Add asset kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6

.gitattributes

@@ -4768,6 +4768,7 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mesh/mug_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mug_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_005">
+   <link name="coffee_cup_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_005.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>98ea70ba9f78536fb4800dec8d3115d6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>enamel cup</name>
+         <color>gray,blue</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray enamel cup with blue base and black rim</description>
+         <min_height>0.0840</min_height>
+         <max_height>0.0840</max_height>
+         <real_height>0.0840</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428015730</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de89bc1ff0820ed229f96e6493196d6abfa05aff99c1a722d82ec3daec9a1c1b
+size 127229156

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a7d1ada1de41f767eaba23c04d2c17b111b638629553db635547d454aef42f
+size 79183108

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.mtl

@@ -0,0 +1,6 @@
+newmtl coffee_cup_005_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3acc3fdcf415ec519c389eab709c30f045fad8b8fc396e70eecf5cc6b1e4d5
+size 113358005

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_005_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/coffee_cup_005.xml

@@ -0,0 +1,130 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_005">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_005_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_005_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_005_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_005_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_005_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_005_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_005_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_005_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_005_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_005_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_005_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_005_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_005_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_005_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_005_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_005_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_005_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_005_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_005_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_005_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_005_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_005_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_005_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_005_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_005_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_005_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3ce89881dc65e6fa5f32e234654e7a9a9369632e6436a4c95ec0f7f44fb206
+size 108617190

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_0.obj

@@ -0,0 +1,1264 @@
+# https://github.com/mikedh/trimesh
+v 0.00315653 0.03988614 -0.03391518
+v 0.00339510 0.03988223 -0.03391518
+v 0.00497137 0.03978463 -0.03468828
+v 0.00315653 0.03980024 -0.03483732
+v 0.00196794 0.03985490 -0.03391518
+v 0.00497137 0.03985490 -0.03391518
+v 0.00497137 0.03959721 -0.03615737
+v 0.00635166 0.03978462 -0.03391518
+v 0.00666692 0.03972606 -0.03423088
+v 0.00678194 0.03948397 -0.03615737
+v 0.00315653 0.03962063 -0.03615737
+v 0.00134596 0.03956207 -0.03615737
+v 0.00122241 0.03978072 -0.03435055
+v 0.00160157 0.03984318 -0.03391518
+v 0.00497137 0.03912867 -0.03796127
+v 0.00315653 0.03915600 -0.03796127
+v 0.00678194 0.03901934 -0.03796127
+v 0.00679046 0.03974557 -0.03391518
+v 0.00859678 0.03951911 -0.03435276
+v 0.00859678 0.03929655 -0.03615738
+v 0.00134596 0.03909743 -0.03796127
+v 0.00009773 0.03931998 -0.03671903
+v 0.00009773 0.03946445 -0.03615738
+v 0.00009773 0.03962063 -0.03491514
+v 0.00009773 0.03969092 -0.03435202
+v 0.00091994 0.03980414 -0.03391518
+v 0.00497137 0.03841413 -0.03937090
+v 0.00678194 0.03835946 -0.03930702
+v 0.00315653 0.03842975 -0.03938118
+v 0.00134596 0.03839851 -0.03934961
+v 0.00859678 0.03883192 -0.03796127
+v 0.00859678 0.03826575 -0.03919176
+v 0.00817502 0.03960501 -0.03391518
+v 0.00855844 0.03956206 -0.03391518
+v 0.01041161 0.03925751 -0.03435277
+v 0.01041161 0.03903104 -0.03615738
+v 0.00009773 0.03835165 -0.03929601
+v 0.00009773 0.03899982 -0.03796127
+v 0.00009773 0.03972605 -0.03391518
+v 0.00497137 0.03748095 -0.04027321
+v 0.00678194 0.03742628 -0.04020933
+v 0.00859678 0.03734038 -0.04009407
+v 0.00315653 0.03748875 -0.04028349
+v 0.00134596 0.03746532 -0.04025192
+v 0.00009773 0.03742237 -0.04019832
+v 0.01041161 0.03856250 -0.03796127
+v 0.01139571 0.03804319 -0.03888854
+v 0.01041161 0.03813300 -0.03901188
+v 0.01041161 0.03722324 -0.03991346
+v 0.01041161 0.03929264 -0.03391519
+v 0.01178339 0.03902713 -0.03391519
+v 0.01222219 0.03890609 -0.03435277
+v 0.01222219 0.03867573 -0.03615738
+v 0.01350876 0.03812519 -0.03735263
+v 0.00009773 0.03158109 -0.03391521
+v 0.00497137 0.03657508 -0.04085322
+v 0.00859678 0.03643452 -0.04079228
+v 0.00678194 0.03652042 -0.04083046
+v 0.01041161 0.03631738 -0.04072914
+v 0.01141701 0.03623929 -0.04068216
+v 0.00315653 0.03658289 -0.04085689
+v 0.00134596 0.03655946 -0.04084661
+v 0.00009773 0.03651651 -0.04082826
+v 0.01209012 0.03823842 -0.03795686
+v 0.01260560 0.03790653 -0.03855522
+v 0.01584760 0.03653993 -0.03927032
+v 0.01403702 0.03681326 -0.03953902
+v 0.01200918 0.03707096 -0.03973652
+v 0.01222219 0.03894123 -0.03391519
+v 0.01403702 0.03846878 -0.03435277
+v 0.01408388 0.03822670 -0.03611627
+v 0.01471865 0.03796509 -0.03668967
+v 0.01584760 0.03720761 -0.03796127
+v 0.01408388 0.03774254 -0.03795686
+v 0.00009773 -0.00000305 -0.03494466
+v 0.03577670 -0.00000306 -0.03391533
+v 0.00497137 0.03531000 -0.04122031
+v 0.00678194 0.03531000 -0.04119168
+v 0.01041161 0.03531000 -0.04105659
+v 0.00859678 0.03531000 -0.04114102
+v 0.01210290 0.03539590 -0.04090902
+v 0.01262690 0.03605577 -0.04058451
+v 0.01702341 0.03449784 -0.04072180
+v 0.01584760 0.03468136 -0.04080697
+v 0.01403702 0.03494297 -0.04090021
+v 0.00315653 0.03531000 -0.04122472
+v 0.00134596 0.03531000 -0.04121077
+v 0.00009773 0.03531000 -0.04118654
+v 0.01707879 0.03633299 -0.03902291
+v 0.01765391 0.03530219 -0.03980334
+v 0.01584760 0.03558722 -0.04017263
+v 0.01403702 0.03584883 -0.04044134
+v 0.01403702 0.03850391 -0.03391519
+v 0.01496148 0.03824621 -0.03391519
+v 0.01525543 0.03812518 -0.03435277
+v 0.01505947 0.03806270 -0.03548708
+v 0.01574109 0.03774253 -0.03611627
+v 0.01766243 0.03706704 -0.03615738
+v 0.01885528 0.03633299 -0.03739082
+v 0.01767521 0.03656726 -0.03797963
+v 0.01828442 0.03610262 -0.03859267
+v 0.00009773 -0.00000304 -0.03896136
+v 0.04361543 -0.00000306 -0.03391533
+v 0.01041161 0.03349827 -0.04137523
+v 0.00859678 0.03349827 -0.04139285
+v 0.00678194 0.03349827 -0.04140020
+v 0.01222219 0.03349827 -0.04133999
+v 0.01584760 0.03349827 -0.04115351
+v 0.01403702 0.03349827 -0.04127318
+v 0.01764113 0.03358027 -0.04093399
+v 0.01823330 0.03424014 -0.04058304
+v 0.02072124 0.03274859 -0.04074824
+v 0.01947727 0.03303753 -0.04085617
+v 0.00497137 0.03349827 -0.04140386
+v 0.00315653 0.03349827 -0.04140313
+v 0.00134596 0.03349827 -0.04140020
+v 0.00009773 0.03349827 -0.04139652
+v 0.02084052 0.03463059 -0.03913817
+v 0.01947727 0.03494296 -0.03945681
+v 0.01531508 0.03814469 -0.03391519
+v 0.01553660 0.03807441 -0.03391519
+v 0.01616285 0.03783624 -0.03435277
+v 0.01766243 0.03730912 -0.03435277
+v 0.01917480 0.03646964 -0.03615739
+v 0.02008221 0.03608699 -0.03615739
+v 0.02128784 0.03551302 -0.03615739
+v 0.02249347 0.03457202 -0.03748920
+v 0.02138157 0.03491953 -0.03803837
+v 0.01946449 0.03584101 -0.03797963
+v 0.02204615 0.03432603 -0.03869179
+v 0.00009773 0.03169045 -0.04131283
+v 0.03578948 -0.00000303 -0.04136875
+v 0.04357708 -0.00000305 -0.03435291
+v 0.04361117 0.00090671 -0.03391533
+v 0.01584760 0.03169045 -0.04139212
+v 0.01403702 0.03169045 -0.04139946
+v 0.01766243 0.03169045 -0.04133999
+v 0.01947727 0.03169045 -0.04121224
+v 0.01947727 0.03394340 -0.04035912
+v 0.02192687 0.03243232 -0.04058892
+v 0.02415494 0.03087830 -0.04071815
+v 0.02309842 0.03118286 -0.04082975
+v 0.02130914 0.03177245 -0.04095014
+v 0.02491325 0.02625528 -0.04140756
+v 0.02853866 0.02263573 -0.04141565
+v 0.03760432 0.00090674 -0.04141206
+v 0.03760432 -0.00000303 -0.04141133
+v 0.02429127 0.03277201 -0.03907578
+v 0.02309842 0.03312342 -0.03941423
+v 0.02138583 0.03353732 -0.03986355
+v 0.01622249 0.03785575 -0.03391519
+v 0.01735996 0.03745748 -0.03391519
+v 0.01766243 0.03734816 -0.03391519
+v 0.01957951 0.03658286 -0.03391520
+v 0.01960933 0.03653211 -0.03432268
+v 0.02030374 0.03618070 -0.03490415
+v 0.02278743 0.03473600 -0.03615739
+v 0.02113874 0.03583710 -0.03432268
+v 0.02369484 0.03422841 -0.03615739
+v 0.02588883 0.03264316 -0.03718746
+v 0.02490473 0.03299067 -0.03785777
+v 0.02309842 0.03399805 -0.03803838
+v 0.02550116 0.03238546 -0.03839005
+v 0.04357282 0.00090672 -0.03435291
+v 0.04334703 -0.00000305 -0.03615752
+v 0.04354726 0.00228112 -0.03391532
+v 0.01947727 0.02987873 -0.04139727
+v 0.02128784 0.02987873 -0.04133853
+v 0.02309842 0.02987873 -0.04117334
+v 0.02309842 0.03208872 -0.04031654
+v 0.02481953 0.02985139 -0.04088848
+v 0.02536483 0.03043708 -0.04046926
+v 0.02737990 0.02876202 -0.04056838
+v 0.02617000 0.02923057 -0.04077615
+v 0.02672383 0.02625528 -0.04131358
+v 0.02853866 0.02444355 -0.04132314
+v 0.02309842 0.02806700 -0.04139214
+v 0.03034924 0.02082400 -0.04141345
+v 0.03216407 0.01720446 -0.04141420
+v 0.03760432 0.00271847 -0.04140838
+v 0.03941489 0.00090674 -0.04114849
+v 0.03578948 0.00996146 -0.04140835
+v 0.03941489 -0.00000303 -0.04114776
+v 0.02482805 0.03163188 -0.03977251
+v 0.02757586 0.03074163 -0.03878065
+v 0.02636597 0.03117504 -0.03926667
+v 0.02015038 0.03634078 -0.03391520
+v 0.02067864 0.03610260 -0.03391520
+v 0.02321344 0.03477114 -0.03418098
+v 0.02389507 0.03434164 -0.03466848
+v 0.02121116 0.03584099 -0.03391520
+v 0.02491325 0.03347873 -0.03615740
+v 0.02604646 0.03275248 -0.03615740
+v 0.02695388 0.03210822 -0.03615740
+v 0.02817229 0.03120236 -0.03615741
+v 0.02791668 0.03100324 -0.03757806
+v 0.02673235 0.03169435 -0.03798331
+v 0.04348762 0.00271845 -0.03435290
+v 0.04334277 0.00090672 -0.03615752
+v 0.04289120 -0.00000304 -0.03796141
+v 0.04289120 0.00090673 -0.03796141
+v 0.04352596 0.00271844 -0.03391532
+v 0.02491325 0.02806700 -0.04126806
+v 0.02675365 0.02812166 -0.04095310
+v 0.02687294 0.02998415 -0.03991716
+v 0.02853866 0.02944140 -0.03929310
+v 0.02863239 0.02812166 -0.04025563
+v 0.02929697 0.02702057 -0.04061097
+v 0.02808708 0.02755160 -0.04080993
+v 0.02863239 0.02635289 -0.04098173
+v 0.03045148 0.02453726 -0.04097807
+v 0.03034924 0.02263573 -0.04131066
+v 0.03216407 0.01901618 -0.04138776
+v 0.03397891 0.01539273 -0.04140172
+v 0.03760432 0.00453019 -0.04139662
+v 0.03941489 0.00271847 -0.04112132
+v 0.04053958 0.00090674 -0.04079388
+v 0.03998149 -0.00000303 -0.04097008
+v 0.03760432 0.00634192 -0.04137019
+v 0.03578948 0.01177319 -0.04138559
+v 0.02852588 0.03027698 -0.03809198
+v 0.02951424 0.02903533 -0.03893482
+v 0.02292375 0.03494684 -0.03391520
+v 0.02319214 0.03480627 -0.03391520
+v 0.02350739 0.03463838 -0.03391520
+v 0.02446167 0.03407221 -0.03391520
+v 0.02473006 0.03387700 -0.03418099
+v 0.02624243 0.03288914 -0.03435279
+v 0.02714984 0.03224879 -0.03435279
+v 0.02835548 0.03134683 -0.03435279
+v 0.02926289 0.03063229 -0.03435280
+v 0.02907970 0.03048392 -0.03615741
+v 0.02978264 0.02927351 -0.03796130
+v 0.04325757 0.00271845 -0.03615751
+v 0.04332147 0.00453017 -0.03435289
+v 0.04340242 0.00408894 -0.03391531
+v 0.04262707 -0.00000304 -0.03856564
+v 0.04235867 0.00090673 -0.03917428
+v 0.04231181 0.00271846 -0.03911333
+v 0.04280173 0.00271846 -0.03796140
+v 0.03021291 0.02794595 -0.03929458
+v 0.03045148 0.02635289 -0.04030115
+v 0.03112033 0.02520494 -0.04061245
+v 0.02991044 0.02581406 -0.04081582
+v 0.03162729 0.02399843 -0.04080407
+v 0.03220668 0.02264744 -0.04094431
+v 0.03216407 0.02082400 -0.04125413
+v 0.03397891 0.01720446 -0.04132757
+v 0.03578948 0.01358491 -0.04131804
+v 0.03760432 0.00814974 -0.04131953
+v 0.03941489 0.00453019 -0.04106844
+v 0.04049698 0.00271847 -0.04077111
+v 0.04144700 0.00090674 -0.04007658
+v 0.04144700 -0.00000303 -0.04007879
+v 0.04099542 -0.00000303 -0.04043560
+v 0.04053958 -0.00000303 -0.04079315
+v 0.03069005 0.02843402 -0.03796131
+v 0.03135464 0.02725874 -0.03896640
+v 0.02477267 0.03387699 -0.03391521
+v 0.02627651 0.03290865 -0.03391521
+v 0.02649378 0.03275637 -0.03391521
+v 0.02718393 0.03227220 -0.03391521
+v 0.02809560 0.03158890 -0.03391521
+v 0.02860683 0.03119844 -0.03391522
+v 0.02929271 0.03065961 -0.03391522
+v 0.03030238 0.02976937 -0.03391522
+v 0.03048130 0.02957805 -0.03418394
+v 0.03117145 0.02889085 -0.03467290
+v 0.03011919 0.02957805 -0.03615741
+v 0.03102661 0.02875028 -0.03615741
+v 0.04309142 0.00453017 -0.03615750
+v 0.04335982 0.00453016 -0.03391531
+v 0.04307438 0.00634190 -0.03435289
+v 0.04235867 -0.00000304 -0.03917648
+v 0.04140440 0.00271847 -0.04001564
+v 0.04133197 0.00453019 -0.03990110
+v 0.04223087 0.00453018 -0.03899879
+v 0.04263559 0.00453018 -0.03796139
+v 0.03204053 0.02610689 -0.03928577
+v 0.03220668 0.02453726 -0.04023948
+v 0.03283718 0.02326046 -0.04055592
+v 0.03330154 0.02205004 -0.04076811
+v 0.03393205 0.02069906 -0.04086649
+v 0.03397891 0.01901618 -0.04114108
+v 0.03578948 0.01539273 -0.04117560
+v 0.03760432 0.01177319 -0.04109339
+v 0.03760432 0.00996146 -0.04123582
+v 0.03916780 0.00814974 -0.04093481
+v 0.03954696 0.00631068 -0.04093115
+v 0.04036065 0.00568595 -0.04069254
+v 0.04042455 0.00453019 -0.04073146
+v 0.03161877 0.02752816 -0.03796131
+v 0.03252619 0.02657544 -0.03796131
+v 0.03311835 0.02540797 -0.03891869
+v 0.03077526 0.02935158 -0.03391522
+v 0.03167415 0.02849257 -0.03391523
+v 0.03192550 0.02819974 -0.03418395
+v 0.03299907 0.02708303 -0.03435281
+v 0.03193402 0.02784832 -0.03615742
+v 0.04284433 0.00634190 -0.03615750
+v 0.04317237 0.00590067 -0.03391531
+v 0.04273783 0.00814972 -0.03435288
+v 0.04277617 0.00814971 -0.03391530
+v 0.04285712 0.00771240 -0.03391530
+v 0.04310847 0.00634189 -0.03391531
+v 0.04121269 0.00624821 -0.03976674
+v 0.04216271 0.00560785 -0.03890555
+v 0.04237998 0.00626382 -0.03802746
+v 0.03350603 0.02444354 -0.03927183
+v 0.03405559 0.02274896 -0.03989883
+v 0.03451143 0.02121837 -0.04044433
+v 0.03494171 0.02001185 -0.04069837
+v 0.03521862 0.01901618 -0.04080629
+v 0.03584060 0.01716541 -0.04092597
+v 0.03705050 0.01539273 -0.04082466
+v 0.03764266 0.01345216 -0.04089368
+v 0.03868214 0.01177319 -0.04076007
+v 0.03893349 0.00996146 -0.04086726
+v 0.04023710 0.00689246 -0.04062719
+v 0.03284144 0.02691513 -0.03615742
+v 0.03334840 0.02566958 -0.03796132
+v 0.03433676 0.02441621 -0.03805676
+v 0.03481390 0.02344787 -0.03872266
+v 0.03523992 0.02224136 -0.03924101
+v 0.03229614 0.02786003 -0.03391523
+v 0.03302463 0.02711425 -0.03391523
+v 0.03347195 0.02660666 -0.03391523
+v 0.03379146 0.02617716 -0.03435281
+v 0.03364661 0.02600927 -0.03615742
+v 0.04224791 0.00814973 -0.03739092
+v 0.04214567 0.00909464 -0.03709064
+v 0.04250352 0.00814972 -0.03615749
+v 0.04222235 0.00939918 -0.03615749
+v 0.04209028 0.01067989 -0.03476915
+v 0.04230755 0.01003173 -0.03424201
+v 0.04233737 0.01001610 -0.03391529
+v 0.04101672 0.00814974 -0.03962577
+v 0.04079945 0.00996145 -0.03943487
+v 0.04206046 0.00681436 -0.03867280
+v 0.03569576 0.02067954 -0.03973805
+v 0.03612178 0.01901618 -0.04025859
+v 0.03647963 0.01773939 -0.04055447
+v 0.03679915 0.01653287 -0.04072407
+v 0.03853730 0.01275714 -0.04068371
+v 0.04007522 0.00814974 -0.04052808
+v 0.03454977 0.02493941 -0.03615743
+v 0.03507377 0.02379148 -0.03752008
+v 0.03576392 0.02259277 -0.03789525
+v 0.03644981 0.02134721 -0.03827115
+v 0.03683323 0.02014069 -0.03903251
+v 0.03403855 0.02595069 -0.03391523
+v 0.03472444 0.02515415 -0.03391524
+v 0.03469888 0.02512293 -0.03435282
+v 0.04192414 0.00814973 -0.03829250
+v 0.04170261 0.00980527 -0.03779911
+v 0.04108488 0.01177318 -0.03796137
+v 0.04156202 0.01177317 -0.03615748
+v 0.04198804 0.01030505 -0.03615748
+v 0.04186449 0.01161308 -0.03424201
+v 0.04200082 0.01127337 -0.03391529
+v 0.04223087 0.01045341 -0.03391529
+v 0.04053958 0.01177318 -0.03914634
+v 0.03984091 0.00996146 -0.04033718
+v 0.03958956 0.01177319 -0.04004865
+v 0.03715274 0.01901617 -0.03935628
+v 0.03758728 0.01719275 -0.03981222
+v 0.03795365 0.01539273 -0.04027329
+v 0.03827317 0.01396366 -0.04053613
+v 0.03526122 0.02403355 -0.03615743
+v 0.03670116 0.02173376 -0.03706930
+v 0.03700789 0.02077714 -0.03778659
+v 0.03801329 0.01895370 -0.03795326
+v 0.03837541 0.01784870 -0.03854942
+v 0.03867362 0.01664219 -0.03906996
+v 0.03525696 0.02446695 -0.03391524
+v 0.03540181 0.02421707 -0.03435282
+v 0.04037343 0.01281961 -0.03893562
+v 0.04054384 0.01348729 -0.03786445
+v 0.04036917 0.01460400 -0.03719928
+v 0.04095282 0.01358489 -0.03615747
+v 0.04119991 0.01358489 -0.03435286
+v 0.04137457 0.01318662 -0.03391528
+v 0.04187302 0.01167945 -0.03391529
+v 0.03934247 0.01339359 -0.03973587
+v 0.03895479 0.01539272 -0.03937098
+v 0.03630923 0.02297150 -0.03435283
+v 0.03616864 0.02276847 -0.03615744
+v 0.03678636 0.02186260 -0.03615744
+v 0.03742965 0.02082398 -0.03615744
+v 0.03824760 0.01945738 -0.03615745
+v 0.03861824 0.01830944 -0.03734683
+v 0.03891219 0.01723178 -0.03795327
+v 0.03982813 0.01528340 -0.03786444
+v 0.04014339 0.01402612 -0.03840187
+v 0.03542311 0.02424829 -0.03391524
+v 0.03564463 0.02394764 -0.03391524
+v 0.03633053 0.02300664 -0.03391525
+v 0.03942767 0.01720444 -0.03615746
+v 0.04009226 0.01575584 -0.03615746
+v 0.04047142 0.01484998 -0.03615747
+v 0.04059922 0.01515063 -0.03435285
+v 0.04123825 0.01358488 -0.03391528
+v 0.03679489 0.02231943 -0.03391525
+v 0.03691843 0.02206564 -0.03435283
+v 0.03769804 0.02082398 -0.03435283
+v 0.03837967 0.01969166 -0.03435284
+v 0.03875030 0.01855542 -0.03615745
+v 0.03967902 0.01720444 -0.03435285
+v 0.04022007 0.01605259 -0.03435285
+v 0.04024137 0.01610334 -0.03391527
+v 0.04050124 0.01548251 -0.03391527
+v 0.04060348 0.01523262 -0.03391527
+v 0.03693973 0.02210077 -0.03391525
+v 0.03715274 0.02176498 -0.03391525
+v 0.03774064 0.02082397 -0.03391525
+v 0.03788549 0.02058580 -0.03391525
+v 0.03840097 0.01973069 -0.03391526
+v 0.03878013 0.01904349 -0.03391526
+v 0.03887811 0.01878579 -0.03435284
+v 0.03889941 0.01882483 -0.03391526
+v 0.03973866 0.01716538 -0.03391527
+v 0.03987073 0.01689206 -0.03391527
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 39
+f 1 39 55
+f 1 55 76
+f 1 76 103
+f 1 103 134
+f 1 134 166
+f 1 166 202
+f 1 202 236
+f 1 236 272
+f 1 272 301
+f 1 301 305
+f 1 305 304
+f 1 304 303
+f 1 303 336
+f 1 336 361
+f 1 361 360
+f 1 360 383
+f 1 383 382
+f 1 382 402
+f 1 402 412
+f 1 412 411
+f 1 411 410
+f 1 410 422
+f 1 422 421
+f 1 421 420
+f 1 420 418
+f 1 418 417
+f 1 417 416
+f 1 416 415
+f 1 415 414
+f 1 414 413
+f 1 413 403
+f 1 403 397
+f 1 397 396
+f 1 396 395
+f 1 395 375
+f 1 375 352
+f 1 352 351
+f 1 351 327
+f 1 327 326
+f 1 326 325
+f 1 325 296
+f 1 296 295
+f 1 295 266
+f 1 266 265
+f 1 265 264
+f 1 264 263
+f 1 263 262
+f 1 262 261
+f 1 261 260
+f 1 260 259
+f 1 259 226
+f 1 226 225
+f 1 225 224
+f 1 224 223
+f 1 223 191
+f 1 191 188
+f 1 188 187
+f 1 187 154
+f 1 154 153
+f 1 153 152
+f 1 152 151
+f 1 151 121
+f 1 121 120
+f 1 120 94
+f 1 94 93
+f 1 93 69
+f 1 69 51
+f 1 51 50
+f 1 50 34
+f 1 34 33
+f 1 33 18
+f 1 18 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 7 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 7 15 16
+f 7 16 11
+f 7 10 17
+f 7 17 15
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 31
+f 10 31 17
+f 11 16 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 16
+f 15 17 28
+f 15 28 27
+f 16 27 29
+f 16 29 30
+f 16 30 21
+f 17 31 32
+f 17 32 28
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 31
+f 21 30 37
+f 21 37 38
+f 21 38 22
+f 22 38 37
+f 22 37 45
+f 22 45 63
+f 22 63 88
+f 22 88 117
+f 22 117 131
+f 22 131 102
+f 22 102 75
+f 22 75 55
+f 22 55 39
+f 22 39 25
+f 22 25 24
+f 22 24 23
+f 25 39 26
+f 27 40 29
+f 27 28 41
+f 27 41 40
+f 28 32 42
+f 28 42 41
+f 29 40 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 37
+f 31 36 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 42
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 46
+f 40 56 43
+f 40 41 57
+f 40 57 58
+f 40 58 56
+f 41 42 59
+f 41 59 57
+f 42 49 60
+f 42 60 59
+f 43 56 61
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 45
+f 46 54 64
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 68 60
+f 51 69 52
+f 52 69 93
+f 52 93 70
+f 52 70 53
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 54 65 64
+f 54 72 73
+f 54 73 74
+f 54 74 65
+f 55 75 76
+f 56 77 61
+f 56 58 78
+f 56 78 77
+f 57 59 79
+f 57 79 80
+f 57 80 58
+f 58 80 78
+f 59 60 81
+f 59 81 79
+f 60 68 67
+f 60 67 82
+f 60 82 83
+f 60 83 84
+f 60 84 85
+f 60 85 81
+f 61 77 86
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 63
+f 65 74 73
+f 65 73 89
+f 65 89 66
+f 66 89 90
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 82
+f 70 93 94
+f 70 94 95
+f 70 95 96
+f 70 96 71
+f 71 96 72
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 73
+f 73 99 100
+f 73 100 101
+f 73 101 89
+f 75 102 132
+f 75 132 147
+f 75 147 183
+f 75 183 218
+f 75 218 256
+f 75 256 255
+f 75 255 254
+f 75 254 274
+f 75 274 237
+f 75 237 200
+f 75 200 165
+f 75 165 133
+f 75 133 103
+f 75 103 76
+f 77 78 104
+f 77 104 105
+f 77 105 106
+f 77 106 86
+f 78 80 107
+f 78 107 104
+f 79 81 85
+f 79 85 108
+f 79 108 109
+f 79 109 80
+f 80 109 107
+f 82 92 83
+f 83 110 84
+f 83 92 91
+f 83 91 111
+f 83 111 112
+f 83 112 113
+f 83 113 110
+f 84 110 108
+f 84 108 85
+f 86 106 114
+f 86 114 115
+f 86 115 116
+f 86 116 117
+f 86 117 87
+f 87 117 88
+f 89 101 118
+f 89 118 119
+f 89 119 90
+f 90 111 91
+f 90 119 111
+f 94 120 95
+f 95 120 121
+f 95 121 122
+f 95 122 96
+f 96 122 97
+f 97 122 98
+f 98 122 123
+f 98 123 124
+f 98 124 99
+f 99 101 100
+f 99 124 125
+f 99 125 126
+f 99 126 127
+f 99 127 128
+f 99 128 129
+f 99 129 101
+f 101 129 130
+f 101 130 118
+f 102 131 132
+f 103 133 164
+f 103 164 134
+f 104 107 135
+f 104 135 105
+f 105 135 136
+f 105 136 106
+f 106 136 114
+f 107 109 137
+f 107 137 135
+f 108 110 138
+f 108 138 137
+f 108 137 109
+f 110 113 138
+f 111 119 139
+f 111 139 140
+f 111 140 112
+f 112 140 141
+f 112 141 142
+f 112 142 143
+f 112 143 113
+f 113 143 138
+f 114 136 144
+f 114 144 145
+f 114 145 115
+f 115 145 146
+f 115 146 147
+f 115 147 116
+f 116 147 117
+f 117 147 132
+f 117 132 131
+f 118 130 148
+f 118 148 149
+f 118 149 150
+f 118 150 139
+f 118 139 119
+f 121 151 122
+f 122 151 152
+f 122 152 123
+f 123 152 153
+f 123 153 154
+f 123 154 155
+f 123 155 156
+f 123 156 124
+f 124 156 125
+f 125 156 126
+f 126 157 127
+f 126 156 158
+f 126 158 157
+f 127 157 159
+f 127 159 160
+f 127 160 161
+f 127 161 162
+f 127 162 130
+f 127 130 128
+f 128 130 129
+f 130 162 163
+f 130 163 148
+f 133 165 199
+f 133 199 164
+f 134 164 166
+f 135 137 167
+f 135 167 136
+f 136 167 144
+f 137 138 168
+f 137 168 167
+f 138 143 169
+f 138 169 168
+f 139 150 140
+f 140 150 149
+f 140 149 170
+f 140 170 141
+f 141 171 142
+f 141 170 172
+f 141 172 173
+f 141 173 174
+f 141 174 171
+f 142 171 169
+f 142 169 143
+f 144 175 176
+f 144 176 145
+f 144 167 177
+f 144 177 175
+f 145 176 178
+f 145 178 179
+f 145 179 146
+f 146 180 181
+f 146 181 183
+f 146 183 147
+f 146 179 182
+f 146 182 180
+f 148 184 170
+f 148 170 149
+f 148 163 185
+f 148 185 186
+f 148 186 184
+f 154 187 155
+f 155 187 156
+f 156 188 158
+f 156 187 188
+f 157 158 189
+f 157 189 190
+f 157 190 159
+f 158 188 191
+f 158 191 189
+f 159 190 192
+f 159 192 160
+f 160 163 161
+f 160 192 193
+f 160 193 194
+f 160 194 195
+f 160 195 196
+f 160 196 197
+f 160 197 163
+f 161 163 162
+f 163 197 185
+f 164 198 166
+f 164 199 234
+f 164 234 198
+f 165 200 201
+f 165 201 199
+f 166 198 202
+f 167 168 177
+f 168 169 203
+f 168 203 177
+f 169 171 204
+f 169 204 203
+f 170 184 172
+f 171 174 204
+f 172 186 205
+f 172 205 173
+f 172 184 186
+f 173 206 207
+f 173 207 208
+f 173 208 209
+f 173 209 174
+f 173 205 206
+f 174 209 204
+f 175 177 203
+f 175 203 210
+f 175 210 176
+f 176 210 211
+f 176 211 212
+f 176 212 178
+f 178 212 213
+f 178 213 214
+f 178 214 179
+f 179 214 182
+f 180 215 181
+f 180 182 215
+f 181 216 217
+f 181 217 218
+f 181 218 183
+f 181 215 219
+f 181 219 216
+f 182 214 220
+f 182 220 215
+f 185 196 221
+f 185 221 222
+f 185 222 206
+f 185 206 186
+f 185 197 196
+f 186 206 205
+f 189 223 224
+f 189 224 225
+f 189 225 190
+f 189 191 223
+f 190 226 227
+f 190 227 228
+f 190 228 192
+f 190 225 226
+f 192 228 193
+f 193 228 229
+f 193 229 194
+f 194 229 195
+f 195 229 230
+f 195 230 231
+f 195 231 232
+f 195 232 196
+f 196 232 233
+f 196 233 221
+f 198 234 271
+f 198 271 235
+f 198 235 236
+f 198 236 202
+f 199 201 234
+f 200 237 201
+f 201 237 238
+f 201 238 239
+f 201 239 240
+f 201 240 234
+f 203 204 210
+f 204 209 210
+f 206 222 207
+f 207 222 241
+f 207 241 208
+f 208 241 242
+f 208 242 243
+f 208 243 244
+f 208 244 209
+f 209 244 210
+f 210 244 211
+f 211 245 246
+f 211 246 247
+f 211 247 212
+f 211 244 245
+f 212 247 213
+f 213 247 248
+f 213 248 214
+f 214 248 249
+f 214 249 220
+f 215 220 219
+f 216 219 250
+f 216 250 251
+f 216 251 252
+f 216 252 217
+f 217 252 253
+f 217 253 254
+f 217 254 255
+f 217 255 256
+f 217 256 218
+f 219 220 250
+f 220 249 250
+f 221 233 222
+f 222 233 257
+f 222 257 258
+f 222 258 241
+f 226 259 227
+f 227 259 228
+f 228 260 261
+f 228 261 262
+f 228 262 229
+f 228 259 260
+f 229 262 230
+f 230 262 263
+f 230 263 264
+f 230 264 265
+f 230 265 231
+f 231 265 266
+f 231 266 267
+f 231 267 268
+f 231 268 269
+f 231 269 232
+f 232 269 233
+f 233 269 270
+f 233 270 257
+f 234 240 278
+f 234 278 271
+f 235 272 236
+f 235 271 300
+f 235 300 273
+f 235 273 272
+f 237 274 238
+f 238 274 254
+f 238 254 253
+f 238 253 275
+f 238 275 239
+f 239 275 276
+f 239 276 277
+f 239 277 240
+f 240 277 278
+f 241 258 242
+f 242 258 279
+f 242 279 243
+f 243 279 280
+f 243 280 281
+f 243 281 282
+f 243 282 245
+f 243 245 244
+f 245 282 246
+f 246 282 283
+f 246 283 284
+f 246 284 247
+f 247 284 248
+f 248 284 285
+f 248 285 249
+f 249 285 286
+f 249 286 287
+f 249 287 250
+f 250 287 251
+f 251 288 289
+f 251 289 290
+f 251 290 291
+f 251 291 252
+f 251 287 288
+f 252 291 275
+f 252 275 253
+f 257 270 292
+f 257 292 258
+f 258 292 293
+f 258 293 294
+f 258 294 279
+f 266 295 267
+f 267 295 268
+f 268 270 269
+f 268 295 296
+f 268 296 297
+f 268 297 298
+f 268 298 299
+f 268 299 270
+f 270 299 292
+f 271 278 300
+f 272 273 301
+f 273 300 302
+f 273 302 303
+f 273 303 304
+f 273 304 305
+f 273 305 301
+f 275 291 290
+f 275 290 276
+f 276 306 277
+f 276 290 306
+f 277 306 307
+f 277 307 278
+f 278 308 300
+f 278 307 308
+f 279 294 280
+f 280 294 309
+f 280 309 281
+f 281 309 310
+f 281 310 311
+f 281 311 312
+f 281 312 282
+f 282 312 283
+f 283 312 313
+f 283 313 284
+f 284 313 314
+f 284 314 285
+f 285 314 315
+f 285 315 316
+f 285 316 286
+f 286 316 317
+f 286 317 318
+f 286 318 287
+f 287 318 288
+f 288 318 290
+f 288 290 289
+f 290 318 319
+f 290 319 306
+f 292 299 320
+f 292 320 293
+f 293 320 321
+f 293 321 294
+f 294 321 322
+f 294 322 323
+f 294 323 324
+f 294 324 309
+f 296 325 297
+f 297 325 298
+f 298 320 299
+f 298 325 326
+f 298 326 327
+f 298 327 328
+f 298 328 329
+f 298 329 320
+f 300 308 330
+f 300 330 331
+f 300 331 332
+f 300 332 302
+f 302 332 333
+f 302 333 334
+f 302 334 335
+f 302 335 303
+f 303 335 336
+f 306 337 307
+f 306 319 337
+f 307 337 338
+f 307 338 339
+f 307 339 308
+f 308 339 330
+f 309 324 310
+f 310 324 311
+f 311 324 340
+f 311 340 341
+f 311 341 312
+f 312 341 342
+f 312 342 343
+f 312 343 313
+f 313 343 314
+f 314 343 315
+f 315 343 344
+f 315 344 316
+f 316 344 317
+f 317 344 345
+f 317 345 319
+f 317 319 318
+f 319 345 337
+f 320 329 321
+f 321 329 346
+f 321 346 347
+f 321 347 322
+f 322 347 323
+f 323 347 348
+f 323 348 349
+f 323 349 350
+f 323 350 324
+f 324 350 340
+f 327 351 328
+f 328 351 352
+f 328 352 353
+f 328 353 329
+f 329 353 346
+f 330 339 354
+f 330 354 331
+f 331 354 355
+f 331 355 356
+f 331 356 357
+f 331 357 358
+f 331 358 333
+f 331 333 332
+f 333 358 334
+f 334 358 357
+f 334 357 359
+f 334 359 360
+f 334 360 361
+f 334 361 335
+f 335 361 336
+f 337 345 338
+f 338 362 339
+f 338 345 363
+f 338 363 364
+f 338 364 362
+f 339 362 354
+f 340 350 341
+f 341 350 365
+f 341 365 342
+f 342 365 366
+f 342 366 367
+f 342 367 368
+f 342 368 343
+f 343 368 344
+f 344 364 363
+f 344 363 345
+f 344 368 364
+f 346 353 369
+f 346 369 347
+f 347 369 370
+f 347 370 348
+f 348 370 349
+f 349 370 371
+f 349 371 350
+f 350 371 372
+f 350 372 373
+f 350 373 374
+f 350 374 365
+f 352 375 376
+f 352 376 353
+f 353 376 369
+f 354 362 377
+f 354 377 355
+f 355 377 356
+f 356 377 378
+f 356 378 379
+f 356 379 357
+f 357 380 381
+f 357 381 359
+f 357 379 380
+f 359 381 382
+f 359 382 383
+f 359 383 360
+f 362 364 384
+f 362 384 377
+f 364 368 384
+f 365 374 366
+f 366 374 385
+f 366 385 367
+f 367 385 368
+f 368 385 384
+f 369 376 386
+f 369 386 387
+f 369 387 370
+f 370 388 389
+f 370 389 390
+f 370 390 391
+f 370 391 371
+f 370 387 388
+f 371 391 372
+f 372 391 373
+f 373 391 392
+f 373 392 393
+f 373 393 394
+f 373 394 374
+f 374 394 377
+f 374 377 385
+f 375 395 376
+f 376 395 396
+f 376 396 397
+f 376 397 386
+f 377 384 385
+f 377 394 378
+f 378 394 379
+f 379 394 393
+f 379 393 392
+f 379 392 391
+f 379 391 398
+f 379 398 399
+f 379 399 400
+f 379 400 380
+f 380 400 381
+f 381 400 401
+f 381 401 402
+f 381 402 382
+f 386 397 403
+f 386 403 404
+f 386 404 388
+f 386 388 387
+f 388 404 405
+f 388 405 389
+f 389 405 406
+f 389 406 390
+f 390 406 407
+f 390 407 391
+f 391 407 398
+f 398 408 409
+f 398 409 399
+f 398 407 408
+f 399 409 401
+f 399 401 400
+f 401 409 410
+f 401 410 411
+f 401 411 412
+f 401 412 402
+f 403 413 404
+f 404 413 414
+f 404 414 405
+f 405 414 415
+f 405 415 416
+f 405 416 417
+f 405 417 406
+f 406 417 418
+f 406 418 419
+f 406 419 407
+f 407 419 408
+f 408 419 420
+f 408 420 421
+f 408 421 422
+f 408 422 410
+f 408 410 409
+f 418 420 419
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_1.obj

@@ -0,0 +1,1243 @@
+# https://github.com/mikedh/trimesh
+v 0.04360819 -0.00000305 -0.03395954
+v 0.04361245 -0.00090874 -0.03395954
+v 0.04357411 -0.00000304 -0.03435322
+v 0.03571036 -0.00000305 -0.03395954
+v 0.04357837 -0.00090873 -0.03435322
+v 0.04352725 -0.00272011 -0.03395955
+v 0.04334408 -0.00000304 -0.03615727
+v 0.00009772 -0.00000304 -0.03494483
+v 0.00009772 -0.03147954 -0.03395966
+v 0.04349317 -0.00272010 -0.03435323
+v 0.04334834 -0.00090873 -0.03615727
+v 0.04336112 -0.00452758 -0.03395956
+v 0.04289253 -0.00000303 -0.03796131
+v 0.00009772 -0.00000303 -0.03896120
+v 0.00009772 -0.03973221 -0.03395969
+v 0.04332704 -0.00452757 -0.03435324
+v 0.04326314 -0.00272010 -0.03615728
+v 0.04281159 -0.00272009 -0.03796132
+v 0.04289253 -0.00090872 -0.03796131
+v 0.04311404 -0.00633895 -0.03395956
+v 0.04262841 -0.00000303 -0.03856607
+v 0.00009772 -0.03169032 -0.04132338
+v 0.03579130 -0.00000302 -0.04136927
+v 0.00009772 -0.03968926 -0.03435264
+v 0.00123086 -0.03977905 -0.03435045
+v 0.00096674 -0.03979858 -0.03395969
+v 0.04307997 -0.00633894 -0.03435324
+v 0.04309700 -0.00452757 -0.03615729
+v 0.04264546 -0.00452756 -0.03796133
+v 0.04223651 -0.00452756 -0.03900651
+v 0.04231745 -0.00272009 -0.03912044
+v 0.04236004 -0.00090872 -0.03917813
+v 0.04278177 -0.00815032 -0.03395957
+v 0.04236004 -0.00000303 -0.03917594
+v 0.00009772 -0.03225247 -0.04135406
+v 0.03760175 -0.00000302 -0.04141091
+v 0.00009772 -0.03350169 -0.04140811
+v 0.00009772 -0.03954482 -0.03555777
+v 0.00134587 -0.03956824 -0.03615742
+v 0.00315632 -0.03980248 -0.03485295
+v 0.00157591 -0.03983371 -0.03395969
+v 0.04274770 -0.00815031 -0.03435325
+v 0.04284993 -0.00633894 -0.03615729
+v 0.04238134 -0.00627257 -0.03802999
+v 0.04216835 -0.00562453 -0.03891083
+v 0.04121414 -0.00626865 -0.03976976
+v 0.04133341 -0.00452755 -0.03990853
+v 0.04140157 -0.00272008 -0.04002246
+v 0.04144417 -0.00090871 -0.04008015
+v 0.04190424 -0.00000302 -0.03962585
+v 0.04234301 -0.01002806 -0.03395958
+v 0.03851337 -0.00000302 -0.04127944
+v 0.03760175 -0.00090871 -0.04141018
+v 0.03579130 -0.00996167 -0.04141167
+v 0.03216614 -0.01720715 -0.04142119
+v 0.00134587 -0.03350169 -0.04140883
+v 0.00315632 -0.03530916 -0.04124086
+v 0.00009772 -0.03406384 -0.04135187
+v 0.00009772 -0.03947065 -0.03615741
+v 0.00134587 -0.03912320 -0.03796145
+v 0.00315632 -0.03963070 -0.03615742
+v 0.00497103 -0.03961118 -0.03615742
+v 0.00497103 -0.03979076 -0.03473755
+v 0.00474952 -0.03986494 -0.03395969
+v 0.00315632 -0.03988446 -0.03395969
+v 0.04231319 -0.01003976 -0.03426123
+v 0.04223225 -0.00942296 -0.03615730
+v 0.04251340 -0.00815031 -0.03615730
+v 0.04215131 -0.00911064 -0.03710387
+v 0.04225355 -0.00815030 -0.03740406
+v 0.04206185 -0.00683472 -0.03867711
+v 0.04080093 -0.00996168 -0.03943599
+v 0.04101818 -0.00815029 -0.03962661
+v 0.04023862 -0.00690888 -0.04062797
+v 0.04036642 -0.00570260 -0.04069515
+v 0.04043032 -0.00452755 -0.04073313
+v 0.04049847 -0.00272008 -0.04077110
+v 0.04054107 -0.00090871 -0.04079300
+v 0.04099262 -0.00000302 -0.04043584
+v 0.04144417 -0.00000302 -0.04007869
+v 0.04224077 -0.01043796 -0.03395958
+v 0.03941647 -0.00000302 -0.04114797
+v 0.03941647 -0.00090871 -0.04114724
+v 0.03760175 -0.00272008 -0.04140361
+v 0.03579130 -0.01177304 -0.04138830
+v 0.03397659 -0.01539578 -0.04140658
+v 0.03760175 -0.00452755 -0.04139121
+v 0.03035143 -0.02082209 -0.04141464
+v 0.02853672 -0.02263346 -0.04141610
+v 0.00315632 -0.03350169 -0.04140956
+v 0.00497103 -0.03350169 -0.04140737
+v 0.00678574 -0.03350169 -0.04140226
+v 0.00497103 -0.03530916 -0.04123501
+v 0.00315632 -0.03661303 -0.04086982
+v 0.00134587 -0.03530916 -0.04122698
+v 0.00009772 -0.03530916 -0.04120653
+v 0.00009772 -0.03902560 -0.03796145
+v 0.00009772 -0.03858838 -0.03888100
+v 0.00009772 -0.03836976 -0.03932142
+v 0.00134587 -0.03842051 -0.03937474
+v 0.00315632 -0.03918566 -0.03796145
+v 0.00497103 -0.03916614 -0.03796145
+v 0.00678574 -0.03950188 -0.03615742
+v 0.00497103 -0.03986104 -0.03395969
+v 0.00669629 -0.03973611 -0.03425769
+v 0.00640235 -0.03978687 -0.03395969
+v 0.00569521 -0.03982981 -0.03395969
+v 0.04209167 -0.01069560 -0.03480171
+v 0.04199795 -0.01032864 -0.03615731
+v 0.04157197 -0.01177306 -0.03615731
+v 0.04109060 -0.01177305 -0.03796135
+v 0.04170828 -0.00981333 -0.03780724
+v 0.04192554 -0.00815030 -0.03830535
+v 0.04054107 -0.01177305 -0.03914895
+v 0.03959112 -0.01177304 -0.04005098
+v 0.03983819 -0.00996167 -0.04033801
+v 0.04007674 -0.00815029 -0.04052863
+v 0.03868376 -0.01177304 -0.04076090
+v 0.03893510 -0.00996167 -0.04086827
+v 0.03916939 -0.00815029 -0.04093473
+v 0.03954852 -0.00631940 -0.04093180
+v 0.03941647 -0.00452755 -0.04106765
+v 0.03941647 -0.00272008 -0.04111876
+v 0.03997877 -0.00000302 -0.04097048
+v 0.04053681 -0.00000302 -0.04079373
+v 0.04213427 -0.01084786 -0.03395958
+v 0.03760175 -0.00633892 -0.04136710
+v 0.03579130 -0.01358441 -0.04132039
+v 0.03760175 -0.00815029 -0.04131964
+v 0.03397659 -0.01720715 -0.04133720
+v 0.03216614 -0.01901462 -0.04139345
+v 0.03035143 -0.02263346 -0.04131531
+v 0.02853672 -0.02444483 -0.04132700
+v 0.02491156 -0.02625620 -0.04140662
+v 0.01947594 -0.02987895 -0.04140006
+v 0.00859620 -0.03350169 -0.04139642
+v 0.00497103 -0.03660523 -0.04086617
+v 0.01041091 -0.03350169 -0.04138254
+v 0.00678574 -0.03530916 -0.04120434
+v 0.00315632 -0.03751872 -0.04030890
+v 0.00134587 -0.03658571 -0.04085814
+v 0.00009772 -0.03570735 -0.04109186
+v 0.00009772 -0.03773733 -0.03994298
+v 0.00009772 -0.03744845 -0.04022344
+v 0.00134587 -0.03749139 -0.04027676
+v 0.00315632 -0.03845174 -0.03940688
+v 0.00497103 -0.03844003 -0.03939884
+v 0.00678574 -0.03838147 -0.03933457
+v 0.00678574 -0.03905293 -0.03796145
+v 0.00859620 -0.03931450 -0.03615741
+v 0.00859620 -0.03953311 -0.03435337
+v 0.00681982 -0.03975173 -0.03395969
+v 0.04199795 -0.01130070 -0.03395958
+v 0.04186590 -0.01162081 -0.03426123
+v 0.04120136 -0.01358443 -0.03435327
+v 0.04095854 -0.01358443 -0.03615732
+v 0.04037494 -0.01461503 -0.03720833
+v 0.04054959 -0.01348682 -0.03787006
+v 0.04037494 -0.01281927 -0.03893642
+v 0.03933979 -0.01339703 -0.03973619
+v 0.03827056 -0.01397089 -0.04053523
+v 0.03853893 -0.01276070 -0.04068496
+v 0.03764009 -0.01345168 -0.04089531
+v 0.03760175 -0.01177304 -0.04109542
+v 0.03760175 -0.00996167 -0.04123639
+v 0.03579130 -0.01539578 -0.04118455
+v 0.03397659 -0.01901462 -0.04114877
+v 0.03216614 -0.02082209 -0.04126053
+v 0.03045793 -0.02454633 -0.04098299
+v 0.02863896 -0.02635770 -0.04098519
+v 0.02672627 -0.02625620 -0.04131533
+v 0.02309684 -0.02806757 -0.04139275
+v 0.02129065 -0.02987895 -0.04134382
+v 0.01766123 -0.03169032 -0.04134383
+v 0.01585078 -0.03169032 -0.04139131
+v 0.00678574 -0.03654667 -0.04084280
+v 0.00497103 -0.03751091 -0.04030160
+v 0.01222136 -0.03350169 -0.04134675
+v 0.00859620 -0.03530916 -0.04115394
+v 0.00009772 -0.03654276 -0.04084207
+v 0.00009772 -0.03682384 -0.04066094
+v 0.00678574 -0.03745235 -0.04023659
+v 0.00859620 -0.03736257 -0.04012119
+v 0.00859620 -0.03828778 -0.03921917
+v 0.00859620 -0.03886164 -0.03796145
+v 0.01041091 -0.03904904 -0.03615741
+v 0.01041091 -0.03927155 -0.03435336
+v 0.00856638 -0.03957216 -0.03395969
+v 0.04187442 -0.01167938 -0.03395958
+v 0.04123543 -0.01358444 -0.03395959
+v 0.04060071 -0.01522795 -0.03395960
+v 0.04059645 -0.01514986 -0.03435328
+v 0.04047718 -0.01486098 -0.03615732
+v 0.04009805 -0.01576666 -0.03615733
+v 0.03942499 -0.01720717 -0.03615733
+v 0.03861561 -0.01830804 -0.03734421
+v 0.03891380 -0.01723059 -0.03795187
+v 0.03982967 -0.01529039 -0.03787007
+v 0.04014490 -0.01402945 -0.03841055
+v 0.03867524 -0.01664501 -0.03907666
+v 0.03895640 -0.01539579 -0.03937466
+v 0.03796384 -0.01539578 -0.04027741
+v 0.03648992 -0.01776149 -0.04055789
+v 0.03680941 -0.01655131 -0.04073098
+v 0.03705649 -0.01539578 -0.04083031
+v 0.03584668 -0.01717592 -0.04093476
+v 0.03393825 -0.02070107 -0.04086977
+v 0.03221726 -0.02265688 -0.04095012
+v 0.03522474 -0.01901462 -0.04081133
+v 0.03164643 -0.02400760 -0.04080770
+v 0.02992118 -0.02582288 -0.04081793
+v 0.02810221 -0.02757179 -0.04081209
+v 0.02676887 -0.02813004 -0.04095744
+v 0.02491156 -0.02806757 -0.04127223
+v 0.01947594 -0.03169032 -0.04122259
+v 0.02309684 -0.02987895 -0.04118022
+v 0.01585078 -0.03350169 -0.04115758
+v 0.01403607 -0.03350169 -0.04127810
+v 0.00859620 -0.03645688 -0.04080263
+v 0.01041091 -0.03530916 -0.04107287
+v 0.01041091 -0.03633977 -0.04074054
+v 0.01147588 -0.03624998 -0.04069088
+v 0.01041091 -0.03724545 -0.03994590
+v 0.01041091 -0.03815115 -0.03904315
+v 0.01145884 -0.03805746 -0.03891095
+v 0.01041091 -0.03859228 -0.03796145
+v 0.01355044 -0.03813944 -0.03738445
+v 0.01222136 -0.03869769 -0.03615741
+v 0.01222136 -0.03892021 -0.03435336
+v 0.01222136 -0.03895535 -0.03395968
+v 0.01080708 -0.03922862 -0.03395968
+v 0.01041091 -0.03930279 -0.03395968
+v 0.04023862 -0.01609850 -0.03395960
+v 0.04022158 -0.01605555 -0.03435328
+v 0.03874766 -0.01855399 -0.03615734
+v 0.03967632 -0.01720717 -0.03435328
+v 0.03825352 -0.01945968 -0.03615734
+v 0.03671144 -0.02175121 -0.03709662
+v 0.03701389 -0.02077525 -0.03780290
+v 0.03801070 -0.01895217 -0.03795188
+v 0.03837705 -0.01785129 -0.03854642
+v 0.03683071 -0.02014283 -0.03903139
+v 0.03715021 -0.01901463 -0.03935787
+v 0.03759323 -0.01720325 -0.03981727
+v 0.03613209 -0.01901462 -0.04026062
+v 0.03494358 -0.02001400 -0.04069958
+v 0.03330779 -0.02207131 -0.04077117
+v 0.03113099 -0.02521779 -0.04061780
+v 0.03285624 -0.02327759 -0.04056668
+v 0.02931202 -0.02703306 -0.04061635
+v 0.02739933 -0.02877807 -0.04057984
+v 0.02618952 -0.02924653 -0.04078070
+v 0.02483062 -0.02985943 -0.04089390
+v 0.02133751 -0.03178791 -0.04095746
+v 0.01947594 -0.03306446 -0.04086470
+v 0.01765271 -0.03359148 -0.04093920
+v 0.02309684 -0.03121405 -0.04083547
+v 0.01585078 -0.03468845 -0.04080993
+v 0.01403607 -0.03495781 -0.04090561
+v 0.01214042 -0.03540285 -0.04091876
+v 0.01704355 -0.03450107 -0.04072375
+v 0.01268568 -0.03607040 -0.04059374
+v 0.01207226 -0.03708539 -0.03975235
+v 0.01403607 -0.03683165 -0.03955222
+v 0.01585078 -0.03655839 -0.03928781
+v 0.01266865 -0.03791692 -0.03858666
+v 0.01212764 -0.03826046 -0.03797606
+v 0.01410849 -0.03776467 -0.03797606
+v 0.01585078 -0.03723766 -0.03796145
+v 0.01475599 -0.03797549 -0.03672929
+v 0.01410849 -0.03824095 -0.03613987
+v 0.01403607 -0.03847908 -0.03435336
+v 0.01403607 -0.03851422 -0.03395968
+v 0.03972743 -0.01717205 -0.03395960
+v 0.03887120 -0.01878822 -0.03435329
+v 0.03838131 -0.01969390 -0.03435329
+v 0.03889250 -0.01881946 -0.03395961
+v 0.03744840 -0.02082211 -0.03615735
+v 0.03645585 -0.02134911 -0.03829883
+v 0.03680090 -0.02188395 -0.03615735
+v 0.03617895 -0.02278963 -0.03615735
+v 0.03527160 -0.02405057 -0.03615736
+v 0.03508416 -0.02380461 -0.03754143
+v 0.03577000 -0.02260614 -0.03791976
+v 0.03482431 -0.02346108 -0.03874364
+v 0.03524604 -0.02225480 -0.03924686
+v 0.03569759 -0.02068155 -0.03974060
+v 0.03451760 -0.02122418 -0.04044980
+v 0.03221726 -0.02454633 -0.04025699
+v 0.03205112 -0.02611568 -0.03930751
+v 0.03045793 -0.02635770 -0.04031836
+v 0.03406605 -0.02276619 -0.03990640
+v 0.03352504 -0.02444484 -0.03928996
+v 0.03022363 -0.02795437 -0.03931846
+v 0.02863896 -0.02813004 -0.04027599
+v 0.02853672 -0.02946905 -0.03931409
+v 0.02689666 -0.03000387 -0.03993126
+v 0.02538014 -0.03045281 -0.04048562
+v 0.02417460 -0.03089004 -0.04072227
+v 0.02076669 -0.03276777 -0.04075514
+v 0.01825335 -0.03425513 -0.04059228
+v 0.01585078 -0.03559414 -0.04019057
+v 0.01403607 -0.03586350 -0.04045423
+v 0.01767827 -0.03530916 -0.03981515
+v 0.01710745 -0.03634759 -0.03903803
+v 0.01831725 -0.03611335 -0.03862025
+v 0.01769105 -0.03658181 -0.03799577
+v 0.01887956 -0.03634368 -0.03741803
+v 0.01766123 -0.03708541 -0.03615741
+v 0.01574428 -0.03775687 -0.03613987
+v 0.01507122 -0.03806918 -0.03552635
+v 0.01527144 -0.03813164 -0.03435336
+v 0.01532681 -0.03814727 -0.03395968
+v 0.03850911 -0.01952995 -0.03395961
+v 0.03840261 -0.01972515 -0.03395961
+v 0.03771251 -0.02082211 -0.03435330
+v 0.03692869 -0.02208304 -0.03435330
+v 0.03631527 -0.02298873 -0.03435330
+v 0.03540791 -0.02422624 -0.03435331
+v 0.03470929 -0.02513192 -0.03435331
+v 0.03456871 -0.02495625 -0.03615736
+v 0.03336743 -0.02569406 -0.03796140
+v 0.03435998 -0.02442142 -0.03806950
+v 0.03312887 -0.02542080 -0.03893208
+v 0.03137380 -0.02727901 -0.03898394
+v 0.02953353 -0.02905135 -0.03895182
+v 0.02760380 -0.03076122 -0.03882035
+v 0.02639400 -0.03119845 -0.03928268
+v 0.02485618 -0.03164738 -0.03979396
+v 0.02309684 -0.03211974 -0.04034978
+v 0.02197224 -0.03245937 -0.04060614
+v 0.01947594 -0.03397015 -0.04038046
+v 0.01947594 -0.03496562 -0.03947844
+v 0.02088596 -0.03464942 -0.03915781
+v 0.02208725 -0.03435273 -0.03874368
+v 0.01948020 -0.03586351 -0.03799577
+v 0.01921183 -0.03648423 -0.03615740
+v 0.02140993 -0.03494611 -0.03807027
+v 0.02252602 -0.03458696 -0.03754147
+v 0.02129065 -0.03555121 -0.03615740
+v 0.02011493 -0.03610165 -0.03615740
+v 0.01766123 -0.03732355 -0.03435336
+v 0.01617879 -0.03784276 -0.03435336
+v 0.01622991 -0.03785838 -0.03395968
+v 0.03827481 -0.01993986 -0.03395961
+v 0.03774659 -0.02082212 -0.03395962
+v 0.03755916 -0.02112662 -0.03395962
+v 0.03694999 -0.02211038 -0.03395962
+v 0.03633657 -0.02301606 -0.03395962
+v 0.03542921 -0.02425357 -0.03395963
+v 0.03473059 -0.02515926 -0.03395963
+v 0.03365710 -0.02638895 -0.03418241
+v 0.03300108 -0.02708383 -0.03466958
+v 0.03366136 -0.02603761 -0.03615737
+v 0.03286902 -0.02694329 -0.03615737
+v 0.03255805 -0.02659975 -0.03796141
+v 0.03165069 -0.02755619 -0.03796141
+v 0.03071778 -0.02846187 -0.03796141
+v 0.02981042 -0.02929729 -0.03796142
+v 0.02854098 -0.03030447 -0.03811553
+v 0.02793607 -0.03102278 -0.03761741
+v 0.02676461 -0.03171766 -0.03803374
+v 0.02554202 -0.03240863 -0.03845006
+v 0.02433221 -0.03279901 -0.03910229
+v 0.02309684 -0.03315816 -0.03944703
+v 0.02143123 -0.03356025 -0.03988161
+v 0.02311814 -0.03404043 -0.03807027
+v 0.02032366 -0.03619144 -0.03499682
+v 0.02492433 -0.03303324 -0.03789423
+v 0.02592541 -0.03266628 -0.03724785
+v 0.02374435 -0.03425905 -0.03615740
+v 0.02283699 -0.03475874 -0.03615740
+v 0.02115008 -0.03585962 -0.03437818
+v 0.01962078 -0.03654278 -0.03437818
+v 0.01805740 -0.03720254 -0.03395968
+v 0.01766123 -0.03735869 -0.03395968
+v 0.01650254 -0.03776469 -0.03395968
+v 0.03369544 -0.02637335 -0.03395964
+v 0.03347393 -0.02663100 -0.03395964
+v 0.03304368 -0.02713069 -0.03395964
+v 0.03213632 -0.02803636 -0.03410864
+v 0.03119063 -0.02891082 -0.03474993
+v 0.03196167 -0.02787631 -0.03615737
+v 0.03105431 -0.02878199 -0.03615738
+v 0.03014695 -0.02959399 -0.03615738
+v 0.02910328 -0.03049967 -0.03615738
+v 0.02819593 -0.03123359 -0.03615738
+v 0.02043442 -0.03624220 -0.03395967
+v 0.02700316 -0.03213928 -0.03615739
+v 0.02610006 -0.03278731 -0.03615739
+v 0.02491156 -0.03354856 -0.03615739
+v 0.02392752 -0.03436055 -0.03485293
+v 0.02323316 -0.03479778 -0.03429200
+v 0.02101802 -0.03596113 -0.03395967
+v 0.02320760 -0.03484463 -0.03395967
+v 0.02122675 -0.03585963 -0.03395967
+v 0.01958670 -0.03659354 -0.03395967
+v 0.03235357 -0.02783337 -0.03395964
+v 0.03190629 -0.02828622 -0.03395964
+v 0.03124174 -0.02895768 -0.03395965
+v 0.03049200 -0.02959399 -0.03423063
+v 0.02927794 -0.03064412 -0.03435333
+v 0.02837058 -0.03137022 -0.03435334
+v 0.02719485 -0.03227591 -0.03435334
+v 0.02628750 -0.03292394 -0.03435334
+v 0.02474968 -0.03391551 -0.03429199
+v 0.02401272 -0.03441131 -0.03395967
+v 0.02365063 -0.03460650 -0.03395967
+v 0.03079872 -0.02935196 -0.03395965
+v 0.02930350 -0.03066755 -0.03395965
+v 0.02843022 -0.03136243 -0.03395966
+v 0.02722467 -0.03229544 -0.03395966
+v 0.02631732 -0.03293957 -0.03395966
+v 0.02480506 -0.03391552 -0.03395966
+v 0.02438333 -0.03418099 -0.03395967
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 34
+f 1 34 50
+f 1 50 80
+f 1 80 79
+f 1 79 125
+f 1 125 124
+f 1 124 82
+f 1 82 52
+f 1 52 36
+f 1 36 23
+f 1 23 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 26
+f 1 26 41
+f 1 41 65
+f 1 65 64
+f 1 64 104
+f 1 104 107
+f 1 107 106
+f 1 106 152
+f 1 152 188
+f 1 188 232
+f 1 232 231
+f 1 231 230
+f 1 230 273
+f 1 273 313
+f 1 313 344
+f 1 344 377
+f 1 377 376
+f 1 376 375
+f 1 375 397
+f 1 397 388
+f 1 388 394
+f 1 394 396
+f 1 396 395
+f 1 395 408
+f 1 408 407
+f 1 407 415
+f 1 415 414
+f 1 414 413
+f 1 413 412
+f 1 412 411
+f 1 411 410
+f 1 410 409
+f 1 409 400
+f 1 400 399
+f 1 399 398
+f 1 398 380
+f 1 380 379
+f 1 379 378
+f 1 378 351
+f 1 351 350
+f 1 350 349
+f 1 349 348
+f 1 348 347
+f 1 347 346
+f 1 346 345
+f 1 345 315
+f 1 315 314
+f 1 314 277
+f 1 277 274
+f 1 274 233
+f 1 233 191
+f 1 191 190
+f 1 190 189
+f 1 189 153
+f 1 153 126
+f 1 126 81
+f 1 81 51
+f 1 51 33
+f 1 33 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 6 12 16
+f 6 16 10
+f 7 11 13
+f 8 14 22
+f 8 22 35
+f 8 35 37
+f 8 37 58
+f 8 58 96
+f 8 96 142
+f 8 142 180
+f 8 180 181
+f 8 181 144
+f 8 144 143
+f 8 143 99
+f 8 99 98
+f 8 98 97
+f 8 97 59
+f 8 59 38
+f 8 38 24
+f 8 24 15
+f 8 15 9
+f 10 16 28
+f 10 28 17
+f 11 17 18
+f 11 18 19
+f 11 19 13
+f 12 20 27
+f 12 27 16
+f 13 19 21
+f 14 23 22
+f 15 24 25
+f 15 25 26
+f 16 27 43
+f 16 43 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 21
+f 20 33 42
+f 20 42 27
+f 21 32 34
+f 22 23 35
+f 23 36 37
+f 23 37 35
+f 24 38 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 25 38 39
+f 27 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 34
+f 33 51 42
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 56 57
+f 37 57 58
+f 37 55 56
+f 38 59 39
+f 39 59 97
+f 39 97 60
+f 39 60 101
+f 39 101 61
+f 39 61 40
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 41
+f 42 51 66
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 47 75 48
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 49 77 78
+f 49 78 79
+f 49 79 80
+f 49 80 50
+f 51 81 66
+f 52 82 83
+f 52 83 53
+f 53 83 84
+f 53 84 54
+f 54 85 86
+f 54 86 55
+f 54 84 87
+f 54 87 85
+f 55 86 88
+f 55 88 89
+f 55 89 90
+f 55 90 56
+f 56 90 57
+f 57 90 91
+f 57 91 92
+f 57 92 93
+f 57 93 94
+f 57 94 95
+f 57 95 58
+f 58 95 96
+f 60 97 98
+f 60 98 99
+f 60 99 100
+f 60 100 101
+f 61 101 102
+f 61 102 62
+f 62 102 103
+f 62 103 63
+f 63 104 64
+f 63 103 105
+f 63 105 106
+f 63 106 107
+f 63 107 104
+f 66 81 108
+f 66 108 67
+f 67 108 109
+f 67 109 69
+f 67 69 68
+f 69 109 110
+f 69 110 111
+f 69 111 112
+f 69 112 113
+f 69 113 70
+f 70 113 71
+f 71 113 114
+f 71 114 72
+f 72 114 115
+f 72 115 116
+f 72 116 117
+f 72 117 73
+f 73 117 74
+f 74 117 118
+f 74 118 119
+f 74 119 75
+f 75 119 120
+f 75 120 121
+f 75 121 122
+f 75 122 76
+f 76 122 77
+f 77 122 123
+f 77 123 78
+f 78 123 83
+f 78 83 82
+f 78 82 124
+f 78 124 125
+f 78 125 79
+f 81 126 108
+f 83 123 127
+f 83 127 87
+f 83 87 84
+f 85 128 86
+f 85 87 127
+f 85 127 129
+f 85 129 128
+f 86 128 130
+f 86 130 131
+f 86 131 88
+f 88 132 133
+f 88 133 89
+f 88 131 132
+f 89 133 134
+f 89 134 135
+f 89 135 91
+f 89 91 90
+f 91 135 92
+f 92 136 93
+f 92 135 136
+f 93 137 94
+f 93 136 138
+f 93 138 139
+f 93 139 137
+f 94 137 140
+f 94 140 141
+f 94 141 95
+f 95 141 142
+f 95 142 96
+f 99 143 100
+f 100 143 144
+f 100 144 145
+f 100 145 146
+f 100 146 101
+f 101 146 147
+f 101 147 102
+f 102 147 148
+f 102 148 149
+f 102 149 103
+f 103 149 150
+f 103 150 151
+f 103 151 105
+f 105 151 152
+f 105 152 106
+f 108 126 153
+f 108 153 154
+f 108 154 110
+f 108 110 109
+f 110 154 155
+f 110 155 156
+f 110 156 157
+f 110 157 111
+f 111 157 158
+f 111 158 159
+f 111 159 112
+f 112 159 113
+f 113 159 114
+f 114 159 160
+f 114 160 115
+f 115 160 161
+f 115 161 162
+f 115 162 116
+f 116 162 117
+f 117 162 118
+f 118 162 163
+f 118 163 164
+f 118 164 119
+f 119 164 165
+f 119 165 120
+f 120 122 121
+f 120 165 122
+f 122 165 129
+f 122 129 123
+f 123 129 127
+f 128 166 130
+f 128 129 165
+f 128 165 166
+f 130 166 167
+f 130 167 168
+f 130 168 131
+f 131 168 132
+f 132 168 169
+f 132 169 133
+f 133 169 170
+f 133 170 171
+f 133 171 134
+f 134 171 172
+f 134 172 135
+f 135 172 173
+f 135 173 174
+f 135 174 175
+f 135 175 136
+f 136 175 138
+f 137 139 176
+f 137 176 177
+f 137 177 140
+f 138 175 178
+f 138 178 139
+f 139 178 179
+f 139 179 176
+f 140 177 146
+f 140 146 145
+f 140 145 141
+f 141 145 180
+f 141 180 142
+f 144 181 145
+f 145 181 180
+f 146 177 147
+f 147 177 148
+f 148 177 182
+f 148 182 183
+f 148 183 184
+f 148 184 149
+f 149 184 185
+f 149 185 150
+f 150 185 186
+f 150 186 187
+f 150 187 151
+f 151 188 152
+f 151 187 188
+f 153 189 154
+f 154 189 155
+f 155 190 191
+f 155 191 192
+f 155 192 193
+f 155 193 156
+f 155 189 190
+f 156 193 157
+f 157 194 195
+f 157 195 196
+f 157 196 197
+f 157 197 198
+f 157 198 199
+f 157 199 158
+f 157 193 194
+f 158 199 159
+f 159 199 200
+f 159 200 201
+f 159 201 160
+f 160 201 161
+f 161 202 203
+f 161 203 204
+f 161 204 162
+f 161 201 202
+f 162 204 205
+f 162 205 163
+f 163 205 166
+f 163 166 164
+f 164 166 165
+f 166 206 167
+f 166 205 206
+f 167 207 208
+f 167 208 168
+f 167 206 209
+f 167 209 207
+f 168 208 169
+f 169 208 210
+f 169 210 211
+f 169 211 170
+f 170 211 212
+f 170 212 213
+f 170 213 214
+f 170 214 171
+f 171 214 172
+f 172 214 173
+f 173 215 174
+f 173 214 216
+f 173 216 215
+f 174 217 218
+f 174 218 178
+f 174 178 175
+f 174 215 217
+f 176 179 219
+f 176 219 177
+f 177 219 182
+f 178 218 179
+f 179 218 220
+f 179 220 219
+f 182 219 221
+f 182 221 183
+f 183 221 222
+f 183 222 223
+f 183 223 184
+f 184 223 224
+f 184 224 185
+f 185 224 225
+f 185 225 226
+f 185 226 186
+f 186 226 227
+f 186 227 228
+f 186 228 229
+f 186 229 187
+f 187 229 230
+f 187 230 231
+f 187 231 232
+f 187 232 188
+f 191 233 234
+f 191 234 192
+f 192 234 193
+f 193 234 194
+f 194 234 195
+f 195 235 196
+f 195 234 236
+f 195 236 235
+f 196 235 237
+f 196 237 238
+f 196 238 239
+f 196 239 240
+f 196 240 241
+f 196 241 197
+f 197 241 198
+f 198 241 200
+f 198 200 199
+f 200 241 242
+f 200 242 243
+f 200 243 244
+f 200 244 201
+f 201 244 202
+f 202 244 203
+f 203 244 243
+f 203 243 245
+f 203 245 246
+f 203 246 204
+f 204 246 209
+f 204 209 206
+f 204 206 205
+f 207 209 246
+f 207 246 247
+f 207 247 208
+f 208 247 210
+f 210 248 211
+f 210 247 249
+f 210 249 248
+f 211 250 212
+f 211 248 250
+f 212 250 251
+f 212 251 252
+f 212 252 213
+f 213 252 253
+f 213 253 216
+f 213 216 214
+f 215 216 254
+f 215 254 255
+f 215 255 256
+f 215 256 217
+f 216 253 257
+f 216 257 254
+f 217 258 259
+f 217 259 220
+f 217 220 218
+f 217 256 258
+f 219 220 221
+f 220 259 260
+f 220 260 221
+f 221 260 222
+f 222 260 259
+f 222 259 258
+f 222 258 261
+f 222 261 262
+f 222 262 263
+f 222 263 223
+f 223 263 224
+f 224 263 225
+f 225 263 264
+f 225 264 265
+f 225 265 266
+f 225 266 267
+f 225 267 226
+f 226 267 227
+f 227 267 266
+f 227 266 268
+f 227 268 269
+f 227 269 270
+f 227 270 228
+f 228 270 271
+f 228 271 272
+f 228 272 229
+f 229 272 273
+f 229 273 230
+f 233 274 236
+f 233 236 234
+f 235 236 275
+f 235 275 276
+f 235 276 237
+f 236 274 277
+f 236 277 275
+f 237 276 278
+f 237 278 238
+f 238 279 239
+f 238 278 280
+f 238 280 281
+f 238 281 282
+f 238 282 283
+f 238 283 284
+f 238 284 279
+f 239 279 242
+f 239 242 240
+f 240 242 241
+f 242 279 285
+f 242 285 286
+f 242 286 287
+f 242 287 245
+f 242 245 243
+f 245 287 288
+f 245 288 246
+f 246 288 249
+f 246 249 247
+f 248 249 289
+f 248 289 290
+f 248 290 291
+f 248 291 250
+f 249 288 292
+f 249 292 293
+f 249 293 289
+f 250 291 294
+f 250 294 295
+f 250 295 251
+f 251 295 296
+f 251 296 297
+f 251 297 298
+f 251 298 299
+f 251 299 252
+f 252 299 253
+f 253 299 257
+f 254 257 300
+f 254 300 255
+f 255 300 261
+f 255 261 256
+f 256 261 258
+f 257 299 300
+f 261 300 301
+f 261 301 302
+f 261 302 303
+f 261 303 262
+f 262 303 264
+f 262 264 263
+f 264 303 302
+f 264 302 265
+f 265 302 304
+f 265 304 305
+f 265 305 266
+f 266 305 268
+f 268 305 269
+f 269 305 306
+f 269 306 307
+f 269 307 308
+f 269 308 270
+f 270 308 309
+f 270 309 310
+f 270 310 311
+f 270 311 271
+f 271 311 272
+f 272 311 312
+f 272 312 273
+f 273 312 313
+f 275 277 314
+f 275 314 276
+f 276 315 316
+f 276 316 278
+f 276 314 315
+f 278 316 280
+f 279 284 285
+f 280 316 317
+f 280 317 318
+f 280 318 281
+f 281 318 282
+f 282 318 319
+f 282 319 320
+f 282 320 321
+f 282 321 283
+f 283 321 322
+f 283 322 323
+f 283 323 285
+f 283 285 284
+f 285 323 324
+f 285 324 293
+f 285 293 286
+f 286 293 292
+f 286 292 288
+f 286 288 287
+f 289 293 324
+f 289 324 290
+f 290 325 291
+f 290 324 325
+f 291 325 294
+f 294 326 295
+f 294 325 326
+f 295 326 296
+f 296 327 328
+f 296 328 297
+f 296 326 327
+f 297 328 298
+f 298 328 329
+f 298 329 330
+f 298 330 299
+f 299 330 331
+f 299 331 300
+f 300 331 301
+f 301 332 333
+f 301 333 304
+f 301 304 302
+f 301 331 332
+f 304 333 305
+f 305 333 334
+f 305 334 306
+f 306 308 307
+f 306 334 335
+f 306 335 336
+f 306 336 308
+f 308 337 309
+f 308 336 338
+f 308 338 339
+f 308 339 340
+f 308 340 341
+f 308 341 337
+f 309 337 342
+f 309 342 343
+f 309 343 310
+f 310 343 311
+f 311 343 312
+f 312 343 313
+f 313 343 344
+f 315 345 316
+f 316 345 346
+f 316 346 347
+f 316 347 348
+f 316 348 317
+f 317 348 349
+f 317 349 318
+f 318 349 350
+f 318 350 319
+f 319 350 351
+f 319 351 320
+f 320 351 352
+f 320 352 353
+f 320 353 354
+f 320 354 321
+f 321 354 322
+f 322 355 356
+f 322 356 324
+f 322 324 323
+f 322 354 355
+f 324 356 325
+f 325 356 357
+f 325 357 358
+f 325 358 326
+f 326 358 359
+f 326 359 327
+f 327 359 360
+f 327 360 361
+f 327 361 362
+f 327 362 363
+f 327 363 364
+f 327 364 328
+f 328 364 329
+f 329 364 330
+f 330 365 331
+f 330 364 365
+f 331 365 366
+f 331 366 332
+f 332 366 334
+f 332 334 333
+f 334 366 365
+f 334 365 364
+f 334 364 335
+f 335 364 363
+f 335 363 367
+f 335 367 339
+f 335 339 338
+f 335 338 336
+f 337 341 368
+f 337 368 342
+f 339 367 369
+f 339 369 370
+f 339 370 371
+f 339 371 372
+f 339 372 340
+f 340 373 368
+f 340 368 341
+f 340 372 373
+f 342 368 374
+f 342 374 375
+f 342 375 376
+f 342 376 377
+f 342 377 343
+f 343 377 344
+f 351 378 352
+f 352 378 379
+f 352 379 380
+f 352 380 353
+f 353 380 381
+f 353 381 382
+f 353 382 383
+f 353 383 355
+f 353 355 354
+f 355 383 357
+f 355 357 356
+f 357 383 384
+f 357 384 358
+f 358 384 359
+f 359 385 386
+f 359 386 361
+f 359 361 360
+f 359 384 385
+f 361 386 387
+f 361 387 370
+f 361 370 362
+f 362 370 363
+f 363 370 369
+f 363 369 367
+f 368 373 388
+f 368 388 374
+f 370 387 389
+f 370 389 390
+f 370 390 391
+f 370 391 371
+f 371 391 392
+f 371 392 372
+f 372 392 393
+f 372 393 373
+f 373 394 388
+f 373 393 395
+f 373 395 396
+f 373 396 394
+f 374 388 397
+f 374 397 375
+f 380 398 381
+f 381 399 400
+f 381 400 382
+f 381 398 399
+f 382 400 401
+f 382 401 402
+f 382 402 385
+f 382 385 384
+f 382 384 383
+f 385 402 386
+f 386 402 387
+f 387 402 403
+f 387 403 404
+f 387 404 389
+f 389 404 390
+f 390 404 405
+f 390 405 391
+f 391 406 392
+f 391 405 406
+f 392 406 407
+f 392 407 393
+f 393 407 408
+f 393 408 395
+f 400 409 401
+f 401 409 410
+f 401 410 402
+f 402 410 403
+f 403 410 411
+f 403 411 412
+f 403 412 404
+f 404 412 405
+f 405 412 413
+f 405 413 414
+f 405 414 406
+f 406 415 407
+f 406 414 415
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_10.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.03634286 0.00680656 -0.03217061
+v -0.03629173 0.00708819 -0.03217061
+v -0.03010612 0.00680656 -0.03217061
+v -0.03836535 0.00680650 -0.01660971
+v -0.03609248 0.00814993 -0.03217061
+v -0.02036572 0.02443982 -0.03217055
+v -0.03009377 0.00680653 -0.02352482
+v -0.03837769 0.00680650 -0.01630608
+v -0.03371204 0.01559453 -0.03217058
+v -0.03379315 0.01540511 -0.03217058
+v -0.03409820 0.01468732 -0.03217059
+v -0.03451610 0.01358321 -0.03217059
+v -0.03500805 0.01215012 -0.03217060
+v -0.03513677 0.01177129 -0.03217060
+v -0.03562520 0.01010142 -0.03217060
+v -0.03586325 0.00919671 -0.03217061
+v -0.03604134 0.00838421 -0.03217061
+v -0.02036572 0.03222089 -0.03217052
+v -0.02036572 0.02582043 0.00659887
+v -0.03106887 0.00680642 0.00659881
+v -0.03238957 0.01845821 -0.03074352
+v -0.03301378 0.01720456 -0.03074353
+v -0.03297322 0.01720457 -0.03217058
+v -0.03625998 0.00680642 0.00659881
+v -0.03599020 0.00825696 0.00659881
+v -0.03592673 0.00855853 0.00659881
+v -0.03582445 0.00904204 0.00659881
+v -0.03569750 0.00953054 0.00659882
+v -0.03561639 0.00984208 0.00659882
+v -0.03521965 0.01122034 0.00659882
+v -0.03506095 0.01177115 0.00659882
+v -0.03463071 0.01303227 0.00659883
+v -0.03444204 0.01358307 0.00659883
+v -0.03406293 0.01460493 0.00659883
+v -0.03367677 0.01550965 0.00659884
+v -0.03313368 0.01668852 0.00659884
+v -0.03289564 0.01720443 0.00659884
+v -0.03250066 0.01799700 0.00659885
+v -0.03232786 0.01834094 0.00659885
+v -0.02059319 0.03205390 -0.03217052
+v -0.02036572 0.03226823 -0.03074347
+v -0.02036572 0.03207121 0.00659890
+v -0.03188880 0.01936542 -0.03074352
+v -0.03197344 0.01913863 -0.03217057
+v -0.03236841 0.01842083 -0.03217057
+v -0.03182003 0.01924815 0.00659885
+v -0.02178341 0.03114918 -0.03217053
+v -0.02062493 0.03207632 -0.03074347
+v -0.02048739 0.03198148 0.00659890
+v -0.03102126 0.02082343 -0.03074351
+v -0.03041998 0.02177801 -0.03203772
+v -0.03186764 0.01932804 -0.03217057
+v -0.03119054 0.02029991 0.00659885
+v -0.02268974 0.03041394 -0.03217053
+v -0.02181162 0.03117160 -0.03074348
+v -0.02169172 0.03107427 0.00659889
+v -0.02132495 0.03135092 0.00659890
+v -0.03042704 0.02178797 -0.03074351
+v -0.03091370 0.02076100 0.00659886
+v -0.02979578 0.02269518 -0.03074351
+v -0.02889121 0.02395380 -0.03074350
+v -0.02886829 0.02392391 -0.03217055
+v -0.03029479 0.02194250 -0.03217056
+v -0.03041469 0.02177053 -0.03217056
+v -0.03052225 0.02159607 -0.03217056
+v -0.02373713 0.02950674 -0.03217053
+v -0.02271795 0.03043636 -0.03074348
+v -0.02196679 0.03084996 0.00659889
+v -0.03074090 0.02103765 0.00659886
+v -0.03034769 0.02166571 0.00659886
+v -0.02967059 0.02263523 0.00659886
+v -0.02906930 0.02347764 0.00659887
+v -0.02880658 0.02384401 0.00659887
+v -0.02818237 0.02485852 -0.03074350
+v -0.02815769 0.02482862 -0.03217055
+v -0.02464346 0.02868427 -0.03217053
+v -0.02376181 0.02953165 -0.03074348
+v -0.02365073 0.02942933 0.00659889
+v -0.02259804 0.03033405 0.00659889
+v -0.02809421 0.02474873 0.00659887
+v -0.02727604 0.02595266 -0.03074349
+v -0.02725136 0.02592276 -0.03217054
+v -0.02555508 0.02777955 -0.03217054
+v -0.02466814 0.02870918 -0.03074348
+v -0.02455706 0.02860188 0.00659889
+v -0.02718788 0.02584286 0.00659887
+v -0.02648785 0.02685737 -0.03074349
+v -0.02646317 0.02682747 -0.03217054
+v -0.02558153 0.02780197 -0.03074349
+v -0.02547749 0.02769716 0.00659888
+v -0.02519713 0.02797381 0.00659888
+v -0.02638558 0.02674758 0.00659888
+v -0.02575433 0.02740805 0.00659888
+f 1 2 5
+f 1 5 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 23
+f 1 23 45
+f 1 45 44
+f 1 44 52
+f 1 52 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 75
+f 1 75 82
+f 1 82 88
+f 1 88 83
+f 1 83 76
+f 1 76 66
+f 1 66 54
+f 1 54 47
+f 1 47 40
+f 1 40 18
+f 1 18 6
+f 1 6 3
+f 1 3 7
+f 1 7 20
+f 1 20 24
+f 1 24 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 6 18 41
+f 6 41 42
+f 6 42 19
+f 6 19 7
+f 7 19 20
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 34
+f 8 34 35
+f 8 35 36
+f 8 36 37
+f 8 37 38
+f 8 38 39
+f 8 39 21
+f 18 40 41
+f 19 42 49
+f 19 49 57
+f 19 57 56
+f 19 56 68
+f 19 68 79
+f 19 79 78
+f 19 78 85
+f 19 85 91
+f 19 91 90
+f 19 90 93
+f 19 93 92
+f 19 92 86
+f 19 86 80
+f 19 80 73
+f 19 73 72
+f 19 72 71
+f 19 71 70
+f 19 70 69
+f 19 69 59
+f 19 59 53
+f 19 53 46
+f 19 46 39
+f 19 39 38
+f 19 38 37
+f 19 37 36
+f 19 36 35
+f 19 35 34
+f 19 34 33
+f 19 33 32
+f 19 32 31
+f 19 31 30
+f 19 30 29
+f 19 29 28
+f 19 28 27
+f 19 27 26
+f 19 26 25
+f 19 25 24
+f 19 24 20
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 21 39 43
+f 22 45 23
+f 39 46 43
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 43 46 50
+f 46 53 50
+f 47 54 67
+f 47 67 55
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 50 58 51
+f 50 53 59
+f 50 59 58
+f 51 58 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 54 66 67
+f 55 67 56
+f 56 67 68
+f 58 59 69
+f 58 69 70
+f 58 70 60
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 61
+f 61 74 62
+f 61 73 74
+f 62 74 75
+f 66 76 84
+f 66 84 77
+f 66 77 67
+f 67 77 78
+f 67 78 79
+f 67 79 68
+f 73 80 74
+f 74 81 82
+f 74 82 75
+f 74 80 86
+f 74 86 81
+f 76 83 84
+f 77 84 78
+f 78 84 85
+f 81 87 88
+f 81 88 82
+f 81 86 87
+f 83 88 87
+f 83 87 89
+f 83 89 84
+f 84 89 90
+f 84 90 91
+f 84 91 85
+f 86 92 87
+f 87 92 93
+f 87 93 90
+f 87 90 89
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_11.obj

@@ -0,0 +1,1312 @@
+# https://github.com/mikedh/trimesh
+v -0.03679944 -0.00090862 -0.03406318
+v -0.03677416 -0.00090862 -0.03435323
+v -0.03669110 -0.00271673 -0.03435324
+v -0.03672721 -0.00242980 -0.03406319
+v -0.03679583 0.00090404 -0.03406318
+v -0.03677416 0.00090404 -0.03435323
+v -0.03656109 -0.00090862 -0.03615757
+v -0.03671277 -0.00271673 -0.03406319
+v -0.03647442 -0.00271673 -0.03615758
+v -0.03651776 -0.00452938 -0.03435325
+v -0.03656832 -0.00423790 -0.03406320
+v -0.03678499 0.00119552 -0.03406318
+v -0.03669110 0.00271214 -0.03435322
+v -0.03655748 0.00090404 -0.03615757
+v -0.03608079 -0.00271672 -0.03782158
+v -0.03606996 0.00084940 -0.03812385
+v -0.03606996 -0.00085851 -0.03812529
+v -0.03599412 -0.00452937 -0.03756536
+v -0.03630108 -0.00452938 -0.03615759
+v -0.03653943 -0.00452938 -0.03406320
+v -0.03626136 -0.00634204 -0.03435325
+v -0.03628664 -0.00634204 -0.03406320
+v -0.03671277 0.00271214 -0.03406317
+v -0.03668749 0.00300363 -0.03406317
+v -0.03652498 0.00452480 -0.03435321
+v -0.03647081 0.00271214 -0.03615756
+v -0.03608079 0.00271215 -0.03782156
+v -0.03581717 -0.00143237 -0.03883638
+v -0.03577022 -0.00271672 -0.03872411
+v -0.03583161 0.00020722 -0.03887236
+v -0.03581356 0.00141414 -0.03883348
+v -0.03583161 -0.00022545 -0.03887236
+v -0.03567272 -0.00452937 -0.03846645
+v -0.03590384 -0.00589570 -0.03729115
+v -0.03580272 -0.00710262 -0.03690827
+v -0.03601579 -0.00643769 -0.03624683
+v -0.03589662 -0.00756263 -0.03570489
+v -0.03596884 -0.00790877 -0.03435326
+v -0.03604107 -0.00765827 -0.03406321
+v -0.03654665 0.00452480 -0.03406316
+v -0.03627941 0.00633746 -0.03435321
+v -0.03630469 0.00452480 -0.03615755
+v -0.03599412 0.00452481 -0.03757252
+v -0.03577022 0.00271215 -0.03872337
+v -0.03402236 -0.00196523 -0.04067527
+v -0.03470128 -0.00262562 -0.03993252
+v -0.03476628 -0.00452936 -0.03969070
+v -0.03511658 -0.00085850 -0.03959064
+v -0.03463267 -0.00634202 -0.03958346
+v -0.03511658 0.00084941 -0.03959064
+v -0.03404042 0.00090406 -0.04068750
+v -0.03476990 0.00452482 -0.03969570
+v -0.03470128 0.00263929 -0.03993394
+v -0.03404042 -0.00090860 -0.04068678
+v -0.03445210 -0.00815014 -0.03941218
+v -0.03423181 -0.00996280 -0.03915885
+v -0.03522492 -0.00815014 -0.03796122
+v -0.03558243 -0.00643768 -0.03791947
+v -0.03478073 -0.00996280 -0.03796123
+v -0.03525381 -0.00996281 -0.03615761
+v -0.03567994 -0.00815926 -0.03624684
+v -0.03577383 -0.00881510 -0.03435326
+v -0.03597967 -0.00797708 -0.03406321
+v -0.03630108 0.00633746 -0.03406316
+v -0.03621441 0.00680201 -0.03406316
+v -0.03619274 0.00680201 -0.03430786
+v -0.03598329 0.00680201 -0.03609637
+v -0.03602301 0.00644221 -0.03626335
+v -0.03590384 0.00591391 -0.03729831
+v -0.03567994 0.00452481 -0.03847433
+v -0.03463628 0.00633748 -0.03959062
+v -0.03325677 -0.00262562 -0.04092070
+v -0.03296064 -0.00452936 -0.04095813
+v -0.03396097 -0.00317215 -0.04064432
+v -0.03310509 -0.00090860 -0.04100849
+v -0.03386707 -0.00452936 -0.04059323
+v -0.03370457 -0.00634202 -0.04048599
+v -0.03402236 0.00198801 -0.04067525
+v -0.03310509 0.00090406 -0.04100921
+v -0.03387791 0.00452482 -0.04059823
+v -0.03396819 0.00319493 -0.04064790
+v -0.03351678 -0.00815013 -0.04031399
+v -0.03331455 -0.00996279 -0.04006066
+v -0.03307981 -0.01169802 -0.03977277
+v -0.03408014 -0.01108774 -0.03896093
+v -0.03427876 -0.01172081 -0.03794540
+v -0.03410542 -0.01293228 -0.03733436
+v -0.03548132 -0.00996281 -0.03435327
+v -0.03472656 -0.01177091 -0.03615761
+v -0.03496129 -0.01177091 -0.03435327
+v -0.03578467 -0.00887430 -0.03406321
+v -0.03592551 -0.00822758 -0.03406321
+v -0.03557882 -0.00969410 -0.03406322
+v -0.02824069 0.00680201 -0.03406316
+v -0.03590745 0.00680201 -0.03662177
+v -0.03570522 0.00680202 -0.03739763
+v -0.03558966 0.00644222 -0.03792374
+v -0.03551382 0.00680202 -0.03793166
+v -0.03459294 0.00680203 -0.03954672
+v -0.03371540 0.00633748 -0.04049243
+v -0.03129223 -0.00634202 -0.04130648
+v -0.03129223 -0.00815013 -0.04123883
+v -0.03279813 -0.00634202 -0.04092359
+v -0.03129223 -0.00090860 -0.04138347
+v -0.03129223 -0.00271671 -0.04137052
+v -0.03129223 -0.00452936 -0.04134606
+v -0.03261034 -0.00815013 -0.04086818
+v -0.03240811 -0.00996279 -0.04078326
+v -0.03227089 -0.01110139 -0.04071129
+v -0.03297147 0.00452482 -0.04096241
+v -0.03326038 0.00263929 -0.04092284
+v -0.03129223 0.00452482 -0.04135250
+v -0.03129223 0.00271216 -0.04137410
+v -0.03129223 0.00090406 -0.04138419
+v -0.03275841 0.00680203 -0.04091275
+v -0.03280897 0.00633748 -0.04092786
+v -0.03203976 -0.01230832 -0.04058535
+v -0.03274757 -0.01358355 -0.03948705
+v -0.03245145 -0.01507741 -0.03917614
+v -0.03388513 -0.01229466 -0.03853630
+v -0.03422820 -0.01326476 -0.03615762
+v -0.03364679 -0.01355624 -0.03794541
+v -0.03276563 -0.01556929 -0.03813255
+v -0.03241895 -0.01673978 -0.03764529
+v -0.03339038 -0.01539623 -0.03615763
+v -0.03389596 -0.01417110 -0.03615762
+v -0.03551021 -0.00994459 -0.03406322
+v -0.03498296 -0.01177091 -0.03406322
+v -0.03507685 -0.01144755 -0.03406322
+v -0.03398625 -0.01441248 -0.03496504
+v -0.03429682 -0.01372021 -0.03435903
+v -0.03443044 -0.01340140 -0.03406323
+v 0.00009347 0.00680201 -0.03500599
+v 0.00009347 -0.03123651 -0.03406329
+v -0.03390680 0.00680203 -0.04021534
+v -0.03366484 0.00680203 -0.04044853
+v -0.02947936 -0.00996279 -0.04139934
+v -0.02947936 -0.01177089 -0.04134968
+v -0.02947936 -0.01358355 -0.04124245
+v -0.03129223 -0.00996279 -0.04112873
+v -0.02947936 -0.00815013 -0.04141373
+v -0.03137890 -0.01173446 -0.04093008
+v -0.03086971 -0.01358355 -0.04087611
+v -0.03058803 -0.01499542 -0.04076960
+v -0.03129223 0.00680203 -0.04129348
+v -0.03129223 0.00633748 -0.04131148
+v -0.02947936 0.00680203 -0.04141368
+v -0.03033162 -0.01620235 -0.04064437
+v -0.03177614 -0.01358355 -0.04038958
+v -0.03104666 -0.01719976 -0.03954104
+v -0.03219144 -0.01628434 -0.03884795
+v -0.03195309 -0.01728631 -0.03813255
+v -0.03098166 -0.01913540 -0.03806634
+v -0.03057358 -0.02022391 -0.03753590
+v -0.03211921 -0.01794671 -0.03658803
+v -0.03253451 -0.01728632 -0.03605543
+v -0.03280174 -0.01719978 -0.03435329
+v -0.03369012 -0.01525505 -0.03435904
+v -0.03386346 -0.01491347 -0.03406323
+v -0.03417042 -0.01413466 -0.03406323
+v -0.03432932 -0.01369743 -0.03406323
+v 0.00009347 0.00680202 -0.03912136
+v 0.00009347 -0.03972140 -0.03406333
+v -0.02766649 -0.01358355 -0.04141303
+v -0.02766649 -0.01539621 -0.04137129
+v -0.02766649 -0.01719976 -0.04125038
+v -0.02962742 -0.01551918 -0.04098192
+v -0.02585363 -0.01719976 -0.04141592
+v -0.02913629 -0.01719976 -0.04088332
+v -0.02766649 0.00680203 -0.04130068
+v 0.00009347 -0.03225212 -0.04135336
+v 0.00009347 -0.03350004 -0.04140806
+v -0.02877877 -0.01847956 -0.04076818
+v -0.02841403 -0.01968648 -0.04059112
+v -0.03004272 -0.01719976 -0.04044285
+v -0.03066747 -0.01861620 -0.03918911
+v -0.03032801 -0.01982312 -0.03873784
+v -0.03074331 -0.02050174 -0.03615765
+v -0.02997411 -0.02082509 -0.03806635
+v -0.02900628 -0.02235082 -0.03796127
+v -0.02856570 -0.02353042 -0.03702708
+v -0.03018356 -0.02140807 -0.03615765
+v -0.03171114 -0.01885759 -0.03605544
+v -0.03222033 -0.01814710 -0.03538538
+v -0.03227811 -0.01825641 -0.03435330
+v -0.03239006 -0.01808790 -0.03406325
+v -0.03282702 -0.01719978 -0.03406324
+v -0.03294620 -0.01694018 -0.03406324
+v -0.03369012 -0.01530970 -0.03406324
+v 0.00009347 -0.03168738 -0.04132385
+v -0.00017738 -0.03969862 -0.03406333
+v -0.00047351 -0.03964397 -0.03435338
+v 0.00009347 -0.03968952 -0.03435194
+v -0.02585363 -0.01901242 -0.04134899
+v -0.02585363 -0.02082508 -0.04115396
+v -0.02775317 -0.01905341 -0.04096610
+v -0.02404076 -0.01901242 -0.04141521
+v -0.02222790 -0.02263319 -0.04140514
+v -0.02404076 -0.02082508 -0.04139291
+v 0.00009347 -0.03406478 -0.04135193
+v -0.00047351 -0.03350004 -0.04140806
+v -0.02713925 -0.02082508 -0.04081569
+v -0.02682507 -0.02181795 -0.04070053
+v -0.02804568 -0.02082508 -0.04030541
+v -0.02910740 -0.02082509 -0.03940287
+v -0.02955159 -0.01914906 -0.03989012
+v -0.02873544 -0.02196370 -0.03905813
+v -0.03087332 -0.02071124 -0.03435331
+v -0.03177975 -0.01916274 -0.03435330
+v -0.02836347 -0.02325716 -0.03796128
+v -0.02738481 -0.02450962 -0.03794185
+v -0.02687201 -0.02547971 -0.03732793
+v -0.02702007 -0.02564824 -0.03615766
+v -0.02804929 -0.02434567 -0.03631816
+v -0.02868127 -0.02368073 -0.03582371
+v -0.02920129 -0.02281083 -0.03631815
+v -0.03031357 -0.02161757 -0.03435331
+v -0.03221310 -0.01842492 -0.03406325
+v -0.03229255 -0.01827918 -0.03406325
+v -0.00047712 -0.03966675 -0.03406333
+v -0.00197941 -0.03948457 -0.03406333
+v -0.00228637 -0.03942080 -0.03435337
+v -0.00047351 -0.03942536 -0.03615771
+v 0.00009347 -0.03954377 -0.03555747
+v -0.02404076 -0.02263319 -0.04123529
+v -0.02578501 -0.02250566 -0.04085743
+v -0.01498004 -0.02806661 -0.04140588
+v -0.02041503 -0.02444585 -0.04140227
+v -0.02222790 -0.02444585 -0.04125761
+v 0.00009347 -0.03530814 -0.04120655
+v -0.00228637 -0.03350004 -0.04140014
+v -0.00772497 -0.03168738 -0.04140446
+v -0.02513137 -0.02376724 -0.04075092
+v -0.02634115 -0.02302487 -0.04040689
+v -0.02756177 -0.02249200 -0.03973251
+v -0.02709230 -0.02395398 -0.03920424
+v -0.02659755 -0.02516090 -0.03852986
+v -0.03087332 -0.02075679 -0.03406326
+v -0.03103221 -0.02048808 -0.03406326
+v -0.03033162 -0.02164034 -0.03406326
+v -0.03073970 -0.02097540 -0.03406326
+v -0.03179419 -0.01918551 -0.03406325
+v -0.02586085 -0.02626307 -0.03798792
+v -0.02512415 -0.02734247 -0.03744597
+v -0.02621115 -0.02655456 -0.03615767
+v -0.02716091 -0.02581220 -0.03435332
+v -0.02806735 -0.02471913 -0.03435332
+v -0.02635921 -0.02671852 -0.03435333
+v -0.02878238 -0.02381280 -0.03435332
+v -0.02961659 -0.02263321 -0.03435331
+v -0.00228637 -0.03944358 -0.03406332
+v -0.00409924 -0.03912021 -0.03435337
+v -0.00228637 -0.03920219 -0.03615771
+v 0.00009347 -0.03947090 -0.03615771
+v -0.00228637 -0.03876040 -0.03796133
+v -0.00047351 -0.03897902 -0.03796133
+v 0.00009347 -0.03916575 -0.03740067
+v -0.02401187 -0.02440030 -0.04090566
+v -0.01316357 -0.02987927 -0.04138862
+v -0.01860216 -0.02625395 -0.04139364
+v -0.02041503 -0.02625395 -0.04124970
+v -0.02219901 -0.02623118 -0.04091287
+v 0.00009347 -0.03570893 -0.04109139
+v -0.00047351 -0.03530814 -0.04119719
+v -0.00409924 -0.03350004 -0.04137783
+v -0.00953783 -0.03168738 -0.04138503
+v -0.02338712 -0.02560723 -0.04076604
+v -0.02459329 -0.02497416 -0.04048175
+v -0.02586446 -0.02446407 -0.03984263
+v -0.02538777 -0.02583496 -0.03927837
+v -0.02483163 -0.02704188 -0.03864863
+v -0.02981882 -0.02238727 -0.03406326
+v -0.02530471 -0.02752921 -0.03615767
+v -0.02406604 -0.02808940 -0.03802319
+v -0.02329684 -0.02911869 -0.03739848
+v -0.02438745 -0.02843098 -0.03615767
+v -0.02717536 -0.02583041 -0.03406327
+v -0.02731981 -0.02565734 -0.03406327
+v -0.02808179 -0.02473735 -0.03406327
+v -0.02637365 -0.02673674 -0.03406328
+v -0.02545278 -0.02767951 -0.03435333
+v -0.02879683 -0.02383102 -0.03406327
+v -0.02966354 -0.02261044 -0.03406326
+v -0.00409924 -0.03914298 -0.03406332
+v -0.00562320 -0.03881962 -0.03406332
+v -0.00591210 -0.03873309 -0.03435337
+v -0.00409924 -0.03890160 -0.03615771
+v -0.00422202 -0.03838239 -0.03811175
+v -0.00491178 -0.03800437 -0.03881348
+v -0.00370200 -0.03812279 -0.03900421
+v -0.00228637 -0.03823664 -0.03915895
+v 0.00009347 -0.03902456 -0.03796133
+v -0.00047351 -0.03835050 -0.03929714
+v -0.01498004 -0.02987927 -0.04130009
+v -0.01679291 -0.02806661 -0.04136702
+v -0.01135070 -0.03168738 -0.04131090
+v -0.01860216 -0.02806661 -0.04119428
+v -0.02032836 -0.02802107 -0.04088336
+v -0.02157425 -0.02738801 -0.04076245
+v 0.00009347 -0.03654239 -0.04084165
+v -0.00047351 -0.03652417 -0.04083445
+v -0.00228637 -0.03530814 -0.04113457
+v -0.00591210 -0.03350004 -0.04132961
+v -0.02278403 -0.02681870 -0.04049327
+v -0.02410938 -0.02632682 -0.03988583
+v -0.02362546 -0.02763395 -0.03928990
+v -0.02298988 -0.02884087 -0.03860113
+v -0.02454634 -0.02858584 -0.03435334
+v -0.02218456 -0.02984285 -0.03789077
+v -0.02138285 -0.03083116 -0.03718112
+v -0.02348101 -0.02928266 -0.03615768
+v -0.02546722 -0.02769773 -0.03406328
+v -0.02456440 -0.02860405 -0.03406329
+v -0.02532277 -0.02784347 -0.03406328
+v -0.00591210 -0.03875586 -0.03406332
+v -0.00781525 -0.03825487 -0.03406332
+v -0.00782970 -0.03823210 -0.03428643
+v -0.00728800 -0.03816378 -0.03615771
+v -0.00591210 -0.03851448 -0.03615771
+v -0.00697382 -0.03807268 -0.03719555
+v -0.00591210 -0.03820021 -0.03757484
+v -0.00591210 -0.03788140 -0.03847665
+v -0.01055622 -0.03626003 -0.03892503
+v -0.00953783 -0.03643309 -0.03914742
+v -0.00772497 -0.03672458 -0.03946410
+v -0.00591210 -0.03697506 -0.03967571
+v -0.00498761 -0.03620992 -0.04066603
+v -0.00228637 -0.03732120 -0.04006148
+v 0.00009347 -0.03858734 -0.03888113
+v 0.00009347 -0.03836872 -0.03932160
+v -0.00047351 -0.03743050 -0.04019967
+v 0.00009347 -0.03773565 -0.03994272
+v -0.01694819 -0.03003868 -0.04100428
+v -0.01316357 -0.03168738 -0.04115184
+v -0.00772497 -0.03350004 -0.04124612
+v -0.00953783 -0.03350004 -0.04109786
+v -0.01860216 -0.02948759 -0.04084955
+v -0.01966749 -0.02908680 -0.04072503
+v -0.02087366 -0.02859493 -0.04045298
+v 0.00009347 -0.03682476 -0.04066101
+v -0.00228637 -0.03641942 -0.04078479
+v -0.00426897 -0.03549032 -0.04095968
+v -0.00591210 -0.03514874 -0.04094745
+v -0.02228206 -0.02811216 -0.03987143
+v -0.02178010 -0.02936008 -0.03925032
+v -0.01983361 -0.03102244 -0.03912869
+v -0.02104339 -0.03056700 -0.03838306
+v -0.02363991 -0.02942841 -0.03435334
+v -0.02042947 -0.03125472 -0.03785334
+v -0.01900302 -0.03224303 -0.03796131
+v -0.01935331 -0.03248442 -0.03648372
+v -0.02023808 -0.03192878 -0.03599215
+v -0.02151647 -0.03094047 -0.03615768
+v -0.02242291 -0.03018899 -0.03615768
+v -0.02259264 -0.03033473 -0.03435334
+v -0.02380242 -0.02930999 -0.03406329
+v -0.00812582 -0.03816834 -0.03406332
+v -0.00850140 -0.03798616 -0.03484422
+v -0.00819444 -0.03789963 -0.03615771
+v -0.00953783 -0.03745785 -0.03615771
+v -0.01231491 -0.03624181 -0.03713508
+v -0.00953783 -0.03698418 -0.03796133
+v -0.00763469 -0.03762635 -0.03786201
+v -0.01123875 -0.03641487 -0.03782601
+v -0.01176600 -0.03600953 -0.03833774
+v -0.01431918 -0.03452934 -0.03902651
+v -0.01316357 -0.03479806 -0.03932231
+v -0.01113763 -0.03522161 -0.03972032
+v -0.00953783 -0.03549032 -0.04004923
+v -0.00772497 -0.03576814 -0.04036663
+v -0.00591210 -0.03605507 -0.04057823
+v -0.00377783 -0.03630556 -0.04072289
+v -0.01050927 -0.03442914 -0.04068259
+v -0.00953783 -0.03458399 -0.04076248
+v -0.00772497 -0.03486181 -0.04087692
+v 0.00009347 -0.03744872 -0.04022342
+v -0.01489337 -0.03170104 -0.04089993
+v -0.01644623 -0.03110441 -0.04080132
+v -0.01120986 -0.03352281 -0.04089058
+v -0.01316357 -0.03290796 -0.04081141
+v -0.01765240 -0.03075372 -0.04065522
+v -0.01860216 -0.03039392 -0.04040620
+v -0.02035364 -0.02982462 -0.03979083
+v -0.01847216 -0.03165095 -0.03941803
+v -0.01778240 -0.03264837 -0.03893438
+v -0.02349185 -0.02958781 -0.03406329
+v -0.02365797 -0.02944207 -0.03406329
+v -0.01810020 -0.03285787 -0.03796131
+v -0.01596231 -0.03444737 -0.03718258
+v -0.01704209 -0.03401926 -0.03615769
+v -0.01868884 -0.03301273 -0.03599215
+v -0.01951582 -0.03259828 -0.03528035
+v -0.02168620 -0.03107710 -0.03435334
+v -0.02261069 -0.03034840 -0.03406329
+v -0.02185232 -0.03097235 -0.03406329
+v -0.00914782 -0.03784953 -0.03406332
+v -0.00938977 -0.03774478 -0.03428643
+v -0.01135070 -0.03702063 -0.03435337
+v -0.01135070 -0.03679290 -0.03615771
+v -0.01341636 -0.03591846 -0.03615770
+v -0.01494754 -0.03471608 -0.03785480
+v -0.01301912 -0.03565429 -0.03782601
+v -0.01250992 -0.03632835 -0.03615770
+v -0.01552896 -0.03421509 -0.03838452
+v -0.01679291 -0.03294441 -0.03925033
+v -0.01487893 -0.03344083 -0.03976925
+v -0.01316357 -0.03381429 -0.04022483
+v -0.01171905 -0.03414221 -0.04051561
+v -0.01423251 -0.03267113 -0.04071137
+v -0.01543868 -0.03231133 -0.04051201
+v -0.01694819 -0.03170104 -0.04024859
+v -0.01665568 -0.03377787 -0.03785479
+v -0.01498004 -0.03515331 -0.03615770
+v -0.01613566 -0.03454757 -0.03615770
+v -0.01725154 -0.03414223 -0.03435336
+v -0.01860216 -0.03329511 -0.03435335
+v -0.01942915 -0.03278046 -0.03406330
+v -0.01958443 -0.03264838 -0.03435335
+v -0.02051254 -0.03199710 -0.03406330
+v -0.02049087 -0.03197888 -0.03435335
+v -0.02151647 -0.03123651 -0.03406329
+v -0.02170426 -0.03109077 -0.03406329
+v -0.00942950 -0.03774933 -0.03406332
+v -0.01109069 -0.03714359 -0.03406332
+v -0.01135070 -0.03704795 -0.03406332
+v -0.01276994 -0.03644221 -0.03435336
+v -0.01367637 -0.03603687 -0.03435336
+v -0.01498004 -0.03539014 -0.03435336
+v -0.01634511 -0.03466599 -0.03435336
+v -0.01727682 -0.03415589 -0.03406331
+v -0.01860216 -0.03332243 -0.03406330
+v -0.01960610 -0.03266204 -0.03406330
+v -0.01975055 -0.03255729 -0.03406330
+v -0.01254243 -0.03656063 -0.03406331
+v -0.01279522 -0.03645588 -0.03406331
+v -0.01370165 -0.03604598 -0.03406331
+v -0.01498004 -0.03541747 -0.03406331
+v -0.01637039 -0.03467965 -0.03406331
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 20
+f 1 20 22
+f 1 22 39
+f 1 39 63
+f 1 63 92
+f 1 92 91
+f 1 91 93
+f 1 93 127
+f 1 127 129
+f 1 129 128
+f 1 128 132
+f 1 132 161
+f 1 161 160
+f 1 160 159
+f 1 159 189
+f 1 189 188
+f 1 188 187
+f 1 187 186
+f 1 186 219
+f 1 219 218
+f 1 218 242
+f 1 242 239
+f 1 239 238
+f 1 238 241
+f 1 241 240
+f 1 240 272
+f 1 272 283
+f 1 283 282
+f 1 282 279
+f 1 279 278
+f 1 278 277
+f 1 277 280
+f 1 280 312
+f 1 312 314
+f 1 314 313
+f 1 313 356
+f 1 356 387
+f 1 387 386
+f 1 386 394
+f 1 394 395
+f 1 395 422
+f 1 422 421
+f 1 421 419
+f 1 419 433
+f 1 433 432
+f 1 432 417
+f 1 417 431
+f 1 431 430
+f 1 430 438
+f 1 438 437
+f 1 437 436
+f 1 436 435
+f 1 435 434
+f 1 434 425
+f 1 425 424
+f 1 424 423
+f 1 423 396
+f 1 396 357
+f 1 357 316
+f 1 316 315
+f 1 315 285
+f 1 285 284
+f 1 284 251
+f 1 251 221
+f 1 221 220
+f 1 220 191
+f 1 191 163
+f 1 163 134
+f 1 134 94
+f 1 94 65
+f 1 65 64
+f 1 64 40
+f 1 40 24
+f 1 24 23
+f 1 23 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 19
+f 3 19 10
+f 3 10 11
+f 3 11 8
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 9
+f 7 14 16
+f 7 16 17
+f 7 17 15
+f 9 15 18
+f 9 18 19
+f 10 20 11
+f 10 19 21
+f 10 21 22
+f 10 22 20
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 42
+f 13 42 26
+f 13 26 14
+f 14 26 27
+f 14 27 16
+f 15 17 28
+f 15 28 29
+f 15 29 18
+f 16 30 17
+f 16 27 31
+f 16 31 30
+f 17 30 32
+f 17 32 28
+f 18 33 34
+f 18 34 19
+f 18 29 33
+f 19 34 35
+f 19 35 36
+f 19 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 24 40 25
+f 25 40 64
+f 25 64 41
+f 25 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 31
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 28 32 48
+f 28 48 45
+f 29 47 49
+f 29 49 33
+f 30 31 50
+f 30 50 51
+f 30 51 32
+f 31 44 52
+f 31 52 53
+f 31 53 50
+f 32 51 54
+f 32 54 48
+f 33 49 55
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 58 35
+f 35 37 36
+f 35 58 57
+f 35 57 59
+f 35 59 60
+f 35 60 61
+f 35 61 37
+f 37 61 62
+f 37 62 38
+f 38 63 39
+f 38 62 63
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 52
+f 45 72 73
+f 45 73 74
+f 45 74 46
+f 45 48 54
+f 45 54 75
+f 45 75 72
+f 46 74 47
+f 47 76 49
+f 47 74 76
+f 49 76 77
+f 49 77 55
+f 50 53 78
+f 50 78 51
+f 51 78 79
+f 51 79 75
+f 51 75 54
+f 52 80 81
+f 52 81 53
+f 52 71 80
+f 53 81 78
+f 55 82 83
+f 55 83 56
+f 55 77 82
+f 56 83 84
+f 56 84 85
+f 56 85 57
+f 57 85 59
+f 59 85 86
+f 59 86 87
+f 59 87 60
+f 60 88 62
+f 60 62 61
+f 60 87 89
+f 60 89 90
+f 60 90 88
+f 62 91 92
+f 62 92 63
+f 62 88 93
+f 62 93 91
+f 65 94 133
+f 65 133 162
+f 65 162 170
+f 65 170 147
+f 65 147 145
+f 65 145 115
+f 65 115 136
+f 65 136 135
+f 65 135 99
+f 65 99 98
+f 65 98 96
+f 65 96 95
+f 65 95 67
+f 65 67 66
+f 67 95 68
+f 68 95 69
+f 69 95 96
+f 69 96 97
+f 69 97 70
+f 70 97 98
+f 70 98 99
+f 70 99 71
+f 71 99 100
+f 71 100 80
+f 72 75 73
+f 73 101 102
+f 73 102 103
+f 73 103 74
+f 73 75 101
+f 74 103 76
+f 75 79 114
+f 75 114 104
+f 75 104 105
+f 75 105 106
+f 75 106 101
+f 76 103 107
+f 76 107 108
+f 76 108 77
+f 77 108 109
+f 77 109 82
+f 78 81 110
+f 78 110 111
+f 78 111 79
+f 79 111 110
+f 79 110 112
+f 79 112 113
+f 79 113 114
+f 80 100 115
+f 80 115 116
+f 80 116 81
+f 81 116 110
+f 82 109 83
+f 83 109 117
+f 83 117 84
+f 84 117 118
+f 84 118 85
+f 85 118 119
+f 85 119 120
+f 85 120 86
+f 86 120 87
+f 87 121 89
+f 87 120 122
+f 87 122 123
+f 87 123 124
+f 87 124 125
+f 87 125 126
+f 87 126 121
+f 88 90 127
+f 88 127 93
+f 89 121 90
+f 90 128 129
+f 90 129 127
+f 90 121 130
+f 90 130 131
+f 90 131 132
+f 90 132 128
+f 94 134 133
+f 96 98 97
+f 99 135 100
+f 100 135 136
+f 100 136 115
+f 101 106 137
+f 101 137 138
+f 101 138 102
+f 102 138 139
+f 102 139 140
+f 102 140 107
+f 102 107 103
+f 104 141 105
+f 104 114 141
+f 105 141 137
+f 105 137 106
+f 107 140 108
+f 108 140 142
+f 108 142 109
+f 109 142 143
+f 109 143 144
+f 109 144 117
+f 110 116 145
+f 110 145 146
+f 110 146 112
+f 112 146 147
+f 112 147 113
+f 113 147 114
+f 114 147 141
+f 115 145 116
+f 117 144 148
+f 117 148 149
+f 117 149 118
+f 118 149 119
+f 119 149 148
+f 119 148 150
+f 119 150 151
+f 119 151 120
+f 120 151 122
+f 121 126 130
+f 122 151 123
+f 123 151 124
+f 124 151 152
+f 124 152 153
+f 124 153 154
+f 124 154 155
+f 124 155 125
+f 125 155 156
+f 125 156 157
+f 125 157 158
+f 125 158 130
+f 125 130 126
+f 130 158 159
+f 130 159 160
+f 130 160 131
+f 131 160 161
+f 131 161 132
+f 133 134 163
+f 133 163 193
+f 133 193 224
+f 133 224 254
+f 133 254 257
+f 133 257 292
+f 133 292 329
+f 133 329 330
+f 133 330 332
+f 133 332 376
+f 133 376 340
+f 133 340 300
+f 133 300 263
+f 133 263 230
+f 133 230 200
+f 133 200 172
+f 133 172 171
+f 133 171 190
+f 133 190 162
+f 137 141 164
+f 137 164 165
+f 137 165 138
+f 138 165 139
+f 139 165 166
+f 139 166 167
+f 139 167 143
+f 139 143 142
+f 139 142 140
+f 141 147 168
+f 141 168 164
+f 143 167 144
+f 144 167 169
+f 144 169 148
+f 145 147 146
+f 147 170 171
+f 147 171 172
+f 147 172 168
+f 148 169 173
+f 148 173 174
+f 148 174 175
+f 148 175 150
+f 150 175 176
+f 150 176 151
+f 151 176 177
+f 151 177 152
+f 152 177 153
+f 153 177 154
+f 154 178 155
+f 154 177 179
+f 154 179 180
+f 154 180 181
+f 154 181 182
+f 154 182 178
+f 155 183 184
+f 155 184 156
+f 155 178 183
+f 156 184 157
+f 157 184 185
+f 157 185 186
+f 157 186 187
+f 157 187 188
+f 157 188 158
+f 158 189 159
+f 158 188 189
+f 162 190 170
+f 163 191 192
+f 163 192 193
+f 164 168 165
+f 165 168 194
+f 165 194 166
+f 166 169 167
+f 166 194 195
+f 166 195 196
+f 166 196 169
+f 168 172 197
+f 168 197 198
+f 168 198 199
+f 168 199 194
+f 169 196 173
+f 170 190 171
+f 172 200 201
+f 172 201 197
+f 173 196 202
+f 173 202 203
+f 173 203 174
+f 174 203 204
+f 174 204 205
+f 174 205 206
+f 174 206 175
+f 175 206 176
+f 176 206 205
+f 176 205 207
+f 176 207 177
+f 177 207 180
+f 177 180 179
+f 178 182 217
+f 178 217 208
+f 178 208 209
+f 178 209 184
+f 178 184 183
+f 180 210 181
+f 180 207 210
+f 181 211 212
+f 181 212 213
+f 181 213 214
+f 181 214 215
+f 181 215 216
+f 181 216 182
+f 181 210 211
+f 182 216 217
+f 184 209 185
+f 185 209 218
+f 185 218 219
+f 185 219 186
+f 191 220 192
+f 192 220 221
+f 192 221 222
+f 192 222 253
+f 192 253 223
+f 192 223 224
+f 192 224 193
+f 194 199 225
+f 194 225 195
+f 195 202 196
+f 195 225 226
+f 195 226 202
+f 197 201 227
+f 197 227 198
+f 198 228 229
+f 198 229 199
+f 198 227 228
+f 199 229 225
+f 200 230 231
+f 200 231 201
+f 201 232 227
+f 201 231 232
+f 202 226 203
+f 203 226 233
+f 203 233 234
+f 203 234 204
+f 204 234 235
+f 204 235 207
+f 204 207 205
+f 207 235 236
+f 207 236 237
+f 207 237 210
+f 208 238 239
+f 208 239 209
+f 208 217 240
+f 208 240 241
+f 208 241 238
+f 209 239 242
+f 209 242 218
+f 210 237 211
+f 211 237 212
+f 212 237 243
+f 212 243 244
+f 212 244 245
+f 212 245 213
+f 213 246 247
+f 213 247 215
+f 213 215 214
+f 213 245 248
+f 213 248 246
+f 215 247 249
+f 215 249 250
+f 215 250 217
+f 215 217 216
+f 217 250 240
+f 221 251 222
+f 222 252 287
+f 222 287 253
+f 222 251 284
+f 222 284 252
+f 223 254 224
+f 223 253 255
+f 223 255 256
+f 223 256 257
+f 223 257 254
+f 225 229 258
+f 225 258 226
+f 226 258 233
+f 227 232 259
+f 227 259 260
+f 227 260 228
+f 228 260 261
+f 228 261 229
+f 229 261 262
+f 229 262 258
+f 230 263 264
+f 230 264 265
+f 230 265 231
+f 231 265 266
+f 231 266 232
+f 232 266 259
+f 233 258 267
+f 233 267 268
+f 233 268 234
+f 234 268 269
+f 234 269 236
+f 234 236 235
+f 236 269 270
+f 236 270 237
+f 237 270 271
+f 237 271 243
+f 240 250 272
+f 243 271 244
+f 244 273 245
+f 244 271 274
+f 244 274 275
+f 244 275 276
+f 244 276 273
+f 245 273 248
+f 246 277 278
+f 246 278 247
+f 246 248 280
+f 246 280 277
+f 247 278 279
+f 247 279 282
+f 247 282 249
+f 248 273 281
+f 248 281 312
+f 248 312 280
+f 249 282 283
+f 249 283 250
+f 250 283 272
+f 252 285 286
+f 252 286 319
+f 252 319 287
+f 252 284 285
+f 253 287 255
+f 255 288 289
+f 255 289 290
+f 255 290 291
+f 255 291 256
+f 255 287 288
+f 256 292 257
+f 256 291 293
+f 256 293 292
+f 258 262 267
+f 259 294 295
+f 259 295 260
+f 259 266 296
+f 259 296 294
+f 260 295 261
+f 261 295 297
+f 261 297 298
+f 261 298 262
+f 262 298 299
+f 262 299 267
+f 263 300 301
+f 263 301 264
+f 264 302 303
+f 264 303 265
+f 264 301 302
+f 265 303 266
+f 266 303 296
+f 267 299 304
+f 267 304 268
+f 268 304 305
+f 268 305 270
+f 268 270 269
+f 270 305 306
+f 270 306 271
+f 271 306 307
+f 271 307 274
+f 273 276 308
+f 273 308 281
+f 274 307 275
+f 275 309 310
+f 275 310 311
+f 275 311 276
+f 275 307 309
+f 276 311 308
+f 281 308 313
+f 281 313 314
+f 281 314 312
+f 285 315 286
+f 286 315 316
+f 286 316 317
+f 286 317 318
+f 286 318 319
+f 287 319 320
+f 287 320 321
+f 287 321 288
+f 288 321 289
+f 289 321 322
+f 289 322 323
+f 289 323 324
+f 289 324 325
+f 289 325 326
+f 289 326 290
+f 290 326 327
+f 290 327 291
+f 291 327 328
+f 291 328 293
+f 292 293 329
+f 293 330 329
+f 293 328 331
+f 293 331 332
+f 293 332 330
+f 294 333 297
+f 294 297 295
+f 294 296 334
+f 294 334 333
+f 296 303 335
+f 296 335 336
+f 296 336 334
+f 297 333 337
+f 297 337 298
+f 298 337 338
+f 298 338 299
+f 299 338 339
+f 299 339 304
+f 300 340 301
+f 301 341 302
+f 301 340 331
+f 301 331 341
+f 302 341 342
+f 302 342 343
+f 302 343 335
+f 302 335 303
+f 304 339 344
+f 304 344 306
+f 304 306 305
+f 306 344 345
+f 306 345 307
+f 307 345 346
+f 307 346 347
+f 307 347 309
+f 308 311 348
+f 308 348 313
+f 309 347 310
+f 310 349 350
+f 310 350 351
+f 310 351 352
+f 310 352 353
+f 310 353 354
+f 310 354 311
+f 310 347 349
+f 311 354 355
+f 311 355 348
+f 313 348 356
+f 316 357 317
+f 317 357 358
+f 317 358 318
+f 318 358 359
+f 318 359 320
+f 318 320 319
+f 320 359 360
+f 320 360 361
+f 320 361 362
+f 320 362 363
+f 320 363 322
+f 320 322 321
+f 322 363 323
+f 323 363 362
+f 323 362 364
+f 323 364 365
+f 323 365 366
+f 323 366 367
+f 323 367 368
+f 323 368 324
+f 324 368 369
+f 324 369 325
+f 325 369 370
+f 325 370 371
+f 325 371 327
+f 325 327 326
+f 327 372 331
+f 327 331 328
+f 327 371 373
+f 327 373 374
+f 327 374 375
+f 327 375 343
+f 327 343 342
+f 327 342 372
+f 331 372 341
+f 331 340 376
+f 331 376 332
+f 333 334 377
+f 333 377 378
+f 333 378 337
+f 334 336 379
+f 334 379 380
+f 334 380 377
+f 335 343 336
+f 336 343 375
+f 336 375 374
+f 336 374 379
+f 337 378 381
+f 337 381 338
+f 338 381 339
+f 339 381 382
+f 339 382 383
+f 339 383 345
+f 339 345 344
+f 341 372 342
+f 345 383 346
+f 346 383 382
+f 346 382 384
+f 346 384 385
+f 346 385 347
+f 347 385 350
+f 347 350 349
+f 348 386 387
+f 348 387 356
+f 348 355 386
+f 350 385 388
+f 350 388 351
+f 351 388 389
+f 351 389 390
+f 351 390 391
+f 351 391 392
+f 351 392 352
+f 352 392 353
+f 353 393 355
+f 353 355 354
+f 353 392 393
+f 355 394 386
+f 355 393 395
+f 355 395 394
+f 357 396 358
+f 358 396 397
+f 358 397 360
+f 358 360 359
+f 360 397 398
+f 360 398 399
+f 360 399 361
+f 361 400 389
+f 361 389 401
+f 361 401 402
+f 361 402 365
+f 361 365 364
+f 361 364 362
+f 361 399 403
+f 361 403 400
+f 365 402 366
+f 366 402 401
+f 366 401 404
+f 366 404 385
+f 366 385 405
+f 366 405 406
+f 366 406 367
+f 367 406 407
+f 367 407 408
+f 367 408 368
+f 368 408 369
+f 369 408 373
+f 369 373 370
+f 370 373 371
+f 373 408 409
+f 373 409 380
+f 373 380 379
+f 373 379 374
+f 377 380 409
+f 377 409 378
+f 378 409 381
+f 381 409 410
+f 381 410 411
+f 381 411 384
+f 381 384 382
+f 384 411 405
+f 384 405 385
+f 385 404 412
+f 385 412 388
+f 388 412 389
+f 389 413 414
+f 389 414 390
+f 389 412 404
+f 389 404 401
+f 389 400 413
+f 390 414 415
+f 390 415 392
+f 390 392 391
+f 392 415 416
+f 392 416 417
+f 392 417 418
+f 392 418 419
+f 392 419 420
+f 392 420 393
+f 393 420 419
+f 393 419 421
+f 393 421 422
+f 393 422 395
+f 396 423 397
+f 397 423 424
+f 397 424 398
+f 398 424 425
+f 398 425 426
+f 398 426 403
+f 398 403 399
+f 400 403 427
+f 400 427 413
+f 403 426 427
+f 405 411 410
+f 405 410 406
+f 406 410 407
+f 407 410 409
+f 407 409 408
+f 413 428 414
+f 413 427 428
+f 414 428 429
+f 414 429 415
+f 415 429 438
+f 415 438 430
+f 415 430 416
+f 416 431 417
+f 416 430 431
+f 417 432 418
+f 418 432 433
+f 418 433 419
+f 425 434 426
+f 426 435 427
+f 426 434 435
+f 427 436 437
+f 427 437 428
+f 427 435 436
+f 428 437 429
+f 429 437 438
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_12.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01429642 -0.03400229 0.03241452
+v 0.01429642 -0.03857404 0.03241450
+v 0.01429642 -0.03397024 0.03204058
+v 0.00010260 -0.03541196 0.03241451
+v 0.01403383 -0.03864731 0.03241450
+v 0.01429642 -0.03846928 0.00660243
+v 0.01429642 -0.03384987 0.03060798
+v 0.00010260 -0.03983849 0.03241449
+v 0.00010260 -0.03526477 0.03060797
+v 0.01222070 -0.03908165 0.03241450
+v 0.01222070 -0.03898016 0.00660243
+v 0.01348225 -0.03867533 0.00660243
+v 0.01403383 -0.03854189 0.00660243
+v 0.01429642 -0.03331666 0.00660245
+v 0.01429642 -0.03383417 0.03034773
+v 0.00120576 -0.03993792 0.03241449
+v 0.00010260 -0.03973569 0.00660242
+v 0.01429642 -0.03374521 0.02880397
+v 0.00010260 -0.03523468 0.03003695
+v 0.01040757 -0.03942834 0.03241450
+v 0.01040757 -0.03933274 0.00660243
+v 0.01166912 -0.03908744 0.00660243
+v 0.00010260 -0.03472305 0.00660244
+v 0.01429642 -0.03332321 0.00715326
+v 0.00134192 -0.03994315 0.03241449
+v 0.00098346 -0.03980960 0.00660242
+v 0.00125856 -0.03982531 0.00660242
+v 0.00188933 -0.03985932 0.00660242
+v 0.01429642 -0.03373408 0.02854372
+v 0.00010260 -0.03516992 0.02880396
+v 0.00844161 -0.03970962 0.03241449
+v 0.00859444 -0.03959636 0.00660242
+v 0.00985599 -0.03941320 0.00660243
+v 0.00010260 -0.03477606 0.01076128
+v 0.01429642 -0.03340958 0.01437942
+v 0.00315644 -0.03999940 0.03241449
+v 0.00277158 -0.03988025 0.00660242
+v 0.01429642 -0.03366932 0.02699995
+v 0.00010260 -0.03514701 0.02823293
+v 0.00742181 -0.03981952 0.03241449
+v 0.00804564 -0.03965000 0.00660242
+v 0.00010260 -0.03479241 0.01199427
+v 0.01429642 -0.03342987 0.01594594
+v 0.00496957 -0.03997847 0.03241449
+v 0.00315644 -0.03988875 0.00660242
+v 0.00441799 -0.03987633 0.00660242
+v 0.00496957 -0.03987044 0.00660242
+v 0.01429642 -0.03360978 0.02519593
+v 0.00010260 -0.03509795 0.02699994
+v 0.00674797 -0.03987708 0.03241449
+v 0.00679382 -0.03977232 0.00660242
+v 0.00010260 -0.03481662 0.01380082
+v 0.00010260 -0.03485000 0.01617585
+v 0.01429642 -0.03345604 0.01771963
+v 0.00668128 -0.03988231 0.03241449
+v 0.00560868 -0.03984951 0.00660242
+v 0.00588795 -0.03984035 0.00660242
+v 0.01429642 -0.03360259 0.02493569
+v 0.00010260 -0.03498805 0.02339191
+v 0.00010260 -0.03502272 0.02462491
+v 0.00010260 -0.03503907 0.02519592
+v 0.00616304 -0.03982007 0.00660242
+v 0.00010260 -0.03487813 0.01797986
+v 0.01429642 -0.03345997 0.01797987
+v 0.01429642 -0.03356138 0.02339192
+v 0.00010260 -0.03497364 0.02282089
+v 0.00010260 -0.03490887 0.01978135
+v 0.01429642 -0.03348940 0.01978136
+v 0.01429642 -0.03352278 0.02158538
+v 0.00010260 -0.03494421 0.02158537
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 35
+f 1 35 43
+f 1 43 54
+f 1 54 64
+f 1 64 68
+f 1 68 69
+f 1 69 65
+f 1 65 58
+f 1 58 48
+f 1 48 38
+f 1 38 29
+f 1 29 18
+f 1 18 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 25
+f 1 25 36
+f 1 36 44
+f 1 44 55
+f 1 55 50
+f 1 50 40
+f 1 40 31
+f 1 31 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 19
+f 4 19 30
+f 4 30 39
+f 4 39 49
+f 4 49 61
+f 4 61 60
+f 4 60 59
+f 4 59 66
+f 4 66 70
+f 4 70 67
+f 4 67 63
+f 4 63 53
+f 4 53 52
+f 4 52 42
+f 4 42 34
+f 4 34 23
+f 4 23 17
+f 4 17 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 22
+f 6 22 21
+f 6 21 33
+f 6 33 32
+f 6 32 41
+f 6 41 51
+f 6 51 62
+f 6 62 57
+f 6 57 56
+f 6 56 47
+f 6 47 46
+f 6 46 45
+f 6 45 37
+f 6 37 28
+f 6 28 27
+f 6 27 26
+f 6 26 17
+f 6 17 23
+f 6 23 14
+f 7 15 9
+f 8 17 16
+f 9 15 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 14 23 24
+f 16 17 26
+f 16 26 27
+f 16 27 28
+f 16 28 25
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 23 34 35
+f 23 35 24
+f 25 28 36
+f 28 37 36
+f 29 38 30
+f 30 38 39
+f 31 40 32
+f 32 40 41
+f 34 42 43
+f 34 43 35
+f 36 37 45
+f 36 45 46
+f 36 46 47
+f 36 47 44
+f 38 48 49
+f 38 49 39
+f 40 50 51
+f 40 51 41
+f 42 52 43
+f 43 53 54
+f 43 52 53
+f 44 47 56
+f 44 56 57
+f 44 57 55
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 50 55 51
+f 51 55 62
+f 53 63 64
+f 53 64 54
+f 55 57 62
+f 58 65 59
+f 59 65 66
+f 63 67 68
+f 63 68 64
+f 65 69 70
+f 65 70 66
+f 67 70 69
+f 67 69 68
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_13.obj

@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v 0.00010260 0.04490077 0.03963306
+v 0.00010260 0.04451281 0.03782798
+v -0.00047246 0.04447628 0.03782798
+v -0.00047246 0.04486075 0.03963306
+v -0.00047246 0.04410048 0.04138406
+v 0.00010260 0.04438058 0.04082985
+v 0.00010260 0.04373168 0.03673517
+v -0.00047246 0.04371428 0.03674245
+v -0.00228565 0.04363250 0.03679236
+v -0.00376632 0.04354377 0.03685890
+v -0.00228565 0.04429360 0.03782798
+v -0.00228565 0.04465894 0.03963306
+v -0.00409884 0.04386039 0.04112723
+v -0.00228565 0.04399784 0.04128528
+v -0.00047246 0.04337847 0.04228660
+v 0.00010260 0.04340979 0.04230635
+v 0.00010260 0.04407787 0.04145581
+v 0.00010260 0.03982768 0.03240444
+v -0.00043529 0.03977897 0.03240444
+v -0.00228565 0.03954410 0.03240444
+v -0.00497512 0.04344982 0.03693377
+v -0.00426118 0.04392652 0.03765226
+v -0.00591203 0.04380647 0.03799955
+v -0.00409884 0.04438232 0.03963306
+v -0.00591203 0.04368642 0.04089120
+v -0.00409884 0.04309838 0.04202977
+v -0.00228565 0.04325496 0.04218782
+v -0.00409884 0.04219370 0.04262972
+v -0.00228565 0.04235028 0.04267340
+v 0.00010260 0.04294180 0.04251847
+v 0.00010260 0.03540871 0.03240442
+v -0.00409884 0.03923095 0.03240443
+v -0.00590029 0.03883950 0.03240443
+v -0.00771348 0.03836107 0.03240443
+v -0.01078437 0.04175357 0.03684641
+v -0.00591203 0.04329499 0.03709805
+v -0.00772522 0.04359596 0.03842066
+v -0.00867582 0.04347418 0.03869725
+v -0.00591203 0.04403263 0.03963306
+v -0.00716385 0.04354724 0.04067908
+v -0.00591203 0.04291919 0.04179374
+v -0.00877949 0.04169091 0.04236977
+v -0.00772522 0.04181444 0.04244879
+v -0.00591203 0.04201277 0.04255797
+v -0.00772522 0.04074449 0.04282728
+v -0.00591203 0.04074449 0.04294373
+v -0.00409884 0.04074449 0.04300300
+v -0.00047246 0.04247380 0.04269627
+v 0.00010260 0.04255383 0.04267755
+v 0.00010260 0.03604892 0.03782899
+v -0.01987966 0.02712923 0.03241583
+v -0.01987575 0.02713097 0.03240439
+v -0.00872864 0.03806357 0.03240443
+v -0.00963816 0.03775042 0.03240443
+v -0.01133595 0.03712933 0.03240443
+v -0.01199316 0.04150304 0.03705333
+v -0.01137312 0.04211022 0.03772400
+v -0.01134964 0.04251905 0.03963306
+v -0.00867582 0.04347418 0.03883242
+v -0.01284205 0.04187709 0.03825533
+v -0.01297897 0.04193101 0.03963305
+v -0.00775065 0.04362031 0.03951348
+v -0.00837265 0.04339066 0.04003546
+v -0.01263472 0.04179531 0.04075810
+v -0.01134964 0.04202322 0.04105963
+v -0.00944452 0.04220589 0.04154211
+v -0.00998633 0.04147345 0.04221380
+v -0.01408214 0.03984504 0.04234377
+v -0.01316284 0.04000336 0.04244048
+v -0.01134964 0.04032173 0.04259228
+v -0.00944452 0.04081930 0.04262764
+v -0.01316284 0.03893341 0.04281375
+v -0.01134964 0.03893341 0.04297179
+v -0.00228565 0.04074449 0.04302484
+v -0.00953841 0.03893341 0.04301547
+v 0.00010260 0.04074449 0.04302276
+v -0.00047246 0.04074449 0.04302484
+v 0.00010260 0.03611851 0.03835409
+v 0.00010260 0.03618636 0.03882511
+v -0.01987966 0.02793472 0.03782792
+v -0.01987966 0.02726841 0.03240439
+v -0.01134964 0.03712411 0.03240443
+v -0.01588751 0.03984158 0.03692440
+v -0.00938193 0.04316624 0.03951348
+v -0.01388655 0.04157436 0.03963305
+v -0.01661122 0.04005557 0.03796627
+v -0.01775156 0.03986767 0.03866085
+v -0.01497603 0.04109419 0.03963305
+v -0.01757943 0.03977894 0.04014670
+v -0.01637064 0.04007818 0.04087143
+v -0.01480194 0.04029216 0.04145892
+v -0.01134964 0.04122641 0.04196113
+v -0.01529094 0.03952667 0.04207447
+v -0.01772417 0.03804266 0.04235000
+v -0.01678922 0.03825665 0.04246542
+v -0.01480194 0.03892645 0.04257876
+v -0.01678922 0.03712233 0.04283455
+v -0.01497603 0.03712233 0.04300091
+v -0.01987966 0.03403775 0.04299570
+v 0.00010260 0.03962583 0.04277841
+v -0.01987966 0.03350190 0.04296450
+v -0.01987966 0.03210488 0.04273367
+v 0.00010260 0.03627335 0.03910793
+v -0.01987966 0.02837139 0.03948431
+v -0.01987966 0.02803910 0.03826567
+v -0.01987966 0.03255552 0.03240441
+v -0.01289291 0.03649432 0.03240442
+v -0.01379266 0.03609069 0.03240442
+v -0.01496820 0.03550788 0.03240442
+v -0.01643127 0.03472847 0.03240442
+v -0.01944152 0.03797309 0.03696494
+v -0.01987966 0.03824797 0.03788619
+v -0.01987966 0.03838541 0.03813366
+v -0.01987966 0.03856633 0.03962368
+v -0.01775156 0.03986767 0.03894367
+v -0.01690071 0.04019648 0.03958002
+v -0.01845375 0.03938575 0.03958001
+v -0.01987966 0.03824796 0.04074977
+v -0.01986010 0.03823752 0.04082672
+v -0.01843810 0.03848804 0.04143187
+v -0.01893297 0.03767036 0.04202975
+v -0.01987966 0.03651515 0.04245397
+v -0.01987966 0.03648036 0.04247581
+v -0.01843810 0.03708927 0.04256628
+v -0.01987966 0.03590450 0.04265257
+v -0.01987966 0.03537736 0.04278255
+v -0.01860241 0.03531299 0.04298115
+v 0.00010260 0.03913696 0.04266194
+v -0.01987966 0.03175867 0.04263593
+v 0.00010260 0.03648037 0.03970373
+v -0.01987966 0.02845489 0.03970994
+v -0.01987966 0.03786174 0.03724672
+v -0.01966841 0.03271036 0.03240441
+v -0.01734667 0.03420132 0.03240442
+v -0.01859263 0.03341496 0.03240441
+v -0.01987966 0.03823056 0.04080800
+v -0.01987966 0.03820446 0.04084855
+v -0.01987966 0.03736416 0.04173341
+v 0.00010260 0.03851761 0.04236144
+v -0.01987966 0.03085922 0.04229486
+v 0.00010260 0.03677961 0.04027875
+v -0.01987966 0.02866366 0.04015290
+v 0.00010260 0.03823229 0.04220547
+v -0.01987966 0.03052520 0.04203908
+v 0.00010260 0.03739896 0.04130398
+v -0.01987966 0.02890375 0.04056050
+v -0.01987966 0.03008852 0.04168243
+v -0.01987966 0.02986757 0.04148487
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 16
+f 1 16 30
+f 1 30 49
+f 1 49 76
+f 1 76 100
+f 1 100 128
+f 1 128 139
+f 1 139 143
+f 1 143 145
+f 1 145 141
+f 1 141 130
+f 1 130 103
+f 1 103 79
+f 1 79 78
+f 1 78 50
+f 1 50 31
+f 1 31 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 26 27
+f 13 27 14
+f 13 25 26
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 18 31 52
+f 18 52 81
+f 18 81 106
+f 18 106 133
+f 18 133 135
+f 18 135 134
+f 18 134 110
+f 18 110 109
+f 18 109 108
+f 18 108 107
+f 18 107 82
+f 18 82 55
+f 18 55 54
+f 18 54 53
+f 18 53 34
+f 18 34 33
+f 18 33 32
+f 18 32 20
+f 18 20 19
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 23
+f 21 23 22
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 31 50 51
+f 31 51 52
+f 34 53 35
+f 35 37 36
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 37
+f 37 57 38
+f 38 58 59
+f 38 59 39
+f 38 57 60
+f 38 60 61
+f 38 61 58
+f 39 59 62
+f 39 62 63
+f 39 63 40
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 42
+f 40 42 41
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 43
+f 43 70 71
+f 43 71 45
+f 43 45 44
+f 45 71 70
+f 45 70 72
+f 45 72 73
+f 45 73 46
+f 46 73 47
+f 47 74 48
+f 47 73 75
+f 47 75 74
+f 48 76 49
+f 48 74 77
+f 48 77 76
+f 50 78 51
+f 51 78 79
+f 51 79 80
+f 51 80 105
+f 51 105 104
+f 51 104 131
+f 51 131 142
+f 51 142 146
+f 51 146 148
+f 51 148 147
+f 51 147 144
+f 51 144 140
+f 51 140 129
+f 51 129 102
+f 51 102 101
+f 51 101 99
+f 51 99 126
+f 51 126 125
+f 51 125 123
+f 51 123 122
+f 51 122 138
+f 51 138 137
+f 51 137 136
+f 51 136 118
+f 51 118 114
+f 51 114 113
+f 51 113 112
+f 51 112 132
+f 51 132 106
+f 51 106 81
+f 51 81 52
+f 55 82 56
+f 56 60 57
+f 56 82 83
+f 56 83 60
+f 58 63 84
+f 58 84 59
+f 58 61 64
+f 58 64 63
+f 59 63 62
+f 59 84 63
+f 60 85 61
+f 60 83 86
+f 60 86 87
+f 60 87 85
+f 61 85 64
+f 64 85 88
+f 64 88 89
+f 64 89 90
+f 64 90 91
+f 64 91 68
+f 64 68 65
+f 65 92 67
+f 65 67 66
+f 65 68 92
+f 67 92 68
+f 68 91 93
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 69
+f 69 96 70
+f 70 96 72
+f 72 96 97
+f 72 97 98
+f 72 98 73
+f 73 98 75
+f 74 75 99
+f 74 99 77
+f 75 98 99
+f 76 77 99
+f 76 99 101
+f 76 101 102
+f 76 102 100
+f 79 103 104
+f 79 104 105
+f 79 105 80
+f 82 107 83
+f 83 107 108
+f 83 108 109
+f 83 109 110
+f 83 110 111
+f 83 111 87
+f 83 87 86
+f 85 87 88
+f 87 111 112
+f 87 112 113
+f 87 113 114
+f 87 114 115
+f 87 115 88
+f 88 116 89
+f 88 115 116
+f 89 115 117
+f 89 117 114
+f 89 114 118
+f 89 118 119
+f 89 119 90
+f 89 116 115
+f 90 93 91
+f 90 119 120
+f 90 120 94
+f 90 94 93
+f 94 120 121
+f 94 121 122
+f 94 122 123
+f 94 123 124
+f 94 124 95
+f 95 97 96
+f 95 124 97
+f 97 124 125
+f 97 125 126
+f 97 126 127
+f 97 127 98
+f 98 127 99
+f 99 127 126
+f 100 102 128
+f 102 129 128
+f 103 130 104
+f 104 130 131
+f 106 132 111
+f 106 111 133
+f 110 134 111
+f 111 134 135
+f 111 135 133
+f 111 132 112
+f 114 117 115
+f 118 136 119
+f 119 136 137
+f 119 137 138
+f 119 138 121
+f 119 121 120
+f 121 138 122
+f 123 125 124
+f 128 129 140
+f 128 140 139
+f 130 141 142
+f 130 142 131
+f 139 140 143
+f 140 144 143
+f 141 145 146
+f 141 146 142
+f 143 144 147
+f 143 147 148
+f 143 148 146
+f 143 146 145
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_14.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.01424478 -0.03401970 0.03241452
+v 0.01424478 -0.03402617 0.03249237
+v 0.01424478 -0.03534861 0.03241451
+v 0.00010260 -0.03541225 0.03241451
+v 0.00010260 -0.03541225 0.03241555
+v 0.01424478 -0.03467231 0.03768447
+v 0.00010260 -0.03606486 0.03782045
+v 0.01424478 -0.03858890 0.03241554
+v 0.01403298 -0.03864823 0.03241450
+v 0.00010260 -0.03983799 0.03241449
+v 0.01424478 -0.03467554 0.03770835
+v 0.00010260 -0.03619861 0.03879410
+v 0.01424478 -0.04312685 0.03736785
+v 0.01403298 -0.04314518 0.03730142
+v 0.01277048 -0.04332963 0.03703569
+v 0.01156197 -0.04350653 0.03688829
+v 0.01222090 -0.03908185 0.03241450
+v 0.00010260 -0.04373412 0.03673467
+v 0.00120590 -0.03993723 0.03241449
+v 0.01424478 -0.03502826 0.03935048
+v 0.00010260 -0.03649849 0.03967745
+v 0.01424478 -0.03510162 0.03964319
+v 0.01424478 -0.04321530 0.03751110
+v 0.01403298 -0.04369961 0.03820241
+v 0.01218768 -0.04383660 0.03771351
+v 0.01040745 -0.04417746 0.03782769
+v 0.00859400 -0.04438888 0.03782769
+v 0.01040745 -0.04358527 0.03682601
+v 0.00844172 -0.03970963 0.03241449
+v 0.01040745 -0.03942918 0.03241450
+v 0.00010260 -0.04399517 0.03708655
+v 0.00134295 -0.04376864 0.03671702
+v 0.00134295 -0.04459382 0.03782769
+v 0.00134156 -0.03994262 0.03241449
+v 0.00010260 -0.03741751 0.04128220
+v 0.01424478 -0.03570352 0.04085559
+v 0.01424478 -0.04367373 0.03825742
+v 0.01040745 -0.04452372 0.03963174
+v 0.00859400 -0.04475779 0.03963174
+v 0.00678193 -0.04491527 0.03963174
+v 0.00678193 -0.04453342 0.03782769
+v 0.00859400 -0.04368020 0.03676269
+v 0.00674732 -0.03987682 0.03241449
+v 0.00742148 -0.03981858 0.03241449
+v 0.00010260 -0.04451616 0.03782769
+v 0.00315640 -0.03999871 0.03241449
+v 0.00315640 -0.04379021 0.03670768
+v 0.00315640 -0.04464128 0.03782769
+v 0.00315640 -0.04503824 0.03963173
+v 0.00134295 -0.04498539 0.03963173
+v 0.00010260 -0.03799028 0.04189877
+v 0.01424478 -0.03581678 0.04104450
+v 0.01424478 -0.04376218 0.03963174
+v 0.01403298 -0.04381396 0.03963174
+v 0.01222090 -0.04420444 0.03963174
+v 0.01424478 -0.04355077 0.04067702
+v 0.01403298 -0.04357558 0.04071646
+v 0.01222090 -0.04376974 0.04100088
+v 0.01040745 -0.04393154 0.04120121
+v 0.00859400 -0.04404911 0.04132785
+v 0.00678193 -0.04412461 0.04140259
+v 0.00496847 -0.04501235 0.03963173
+v 0.00496847 -0.04462079 0.03782769
+v 0.00678193 -0.04374275 0.03672948
+v 0.00496847 -0.03997822 0.03241449
+v 0.00668087 -0.03988222 0.03241449
+v 0.00010260 -0.04463913 0.03839859
+v 0.00496847 -0.04378158 0.03671183
+v 0.00315640 -0.04420552 0.04143684
+v 0.00010260 -0.04407500 0.04144826
+v 0.00010260 -0.04489909 0.03963174
+v 0.00010260 -0.03825778 0.04218422
+v 0.01424478 -0.03668833 0.04194653
+v 0.01424478 -0.04373522 0.03983935
+v 0.01424478 -0.04344722 0.04080158
+v 0.01424478 -0.04277306 0.04159358
+v 0.01403298 -0.04280757 0.04161849
+v 0.01222090 -0.04299634 0.04190394
+v 0.01040745 -0.04316353 0.04210324
+v 0.00859400 -0.04330161 0.04222988
+v 0.00678193 -0.04340839 0.04230565
+v 0.00577138 -0.04345586 0.04233575
+v 0.00508752 -0.04403940 0.04161538
+v 0.00315640 -0.04347959 0.04235340
+v 0.00201157 -0.04347204 0.04234717
+v 0.00138171 -0.04402646 0.04160811
+v 0.00456287 -0.04347635 0.04235028
+v 0.00010260 -0.04379886 0.04180325
+v 0.00010260 -0.03916279 0.04265756
+v 0.01424478 -0.03748871 0.04251639
+v 0.01424478 -0.04263822 0.04174616
+v 0.01424478 -0.04187885 0.04248627
+v 0.01403298 -0.04190259 0.04250081
+v 0.01222090 -0.04209027 0.04259215
+v 0.01040745 -0.04225746 0.04264923
+v 0.00859400 -0.04239553 0.04268245
+v 0.00508752 -0.04273423 0.04263989
+v 0.00678193 -0.04250232 0.04269802
+v 0.00315640 -0.04255626 0.04272293
+v 0.00138171 -0.04272129 0.04263677
+v 0.00010260 -0.04254439 0.04267726
+v 0.00080307 -0.04343536 0.04232330
+v 0.00010260 -0.04339977 0.04229942
+v 0.00010260 -0.04074518 0.04301670
+v 0.01424478 -0.03874966 0.04290979
+v 0.01424478 -0.03759442 0.04256932
+v 0.01424478 -0.04178717 0.04252053
+v 0.01403298 -0.04074518 0.04288591
+v 0.01222090 -0.04074518 0.04297206
+v 0.01040745 -0.04074518 0.04301047
+v 0.00859400 -0.04074518 0.04301773
+v 0.01424478 -0.03893519 0.04295131
+v 0.01424478 -0.04076029 0.04286203
+v 0.01424478 -0.04053485 0.04290044
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 22
+f 1 22 36
+f 1 36 52
+f 1 52 73
+f 1 73 90
+f 1 90 106
+f 1 106 105
+f 1 105 112
+f 1 112 114
+f 1 114 113
+f 1 113 107
+f 1 107 92
+f 1 92 91
+f 1 91 76
+f 1 76 75
+f 1 75 56
+f 1 56 74
+f 1 74 53
+f 1 53 37
+f 1 37 23
+f 1 23 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 30
+f 1 30 29
+f 1 29 44
+f 1 44 43
+f 1 43 66
+f 1 66 65
+f 1 65 46
+f 1 46 34
+f 1 34 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 18
+f 4 18 31
+f 4 31 45
+f 4 45 67
+f 4 67 71
+f 4 71 70
+f 4 70 88
+f 4 88 103
+f 4 103 101
+f 4 101 104
+f 4 104 89
+f 4 89 72
+f 4 72 51
+f 4 51 35
+f 4 35 21
+f 4 21 12
+f 4 12 7
+f 4 7 5
+f 6 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 10 19 18
+f 11 12 20
+f 12 21 22
+f 12 22 20
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 25 16
+f 15 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 18 19 32
+f 18 32 33
+f 18 33 31
+f 19 34 32
+f 21 35 36
+f 21 36 22
+f 23 37 24
+f 24 37 38
+f 24 38 26
+f 24 26 25
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 31 33 45
+f 32 34 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 45
+f 35 51 52
+f 35 52 36
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 45 50 67
+f 46 65 68
+f 46 68 47
+f 47 68 48
+f 48 68 63
+f 48 63 49
+f 49 63 62
+f 49 62 69
+f 49 69 50
+f 50 69 70
+f 50 70 71
+f 50 71 67
+f 51 72 52
+f 52 72 73
+f 53 74 54
+f 54 74 55
+f 55 74 56
+f 56 75 57
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 78 79
+f 58 79 59
+f 58 77 78
+f 59 79 80
+f 59 80 60
+f 60 80 81
+f 60 81 61
+f 61 81 82
+f 61 82 83
+f 61 83 69
+f 61 69 62
+f 63 68 64
+f 64 68 65
+f 69 84 85
+f 69 85 86
+f 69 86 70
+f 69 83 87
+f 69 87 84
+f 70 86 88
+f 72 89 90
+f 72 90 73
+f 76 91 77
+f 77 91 78
+f 78 91 92
+f 78 92 79
+f 79 92 93
+f 79 93 80
+f 80 93 94
+f 80 94 95
+f 80 95 81
+f 81 95 96
+f 81 96 82
+f 82 97 87
+f 82 87 83
+f 82 96 98
+f 82 98 97
+f 84 87 99
+f 84 99 85
+f 85 100 101
+f 85 101 102
+f 85 102 86
+f 85 99 100
+f 86 102 88
+f 87 97 99
+f 88 102 103
+f 89 104 105
+f 89 105 106
+f 89 106 90
+f 92 107 93
+f 93 107 108
+f 93 108 94
+f 94 108 95
+f 95 108 109
+f 95 109 96
+f 96 109 98
+f 97 98 99
+f 98 109 110
+f 98 110 99
+f 99 104 101
+f 99 101 100
+f 99 110 111
+f 99 111 104
+f 101 103 102
+f 104 111 112
+f 104 112 105
+f 107 113 108
+f 108 113 114
+f 108 114 109
+f 109 114 112
+f 109 112 110
+f 110 112 111
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_15.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02302008 -0.02926182 0.00660246
+v 0.00009347 -0.03472143 0.00660244
+v 0.02302008 -0.03497052 0.00660244
+v 0.02302008 -0.02844198 -0.02171859
+v 0.00009347 -0.03377026 -0.02171861
+v 0.00009347 -0.03973495 0.00660242
+v 0.02257348 -0.03520150 0.00660244
+v 0.02302008 -0.03509494 -0.03005953
+v 0.02302008 -0.02901147 -0.03005951
+v 0.00009347 -0.03374308 -0.02352389
+v 0.00098217 -0.03980968 0.00660242
+v 0.00009347 -0.03987069 -0.03005955
+v 0.02137060 -0.03582196 0.00660244
+v 0.02212016 -0.03555916 -0.03005953
+v 0.00009347 -0.03432049 -0.03005953
+v 0.00188882 -0.03985950 0.00660242
+v 0.00010693 -0.03987182 -0.03005955
+v 0.00131879 -0.03994768 -0.03005955
+v 0.02073999 -0.03612540 0.00660244
+v 0.02149628 -0.03588071 -0.03005953
+v 0.00315678 -0.03988894 0.00660242
+v 0.00202796 -0.03997146 -0.03005955
+v 0.00315678 -0.04000882 -0.03005955
+v 0.02046395 -0.03625787 0.00660244
+v 0.02058962 -0.03631548 -0.03005953
+v 0.00497009 -0.03986969 0.00660242
+v 0.00384126 -0.04000089 -0.03005955
+v 0.02016323 -0.03638468 0.00660244
+v 0.01947202 -0.03678989 -0.03005954
+v 0.00560968 -0.03984931 0.00660242
+v 0.00497009 -0.03998731 -0.03005955
+v 0.01947202 -0.03667566 0.00660244
+v 0.01765872 -0.03750206 -0.03005954
+v 0.01892219 -0.03689305 0.00660243
+v 0.01765872 -0.03739237 0.00660243
+v 0.00588796 -0.03984025 0.00660242
+v 0.00549523 -0.03996127 -0.03005955
+v 0.01693609 -0.03776247 -0.03005954
+v 0.01724130 -0.03754069 0.00660243
+v 0.01645583 -0.03793344 -0.03005954
+v 0.00616399 -0.03981987 0.00660242
+v 0.00671831 -0.03989107 -0.03005955
+v 0.00761149 -0.03983333 -0.03005955
+v 0.01628527 -0.03788036 0.00660243
+v 0.01554918 -0.03821989 -0.03005954
+v 0.00679461 -0.03977231 0.00660242
+v 0.00766311 -0.03982766 -0.03005955
+v 0.00859669 -0.03959569 0.00660242
+v 0.00804687 -0.03965003 0.00660242
+v 0.01537862 -0.03816568 0.00660243
+v 0.01457969 -0.03849842 -0.03005954
+v 0.00850019 -0.03971784 -0.03005955
+v 0.00985793 -0.03941340 0.00660243
+v 0.01041000 -0.03944384 -0.03005954
+v 0.01497018 -0.03828003 0.00660243
+v 0.01403211 -0.03865241 -0.03005954
+v 0.01041000 -0.03933301 0.00660243
+v 0.01222105 -0.03909172 -0.03005954
+v 0.01403211 -0.03854158 0.00660243
+v 0.01290329 -0.03892641 -0.03005954
+v 0.01348229 -0.03867518 0.00660243
+v 0.01222105 -0.03897975 0.00660243
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 21
+f 1 21 26
+f 1 26 30
+f 1 30 36
+f 1 36 41
+f 1 41 46
+f 1 46 49
+f 1 49 48
+f 1 48 53
+f 1 53 57
+f 1 57 62
+f 1 62 61
+f 1 61 59
+f 1 59 55
+f 1 55 50
+f 1 50 44
+f 1 44 39
+f 1 39 35
+f 1 35 34
+f 1 34 32
+f 1 32 28
+f 1 28 24
+f 1 24 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 12
+f 2 12 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 12 17
+f 6 17 11
+f 7 13 14
+f 7 14 8
+f 8 14 20
+f 8 20 25
+f 8 25 29
+f 8 29 33
+f 8 33 38
+f 8 38 40
+f 8 40 45
+f 8 45 51
+f 8 51 56
+f 8 56 60
+f 8 60 58
+f 8 58 54
+f 8 54 52
+f 8 52 47
+f 8 47 43
+f 8 43 42
+f 8 42 37
+f 8 37 31
+f 8 31 27
+f 8 27 23
+f 8 23 22
+f 8 22 18
+f 8 18 17
+f 8 17 12
+f 8 12 15
+f 8 15 9
+f 9 15 10
+f 11 17 18
+f 11 18 16
+f 13 19 20
+f 13 20 14
+f 16 18 22
+f 16 22 23
+f 16 23 21
+f 19 24 20
+f 20 24 25
+f 21 23 26
+f 23 27 26
+f 24 28 29
+f 24 29 25
+f 26 27 31
+f 26 31 30
+f 28 32 29
+f 29 32 34
+f 29 34 35
+f 29 35 33
+f 30 31 36
+f 31 37 36
+f 33 35 38
+f 35 39 40
+f 35 40 38
+f 36 37 42
+f 36 42 43
+f 36 43 41
+f 39 44 40
+f 40 44 45
+f 41 43 46
+f 43 47 48
+f 43 48 49
+f 43 49 46
+f 44 50 45
+f 45 50 51
+f 47 52 48
+f 48 52 54
+f 48 54 53
+f 50 55 56
+f 50 56 51
+f 53 54 57
+f 54 58 57
+f 55 59 56
+f 56 59 61
+f 56 61 60
+f 57 58 62
+f 58 60 61
+f 58 61 62
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_16.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.03064059 0.02235526 0.00660265
+v 0.01709411 0.03230775 0.00660269
+v 0.03064059 0.02949101 0.00660268
+v 0.03064059 0.02239580 0.01030654
+v 0.01709411 0.03757919 0.00660271
+v 0.01709411 0.03234379 0.00979587
+v 0.03033028 0.02977193 0.00660268
+v 0.03050532 0.02973427 0.03242875
+v 0.03064059 0.02960508 0.03242875
+v 0.03064059 0.02242133 0.01256679
+v 0.01709411 0.03758068 0.00682520
+v 0.01766169 0.03738089 0.00660271
+v 0.01709411 0.03236482 0.01157576
+v 0.02931445 0.03067479 0.00660268
+v 0.02937811 0.03072878 0.03242875
+v 0.03064059 0.02326704 0.03242873
+v 0.03064059 0.02244387 0.01437196
+v 0.01709411 0.03238584 0.01335312
+v 0.01709411 0.03770077 0.03242119
+v 0.01821336 0.03716457 0.00660271
+v 0.01766037 0.03750247 0.03242878
+v 0.02840738 0.03139137 0.00660269
+v 0.02847103 0.03143935 0.03242876
+v 0.01740840 0.03287100 0.03242876
+v 0.01709411 0.03299118 0.03242623
+v 0.03064059 0.02326403 0.03241356
+v 0.03064059 0.02247090 0.01638950
+v 0.01709411 0.03240836 0.01512542
+v 0.01709411 0.03770077 0.03242878
+v 0.01947452 0.03666582 0.00660270
+v 0.01947452 0.03678740 0.03242878
+v 0.02721783 0.03229723 0.00660269
+v 0.02728944 0.03234371 0.03242876
+v 0.01709411 0.03622856 0.03242877
+v 0.01709411 0.03298968 0.03241359
+v 0.03064059 0.02303420 0.03060838
+v 0.03064059 0.02249342 0.01797977
+v 0.01709411 0.03243541 0.01707976
+v 0.02045056 0.03625119 0.00660270
+v 0.02056460 0.03631569 0.03242877
+v 0.02694199 0.03249103 0.00660269
+v 0.02637176 0.03299719 0.03242876
+v 0.01709411 0.03295663 0.03205457
+v 0.03064059 0.02288998 0.02887906
+v 0.03064059 0.02249793 0.01828064
+v 0.01709411 0.03247445 0.01978245
+v 0.01709411 0.03245342 0.01835147
+v 0.02135763 0.03580802 0.00660270
+v 0.02057787 0.03630968 0.03242877
+v 0.02148362 0.03586952 0.03242877
+v 0.02631076 0.03293420 0.00660269
+v 0.02500053 0.03389404 0.03242876
+v 0.01709411 0.03283646 0.03060842
+v 0.03064059 0.02288397 0.02880574
+v 0.03064059 0.02252347 0.01978241
+v 0.01709411 0.03250599 0.02158762
+v 0.02309355 0.03490216 0.00660270
+v 0.02310150 0.03501773 0.03242877
+v 0.02533737 0.03356214 0.00660269
+v 0.02409478 0.03446039 0.03242877
+v 0.02491301 0.03383555 0.00660269
+v 0.01709411 0.03273731 0.02883358
+v 0.03064059 0.02277431 0.02700057
+v 0.03064059 0.02277582 0.02702585
+v 0.03064059 0.02252948 0.02005294
+v 0.01709411 0.03254504 0.02339027
+v 0.01709411 0.03253453 0.02291496
+v 0.02372479 0.03455363 0.00660270
+v 0.02399930 0.03440191 0.00660270
+v 0.02427779 0.03423065 0.00660270
+v 0.01709411 0.03273581 0.02880578
+v 0.03064059 0.02269320 0.02530411
+v 0.03064059 0.02256552 0.02158758
+v 0.01709411 0.03259311 0.02519544
+v 0.01709411 0.03265620 0.02700061
+v 0.03064059 0.02268870 0.02519540
+v 0.03064059 0.02261959 0.02339023
+v 0.03064059 0.02262560 0.02356720
+v 0.01709411 0.03264869 0.02679329
+f 1 2 5
+f 1 5 12
+f 1 12 20
+f 1 20 30
+f 1 30 39
+f 1 39 48
+f 1 48 57
+f 1 57 68
+f 1 68 69
+f 1 69 70
+f 1 70 61
+f 1 61 59
+f 1 59 51
+f 1 51 41
+f 1 41 32
+f 1 32 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 36
+f 1 36 44
+f 1 44 54
+f 1 54 64
+f 1 64 63
+f 1 63 72
+f 1 72 76
+f 1 76 78
+f 1 78 77
+f 1 77 73
+f 1 73 65
+f 1 65 55
+f 1 55 45
+f 1 45 37
+f 1 37 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 18
+f 2 18 28
+f 2 28 38
+f 2 38 47
+f 2 47 46
+f 2 46 56
+f 2 56 67
+f 2 67 66
+f 2 66 74
+f 2 74 79
+f 2 79 75
+f 2 75 71
+f 2 71 62
+f 2 62 53
+f 2 53 43
+f 2 43 35
+f 2 35 25
+f 2 25 34
+f 2 34 29
+f 2 29 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 11 12
+f 6 10 13
+f 7 14 8
+f 8 15 23
+f 8 23 33
+f 8 33 42
+f 8 42 52
+f 8 52 60
+f 8 60 58
+f 8 58 50
+f 8 50 49
+f 8 49 40
+f 8 40 31
+f 8 31 21
+f 8 21 29
+f 8 29 34
+f 8 34 24
+f 8 24 16
+f 8 16 9
+f 8 14 15
+f 10 17 18
+f 10 18 13
+f 11 19 12
+f 12 19 21
+f 12 21 20
+f 14 22 15
+f 15 22 23
+f 16 24 25
+f 16 25 26
+f 17 27 28
+f 17 28 18
+f 19 29 21
+f 20 21 31
+f 20 31 30
+f 22 32 33
+f 22 33 23
+f 24 34 25
+f 25 35 36
+f 25 36 26
+f 27 37 38
+f 27 38 28
+f 30 31 39
+f 31 40 39
+f 32 41 42
+f 32 42 33
+f 35 43 36
+f 36 43 44
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 39 40 49
+f 39 49 50
+f 39 50 48
+f 41 51 42
+f 42 51 52
+f 43 53 44
+f 44 53 54
+f 45 55 46
+f 46 55 56
+f 48 50 57
+f 50 58 57
+f 51 59 52
+f 52 59 61
+f 52 61 60
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 55 65 66
+f 55 66 67
+f 55 67 56
+f 57 58 68
+f 58 60 69
+f 58 69 68
+f 60 61 70
+f 60 70 69
+f 62 71 63
+f 63 71 72
+f 65 73 66
+f 66 73 74
+f 71 75 72
+f 72 75 76
+f 73 77 74
+f 74 78 79
+f 74 77 78
+f 75 79 78
+f 75 78 76
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_17.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03792022 -0.00635794 0.00660255
+v 0.03756444 0.00814553 0.00660260
+v 0.04311454 -0.00635794 0.00660255
+v 0.03794675 -0.00635796 0.01076224
+v 0.04278771 0.00814553 0.00660260
+v 0.03760484 0.00814550 0.01256557
+v 0.04311816 -0.00633807 0.00660255
+v 0.04322912 -0.00633817 0.03240420
+v 0.04322550 -0.00635662 0.03240420
+v 0.04315735 -0.00635803 0.03062870
+v 0.03796002 -0.00635797 0.01256552
+v 0.03761750 0.00814550 0.01437138
+v 0.04301927 0.00688769 0.00660260
+v 0.04289143 0.00814543 0.03240425
+v 0.04322308 0.00634811 0.03240424
+v 0.04336419 -0.00452655 0.00660255
+v 0.04323092 -0.00632681 0.03240420
+v 0.04314349 -0.00635804 0.03240420
+v 0.03797449 -0.00635797 0.01437133
+v 0.03763499 0.00814549 0.01617467
+v 0.04312057 0.00633686 0.00660259
+v 0.03819036 0.00814543 0.03240425
+v 0.04322489 0.00633676 0.03240424
+v 0.04341484 -0.00397571 0.00660256
+v 0.04347273 -0.00452665 0.03240420
+v 0.03854674 -0.00635804 0.03240420
+v 0.03799197 -0.00635798 0.01617462
+v 0.03801067 -0.00635799 0.01798043
+v 0.03765730 0.00814548 0.01798048
+v 0.04337022 0.00452676 0.00660259
+v 0.04347514 0.00452666 0.03240424
+v 0.03808665 0.00814544 0.03121217
+v 0.03849187 -0.00635804 0.03180563
+v 0.04353062 -0.00271646 0.00660256
+v 0.04363614 -0.00271656 0.03240421
+v 0.03803298 -0.00635799 0.01978120
+v 0.03768142 0.00814548 0.01978125
+v 0.04353544 0.00271525 0.00660258
+v 0.04364157 0.00271515 0.03240423
+v 0.03803418 0.00814544 0.03060854
+v 0.03838091 -0.00635803 0.03048222
+v 0.04355655 -0.00216562 0.00660256
+v 0.04372177 -0.00090504 0.03240422
+v 0.03806132 -0.00635800 0.02158701
+v 0.03770916 0.00814547 0.02158706
+v 0.04359152 0.00145599 0.00660258
+v 0.04372418 0.00091499 0.03240422
+v 0.03792745 0.00814544 0.02880526
+v 0.03837609 -0.00635803 0.03040140
+v 0.04361504 -0.00090494 0.00660257
+v 0.04372418 0.00090505 0.03240422
+v 0.03809750 -0.00635801 0.02339029
+v 0.03774534 0.00814546 0.02339034
+v 0.04361564 0.00090515 0.00660257
+v 0.03784966 0.00814545 0.02699944
+v 0.03820604 -0.00635802 0.02699939
+v 0.03828504 -0.00635803 0.02880521
+v 0.04361564 -0.00035411 0.00660257
+v 0.03814453 -0.00635801 0.02517590
+v 0.03779117 0.00814546 0.02519616
+v 0.03814514 -0.00635801 0.02519611
+f 1 2 5
+f 1 5 13
+f 1 13 21
+f 1 21 30
+f 1 30 38
+f 1 38 46
+f 1 46 54
+f 1 54 58
+f 1 58 50
+f 1 50 42
+f 1 42 34
+f 1 34 24
+f 1 24 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 33
+f 1 33 41
+f 1 41 49
+f 1 49 57
+f 1 57 56
+f 1 56 61
+f 1 61 59
+f 1 59 52
+f 1 52 44
+f 1 44 36
+f 1 36 28
+f 1 28 27
+f 1 27 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 20
+f 2 20 29
+f 2 29 37
+f 2 37 45
+f 2 45 53
+f 2 53 60
+f 2 60 55
+f 2 55 48
+f 2 48 40
+f 2 40 32
+f 2 32 22
+f 2 22 14
+f 2 14 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 5 14 15
+f 5 15 13
+f 7 16 17
+f 7 17 8
+f 8 17 25
+f 8 25 35
+f 8 35 43
+f 8 43 51
+f 8 51 47
+f 8 47 39
+f 8 39 31
+f 8 31 23
+f 8 23 15
+f 8 15 14
+f 8 14 22
+f 8 22 26
+f 8 26 18
+f 8 18 9
+f 9 18 10
+f 11 19 12
+f 12 19 27
+f 12 27 20
+f 13 15 21
+f 15 23 21
+f 16 24 25
+f 16 25 17
+f 20 27 28
+f 20 28 29
+f 21 23 31
+f 21 31 30
+f 22 32 33
+f 22 33 26
+f 24 34 25
+f 25 34 35
+f 28 36 29
+f 29 36 37
+f 30 31 39
+f 30 39 38
+f 32 40 33
+f 33 40 41
+f 34 42 43
+f 34 43 35
+f 36 44 45
+f 36 45 37
+f 38 39 47
+f 38 47 46
+f 40 48 49
+f 40 49 41
+f 42 50 43
+f 43 50 51
+f 44 52 53
+f 44 53 45
+f 46 47 54
+f 47 51 58
+f 47 58 54
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 50 58 51
+f 52 59 60
+f 52 60 53
+f 55 60 61
+f 55 61 56
+f 59 61 60
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_18.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01709410 0.03770211 0.03242878
+v 0.01644545 0.03793009 0.03242878
+v 0.01709410 0.03622816 0.03242877
+v 0.01709410 0.03758032 0.00660271
+v 0.01554065 0.03821750 0.03242878
+v 0.01668495 0.03772327 0.00660271
+v 0.01625584 0.03787300 0.00660271
+v 0.01586498 0.03346384 0.03242876
+v 0.01709410 0.03299208 0.03242623
+v 0.01709410 0.03230825 0.00660269
+v 0.01552236 0.03822277 0.03242878
+v 0.01598141 0.03795877 0.00660271
+v 0.01534938 0.03815515 0.00660271
+v 0.00010260 0.03541180 0.03242877
+v 0.00010260 0.03540954 0.03241360
+v 0.01709410 0.03299058 0.03241359
+v 0.00010260 0.03471744 0.00660270
+v 0.01709410 0.03236617 0.01157576
+v 0.01403377 0.03864411 0.03242878
+v 0.01403377 0.03852157 0.00660271
+v 0.00010260 0.03982914 0.03242879
+v 0.00010260 0.03530798 0.03117981
+v 0.01709410 0.03283785 0.03060842
+v 0.01709410 0.03295823 0.03205457
+v 0.00010260 0.03472420 0.00715386
+v 0.00010260 0.03971262 0.00660272
+v 0.01709410 0.03238723 0.01335312
+v 0.01222086 0.03907599 0.03242878
+v 0.01277138 0.03882328 0.00660271
+v 0.00033545 0.03985247 0.03242879
+v 0.00010260 0.03526133 0.03060843
+v 0.01709410 0.03282807 0.03044661
+v 0.00010260 0.03474677 0.00895650
+v 0.00118536 0.03979839 0.00660272
+v 0.01709410 0.03240002 0.01437200
+v 0.01040794 0.03942209 0.03242878
+v 0.01222086 0.03895420 0.00660271
+v 0.01040794 0.03930256 0.00660271
+v 0.00125522 0.03992470 0.03242879
+v 0.00010260 0.03515901 0.02880579
+v 0.01709410 0.03273779 0.02883358
+v 0.00010260 0.03479340 0.01256684
+v 0.00181572 0.03983300 0.00660272
+v 0.01709410 0.03240979 0.01512542
+v 0.00856342 0.03968844 0.03242879
+v 0.00859503 0.03956741 0.00660272
+v 0.00315628 0.03999467 0.03242879
+v 0.00209182 0.03984805 0.00660272
+v 0.00010260 0.03508152 0.02700062
+v 0.01709410 0.03265729 0.02700061
+v 0.01709410 0.03273628 0.02880578
+v 0.00010260 0.03481748 0.01437201
+v 0.01709410 0.03245417 0.01835147
+v 0.00844201 0.03970575 0.03242879
+v 0.00678211 0.03974723 0.00660272
+v 0.00496920 0.03997661 0.03242879
+v 0.00464653 0.03985934 0.00660272
+v 0.00360535 0.03986536 0.00660272
+v 0.00315628 0.03986761 0.00660272
+v 0.00241448 0.03985407 0.00660272
+v 0.01709410 0.03264976 0.02679329
+v 0.00010260 0.03502134 0.02519545
+v 0.01709410 0.03259485 0.02519544
+v 0.00010260 0.03484305 0.01617465
+v 0.00010260 0.03487013 0.01797982
+v 0.01709410 0.03247599 0.01978245
+v 0.00685862 0.03986224 0.03242879
+v 0.00593054 0.03980366 0.00660272
+v 0.00666569 0.03988030 0.03242879
+v 0.00555299 0.03982849 0.00660272
+v 0.00010260 0.03497168 0.02339028
+v 0.01709410 0.03254594 0.02339027
+v 0.00010260 0.03487915 0.01855121
+v 0.01709410 0.03250758 0.02158762
+v 0.00010260 0.03489871 0.01978246
+v 0.00010260 0.03494385 0.02215649
+v 0.00010260 0.03493106 0.02158763
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 28
+f 1 28 36
+f 1 36 45
+f 1 45 54
+f 1 54 67
+f 1 67 69
+f 1 69 56
+f 1 56 47
+f 1 47 39
+f 1 39 30
+f 1 30 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 24
+f 1 24 23
+f 1 23 32
+f 1 32 41
+f 1 41 51
+f 1 51 50
+f 1 50 61
+f 1 61 63
+f 1 63 72
+f 1 72 74
+f 1 74 66
+f 1 66 53
+f 1 53 44
+f 1 44 35
+f 1 35 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 17
+f 4 17 26
+f 4 26 34
+f 4 34 43
+f 4 43 48
+f 4 48 60
+f 4 60 59
+f 4 59 58
+f 4 58 57
+f 4 57 70
+f 4 70 68
+f 4 68 55
+f 4 55 46
+f 4 46 38
+f 4 38 37
+f 4 37 29
+f 4 29 20
+f 4 20 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 13
+f 5 13 11
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 18 17
+f 11 13 19
+f 13 20 19
+f 14 21 26
+f 14 26 17
+f 14 17 25
+f 14 25 33
+f 14 33 42
+f 14 42 52
+f 14 52 64
+f 14 64 65
+f 14 65 73
+f 14 73 75
+f 14 75 77
+f 14 77 76
+f 14 76 71
+f 14 71 62
+f 14 62 49
+f 14 49 40
+f 14 40 31
+f 14 31 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 17 18 27
+f 17 27 25
+f 19 20 29
+f 19 29 28
+f 21 30 26
+f 22 31 23
+f 23 31 32
+f 25 27 33
+f 26 30 34
+f 27 35 33
+f 28 29 37
+f 28 37 38
+f 28 38 36
+f 30 39 34
+f 31 40 32
+f 32 40 41
+f 33 35 42
+f 34 39 43
+f 35 44 42
+f 36 38 46
+f 36 46 45
+f 39 47 48
+f 39 48 43
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 44 52
+f 44 53 52
+f 45 46 54
+f 46 55 54
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 49 61 50
+f 49 62 63
+f 49 63 61
+f 52 53 64
+f 53 65 64
+f 53 66 65
+f 54 55 67
+f 55 68 69
+f 55 69 67
+f 56 69 70
+f 56 70 57
+f 62 71 63
+f 63 71 72
+f 65 66 73
+f 66 74 75
+f 66 75 73
+f 68 70 69
+f 71 76 72
+f 72 76 77
+f 72 77 74
+f 74 77 75
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_19.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00010260 0.03982772 0.03240088
+v -0.00043529 0.03977985 0.03240088
+v 0.00010260 0.03540777 0.03240086
+v 0.00010260 0.03971214 0.00660272
+v 0.00003219 0.03970682 0.00660272
+v -0.00047246 0.03966693 0.00660272
+v -0.00228565 0.03954316 0.03240088
+v -0.00173406 0.03951268 0.00660272
+v -0.00228565 0.03944487 0.00660271
+v 0.00010260 0.03530673 0.03118103
+v -0.01987575 0.02713034 0.03240083
+v -0.01987966 0.02692824 0.03061023
+v -0.01987966 0.02677798 0.02894339
+v 0.00010260 0.03471642 0.00660270
+v -0.00409884 0.03923201 0.03240087
+v -0.00354725 0.03923079 0.00660271
+v -0.00409884 0.03913637 0.00660271
+v 0.00010260 0.03526019 0.03061026
+v -0.01987966 0.02726863 0.03240083
+v -0.01987966 0.02699206 0.03116837
+v 0.00010260 0.03515780 0.02880452
+v 0.00010260 0.03518971 0.02937529
+v -0.01987966 0.02668092 0.02700127
+v -0.01987966 0.02624353 0.00660267
+v 0.00010260 0.03472307 0.00715326
+v -0.01987966 0.02629138 0.01076220
+v -0.01987966 0.02627011 0.00895645
+v -0.00590029 0.03883975 0.03240087
+v -0.00536044 0.03885980 0.00660271
+v -0.01987966 0.03255555 0.03240085
+v 0.00010260 0.03510462 0.02757207
+v -0.01987966 0.02659982 0.02524351
+v -0.01987966 0.03242667 0.00660269
+v 0.00010260 0.03474567 0.00895648
+v -0.01987966 0.02631397 0.01256542
+v -0.00591203 0.03883709 0.03240087
+v -0.00591203 0.03873746 0.00660271
+v -0.01967428 0.03270581 0.03240085
+v 0.00010260 0.03508069 0.02700130
+v -0.01987966 0.02653333 0.02338978
+v -0.01957844 0.03264607 0.00660269
+v 0.00010260 0.03477624 0.01133299
+v 0.00010260 0.03479219 0.01256545
+v 0.00010260 0.03481612 0.01437119
+v 0.00010260 0.03484138 0.01617441
+v -0.01987966 0.02632328 0.01319932
+v -0.00771348 0.03836238 0.03240087
+v -0.00713256 0.03841434 0.00660271
+v -0.01966255 0.03271379 0.03240085
+v 0.00010260 0.03501953 0.02519556
+v -0.01987966 0.02647883 0.02158656
+v -0.01860241 0.03328433 0.00660269
+v 0.00010260 0.03486929 0.01798015
+v -0.01987966 0.02634057 0.01437116
+v -0.00873842 0.03806054 0.03240087
+v -0.00766458 0.03827339 0.00660271
+v -0.00794038 0.03819361 0.00660271
+v -0.00857020 0.03801011 0.00660271
+v -0.01859263 0.03341321 0.03240085
+v 0.00010260 0.03497033 0.02338981
+v -0.01987966 0.02643629 0.01978082
+v -0.01724496 0.03414066 0.00660270
+v -0.01734667 0.03420040 0.03240086
+v 0.00010260 0.03489722 0.01978085
+v -0.01987966 0.02635119 0.01503032
+v -0.00963816 0.03775072 0.03240087
+v -0.00953841 0.03768699 0.00660271
+v 0.00010260 0.03494242 0.02215736
+v 0.00010260 0.03493045 0.02158659
+v -0.01987966 0.02641501 0.01870495
+v -0.01633739 0.03466457 0.00660270
+v -0.01643127 0.03472697 0.03240086
+v -0.01987966 0.02640171 0.01798012
+v -0.01987966 0.02638178 0.01686637
+v -0.01987966 0.02636981 0.01617438
+v -0.01133595 0.03712974 0.03240087
+v -0.01079806 0.03722558 0.00660271
+v -0.01497603 0.03538660 0.00660270
+v -0.01497603 0.03550218 0.03240086
+v -0.01134964 0.03712443 0.03240087
+v -0.01134964 0.03702347 0.00660271
+v -0.01457701 0.03558472 0.00660270
+v -0.01496820 0.03550617 0.03240086
+v -0.01379266 0.03609124 0.03240086
+v -0.01288704 0.03649681 0.03240086
+v -0.01276186 0.03644239 0.00660270
+v -0.01366748 0.03603417 0.00660270
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 36
+f 1 36 47
+f 1 47 55
+f 1 55 66
+f 1 66 76
+f 1 76 80
+f 1 80 85
+f 1 85 84
+f 1 84 83
+f 1 83 79
+f 1 79 72
+f 1 72 63
+f 1 63 59
+f 1 59 49
+f 1 49 38
+f 1 38 30
+f 1 30 19
+f 1 19 11
+f 1 11 3
+f 1 3 10
+f 1 10 18
+f 1 18 22
+f 1 22 21
+f 1 21 31
+f 1 31 39
+f 1 39 50
+f 1 50 60
+f 1 60 68
+f 1 68 69
+f 1 69 64
+f 1 64 53
+f 1 53 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 34
+f 1 34 25
+f 1 25 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 4 14 24
+f 4 24 33
+f 4 33 41
+f 4 41 52
+f 4 52 62
+f 4 62 71
+f 4 71 78
+f 4 78 82
+f 4 82 87
+f 4 87 86
+f 4 86 81
+f 4 81 77
+f 4 77 67
+f 4 67 58
+f 4 58 57
+f 4 57 56
+f 4 56 48
+f 4 48 37
+f 4 37 29
+f 4 29 17
+f 4 17 16
+f 4 16 9
+f 4 9 8
+f 4 8 6
+f 4 6 5
+f 7 9 16
+f 7 16 17
+f 7 17 15
+f 10 13 18
+f 11 19 20
+f 11 20 12
+f 12 20 19
+f 12 19 30
+f 12 30 33
+f 12 33 24
+f 12 24 27
+f 12 27 26
+f 12 26 35
+f 12 35 46
+f 12 46 54
+f 12 54 65
+f 12 65 75
+f 12 75 74
+f 12 74 73
+f 12 73 70
+f 12 70 61
+f 12 61 51
+f 12 51 40
+f 12 40 32
+f 12 32 23
+f 12 23 13
+f 13 21 22
+f 13 22 18
+f 13 23 21
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 15 17 28
+f 17 29 28
+f 21 23 32
+f 21 32 31
+f 25 34 35
+f 25 35 26
+f 28 29 37
+f 28 37 36
+f 30 38 33
+f 31 32 39
+f 32 40 39
+f 33 38 41
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 36 37 47
+f 37 48 47
+f 38 49 41
+f 39 40 50
+f 40 51 50
+f 41 49 52
+f 45 53 54
+f 45 54 46
+f 47 48 56
+f 47 56 57
+f 47 57 58
+f 47 58 55
+f 49 59 52
+f 50 51 60
+f 51 61 60
+f 52 59 63
+f 52 63 62
+f 53 64 54
+f 54 64 65
+f 55 58 67
+f 55 67 66
+f 60 61 68
+f 61 69 68
+f 61 70 69
+f 62 63 71
+f 63 72 71
+f 64 69 70
+f 64 70 73
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 66 67 76
+f 67 77 76
+f 71 72 79
+f 71 79 78
+f 76 77 81
+f 76 81 80
+f 78 79 83
+f 78 83 84
+f 78 84 82
+f 80 81 85
+f 81 86 85
+f 82 84 87
+f 84 85 86
+f 84 86 87
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_2.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.02653832 -0.02657063 0.00660247
+v -0.02662628 -0.02647163 0.00660247
+v -0.01946058 -0.02657063 0.00660247
+v -0.02699682 -0.02657074 0.03421038
+v -0.02742351 -0.02609354 0.03421038
+v -0.02718584 -0.02583998 0.00660248
+v -0.03114765 -0.00634397 0.00660255
+v -0.03117946 -0.00634398 0.00895636
+v -0.01949427 -0.02657064 0.00895628
+v -0.02084170 -0.02657074 0.03421038
+v -0.02833302 -0.02503815 0.03421039
+v -0.02781651 -0.02507764 0.00660248
+v -0.03633150 -0.00634397 0.00660255
+v -0.03120566 -0.00634399 0.01076157
+v -0.01952047 -0.02657065 0.01076149
+v -0.03239589 -0.00634408 0.03421046
+v -0.02048425 -0.02657073 0.03241327
+v -0.02901984 -0.02413523 0.03421039
+v -0.02880088 -0.02384008 0.00660248
+v -0.02809161 -0.02474499 0.00660248
+v -0.03600588 -0.00806665 0.00660254
+v -0.03857909 -0.00634406 0.02880562
+v -0.03123374 -0.00634400 0.01256679
+v -0.01955041 -0.02657066 0.01256671
+v -0.03719798 -0.00634408 0.03421046
+v -0.03210395 -0.00634407 0.03226742
+v -0.02024471 -0.02657072 0.03046482
+v -0.02992186 -0.02290163 0.03421040
+v -0.02965238 -0.02263618 0.00660249
+v -0.03057687 -0.02198880 0.03421040
+v -0.03586926 -0.00869632 0.00660254
+v -0.03580938 -0.00897155 0.00660254
+v -0.03555112 -0.00996160 0.00660253
+v -0.03539205 -0.01051206 0.00660253
+v -0.03502712 -0.01177140 0.00660253
+v -0.03483998 -0.01232187 0.00660252
+v -0.03440955 -0.01358319 0.00660252
+v -0.03404649 -0.01456334 0.00660252
+v -0.03365723 -0.01547022 0.00660251
+v -0.03341582 -0.01599891 0.00660251
+v -0.03286375 -0.01720280 0.00660251
+v -0.03344202 -0.01705045 0.03421042
+v -0.03425048 -0.01533371 0.03421042
+v -0.03494665 -0.01358924 0.03421043
+v -0.03560165 -0.01181508 0.03421044
+v -0.03620425 -0.01006665 0.03421044
+v -0.03672450 -0.00814992 0.03421045
+v -0.03719611 -0.00635200 0.03421046
+v -0.03126368 -0.00634400 0.01437200
+v -0.01956164 -0.02657066 0.01321799
+v -0.03209646 -0.00634407 0.03220256
+v -0.02023723 -0.02657072 0.03038646
+v -0.03193178 -0.00634406 0.03060813
+v -0.03194862 -0.00634406 0.03078109
+v -0.03033358 -0.02164812 0.00660249
+v -0.03132731 -0.02082847 0.03421040
+v -0.03231355 -0.01831562 0.00660250
+v -0.03338775 -0.01715737 0.03421042
+v -0.01961965 -0.02657067 0.01617444
+v -0.01959720 -0.02657067 0.01505293
+v -0.03130111 -0.00634401 0.01617452
+v -0.02010435 -0.02657072 0.02880554
+v -0.03178768 -0.00634406 0.02880562
+v -0.03050762 -0.02137091 0.00660249
+v -0.03204406 -0.01966219 0.03421041
+v -0.03090249 -0.02074123 0.00660249
+v -0.03181014 -0.01922052 0.00660250
+v -0.03254935 -0.01874937 0.03421041
+v -0.01963463 -0.02657067 0.01689058
+v -0.03134041 -0.00634402 0.01797973
+v -0.02006131 -0.02657071 0.02816777
+v -0.01997897 -0.02657071 0.02694357
+v -0.03167165 -0.00634405 0.02700040
+v -0.03153504 -0.01968386 0.00660250
+v -0.01965895 -0.02657068 0.01797965
+v -0.01967580 -0.02657068 0.01872822
+v -0.03138158 -0.00634402 0.01978495
+v -0.01992844 -0.02657071 0.02597611
+v -0.03157808 -0.00634404 0.02519519
+v -0.01970200 -0.02657068 0.01978487
+v -0.03143585 -0.00634403 0.02158746
+v -0.01975065 -0.02657069 0.02158738
+v -0.01972258 -0.02657069 0.02057127
+v -0.01988914 -0.02657070 0.02519511
+v -0.01984984 -0.02657070 0.02428980
+v -0.03150135 -0.00634404 0.02338997
+v -0.01977873 -0.02657069 0.02242513
+v -0.01981241 -0.02657070 0.02338989
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 19
+f 1 19 29
+f 1 29 55
+f 1 55 64
+f 1 64 66
+f 1 66 74
+f 1 74 67
+f 1 67 57
+f 1 57 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 24
+f 1 24 50
+f 1 50 60
+f 1 60 59
+f 1 59 69
+f 1 69 75
+f 1 75 76
+f 1 76 80
+f 1 80 83
+f 1 83 82
+f 1 82 87
+f 1 87 88
+f 1 88 85
+f 1 85 84
+f 1 84 78
+f 1 78 72
+f 1 72 71
+f 1 71 62
+f 1 62 52
+f 1 52 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 16
+f 4 16 25
+f 4 25 48
+f 4 48 47
+f 4 47 46
+f 4 46 45
+f 4 45 44
+f 4 44 43
+f 4 43 42
+f 4 42 58
+f 4 58 68
+f 4 68 65
+f 4 65 56
+f 4 56 30
+f 4 30 28
+f 4 28 18
+f 4 18 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 7 13 22
+f 7 22 25
+f 7 25 16
+f 7 16 26
+f 7 26 51
+f 7 51 54
+f 7 54 53
+f 7 53 63
+f 7 63 73
+f 7 73 79
+f 7 79 86
+f 7 86 81
+f 7 81 77
+f 7 77 70
+f 7 70 61
+f 7 61 49
+f 7 49 23
+f 7 23 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 10 17 16
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 14 23 15
+f 15 23 49
+f 15 49 24
+f 16 17 26
+f 17 27 26
+f 18 28 19
+f 19 28 30
+f 19 30 29
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 48
+f 22 48 25
+f 24 49 50
+f 26 27 51
+f 27 52 53
+f 27 53 54
+f 27 54 51
+f 29 30 55
+f 30 56 55
+f 41 57 42
+f 42 57 58
+f 49 59 60
+f 49 60 50
+f 49 61 59
+f 52 62 53
+f 53 62 63
+f 55 56 64
+f 56 65 66
+f 56 66 64
+f 57 67 65
+f 57 65 68
+f 57 68 58
+f 59 61 69
+f 61 70 69
+f 62 71 63
+f 63 71 72
+f 63 72 73
+f 65 67 74
+f 65 74 66
+f 69 70 75
+f 70 76 75
+f 70 77 76
+f 72 78 73
+f 73 78 79
+f 76 77 80
+f 77 81 82
+f 77 82 83
+f 77 83 80
+f 78 84 79
+f 79 84 85
+f 79 85 86
+f 81 87 82
+f 81 86 88
+f 81 88 87
+f 85 88 86
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_20.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03756417 0.00814553 0.00660260
+v 0.03064192 0.02237394 0.00847160
+v 0.03064192 0.02235504 0.00663548
+v 0.03064192 0.02235504 0.00660265
+v 0.04278734 0.00814553 0.00660260
+v 0.03756777 0.00814552 0.00715066
+v 0.03064192 0.02244112 0.01437143
+v 0.03064192 0.02241383 0.01214637
+v 0.03064192 0.02948920 0.00660268
+v 0.04278734 0.00814973 0.00660260
+v 0.04289165 0.00814543 0.03240425
+v 0.03760374 0.00814550 0.01256557
+v 0.03064192 0.02249150 0.01798053
+v 0.03096327 0.02920149 0.00660268
+v 0.03064192 0.02960041 0.03240433
+v 0.04236766 0.00994955 0.00660261
+v 0.04246958 0.00996625 0.03240426
+v 0.03819009 0.00814543 0.03240425
+v 0.03761693 0.00814550 0.01437138
+v 0.03064192 0.02249570 0.01828108
+v 0.03123905 0.02895367 0.00660268
+v 0.03064192 0.02330631 0.03240431
+v 0.03078101 0.02946810 0.03240433
+v 0.04220578 0.01057959 0.00660261
+v 0.04218780 0.01103312 0.03240426
+v 0.04213504 0.01085471 0.00660261
+v 0.03808577 0.00814544 0.03121217
+v 0.03064312 0.02326010 0.03240431
+v 0.03763491 0.00814549 0.01617467
+v 0.03064192 0.02252301 0.01978130
+v 0.03212996 0.02804641 0.00660267
+v 0.03085775 0.02939460 0.03240433
+v 0.03184938 0.02844114 0.03240432
+v 0.03220311 0.02810091 0.03240432
+v 0.03064192 0.02306060 0.03083085
+v 0.04190601 0.01193828 0.03240426
+v 0.04204990 0.01113402 0.00660261
+v 0.04185446 0.01177247 0.00660261
+v 0.03803301 0.00814544 0.03060854
+v 0.03765650 0.00814548 0.01798048
+v 0.03064192 0.02256500 0.02158711
+v 0.03276068 0.02740377 0.00660267
+v 0.03376191 0.02641871 0.03240432
+v 0.03303646 0.02712235 0.00660267
+v 0.03064192 0.02303330 0.03060859
+v 0.04135324 0.01358268 0.03240427
+v 0.04125132 0.01358278 0.00660262
+v 0.03792629 0.00814544 0.02880526
+v 0.03768048 0.00814548 0.01978125
+v 0.03064192 0.02257130 0.02181694
+v 0.03466721 0.02536234 0.03240431
+v 0.03473435 0.02516293 0.00660266
+v 0.03382785 0.02621719 0.00660267
+v 0.03327748 0.02684723 0.00660267
+v 0.03064192 0.02288209 0.02880531
+v 0.03784955 0.00814545 0.02699944
+v 0.04067816 0.01532159 0.03240428
+v 0.04106187 0.01407631 0.00660262
+v 0.04062541 0.01520828 0.00660263
+v 0.03770806 0.00814547 0.02158706
+v 0.03064192 0.02261749 0.02339039
+v 0.03478591 0.02522373 0.03240431
+v 0.03543102 0.02425776 0.00715325
+v 0.03542982 0.02425567 0.00660266
+v 0.03064192 0.02277289 0.02699949
+v 0.03779079 0.00814546 0.02519616
+v 0.04029086 0.01623305 0.03240428
+v 0.04036161 0.01583833 0.00660263
+v 0.04024530 0.01611344 0.00660263
+v 0.03774403 0.00814546 0.02339034
+v 0.03064192 0.02269100 0.02530481
+v 0.03064192 0.02262379 0.02356719
+v 0.03547538 0.02431857 0.03240431
+v 0.03606173 0.02339041 0.00660266
+v 0.03638188 0.02308369 0.03240430
+v 0.03982682 0.01720541 0.03240428
+v 0.04008942 0.01644526 0.00660263
+v 0.03973090 0.01720551 0.00660263
+v 0.03633632 0.02301239 0.00660265
+v 0.03699581 0.02217643 0.03240430
+v 0.03652337 0.02273727 0.00660265
+v 0.03895150 0.01891492 0.03240429
+v 0.03948029 0.01769905 0.00660264
+v 0.03890354 0.01883102 0.00660264
+v 0.03784235 0.02083235 0.03240430
+v 0.03694784 0.02210723 0.00660265
+v 0.03845508 0.01982008 0.03240429
+v 0.03840832 0.01973408 0.00660264
+v 0.03845148 0.01982638 0.03240429
+v 0.03775003 0.02082405 0.00660265
+v 0.03750661 0.02121467 0.00660265
+v 0.03820807 0.02006590 0.00660264
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 31
+f 1 31 42
+f 1 42 44
+f 1 44 54
+f 1 54 53
+f 1 53 52
+f 1 52 64
+f 1 64 74
+f 1 74 79
+f 1 79 81
+f 1 81 86
+f 1 86 91
+f 1 91 90
+f 1 90 92
+f 1 92 88
+f 1 88 84
+f 1 84 83
+f 1 83 78
+f 1 78 77
+f 1 77 69
+f 1 69 68
+f 1 68 59
+f 1 59 58
+f 1 58 47
+f 1 47 38
+f 1 38 37
+f 1 37 26
+f 1 26 24
+f 1 24 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 27
+f 1 27 39
+f 1 39 48
+f 1 48 56
+f 1 56 66
+f 1 66 70
+f 1 70 60
+f 1 60 49
+f 1 49 40
+f 1 40 29
+f 1 29 19
+f 1 19 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 13
+f 2 13 20
+f 2 20 30
+f 2 30 41
+f 2 41 50
+f 2 50 61
+f 2 61 72
+f 2 72 71
+f 2 71 65
+f 2 65 55
+f 2 55 45
+f 2 45 35
+f 2 35 22
+f 2 22 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 11 17 25
+f 11 25 36
+f 11 36 46
+f 11 46 57
+f 11 57 67
+f 11 67 76
+f 11 76 82
+f 11 82 87
+f 11 87 89
+f 11 89 85
+f 11 85 80
+f 11 80 75
+f 11 75 73
+f 11 73 62
+f 11 62 51
+f 11 51 43
+f 11 43 34
+f 11 34 33
+f 11 33 32
+f 11 32 23
+f 11 23 15
+f 11 15 22
+f 11 22 28
+f 11 28 18
+f 12 19 20
+f 12 20 13
+f 14 15 21
+f 15 23 21
+f 16 24 17
+f 17 24 26
+f 17 26 25
+f 18 28 27
+f 19 29 30
+f 19 30 20
+f 21 23 32
+f 21 32 33
+f 21 33 34
+f 21 34 31
+f 22 35 28
+f 25 26 37
+f 25 37 38
+f 25 38 36
+f 27 28 39
+f 28 35 39
+f 29 40 41
+f 29 41 30
+f 31 34 42
+f 34 43 44
+f 34 44 42
+f 35 45 39
+f 36 38 47
+f 36 47 46
+f 39 45 48
+f 40 49 41
+f 41 49 50
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 45 55 56
+f 45 56 48
+f 46 47 58
+f 46 58 59
+f 46 59 57
+f 49 60 61
+f 49 61 50
+f 51 62 52
+f 52 63 64
+f 52 62 63
+f 55 65 66
+f 55 66 56
+f 57 59 68
+f 57 68 69
+f 57 69 67
+f 60 70 71
+f 60 71 72
+f 60 72 61
+f 62 73 63
+f 63 74 64
+f 63 73 75
+f 63 75 74
+f 65 71 70
+f 65 70 66
+f 67 69 77
+f 67 77 78
+f 67 78 76
+f 74 75 79
+f 75 80 81
+f 75 81 79
+f 76 78 83
+f 76 83 84
+f 76 84 82
+f 80 85 86
+f 80 86 81
+f 82 84 88
+f 82 88 87
+f 85 89 90
+f 85 90 91
+f 85 91 86
+f 87 88 89
+f 88 92 89
+f 89 92 90
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_21.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.01692383 0.03305763 0.03243128
+v 0.03064057 0.02326893 0.03243125
+v 0.01692383 0.03373236 0.03777857
+v 0.01692383 0.03776154 0.03243130
+v 0.03064057 0.02960461 0.03243127
+v 0.03064057 0.02424140 0.03786764
+v 0.01692383 0.03410550 0.03945187
+v 0.01692383 0.04188155 0.03677877
+v 0.01766103 0.04178875 0.03682850
+v 0.01859562 0.04165921 0.03691864
+v 0.01766103 0.03750247 0.03243130
+v 0.03050629 0.02973415 0.03243127
+v 0.03064057 0.03470871 0.03680361
+v 0.03064057 0.02484654 0.03963211
+v 0.01692383 0.03443610 0.04035638
+v 0.01692383 0.04227403 0.03725745
+v 0.01692383 0.04264717 0.03784906
+v 0.01766103 0.04241710 0.03782834
+v 0.01930999 0.04190669 0.03787184
+v 0.02061520 0.04174815 0.03850283
+v 0.02306313 0.04026331 0.03780450
+v 0.02243201 0.03994237 0.03684922
+v 0.01947516 0.03678712 0.03243130
+v 0.02937834 0.03072984 0.03243127
+v 0.02930583 0.03609495 0.03702119
+v 0.03064057 0.03540280 0.03749883
+v 0.03064057 0.02612643 0.04121838
+v 0.01692383 0.03451150 0.04046413
+v 0.01692383 0.04282310 0.03868415
+v 0.02310073 0.04061131 0.03963217
+v 0.02430791 0.03999651 0.03838989
+v 0.01692383 0.04301837 0.03963218
+v 0.01766103 0.04278829 0.03963218
+v 0.01947516 0.04215801 0.03963217
+v 0.02058834 0.04173654 0.03963217
+v 0.02149608 0.04134406 0.03963217
+v 0.02364188 0.03960403 0.03718802
+v 0.02597165 0.03811340 0.03686475
+v 0.02148399 0.03586876 0.03243129
+v 0.02058566 0.03630571 0.03243129
+v 0.02056552 0.03631537 0.03243129
+v 0.02845852 0.03145099 0.03243128
+v 0.02718017 0.03770352 0.03735068
+v 0.02853371 0.03710417 0.03778584
+v 0.02984026 0.03650289 0.03822306
+v 0.03040827 0.03572181 0.03770501
+v 0.02729028 0.03234614 0.03243128
+v 0.02638523 0.03298996 0.03243128
+v 0.03064057 0.03555553 0.03772573
+v 0.03064057 0.02637971 0.04141420
+v 0.01692383 0.03604660 0.04217886
+v 0.01692383 0.03534479 0.04146810
+v 0.02414140 0.03990949 0.04064236
+v 0.02433477 0.04001003 0.03963217
+v 0.02042452 0.04166694 0.04056465
+v 0.02524116 0.03952475 0.03963217
+v 0.02776026 0.03810953 0.03855255
+v 0.02663633 0.03839180 0.03790188
+v 0.01692383 0.04230109 0.04129821
+v 0.01766103 0.04215801 0.04121635
+v 0.01947516 0.04184287 0.04081849
+v 0.02500080 0.03389285 0.03243128
+v 0.02409440 0.03445933 0.03243129
+v 0.02310073 0.03501807 0.03243129
+v 0.03064057 0.03602921 0.03934100
+v 0.03064057 0.02654791 0.04153024
+v 0.01692383 0.03636560 0.04239334
+v 0.02310073 0.04015890 0.04096458
+v 0.02480609 0.03886934 0.04141320
+v 0.02641880 0.03837632 0.04098115
+v 0.02762732 0.03802445 0.04051284
+v 0.02112412 0.04066738 0.04138316
+v 0.02690355 0.03855033 0.03980000
+v 0.02776026 0.03810953 0.03930993
+v 0.02994366 0.03657635 0.03963215
+v 0.03064057 0.03606014 0.03963215
+v 0.01692383 0.04176554 0.04195405
+v 0.01692383 0.04151806 0.04224105
+v 0.01766103 0.04137886 0.04211879
+v 0.01947516 0.04104632 0.04172093
+v 0.03064057 0.02799600 0.04247516
+v 0.01692383 0.03708675 0.04268034
+v 0.02182507 0.03964848 0.04220272
+v 0.02310073 0.03933721 0.04186701
+v 0.02547078 0.03780985 0.04218406
+v 0.02690355 0.03755270 0.04152406
+v 0.02838869 0.03671362 0.04141216
+v 0.02843435 0.03758944 0.03980000
+v 0.02971404 0.03641201 0.04079361
+v 0.03064057 0.03515918 0.04134999
+v 0.01692383 0.04064804 0.04265342
+v 0.01766103 0.04047210 0.04263788
+v 0.01947516 0.04013956 0.04251354
+v 0.02061654 0.03993269 0.04240165
+v 0.03064057 0.02819514 0.04253111
+v 0.01692383 0.03893313 0.04300464
+v 0.03035187 0.02988105 0.04288546
+v 0.02426226 0.03815398 0.04241925
+v 0.02768372 0.03624960 0.04236018
+v 0.02889225 0.03581073 0.04199651
+v 0.03032233 0.03528292 0.04147225
+v 0.03064057 0.03467970 0.04182866
+v 0.01766103 0.03893313 0.04300257
+v 0.01947516 0.03893313 0.04289274
+v 0.02124766 0.03899886 0.04264512
+v 0.02310073 0.03843238 0.04254669
+v 0.03064057 0.02988105 0.04290515
+v 0.02128794 0.03712155 0.04301500
+v 0.03035187 0.03169069 0.04300048
+v 0.02488531 0.03717182 0.04264719
+v 0.02672630 0.03652994 0.04249073
+v 0.02838869 0.03525004 0.04255290
+v 0.02972075 0.03460429 0.04244514
+v 0.03064057 0.03383481 0.04239022
+v 0.02310073 0.03712155 0.04292383
+v 0.03064057 0.03170229 0.04295178
+v 0.02491217 0.03531191 0.04301396
+v 0.02853909 0.03350033 0.04295903
+v 0.02672630 0.03531191 0.04285543
+v 0.03033576 0.03351773 0.04264406
+v 0.03064057 0.03338240 0.04260780
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 28
+f 1 28 52
+f 1 52 51
+f 1 51 67
+f 1 67 82
+f 1 82 96
+f 1 96 91
+f 1 91 78
+f 1 78 77
+f 1 77 59
+f 1 59 32
+f 1 32 29
+f 1 29 17
+f 1 17 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 23
+f 1 23 41
+f 1 41 40
+f 1 40 39
+f 1 39 64
+f 1 64 63
+f 1 63 62
+f 1 62 48
+f 1 48 47
+f 1 47 42
+f 1 42 24
+f 1 24 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 26
+f 2 26 49
+f 2 49 65
+f 2 65 76
+f 2 76 90
+f 2 90 102
+f 2 102 114
+f 2 114 121
+f 2 121 116
+f 2 116 107
+f 2 107 95
+f 2 95 81
+f 2 81 66
+f 2 66 50
+f 2 50 27
+f 2 27 14
+f 2 14 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 14 27 28
+f 14 28 15
+f 17 29 20
+f 17 20 18
+f 18 20 19
+f 20 30 31
+f 20 31 21
+f 20 29 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 30
+f 21 31 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 24 42 25
+f 25 38 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 25 42 47
+f 25 47 48
+f 25 48 38
+f 26 46 49
+f 27 50 51
+f 27 51 52
+f 27 52 28
+f 30 53 54
+f 30 54 31
+f 30 36 55
+f 30 55 53
+f 31 54 56
+f 31 56 57
+f 31 57 58
+f 31 58 38
+f 31 38 37
+f 32 59 60
+f 32 60 61
+f 32 61 55
+f 32 55 33
+f 33 55 34
+f 34 55 35
+f 35 55 36
+f 38 58 43
+f 38 48 62
+f 38 62 63
+f 38 63 64
+f 38 64 39
+f 43 58 57
+f 43 57 44
+f 44 57 45
+f 45 65 49
+f 45 49 46
+f 45 57 65
+f 50 66 51
+f 51 66 67
+f 53 55 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 56
+f 53 56 54
+f 55 61 72
+f 55 72 68
+f 56 71 73
+f 56 73 74
+f 56 74 57
+f 57 75 76
+f 57 76 65
+f 57 74 75
+f 59 77 60
+f 60 77 78
+f 60 78 79
+f 60 79 61
+f 61 79 80
+f 61 80 72
+f 66 81 67
+f 67 81 82
+f 68 72 83
+f 68 83 84
+f 68 84 69
+f 69 84 85
+f 69 85 70
+f 70 85 86
+f 70 86 87
+f 70 87 71
+f 71 88 74
+f 71 74 73
+f 71 87 89
+f 71 89 75
+f 71 75 88
+f 72 80 83
+f 74 88 75
+f 75 89 76
+f 76 89 90
+f 78 91 92
+f 78 92 93
+f 78 93 94
+f 78 94 79
+f 79 94 83
+f 79 83 80
+f 81 95 82
+f 82 95 97
+f 82 97 96
+f 83 94 98
+f 83 98 85
+f 83 85 84
+f 85 98 99
+f 85 99 86
+f 86 99 87
+f 87 99 100
+f 87 100 89
+f 89 100 101
+f 89 101 90
+f 90 101 102
+f 91 96 103
+f 91 103 104
+f 91 104 92
+f 92 104 93
+f 93 104 105
+f 93 105 94
+f 94 105 106
+f 94 106 98
+f 95 107 97
+f 96 108 103
+f 96 97 107
+f 96 107 109
+f 96 109 108
+f 98 106 110
+f 98 110 111
+f 98 111 99
+f 99 111 112
+f 99 112 113
+f 99 113 100
+f 100 113 102
+f 100 102 101
+f 102 113 114
+f 103 108 115
+f 103 115 104
+f 104 115 105
+f 105 115 106
+f 106 115 110
+f 107 116 109
+f 108 117 115
+f 108 109 117
+f 109 116 118
+f 109 118 117
+f 110 115 119
+f 110 119 111
+f 111 119 112
+f 112 119 120
+f 112 120 113
+f 113 120 121
+f 113 121 114
+f 115 117 118
+f 115 118 119
+f 116 121 120
+f 116 120 118
+f 118 120 119
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_22.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.01424597 -0.04376293 0.03963207
+v 0.01424597 -0.04373576 0.03983948
+v 0.01424597 -0.04367340 0.03825700
+v 0.01525323 -0.04354872 0.03851832
+v 0.01519117 -0.04353115 0.03963207
+v 0.01496323 -0.04346721 0.04054464
+v 0.01424597 -0.04355033 0.04067738
+v 0.01424597 -0.04312671 0.03736828
+v 0.01857459 -0.04165289 0.03692445
+v 0.01766160 -0.04241378 0.03782768
+v 0.01929662 -0.04190226 0.03787746
+v 0.02061180 -0.04174560 0.03851108
+v 0.01766160 -0.04278784 0.03963207
+v 0.01609819 -0.04327219 0.03963207
+v 0.01424597 -0.04344643 0.04080182
+v 0.02041249 -0.04166409 0.04055606
+v 0.01947444 -0.04183832 0.04080702
+v 0.01766160 -0.04215483 0.04120627
+v 0.01575687 -0.04252249 0.04141781
+v 0.01424597 -0.03858852 0.03241554
+v 0.02243061 -0.03993928 0.03685082
+v 0.02306074 -0.04026538 0.03779969
+v 0.01555279 -0.03821926 0.03241554
+v 0.01645981 -0.03793473 0.03241554
+v 0.01766160 -0.03751272 0.03241554
+v 0.01947444 -0.03680138 0.03241554
+v 0.02148420 -0.04134758 0.03963208
+v 0.02057719 -0.04173122 0.03963208
+v 0.01947444 -0.04215163 0.03963208
+v 0.02431744 -0.04000163 0.03838352
+v 0.02310013 -0.04061866 0.03963208
+v 0.01655170 -0.04157458 0.04229202
+v 0.01424597 -0.04277345 0.04159410
+v 0.02414677 -0.03991212 0.04064628
+v 0.02310013 -0.04016308 0.04096672
+v 0.02111543 -0.04066662 0.04137945
+v 0.01947444 -0.04103907 0.04170922
+v 0.01766160 -0.04136676 0.04210847
+v 0.01424597 -0.03401997 0.03241556
+v 0.02363956 -0.03960519 0.03718163
+v 0.02059509 -0.03631863 0.03241555
+v 0.02150210 -0.03588224 0.03241555
+v 0.02597752 -0.03811698 0.03686224
+v 0.02525191 -0.03952847 0.03963208
+v 0.02434489 -0.04001602 0.03963208
+v 0.02643700 -0.03831360 0.03758089
+v 0.02643700 -0.03850542 0.03788577
+v 0.02643700 -0.03882992 0.03974098
+v 0.01534274 -0.04175202 0.04241023
+v 0.01424597 -0.04263758 0.04174550
+v 0.02061060 -0.03992971 0.04239987
+v 0.01947444 -0.04013272 0.04251083
+v 0.02643700 -0.03836955 0.04096569
+v 0.02641074 -0.03837755 0.04097606
+v 0.02480675 -0.03886989 0.04141264
+v 0.02310013 -0.03933665 0.04186893
+v 0.02181956 -0.03964677 0.04220284
+v 0.01424597 -0.03402637 0.03249333
+v 0.02643700 -0.02743251 0.03241558
+v 0.02310013 -0.03505421 0.03241555
+v 0.02413245 -0.03448514 0.03241555
+v 0.02503947 -0.03391927 0.03241556
+v 0.02641432 -0.03301291 0.03241556
+v 0.02643700 -0.03299693 0.03241556
+v 0.01424597 -0.04187830 0.04248594
+v 0.01766160 -0.04046202 0.04263734
+v 0.02425777 -0.03815536 0.04241854
+v 0.02310013 -0.03843191 0.04254609
+v 0.02124313 -0.03899938 0.04264254
+v 0.01947444 -0.03893384 0.04288831
+v 0.02643700 -0.03833279 0.04100510
+v 0.02643700 -0.03762944 0.04173412
+v 0.02546672 -0.03780368 0.04217899
+v 0.01424597 -0.03467219 0.03768460
+v 0.01424597 -0.03467538 0.03770845
+v 0.02643700 -0.02823178 0.03775203
+v 0.01424597 -0.04178718 0.04252016
+v 0.01424597 -0.04075934 0.04286237
+v 0.01590724 -0.04088083 0.04267260
+v 0.02643700 -0.03682061 0.04241854
+v 0.02643700 -0.03662719 0.04251396
+v 0.02488194 -0.03716908 0.04264461
+v 0.02310013 -0.03712273 0.04291942
+v 0.01766160 -0.03893384 0.04299927
+v 0.01424597 -0.03502866 0.03935004
+v 0.02643700 -0.02830052 0.03815958
+v 0.01424597 -0.04053395 0.04290074
+v 0.02643700 -0.03560414 0.04281884
+v 0.02643700 -0.03531321 0.04287484
+v 0.02491297 -0.03531321 0.04300343
+v 0.02128609 -0.03712273 0.04300860
+v 0.01584757 -0.03893384 0.04300756
+v 0.01424597 -0.03510220 0.03964351
+v 0.02643700 -0.02861862 0.03928784
+v 0.01424597 -0.03893384 0.04295157
+v 0.02643700 -0.03379143 0.04298373
+v 0.02643700 -0.02870176 0.03951391
+v 0.01424597 -0.03570164 0.04085578
+v 0.01424597 -0.03874841 0.04291008
+v 0.02643700 -0.03348451 0.04293603
+v 0.02643700 -0.03200110 0.04262389
+v 0.02643700 -0.02881206 0.03973064
+v 0.01424597 -0.03581513 0.04104451
+v 0.02643700 -0.02906941 0.04022633
+v 0.01424597 -0.03759269 0.04256891
+v 0.02643700 -0.03185083 0.04257515
+v 0.01424597 -0.03668792 0.04194671
+v 0.02643700 -0.03003172 0.04134734
+v 0.01424597 -0.03748719 0.04251602
+v 0.02643700 -0.03102280 0.04217902
+v 0.02643700 -0.03064555 0.04187414
+v 0.02643700 -0.03018997 0.04149252
+f 1 2 7
+f 1 7 15
+f 1 15 33
+f 1 33 50
+f 1 50 65
+f 1 65 77
+f 1 77 78
+f 1 78 87
+f 1 87 95
+f 1 95 99
+f 1 99 105
+f 1 105 109
+f 1 109 107
+f 1 107 103
+f 1 103 98
+f 1 98 93
+f 1 93 85
+f 1 85 75
+f 1 75 74
+f 1 74 58
+f 1 58 39
+f 1 39 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 9 10
+f 5 14 6
+f 6 15 7
+f 6 14 13
+f 6 13 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 15
+f 8 20 9
+f 9 21 22
+f 9 22 12
+f 9 12 11
+f 9 11 10
+f 9 20 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 21
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 12 22 30
+f 12 30 31
+f 12 31 27
+f 13 29 16
+f 15 19 32
+f 15 32 33
+f 16 29 28
+f 16 28 27
+f 16 27 31
+f 16 31 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 32
+f 18 32 19
+f 20 39 59
+f 20 59 64
+f 20 64 63
+f 20 63 62
+f 20 62 61
+f 20 61 60
+f 20 60 42
+f 20 42 41
+f 20 41 26
+f 20 26 25
+f 20 25 24
+f 20 24 23
+f 21 40 22
+f 21 26 41
+f 21 41 42
+f 21 42 43
+f 21 43 40
+f 22 40 30
+f 30 44 45
+f 30 45 31
+f 30 40 43
+f 30 43 46
+f 30 46 47
+f 30 47 48
+f 30 48 44
+f 31 45 34
+f 32 49 50
+f 32 50 33
+f 32 38 51
+f 32 51 52
+f 32 52 49
+f 34 45 44
+f 34 44 48
+f 34 48 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 57 38
+f 38 57 51
+f 39 58 59
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 46
+f 46 64 59
+f 46 59 76
+f 46 76 86
+f 46 86 94
+f 46 94 97
+f 46 97 102
+f 46 102 104
+f 46 104 108
+f 46 108 112
+f 46 112 111
+f 46 111 110
+f 46 110 106
+f 46 106 101
+f 46 101 100
+f 46 100 96
+f 46 96 89
+f 46 89 88
+f 46 88 81
+f 46 81 80
+f 46 80 72
+f 46 72 71
+f 46 71 53
+f 46 53 48
+f 46 48 47
+f 49 65 50
+f 49 52 66
+f 49 66 65
+f 51 57 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 52 69 70
+f 52 70 66
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 56
+f 56 73 57
+f 57 73 67
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 65 66 77
+f 66 78 79
+f 66 79 77
+f 66 70 78
+f 67 73 80
+f 67 80 81
+f 67 81 82
+f 67 82 68
+f 68 82 83
+f 68 83 69
+f 69 83 70
+f 70 84 78
+f 70 83 84
+f 72 80 73
+f 75 85 86
+f 75 86 76
+f 77 79 78
+f 78 84 87
+f 81 88 82
+f 82 88 83
+f 83 88 89
+f 83 89 90
+f 83 90 91
+f 83 91 84
+f 84 91 92
+f 84 92 87
+f 85 93 86
+f 86 93 94
+f 87 92 95
+f 89 96 90
+f 90 96 92
+f 90 92 91
+f 92 96 95
+f 93 97 94
+f 93 98 97
+f 95 96 100
+f 95 100 101
+f 95 101 99
+f 97 98 102
+f 98 103 104
+f 98 104 102
+f 99 101 105
+f 101 106 105
+f 103 107 108
+f 103 108 104
+f 105 106 110
+f 105 110 109
+f 107 109 110
+f 107 110 111
+f 107 111 112
+f 107 112 108
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_23.obj

@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
+v -0.05849248 -0.00595821 0.01617317
+v -0.05654511 -0.00579479 0.01981875
+v -0.05849248 -0.00590333 0.01797785
+v -0.05988357 -0.00573501 0.01436849
+v -0.05996041 -0.00575818 0.01256510
+v -0.05998202 -0.00576427 0.01076172
+v -0.05849248 -0.00593621 0.00660384
+v -0.05642585 -0.00577284 0.01981875
+v -0.05846447 -0.00574479 0.01981875
+v -0.05975871 -0.00568136 0.01617317
+v -0.05853890 -0.00573015 0.01981875
+v -0.05856772 -0.00573137 0.01971525
+v -0.06086726 -0.00501302 0.01256510
+v -0.06088887 -0.00505203 0.01076172
+v -0.05995160 -0.00575694 0.00895704
+v -0.05987797 -0.00573499 0.00715236
+v -0.05984595 -0.00572157 0.00660384
+v -0.05729909 -0.00564595 0.00660384
+v -0.05625217 -0.00571430 0.01981875
+v -0.06079042 -0.00486423 0.01436849
+v -0.05958342 -0.00557527 0.01797785
+v -0.05931049 -0.00533745 0.01981875
+v -0.05945536 -0.00548014 0.01906971
+v -0.06145155 -0.00410687 0.01256510
+v -0.06147316 -0.00414588 0.01076172
+v -0.06085765 -0.00499470 0.00895704
+v -0.06047747 -0.00510324 0.00660384
+v -0.05699494 -0.00525690 0.00660384
+v -0.05565827 -0.00550697 0.01981875
+v -0.06075280 -0.00443982 0.01623785
+v -0.06128507 -0.00377759 0.01567899
+v -0.06137391 -0.00395808 0.01436850
+v -0.05971228 -0.00471912 0.01981875
+v -0.05982274 -0.00459960 0.01971525
+v -0.06032539 -0.00452642 0.01797785
+v -0.06186935 -0.00271654 0.01256511
+v -0.06191178 -0.00271653 0.01076173
+v -0.06144194 -0.00408855 0.00895704
+v -0.06078482 -0.00484591 0.00715236
+v -0.06078162 -0.00472760 0.00660384
+v -0.05644506 -0.00449222 0.00660384
+v -0.05491790 -0.00452032 0.01981875
+v -0.06171248 -0.00271654 0.01436850
+v -0.06117701 -0.00343976 0.01688211
+v -0.06141713 -0.00278850 0.01623786
+v -0.05981073 -0.00456301 0.01981875
+v -0.06210067 -0.00090545 0.01256512
+v -0.06214149 -0.00090544 0.01076174
+v -0.06184694 -0.00271652 0.00895705
+v -0.06136431 -0.00394098 0.00715237
+v -0.06098412 -0.00441295 0.00660384
+v -0.05620014 -0.00394463 0.00660385
+v -0.05491070 -0.00450935 0.01981875
+v -0.06194219 -0.00090545 0.01436851
+v -0.06166605 -0.00090546 0.01617319
+v -0.06055591 -0.00271656 0.01978253
+v -0.06104014 -0.00278851 0.01799467
+v -0.06129067 -0.00223237 0.01740346
+v -0.06054230 -0.00271900 0.01981876
+v -0.06212388 0.00090441 0.01256512
+v -0.06216390 0.00090442 0.01076174
+v -0.06209827 0.00090443 0.00895706
+v -0.06207506 -0.00090543 0.00895706
+v -0.06168927 -0.00271652 0.00715237
+v -0.06152519 -0.00313970 0.00660385
+v -0.06133069 -0.00387145 0.00660385
+v -0.05585197 -0.00296896 0.00660385
+v -0.05422956 -0.00290315 0.01981876
+v -0.06196540 0.00090441 0.01436851
+v -0.06168927 0.00090440 0.01617319
+v -0.06135630 -0.00090546 0.01767126
+v -0.06054790 -0.00267997 0.01981876
+v -0.06077281 -0.00090547 0.01981877
+v -0.06078482 -0.00090547 0.01978254
+v -0.06113779 -0.00090547 0.01857296
+v -0.06195580 0.00271550 0.01256513
+v -0.06199822 0.00271551 0.01076175
+v -0.06193339 0.00271552 0.00895707
+v -0.06177731 0.00271552 0.00715239
+v -0.06193979 0.00090443 0.00715238
+v -0.06191498 -0.00090543 0.00715238
+v -0.06184294 -0.00090542 0.00660386
+v -0.06161083 -0.00274944 0.00660385
+v -0.05575352 -0.00212623 0.00660385
+v -0.05419435 -0.00271656 0.01981876
+v -0.06179732 0.00271550 0.01436852
+v -0.06152358 0.00271549 0.01617320
+v -0.06136751 0.00090439 0.01771266
+v -0.06128507 0.00271549 0.01737243
+v -0.06078962 0.00090439 0.01981877
+v -0.06080163 0.00090439 0.01978254
+v -0.06114660 0.00090439 0.01861565
+v -0.06151478 0.00441682 0.01256514
+v -0.06143554 0.00422047 0.01436853
+v -0.06150438 0.00439976 0.00895708
+v -0.06153639 0.00447049 0.01076176
+v -0.06142754 0.00421317 0.00715240
+v -0.06139232 0.00411805 0.00660388
+v -0.06170608 0.00271553 0.00660387
+v -0.06186776 0.00090444 0.00660386
+v -0.05573671 -0.00183231 0.00660385
+v -0.05400785 -0.00090547 0.01981877
+v -0.06121543 0.00362896 0.01708653
+v -0.06129947 0.00385946 0.01617320
+v -0.06106175 0.00271548 0.01827413
+v -0.06061833 0.00271548 0.01981878
+v -0.06063114 0.00271548 0.01978255
+v -0.06115460 0.00532297 0.01256514
+v -0.06118181 0.00537664 0.01076176
+v -0.06106336 0.00512662 0.01436853
+v -0.06114660 0.00530592 0.00895708
+v -0.06106256 0.00511810 0.00715240
+v -0.06102574 0.00502298 0.00660388
+v -0.05569029 -0.00090542 0.00660386
+v -0.05398785 0.00090439 0.01981877
+v -0.06012289 0.00452656 0.01978256
+v -0.06073679 0.00434972 0.01780453
+v -0.06092009 0.00476439 0.01617321
+v -0.06060873 0.00275206 0.01981878
+v -0.06011168 0.00452412 0.01981879
+v -0.06024775 0.00603399 0.01256514
+v -0.06001323 0.00594861 0.01617321
+v -0.06015651 0.00600838 0.01436853
+v -0.06027576 0.00604010 0.01076176
+v -0.06024055 0.00603157 0.00895708
+v -0.06015651 0.00600840 0.00715240
+v -0.05982114 0.00583030 0.01797789
+v -0.06011889 0.00599377 0.00660388
+v -0.05568789 -0.00066394 0.00660386
+v -0.05405268 0.00198982 0.01981878
+v -0.05567588 0.00090444 0.00660386
+v -0.05573031 0.00234843 0.00660387
+v -0.05575672 0.00285090 0.00660387
+v -0.06009728 0.00456071 0.01981879
+v -0.05957062 0.00561077 0.01981879
+v -0.05957622 0.00561687 0.01978256
+v -0.05849248 0.00650108 0.01617321
+v -0.05849248 0.00623642 0.01978256
+v -0.05849248 0.00643887 0.01797789
+v -0.05849248 0.00647673 0.00660388
+v -0.05964986 0.00615232 0.00660388
+v -0.05849328 0.00622910 0.01981879
+v -0.05409990 0.00271548 0.01981878
+v -0.05580074 0.00326922 0.00660387
+v -0.05668038 0.00639253 0.01981879
+v -0.05802665 0.00631574 0.00660388
+v -0.05453692 0.00444607 0.01981879
+v -0.05615372 0.00452173 0.00660388
+v -0.05536773 0.00577420 0.01981879
+v -0.05704296 0.00591450 0.00660388
+v -0.05456333 0.00449607 0.01981879
+v -0.05534372 0.00574737 0.01981879
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 19
+f 2 19 29
+f 2 29 42
+f 2 42 53
+f 2 53 68
+f 2 68 85
+f 2 85 102
+f 2 102 115
+f 2 115 130
+f 2 130 143
+f 2 143 147
+f 2 147 151
+f 2 151 152
+f 2 152 149
+f 2 149 145
+f 2 145 142
+f 2 142 135
+f 2 135 134
+f 2 134 120
+f 2 120 119
+f 2 119 106
+f 2 106 90
+f 2 90 73
+f 2 73 72
+f 2 72 59
+f 2 59 46
+f 2 46 33
+f 2 33 22
+f 2 22 11
+f 2 11 9
+f 2 9 3
+f 2 7 8
+f 3 10 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 4 10 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 27
+f 7 27 40
+f 7 40 51
+f 7 51 66
+f 7 66 65
+f 7 65 83
+f 7 83 82
+f 7 82 100
+f 7 100 99
+f 7 99 98
+f 7 98 113
+f 7 113 128
+f 7 128 141
+f 7 141 140
+f 7 140 146
+f 7 146 150
+f 7 150 148
+f 7 148 144
+f 7 144 133
+f 7 133 132
+f 7 132 131
+f 7 131 129
+f 7 129 114
+f 7 114 101
+f 7 101 84
+f 7 84 67
+f 7 67 52
+f 7 52 41
+f 7 41 28
+f 7 28 18
+f 7 18 8
+f 8 18 19
+f 10 20 13
+f 10 12 21
+f 10 21 20
+f 11 22 23
+f 11 23 21
+f 11 21 12
+f 13 24 25
+f 13 25 14
+f 13 20 24
+f 14 25 38
+f 14 38 26
+f 14 26 15
+f 15 26 16
+f 16 26 17
+f 17 26 27
+f 18 28 29
+f 18 29 19
+f 20 21 23
+f 20 23 30
+f 20 30 31
+f 20 31 32
+f 20 32 24
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 30
+f 24 36 37
+f 24 37 25
+f 24 32 36
+f 25 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 28 41 42
+f 28 42 29
+f 30 35 31
+f 31 43 32
+f 31 35 44
+f 31 44 45
+f 31 45 43
+f 32 43 36
+f 33 46 34
+f 34 46 44
+f 34 44 35
+f 36 47 37
+f 36 43 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 40
+f 41 52 53
+f 41 53 42
+f 43 54 47
+f 43 45 55
+f 43 55 54
+f 44 46 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 55
+f 46 59 56
+f 47 60 48
+f 47 54 69
+f 47 69 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 49 63 64
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 52 67 68
+f 52 68 53
+f 54 55 70
+f 54 70 69
+f 55 58 71
+f 55 71 70
+f 56 59 72
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 56 75 58
+f 56 58 57
+f 58 75 71
+f 60 76 77
+f 60 77 61
+f 60 69 86
+f 60 86 76
+f 61 77 78
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 63
+f 63 80 81
+f 63 81 64
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 67 84 85
+f 67 85 68
+f 69 70 87
+f 69 87 86
+f 70 71 88
+f 70 88 89
+f 70 89 87
+f 71 75 88
+f 73 90 91
+f 73 91 74
+f 74 91 92
+f 74 92 75
+f 75 92 88
+f 76 93 77
+f 76 86 94
+f 76 94 93
+f 77 95 78
+f 77 93 96
+f 77 96 95
+f 78 95 97
+f 78 97 79
+f 79 97 98
+f 79 98 99
+f 79 99 80
+f 80 99 100
+f 80 100 82
+f 80 82 81
+f 84 101 102
+f 84 102 85
+f 86 87 103
+f 86 103 104
+f 86 104 94
+f 87 89 103
+f 88 92 89
+f 89 92 105
+f 89 105 103
+f 90 106 107
+f 90 107 91
+f 91 107 92
+f 92 107 105
+f 93 108 109
+f 93 109 96
+f 93 94 108
+f 94 110 108
+f 94 104 110
+f 95 96 109
+f 95 109 111
+f 95 111 97
+f 97 112 98
+f 97 111 112
+f 98 112 113
+f 101 114 102
+f 102 114 115
+f 103 105 107
+f 103 107 116
+f 103 116 117
+f 103 117 118
+f 103 118 104
+f 104 118 110
+f 106 119 107
+f 107 119 120
+f 107 120 116
+f 108 121 109
+f 108 110 122
+f 108 122 123
+f 108 123 121
+f 109 124 125
+f 109 125 126
+f 109 126 111
+f 109 121 124
+f 110 118 127
+f 110 127 122
+f 111 126 128
+f 111 128 112
+f 112 128 113
+f 114 129 115
+f 115 129 131
+f 115 131 132
+f 115 132 133
+f 115 133 130
+f 116 120 134
+f 116 134 117
+f 117 134 135
+f 117 135 118
+f 118 135 136
+f 118 136 127
+f 121 123 137
+f 121 137 124
+f 122 127 138
+f 122 138 139
+f 122 139 123
+f 123 139 137
+f 124 140 125
+f 124 137 140
+f 125 140 141
+f 125 141 126
+f 126 141 128
+f 127 136 142
+f 127 142 138
+f 130 133 143
+f 133 144 143
+f 135 142 136
+f 137 139 145
+f 137 145 140
+f 138 142 145
+f 138 145 139
+f 140 145 146
+f 143 144 147
+f 144 148 147
+f 145 149 150
+f 145 150 146
+f 147 148 151
+f 148 150 152
+f 148 152 151
+f 149 152 150
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_24.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02643700 -0.02745211 0.03241454
+v 0.02643700 -0.03299622 0.03241452
+v 0.02643700 -0.02729735 0.03105521
+v 0.02643581 -0.02743349 0.03241454
+v 0.02641442 -0.03301135 0.03241452
+v 0.02633123 -0.03295191 0.00660245
+v 0.02643700 -0.03287744 0.00660245
+v 0.02643700 -0.02725081 0.03060800
+v 0.01429761 -0.03400149 0.03241452
+v 0.02503945 -0.03391655 0.03241452
+v 0.02590697 -0.03322766 0.00660245
+v 0.02643700 -0.02668758 0.00660247
+v 0.01429761 -0.03384906 0.03060798
+v 0.01429761 -0.03396891 0.03204058
+v 0.01429761 -0.03397473 0.03210880
+v 0.02643700 -0.02712981 0.02880399
+v 0.01429761 -0.03857408 0.03241450
+v 0.02413271 -0.03448318 0.03241451
+v 0.02493487 -0.03385712 0.00660245
+v 0.01429761 -0.03331609 0.00660245
+v 0.02643700 -0.02672367 0.01076131
+v 0.01429761 -0.03383277 0.03034773
+v 0.02643700 -0.02703904 0.02699997
+v 0.01429761 -0.03374435 0.02880397
+v 0.01555255 -0.03821921 0.03241450
+v 0.01429761 -0.03846926 0.00660243
+v 0.01538142 -0.03816559 0.00660243
+v 0.02310000 -0.03505330 0.03241451
+v 0.02402813 -0.03442026 0.00660244
+v 0.02430384 -0.03424922 0.00660244
+v 0.01429761 -0.03340571 0.01410402
+v 0.02643700 -0.02675277 0.01364419
+v 0.02643700 -0.02673997 0.01256532
+v 0.02643700 -0.02697155 0.02519595
+v 0.01429761 -0.03366871 0.02699995
+v 0.01429761 -0.03373270 0.02854372
+v 0.01645929 -0.03793531 0.03241450
+v 0.01628816 -0.03788053 0.00660243
+v 0.02150162 -0.03588172 0.03241451
+v 0.02310000 -0.03492987 0.00660244
+v 0.02374648 -0.03457500 0.00660244
+v 0.01429761 -0.03342898 0.01594594
+v 0.02643700 -0.02676208 0.01437186
+v 0.01429761 -0.03365940 0.02673971
+v 0.02643700 -0.02691803 0.02339194
+v 0.01429761 -0.03360819 0.02519593
+v 0.01766075 -0.03751180 0.03241450
+v 0.01766075 -0.03739185 0.00660243
+v 0.02059488 -0.03631804 0.03241451
+v 0.02137208 -0.03582228 0.00660244
+v 0.01429761 -0.03345925 0.01797987
+v 0.02643700 -0.02678652 0.01617588
+v 0.02643700 -0.02677605 0.01542042
+v 0.02643700 -0.02687729 0.02158540
+v 0.01429761 -0.03356049 0.02339192
+v 0.01947423 -0.03680089 0.03241450
+v 0.01892282 -0.03689387 0.00660243
+v 0.02046534 -0.03625743 0.00660244
+v 0.01429761 -0.03348833 0.01978136
+v 0.02643700 -0.02681445 0.01797989
+v 0.01429761 -0.03355466 0.02312915
+v 0.02643700 -0.02686100 0.02073392
+v 0.01429761 -0.03352209 0.02158538
+v 0.01947423 -0.03667513 0.00660244
+v 0.02016587 -0.03638426 0.00660244
+v 0.02643700 -0.02684354 0.01978138
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 33
+f 1 33 32
+f 1 32 43
+f 1 43 53
+f 1 53 52
+f 1 52 60
+f 1 60 66
+f 1 66 62
+f 1 62 54
+f 1 54 45
+f 1 45 34
+f 1 34 23
+f 1 23 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 37
+f 1 37 47
+f 1 47 56
+f 1 56 49
+f 1 49 39
+f 1 39 28
+f 1 28 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 11 19
+f 6 19 30
+f 6 30 29
+f 6 29 41
+f 6 41 40
+f 6 40 50
+f 6 50 58
+f 6 58 65
+f 6 65 64
+f 6 64 57
+f 6 57 48
+f 6 48 38
+f 6 38 27
+f 6 27 26
+f 6 26 20
+f 6 20 12
+f 6 12 7
+f 6 10 11
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 8 16 13
+f 9 15 14
+f 9 14 13
+f 9 13 22
+f 9 22 24
+f 9 24 36
+f 9 36 35
+f 9 35 44
+f 9 44 46
+f 9 46 55
+f 9 55 61
+f 9 61 63
+f 9 63 59
+f 9 59 51
+f 9 51 42
+f 9 42 31
+f 9 31 20
+f 9 20 26
+f 9 26 17
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 13 16 22
+f 16 23 24
+f 16 24 22
+f 17 26 27
+f 17 27 25
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 25 27 37
+f 27 38 37
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 31 42 32
+f 32 42 43
+f 34 44 35
+f 34 45 46
+f 34 46 44
+f 37 38 47
+f 38 48 47
+f 39 49 50
+f 39 50 40
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 45 54 55
+f 45 55 46
+f 47 48 56
+f 48 57 56
+f 49 56 58
+f 49 58 50
+f 51 59 66
+f 51 66 60
+f 51 60 52
+f 54 61 55
+f 54 62 63
+f 54 63 61
+f 56 57 64
+f 56 64 65
+f 56 65 58
+f 59 63 62
+f 59 62 66
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_25.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02036396 0.02444221 -0.03217055
+v -0.02036396 0.03222168 -0.03217052
+v -0.01068071 0.03076000 -0.03217053
+v -0.01068071 0.03198217 0.00659890
+v -0.02036396 0.02582353 0.00659887
+v -0.02036396 0.03226750 -0.03074347
+v -0.01968530 0.03272078 -0.03217052
+v -0.01068071 0.03741138 -0.03217050
+v -0.01068071 0.03726863 0.00659892
+v -0.02036396 0.03207129 0.00659890
+v -0.01971658 0.03274242 -0.03074347
+v -0.01860285 0.03347580 -0.03074347
+v -0.01860285 0.03343252 -0.03217052
+v -0.01135084 0.03716564 -0.03217050
+v -0.01068071 0.03743302 -0.03132035
+v -0.01068071 0.03744702 -0.03074345
+v -0.01079920 0.03722534 0.00659892
+v -0.01957914 0.03264552 0.00659890
+v -0.01740761 0.03423465 -0.03074346
+v -0.01762278 0.03405513 -0.03217051
+v -0.01860285 0.03328469 0.00659890
+v -0.01293186 0.03651375 -0.03217051
+v -0.01297262 0.03653156 -0.03074346
+v -0.01135084 0.03720001 -0.03074345
+v -0.01135084 0.03702290 0.00659892
+v -0.01650052 0.03476304 -0.03074346
+v -0.01646640 0.03474395 -0.03217051
+v -0.01737254 0.03421301 -0.03217051
+v -0.01724458 0.03414030 0.00659891
+v -0.01364844 0.03619671 -0.03217051
+v -0.01387971 0.03613177 -0.03074346
+v -0.01276314 0.03644231 0.00659891
+v -0.01497732 0.03558173 -0.03074346
+v -0.01497732 0.03554482 -0.03217051
+v -0.01633844 0.03466487 0.00659891
+v -0.01383801 0.03611268 -0.03217051
+v -0.01406833 0.03599809 -0.03217051
+v -0.01497732 0.03538680 0.00659891
+v -0.01366929 0.03603487 0.00659891
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 28
+f 1 28 27
+f 1 27 34
+f 1 34 37
+f 1 37 36
+f 1 36 30
+f 1 30 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 3 8 15
+f 3 15 16
+f 3 16 9
+f 3 9 4
+f 4 9 17
+f 4 17 25
+f 4 25 32
+f 4 32 39
+f 4 39 38
+f 4 38 35
+f 4 35 29
+f 4 29 21
+f 4 21 18
+f 4 18 10
+f 4 10 5
+f 6 11 7
+f 6 10 11
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 16 17
+f 10 18 11
+f 11 18 12
+f 12 19 20
+f 12 20 13
+f 12 18 21
+f 12 21 19
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 16 24 25
+f 16 25 17
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 19 21 29
+f 19 29 26
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 24 32 25
+f 26 33 34
+f 26 34 27
+f 26 29 35
+f 26 35 33
+f 30 36 31
+f 31 36 37
+f 31 37 34
+f 31 34 33
+f 31 33 38
+f 31 38 39
+f 31 39 32
+f 33 35 38
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_26.obj

@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
+v -0.05124135 0.00653697 0.02700087
+v -0.04761518 0.00642176 0.02880490
+v -0.04580121 0.00648916 0.02880490
+v -0.04274555 0.00652470 0.02880490
+v -0.05667973 0.00651248 0.02158880
+v -0.05486576 0.00646712 0.02519685
+v -0.05305179 0.00638378 0.02700087
+v -0.04942739 0.00624774 0.02880490
+v -0.04580121 0.00590705 0.03024326
+v -0.04398901 0.00596587 0.03036596
+v -0.04274555 0.00599529 0.03044614
+v -0.04274555 0.00596098 0.02725113
+v -0.05667973 0.00639239 0.01981879
+v -0.05849370 0.00622817 0.01981879
+v -0.05667973 0.00632251 0.02339282
+v -0.05663204 0.00582006 0.02507415
+v -0.05599618 0.00561539 0.02633393
+v -0.05478275 0.00585436 0.02696078
+v -0.05305179 0.00576613 0.02829588
+v -0.05114068 0.00590950 0.02887293
+v -0.04942739 0.00562641 0.02988853
+v -0.04761518 0.00580656 0.03008897
+v -0.04274555 0.00509576 0.03134875
+v -0.04274555 0.00487886 0.02634972
+v -0.05536562 0.00577473 0.01981879
+v -0.05957113 0.00561052 0.01981879
+v -0.05853079 0.00588012 0.02145031
+v -0.05790730 0.00571221 0.02339282
+v -0.05764588 0.00549653 0.02439141
+v -0.05725024 0.00452593 0.02565241
+v -0.05634414 0.00452592 0.02669230
+v -0.05540094 0.00452592 0.02759492
+v -0.05412392 0.00554431 0.02801404
+v -0.05046772 0.00548548 0.02975247
+v -0.04761518 0.00452591 0.03083609
+v -0.04398901 0.00490459 0.03126858
+v -0.04274555 0.00419011 0.03172900
+v -0.04274555 0.00425876 0.02609218
+v -0.05534266 0.00574777 0.01981879
+v -0.05942630 0.00546467 0.02075664
+v -0.06009748 0.00456026 0.01981879
+v -0.05916136 0.00491810 0.02195932
+v -0.05876747 0.00439970 0.02325433
+v -0.05787904 0.00452593 0.02475100
+v -0.05751871 0.00327713 0.02600956
+v -0.05571711 0.00338988 0.02785853
+v -0.05449484 0.00452592 0.02826673
+v -0.05295818 0.00445728 0.02916327
+v -0.05167586 0.00501488 0.02951922
+v -0.05114068 0.00445728 0.02994198
+v -0.04942739 0.00452591 0.03042548
+v -0.04644414 0.00332245 0.03147023
+v -0.04523424 0.00377344 0.03156498
+v -0.04582417 0.00443645 0.03119326
+v -0.04398901 0.00399893 0.03164881
+v -0.04274555 0.00271583 0.03207278
+v -0.04274555 0.00397322 0.02597797
+v -0.05456196 0.00449654 0.01981879
+v -0.05959762 0.00439971 0.02145031
+v -0.06011161 0.00452350 0.01981879
+v -0.05943160 0.00371098 0.02255944
+v -0.05906774 0.00271586 0.02364793
+v -0.05807333 0.00269012 0.02532318
+v -0.05763175 0.00207001 0.02615534
+v -0.05668326 0.00273056 0.02700694
+v -0.05501413 0.00275874 0.02844651
+v -0.05341211 0.00271584 0.02943660
+v -0.05584958 0.00218276 0.02796787
+v -0.05229053 0.00380776 0.02977432
+v -0.04942739 0.00271584 0.03090290
+v -0.04755689 0.00271706 0.03133781
+v -0.04691220 0.00211533 0.03155405
+v -0.04582417 0.00271706 0.03165002
+v -0.04398901 0.00271583 0.03191243
+v -0.04274555 0.00090454 0.03222827
+v -0.04274555 0.00271586 0.02575323
+v -0.05453547 0.00444629 0.01981879
+v -0.06061854 0.00271588 0.01981878
+v -0.05952167 0.00271587 0.02274531
+v -0.05999681 0.00271587 0.02158879
+v -0.05916489 0.00090457 0.02383622
+v -0.05834533 0.00090457 0.02519683
+v -0.05767415 0.00090456 0.02620757
+v -0.05681397 0.00090456 0.02711019
+v -0.05486576 0.00090455 0.02873563
+v -0.05358521 0.00090455 0.02952406
+v -0.05250425 0.00271584 0.02987151
+v -0.05590787 0.00090456 0.02801767
+v -0.05124135 0.00271584 0.03035137
+v -0.04942739 0.00090455 0.03105110
+v -0.04798787 0.00090454 0.03140097
+v -0.05124135 0.00090455 0.03050200
+v -0.04708177 0.00090454 0.03158805
+v -0.04580121 0.00090454 0.03180551
+v -0.04398901 0.00090454 0.03206670
+v -0.04274555 0.00033468 0.03222341
+v -0.04274555 0.00147565 0.02567184
+v -0.05409920 0.00271588 0.01981878
+v -0.06078986 0.00090459 0.01981877
+v -0.06017343 0.00090458 0.02158878
+v -0.05961176 0.00090458 0.02293359
+v -0.05960469 -0.00090549 0.02291659
+v -0.05915429 -0.00090550 0.02381921
+v -0.05832414 -0.00090550 0.02519683
+v -0.05766178 -0.00090551 0.02619299
+v -0.05679984 -0.00090551 0.02709561
+v -0.05589374 -0.00090551 0.02800552
+v -0.05486576 -0.00090552 0.02871377
+v -0.05356401 -0.00090552 0.02951312
+v -0.05267911 0.00090455 0.02995046
+v -0.04942739 -0.00090552 0.03103166
+v -0.04793841 -0.00090553 0.03139125
+v -0.05124135 -0.00090552 0.03048256
+v -0.04703231 -0.00090553 0.03157834
+v -0.04580121 -0.00090553 0.03178729
+v -0.04398901 -0.00090553 0.03204848
+v -0.04274555 -0.00090553 0.03221127
+v -0.04274555 0.00090457 0.02563538
+v -0.05405151 0.00199038 0.01981878
+v -0.06077220 -0.00090548 0.01981877
+v -0.06015930 -0.00090549 0.02158878
+v -0.05951991 -0.00239080 0.02273921
+v -0.05909600 -0.00288346 0.02336121
+v -0.05802917 -0.00261630 0.02528307
+v -0.05761586 -0.00194719 0.02613588
+v -0.05583015 -0.00202562 0.02795206
+v -0.05497351 -0.00266411 0.02840154
+v -0.05331850 -0.00271559 0.02939163
+v -0.05241240 -0.00271559 0.02982897
+v -0.05265614 -0.00090552 0.02993953
+v -0.04942739 -0.00271559 0.03081541
+v -0.04684685 -0.00196682 0.03153945
+v -0.05124135 -0.00271559 0.03026388
+v -0.04398901 -0.00271560 0.03183344
+v -0.04274555 -0.00147539 0.03214323
+v -0.04274555 -0.00090550 0.02565482
+v -0.05400735 -0.00090548 0.01981877
+v -0.05398615 0.00090459 0.01981877
+v -0.06054788 -0.00268001 0.01981876
+v -0.06054258 -0.00271922 0.01981876
+v -0.05982194 -0.00288345 0.02176127
+v -0.05939274 -0.00359792 0.02247802
+v -0.05746749 -0.00315431 0.02594151
+v -0.05664970 -0.00258935 0.02696926
+v -0.05564822 -0.00323274 0.02780263
+v -0.05219691 -0.00367025 0.02973057
+v -0.05444009 -0.00415187 0.02823024
+v -0.05124135 -0.00399011 0.02989943
+v -0.04618273 -0.00317394 0.03142769
+v -0.04751627 -0.00262858 0.03127826
+v -0.04566698 -0.00262859 0.03161113
+v -0.04497283 -0.00364821 0.03152366
+v -0.04274555 -0.00271560 0.03199258
+v -0.04274555 -0.00271557 0.02584189
+v -0.05422813 -0.00290428 0.01981876
+v -0.05419281 -0.00271555 0.01981876
+v -0.05980958 -0.00456238 0.01981875
+v -0.05962942 -0.00404400 0.02127534
+v -0.05903948 -0.00459916 0.02176126
+v -0.05823053 -0.00462980 0.02344623
+v -0.05787374 -0.00409548 0.02473881
+v -0.05615868 -0.00452687 0.02649668
+v -0.05497351 -0.00466413 0.02744667
+v -0.05301470 -0.00451463 0.02878056
+v -0.05124135 -0.00489576 0.02930537
+v -0.05383249 -0.00536021 0.02781477
+v -0.04989545 -0.00527199 0.02954833
+v -0.04934614 -0.00461144 0.03010594
+v -0.04761518 -0.00452688 0.03052384
+v -0.04566698 -0.00436144 0.03095632
+v -0.04398901 -0.00377933 0.03158804
+v -0.04274555 -0.00305139 0.03191484
+v -0.04274555 -0.00339206 0.02597309
+v -0.05490992 -0.00450968 0.01981875
+v -0.04274555 -0.00373520 0.02604477
+v -0.05971243 -0.00471924 0.01981875
+v -0.05922141 -0.00525111 0.02027431
+v -0.05744100 -0.00530260 0.02408402
+v -0.05708244 -0.00462980 0.02528306
+v -0.05580189 -0.00545213 0.02612858
+v -0.05262435 -0.00558448 0.02812698
+v -0.05486576 -0.00561267 0.02650518
+v -0.04868555 -0.00546684 0.02974635
+v -0.04398901 -0.00468497 0.03099034
+v -0.04274555 -0.00421316 0.03147749
+v -0.04274555 -0.00392762 0.03166580
+v -0.05491698 -0.00452071 0.01981875
+v -0.04274555 -0.00435530 0.02645294
+v -0.05565705 -0.00550724 0.01981875
+v -0.05930972 -0.00533812 0.01981875
+v -0.05777482 -0.00556363 0.02288012
+v -0.05613925 -0.00560653 0.02519681
+v -0.05315777 -0.00579159 0.02712839
+v -0.05124135 -0.00571316 0.02840275
+v -0.05486576 -0.00592393 0.02519681
+v -0.04934614 -0.00572420 0.02888989
+v -0.04761518 -0.00554037 0.02984232
+v -0.04274555 -0.00483326 0.03105958
+v -0.04274555 -0.00464084 0.02664124
+v -0.05625052 -0.00571435 0.01981875
+v -0.04274555 -0.00537124 0.02725959
+v -0.04274555 -0.00568007 0.02754386
+v -0.05853786 -0.00573028 0.01981875
+v -0.05804683 -0.00569476 0.02158876
+v -0.05677334 -0.00577442 0.02344623
+v -0.05124135 -0.00598277 0.02700083
+v -0.04761518 -0.00587126 0.02880486
+v -0.05667973 -0.00596069 0.02158876
+v -0.04580121 -0.00563228 0.02997838
+v -0.04274555 -0.00514944 0.03077531
+v -0.05642362 -0.00577318 0.01981875
+v -0.04274555 -0.00588350 0.02839789
+v -0.05654373 -0.00579401 0.01981875
+v -0.05846367 -0.00574499 0.01981875
+v -0.04274555 -0.00596440 0.02880486
+v -0.04580121 -0.00592763 0.02880486
+v -0.04274555 -0.00571684 0.03015697
+v -0.04398901 -0.00568866 0.03008772
+v -0.04274555 -0.00579895 0.02975364
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 4
+f 4 11 23
+f 4 23 37
+f 4 37 56
+f 4 56 75
+f 4 75 96
+f 4 96 117
+f 4 117 135
+f 4 135 153
+f 4 153 172
+f 4 172 186
+f 4 186 185
+f 4 185 198
+f 4 198 210
+f 4 210 217
+f 4 217 219
+f 4 219 215
+f 4 215 212
+f 4 212 202
+f 4 202 201
+f 4 201 199
+f 4 199 188
+f 4 188 175
+f 4 175 173
+f 4 173 154
+f 4 154 136
+f 4 136 118
+f 4 118 97
+f 4 97 76
+f 4 76 57
+f 4 57 38
+f 4 38 24
+f 4 24 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 23 10
+f 9 22 23
+f 10 23 11
+f 12 24 25
+f 12 25 13
+f 13 25 39
+f 13 39 58
+f 13 58 77
+f 13 77 98
+f 13 98 119
+f 13 119 138
+f 13 138 137
+f 13 137 156
+f 13 156 155
+f 13 155 174
+f 13 174 187
+f 13 187 189
+f 13 189 200
+f 13 200 211
+f 13 211 213
+f 13 213 214
+f 13 214 203
+f 13 203 190
+f 13 190 176
+f 13 176 157
+f 13 157 140
+f 13 140 139
+f 13 139 120
+f 13 120 99
+f 13 99 78
+f 13 78 60
+f 13 60 41
+f 13 41 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 55
+f 23 55 37
+f 24 38 39
+f 24 39 25
+f 26 40 27
+f 26 41 40
+f 27 40 28
+f 28 40 29
+f 29 40 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 53
+f 36 53 55
+f 37 55 56
+f 38 57 39
+f 39 57 58
+f 40 41 59
+f 40 59 42
+f 41 60 59
+f 42 59 61
+f 42 61 43
+f 43 61 44
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 66 67
+f 46 67 47
+f 46 65 68
+f 46 68 66
+f 47 67 69
+f 47 69 48
+f 48 69 49
+f 49 69 50
+f 50 70 51
+f 50 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 74 56
+f 53 56 55
+f 56 74 75
+f 57 76 77
+f 57 77 58
+f 59 60 61
+f 60 78 61
+f 61 79 62
+f 61 78 80
+f 61 80 79
+f 62 79 81
+f 62 81 63
+f 63 82 64
+f 63 81 82
+f 64 82 83
+f 64 83 84
+f 64 84 68
+f 64 68 65
+f 66 68 85
+f 66 85 86
+f 66 86 67
+f 67 86 87
+f 67 87 69
+f 68 84 88
+f 68 88 85
+f 69 87 89
+f 69 89 70
+f 70 90 91
+f 70 91 72
+f 70 72 71
+f 70 89 92
+f 70 92 90
+f 72 93 94
+f 72 94 95
+f 72 95 74
+f 72 74 73
+f 72 91 93
+f 74 95 75
+f 75 95 96
+f 76 97 98
+f 76 98 77
+f 78 99 100
+f 78 100 80
+f 79 80 100
+f 79 100 101
+f 79 101 81
+f 81 101 102
+f 81 102 103
+f 81 103 82
+f 82 104 83
+f 82 103 104
+f 83 105 84
+f 83 104 105
+f 84 106 107
+f 84 107 88
+f 84 105 106
+f 85 108 86
+f 85 88 108
+f 86 109 110
+f 86 110 87
+f 86 108 109
+f 87 110 92
+f 87 92 89
+f 88 107 108
+f 90 111 91
+f 90 92 113
+f 90 113 111
+f 91 112 114
+f 91 114 93
+f 91 111 112
+f 92 110 113
+f 93 114 94
+f 94 115 116
+f 94 116 95
+f 94 114 115
+f 95 116 117
+f 95 117 96
+f 97 118 98
+f 98 118 119
+f 99 120 121
+f 99 121 100
+f 100 121 101
+f 101 121 102
+f 102 121 122
+f 102 122 103
+f 103 122 123
+f 103 123 124
+f 103 124 125
+f 103 125 104
+f 104 125 105
+f 105 125 106
+f 106 125 126
+f 106 126 107
+f 107 126 108
+f 108 126 127
+f 108 127 109
+f 109 128 129
+f 109 129 130
+f 109 130 110
+f 109 127 128
+f 110 130 113
+f 111 131 132
+f 111 132 112
+f 111 113 131
+f 112 132 114
+f 113 133 131
+f 113 130 129
+f 113 129 133
+f 114 132 115
+f 115 132 116
+f 116 134 117
+f 116 132 134
+f 117 134 135
+f 118 136 137
+f 118 137 138
+f 118 138 119
+f 120 139 121
+f 121 139 140
+f 121 140 141
+f 121 141 122
+f 122 142 123
+f 122 141 142
+f 123 142 143
+f 123 143 124
+f 124 143 125
+f 125 143 144
+f 125 144 126
+f 126 145 127
+f 126 144 145
+f 127 145 128
+f 128 146 129
+f 128 145 147
+f 128 147 146
+f 129 146 133
+f 131 133 146
+f 131 146 148
+f 131 148 149
+f 131 149 150
+f 131 150 132
+f 132 150 149
+f 132 149 151
+f 132 151 134
+f 134 151 152
+f 134 152 153
+f 134 153 135
+f 136 154 155
+f 136 155 156
+f 136 156 137
+f 140 157 158
+f 140 158 142
+f 140 142 141
+f 142 159 160
+f 142 160 161
+f 142 161 143
+f 142 158 159
+f 143 161 162
+f 143 162 145
+f 143 145 144
+f 145 163 147
+f 145 162 163
+f 146 147 164
+f 146 164 165
+f 146 165 148
+f 147 163 166
+f 147 166 164
+f 148 165 167
+f 148 167 168
+f 148 168 149
+f 149 168 152
+f 149 152 151
+f 152 168 169
+f 152 169 170
+f 152 170 171
+f 152 171 172
+f 152 172 153
+f 154 173 155
+f 155 173 175
+f 155 175 174
+f 157 176 158
+f 158 176 177
+f 158 177 159
+f 159 177 178
+f 159 178 160
+f 160 178 161
+f 161 178 179
+f 161 179 162
+f 162 179 180
+f 162 180 163
+f 163 180 166
+f 164 166 165
+f 165 166 167
+f 166 181 167
+f 166 180 182
+f 166 182 181
+f 167 183 168
+f 167 181 183
+f 168 183 169
+f 169 183 170
+f 170 184 171
+f 170 183 184
+f 171 184 185
+f 171 185 186
+f 171 186 172
+f 174 175 187
+f 175 188 189
+f 175 189 187
+f 176 190 177
+f 177 190 191
+f 177 191 178
+f 178 191 180
+f 178 180 179
+f 180 191 192
+f 180 192 182
+f 181 182 193
+f 181 193 194
+f 181 194 183
+f 182 192 195
+f 182 195 193
+f 183 194 196
+f 183 196 197
+f 183 197 198
+f 183 198 184
+f 184 198 185
+f 188 199 189
+f 189 199 201
+f 189 201 202
+f 189 202 200
+f 190 203 204
+f 190 204 191
+f 191 204 205
+f 191 205 192
+f 192 205 195
+f 193 195 206
+f 193 206 194
+f 194 206 207
+f 194 207 196
+f 195 205 208
+f 195 208 206
+f 196 207 209
+f 196 209 197
+f 197 209 198
+f 198 209 210
+f 200 202 211
+f 202 212 213
+f 202 213 211
+f 203 214 204
+f 204 214 208
+f 204 208 205
+f 206 215 216
+f 206 216 207
+f 206 208 215
+f 207 216 217
+f 207 217 218
+f 207 218 209
+f 208 214 213
+f 208 213 215
+f 209 218 210
+f 210 218 217
+f 212 215 213
+f 215 219 216
+f 216 219 217
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_27.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01760256 -0.02711508 -0.02352525
+v -0.01766560 -0.02711508 -0.02455478
+v -0.02834271 -0.01319021 -0.02512482
+v -0.02827304 -0.01319021 -0.02397793
+v -0.02826972 -0.01319021 -0.02352520
+v -0.01765233 -0.02711509 -0.02172108
+v -0.01767058 -0.02711508 -0.02458496
+v -0.02836096 -0.01319021 -0.02531261
+v -0.02917385 -0.01319032 0.00660252
+v -0.01880200 -0.02711519 0.00660247
+v -0.01782652 -0.02711508 -0.02523553
+v -0.02878400 -0.01319020 -0.02765335
+v -0.02854013 -0.01319020 -0.02630860
+v -0.03454393 -0.01319032 0.00660252
+v -0.02603177 -0.02711519 0.00660247
+v -0.01847518 -0.02711507 -0.02765340
+v -0.03455056 -0.01319020 -0.02765335
+v -0.03440955 -0.01358288 0.00660252
+v -0.02638015 -0.02674717 0.00660247
+v -0.02607656 -0.02711507 -0.02765340
+v -0.03441619 -0.01358276 -0.02765335
+v -0.03430006 -0.01388002 0.00660252
+v -0.02718309 -0.02584074 0.00660248
+v -0.02640338 -0.02676885 -0.02765340
+v -0.03404956 -0.01457233 -0.02765335
+v -0.03404624 -0.01456427 0.00660252
+v -0.02809055 -0.02474485 0.00660248
+v -0.02719968 -0.02586379 -0.02765340
+v -0.03377251 -0.01521569 -0.02765336
+v -0.03365804 -0.01546933 0.00660251
+v -0.02830621 -0.02446952 0.00660248
+v -0.02810714 -0.02476382 -0.02765339
+v -0.03365970 -0.01547739 -0.02765336
+v -0.03286339 -0.01720449 0.00660251
+v -0.02879893 -0.02383979 0.00660248
+v -0.02881552 -0.02385875 -0.02765339
+v -0.03286837 -0.01720437 -0.02765336
+v -0.03231262 -0.01831810 0.00660250
+v -0.03270081 -0.01754513 -0.02765336
+v -0.03231594 -0.01832479 -0.02765337
+v -0.02939284 -0.02300152 0.00660249
+v -0.02971799 -0.02258840 -0.02765338
+v -0.02942436 -0.02300276 -0.02765338
+v -0.03180995 -0.01922316 0.00660250
+v -0.03181659 -0.01922985 -0.02765337
+v -0.02965164 -0.02263622 0.00660249
+v -0.03020241 -0.02188779 -0.02765338
+v -0.03153456 -0.01968659 0.00660250
+v -0.03088259 -0.02081507 -0.02765338
+v -0.03033347 -0.02164801 0.00660249
+v -0.03035006 -0.02166970 -0.02765338
+v -0.03090416 -0.02074159 0.00660249
+v -0.03048278 -0.02145980 -0.02765338
+v -0.03050766 -0.02137268 0.00660249
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 20
+f 1 20 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 12
+f 3 12 17
+f 3 17 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 18
+f 9 18 22
+f 9 22 26
+f 9 26 30
+f 9 30 34
+f 9 34 38
+f 9 38 44
+f 9 44 48
+f 9 48 52
+f 9 52 54
+f 9 54 50
+f 9 50 46
+f 9 46 41
+f 9 41 35
+f 9 35 31
+f 9 31 27
+f 9 27 23
+f 9 23 19
+f 9 19 15
+f 9 15 10
+f 11 16 12
+f 12 16 20
+f 12 20 24
+f 12 24 28
+f 12 28 32
+f 12 32 36
+f 12 36 43
+f 12 43 42
+f 12 42 47
+f 12 47 51
+f 12 51 53
+f 12 53 49
+f 12 49 45
+f 12 45 40
+f 12 40 39
+f 12 39 37
+f 12 37 33
+f 12 33 29
+f 12 29 25
+f 12 25 21
+f 12 21 17
+f 14 17 21
+f 14 21 18
+f 15 19 20
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 39
+f 34 39 40
+f 34 40 38
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 38 40 45
+f 38 45 44
+f 41 46 42
+f 42 46 47
+f 44 45 49
+f 44 49 48
+f 46 50 47
+f 47 50 51
+f 48 49 52
+f 49 53 52
+f 50 54 51
+f 51 54 53
+f 52 53 54
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_28.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.03633253 -0.00634199 0.00660255
+v -0.03633319 -0.00633767 0.00660255
+v -0.03114889 -0.00634199 0.00660255
+v -0.03750973 -0.00634207 0.02686083
+v -0.03650911 -0.00507715 0.00660255
+v -0.03115616 -0.00634200 0.00715075
+v -0.03075340 0.00834165 0.00660260
+v -0.03078250 0.00834164 0.00895913
+v -0.03080631 0.00834163 0.01076390
+v -0.03750973 -0.00634212 0.03999258
+v -0.03750973 -0.00565502 0.02544051
+v -0.03658517 -0.00452665 0.00660255
+v -0.03118063 -0.00634200 0.00895908
+v -0.03597276 0.00834165 0.00660260
+v -0.03083144 0.00834162 0.01256511
+v -0.03673463 -0.00634213 0.04287238
+v -0.03750973 -0.00633925 0.04292221
+v -0.03750973 -0.00244692 0.02369626
+v -0.03683450 -0.00090461 0.00660257
+v -0.03675315 -0.00271563 0.00660256
+v -0.03670223 -0.00326613 0.00660256
+v -0.03120709 -0.00634201 0.01076385
+v -0.03599128 0.00825398 0.00660260
+v -0.03750973 0.00726790 0.02848055
+v -0.03750973 0.00744611 0.02943811
+v -0.03750973 0.00834154 0.03561063
+v -0.03085789 0.00834162 0.01436988
+v -0.03656863 0.00834151 0.04291871
+v -0.03673463 0.00834151 0.04295786
+v -0.03558323 -0.00634213 0.04248793
+v -0.03538945 0.00834151 0.04256985
+v -0.03750973 0.00737420 0.04296498
+v -0.03750973 -0.00220833 0.02361439
+v -0.03750973 -0.00090468 0.02316944
+v -0.03750973 -0.00074083 0.02316588
+v -0.03750973 0.00090635 0.02313384
+v -0.03683450 0.00090641 0.00660257
+v -0.03123552 -0.00634202 0.01256506
+v -0.03634841 0.00633659 0.00660259
+v -0.03750973 0.00689563 0.02724889
+v -0.03750973 0.00834151 0.04294718
+v -0.03089030 0.00834161 0.01617465
+v -0.03126528 -0.00634202 0.01436983
+v -0.03529355 0.00834151 0.04252002
+v -0.03467652 -0.00634212 0.04172259
+v -0.03448340 0.00834152 0.04196115
+v -0.03750973 0.00270155 0.02356101
+v -0.03675580 0.00271599 0.00660258
+v -0.03750973 0.00599444 0.02550462
+v -0.03750973 0.00622872 0.02565769
+v -0.03659377 0.00452701 0.00660259
+v -0.03750973 0.00679933 0.02698902
+v -0.03092667 0.00834160 0.01797942
+v -0.03130166 -0.00634203 0.01617460
+v -0.03380817 -0.00634212 0.04081843
+v -0.03359588 0.00834152 0.04106054
+v -0.03438817 0.00834152 0.04186503
+v -0.03664337 0.00397508 0.00660258
+v -0.03096636 0.00834160 0.01978419
+v -0.03134134 -0.00634204 0.01797937
+v -0.03349072 0.00834152 0.04088612
+v -0.03327711 -0.00634212 0.03962949
+v -0.03285120 0.00834152 0.03963666
+v -0.03101662 0.00834159 0.02158896
+v -0.03138367 -0.00634204 0.01978414
+v -0.03285252 -0.00634211 0.03782828
+v -0.03278506 0.00834153 0.03939460
+v -0.03143657 -0.00634205 0.02158891
+v -0.03107945 0.00834158 0.02340441
+v -0.03241140 0.00834153 0.03776070
+v -0.03241735 0.00834153 0.03779629
+v -0.03210520 -0.00634209 0.03226802
+v -0.03168722 0.00834155 0.03241402
+v -0.03150271 -0.00634206 0.02339368
+v -0.03115352 0.00834158 0.02519494
+v -0.03209924 -0.00634209 0.03221819
+v -0.03209726 -0.00634209 0.03220039
+v -0.03149676 0.00834156 0.03060925
+v -0.03157942 -0.00634206 0.02519489
+v -0.03124412 0.00834157 0.02699971
+v -0.03195044 -0.00634208 0.03078362
+v -0.03193258 -0.00634208 0.03060920
+v -0.03178907 -0.00634208 0.02880443
+v -0.03148155 0.00834156 0.03041702
+v -0.03167334 -0.00634207 0.02699966
+v -0.03135721 0.00834156 0.02880448
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 20
+f 1 20 19
+f 1 19 37
+f 1 37 48
+f 1 48 58
+f 1 58 51
+f 1 51 39
+f 1 39 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 6
+f 1 6 13
+f 1 13 22
+f 1 22 38
+f 1 38 43
+f 1 43 54
+f 1 54 60
+f 1 60 65
+f 1 65 68
+f 1 68 74
+f 1 74 79
+f 1 79 85
+f 1 85 83
+f 1 83 82
+f 1 82 81
+f 1 81 77
+f 1 77 76
+f 1 76 72
+f 1 72 66
+f 1 66 62
+f 1 62 55
+f 1 55 45
+f 1 45 30
+f 1 30 16
+f 1 16 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 6
+f 4 10 17
+f 4 17 32
+f 4 32 41
+f 4 41 26
+f 4 26 25
+f 4 25 24
+f 4 24 40
+f 4 40 52
+f 4 52 50
+f 4 50 49
+f 4 49 47
+f 4 47 36
+f 4 36 35
+f 4 35 34
+f 4 34 33
+f 4 33 18
+f 4 18 11
+f 4 11 12
+f 4 12 5
+f 6 9 13
+f 7 14 26
+f 7 26 41
+f 7 41 29
+f 7 29 28
+f 7 28 31
+f 7 31 44
+f 7 44 46
+f 7 46 57
+f 7 57 56
+f 7 56 61
+f 7 61 63
+f 7 63 67
+f 7 67 71
+f 7 71 70
+f 7 70 73
+f 7 73 78
+f 7 78 84
+f 7 84 86
+f 7 86 80
+f 7 80 75
+f 7 75 69
+f 7 69 64
+f 7 64 59
+f 7 59 53
+f 7 53 42
+f 7 42 27
+f 7 27 15
+f 7 15 9
+f 7 9 8
+f 9 15 13
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 15 27
+f 13 27 22
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 16 28 29
+f 16 29 17
+f 16 30 31
+f 16 31 28
+f 17 29 32
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 22 27 38
+f 23 39 40
+f 23 40 24
+f 27 42 43
+f 27 43 38
+f 29 41 32
+f 30 44 31
+f 30 45 46
+f 30 46 44
+f 36 47 37
+f 37 47 49
+f 37 49 50
+f 37 50 48
+f 39 51 50
+f 39 50 52
+f 39 52 40
+f 42 53 54
+f 42 54 43
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 48 50 58
+f 50 51 58
+f 53 59 60
+f 53 60 54
+f 55 61 56
+f 55 62 63
+f 55 63 61
+f 59 64 65
+f 59 65 60
+f 62 66 67
+f 62 67 63
+f 64 68 65
+f 64 69 68
+f 66 70 71
+f 66 71 67
+f 66 72 73
+f 66 73 70
+f 68 69 74
+f 69 75 74
+f 72 76 73
+f 73 76 77
+f 73 77 78
+f 74 75 79
+f 75 80 79
+f 77 81 78
+f 78 81 82
+f 78 82 83
+f 78 83 84
+f 79 80 85
+f 80 86 85
+f 83 85 86
+f 83 86 84
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_29.obj

@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
+v -0.04178750 0.00834448 0.03962241
+v -0.04175319 0.00834448 0.03979324
+v -0.04135003 0.00939186 0.04066919
+v -0.04119563 0.01059902 0.04007390
+v -0.04142938 0.00998360 0.03953700
+v -0.04128570 0.01093040 0.03887110
+v -0.04128570 0.01093040 0.03868197
+v -0.04140793 0.00995994 0.03840916
+v -0.04159236 0.00834449 0.03804744
+v -0.04146155 0.00834448 0.04083566
+v -0.03948435 0.01098068 0.04236270
+v -0.04000331 0.01166119 0.04153905
+v -0.03983175 0.01358435 0.04105968
+v -0.03960444 0.01488323 0.04076421
+v -0.04033999 0.01358435 0.03963288
+v -0.04097475 0.01162865 0.03953700
+v -0.03945862 0.01630933 0.03876217
+v -0.03992397 0.01361099 0.03771886
+v -0.03945862 0.01630933 0.03871947
+v -0.03963446 0.01539509 0.03836037
+v -0.04084394 0.00995994 0.03750706
+v -0.04112486 0.00834449 0.03724121
+v -0.03955726 0.01302517 0.03684727
+v -0.04068096 0.00834448 0.04172295
+v -0.03861798 0.01166118 0.04262244
+v -0.03811618 0.01358434 0.04258759
+v -0.03780094 0.01539507 0.04243594
+v -0.03764226 0.01630636 0.04234093
+v -0.03926990 0.01218783 0.04220843
+v -0.04057374 0.00834448 0.04183974
+v -0.03959801 0.00995992 0.04243592
+v -0.03902115 0.01358435 0.04196178
+v -0.03810117 0.01702829 0.04146499
+v -0.03788887 0.01862895 0.04088190
+v -0.03759722 0.01983611 0.04025435
+v -0.03936640 0.01609038 0.03996497
+v -0.03969022 0.01544835 0.03947078
+v -0.03902972 0.01702830 0.03947078
+v -0.03801968 0.01914673 0.03964424
+v -0.03768514 0.02000476 0.03905068
+v -0.03931279 0.01423232 0.03704425
+v -0.03768514 0.02000476 0.03862796
+v -0.03787815 0.01885087 0.03794812
+v -0.03765297 0.01813782 0.03691615
+v -0.04106482 0.00834449 0.03714534
+v -0.03498526 0.01358437 0.03412616
+v -0.03502172 0.01348969 0.03412616
+v -0.03565219 0.01181211 0.03412615
+v -0.03620975 0.01014931 0.03412615
+v -0.03672228 0.00834450 0.03412614
+v -0.03972238 0.01177068 0.03675226
+v -0.03854722 0.00995992 0.04281419
+v -0.03673300 0.01539507 0.04280811
+v -0.03673300 0.01702828 0.04257888
+v -0.03607036 0.01901653 0.04247256
+v -0.03585163 0.01996628 0.04235576
+v -0.03733560 0.01751352 0.04208556
+v -0.03976313 0.00834447 0.04252743
+v -0.03965162 0.00834447 0.04256839
+v -0.03631269 0.02067342 0.04144147
+v -0.03605321 0.02210839 0.04084269
+v -0.03623549 0.02241018 0.03963291
+v -0.03721551 0.02069709 0.03964425
+v -0.03568436 0.02331555 0.03963292
+v -0.03416393 0.02555826 0.03843710
+v -0.03614542 0.02225930 0.03815992
+v -0.03578086 0.02167643 0.03695712
+v -0.03253843 0.01882425 0.03412618
+v -0.03256416 0.01877691 0.03412618
+v -0.03346269 0.01707269 0.03412617
+v -0.03353775 0.01691588 0.03412617
+v -0.03392590 0.01609927 0.03412617
+v -0.03423256 0.01544540 0.03412617
+v -0.03427545 0.01534481 0.03412617
+v -0.03194870 0.00834450 0.03412614
+v -0.03854722 0.00834447 0.04291616
+v -0.03673300 0.01358434 0.04297283
+v -0.03492093 0.01720580 0.04301119
+v -0.03492093 0.01901653 0.04284473
+v -0.03489305 0.02067341 0.04257193
+v -0.03426901 0.02216756 0.04247605
+v -0.03389159 0.02337471 0.04226601
+v -0.03547849 0.02117640 0.04204636
+v -0.03497669 0.02274156 0.04155478
+v -0.03439983 0.02444577 0.04098913
+v -0.03406743 0.02542511 0.04061260
+v -0.03492951 0.02444577 0.03963292
+v -0.03416608 0.02556121 0.03963292
+v -0.03349057 0.02646657 0.03963293
+v -0.03258346 0.02763526 0.03963293
+v -0.03250626 0.02753764 0.03821921
+v -0.03208380 0.02703170 0.03701641
+v -0.03373933 0.02501386 0.03723430
+v -0.03454136 0.02442507 0.03783309
+v -0.03551066 0.02277115 0.03766660
+v -0.03135897 0.02082729 0.03412619
+v -0.03206236 0.01968227 0.03412618
+v -0.03418538 0.02380670 0.03681942
+v -0.03240976 0.00834449 0.03776155
+v -0.01987966 0.02742521 0.03412621
+v -0.01987966 0.02793410 0.03782874
+v -0.03835422 0.00834447 0.04293707
+v -0.03673300 0.01177065 0.04302947
+v -0.03310671 0.02082726 0.04299116
+v -0.03129464 0.02263799 0.04302167
+v -0.03129464 0.02444576 0.04288746
+v -0.03321608 0.02271788 0.04269656
+v -0.03261349 0.02444576 0.04251964
+v -0.03226823 0.02544285 0.04238019
+v -0.03352060 0.02444577 0.04189209
+v -0.03294159 0.02603756 0.04130552
+v -0.03240547 0.02741632 0.04079477
+v -0.03183076 0.02854063 0.03963293
+v -0.03092365 0.02956730 0.03963294
+v -0.03009803 0.03047267 0.03963294
+v -0.02987286 0.03023598 0.03782875
+v -0.03071135 0.02933061 0.03782875
+v -0.03040898 0.02899332 0.03691445
+v -0.03059126 0.02201078 0.03412619
+v -0.02903652 0.02414696 0.03412620
+v -0.02908370 0.02408483 0.03412620
+v -0.02994363 0.02291614 0.03412619
+v -0.03055909 0.02205812 0.03412619
+v -0.03241620 0.00834449 0.03779903
+v -0.01987966 0.02803766 0.03826628
+v -0.01987966 0.03282486 0.03412623
+v -0.03673300 0.00834447 0.04295974
+v -0.03673300 0.00995992 0.04301378
+v -0.02041792 0.03349941 0.04300254
+v -0.02948257 0.02625649 0.04295458
+v -0.02585628 0.02987795 0.04297638
+v -0.02767050 0.02806723 0.04297724
+v -0.02945469 0.02801693 0.04261640
+v -0.03122387 0.02612927 0.04256062
+v -0.03057410 0.02738081 0.04243511
+v -0.03004013 0.02858797 0.04208735
+v -0.03177929 0.02665001 0.04199844
+v -0.03123674 0.02800214 0.04144149
+v -0.03069419 0.02930989 0.04088455
+v -0.02892930 0.03113837 0.04091942
+v -0.02919092 0.03139874 0.03963295
+v -0.02896575 0.03117093 0.03782875
+v -0.02862693 0.03083364 0.03689440
+v -0.02662829 0.02701395 0.03412621
+v -0.02738957 0.02615593 0.03412621
+v -0.02743032 0.02610859 0.03412621
+v -0.02833743 0.02505233 0.03412620
+v -0.02900007 0.02419430 0.03412620
+v -0.03278290 0.00834449 0.03939492
+v -0.01987966 0.02836902 0.03948476
+v -0.01991612 0.03279823 0.03412623
+v -0.02157164 0.03637826 0.03682556
+v -0.02041792 0.03674811 0.03671487
+v -0.01987966 0.03786057 0.03724655
+v -0.03656788 0.00834447 0.04291964
+v -0.01987966 0.03349941 0.04296419
+v -0.01987966 0.03403494 0.04299644
+v -0.02765334 0.02986316 0.04263297
+v -0.02404421 0.03168869 0.04295111
+v -0.02883065 0.02924775 0.04245952
+v -0.02824736 0.03045491 0.04212221
+v -0.02948471 0.02988388 0.04150339
+v -0.02767479 0.03169165 0.04150427
+v -0.02710221 0.03289585 0.04088543
+v -0.02826666 0.03230411 0.03963295
+v -0.02802219 0.03207630 0.03782876
+v -0.02677840 0.03260886 0.03691794
+v -0.02480764 0.02883948 0.03412622
+v -0.02567400 0.02798145 0.03412621
+v -0.02576836 0.02788677 0.03412621
+v -0.03284938 0.00834448 0.03963809
+v -0.01987966 0.02845187 0.03970964
+v -0.02075889 0.03217690 0.03412623
+v -0.02481622 0.03428349 0.03702341
+v -0.02277897 0.03592854 0.03726136
+v -0.02219783 0.03671851 0.03784969
+v -0.02053801 0.03769193 0.03767102
+v -0.01987966 0.03824816 0.03788717
+v -0.03538842 0.00834447 0.04257188
+v -0.01987966 0.03210290 0.04273321
+v -0.01987966 0.03537524 0.04278290
+v -0.02222999 0.03349941 0.04287267
+v -0.02580696 0.03166205 0.04261555
+v -0.02703788 0.03103777 0.04245952
+v -0.02637739 0.03224493 0.04208823
+v -0.02578766 0.03343729 0.04143802
+v -0.02519579 0.03460302 0.04078783
+v -0.02735955 0.03312071 0.03963295
+v -0.02531373 0.03469771 0.03822621
+v -0.02711723 0.03290473 0.03782876
+v -0.02189117 0.03131888 0.03412623
+v -0.02195336 0.03127154 0.03412622
+v -0.02285832 0.03055553 0.03412622
+v -0.02390268 0.02965016 0.03412622
+v -0.03348843 0.00834448 0.04088622
+v -0.01987966 0.02866193 0.04015241
+v -0.01987966 0.02890159 0.04056119
+v -0.02332367 0.03635163 0.03846416
+v -0.02001262 0.03833101 0.03816783
+v -0.01987966 0.03838426 0.03813470
+v -0.03529192 0.00834447 0.04252132
+v -0.01987966 0.03175673 0.04263559
+v -0.01987966 0.03590188 0.04265216
+v -0.02048440 0.03540778 0.04268877
+v -0.02222999 0.03479533 0.04251097
+v -0.02391125 0.03342840 0.04255541
+v -0.02517005 0.03277453 0.04243426
+v -0.02321859 0.03446396 0.04237500
+v -0.02442592 0.03398169 0.04199149
+v -0.02631305 0.03402607 0.03963295
+v -0.02381261 0.03513855 0.04129596
+v -0.02320143 0.03625990 0.04059956
+v -0.02540594 0.03477167 0.03963296
+v -0.03359351 0.00834448 0.04106141
+v -0.01987966 0.02986613 0.04148508
+v -0.02332581 0.03635162 0.03963296
+v -0.02222999 0.03708834 0.03963297
+v -0.02105697 0.03786056 0.03963297
+v -0.02015201 0.03841088 0.03963297
+v -0.02423078 0.03567703 0.03963296
+v -0.01987966 0.03856473 0.03962426
+v -0.03448346 0.00834448 0.04196351
+v -0.01987966 0.03085729 0.04229479
+v -0.01987966 0.03647884 0.04247523
+v -0.01992255 0.03646108 0.04247262
+v -0.02113203 0.03607349 0.04225298
+v -0.02222999 0.03570071 0.04187209
+v -0.02222999 0.03658240 0.04096999
+v -0.01987966 0.03820377 0.04084798
+v -0.01987966 0.03823040 0.04080875
+v -0.01987966 0.03824815 0.04074949
+v -0.03438696 0.00834448 0.04186763
+v -0.01987966 0.03008803 0.04168293
+v -0.01987966 0.03052296 0.04203854
+v -0.01987966 0.03651434 0.04245344
+v -0.01987966 0.03736350 0.04173351
+v -0.02049726 0.03716526 0.04154002
+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 22
+f 1 22 45
+f 1 45 50
+f 1 50 75
+f 1 75 99
+f 1 99 124
+f 1 124 149
+f 1 149 171
+f 1 171 195
+f 1 195 214
+f 1 214 232
+f 1 232 222
+f 1 222 201
+f 1 201 179
+f 1 179 155
+f 1 155 127
+f 1 127 102
+f 1 102 76
+f 1 76 59
+f 1 59 58
+f 1 58 30
+f 1 30 24
+f 1 24 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 6
+f 4 6 5
+f 6 16 15
+f 6 15 17
+f 6 17 19
+f 6 19 7
+f 7 18 8
+f 7 19 20
+f 7 20 18
+f 8 21 22
+f 8 22 9
+f 8 18 23
+f 8 23 21
+f 10 24 11
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 11 24 30
+f 11 30 31
+f 11 31 25
+f 12 29 13
+f 13 29 32
+f 13 32 14
+f 14 32 28
+f 14 28 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 15
+f 15 36 37
+f 15 37 17
+f 17 37 36
+f 17 36 38
+f 17 38 39
+f 17 39 40
+f 17 40 42
+f 17 42 19
+f 18 41 23
+f 18 20 41
+f 19 42 43
+f 19 43 44
+f 19 44 20
+f 20 44 41
+f 21 45 22
+f 21 23 45
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 51
+f 23 51 45
+f 23 41 44
+f 23 44 46
+f 25 31 52
+f 25 52 26
+f 26 52 53
+f 26 53 54
+f 26 54 27
+f 27 54 28
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 33
+f 28 32 29
+f 30 58 31
+f 31 58 59
+f 31 59 52
+f 33 57 34
+f 34 57 56
+f 34 56 60
+f 34 60 61
+f 34 61 35
+f 35 61 62
+f 35 62 63
+f 35 63 40
+f 35 40 39
+f 35 39 38
+f 35 38 36
+f 40 63 62
+f 40 62 42
+f 42 62 64
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 44
+f 42 44 43
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 74
+f 44 74 46
+f 45 51 50
+f 46 74 73
+f 46 73 72
+f 46 72 71
+f 46 71 70
+f 46 70 69
+f 46 69 68
+f 46 68 97
+f 46 97 96
+f 46 96 119
+f 46 119 123
+f 46 123 122
+f 46 122 121
+f 46 121 120
+f 46 120 148
+f 46 148 147
+f 46 147 146
+f 46 146 145
+f 46 145 144
+f 46 144 170
+f 46 170 169
+f 46 169 168
+f 46 168 194
+f 46 194 193
+f 46 193 192
+f 46 192 191
+f 46 191 173
+f 46 173 151
+f 46 151 126
+f 46 126 100
+f 46 100 75
+f 46 75 50
+f 46 50 49
+f 46 49 48
+f 46 48 47
+f 52 59 76
+f 52 76 77
+f 52 77 53
+f 53 78 79
+f 53 79 54
+f 53 77 78
+f 54 79 55
+f 55 79 80
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 60
+f 60 83 61
+f 61 83 84
+f 61 84 85
+f 61 85 86
+f 61 86 64
+f 61 64 62
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 67
+f 67 96 97
+f 67 97 68
+f 67 95 94
+f 67 94 93
+f 67 93 98
+f 67 98 96
+f 75 100 101
+f 75 101 99
+f 76 102 103
+f 76 103 77
+f 77 103 78
+f 78 104 79
+f 78 103 105
+f 78 105 104
+f 79 104 106
+f 79 106 107
+f 79 107 80
+f 80 107 81
+f 81 107 108
+f 81 108 109
+f 81 109 82
+f 82 109 110
+f 82 110 85
+f 82 85 84
+f 82 84 83
+f 85 110 86
+f 86 88 87
+f 86 110 111
+f 86 111 112
+f 86 112 90
+f 86 90 89
+f 86 89 88
+f 90 113 91
+f 90 112 113
+f 91 113 114
+f 91 114 115
+f 91 115 116
+f 91 116 117
+f 91 117 118
+f 91 118 92
+f 92 98 93
+f 92 118 98
+f 96 98 119
+f 98 118 120
+f 98 120 121
+f 98 121 122
+f 98 122 123
+f 98 123 119
+f 99 101 125
+f 99 125 124
+f 100 126 154
+f 100 154 178
+f 100 178 200
+f 100 200 221
+f 100 221 231
+f 100 231 230
+f 100 230 229
+f 100 229 236
+f 100 236 235
+f 100 235 224
+f 100 224 203
+f 100 203 181
+f 100 181 157
+f 100 157 156
+f 100 156 180
+f 100 180 202
+f 100 202 223
+f 100 223 234
+f 100 234 233
+f 100 233 215
+f 100 215 197
+f 100 197 196
+f 100 196 172
+f 100 172 150
+f 100 150 125
+f 100 125 101
+f 102 127 128
+f 102 128 103
+f 103 128 129
+f 103 129 105
+f 104 105 130
+f 104 130 106
+f 105 129 131
+f 105 131 132
+f 105 132 130
+f 106 130 133
+f 106 133 134
+f 106 134 108
+f 106 108 107
+f 108 134 109
+f 109 134 135
+f 109 135 136
+f 109 136 137
+f 109 137 110
+f 110 137 111
+f 111 137 112
+f 112 137 138
+f 112 138 139
+f 112 139 114
+f 112 114 113
+f 114 139 115
+f 115 139 140
+f 115 140 141
+f 115 141 142
+f 115 142 116
+f 116 118 117
+f 116 142 143
+f 116 143 118
+f 118 143 144
+f 118 144 145
+f 118 145 146
+f 118 146 147
+f 118 147 148
+f 118 148 120
+f 124 125 150
+f 124 150 149
+f 126 151 152
+f 126 152 153
+f 126 153 154
+f 127 155 156
+f 127 156 157
+f 127 157 128
+f 128 157 129
+f 129 157 131
+f 130 132 158
+f 130 158 133
+f 131 157 159
+f 131 159 158
+f 131 158 132
+f 133 135 134
+f 133 158 160
+f 133 160 135
+f 135 160 136
+f 136 138 137
+f 136 160 161
+f 136 161 162
+f 136 162 139
+f 136 139 138
+f 139 162 140
+f 140 163 164
+f 140 164 165
+f 140 165 141
+f 140 162 161
+f 140 161 163
+f 141 165 142
+f 142 165 166
+f 142 166 143
+f 143 166 167
+f 143 167 168
+f 143 168 169
+f 143 169 170
+f 143 170 144
+f 149 150 172
+f 149 172 171
+f 151 173 152
+f 152 174 175
+f 152 175 154
+f 152 154 153
+f 152 173 174
+f 154 175 176
+f 154 176 177
+f 154 177 178
+f 155 179 180
+f 155 180 156
+f 157 181 182
+f 157 182 159
+f 158 159 183
+f 158 183 184
+f 158 184 160
+f 159 182 183
+f 160 184 161
+f 161 184 185
+f 161 185 163
+f 163 185 164
+f 164 186 187
+f 164 187 188
+f 164 188 165
+f 164 185 186
+f 165 188 189
+f 165 189 166
+f 166 189 190
+f 166 190 167
+f 167 173 191
+f 167 191 192
+f 167 192 193
+f 167 193 194
+f 167 194 168
+f 167 190 189
+f 167 189 174
+f 167 174 173
+f 171 172 196
+f 171 196 197
+f 171 197 195
+f 174 189 198
+f 174 198 175
+f 175 198 176
+f 176 198 199
+f 176 199 177
+f 177 199 178
+f 178 199 200
+f 179 201 202
+f 179 202 180
+f 181 203 204
+f 181 204 182
+f 182 204 205
+f 182 205 206
+f 182 206 183
+f 183 206 207
+f 183 207 184
+f 184 207 185
+f 185 207 208
+f 185 208 209
+f 185 209 186
+f 186 209 187
+f 187 210 188
+f 187 209 211
+f 187 211 212
+f 187 212 213
+f 187 213 210
+f 188 210 189
+f 189 210 213
+f 189 213 198
+f 195 197 214
+f 197 215 214
+f 198 216 217
+f 198 217 218
+f 198 218 219
+f 198 219 199
+f 198 213 220
+f 198 220 216
+f 199 219 221
+f 199 221 200
+f 201 222 223
+f 201 223 202
+f 203 224 225
+f 203 225 204
+f 204 225 205
+f 205 208 206
+f 205 225 208
+f 206 208 207
+f 208 225 226
+f 208 226 227
+f 208 227 209
+f 209 227 211
+f 211 227 212
+f 212 220 213
+f 212 227 228
+f 212 228 229
+f 212 229 230
+f 212 230 231
+f 212 231 218
+f 212 218 217
+f 212 217 216
+f 212 216 220
+f 214 215 233
+f 214 233 234
+f 214 234 223
+f 214 223 232
+f 218 231 219
+f 219 231 221
+f 222 232 223
+f 224 235 225
+f 225 235 226
+f 226 235 236
+f 226 236 237
+f 226 237 228
+f 226 228 227
+f 228 237 229
+f 229 237 236
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_3.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.00010260 -0.03564033 0.03413530
+v 0.00010260 -0.04008385 0.03413528
+v 0.00010260 -0.03541146 0.03241315
+v -0.02082363 -0.02657074 0.03413533
+v -0.00046742 -0.04004416 0.03413528
+v 0.00010260 -0.03973582 0.00660242
+v 0.00010260 -0.03536384 0.03184179
+v -0.02048162 -0.02657073 0.03241318
+v -0.02698246 -0.02657074 0.03413533
+v -0.00228616 -0.03982059 0.03413528
+v -0.00228616 -0.03946728 0.00660243
+v -0.00047272 -0.03968687 0.00660242
+v 0.00010260 -0.03472215 0.00660244
+v 0.00010260 -0.03526329 0.03060745
+v -0.02023770 -0.02657072 0.03042152
+v -0.02660333 -0.02699406 0.03413533
+v -0.02653705 -0.02657063 0.00660247
+v -0.02638062 -0.02674790 0.00660247
+v -0.00400682 -0.03952163 0.03413528
+v -0.00409961 -0.03916567 0.00660243
+v -0.01945824 -0.02657063 0.00660247
+v -0.01947415 -0.02657064 0.00773171
+v -0.01950066 -0.02657065 0.00955897
+v -0.01951922 -0.02657065 0.01076097
+v -0.01954838 -0.02657066 0.01256667
+v -0.01955899 -0.02657066 0.01321887
+v -0.01961731 -0.02657067 0.01617537
+v -0.01967299 -0.02657068 0.01873030
+v -0.01969950 -0.02657068 0.01978407
+v -0.01972071 -0.02657069 0.02057103
+v 0.00010260 -0.03472877 0.00715224
+v 0.00010260 -0.03516937 0.02880444
+v 0.00010260 -0.03514555 0.02823309
+v 0.00010260 -0.03509660 0.02699875
+v -0.02010249 -0.02657072 0.02880447
+v -0.02656091 -0.02703772 0.03413533
+v -0.02610490 -0.02703761 0.00660247
+v -0.02547390 -0.02770037 0.00660247
+v -0.00418975 -0.03948326 0.03413528
+v -0.00465107 -0.03904661 0.00660243
+v -0.01974988 -0.02657069 0.02158707
+v 0.00010260 -0.03477508 0.01076094
+v 0.00010260 -0.03507808 0.02643009
+v 0.00010260 -0.03503839 0.02519574
+v 0.00010260 -0.03502119 0.02462439
+v -0.01997788 -0.02657071 0.02694487
+v -0.02569661 -0.02792536 0.03413533
+v -0.02456453 -0.02860653 0.00660246
+v -0.02483760 -0.02878920 0.03413532
+v -0.00591306 -0.03907714 0.03413529
+v -0.00591306 -0.03877410 0.00660243
+v -0.01977639 -0.02657069 0.02242524
+v 0.00010260 -0.03479096 0.01199528
+v 0.00010260 -0.03498680 0.02339004
+v -0.01992486 -0.02657071 0.02597465
+v 0.00010260 -0.03497223 0.02281869
+v 0.00010260 -0.03494313 0.02158704
+v -0.02428880 -0.02886317 0.00660246
+v -0.02475276 -0.02886989 0.03413532
+v -0.02479518 -0.02883020 0.03413532
+v -0.00772651 -0.03861282 0.03413529
+v -0.00645921 -0.03862858 0.00660243
+v -0.01981085 -0.02657070 0.02339007
+v 0.00010260 -0.03484919 0.01617534
+v 0.00010260 -0.03479891 0.01256664
+v -0.01988509 -0.02657070 0.02519577
+v 0.00010260 -0.03490872 0.01978404
+v -0.02365780 -0.02944920 0.00660246
+v -0.02388846 -0.02965964 0.03413532
+v -0.00777423 -0.03859959 0.03413529
+v -0.00771855 -0.03829257 0.00660243
+v 0.00010260 -0.03489814 0.01921268
+v 0.00010260 -0.03487698 0.01798103
+v -0.02262382 -0.03035404 0.00660246
+v -0.02287038 -0.03056581 0.03413532
+v -0.02291811 -0.03052348 0.03413532
+v -0.00915287 -0.03819611 0.03413529
+v -0.00862528 -0.03802667 0.00660243
+v -0.02234809 -0.03058157 0.00660246
+v -0.02282796 -0.03060020 0.03413532
+v -0.02171710 -0.03110146 0.00660246
+v -0.01001718 -0.03790773 0.03413529
+v -0.00953730 -0.03771712 0.00660243
+v -0.02196366 -0.03128412 0.03413532
+v -0.02087665 -0.03173114 0.00660245
+v -0.02076530 -0.03219029 0.03413531
+v -0.01005960 -0.03789318 0.03413529
+v -0.01135075 -0.03704511 0.00660243
+v -0.01013648 -0.03786540 0.03413529
+v -0.02050813 -0.03200630 0.00660245
+v -0.01985858 -0.03285569 0.03413531
+v -0.01178555 -0.03686520 0.00660243
+v -0.01142499 -0.03735873 0.03413529
+v -0.01960406 -0.03266244 0.00660245
+v -0.01857273 -0.03372085 0.03413531
+v -0.01278242 -0.03644982 0.00660244
+v -0.01325434 -0.03659280 0.03413530
+v -0.01890678 -0.03312148 0.00660245
+v -0.01846668 -0.03378964 0.03413531
+v -0.01860189 -0.03332123 0.00660245
+v -0.01341341 -0.03616804 0.00660244
+v -0.01488750 -0.03580833 0.03413530
+v -0.01368649 -0.03604370 0.00660244
+v -0.01682026 -0.03478576 0.03413530
+v -0.01727362 -0.03415993 0.00660244
+v -0.01636690 -0.03467850 0.00660244
+v -0.01497499 -0.03541004 0.00660244
+f 1 2 6
+f 1 6 13
+f 1 13 31
+f 1 31 42
+f 1 42 53
+f 1 53 65
+f 1 65 64
+f 1 64 73
+f 1 73 72
+f 1 72 67
+f 1 67 57
+f 1 57 56
+f 1 56 54
+f 1 54 45
+f 1 45 44
+f 1 44 43
+f 1 43 34
+f 1 34 33
+f 1 33 32
+f 1 32 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 36
+f 1 36 47
+f 1 47 49
+f 1 49 60
+f 1 60 59
+f 1 59 69
+f 1 69 76
+f 1 76 75
+f 1 75 80
+f 1 80 84
+f 1 84 86
+f 1 86 91
+f 1 91 95
+f 1 95 99
+f 1 99 104
+f 1 104 102
+f 1 102 97
+f 1 97 93
+f 1 93 89
+f 1 89 87
+f 1 87 82
+f 1 82 77
+f 1 77 70
+f 1 70 61
+f 1 61 50
+f 1 50 39
+f 1 39 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 35
+f 4 35 46
+f 4 46 55
+f 4 55 66
+f 4 66 63
+f 4 63 52
+f 4 52 41
+f 4 41 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 21
+f 4 21 17
+f 4 17 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 20
+f 6 20 40
+f 6 40 51
+f 6 51 62
+f 6 62 71
+f 6 71 78
+f 6 78 83
+f 6 83 88
+f 6 88 92
+f 6 92 96
+f 6 96 101
+f 6 101 103
+f 6 103 107
+f 6 107 106
+f 6 106 105
+f 6 105 100
+f 6 100 98
+f 6 98 94
+f 6 94 90
+f 6 90 85
+f 6 85 81
+f 6 81 79
+f 6 79 74
+f 6 74 68
+f 6 68 58
+f 6 58 48
+f 6 48 38
+f 6 38 37
+f 6 37 18
+f 6 18 17
+f 6 17 21
+f 6 21 13
+f 7 14 8
+f 8 14 15
+f 9 17 18
+f 9 18 16
+f 10 19 20
+f 10 20 11
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 14 32 15
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 16 18 37
+f 16 37 38
+f 16 38 36
+f 19 39 20
+f 20 39 40
+f 30 41 31
+f 31 41 42
+f 34 43 35
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 36 38 47
+f 38 48 49
+f 38 49 47
+f 39 50 51
+f 39 51 40
+f 41 52 53
+f 41 53 42
+f 45 54 46
+f 46 54 56
+f 46 56 57
+f 46 57 55
+f 48 58 59
+f 48 59 60
+f 48 60 49
+f 50 61 51
+f 51 61 62
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 55 57 66
+f 57 67 66
+f 58 68 59
+f 59 68 69
+f 61 70 71
+f 61 71 62
+f 63 66 72
+f 63 72 73
+f 63 73 64
+f 66 67 72
+f 68 74 75
+f 68 75 76
+f 68 76 69
+f 70 77 71
+f 71 77 78
+f 74 79 75
+f 75 79 81
+f 75 81 80
+f 77 82 78
+f 78 82 83
+f 80 81 84
+f 81 85 86
+f 81 86 84
+f 82 87 83
+f 83 87 89
+f 83 89 88
+f 85 90 86
+f 86 90 91
+f 88 89 93
+f 88 93 92
+f 90 94 91
+f 91 94 95
+f 92 93 96
+f 93 97 96
+f 94 98 95
+f 95 98 100
+f 95 100 99
+f 96 97 101
+f 97 102 103
+f 97 103 101
+f 99 100 105
+f 99 105 104
+f 102 104 106
+f 102 106 107
+f 102 107 103
+f 104 105 106
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_30.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.00315532 0.04504192 0.03963277
+v 0.00315532 0.04463720 0.03782825
+v 0.00134246 0.04459145 0.03782825
+v 0.00134246 0.04498913 0.03963277
+v 0.00315532 0.04421370 0.04143727
+v 0.00496982 0.04419258 0.04143727
+v 0.00496982 0.04501728 0.03963277
+v 0.00496982 0.04461843 0.03782825
+v 0.00315532 0.04378670 0.03670925
+v 0.00134246 0.04376558 0.03671755
+v 0.00496982 0.04377849 0.03671236
+v 0.00010260 0.04373156 0.03673518
+v 0.00010260 0.04451285 0.03782825
+v 0.00010260 0.04490232 0.03963276
+v 0.00010260 0.04438145 0.04082954
+v 0.00010260 0.04407762 0.04145593
+v 0.00132929 0.04403186 0.04161046
+v 0.00192369 0.04347345 0.04234989
+v 0.00315532 0.04348401 0.04235819
+v 0.00496982 0.04347580 0.04235093
+v 0.00590013 0.04346289 0.04234056
+v 0.00661638 0.04399784 0.04159594
+v 0.00859390 0.04405181 0.04133563
+v 0.00678268 0.04492226 0.03963277
+v 0.00678268 0.04453280 0.03782825
+v 0.00678268 0.04374095 0.03672999
+v 0.00315532 0.03999402 0.03243235
+v 0.00125519 0.03992481 0.03243235
+v 0.00496982 0.03997643 0.03243235
+v 0.00033641 0.03985208 0.03243235
+v 0.00014871 0.03983331 0.03243235
+v 0.00010260 0.03982862 0.03243235
+v 0.00010260 0.04341010 0.04230634
+v 0.00071512 0.04344178 0.04232811
+v 0.00010260 0.04294203 0.04251790
+v 0.00010260 0.04255373 0.04267761
+v 0.00132929 0.04272500 0.04263924
+v 0.00315532 0.04255490 0.04272946
+v 0.00496982 0.04255490 0.04272116
+v 0.00661638 0.04270154 0.04263094
+v 0.00859390 0.04240591 0.04268487
+v 0.00711035 0.04340306 0.04230322
+v 0.00859390 0.04331156 0.04223789
+v 0.01040676 0.04393098 0.04120600
+v 0.00859390 0.04476154 0.03963276
+v 0.00859390 0.04438616 0.03782825
+v 0.01040676 0.04358374 0.03682748
+v 0.00859390 0.04367642 0.03676422
+v 0.00666578 0.03988023 0.03243235
+v 0.00010260 0.03541183 0.03243233
+v 0.00010260 0.04074478 0.04302294
+v 0.00859390 0.04074478 0.04302605
+v 0.01040676 0.04074478 0.04301361
+v 0.01221961 0.04074478 0.04297524
+v 0.01040676 0.04226279 0.04265064
+v 0.01221961 0.04209504 0.04259463
+v 0.01403412 0.04191203 0.04250752
+v 0.01040676 0.04316845 0.04210825
+v 0.01221961 0.04377143 0.04100792
+v 0.01040676 0.04452340 0.03963276
+v 0.01040676 0.04417617 0.03782825
+v 0.01157581 0.04350632 0.03688763
+v 0.00844077 0.03970544 0.03243235
+v 0.00812957 0.03973711 0.03243235
+v 0.00685843 0.03986264 0.03243235
+v 0.01692218 0.03305738 0.03243232
+v 0.00010260 0.03605116 0.03782822
+v 0.00010260 0.03962680 0.04277819
+v 0.01692218 0.03708817 0.04268070
+v 0.01584698 0.03893466 0.04300634
+v 0.01692218 0.03893466 0.04300427
+v 0.01403412 0.04074478 0.04289124
+v 0.01592272 0.04088555 0.04267449
+v 0.01692218 0.04064859 0.04265374
+v 0.01536948 0.04175953 0.04241626
+v 0.01221961 0.04300069 0.04191017
+v 0.01403412 0.04281769 0.04162913
+v 0.01403412 0.04358139 0.04072687
+v 0.01497760 0.04347111 0.04055265
+v 0.01221961 0.04420783 0.03963276
+v 0.01525093 0.04354972 0.03851583
+v 0.01403412 0.04370105 0.03819434
+v 0.01219656 0.04383714 0.03770899
+v 0.01278438 0.04333974 0.03702763
+v 0.01401766 0.03864963 0.03243234
+v 0.01220480 0.03907899 0.03243234
+v 0.01040840 0.03942154 0.03243234
+v 0.01038700 0.03942506 0.03243234
+v 0.01692218 0.03776276 0.03243234
+v 0.01692218 0.03373308 0.03777843
+v 0.00010260 0.03612037 0.03835402
+v 0.00010260 0.03913761 0.04266203
+v 0.01692218 0.03636671 0.04239342
+v 0.01692218 0.04151786 0.04224099
+v 0.01657805 0.04158238 0.04229803
+v 0.01692218 0.04176657 0.04195372
+v 0.01692218 0.04230269 0.04129830
+v 0.01692218 0.04301829 0.03963276
+v 0.01610714 0.04327286 0.03963276
+v 0.01520153 0.04353446 0.03963276
+v 0.01403412 0.04382070 0.03963276
+v 0.01692218 0.04282356 0.03868488
+v 0.01692218 0.04264760 0.03784899
+v 0.01403412 0.04315556 0.03729312
+v 0.01692218 0.04227455 0.03725682
+v 0.01692218 0.04188155 0.03677872
+v 0.01554072 0.03821910 0.03243234
+v 0.01644633 0.03793168 0.03243234
+v 0.01692218 0.03410613 0.03945228
+v 0.00010260 0.03618841 0.03882485
+v 0.00010260 0.03851938 0.04236128
+v 0.01679704 0.03624001 0.04232808
+v 0.01692218 0.03604763 0.04217875
+v 0.01692218 0.03443694 0.04035661
+v 0.00010260 0.03648051 0.03970325
+v 0.00010260 0.03627405 0.03910797
+v 0.00010260 0.03823314 0.04220572
+v 0.01692218 0.03534611 0.04146731
+v 0.01692218 0.03451202 0.04046446
+v 0.01688761 0.03446392 0.04039083
+v 0.00010260 0.03740023 0.04130347
+v 0.00010260 0.03678200 0.04027884
+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 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 26
+f 8 26 11
+f 9 11 27
+f 9 27 10
+f 10 27 28
+f 10 28 12
+f 11 29 27
+f 11 26 29
+f 12 28 30
+f 12 30 31
+f 12 31 32
+f 12 32 50
+f 12 50 67
+f 12 67 91
+f 12 91 110
+f 12 110 116
+f 12 116 115
+f 12 115 122
+f 12 122 121
+f 12 121 117
+f 12 117 111
+f 12 111 92
+f 12 92 68
+f 12 68 51
+f 12 51 36
+f 12 36 35
+f 12 35 33
+f 12 33 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 16 33 34
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 39 21
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 21 39 40
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 23 42 43
+f 24 45 46
+f 24 46 25
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 29
+f 27 29 49
+f 27 49 65
+f 27 65 64
+f 27 64 63
+f 27 63 88
+f 27 88 87
+f 27 87 86
+f 27 86 85
+f 27 85 107
+f 27 107 108
+f 27 108 89
+f 27 89 66
+f 27 66 50
+f 27 50 32
+f 27 32 31
+f 27 31 30
+f 27 30 28
+f 29 48 49
+f 33 35 34
+f 36 51 38
+f 36 38 37
+f 38 52 39
+f 38 51 52
+f 39 52 53
+f 39 53 41
+f 39 41 40
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 49
+f 47 49 48
+f 50 66 67
+f 51 68 69
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 53
+f 53 71 54
+f 54 72 55
+f 54 71 72
+f 55 72 56
+f 56 72 57
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 58 75 76
+f 58 76 59
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 61
+f 61 82 83
+f 61 83 62
+f 62 83 84
+f 62 84 85
+f 62 85 86
+f 62 86 87
+f 62 87 88
+f 62 88 63
+f 66 89 106
+f 66 106 105
+f 66 105 103
+f 66 103 102
+f 66 102 98
+f 66 98 97
+f 66 97 96
+f 66 96 94
+f 66 94 74
+f 66 74 71
+f 66 71 69
+f 66 69 93
+f 66 93 113
+f 66 113 118
+f 66 118 119
+f 66 119 114
+f 66 114 109
+f 66 109 90
+f 66 90 67
+f 67 90 91
+f 68 92 69
+f 69 71 70
+f 69 92 93
+f 71 74 72
+f 72 74 73
+f 74 94 95
+f 74 95 75
+f 75 95 76
+f 76 95 77
+f 77 95 78
+f 78 95 79
+f 79 95 96
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 81
+f 81 100 99
+f 81 99 98
+f 81 98 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 81 101 100
+f 82 104 84
+f 82 84 83
+f 84 104 105
+f 84 105 106
+f 84 106 107
+f 84 107 85
+f 89 108 106
+f 90 109 110
+f 90 110 91
+f 92 111 112
+f 92 112 93
+f 93 112 113
+f 94 96 95
+f 103 105 104
+f 106 108 107
+f 109 114 115
+f 109 115 116
+f 109 116 110
+f 111 117 112
+f 112 117 113
+f 113 117 118
+f 114 119 120
+f 114 120 121
+f 114 121 122
+f 114 122 115
+f 117 121 118
+f 118 121 119
+f 119 121 120
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_31.obj

@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v 0.03064348 0.02326248 0.03240431
+v 0.03064348 0.02424184 0.03786764
+v 0.03064348 0.02959915 0.03240433
+v 0.03634513 0.01387907 0.03240427
+v 0.03064348 0.02484553 0.03963259
+v 0.03706664 0.01387905 0.03782808
+v 0.03064348 0.03470886 0.03680372
+v 0.03133369 0.03446348 0.03688797
+v 0.03323372 0.03273707 0.03684323
+v 0.03078121 0.02946886 0.03240433
+v 0.03840010 0.01387907 0.03240427
+v 0.03104258 0.02511046 0.04075896
+v 0.03064348 0.02612459 0.04121866
+v 0.03714489 0.01387905 0.03815986
+v 0.03751269 0.01387904 0.03965647
+v 0.03064348 0.03540377 0.03749847
+v 0.03064348 0.03555578 0.03772624
+v 0.03172809 0.03478270 0.03782816
+v 0.03263428 0.03402482 0.03782815
+v 0.03444354 0.03217246 0.03749950
+v 0.03506801 0.03096506 0.03682867
+v 0.03184860 0.02844170 0.03240432
+v 0.04067888 0.01532100 0.03240428
+v 0.04123762 0.01387907 0.03240636
+v 0.03064348 0.02637867 0.04141419
+v 0.03817629 0.01387904 0.04094197
+v 0.03064348 0.03602919 0.03934142
+v 0.03490211 0.03260894 0.03870075
+v 0.03389575 0.03302372 0.03799040
+v 0.03558919 0.03148624 0.03810065
+v 0.03627627 0.03033747 0.03750157
+v 0.03683657 0.02913007 0.03684531
+v 0.03220231 0.02810076 0.03240432
+v 0.04029387 0.01622655 0.03240428
+v 0.04401410 0.01825696 0.03687751
+v 0.04568093 0.01433726 0.03698773
+v 0.04575919 0.01387905 0.03692949
+v 0.03064348 0.02654588 0.04153068
+v 0.03907779 0.01387904 0.04184368
+v 0.03064348 0.02799431 0.04247503
+v 0.03064348 0.03606175 0.03963263
+v 0.03085164 0.03590540 0.03963263
+v 0.03671293 0.03079784 0.03870386
+v 0.03199729 0.03499985 0.03963263
+v 0.03290348 0.03426151 0.03963263
+v 0.03490211 0.03260894 0.03881931
+v 0.03711985 0.02979240 0.03799247
+v 0.03812151 0.02851985 0.03782813
+v 0.03856287 0.02722559 0.03689314
+v 0.03376272 0.02641778 0.03240432
+v 0.03364221 0.02654808 0.03240432
+v 0.03982121 0.01721462 0.03240428
+v 0.04220016 0.02184441 0.03688064
+v 0.04367448 0.01946436 0.03726544
+v 0.04430208 0.01892364 0.03785098
+v 0.04581553 0.01642415 0.03860500
+v 0.04600491 0.01539265 0.03823059
+v 0.04624280 0.01387905 0.03774904
+v 0.04609099 0.01387905 0.03747031
+v 0.03998398 0.01387903 0.04251555
+v 0.03064348 0.02819193 0.04253119
+v 0.03064348 0.03516054 0.04134974
+v 0.03169366 0.03475446 0.04094829
+v 0.03835158 0.02878261 0.03963261
+v 0.03908405 0.02787706 0.03963260
+v 0.03999024 0.02671960 0.03963260
+v 0.04059280 0.02572503 0.03824518
+v 0.03887276 0.02761431 0.03782813
+v 0.03671293 0.03079784 0.03881098
+v 0.03478629 0.03250035 0.04002264
+v 0.03410078 0.03321263 0.03950574
+v 0.03575352 0.03164911 0.03941629
+v 0.04018118 0.02518431 0.03704289
+v 0.03638269 0.02308441 0.03240430
+v 0.03637643 0.02309309 0.03240430
+v 0.03547493 0.02432004 0.03240431
+v 0.03478629 0.02522341 0.03240431
+v 0.03466734 0.02536240 0.03240431
+v 0.03895101 0.01891714 0.03240429
+v 0.04406888 0.02015058 0.03846773
+v 0.03845645 0.01982269 0.03240429
+v 0.03784293 0.02083465 0.03240430
+v 0.03699777 0.02217886 0.03240430
+v 0.04179480 0.02305181 0.03740274
+v 0.04245214 0.02252412 0.03793316
+v 0.04581553 0.01642415 0.03911358
+v 0.04663095 0.01387904 0.03963983
+v 0.04661217 0.01387905 0.03940375
+v 0.04123136 0.01387903 0.04289412
+v 0.03064348 0.02987925 0.04290458
+v 0.03064348 0.03467845 0.04182920
+v 0.03093146 0.03413339 0.04215057
+v 0.03227901 0.03359266 0.04158582
+v 0.03357804 0.03305194 0.04102108
+v 0.03730453 0.02999869 0.03950053
+v 0.03660337 0.03068057 0.04001327
+v 0.03884302 0.02757521 0.04093057
+v 0.04049890 0.02559472 0.04077040
+v 0.04065697 0.02581406 0.03963259
+v 0.04219390 0.02363163 0.03860399
+v 0.04119380 0.02440905 0.03782292
+v 0.03539511 0.03129295 0.04104291
+v 0.04459945 0.01901483 0.03963257
+v 0.04219390 0.02363163 0.03911361
+v 0.04358527 0.02104526 0.03963258
+v 0.04406419 0.02013971 0.03963257
+v 0.04544773 0.01709733 0.03968249
+v 0.04573102 0.01621349 0.04031691
+v 0.04606908 0.01552293 0.03968249
+v 0.04595170 0.01500609 0.04081821
+v 0.04613638 0.01387904 0.04105949
+v 0.04304374 0.01387903 0.04296588
+v 0.04123136 0.01539263 0.04300333
+v 0.03216632 0.02987925 0.04300754
+v 0.03064348 0.03169903 0.04295243
+v 0.03064348 0.03383369 0.04239081
+v 0.03165610 0.03292598 0.04249065
+v 0.03286435 0.03240262 0.04222336
+v 0.03414930 0.03184671 0.04163366
+v 0.03714333 0.02947317 0.04101171
+v 0.03768329 0.02816371 0.04157332
+v 0.03822324 0.02680864 0.04213390
+v 0.03937203 0.02620277 0.04145163
+v 0.04210156 0.02348395 0.04031694
+v 0.03990103 0.02477604 0.04197268
+v 0.04077905 0.02428309 0.04139754
+v 0.04245214 0.02227655 0.04094927
+v 0.04165707 0.02432001 0.03968252
+v 0.03471899 0.03061541 0.04224623
+v 0.03594446 0.03004430 0.04162949
+v 0.04398280 0.01998336 0.04058629
+v 0.04260395 0.02278253 0.03968251
+v 0.04420818 0.01901483 0.04089102
+v 0.04451494 0.01710818 0.04150984
+v 0.04400628 0.01644150 0.04237723
+v 0.04536322 0.01387904 0.04193416
+v 0.04550721 0.01387904 0.04177399
+v 0.04443668 0.01387903 0.04258627
+v 0.04304374 0.01539263 0.04285877
+v 0.04123136 0.01901482 0.04291182
+v 0.04123136 0.01720372 0.04302933
+v 0.03398027 0.02806815 0.04300649
+v 0.03406165 0.02995742 0.04269345
+v 0.03941741 0.02082592 0.04301999
+v 0.03222266 0.03175549 0.04268514
+v 0.03064348 0.03338201 0.04260818
+v 0.03351074 0.03119522 0.04250728
+v 0.03649538 0.02875002 0.04221503
+v 0.03869121 0.02560123 0.04243758
+v 0.04034082 0.02356863 0.04235022
+v 0.04188870 0.02133191 0.04215260
+v 0.04295141 0.02065872 0.04136945
+v 0.03528712 0.02940801 0.04250520
+v 0.04340059 0.01901483 0.04179274
+v 0.04371987 0.01764674 0.04216090
+v 0.04308757 0.01710817 0.04262164
+v 0.04418627 0.01539263 0.04247915
+v 0.04224085 0.02012450 0.04240532
+v 0.04249439 0.01901482 0.04252909
+v 0.04126266 0.02076729 0.04263310
+v 0.03941741 0.02263702 0.04284423
+v 0.03760660 0.02444812 0.04295344
+v 0.03579265 0.02625705 0.04299713
+v 0.03585212 0.02811592 0.04267992
+v 0.03701499 0.02754263 0.04248543
+v 0.03761442 0.02622665 0.04263416
+v 0.03934542 0.02428308 0.04254054
+v 0.04060376 0.02263702 0.04247813
+f 1 2 5
+f 1 5 13
+f 1 13 25
+f 1 25 38
+f 1 38 40
+f 1 40 61
+f 1 61 90
+f 1 90 115
+f 1 115 146
+f 1 146 116
+f 1 116 91
+f 1 91 62
+f 1 62 41
+f 1 41 27
+f 1 27 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 22
+f 1 22 33
+f 1 33 51
+f 1 51 50
+f 1 50 78
+f 1 78 77
+f 1 77 76
+f 1 76 75
+f 1 75 74
+f 1 74 83
+f 1 83 82
+f 1 82 81
+f 1 81 79
+f 1 79 52
+f 1 52 34
+f 1 34 23
+f 1 23 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 24
+f 4 24 37
+f 4 37 59
+f 4 59 58
+f 4 58 88
+f 4 88 87
+f 4 87 111
+f 4 111 137
+f 4 137 136
+f 4 136 138
+f 4 138 112
+f 4 112 89
+f 4 89 60
+f 4 60 39
+f 4 39 26
+f 4 26 15
+f 4 15 14
+f 4 14 6
+f 5 12 13
+f 5 6 14
+f 5 14 15
+f 5 15 12
+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 9 20 21
+f 9 21 10
+f 10 21 22
+f 11 23 24
+f 12 15 13
+f 13 15 26
+f 13 26 25
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 20 29 28
+f 20 28 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 25 26 38
+f 26 39 40
+f 26 40 38
+f 27 41 42
+f 27 42 28
+f 28 43 30
+f 28 42 44
+f 28 44 45
+f 28 45 46
+f 28 46 69
+f 28 69 43
+f 30 43 31
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 31 43 47
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 37
+f 39 60 40
+f 40 60 61
+f 41 62 63
+f 41 63 42
+f 42 63 44
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 48
+f 43 48 47
+f 43 69 64
+f 44 63 45
+f 45 63 70
+f 45 70 71
+f 45 71 46
+f 46 70 72
+f 46 72 69
+f 46 71 70
+f 48 68 49
+f 49 67 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 49 68 67
+f 52 79 53
+f 53 80 54
+f 53 79 81
+f 53 81 82
+f 53 82 83
+f 53 83 73
+f 53 73 84
+f 53 84 85
+f 53 85 80
+f 54 80 55
+f 55 80 56
+f 56 86 87
+f 56 87 88
+f 56 88 57
+f 56 80 86
+f 57 88 58
+f 60 89 90
+f 60 90 61
+f 62 91 92
+f 62 92 63
+f 63 92 93
+f 63 93 94
+f 63 94 70
+f 64 95 96
+f 64 96 97
+f 64 97 65
+f 64 69 95
+f 65 97 98
+f 65 98 66
+f 66 98 99
+f 66 99 100
+f 66 100 67
+f 67 101 73
+f 67 100 101
+f 69 72 96
+f 69 96 95
+f 70 94 102
+f 70 102 96
+f 70 96 72
+f 73 101 84
+f 73 83 74
+f 80 103 86
+f 80 85 100
+f 80 100 104
+f 80 104 105
+f 80 105 106
+f 80 106 103
+f 84 101 100
+f 84 100 85
+f 86 107 108
+f 86 108 109
+f 86 109 87
+f 86 103 107
+f 87 109 108
+f 87 108 110
+f 87 110 111
+f 89 112 113
+f 89 113 90
+f 90 114 115
+f 90 113 114
+f 91 116 92
+f 92 116 117
+f 92 117 118
+f 92 118 93
+f 93 118 94
+f 94 118 119
+f 94 119 102
+f 96 120 97
+f 96 102 120
+f 97 120 121
+f 97 121 122
+f 97 122 123
+f 97 123 98
+f 98 124 99
+f 98 123 125
+f 98 125 126
+f 98 126 127
+f 98 127 124
+f 99 124 128
+f 99 128 104
+f 99 104 100
+f 102 119 129
+f 102 129 130
+f 102 130 120
+f 103 106 131
+f 103 131 108
+f 103 108 107
+f 104 124 132
+f 104 132 105
+f 104 128 124
+f 105 131 106
+f 105 132 124
+f 105 124 131
+f 108 131 110
+f 110 131 133
+f 110 133 134
+f 110 134 135
+f 110 135 136
+f 110 136 137
+f 110 137 111
+f 112 138 139
+f 112 139 140
+f 112 140 141
+f 112 141 113
+f 113 141 114
+f 114 142 143
+f 114 143 115
+f 114 141 144
+f 114 144 142
+f 115 145 146
+f 115 143 145
+f 116 146 117
+f 117 145 147
+f 117 147 118
+f 117 146 145
+f 118 147 129
+f 118 129 119
+f 120 130 148
+f 120 148 121
+f 121 148 122
+f 122 149 150
+f 122 150 125
+f 122 125 123
+f 122 148 149
+f 124 127 131
+f 125 150 126
+f 126 150 127
+f 127 151 152
+f 127 152 131
+f 127 150 151
+f 129 153 148
+f 129 148 130
+f 129 147 153
+f 131 152 133
+f 133 152 154
+f 133 154 155
+f 133 155 134
+f 134 155 135
+f 135 156 157
+f 135 157 136
+f 135 155 158
+f 135 158 159
+f 135 159 156
+f 136 157 138
+f 138 157 139
+f 139 157 156
+f 139 156 140
+f 140 156 159
+f 140 159 160
+f 140 160 161
+f 140 161 162
+f 140 162 144
+f 140 144 141
+f 142 163 143
+f 142 144 163
+f 143 163 164
+f 143 164 153
+f 143 153 147
+f 143 147 145
+f 144 162 163
+f 148 165 149
+f 148 153 165
+f 149 165 166
+f 149 166 167
+f 149 167 150
+f 150 167 168
+f 150 168 158
+f 150 158 151
+f 151 158 155
+f 151 155 154
+f 151 154 152
+f 153 164 165
+f 158 168 160
+f 158 160 159
+f 160 168 161
+f 161 168 167
+f 161 167 166
+f 161 166 162
+f 162 166 164
+f 162 164 163
+f 164 166 165
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_32.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.03454977 -0.01319020 -0.02765335
+v -0.03875631 -0.00619451 -0.01630512
+v -0.03875631 -0.00594004 -0.01824343
+v -0.03875631 -0.00552116 -0.01912875
+v -0.03485567 -0.01229372 -0.02765335
+v -0.02878503 -0.01319020 -0.02765335
+v -0.03454362 -0.01319032 0.00660252
+v -0.03875631 -0.00573061 -0.01501738
+v -0.03502709 -0.01176925 0.00660253
+v -0.03539149 -0.01051065 0.00660253
+v -0.03555060 -0.00995866 0.00660253
+v -0.03875631 -0.00476756 -0.01972232
+v -0.03601354 -0.00814013 -0.02765333
+v -0.03586880 -0.00877236 -0.02765333
+v -0.03575795 -0.00923235 -0.02765333
+v -0.03557421 -0.00991940 -0.02765334
+v -0.03541202 -0.01048313 -0.02765334
+v -0.03503325 -0.01176913 -0.02765334
+v -0.03059267 0.00680654 -0.02765327
+v -0.02854073 -0.01319020 -0.02630860
+v -0.02917613 -0.01319032 0.00660252
+v -0.03875631 -0.00451704 -0.01401469
+v -0.03580927 -0.00897018 0.00660254
+v -0.03600738 -0.00806391 0.00660254
+v -0.03623526 -0.00685815 0.00660254
+v -0.03633278 -0.00633748 0.00660255
+v -0.03650933 -0.00507692 0.00660255
+v -0.03658529 -0.00452689 0.00660255
+v -0.03670231 -0.00326633 0.00660256
+v -0.03675261 -0.00271826 0.00660256
+v -0.03875631 -0.00457378 -0.01986987
+v -0.03625374 -0.00693437 -0.02765333
+v -0.03629685 0.00680654 -0.02765327
+v -0.03032373 0.00680654 -0.02612408
+v -0.02836315 -0.01319021 -0.02531261
+v -0.03107102 0.00680642 0.00660260
+v -0.02827077 -0.01319021 -0.02352520
+v -0.03009586 0.00680653 -0.02352512
+v -0.03875631 -0.00288457 -0.01311929
+v -0.03680907 -0.00145770 0.00660256
+v -0.03875631 -0.00292760 -0.02060763
+v -0.03663969 -0.00452677 -0.02765332
+v -0.03656476 -0.00504940 -0.02765332
+v -0.03636973 -0.00633736 -0.02765332
+v -0.03638923 0.00633676 -0.02765328
+v -0.03875631 0.00577888 -0.01938693
+v -0.03875631 0.00583955 -0.01929974
+v -0.03875631 0.00652464 -0.01812602
+v -0.03875631 0.00658924 -0.01790134
+v -0.03875631 0.00673603 -0.01630508
+v -0.03836522 0.00680650 -0.01660688
+v -0.03018105 0.00680653 -0.02529576
+v -0.02834365 -0.01319021 -0.02512482
+v -0.03625990 0.00680642 0.00660260
+v -0.02827487 -0.01319021 -0.02397793
+v -0.03875631 -0.00115815 -0.01282082
+v -0.03683370 -0.00090572 0.00660257
+v -0.03875631 -0.00271816 -0.02068811
+v -0.03677006 -0.00323881 -0.02765331
+v -0.03665201 0.00452617 -0.02765328
+v -0.03875631 0.00455942 -0.02019512
+v -0.03875631 0.00472775 -0.02010123
+v -0.03837753 0.00680650 -0.01630507
+v -0.03875631 0.00666361 -0.01612734
+v -0.03875631 0.00598242 -0.01473900
+v -0.03634817 0.00633664 0.00660259
+v -0.03875631 -0.00090565 -0.01278394
+v -0.03683370 0.00090487 0.00660257
+v -0.03875631 0.00069550 -0.01276381
+v -0.03875631 -0.00090562 -0.02098992
+v -0.03690966 -0.00090560 -0.02765330
+v -0.03688400 -0.00143018 -0.02765331
+v -0.03682036 -0.00271814 -0.02765331
+v -0.03682754 0.00271558 -0.02765329
+v -0.03875631 0.00271556 -0.02080882
+v -0.03875631 0.00496262 -0.01383691
+v -0.03659350 0.00452605 0.00660259
+v -0.03675569 0.00271546 0.00660258
+v -0.03875631 0.00405635 -0.01333054
+v -0.03875631 0.00271553 -0.01292813
+v -0.03875631 0.00090494 -0.01276381
+v -0.03875631 0.00090497 -0.02101675
+v -0.03691274 0.00038041 -0.02765330
+v -0.03691377 0.00090499 -0.02765330
+v -0.03875631 0.00200111 -0.02089601
+v -0.03664277 0.00397602 0.00660258
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 32
+f 1 32 44
+f 1 44 43
+f 1 43 42
+f 1 42 59
+f 1 59 73
+f 1 73 72
+f 1 72 71
+f 1 71 83
+f 1 83 84
+f 1 84 74
+f 1 74 60
+f 1 60 45
+f 1 45 33
+f 1 33 19
+f 1 19 6
+f 1 6 20
+f 1 20 35
+f 1 35 53
+f 1 53 55
+f 1 55 37
+f 1 37 21
+f 1 21 7
+f 1 7 2
+f 2 8 22
+f 2 22 39
+f 2 39 56
+f 2 56 67
+f 2 67 69
+f 2 69 81
+f 2 81 80
+f 2 80 79
+f 2 79 76
+f 2 76 65
+f 2 65 64
+f 2 64 50
+f 2 50 49
+f 2 49 48
+f 2 48 47
+f 2 47 46
+f 2 46 62
+f 2 62 61
+f 2 61 75
+f 2 75 85
+f 2 85 82
+f 2 82 70
+f 2 70 58
+f 2 58 41
+f 2 41 31
+f 2 31 12
+f 2 12 4
+f 2 4 3
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 6 19 20
+f 7 21 36
+f 7 36 54
+f 7 54 66
+f 7 66 77
+f 7 77 86
+f 7 86 78
+f 7 78 68
+f 7 68 57
+f 7 57 40
+f 7 40 30
+f 7 30 29
+f 7 29 28
+f 7 28 27
+f 7 27 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 11
+f 7 11 10
+f 7 10 9
+f 8 11 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 22
+f 12 31 32
+f 12 32 13
+f 19 33 51
+f 19 51 63
+f 19 63 54
+f 19 54 36
+f 19 36 38
+f 19 38 52
+f 19 52 34
+f 19 34 35
+f 19 35 20
+f 21 37 38
+f 21 38 36
+f 22 30 39
+f 30 40 39
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 34 52 35
+f 35 52 53
+f 37 55 38
+f 38 55 52
+f 39 40 57
+f 39 57 56
+f 41 58 42
+f 42 58 59
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 50 63 51
+f 50 64 54
+f 50 54 63
+f 52 55 53
+f 54 64 65
+f 54 65 66
+f 56 57 67
+f 57 68 81
+f 57 81 69
+f 57 69 67
+f 58 70 71
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 60 74 61
+f 61 74 75
+f 65 76 77
+f 65 77 66
+f 68 78 79
+f 68 79 80
+f 68 80 81
+f 70 82 71
+f 71 82 83
+f 74 84 75
+f 75 84 85
+f 76 79 78
+f 76 78 86
+f 76 86 77
+f 82 85 84
+f 82 84 83
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_33.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.03634461 0.01387492 0.03240531
+v 0.03634580 0.01387492 0.03241572
+v 0.03839989 0.01387492 0.03240531
+v 0.03854669 -0.00635606 0.03240524
+v 0.03858011 -0.00635606 0.03270609
+v 0.03706550 0.01387490 0.03782787
+v 0.03923298 -0.00635608 0.03782780
+v 0.04123933 0.01387492 0.03240636
+v 0.04135033 0.01358970 0.03240531
+v 0.04322539 -0.00635606 0.03240524
+v 0.03714428 0.01387490 0.03815994
+v 0.03965430 -0.00635609 0.03961311
+v 0.04575928 0.01387490 0.03692949
+v 0.04135391 0.01357980 0.03240531
+v 0.04787902 -0.00635608 0.03762480
+v 0.04322897 -0.00633823 0.03240524
+v 0.04762479 -0.00583119 0.03688361
+v 0.03751308 0.01387489 0.03965690
+v 0.03965908 -0.00635609 0.03963185
+v 0.04190294 0.01194769 0.03240530
+v 0.04609109 0.01387490 0.03746976
+v 0.04699221 0.01161689 0.03798921
+v 0.04714857 0.00995904 0.03755407
+v 0.04735982 0.00814867 0.03716889
+v 0.04588699 0.01312817 0.03683476
+v 0.04218939 0.01103062 0.03240530
+v 0.04790169 -0.00635608 0.03768206
+v 0.04811414 -0.00452590 0.03782780
+v 0.04347245 -0.00452588 0.03240524
+v 0.04347364 -0.00451598 0.03240524
+v 0.04363597 -0.00271551 0.03240525
+v 0.04768327 -0.00452590 0.03683364
+v 0.03817550 0.01387489 0.04094149
+v 0.04014724 -0.00635609 0.04076237
+v 0.04015440 -0.00635609 0.04077798
+v 0.04624267 0.01387490 0.03774875
+v 0.04627489 0.01367089 0.03768525
+v 0.04759017 0.01090978 0.03869813
+v 0.04768447 0.00995904 0.03845558
+v 0.04751140 0.00701372 0.03698256
+v 0.04247107 0.00995906 0.03240530
+v 0.04812728 -0.00635608 0.03897185
+v 0.04839821 -0.00452591 0.03963185
+v 0.04824424 -0.00633826 0.03963185
+v 0.04820843 -0.00271553 0.03782781
+v 0.04372190 -0.00090514 0.03240526
+v 0.04773698 -0.00271553 0.03679202
+v 0.03907901 0.01387489 0.04184403
+v 0.04100540 -0.00635609 0.04167012
+v 0.04661266 0.01387490 0.03940394
+v 0.04759017 0.01090978 0.03883138
+v 0.04801030 0.00814866 0.03963190
+v 0.04824066 0.00633631 0.03963189
+v 0.04663057 0.01387489 0.03964024
+v 0.04673083 0.01357977 0.03963192
+v 0.04783485 0.00814867 0.03807040
+v 0.04789214 0.00637989 0.03768210
+v 0.04762121 0.00580548 0.03688678
+v 0.04322300 0.00634822 0.03240528
+v 0.04289000 0.00814869 0.03240529
+v 0.04824185 -0.00635609 0.03963185
+v 0.04796734 -0.00452591 0.04120479
+v 0.04788140 -0.00633826 0.04106426
+v 0.04823946 -0.00635609 0.03964538
+v 0.04849250 -0.00271554 0.03963186
+v 0.04825259 -0.00090516 0.03782782
+v 0.04853785 -0.00090517 0.03963187
+v 0.04775966 -0.00090516 0.03677537
+v 0.04372429 0.00090523 0.03240526
+v 0.03998611 0.01387488 0.04251548
+v 0.04101494 -0.00635609 0.04167948
+v 0.04191130 -0.00635610 0.04246960
+v 0.04751140 0.01057899 0.04003373
+v 0.04770356 0.00996893 0.03951219
+v 0.04731208 0.01161688 0.03951219
+v 0.04764508 0.00937075 0.04065728
+v 0.04788021 0.00633631 0.04106013
+v 0.04839582 0.00452594 0.03963189
+v 0.04810699 0.00452595 0.03782784
+v 0.04775369 0.00814866 0.04084674
+v 0.04613644 0.01387489 0.04105912
+v 0.04767850 0.00452595 0.03683889
+v 0.04364074 0.00271758 0.03240527
+v 0.04347484 0.00452597 0.03240528
+v 0.04347364 0.00453587 0.03240528
+v 0.04730373 -0.00452591 0.04210629
+v 0.04801985 -0.00271554 0.04128912
+v 0.04738966 -0.00271554 0.04219167
+v 0.04718079 -0.00633826 0.04196680
+v 0.04717960 -0.00635609 0.04196472
+v 0.04787185 -0.00635609 0.04107154
+v 0.04787902 -0.00635609 0.04106218
+v 0.04825259 0.00090521 0.03782782
+v 0.04804492 -0.00090517 0.04132973
+v 0.04853666 0.00090520 0.03963187
+v 0.04804492 0.00090520 0.04132869
+v 0.04775966 0.00090521 0.03677537
+v 0.04372429 0.00091711 0.03240526
+v 0.04123217 0.01387488 0.04289440
+v 0.04192204 -0.00635610 0.04247689
+v 0.04303084 -0.00635610 0.04285685
+v 0.04702563 0.00814866 0.04174928
+v 0.04618538 0.01357977 0.04112262
+v 0.04634054 0.01170205 0.04155671
+v 0.04694925 0.00996893 0.04132977
+v 0.04717721 0.00633631 0.04196268
+v 0.04729895 0.00452594 0.04210321
+v 0.04796734 0.00452594 0.04120067
+v 0.04849011 0.00271755 0.03963188
+v 0.04820486 0.00271756 0.03782783
+v 0.04550744 0.01387489 0.04177428
+v 0.04539167 0.01357977 0.04202516
+v 0.04773340 0.00271756 0.03679516
+v 0.04627250 -0.00635610 0.04261326
+v 0.04743502 -0.00090518 0.04223227
+v 0.04648376 -0.00271555 0.04267261
+v 0.04639783 -0.00452592 0.04265282
+v 0.04716886 -0.00635609 0.04197305
+v 0.04801985 0.00271755 0.04128602
+v 0.04743382 0.00090519 0.04223123
+v 0.04304516 0.01176939 0.04302139
+v 0.04304516 0.01357976 0.04298705
+v 0.04304516 0.01387488 0.04296623
+v 0.04304516 -0.00635610 0.04286102
+v 0.04485816 -0.00452592 0.04302758
+v 0.04581180 0.01105237 0.04237389
+v 0.04561367 0.01225862 0.04223857
+v 0.04593593 0.00995902 0.04245197
+v 0.04611973 0.00814865 0.04255189
+v 0.04627131 0.00633630 0.04261330
+v 0.04738608 0.00271755 0.04218856
+v 0.04536422 0.01387489 0.04193356
+v 0.04443683 0.01387488 0.04258626
+v 0.04625938 -0.00635610 0.04261742
+v 0.04652912 -0.00090518 0.04268094
+v 0.04485816 -0.00635610 0.04299739
+v 0.04652673 0.00090519 0.04267990
+v 0.04639186 0.00452593 0.04265077
+v 0.04647899 0.00271754 0.04267054
+v 0.04485816 0.00452593 0.04302345
+v 0.04485816 0.00633630 0.04299743
+v 0.04485816 -0.00271555 0.04303695
+v 0.04485816 -0.00090518 0.04303905
+v 0.04485816 0.00090519 0.04303696
+v 0.04485816 0.00271754 0.04303281
+v 0.04485816 0.00814865 0.04294018
+v 0.04485816 0.00995902 0.04282985
+v 0.04448458 0.01357976 0.04260812
+v 0.04483787 -0.00635610 0.04299739
+v 0.04494886 0.01170204 0.04263310
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 33
+f 1 33 48
+f 1 48 70
+f 1 70 99
+f 1 99 123
+f 1 123 133
+f 1 133 132
+f 1 132 111
+f 1 111 81
+f 1 81 54
+f 1 54 50
+f 1 50 36
+f 1 36 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 20
+f 1 20 26
+f 1 26 41
+f 1 41 60
+f 1 60 59
+f 1 59 85
+f 1 85 84
+f 1 84 83
+f 1 83 98
+f 1 98 69
+f 1 69 46
+f 1 46 31
+f 1 31 30
+f 1 30 29
+f 1 29 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 15
+f 4 15 27
+f 4 27 42
+f 4 42 61
+f 4 61 64
+f 4 64 92
+f 4 92 91
+f 4 91 90
+f 4 90 118
+f 4 118 114
+f 4 114 134
+f 4 134 136
+f 4 136 149
+f 4 149 124
+f 4 124 101
+f 4 101 100
+f 4 100 72
+f 4 72 71
+f 4 71 49
+f 4 49 35
+f 4 35 34
+f 4 34 19
+f 4 19 12
+f 4 12 7
+f 4 7 5
+f 6 7 12
+f 6 12 11
+f 8 13 9
+f 9 13 14
+f 10 16 17
+f 10 17 15
+f 11 12 18
+f 12 19 18
+f 13 20 14
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 20
+f 15 17 28
+f 15 28 27
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 28
+f 18 19 34
+f 18 34 35
+f 18 35 33
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 27 28 42
+f 28 43 44
+f 28 44 42
+f 28 32 45
+f 28 45 65
+f 28 65 43
+f 31 46 47
+f 31 47 32
+f 32 47 45
+f 33 35 49
+f 33 49 48
+f 36 50 38
+f 36 38 37
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 38 50 54
+f 38 54 55
+f 38 55 51
+f 39 56 40
+f 39 53 56
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 42 44 61
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 43 65 62
+f 44 64 61
+f 45 47 66
+f 45 66 67
+f 45 67 65
+f 46 68 47
+f 46 69 68
+f 47 68 66
+f 48 49 71
+f 48 71 72
+f 48 72 70
+f 51 73 74
+f 51 74 52
+f 51 55 75
+f 51 75 73
+f 52 74 76
+f 52 76 53
+f 53 77 78
+f 53 78 79
+f 53 79 56
+f 53 76 80
+f 53 80 77
+f 54 81 55
+f 55 81 73
+f 55 73 75
+f 56 79 57
+f 57 79 58
+f 58 79 82
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 59
+f 62 86 63
+f 62 65 87
+f 62 87 88
+f 62 88 86
+f 63 86 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 65 67 87
+f 66 68 97
+f 66 97 93
+f 66 93 67
+f 67 94 87
+f 67 93 95
+f 67 95 96
+f 67 96 94
+f 68 69 98
+f 68 98 97
+f 70 72 100
+f 70 100 101
+f 70 101 99
+f 73 76 74
+f 73 81 76
+f 76 102 80
+f 76 81 103
+f 76 103 104
+f 76 104 105
+f 76 105 102
+f 77 106 107
+f 77 107 108
+f 77 108 78
+f 77 80 106
+f 78 108 109
+f 78 109 110
+f 78 110 79
+f 79 110 82
+f 80 102 106
+f 81 111 112
+f 81 112 103
+f 82 110 113
+f 82 113 83
+f 83 113 98
+f 86 114 89
+f 86 88 114
+f 87 94 115
+f 87 115 88
+f 88 116 117
+f 88 117 114
+f 88 115 116
+f 89 114 118
+f 89 118 90
+f 93 97 113
+f 93 113 110
+f 93 110 109
+f 93 109 95
+f 94 96 115
+f 95 109 119
+f 95 119 96
+f 96 120 115
+f 96 119 120
+f 97 98 113
+f 99 121 122
+f 99 122 123
+f 99 101 124
+f 99 124 125
+f 99 125 121
+f 102 105 126
+f 102 126 106
+f 103 112 127
+f 103 127 104
+f 104 127 126
+f 104 126 105
+f 106 126 128
+f 106 128 129
+f 106 129 107
+f 107 129 130
+f 107 130 131
+f 107 131 108
+f 108 131 119
+f 108 119 109
+f 111 132 112
+f 112 132 133
+f 112 133 127
+f 114 117 134
+f 115 135 116
+f 115 120 135
+f 116 135 125
+f 116 125 136
+f 116 136 117
+f 117 136 134
+f 119 131 120
+f 120 137 135
+f 120 131 138
+f 120 138 139
+f 120 139 137
+f 121 140 141
+f 121 141 122
+f 121 125 142
+f 121 142 143
+f 121 143 144
+f 121 144 145
+f 121 145 140
+f 122 141 146
+f 122 146 147
+f 122 147 123
+f 123 148 133
+f 123 147 148
+f 124 149 125
+f 125 149 136
+f 125 135 142
+f 126 127 133
+f 126 133 148
+f 126 148 128
+f 128 147 129
+f 128 148 150
+f 128 150 147
+f 129 147 146
+f 129 146 130
+f 130 138 131
+f 130 146 138
+f 135 143 142
+f 135 137 143
+f 137 144 143
+f 137 139 140
+f 137 140 145
+f 137 145 144
+f 138 146 141
+f 138 141 139
+f 139 141 140
+f 147 150 148
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_34.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00009347 0.03971189 0.00659893
+v 0.00003335 0.03970742 0.00659893
+v 0.00009347 0.03471630 0.00659891
+v 0.00009347 0.03989446 -0.03074344
+v -0.00002887 0.03988641 -0.03074344
+v -0.00047182 0.03966718 0.00659893
+v -0.01068071 0.03198331 0.00659890
+v 0.00009347 0.03333206 -0.03217052
+v 0.00009347 0.03987837 -0.03217049
+v 0.00006710 0.03987748 -0.03217049
+v -0.00093586 0.03979430 -0.03074344
+v -0.00173317 0.03951336 0.00659893
+v -0.01068071 0.03726865 0.00659892
+v -0.01068071 0.03075914 -0.03217053
+v -0.00228474 0.03958146 -0.03217049
+v -0.00228474 0.03961723 -0.03074344
+v -0.00228474 0.03944539 0.00659892
+v -0.00953643 0.03768718 0.00659892
+v -0.00974736 0.03779195 -0.03074345
+v -0.01068071 0.03744764 -0.03074345
+v -0.01068071 0.03741188 -0.03217050
+v -0.00266441 0.03951707 -0.03217049
+v -0.00409766 0.03930780 -0.03074345
+v -0.00409766 0.03913686 0.00659892
+v -0.00354609 0.03923076 0.00659892
+v -0.00856933 0.03801093 0.00659892
+v -0.00884037 0.03809870 -0.03074345
+v -0.00969463 0.03777497 -0.03217050
+v -0.01068071 0.03743334 -0.03132035
+v -0.00409766 0.03927203 -0.03217050
+v -0.00447733 0.03918886 -0.03217050
+v -0.00591059 0.03887407 -0.03217050
+v -0.00591059 0.03890804 -0.03074345
+v -0.00535901 0.03885962 0.00659892
+v -0.00793865 0.03819336 0.00659892
+v -0.00772351 0.03842780 -0.03074345
+v -0.00878764 0.03808082 -0.03217050
+v -0.00628920 0.03877391 -0.03217050
+v -0.00591059 0.03873799 0.00659892
+v -0.00766234 0.03827296 0.00659892
+v -0.00772351 0.03839383 -0.03217050
+v -0.00713080 0.03841426 0.00659892
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 25
+f 1 25 24
+f 1 24 34
+f 1 34 39
+f 1 39 42
+f 1 42 40
+f 1 40 35
+f 1 35 26
+f 1 26 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 20
+f 7 20 29
+f 7 29 21
+f 7 21 14
+f 7 14 8
+f 8 14 21
+f 8 21 28
+f 8 28 37
+f 8 37 41
+f 8 41 38
+f 8 38 32
+f 8 32 31
+f 8 31 30
+f 8 30 22
+f 8 22 15
+f 8 15 10
+f 8 10 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 20
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 21
+f 19 21 29
+f 19 29 20
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 32 38 33
+f 33 38 36
+f 33 36 39
+f 33 39 34
+f 35 40 36
+f 36 38 41
+f 36 41 37
+f 36 40 42
+f 36 42 39
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_35.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.02302008 -0.02581550 -0.03395963
+v 0.02302008 -0.02901146 -0.03006310
+v 0.02302008 -0.03494123 -0.03395967
+v 0.00009347 -0.03148359 -0.03395966
+v 0.00009347 -0.03432042 -0.03006312
+v 0.02302008 -0.03509436 -0.03006312
+v 0.02302008 -0.03507486 -0.03254805
+v 0.02147159 -0.03587107 -0.03254805
+v 0.02122248 -0.03586132 -0.03395967
+v 0.00009347 -0.03973238 -0.03395969
+v 0.00009347 -0.03987020 -0.03006314
+v 0.02212016 -0.03555928 -0.03006312
+v 0.02302008 -0.03512498 -0.03074395
+v 0.02152769 -0.03589474 -0.03074395
+v 0.02062104 -0.03633042 -0.03074395
+v 0.02056494 -0.03630397 -0.03254805
+v 0.02045048 -0.03625107 -0.03379299
+v 0.02065022 -0.03613972 -0.03395967
+v 0.00009347 -0.03974909 -0.03380179
+v 0.00096421 -0.03980198 -0.03395969
+v 0.00009347 -0.03987298 -0.03014781
+v 0.00010693 -0.03987159 -0.03006314
+v 0.02149628 -0.03588082 -0.03006312
+v 0.02058962 -0.03631511 -0.03006312
+v 0.01987373 -0.03661995 -0.03006312
+v 0.01947202 -0.03681761 -0.03074396
+v 0.01947202 -0.03676749 -0.03254806
+v 0.02021485 -0.03633459 -0.03395967
+v 0.02043253 -0.03624272 -0.03395967
+v 0.00009347 -0.03980894 -0.03305688
+v 0.00055128 -0.03983260 -0.03335591
+v 0.00157239 -0.03983678 -0.03395969
+v 0.00009347 -0.03988829 -0.03074397
+v 0.00134348 -0.03997459 -0.03074397
+v 0.00017201 -0.03987577 -0.03006314
+v 0.01947202 -0.03678978 -0.03006313
+v 0.01765872 -0.03750246 -0.03006313
+v 0.01765872 -0.03752891 -0.03074396
+v 0.01765872 -0.03748018 -0.03254806
+v 0.01805370 -0.03720318 -0.03395968
+v 0.01958423 -0.03659628 -0.03395967
+v 0.00009347 -0.03987297 -0.03215178
+v 0.00176090 -0.03986601 -0.03374648
+v 0.00123127 -0.03991612 -0.03267203
+v 0.00310966 -0.03988271 -0.03395969
+v 0.00315678 -0.03999129 -0.03254807
+v 0.00315678 -0.04003445 -0.03074397
+v 0.00202796 -0.03997181 -0.03006314
+v 0.00131879 -0.03994815 -0.03006314
+v 0.01693609 -0.03776137 -0.03006313
+v 0.01649847 -0.03794650 -0.03074396
+v 0.01765872 -0.03735769 -0.03395968
+v 0.01641768 -0.03792143 -0.03254806
+v 0.00315678 -0.03988411 -0.03395969
+v 0.00497009 -0.03987436 -0.03383421
+v 0.00497009 -0.03996902 -0.03254807
+v 0.00497009 -0.04001218 -0.03074397
+v 0.00497009 -0.03998712 -0.03006314
+v 0.00315678 -0.04000800 -0.03006314
+v 0.01645583 -0.03793258 -0.03006313
+v 0.01554918 -0.03822072 -0.03006313
+v 0.01559182 -0.03823324 -0.03074396
+v 0.01622917 -0.03786158 -0.03395968
+v 0.01551103 -0.03820818 -0.03254806
+v 0.00497009 -0.03986323 -0.03395969
+v 0.00603383 -0.03985209 -0.03359239
+v 0.00669587 -0.03988271 -0.03242068
+v 0.00774166 -0.03984513 -0.03173451
+v 0.00692477 -0.03989943 -0.03072337
+v 0.00671831 -0.03989108 -0.03006314
+v 0.00549523 -0.03996067 -0.03006314
+v 0.01457969 -0.03849772 -0.03006313
+v 0.01403211 -0.03868007 -0.03074396
+v 0.01403211 -0.03863273 -0.03254806
+v 0.01532252 -0.03814832 -0.03395968
+v 0.00569271 -0.03983260 -0.03395969
+v 0.00639963 -0.03978945 -0.03395969
+v 0.00724345 -0.03980337 -0.03293712
+v 0.00774166 -0.03984513 -0.03131114
+v 0.00844633 -0.03971150 -0.03242068
+v 0.01041000 -0.03942058 -0.03254806
+v 0.01041000 -0.03946931 -0.03074396
+v 0.00844633 -0.03974910 -0.03072337
+v 0.00762496 -0.03983401 -0.03010815
+v 0.00757559 -0.03983540 -0.03006314
+v 0.01403211 -0.03865223 -0.03006313
+v 0.01290329 -0.03892644 -0.03006313
+v 0.01222105 -0.03909209 -0.03006313
+v 0.01222105 -0.03911853 -0.03074396
+v 0.01222105 -0.03907259 -0.03254806
+v 0.01261603 -0.03885962 -0.03395968
+v 0.01403211 -0.03851441 -0.03395968
+v 0.01222105 -0.03895566 -0.03395968
+v 0.00681930 -0.03975187 -0.03395969
+v 0.00856527 -0.03957091 -0.03395969
+v 0.00899167 -0.03951106 -0.03395969
+v 0.01041000 -0.03930505 -0.03395968
+v 0.01041000 -0.03944426 -0.03006313
+v 0.00850019 -0.03971847 -0.03006314
+v 0.00766311 -0.03982844 -0.03006314
+v 0.00761149 -0.03983261 -0.03006314
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 29
+f 1 29 28
+f 1 28 41
+f 1 41 40
+f 1 40 52
+f 1 52 63
+f 1 63 75
+f 1 75 92
+f 1 92 91
+f 1 91 93
+f 1 93 97
+f 1 97 96
+f 1 96 95
+f 1 95 94
+f 1 94 77
+f 1 77 76
+f 1 76 65
+f 1 65 54
+f 1 54 45
+f 1 45 32
+f 1 32 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 35
+f 2 35 49
+f 2 49 48
+f 2 48 59
+f 2 59 58
+f 2 58 71
+f 2 71 70
+f 2 70 85
+f 2 85 101
+f 2 101 100
+f 2 100 99
+f 2 99 98
+f 2 98 88
+f 2 88 87
+f 2 87 86
+f 2 86 72
+f 2 72 61
+f 2 61 60
+f 2 60 50
+f 2 50 37
+f 2 37 36
+f 2 36 25
+f 2 25 24
+f 2 24 23
+f 2 23 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 10 19
+f 4 19 30
+f 4 30 42
+f 4 42 33
+f 4 33 21
+f 4 21 11
+f 4 11 5
+f 6 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 20 19
+f 11 21 22
+f 12 23 14
+f 12 14 13
+f 14 23 15
+f 15 23 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 17 28 29
+f 17 29 18
+f 19 20 31
+f 19 31 30
+f 20 32 31
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 30 31 42
+f 31 32 43
+f 31 43 44
+f 31 44 42
+f 32 45 43
+f 33 42 34
+f 34 44 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 34 42 44
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 52 40
+f 39 51 53
+f 39 53 52
+f 43 45 54
+f 43 54 46
+f 43 46 44
+f 46 54 55
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 64
+f 51 64 53
+f 52 53 63
+f 53 64 75
+f 53 75 63
+f 54 65 55
+f 55 65 66
+f 55 66 56
+f 56 66 67
+f 56 67 68
+f 56 68 57
+f 57 69 70
+f 57 70 71
+f 57 71 58
+f 57 68 69
+f 61 72 73
+f 61 73 62
+f 62 73 74
+f 62 74 64
+f 64 74 75
+f 65 76 66
+f 66 76 77
+f 66 77 78
+f 66 78 67
+f 67 78 68
+f 68 79 69
+f 68 78 80
+f 68 80 81
+f 68 81 82
+f 68 82 83
+f 68 83 79
+f 69 79 84
+f 69 84 70
+f 70 84 85
+f 72 86 73
+f 73 86 87
+f 73 87 88
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 74 91 92
+f 74 92 75
+f 74 90 93
+f 74 93 91
+f 77 94 78
+f 78 94 95
+f 78 95 80
+f 79 83 84
+f 80 95 96
+f 80 96 81
+f 81 96 97
+f 81 97 90
+f 81 90 82
+f 82 90 89
+f 82 89 98
+f 82 98 99
+f 82 99 83
+f 83 99 100
+f 83 100 84
+f 84 100 101
+f 84 101 85
+f 88 98 89
+f 90 97 93
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_36.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00009347 -0.03472165 0.00660244
+v -0.01880043 -0.02711519 0.00660247
+v 0.00009347 -0.03973443 0.00660242
+v 0.00009347 -0.03376950 -0.02172110
+v -0.02602909 -0.02711519 0.00660247
+v 0.00009347 -0.03376084 -0.02228113
+v -0.01765030 -0.02711509 -0.02172108
+v -0.00047263 -0.03968739 0.00660242
+v -0.00019599 -0.03973803 -0.02765345
+v 0.00009347 -0.03976155 -0.02765345
+v -0.02547323 -0.02770078 0.00660247
+v -0.02607520 -0.02711507 -0.02765340
+v 0.00009347 -0.03374226 -0.02352527
+v -0.01760163 -0.02711508 -0.02349507
+v -0.00102336 -0.03962053 0.00660242
+v -0.00099775 -0.03965136 -0.02765345
+v -0.00045982 -0.03971574 -0.02765345
+v 0.00009347 -0.03446649 -0.02765343
+v -0.02484053 -0.02833093 0.00660247
+v -0.02549629 -0.02772418 -0.02765340
+v -0.02458694 -0.02863042 -0.02765341
+v -0.01847255 -0.02711507 -0.02765340
+v -0.01782448 -0.02711508 -0.02523553
+v -0.01766823 -0.02711508 -0.02458496
+v -0.01766311 -0.02711508 -0.02455478
+v -0.01760163 -0.02711508 -0.02352525
+v 0.00009347 -0.03398862 -0.02532945
+v -0.00228620 -0.03946702 0.00660243
+v -0.00228620 -0.03949413 -0.02765345
+v -0.02456389 -0.02860578 0.00660246
+v -0.02368016 -0.02946609 -0.02765341
+v -0.02365710 -0.02944888 0.00660246
+v -0.02428724 -0.02886329 0.00660246
+v -0.00409977 -0.03916618 0.00660243
+v -0.00409977 -0.03918834 -0.02765344
+v -0.02264017 -0.03037109 -0.02765341
+v -0.02262224 -0.03035388 0.00660246
+v -0.02293731 -0.03007903 0.00660246
+v -0.00465050 -0.03904733 0.00660243
+v -0.00591078 -0.03879465 -0.02765344
+v -0.00591078 -0.03877496 0.00660243
+v -0.02237890 -0.03058651 -0.02765341
+v -0.02234816 -0.03058167 0.00660246
+v -0.00643589 -0.03865723 -0.02765344
+v -0.00771666 -0.03829213 0.00660243
+v -0.00784217 -0.03828458 -0.02765344
+v -0.02173339 -0.03111514 -0.02765341
+v -0.02171546 -0.03110165 0.00660246
+v -0.00834936 -0.03810766 0.00660243
+v -0.00815468 -0.03819296 -0.02765344
+v -0.02053715 -0.03202138 -0.02765342
+v -0.02087784 -0.03173057 0.00660245
+v -0.00862344 -0.03802595 0.00660243
+v -0.00863625 -0.03804688 -0.02765344
+v -0.02027588 -0.03221328 -0.02765342
+v -0.02050898 -0.03200665 0.00660245
+v -0.00890265 -0.03793186 0.00660243
+v -0.00946619 -0.03777575 -0.02765344
+v -0.00918954 -0.03786860 -0.02765344
+v -0.01963293 -0.03268373 -0.02765342
+v -0.02023489 -0.03220597 0.00660245
+v -0.00953791 -0.03771644 0.00660243
+v -0.01135148 -0.03707998 -0.02765344
+v -0.01860063 -0.03335846 -0.02765342
+v -0.01860063 -0.03332144 0.00660245
+v -0.01960219 -0.03266280 0.00660245
+v -0.01135148 -0.03704543 0.00660243
+v -0.01179719 -0.03689427 -0.02765344
+v -0.01178694 -0.03686468 0.00660243
+v -0.01278338 -0.03644994 0.00660244
+v -0.01766055 -0.03394899 -0.02765342
+v -0.01727375 -0.03415958 0.00660244
+v -0.01281924 -0.03646839 -0.02765343
+v -0.01341096 -0.03616767 0.00660244
+v -0.01729937 -0.03417556 -0.02765343
+v -0.01699711 -0.03431805 0.00660244
+v -0.01639259 -0.03469553 -0.02765343
+v -0.01372346 -0.03606108 -0.02765343
+v -0.01368504 -0.03604386 0.00660244
+v -0.01636697 -0.03467832 0.00660244
+v -0.01497606 -0.03544330 -0.02765343
+v -0.01407952 -0.03585073 0.00660244
+v -0.01497606 -0.03541123 0.00660244
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 30
+f 1 30 33
+f 1 33 32
+f 1 32 38
+f 1 38 37
+f 1 37 43
+f 1 43 48
+f 1 48 52
+f 1 52 56
+f 1 56 61
+f 1 61 66
+f 1 66 65
+f 1 65 72
+f 1 72 76
+f 1 76 80
+f 1 80 83
+f 1 83 82
+f 1 82 79
+f 1 79 74
+f 1 74 70
+f 1 70 69
+f 1 69 67
+f 1 67 62
+f 1 62 57
+f 1 57 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 39
+f 1 39 34
+f 1 34 28
+f 1 28 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 27
+f 1 27 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 22
+f 2 22 12
+f 2 12 5
+f 3 8 9
+f 3 9 10
+f 5 12 11
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 16
+f 9 16 29
+f 9 29 35
+f 9 35 40
+f 9 40 44
+f 9 44 46
+f 9 46 50
+f 9 50 54
+f 9 54 59
+f 9 59 58
+f 9 58 63
+f 9 63 68
+f 9 68 73
+f 9 73 78
+f 9 78 81
+f 9 81 77
+f 9 77 75
+f 9 75 71
+f 9 71 64
+f 9 64 60
+f 9 60 55
+f 9 55 51
+f 9 51 47
+f 9 47 42
+f 9 42 36
+f 9 36 31
+f 9 31 21
+f 9 21 20
+f 9 20 12
+f 9 12 22
+f 9 22 18
+f 9 18 10
+f 11 12 20
+f 11 20 21
+f 11 21 19
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 27 22
+f 13 22 23
+f 15 28 16
+f 16 28 29
+f 18 22 27
+f 19 21 30
+f 21 31 32
+f 21 32 33
+f 21 33 30
+f 28 34 29
+f 29 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 34 39 35
+f 35 39 41
+f 35 41 40
+f 36 42 43
+f 36 43 37
+f 40 41 44
+f 41 45 46
+f 41 46 44
+f 42 47 48
+f 42 48 43
+f 45 49 46
+f 46 49 50
+f 47 51 48
+f 48 51 52
+f 49 53 50
+f 50 53 54
+f 51 55 56
+f 51 56 52
+f 53 57 58
+f 53 58 59
+f 53 59 54
+f 55 60 56
+f 56 60 61
+f 57 62 58
+f 58 62 63
+f 60 64 65
+f 60 65 66
+f 60 66 61
+f 62 67 63
+f 63 67 69
+f 63 69 70
+f 63 70 68
+f 64 71 72
+f 64 72 65
+f 68 70 73
+f 70 74 73
+f 71 75 72
+f 72 75 77
+f 72 77 76
+f 73 74 78
+f 74 79 78
+f 76 77 80
+f 77 81 80
+f 78 79 82
+f 78 82 83
+f 78 83 81
+f 80 81 83
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_37.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.03597258 0.00834405 0.00660260
+v -0.03592777 0.00855975 0.00660260
+v -0.03075321 0.00834405 0.00660260
+v -0.03682062 0.00834396 0.02890485
+v -0.03582488 0.00904150 0.00660260
+v -0.03077810 0.00834404 0.00868249
+v -0.01987966 0.02624291 0.00660267
+v -0.01987966 0.02624769 0.00715228
+v -0.01987966 0.02628843 0.01076245
+v -0.01987966 0.02631238 0.01256754
+v -0.01987966 0.02634833 0.01503000
+v -0.01987966 0.02636750 0.01617502
+v -0.01987966 0.02639865 0.01798011
+v -0.03683390 0.00834396 0.02929551
+v -0.03506147 0.01177139 0.00660261
+v -0.03522079 0.01122014 0.00660261
+v -0.03561577 0.00984201 0.00660261
+v -0.03078142 0.00834404 0.00895730
+v -0.01987966 0.03242411 0.00660269
+v -0.01987966 0.02641303 0.01870484
+v -0.03672271 0.00834394 0.03412614
+v -0.03620990 0.01014868 0.03412615
+v -0.03565228 0.01180962 0.03412615
+v -0.03444245 0.01358332 0.00660262
+v -0.03080466 0.00834403 0.01076238
+v -0.01987966 0.02643460 0.01978520
+v -0.02048706 0.03198071 0.00660269
+v -0.01989957 0.03281227 0.03412623
+v -0.01987966 0.03282665 0.03412623
+v -0.03194976 0.00834394 0.03412614
+v -0.03498679 0.01358321 0.03412616
+v -0.03406241 0.01460433 0.00660262
+v -0.03085610 0.00834402 0.01436987
+v -0.01987966 0.02647773 0.02158759
+v -0.02132515 0.03135036 0.00660269
+v -0.02075924 0.03217713 0.03412623
+v -0.01987966 0.02742679 0.03412621
+v -0.03168589 0.00834395 0.03241265
+v -0.03433458 0.01520101 0.03412617
+v -0.03367573 0.01551030 0.00660263
+v -0.03427649 0.01534482 0.03412617
+v -0.03088930 0.00834401 0.01617495
+v -0.01987966 0.02653045 0.02338998
+v -0.02169026 0.03107474 0.00660268
+v -0.02189107 0.03131910 0.03412623
+v -0.01987966 0.02712721 0.03241272
+v -0.03149504 0.00834396 0.03061026
+v -0.03289572 0.01720480 0.00660263
+v -0.03423168 0.01544548 0.03412617
+v -0.03092083 0.00834400 0.01774565
+v -0.01987966 0.02659756 0.02524356
+v -0.03096564 0.00834400 0.01978513
+v -0.03092581 0.00834400 0.01798004
+v -0.02196741 0.03084944 0.00660268
+v -0.02285860 0.03055693 0.03412622
+v -0.02199894 0.03123521 0.03412622
+v -0.01987966 0.02692589 0.03061033
+v -0.03135564 0.00834396 0.02880517
+v -0.03232815 0.01834325 0.00660264
+v -0.03392466 0.01609740 0.03412617
+v -0.03353798 0.01691468 0.03412617
+v -0.03346164 0.01707287 0.03412617
+v -0.01987966 0.02664788 0.02632931
+v -0.03101542 0.00834399 0.02158752
+v -0.02259805 0.03033415 0.00660268
+v -0.02390082 0.02965097 0.03412622
+v -0.02365022 0.02942818 0.00660268
+v -0.01987966 0.02677490 0.02894534
+v -0.03124279 0.00834397 0.02700009
+v -0.03182032 0.01924682 0.00660264
+v -0.03256381 0.01877695 0.03412618
+v -0.03206262 0.01968292 0.03412618
+v -0.01987966 0.02667904 0.02700016
+v -0.03107849 0.00834398 0.02340338
+v -0.02480861 0.02884087 0.03412622
+v -0.02392571 0.02917892 0.00660268
+v -0.03123283 0.00834397 0.02680880
+v -0.03114487 0.00834398 0.02502796
+v -0.03118968 0.02030139 0.00660264
+v -0.03135895 0.02082377 0.03412619
+v -0.03091419 0.02076156 0.00660265
+v -0.02567324 0.02798283 0.03412621
+v -0.02455635 0.02860370 0.00660268
+v -0.02519860 0.02797336 0.00660267
+v -0.02547741 0.02769773 0.00660267
+v -0.03059057 0.02200776 0.03412619
+v -0.03034661 0.02166753 0.00660265
+v -0.03074159 0.02103719 0.00660265
+v -0.02572137 0.02793490 0.03412621
+v -0.02638520 0.02674862 0.00660267
+v -0.02662750 0.02701455 0.03412621
+v -0.03055738 0.02205569 0.03412619
+v -0.02967117 0.02263581 0.00660265
+v -0.02718844 0.02584265 0.00660266
+v -0.02738925 0.02615652 0.03412621
+v -0.02994168 0.02291373 0.03412619
+v -0.02880487 0.02384377 0.00660266
+v -0.02809457 0.02474974 0.00660266
+v -0.02833686 0.02505402 0.03412620
+v -0.02743074 0.02610858 0.03412621
+v -0.02903555 0.02414805 0.03412620
+v -0.02858912 0.02411940 0.00660266
+v -0.02899904 0.02419598 0.03412620
+f 1 2 5
+f 1 5 17
+f 1 17 16
+f 1 16 15
+f 1 15 24
+f 1 24 32
+f 1 32 40
+f 1 40 48
+f 1 48 59
+f 1 59 70
+f 1 70 79
+f 1 79 81
+f 1 81 88
+f 1 88 87
+f 1 87 93
+f 1 93 97
+f 1 97 102
+f 1 102 98
+f 1 98 94
+f 1 94 90
+f 1 90 85
+f 1 85 84
+f 1 84 83
+f 1 83 76
+f 1 76 67
+f 1 67 65
+f 1 65 54
+f 1 54 44
+f 1 44 35
+f 1 35 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 6
+f 1 6 18
+f 1 18 25
+f 1 25 33
+f 1 33 42
+f 1 42 50
+f 1 50 53
+f 1 53 52
+f 1 52 64
+f 1 64 74
+f 1 74 78
+f 1 78 77
+f 1 77 69
+f 1 69 58
+f 1 58 47
+f 1 47 38
+f 1 38 30
+f 1 30 21
+f 1 21 14
+f 1 14 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 6
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 6 13 18
+f 7 19 29
+f 7 29 37
+f 7 37 46
+f 7 46 57
+f 7 57 68
+f 7 68 73
+f 7 73 63
+f 7 63 51
+f 7 51 43
+f 7 43 34
+f 7 34 26
+f 7 26 20
+f 7 20 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 13 20 18
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 18 20 26
+f 18 26 25
+f 19 27 28
+f 19 28 29
+f 21 30 37
+f 21 37 29
+f 21 29 28
+f 21 28 36
+f 21 36 45
+f 21 45 56
+f 21 56 55
+f 21 55 66
+f 21 66 75
+f 21 75 82
+f 21 82 89
+f 21 89 91
+f 21 91 95
+f 21 95 100
+f 21 100 99
+f 21 99 103
+f 21 103 101
+f 21 101 96
+f 21 96 92
+f 21 92 86
+f 21 86 80
+f 21 80 72
+f 21 72 71
+f 21 71 62
+f 21 62 61
+f 21 61 60
+f 21 60 49
+f 21 49 41
+f 21 41 39
+f 21 39 31
+f 21 31 23
+f 21 23 22
+f 23 31 32
+f 23 32 24
+f 25 26 33
+f 26 34 33
+f 27 35 36
+f 27 36 28
+f 30 38 37
+f 31 39 32
+f 32 39 41
+f 32 41 40
+f 33 34 43
+f 33 43 42
+f 35 44 36
+f 36 44 45
+f 37 38 46
+f 38 47 46
+f 40 41 49
+f 40 49 48
+f 42 43 50
+f 43 51 52
+f 43 52 53
+f 43 53 50
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 46 47 58
+f 46 58 57
+f 48 49 60
+f 48 60 61
+f 48 61 62
+f 48 62 59
+f 51 63 64
+f 51 64 52
+f 54 65 55
+f 55 65 67
+f 55 67 66
+f 57 58 69
+f 57 69 68
+f 59 62 71
+f 59 71 72
+f 59 72 70
+f 63 73 64
+f 64 73 68
+f 64 68 74
+f 66 67 75
+f 67 76 75
+f 68 69 77
+f 68 77 78
+f 68 78 74
+f 70 72 79
+f 72 80 81
+f 72 81 79
+f 75 76 83
+f 75 83 84
+f 75 84 85
+f 75 85 82
+f 80 86 87
+f 80 87 88
+f 80 88 81
+f 82 85 89
+f 85 90 91
+f 85 91 89
+f 86 92 87
+f 87 92 93
+f 90 94 95
+f 90 95 91
+f 92 96 97
+f 92 97 93
+f 94 98 99
+f 94 99 100
+f 94 100 95
+f 96 101 97
+f 97 101 103
+f 97 103 99
+f 97 99 102
+f 98 102 99
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_38.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.03312488 -0.01694458 -0.03074396
+v -0.03304653 -0.01694458 -0.02893977
+v -0.03307858 -0.01694457 -0.03254815
+v -0.03300558 -0.01720405 -0.03074396
+v -0.03292724 -0.01720405 -0.02893977
+v -0.03286848 -0.01720406 -0.02765734
+v -0.03303407 -0.01694458 -0.02867262
+v -0.03296819 -0.01694457 -0.03382180
+v -0.03295929 -0.01720404 -0.03254815
+v -0.03238595 -0.01845756 -0.03074397
+v -0.03234678 -0.01838447 -0.02893978
+v -0.03231651 -0.01832601 -0.02765735
+v -0.03298600 -0.01694459 -0.02765734
+v -0.03294683 -0.01694456 -0.03406323
+v -0.03282753 -0.01720403 -0.03406323
+v -0.03238951 -0.01809026 -0.03406324
+v -0.03236103 -0.01841187 -0.03254816
+v -0.03186604 -0.01931637 -0.03254816
+v -0.03188918 -0.01936206 -0.03074397
+v -0.03184823 -0.01928897 -0.02893978
+v -0.03181618 -0.01923051 -0.02765735
+v -0.02703720 -0.01694459 -0.02765734
+v -0.02413136 -0.01694456 -0.03406323
+v -0.03229336 -0.01828395 -0.03406324
+v -0.03221502 -0.01842830 -0.03406324
+v -0.03179481 -0.01918845 -0.03406324
+v -0.03103274 -0.02048947 -0.03406325
+v -0.03087249 -0.02075991 -0.03406325
+v -0.03086537 -0.02099381 -0.03261903
+v -0.03042201 -0.02178136 -0.03206467
+v -0.03102384 -0.02082571 -0.03074398
+v -0.03088139 -0.02081658 -0.02765736
+v -0.03152773 -0.01972022 -0.02765735
+v -0.02396043 -0.01709439 -0.03406323
+v -0.01493486 -0.02957471 -0.02765739
+v -0.01493486 -0.02619240 -0.03406327
+v -0.03074073 -0.02097918 -0.03406325
+v -0.03037216 -0.02170827 -0.03326746
+v -0.02988785 -0.02248669 -0.03261903
+v -0.02886760 -0.02392841 -0.03254818
+v -0.02980061 -0.02269684 -0.03074398
+v -0.03042736 -0.02179234 -0.03074398
+v -0.03040777 -0.02176127 -0.02955373
+v -0.03084222 -0.02098651 -0.02894732
+v -0.03048255 -0.02146161 -0.02765736
+v -0.01493486 -0.03546402 -0.02765741
+v -0.01493486 -0.03543658 -0.03406330
+v -0.03033121 -0.02164248 -0.03406325
+v -0.02981841 -0.02238984 -0.03406325
+v -0.02966350 -0.02261276 -0.03406325
+v -0.02879638 -0.02383521 -0.03406326
+v -0.02815895 -0.02483474 -0.03254818
+v -0.02818565 -0.02486764 -0.03074399
+v -0.02889253 -0.02396131 -0.03074399
+v -0.02884980 -0.02390467 -0.02893980
+v -0.03020301 -0.02188919 -0.02765736
+v -0.03034901 -0.02167175 -0.02765736
+v -0.02881597 -0.02386082 -0.02765737
+v -0.02971870 -0.02259087 -0.02765736
+v -0.01497759 -0.03544392 -0.02765741
+v -0.01493486 -0.03552614 -0.02889657
+v -0.01493486 -0.03544208 -0.03400749
+v -0.01497759 -0.03541648 -0.03406330
+v -0.02808238 -0.02473971 -0.03406326
+v -0.02717609 -0.02583425 -0.03406326
+v -0.02725087 -0.02592380 -0.03254819
+v -0.02727936 -0.02595852 -0.03074400
+v -0.02814114 -0.02481100 -0.02893980
+v -0.02723484 -0.02590736 -0.02893981
+v -0.02810553 -0.02476533 -0.02765737
+v -0.01497759 -0.03550787 -0.02893984
+v -0.01639668 -0.03469474 -0.02765741
+v -0.01493486 -0.03561202 -0.03074403
+v -0.01493486 -0.03556633 -0.03254822
+v -0.01497759 -0.03554623 -0.03254822
+v -0.01636819 -0.03468009 -0.03406330
+v -0.02637484 -0.02673693 -0.03406327
+v -0.02645675 -0.02682647 -0.03254819
+v -0.02648702 -0.02686120 -0.03074400
+v -0.02719923 -0.02586534 -0.02765738
+v -0.02784379 -0.02508327 -0.02765737
+v -0.02644072 -0.02681004 -0.02893981
+v -0.01497759 -0.03559010 -0.03074403
+v -0.01645188 -0.03472579 -0.02893984
+v -0.01730298 -0.03417579 -0.02765741
+v -0.01735818 -0.03420867 -0.02893984
+v -0.01493486 -0.03556816 -0.03247861
+v -0.01648393 -0.03474588 -0.03254822
+v -0.01739023 -0.03422694 -0.03254822
+v -0.01651420 -0.03459603 -0.03406330
+v -0.02561455 -0.02754458 -0.03406327
+v -0.02555045 -0.02778031 -0.03254819
+v -0.02558072 -0.02780956 -0.03074400
+v -0.02553443 -0.02776205 -0.02893981
+v -0.02640333 -0.02676802 -0.02765738
+v -0.02549703 -0.02772368 -0.02765738
+v -0.01652488 -0.03476782 -0.03074403
+v -0.01860456 -0.03335717 -0.02765740
+v -0.01860456 -0.03342477 -0.02893983
+v -0.01743118 -0.03425070 -0.03074403
+v -0.01860456 -0.03351248 -0.03074402
+v -0.01860456 -0.03346131 -0.03254821
+v -0.01860456 -0.03332242 -0.03406329
+v -0.01727449 -0.03415749 -0.03406330
+v -0.02546855 -0.02769807 -0.03406327
+v -0.02532432 -0.02784425 -0.03406327
+v -0.02464772 -0.02868481 -0.03254820
+v -0.02467799 -0.02871588 -0.03074401
+v -0.02462635 -0.02866655 -0.02893982
+v -0.02458718 -0.02862819 -0.02765739
+v -0.01891615 -0.03315252 -0.02765740
+v -0.01968356 -0.03271762 -0.02893983
+v -0.01974588 -0.03276147 -0.03074402
+v -0.01971027 -0.03273588 -0.03254821
+v -0.01943073 -0.03278155 -0.03406329
+v -0.02456403 -0.02860440 -0.03406328
+v -0.02365951 -0.02944495 -0.03406328
+v -0.02374320 -0.02951987 -0.03254820
+v -0.02377347 -0.02954730 -0.03074401
+v -0.02372183 -0.02950161 -0.02893982
+v -0.02368266 -0.02946508 -0.02765739
+v -0.01963371 -0.03268108 -0.02765740
+v -0.02027826 -0.03221147 -0.02765740
+v -0.02058986 -0.03205432 -0.02893983
+v -0.02065218 -0.03210000 -0.03074402
+v -0.02061657 -0.03207075 -0.03254821
+v -0.01960878 -0.03266461 -0.03406329
+v -0.02261434 -0.03034945 -0.03406328
+v -0.02270692 -0.03042620 -0.03254820
+v -0.02274076 -0.03045362 -0.03074401
+v -0.02268556 -0.03040611 -0.02893982
+v -0.02264283 -0.03036958 -0.02765739
+v -0.02054000 -0.03201961 -0.02765740
+v -0.02173653 -0.03111511 -0.02765739
+v -0.02177926 -0.03114981 -0.02893982
+v -0.02183446 -0.03119367 -0.03074401
+v -0.02180063 -0.03116625 -0.03254820
+v -0.02051508 -0.03199582 -0.03406329
+v -0.02170804 -0.03109132 -0.03406328
+v -0.02185405 -0.03097255 -0.03406328
+v -0.02238109 -0.03058520 -0.02765739
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 21
+f 6 21 33
+f 6 33 32
+f 6 32 45
+f 6 45 57
+f 6 57 56
+f 6 56 59
+f 6 59 58
+f 6 58 70
+f 6 70 81
+f 6 81 80
+f 6 80 95
+f 6 95 96
+f 6 96 110
+f 6 110 121
+f 6 121 132
+f 6 132 141
+f 6 141 134
+f 6 134 133
+f 6 133 123
+f 6 123 122
+f 6 122 111
+f 6 111 98
+f 6 98 85
+f 6 85 72
+f 6 72 60
+f 6 60 46
+f 6 46 35
+f 6 35 22
+f 6 22 13
+f 6 13 7
+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 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 14 23 34
+f 14 34 36
+f 14 36 47
+f 14 47 63
+f 14 63 76
+f 14 76 90
+f 14 90 104
+f 14 104 103
+f 14 103 115
+f 14 115 127
+f 14 127 138
+f 14 138 139
+f 14 139 140
+f 14 140 128
+f 14 128 117
+f 14 117 116
+f 14 116 106
+f 14 106 105
+f 14 105 91
+f 14 91 77
+f 14 77 65
+f 14 65 64
+f 14 64 51
+f 14 51 50
+f 14 50 49
+f 14 49 48
+f 14 48 37
+f 14 37 28
+f 14 28 27
+f 14 27 26
+f 14 26 25
+f 14 25 24
+f 14 24 16
+f 14 16 15
+f 16 24 17
+f 17 25 18
+f 17 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 34 23
+f 22 35 36
+f 22 36 34
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 43
+f 32 43 45
+f 35 46 61
+f 35 61 73
+f 35 73 87
+f 35 87 74
+f 35 74 62
+f 35 62 47
+f 35 47 36
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 43
+f 41 43 42
+f 43 56 57
+f 43 57 45
+f 43 55 58
+f 43 58 59
+f 43 59 56
+f 46 60 61
+f 47 62 63
+f 51 64 52
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 53
+f 53 68 55
+f 53 55 54
+f 53 67 69
+f 53 69 68
+f 55 68 58
+f 58 68 70
+f 60 71 61
+f 60 72 71
+f 61 71 73
+f 62 74 75
+f 62 75 63
+f 63 75 76
+f 65 77 78
+f 65 78 66
+f 66 78 79
+f 66 79 67
+f 67 79 69
+f 68 69 80
+f 68 80 81
+f 68 81 70
+f 69 79 82
+f 69 82 80
+f 71 83 73
+f 71 72 84
+f 71 84 83
+f 72 85 86
+f 72 86 84
+f 73 83 75
+f 73 75 87
+f 74 87 75
+f 75 83 88
+f 75 88 76
+f 76 88 89
+f 76 89 90
+f 77 91 78
+f 78 91 92
+f 78 92 79
+f 79 92 93
+f 79 93 94
+f 79 94 82
+f 80 82 95
+f 82 94 96
+f 82 96 95
+f 83 84 97
+f 83 97 88
+f 84 86 100
+f 84 100 97
+f 85 98 99
+f 85 99 86
+f 86 99 100
+f 88 97 100
+f 88 100 89
+f 89 100 101
+f 89 101 102
+f 89 102 103
+f 89 103 104
+f 89 104 90
+f 91 105 92
+f 92 105 106
+f 92 106 107
+f 92 107 108
+f 92 108 93
+f 93 108 94
+f 94 108 109
+f 94 109 96
+f 96 109 110
+f 98 111 112
+f 98 112 99
+f 99 112 101
+f 99 101 100
+f 101 112 113
+f 101 113 114
+f 101 114 102
+f 102 114 115
+f 102 115 103
+f 106 116 107
+f 107 117 118
+f 107 118 108
+f 107 116 117
+f 108 118 119
+f 108 119 120
+f 108 120 109
+f 109 120 121
+f 109 121 110
+f 111 122 112
+f 112 122 123
+f 112 123 124
+f 112 124 125
+f 112 125 113
+f 113 125 114
+f 114 125 126
+f 114 126 127
+f 114 127 115
+f 117 128 129
+f 117 129 118
+f 118 129 130
+f 118 130 119
+f 119 130 120
+f 120 130 131
+f 120 131 121
+f 121 131 132
+f 123 133 124
+f 124 133 134
+f 124 134 135
+f 124 135 125
+f 125 135 136
+f 125 136 137
+f 125 137 126
+f 126 138 127
+f 126 137 139
+f 126 139 138
+f 128 140 129
+f 129 140 137
+f 129 137 136
+f 129 136 130
+f 130 136 135
+f 130 135 131
+f 131 135 134
+f 131 134 141
+f 131 141 132
+f 137 140 139
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_39.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03750973 0.00557610 0.03422599
+v -0.03750973 0.00748444 0.03044637
+v -0.04274504 0.00599433 0.03044636
+v -0.04274504 0.00509565 0.03134783
+v -0.04274504 0.00481008 0.03146838
+v -0.04274504 0.00419021 0.03172905
+v -0.04274504 0.00271499 0.03207333
+v -0.03791308 0.00460570 0.03422599
+v -0.03750973 -0.00524583 0.03422595
+v -0.03750973 0.00744520 0.02944065
+v -0.04274504 0.00652487 0.02880527
+v -0.04274504 0.00090411 0.03222863
+v -0.03828465 0.00272445 0.03422598
+v -0.03797766 0.00439592 0.03422599
+v -0.03751076 -0.00525124 0.03422595
+v -0.03750973 -0.00525124 0.03421835
+v -0.03750973 0.00726791 0.02848162
+v -0.03750973 0.00689572 0.02724998
+v -0.04274504 0.00596186 0.02725323
+v -0.04274504 0.00033568 0.03222320
+v -0.03842200 -0.00090542 0.03422597
+v -0.03843943 0.00090410 0.03422597
+v -0.03843892 0.00091358 0.03422597
+v -0.04274504 -0.00483302 0.03105997
+v -0.04274504 -0.00514971 0.03077541
+v -0.04274504 -0.00571680 0.03015742
+v -0.03750973 -0.00625276 0.03213304
+v -0.03784543 -0.00423482 0.03422595
+v -0.04274504 -0.00271628 0.03199185
+v -0.04274504 -0.00305057 0.03191474
+v -0.04274504 -0.00392759 0.03166602
+v -0.04274504 -0.00421316 0.03147703
+v -0.03750973 0.00679962 0.02699148
+v -0.04274504 0.00487912 0.02635068
+v -0.03750973 0.00622849 0.02566101
+v -0.04274504 -0.00090541 0.03221126
+v -0.03821188 -0.00271629 0.03422596
+v -0.04274504 -0.00579800 0.02975339
+v -0.03750973 -0.00634209 0.03183870
+v -0.04274504 -0.00147519 0.03214282
+v -0.03750973 0.00599435 0.02550895
+v -0.03750973 0.00270148 0.02356048
+v -0.04274504 0.00425790 0.02609328
+v -0.04274504 -0.00596447 0.02880523
+v -0.03807862 -0.00634208 0.03067114
+v -0.03750973 -0.00634207 0.02686111
+v -0.03750973 0.00090415 0.02313146
+v -0.04274504 0.00397369 0.02597814
+v -0.04274504 -0.00588326 0.02839902
+v -0.03767066 -0.00634207 0.02700556
+v -0.03857935 -0.00634208 0.02880523
+v -0.03750973 -0.00565452 0.02544157
+v -0.04274504 -0.00568025 0.02754426
+v -0.03750973 -0.00074161 0.02316296
+v -0.04274504 -0.00090538 0.02565556
+v -0.04274504 -0.00033423 0.02564904
+v -0.04274504 0.00090414 0.02563601
+v -0.04274504 0.00147529 0.02567186
+v -0.04274504 0.00271502 0.02575332
+v -0.03750973 -0.00244692 0.02369405
+v -0.04274504 -0.00537031 0.02726079
+v -0.04274504 -0.00464082 0.02664280
+v -0.04274504 -0.00435525 0.02645382
+v -0.04274504 -0.00373538 0.02604654
+v -0.03750973 -0.00090538 0.02316947
+v -0.04274504 -0.00271625 0.02584236
+v -0.03750973 -0.00220736 0.02361151
+v -0.04274504 -0.00339297 0.02597269
+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 14
+f 1 14 13
+f 1 13 23
+f 1 23 22
+f 1 22 21
+f 1 21 37
+f 1 37 28
+f 1 28 15
+f 1 15 9
+f 1 9 16
+f 1 16 27
+f 1 27 39
+f 1 39 46
+f 1 46 52
+f 1 52 60
+f 1 60 67
+f 1 67 65
+f 1 65 54
+f 1 54 47
+f 1 47 42
+f 1 42 41
+f 1 41 35
+f 1 35 33
+f 1 33 18
+f 1 18 17
+f 1 17 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 19
+f 3 19 34
+f 3 34 43
+f 3 43 48
+f 3 48 59
+f 3 59 58
+f 3 58 57
+f 3 57 56
+f 3 56 55
+f 3 55 66
+f 3 66 68
+f 3 68 64
+f 3 64 63
+f 3 63 62
+f 3 62 61
+f 3 61 53
+f 3 53 49
+f 3 49 44
+f 3 44 38
+f 3 38 26
+f 3 26 25
+f 3 25 24
+f 3 24 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 40
+f 3 40 36
+f 3 36 20
+f 3 20 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 24
+f 18 33 19
+f 19 33 35
+f 19 35 34
+f 20 36 21
+f 21 36 37
+f 26 38 39
+f 26 39 27
+f 28 37 36
+f 28 36 40
+f 28 40 29
+f 34 35 41
+f 34 41 42
+f 34 42 43
+f 38 44 39
+f 39 45 51
+f 39 51 50
+f 39 50 46
+f 39 44 45
+f 42 47 48
+f 42 48 43
+f 44 49 46
+f 44 46 50
+f 44 50 51
+f 44 51 45
+f 46 49 53
+f 46 53 52
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 52 53 61
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 60
+f 54 65 55
+f 55 65 66
+f 60 64 67
+f 64 68 65
+f 64 65 67
+f 65 68 66
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_4.obj

@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
+v 0.02643700 -0.03883008 0.03974039
+v 0.02690017 -0.03855355 0.03978305
+v 0.02762162 -0.03801955 0.04048594
+v 0.02643700 -0.03836919 0.04096536
+v 0.02643700 -0.03850586 0.03788566
+v 0.02776676 -0.03811172 0.03854487
+v 0.02776676 -0.03811172 0.03928229
+v 0.02843912 -0.03758409 0.03978305
+v 0.02993964 -0.03657332 0.03963273
+v 0.02970911 -0.03640485 0.04078660
+v 0.02643700 -0.03833105 0.04100497
+v 0.02839002 -0.03670681 0.04140721
+v 0.02768565 -0.03624911 0.04236099
+v 0.02664190 -0.03839779 0.03789683
+v 0.02643700 -0.03831197 0.03758093
+v 0.02718833 -0.03771122 0.03734325
+v 0.02853943 -0.03710730 0.03778205
+v 0.02984359 -0.03650337 0.03822086
+v 0.03084678 -0.03590582 0.03963273
+v 0.03200792 -0.03499993 0.03963273
+v 0.03169629 -0.03475201 0.04094404
+v 0.03031957 -0.03528283 0.04146714
+v 0.02889589 -0.03581046 0.04199025
+v 0.02643700 -0.03762859 0.04173326
+v 0.02672728 -0.03652565 0.04248999
+v 0.02643700 -0.03682125 0.04241786
+v 0.03093002 -0.03412901 0.04214667
+v 0.02971979 -0.03460263 0.04244631
+v 0.02839002 -0.03524787 0.04255195
+v 0.02643700 -0.03742196 0.03674194
+v 0.02931424 -0.03609970 0.03701823
+v 0.02643700 -0.03302921 0.03264957
+v 0.03040921 -0.03572781 0.03770385
+v 0.03174111 -0.03478696 0.03782878
+v 0.03491291 -0.03261919 0.03868303
+v 0.03291506 -0.03427205 0.03963273
+v 0.03479338 -0.03250478 0.04007255
+v 0.03358528 -0.03305466 0.04102023
+v 0.03227900 -0.03359184 0.04158396
+v 0.02643700 -0.03662736 0.04251437
+v 0.02672728 -0.03531144 0.04285057
+v 0.03286170 -0.03239989 0.04222388
+v 0.03165360 -0.03292118 0.04248797
+v 0.03033664 -0.03351557 0.04264337
+v 0.02646261 -0.03301331 0.03264957
+v 0.02726090 -0.03244436 0.03264957
+v 0.03134197 -0.03446911 0.03688415
+v 0.02643700 -0.02746993 0.03264959
+v 0.03264826 -0.03404000 0.03782878
+v 0.03390332 -0.03304194 0.03798014
+v 0.03445614 -0.03218055 0.03748141
+v 0.03560021 -0.03149717 0.03807968
+v 0.03672506 -0.03081060 0.03867999
+v 0.03491291 -0.03261919 0.03886992
+v 0.03410609 -0.03322631 0.03953523
+v 0.03576242 -0.03165929 0.03947632
+v 0.03661407 -0.03069301 0.04008272
+v 0.03540597 -0.03130011 0.04104868
+v 0.03415732 -0.03185000 0.04163678
+v 0.02643700 -0.03560387 0.04281807
+v 0.02854157 -0.03349967 0.04295622
+v 0.02643700 -0.03531144 0.04287495
+v 0.03472721 -0.03062627 0.04225233
+v 0.03351912 -0.03119205 0.04250727
+v 0.03222137 -0.03175465 0.04268299
+v 0.02748288 -0.03227589 0.03264957
+v 0.03324804 -0.03274952 0.03683642
+v 0.02849034 -0.03148762 0.03264957
+v 0.02928009 -0.03086144 0.03264958
+v 0.02951488 -0.03066119 0.03264958
+v 0.02643700 -0.02822963 0.03775365
+v 0.03857137 -0.00635804 0.03264967
+v 0.03507726 -0.03097271 0.03682526
+v 0.03628750 -0.03035289 0.03747736
+v 0.03672506 -0.03081060 0.03888009
+v 0.03714128 -0.02979983 0.03797812
+v 0.03813807 -0.02853477 0.03782881
+v 0.03888086 -0.02762888 0.03782881
+v 0.04059483 -0.02573129 0.03824223
+v 0.03999932 -0.02672618 0.03963276
+v 0.03909217 -0.02789907 0.03963276
+v 0.03837073 -0.02880495 0.03963275
+v 0.03732698 -0.03000644 0.03954235
+v 0.03884885 -0.02759075 0.04093798
+v 0.03715836 -0.02948516 0.04102227
+v 0.03595880 -0.03005730 0.04163679
+v 0.02643700 -0.03378892 0.04298364
+v 0.03035372 -0.03169108 0.04299685
+v 0.03651162 -0.02876364 0.04222592
+v 0.03530352 -0.02942160 0.04251134
+v 0.03406553 -0.02996513 0.04269823
+v 0.03049886 -0.02978391 0.03264958
+v 0.03132916 -0.02903696 0.03264958
+v 0.02643700 -0.02829637 0.03815994
+v 0.03857777 -0.00635804 0.03270553
+v 0.04325649 -0.00635804 0.03264967
+v 0.03220429 -0.02815968 0.03264959
+v 0.03238145 -0.02798168 0.03264959
+v 0.03255434 -0.02780686 0.03264959
+v 0.03684886 -0.02914505 0.03683846
+v 0.03856496 -0.02723156 0.03688926
+v 0.04018502 -0.02518776 0.03704061
+v 0.04119675 -0.02441219 0.03781765
+v 0.04219781 -0.02363663 0.03859469
+v 0.04065673 -0.02582030 0.03963277
+v 0.04049664 -0.02559462 0.04076937
+v 0.03937606 -0.02620490 0.04145498
+v 0.03822772 -0.02681518 0.04214061
+v 0.03769197 -0.02817878 0.04158195
+v 0.02643700 -0.03348060 0.04293692
+v 0.03216801 -0.02987931 0.04300905
+v 0.03398016 -0.02806754 0.04301617
+v 0.04304518 -0.01177432 0.04302639
+v 0.04483812 -0.00635808 0.04299695
+v 0.04304518 -0.00635808 0.04286084
+v 0.03869516 -0.02560735 0.04243823
+v 0.03702175 -0.02755580 0.04248697
+v 0.03586275 -0.02812475 0.04268606
+v 0.03579444 -0.02625577 0.04300093
+v 0.02643700 -0.02861741 0.03928841
+v 0.03923091 -0.00635806 0.03782889
+v 0.04787759 -0.00635806 0.03762473
+v 0.04751686 -0.00704145 0.03697770
+v 0.04321381 -0.00659325 0.03264967
+v 0.03311143 -0.02720294 0.03264959
+v 0.03365358 -0.02661490 0.03264959
+v 0.03385849 -0.02637969 0.03264959
+v 0.03472508 -0.02535938 0.03264960
+v 0.03489797 -0.02514642 0.03264960
+v 0.03549562 -0.02436450 0.03264960
+v 0.03641130 -0.02312486 0.03264961
+v 0.04179866 -0.02305178 0.03739309
+v 0.03702389 -0.02222216 0.03264961
+v 0.04219994 -0.02184711 0.03688014
+v 0.04219781 -0.02363663 0.03912592
+v 0.04245394 -0.02252414 0.03792736
+v 0.04406759 -0.02014977 0.03847180
+v 0.04165779 -0.02432320 0.03968863
+v 0.04210175 -0.02348407 0.04032855
+v 0.04244967 -0.02227940 0.04094206
+v 0.04077839 -0.02427870 0.04139710
+v 0.03990327 -0.02477138 0.04197200
+v 0.04034083 -0.02356354 0.04234884
+v 0.02643700 -0.03199940 0.04262408
+v 0.04303024 -0.00635808 0.04285678
+v 0.03941874 -0.02082682 0.04302025
+v 0.04123090 -0.01720645 0.04302027
+v 0.04304518 -0.01358291 0.04298778
+v 0.04485733 -0.00635808 0.04299695
+v 0.03934617 -0.02427871 0.04254081
+v 0.03761513 -0.02623034 0.04263730
+v 0.03760446 -0.02444718 0.04295625
+v 0.02643700 -0.02870006 0.03951391
+v 0.03965780 -0.00635807 0.03963284
+v 0.04790107 -0.00635806 0.03768161
+v 0.04789680 -0.00639938 0.03767857
+v 0.04783916 -0.00815076 0.03805641
+v 0.04769189 -0.00996253 0.03843222
+v 0.04737172 -0.00815076 0.03715444
+v 0.04589468 -0.01316650 0.03682938
+v 0.04251370 -0.00996251 0.03264965
+v 0.04287870 -0.00838595 0.03264966
+v 0.04292992 -0.00815074 0.03264966
+v 0.03776454 -0.02103338 0.03264961
+v 0.03789688 -0.02081724 0.03264961
+v 0.03841128 -0.01996221 0.03264962
+v 0.03854149 -0.01973654 0.03264962
+v 0.03896197 -0.01896097 0.03264962
+v 0.03986058 -0.01720324 0.03264963
+v 0.04401422 -0.01825535 0.03687812
+v 0.04367271 -0.01946320 0.03727019
+v 0.04358307 -0.02104295 0.03963278
+v 0.04260549 -0.02278161 0.03968864
+v 0.04406118 -0.02013706 0.03963279
+v 0.04429811 -0.01892285 0.03785322
+v 0.04581570 -0.01642451 0.03860284
+v 0.04581570 -0.01642451 0.03910258
+v 0.04459266 -0.01901503 0.03963279
+v 0.04398221 -0.01998131 0.04058351
+v 0.04294486 -0.02064563 0.04136460
+v 0.04188191 -0.02130994 0.04214571
+v 0.04222982 -0.02010529 0.04239762
+v 0.04059696 -0.02263541 0.04247582
+v 0.02643700 -0.03185001 0.04257532
+v 0.04192033 -0.00635808 0.04247689
+v 0.04123090 -0.01901504 0.04289939
+v 0.03941874 -0.02263541 0.04284250
+v 0.04304518 -0.01539468 0.04285471
+v 0.04485733 -0.00996255 0.04282933
+v 0.04485733 -0.00815078 0.04293600
+v 0.04625754 -0.00635808 0.04261706
+v 0.02643700 -0.02881131 0.03973026
+v 0.04014446 -0.00635807 0.04076233
+v 0.02643700 -0.02906877 0.04022594
+v 0.04812731 -0.00635806 0.03897261
+v 0.04824044 -0.00635807 0.03963284
+v 0.04759584 -0.01093834 0.03868107
+v 0.04716041 -0.00996253 0.03753127
+v 0.04569831 -0.01437117 0.03697362
+v 0.04220634 -0.01112586 0.03264965
+v 0.04246034 -0.01017230 0.03264965
+v 0.04025972 -0.01637046 0.03264963
+v 0.04036644 -0.01613842 0.03264963
+v 0.04069301 -0.01536286 0.03264963
+v 0.04600994 -0.01539466 0.03821890
+v 0.04674419 -0.01358290 0.03963281
+v 0.04607397 -0.01552181 0.03967546
+v 0.04572819 -0.01620838 0.04030623
+v 0.04544217 -0.01709837 0.03967546
+v 0.04595017 -0.01500053 0.04081714
+v 0.04420633 -0.01901503 0.04088722
+v 0.04338883 -0.01901503 0.04178919
+v 0.04371327 -0.01764508 0.04215893
+v 0.04125865 -0.02075689 0.04262716
+v 0.04400355 -0.01643725 0.04237630
+v 0.04248168 -0.01901504 0.04251950
+v 0.02643700 -0.03102040 0.04217919
+v 0.04190965 -0.00635808 0.04246978
+v 0.04308360 -0.01710792 0.04261702
+v 0.04418498 -0.01539468 0.04247787
+v 0.04449021 -0.01358291 0.04260993
+v 0.04495338 -0.01171393 0.04263634
+v 0.04593523 -0.00996255 0.04245148
+v 0.04611666 -0.00815078 0.04254900
+v 0.04627248 -0.00635808 0.04261300
+v 0.04015300 -0.00635807 0.04077757
+v 0.02643700 -0.03002869 0.04134731
+v 0.04823831 -0.00635807 0.03964604
+v 0.04801633 -0.00815077 0.03963283
+v 0.04700459 -0.01163445 0.03797819
+v 0.04759584 -0.01093834 0.03887711
+v 0.04628742 -0.01369414 0.03767650
+v 0.04139525 -0.01356698 0.03264964
+v 0.04188404 -0.01213346 0.03264965
+v 0.04195661 -0.01192049 0.03264965
+v 0.04731836 -0.01163446 0.03954039
+v 0.04751473 -0.01059189 0.04007974
+v 0.04539735 -0.01358290 0.04202689
+v 0.04450942 -0.01710791 0.04150886
+v 0.04764706 -0.00938722 0.04065974
+v 0.04618710 -0.01358290 0.04112492
+v 0.04562147 -0.01227653 0.04224223
+v 0.04581357 -0.01106868 0.04237530
+v 0.02643700 -0.03064215 0.04187447
+v 0.04101318 -0.00635807 0.04167954
+v 0.04717962 -0.00635807 0.04196496
+v 0.04716894 -0.00635807 0.04197309
+v 0.02643700 -0.03018762 0.04149256
+v 0.04787972 -0.00635807 0.04106198
+v 0.04775379 -0.00815077 0.04085069
+v 0.04771110 -0.00997843 0.03954039
+v 0.04695123 -0.00997843 0.04133214
+v 0.04634505 -0.01171392 0.04155865
+v 0.04702380 -0.00815077 0.04175368
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 24
+f 1 24 26
+f 1 26 40
+f 1 40 60
+f 1 60 62
+f 1 62 87
+f 1 87 110
+f 1 110 144
+f 1 144 184
+f 1 184 217
+f 1 217 244
+f 1 244 248
+f 1 248 227
+f 1 227 194
+f 1 194 192
+f 1 192 153
+f 1 153 120
+f 1 120 94
+f 1 94 71
+f 1 71 48
+f 1 48 32
+f 1 32 30
+f 1 30 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 12
+f 4 12 13
+f 4 13 11
+f 5 14 6
+f 5 15 14
+f 6 14 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 9
+f 6 9 7
+f 7 9 8
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 12
+f 11 13 24
+f 12 23 13
+f 13 25 26
+f 13 26 24
+f 13 23 27
+f 13 27 28
+f 13 28 29
+f 13 29 25
+f 14 15 16
+f 15 30 16
+f 16 31 17
+f 16 30 32
+f 16 32 31
+f 17 31 18
+f 18 31 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 36 21
+f 20 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 27
+f 21 27 22
+f 22 27 23
+f 25 40 26
+f 25 29 41
+f 25 41 40
+f 27 39 42
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 41
+f 31 32 45
+f 31 45 46
+f 31 46 47
+f 31 47 33
+f 32 48 72
+f 32 72 96
+f 32 96 124
+f 32 124 163
+f 32 163 162
+f 32 162 161
+f 32 161 201
+f 32 201 200
+f 32 200 235
+f 32 235 234
+f 32 234 233
+f 32 233 204
+f 32 204 203
+f 32 203 202
+f 32 202 169
+f 32 169 168
+f 32 168 167
+f 32 167 166
+f 32 166 165
+f 32 165 164
+f 32 164 133
+f 32 133 131
+f 32 131 130
+f 32 130 129
+f 32 129 128
+f 32 128 127
+f 32 127 126
+f 32 126 125
+f 32 125 99
+f 32 99 98
+f 32 98 97
+f 32 97 93
+f 32 93 92
+f 32 92 70
+f 32 70 69
+f 32 69 68
+f 32 68 66
+f 32 66 46
+f 32 46 45
+f 33 47 34
+f 34 47 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 75
+f 35 75 54
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 54 56
+f 37 56 57
+f 37 57 58
+f 37 58 38
+f 37 55 54
+f 38 58 59
+f 38 59 42
+f 38 42 39
+f 40 41 60
+f 41 44 61
+f 41 61 62
+f 41 62 60
+f 42 59 63
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 44
+f 44 65 61
+f 46 66 47
+f 47 67 51
+f 47 51 49
+f 47 66 68
+f 47 68 69
+f 47 69 70
+f 47 70 67
+f 48 71 72
+f 49 51 50
+f 51 73 74
+f 51 74 52
+f 51 67 73
+f 52 74 53
+f 53 74 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 75
+f 54 75 56
+f 56 75 57
+f 57 83 82
+f 57 82 84
+f 57 84 85
+f 57 85 58
+f 57 75 83
+f 58 85 86
+f 58 86 63
+f 58 63 59
+f 61 87 62
+f 61 65 88
+f 61 88 87
+f 63 86 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 64 91 65
+f 65 91 88
+f 67 70 92
+f 67 92 93
+f 67 93 73
+f 71 94 72
+f 72 95 121
+f 72 121 154
+f 72 154 193
+f 72 193 226
+f 72 226 245
+f 72 245 218
+f 72 218 185
+f 72 185 145
+f 72 145 115
+f 72 115 114
+f 72 114 149
+f 72 149 191
+f 72 191 225
+f 72 225 247
+f 72 247 246
+f 72 246 249
+f 72 249 228
+f 72 228 196
+f 72 196 195
+f 72 195 155
+f 72 155 122
+f 72 122 96
+f 72 94 95
+f 73 93 97
+f 73 97 98
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 74 100 101
+f 74 101 77
+f 74 77 76
+f 75 82 83
+f 77 101 78
+f 78 101 79
+f 79 101 102
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 80 104 105
+f 80 105 106
+f 80 106 81
+f 81 106 84
+f 81 84 82
+f 84 107 108
+f 84 108 109
+f 84 109 85
+f 84 106 107
+f 85 89 86
+f 85 109 89
+f 87 88 111
+f 87 111 112
+f 87 112 113
+f 87 113 114
+f 87 114 115
+f 87 115 110
+f 88 91 111
+f 89 109 108
+f 89 108 116
+f 89 116 117
+f 89 117 90
+f 90 117 118
+f 90 118 91
+f 91 118 119
+f 91 119 112
+f 91 112 111
+f 94 120 121
+f 94 121 95
+f 96 122 123
+f 96 123 124
+f 99 125 100
+f 100 125 126
+f 100 126 127
+f 100 127 101
+f 101 127 128
+f 101 128 129
+f 101 129 130
+f 101 130 131
+f 101 131 102
+f 102 132 103
+f 102 131 133
+f 102 133 134
+f 102 134 132
+f 103 132 104
+f 104 135 105
+f 104 132 136
+f 104 136 137
+f 104 137 135
+f 105 135 138
+f 105 138 139
+f 105 139 106
+f 106 139 140
+f 106 140 141
+f 106 141 142
+f 106 142 107
+f 107 142 108
+f 108 142 143
+f 108 143 116
+f 110 115 145
+f 110 145 144
+f 112 119 146
+f 112 146 113
+f 113 146 147
+f 113 147 148
+f 113 148 149
+f 113 149 114
+f 116 143 150
+f 116 150 151
+f 116 151 117
+f 117 151 118
+f 118 151 152
+f 118 152 119
+f 119 152 146
+f 120 153 121
+f 121 153 154
+f 122 155 156
+f 122 156 123
+f 123 156 157
+f 123 157 158
+f 123 158 159
+f 123 159 160
+f 123 160 161
+f 123 161 162
+f 123 162 163
+f 123 163 124
+f 132 134 136
+f 133 164 134
+f 134 164 165
+f 134 165 166
+f 134 166 167
+f 134 167 168
+f 134 168 169
+f 134 169 170
+f 134 170 171
+f 134 171 137
+f 134 137 136
+f 135 137 172
+f 135 172 173
+f 135 173 139
+f 135 139 138
+f 137 174 172
+f 137 171 175
+f 137 175 176
+f 137 176 177
+f 137 177 178
+f 137 178 174
+f 139 173 172
+f 139 172 179
+f 139 179 140
+f 140 143 141
+f 140 179 180
+f 140 180 181
+f 140 181 143
+f 141 143 142
+f 143 181 182
+f 143 182 183
+f 143 183 150
+f 144 145 185
+f 144 185 184
+f 146 186 147
+f 146 152 187
+f 146 187 186
+f 147 186 148
+f 148 186 188
+f 148 188 189
+f 148 189 190
+f 148 190 149
+f 149 190 191
+f 150 183 187
+f 150 187 151
+f 151 187 152
+f 153 192 154
+f 154 192 194
+f 154 194 193
+f 155 195 157
+f 155 157 156
+f 157 195 196
+f 157 196 158
+f 158 197 198
+f 158 198 159
+f 158 196 197
+f 159 198 199
+f 159 199 160
+f 160 200 201
+f 160 201 161
+f 160 199 200
+f 169 202 170
+f 170 175 171
+f 170 202 203
+f 170 203 204
+f 170 204 199
+f 170 199 176
+f 170 176 175
+f 172 174 179
+f 174 178 179
+f 176 199 205
+f 176 205 197
+f 176 197 206
+f 176 206 177
+f 177 206 207
+f 177 207 208
+f 177 208 209
+f 177 209 178
+f 178 209 208
+f 178 208 179
+f 179 208 210
+f 179 210 211
+f 179 211 180
+f 180 211 212
+f 180 212 181
+f 181 212 213
+f 181 213 182
+f 182 214 183
+f 182 213 215
+f 182 215 216
+f 182 216 214
+f 183 214 187
+f 184 185 218
+f 184 218 217
+f 186 187 214
+f 186 214 216
+f 186 216 219
+f 186 219 188
+f 188 219 220
+f 188 220 221
+f 188 221 189
+f 189 222 223
+f 189 223 224
+f 189 224 225
+f 189 225 190
+f 189 221 222
+f 190 225 191
+f 193 194 227
+f 193 227 226
+f 196 228 229
+f 196 229 197
+f 197 230 198
+f 197 229 231
+f 197 231 206
+f 197 205 232
+f 197 232 230
+f 198 230 199
+f 199 232 205
+f 199 204 233
+f 199 233 234
+f 199 234 235
+f 199 235 200
+f 199 230 232
+f 206 231 236
+f 206 236 237
+f 206 237 210
+f 206 210 208
+f 206 208 207
+f 210 238 215
+f 210 215 239
+f 210 239 211
+f 210 237 240
+f 210 240 241
+f 210 241 238
+f 211 213 212
+f 211 239 213
+f 213 239 215
+f 215 219 216
+f 215 238 242
+f 215 242 243
+f 215 243 220
+f 215 220 219
+f 217 218 245
+f 217 245 226
+f 217 226 244
+f 220 243 221
+f 221 243 223
+f 221 223 222
+f 223 243 246
+f 223 246 224
+f 224 246 247
+f 224 247 225
+f 226 227 248
+f 226 248 244
+f 228 249 250
+f 228 250 240
+f 228 240 229
+f 229 240 251
+f 229 251 231
+f 231 251 237
+f 231 237 236
+f 237 251 240
+f 238 241 242
+f 240 252 253
+f 240 253 241
+f 240 250 254
+f 240 254 252
+f 241 253 242
+f 242 253 243
+f 243 253 252
+f 243 252 254
+f 243 254 246
+f 246 254 250
+f 246 250 249
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_40.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01455932 0.03837519 0.00659914
+v 0.01403393 0.03852155 0.00659914
+v 0.01455932 0.03320092 0.00659912
+v 0.01455932 0.03848957 -0.02991057
+v 0.01431858 0.03855902 -0.02991057
+v 0.01403393 0.03864042 -0.02991057
+v 0.01277215 0.03882324 0.00659914
+v 0.00009347 0.03471683 0.00659913
+v 0.00009347 0.03385816 -0.02171789
+v 0.01455932 0.03237884 -0.02171789
+v 0.01455932 0.03289413 -0.02991059
+v 0.01221986 0.03907204 -0.02991057
+v 0.01221986 0.03895467 0.00659914
+v 0.00009347 0.03971188 0.00659915
+v 0.00009347 0.03392910 -0.02296181
+v 0.00009347 0.03396346 -0.02352300
+v 0.00009347 0.03443170 -0.02991058
+v 0.01040720 0.03942227 -0.02991057
+v 0.01040720 0.03930266 0.00659914
+v 0.00118531 0.03979851 0.00659915
+v 0.00010905 0.03987256 -0.02991056
+v 0.00009347 0.03987107 -0.02991056
+v 0.00957451 0.03954549 -0.02991056
+v 0.00859455 0.03956701 0.00659915
+v 0.00181549 0.03983286 0.00659915
+v 0.00131984 0.03994724 -0.02991056
+v 0.00061319 0.03990841 -0.02991056
+v 0.00850816 0.03969857 -0.02991056
+v 0.00733277 0.03969247 0.00659915
+v 0.00748429 0.03982328 -0.02991056
+v 0.00209164 0.03984779 0.00659915
+v 0.00315658 0.04000773 -0.02991056
+v 0.00678189 0.03974698 0.00659915
+v 0.00661337 0.03988601 -0.02991056
+v 0.00315658 0.03986796 0.00659915
+v 0.00496923 0.03998084 -0.02991056
+v 0.00464635 0.03985899 0.00659915
+v 0.00593079 0.03980373 0.00659915
+v 0.00555268 0.03982838 0.00659915
+v 0.00527653 0.03983808 0.00659915
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 24
+f 1 24 29
+f 1 29 33
+f 1 33 38
+f 1 38 39
+f 1 39 40
+f 1 40 37
+f 1 37 35
+f 1 35 31
+f 1 31 25
+f 1 25 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 17
+f 4 17 22
+f 4 22 21
+f 4 21 27
+f 4 27 26
+f 4 26 32
+f 4 32 36
+f 4 36 34
+f 4 34 30
+f 4 30 28
+f 4 28 23
+f 4 23 18
+f 4 18 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 6 13 7
+f 8 14 22
+f 8 22 17
+f 8 17 16
+f 8 16 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 22
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 25 31 26
+f 26 31 32
+f 29 30 33
+f 30 34 33
+f 31 35 32
+f 32 35 37
+f 32 37 36
+f 33 34 38
+f 34 36 39
+f 34 39 38
+f 36 37 40
+f 36 40 39
+

dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_41.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02302008 -0.03500683 -0.02813159
+v 0.02302008 -0.02934038 -0.02813157
+v 0.02312925 -0.03495033 -0.02813159
+v 0.02310196 -0.03492974 0.00660244
+v 0.02302008 -0.03497117 0.00660244
+v 0.03509205 -0.01576841 -0.02813152
+v 0.02302008 -0.02863421 -0.02352462
+v 0.03434320 -0.01576842 -0.02343277
+v 0.02317531 -0.03492585 -0.02813159
+v 0.02402991 -0.03441940 0.00660244
+v 0.02406232 -0.03443811 -0.02813159
+v 0.02302008 -0.02925953 0.00660246
+v 0.04044657 -0.01576841 -0.02813152
+v 0.02302008 -0.02844025 -0.02171923
+v 0.03416409 -0.01576843 -0.02171919
+v 0.03419991 -0.01576843 -0.02206259
+v 0.02430625 -0.03424803 0.00660244
+v 0.02489817 -0.03392777 -0.02813158
+v 0.03483959 -0.01576853 0.00660251
+v 0.04027257 -0.01617894 -0.02813152
+v 0.04038345 -0.01576853 0.00660251
+v 0.04024187 -0.01610561 0.00660251
+v 0.03419821 -0.01576844 -0.01991381
+v 0.03418968 -0.01576844 -0.02032181
+v 0.02493570 -0.03385633 0.00660245
+v 0.02559925 -0.03347581 -0.02813158
+v 0.04004400 -0.01666103 -0.02813152
+v 0.03971819 -0.01720538 0.00660251
+v 0.02590800 -0.03322735 0.00660245
+v 0.02636857 -0.03297489 -0.02813158
+v 0.02633275 -0.03295241 0.00660245
+v 0.03978472 -0.01720526 -0.02813152
+v 0.03914504 -0.01832586 0.00660250
+v 0.03892840 -0.01888881 -0.02813153
+v 0.02687008 -0.03262086 -0.02813158
+v 0.02660909 -0.03275657 0.00660245
+v 0.03889429 -0.01881549 0.00660250
+v 0.03866059 -0.01938973 -0.02813153
+v 0.02727606 -0.03233273 -0.02813158
+v 0.02724024 -0.03230649 0.00660245
+v 0.03874418 -0.01909043 0.00660250
+v 0.03844225 -0.01979462 -0.02813153
+v 0.02780145 -0.03192785 -0.02813158
+v 0.02805391 -0.03167751 0.00660245
+v 0.03839961 -0.01971941 0.00660250
+v 0.03815397 -0.02027670 -0.02813153
+v 0.03774287 -0.02082671 0.00660249
+v 0.02844453 -0.03142693 -0.02813158
+v 0.02840871 -0.03140257 0.00660245
+v 0.03782475 -0.02082659 -0.02813154
+v 0.03719019 -0.02171933 0.00660249
+v 0.02894604 -0.03102958 -0.02813157
+v 0.02931620 -0.03067378 0.00660246
+v 0.02935202 -0.03070568 -0.02813157
+v 0.03746312 -0.02141037 -0.02813154
+v 0.03694796 -0.02210726 0.00660249
+v 0.03033627 -0.02976986 0.00660246
+v 0.03043521 -0.02974715 -0.02813157
+v 0.03698890 -0.02216929 -0.02813154
+v 0.03633046 -0.02301306 0.00660249
+v 0.03637482 -0.02307509 -0.02813154
+v 0.03061261 -0.02952317 0.00660246
+v 0.03127446 -0.02898634 -0.02813157
+v 0.03124376 -0.02895822 0.00660246
+v 0.03542468 -0.02425407 0.00660248
+v 0.03596883 -0.02362874 -0.02813155
+v 0.03218195 -0.02808243 -0.02813156
+v 0.03241053 -0.02777182 0.00660247
+v 0.03472872 -0.02515987 0.00660248
+v 0.03508523 -0.02480949 -0.02813155
+v 0.03546733 -0.02430856 -0.02813155
+v 0.03307579 -0.02716721 -0.02813156
+v 0.03304168 -0.02712966 0.00660247
+v 0.03382293 -0.02622386 0.00660247
+v 0.03477307 -0.02521437 -0.02813155
+v 0.03380587 -0.02633862 -0.02813156
+v 0.03358583 -0.02649880 0.00660247
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 27
+f 1 27 32
+f 1 32 34
+f 1 34 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 55
+f 1 55 59
+f 1 59 61
+f 1 61 66
+f 1 66 71
+f 1 71 70
+f 1 70 75
+f 1 75 76
+f 1 76 72
+f 1 72 67
+f 1 67 63
+f 1 63 58
+f 1 58 54
+f 1 54 52
+f 1 52 48
+f 1 48 43
+f 1 43 39
+f 1 39 35
+f 1 35 30
+f 1 30 26
+f 1 26 18
+f 1 18 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 17
+f 4 17 25
+f 4 25 29
+f 4 29 31
+f 4 31 36
+f 4 36 40
+f 4 40 44
+f 4 44 49
+f 4 49 53
+f 4 53 57
+f 4 57 62
+f 4 62 64
+f 4 64 68
+f 4 68 73
+f 4 73 77
+f 4 77 74
+f 4 74 69
+f 4 69 65
+f 4 65 60
+f 4 60 56
+f 4 56 51
+f 4 51 47
+f 4 47 45
+f 4 45 41
+f 4 41 37
+f 4 37 33
+f 4 33 28
+f 4 28 22
+f 4 22 21
+f 4 21 19
+f 4 19 12
+f 4 12 5
+f 4 9 11
+f 4 11 10
+f 6 8 16
+f 6 16 15
+f 6 15 24
+f 6 24 23
+f 6 23 19
+f 6 19 21
+f 6 21 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 10 11 18
+f 10 18 17
+f 12 19 14
+f 13 21 22
+f 13 22 20
+f 14 23 24
+f 14 24 15
+f 14 19 23
+f 17 18 25
+f 18 26 25
+f 20 22 27
+f 22 28 27
+f 25 26 29
+f 26 30 31
+f 26 31 29
+f 27 28 32
+f 28 33 34
+f 28 34 32
+f 30 35 31
+f 31 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 36 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 44
+f 41 45 42
+f 42 45 47
+f 42 47 46
+f 43 48 49
+f 43 49 44
+f 46 47 50
+f 47 51 50
+f 48 52 49
+f 49 52 54
+f 49 54 53
+f 50 51 55
+f 51 56 55
+f 53 54 58
+f 53 58 57
+f 55 56 59
+f 56 60 61
+f 56 61 59
+f 57 58 62
+f 58 63 64
+f 58 64 62
+f 60 65 61
+f 61 65 66
+f 63 67 64
+f 64 67 68
+f 65 69 70
+f 65 70 71
+f 65 71 66
+f 67 72 73
+f 67 73 68
+f 69 74 75
+f 69 75 70
+f 72 76 73
+f 73 76 77
+f 74 77 76
+f 74 76 75
+