Add asset kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51

.gitattributes

@@ -4697,3 +4697,5 @@ dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup.glb filt
 dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mesh/mug_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mug_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_038">
+   <link name="coffee_cup_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>4a14ea92f214557d8e33ea99d72d8d51</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>black ceramic cup</name>
+         <color>black,golden</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>black flared ceramic coffee cup with gold floral decoration</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160148</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051365 -0.051370 -0.045111</min>
+            <max>0.051413 0.051329 0.044889</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d44141420acdb8088f6c61d5195f1b2b47c297b2c11590890f7d5b43afcf66
+size 4936052

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a6b03bce8357fd31d8591dd7dc5f86324c322fad2a23d6c6a77c96ec6ab875
+size 12916992

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.mtl

@@ -0,0 +1,6 @@
+newmtl coffee_cup_038_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/4a14ea92f214557d8e33ea99d72d8d51/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_038_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_038_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/coffee_cup_038.xml

@@ -0,0 +1,156 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_038">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_038_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_038_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_038_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_038_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_038_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_038_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_038_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_038_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_038_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_038_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_038_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_038_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_038_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_038_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_038_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_038_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_038_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_038_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_038_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_038_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_038_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_038_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_038_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_038_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_038_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_038_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_038_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_038_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_038_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_038_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_038_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_038_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coffee_cup_038_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coffee_cup_038_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/coffee_cup_038_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/coffee_cup_038_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/coffee_cup_038_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/coffee_cup_038_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/coffee_cup_038_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/coffee_cup_038_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/coffee_cup_038_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/coffee_cup_038_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/coffee_cup_038_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/coffee_cup_038_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/coffee_cup_038_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_038">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_0.obj

@@ -0,0 +1,1042 @@
+# https://github.com/mikedh/trimesh
+v -0.02780900 0.01463966 -0.01507203
+v -0.02780900 -0.00001878 -0.01923452
+v -0.02780900 0.01463970 -0.02757058
+v -0.03311435 0.01463960 -0.00130286
+v -0.02780900 -0.00001874 -0.02995478
+v -0.03628097 -0.00001885 -0.00130291
+v -0.02780900 0.01437138 -0.02765473
+v -0.02801796 0.01434842 -0.02754253
+v -0.02792270 0.01463970 -0.02750326
+v -0.04099940 0.01463960 -0.00130286
+v -0.03002917 -0.00001875 -0.02849624
+v -0.02780900 0.00067286 -0.02995759
+v -0.04350381 -0.00001885 -0.00130291
+v -0.02780900 0.01403993 -0.02775290
+v -0.02834676 0.01463970 -0.02724241
+v -0.02780900 0.01269117 -0.02814558
+v -0.02795343 0.01269117 -0.02806144
+v -0.02890449 0.01375726 -0.02717509
+v -0.04086266 0.01463961 -0.00246969
+v -0.04108083 0.01440572 -0.00130286
+v -0.03129520 -0.00001875 -0.02765478
+v -0.03002763 0.00082781 -0.02849624
+v -0.02998154 0.00252237 -0.02846818
+v -0.02780900 0.00229280 -0.02987062
+v -0.04350534 0.00047617 -0.00130291
+v -0.04344850 -0.00001884 -0.00179657
+v -0.02904738 0.01463970 -0.02676838
+v -0.02780900 0.01254768 -0.02818485
+v -0.02791809 0.01116449 -0.02847096
+v -0.02947912 0.01099661 -0.02755096
+v -0.02913956 0.01269117 -0.02732936
+v -0.02998768 0.01269117 -0.02673753
+v -0.02954211 0.01434842 -0.02651314
+v -0.04083039 0.01463961 -0.00272774
+v -0.04090414 0.01447460 -0.00258750
+v -0.04120221 0.01403552 -0.00130286
+v -0.03214332 -0.00001875 -0.02706856
+v -0.03129366 0.00082781 -0.02765478
+v -0.03124296 0.00252237 -0.02762392
+v -0.03115231 0.00421837 -0.02755939
+v -0.02988474 0.00421837 -0.02840366
+v -0.02780900 0.00252238 -0.02985660
+v -0.04350381 0.00082771 -0.00130291
+v -0.04335324 0.00082772 -0.00264084
+v -0.04335324 -0.00001884 -0.00264084
+v -0.02956362 0.01463970 -0.02638973
+v -0.02780900 0.01125345 -0.02851303
+v -0.02780900 0.01108126 -0.02855230
+v -0.02842972 0.00930205 -0.02857475
+v -0.02981253 0.00945271 -0.02767438
+v -0.03048703 0.01011991 -0.02709657
+v -0.03032570 0.01099661 -0.02698157
+v -0.03110161 0.01269117 -0.02589326
+v -0.03073747 0.01438715 -0.02560716
+v -0.03067908 0.01463969 -0.02556228
+v -0.02984479 0.01463970 -0.02618217
+v -0.04062143 0.01463962 -0.00432933
+v -0.04083654 0.01402263 -0.00432933
+v -0.04147877 0.01269108 -0.00264079
+v -0.04163549 0.01269107 -0.00130286
+v -0.03304060 -0.00001875 -0.02633087
+v -0.03304060 0.00082781 -0.02632807
+v -0.03214178 0.00082781 -0.02706575
+v -0.03208954 0.00252237 -0.02702647
+v -0.03200043 0.00421837 -0.02695915
+v -0.03101864 0.00591293 -0.02746683
+v -0.02973724 0.00591293 -0.02831110
+v -0.02888913 0.00591294 -0.02884403
+v -0.02903662 0.00421838 -0.02893378
+v -0.02780900 0.00395436 -0.02971916
+v -0.04344235 0.00252227 -0.00130290
+v -0.04329024 0.00252228 -0.00264083
+v -0.04314121 0.00082773 -0.00432938
+v -0.04314274 -0.00001883 -0.00432938
+v -0.04324876 -0.00001884 -0.00348231
+v -0.02780900 0.00930206 -0.02893097
+v -0.02780900 0.00746545 -0.02927036
+v -0.02864790 0.00789447 -0.02870097
+v -0.03065757 0.00898925 -0.02721719
+v -0.02948066 0.00743961 -0.02825219
+v -0.03127062 0.00945271 -0.02664779
+v -0.03233076 0.01057332 -0.02553705
+v -0.03148418 0.01108126 -0.02606437
+v -0.03214332 0.01170254 -0.02537437
+v -0.03194819 0.01269116 -0.02520326
+v -0.03158559 0.01438715 -0.02488350
+v -0.03153181 0.01463969 -0.02482180
+v -0.04050620 0.01463962 -0.00512311
+v -0.04074281 0.01375288 -0.00565323
+v -0.04126059 0.01269109 -0.00432933
+v -0.04195353 0.01099652 -0.00264080
+v -0.04173382 0.01233953 -0.00130286
+v -0.03352305 -0.00001875 -0.02592697
+v -0.03400396 0.00082780 -0.02552307
+v -0.03396093 0.00252236 -0.02548379
+v -0.03304060 0.00252237 -0.02624952
+v -0.03186522 0.00591293 -0.02686098
+v -0.03318657 0.00419254 -0.02599146
+v -0.03290693 0.00591293 -0.02601671
+v -0.03083734 0.00760605 -0.02734341
+v -0.02880308 0.00676524 -0.02879074
+v -0.02780900 0.00591294 -0.02948635
+v -0.02780900 0.00421838 -0.02969110
+v -0.04330714 0.00421827 -0.00130289
+v -0.04315657 0.00421828 -0.00264082
+v -0.04294608 0.00421829 -0.00432936
+v -0.04307667 0.00252229 -0.00432937
+v -0.04290920 0.00082773 -0.00601511
+v -0.04291074 -0.00001883 -0.00601511
+v -0.02780900 0.00716987 -0.02931524
+v -0.03168546 0.00760605 -0.02672072
+v -0.03251975 0.00930204 -0.02569694
+v -0.03336787 0.00930204 -0.02492840
+v -0.03309745 0.01117165 -0.02463108
+v -0.03386414 0.01176998 -0.02370266
+v -0.03284547 0.01269116 -0.02436180
+v -0.03250899 0.01438715 -0.02403923
+v -0.03245522 0.01463969 -0.02398875
+v -0.03175460 0.01463969 -0.02462546
+v -0.04035716 0.01463962 -0.00611604
+v -0.04046164 0.01434547 -0.00613567
+v -0.04065677 0.01349604 -0.00677799
+v -0.04095331 0.01283601 -0.00613567
+v -0.04148952 0.01099653 -0.00601507
+v -0.04173536 0.01099653 -0.00432934
+v -0.04226697 0.00970945 -0.00264080
+v -0.04233304 0.01000503 -0.00151604
+v -0.04234533 0.01005668 -0.00130287
+v -0.04227312 0.01034365 -0.00130287
+v -0.04212715 0.01092046 -0.00130287
+v -0.03400396 -0.00001876 -0.02552307
+v -0.03485207 -0.00001876 -0.02467880
+v -0.03485207 0.00082780 -0.02467599
+v -0.03391484 0.00361141 -0.02544172
+v -0.03480905 0.00252236 -0.02463391
+v -0.03273485 0.00760605 -0.02587645
+v -0.03384877 0.00474064 -0.02538000
+v -0.03375352 0.00591292 -0.02529305
+v -0.04310894 0.00591283 -0.00130289
+v -0.04295837 0.00591284 -0.00264082
+v -0.04274941 0.00591285 -0.00432936
+v -0.04271254 0.00421829 -0.00601509
+v -0.04284314 0.00252229 -0.00601510
+v -0.04264033 0.00082774 -0.00770365
+v -0.04264033 -0.00001882 -0.00770365
+v -0.03358297 0.00760604 -0.02513316
+v -0.03423135 0.00930204 -0.02408413
+v -0.03404237 0.01063932 -0.02389059
+v -0.03475374 0.01105111 -0.02290607
+v -0.03546665 0.01146291 -0.02188229
+v -0.03440650 0.01269115 -0.02266765
+v -0.03369359 0.01269116 -0.02350911
+v -0.03335711 0.01438714 -0.02312484
+v -0.03329104 0.01463968 -0.02306875
+v -0.04013438 0.01463963 -0.00745116
+v -0.04018508 0.01438709 -0.00770360
+v -0.04057534 0.01322917 -0.00770360
+v -0.04082885 0.01238117 -0.00770360
+v -0.04190129 0.00930197 -0.00601508
+v -0.04121143 0.01099654 -0.00770361
+v -0.04162473 0.00930198 -0.00770362
+v -0.04217171 0.00920583 -0.00427886
+v -0.04245441 0.00886146 -0.00264081
+v -0.04239142 0.00857592 -0.00368423
+v -0.04240832 0.00977114 -0.00130287
+v -0.03567868 -0.00001876 -0.02383453
+v -0.03567561 0.00082780 -0.02383172
+v -0.03564027 0.00252236 -0.02379245
+v -0.03560340 0.00353824 -0.02375037
+v -0.03472609 0.00413944 -0.02456658
+v -0.03553579 0.00466890 -0.02367463
+v -0.03459549 0.00591292 -0.02444878
+v -0.03443570 0.00760604 -0.02428889
+v -0.04289998 0.00725585 -0.00130288
+v -0.04269410 0.00760596 -0.00264081
+v -0.04248822 0.00761315 -0.00427886
+v -0.04241754 0.00705355 -0.00552704
+v -0.04250204 0.00594728 -0.00605997
+v -0.04241139 0.00540492 -0.00712583
+v -0.04245595 0.00407625 -0.00769523
+v -0.04236991 0.00341765 -0.00857035
+v -0.04257426 0.00252230 -0.00770364
+v -0.04239603 0.00252230 -0.00870218
+v -0.04242829 0.00082774 -0.00885926
+v -0.04242983 -0.00001882 -0.00886207
+v -0.04253585 -0.00001882 -0.00828146
+v -0.03528382 0.00760604 -0.02337450
+v -0.03507947 0.00930203 -0.02312767
+v -0.03563874 0.01033225 -0.02211229
+v -0.03604436 0.01093776 -0.02127083
+v -0.03584615 0.01269115 -0.02074069
+v -0.03525462 0.01269115 -0.02158496
+v -0.03408231 0.01438714 -0.02228057
+v -0.03351383 0.01463968 -0.02282192
+v -0.04009136 0.01463963 -0.00770360
+v -0.03981019 0.01463963 -0.00913970
+v -0.03985475 0.01438709 -0.00938934
+v -0.04042630 0.01263801 -0.00938653
+v -0.04072591 0.01203824 -0.00882276
+v -0.04223624 0.00761315 -0.00605996
+v -0.04231460 0.00818135 -0.00480899
+v -0.04087802 0.01102523 -0.00938654
+v -0.04129747 0.00930198 -0.00938936
+v -0.04164164 0.00760598 -0.00938936
+v -0.04196736 0.00760598 -0.00770362
+v -0.04284467 0.00760595 -0.00130288
+v -0.04251433 0.00927612 -0.00130288
+v -0.03645459 -0.00001877 -0.02288648
+v -0.03645152 0.00082779 -0.02288648
+v -0.03637623 0.00252235 -0.02288647
+v -0.03716750 0.00252235 -0.02188232
+v -0.03612118 0.00414947 -0.02302109
+v -0.03612272 0.00591291 -0.02272097
+v -0.03544361 0.00591292 -0.02356524
+v -0.04233304 0.00653414 -0.00665180
+v -0.04223624 0.00594729 -0.00769522
+v -0.04231306 0.00454831 -0.00825059
+v -0.04216556 0.00407625 -0.00923511
+v -0.04173843 0.00421831 -0.01107791
+v -0.04222241 0.00252231 -0.00954645
+v -0.04225468 0.00082775 -0.00970353
+v -0.04225468 -0.00001881 -0.00970634
+v -0.03596600 0.00760603 -0.02253023
+v -0.03577087 0.00930203 -0.02228340
+v -0.03667584 0.00917289 -0.02104364
+v -0.03715367 0.00965212 -0.02014887
+v -0.03696622 0.01099658 -0.01983473
+v -0.03566025 0.01373715 -0.02046862
+v -0.03672347 0.01260074 -0.01938874
+v -0.03497192 0.01433549 -0.02109691
+v -0.03403161 0.01463968 -0.02221887
+v -0.03976256 0.01463963 -0.00937812
+v -0.04002068 0.01269111 -0.01107788
+v -0.03934311 0.01463964 -0.01117324
+v -0.03936923 0.01453776 -0.01122092
+v -0.04060761 0.01161066 -0.00994752
+v -0.04075511 0.01048000 -0.01057862
+v -0.04089338 0.00933068 -0.01111716
+v -0.04125752 0.00760599 -0.01107790
+v -0.04191512 0.00591286 -0.00938937
+v -0.03720591 -0.00001877 -0.02194123
+v -0.03720437 0.00082779 -0.02193843
+v -0.03708914 0.00421835 -0.02177292
+v -0.03772984 0.00252235 -0.02104086
+v -0.03765455 0.00421835 -0.02092865
+v -0.03697084 0.00591291 -0.02159902
+v -0.04153101 0.00591287 -0.01107791
+v -0.04128825 0.00421832 -0.01276364
+v -0.04142653 0.00252232 -0.01276365
+v -0.04187517 0.00252231 -0.01107792
+v -0.04194124 0.00082775 -0.01107793
+v -0.04194124 -0.00001881 -0.01107793
+v -0.03681412 0.00760603 -0.02136620
+v -0.03729503 0.00852289 -0.02038169
+v -0.03761768 0.00917288 -0.01955705
+v -0.03746403 0.01099658 -0.01899046
+v -0.03732115 0.01197658 -0.01874363
+v -0.03523619 0.01463968 -0.02054155
+v -0.03599980 0.01433548 -0.01954021
+v -0.03567715 0.01463967 -0.01987118
+v -0.03713216 0.01310581 -0.01839020
+v -0.03483517 0.01463968 -0.02111094
+v -0.03913723 0.01399396 -0.01276361
+v -0.03956282 0.01269112 -0.01276361
+v -0.04004373 0.01099656 -0.01276362
+v -0.04048162 0.01102524 -0.01111715
+v -0.03930623 0.01463964 -0.01131910
+v -0.04061529 0.00991467 -0.01170338
+v -0.04074435 0.00878401 -0.01218021
+v -0.04083039 0.00748834 -0.01275241
+v -0.03748862 -0.00001877 -0.02151770
+v -0.03776825 0.00082779 -0.02109416
+v -0.03753932 0.00591291 -0.02075475
+v -0.03861637 0.00082778 -0.01972818
+v -0.03857796 0.00252234 -0.01966085
+v -0.03858103 0.00424990 -0.01938036
+v -0.03738875 0.00760603 -0.02052474
+v -0.04108083 0.00591288 -0.01276364
+v -0.04075357 0.00591288 -0.01385754
+v -0.04085651 0.00421832 -0.01416608
+v -0.04092565 0.00252232 -0.01437085
+v -0.04149414 0.00082776 -0.01276366
+v -0.04171846 -0.00001881 -0.01191939
+v -0.03798796 0.00760602 -0.01951218
+v -0.03872392 0.00760602 -0.01816583
+v -0.03857642 0.00926902 -0.01772266
+v -0.03807401 0.01099658 -0.01782363
+v -0.03758695 0.01260074 -0.01782642
+v -0.03595217 0.01463967 -0.01941959
+v -0.03742101 0.01392367 -0.01726545
+v -0.03692935 0.01444740 -0.01782642
+v -0.03890215 0.01463965 -0.01276361
+v -0.03900048 0.01361229 -0.01368361
+v -0.03911111 0.01252611 -0.01432873
+v -0.04045396 0.00933069 -0.01275241
+v -0.03950136 0.01099656 -0.01445216
+v -0.03992081 0.00930200 -0.01445217
+v -0.04057995 0.00797476 -0.01330497
+v -0.04068443 0.00684553 -0.01365558
+v -0.03776825 -0.00001877 -0.02109696
+v -0.03828603 0.00591290 -0.01951219
+v -0.03909113 0.00082778 -0.01888391
+v -0.03905426 0.00252234 -0.01881659
+v -0.03861637 -0.00001878 -0.01972818
+v -0.03900816 0.00370609 -0.01873244
+v -0.03894824 0.00483676 -0.01861743
+v -0.04046625 0.00591288 -0.01470181
+v -0.04057073 0.00421833 -0.01501035
+v -0.04064141 0.00252233 -0.01521512
+v -0.04066753 0.00161550 -0.01529085
+v -0.04090875 0.00096120 -0.01461769
+v -0.04122679 -0.00001880 -0.01361354
+v -0.04149414 -0.00001880 -0.01276366
+v -0.03887296 0.00591290 -0.01846316
+v -0.03913569 0.00760601 -0.01732156
+v -0.03902814 0.00868359 -0.01709437
+v -0.03889293 0.00981281 -0.01679143
+v -0.03873621 0.01099657 -0.01642119
+v -0.03847194 0.01252612 -0.01597239
+v -0.03684331 0.01463967 -0.01783764
+v -0.03770065 0.01444739 -0.01621081
+v -0.03754547 0.01463966 -0.01640435
+v -0.03701693 0.01463966 -0.01750947
+v -0.03872239 0.01463965 -0.01331056
+v -0.03835978 0.01463965 -0.01436800
+v -0.03852265 0.01426085 -0.01432873
+v -0.03879613 0.01298096 -0.01480837
+v -0.03897590 0.01185174 -0.01530204
+v -0.03908960 0.01099657 -0.01557972
+v -0.04034180 0.00748834 -0.01431193
+v -0.03926782 0.00926901 -0.01619120
+v -0.03964118 0.00760601 -0.01613510
+v -0.03909113 -0.00001878 -0.01888391
+v -0.03935079 -0.00001878 -0.01835379
+v -0.03960892 0.00082778 -0.01782367
+v -0.03953516 0.00252234 -0.01782366
+v -0.03932160 0.00424990 -0.01796389
+v -0.03927704 0.00591289 -0.01762170
+v -0.03992235 0.00591289 -0.01613511
+v -0.04013284 0.00421833 -0.01613511
+v -0.04027420 0.00252233 -0.01613512
+v -0.04040326 0.00096121 -0.01598647
+v -0.04067982 0.00048628 -0.01532452
+v -0.04090875 -0.00001880 -0.01461769
+v -0.03766070 0.01463966 -0.01612947
+v -0.03960892 -0.00001878 -0.01782367
+v -0.04040480 -0.00001879 -0.01598647
+v -0.04067982 -0.00001879 -0.01532452
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 42
+f 1 42 70
+f 1 70 103
+f 1 103 102
+f 1 102 110
+f 1 110 77
+f 1 77 76
+f 1 76 48
+f 1 48 47
+f 1 47 28
+f 1 28 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 27
+f 1 27 46
+f 1 46 56
+f 1 56 55
+f 1 55 87
+f 1 87 119
+f 1 119 118
+f 1 118 154
+f 1 154 194
+f 1 194 231
+f 1 231 262
+f 1 262 258
+f 1 258 260
+f 1 260 289
+f 1 289 320
+f 1 320 323
+f 1 323 322
+f 1 322 345
+f 1 345 325
+f 1 325 324
+f 1 324 292
+f 1 292 267
+f 1 267 234
+f 1 234 232
+f 1 232 196
+f 1 196 195
+f 1 195 155
+f 1 155 120
+f 1 120 88
+f 1 88 57
+f 1 57 34
+f 1 34 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 26
+f 2 26 45
+f 2 45 75
+f 2 75 74
+f 2 74 109
+f 2 109 145
+f 2 145 186
+f 2 186 185
+f 2 185 222
+f 2 222 252
+f 2 252 283
+f 2 283 313
+f 2 313 312
+f 2 312 344
+f 2 344 348
+f 2 348 347
+f 2 347 346
+f 2 346 334
+f 2 334 333
+f 2 333 304
+f 2 304 300
+f 2 300 271
+f 2 271 241
+f 2 241 208
+f 2 208 166
+f 2 166 132
+f 2 132 131
+f 2 131 93
+f 2 93 61
+f 2 61 37
+f 2 37 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 36
+f 4 36 60
+f 4 60 92
+f 4 92 130
+f 4 130 129
+f 4 129 128
+f 4 128 165
+f 4 165 207
+f 4 207 206
+f 4 206 174
+f 4 174 139
+f 4 139 104
+f 4 104 71
+f 4 71 43
+f 4 43 25
+f 4 25 13
+f 4 13 6
+f 5 11 12
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 10 19 20
+f 11 21 38
+f 11 38 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 13 25 26
+f 15 18 27
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 32 33
+f 18 33 27
+f 18 31 32
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 21 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 27 33 46
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 30 49 50
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 46
+f 34 57 58
+f 34 58 35
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 37 61 62
+f 37 62 63
+f 37 63 38
+f 38 63 39
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 41 67 68
+f 41 68 69
+f 41 69 42
+f 41 66 67
+f 42 69 70
+f 43 71 44
+f 44 71 72
+f 44 72 73
+f 44 73 74
+f 44 74 75
+f 44 75 45
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 79 51
+f 50 78 80
+f 50 80 79
+f 51 81 82
+f 51 82 83
+f 51 83 52
+f 51 79 81
+f 52 83 53
+f 53 83 84
+f 53 84 85
+f 53 85 54
+f 54 85 86
+f 54 86 55
+f 55 86 87
+f 57 88 89
+f 57 89 58
+f 58 89 90
+f 58 90 59
+f 59 91 60
+f 59 90 125
+f 59 125 91
+f 60 91 92
+f 61 93 94
+f 61 94 62
+f 62 94 95
+f 62 95 96
+f 62 96 63
+f 63 96 64
+f 64 96 65
+f 65 97 66
+f 65 96 98
+f 65 98 99
+f 65 99 97
+f 66 97 100
+f 66 100 67
+f 67 80 101
+f 67 101 68
+f 67 100 80
+f 68 101 102
+f 68 102 103
+f 68 103 69
+f 69 103 70
+f 71 104 105
+f 71 105 72
+f 72 105 106
+f 72 106 107
+f 72 107 73
+f 73 107 108
+f 73 108 109
+f 73 109 74
+f 77 110 101
+f 77 101 78
+f 78 101 80
+f 79 80 100
+f 79 100 111
+f 79 111 81
+f 81 111 112
+f 81 112 82
+f 82 84 83
+f 82 112 113
+f 82 113 114
+f 82 114 84
+f 84 114 115
+f 84 115 116
+f 84 116 85
+f 85 116 117
+f 85 117 86
+f 86 117 118
+f 86 118 119
+f 86 119 87
+f 88 120 121
+f 88 121 89
+f 89 121 122
+f 89 122 123
+f 89 123 90
+f 90 123 124
+f 90 124 125
+f 91 126 127
+f 91 127 128
+f 91 128 129
+f 91 129 130
+f 91 130 92
+f 91 125 126
+f 93 131 94
+f 94 131 132
+f 94 132 133
+f 94 133 95
+f 95 134 96
+f 95 133 135
+f 95 135 134
+f 96 134 98
+f 97 111 100
+f 97 99 136
+f 97 136 111
+f 98 134 137
+f 98 137 99
+f 99 137 138
+f 99 138 136
+f 101 110 102
+f 104 139 140
+f 104 140 105
+f 105 140 141
+f 105 141 106
+f 106 141 142
+f 106 142 143
+f 106 143 107
+f 107 143 108
+f 108 143 182
+f 108 182 144
+f 108 144 109
+f 109 144 145
+f 111 136 112
+f 112 136 146
+f 112 146 113
+f 113 146 147
+f 113 147 148
+f 113 148 114
+f 114 148 115
+f 115 148 149
+f 115 149 150
+f 115 150 151
+f 115 151 152
+f 115 152 117
+f 115 117 116
+f 117 152 118
+f 118 152 153
+f 118 153 154
+f 120 155 156
+f 120 156 121
+f 121 156 122
+f 122 156 157
+f 122 157 158
+f 122 158 123
+f 123 158 124
+f 124 159 125
+f 124 158 160
+f 124 160 161
+f 124 161 159
+f 125 159 162
+f 125 162 126
+f 126 163 127
+f 126 162 164
+f 126 164 163
+f 127 163 165
+f 127 165 128
+f 132 166 133
+f 133 166 167
+f 133 167 168
+f 133 168 135
+f 134 135 169
+f 134 169 170
+f 134 170 137
+f 135 168 169
+f 136 138 146
+f 137 170 171
+f 137 171 172
+f 137 172 138
+f 138 172 173
+f 138 173 146
+f 139 174 140
+f 140 174 175
+f 140 175 141
+f 141 176 177
+f 141 177 178
+f 141 178 142
+f 141 175 176
+f 142 178 179
+f 142 179 180
+f 142 180 181
+f 142 181 143
+f 143 181 182
+f 144 182 183
+f 144 183 184
+f 144 184 185
+f 144 185 186
+f 144 186 145
+f 146 173 147
+f 147 173 187
+f 147 187 188
+f 147 188 148
+f 148 188 189
+f 148 189 149
+f 149 189 150
+f 150 189 190
+f 150 190 191
+f 150 191 192
+f 150 192 151
+f 151 192 193
+f 151 193 152
+f 152 193 153
+f 153 193 194
+f 153 194 154
+f 155 195 156
+f 156 195 196
+f 156 196 197
+f 156 197 157
+f 157 197 198
+f 157 198 199
+f 157 199 158
+f 158 199 160
+f 159 200 201
+f 159 201 162
+f 159 161 200
+f 160 199 202
+f 160 202 161
+f 161 202 203
+f 161 203 204
+f 161 204 205
+f 161 205 200
+f 162 201 164
+f 163 175 206
+f 163 206 207
+f 163 207 165
+f 163 164 175
+f 164 201 176
+f 164 176 175
+f 166 208 209
+f 166 209 167
+f 167 209 168
+f 168 209 210
+f 168 210 169
+f 169 210 211
+f 169 211 212
+f 169 212 171
+f 169 171 170
+f 171 212 213
+f 171 213 214
+f 171 214 172
+f 172 214 173
+f 173 214 187
+f 174 206 175
+f 176 201 177
+f 177 200 215
+f 177 215 178
+f 177 201 200
+f 178 215 179
+f 179 215 216
+f 179 216 217
+f 179 217 180
+f 180 217 181
+f 181 217 218
+f 181 218 219
+f 181 219 220
+f 181 220 183
+f 181 183 182
+f 183 220 221
+f 183 221 184
+f 184 221 185
+f 185 221 222
+f 187 214 223
+f 187 223 224
+f 187 224 188
+f 188 224 189
+f 189 224 225
+f 189 225 226
+f 189 226 190
+f 190 226 227
+f 190 227 191
+f 191 228 192
+f 191 227 229
+f 191 229 228
+f 192 228 230
+f 192 230 231
+f 192 231 193
+f 193 231 194
+f 196 232 197
+f 197 233 198
+f 197 232 234
+f 197 234 235
+f 197 235 233
+f 198 233 236
+f 198 236 199
+f 199 236 202
+f 200 205 215
+f 202 236 237
+f 202 237 203
+f 203 237 238
+f 203 238 239
+f 203 239 204
+f 204 239 247
+f 204 247 240
+f 204 240 205
+f 205 216 215
+f 205 240 216
+f 208 241 209
+f 209 241 242
+f 209 242 210
+f 210 242 211
+f 211 243 212
+f 211 242 244
+f 211 244 245
+f 211 245 243
+f 212 243 213
+f 213 243 246
+f 213 246 223
+f 213 223 214
+f 216 240 217
+f 217 240 218
+f 218 240 219
+f 219 247 278
+f 219 278 248
+f 219 248 249
+f 219 249 250
+f 219 250 220
+f 219 240 247
+f 220 250 221
+f 221 250 251
+f 221 251 222
+f 222 251 252
+f 223 246 253
+f 223 253 224
+f 224 253 254
+f 224 254 225
+f 225 254 226
+f 226 254 255
+f 226 255 256
+f 226 256 227
+f 227 256 257
+f 227 257 229
+f 228 258 230
+f 228 229 259
+f 228 259 260
+f 228 260 258
+f 229 257 261
+f 229 261 259
+f 230 262 231
+f 230 258 262
+f 233 235 263
+f 233 263 264
+f 233 264 265
+f 233 265 266
+f 233 266 236
+f 234 267 235
+f 235 267 263
+f 236 266 237
+f 237 266 268
+f 237 268 238
+f 238 268 269
+f 238 269 239
+f 239 269 270
+f 239 270 247
+f 241 271 272
+f 241 272 242
+f 242 272 244
+f 243 245 273
+f 243 273 246
+f 244 272 274
+f 244 274 275
+f 244 275 245
+f 245 275 276
+f 245 276 273
+f 246 273 277
+f 246 277 253
+f 247 270 278
+f 248 278 279
+f 248 279 280
+f 248 280 249
+f 249 280 281
+f 249 281 282
+f 249 282 250
+f 250 282 251
+f 251 282 283
+f 251 283 252
+f 253 277 254
+f 254 284 255
+f 254 277 284
+f 255 284 285
+f 255 285 286
+f 255 286 256
+f 256 286 287
+f 256 287 257
+f 257 287 288
+f 257 288 261
+f 259 261 289
+f 259 289 260
+f 261 288 290
+f 261 290 291
+f 261 291 289
+f 263 267 292
+f 263 292 293
+f 263 293 264
+f 264 293 294
+f 264 294 265
+f 265 295 268
+f 265 268 266
+f 265 294 296
+f 265 296 297
+f 265 297 295
+f 268 295 269
+f 269 295 298
+f 269 298 270
+f 270 298 299
+f 270 299 278
+f 271 300 272
+f 272 300 274
+f 273 276 301
+f 273 301 277
+f 274 302 303
+f 274 303 275
+f 274 300 304
+f 274 304 333
+f 274 333 302
+f 275 303 305
+f 275 305 276
+f 276 305 306
+f 276 306 301
+f 277 301 284
+f 278 299 279
+f 279 299 307
+f 279 307 308
+f 279 308 280
+f 280 308 309
+f 280 309 281
+f 281 309 310
+f 281 310 311
+f 281 311 282
+f 282 311 312
+f 282 312 313
+f 282 313 283
+f 284 301 314
+f 284 314 285
+f 285 314 315
+f 285 315 316
+f 285 316 286
+f 286 316 317
+f 286 317 287
+f 287 317 318
+f 287 318 288
+f 288 318 319
+f 288 319 290
+f 289 291 320
+f 290 319 321
+f 290 321 322
+f 290 322 323
+f 290 323 291
+f 291 323 320
+f 292 324 293
+f 293 324 325
+f 293 325 326
+f 293 326 327
+f 293 327 328
+f 293 328 294
+f 294 328 296
+f 295 297 298
+f 296 328 329
+f 296 329 297
+f 297 330 298
+f 297 329 331
+f 297 331 332
+f 297 332 330
+f 298 330 299
+f 299 330 307
+f 301 306 314
+f 302 333 334
+f 302 334 335
+f 302 335 303
+f 303 335 336
+f 303 336 305
+f 305 336 337
+f 305 337 306
+f 306 337 338
+f 306 338 314
+f 307 332 339
+f 307 339 308
+f 307 330 332
+f 308 339 340
+f 308 340 309
+f 309 340 341
+f 309 341 310
+f 310 342 343
+f 310 343 311
+f 310 341 342
+f 311 343 348
+f 311 348 344
+f 311 344 312
+f 314 338 315
+f 315 338 339
+f 315 339 332
+f 315 332 316
+f 316 332 331
+f 316 331 317
+f 317 331 329
+f 317 329 318
+f 318 329 328
+f 318 328 319
+f 319 328 327
+f 319 327 321
+f 321 327 326
+f 321 326 345
+f 321 345 322
+f 325 345 326
+f 334 346 335
+f 335 346 347
+f 335 347 342
+f 335 342 341
+f 335 341 336
+f 336 341 340
+f 336 340 337
+f 337 340 338
+f 338 340 339
+f 342 347 343
+f 343 347 348
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_1.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.01782840 -0.01607423 -0.04533575
+v -0.01777947 -0.01612380 -0.04533575
+v -0.01777947 -0.01781858 -0.04521871
+v -0.01947408 -0.01607423 -0.04519413
+v -0.01777947 -0.01607423 -0.04533286
+v 0.00007393 -0.02290291 -0.04523606
+v 0.00007393 -0.02379988 -0.04528520
+v 0.00007393 -0.02459769 -0.04532422
+v -0.00591279 -0.02290291 -0.04533577
+v -0.01608264 -0.01781858 -0.04533576
+v -0.01780393 -0.01955141 -0.04459156
+v -0.01951188 -0.01784280 -0.04459011
+v -0.01947408 -0.01612380 -0.04518980
+v -0.01438804 -0.01951336 -0.04533287
+v -0.01608264 -0.01951336 -0.04519125
+v -0.01952300 -0.01607423 -0.04518691
+v -0.01613379 -0.01607423 -0.04519991
+v 0.00007393 -0.02226306 -0.04491815
+v 0.00007393 -0.02549465 -0.04498463
+v -0.00082453 -0.02459769 -0.04532277
+v -0.00760739 -0.02290291 -0.04533433
+v -0.01099883 -0.02120813 -0.04533577
+v -0.01438804 -0.02120813 -0.04506699
+v -0.01602037 -0.02120238 -0.04449619
+v -0.01725686 -0.02063400 -0.04424909
+v -0.01897148 -0.01901185 -0.04428087
+v -0.02059269 -0.01729402 -0.04424474
+v -0.02114867 -0.01607424 -0.04449473
+v -0.00930200 -0.02290291 -0.04530398
+v -0.01269121 -0.02120813 -0.04529820
+v -0.01441695 -0.01607424 -0.04459155
+v 0.00007393 -0.02154595 -0.04455833
+v 0.00007393 -0.02629248 -0.04468118
+v -0.00082453 -0.02629248 -0.04467685
+v -0.00252136 -0.02459769 -0.04531266
+v -0.01438804 -0.02251093 -0.04439504
+v -0.01099883 -0.02290291 -0.04515803
+v -0.01277794 -0.02302282 -0.04464648
+v -0.01541103 -0.02218005 -0.04412626
+v -0.01838659 -0.02014170 -0.04354679
+v -0.01661193 -0.02181573 -0.04313207
+v -0.02010121 -0.01842387 -0.04354823
+v -0.02177580 -0.01665185 -0.04313205
+v -0.02195149 -0.01607424 -0.04361036
+v -0.02115534 -0.01607424 -0.04449040
+v -0.00421596 -0.02459769 -0.04528231
+v -0.00591279 -0.02459769 -0.04520572
+v 0.00007393 -0.01607426 -0.03716977
+v 0.00007393 -0.02675364 -0.04432570
+v -0.00082453 -0.02716062 -0.04400779
+v -0.00238347 -0.02643082 -0.04450922
+v -0.00421596 -0.02614260 -0.04460749
+v -0.01226867 -0.02397397 -0.04423610
+v -0.01099883 -0.02427488 -0.04448320
+v -0.00760739 -0.02459769 -0.04502654
+v -0.01576463 -0.02243599 -0.04313207
+v -0.01339841 -0.02366845 -0.04380258
+v -0.01438359 -0.02332719 -0.04319711
+v -0.01780393 -0.02088302 -0.04304392
+v -0.01869349 -0.02042186 -0.04242255
+v -0.01939624 -0.01943843 -0.04298611
+v -0.01689436 -0.02202672 -0.04196447
+v -0.02038587 -0.01873400 -0.04242399
+v -0.02084399 -0.01784280 -0.04304536
+v -0.02199152 -0.01693547 -0.04198324
+v -0.02219834 -0.01607424 -0.04313205
+v -0.00591279 -0.02597312 -0.04452945
+v 0.00007393 -0.01607429 -0.03057457
+v 0.00007393 -0.02716177 -0.04401068
+v -0.00082453 -0.02748689 -0.04313209
+v -0.00172743 -0.02714448 -0.04398322
+v 0.00007393 -0.02733816 -0.04354393
+v -0.00879495 -0.02556960 -0.04414361
+v -0.00992691 -0.02535516 -0.04377079
+v -0.00933758 -0.02471299 -0.04459591
+v -0.00760739 -0.02575407 -0.04435170
+v -0.01381427 -0.02391402 -0.04267689
+v -0.01102551 -0.02512343 -0.04317832
+v -0.01277794 -0.02425874 -0.04319711
+v -0.01876243 -0.02048643 -0.04144569
+v -0.01960973 -0.01965173 -0.04144568
+v -0.01695441 -0.02207399 -0.04084022
+v -0.01762380 -0.02146180 -0.04141969
+v -0.01484616 -0.02350590 -0.04144570
+v -0.01623164 -0.02254899 -0.04141969
+v -0.02045036 -0.01880434 -0.04144568
+v -0.02203822 -0.01699773 -0.04085899
+v -0.02250746 -0.01627140 -0.04143123
+v -0.02264534 -0.01607425 -0.04143267
+v -0.02229842 -0.01607424 -0.04285893
+v -0.02142665 -0.01766526 -0.04143123
+v -0.00285716 -0.02708798 -0.04384883
+v -0.00421596 -0.02698999 -0.04359884
+v 0.00007393 -0.02709495 -0.03057461
+v -0.02181139 -0.01607429 -0.03057457
+v -0.00082453 -0.02784200 -0.04144571
+v -0.00252136 -0.02773132 -0.04144571
+v -0.00238347 -0.02735892 -0.04322457
+v 0.00007393 -0.02749150 -0.04313209
+v 0.00007393 -0.02768288 -0.04223905
+v 0.00007393 -0.02785122 -0.04144571
+v -0.00592613 -0.02684933 -0.04307718
+v -0.00760739 -0.02638932 -0.04313209
+v -0.00933758 -0.02580710 -0.04317832
+v -0.01047621 -0.02558344 -0.04264510
+v -0.01153923 -0.02530905 -0.04144570
+v -0.01269121 -0.02473491 -0.04144570
+v -0.01399886 -0.02402241 -0.04144570
+v -0.01695441 -0.02207399 -0.04051797
+v -0.01874242 -0.02046683 -0.04015960
+v -0.02043035 -0.01878128 -0.04014225
+v -0.01436580 -0.02302749 -0.03057459
+v -0.02203822 -0.01699773 -0.04051073
+v -0.02254082 -0.01607425 -0.03986190
+v -0.00421596 -0.02730473 -0.04275638
+v -0.00537016 -0.02720789 -0.04247604
+v -0.00014402 -0.02709495 -0.03057461
+v 0.00007393 -0.02774285 -0.03975790
+v -0.02158900 -0.01642477 -0.03057457
+v -0.00082453 -0.02773477 -0.03975790
+v -0.00252136 -0.02762409 -0.03975790
+v -0.00421596 -0.02752149 -0.04144571
+v -0.00760739 -0.02677209 -0.04144571
+v -0.00930200 -0.02621639 -0.04144571
+v -0.01069193 -0.02567683 -0.04144570
+v -0.01238431 -0.02416310 -0.03057460
+v -0.01100105 -0.02484332 -0.03057460
+v -0.01741253 -0.02080929 -0.03057459
+v -0.01639399 -0.02159788 -0.03057459
+v -0.01917163 -0.01921020 -0.03057458
+v -0.02078395 -0.01746009 -0.03057457
+v -0.02157121 -0.01645129 -0.03057457
+v -0.00564370 -0.02726554 -0.04144571
+v -0.00649323 -0.02707992 -0.04144571
+v -0.00110696 -0.02706151 -0.03057461
+v -0.00252136 -0.02696813 -0.03057461
+v -0.00421596 -0.02679519 -0.03057461
+v -0.00593503 -0.02655769 -0.03057461
+v -0.00553250 -0.02723902 -0.04009460
+v -0.00760739 -0.02615648 -0.03057461
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 28
+f 1 28 45
+f 1 45 44
+f 1 44 66
+f 1 66 90
+f 1 90 89
+f 1 89 114
+f 1 114 95
+f 1 95 68
+f 1 68 48
+f 1 48 31
+f 1 31 17
+f 1 17 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 22
+f 1 22 10
+f 1 10 2
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 14
+f 3 14 15
+f 3 15 11
+f 4 13 16
+f 5 17 6
+f 6 18 32
+f 6 32 48
+f 6 48 68
+f 6 68 94
+f 6 94 118
+f 6 118 101
+f 6 101 100
+f 6 100 99
+f 6 99 72
+f 6 72 69
+f 6 69 49
+f 6 49 33
+f 6 33 19
+f 6 19 8
+f 6 8 7
+f 6 17 18
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 10 22 14
+f 11 15 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 16 13
+f 12 26 27
+f 12 27 28
+f 12 28 16
+f 14 22 29
+f 14 29 30
+f 14 30 15
+f 15 30 23
+f 17 31 32
+f 17 32 18
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 46
+f 21 46 29
+f 21 29 22
+f 23 36 24
+f 23 30 37
+f 23 37 38
+f 23 38 36
+f 24 36 39
+f 24 39 25
+f 25 40 26
+f 25 39 41
+f 25 41 40
+f 26 42 27
+f 26 40 42
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 27 42 43
+f 29 46 47
+f 29 47 37
+f 29 37 30
+f 31 48 32
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 46
+f 34 46 35
+f 36 38 53
+f 36 53 39
+f 37 54 38
+f 37 47 55
+f 37 55 54
+f 38 54 53
+f 39 56 41
+f 39 53 57
+f 39 57 58
+f 39 58 56
+f 40 41 59
+f 40 59 60
+f 40 60 61
+f 40 61 42
+f 41 56 62
+f 41 62 60
+f 41 60 59
+f 42 61 63
+f 42 63 64
+f 42 64 43
+f 43 65 66
+f 43 66 44
+f 43 64 63
+f 43 63 65
+f 46 52 47
+f 47 52 67
+f 47 67 55
+f 49 69 50
+f 50 70 71
+f 50 71 51
+f 50 69 72
+f 50 72 70
+f 51 71 52
+f 52 71 67
+f 53 54 73
+f 53 73 74
+f 53 74 57
+f 54 55 75
+f 54 75 76
+f 54 76 73
+f 55 67 76
+f 55 76 75
+f 56 58 77
+f 56 77 62
+f 57 77 58
+f 57 74 78
+f 57 78 79
+f 57 79 77
+f 60 80 81
+f 60 81 63
+f 60 63 61
+f 60 62 80
+f 62 82 83
+f 62 83 80
+f 62 77 84
+f 62 84 85
+f 62 85 82
+f 63 86 65
+f 63 81 86
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 65 86 91
+f 65 91 87
+f 67 71 92
+f 67 92 93
+f 67 93 76
+f 68 95 119
+f 68 119 132
+f 68 132 131
+f 68 131 130
+f 68 130 128
+f 68 128 129
+f 68 129 112
+f 68 112 126
+f 68 126 127
+f 68 127 140
+f 68 140 138
+f 68 138 137
+f 68 137 136
+f 68 136 135
+f 68 135 117
+f 68 117 94
+f 70 96 97
+f 70 97 98
+f 70 98 71
+f 70 72 99
+f 70 99 100
+f 70 100 101
+f 70 101 96
+f 71 98 92
+f 73 76 102
+f 73 102 103
+f 73 103 104
+f 73 104 74
+f 74 105 78
+f 74 104 105
+f 76 93 102
+f 77 79 105
+f 77 105 106
+f 77 106 107
+f 77 107 108
+f 77 108 84
+f 78 105 79
+f 80 83 82
+f 80 82 109
+f 80 109 110
+f 80 110 81
+f 81 110 111
+f 81 111 86
+f 82 85 84
+f 82 84 109
+f 84 108 112
+f 84 112 109
+f 86 111 113
+f 86 113 87
+f 86 87 91
+f 87 113 89
+f 87 89 88
+f 89 113 114
+f 92 98 115
+f 92 115 93
+f 93 115 116
+f 93 116 102
+f 94 117 118
+f 95 114 113
+f 95 113 119
+f 96 120 121
+f 96 121 97
+f 96 101 120
+f 97 121 122
+f 97 122 115
+f 97 115 98
+f 101 118 120
+f 102 116 103
+f 103 116 123
+f 103 123 105
+f 103 105 104
+f 105 123 124
+f 105 124 125
+f 105 125 106
+f 106 126 107
+f 106 125 127
+f 106 127 126
+f 107 126 108
+f 108 126 112
+f 109 128 110
+f 109 112 129
+f 109 129 128
+f 110 130 111
+f 110 128 130
+f 111 131 113
+f 111 130 131
+f 113 132 119
+f 113 131 132
+f 115 122 116
+f 116 122 133
+f 116 133 134
+f 116 134 123
+f 117 135 120
+f 117 120 118
+f 120 135 121
+f 121 136 137
+f 121 137 122
+f 121 135 136
+f 122 138 139
+f 122 139 133
+f 122 137 138
+f 123 140 124
+f 123 134 140
+f 124 140 127
+f 124 127 125
+f 133 139 134
+f 134 139 140
+f 138 140 139
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_10.obj

@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.00087210 -0.05163471 0.04290925
+v 0.00256740 -0.05158627 0.04290925
+v 0.00256740 -0.05120088 0.04419318
+v 0.00087210 -0.05122290 0.04421512
+v 0.00007393 -0.05122290 0.04421512
+v 0.00007393 -0.05163251 0.04290925
+v 0.00087210 -0.05143871 0.04122478
+v 0.00426269 -0.05149377 0.04290925
+v 0.00426269 -0.05115243 0.04414380
+v 0.00256740 -0.05139026 0.04122478
+v 0.00595964 -0.05002271 0.04472541
+v 0.00426269 -0.05002271 0.04479675
+v 0.00256740 -0.05002271 0.04482967
+v 0.00087210 -0.05002271 0.04484613
+v 0.00007393 -0.05058647 0.04454983
+v 0.00007393 -0.05143651 0.04122478
+v 0.00007393 -0.04260775 -0.00831061
+v 0.00087210 -0.04248663 -0.00900196
+v 0.00595964 -0.05135063 0.04290925
+v 0.00765493 -0.05098507 0.04392981
+v 0.00595964 -0.05108196 0.04406149
+v 0.00426269 -0.05129557 0.04122478
+v 0.00765493 -0.05002271 0.04460470
+v 0.00256740 -0.04245360 -0.00883735
+v 0.01273917 -0.04832702 0.04490648
+v 0.01104388 -0.04832703 0.04500525
+v 0.00934858 -0.04832703 0.04507109
+v 0.00765493 -0.04832703 0.04509852
+v 0.00007393 -0.05002271 0.04484613
+v 0.00007393 -0.04248443 -0.00899647
+v 0.00007393 -0.04240735 -0.00939701
+v 0.00087210 -0.04231705 -0.00984693
+v 0.00765493 -0.05115684 0.04290925
+v 0.00874005 -0.05091019 0.04382007
+v 0.00765493 -0.05104232 0.04151010
+v 0.00899567 -0.05094542 0.04181736
+v 0.01273917 -0.04966155 0.04429195
+v 0.01104388 -0.04984653 0.04438523
+v 0.00367066 -0.04241836 -0.00866177
+v 0.01443447 -0.04832702 0.04475833
+v 0.00256740 -0.04228402 -0.00968233
+v 0.01692134 -0.04663135 0.04500526
+v 0.01613141 -0.04663135 0.04506012
+v 0.00595964 -0.04832703 0.04509304
+v 0.01443447 -0.04663135 0.04507659
+v 0.00007393 -0.04832703 0.04503817
+v 0.00007393 -0.04231705 -0.00984145
+v 0.00007393 -0.04207040 -0.01095527
+v 0.00087210 -0.04207040 -0.01095527
+v 0.00256740 -0.04200434 -0.01095527
+v 0.00905174 -0.05095864 0.04290925
+v 0.01273917 -0.05021870 0.04290926
+v 0.01563833 -0.04928278 0.04390787
+v 0.01443447 -0.04944794 0.04410540
+v 0.00989939 -0.05081550 0.04290925
+v 0.01104388 -0.05059087 0.04290925
+v 0.00480195 -0.04236551 -0.00838194
+v 0.01104388 -0.05038826 0.04122478
+v 0.01273917 -0.05001169 0.04122479
+v 0.00609322 -0.04231045 -0.00776741
+v 0.00674792 -0.04238754 -0.00680172
+v 0.00765493 -0.04208363 -0.00770156
+v 0.00934858 -0.04175991 -0.00770156
+v 0.01692134 -0.04828078 0.04435231
+v 0.00424785 -0.04223998 -0.00928727
+v 0.01692134 -0.04763113 0.04463763
+v 0.00426269 -0.04187661 -0.01095527
+v 0.01692134 -0.04584297 0.04502172
+v 0.01692134 -0.04493786 0.04492296
+v 0.00007393 -0.04743073 0.04473640
+v 0.00007393 -0.03368227 -0.01095524
+v 0.01443447 -0.04978928 0.04290926
+v 0.01576696 -0.04932461 0.04162534
+v 0.01591208 -0.04936866 0.04290926
+v 0.01675973 -0.04910220 0.04290926
+v 0.01692134 -0.04904714 0.04290926
+v 0.01692134 -0.04894804 0.04312325
+v 0.00595964 -0.04203077 -0.00938603
+v 0.01104388 -0.04135691 -0.00770156
+v 0.00765493 -0.04177092 -0.00938603
+v 0.00934858 -0.04144279 -0.00938603
+v 0.00438473 -0.04186340 -0.01095527
+v 0.01692134 -0.04405257 0.04460472
+v 0.00007393 -0.04663134 0.04446205
+v 0.01692134 -0.02913695 -0.01095523
+v 0.00007393 -0.03892141 0.02616887
+v 0.01692134 -0.04878507 0.04116993
+v 0.01221310 -0.04079755 -0.00900743
+v 0.01334275 -0.04062578 -0.00810759
+v 0.01430419 -0.04038574 -0.00760828
+v 0.01443447 -0.03999595 -0.00938603
+v 0.01613141 -0.03967884 -0.00770156
+v 0.00595964 -0.04168502 -0.01095527
+v 0.00608002 -0.04166740 -0.01095527
+v 0.00765493 -0.04142737 -0.01095527
+v 0.01116756 -0.04098253 -0.00949576
+v 0.00777697 -0.04140534 -0.01095527
+v 0.00947556 -0.04106621 -0.01095527
+v 0.01019458 -0.04090104 -0.01095527
+v 0.01068602 -0.04082837 -0.01076323
+v 0.01692134 -0.04331704 0.04427551
+v 0.00007393 -0.04573285 0.04381461
+v 0.01692134 -0.03863939 -0.01095526
+v 0.00007393 -0.03912181 0.02758449
+v 0.01692134 -0.03509401 0.02603720
+v 0.01692134 -0.03911508 -0.00892512
+v 0.01181567 -0.04067862 -0.01013224
+v 0.01276226 -0.04052668 -0.00949576
+v 0.01620727 -0.03931548 -0.00937504
+v 0.01286121 -0.04016110 -0.01095527
+v 0.01443447 -0.03963478 -0.01095527
+v 0.01568285 -0.03916571 -0.01095526
+v 0.01059696 -0.04080635 -0.01095527
+v 0.01132917 -0.04061255 -0.01095527
+v 0.01692134 -0.04269823 0.04379816
+v 0.01692134 -0.04250884 0.04362257
+v 0.01692134 -0.04215649 0.04319461
+v 0.01692134 -0.04179533 0.04273371
+v 0.01692134 -0.04132185 0.04210272
+v 0.00007393 -0.04538270 0.04333725
+v 0.01652555 -0.03881777 -0.01095526
+v 0.01692134 -0.03891246 -0.00987435
+v 0.00007393 -0.03928037 0.02845141
+v 0.01692134 -0.03537589 0.02772715
+v 0.01692134 -0.03898294 -0.00954514
+v 0.01274082 -0.04020075 -0.01095527
+v 0.01682404 -0.03894109 -0.00992922
+v 0.01692134 -0.04096069 0.04157050
+v 0.00007393 -0.04427498 0.04176253
+v 0.00007393 -0.04464937 0.04230573
+v 0.00007393 -0.04507219 0.04290927
+v 0.00007393 -0.03945655 0.02941161
+v 0.01692134 -0.03556749 0.02870382
+v 0.01692134 -0.04072946 0.04121934
+v 0.01692134 -0.04047401 0.04080782
+v 0.01692134 -0.04017671 0.04031400
+v 0.00007393 -0.04401072 0.04131809
+v 0.00007393 -0.03985075 0.03110156
+v 0.01692134 -0.03569742 0.02933480
+v 0.01692134 -0.03975829 0.03960071
+v 0.00007393 -0.04377729 0.04092304
+v 0.00007393 -0.04007318 0.03189715
+v 0.01692134 -0.03615988 0.03110158
+v 0.01692134 -0.03590883 0.03015235
+v 0.01692134 -0.03930904 0.03877769
+v 0.00007393 -0.04338090 0.04018780
+v 0.00007393 -0.04032202 0.03278603
+v 0.00007393 -0.04046737 0.03327436
+v 0.01692134 -0.03665318 0.03269825
+v 0.01692134 -0.03885759 0.03792723
+v 0.00007393 -0.04303075 0.03953486
+v 0.00007393 -0.04063694 0.03381756
+v 0.00007393 -0.04077348 0.03421810
+v 0.00007393 -0.04092764 0.03466253
+v 0.01692134 -0.03702535 0.03371331
+v 0.01692134 -0.03841054 0.03700544
+v 0.00007393 -0.04249561 0.03847041
+v 0.00007393 -0.04274886 0.03897520
+v 0.00007393 -0.04119410 0.03537034
+v 0.01692134 -0.03730724 0.03448148
+v 0.01692134 -0.03804938 0.03625373
+v 0.00007393 -0.04211463 0.03763093
+v 0.00007393 -0.04149580 0.03616045
+v 0.00007393 -0.04178650 0.03685179
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 7
+f 1 7 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 29
+f 5 29 46
+f 5 46 70
+f 5 70 84
+f 5 84 102
+f 5 102 120
+f 5 120 131
+f 5 131 130
+f 5 130 129
+f 5 129 137
+f 5 137 141
+f 5 141 146
+f 5 146 151
+f 5 151 158
+f 5 158 157
+f 5 157 162
+f 5 162 164
+f 5 164 163
+f 5 163 159
+f 5 159 154
+f 5 154 153
+f 5 153 152
+f 5 152 148
+f 5 148 147
+f 5 147 142
+f 5 142 138
+f 5 138 132
+f 5 132 123
+f 5 123 104
+f 5 104 86
+f 5 86 71
+f 5 71 48
+f 5 48 47
+f 5 47 31
+f 5 31 30
+f 5 30 17
+f 5 17 16
+f 5 16 6
+f 7 16 17
+f 7 17 18
+f 7 18 10
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 10 22
+f 8 22 19
+f 9 21 23
+f 9 23 11
+f 10 18 24
+f 10 24 22
+f 11 23 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 29 15
+f 14 28 29
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 41
+f 18 41 24
+f 19 33 34
+f 19 34 20
+f 19 22 35
+f 19 35 36
+f 19 36 33
+f 20 34 37
+f 20 37 38
+f 20 38 21
+f 21 38 23
+f 22 24 39
+f 22 39 35
+f 23 38 40
+f 23 40 25
+f 24 41 39
+f 25 42 43
+f 25 43 26
+f 25 40 42
+f 26 43 27
+f 27 43 28
+f 28 44 29
+f 28 43 45
+f 28 45 44
+f 29 44 46
+f 31 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 41
+f 33 51 34
+f 33 36 51
+f 34 52 53
+f 34 53 54
+f 34 54 37
+f 34 51 55
+f 34 55 56
+f 34 56 52
+f 35 39 57
+f 35 57 36
+f 36 58 59
+f 36 59 52
+f 36 52 56
+f 36 56 55
+f 36 55 51
+f 36 57 60
+f 36 60 61
+f 36 61 62
+f 36 62 63
+f 36 63 58
+f 37 54 64
+f 37 64 40
+f 37 40 38
+f 39 41 65
+f 39 65 57
+f 40 64 66
+f 40 66 42
+f 41 50 67
+f 41 67 65
+f 42 68 43
+f 42 66 64
+f 42 64 77
+f 42 77 76
+f 42 76 87
+f 42 87 106
+f 42 106 125
+f 42 125 122
+f 42 122 103
+f 42 103 85
+f 42 85 105
+f 42 105 124
+f 42 124 133
+f 42 133 139
+f 42 139 144
+f 42 144 143
+f 42 143 149
+f 42 149 155
+f 42 155 160
+f 42 160 161
+f 42 161 156
+f 42 156 150
+f 42 150 145
+f 42 145 140
+f 42 140 136
+f 42 136 135
+f 42 135 134
+f 42 134 128
+f 42 128 119
+f 42 119 118
+f 42 118 117
+f 42 117 116
+f 42 116 115
+f 42 115 101
+f 42 101 83
+f 42 83 69
+f 42 69 68
+f 43 68 45
+f 44 45 46
+f 45 68 69
+f 45 69 46
+f 46 69 70
+f 48 71 85
+f 48 85 103
+f 48 103 121
+f 48 121 112
+f 48 112 111
+f 48 111 110
+f 48 110 126
+f 48 126 114
+f 48 114 113
+f 48 113 99
+f 48 99 98
+f 48 98 97
+f 48 97 95
+f 48 95 94
+f 48 94 93
+f 48 93 82
+f 48 82 67
+f 48 67 50
+f 48 50 49
+f 52 72 53
+f 52 59 73
+f 52 73 72
+f 53 72 74
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 64
+f 53 64 54
+f 57 65 78
+f 57 78 60
+f 58 63 59
+f 59 63 79
+f 59 79 73
+f 60 78 62
+f 60 62 61
+f 62 78 80
+f 62 80 63
+f 63 80 81
+f 63 81 79
+f 65 67 82
+f 65 82 78
+f 69 83 84
+f 69 84 70
+f 71 86 85
+f 72 73 74
+f 73 87 76
+f 73 76 75
+f 73 75 74
+f 73 79 88
+f 73 88 89
+f 73 89 90
+f 73 90 91
+f 73 91 92
+f 73 92 87
+f 78 82 93
+f 78 93 94
+f 78 94 95
+f 78 95 80
+f 79 81 96
+f 79 96 88
+f 80 95 97
+f 80 97 81
+f 81 97 98
+f 81 98 99
+f 81 99 100
+f 81 100 96
+f 83 101 84
+f 84 101 102
+f 85 86 104
+f 85 104 105
+f 87 92 106
+f 88 96 107
+f 88 107 108
+f 88 108 89
+f 89 108 91
+f 89 91 90
+f 91 109 92
+f 91 108 110
+f 91 110 111
+f 91 111 112
+f 91 112 109
+f 92 109 106
+f 96 100 107
+f 99 113 100
+f 100 113 114
+f 100 114 107
+f 101 115 102
+f 102 115 116
+f 102 116 117
+f 102 117 118
+f 102 118 119
+f 102 119 120
+f 103 122 121
+f 104 123 124
+f 104 124 105
+f 106 109 125
+f 107 114 126
+f 107 126 108
+f 108 126 110
+f 109 112 127
+f 109 127 125
+f 112 121 127
+f 119 128 129
+f 119 129 130
+f 119 130 131
+f 119 131 120
+f 121 122 127
+f 122 125 127
+f 123 132 124
+f 124 132 133
+f 128 134 129
+f 129 134 135
+f 129 135 136
+f 129 136 137
+f 132 138 139
+f 132 139 133
+f 136 140 141
+f 136 141 137
+f 138 142 143
+f 138 143 144
+f 138 144 139
+f 140 145 141
+f 141 145 146
+f 142 147 143
+f 143 147 148
+f 143 148 149
+f 145 150 151
+f 145 151 146
+f 148 152 149
+f 149 152 153
+f 149 153 154
+f 149 154 155
+f 150 156 157
+f 150 157 158
+f 150 158 151
+f 154 159 160
+f 154 160 155
+f 156 161 157
+f 157 161 162
+f 159 163 160
+f 160 163 161
+f 161 163 164
+f 161 164 162
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_11.obj

@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v 0.04399003 -0.02761683 0.04291311
+v 0.04392909 -0.02761683 0.04341209
+v 0.04365883 -0.02813708 0.04291311
+v 0.04384165 -0.02761682 0.04153131
+v 0.04070713 -0.03221723 0.04368076
+v 0.04281094 -0.02942300 0.04291310
+v 0.04356874 -0.02761683 0.04407010
+v 0.04265196 -0.02919225 0.04402622
+v 0.04076277 -0.03228434 0.04195899
+v 0.04267846 -0.02922790 0.04122423
+v 0.03277942 -0.02761664 -0.00769812
+v 0.03919949 -0.03412829 0.04291308
+v 0.04017720 -0.03294095 0.04303372
+v 0.04076277 -0.03228435 0.04255667
+v 0.04127150 -0.03154175 0.04303372
+v 0.04222537 -0.03027050 0.04291310
+v 0.04112842 -0.03108653 0.04413040
+v 0.03910940 -0.03402550 0.04386171
+v 0.04341506 -0.02761683 0.04419621
+v 0.04323488 -0.02785807 0.04421814
+v 0.04164245 -0.02972718 0.04441005
+v 0.03917034 -0.03409262 0.04172868
+v 0.03238727 -0.02761664 -0.00938699
+v 0.03263633 -0.02761664 -0.00832322
+v 0.03843904 -0.03497579 0.04291308
+v 0.03950685 -0.03307521 0.04415232
+v 0.03809194 -0.03466322 0.04417973
+v 0.03747457 -0.03577294 0.04391653
+v 0.03759116 -0.03589670 0.04291308
+v 0.04323753 -0.02761683 0.04429491
+v 0.04193656 -0.02761683 0.04489260
+v 0.04156296 -0.02799024 0.04493646
+v 0.03817143 -0.03307521 0.04479388
+v 0.04003412 -0.03154175 0.04449229
+v 0.03753287 -0.03583376 0.04161901
+v 0.03093792 -0.02926129 -0.00938700
+v 0.03178580 -0.02831939 -0.00938699
+v 0.03196333 -0.02761663 -0.01088394
+v 0.03640412 -0.03638758 0.04421811
+v 0.03578940 -0.03746583 0.04392200
+v 0.03676182 -0.03674420 0.04291308
+v 0.04156296 -0.02761684 0.04496388
+v 0.03986719 -0.02968524 0.04501870
+v 0.03647831 -0.03477020 0.04484321
+v 0.03585034 -0.03752456 0.04161352
+v 0.03034705 -0.03033115 -0.00769813
+v 0.03012713 -0.03010878 -0.00938700
+v 0.03071005 -0.02901584 -0.01094975
+v 0.03187324 -0.02769634 -0.01094974
+v 0.03194213 -0.02761663 -0.01094974
+v 0.03468186 -0.03808257 0.04419069
+v 0.03478254 -0.03646520 0.04484870
+v 0.03405124 -0.03910838 0.04387265
+v 0.03591394 -0.03758750 0.04291307
+v 0.04024079 -0.02761684 0.04504064
+v 0.03817143 -0.03138023 0.04504062
+v 0.03411483 -0.03916291 0.04171770
+v 0.02927925 -0.03094159 -0.00938700
+v 0.02903548 -0.03070664 -0.01094975
+v 0.02982242 -0.02992417 -0.01094975
+v 0.02988336 -0.02986334 -0.01094975
+v 0.01930337 -0.02761663 -0.01094974
+v 0.03292515 -0.03974400 0.04409198
+v 0.03308677 -0.03816019 0.04480482
+v 0.03139101 -0.03985308 0.04469515
+v 0.03139101 -0.03816020 0.04504060
+v 0.02969789 -0.03985309 0.04502415
+v 0.03225214 -0.04071107 0.04376846
+v 0.03415723 -0.03920068 0.04291307
+v 0.03500511 -0.03843290 0.04291307
+v 0.01692399 -0.04584221 0.04502413
+v 0.01952328 -0.04493807 0.04505703
+v 0.02630635 -0.04154809 0.04505156
+v 0.03986719 -0.02761684 0.04500226
+v 0.01692399 -0.04493807 0.04491994
+v 0.03231838 -0.04076351 0.04191509
+v 0.02750929 -0.03252541 -0.00938701
+v 0.02859034 -0.03199677 -0.00769814
+v 0.02835717 -0.03178909 -0.00938701
+v 0.02797298 -0.03166322 -0.01094976
+v 0.01692399 -0.02913751 -0.01094975
+v 0.02790938 -0.02761677 0.02772426
+v 0.03139101 -0.04103203 0.04405359
+v 0.02800212 -0.04154809 0.04493641
+v 0.02630635 -0.04324307 0.04473900
+v 0.02975618 -0.04163618 0.04441549
+v 0.02461059 -0.04324308 0.04500768
+v 0.03032585 -0.04223824 0.04291305
+v 0.03139101 -0.04144738 0.04291306
+v 0.03230778 -0.04075512 0.04291306
+v 0.03315566 -0.04004818 0.04291306
+v 0.02922890 -0.04265150 0.04403165
+v 0.02724698 -0.04414721 0.04383425
+v 0.01692399 -0.04663307 0.04500767
+v 0.02121905 -0.04493807 0.04500767
+v 0.03854503 -0.02761683 0.04474454
+v 0.01692399 -0.04405281 0.04460740
+v 0.02732911 -0.04419754 0.04179445
+v 0.02371501 -0.03558604 -0.00838905
+v 0.02461059 -0.03473226 -0.00938702
+v 0.02560420 -0.03403160 -0.00938702
+v 0.02645208 -0.03337290 -0.00938701
+v 0.02670380 -0.03357009 -0.00769814
+v 0.02730527 -0.03235338 -0.01064818
+v 0.02767622 -0.03192963 -0.01094976
+v 0.01692399 -0.03509320 0.02604084
+v 0.01692399 -0.03863618 -0.01094978
+v 0.01692399 -0.03537430 0.02772423
+v 0.02796768 -0.02761677 0.02796004
+v 0.02291482 -0.04493806 0.04479383
+v 0.02457614 -0.04499470 0.04433323
+v 0.02788819 -0.04322839 0.04423454
+v 0.02947797 -0.04282142 0.04291305
+v 0.02630635 -0.04441572 0.04408648
+v 0.02398792 -0.04590094 0.04390552
+v 0.02501333 -0.04554432 0.04291304
+v 0.02630635 -0.04482059 0.04291305
+v 0.02735296 -0.04421433 0.04291305
+v 0.02820084 -0.04366892 0.04291305
+v 0.01692399 -0.04763159 0.04463481
+v 0.01782752 -0.04663307 0.04495284
+v 0.03817408 -0.02761683 0.04458553
+v 0.01692399 -0.04331649 0.04427840
+v 0.02407536 -0.04594918 0.04163542
+v 0.02051690 -0.03739222 -0.00888805
+v 0.02158470 -0.03703560 -0.00769816
+v 0.02268695 -0.03600350 -0.00938702
+v 0.02353483 -0.03547067 -0.00938702
+v 0.02546642 -0.03392670 -0.01024789
+v 0.02621892 -0.03312326 -0.01094976
+v 0.02724963 -0.03230723 -0.01094976
+v 0.01782222 -0.03823551 -0.01094978
+v 0.01692399 -0.03890889 -0.00987505
+v 0.01692399 -0.03556730 0.02870026
+v 0.02834127 -0.02761678 0.02942958
+v 0.01952328 -0.04663306 0.04473351
+v 0.02115546 -0.04669389 0.04431677
+v 0.02291482 -0.04616106 0.04415227
+v 0.02054869 -0.04755607 0.04386166
+v 0.02291482 -0.04660998 0.04291304
+v 0.02416810 -0.04599534 0.04291304
+v 0.01692399 -0.04828190 0.04435515
+v 0.03717251 -0.02761683 0.04409751
+v 0.01692399 -0.04269975 0.04380135
+v 0.02064938 -0.04760221 0.04173412
+v 0.01819317 -0.03878513 -0.00769816
+v 0.01952328 -0.03814112 -0.00769816
+v 0.01963457 -0.03772367 -0.00942541
+v 0.02027313 -0.03725795 -0.01001213
+v 0.02113691 -0.03691183 -0.00942541
+v 0.02236899 -0.03580420 -0.01094977
+v 0.02315594 -0.03530284 -0.01094977
+v 0.02321688 -0.03526298 -0.01094977
+v 0.02464503 -0.03430850 -0.01091687
+v 0.02532069 -0.03382181 -0.01094976
+v 0.01919738 -0.03757262 -0.01094978
+v 0.01773478 -0.03865087 -0.00937606
+v 0.01692399 -0.03898231 -0.00954605
+v 0.01692399 -0.03569737 0.02933633
+v 0.02891360 -0.02761678 0.03110199
+v 0.01782752 -0.04807003 0.04432773
+v 0.01952328 -0.04775746 0.04408646
+v 0.01692399 -0.04904758 0.04291303
+v 0.01782752 -0.04872872 0.04291303
+v 0.01952328 -0.04810359 0.04291303
+v 0.02071297 -0.04762949 0.04291304
+v 0.02156086 -0.04724770 0.04291304
+v 0.01692399 -0.04894689 0.04312688
+v 0.03700559 -0.02761683 0.04398236
+v 0.01692399 -0.04250885 0.04362588
+v 0.01782752 -0.04849586 0.04122416
+v 0.01692399 -0.03911448 -0.00892095
+v 0.01710681 -0.03906204 -0.00880579
+v 0.02003996 -0.03713628 -0.01094978
+v 0.02009296 -0.03710691 -0.01094978
+v 0.02121375 -0.03647968 -0.01094977
+v 0.02132504 -0.03641465 -0.01094977
+v 0.02431383 -0.03452247 -0.01094977
+v 0.02460794 -0.03432318 -0.01094977
+v 0.02469272 -0.03426444 -0.01094977
+v 0.01692399 -0.03590924 0.03015335
+v 0.01692399 -0.03615887 0.03110196
+v 0.02956541 -0.02761679 0.03279086
+v 0.01692399 -0.04878535 0.04116933
+v 0.03648096 -0.02761683 0.04352724
+v 0.01692399 -0.04215643 0.04319271
+v 0.01692399 -0.03665396 0.03269762
+v 0.03023577 -0.02761680 0.03432072
+v 0.03616565 -0.02761683 0.04319824
+v 0.01692399 -0.04132151 0.04210152
+v 0.01692399 -0.04179561 0.04273759
+v 0.01692399 -0.03702526 0.03371202
+v 0.01692399 -0.03730637 0.03447969
+v 0.03125853 -0.02761680 0.03626730
+v 0.03557213 -0.02761683 0.04256218
+v 0.01692399 -0.04096069 0.04157512
+v 0.01692399 -0.03766719 0.03534058
+v 0.03145460 -0.02761680 0.03661824
+v 0.03537871 -0.02761683 0.04233736
+v 0.01692399 -0.04072994 0.04121871
+v 0.01692399 -0.03805108 0.03625081
+v 0.03210376 -0.02761681 0.03773684
+v 0.03477989 -0.02761682 0.04160807
+v 0.01692399 -0.04047401 0.04080746
+v 0.01692399 -0.03840770 0.03700751
+v 0.03246676 -0.02761681 0.03830710
+v 0.03453348 -0.02761682 0.04129004
+v 0.01692399 -0.03975658 0.03960112
+v 0.01692399 -0.04017403 0.04031396
+v 0.01692399 -0.03885453 0.03792871
+v 0.03330669 -0.02761682 0.03960666
+v 0.03388961 -0.02761682 0.04042367
+v 0.01692399 -0.03930764 0.03877863
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 24
+f 1 24 23
+f 1 23 38
+f 1 38 50
+f 1 50 62
+f 1 62 82
+f 1 82 109
+f 1 109 135
+f 1 135 160
+f 1 160 183
+f 1 183 188
+f 1 188 194
+f 1 194 198
+f 1 198 202
+f 1 202 206
+f 1 206 211
+f 1 211 212
+f 1 212 207
+f 1 207 203
+f 1 203 199
+f 1 199 195
+f 1 195 189
+f 1 189 185
+f 1 185 169
+f 1 169 143
+f 1 143 122
+f 1 122 96
+f 1 96 74
+f 1 74 55
+f 1 55 42
+f 1 42 31
+f 1 31 30
+f 1 30 19
+f 1 19 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 3 6 4
+f 4 6 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 8 17
+f 5 17 18
+f 5 18 12
+f 6 16 9
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 9 16 14
+f 9 14 12
+f 9 12 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 9 11 10
+f 12 18 25
+f 12 25 22
+f 12 14 13
+f 14 16 15
+f 17 21 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 26
+f 22 25 29
+f 22 29 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 26 34 33
+f 26 33 27
+f 27 39 28
+f 27 33 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 35
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 39
+f 35 41 45
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 37
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 39 51 40
+f 39 44 52
+f 39 52 51
+f 40 53 54
+f 40 54 41
+f 40 51 53
+f 41 54 45
+f 42 55 43
+f 43 55 56
+f 43 56 44
+f 44 56 52
+f 45 54 57
+f 45 57 58
+f 45 58 46
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 60
+f 48 60 59
+f 48 59 80
+f 48 80 105
+f 48 105 131
+f 48 131 130
+f 48 130 155
+f 48 155 180
+f 48 180 179
+f 48 179 178
+f 48 178 153
+f 48 153 152
+f 48 152 151
+f 48 151 177
+f 48 177 176
+f 48 176 175
+f 48 175 174
+f 48 174 156
+f 48 156 132
+f 48 132 107
+f 48 107 81
+f 48 81 62
+f 48 62 50
+f 48 50 49
+f 51 63 53
+f 51 52 64
+f 51 64 65
+f 51 65 63
+f 52 56 66
+f 52 66 67
+f 52 67 64
+f 53 63 68
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 70 57
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 55 74 75
+f 55 75 71
+f 56 73 66
+f 57 70 69
+f 57 69 76
+f 57 76 77
+f 57 77 78
+f 57 78 58
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 62 81 82
+f 63 83 68
+f 63 65 83
+f 64 67 84
+f 64 84 65
+f 65 85 86
+f 65 86 83
+f 65 84 85
+f 66 73 67
+f 67 73 87
+f 67 87 84
+f 68 88 89
+f 68 89 90
+f 68 90 91
+f 68 91 69
+f 68 83 92
+f 68 92 93
+f 68 93 88
+f 69 91 76
+f 71 94 72
+f 71 75 97
+f 71 97 123
+f 71 123 144
+f 71 144 170
+f 71 170 186
+f 71 186 191
+f 71 191 190
+f 71 190 196
+f 71 196 200
+f 71 200 204
+f 71 204 209
+f 71 209 208
+f 71 208 213
+f 71 213 210
+f 71 210 205
+f 71 205 201
+f 71 201 197
+f 71 197 193
+f 71 193 192
+f 71 192 187
+f 71 187 182
+f 71 182 181
+f 71 181 159
+f 71 159 134
+f 71 134 108
+f 71 108 106
+f 71 106 81
+f 71 81 107
+f 71 107 133
+f 71 133 158
+f 71 158 172
+f 71 172 184
+f 71 184 163
+f 71 163 168
+f 71 168 142
+f 71 142 120
+f 71 120 94
+f 72 94 95
+f 72 95 87
+f 72 87 73
+f 74 96 75
+f 75 96 97
+f 76 91 90
+f 76 90 89
+f 76 89 88
+f 76 88 98
+f 76 98 99
+f 76 99 100
+f 76 100 101
+f 76 101 102
+f 76 102 103
+f 76 103 77
+f 77 103 102
+f 77 102 104
+f 77 104 79
+f 77 79 78
+f 79 104 105
+f 79 105 80
+f 81 106 82
+f 82 106 108
+f 82 108 109
+f 83 86 92
+f 84 87 85
+f 85 87 110
+f 85 110 111
+f 85 111 112
+f 85 112 86
+f 86 112 92
+f 87 95 110
+f 88 113 98
+f 88 93 113
+f 92 112 114
+f 92 114 93
+f 93 114 115
+f 93 115 116
+f 93 116 117
+f 93 117 118
+f 93 118 119
+f 93 119 113
+f 94 120 121
+f 94 121 95
+f 95 121 110
+f 96 122 123
+f 96 123 97
+f 98 113 119
+f 98 119 118
+f 98 118 117
+f 98 117 116
+f 98 116 124
+f 98 124 125
+f 98 125 126
+f 98 126 127
+f 98 127 99
+f 99 127 128
+f 99 128 100
+f 100 128 129
+f 100 129 101
+f 101 129 102
+f 102 129 104
+f 104 129 130
+f 104 130 131
+f 104 131 105
+f 107 132 133
+f 108 134 135
+f 108 135 109
+f 110 121 136
+f 110 136 137
+f 110 137 138
+f 110 138 111
+f 111 138 114
+f 111 114 112
+f 114 138 115
+f 115 139 140
+f 115 140 141
+f 115 141 116
+f 115 138 139
+f 116 141 124
+f 120 142 121
+f 121 142 136
+f 122 143 123
+f 123 143 144
+f 124 141 140
+f 124 140 145
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 125 147 148
+f 125 148 149
+f 125 149 150
+f 125 150 126
+f 126 150 127
+f 127 150 151
+f 127 151 128
+f 128 151 152
+f 128 152 153
+f 128 153 154
+f 128 154 129
+f 129 154 155
+f 129 155 130
+f 132 156 148
+f 132 148 157
+f 132 157 133
+f 133 157 158
+f 134 159 135
+f 135 159 160
+f 136 142 161
+f 136 161 137
+f 137 161 162
+f 137 162 138
+f 138 162 139
+f 139 162 163
+f 139 163 164
+f 139 164 165
+f 139 165 166
+f 139 166 167
+f 139 167 140
+f 140 167 145
+f 142 168 161
+f 143 169 144
+f 144 169 170
+f 145 167 166
+f 145 166 165
+f 145 165 164
+f 145 164 163
+f 145 163 171
+f 145 171 172
+f 145 172 173
+f 145 173 146
+f 146 173 157
+f 146 157 148
+f 146 148 147
+f 148 156 149
+f 149 156 174
+f 149 174 175
+f 149 175 176
+f 149 176 150
+f 150 176 177
+f 150 177 151
+f 153 178 154
+f 154 178 179
+f 154 179 180
+f 154 180 155
+f 157 173 158
+f 158 173 172
+f 159 181 160
+f 160 181 182
+f 160 182 183
+f 161 168 162
+f 162 168 163
+f 163 184 171
+f 169 185 170
+f 170 185 186
+f 171 184 172
+f 182 187 183
+f 183 187 188
+f 185 189 190
+f 185 190 191
+f 185 191 186
+f 187 192 188
+f 188 192 193
+f 188 193 194
+f 189 195 190
+f 190 195 196
+f 193 197 198
+f 193 198 194
+f 195 199 200
+f 195 200 196
+f 197 201 198
+f 198 201 202
+f 199 203 204
+f 199 204 200
+f 201 205 206
+f 201 206 202
+f 203 207 208
+f 203 208 209
+f 203 209 204
+f 205 210 211
+f 205 211 206
+f 207 212 208
+f 208 212 213
+f 210 213 212
+f 210 212 211
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_12.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v 0.00087156 0.04055339 -0.01581197
+v 0.00007493 0.04054922 -0.01581197
+v 0.00250787 0.04048672 -0.01581197
+v 0.00087156 0.04037004 -0.01626643
+v 0.00007493 0.04037004 -0.01626050
+v 0.00007493 0.03097730 -0.01581201
+v 0.00283213 0.04046588 -0.01581197
+v 0.00266299 0.04039712 -0.01601181
+v 0.00256792 0.03961996 -0.01782519
+v 0.00087156 0.03968455 -0.01782519
+v 0.00007493 0.04000750 -0.01708652
+v 0.01029810 0.02920002 -0.01581201
+v 0.00007493 0.01926976 -0.02394337
+v 0.00389798 0.04038046 -0.01581197
+v 0.00426327 0.04021793 -0.01613912
+v 0.00426327 0.03948245 -0.01782519
+v 0.00426327 0.03902614 -0.01878444
+v 0.00256792 0.03909282 -0.01890878
+v 0.00087156 0.03912616 -0.01897095
+v 0.00007493 0.03968247 -0.01782519
+v 0.01029810 0.03929491 -0.01581198
+v 0.01029810 0.01926975 -0.02295305
+v 0.00007493 0.01926978 -0.03093486
+v 0.00426327 0.04034503 -0.01581197
+v 0.00540118 0.04021169 -0.01581197
+v 0.00595763 0.04001791 -0.01613912
+v 0.00584254 0.03925742 -0.01790810
+v 0.00520102 0.03897614 -0.01869414
+v 0.00426327 0.03855109 -0.01962673
+v 0.00256792 0.03862193 -0.01975256
+v 0.00087156 0.03865735 -0.01981325
+v 0.00007493 0.03938660 -0.01843212
+v 0.00007493 0.03887613 -0.01941505
+v 0.00007493 0.03912407 -0.01896800
+v 0.01029810 0.03921574 -0.01602070
+v 0.00943341 0.03933242 -0.01626051
+v 0.00941239 0.03950744 -0.01581197
+v 0.01029810 0.01926978 -0.03093486
+v 0.00007493 0.02686439 -0.03093483
+v 0.00595763 0.04014293 -0.01581197
+v 0.00765298 0.03974497 -0.01613912
+v 0.00765298 0.03918449 -0.01744920
+v 0.00633193 0.03889279 -0.01852686
+v 0.00584254 0.03850108 -0.01935880
+v 0.00595763 0.03759266 -0.02084946
+v 0.00426327 0.03770309 -0.02101526
+v 0.00256792 0.03777393 -0.02112184
+v 0.00087156 0.03780935 -0.02117513
+v 0.00007493 0.03780935 -0.02117661
+v 0.00007493 0.03865527 -0.01981177
+v 0.01029810 0.03889904 -0.01682599
+v 0.01005490 0.03893237 -0.01690445
+v 0.00892500 0.03905947 -0.01718423
+v 0.00765498 0.03986581 -0.01581197
+v 0.01029810 0.02489958 -0.03093484
+v 0.00056832 0.02686647 -0.03093483
+v 0.00007493 0.03218582 -0.02710526
+v 0.00722164 0.03993874 -0.01581197
+v 0.00765298 0.03877820 -0.01829298
+v 0.00765298 0.03810937 -0.01951275
+v 0.00765298 0.03744681 -0.02063186
+v 0.00595763 0.03702801 -0.02169324
+v 0.00426327 0.03713844 -0.02185755
+v 0.00256792 0.03721345 -0.02196562
+v 0.00087156 0.03725095 -0.02201891
+v 0.00007493 0.03725095 -0.02201891
+v 0.01029810 0.03875527 -0.01712946
+v 0.01029810 0.03841566 -0.01780299
+v 0.00943341 0.03865318 -0.01777783
+v 0.00966359 0.02515170 -0.03093484
+v 0.01029810 0.03050438 -0.02711563
+v 0.00079550 0.02686647 -0.03093483
+v 0.00007493 0.03286298 -0.02655163
+v 0.00095263 0.03286298 -0.02655459
+v 0.00044222 0.03218582 -0.02710526
+v 0.00934934 0.03769474 -0.01961341
+v 0.00878389 0.03733430 -0.02045866
+v 0.00765298 0.03687799 -0.02147415
+v 0.00765298 0.03602998 -0.02262436
+v 0.00595763 0.03618000 -0.02280940
+v 0.00443141 0.03618833 -0.02305513
+v 0.00256792 0.03649045 -0.02288786
+v 0.00087156 0.03655921 -0.02288786
+v 0.00007493 0.03655921 -0.02288786
+v 0.01029810 0.03805104 -0.01850318
+v 0.00910214 0.02535797 -0.03093484
+v 0.01026107 0.03051063 -0.02712007
+v 0.00934934 0.03150032 -0.02659159
+v 0.01029810 0.03141281 -0.02641544
+v 0.00765298 0.02587886 -0.03093483
+v 0.00157212 0.03218373 -0.02710230
+v 0.00117280 0.02686022 -0.03093483
+v 0.00007493 0.03345054 -0.02606905
+v 0.00087156 0.03405060 -0.02557461
+v 0.01029810 0.03760307 -0.01934251
+v 0.00991479 0.03720094 -0.02024402
+v 0.00934934 0.03676548 -0.02109223
+v 0.00934934 0.03584246 -0.02238603
+v 0.00765298 0.03534658 -0.02346666
+v 0.00595763 0.03550493 -0.02365021
+v 0.00510795 0.03557369 -0.02372867
+v 0.00397805 0.03564036 -0.02380269
+v 0.00256792 0.03569662 -0.02386486
+v 0.00087156 0.03572996 -0.02390039
+v 0.00007493 0.03572787 -0.02389891
+v 0.00934934 0.03065439 -0.02721925
+v 0.00765298 0.03173368 -0.02677071
+v 0.00934934 0.03257960 -0.02574782
+v 0.01029810 0.03243375 -0.02562643
+v 0.00603069 0.02630391 -0.03093483
+v 0.00765298 0.03088775 -0.02737913
+v 0.00256792 0.03401518 -0.02554058
+v 0.00256792 0.03303175 -0.02635770
+v 0.00256792 0.03214623 -0.02707713
+v 0.00212056 0.02680605 -0.03093483
+v 0.00007493 0.03405060 -0.02557313
+v 0.00007493 0.03445065 -0.02518381
+v 0.00087156 0.03489861 -0.02474268
+v 0.01029810 0.03714676 -0.02015076
+v 0.01029810 0.03685508 -0.02059189
+v 0.01029810 0.03591747 -0.02194786
+v 0.01029810 0.03571744 -0.02222764
+v 0.00934934 0.03514031 -0.02322981
+v 0.00934934 0.03429438 -0.02415500
+v 0.00765298 0.03449857 -0.02435780
+v 0.00580851 0.03450482 -0.02469087
+v 0.00514498 0.03388392 -0.02542215
+v 0.00443141 0.03494237 -0.02444810
+v 0.00426327 0.03393600 -0.02546952
+v 0.00256792 0.03486111 -0.02470715
+v 0.00007493 0.03489861 -0.02474268
+v 0.00595763 0.03191495 -0.02690690
+v 0.00765298 0.03279630 -0.02592694
+v 0.00765298 0.03364222 -0.02520011
+v 0.00934934 0.03342761 -0.02499878
+v 0.01029810 0.03270045 -0.02539106
+v 0.00426327 0.02657894 -0.03093483
+v 0.00426327 0.03205247 -0.02700904
+v 0.00426327 0.03303175 -0.02621708
+v 0.00256792 0.02677271 -0.03093483
+v 0.01029810 0.03506112 -0.02299740
+v 0.01029810 0.03452982 -0.02360580
+v 0.01029810 0.03415478 -0.02401437
+v 0.00627388 0.03378599 -0.02533037
+v 0.00580851 0.03314426 -0.02593730
+v 0.01029810 0.03319425 -0.02493513
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 37
+f 1 37 54
+f 1 54 58
+f 1 58 40
+f 1 40 25
+f 1 25 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 32
+f 2 32 34
+f 2 34 33
+f 2 33 50
+f 2 50 49
+f 2 49 66
+f 2 66 84
+f 2 84 105
+f 2 105 131
+f 2 131 117
+f 2 117 116
+f 2 116 93
+f 2 93 73
+f 2 73 57
+f 2 57 39
+f 2 39 23
+f 2 23 13
+f 2 13 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 15 16
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 13 22
+f 12 22 38
+f 12 38 55
+f 12 55 71
+f 12 71 89
+f 12 89 109
+f 12 109 136
+f 12 136 146
+f 12 146 143
+f 12 143 142
+f 12 142 141
+f 12 141 122
+f 12 122 121
+f 12 121 120
+f 12 120 119
+f 12 119 95
+f 12 95 85
+f 12 85 68
+f 12 68 67
+f 12 67 51
+f 12 51 35
+f 12 35 21
+f 13 23 38
+f 13 38 22
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 32 20
+f 19 31 33
+f 19 33 34
+f 19 34 32
+f 21 35 36
+f 21 36 37
+f 23 39 56
+f 23 56 72
+f 23 72 92
+f 23 92 115
+f 23 115 140
+f 23 140 137
+f 23 137 110
+f 23 110 90
+f 23 90 86
+f 23 86 70
+f 23 70 55
+f 23 55 38
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 33
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 41
+f 36 41 37
+f 37 41 54
+f 39 57 56
+f 40 58 41
+f 41 58 54
+f 41 53 42
+f 42 53 59
+f 42 59 43
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 49
+f 49 65 66
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 59
+f 55 70 71
+f 56 57 75
+f 56 75 72
+f 57 73 74
+f 57 74 75
+f 59 69 76
+f 59 76 60
+f 60 76 77
+f 60 77 61
+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 65
+f 65 82 83
+f 65 83 84
+f 65 84 66
+f 68 85 69
+f 69 85 76
+f 70 86 71
+f 71 87 88
+f 71 88 89
+f 71 86 90
+f 71 90 87
+f 72 75 91
+f 72 91 92
+f 73 93 74
+f 74 94 91
+f 74 91 75
+f 74 93 94
+f 76 85 95
+f 76 95 96
+f 76 96 77
+f 77 96 97
+f 77 97 78
+f 78 97 98
+f 78 98 79
+f 79 98 99
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 81
+f 81 101 102
+f 81 102 82
+f 82 102 103
+f 82 103 83
+f 83 103 104
+f 83 104 84
+f 84 104 105
+f 87 106 88
+f 87 90 106
+f 88 107 108
+f 88 108 109
+f 88 109 89
+f 88 106 107
+f 90 110 111
+f 90 111 106
+f 91 94 112
+f 91 112 113
+f 91 113 114
+f 91 114 115
+f 91 115 92
+f 93 116 94
+f 94 116 117
+f 94 117 118
+f 94 118 112
+f 95 119 96
+f 96 119 120
+f 96 120 121
+f 96 121 97
+f 97 121 98
+f 98 121 122
+f 98 122 123
+f 98 123 99
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 100 125 126
+f 100 126 101
+f 101 126 127
+f 101 127 128
+f 101 128 102
+f 102 128 129
+f 102 129 130
+f 102 130 103
+f 103 118 104
+f 103 130 118
+f 104 118 131
+f 104 131 105
+f 106 111 107
+f 107 132 133
+f 107 133 108
+f 107 111 110
+f 107 110 132
+f 108 133 134
+f 108 134 135
+f 108 135 136
+f 108 136 109
+f 110 137 138
+f 110 138 132
+f 112 118 130
+f 112 130 129
+f 112 129 113
+f 113 129 139
+f 113 139 114
+f 114 139 138
+f 114 138 140
+f 114 140 115
+f 117 131 118
+f 122 141 123
+f 123 141 142
+f 123 142 124
+f 124 142 143
+f 124 143 135
+f 124 135 134
+f 124 134 125
+f 125 134 144
+f 125 144 126
+f 126 144 127
+f 127 144 145
+f 127 145 138
+f 127 138 139
+f 127 139 129
+f 127 129 128
+f 132 138 145
+f 132 145 133
+f 133 145 144
+f 133 144 134
+f 135 143 146
+f 135 146 136
+f 137 140 138
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_13.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.04962917 0.01489284 0.04291344
+v 0.04959968 0.01489284 0.04242286
+v 0.04932973 0.01566803 0.04167214
+v 0.04936603 0.01579131 0.04291345
+v 0.04928890 0.01554358 0.04389461
+v 0.04938190 0.01489284 0.04400981
+v 0.04944315 0.01489285 0.04134879
+v 0.04760115 0.02055653 0.04178737
+v 0.04869683 0.01777777 0.04291346
+v 0.04909835 0.01663841 0.04291345
+v 0.04178706 0.01489297 0.00711970
+v 0.04169632 0.01514984 0.00711971
+v 0.04775088 0.01947310 0.04406558
+v 0.04806619 0.01777777 0.04432202
+v 0.04755806 0.02046176 0.04384632
+v 0.04838151 0.01489284 0.04464905
+v 0.04595424 0.02399743 0.04166845
+v 0.04658715 0.02286149 0.04291347
+v 0.04724500 0.02145042 0.04291347
+v 0.04762157 0.02060447 0.04291347
+v 0.04806846 0.01947310 0.04291346
+v 0.04136059 0.01608256 0.00711971
+v 0.04127212 0.01631317 0.00711971
+v 0.04087968 0.01731896 0.00711971
+v 0.04051899 0.01816720 0.00711972
+v 0.04037381 0.01848343 0.00711972
+v 0.03991784 0.01947323 0.00711972
+v 0.03440319 0.01489297 0.00711970
+v 0.04616068 0.02286149 0.04414735
+v 0.04670511 0.02108167 0.04431088
+v 0.04665067 0.01947310 0.04472340
+v 0.04590661 0.02391066 0.04389836
+v 0.04665067 0.01777776 0.04495383
+v 0.04665067 0.01608242 0.04506903
+v 0.04665067 0.01489283 0.04508760
+v 0.04443437 0.02655584 0.04142689
+v 0.04460904 0.02655583 0.04258644
+v 0.04554138 0.02492329 0.04291348
+v 0.04599508 0.02407619 0.04291348
+v 0.03979308 0.01972668 0.00711972
+v 0.03926679 0.02079182 0.00711973
+v 0.03891518 0.02145626 0.00711973
+v 0.03881764 0.02163892 0.00711973
+v 0.02645447 0.02655596 0.00711975
+v 0.03578242 0.01489291 0.02391091
+v 0.04441168 0.02625102 0.04407304
+v 0.04500376 0.02450773 0.04433319
+v 0.04495612 0.02286149 0.04479774
+v 0.04432548 0.02655583 0.04398756
+v 0.04479052 0.02625102 0.04291349
+v 0.04461358 0.02655583 0.04291349
+v 0.04495612 0.02116614 0.04502073
+v 0.04495612 0.01947309 0.04507647
+v 0.04156475 0.02625101 0.04506163
+v 0.04156475 0.02455681 0.04499845
+v 0.03986794 0.02655583 0.04489439
+v 0.04495612 0.01608243 0.04488320
+v 0.04495612 0.01489284 0.04476055
+v 0.03864977 0.02193232 0.00711973
+v 0.03811441 0.02286162 0.00711973
+v 0.03799418 0.02306826 0.00711973
+v 0.03747243 0.02393933 0.00711974
+v 0.03692346 0.02478642 0.00711974
+v 0.03673972 0.02505585 0.00711974
+v 0.03607505 0.02602625 0.00711975
+v 0.03583460 0.02636074 0.00711975
+v 0.03569395 0.02655596 0.00711975
+v 0.02809230 0.02655591 0.02266964
+v 0.03583460 0.01489291 0.02446095
+v 0.04325477 0.02655583 0.04463052
+v 0.04325930 0.02625102 0.04473086
+v 0.04325930 0.02455681 0.04502074
+v 0.04156475 0.02655582 0.04503934
+v 0.03986794 0.02625102 0.04486466
+v 0.03818700 0.02655583 0.04424029
+v 0.04371526 0.01489284 0.04409529
+v 0.02811726 0.02655591 0.02290378
+v 0.03601607 0.01489290 0.02604419
+v 0.02828739 0.02655590 0.02441640
+v 0.02828059 0.02655590 0.02435694
+v 0.03787395 0.02655583 0.04405818
+v 0.03675333 0.02655583 0.04299154
+v 0.03657865 0.02655583 0.04280943
+v 0.04278973 0.01489284 0.04308068
+v 0.02852104 0.02655589 0.02604424
+v 0.03610681 0.01489290 0.02664255
+v 0.03643347 0.02655583 0.04264590
+v 0.03537863 0.02655584 0.04134884
+v 0.03519716 0.02655584 0.04111470
+v 0.04221581 0.01489284 0.04233738
+v 0.02884543 0.02655589 0.02772782
+v 0.03627468 0.01489290 0.02772777
+v 0.03428069 0.02655584 0.03983250
+v 0.04153980 0.01489285 0.04131906
+v 0.03391774 0.02655585 0.03928989
+v 0.03636088 0.01489290 0.02817375
+v 0.03661949 0.01489289 0.02949311
+v 0.02923561 0.02655588 0.02928504
+v 0.03301262 0.02655585 0.03786275
+v 0.04083884 0.01489285 0.04015950
+v 0.03678055 0.01489289 0.03012492
+v 0.02932635 0.02655588 0.02960094
+v 0.03703915 0.01489289 0.03110236
+v 0.03282433 0.02655585 0.03754685
+v 0.04036473 0.01489286 0.03931586
+v 0.02976870 0.02655588 0.03099092
+v 0.03740438 0.01489288 0.03231394
+v 0.03205079 0.02655586 0.03616430
+v 0.03962294 0.01489286 0.03787757
+v 0.02990935 0.02655587 0.03137000
+v 0.03760627 0.01489288 0.03293460
+v 0.03814617 0.01489287 0.03447696
+v 0.03134302 0.02655586 0.03478548
+v 0.03123187 0.02655586 0.03456620
+v 0.03911480 0.01489286 0.03678863
+v 0.03045605 0.02655587 0.03278971
+v 0.03872916 0.01489287 0.03591524
+v 0.03105946 0.02655586 0.03419084
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 35
+f 1 35 58
+f 1 58 76
+f 1 76 84
+f 1 84 90
+f 1 90 94
+f 1 94 100
+f 1 100 105
+f 1 105 109
+f 1 109 115
+f 1 115 117
+f 1 117 112
+f 1 112 111
+f 1 111 107
+f 1 107 103
+f 1 103 101
+f 1 101 97
+f 1 97 96
+f 1 96 92
+f 1 92 86
+f 1 86 78
+f 1 78 69
+f 1 69 45
+f 1 45 28
+f 1 28 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 10 5
+f 5 13 14
+f 5 14 6
+f 5 10 9
+f 5 9 15
+f 5 15 13
+f 6 14 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 12 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 17
+f 9 21 15
+f 11 28 44
+f 11 44 67
+f 11 67 66
+f 11 66 65
+f 11 65 64
+f 11 64 63
+f 11 63 62
+f 11 62 61
+f 11 61 60
+f 11 60 59
+f 11 59 43
+f 11 43 42
+f 11 42 41
+f 11 41 40
+f 11 40 27
+f 11 27 26
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 22
+f 11 22 12
+f 13 29 30
+f 13 30 14
+f 13 15 29
+f 14 30 31
+f 14 31 16
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 15 18 32
+f 15 32 29
+f 16 31 33
+f 16 33 34
+f 16 34 35
+f 17 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 18
+f 17 27 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 36
+f 18 39 32
+f 28 45 44
+f 29 32 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 31
+f 31 48 33
+f 32 49 46
+f 32 39 38
+f 32 38 50
+f 32 50 51
+f 32 51 49
+f 33 52 34
+f 33 48 52
+f 34 53 35
+f 34 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 36 43 59
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 36 62 63
+f 36 63 64
+f 36 64 65
+f 36 65 66
+f 36 66 67
+f 36 67 44
+f 36 44 68
+f 36 68 77
+f 36 77 80
+f 36 80 79
+f 36 79 85
+f 36 85 91
+f 36 91 98
+f 36 98 102
+f 36 102 106
+f 36 106 110
+f 36 110 116
+f 36 116 118
+f 36 118 114
+f 36 114 113
+f 36 113 108
+f 36 108 104
+f 36 104 99
+f 36 99 95
+f 36 95 93
+f 36 93 89
+f 36 89 88
+f 36 88 87
+f 36 87 83
+f 36 83 82
+f 36 82 81
+f 36 81 75
+f 36 75 56
+f 36 56 73
+f 36 73 70
+f 36 70 49
+f 36 49 51
+f 36 51 37
+f 37 51 50
+f 37 50 38
+f 44 45 69
+f 44 69 68
+f 46 49 70
+f 46 70 47
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 52
+f 52 72 53
+f 53 72 54
+f 54 72 73
+f 54 73 56
+f 54 56 55
+f 56 74 57
+f 56 75 74
+f 57 74 58
+f 58 74 75
+f 58 75 76
+f 68 69 77
+f 69 78 79
+f 69 79 80
+f 69 80 77
+f 70 73 71
+f 71 73 72
+f 75 81 76
+f 76 81 82
+f 76 82 83
+f 76 83 84
+f 78 85 79
+f 78 86 85
+f 83 87 84
+f 84 87 88
+f 84 88 89
+f 84 89 90
+f 85 86 92
+f 85 92 91
+f 89 93 90
+f 90 93 95
+f 90 95 94
+f 91 92 96
+f 91 96 97
+f 91 97 98
+f 94 95 99
+f 94 99 100
+f 97 101 98
+f 98 101 103
+f 98 103 102
+f 99 104 100
+f 100 104 105
+f 102 103 107
+f 102 107 106
+f 104 108 105
+f 105 108 109
+f 106 107 111
+f 106 111 112
+f 106 112 110
+f 108 113 109
+f 109 113 114
+f 109 114 115
+f 110 112 116
+f 112 117 116
+f 114 118 115
+f 115 118 117
+f 116 117 118
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_14.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v 0.01882719 0.04489707 0.04504805
+v 0.01882719 0.04659106 0.04482048
+v 0.01782675 0.04659105 0.04495418
+v 0.01613058 0.04659105 0.04506797
+v 0.01443442 0.04659105 0.04508504
+v 0.00765527 0.04828682 0.04511065
+v 0.00595910 0.04828682 0.04510211
+v 0.00007393 0.04828682 0.04504238
+v 0.01782675 0.04489707 0.04500538
+v 0.01882719 0.04314921 0.04461566
+v 0.01782675 0.04801917 0.04432552
+v 0.01443442 0.04828683 0.04475791
+v 0.01882719 0.04783055 0.04417476
+v 0.01274009 0.04828683 0.04491152
+v 0.01104393 0.04828682 0.04501393
+v 0.00934960 0.04828682 0.04508505
+v 0.00256861 0.04998081 0.04482049
+v 0.00087244 0.04998081 0.04483187
+v 0.00007393 0.04998081 0.04483187
+v 0.00007393 0.04918321 0.04493144
+v 0.00007393 0.04659106 0.04448197
+v 0.01882719 0.04206420 0.04400974
+v 0.01274009 0.04961435 0.04429423
+v 0.01562394 0.04923711 0.04390736
+v 0.01443442 0.04940058 0.04410364
+v 0.01104393 0.04980297 0.04439095
+v 0.01882719 0.04830300 0.04291457
+v 0.00765527 0.04998081 0.04460430
+v 0.00595910 0.04998081 0.04472378
+v 0.00426294 0.04998081 0.04478920
+v 0.00087244 0.05117180 0.04420037
+v 0.00007393 0.05061133 0.04449906
+v 0.00007393 0.04567850 0.04382770
+v 0.01882719 0.04125045 0.04313073
+v 0.00873648 0.05086642 0.04381634
+v 0.00765527 0.05094186 0.04392728
+v 0.01782675 0.04867664 0.04291457
+v 0.01674737 0.04905747 0.04291457
+v 0.01589929 0.04932334 0.04291457
+v 0.01443442 0.04973650 0.04291457
+v 0.01274009 0.05016045 0.04291457
+v 0.00595910 0.05103887 0.04405813
+v 0.01882719 0.04808026 0.04120777
+v 0.01782675 0.04846109 0.04122484
+v 0.00426294 0.05110354 0.04413779
+v 0.00256861 0.05114845 0.04418046
+v 0.00087244 0.05157778 0.04291458
+v 0.00007393 0.05138737 0.04352049
+v 0.00007393 0.05117180 0.04420037
+v 0.00007393 0.04500845 0.04291456
+v 0.01882719 0.04053370 0.04223467
+v 0.01104393 0.05053409 0.04291458
+v 0.00985808 0.05076762 0.04291458
+v 0.00901183 0.05091492 0.04291458
+v 0.00765527 0.05111252 0.04291458
+v 0.00595910 0.05130473 0.04291458
+v 0.00426294 0.05144126 0.04291458
+v 0.01576528 0.04928203 0.04162878
+v 0.01274009 0.04995207 0.04122484
+v 0.00894758 0.05090595 0.04182223
+v 0.00256861 0.05153287 0.04291458
+v 0.01882719 0.04137270 0.01604955
+v 0.01781941 0.04182000 0.01604955
+v 0.01672901 0.04226011 0.01604956
+v 0.01589011 0.04257627 0.01604956
+v 0.00087244 0.05139097 0.04122485
+v 0.00007393 0.05147899 0.04201851
+v 0.00007393 0.05157778 0.04291458
+v 0.00007393 0.04464020 0.04237975
+v 0.00007393 0.04422525 0.04177669
+v 0.01882719 0.03982414 0.04120206
+v 0.00765527 0.05099936 0.04152354
+v 0.00426294 0.05124726 0.04122485
+v 0.00256861 0.05134426 0.04122485
+v 0.01574876 0.04262477 0.01604956
+v 0.01443442 0.04307566 0.01604956
+v 0.01273275 0.04359481 0.01604956
+v 0.01262261 0.04362535 0.01604956
+v 0.01146430 0.04394331 0.01604956
+v 0.01104393 0.05032572 0.04122484
+v 0.01062356 0.04415169 0.01604956
+v 0.01048772 0.04418223 0.01604956
+v 0.00934960 0.04442833 0.01604956
+v 0.00765527 0.04473551 0.01604956
+v 0.00752310 0.04475527 0.01604956
+v 0.00595910 0.04497802 0.01604957
+v 0.01882719 0.03322976 0.01604952
+v 0.00007393 0.05138917 0.04122485
+v 0.00087244 0.04533729 0.01604957
+v 0.00007393 0.04533729 0.01604957
+v 0.00007393 0.04372765 0.04093467
+v 0.01882719 0.03912356 0.04008978
+v 0.00597746 0.05106223 0.04110538
+v 0.00426294 0.04515945 0.01604957
+v 0.00413261 0.04517023 0.01604957
+v 0.00256861 0.04528340 0.01604957
+v 0.00007393 0.03812666 0.01604954
+v 0.01882719 0.03356207 0.02098217
+v 0.00007393 0.03851286 0.02266907
+v 0.00007393 0.03840867 0.02098219
+v 0.00007393 0.04296599 0.03953794
+v 0.01882719 0.03790383 0.03792499
+v 0.01882719 0.03864573 0.03927337
+v 0.01882719 0.03360518 0.02156248
+v 0.01882719 0.03368781 0.02266905
+v 0.00007393 0.03864758 0.02435596
+v 0.00007393 0.04271810 0.03905434
+v 0.00007393 0.04243967 0.03850817
+v 0.01882719 0.03735594 0.03682126
+v 0.01882719 0.03378660 0.02376709
+v 0.01882719 0.03388540 0.02469445
+v 0.00007393 0.03874458 0.02524918
+v 0.00007393 0.04206063 0.03766614
+v 0.01882719 0.03694817 0.03593942
+v 0.01882719 0.03734516 0.03679851
+v 0.01882719 0.03405964 0.02604283
+v 0.00007393 0.03894936 0.02698442
+v 0.00007393 0.03889367 0.02654350
+v 0.00007393 0.03883080 0.02604284
+v 0.00007393 0.04176244 0.03696066
+v 0.01882719 0.03632842 0.03450286
+v 0.01882719 0.03426263 0.02729733
+v 0.00007393 0.03902301 0.02743104
+v 0.00007393 0.04142652 0.03616416
+v 0.00007393 0.04087504 0.03471907
+v 0.01882719 0.03579851 0.03308337
+v 0.00007393 0.04116605 0.03548428
+v 0.01882719 0.03433449 0.02773256
+v 0.00007393 0.03908948 0.02782929
+v 0.00007393 0.04057505 0.03387705
+v 0.01882719 0.03548235 0.03218446
+v 0.01882719 0.03453028 0.02868837
+v 0.00007393 0.03938946 0.02941946
+v 0.00007393 0.03924755 0.02866846
+v 0.00007393 0.04023913 0.03279039
+v 0.01882719 0.03514464 0.03110348
+v 0.01882719 0.03468297 0.02941091
+v 0.00007393 0.03959425 0.03031269
+v 0.00007393 0.04001998 0.03199673
+v 0.01882719 0.03495602 0.03042077
+v 0.00007393 0.03977568 0.03110350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 22
+f 1 22 34
+f 1 34 51
+f 1 51 71
+f 1 71 92
+f 1 92 103
+f 1 103 102
+f 1 102 109
+f 1 109 115
+f 1 115 114
+f 1 114 121
+f 1 121 126
+f 1 126 131
+f 1 131 136
+f 1 136 140
+f 1 140 137
+f 1 137 132
+f 1 132 128
+f 1 128 122
+f 1 122 116
+f 1 116 111
+f 1 111 110
+f 1 110 105
+f 1 105 104
+f 1 104 98
+f 1 98 87
+f 1 87 62
+f 1 62 43
+f 1 43 27
+f 1 27 13
+f 1 13 2
+f 2 11 12
+f 2 12 3
+f 2 13 11
+f 3 12 14
+f 3 14 4
+f 4 15 16
+f 4 16 6
+f 4 6 5
+f 4 14 15
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 8
+f 8 20 19
+f 8 19 32
+f 8 32 49
+f 8 49 48
+f 8 48 68
+f 8 68 67
+f 8 67 88
+f 8 88 90
+f 8 90 97
+f 8 97 100
+f 8 100 99
+f 8 99 106
+f 8 106 112
+f 8 112 119
+f 8 119 118
+f 8 118 117
+f 8 117 123
+f 8 123 129
+f 8 129 134
+f 8 134 133
+f 8 133 138
+f 8 138 141
+f 8 141 139
+f 8 139 135
+f 8 135 130
+f 8 130 125
+f 8 125 127
+f 8 127 124
+f 8 124 120
+f 8 120 113
+f 8 113 108
+f 8 108 107
+f 8 107 101
+f 8 101 91
+f 8 91 70
+f 8 70 69
+f 8 69 50
+f 8 50 33
+f 8 33 21
+f 8 21 10
+f 8 10 9
+f 10 21 22
+f 11 23 12
+f 11 13 24
+f 11 24 25
+f 11 25 23
+f 12 23 26
+f 12 26 14
+f 13 27 24
+f 14 26 28
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 21 33 22
+f 22 33 34
+f 23 25 35
+f 23 35 36
+f 23 36 26
+f 24 35 25
+f 24 27 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 35
+f 26 36 42
+f 26 42 28
+f 27 43 44
+f 27 44 37
+f 28 42 45
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 33 50 51
+f 33 51 34
+f 35 41 52
+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 42
+f 37 44 58
+f 37 58 38
+f 38 58 39
+f 39 58 40
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 52
+f 42 57 61
+f 42 61 45
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 44 65 58
+f 45 61 46
+f 46 61 47
+f 47 61 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 50 69 51
+f 51 69 70
+f 51 70 71
+f 52 60 53
+f 53 60 54
+f 54 60 55
+f 55 60 56
+f 56 60 72
+f 56 72 73
+f 56 73 57
+f 57 73 74
+f 57 74 61
+f 58 65 75
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 80 60
+f 59 79 81
+f 59 81 82
+f 59 82 80
+f 60 80 83
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 72
+f 61 74 66
+f 62 87 97
+f 62 97 90
+f 62 90 89
+f 62 89 96
+f 62 96 95
+f 62 95 94
+f 62 94 86
+f 62 86 85
+f 62 85 84
+f 62 84 83
+f 62 83 82
+f 62 82 81
+f 62 81 79
+f 62 79 78
+f 62 78 77
+f 62 77 76
+f 62 76 75
+f 62 75 65
+f 62 65 64
+f 62 64 63
+f 66 88 67
+f 66 74 89
+f 66 89 90
+f 66 90 88
+f 70 91 92
+f 70 92 71
+f 72 93 73
+f 72 86 94
+f 72 94 93
+f 73 93 94
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 74 96 89
+f 80 82 83
+f 87 98 99
+f 87 99 100
+f 87 100 97
+f 91 101 102
+f 91 102 103
+f 91 103 92
+f 98 104 99
+f 99 104 105
+f 99 105 106
+f 101 107 102
+f 102 108 109
+f 102 107 108
+f 105 110 106
+f 106 110 111
+f 106 111 112
+f 108 113 114
+f 108 114 115
+f 108 115 109
+f 111 116 117
+f 111 117 118
+f 111 118 119
+f 111 119 112
+f 113 120 121
+f 113 121 114
+f 116 122 117
+f 117 122 123
+f 120 124 121
+f 121 125 126
+f 121 124 127
+f 121 127 125
+f 122 128 123
+f 123 128 129
+f 125 130 126
+f 126 130 131
+f 128 132 133
+f 128 133 134
+f 128 134 129
+f 130 135 136
+f 130 136 131
+f 132 137 133
+f 133 137 138
+f 135 139 140
+f 135 140 136
+f 137 140 141
+f 137 141 138
+f 139 141 140
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_15.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.00765503 -0.02290347 -0.04533125
+v 0.00934789 -0.02201183 -0.04528243
+v 0.01104389 -0.02201183 -0.04526444
+v 0.00934789 -0.02290347 -0.04531198
+v 0.00256859 -0.02459805 -0.04532098
+v 0.00087260 -0.02459805 -0.04532612
+v 0.00007393 -0.02459805 -0.04532483
+v 0.00595903 -0.02290347 -0.04532611
+v 0.00426303 -0.02290347 -0.04530427
+v 0.00007393 -0.02290347 -0.04523618
+v 0.00007393 -0.02226422 -0.04491759
+v 0.00007393 -0.02201184 -0.04479169
+v 0.01280096 -0.02201183 -0.04503449
+v 0.01104389 -0.02290347 -0.04519636
+v 0.00595903 -0.02459805 -0.04522078
+v 0.00426303 -0.02459805 -0.04529143
+v 0.00087260 -0.02629264 -0.04468380
+v 0.00007393 -0.02380084 -0.04528501
+v 0.00007393 -0.02549542 -0.04498440
+v 0.00007393 -0.02201188 -0.03220851
+v 0.01443589 -0.02201184 -0.04474544
+v 0.01104389 -0.02433996 -0.04452192
+v 0.00765503 -0.02459805 -0.04506405
+v 0.01288083 -0.02305686 -0.04467993
+v 0.00595903 -0.02600993 -0.04454891
+v 0.00426303 -0.02616445 -0.04461572
+v 0.00246524 -0.02643629 -0.04451937
+v 0.00087260 -0.02716426 -0.04401321
+v 0.00007393 -0.02629264 -0.04468123
+v 0.00007393 -0.02655766 -0.03220853
+v 0.01484932 -0.02201188 -0.03220851
+v 0.01569027 -0.02201184 -0.04428554
+v 0.01443589 -0.02260303 -0.04446153
+v 0.01241103 -0.02401775 -0.04427656
+v 0.00894542 -0.02559959 -0.04417764
+v 0.00765503 -0.02579760 -0.04439218
+v 0.00944499 -0.02473999 -0.04462213
+v 0.00426303 -0.02701203 -0.04365608
+v 0.00296323 -0.02709730 -0.04387319
+v 0.00183257 -0.02714995 -0.04399137
+v 0.00007393 -0.02716254 -0.04401064
+v 0.00007393 -0.02675449 -0.04432538
+v 0.00087260 -0.02749619 -0.04313322
+v 0.00007393 -0.02774286 -0.03975844
+v 0.00087260 -0.02774916 -0.03975844
+v 0.00081935 -0.02655766 -0.03220853
+v 0.01471307 -0.02218128 -0.03220851
+v 0.01607238 -0.02201186 -0.03702082
+v 0.01607238 -0.02201184 -0.04367790
+v 0.01555716 -0.02224706 -0.04419818
+v 0.01007609 -0.02539928 -0.04387189
+v 0.01354169 -0.02372416 -0.04391942
+v 0.00765503 -0.02647693 -0.04313322
+v 0.00603733 -0.02689471 -0.04310753
+v 0.00552367 -0.02722607 -0.04252815
+v 0.00426303 -0.02733023 -0.04281206
+v 0.00246524 -0.02737486 -0.04323985
+v 0.00007393 -0.02733824 -0.04354431
+v 0.00256859 -0.02777205 -0.04144519
+v 0.00087260 -0.02785847 -0.04144519
+v 0.00007393 -0.02749162 -0.04313322
+v 0.00007393 -0.02785103 -0.04144519
+v 0.00256859 -0.02766274 -0.03975844
+v 0.00256859 -0.02642317 -0.03220853
+v 0.01426049 -0.02247086 -0.03220851
+v 0.01492918 -0.02353302 -0.03975843
+v 0.01607238 -0.02274439 -0.03971474
+v 0.01607238 -0.02254238 -0.03896450
+v 0.01607238 -0.02205192 -0.03716599
+v 0.01607238 -0.02244049 -0.04313192
+v 0.01607238 -0.02249257 -0.04302915
+v 0.01448444 -0.02343630 -0.04326682
+v 0.00944499 -0.02586914 -0.04323857
+v 0.01113002 -0.02520184 -0.04323856
+v 0.01062263 -0.02562420 -0.04274653
+v 0.01395199 -0.02396224 -0.04279407
+v 0.01288083 -0.02433996 -0.04326682
+v 0.00665434 -0.02710761 -0.04188454
+v 0.00426303 -0.02758090 -0.04144519
+v 0.00007393 -0.02768334 -0.04223911
+v 0.00426303 -0.02746931 -0.03975844
+v 0.00337509 -0.02632874 -0.03220853
+v 0.01350880 -0.02292413 -0.03220851
+v 0.01408197 -0.02403894 -0.03975843
+v 0.01504507 -0.02360399 -0.04144518
+v 0.01607238 -0.02290006 -0.04144517
+v 0.01607238 -0.02276786 -0.03997424
+v 0.01174703 -0.02538098 -0.04144518
+v 0.01089982 -0.02574611 -0.04144518
+v 0.00934789 -0.02634187 -0.04144519
+v 0.01419785 -0.02410532 -0.04144518
+v 0.01273989 -0.02488823 -0.04144518
+v 0.00685166 -0.02715225 -0.04076047
+v 0.00603733 -0.02727530 -0.04137196
+v 0.00751252 -0.02691932 -0.04137196
+v 0.00685166 -0.02715225 -0.04054208
+v 0.00582122 -0.02723008 -0.03989076
+v 0.00426303 -0.02622000 -0.03220853
+v 0.01272266 -0.02335679 -0.03220852
+v 0.01273989 -0.02475431 -0.03975843
+v 0.01159670 -0.02531345 -0.03975843
+v 0.01074791 -0.02568430 -0.03975843
+v 0.00934789 -0.02622398 -0.03975844
+v 0.00751252 -0.02682947 -0.03989076
+v 0.00936982 -0.02489341 -0.03220852
+v 0.00840045 -0.02518757 -0.03220852
+v 0.00609214 -0.02582454 -0.03220852
+v 0.00521986 -0.02601684 -0.03220853
+v 0.01110183 -0.02418261 -0.03220852
+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 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 20
+f 2 20 31
+f 2 31 48
+f 2 48 49
+f 2 49 32
+f 2 32 21
+f 2 21 13
+f 2 13 3
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 18 9
+f 7 9 8
+f 7 17 19
+f 7 19 29
+f 7 29 42
+f 7 42 41
+f 7 41 58
+f 7 58 61
+f 7 61 80
+f 7 80 62
+f 7 62 44
+f 7 44 30
+f 7 30 20
+f 7 20 12
+f 7 12 11
+f 7 11 10
+f 7 10 18
+f 9 18 10
+f 13 21 14
+f 14 22 23
+f 14 23 15
+f 14 21 24
+f 14 24 22
+f 15 25 26
+f 15 26 16
+f 15 23 25
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 19
+f 20 30 46
+f 20 46 64
+f 20 64 82
+f 20 82 98
+f 20 98 108
+f 20 108 107
+f 20 107 106
+f 20 106 105
+f 20 105 109
+f 20 109 99
+f 20 99 83
+f 20 83 65
+f 20 65 47
+f 20 47 31
+f 21 32 33
+f 21 33 24
+f 22 24 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 36
+f 23 36 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 25 36 38
+f 26 40 27
+f 27 40 28
+f 28 41 42
+f 28 42 29
+f 28 40 43
+f 28 43 41
+f 30 44 45
+f 30 45 46
+f 31 47 48
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 51 35
+f 34 50 52
+f 34 52 51
+f 35 51 53
+f 35 53 54
+f 35 54 36
+f 36 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 57 43
+f 41 43 58
+f 43 57 59
+f 43 59 60
+f 43 60 61
+f 43 61 58
+f 44 62 60
+f 44 60 45
+f 45 60 59
+f 45 59 63
+f 45 63 46
+f 46 63 64
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 68
+f 48 68 67
+f 48 67 87
+f 48 87 86
+f 48 86 71
+f 48 71 70
+f 48 70 49
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 52
+f 51 73 53
+f 51 52 74
+f 51 74 75
+f 51 75 73
+f 52 72 76
+f 52 76 77
+f 52 77 74
+f 53 73 75
+f 53 75 78
+f 53 78 55
+f 53 55 54
+f 55 79 56
+f 55 78 79
+f 56 79 59
+f 56 59 57
+f 59 79 63
+f 60 62 80
+f 60 80 61
+f 63 79 81
+f 63 81 64
+f 64 81 82
+f 65 83 66
+f 66 83 84
+f 66 84 85
+f 66 85 86
+f 66 86 87
+f 66 87 67
+f 71 86 85
+f 71 85 76
+f 71 76 72
+f 74 77 75
+f 75 88 89
+f 75 89 90
+f 75 90 78
+f 75 77 76
+f 75 76 88
+f 76 91 92
+f 76 92 88
+f 76 85 91
+f 78 93 94
+f 78 94 79
+f 78 90 95
+f 78 95 93
+f 79 94 93
+f 79 93 96
+f 79 96 81
+f 81 97 98
+f 81 98 82
+f 81 96 97
+f 83 99 84
+f 84 91 85
+f 84 99 100
+f 84 100 92
+f 84 92 91
+f 88 92 100
+f 88 100 101
+f 88 101 102
+f 88 102 89
+f 89 102 103
+f 89 103 90
+f 90 103 96
+f 90 96 93
+f 90 93 95
+f 96 103 104
+f 96 104 105
+f 96 105 106
+f 96 106 107
+f 96 107 108
+f 96 108 98
+f 96 98 97
+f 99 109 100
+f 100 109 101
+f 101 109 102
+f 102 109 105
+f 102 105 103
+f 103 105 104
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_16.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00007393 -0.00001902 -0.03093493
+v 0.01838610 -0.00001902 -0.03093493
+v 0.00007393 -0.00001903 -0.02742262
+v 0.00007393 0.01926770 -0.03093486
+v 0.01838610 -0.00001904 -0.02415312
+v 0.01838610 0.01926770 -0.03093486
+v 0.01838610 0.01926766 -0.02024304
+v 0.00007393 0.01926768 -0.02394373
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_17.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.01563681 0.03445186 0.01185085
+v -0.01563681 0.04209657 0.01185087
+v 0.00007239 0.03782827 0.01185086
+v 0.00007239 0.03851391 0.02266959
+v -0.01563681 0.03510061 0.02098313
+v -0.01507550 0.04230278 0.01185088
+v -0.01563681 0.04928517 0.04162765
+v 0.00007239 0.04484263 0.01185088
+v 0.00007239 0.03858431 0.02356491
+v -0.01563681 0.03522132 0.02266958
+v -0.01466489 0.04244025 0.01185088
+v -0.01563681 0.04937066 0.04291365
+v -0.01438807 0.04972272 0.04291365
+v -0.01269182 0.05015190 0.04291365
+v -0.01269182 0.04994067 0.04122719
+v -0.01099710 0.04350648 0.01185088
+v -0.01199209 0.04324160 0.01185088
+v -0.01269182 0.04305384 0.01185088
+v -0.01430195 0.04256096 0.01185088
+v -0.00082418 0.04484263 0.01185088
+v 0.00007239 0.05138915 0.04122720
+v 0.00007239 0.03864802 0.02435605
+v -0.01563681 0.03536884 0.02438860
+v -0.01563681 0.04925666 0.04363317
+v -0.01556146 0.04923487 0.04390339
+v -0.00866879 0.05086440 0.04381224
+v -0.01099710 0.05053078 0.04291366
+v -0.00890869 0.05090129 0.04183602
+v -0.01099710 0.05032291 0.04122719
+v -0.00935928 0.04388202 0.01185088
+v -0.00252044 0.04477725 0.01185088
+v -0.00252044 0.05134053 0.04122720
+v -0.00082418 0.05138915 0.04122720
+v 0.00007239 0.05147800 0.04201834
+v 0.00007239 0.03874358 0.02525137
+v 0.00007239 0.03883074 0.02604577
+v 0.00007239 0.03889278 0.02654389
+v -0.01563681 0.03548955 0.02534578
+v -0.01563681 0.04922146 0.04383827
+v -0.01563681 0.04912255 0.04396850
+v -0.01438807 0.04939581 0.04409873
+v -0.00760767 0.05093314 0.04391642
+v -0.00591141 0.05129525 0.04291366
+v -0.00760767 0.05109911 0.04291366
+v -0.00895637 0.05090966 0.04291366
+v -0.00980373 0.05076884 0.04291366
+v -0.01269182 0.04960705 0.04429082
+v -0.01099710 0.04979649 0.04439175
+v -0.00760767 0.05099518 0.04153650
+v -0.00591141 0.04446710 0.01185088
+v -0.00759229 0.04421899 0.01185088
+v -0.00851346 0.04406140 0.01185088
+v -0.00889793 0.04398093 0.01185088
+v -0.00351543 0.04470516 0.01185088
+v -0.00421669 0.05124497 0.04122720
+v -0.00421669 0.05143943 0.04291366
+v -0.00252044 0.05153163 0.04291366
+v -0.00082418 0.05157690 0.04291366
+v 0.00007239 0.05157690 0.04291366
+v 0.00007239 0.03894977 0.02698341
+v -0.01563681 0.03558007 0.02604576
+v -0.01563681 0.04867996 0.04430058
+v -0.00591141 0.05103037 0.04404665
+v -0.01563681 0.04837484 0.04447965
+v -0.01438807 0.04828599 0.04475639
+v -0.01269182 0.04828599 0.04490940
+v -0.00760767 0.04998090 0.04459360
+v -0.00592218 0.05106056 0.04110674
+v -0.00421669 0.04465319 0.01185088
+v -0.00521015 0.04454422 0.01185088
+v -0.00421669 0.05110246 0.04413130
+v -0.00252044 0.05114940 0.04418013
+v -0.00082418 0.05117120 0.04420292
+v 0.00007239 0.05138746 0.04351922
+v 0.00007239 0.03902354 0.02743270
+v -0.01563681 0.03584327 0.02773222
+v -0.01563681 0.04703868 0.04498427
+v -0.01099710 0.04828598 0.04500707
+v -0.00591141 0.04998090 0.04471081
+v -0.00421669 0.04998090 0.04477918
+v -0.00252044 0.04998090 0.04481824
+v 0.00007239 0.05061125 0.04449920
+v 0.00007239 0.05117120 0.04419967
+v -0.00082418 0.04998090 0.04483127
+v 0.00007239 0.03908892 0.02782990
+v -0.01563681 0.03617353 0.02938612
+v 0.00007239 0.03938900 0.02941543
+v -0.01563681 0.04659106 0.04506892
+v -0.00930085 0.04828598 0.04507870
+v -0.00760767 0.04828598 0.04510800
+v 0.00007239 0.04998090 0.04483127
+v 0.00007239 0.03977459 0.03110190
+v -0.01563681 0.03629758 0.02987773
+v -0.01438807 0.04659106 0.04508195
+v -0.01563681 0.04534377 0.04493544
+v -0.00591141 0.04828598 0.04509824
+v 0.00007239 0.04918456 0.04493219
+v -0.01563681 0.03660941 0.03106606
+v 0.00007239 0.04002102 0.03199722
+v 0.00007239 0.04828598 0.04504289
+v -0.01563681 0.04489616 0.04483776
+v 0.00007239 0.04023896 0.03278836
+v -0.01563681 0.03676028 0.03156420
+v 0.00007239 0.04659107 0.04448290
+v -0.01563681 0.04382657 0.04436568
+v -0.01563681 0.03712743 0.03276230
+v 0.00007239 0.04057593 0.03387577
+v -0.01563681 0.04352145 0.04418987
+v 0.00007239 0.04616190 0.04417360
+v -0.01563681 0.03734705 0.03339065
+v 0.00007239 0.04073351 0.03432180
+v -0.01563681 0.04289780 0.04361687
+v 0.00007239 0.04567907 0.04382524
+v 0.00007239 0.04087433 0.03471900
+v -0.01563681 0.03774771 0.03450085
+v -0.01563681 0.04264466 0.04332385
+v -0.01563681 0.04214339 0.04268572
+v -0.01563681 0.04201598 0.04251968
+v 0.00007239 0.04536390 0.04339874
+v 0.00007239 0.04116604 0.03548409
+v 0.00007239 0.04142589 0.03616453
+v -0.01563681 0.03788351 0.03483945
+v 0.00007239 0.04463966 0.04237970
+v 0.00007239 0.04500848 0.04291364
+v -0.01563681 0.04133031 0.04151692
+v 0.00007239 0.04422558 0.04177739
+v 0.00007239 0.04205959 0.03766542
+v -0.01563681 0.03846524 0.03622312
+v -0.01563681 0.04116099 0.04126297
+v -0.01563681 0.04063626 0.04041649
+v 0.00007239 0.04399088 0.04138019
+v -0.01563681 0.03853565 0.03638265
+v 0.00007239 0.04244183 0.03850865
+v 0.00007239 0.04372767 0.04093416
+v -0.01563681 0.04024396 0.03974581
+v -0.01563681 0.03889441 0.03714775
+v 0.00007239 0.04296823 0.03953746
+v -0.01563681 0.03927665 0.03793237
+v -0.01563681 0.04014505 0.03956675
+v 0.00007239 0.04336890 0.04027651
+v -0.01563681 0.03940573 0.03818306
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 30
+f 1 30 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 70
+f 1 70 69
+f 1 69 54
+f 1 54 31
+f 1 31 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 23
+f 1 23 38
+f 1 38 61
+f 1 61 76
+f 1 76 86
+f 1 86 93
+f 1 93 98
+f 1 98 103
+f 1 103 106
+f 1 106 110
+f 1 110 115
+f 1 115 122
+f 1 122 128
+f 1 128 132
+f 1 132 136
+f 1 136 138
+f 1 138 141
+f 1 141 139
+f 1 139 135
+f 1 135 130
+f 1 130 129
+f 1 129 125
+f 1 125 118
+f 1 118 117
+f 1 117 116
+f 1 116 112
+f 1 112 108
+f 1 108 105
+f 1 105 101
+f 1 101 95
+f 1 95 88
+f 1 88 77
+f 1 77 64
+f 1 64 62
+f 1 62 40
+f 1 40 39
+f 1 39 24
+f 1 24 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 21
+f 3 21 34
+f 3 34 59
+f 3 59 74
+f 3 74 83
+f 3 83 82
+f 3 82 91
+f 3 91 97
+f 3 97 100
+f 3 100 104
+f 3 104 109
+f 3 109 113
+f 3 113 119
+f 3 119 124
+f 3 124 123
+f 3 123 126
+f 3 126 131
+f 3 131 134
+f 3 134 140
+f 3 140 137
+f 3 137 133
+f 3 133 127
+f 3 127 121
+f 3 121 120
+f 3 120 114
+f 3 114 111
+f 3 111 107
+f 3 107 102
+f 3 102 99
+f 3 99 92
+f 3 92 87
+f 3 87 85
+f 3 85 75
+f 3 75 60
+f 3 60 37
+f 3 37 36
+f 3 36 35
+f 3 35 22
+f 3 22 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 7 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 11
+f 8 20 33
+f 8 33 21
+f 9 22 10
+f 10 22 23
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 20 31 32
+f 20 32 33
+f 21 33 34
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 26 41 47
+f 26 47 48
+f 26 48 42
+f 27 46 28
+f 28 46 45
+f 28 45 44
+f 28 44 43
+f 28 43 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 30
+f 31 54 55
+f 31 55 32
+f 32 55 56
+f 32 56 57
+f 32 57 33
+f 33 57 58
+f 33 58 34
+f 34 58 59
+f 37 60 61
+f 37 61 38
+f 40 62 41
+f 41 62 47
+f 42 63 56
+f 42 56 43
+f 42 48 63
+f 43 56 49
+f 47 62 64
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 63
+f 49 56 55
+f 49 55 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 54 69 55
+f 55 69 68
+f 56 63 71
+f 56 71 57
+f 57 71 72
+f 57 72 58
+f 58 72 73
+f 58 73 74
+f 58 74 59
+f 60 75 76
+f 60 76 61
+f 63 67 71
+f 64 77 65
+f 65 77 66
+f 66 77 78
+f 66 78 79
+f 66 79 67
+f 67 79 71
+f 71 79 72
+f 72 79 80
+f 72 80 81
+f 72 81 73
+f 73 82 83
+f 73 83 74
+f 73 81 84
+f 73 84 82
+f 75 85 76
+f 76 85 87
+f 76 87 86
+f 77 88 78
+f 78 88 89
+f 78 89 79
+f 79 89 80
+f 80 89 81
+f 81 89 90
+f 81 90 84
+f 82 84 91
+f 84 90 91
+f 86 87 92
+f 86 92 93
+f 88 94 90
+f 88 90 89
+f 88 95 94
+f 90 96 91
+f 90 94 96
+f 91 96 97
+f 92 98 93
+f 92 99 98
+f 94 95 100
+f 94 100 96
+f 95 101 100
+f 96 100 97
+f 98 99 102
+f 98 102 103
+f 100 101 104
+f 101 105 104
+f 102 106 103
+f 102 107 106
+f 104 105 108
+f 104 108 109
+f 106 107 110
+f 107 111 110
+f 108 112 113
+f 108 113 109
+f 110 111 114
+f 110 114 115
+f 112 116 113
+f 113 116 117
+f 113 117 118
+f 113 118 119
+f 114 120 115
+f 115 120 121
+f 115 121 122
+f 118 123 124
+f 118 124 119
+f 118 125 126
+f 118 126 123
+f 121 127 128
+f 121 128 122
+f 125 129 126
+f 126 129 130
+f 126 130 131
+f 127 132 128
+f 127 133 132
+f 130 134 131
+f 130 135 134
+f 132 133 136
+f 133 137 138
+f 133 138 136
+f 134 135 139
+f 134 139 140
+f 137 139 141
+f 137 141 138
+f 137 140 139
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_18.obj

@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
+v -0.02679579 -0.02799999 0.02378381
+v -0.03743479 -0.02799999 0.02378381
+v -0.02686316 -0.02799999 0.02435521
+v -0.01238995 -0.03662779 0.02378378
+v -0.03725717 -0.02824177 0.02378381
+v -0.04071469 -0.03228672 0.04195594
+v -0.04204380 -0.03007586 0.04122606
+v -0.04262873 -0.02922854 0.04122606
+v -0.04344028 -0.02800005 0.04126361
+v -0.02697341 -0.02799999 0.02507467
+v -0.01238995 -0.03667571 0.02433016
+v -0.01238995 -0.04499422 0.02378374
+v -0.03704279 -0.02852711 0.02378381
+v -0.04071469 -0.03228673 0.04249397
+v -0.04217242 -0.03026320 0.04291314
+v -0.04275123 -0.02941588 0.04291314
+v -0.04367609 -0.02800006 0.04276718
+v -0.03675492 -0.02889304 0.02378380
+v -0.03613324 -0.02967284 0.02378380
+v -0.03550544 -0.03043956 0.02378380
+v -0.03912527 -0.03409680 0.04172236
+v -0.03915283 -0.03412948 0.04291312
+v -0.02712960 -0.02800000 0.02604438
+v -0.01238995 -0.03683690 0.02572736
+v -0.01238995 -0.05004332 0.04122599
+v -0.01269314 -0.04997362 0.04122599
+v -0.01269314 -0.04491798 0.02378375
+v -0.04012363 -0.03294019 0.04300072
+v -0.04065038 -0.03220614 0.04362009
+v -0.04122306 -0.03153526 0.04300072
+v -0.04259198 -0.02917846 0.04401424
+v -0.04359953 -0.02811768 0.04291315
+v -0.04367303 -0.02800006 0.04291315
+v -0.03468776 -0.03135440 0.02378379
+v -0.03748991 -0.03583935 0.04160558
+v -0.03755116 -0.03590253 0.04291312
+v -0.03839640 -0.03497679 0.04291312
+v -0.03906096 -0.03402493 0.04386199
+v -0.02735009 -0.02800000 0.02712879
+v -0.01238995 -0.03687612 0.02604434
+v -0.01238995 -0.05025026 0.04291307
+v -0.01269314 -0.05018273 0.04291307
+v -0.01569129 -0.04931363 0.04166392
+v -0.01444180 -0.04949442 0.04115091
+v -0.01317394 -0.04477640 0.02378375
+v -0.04107606 -0.03107566 0.04412893
+v -0.04159055 -0.02972082 0.04440421
+v -0.04310953 -0.02800006 0.04417690
+v -0.03412120 -0.03197518 0.02378379
+v -0.03359752 -0.03252626 0.02378379
+v -0.03304934 -0.03308824 0.02378379
+v -0.03580250 -0.03752309 0.04161391
+v -0.03671511 -0.03675202 0.04291312
+v -0.03742866 -0.03577619 0.04392246
+v -0.03944989 -0.03307524 0.04415395
+v -0.03804728 -0.03466096 0.04418730
+v -0.02747565 -0.02800000 0.02773147
+v -0.01238995 -0.03710918 0.02756668
+v -0.01238995 -0.04967739 0.04430404
+v -0.01269314 -0.04964255 0.04428527
+v -0.01438974 -0.04942908 0.04409132
+v -0.01554429 -0.04927007 0.04389530
+v -0.01438974 -0.04975145 0.04291307
+v -0.01580766 -0.04935067 0.04291307
+v -0.01665597 -0.04908275 0.04291307
+v -0.01777989 -0.04869068 0.04291307
+v -0.02057592 -0.04758850 0.04176612
+v -0.01777989 -0.04846413 0.04122599
+v -0.01555654 -0.04401839 0.02378375
+v -0.01497161 -0.04421878 0.02378375
+v -0.01442956 -0.04439522 0.02378375
+v -0.04151705 -0.02800007 0.04492973
+v -0.03997970 -0.03153526 0.04449178
+v -0.03812384 -0.03307524 0.04480042
+v -0.03251341 -0.03361971 0.02378379
+v -0.03191929 -0.03419258 0.02378378
+v -0.03132824 -0.03473495 0.02378378
+v -0.03405689 -0.03915455 0.04172653
+v -0.03586681 -0.03758191 0.04291311
+v -0.03573819 -0.03745993 0.04392036
+v -0.03635374 -0.03639044 0.04422484
+v -0.03643030 -0.03476987 0.04485880
+v -0.02792584 -0.02800001 0.02943315
+v -0.01238995 -0.03717235 0.02791494
+v -0.02793196 -0.02800001 0.02945609
+v -0.01238995 -0.04832693 0.04492340
+v -0.01269314 -0.04832692 0.04490671
+v -0.01438974 -0.04832692 0.04475240
+v -0.01777989 -0.04804811 0.04432489
+v -0.01947650 -0.04773445 0.04406421
+v -0.02046261 -0.04753841 0.04384317
+v -0.01947650 -0.04806118 0.04291307
+v -0.02061573 -0.04760594 0.04291308
+v -0.02146404 -0.04722911 0.04291308
+v -0.02286665 -0.04658219 0.04291308
+v -0.02401813 -0.04594179 0.04165559
+v -0.01998793 -0.04224316 0.02378375
+v -0.01982256 -0.04231722 0.02378375
+v -0.01924069 -0.04257425 0.02378375
+v -0.01815045 -0.04303167 0.02378375
+v -0.01777989 -0.04318414 0.02378375
+v -0.01656409 -0.04364810 0.02378375
+v -0.01610166 -0.04382453 0.02378375
+v -0.03982045 -0.02968381 0.04502565
+v -0.03982045 -0.02800007 0.04504443
+v -0.03044318 -0.03552781 0.02378378
+v -0.03409364 -0.03918723 0.04291311
+v -0.03494194 -0.03842923 0.04291311
+v -0.03040031 -0.03556484 0.02378378
+v -0.03226229 -0.04075552 0.04193297
+v -0.03399258 -0.03910011 0.04386614
+v -0.03462651 -0.03807854 0.04418938
+v -0.03303709 -0.03815913 0.04480666
+v -0.03473370 -0.03646450 0.04485672
+v -0.03643030 -0.03307525 0.04504650
+v -0.03812384 -0.03137844 0.04504441
+v -0.03134355 -0.03815914 0.04505273
+v -0.01238995 -0.03747077 0.02941851
+v -0.02848014 -0.02800001 0.03110564
+v -0.01238995 -0.04663230 0.04499848
+v -0.01269314 -0.04663230 0.04501308
+v -0.01438974 -0.04663230 0.04508816
+v -0.01608635 -0.04663230 0.04506313
+v -0.01777989 -0.04663230 0.04495260
+v -0.01947650 -0.04663229 0.04472530
+v -0.02108429 -0.04668674 0.04431030
+v -0.02286665 -0.04614655 0.04415390
+v -0.02392932 -0.04589388 0.04390365
+v -0.02410388 -0.04598536 0.04291308
+v -0.02337195 -0.04050715 0.02378376
+v -0.02308408 -0.04066616 0.02378376
+v -0.02252365 -0.04097546 0.02378376
+v -0.02151610 -0.04149605 0.02378376
+v -0.02107204 -0.04172258 0.02378376
+v -0.02026968 -0.04211029 0.02378376
+v -0.02495218 -0.04553448 0.04291308
+v -0.02726741 -0.04418835 0.04181409
+v -0.03812384 -0.02800006 0.04472745
+v -0.03309221 -0.04003455 0.04291310
+v -0.03219185 -0.04070108 0.04375769
+v -0.02964694 -0.03618780 0.02378378
+v -0.02887826 -0.03680858 0.02378377
+v -0.02851689 -0.03709610 0.02378377
+v -0.02822902 -0.03731174 0.02378377
+v -0.02767165 -0.03772560 0.02378377
+v -0.03006650 -0.04209075 0.04122602
+v -0.02921820 -0.04268322 0.04122601
+v -0.02940501 -0.04281392 0.04291309
+v -0.03025331 -0.04221927 0.04291309
+v -0.03134355 -0.04141334 0.04291310
+v -0.03224391 -0.04074246 0.04291310
+v -0.03286866 -0.03973832 0.04408093
+v -0.03134355 -0.03985158 0.04468569
+v -0.02795340 -0.04154840 0.04495054
+v -0.02964694 -0.03985159 0.04503187
+v -0.02625986 -0.04154840 0.04505481
+v -0.01947650 -0.04493767 0.04507356
+v -0.01238995 -0.03774522 0.03059468
+v -0.02882926 -0.02800002 0.03198776
+v -0.01238995 -0.03784324 0.03100341
+v -0.01238995 -0.04483092 0.04433325
+v -0.02117310 -0.04493767 0.04501517
+v -0.02286665 -0.04493766 0.04480245
+v -0.02452344 -0.04498993 0.04433950
+v -0.02625986 -0.04440618 0.04408717
+v -0.02718778 -0.04414044 0.04382650
+v -0.02388951 -0.04020002 0.02378376
+v -0.02625986 -0.04479825 0.04291309
+v -0.02728884 -0.04420143 0.04291309
+v -0.02813409 -0.04366124 0.04291309
+v -0.02642829 -0.03859905 0.02378377
+v -0.02561674 -0.03913925 0.02378377
+v -0.02460306 -0.03977310 0.02378376
+v -0.03679780 -0.02800006 0.04408932
+v -0.02916307 -0.04264838 0.04403504
+v -0.03134355 -0.04101256 0.04404131
+v -0.02687847 -0.03828540 0.02378377
+v -0.02969594 -0.04162898 0.04441876
+v -0.02625986 -0.04324302 0.04473782
+v -0.02456325 -0.04324303 0.04501518
+v -0.02915388 -0.02800002 0.03279273
+v -0.01238995 -0.03837691 0.03278851
+v -0.02981231 -0.02800003 0.03423373
+v -0.01238995 -0.04456736 0.04412471
+v -0.02783396 -0.04322560 0.04423524
+v -0.03594949 -0.02800006 0.04335943
+v -0.01238995 -0.04368520 0.04327804
+v -0.01238995 -0.03886048 0.03418573
+v -0.02987663 -0.02800003 0.03436303
+v -0.03089030 -0.02800003 0.03627951
+v -0.03516857 -0.02800006 0.04251693
+v -0.01238995 -0.04348045 0.04301111
+v -0.01238995 -0.04258302 0.04176821
+v -0.01238995 -0.04206461 0.04092364
+v -0.01238995 -0.03910661 0.03483846
+v -0.03092399 -0.02800003 0.03633998
+v -0.03172942 -0.02800004 0.03771218
+v -0.03426208 -0.02800005 0.04140958
+v -0.01238995 -0.04123907 0.03946803
+v -0.01238995 -0.03920245 0.03508245
+v -0.03291459 -0.02800005 0.03954733
+v -0.01238995 -0.03959888 0.03606675
+v -0.03413652 -0.02800005 0.04124275
+v -0.01238995 -0.04093194 0.03886952
+v -0.01238995 -0.04062046 0.03825850
+v -0.01238995 -0.04038522 0.03778720
+v -0.03299728 -0.02800005 0.03966619
+f 1 2 9
+f 1 9 17
+f 1 17 33
+f 1 33 48
+f 1 48 72
+f 1 72 105
+f 1 105 138
+f 1 138 174
+f 1 174 186
+f 1 186 191
+f 1 191 198
+f 1 198 203
+f 1 203 207
+f 1 207 201
+f 1 201 197
+f 1 197 196
+f 1 196 190
+f 1 190 189
+f 1 189 183
+f 1 183 181
+f 1 181 159
+f 1 159 119
+f 1 119 85
+f 1 85 83
+f 1 83 57
+f 1 57 39
+f 1 39 23
+f 1 23 10
+f 1 10 3
+f 1 3 4
+f 1 4 12
+f 1 12 27
+f 1 27 45
+f 1 45 71
+f 1 71 70
+f 1 70 69
+f 1 69 103
+f 1 103 102
+f 1 102 101
+f 1 101 100
+f 1 100 99
+f 1 99 98
+f 1 98 97
+f 1 97 135
+f 1 135 134
+f 1 134 133
+f 1 133 132
+f 1 132 131
+f 1 131 130
+f 1 130 167
+f 1 167 173
+f 1 173 172
+f 1 172 171
+f 1 171 177
+f 1 177 145
+f 1 145 144
+f 1 144 143
+f 1 143 142
+f 1 142 141
+f 1 141 109
+f 1 109 106
+f 1 106 77
+f 1 77 76
+f 1 76 75
+f 1 75 51
+f 1 51 50
+f 1 50 49
+f 1 49 34
+f 1 34 20
+f 1 20 19
+f 1 19 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 24
+f 4 24 40
+f 4 40 58
+f 4 58 84
+f 4 84 118
+f 4 118 158
+f 4 158 160
+f 4 160 182
+f 4 182 188
+f 4 188 195
+f 4 195 200
+f 4 200 202
+f 4 202 206
+f 4 206 205
+f 4 205 204
+f 4 204 199
+f 4 199 194
+f 4 194 193
+f 4 193 192
+f 4 192 187
+f 4 187 184
+f 4 184 161
+f 4 161 120
+f 4 120 86
+f 4 86 59
+f 4 59 41
+f 4 41 25
+f 4 25 12
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 6 8 7
+f 6 13 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 14
+f 8 17 9
+f 10 23 11
+f 11 23 24
+f 12 25 26
+f 12 26 27
+f 14 22 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 29
+f 15 29 16
+f 16 29 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 20 34 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 21 34 35
+f 22 37 38
+f 22 38 29
+f 22 29 28
+f 23 39 24
+f 24 39 40
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 43
+f 27 43 45
+f 29 46 31
+f 29 38 46
+f 31 47 48
+f 31 48 33
+f 31 33 32
+f 31 46 47
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 38
+f 36 38 37
+f 38 55 46
+f 38 54 56
+f 38 56 55
+f 39 57 40
+f 40 57 58
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 71
+f 43 71 45
+f 43 63 64
+f 46 55 47
+f 47 72 48
+f 47 55 73
+f 47 73 74
+f 47 74 72
+f 51 75 52
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 53
+f 53 79 80
+f 53 80 54
+f 54 80 81
+f 54 81 56
+f 55 56 74
+f 55 74 73
+f 56 81 82
+f 56 82 74
+f 57 83 58
+f 58 83 85
+f 58 85 84
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 60 88 89
+f 60 89 61
+f 61 89 62
+f 62 64 63
+f 62 89 90
+f 62 90 91
+f 62 91 66
+f 62 66 65
+f 62 65 64
+f 66 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 98
+f 67 98 99
+f 67 99 100
+f 67 100 101
+f 67 101 102
+f 67 102 103
+f 67 103 68
+f 68 103 69
+f 72 104 105
+f 72 74 104
+f 74 82 104
+f 77 106 78
+f 78 107 108
+f 78 108 79
+f 78 106 109
+f 78 109 110
+f 78 110 107
+f 79 108 111
+f 79 111 80
+f 80 111 112
+f 80 112 81
+f 81 112 113
+f 81 113 114
+f 81 114 82
+f 82 115 116
+f 82 116 104
+f 82 114 117
+f 82 117 115
+f 84 85 118
+f 85 119 118
+f 86 120 121
+f 86 121 122
+f 86 122 123
+f 86 123 87
+f 87 123 124
+f 87 124 88
+f 88 124 125
+f 88 125 89
+f 89 125 126
+f 89 126 90
+f 90 126 127
+f 90 127 91
+f 91 94 93
+f 91 93 92
+f 91 127 128
+f 91 128 95
+f 91 95 94
+f 95 128 129
+f 95 129 96
+f 96 130 131
+f 96 131 132
+f 96 132 133
+f 96 133 134
+f 96 134 135
+f 96 135 97
+f 96 129 136
+f 96 136 137
+f 96 137 130
+f 104 116 105
+f 105 116 122
+f 105 122 121
+f 105 121 120
+f 105 120 138
+f 107 110 139
+f 107 139 140
+f 107 140 111
+f 107 111 108
+f 109 141 110
+f 110 141 142
+f 110 142 143
+f 110 143 144
+f 110 144 145
+f 110 145 146
+f 110 146 147
+f 110 147 137
+f 110 137 148
+f 110 148 149
+f 110 149 150
+f 110 150 151
+f 110 151 139
+f 111 152 112
+f 111 140 152
+f 112 152 153
+f 112 153 113
+f 113 153 154
+f 113 154 155
+f 113 155 114
+f 114 155 117
+f 115 117 122
+f 115 122 116
+f 117 155 156
+f 117 156 157
+f 117 157 122
+f 118 119 158
+f 119 159 160
+f 119 160 158
+f 120 161 138
+f 122 157 123
+f 123 157 162
+f 123 162 124
+f 124 162 163
+f 124 163 125
+f 125 163 126
+f 126 163 127
+f 127 163 164
+f 127 164 165
+f 127 165 128
+f 128 136 129
+f 128 165 166
+f 128 166 136
+f 130 137 167
+f 136 166 168
+f 136 168 137
+f 137 168 169
+f 137 169 170
+f 137 170 148
+f 137 147 171
+f 137 171 172
+f 137 172 173
+f 137 173 167
+f 138 161 174
+f 139 151 140
+f 140 151 150
+f 140 150 149
+f 140 149 148
+f 140 148 166
+f 140 166 175
+f 140 175 176
+f 140 176 152
+f 145 177 146
+f 146 177 147
+f 147 177 171
+f 148 170 166
+f 152 176 153
+f 153 176 178
+f 153 178 179
+f 153 179 154
+f 154 179 180
+f 154 180 155
+f 155 180 156
+f 156 180 157
+f 157 180 162
+f 159 181 160
+f 160 181 183
+f 160 183 182
+f 161 184 174
+f 162 180 163
+f 163 180 179
+f 163 179 164
+f 164 179 185
+f 164 185 165
+f 165 185 175
+f 165 175 166
+f 166 170 169
+f 166 169 168
+f 174 184 187
+f 174 187 186
+f 175 178 176
+f 175 185 178
+f 178 185 179
+f 182 183 189
+f 182 189 190
+f 182 190 188
+f 186 187 192
+f 186 192 193
+f 186 193 194
+f 186 194 191
+f 188 190 196
+f 188 196 197
+f 188 197 195
+f 191 194 199
+f 191 199 198
+f 195 197 200
+f 197 201 202
+f 197 202 200
+f 198 199 204
+f 198 204 205
+f 198 205 206
+f 198 206 203
+f 201 207 202
+f 202 207 206
+f 203 206 207
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_19.obj

@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
+v 0.04409778 0.00082747 0.00454620
+v 0.04405639 0.00210907 0.00454621
+v 0.04409612 -0.00001915 0.00454620
+v 0.04408122 -0.00001915 0.00438079
+v 0.04403984 0.00082748 0.00395832
+v 0.04403156 0.00254552 0.00454621
+v 0.04388754 0.00082748 0.00241989
+v 0.04371868 0.00082749 0.00073399
+v 0.04365246 0.00252218 0.00073400
+v 0.04382132 0.00252217 0.00241990
+v 0.03725755 -0.00001915 0.00454620
+v 0.04371868 -0.00001913 0.00073399
+v 0.04394548 0.00369867 0.00454621
+v 0.04363094 -0.00001913 -0.00011095
+v 0.04354321 0.00082749 -0.00095390
+v 0.04352003 0.00421833 0.00073401
+v 0.04369054 0.00421832 0.00241991
+v 0.04347699 0.00252218 -0.00095389
+v 0.03405762 0.01489152 0.00454625
+v 0.02718760 0.01489160 -0.01581207
+v 0.03098183 -0.00001907 -0.01581212
+v 0.04390244 0.00421831 0.00454622
+v 0.04385940 0.00421831 0.00410780
+v 0.04354321 -0.00001913 -0.00095390
+v 0.04345050 -0.00001912 -0.00179884
+v 0.04335614 0.00082750 -0.00264179
+v 0.04331972 0.00591303 0.00073401
+v 0.04349354 0.00591302 0.00241991
+v 0.04334290 0.00421833 -0.00095388
+v 0.04366405 0.00591301 0.00410780
+v 0.04375841 0.00547510 0.00454622
+v 0.04328827 0.00252219 -0.00264178
+v 0.04151697 0.01489152 0.00454625
+v 0.03772438 0.01489160 -0.01581207
+v 0.04050053 -0.00001907 -0.01581212
+v 0.04335614 -0.00001912 -0.00264179
+v 0.04314922 0.00082751 -0.00432769
+v 0.04308300 0.00252220 -0.00432768
+v 0.04305320 0.00760626 0.00073402
+v 0.04322868 0.00760625 0.00241992
+v 0.04314094 0.00591303 -0.00095388
+v 0.04340084 0.00760624 0.00410781
+v 0.04344554 0.00760624 0.00454623
+v 0.04315087 0.00421834 -0.00264177
+v 0.04351341 0.00716834 0.00454623
+v 0.04370709 0.00591301 0.00454622
+v 0.04169906 0.01438647 0.00454625
+v 0.04122396 0.01489153 0.00172844
+v 0.03790814 0.01439823 -0.01581207
+v 0.03774425 0.01489160 -0.01576225
+v 0.04050053 0.00053853 -0.01581212
+v 0.04069587 -0.00001907 -0.01534980
+v 0.04325185 -0.00001912 -0.00348673
+v 0.04314756 -0.00001911 -0.00432769
+v 0.04303003 -0.00001911 -0.00517263
+v 0.04291415 0.00082751 -0.00601359
+v 0.04285124 0.00252220 -0.00601358
+v 0.04271549 0.00421835 -0.00601357
+v 0.04294560 0.00421835 -0.00432767
+v 0.04272046 0.00930095 0.00073402
+v 0.04287442 0.00760626 -0.00095387
+v 0.04247380 0.00873753 -0.00264176
+v 0.04289594 0.00930094 0.00241992
+v 0.04306976 0.00930093 0.00410781
+v 0.04320053 0.00886157 0.00454623
+v 0.04294891 0.00591304 -0.00264177
+v 0.04268404 0.00760627 -0.00264176
+v 0.04181163 0.01403907 0.00454625
+v 0.04147558 0.01438648 0.00241994
+v 0.04103027 0.01489154 -0.00012485
+v 0.03807699 0.01391507 -0.01581207
+v 0.03855872 0.01424641 -0.01430951
+v 0.03887490 0.01269185 -0.01489140
+v 0.03806706 0.01489159 -0.01494521
+v 0.04049557 0.00079835 -0.01581212
+v 0.04071739 0.00003786 -0.01529599
+v 0.04071739 -0.00001907 -0.01529599
+v 0.04291249 -0.00001911 -0.00601359
+v 0.04264762 0.00082752 -0.00770148
+v 0.04255326 0.00260541 -0.00783897
+v 0.04240262 0.00322578 -0.00849460
+v 0.04250194 0.00421836 -0.00737663
+v 0.04252015 0.00587802 -0.00598766
+v 0.04244400 0.00528977 -0.00703786
+v 0.04274198 0.00591305 -0.00432767
+v 0.04254498 0.00933745 -0.00085024
+v 0.04242414 0.01019574 -0.00022051
+v 0.04242083 0.00849084 -0.00354449
+v 0.04228839 0.00958414 -0.00264175
+v 0.04236289 0.00992570 -0.00134444
+v 0.04311445 0.00930093 0.00454623
+v 0.04244731 0.00695526 -0.00540974
+v 0.04250194 0.00755373 -0.00419613
+v 0.04222880 0.01273557 0.00454625
+v 0.04202187 0.01269179 0.00241994
+v 0.04129679 0.01438649 0.00073404
+v 0.04088625 0.01489155 -0.00147994
+v 0.03850243 0.01269186 -0.01581207
+v 0.03828061 0.01489159 -0.01437926
+v 0.03879710 0.01489159 -0.01286872
+v 0.03903879 0.01358810 -0.01365587
+v 0.03917785 0.01269185 -0.01404646
+v 0.03901230 0.01181313 -0.01527004
+v 0.03861169 0.01236197 -0.01581207
+v 0.04044921 0.00201865 -0.01581211
+v 0.04070581 0.00116765 -0.01526211
+v 0.04073395 -0.00001907 -0.01524617
+v 0.04093757 0.00069325 -0.01459851
+v 0.04264597 -0.00001910 -0.00770148
+v 0.04245890 0.00082752 -0.00876961
+v 0.04243738 0.00209598 -0.00866797
+v 0.04235627 0.00421836 -0.00822157
+v 0.04227846 0.00260541 -0.00929370
+v 0.04212616 0.00421836 -0.00938735
+v 0.04236454 0.00641956 -0.00653169
+v 0.04225694 0.00587803 -0.00763968
+v 0.04194572 0.01099712 -0.00264175
+v 0.04218576 0.01085406 -0.00085023
+v 0.04225694 0.01123941 0.00073403
+v 0.04247380 0.01039280 0.00073403
+v 0.04234468 0.00808360 -0.00467042
+v 0.04189771 0.00930097 -0.00601356
+v 0.04218741 0.00915355 -0.00419613
+v 0.04173383 0.01099713 -0.00432765
+v 0.04256154 0.01073435 0.00241993
+v 0.04280654 0.01059713 0.00454624
+v 0.04225197 0.00755373 -0.00598765
+v 0.04245394 0.01198383 0.00454624
+v 0.04245394 0.01198529 0.00454424
+v 0.04239600 0.01178241 0.00342031
+v 0.04184308 0.01269180 0.00073404
+v 0.04111635 0.01438649 -0.00095385
+v 0.04081010 0.01489155 -0.00214753
+v 0.03883186 0.01489159 -0.01276311
+v 0.03886497 0.01480985 -0.01276311
+v 0.03917288 0.01396323 -0.01276311
+v 0.03958508 0.01269185 -0.01276311
+v 0.03942947 0.01114750 -0.01460445
+v 0.04007012 0.01099716 -0.01276312
+v 0.03916626 0.01068333 -0.01564867
+v 0.03906031 0.01082346 -0.01581208
+v 0.03889643 0.01141756 -0.01581208
+v 0.04042604 0.00252224 -0.01581211
+v 0.04067766 0.00252224 -0.01517641
+v 0.04095909 0.00252223 -0.01433346
+v 0.04093922 -0.00001908 -0.01460051
+v 0.04150869 0.00082754 -0.01276316
+v 0.04255161 -0.00001910 -0.00823554
+v 0.04245725 -0.00001910 -0.00876363
+v 0.04228177 -0.00001909 -0.00960857
+v 0.04228343 0.00082753 -0.00961256
+v 0.04192089 0.00591306 -0.00938735
+v 0.04188613 0.00252222 -0.01107526
+v 0.04175038 0.00421837 -0.01107525
+v 0.04196559 0.00760629 -0.00770145
+v 0.04146896 0.01269181 -0.00264174
+v 0.04166264 0.01269180 -0.00095385
+v 0.04234468 0.01158243 0.00241993
+v 0.04149379 0.01099713 -0.00601355
+v 0.04162291 0.00930098 -0.00770145
+v 0.04125541 0.01269182 -0.00432764
+v 0.04262776 0.01112847 0.00403210
+v 0.04268901 0.01109051 0.00454624
+v 0.04091770 0.01444781 -0.00250623
+v 0.04072402 0.01489155 -0.00285297
+v 0.03889477 0.01489159 -0.01256183
+v 0.03904376 0.01489158 -0.01206762
+v 0.03917950 0.01489158 -0.01156146
+v 0.03939967 0.01452666 -0.01120275
+v 0.04004364 0.01269184 -0.01107522
+v 0.03994597 0.00930100 -0.01444903
+v 0.04051543 0.01100590 -0.01109715
+v 0.04065780 0.00988049 -0.01167306
+v 0.04049060 0.00930976 -0.01273124
+v 0.03920764 0.01024835 -0.01581208
+v 0.04033334 0.00364328 -0.01581211
+v 0.04060648 0.00421839 -0.01497712
+v 0.04089287 0.00421838 -0.01413417
+v 0.04144082 0.00252223 -0.01276315
+v 0.04150869 -0.00001908 -0.01276316
+v 0.04195234 0.00082753 -0.01107527
+v 0.04195069 -0.00001909 -0.01107527
+v 0.04164609 0.00760629 -0.00938734
+v 0.04154345 0.00591307 -0.01107525
+v 0.04130673 0.00421838 -0.01276314
+v 0.04110311 0.00591308 -0.01276314
+v 0.04085645 0.01394861 -0.00432764
+v 0.04097399 0.01280713 -0.00607133
+v 0.04121568 0.01099714 -0.00770144
+v 0.04085645 0.01230793 -0.00770143
+v 0.04130342 0.00930098 -0.00938734
+v 0.04090280 0.01100589 -0.00934947
+v 0.04077202 0.01370192 -0.00554922
+v 0.04068429 0.01489155 -0.00317581
+v 0.03930863 0.01489158 -0.01103137
+v 0.03986651 0.01438652 -0.00938732
+v 0.04045418 0.01260863 -0.00934946
+v 0.04064787 0.01157664 -0.00988553
+v 0.04037307 0.00746618 -0.01429558
+v 0.03978539 0.00758151 -0.01581209
+v 0.03943775 0.00926014 -0.01581209
+v 0.04062138 0.00793766 -0.01327328
+v 0.04079189 0.01044685 -0.01054913
+v 0.04092267 0.00930975 -0.01109716
+v 0.04078195 0.00874923 -0.01214735
+v 0.04028202 0.00421839 -0.01581210
+v 0.04049888 0.00591308 -0.01466824
+v 0.04079023 0.00591308 -0.01382330
+v 0.04012806 0.00543723 -0.01581210
+v 0.04006516 0.00591309 -0.01581210
+v 0.04126865 0.00760630 -0.01107524
+v 0.04086142 0.00746618 -0.01273124
+v 0.04072567 0.00680932 -0.01363198
+v 0.04056509 0.01479668 -0.00432764
+v 0.04068925 0.01344940 -0.00667115
+v 0.04075878 0.01198826 -0.00875961
+v 0.04059986 0.01315601 -0.00770143
+v 0.04048067 0.01431499 -0.00607133
+v 0.04059820 0.01489155 -0.00382745
+v 0.03955198 0.01489158 -0.00997121
+v 0.03968441 0.01489157 -0.00935145
+v 0.04000225 0.01489157 -0.00770143
+v 0.04018931 0.01438652 -0.00770143
+v 0.03984499 0.00723264 -0.01581209
+v 0.04027043 0.01489156 -0.00605140
+v 0.04051047 0.01489156 -0.00445318
+v 0.04052868 0.01489156 -0.00432764
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 31
+f 1 31 46
+f 1 46 45
+f 1 45 43
+f 1 43 65
+f 1 65 91
+f 1 91 126
+f 1 126 163
+f 1 163 128
+f 1 128 94
+f 1 94 68
+f 1 68 47
+f 1 47 33
+f 1 33 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 21
+f 3 21 35
+f 3 35 52
+f 3 52 77
+f 3 77 107
+f 3 107 146
+f 3 146 180
+f 3 180 182
+f 3 182 150
+f 3 150 149
+f 3 149 148
+f 3 148 109
+f 3 109 78
+f 3 78 55
+f 3 55 54
+f 3 54 53
+f 3 53 36
+f 3 36 25
+f 3 25 24
+f 3 24 14
+f 3 14 12
+f 3 12 4
+f 4 12 7
+f 4 7 5
+f 6 10 13
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 18
+f 8 18 9
+f 9 16 17
+f 9 17 13
+f 9 13 10
+f 9 18 16
+f 11 19 20
+f 11 20 21
+f 13 17 23
+f 13 23 22
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 18
+f 16 27 28
+f 16 28 17
+f 16 18 29
+f 16 29 27
+f 17 28 30
+f 17 30 31
+f 17 31 23
+f 18 26 32
+f 18 32 29
+f 19 33 48
+f 19 48 70
+f 19 70 97
+f 19 97 133
+f 19 133 165
+f 19 165 194
+f 19 194 219
+f 19 219 227
+f 19 227 226
+f 19 226 225
+f 19 225 222
+f 19 222 221
+f 19 221 220
+f 19 220 195
+f 19 195 168
+f 19 168 167
+f 19 167 166
+f 19 166 134
+f 19 134 100
+f 19 100 99
+f 19 99 74
+f 19 74 50
+f 19 50 34
+f 19 34 20
+f 20 34 49
+f 20 49 71
+f 20 71 98
+f 20 98 104
+f 20 104 142
+f 20 142 141
+f 20 141 175
+f 20 175 201
+f 20 201 200
+f 20 200 224
+f 20 224 210
+f 20 210 209
+f 20 209 206
+f 20 206 176
+f 20 176 143
+f 20 143 105
+f 20 105 75
+f 20 75 51
+f 20 51 35
+f 20 35 21
+f 22 23 31
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 32
+f 27 39 40
+f 27 40 28
+f 27 29 41
+f 27 41 61
+f 27 61 39
+f 28 40 42
+f 28 42 43
+f 28 43 30
+f 29 32 44
+f 29 44 66
+f 29 66 41
+f 30 43 45
+f 30 45 46
+f 30 46 31
+f 32 38 59
+f 32 59 44
+f 33 47 48
+f 34 50 49
+f 35 51 52
+f 36 53 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 37 53 54
+f 38 57 58
+f 38 58 59
+f 39 60 63
+f 39 63 40
+f 39 61 62
+f 39 62 60
+f 40 63 64
+f 40 64 65
+f 40 65 42
+f 41 66 67
+f 41 67 61
+f 42 65 43
+f 44 59 66
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 49 50 72
+f 49 72 73
+f 49 73 71
+f 50 74 72
+f 51 75 76
+f 51 76 52
+f 52 76 77
+f 55 78 56
+f 56 78 109
+f 56 109 79
+f 56 79 57
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 58
+f 58 83 59
+f 58 82 84
+f 58 84 83
+f 59 83 85
+f 59 85 66
+f 60 62 86
+f 60 86 87
+f 60 87 63
+f 61 67 88
+f 61 88 62
+f 62 88 89
+f 62 89 90
+f 62 90 86
+f 63 87 64
+f 64 91 65
+f 64 87 91
+f 66 85 92
+f 66 92 67
+f 67 92 93
+f 67 93 88
+f 68 94 95
+f 68 95 69
+f 69 95 131
+f 69 131 96
+f 69 96 70
+f 70 96 97
+f 71 73 98
+f 72 99 100
+f 72 100 101
+f 72 101 73
+f 72 74 99
+f 73 101 102
+f 73 102 103
+f 73 103 104
+f 73 104 98
+f 75 105 106
+f 75 106 76
+f 76 107 77
+f 76 106 108
+f 76 108 107
+f 79 109 148
+f 79 148 110
+f 79 110 111
+f 79 111 80
+f 80 111 81
+f 81 112 82
+f 81 111 113
+f 81 113 114
+f 81 114 112
+f 82 112 84
+f 83 92 85
+f 83 84 115
+f 83 115 92
+f 84 112 116
+f 84 116 115
+f 86 90 87
+f 87 90 117
+f 87 117 118
+f 87 118 119
+f 87 119 120
+f 87 120 91
+f 88 93 121
+f 88 121 122
+f 88 122 123
+f 88 123 89
+f 89 123 124
+f 89 124 117
+f 89 117 90
+f 91 120 125
+f 91 125 126
+f 92 115 127
+f 92 127 121
+f 92 121 93
+f 94 128 129
+f 94 129 95
+f 95 130 131
+f 95 129 130
+f 96 131 157
+f 96 157 132
+f 96 132 97
+f 97 132 133
+f 100 134 135
+f 100 135 101
+f 101 135 136
+f 101 136 137
+f 101 137 102
+f 102 138 103
+f 102 137 139
+f 102 139 138
+f 103 138 140
+f 103 140 141
+f 103 141 142
+f 103 142 104
+f 105 143 144
+f 105 144 106
+f 106 144 145
+f 106 145 108
+f 107 108 146
+f 108 145 147
+f 108 147 146
+f 110 149 150
+f 110 150 151
+f 110 151 111
+f 110 148 149
+f 111 151 113
+f 112 114 152
+f 112 152 116
+f 113 151 153
+f 113 153 154
+f 113 154 114
+f 114 154 152
+f 115 116 155
+f 115 155 127
+f 116 152 155
+f 117 156 157
+f 117 157 119
+f 117 119 118
+f 117 124 156
+f 119 158 120
+f 119 157 158
+f 120 158 125
+f 121 127 122
+f 122 159 124
+f 122 124 123
+f 122 127 155
+f 122 155 160
+f 122 160 159
+f 124 159 161
+f 124 161 156
+f 125 158 162
+f 125 162 163
+f 125 163 126
+f 128 163 129
+f 129 163 130
+f 130 162 158
+f 130 158 157
+f 130 157 131
+f 130 163 162
+f 132 157 156
+f 132 156 164
+f 132 164 133
+f 133 164 165
+f 134 166 135
+f 135 166 167
+f 135 167 136
+f 136 167 168
+f 136 168 169
+f 136 169 170
+f 136 170 137
+f 137 170 139
+f 138 139 171
+f 138 171 140
+f 139 170 172
+f 139 172 173
+f 139 173 174
+f 139 174 171
+f 140 171 175
+f 140 175 141
+f 143 176 144
+f 144 176 177
+f 144 177 178
+f 144 178 145
+f 145 178 179
+f 145 179 147
+f 146 147 180
+f 147 179 153
+f 147 153 181
+f 147 181 180
+f 150 182 151
+f 151 182 181
+f 151 181 153
+f 152 183 155
+f 152 154 184
+f 152 184 211
+f 152 211 183
+f 153 179 185
+f 153 185 154
+f 154 185 186
+f 154 186 184
+f 155 183 191
+f 155 191 160
+f 156 161 187
+f 156 187 164
+f 159 188 161
+f 159 160 189
+f 159 189 190
+f 159 190 188
+f 160 191 192
+f 160 192 189
+f 161 188 193
+f 161 193 187
+f 164 187 194
+f 164 194 165
+f 168 195 169
+f 169 195 196
+f 169 196 170
+f 170 196 197
+f 170 197 198
+f 170 198 172
+f 171 199 200
+f 171 200 201
+f 171 201 175
+f 171 174 202
+f 171 202 199
+f 172 198 203
+f 172 203 173
+f 173 203 204
+f 173 204 205
+f 173 205 174
+f 174 205 202
+f 176 206 177
+f 177 207 208
+f 177 208 178
+f 177 206 209
+f 177 209 210
+f 177 210 207
+f 178 208 185
+f 178 185 179
+f 180 181 182
+f 183 211 204
+f 183 204 191
+f 184 186 212
+f 184 212 211
+f 185 208 186
+f 186 208 213
+f 186 213 212
+f 187 193 214
+f 187 214 194
+f 188 215 193
+f 188 190 215
+f 189 192 216
+f 189 216 190
+f 190 216 217
+f 190 217 215
+f 191 204 203
+f 191 203 192
+f 192 203 198
+f 192 198 216
+f 193 215 218
+f 193 218 214
+f 194 214 219
+f 195 220 196
+f 196 220 221
+f 196 221 222
+f 196 222 223
+f 196 223 217
+f 196 217 197
+f 197 217 216
+f 197 216 198
+f 199 202 213
+f 199 213 207
+f 199 207 200
+f 200 207 224
+f 202 205 212
+f 202 212 213
+f 204 211 205
+f 205 211 212
+f 207 213 208
+f 207 210 224
+f 214 218 225
+f 214 225 226
+f 214 226 227
+f 214 227 219
+f 215 217 223
+f 215 223 218
+f 218 223 225
+f 222 225 223
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_2.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v 0.02672943 -0.00001901 -0.03160717
+v 0.02789215 -0.00001898 -0.03975861
+v 0.01607354 -0.00001901 -0.03160717
+v 0.02671659 -0.00086785 -0.03160717
+v 0.02789215 -0.00086782 -0.03975861
+v 0.02799605 -0.00001898 -0.04144507
+v 0.02799838 -0.00086782 -0.04144507
+v 0.01607354 -0.00001899 -0.03698502
+v 0.01607354 -0.02131168 -0.03160725
+v 0.02669325 -0.00205488 -0.03160718
+v 0.02779176 -0.00256326 -0.03975862
+v 0.02790032 -0.00256326 -0.04144508
+v 0.02780693 -0.00001897 -0.04229031
+v 0.02761898 -0.00086781 -0.04313287
+v 0.02761781 -0.00001897 -0.04313287
+v 0.02168166 -0.00001897 -0.04446457
+v 0.01607354 -0.01459259 -0.04440683
+v 0.01607354 -0.02274280 -0.03971434
+v 0.01710201 -0.02214929 -0.04023708
+v 0.01620663 -0.02121313 -0.03160725
+v 0.02666639 -0.00246250 -0.03160718
+v 0.02758279 -0.00425870 -0.03975863
+v 0.02769486 -0.00425870 -0.04144509
+v 0.02745088 -0.00269091 -0.04329145
+v 0.02739018 -0.00425869 -0.04292594
+v 0.02719639 -0.00220938 -0.04404531
+v 0.02723024 -0.00086781 -0.04409502
+v 0.02723024 -0.00001897 -0.04409637
+v 0.02742403 -0.00001897 -0.04361529
+v 0.02229571 -0.00001897 -0.04480320
+v 0.01607354 -0.01612452 -0.04507202
+v 0.01607354 -0.02289958 -0.04144515
+v 0.01711135 -0.02215825 -0.04144515
+v 0.01796004 -0.02145722 -0.04144515
+v 0.01894881 -0.02060839 -0.04144515
+v 0.01886476 -0.02053448 -0.03975869
+v 0.01798572 -0.01965431 -0.03160724
+v 0.02638856 -0.00425873 -0.03160719
+v 0.02612823 -0.00566749 -0.03160719
+v 0.02728978 -0.00588695 -0.03983926
+v 0.02718238 -0.00691496 -0.04045606
+v 0.02726643 -0.00563385 -0.04259268
+v 0.02718238 -0.00691496 -0.04104733
+v 0.02733531 -0.00610196 -0.04154453
+v 0.02714386 -0.00676490 -0.04217208
+v 0.02714502 -0.00333818 -0.04395931
+v 0.02706681 -0.00425869 -0.04376850
+v 0.02621929 -0.00425869 -0.04462450
+v 0.02646911 -0.00269091 -0.04455192
+v 0.02630451 -0.00086781 -0.04476826
+v 0.02630451 -0.00001897 -0.04476692
+v 0.02291325 -0.00001896 -0.04514318
+v 0.01613191 -0.01612228 -0.04509621
+v 0.01607354 -0.01781772 -0.04532466
+v 0.01607354 -0.02249195 -0.04302948
+v 0.01703313 -0.02209552 -0.04238445
+v 0.01882857 -0.02049863 -0.04257662
+v 0.01979634 -0.01978866 -0.04144514
+v 0.01971228 -0.01970803 -0.03975868
+v 0.01883791 -0.01882563 -0.03160724
+v 0.02606986 -0.00595417 -0.03160719
+v 0.02576051 -0.00720167 -0.03160720
+v 0.02570797 -0.00740548 -0.03160720
+v 0.02566128 -0.00756226 -0.03160720
+v 0.02628349 -0.00934502 -0.03975864
+v 0.02640023 -0.00934502 -0.04144510
+v 0.02694540 -0.00610195 -0.04314632
+v 0.02696758 -0.00754655 -0.04154454
+v 0.02564494 -0.01063731 -0.04276336
+v 0.02590643 -0.00945699 -0.04324846
+v 0.02654849 -0.00764957 -0.04313290
+v 0.02583639 -0.00764957 -0.04442159
+v 0.02605235 -0.00595413 -0.04456940
+v 0.02562742 -0.00896650 -0.04420121
+v 0.02460946 -0.00595412 -0.04524398
+v 0.02460946 -0.00425868 -0.04529908
+v 0.02460946 -0.00256324 -0.04532191
+v 0.02460946 -0.00086780 -0.04532862
+v 0.02460946 -0.00001896 -0.04532593
+v 0.02375961 -0.00001896 -0.04523590
+v 0.01613191 -0.01781772 -0.04533138
+v 0.01607354 -0.01951092 -0.04523597
+v 0.01607354 -0.02243820 -0.04313160
+v 0.01668876 -0.02182900 -0.04350921
+v 0.01612725 -0.02245835 -0.04302141
+v 0.01777326 -0.02116382 -0.04304291
+v 0.01851338 -0.02021195 -0.04370136
+v 0.01952784 -0.01951317 -0.04314100
+v 0.02050844 -0.01881663 -0.04257930
+v 0.02062401 -0.01893982 -0.04144514
+v 0.02055163 -0.01885919 -0.03975868
+v 0.01967493 -0.01797903 -0.03160724
+v 0.02502739 -0.00937864 -0.03160720
+v 0.02571965 -0.01080305 -0.03975865
+v 0.02577685 -0.01094639 -0.04144511
+v 0.02541846 -0.01009530 -0.04388812
+v 0.02541496 -0.01179075 -0.04144511
+v 0.02397674 -0.01394084 -0.04281175
+v 0.02436315 -0.01288147 -0.04327805
+v 0.02522818 -0.01113675 -0.04324847
+v 0.02460946 -0.00764956 -0.04509618
+v 0.02436198 -0.01103821 -0.04453314
+v 0.02403628 -0.01241785 -0.04428320
+v 0.02291325 -0.01103820 -0.04521175
+v 0.02291325 -0.00934500 -0.04531924
+v 0.02291325 -0.00764956 -0.04533537
+v 0.01952317 -0.01442684 -0.04533270
+v 0.01782812 -0.01781772 -0.04525344
+v 0.01613191 -0.01951092 -0.04523328
+v 0.01607354 -0.02123997 -0.04459096
+v 0.01607354 -0.02133627 -0.04453721
+v 0.01738335 -0.02069796 -0.04430205
+v 0.01909591 -0.01908091 -0.04432622
+v 0.02022710 -0.01850755 -0.04370405
+v 0.02117502 -0.01776622 -0.04304425
+v 0.02210892 -0.01702488 -0.04238578
+v 0.02147153 -0.01795212 -0.04144514
+v 0.02216379 -0.01709432 -0.04021959
+v 0.02123455 -0.01620744 -0.03160723
+v 0.02429077 -0.01111216 -0.03160721
+v 0.02535192 -0.01164965 -0.03975865
+v 0.02374326 -0.01354665 -0.04393650
+v 0.02480325 -0.01273142 -0.03975866
+v 0.02493166 -0.01273142 -0.04144512
+v 0.02345025 -0.01447388 -0.04327805
+v 0.02412500 -0.01418721 -0.04144512
+v 0.02361135 -0.01503381 -0.04144513
+v 0.02261907 -0.01442685 -0.04446999
+v 0.02307202 -0.01288147 -0.04469306
+v 0.02225602 -0.01554445 -0.04419990
+v 0.02121938 -0.01442684 -0.04514323
+v 0.02121938 -0.01273140 -0.04532330
+v 0.01960605 -0.01789164 -0.04465276
+v 0.01790050 -0.01959380 -0.04465142
+v 0.01952317 -0.01612228 -0.04523327
+v 0.01612725 -0.02123997 -0.04457215
+v 0.02071157 -0.01737875 -0.04430337
+v 0.02184159 -0.01667549 -0.04351053
+v 0.02217080 -0.01710552 -0.04144513
+v 0.02246848 -0.01611333 -0.04302139
+v 0.02286889 -0.01612230 -0.04144513
+v 0.02354598 -0.01492631 -0.03975866
+v 0.02244747 -0.01452544 -0.03160722
+v 0.02136180 -0.01603498 -0.03160723
+v 0.02342573 -0.01279864 -0.03160722
+v 0.02270663 -0.01410662 -0.03160722
+v 0.02406079 -0.01407971 -0.03975866
+v 0.02125323 -0.01611333 -0.04457481
+v 0.02254786 -0.01437090 -0.03160722
+f 1 2 6
+f 1 6 13
+f 1 13 15
+f 1 15 29
+f 1 29 28
+f 1 28 51
+f 1 51 79
+f 1 79 80
+f 1 80 52
+f 1 52 30
+f 1 30 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 37
+f 1 37 60
+f 1 60 92
+f 1 92 119
+f 1 119 144
+f 1 144 143
+f 1 143 149
+f 1 149 146
+f 1 146 145
+f 1 145 120
+f 1 120 93
+f 1 93 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 39
+f 1 39 38
+f 1 38 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 17
+f 3 17 31
+f 3 31 54
+f 3 54 82
+f 3 82 110
+f 3 110 111
+f 3 111 83
+f 3 83 55
+f 3 55 32
+f 3 32 18
+f 3 18 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 7 13
+f 7 12 14
+f 7 14 15
+f 7 15 13
+f 8 16 17
+f 9 18 19
+f 9 19 20
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 14
+f 12 23 25
+f 12 25 24
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 30 31
+f 16 31 17
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 21 38 22
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 22 38 39
+f 23 42 25
+f 23 41 43
+f 23 43 44
+f 23 44 45
+f 23 45 42
+f 24 46 26
+f 24 25 46
+f 25 47 46
+f 25 42 47
+f 26 46 48
+f 26 48 49
+f 26 49 27
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 30 52 31
+f 31 53 54
+f 31 52 53
+f 32 55 56
+f 32 56 33
+f 33 56 34
+f 34 56 35
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 39 61 41
+f 39 41 40
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 43
+f 41 61 62
+f 42 45 67
+f 42 67 47
+f 43 45 44
+f 43 66 68
+f 43 68 45
+f 45 68 66
+f 45 66 69
+f 45 69 70
+f 45 70 71
+f 45 71 67
+f 46 47 72
+f 46 72 73
+f 46 73 48
+f 47 67 74
+f 47 74 72
+f 48 73 75
+f 48 75 50
+f 48 50 49
+f 50 75 76
+f 50 76 77
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 52 80 81
+f 52 81 54
+f 52 54 53
+f 54 81 82
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 84 86
+f 56 86 57
+f 56 85 84
+f 57 86 87
+f 57 87 88
+f 57 88 89
+f 57 89 58
+f 58 89 90
+f 58 90 91
+f 58 91 59
+f 59 91 60
+f 60 91 92
+f 64 93 65
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 69
+f 67 71 74
+f 69 96 70
+f 69 95 97
+f 69 97 98
+f 69 98 99
+f 69 99 100
+f 69 100 96
+f 70 96 71
+f 71 96 74
+f 72 101 73
+f 72 74 102
+f 72 102 101
+f 73 101 75
+f 74 96 103
+f 74 103 102
+f 75 101 104
+f 75 104 105
+f 75 105 76
+f 76 105 77
+f 77 105 106
+f 77 106 78
+f 78 106 81
+f 78 81 79
+f 79 81 80
+f 81 106 107
+f 81 107 108
+f 81 108 82
+f 82 108 109
+f 82 109 110
+f 83 111 84
+f 84 111 112
+f 84 112 87
+f 84 87 86
+f 87 112 113
+f 87 113 114
+f 87 114 88
+f 88 114 89
+f 89 114 115
+f 89 115 116
+f 89 116 90
+f 90 116 117
+f 90 117 118
+f 90 118 91
+f 91 118 119
+f 91 119 92
+f 93 120 94
+f 94 120 121
+f 94 121 97
+f 94 97 95
+f 96 100 122
+f 96 122 103
+f 97 121 123
+f 97 123 124
+f 97 124 98
+f 98 125 122
+f 98 122 99
+f 98 124 126
+f 98 126 127
+f 98 127 116
+f 98 116 125
+f 99 122 100
+f 101 102 104
+f 102 103 128
+f 102 128 129
+f 102 129 104
+f 103 122 130
+f 103 130 128
+f 104 129 131
+f 104 131 132
+f 104 132 105
+f 105 132 106
+f 106 132 107
+f 107 132 108
+f 108 133 134
+f 108 134 109
+f 108 132 135
+f 108 135 133
+f 109 134 110
+f 110 134 136
+f 110 136 111
+f 111 136 112
+f 112 136 134
+f 112 134 113
+f 113 134 133
+f 113 133 137
+f 113 137 114
+f 114 137 138
+f 114 138 115
+f 115 138 116
+f 116 139 117
+f 116 138 140
+f 116 140 125
+f 116 127 141
+f 116 141 139
+f 117 139 118
+f 118 139 141
+f 118 141 127
+f 118 127 142
+f 118 142 143
+f 118 143 144
+f 118 144 119
+f 120 145 123
+f 120 123 121
+f 122 125 138
+f 122 138 130
+f 123 145 146
+f 123 146 147
+f 123 147 124
+f 124 147 126
+f 125 140 138
+f 126 147 127
+f 127 147 142
+f 128 130 148
+f 128 148 131
+f 128 131 129
+f 130 138 137
+f 130 137 148
+f 131 148 133
+f 131 133 135
+f 131 135 132
+f 133 148 137
+f 142 147 149
+f 142 149 143
+f 146 149 147
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_20.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00082418 0.02704306 -0.03659830
+v -0.00236266 0.02694770 -0.03659830
+v -0.00079761 0.02669074 -0.03135347
+v -0.00070461 0.02669339 -0.03135347
+v 0.00007393 0.02669603 -0.03135347
+v 0.00007393 0.02704041 -0.03659830
+v -0.00250083 0.02693445 -0.03659830
+v -0.00252209 0.02652915 -0.03135347
+v 0.00007393 -0.00001873 -0.03135357
+v 0.00007393 0.01489492 -0.03659835
+v -0.00395162 0.02675167 -0.03659830
+v -0.00421733 0.02631193 -0.03135347
+v 0.00007393 -0.00001872 -0.03417929
+v -0.02669661 -0.00001873 -0.03135357
+v -0.01440209 -0.00001872 -0.03659840
+v -0.00423593 0.02671194 -0.03659830
+v -0.00611186 0.02594903 -0.03135347
+v -0.02669661 0.00068589 -0.03135357
+v -0.02707126 -0.00001872 -0.03659840
+v -0.00570798 0.02642320 -0.03659830
+v -0.00591258 0.02638082 -0.03659830
+v -0.00760782 0.02593844 -0.03659830
+v -0.00728365 0.02562056 -0.03135348
+v -0.02696498 0.00237329 -0.03659839
+v -0.02706860 0.00082895 -0.03659840
+v -0.02651858 0.00252427 -0.03135356
+v -0.00863879 0.02561792 -0.03659831
+v -0.00760782 0.02551990 -0.03135348
+v -0.02694904 0.00253223 -0.03659839
+v -0.02630070 0.00418782 -0.03135355
+v -0.00886199 0.02554374 -0.03659831
+v -0.00931635 0.02495037 -0.03135348
+v -0.02676038 0.00396267 -0.03659839
+v -0.02629538 0.00421960 -0.03135355
+v -0.02672052 0.00423816 -0.03659838
+v -0.00901344 0.02548812 -0.03659831
+v -0.00969898 0.02523382 -0.03659831
+v -0.01080434 0.02476230 -0.03659831
+v -0.01100894 0.02422190 -0.03135553
+v -0.01101426 0.02421926 -0.03135348
+v -0.02593401 0.00609507 -0.03135355
+v -0.02643090 0.00570833 -0.03659838
+v -0.01098769 0.02468283 -0.03659831
+v -0.01217276 0.02411331 -0.03659831
+v -0.01192831 0.02377423 -0.03135348
+v -0.02560453 0.00726326 -0.03135354
+v -0.02593667 0.00760764 -0.03659837
+v -0.02638838 0.00591230 -0.03659838
+v -0.01241456 0.02399410 -0.03659831
+v -0.01324890 0.02354643 -0.03659831
+v -0.01276796 0.02332126 -0.03135348
+v -0.02549824 0.00760763 -0.03135354
+v -0.02561516 0.00861954 -0.03659837
+v -0.01419483 0.02297160 -0.03659832
+v -0.01432238 0.02245770 -0.03135349
+v -0.01425329 0.02249743 -0.03135349
+v -0.02494822 0.00930031 -0.03135354
+v -0.02554076 0.00883940 -0.03659837
+v -0.01437552 0.02286035 -0.03659832
+v -0.01527097 0.02228817 -0.03659832
+v -0.01545431 0.02216897 -0.03659832
+v -0.01437021 0.02242591 -0.03135349
+v -0.02475691 0.01080758 -0.03659836
+v -0.02522987 0.00967647 -0.03659836
+v -0.02422017 0.01101419 -0.03135353
+v -0.01508232 0.02191996 -0.03135349
+v -0.01630194 0.02153852 -0.03659832
+v -0.01610531 0.02118090 -0.03135349
+v -0.01607608 0.02120209 -0.03135349
+v -0.02467985 0.01098771 -0.03659836
+v -0.02377908 0.01192543 -0.03135353
+v -0.02411388 0.01217179 -0.03659836
+v -0.01723990 0.02079946 -0.03659832
+v -0.01737276 0.02069350 -0.03659832
+v -0.01704593 0.02042594 -0.03135349
+v -0.02391460 0.01256384 -0.03659835
+v -0.02399697 0.01240755 -0.03659835
+v -0.02331409 0.01275985 -0.03135352
+v -0.02354526 0.01324462 -0.03659835
+v -0.01747904 0.02060079 -0.03659832
+v -0.01789355 0.01969218 -0.03135350
+v -0.02248772 0.01423532 -0.03135352
+v -0.02244521 0.01430950 -0.03135352
+v -0.02296069 0.01419825 -0.03659835
+v -0.01822038 0.01994649 -0.03659833
+v -0.01801578 0.01957828 -0.03135350
+v -0.02241332 0.01435982 -0.03135352
+v -0.02285175 0.01437308 -0.03659835
+v -0.01898829 0.01920478 -0.03659833
+v -0.01909723 0.01909882 -0.03659833
+v -0.01880760 0.01880478 -0.03135350
+v -0.02117776 0.01609754 -0.03135351
+v -0.02216355 0.01543796 -0.03659834
+v -0.02228046 0.01525783 -0.03659834
+v -0.01920617 0.01898757 -0.03659833
+v -0.01957551 0.01800479 -0.03135350
+v -0.02042048 0.01703527 -0.03135351
+v -0.02078716 0.01722336 -0.03659834
+v -0.02152584 0.01628563 -0.03659834
+v -0.02208384 0.01554657 -0.03659834
+v -0.01968711 0.01788824 -0.03135350
+v -0.01994485 0.01820348 -0.03659833
+v -0.02058788 0.01746442 -0.03659834
+v -0.02067822 0.01735581 -0.03659834
+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 19
+f 1 19 25
+f 1 25 24
+f 1 24 29
+f 1 29 33
+f 1 33 35
+f 1 35 42
+f 1 42 48
+f 1 48 47
+f 1 47 53
+f 1 53 58
+f 1 58 64
+f 1 64 63
+f 1 63 70
+f 1 70 72
+f 1 72 77
+f 1 77 76
+f 1 76 79
+f 1 79 84
+f 1 84 88
+f 1 88 94
+f 1 94 93
+f 1 93 100
+f 1 100 99
+f 1 99 98
+f 1 98 104
+f 1 104 103
+f 1 103 102
+f 1 102 95
+f 1 95 90
+f 1 90 89
+f 1 89 85
+f 1 85 80
+f 1 80 74
+f 1 74 73
+f 1 73 67
+f 1 67 61
+f 1 61 60
+f 1 60 59
+f 1 59 54
+f 1 54 50
+f 1 50 49
+f 1 49 44
+f 1 44 43
+f 1 43 38
+f 1 38 37
+f 1 37 36
+f 1 36 31
+f 1 31 27
+f 1 27 22
+f 1 22 21
+f 1 21 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 12
+f 3 12 17
+f 3 17 23
+f 3 23 28
+f 3 28 32
+f 3 32 40
+f 3 40 45
+f 3 45 51
+f 3 51 56
+f 3 56 55
+f 3 55 62
+f 3 62 66
+f 3 66 69
+f 3 69 68
+f 3 68 75
+f 3 75 81
+f 3 81 86
+f 3 86 91
+f 3 91 96
+f 3 96 101
+f 3 101 97
+f 3 97 92
+f 3 92 87
+f 3 87 83
+f 3 83 82
+f 3 82 78
+f 3 78 71
+f 3 71 65
+f 3 65 57
+f 3 57 52
+f 3 52 46
+f 3 46 41
+f 3 41 34
+f 3 34 30
+f 3 30 26
+f 3 26 18
+f 3 18 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 13
+f 5 13 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 14 19
+f 9 19 15
+f 9 15 13
+f 10 13 15
+f 11 16 12
+f 12 16 17
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 25
+f 18 25 19
+f 18 26 24
+f 22 27 28
+f 22 28 23
+f 24 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 33
+f 30 34 35
+f 30 35 33
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 34 41 35
+f 35 41 42
+f 38 43 39
+f 39 43 40
+f 40 43 44
+f 40 44 45
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 46 52 47
+f 47 52 53
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 52 57 53
+f 53 57 58
+f 54 59 55
+f 55 59 60
+f 55 60 61
+f 55 61 62
+f 57 63 64
+f 57 64 58
+f 57 65 63
+f 61 66 62
+f 61 67 68
+f 61 68 69
+f 61 69 66
+f 63 65 70
+f 65 71 72
+f 65 72 70
+f 67 73 68
+f 68 73 74
+f 68 74 75
+f 71 76 77
+f 71 77 72
+f 71 78 79
+f 71 79 76
+f 74 80 81
+f 74 81 75
+f 78 82 79
+f 79 82 83
+f 79 83 84
+f 80 85 81
+f 81 85 86
+f 83 87 88
+f 83 88 84
+f 85 89 86
+f 86 89 90
+f 86 90 91
+f 87 92 93
+f 87 93 94
+f 87 94 88
+f 90 95 91
+f 91 95 96
+f 92 97 98
+f 92 98 99
+f 92 99 100
+f 92 100 93
+f 95 101 96
+f 95 102 101
+f 97 103 104
+f 97 104 98
+f 97 101 103
+f 101 102 103
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_21.obj

@@ -0,0 +1,703 @@
+# https://github.com/mikedh/trimesh
+v 0.00007393 -0.04206981 -0.01095527
+v 0.00007393 -0.04204232 -0.01107801
+v 0.00087260 -0.04204429 -0.01107801
+v 0.00087260 -0.04206981 -0.01095527
+v 0.00007393 -0.03368145 -0.01095524
+v 0.00007393 -0.04183811 -0.01187059
+v 0.00256859 -0.04197753 -0.01107801
+v 0.00256859 -0.04200502 -0.01095527
+v 0.00087260 -0.04160836 -0.01276511
+v 0.01607238 -0.02961097 -0.01095523
+v 0.00007393 -0.02201192 -0.02289178
+v 0.00007393 -0.04160640 -0.01276511
+v 0.00426303 -0.04184989 -0.01107801
+v 0.00256859 -0.04154160 -0.01276511
+v 0.00426303 -0.04187738 -0.01095527
+v 0.00007393 -0.04108016 -0.01445220
+v 0.00087260 -0.04108016 -0.01445220
+v 0.01607238 -0.02201193 -0.01977554
+v 0.01607238 -0.03900272 -0.01095526
+v 0.00007393 -0.02201188 -0.03220722
+v 0.00595903 -0.04165943 -0.01107801
+v 0.00426303 -0.04141201 -0.01276511
+v 0.00266725 -0.04095450 -0.01461030
+v 0.00426303 -0.04093682 -0.01430242
+v 0.00595903 -0.04168692 -0.01095527
+v 0.00007393 -0.04092308 -0.01490570
+v 0.00007393 -0.04074635 -0.01541329
+v 0.00087260 -0.04074439 -0.01541329
+v 0.00216926 -0.04072278 -0.01535504
+v 0.01607238 -0.02201189 -0.03071775
+v 0.01568400 -0.03916373 -0.01095526
+v 0.01564329 -0.03915391 -0.01107800
+v 0.01607238 -0.03897523 -0.01107800
+v 0.01484932 -0.02201188 -0.03220722
+v 0.00007393 -0.02655951 -0.03220724
+v 0.00765503 -0.04140220 -0.01107801
+v 0.00595903 -0.04121761 -0.01276511
+v 0.00595903 -0.04083668 -0.01401327
+v 0.00329993 -0.04069333 -0.01527807
+v 0.00426303 -0.04064817 -0.01514701
+v 0.00765503 -0.04142773 -0.01095527
+v 0.00007393 -0.04041058 -0.01625788
+v 0.00087260 -0.04041058 -0.01625580
+v 0.00266725 -0.04044003 -0.01600616
+v 0.01607238 -0.02756094 -0.02736022
+v 0.01443589 -0.03963302 -0.01095527
+v 0.01443589 -0.03960553 -0.01107801
+v 0.01535201 -0.03903217 -0.01201620
+v 0.01607238 -0.03859821 -0.01243017
+v 0.01471307 -0.02218271 -0.03220722
+v 0.01607238 -0.02840724 -0.02682143
+v 0.00081935 -0.02655951 -0.03220724
+v 0.00007393 -0.03408982 -0.02557122
+v 0.00947631 -0.04106643 -0.01095527
+v 0.00777561 -0.04140416 -0.01095527
+v 0.00766912 -0.04093290 -0.01284000
+v 0.00903156 -0.04081901 -0.01232825
+v 0.00949823 -0.04099967 -0.01122779
+v 0.00711318 -0.04075421 -0.01376780
+v 0.00595903 -0.04054804 -0.01485786
+v 0.00426303 -0.04025938 -0.01613930
+v 0.00595903 -0.04005714 -0.01613930
+v 0.00007393 -0.03972332 -0.01782640
+v 0.00087260 -0.03972528 -0.01782640
+v 0.00256859 -0.03965656 -0.01782640
+v 0.01286204 -0.04015926 -0.01095527
+v 0.01273989 -0.04017104 -0.01107801
+v 0.01273989 -0.03971156 -0.01276511
+v 0.01437012 -0.03919710 -0.01265276
+v 0.01489317 -0.03886133 -0.01314162
+v 0.01600191 -0.03856483 -0.01265276
+v 0.01607238 -0.03853342 -0.01265692
+v 0.01426049 -0.02247136 -0.03220722
+v 0.01607238 -0.02938117 -0.02612663
+v 0.01607238 -0.02971302 -0.02588948
+v 0.00256859 -0.02642402 -0.03220724
+v 0.00256859 -0.03405448 -0.02553793
+v 0.00087260 -0.03408982 -0.02557122
+v 0.00007393 -0.03453948 -0.02513020
+v 0.01019354 -0.04089952 -0.01095527
+v 0.00824228 -0.04065407 -0.01345368
+v 0.00949823 -0.04056571 -0.01284000
+v 0.01016222 -0.04069139 -0.01188931
+v 0.01059601 -0.04080528 -0.01095527
+v 0.00766912 -0.04044397 -0.01437939
+v 0.00765503 -0.03978420 -0.01613930
+v 0.00426303 -0.03952303 -0.01782640
+v 0.00583844 -0.03929722 -0.01790960
+v 0.00765503 -0.03922262 -0.01744362
+v 0.00007393 -0.03916566 -0.01896638
+v 0.00087260 -0.03916566 -0.01896846
+v 0.00256859 -0.03913032 -0.01890397
+v 0.00426303 -0.03906356 -0.01877915
+v 0.01274146 -0.04019853 -0.01095527
+v 0.01132891 -0.04061088 -0.01095527
+v 0.01116761 -0.04058928 -0.01122779
+v 0.01104389 -0.04020638 -0.01276511
+v 0.01104389 -0.03965658 -0.01445220
+v 0.01264436 -0.03920888 -0.01438770
+v 0.01376250 -0.03906751 -0.01378235
+v 0.01437012 -0.03862178 -0.01438770
+v 0.01607238 -0.03788544 -0.01456245
+v 0.01607238 -0.03836651 -0.01315619
+v 0.01350880 -0.02292494 -0.03220722
+v 0.01607238 -0.02974247 -0.02586660
+v 0.01543344 -0.03060841 -0.02547759
+v 0.00337509 -0.02632977 -0.03220724
+v 0.00426303 -0.03397790 -0.02546928
+v 0.00256859 -0.03490077 -0.02470374
+v 0.00087260 -0.03493808 -0.02473911
+v 0.00007393 -0.03493808 -0.02473703
+v 0.00934789 -0.04007874 -0.01445220
+v 0.01088572 -0.04073066 -0.01095527
+v 0.00890001 -0.03909695 -0.01717734
+v 0.00941836 -0.03936988 -0.01625163
+v 0.00519324 -0.03901643 -0.01869178
+v 0.00632391 -0.03893397 -0.01852536
+v 0.00765503 -0.03881811 -0.01828613
+v 0.00007393 -0.03894378 -0.01936371
+v 0.00087260 -0.03869441 -0.01981096
+v 0.00256859 -0.03866103 -0.01974648
+v 0.00426303 -0.03859230 -0.01962374
+v 0.01104389 -0.03917942 -0.01571908
+v 0.01201482 -0.03904393 -0.01539039
+v 0.01314549 -0.03886133 -0.01490777
+v 0.01455960 -0.03780099 -0.01626827
+v 0.01579206 -0.03752217 -0.01579189
+v 0.01607238 -0.03768711 -0.01508044
+v 0.01272266 -0.02335693 -0.03220723
+v 0.01607238 -0.03131333 -0.02456644
+v 0.01443589 -0.03083815 -0.02566065
+v 0.01110183 -0.02418359 -0.03220723
+v 0.01555246 -0.03235599 -0.02386123
+v 0.01443589 -0.03168641 -0.02494297
+v 0.00426303 -0.02622177 -0.03220724
+v 0.00514626 -0.03392488 -0.02542143
+v 0.00443059 -0.03498324 -0.02444579
+v 0.00397645 -0.03567638 -0.02379675
+v 0.00256859 -0.03573333 -0.02385916
+v 0.00087260 -0.03576474 -0.02389452
+v 0.00007393 -0.03537596 -0.02428977
+v 0.00941836 -0.03868655 -0.01777438
+v 0.01003068 -0.03896539 -0.01689027
+v 0.00583844 -0.03854714 -0.01935747
+v 0.00765503 -0.03815246 -0.01951349
+v 0.00934946 -0.03773226 -0.01961126
+v 0.00007393 -0.03869441 -0.01980888
+v 0.00007393 -0.03829580 -0.02045377
+v 0.00087260 -0.03784614 -0.02117770
+v 0.00256859 -0.03781275 -0.02112569
+v 0.00426303 -0.03774600 -0.02102376
+v 0.00595903 -0.03763800 -0.02085526
+v 0.01104389 -0.03882794 -0.01656367
+v 0.01264436 -0.03857071 -0.01602696
+v 0.01407727 -0.03749075 -0.01735001
+v 0.01520794 -0.03728065 -0.01691731
+v 0.01607238 -0.03728261 -0.01607272
+v 0.01607238 -0.03134475 -0.02453731
+v 0.01273989 -0.03204771 -0.02526333
+v 0.00936982 -0.02489440 -0.03220723
+v 0.01188171 -0.03222050 -0.02541311
+v 0.01607238 -0.03299023 -0.02287310
+v 0.01604262 -0.03303343 -0.02283982
+v 0.01540212 -0.03397398 -0.02210756
+v 0.01443589 -0.03345166 -0.02319970
+v 0.01307815 -0.03372656 -0.02352006
+v 0.01443589 -0.03260340 -0.02409838
+v 0.00521986 -0.02601756 -0.03220724
+v 0.00765503 -0.03283705 -0.02592693
+v 0.00627693 -0.03382670 -0.02532990
+v 0.00510711 -0.03561355 -0.02372810
+v 0.00443059 -0.03623012 -0.02305409
+v 0.00256859 -0.03652858 -0.02288559
+v 0.00087260 -0.03659731 -0.02288559
+v 0.00007393 -0.03576474 -0.02389244
+v 0.01104389 -0.03756339 -0.01912032
+v 0.01104389 -0.03823493 -0.01782639
+v 0.00765503 -0.03749269 -0.02063267
+v 0.00878412 -0.03737685 -0.02046001
+v 0.00991479 -0.03723940 -0.02023950
+v 0.00007393 -0.03784614 -0.02117770
+v 0.00007393 -0.03758695 -0.02157503
+v 0.00007393 -0.03729437 -0.02202021
+v 0.00087260 -0.03729241 -0.02201813
+v 0.00256859 -0.03725707 -0.02196820
+v 0.00426303 -0.03718442 -0.02186419
+v 0.00595903 -0.03706267 -0.02169569
+v 0.01273049 -0.03769299 -0.01787840
+v 0.01328956 -0.03720799 -0.01847335
+v 0.01455960 -0.03703716 -0.01787840
+v 0.01607238 -0.03714516 -0.01638892
+v 0.01607238 -0.03635776 -0.01797616
+v 0.01260365 -0.03312571 -0.02429392
+v 0.00840045 -0.02518894 -0.03220723
+v 0.01075104 -0.03240901 -0.02557329
+v 0.00934789 -0.03262303 -0.02575219
+v 0.01194748 -0.03393862 -0.02375097
+v 0.01120676 -0.03301379 -0.02487640
+v 0.01607238 -0.03307467 -0.02277533
+v 0.01607238 -0.03430779 -0.02125050
+v 0.01446564 -0.03508732 -0.02114649
+v 0.01443589 -0.03418015 -0.02235720
+v 0.01260365 -0.03440400 -0.02292928
+v 0.00609214 -0.02582513 -0.03220723
+v 0.00765503 -0.03368532 -0.02519676
+v 0.00765503 -0.03452770 -0.02435426
+v 0.00595903 -0.03553893 -0.02364073
+v 0.00595903 -0.03621441 -0.02279614
+v 0.00007393 -0.03659534 -0.02288559
+v 0.01104389 -0.03707643 -0.01996282
+v 0.01215890 -0.03739845 -0.01882492
+v 0.00765503 -0.03690362 -0.02147726
+v 0.00934946 -0.03678777 -0.02109241
+v 0.01052710 -0.03570977 -0.02216374
+v 0.01107364 -0.03616336 -0.02131291
+v 0.00765503 -0.03605536 -0.02260267
+v 0.01273049 -0.03684276 -0.01943860
+v 0.01446564 -0.03611624 -0.01959045
+v 0.01583748 -0.03585705 -0.01908078
+v 0.01607238 -0.03606126 -0.01851911
+v 0.00934789 -0.03346933 -0.02499497
+v 0.01165777 -0.03554483 -0.02194739
+v 0.01107364 -0.03502449 -0.02278990
+v 0.01104389 -0.03408393 -0.02390076
+v 0.01607238 -0.03435099 -0.02119017
+v 0.01504977 -0.03551932 -0.02020413
+v 0.01391910 -0.03574512 -0.02054737
+v 0.01273989 -0.03535830 -0.02169360
+v 0.00934789 -0.03432741 -0.02415247
+v 0.00765503 -0.03537400 -0.02344726
+v 0.01273989 -0.03595522 -0.02085109
+v 0.00934789 -0.03586293 -0.02236136
+v 0.00934789 -0.03517567 -0.02320595
+v 0.01607238 -0.03559197 -0.01934289
+v 0.01607238 -0.03537205 -0.01970070
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 41
+f 1 41 55
+f 1 55 54
+f 1 54 80
+f 1 80 84
+f 1 84 113
+f 1 113 95
+f 1 95 94
+f 1 94 66
+f 1 66 46
+f 1 46 31
+f 1 31 19
+f 1 19 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 35
+f 1 35 53
+f 1 53 79
+f 1 79 111
+f 1 111 141
+f 1 141 175
+f 1 175 209
+f 1 209 183
+f 1 183 182
+f 1 182 181
+f 1 181 148
+f 1 148 147
+f 1 147 119
+f 1 119 90
+f 1 90 63
+f 1 63 42
+f 1 42 27
+f 1 27 26
+f 1 26 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 14
+f 3 14 7
+f 5 10 11
+f 6 12 9
+f 7 13 15
+f 7 15 8
+f 7 14 13
+f 9 12 16
+f 9 16 17
+f 9 17 14
+f 10 18 11
+f 10 19 33
+f 10 33 49
+f 10 49 72
+f 10 72 103
+f 10 103 102
+f 10 102 128
+f 10 128 157
+f 10 157 191
+f 10 191 192
+f 10 192 220
+f 10 220 234
+f 10 234 235
+f 10 235 225
+f 10 225 200
+f 10 200 199
+f 10 199 162
+f 10 162 158
+f 10 158 130
+f 10 130 105
+f 10 105 75
+f 10 75 74
+f 10 74 51
+f 10 51 45
+f 10 45 30
+f 10 30 18
+f 11 18 30
+f 11 30 34
+f 11 34 20
+f 13 21 25
+f 13 25 15
+f 13 14 22
+f 13 22 21
+f 14 17 23
+f 14 23 24
+f 14 24 22
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 23
+f 19 31 32
+f 19 32 33
+f 20 34 50
+f 20 50 73
+f 20 73 104
+f 20 104 129
+f 20 129 132
+f 20 132 160
+f 20 160 194
+f 20 194 204
+f 20 204 168
+f 20 168 135
+f 20 135 107
+f 20 107 76
+f 20 76 52
+f 20 52 35
+f 21 36 25
+f 21 22 37
+f 21 37 36
+f 22 24 38
+f 22 38 37
+f 23 29 39
+f 23 39 24
+f 24 39 40
+f 24 40 60
+f 24 60 38
+f 25 36 41
+f 27 42 43
+f 27 43 28
+f 28 43 29
+f 29 43 44
+f 29 44 39
+f 30 45 34
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 34 45 51
+f 34 51 50
+f 35 52 78
+f 35 78 53
+f 36 54 55
+f 36 55 41
+f 36 37 56
+f 36 56 57
+f 36 57 58
+f 36 58 54
+f 37 38 59
+f 37 59 56
+f 38 60 59
+f 39 44 61
+f 39 61 40
+f 40 61 62
+f 40 62 60
+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 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 50 51 74
+f 50 74 75
+f 50 75 73
+f 52 76 77
+f 52 77 78
+f 53 78 79
+f 54 58 80
+f 56 59 81
+f 56 81 57
+f 57 82 83
+f 57 83 58
+f 57 81 82
+f 58 83 84
+f 58 84 80
+f 59 60 85
+f 59 85 81
+f 60 62 86
+f 60 86 85
+f 61 65 87
+f 61 87 62
+f 62 87 88
+f 62 88 89
+f 62 89 86
+f 63 90 64
+f 64 90 91
+f 64 91 92
+f 64 92 65
+f 65 92 93
+f 65 93 87
+f 66 94 67
+f 67 94 95
+f 67 95 96
+f 67 96 68
+f 68 96 97
+f 68 97 98
+f 68 98 99
+f 68 99 100
+f 68 100 69
+f 69 100 70
+f 70 100 101
+f 70 101 102
+f 70 102 103
+f 70 103 71
+f 71 103 72
+f 73 75 104
+f 75 105 106
+f 75 106 104
+f 76 107 108
+f 76 108 77
+f 77 108 109
+f 77 109 110
+f 77 110 78
+f 78 110 79
+f 79 110 111
+f 81 85 112
+f 81 112 82
+f 82 97 83
+f 82 112 97
+f 83 96 113
+f 83 113 84
+f 83 97 96
+f 85 86 112
+f 86 89 114
+f 86 114 115
+f 86 115 112
+f 87 93 116
+f 87 116 88
+f 88 116 117
+f 88 117 89
+f 89 117 118
+f 89 118 114
+f 90 119 91
+f 91 119 120
+f 91 120 121
+f 91 121 92
+f 92 121 93
+f 93 121 122
+f 93 122 116
+f 95 113 96
+f 97 112 98
+f 98 112 123
+f 98 123 124
+f 98 124 99
+f 99 124 125
+f 99 125 100
+f 100 125 101
+f 101 125 126
+f 101 126 127
+f 101 127 128
+f 101 128 102
+f 104 106 129
+f 105 130 106
+f 106 131 132
+f 106 132 129
+f 106 130 133
+f 106 133 134
+f 106 134 131
+f 107 135 108
+f 108 136 137
+f 108 137 138
+f 108 138 109
+f 108 135 136
+f 109 138 139
+f 109 139 110
+f 110 139 140
+f 110 140 141
+f 110 141 111
+f 112 115 123
+f 114 118 142
+f 114 142 143
+f 114 143 115
+f 115 143 123
+f 116 122 144
+f 116 144 117
+f 117 144 145
+f 117 145 118
+f 118 145 146
+f 118 146 142
+f 119 147 120
+f 120 147 148
+f 120 148 149
+f 120 149 150
+f 120 150 121
+f 121 150 151
+f 121 151 122
+f 122 151 152
+f 122 152 144
+f 123 143 153
+f 123 153 124
+f 124 153 154
+f 124 154 125
+f 125 154 126
+f 126 155 156
+f 126 156 127
+f 126 154 155
+f 127 156 157
+f 127 157 128
+f 130 158 133
+f 131 134 159
+f 131 159 132
+f 132 159 161
+f 132 161 160
+f 133 162 163
+f 133 163 164
+f 133 164 165
+f 133 165 166
+f 133 166 167
+f 133 167 134
+f 133 158 162
+f 134 167 159
+f 135 168 169
+f 135 169 170
+f 135 170 136
+f 136 170 171
+f 136 171 137
+f 137 171 138
+f 138 171 172
+f 138 172 173
+f 138 173 139
+f 139 173 174
+f 139 174 140
+f 140 174 175
+f 140 175 141
+f 142 146 176
+f 142 176 177
+f 142 177 143
+f 143 177 153
+f 144 152 178
+f 144 178 145
+f 145 178 179
+f 145 179 146
+f 146 179 180
+f 146 180 176
+f 148 181 149
+f 149 181 182
+f 149 182 183
+f 149 183 184
+f 149 184 150
+f 150 184 185
+f 150 185 151
+f 151 185 186
+f 151 186 152
+f 152 186 187
+f 152 187 178
+f 153 177 188
+f 153 188 154
+f 154 188 155
+f 155 188 189
+f 155 189 190
+f 155 190 156
+f 156 191 157
+f 156 190 192
+f 156 192 191
+f 159 167 193
+f 159 193 161
+f 160 161 195
+f 160 195 196
+f 160 196 194
+f 161 193 197
+f 161 197 198
+f 161 198 195
+f 162 199 163
+f 163 199 164
+f 164 200 201
+f 164 201 202
+f 164 202 165
+f 164 199 200
+f 165 202 166
+f 166 197 167
+f 166 202 203
+f 166 203 197
+f 167 197 193
+f 168 204 169
+f 169 204 196
+f 169 196 205
+f 169 205 170
+f 170 205 206
+f 170 206 171
+f 171 207 208
+f 171 208 186
+f 171 186 172
+f 171 206 207
+f 172 186 185
+f 172 185 173
+f 173 185 184
+f 173 184 174
+f 174 209 175
+f 174 184 183
+f 174 183 209
+f 176 180 210
+f 176 210 211
+f 176 211 177
+f 177 211 188
+f 178 187 212
+f 178 212 179
+f 179 212 213
+f 179 213 180
+f 180 213 214
+f 180 214 215
+f 180 215 210
+f 186 208 187
+f 187 208 216
+f 187 216 212
+f 188 211 189
+f 189 211 217
+f 189 217 218
+f 189 218 190
+f 190 218 219
+f 190 219 192
+f 192 219 220
+f 194 196 204
+f 195 198 221
+f 195 221 196
+f 196 221 205
+f 197 203 222
+f 197 222 223
+f 197 223 224
+f 197 224 198
+f 198 224 221
+f 200 225 226
+f 200 226 201
+f 201 227 228
+f 201 228 202
+f 201 226 227
+f 202 228 203
+f 203 228 222
+f 205 221 229
+f 205 229 206
+f 206 229 230
+f 206 230 207
+f 207 230 216
+f 207 216 208
+f 210 217 211
+f 210 215 231
+f 210 231 217
+f 212 216 232
+f 212 232 213
+f 213 232 214
+f 214 222 215
+f 214 232 233
+f 214 233 223
+f 214 223 222
+f 215 222 231
+f 216 230 232
+f 217 231 227
+f 217 227 218
+f 218 227 226
+f 218 226 219
+f 219 226 234
+f 219 234 220
+f 221 224 229
+f 222 228 231
+f 223 233 224
+f 224 233 229
+f 225 235 226
+f 226 235 234
+f 227 231 228
+f 229 233 230
+f 230 233 232
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_22.obj

@@ -0,0 +1,997 @@
+# https://github.com/mikedh/trimesh
+v 0.01030059 0.03929548 -0.01581198
+v 0.01081641 0.03917002 -0.01581198
+v 0.01030059 0.03923079 -0.01598074
+v 0.01030059 0.02920119 -0.01581201
+v 0.01030059 0.03889752 -0.01682599
+v 0.01030059 0.03921511 -0.01602070
+v 0.01104567 0.03911317 -0.01581198
+v 0.01030059 0.01926767 -0.02295305
+v 0.02425775 0.01926765 -0.01581205
+v 0.01030059 0.03875440 -0.01712946
+v 0.01104567 0.03879557 -0.01658174
+v 0.01104567 0.03820941 -0.01782520
+v 0.01243615 0.03870147 -0.01581198
+v 0.01030059 0.01926770 -0.03093486
+v 0.03448204 0.01926765 -0.01581205
+v 0.01030059 0.03841526 -0.01780299
+v 0.01265544 0.03853876 -0.01603403
+v 0.01273767 0.03766049 -0.01787849
+v 0.01216703 0.03736054 -0.01883181
+v 0.01104567 0.03752914 -0.01912787
+v 0.01030059 0.03805062 -0.01850318
+v 0.01275512 0.03859561 -0.01581198
+v 0.01030059 0.02489808 -0.03093484
+v 0.01887025 0.01926770 -0.03093486
+v 0.03575291 0.01926765 -0.01581501
+v 0.03545388 0.01982441 -0.01581205
+v 0.01456175 0.03776634 -0.01626791
+v 0.01408081 0.03745660 -0.01735298
+v 0.01329835 0.03716842 -0.01847653
+v 0.01104567 0.03703903 -0.01997164
+v 0.01273767 0.03680574 -0.01944169
+v 0.01030059 0.03714685 -0.02015076
+v 0.01030059 0.03760168 -0.01934251
+v 0.01409327 0.03812118 -0.01581198
+v 0.01030059 0.03050492 -0.02711563
+v 0.01107806 0.02463146 -0.03093484
+v 0.02200009 0.02364731 -0.02706976
+v 0.02255578 0.02251809 -0.02735547
+v 0.02368461 0.02193192 -0.02706237
+v 0.02418300 0.02080271 -0.02733475
+v 0.02531432 0.02014204 -0.02702241
+v 0.02469384 0.01953627 -0.02762194
+v 0.02564325 0.01926769 -0.02721485
+v 0.01824728 0.01989308 -0.03093486
+v 0.03545139 0.01926765 -0.01648411
+v 0.03537912 0.01956955 -0.01628279
+v 0.03446958 0.02123397 -0.01617620
+v 0.03484586 0.02087717 -0.01581204
+v 0.01451689 0.03796435 -0.01581198
+v 0.01574540 0.03749580 -0.01581198
+v 0.01521214 0.03724095 -0.01691777
+v 0.01456175 0.03699786 -0.01787849
+v 0.01584010 0.03581572 -0.01907903
+v 0.01446706 0.03607646 -0.01958973
+v 0.01109551 0.03613332 -0.02131725
+v 0.01274266 0.03591767 -0.02085836
+v 0.01392133 0.03570398 -0.02054749
+v 0.01030059 0.03685476 -0.02059189
+v 0.01030059 0.03055001 -0.02708158
+v 0.01139454 0.03030496 -0.02697648
+v 0.01241622 0.02392766 -0.03093484
+v 0.01274266 0.02918358 -0.02736136
+v 0.01388146 0.02893265 -0.02719557
+v 0.01501278 0.02865819 -0.02701349
+v 0.02134970 0.02464909 -0.02681811
+v 0.02294452 0.02459616 -0.02598026
+v 0.02410325 0.02405703 -0.02563239
+v 0.02303672 0.02299448 -0.02685217
+v 0.02086876 0.02414526 -0.02733770
+v 0.02020841 0.02527447 -0.02702979
+v 0.02464400 0.02288862 -0.02597287
+v 0.02469384 0.02128890 -0.02680628
+v 0.02573047 0.02233968 -0.02560575
+v 0.02629862 0.02112226 -0.02588701
+v 0.02731034 0.02052628 -0.02553025
+v 0.02630610 0.01953627 -0.02668046
+v 0.02601704 0.01926769 -0.02698244
+v 0.01640327 0.02146143 -0.03093485
+v 0.03487327 0.01926765 -0.01762099
+v 0.03417055 0.02071445 -0.01741965
+v 0.03382667 0.02184366 -0.01676240
+v 0.03421790 0.02192796 -0.01581204
+v 0.01581518 0.03746640 -0.01581198
+v 0.01626870 0.03707431 -0.01626791
+v 0.01782864 0.03580591 -0.01742256
+v 0.01629611 0.03621761 -0.01798952
+v 0.01697142 0.03556870 -0.01866158
+v 0.01505265 0.03547852 -0.02020258
+v 0.01169357 0.03550990 -0.02195822
+v 0.01056224 0.03568242 -0.02218471
+v 0.01274266 0.03532170 -0.02170213
+v 0.01446706 0.03504920 -0.02114702
+v 0.01030059 0.03591767 -0.02194786
+v 0.01030059 0.03141260 -0.02641544
+v 0.01073418 0.03236733 -0.02557018
+v 0.01106311 0.03134203 -0.02627333
+v 0.01186301 0.03217324 -0.02540735
+v 0.01274266 0.03115383 -0.02593879
+v 0.01274266 0.03003049 -0.02678256
+v 0.01443466 0.02283569 -0.03093485
+v 0.01444214 0.02955411 -0.02656792
+v 0.01542893 0.03056176 -0.02547545
+v 0.01604942 0.02967565 -0.02588994
+v 0.01613165 0.02834648 -0.02680626
+v 0.01613165 0.02749957 -0.02735101
+v 0.02239630 0.02569399 -0.02561018
+v 0.02118523 0.02625665 -0.02589883
+v 0.02352513 0.02518624 -0.02526971
+v 0.02523209 0.02346890 -0.02526527
+v 0.01907708 0.02570185 -0.02727700
+v 0.01959540 0.02626057 -0.02669524
+v 0.02059465 0.02727019 -0.02553912
+v 0.02686179 0.02165745 -0.02520163
+v 0.02800807 0.02117714 -0.02458582
+v 0.02852639 0.01947352 -0.02516315
+v 0.02859616 0.01926768 -0.02521792
+v 0.02794577 0.01926768 -0.02570198
+v 0.02767914 0.01947352 -0.02579228
+v 0.02641823 0.01926769 -0.02673079
+v 0.01827718 0.02683106 -0.02693652
+v 0.03470382 0.01926766 -0.01792445
+v 0.03454932 0.01956760 -0.01792001
+v 0.03386405 0.02019690 -0.01854470
+v 0.03357249 0.02123398 -0.01792000
+v 0.03264301 0.02281801 -0.01773644
+v 0.03231408 0.02381390 -0.01711618
+v 0.03344541 0.02284152 -0.01617620
+v 0.03388398 0.02245140 -0.01581204
+v 0.01655776 0.03714881 -0.01581198
+v 0.01750469 0.03671359 -0.01581199
+v 0.01782864 0.03641560 -0.01613914
+v 0.01870828 0.03559222 -0.01701548
+v 0.01629611 0.03530012 -0.01958973
+v 0.01782864 0.03535698 -0.01826634
+v 0.01917427 0.03415719 -0.01911307
+v 0.01790838 0.03450810 -0.01961046
+v 0.01541398 0.03393763 -0.02211663
+v 0.01739504 0.03408858 -0.02064667
+v 0.01604194 0.03432187 -0.02120623
+v 0.01260809 0.03436892 -0.02292782
+v 0.01195522 0.03390235 -0.02375385
+v 0.01109551 0.03499234 -0.02280348
+v 0.01443715 0.03414151 -0.02235939
+v 0.01030059 0.03506096 -0.02299740
+v 0.01030059 0.03571770 -0.02222764
+v 0.01030059 0.03243398 -0.02562643
+v 0.01119768 0.03297310 -0.02487444
+v 0.01030059 0.03270060 -0.02539106
+v 0.01260809 0.03308485 -0.02429120
+v 0.01274266 0.03200072 -0.02525784
+v 0.01443715 0.03079309 -0.02565753
+v 0.01714585 0.02720550 -0.02717041
+v 0.01443715 0.03164000 -0.02493809
+v 0.01555103 0.03231047 -0.02385599
+v 0.01605440 0.03129693 -0.02454286
+v 0.01656026 0.03026378 -0.02523120
+v 0.01782864 0.02905419 -0.02561164
+v 0.01775886 0.02784264 -0.02648503
+v 0.02172598 0.02682517 -0.02521789
+v 0.02306662 0.02638799 -0.02468054
+v 0.02373694 0.02708002 -0.02371242
+v 0.02460911 0.02582142 -0.02404550
+v 0.02546383 0.02541365 -0.02373611
+v 0.02464400 0.02459615 -0.02490407
+v 0.02586005 0.02455890 -0.02404254
+v 0.02711597 0.02366886 -0.02369911
+v 0.02642322 0.02300427 -0.02467168
+v 0.01935867 0.02788184 -0.02572860
+v 0.02125251 0.02797202 -0.02460060
+v 0.01868336 0.02880129 -0.02542068
+v 0.01981468 0.02840136 -0.02510983
+v 0.02757448 0.02253965 -0.02407659
+v 0.02870580 0.02182801 -0.02359845
+v 0.02911697 0.02069880 -0.02396853
+v 0.02968761 0.01936766 -0.02423796
+v 0.02982965 0.01926768 -0.02416838
+v 0.02772399 0.01926768 -0.02585445
+v 0.03412071 0.01926766 -0.01896807
+v 0.03356003 0.01956760 -0.01957943
+v 0.03236392 0.02052235 -0.02052534
+v 0.03269534 0.02112027 -0.01947432
+v 0.03237887 0.02222400 -0.01888664
+v 0.03392884 0.01926766 -0.01926857
+v 0.03198266 0.02335321 -0.01823973
+v 0.03255829 0.02415110 -0.01613918
+v 0.03136716 0.02452751 -0.01778676
+v 0.03075415 0.02566064 -0.01733379
+v 0.03192535 0.02499801 -0.01613918
+v 0.03351767 0.02298660 -0.01581204
+v 0.01883287 0.03604900 -0.01581199
+v 0.01907957 0.03579022 -0.01613914
+v 0.01992931 0.03532756 -0.01613914
+v 0.02081145 0.03414737 -0.01747734
+v 0.01950818 0.03471787 -0.01780893
+v 0.02030559 0.03383960 -0.01860090
+v 0.01965271 0.03356121 -0.01961047
+v 0.01852637 0.03380039 -0.02023812
+v 0.01443715 0.03340636 -0.02320317
+v 0.01654531 0.03367101 -0.02177172
+v 0.01782864 0.03249278 -0.02239640
+v 0.01604692 0.03299074 -0.02284494
+v 0.01790838 0.03340047 -0.02120624
+v 0.01308654 0.03368670 -0.02351700
+v 0.01104567 0.03404742 -0.02390335
+v 0.01443715 0.03255945 -0.02409432
+v 0.01030059 0.03452969 -0.02360580
+v 0.01030059 0.03319267 -0.02493513
+v 0.01667987 0.03203013 -0.02357325
+v 0.01782864 0.03086563 -0.02407656
+v 0.01782864 0.02989913 -0.02492034
+v 0.02261060 0.02754465 -0.02409286
+v 0.02190789 0.02867386 -0.02361767
+v 0.02306911 0.02804456 -0.02332162
+v 0.02377183 0.02880520 -0.02205298
+v 0.02444464 0.02782106 -0.02241863
+v 0.02553111 0.02717215 -0.02211369
+v 0.02460911 0.02666833 -0.02334826
+v 0.02606189 0.02600765 -0.02267176
+v 0.02721564 0.02547245 -0.02210481
+v 0.02670730 0.02455890 -0.02333199
+v 0.02761684 0.02455889 -0.02248821
+v 0.02883787 0.02370022 -0.02203524
+v 0.02820742 0.02311993 -0.02308775
+v 0.02077905 0.02908751 -0.02398478
+v 0.01882291 0.03057940 -0.02381603
+v 0.01931879 0.02950705 -0.02446292
+v 0.02927396 0.02257101 -0.02247638
+v 0.02975988 0.02125751 -0.02295600
+v 0.03024580 0.01986169 -0.02343415
+v 0.03043519 0.01926768 -0.02362067
+v 0.03362732 0.01926766 -0.01973486
+v 0.03267541 0.01926767 -0.02107306
+v 0.03259816 0.01932648 -0.02113227
+v 0.03207735 0.01926767 -0.02184578
+v 0.03191538 0.01979306 -0.02165038
+v 0.03139208 0.02116929 -0.02120480
+v 0.03086628 0.02245926 -0.02076071
+v 0.03199761 0.02165155 -0.02001019
+v 0.03142447 0.02290623 -0.01955870
+v 0.03085133 0.02410994 -0.01910719
+v 0.03040777 0.02524111 -0.01845882
+v 0.03200758 0.02510583 -0.01581203
+v 0.03243120 0.02453730 -0.01581203
+v 0.03283738 0.02396682 -0.01581203
+v 0.02977234 0.02633896 -0.01794514
+v 0.02913939 0.02741327 -0.01743148
+v 0.03027072 0.02678985 -0.01648112
+v 0.03098839 0.02623701 -0.01600594
+v 0.01920168 0.03586276 -0.01581199
+v 0.01951316 0.03570200 -0.01581199
+v 0.02006388 0.03540205 -0.01581199
+v 0.02091362 0.03490018 -0.01581199
+v 0.02131481 0.03447477 -0.01621019
+v 0.02194277 0.03380038 -0.01682157
+v 0.02131481 0.03356709 -0.01795400
+v 0.02230161 0.03234574 -0.01891472
+v 0.02119271 0.03269078 -0.01949204
+v 0.02060960 0.03233791 -0.02056230
+v 0.01941100 0.03260257 -0.02115443
+v 0.01877307 0.03223989 -0.02210775
+v 0.01782864 0.03171450 -0.02324018
+v 0.01030059 0.03415525 -0.02401437
+v 0.02190539 0.03037159 -0.02190939
+v 0.02291462 0.02913847 -0.02238901
+v 0.01995423 0.03021476 -0.02345928
+v 0.02134222 0.02972856 -0.02297817
+v 0.02302675 0.03004028 -0.02128914
+v 0.02366468 0.03041471 -0.02025737
+v 0.02444464 0.02910515 -0.02104193
+v 0.02547131 0.02881107 -0.02037432
+v 0.02490316 0.02830333 -0.02149788
+v 0.02606687 0.02772500 -0.02095461
+v 0.02720069 0.02714862 -0.02040985
+v 0.02665995 0.02660363 -0.02153489
+v 0.02777134 0.02600765 -0.02094869
+v 0.02885283 0.02541363 -0.02036397
+v 0.02846409 0.02455889 -0.02162075
+v 0.02920419 0.02455889 -0.02077698
+v 0.03045014 0.02358846 -0.02023223
+v 0.02986205 0.02308072 -0.02139724
+v 0.03040528 0.02181820 -0.02188574
+v 0.01936365 0.03123614 -0.02278425
+v 0.03078655 0.02068702 -0.02231059
+v 0.03126997 0.01926767 -0.02274137
+v 0.03263055 0.01926767 -0.02113375
+v 0.03256826 0.01926767 -0.02121517
+v 0.03006887 0.02462946 -0.01960754
+v 0.02917428 0.02577239 -0.01951280
+v 0.02877059 0.02701727 -0.01855651
+v 0.03125752 0.02602920 -0.01581202
+v 0.02811771 0.02806807 -0.01799843
+v 0.02859616 0.02854248 -0.01654921
+v 0.02982467 0.02767597 -0.01581202
+v 0.03086628 0.02650363 -0.01581202
+v 0.02959292 0.02784064 -0.01595265
+v 0.02212219 0.03416110 -0.01581199
+v 0.02248352 0.03392781 -0.01581200
+v 0.02291960 0.03343574 -0.01621020
+v 0.02388895 0.03228104 -0.01714872
+v 0.02288471 0.03263000 -0.01775712
+v 0.02342795 0.03194385 -0.01827375
+v 0.02417552 0.03081464 -0.01913234
+v 0.02298439 0.03138709 -0.01958678
+v 0.02174093 0.03196150 -0.02003976
+v 0.01990190 0.03189289 -0.02168586
+v 0.02253585 0.03083229 -0.02078584
+v 0.02125750 0.03136161 -0.02123584
+v 0.02077407 0.03076172 -0.02233572
+v 0.02468636 0.03003831 -0.01962232
+v 0.02530435 0.03036178 -0.01847656
+v 0.02583513 0.02913454 -0.01951278
+v 0.02707360 0.02872285 -0.01856390
+v 0.02668238 0.02835429 -0.01951279
+v 0.02755454 0.02750738 -0.01951279
+v 0.02840179 0.02661930 -0.01951279
+v 0.02746483 0.02909336 -0.01744035
+v 0.02941599 0.02811118 -0.01581202
+v 0.02685432 0.03022062 -0.01650035
+v 0.02789843 0.02954426 -0.01596300
+v 0.02818250 0.02935410 -0.01581201
+v 0.02308406 0.03351023 -0.01581200
+v 0.02405092 0.03282996 -0.01581200
+v 0.02424031 0.03253785 -0.01613915
+v 0.02459665 0.03133023 -0.01781190
+v 0.02509005 0.03189875 -0.01613915
+v 0.02572299 0.03071465 -0.01735153
+v 0.02639830 0.02972660 -0.01795846
+v 0.02629364 0.03096558 -0.01601777
+v 0.02658270 0.03082639 -0.01581201
+v 0.02771901 0.02979520 -0.01581201
+v 0.02464649 0.03240062 -0.01581200
+v 0.02519720 0.03198305 -0.01581200
+v 0.02606937 0.03126161 -0.01581201
+f 1 2 3
+f 1 3 6
+f 1 6 5
+f 1 5 10
+f 1 10 16
+f 1 16 21
+f 1 21 33
+f 1 33 32
+f 1 32 58
+f 1 58 93
+f 1 93 145
+f 1 145 144
+f 1 144 206
+f 1 206 262
+f 1 262 207
+f 1 207 148
+f 1 148 146
+f 1 146 94
+f 1 94 59
+f 1 59 35
+f 1 35 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 48
+f 1 48 82
+f 1 82 128
+f 1 128 189
+f 1 189 244
+f 1 244 243
+f 1 243 242
+f 1 242 290
+f 1 290 294
+f 1 294 293
+f 1 293 317
+f 1 317 320
+f 1 320 330
+f 1 330 329
+f 1 329 333
+f 1 333 332
+f 1 332 331
+f 1 331 322
+f 1 322 321
+f 1 321 297
+f 1 297 296
+f 1 296 252
+f 1 252 251
+f 1 251 250
+f 1 250 249
+f 1 249 190
+f 1 190 130
+f 1 130 129
+f 1 129 83
+f 1 83 50
+f 1 50 49
+f 1 49 34
+f 1 34 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 11
+f 5 11 12
+f 5 12 10
+f 7 13 11
+f 8 14 24
+f 8 24 43
+f 8 43 77
+f 8 77 119
+f 8 119 177
+f 8 177 117
+f 8 117 116
+f 8 116 176
+f 8 176 230
+f 8 230 284
+f 8 284 234
+f 8 234 286
+f 8 286 285
+f 8 285 232
+f 8 232 231
+f 8 231 183
+f 8 183 178
+f 8 178 121
+f 8 121 79
+f 8 79 45
+f 8 45 25
+f 8 25 15
+f 8 15 9
+f 10 12 16
+f 11 13 17
+f 11 17 18
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 16
+f 12 18 19
+f 13 22 17
+f 14 23 36
+f 14 36 61
+f 14 61 100
+f 14 100 78
+f 14 78 44
+f 14 44 24
+f 15 25 26
+f 17 22 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 30
+f 20 30 32
+f 20 32 33
+f 20 33 21
+f 22 34 27
+f 23 35 36
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 44 37
+f 25 45 26
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 27 49 50
+f 27 50 51
+f 27 51 28
+f 27 34 49
+f 28 51 52
+f 28 52 29
+f 29 52 53
+f 29 53 54
+f 29 54 31
+f 30 55 32
+f 30 31 56
+f 30 56 55
+f 31 54 57
+f 31 57 56
+f 32 55 58
+f 35 59 60
+f 35 60 36
+f 36 60 62
+f 36 62 63
+f 36 63 64
+f 36 64 61
+f 37 65 66
+f 37 66 67
+f 37 67 68
+f 37 68 39
+f 37 39 38
+f 37 44 69
+f 37 69 70
+f 37 70 65
+f 39 68 71
+f 39 71 72
+f 39 72 41
+f 39 41 40
+f 41 72 73
+f 41 73 74
+f 41 74 75
+f 41 75 76
+f 41 76 77
+f 41 77 43
+f 41 43 42
+f 44 78 70
+f 44 70 69
+f 45 79 80
+f 45 80 46
+f 46 80 47
+f 47 80 81
+f 47 81 82
+f 47 82 48
+f 50 83 51
+f 51 83 84
+f 51 84 85
+f 51 85 86
+f 51 86 52
+f 52 86 53
+f 53 86 87
+f 53 87 88
+f 53 88 54
+f 54 88 57
+f 55 56 89
+f 55 89 90
+f 55 90 58
+f 56 91 89
+f 56 57 91
+f 57 88 92
+f 57 92 91
+f 58 90 93
+f 59 94 95
+f 59 95 96
+f 59 96 60
+f 60 96 97
+f 60 97 98
+f 60 98 99
+f 60 99 62
+f 61 64 100
+f 62 99 63
+f 63 99 101
+f 63 101 64
+f 64 101 102
+f 64 102 103
+f 64 103 104
+f 64 104 105
+f 64 105 100
+f 65 106 66
+f 65 70 107
+f 65 107 106
+f 66 106 108
+f 66 108 67
+f 67 71 68
+f 67 108 109
+f 67 109 71
+f 70 110 111
+f 70 111 112
+f 70 112 107
+f 70 78 110
+f 71 109 73
+f 71 73 72
+f 73 109 113
+f 73 113 75
+f 73 75 74
+f 75 114 115
+f 75 115 116
+f 75 116 117
+f 75 117 118
+f 75 118 76
+f 75 113 114
+f 76 119 77
+f 76 118 119
+f 78 120 110
+f 78 100 120
+f 79 121 122
+f 79 122 80
+f 80 122 123
+f 80 123 124
+f 80 124 81
+f 81 124 125
+f 81 125 126
+f 81 126 127
+f 81 127 128
+f 81 128 82
+f 83 129 84
+f 84 129 130
+f 84 130 131
+f 84 131 85
+f 85 87 86
+f 85 131 132
+f 85 132 87
+f 87 133 88
+f 87 132 134
+f 87 134 135
+f 87 135 136
+f 87 136 133
+f 88 137 92
+f 88 133 138
+f 88 138 139
+f 88 139 137
+f 89 140 141
+f 89 141 142
+f 89 142 90
+f 89 91 143
+f 89 143 140
+f 90 142 144
+f 90 144 145
+f 90 145 93
+f 91 92 137
+f 91 137 143
+f 94 146 95
+f 95 147 97
+f 95 97 96
+f 95 146 148
+f 95 148 147
+f 97 147 141
+f 97 141 149
+f 97 149 150
+f 97 150 98
+f 98 150 151
+f 98 151 99
+f 99 151 101
+f 100 105 152
+f 100 152 120
+f 101 151 102
+f 102 151 153
+f 102 153 154
+f 102 154 155
+f 102 155 156
+f 102 156 103
+f 103 156 157
+f 103 157 104
+f 104 157 158
+f 104 158 152
+f 104 152 105
+f 106 107 159
+f 106 159 108
+f 107 112 159
+f 108 160 161
+f 108 161 162
+f 108 162 163
+f 108 163 164
+f 108 164 109
+f 108 159 160
+f 109 163 165
+f 109 165 166
+f 109 166 167
+f 109 167 113
+f 109 164 163
+f 110 120 111
+f 111 168 112
+f 111 120 168
+f 112 169 159
+f 112 168 170
+f 112 170 171
+f 112 171 169
+f 113 167 172
+f 113 172 114
+f 114 172 173
+f 114 173 174
+f 114 174 115
+f 115 174 175
+f 115 175 116
+f 116 175 176
+f 117 177 118
+f 118 177 119
+f 120 152 158
+f 120 158 170
+f 120 170 168
+f 121 178 122
+f 122 178 123
+f 123 179 180
+f 123 180 181
+f 123 181 182
+f 123 182 124
+f 123 178 183
+f 123 183 179
+f 124 182 125
+f 125 182 184
+f 125 184 126
+f 126 185 127
+f 126 184 186
+f 126 186 187
+f 126 187 188
+f 126 188 185
+f 127 189 128
+f 127 185 189
+f 130 190 191
+f 130 191 131
+f 131 191 132
+f 132 191 192
+f 132 192 193
+f 132 193 194
+f 132 194 134
+f 133 136 138
+f 134 194 135
+f 135 194 195
+f 135 195 196
+f 135 196 197
+f 135 197 136
+f 136 197 138
+f 137 154 198
+f 137 198 143
+f 137 139 199
+f 137 199 200
+f 137 200 201
+f 137 201 154
+f 138 197 202
+f 138 202 199
+f 138 199 139
+f 140 143 203
+f 140 203 141
+f 141 147 204
+f 141 204 142
+f 141 203 205
+f 141 205 149
+f 142 204 144
+f 143 198 203
+f 144 204 206
+f 147 148 207
+f 147 207 204
+f 149 205 150
+f 150 205 153
+f 150 153 151
+f 153 205 154
+f 154 205 203
+f 154 203 198
+f 154 201 208
+f 154 208 155
+f 155 208 209
+f 155 209 156
+f 156 209 210
+f 156 210 170
+f 156 170 157
+f 157 170 158
+f 159 211 160
+f 159 169 211
+f 160 211 161
+f 161 211 212
+f 161 212 213
+f 161 213 214
+f 161 214 215
+f 161 215 216
+f 161 216 217
+f 161 217 163
+f 161 163 162
+f 163 216 218
+f 163 218 219
+f 163 219 220
+f 163 220 166
+f 163 166 165
+f 163 217 216
+f 166 219 221
+f 166 221 222
+f 166 222 223
+f 166 223 173
+f 166 173 172
+f 166 172 167
+f 166 220 219
+f 169 171 224
+f 169 224 212
+f 169 212 211
+f 170 225 226
+f 170 226 224
+f 170 224 171
+f 170 210 225
+f 173 222 227
+f 173 227 228
+f 173 228 174
+f 173 223 222
+f 174 228 229
+f 174 229 230
+f 174 230 175
+f 175 230 176
+f 179 183 231
+f 179 231 180
+f 180 231 232
+f 180 232 233
+f 180 233 234
+f 180 234 235
+f 180 235 236
+f 180 236 237
+f 180 237 238
+f 180 238 181
+f 181 238 182
+f 182 238 239
+f 182 239 240
+f 182 240 184
+f 184 240 241
+f 184 241 186
+f 185 188 242
+f 185 242 243
+f 185 243 244
+f 185 244 189
+f 186 241 187
+f 187 241 245
+f 187 245 246
+f 187 246 247
+f 187 247 248
+f 187 248 188
+f 188 248 242
+f 190 249 191
+f 191 249 250
+f 191 250 192
+f 192 251 252
+f 192 252 253
+f 192 253 193
+f 192 250 251
+f 193 195 194
+f 193 253 254
+f 193 254 255
+f 193 255 195
+f 195 255 256
+f 195 256 257
+f 195 257 258
+f 195 258 196
+f 196 258 197
+f 197 258 259
+f 197 259 260
+f 197 260 202
+f 199 202 260
+f 199 260 200
+f 200 261 208
+f 200 208 201
+f 200 260 261
+f 204 207 262
+f 204 262 206
+f 208 261 225
+f 208 225 209
+f 209 225 210
+f 212 263 264
+f 212 264 214
+f 212 214 213
+f 212 224 265
+f 212 265 266
+f 212 266 263
+f 214 264 263
+f 214 263 267
+f 214 267 268
+f 214 268 269
+f 214 269 270
+f 214 270 271
+f 214 271 216
+f 214 216 215
+f 216 272 273
+f 216 273 274
+f 216 274 219
+f 216 219 218
+f 216 271 270
+f 216 270 272
+f 219 274 273
+f 219 273 275
+f 219 275 276
+f 219 276 277
+f 219 277 222
+f 219 222 221
+f 222 277 276
+f 222 276 278
+f 222 278 279
+f 222 279 280
+f 222 280 281
+f 222 281 227
+f 224 226 225
+f 224 225 265
+f 225 261 260
+f 225 260 282
+f 225 282 265
+f 227 281 228
+f 228 281 283
+f 228 283 229
+f 229 283 284
+f 229 284 230
+f 232 285 233
+f 233 285 286
+f 233 286 234
+f 234 284 283
+f 234 283 235
+f 235 283 281
+f 235 281 236
+f 236 281 237
+f 237 281 280
+f 237 280 279
+f 237 279 238
+f 238 279 239
+f 239 279 240
+f 240 279 287
+f 240 287 241
+f 241 287 276
+f 241 276 288
+f 241 288 289
+f 241 289 245
+f 242 248 290
+f 245 289 246
+f 246 289 291
+f 246 291 292
+f 246 292 247
+f 247 293 294
+f 247 294 248
+f 247 292 295
+f 247 295 293
+f 248 294 290
+f 252 296 253
+f 253 296 254
+f 254 296 297
+f 254 297 298
+f 254 298 299
+f 254 299 300
+f 254 300 255
+f 255 300 256
+f 256 300 301
+f 256 301 302
+f 256 302 303
+f 256 303 304
+f 256 304 257
+f 257 304 258
+f 258 305 259
+f 258 304 306
+f 258 306 307
+f 258 307 305
+f 259 305 260
+f 260 305 308
+f 260 308 282
+f 263 306 267
+f 263 266 308
+f 263 308 305
+f 263 305 307
+f 263 307 306
+f 265 308 266
+f 265 282 308
+f 267 306 268
+f 268 302 309
+f 268 309 270
+f 268 270 269
+f 268 306 304
+f 268 304 303
+f 268 303 302
+f 270 309 310
+f 270 310 311
+f 270 311 312
+f 270 312 313
+f 270 313 273
+f 270 273 272
+f 273 314 289
+f 273 289 315
+f 273 315 276
+f 273 276 275
+f 273 313 312
+f 273 312 314
+f 276 287 279
+f 276 279 278
+f 276 315 289
+f 276 289 288
+f 289 314 312
+f 289 312 291
+f 291 316 292
+f 291 312 316
+f 292 317 295
+f 292 316 318
+f 292 318 319
+f 292 319 320
+f 292 320 317
+f 293 295 317
+f 297 321 298
+f 298 321 322
+f 298 322 323
+f 298 323 299
+f 299 324 301
+f 299 301 300
+f 299 323 325
+f 299 325 326
+f 299 326 324
+f 301 324 310
+f 301 310 302
+f 302 310 309
+f 310 326 327
+f 310 327 312
+f 310 312 311
+f 310 324 326
+f 312 327 316
+f 316 327 326
+f 316 326 318
+f 318 326 328
+f 318 328 329
+f 318 329 330
+f 318 330 319
+f 319 330 320
+f 322 331 323
+f 323 331 325
+f 325 332 333
+f 325 333 328
+f 325 328 326
+f 325 331 332
+f 328 333 329
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_23.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.02191390 -0.00001873 -0.03220992
+v -0.02191390 -0.00001869 -0.04480505
+v -0.02652587 -0.00001873 -0.03220992
+v -0.02191390 -0.01462892 -0.03220997
+v -0.02286695 -0.00001868 -0.04525983
+v -0.02191390 -0.00690655 -0.04521361
+v -0.02770191 -0.00001870 -0.03975749
+v -0.02770536 -0.00086888 -0.03975749
+v -0.02652645 -0.00020574 -0.03220992
+v -0.02236334 -0.01416533 -0.03220997
+v -0.02191390 -0.01607311 -0.03733719
+v -0.02371628 -0.00001868 -0.04529195
+v -0.02191390 -0.00859905 -0.04530740
+v -0.02286695 -0.00425858 -0.04531767
+v -0.02774916 -0.00001870 -0.04060025
+v -0.02779986 -0.00086888 -0.04144558
+v -0.02760338 -0.00256295 -0.03975750
+v -0.02652645 -0.00079977 -0.03220992
+v -0.02392314 -0.01392486 -0.03975754
+v -0.02339936 -0.01477190 -0.03975754
+v -0.02254197 -0.01607310 -0.03986162
+v -0.02242788 -0.01607311 -0.03937215
+v -0.02210635 -0.01607311 -0.03807204
+v -0.02316831 -0.01276513 -0.03220997
+v -0.02191390 -0.01607309 -0.04365403
+v -0.02456215 -0.00001868 -0.04532278
+v -0.02191390 -0.01029469 -0.04532282
+v -0.02286695 -0.00595422 -0.04533308
+v -0.02779641 -0.00001870 -0.04144558
+v -0.02737059 -0.00256294 -0.04300007
+v -0.02769730 -0.00256295 -0.04144559
+v -0.02736367 -0.00001869 -0.04328654
+v -0.02736425 -0.00086101 -0.04328783
+v -0.02638066 -0.00256298 -0.03220993
+v -0.02646018 -0.00176466 -0.03220993
+v -0.02748641 -0.00425860 -0.04144560
+v -0.02720579 -0.00556451 -0.04006712
+v -0.02733314 -0.00440946 -0.03960592
+v -0.02398479 -0.01403015 -0.04144563
+v -0.02346448 -0.01487876 -0.04144563
+v -0.02457656 -0.01273210 -0.03975754
+v -0.02469987 -0.01273210 -0.04144563
+v -0.02264568 -0.01607310 -0.04143279
+v -0.02411213 -0.01093277 -0.03220996
+v -0.02191390 -0.01559221 -0.04421159
+v -0.02195423 -0.01607309 -0.04361035
+v -0.02550195 -0.00001869 -0.04491554
+v -0.02456215 -0.00086886 -0.04532278
+v -0.02620089 -0.00256294 -0.04463291
+v -0.02286695 -0.00764829 -0.04533309
+v -0.02191390 -0.01198876 -0.04523675
+v -0.02286695 -0.00934236 -0.04530354
+v -0.02709459 -0.00142047 -0.04395331
+v -0.02704849 -0.00256294 -0.04384411
+v -0.02726745 -0.00425859 -0.04272901
+v -0.02717122 -0.00540263 -0.04246693
+v -0.02711302 -0.00001869 -0.04398927
+v -0.02711302 -0.00029056 -0.04398927
+v -0.02615364 -0.00425863 -0.03220994
+v -0.02722999 -0.00567294 -0.04144560
+v -0.02704042 -0.00651998 -0.04144560
+v -0.02661518 -0.00764831 -0.03975752
+v -0.02700700 -0.00605953 -0.03960592
+v -0.02576527 -0.00602342 -0.03220994
+v -0.02594447 -0.00520938 -0.03220994
+v -0.02387474 -0.01385099 -0.04267765
+v -0.02521499 -0.01144976 -0.03975753
+v -0.02527723 -0.01158648 -0.04144562
+v -0.02230054 -0.01607309 -0.04285880
+v -0.02558492 -0.01060272 -0.03975753
+v -0.02444518 -0.01014859 -0.03220996
+v -0.02214381 -0.01544920 -0.04412423
+v -0.02247455 -0.01442773 -0.04439272
+v -0.02191390 -0.01512390 -0.04443641
+v -0.02220028 -0.01607309 -0.04313244
+v -0.02239734 -0.01580279 -0.04313244
+v -0.02642042 -0.00001869 -0.04451728
+v -0.02456215 -0.00256293 -0.04531252
+v -0.02642042 -0.00086101 -0.04451728
+v -0.02456215 -0.00425858 -0.04527912
+v -0.02608853 -0.00425859 -0.04460337
+v -0.02286695 -0.01103643 -0.04515324
+v -0.02191390 -0.01376770 -0.04489375
+v -0.02456215 -0.00595422 -0.04519434
+v -0.02592315 -0.00595423 -0.04451987
+v -0.02693671 -0.00425859 -0.04357305
+v -0.02680014 -0.00596209 -0.04307074
+v -0.02633630 -0.00764830 -0.04313241
+v -0.02672639 -0.00764831 -0.04144561
+v -0.02617496 -0.00934238 -0.04144561
+v -0.02606202 -0.00934238 -0.03975752
+v -0.02477708 -0.00934398 -0.03220995
+v -0.02363215 -0.01343297 -0.04380304
+v -0.02328988 -0.01442145 -0.04319667
+v -0.02554574 -0.01051471 -0.04263653
+v -0.02421585 -0.01281381 -0.04319667
+v -0.02564081 -0.01073787 -0.04144562
+v -0.02393120 -0.01230307 -0.04422956
+v -0.02191390 -0.01442773 -0.04468306
+v -0.02298680 -0.01281381 -0.04464195
+v -0.02422910 -0.01103644 -0.04447750
+v -0.02456215 -0.00764829 -0.04500935
+v -0.02570592 -0.00764830 -0.04433489
+v -0.02552499 -0.00881749 -0.04413190
+v -0.02576297 -0.00936595 -0.04317224
+v -0.02507901 -0.01106316 -0.04317225
+v -0.02531353 -0.00994740 -0.04376192
+v -0.02467451 -0.00936595 -0.04458797
+f 1 2 5
+f 1 5 12
+f 1 12 26
+f 1 26 47
+f 1 47 77
+f 1 77 57
+f 1 57 32
+f 1 32 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 35
+f 1 35 34
+f 1 34 59
+f 1 59 65
+f 1 65 64
+f 1 64 92
+f 1 92 71
+f 1 71 44
+f 1 44 24
+f 1 24 10
+f 1 10 4
+f 1 4 11
+f 1 11 25
+f 1 25 45
+f 1 45 74
+f 1 74 99
+f 1 99 83
+f 1 83 51
+f 1 51 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 6 13
+f 5 13 14
+f 5 14 12
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 24 19
+f 11 23 22
+f 11 22 21
+f 11 21 43
+f 11 43 69
+f 11 69 75
+f 11 75 46
+f 11 46 25
+f 12 14 26
+f 13 27 28
+f 13 28 14
+f 14 28 26
+f 15 29 16
+f 16 30 31
+f 16 31 17
+f 16 29 32
+f 16 32 33
+f 16 33 30
+f 17 34 35
+f 17 35 18
+f 17 31 36
+f 17 36 37
+f 17 37 38
+f 17 38 34
+f 19 39 40
+f 19 40 20
+f 19 24 41
+f 19 41 42
+f 19 42 39
+f 20 40 21
+f 21 40 43
+f 24 44 41
+f 25 46 45
+f 26 28 50
+f 26 50 48
+f 26 48 49
+f 26 49 47
+f 27 50 28
+f 27 51 52
+f 27 52 50
+f 30 33 53
+f 30 53 54
+f 30 54 55
+f 30 55 31
+f 31 55 56
+f 31 56 36
+f 32 57 33
+f 33 57 58
+f 33 58 53
+f 34 38 59
+f 36 56 60
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 59
+f 37 59 38
+f 39 66 40
+f 39 42 66
+f 40 66 43
+f 41 44 67
+f 41 67 68
+f 41 68 42
+f 42 68 66
+f 43 66 69
+f 44 70 67
+f 44 71 70
+f 45 72 73
+f 45 73 74
+f 45 46 72
+f 46 75 76
+f 46 76 72
+f 47 49 77
+f 48 78 49
+f 48 50 78
+f 49 53 58
+f 49 58 79
+f 49 79 77
+f 49 78 80
+f 49 80 81
+f 49 81 53
+f 50 52 78
+f 51 82 52
+f 51 83 82
+f 52 82 84
+f 52 84 80
+f 52 80 78
+f 53 81 54
+f 54 81 85
+f 54 85 86
+f 54 86 55
+f 55 86 56
+f 56 86 87
+f 56 87 88
+f 56 88 89
+f 56 89 61
+f 56 61 60
+f 57 77 79
+f 57 79 58
+f 61 89 62
+f 62 89 90
+f 62 90 91
+f 62 91 92
+f 62 92 64
+f 62 64 63
+f 66 93 94
+f 66 94 76
+f 66 76 69
+f 66 68 95
+f 66 95 96
+f 66 96 93
+f 67 70 68
+f 68 70 97
+f 68 97 95
+f 69 76 75
+f 70 71 92
+f 70 92 91
+f 70 91 90
+f 70 90 97
+f 72 94 93
+f 72 93 98
+f 72 98 73
+f 72 76 94
+f 73 83 99
+f 73 99 74
+f 73 98 100
+f 73 100 83
+f 80 84 81
+f 81 84 85
+f 82 100 101
+f 82 101 102
+f 82 102 84
+f 82 83 100
+f 84 102 85
+f 85 102 103
+f 85 103 86
+f 86 103 87
+f 87 103 104
+f 87 104 88
+f 88 104 105
+f 88 105 95
+f 88 95 89
+f 89 95 90
+f 90 95 97
+f 93 96 106
+f 93 106 107
+f 93 107 98
+f 95 105 107
+f 95 107 106
+f 95 106 96
+f 98 107 104
+f 98 104 101
+f 98 101 100
+f 101 104 103
+f 101 103 108
+f 101 108 102
+f 102 108 103
+f 104 107 105
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_24.obj

@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
+v -0.01563801 0.04147096 0.00616780
+v -0.01563801 0.04089515 0.00073340
+v -0.01574643 0.04085644 0.00073340
+v -0.01608481 0.04127014 0.00579506
+v -0.01608481 0.04130886 0.00616780
+v -0.01563801 0.03382310 0.00616777
+v -0.01563801 0.04088063 0.00059768
+v -0.01563801 0.04081289 -0.00003503
+v -0.01563801 0.04071127 -0.00095446
+v -0.01678659 0.04060239 0.00210012
+v -0.01616702 0.04089272 0.00256653
+v -0.01608481 0.04109110 0.00410720
+v -0.01694268 0.04066287 0.00322600
+v -0.01726319 0.04080077 0.00579506
+v -0.01731085 0.04082013 0.00616780
+v -0.02780781 0.02490745 0.00616774
+v -0.02780781 0.01675641 -0.01336021
+v -0.01563801 0.02843507 -0.01336017
+v -0.01563801 0.04054676 -0.00236898
+v -0.01635528 0.04043062 -0.00095446
+v -0.01778029 0.03982576 -0.00095446
+v -0.01778029 0.04001931 0.00073340
+v -0.01761706 0.04029512 0.00256653
+v -0.01790063 0.04034108 0.00410720
+v -0.01815799 0.04045479 0.00616780
+v -0.02780781 0.03461667 0.00616778
+v -0.02780781 0.03076015 -0.01336016
+v -0.01563801 0.03834511 -0.01336013
+v -0.01563801 0.04047659 -0.00289464
+v -0.01597519 0.04037498 -0.00265952
+v -0.01778029 0.03962253 -0.00264041
+v -0.01892292 0.03910719 -0.00264042
+v -0.01913262 0.03920880 -0.00095447
+v -0.01933399 0.03930557 0.00073339
+v -0.01947577 0.03961766 0.00410720
+v -0.01947577 0.03984267 0.00616780
+v -0.02684509 0.03537880 0.00616778
+v -0.02780781 0.03439892 0.00442449
+v -0.02780781 0.03092709 -0.01297595
+v -0.02777207 0.03079644 -0.01336016
+v -0.01602762 0.03819026 -0.01336013
+v -0.01563801 0.03856528 -0.01271596
+v -0.01563801 0.04028063 -0.00432636
+v -0.01608481 0.04010885 -0.00432636
+v -0.01792684 0.03932253 -0.00442003
+v -0.01875254 0.03902493 -0.00391922
+v -0.01977126 0.03868863 -0.00264042
+v -0.01998096 0.03879265 -0.00095447
+v -0.02018232 0.03889427 0.00073339
+v -0.02029551 0.03894991 0.00169487
+v -0.01962828 0.03934428 0.00232185
+v -0.02042062 0.03901523 0.00281884
+v -0.02055764 0.03908780 0.00410719
+v -0.02073398 0.03917974 0.00579505
+v -0.02077329 0.03919910 0.00616779
+v -0.02599795 0.03599576 0.00616778
+v -0.02681292 0.03535702 0.00579504
+v -0.02748730 0.03418603 0.00073338
+v -0.02775419 0.03440134 0.00410718
+v -0.02780781 0.03392231 0.00073337
+v -0.02780781 0.03101903 -0.01276186
+v -0.02775181 0.03107226 -0.01276186
+v -0.02761121 0.03094403 -0.01336016
+v -0.01592158 0.03848543 -0.01260318
+v -0.01756940 0.03752733 -0.01336013
+v -0.01563801 0.03868867 -0.01232028
+v -0.01563801 0.04002901 -0.00601421
+v -0.01608481 0.03985965 -0.00601421
+v -0.01757059 0.03924269 -0.00601422
+v -0.01858931 0.03894510 -0.00504509
+v -0.01938164 0.03864267 -0.00442003
+v -0.02129278 0.03765795 -0.00430534
+v -0.02117125 0.03795070 -0.00264042
+v -0.02117125 0.03816360 -0.00095447
+v -0.02117125 0.03836441 0.00073339
+v -0.02158231 0.03872731 0.00579505
+v -0.02162163 0.03874666 0.00616779
+v -0.02553803 0.03566673 0.00073338
+v -0.02477072 0.03684256 0.00616779
+v -0.02638518 0.03503526 0.00073338
+v -0.02734909 0.03407716 -0.00095448
+v -0.02780781 0.03369247 -0.00095449
+v -0.02780781 0.03153920 -0.01133396
+v -0.02702501 0.03211745 -0.01171244
+v -0.02678909 0.03191906 -0.01276185
+v -0.02659726 0.03182471 -0.01336015
+v -0.01782199 0.03761201 -0.01274081
+v -0.01636243 0.03872737 -0.01107589
+v -0.01838199 0.03715716 -0.01336013
+v -0.01841535 0.03716684 -0.01328750
+v -0.01563801 0.03902496 -0.01107589
+v -0.01563801 0.03974836 -0.00766193
+v -0.01608481 0.03957416 -0.00770016
+v -0.01724412 0.03909995 -0.00770017
+v -0.01841893 0.03887010 -0.00601422
+v -0.01947577 0.03834992 -0.00601422
+v -0.02092104 0.03759747 -0.00601422
+v -0.02193618 0.03722245 -0.00485394
+v -0.02207797 0.03730471 -0.00372998
+v -0.02220188 0.03737729 -0.00264042
+v -0.02238418 0.03748615 -0.00095447
+v -0.02255694 0.03758535 0.00073339
+v -0.02272375 0.03768454 0.00242124
+v -0.02286554 0.03799180 0.00579505
+v -0.02186350 0.03860876 0.00616779
+v -0.02544748 0.03560141 -0.00031604
+v -0.02458366 0.03696595 0.00616779
+v -0.02388902 0.03737968 0.00579505
+v -0.02377821 0.03730952 0.00459462
+v -0.02473617 0.03682079 0.00579505
+v -0.02610995 0.03502558 -0.00090861
+v -0.02720135 0.03395620 -0.00264044
+v -0.02780781 0.03344569 -0.00264044
+v -0.02780781 0.03162630 -0.01106635
+v -0.02723471 0.03229407 -0.01058847
+v -0.02637803 0.03280699 -0.01111987
+v -0.02520442 0.03372880 -0.01107591
+v -0.02594195 0.03260377 -0.01276185
+v -0.02579539 0.03248763 -0.01336015
+v -0.01778029 0.03810315 -0.01107589
+v -0.01877637 0.03734345 -0.01216353
+v -0.01672702 0.03887737 -0.00985061
+v -0.01946028 0.03658133 -0.01336014
+v -0.01939594 0.03683537 -0.01274081
+v -0.01563801 0.03910722 -0.01072608
+v -0.01563801 0.03965401 -0.00814554
+v -0.01563801 0.03941690 -0.00934598
+v -0.01613128 0.03923302 -0.00932877
+v -0.01702370 0.03900318 -0.00872665
+v -0.01809246 0.03872010 -0.00770017
+v -0.01947577 0.03804749 -0.00770017
+v -0.02064342 0.03744505 -0.00770017
+v -0.02176818 0.03712809 -0.00601422
+v -0.02286554 0.03646275 -0.00601423
+v -0.02273209 0.03681841 -0.00430534
+v -0.02304903 0.03686195 -0.00264042
+v -0.02323252 0.03697323 -0.00095447
+v -0.02340409 0.03707969 0.00073339
+v -0.02357090 0.03718129 0.00242124
+v -0.02367336 0.03724420 0.00347066
+v -0.02312528 0.03787808 0.00616779
+v -0.02286554 0.03803293 0.00616779
+v -0.02392239 0.03740145 0.00616779
+v -0.02456102 0.03632482 0.00073338
+v -0.02468970 0.03603207 -0.00090861
+v -0.02534144 0.03552641 -0.00144192
+v -0.02625650 0.03467235 -0.00264043
+v -0.02711675 0.03388845 -0.00354649
+v -0.02778994 0.03321585 -0.00419449
+v -0.02780781 0.03320376 -0.00417155
+v -0.02780781 0.03212712 -0.00938805
+v -0.02743011 0.03245858 -0.00938805
+v -0.02618858 0.03341184 -0.00951994
+v -0.02538672 0.03386187 -0.01016985
+v -0.02481957 0.03345057 -0.01276185
+v -0.02435608 0.03432882 -0.01107590
+v -0.02397243 0.03406027 -0.01276184
+v -0.02471472 0.03329089 -0.01336015
+v -0.01766472 0.03857735 -0.00932877
+v -0.01906948 0.03749345 -0.01107589
+v -0.01991662 0.03705553 -0.01107589
+v -0.02087457 0.03580953 -0.01336014
+v -0.02117006 0.03589179 -0.01262995
+v -0.01956990 0.03764829 -0.00938421
+v -0.02043730 0.03733134 -0.00882031
+v -0.02149176 0.03697084 -0.00770017
+v -0.02299660 0.03605629 -0.00774988
+v -0.02382349 0.03564741 -0.00722039
+v -0.02398792 0.03575869 -0.00601423
+v -0.02419166 0.03589418 -0.00432638
+v -0.02437276 0.03601514 -0.00264043
+v -0.02521991 0.03544173 -0.00264043
+v -0.02636492 0.03435541 -0.00419448
+v -0.02700118 0.03379652 -0.00466854
+v -0.02780781 0.03290133 -0.00589382
+v -0.02780781 0.03317956 -0.00431109
+v -0.02780781 0.03253842 -0.00770019
+v -0.02766721 0.03265939 -0.00770019
+v -0.02662824 0.03350862 -0.00770019
+v -0.02557735 0.03400460 -0.00904398
+v -0.02471829 0.03449575 -0.00951993
+v -0.02345413 0.03540546 -0.00938804
+v -0.02382111 0.03395382 -0.01336015
+v -0.02310264 0.03517562 -0.01107590
+v -0.02204937 0.03559419 -0.01197813
+v -0.02271541 0.03493611 -0.01262995
+v -0.02019781 0.03720312 -0.00994428
+v -0.02117125 0.03635389 -0.01107590
+v -0.02163355 0.03536435 -0.01336014
+v -0.02173363 0.03540064 -0.01310209
+v -0.02106997 0.03684261 -0.00938421
+v -0.02260580 0.03593774 -0.00938804
+v -0.02364953 0.03553127 -0.00834627
+v -0.02445736 0.03509335 -0.00774988
+v -0.02483625 0.03517077 -0.00601423
+v -0.02504000 0.03531593 -0.00432638
+v -0.02600033 0.03432396 -0.00601423
+v -0.02684747 0.03367797 -0.00601424
+v -0.02780781 0.03267633 -0.00702734
+v -0.02577991 0.03415461 -0.00770018
+v -0.02225431 0.03572000 -0.01107590
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 25
+f 1 25 36
+f 1 36 55
+f 1 55 77
+f 1 77 105
+f 1 105 142
+f 1 142 141
+f 1 141 143
+f 1 143 107
+f 1 107 79
+f 1 79 56
+f 1 56 37
+f 1 37 26
+f 1 26 16
+f 1 16 6
+f 1 6 18
+f 1 18 28
+f 1 28 42
+f 1 42 66
+f 1 66 91
+f 1 91 125
+f 1 125 127
+f 1 127 126
+f 1 126 92
+f 1 92 67
+f 1 67 43
+f 1 43 29
+f 1 29 19
+f 1 19 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 8
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 6 16 17
+f 6 17 18
+f 9 19 20
+f 9 20 10
+f 10 13 12
+f 10 12 11
+f 10 20 21
+f 10 21 22
+f 10 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 16 26 38
+f 16 38 60
+f 16 60 82
+f 16 82 113
+f 16 113 150
+f 16 150 176
+f 16 176 175
+f 16 175 199
+f 16 199 177
+f 16 177 151
+f 16 151 114
+f 16 114 83
+f 16 83 61
+f 16 61 39
+f 16 39 27
+f 16 27 17
+f 17 27 40
+f 17 40 63
+f 17 63 86
+f 17 86 119
+f 17 119 158
+f 17 158 183
+f 17 183 189
+f 17 189 162
+f 17 162 123
+f 17 123 89
+f 17 89 65
+f 17 65 41
+f 17 41 28
+f 17 28 18
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 25
+f 22 25 24
+f 22 24 23
+f 25 34 35
+f 25 35 36
+f 26 37 38
+f 27 39 40
+f 28 41 42
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+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 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 58
+f 38 58 60
+f 39 61 40
+f 40 61 62
+f 40 62 63
+f 41 64 42
+f 41 65 64
+f 42 64 66
+f 43 67 68
+f 43 68 44
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 47
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 49
+f 49 74 50
+f 50 52 51
+f 50 74 75
+f 50 75 52
+f 52 75 76
+f 52 76 53
+f 53 76 54
+f 54 76 77
+f 54 77 55
+f 56 78 57
+f 56 79 78
+f 57 78 80
+f 57 80 81
+f 57 81 58
+f 58 81 60
+f 60 81 82
+f 61 83 62
+f 62 83 84
+f 62 84 85
+f 62 85 63
+f 63 85 86
+f 64 65 87
+f 64 87 88
+f 64 88 66
+f 65 89 90
+f 65 90 87
+f 66 88 91
+f 67 92 93
+f 67 93 68
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 69 95 70
+f 70 95 96
+f 70 96 71
+f 71 96 97
+f 71 97 72
+f 72 97 98
+f 72 98 99
+f 72 99 73
+f 73 99 100
+f 73 100 74
+f 74 100 101
+f 74 101 75
+f 75 101 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 78 106 80
+f 78 79 106
+f 79 107 108
+f 79 108 109
+f 79 109 110
+f 79 110 106
+f 80 111 81
+f 80 106 111
+f 81 111 112
+f 81 112 82
+f 82 112 113
+f 83 114 84
+f 84 115 116
+f 84 116 117
+f 84 117 118
+f 84 118 85
+f 84 114 115
+f 85 118 119
+f 85 119 86
+f 87 120 88
+f 87 90 121
+f 87 121 120
+f 88 122 91
+f 88 120 122
+f 89 123 90
+f 90 123 124
+f 90 124 121
+f 91 122 125
+f 92 126 93
+f 93 126 127
+f 93 127 128
+f 93 128 129
+f 93 129 94
+f 94 129 130
+f 94 130 95
+f 95 130 131
+f 95 131 96
+f 96 131 132
+f 96 132 97
+f 97 132 133
+f 97 133 98
+f 98 133 134
+f 98 134 135
+f 98 135 99
+f 99 135 136
+f 99 136 100
+f 100 136 137
+f 100 137 101
+f 101 137 138
+f 101 138 102
+f 102 138 139
+f 102 139 140
+f 102 140 103
+f 103 140 104
+f 104 141 142
+f 104 142 105
+f 104 140 109
+f 104 109 108
+f 104 108 143
+f 104 143 141
+f 106 144 145
+f 106 145 146
+f 106 146 111
+f 106 110 144
+f 107 143 108
+f 109 140 110
+f 110 140 144
+f 111 147 112
+f 111 146 147
+f 112 147 148
+f 112 148 113
+f 113 149 150
+f 113 148 149
+f 114 151 115
+f 115 151 152
+f 115 152 153
+f 115 153 154
+f 115 154 116
+f 116 154 117
+f 117 155 118
+f 117 154 156
+f 117 156 157
+f 117 157 155
+f 118 155 119
+f 119 155 158
+f 120 159 122
+f 120 121 160
+f 120 160 159
+f 121 124 161
+f 121 161 160
+f 122 159 129
+f 122 129 128
+f 122 128 125
+f 123 162 124
+f 124 162 163
+f 124 163 161
+f 125 128 127
+f 129 159 130
+f 130 159 164
+f 130 164 131
+f 131 164 165
+f 131 165 132
+f 132 165 166
+f 132 166 133
+f 133 166 167
+f 133 167 134
+f 134 167 168
+f 134 168 169
+f 134 169 135
+f 135 169 170
+f 135 170 136
+f 136 170 171
+f 136 171 137
+f 137 171 138
+f 138 171 145
+f 138 145 144
+f 138 144 139
+f 139 144 140
+f 145 171 146
+f 146 171 172
+f 146 172 147
+f 147 173 148
+f 147 172 173
+f 148 173 174
+f 148 174 149
+f 149 175 176
+f 149 176 150
+f 149 174 175
+f 151 177 152
+f 152 177 178
+f 152 178 179
+f 152 179 153
+f 153 179 180
+f 153 180 154
+f 154 180 181
+f 154 181 182
+f 154 182 156
+f 155 157 183
+f 155 183 158
+f 156 182 184
+f 156 184 157
+f 157 184 185
+f 157 185 186
+f 157 186 183
+f 159 160 164
+f 160 161 187
+f 160 187 164
+f 161 163 185
+f 161 185 188
+f 161 188 187
+f 162 189 190
+f 162 190 163
+f 163 190 185
+f 164 187 165
+f 165 187 191
+f 165 191 166
+f 166 191 192
+f 166 192 167
+f 167 192 193
+f 167 193 168
+f 168 193 194
+f 168 194 195
+f 168 195 169
+f 169 195 196
+f 169 196 170
+f 170 196 172
+f 170 172 171
+f 172 196 173
+f 173 197 174
+f 173 196 197
+f 174 197 198
+f 174 198 175
+f 175 198 199
+f 177 199 178
+f 178 199 198
+f 178 198 179
+f 179 198 197
+f 179 197 200
+f 179 200 180
+f 180 200 194
+f 180 194 193
+f 180 193 181
+f 181 193 182
+f 182 193 192
+f 182 192 201
+f 182 201 184
+f 183 186 190
+f 183 190 189
+f 184 201 185
+f 185 190 186
+f 185 201 188
+f 187 188 191
+f 188 201 191
+f 191 201 192
+f 194 200 195
+f 195 200 197
+f 195 197 196
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_25.obj

@@ -0,0 +1,1105 @@
+# https://github.com/mikedh/trimesh
+v 0.01607238 -0.02131380 -0.03160725
+v 0.01607238 -0.01855300 -0.03160724
+v 0.01620837 -0.02121570 -0.03160725
+v 0.01959741 -0.02630089 -0.02670100
+v 0.01827366 -0.02686947 -0.02693549
+v 0.01775734 -0.02788250 -0.02648671
+v 0.01714327 -0.02724585 -0.02716999
+v 0.01613187 -0.02839101 -0.02681016
+v 0.01607238 -0.02840703 -0.02682027
+v 0.01607238 -0.01855304 -0.02162286
+v 0.01910020 -0.01855300 -0.03160724
+v 0.01798682 -0.01965812 -0.03160724
+v 0.02135248 -0.02469326 -0.02682430
+v 0.02021147 -0.02531989 -0.02703252
+v 0.02060668 -0.02732194 -0.02554669
+v 0.01936155 -0.02792855 -0.02573470
+v 0.01868800 -0.02884148 -0.02542137
+v 0.01782746 -0.02909574 -0.02561544
+v 0.01607238 -0.02971035 -0.02589037
+v 0.01607238 -0.02960831 -0.01095523
+v 0.02809657 -0.01855308 -0.01095519
+v 0.01883886 -0.01882928 -0.03160724
+v 0.02673033 -0.01855302 -0.02686269
+v 0.02573592 -0.01904752 -0.02726699
+v 0.02531522 -0.02017867 -0.02702037
+v 0.02469478 -0.02133784 -0.02681014
+v 0.02370037 -0.02198851 -0.02707092
+v 0.02200692 -0.02369624 -0.02707497
+v 0.02240213 -0.02574233 -0.02561340
+v 0.02119100 -0.02630089 -0.02590653
+v 0.02173707 -0.02687148 -0.02522123
+v 0.02126324 -0.02802265 -0.02460466
+v 0.01981838 -0.02845108 -0.02511409
+v 0.01932543 -0.02955220 -0.02446720
+v 0.01883248 -0.03062329 -0.02382031
+v 0.01782746 -0.02994460 -0.02492609
+v 0.01656533 -0.03030697 -0.02523337
+v 0.01607238 -0.02974038 -0.02586813
+v 0.01607238 -0.03900386 -0.01095526
+v 0.03777710 -0.01855308 -0.01095519
+v 0.02304594 -0.02303957 -0.02685865
+v 0.02706392 -0.01855302 -0.02663830
+v 0.02630324 -0.01957405 -0.02667266
+v 0.02630324 -0.02115966 -0.02588225
+v 0.02573592 -0.02238292 -0.02560732
+v 0.02464803 -0.02292946 -0.02597726
+v 0.02410833 -0.02409866 -0.02563159
+v 0.02294607 -0.02463720 -0.02598536
+v 0.02353252 -0.02522781 -0.02527176
+v 0.02307569 -0.02643503 -0.02468350
+v 0.02374712 -0.02712774 -0.02371720
+v 0.02261673 -0.02759221 -0.02409523
+v 0.02191768 -0.02872336 -0.02362624
+v 0.02078729 -0.02913178 -0.02398810
+v 0.01996287 -0.03026092 -0.02346654
+v 0.01935093 -0.03127797 -0.02277517
+v 0.01782746 -0.03175645 -0.02321992
+v 0.01668432 -0.03207276 -0.02357167
+v 0.01782746 -0.03090958 -0.02408109
+v 0.01607238 -0.03131199 -0.02456627
+v 0.01607238 -0.03898985 -0.01101389
+v 0.01652921 -0.03881367 -0.01095526
+v 0.03752638 -0.01908562 -0.01095519
+v 0.03776648 -0.01855308 -0.01100775
+v 0.02766523 -0.01951400 -0.02578319
+v 0.02874675 -0.01855303 -0.02547389
+v 0.02881899 -0.01861909 -0.02539505
+v 0.02729977 -0.02056107 -0.02552444
+v 0.02686631 -0.02169221 -0.02520503
+v 0.02643285 -0.02305360 -0.02467539
+v 0.02523872 -0.02351207 -0.02526771
+v 0.02464803 -0.02463721 -0.02491394
+v 0.02548095 -0.02547005 -0.02374751
+v 0.02460978 -0.02587647 -0.02405480
+v 0.02378324 -0.02885150 -0.02205955
+v 0.02307569 -0.02809072 -0.02333311
+v 0.02460978 -0.02672533 -0.02336545
+v 0.02555319 -0.02723185 -0.02213029
+v 0.02445255 -0.02787451 -0.02243555
+v 0.02291420 -0.02918985 -0.02239917
+v 0.02191768 -0.03042310 -0.02191602
+v 0.02135248 -0.02977644 -0.02298542
+v 0.02078729 -0.03080148 -0.02234257
+v 0.01873899 -0.03226097 -0.02208382
+v 0.01782746 -0.03251923 -0.02237694
+v 0.01653346 -0.03371044 -0.02176846
+v 0.01607238 -0.03298971 -0.02287424
+v 0.01607238 -0.03133602 -0.02454403
+v 0.01607238 -0.03897383 -0.01107655
+v 0.01649309 -0.03879965 -0.01107655
+v 0.01782746 -0.03820305 -0.01107655
+v 0.01782108 -0.03823508 -0.01095526
+v 0.03710142 -0.01992647 -0.01095519
+v 0.03751576 -0.01904958 -0.01107648
+v 0.03774948 -0.01855308 -0.01107648
+v 0.02891036 -0.01855303 -0.02535058
+v 0.02851302 -0.01951400 -0.02515246
+v 0.03036372 -0.01855303 -0.02411137
+v 0.03060807 -0.01877125 -0.02378995
+v 0.02968591 -0.01940789 -0.02423064
+v 0.02800520 -0.02121773 -0.02458442
+v 0.02758237 -0.02259313 -0.02408106
+v 0.02712766 -0.02372228 -0.02370911
+v 0.02588041 -0.02459917 -0.02405277
+v 0.02672820 -0.02459917 -0.02335331
+v 0.02723390 -0.02553613 -0.02212422
+v 0.02608226 -0.02606867 -0.02269026
+v 0.02367275 -0.03046115 -0.02026442
+v 0.02303107 -0.03009477 -0.02129136
+v 0.02491363 -0.02836301 -0.02151575
+v 0.02549157 -0.02886352 -0.02039178
+v 0.02445255 -0.02915982 -0.02105282
+v 0.02668358 -0.02666528 -0.02154809
+v 0.02721265 -0.02720383 -0.02042614
+v 0.02608864 -0.02778242 -0.02097195
+v 0.02254236 -0.03087556 -0.02079407
+v 0.02126749 -0.03140209 -0.02124084
+v 0.02061730 -0.03238309 -0.02056160
+v 0.01986938 -0.03193063 -0.02168355
+v 0.01790607 -0.03342815 -0.02120647
+v 0.01939130 -0.03263335 -0.02115391
+v 0.01739187 -0.03412686 -0.02064651
+v 0.01607238 -0.03435109 -0.02119031
+v 0.01607238 -0.03430705 -0.02124893
+v 0.01607238 -0.03307379 -0.02277518
+v 0.01607238 -0.03859944 -0.01243099
+v 0.01789332 -0.03769051 -0.01277667
+v 0.01885798 -0.03740424 -0.01222075
+v 0.01916182 -0.03756039 -0.01107655
+v 0.01919582 -0.03757240 -0.01095526
+v 0.03640449 -0.02119976 -0.01095520
+v 0.03636837 -0.02120978 -0.01107649
+v 0.03708443 -0.01989644 -0.01107648
+v 0.03737977 -0.01877530 -0.01209736
+v 0.03743927 -0.01855308 -0.01223887
+v 0.02911434 -0.02074325 -0.02396179
+v 0.03066756 -0.01855303 -0.02384655
+v 0.03216766 -0.01855304 -0.02224953
+v 0.03225690 -0.01869918 -0.02206355
+v 0.03126250 -0.01929979 -0.02274885
+v 0.03024473 -0.01990240 -0.02343416
+v 0.02871275 -0.02187440 -0.02360802
+v 0.02808807 -0.02305560 -0.02330883
+v 0.02885299 -0.02375833 -0.02204740
+v 0.02787984 -0.02443301 -0.02241936
+v 0.02836429 -0.02488747 -0.02150361
+v 0.02886574 -0.02546807 -0.02037963
+v 0.02778847 -0.02606667 -0.02096589
+v 0.02298857 -0.03143213 -0.01959328
+v 0.02174769 -0.03200472 -0.02004611
+v 0.02469265 -0.03009478 -0.01962764
+v 0.02418270 -0.03085755 -0.01914045
+v 0.02670483 -0.02841106 -0.01951240
+v 0.02708304 -0.02877343 -0.01857644
+v 0.02585704 -0.02918986 -0.01951241
+v 0.02531309 -0.03040909 -0.01848547
+v 0.02842166 -0.02668331 -0.01951240
+v 0.02878287 -0.02707371 -0.01857643
+v 0.02757387 -0.02756420 -0.01951240
+v 0.02029859 -0.03387662 -0.01859666
+v 0.01965053 -0.03360234 -0.01960945
+v 0.01852226 -0.03383858 -0.02023613
+v 0.02119737 -0.03273145 -0.01949625
+v 0.01629548 -0.03534011 -0.01959127
+v 0.01607238 -0.03537214 -0.01970043
+v 0.01790607 -0.03454730 -0.01960946
+v 0.01607238 -0.03853337 -0.01265740
+v 0.01850101 -0.03722604 -0.01334674
+v 0.01737063 -0.03749432 -0.01410684
+v 0.01946354 -0.03690972 -0.01277667
+v 0.02000962 -0.03711994 -0.01107655
+v 0.02003936 -0.03713596 -0.01095526
+v 0.03577768 -0.02229688 -0.01095520
+v 0.03576068 -0.02227285 -0.01107649
+v 0.03564169 -0.02207465 -0.01195586
+v 0.03592216 -0.02119775 -0.01261691
+v 0.03685920 -0.01940994 -0.01270180
+v 0.03715242 -0.01855307 -0.01314654
+v 0.03727141 -0.01855307 -0.01277660
+v 0.03229515 -0.01855304 -0.02210803
+v 0.03191906 -0.01982833 -0.02164105
+v 0.03078867 -0.02073725 -0.02230817
+v 0.03301758 -0.01855304 -0.02115184
+v 0.03379100 -0.01855305 -0.02012085
+v 0.03259050 -0.01936386 -0.02112960
+v 0.02976240 -0.02130583 -0.02295708
+v 0.03041258 -0.02186640 -0.02188971
+v 0.02917808 -0.02290346 -0.02237690
+v 0.03007899 -0.02300756 -0.02127718
+v 0.03045933 -0.02364021 -0.02024621
+v 0.02915046 -0.02443301 -0.02104472
+v 0.03008749 -0.02467327 -0.01961549
+v 0.03041471 -0.02528789 -0.01846927
+v 0.02918871 -0.02583444 -0.01951239
+v 0.02230439 -0.03238911 -0.01892213
+v 0.02343478 -0.03198870 -0.01827928
+v 0.02812631 -0.02811677 -0.01801444
+v 0.02747188 -0.02914182 -0.01745246
+v 0.02640948 -0.02977445 -0.01796997
+v 0.02460553 -0.03137608 -0.01782039
+v 0.02573592 -0.03076146 -0.01736149
+v 0.02978152 -0.02639101 -0.01795986
+v 0.02914833 -0.02746011 -0.01745043
+v 0.02131211 -0.03360634 -0.01795179
+v 0.02081066 -0.03418895 -0.01747067
+v 0.01950391 -0.03475952 -0.01780625
+v 0.01916820 -0.03419695 -0.01911216
+v 0.01696904 -0.03561038 -0.01866136
+v 0.01607238 -0.03559036 -0.01934262
+v 0.01607238 -0.03836720 -0.01315672
+v 0.01789332 -0.03706588 -0.01458190
+v 0.01965690 -0.03617297 -0.01456976
+v 0.02068530 -0.03579859 -0.01408662
+v 0.01626998 -0.03780063 -0.01458190
+v 0.01692442 -0.03728610 -0.01523284
+v 0.02123774 -0.03596476 -0.01266345
+v 0.02121862 -0.03644526 -0.01107654
+v 0.02121437 -0.03647929 -0.01095525
+v 0.03528260 -0.02308368 -0.01095520
+v 0.03522948 -0.02311972 -0.01107649
+v 0.03411822 -0.02401662 -0.01276449
+v 0.03499363 -0.02274533 -0.01261691
+v 0.03545471 -0.02175632 -0.01308186
+v 0.03577768 -0.02062517 -0.01398953
+v 0.03612189 -0.01960413 -0.01451108
+v 0.03664672 -0.01855307 -0.01451108
+v 0.03235889 -0.02055107 -0.02051911
+v 0.03138999 -0.02120974 -0.02120441
+v 0.03387812 -0.01855305 -0.01998541
+v 0.03417134 -0.01909760 -0.01905348
+v 0.03355090 -0.01960211 -0.01957504
+v 0.03086092 -0.02251106 -0.02076776
+v 0.03199131 -0.02168022 -0.01999957
+v 0.03142399 -0.02294951 -0.01956090
+v 0.03085454 -0.02415874 -0.01912223
+v 0.03198493 -0.02338796 -0.01824286
+v 0.03137299 -0.02457316 -0.01779408
+v 0.03076105 -0.02571033 -0.01734328
+v 0.02288870 -0.03267340 -0.01775975
+v 0.02389798 -0.03232305 -0.01715530
+v 0.02860226 -0.02859126 -0.01657107
+v 0.02686631 -0.03027096 -0.01651851
+v 0.02630324 -0.03101572 -0.01602930
+v 0.02509636 -0.03194667 -0.01613847
+v 0.03027872 -0.02684148 -0.01650637
+v 0.02960729 -0.02789255 -0.01597673
+v 0.02194105 -0.03383859 -0.01681973
+v 0.01992675 -0.03536815 -0.01613848
+v 0.01870924 -0.03563241 -0.01701583
+v 0.02131211 -0.03451528 -0.01620923
+v 0.01782746 -0.03539616 -0.01826716
+v 0.01629548 -0.03625704 -0.01799021
+v 0.01607238 -0.03606284 -0.01851985
+v 0.01782746 -0.03584663 -0.01742216
+v 0.01607238 -0.03788671 -0.01456169
+v 0.01907896 -0.03582861 -0.01613848
+v 0.02031134 -0.03558236 -0.01521261
+v 0.02123774 -0.03528006 -0.01456976
+v 0.02181569 -0.03546225 -0.01315671
+v 0.01607238 -0.03768650 -0.01508122
+v 0.01607238 -0.03728209 -0.01607178
+v 0.01607238 -0.03714595 -0.01638916
+v 0.01626998 -0.03711392 -0.01626787
+v 0.01782746 -0.03645325 -0.01613848
+v 0.02212591 -0.03565045 -0.01203273
+v 0.02234476 -0.03578659 -0.01107654
+v 0.02236813 -0.03580261 -0.01095525
+v 0.03524436 -0.02314374 -0.01095521
+v 0.03517636 -0.02324785 -0.01095521
+v 0.03438169 -0.02439701 -0.01107650
+v 0.03396099 -0.02379039 -0.01367620
+v 0.03378675 -0.02524387 -0.01107650
+v 0.03351265 -0.02486348 -0.01276449
+v 0.03523798 -0.02119775 -0.01451109
+v 0.03428183 -0.02288747 -0.01432309
+v 0.03555670 -0.02022876 -0.01511350
+v 0.03585842 -0.01909761 -0.01580689
+v 0.03602840 -0.01855306 -0.01603330
+v 0.03385687 -0.02022675 -0.01853394
+v 0.03268398 -0.02115369 -0.01946791
+v 0.03430945 -0.01855305 -0.01928191
+v 0.03454105 -0.01960211 -0.01791333
+v 0.03508287 -0.01855305 -0.01793153
+v 0.03558432 -0.01855306 -0.01703396
+v 0.03237377 -0.02225681 -0.01887559
+v 0.03264149 -0.02285542 -0.01773747
+v 0.03231640 -0.02385845 -0.01711687
+v 0.03193606 -0.02504565 -0.01613844
+v 0.03100540 -0.02628291 -0.01602120
+v 0.02425069 -0.03258131 -0.01613847
+v 0.02291845 -0.03347823 -0.01620922
+v 0.02893373 -0.02892159 -0.01544709
+v 0.02790533 -0.02959628 -0.01598280
+v 0.02720840 -0.03058128 -0.01539251
+v 0.02540871 -0.03218491 -0.01520856
+v 0.03058894 -0.02719183 -0.01538239
+v 0.02235751 -0.03411087 -0.01569374
+v 0.01607238 -0.03635714 -0.01797606
+v 0.02291845 -0.03430908 -0.01434740
+v 0.02382361 -0.03396273 -0.01371464
+v 0.02278034 -0.03501380 -0.01266345
+v 0.02406371 -0.03413090 -0.01276453
+v 0.02319255 -0.03524604 -0.01107654
+v 0.02315643 -0.03530010 -0.01095525
+v 0.03439444 -0.02442504 -0.01095521
+v 0.03380587 -0.02526990 -0.01095521
+v 0.03242264 -0.02568431 -0.01404210
+v 0.03307495 -0.02458119 -0.01442215
+v 0.03372726 -0.02344203 -0.01480018
+v 0.03286672 -0.02641907 -0.01112907
+v 0.03266486 -0.02599062 -0.01276450
+v 0.03409697 -0.02231087 -0.01564113
+v 0.03446668 -0.02127582 -0.01617684
+v 0.03537184 -0.01960412 -0.01627791
+v 0.03560557 -0.01861912 -0.01693288
+v 0.03566719 -0.01855306 -0.01686617
+v 0.03416496 -0.02075329 -0.01740998
+v 0.03356577 -0.02127581 -0.01791334
+v 0.03382712 -0.02188444 -0.01676511
+v 0.03345316 -0.02288746 -0.01617684
+v 0.03256500 -0.02419879 -0.01613844
+v 0.03218041 -0.02537199 -0.01516608
+v 0.02348790 -0.03373049 -0.01484064
+v 0.03002587 -0.02828095 -0.01445249
+v 0.02917808 -0.02916585 -0.01445250
+v 0.02830054 -0.03001271 -0.01445250
+v 0.02745275 -0.03079751 -0.01445250
+v 0.02628837 -0.03173847 -0.01456773
+v 0.02571042 -0.03242516 -0.01408256
+v 0.02461616 -0.03307783 -0.01446059
+v 0.03173208 -0.02626690 -0.01454346
+v 0.03079930 -0.02743409 -0.01445249
+v 0.02491150 -0.03352228 -0.01276452
+v 0.02523447 -0.03375453 -0.01137774
+v 0.02460766 -0.03432110 -0.01095525
+v 0.02431231 -0.03452131 -0.01095525
+v 0.02321592 -0.03526206 -0.01095525
+v 0.03269886 -0.02669935 -0.01095522
+v 0.03199131 -0.02683949 -0.01276450
+v 0.03217616 -0.02706573 -0.01172543
+v 0.03033184 -0.02861129 -0.01307583
+v 0.02862564 -0.03032102 -0.01307987
+v 0.02687906 -0.03199673 -0.01276452
+v 0.02603127 -0.03267542 -0.01276452
+v 0.03102877 -0.02802269 -0.01261288
+v 0.02469053 -0.03426304 -0.01095525
+v 0.02709579 -0.03217892 -0.01177599
+v 0.02628199 -0.03305381 -0.01101387
+v 0.02532159 -0.03381859 -0.01095524
+v 0.03229515 -0.02720987 -0.01095522
+v 0.03187444 -0.02769637 -0.01095522
+v 0.03164284 -0.02790058 -0.01112907
+v 0.03055495 -0.02884553 -0.01194983
+v 0.02959667 -0.02958428 -0.01251586
+v 0.02886149 -0.03054326 -0.01195589
+v 0.02803707 -0.03103175 -0.01261694
+v 0.02792021 -0.03164638 -0.01115942
+v 0.02767373 -0.03192867 -0.01095524
+v 0.02724665 -0.03230505 -0.01095524
+v 0.02644773 -0.03293970 -0.01095524
+v 0.02625862 -0.03308985 -0.01095524
+v 0.02622037 -0.03311988 -0.01095524
+v 0.03071006 -0.02901371 -0.01095523
+v 0.03069306 -0.02899569 -0.01107652
+v 0.02986014 -0.02984255 -0.01107652
+v 0.02901235 -0.03068741 -0.01107652
+v 0.02797120 -0.03166240 -0.01095524
+v 0.02987926 -0.02986257 -0.01095523
+v 0.02903147 -0.03070543 -0.01095523
+f 1 2 11
+f 1 11 22
+f 1 22 12
+f 1 12 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 19
+f 1 19 38
+f 1 38 60
+f 1 60 88
+f 1 88 87
+f 1 87 125
+f 1 125 124
+f 1 124 123
+f 1 123 165
+f 1 165 209
+f 1 209 253
+f 1 253 298
+f 1 298 262
+f 1 262 261
+f 1 261 260
+f 1 260 255
+f 1 255 210
+f 1 210 167
+f 1 167 126
+f 1 126 89
+f 1 89 61
+f 1 61 39
+f 1 39 20
+f 1 20 10
+f 1 10 2
+f 2 10 21
+f 2 21 40
+f 2 40 64
+f 2 64 95
+f 2 95 135
+f 2 135 179
+f 2 179 178
+f 2 178 226
+f 2 226 278
+f 2 278 316
+f 2 316 284
+f 2 284 283
+f 2 283 281
+f 2 281 229
+f 2 229 184
+f 2 184 183
+f 2 183 180
+f 2 180 138
+f 2 138 137
+f 2 137 98
+f 2 98 96
+f 2 96 66
+f 2 66 42
+f 2 42 23
+f 2 23 11
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 8 7
+f 6 16 17
+f 6 17 18
+f 6 18 8
+f 8 18 19
+f 8 19 9
+f 10 20 21
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 22
+f 12 22 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 15
+f 15 30 29
+f 15 29 31
+f 15 31 32
+f 15 32 33
+f 15 33 17
+f 15 17 16
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 20 39 62
+f 20 62 92
+f 20 92 130
+f 20 130 172
+f 20 172 218
+f 20 218 267
+f 20 267 304
+f 20 304 337
+f 20 337 336
+f 20 336 335
+f 20 335 346
+f 20 346 349
+f 20 349 362
+f 20 362 361
+f 20 361 360
+f 20 360 359
+f 20 359 358
+f 20 358 367
+f 20 367 369
+f 20 369 368
+f 20 368 363
+f 20 363 351
+f 20 351 350
+f 20 350 338
+f 20 338 306
+f 20 306 305
+f 20 305 269
+f 20 269 268
+f 20 268 219
+f 20 219 173
+f 20 173 131
+f 20 131 93
+f 20 93 63
+f 20 63 40
+f 20 40 21
+f 22 27 41
+f 22 41 28
+f 23 42 43
+f 23 43 24
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 41
+f 28 41 47
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 34
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 36
+f 36 59 37
+f 37 60 38
+f 37 59 60
+f 39 61 62
+f 40 63 64
+f 42 65 43
+f 42 66 67
+f 42 67 65
+f 43 65 68
+f 43 68 44
+f 44 68 45
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 47
+f 47 71 49
+f 47 49 48
+f 49 51 50
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 51
+f 51 75 76
+f 51 76 53
+f 51 53 52
+f 51 74 73
+f 51 73 77
+f 51 77 78
+f 51 78 79
+f 51 79 75
+f 53 76 75
+f 53 75 80
+f 53 80 81
+f 53 81 82
+f 53 82 55
+f 53 55 54
+f 55 82 83
+f 55 83 56
+f 56 84 57
+f 56 83 84
+f 57 84 85
+f 57 85 58
+f 58 86 87
+f 58 87 88
+f 58 88 60
+f 58 60 59
+f 58 85 86
+f 61 89 90
+f 61 90 62
+f 62 90 91
+f 62 91 92
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 65 67 68
+f 66 96 67
+f 67 97 68
+f 67 96 98
+f 67 98 99
+f 67 99 100
+f 67 100 97
+f 68 97 101
+f 68 101 69
+f 69 101 102
+f 69 102 70
+f 70 102 103
+f 70 103 71
+f 71 103 104
+f 71 104 73
+f 71 73 72
+f 73 104 103
+f 73 103 105
+f 73 105 106
+f 73 106 107
+f 73 107 78
+f 73 78 77
+f 75 108 109
+f 75 109 81
+f 75 81 80
+f 75 79 78
+f 75 78 110
+f 75 110 111
+f 75 111 112
+f 75 112 108
+f 78 111 110
+f 78 107 106
+f 78 106 113
+f 78 113 114
+f 78 114 115
+f 78 115 111
+f 81 116 117
+f 81 117 83
+f 81 83 82
+f 81 109 108
+f 81 108 116
+f 83 118 119
+f 83 119 84
+f 83 117 118
+f 84 120 85
+f 84 119 121
+f 84 121 120
+f 85 120 86
+f 86 120 122
+f 86 122 123
+f 86 123 124
+f 86 124 125
+f 86 125 87
+f 89 126 90
+f 90 126 127
+f 90 127 91
+f 91 127 128
+f 91 128 129
+f 91 129 92
+f 92 129 130
+f 93 131 132
+f 93 132 133
+f 93 133 94
+f 94 134 95
+f 94 133 134
+f 95 134 135
+f 97 100 136
+f 97 136 101
+f 98 137 99
+f 99 137 138
+f 99 138 139
+f 99 139 140
+f 99 140 141
+f 99 141 136
+f 99 136 100
+f 101 136 142
+f 101 142 102
+f 102 142 103
+f 103 142 143
+f 103 143 144
+f 103 144 145
+f 103 145 106
+f 103 106 105
+f 106 145 144
+f 106 144 146
+f 106 146 147
+f 106 147 148
+f 106 148 114
+f 106 114 113
+f 108 149 150
+f 108 150 116
+f 108 112 111
+f 108 111 151
+f 108 151 152
+f 108 152 149
+f 111 115 114
+f 111 114 153
+f 111 153 154
+f 111 154 155
+f 111 155 156
+f 111 156 151
+f 114 148 147
+f 114 147 157
+f 114 157 158
+f 114 158 159
+f 114 159 154
+f 114 154 153
+f 116 150 118
+f 116 118 117
+f 118 160 161
+f 118 161 162
+f 118 162 121
+f 118 121 119
+f 118 150 163
+f 118 163 160
+f 120 121 162
+f 120 162 122
+f 122 164 165
+f 122 165 123
+f 122 162 166
+f 122 166 164
+f 126 167 127
+f 127 168 128
+f 127 167 169
+f 127 169 168
+f 128 170 171
+f 128 171 129
+f 128 168 170
+f 129 171 172
+f 129 172 130
+f 131 173 132
+f 132 173 174
+f 132 174 175
+f 132 175 133
+f 133 175 176
+f 133 176 177
+f 133 177 134
+f 134 178 179
+f 134 179 135
+f 134 177 178
+f 136 141 142
+f 138 180 139
+f 139 181 182
+f 139 182 140
+f 139 180 183
+f 139 183 184
+f 139 184 185
+f 139 185 181
+f 140 182 141
+f 141 186 142
+f 141 182 186
+f 142 186 187
+f 142 187 188
+f 142 188 144
+f 142 144 143
+f 144 188 187
+f 144 187 189
+f 144 189 190
+f 144 190 191
+f 144 191 147
+f 144 147 146
+f 147 191 190
+f 147 190 192
+f 147 192 193
+f 147 193 194
+f 147 194 158
+f 147 158 157
+f 149 152 195
+f 149 195 150
+f 150 195 163
+f 151 156 152
+f 152 156 196
+f 152 196 195
+f 154 159 158
+f 154 158 197
+f 154 197 198
+f 154 198 199
+f 154 199 156
+f 154 156 155
+f 156 200 196
+f 156 199 201
+f 156 201 200
+f 158 194 193
+f 158 193 202
+f 158 202 203
+f 158 203 197
+f 160 163 195
+f 160 195 204
+f 160 204 205
+f 160 205 206
+f 160 206 207
+f 160 207 161
+f 161 207 162
+f 162 207 166
+f 164 166 208
+f 164 208 165
+f 165 208 209
+f 166 207 208
+f 167 210 169
+f 168 169 211
+f 168 211 212
+f 168 212 213
+f 168 213 170
+f 169 210 214
+f 169 214 215
+f 169 215 211
+f 170 213 216
+f 170 216 171
+f 171 216 217
+f 171 217 172
+f 172 217 218
+f 173 219 220
+f 173 220 174
+f 174 220 175
+f 175 220 221
+f 175 221 222
+f 175 222 223
+f 175 223 176
+f 176 223 224
+f 176 224 177
+f 177 224 178
+f 178 224 225
+f 178 225 226
+f 181 185 227
+f 181 227 228
+f 181 228 187
+f 181 187 182
+f 182 187 186
+f 184 229 230
+f 184 230 231
+f 184 231 227
+f 184 227 185
+f 187 228 232
+f 187 232 189
+f 189 232 190
+f 190 232 233
+f 190 233 234
+f 190 234 235
+f 190 235 192
+f 192 235 193
+f 193 235 236
+f 193 236 237
+f 193 237 238
+f 193 238 202
+f 195 196 239
+f 195 239 204
+f 196 200 240
+f 196 240 239
+f 197 203 241
+f 197 241 198
+f 198 242 201
+f 198 201 199
+f 198 241 242
+f 200 201 240
+f 201 242 243
+f 201 243 244
+f 201 244 240
+f 202 245 203
+f 202 238 245
+f 203 245 246
+f 203 246 241
+f 204 239 247
+f 204 247 205
+f 205 248 249
+f 205 249 206
+f 205 247 250
+f 205 250 248
+f 206 249 251
+f 206 251 207
+f 207 251 208
+f 208 252 253
+f 208 253 209
+f 208 251 249
+f 208 249 254
+f 208 254 252
+f 210 255 214
+f 211 256 257
+f 211 257 212
+f 211 215 256
+f 212 257 213
+f 213 257 258
+f 213 258 259
+f 213 259 216
+f 214 255 260
+f 214 260 215
+f 215 260 261
+f 215 261 262
+f 215 262 263
+f 215 263 264
+f 215 264 256
+f 216 259 265
+f 216 265 217
+f 217 265 266
+f 217 266 218
+f 218 266 267
+f 219 268 220
+f 220 268 269
+f 220 269 270
+f 220 270 221
+f 221 271 222
+f 221 270 272
+f 221 272 273
+f 221 273 271
+f 222 271 223
+f 223 274 224
+f 223 271 275
+f 223 275 274
+f 224 274 276
+f 224 276 225
+f 225 276 277
+f 225 277 226
+f 226 277 278
+f 227 233 232
+f 227 232 228
+f 227 231 279
+f 227 279 280
+f 227 280 233
+f 229 281 230
+f 230 282 279
+f 230 279 231
+f 230 281 283
+f 230 283 284
+f 230 284 282
+f 233 280 285
+f 233 285 234
+f 234 285 235
+f 235 285 236
+f 236 285 286
+f 236 286 287
+f 236 287 237
+f 237 287 238
+f 238 287 288
+f 238 288 289
+f 238 289 245
+f 239 240 247
+f 240 244 290
+f 240 290 291
+f 240 291 247
+f 241 246 292
+f 241 292 293
+f 241 293 242
+f 242 293 294
+f 242 294 243
+f 243 295 244
+f 243 294 295
+f 244 295 290
+f 245 289 296
+f 245 296 246
+f 246 296 292
+f 247 297 250
+f 247 291 297
+f 248 250 257
+f 248 257 249
+f 249 264 263
+f 249 263 254
+f 249 257 256
+f 249 256 264
+f 250 297 257
+f 252 262 298
+f 252 298 253
+f 252 254 262
+f 254 263 262
+f 257 297 258
+f 258 297 299
+f 258 299 259
+f 259 299 300
+f 259 300 301
+f 259 301 265
+f 265 301 302
+f 265 302 303
+f 265 303 266
+f 266 303 304
+f 266 304 267
+f 269 305 270
+f 270 305 306
+f 270 306 272
+f 271 273 307
+f 271 307 308
+f 271 308 309
+f 271 309 275
+f 272 310 311
+f 272 311 273
+f 272 306 310
+f 273 311 307
+f 274 275 312
+f 274 312 276
+f 275 309 312
+f 276 312 313
+f 276 313 314
+f 276 314 277
+f 277 315 316
+f 277 316 278
+f 277 314 315
+f 279 282 317
+f 279 317 318
+f 279 318 285
+f 279 285 280
+f 282 284 315
+f 282 315 317
+f 284 316 315
+f 285 318 286
+f 286 318 319
+f 286 319 287
+f 287 319 320
+f 287 320 321
+f 287 321 288
+f 288 321 322
+f 288 322 289
+f 289 322 296
+f 290 323 291
+f 290 295 323
+f 291 323 297
+f 292 296 324
+f 292 324 325
+f 292 325 326
+f 292 326 294
+f 292 294 293
+f 294 326 327
+f 294 327 328
+f 294 328 295
+f 295 328 329
+f 295 329 330
+f 295 330 323
+f 296 322 331
+f 296 331 332
+f 296 332 324
+f 297 323 299
+f 299 323 300
+f 300 323 330
+f 300 330 329
+f 300 329 333
+f 300 333 302
+f 300 302 301
+f 302 333 334
+f 302 334 335
+f 302 335 303
+f 303 335 336
+f 303 336 337
+f 303 337 304
+f 306 338 310
+f 307 311 339
+f 307 339 331
+f 307 331 322
+f 307 322 308
+f 308 322 309
+f 309 322 321
+f 309 321 320
+f 309 320 312
+f 310 338 340
+f 310 340 311
+f 311 340 339
+f 312 319 313
+f 312 320 319
+f 313 319 317
+f 313 317 314
+f 314 317 315
+f 317 319 318
+f 324 341 325
+f 324 332 341
+f 325 342 326
+f 325 341 342
+f 326 342 327
+f 327 343 328
+f 327 342 343
+f 328 343 329
+f 329 343 344
+f 329 344 333
+f 331 339 332
+f 332 339 345
+f 332 345 341
+f 333 344 334
+f 334 346 335
+f 334 344 347
+f 334 347 348
+f 334 348 349
+f 334 349 346
+f 338 350 340
+f 339 340 345
+f 340 350 351
+f 340 351 352
+f 340 352 353
+f 340 353 345
+f 341 354 342
+f 341 345 353
+f 341 353 354
+f 342 354 355
+f 342 355 356
+f 342 356 343
+f 343 356 347
+f 343 347 344
+f 347 356 355
+f 347 355 357
+f 347 357 358
+f 347 358 359
+f 347 359 348
+f 348 360 361
+f 348 361 362
+f 348 362 349
+f 348 359 360
+f 351 363 364
+f 351 364 352
+f 352 364 353
+f 353 364 365
+f 353 365 355
+f 353 355 354
+f 355 366 357
+f 355 365 366
+f 357 367 358
+f 357 366 367
+f 363 368 364
+f 364 368 365
+f 365 368 366
+f 366 368 369
+f 366 369 367
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_26.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.02573343 -0.02799994 0.01267286
+v -0.03534455 -0.02799994 0.01267286
+v -0.03470983 -0.01553906 0.01267290
+v -0.03540709 -0.01553909 0.02248586
+v -0.03546269 -0.01553910 0.02316163
+v -0.03553219 -0.01553910 0.02394845
+v -0.03556925 -0.01553910 0.02435772
+v -0.02666235 -0.02799997 0.02266983
+v -0.03574994 -0.02748399 0.01267286
+v -0.04344068 -0.02800004 0.04126465
+v -0.04220599 -0.01553906 0.01267290
+v -0.03575457 -0.01553911 0.02604556
+v -0.02671794 -0.02799998 0.02314256
+v -0.03579858 -0.02741935 0.01267286
+v -0.04367465 -0.02800005 0.04276848
+v -0.04414026 -0.02727308 0.04185793
+v -0.03586344 -0.02733274 0.01267286
+v -0.04930603 -0.01553916 0.04160099
+v -0.04206005 -0.01594889 0.01267290
+v -0.04928055 -0.01570748 0.04167079
+v -0.03594221 -0.01553911 0.02733048
+v -0.02686157 -0.02799998 0.02435768
+v -0.04367465 -0.02800005 0.04291442
+v -0.04413794 -0.02726821 0.04291442
+v -0.04470780 -0.02629242 0.04291442
+v -0.04547687 -0.02493484 0.04291443
+v -0.04589616 -0.02402247 0.04168662
+v -0.03913664 -0.02234156 0.01267288
+v -0.03909958 -0.02240621 0.01267288
+v -0.03864323 -0.02318928 0.01267287
+v -0.03771663 -0.02468468 0.01267287
+v -0.03767494 -0.02475055 0.01267287
+v -0.03675761 -0.02610324 0.01267286
+v -0.03672981 -0.02614350 0.01267286
+v -0.04933846 -0.01553916 0.04183259
+v -0.04204847 -0.01598061 0.01267290
+v -0.04755245 -0.02059621 0.04178181
+v -0.04841650 -0.01781886 0.04122661
+v -0.04863425 -0.01781887 0.04291445
+v -0.04904427 -0.01666499 0.04291446
+v -0.04931530 -0.01581727 0.04291446
+v -0.03600243 -0.01553911 0.02773023
+v -0.02697276 -0.02799998 0.02507469
+v -0.04408235 -0.02717795 0.04379006
+v -0.04310942 -0.02800005 0.04417713
+v -0.04584751 -0.02392733 0.04388208
+v -0.04593091 -0.02408712 0.04291443
+v -0.04651466 -0.02290275 0.04291444
+v -0.04041766 -0.01982523 0.01267289
+v -0.03977831 -0.02111938 0.01267288
+v -0.03973198 -0.02120842 0.01267288
+v -0.03918992 -0.02224154 0.01267288
+v -0.04939638 -0.01553917 0.04291446
+v -0.04131414 -0.01781876 0.01267289
+v -0.04718644 -0.02147687 0.04291444
+v -0.04756635 -0.02062915 0.04291444
+v -0.04800648 -0.01951431 0.04291445
+v -0.04085780 -0.01887383 0.01267289
+v -0.04081147 -0.01897873 0.01267289
+v -0.04750380 -0.02048278 0.04383450
+v -0.04923654 -0.01556722 0.04389163
+v -0.03618775 -0.01553912 0.02868202
+v -0.02712796 -0.02799999 0.02604552
+v -0.04434179 -0.02629242 0.04405022
+v -0.04151799 -0.02800006 0.04492904
+v -0.04317892 -0.02784149 0.04419933
+v -0.04609538 -0.02290275 0.04413273
+v -0.04924117 -0.01553917 0.04389480
+v -0.04769144 -0.01951431 0.04405342
+v -0.04800648 -0.01781887 0.04431992
+v -0.03632906 -0.01553912 0.02938951
+v -0.02734803 -0.02799999 0.02713056
+v -0.04494872 -0.02453477 0.04431990
+v -0.03982001 -0.02800006 0.04504325
+v -0.04151568 -0.02798787 0.04493221
+v -0.04321135 -0.02629242 0.04470696
+v -0.04490702 -0.02290275 0.04478629
+v -0.04665133 -0.02111217 0.04430088
+v -0.04837249 -0.01553917 0.04450395
+v -0.04841187 -0.01612830 0.04437069
+v -0.04660269 -0.01951431 0.04471650
+v -0.02747312 -0.02799999 0.02773019
+v -0.03663947 -0.01553912 0.03060781
+v -0.03982001 -0.02798787 0.04504325
+v -0.04151568 -0.02629243 0.04505595
+v -0.03812434 -0.02800005 0.04472599
+v -0.04321135 -0.02459820 0.04501154
+v -0.04490702 -0.02120854 0.04501789
+v -0.04660269 -0.01781888 0.04495445
+v -0.04660269 -0.01612344 0.04506868
+v -0.04660269 -0.01553918 0.04507819
+v -0.03676919 -0.01553912 0.03110274
+v -0.02792484 -0.02800000 0.02943072
+v -0.04490702 -0.01781888 0.04501473
+v -0.04490702 -0.01951432 0.04508136
+v -0.04490702 -0.01612343 0.04488783
+v -0.04490702 -0.01553917 0.04482755
+v -0.03679931 -0.02800005 0.04408829
+v -0.03714214 -0.01553913 0.03233689
+v -0.02793642 -0.02800000 0.02946879
+v -0.04356345 -0.01553917 0.04417399
+v -0.03595147 -0.02800005 0.04335859
+v -0.03742939 -0.01553913 0.03319668
+v -0.02848311 -0.02800000 0.03110270
+v -0.04268087 -0.01553917 0.04326662
+v -0.03518240 -0.02800005 0.04252735
+v -0.03787879 -0.01553914 0.03447208
+v -0.02883290 -0.02800001 0.03198469
+v -0.03426507 -0.02800004 0.04141059
+v -0.04206700 -0.01553917 0.04247029
+v -0.03855752 -0.01553914 0.03611550
+v -0.02915721 -0.02800001 0.03279054
+v -0.03413766 -0.02800004 0.04124244
+v -0.03297247 -0.02800004 0.03962757
+v -0.03291687 -0.02800004 0.03954508
+v -0.04126318 -0.01553916 0.04125834
+v -0.03884940 -0.01553914 0.03675003
+v -0.02981509 -0.02800002 0.03423091
+v -0.03175862 -0.02800003 0.03775254
+v -0.04060761 -0.01553916 0.04016378
+v -0.03173314 -0.02800003 0.03771130
+v -0.03906715 -0.01553915 0.03721640
+v -0.02987995 -0.02800002 0.03436099
+v -0.03920845 -0.01553915 0.03751781
+v -0.03938914 -0.01553915 0.03790169
+v -0.04021844 -0.01553916 0.03948801
+v -0.03092701 -0.02800002 0.03634072
+v -0.03089226 -0.02800002 0.03628044
+f 1 2 9
+f 1 9 14
+f 1 14 17
+f 1 17 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 59
+f 1 59 58
+f 1 58 54
+f 1 54 36
+f 1 36 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 22
+f 1 22 43
+f 1 43 63
+f 1 63 72
+f 1 72 82
+f 1 82 93
+f 1 93 100
+f 1 100 104
+f 1 104 108
+f 1 108 112
+f 1 112 118
+f 1 118 123
+f 1 123 128
+f 1 128 127
+f 1 127 121
+f 1 121 119
+f 1 119 115
+f 1 115 114
+f 1 114 113
+f 1 113 109
+f 1 109 106
+f 1 106 102
+f 1 102 98
+f 1 98 86
+f 1 86 74
+f 1 74 65
+f 1 65 45
+f 1 45 23
+f 1 23 15
+f 1 15 10
+f 1 10 2
+f 2 10 9
+f 3 11 18
+f 3 18 35
+f 3 35 53
+f 3 53 68
+f 3 68 79
+f 3 79 91
+f 3 91 97
+f 3 97 101
+f 3 101 105
+f 3 105 110
+f 3 110 116
+f 3 116 120
+f 3 120 126
+f 3 126 125
+f 3 125 124
+f 3 124 122
+f 3 122 117
+f 3 117 111
+f 3 111 107
+f 3 107 103
+f 3 103 99
+f 3 99 92
+f 3 92 83
+f 3 83 71
+f 3 71 62
+f 3 62 42
+f 3 42 21
+f 3 21 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 8
+f 8 12 13
+f 9 10 14
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 11 19 20
+f 11 20 18
+f 12 21 22
+f 12 22 13
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 18 20 35
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 37
+f 20 37 39
+f 20 39 40
+f 20 40 41
+f 20 41 35
+f 21 42 22
+f 22 42 43
+f 23 44 24
+f 23 45 44
+f 24 44 25
+f 25 44 26
+f 26 44 46
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 37
+f 27 37 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 28
+f 35 41 53
+f 36 54 37
+f 37 48 55
+f 37 55 56
+f 37 56 57
+f 37 57 39
+f 37 54 58
+f 37 58 59
+f 37 59 49
+f 39 57 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 53
+f 42 62 63
+f 42 63 43
+f 44 64 46
+f 44 45 64
+f 45 65 66
+f 45 66 64
+f 46 60 48
+f 46 48 47
+f 46 64 67
+f 46 67 60
+f 48 60 55
+f 53 61 68
+f 55 60 56
+f 56 60 57
+f 60 67 69
+f 60 69 61
+f 61 69 70
+f 61 70 68
+f 62 71 63
+f 63 71 72
+f 64 66 73
+f 64 73 67
+f 65 74 75
+f 65 75 76
+f 65 76 66
+f 66 76 73
+f 67 73 77
+f 67 77 78
+f 67 78 69
+f 68 70 80
+f 68 80 79
+f 69 78 70
+f 70 78 81
+f 70 81 79
+f 70 79 80
+f 71 82 72
+f 71 83 82
+f 73 76 77
+f 74 84 95
+f 74 95 85
+f 74 85 75
+f 74 86 84
+f 75 85 87
+f 75 87 77
+f 75 77 76
+f 77 87 88
+f 77 88 89
+f 77 89 81
+f 77 81 78
+f 79 81 89
+f 79 89 90
+f 79 90 91
+f 82 83 92
+f 82 92 93
+f 84 94 91
+f 84 91 95
+f 84 86 96
+f 84 96 94
+f 85 95 87
+f 86 97 96
+f 86 98 97
+f 87 95 88
+f 88 95 90
+f 88 90 89
+f 90 95 91
+f 91 94 96
+f 91 96 97
+f 92 99 93
+f 93 99 100
+f 97 98 101
+f 98 102 101
+f 99 103 100
+f 100 103 104
+f 101 102 105
+f 102 106 105
+f 103 107 104
+f 104 107 108
+f 105 106 109
+f 105 109 110
+f 107 111 112
+f 107 112 108
+f 109 113 110
+f 110 113 114
+f 110 114 115
+f 110 115 116
+f 111 117 118
+f 111 118 112
+f 115 119 116
+f 116 119 121
+f 116 121 120
+f 117 122 118
+f 118 122 124
+f 118 124 125
+f 118 125 123
+f 120 121 127
+f 120 127 128
+f 120 128 126
+f 123 125 126
+f 123 126 128
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_27.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.04232387 -0.01528389 0.01290157
+v 0.03485331 -0.01528389 0.01290157
+v 0.04201739 -0.01610721 0.01290157
+v 0.04086807 -0.01566652 0.00073500
+v 0.04072384 -0.01529349 -0.00184777
+v 0.04082300 -0.01528384 -0.00095104
+v 0.02625145 -0.02761672 0.01290153
+v 0.02998786 -0.01528380 -0.01095518
+v 0.01930372 -0.02761663 -0.01095522
+v 0.04186866 -0.01648265 0.01290157
+v 0.04068779 -0.01690151 0.00351626
+v 0.04062919 -0.01674940 0.00242104
+v 0.04053680 -0.01651398 0.00073500
+v 0.04043989 -0.01627134 -0.00095104
+v 0.04037454 -0.01596469 -0.00250164
+v 0.04007482 -0.01612404 -0.00432545
+v 0.04059314 -0.01528383 -0.00287060
+v 0.04071934 -0.01528383 -0.00189681
+v 0.03567586 -0.02761672 0.01290153
+v 0.03918691 -0.01528380 -0.01095518
+v 0.03194170 -0.02761663 -0.01095522
+v 0.04133681 -0.01781903 0.01290156
+v 0.03998693 -0.01781898 0.00073499
+v 0.03979312 -0.01781898 -0.00095105
+v 0.03958579 -0.01781897 -0.00263942
+v 0.03925452 -0.01749904 -0.00601383
+v 0.03982692 -0.01612404 -0.00601383
+v 0.04039482 -0.01528382 -0.00432545
+v 0.03932213 -0.01791795 -0.00426942
+v 0.03583361 -0.02741149 0.01290153
+v 0.03431471 -0.02761668 0.00211275
+v 0.03422682 -0.02750682 0.00073496
+v 0.03921170 -0.01528380 -0.01084776
+v 0.03913959 -0.01557957 -0.01070531
+v 0.03910804 -0.01549868 -0.01095518
+v 0.03229551 -0.02720860 -0.01095522
+v 0.03196424 -0.02761663 -0.01088750
+v 0.04084779 -0.01895380 0.01290156
+v 0.03922297 -0.01908654 -0.00095105
+v 0.03911705 -0.01886441 -0.00263942
+v 0.03904719 -0.01872075 -0.00366926
+v 0.03896832 -0.01854932 -0.00479251
+v 0.03887592 -0.01834650 -0.00601384
+v 0.03911480 -0.01718516 -0.00769987
+v 0.03954974 -0.01612403 -0.00769987
+v 0.04013792 -0.01528382 -0.00603951
+v 0.03665616 -0.02626827 0.01290153
+v 0.03528599 -0.02667507 0.00410704
+v 0.03569614 -0.02553786 0.00073497
+v 0.03579755 -0.02568394 0.00242101
+v 0.03413668 -0.02761667 0.00073496
+v 0.03518233 -0.02653140 0.00242100
+v 0.03391132 -0.02761667 -0.00095108
+v 0.03411414 -0.02736799 -0.00095108
+v 0.03954974 -0.01528381 -0.00932285
+v 0.03891423 -0.01670951 -0.00973386
+v 0.03881282 -0.01622904 -0.01095518
+v 0.03896156 -0.01586326 -0.01095518
+v 0.03924325 -0.01613610 -0.00925747
+v 0.03269890 -0.02669674 -0.01095522
+v 0.03234960 -0.02727499 -0.01059793
+v 0.03238791 -0.02761664 -0.00938828
+v 0.04045116 -0.01980126 0.01290156
+v 0.03931987 -0.01929056 0.00073499
+v 0.03880831 -0.01993400 -0.00095105
+v 0.03890972 -0.02013802 0.00073499
+v 0.03870014 -0.01971187 -0.00263942
+v 0.03863930 -0.01937625 -0.00426942
+v 0.03831253 -0.01951387 -0.00601384
+v 0.03802633 -0.01951386 -0.00769988
+v 0.03873395 -0.01803262 -0.00769988
+v 0.03903367 -0.01700167 -0.00860827
+v 0.03986298 -0.01528381 -0.00769987
+v 0.03716997 -0.02553550 0.01290154
+v 0.03563980 -0.02545818 -0.00018044
+v 0.03728040 -0.02537735 0.01290154
+v 0.03507416 -0.02638532 0.00073496
+v 0.03382568 -0.02761666 -0.00155124
+v 0.03399696 -0.02721949 -0.00263945
+v 0.03505613 -0.02613060 -0.00082731
+v 0.03812774 -0.01780807 -0.01095519
+v 0.03859197 -0.01766684 -0.00925747
+v 0.03380540 -0.02526741 -0.01095521
+v 0.03392033 -0.02542676 -0.01017524
+v 0.03346737 -0.02622111 -0.00952372
+v 0.03251411 -0.02746936 -0.00938828
+v 0.03263580 -0.02761664 -0.00832341
+v 0.03974580 -0.02120886 0.01290155
+v 0.03904494 -0.02040603 0.00305855
+v 0.03897958 -0.02027807 0.00193296
+v 0.03813901 -0.02120881 -0.00095106
+v 0.03792492 -0.02120880 -0.00263943
+v 0.03765900 -0.02129692 -0.00419937
+v 0.03760942 -0.02088526 -0.00601385
+v 0.03746519 -0.02061967 -0.00769989
+v 0.03736603 -0.02043858 -0.00873439
+v 0.03766350 -0.01958509 -0.00933454
+v 0.03631587 -0.02459745 0.00073497
+v 0.03652095 -0.02459746 0.00242101
+v 0.03556544 -0.02535074 -0.00130603
+v 0.03604770 -0.02471092 -0.00082730
+v 0.03739082 -0.02520713 0.01290154
+v 0.03367019 -0.02761666 -0.00263945
+v 0.03393611 -0.02714102 -0.00348948
+v 0.03468880 -0.02629236 -0.00263945
+v 0.03752604 -0.01908530 -0.01095519
+v 0.03439358 -0.02442357 -0.01095521
+v 0.03544825 -0.02346264 -0.00938827
+v 0.03454006 -0.02475556 -0.00952371
+v 0.03405555 -0.02560785 -0.00905200
+v 0.03355751 -0.02665208 -0.00769991
+v 0.03277778 -0.02761664 -0.00769991
+v 0.03916212 -0.02230259 0.01290155
+v 0.03834183 -0.02120881 0.00073498
+v 0.03750350 -0.02235808 -0.00095106
+v 0.03739758 -0.02217698 -0.00263943
+v 0.03733448 -0.02207316 -0.00355251
+v 0.03725110 -0.02192105 -0.00467576
+v 0.03714293 -0.02173151 -0.00601385
+v 0.03699419 -0.02146592 -0.00769989
+v 0.03687025 -0.02108565 -0.00933455
+v 0.03724209 -0.02019834 -0.00985997
+v 0.03709786 -0.02337454 0.00073497
+v 0.03719927 -0.02354235 0.00242101
+v 0.03727589 -0.02366790 0.00370072
+v 0.03547304 -0.02521673 -0.00263944
+v 0.03603643 -0.02436927 -0.00263944
+v 0.03699419 -0.02320553 -0.00095107
+v 0.03780548 -0.02455404 0.01290154
+v 0.03346511 -0.02761666 -0.00396120
+v 0.03341328 -0.02761665 -0.00427645
+v 0.03384371 -0.02702391 -0.00461506
+v 0.03438682 -0.02639254 -0.00416203
+v 0.03710011 -0.01992551 -0.01095519
+v 0.03524543 -0.02314272 -0.01095521
+v 0.03597107 -0.02261518 -0.00938826
+v 0.03557445 -0.02366304 -0.00826502
+v 0.03528374 -0.02308236 -0.01095520
+v 0.03577727 -0.02229526 -0.01095520
+v 0.03513275 -0.02447669 -0.00770223
+v 0.03419978 -0.02580462 -0.00769990
+v 0.03372202 -0.02686697 -0.00601387
+v 0.03312482 -0.02761665 -0.00591812
+v 0.03866634 -0.02315005 0.01290154
+v 0.03760265 -0.02252708 0.00073498
+v 0.03688602 -0.02302444 -0.00263943
+v 0.03683194 -0.02274315 -0.00419937
+v 0.03644883 -0.02290251 -0.00601385
+v 0.03607474 -0.02301960 -0.00770222
+v 0.03640376 -0.02120032 -0.01095520
+v 0.03770181 -0.02269490 0.00242102
+v 0.03534909 -0.02503323 -0.00432548
+v 0.03591699 -0.02418577 -0.00432548
+v 0.03435978 -0.02601951 -0.00601387
+v 0.03568262 -0.02383204 -0.00713944
+v 0.03520712 -0.02482800 -0.00601386
+v 0.03578178 -0.02398054 -0.00601386
+f 1 2 7
+f 1 7 19
+f 1 19 30
+f 1 30 47
+f 1 47 74
+f 1 74 76
+f 1 76 102
+f 1 102 129
+f 1 129 144
+f 1 144 113
+f 1 113 88
+f 1 88 63
+f 1 63 38
+f 1 38 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 18
+f 1 18 17
+f 1 17 28
+f 1 28 46
+f 1 46 73
+f 1 73 55
+f 1 55 33
+f 1 33 20
+f 1 20 8
+f 1 8 2
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 5 13 14
+f 7 9 21
+f 7 21 37
+f 7 37 62
+f 7 62 87
+f 7 87 112
+f 7 112 143
+f 7 143 131
+f 7 131 130
+f 7 130 103
+f 7 103 78
+f 7 78 53
+f 7 53 51
+f 7 51 31
+f 7 31 19
+f 8 20 35
+f 8 35 58
+f 8 58 57
+f 8 57 81
+f 8 81 106
+f 8 106 134
+f 8 134 150
+f 8 150 139
+f 8 139 138
+f 8 138 135
+f 8 135 107
+f 8 107 83
+f 8 83 60
+f 8 60 36
+f 8 36 21
+f 8 21 9
+f 10 22 11
+f 11 23 12
+f 11 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 16 25 29
+f 16 29 26
+f 19 31 32
+f 19 32 30
+f 20 33 34
+f 20 34 35
+f 21 36 37
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 29
+f 26 29 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 29 41 42
+f 30 32 48
+f 30 48 49
+f 30 49 50
+f 30 50 47
+f 31 51 32
+f 32 52 48
+f 32 51 53
+f 32 53 54
+f 32 54 52
+f 33 55 34
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 34 55 59
+f 34 59 56
+f 36 60 61
+f 36 61 37
+f 37 61 62
+f 38 63 64
+f 38 64 39
+f 39 65 40
+f 39 64 66
+f 39 66 65
+f 40 67 41
+f 40 65 67
+f 41 68 42
+f 41 67 68
+f 42 69 43
+f 42 68 69
+f 43 69 70
+f 43 70 71
+f 43 71 44
+f 44 71 72
+f 44 72 45
+f 45 72 59
+f 45 59 55
+f 45 55 73
+f 45 73 46
+f 47 50 49
+f 47 49 74
+f 48 52 49
+f 49 52 75
+f 49 75 76
+f 49 76 74
+f 52 54 77
+f 52 77 75
+f 53 78 79
+f 53 79 54
+f 54 80 77
+f 54 79 80
+f 56 81 57
+f 56 59 72
+f 56 72 82
+f 56 82 81
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 62 86 87
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 66
+f 65 91 92
+f 65 92 67
+f 65 66 91
+f 66 90 91
+f 67 92 93
+f 67 93 68
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 69 95 70
+f 70 95 96
+f 70 96 97
+f 70 97 71
+f 71 97 82
+f 71 82 72
+f 75 98 99
+f 75 99 76
+f 75 77 80
+f 75 80 100
+f 75 100 101
+f 75 101 98
+f 76 99 102
+f 78 103 79
+f 79 103 104
+f 79 104 105
+f 79 105 80
+f 80 105 100
+f 81 82 106
+f 82 97 106
+f 83 107 84
+f 84 108 109
+f 84 109 110
+f 84 110 85
+f 84 107 108
+f 85 110 111
+f 85 111 86
+f 86 111 112
+f 86 112 87
+f 88 113 89
+f 89 114 90
+f 89 113 114
+f 90 114 91
+f 91 115 116
+f 91 116 92
+f 91 114 115
+f 92 116 117
+f 92 117 93
+f 93 117 118
+f 93 118 94
+f 94 118 119
+f 94 119 95
+f 95 120 96
+f 95 119 120
+f 96 121 122
+f 96 122 97
+f 96 120 121
+f 97 122 106
+f 98 101 123
+f 98 123 124
+f 98 124 125
+f 98 125 99
+f 99 125 102
+f 100 105 126
+f 100 126 127
+f 100 127 101
+f 101 127 128
+f 101 128 123
+f 102 125 129
+f 103 130 104
+f 104 130 131
+f 104 131 132
+f 104 132 133
+f 104 133 105
+f 105 133 126
+f 106 122 134
+f 107 135 108
+f 108 136 137
+f 108 137 109
+f 108 135 138
+f 108 138 139
+f 108 139 136
+f 109 137 110
+f 110 137 140
+f 110 140 141
+f 110 141 111
+f 111 141 142
+f 111 142 112
+f 112 142 143
+f 113 144 145
+f 113 145 115
+f 113 115 114
+f 115 128 116
+f 115 145 124
+f 115 124 123
+f 115 123 128
+f 116 146 117
+f 116 128 146
+f 117 147 118
+f 117 146 147
+f 118 148 119
+f 118 147 148
+f 119 148 149
+f 119 149 120
+f 120 149 136
+f 120 136 121
+f 121 136 139
+f 121 139 150
+f 121 150 122
+f 122 150 134
+f 124 145 125
+f 125 145 151
+f 125 151 144
+f 125 144 129
+f 126 133 152
+f 126 152 153
+f 126 153 127
+f 127 146 128
+f 127 153 146
+f 131 143 132
+f 132 143 142
+f 132 142 154
+f 132 154 133
+f 133 154 152
+f 136 149 137
+f 137 149 155
+f 137 155 140
+f 140 155 156
+f 140 156 141
+f 141 156 154
+f 141 154 142
+f 144 151 145
+f 146 153 147
+f 147 153 157
+f 147 157 148
+f 148 157 155
+f 148 155 149
+f 152 154 156
+f 152 156 157
+f 152 157 153
+f 155 157 156
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_28.obj

@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
+v 0.03575416 0.01926765 -0.01581501
+v 0.03586240 0.01907130 -0.01581205
+v 0.03566974 0.01926765 -0.01600301
+v 0.03448127 0.01926765 -0.01581205
+v 0.03663956 0.01745904 -0.01581206
+v 0.03621959 0.01792158 -0.01628279
+v 0.03560912 0.01858423 -0.01694004
+v 0.03545109 0.01926765 -0.01648411
+v 0.02426132 0.01926765 -0.01581205
+v 0.03712664 0.01638295 -0.01581206
+v 0.03705087 0.01615829 -0.01620582
+v 0.03587972 0.01745527 -0.01746408
+v 0.03539697 0.01792159 -0.01794665
+v 0.03487310 0.01926765 -0.01762099
+v 0.01838826 0.01926766 -0.02024409
+v 0.01838826 -0.00001904 -0.02415069
+v 0.03098081 -0.00001907 -0.01581212
+v 0.03738857 0.01576749 -0.01581206
+v 0.03725003 0.01503688 -0.01681423
+v 0.03619361 0.01619228 -0.01794666
+v 0.03558531 0.01683227 -0.01858912
+v 0.03417604 0.01906565 -0.01905984
+v 0.03470424 0.01926766 -0.01792445
+v 0.01838826 0.01926770 -0.03093486
+v 0.01838826 -0.00001902 -0.03093493
+v 0.04049937 -0.00001907 -0.01581212
+v 0.03755310 0.01535593 -0.01581206
+v 0.03773710 0.01443842 -0.01620583
+v 0.03746218 0.01390603 -0.01725833
+v 0.03697294 0.01443843 -0.01782233
+v 0.03583210 0.01570143 -0.01900952
+v 0.03528008 0.01619228 -0.01954835
+v 0.03449426 0.01781209 -0.01957943
+v 0.03382101 0.01840111 -0.02018488
+v 0.03392925 0.01926766 -0.01926857
+v 0.03411975 0.01926766 -0.01896807
+v 0.03432541 0.01926766 -0.01860095
+v 0.01887101 0.01926770 -0.03093486
+v 0.02696081 -0.00001902 -0.03093493
+v 0.04043226 -0.00001907 -0.01597199
+v 0.04050154 0.00051143 -0.01581212
+v 0.03790812 0.01439688 -0.01581207
+v 0.03807698 0.01391358 -0.01581207
+v 0.03850127 0.01269212 -0.01581207
+v 0.03836922 0.01269212 -0.01613922
+v 0.03762454 0.01259584 -0.01782233
+v 0.03717643 0.01309802 -0.01838336
+v 0.03549006 0.01488586 -0.02013309
+v 0.03605290 0.01434781 -0.01954836
+v 0.03410243 0.01727216 -0.02059345
+v 0.03339238 0.01781210 -0.02117372
+v 0.03226020 0.01866165 -0.02206931
+v 0.03256976 0.01926767 -0.02121517
+v 0.03267584 0.01926767 -0.02107306
+v 0.03362835 0.01926766 -0.01973486
+v 0.01910697 0.01905625 -0.03093486
+v 0.02564678 0.01926769 -0.02721485
+v 0.02695648 0.00075879 -0.03093493
+v 0.03218010 0.00082864 -0.02706097
+v 0.03218010 -0.00001903 -0.02706097
+v 0.04043443 0.00069267 -0.01597199
+v 0.03962480 -0.00001906 -0.01782534
+v 0.04050154 0.00053786 -0.01581212
+v 0.03861168 0.01236173 -0.01581207
+v 0.03881733 0.01114782 -0.01618364
+v 0.03736476 0.01196717 -0.01874161
+v 0.03810295 0.01099680 -0.01782530
+v 0.03677594 0.01259584 -0.01938701
+v 0.03571520 0.01375691 -0.02048096
+v 0.03502896 0.01434782 -0.02110713
+v 0.03395306 0.01527477 -0.02206636
+v 0.03430159 0.01593554 -0.02117373
+v 0.03368896 0.01640562 -0.02171700
+v 0.03172117 0.01777624 -0.02318250
+v 0.03060847 0.01872963 -0.02379090
+v 0.03125357 0.01926767 -0.02275913
+v 0.03207619 0.01926767 -0.02184578
+v 0.03249400 0.01777623 -0.02233872
+v 0.01994258 0.01819349 -0.03093486
+v 0.02601913 0.01926769 -0.02698244
+v 0.02574204 0.01901093 -0.02727111
+v 0.02150988 0.01634901 -0.03093487
+v 0.02070242 0.01730240 -0.03093487
+v 0.02694133 0.00115525 -0.03093493
+v 0.03213464 0.00252396 -0.02702691
+v 0.03308715 0.00252396 -0.02624827
+v 0.03308715 0.00082864 -0.02631786
+v 0.03308715 -0.00001903 -0.02631934
+v 0.04029588 0.00252392 -0.01613926
+v 0.04044958 0.00201797 -0.01581211
+v 0.04049504 0.00079839 -0.01581212
+v 0.03962480 0.00082861 -0.01782534
+v 0.03912257 -0.00001906 -0.01885711
+v 0.03912257 0.00082861 -0.01885859
+v 0.03889526 0.01141779 -0.01581208
+v 0.03905979 0.01082310 -0.01581208
+v 0.03893423 0.00977721 -0.01677576
+v 0.03701840 0.01099680 -0.01983111
+v 0.03750547 0.01099680 -0.01898734
+v 0.03861168 0.00925050 -0.01771429
+v 0.03590137 0.01269214 -0.02075482
+v 0.03530605 0.01269214 -0.02159859
+v 0.03413490 0.01438558 -0.02228693
+v 0.03340104 0.01438558 -0.02313071
+v 0.03232947 0.01542581 -0.02382052
+v 0.03300921 0.01591477 -0.02280207
+v 0.03205022 0.01655477 -0.02353482
+v 0.03043745 0.01926768 -0.02362067
+v 0.03087474 0.01777624 -0.02403811
+v 0.02971441 0.01792727 -0.02497959
+v 0.02882902 0.01859181 -0.02540148
+v 0.02983131 0.01926768 -0.02416838
+v 0.02642178 0.01926769 -0.02673079
+v 0.02687422 0.01820103 -0.02692767
+v 0.02287802 0.01438561 -0.03093488
+v 0.02685257 0.00252397 -0.03093492
+v 0.03204589 0.00421740 -0.02696177
+v 0.03396389 0.00361704 -0.02544299
+v 0.03400502 0.00252395 -0.02548147
+v 0.03404398 0.00082863 -0.02551701
+v 0.03356557 -0.00001903 -0.02591965
+v 0.04015517 0.00421736 -0.01613925
+v 0.04042577 0.00252392 -0.01581211
+v 0.03955553 0.00252393 -0.01782533
+v 0.03935637 0.00421926 -0.01795855
+v 0.03908793 0.00252393 -0.01879493
+v 0.03888660 -0.00001906 -0.01928048
+v 0.03865064 0.00082861 -0.01970237
+v 0.03861817 0.00252393 -0.01963870
+v 0.03920700 0.01024729 -0.01581208
+v 0.03930008 0.00925049 -0.01618365
+v 0.03906628 0.00865014 -0.01707775
+v 0.03720024 0.00966017 -0.02014642
+v 0.03609403 0.01094017 -0.02127441
+v 0.03765917 0.00918064 -0.01955579
+v 0.03876105 0.00760803 -0.01813913
+v 0.03551387 0.01146689 -0.02188726
+v 0.03445746 0.01269214 -0.02267181
+v 0.03373875 0.01269215 -0.02351411
+v 0.03255461 0.01438559 -0.02404258
+v 0.03164973 0.01438559 -0.02488635
+v 0.03058899 0.01532576 -0.02545478
+v 0.03132068 0.01594121 -0.02451182
+v 0.03029025 0.01645660 -0.02520461
+v 0.02803671 0.01783100 -0.02629262
+v 0.02794795 0.01926768 -0.02570198
+v 0.02859955 0.01926768 -0.02521792
+v 0.02916239 0.01746096 -0.02565906
+v 0.02772498 0.01926768 -0.02585445
+v 0.02724223 0.01707207 -0.02716009
+v 0.02752798 0.01608092 -0.02733477
+v 0.02869264 0.01493120 -0.02700171
+v 0.02398423 0.01234290 -0.03093488
+v 0.02666207 0.00421741 -0.03093491
+v 0.03191383 0.00591273 -0.02686111
+v 0.03295509 0.00591273 -0.02601733
+v 0.03323219 0.00419664 -0.02599365
+v 0.03389461 0.00474789 -0.02538080
+v 0.03477352 0.00414565 -0.02456663
+v 0.03564809 0.00354153 -0.02375100
+v 0.03485361 0.00252395 -0.02463622
+v 0.03489258 0.00082863 -0.02467916
+v 0.03404398 -0.00001904 -0.02551849
+v 0.03994086 0.00591269 -0.01613925
+v 0.04028289 0.00421736 -0.01581210
+v 0.04033268 0.00364344 -0.01581211
+v 0.03931091 0.00591269 -0.01760031
+v 0.03904896 0.00365289 -0.01872387
+v 0.03899051 0.00478374 -0.01860840
+v 0.03865064 -0.00001906 -0.01970089
+v 0.03822635 -0.00001906 -0.02039367
+v 0.03780421 0.00082862 -0.02108349
+v 0.03776958 0.00252394 -0.02102871
+v 0.03769597 0.00421738 -0.02092212
+v 0.03862034 0.00421926 -0.01937668
+v 0.03943863 0.00926181 -0.01581209
+v 0.03965944 0.00760802 -0.01613924
+v 0.03916803 0.00760802 -0.01729536
+v 0.03734528 0.00853310 -0.02038624
+v 0.03672615 0.00918065 -0.02104942
+v 0.03568489 0.01033604 -0.02211523
+v 0.03802502 0.00760803 -0.01951286
+v 0.03891042 0.00591270 -0.01844409
+v 0.03479949 0.01105156 -0.02291015
+v 0.03390977 0.01176708 -0.02370211
+v 0.03289232 0.01269215 -0.02436824
+v 0.03200692 0.01269215 -0.02521054
+v 0.03080113 0.01438559 -0.02562798
+v 0.02959968 0.01437427 -0.02653689
+v 0.02971441 0.01596764 -0.02586186
+v 0.02837441 0.01608092 -0.02678705
+v 0.02897406 0.01380035 -0.02718823
+v 0.02466181 0.01103837 -0.03093489
+v 0.02638065 0.00591274 -0.03093491
+v 0.03173416 0.00760806 -0.02672491
+v 0.03278841 0.00760806 -0.02588114
+v 0.03380369 0.00591272 -0.02529643
+v 0.03464363 0.00591272 -0.02445265
+v 0.03558315 0.00467238 -0.02367549
+v 0.03616331 0.00415131 -0.02302415
+v 0.03641442 0.00252394 -0.02288798
+v 0.03568705 0.00252395 -0.02379244
+v 0.03489258 -0.00001904 -0.02467916
+v 0.03446828 -0.00001904 -0.02509956
+v 0.03572602 0.00082863 -0.02383538
+v 0.03530822 -0.00001904 -0.02425875
+v 0.03984561 0.00723233 -0.01581209
+v 0.04006425 0.00591269 -0.01581210
+v 0.04012703 0.00543694 -0.01581210
+v 0.03832160 0.00591270 -0.01951287
+v 0.03780205 -0.00001905 -0.02108497
+v 0.03724353 -0.00001905 -0.02192727
+v 0.03724353 0.00082862 -0.02192727
+v 0.03720457 0.00252394 -0.02187249
+v 0.03713097 0.00421738 -0.02176441
+v 0.03701840 0.00591271 -0.02159862
+v 0.03758341 0.00591271 -0.02075485
+v 0.03978499 0.00758348 -0.01581209
+v 0.03743620 0.00760804 -0.02052983
+v 0.03686253 0.00760804 -0.02137212
+v 0.03582127 0.00930337 -0.02228991
+v 0.03512638 0.00930337 -0.02313369
+v 0.03408728 0.01063623 -0.02389011
+v 0.03314560 0.01117806 -0.02463471
+v 0.03219526 0.01171799 -0.02537930
+v 0.03115832 0.01269216 -0.02591368
+v 0.03006078 0.01269216 -0.02675746
+v 0.02921435 0.01269216 -0.02734662
+v 0.02601913 0.00749291 -0.03093490
+v 0.03038983 0.01099683 -0.02699580
+v 0.03070372 0.00901454 -0.02721933
+v 0.03131852 0.00946952 -0.02665830
+v 0.03257193 0.00930338 -0.02570350
+v 0.03363484 0.00760805 -0.02513802
+v 0.03448343 0.00760805 -0.02429425
+v 0.03549006 0.00591272 -0.02356743
+v 0.03616980 0.00591271 -0.02272513
+v 0.03649019 0.00082862 -0.02288799
+v 0.03610919 -0.00001904 -0.02336317
+v 0.03572602 -0.00001904 -0.02383538
+v 0.03649235 -0.00001905 -0.02288799
+v 0.03601610 0.00760804 -0.02253712
+v 0.03532987 0.00760805 -0.02337942
+v 0.03427778 0.00930338 -0.02408701
+v 0.03342052 0.00930338 -0.02493078
+v 0.03238143 0.01058714 -0.02554066
+v 0.03153500 0.01109122 -0.02607949
+v 0.03054136 0.01014350 -0.02710238
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 23
+f 1 23 37
+f 1 37 36
+f 1 36 35
+f 1 35 55
+f 1 55 54
+f 1 54 53
+f 1 53 77
+f 1 77 76
+f 1 76 108
+f 1 108 112
+f 1 112 147
+f 1 147 146
+f 1 146 149
+f 1 149 113
+f 1 113 80
+f 1 80 57
+f 1 57 38
+f 1 38 24
+f 1 24 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 9
+f 2 9 17
+f 2 17 26
+f 2 26 41
+f 2 41 63
+f 2 63 91
+f 2 91 90
+f 2 90 123
+f 2 123 166
+f 2 166 165
+f 2 165 209
+f 2 209 208
+f 2 208 207
+f 2 207 218
+f 2 218 176
+f 2 176 130
+f 2 130 96
+f 2 96 95
+f 2 95 64
+f 2 64 44
+f 2 44 43
+f 2 43 42
+f 2 42 27
+f 2 27 18
+f 2 18 10
+f 2 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 13
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 24 25
+f 15 25 16
+f 16 25 39
+f 16 39 60
+f 16 60 88
+f 16 88 121
+f 16 121 163
+f 16 163 204
+f 16 204 203
+f 16 203 206
+f 16 206 240
+f 16 240 239
+f 16 239 241
+f 16 241 212
+f 16 212 211
+f 16 211 171
+f 16 171 170
+f 16 170 127
+f 16 127 93
+f 16 93 62
+f 16 62 40
+f 16 40 26
+f 16 26 17
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 24 38 56
+f 24 56 79
+f 24 79 83
+f 24 83 82
+f 24 82 115
+f 24 115 153
+f 24 153 193
+f 24 193 229
+f 24 229 194
+f 24 194 154
+f 24 154 116
+f 24 116 84
+f 24 84 58
+f 24 58 39
+f 24 39 25
+f 26 40 41
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 46 47
+f 29 47 30
+f 29 45 46
+f 30 47 31
+f 31 48 32
+f 31 47 49
+f 31 49 48
+f 32 50 33
+f 32 48 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 38 57 56
+f 39 58 59
+f 39 59 60
+f 40 61 41
+f 40 62 61
+f 41 61 63
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 66 47
+f 46 65 67
+f 46 67 66
+f 47 66 68
+f 47 68 49
+f 48 49 69
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 50
+f 49 68 69
+f 50 73 51
+f 50 72 73
+f 51 73 52
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 52 73 78
+f 52 78 74
+f 56 57 79
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 79
+f 58 84 59
+f 59 85 86
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 59 84 85
+f 61 89 90
+f 61 90 91
+f 61 91 63
+f 61 62 92
+f 61 92 89
+f 62 93 94
+f 62 94 92
+f 64 95 65
+f 65 95 96
+f 65 96 97
+f 65 97 67
+f 66 98 68
+f 66 67 99
+f 66 99 98
+f 67 97 100
+f 67 100 99
+f 68 101 69
+f 68 98 101
+f 69 101 102
+f 69 102 70
+f 70 102 103
+f 70 103 71
+f 71 73 72
+f 71 103 104
+f 71 104 105
+f 71 105 106
+f 71 106 78
+f 71 78 73
+f 74 78 107
+f 74 107 75
+f 75 108 76
+f 75 107 109
+f 75 109 110
+f 75 110 111
+f 75 111 112
+f 75 112 108
+f 78 106 107
+f 80 113 81
+f 81 113 114
+f 81 114 115
+f 81 115 82
+f 84 116 85
+f 85 117 118
+f 85 118 86
+f 85 116 117
+f 86 118 119
+f 86 119 87
+f 87 119 120
+f 87 120 121
+f 87 121 88
+f 89 122 123
+f 89 123 90
+f 89 92 124
+f 89 124 125
+f 89 125 122
+f 92 94 126
+f 92 126 124
+f 93 127 94
+f 94 127 128
+f 94 128 129
+f 94 129 126
+f 96 130 97
+f 97 130 131
+f 97 131 132
+f 97 132 100
+f 98 99 133
+f 98 133 134
+f 98 134 101
+f 99 135 133
+f 99 100 135
+f 100 136 135
+f 100 132 136
+f 101 134 137
+f 101 137 102
+f 102 138 103
+f 102 137 138
+f 103 139 104
+f 103 138 139
+f 104 140 105
+f 104 139 140
+f 105 141 142
+f 105 142 143
+f 105 143 107
+f 105 107 106
+f 105 140 141
+f 107 143 109
+f 109 143 144
+f 109 144 110
+f 110 144 111
+f 111 145 114
+f 111 114 146
+f 111 146 147
+f 111 147 112
+f 111 144 148
+f 111 148 145
+f 113 149 114
+f 114 150 115
+f 114 149 146
+f 114 145 150
+f 115 150 151
+f 115 151 152
+f 115 152 153
+f 116 154 117
+f 117 155 156
+f 117 156 157
+f 117 157 118
+f 117 154 155
+f 118 157 158
+f 118 158 159
+f 118 159 160
+f 118 160 161
+f 118 161 119
+f 119 161 162
+f 119 162 120
+f 120 163 121
+f 120 162 204
+f 120 204 163
+f 122 164 165
+f 122 165 166
+f 122 166 123
+f 122 125 167
+f 122 167 164
+f 124 126 168
+f 124 168 125
+f 125 168 169
+f 125 169 167
+f 126 129 168
+f 127 170 128
+f 128 170 171
+f 128 171 172
+f 128 172 173
+f 128 173 129
+f 129 173 174
+f 129 174 175
+f 129 175 168
+f 130 176 131
+f 131 176 177
+f 131 177 132
+f 132 177 178
+f 132 178 136
+f 133 135 179
+f 133 179 180
+f 133 180 134
+f 134 180 181
+f 134 181 137
+f 135 136 182
+f 135 182 179
+f 136 178 183
+f 136 183 182
+f 137 181 184
+f 137 184 185
+f 137 185 138
+f 138 185 139
+f 139 185 186
+f 139 186 140
+f 140 186 187
+f 140 187 141
+f 141 187 188
+f 141 188 142
+f 142 144 143
+f 142 188 189
+f 142 189 152
+f 142 152 190
+f 142 190 148
+f 142 148 144
+f 145 148 191
+f 145 191 150
+f 148 190 191
+f 150 191 152
+f 150 152 151
+f 152 191 190
+f 152 189 192
+f 152 192 193
+f 152 193 153
+f 154 194 155
+f 155 195 196
+f 155 196 156
+f 155 194 195
+f 156 196 197
+f 156 197 158
+f 156 158 157
+f 158 197 198
+f 158 198 199
+f 158 199 159
+f 159 199 160
+f 160 199 200
+f 160 200 201
+f 160 201 202
+f 160 202 161
+f 161 202 205
+f 161 205 162
+f 162 203 204
+f 162 205 206
+f 162 206 203
+f 164 177 207
+f 164 207 208
+f 164 208 209
+f 164 209 165
+f 164 167 178
+f 164 178 177
+f 167 169 183
+f 167 183 178
+f 168 175 169
+f 169 175 210
+f 169 210 183
+f 171 211 172
+f 172 211 212
+f 172 212 213
+f 172 213 173
+f 173 213 214
+f 173 214 174
+f 174 214 215
+f 174 215 216
+f 174 216 217
+f 174 217 175
+f 175 217 210
+f 176 218 177
+f 177 218 207
+f 179 182 219
+f 179 219 220
+f 179 220 221
+f 179 221 180
+f 180 221 181
+f 181 221 222
+f 181 222 184
+f 182 183 210
+f 182 210 219
+f 184 222 223
+f 184 223 185
+f 185 223 224
+f 185 224 225
+f 185 225 186
+f 186 225 187
+f 187 225 226
+f 187 226 188
+f 188 226 227
+f 188 227 189
+f 189 227 192
+f 192 227 228
+f 192 228 193
+f 193 228 230
+f 193 230 229
+f 194 229 195
+f 195 231 232
+f 195 232 233
+f 195 233 196
+f 195 229 231
+f 196 233 234
+f 196 234 197
+f 197 235 198
+f 197 234 235
+f 198 235 236
+f 198 236 199
+f 199 236 237
+f 199 237 200
+f 200 237 215
+f 200 215 214
+f 200 214 201
+f 201 238 202
+f 201 214 213
+f 201 213 238
+f 202 238 205
+f 205 238 239
+f 205 239 240
+f 205 240 206
+f 210 217 219
+f 212 241 213
+f 213 241 238
+f 215 237 216
+f 216 237 242
+f 216 242 220
+f 216 220 219
+f 216 219 217
+f 220 242 221
+f 221 242 243
+f 221 243 222
+f 222 243 244
+f 222 244 223
+f 223 244 245
+f 223 245 224
+f 224 245 246
+f 224 246 225
+f 225 246 247
+f 225 247 226
+f 226 230 227
+f 226 247 230
+f 227 230 228
+f 229 230 248
+f 229 248 231
+f 230 247 248
+f 231 248 232
+f 232 248 246
+f 232 246 233
+f 233 246 245
+f 233 245 234
+f 234 245 244
+f 234 244 235
+f 235 243 236
+f 235 244 243
+f 236 242 237
+f 236 243 242
+f 238 241 239
+f 246 248 247
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_29.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v -0.01857171 -0.02799985 -0.01095735
+v -0.03151575 -0.02799985 -0.01095735
+v -0.02978525 -0.01553897 -0.01095731
+v -0.03470607 -0.01553906 0.01267290
+v -0.02573199 -0.02799994 0.01267286
+v -0.03176792 -0.02771809 -0.01095735
+v -0.03188359 -0.02799985 -0.00972912
+v -0.03229308 -0.02726191 -0.01057107
+v -0.03907164 -0.01553897 -0.01095731
+v -0.04220412 -0.01553906 0.01267290
+v -0.03534228 -0.02799994 0.01267286
+v -0.03265862 -0.02665326 -0.01095735
+v -0.03197613 -0.02799986 -0.00938679
+v -0.03245040 -0.02745098 -0.00938679
+v -0.03340356 -0.02621782 -0.00950475
+v -0.03386395 -0.02541400 -0.01014546
+v -0.03895597 -0.01584269 -0.01095731
+v -0.03910403 -0.01560606 -0.01075376
+v -0.03912023 -0.01553897 -0.01078383
+v -0.04220181 -0.01553906 0.01264746
+v -0.04206069 -0.01594889 0.01267290
+v -0.03428964 -0.02764496 0.00242138
+v -0.03400276 -0.02799990 0.00242138
+v -0.03579804 -0.02741935 0.01267286
+v -0.03406985 -0.02736929 -0.00095106
+v -0.03297094 -0.02625196 -0.01095735
+v -0.03218666 -0.02799986 -0.00853558
+v -0.03238794 -0.02799986 -0.00770057
+v -0.03265168 -0.02769005 -0.00770057
+v -0.03349842 -0.02664839 -0.00770057
+v -0.03400739 -0.02560429 -0.00901900
+v -0.03449091 -0.02474803 -0.00950474
+v -0.03440300 -0.02431257 -0.01095734
+v -0.03426650 -0.02451017 -0.01095734
+v -0.03374365 -0.02524933 -0.01095734
+v -0.03878477 -0.01625984 -0.01095731
+v -0.03887731 -0.01673554 -0.00979616
+v -0.03921971 -0.01615129 -0.00929654
+v -0.03944412 -0.01553898 -0.00932892
+v -0.03914568 -0.01553897 -0.01067743
+v -0.04217868 -0.01553906 0.01239765
+v -0.04204912 -0.01598061 0.01267290
+v -0.04076976 -0.01553901 -0.00065495
+v -0.03389171 -0.02799990 0.00157480
+v -0.03672807 -0.02614350 0.01267286
+v -0.03559445 -0.02546161 -0.00020162
+v -0.03513638 -0.02653743 0.00242138
+v -0.03397037 -0.02724608 -0.00235046
+v -0.03355163 -0.02799989 -0.00095106
+v -0.03369738 -0.02799989 0.00012451
+v -0.03502764 -0.02639106 0.00073516
+v -0.03501376 -0.02613369 -0.00084003
+v -0.03249204 -0.02799986 -0.00720326
+v -0.03282288 -0.02789376 -0.00601435
+v -0.03366962 -0.02686429 -0.00601435
+v -0.03415314 -0.02580067 -0.00770056
+v -0.03552736 -0.02366368 -0.00828113
+v -0.03508548 -0.02448335 -0.00771212
+v -0.03539780 -0.02346242 -0.00938678
+v -0.03518959 -0.02313796 -0.01095733
+v -0.03815087 -0.01771743 -0.01095732
+v -0.03856730 -0.01768695 -0.00929654
+v -0.03899993 -0.01703438 -0.00867201
+v -0.03810923 -0.01781013 -0.01095732
+v -0.03954823 -0.01612324 -0.00770053
+v -0.03976570 -0.01553898 -0.00770053
+v -0.04135970 -0.01770410 0.01267289
+v -0.04051990 -0.01658555 0.00073520
+v -0.04073737 -0.01553901 -0.00095102
+v -0.03675583 -0.02610324 0.01267286
+v -0.03721622 -0.02535309 0.01214087
+v -0.03672807 -0.02613740 0.01263817
+v -0.03629313 -0.02459803 0.00073517
+v -0.03601551 -0.02471391 -0.00084002
+v -0.03552042 -0.02535671 -0.00132808
+v -0.03449322 -0.02646057 -0.00280382
+v -0.03388477 -0.02713875 -0.00347461
+v -0.03337349 -0.02788157 -0.00280382
+v -0.03337349 -0.02799988 -0.00215385
+v -0.03350536 -0.02799989 -0.00126563
+v -0.03273265 -0.02799987 -0.00601435
+v -0.03275116 -0.02799987 -0.00591951
+v -0.03284138 -0.02799987 -0.00540370
+v -0.03381537 -0.02704969 -0.00432581
+v -0.03431740 -0.02601657 -0.00601435
+v -0.03516414 -0.02484318 -0.00601434
+v -0.03592528 -0.02261470 -0.00938677
+v -0.03564304 -0.02384176 -0.00715699
+v -0.03604096 -0.02302088 -0.00771211
+v -0.03568930 -0.02235001 -0.01095733
+v -0.03763727 -0.01959462 -0.00935437
+v -0.03871305 -0.01808946 -0.00770054
+v -0.03749384 -0.01910671 -0.01095732
+v -0.03909015 -0.01724174 -0.00770053
+v -0.03983279 -0.01612325 -0.00601431
+v -0.04004332 -0.01553899 -0.00605131
+v -0.04131343 -0.01781876 0.01267289
+v -0.04000399 -0.01781871 0.00073519
+v -0.04065871 -0.01694538 0.00336284
+v -0.04042504 -0.01634526 -0.00095102
+v -0.03981428 -0.01781871 -0.00095103
+v -0.04064020 -0.01553900 -0.00178372
+v -0.03767429 -0.02475055 0.01267287
+v -0.03724166 -0.02369055 0.00356867
+v -0.03717226 -0.02357834 0.00242139
+v -0.03706815 -0.02341000 0.00073517
+v -0.03600163 -0.02437847 -0.00263958
+v -0.03543019 -0.02522619 -0.00263958
+v -0.03445621 -0.02620198 -0.00432581
+v -0.03315833 -0.02799988 -0.00352549
+v -0.03325319 -0.02799988 -0.00294029
+v -0.03302646 -0.02799987 -0.00433738
+v -0.03300333 -0.02799987 -0.00447154
+v -0.03530526 -0.02504566 -0.00432580
+v -0.03574483 -0.02399546 -0.00601434
+v -0.03682755 -0.02109490 -0.00935438
+v -0.03578878 -0.02218534 -0.01095733
+v -0.03572632 -0.02229024 -0.01095733
+v -0.03695710 -0.02149376 -0.00770055
+v -0.03642962 -0.02290257 -0.00601433
+v -0.03711442 -0.02176577 -0.00601433
+v -0.03745451 -0.01918600 -0.01095732
+v -0.03720002 -0.02021302 -0.00989563
+v -0.03732958 -0.02045332 -0.00877149
+v -0.03802131 -0.01951412 -0.00770054
+v -0.03886343 -0.01841880 -0.00601432
+v -0.03923590 -0.01757230 -0.00601431
+v -0.04008265 -0.01612325 -0.00432577
+v -0.04017287 -0.01553899 -0.00520242
+v -0.04085767 -0.01887383 0.01267289
+v -0.04081140 -0.01897873 0.01267289
+v -0.03920814 -0.01915311 -0.00095103
+v -0.04059393 -0.01553900 -0.00217231
+v -0.04036489 -0.01599274 -0.00258635
+v -0.03960838 -0.01781870 -0.00263956
+v -0.03910403 -0.01893842 -0.00263956
+v -0.03771593 -0.02468468 0.01267287
+v -0.03769511 -0.02471152 0.01263818
+v -0.03864365 -0.02318928 0.01267287
+v -0.03757943 -0.02256228 0.00073518
+v -0.03747764 -0.02238908 -0.00095104
+v -0.03696173 -0.02323680 -0.00095105
+v -0.03684837 -0.02305505 -0.00263957
+v -0.03587901 -0.02419916 -0.00432580
+v -0.03679978 -0.02275620 -0.00424946
+v -0.03636253 -0.02120101 -0.01095733
+v -0.03743368 -0.02064604 -0.00770055
+v -0.03721622 -0.02194507 -0.00476065
+v -0.03758638 -0.02091927 -0.00601433
+v -0.03706352 -0.01994834 -0.01095732
+v -0.03641574 -0.02110831 -0.01095733
+v -0.03832207 -0.01951413 -0.00601432
+v -0.03894440 -0.01860420 -0.00497575
+v -0.03931688 -0.01795042 -0.00437898
+v -0.04030243 -0.01553899 -0.00432577
+v -0.04050139 -0.01553900 -0.00286623
+v -0.04040191 -0.01553900 -0.00360641
+v -0.04041810 -0.01982523 0.01267289
+v -0.03930531 -0.01935314 0.00073519
+v -0.03879402 -0.02000083 -0.00095103
+v -0.03889350 -0.02020086 0.00073519
+v -0.03902537 -0.01877254 -0.00384929
+v -0.03868529 -0.01978614 -0.00263956
+v -0.03909941 -0.02240621 0.01267288
+v -0.03814624 -0.02120837 -0.00095104
+v -0.03736891 -0.02220733 -0.00263957
+v -0.03913642 -0.02234156 0.01267288
+v -0.03730181 -0.02209389 -0.00363650
+v -0.03764421 -0.02131203 -0.00424946
+v -0.03863208 -0.01940801 -0.00437898
+v -0.03973331 -0.02120842 0.01267288
+v -0.03895134 -0.02031797 0.00176682
+v -0.03792877 -0.02120836 -0.00263957
+v -0.03834752 -0.02120837 0.00073518
+v -0.03918963 -0.02224154 0.01267288
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 35
+f 1 35 34
+f 1 34 33
+f 1 33 60
+f 1 60 90
+f 1 90 118
+f 1 118 117
+f 1 117 146
+f 1 146 151
+f 1 151 150
+f 1 150 122
+f 1 122 93
+f 1 93 64
+f 1 64 61
+f 1 61 36
+f 1 36 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 44
+f 1 44 50
+f 1 50 49
+f 1 49 80
+f 1 80 79
+f 1 79 111
+f 1 111 110
+f 1 110 112
+f 1 112 113
+f 1 113 83
+f 1 83 82
+f 1 82 81
+f 1 81 53
+f 1 53 28
+f 1 28 27
+f 1 27 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 19
+f 3 19 40
+f 3 40 39
+f 3 39 66
+f 3 66 96
+f 3 96 129
+f 3 129 155
+f 3 155 157
+f 3 157 156
+f 3 156 133
+f 3 133 102
+f 3 102 69
+f 3 69 43
+f 3 43 41
+f 3 41 20
+f 3 20 10
+f 3 10 4
+f 4 10 21
+f 4 21 42
+f 4 42 67
+f 4 67 97
+f 4 97 130
+f 4 130 131
+f 4 131 158
+f 4 158 171
+f 4 171 175
+f 4 175 167
+f 4 167 164
+f 4 164 139
+f 4 139 137
+f 4 137 103
+f 4 103 70
+f 4 70 45
+f 4 45 24
+f 4 24 11
+f 4 11 5
+f 6 8 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 12
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 11 22 23
+f 11 24 25
+f 11 25 22
+f 12 16 26
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 26
+f 17 36 18
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 18 36 37
+f 20 41 21
+f 21 41 43
+f 21 43 42
+f 22 44 23
+f 22 25 44
+f 24 45 46
+f 24 46 47
+f 24 47 25
+f 25 48 49
+f 25 49 50
+f 25 50 44
+f 25 47 51
+f 25 51 52
+f 25 52 48
+f 28 53 29
+f 29 53 54
+f 29 54 55
+f 29 55 30
+f 30 55 56
+f 30 56 31
+f 31 57 32
+f 31 56 58
+f 31 58 57
+f 32 57 59
+f 32 59 33
+f 33 59 60
+f 36 61 37
+f 37 62 63
+f 37 63 38
+f 37 61 64
+f 37 64 62
+f 38 63 65
+f 38 65 39
+f 39 65 66
+f 42 43 68
+f 42 68 67
+f 43 69 68
+f 45 70 71
+f 45 71 72
+f 45 72 46
+f 46 73 74
+f 46 74 75
+f 46 75 52
+f 46 52 51
+f 46 51 47
+f 46 72 71
+f 46 71 73
+f 48 76 77
+f 48 77 78
+f 48 78 79
+f 48 79 80
+f 48 80 49
+f 48 52 76
+f 52 75 76
+f 53 81 54
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 55
+f 55 85 56
+f 55 84 85
+f 56 85 86
+f 56 86 58
+f 57 87 59
+f 57 58 88
+f 57 88 89
+f 57 89 87
+f 58 86 88
+f 59 87 90
+f 59 90 60
+f 62 91 92
+f 62 92 63
+f 62 64 93
+f 62 93 91
+f 63 92 94
+f 63 94 65
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 67 68 97
+f 68 98 99
+f 68 99 97
+f 68 69 100
+f 68 100 101
+f 68 101 98
+f 69 102 100
+f 70 103 71
+f 71 103 104
+f 71 104 73
+f 73 104 105
+f 73 105 106
+f 73 106 74
+f 74 106 107
+f 74 107 75
+f 75 107 108
+f 75 108 76
+f 76 108 109
+f 76 109 77
+f 77 110 111
+f 77 111 78
+f 77 109 84
+f 77 84 112
+f 77 112 110
+f 78 111 79
+f 83 113 84
+f 84 109 85
+f 84 113 112
+f 85 109 114
+f 85 114 86
+f 86 115 88
+f 86 114 115
+f 87 116 117
+f 87 117 118
+f 87 118 90
+f 87 89 119
+f 87 119 116
+f 88 115 120
+f 88 120 89
+f 89 120 121
+f 89 121 119
+f 91 93 122
+f 91 122 123
+f 91 123 124
+f 91 124 125
+f 91 125 92
+f 92 125 126
+f 92 126 94
+f 94 126 127
+f 94 127 95
+f 95 127 128
+f 95 128 129
+f 95 129 96
+f 97 99 98
+f 97 98 130
+f 98 131 130
+f 98 101 132
+f 98 132 131
+f 100 102 133
+f 100 133 134
+f 100 134 135
+f 100 135 101
+f 101 135 136
+f 101 136 132
+f 103 137 138
+f 103 138 104
+f 104 138 137
+f 104 137 139
+f 104 139 105
+f 105 139 140
+f 105 140 106
+f 106 140 141
+f 106 141 142
+f 106 142 107
+f 107 142 143
+f 107 143 144
+f 107 144 108
+f 108 144 114
+f 108 114 109
+f 114 144 115
+f 115 144 145
+f 115 145 120
+f 116 119 124
+f 116 124 123
+f 116 123 146
+f 116 146 117
+f 119 147 124
+f 119 121 147
+f 120 148 121
+f 120 145 148
+f 121 148 149
+f 121 149 147
+f 122 150 123
+f 123 150 151
+f 123 151 146
+f 124 147 125
+f 125 147 152
+f 125 152 126
+f 126 152 153
+f 126 153 127
+f 127 153 154
+f 127 154 128
+f 128 155 129
+f 128 154 135
+f 128 135 134
+f 128 134 156
+f 128 156 157
+f 128 157 155
+f 131 132 159
+f 131 159 158
+f 132 136 160
+f 132 160 161
+f 132 161 159
+f 133 156 134
+f 135 162 136
+f 135 154 162
+f 136 163 160
+f 136 162 163
+f 139 164 140
+f 140 164 141
+f 141 165 166
+f 141 166 142
+f 141 164 167
+f 141 167 165
+f 142 166 143
+f 143 166 168
+f 143 168 145
+f 143 145 144
+f 145 168 148
+f 147 149 152
+f 148 168 169
+f 148 169 149
+f 149 169 170
+f 149 170 152
+f 152 170 153
+f 153 170 162
+f 153 162 154
+f 158 159 161
+f 158 161 172
+f 158 172 171
+f 160 163 173
+f 160 173 165
+f 160 165 161
+f 161 174 172
+f 161 165 174
+f 162 170 163
+f 163 170 169
+f 163 169 173
+f 165 173 166
+f 165 167 174
+f 166 173 168
+f 167 175 172
+f 167 172 174
+f 168 173 169
+f 171 172 175
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_3.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00087334 0.02699468 -0.03635915
+v 0.00117246 0.02685716 -0.03093483
+v 0.00102951 0.02698675 -0.03635915
+v 0.00007393 0.02699204 -0.03635915
+v 0.00056893 0.02686509 -0.03093483
+v 0.00079657 0.02686509 -0.03093483
+v 0.00212010 0.02680428 -0.03093483
+v 0.00250393 0.02689949 -0.03635915
+v 0.00007393 0.02686245 -0.03093483
+v 0.00007393 0.01436838 -0.03635920
+v 0.00256746 0.02676990 -0.03093483
+v 0.00426422 0.02657687 -0.03093483
+v 0.00423775 0.02668795 -0.03635915
+v 0.00007393 -0.00001902 -0.03093493
+v 0.00007393 -0.00001900 -0.03417912
+v 0.01471218 -0.00001900 -0.03635925
+v 0.00603246 0.02630187 -0.03093483
+v 0.00593452 0.02636799 -0.03635915
+v 0.02695749 -0.00001902 -0.03093493
+v 0.02711367 -0.00001900 -0.03635925
+v 0.00595834 0.02636270 -0.03635915
+v 0.00765511 0.02587614 -0.03093483
+v 0.00765511 0.02593698 -0.03635915
+v 0.02711631 0.00082981 -0.03635925
+v 0.02695484 0.00075839 -0.03093493
+v 0.00910305 0.02535522 -0.03093484
+v 0.00976747 0.02524683 -0.03635916
+v 0.00892041 0.02554827 -0.03635916
+v 0.02709513 0.00120793 -0.03635925
+v 0.02693896 0.00115503 -0.03093493
+v 0.00966688 0.02514897 -0.03093484
+v 0.01107776 0.02462806 -0.03093484
+v 0.01101953 0.02471269 -0.03635916
+v 0.02699984 0.00256972 -0.03635924
+v 0.02685161 0.00252475 -0.03093492
+v 0.01241453 0.02392468 -0.03093484
+v 0.01332247 0.02356509 -0.03635916
+v 0.01248600 0.02400403 -0.03635916
+v 0.01245953 0.02401725 -0.03635916
+v 0.02678014 0.00421974 -0.03635923
+v 0.02666102 0.00421972 -0.03093491
+v 0.01443159 0.02283261 -0.03093485
+v 0.01443688 0.02289873 -0.03635917
+v 0.02644925 0.00588826 -0.03635923
+v 0.02637778 0.00591468 -0.03093491
+v 0.01640100 0.02146024 -0.03093485
+v 0.01555394 0.02218743 -0.03635917
+v 0.02644396 0.00591470 -0.03635923
+v 0.02601778 0.00749330 -0.03093490
+v 0.01824601 0.01988956 -0.03093486
+v 0.01744395 0.02074102 -0.03635917
+v 0.01638777 0.02157396 -0.03635917
+v 0.02600719 0.00758323 -0.03635922
+v 0.02599925 0.00760967 -0.03635922
+v 0.02560219 0.00885511 -0.03635922
+v 0.02528719 0.00970127 -0.03635921
+v 0.02465984 0.01103924 -0.03093489
+v 0.01910365 0.01905662 -0.03093486
+v 0.01917777 0.01915183 -0.03635918
+v 0.01830954 0.01998741 -0.03635918
+v 0.01746248 0.02072516 -0.03635917
+v 0.02475249 0.01097051 -0.03635921
+v 0.02473925 0.01099960 -0.03635921
+v 0.02406954 0.01240899 -0.03635920
+v 0.02406160 0.01242485 -0.03635920
+v 0.02398219 0.01234550 -0.03093488
+v 0.01920424 0.01912539 -0.03635918
+v 0.01994013 0.01819195 -0.03093486
+v 0.02361160 0.01327366 -0.03635920
+v 0.02287572 0.01438422 -0.03093488
+v 0.02003807 0.01825807 -0.03635918
+v 0.02069983 0.01730083 -0.03093487
+v 0.02076866 0.01741191 -0.03635919
+v 0.02295248 0.01436573 -0.03635920
+v 0.02293925 0.01438689 -0.03635920
+v 0.02223248 0.01549218 -0.03635919
+v 0.02150719 0.01634890 -0.03093487
+v 0.02161572 0.01632512 -0.03635919
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 21
+f 1 21 23
+f 1 23 28
+f 1 28 27
+f 1 27 33
+f 1 33 39
+f 1 39 38
+f 1 38 37
+f 1 37 43
+f 1 43 47
+f 1 47 52
+f 1 52 51
+f 1 51 61
+f 1 61 60
+f 1 60 59
+f 1 59 67
+f 1 67 71
+f 1 71 73
+f 1 73 78
+f 1 78 76
+f 1 76 75
+f 1 75 74
+f 1 74 69
+f 1 69 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 48
+f 1 48 44
+f 1 44 40
+f 1 40 34
+f 1 34 29
+f 1 29 24
+f 1 24 20
+f 1 20 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 9
+f 2 9 14
+f 2 14 19
+f 2 19 25
+f 2 25 30
+f 2 30 35
+f 2 35 41
+f 2 41 45
+f 2 45 49
+f 2 49 57
+f 2 57 66
+f 2 66 70
+f 2 70 77
+f 2 77 72
+f 2 72 68
+f 2 68 58
+f 2 58 50
+f 2 50 46
+f 2 46 42
+f 2 42 36
+f 2 36 32
+f 2 32 31
+f 2 31 26
+f 2 26 22
+f 2 22 17
+f 2 17 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 4 9 5
+f 4 10 15
+f 4 15 14
+f 4 14 9
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 10 16 15
+f 12 17 13
+f 13 17 18
+f 14 15 16
+f 14 16 20
+f 14 20 19
+f 17 21 18
+f 17 22 23
+f 17 23 21
+f 19 20 24
+f 19 24 25
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 34 35
+f 29 35 30
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 37 42 43
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 46 50 51
+f 46 51 52
+f 46 52 47
+f 48 53 49
+f 49 53 54
+f 49 54 55
+f 49 55 56
+f 49 56 57
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 56 62 57
+f 57 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 58 67 59
+f 58 68 67
+f 65 69 66
+f 66 69 70
+f 67 68 71
+f 68 72 73
+f 68 73 71
+f 69 74 70
+f 70 74 75
+f 70 75 76
+f 70 76 77
+f 72 77 73
+f 73 77 78
+f 76 78 77
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_30.obj

@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
+v -0.02191586 -0.01607318 -0.01976960
+v -0.02950920 -0.01607321 -0.01095939
+v -0.02191586 -0.01607314 -0.03044794
+v -0.02191586 -0.00001877 -0.02285675
+v -0.03364745 -0.00001881 -0.01095933
+v -0.03886149 -0.01607321 -0.01095939
+v -0.02625828 -0.01607315 -0.02801395
+v -0.02191586 -0.01462892 -0.03220997
+v -0.02191586 -0.00001873 -0.03220992
+v -0.04196911 -0.00001881 -0.01095933
+v -0.03895572 -0.01584220 -0.01095939
+v -0.03881241 -0.01607321 -0.01115494
+v -0.02745185 -0.01607315 -0.02731704
+v -0.02236345 -0.01416533 -0.03220997
+v -0.02748523 -0.01607315 -0.02729624
+v -0.02829796 -0.01607315 -0.02676367
+v -0.02831955 -0.01607315 -0.02674911
+v -0.02652722 -0.00001873 -0.03220992
+v -0.04194162 -0.00001881 -0.01107791
+v -0.04196714 -0.00086899 -0.01095933
+v -0.03921878 -0.01515860 -0.01095939
+v -0.03896357 -0.01524660 -0.01188098
+v -0.03878100 -0.01607321 -0.01127768
+v -0.02316833 -0.01276513 -0.03220997
+v -0.02879266 -0.01607315 -0.02641210
+v -0.02962502 -0.01607316 -0.02581504
+v -0.03032978 -0.01607316 -0.02527832
+v -0.03400278 -0.00001876 -0.02552165
+v -0.02652722 -0.00079977 -0.03220992
+v -0.04193966 -0.00086899 -0.01107791
+v -0.04149403 -0.00001880 -0.01276506
+v -0.04149403 -0.00086898 -0.01276506
+v -0.04190825 -0.00241691 -0.01095934
+v -0.03943865 -0.01455829 -0.01095938
+v -0.03936994 -0.01458029 -0.01122151
+v -0.03913829 -0.01403654 -0.01276511
+v -0.03883008 -0.01488357 -0.01276511
+v -0.03835304 -0.01607320 -0.01276512
+v -0.03836875 -0.01607320 -0.01271519
+v -0.02411259 -0.01093277 -0.03220996
+v -0.03052610 -0.01533298 -0.02544058
+v -0.03101884 -0.01607316 -0.02466254
+v -0.03400278 -0.00086894 -0.02552165
+v -0.03485084 -0.00086894 -0.02468120
+v -0.03485084 -0.00001876 -0.02467912
+v -0.02646048 -0.00176466 -0.03220993
+v -0.03396155 -0.00256301 -0.02548630
+v -0.04187488 -0.00256306 -0.01107792
+v -0.04122705 -0.00001880 -0.01361176
+v -0.04090903 -0.00102456 -0.01461864
+v -0.04092866 -0.00256305 -0.01437525
+v -0.04142925 -0.00256305 -0.01276507
+v -0.04190236 -0.00256306 -0.01095934
+v -0.04005507 -0.01272906 -0.01095938
+v -0.04002562 -0.01273221 -0.01107796
+v -0.03956822 -0.01273220 -0.01276511
+v -0.03899891 -0.01365152 -0.01368254
+v -0.03852384 -0.01430055 -0.01432744
+v -0.03781515 -0.01607320 -0.01434617
+v -0.02444632 -0.01014859 -0.03220996
+v -0.03073615 -0.01442780 -0.02560700
+v -0.03125834 -0.01595372 -0.02450235
+v -0.03227327 -0.01544299 -0.02381168
+v -0.03158225 -0.01442780 -0.02487264
+v -0.03123085 -0.01607316 -0.02447115
+v -0.03480962 -0.00256301 -0.02464168
+v -0.03564394 -0.00256301 -0.02379707
+v -0.03567928 -0.00086894 -0.02383659
+v -0.03567732 -0.00001876 -0.02383451
+v -0.02638195 -0.00256298 -0.03220993
+v -0.03391640 -0.00365520 -0.02544469
+v -0.04173942 -0.00425871 -0.01107793
+v -0.04090903 -0.00001880 -0.01461864
+v -0.04076179 -0.00001879 -0.01507215
+v -0.04067934 -0.00056253 -0.01532387
+v -0.04066756 -0.00169243 -0.01529475
+v -0.04085995 -0.00425870 -0.01417763
+v -0.04064204 -0.00256304 -0.01521986
+v -0.04057529 -0.00425869 -0.01502016
+v -0.04129380 -0.00425870 -0.01276508
+v -0.04176691 -0.00424928 -0.01095935
+v -0.04008844 -0.01261906 -0.01095938
+v -0.04048499 -0.01107271 -0.01112372
+v -0.04005311 -0.01103655 -0.01276510
+v -0.03911277 -0.01257033 -0.01432744
+v -0.03879671 -0.01302764 -0.01480592
+v -0.03770325 -0.01448598 -0.01621222
+v -0.03745394 -0.01569603 -0.01570047
+v -0.03775822 -0.01607320 -0.01450844
+v -0.02477809 -0.00934398 -0.03220995
+v -0.03109736 -0.01273215 -0.02589616
+v -0.03194347 -0.01273216 -0.02519717
+v -0.03334317 -0.01442781 -0.02311684
+v -0.03249510 -0.01442780 -0.02403011
+v -0.03211426 -0.01607316 -0.02364942
+v -0.03274835 -0.01607317 -0.02294418
+v -0.03389873 -0.01530156 -0.02205796
+v -0.03560272 -0.00358763 -0.02375130
+v -0.03638404 -0.00256302 -0.02288588
+v -0.03645668 -0.00086895 -0.02288587
+v -0.03645471 -0.00001877 -0.02288587
+v -0.02615423 -0.00425863 -0.03220994
+v -0.03384376 -0.00478511 -0.02537813
+v -0.03472520 -0.00418637 -0.02456472
+v -0.04153330 -0.00595435 -0.01107793
+v -0.04156078 -0.00595435 -0.01095935
+v -0.04067934 -0.00001879 -0.01532387
+v -0.04058904 -0.00001879 -0.01554647
+v -0.04040450 -0.00102455 -0.01598749
+v -0.04028083 -0.00256304 -0.01613937
+v -0.04075786 -0.00595434 -0.01387390
+v -0.04047321 -0.00595434 -0.01471851
+v -0.04014145 -0.00425869 -0.01613938
+v -0.03993139 -0.00595433 -0.01613938
+v -0.04108570 -0.00595434 -0.01276508
+v -0.04050266 -0.01115600 -0.01095937
+v -0.04061848 -0.00996323 -0.01171869
+v -0.04057137 -0.01090299 -0.01095937
+v -0.04045947 -0.00937548 -0.01275261
+v -0.03993139 -0.00934248 -0.01445224
+v -0.03951129 -0.01103655 -0.01445225
+v -0.03897732 -0.01189772 -0.01530519
+v -0.03847083 -0.01257032 -0.01597506
+v -0.03742056 -0.01396110 -0.01726487
+v -0.03720658 -0.01509100 -0.01682593
+v -0.03703383 -0.01607319 -0.01628712
+v -0.03712610 -0.01607319 -0.01607909
+v -0.03737541 -0.01607319 -0.01551116
+v -0.03763651 -0.01607320 -0.01482881
+v -0.02576750 -0.00602342 -0.03220994
+v -0.03213782 -0.01172797 -0.02536983
+v -0.03232431 -0.01059807 -0.02553210
+v -0.03283472 -0.01273216 -0.02435464
+v -0.03368279 -0.01273216 -0.02350378
+v -0.03407737 -0.01442781 -0.02227431
+v -0.03385751 -0.01179555 -0.02369724
+v -0.03291325 -0.01607317 -0.02275487
+v -0.03295055 -0.01593802 -0.02278816
+v -0.03371420 -0.01607317 -0.02181872
+v -0.03410682 -0.01607317 -0.02128824
+v -0.03424424 -0.01596945 -0.02116758
+v -0.03543782 -0.01491184 -0.02012949
+v -0.03497059 -0.01437909 -0.02110100
+v -0.03525328 -0.01273217 -0.02158572
+v -0.03553597 -0.00471753 -0.02367642
+v -0.03612294 -0.00419581 -0.02302112
+v -0.03716929 -0.00256302 -0.02188733
+v -0.03720658 -0.00086895 -0.02194140
+v -0.03683163 -0.00001877 -0.02241156
+v -0.02594614 -0.00520938 -0.03220994
+v -0.03272675 -0.00764836 -0.02586910
+v -0.03374757 -0.00595430 -0.02528868
+v -0.03459171 -0.00595430 -0.02444614
+v -0.04083246 -0.00754155 -0.01275261
+v -0.04125846 -0.00764842 -0.01107794
+v -0.04128594 -0.00764842 -0.01095936
+v -0.04040450 -0.00001879 -0.01598749
+v -0.03997851 -0.00001879 -0.01697357
+v -0.03960944 -0.00086896 -0.01782651
+v -0.03954073 -0.00256303 -0.01782652
+v -0.04068915 -0.00690509 -0.01366587
+v -0.03964870 -0.00764840 -0.01613939
+v -0.04034757 -0.00754155 -0.01431702
+v -0.03932675 -0.00429325 -0.01796383
+v -0.03927964 -0.00595433 -0.01762474
+v -0.03913829 -0.00764840 -0.01732518
+v -0.04085210 -0.00973851 -0.01095937
+v -0.04089528 -0.00937549 -0.01112371
+v -0.04074412 -0.00883333 -0.01218260
+v -0.04058118 -0.00803500 -0.01330806
+v -0.03927375 -0.00931576 -0.01619972
+v -0.03909510 -0.01103654 -0.01558811
+v -0.03873585 -0.01103654 -0.01643273
+v -0.03758547 -0.01263946 -0.01782656
+v -0.03713002 -0.01314234 -0.01838825
+v -0.03692782 -0.01448597 -0.01782656
+v -0.03622110 -0.01607318 -0.01793475
+v -0.03629766 -0.01607318 -0.01778912
+v -0.03251081 -0.00934244 -0.02568811
+v -0.03309189 -0.01119681 -0.02462715
+v -0.03335691 -0.00934244 -0.02492047
+v -0.03440522 -0.01273217 -0.02266125
+v -0.03546530 -0.01151112 -0.02188320
+v -0.03475073 -0.01108838 -0.02290672
+v -0.03403615 -0.01066564 -0.02388447
+v -0.03422854 -0.01607317 -0.02112181
+v -0.03525328 -0.01607318 -0.01961565
+v -0.03578332 -0.01573845 -0.01900404
+v -0.03600123 -0.01437910 -0.01954491
+v -0.03565965 -0.01378193 -0.02047274
+v -0.03584615 -0.01273217 -0.02074526
+v -0.03543978 -0.00595430 -0.02356408
+v -0.03612294 -0.00595431 -0.02272155
+v -0.03709076 -0.00425867 -0.02177500
+v -0.03765418 -0.00425867 -0.02093246
+v -0.03773074 -0.00256302 -0.02104687
+v -0.03776804 -0.00086895 -0.02110095
+v -0.03720658 -0.00001877 -0.02193932
+v -0.03357482 -0.00764837 -0.02512642
+v -0.03442681 -0.00764837 -0.02428389
+v -0.04096792 -0.00921049 -0.01095936
+v -0.03960944 -0.00001878 -0.01782651
+v -0.03909118 -0.00086896 -0.01888540
+v -0.03905584 -0.00256303 -0.01882092
+v -0.03901069 -0.00375108 -0.01873770
+v -0.03902836 -0.00873273 -0.01709842
+v -0.03894787 -0.00488099 -0.01861913
+v -0.03887327 -0.00595432 -0.01846727
+v -0.03872407 -0.00764839 -0.01816979
+v -0.04093455 -0.00937235 -0.01095936
+v -0.03889486 -0.00986264 -0.01680095
+v -0.03807428 -0.01103653 -0.01782655
+v -0.03732045 -0.01201243 -0.01874397
+v -0.03672169 -0.01263946 -0.01938889
+v -0.03603264 -0.01607318 -0.01828632
+v -0.03422265 -0.00934244 -0.02407585
+v -0.03604638 -0.01098309 -0.02127366
+v -0.03564002 -0.01038121 -0.02211619
+v -0.03507071 -0.00934245 -0.02312930
+v -0.03540641 -0.01607318 -0.01937017
+v -0.03571069 -0.01607318 -0.01888130
+v -0.03696709 -0.01103653 -0.01983823
+v -0.03527488 -0.00764837 -0.02337270
+v -0.03596589 -0.00764838 -0.02252809
+v -0.03697101 -0.00595431 -0.02160233
+v -0.03754228 -0.00595431 -0.02075980
+v -0.03858077 -0.00429325 -0.01938470
+v -0.03857684 -0.00256303 -0.01966345
+v -0.03861610 -0.00086896 -0.01973001
+v -0.03861610 -0.00001878 -0.01973001
+v -0.03776804 -0.00001877 -0.02109887
+v -0.03909118 -0.00001878 -0.01888540
+v -0.03857684 -0.00931575 -0.01772668
+v -0.03829023 -0.00595432 -0.01951368
+v -0.03799183 -0.00764839 -0.01951369
+v -0.03761884 -0.00921989 -0.01956154
+v -0.03746375 -0.01103653 -0.01899569
+v -0.03715554 -0.00970234 -0.02015444
+v -0.03668047 -0.00921988 -0.02104897
+v -0.03577351 -0.00934245 -0.02228677
+v -0.03681396 -0.00764838 -0.02137350
+v -0.03739112 -0.00764838 -0.02053097
+v -0.03729689 -0.00857243 -0.02038535
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 39
+f 1 39 38
+f 1 38 59
+f 1 59 89
+f 1 89 129
+f 1 129 128
+f 1 128 127
+f 1 127 126
+f 1 126 178
+f 1 178 177
+f 1 177 215
+f 1 215 221
+f 1 221 220
+f 1 220 187
+f 1 187 186
+f 1 186 140
+f 1 140 139
+f 1 139 137
+f 1 137 96
+f 1 96 95
+f 1 95 65
+f 1 65 42
+f 1 42 27
+f 1 27 26
+f 1 26 25
+f 1 25 17
+f 1 17 16
+f 1 16 15
+f 1 15 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 20
+f 2 20 33
+f 2 33 53
+f 2 53 81
+f 2 81 106
+f 2 106 156
+f 2 156 201
+f 2 201 210
+f 2 210 167
+f 2 167 118
+f 2 118 116
+f 2 116 82
+f 2 82 54
+f 2 54 34
+f 2 34 21
+f 2 21 11
+f 2 11 6
+f 2 4 5
+f 3 7 8
+f 4 9 18
+f 4 18 28
+f 4 28 45
+f 4 45 69
+f 4 69 101
+f 4 101 149
+f 4 149 198
+f 4 198 231
+f 4 231 230
+f 4 230 232
+f 4 232 202
+f 4 202 158
+f 4 158 157
+f 4 157 108
+f 4 108 107
+f 4 107 74
+f 4 74 73
+f 4 73 49
+f 4 49 31
+f 4 31 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 8
+f 8 14 24
+f 8 24 40
+f 8 40 60
+f 8 60 90
+f 8 90 130
+f 8 130 150
+f 8 150 102
+f 8 102 70
+f 8 70 46
+f 8 46 29
+f 8 29 18
+f 8 18 9
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 10 19 30
+f 10 30 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 14 17 25
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 18 29 43
+f 18 43 28
+f 19 31 32
+f 19 32 30
+f 20 30 33
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 24 27 41
+f 24 41 40
+f 27 42 41
+f 28 43 44
+f 28 44 45
+f 29 46 47
+f 29 47 43
+f 30 32 52
+f 30 52 48
+f 30 48 33
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 33 48 53
+f 34 54 35
+f 35 54 55
+f 35 55 36
+f 36 56 57
+f 36 57 37
+f 36 55 56
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 40 41 61
+f 40 61 60
+f 41 42 62
+f 41 62 63
+f 41 63 64
+f 41 64 61
+f 42 65 62
+f 43 47 44
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 44 47 66
+f 45 68 69
+f 46 70 71
+f 46 71 47
+f 47 71 66
+f 48 52 80
+f 48 80 72
+f 48 72 53
+f 49 73 50
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 51
+f 51 77 52
+f 51 76 78
+f 51 78 79
+f 51 79 77
+f 52 77 80
+f 53 72 81
+f 54 82 55
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 56 84 85
+f 56 85 57
+f 57 85 86
+f 57 86 58
+f 58 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 59
+f 60 61 91
+f 60 91 90
+f 61 64 92
+f 61 92 91
+f 62 65 63
+f 63 93 94
+f 63 94 64
+f 63 65 95
+f 63 95 96
+f 63 96 97
+f 63 97 93
+f 64 94 92
+f 66 71 98
+f 66 98 67
+f 67 98 99
+f 67 99 100
+f 67 100 68
+f 68 100 101
+f 68 101 69
+f 70 102 103
+f 70 103 71
+f 71 103 104
+f 71 104 98
+f 72 80 105
+f 72 105 106
+f 72 106 81
+f 74 107 75
+f 75 107 108
+f 75 108 109
+f 75 109 76
+f 76 109 110
+f 76 110 78
+f 77 111 80
+f 77 79 112
+f 77 112 111
+f 78 110 113
+f 78 113 79
+f 79 113 114
+f 79 114 112
+f 80 111 115
+f 80 115 105
+f 82 116 83
+f 83 117 84
+f 83 116 118
+f 83 118 117
+f 84 117 119
+f 84 119 120
+f 84 120 121
+f 84 121 85
+f 85 121 122
+f 85 122 86
+f 86 122 123
+f 86 123 87
+f 87 124 125
+f 87 125 88
+f 87 123 124
+f 88 125 126
+f 88 126 127
+f 88 127 128
+f 88 128 129
+f 88 129 89
+f 90 91 131
+f 90 131 132
+f 90 132 130
+f 91 92 131
+f 92 94 133
+f 92 133 131
+f 93 134 94
+f 93 97 135
+f 93 135 134
+f 94 134 136
+f 94 136 133
+f 96 137 138
+f 96 138 97
+f 97 139 140
+f 97 140 141
+f 97 141 142
+f 97 142 143
+f 97 143 144
+f 97 144 135
+f 97 138 137
+f 97 137 139
+f 98 145 146
+f 98 146 99
+f 98 104 145
+f 99 146 147
+f 99 147 148
+f 99 148 100
+f 100 148 198
+f 100 198 149
+f 100 149 101
+f 102 150 151
+f 102 151 152
+f 102 152 103
+f 103 152 153
+f 103 153 145
+f 103 145 104
+f 105 115 154
+f 105 154 155
+f 105 155 156
+f 105 156 106
+f 108 157 109
+f 109 157 158
+f 109 158 159
+f 109 159 110
+f 110 159 160
+f 110 160 113
+f 111 161 115
+f 111 112 161
+f 112 114 162
+f 112 162 163
+f 112 163 161
+f 113 160 164
+f 113 164 165
+f 113 165 114
+f 114 165 166
+f 114 166 162
+f 115 161 154
+f 117 118 167
+f 117 167 168
+f 117 168 169
+f 117 169 119
+f 119 169 170
+f 119 170 120
+f 120 170 163
+f 120 163 162
+f 120 162 171
+f 120 171 172
+f 120 172 121
+f 121 172 122
+f 122 172 173
+f 122 173 123
+f 123 173 174
+f 123 174 124
+f 124 174 175
+f 124 175 176
+f 124 176 125
+f 125 176 177
+f 125 177 178
+f 125 178 126
+f 130 151 150
+f 130 132 179
+f 130 179 151
+f 131 133 136
+f 131 136 180
+f 131 180 132
+f 132 180 181
+f 132 181 179
+f 134 135 182
+f 134 182 136
+f 135 144 182
+f 136 182 183
+f 136 183 184
+f 136 184 185
+f 136 185 180
+f 140 186 141
+f 141 186 142
+f 142 187 188
+f 142 188 189
+f 142 189 190
+f 142 190 143
+f 142 186 187
+f 143 190 144
+f 144 183 182
+f 144 190 191
+f 144 191 183
+f 145 192 193
+f 145 193 146
+f 145 153 192
+f 146 193 194
+f 146 194 147
+f 147 194 195
+f 147 195 196
+f 147 196 197
+f 147 197 148
+f 148 197 231
+f 148 231 198
+f 151 179 199
+f 151 199 152
+f 152 199 200
+f 152 200 153
+f 153 200 192
+f 154 161 170
+f 154 170 169
+f 154 169 155
+f 155 201 156
+f 155 169 168
+f 155 168 201
+f 158 202 159
+f 159 202 232
+f 159 232 203
+f 159 203 204
+f 159 204 160
+f 160 204 205
+f 160 205 164
+f 161 163 170
+f 162 166 206
+f 162 206 171
+f 164 205 207
+f 164 207 165
+f 165 207 208
+f 165 208 166
+f 166 208 209
+f 166 209 206
+f 167 210 168
+f 168 210 201
+f 171 206 211
+f 171 211 172
+f 172 211 173
+f 173 211 212
+f 173 212 174
+f 174 212 213
+f 174 213 175
+f 175 213 214
+f 175 214 189
+f 175 189 188
+f 175 188 176
+f 176 188 215
+f 176 215 177
+f 179 181 199
+f 180 185 181
+f 181 185 216
+f 181 216 199
+f 183 191 217
+f 183 217 218
+f 183 218 184
+f 184 218 185
+f 185 218 219
+f 185 219 216
+f 187 220 188
+f 188 220 221
+f 188 221 215
+f 189 214 190
+f 190 214 191
+f 191 214 222
+f 191 222 217
+f 192 223 224
+f 192 224 193
+f 192 200 223
+f 193 224 225
+f 193 225 194
+f 194 225 226
+f 194 226 195
+f 195 226 227
+f 195 227 228
+f 195 228 196
+f 196 228 229
+f 196 229 197
+f 197 230 231
+f 197 229 230
+f 199 216 200
+f 200 216 223
+f 203 232 230
+f 203 230 229
+f 203 229 204
+f 204 229 228
+f 204 228 205
+f 205 228 227
+f 205 227 207
+f 206 209 233
+f 206 233 211
+f 207 227 234
+f 207 234 208
+f 208 234 235
+f 208 235 209
+f 209 235 236
+f 209 236 233
+f 211 233 212
+f 212 237 213
+f 212 233 237
+f 213 237 222
+f 213 222 214
+f 216 219 223
+f 217 222 238
+f 217 238 218
+f 218 238 239
+f 218 239 240
+f 218 240 219
+f 219 240 223
+f 222 237 238
+f 223 240 224
+f 224 240 241
+f 224 241 225
+f 225 241 242
+f 225 242 226
+f 226 242 234
+f 226 234 227
+f 233 236 237
+f 234 242 235
+f 235 242 243
+f 235 243 236
+f 236 243 238
+f 236 238 237
+f 238 243 239
+f 239 243 241
+f 239 241 240
+f 241 243 242
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_31.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.02780781 0.02490585 0.00616774
+v -0.02780781 0.03461962 0.00616778
+v -0.01563801 0.03382450 0.00616777
+v -0.01563801 0.03522068 0.02267147
+v -0.01563801 0.03536915 0.02438926
+v -0.02780781 0.02680735 0.02267144
+v -0.02706432 0.03520876 0.00616778
+v -0.02780781 0.04360759 0.04130433
+v -0.01563801 0.04146907 0.00616780
+v -0.01563801 0.03548890 0.02534527
+v -0.02780781 0.02700372 0.02435876
+v -0.02684509 0.03538120 0.00616778
+v -0.02780781 0.04384708 0.04291166
+v -0.02727164 0.04415124 0.04179947
+v -0.01608481 0.04130861 0.00616780
+v -0.02058147 0.04755202 0.04175378
+v -0.01778029 0.04844053 0.04122436
+v -0.01570949 0.04927635 0.04165476
+v -0.01563801 0.04928593 0.04162810
+v -0.01563801 0.03557989 0.02604229
+v -0.02780781 0.02726475 0.02604226
+v -0.02665803 0.03551771 0.00616778
+v -0.02780781 0.04379918 0.04324683
+v -0.02720015 0.04410812 0.04383720
+v -0.02730262 0.04417039 0.04291166
+v -0.02625650 0.04477630 0.04291166
+v -0.02496017 0.04550196 0.04291167
+v -0.02402247 0.04590192 0.04164333
+v -0.02162163 0.03874844 0.00616779
+v -0.02286554 0.03803476 0.00616779
+v -0.02392239 0.03740250 0.00616779
+v -0.02477072 0.03684449 0.00616779
+v -0.02599795 0.03599669 0.00616778
+v -0.01731085 0.04082004 0.00616780
+v -0.02286554 0.04655093 0.04291167
+v -0.02148223 0.04719516 0.04291167
+v -0.02063389 0.04757356 0.04291167
+v -0.01947577 0.04804057 0.04291168
+v -0.01778029 0.04867043 0.04291168
+v -0.01797212 0.04053505 0.00616780
+v -0.01815799 0.04045362 0.00616780
+v -0.01841178 0.04033627 0.00616780
+v -0.01947577 0.03984292 0.00616780
+v -0.01668413 0.04905122 0.04291168
+v -0.01583579 0.04931466 0.04291168
+v -0.01563801 0.04937214 0.04291168
+v -0.01563801 0.03584334 0.02772961
+v -0.01563801 0.03586968 0.02786291
+v -0.01563801 0.03617382 0.02938645
+v -0.02780781 0.02760723 0.02772958
+v -0.02780781 0.04323398 0.04422570
+v -0.02780781 0.04321242 0.04424475
+v -0.02625650 0.04437635 0.04410001
+v -0.02393668 0.04585880 0.04390958
+v -0.02411183 0.04594741 0.04291167
+v -0.02077329 0.03920108 0.00616779
+v -0.02047900 0.04750411 0.04385245
+v -0.01563801 0.04922126 0.04383722
+v -0.01563801 0.03629836 0.02987779
+v -0.02780781 0.02805986 0.02945879
+v -0.02780781 0.04318847 0.04425618
+v -0.02625650 0.04320045 0.04475513
+v -0.02452527 0.04495352 0.04434760
+v -0.02286554 0.04611266 0.04416096
+v -0.01947577 0.04770289 0.04407718
+v -0.01563801 0.04912067 0.04396672
+v -0.01563801 0.03660970 0.03106615
+v -0.01563801 0.03676057 0.03156130
+v -0.01563801 0.03705514 0.03252113
+v -0.01563801 0.03712938 0.03276109
+v -0.02780781 0.02847178 0.03067380
+v -0.02780781 0.04165093 0.04494176
+v -0.02456102 0.04320044 0.04502556
+v -0.02286554 0.04489605 0.04480846
+v -0.02109500 0.04664912 0.04431713
+v -0.01778029 0.04801662 0.04433237
+v -0.01563801 0.04868001 0.04429809
+v -0.01563801 0.03734493 0.03338955
+v -0.02780781 0.02861787 0.03110422
+v -0.02780781 0.04150484 0.04496842
+v -0.02625650 0.04150484 0.04506364
+v -0.01947577 0.04489604 0.04507888
+v -0.02117125 0.04489604 0.04502175
+v -0.01778029 0.04659164 0.04495701
+v -0.01947577 0.04659165 0.04473229
+v -0.01563801 0.04837346 0.04448092
+v -0.01563801 0.03774487 0.03450173
+v -0.02780781 0.02928604 0.03278772
+v -0.02780781 0.03995533 0.04504459
+v -0.01563801 0.04659164 0.04506747
+v -0.01608481 0.04659164 0.04506366
+v -0.01563801 0.04703709 0.04498367
+v -0.01563801 0.03788138 0.03484071
+v -0.02780781 0.02931957 0.03286771
+v -0.02780781 0.03981164 0.04502555
+v -0.01563801 0.04534389 0.04493416
+v -0.01563801 0.03846334 0.03622332
+v -0.02780781 0.02996140 0.03431126
+v -0.02780781 0.03825974 0.04471703
+v -0.01563801 0.04489605 0.04483893
+v -0.01563801 0.03853279 0.03637948
+v -0.01563801 0.03889202 0.03714506
+v -0.01563801 0.03927521 0.03792968
+v -0.01563801 0.03940453 0.03818106
+v -0.02780781 0.03047870 0.03529774
+v -0.02780781 0.03811844 0.04465228
+v -0.01563801 0.04382552 0.04436663
+v -0.01563801 0.04014215 0.03956749
+v -0.02780781 0.03101995 0.03630709
+v -0.02780781 0.03694015 0.04407333
+v -0.01563801 0.04352137 0.04418762
+v -0.01563801 0.04024274 0.03974650
+v -0.02780781 0.03108461 0.03642135
+v -0.02780781 0.03687548 0.04403143
+v -0.02780781 0.03615461 0.04340297
+v -0.01563801 0.04289629 0.04361629
+v -0.01563801 0.04063551 0.04041686
+v -0.02780781 0.03185576 0.03773160
+v -0.02780781 0.03603247 0.04327347
+v -0.02780781 0.03532597 0.04251170
+v -0.01563801 0.04264243 0.04332301
+v -0.01563801 0.04115999 0.04126242
+v -0.02780781 0.03232038 0.03845909
+v -0.02780781 0.03524934 0.04242029
+v -0.02780781 0.03440634 0.04138809
+v -0.01563801 0.04214190 0.04268312
+v -0.01563801 0.04132764 0.04151381
+v -0.02780781 0.03307955 0.03959793
+v -0.02780781 0.03435604 0.04132334
+v -0.01563801 0.04201497 0.04251934
+v -0.02780781 0.03375492 0.04053109
+f 1 2 7
+f 1 7 12
+f 1 12 22
+f 1 22 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 56
+f 1 56 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 34
+f 1 34 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 50
+f 1 50 60
+f 1 60 71
+f 1 71 79
+f 1 79 88
+f 1 88 94
+f 1 94 98
+f 1 98 105
+f 1 105 109
+f 1 109 113
+f 1 113 118
+f 1 118 123
+f 1 123 128
+f 1 128 131
+f 1 131 129
+f 1 129 125
+f 1 125 124
+f 1 124 120
+f 1 120 119
+f 1 119 115
+f 1 115 114
+f 1 114 110
+f 1 110 106
+f 1 106 99
+f 1 99 95
+f 1 95 89
+f 1 89 80
+f 1 80 72
+f 1 72 61
+f 1 61 52
+f 1 52 51
+f 1 51 23
+f 1 23 13
+f 1 13 8
+f 1 8 2
+f 2 8 7
+f 3 9 19
+f 3 19 46
+f 3 46 58
+f 3 58 66
+f 3 66 77
+f 3 77 86
+f 3 86 92
+f 3 92 90
+f 3 90 96
+f 3 96 100
+f 3 100 107
+f 3 107 111
+f 3 111 116
+f 3 116 121
+f 3 121 126
+f 3 126 130
+f 3 130 127
+f 3 127 122
+f 3 122 117
+f 3 117 112
+f 3 112 108
+f 3 108 104
+f 3 104 103
+f 3 103 102
+f 3 102 101
+f 3 101 97
+f 3 97 93
+f 3 93 87
+f 3 87 78
+f 3 78 70
+f 3 70 69
+f 3 69 68
+f 3 68 67
+f 3 67 59
+f 3 59 49
+f 3 49 48
+f 3 48 47
+f 3 47 20
+f 3 20 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 7 8 12
+f 8 13 14
+f 8 14 12
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 10 20 11
+f 11 20 21
+f 12 14 22
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 22
+f 15 34 16
+f 16 28 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 18
+f 16 18 17
+f 16 34 40
+f 16 40 41
+f 16 41 42
+f 16 42 43
+f 16 43 28
+f 18 39 44
+f 18 44 45
+f 18 45 46
+f 18 46 19
+f 20 47 21
+f 21 47 48
+f 21 48 49
+f 21 49 50
+f 23 51 24
+f 24 51 52
+f 24 52 53
+f 24 53 54
+f 24 54 27
+f 24 27 26
+f 24 26 25
+f 27 55 28
+f 27 54 55
+f 28 55 35
+f 28 43 56
+f 28 56 29
+f 35 55 54
+f 35 54 57
+f 35 57 36
+f 36 57 37
+f 37 57 38
+f 38 57 39
+f 39 57 58
+f 39 58 44
+f 44 58 45
+f 45 58 46
+f 49 59 50
+f 50 59 60
+f 52 61 62
+f 52 62 63
+f 52 63 53
+f 53 63 64
+f 53 64 54
+f 54 64 57
+f 57 64 65
+f 57 65 58
+f 58 65 66
+f 59 67 60
+f 60 67 68
+f 60 68 69
+f 60 69 70
+f 60 70 71
+f 61 72 62
+f 62 72 73
+f 62 73 74
+f 62 74 63
+f 63 74 64
+f 64 74 75
+f 64 75 65
+f 65 75 76
+f 65 76 66
+f 66 76 77
+f 70 78 79
+f 70 79 71
+f 72 80 73
+f 73 80 81
+f 73 81 82
+f 73 82 83
+f 73 83 74
+f 74 83 84
+f 74 84 85
+f 74 85 75
+f 75 85 76
+f 76 85 86
+f 76 86 77
+f 78 87 79
+f 79 87 88
+f 80 89 81
+f 81 89 82
+f 82 90 91
+f 82 91 83
+f 82 89 90
+f 83 91 84
+f 84 91 92
+f 84 92 86
+f 84 86 85
+f 87 93 88
+f 88 93 94
+f 89 95 96
+f 89 96 90
+f 90 92 91
+f 93 97 94
+f 94 97 98
+f 95 99 96
+f 96 99 100
+f 97 101 98
+f 98 101 102
+f 98 102 103
+f 98 103 104
+f 98 104 105
+f 99 106 107
+f 99 107 100
+f 104 108 105
+f 105 108 109
+f 106 110 107
+f 107 110 111
+f 108 112 109
+f 109 112 113
+f 110 114 111
+f 111 114 115
+f 111 115 116
+f 112 117 113
+f 113 117 118
+f 115 119 116
+f 116 119 120
+f 116 120 121
+f 117 122 118
+f 118 122 123
+f 120 124 121
+f 121 124 125
+f 121 125 126
+f 122 127 128
+f 122 128 123
+f 125 129 126
+f 126 129 130
+f 127 130 128
+f 128 130 131
+f 129 131 130
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_32.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.04951920 -0.01528400 0.04291328
+v 0.04940759 -0.01528400 0.04364412
+v 0.04928687 -0.01557373 0.04389298
+v 0.04936431 -0.01582121 0.04291328
+v 0.04932787 -0.01570531 0.04167841
+v 0.04938937 -0.01528399 0.04150200
+v 0.04932787 -0.01528400 0.04394338
+v 0.04806142 -0.01781914 0.04432454
+v 0.04774709 -0.01951405 0.04405993
+v 0.04755575 -0.02049431 0.04383941
+v 0.04869009 -0.01781914 0.04291327
+v 0.04909325 -0.01666867 0.04291328
+v 0.04759903 -0.02059329 0.04179179
+v 0.04232368 -0.01528389 0.01290472
+v 0.04895203 -0.01528400 0.04422690
+v 0.04840309 -0.01528400 0.04455767
+v 0.04665147 -0.01951405 0.04472462
+v 0.04669931 -0.02111843 0.04429933
+v 0.04614580 -0.02290269 0.04412922
+v 0.04589752 -0.02393485 0.04388350
+v 0.04656719 -0.02290269 0.04291326
+v 0.04723458 -0.02148060 0.04291326
+v 0.04761725 -0.02063434 0.04291326
+v 0.04806142 -0.01951405 0.04291327
+v 0.04594992 -0.02403141 0.04168153
+v 0.04053562 -0.01962259 0.01290471
+v 0.04084768 -0.01895380 0.01290471
+v 0.04121668 -0.01809668 0.01290471
+v 0.04133512 -0.01781903 0.01290471
+v 0.04201846 -0.01610721 0.01290472
+v 0.03485483 -0.01528389 0.01290472
+v 0.04748969 -0.01528400 0.04490733
+v 0.04665147 -0.01781915 0.04495773
+v 0.04495452 -0.02290269 0.04478131
+v 0.04500236 -0.02453845 0.04432452
+v 0.04440786 -0.02629253 0.04406935
+v 0.04414591 -0.02720276 0.04381104
+v 0.04553536 -0.02494769 0.04291325
+v 0.04598408 -0.02410023 0.04291325
+v 0.04418919 -0.02727398 0.04185793
+v 0.03916212 -0.02230259 0.01290470
+v 0.03974523 -0.02120886 0.01290470
+v 0.04032151 -0.02006081 0.01290471
+v 0.04045134 -0.01980126 0.01290471
+v 0.02624936 -0.02761672 0.01290468
+v 0.03541972 -0.01528392 0.02098176
+v 0.04665147 -0.01528401 0.04507429
+v 0.04665147 -0.01612423 0.04506484
+v 0.04495452 -0.02120898 0.04501127
+v 0.04325985 -0.02459762 0.04501126
+v 0.04325985 -0.02629253 0.04472459
+v 0.04323707 -0.02761683 0.04429616
+v 0.04341474 -0.02761683 0.04419536
+v 0.04356963 -0.02761683 0.04406935
+v 0.04392952 -0.02761683 0.04341411
+v 0.04398874 -0.02761683 0.04291324
+v 0.04419830 -0.02728726 0.04291324
+v 0.04477913 -0.02629253 0.04291324
+v 0.04384297 -0.02761682 0.04153346
+v 0.03583656 -0.02741149 0.01290468
+v 0.03665884 -0.02626827 0.01290468
+v 0.03717362 -0.02553550 0.01290469
+v 0.03728295 -0.02537735 0.01290469
+v 0.03739228 -0.02520713 0.01290469
+v 0.03780684 -0.02455404 0.01290469
+v 0.03866784 -0.02315005 0.01290469
+v 0.02713315 -0.02761675 0.02267022
+v 0.03565889 -0.01528393 0.02422644
+v 0.03554044 -0.01528392 0.02267026
+v 0.03567711 -0.02761672 0.01290468
+v 0.04579502 -0.01528401 0.04498609
+v 0.04023951 -0.02761684 0.04504275
+v 0.04495452 -0.01951406 0.04508059
+v 0.04156290 -0.02629254 0.04505536
+v 0.04156290 -0.02761684 0.04496400
+v 0.04193646 -0.02761683 0.04489155
+v 0.02732676 -0.02761676 0.02435556
+v 0.03587300 -0.01528394 0.02604409
+v 0.03986823 -0.02761684 0.04500180
+v 0.04495452 -0.01528400 0.04480023
+v 0.03854484 -0.02761683 0.04474349
+v 0.02757503 -0.02761677 0.02604405
+v 0.03612583 -0.01528394 0.02773259
+v 0.04422335 -0.01528400 0.04447576
+v 0.03817584 -0.02761683 0.04458598
+v 0.02790759 -0.02761677 0.02773255
+v 0.03646750 -0.01528395 0.02944628
+v 0.04364708 -0.01528400 0.04414500
+v 0.03717362 -0.02761683 0.04409770
+v 0.02834037 -0.02761678 0.02943049
+v 0.03689800 -0.01528395 0.03110327
+v 0.04321885 -0.01528400 0.04374807
+v 0.03648345 -0.02761683 0.04352752
+v 0.03700961 -0.02761683 0.04398115
+v 0.02891437 -0.02761678 0.03110323
+v 0.03738773 -0.01528396 0.03272561
+v 0.03715539 -0.01528396 0.03196012
+v 0.04274735 -0.01528400 0.04319364
+v 0.03538100 -0.02761683 0.04233990
+v 0.03557461 -0.02761683 0.04256357
+v 0.03616911 -0.02761683 0.04319990
+v 0.02956354 -0.02761679 0.03278858
+v 0.03800273 -0.01528397 0.03448026
+v 0.04239429 -0.01528400 0.04273687
+v 0.03453594 -0.02761682 0.04129405
+v 0.03478194 -0.02761682 0.04160591
+v 0.02965465 -0.02761679 0.03299649
+v 0.03880678 -0.01528397 0.03643337
+v 0.03864278 -0.01528397 0.03605220
+v 0.03825100 -0.01528397 0.03511345
+v 0.04215285 -0.01528400 0.04241870
+v 0.03389361 -0.02761682 0.04042460
+v 0.03023549 -0.02761680 0.03431956
+v 0.03949695 -0.01528398 0.03789505
+v 0.04177474 -0.01528399 0.04186112
+v 0.03330822 -0.02761682 0.03960555
+v 0.03126277 -0.02761680 0.03626952
+v 0.03979762 -0.01528398 0.03848728
+v 0.04139435 -0.01528399 0.04128779
+v 0.03246772 -0.02761681 0.03831083
+v 0.03145638 -0.02761680 0.03661604
+v 0.04051057 -0.01528399 0.03981980
+v 0.04029646 -0.01528398 0.03943233
+v 0.04085907 -0.01528399 0.04040889
+v 0.03210555 -0.02761681 0.03774065
+v 0.04077707 -0.01528399 0.04027343
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 31
+f 1 31 46
+f 1 46 69
+f 1 69 68
+f 1 68 78
+f 1 78 83
+f 1 83 87
+f 1 87 91
+f 1 91 97
+f 1 97 96
+f 1 96 103
+f 1 103 110
+f 1 110 109
+f 1 109 108
+f 1 108 114
+f 1 114 118
+f 1 118 123
+f 1 123 122
+f 1 122 126
+f 1 126 124
+f 1 124 119
+f 1 119 115
+f 1 115 111
+f 1 111 104
+f 1 104 98
+f 1 98 92
+f 1 92 88
+f 1 88 84
+f 1 84 80
+f 1 80 71
+f 1 71 47
+f 1 47 32
+f 1 32 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 11
+f 5 11 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 10 19 20
+f 11 24 13
+f 13 24 23
+f 13 23 22
+f 13 22 21
+f 13 21 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 29
+f 14 29 28
+f 14 28 27
+f 14 27 26
+f 14 26 44
+f 14 44 43
+f 14 43 42
+f 14 42 41
+f 14 41 66
+f 14 66 65
+f 14 65 64
+f 14 64 63
+f 14 63 62
+f 14 62 61
+f 14 61 60
+f 14 60 70
+f 14 70 45
+f 14 45 31
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 36 20
+f 19 35 36
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 20 36 37
+f 21 39 25
+f 25 39 38
+f 25 38 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 31 45 46
+f 32 47 48
+f 32 48 33
+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 36
+f 36 53 54
+f 36 54 37
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 38
+f 37 54 55
+f 38 58 40
+f 40 58 57
+f 40 57 56
+f 40 56 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 45 67 68
+f 45 68 69
+f 45 69 46
+f 45 70 59
+f 45 59 56
+f 45 56 55
+f 45 55 54
+f 45 54 53
+f 45 53 52
+f 45 52 76
+f 45 76 75
+f 45 75 72
+f 45 72 79
+f 45 79 81
+f 45 81 85
+f 45 85 89
+f 45 89 94
+f 45 94 93
+f 45 93 101
+f 45 101 100
+f 45 100 99
+f 45 99 106
+f 45 106 105
+f 45 105 112
+f 45 112 116
+f 45 116 120
+f 45 120 125
+f 45 125 121
+f 45 121 117
+f 45 117 113
+f 45 113 107
+f 45 107 102
+f 45 102 95
+f 45 95 90
+f 45 90 86
+f 45 86 82
+f 45 82 77
+f 45 77 67
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 49
+f 49 73 50
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 51
+f 51 76 52
+f 59 70 60
+f 67 77 68
+f 68 77 78
+f 71 79 72
+f 71 80 81
+f 71 81 79
+f 72 74 73
+f 72 75 74
+f 77 82 78
+f 78 82 83
+f 80 84 85
+f 80 85 81
+f 82 86 83
+f 83 86 87
+f 84 88 89
+f 84 89 85
+f 86 90 87
+f 87 90 91
+f 88 92 93
+f 88 93 94
+f 88 94 89
+f 90 95 96
+f 90 96 97
+f 90 97 91
+f 92 98 99
+f 92 99 100
+f 92 100 101
+f 92 101 93
+f 95 102 103
+f 95 103 96
+f 98 104 105
+f 98 105 106
+f 98 106 99
+f 102 107 108
+f 102 108 109
+f 102 109 110
+f 102 110 103
+f 104 111 105
+f 105 111 112
+f 107 113 108
+f 108 113 114
+f 111 115 116
+f 111 116 112
+f 113 117 118
+f 113 118 114
+f 115 119 116
+f 116 119 120
+f 117 121 122
+f 117 122 123
+f 117 123 118
+f 119 124 125
+f 119 125 120
+f 121 125 122
+f 122 125 126
+f 124 126 125
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_33.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.01563681 0.02843593 -0.01336017
+v -0.01563681 0.03834520 -0.01336013
+v 0.00007239 0.03250469 -0.01336015
+v 0.00007239 0.03782788 0.01184761
+v -0.01563681 0.03445304 0.01184760
+v -0.01478638 0.03879979 -0.01305910
+v -0.01466950 0.03874035 -0.01336013
+v -0.01563681 0.03856526 -0.01271612
+v 0.00007239 0.04137469 -0.01336012
+v 0.00007239 0.04484421 0.01184763
+v -0.01563681 0.04209583 0.01184762
+v -0.01386059 0.03904073 -0.01336013
+v -0.01524620 0.03896844 -0.01193393
+v -0.01428811 0.03911462 -0.01260262
+v -0.01563681 0.03868895 -0.01231886
+v -0.00022442 0.04137469 -0.01336012
+v 0.00007239 0.04155781 -0.01276299
+v 0.00007239 0.04389652 0.00241940
+v -0.00082418 0.04484260 0.01184763
+v -0.01507550 0.04229983 0.01184763
+v -0.01550610 0.04076424 -0.00095118
+v -0.01563681 0.04081404 -0.00003575
+v -0.01269182 0.03960133 -0.01276299
+v -0.01264415 0.03942464 -0.01336013
+v -0.01563681 0.03902466 -0.01107525
+v -0.01551378 0.03907606 -0.01107525
+v -0.01438807 0.03948888 -0.01107524
+v -0.01269182 0.04005912 -0.01107524
+v -0.00082418 0.04137147 -0.01336012
+v -0.00082418 0.04155620 -0.01276299
+v -0.00082418 0.04199471 -0.01107524
+v 0.00007239 0.04199471 -0.01107524
+v 0.00007239 0.04372466 0.00073411
+v -0.00082418 0.04372305 0.00073411
+v -0.00082418 0.04389331 0.00241940
+v -0.00252044 0.04477835 0.01184763
+v -0.00213444 0.04407481 0.00469195
+v -0.01466489 0.04243797 0.01184763
+v -0.01438807 0.04134412 0.00073410
+v -0.01438807 0.04116100 -0.00095118
+v -0.01533539 0.04069839 -0.00210843
+v -0.01563681 0.04071284 -0.00095118
+v -0.01107553 0.04050888 -0.01117147
+v -0.01099710 0.04009607 -0.01276299
+v -0.01099710 0.03990653 -0.01336012
+v -0.01563681 0.03910819 -0.01072734
+v -0.01438807 0.03988081 -0.00938749
+v -0.01267336 0.04044301 -0.00943930
+v -0.01169375 0.04061811 -0.01003397
+v -0.00192067 0.04132650 -0.01336012
+v -0.00252044 0.04148552 -0.01276299
+v -0.00252044 0.04192403 -0.01107524
+v -0.00082418 0.04227260 -0.00981928
+v 0.00007239 0.04227421 -0.00982175
+v 0.00007239 0.04354957 -0.00095117
+v -0.00082418 0.04354796 -0.00095117
+v -0.00252044 0.04348371 -0.00095117
+v -0.00252044 0.04365719 0.00073411
+v -0.00421669 0.04465306 0.01184763
+v -0.00326476 0.04404268 0.00501025
+v -0.01430195 0.04255844 0.01184763
+v -0.01438807 0.04152401 0.00241939
+v -0.01269182 0.04188544 0.00073410
+v -0.01269182 0.04170393 -0.00095118
+v -0.01361607 0.04237855 0.00808473
+v -0.01269182 0.04151118 -0.00263894
+v -0.01450341 0.04092167 -0.00265621
+v -0.01563681 0.04054580 -0.00236505
+v -0.01514624 0.04062772 -0.00323113
+v -0.01563681 0.04047833 -0.00289309
+v -0.01001441 0.04062935 -0.01180068
+v -0.01056189 0.04076910 -0.01067551
+v -0.00939004 0.04048801 -0.01280001
+v -0.01039734 0.04005913 -0.01336012
+v -0.01563681 0.03941658 -0.00934555
+v -0.01563681 0.03965432 -0.00814635
+v -0.01563681 0.03974909 -0.00766025
+v -0.01422045 0.04030005 -0.00753441
+v -0.01322546 0.04056027 -0.00798843
+v -0.01209513 0.04073536 -0.00891126
+v -0.01107553 0.04090723 -0.00943930
+v -0.00253120 0.04129759 -0.01336012
+v -0.00421669 0.04134899 -0.01276299
+v -0.00421669 0.04178910 -0.01107524
+v -0.00421669 0.04116426 -0.01336012
+v -0.00252044 0.04223887 -0.00964903
+v -0.00252044 0.04240591 -0.00880515
+v -0.00082418 0.04243804 -0.00897541
+v 0.00007239 0.04243965 -0.00897787
+v -0.00082418 0.04336164 -0.00263893
+v 0.00007239 0.04336164 -0.00263893
+v -0.00421669 0.04335842 -0.00095117
+v -0.00252044 0.04329739 -0.00263893
+v -0.00504714 0.04404750 0.00665359
+v -0.00591141 0.04446833 0.01184763
+v -0.00421669 0.04353030 0.00073411
+v -0.01269182 0.04305479 0.01184763
+v -0.01189367 0.04236893 0.00312263
+v -0.01167530 0.04231110 0.00199746
+v -0.01342384 0.04231911 0.00695956
+v -0.01142155 0.04224525 0.00073411
+v -0.01099710 0.04198183 -0.00263894
+v -0.01099710 0.04177302 -0.00432669
+v -0.01269182 0.04129434 -0.00432669
+v -0.01408512 0.04084779 -0.00432669
+v -0.01493248 0.04055223 -0.00432669
+v -0.01563681 0.04028237 -0.00432669
+v -0.00939004 0.04092491 -0.01117147
+v -0.00888409 0.04075465 -0.01226210
+v -0.00930085 0.04135218 -0.00938749
+v -0.00818590 0.04059242 -0.01336012
+v -0.00936082 0.04031935 -0.01336012
+v -0.01563681 0.04002858 -0.00601198
+v -0.01457877 0.04042694 -0.00601198
+v -0.01354379 0.04065986 -0.00686326
+v -0.01267336 0.04081086 -0.00753441
+v -0.01099710 0.04126062 -0.00769973
+v -0.00591141 0.04114659 -0.01276299
+v -0.00591141 0.04158832 -0.01107524
+v -0.00591141 0.04096829 -0.01336012
+v -0.00591141 0.04195936 -0.00938749
+v -0.00415672 0.04218585 -0.00927152
+v -0.00355080 0.04237218 -0.00863243
+v -0.00252044 0.04260188 -0.00769972
+v -0.00082418 0.04266774 -0.00769972
+v 0.00007239 0.04266935 -0.00769972
+v 0.00007239 0.04325402 -0.00353215
+v 0.00007239 0.04315765 -0.00432668
+v -0.00082418 0.04315605 -0.00432668
+v -0.00591141 0.04316245 -0.00095117
+v -0.00421669 0.04317049 -0.00263893
+v -0.00591141 0.04297613 -0.00263893
+v -0.00252044 0.04309179 -0.00432668
+v -0.00591141 0.04333593 0.00073411
+v -0.00661114 0.04402982 0.00851654
+v -0.00698483 0.04408764 0.00963924
+v -0.00759229 0.04421936 0.01184763
+v -0.01199209 0.04324272 0.01184763
+v -0.01099710 0.04350777 0.01184763
+v -0.01057265 0.04246210 0.00073411
+v -0.01031737 0.04239785 -0.00049963
+v -0.01092790 0.04218261 -0.00101534
+v -0.00978988 0.04227578 -0.00263893
+v -0.01006208 0.04233521 -0.00162233
+v -0.00923472 0.04218745 -0.00432916
+v -0.00930085 0.04194168 -0.00601198
+v -0.01099710 0.04153529 -0.00601198
+v -0.01269182 0.04105179 -0.00601198
+v -0.01373141 0.04072411 -0.00601198
+v -0.00760767 0.04131364 -0.01107524
+v -0.00757999 0.04086549 -0.01280001
+v -0.00809978 0.04061009 -0.01336012
+v -0.00760767 0.04169272 -0.00938749
+v -0.00930085 0.04167183 -0.00769973
+v -0.00723243 0.04076911 -0.01336012
+v -0.00600676 0.04225331 -0.00774414
+v -0.00468113 0.04231757 -0.00833386
+v -0.00415672 0.04247177 -0.00774414
+v -0.00421669 0.04274001 -0.00601197
+v -0.00252044 0.04286531 -0.00601197
+v -0.00082418 0.04293116 -0.00601197
+v 0.00007239 0.04279303 -0.00690766
+v 0.00007239 0.04293116 -0.00601197
+v -0.00760767 0.04290223 -0.00095117
+v -0.00760767 0.04307732 0.00073411
+v -0.00421669 0.04296489 -0.00432668
+v -0.00591141 0.04277053 -0.00432668
+v -0.00760767 0.04271430 -0.00263893
+v -0.00846733 0.04405230 0.01167244
+v -0.00851346 0.04406194 0.01184763
+v -0.00935928 0.04388204 0.01184763
+v -0.00930085 0.04275124 0.00073411
+v -0.00941772 0.04254242 -0.00101533
+v -0.00894099 0.04246051 -0.00263893
+v -0.00862573 0.04239144 -0.00376903
+v -0.00825049 0.04231916 -0.00489420
+v -0.00765534 0.04225170 -0.00610820
+v -0.00760767 0.04200916 -0.00769973
+v -0.00663420 0.04233683 -0.00673494
+v -0.00550388 0.04241555 -0.00720869
+v -0.00600676 0.04251352 -0.00610820
+v -0.00712170 0.04241715 -0.00560977
+v -0.00765534 0.04249586 -0.00432915
+f 1 2 7
+f 1 7 12
+f 1 12 24
+f 1 24 45
+f 1 45 74
+f 1 74 112
+f 1 112 111
+f 1 111 152
+f 1 152 155
+f 1 155 120
+f 1 120 85
+f 1 85 82
+f 1 82 50
+f 1 50 29
+f 1 29 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 42
+f 1 42 68
+f 1 68 70
+f 1 70 107
+f 1 107 113
+f 1 113 77
+f 1 77 76
+f 1 76 75
+f 1 75 46
+f 1 46 25
+f 1 25 15
+f 1 15 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 17
+f 3 17 32
+f 3 32 54
+f 3 54 89
+f 3 89 126
+f 3 126 162
+f 3 162 163
+f 3 163 128
+f 3 128 127
+f 3 127 91
+f 3 91 55
+f 3 55 33
+f 3 33 18
+f 3 18 10
+f 3 10 4
+f 4 10 19
+f 4 19 36
+f 4 36 59
+f 4 59 95
+f 4 95 137
+f 4 137 170
+f 4 170 171
+f 4 171 139
+f 4 139 138
+f 4 138 97
+f 4 97 61
+f 4 61 38
+f 4 38 20
+f 4 20 11
+f 4 11 5
+f 6 12 7
+f 6 8 13
+f 6 13 14
+f 6 14 12
+f 8 15 13
+f 9 16 17
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 12 14 23
+f 12 23 24
+f 13 15 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 23
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 37
+f 19 37 36
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 23 28 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 25 46 26
+f 26 46 47
+f 26 47 27
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 43
+f 29 50 30
+f 30 51 52
+f 30 52 31
+f 30 50 51
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 37
+f 34 37 35
+f 36 37 58
+f 36 58 60
+f 36 60 59
+f 38 61 62
+f 38 62 39
+f 39 63 64
+f 39 64 40
+f 39 62 61
+f 39 61 65
+f 39 65 63
+f 40 64 66
+f 40 66 67
+f 40 67 41
+f 41 68 42
+f 41 67 69
+f 41 69 70
+f 41 70 68
+f 43 71 44
+f 43 49 72
+f 43 72 71
+f 44 73 74
+f 44 74 45
+f 44 71 73
+f 46 75 47
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 49
+f 49 80 81
+f 49 81 72
+f 50 82 51
+f 51 83 84
+f 51 84 52
+f 51 82 85
+f 51 85 83
+f 52 84 86
+f 52 86 53
+f 53 86 87
+f 53 87 88
+f 53 88 89
+f 53 89 54
+f 55 90 56
+f 55 91 90
+f 56 90 93
+f 56 93 57
+f 57 92 60
+f 57 60 58
+f 57 93 92
+f 59 94 95
+f 59 60 96
+f 59 96 94
+f 60 92 96
+f 61 97 65
+f 63 98 99
+f 63 99 64
+f 63 65 100
+f 63 100 97
+f 63 97 98
+f 64 99 101
+f 64 101 102
+f 64 102 66
+f 65 97 100
+f 66 102 103
+f 66 103 104
+f 66 104 105
+f 66 105 67
+f 67 105 69
+f 69 105 106
+f 69 106 107
+f 69 107 70
+f 71 72 108
+f 71 108 109
+f 71 109 73
+f 72 81 110
+f 72 110 108
+f 73 109 111
+f 73 111 112
+f 73 112 74
+f 77 113 114
+f 77 114 78
+f 78 115 79
+f 78 114 115
+f 79 115 116
+f 79 116 80
+f 80 116 117
+f 80 117 81
+f 81 117 110
+f 83 118 119
+f 83 119 84
+f 83 85 120
+f 83 120 118
+f 84 119 121
+f 84 121 122
+f 84 122 86
+f 86 122 123
+f 86 123 87
+f 87 123 124
+f 87 124 125
+f 87 125 88
+f 88 125 89
+f 89 125 126
+f 90 91 127
+f 90 127 128
+f 90 128 129
+f 90 129 133
+f 90 133 93
+f 92 130 94
+f 92 94 96
+f 92 93 131
+f 92 131 132
+f 92 132 130
+f 93 133 166
+f 93 166 131
+f 94 130 134
+f 94 134 95
+f 95 135 136
+f 95 136 137
+f 95 134 135
+f 97 138 98
+f 98 138 99
+f 99 138 139
+f 99 139 101
+f 101 139 140
+f 101 140 141
+f 101 141 142
+f 101 142 102
+f 102 143 103
+f 102 142 141
+f 102 141 144
+f 102 144 143
+f 103 145 146
+f 103 146 147
+f 103 147 104
+f 103 143 145
+f 104 147 148
+f 104 148 149
+f 104 149 105
+f 105 149 106
+f 106 149 114
+f 106 114 113
+f 106 113 107
+f 108 110 150
+f 108 150 109
+f 109 150 151
+f 109 151 152
+f 109 152 111
+f 110 153 150
+f 110 117 154
+f 110 154 153
+f 114 149 115
+f 115 149 148
+f 115 148 116
+f 116 148 147
+f 116 147 117
+f 117 147 154
+f 118 120 155
+f 118 155 151
+f 118 151 150
+f 118 150 119
+f 119 150 153
+f 119 153 121
+f 121 153 156
+f 121 156 157
+f 121 157 122
+f 122 157 123
+f 123 157 158
+f 123 158 124
+f 124 158 159
+f 124 159 160
+f 124 160 161
+f 124 161 125
+f 125 161 162
+f 125 162 126
+f 128 163 161
+f 128 161 129
+f 129 161 133
+f 130 164 165
+f 130 165 134
+f 130 132 164
+f 131 166 167
+f 131 167 132
+f 132 167 168
+f 132 168 164
+f 133 161 160
+f 133 160 159
+f 133 159 166
+f 134 165 135
+f 135 165 136
+f 136 165 137
+f 137 169 170
+f 137 165 169
+f 139 171 141
+f 139 141 140
+f 141 172 173
+f 141 173 144
+f 141 171 172
+f 143 174 175
+f 143 175 145
+f 143 144 174
+f 144 173 174
+f 145 176 146
+f 145 175 176
+f 146 176 177
+f 146 177 178
+f 146 178 154
+f 146 154 147
+f 151 155 152
+f 153 154 178
+f 153 178 156
+f 156 178 179
+f 156 179 180
+f 156 180 157
+f 157 180 158
+f 158 180 159
+f 159 167 166
+f 159 180 181
+f 159 181 167
+f 161 163 162
+f 164 173 172
+f 164 172 170
+f 164 170 165
+f 164 168 174
+f 164 174 173
+f 165 170 169
+f 167 181 179
+f 167 179 182
+f 167 182 183
+f 167 183 168
+f 168 183 176
+f 168 176 175
+f 168 175 174
+f 170 172 171
+f 176 182 177
+f 176 183 182
+f 177 179 178
+f 177 182 179
+f 179 181 180
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_34.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.05166687 0.00082733 0.04291208
+v 0.05166514 -0.00001929 0.04291208
+v 0.05157033 -0.00001928 0.04206630
+v 0.05147379 0.00082734 0.04122449
+v 0.05161860 0.00252202 0.04291209
+v 0.05122557 0.00252202 0.04419466
+v 0.05124625 0.00082733 0.04421450
+v 0.05124798 -0.00001929 0.04421450
+v 0.05147379 -0.00001928 0.04122449
+v 0.05142208 0.00252203 0.04122450
+v 0.04409755 0.00082747 0.00454620
+v 0.05151862 0.00421817 0.04291210
+v 0.05117558 0.00421817 0.04414702
+v 0.05004130 0.00591287 0.04472279
+v 0.05004130 0.00421817 0.04479823
+v 0.05004130 0.00252202 0.04483396
+v 0.05004130 0.00082733 0.04484586
+v 0.05004130 -0.00001929 0.04484586
+v 0.04409582 -0.00001915 0.00454620
+v 0.04409755 0.00024068 0.00454620
+v 0.05132037 0.00421818 0.04122451
+v 0.04405618 0.00210907 0.00454621
+v 0.04403032 0.00254552 0.00454621
+v 0.05137036 0.00591287 0.04291210
+v 0.05100147 0.00760610 0.04392467
+v 0.05109972 0.00591287 0.04405966
+v 0.05004130 0.00760610 0.04460367
+v 0.04834678 0.01269163 0.04492533
+v 0.04834678 0.01099694 0.04502458
+v 0.04834678 0.00930078 0.04509208
+v 0.04834678 0.00760609 0.04511193
+v 0.04834678 0.00591286 0.04510001
+v 0.04919490 -0.00001930 0.04494116
+v 0.03725913 -0.00001915 0.00454620
+v 0.05105663 0.00760611 0.04153424
+v 0.04394585 0.00369867 0.00454621
+v 0.04390275 0.00421831 0.00454622
+v 0.05096182 0.00888187 0.04183999
+v 0.05116868 0.00760610 0.04291211
+v 0.05092734 0.00868189 0.04381745
+v 0.04967412 0.01269164 0.04429397
+v 0.04986374 0.01099695 0.04439323
+v 0.04665053 0.01489137 0.04508416
+v 0.04834678 0.01438633 0.04476252
+v 0.04665053 0.01438632 0.04509210
+v 0.04834678 -0.00001930 0.04503646
+v 0.03405799 0.01489152 0.00454625
+v 0.03880713 -0.00001922 0.02435653
+v 0.04370796 0.00591301 0.00454622
+v 0.05036882 0.01099696 0.04122453
+v 0.04998958 0.01269165 0.04122454
+v 0.05021540 0.01269164 0.04291213
+v 0.05059292 0.01099695 0.04291212
+v 0.05082564 0.00979417 0.04291212
+v 0.05097216 0.00894609 0.04291211
+v 0.04344594 0.00760624 0.00454623
+v 0.04320116 0.00886157 0.00454623
+v 0.04311496 0.00930093 0.00454623
+v 0.04938280 0.01489138 0.04400807
+v 0.04945347 0.01438633 0.04409543
+v 0.04838125 0.01489138 0.04464737
+v 0.04495601 0.01489138 0.04475855
+v 0.04750038 -0.00001929 0.04475453
+v 0.03578354 0.01489145 0.02391185
+v 0.04151870 0.01489152 0.00454625
+v 0.03894848 -0.00001922 0.02585749
+v 0.04944313 0.01489139 0.04134763
+v 0.04960000 0.01489138 0.04242372
+v 0.04280813 0.01059713 0.00454624
+v 0.04269090 0.01109051 0.00454624
+v 0.04977583 0.01438633 0.04291213
+v 0.04962758 0.01489138 0.04291213
+v 0.04371486 0.01489138 0.04409543
+v 0.04665053 -0.00001929 0.04446863
+v 0.03583525 0.01489145 0.02445982
+v 0.04169971 0.01438647 0.00454625
+v 0.03899502 -0.00001923 0.02628236
+v 0.04245646 0.01198383 0.00454624
+v 0.04223064 0.01273557 0.00454625
+v 0.04181348 0.01403907 0.00454625
+v 0.04619889 -0.00001929 0.04414700
+v 0.04279261 0.01489138 0.04307890
+v 0.04574552 -0.00001929 0.04382139
+v 0.03601453 0.01489144 0.02604020
+v 0.03904329 -0.00001923 0.02670327
+v 0.04221858 0.01489138 0.04233636
+v 0.04541110 -0.00001929 0.04336872
+v 0.03610589 0.01489144 0.02664376
+v 0.03919154 -0.00001923 0.02772774
+v 0.04428889 -0.00001928 0.04177643
+v 0.04507840 -0.00001929 0.04291208
+v 0.04154111 0.01489139 0.04131984
+v 0.03627310 0.01489144 0.02772779
+v 0.03933806 -0.00001923 0.02857351
+v 0.04403894 -0.00001928 0.04135552
+v 0.04084124 0.01489139 0.04016037
+v 0.03948459 -0.00001924 0.02941532
+v 0.03635929 0.01489144 0.02817649
+v 0.04378898 -0.00001928 0.04093065
+v 0.04036546 0.01489140 0.03931458
+v 0.03967249 -0.00001924 0.03026111
+v 0.03661959 0.01489143 0.02949479
+v 0.04341319 -0.00001928 0.04023576
+v 0.04303739 -0.00001928 0.03953690
+v 0.03962422 0.01489140 0.03787716
+v 0.03986211 -0.00001924 0.03110292
+v 0.03678163 0.01489143 0.03012218
+v 0.04251163 -0.00001927 0.03848464
+v 0.03911569 0.01489140 0.03678915
+v 0.03704021 0.01489143 0.03110297
+v 0.04032582 -0.00001925 0.03279051
+v 0.04212894 -0.00001927 0.03764283
+v 0.03872955 0.01489141 0.03591558
+v 0.03719190 0.01489142 0.03160726
+v 0.04064817 -0.00001925 0.03383483
+v 0.03740393 0.01489142 0.03231009
+v 0.04150319 -0.00001926 0.03616569
+v 0.03814862 0.01489141 0.03447815
+v 0.03760562 0.01489142 0.03293351
+v 0.04093950 -0.00001926 0.03468061
+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 8 18
+f 2 18 33
+f 2 33 46
+f 2 46 63
+f 2 63 74
+f 2 74 81
+f 2 81 83
+f 2 83 87
+f 2 87 91
+f 2 91 90
+f 2 90 95
+f 2 95 99
+f 2 99 103
+f 2 103 104
+f 2 104 108
+f 2 108 112
+f 2 112 117
+f 2 117 120
+f 2 120 115
+f 2 115 111
+f 2 111 106
+f 2 106 101
+f 2 101 97
+f 2 97 94
+f 2 94 89
+f 2 89 85
+f 2 85 77
+f 2 77 66
+f 2 66 48
+f 2 48 34
+f 2 34 19
+f 2 19 9
+f 2 9 3
+f 3 9 4
+f 4 10 5
+f 4 9 20
+f 4 20 11
+f 4 11 10
+f 5 12 13
+f 5 13 6
+f 5 10 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 9 19 20
+f 10 21 12
+f 10 11 22
+f 10 22 23
+f 10 23 21
+f 11 20 19
+f 11 19 34
+f 11 34 47
+f 11 47 65
+f 11 65 76
+f 11 76 80
+f 11 80 79
+f 11 79 78
+f 11 78 70
+f 11 70 69
+f 11 69 58
+f 11 58 57
+f 11 57 56
+f 11 56 49
+f 11 49 37
+f 11 37 36
+f 11 36 23
+f 11 23 22
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 12 21 24
+f 13 26 27
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 28
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 21 35 24
+f 21 23 36
+f 21 36 37
+f 21 37 35
+f 24 35 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 41 42
+f 25 42 26
+f 25 40 41
+f 26 42 27
+f 27 42 28
+f 28 43 29
+f 28 42 44
+f 28 44 43
+f 29 43 30
+f 30 43 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 34 48 47
+f 35 37 49
+f 35 49 38
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 38 49 56
+f 38 56 57
+f 38 57 58
+f 38 58 50
+f 39 55 40
+f 40 55 54
+f 40 54 53
+f 40 53 52
+f 40 52 59
+f 40 59 60
+f 40 60 41
+f 41 61 44
+f 41 44 42
+f 41 60 61
+f 43 62 45
+f 43 44 61
+f 43 61 59
+f 43 59 72
+f 43 72 68
+f 43 68 67
+f 43 67 65
+f 43 65 47
+f 43 47 64
+f 43 64 75
+f 43 75 84
+f 43 84 88
+f 43 88 93
+f 43 93 98
+f 43 98 102
+f 43 102 107
+f 43 107 110
+f 43 110 114
+f 43 114 116
+f 43 116 119
+f 43 119 118
+f 43 118 113
+f 43 113 109
+f 43 109 105
+f 43 105 100
+f 43 100 96
+f 43 96 92
+f 43 92 86
+f 43 86 82
+f 43 82 73
+f 43 73 62
+f 45 62 46
+f 46 62 63
+f 47 48 64
+f 48 66 64
+f 50 58 51
+f 51 67 68
+f 51 68 52
+f 51 58 69
+f 51 69 70
+f 51 70 67
+f 52 68 71
+f 52 71 59
+f 59 61 60
+f 59 71 72
+f 62 73 74
+f 62 74 63
+f 64 66 75
+f 65 67 76
+f 66 77 75
+f 67 70 78
+f 67 78 79
+f 67 79 80
+f 67 80 76
+f 68 72 71
+f 73 81 74
+f 73 82 83
+f 73 83 81
+f 75 77 84
+f 77 85 84
+f 82 86 83
+f 83 86 87
+f 84 85 89
+f 84 89 88
+f 86 90 91
+f 86 91 87
+f 86 92 90
+f 88 89 93
+f 89 94 93
+f 90 92 96
+f 90 96 95
+f 93 94 97
+f 93 97 98
+f 95 96 99
+f 96 100 99
+f 97 101 102
+f 97 102 98
+f 99 100 103
+f 100 104 103
+f 100 105 104
+f 101 106 102
+f 102 106 107
+f 104 105 108
+f 105 109 108
+f 106 110 107
+f 106 111 110
+f 108 109 112
+f 109 113 112
+f 110 111 114
+f 111 115 116
+f 111 116 114
+f 112 113 117
+f 113 118 117
+f 115 119 116
+f 115 120 119
+f 117 118 120
+f 118 119 120
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_35.obj

@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
+v 0.04461241 0.02655583 0.04291285
+v 0.04420601 0.02725836 0.04291285
+v 0.04414795 0.02716895 0.04381360
+v 0.04432465 0.02655583 0.04398693
+v 0.04460736 0.02655583 0.04258608
+v 0.04419591 0.02724347 0.04184445
+v 0.04366077 0.02810564 0.04291285
+v 0.04070740 0.03217387 0.04366018
+v 0.04265612 0.02914878 0.04402672
+v 0.04281262 0.02937657 0.04291286
+v 0.04323670 0.02781825 0.04422278
+v 0.04325437 0.02655583 0.04463195
+v 0.04443319 0.02655584 0.04142676
+v 0.04267379 0.02917433 0.04122502
+v 0.04075536 0.03223775 0.04197234
+v 0.03689578 0.02655593 0.01604950
+v 0.04222195 0.03022385 0.04291286
+v 0.04126526 0.03150116 0.04302369
+v 0.04075536 0.03223774 0.04253496
+v 0.04017226 0.03289556 0.04302369
+v 0.03919537 0.03408345 0.04291288
+v 0.03910954 0.03398340 0.04386477
+v 0.04112895 0.03104346 0.04413754
+v 0.04164137 0.02968525 0.04441600
+v 0.04156312 0.02794810 0.04494451
+v 0.04156312 0.02655582 0.04504112
+v 0.03916508 0.03404727 0.04173651
+v 0.03634802 0.02731168 0.01604950
+v 0.03606278 0.02770126 0.01604950
+v 0.03542414 0.02853577 0.01604950
+v 0.03465677 0.02945969 0.01604951
+v 0.02755858 0.02655593 0.01604950
+v 0.03843809 0.03493074 0.04291288
+v 0.03747131 0.03572905 0.04391877
+v 0.03809227 0.03461992 0.04418587
+v 0.03950333 0.03303393 0.04415744
+v 0.03758995 0.03585466 0.04291288
+v 0.04003342 0.03150116 0.04449842
+v 0.03817305 0.03303393 0.04480246
+v 0.03986935 0.02964266 0.04502976
+v 0.03817305 0.03133723 0.04504682
+v 0.02630655 0.04150675 0.04506674
+v 0.01952389 0.04489588 0.04507812
+v 0.01882719 0.04489588 0.04504686
+v 0.03986935 0.02655583 0.04489621
+v 0.03753189 0.03579293 0.04163138
+v 0.03458104 0.02954910 0.01604951
+v 0.03385658 0.03040277 0.01604951
+v 0.01882719 0.03322988 0.01604952
+v 0.02794226 0.02655591 0.02098231
+v 0.03578258 0.03741723 0.04391878
+v 0.03640102 0.03634642 0.04421996
+v 0.03675695 0.03670194 0.04291288
+v 0.03647675 0.03472849 0.04485645
+v 0.03647675 0.03303392 0.04504682
+v 0.03139291 0.03811549 0.04504400
+v 0.02969662 0.03981005 0.04503549
+v 0.02461025 0.04320131 0.04502413
+v 0.02122018 0.04489588 0.04501845
+v 0.01882719 0.04659045 0.04481955
+v 0.01882719 0.04315023 0.04461496
+v 0.01952389 0.04320132 0.04478829
+v 0.03818820 0.02655583 0.04423982
+v 0.03584569 0.03747685 0.04162002
+v 0.03280397 0.03153958 0.01604952
+v 0.03141563 0.03294249 0.01604952
+v 0.01882719 0.03327672 0.01675137
+v 0.01882719 0.04137061 0.01604955
+v 0.02797508 0.02655591 0.02135455
+v 0.01882719 0.03356196 0.02098233
+v 0.03403833 0.03905645 0.04386479
+v 0.03467444 0.03803460 0.04418588
+v 0.03590880 0.03753432 0.04291289
+v 0.03478046 0.03642306 0.04485077
+v 0.03308669 0.03811550 0.04479964
+v 0.02800284 0.04150675 0.04495592
+v 0.02630655 0.04320132 0.04474851
+v 0.02291395 0.04489589 0.04480818
+v 0.01952389 0.04659045 0.04472579
+v 0.01882719 0.04783157 0.04417455
+v 0.01882719 0.04206239 0.04400971
+v 0.03787014 0.02655583 0.04405797
+v 0.03410648 0.03911394 0.04172515
+v 0.03135757 0.03299997 0.01604952
+v 0.03128437 0.03307022 0.01604952
+v 0.01882719 0.04807853 0.04120804
+v 0.02064465 0.04755696 0.04173371
+v 0.01962991 0.04101722 0.01604955
+v 0.02809119 0.02655591 0.02267015
+v 0.01882719 0.03360454 0.02156199
+v 0.03224611 0.04066373 0.04376534
+v 0.03292009 0.03969723 0.04408359
+v 0.03498997 0.03838160 0.04291289
+v 0.03414182 0.03914586 0.04291289
+v 0.03139291 0.03981006 0.04469451
+v 0.02975467 0.04159404 0.04442457
+v 0.02788673 0.04318642 0.04423988
+v 0.02457491 0.04495336 0.04434503
+v 0.02291395 0.04611572 0.04416033
+v 0.02114193 0.04665006 0.04431377
+v 0.01952389 0.04769958 0.04406941
+v 0.01882719 0.04830205 0.04291293
+v 0.01882719 0.04124704 0.04313170
+v 0.03674937 0.02655583 0.04299241
+v 0.03231174 0.04071696 0.04192975
+v 0.02981778 0.03441140 0.01604953
+v 0.02973700 0.03448165 0.01604953
+v 0.01952389 0.04804233 0.04291293
+v 0.02069009 0.04757611 0.04291292
+v 0.02153824 0.04720143 0.04291292
+v 0.02291395 0.04656278 0.04291292
+v 0.02407511 0.04590710 0.04162857
+v 0.01980155 0.04093419 0.01604955
+v 0.01882719 0.03368970 0.02267017
+v 0.02811644 0.02655591 0.02290315
+v 0.02724557 0.04410608 0.04383355
+v 0.02922458 0.04261163 0.04403814
+v 0.03139291 0.04098519 0.04405234
+v 0.03314727 0.03999314 0.04291290
+v 0.03229912 0.04070631 0.04291290
+v 0.03139291 0.04138967 0.04291290
+v 0.03031506 0.04219012 0.04291290
+v 0.02946943 0.04277555 0.04291291
+v 0.02630655 0.04437432 0.04409497
+v 0.02398424 0.04585813 0.04391028
+v 0.02052349 0.04750373 0.04384777
+v 0.01882719 0.04053174 0.04223379
+v 0.03657772 0.02655583 0.04281056
+v 0.03011817 0.04205175 0.04122506
+v 0.02927002 0.04264144 0.04122507
+v 0.02731625 0.04414867 0.04181042
+v 0.02864400 0.03540983 0.01604953
+v 0.02780595 0.03605912 0.01604953
+v 0.02771003 0.03613151 0.01604953
+v 0.02665742 0.03691492 0.01604954
+v 0.02416346 0.04595180 0.04291292
+v 0.02501161 0.04549835 0.04291292
+v 0.02279784 0.03936949 0.01604954
+v 0.02111921 0.04027851 0.01604955
+v 0.02096271 0.04035940 0.01604955
+v 0.02828051 0.02655590 0.02435799
+v 0.01882719 0.03378548 0.02376698
+v 0.02819216 0.04362283 0.04291291
+v 0.02734401 0.04416569 0.04291291
+v 0.02630655 0.04476815 0.04291291
+v 0.01882719 0.03982284 0.04120233
+v 0.03643132 0.02655583 0.04264575
+v 0.02580927 0.03751100 0.01604954
+v 0.02568811 0.03758977 0.01604954
+v 0.02460268 0.03829016 0.01604954
+v 0.02363589 0.03889050 0.01604954
+v 0.02828808 0.02655590 0.02441482
+v 0.01882719 0.03388554 0.02469331
+v 0.01882719 0.03912032 0.04009130
+v 0.03537618 0.02655584 0.04135004
+v 0.02852284 0.02655589 0.02604299
+v 0.01882719 0.03406010 0.02604302
+v 0.03519443 0.02655584 0.04111704
+v 0.01882719 0.03864347 0.03927295
+v 0.02856828 0.02655589 0.02628736
+v 0.02884594 0.02655589 0.02773083
+v 0.01882719 0.03426234 0.02729895
+v 0.03427813 0.02655584 0.03983269
+v 0.01882719 0.03790263 0.03792610
+v 0.01882719 0.03433472 0.02773086
+v 0.02923720 0.02655588 0.02928796
+v 0.03391464 0.02655585 0.03928997
+v 0.01882719 0.03735552 0.03682076
+v 0.03301096 0.02655585 0.03786354
+v 0.01882719 0.03453056 0.02868843
+v 0.02932808 0.02655588 0.02960336
+v 0.01882719 0.03468171 0.02941301
+v 0.03282164 0.02655585 0.03754530
+v 0.01882719 0.03694892 0.03593990
+v 0.02976730 0.02655588 0.03099285
+v 0.01882719 0.03495633 0.03042174
+v 0.03204669 0.02655586 0.03616434
+v 0.01882719 0.03632942 0.03450210
+v 0.01882719 0.03514580 0.03110369
+v 0.02990865 0.02655587 0.03136792
+v 0.03123136 0.02655586 0.03456743
+v 0.01882719 0.03579722 0.03308421
+v 0.03045642 0.02655587 0.03278866
+v 0.01882719 0.03548215 0.03218346
+v 0.03105971 0.02655586 0.03419235
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 26
+f 1 26 45
+f 1 45 63
+f 1 63 82
+f 1 82 104
+f 1 104 128
+f 1 128 147
+f 1 147 155
+f 1 155 158
+f 1 158 163
+f 1 163 167
+f 1 167 169
+f 1 169 173
+f 1 173 177
+f 1 177 181
+f 1 181 185
+f 1 185 183
+f 1 183 180
+f 1 180 175
+f 1 175 171
+f 1 171 166
+f 1 166 161
+f 1 161 160
+f 1 160 156
+f 1 156 152
+f 1 152 141
+f 1 141 115
+f 1 115 89
+f 1 89 69
+f 1 69 50
+f 1 50 32
+f 1 32 16
+f 1 16 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 8
+f 4 9 11
+f 4 11 12
+f 5 13 6
+f 6 14 15
+f 6 15 10
+f 6 10 7
+f 6 13 16
+f 6 16 14
+f 8 10 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 11
+f 10 15 17
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 14 16 15
+f 15 27 21
+f 15 21 19
+f 15 19 17
+f 15 16 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 27
+f 16 32 49
+f 16 49 68
+f 16 68 88
+f 16 88 113
+f 16 113 140
+f 16 140 139
+f 16 139 138
+f 16 138 151
+f 16 151 150
+f 16 150 149
+f 16 149 148
+f 16 148 135
+f 16 135 134
+f 16 134 133
+f 16 133 132
+f 16 132 107
+f 16 107 106
+f 16 106 85
+f 16 85 84
+f 16 84 66
+f 16 66 65
+f 16 65 48
+f 16 48 47
+f 16 47 31
+f 16 31 30
+f 16 30 29
+f 16 29 28
+f 17 19 18
+f 19 21 20
+f 21 27 33
+f 21 33 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 22 33 37
+f 22 37 34
+f 23 36 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 40 26
+f 25 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 27 46 37
+f 27 37 33
+f 27 31 47
+f 27 47 48
+f 27 48 46
+f 32 50 49
+f 34 51 52
+f 34 52 35
+f 34 37 53
+f 34 53 51
+f 35 52 54
+f 35 54 39
+f 35 39 36
+f 36 39 38
+f 37 46 53
+f 39 54 40
+f 40 54 41
+f 41 55 42
+f 41 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 80
+f 44 80 102
+f 44 102 86
+f 44 86 68
+f 44 68 49
+f 44 49 67
+f 44 67 70
+f 44 70 90
+f 44 90 114
+f 44 114 142
+f 44 142 153
+f 44 153 157
+f 44 157 162
+f 44 162 165
+f 44 165 170
+f 44 170 172
+f 44 172 176
+f 44 176 179
+f 44 179 184
+f 44 184 182
+f 44 182 178
+f 44 178 174
+f 44 174 168
+f 44 168 164
+f 44 164 159
+f 44 159 154
+f 44 154 146
+f 44 146 127
+f 44 127 103
+f 44 103 81
+f 44 81 61
+f 44 61 62
+f 44 62 45
+f 45 62 61
+f 45 61 63
+f 46 64 53
+f 46 48 65
+f 46 65 66
+f 46 66 64
+f 49 50 67
+f 50 69 70
+f 50 70 67
+f 51 71 72
+f 51 72 52
+f 51 53 73
+f 51 73 71
+f 52 72 74
+f 52 74 54
+f 53 64 73
+f 54 74 56
+f 54 56 55
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 59 78 60
+f 60 78 79
+f 60 79 80
+f 61 81 63
+f 63 81 82
+f 64 83 73
+f 64 66 84
+f 64 84 85
+f 64 85 83
+f 68 86 87
+f 68 87 88
+f 69 89 70
+f 70 89 90
+f 71 91 92
+f 71 92 72
+f 71 73 93
+f 71 93 94
+f 71 94 91
+f 72 92 95
+f 72 95 75
+f 72 75 74
+f 73 83 93
+f 75 95 76
+f 76 95 77
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 78
+f 78 98 99
+f 78 99 100
+f 78 100 79
+f 79 100 80
+f 80 100 101
+f 80 101 102
+f 81 103 82
+f 82 103 104
+f 83 105 94
+f 83 94 93
+f 83 85 106
+f 83 106 107
+f 83 107 105
+f 86 102 87
+f 87 102 108
+f 87 108 109
+f 87 109 110
+f 87 110 111
+f 87 111 112
+f 87 112 88
+f 88 112 113
+f 89 114 90
+f 89 115 114
+f 91 116 117
+f 91 117 118
+f 91 118 92
+f 91 94 119
+f 91 119 120
+f 91 120 121
+f 91 121 122
+f 91 122 123
+f 91 123 116
+f 92 118 95
+f 94 105 119
+f 95 118 96
+f 96 118 117
+f 96 117 97
+f 97 117 124
+f 97 124 98
+f 98 124 99
+f 99 124 125
+f 99 125 126
+f 99 126 101
+f 99 101 100
+f 101 126 102
+f 102 126 108
+f 103 127 104
+f 104 127 128
+f 105 129 130
+f 105 130 131
+f 105 131 123
+f 105 123 122
+f 105 122 121
+f 105 121 120
+f 105 120 119
+f 105 107 132
+f 105 132 133
+f 105 133 134
+f 105 134 135
+f 105 135 129
+f 108 126 109
+f 109 126 110
+f 110 126 111
+f 111 126 125
+f 111 125 136
+f 111 136 112
+f 112 136 137
+f 112 137 131
+f 112 131 138
+f 112 138 139
+f 112 139 140
+f 112 140 113
+f 114 115 141
+f 114 141 142
+f 116 125 124
+f 116 124 117
+f 116 123 143
+f 116 143 144
+f 116 144 145
+f 116 145 137
+f 116 137 125
+f 123 131 143
+f 125 137 136
+f 127 146 147
+f 127 147 128
+f 129 135 148
+f 129 148 130
+f 130 148 131
+f 131 137 145
+f 131 145 144
+f 131 144 143
+f 131 148 149
+f 131 149 150
+f 131 150 151
+f 131 151 138
+f 141 152 142
+f 142 152 153
+f 146 154 155
+f 146 155 147
+f 152 156 153
+f 153 156 157
+f 154 158 155
+f 154 159 158
+f 156 160 157
+f 157 160 161
+f 157 161 162
+f 158 159 163
+f 159 164 163
+f 161 165 162
+f 161 166 165
+f 163 164 167
+f 164 168 169
+f 164 169 167
+f 165 166 170
+f 166 171 172
+f 166 172 170
+f 168 173 169
+f 168 174 173
+f 171 175 172
+f 172 175 176
+f 173 174 177
+f 174 178 177
+f 175 179 176
+f 175 180 179
+f 177 178 181
+f 178 182 181
+f 179 180 183
+f 179 183 184
+f 181 182 185
+f 182 184 185
+f 183 185 184
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_36.obj

@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
+v -0.01239240 -0.03662585 0.02378378
+v -0.02679160 -0.02800164 0.02378381
+v -0.01239240 -0.04499552 0.02378374
+v -0.01239240 -0.03122561 -0.01095736
+v -0.03743714 -0.02800164 0.02378381
+v -0.01857329 -0.02800151 -0.01095735
+v -0.01269397 -0.04491733 0.02378375
+v -0.01239240 -0.04142695 -0.00432611
+v -0.01239240 -0.04023245 -0.01095740
+v -0.03725816 -0.02824121 0.02378381
+v -0.03327650 -0.02800154 -0.00278556
+v -0.03151614 -0.02800151 -0.01095735
+v -0.01317206 -0.04477592 0.02378375
+v -0.01269397 -0.04134044 -0.00432611
+v -0.01239240 -0.04118572 -0.00601284
+v -0.01258119 -0.04017755 -0.01095740
+v -0.01239240 -0.04028236 -0.01076017
+v -0.03713067 -0.02841090 0.02378381
+v -0.03315882 -0.02800154 -0.00352351
+v -0.03551251 -0.03043053 0.02378380
+v -0.03613280 -0.02967192 0.02378380
+v -0.03675555 -0.02889335 0.02378380
+v -0.03704241 -0.02852735 0.02378381
+v -0.03096204 -0.02862205 -0.01095736
+v -0.03066538 -0.02901799 -0.01076693
+v -0.03188145 -0.02800151 -0.00972972
+v -0.01442982 -0.04439662 0.02378375
+v -0.01408902 -0.04088960 -0.00432611
+v -0.01373352 -0.04076649 -0.00601284
+v -0.01269397 -0.04109755 -0.00601284
+v -0.01267681 -0.04085299 -0.00753634
+v -0.01239240 -0.04093118 -0.00756354
+v -0.01269397 -0.04014261 -0.01095740
+v -0.01239240 -0.04054022 -0.00961754
+v -0.01267681 -0.04049032 -0.00944411
+v -0.03302642 -0.02800153 -0.00433626
+v -0.03228599 -0.02894315 -0.00404382
+v -0.03549534 -0.03045049 0.02378380
+v -0.03035400 -0.02927086 -0.01095736
+v -0.03004753 -0.03007939 -0.00938626
+v -0.03086887 -0.02923261 -0.00938626
+v -0.03171473 -0.02830098 -0.00938625
+v -0.03197461 -0.02800152 -0.00938625
+v -0.01497165 -0.04421861 0.02378375
+v -0.01514818 -0.04066835 -0.00321750
+v -0.01493488 -0.04059514 -0.00432611
+v -0.01458182 -0.04047369 -0.00601284
+v -0.01555517 -0.04401898 0.02378375
+v -0.01354718 -0.04070160 -0.00686641
+v -0.01322845 -0.04060344 -0.00798863
+v -0.01239240 -0.04081639 -0.00821987
+v -0.01439059 -0.03957199 -0.01095740
+v -0.01439059 -0.03993633 -0.00938630
+v -0.01239240 -0.04063173 -0.00918566
+v -0.03300435 -0.02800153 -0.00446889
+v -0.03219037 -0.02883667 -0.00516944
+v -0.03161421 -0.02957865 -0.00449271
+v -0.03161421 -0.02991637 -0.00263934
+v -0.03412236 -0.03197437 0.02378379
+v -0.03468872 -0.03135550 0.02378379
+v -0.02923600 -0.03039214 -0.01095736
+v -0.02898347 -0.03070656 -0.01076693
+v -0.02919922 -0.03091286 -0.00938626
+v -0.03027310 -0.03030730 -0.00769953
+v -0.03107972 -0.02945886 -0.00769953
+v -0.03192803 -0.02853888 -0.00769952
+v -0.03218792 -0.02800152 -0.00853608
+v -0.01608475 -0.04015261 -0.00432611
+v -0.01610192 -0.04382600 0.02378375
+v -0.01778137 -0.04318384 0.02378375
+v -0.01608475 -0.03990973 -0.00601284
+v -0.01608475 -0.03963189 -0.00769957
+v -0.01422387 -0.04034891 -0.00753634
+v -0.01239240 -0.04073154 -0.00867896
+v -0.01544485 -0.03917938 -0.01095739
+v -0.01613624 -0.03928419 -0.00934208
+v -0.03275182 -0.02800153 -0.00591757
+v -0.03053053 -0.03056684 -0.00534627
+v -0.03210701 -0.02874185 -0.00601280
+v -0.03112876 -0.02980490 -0.00595159
+v -0.03062370 -0.03066166 -0.00432607
+v -0.03360013 -0.03252669 0.02378379
+v -0.02858628 -0.03100268 -0.01095736
+v -0.02722801 -0.03233192 -0.01057310
+v -0.02827001 -0.03175964 -0.00938627
+v -0.02804935 -0.03148181 -0.01095737
+v -0.02851028 -0.03197092 -0.00769954
+v -0.02942724 -0.03112414 -0.00769953
+v -0.03041530 -0.03045205 -0.00647189
+v -0.03238651 -0.02800152 -0.00769952
+v -0.03249194 -0.02800152 -0.00720302
+v -0.01778137 -0.03966518 -0.00263938
+v -0.01792848 -0.03936572 -0.00442132
+v -0.01758033 -0.03928920 -0.00601283
+v -0.01814914 -0.04303245 0.02378375
+v -0.01924017 -0.04257496 0.02378375
+v -0.01726160 -0.03915110 -0.00769956
+v -0.01703604 -0.03905129 -0.00874696
+v -0.01556743 -0.03913280 -0.01095739
+v -0.01673692 -0.03892318 -0.00987258
+v -0.02880939 -0.03223545 -0.00521366
+v -0.02974106 -0.03150845 -0.00432608
+v -0.02989307 -0.03165485 -0.00263935
+v -0.03251400 -0.03361969 0.02378379
+v -0.03304849 -0.03308733 0.02378379
+v -0.02538919 -0.03390737 -0.01017522
+v -0.02618601 -0.03344988 -0.00952229
+v -0.02742170 -0.03249330 -0.00938627
+v -0.02768158 -0.03180954 -0.01095737
+v -0.02662242 -0.03269958 -0.01095737
+v -0.02766197 -0.03269792 -0.00769954
+v -0.02867700 -0.03211900 -0.00633927
+v -0.01859291 -0.03898808 -0.00505044
+v -0.01842864 -0.03891488 -0.00601283
+v -0.01982369 -0.04231709 0.02378375
+v -0.01810991 -0.03876847 -0.00769956
+v -0.01767350 -0.03862374 -0.00934208
+v -0.01640839 -0.03878676 -0.01095739
+v -0.01767840 -0.03822612 -0.01095739
+v -0.02804690 -0.03274618 -0.00586998
+v -0.02699509 -0.03383585 -0.00465595
+v -0.02778946 -0.03325857 -0.00418666
+v -0.02889275 -0.03231031 -0.00432608
+v -0.03191823 -0.03419197 0.02378378
+v -0.02472231 -0.03453955 -0.00952230
+v -0.02557552 -0.03404712 -0.00905301
+v -0.02621053 -0.03302565 -0.01095737
+v -0.02523227 -0.03379258 -0.01095737
+v -0.02449920 -0.03431495 -0.01095738
+v -0.02662487 -0.03354637 -0.00769954
+v -0.02684063 -0.03371607 -0.00601281
+v -0.01998551 -0.04224389 0.02378375
+v -0.01875472 -0.03906628 -0.00392482
+v -0.01938237 -0.03868530 -0.00442132
+v -0.01947554 -0.03839916 -0.00601283
+v -0.01947554 -0.03810136 -0.00769956
+v -0.01956871 -0.03769544 -0.00938629
+v -0.01897293 -0.03760892 -0.01095739
+v -0.01777402 -0.03818121 -0.01095739
+v -0.02636008 -0.03439483 -0.00418667
+v -0.02711523 -0.03392902 -0.00353373
+v -0.02599477 -0.03436488 -0.00601282
+v -0.03040059 -0.03556446 0.02378378
+v -0.03132735 -0.03473431 0.02378378
+v -0.02345230 -0.03544622 -0.00938628
+v -0.02364599 -0.03557266 -0.00832527
+v -0.02445752 -0.03513513 -0.00774036
+v -0.02577657 -0.03420017 -0.00769955
+v -0.02429815 -0.03445137 -0.01095738
+v -0.02026746 -0.04210914 0.02378376
+v -0.01977711 -0.03873522 -0.00263937
+v -0.02107409 -0.04172318 0.02378376
+v -0.02129229 -0.03770210 -0.00430910
+v -0.02092208 -0.03764055 -0.00601283
+v -0.02064993 -0.03749081 -0.00769956
+v -0.02044399 -0.03737602 -0.00882518
+v -0.02019636 -0.03724292 -0.00995080
+v -0.01918623 -0.03750411 -0.01095739
+v -0.01910287 -0.03754570 -0.01095739
+v -0.02503123 -0.03535307 -0.00432609
+v -0.02521756 -0.03548118 -0.00263936
+v -0.02822833 -0.03730960 0.02378377
+v -0.02851763 -0.03709333 0.02378377
+v -0.02887804 -0.03680718 0.02378377
+v -0.02964790 -0.03618666 0.02378378
+v -0.02482773 -0.03521166 -0.00601282
+v -0.02312866 -0.03523992 -0.01095738
+v -0.02234165 -0.03574067 -0.01095738
+v -0.02260399 -0.03598024 -0.00938628
+v -0.02299627 -0.03609670 -0.00774036
+v -0.02382006 -0.03568579 -0.00720305
+v -0.02117216 -0.03799990 -0.00263937
+v -0.02252308 -0.04097622 0.02378376
+v -0.02208421 -0.03734776 -0.00373439
+v -0.02193466 -0.03726291 -0.00486001
+v -0.02176794 -0.03716642 -0.00601283
+v -0.02149824 -0.03701003 -0.00769956
+v -0.02107409 -0.03688193 -0.00938629
+v -0.02106918 -0.03648764 -0.01095738
+v -0.01994383 -0.03711316 -0.01095739
+v -0.02398188 -0.03579559 -0.00601282
+v -0.02418537 -0.03593534 -0.00432609
+v -0.02437171 -0.03606178 -0.00263936
+v -0.02642383 -0.03859724 0.02378377
+v -0.02687740 -0.03828282 0.02378377
+v -0.02766932 -0.03772218 0.02378377
+v -0.02228035 -0.03577894 -0.01095738
+v -0.02286878 -0.03649764 -0.00601282
+v -0.02308453 -0.04066678 0.02378376
+v -0.02306001 -0.03690690 -0.00263937
+v -0.02273638 -0.03685698 -0.00430910
+v -0.02337139 -0.04050707 0.02378376
+v -0.02388871 -0.04020097 0.02378376
+v -0.02460217 -0.03977342 0.02378376
+v -0.02116480 -0.03643274 -0.01095738
+v -0.02561475 -0.03913958 0.02378377
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 38
+f 1 38 60
+f 1 60 59
+f 1 59 82
+f 1 82 105
+f 1 105 104
+f 1 104 124
+f 1 124 144
+f 1 144 143
+f 1 143 165
+f 1 165 164
+f 1 164 163
+f 1 163 162
+f 1 162 186
+f 1 186 185
+f 1 185 184
+f 1 184 196
+f 1 196 194
+f 1 194 193
+f 1 193 192
+f 1 192 189
+f 1 189 173
+f 1 173 152
+f 1 152 150
+f 1 150 132
+f 1 132 115
+f 1 115 96
+f 1 96 95
+f 1 95 70
+f 1 70 69
+f 1 69 48
+f 1 48 44
+f 1 44 27
+f 1 27 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 32
+f 1 32 51
+f 1 51 74
+f 1 74 54
+f 1 54 34
+f 1 34 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 26
+f 2 26 43
+f 2 43 67
+f 2 67 90
+f 2 90 91
+f 2 91 77
+f 2 77 55
+f 2 55 36
+f 2 36 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 4 9 16
+f 4 16 33
+f 4 33 52
+f 4 52 75
+f 4 75 99
+f 4 99 118
+f 4 118 119
+f 4 119 139
+f 4 139 138
+f 4 138 159
+f 4 159 158
+f 4 158 180
+f 4 180 179
+f 4 179 195
+f 4 195 187
+f 4 187 168
+f 4 168 167
+f 4 167 149
+f 4 149 129
+f 4 129 128
+f 4 128 127
+f 4 127 110
+f 4 110 109
+f 4 109 86
+f 4 86 83
+f 4 83 61
+f 4 61 39
+f 4 39 24
+f 4 24 12
+f 4 12 6
+f 5 11 10
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 17 16
+f 10 11 18
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 18
+f 12 24 25
+f 12 25 26
+f 13 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 27 28
+f 15 30 31
+f 15 31 32
+f 16 17 33
+f 17 34 35
+f 17 35 33
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 24 39 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 25 39 40
+f 26 42 43
+f 27 44 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 28 44 48
+f 28 48 45
+f 29 47 49
+f 29 49 30
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 33 35 53
+f 33 53 52
+f 34 54 35
+f 35 54 50
+f 35 50 53
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 43
+f 45 68 46
+f 45 48 69
+f 45 69 70
+f 45 70 68
+f 46 68 71
+f 46 71 47
+f 47 71 72
+f 47 72 73
+f 47 73 49
+f 49 73 50
+f 50 74 51
+f 50 73 53
+f 50 54 74
+f 52 53 75
+f 53 76 75
+f 53 73 72
+f 53 72 76
+f 55 77 56
+f 56 78 57
+f 56 77 79
+f 56 79 80
+f 56 80 78
+f 57 78 81
+f 57 81 58
+f 58 81 82
+f 58 82 59
+f 61 83 62
+f 62 84 85
+f 62 85 63
+f 62 83 86
+f 62 86 84
+f 63 85 87
+f 63 87 88
+f 63 88 64
+f 64 88 89
+f 64 89 65
+f 65 89 79
+f 65 79 66
+f 66 90 67
+f 66 79 91
+f 66 91 90
+f 68 92 93
+f 68 93 94
+f 68 94 71
+f 68 70 95
+f 68 95 96
+f 68 96 92
+f 71 94 97
+f 71 97 72
+f 72 97 98
+f 72 98 76
+f 75 76 99
+f 76 100 99
+f 76 98 100
+f 77 91 79
+f 78 101 102
+f 78 102 81
+f 78 80 89
+f 78 89 101
+f 79 89 80
+f 81 102 103
+f 81 103 104
+f 81 104 105
+f 81 105 82
+f 84 106 107
+f 84 107 108
+f 84 108 85
+f 84 86 109
+f 84 109 110
+f 84 110 106
+f 85 108 87
+f 87 111 112
+f 87 112 88
+f 87 108 111
+f 88 112 101
+f 88 101 89
+f 92 96 93
+f 93 113 94
+f 93 96 113
+f 94 113 114
+f 94 114 97
+f 96 115 113
+f 97 116 98
+f 97 114 116
+f 98 116 117
+f 98 117 100
+f 99 100 118
+f 100 117 119
+f 100 119 118
+f 101 120 121
+f 101 121 122
+f 101 122 123
+f 101 123 102
+f 101 112 120
+f 102 123 103
+f 103 123 124
+f 103 124 104
+f 106 125 126
+f 106 126 107
+f 106 110 127
+f 106 127 128
+f 106 128 129
+f 106 129 125
+f 107 126 130
+f 107 130 108
+f 108 130 111
+f 111 130 131
+f 111 131 120
+f 111 120 112
+f 113 115 132
+f 113 132 133
+f 113 133 134
+f 113 134 135
+f 113 135 114
+f 114 135 136
+f 114 136 116
+f 116 136 137
+f 116 137 117
+f 117 137 138
+f 117 138 139
+f 117 139 119
+f 120 131 121
+f 121 140 141
+f 121 141 122
+f 121 131 142
+f 121 142 140
+f 122 141 143
+f 122 143 123
+f 123 143 144
+f 123 144 124
+f 125 129 145
+f 125 145 146
+f 125 146 126
+f 126 146 147
+f 126 147 148
+f 126 148 130
+f 129 149 145
+f 130 148 131
+f 131 148 142
+f 132 150 133
+f 133 151 134
+f 133 150 152
+f 133 152 151
+f 134 151 153
+f 134 153 135
+f 135 153 154
+f 135 154 155
+f 135 155 136
+f 136 155 156
+f 136 156 137
+f 137 157 158
+f 137 158 159
+f 137 159 138
+f 137 156 157
+f 140 142 160
+f 140 160 161
+f 140 161 162
+f 140 162 163
+f 140 163 141
+f 141 163 164
+f 141 164 165
+f 141 165 143
+f 142 166 160
+f 142 148 166
+f 145 149 167
+f 145 167 168
+f 145 168 169
+f 145 169 146
+f 146 170 171
+f 146 171 147
+f 146 169 170
+f 147 171 166
+f 147 166 148
+f 151 172 153
+f 151 152 173
+f 151 173 172
+f 153 174 175
+f 153 175 154
+f 153 172 173
+f 153 173 174
+f 154 175 176
+f 154 176 155
+f 155 177 156
+f 155 176 177
+f 156 177 178
+f 156 178 157
+f 157 178 179
+f 157 179 180
+f 157 180 158
+f 160 166 181
+f 160 181 182
+f 160 182 161
+f 161 182 183
+f 161 183 184
+f 161 184 185
+f 161 185 186
+f 161 186 162
+f 166 171 181
+f 168 187 169
+f 169 187 178
+f 169 178 177
+f 169 177 170
+f 170 177 176
+f 170 176 188
+f 170 188 171
+f 171 188 181
+f 173 189 174
+f 174 190 191
+f 174 191 175
+f 174 189 192
+f 174 192 193
+f 174 193 194
+f 174 194 190
+f 175 191 188
+f 175 188 176
+f 178 187 195
+f 178 195 179
+f 181 188 191
+f 181 191 182
+f 182 191 190
+f 182 190 196
+f 182 196 183
+f 183 196 184
+f 190 194 196
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_37.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01806372 -0.00001873 -0.03135247
+v 0.00007215 -0.00001873 -0.03135247
+v -0.01806372 -0.00001876 -0.02423954
+v -0.01806372 0.01951627 -0.03135240
+v 0.00007215 -0.00001875 -0.02742245
+v 0.00007215 0.01972695 -0.03135240
+v -0.01806372 0.01972690 -0.02012926
+v -0.01806372 0.01957426 -0.03131175
+v -0.01801578 0.01957812 -0.03135240
+v 0.00007215 0.01972692 -0.02379230
+v -0.01783824 0.01972695 -0.03135240
+v -0.01806372 0.01972694 -0.03111069
+v -0.01806372 0.01961870 -0.03125352
+v -0.01789150 0.01972695 -0.03132274
+v -0.01789328 0.01969409 -0.03135240
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 6 11 14
+f 6 14 12
+f 6 12 7
+f 6 7 10
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 11 15 14
+f 12 14 13
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_38.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00007392 -0.01607316 -0.02480779
+v 0.00007392 -0.00997045 -0.02575433
+v -0.01200739 -0.01607316 -0.02365839
+v 0.00007392 -0.01607311 -0.03716823
+v 0.00007392 -0.00997041 -0.03504201
+v -0.01200739 -0.00997045 -0.02488250
+v -0.01200739 -0.01607310 -0.04183342
+v -0.01200739 -0.00997040 -0.03705256
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 7 5
+f 5 7 8
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_39.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00979539 -0.01236333 -0.02487575
+v 0.00007488 -0.01236333 -0.02545709
+v 0.00979539 -0.01236328 -0.03682547
+v 0.00979539 -0.00001904 -0.02574713
+v 0.00007488 -0.00934251 -0.02582904
+v 0.00007488 -0.01236329 -0.03563470
+v 0.00979539 -0.00001900 -0.03492581
+v 0.00007488 -0.00001900 -0.03417837
+v 0.00934909 -0.00001904 -0.02580445
+v 0.00007488 -0.00001903 -0.02742332
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 8
+f 2 8 6
+f 2 4 5
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 10
+f 4 10 9
+f 4 9 5
+f 5 9 10
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_4.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.03311547 0.01463960 -0.00129378
+v -0.03628284 -0.00001885 -0.00129837
+v -0.03311547 0.01463960 -0.00129832
+v -0.03591501 0.01463951 0.02435494
+v -0.03891568 -0.00001894 0.02572203
+v -0.04350365 -0.00001885 -0.00129837
+v -0.04100128 0.01463960 -0.00129832
+v -0.03610164 0.01463950 0.02604002
+v -0.03896279 -0.00001895 0.02613990
+v -0.04350365 0.00082771 -0.00129837
+v -0.05143657 -0.00001900 0.04122390
+v -0.04101397 0.01460373 -0.00129832
+v -0.04944700 0.01463945 0.04121941
+v -0.03635532 0.01463950 0.02772965
+v -0.03917660 -0.00001895 0.02772960
+v -0.03909325 -0.00001895 0.02714368
+v -0.03901171 -0.00001895 0.02656230
+v -0.05143657 0.00082756 0.04122390
+v -0.05138765 0.00252212 0.04122391
+v -0.04344204 0.00252227 -0.00129836
+v -0.05153080 -0.00001900 0.04206871
+v -0.04108282 0.01440572 -0.00129832
+v -0.04995617 0.01269092 0.04122395
+v -0.04973511 0.01438690 0.04291358
+v -0.04966263 0.01463944 0.04291358
+v -0.04120423 0.01403552 -0.00129832
+v -0.04163730 0.01269107 -0.00129832
+v -0.04173514 0.01233953 -0.00129832
+v -0.04212835 0.01092046 -0.00129833
+v -0.03932700 -0.00001895 0.02856987
+v -0.03670685 0.01463949 0.02949649
+v -0.03947921 -0.00001896 0.02941468
+v -0.05162502 0.00082755 0.04291353
+v -0.05157791 0.00252211 0.04291354
+v -0.05128256 0.00421812 0.04122392
+v -0.04330614 0.00421827 -0.00129835
+v -0.05162321 -0.00001901 0.04291353
+v -0.05033307 0.01099636 0.04122394
+v -0.05091472 0.00890578 0.04183256
+v -0.05016818 0.01269091 0.04291358
+v -0.04234579 0.01005668 -0.00129833
+v -0.04962820 0.01463944 0.04312705
+v -0.03710187 0.01463949 0.03102260
+v -0.03985610 -0.00001896 0.03109977
+v -0.05120102 0.00082755 0.04421708
+v -0.05117927 0.00252211 0.04419439
+v -0.05120102 -0.00001901 0.04421708
+v -0.05147282 0.00421811 0.04291355
+v -0.05112672 0.00421811 0.04413989
+v -0.05100895 0.00760580 0.04151916
+v -0.04315031 0.00556129 -0.00129835
+v -0.05131517 0.00591267 0.04291355
+v -0.05111222 0.00760579 0.04291356
+v -0.05092197 0.00894307 0.04291356
+v -0.05077882 0.00979107 0.04291357
+v -0.05054326 0.01099635 0.04291357
+v -0.04247625 0.00945261 -0.00129834
+v -0.04251430 0.00927612 -0.00129834
+v -0.04284590 0.00760595 -0.00129834
+v -0.04290026 0.00725585 -0.00129834
+v -0.04310864 0.00591283 -0.00129835
+v -0.05087486 0.00865467 0.04380833
+v -0.04937090 0.01463944 0.04404908
+v -0.03712361 0.01463949 0.03109982
+v -0.04031635 -0.00001897 0.03278939
+v -0.04999423 0.00082755 0.04485297
+v -0.04999423 0.00252211 0.04483027
+v -0.04999423 0.00421811 0.04478485
+v -0.04999423 0.00591267 0.04471218
+v -0.04999423 -0.00001901 0.04485297
+v -0.05104700 0.00591267 0.04404905
+v -0.05094734 0.00760579 0.04391734
+v -0.04999423 0.00760579 0.04458956
+v -0.04962458 0.01269091 0.04428981
+v -0.04940533 0.01438690 0.04408996
+v -0.04926037 0.01463944 0.04413538
+v -0.03729938 0.01463948 0.03171753
+v -0.04062076 -0.00001897 0.03377955
+v -0.03760379 0.01463948 0.03271677
+v -0.04829820 0.00760578 0.04509827
+v -0.04829820 0.00930178 0.04507555
+v -0.04829820 0.01099634 0.04502106
+v -0.04829820 0.01269090 0.04492569
+v -0.04914440 -0.00001902 0.04494835
+v -0.04829820 0.00591266 0.04509371
+v -0.04981121 0.01099635 0.04439426
+v -0.04829820 0.01438690 0.04475763
+v -0.04831632 0.01463944 0.04470313
+v -0.04091431 -0.00001898 0.03462437
+v -0.03812564 0.01463947 0.03420655
+v -0.04660398 0.01438689 0.04508920
+v -0.04660398 0.01463943 0.04508920
+v -0.04804633 0.01463944 0.04480305
+v -0.04829820 -0.00001902 0.04503919
+v -0.03822168 0.01463947 0.03447453
+v -0.04149415 -0.00001898 0.03616411
+v -0.04635030 0.01463943 0.04505741
+v -0.04745018 -0.00001901 0.04474396
+v -0.04490795 0.01463944 0.04472130
+v -0.03863482 0.01463947 0.03552828
+v -0.03875079 0.01463947 0.03580534
+v -0.04209935 -0.00001899 0.03759938
+v -0.04660398 -0.00001901 0.04444873
+v -0.04469595 0.01463944 0.04462591
+v -0.03905520 0.01463947 0.03651389
+v -0.04247987 -0.00001899 0.03844419
+v -0.04615642 -0.00001901 0.04412624
+v -0.04372834 0.01463944 0.04405816
+v -0.03912406 0.01463947 0.03666378
+v -0.04302891 -0.00001900 0.03953881
+v -0.03956799 0.01463946 0.03759943
+v -0.03969302 0.01463946 0.03786287
+v -0.04571248 -0.00001901 0.04380376
+v -0.04360150 0.01463944 0.04394007
+v -0.04376096 -0.00001900 0.04090596
+v -0.04024206 0.01463946 0.03892570
+v -0.04038883 0.01463946 0.03920276
+v -0.04538269 -0.00001901 0.04335865
+v -0.04222982 0.01463944 0.04225499
+v -0.04265564 0.01463944 0.04281365
+v -0.04279154 0.01463944 0.04298625
+v -0.04077841 0.01463945 0.03991585
+v -0.04425201 -0.00001900 0.04175077
+v -0.04505653 -0.00001901 0.04291353
+v -0.04162642 0.01463945 0.04133296
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 25
+f 1 25 42
+f 1 42 63
+f 1 63 76
+f 1 76 88
+f 1 88 93
+f 1 93 92
+f 1 92 97
+f 1 97 99
+f 1 99 104
+f 1 104 108
+f 1 108 114
+f 1 114 121
+f 1 121 120
+f 1 120 119
+f 1 119 125
+f 1 125 122
+f 1 122 117
+f 1 117 116
+f 1 116 112
+f 1 112 111
+f 1 111 109
+f 1 109 105
+f 1 105 101
+f 1 101 100
+f 1 100 95
+f 1 95 90
+f 1 90 79
+f 1 79 77
+f 1 77 64
+f 1 64 43
+f 1 43 31
+f 1 31 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 10
+f 2 10 20
+f 2 20 36
+f 2 36 51
+f 2 51 61
+f 2 61 60
+f 2 60 59
+f 2 59 58
+f 2 58 57
+f 2 57 41
+f 2 41 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 22
+f 2 22 12
+f 2 12 7
+f 2 7 3
+f 2 5 9
+f 2 9 17
+f 2 17 16
+f 2 16 15
+f 2 15 30
+f 2 30 32
+f 2 32 44
+f 2 44 65
+f 2 65 78
+f 2 78 89
+f 2 89 96
+f 2 96 102
+f 2 102 106
+f 2 106 110
+f 2 110 115
+f 2 115 123
+f 2 123 124
+f 2 124 118
+f 2 118 113
+f 2 113 107
+f 2 107 103
+f 2 103 98
+f 2 98 94
+f 2 94 84
+f 2 84 70
+f 2 70 47
+f 2 47 37
+f 2 37 21
+f 2 21 11
+f 2 11 6
+f 4 8 5
+f 5 8 9
+f 6 11 18
+f 6 18 10
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 19
+f 10 19 20
+f 11 21 33
+f 11 33 18
+f 12 22 13
+f 13 23 24
+f 13 24 25
+f 13 22 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 23
+f 14 30 15
+f 14 31 32
+f 14 32 30
+f 18 33 34
+f 18 34 19
+f 19 34 48
+f 19 48 35
+f 19 35 20
+f 20 35 36
+f 21 37 33
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 23 29 41
+f 23 41 38
+f 24 40 42
+f 24 42 25
+f 31 43 44
+f 31 44 32
+f 33 45 46
+f 33 46 34
+f 33 37 47
+f 33 47 45
+f 34 46 49
+f 34 49 48
+f 35 48 50
+f 35 50 36
+f 36 50 51
+f 38 41 39
+f 39 50 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 39 41 57
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 61
+f 39 61 51
+f 39 51 50
+f 40 56 62
+f 40 62 63
+f 40 63 42
+f 43 64 65
+f 43 65 44
+f 45 47 70
+f 45 70 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 49
+f 48 52 50
+f 48 49 71
+f 48 71 72
+f 48 72 62
+f 48 62 52
+f 49 69 73
+f 49 73 71
+f 52 62 53
+f 53 62 54
+f 54 62 55
+f 55 62 56
+f 62 72 74
+f 62 74 75
+f 62 75 63
+f 63 75 76
+f 64 77 65
+f 65 77 79
+f 65 79 78
+f 66 80 81
+f 66 81 67
+f 66 70 80
+f 67 81 68
+f 68 81 82
+f 68 82 69
+f 69 82 83
+f 69 83 73
+f 70 84 85
+f 70 85 80
+f 71 73 86
+f 71 86 72
+f 72 86 74
+f 73 83 86
+f 74 76 75
+f 74 86 87
+f 74 87 88
+f 74 88 76
+f 78 79 89
+f 79 90 89
+f 80 85 91
+f 80 91 92
+f 80 92 81
+f 81 92 82
+f 82 92 83
+f 83 92 93
+f 83 93 87
+f 83 87 86
+f 84 94 85
+f 85 94 91
+f 87 93 88
+f 89 90 95
+f 89 95 96
+f 91 97 92
+f 91 94 97
+f 94 98 99
+f 94 99 97
+f 95 100 96
+f 96 100 101
+f 96 101 102
+f 98 103 99
+f 99 103 104
+f 101 105 102
+f 102 105 106
+f 103 107 108
+f 103 108 104
+f 105 109 106
+f 106 109 111
+f 106 111 112
+f 106 112 110
+f 107 113 108
+f 108 113 114
+f 110 112 116
+f 110 116 117
+f 110 117 115
+f 113 118 119
+f 113 119 120
+f 113 120 121
+f 113 121 114
+f 115 117 122
+f 115 122 123
+f 118 124 119
+f 119 124 123
+f 119 123 125
+f 122 125 123
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_40.obj

@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
+v -0.01293695 -0.01607316 -0.02345294
+v -0.01293695 -0.02560682 -0.01841557
+v -0.01293695 -0.01607314 -0.03057457
+v -0.02376319 -0.01607318 -0.01841554
+v -0.01293695 -0.03728559 -0.01841562
+v -0.01293695 -0.02375238 -0.03057460
+v -0.02181343 -0.01607314 -0.03057457
+v -0.03596441 -0.01607318 -0.01841554
+v -0.01317137 -0.03720875 -0.01841562
+v -0.01319391 -0.03719006 -0.01843943
+v -0.01293695 -0.03723367 -0.01852037
+v -0.01293695 -0.02787651 -0.02808448
+v -0.01378673 -0.02895634 -0.02718580
+v -0.01436602 -0.02805717 -0.02755955
+v -0.01436828 -0.02302973 -0.03057459
+v -0.02159028 -0.01642616 -0.03057457
+v -0.02716231 -0.01706576 -0.02714171
+v -0.02625618 -0.01612299 -0.02799755
+v -0.02630577 -0.01607315 -0.02798445
+v -0.03571195 -0.01607318 -0.01888096
+v -0.03553614 -0.01687059 -0.01858695
+v -0.03570068 -0.01670031 -0.01841554
+v -0.01324801 -0.03718175 -0.01841562
+v -0.01445393 -0.03670206 -0.01841561
+v -0.01438180 -0.03607908 -0.01956545
+v -0.01293695 -0.03654009 -0.01968806
+v -0.01293695 -0.03668545 -0.01944404
+v -0.01293695 -0.03700732 -0.01890365
+v -0.01293695 -0.02914738 -0.02730959
+v -0.01436602 -0.02958555 -0.02653708
+v -0.01491827 -0.02866977 -0.02699416
+v -0.01293695 -0.02980566 -0.02686085
+v -0.01608587 -0.02749857 -0.02733101
+v -0.01705962 -0.02721823 -0.02715484
+v -0.01768625 -0.02628376 -0.02745123
+v -0.01898684 -0.02571270 -0.02726196
+v -0.01639693 -0.02159895 -0.03057459
+v -0.02157450 -0.01645108 -0.03057457
+v -0.02678588 -0.01819543 -0.02690366
+v -0.02795799 -0.01782787 -0.02627041
+v -0.02909404 -0.01746240 -0.02563716
+v -0.02828258 -0.01612299 -0.02675605
+v -0.02829610 -0.01607315 -0.02676557
+v -0.02743280 -0.01612299 -0.02731074
+v -0.02623364 -0.01770535 -0.02743335
+v -0.02565435 -0.01900322 -0.02725123
+v -0.02745083 -0.01607315 -0.02731669
+v -0.03540765 -0.01607318 -0.01937017
+v -0.03522733 -0.01623307 -0.01954515
+v -0.03548429 -0.01716339 -0.01841554
+v -0.03405071 -0.01729420 -0.02058310
+v -0.03443616 -0.01784243 -0.01956658
+v -0.03411833 -0.01907801 -0.01903928
+v -0.01507605 -0.03645287 -0.01841561
+v -0.01380927 -0.03572190 -0.02051294
+v -0.01573198 -0.03583612 -0.01903815
+v -0.01494081 -0.03549141 -0.02016299
+v -0.01293695 -0.03587764 -0.02074267
+v -0.01293695 -0.02998218 -0.02673348
+v -0.01438856 -0.03080244 -0.02563483
+v -0.01533302 -0.03058024 -0.02545747
+v -0.01597317 -0.02969769 -0.02585146
+v -0.01608587 -0.02834582 -0.02677395
+v -0.01745183 -0.02914116 -0.02564911
+v -0.01782150 -0.02801149 -0.02628235
+v -0.01818891 -0.02684029 -0.02691678
+v -0.01952331 -0.02628376 -0.02665968
+v -0.02011838 -0.02528076 -0.02700843
+v -0.01952331 -0.02466817 -0.02759882
+v -0.01741577 -0.02080985 -0.03057459
+v -0.02078558 -0.01746030 -0.03057457
+v -0.02462424 -0.01954729 -0.02758452
+v -0.02758833 -0.01951407 -0.02575739
+v -0.02623364 -0.01954729 -0.02663941
+v -0.02875142 -0.01859207 -0.02538125
+v -0.03022332 -0.01646563 -0.02519317
+v -0.03032701 -0.01607316 -0.02527887
+v -0.02975673 -0.01607316 -0.02571453
+v -0.02962149 -0.01607316 -0.02581690
+v -0.02748239 -0.01607315 -0.02729645
+v -0.02523058 -0.02013497 -0.02700127
+v -0.03525212 -0.01607318 -0.01961538
+v -0.03481709 -0.01844050 -0.01841555
+v -0.03410706 -0.01607317 -0.02128895
+v -0.03362920 -0.01643242 -0.02170794
+v -0.03332265 -0.01784242 -0.02116755
+v -0.03375994 -0.01842388 -0.02016412
+v -0.03422878 -0.01607317 -0.02112231
+v -0.03348269 -0.01959093 -0.01956658
+v -0.03379600 -0.02020768 -0.01851435
+v -0.03390871 -0.02010800 -0.01841555
+v -0.03432120 -0.01936043 -0.01841555
+v -0.01600923 -0.03606039 -0.01841561
+v -0.01438180 -0.03504908 -0.02112476
+v -0.01293695 -0.03528789 -0.02157470
+v -0.01686127 -0.03558278 -0.01861082
+v -0.01621210 -0.03528790 -0.01956545
+v -0.01728052 -0.03409593 -0.02060459
+v -0.01596415 -0.03431397 -0.02118070
+v -0.01531949 -0.03395680 -0.02209128
+v -0.01293695 -0.03111599 -0.02588241
+v -0.01293695 -0.03184074 -0.02529203
+v -0.01293695 -0.03196325 -0.02518847
+v -0.01438856 -0.03164969 -0.02490994
+v -0.01545699 -0.03233289 -0.02383747
+v -0.01595964 -0.03131328 -0.02452190
+v -0.01646455 -0.03027291 -0.02520632
+v -0.01858337 -0.02880476 -0.02539558
+v -0.01947597 -0.02765017 -0.02577646
+v -0.02051509 -0.02728469 -0.02552174
+v -0.02111693 -0.02627961 -0.02586336
+v -0.02127696 -0.02466817 -0.02678108
+v -0.02191036 -0.02364856 -0.02705009
+v -0.02078107 -0.02415110 -0.02732148
+v -0.01917393 -0.01921087 -0.03057458
+v -0.02360992 -0.02194368 -0.02704889
+v -0.02410130 -0.02081401 -0.02731433
+v -0.02722993 -0.02052953 -0.02550862
+v -0.02962599 -0.01938948 -0.02420284
+v -0.03054114 -0.01874158 -0.02377552
+v -0.02965530 -0.01794417 -0.02495036
+v -0.02843585 -0.01951407 -0.02513010
+v -0.03080261 -0.01781957 -0.02401835
+v -0.03122863 -0.01607316 -0.02447304
+v -0.03101675 -0.01607316 -0.02466348
+v -0.02623364 -0.02114005 -0.02584667
+v -0.02462424 -0.02131239 -0.02677035
+v -0.03371486 -0.01607317 -0.02181983
+v -0.03243004 -0.01781958 -0.02231739
+v -0.03220013 -0.01868345 -0.02205433
+v -0.03252471 -0.01935419 -0.02111756
+v -0.03229931 -0.02053161 -0.02050099
+v -0.03374867 -0.02037796 -0.01841555
+v -0.03261262 -0.02114214 -0.01945351
+v -0.03231058 -0.02223236 -0.01885241
+v -0.01666742 -0.03577383 -0.01841561
+v -0.01438856 -0.03415200 -0.02232697
+v -0.01293695 -0.03515914 -0.02174729
+v -0.01718585 -0.03552671 -0.01841561
+v -0.01906574 -0.03416446 -0.01906076
+v -0.01782150 -0.03449257 -0.01957855
+v -0.01644877 -0.03368269 -0.02172943
+v -0.01841206 -0.03380729 -0.02018560
+v -0.01782150 -0.03338781 -0.02118069
+v -0.01778092 -0.03249072 -0.02235077
+v -0.01595288 -0.03300779 -0.02281856
+v -0.01438856 -0.03341687 -0.02317089
+v -0.01293695 -0.03299532 -0.02421956
+v -0.01438856 -0.03256962 -0.02406720
+v -0.01658853 -0.03204632 -0.02354584
+v -0.01778092 -0.03087097 -0.02404219
+v -0.01298654 -0.03370759 -0.02349942
+v -0.01792293 -0.02969769 -0.02497778
+v -0.01873664 -0.03059686 -0.02379342
+v -0.01937229 -0.02966862 -0.02423026
+v -0.01947597 -0.02849742 -0.02515036
+v -0.02068866 -0.02909548 -0.02396006
+v -0.02116652 -0.02798242 -0.02457663
+v -0.02164663 -0.02683407 -0.02519440
+v -0.02231158 -0.02570648 -0.02558958
+v -0.02287284 -0.02461418 -0.02594072
+v -0.02297427 -0.02301105 -0.02681678
+v -0.02248063 -0.02251889 -0.02733575
+v -0.02402241 -0.02405974 -0.02560981
+v -0.02457691 -0.02290514 -0.02593595
+v -0.02678363 -0.02165920 -0.02518486
+v -0.02793545 -0.02118573 -0.02456471
+v -0.02565209 -0.02234032 -0.02558123
+v -0.02904445 -0.02071019 -0.02394694
+v -0.03119707 -0.01927735 -0.02273400
+v -0.03165014 -0.01781957 -0.02316013
+v -0.03199050 -0.01657569 -0.02352198
+v -0.03017599 -0.01987332 -0.02341367
+v -0.03211448 -0.01607316 -0.02365053
+v -0.03291466 -0.01607317 -0.02275661
+v -0.03185075 -0.01981311 -0.02162582
+v -0.03072147 -0.02069567 -0.02228884
+v -0.03132330 -0.02117951 -0.02117827
+v -0.03079585 -0.02246908 -0.02073191
+v -0.03192739 -0.02166129 -0.01997725
+v -0.03285381 -0.02178796 -0.01841556
+v -0.03204009 -0.02300900 -0.01841556
+v -0.03240976 -0.02246909 -0.01841556
+v -0.03135711 -0.02291763 -0.01952731
+v -0.03078683 -0.02412621 -0.01907858
+v -0.01293695 -0.03371798 -0.02351013
+v -0.01293695 -0.03432228 -0.02278762
+v -0.01840530 -0.03488712 -0.01841561
+v -0.01934975 -0.03438043 -0.01841561
+v -0.02019502 -0.03384467 -0.01854059
+v -0.01956839 -0.03354149 -0.01957854
+v -0.01867353 -0.03225191 -0.02207581
+v -0.02051284 -0.03234744 -0.02051888
+v -0.01933397 -0.03258417 -0.02112832
+v -0.01778092 -0.03171822 -0.02319470
+v -0.01927085 -0.03124892 -0.02275428
+v -0.01986592 -0.03022515 -0.02343156
+v -0.02182019 -0.02868224 -0.02359225
+v -0.02252571 -0.02755257 -0.02407075
+v -0.02298329 -0.02639798 -0.02465638
+v -0.02344311 -0.02518940 -0.02524320
+v -0.02515169 -0.02347206 -0.02524320
+v -0.02634860 -0.02301106 -0.02465160
+v -0.02750944 -0.02255213 -0.02406121
+v -0.02863872 -0.02184194 -0.02358389
+v -0.03274787 -0.01607317 -0.02294587
+v -0.02968911 -0.02126880 -0.02293636
+v -0.03033377 -0.02182741 -0.02185675
+v -0.03038110 -0.02360083 -0.02020342
+v -0.02979279 -0.02309621 -0.02137468
+v -0.03165465 -0.02353853 -0.01841557
+v -0.02979505 -0.02478449 -0.01971539
+v -0.03034053 -0.02525588 -0.01843105
+v -0.03036307 -0.02523926 -0.01841557
+v -0.03104831 -0.02433802 -0.01841557
+v -0.02006879 -0.03398588 -0.01841560
+v -0.02040690 -0.03378653 -0.01841560
+v -0.02221015 -0.03235575 -0.01886792
+v -0.02111467 -0.03267139 -0.01946308
+v -0.01980507 -0.03190097 -0.02164373
+v -0.02067964 -0.03077130 -0.02230672
+v -0.02164438 -0.03197158 -0.01999276
+v -0.02244682 -0.03083983 -0.02074503
+v -0.02116201 -0.03137143 -0.02119498
+v -0.02124992 -0.02973715 -0.02294949
+v -0.02255953 -0.02924916 -0.02246741
+v -0.02368881 -0.02881307 -0.02202104
+v -0.02310726 -0.02818386 -0.02307803
+v -0.02365725 -0.02708741 -0.02368866
+v -0.02426359 -0.02595982 -0.02411955
+v -0.02539062 -0.02542821 -0.02371722
+v -0.02470539 -0.02474294 -0.02468018
+v -0.02591356 -0.02429855 -0.02411954
+v -0.02704510 -0.02368180 -0.02368032
+v -0.02877622 -0.02372126 -0.02201745
+v -0.02920449 -0.02259160 -0.02245905
+v -0.02814283 -0.02313566 -0.02306968
+v -0.02924957 -0.02431102 -0.02089261
+v -0.02879650 -0.02544277 -0.02035102
+v -0.02920899 -0.02591416 -0.01922618
+v -0.02870859 -0.02704175 -0.01853699
+v -0.03032024 -0.02529118 -0.01841557
+v -0.02174806 -0.03292474 -0.01841560
+v -0.02244908 -0.03246166 -0.01841560
+v -0.02301259 -0.03207126 -0.01841560
+v -0.02409679 -0.03082530 -0.01908931
+v -0.02289312 -0.03139844 -0.01954045
+v -0.02180892 -0.03037882 -0.02186987
+v -0.02357610 -0.03042244 -0.02021415
+v -0.02306894 -0.02983683 -0.02138304
+v -0.02427035 -0.02929276 -0.02089620
+v -0.02539964 -0.02882554 -0.02034628
+v -0.02472567 -0.02850989 -0.02135565
+v -0.02546500 -0.02719333 -0.02209602
+v -0.02456113 -0.02758788 -0.02247216
+v -0.02471891 -0.02643329 -0.02339108
+v -0.02612094 -0.02615503 -0.02243288
+v -0.02715329 -0.02549883 -0.02209125
+v -0.02638917 -0.02475747 -0.02338274
+v -0.02754550 -0.02459966 -0.02246263
+v -0.02847192 -0.02476579 -0.02135326
+v -0.02748915 -0.02615503 -0.02105331
+v -0.02713526 -0.02717257 -0.02039269
+v -0.02842233 -0.02640423 -0.01967850
+v -0.02856659 -0.02727017 -0.01841558
+v -0.02890695 -0.02690677 -0.01841558
+v -0.02748464 -0.02752352 -0.01951305
+v -0.02701129 -0.02874871 -0.01854296
+v -0.02350397 -0.03170993 -0.01841560
+v -0.02519903 -0.03041414 -0.01841559
+v -0.02522382 -0.03037883 -0.01843821
+v -0.02474596 -0.02983684 -0.01971779
+v -0.02588200 -0.02924917 -0.01922143
+v -0.02637114 -0.02845798 -0.01967612
+v -0.02612094 -0.02752558 -0.02105331
+v -0.02659654 -0.02662850 -0.02151753
+v -0.02724796 -0.02859919 -0.01841559
+v -0.02527566 -0.03034976 -0.01841559
+v -0.02686928 -0.02895637 -0.01841559
+f 1 2 5
+f 1 5 11
+f 1 11 28
+f 1 28 27
+f 1 27 26
+f 1 26 58
+f 1 58 95
+f 1 95 138
+f 1 138 187
+f 1 187 186
+f 1 186 148
+f 1 148 103
+f 1 103 102
+f 1 102 101
+f 1 101 59
+f 1 59 32
+f 1 32 29
+f 1 29 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 19
+f 1 19 47
+f 1 47 80
+f 1 80 43
+f 1 43 79
+f 1 79 78
+f 1 78 77
+f 1 77 125
+f 1 125 124
+f 1 124 174
+f 1 174 206
+f 1 206 175
+f 1 175 128
+f 1 128 84
+f 1 84 88
+f 1 88 82
+f 1 82 48
+f 1 48 20
+f 1 20 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 22
+f 2 22 50
+f 2 50 83
+f 2 83 92
+f 2 92 91
+f 2 91 133
+f 2 133 181
+f 2 181 183
+f 2 183 182
+f 2 182 211
+f 2 211 215
+f 2 215 214
+f 2 214 242
+f 2 242 266
+f 2 266 265
+f 2 265 277
+f 2 277 279
+f 2 279 278
+f 2 278 270
+f 2 270 269
+f 2 269 245
+f 2 245 244
+f 2 244 243
+f 2 243 217
+f 2 217 216
+f 2 216 189
+f 2 189 188
+f 2 188 139
+f 2 139 136
+f 2 136 93
+f 2 93 54
+f 2 54 24
+f 2 24 23
+f 2 23 9
+f 2 9 5
+f 3 6 15
+f 3 15 37
+f 3 37 70
+f 3 70 115
+f 3 115 71
+f 3 71 38
+f 3 38 16
+f 3 16 7
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 8 20 21
+f 8 21 22
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 12 29 13
+f 13 30 31
+f 13 31 14
+f 13 29 32
+f 13 32 30
+f 14 31 33
+f 14 33 15
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 16 38 17
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 44
+f 17 44 18
+f 17 38 45
+f 17 45 46
+f 17 46 39
+f 18 44 47
+f 18 47 19
+f 20 48 49
+f 20 49 21
+f 21 50 22
+f 21 49 51
+f 21 51 52
+f 21 52 53
+f 21 53 50
+f 24 54 25
+f 25 55 26
+f 25 54 56
+f 25 56 57
+f 25 57 55
+f 26 55 58
+f 30 32 59
+f 30 59 60
+f 30 60 61
+f 30 61 31
+f 31 61 62
+f 31 62 63
+f 31 63 34
+f 31 34 33
+f 34 63 64
+f 34 64 65
+f 34 65 66
+f 34 66 36
+f 34 36 35
+f 36 66 67
+f 36 67 68
+f 36 68 69
+f 36 69 70
+f 36 70 37
+f 38 71 72
+f 38 72 46
+f 38 46 45
+f 39 73 40
+f 39 46 74
+f 39 74 73
+f 40 73 75
+f 40 75 41
+f 41 75 76
+f 41 76 77
+f 41 77 78
+f 41 78 79
+f 41 79 42
+f 42 79 43
+f 43 80 44
+f 44 80 47
+f 46 72 81
+f 46 81 74
+f 48 82 49
+f 49 82 51
+f 50 53 83
+f 51 84 85
+f 51 85 86
+f 51 86 87
+f 51 87 52
+f 51 82 88
+f 51 88 84
+f 52 87 53
+f 53 87 89
+f 53 89 90
+f 53 90 91
+f 53 91 92
+f 53 92 83
+f 54 93 56
+f 55 57 94
+f 55 94 95
+f 55 95 58
+f 56 93 96
+f 56 96 97
+f 56 97 57
+f 57 97 98
+f 57 98 99
+f 57 99 100
+f 57 100 94
+f 59 101 60
+f 60 101 102
+f 60 102 103
+f 60 103 104
+f 60 104 61
+f 61 105 106
+f 61 106 107
+f 61 107 64
+f 61 64 62
+f 61 104 105
+f 62 64 63
+f 64 107 108
+f 64 108 65
+f 65 108 66
+f 66 108 109
+f 66 109 67
+f 67 109 110
+f 67 110 68
+f 68 110 111
+f 68 111 112
+f 68 112 113
+f 68 113 114
+f 68 114 69
+f 69 114 70
+f 70 114 115
+f 71 116 117
+f 71 117 81
+f 71 81 72
+f 71 115 116
+f 73 74 118
+f 73 118 75
+f 74 81 118
+f 75 119 120
+f 75 120 121
+f 75 121 76
+f 75 118 122
+f 75 122 119
+f 76 121 123
+f 76 123 124
+f 76 124 125
+f 76 125 77
+f 81 126 118
+f 81 117 116
+f 81 116 127
+f 81 127 126
+f 84 128 85
+f 85 128 129
+f 85 129 130
+f 85 130 86
+f 86 130 87
+f 87 130 131
+f 87 131 132
+f 87 132 89
+f 89 132 90
+f 90 133 91
+f 90 132 134
+f 90 134 135
+f 90 135 133
+f 93 136 96
+f 94 100 137
+f 94 137 95
+f 95 137 138
+f 96 136 139
+f 96 139 140
+f 96 140 141
+f 96 141 97
+f 97 141 98
+f 98 142 99
+f 98 141 143
+f 98 143 144
+f 98 144 142
+f 99 142 100
+f 100 142 145
+f 100 145 146
+f 100 146 105
+f 100 105 147
+f 100 147 137
+f 103 148 149
+f 103 149 104
+f 104 149 105
+f 105 146 150
+f 105 150 151
+f 105 151 106
+f 105 149 152
+f 105 152 147
+f 106 151 107
+f 107 151 153
+f 107 153 108
+f 108 153 154
+f 108 154 155
+f 108 155 156
+f 108 156 110
+f 108 110 109
+f 110 157 158
+f 110 158 159
+f 110 159 160
+f 110 160 111
+f 110 156 157
+f 111 160 112
+f 112 160 113
+f 113 160 161
+f 113 161 162
+f 113 162 116
+f 113 116 163
+f 113 163 115
+f 113 115 114
+f 115 163 116
+f 116 162 164
+f 116 164 165
+f 116 165 127
+f 118 166 167
+f 118 167 122
+f 118 126 168
+f 118 168 166
+f 119 122 169
+f 119 169 120
+f 120 170 130
+f 120 130 171
+f 120 171 172
+f 120 172 123
+f 120 123 121
+f 120 169 173
+f 120 173 170
+f 122 167 169
+f 123 172 124
+f 124 172 174
+f 126 127 168
+f 127 165 168
+f 128 175 129
+f 129 175 172
+f 129 172 171
+f 129 171 130
+f 130 176 132
+f 130 132 131
+f 130 170 177
+f 130 177 176
+f 132 176 178
+f 132 178 179
+f 132 179 180
+f 132 180 134
+f 133 135 181
+f 134 180 135
+f 135 182 183
+f 135 183 181
+f 135 180 184
+f 135 184 185
+f 135 185 182
+f 137 147 152
+f 137 152 186
+f 137 186 187
+f 137 187 138
+f 139 188 140
+f 140 143 141
+f 140 188 189
+f 140 189 190
+f 140 190 191
+f 140 191 143
+f 142 144 192
+f 142 192 145
+f 143 191 193
+f 143 193 194
+f 143 194 192
+f 143 192 144
+f 145 195 150
+f 145 150 146
+f 145 192 195
+f 148 186 149
+f 149 186 152
+f 150 195 154
+f 150 154 151
+f 151 154 153
+f 154 192 196
+f 154 196 197
+f 154 197 157
+f 154 157 155
+f 154 195 192
+f 155 157 156
+f 157 198 158
+f 157 197 198
+f 158 198 199
+f 158 199 159
+f 159 199 200
+f 159 200 201
+f 159 201 160
+f 160 201 164
+f 160 164 161
+f 161 164 162
+f 164 201 202
+f 164 202 165
+f 165 202 168
+f 166 203 204
+f 166 204 167
+f 166 168 202
+f 166 202 203
+f 167 204 205
+f 167 205 169
+f 169 205 173
+f 170 173 177
+f 172 175 206
+f 172 206 174
+f 173 205 207
+f 173 207 177
+f 176 177 178
+f 177 207 208
+f 177 208 178
+f 178 208 179
+f 179 209 180
+f 179 208 210
+f 179 210 209
+f 180 209 184
+f 182 185 211
+f 184 209 185
+f 185 209 212
+f 185 212 213
+f 185 213 214
+f 185 214 215
+f 185 215 211
+f 189 216 190
+f 190 216 217
+f 190 217 218
+f 190 218 219
+f 190 219 193
+f 190 193 191
+f 192 194 193
+f 192 193 220
+f 192 220 221
+f 192 221 196
+f 193 219 222
+f 193 222 223
+f 193 223 224
+f 193 224 220
+f 196 221 197
+f 197 221 225
+f 197 225 198
+f 198 226 227
+f 198 227 228
+f 198 228 229
+f 198 229 199
+f 198 225 226
+f 199 229 200
+f 200 229 230
+f 200 230 201
+f 201 230 231
+f 201 231 232
+f 201 232 202
+f 202 232 231
+f 202 231 233
+f 202 233 203
+f 203 234 204
+f 203 233 234
+f 204 234 205
+f 205 235 236
+f 205 236 207
+f 205 234 237
+f 205 237 235
+f 207 236 208
+f 208 236 235
+f 208 235 210
+f 209 210 235
+f 209 235 238
+f 209 238 239
+f 209 239 212
+f 212 239 213
+f 213 239 240
+f 213 240 241
+f 213 241 242
+f 213 242 214
+f 217 243 218
+f 218 243 244
+f 218 244 245
+f 218 245 246
+f 218 246 247
+f 218 247 222
+f 218 222 219
+f 220 224 221
+f 221 224 248
+f 221 248 225
+f 222 247 249
+f 222 249 223
+f 223 248 224
+f 223 249 250
+f 223 250 248
+f 225 248 226
+f 226 248 227
+f 227 251 252
+f 227 252 253
+f 227 253 254
+f 227 254 255
+f 227 255 229
+f 227 229 228
+f 227 248 250
+f 227 250 249
+f 227 249 251
+f 229 255 254
+f 229 254 256
+f 229 256 231
+f 229 231 230
+f 231 254 257
+f 231 257 258
+f 231 258 259
+f 231 259 234
+f 231 234 233
+f 231 256 254
+f 234 259 258
+f 234 258 260
+f 234 260 235
+f 234 235 237
+f 235 239 238
+f 235 260 258
+f 235 258 261
+f 235 261 239
+f 239 241 240
+f 239 261 258
+f 239 258 262
+f 239 262 263
+f 239 263 264
+f 239 264 241
+f 241 265 266
+f 241 266 242
+f 241 264 263
+f 241 263 267
+f 241 267 268
+f 241 268 265
+f 245 269 246
+f 246 249 247
+f 246 269 270
+f 246 270 271
+f 246 271 272
+f 246 272 249
+f 249 272 252
+f 249 252 251
+f 252 273 268
+f 252 268 274
+f 252 274 263
+f 252 263 275
+f 252 275 254
+f 252 254 253
+f 252 272 271
+f 252 271 273
+f 254 275 263
+f 254 263 276
+f 254 276 258
+f 254 258 257
+f 258 276 263
+f 258 263 262
+f 263 274 268
+f 263 268 267
+f 265 268 277
+f 268 273 271
+f 268 271 278
+f 268 278 279
+f 268 279 277
+f 270 278 271
+

dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_41.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00765332 -0.02201089 -0.04517455
+v 0.00846845 -0.02120715 -0.04513855
+v 0.00846845 -0.02159344 -0.04515205
+v 0.00846845 -0.02201089 -0.04516555
+v 0.00007392 -0.02201090 -0.04479211
+v 0.00007392 -0.02154528 -0.04455814
+v 0.00846845 -0.01981409 -0.04439615
+v 0.00846845 -0.02201098 -0.02219190
+v 0.00007392 -0.02201098 -0.02289379
+v 0.00007392 -0.01236329 -0.03563366
+v 0.00846845 -0.01236329 -0.03649303
+v 0.00846845 -0.01236333 -0.02503770
+v 0.00007392 -0.01236333 -0.02545839
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 5 9 13
+f 5 13 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 13 12
+f 10 12 11
+