f 84 118 115
+f 85 119 86
+f 85 116 120
+f 85 120 119
+f 86 119 121
+f 86 121 122
+f 86 122 87
+f 87 122 88
+f 88 123 112
+f 88 112 89
+f 88 122 124
+f 88 124 123
+f 91 113 92
+f 92 113 112
+f 92 112 93
+f 93 112 123
+f 93 123 125
+f 93 125 94
+f 94 125 126
+f 94 126 127
+f 94 127 95
+f 95 128 96
+f 95 127 128
+f 97 129 100
+f 97 100 98
+f 99 100 130
+f 99 130 102
+f 100 131 132
+f 100 132 133
+f 100 133 130
+f 100 129 134
+f 100 134 131
+f 101 104 105
+f 102 130 135
+f 102 135 103
+f 103 135 104
+f 104 135 136
+f 104 136 137
+f 104 137 105
+f 105 137 106
+f 106 137 138
+f 106 138 107
+f 107 138 110
+f 108 111 109
+f 109 111 139
+f 110 140 141
+f 110 141 142
+f 110 142 143
+f 110 143 111
+f 110 138 144
+f 110 144 140
+f 111 143 139
+f 115 118 145
+f 115 145 116
+f 116 145 120
+f 117 139 143
+f 117 143 118
+f 118 143 141
+f 118 141 145
+f 119 120 146
+f 119 146 121
+f 120 145 141
+f 120 141 140
+f 120 140 147
+f 120 147 146
+f 121 146 148
+f 121 148 149
+f 121 149 124
+f 121 124 122
+f 123 124 125
+f 124 150 125
+f 124 149 151
+f 124 151 150
+f 125 150 152
+f 125 152 126
+f 126 152 153
+f 126 153 127
+f 127 154 128
+f 127 153 155
+f 127 155 154
+f 130 133 135
+f 131 156 157
+f 131 157 132
+f 131 134 156
+f 132 157 158
+f 132 158 133
+f 133 158 159
+f 133 159 135
+f 135 159 160
+f 135 160 136
+f 136 161 137
+f 136 160 161
+f 137 161 144
+f 137 144 138
+f 140 144 161
+f 140 161 160
+f 140 160 162
+f 140 162 148
+f 140 148 147
+f 141 143 142
+f 146 147 148
+f 148 162 163
+f 148 163 164
+f 148 164 165
+f 148 165 149
+f 149 165 151
+f 150 151 166
+f 150 166 152
+f 151 165 164
+f 151 164 167
+f 151 167 168
+f 151 168 166
+f 152 166 169
+f 152 169 153
+f 153 169 170
+f 153 170 171
+f 153 171 155
+f 156 172 157
+f 157 173 174
+f 157 174 168
+f 157 168 167
+f 157 167 158
+f 157 172 173
+f 158 167 163
+f 158 163 159
+f 159 163 162
+f 159 162 160
+f 163 167 164
+f 166 168 174
+f 166 174 169
+f 169 174 175
+f 169 175 170
+f 172 176 173
+f 173 177 174
+f 173 176 177
+f 174 177 178
+f 174 178 175
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_20.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.02054367 0.05550872 0.02253528
+v 0.02054367 0.05202409 0.00829595
+v 0.02054367 0.05813356 0.02253529
+v -0.00026044 0.06155130 0.02253531
+v 0.02054367 0.05485652 0.00829596
+v -0.00026044 0.05843534 0.00829597
+v 0.02054367 0.05812449 0.02244748
+v 0.01998976 0.05845571 0.02253529
+v -0.00026044 0.06361239 0.02253531
+v 0.01894304 0.05573903 0.00829596
+v 0.01840746 0.05624948 0.00887719
+v 0.01885955 0.05651264 0.01026266
+v 0.02054367 0.05494841 0.00854685
+v -0.00026044 0.06086509 0.00829598
+v 0.02054367 0.05805756 0.02180492
+v 0.02026468 0.05821410 0.02180492
+v 0.01922203 0.05877559 0.02180493
+v 0.01931163 0.05881983 0.02253530
+v -0.00026044 0.06355567 0.02180494
+v 0.00108767 0.06353865 0.02253531
+v 0.01721208 0.05668961 0.00829597
+v 0.01918334 0.05668960 0.01140559
+v 0.02054367 0.05524333 0.00939847
+v 0.02054367 0.05502440 0.00876428
+v 0.01772933 0.05683140 0.00947236
+v -0.00026044 0.06105792 0.00888835
+v 0.00073944 0.06081404 0.00829598
+v 0.02054367 0.05801673 0.02149689
+v 0.01974132 0.05816533 0.01956505
+v 0.02054367 0.05774450 0.01965704
+v 0.01898173 0.05865990 0.02015186
+v 0.01794723 0.05905578 0.01956506
+v 0.01775377 0.05941763 0.02180493
+v 0.01775377 0.05947888 0.02253530
+v -0.00026044 0.06334470 0.01972536
+v 0.00108767 0.06348080 0.02180494
+v 0.00317093 0.06334469 0.02253531
+v 0.01661337 0.05696185 0.00829597
+v 0.01990016 0.05690965 0.01358414
+v 0.02054367 0.05667711 0.01404271
+v 0.02054367 0.05587741 0.01139584
+v 0.02054367 0.05570840 0.01085502
+v 0.01685774 0.05863837 0.01423089
+v 0.01567051 0.05771958 0.00932601
+v 0.01508605 0.05875295 0.01179030
+v -0.00026044 0.06108174 0.00896223
+v 0.00108767 0.06112825 0.00932602
+v 0.00108767 0.06079589 0.00829598
+v 0.01876994 0.05852492 0.01876499
+v 0.02054367 0.05759249 0.01871621
+v 0.01752773 0.05894576 0.01764437
+v 0.01477448 0.06071417 0.02240567
+v 0.01479484 0.06072097 0.02253530
+v -0.00026044 0.06306566 0.01758165
+v 0.00108767 0.06326416 0.01972536
+v 0.00317093 0.06328457 0.02180494
+v 0.00525419 0.06309173 0.02253531
+v 0.01570309 0.05734979 0.00829597
+v 0.02054367 0.05698904 0.01556477
+v 0.01713673 0.05876767 0.01556478
+v 0.01573567 0.05892989 0.01351725
+v 0.01567051 0.05935185 0.01556478
+v 0.01264642 0.05860549 0.00829598
+v 0.01459935 0.05852835 0.01040343
+v 0.01377663 0.05907737 0.01122022
+v -0.00026044 0.06119858 0.00932602
+v 0.00108767 0.06166478 0.01140561
+v 0.00317093 0.06150597 0.01140561
+v 0.00307929 0.06090819 0.00921730
+v 0.00225047 0.06070741 0.00829598
+v 0.01280118 0.06074368 0.01764437
+v 0.01324105 0.06088773 0.01972535
+v 0.01373997 0.06097620 0.02174918
+v 0.01467266 0.06076181 0.02253530
+v -0.00026044 0.06298966 0.01704503
+v 0.00127909 0.06294769 0.01744785
+v 0.00317093 0.06306451 0.01972536
+v 0.00317093 0.06285012 0.01805137
+v 0.00525419 0.06302708 0.02180494
+v 0.00612578 0.06295561 0.02253531
+v 0.01076883 0.06075050 0.01410126
+v 0.01255681 0.06066541 0.01658088
+v 0.01253034 0.05864293 0.00829598
+v 0.01309443 0.05876997 0.00932602
+v 0.01150194 0.05927588 0.00932602
+v -0.00026044 0.06170675 0.01140561
+v -0.00026044 0.06284219 0.01608608
+v 0.00071093 0.06281497 0.01625473
+v 0.00209977 0.06273216 0.01662270
+v 0.00525419 0.06170107 0.01348659
+v 0.00525419 0.06124621 0.01140560
+v 0.00525419 0.06081970 0.00981943
+v 0.00237469 0.06069493 0.00829598
+v 0.01150194 0.06113276 0.01764437
+v 0.01150194 0.06141633 0.01972536
+v 0.01368295 0.06108283 0.02253530
+v 0.00515034 0.06283652 0.01990377
+v 0.00438668 0.06277980 0.01851552
+v 0.00659416 0.06281722 0.02180494
+v 0.00632332 0.06275937 0.02071637
+v 0.00676318 0.06285011 0.02253531
+v 0.00880979 0.06075278 0.01208440
+v 0.00947163 0.06091497 0.01343919
+v 0.00942072 0.06133694 0.01556479
+v 0.01147954 0.06084237 0.01575852
+v 0.01150194 0.05894806 0.00829598
+v 0.00950014 0.05942902 0.00829598
+v 0.00657787 0.06071875 0.01016510
+v 0.00733746 0.06138459 0.01348659
+v 0.00729876 0.06089230 0.01139724
+v 0.00731913 0.05987368 0.00829598
+v 0.00942072 0.06162619 0.01764438
+v 0.01150194 0.06162277 0.02180494
+v 0.01150194 0.06167268 0.02253531
+v 0.00838825 0.05966269 0.00829598
+f 1 2 5
+f 1 5 13
+f 1 13 24
+f 1 24 23
+f 1 23 42
+f 1 42 41
+f 1 41 40
+f 1 40 59
+f 1 59 50
+f 1 50 30
+f 1 30 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 34
+f 1 34 53
+f 1 53 74
+f 1 74 96
+f 1 96 114
+f 1 114 101
+f 1 101 80
+f 1 80 57
+f 1 57 37
+f 1 37 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 27
+f 2 27 48
+f 2 48 70
+f 2 70 93
+f 2 93 111
+f 2 111 115
+f 2 115 107
+f 2 107 106
+f 2 106 83
+f 2 83 63
+f 2 63 58
+f 2 58 38
+f 2 38 21
+f 2 21 10
+f 2 10 5
+f 3 7 8
+f 4 9 19
+f 4 19 35
+f 4 35 54
+f 4 54 75
+f 4 75 87
+f 4 87 86
+f 4 86 66
+f 4 66 46
+f 4 46 26
+f 4 26 14
+f 4 14 6
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 15 16
+f 9 20 19
+f 10 21 11
+f 11 21 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 21 25
+f 12 25 22
+f 14 26 27
+f 15 28 16
+f 16 29 17
+f 16 28 30
+f 16 30 29
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 17 29 31
+f 18 33 34
+f 19 20 36
+f 19 36 35
+f 20 37 36
+f 21 38 25
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 22 25 43
+f 22 43 39
+f 25 38 44
+f 25 44 45
+f 25 45 43
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 29 49 31
+f 29 30 50
+f 29 50 49
+f 31 49 51
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 35 36 55
+f 35 55 54
+f 36 37 56
+f 36 56 55
+f 37 57 56
+f 38 58 44
+f 39 43 40
+f 40 43 60
+f 40 60 59
+f 43 45 61
+f 43 61 62
+f 43 62 60
+f 44 58 63
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 45 65 61
+f 46 66 47
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 49 50 60
+f 49 60 51
+f 50 59 60
+f 51 60 62
+f 51 62 52
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 52 62 71
+f 54 55 76
+f 54 76 75
+f 55 56 77
+f 55 77 78
+f 55 78 76
+f 56 57 79
+f 56 79 77
+f 57 80 79
+f 61 65 81
+f 61 81 82
+f 61 82 62
+f 62 82 71
+f 63 83 84
+f 63 84 64
+f 64 84 65
+f 65 84 85
+f 65 85 81
+f 66 86 67
+f 67 86 87
+f 67 87 88
+f 67 88 68
+f 68 88 89
+f 68 89 90
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 69 93 70
+f 69 92 93
+f 71 82 94
+f 71 94 95
+f 71 95 72
+f 72 95 73
+f 73 96 74
+f 73 95 96
+f 75 76 88
+f 75 88 87
+f 76 78 89
+f 76 89 88
+f 77 79 97
+f 77 97 98
+f 77 98 78
+f 78 98 89
+f 79 80 99
+f 79 99 100
+f 79 100 97
+f 80 101 99
+f 81 85 102
+f 81 102 103
+f 81 103 104
+f 81 104 105
+f 81 105 82
+f 82 105 94
+f 83 106 85
+f 83 85 84
+f 85 106 107
+f 85 107 108
+f 85 108 102
+f 89 98 90
+f 90 109 91
+f 90 98 109
+f 91 109 110
+f 91 110 108
+f 91 108 92
+f 92 108 111
+f 92 111 93
+f 94 105 104
+f 94 104 112
+f 94 112 95
+f 95 113 96
+f 95 112 100
+f 95 100 99
+f 95 99 101
+f 95 101 113
+f 96 113 114
+f 97 100 98
+f 98 100 104
+f 98 104 109
+f 100 112 104
+f 101 114 113
+f 102 108 110
+f 102 110 109
+f 102 109 103
+f 103 109 104
+f 107 115 108
+f 108 115 111
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_21.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.04337378 0.03637377 0.00829589
+v -0.04070322 0.03637377 0.00829589
+v -0.04377530 0.03568380 0.00829589
+v -0.04367120 0.03637377 0.00932602
+v -0.04314445 0.03637372 0.02181864
+v -0.04652726 0.02013226 0.02182255
+v -0.04442415 0.02013231 0.00829583
+v -0.04385279 0.03549302 0.00829589
+v -0.04390601 0.03594611 0.00932602
+v -0.04400776 0.03637376 0.01067922
+v -0.04474975 0.03637372 0.02182261
+v -0.04363989 0.03541665 0.02182261
+v -0.04820692 0.02013226 0.02182255
+v -0.04663057 0.02013231 0.00829583
+v -0.04448755 0.03450257 0.00932602
+v -0.04423396 0.03448031 0.00829589
+v -0.04588466 0.03368380 0.01404500
+v -0.04423396 0.03637376 0.01177687
+v -0.04571717 0.03637372 0.02182261
+v -0.04867106 0.02193033 0.02182256
+v -0.04847538 0.02013226 0.02181990
+v -0.04791106 0.02194785 0.01430183
+v -0.04666109 0.02088906 0.00829584
+v -0.04678163 0.02013231 0.00904790
+v -0.04583535 0.03149464 0.01017871
+v -0.04596841 0.03189369 0.01140612
+v -0.04458930 0.03347237 0.00829588
+v -0.04615000 0.03254550 0.01340547
+v -0.04654291 0.03240876 0.01556504
+v -0.04600442 0.03397790 0.01556504
+v -0.04454782 0.03637375 0.01347698
+v -0.04571560 0.03637372 0.02180540
+v -0.04596137 0.03590155 0.02182261
+v -0.04867262 0.02194782 0.02182256
+v -0.04867184 0.02194782 0.02180535
+v -0.04847460 0.02013226 0.02180534
+v -0.04791576 0.02356468 0.01427404
+v -0.04669240 0.02194787 0.00829584
+v -0.04788210 0.02084611 0.01447926
+v -0.04806290 0.02194784 0.01556500
+v -0.04683486 0.02013231 0.00932596
+v -0.04639498 0.03031660 0.01140611
+v -0.04497517 0.03234679 0.00829588
+v -0.04528903 0.03134680 0.00829588
+v -0.04584944 0.02954078 0.00829587
+v -0.04596763 0.03021645 0.00942133
+v -0.04675032 0.03031659 0.01348623
+v -0.04676676 0.03240876 0.01764516
+v -0.04614843 0.03432289 0.01764517
+v -0.04791576 0.02944217 0.02034096
+v -0.04577196 0.03553749 0.01872693
+v -0.04459635 0.03637375 0.01377887
+v -0.04551679 0.03637373 0.01995832
+v -0.04596059 0.03589996 0.02180540
+v -0.04596684 0.03588883 0.02182261
+v -0.04869845 0.02402251 0.02182257
+v -0.04869767 0.02404000 0.02180536
+v -0.04849339 0.02194783 0.01972523
+v -0.04830945 0.02013227 0.01972522
+v -0.04828675 0.02404002 0.01764513
+v -0.04801751 0.02417357 0.01539950
+v -0.04794315 0.02613221 0.01606287
+v -0.04781166 0.02496053 0.01459843
+v -0.04668458 0.02613224 0.00932599
+v -0.04684111 0.02404005 0.00932598
+v -0.04661648 0.02404005 0.00829585
+v -0.04794315 0.02037711 0.01556499
+v -0.04828754 0.02194784 0.01764512
+v -0.04792437 0.02013228 0.01574374
+v -0.04637228 0.02822601 0.00932599
+v -0.04679259 0.02822600 0.01140610
+v -0.04788915 0.02725461 0.01650378
+v -0.04590188 0.02929595 0.00829587
+v -0.04796037 0.02765047 0.01764514
+v -0.04798307 0.02972515 0.02180538
+v -0.04798385 0.02972833 0.02182259
+v -0.04653665 0.03450252 0.02180540
+v -0.04622357 0.03470443 0.01954256
+v -0.04805899 0.02834680 0.01967891
+v -0.04827501 0.02822596 0.02180537
+v -0.04827658 0.02822596 0.02182258
+v -0.04586666 0.03570601 0.02011324
+v -0.04547844 0.03637373 0.01962068
+v -0.04545653 0.03637373 0.01944988
+v -0.04653821 0.03450252 0.02182261
+v -0.04869845 0.02404000 0.02182257
+v -0.04855287 0.02613219 0.02182258
+v -0.04855130 0.02613219 0.02180537
+v -0.04836111 0.02613220 0.01972525
+v -0.04850513 0.02404001 0.01972524
+v -0.04798072 0.02013228 0.01623232
+v -0.04813569 0.02613221 0.01764514
+v -0.04641533 0.02617198 0.00829586
+v -0.04610460 0.02822601 0.00829586
+v -0.04798698 0.02971243 0.02182259
+v -0.04827893 0.02820848 0.02182258
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 38
+f 1 38 66
+f 1 66 93
+f 1 93 94
+f 1 94 73
+f 1 73 45
+f 1 45 44
+f 1 44 43
+f 1 43 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 31
+f 1 31 52
+f 1 52 84
+f 1 84 83
+f 1 83 53
+f 1 53 32
+f 1 32 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 21
+f 6 21 36
+f 6 36 59
+f 6 59 91
+f 6 91 69
+f 6 69 41
+f 6 41 24
+f 6 24 14
+f 6 14 7
+f 6 12 11
+f 6 11 19
+f 6 19 33
+f 6 33 55
+f 6 55 85
+f 6 85 76
+f 6 76 95
+f 6 95 81
+f 6 81 96
+f 6 96 87
+f 6 87 86
+f 6 86 56
+f 6 56 34
+f 6 34 20
+f 6 20 13
+f 8 15 9
+f 8 16 15
+f 9 15 17
+f 9 17 10
+f 10 17 18
+f 13 20 21
+f 14 22 23
+f 14 24 22
+f 15 16 25
+f 15 25 26
+f 15 26 17
+f 16 27 25
+f 17 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 19 32 33
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 22 37 38
+f 22 38 23
+f 22 24 39
+f 22 39 40
+f 22 40 37
+f 24 41 39
+f 25 42 26
+f 25 27 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 42
+f 26 42 28
+f 28 42 47
+f 28 47 29
+f 29 48 49
+f 29 49 30
+f 29 47 50
+f 29 50 48
+f 30 49 51
+f 30 51 52
+f 30 52 31
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 34 56 35
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 36
+f 37 40 60
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 38 65 66
+f 39 67 58
+f 39 58 68
+f 39 68 40
+f 39 41 69
+f 39 69 67
+f 40 68 60
+f 42 46 70
+f 42 70 71
+f 42 71 72
+f 42 72 47
+f 45 73 70
+f 45 70 46
+f 47 72 74
+f 47 74 50
+f 48 50 75
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 49 77 78
+f 49 78 51
+f 50 74 79
+f 50 79 80
+f 50 80 81
+f 50 81 75
+f 51 78 82
+f 51 82 83
+f 51 83 84
+f 51 84 52
+f 53 83 82
+f 53 82 54
+f 54 82 78
+f 54 78 77
+f 54 77 55
+f 55 77 85
+f 56 86 57
+f 57 87 88
+f 57 88 89
+f 57 89 90
+f 57 90 58
+f 57 86 87
+f 58 67 59
+f 58 90 68
+f 59 67 91
+f 60 90 89
+f 60 89 92
+f 60 92 61
+f 60 68 90
+f 61 92 62
+f 62 92 72
+f 62 72 64
+f 62 64 63
+f 64 72 71
+f 64 71 70
+f 64 70 93
+f 64 93 66
+f 64 66 65
+f 67 69 91
+f 70 94 93
+f 70 73 94
+f 72 92 89
+f 72 89 74
+f 74 89 79
+f 75 81 95
+f 75 95 76
+f 76 85 77
+f 79 89 80
+f 80 96 81
+f 80 89 96
+f 87 96 88
+f 88 96 89
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_22.obj

@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
+v 0.00140601 -0.05944396 0.00788245
+v 0.02130466 -0.05370911 0.00788247
+v 0.00140601 -0.06167474 0.00788244
+v 0.00140601 -0.06119408 0.02944765
+v 0.02130466 -0.05652257 0.00788246
+v 0.02093256 -0.05691243 0.02944766
+v 0.02130466 -0.05688142 0.02194755
+v 0.00172746 -0.06166674 0.00788244
+v 0.00140601 -0.06282113 0.01238505
+v 0.00140601 -0.06391359 0.02944764
+v 0.02130466 -0.05660752 0.00810833
+v 0.02110789 -0.05666049 0.00791835
+v 0.02114491 -0.05662251 0.00788246
+v 0.02093256 -0.05987980 0.02944765
+v 0.02130466 -0.05928910 0.02194754
+v 0.00317300 -0.06161477 0.00788244
+v 0.00220476 -0.06281114 0.01243149
+v 0.00140601 -0.06299203 0.01346795
+v 0.00140601 -0.06391757 0.02836263
+v 0.00259634 -0.06387561 0.02944764
+v 0.02130466 -0.05676743 0.00857274
+v 0.02130466 -0.05700131 0.00932634
+v 0.01918894 -0.05880432 0.01183410
+v 0.01688035 -0.05869937 0.00805344
+v 0.01705764 -0.05855145 0.00788245
+v 0.02104165 -0.05667748 0.00788246
+v 0.02109425 -0.05665250 0.00788246
+v 0.01895516 -0.06078531 0.02944765
+v 0.02093256 -0.05987381 0.02907402
+v 0.02093256 -0.05984781 0.02804600
+v 0.02093256 -0.05981083 0.02704964
+v 0.02093256 -0.05976386 0.02588230
+v 0.02093256 -0.05962392 0.02388537
+v 0.02130466 -0.05910419 0.01972474
+v 0.00381005 -0.06158279 0.00788244
+v 0.00300935 -0.06292507 0.01337718
+v 0.00525560 -0.06146985 0.00788244
+v 0.00589460 -0.06141288 0.00788244
+v 0.00734014 -0.06161377 0.00932632
+v 0.00525560 -0.06287510 0.01408223
+v 0.00140601 -0.06328589 0.01556410
+v 0.00140601 -0.06391757 0.02804599
+v 0.00317105 -0.06385462 0.02944764
+v 0.02130466 -0.05754402 0.01124939
+v 0.01793042 -0.05916013 0.01124727
+v 0.01731869 -0.05888927 0.00932633
+v 0.02130466 -0.05814669 0.01347852
+v 0.02130466 -0.05830961 0.01409069
+v 0.02088775 -0.05862843 0.01450653
+v 0.01986495 -0.05892627 0.01368327
+v 0.01463216 -0.06071628 0.01244205
+v 0.01270931 -0.06076725 0.01017914
+v 0.01659007 -0.05875234 0.00788245
+v 0.01680827 -0.05866439 0.00788245
+v 0.01857332 -0.06091923 0.02944765
+v 0.01892204 -0.06077131 0.02804600
+v 0.01996236 -0.06029556 0.02804600
+v 0.01885580 -0.06074232 0.02634037
+v 0.01966429 -0.06034753 0.02577464
+v 0.01879151 -0.06070933 0.02495349
+v 0.02130466 -0.05907321 0.01935744
+v 0.00317300 -0.06322292 0.01556410
+v 0.00736937 -0.06122299 0.00788245
+v 0.00809214 -0.06111205 0.00788245
+v 0.00942274 -0.06129195 0.00932632
+v 0.00942274 -0.06172372 0.01140558
+v 0.00636995 -0.06281713 0.01446219
+v 0.00525560 -0.06307100 0.01556410
+v 0.00140601 -0.06350976 0.01764547
+v 0.00140601 -0.06391258 0.02628126
+v 0.00317105 -0.06385261 0.02804599
+v 0.00525560 -0.06371669 0.02944764
+v 0.00525560 -0.06372069 0.02804599
+v 0.02130466 -0.05847651 0.01487173
+v 0.02130466 -0.05858446 0.01556411
+v 0.02105529 -0.05870840 0.01556411
+v 0.01983768 -0.05926809 0.01556411
+v 0.01671086 -0.06071330 0.01660901
+v 0.01491465 -0.06080823 0.01348696
+v 0.01347689 -0.06087119 0.01161035
+v 0.01358599 -0.06120502 0.01348696
+v 0.01138066 -0.06089517 0.00942132
+v 0.01060723 -0.06075125 0.00816743
+v 0.01355482 -0.05973481 0.00788245
+v 0.01563937 -0.05907916 0.00788245
+v 0.01150339 -0.06133993 0.01140558
+v 0.01775313 -0.06120408 0.02944765
+v 0.01775313 -0.06118108 0.02804600
+v 0.01795769 -0.06103515 0.02577464
+v 0.01766157 -0.06104614 0.02388537
+v 0.01746675 -0.06098217 0.02194754
+v 0.01745117 -0.06097717 0.02180400
+v 0.01719206 -0.06088921 0.01972474
+v 0.01983768 -0.05951595 0.01764548
+v 0.02130466 -0.05887031 0.01756948
+v 0.00525560 -0.06329588 0.01764547
+v 0.00317300 -0.06344480 0.01764547
+v 0.00942274 -0.06089917 0.00788245
+v 0.00839411 -0.06281014 0.01658789
+v 0.00717455 -0.06287211 0.01576252
+v 0.00140601 -0.06367768 0.01972473
+v 0.00140601 -0.06391158 0.02596462
+v 0.00317105 -0.06384062 0.02596462
+v 0.00733820 -0.06352181 0.02944764
+v 0.00733820 -0.06352879 0.02804599
+v 0.00525560 -0.06370169 0.02596462
+v 0.02130466 -0.05882733 0.01726340
+v 0.01694269 -0.06080026 0.01799589
+v 0.01587704 -0.06108309 0.01743861
+v 0.01543286 -0.06097415 0.01556411
+v 0.01150339 -0.06169375 0.01348695
+v 0.01358599 -0.06151685 0.01556410
+v 0.00975004 -0.06083620 0.00788245
+v 0.01037150 -0.06068828 0.00788245
+v 0.01088777 -0.06055335 0.00788245
+v 0.01707322 -0.06139297 0.02944764
+v 0.01567054 -0.06175976 0.02804599
+v 0.01567054 -0.06172078 0.02596462
+v 0.01567054 -0.06166181 0.02388536
+v 0.01567054 -0.06156485 0.02194753
+v 0.01567054 -0.06155685 0.02180399
+v 0.01567054 -0.06139293 0.01972473
+v 0.00734014 -0.06305401 0.01764547
+v 0.00734014 -0.06322593 0.01972473
+v 0.00525560 -0.06345580 0.01972473
+v 0.00317300 -0.06360572 0.01972473
+v 0.00867269 -0.06286212 0.01764547
+v 0.00140601 -0.06380262 0.02180399
+v 0.00140601 -0.06388558 0.02420200
+v 0.00317105 -0.06380463 0.02388536
+v 0.00874478 -0.06334890 0.02944764
+v 0.00942274 -0.06326194 0.02804599
+v 0.00733820 -0.06350080 0.02596462
+v 0.00525560 -0.06365771 0.02388536
+v 0.01358599 -0.06172174 0.01764547
+v 0.01044553 -0.06278118 0.02081818
+v 0.01567054 -0.06177376 0.02944764
+v 0.01117025 -0.06295811 0.02804599
+v 0.01105726 -0.06293412 0.02596462
+v 0.01087024 -0.06289513 0.02388536
+v 0.01065983 -0.06285014 0.02220717
+v 0.01062087 -0.06283715 0.02194753
+v 0.00916948 -0.06295108 0.01972473
+v 0.00961951 -0.06300206 0.02162878
+v 0.00734014 -0.06335487 0.02180399
+v 0.00525560 -0.06357274 0.02180399
+v 0.00317300 -0.06372466 0.02180399
+v 0.00140601 -0.06380861 0.02194753
+v 0.00140601 -0.06387959 0.02388536
+v 0.00140601 -0.06381561 0.02212274
+v 0.00317300 -0.06373066 0.02194753
+v 0.00942274 -0.06326195 0.02944764
+v 0.01063451 -0.06305906 0.02944764
+v 0.00942274 -0.06322096 0.02596462
+v 0.00733820 -0.06344683 0.02388536
+v 0.00525560 -0.06357875 0.02194753
+v 0.00539976 -0.06356475 0.02194753
+v 0.01120143 -0.06296012 0.02944764
+v 0.00942274 -0.06315298 0.02388536
+v 0.01019422 -0.06291811 0.02194753
+v 0.00748431 -0.06334087 0.02194753
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 26
+f 1 26 25
+f 1 25 54
+f 1 54 53
+f 1 53 85
+f 1 85 84
+f 1 84 115
+f 1 115 114
+f 1 114 113
+f 1 113 98
+f 1 98 64
+f 1 64 63
+f 1 63 38
+f 1 38 37
+f 1 37 35
+f 1 35 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 41
+f 1 41 69
+f 1 69 101
+f 1 101 128
+f 1 128 148
+f 1 148 150
+f 1 150 149
+f 1 149 129
+f 1 129 102
+f 1 102 70
+f 1 70 42
+f 1 42 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 15
+f 2 15 34
+f 2 34 61
+f 2 61 95
+f 2 95 107
+f 2 107 75
+f 2 75 74
+f 2 74 48
+f 2 48 47
+f 2 47 44
+f 2 44 22
+f 2 22 21
+f 2 21 11
+f 2 11 5
+f 3 8 9
+f 4 10 20
+f 4 20 43
+f 4 43 72
+f 4 72 104
+f 4 104 131
+f 4 131 152
+f 4 152 153
+f 4 153 158
+f 4 158 137
+f 4 137 116
+f 4 116 87
+f 4 87 55
+f 4 55 28
+f 4 28 14
+f 4 14 6
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 16 35 17
+f 17 36 18
+f 17 35 37
+f 17 37 38
+f 17 38 39
+f 17 39 40
+f 17 40 36
+f 18 36 41
+f 19 42 20
+f 20 42 43
+f 22 44 23
+f 23 45 46
+f 23 46 24
+f 23 44 47
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 51
+f 23 51 45
+f 24 46 51
+f 24 51 52
+f 24 52 53
+f 24 53 54
+f 24 54 25
+f 28 55 56
+f 28 56 29
+f 29 56 57
+f 29 57 30
+f 30 57 31
+f 31 58 59
+f 31 59 32
+f 31 57 58
+f 32 59 60
+f 32 60 33
+f 33 60 34
+f 34 60 61
+f 36 40 62
+f 36 62 41
+f 38 63 39
+f 39 63 64
+f 39 64 65
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 40 67 68
+f 40 68 62
+f 41 62 69
+f 42 70 71
+f 42 71 43
+f 43 71 73
+f 43 73 72
+f 45 51 46
+f 48 74 49
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 50
+f 50 77 78
+f 50 78 79
+f 50 79 51
+f 51 80 52
+f 51 79 81
+f 51 81 80
+f 52 82 83
+f 52 83 84
+f 52 84 85
+f 52 85 53
+f 52 80 86
+f 52 86 82
+f 55 87 88
+f 55 88 56
+f 56 88 58
+f 56 58 57
+f 58 89 60
+f 58 60 59
+f 58 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 93
+f 60 93 61
+f 61 93 94
+f 61 94 95
+f 62 68 96
+f 62 96 97
+f 62 97 69
+f 64 98 65
+f 65 98 83
+f 65 83 82
+f 65 82 86
+f 65 86 66
+f 66 86 67
+f 67 99 100
+f 67 100 68
+f 67 86 99
+f 68 100 96
+f 69 97 101
+f 70 102 71
+f 71 102 103
+f 71 103 73
+f 72 73 105
+f 72 105 104
+f 73 103 106
+f 73 106 105
+f 75 107 76
+f 76 107 95
+f 76 95 77
+f 77 95 94
+f 77 94 108
+f 77 108 78
+f 78 109 110
+f 78 110 79
+f 78 108 109
+f 79 110 81
+f 80 81 86
+f 81 111 86
+f 81 110 112
+f 81 112 111
+f 83 98 113
+f 83 113 114
+f 83 114 115
+f 83 115 84
+f 86 111 99
+f 87 116 117
+f 87 117 88
+f 88 117 118
+f 88 118 119
+f 88 119 89
+f 89 119 90
+f 90 119 120
+f 90 120 121
+f 90 121 91
+f 91 121 92
+f 92 121 122
+f 92 122 93
+f 93 122 108
+f 93 108 94
+f 96 100 123
+f 96 123 124
+f 96 124 125
+f 96 125 126
+f 96 126 97
+f 97 126 101
+f 99 111 112
+f 99 112 127
+f 99 127 123
+f 99 123 100
+f 101 126 128
+f 102 129 103
+f 103 129 130
+f 103 130 106
+f 104 105 131
+f 105 132 131
+f 105 106 133
+f 105 133 132
+f 106 130 134
+f 106 134 133
+f 108 122 109
+f 109 112 110
+f 109 122 112
+f 112 122 135
+f 112 135 136
+f 112 136 127
+f 116 137 117
+f 117 138 118
+f 117 137 138
+f 118 138 139
+f 118 139 119
+f 119 139 140
+f 119 140 120
+f 120 140 121
+f 121 140 141
+f 121 141 122
+f 122 136 135
+f 122 141 142
+f 122 142 136
+f 123 127 124
+f 124 143 144
+f 124 144 145
+f 124 145 125
+f 124 127 143
+f 125 145 146
+f 125 146 147
+f 125 147 126
+f 126 147 128
+f 127 136 143
+f 128 147 151
+f 128 151 148
+f 129 149 130
+f 130 149 150
+f 130 150 151
+f 130 151 134
+f 131 132 152
+f 132 138 153
+f 132 153 152
+f 132 133 154
+f 132 154 138
+f 133 134 155
+f 133 155 154
+f 134 151 156
+f 134 156 157
+f 134 157 155
+f 136 142 143
+f 137 158 138
+f 138 158 153
+f 138 154 139
+f 139 154 159
+f 139 159 140
+f 140 159 141
+f 141 159 160
+f 141 160 143
+f 141 143 142
+f 143 160 144
+f 144 160 159
+f 144 159 161
+f 144 161 145
+f 145 161 155
+f 145 155 157
+f 145 157 146
+f 146 157 156
+f 146 156 151
+f 146 151 147
+f 148 151 150
+f 154 155 159
+f 155 161 159
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_23.obj

@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
+v -0.02081728 -0.02687362 -0.02483394
+v -0.02070256 -0.02687362 -0.02490771
+v -0.02081728 -0.02692452 -0.02481497
+v -0.02081728 -0.02687363 -0.02197786
+v -0.02049686 -0.02687362 -0.02501942
+v -0.02065707 -0.02702996 -0.02487609
+v -0.02081728 -0.02828978 -0.02424586
+v -0.00061095 -0.02687361 -0.02790712
+v -0.02081728 -0.04544374 -0.00866082
+v -0.01965822 -0.02687362 -0.02547471
+v -0.02018435 -0.02827887 -0.02463580
+v -0.01914199 -0.02827887 -0.02523231
+v -0.02081728 -0.03010952 -0.02347231
+v -0.00061095 -0.02687360 -0.03017301
+v -0.00061095 -0.04544371 -0.01512335
+v -0.02081728 -0.04544372 -0.01254340
+v -0.01658257 -0.02687361 -0.02701552
+v -0.01872465 -0.02934781 -0.02500890
+v -0.01974525 -0.03036766 -0.02396343
+v -0.02076387 -0.03138935 -0.02288635
+v -0.02081728 -0.03125118 -0.02292217
+v -0.00061095 -0.02831521 -0.02971351
+v -0.00068018 -0.02687360 -0.03017722
+v -0.00061095 -0.04544370 -0.01833354
+v -0.02081728 -0.04359853 -0.01432870
+v -0.02046917 -0.04376578 -0.01440458
+v -0.02012106 -0.04544372 -0.01298182
+v -0.01627798 -0.02687361 -0.02714831
+v -0.01649950 -0.02709540 -0.02696704
+v -0.01803238 -0.03074215 -0.02467586
+v -0.01511101 -0.02778620 -0.02730639
+v -0.01746868 -0.03017678 -0.02521335
+v -0.01920924 -0.03246554 -0.02319619
+v -0.02081728 -0.03135117 -0.02286948
+v -0.01870883 -0.03351268 -0.02292007
+v -0.02024962 -0.03246555 -0.02259547
+v -0.02081728 -0.03413804 -0.02132026
+v -0.00061095 -0.02854063 -0.02962498
+v -0.00099862 -0.02827885 -0.02974302
+v -0.00099862 -0.02687360 -0.03019409
+v -0.00095709 -0.04544370 -0.01834197
+v -0.00061095 -0.04467654 -0.01902910
+v -0.02081728 -0.04327676 -0.01462590
+v -0.01978481 -0.04504378 -0.01357833
+v -0.01971360 -0.04290589 -0.01561867
+v -0.01908067 -0.04420390 -0.01481771
+v -0.01956526 -0.04544372 -0.01331275
+v -0.01548483 -0.02687361 -0.02749399
+v -0.01664191 -0.03143660 -0.02500680
+v -0.01746868 -0.03226739 -0.02417632
+v -0.01344957 -0.02687361 -0.02824226
+v -0.01360582 -0.02840248 -0.02759727
+v -0.01298278 -0.02972593 -0.02726636
+v -0.01964636 -0.03446345 -0.02181559
+v -0.01766449 -0.03393442 -0.02317301
+v -0.01919737 -0.03601595 -0.02110948
+v -0.02058586 -0.03541240 -0.02069635
+v -0.02081728 -0.03493247 -0.02084600
+v -0.00061095 -0.02948959 -0.02923083
+v -0.00099862 -0.02950049 -0.02923505
+v -0.00308136 -0.02827885 -0.02969243
+v -0.00239701 -0.02687360 -0.03016247
+v -0.00099862 -0.04544370 -0.01834197
+v -0.00099862 -0.04448747 -0.01920827
+v -0.00061095 -0.04448202 -0.01920405
+v -0.02081728 -0.04256776 -0.01524770
+v -0.02034456 -0.04156427 -0.01641963
+v -0.01895607 -0.04204783 -0.01682222
+v -0.01766449 -0.04347127 -0.01622572
+v -0.01766449 -0.04459656 -0.01518658
+v -0.01766449 -0.04544372 -0.01437087
+v -0.01785833 -0.04544372 -0.01426758
+v -0.01557977 -0.03186926 -0.02523022
+v -0.01141430 -0.02687360 -0.02891254
+v -0.01057962 -0.02687360 -0.02918445
+v -0.01033238 -0.02721173 -0.02912543
+v -0.01133518 -0.03040401 -0.02746027
+v -0.01059149 -0.03154021 -0.02714200
+v -0.01297487 -0.03381262 -0.02517542
+v -0.01359989 -0.03260552 -0.02558012
+v -0.01557977 -0.03291639 -0.02464426
+v -0.01567471 -0.03468704 -0.02359669
+v -0.01504178 -0.03592869 -0.02313297
+v -0.01643028 -0.03546876 -0.02279151
+v -0.01766449 -0.03498156 -0.02250695
+v -0.01831324 -0.03740848 -0.02064366
+v -0.02081728 -0.03793387 -0.01893002
+v -0.02081728 -0.03527970 -0.02062890
+v -0.00061095 -0.03049490 -0.02876711
+v -0.00099862 -0.03054762 -0.02875868
+v -0.00308136 -0.02943505 -0.02920764
+v -0.00505927 -0.02841701 -0.02949429
+v -0.00447975 -0.02687360 -0.03006551
+v -0.00308136 -0.02687360 -0.03014561
+v -0.00429580 -0.02936233 -0.02917603
+v -0.00117070 -0.04544370 -0.01833775
+v -0.00308136 -0.04323856 -0.02021790
+v -0.00099862 -0.04326947 -0.02024531
+v -0.00061095 -0.04349125 -0.02004928
+v -0.00308136 -0.04445475 -0.01918087
+v -0.02081728 -0.04141156 -0.01624468
+v -0.02081728 -0.04085528 -0.01670419
+v -0.02081728 -0.04036626 -0.01708991
+v -0.01968987 -0.04085346 -0.01735550
+v -0.01766449 -0.04242596 -0.01715316
+v -0.01869696 -0.03978088 -0.01875086
+v -0.01786624 -0.04089163 -0.01830190
+v -0.01614941 -0.04162607 -0.01855695
+v -0.01635709 -0.04383485 -0.01655032
+v -0.01690102 -0.04544372 -0.01476292
+v -0.01436336 -0.03339632 -0.02488244
+v -0.01000009 -0.02687360 -0.02932778
+v -0.00927618 -0.02687360 -0.02948586
+v -0.00894389 -0.02755896 -0.02928984
+v -0.00933156 -0.03286729 -0.02669304
+v -0.01141430 -0.03421075 -0.02541361
+v -0.00933156 -0.03182017 -0.02728323
+v -0.01245468 -0.03769571 -0.02291798
+v -0.01349703 -0.03636862 -0.02341963
+v -0.01349703 -0.03741393 -0.02272617
+v -0.01557977 -0.03831562 -0.02127600
+v -0.01692475 -0.03790114 -0.02098302
+v -0.01781086 -0.03884101 -0.01987010
+v -0.01974723 -0.03834290 -0.01922722
+v -0.01974723 -0.03938821 -0.01845998
+v -0.02081728 -0.03807930 -0.01882252
+v -0.00061095 -0.03090212 -0.02857319
+v -0.00308136 -0.03048217 -0.02873128
+v -0.00099862 -0.03246553 -0.02782283
+v -0.00308136 -0.03246553 -0.02776591
+v -0.00724882 -0.02790981 -0.02943528
+v -0.00724882 -0.02687360 -0.02980836
+v -0.00657435 -0.02687360 -0.02988213
+v -0.00513246 -0.02687360 -0.03001492
+v -0.00515619 -0.03263096 -0.02752562
+v -0.00724882 -0.03219830 -0.02747504
+v -0.00308136 -0.04544370 -0.01827663
+v -0.00516410 -0.04316403 -0.02015046
+v -0.00516410 -0.04211689 -0.02103362
+v -0.00308136 -0.04219325 -0.02109685
+v -0.00061095 -0.04326401 -0.02024109
+v -0.00099862 -0.04222415 -0.02112215
+v -0.00318619 -0.04544370 -0.01827030
+v -0.00516410 -0.04437476 -0.01911131
+v -0.01730649 -0.04023172 -0.01909865
+v -0.01557977 -0.03936275 -0.02050455
+v -0.01438314 -0.03971178 -0.02074906
+v -0.01475894 -0.04199147 -0.01884993
+v -0.01555802 -0.04291315 -0.01771383
+v -0.01496860 -0.04418571 -0.01687282
+v -0.01569845 -0.04507831 -0.01569035
+v -0.01600107 -0.04544371 -0.01520134
+v -0.00724882 -0.03324542 -0.02686167
+v -0.00878565 -0.03575780 -0.02509744
+v -0.00942056 -0.03472704 -0.02558224
+v -0.01017415 -0.03553783 -0.02490985
+v -0.01141430 -0.03525605 -0.02475387
+v -0.01106618 -0.03797385 -0.02311401
+v -0.01162198 -0.03869920 -0.02242897
+v -0.01299465 -0.04003538 -0.02102518
+v -0.01361175 -0.03890463 -0.02163012
+v -0.00061095 -0.03246553 -0.02781018
+v -0.00061095 -0.03268005 -0.02769846
+v -0.00061095 -0.03367263 -0.02717573
+v -0.00099862 -0.03368172 -0.02718205
+v -0.00308136 -0.03363627 -0.02715465
+v -0.00445601 -0.03356901 -0.02711250
+v -0.00584450 -0.03343994 -0.02698813
+v -0.00686313 -0.04200055 -0.02093666
+v -0.00724882 -0.04422751 -0.01898273
+v -0.00433734 -0.03980995 -0.02293486
+v -0.00308136 -0.04089344 -0.02213600
+v -0.00061095 -0.04241140 -0.02095564
+v -0.00061095 -0.04221870 -0.02111583
+v -0.00099862 -0.04092434 -0.02216129
+v -0.00061095 -0.04116067 -0.02196316
+v -0.00512257 -0.04544370 -0.01813330
+v -0.00516410 -0.04542007 -0.01815227
+v -0.01349703 -0.04226779 -0.01907969
+v -0.01349703 -0.04331492 -0.01819652
+v -0.01349703 -0.04449112 -0.01715737
+v -0.01349703 -0.04544371 -0.01626156
+v -0.01359791 -0.04544371 -0.01622152
+v -0.01550264 -0.04544371 -0.01543320
+v -0.00724882 -0.03700307 -0.02453888
+v -0.00933156 -0.03827198 -0.02331636
+v -0.00724882 -0.03595777 -0.02523234
+v -0.00933156 -0.03931911 -0.02255544
+v -0.01141430 -0.04035533 -0.02126758
+v -0.01141430 -0.04140064 -0.02044765
+v -0.00061095 -0.03471794 -0.02651600
+v -0.00099862 -0.03472884 -0.02652232
+v -0.00308136 -0.03468158 -0.02649492
+v -0.00516410 -0.03616320 -0.02537567
+v -0.00743474 -0.04278954 -0.02017786
+v -0.00825162 -0.04187147 -0.02082494
+v -0.00724882 -0.03959180 -0.02273040
+v -0.00572583 -0.03973178 -0.02284211
+v -0.00724882 -0.04527282 -0.01801526
+v -0.00875599 -0.04408390 -0.01885626
+v -0.00508499 -0.03891734 -0.02348077
+v -0.00308136 -0.03627409 -0.02545577
+v -0.00308136 -0.03984631 -0.02296226
+v -0.00061095 -0.04091707 -0.02215708
+v -0.00099862 -0.03987904 -0.02298544
+v -0.00061095 -0.04006446 -0.02282946
+v -0.00516410 -0.04544370 -0.01812908
+v -0.00724882 -0.04544370 -0.01785085
+v -0.01141430 -0.04266046 -0.01941062
+v -0.01141430 -0.04370759 -0.01851691
+v -0.01141430 -0.04544371 -0.01692342
+v -0.01207887 -0.04544371 -0.01671685
+v -0.01141430 -0.04484561 -0.01747565
+v -0.00724882 -0.03854467 -0.02349974
+v -0.00933156 -0.04068619 -0.02151630
+v -0.00933156 -0.04173331 -0.02070480
+v -0.00061095 -0.03630318 -0.02547474
+v -0.00099862 -0.03631226 -0.02548106
+v -0.00940276 -0.04309858 -0.01954341
+v -0.00935134 -0.04544371 -0.01744404
+v -0.01014448 -0.04390937 -0.01868553
+v -0.00984977 -0.04544371 -0.01733865
+v -0.00061095 -0.03987176 -0.02298123
+v -0.01088224 -0.04544371 -0.01707729
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 34
+f 1 34 37
+f 1 37 58
+f 1 58 88
+f 1 88 87
+f 1 87 126
+f 1 126 103
+f 1 103 102
+f 1 102 101
+f 1 101 66
+f 1 66 43
+f 1 43 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 40
+f 1 40 62
+f 1 62 94
+f 1 94 93
+f 1 93 134
+f 1 134 133
+f 1 133 132
+f 1 132 113
+f 1 113 112
+f 1 112 75
+f 1 75 74
+f 1 74 51
+f 1 51 48
+f 1 48 28
+f 1 28 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 11
+f 7 11 13
+f 8 9 15
+f 8 15 24
+f 8 24 42
+f 8 42 65
+f 8 65 99
+f 8 99 141
+f 8 141 173
+f 8 173 174
+f 8 174 176
+f 8 176 204
+f 8 204 206
+f 8 206 223
+f 8 223 217
+f 8 217 191
+f 8 191 164
+f 8 164 163
+f 8 163 162
+f 8 162 127
+f 8 127 89
+f 8 89 59
+f 8 59 38
+f 8 38 22
+f 8 22 14
+f 9 16 27
+f 9 27 47
+f 9 47 72
+f 9 72 71
+f 9 71 110
+f 9 110 152
+f 9 152 184
+f 9 184 183
+f 9 183 182
+f 9 182 212
+f 9 212 211
+f 9 211 224
+f 9 224 222
+f 9 222 220
+f 9 220 208
+f 9 208 207
+f 9 207 177
+f 9 177 143
+f 9 143 137
+f 9 137 96
+f 9 96 63
+f 9 63 41
+f 9 41 24
+f 9 24 15
+f 10 17 12
+f 11 12 18
+f 11 18 13
+f 12 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 22 23
+f 16 25 26
+f 16 26 27
+f 17 28 29
+f 17 29 18
+f 18 30 19
+f 18 29 31
+f 18 31 32
+f 18 32 30
+f 19 33 20
+f 19 30 33
+f 20 34 21
+f 20 33 35
+f 20 35 36
+f 20 36 37
+f 20 37 34
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 24 41 42
+f 25 43 26
+f 26 44 27
+f 26 43 45
+f 26 45 46
+f 26 46 44
+f 27 44 47
+f 28 48 29
+f 29 48 31
+f 30 32 49
+f 30 49 50
+f 30 50 35
+f 30 35 33
+f 31 48 51
+f 31 51 52
+f 31 52 53
+f 31 53 49
+f 31 49 32
+f 35 54 37
+f 35 37 36
+f 35 50 55
+f 35 55 56
+f 35 56 54
+f 37 54 57
+f 37 57 58
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 41 63 64
+f 41 64 42
+f 42 64 65
+f 43 66 67
+f 43 67 45
+f 44 46 47
+f 45 67 68
+f 45 68 46
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 47
+f 49 55 50
+f 49 53 73
+f 49 73 55
+f 51 74 52
+f 52 74 75
+f 52 75 53
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 73
+f 54 56 57
+f 55 73 81
+f 55 81 82
+f 55 82 83
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 86 87
+f 56 87 57
+f 56 85 84
+f 56 84 86
+f 57 88 58
+f 57 87 88
+f 59 89 90
+f 59 90 60
+f 60 90 128
+f 60 128 91
+f 60 91 61
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 61 91 95
+f 61 95 92
+f 63 96 64
+f 64 97 98
+f 64 98 99
+f 64 99 65
+f 64 96 100
+f 64 100 97
+f 66 101 67
+f 67 101 102
+f 67 102 103
+f 67 103 104
+f 67 104 68
+f 68 105 69
+f 68 104 106
+f 68 106 107
+f 68 107 108
+f 68 108 105
+f 69 105 109
+f 69 109 70
+f 70 109 110
+f 70 110 71
+f 73 80 111
+f 73 111 81
+f 75 112 76
+f 76 112 113
+f 76 113 114
+f 76 114 78
+f 76 78 77
+f 78 115 116
+f 78 116 79
+f 78 114 117
+f 78 117 115
+f 79 116 118
+f 79 118 119
+f 79 119 83
+f 79 83 111
+f 79 111 80
+f 81 111 82
+f 82 111 83
+f 83 119 120
+f 83 120 121
+f 83 121 122
+f 83 122 84
+f 84 122 86
+f 86 122 123
+f 86 123 106
+f 86 106 124
+f 86 124 87
+f 87 125 126
+f 87 124 125
+f 89 127 90
+f 90 127 129
+f 90 129 130
+f 90 130 128
+f 91 128 95
+f 92 131 132
+f 92 132 133
+f 92 133 134
+f 92 134 93
+f 92 95 131
+f 95 128 135
+f 95 135 136
+f 95 136 131
+f 96 137 100
+f 97 100 138
+f 97 138 139
+f 97 139 140
+f 97 140 98
+f 98 141 99
+f 98 140 142
+f 98 142 141
+f 100 137 143
+f 100 143 144
+f 100 144 138
+f 103 126 125
+f 103 125 104
+f 104 125 106
+f 105 108 109
+f 106 145 107
+f 106 125 124
+f 106 123 145
+f 107 145 108
+f 108 145 146
+f 108 146 147
+f 108 147 148
+f 108 148 149
+f 108 149 109
+f 109 149 150
+f 109 150 151
+f 109 151 152
+f 109 152 110
+f 113 131 114
+f 113 132 131
+f 114 131 117
+f 115 117 136
+f 115 136 153
+f 115 153 154
+f 115 154 155
+f 115 155 116
+f 116 155 156
+f 116 156 157
+f 116 157 118
+f 117 131 136
+f 118 158 159
+f 118 159 160
+f 118 160 161
+f 118 161 120
+f 118 120 119
+f 118 157 156
+f 118 156 158
+f 120 161 121
+f 121 161 147
+f 121 147 146
+f 121 146 145
+f 121 145 122
+f 122 145 123
+f 127 162 129
+f 128 130 135
+f 129 162 163
+f 129 163 164
+f 129 164 165
+f 129 165 166
+f 129 166 130
+f 130 166 167
+f 130 167 135
+f 135 167 136
+f 136 167 168
+f 136 168 153
+f 138 169 139
+f 138 144 170
+f 138 170 169
+f 139 169 171
+f 139 171 140
+f 140 171 172
+f 140 172 175
+f 140 175 142
+f 141 142 173
+f 142 174 173
+f 142 175 176
+f 142 176 174
+f 143 177 178
+f 143 178 144
+f 144 178 170
+f 147 160 148
+f 147 161 160
+f 148 179 180
+f 148 180 150
+f 148 150 149
+f 148 160 179
+f 150 181 182
+f 150 182 183
+f 150 183 184
+f 150 184 151
+f 150 180 181
+f 151 184 152
+f 153 168 154
+f 154 185 186
+f 154 186 158
+f 154 158 156
+f 154 156 155
+f 154 168 187
+f 154 187 185
+f 158 188 189
+f 158 189 159
+f 158 186 188
+f 159 189 160
+f 160 189 190
+f 160 190 179
+f 164 191 192
+f 164 192 165
+f 165 192 166
+f 166 192 193
+f 166 193 167
+f 167 193 194
+f 167 194 187
+f 167 187 168
+f 169 170 195
+f 169 195 196
+f 169 196 197
+f 169 197 198
+f 169 198 171
+f 170 178 199
+f 170 199 200
+f 170 200 195
+f 171 198 201
+f 171 201 194
+f 171 194 202
+f 171 202 203
+f 171 203 172
+f 172 203 175
+f 175 204 176
+f 175 203 205
+f 175 205 206
+f 175 206 204
+f 177 207 178
+f 178 207 208
+f 178 208 199
+f 179 190 209
+f 179 209 180
+f 180 209 210
+f 180 210 181
+f 181 211 212
+f 181 212 182
+f 181 210 213
+f 181 213 211
+f 185 214 186
+f 185 187 194
+f 185 194 214
+f 186 214 188
+f 188 214 197
+f 188 197 196
+f 188 196 215
+f 188 215 189
+f 189 216 190
+f 189 215 216
+f 190 216 209
+f 191 217 192
+f 192 217 218
+f 192 218 202
+f 192 202 193
+f 193 202 194
+f 194 201 214
+f 195 200 196
+f 196 200 219
+f 196 219 216
+f 196 216 215
+f 197 214 198
+f 198 214 201
+f 199 208 220
+f 199 220 200
+f 200 221 219
+f 200 220 222
+f 200 222 221
+f 202 218 203
+f 203 218 205
+f 205 223 206
+f 205 218 223
+f 209 216 221
+f 209 221 210
+f 210 221 224
+f 210 224 213
+f 211 213 224
+f 216 219 221
+f 217 223 218
+f 221 222 224
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_24.obj

@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v 0.04911069 0.01149080 0.03012439
+v 0.04908652 0.01358234 0.03012440
+v 0.04908652 0.01358234 0.03012735
+v 0.04852109 0.01358233 0.03196234
+v 0.04853559 0.01149079 0.03197033
+v 0.04850176 0.00939298 0.03195433
+v 0.04904303 0.00939299 0.03012733
+v 0.04904303 0.00939299 0.03012438
+v 0.03261176 0.04593240 0.02847471
+v 0.03261176 0.04972724 0.02847472
+v 0.04892705 0.01567389 0.03012441
+v 0.04892705 0.01567389 0.03012736
+v 0.04844377 0.01567388 0.03190596
+v 0.04692146 0.01776542 0.03260756
+v 0.04692146 0.01567388 0.03269551
+v 0.04692146 0.01358233 0.03272160
+v 0.04692146 0.00939298 0.03272663
+v 0.04692146 0.00730770 0.03270221
+v 0.04692146 0.01149079 0.03272579
+v 0.04841477 0.00730770 0.03189667
+v 0.04887388 0.00730771 0.03012733
+v 0.04887388 0.00730771 0.03012438
+v 0.04858392 0.00520991 0.03012437
+v 0.04817797 0.00336258 0.03012436
+v 0.04702295 -0.00008784 0.03012435
+v 0.02104221 0.02703962 0.02847464
+v 0.03172254 0.05060394 0.02847473
+v 0.03261176 0.04990257 0.03012453
+v 0.03285340 0.04965835 0.03012453
+v 0.03384411 0.04861258 0.03012453
+v 0.03488314 0.04741651 0.03012452
+v 0.03576270 0.04637074 0.03012452
+v 0.03680657 0.04507448 0.03012452
+v 0.03763296 0.04402871 0.03012451
+v 0.04014598 0.04050941 0.03012450
+v 0.04118985 0.03885621 0.03012449
+v 0.04181327 0.03780418 0.03012449
+v 0.04244636 0.03658933 0.03012448
+v 0.04338874 0.03471069 0.03012448
+v 0.04389134 0.03365866 0.03012447
+v 0.04442778 0.03239998 0.03012447
+v 0.04613856 0.02791631 0.03012445
+v 0.04671365 0.02613161 0.03012445
+v 0.04801366 0.02112192 0.03012443
+v 0.04826496 0.01985698 0.03012442
+v 0.04862741 0.01776543 0.03012442
+v 0.04862741 0.01776543 0.03012737
+v 0.04800399 0.02109061 0.03127341
+v 0.04812481 0.01985697 0.03150951
+v 0.04829879 0.01776542 0.03177381
+v 0.04692146 0.01985697 0.03235925
+v 0.04483856 0.02613160 0.03264926
+v 0.04483856 0.02404632 0.03270396
+v 0.04275082 0.03032095 0.03271155
+v 0.03858984 0.03868086 0.03271958
+v 0.04483856 0.00102681 0.03267272
+v 0.02192177 0.05542574 0.03277435
+v 0.01775596 0.05751728 0.03276931
+v 0.04692146 0.00520990 0.03258184
+v 0.04483856 -0.00008785 0.03262853
+v 0.04827462 0.00520990 0.03174010
+v 0.04811031 0.00360053 0.03147115
+v 0.04858392 0.00520991 0.03012732
+v 0.04817797 0.00336258 0.03012731
+v 0.04285230 -0.00008784 0.03012435
+v 0.01359015 0.02081509 0.02847462
+v 0.01525744 0.02124091 0.02847462
+v 0.01621915 0.02194853 0.02847462
+v 0.01831656 0.02405260 0.02847463
+v 0.02037530 0.02615667 0.02847464
+v 0.04702295 -0.00008784 0.03012730
+v 0.03261176 -0.00009410 0.03047115
+v 0.03233629 -0.00009410 0.03046526
+v 0.03024856 -0.00009410 0.03042485
+v 0.02816565 -0.00009410 0.03040171
+v 0.01567305 -0.00009410 0.03028218
+v 0.01359015 -0.00009410 0.03026576
+v 0.03063517 0.05165597 0.02847473
+v 0.03072700 0.05174363 0.03012707
+v 0.03180953 0.05069159 0.03012707
+v 0.03261176 0.04990257 0.03012748
+v 0.03285340 0.04965835 0.03012748
+v 0.03384411 0.04861258 0.03012748
+v 0.03488314 0.04741651 0.03012747
+v 0.03576270 0.04637074 0.03012747
+v 0.03762813 0.04401618 0.03132862
+v 0.03763296 0.04402871 0.03012746
+v 0.04014598 0.04050941 0.03012745
+v 0.04118985 0.03885621 0.03012744
+v 0.04181327 0.03781044 0.03012744
+v 0.04244636 0.03658933 0.03012743
+v 0.04338874 0.03471069 0.03012743
+v 0.04389134 0.03365866 0.03012742
+v 0.04442778 0.03239998 0.03012742
+v 0.04613856 0.02792257 0.03012740
+v 0.04671365 0.02613161 0.03012740
+v 0.04801366 0.02112192 0.03012738
+v 0.04826496 0.01985698 0.03012737
+v 0.04606607 0.02771591 0.03152090
+v 0.04631254 0.02613160 0.03183655
+v 0.04453410 0.03032095 0.03196829
+v 0.04275082 0.03239997 0.03251375
+v 0.04067274 0.03658932 0.03252471
+v 0.03650211 0.04286395 0.03250959
+v 0.03441920 0.04496176 0.03266027
+v 0.03233629 0.04705330 0.03272803
+v -0.00026044 -0.00009411 0.03235707
+v 0.04372703 -0.00008785 0.03262853
+v 0.00108789 0.01985697 0.03247372
+v 0.03024856 0.04914485 0.03272972
+v 0.02816565 0.05124265 0.03272258
+v 0.02608758 0.05332793 0.03263252
+v 0.01983886 0.05751728 0.03257487
+v 0.01359015 0.05961509 0.03273271
+v 0.00317079 0.06170663 0.03266412
+v 0.00108789 0.06170663 0.03264854
+v 0.04569395 -0.00008785 0.03229731
+v 0.04648168 -0.00008785 0.03187559
+v 0.03261176 -0.00009411 0.03239200
+v 0.01261877 -0.00009410 0.03026703
+v -0.00026044 0.02985131 0.02847465
+v -0.00026044 -0.00009410 0.03033815
+v 0.02959131 0.05263286 0.02847473
+v 0.02968313 0.05272052 0.03012707
+v 0.02956231 0.05260779 0.03162200
+v 0.03167421 0.05056008 0.03164515
+v 0.03261176 0.04984621 0.03044061
+v 0.03371845 0.04847480 0.03164093
+v 0.03568537 0.04627680 0.03152939
+v 0.03642961 0.04481773 0.03182062
+v 0.03999616 0.04028396 0.03167036
+v 0.04179877 0.03778538 0.03135301
+v 0.04387201 0.03362108 0.03134205
+v 0.04413298 0.03239997 0.03168843
+v 0.04279915 0.03439132 0.03192707
+v 0.04209840 0.03658932 0.03170569
+v 0.04068241 0.03856188 0.03191698
+v 0.03872033 0.04089765 0.03212785
+v 0.03441437 0.04700947 0.03201213
+v 0.03235563 0.04916363 0.03207990
+v -0.00001881 -0.00009411 0.03235749
+v -0.00026044 0.01985697 0.03244426
+v 0.00108789 -0.00009411 0.03235918
+v -0.00026044 0.06170663 0.03262035
+v 0.03025339 0.05125517 0.03206981
+v 0.02808833 0.05331541 0.03196754
+v 0.02417865 0.05560734 0.03216872
+v 0.02179612 0.05753607 0.03194693
+v 0.01983886 0.05893252 0.03172557
+v 0.01567305 0.05961509 0.03240569
+v 0.01359015 0.06116183 0.03191243
+v 0.00734143 0.06170663 0.03247094
+v 0.00525853 0.06170663 0.03263550
+v 0.00108789 0.06330347 0.03191497
+v -0.00026044 0.06331600 0.03190613
+v -0.00026044 0.06386082 0.02847477
+v 0.02933517 0.05285203 0.02847473
+v 0.02844595 0.05376629 0.03012708
+v 0.02734892 0.05454904 0.03147471
+v 0.02608758 0.05498739 0.03181645
+v 0.02359872 0.05686603 0.03170577
+v 0.01674109 0.06067340 0.03120032
+v 0.01567305 0.06086125 0.03154164
+v 0.01756748 0.05964640 0.03186866
+v 0.02102288 0.05864446 0.03134762
+v 0.00885408 0.06284634 0.03137920
+v 0.00734143 0.06299036 0.03162793
+v 0.00525853 0.06314692 0.03181943
+v 0.00317079 0.06324085 0.03189098
+v 0.00108789 0.06384202 0.03012711
+v -0.00026044 0.06387959 0.03012711
+v 0.00108789 0.06382325 0.02847477
+v 0.02833963 0.05367863 0.02847474
+v 0.02730059 0.05451149 0.02847474
+v 0.02740208 0.05458663 0.03012708
+v 0.02489390 0.05632123 0.03012709
+v 0.02385486 0.05702259 0.03012709
+v 0.01674109 0.06067340 0.03088466
+v 0.01585187 0.06095519 0.03016624
+v 0.01359015 0.06163150 0.03012711
+v 0.01983886 0.05923937 0.03012710
+v 0.02208608 0.05806836 0.03012709
+v 0.02104705 0.05865700 0.03012710
+v 0.00902806 0.06288392 0.03012711
+v 0.00734143 0.06320328 0.03012711
+v 0.00525853 0.06351013 0.03012711
+v 0.00317079 0.06370426 0.03012711
+v 0.00317079 0.06366670 0.02847477
+v 0.02374371 0.05695371 0.02847475
+v 0.02337642 0.05717289 0.02847475
+v 0.01998385 0.05906404 0.02847476
+v 0.01944741 0.05930201 0.02847476
+v 0.01666376 0.06058573 0.02949874
+v 0.01556673 0.06096146 0.02847476
+v 0.01359015 0.06158141 0.02847477
+v 0.02096006 0.05860691 0.02858040
+v 0.00885891 0.06284636 0.02847477
+v 0.00851579 0.06291524 0.02847477
+v 0.00734143 0.06314068 0.02847477
+v 0.00525853 0.06346004 0.02847477
+v 0.00482842 0.06350388 0.02847477
+v 0.02109054 0.05851924 0.02847475
+v 0.02080058 0.05867579 0.02847476
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 11
+f 3 12 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 6
+f 5 16 19
+f 5 19 17
+f 6 18 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 70
+f 9 70 69
+f 9 69 68
+f 9 68 67
+f 9 67 66
+f 9 66 121
+f 9 121 156
+f 9 156 172
+f 9 172 188
+f 9 188 201
+f 9 201 200
+f 9 200 199
+f 9 199 198
+f 9 198 197
+f 9 197 195
+f 9 195 194
+f 9 194 192
+f 9 192 191
+f 9 191 203
+f 9 203 202
+f 9 202 190
+f 9 190 189
+f 9 189 174
+f 9 174 173
+f 9 173 157
+f 9 157 123
+f 9 123 78
+f 9 78 27
+f 9 27 10
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 36
+f 10 36 37
+f 10 37 38
+f 10 38 39
+f 10 39 40
+f 10 40 41
+f 10 41 42
+f 10 42 43
+f 10 43 44
+f 10 44 45
+f 10 45 46
+f 10 46 11
+f 11 46 47
+f 11 47 12
+f 12 47 48
+f 12 48 49
+f 12 49 50
+f 12 50 13
+f 13 50 14
+f 14 50 51
+f 14 51 52
+f 14 52 15
+f 15 52 53
+f 15 53 16
+f 16 53 54
+f 16 54 55
+f 16 55 19
+f 17 56 18
+f 17 19 57
+f 17 57 58
+f 17 58 56
+f 18 59 20
+f 18 56 60
+f 18 60 59
+f 19 55 57
+f 20 59 61
+f 20 61 21
+f 21 61 62
+f 21 62 63
+f 21 63 23
+f 21 23 22
+f 23 63 64
+f 23 64 24
+f 24 64 71
+f 24 71 25
+f 25 65 66
+f 25 66 67
+f 25 67 68
+f 25 68 69
+f 25 69 70
+f 25 70 26
+f 25 71 119
+f 25 119 72
+f 25 72 73
+f 25 73 74
+f 25 74 75
+f 25 75 76
+f 25 76 77
+f 25 77 65
+f 27 78 79
+f 27 79 80
+f 27 80 28
+f 28 81 82
+f 28 82 29
+f 28 80 81
+f 29 82 83
+f 29 83 30
+f 30 83 84
+f 30 84 31
+f 31 84 85
+f 31 85 32
+f 32 85 33
+f 33 85 86
+f 33 86 87
+f 33 87 34
+f 34 87 88
+f 34 88 35
+f 35 88 89
+f 35 89 36
+f 36 89 90
+f 36 90 37
+f 37 90 38
+f 38 90 91
+f 38 91 92
+f 38 92 39
+f 39 92 93
+f 39 93 40
+f 40 93 94
+f 40 94 41
+f 41 94 95
+f 41 95 42
+f 42 95 43
+f 43 95 96
+f 43 96 97
+f 43 97 44
+f 44 97 98
+f 44 98 45
+f 45 98 47
+f 45 47 46
+f 47 98 48
+f 48 97 96
+f 48 96 99
+f 48 99 100
+f 48 100 49
+f 48 98 97
+f 49 100 50
+f 50 100 51
+f 51 100 52
+f 52 100 101
+f 52 101 102
+f 52 102 54
+f 52 54 53
+f 54 102 103
+f 54 103 55
+f 55 103 104
+f 55 104 105
+f 55 105 106
+f 55 106 57
+f 56 107 108
+f 56 108 60
+f 56 58 109
+f 56 109 107
+f 57 106 110
+f 57 110 111
+f 57 111 112
+f 57 112 113
+f 57 113 58
+f 58 113 114
+f 58 114 115
+f 58 115 116
+f 58 116 109
+f 59 60 117
+f 59 117 118
+f 59 118 61
+f 60 108 119
+f 60 119 117
+f 61 118 62
+f 62 118 71
+f 62 71 64
+f 62 64 63
+f 65 77 120
+f 65 120 66
+f 66 120 122
+f 66 122 121
+f 71 118 119
+f 72 119 143
+f 72 143 141
+f 72 141 107
+f 72 107 122
+f 72 122 120
+f 72 120 77
+f 72 77 76
+f 72 76 75
+f 72 75 74
+f 72 74 73
+f 78 123 124
+f 78 124 79
+f 79 124 125
+f 79 125 126
+f 79 126 80
+f 80 126 81
+f 81 126 127
+f 81 127 82
+f 82 128 83
+f 82 127 128
+f 83 128 129
+f 83 129 84
+f 84 129 86
+f 84 86 85
+f 86 129 130
+f 86 130 131
+f 86 131 132
+f 86 132 88
+f 86 88 87
+f 88 132 89
+f 89 132 90
+f 90 132 91
+f 91 132 92
+f 92 132 133
+f 92 133 93
+f 93 133 94
+f 94 133 95
+f 95 133 99
+f 95 99 96
+f 99 133 134
+f 99 134 100
+f 100 134 101
+f 101 134 102
+f 102 134 135
+f 102 135 103
+f 103 135 136
+f 103 136 137
+f 103 137 138
+f 103 138 104
+f 104 138 130
+f 104 130 139
+f 104 139 105
+f 105 139 140
+f 105 140 106
+f 106 140 110
+f 107 141 108
+f 107 109 142
+f 107 142 144
+f 107 144 155
+f 107 155 171
+f 107 171 156
+f 107 156 121
+f 107 121 122
+f 108 141 143
+f 108 143 119
+f 109 116 144
+f 109 144 142
+f 110 140 111
+f 111 145 112
+f 111 140 145
+f 112 146 147
+f 112 147 113
+f 112 145 146
+f 113 148 149
+f 113 149 150
+f 113 150 114
+f 113 147 148
+f 114 150 151
+f 114 151 152
+f 114 152 153
+f 114 153 115
+f 115 153 154
+f 115 154 155
+f 115 155 116
+f 116 155 144
+f 117 119 118
+f 123 157 124
+f 124 157 158
+f 124 158 159
+f 124 159 125
+f 125 145 126
+f 125 159 146
+f 125 146 145
+f 126 145 140
+f 126 140 128
+f 126 128 127
+f 128 140 139
+f 128 139 129
+f 129 139 130
+f 130 138 131
+f 131 138 137
+f 131 137 136
+f 131 136 132
+f 132 136 133
+f 133 136 134
+f 134 136 135
+f 146 159 160
+f 146 160 147
+f 147 160 161
+f 147 161 148
+f 148 161 149
+f 149 162 163
+f 149 163 164
+f 149 164 150
+f 149 161 165
+f 149 165 162
+f 150 164 151
+f 151 164 163
+f 151 163 166
+f 151 166 167
+f 151 167 152
+f 152 167 168
+f 152 168 153
+f 153 168 169
+f 153 169 154
+f 154 169 170
+f 154 170 171
+f 154 171 155
+f 156 171 170
+f 156 170 172
+f 157 173 158
+f 158 173 174
+f 158 174 175
+f 158 175 159
+f 159 175 176
+f 159 176 177
+f 159 177 165
+f 159 165 161
+f 159 161 160
+f 162 178 179
+f 162 179 180
+f 162 180 166
+f 162 166 163
+f 162 165 181
+f 162 181 178
+f 165 177 182
+f 165 182 183
+f 165 183 181
+f 166 180 184
+f 166 184 185
+f 166 185 186
+f 166 186 167
+f 167 186 168
+f 168 186 187
+f 168 187 170
+f 168 170 169
+f 170 187 172
+f 172 187 188
+f 174 176 175
+f 174 189 176
+f 176 189 177
+f 177 189 190
+f 177 190 182
+f 178 181 191
+f 178 191 192
+f 178 192 193
+f 178 193 194
+f 178 194 179
+f 179 194 195
+f 179 195 180
+f 180 195 184
+f 181 183 196
+f 181 196 191
+f 182 196 183
+f 182 190 196
+f 184 195 197
+f 184 197 198
+f 184 198 199
+f 184 199 185
+f 185 200 186
+f 185 199 200
+f 186 200 201
+f 186 201 188
+f 186 188 187
+f 190 202 196
+f 191 196 203
+f 192 194 193
+f 196 202 203
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_25.obj

@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
+v 0.03825284 0.02407674 -0.00703489
+v 0.03806753 0.02407674 -0.00735620
+v 0.03794166 0.02494057 -0.00703489
+v 0.03545048 0.02407674 -0.00703489
+v 0.03749587 0.02407674 -0.00830354
+v 0.03750810 0.02603375 -0.00703488
+v 0.02039330 0.02407679 -0.02115731
+v 0.02039330 0.04263083 -0.00703482
+v 0.03690148 0.02407674 -0.00919126
+v 0.03553265 0.02524281 -0.01052782
+v 0.03736476 0.02469407 -0.00811473
+v 0.03715497 0.02633170 -0.00737937
+v 0.03727035 0.02658892 -0.00703488
+v 0.02039330 0.02407680 -0.02395463
+v 0.02039330 0.04597254 -0.00703481
+v 0.03682631 0.02407674 -0.00930223
+v 0.03357817 0.02548504 -0.01275210
+v 0.03438933 0.02606163 -0.01143209
+v 0.03520049 0.02663822 -0.01008892
+v 0.03570222 0.02762851 -0.00870268
+v 0.03595571 0.02601660 -0.00939662
+v 0.03576865 0.02407675 -0.01083422
+v 0.03493826 0.02407675 -0.01187597
+v 0.03389809 0.02407676 -0.01313965
+v 0.03645919 0.02827156 -0.00703488
+v 0.02152962 0.02407680 -0.02331534
+v 0.02039330 0.02576373 -0.02324247
+v 0.02109432 0.02535860 -0.02304372
+v 0.02135131 0.04534878 -0.00703481
+v 0.02121495 0.04414414 -0.00862477
+v 0.02039330 0.04502726 -0.00819250
+v 0.03157998 0.02559435 -0.01489356
+v 0.03239989 0.02623740 -0.01361662
+v 0.03321979 0.02688045 -0.01233638
+v 0.03299252 0.02407676 -0.01417974
+v 0.03372502 0.02822656 -0.01084745
+v 0.03340859 0.02931974 -0.01047149
+v 0.03481414 0.02828656 -0.00939662
+v 0.03531238 0.02902393 -0.00815943
+v 0.03596795 0.02920827 -0.00703487
+v 0.03621269 0.02828656 -0.00740587
+v 0.02257155 0.02407679 -0.02266446
+v 0.02039330 0.02662326 -0.02284497
+v 0.02052791 0.02675401 -0.02271247
+v 0.02184255 0.02608739 -0.02224874
+v 0.02349634 0.02613240 -0.02119539
+v 0.02163102 0.04516658 -0.00703481
+v 0.02260301 0.04366185 -0.00805670
+v 0.02196667 0.04290091 -0.00943466
+v 0.02039330 0.04349896 -0.00997789
+v 0.02039330 0.04433062 -0.00901729
+v 0.02181108 0.04488793 -0.00722529
+v 0.03195235 0.02407677 -0.01530596
+v 0.03095063 0.02407677 -0.01634274
+v 0.03033702 0.02626313 -0.01571337
+v 0.03118140 0.02698977 -0.01448281
+v 0.03177753 0.02822657 -0.01303861
+v 0.03281945 0.02822656 -0.01188755
+v 0.03140342 0.02943550 -0.01263448
+v 0.03218311 0.03007425 -0.01130124
+v 0.03157474 0.03175903 -0.01074475
+v 0.03296281 0.03071515 -0.00992329
+v 0.03351523 0.03157254 -0.00853704
+v 0.03380368 0.03013640 -0.00929724
+v 0.03510259 0.03070657 -0.00703487
+v 0.03545748 0.03011282 -0.00703487
+v 0.02415716 0.02415396 -0.02160117
+v 0.02307852 0.02407679 -0.02233487
+v 0.02039330 0.02703910 -0.02263960
+v 0.02109957 0.02949983 -0.02097345
+v 0.02184605 0.02809799 -0.02125502
+v 0.02307328 0.02731561 -0.02090887
+v 0.02543858 0.02771858 -0.01904896
+v 0.02453826 0.02613240 -0.02046004
+v 0.02495259 0.02492561 -0.02073664
+v 0.02188975 0.04498653 -0.00703481
+v 0.02234603 0.04466500 -0.00703482
+v 0.02373584 0.04364470 -0.00703482
+v 0.02414142 0.04297808 -0.00744887
+v 0.02352081 0.04226644 -0.00885830
+v 0.02271839 0.04164698 -0.01024455
+v 0.02039330 0.04340679 -0.01008057
+v 0.02990871 0.02407677 -0.01725696
+v 0.02949089 0.02553649 -0.01692406
+v 0.02905909 0.02693190 -0.01653319
+v 0.02975137 0.02822658 -0.01511217
+v 0.02934929 0.02946979 -0.01473289
+v 0.03079330 0.02822657 -0.01407870
+v 0.03013772 0.03014928 -0.01343443
+v 0.03092616 0.03083090 -0.01213100
+v 0.03030380 0.03247496 -0.01152813
+v 0.03107126 0.03315445 -0.01018495
+v 0.03231073 0.03236349 -0.00936017
+v 0.03304846 0.03296795 -0.00792755
+v 0.03382292 0.03277718 -0.00703486
+v 0.03394004 0.03232705 -0.00726839
+v 0.03408165 0.03235920 -0.00703486
+v 0.02519383 0.02407679 -0.02092710
+v 0.02430575 0.02407679 -0.02153161
+v 0.02415191 0.02407679 -0.02163430
+v 0.02039330 0.02819016 -0.02203674
+v 0.02248938 0.02871102 -0.02053290
+v 0.02039330 0.02988566 -0.02112417
+v 0.02039330 0.03081594 -0.02057100
+v 0.02039330 0.03088453 -0.02052959
+v 0.02293692 0.03133680 -0.01872929
+v 0.02399807 0.02821587 -0.01979094
+v 0.02682840 0.02671113 -0.01852560
+v 0.02611513 0.02606166 -0.01935370
+v 0.02492286 0.02911399 -0.01864815
+v 0.02611513 0.02834019 -0.01817449
+v 0.02727244 0.02531572 -0.01886844
+v 0.02431799 0.04317956 -0.00703482
+v 0.02490888 0.04171341 -0.00822730
+v 0.02425331 0.04098249 -0.00962016
+v 0.02133033 0.04213998 -0.01075797
+v 0.02498405 0.03967925 -0.01038367
+v 0.02359599 0.04025156 -0.01094678
+v 0.02271490 0.03953993 -0.01233302
+v 0.02202261 0.04085388 -0.01154632
+v 0.02039330 0.04245722 -0.01106933
+v 0.02988948 0.02407677 -0.01727352
+v 0.02865875 0.02407678 -0.01829540
+v 0.02816576 0.02612382 -0.01772400
+v 0.02759235 0.02822658 -0.01707146
+v 0.02720775 0.02937335 -0.01674186
+v 0.02863428 0.02822658 -0.01615061
+v 0.02802416 0.03011928 -0.01550137
+v 0.02745075 0.03178048 -0.01488691
+v 0.02883882 0.03086521 -0.01423603
+v 0.02953635 0.03179548 -0.01284813
+v 0.02901364 0.03319090 -0.01231152
+v 0.02968145 0.03406329 -0.01092527
+v 0.03165865 0.03394539 -0.00879706
+v 0.02913776 0.03545656 -0.01035885
+v 0.03040869 0.03470205 -0.00957878
+v 0.03236492 0.03453914 -0.00735119
+v 0.03283519 0.03422619 -0.00703485
+v 0.02597178 0.02407678 -0.02035240
+v 0.02353480 0.02994138 -0.01914501
+v 0.02039330 0.03228637 -0.01960873
+v 0.02154885 0.03196913 -0.01915990
+v 0.02211527 0.03256287 -0.01838315
+v 0.02322537 0.03371178 -0.01686441
+v 0.02395437 0.03235280 -0.01729668
+v 0.02526726 0.03161544 -0.01685447
+v 0.02413968 0.03051155 -0.01836494
+v 0.02601199 0.03016858 -0.01717247
+v 0.02761683 0.02407678 -0.01913509
+v 0.02713433 0.02407678 -0.01949283
+v 0.02513789 0.04251508 -0.00703482
+v 0.02580395 0.04195563 -0.00703483
+v 0.02658889 0.04127185 -0.00703483
+v 0.02634589 0.04101249 -0.00757475
+v 0.02569557 0.04031800 -0.00899577
+v 0.02132683 0.04006080 -0.01283485
+v 0.02039330 0.04134260 -0.01220052
+v 0.02039330 0.04142620 -0.01211606
+v 0.02708363 0.03968781 -0.00830845
+v 0.02640184 0.03898476 -0.00970629
+v 0.02710811 0.03761721 -0.01041680
+v 0.02572004 0.03828383 -0.01103788
+v 0.02493510 0.03753576 -0.01242412
+v 0.02426554 0.03891188 -0.01168545
+v 0.02354529 0.03814451 -0.01298060
+v 0.02263273 0.03737286 -0.01436684
+v 0.02197891 0.03872969 -0.01360168
+v 0.02665532 0.03076662 -0.01627150
+v 0.02689133 0.03317590 -0.01439336
+v 0.02823219 0.03248569 -0.01361992
+v 0.02762382 0.03404187 -0.01300545
+v 0.03113419 0.03533866 -0.00815941
+v 0.02702245 0.03543514 -0.01242082
+v 0.02774969 0.03622179 -0.01103458
+v 0.02845247 0.03689914 -0.00969470
+v 0.02915349 0.03757433 -0.00829024
+v 0.02974613 0.03618105 -0.00897261
+v 0.03199430 0.03535581 -0.00703485
+v 0.03251352 0.03466346 -0.00703485
+v 0.02039330 0.03297871 -0.01914003
+v 0.02076741 0.03336240 -0.01866636
+v 0.02461343 0.03301085 -0.01635099
+v 0.02182332 0.03444700 -0.01722048
+v 0.02106285 0.03569451 -0.01679318
+v 0.02245092 0.03510291 -0.01633773
+v 0.02342991 0.03597958 -0.01495315
+v 0.02402255 0.03451773 -0.01565041
+v 0.02550152 0.03392826 -0.01496475
+v 0.02747348 0.04043161 -0.00703483
+v 0.02124292 0.03791945 -0.01483886
+v 0.02039330 0.03913910 -0.01429894
+v 0.02039330 0.03927199 -0.01417803
+v 0.02039330 0.04036303 -0.01314456
+v 0.02783011 0.04008436 -0.00703483
+v 0.02869197 0.03920767 -0.00703484
+v 0.02843149 0.03895259 -0.00760623
+v 0.02776543 0.03829240 -0.00902891
+v 0.02637212 0.03687770 -0.01173017
+v 0.02563438 0.03614035 -0.01302698
+v 0.02481972 0.03532153 -0.01441488
+v 0.02418338 0.03675767 -0.01369774
+v 0.02184779 0.03653476 -0.01558747
+v 0.02626198 0.03468277 -0.01370934
+v 0.03043492 0.03680910 -0.00753170
+v 0.03066743 0.03701916 -0.00703484
+v 0.03124958 0.03630752 -0.00703485
+v 0.02949089 0.03835456 -0.00703484
+v 0.02988424 0.03791943 -0.00703484
+v 0.02039330 0.03393257 -0.01846761
+v 0.02039330 0.03593887 -0.01698530
+v 0.02039330 0.03650904 -0.01651826
+v 0.02039330 0.03831386 -0.01500945
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 25
+f 1 25 40
+f 1 40 66
+f 1 66 65
+f 1 65 97
+f 1 97 95
+f 1 95 138
+f 1 138 179
+f 1 179 178
+f 1 178 206
+f 1 206 205
+f 1 205 208
+f 1 208 207
+f 1 207 195
+f 1 195 194
+f 1 194 189
+f 1 189 153
+f 1 153 152
+f 1 152 151
+f 1 151 113
+f 1 113 78
+f 1 78 77
+f 1 77 76
+f 1 76 47
+f 1 47 29
+f 1 29 15
+f 1 15 8
+f 1 8 4
+f 1 4 7
+f 1 7 14
+f 1 14 26
+f 1 26 42
+f 1 42 68
+f 1 68 100
+f 1 100 99
+f 1 99 98
+f 1 98 139
+f 1 139 150
+f 1 150 149
+f 1 149 123
+f 1 123 122
+f 1 122 83
+f 1 83 54
+f 1 54 53
+f 1 53 35
+f 1 35 24
+f 1 24 23
+f 1 23 22
+f 1 22 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 8 15
+f 7 15 31
+f 7 31 51
+f 7 51 50
+f 7 50 82
+f 7 82 121
+f 7 121 158
+f 7 158 157
+f 7 157 193
+f 7 193 192
+f 7 192 191
+f 7 191 212
+f 7 212 211
+f 7 211 210
+f 7 210 209
+f 7 209 180
+f 7 180 141
+f 7 141 105
+f 7 105 104
+f 7 104 103
+f 7 103 101
+f 7 101 69
+f 7 69 43
+f 7 43 27
+f 7 27 14
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 16 22
+f 10 22 23
+f 10 23 24
+f 10 24 17
+f 11 21 12
+f 12 21 13
+f 13 21 20
+f 13 20 25
+f 14 27 28
+f 14 28 26
+f 15 29 30
+f 15 30 31
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 17 24 35
+f 17 35 32
+f 18 34 19
+f 19 34 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 25
+f 25 41 40
+f 26 28 42
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 42
+f 29 47 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 30 47 52
+f 30 52 48
+f 32 35 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 36
+f 36 58 37
+f 37 39 38
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 39
+f 39 65 66
+f 39 66 40
+f 39 64 63
+f 39 63 65
+f 42 67 68
+f 42 46 67
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 45
+f 45 72 46
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 67
+f 47 76 52
+f 48 52 76
+f 48 76 77
+f 48 77 78
+f 48 78 79
+f 48 79 80
+f 48 80 81
+f 48 81 49
+f 49 82 50
+f 49 81 82
+f 54 83 84
+f 54 84 55
+f 55 85 56
+f 55 84 85
+f 56 85 86
+f 56 86 87
+f 56 87 88
+f 56 88 57
+f 57 88 59
+f 57 59 58
+f 59 87 89
+f 59 89 90
+f 59 90 61
+f 59 61 60
+f 59 88 87
+f 61 91 92
+f 61 92 93
+f 61 93 62
+f 61 90 91
+f 62 93 63
+f 63 93 94
+f 63 94 95
+f 63 95 96
+f 63 96 65
+f 65 96 97
+f 67 75 98
+f 67 98 99
+f 67 99 100
+f 67 100 68
+f 69 101 70
+f 70 102 71
+f 70 101 103
+f 70 103 104
+f 70 104 105
+f 70 105 106
+f 70 106 102
+f 71 102 72
+f 72 102 107
+f 72 107 73
+f 73 108 109
+f 73 109 74
+f 73 107 110
+f 73 110 111
+f 73 111 108
+f 74 109 75
+f 75 109 112
+f 75 112 98
+f 78 113 79
+f 79 113 114
+f 79 114 80
+f 80 114 115
+f 80 115 81
+f 81 116 82
+f 81 115 117
+f 81 117 118
+f 81 118 119
+f 81 119 120
+f 81 120 116
+f 82 116 121
+f 83 122 84
+f 84 122 123
+f 84 123 112
+f 84 112 124
+f 84 124 125
+f 84 125 85
+f 85 125 126
+f 85 126 127
+f 85 127 86
+f 86 127 87
+f 87 126 128
+f 87 128 129
+f 87 129 130
+f 87 130 131
+f 87 131 89
+f 87 127 126
+f 89 131 90
+f 90 131 91
+f 91 131 132
+f 91 132 133
+f 91 133 92
+f 92 134 93
+f 92 133 135
+f 92 135 136
+f 92 136 134
+f 93 134 94
+f 94 134 137
+f 94 137 138
+f 94 138 95
+f 95 97 96
+f 98 112 139
+f 102 140 107
+f 102 106 140
+f 105 141 142
+f 105 142 106
+f 106 142 143
+f 106 143 144
+f 106 144 145
+f 106 145 146
+f 106 146 147
+f 106 147 140
+f 107 140 110
+f 108 111 126
+f 108 126 125
+f 108 125 124
+f 108 124 112
+f 108 112 109
+f 110 140 147
+f 110 147 146
+f 110 146 148
+f 110 148 126
+f 110 126 111
+f 112 123 149
+f 112 149 150
+f 112 150 139
+f 113 151 114
+f 114 151 152
+f 114 152 153
+f 114 153 154
+f 114 154 155
+f 114 155 117
+f 114 117 115
+f 116 120 156
+f 116 156 157
+f 116 157 158
+f 116 158 121
+f 117 159 160
+f 117 160 161
+f 117 161 162
+f 117 162 163
+f 117 163 164
+f 117 164 119
+f 117 119 118
+f 117 155 159
+f 119 156 120
+f 119 164 165
+f 119 165 166
+f 119 166 167
+f 119 167 156
+f 126 148 146
+f 126 146 168
+f 126 168 129
+f 126 129 128
+f 129 169 130
+f 129 168 169
+f 130 169 170
+f 130 170 131
+f 131 170 132
+f 132 170 169
+f 132 169 171
+f 132 171 135
+f 132 135 133
+f 134 136 172
+f 134 172 137
+f 135 172 136
+f 135 171 173
+f 135 173 174
+f 135 174 161
+f 135 161 175
+f 135 175 176
+f 135 176 177
+f 135 177 172
+f 137 172 178
+f 137 178 179
+f 137 179 138
+f 141 180 181
+f 141 181 142
+f 142 181 143
+f 143 181 144
+f 144 182 145
+f 144 181 183
+f 144 183 184
+f 144 184 185
+f 144 185 186
+f 144 186 187
+f 144 187 182
+f 145 182 146
+f 146 182 188
+f 146 188 169
+f 146 169 168
+f 153 189 159
+f 153 159 154
+f 154 159 155
+f 156 167 190
+f 156 190 191
+f 156 191 192
+f 156 192 193
+f 156 193 157
+f 159 189 194
+f 159 194 195
+f 159 195 196
+f 159 196 176
+f 159 176 197
+f 159 197 161
+f 159 161 160
+f 161 197 176
+f 161 176 175
+f 161 174 173
+f 161 173 198
+f 161 198 163
+f 161 163 162
+f 163 165 164
+f 163 198 173
+f 163 173 199
+f 163 199 200
+f 163 200 201
+f 163 201 165
+f 165 201 166
+f 166 190 167
+f 166 201 186
+f 166 186 202
+f 166 202 190
+f 169 188 203
+f 169 203 173
+f 169 173 171
+f 172 177 204
+f 172 204 205
+f 172 205 206
+f 172 206 178
+f 173 203 199
+f 176 205 204
+f 176 204 177
+f 176 196 195
+f 176 195 207
+f 176 207 208
+f 176 208 205
+f 180 209 181
+f 181 209 184
+f 181 184 183
+f 182 187 188
+f 184 210 211
+f 184 211 190
+f 184 190 202
+f 184 202 185
+f 184 209 210
+f 185 202 186
+f 186 201 200
+f 186 200 187
+f 187 200 188
+f 188 200 203
+f 190 212 191
+f 190 211 212
+f 199 203 200
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_26.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.04293122 -0.01881866 0.00788260
+v 0.04497000 -0.01881871 0.02194962
+v 0.04506443 -0.01881866 0.00788260
+v 0.03693813 -0.03948204 0.00788252
+v 0.04706843 -0.01881871 0.02194962
+v 0.04045605 -0.03948209 0.02194954
+v 0.04585569 -0.01881867 0.01039718
+v 0.04586861 -0.01891374 0.01037377
+v 0.04514893 -0.01985840 0.00788260
+v 0.03992523 -0.03948204 0.00788252
+v 0.04707837 -0.01976540 0.02194962
+v 0.04706743 -0.01881871 0.02180503
+v 0.04311710 -0.03948209 0.02194954
+v 0.04604854 -0.01881867 0.01143688
+v 0.04606842 -0.01973097 0.01120278
+v 0.04590142 -0.02030950 0.01027186
+v 0.04641236 -0.01881868 0.01348600
+v 0.04649188 -0.01990899 0.01348600
+v 0.04591335 -0.02200263 0.01021952
+v 0.04516185 -0.02135328 0.00788259
+v 0.04002364 -0.03948204 0.00815243
+v 0.04065287 -0.03824406 0.00788253
+v 0.04705849 -0.01881871 0.02080801
+v 0.04707936 -0.01990902 0.02194962
+v 0.04707837 -0.01990902 0.02180503
+v 0.04705948 -0.01990901 0.01972561
+v 0.04310716 -0.03948209 0.02182973
+v 0.04338450 -0.03900672 0.02180496
+v 0.04338848 -0.03901886 0.02194955
+v 0.04654457 -0.02200264 0.01348599
+v 0.04615390 -0.02200263 0.01140520
+v 0.04671256 -0.01881869 0.01556403
+v 0.04679208 -0.01990900 0.01556403
+v 0.04685471 -0.02200265 0.01556402
+v 0.04590341 -0.02338828 0.01026496
+v 0.04516483 -0.02200262 0.00788259
+v 0.04015088 -0.03948204 0.00850497
+v 0.04176719 -0.03778893 0.01020569
+v 0.04150576 -0.03737019 0.00881896
+v 0.04193220 -0.03603915 0.00788254
+v 0.04703264 -0.01881870 0.01972561
+v 0.04709228 -0.02200267 0.02194961
+v 0.04709129 -0.02200267 0.02180502
+v 0.04698493 -0.01990900 0.01764482
+v 0.04706942 -0.02200266 0.01972560
+v 0.04702071 -0.02200265 0.01764481
+v 0.04303062 -0.03948209 0.02117286
+v 0.04385071 -0.03780312 0.02038930
+v 0.04392824 -0.03796091 0.02180496
+v 0.04393520 -0.03797305 0.02194955
+v 0.04342824 -0.03894806 0.02194955
+v 0.04680302 -0.02409427 0.01556401
+v 0.04648592 -0.02409426 0.01348598
+v 0.04683184 -0.01881869 0.01664781
+v 0.04692529 -0.01881869 0.01764482
+v 0.04699487 -0.02409427 0.01764480
+v 0.04513104 -0.02340647 0.00788258
+v 0.04606345 -0.02409021 0.01126610
+v 0.04601076 -0.02618790 0.01181693
+v 0.04502368 -0.02558710 0.00788258
+v 0.04510718 -0.02409222 0.00788258
+v 0.04044213 -0.03948204 0.00937667
+v 0.04194513 -0.03811663 0.01140514
+v 0.04131490 -0.03916244 0.01140514
+v 0.04091430 -0.03948205 0.01079370
+v 0.04211213 -0.03666219 0.00943728
+v 0.04203260 -0.03582675 0.00788254
+v 0.04383779 -0.03360163 0.01021948
+v 0.04699685 -0.01881870 0.01872722
+v 0.04708731 -0.02409429 0.02194960
+v 0.04706445 -0.02409428 0.01972559
+v 0.04265587 -0.03948208 0.01864314
+v 0.04422347 -0.03679978 0.01970764
+v 0.04453262 -0.03664808 0.02180497
+v 0.04214195 -0.03948207 0.01556395
+v 0.04413799 -0.03632440 0.01764476
+v 0.04454157 -0.03664808 0.02194956
+v 0.04687558 -0.02618792 0.01764479
+v 0.04663502 -0.02618792 0.01556400
+v 0.04631792 -0.02618791 0.01348597
+v 0.04701475 -0.02618793 0.01972558
+v 0.04593522 -0.02754725 0.01218737
+v 0.04470360 -0.02827951 0.00788257
+v 0.04213002 -0.03881250 0.01360436
+v 0.04188250 -0.03948206 0.01410837
+v 0.04160317 -0.03948206 0.01305351
+v 0.04149880 -0.03948206 0.01268720
+v 0.04398192 -0.03394147 0.01140516
+v 0.04384474 -0.03570136 0.01429429
+v 0.04110914 -0.03948205 0.01141752
+v 0.04259722 -0.03460900 0.00788254
+v 0.04287257 -0.03397787 0.00788255
+v 0.04358331 -0.03306759 0.00883275
+v 0.04388550 -0.03167385 0.00801613
+v 0.04403759 -0.03240814 0.00944556
+v 0.04449683 -0.03246277 0.01140516
+v 0.04706545 -0.02604229 0.02194959
+v 0.04706246 -0.02618794 0.02180500
+v 0.04453759 -0.03455644 0.01556397
+v 0.04604456 -0.03196923 0.01972556
+v 0.04538651 -0.03441283 0.02194956
+v 0.04461115 -0.03647816 0.02194956
+v 0.04200079 -0.03948206 0.01476386
+v 0.04396204 -0.03594815 0.01556397
+v 0.04684974 -0.02827955 0.01972558
+v 0.04664198 -0.02827954 0.01764479
+v 0.04637558 -0.02827954 0.01556400
+v 0.04605251 -0.02825930 0.01349423
+v 0.04698194 -0.02827956 0.02194959
+v 0.04697697 -0.02827956 0.02180500
+v 0.04594317 -0.02954988 0.01419379
+v 0.04461413 -0.03037114 0.00932576
+v 0.04423640 -0.03033068 0.00788256
+v 0.04415687 -0.03463734 0.01355479
+v 0.04377615 -0.03180938 0.00788255
+v 0.04385568 -0.03160507 0.00788255
+v 0.04392228 -0.03142100 0.00788255
+v 0.04595212 -0.03165164 0.01816118
+v 0.04706346 -0.02618794 0.02194959
+v 0.04614396 -0.03231312 0.02180498
+v 0.04646802 -0.03037118 0.01972557
+v 0.04614595 -0.03234144 0.02194957
+v 0.04665590 -0.03037119 0.02180499
+v 0.04604854 -0.02995244 0.01556399
+v 0.04666385 -0.03037119 0.02194958
+v 0.04616882 -0.03052895 0.01753875
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 41
+f 1 41 69
+f 1 69 55
+f 1 55 54
+f 1 54 32
+f 1 32 17
+f 1 17 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 20
+f 1 20 36
+f 1 36 57
+f 1 57 61
+f 1 61 60
+f 1 60 83
+f 1 83 113
+f 1 113 117
+f 1 117 116
+f 1 116 115
+f 1 115 92
+f 1 92 91
+f 1 91 67
+f 1 67 40
+f 1 40 22
+f 1 22 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 29
+f 2 29 51
+f 2 51 50
+f 2 50 77
+f 2 77 102
+f 2 102 101
+f 2 101 122
+f 2 122 125
+f 2 125 109
+f 2 109 119
+f 2 119 97
+f 2 97 70
+f 2 70 42
+f 2 42 24
+f 2 24 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 10 21
+f 4 21 37
+f 4 37 62
+f 4 62 65
+f 4 65 90
+f 4 90 87
+f 4 87 86
+f 4 86 85
+f 4 85 103
+f 4 103 75
+f 4 75 72
+f 4 72 47
+f 4 47 27
+f 4 27 13
+f 4 13 6
+f 5 11 12
+f 7 14 8
+f 8 15 16
+f 8 16 9
+f 8 14 17
+f 8 17 18
+f 8 18 15
+f 9 16 19
+f 9 19 20
+f 10 22 21
+f 11 23 12
+f 11 24 25
+f 11 25 26
+f 11 26 23
+f 13 27 28
+f 13 28 29
+f 15 18 30
+f 15 30 31
+f 15 31 16
+f 16 31 19
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 30
+f 19 31 35
+f 19 35 36
+f 19 36 20
+f 21 22 38
+f 21 38 37
+f 22 39 38
+f 22 40 39
+f 23 26 41
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 44 41
+f 26 43 45
+f 26 45 46
+f 26 46 44
+f 27 47 28
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 28 47 48
+f 30 35 31
+f 30 34 52
+f 30 52 53
+f 30 53 35
+f 32 54 33
+f 33 54 55
+f 33 55 44
+f 33 44 34
+f 34 44 46
+f 34 46 56
+f 34 56 52
+f 35 57 36
+f 35 53 58
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 57
+f 37 38 62
+f 38 63 64
+f 38 64 65
+f 38 65 62
+f 38 39 40
+f 38 40 66
+f 38 66 63
+f 40 67 68
+f 40 68 66
+f 41 44 69
+f 42 70 43
+f 43 70 71
+f 43 71 45
+f 44 55 69
+f 45 71 46
+f 46 71 56
+f 47 72 48
+f 48 73 74
+f 48 74 49
+f 48 72 75
+f 48 75 76
+f 48 76 73
+f 49 74 50
+f 50 74 77
+f 52 56 78
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 53 80 59
+f 53 59 58
+f 56 71 81
+f 56 81 78
+f 59 80 82
+f 59 82 83
+f 59 83 60
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 64
+f 63 66 68
+f 63 68 88
+f 63 88 89
+f 63 89 84
+f 64 87 90
+f 64 90 65
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 88
+f 70 97 98
+f 70 98 71
+f 71 98 81
+f 73 76 99
+f 73 99 100
+f 73 100 74
+f 74 100 101
+f 74 101 102
+f 74 102 77
+f 75 103 76
+f 76 104 99
+f 76 103 104
+f 78 81 105
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 80
+f 80 107 108
+f 80 108 82
+f 81 98 109
+f 81 109 110
+f 81 110 105
+f 82 108 111
+f 82 111 112
+f 82 112 83
+f 83 112 113
+f 84 89 104
+f 84 104 85
+f 85 104 103
+f 88 96 114
+f 88 114 89
+f 89 114 99
+f 89 99 104
+f 92 115 94
+f 92 94 93
+f 94 115 116
+f 94 116 117
+f 94 117 113
+f 94 113 112
+f 94 112 95
+f 95 112 96
+f 96 118 99
+f 96 99 114
+f 96 112 111
+f 96 111 118
+f 97 119 98
+f 98 119 109
+f 99 118 100
+f 100 120 101
+f 100 118 121
+f 100 121 120
+f 101 120 122
+f 105 110 123
+f 105 123 121
+f 105 121 106
+f 106 121 124
+f 106 124 107
+f 107 124 111
+f 107 111 108
+f 109 125 110
+f 110 125 123
+f 111 124 118
+f 118 124 126
+f 118 126 121
+f 120 121 123
+f 120 123 122
+f 121 126 124
+f 122 123 125
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_27.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01762268 -0.00009775 0.03030633
+v 0.01762268 -0.00009776 0.03235435
+v 0.01775552 -0.00009775 0.03030750
+v 0.02174978 -0.01144806 0.02860849
+v 0.01762268 -0.00912027 0.02957673
+v 0.01762268 -0.00944474 0.03249697
+v 0.01775552 -0.00944474 0.03250047
+v 0.04062456 -0.00009776 0.03242665
+v 0.02817346 -0.00009775 0.03040156
+v 0.03025390 -0.00009775 0.03042489
+v 0.04062456 -0.00009775 0.03056015
+v 0.02192315 -0.01149522 0.02860849
+v 0.02174978 -0.01443230 0.02860848
+v 0.01762268 -0.01272702 0.02957671
+v 0.01762268 -0.01164048 0.03188983
+v 0.01983821 -0.01153484 0.03244138
+v 0.03233659 -0.01811452 0.03253852
+v 0.02608853 -0.01362872 0.03256730
+v 0.03025390 -0.01572071 0.03257896
+v 0.04062456 -0.00526076 0.03244840
+v 0.04062456 -0.00521171 0.03043536
+v 0.03208892 -0.01936706 0.02860846
+v 0.03206190 -0.01925954 0.02860846
+v 0.03203938 -0.01919917 0.02860846
+v 0.03170165 -0.01835596 0.02860846
+v 0.03063666 -0.01689968 0.02860847
+v 0.02995219 -0.01603195 0.02860847
+v 0.02841663 -0.01469074 0.02860848
+v 0.02837385 -0.01465867 0.02860848
+v 0.02771415 -0.01418330 0.02860848
+v 0.02436609 -0.01243463 0.02860848
+v 0.02370638 -0.01209509 0.02860849
+v 0.01796267 -0.01306846 0.02957671
+v 0.02911687 -0.01936706 0.02860846
+v 0.01762268 -0.01255159 0.03070625
+v 0.01834093 -0.01276476 0.03144282
+v 0.03023138 -0.01811452 0.03231152
+v 0.03025390 -0.01781270 0.03238965
+v 0.03247618 -0.01936706 0.02957630
+v 0.04062456 -0.01811452 0.03241336
+v 0.02909660 -0.01936706 0.02957630
+v 0.04062456 -0.00526075 0.03043497
+v 0.04062456 -0.00735463 0.03044273
+v 0.04062456 -0.01811451 0.03053831
+v 0.02911236 -0.01936706 0.02879930
+v 0.02854272 -0.01811452 0.03155513
+f 1 2 8
+f 1 8 11
+f 1 11 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 35
+f 1 35 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 34
+f 4 34 13
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 19 20
+f 8 20 40
+f 8 40 44
+f 8 44 43
+f 8 43 42
+f 8 42 21
+f 8 21 11
+f 8 18 19
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 12
+f 13 33 14
+f 13 34 33
+f 14 33 35
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 38
+f 16 38 17
+f 17 39 40
+f 17 40 19
+f 17 19 18
+f 17 38 37
+f 17 37 41
+f 17 41 39
+f 19 40 20
+f 21 42 22
+f 22 42 43
+f 22 43 44
+f 22 44 39
+f 22 39 41
+f 22 41 45
+f 22 45 34
+f 33 36 35
+f 33 34 45
+f 33 45 41
+f 33 41 36
+f 36 41 46
+f 36 46 37
+f 37 46 41
+f 39 44 40
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_28.obj

@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
+v -0.00061095 -0.04554711 -0.01823979
+v 0.00108787 -0.04554711 -0.01820144
+v -0.00061095 -0.04573191 -0.01806337
+v -0.00061095 -0.04554712 -0.01502070
+v 0.00116439 -0.04554711 -0.01819632
+v 0.00108787 -0.04659433 -0.01719659
+v -0.00061095 -0.04661171 -0.01721449
+v 0.01893314 -0.04554715 -0.00839842
+v -0.00061095 -0.05945791 0.00788108
+v 0.01893314 -0.05500213 0.00788110
+v 0.00317122 -0.04554711 -0.01802757
+v 0.00317122 -0.04650430 -0.01710966
+v 0.00108787 -0.04764154 -0.01614572
+v -0.00061095 -0.04680599 -0.01702017
+v 0.01893314 -0.04554714 -0.01215190
+v -0.00061095 -0.06168186 0.00788107
+v 0.01893314 -0.05765254 0.00788109
+v 0.00345053 -0.04554711 -0.01799177
+v 0.00525457 -0.04636846 -0.01697414
+v 0.00525457 -0.04741410 -0.01592327
+v 0.00317122 -0.04754994 -0.01605623
+v 0.00317122 -0.04855292 -0.01501815
+v 0.00108787 -0.04863506 -0.01510764
+v -0.00061095 -0.04784214 -0.01597186
+v -0.00061095 -0.04765734 -0.01616363
+v 0.01893314 -0.04562770 -0.01207519
+v 0.01816982 -0.04554713 -0.01266583
+v 0.00108787 -0.06168186 0.00788107
+v -0.00061095 -0.06163447 0.00762794
+v 0.01705832 -0.05854970 0.00788108
+v 0.01893314 -0.05757672 0.00763819
+v 0.00525457 -0.04554711 -0.01775910
+v 0.00572519 -0.04554712 -0.01767472
+v 0.00691322 -0.04621367 -0.01682073
+v 0.00688643 -0.04828600 -0.01473178
+v 0.00525457 -0.04842657 -0.01488264
+v 0.00317122 -0.04959856 -0.01384967
+v 0.00108787 -0.04968070 -0.01394427
+v -0.00061095 -0.04865085 -0.01512554
+v -0.00061095 -0.04969807 -0.01396217
+v 0.01893314 -0.04616789 -0.01151268
+v 0.01839365 -0.04581565 -0.01225162
+v 0.01739311 -0.04554713 -0.01316186
+v 0.01700284 -0.04624843 -0.01270418
+v 0.00172492 -0.06166764 0.00788107
+v 0.00108787 -0.06156181 0.00724185
+v -0.00061095 -0.06156181 0.00724185
+v 0.01680770 -0.05866342 0.00788108
+v 0.01893314 -0.05683277 0.00553133
+v 0.01893314 -0.05745984 0.00726488
+v 0.00727288 -0.04554712 -0.01736023
+v 0.00830212 -0.04603993 -0.01664942
+v 0.00827533 -0.04812330 -0.01456303
+v 0.00788889 -0.05012927 -0.01240759
+v 0.00649999 -0.05029197 -0.01256101
+v 0.00525457 -0.04947378 -0.01370904
+v 0.00525457 -0.05038674 -0.01267096
+v 0.00317122 -0.05050520 -0.01281159
+v 0.00108787 -0.05058101 -0.01290364
+v -0.00061095 -0.04986550 -0.01377040
+v 0.01893314 -0.04663384 -0.01101409
+v 0.01765520 -0.04706031 -0.01141041
+v 0.01579377 -0.04554713 -0.01408233
+v 0.01566942 -0.04661014 -0.01307748
+v 0.01566942 -0.04558346 -0.01411813
+v 0.01691866 -0.04827811 -0.01056921
+v 0.01566942 -0.04765736 -0.01197293
+v 0.00317122 -0.06161394 0.00788107
+v 0.00317122 -0.06148600 0.00724185
+v 0.00108787 -0.06097897 0.00551598
+v 0.00317122 -0.06094106 0.00561058
+v -0.00061095 -0.06097739 0.00552365
+v 0.01658961 -0.05875030 0.00788108
+v 0.01490609 -0.05872343 0.00594809
+v 0.01629500 -0.05841543 0.00666402
+v 0.01787138 -0.05710918 0.00505575
+v 0.01725345 -0.05678537 0.00355232
+v 0.01893314 -0.05487258 0.00124604
+v 0.00791185 -0.04554712 -0.01720426
+v 0.00941936 -0.04554712 -0.01678749
+v 0.00941936 -0.04586934 -0.01648578
+v 0.00941936 -0.04691813 -0.01544514
+v 0.00941936 -0.04796378 -0.01439428
+v 0.00941936 -0.04994922 -0.01220305
+v 0.00941936 -0.05085112 -0.01116241
+v 0.00725183 -0.05090008 -0.01162009
+v 0.00733792 -0.05207839 -0.01010643
+v 0.00525457 -0.05222529 -0.01032632
+v 0.00409715 -0.05232480 -0.01042348
+v 0.00331087 -0.05169774 -0.01130304
+v 0.00270825 -0.05238798 -0.01049507
+v 0.00108787 -0.05162666 -0.01160219
+v -0.00061095 -0.05164403 -0.01162009
+v -0.00061095 -0.05079109 -0.01268119
+v -0.00061095 -0.05059681 -0.01292153
+v 0.01893314 -0.04763683 -0.00988907
+v 0.01830756 -0.04787217 -0.01009363
+v 0.01566942 -0.04554713 -0.01415137
+v 0.01431112 -0.04800642 -0.01235390
+v 0.01437043 -0.04593411 -0.01446330
+v 0.01405477 -0.04554712 -0.01499257
+v 0.01566942 -0.04861928 -0.01093228
+v 0.01767050 -0.04878988 -0.00939817
+v 0.01666422 -0.05021143 -0.00832173
+v 0.01584925 -0.04975811 -0.00945186
+v 0.01415425 -0.05004873 -0.01018312
+v 0.00380828 -0.06158235 0.00788107
+v 0.00525457 -0.06086209 0.00581258
+v 0.00525457 -0.06132489 0.00724185
+v 0.00108787 -0.05909302 0.00104914
+v 0.00317122 -0.05905669 0.00113863
+v 0.00525457 -0.05898245 0.00128948
+v -0.00061095 -0.05908986 0.00105681
+v 0.01564072 -0.05907883 0.00788108
+v 0.01562733 -0.05892404 0.00731090
+v 0.01358606 -0.05954005 0.00724186
+v 0.01347702 -0.05891298 0.00521683
+v 0.01270796 -0.05867604 0.00399720
+v 0.01518732 -0.05675378 0.00157586
+v 0.01657622 -0.05641577 0.00216650
+v 0.01732232 -0.05473042 -0.00058468
+v 0.01893314 -0.05448087 0.00048921
+v 0.01132288 -0.04554712 -0.01617640
+v 0.01150271 -0.04554712 -0.01611759
+v 0.01150271 -0.04658328 -0.01510763
+v 0.01150271 -0.04763050 -0.01404142
+v 0.01150271 -0.04860348 -0.01300079
+v 0.01150271 -0.04965070 -0.01184253
+v 0.01150271 -0.05055417 -0.01080189
+v 0.00941936 -0.05189833 -0.00980728
+v 0.00733792 -0.05283025 -0.00906578
+v 0.00525457 -0.05297399 -0.00928567
+v 0.00525457 -0.05401804 -0.00769532
+v 0.00331087 -0.05293133 -0.00959761
+v 0.00317122 -0.05409069 -0.00783339
+v 0.00108787 -0.05243537 -0.01056155
+v -0.00061095 -0.05244800 -0.01057945
+v 0.01893314 -0.04825600 -0.00914504
+v 0.01893314 -0.04850083 -0.00883566
+v 0.01292222 -0.04833496 -0.01270675
+v 0.01364728 -0.04714559 -0.01358630
+v 0.01353824 -0.04919264 -0.01144621
+v 0.01298153 -0.04628318 -0.01481104
+v 0.01338136 -0.04554712 -0.01532241
+v 0.01527532 -0.05057472 -0.00879476
+v 0.01775277 -0.04990501 -0.00790496
+v 0.01893314 -0.05034570 -0.00640664
+v 0.01775277 -0.05066633 -0.00686688
+v 0.01575359 -0.05134236 -0.00737570
+v 0.01484296 -0.05244802 -0.00642966
+v 0.01351145 -0.05082270 -0.00945187
+v 0.01276535 -0.05033778 -0.01053853
+v 0.00525457 -0.06147021 0.00788107
+v 0.00671808 -0.06077679 0.00604014
+v 0.00733792 -0.05885294 0.00155284
+v 0.00736662 -0.06122380 0.00788108
+v 0.00589163 -0.06141334 0.00788107
+v 0.00738384 -0.06101689 0.00711402
+v -0.00061095 -0.05701754 -0.00302394
+v 0.00108787 -0.05701912 -0.00302138
+v 0.00317122 -0.05697963 -0.00294467
+v 0.00525457 -0.05690224 -0.00279893
+v 0.00733792 -0.05677429 -0.00256114
+v 0.01355354 -0.05973433 0.00788108
+v 0.01088478 -0.06055409 0.00788108
+v 0.01150271 -0.05944053 0.00516313
+v 0.01150271 -0.05885610 0.00357276
+v 0.01359754 -0.05700491 0.00093153
+v 0.01291074 -0.05665110 -0.00027531
+v 0.01515097 -0.05466882 -0.00253812
+v 0.01871122 -0.05435450 0.00004175
+v 0.01712910 -0.05256016 -0.00453246
+v 0.01893314 -0.05270549 -0.00272988
+v 0.01156202 -0.04554712 -0.01609458
+v 0.01080635 -0.05245591 -0.00851606
+v 0.00941936 -0.05262807 -0.00876663
+v 0.00843795 -0.05444925 -0.00629671
+v 0.00733792 -0.05387430 -0.00747542
+v 0.00733792 -0.05453455 -0.00643478
+v 0.00525457 -0.05466881 -0.00665467
+v 0.00317122 -0.05475094 -0.00679274
+v 0.00108787 -0.05479831 -0.00687968
+v -0.00061095 -0.05480147 -0.00688990
+v 0.01779486 -0.05174040 -0.00522793
+v 0.01893314 -0.05207369 -0.00374751
+v 0.01851800 -0.05218110 -0.00396484
+v 0.01623186 -0.05210843 -0.00591573
+v 0.01358606 -0.05268653 -0.00678762
+v 0.01358606 -0.05194731 -0.00782826
+v 0.01559098 -0.05284290 -0.00522793
+v 0.01416190 -0.05425183 -0.00392650
+v 0.01351528 -0.05376059 -0.00510521
+v 0.00941936 -0.06086999 0.00777113
+v 0.00889326 -0.05872342 0.00182643
+v 0.00951884 -0.05907250 0.00292588
+v 0.00895257 -0.05664004 -0.00232080
+v 0.00808976 -0.06111166 0.00788108
+v 0.01036825 -0.06068835 0.00788108
+v 0.00974650 -0.06083682 0.00788108
+v 0.01028025 -0.05852283 0.00212815
+v 0.01150271 -0.05686592 -0.00070230
+v 0.01351528 -0.05489468 -0.00320291
+v 0.01893314 -0.05242118 -0.00321057
+v 0.01150271 -0.05470513 -0.00464498
+v 0.00924527 -0.05486940 -0.00530976
+v 0.01277300 -0.05451085 -0.00432281
+v 0.00941936 -0.06089842 0.00788108
+v 0.00955519 -0.05705862 -0.00125714
+v 0.00955519 -0.05607931 -0.00307252
+v 0.01033956 -0.05646629 -0.00207278
+v 0.01150271 -0.05630044 -0.00174039
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 24
+f 1 24 39
+f 1 39 40
+f 1 40 60
+f 1 60 95
+f 1 95 94
+f 1 94 93
+f 1 93 137
+f 1 137 183
+f 1 183 159
+f 1 159 113
+f 1 113 72
+f 1 72 47
+f 1 47 29
+f 1 29 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 27
+f 1 27 43
+f 1 43 63
+f 1 63 98
+f 1 98 101
+f 1 101 144
+f 1 144 174
+f 1 174 124
+f 1 124 123
+f 1 123 80
+f 1 80 79
+f 1 79 51
+f 1 51 33
+f 1 33 32
+f 1 32 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 10 17
+f 8 17 31
+f 8 31 50
+f 8 50 49
+f 8 49 78
+f 8 78 122
+f 8 122 173
+f 8 173 203
+f 8 203 185
+f 8 185 147
+f 8 147 139
+f 8 139 138
+f 8 138 96
+f 8 96 61
+f 8 61 41
+f 8 41 26
+f 8 26 15
+f 9 16 28
+f 9 28 45
+f 9 45 68
+f 9 68 107
+f 9 107 153
+f 9 153 157
+f 9 157 156
+f 9 156 197
+f 9 197 207
+f 9 207 199
+f 9 199 198
+f 9 198 165
+f 9 165 164
+f 9 164 114
+f 9 114 73
+f 9 73 48
+f 9 48 30
+f 9 30 17
+f 9 17 10
+f 11 18 19
+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 24
+f 13 24 25
+f 13 25 14
+f 15 26 27
+f 16 29 28
+f 17 30 31
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 39 24
+f 23 38 40
+f 23 40 39
+f 26 41 42
+f 26 42 27
+f 27 42 44
+f 27 44 43
+f 28 29 46
+f 28 46 45
+f 29 47 46
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 38 59 60
+f 38 60 40
+f 41 61 42
+f 42 61 62
+f 42 62 44
+f 43 44 63
+f 44 64 65
+f 44 65 63
+f 44 62 66
+f 44 66 67
+f 44 67 64
+f 45 46 69
+f 45 69 68
+f 46 47 70
+f 46 70 71
+f 46 71 69
+f 47 72 70
+f 48 73 74
+f 48 74 75
+f 48 75 49
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 51 79 52
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 83
+f 52 83 53
+f 53 83 84
+f 53 84 54
+f 54 84 85
+f 54 85 55
+f 55 57 56
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 89
+f 55 89 57
+f 57 89 58
+f 58 89 90
+f 58 90 91
+f 58 91 92
+f 58 92 59
+f 59 92 93
+f 59 93 94
+f 59 94 95
+f 59 95 60
+f 61 96 97
+f 61 97 62
+f 62 97 66
+f 63 65 98
+f 64 67 99
+f 64 99 100
+f 64 100 65
+f 65 100 101
+f 65 101 98
+f 66 102 67
+f 66 97 103
+f 66 103 104
+f 66 104 105
+f 66 105 106
+f 66 106 102
+f 67 102 99
+f 68 69 107
+f 69 71 108
+f 69 108 109
+f 69 109 107
+f 70 72 110
+f 70 110 111
+f 70 111 71
+f 71 111 112
+f 71 112 108
+f 72 113 110
+f 73 114 115
+f 73 115 74
+f 74 77 75
+f 74 115 116
+f 74 116 117
+f 74 117 118
+f 74 118 119
+f 74 119 77
+f 75 77 76
+f 77 119 120
+f 77 120 121
+f 77 121 78
+f 78 121 122
+f 80 123 81
+f 81 123 124
+f 81 124 125
+f 81 125 82
+f 82 125 83
+f 83 125 126
+f 83 126 127
+f 83 127 84
+f 84 127 128
+f 84 128 129
+f 84 129 85
+f 85 129 130
+f 85 130 87
+f 85 87 86
+f 87 130 131
+f 87 131 88
+f 88 131 89
+f 89 131 132
+f 89 132 133
+f 89 133 134
+f 89 134 91
+f 89 91 90
+f 91 134 135
+f 91 135 136
+f 91 136 92
+f 92 136 93
+f 93 136 137
+f 96 138 97
+f 97 138 139
+f 97 139 103
+f 99 140 141
+f 99 141 100
+f 99 102 106
+f 99 106 142
+f 99 142 140
+f 100 143 101
+f 100 141 143
+f 101 143 144
+f 103 139 104
+f 104 145 105
+f 104 139 146
+f 104 146 147
+f 104 147 148
+f 104 148 149
+f 104 149 145
+f 105 145 106
+f 106 145 150
+f 106 150 151
+f 106 151 152
+f 106 152 142
+f 107 109 153
+f 108 154 109
+f 108 112 155
+f 108 155 154
+f 109 156 157
+f 109 157 153
+f 109 154 158
+f 109 158 156
+f 110 113 159
+f 110 159 160
+f 110 160 161
+f 110 161 111
+f 111 161 112
+f 112 161 162
+f 112 162 163
+f 112 163 155
+f 114 164 115
+f 115 164 116
+f 116 164 165
+f 116 165 117
+f 117 165 166
+f 117 166 167
+f 117 167 118
+f 118 167 168
+f 118 168 119
+f 119 168 169
+f 119 169 170
+f 119 170 121
+f 119 121 120
+f 121 171 122
+f 121 170 172
+f 121 172 173
+f 121 173 171
+f 122 171 173
+f 124 174 125
+f 125 143 126
+f 125 174 143
+f 126 143 140
+f 126 140 127
+f 127 140 128
+f 128 140 152
+f 128 152 129
+f 129 152 175
+f 129 175 130
+f 130 175 176
+f 130 176 131
+f 131 176 177
+f 131 177 178
+f 131 178 133
+f 131 133 132
+f 133 178 179
+f 133 179 180
+f 133 180 181
+f 133 181 135
+f 133 135 134
+f 135 181 182
+f 135 182 136
+f 136 182 137
+f 137 182 183
+f 139 147 146
+f 140 142 152
+f 140 143 141
+f 143 174 144
+f 145 149 150
+f 147 172 184
+f 147 184 148
+f 147 185 186
+f 147 186 172
+f 148 184 172
+f 148 172 187
+f 148 187 149
+f 149 187 150
+f 150 188 189
+f 150 189 151
+f 150 187 172
+f 150 172 190
+f 150 190 170
+f 150 170 191
+f 150 191 192
+f 150 192 188
+f 151 189 188
+f 151 188 152
+f 152 188 175
+f 154 193 158
+f 154 155 194
+f 154 194 195
+f 154 195 193
+f 155 163 196
+f 155 196 194
+f 156 158 197
+f 158 193 197
+f 159 183 160
+f 160 183 182
+f 160 182 161
+f 161 182 181
+f 161 181 162
+f 162 181 180
+f 162 180 179
+f 162 179 163
+f 163 179 177
+f 163 177 196
+f 165 198 166
+f 166 198 199
+f 166 199 195
+f 166 195 167
+f 167 195 200
+f 167 200 201
+f 167 201 169
+f 167 169 168
+f 169 201 202
+f 169 202 170
+f 170 202 191
+f 170 190 172
+f 172 186 203
+f 172 203 173
+f 175 188 204
+f 175 204 205
+f 175 205 177
+f 175 177 176
+f 177 179 178
+f 177 205 196
+f 185 203 186
+f 188 192 206
+f 188 206 204
+f 191 202 206
+f 191 206 192
+f 193 199 207
+f 193 207 197
+f 193 195 199
+f 194 200 195
+f 194 196 208
+f 194 208 201
+f 194 201 200
+f 196 209 210
+f 196 210 208
+f 196 205 209
+f 201 208 210
+f 201 210 211
+f 201 211 206
+f 201 206 202
+f 204 206 210
+f 204 210 205
+f 205 210 209
+f 206 211 210
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_29.obj

@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
+v -0.02081728 -0.04544712 -0.01253992
+v -0.02061158 -0.04544712 -0.01267083
+v -0.02048894 -0.04588420 -0.01232945
+v -0.02081728 -0.04551865 -0.01247062
+v -0.02081728 -0.04544714 -0.00865900
+v -0.02012106 -0.04544712 -0.01297884
+v -0.01973141 -0.04710325 -0.01147215
+v -0.02081728 -0.04673770 -0.01114361
+v -0.02081728 -0.04581428 -0.01217031
+v -0.01956526 -0.04544712 -0.01330995
+v -0.01910045 -0.04629426 -0.01274783
+v -0.00061095 -0.04544711 -0.01511950
+v -0.02081728 -0.05456063 0.00788110
+v -0.01897387 -0.04831435 -0.01061744
+v -0.02081728 -0.04734484 -0.01045316
+v -0.01785833 -0.04544712 -0.01426478
+v -0.01766449 -0.04564420 -0.01417751
+v -0.01766449 -0.04667570 -0.01313797
+v -0.01766449 -0.04772152 -0.01204455
+v -0.00061095 -0.04544710 -0.01833051
+v -0.00061095 -0.05945905 0.00788108
+v -0.02081728 -0.05717037 0.00788109
+v -0.01766449 -0.04864494 -0.01100502
+v -0.01612370 -0.05004835 -0.01015286
+v -0.01783855 -0.04977499 -0.00943417
+v -0.01864949 -0.05020570 -0.00831763
+v -0.01969976 -0.04881660 -0.00941363
+v -0.02036434 -0.04791065 -0.01011949
+v -0.02081728 -0.04773741 -0.00997832
+v -0.01766449 -0.04544712 -0.01436745
+v -0.01643028 -0.04597002 -0.01449835
+v -0.01637885 -0.04804574 -0.01240133
+v -0.00061095 -0.04553134 -0.01825607
+v -0.00099862 -0.04544710 -0.01834077
+v -0.00061095 -0.06168099 0.00788107
+v -0.02081728 -0.05715130 0.00781179
+v -0.02076387 -0.05719580 0.00788109
+v -0.01555802 -0.04919963 -0.01146703
+v -0.01473521 -0.05032807 -0.01053530
+v -0.01548879 -0.05077946 -0.00943418
+v -0.01671905 -0.05238791 -0.00634124
+v -0.01726100 -0.05053788 -0.00876682
+v -0.01768427 -0.05131031 -0.00732944
+v -0.01810952 -0.05208117 -0.00585100
+v -0.01974723 -0.05063483 -0.00685203
+v -0.02081728 -0.05035512 -0.00642850
+v -0.01974723 -0.04991167 -0.00789155
+v -0.02081728 -0.04855276 -0.00892595
+v -0.01690102 -0.04544712 -0.01476016
+v -0.01600107 -0.04544711 -0.01519907
+v -0.01504178 -0.04630061 -0.01482946
+v -0.01499036 -0.04835089 -0.01272474
+v -0.00099862 -0.04553611 -0.01825864
+v -0.00061095 -0.04661212 -0.01721397
+v -0.00099862 -0.04661530 -0.01721910
+v -0.00117070 -0.04544710 -0.01833564
+v -0.00099862 -0.06168258 0.00788107
+v -0.00061095 -0.06163490 0.00762953
+v -0.01719573 -0.05885192 0.00788108
+v -0.02081728 -0.05664904 0.00612030
+v -0.01349703 -0.05051562 -0.01078429
+v -0.01261884 -0.05238949 -0.00842288
+v -0.01400734 -0.05216539 -0.00813027
+v -0.01557977 -0.05259612 -0.00667492
+v -0.01557977 -0.05189997 -0.00771702
+v -0.01349703 -0.04966531 -0.01182381
+v -0.01538198 -0.05365623 -0.00503735
+v -0.01594569 -0.05419821 -0.00378221
+v -0.01751417 -0.05274393 -0.00519134
+v -0.01904111 -0.05250871 -0.00446495
+v -0.01973932 -0.05170131 -0.00519134
+v -0.02081728 -0.05044412 -0.00628734
+v -0.02081728 -0.04887223 -0.00848960
+v -0.01550264 -0.04544711 -0.01543008
+v -0.01359791 -0.04544711 -0.01621807
+v -0.01349703 -0.04544711 -0.01625914
+v -0.01349703 -0.04553930 -0.01617187
+v -0.01349703 -0.04660735 -0.01513234
+v -0.01349703 -0.04765316 -0.01406458
+v -0.01349703 -0.04861950 -0.01302505
+v -0.00308136 -0.04550273 -0.01822270
+v -0.00061095 -0.04765792 -0.01616418
+v -0.00099862 -0.04766110 -0.01616931
+v -0.00308136 -0.04657715 -0.01718317
+v -0.00308136 -0.04544710 -0.01827404
+v -0.00308136 -0.06161423 0.00788107
+v -0.00099862 -0.06156178 0.00724195
+v -0.00061095 -0.06156178 0.00724195
+v -0.01710079 -0.05882013 0.00762954
+v -0.01576965 -0.05913800 0.00705972
+v -0.01570043 -0.05936369 0.00788108
+v -0.02081728 -0.05660772 0.00598426
+v -0.01141430 -0.05079535 -0.01114876
+v -0.01141430 -0.05184115 -0.00968828
+v -0.01141430 -0.04995776 -0.01218829
+v -0.01141430 -0.05253731 -0.00864875
+v -0.01141430 -0.05483713 -0.00489361
+v -0.01349703 -0.05395980 -0.00548653
+v -0.01338627 -0.05282657 -0.00738848
+v -0.01455522 -0.05444296 -0.00420829
+v -0.01538198 -0.05476085 -0.00311742
+v -0.01699002 -0.05459238 -0.00239360
+v -0.01837852 -0.05425225 -0.00184175
+v -0.01915583 -0.05464643 -0.00045570
+v -0.01973932 -0.05288222 -0.00318158
+v -0.02081728 -0.05264540 -0.00267336
+v -0.02042961 -0.05215905 -0.00389000
+v -0.02081728 -0.05170449 -0.00426731
+v -0.01207887 -0.04544711 -0.01671602
+v -0.01141430 -0.04589373 -0.01650811
+v -0.01141430 -0.04693317 -0.01546858
+v -0.01141430 -0.04798057 -0.01441109
+v -0.01141430 -0.04891035 -0.01336899
+v -0.00516410 -0.04544710 -0.01812773
+v -0.00454304 -0.04544710 -0.01817137
+v -0.00516410 -0.04650563 -0.01711130
+v -0.00061095 -0.04784229 -0.01597167
+v -0.00099862 -0.04865604 -0.01512978
+v -0.00308136 -0.04862584 -0.01509385
+v -0.00308136 -0.04762295 -0.01613337
+v -0.00516410 -0.06148232 0.00788107
+v -0.00308136 -0.06148709 0.00724195
+v -0.00308136 -0.06094033 0.00562234
+v -0.00099862 -0.06097689 0.00552480
+v -0.00061095 -0.06097689 0.00552224
+v -0.01972349 -0.05688268 0.00527070
+v -0.01658851 -0.05858012 0.00624093
+v -0.01520002 -0.05885508 0.00560180
+v -0.01086444 -0.06070194 0.00788108
+v -0.01494289 -0.05957349 0.00788108
+v -0.02081728 -0.05616906 0.00484976
+v -0.02040192 -0.05631528 0.00464955
+v -0.00933156 -0.05202870 -0.01001169
+v -0.00987153 -0.05013416 -0.01240903
+v -0.00923860 -0.05085575 -0.01161848
+v -0.00933156 -0.05274869 -0.00897216
+v -0.01028689 -0.04813156 -0.01457023
+v -0.00864918 -0.05449383 -0.00636949
+v -0.00933947 -0.05494679 -0.00538899
+v -0.01049061 -0.05655683 -0.00217030
+v -0.01349703 -0.05458124 -0.00444956
+v -0.01349703 -0.05671101 -0.00040438
+v -0.01464224 -0.05656161 -0.00010150
+v -0.01543341 -0.05588295 -0.00090746
+v -0.01767636 -0.05494364 -0.00112049
+v -0.01603074 -0.05631367 0.00036052
+v -0.01694058 -0.05666493 0.00174656
+v -0.02081728 -0.05473226 0.00142573
+v -0.02054433 -0.05427133 0.00020909
+v -0.02081728 -0.05292672 -0.00213948
+v -0.01901343 -0.05667606 0.00379226
+v -0.02081728 -0.05205098 -0.00369749
+v -0.01141430 -0.04544711 -0.01692136
+v -0.01088224 -0.04544711 -0.01707537
+v -0.01034227 -0.04605743 -0.01666469
+v -0.00724882 -0.04544710 -0.01784796
+v -0.00724882 -0.04636577 -0.01697270
+v -0.00516410 -0.04755144 -0.01606150
+v -0.00061095 -0.04865127 -0.01512465
+v -0.00099862 -0.04970186 -0.01396704
+v -0.00308136 -0.04967325 -0.01393624
+v -0.00516410 -0.04855750 -0.01501941
+v -0.00730420 -0.06125663 0.00788107
+v -0.00516410 -0.06133768 0.00724195
+v -0.00516410 -0.06086404 0.00581741
+v -0.00516410 -0.05897903 0.00128967
+v -0.00308136 -0.05905215 0.00114080
+v -0.00099862 -0.05908870 0.00105866
+v -0.00061095 -0.05908870 0.00105609
+v -0.01766449 -0.05774253 0.00516290
+v -0.01764669 -0.05695737 0.00309153
+v -0.01557977 -0.05766941 0.00308127
+v -0.01439698 -0.05851973 0.00421320
+v -0.01361967 -0.05908713 0.00500889
+v -0.01025524 -0.06084021 0.00788108
+v -0.02081728 -0.05591953 0.00421064
+v -0.00588011 -0.05227823 -0.01038901
+v -0.00724882 -0.05290445 -0.00921600
+v -0.00848303 -0.05028674 -0.01255533
+v -0.00889840 -0.04827938 -0.01472423
+v -0.00962033 -0.04716999 -0.01569445
+v -0.00724882 -0.05394866 -0.00756046
+v -0.00724882 -0.05458442 -0.00652093
+v -0.00724882 -0.05680001 -0.00261948
+v -0.00933156 -0.05607843 -0.00338694
+v -0.01127584 -0.05689379 -0.00112563
+v -0.00933156 -0.05665219 -0.00234484
+v -0.00897158 -0.05873587 0.00180045
+v -0.01036007 -0.05861349 0.00204686
+v -0.01300849 -0.05875971 0.00379995
+v -0.01543341 -0.05684452 0.00103300
+v -0.02081728 -0.05497225 0.00196218
+v -0.02081728 -0.05398843 -0.00005786
+v -0.00984977 -0.04544711 -0.01733717
+v -0.00935134 -0.04544711 -0.01744241
+v -0.00895180 -0.04620683 -0.01681612
+v -0.00724882 -0.04741316 -0.01591776
+v -0.00724882 -0.04842083 -0.01487567
+v -0.00061095 -0.04969709 -0.01396191
+v -0.00061095 -0.04986397 -0.01376940
+v -0.00061095 -0.05059667 -0.01292239
+v -0.00099862 -0.05059985 -0.01292752
+v -0.00308136 -0.05057442 -0.01289672
+v -0.00516410 -0.04960332 -0.01385411
+v -0.00933156 -0.06099120 0.00788108
+v -0.00733387 -0.06103888 0.00708282
+v -0.00669698 -0.06077822 0.00604072
+v -0.00724882 -0.05885984 0.00153864
+v -0.00516410 -0.05691285 -0.00282739
+v -0.00308136 -0.05698278 -0.00295829
+v -0.00099862 -0.05701775 -0.00302503
+v -0.00061095 -0.05701775 -0.00302503
+v -0.01141430 -0.05894567 0.00336617
+v -0.01141430 -0.05960368 0.00516289
+v -0.00933156 -0.06092127 0.00762184
+v -0.00449161 -0.05238154 -0.01048654
+v -0.00724882 -0.05037575 -0.01266058
+v -0.00517795 -0.05289967 -0.00957535
+v -0.00516410 -0.05405515 -0.00775297
+v -0.00724882 -0.04946822 -0.01370267
+v -0.00516410 -0.05469726 -0.00671343
+v -0.00953330 -0.05910778 0.00287848
+v -0.00061095 -0.05079057 -0.01268111
+v -0.00099862 -0.05164725 -0.01162361
+v -0.00516410 -0.05050448 -0.01281458
+v -0.00308136 -0.05162023 -0.01157998
+v -0.00308136 -0.05476719 -0.00683407
+v -0.00099862 -0.05480374 -0.00689311
+v -0.00061095 -0.05480215 -0.00689054
+v -0.00308136 -0.05241968 -0.01054044
+v -0.00061095 -0.05164407 -0.01161848
+v -0.00061095 -0.05179347 -0.01142597
+v -0.00099862 -0.05245147 -0.01058408
+v -0.00061095 -0.05244829 -0.01057895
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 15
+f 1 15 29
+f 1 29 48
+f 1 48 73
+f 1 73 46
+f 1 46 72
+f 1 72 108
+f 1 108 152
+f 1 152 106
+f 1 106 150
+f 1 150 193
+f 1 193 148
+f 1 148 192
+f 1 192 176
+f 1 176 131
+f 1 131 92
+f 1 92 60
+f 1 60 36
+f 1 36 22
+f 1 22 13
+f 1 13 5
+f 1 5 12
+f 1 12 20
+f 1 20 34
+f 1 34 56
+f 1 56 85
+f 1 85 115
+f 1 115 114
+f 1 114 156
+f 1 156 195
+f 1 195 194
+f 1 194 154
+f 1 154 153
+f 1 153 109
+f 1 109 76
+f 1 76 75
+f 1 75 74
+f 1 74 50
+f 1 50 49
+f 1 49 30
+f 1 30 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 5 13 12
+f 7 11 14
+f 7 14 8
+f 8 14 15
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 14
+f 11 16 17
+f 12 13 21
+f 12 21 35
+f 12 35 58
+f 12 58 88
+f 12 88 125
+f 12 125 169
+f 12 169 212
+f 12 212 229
+f 12 229 234
+f 12 234 232
+f 12 232 231
+f 12 231 223
+f 12 223 201
+f 12 201 200
+f 12 200 199
+f 12 199 159
+f 12 159 117
+f 12 117 82
+f 12 82 54
+f 12 54 33
+f 12 33 20
+f 13 22 37
+f 13 37 59
+f 13 59 91
+f 13 91 130
+f 13 130 129
+f 13 129 175
+f 13 175 205
+f 13 205 163
+f 13 163 121
+f 13 121 86
+f 13 86 57
+f 13 57 35
+f 13 35 21
+f 14 19 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 23
+f 20 33 34
+f 22 36 37
+f 23 32 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 28
+f 28 48 29
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 52 38
+f 32 51 52
+f 33 53 34
+f 33 54 55
+f 33 55 53
+f 34 53 56
+f 35 57 58
+f 36 59 37
+f 36 60 59
+f 38 52 39
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 65
+f 39 65 40
+f 39 52 66
+f 39 66 61
+f 40 65 41
+f 41 67 68
+f 41 68 69
+f 41 69 44
+f 41 44 43
+f 41 43 42
+f 41 65 64
+f 41 64 67
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 46
+f 46 71 72
+f 46 73 47
+f 47 73 48
+f 50 74 51
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 66
+f 53 81 56
+f 53 55 81
+f 54 82 83
+f 54 83 55
+f 55 83 120
+f 55 120 84
+f 55 84 81
+f 56 81 85
+f 57 86 87
+f 57 87 88
+f 57 88 58
+f 59 89 90
+f 59 90 91
+f 59 60 89
+f 60 92 89
+f 61 93 94
+f 61 94 62
+f 61 66 95
+f 61 95 93
+f 62 94 96
+f 62 96 97
+f 62 97 98
+f 62 98 99
+f 62 99 63
+f 63 99 64
+f 64 99 100
+f 64 100 67
+f 66 80 95
+f 67 100 68
+f 68 100 101
+f 68 101 102
+f 68 102 69
+f 69 102 70
+f 70 102 103
+f 70 103 104
+f 70 104 105
+f 70 105 106
+f 70 106 107
+f 70 107 71
+f 71 107 72
+f 72 107 108
+f 76 109 110
+f 76 110 77
+f 77 110 78
+f 78 111 112
+f 78 112 79
+f 78 110 111
+f 79 112 80
+f 80 112 113
+f 80 113 95
+f 81 114 115
+f 81 115 85
+f 81 84 116
+f 81 116 114
+f 82 117 83
+f 83 117 118
+f 83 118 119
+f 83 119 120
+f 84 120 158
+f 84 158 116
+f 86 121 122
+f 86 122 87
+f 87 122 123
+f 87 123 124
+f 87 124 125
+f 87 125 88
+f 89 92 126
+f 89 126 127
+f 89 127 90
+f 90 127 128
+f 90 128 129
+f 90 129 130
+f 90 130 91
+f 92 131 132
+f 92 132 126
+f 93 133 94
+f 93 95 134
+f 93 134 135
+f 93 135 133
+f 94 133 136
+f 94 136 96
+f 95 113 137
+f 95 137 134
+f 96 136 138
+f 96 138 97
+f 97 138 139
+f 97 139 140
+f 97 140 141
+f 97 141 98
+f 98 141 100
+f 98 100 99
+f 100 141 140
+f 100 140 142
+f 100 142 143
+f 100 143 101
+f 101 143 144
+f 101 144 102
+f 102 145 104
+f 102 104 103
+f 102 144 146
+f 102 146 147
+f 102 147 145
+f 104 148 149
+f 104 149 150
+f 104 150 106
+f 104 106 105
+f 104 145 147
+f 104 147 151
+f 104 151 148
+f 106 152 107
+f 107 152 108
+f 109 153 110
+f 110 153 154
+f 110 154 155
+f 110 155 111
+f 111 155 112
+f 112 155 137
+f 112 137 113
+f 114 116 157
+f 114 157 156
+f 116 158 157
+f 117 159 118
+f 118 159 199
+f 118 199 160
+f 118 160 161
+f 118 161 119
+f 119 162 120
+f 119 161 162
+f 120 162 158
+f 121 163 164
+f 121 164 122
+f 122 164 165
+f 122 165 123
+f 123 165 166
+f 123 166 167
+f 123 167 124
+f 124 167 168
+f 124 168 169
+f 124 169 125
+f 126 132 151
+f 126 151 170
+f 126 170 127
+f 127 170 171
+f 127 171 128
+f 128 171 147
+f 128 147 172
+f 128 172 173
+f 128 173 174
+f 128 174 129
+f 129 174 175
+f 131 176 132
+f 132 176 151
+f 133 177 178
+f 133 178 136
+f 133 135 179
+f 133 179 177
+f 134 179 135
+f 134 137 180
+f 134 180 179
+f 136 178 138
+f 137 155 181
+f 137 181 180
+f 138 182 183
+f 138 183 184
+f 138 184 185
+f 138 185 139
+f 138 178 182
+f 139 185 140
+f 140 186 142
+f 140 185 187
+f 140 187 188
+f 140 188 189
+f 140 189 186
+f 142 189 190
+f 142 190 143
+f 142 186 189
+f 143 191 146
+f 143 146 144
+f 143 190 191
+f 146 191 147
+f 147 191 172
+f 147 171 151
+f 148 193 149
+f 148 151 192
+f 149 193 150
+f 151 171 170
+f 151 176 192
+f 154 194 155
+f 155 194 195
+f 155 195 196
+f 155 196 181
+f 156 157 196
+f 156 196 195
+f 157 158 197
+f 157 197 196
+f 158 162 198
+f 158 198 197
+f 160 199 200
+f 160 200 201
+f 160 201 202
+f 160 202 203
+f 160 203 161
+f 161 203 225
+f 161 225 204
+f 161 204 162
+f 162 204 198
+f 163 205 206
+f 163 206 164
+f 164 206 207
+f 164 207 165
+f 165 207 208
+f 165 208 166
+f 166 208 184
+f 166 184 209
+f 166 209 167
+f 167 209 210
+f 167 210 168
+f 168 210 211
+f 168 211 169
+f 169 211 212
+f 172 191 173
+f 173 190 174
+f 173 191 190
+f 174 190 213
+f 174 213 214
+f 174 214 175
+f 175 215 205
+f 175 214 213
+f 175 213 215
+f 177 216 178
+f 177 179 217
+f 177 217 216
+f 178 216 218
+f 178 218 219
+f 178 219 182
+f 179 180 198
+f 179 198 220
+f 179 220 217
+f 180 181 196
+f 180 196 197
+f 180 197 198
+f 182 219 221
+f 182 221 183
+f 183 221 209
+f 183 209 184
+f 184 208 187
+f 184 187 185
+f 187 208 188
+f 188 208 222
+f 188 222 189
+f 189 222 213
+f 189 213 190
+f 198 204 220
+f 201 223 202
+f 202 223 224
+f 202 224 203
+f 203 224 226
+f 203 226 225
+f 204 225 217
+f 204 217 220
+f 205 215 206
+f 206 215 207
+f 207 215 222
+f 207 222 208
+f 209 221 210
+f 210 221 227
+f 210 227 211
+f 211 227 228
+f 211 228 212
+f 212 228 229
+f 213 222 215
+f 216 230 227
+f 216 227 219
+f 216 219 218
+f 216 217 225
+f 216 225 226
+f 216 226 230
+f 219 227 221
+f 223 231 224
+f 224 231 232
+f 224 232 233
+f 224 233 226
+f 226 233 230
+f 227 230 228
+f 228 230 233
+f 228 233 229
+f 229 233 234
+f 232 234 233
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_3.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04545597 0.01436923 0.00829581
+v -0.04521685 0.01359482 0.00829581
+v -0.04316131 0.01436923 0.00829581
+v -0.04524098 0.01436923 0.00724347
+v -0.04459383 0.01357501 0.00516420
+v -0.04437884 0.01148253 0.00724346
+v -0.04454556 0.01148253 0.00829580
+v -0.03717020 0.00256758 0.00829577
+v -0.02966978 0.01436932 -0.01767210
+v -0.04482636 0.01436924 0.00523538
+v -0.04405636 0.01353538 0.00304936
+v -0.04382602 0.01220599 0.00371786
+v -0.04396422 0.01149811 0.00531925
+v -0.04384795 0.01015739 0.00724346
+v -0.04421211 0.01060477 0.00829580
+v -0.04372730 0.01039524 0.00611740
+v -0.03689159 0.00169690 0.00829577
+v -0.02304468 0.00102026 -0.01767215
+v -0.02321579 0.00141950 -0.01767214
+v -0.03280903 0.01436932 -0.01767210
+v -0.04426476 0.01436925 0.00306206
+v -0.04383040 0.01420785 0.00168182
+v -0.04198108 0.01149813 -0.00105072
+v -0.04173318 0.01020839 -0.00033899
+v -0.04189552 0.00946229 0.00120647
+v -0.03910508 -0.00009260 0.00724850
+v -0.04394886 0.00995069 0.00829580
+v -0.04162569 0.00833818 0.00203512
+v -0.03796433 -0.00009258 0.00289933
+v -0.03859394 -0.00009259 0.00516415
+v -0.03671390 0.00102017 0.00829576
+v -0.02307758 0.00032372 -0.01767215
+v -0.03262256 0.01341511 -0.01767210
+v -0.03346057 0.01399839 -0.01688157
+v -0.03349129 0.01436932 -0.01691970
+v -0.04384576 0.01436925 0.00161065
+v -0.04189772 0.01376758 -0.00310201
+v -0.04174196 0.01220601 -0.00237250
+v -0.04143045 0.01081009 -0.00172432
+v -0.03630147 -0.00009256 -0.00197092
+v -0.03667660 -0.00009257 -0.00101771
+v -0.03918844 -0.00009260 0.00829576
+v -0.03677313 0.00046945 0.00829576
+v -0.02309733 -0.00009251 -0.01767215
+v -0.03249971 0.01301445 -0.01767210
+v -0.03325436 0.01260247 -0.01665026
+v -0.03410553 0.01341086 -0.01582923
+v -0.03533403 0.01436931 -0.01454558
+v -0.04202715 0.01436927 -0.00311980
+v -0.04170466 0.01436927 -0.00391033
+v -0.04159278 0.01436928 -0.00414164
+v -0.03968203 0.01211966 -0.00654882
+v -0.04003742 0.01144577 -0.00531600
+v -0.03976978 0.00995074 -0.00467799
+v -0.04010543 0.00930798 -0.00322912
+v -0.03574207 -0.00009256 -0.00313765
+v -0.03683455 -0.00009260 0.00829576
+v -0.03682578 -0.00001474 0.00829576
+v -0.02639233 -0.00009251 -0.01767215
+v -0.03203464 0.01152226 -0.01767211
+v -0.03306131 0.01148262 -0.01639100
+v -0.03385764 0.01148262 -0.01535137
+v -0.03522215 0.01357508 -0.01439561
+v -0.03595705 0.01357508 -0.01335598
+v -0.03699908 0.01357507 -0.01184864
+v -0.03779761 0.01436930 -0.01093610
+v -0.04144361 0.01436928 -0.00443904
+v -0.03990799 0.01357506 -0.00697076
+v -0.03752997 0.01232213 -0.01054465
+v -0.03791168 0.01156753 -0.00942369
+v -0.03768134 0.00996774 -0.00874755
+v -0.03938149 0.01072515 -0.00606332
+v -0.03369311 -0.00009254 -0.00730380
+v -0.03113959 0.00938873 -0.01767212
+v -0.02811223 -0.00009251 -0.01567168
+v -0.03184598 0.01106072 -0.01767211
+v -0.03354832 0.00992529 -0.01493704
+v -0.03158931 0.00938873 -0.01713832
+v -0.03489748 0.01148261 -0.01393299
+v -0.03563677 0.01148261 -0.01289336
+v -0.03770766 0.01357507 -0.01080901
+v -0.03943414 0.01436929 -0.00822137
+v -0.03932226 0.01357506 -0.00801293
+v -0.03542398 0.01033302 -0.01258834
+v -0.03726672 0.01092621 -0.01013542
+v -0.03581227 0.00953736 -0.01142161
+v -0.03256991 -0.00009254 -0.00925596
+v -0.02969392 -0.00009252 -0.01360513
+v -0.03030378 -0.00009252 -0.01269768
+v -0.03150595 -0.00009253 -0.01089040
+f 1 2 7
+f 1 7 15
+f 1 15 27
+f 1 27 42
+f 1 42 57
+f 1 57 58
+f 1 58 43
+f 1 43 31
+f 1 31 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 35
+f 1 35 48
+f 1 48 66
+f 1 66 82
+f 1 82 67
+f 1 67 51
+f 1 51 50
+f 1 50 49
+f 1 49 36
+f 1 36 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 16
+f 6 16 14
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 18
+f 9 18 32
+f 9 32 44
+f 9 44 59
+f 9 59 74
+f 9 74 76
+f 9 76 60
+f 9 60 45
+f 9 45 33
+f 9 33 20
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 16 13
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 16
+f 14 26 27
+f 14 27 15
+f 14 16 26
+f 16 28 29
+f 16 29 30
+f 16 30 26
+f 16 25 28
+f 17 31 18
+f 18 31 32
+f 20 33 34
+f 20 34 35
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 29
+f 25 29 28
+f 26 42 27
+f 26 30 29
+f 26 29 41
+f 26 41 40
+f 26 40 56
+f 26 56 73
+f 26 73 87
+f 26 87 90
+f 26 90 89
+f 26 89 88
+f 26 88 75
+f 26 75 59
+f 26 59 44
+f 26 44 57
+f 26 57 42
+f 31 43 44
+f 31 44 32
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 49 37
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 40
+f 40 55 54
+f 40 54 56
+f 43 58 44
+f 44 58 57
+f 45 60 46
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 46 60 61
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 51 67 52
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 52 67 68
+f 53 72 54
+f 54 72 71
+f 54 71 73
+f 54 73 56
+f 59 75 74
+f 60 76 61
+f 61 77 62
+f 61 76 78
+f 61 78 77
+f 62 77 79
+f 62 79 63
+f 63 79 80
+f 63 80 64
+f 64 80 69
+f 64 69 65
+f 65 69 81
+f 65 81 66
+f 66 81 82
+f 67 82 68
+f 68 82 83
+f 68 83 69
+f 69 80 84
+f 69 84 85
+f 69 85 70
+f 69 83 82
+f 69 82 81
+f 70 85 71
+f 71 85 86
+f 71 86 87
+f 71 87 73
+f 74 75 78
+f 74 78 76
+f 75 88 77
+f 75 77 78
+f 77 88 84
+f 77 84 79
+f 79 84 80
+f 84 89 90
+f 84 90 86
+f 84 86 85
+f 84 88 89
+f 86 90 87
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_30.obj

@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.00170075 0.06091426 0.00829598
+v -0.00170075 0.06078983 0.00791843
+v -0.00170075 0.05849413 0.00829597
+v -0.00099571 0.06090139 0.00829598
+v -0.00099571 0.06078339 0.00793721
+v -0.00099571 0.05893398 0.00331266
+v -0.00170075 0.05894042 0.00330139
+v -0.00170075 0.04701787 -0.01089352
+v 0.02039330 0.03899795 -0.01089355
+v 0.02039330 0.05211767 0.00829595
+v 0.00108696 0.06079626 0.00829598
+v 0.00108696 0.06072975 0.00808748
+v 0.00108696 0.05888463 0.00343851
+v -0.00170075 0.05685499 -0.00072397
+v -0.00099571 0.05684855 -0.00070895
+v -0.00170075 0.05004947 -0.01089351
+v 0.02039330 0.04262601 -0.01089353
+v 0.02039330 0.05493687 0.00829596
+v 0.00225049 0.06070615 0.00829598
+v 0.00232402 0.06068041 0.00822836
+v 0.00317179 0.05939954 0.00516285
+v 0.00108696 0.05677990 -0.00057934
+v 0.00317179 0.05878165 0.00367143
+v -0.00170075 0.05456790 -0.00448636
+v -0.00099571 0.05455717 -0.00446946
+v -0.00170075 0.05030693 -0.01057982
+v -0.00148448 0.05003875 -0.01089351
+v 0.02039330 0.04340912 -0.01007831
+v 0.01923626 0.04339839 -0.01089353
+v 0.01890753 0.04399055 -0.01051034
+v 0.02039330 0.05488753 0.00816072
+v 0.01894213 0.05573715 0.00829596
+v 0.00237592 0.06069542 0.00829598
+v 0.00733714 0.05955401 0.00724409
+v 0.00546208 0.05904554 0.00495623
+v 0.00108696 0.05447779 -0.00434548
+v 0.00317179 0.05665760 -0.00035769
+v 0.00317179 0.05604829 -0.00139455
+v 0.00490627 0.05866793 0.00391186
+v 0.00546208 0.05821309 0.00316426
+v 0.00532800 0.05700517 0.00083320
+v -0.00170075 0.05388991 -0.00552698
+v -0.00099571 0.05387704 -0.00551007
+v -0.00170075 0.05284292 -0.00707289
+v -0.00099571 0.05283004 -0.00705411
+v -0.00099571 0.05028977 -0.01055728
+v -0.00099571 0.05001300 -0.01089351
+v 0.02039330 0.04350138 -0.00997688
+v 0.02029598 0.04353785 -0.01001069
+v 0.01775265 0.04429092 -0.01089353
+v 0.01775265 0.04432740 -0.01085596
+v 0.01629067 0.04578849 -0.01017974
+v 0.01792999 0.04547523 -0.00945093
+v 0.01874316 0.04597085 -0.00832015
+v 0.01969691 0.04449044 -0.00934763
+v 0.02039330 0.05468800 0.00761599
+v 0.01701734 0.05663397 0.00785267
+v 0.01721198 0.05668761 0.00829597
+v 0.00731983 0.05987369 0.00829598
+v 0.00959282 0.05904982 0.00705813
+v 0.00733714 0.05891037 0.00542207
+v 0.00629472 0.05856709 0.00412411
+v 0.00306798 0.05489186 -0.00329735
+v 0.00230239 0.05440484 -0.00423278
+v 0.00108696 0.05379337 -0.00538610
+v 0.00468351 0.05655247 -0.00017173
+v 0.00525446 0.05484037 -0.00284466
+v 0.00733714 0.05689790 0.00129716
+v -0.00170075 0.05319692 -0.00655069
+v 0.00037111 0.05024042 -0.01049154
+v 0.00108696 0.05274637 -0.00693013
+v 0.00071930 0.04985208 -0.01089351
+v 0.02039330 0.04433382 -0.00901516
+v 0.01762073 0.04436602 -0.01089353
+v 0.01735472 0.04636991 -0.00879350
+v 0.01591437 0.04531219 -0.01089352
+v 0.01515742 0.04572413 -0.01089352
+v 0.01490223 0.04615322 -0.01058734
+v 0.01547534 0.04695993 -0.00927812
+v 0.01792350 0.04715302 -0.00743356
+v 0.01849229 0.04793827 -0.00605482
+v 0.01983749 0.04648148 -0.00685690
+v 0.01983749 0.04562757 -0.00789751
+v 0.02039330 0.04502897 -0.00819054
+v 0.01986993 0.05485534 0.00729291
+v 0.02039330 0.05437261 0.00681017
+v 0.01647667 0.05631859 0.00646643
+v 0.01573702 0.05695365 0.00719336
+v 0.01661292 0.05696009 0.00829597
+v 0.01919733 0.05460004 0.00573198
+v 0.00838820 0.05966129 0.00829598
+v 0.01040167 0.05851774 0.00624103
+v 0.00901538 0.05872371 0.00585409
+v 0.00949766 0.05942743 0.00829598
+v 0.01150248 0.05894683 0.00829598
+v 0.01150248 0.05877090 0.00773998
+v 0.01057685 0.05651385 0.00197525
+v 0.00941981 0.05665974 0.00171791
+v 0.00525446 0.05244170 -0.00649435
+v 0.00317179 0.05261119 -0.00673478
+v 0.00733714 0.05463010 -0.00251407
+v 0.00733714 0.05395642 -0.00355469
+v 0.00645043 0.05232799 -0.00632905
+v 0.00873856 0.05447134 -0.00225861
+v 0.00317179 0.05187529 -0.00777540
+v 0.00317179 0.05082828 -0.00920108
+v 0.00317179 0.05000012 -0.01024171
+v 0.00319775 0.04946160 -0.01089351
+v 0.01604845 0.04776449 -0.00793319
+v 0.01710385 0.04832017 -0.00654695
+v 0.01366517 0.04643858 -0.01089352
+v 0.01466000 0.04812279 -0.00837649
+v 0.01358731 0.04647505 -0.01089352
+v 0.01358731 0.04750275 -0.00970826
+v 0.01938548 0.04845534 -0.00466858
+v 0.01998239 0.04759284 -0.00531100
+v 0.02039330 0.04630768 -0.00663901
+v 0.01763154 0.04908612 -0.00514757
+v 0.02039330 0.05410872 0.00621472
+v 0.01720766 0.05464725 0.00359439
+v 0.01508822 0.05666831 0.00577331
+v 0.01570242 0.05734843 0.00829597
+v 0.01341862 0.05796419 0.00740938
+v 0.01261194 0.05859282 0.00821521
+v 0.02039330 0.05333419 0.00455048
+v 0.02039330 0.05273560 0.00330136
+v 0.01923842 0.05254036 0.00158828
+v 0.01150248 0.05834395 0.00669935
+v 0.01150248 0.05768958 0.00516284
+v 0.01136406 0.05680993 0.00311166
+v 0.01252976 0.05864217 0.00829598
+v 0.00942629 0.05491974 -0.00120297
+v 0.01292769 0.05662112 0.00382544
+v 0.01196529 0.05625424 0.00243733
+v 0.01354838 0.05487040 0.00095716
+v 0.01283037 0.05448635 -0.00021307
+v 0.01150248 0.05471163 -0.00058686
+v 0.00525446 0.05169936 -0.00753309
+v 0.00941981 0.05267126 -0.00475498
+v 0.00722251 0.05280858 -0.00533164
+v 0.00525446 0.05065235 -0.00896441
+v 0.00859582 0.05025758 -0.00843660
+v 0.00733714 0.05041849 -0.00865072
+v 0.01095099 0.05245242 -0.00443566
+v 0.00525446 0.04984994 -0.01000504
+v 0.00448022 0.04924920 -0.01089351
+v 0.01677079 0.05022753 -0.00424031
+v 0.01548183 0.04856262 -0.00727013
+v 0.01566998 0.04971261 -0.00563594
+v 0.01358731 0.04834593 -0.00866764
+v 0.01287146 0.05032837 -0.00645116
+v 0.01425991 0.05003014 -0.00607361
+v 0.01155222 0.04733111 -0.01089352
+v 0.01192853 0.04786105 -0.01013840
+v 0.01989155 0.04918266 -0.00320345
+v 0.02039330 0.04852184 -0.00371437
+v 0.02039330 0.04781383 -0.00468549
+v 0.01815924 0.04984991 -0.00368807
+v 0.02039330 0.04700497 -0.00573927
+v 0.01653506 0.05424818 0.00220628
+v 0.01514445 0.05461507 0.00162023
+v 0.01360894 0.05694937 0.00511401
+v 0.01264654 0.05860570 0.00829598
+v 0.02039330 0.05236443 0.00256128
+v 0.02039330 0.05200398 0.00188131
+v 0.02039330 0.05119084 0.00044248
+v 0.02039330 0.05053003 -0.00067516
+v 0.01853555 0.05212414 0.00020204
+v 0.01714710 0.05251462 -0.00040091
+v 0.01780672 0.05291369 0.00093837
+v 0.01421882 0.05419456 0.00023399
+v 0.01488709 0.05240950 -0.00230182
+v 0.01358731 0.05266697 -0.00269628
+v 0.00934195 0.05077464 -0.00741663
+v 0.00733714 0.04963110 -0.00969135
+v 0.00998211 0.05003230 -0.00817738
+v 0.01054008 0.04813568 -0.01047087
+v 0.00941981 0.04830088 -0.01066622
+v 0.01233944 0.05217351 -0.00409003
+v 0.01150248 0.05057939 -0.00679301
+v 0.00525446 0.04912046 -0.01089351
+v 0.00711222 0.04872140 -0.01089351
+v 0.01627770 0.05208339 -0.00178527
+v 0.01757964 0.05058367 -0.00305881
+v 0.01566998 0.05048928 -0.00459719
+v 0.01561808 0.05156203 -0.00306069
+v 0.01358731 0.05194822 -0.00373690
+v 0.01357433 0.05083900 -0.00532225
+v 0.01089044 0.04760574 -0.01089352
+v 0.01900701 0.05032192 -0.00230183
+v 0.02039330 0.04990355 -0.00168009
+v 0.02039330 0.04897454 -0.00305131
+v 0.01561808 0.05280212 -0.00108840
+v 0.02039330 0.04991427 -0.00166319
+v 0.01975530 0.05068451 -0.00101702
+v 0.00801189 0.04849183 -0.01089351
+v 0.00733714 0.04866991 -0.01089351
+v 0.00941981 0.04809491 -0.01089351
+f 1 2 7
+f 1 7 14
+f 1 14 24
+f 1 24 42
+f 1 42 69
+f 1 69 44
+f 1 44 26
+f 1 26 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 32
+f 1 32 58
+f 1 58 89
+f 1 89 122
+f 1 122 163
+f 1 163 131
+f 1 131 95
+f 1 95 94
+f 1 94 91
+f 1 91 59
+f 1 59 33
+f 1 33 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 14
+f 8 16 27
+f 8 27 47
+f 8 47 72
+f 8 72 108
+f 8 108 146
+f 8 146 181
+f 8 181 182
+f 8 182 197
+f 8 197 196
+f 8 196 198
+f 8 198 189
+f 8 189 153
+f 8 153 113
+f 8 113 111
+f 8 111 77
+f 8 77 76
+f 8 76 74
+f 8 74 50
+f 8 50 29
+f 8 29 17
+f 8 17 9
+f 9 17 28
+f 9 28 48
+f 9 48 73
+f 9 73 84
+f 9 84 117
+f 9 117 159
+f 9 159 157
+f 9 157 156
+f 9 156 192
+f 9 192 191
+f 9 191 194
+f 9 194 167
+f 9 167 166
+f 9 166 165
+f 9 165 164
+f 9 164 126
+f 9 126 125
+f 9 125 119
+f 9 119 86
+f 9 86 56
+f 9 56 31
+f 9 31 18
+f 9 18 10
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 22 15
+f 13 21 23
+f 13 23 22
+f 14 15 24
+f 15 22 25
+f 15 25 24
+f 16 26 27
+f 17 29 30
+f 17 30 28
+f 18 31 32
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 23
+f 22 36 25
+f 22 23 37
+f 22 37 38
+f 22 38 36
+f 23 35 39
+f 23 39 40
+f 23 40 41
+f 23 41 37
+f 24 25 42
+f 25 43 42
+f 25 36 43
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 28 30 49
+f 28 49 48
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 49
+f 31 56 32
+f 32 56 57
+f 32 57 58
+f 33 59 34
+f 34 59 60
+f 34 60 61
+f 34 61 35
+f 35 61 62
+f 35 62 39
+f 36 38 63
+f 36 63 64
+f 36 64 65
+f 36 65 43
+f 37 41 66
+f 37 66 38
+f 38 66 67
+f 38 67 63
+f 39 62 40
+f 40 62 68
+f 40 68 41
+f 41 68 66
+f 42 43 69
+f 43 45 44
+f 43 44 69
+f 43 65 71
+f 43 71 45
+f 45 70 46
+f 45 71 70
+f 46 70 47
+f 47 70 72
+f 48 49 73
+f 49 55 73
+f 50 74 51
+f 51 74 52
+f 52 75 53
+f 52 74 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 75
+f 53 75 54
+f 54 75 80
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 73
+f 54 73 55
+f 56 85 57
+f 56 86 85
+f 57 87 88
+f 57 88 89
+f 57 89 58
+f 57 85 90
+f 57 90 87
+f 59 91 60
+f 60 92 93
+f 60 93 61
+f 60 91 94
+f 60 94 95
+f 60 95 96
+f 60 96 92
+f 61 93 62
+f 62 93 97
+f 62 97 98
+f 62 98 68
+f 63 67 64
+f 64 67 99
+f 64 99 100
+f 64 100 65
+f 65 100 71
+f 66 68 101
+f 66 101 67
+f 67 101 102
+f 67 102 103
+f 67 103 99
+f 68 98 104
+f 68 104 101
+f 70 71 105
+f 70 105 106
+f 70 106 107
+f 70 107 108
+f 70 108 72
+f 71 100 105
+f 75 79 109
+f 75 109 110
+f 75 110 80
+f 77 111 78
+f 78 112 79
+f 78 111 113
+f 78 113 114
+f 78 114 112
+f 79 112 109
+f 80 110 81
+f 81 115 116
+f 81 116 117
+f 81 117 82
+f 81 110 118
+f 81 118 115
+f 82 117 83
+f 83 117 84
+f 85 86 90
+f 86 119 90
+f 87 90 120
+f 87 120 121
+f 87 121 88
+f 88 122 89
+f 88 121 123
+f 88 123 124
+f 88 124 122
+f 90 119 125
+f 90 125 126
+f 90 126 127
+f 90 127 120
+f 92 97 93
+f 92 96 128
+f 92 128 129
+f 92 129 130
+f 92 130 97
+f 95 131 124
+f 95 124 96
+f 96 124 128
+f 97 132 104
+f 97 104 98
+f 97 130 133
+f 97 133 134
+f 97 134 135
+f 97 135 136
+f 97 136 137
+f 97 137 132
+f 99 138 105
+f 99 105 100
+f 99 103 138
+f 101 104 102
+f 102 104 139
+f 102 139 140
+f 102 140 103
+f 103 141 138
+f 103 140 139
+f 103 139 142
+f 103 142 143
+f 103 143 141
+f 104 132 137
+f 104 137 144
+f 104 144 139
+f 105 138 141
+f 105 141 106
+f 106 141 145
+f 106 145 107
+f 107 145 108
+f 108 145 146
+f 109 112 110
+f 110 147 118
+f 110 112 148
+f 110 148 149
+f 110 149 147
+f 112 114 150
+f 112 150 151
+f 112 151 152
+f 112 152 149
+f 112 149 148
+f 113 153 154
+f 113 154 114
+f 114 154 150
+f 115 155 156
+f 115 156 157
+f 115 157 116
+f 115 118 147
+f 115 147 158
+f 115 158 155
+f 116 157 159
+f 116 159 117
+f 120 160 161
+f 120 161 121
+f 120 127 160
+f 121 161 133
+f 121 133 162
+f 121 162 123
+f 122 124 163
+f 123 162 124
+f 124 162 128
+f 124 131 163
+f 126 164 127
+f 127 164 165
+f 127 165 166
+f 127 166 167
+f 127 167 168
+f 127 168 169
+f 127 169 170
+f 127 170 160
+f 128 162 129
+f 129 162 133
+f 129 133 130
+f 133 161 134
+f 134 161 135
+f 135 161 171
+f 135 171 136
+f 136 171 172
+f 136 172 173
+f 136 173 137
+f 137 173 144
+f 139 174 142
+f 139 144 174
+f 141 143 175
+f 141 175 145
+f 142 174 176
+f 142 176 177
+f 142 177 178
+f 142 178 175
+f 142 175 143
+f 144 173 179
+f 144 179 151
+f 144 151 180
+f 144 180 176
+f 144 176 174
+f 145 181 146
+f 145 175 182
+f 145 182 181
+f 147 183 184
+f 147 184 158
+f 147 149 185
+f 147 185 186
+f 147 186 183
+f 149 152 185
+f 150 154 151
+f 151 179 187
+f 151 187 188
+f 151 188 152
+f 151 154 177
+f 151 177 180
+f 152 188 187
+f 152 187 185
+f 153 189 177
+f 153 177 154
+f 155 158 190
+f 155 190 191
+f 155 191 192
+f 155 192 156
+f 158 184 190
+f 160 170 169
+f 160 169 161
+f 161 169 193
+f 161 193 172
+f 161 172 171
+f 167 194 190
+f 167 190 195
+f 167 195 168
+f 168 195 190
+f 168 190 169
+f 169 183 193
+f 169 190 183
+f 172 193 183
+f 172 183 186
+f 172 186 185
+f 172 185 187
+f 172 187 173
+f 173 187 179
+f 175 178 196
+f 175 196 197
+f 175 197 182
+f 176 180 177
+f 177 189 198
+f 177 198 178
+f 178 198 196
+f 183 190 184
+f 190 194 191
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_31.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02225059 0.03536644 0.02964229
+v -0.02186305 0.03536644 0.02952548
+v -0.02225059 0.03814697 0.03128962
+v -0.02225059 0.03536645 0.02667469
+v -0.01842962 0.03946659 0.02947943
+v -0.01848882 0.03946659 0.02961560
+v -0.01888228 0.03946659 0.03016092
+v -0.01936296 0.03946659 0.03059411
+v -0.02038352 0.03945535 0.03126893
+v -0.02159548 0.03536645 0.02804635
+v -0.02037760 0.03946659 0.03127027
+v -0.02109506 0.03946658 0.03135103
+v -0.02225059 0.03840582 0.03132366
+v -0.02225059 0.03847126 0.02613939
+v -0.02099246 0.03938835 0.02473235
+v -0.01974893 0.03937992 0.02460220
+v -0.02194276 0.03536645 0.02666869
+v -0.01821888 0.03946660 0.02804636
+v -0.01841660 0.03946660 0.02596985
+v -0.02188041 0.03946658 0.03139308
+v -0.02225059 0.03946658 0.03140977
+v -0.02128844 0.03946661 0.02520826
+v -0.02099246 0.03946661 0.02473235
+v -0.02225059 0.03946660 0.02702980
+v -0.01974064 0.03946661 0.02459085
+v -0.01927535 0.03946661 0.02463490
+f 1 2 3
+f 1 3 13
+f 1 13 21
+f 1 21 24
+f 1 24 14
+f 1 14 4
+f 1 4 17
+f 1 17 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 5
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 5 10 18
+f 5 18 19
+f 5 19 26
+f 5 26 25
+f 5 25 23
+f 5 23 22
+f 5 22 24
+f 5 24 21
+f 5 21 20
+f 5 20 12
+f 5 12 11
+f 5 11 8
+f 5 8 7
+f 5 7 6
+f 8 11 9
+f 10 17 19
+f 10 19 18
+f 12 20 13
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 14 24 22
+f 15 23 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 19
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_32.obj

@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
+v 0.04310861 -0.04030670 0.02946781
+v 0.04255493 -0.04127500 0.02946781
+v 0.04194046 -0.04221934 0.02804582
+v 0.04279811 -0.04030668 0.02388555
+v 0.04311295 -0.03948411 0.02193747
+v 0.04311295 -0.03948411 0.02194803
+v 0.04000585 -0.04030670 0.02946781
+v 0.04197737 -0.04228124 0.02946780
+v 0.04124565 -0.04332740 0.02946780
+v 0.04187749 -0.04212151 0.02596464
+v 0.04248762 -0.04083775 0.02388555
+v 0.04310643 -0.03948411 0.02182971
+v 0.04045313 -0.03948411 0.02194803
+v 0.03693566 -0.03948406 0.00788464
+v 0.03907220 -0.04090765 0.02946781
+v 0.04119571 -0.04326550 0.02804582
+v 0.04020343 -0.04470499 0.02946780
+v 0.04111320 -0.04316768 0.02596463
+v 0.04179498 -0.04199971 0.02388555
+v 0.04220101 -0.04104537 0.02194803
+v 0.04263527 -0.04030667 0.02194803
+v 0.04221838 -0.04057818 0.01972527
+v 0.04302827 -0.03948411 0.02117260
+v 0.03992334 -0.03948406 0.00788464
+v 0.02130680 -0.05370513 0.00788459
+v 0.02093334 -0.05687366 0.02946775
+v 0.02217314 -0.05577958 0.02946776
+v 0.04015350 -0.04463909 0.02804582
+v 0.03993637 -0.04503641 0.02946779
+v 0.03931104 -0.04568526 0.02804581
+v 0.04007099 -0.04453328 0.02596463
+v 0.04101549 -0.04304787 0.02388554
+v 0.04173418 -0.04191385 0.02266430
+v 0.04148014 -0.04162435 0.01972527
+v 0.04133033 -0.04136280 0.01764619
+v 0.04205553 -0.04031663 0.01764619
+v 0.04265481 -0.03948410 0.01864347
+v 0.04002105 -0.03948406 0.00815297
+v 0.03981261 -0.03967573 0.00788464
+v 0.02130680 -0.05651820 0.00788458
+v 0.02093334 -0.05705731 0.02194797
+v 0.02093334 -0.05988039 0.02946774
+v 0.03935012 -0.04575116 0.02946779
+v 0.03902009 -0.04612450 0.02946779
+v 0.03826883 -0.04686320 0.02804581
+v 0.03818632 -0.04677136 0.02596462
+v 0.03922853 -0.04557945 0.02596462
+v 0.03997328 -0.04440949 0.02388554
+v 0.03993637 -0.04417589 0.02194802
+v 0.03973878 -0.04410999 0.02009079
+v 0.03962153 -0.04397224 0.01870474
+v 0.04114143 -0.04106931 0.01556499
+v 0.04029246 -0.04279629 0.01764618
+v 0.04009921 -0.04252276 0.01556498
+v 0.04186446 -0.04002315 0.01556499
+v 0.04214022 -0.03948409 0.01556499
+v 0.04014915 -0.03948406 0.00850583
+v 0.03972358 -0.03992728 0.00804522
+v 0.03968884 -0.03987937 0.00788464
+v 0.02207760 -0.05603904 0.00788458
+v 0.02130680 -0.05658009 0.00804516
+v 0.02093334 -0.05944113 0.02194796
+v 0.02130245 -0.05971268 0.02946774
+v 0.02093334 -0.05987240 0.02907474
+v 0.03830791 -0.04691711 0.02946779
+v 0.03734603 -0.04796328 0.02946778
+v 0.03729609 -0.04791136 0.02804580
+v 0.03720707 -0.04781752 0.02596461
+v 0.03808210 -0.04665355 0.02388553
+v 0.03912431 -0.04545565 0.02388553
+v 0.03986254 -0.04426972 0.02194802
+v 0.03985386 -0.04425974 0.02180434
+v 0.03899620 -0.04530790 0.02180433
+v 0.03899186 -0.04489462 0.01952665
+v 0.03929150 -0.04357093 0.01556498
+v 0.03765436 -0.04618635 0.01814270
+v 0.03825145 -0.04482872 0.01556498
+v 0.04174721 -0.03984345 0.01437755
+v 0.03986689 -0.04220731 0.01348801
+v 0.04199691 -0.03948408 0.01476421
+v 0.04091127 -0.03948407 0.01079409
+v 0.03918945 -0.04130088 0.00932774
+v 0.03802998 -0.04208950 0.00788464
+v 0.03952816 -0.04010098 0.00788464
+v 0.03994939 -0.04025471 0.00932774
+v 0.02378640 -0.05496692 0.00788459
+v 0.02257917 -0.05627064 0.00932768
+v 0.02130680 -0.05660405 0.00810854
+v 0.02130680 -0.05676377 0.00857127
+v 0.02130680 -0.05678973 0.00865367
+v 0.02130680 -0.05699736 0.00932768
+v 0.02130680 -0.05754042 0.01124830
+v 0.02130680 -0.05814337 0.01347951
+v 0.02130680 -0.05830509 0.01409013
+v 0.02130680 -0.05847280 0.01487190
+v 0.02130680 -0.05858062 0.01556492
+v 0.02130680 -0.05882619 0.01726368
+v 0.02130680 -0.05886811 0.01756794
+v 0.02130680 -0.05887810 0.01764612
+v 0.02130680 -0.05907177 0.01935756
+v 0.02093334 -0.05962282 0.02388548
+v 0.02288097 -0.05898995 0.02946774
+v 0.02093334 -0.05984644 0.02804576
+v 0.03527029 -0.05005960 0.02946778
+v 0.03625388 -0.04895952 0.02804580
+v 0.03616485 -0.04886768 0.02596461
+v 0.03604761 -0.04874788 0.02388552
+v 0.03708765 -0.04769972 0.02388552
+v 0.03795399 -0.04650979 0.02180433
+v 0.03779549 -0.04633809 0.01972525
+v 0.03801696 -0.04453922 0.01348801
+v 0.03905917 -0.04325148 0.01348801
+v 0.03749802 -0.04602662 0.01675664
+v 0.03677498 -0.04738625 0.01972525
+v 0.03558295 -0.04828268 0.01813635
+v 0.03736340 -0.04587489 0.01556497
+v 0.04187966 -0.03948408 0.01410921
+v 0.03970621 -0.04198768 0.01220972
+v 0.04154094 -0.03956195 0.01299149
+v 0.04110669 -0.03948407 0.01141950
+v 0.04018824 -0.04091756 0.01147232
+v 0.03945869 -0.04166824 0.01082367
+v 0.03814723 -0.04264053 0.00932773
+v 0.03787365 -0.04229114 0.00788463
+v 0.02734295 -0.05249925 0.00788460
+v 0.02531932 -0.05462353 0.00982633
+v 0.02291789 -0.05646630 0.01045385
+v 0.02153912 -0.05689155 0.00932768
+v 0.02210149 -0.05715310 0.01125041
+v 0.02171934 -0.05799164 0.01368235
+v 0.02357795 -0.05694348 0.01348796
+v 0.02210149 -0.05818331 0.01556493
+v 0.02136542 -0.05885214 0.01764612
+v 0.02162163 -0.05897793 0.01972520
+v 0.02093334 -0.05976259 0.02588216
+v 0.02204720 -0.05898593 0.02194796
+v 0.02192344 -0.05918958 0.02388548
+v 0.02330003 -0.05879230 0.02946774
+v 0.02192344 -0.05939123 0.02804576
+v 0.02093334 -0.05980850 0.02705059
+v 0.03494026 -0.05035509 0.02946778
+v 0.03416511 -0.05094205 0.02804579
+v 0.03520732 -0.05000369 0.02804580
+v 0.03510310 -0.04991385 0.02596461
+v 0.03497934 -0.04979205 0.02388552
+v 0.03491637 -0.04958640 0.02194800
+v 0.03591299 -0.04861211 0.02194800
+v 0.03598464 -0.04854024 0.02194800
+v 0.03695520 -0.04756595 0.02194801
+v 0.03694435 -0.04755596 0.02180433
+v 0.03710719 -0.04558539 0.01348800
+v 0.03776943 -0.04424373 0.01181883
+v 0.03528115 -0.04797920 0.01556496
+v 0.03632119 -0.04693104 0.01556497
+v 0.03573277 -0.04843641 0.01972524
+v 0.03466233 -0.04948058 0.01972524
+v 0.03347898 -0.05033907 0.01820819
+v 0.03332265 -0.05018733 0.01682002
+v 0.03423893 -0.04900740 0.01556496
+v 0.03606715 -0.04667747 0.01348800
+v 0.04159957 -0.03948408 0.01305488
+v 0.03861406 -0.04296597 0.01132230
+v 0.04149534 -0.03948408 0.01268723
+v 0.03750454 -0.04394425 0.01043277
+v 0.03729826 -0.04368669 0.00932773
+v 0.03710936 -0.04320354 0.00788463
+v 0.02960977 -0.05058261 0.00788460
+v 0.02994414 -0.05086012 0.00932770
+v 0.02870869 -0.05190429 0.00932770
+v 0.02934270 -0.05245134 0.01215686
+v 0.02766864 -0.05276478 0.00932770
+v 0.02675454 -0.05414637 0.01140677
+v 0.02571449 -0.05488907 0.01140677
+v 0.02325878 -0.05672585 0.01183991
+v 0.02387542 -0.05713715 0.01556493
+v 0.02705200 -0.05434403 0.01268718
+v 0.02727564 -0.05453570 0.01407324
+v 0.02240764 -0.05829112 0.01764613
+v 0.02296782 -0.05862256 0.02283115
+v 0.02192344 -0.05930738 0.02596457
+v 0.02303296 -0.05865651 0.02388548
+v 0.02324358 -0.05876433 0.02804576
+v 0.02401221 -0.05840697 0.02946775
+v 0.03422808 -0.05098997 0.02946777
+v 0.03302519 -0.05203614 0.02946777
+v 0.03295571 -0.05198821 0.02804579
+v 0.03406089 -0.05085021 0.02596460
+v 0.03393713 -0.05074239 0.02388551
+v 0.03484038 -0.04966027 0.02194800
+v 0.03379165 -0.05061460 0.02180431
+v 0.03482952 -0.04964829 0.02180432
+v 0.03590213 -0.04860213 0.02180432
+v 0.03571974 -0.04633207 0.01140680
+v 0.03689440 -0.04497445 0.01123777
+v 0.03398706 -0.04876382 0.01348799
+v 0.03502928 -0.04772364 0.01348799
+v 0.03362012 -0.05046485 0.01972523
+v 0.03139239 -0.05242142 0.02029571
+v 0.03006791 -0.05304632 0.01764615
+v 0.02982907 -0.05286264 0.01556495
+v 0.03316415 -0.05005157 0.01556496
+v 0.03468187 -0.04738023 0.01140680
+v 0.03611926 -0.04508025 0.00947773
+v 0.03592167 -0.04459111 0.00788463
+v 0.03628862 -0.04417783 0.00788463
+v 0.03065198 -0.04968818 0.00788461
+v 0.03098636 -0.04996968 0.00932771
+v 0.03155957 -0.05046882 0.01185683
+v 0.02955548 -0.05263103 0.01348798
+v 0.02805296 -0.05377304 0.01342247
+v 0.03184401 -0.05070442 0.01348798
+v 0.02504574 -0.05652422 0.01661504
+v 0.02520424 -0.05663603 0.01800109
+v 0.02538880 -0.05676581 0.01972521
+v 0.02747757 -0.05467546 0.01556494
+v 0.02851979 -0.05390881 0.01556494
+v 0.02558422 -0.05689759 0.02180429
+v 0.02407301 -0.05804758 0.02388549
+v 0.02418808 -0.05812546 0.02596458
+v 0.02314587 -0.05871642 0.02596457
+v 0.02428579 -0.05819334 0.02804577
+v 0.02434224 -0.05822729 0.02946775
+v 0.03198949 -0.05291859 0.02946777
+v 0.03192001 -0.05286468 0.02804579
+v 0.03180927 -0.05277483 0.02596460
+v 0.03284280 -0.05189637 0.02596460
+v 0.03271687 -0.05178855 0.02388551
+v 0.03256270 -0.05166276 0.02180431
+v 0.03550045 -0.04610846 0.01027218
+v 0.03288188 -0.04980399 0.01348799
+v 0.03363966 -0.04841841 0.01140679
+v 0.02926888 -0.05447583 0.02252057
+v 0.02914945 -0.05435205 0.02113241
+v 0.02900398 -0.05424223 0.01972522
+v 0.02877165 -0.05409248 0.01764614
+v 0.03152483 -0.05253324 0.02180431
+v 0.03341385 -0.04819480 0.01028485
+v 0.03520732 -0.04581696 0.00888401
+v 0.03498368 -0.04558736 0.00788462
+v 0.03188961 -0.04860008 0.00788461
+v 0.02772944 -0.05484317 0.01764614
+v 0.02796177 -0.05499890 0.01972522
+v 0.02559507 -0.05690557 0.02194797
+v 0.02573838 -0.05700141 0.02388549
+v 0.02586214 -0.05707929 0.02596458
+v 0.02596419 -0.05714717 0.02804577
+v 0.02615526 -0.05709527 0.02946775
+v 0.03158346 -0.05325201 0.02946776
+v 0.03063678 -0.05391084 0.02804578
+v 0.03053039 -0.05382100 0.02596459
+v 0.03168117 -0.05266701 0.02388551
+v 0.03040662 -0.05371318 0.02388550
+v 0.03160952 -0.05248332 0.02194799
+v 0.02936441 -0.05454572 0.02388550
+v 0.03223701 -0.04828064 0.00788461
+v 0.03310553 -0.04789732 0.00889879
+v 0.03434750 -0.04622624 0.00788462
+v 0.02948817 -0.05463357 0.02596459
+v 0.02959457 -0.05471144 0.02804578
+v 0.02965971 -0.05475537 0.02946776
+v 0.03070192 -0.05396675 0.02946776
+v 0.03287754 -0.04767171 0.00788461
+v 0.03037189 -0.05421831 0.02946776
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 15
+f 1 15 27
+f 1 27 26
+f 1 26 42
+f 1 42 63
+f 1 63 102
+f 1 102 138
+f 1 138 183
+f 1 183 222
+f 1 222 247
+f 1 247 260
+f 1 260 263
+f 1 263 261
+f 1 261 248
+f 1 248 223
+f 1 223 185
+f 1 185 184
+f 1 184 141
+f 1 141 104
+f 1 104 66
+f 1 66 65
+f 1 65 44
+f 1 44 43
+f 1 43 29
+f 1 29 17
+f 1 17 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 9
+f 4 11 12
+f 4 12 5
+f 4 10 11
+f 5 12 23
+f 5 23 37
+f 5 37 56
+f 5 56 80
+f 5 80 117
+f 5 117 161
+f 5 161 163
+f 5 163 120
+f 5 120 81
+f 5 81 57
+f 5 57 38
+f 5 38 24
+f 5 24 14
+f 5 14 13
+f 5 13 6
+f 7 13 14
+f 7 14 15
+f 9 16 10
+f 9 17 16
+f 10 16 18
+f 10 18 19
+f 10 19 11
+f 11 20 21
+f 11 21 12
+f 11 19 20
+f 12 21 20
+f 12 20 22
+f 12 22 23
+f 14 24 39
+f 14 39 59
+f 14 59 84
+f 14 84 83
+f 14 83 124
+f 14 124 166
+f 14 166 205
+f 14 205 204
+f 14 204 239
+f 14 239 257
+f 14 257 262
+f 14 262 255
+f 14 255 240
+f 14 240 206
+f 14 206 167
+f 14 167 125
+f 14 125 86
+f 14 86 60
+f 14 60 40
+f 14 40 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 17 28
+f 16 28 18
+f 17 29 30
+f 17 30 28
+f 18 28 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 24 38 39
+f 25 40 62
+f 25 62 41
+f 25 41 26
+f 26 41 62
+f 26 62 101
+f 26 101 135
+f 26 135 140
+f 26 140 103
+f 26 103 64
+f 26 64 42
+f 28 30 47
+f 28 47 31
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 31 48 32
+f 31 47 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 35 52 36
+f 35 51 53
+f 35 53 54
+f 35 54 52
+f 36 52 55
+f 36 55 37
+f 37 55 56
+f 38 57 39
+f 39 57 58
+f 39 58 59
+f 40 60 61
+f 40 61 62
+f 42 64 63
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 70 48
+f 47 69 70
+f 48 70 71
+f 48 71 49
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 51 75 54
+f 51 54 53
+f 51 74 76
+f 51 76 77
+f 51 77 75
+f 52 78 55
+f 52 54 79
+f 52 79 78
+f 54 75 79
+f 55 78 56
+f 56 78 80
+f 57 81 58
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 58 81 85
+f 58 85 82
+f 60 86 87
+f 60 87 88
+f 60 88 61
+f 61 88 62
+f 62 88 89
+f 62 89 90
+f 62 90 91
+f 62 91 92
+f 62 92 93
+f 62 93 94
+f 62 94 95
+f 62 95 96
+f 62 96 97
+f 62 97 98
+f 62 98 99
+f 62 99 100
+f 62 100 101
+f 63 64 102
+f 64 103 102
+f 66 104 67
+f 67 104 105
+f 67 105 106
+f 67 106 68
+f 68 106 107
+f 68 107 108
+f 68 108 69
+f 69 108 109
+f 69 109 70
+f 70 72 71
+f 70 109 73
+f 70 73 72
+f 73 109 110
+f 73 110 74
+f 74 110 76
+f 75 77 111
+f 75 111 112
+f 75 112 79
+f 76 113 77
+f 76 110 114
+f 76 114 115
+f 76 115 113
+f 77 113 116
+f 77 116 111
+f 78 117 80
+f 78 79 118
+f 78 118 119
+f 78 119 117
+f 79 112 118
+f 81 120 121
+f 81 121 85
+f 82 85 122
+f 82 122 123
+f 82 123 124
+f 82 124 83
+f 85 121 118
+f 85 118 122
+f 86 125 126
+f 86 126 127
+f 86 127 87
+f 87 127 88
+f 88 127 128
+f 88 128 89
+f 89 128 90
+f 90 128 91
+f 91 128 92
+f 92 128 129
+f 92 129 93
+f 93 129 130
+f 93 130 94
+f 94 130 131
+f 94 131 95
+f 95 131 132
+f 95 132 96
+f 96 132 97
+f 97 132 133
+f 97 133 98
+f 98 133 99
+f 99 133 134
+f 99 134 100
+f 100 134 101
+f 101 134 136
+f 101 136 137
+f 101 137 135
+f 102 103 139
+f 102 139 138
+f 103 140 139
+f 104 141 142
+f 104 142 143
+f 104 143 105
+f 105 143 106
+f 106 143 144
+f 106 144 107
+f 107 144 145
+f 107 145 146
+f 107 146 147
+f 107 147 148
+f 107 148 149
+f 107 149 108
+f 108 149 109
+f 109 149 150
+f 109 150 110
+f 110 150 114
+f 111 116 151
+f 111 151 152
+f 111 152 112
+f 112 152 118
+f 113 115 153
+f 113 153 154
+f 113 154 116
+f 114 155 115
+f 114 150 155
+f 115 155 156
+f 115 156 157
+f 115 157 158
+f 115 158 159
+f 115 159 153
+f 116 154 160
+f 116 160 151
+f 117 119 161
+f 118 121 119
+f 118 152 162
+f 118 162 122
+f 119 120 163
+f 119 163 161
+f 119 121 120
+f 122 162 123
+f 123 162 164
+f 123 164 165
+f 123 165 124
+f 124 165 166
+f 125 167 168
+f 125 168 169
+f 125 169 170
+f 125 170 171
+f 125 171 172
+f 125 172 126
+f 126 173 174
+f 126 174 127
+f 126 172 173
+f 127 174 128
+f 128 174 129
+f 129 174 130
+f 130 174 131
+f 131 175 132
+f 131 174 176
+f 131 176 177
+f 131 177 175
+f 132 175 178
+f 132 178 133
+f 133 178 134
+f 134 178 179
+f 134 179 136
+f 135 137 180
+f 135 180 139
+f 135 139 140
+f 136 179 137
+f 137 179 181
+f 137 181 180
+f 138 139 182
+f 138 182 183
+f 139 180 182
+f 141 184 142
+f 142 144 143
+f 142 184 185
+f 142 185 186
+f 142 186 187
+f 142 187 144
+f 144 187 188
+f 144 188 145
+f 145 189 146
+f 145 188 190
+f 145 190 189
+f 146 189 191
+f 146 191 192
+f 146 192 147
+f 147 192 148
+f 148 192 150
+f 148 150 149
+f 150 192 155
+f 151 160 193
+f 151 193 152
+f 152 193 194
+f 152 194 164
+f 152 164 162
+f 153 159 195
+f 153 195 196
+f 153 196 154
+f 154 196 160
+f 155 192 156
+f 156 192 191
+f 156 191 197
+f 156 197 157
+f 157 197 198
+f 157 198 199
+f 157 199 200
+f 157 200 158
+f 158 200 201
+f 158 201 159
+f 159 201 195
+f 160 196 202
+f 160 202 193
+f 164 194 203
+f 164 203 165
+f 165 203 204
+f 165 204 205
+f 165 205 166
+f 167 206 207
+f 167 207 208
+f 167 208 168
+f 168 208 169
+f 169 208 170
+f 170 209 210
+f 170 210 176
+f 170 176 172
+f 170 172 171
+f 170 208 211
+f 170 211 209
+f 172 176 173
+f 173 176 174
+f 175 212 213
+f 175 213 214
+f 175 214 178
+f 175 177 215
+f 175 215 212
+f 176 210 177
+f 177 210 209
+f 177 209 216
+f 177 216 215
+f 178 214 179
+f 179 214 217
+f 179 217 218
+f 179 218 219
+f 179 219 181
+f 180 181 220
+f 180 220 182
+f 181 219 220
+f 182 220 221
+f 182 221 222
+f 182 222 183
+f 185 223 186
+f 186 223 224
+f 186 224 225
+f 186 225 226
+f 186 226 187
+f 187 226 188
+f 188 226 227
+f 188 227 190
+f 189 190 197
+f 189 197 191
+f 190 227 228
+f 190 228 197
+f 193 202 229
+f 193 229 194
+f 194 229 203
+f 195 201 230
+f 195 230 231
+f 195 231 202
+f 195 202 196
+f 197 228 198
+f 198 232 233
+f 198 233 234
+f 198 234 235
+f 198 235 199
+f 198 228 236
+f 198 236 232
+f 199 235 200
+f 200 235 216
+f 200 216 209
+f 200 209 211
+f 200 211 201
+f 201 211 230
+f 202 231 237
+f 202 237 229
+f 203 229 238
+f 203 238 204
+f 204 238 239
+f 206 240 207
+f 207 240 208
+f 208 240 237
+f 208 237 231
+f 208 231 230
+f 208 230 211
+f 212 215 241
+f 212 241 213
+f 213 241 242
+f 213 242 214
+f 214 242 232
+f 214 232 217
+f 215 216 235
+f 215 235 241
+f 217 243 218
+f 217 232 243
+f 218 243 244
+f 218 244 245
+f 218 245 219
+f 219 221 220
+f 219 245 246
+f 219 246 221
+f 221 246 222
+f 222 246 247
+f 223 248 224
+f 224 248 249
+f 224 249 250
+f 224 250 225
+f 225 251 227
+f 225 227 226
+f 225 250 252
+f 225 252 251
+f 227 251 228
+f 228 251 253
+f 228 253 236
+f 229 237 238
+f 232 242 233
+f 232 236 253
+f 232 253 252
+f 232 252 254
+f 232 254 244
+f 232 244 243
+f 233 242 234
+f 234 242 235
+f 235 242 241
+f 237 240 255
+f 237 255 256
+f 237 256 238
+f 238 257 239
+f 238 256 257
+f 244 254 258
+f 244 258 245
+f 245 258 259
+f 245 259 246
+f 246 259 260
+f 246 260 247
+f 248 261 249
+f 249 261 259
+f 249 259 258
+f 249 258 250
+f 250 258 254
+f 250 254 252
+f 251 252 253
+f 255 262 256
+f 256 262 257
+f 259 261 263
+f 259 263 260
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_33.obj

@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v -0.02303255 0.02611334 -0.02365821
+v -0.02177970 0.02611334 -0.02434706
+v -0.02303255 0.02611333 -0.02088135
+v -0.02303255 0.02741241 -0.02314533
+v -0.02174212 0.02611334 -0.02436637
+v -0.00170075 0.02611335 -0.02670546
+v -0.02303255 0.04459512 -0.00724379
+v -0.02303255 0.02754991 -0.02308524
+v -0.02184861 0.02821030 -0.02340928
+v -0.02165233 0.02611334 -0.02441144
+v -0.00170075 0.02611336 -0.02915399
+v -0.00170075 0.04459514 -0.01349065
+v -0.02303255 0.04459513 -0.01108718
+v -0.02303255 0.02938271 -0.02221612
+v -0.02255438 0.02889601 -0.02272257
+v -0.02116581 0.02963601 -0.02311099
+v -0.02037025 0.02673031 -0.02478698
+v -0.01974592 0.02611334 -0.02532561
+v -0.00189494 0.02611336 -0.02915613
+v -0.00308097 0.02995627 -0.02742005
+v -0.00170075 0.02991828 -0.02740503
+v -0.00170075 0.04459515 -0.01672888
+v -0.02297200 0.04459513 -0.01112581
+v -0.02303255 0.04457885 -0.01110864
+v -0.02303255 0.03152490 -0.02114743
+v -0.02037860 0.03103097 -0.02271398
+v -0.01899003 0.03158461 -0.02304231
+v -0.01971042 0.03032717 -0.02339425
+v -0.01817568 0.02883632 -0.02478053
+v -0.01898168 0.02744136 -0.02511102
+v -0.02303255 0.03173840 -0.02103584
+v -0.02244162 0.03306280 -0.02061524
+v -0.02105305 0.03366709 -0.02096717
+v -0.01968119 0.02611334 -0.02535566
+v -0.00229167 0.02611336 -0.02916043
+v -0.00308097 0.02611336 -0.02916686
+v -0.00516487 0.02985495 -0.02736855
+v -0.00516487 0.03377747 -0.02520542
+v -0.00308097 0.03383175 -0.02524190
+v -0.00170075 0.03380280 -0.02522044
+v -0.00170075 0.04428577 -0.01702502
+v -0.00308097 0.04459515 -0.01676966
+v -0.02200522 0.04459513 -0.01170951
+v -0.02251889 0.04370859 -0.01231896
+v -0.02303255 0.04392931 -0.01178033
+v -0.01803161 0.03297957 -0.02264745
+v -0.01746782 0.03233366 -0.02323759
+v -0.01755344 0.03018061 -0.02434920
+v -0.01678711 0.02939177 -0.02505736
+v -0.01755344 0.02817412 -0.02532776
+v -0.01766410 0.02613325 -0.02611962
+v -0.02303255 0.03278416 -0.02044141
+v -0.02303255 0.03364357 -0.01993926
+v -0.02295529 0.03561749 -0.01880619
+v -0.02183191 0.03601554 -0.01907658
+v -0.01974801 0.03517604 -0.02058948
+v -0.01974801 0.03413027 -0.02125043
+v -0.01766619 0.02611335 -0.02612605
+v -0.00407907 0.02611336 -0.02911965
+v -0.00516487 0.02611336 -0.02905527
+v -0.00724877 0.02961975 -0.02725267
+v -0.00724877 0.03066732 -0.02668828
+v -0.00724877 0.03241146 -0.02574405
+v -0.00724877 0.03360921 -0.02509383
+v -0.00724877 0.03465678 -0.02440712
+v -0.00516487 0.03482505 -0.02450583
+v -0.00308097 0.03487933 -0.02453802
+v -0.00170075 0.03484857 -0.02452300
+v -0.00170075 0.04354216 -0.01771387
+v -0.00308097 0.04430748 -0.01704434
+v -0.00366563 0.04459515 -0.01676107
+v -0.02151661 0.04459513 -0.01199277
+v -0.02303255 0.04355117 -0.01216230
+v -0.02113031 0.04411387 -0.01270738
+v -0.02178597 0.04284556 -0.01353142
+v -0.02244162 0.04155735 -0.01435762
+v -0.02303255 0.04182875 -0.01377178
+v -0.02303255 0.04248552 -0.01316017
+v -0.01664094 0.03346988 -0.02292642
+v -0.01558020 0.02979886 -0.02525479
+v -0.01378237 0.02611335 -0.02746513
+v -0.02303255 0.03549808 -0.01883409
+v -0.02303255 0.03558131 -0.01878259
+v -0.02303255 0.03569710 -0.01870104
+v -0.02303255 0.03779224 -0.01714951
+v -0.02183191 0.03706130 -0.01831691
+v -0.02056444 0.03749553 -0.01862592
+v -0.01982109 0.03671754 -0.01951650
+v -0.01868935 0.03553789 -0.02082124
+v -0.01766410 0.03450479 -0.02187490
+v -0.00744923 0.02611336 -0.02880205
+v -0.00724877 0.02822479 -0.02787929
+v -0.00749725 0.02611336 -0.02879561
+v -0.00869581 0.02941349 -0.02714751
+v -0.00920948 0.03253268 -0.02543075
+v -0.00843062 0.03348979 -0.02501872
+v -0.00933267 0.03599023 -0.02322685
+v -0.00724877 0.03618563 -0.02336848
+v -0.00516487 0.03631228 -0.02346719
+v -0.00308097 0.03635208 -0.02349938
+v -0.00170075 0.03633580 -0.02348436
+v -0.00170075 0.04316221 -0.01806581
+v -0.00516487 0.04428757 -0.01702288
+v -0.00308097 0.04318211 -0.01808512
+v -0.00516487 0.04459515 -0.01673103
+v -0.01974801 0.04459514 -0.01291339
+v -0.01974801 0.04446306 -0.01304644
+v -0.01974801 0.04336845 -0.01408722
+v -0.02105305 0.04198253 -0.01474174
+v -0.02303255 0.04129681 -0.01424388
+v -0.02166277 0.04067624 -0.01554862
+v -0.02303255 0.04029629 -0.01511943
+v -0.01558020 0.03374308 -0.02309381
+v -0.01292834 0.03159366 -0.02511958
+v -0.01431691 0.03124809 -0.02487710
+v -0.01729869 0.03593413 -0.02110450
+v -0.01558020 0.03478885 -0.02243714
+v -0.01357356 0.03045743 -0.02551016
+v -0.01283647 0.02740337 -0.02717971
+v -0.01351718 0.02621829 -0.02749946
+v -0.01342113 0.02611335 -0.02756384
+v -0.02303255 0.03804735 -0.01695637
+v -0.02167948 0.03865708 -0.01718814
+v -0.01917587 0.03792071 -0.01896713
+v -0.02088392 0.03979331 -0.01672889
+v -0.00931388 0.02611335 -0.02846728
+v -0.00936608 0.02836772 -0.02751448
+v -0.01141657 0.02778694 -0.02735354
+v -0.01141657 0.03195009 -0.02530843
+v -0.00982128 0.03331068 -0.02485778
+v -0.01105534 0.03576768 -0.02307019
+v -0.00933267 0.03703779 -0.02249292
+v -0.00933267 0.03848341 -0.02145214
+v -0.00717986 0.03886155 -0.02142853
+v -0.00643860 0.03976076 -0.02085984
+v -0.00516487 0.03981142 -0.02090062
+v -0.00308097 0.03984942 -0.02092851
+v -0.00170075 0.03983133 -0.02091564
+v -0.00170075 0.04246925 -0.01869243
+v -0.00516487 0.04314954 -0.01806366
+v -0.00724877 0.04420977 -0.01694992
+v -0.00724877 0.04459515 -0.01658510
+v -0.00308097 0.04213635 -0.01902720
+v -0.01776642 0.04459514 -0.01377391
+v -0.01826129 0.04372668 -0.01442199
+v -0.01974801 0.04232269 -0.01504860
+v -0.01974801 0.04115027 -0.01608940
+v -0.02303255 0.03984216 -0.01550570
+v -0.01349630 0.03425331 -0.02341354
+v -0.01141657 0.03299767 -0.02469898
+v -0.01540063 0.03661623 -0.02129549
+v -0.01786247 0.03661622 -0.02040278
+v -0.01766410 0.03832056 -0.01926756
+v -0.01597694 0.03732909 -0.02061307
+v -0.01349630 0.03529907 -0.02275045
+v -0.01141657 0.02611335 -0.02802951
+v -0.02303255 0.03911664 -0.01609370
+v -0.02227249 0.03933375 -0.01635551
+v -0.01766410 0.03936814 -0.01844995
+v -0.01974801 0.04010270 -0.01699285
+v -0.01244182 0.03554332 -0.02290925
+v -0.01161703 0.03651672 -0.02242212
+v -0.01141657 0.03821744 -0.02126329
+v -0.01141657 0.03926502 -0.02046929
+v -0.00933267 0.03952917 -0.02064310
+v -0.00782717 0.03967392 -0.02075684
+v -0.00872295 0.04191742 -0.01883407
+v -0.00724877 0.04201512 -0.01891991
+v -0.00516487 0.04085899 -0.02003795
+v -0.00308097 0.04089518 -0.02006799
+v -0.00170075 0.04018594 -0.02062379
+v -0.00170075 0.04211644 -0.01901004
+v -0.00724877 0.04306089 -0.01799070
+v -0.00516487 0.04210378 -0.01899716
+v -0.00933267 0.04405779 -0.01681043
+v -0.00933267 0.04459515 -0.01629969
+v -0.00170075 0.04087889 -0.02005082
+v -0.01731331 0.04459514 -0.01395846
+v -0.01687063 0.04402341 -0.01469667
+v -0.01673700 0.04187760 -0.01672675
+v -0.01812766 0.04156098 -0.01644348
+v -0.01458628 0.03766199 -0.02085342
+v -0.01645928 0.03966305 -0.01867312
+v -0.01552382 0.03866252 -0.01977186
+v -0.01752420 0.04083003 -0.01729328
+v -0.01349630 0.03787187 -0.02100792
+v -0.01349630 0.03891763 -0.02021392
+v -0.01349630 0.04024745 -0.01917527
+v -0.01141657 0.04056046 -0.01942850
+v -0.01141657 0.04160623 -0.01854866
+v -0.01046441 0.04394200 -0.01670099
+v -0.01097390 0.04459515 -0.01595205
+v -0.01558020 0.04459514 -0.01461727
+v -0.01558020 0.04427128 -0.01493487
+v -0.01558020 0.04315496 -0.01597565
+v -0.01558020 0.04210919 -0.01693061
+v -0.01507071 0.03995073 -0.01893064
+v -0.01349630 0.04129322 -0.01830402
+v -0.01349630 0.04247467 -0.01726752
+v -0.01185298 0.04376107 -0.01652716
+v -0.01139360 0.04459515 -0.01584690
+v -0.01362994 0.04459515 -0.01524603
+v -0.01349630 0.04459515 -0.01528895
+v -0.01349630 0.04352044 -0.01630828
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 34
+f 1 34 58
+f 1 58 81
+f 1 81 121
+f 1 121 156
+f 1 156 126
+f 1 126 93
+f 1 93 91
+f 1 91 60
+f 1 60 59
+f 1 59 36
+f 1 36 35
+f 1 35 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 45
+f 1 45 73
+f 1 73 78
+f 1 78 77
+f 1 77 110
+f 1 110 112
+f 1 112 148
+f 1 148 157
+f 1 157 122
+f 1 122 85
+f 1 85 84
+f 1 84 83
+f 1 83 82
+f 1 82 53
+f 1 53 52
+f 1 52 31
+f 1 31 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 21
+f 6 21 40
+f 6 40 68
+f 6 68 101
+f 6 101 138
+f 6 138 171
+f 6 171 177
+f 6 177 172
+f 6 172 139
+f 6 139 102
+f 6 102 69
+f 6 69 41
+f 6 41 22
+f 6 22 12
+f 6 12 7
+f 7 12 22
+f 7 22 42
+f 7 42 71
+f 7 71 105
+f 7 105 142
+f 7 142 176
+f 7 176 192
+f 7 192 201
+f 7 201 203
+f 7 203 202
+f 7 202 193
+f 7 193 178
+f 7 178 144
+f 7 144 106
+f 7 106 72
+f 7 72 43
+f 7 43 23
+f 7 23 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 21
+f 13 23 24
+f 14 25 15
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 16 25 31
+f 16 31 32
+f 16 32 33
+f 16 33 26
+f 17 30 34
+f 17 34 18
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 22 41 42
+f 23 43 24
+f 24 43 44
+f 24 44 45
+f 26 33 27
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 27 33 46
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 34
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 46
+f 34 51 58
+f 36 59 37
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 38 64 65
+f 38 65 66
+f 38 66 39
+f 39 66 67
+f 39 67 68
+f 39 68 40
+f 41 69 70
+f 41 70 42
+f 42 70 71
+f 43 72 44
+f 44 73 45
+f 44 72 74
+f 44 74 75
+f 44 75 76
+f 44 76 77
+f 44 77 78
+f 44 78 73
+f 46 79 47
+f 46 57 79
+f 47 79 49
+f 47 49 48
+f 49 80 81
+f 49 81 50
+f 49 79 80
+f 50 81 51
+f 51 81 58
+f 53 82 54
+f 54 82 83
+f 54 83 84
+f 54 84 85
+f 54 85 86
+f 54 86 55
+f 55 86 87
+f 55 87 88
+f 55 88 56
+f 56 89 57
+f 56 88 89
+f 57 89 90
+f 57 90 79
+f 60 91 92
+f 60 92 61
+f 61 92 91
+f 61 91 93
+f 61 93 94
+f 61 94 95
+f 61 95 96
+f 61 96 62
+f 62 96 63
+f 63 96 64
+f 64 96 65
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 66 98 99
+f 66 99 67
+f 67 99 100
+f 67 100 101
+f 67 101 68
+f 69 102 70
+f 70 103 71
+f 70 102 104
+f 70 104 103
+f 71 103 105
+f 72 106 74
+f 74 106 107
+f 74 107 108
+f 74 108 109
+f 74 109 75
+f 75 109 76
+f 76 110 77
+f 76 109 111
+f 76 111 112
+f 76 112 110
+f 79 113 114
+f 79 114 115
+f 79 115 80
+f 79 90 116
+f 79 116 117
+f 79 117 113
+f 80 115 114
+f 80 114 118
+f 80 118 119
+f 80 119 81
+f 81 119 120
+f 81 120 121
+f 85 122 123
+f 85 123 86
+f 86 123 87
+f 87 124 88
+f 87 123 125
+f 87 125 124
+f 88 124 89
+f 89 116 90
+f 89 124 116
+f 93 126 127
+f 93 127 94
+f 94 127 128
+f 94 128 129
+f 94 129 95
+f 95 129 130
+f 95 130 96
+f 96 130 131
+f 96 131 97
+f 97 131 132
+f 97 132 98
+f 98 132 133
+f 98 133 134
+f 98 134 135
+f 98 135 99
+f 99 135 136
+f 99 136 100
+f 100 136 137
+f 100 137 138
+f 100 138 101
+f 102 139 104
+f 103 104 140
+f 103 140 141
+f 103 141 142
+f 103 142 105
+f 104 139 143
+f 104 143 140
+f 106 144 107
+f 107 144 145
+f 107 145 108
+f 108 145 146
+f 108 146 109
+f 109 146 147
+f 109 147 125
+f 109 125 111
+f 111 125 112
+f 112 125 148
+f 113 117 149
+f 113 149 114
+f 114 150 129
+f 114 129 128
+f 114 128 118
+f 114 149 150
+f 116 151 117
+f 116 124 152
+f 116 152 153
+f 116 153 154
+f 116 154 151
+f 117 155 149
+f 117 151 155
+f 118 128 119
+f 119 128 156
+f 119 156 120
+f 120 156 121
+f 122 157 158
+f 122 158 125
+f 122 125 123
+f 124 159 153
+f 124 153 152
+f 124 125 160
+f 124 160 159
+f 125 158 148
+f 125 147 160
+f 126 156 128
+f 126 128 127
+f 129 150 130
+f 130 150 161
+f 130 161 131
+f 131 161 162
+f 131 162 163
+f 131 163 132
+f 132 163 133
+f 133 163 164
+f 133 164 165
+f 133 165 166
+f 133 166 135
+f 133 135 134
+f 135 166 167
+f 135 167 168
+f 135 168 169
+f 135 169 136
+f 136 169 170
+f 136 170 137
+f 137 170 138
+f 138 170 171
+f 139 172 143
+f 140 173 141
+f 140 143 174
+f 140 174 173
+f 141 173 167
+f 141 167 175
+f 141 175 142
+f 142 175 176
+f 143 172 177
+f 143 177 170
+f 143 170 174
+f 144 178 145
+f 145 178 179
+f 145 179 180
+f 145 180 181
+f 145 181 146
+f 146 181 147
+f 147 181 160
+f 148 158 157
+f 149 155 161
+f 149 161 150
+f 151 154 182
+f 151 182 155
+f 153 159 183
+f 153 183 184
+f 153 184 154
+f 154 184 182
+f 155 182 161
+f 159 160 181
+f 159 181 185
+f 159 185 183
+f 161 182 186
+f 161 186 162
+f 162 186 163
+f 163 186 164
+f 164 186 187
+f 164 187 188
+f 164 188 189
+f 164 189 165
+f 165 189 167
+f 165 167 166
+f 167 189 190
+f 167 190 191
+f 167 191 175
+f 167 173 168
+f 168 173 174
+f 168 174 169
+f 169 174 170
+f 170 177 171
+f 175 191 176
+f 176 191 192
+f 178 193 179
+f 179 193 194
+f 179 194 195
+f 179 195 180
+f 180 195 196
+f 180 196 197
+f 180 197 183
+f 180 183 185
+f 180 185 181
+f 182 184 197
+f 182 197 187
+f 182 187 186
+f 183 197 184
+f 187 197 188
+f 188 197 198
+f 188 198 189
+f 189 198 190
+f 190 198 199
+f 190 199 200
+f 190 200 191
+f 191 200 192
+f 192 200 201
+f 193 202 194
+f 194 202 203
+f 194 203 204
+f 194 204 195
+f 195 204 199
+f 195 199 196
+f 196 199 198
+f 196 198 197
+f 199 204 200
+f 200 204 203
+f 200 203 201
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_34.obj

@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
+v 0.02611396 -0.03891537 -0.00927740
+v 0.02624964 -0.03891537 -0.00928244
+v 0.02597827 -0.03904743 -0.00928244
+v 0.01893314 -0.04473706 -0.00928246
+v 0.03736947 -0.03891543 0.00788116
+v 0.03003418 -0.03891537 -0.00928244
+v 0.01893314 -0.04814497 -0.00928248
+v 0.01893314 -0.05500303 0.00788110
+v 0.04025850 -0.03891543 0.00788116
+v 0.03008011 -0.03891537 -0.00923036
+v 0.02949771 -0.04008741 -0.00867931
+v 0.02922217 -0.03979761 -0.00928245
+v 0.01908344 -0.04804776 -0.00928248
+v 0.01922330 -0.04843294 -0.00870790
+v 0.01893314 -0.04825686 -0.00914640
+v 0.01893314 -0.05765343 0.00788109
+v 0.03981387 -0.03967295 0.00788115
+v 0.04008106 -0.03891543 0.00739394
+v 0.03044332 -0.03891537 -0.00881539
+v 0.03088377 -0.03933907 -0.00786615
+v 0.03145991 -0.03996820 -0.00647842
+v 0.03014691 -0.04072571 -0.00718909
+v 0.02941212 -0.04207384 -0.00651202
+v 0.02880676 -0.04148139 -0.00789808
+v 0.02806363 -0.04094214 -0.00928245
+v 0.02829117 -0.04071837 -0.00928245
+v 0.01976603 -0.04760389 -0.00928247
+v 0.02061145 -0.04798540 -0.00812324
+v 0.01893314 -0.05033866 -0.00641460
+v 0.01893314 -0.04849897 -0.00883559
+v 0.01893314 -0.05746084 0.00726618
+v 0.01990589 -0.05700596 0.00723090
+v 0.01988502 -0.05721872 0.00788109
+v 0.03969071 -0.03987654 0.00788115
+v 0.03944022 -0.03950420 0.00665638
+v 0.03999966 -0.03891543 0.00718561
+v 0.03158724 -0.03891537 -0.00745957
+v 0.03134510 -0.04193261 -0.00426072
+v 0.03079819 -0.04136218 -0.00564678
+v 0.03199638 -0.03891537 -0.00695219
+v 0.03255373 -0.03891538 -0.00622808
+v 0.03296914 -0.03931707 -0.00523683
+v 0.03336575 -0.03977745 -0.00418008
+v 0.03183147 -0.04073305 -0.00506716
+v 0.03001957 -0.04270113 -0.00493948
+v 0.02924304 -0.04400157 -0.00423217
+v 0.02866899 -0.04346965 -0.00561823
+v 0.02728084 -0.04411162 -0.00644651
+v 0.02804276 -0.04280934 -0.00717230
+v 0.02741861 -0.04214903 -0.00864907
+v 0.02709715 -0.04185740 -0.00928245
+v 0.02011881 -0.04736728 -0.00928247
+v 0.02137545 -0.04849898 -0.00673718
+v 0.02033173 -0.04989479 -0.00577282
+v 0.02192237 -0.04648687 -0.00886246
+v 0.02301201 -0.04610536 -0.00840212
+v 0.02201004 -0.04757271 -0.00738400
+v 0.01893314 -0.05034416 -0.00640620
+v 0.02107904 -0.05038268 -0.00438509
+v 0.01971802 -0.05070366 -0.00514112
+v 0.01893314 -0.05683354 0.00553235
+v 0.01925461 -0.05674916 0.00567683
+v 0.02109782 -0.05665013 0.00788109
+v 0.02104564 -0.05667581 0.00788109
+v 0.03952789 -0.04010031 0.00788115
+v 0.03823368 -0.03891541 0.00307448
+v 0.03923147 -0.03891542 0.00531065
+v 0.03807920 -0.04049832 0.00516279
+v 0.03774939 -0.04005627 0.00369777
+v 0.03288772 -0.04094033 -0.00335517
+v 0.03322171 -0.04170885 -0.00187502
+v 0.03173545 -0.04233064 -0.00315525
+v 0.03114262 -0.04382366 -0.00188679
+v 0.03068129 -0.04337612 -0.00315525
+v 0.03330730 -0.03891538 -0.00523683
+v 0.03455350 -0.03891539 -0.00347276
+v 0.03458273 -0.03894290 -0.00339884
+v 0.03522358 -0.03950417 -0.00172550
+v 0.03383543 -0.04031304 -0.00279402
+v 0.02901551 -0.04588895 -0.00184312
+v 0.02826194 -0.04552211 -0.00332326
+v 0.02707418 -0.04600816 -0.00412802
+v 0.02963966 -0.04438492 -0.00315525
+v 0.02658781 -0.04560097 -0.00523686
+v 0.02507441 -0.04608887 -0.00630539
+v 0.02586555 -0.04483427 -0.00706981
+v 0.02526646 -0.04416296 -0.00857011
+v 0.02665461 -0.04354485 -0.00783424
+v 0.02596993 -0.04287720 -0.00928246
+v 0.02073670 -0.04694725 -0.00928247
+v 0.02276361 -0.04801659 -0.00608027
+v 0.02192028 -0.04920330 -0.00523351
+v 0.02160925 -0.04635114 -0.00928247
+v 0.02237325 -0.04580089 -0.00928247
+v 0.02371339 -0.04477558 -0.00928246
+v 0.02440225 -0.04555694 -0.00769313
+v 0.02382612 -0.04643551 -0.00712526
+v 0.01893314 -0.05207197 -0.00374498
+v 0.02066990 -0.05219303 -0.00190362
+v 0.01928174 -0.05262039 -0.00257565
+v 0.02246719 -0.04990947 -0.00367777
+v 0.02311639 -0.05036068 -0.00229003
+v 0.02183261 -0.05072385 -0.00305279
+v 0.01893314 -0.05487278 0.00124650
+v 0.01939656 -0.05474806 0.00142963
+v 0.02133162 -0.05471138 0.00353475
+v 0.02064485 -0.05636215 0.00652863
+v 0.02114792 -0.05662078 0.00788109
+v 0.02319780 -0.05459217 0.00585325
+v 0.03803119 -0.04208673 0.00788115
+v 0.03782662 -0.04222613 0.00762409
+v 0.03863238 -0.04089451 0.00714024
+v 0.03740078 -0.03961240 0.00231003
+v 0.03818357 -0.03891541 0.00296863
+v 0.03752186 -0.04186295 0.00623636
+v 0.03726510 -0.04154564 0.00516279
+v 0.03580806 -0.04229581 0.00346927
+v 0.03660547 -0.04095502 0.00288966
+v 0.03444287 -0.04085596 -0.00110555
+v 0.03366008 -0.04218942 -0.00048896
+v 0.03241179 -0.04300746 -0.00118620
+v 0.03160394 -0.04427855 -0.00050074
+v 0.03032225 -0.04508375 -0.00117109
+v 0.03462030 -0.03891539 -0.00337364
+v 0.03600220 -0.03891540 -0.00117778
+v 0.03624016 -0.03891540 -0.00077121
+v 0.03564315 -0.04000491 -0.00033944
+v 0.02817009 -0.04711236 -0.00107533
+v 0.02681117 -0.04789554 -0.00169361
+v 0.02762736 -0.04649973 -0.00274196
+v 0.02950397 -0.04633100 -0.00045706
+v 0.02624964 -0.04724441 -0.00334510
+v 0.02482600 -0.04798909 -0.00394994
+v 0.02554617 -0.04647954 -0.00523686
+v 0.02408078 -0.04756721 -0.00532591
+v 0.02487819 -0.04383648 -0.00928246
+v 0.02343785 -0.04851365 -0.00469421
+v 0.01893314 -0.05241863 -0.00320736
+v 0.02131701 -0.05262224 -0.00051757
+v 0.01992050 -0.05304593 -0.00115599
+v 0.01893314 -0.05448210 0.00049047
+v 0.01893314 -0.05270293 -0.00272686
+v 0.02397224 -0.04918314 -0.00311999
+v 0.02542301 -0.04845680 -0.00256220
+v 0.02450663 -0.04985078 -0.00146008
+v 0.02507650 -0.05027448 -0.00007570
+v 0.02388874 -0.05064316 -0.00089054
+v 0.02270516 -0.05216919 0.00027039
+v 0.02078680 -0.05434638 0.00214702
+v 0.02326459 -0.05254888 0.00165813
+v 0.02271977 -0.05425834 0.00446719
+v 0.02198499 -0.05501403 0.00516106
+v 0.02360067 -0.05486547 0.00724267
+v 0.02207684 -0.05603935 0.00788109
+v 0.02513912 -0.05240948 0.00399006
+v 0.02552321 -0.05268278 0.00516275
+v 0.02697816 -0.05220957 0.00648497
+v 0.03787463 -0.04228849 0.00788114
+v 0.03711063 -0.04320191 0.00788114
+v 0.03629026 -0.04417770 0.00788114
+v 0.03584355 -0.04439597 0.00724271
+v 0.03700208 -0.04292678 0.00705454
+v 0.03722335 -0.03891540 0.00100295
+v 0.03601054 -0.04045428 0.00100294
+v 0.03705218 -0.03914834 0.00100295
+v 0.03556592 -0.04408964 0.00599274
+v 0.03613370 -0.04296713 0.00524511
+v 0.03520688 -0.04368980 0.00460500
+v 0.03543023 -0.04185560 0.00208322
+v 0.03512755 -0.04149976 0.00100294
+v 0.03397111 -0.04290475 0.00116590
+v 0.03342420 -0.04401994 0.00196897
+v 0.03299210 -0.04358523 0.00058123
+v 0.03089004 -0.04567436 0.00059634
+v 0.03216338 -0.04484714 0.00128182
+v 0.03677455 -0.03891540 0.00018643
+v 0.02732468 -0.04832658 -0.00030755
+v 0.02594488 -0.04908961 -0.00088381
+v 0.03133466 -0.04610540 0.00198240
+v 0.03021997 -0.04664648 0.00117429
+v 0.02918668 -0.04812667 0.00208487
+v 0.02881720 -0.04780935 0.00100291
+v 0.02197455 -0.05299824 0.00097938
+v 0.02651475 -0.04975174 0.00100291
+v 0.02547311 -0.05057896 0.00100290
+v 0.02397850 -0.05166479 0.00097938
+v 0.02465275 -0.05206099 0.00260233
+v 0.02397850 -0.05281667 0.00321051
+v 0.02378437 -0.05496818 0.00788110
+v 0.02620581 -0.05303129 0.00720404
+v 0.02733303 -0.05250305 0.00787103
+v 0.02605760 -0.05127412 0.00313659
+v 0.02656485 -0.05189776 0.00516275
+v 0.02741235 -0.05048726 0.00367085
+v 0.02813252 -0.05073122 0.00536940
+v 0.02921590 -0.05025250 0.00619937
+v 0.03592287 -0.04459039 0.00788114
+v 0.03498561 -0.04558818 0.00788113
+v 0.03484366 -0.04544145 0.00724270
+v 0.03350143 -0.04618795 0.00597425
+v 0.03435520 -0.04495355 0.00528878
+v 0.03374149 -0.04434459 0.00308286
+v 0.03490002 -0.04296712 0.00289805
+v 0.03269985 -0.04539191 0.00308285
+v 0.02777557 -0.04870626 0.00100291
+v 0.02697399 -0.05011492 0.00228312
+v 0.03165822 -0.04642088 0.00308285
+v 0.03100485 -0.04789741 0.00462010
+v 0.03028885 -0.04758558 0.00289972
+v 0.02829952 -0.04931155 0.00287787
+v 0.02961669 -0.04850634 0.00347261
+v 0.02733511 -0.05250488 0.00788111
+v 0.02946222 -0.05045977 0.00724268
+v 0.02960626 -0.05058266 0.00788111
+v 0.02880050 -0.04990217 0.00481331
+v 0.03010933 -0.04907862 0.00540973
+v 0.03140146 -0.04825874 0.00600784
+v 0.03050177 -0.04956652 0.00724269
+v 0.03434894 -0.04622464 0.00788113
+v 0.03380203 -0.04648326 0.00724270
+v 0.03226566 -0.04704268 0.00529718
+v 0.03312987 -0.04581928 0.00458651
+v 0.03064789 -0.04968941 0.00788112
+v 0.02992564 -0.05030936 0.00788112
+v 0.03169162 -0.04851920 0.00724269
+v 0.03273325 -0.04752875 0.00724270
+v 0.03223853 -0.04828076 0.00788112
+v 0.03394188 -0.04662450 0.00788113
+v 0.03287729 -0.04766998 0.00788112
+v 0.03188783 -0.04859624 0.00788112
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 36
+f 1 36 67
+f 1 67 66
+f 1 66 114
+f 1 114 163
+f 1 163 176
+f 1 176 126
+f 1 126 125
+f 1 125 124
+f 1 124 76
+f 1 76 75
+f 1 75 41
+f 1 41 40
+f 1 40 37
+f 1 37 19
+f 1 19 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 26
+f 2 26 25
+f 2 25 51
+f 2 51 89
+f 2 89 136
+f 2 136 95
+f 2 95 94
+f 2 94 93
+f 2 93 90
+f 2 90 52
+f 2 52 27
+f 2 27 13
+f 2 13 7
+f 2 7 4
+f 2 4 3
+f 4 7 15
+f 4 15 30
+f 4 30 29
+f 4 29 58
+f 4 58 98
+f 4 98 138
+f 4 138 142
+f 4 142 141
+f 4 141 104
+f 4 104 61
+f 4 61 31
+f 4 31 16
+f 4 16 8
+f 4 8 5
+f 5 8 16
+f 5 16 33
+f 5 33 64
+f 5 64 63
+f 5 63 108
+f 5 108 154
+f 5 154 189
+f 5 189 212
+f 5 212 214
+f 5 214 224
+f 5 224 223
+f 5 223 230
+f 5 230 227
+f 5 227 229
+f 5 229 228
+f 5 228 219
+f 5 219 198
+f 5 198 197
+f 5 197 160
+f 5 160 159
+f 5 159 158
+f 5 158 110
+f 5 110 65
+f 5 65 34
+f 5 34 17
+f 5 17 9
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 16 31 32
+f 16 32 33
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 19 37 20
+f 20 37 21
+f 21 38 39
+f 21 39 23
+f 21 23 22
+f 21 37 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 38
+f 23 39 38
+f 23 38 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 24
+f 24 49 50
+f 24 50 25
+f 25 50 51
+f 27 52 28
+f 28 53 54
+f 28 54 29
+f 28 52 55
+f 28 55 56
+f 28 56 57
+f 28 57 53
+f 29 54 59
+f 29 59 60
+f 29 60 58
+f 31 61 62
+f 31 62 32
+f 32 62 63
+f 32 63 64
+f 32 64 33
+f 34 65 35
+f 35 66 67
+f 35 67 36
+f 35 65 68
+f 35 68 69
+f 35 69 66
+f 38 44 43
+f 38 43 70
+f 38 70 71
+f 38 71 72
+f 38 72 73
+f 38 73 74
+f 38 74 46
+f 38 46 45
+f 41 75 42
+f 42 75 43
+f 43 71 70
+f 43 75 76
+f 43 76 77
+f 43 77 78
+f 43 78 79
+f 43 79 71
+f 46 80 81
+f 46 81 82
+f 46 82 48
+f 46 48 47
+f 46 74 83
+f 46 83 80
+f 48 82 84
+f 48 84 85
+f 48 85 86
+f 48 86 87
+f 48 87 88
+f 48 88 49
+f 49 88 50
+f 50 88 87
+f 50 87 89
+f 50 89 51
+f 52 90 55
+f 53 59 54
+f 53 57 91
+f 53 91 92
+f 53 92 59
+f 55 90 93
+f 55 93 56
+f 56 94 95
+f 56 95 87
+f 56 87 96
+f 56 96 85
+f 56 85 97
+f 56 97 91
+f 56 91 57
+f 56 93 94
+f 58 60 98
+f 59 99 100
+f 59 100 60
+f 59 92 101
+f 59 101 102
+f 59 102 103
+f 59 103 99
+f 60 100 98
+f 61 104 105
+f 61 105 62
+f 62 105 106
+f 62 106 107
+f 62 107 63
+f 63 107 109
+f 63 109 108
+f 65 110 111
+f 65 111 112
+f 65 112 68
+f 66 69 113
+f 66 113 114
+f 68 115 69
+f 68 112 115
+f 69 115 116
+f 69 116 117
+f 69 117 118
+f 69 118 113
+f 71 79 78
+f 71 78 119
+f 71 119 120
+f 71 120 121
+f 71 121 73
+f 71 73 72
+f 73 121 122
+f 73 122 123
+f 73 123 80
+f 73 80 83
+f 73 83 74
+f 76 124 77
+f 77 124 78
+f 78 125 126
+f 78 126 127
+f 78 127 119
+f 78 124 125
+f 80 128 129
+f 80 129 130
+f 80 130 81
+f 80 123 131
+f 80 131 128
+f 81 130 82
+f 82 130 132
+f 82 132 133
+f 82 133 134
+f 82 134 84
+f 84 134 85
+f 85 133 135
+f 85 135 91
+f 85 91 97
+f 85 96 87
+f 85 87 86
+f 85 134 133
+f 87 95 136
+f 87 136 89
+f 91 101 92
+f 91 135 137
+f 91 137 101
+f 98 100 138
+f 99 103 102
+f 99 102 139
+f 99 139 100
+f 100 139 140
+f 100 140 105
+f 100 105 141
+f 100 141 142
+f 100 142 138
+f 101 137 143
+f 101 143 102
+f 102 143 144
+f 102 144 145
+f 102 145 146
+f 102 146 147
+f 102 147 148
+f 102 148 139
+f 104 141 105
+f 105 140 139
+f 105 139 149
+f 105 149 106
+f 106 149 150
+f 106 150 151
+f 106 151 109
+f 106 109 152
+f 106 152 107
+f 107 152 109
+f 108 109 153
+f 108 153 154
+f 109 151 155
+f 109 155 156
+f 109 156 157
+f 109 157 153
+f 110 158 111
+f 111 158 159
+f 111 159 160
+f 111 160 161
+f 111 161 162
+f 111 162 115
+f 111 115 112
+f 113 163 114
+f 113 118 164
+f 113 164 127
+f 113 127 165
+f 113 165 163
+f 115 162 166
+f 115 166 167
+f 115 167 116
+f 116 167 117
+f 117 168 169
+f 117 169 164
+f 117 164 118
+f 117 167 168
+f 119 127 120
+f 120 127 170
+f 120 170 169
+f 120 169 171
+f 120 171 172
+f 120 172 173
+f 120 173 121
+f 121 173 122
+f 122 174 123
+f 122 173 175
+f 122 175 174
+f 123 174 131
+f 126 176 165
+f 126 165 127
+f 127 169 170
+f 127 164 169
+f 128 131 177
+f 128 177 129
+f 129 178 144
+f 129 144 132
+f 129 132 130
+f 129 177 178
+f 131 174 179
+f 131 179 180
+f 131 180 181
+f 131 181 182
+f 131 182 177
+f 132 144 133
+f 133 144 143
+f 133 143 137
+f 133 137 135
+f 139 148 183
+f 139 183 149
+f 144 178 146
+f 144 146 145
+f 146 178 177
+f 146 177 184
+f 146 184 185
+f 146 185 186
+f 146 186 148
+f 146 148 147
+f 148 186 150
+f 148 150 183
+f 149 183 150
+f 150 186 187
+f 150 187 155
+f 150 155 188
+f 150 188 151
+f 151 188 155
+f 153 189 154
+f 153 157 190
+f 153 190 191
+f 153 191 189
+f 155 187 192
+f 155 192 193
+f 155 193 156
+f 156 193 157
+f 157 194 195
+f 157 195 196
+f 157 196 191
+f 157 191 190
+f 157 193 194
+f 160 197 161
+f 161 166 162
+f 161 197 198
+f 161 198 199
+f 161 199 166
+f 163 165 176
+f 166 168 167
+f 166 199 200
+f 166 200 201
+f 166 201 168
+f 168 201 202
+f 168 202 172
+f 168 172 203
+f 168 203 169
+f 169 203 171
+f 171 203 172
+f 172 204 179
+f 172 179 175
+f 172 175 173
+f 172 202 204
+f 174 175 179
+f 177 182 181
+f 177 181 205
+f 177 205 206
+f 177 206 184
+f 179 207 208
+f 179 208 209
+f 179 209 181
+f 179 181 180
+f 179 204 207
+f 181 210 206
+f 181 206 205
+f 181 209 208
+f 181 208 211
+f 181 211 210
+f 184 206 185
+f 185 187 186
+f 185 206 192
+f 185 192 187
+f 189 191 212
+f 191 196 213
+f 191 213 214
+f 191 214 212
+f 192 206 194
+f 192 194 193
+f 194 206 210
+f 194 210 211
+f 194 211 215
+f 194 215 196
+f 194 196 195
+f 196 215 216
+f 196 216 217
+f 196 217 218
+f 196 218 213
+f 198 219 220
+f 198 220 199
+f 199 220 200
+f 200 221 222
+f 200 222 201
+f 200 220 217
+f 200 217 221
+f 201 222 202
+f 202 222 204
+f 204 222 207
+f 207 222 208
+f 208 222 221
+f 208 221 217
+f 208 217 216
+f 208 216 211
+f 211 216 215
+f 213 218 223
+f 213 223 224
+f 213 224 214
+f 217 225 218
+f 217 220 226
+f 217 226 227
+f 217 227 225
+f 218 225 223
+f 219 228 220
+f 220 228 229
+f 220 229 226
+f 223 225 230
+f 225 227 230
+f 226 229 227
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_35.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01771218 0.02611335 -0.02610891
+v -0.01771218 0.02611334 -0.02355490
+v -0.01764635 0.02611335 -0.02613511
+v -0.01718400 0.02360781 -0.02729682
+v -0.01771218 0.02330970 -0.02716493
+v -0.01771218 0.01402924 -0.02638060
+v -0.00170232 0.02611335 -0.02670635
+v -0.01564022 0.02611335 -0.02682602
+v -0.01514653 0.02557746 -0.02728023
+v -0.01653514 0.02500254 -0.02699286
+v -0.01771218 0.02226158 -0.02753005
+v -0.01573739 0.02419811 -0.02759031
+v -0.01452274 0.02088106 -0.02913722
+v -0.01771218 0.01402925 -0.02890229
+v -0.00170232 0.01402925 -0.03046928
+v -0.00170232 0.02611336 -0.02915555
+v -0.01378298 0.02611335 -0.02746539
+v -0.01093835 0.02337240 -0.02929880
+v -0.01313256 0.02150212 -0.02935996
+v -0.01771218 0.02204983 -0.02759643
+v -0.01369522 0.02005179 -0.02962550
+v -0.01504465 0.01948632 -0.02933813
+v -0.01771218 0.01408367 -0.02890229
+v -0.01692226 0.01402925 -0.02929273
+v -0.00170232 0.01402926 -0.03247825
+v -0.00189509 0.02611336 -0.02915729
+v -0.00170232 0.02601281 -0.02921145
+v -0.01351654 0.02611335 -0.02754051
+v -0.01154489 0.02209834 -0.02959317
+v -0.01342094 0.02611335 -0.02756497
+v -0.01141481 0.02611335 -0.02802965
+v -0.01138346 0.02611335 -0.02803664
+v -0.00828650 0.02508299 -0.02915643
+v -0.00933188 0.02379946 -0.02946913
+v -0.00933188 0.02194573 -0.03009017
+v -0.01771218 0.02197648 -0.02761652
+v -0.00841658 0.01889720 -0.03126324
+v -0.01053399 0.01691572 -0.03128247
+v -0.01567627 0.01774853 -0.02949361
+v -0.01676397 0.01704229 -0.02921847
+v -0.01771218 0.01990745 -0.02813974
+v -0.01771218 0.01566886 -0.02889529
+v -0.01690816 0.01566886 -0.02928224
+v -0.01586748 0.01402925 -0.02974606
+v -0.00170232 0.01566887 -0.03242321
+v -0.00308153 0.01402926 -0.03247126
+v -0.00308153 0.01566887 -0.03241797
+v -0.00229005 0.02611336 -0.02916079
+v -0.00170232 0.02566028 -0.02940711
+v -0.00931307 0.02611335 -0.02846813
+v -0.00749815 0.02611336 -0.02879568
+v -0.00689631 0.02531603 -0.02925688
+v -0.00745427 0.02424662 -0.02960452
+v -0.00724895 0.01923081 -0.03136020
+v -0.00920023 0.01767283 -0.03138990
+v -0.00724895 0.01776155 -0.03171919
+v -0.01084431 0.01566887 -0.03137156
+v -0.00724895 0.01566887 -0.03210702
+v -0.00933188 0.01566887 -0.03172356
+v -0.01558066 0.01566886 -0.02981680
+v -0.01771218 0.01594568 -0.02886822
+v -0.01771218 0.01774972 -0.02861752
+v -0.01771218 0.01789759 -0.02858870
+v -0.01771218 0.01985067 -0.02815284
+v -0.01558066 0.01402925 -0.02986135
+v -0.00170232 0.01637511 -0.03232800
+v -0.00516446 0.01402926 -0.03242671
+v -0.00308153 0.01776155 -0.03213408
+v -0.00516446 0.01566887 -0.03233587
+v -0.00308153 0.02567448 -0.02940973
+v -0.00308153 0.02611336 -0.02916603
+v -0.00170232 0.02093547 -0.03125187
+v -0.00744957 0.02611336 -0.02880267
+v -0.00516446 0.02554435 -0.02935296
+v -0.00516446 0.02403842 -0.02994342
+v -0.00398742 0.02088934 -0.03122218
+v -0.00516446 0.01967916 -0.03149820
+v -0.00516446 0.01776155 -0.03199608
+v -0.00965944 0.01402926 -0.03179345
+v -0.01105120 0.01402926 -0.03143970
+v -0.00724895 0.01402926 -0.03224678
+v -0.00933188 0.01402926 -0.03186944
+v -0.00170232 0.01776155 -0.03213932
+v -0.00320848 0.02005771 -0.03150694
+v -0.00170232 0.01849264 -0.03194017
+v -0.00259724 0.02093547 -0.03125187
+v -0.00407833 0.02611336 -0.02912061
+v -0.00170232 0.02005653 -0.03150781
+v -0.00516446 0.02611336 -0.02905510
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 48
+f 1 48 71
+f 1 71 87
+f 1 87 89
+f 1 89 73
+f 1 73 51
+f 1 51 50
+f 1 50 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 36
+f 1 36 41
+f 1 41 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 42
+f 1 42 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 9
+f 4 9 12
+f 4 12 13
+f 4 13 11
+f 6 14 24
+f 6 24 44
+f 6 44 65
+f 6 65 80
+f 6 80 79
+f 6 79 82
+f 6 82 81
+f 6 81 67
+f 6 67 46
+f 6 46 25
+f 6 25 15
+f 6 15 7
+f 7 15 25
+f 7 25 45
+f 7 45 66
+f 7 66 83
+f 7 83 85
+f 7 85 88
+f 7 88 72
+f 7 72 49
+f 7 49 27
+f 7 27 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 12
+f 11 13 20
+f 12 19 13
+f 13 19 21
+f 13 21 22
+f 13 22 20
+f 14 23 24
+f 16 27 26
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 29
+f 19 29 21
+f 20 22 36
+f 21 29 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 36
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 25 46 47
+f 25 47 45
+f 26 27 48
+f 27 49 48
+f 29 35 37
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 54 37
+f 37 55 38
+f 37 54 56
+f 37 56 55
+f 38 57 39
+f 38 55 58
+f 38 58 59
+f 38 59 57
+f 39 57 60
+f 39 60 40
+f 40 43 42
+f 40 42 61
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 40 60 43
+f 43 60 44
+f 44 60 65
+f 45 47 66
+f 46 67 47
+f 47 68 66
+f 47 67 69
+f 47 69 68
+f 48 49 70
+f 48 70 71
+f 49 72 70
+f 51 73 52
+f 52 74 75
+f 52 75 53
+f 52 73 74
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 54 77 78
+f 54 78 56
+f 55 56 58
+f 56 78 58
+f 57 59 79
+f 57 79 80
+f 57 80 60
+f 58 81 82
+f 58 82 59
+f 58 78 69
+f 58 69 81
+f 59 82 79
+f 60 80 65
+f 66 68 83
+f 67 81 69
+f 68 84 85
+f 68 85 83
+f 68 69 78
+f 68 78 77
+f 68 77 84
+f 70 86 76
+f 70 76 75
+f 70 75 74
+f 70 74 87
+f 70 87 71
+f 70 72 86
+f 72 88 86
+f 73 89 74
+f 74 89 87
+f 76 86 84
+f 76 84 77
+f 84 86 88
+f 84 88 85
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_36.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03115649 -0.01396860 -0.01719258
+v 0.03044439 -0.01396859 -0.01790942
+v 0.02855066 -0.00009393 -0.01719253
+v 0.02781369 -0.01396860 -0.01719258
+v 0.02940268 -0.01396859 -0.01894202
+v 0.02717312 -0.00009392 -0.01848553
+v 0.02481295 -0.00009393 -0.01719253
+v 0.01705144 -0.01396857 -0.02519302
+v 0.02332346 -0.00524940 -0.01719255
+v -0.00061096 -0.01354753 -0.03052514
+v 0.02756803 -0.01396858 -0.02060766
+v 0.02700520 -0.00009392 -0.01864117
+v 0.02411951 -0.00110438 -0.01719253
+v -0.00061096 -0.00009389 -0.02793610
+v 0.02150125 -0.01396857 -0.02519302
+v -0.00061096 -0.01354752 -0.03247811
+v 0.02304049 -0.00317281 -0.01719254
+v -0.00061096 -0.00107446 -0.02774904
+v -0.00061096 -0.00316734 -0.02801543
+v 0.02722598 -0.01396858 -0.02091594
+v 0.02685283 -0.00009392 -0.01877436
+v -0.00061096 -0.00009388 -0.03021082
+v 0.01313027 -0.01354753 -0.02938778
+v 0.01738106 -0.01354754 -0.02746325
+v 0.01743703 -0.01354754 -0.02743631
+v 0.02130534 -0.01354755 -0.02526784
+v 0.02143906 -0.01362904 -0.02519302
+v 0.02235949 -0.01362904 -0.02458992
+v 0.02227242 -0.01396857 -0.02468719
+v 0.00100602 -0.01354752 -0.03245566
+v 0.00108998 -0.01354752 -0.03245417
+v 0.00309255 -0.01354752 -0.03231649
+v 0.00317029 -0.01354752 -0.03230751
+v 0.00517597 -0.01354752 -0.03194834
+v 0.00525682 -0.01354752 -0.03193188
+v 0.00697330 -0.01354752 -0.03147544
+v 0.00702928 -0.01354752 -0.03146047
+v 0.01150396 -0.01354753 -0.02998340
+v -0.00061096 -0.01192455 -0.03244967
+v 0.02686527 -0.01396858 -0.02120627
+v 0.02506482 -0.00009392 -0.02025293
+v -0.00061096 -0.00773879 -0.03191989
+v 0.00108998 -0.00009388 -0.03024973
+v 0.01150396 -0.01153614 -0.02976490
+v 0.01282242 -0.01153614 -0.02926805
+v 0.01331995 -0.00009389 -0.02744524
+v 0.01408491 -0.00009389 -0.02707111
+v 0.01712296 -0.01153615 -0.02728964
+v 0.01735929 -0.00009390 -0.02534112
+v 0.01790658 -0.00009390 -0.02502536
+v 0.01895761 -0.00009390 -0.02438185
+v 0.02089799 -0.00009390 -0.02316517
+v 0.02107835 -0.00009391 -0.02304994
+v 0.02423457 -0.00009391 -0.02088596
+v 0.02379612 -0.01362904 -0.02354983
+v 0.02386142 -0.01396857 -0.02354833
+v 0.02266112 -0.01396857 -0.02441632
+v 0.02239059 -0.01396857 -0.02460788
+v 0.02119029 -0.00009391 -0.02297362
+v -0.00061096 -0.01153613 -0.03243919
+v 0.00108998 -0.01153613 -0.03239280
+v 0.00317029 -0.01153613 -0.03216533
+v 0.00525682 -0.01153613 -0.03173133
+v 0.00668411 -0.01153613 -0.03135571
+v 0.02488447 -0.01396858 -0.02277014
+v 0.02462637 -0.00009391 -0.02059264
+v -0.00061096 -0.00944325 -0.03226559
+v 0.00317029 -0.00009388 -0.03013151
+v 0.00867735 -0.00009388 -0.02924556
+v 0.00887014 -0.00009388 -0.02917672
+v 0.01050267 -0.00009389 -0.02857512
+v 0.01155682 -0.00009389 -0.02816357
+v 0.01257365 -0.00009389 -0.02775502
+v 0.01471926 -0.00009389 -0.02674038
+v 0.01669073 -0.00009390 -0.02570179
+v -0.00061096 -0.00983167 -0.03231049
+v 0.00108998 -0.00944325 -0.03215035
+v 0.00317029 -0.00944325 -0.03182860
+v 0.00734023 -0.00009388 -0.02956432
+v 0.00849700 -0.00009388 -0.02929196
+v 0.00639803 -0.01034641 -0.03126891
+v 0.00529413 -0.00009388 -0.02990254
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 29
+f 1 29 58
+f 1 58 57
+f 1 57 56
+f 1 56 65
+f 1 65 40
+f 1 40 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 21
+f 3 21 41
+f 3 41 66
+f 3 66 54
+f 3 54 59
+f 3 59 53
+f 3 53 52
+f 3 52 51
+f 3 51 50
+f 3 50 49
+f 3 49 75
+f 3 75 74
+f 3 74 47
+f 3 47 46
+f 3 46 73
+f 3 73 72
+f 3 72 71
+f 3 71 70
+f 3 70 69
+f 3 69 80
+f 3 80 79
+f 3 79 82
+f 3 82 68
+f 3 68 43
+f 3 43 22
+f 3 22 14
+f 3 14 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 7 14 13
+f 8 10 16
+f 8 16 15
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 18
+f 10 18 14
+f 10 14 22
+f 10 22 42
+f 10 42 67
+f 10 67 76
+f 10 76 60
+f 10 60 39
+f 10 39 16
+f 11 20 12
+f 12 20 21
+f 13 14 17
+f 14 18 17
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 16 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 23
+f 16 39 30
+f 20 40 41
+f 20 41 21
+f 22 43 42
+f 23 38 44
+f 23 44 45
+f 23 45 24
+f 24 45 46
+f 24 46 25
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 26
+f 26 50 51
+f 26 51 52
+f 26 52 53
+f 26 53 28
+f 26 28 27
+f 26 49 50
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 58
+f 28 58 29
+f 28 53 59
+f 28 59 54
+f 30 39 31
+f 31 39 60
+f 31 60 61
+f 31 61 32
+f 32 61 62
+f 32 62 33
+f 33 62 34
+f 34 62 35
+f 35 62 63
+f 35 63 64
+f 35 64 36
+f 36 64 37
+f 37 64 44
+f 37 44 38
+f 40 65 41
+f 41 65 66
+f 42 43 68
+f 42 68 67
+f 44 64 69
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 47 74 48
+f 48 74 75
+f 48 75 49
+f 54 66 55
+f 55 66 65
+f 55 65 56
+f 60 76 61
+f 61 77 62
+f 61 76 67
+f 61 67 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 80
+f 63 80 69
+f 63 69 81
+f 63 81 64
+f 64 81 69
+f 67 68 77
+f 68 82 77
+f 77 82 78
+f 78 82 79
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_37.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.02304336 0.00102024 -0.01767360
+v -0.02321350 0.00141973 -0.01767359
+v -0.02309501 -0.00009393 -0.01767360
+v -0.00170307 -0.00009389 -0.02788544
+v -0.00170307 0.00102028 -0.02804120
+v -0.00170307 0.01402807 -0.03046928
+v -0.02959979 0.01402802 -0.01767355
+v -0.02638842 -0.00009393 -0.01767360
+v -0.00170307 -0.00009388 -0.03015490
+v -0.00170307 0.01402808 -0.03247671
+v -0.03273825 0.01402802 -0.01767355
+v -0.03113712 0.00938890 -0.01767357
+v -0.02637627 -0.00009392 -0.01769981
+v -0.00308241 -0.00009388 -0.03008793
+v -0.00170307 0.00348777 -0.03151598
+v -0.00170307 0.01357467 -0.03249272
+v -0.00308241 0.01402808 -0.03247089
+v -0.03151689 0.01402803 -0.01908269
+v -0.03147740 0.01357462 -0.01904338
+v -0.03261976 0.01341565 -0.01767355
+v -0.03184198 0.01106153 -0.01767356
+v -0.03104901 0.01085833 -0.01858339
+v -0.03070874 0.00938891 -0.01818162
+v -0.02588104 -0.00009392 -0.01827190
+v -0.00308241 0.00364121 -0.03146066
+v -0.00516661 -0.00009388 -0.02989869
+v -0.00170307 0.00401582 -0.03170668
+v -0.00170307 0.01218957 -0.03252913
+v -0.00308241 0.01357467 -0.03248545
+v -0.00516661 0.01357467 -0.03245051
+v -0.00516661 0.01402808 -0.03242576
+v -0.03072089 0.01402803 -0.01989788
+v -0.03046264 0.01357462 -0.02008422
+v -0.02924432 0.01219783 -0.02096202
+v -0.03130118 0.01225311 -0.01886287
+v -0.03203339 0.01152046 -0.01767356
+v -0.03014667 0.01152738 -0.01977998
+v -0.02897696 0.01080305 -0.02069563
+v -0.02866099 0.00938891 -0.02036810
+v -0.02966663 0.00938891 -0.01932726
+v -0.02931420 0.00798722 -0.01896770
+v -0.02522175 -0.00009392 -0.01902159
+v -0.00308241 0.00520601 -0.03202256
+v -0.00735715 -0.00009388 -0.02950128
+v -0.00532764 0.00502216 -0.03163825
+v -0.00474127 0.00390385 -0.03134857
+v -0.00170307 0.00520601 -0.03210844
+v -0.00170307 0.01148182 -0.03254368
+v -0.00308241 0.01148182 -0.03252767
+v -0.00516661 0.01148182 -0.03246799
+v -0.00725082 0.01357467 -0.03228456
+v -0.00725082 0.01402808 -0.03224525
+v -0.03049910 0.01402803 -0.02012207
+v -0.02942054 0.01357463 -0.02112796
+v -0.02710847 0.01234988 -0.02297963
+v -0.02804120 0.01157716 -0.02184710
+v -0.02682592 0.01095649 -0.02273363
+v -0.02761889 0.00938892 -0.02138273
+v -0.02726342 0.00794853 -0.02105665
+v -0.02512149 0.00804805 -0.02305826
+v -0.02190708 -0.00009391 -0.02193448
+v -0.00516661 0.00729610 -0.03223508
+v -0.00308241 0.00729610 -0.03242432
+v -0.00843875 0.00611005 -0.03128305
+v -0.00725082 0.00565527 -0.03143008
+v -0.01013407 -0.00009388 -0.02871811
+v -0.00725082 0.00729610 -0.03185223
+v -0.00170307 0.00591377 -0.03224383
+v -0.00170307 0.01009533 -0.03253495
+v -0.00308241 0.00938896 -0.03251312
+v -0.00516661 0.00938896 -0.03243451
+v -0.00725082 0.01148182 -0.03229184
+v -0.00933502 0.01357467 -0.03190898
+v -0.00933502 0.01402808 -0.03186968
+v -0.02945700 0.01402804 -0.02116145
+v -0.02829337 0.01357463 -0.02216734
+v -0.02544050 0.00938893 -0.02332029
+v -0.02725127 0.01357463 -0.02310046
+v -0.02484805 0.01357464 -0.02489826
+v -0.02454119 0.01148179 -0.02467555
+v -0.02381507 0.00924379 -0.02453872
+v -0.02387583 0.00919679 -0.02447758
+v -0.02648260 0.00938892 -0.02242211
+v -0.02286107 0.00837015 -0.02498417
+v -0.01984110 -0.00009390 -0.02364058
+v -0.00725082 0.00938896 -0.03217685
+v -0.00170307 0.00800248 -0.03248983
+v -0.00170307 0.00729610 -0.03245926
+v -0.01136150 -0.00009389 -0.02836437
+v -0.01141922 0.00520600 -0.02995690
+v -0.01299301 0.00520600 -0.02938771
+v -0.01034978 0.00838814 -0.03120298
+v -0.00890663 0.00729610 -0.03141988
+v -0.00952643 0.00920787 -0.03159457
+v -0.00170307 0.00938896 -0.03252914
+v -0.00933502 0.01148182 -0.03189007
+v -0.01111236 0.01357467 -0.03145771
+v -0.01105464 0.01402808 -0.03144024
+v -0.00966315 0.01402808 -0.03179252
+v -0.02832983 0.01402804 -0.02220082
+v -0.02375430 0.00909587 -0.02453872
+v -0.02728772 0.01402804 -0.02313103
+v -0.02489363 0.01402805 -0.02494193
+v -0.02380595 0.01357464 -0.02558245
+v -0.02349909 0.01148179 -0.02540486
+v -0.02315578 0.00976354 -0.02518942
+v -0.02150604 0.00729607 -0.02548057
+v -0.01832505 -0.00009390 -0.02473527
+v -0.02040013 0.00938894 -0.02680236
+v -0.01935803 0.00938894 -0.02745161
+v -0.01899041 0.00782967 -0.02724344
+v -0.01353381 -0.00009389 -0.02749822
+v -0.01254943 0.00404484 -0.02919848
+v -0.01489492 0.00775918 -0.02931783
+v -0.01366141 0.00715509 -0.02966720
+v -0.01532331 0.00938895 -0.02950125
+v -0.01069917 0.00978431 -0.03134272
+v -0.01100299 0.01148182 -0.03143589
+v -0.01558155 0.01357466 -0.02987244
+v -0.01558155 0.01402807 -0.02986079
+v -0.02388191 0.01402805 -0.02556935
+v -0.02258156 0.01402806 -0.02636126
+v -0.02209545 0.01357465 -0.02662183
+v -0.02091359 0.01215361 -0.02715026
+v -0.01971046 0.00719655 -0.02656508
+v -0.01728294 -0.00009390 -0.02541655
+v -0.01783590 -0.00009390 -0.02505553
+v -0.01662062 0.01044367 -0.02915478
+v -0.01988668 0.01146659 -0.02758261
+v -0.01780551 0.00719655 -0.02765832
+v -0.01713711 0.00520599 -0.02736427
+v -0.01547825 -0.00009389 -0.02645884
+v -0.01578815 0.01127722 -0.02961187
+v -0.01679076 0.01183707 -0.02923630
+v -0.01692747 0.01357466 -0.02929597
+v -0.01587018 0.01402807 -0.02974579
+v -0.02211368 0.01402806 -0.02663639
+v -0.02105335 0.01357465 -0.02723032
+v -0.01755334 0.01127722 -0.02878503
+v -0.01974692 0.01357465 -0.02789121
+v -0.01796654 0.01357466 -0.02877920
+v -0.01692444 0.01402807 -0.02929161
+v -0.02004466 0.01402806 -0.02775583
+v -0.01835239 0.01402807 -0.02859432
+v -0.02107157 0.01402806 -0.02723905
+f 1 2 7
+f 1 7 11
+f 1 11 20
+f 1 20 36
+f 1 36 21
+f 1 21 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 13
+f 3 13 24
+f 3 24 42
+f 3 42 61
+f 3 61 85
+f 3 85 108
+f 3 108 127
+f 3 127 126
+f 3 126 132
+f 3 132 112
+f 3 112 89
+f 3 89 66
+f 3 66 44
+f 3 44 26
+f 3 26 14
+f 3 14 9
+f 3 9 4
+f 4 9 15
+f 4 15 27
+f 4 27 47
+f 4 47 68
+f 4 68 88
+f 4 88 87
+f 4 87 95
+f 4 95 69
+f 4 69 48
+f 4 48 28
+f 4 28 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 6 10 17
+f 6 17 31
+f 6 31 52
+f 6 52 74
+f 6 74 99
+f 6 99 98
+f 6 98 120
+f 6 120 136
+f 6 136 142
+f 6 142 144
+f 6 144 143
+f 6 143 145
+f 6 145 137
+f 6 137 122
+f 6 122 121
+f 6 121 103
+f 6 103 102
+f 6 102 100
+f 6 100 75
+f 6 75 53
+f 6 53 32
+f 6 32 18
+f 6 18 11
+f 6 11 7
+f 8 12 13
+f 9 14 15
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 25 15
+f 14 26 25
+f 15 25 27
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 21 36 22
+f 22 36 35
+f 22 35 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 25 26 43
+f 25 43 27
+f 26 44 45
+f 26 45 46
+f 26 46 43
+f 27 43 47
+f 28 48 29
+f 29 49 30
+f 29 48 49
+f 30 50 51
+f 30 51 31
+f 30 49 50
+f 31 51 52
+f 32 53 33
+f 33 53 54
+f 33 54 34
+f 34 55 56
+f 34 56 38
+f 34 38 37
+f 34 37 35
+f 34 54 55
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 59
+f 39 59 42
+f 39 42 41
+f 39 41 40
+f 42 60 61
+f 42 59 60
+f 43 46 45
+f 43 45 62
+f 43 62 63
+f 43 63 47
+f 44 64 65
+f 44 65 45
+f 44 66 64
+f 45 65 67
+f 45 67 62
+f 47 63 68
+f 48 69 49
+f 49 69 70
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 73
+f 51 73 74
+f 51 74 52
+f 53 75 54
+f 54 75 100
+f 54 100 76
+f 54 76 55
+f 55 77 57
+f 55 57 56
+f 55 76 78
+f 55 78 79
+f 55 79 80
+f 55 80 81
+f 55 81 82
+f 55 82 77
+f 57 77 83
+f 57 83 58
+f 58 83 59
+f 59 83 60
+f 60 84 85
+f 60 85 61
+f 60 83 77
+f 60 77 84
+f 62 67 86
+f 62 86 71
+f 62 71 63
+f 63 87 88
+f 63 88 68
+f 63 71 70
+f 63 70 87
+f 64 66 89
+f 64 89 90
+f 64 90 91
+f 64 91 92
+f 64 92 93
+f 64 93 67
+f 64 67 65
+f 67 93 94
+f 67 94 86
+f 69 95 70
+f 70 95 87
+f 71 86 72
+f 72 86 96
+f 72 96 73
+f 73 96 97
+f 73 97 98
+f 73 98 99
+f 73 99 74
+f 76 100 78
+f 77 82 101
+f 77 101 84
+f 78 100 102
+f 78 102 103
+f 78 103 79
+f 79 103 104
+f 79 104 105
+f 79 105 80
+f 80 105 106
+f 80 106 81
+f 81 106 84
+f 81 84 101
+f 81 101 82
+f 84 107 108
+f 84 108 85
+f 84 106 109
+f 84 109 110
+f 84 110 111
+f 84 111 107
+f 86 94 96
+f 89 112 113
+f 89 113 90
+f 90 113 91
+f 91 112 114
+f 91 114 115
+f 91 115 92
+f 91 113 112
+f 92 115 116
+f 92 116 117
+f 92 117 94
+f 92 94 93
+f 94 117 96
+f 96 117 118
+f 96 118 97
+f 97 118 119
+f 97 119 120
+f 97 120 98
+f 103 121 104
+f 104 121 122
+f 104 122 123
+f 104 123 124
+f 104 124 105
+f 105 124 110
+f 105 110 106
+f 106 110 109
+f 107 111 125
+f 107 125 126
+f 107 126 127
+f 107 127 108
+f 110 128 111
+f 110 124 129
+f 110 129 128
+f 111 128 114
+f 111 114 130
+f 111 130 131
+f 111 131 132
+f 111 132 126
+f 111 126 125
+f 112 132 131
+f 112 131 114
+f 114 131 130
+f 114 128 116
+f 114 116 115
+f 116 128 133
+f 116 133 117
+f 117 133 118
+f 118 133 119
+f 119 133 134
+f 119 134 135
+f 119 135 136
+f 119 136 120
+f 122 137 123
+f 123 137 138
+f 123 138 124
+f 124 138 139
+f 124 139 128
+f 124 128 129
+f 128 139 134
+f 128 134 133
+f 134 139 138
+f 134 138 140
+f 134 140 141
+f 134 141 135
+f 135 142 136
+f 135 141 143
+f 135 143 144
+f 135 144 142
+f 137 145 138
+f 138 145 140
+f 140 145 143
+f 140 143 141
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_38.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00690423 0.03946660 0.02930142
+v -0.00800995 0.03946661 0.02640447
+v -0.00699587 0.04241074 0.02930144
+v -0.02225059 0.03946660 0.02930142
+v -0.00701991 0.04287335 0.02930144
+v -0.00819924 0.03946661 0.02601789
+v -0.00920581 0.04078076 0.02388657
+v -0.00927942 0.04287337 0.02388658
+v -0.02225059 0.04217279 0.02930143
+v -0.02225059 0.03946661 0.02702915
+v -0.00823830 0.04400874 0.02684923
+v -0.00744657 0.04489650 0.02930144
+v -0.00936055 0.03946662 0.02388656
+v -0.00995097 0.04078077 0.02242988
+v -0.01002909 0.04287338 0.02247642
+v -0.01022289 0.04407217 0.02267963
+v -0.02225059 0.03954572 0.02707159
+v -0.02161360 0.04285402 0.02930144
+v -0.02099163 0.03995640 0.02473295
+v -0.02128759 0.03946662 0.02520846
+v -0.00933200 0.04562001 0.02930145
+v -0.01008618 0.03946663 0.02257767
+v -0.01141574 0.04287338 0.02231221
+v -0.01558022 0.04137805 0.02243741
+v -0.01141574 0.04413256 0.02259547
+v -0.01141574 0.04451665 0.02388658
+v -0.01716218 0.04475397 0.02930144
+v -0.01282493 0.04405103 0.02267827
+v -0.01718922 0.04213840 0.02256604
+v -0.02099163 0.03946662 0.02473294
+v -0.01322005 0.04563571 0.02930145
+v -0.01088692 0.03946663 0.02260161
+v -0.01558022 0.04240895 0.02243742
+v -0.01718922 0.04145838 0.02256604
+v -0.01532783 0.04537360 0.02930145
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 21
+f 1 21 31
+f 1 31 35
+f 1 35 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 30
+f 1 30 32
+f 1 32 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 4 9 17
+f 4 17 10
+f 5 11 12
+f 5 8 11
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 11
+f 9 18 19
+f 9 19 17
+f 10 17 19
+f 10 19 20
+f 11 16 12
+f 12 16 21
+f 13 22 14
+f 14 23 15
+f 14 22 24
+f 14 24 23
+f 15 23 16
+f 16 23 25
+f 16 25 26
+f 16 26 21
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 30 20
+f 19 29 34
+f 19 34 30
+f 21 26 31
+f 22 32 24
+f 23 24 33
+f 23 33 25
+f 24 32 34
+f 24 34 29
+f 24 29 33
+f 25 33 28
+f 25 28 26
+f 26 28 31
+f 27 35 28
+f 28 33 29
+f 28 35 31
+f 30 34 32
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_39.obj

@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.03805663 0.02611327 -0.00582497
+v -0.04074072 0.02611327 -0.00582497
+v -0.03808438 0.01437101 -0.00582502
+v -0.01771218 0.02611334 -0.02355310
+v -0.04003791 0.02611328 -0.00702914
+v -0.04107132 0.02431769 -0.00582498
+v -0.04067598 0.01437101 -0.00582502
+v -0.02959981 0.01402920 -0.01767239
+v -0.01771218 0.01402924 -0.02637944
+v -0.01771218 0.02611335 -0.02610829
+v -0.04001941 0.02611328 -0.00706076
+v -0.04111755 0.02404681 -0.00582498
+v -0.04011420 0.02412844 -0.00749455
+v -0.04071760 0.01454607 -0.00582502
+v -0.04064824 0.01437101 -0.00588376
+v -0.03273934 0.01402920 -0.01767239
+v -0.01771218 0.01402925 -0.02890074
+v -0.01771218 0.02330879 -0.02716335
+v -0.01970732 0.02606958 -0.02536274
+v -0.01968651 0.02611334 -0.02535370
+v -0.03932123 0.02611328 -0.00808645
+v -0.03945994 0.02488784 -0.00830561
+v -0.03962870 0.02349206 -0.00849538
+v -0.03970962 0.02194606 -0.00863095
+v -0.04129325 0.02194605 -0.00582499
+v -0.04097653 0.01564377 -0.00582501
+v -0.03948537 0.01473179 -0.00832146
+v -0.03997780 0.01437102 -0.00718959
+v -0.03943451 0.01437102 -0.00822432
+v -0.03779539 0.01437103 -0.01093990
+v -0.03735614 0.01437103 -0.01158604
+v -0.03533094 0.01437104 -0.01454788
+v -0.03349069 0.01437105 -0.01692007
+v -0.03151866 0.01402921 -0.01907989
+v -0.01835488 0.01402925 -0.02859348
+v -0.01975125 0.01566987 -0.02792700
+v -0.01771218 0.01566988 -0.02889395
+v -0.01771218 0.02226077 -0.02752710
+v -0.02098579 0.02533265 -0.02509390
+v -0.01974894 0.02611334 -0.02532659
+v -0.03759426 0.02611329 -0.01061678
+v -0.03783470 0.02403737 -0.01094212
+v -0.03896289 0.02412844 -0.00927256
+v -0.03799190 0.02194607 -0.01116805
+v -0.03903456 0.02194607 -0.00967019
+v -0.03911547 0.01985477 -0.00977638
+v -0.03976973 0.01985476 -0.00873488
+v -0.04133024 0.01985475 -0.00582500
+v -0.04122621 0.01776227 -0.00582500
+v -0.03964720 0.01612757 -0.00854286
+v -0.04007952 0.01552667 -0.00750361
+v -0.03906230 0.01552667 -0.00930196
+v -0.03794335 0.01566863 -0.01115000
+v -0.03537024 0.01463363 -0.01459533
+v -0.03478996 0.01546638 -0.01551256
+v -0.03360628 0.01566865 -0.01705335
+v -0.03269772 0.01566984 -0.01809260
+v -0.03072107 0.01402921 -0.01989547
+v -0.03165738 0.01566984 -0.01921995
+v -0.02004948 0.01402924 -0.02775531
+v -0.02113375 0.01566987 -0.02726505
+v -0.02098579 0.01776235 -0.02717919
+v -0.01771218 0.01594667 -0.02886684
+v -0.01975125 0.01776235 -0.02775303
+v -0.01771218 0.02204904 -0.02759487
+v -0.01779541 0.02205259 -0.02756325
+v -0.02143660 0.02403742 -0.02531983
+v -0.02247694 0.02403742 -0.02476858
+v -0.02385713 0.02594183 -0.02327296
+v -0.02377621 0.02611334 -0.02325037
+v -0.02174408 0.02611334 -0.02436642
+v -0.01906000 0.02142686 -0.02723792
+v -0.03758733 0.02611329 -0.01062582
+v -0.03703248 0.02403737 -0.01198137
+v -0.03807513 0.01985477 -0.01129232
+v -0.03541879 0.02118550 -0.01465630
+v -0.03548815 0.01985478 -0.01474442
+v -0.03807050 0.01776229 -0.01131040
+v -0.03911316 0.01776229 -0.00974475
+v -0.03974430 0.01776228 -0.00870551
+v -0.03547890 0.01602823 -0.01473539
+v -0.03553438 0.01776230 -0.01480316
+v -0.03469749 0.01776231 -0.01584240
+v -0.03365946 0.01776231 -0.01710757
+v -0.03315085 0.01776231 -0.01767237
+v -0.03272315 0.01776232 -0.01814681
+v -0.03049913 0.01402921 -0.02012139
+v -0.03168050 0.01776232 -0.01923575
+v -0.03062628 0.01566984 -0.02025919
+v -0.02107826 0.01402924 -0.02723795
+v -0.02217871 0.01566987 -0.02668443
+v -0.02202613 0.01776235 -0.02662116
+v -0.02082396 0.01887306 -0.02709334
+v -0.01771218 0.01775053 -0.02861605
+v -0.01771218 0.02197570 -0.02761521
+v -0.02284453 0.02293381 -0.02495610
+v -0.02498070 0.02511973 -0.02293183
+v -0.02404901 0.02611333 -0.02308770
+v -0.01771218 0.01985129 -0.02815291
+v -0.01975356 0.01968450 -0.02738252
+v -0.03676199 0.02611329 -0.01165603
+v -0.03599213 0.02403738 -0.01327816
+v -0.03527314 0.02258009 -0.01451622
+v -0.03341902 0.02194609 -0.01682289
+v -0.03359241 0.01985479 -0.01701946
+v -0.03463276 0.01985479 -0.01578366
+v -0.03262374 0.01985480 -0.01805870
+v -0.03298439 0.01985479 -0.01767237
+v -0.02945879 0.01402922 -0.02116063
+v -0.03158109 0.01985480 -0.01912731
+v -0.03063322 0.01776232 -0.02027726
+v -0.02958363 0.01566985 -0.02128036
+v -0.02211860 0.01402924 -0.02663473
+v -0.02412531 0.01546878 -0.02552996
+v -0.02499688 0.01603182 -0.02501938
+v -0.02499688 0.01691187 -0.02501938
+v -0.02406520 0.01767008 -0.02547800
+v -0.02355196 0.01985482 -0.02538762
+v -0.02318669 0.02153922 -0.02517299
+v -0.01771218 0.01789839 -0.02858668
+v -0.02389643 0.02212000 -0.02457429
+v -0.02526737 0.02403741 -0.02312160
+v -0.02631002 0.02403741 -0.02242576
+v -0.02737348 0.02572299 -0.02108378
+v -0.02598636 0.02611333 -0.02187450
+v -0.03572165 0.02611330 -0.01293927
+v -0.03511131 0.02403738 -0.01431740
+v -0.03330112 0.02302959 -0.01668960
+v -0.03255901 0.02211997 -0.01767236
+v -0.03259831 0.02194491 -0.01767236
+v -0.03241336 0.02194492 -0.01786214
+v -0.02846006 0.01566985 -0.02231961
+v -0.02833060 0.01402922 -0.02219988
+v -0.03137302 0.02194492 -0.01891945
+v -0.03049451 0.01985480 -0.02016656
+v -0.02959288 0.01776233 -0.02128035
+v -0.02258560 0.01402924 -0.02635911
+v -0.02495758 0.01463604 -0.02499680
+v -0.02581297 0.01546878 -0.02442069
+v -0.02741741 0.01566986 -0.02323685
+v -0.02738967 0.01776234 -0.02320521
+v -0.02581297 0.01767008 -0.02432806
+v -0.02485817 0.01830646 -0.02488607
+v -0.02459462 0.01985482 -0.02474149
+v -0.02575055 0.02194494 -0.02346050
+v -0.02679089 0.02194493 -0.02272851
+v -0.02776188 0.02403741 -0.02138652
+v -0.02964374 0.02611332 -0.01920636
+v -0.02784279 0.02611333 -0.02057770
+v -0.02601873 0.02611333 -0.02185191
+v -0.03482927 0.02611330 -0.01397851
+v -0.03310692 0.02442419 -0.01648626
+v -0.03213825 0.02372393 -0.01767009
+v -0.03122968 0.02306982 -0.01877938
+v -0.02843001 0.01776233 -0.02231960
+v -0.02729026 0.01402922 -0.02312842
+v -0.02927847 0.02140081 -0.02097083
+v -0.02945648 0.01985481 -0.02113576
+v -0.02388487 0.01402923 -0.02556838
+v -0.02489747 0.01402923 -0.02493806
+v -0.02721628 0.01941361 -0.02305836
+v -0.02618981 0.02000860 -0.02362995
+v -0.02701283 0.02080702 -0.02287310
+v -0.02825199 0.02203719 -0.02159889
+v -0.02905884 0.02279541 -0.02075620
+v -0.02880453 0.02403741 -0.02056642
+v -0.03100543 0.02446441 -0.01857604
+v -0.03069333 0.02611332 -0.01829589
+v -0.03377967 0.02611331 -0.01516008
+v -0.03212206 0.02377716 -0.01767009
+v -0.03282256 0.02611331 -0.01619029
+v -0.03177991 0.02611331 -0.01725664
+v -0.03176835 0.02611331 -0.01726794
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 48
+f 1 48 49
+f 1 49 26
+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 40
+f 1 40 71
+f 1 71 70
+f 1 70 98
+f 1 98 125
+f 1 125 150
+f 1 150 149
+f 1 149 148
+f 1 148 168
+f 1 168 173
+f 1 173 172
+f 1 172 171
+f 1 171 169
+f 1 169 151
+f 1 151 126
+f 1 126 101
+f 1 101 73
+f 1 73 41
+f 1 41 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 16
+f 3 16 8
+f 3 8 9
+f 3 9 4
+f 4 9 17
+f 4 17 37
+f 4 37 63
+f 4 63 94
+f 4 94 120
+f 4 120 99
+f 4 99 95
+f 4 95 65
+f 4 65 38
+f 4 38 18
+f 4 18 10
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 15
+f 7 15 16
+f 8 16 34
+f 8 34 58
+f 8 58 87
+f 8 87 109
+f 8 109 133
+f 8 133 156
+f 8 156 160
+f 8 160 159
+f 8 159 137
+f 8 137 113
+f 8 113 90
+f 8 90 60
+f 8 60 35
+f 8 35 17
+f 8 17 9
+f 10 18 19
+f 10 19 20
+f 11 21 22
+f 11 22 23
+f 11 23 13
+f 12 13 23
+f 12 23 24
+f 12 24 25
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 17 35 36
+f 17 36 37
+f 18 38 39
+f 18 39 19
+f 19 40 20
+f 19 39 40
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 42
+f 23 42 44
+f 23 44 45
+f 23 45 24
+f 24 45 46
+f 24 46 47
+f 24 47 25
+f 25 47 48
+f 26 49 50
+f 26 50 51
+f 26 51 27
+f 27 29 28
+f 27 51 50
+f 27 50 52
+f 27 52 30
+f 27 30 29
+f 30 52 53
+f 30 53 54
+f 30 54 31
+f 31 54 32
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 34
+f 34 57 59
+f 34 59 58
+f 35 60 61
+f 35 61 36
+f 36 61 62
+f 36 62 37
+f 37 62 64
+f 37 64 63
+f 38 65 66
+f 38 66 39
+f 39 67 68
+f 39 68 69
+f 39 69 70
+f 39 70 71
+f 39 71 40
+f 39 66 72
+f 39 72 67
+f 41 73 42
+f 42 73 74
+f 42 74 44
+f 44 75 45
+f 44 74 76
+f 44 76 77
+f 44 77 75
+f 45 75 46
+f 46 78 79
+f 46 79 47
+f 46 75 78
+f 47 79 80
+f 47 80 48
+f 48 80 49
+f 49 80 50
+f 50 80 79
+f 50 79 53
+f 50 53 52
+f 53 79 78
+f 53 78 81
+f 53 81 54
+f 54 81 55
+f 55 81 56
+f 56 81 82
+f 56 82 83
+f 56 83 84
+f 56 84 57
+f 57 84 85
+f 57 85 86
+f 57 86 59
+f 58 59 87
+f 59 86 88
+f 59 88 89
+f 59 89 87
+f 60 90 61
+f 61 90 91
+f 61 91 92
+f 61 92 62
+f 62 92 93
+f 62 93 64
+f 63 64 94
+f 64 93 94
+f 65 95 66
+f 66 95 72
+f 67 96 68
+f 67 72 96
+f 68 96 97
+f 68 97 69
+f 69 98 70
+f 69 97 98
+f 72 95 99
+f 72 99 100
+f 72 100 93
+f 72 93 96
+f 73 101 74
+f 74 101 102
+f 74 102 103
+f 74 103 76
+f 75 77 82
+f 75 82 78
+f 76 103 104
+f 76 104 105
+f 76 105 106
+f 76 106 77
+f 77 106 84
+f 77 84 83
+f 77 83 82
+f 78 82 81
+f 84 106 105
+f 84 105 85
+f 85 105 86
+f 86 107 88
+f 86 105 108
+f 86 108 107
+f 87 89 109
+f 88 110 111
+f 88 111 89
+f 88 107 110
+f 89 111 112
+f 89 112 109
+f 90 113 91
+f 91 113 114
+f 91 114 115
+f 91 115 116
+f 91 116 92
+f 92 116 117
+f 92 117 118
+f 92 118 93
+f 93 118 119
+f 93 119 96
+f 93 100 94
+f 94 100 120
+f 96 119 121
+f 96 121 122
+f 96 122 97
+f 97 122 123
+f 97 123 124
+f 97 124 125
+f 97 125 98
+f 99 120 100
+f 101 126 102
+f 102 126 127
+f 102 127 103
+f 103 127 128
+f 103 128 104
+f 104 108 105
+f 104 128 129
+f 104 129 130
+f 104 130 107
+f 104 107 108
+f 107 130 131
+f 107 131 110
+f 109 112 132
+f 109 132 133
+f 110 131 134
+f 110 134 135
+f 110 135 136
+f 110 136 111
+f 111 136 112
+f 112 136 132
+f 113 137 138
+f 113 138 114
+f 114 138 115
+f 115 138 139
+f 115 139 116
+f 116 139 140
+f 116 140 141
+f 116 141 142
+f 116 142 143
+f 116 143 117
+f 117 143 118
+f 118 143 144
+f 118 144 119
+f 119 144 121
+f 121 144 145
+f 121 145 122
+f 122 145 123
+f 123 146 147
+f 123 147 124
+f 123 145 146
+f 124 147 148
+f 124 148 149
+f 124 149 150
+f 124 150 125
+f 126 151 127
+f 127 151 152
+f 127 152 128
+f 128 152 153
+f 128 153 154
+f 128 154 134
+f 128 134 129
+f 129 131 130
+f 129 134 131
+f 132 155 140
+f 132 140 156
+f 132 156 133
+f 132 136 155
+f 134 154 157
+f 134 157 158
+f 134 158 135
+f 135 158 136
+f 136 158 155
+f 137 159 138
+f 138 160 156
+f 138 156 140
+f 138 140 139
+f 138 159 160
+f 140 155 141
+f 141 161 142
+f 141 155 158
+f 141 158 161
+f 142 161 143
+f 143 161 162
+f 143 162 144
+f 144 162 145
+f 145 162 163
+f 145 163 146
+f 146 163 164
+f 146 164 147
+f 147 164 165
+f 147 165 166
+f 147 166 148
+f 148 166 165
+f 148 165 167
+f 148 167 168
+f 151 169 152
+f 152 170 153
+f 152 169 171
+f 152 171 172
+f 152 172 167
+f 152 167 170
+f 153 170 154
+f 154 167 157
+f 154 170 167
+f 157 167 165
+f 157 165 164
+f 157 164 163
+f 157 163 161
+f 157 161 158
+f 161 163 162
+f 167 172 173
+f 167 173 168
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_4.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.02481874 -0.00009910 -0.01719104
+v 0.02855412 -0.00009910 -0.01719104
+v 0.02412364 -0.00110601 -0.01719104
+v 0.04032973 -0.00009919 0.00787993
+v 0.02907165 -0.00009910 -0.01671494
+v 0.03152942 -0.01572048 -0.01719110
+v 0.02304526 -0.00317678 -0.01719105
+v 0.03947006 -0.00178687 0.00787992
+v 0.04288928 -0.00009919 0.00787993
+v 0.02916477 -0.00009910 -0.01662414
+v 0.03166151 -0.01572048 -0.01705367
+v 0.03173947 -0.01781195 -0.01719111
+v 0.02332893 -0.00525273 -0.01719106
+v 0.03893520 -0.00525541 0.00787991
+v 0.03896984 -0.00379552 0.00787992
+v 0.03898933 -0.00319499 0.00787992
+v 0.04271604 -0.00009919 0.00722959
+v 0.04484249 -0.01572057 0.00787987
+v 0.04474072 -0.01572057 0.00724180
+v 0.04412574 -0.01557560 0.00498404
+v 0.02925138 -0.00009910 -0.01653089
+v 0.03270308 -0.01572048 -0.01592724
+v 0.03280919 -0.01781195 -0.01605486
+v 0.03176762 -0.01781195 -0.01716166
+v 0.03178277 -0.01990343 -0.01717147
+v 0.03176112 -0.01986461 -0.01719111
+v 0.02671133 -0.02654025 -0.01719114
+v 0.04273769 -0.02654034 0.00787983
+v 0.04227646 -0.00009918 0.00566634
+v 0.04502439 -0.01781204 0.00787986
+v 0.04490096 -0.01781204 0.00724179
+v 0.04442457 -0.01781203 0.00516073
+v 0.04387021 -0.01617612 0.00387970
+v 0.04178274 -0.00009917 0.00393375
+v 0.03099889 -0.00009911 -0.01463878
+v 0.03363422 -0.01572049 -0.01488916
+v 0.03374899 -0.01781195 -0.01501433
+v 0.03116346 -0.00009911 -0.01445718
+v 0.03376848 -0.01990343 -0.01503642
+v 0.03282435 -0.01990343 -0.01607695
+v 0.03273123 -0.02199750 -0.01598861
+v 0.03168750 -0.02199750 -0.01706841
+v 0.03158788 -0.02177489 -0.01719112
+v 0.03176112 -0.01990343 -0.01719111
+v 0.03039690 -0.02654025 -0.01719114
+v 0.04490313 -0.02654034 0.00787983
+v 0.04514782 -0.01985434 0.00787986
+v 0.04453717 -0.01990351 0.00516073
+v 0.04395034 -0.01781202 0.00362447
+v 0.04210755 -0.01566618 -0.00124934
+v 0.04175026 -0.00009917 0.00384541
+v 0.03481655 -0.01555482 -0.01342652
+v 0.03556362 -0.01614241 -0.01264367
+v 0.03478839 -0.01781196 -0.01378483
+v 0.03289364 -0.00009911 -0.01251109
+v 0.03480788 -0.01990344 -0.01381673
+v 0.03473426 -0.02199751 -0.01374312
+v 0.03369485 -0.02199751 -0.01494808
+v 0.03352162 -0.02408899 -0.01474931
+v 0.03253635 -0.02408898 -0.01578984
+v 0.03149694 -0.02408898 -0.01687700
+v 0.03156190 -0.02199750 -0.01719112
+v 0.03089928 -0.02654025 -0.01674940
+v 0.03052899 -0.02622705 -0.01719114
+v 0.04479053 -0.02654034 0.00724176
+v 0.04502223 -0.02558261 0.00787984
+v 0.04516081 -0.02135047 0.00787985
+v 0.04455666 -0.02199758 0.00516072
+v 0.04400231 -0.01990350 0.00346250
+v 0.04235658 -0.01781201 -0.00107756
+v 0.04175675 -0.01632882 -0.00220889
+v 0.04163982 -0.01493363 -0.00205918
+v 0.03992480 -0.00009916 -0.00064803
+v 0.04011752 -0.00009916 -0.00019648
+v 0.04107031 -0.00009917 0.00210300
+v 0.04134099 -0.00009917 0.00278769
+v 0.03316649 -0.00009912 -0.01217979
+v 0.03543802 -0.01474722 -0.01249887
+v 0.03731112 -0.01572050 -0.01016995
+v 0.03739774 -0.01781197 -0.01032211
+v 0.03564374 -0.01781196 -0.01274430
+v 0.03567189 -0.01990344 -0.01277620
+v 0.03561559 -0.02199751 -0.01270504
+v 0.03552248 -0.02342375 -0.01259216
+v 0.03537739 -0.02481893 -0.01244983
+v 0.03340468 -0.02521497 -0.01462415
+v 0.03127173 -0.02355834 -0.01719113
+v 0.03136052 -0.02531850 -0.01673712
+v 0.03095558 -0.02497682 -0.01719113
+v 0.03114830 -0.02414334 -0.01719113
+v 0.03138433 -0.02654025 -0.01627576
+v 0.03066974 -0.02584137 -0.01719113
+v 0.04422751 -0.02654033 0.00517297
+v 0.04428165 -0.02618312 0.00516070
+v 0.04483384 -0.02618313 0.00724176
+v 0.04447654 -0.02408906 0.00516071
+v 0.04510668 -0.02408907 0.00787984
+v 0.04516514 -0.02199759 0.00787985
+v 0.04513050 -0.02340054 0.00787984
+v 0.04401097 -0.02199757 0.00345512
+v 0.04243237 -0.01990349 -0.00107756
+v 0.04181089 -0.01781200 -0.00232424
+v 0.04184987 -0.01990348 -0.00241504
+v 0.03968011 -0.01639352 -0.00637593
+v 0.03978188 -0.01622268 -0.00613052
+v 0.04008504 -0.01570499 -0.00538939
+v 0.04129768 -0.01781200 -0.00336477
+v 0.04037088 -0.01781199 -0.00523479
+v 0.03992480 -0.01781199 -0.00612808
+v 0.03921021 -0.00009915 -0.00214502
+v 0.03964546 -0.00009916 -0.00125174
+v 0.03342201 -0.00009912 -0.01185339
+v 0.03397852 -0.00009912 -0.01111962
+v 0.03443976 -0.00009912 -0.01047420
+v 0.03803871 -0.01572051 -0.00912942
+v 0.03814265 -0.01781198 -0.00928158
+v 0.03746054 -0.01990345 -0.01038101
+v 0.03740207 -0.02199752 -0.01031231
+v 0.03727431 -0.02408900 -0.01011599
+v 0.03611580 -0.02410712 -0.01164489
+v 0.03604001 -0.02618306 -0.01118107
+v 0.03519550 -0.02618306 -0.01222161
+v 0.03328342 -0.02654026 -0.01428795
+v 0.03307770 -0.02654026 -0.01451372
+v 0.04412357 -0.02654033 0.00481467
+v 0.04384856 -0.02654032 0.00396310
+v 0.04387021 -0.02618311 0.00389684
+v 0.04396983 -0.02408905 0.00359254
+v 0.04240422 -0.02199756 -0.00107757
+v 0.03979271 -0.01990347 -0.00657472
+v 0.04183471 -0.02199755 -0.00237824
+v 0.04131934 -0.02199755 -0.00342123
+v 0.03757314 -0.00009914 -0.00533043
+v 0.03787413 -0.00009914 -0.00478071
+v 0.03974290 -0.01781199 -0.00649128
+v 0.03918422 -0.01781198 -0.00753182
+v 0.03812532 -0.00009914 -0.00429235
+v 0.03490966 -0.00009912 -0.00978460
+v 0.03550515 -0.00009913 -0.00886677
+v 0.03563508 -0.00009913 -0.00866063
+v 0.03578233 -0.00009913 -0.00841522
+v 0.03643412 -0.00009913 -0.00730597
+v 0.03700147 -0.00009914 -0.00633415
+v 0.03711840 -0.00009914 -0.00613046
+v 0.03922104 -0.01990346 -0.00761525
+v 0.03818163 -0.01990346 -0.00934048
+v 0.03814481 -0.02199753 -0.00927177
+v 0.03803005 -0.02408901 -0.00907546
+v 0.03708159 -0.02618306 -0.00977979
+v 0.03598155 -0.02654027 -0.01110745
+v 0.03527995 -0.02654027 -0.01196884
+v 0.03513270 -0.02654027 -0.01214553
+v 0.03495730 -0.02654026 -0.01234922
+v 0.04205342 -0.02654031 -0.00079292
+v 0.04209023 -0.02618310 -0.00087636
+v 0.04215303 -0.02423399 -0.00126900
+v 0.04178058 -0.02363346 -0.00225555
+v 0.04041202 -0.02199754 -0.00523480
+v 0.03996161 -0.02199754 -0.00613054
+v 0.03976239 -0.02199754 -0.00652320
+v 0.03918639 -0.02199753 -0.00756373
+v 0.03969310 -0.02354544 -0.00639314
+v 0.03914091 -0.02418219 -0.00717845
+v 0.03955668 -0.02494062 -0.00622871
+v 0.03780484 -0.02618307 -0.00873926
+v 0.03723317 -0.02654028 -0.00940922
+v 0.03684772 -0.02654027 -0.00994176
+v 0.03999193 -0.02654029 -0.00486180
+v 0.04003524 -0.02618308 -0.00494524
+v 0.04012835 -0.02418220 -0.00541396
+v 0.04166580 -0.02502864 -0.00209112
+v 0.04131068 -0.02423398 -0.00303104
+v 0.03981220 -0.02371887 -0.00612810
+v 0.03962814 -0.02485002 -0.00613055
+v 0.03959565 -0.02503639 -0.00613055
+v 0.03775287 -0.02654028 -0.00866073
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 44
+f 1 44 43
+f 1 43 62
+f 1 62 87
+f 1 87 90
+f 1 90 89
+f 1 89 92
+f 1 92 64
+f 1 64 45
+f 1 45 27
+f 1 27 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 34
+f 1 34 51
+f 1 51 76
+f 1 76 75
+f 1 75 74
+f 1 74 73
+f 1 73 111
+f 1 111 110
+f 1 110 137
+f 1 137 134
+f 1 134 133
+f 1 133 144
+f 1 144 143
+f 1 143 142
+f 1 142 141
+f 1 141 140
+f 1 140 139
+f 1 139 138
+f 1 138 114
+f 1 114 113
+f 1 113 112
+f 1 112 77
+f 1 77 55
+f 1 55 38
+f 1 38 35
+f 1 35 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 16
+f 4 16 15
+f 4 15 14
+f 4 14 28
+f 4 28 46
+f 4 46 66
+f 4 66 97
+f 4 97 99
+f 4 99 98
+f 4 98 67
+f 4 67 47
+f 4 47 30
+f 4 30 18
+f 4 18 9
+f 5 10 6
+f 6 11 12
+f 6 10 11
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 18 19
+f 9 19 20
+f 9 20 17
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 21 22
+f 12 24 25
+f 12 25 26
+f 13 27 14
+f 14 27 28
+f 17 20 29
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 29
+f 21 35 22
+f 22 36 37
+f 22 37 23
+f 22 35 38
+f 22 38 36
+f 23 37 39
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 27 45 63
+f 27 63 91
+f 27 91 124
+f 27 124 123
+f 27 123 153
+f 27 153 152
+f 27 152 151
+f 27 151 150
+f 27 150 167
+f 27 167 166
+f 27 166 176
+f 27 176 168
+f 27 168 154
+f 27 154 126
+f 27 126 125
+f 27 125 93
+f 27 93 65
+f 27 65 46
+f 27 46 28
+f 30 47 31
+f 31 47 48
+f 31 48 32
+f 32 49 33
+f 32 48 49
+f 33 50 34
+f 33 49 50
+f 34 50 51
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 36 38 55
+f 36 55 52
+f 37 54 56
+f 37 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 43
+f 45 64 63
+f 46 65 66
+f 47 67 68
+f 47 68 48
+f 48 68 69
+f 48 69 49
+f 49 70 50
+f 49 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 51
+f 52 55 53
+f 53 55 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 81 82
+f 54 82 56
+f 56 82 83
+f 56 83 57
+f 57 83 84
+f 57 84 58
+f 58 84 59
+f 59 84 85
+f 59 85 86
+f 59 86 60
+f 60 86 61
+f 61 87 62
+f 61 86 88
+f 61 88 89
+f 61 89 90
+f 61 90 87
+f 63 64 88
+f 63 88 91
+f 64 92 88
+f 65 93 94
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 97
+f 67 98 68
+f 68 98 99
+f 68 99 97
+f 68 97 96
+f 68 96 100
+f 68 100 69
+f 69 101 70
+f 69 100 101
+f 70 102 71
+f 70 101 103
+f 70 103 102
+f 71 104 105
+f 71 105 106
+f 71 106 72
+f 71 102 107
+f 71 107 108
+f 71 108 109
+f 71 109 104
+f 72 106 110
+f 72 110 111
+f 72 111 73
+f 77 112 78
+f 78 112 113
+f 78 113 79
+f 79 113 114
+f 79 114 115
+f 79 115 116
+f 79 116 80
+f 80 116 117
+f 80 117 81
+f 81 117 82
+f 82 117 83
+f 83 118 84
+f 83 117 118
+f 84 119 120
+f 84 120 85
+f 84 118 119
+f 85 121 122
+f 85 122 86
+f 85 120 119
+f 85 119 121
+f 86 122 123
+f 86 123 124
+f 86 124 88
+f 88 92 89
+f 88 124 91
+f 93 125 94
+f 94 125 126
+f 94 126 127
+f 94 127 128
+f 94 128 96
+f 94 96 95
+f 96 128 100
+f 100 128 129
+f 100 129 101
+f 101 129 103
+f 102 103 107
+f 103 130 107
+f 103 129 131
+f 103 131 132
+f 103 132 130
+f 104 115 133
+f 104 133 134
+f 104 134 105
+f 104 109 135
+f 104 135 136
+f 104 136 115
+f 105 134 106
+f 106 134 137
+f 106 137 110
+f 107 130 108
+f 108 130 109
+f 109 130 135
+f 114 138 115
+f 115 136 116
+f 115 138 139
+f 115 139 140
+f 115 140 141
+f 115 141 142
+f 115 142 143
+f 115 143 144
+f 115 144 133
+f 116 136 145
+f 116 145 146
+f 116 146 117
+f 117 146 147
+f 117 147 118
+f 118 147 148
+f 118 148 119
+f 119 148 149
+f 119 149 121
+f 121 149 150
+f 121 150 122
+f 122 150 151
+f 122 151 152
+f 122 152 153
+f 122 153 123
+f 126 154 155
+f 126 155 127
+f 127 155 156
+f 127 156 128
+f 128 156 129
+f 129 156 157
+f 129 157 131
+f 130 145 136
+f 130 136 135
+f 130 132 158
+f 130 158 159
+f 130 159 160
+f 130 160 145
+f 131 157 132
+f 132 157 158
+f 145 160 161
+f 145 161 146
+f 146 161 147
+f 147 161 148
+f 148 161 162
+f 148 162 163
+f 148 163 164
+f 148 164 165
+f 148 165 149
+f 149 165 166
+f 149 166 167
+f 149 167 150
+f 154 168 169
+f 154 169 155
+f 155 169 170
+f 155 170 171
+f 155 171 157
+f 155 157 156
+f 157 171 172
+f 157 172 170
+f 157 170 173
+f 157 173 159
+f 157 159 158
+f 159 173 162
+f 159 162 160
+f 160 162 161
+f 162 173 174
+f 162 174 163
+f 163 174 164
+f 164 174 175
+f 164 175 165
+f 165 175 169
+f 165 169 168
+f 165 168 176
+f 165 176 166
+f 169 175 174
+f 169 174 170
+f 170 172 171
+f 170 174 173
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_40.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04615678 0.01146384 0.00829580
+v 0.04407145 0.01146384 0.00829580
+v 0.04628138 0.01146384 0.00829147
+v 0.04628447 0.01148359 0.00829580
+v 0.04232801 0.02407330 0.00829585
+v 0.03583414 0.02407335 -0.00644566
+v 0.03816147 0.01146389 -0.00644571
+v 0.04608366 0.01146384 0.00750504
+v 0.04608469 0.01148359 0.00750216
+v 0.04612073 0.01357591 0.00736797
+v 0.04635347 0.01357591 0.00829581
+v 0.04461621 0.02407330 0.00829585
+v 0.03859295 0.02407335 -0.00644566
+v 0.04072668 0.01146389 -0.00644571
+v 0.04476965 0.01146386 0.00308375
+v 0.04477171 0.01148361 0.00308375
+v 0.04607851 0.01566823 0.00752238
+v 0.04480878 0.01357593 0.00308376
+v 0.04476244 0.01566825 0.00308377
+v 0.04626903 0.01566823 0.00829582
+v 0.04462548 0.02403874 0.00829585
+v 0.04439892 0.02407330 0.00727422
+v 0.03975559 0.02407335 -0.00444857
+v 0.03984312 0.02362280 -0.00459143
+v 0.03923966 0.02220693 -0.00644567
+v 0.04072874 0.01148364 -0.00644571
+v 0.04127968 0.01146389 -0.00538223
+v 0.04415383 0.01146387 0.00114582
+v 0.04415486 0.01148362 0.00114293
+v 0.04418884 0.01357594 0.00106214
+v 0.04597862 0.01740134 0.00790044
+v 0.04456884 0.01776180 0.00308378
+v 0.04414868 0.01566826 0.00117470
+v 0.04604865 0.01758403 0.00829582
+v 0.04586946 0.01880732 0.00829583
+v 0.04440098 0.02403874 0.00724391
+v 0.04439583 0.02407330 0.00726267
+v 0.04015206 0.02407334 -0.00362319
+v 0.04188829 0.02354624 -0.00041832
+v 0.04003466 0.02183167 -0.00526531
+v 0.03967835 0.02105770 -0.00635909
+v 0.03960009 0.02114040 -0.00644567
+v 0.04177089 0.02110213 -0.00223505
+v 0.04074728 0.01245635 -0.00644570
+v 0.04127247 0.01148364 -0.00539955
+v 0.04179561 0.01148364 -0.00435916
+v 0.04179458 0.01146389 -0.00435772
+v 0.04235376 0.01146388 -0.00315715
+v 0.04235684 0.01148363 -0.00315571
+v 0.04240833 0.01357595 -0.00315570
+v 0.04587049 0.01879621 0.00829006
+v 0.04402305 0.01776180 0.00148784
+v 0.04389638 0.01930358 0.00179952
+v 0.04416104 0.01994176 0.00294814
+v 0.04218487 0.01585343 -0.00335915
+v 0.04587255 0.01879128 0.00829583
+v 0.04438347 0.02194520 0.00516312
+v 0.04393242 0.02384248 0.00535649
+v 0.04390874 0.02407331 0.00550656
+v 0.04439068 0.02407330 0.00724391
+v 0.04177913 0.02407333 -0.00023506
+v 0.04207056 0.02185757 -0.00109798
+v 0.04219105 0.02407333 0.00067546
+v 0.04223533 0.02407333 0.00078224
+v 0.03972572 0.02065528 -0.00644567
+v 0.04191197 0.01985291 -0.00253664
+v 0.04076170 0.01357596 -0.00644570
+v 0.04128998 0.01357596 -0.00544139
+v 0.04181723 0.01357596 -0.00440100
+v 0.04234757 0.01146388 -0.00317158
+v 0.04178119 0.01527821 -0.00432884
+v 0.04211278 0.01776182 -0.00295944
+v 0.04367910 0.02069846 0.00216461
+v 0.04394067 0.02194521 0.00367974
+v 0.04169778 0.01667308 -0.00418742
+v 0.04380370 0.02301419 0.00410397
+v 0.04315390 0.02407332 0.00325984
+v 0.04226725 0.02407333 0.00086305
+v 0.03990491 0.01985292 -0.00644568
+v 0.04061650 0.01570531 -0.00644569
+v 0.04131057 0.01585344 -0.00510805
+v 0.04030756 0.01776183 -0.00644568
+v 0.04251337 0.02407332 0.00152105
+f 1 2 7
+f 1 7 14
+f 1 14 27
+f 1 27 47
+f 1 47 70
+f 1 70 48
+f 1 48 28
+f 1 28 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 34
+f 1 34 56
+f 1 56 35
+f 1 35 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 22
+f 5 22 37
+f 5 37 60
+f 5 60 59
+f 5 59 77
+f 5 77 83
+f 5 83 78
+f 5 78 64
+f 5 64 63
+f 5 63 61
+f 5 61 38
+f 5 38 23
+f 5 23 13
+f 5 13 6
+f 6 13 25
+f 6 25 42
+f 6 42 65
+f 6 65 79
+f 6 79 82
+f 6 82 80
+f 6 80 67
+f 6 67 44
+f 6 44 26
+f 6 26 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 19
+f 10 19 17
+f 11 17 20
+f 12 21 22
+f 13 23 24
+f 13 24 25
+f 14 26 27
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 18
+f 17 31 20
+f 17 19 32
+f 17 32 31
+f 18 30 19
+f 19 30 33
+f 19 33 32
+f 20 31 34
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 23 38 39
+f 23 39 24
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 24 39 43
+f 24 43 40
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 28 48 49
+f 28 49 29
+f 29 49 30
+f 30 49 50
+f 30 50 33
+f 31 51 34
+f 31 32 51
+f 32 33 52
+f 32 52 53
+f 32 53 54
+f 32 54 51
+f 33 50 55
+f 33 55 52
+f 34 51 56
+f 35 56 51
+f 35 51 57
+f 35 57 36
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 36 57 58
+f 38 61 39
+f 39 62 43
+f 39 61 63
+f 39 63 64
+f 39 64 62
+f 40 43 41
+f 41 65 42
+f 41 43 66
+f 41 66 65
+f 43 62 53
+f 43 53 66
+f 44 67 68
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 46 69 50
+f 46 50 49
+f 46 49 47
+f 47 49 70
+f 48 70 49
+f 50 69 71
+f 50 71 55
+f 51 54 57
+f 52 55 72
+f 52 72 53
+f 53 73 74
+f 53 74 54
+f 53 72 66
+f 53 62 73
+f 54 74 57
+f 55 71 75
+f 55 75 72
+f 57 74 76
+f 57 76 58
+f 58 76 59
+f 59 76 77
+f 62 64 73
+f 64 78 73
+f 65 66 79
+f 66 72 79
+f 67 80 71
+f 67 71 68
+f 68 71 69
+f 71 80 81
+f 71 81 75
+f 72 75 79
+f 73 78 74
+f 74 78 76
+f 75 81 80
+f 75 80 82
+f 75 82 79
+f 76 78 83
+f 76 83 77
+

dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_41.obj

@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
+v 0.03176244 -0.01990974 -0.01719111
+v 0.03173709 -0.01781656 -0.01719111
+v 0.03158499 -0.02177783 -0.01719112
+v 0.03073262 -0.01990973 -0.01821379
+v 0.03072945 -0.01781655 -0.01820481
+v 0.03173075 -0.01775298 -0.01719111
+v 0.03063122 -0.01572464 -0.01809699
+v 0.03155964 -0.02200037 -0.01719112
+v 0.03061221 -0.02200036 -0.01811049
+v 0.02969329 -0.01990973 -0.01919605
+v 0.02968696 -0.01781655 -0.01920054
+v 0.02959190 -0.01572464 -0.01911668
+v 0.03152479 -0.01572465 -0.01719110
+v 0.02940495 -0.01396973 -0.01894148
+v 0.03044427 -0.01396973 -0.01790831
+v 0.03061221 -0.01396973 -0.01774061
+v 0.03126813 -0.02356072 -0.01719113
+v 0.02938593 -0.02374256 -0.01891157
+v 0.02957288 -0.02200036 -0.01907927
+v 0.02849554 -0.01990973 -0.02023670
+v 0.02852722 -0.01781655 -0.02024120
+v 0.02844167 -0.01572464 -0.02015584
+v 0.02726292 -0.01422787 -0.02095541
+v 0.03115405 -0.01396974 -0.01719109
+v 0.02757028 -0.01396972 -0.02060803
+v 0.02141037 -0.01355006 -0.02519439
+v 0.03114455 -0.02414569 -0.01719113
+v 0.03014958 -0.02430082 -0.01808654
+v 0.02921166 -0.02513758 -0.01876034
+v 0.02714251 -0.02309399 -0.02085212
+v 0.02727876 -0.02200035 -0.02095843
+v 0.02831809 -0.02200036 -0.02011842
+v 0.02745304 -0.01990972 -0.02110367
+v 0.02748790 -0.01781654 -0.02113511
+v 0.02740234 -0.01572463 -0.02106922
+v 0.02500682 -0.01495146 -0.02286602
+v 0.02488324 -0.01396972 -0.02277019
+v 0.02686684 -0.01396972 -0.02120547
+v 0.02722173 -0.01396972 -0.02091648
+v 0.02781427 -0.01396974 -0.01719109
+v 0.02386293 -0.01396971 -0.02354881
+v 0.02266200 -0.01396971 -0.02441577
+v 0.02239266 -0.01396971 -0.02460893
+v 0.02143889 -0.01363145 -0.02519439
+v 0.02129630 -0.01355006 -0.02527225
+v 0.01697106 -0.01355006 -0.02519439
+v 0.03095126 -0.02497863 -0.01719113
+v 0.02898351 -0.02618544 -0.01857468
+v 0.02794102 -0.02618544 -0.01937277
+v 0.02655313 -0.02618544 -0.02041342
+v 0.02690486 -0.02448775 -0.02065748
+v 0.03066608 -0.02584337 -0.01719113
+v 0.03052349 -0.02623123 -0.01719114
+v 0.02616022 -0.02391168 -0.02134326
+v 0.02444597 -0.02409226 -0.02250071
+v 0.02376787 -0.02200034 -0.02347397
+v 0.02499415 -0.02059515 -0.02284808
+v 0.02508921 -0.01920140 -0.02295139
+v 0.02615705 -0.01781654 -0.02217427
+v 0.02509871 -0.01634521 -0.02296036
+v 0.02418930 -0.01567884 -0.02353984
+v 0.02670523 -0.02653898 -0.01719114
+v -0.00060559 -0.01355004 -0.03052494
+v -0.00060559 -0.02653894 -0.02804538
+v 0.02222472 -0.01396971 -0.02471973
+v 0.02131848 -0.01363145 -0.02527525
+v 0.02256060 -0.01572462 -0.02470477
+v 0.02182230 -0.01572462 -0.02519440
+v 0.01744002 -0.01355005 -0.02743741
+v 0.02911026 -0.02653897 -0.01833062
+v 0.02889796 -0.02653897 -0.01850730
+v 0.02872051 -0.02653897 -0.01864656
+v 0.02785546 -0.02653897 -0.01930988
+v 0.02670206 -0.02653897 -0.02017385
+v 0.02618240 -0.02653896 -0.02055717
+v 0.02542509 -0.02653896 -0.02110819
+v 0.02551064 -0.02618543 -0.02116958
+v 0.03039357 -0.02653898 -0.01719114
+v 0.02312463 -0.02544786 -0.02302777
+v 0.02340347 -0.02409225 -0.02321644
+v 0.02217086 -0.02200034 -0.02451313
+v 0.02246238 -0.01990971 -0.02466735
+v 0.02417980 -0.01990335 -0.02350391
+v 0.02511773 -0.01781654 -0.02297535
+v 0.02259229 -0.01781653 -0.02471077
+v -0.00060559 -0.01355003 -0.03247897
+v -0.00060559 -0.02653893 -0.03028092
+v 0.02151811 -0.01572462 -0.02539355
+v 0.01744953 -0.01363144 -0.02744340
+v 0.02186350 -0.01781653 -0.02519441
+v 0.01312745 -0.01355004 -0.02938695
+v 0.02426535 -0.02653896 -0.02187333
+v 0.02324821 -0.02653896 -0.02252168
+v 0.02239900 -0.02653896 -0.02305324
+v 0.02185082 -0.02653895 -0.02338415
+v 0.02199024 -0.02616126 -0.02343806
+v 0.02055166 -0.02452589 -0.02479015
+v 0.02091923 -0.02313086 -0.02502073
+v 0.02113153 -0.02200034 -0.02514501
+v 0.02141988 -0.01990971 -0.02531569
+v 0.02161634 -0.01990971 -0.02519441
+v 0.02154980 -0.01781653 -0.02539955
+v -0.00060559 -0.01363142 -0.03248046
+v 0.00102311 -0.01355003 -0.03245651
+v -0.00060559 -0.02370944 -0.03146381
+v -0.00031724 -0.02653893 -0.03027044
+v 0.01761747 -0.01572461 -0.02751079
+v 0.01314013 -0.01363143 -0.02939144
+v 0.01150509 -0.01355004 -0.02998439
+v 0.02007319 -0.02653895 -0.02434694
+v 0.01916061 -0.02567930 -0.02517946
+v 0.01922399 -0.02552161 -0.02519443
+v 0.02034253 -0.02356323 -0.02519443
+v 0.01672073 -0.02306600 -0.02708407
+v 0.01698056 -0.02199906 -0.02720086
+v 0.01737348 -0.01990970 -0.02738203
+v 0.01757944 -0.01781652 -0.02748385
+v 0.00108965 -0.01363142 -0.03245651
+v -0.00060559 -0.01572459 -0.03248796
+v 0.00108965 -0.01355003 -0.03245351
+v -0.00060559 -0.02229025 -0.03188156
+v 0.00108965 -0.02357083 -0.03141290
+v 0.00111817 -0.02653893 -0.03021653
+v 0.01326371 -0.01572460 -0.02943638
+v 0.01150509 -0.01363143 -0.02999188
+v 0.00704360 -0.01363142 -0.03146377
+v 0.00703092 -0.01355003 -0.03145928
+v 0.01948699 -0.02653895 -0.02465240
+v 0.01914160 -0.02565895 -0.02519443
+v 0.01813713 -0.02653895 -0.02534418
+v 0.01780442 -0.02653895 -0.02550888
+v 0.01789314 -0.02629988 -0.02554931
+v 0.01488924 -0.02546183 -0.02718889
+v 0.01984505 -0.02393329 -0.02534417
+v 0.01561487 -0.02389513 -0.02732665
+v 0.01261730 -0.02107200 -0.02918484
+v 0.01566873 -0.02199906 -0.02774739
+v 0.01285812 -0.01990969 -0.02927617
+v 0.01316865 -0.01781651 -0.02939596
+v 0.00108965 -0.01572459 -0.03246251
+v 0.00309226 -0.01355003 -0.03231725
+v 0.00317147 -0.01363142 -0.03231426
+v 0.00317147 -0.01572459 -0.03234272
+v 0.00108965 -0.01781650 -0.03243706
+v -0.00060559 -0.01781650 -0.03245653
+v -0.00060559 -0.02199904 -0.03196541
+v 0.00108965 -0.02199904 -0.03185910
+v 0.00262013 -0.02328089 -0.03131557
+v 0.00317147 -0.02653893 -0.03004134
+v 0.01150509 -0.01781651 -0.02998890
+v 0.01150509 -0.01572460 -0.03006077
+v 0.00716084 -0.01572459 -0.03149972
+v 0.00525646 -0.01363142 -0.03193992
+v 0.00697705 -0.01355003 -0.03147425
+v 0.01596976 -0.02653894 -0.02629499
+v 0.01341264 -0.02653894 -0.02738655
+v 0.01359325 -0.02617015 -0.02744944
+v 0.01078897 -0.02346275 -0.02927170
+v 0.01149242 -0.02186298 -0.02940196
+v 0.01150509 -0.01990969 -0.02975832
+v 0.00317147 -0.01355003 -0.03230827
+v 0.00517725 -0.01355003 -0.03194891
+v 0.00525646 -0.01572459 -0.03200132
+v 0.00317147 -0.01781650 -0.03227685
+v 0.00108965 -0.01990968 -0.03227535
+v -0.00060559 -0.01990968 -0.03233824
+v 0.00317147 -0.01990968 -0.03203727
+v 0.00325703 -0.02213511 -0.03152968
+v 0.00486672 -0.02152979 -0.03139043
+v 0.00525646 -0.02618540 -0.02988562
+v 0.00525646 -0.02653893 -0.02975984
+v 0.00699290 -0.01781650 -0.03144732
+v 0.00525646 -0.01355003 -0.03193244
+v 0.01185998 -0.02653894 -0.02789714
+v 0.00881489 -0.02550887 -0.02928368
+v 0.00947397 -0.02413292 -0.02949480
+v 0.00625460 -0.02089269 -0.03118679
+v 0.00942327 -0.02199905 -0.03000539
+v 0.00665702 -0.01949893 -0.03134550
+v 0.00525646 -0.01781650 -0.03189951
+v 0.00543708 -0.02008008 -0.03155513
+v 0.00728125 -0.02619812 -0.02944989
+v 0.00563670 -0.02653893 -0.02968947
+v 0.01149559 -0.02653894 -0.02801394
+v 0.00706895 -0.02653893 -0.02938401
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 40
+f 1 40 62
+f 1 62 78
+f 1 78 53
+f 1 53 52
+f 1 52 47
+f 1 47 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 7
+f 6 7 13
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 17 9
+f 9 18 19
+f 9 19 10
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 14
+f 13 16 24
+f 14 23 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 16 26 24
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 25
+f 24 26 46
+f 24 46 40
+f 25 39 26
+f 26 39 38
+f 26 38 37
+f 26 37 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 69
+f 26 69 91
+f 26 91 109
+f 26 109 127
+f 26 127 154
+f 26 154 173
+f 26 173 162
+f 26 162 161
+f 26 161 141
+f 26 141 120
+f 26 120 104
+f 26 104 86
+f 26 86 63
+f 26 63 46
+f 27 47 28
+f 28 47 29
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 30
+f 29 47 52
+f 29 52 53
+f 29 53 48
+f 30 51 54
+f 30 54 55
+f 30 55 56
+f 30 56 31
+f 31 33 32
+f 31 56 57
+f 31 57 33
+f 33 57 58
+f 33 58 59
+f 33 59 34
+f 34 59 60
+f 34 60 35
+f 35 60 36
+f 36 60 61
+f 36 61 43
+f 36 43 42
+f 36 42 41
+f 36 41 37
+f 40 46 63
+f 40 63 64
+f 40 64 62
+f 43 65 66
+f 43 66 44
+f 43 61 67
+f 43 67 68
+f 43 68 65
+f 44 66 45
+f 45 66 69
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 49
+f 48 53 70
+f 49 73 50
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 51
+f 50 73 74
+f 51 77 54
+f 53 78 70
+f 54 77 55
+f 55 77 79
+f 55 79 80
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 58
+f 58 84 59
+f 58 83 82
+f 58 82 85
+f 58 85 84
+f 59 84 60
+f 60 84 67
+f 60 67 61
+f 62 64 87
+f 62 87 106
+f 62 106 123
+f 62 123 149
+f 62 149 171
+f 62 171 183
+f 62 183 185
+f 62 185 184
+f 62 184 174
+f 62 174 156
+f 62 156 155
+f 62 155 131
+f 62 131 130
+f 62 130 128
+f 62 128 110
+f 62 110 95
+f 62 95 94
+f 62 94 93
+f 62 93 92
+f 62 92 76
+f 62 76 75
+f 62 75 74
+f 62 74 73
+f 62 73 72
+f 62 72 71
+f 62 71 70
+f 62 70 78
+f 63 86 103
+f 63 103 119
+f 63 119 145
+f 63 145 166
+f 63 166 146
+f 63 146 121
+f 63 121 105
+f 63 105 87
+f 63 87 64
+f 65 68 66
+f 66 68 88
+f 66 88 89
+f 66 89 69
+f 67 84 85
+f 67 85 90
+f 67 90 68
+f 68 90 88
+f 69 89 91
+f 76 92 79
+f 76 79 77
+f 79 92 93
+f 79 93 94
+f 79 94 95
+f 79 95 96
+f 79 96 97
+f 79 97 98
+f 79 98 80
+f 80 98 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 82
+f 82 101 102
+f 82 102 90
+f 82 90 85
+f 86 104 103
+f 87 105 106
+f 88 90 102
+f 88 102 107
+f 88 107 89
+f 89 107 108
+f 89 108 91
+f 91 108 109
+f 95 110 111
+f 95 111 96
+f 96 111 97
+f 97 111 112
+f 97 112 98
+f 98 112 113
+f 98 113 114
+f 98 114 115
+f 98 115 99
+f 99 115 116
+f 99 116 100
+f 100 102 101
+f 100 116 117
+f 100 117 102
+f 102 117 107
+f 103 104 118
+f 103 118 119
+f 104 120 118
+f 105 121 122
+f 105 122 123
+f 105 123 106
+f 107 117 124
+f 107 124 108
+f 108 124 125
+f 108 125 109
+f 109 125 126
+f 109 126 127
+f 110 128 111
+f 111 129 112
+f 111 128 130
+f 111 130 131
+f 111 131 132
+f 111 132 133
+f 111 133 129
+f 112 129 114
+f 112 114 134
+f 112 134 113
+f 113 134 114
+f 114 129 133
+f 114 133 135
+f 114 135 136
+f 114 136 137
+f 114 137 115
+f 115 137 136
+f 115 136 116
+f 116 136 138
+f 116 138 139
+f 116 139 117
+f 117 139 124
+f 118 140 119
+f 118 120 141
+f 118 141 142
+f 118 142 143
+f 118 143 140
+f 119 140 144
+f 119 144 145
+f 121 146 122
+f 122 147 148
+f 122 148 149
+f 122 149 123
+f 122 146 147
+f 124 139 150
+f 124 150 151
+f 124 151 125
+f 125 151 152
+f 125 152 126
+f 126 152 153
+f 126 153 154
+f 126 154 127
+f 131 155 133
+f 131 133 132
+f 133 156 157
+f 133 157 158
+f 133 158 135
+f 133 155 156
+f 135 158 136
+f 136 158 159
+f 136 159 160
+f 136 160 138
+f 138 160 150
+f 138 150 139
+f 140 143 144
+f 141 161 142
+f 142 161 162
+f 142 162 153
+f 142 153 163
+f 142 163 143
+f 143 163 164
+f 143 164 144
+f 144 165 166
+f 144 166 145
+f 144 164 165
+f 146 166 165
+f 146 165 147
+f 147 165 167
+f 147 167 168
+f 147 168 148
+f 148 168 169
+f 148 169 170
+f 148 170 171
+f 148 171 149
+f 150 160 172
+f 150 172 152
+f 150 152 151
+f 152 172 163
+f 152 163 153
+f 153 162 173
+f 153 173 154
+f 156 174 175
+f 156 175 157
+f 157 175 158
+f 158 175 176
+f 158 176 177
+f 158 177 178
+f 158 178 159
+f 159 178 179
+f 159 179 160
+f 160 179 172
+f 163 172 180
+f 163 180 164
+f 164 180 167
+f 164 167 165
+f 167 180 181
+f 167 181 169
+f 167 169 168
+f 169 181 177
+f 169 177 176
+f 169 176 175
+f 169 175 182
+f 169 182 170
+f 170 182 183
+f 170 183 171
+f 172 179 180
+f 174 184 175
+f 175 185 182
+f 175 184 185
+f 177 179 178
+f 177 181 179
+f 179 181 180
+f 182 185 183
+