Add asset kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467

.gitattributes

@@ -4766,6 +4766,7 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/coffee_cup_004.us
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/a326de7054ab548b913c265e82649d47.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wine_glass_040_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 wine_glass_040_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9ecdea2d6abe341a71db948332f4776b9914bfc4984e08a4e0a780c9e85a47
+size 9645588

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mesh/wine_glass_040.mtl

@@ -0,0 +1,6 @@
+newmtl wine_glass_040_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/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_0.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00522526 -0.00021128 -0.06835304
+v 0.00484715 -0.00161186 -0.06835305
+v 0.00522424 0.00023496 -0.06835304
+v 0.00362823 -0.00127127 -0.02120847
+v 0.00441910 -0.00238264 -0.06835305
+v 0.00287201 -0.00283513 -0.02120848
+v 0.00503875 0.00115380 -0.06835304
+v 0.00361702 0.00129663 -0.02120847
+v 0.00362212 0.00025203 -0.02120847
+v 0.00361906 -0.00358139 -0.06835305
+v 0.00130964 -0.00359982 -0.02120848
+v 0.00160214 -0.00480246 -0.06835306
+v 0.00239810 -0.00437144 -0.06835306
+v 0.00484307 0.00163351 -0.06835303
+v 0.00318795 0.00219520 -0.02120846
+v -0.00021401 -0.00360996 -0.02120848
+v 0.00017021 -0.00516047 -0.06834845
+v 0.00017123 -0.00516047 -0.06835306
+v 0.00361600 0.00360406 -0.06835303
+v 0.00286182 0.00284934 -0.02120846
+v -0.00125967 -0.00361605 -0.02120848
+v -0.00012025 -0.00516148 -0.06835306
+v 0.00162456 0.00482817 -0.06835302
+v 0.00220752 0.00317489 -0.02120846
+v -0.00217692 -0.00318096 -0.02120848
+v -0.00155319 -0.00480246 -0.06835306
+v -0.00108947 -0.00499009 -0.06835306
+v 0.00115370 0.00501782 -0.06835302
+v 0.00130964 0.00360592 -0.02120846
+v -0.00284345 -0.00285237 -0.02120848
+v -0.00357827 -0.00358748 -0.06835305
+v 0.00020996 0.00519835 -0.06835302
+v 0.00026398 0.00361505 -0.02120846
+v -0.00317875 -0.00218808 -0.02120848
+v -0.00480636 -0.00163721 -0.06835305
+v -0.00016101 0.00519936 -0.06835302
+v -0.00125967 0.00362823 -0.02120846
+v -0.00362107 -0.00127127 -0.02120847
+v -0.00501121 -0.00114128 -0.06835304
+v -0.00157867 0.00483426 -0.06835302
+v -0.00283632 0.00287165 -0.02120846
+v -0.00361903 -0.00022666 -0.02120847
+v -0.00518650 0.00015281 -0.06835304
+v -0.00518650 -0.00024475 -0.06835304
+v -0.00235833 0.00440830 -0.06835302
+v -0.00361394 0.00129663 -0.02120847
+v -0.00357928 0.00361522 -0.06835303
+v -0.00438238 0.00241443 -0.06835303
+v -0.00480534 0.00165988 -0.06835303
+v -0.00518548 0.00026944 -0.06835304
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 12
+f 1 12 18
+f 1 18 22
+f 1 22 27
+f 1 27 26
+f 1 26 31
+f 1 31 35
+f 1 35 39
+f 1 39 44
+f 1 44 43
+f 1 43 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 45
+f 1 45 40
+f 1 40 36
+f 1 36 32
+f 1 32 28
+f 1 28 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 15
+f 4 15 20
+f 4 20 24
+f 4 24 29
+f 4 29 33
+f 4 33 37
+f 4 37 41
+f 4 41 46
+f 4 46 42
+f 4 42 38
+f 4 38 34
+f 4 34 30
+f 4 30 25
+f 4 25 21
+f 4 21 16
+f 4 16 11
+f 4 11 6
+f 5 6 10
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 14 8
+f 8 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 22 18
+f 17 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 29
+f 23 29 24
+f 25 30 26
+f 26 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 37
+f 32 37 33
+f 34 38 35
+f 35 38 39
+f 36 40 37
+f 37 40 41
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 41
+f 41 45 47
+f 41 47 48
+f 41 48 49
+f 41 49 46
+f 42 46 43
+f 43 46 50
+f 46 49 50
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_1.obj

@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
+v 0.00130902 0.02583558 -0.08038840
+v 0.00130902 0.02576990 -0.07898448
+v 0.00273631 0.02572444 -0.07904098
+v 0.00281729 0.02573960 -0.08038840
+v 0.00274643 0.02572950 -0.08174305
+v 0.00130902 0.02576991 -0.08180535
+v -0.00125705 0.02576991 -0.08180681
+v -0.00125705 0.02583053 -0.08038840
+v 0.00130902 0.02442108 -0.07824123
+v -0.00125705 0.02576485 -0.07898738
+v -0.00125705 0.02442108 -0.07824268
+v 0.00370808 0.02458779 -0.07847594
+v 0.00644624 0.02403210 -0.07840639
+v 0.00901737 0.02365322 -0.07859329
+v 0.01072809 0.02333496 -0.07884974
+v 0.00901737 0.02418872 -0.08038840
+v 0.00644624 0.02494143 -0.08038840
+v 0.00410286 0.02548196 -0.08038840
+v 0.01074327 0.02334507 -0.08196328
+v 0.00901737 0.02367344 -0.08224145
+v 0.00644624 0.02404221 -0.08241097
+v 0.00371314 0.02458780 -0.08230520
+v 0.00130902 0.02442109 -0.08252397
+v -0.00125705 0.02442109 -0.08252542
+v -0.00366623 0.02458275 -0.08230375
+v -0.00269952 0.02572950 -0.08174451
+v -0.00275519 0.02573455 -0.08038840
+v -0.00266915 0.02572444 -0.07904388
+v 0.00020566 0.00519914 -0.06835302
+v -0.00015875 0.00519914 -0.06835302
+v -0.00364598 0.02458779 -0.07847739
+v 0.00115212 0.00501728 -0.06835302
+v 0.00162282 0.00482531 -0.06835302
+v 0.01158851 0.02195078 -0.07837743
+v 0.01095079 0.02344611 -0.08038840
+v 0.01415965 0.02107178 -0.07868748
+v 0.01554138 0.02064238 -0.07898739
+v 0.01223636 0.02275907 -0.08038841
+v 0.01554138 0.02064239 -0.08180247
+v 0.01415965 0.02108694 -0.08213280
+v 0.01159357 0.02196089 -0.08243416
+v 0.00901737 0.02184976 -0.08296298
+v 0.00644624 0.02184977 -0.08313105
+v 0.00388016 0.02184977 -0.08314843
+v -0.00125705 0.02184977 -0.08314843
+v -0.00382819 0.02184977 -0.08314554
+v -0.00639933 0.02184977 -0.08312670
+v -0.00639933 0.02404221 -0.08240807
+v -0.00896540 0.02367849 -0.08224145
+v -0.01070649 0.02335012 -0.08196472
+v -0.00896540 0.02419882 -0.08038840
+v -0.00639933 0.02493637 -0.08038840
+v -0.00404076 0.02547691 -0.08038840
+v -0.01069636 0.02334506 -0.07884249
+v -0.00896540 0.02365827 -0.07858750
+v -0.00639933 0.02403210 -0.07840494
+v -0.00157591 0.00483036 -0.06835302
+v 0.00361191 0.00360279 -0.06835303
+v 0.01415965 0.01928346 -0.07791816
+v 0.01652833 0.01913696 -0.07863533
+v 0.01559199 0.02068280 -0.08038841
+v 0.01415965 0.02158707 -0.08038841
+v 0.01820362 0.01818723 -0.07889757
+v 0.01829979 0.01828322 -0.08038842
+v 0.01687756 0.01957141 -0.08038842
+v 0.01820362 0.01819229 -0.08190100
+v 0.01652833 0.01914202 -0.08216903
+v 0.01415965 0.01928347 -0.08285433
+v 0.01158851 0.01928348 -0.08314409
+v 0.00901737 0.01928348 -0.08314989
+v -0.00382819 0.01928348 -0.08314989
+v -0.00896540 0.01928348 -0.08314699
+v -0.01153654 0.01928348 -0.08313975
+v -0.00896540 0.02184976 -0.08296008
+v -0.01155678 0.02197100 -0.08243126
+v -0.01092918 0.02345116 -0.08038840
+v -0.01410767 0.02110209 -0.08214294
+v -0.01551471 0.02065754 -0.08181695
+v -0.01221475 0.02277928 -0.08038841
+v -0.01550965 0.02065753 -0.07897145
+v -0.01410767 0.02109198 -0.07867154
+v -0.01154666 0.02196088 -0.07836729
+v -0.00235535 0.00440602 -0.06835302
+v 0.00484181 0.00163261 -0.06835303
+v 0.01929686 0.01414078 -0.07791963
+v 0.01915514 0.01651005 -0.07863969
+v 0.01672572 0.01671212 -0.07780516
+v 0.02065329 0.01551990 -0.07899175
+v 0.01958535 0.01685358 -0.08038843
+v 0.02065329 0.01551991 -0.08179669
+v 0.01915514 0.01651006 -0.08216470
+v 0.01672572 0.01671213 -0.08293548
+v 0.01415965 0.01671214 -0.08315135
+v -0.00125705 0.01671214 -0.08315135
+v -0.00382819 0.01414080 -0.08315136
+v -0.01410767 0.00386554 -0.08314995
+v -0.01153654 0.01671214 -0.08314700
+v -0.01410767 0.01671214 -0.08314556
+v -0.01667881 0.01671213 -0.08294996
+v -0.01410767 0.01928347 -0.08286157
+v -0.01649155 0.01915717 -0.08219221
+v -0.01818708 0.01821755 -0.08192562
+v -0.01828324 0.01831858 -0.08038842
+v -0.01685596 0.01960678 -0.08038842
+v -0.01557039 0.02070301 -0.08038841
+v -0.01410767 0.02162748 -0.08038841
+v -0.01817189 0.01820743 -0.07888453
+v -0.01649155 0.01915211 -0.07861650
+v -0.01410767 0.01928346 -0.07789643
+v -0.00357512 0.00361289 -0.06835303
+v 0.00503920 0.00115269 -0.06835304
+v 0.02365464 0.00900315 -0.07860060
+v 0.02196416 0.01156438 -0.07837747
+v 0.02107843 0.01414078 -0.07869041
+v 0.02334590 0.01070054 -0.07885558
+v 0.02276384 0.01219081 -0.08038845
+v 0.02158456 0.01414079 -0.08038844
+v 0.02068871 0.01556538 -0.08038843
+v 0.02335096 0.01070055 -0.08195029
+v 0.02108856 0.01414079 -0.08212703
+v 0.01929686 0.01414079 -0.08284710
+v 0.01929686 0.01157451 -0.08314123
+v 0.01672572 0.01414080 -0.08314991
+v 0.02186800 0.00386554 -0.08315285
+v -0.00125705 -0.01154734 -0.08315435
+v 0.01158851 0.00386554 -0.08315285
+v -0.01410767 -0.01411868 -0.08315291
+v -0.01667881 -0.01411868 -0.08315146
+v -0.01667881 0.00129420 -0.08314851
+v -0.02181602 0.00386554 -0.08314271
+v -0.01667881 0.01414080 -0.08314267
+v -0.01924995 0.01157451 -0.08313399
+v -0.01924995 0.01414079 -0.08286159
+v -0.01912342 0.01653026 -0.08219222
+v -0.02062662 0.01555023 -0.08181987
+v -0.01956881 0.01689399 -0.08038843
+v -0.02062156 0.01554516 -0.07897147
+v -0.01911836 0.01652520 -0.07861651
+v -0.01667881 0.01671212 -0.07778777
+v -0.00437987 0.00241058 -0.06835303
+v -0.01924995 0.01414078 -0.07789935
+v 0.00522140 0.00023327 -0.06835304
+v 0.02403423 0.00643181 -0.07840791
+v 0.02573483 0.00267836 -0.07904976
+v 0.02494020 0.00643182 -0.08038847
+v 0.02418101 0.00900316 -0.08038846
+v 0.02344712 0.01090767 -0.08038845
+v 0.02197428 0.01156439 -0.08242405
+v 0.02575001 0.00274909 -0.08174749
+v 0.02367994 0.00900316 -0.08223282
+v 0.02186800 0.00900316 -0.08295144
+v 0.02186800 0.00643183 -0.08313401
+v 0.02443913 0.00129419 -0.08253131
+v 0.02186800 -0.00126704 -0.08315286
+v -0.00125705 -0.02182765 -0.08315149
+v 0.01672572 -0.01411868 -0.08315291
+v 0.01415965 -0.01668497 -0.08315292
+v 0.00130902 -0.02182765 -0.08315149
+v -0.01410767 -0.01668497 -0.08315147
+v -0.01667881 -0.01668498 -0.08295298
+v -0.01924995 -0.01154734 -0.08314566
+v -0.02181602 -0.00383838 -0.08314417
+v -0.02181602 -0.00126704 -0.08314416
+v -0.02438716 -0.00126705 -0.08256463
+v -0.02438716 0.00129419 -0.08256174
+v -0.02181602 0.00643183 -0.08312820
+v -0.02181602 0.00900316 -0.08296158
+v -0.02193244 0.01158965 -0.08243130
+v -0.02106695 0.01414079 -0.08214443
+v -0.02331923 0.01074096 -0.08196623
+v -0.02273718 0.01224638 -0.08038845
+v -0.02159333 0.01414079 -0.08038844
+v -0.02067217 0.01561085 -0.08038843
+v -0.02331417 0.01073590 -0.07883965
+v -0.02105683 0.01414078 -0.07867157
+v -0.00480502 0.00165787 -0.06835303
+v -0.02192737 0.01158459 -0.07836733
+v 0.00522140 -0.00021128 -0.06835304
+v 0.02443913 -0.00126706 -0.07824567
+v 0.02443913 0.00129418 -0.07825291
+v 0.02460109 0.00366345 -0.07848036
+v 0.02577531 0.00129418 -0.07900050
+v 0.02584111 0.00129419 -0.08038849
+v 0.02575001 0.00277940 -0.08038848
+v 0.02549188 0.00406255 -0.08038848
+v 0.02579050 0.00129419 -0.08180834
+v 0.02460616 0.00370893 -0.08231107
+v 0.02405953 0.00643182 -0.08241394
+v 0.02443913 -0.00126705 -0.08252986
+v 0.02186800 -0.00383838 -0.08315142
+v -0.00125705 -0.02439395 -0.08249953
+v -0.00382819 -0.02182765 -0.08315004
+v 0.01672572 -0.01668498 -0.08293994
+v 0.01929686 -0.01154734 -0.08314566
+v 0.01158851 -0.01925631 -0.08314134
+v 0.00388016 -0.02182765 -0.08314859
+v -0.01153654 -0.01925631 -0.08314423
+v -0.01912342 -0.01650817 -0.08219959
+v -0.01924995 -0.01411869 -0.08287618
+v -0.01410767 -0.01925632 -0.08286461
+v -0.01649155 -0.01913003 -0.08219235
+v -0.02181602 -0.00897601 -0.08297323
+v -0.02181602 -0.00640972 -0.08312970
+v -0.02403287 -0.00640973 -0.08241252
+v -0.02456937 -0.00375251 -0.08232124
+v -0.02576890 -0.00126705 -0.08184601
+v -0.02456431 0.00376450 -0.08231832
+v -0.02402781 0.00643182 -0.08241248
+v -0.02576383 0.00129419 -0.08184456
+v -0.02364821 0.00900316 -0.08224731
+v -0.02571322 0.00284508 -0.08177066
+v -0.02417459 0.00900316 -0.08038846
+v -0.02342045 0.01096324 -0.08038845
+v -0.02571322 0.00283496 -0.07901788
+v -0.02362797 0.00900315 -0.07858611
+v -0.00518462 0.00026864 -0.06835304
+v -0.02401263 0.00643181 -0.07840357
+v 0.00484687 -0.00161061 -0.06835305
+v 0.02403423 -0.00640974 -0.07840505
+v 0.02459603 -0.00365653 -0.07847169
+v 0.02573989 -0.00267649 -0.07904253
+v 0.02577531 -0.00126706 -0.07899471
+v 0.02584617 -0.00126705 -0.08038849
+v 0.02579050 -0.00126705 -0.08180690
+v 0.02460109 -0.00367168 -0.08230820
+v 0.02405447 -0.00640973 -0.08241252
+v 0.02186800 -0.00640972 -0.08313259
+v -0.00125705 -0.02572761 -0.08177656
+v -0.00362068 -0.02455560 -0.08229814
+v -0.00639933 -0.02401002 -0.08241405
+v -0.00639933 -0.02182765 -0.08313265
+v 0.00130902 -0.02439395 -0.08249228
+v 0.01652833 -0.01911992 -0.08216772
+v 0.01415965 -0.01925632 -0.08284722
+v 0.01929686 -0.01411869 -0.08285445
+v 0.01916020 -0.01648796 -0.08217206
+v 0.02186800 -0.00897601 -0.08296454
+v 0.00901737 -0.02182766 -0.08294431
+v 0.00644624 -0.02182765 -0.08312686
+v -0.00896540 -0.02182766 -0.08296459
+v -0.01818708 -0.01819040 -0.08192576
+v -0.02063674 -0.01553318 -0.08182868
+v -0.02108720 -0.01411869 -0.08215466
+v -0.02194256 -0.01157766 -0.08244297
+v -0.01154666 -0.02193880 -0.08243287
+v -0.01410767 -0.02107495 -0.08214310
+v -0.01550965 -0.02063039 -0.08181711
+v -0.02365833 -0.00897601 -0.08225461
+v -0.02571828 -0.00283814 -0.08177213
+v -0.02586000 -0.00126705 -0.08038849
+v -0.02585494 0.00129419 -0.08038849
+v -0.02573346 0.00297137 -0.08038848
+v -0.02547028 0.00425452 -0.08038847
+v -0.02493378 0.00643182 -0.08038847
+v -0.02576383 0.00129418 -0.07895270
+v -0.02438716 0.00129418 -0.07819930
+v -0.02456431 0.00375943 -0.07845574
+v -0.00518462 -0.00024159 -0.06835304
+v -0.02438716 -0.00126706 -0.07819640
+v 0.00441666 -0.00238353 -0.06835305
+v 0.02196416 -0.01154231 -0.07837465
+v 0.02366475 -0.00897602 -0.07859486
+v 0.02548176 -0.00404551 -0.08038850
+v 0.02575507 -0.00275731 -0.08038850
+v 0.02335096 -0.01067846 -0.07884987
+v 0.02419619 -0.00897601 -0.08038852
+v 0.02493514 -0.00640973 -0.08038851
+v 0.02574495 -0.00270679 -0.08174461
+v 0.02368500 -0.00897601 -0.08224157
+v -0.00125705 -0.02577308 -0.08038858
+v -0.00262360 -0.02569225 -0.08172729
+v 0.00130902 -0.02572256 -0.08176931
+v -0.00896540 -0.02364629 -0.08224308
+v 0.00644624 -0.02399991 -0.08240825
+v 0.00364228 -0.02455560 -0.08229089
+v 0.01553632 -0.02061524 -0.08179683
+v 0.01415965 -0.02104969 -0.08212572
+v 0.01821374 -0.01817020 -0.08190693
+v 0.01157839 -0.02193375 -0.08241983
+v 0.02197428 -0.01155241 -0.08243428
+v 0.02109868 -0.01411869 -0.08213293
+v 0.02065835 -0.01550287 -0.08180261
+v 0.00901737 -0.02362608 -0.08222425
+v -0.01829336 -0.01830154 -0.08038856
+v -0.01957893 -0.01687695 -0.08038855
+v -0.02067723 -0.01558875 -0.08038855
+v -0.02161864 -0.01411869 -0.08038854
+v -0.02275743 -0.01225460 -0.08038854
+v -0.02332935 -0.01074413 -0.08197644
+v -0.01069636 -0.02332298 -0.08196346
+v -0.01219451 -0.02274203 -0.08038857
+v -0.01410767 -0.02159023 -0.08038857
+v -0.01556533 -0.02067586 -0.08038857
+v -0.01685090 -0.01958469 -0.08038856
+v -0.02495402 -0.00640973 -0.08038851
+v -0.02547534 -0.00425263 -0.08038851
+v -0.02573346 -0.00296948 -0.08038850
+v -0.02419483 -0.00897601 -0.08038852
+v -0.02571322 -0.00281794 -0.07901646
+v -0.02576383 -0.00126706 -0.07895125
+v -0.00500747 -0.00114080 -0.06835304
+v -0.02456431 -0.00374241 -0.07845141
+v -0.02402275 -0.00640974 -0.07839347
+v 0.00361697 -0.00358080 -0.06835305
+v 0.01929686 -0.01411870 -0.07792263
+v 0.02107843 -0.01411870 -0.07868906
+v 0.02276891 -0.01218387 -0.08038853
+v 0.02346230 -0.01090073 -0.08038853
+v 0.02065329 -0.01549278 -0.07899042
+v 0.02336614 -0.01069866 -0.08196341
+v 0.00130902 -0.02576297 -0.08038858
+v 0.00130902 -0.02572257 -0.07901074
+v -0.00125705 -0.02572762 -0.07900784
+v -0.00262866 -0.02569226 -0.07905131
+v -0.00266915 -0.02569730 -0.08038858
+v -0.00394966 -0.02543966 -0.08038858
+v -0.00639933 -0.02488902 -0.08038858
+v -0.00896540 -0.02415652 -0.08038858
+v 0.00263002 -0.02568720 -0.08171716
+v 0.01830991 -0.01826618 -0.08038856
+v 0.01686744 -0.01954932 -0.08038856
+v 0.01558187 -0.02064555 -0.08038857
+v 0.01415965 -0.02153971 -0.08038857
+v 0.01220599 -0.02272182 -0.08038857
+v 0.01071291 -0.02330782 -0.08194462
+v 0.02159469 -0.01411869 -0.08038854
+v 0.02069378 -0.01554834 -0.08038855
+v 0.01959041 -0.01683148 -0.08038855
+v -0.01550459 -0.02063040 -0.07897451
+v -0.01818202 -0.01819041 -0.07887308
+v -0.02062156 -0.01551804 -0.07897304
+v -0.02331923 -0.01072898 -0.07883248
+v -0.02343564 -0.01097145 -0.08038853
+v -0.01090894 -0.02341896 -0.08038858
+v -0.01068624 -0.02331289 -0.07884847
+v -0.02363809 -0.00897602 -0.07857458
+v -0.00480502 -0.00163587 -0.06835305
+v 0.00239720 -0.00436887 -0.06835306
+v 0.01415965 -0.01925633 -0.07792554
+v 0.01652327 -0.01911488 -0.07863982
+v 0.01672572 -0.01668499 -0.07780383
+v 0.01915514 -0.01648797 -0.07863836
+v 0.01820362 -0.01816515 -0.07889626
+v 0.00266545 -0.02569225 -0.08038858
+v 0.00265533 -0.02568721 -0.07905565
+v 0.00130902 -0.02439396 -0.07827908
+v -0.00125705 -0.02439396 -0.07827328
+v -0.00362068 -0.02455561 -0.07848771
+v -0.00639933 -0.02398982 -0.07841092
+v -0.00896540 -0.02362104 -0.07859637
+v 0.00644624 -0.02486881 -0.08038858
+v 0.00395102 -0.02542956 -0.08038858
+v 0.01553126 -0.02061020 -0.07899624
+v 0.01071291 -0.02330278 -0.07885716
+v 0.01092042 -0.02340381 -0.08038858
+v 0.00901737 -0.02412621 -0.08038858
+v -0.01410767 -0.02105981 -0.07867605
+v -0.01649155 -0.01913004 -0.07861084
+v -0.01667881 -0.01668499 -0.07777341
+v -0.01912342 -0.01650313 -0.07860793
+v -0.02106695 -0.01411870 -0.07867022
+v -0.02193244 -0.01156757 -0.07835727
+v -0.01154160 -0.02192871 -0.07837469
+v -0.00357512 -0.00358585 -0.06835305
+v -0.01924995 -0.01411870 -0.07789075
+v 0.00160258 -0.00479827 -0.06835306
+v 0.01157839 -0.02192366 -0.07838483
+v 0.01415965 -0.02102950 -0.07869633
+v 0.00901737 -0.02361094 -0.07860506
+v 0.00644624 -0.02397972 -0.07841672
+v 0.00365746 -0.02455056 -0.07849351
+v 0.00017023 -0.00515694 -0.06835306
+v -0.00011826 -0.00515694 -0.06835306
+v -0.00108497 -0.00498518 -0.06835306
+v -0.00155061 -0.00479827 -0.06835306
+v -0.01410767 -0.01925633 -0.07789947
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 3 9 12
+f 4 18 5
+f 5 18 17
+f 5 17 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 8 26 27
+f 8 27 28
+f 8 28 10
+f 9 29 12
+f 9 11 30
+f 9 30 29
+f 10 28 11
+f 11 28 31
+f 11 31 30
+f 12 29 13
+f 13 29 32
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 35 16
+f 15 34 36
+f 15 36 37
+f 15 37 38
+f 15 38 35
+f 16 35 19
+f 16 19 17
+f 19 35 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 23
+f 21 23 22
+f 23 43 44
+f 23 44 24
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 25
+f 24 44 45
+f 25 48 26
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 52
+f 26 52 53
+f 26 53 27
+f 27 53 28
+f 28 53 52
+f 28 52 51
+f 28 51 54
+f 28 54 55
+f 28 55 56
+f 28 56 31
+f 29 30 57
+f 29 57 83
+f 29 83 110
+f 29 110 140
+f 29 140 176
+f 29 176 216
+f 29 216 258
+f 29 258 301
+f 29 301 337
+f 29 337 364
+f 29 364 375
+f 29 375 374
+f 29 374 373
+f 29 373 372
+f 29 372 366
+f 29 366 338
+f 29 338 304
+f 29 304 260
+f 29 260 218
+f 29 218 178
+f 29 178 142
+f 29 142 111
+f 29 111 84
+f 29 84 58
+f 29 58 33
+f 29 33 32
+f 30 31 56
+f 30 56 57
+f 33 58 34
+f 34 59 36
+f 34 58 59
+f 36 59 60
+f 36 60 37
+f 37 61 62
+f 37 62 38
+f 37 60 63
+f 37 63 64
+f 37 64 65
+f 37 65 61
+f 38 62 39
+f 39 62 61
+f 39 61 65
+f 39 65 64
+f 39 64 66
+f 39 66 67
+f 39 67 40
+f 40 67 68
+f 40 68 41
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 46
+f 46 72 73
+f 46 73 47
+f 47 74 48
+f 47 73 74
+f 48 74 49
+f 49 74 75
+f 49 75 50
+f 50 76 51
+f 50 75 77
+f 50 77 78
+f 50 78 79
+f 50 79 76
+f 51 76 54
+f 54 76 79
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 82 57
+f 55 57 56
+f 57 82 83
+f 58 84 85
+f 58 85 86
+f 58 86 87
+f 58 87 60
+f 58 60 59
+f 60 87 63
+f 63 87 86
+f 63 86 88
+f 63 88 64
+f 64 88 89
+f 64 89 90
+f 64 90 66
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 68
+f 68 92 69
+f 69 92 93
+f 69 93 70
+f 70 93 94
+f 70 94 71
+f 71 94 95
+f 71 95 96
+f 71 96 97
+f 71 97 98
+f 71 98 72
+f 72 98 73
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 74 100 75
+f 75 100 77
+f 77 100 101
+f 77 101 78
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 79 106 80
+f 80 105 104
+f 80 104 103
+f 80 103 107
+f 80 107 108
+f 80 108 81
+f 80 106 105
+f 81 108 109
+f 81 109 83
+f 81 83 82
+f 83 109 110
+f 84 111 112
+f 84 112 113
+f 84 113 85
+f 85 113 114
+f 85 114 86
+f 86 114 88
+f 88 114 115
+f 88 115 116
+f 88 116 117
+f 88 117 118
+f 88 118 89
+f 89 118 90
+f 90 118 117
+f 90 117 116
+f 90 116 119
+f 90 119 120
+f 90 120 91
+f 91 120 121
+f 91 121 92
+f 92 121 122
+f 92 122 123
+f 92 123 93
+f 93 123 124
+f 93 124 126
+f 93 126 94
+f 94 125 95
+f 94 126 125
+f 95 125 127
+f 95 127 96
+f 96 127 128
+f 96 128 129
+f 96 129 98
+f 96 98 97
+f 98 129 130
+f 98 130 131
+f 98 131 99
+f 99 101 100
+f 99 131 132
+f 99 132 133
+f 99 133 134
+f 99 134 101
+f 101 134 102
+f 102 134 135
+f 102 135 103
+f 103 135 136
+f 103 136 137
+f 103 137 107
+f 107 137 138
+f 107 138 139
+f 107 139 108
+f 108 139 110
+f 108 110 109
+f 110 139 138
+f 110 138 141
+f 110 141 140
+f 111 142 143
+f 111 143 112
+f 112 143 144
+f 112 144 115
+f 112 115 113
+f 113 115 114
+f 115 144 145
+f 115 145 146
+f 115 146 147
+f 115 147 116
+f 116 147 119
+f 119 148 120
+f 119 147 146
+f 119 146 149
+f 119 149 150
+f 119 150 148
+f 120 148 121
+f 121 148 151
+f 121 151 122
+f 122 151 152
+f 122 152 124
+f 122 124 123
+f 124 152 153
+f 124 153 154
+f 124 154 125
+f 124 125 126
+f 125 155 127
+f 125 154 156
+f 125 156 157
+f 125 157 158
+f 125 158 155
+f 127 159 128
+f 127 155 159
+f 128 160 161
+f 128 161 162
+f 128 162 163
+f 128 163 129
+f 128 159 160
+f 129 163 130
+f 130 163 164
+f 130 164 165
+f 130 165 166
+f 130 166 132
+f 130 132 131
+f 132 166 167
+f 132 167 133
+f 133 167 168
+f 133 168 169
+f 133 169 134
+f 134 169 135
+f 135 169 170
+f 135 170 171
+f 135 171 172
+f 135 172 173
+f 135 173 136
+f 136 173 137
+f 137 173 172
+f 137 172 171
+f 137 171 174
+f 137 174 175
+f 137 175 138
+f 138 175 141
+f 140 141 175
+f 140 175 177
+f 140 177 176
+f 142 178 179
+f 142 179 180
+f 142 180 181
+f 142 181 143
+f 143 181 144
+f 144 181 180
+f 144 180 182
+f 144 182 183
+f 144 183 184
+f 144 184 185
+f 144 185 145
+f 145 185 149
+f 145 149 146
+f 148 150 151
+f 149 185 184
+f 149 184 183
+f 149 183 186
+f 149 186 187
+f 149 187 188
+f 149 188 150
+f 150 188 151
+f 151 188 152
+f 152 188 153
+f 153 188 187
+f 153 187 186
+f 153 186 224
+f 153 224 189
+f 153 189 190
+f 153 190 154
+f 154 190 156
+f 155 191 192
+f 155 192 159
+f 155 158 191
+f 156 193 157
+f 156 190 194
+f 156 194 193
+f 157 193 195
+f 157 195 196
+f 157 196 158
+f 158 196 191
+f 159 197 160
+f 159 192 197
+f 160 198 199
+f 160 199 161
+f 160 197 200
+f 160 200 201
+f 160 201 198
+f 161 199 202
+f 161 202 203
+f 161 203 162
+f 162 203 164
+f 162 164 163
+f 164 204 205
+f 164 205 206
+f 164 206 165
+f 164 203 204
+f 165 207 208
+f 165 208 166
+f 165 206 209
+f 165 209 207
+f 166 208 167
+f 167 208 210
+f 167 210 168
+f 168 210 170
+f 168 170 169
+f 170 210 211
+f 170 211 212
+f 170 212 213
+f 170 213 171
+f 171 213 174
+f 174 213 212
+f 174 212 214
+f 174 214 215
+f 174 215 177
+f 174 177 175
+f 176 177 215
+f 176 215 217
+f 176 217 216
+f 178 218 219
+f 178 219 220
+f 178 220 179
+f 179 220 221
+f 179 221 222
+f 179 222 182
+f 179 182 180
+f 182 222 223
+f 182 223 183
+f 183 223 186
+f 186 223 224
+f 189 225 226
+f 189 226 227
+f 189 227 190
+f 189 224 225
+f 190 227 194
+f 191 228 229
+f 191 229 230
+f 191 230 231
+f 191 231 192
+f 191 196 232
+f 191 232 228
+f 192 231 197
+f 193 233 234
+f 193 234 195
+f 193 194 235
+f 193 235 236
+f 193 236 233
+f 194 227 237
+f 194 237 235
+f 195 234 238
+f 195 238 239
+f 195 239 196
+f 196 239 232
+f 197 231 240
+f 197 240 200
+f 198 201 241
+f 198 241 242
+f 198 242 243
+f 198 243 199
+f 199 243 244
+f 199 244 202
+f 200 240 245
+f 200 245 246
+f 200 246 201
+f 201 246 247
+f 201 247 241
+f 202 244 248
+f 202 248 204
+f 202 204 203
+f 204 249 205
+f 204 248 249
+f 205 249 206
+f 206 250 251
+f 206 251 209
+f 206 249 250
+f 207 209 211
+f 207 211 208
+f 208 211 210
+f 209 251 211
+f 211 251 252
+f 211 252 253
+f 211 253 254
+f 211 254 212
+f 212 254 214
+f 214 253 252
+f 214 252 251
+f 214 251 255
+f 214 255 256
+f 214 256 257
+f 214 257 217
+f 214 217 215
+f 214 254 253
+f 216 217 257
+f 216 257 256
+f 216 256 259
+f 216 259 258
+f 218 260 261
+f 218 261 262
+f 218 262 219
+f 219 262 221
+f 219 221 220
+f 221 263 264
+f 221 264 223
+f 221 223 222
+f 221 262 265
+f 221 265 266
+f 221 266 267
+f 221 267 263
+f 223 264 268
+f 223 268 224
+f 224 268 225
+f 225 268 226
+f 226 268 269
+f 226 269 237
+f 226 237 227
+f 228 270 271
+f 228 271 229
+f 228 232 272
+f 228 272 270
+f 229 271 230
+f 230 273 240
+f 230 240 231
+f 230 271 273
+f 232 239 274
+f 232 274 275
+f 232 275 272
+f 233 276 277
+f 233 277 234
+f 233 236 278
+f 233 278 276
+f 234 277 279
+f 234 279 238
+f 235 237 280
+f 235 280 281
+f 235 281 236
+f 236 281 282
+f 236 282 278
+f 237 269 280
+f 238 283 274
+f 238 274 239
+f 238 279 283
+f 240 273 245
+f 241 284 242
+f 241 247 284
+f 242 285 286
+f 242 286 287
+f 242 287 288
+f 242 288 289
+f 242 289 243
+f 242 284 285
+f 243 289 244
+f 244 289 248
+f 245 273 290
+f 245 290 246
+f 246 290 247
+f 247 290 291
+f 247 291 292
+f 247 292 293
+f 247 293 294
+f 247 294 284
+f 248 289 249
+f 249 295 296
+f 249 296 297
+f 249 297 250
+f 249 289 298
+f 249 298 295
+f 250 297 299
+f 250 299 300
+f 250 300 255
+f 250 255 251
+f 255 300 259
+f 255 259 256
+f 258 259 302
+f 258 302 303
+f 258 303 301
+f 259 300 299
+f 259 299 302
+f 260 304 305
+f 260 305 306
+f 260 306 261
+f 261 306 265
+f 261 265 262
+f 263 268 264
+f 263 267 268
+f 265 307 308
+f 265 308 266
+f 265 306 309
+f 265 309 307
+f 266 268 267
+f 266 308 310
+f 266 310 268
+f 268 310 269
+f 269 310 280
+f 270 311 312
+f 270 312 313
+f 270 313 314
+f 270 314 315
+f 270 315 271
+f 270 272 311
+f 271 315 316
+f 271 316 317
+f 271 317 318
+f 271 318 290
+f 271 290 273
+f 272 275 319
+f 272 319 311
+f 274 283 319
+f 274 319 275
+f 276 278 320
+f 276 320 321
+f 276 321 322
+f 276 322 323
+f 276 323 324
+f 276 324 325
+f 276 325 277
+f 277 325 279
+f 278 282 320
+f 279 325 283
+f 280 310 281
+f 281 310 282
+f 282 310 307
+f 282 307 326
+f 282 326 327
+f 282 327 328
+f 282 328 320
+f 283 325 319
+f 284 294 329
+f 284 329 330
+f 284 330 331
+f 284 331 285
+f 285 331 286
+f 286 331 287
+f 287 331 288
+f 288 331 332
+f 288 332 333
+f 288 333 289
+f 289 333 298
+f 290 318 334
+f 290 334 291
+f 291 334 335
+f 291 335 329
+f 291 329 292
+f 292 329 293
+f 293 329 294
+f 295 298 299
+f 295 299 296
+f 296 299 297
+f 298 333 332
+f 298 332 299
+f 299 332 336
+f 299 336 303
+f 299 303 302
+f 301 303 336
+f 301 336 337
+f 304 338 339
+f 304 339 340
+f 304 340 341
+f 304 341 342
+f 304 342 305
+f 305 342 306
+f 306 342 309
+f 307 310 308
+f 307 309 326
+f 309 328 327
+f 309 327 326
+f 309 342 343
+f 309 343 320
+f 309 320 328
+f 311 319 344
+f 311 344 345
+f 311 345 312
+f 312 345 346
+f 312 346 347
+f 312 347 313
+f 313 347 314
+f 314 348 349
+f 314 349 350
+f 314 350 335
+f 314 335 318
+f 314 318 317
+f 314 317 316
+f 314 316 315
+f 314 347 348
+f 318 335 334
+f 319 325 351
+f 319 351 352
+f 319 352 344
+f 320 343 353
+f 320 353 321
+f 321 353 322
+f 322 353 323
+f 323 353 324
+f 324 353 354
+f 324 354 355
+f 324 355 325
+f 325 355 356
+f 325 356 351
+f 329 335 357
+f 329 357 358
+f 329 358 330
+f 330 359 360
+f 330 360 331
+f 330 358 359
+f 331 361 332
+f 331 360 361
+f 332 361 362
+f 332 362 336
+f 335 350 363
+f 335 363 357
+f 336 362 337
+f 337 362 365
+f 337 365 364
+f 338 366 367
+f 338 367 339
+f 339 367 368
+f 339 368 340
+f 340 368 353
+f 340 353 343
+f 340 343 341
+f 341 343 342
+f 344 352 345
+f 345 352 351
+f 345 351 356
+f 345 356 354
+f 345 354 369
+f 345 369 370
+f 345 370 371
+f 345 371 346
+f 346 372 347
+f 346 371 372
+f 347 372 373
+f 347 373 348
+f 348 373 349
+f 349 373 374
+f 349 374 350
+f 350 374 375
+f 350 375 363
+f 353 368 354
+f 354 356 355
+f 354 368 367
+f 354 367 369
+f 357 363 364
+f 357 364 376
+f 357 376 358
+f 358 376 364
+f 358 364 359
+f 359 364 360
+f 360 364 365
+f 360 365 361
+f 361 365 362
+f 363 375 364
+f 366 372 370
+f 366 370 369
+f 366 369 367
+f 370 372 371
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_10.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 -0.03018773 0.01998322
+v -0.00126073 -0.03018571 0.01998322
+v 0.00001607 -0.02963731 0.01734272
+v 0.00001607 -0.03016556 0.02107850
+v -0.00126073 -0.03016757 0.02107850
+v -0.00383017 -0.02995990 0.01998322
+v -0.00126073 -0.02963530 0.01734272
+v 0.00001607 -0.02917562 0.01622430
+v 0.00001607 -0.02567767 0.02107852
+v -0.00383017 -0.02994177 0.02107850
+v -0.00639962 -0.02948814 0.02107850
+v -0.00639962 -0.02950426 0.01998322
+v -0.00383017 -0.02940747 0.01734272
+v -0.00383017 -0.02860304 0.01533985
+v -0.00126073 -0.02871796 0.01512131
+v 0.00001607 -0.02871796 0.01512131
+v -0.01155778 -0.02273614 0.02107853
+v 0.00001607 -0.00959296 0.00136868
+v -0.01155778 -0.00959297 0.00553383
+v -0.00790526 -0.02909096 0.02107850
+v -0.00896907 -0.02882684 0.01998322
+v -0.01031950 -0.02827846 0.01858456
+v -0.00896907 -0.02848813 0.01797779
+v -0.00661488 -0.02881877 0.01710361
+v -0.00590114 -0.02842966 0.01567410
+v -0.00383017 -0.02789940 0.01401833
+v -0.00126073 -0.02801836 0.01379979
+v 0.00001607 -0.02836715 0.01445541
+v -0.01155778 -0.02787121 0.02107851
+v 0.00001607 -0.00959293 -0.00518242
+v -0.01155778 -0.00959295 -0.00087844
+v -0.00906423 -0.02877040 0.02107850
+v -0.01048264 -0.02834297 0.01998323
+v -0.01048831 -0.02834500 0.02107851
+v -0.01155778 -0.02790144 0.01998323
+v -0.01155778 -0.02788128 0.01978011
+v -0.01155778 -0.02736917 0.01755356
+v -0.01132213 -0.02748208 0.01755870
+v -0.00896907 -0.02801837 0.01665625
+v -0.00761524 -0.02823611 0.01606490
+v -0.00661488 -0.02776432 0.01475623
+v -0.00639962 -0.02637118 0.01233170
+v -0.00500274 -0.02566553 0.01076335
+v -0.00401937 -0.02649214 0.01180977
+v -0.00126073 -0.02692964 0.01205917
+v 0.00001607 -0.02801836 0.01379979
+v 0.00001607 -0.00997599 -0.00489703
+v -0.00050054 -0.00959293 -0.00518499
+v -0.00959217 -0.00959294 -0.00210227
+v -0.01155778 -0.01084294 -0.00018939
+v -0.01155778 -0.02728046 0.01732216
+v -0.01155778 -0.02614739 0.01484621
+v -0.01137651 -0.02617562 0.01475365
+v -0.00896907 -0.02705263 0.01469966
+v -0.00896907 -0.02600021 0.01289991
+v -0.00639962 -0.02549214 0.01101275
+v -0.00660015 -0.02410705 0.00917443
+v -0.00587735 -0.02331069 0.00786575
+v -0.00401937 -0.02495989 0.00958837
+v -0.00328864 -0.02579053 0.01058338
+v -0.00126073 -0.02587722 0.01045995
+v 0.00001607 -0.02692964 0.01205917
+v 0.00001607 -0.01076026 -0.00429797
+v -0.00126073 -0.00997801 -0.00489960
+v -0.00126073 -0.00959293 -0.00518499
+v -0.00837542 -0.00959294 -0.00277075
+v -0.00787921 -0.01042358 -0.00257021
+v -0.01021414 -0.01280463 0.00019626
+v -0.01107289 -0.01109093 -0.00034108
+v -0.01155778 -0.01157480 0.00025284
+v -0.01155778 -0.02598005 0.01455054
+v -0.01041127 -0.02575021 0.01327787
+v -0.00896907 -0.02508892 0.01157838
+v -0.00759145 -0.02308488 0.00813058
+v -0.00592606 -0.02078851 0.00520726
+v -0.00383017 -0.02230665 0.00631797
+v -0.00383017 -0.02350625 0.00763949
+v -0.00126073 -0.02491955 0.00913843
+v 0.00001607 -0.02539537 0.00979406
+v 0.00001607 -0.02587722 0.01045995
+v 0.00001607 -0.01155261 -0.00369120
+v -0.00126073 -0.01155261 -0.00369377
+v -0.00272785 -0.01288728 -0.00250851
+v -0.00368289 -0.01168366 -0.00319498
+v -0.00383017 -0.00960099 -0.00466821
+v -0.00383017 -0.00959293 -0.00467335
+v -0.00634977 -0.00959294 -0.00374776
+v -0.00639962 -0.01086914 -0.00289931
+v -0.00850004 -0.01337116 -0.00022539
+v -0.00920245 -0.01418568 0.00071305
+v -0.01069336 -0.01571391 0.00256936
+v -0.01155778 -0.01538730 0.00281875
+v -0.01155778 -0.01418569 0.00195488
+v -0.01155778 -0.01405666 0.00187003
+v -0.01155778 -0.01192964 0.00047395
+v -0.01155778 -0.02549014 0.01369952
+v -0.01150680 -0.02438932 0.01208232
+v -0.01088823 -0.02341553 0.01033398
+v -0.00896907 -0.02380465 0.00979920
+v -0.00896907 -0.02151835 0.00708158
+v -0.00764016 -0.02052842 0.00547208
+v -0.00896907 -0.02280262 0.00848025
+v -0.00383017 -0.01970180 0.00364149
+v -0.00383017 -0.02102238 0.00496301
+v -0.00572667 -0.01818568 0.00262591
+v -0.00126073 -0.02245181 0.00617142
+v -0.00126073 -0.02116754 0.00480360
+v -0.00126073 -0.02363327 0.00749294
+v 0.00001607 -0.02491955 0.00913843
+v 0.00001607 -0.02363528 0.00749037
+v 0.00001607 -0.01297398 -0.00257793
+v -0.00126073 -0.01297599 -0.00258050
+v -0.00444081 -0.01262720 -0.00231054
+v -0.00126073 -0.01426027 -0.00151351
+v -0.00126073 -0.01583285 -0.00019198
+v -0.00383017 -0.01563124 -0.00001715
+v -0.00523838 -0.01545382 0.00013455
+v -0.00383924 -0.00959293 -0.00467078
+v -0.00639962 -0.01215543 -0.00198914
+v -0.00695022 -0.01508487 0.00041736
+v -0.00896907 -0.01621189 0.00215284
+v -0.00896907 -0.01749616 0.00323012
+v -0.01098679 -0.01842157 0.00504529
+v -0.01155778 -0.01824617 0.00520727
+v -0.01155778 -0.01665141 0.00384975
+v -0.01155778 -0.02432481 0.01202575
+v -0.01155778 -0.02325223 0.01054995
+v -0.01155778 -0.02246594 0.00956267
+v -0.01153965 -0.02091553 0.00770892
+v -0.00896907 -0.02022399 0.00576005
+v -0.00896907 -0.01894174 0.00454908
+v -0.00743850 -0.01788528 0.00289844
+v -0.01155778 -0.02233287 0.00940069
+v -0.01155778 -0.02111513 0.00795317
+v -0.01155778 -0.02091150 0.00771406
+v -0.00126073 -0.01987317 0.00348465
+v -0.00383017 -0.01841753 0.00240994
+v -0.00126073 -0.01858689 0.00224796
+v -0.00383017 -0.01691551 0.00108842
+v 0.00001607 -0.02245382 0.00617142
+v 0.00001607 -0.02116754 0.00480360
+v 0.00001607 -0.02180665 0.00548237
+v 0.00001607 -0.01987317 0.00348208
+v 0.00001607 -0.02051633 0.00413769
+v 0.00001607 -0.01361309 -0.00205086
+v 0.00001607 -0.01426027 -0.00151351
+v -0.00621609 -0.01418568 -0.00052364
+v 0.00001607 -0.01583487 -0.00019455
+v -0.00126073 -0.01711914 0.00092901
+v -0.01155778 -0.01908085 0.00597603
+v 0.00001607 -0.01784899 0.00158205
+v 0.00001607 -0.01858890 0.00224796
+v 0.00001607 -0.01922600 0.00285988
+v 0.00001607 -0.01711914 0.00092644
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 46
+f 1 46 62
+f 1 62 80
+f 1 80 79
+f 1 79 109
+f 1 109 110
+f 1 110 140
+f 1 140 142
+f 1 142 141
+f 1 141 144
+f 1 144 143
+f 1 143 153
+f 1 153 152
+f 1 152 151
+f 1 151 154
+f 1 154 148
+f 1 148 146
+f 1 146 145
+f 1 145 111
+f 1 111 81
+f 1 81 63
+f 1 63 47
+f 1 47 30
+f 1 30 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 7
+f 3 7 8
+f 4 9 17
+f 4 17 29
+f 4 29 34
+f 4 34 32
+f 4 32 20
+f 4 20 11
+f 4 11 10
+f 4 10 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 18 19
+f 9 19 17
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 17 19 31
+f 17 31 50
+f 17 50 70
+f 17 70 95
+f 17 95 94
+f 17 94 93
+f 17 93 92
+f 17 92 125
+f 17 125 124
+f 17 124 150
+f 17 150 135
+f 17 135 134
+f 17 134 133
+f 17 133 128
+f 17 128 127
+f 17 127 126
+f 17 126 96
+f 17 96 71
+f 17 71 52
+f 17 52 51
+f 17 51 37
+f 17 37 36
+f 17 36 35
+f 17 35 29
+f 18 30 48
+f 18 48 65
+f 18 65 86
+f 18 86 118
+f 18 118 87
+f 18 87 66
+f 18 66 49
+f 18 49 31
+f 18 31 19
+f 20 32 21
+f 21 33 22
+f 21 32 34
+f 21 34 33
+f 22 33 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 24
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 46 28
+f 27 45 62
+f 27 62 46
+f 29 35 34
+f 30 47 48
+f 31 49 50
+f 33 34 35
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 43
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 80
+f 45 80 62
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 52 71 53
+f 53 71 72
+f 53 72 54
+f 54 72 55
+f 55 72 73
+f 55 73 56
+f 56 73 74
+f 56 74 57
+f 57 74 58
+f 58 74 75
+f 58 75 76
+f 58 76 77
+f 58 77 59
+f 59 78 60
+f 59 77 78
+f 60 78 61
+f 61 78 79
+f 61 79 80
+f 63 81 64
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 65 83 84
+f 65 84 85
+f 65 85 86
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 68
+f 68 89 90
+f 68 90 91
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 70
+f 68 70 69
+f 71 96 72
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 73
+f 73 99 74
+f 74 100 101
+f 74 101 75
+f 74 99 102
+f 74 102 100
+f 75 103 104
+f 75 104 76
+f 75 101 105
+f 75 105 103
+f 76 106 77
+f 76 104 107
+f 76 107 106
+f 77 106 108
+f 77 108 78
+f 78 109 79
+f 78 108 110
+f 78 110 109
+f 81 111 112
+f 81 112 82
+f 82 112 83
+f 83 113 84
+f 83 112 114
+f 83 114 115
+f 83 115 116
+f 83 116 117
+f 83 117 113
+f 84 113 85
+f 85 118 86
+f 85 113 119
+f 85 119 88
+f 85 88 118
+f 87 118 88
+f 88 119 89
+f 89 120 121
+f 89 121 90
+f 89 119 120
+f 90 121 91
+f 91 121 122
+f 91 122 123
+f 91 123 124
+f 91 124 125
+f 91 125 92
+f 96 126 97
+f 97 126 98
+f 98 127 128
+f 98 128 102
+f 98 102 99
+f 98 126 127
+f 100 102 129
+f 100 129 130
+f 100 130 101
+f 101 130 131
+f 101 131 132
+f 101 132 105
+f 102 128 133
+f 102 133 134
+f 102 134 135
+f 102 135 129
+f 103 136 104
+f 103 105 137
+f 103 137 138
+f 103 138 136
+f 104 136 107
+f 105 117 139
+f 105 139 137
+f 105 132 117
+f 106 140 110
+f 106 110 108
+f 106 107 140
+f 107 141 142
+f 107 142 140
+f 107 136 143
+f 107 143 144
+f 107 144 141
+f 111 145 112
+f 112 145 146
+f 112 146 114
+f 113 147 119
+f 113 117 147
+f 114 146 148
+f 114 148 115
+f 115 148 149
+f 115 149 139
+f 115 139 116
+f 116 139 117
+f 117 120 147
+f 117 132 120
+f 119 147 120
+f 120 132 121
+f 121 132 122
+f 122 132 131
+f 122 131 123
+f 123 131 130
+f 123 130 135
+f 123 135 150
+f 123 150 124
+f 129 135 130
+f 136 138 143
+f 137 139 149
+f 137 149 138
+f 138 149 151
+f 138 151 152
+f 138 152 153
+f 138 153 143
+f 148 154 149
+f 149 154 151
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_11.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 -0.01008044 -0.00481941
+v 0.00131039 -0.01008044 -0.00481700
+v 0.00001607 -0.01008047 0.00168436
+v 0.00001607 -0.00360927 -0.02120387
+v 0.00146358 -0.01008044 -0.00479054
+v 0.00131039 -0.00360038 -0.02120387
+v 0.00726143 -0.01008047 0.00336803
+v 0.00002387 0.00000998 -0.00156508
+v 0.00001607 0.00000306 -0.00156508
+v 0.00001607 0.00001005 -0.02120386
+v 0.00384301 -0.01008044 -0.00431190
+v 0.00287280 -0.00283681 -0.02120387
+v 0.00726143 -0.01008045 -0.00305396
+v 0.00641463 -0.01008045 -0.00340512
+v 0.00488485 -0.01008045 -0.00396795
+v 0.00726143 0.00000997 -0.00004737
+v 0.00001607 0.00000998 -0.00157710
+v 0.00362386 0.00001005 -0.02120386
+v 0.00362882 -0.00127311 -0.02120386
+v 0.00726143 -0.00975348 -0.00326562
+v 0.00726143 0.00001000 -0.00703219
+v 0.00726143 -0.00127316 -0.00703219
+v 0.00726143 -0.00155370 -0.00696244
+v 0.00726143 -0.00388196 -0.00626733
+v 0.00726143 -0.00474432 -0.00595466
+v 0.00726143 -0.00720691 -0.00472078
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 18
+f 4 18 19
+f 4 19 12
+f 4 12 6
+f 5 6 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 7 16 8
+f 7 13 20
+f 7 20 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 16
+f 8 17 9
+f 8 16 21
+f 8 21 18
+f 8 18 10
+f 8 10 17
+f 12 19 13
+f 13 19 20
+f 18 21 19
+f 19 21 22
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_12.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 0.00720158 -0.00008277
+v -0.00853817 0.00720157 0.00241145
+v 0.00001607 -0.00002434 -0.00156684
+v 0.00001607 0.00720161 -0.00708922
+v -0.00853817 -0.00002435 0.00070315
+v -0.00853817 0.00720159 -0.00396394
+v 0.00001607 -0.00002427 -0.02120386
+v 0.00001607 0.00361769 -0.02120385
+v -0.00126003 0.00362901 -0.02120385
+v -0.00126003 0.00720161 -0.00709384
+v -0.00853817 -0.00002433 -0.00595194
+v -0.00717247 0.00720160 -0.00477069
+v -0.00283758 0.00287218 -0.02120385
+v -0.00361463 0.00129770 -0.02120386
+v -0.00853817 0.00647943 -0.00433149
+v -0.00361881 -0.00002427 -0.02120386
+v -0.00141662 0.00720161 -0.00705686
+v -0.00708120 0.00720160 -0.00481923
+v -0.00468558 0.00720160 -0.00603282
+v -0.00387420 0.00720160 -0.00632870
+v -0.00853817 0.00129764 -0.00594963
+v -0.00853817 0.00386661 -0.00534398
+v -0.00853817 0.00605858 -0.00453723
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 15
+f 2 15 23
+f 2 23 22
+f 2 22 21
+f 2 21 11
+f 2 11 5
+f 3 5 11
+f 3 11 16
+f 3 16 7
+f 4 8 9
+f 4 9 10
+f 6 12 9
+f 6 9 13
+f 6 13 14
+f 6 14 15
+f 7 16 14
+f 7 14 13
+f 7 13 9
+f 7 9 8
+f 9 17 10
+f 9 12 18
+f 9 18 19
+f 9 19 20
+f 9 20 17
+f 11 21 16
+f 14 16 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_13.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.00126003 0.00720161 -0.00709014
+v 0.00001607 0.00720161 -0.00708738
+v -0.00141662 0.00720161 -0.00705430
+v -0.00365398 0.01169886 -0.00317751
+v -0.00267932 0.01289978 -0.00249645
+v -0.00126003 0.01297639 -0.00255986
+v 0.00001607 0.01297413 -0.00255986
+v 0.00001607 0.00720158 -0.00008106
+v -0.00387420 0.00720160 -0.00632637
+v -0.00383066 0.00960345 -0.00465267
+v -0.00439168 0.01263616 -0.00229792
+v -0.00518966 0.01546159 0.00015058
+v -0.00383066 0.01563058 0.00000444
+v -0.00383066 0.01691487 0.00110461
+v -0.00126003 0.01583336 -0.00016927
+v -0.00126003 0.01426293 -0.00149003
+v 0.00001607 0.01426068 -0.00149003
+v -0.00853817 0.00720157 0.00241154
+v 0.00001607 0.02570880 0.02107306
+v -0.00468558 0.00720160 -0.00602858
+v -0.00639961 0.01087646 -0.00288799
+v -0.00639961 0.01216300 -0.00197257
+v -0.00618777 0.01419983 -0.00050016
+v -0.00690369 0.01508982 0.00043734
+v -0.00741279 0.01789723 0.00290790
+v -0.00569876 0.01820140 0.00263217
+v -0.00383066 0.01842672 0.00242537
+v -0.00126003 0.01711765 0.00094744
+v 0.00001607 0.01583336 -0.00016927
+v -0.00853817 0.00720159 -0.00396060
+v -0.00853817 0.02406626 0.02107306
+v 0.00001607 0.03019705 0.02107308
+v -0.00708120 0.00720160 -0.00481536
+v -0.00787333 0.01044160 -0.00256539
+v -0.00847453 0.01337744 -0.00021615
+v -0.00853817 0.01597980 0.00181324
+v -0.00853817 0.01761108 0.00315053
+v -0.00853817 0.01866329 0.00410457
+v -0.00762464 0.02054916 0.00547772
+v -0.00591144 0.02080602 0.00521577
+v -0.00383066 0.01970875 0.00365788
+v -0.00126003 0.01859119 0.00226820
+v 0.00001607 0.01711765 0.00094744
+v -0.00853817 0.00857150 -0.00326851
+v -0.00717247 0.00720160 -0.00476849
+v -0.00853817 0.02894881 0.02107308
+v -0.00126003 0.03019705 0.02107308
+v 0.00001607 0.03021959 0.01998394
+v -0.00853817 0.00933756 -0.00283562
+v -0.00853817 0.01112205 -0.00175750
+v -0.00853817 0.01317691 -0.00032369
+v -0.00853817 0.01344954 -0.00013068
+v -0.00853817 0.02033962 0.00567623
+v -0.00853817 0.02121609 0.00657237
+v -0.00755514 0.02309971 0.00814128
+v -0.00673287 0.02195287 0.00667715
+v -0.00383066 0.02231788 0.00633524
+v -0.00383066 0.02103359 0.00497864
+v -0.00584111 0.02332502 0.00787659
+v -0.00126003 0.01987323 0.00350348
+v 0.00001607 0.01859119 0.00226820
+v -0.00639961 0.02952562 0.02107308
+v -0.00853817 0.02898487 0.01998394
+v -0.00126003 0.03021734 0.01998394
+v -0.00383066 0.02999428 0.01998394
+v -0.00232178 0.03010467 0.02107308
+v 0.00001607 0.02995147 0.01867146
+v -0.00126003 0.02967885 0.01734244
+v -0.00853817 0.02290143 0.00838392
+v -0.00853817 0.02360667 0.00930211
+v -0.00853817 0.02517935 0.01147487
+v -0.00639961 0.02551507 0.01100889
+v -0.00657880 0.02412489 0.00918079
+v -0.00126003 0.02246208 0.00618635
+v -0.00126003 0.02117779 0.00482424
+v -0.00383066 0.02351654 0.00765324
+v -0.00499958 0.02569081 0.01076349
+v -0.00401822 0.02497206 0.00959163
+v 0.00001607 0.01987323 0.00350348
+v -0.00383066 0.02997174 0.02107308
+v -0.00639961 0.02954816 0.01998394
+v -0.00853817 0.02858607 0.01778361
+v -0.00383066 0.02945354 0.01734244
+v 0.00001607 0.02967885 0.01734244
+v -0.00126003 0.02875506 0.01510627
+v -0.00383066 0.02864015 0.01532134
+v -0.00853817 0.02594766 0.01257229
+v -0.00639961 0.02640279 0.01232965
+v -0.00126003 0.02364497 0.00750435
+v 0.00001607 0.02305915 0.00685086
+v 0.00001607 0.02246208 0.00618635
+v 0.00001607 0.02117779 0.00482424
+v -0.00328723 0.02581248 0.01058702
+v -0.00126003 0.02492926 0.00915046
+v -0.00383066 0.02793042 0.01400058
+v -0.00401822 0.02651997 0.01180852
+v -0.00663993 0.02885871 0.01708877
+v -0.00765729 0.02827064 0.01603823
+v -0.00853817 0.02843962 0.01731486
+v -0.00594326 0.02846215 0.01566323
+v 0.00001607 0.02875506 0.01510627
+v 0.00001607 0.02840358 0.01445002
+v -0.00126003 0.02804759 0.01378550
+v -0.00853817 0.02609637 0.01279563
+v -0.00663993 0.02780200 0.01475056
+v 0.00001607 0.02364497 0.00750435
+v 0.00001607 0.02493151 0.00915046
+v 0.00001607 0.02429162 0.00833154
+v -0.00126003 0.02695257 0.01205943
+v -0.00126003 0.02589585 0.01047122
+v -0.00853817 0.02812644 0.01642976
+v -0.00853817 0.02722970 0.01470920
+v 0.00001607 0.02804759 0.01378550
+v 0.00001607 0.02541593 0.00981497
+v 0.00001607 0.02695032 0.01205943
+v 0.00001607 0.02642759 0.01127084
+v 0.00001607 0.02589359 0.01047122
+f 1 2 8
+f 1 8 18
+f 1 18 30
+f 1 30 45
+f 1 45 33
+f 1 33 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 17
+f 2 17 29
+f 2 29 43
+f 2 43 61
+f 2 61 79
+f 2 79 92
+f 2 92 91
+f 2 91 90
+f 2 90 106
+f 2 106 108
+f 2 108 107
+f 2 107 114
+f 2 114 117
+f 2 117 116
+f 2 116 115
+f 2 115 113
+f 2 113 102
+f 2 102 101
+f 2 101 84
+f 2 84 67
+f 2 67 48
+f 2 48 32
+f 2 32 19
+f 2 19 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 8 19 18
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 14
+f 12 14 13
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 29 16
+f 15 28 43
+f 15 43 29
+f 16 29 17
+f 18 19 31
+f 18 31 46
+f 18 46 63
+f 18 63 82
+f 18 82 99
+f 18 99 111
+f 18 111 112
+f 18 112 104
+f 18 104 87
+f 18 87 71
+f 18 71 70
+f 18 70 69
+f 18 69 54
+f 18 54 53
+f 18 53 38
+f 18 38 37
+f 18 37 36
+f 18 36 52
+f 18 52 51
+f 18 51 50
+f 18 50 49
+f 18 49 44
+f 18 44 30
+f 19 32 47
+f 19 47 66
+f 19 66 80
+f 19 80 62
+f 19 62 46
+f 19 46 31
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 35 24
+f 22 24 23
+f 22 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 42 28
+f 27 41 42
+f 28 42 61
+f 28 61 43
+f 30 44 45
+f 32 48 47
+f 33 45 34
+f 34 45 44
+f 34 44 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 40 57 58
+f 40 58 41
+f 40 56 59
+f 40 59 57
+f 41 58 60
+f 41 60 42
+f 42 60 79
+f 42 79 61
+f 46 62 63
+f 47 48 64
+f 47 64 65
+f 47 65 66
+f 48 67 68
+f 48 68 64
+f 54 69 55
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 59
+f 55 59 56
+f 57 74 75
+f 57 75 58
+f 57 59 76
+f 57 76 74
+f 58 75 60
+f 59 73 77
+f 59 77 78
+f 59 78 76
+f 60 75 92
+f 60 92 79
+f 62 80 65
+f 62 65 81
+f 62 81 63
+f 63 81 82
+f 64 68 65
+f 65 80 66
+f 65 68 83
+f 65 83 81
+f 67 84 68
+f 68 84 101
+f 68 101 85
+f 68 85 86
+f 68 86 83
+f 71 87 72
+f 72 87 88
+f 72 88 77
+f 72 77 73
+f 74 76 89
+f 74 89 90
+f 74 90 91
+f 74 91 92
+f 74 92 75
+f 76 78 93
+f 76 93 94
+f 76 94 89
+f 77 88 95
+f 77 95 96
+f 77 96 93
+f 77 93 78
+f 81 83 97
+f 81 97 82
+f 82 97 98
+f 82 98 99
+f 83 86 100
+f 83 100 97
+f 85 101 102
+f 85 102 103
+f 85 103 86
+f 86 103 95
+f 86 95 100
+f 87 104 88
+f 88 104 105
+f 88 105 95
+f 89 106 90
+f 89 94 107
+f 89 107 108
+f 89 108 106
+f 93 96 109
+f 93 109 110
+f 93 110 94
+f 94 110 107
+f 95 105 100
+f 95 103 109
+f 95 109 96
+f 97 100 98
+f 98 111 99
+f 98 100 105
+f 98 105 112
+f 98 112 111
+f 102 113 103
+f 103 113 109
+f 104 112 105
+f 107 110 114
+f 109 113 115
+f 109 115 116
+f 109 116 110
+f 110 116 117
+f 110 117 114
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_14.obj

@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.03033917 0.00000990 0.01998243
+v 0.03032110 0.00000989 0.02107754
+v 0.03032336 -0.00052056 0.02107754
+v 0.03033917 -0.00127326 0.01998243
+v 0.03006129 0.00000990 0.01866445
+v 0.02578236 0.00000989 0.02107754
+v 0.03032336 -0.00127327 0.02107754
+v 0.03012003 -0.00384254 0.01998242
+v 0.02978115 -0.00127325 0.01734096
+v 0.03023299 -0.00233615 0.02107753
+v 0.02978115 0.00000991 0.01734096
+v 0.02359320 -0.01008054 0.02107750
+v 0.00726144 0.00000997 -0.00004323
+v 0.00726144 -0.01008047 0.00336863
+v 0.02967497 -0.00641083 0.01998241
+v 0.02955749 -0.00384253 0.01734095
+v 0.03010422 -0.00384255 0.02107753
+v 0.02869673 -0.00384253 0.01525254
+v 0.02880969 -0.00127325 0.01503793
+v 0.02881195 0.00000991 0.01503517
+v 0.02929768 0.00000991 0.01618807
+v 0.02861540 -0.01008054 0.02107750
+v 0.00726144 0.00001000 -0.00702938
+v 0.00726144 -0.01008045 -0.00305070
+v 0.02899721 -0.00898110 0.01998240
+v 0.02839852 -0.01008053 0.01826544
+v 0.02910791 -0.00641082 0.01734094
+v 0.02965689 -0.00641084 0.02107752
+v 0.02847081 -0.00641082 0.01568727
+v 0.02798057 -0.00384252 0.01393180
+v 0.02810256 -0.00127324 0.01371719
+v 0.02810482 0.00000992 0.01371444
+v 0.02897913 -0.00898111 0.02107751
+v 0.02862218 -0.01008054 0.02071705
+v 0.01296592 0.00000998 -0.00253888
+v 0.00726144 -0.00127316 -0.00703213
+v 0.00726144 -0.00975348 -0.00326257
+v 0.00758676 -0.01008045 -0.00291588
+v 0.02863348 -0.01008053 0.01998239
+v 0.02824037 -0.01008053 0.01782794
+v 0.02803479 -0.00947697 0.01671083
+v 0.02854537 -0.00876476 0.01749226
+v 0.02831719 -0.00776412 0.01597892
+v 0.02773657 -0.00641081 0.01436653
+v 0.02645109 -0.00641081 0.01230013
+v 0.02572136 -0.00509900 0.01074551
+v 0.02657760 -0.00408255 0.01179936
+v 0.02703848 -0.00127323 0.01205801
+v 0.02703848 0.00000993 0.01205801
+v 0.01360979 0.00000998 -0.00200508
+v 0.01296366 -0.00127318 -0.00253888
+v 0.00726144 -0.00155370 -0.00696060
+v 0.01289136 -0.00261264 -0.00247835
+v 0.01262704 -0.00432649 -0.00228025
+v 0.00726144 -0.00720691 -0.00471812
+v 0.00811767 -0.01008045 -0.00264347
+v 0.02789020 -0.01008052 0.01695570
+v 0.02683741 -0.01008051 0.01483702
+v 0.02739543 -0.00876475 0.01493884
+v 0.02608058 -0.00898108 0.01285318
+v 0.02555418 -0.00641080 0.01097939
+v 0.02416252 -0.00660342 0.00917439
+v 0.02334695 -0.00587540 0.00787566
+v 0.02500520 -0.00408255 0.00957612
+v 0.02585014 -0.00338713 0.01056117
+v 0.02594503 -0.00127323 0.01043186
+v 0.02594503 0.00000993 0.01043186
+v 0.01425140 0.00000998 -0.00146853
+v 0.01424914 -0.00127318 -0.00146853
+v 0.00726144 -0.00388196 -0.00626446
+v 0.00958163 -0.00384245 -0.00462455
+v 0.01581929 -0.00127319 -0.00014779
+v 0.01562048 -0.00384247 0.00002554
+v 0.01546233 -0.00516712 0.00016311
+v 0.01420622 -0.00617863 -0.00047800
+v 0.01214131 -0.00641075 -0.00195007
+v 0.00726144 -0.00474432 -0.00595080
+v 0.01043335 -0.00785690 -0.00254991
+v 0.00887224 -0.00882100 -0.00294063
+v 0.00963134 -0.00957074 -0.00209317
+v 0.00949353 -0.01008045 -0.00185929
+v 0.02588403 -0.01008051 0.01314208
+v 0.02564229 -0.01008051 0.01279539
+v 0.02515656 -0.00898107 0.01153244
+v 0.02312328 -0.00758826 0.00813430
+v 0.02354350 -0.00384250 0.00765005
+v 0.02081438 -0.00588922 0.00522869
+v 0.02232353 -0.00384249 0.00633206
+v 0.02496227 -0.00127322 0.00911112
+v 0.02496227 0.00000994 0.00911112
+v 0.01503760 0.00000997 -0.00080816
+v 0.01085808 -0.00641075 -0.00286358
+v 0.01582155 0.00000997 -0.00014779
+v 0.01646542 0.00000997 0.00041352
+v 0.01710477 -0.00127319 0.00097483
+v 0.01690596 -0.00384247 0.00113166
+v 0.01509408 -0.00687997 0.00044651
+v 0.01819823 -0.00566399 0.00265050
+v 0.01789775 -0.00737685 0.00292014
+v 0.01338161 -0.00847824 -0.00020285
+v 0.01270611 -0.01008046 0.00008330
+v 0.01013062 -0.01008045 -0.00149608
+v 0.02364742 -0.01008050 0.01009338
+v 0.02387108 -0.00898107 0.00979347
+v 0.02283863 -0.00898106 0.00847273
+v 0.02155314 -0.00898106 0.00709697
+v 0.02055457 -0.00760306 0.00548732
+v 0.02367679 -0.00127322 0.00749872
+v 0.02247263 -0.00127321 0.00618074
+v 0.01969834 -0.00384248 0.00367683
+v 0.02103804 -0.00384249 0.00499757
+v 0.02118715 -0.00127321 0.00484074
+v 0.02432066 0.00000994 0.00830492
+v 0.01710703 0.00000997 0.00097483
+v 0.01858229 -0.00127320 0.00229557
+v 0.01841511 -0.00384248 0.00245240
+v 0.01621013 -0.00898104 0.00219373
+v 0.01895958 -0.00898105 0.00457931
+v 0.01749336 -0.00898104 0.00325858
+v 0.01420622 -0.00919242 0.00075468
+v 0.01297495 -0.01008046 0.00027315
+v 0.02319784 -0.01008049 0.00952106
+v 0.02129333 -0.01008049 0.00736661
+v 0.02263982 -0.01008049 0.00886344
+v 0.02024506 -0.00898105 0.00577898
+v 0.02367679 0.00000994 0.00749872
+v 0.02183102 0.00000995 0.00550936
+v 0.02247263 0.00000995 0.00618074
+v 0.01986552 -0.00127320 0.00352000
+v 0.02118715 0.00000995 0.00484074
+v 0.02052746 0.00000995 0.00418037
+v 0.01784579 0.00000996 0.00163520
+v 0.01858229 0.00000996 0.00229557
+v 0.01589384 -0.01008047 0.00245512
+v 0.01867944 -0.01008048 0.00484620
+v 0.01801975 -0.01008048 0.00425187
+v 0.01512120 -0.01008047 0.00186354
+v 0.02054328 -0.01008048 0.00661269
+v 0.01986552 0.00000996 0.00352000
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
+f 1 20 32
+f 1 32 49
+f 1 49 67
+f 1 67 90
+f 1 90 113
+f 1 113 126
+f 1 126 128
+f 1 128 127
+f 1 127 130
+f 1 130 131
+f 1 131 139
+f 1 139 133
+f 1 133 132
+f 1 132 114
+f 1 114 94
+f 1 94 93
+f 1 93 91
+f 1 91 68
+f 1 68 50
+f 1 50 35
+f 1 35 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 33
+f 2 33 28
+f 2 28 17
+f 2 17 10
+f 2 10 7
+f 2 7 3
+f 4 8 9
+f 4 9 5
+f 4 7 10
+f 4 10 8
+f 5 9 11
+f 6 13 14
+f 6 14 12
+f 8 15 16
+f 8 16 9
+f 8 10 17
+f 8 17 15
+f 9 16 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 11
+f 12 14 24
+f 12 24 38
+f 12 38 56
+f 12 56 81
+f 12 81 102
+f 12 102 101
+f 12 101 121
+f 12 121 137
+f 12 137 134
+f 12 134 136
+f 12 136 135
+f 12 135 138
+f 12 138 123
+f 12 123 124
+f 12 124 122
+f 12 122 103
+f 12 103 83
+f 12 83 82
+f 12 82 58
+f 12 58 57
+f 12 57 40
+f 12 40 26
+f 12 26 39
+f 12 39 34
+f 12 34 22
+f 13 23 36
+f 13 36 52
+f 13 52 70
+f 13 70 77
+f 13 77 55
+f 13 55 37
+f 13 37 24
+f 13 24 14
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 17 28
+f 15 28 33
+f 15 33 25
+f 16 27 29
+f 16 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 22 34 33
+f 23 35 36
+f 24 37 38
+f 25 39 26
+f 25 33 34
+f 25 34 39
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 35 50 51
+f 35 51 36
+f 36 51 53
+f 36 53 54
+f 36 54 52
+f 37 55 38
+f 38 55 56
+f 40 57 41
+f 41 58 43
+f 41 43 42
+f 41 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 50 68 69
+f 50 69 51
+f 51 69 53
+f 52 54 71
+f 52 71 70
+f 53 69 72
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 71
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 56 80 81
+f 58 82 59
+f 59 82 60
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 62
+f 62 85 63
+f 63 86 64
+f 63 85 87
+f 63 87 88
+f 63 88 86
+f 64 86 65
+f 65 86 89
+f 65 89 66
+f 66 89 90
+f 66 90 67
+f 68 91 69
+f 69 91 72
+f 70 71 76
+f 70 76 92
+f 70 92 77
+f 72 91 93
+f 72 93 94
+f 72 94 95
+f 72 95 96
+f 72 96 73
+f 73 96 74
+f 74 97 75
+f 74 96 98
+f 74 98 99
+f 74 99 97
+f 75 97 76
+f 76 97 100
+f 76 100 92
+f 77 92 78
+f 78 80 79
+f 78 92 100
+f 78 100 101
+f 78 101 80
+f 80 101 102
+f 80 102 81
+f 83 103 84
+f 84 103 104
+f 84 104 85
+f 85 105 106
+f 85 106 107
+f 85 107 87
+f 85 104 105
+f 86 108 89
+f 86 88 109
+f 86 109 108
+f 87 107 98
+f 87 98 110
+f 87 110 111
+f 87 111 88
+f 88 111 112
+f 88 112 109
+f 89 108 113
+f 89 113 90
+f 94 114 95
+f 95 114 132
+f 95 132 115
+f 95 115 116
+f 95 116 96
+f 96 116 98
+f 97 99 117
+f 97 117 100
+f 98 116 110
+f 98 107 99
+f 99 107 118
+f 99 118 119
+f 99 119 117
+f 100 117 120
+f 100 120 121
+f 100 121 101
+f 103 122 105
+f 103 105 104
+f 105 123 106
+f 105 122 124
+f 105 124 123
+f 106 123 125
+f 106 125 107
+f 107 125 118
+f 108 126 113
+f 108 109 128
+f 108 128 126
+f 109 112 127
+f 109 127 128
+f 110 116 115
+f 110 115 129
+f 110 129 111
+f 111 129 112
+f 112 130 127
+f 112 129 131
+f 112 131 130
+f 115 132 133
+f 115 133 139
+f 115 139 129
+f 117 119 134
+f 117 134 120
+f 118 125 135
+f 118 135 136
+f 118 136 119
+f 119 136 134
+f 120 134 137
+f 120 137 121
+f 123 138 125
+f 125 138 135
+f 129 139 131
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_15.obj

@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 0.00850083 -0.00598855
+v 0.00001607 0.00997005 -0.00487314
+v 0.00100736 0.00850083 -0.00598325
+v 0.00001607 0.00850081 0.00064028
+v 0.00001607 0.01157745 -0.00364646
+v 0.00131146 0.01157745 -0.00364116
+v 0.00131146 0.00996367 -0.00487049
+v 0.00131146 0.00850083 -0.00598060
+v 0.01524474 0.00850078 0.00770891
+v 0.00001607 0.02570817 0.02107790
+v 0.00001607 0.01228123 -0.00309802
+v 0.00131146 0.01297225 -0.00255754
+v 0.00270822 0.01289358 -0.00249131
+v 0.00388137 0.00850083 -0.00537124
+v 0.00369057 0.01169227 -0.00316162
+v 0.00388137 0.00958095 -0.00463734
+v 0.01524474 0.00850081 0.00129468
+v 0.01524474 0.02069669 0.02107789
+v 0.00001607 0.03019873 0.02107792
+v 0.00001607 0.01297437 -0.00255754
+v 0.00001607 0.01362287 -0.00201971
+v 0.00131146 0.01425861 -0.00148983
+v 0.00442099 0.01262568 -0.00228995
+v 0.00131146 0.01583199 -0.00017041
+v 0.00388137 0.01562362 0.00000975
+v 0.00522297 0.01545353 0.00015546
+v 0.00488161 0.00850083 -0.00501887
+v 0.00645129 0.01086092 -0.00287548
+v 0.00645129 0.01214515 -0.00196144
+v 0.01447556 0.00850081 0.00067207
+v 0.01524474 0.00885376 0.00142715
+v 0.01524474 0.02611215 0.02107791
+v 0.00024712 0.03019873 0.02107792
+v 0.00131146 0.03022000 0.01998372
+v 0.00001607 0.03021787 0.01998372
+v 0.00001607 0.01426073 -0.00148983
+v 0.00622769 0.01419268 -0.00048835
+v 0.00001607 0.01583199 -0.00017041
+v 0.00001607 0.01711835 0.00094764
+v 0.00131146 0.01711623 0.00094764
+v 0.00388137 0.01690786 0.00111190
+v 0.00693575 0.01507931 0.00044955
+v 0.00571490 0.01819208 0.00264327
+v 0.00742916 0.01788165 0.00291881
+v 0.00599663 0.00850083 -0.00460026
+v 0.00790916 0.01042930 -0.00256020
+v 0.00850095 0.01336559 -0.00020751
+v 0.01339184 0.00850081 -0.00018369
+v 0.01524474 0.00910252 0.00152253
+v 0.01415953 0.02669686 0.02107791
+v 0.01524474 0.02612704 0.02031753
+v 0.00131146 0.03019660 0.02107792
+v 0.00388137 0.02999887 0.01998372
+v 0.00131146 0.02967995 0.01734225
+v 0.00001607 0.02994997 0.01867226
+v 0.00281703 0.03006903 0.02107792
+v 0.00001607 0.01858968 0.00226971
+v 0.00131146 0.01858968 0.00226971
+v 0.00388137 0.01841533 0.00243397
+v 0.00901971 0.01618919 0.00219816
+v 0.00388137 0.01969956 0.00366595
+v 0.00592806 0.02079881 0.00522381
+v 0.00763935 0.02053728 0.00548875
+v 0.00901971 0.02022898 0.00578018
+v 0.00901971 0.01894475 0.00458264
+v 0.00901971 0.01747342 0.00326323
+v 0.00651538 0.00850083 -0.00434062
+v 0.00962194 0.00960008 -0.00209126
+v 0.00886766 0.00884952 -0.00293378
+v 0.01021373 0.01278938 0.00022169
+v 0.01068926 0.01570229 0.00259822
+v 0.01333221 0.00850081 -0.00022608
+v 0.01280303 0.01019966 0.00022168
+v 0.01420276 0.00920884 0.00077010
+v 0.01524474 0.01093319 0.00242069
+v 0.01415953 0.02671813 0.01998371
+v 0.01182067 0.02783226 0.01998371
+v 0.01168801 0.02785777 0.02107791
+v 0.01524474 0.02613342 0.01998371
+v 0.00645129 0.02955237 0.01998372
+v 0.00388137 0.02945670 0.01734225
+v 0.00388137 0.02997548 0.02107792
+v 0.00538695 0.02971395 0.02107792
+v 0.00001607 0.02875505 0.01510615
+v 0.00001607 0.02967783 0.01734225
+v 0.00388137 0.02864236 0.01532075
+v 0.00131146 0.02875505 0.01510880
+v 0.00001607 0.01923605 0.00288967
+v 0.00131146 0.01987179 0.00350433
+v 0.00388137 0.02102844 0.00498801
+v 0.00388137 0.02231267 0.00633656
+v 0.00588334 0.02332261 0.00787853
+v 0.00759761 0.02309723 0.00814611
+v 0.00901971 0.02152383 0.00709959
+v 0.01158962 0.02091786 0.00773015
+v 0.01100975 0.01843446 0.00507013
+v 0.00886766 0.00850082 -0.00311129
+v 0.01014218 0.00850082 -0.00238800
+v 0.01109025 0.01107778 -0.00032940
+v 0.00943411 0.00850082 -0.00279601
+v 0.01333818 0.01332731 0.00249754
+v 0.01240353 0.01504103 0.00309896
+v 0.01272253 0.01789440 0.00554438
+v 0.01106192 0.00850082 -0.00180513
+v 0.01505244 0.01237902 0.00310160
+v 0.01524474 0.01187723 0.00295587
+v 0.01524474 0.02599734 0.01880472
+v 0.01037771 0.02830641 0.01857422
+v 0.01053572 0.02837020 0.01998371
+v 0.01053870 0.02837019 0.02107791
+v 0.00645129 0.02952897 0.02107792
+v 0.00795537 0.02912712 0.02107792
+v 0.00901971 0.02886560 0.01998372
+v 0.00901971 0.02852328 0.01794366
+v 0.00669725 0.02886136 0.01708526
+v 0.00600408 0.02846376 0.01566251
+v 0.00131146 0.02804703 0.01378673
+v 0.00001607 0.02804703 0.01378673
+v 0.00388137 0.02792584 0.01400133
+v 0.00001607 0.01987179 0.00350433
+v 0.00001607 0.02117940 0.00482375
+v 0.00131146 0.02117940 0.00482640
+v 0.00131146 0.02246363 0.00618555
+v 0.00388137 0.02351609 0.00765333
+v 0.00404833 0.02496829 0.00959270
+v 0.00501726 0.02568482 0.01077169
+v 0.00662420 0.02411781 0.00918204
+v 0.00645129 0.02550834 0.01102073
+v 0.00901971 0.02510437 0.01157976
+v 0.00901971 0.02382013 0.00982055
+v 0.00901971 0.02281019 0.00849848
+v 0.01288650 0.02057554 0.00808782
+v 0.01170440 0.02231691 0.00944697
+v 0.01524474 0.01554068 0.00537216
+v 0.01418189 0.01416928 0.00367652
+v 0.01415953 0.01600632 0.00499859
+v 0.01391059 0.01916799 0.00748905
+v 0.01524474 0.01847910 0.00778048
+v 0.01415953 0.01729055 0.00602391
+v 0.01524474 0.01415652 0.00444485
+v 0.01524474 0.01230247 0.00321023
+v 0.01524474 0.02587402 0.01823509
+v 0.01412376 0.02618233 0.01748001
+v 0.01137646 0.02750696 0.01755419
+v 0.00901971 0.02805765 0.01662425
+v 0.00771537 0.02827240 0.01603343
+v 0.00911213 0.02880606 0.02107792
+v 0.00669725 0.02780039 0.01474847
+v 0.00131146 0.02694992 0.01205931
+v 0.00001607 0.02750272 0.01292832
+v 0.00645129 0.02639922 0.01234280
+v 0.00404833 0.02651617 0.01181557
+v 0.00001607 0.02246363 0.00618555
+v 0.00001607 0.02305896 0.00685055
+v 0.00131146 0.02364579 0.00750761
+v 0.00131146 0.02493003 0.00915025
+v 0.00330299 0.02581027 0.01058888
+v 0.00901971 0.02602926 0.01290183
+v 0.01046268 0.02577624 0.01327803
+v 0.01092329 0.02343316 0.01034513
+v 0.01263756 0.02301642 0.01089355
+v 0.01415953 0.02254015 0.01148172
+v 0.01391059 0.02112410 0.00955295
+v 0.01524474 0.02084344 0.01028419
+v 0.01460077 0.01994618 0.00876342
+v 0.01524474 0.01895750 0.00825473
+v 0.01524474 0.01575543 0.00554172
+v 0.01524474 0.02528082 0.01678056
+v 0.01495704 0.02543178 0.01669313
+v 0.01324426 0.02590167 0.01567311
+v 0.01142714 0.02620573 0.01475642
+v 0.00901971 0.02709449 0.01470078
+v 0.00131146 0.02589531 0.01047232
+v 0.00001607 0.02589531 0.01046967
+v 0.00001607 0.02642687 0.01126979
+v 0.00001607 0.02694992 0.01205931
+v 0.00001607 0.02364579 0.00750761
+v 0.00001607 0.02429216 0.00833158
+v 0.00001607 0.02493003 0.00915025
+v 0.00001607 0.02541692 0.00981525
+v 0.01154937 0.02440697 0.01208580
+v 0.01217545 0.02538076 0.01391389
+v 0.01415953 0.02355860 0.01280379
+v 0.01524474 0.02324179 0.01323564
+v 0.01524474 0.02126655 0.01080082
+v 0.01524474 0.02497890 0.01620034
+v 0.01412376 0.02485133 0.01475641
+v 0.01524474 0.02347568 0.01359331
+v 0.01524474 0.02414756 0.01472461
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 27
+f 1 27 45
+f 1 45 67
+f 1 67 97
+f 1 97 100
+f 1 100 98
+f 1 98 104
+f 1 104 72
+f 1 72 48
+f 1 48 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 35
+f 1 35 55
+f 1 55 85
+f 1 85 84
+f 1 84 118
+f 1 118 150
+f 1 150 176
+f 1 176 175
+f 1 175 174
+f 1 174 180
+f 1 180 179
+f 1 179 178
+f 1 178 177
+f 1 177 154
+f 1 154 153
+f 1 153 121
+f 1 121 120
+f 1 120 88
+f 1 88 57
+f 1 57 39
+f 1 39 38
+f 1 38 36
+f 1 36 21
+f 1 21 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 9 17 31
+f 9 31 49
+f 9 49 75
+f 9 75 106
+f 9 106 141
+f 9 141 140
+f 9 140 134
+f 9 134 167
+f 9 167 138
+f 9 138 166
+f 9 166 164
+f 9 164 185
+f 9 185 184
+f 9 184 188
+f 9 188 189
+f 9 189 186
+f 9 186 168
+f 9 168 142
+f 9 142 107
+f 9 107 79
+f 9 79 51
+f 9 51 32
+f 9 32 18
+f 9 18 10
+f 10 18 32
+f 10 32 50
+f 10 50 78
+f 10 78 110
+f 10 110 147
+f 10 147 112
+f 10 112 111
+f 10 111 83
+f 10 83 82
+f 10 82 56
+f 10 56 52
+f 10 52 33
+f 10 33 19
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 23 15
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 23
+f 14 16 28
+f 14 28 27
+f 15 23 16
+f 16 23 29
+f 16 29 28
+f 17 30 31
+f 19 33 34
+f 19 34 35
+f 21 36 22
+f 22 36 24
+f 23 37 29
+f 23 26 37
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 24 36 38
+f 25 41 26
+f 26 42 37
+f 26 41 43
+f 26 43 44
+f 26 44 42
+f 27 28 45
+f 28 29 46
+f 28 46 45
+f 29 37 42
+f 29 42 47
+f 29 47 46
+f 30 48 49
+f 30 49 31
+f 32 51 50
+f 33 52 34
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 34 52 56
+f 34 56 53
+f 39 57 58
+f 39 58 40
+f 40 58 59
+f 40 59 41
+f 41 59 43
+f 42 60 47
+f 42 44 60
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 43 59 61
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 60
+f 45 46 67
+f 46 68 69
+f 46 69 67
+f 46 47 70
+f 46 70 68
+f 47 60 71
+f 47 71 70
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 49 74 75
+f 50 51 76
+f 50 76 77
+f 50 77 78
+f 51 79 76
+f 53 80 81
+f 53 81 54
+f 53 56 82
+f 53 82 83
+f 53 83 80
+f 54 84 85
+f 54 85 55
+f 54 81 86
+f 54 86 87
+f 54 87 84
+f 57 88 58
+f 58 88 89
+f 58 89 61
+f 58 61 59
+f 60 66 71
+f 61 89 90
+f 61 90 62
+f 62 90 91
+f 62 91 92
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 96
+f 64 96 65
+f 65 96 66
+f 66 96 71
+f 67 69 97
+f 68 98 69
+f 68 70 99
+f 68 99 73
+f 68 73 98
+f 69 98 100
+f 69 100 97
+f 70 101 99
+f 70 71 102
+f 70 102 101
+f 71 96 103
+f 71 103 102
+f 72 104 73
+f 73 75 74
+f 73 104 98
+f 73 99 101
+f 73 101 105
+f 73 105 106
+f 73 106 75
+f 76 79 107
+f 76 107 108
+f 76 108 77
+f 77 109 110
+f 77 110 78
+f 77 108 109
+f 80 83 111
+f 80 111 112
+f 80 112 113
+f 80 113 108
+f 80 108 114
+f 80 114 115
+f 80 115 81
+f 81 115 116
+f 81 116 86
+f 84 87 117
+f 84 117 118
+f 86 119 117
+f 86 117 87
+f 86 116 119
+f 88 120 89
+f 89 120 121
+f 89 121 122
+f 89 122 90
+f 90 122 91
+f 91 123 124
+f 91 124 92
+f 91 122 123
+f 92 124 125
+f 92 125 126
+f 92 126 127
+f 92 127 93
+f 93 127 128
+f 93 128 129
+f 93 129 130
+f 93 130 131
+f 93 131 94
+f 94 131 95
+f 95 132 96
+f 95 131 133
+f 95 133 132
+f 96 132 103
+f 101 102 134
+f 101 134 135
+f 101 135 105
+f 102 103 136
+f 102 136 134
+f 103 132 137
+f 103 137 138
+f 103 138 139
+f 103 139 136
+f 105 135 134
+f 105 134 140
+f 105 140 141
+f 105 141 106
+f 107 142 108
+f 108 142 143
+f 108 143 144
+f 108 144 145
+f 108 145 146
+f 108 146 114
+f 108 113 109
+f 109 113 110
+f 110 113 147
+f 112 147 113
+f 114 146 115
+f 115 146 116
+f 116 146 148
+f 116 148 119
+f 117 119 149
+f 117 149 150
+f 117 150 118
+f 119 148 151
+f 119 151 126
+f 119 126 152
+f 119 152 149
+f 121 153 123
+f 121 123 122
+f 123 153 154
+f 123 154 155
+f 123 155 124
+f 124 155 156
+f 124 156 157
+f 124 157 125
+f 125 157 126
+f 126 128 127
+f 126 157 152
+f 126 151 128
+f 128 151 158
+f 128 158 129
+f 129 158 159
+f 129 159 130
+f 130 159 160
+f 130 160 131
+f 131 160 133
+f 132 138 137
+f 132 133 161
+f 132 161 162
+f 132 162 163
+f 132 163 164
+f 132 164 165
+f 132 165 166
+f 132 166 138
+f 133 160 161
+f 134 136 167
+f 136 139 167
+f 138 167 139
+f 142 168 169
+f 142 169 143
+f 143 169 170
+f 143 170 144
+f 144 170 145
+f 145 170 171
+f 145 171 146
+f 146 171 172
+f 146 172 158
+f 146 158 148
+f 148 158 151
+f 149 152 157
+f 149 157 173
+f 149 173 174
+f 149 174 175
+f 149 175 176
+f 149 176 150
+f 154 177 155
+f 155 177 178
+f 155 178 156
+f 156 178 179
+f 156 179 180
+f 156 180 174
+f 156 174 173
+f 156 173 157
+f 158 172 159
+f 159 181 160
+f 159 172 171
+f 159 171 182
+f 159 182 181
+f 160 181 161
+f 161 181 182
+f 161 182 183
+f 161 183 184
+f 161 184 162
+f 162 185 164
+f 162 164 163
+f 162 184 185
+f 164 166 165
+f 168 186 169
+f 169 186 187
+f 169 187 170
+f 170 187 182
+f 170 182 171
+f 182 187 188
+f 182 188 184
+f 182 184 183
+f 186 189 187
+f 187 189 188
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_16.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.03034013 0.00001088 0.01998272
+v 0.03033787 0.00129784 0.01998272
+v 0.03032205 0.00076527 0.02107781
+v 0.03032205 0.00001087 0.02107781
+v 0.03006226 0.00001088 0.01866475
+v 0.02978213 0.00129785 0.01734128
+v 0.02956300 0.00386677 0.01734129
+v 0.03011648 0.00386676 0.01998273
+v 0.03010066 0.00386675 0.02107782
+v 0.03031980 0.00129783 0.02107781
+v 0.02578126 0.00001087 0.02107781
+v 0.02978213 0.00001089 0.01734128
+v 0.02929868 0.00001089 0.01618840
+v 0.02881297 0.00129785 0.01503277
+v 0.02870228 0.00386677 0.01523914
+v 0.02847863 0.00643568 0.01566839
+v 0.02912021 0.00643568 0.01734130
+v 0.02967595 0.00643567 0.01998274
+v 0.02965788 0.00643566 0.02107783
+v 0.02419988 0.00849861 0.02107784
+v 0.00726112 0.00849868 0.00243094
+v 0.00726112 0.00001095 -0.00004544
+v 0.02881071 0.00001089 0.01503552
+v 0.02845830 0.00001090 0.01437516
+v 0.02810587 0.00129786 0.01371205
+v 0.02798840 0.00386678 0.01391843
+v 0.02832275 0.00780821 0.01596831
+v 0.02774442 0.00643569 0.01434767
+v 0.02862547 0.00849863 0.01747063
+v 0.02869550 0.00849862 0.01780906
+v 0.02913377 0.00849862 0.01998275
+v 0.02912473 0.00849861 0.02050553
+v 0.02911344 0.00849861 0.02107784
+v 0.00726112 0.00849870 -0.00393052
+v 0.00726112 0.00001098 -0.00703149
+v 0.02810362 0.00001090 0.01371481
+v 0.02703958 0.00001091 0.01205840
+v 0.02703958 0.00129787 0.01205840
+v 0.02658324 0.00412019 0.01179703
+v 0.02572478 0.00514460 0.01074046
+v 0.02645899 0.00643569 0.01229230
+v 0.02767890 0.00849863 0.01524742
+v 0.02820753 0.00849863 0.01626547
+v 0.02848089 0.00849863 0.01702764
+v 0.02640929 0.00849864 0.01314803
+v 0.00886960 0.00849870 -0.00311057
+v 0.00726112 0.00706636 -0.00478349
+v 0.00726112 0.00129794 -0.00702874
+v 0.01296762 0.00129792 -0.00254104
+v 0.01296762 0.00001096 -0.00253829
+v 0.02594391 0.00001091 0.01043227
+v 0.02594391 0.00129787 0.01043227
+v 0.02585129 0.00343226 0.01056435
+v 0.02555761 0.00643570 0.01097158
+v 0.02500864 0.00412019 0.00957657
+v 0.02335046 0.00589069 0.00787064
+v 0.02416600 0.00662265 0.00917761
+v 0.02615627 0.00849864 0.01274356
+v 0.00943664 0.00849870 -0.00279690
+v 0.01043516 0.00788472 -0.00255202
+v 0.00726112 0.00685367 -0.00489079
+v 0.01289759 0.00265798 -0.00248325
+v 0.00726112 0.00390257 -0.00625831
+v 0.00958348 0.00386685 -0.00462392
+v 0.01263327 0.00437032 -0.00228513
+v 0.01425305 0.00129792 -0.00147071
+v 0.01425079 0.00001096 -0.00147071
+v 0.02545369 0.00001091 0.00977191
+v 0.02496120 0.00129788 0.00911155
+v 0.02354474 0.00386680 0.00764776
+v 0.02523229 0.00849865 0.01142284
+v 0.02312003 0.00760386 0.00813755
+v 0.02232483 0.00386681 0.00632980
+v 0.02081123 0.00589818 0.00522921
+v 0.01014374 0.00849870 -0.00238693
+v 0.01086214 0.00643575 -0.00286295
+v 0.00792078 0.00540886 -0.00522373
+v 0.01106319 0.00849870 -0.00180636
+v 0.01339459 0.00849869 -0.00018298
+v 0.01337652 0.00848457 -0.00020224
+v 0.01214756 0.00643575 -0.00195220
+v 0.00726112 0.00579686 -0.00540258
+v 0.01546393 0.00519283 0.00016095
+v 0.01562207 0.00386683 0.00002336
+v 0.01582313 0.00129791 -0.00014999
+v 0.01420561 0.00620394 -0.00047740
+v 0.01582087 0.00001095 -0.00014999
+v 0.02496120 0.00001092 0.00911155
+v 0.02367803 0.00129788 0.00749642
+v 0.02247393 0.00129789 0.00617845
+v 0.02393105 0.00849865 0.00967013
+v 0.02211473 0.00849866 0.00747994
+v 0.02293479 0.00849866 0.00835767
+v 0.02054917 0.00761135 0.00549336
+v 0.02118850 0.00129789 0.00483847
+v 0.02103940 0.00386681 0.00499532
+v 0.01969523 0.00386682 0.00367460
+v 0.01819519 0.00566805 0.00265656
+v 0.01509118 0.00690599 0.00044986
+v 0.01628173 0.00849868 0.00208150
+v 0.01788795 0.00738122 0.00292896
+v 0.01690750 0.00386683 0.00113497
+v 0.01710856 0.00129791 0.00097537
+v 0.01710630 0.00001095 0.00097537
+v 0.02367803 0.00001092 0.00749642
+v 0.02247167 0.00001093 0.00617845
+v 0.02118850 0.00001093 0.00483847
+v 0.02034811 0.00849867 0.00568046
+v 0.01953032 0.00849867 0.00492105
+v 0.01986466 0.00129790 0.00351775
+v 0.01858375 0.00129790 0.00229609
+v 0.01841206 0.00386682 0.00245569
+v 0.01671999 0.00849868 0.00243094
+v 0.01760556 0.00849868 0.00316559
+v 0.01784728 0.00001094 0.00163573
+v 0.01986466 0.00001094 0.00351775
+v 0.01858375 0.00001094 0.00229609
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 35
+f 1 35 50
+f 1 50 67
+f 1 67 87
+f 1 87 104
+f 1 104 115
+f 1 115 117
+f 1 117 116
+f 1 116 107
+f 1 107 106
+f 1 106 105
+f 1 105 88
+f 1 88 68
+f 1 68 51
+f 1 51 37
+f 1 37 36
+f 1 36 24
+f 1 24 23
+f 1 23 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 19
+f 3 19 33
+f 3 33 20
+f 3 20 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 11 20 21
+f 11 21 22
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 27
+f 17 27 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 20 33 32
+f 20 32 31
+f 20 31 30
+f 20 30 29
+f 20 29 44
+f 20 44 43
+f 20 43 42
+f 20 42 45
+f 20 45 58
+f 20 58 71
+f 20 71 91
+f 20 91 93
+f 20 93 92
+f 20 92 108
+f 20 108 109
+f 20 109 114
+f 20 114 113
+f 20 113 100
+f 20 100 79
+f 20 79 78
+f 20 78 75
+f 20 75 59
+f 20 59 46
+f 20 46 34
+f 20 34 21
+f 21 34 47
+f 21 47 61
+f 21 61 82
+f 21 82 63
+f 21 63 48
+f 21 48 35
+f 21 35 22
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 28
+f 27 42 43
+f 27 43 44
+f 27 44 29
+f 27 28 45
+f 27 45 42
+f 28 41 45
+f 34 46 47
+f 35 48 49
+f 35 49 50
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 54 41
+f 40 53 55
+f 40 55 56
+f 40 56 57
+f 40 57 54
+f 41 58 45
+f 41 54 58
+f 46 59 47
+f 47 59 60
+f 47 60 61
+f 48 62 49
+f 48 63 64
+f 48 64 65
+f 48 65 62
+f 49 62 66
+f 49 66 67
+f 49 67 50
+f 51 68 52
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 55
+f 54 71 58
+f 54 57 72
+f 54 72 71
+f 55 70 56
+f 56 72 57
+f 56 70 73
+f 56 73 74
+f 56 74 72
+f 59 75 60
+f 60 76 77
+f 60 77 61
+f 60 75 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 76
+f 61 77 82
+f 62 65 83
+f 62 83 84
+f 62 84 85
+f 62 85 66
+f 63 82 77
+f 63 77 76
+f 63 76 81
+f 63 81 64
+f 64 81 65
+f 65 81 86
+f 65 86 83
+f 66 85 87
+f 66 87 67
+f 68 88 69
+f 69 88 105
+f 69 105 89
+f 69 89 70
+f 70 89 90
+f 70 90 73
+f 71 72 91
+f 72 92 93
+f 72 93 91
+f 72 74 94
+f 72 94 92
+f 73 90 95
+f 73 95 96
+f 73 96 74
+f 74 96 97
+f 74 97 98
+f 74 98 94
+f 79 99 81
+f 79 81 80
+f 79 100 99
+f 81 99 86
+f 83 86 99
+f 83 99 101
+f 83 101 98
+f 83 98 102
+f 83 102 84
+f 84 102 85
+f 85 102 103
+f 85 103 104
+f 85 104 87
+f 89 105 90
+f 90 106 107
+f 90 107 95
+f 90 105 106
+f 92 94 108
+f 94 98 101
+f 94 101 109
+f 94 109 108
+f 95 107 116
+f 95 116 110
+f 95 110 96
+f 96 110 97
+f 97 110 111
+f 97 111 112
+f 97 112 98
+f 98 112 102
+f 99 100 113
+f 99 113 101
+f 101 113 114
+f 101 114 109
+f 102 112 103
+f 103 112 111
+f 103 111 115
+f 103 115 104
+f 110 116 117
+f 110 117 111
+f 111 117 115
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_17.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v 0.01524474 0.00849869 0.00129599
+v 0.01524474 0.00910288 0.00152063
+v 0.01628079 0.00849868 0.00208223
+v 0.01524474 0.00849866 0.00770984
+v 0.01524474 0.01093273 0.00242114
+v 0.01570974 0.01066516 0.00260511
+v 0.01618970 0.00900621 0.00220423
+v 0.01671996 0.00849868 0.00243081
+v 0.02419938 0.00849861 0.02107784
+v 0.01524474 0.02069650 0.02107789
+v 0.01524474 0.01187874 0.00295562
+v 0.01747456 0.00900621 0.00327514
+v 0.01790285 0.01269526 0.00555255
+v 0.01843855 0.01098279 0.00507615
+v 0.01760373 0.00849868 0.00316670
+v 0.02911450 0.00849861 0.02107784
+v 0.01524474 0.02611184 0.02107791
+v 0.01524474 0.01230340 0.00320932
+v 0.01894978 0.00900620 0.00459587
+v 0.01601566 0.01414533 0.00500257
+v 0.01730053 0.01414533 0.00602894
+v 0.01824820 0.01569897 0.00788610
+v 0.01918364 0.01389156 0.00749684
+v 0.02058951 0.01286615 0.00809524
+v 0.02093214 0.01157662 0.00774277
+v 0.02023465 0.00900620 0.00578879
+v 0.01953171 0.00849867 0.00492121
+v 0.02898125 0.00900614 0.02107784
+v 0.02912538 0.00849861 0.02050462
+v 0.01570294 0.02586671 0.02107791
+v 0.01524474 0.02613429 0.01998376
+v 0.01524474 0.01415569 0.00444484
+v 0.01546228 0.01544695 0.00544605
+v 0.01644667 0.01642919 0.00700497
+v 0.01571654 0.01823315 0.00788611
+v 0.01742969 0.01741144 0.00864523
+v 0.01833794 0.01831946 0.01040556
+v 0.01914965 0.01654311 0.00958445
+v 0.02077443 0.01567134 0.01052561
+v 0.01996272 0.01457862 0.00876335
+v 0.02114833 0.01389155 0.00955539
+v 0.02304503 0.01265208 0.01087806
+v 0.02233666 0.01170781 0.00943919
+v 0.02283021 0.00900619 0.00848446
+v 0.02154671 0.00900619 0.00710951
+v 0.02034886 0.00849867 0.00568228
+v 0.02843740 0.01064265 0.02107785
+v 0.02913490 0.00849862 0.01998369
+v 0.02900029 0.00900615 0.01998369
+v 0.01698781 0.02501565 0.02107790
+v 0.01700548 0.02502775 0.01998375
+v 0.01572062 0.02587708 0.01998376
+v 0.01524474 0.02599792 0.01880634
+v 0.01556970 0.02578386 0.01845388
+v 0.01524474 0.01554017 0.00537052
+v 0.01524474 0.01575422 0.00554094
+v 0.01524474 0.01847656 0.00778153
+v 0.01524474 0.01895646 0.00825793
+v 0.01568527 0.02075178 0.01052563
+v 0.01655680 0.01913253 0.00958640
+v 0.01739842 0.02003365 0.01132348
+v 0.01829307 0.02081219 0.01308382
+v 0.01917276 0.01915497 0.01220268
+v 0.02083425 0.01827801 0.01307993
+v 0.02005245 0.01738381 0.01131960
+v 0.02166091 0.01643780 0.01232080
+v 0.02319732 0.01549007 0.01332393
+v 0.02257052 0.01414531 0.01146096
+v 0.02360113 0.01414530 0.01278168
+v 0.02542034 0.01220841 0.01386808
+v 0.02444547 0.01157488 0.01206322
+v 0.02347061 0.01093961 0.01033388
+v 0.02293490 0.00849866 0.00836052
+v 0.02211640 0.00849866 0.00748327
+v 0.02386762 0.00900618 0.00980519
+v 0.02821441 0.01117434 0.02107785
+v 0.02844827 0.01066683 0.01998370
+v 0.02869573 0.00849862 0.01780895
+v 0.02836126 0.01045277 0.01846932
+v 0.01876079 0.02373130 0.02107790
+v 0.01877574 0.02374167 0.01998375
+v 0.01524474 0.02587362 0.01823700
+v 0.01847254 0.02349999 0.01779932
+v 0.01678794 0.02446672 0.01724547
+v 0.01524474 0.02528152 0.01678070
+v 0.01524474 0.02084328 0.01028550
+v 0.01644531 0.02163736 0.01233050
+v 0.01524474 0.02126794 0.01080256
+v 0.01549356 0.02317029 0.01333558
+v 0.01740114 0.02267140 0.01470083
+v 0.01800618 0.02313058 0.01603705
+v 0.01920947 0.02128174 0.01488093
+v 0.02068333 0.02066372 0.01588019
+v 0.02000623 0.01999048 0.01411986
+v 0.02161605 0.01899614 0.01506877
+v 0.02315653 0.01800180 0.01601768
+v 0.02254604 0.01720427 0.01425735
+v 0.02354403 0.01649477 0.01496225
+v 0.02490096 0.01414012 0.01472985
+v 0.02594788 0.01327870 0.01562841
+v 0.02627148 0.01144195 0.01472984
+v 0.02581464 0.01049595 0.01324838
+v 0.02515249 0.00900618 0.01153453
+v 0.02393153 0.00849865 0.00967350
+v 0.02523271 0.00849865 0.01142414
+v 0.02420074 0.00849865 0.01003564
+v 0.02789762 0.01192700 0.02107785
+v 0.02790713 0.01195118 0.01998370
+v 0.02862503 0.00849863 0.01747199
+v 0.02855297 0.00880245 0.01749135
+v 0.02803766 0.00952231 0.01670899
+v 0.02758218 0.01141604 0.01749136
+v 0.02625516 0.01414011 0.01744490
+v 0.02582551 0.01558845 0.01839381
+v 0.02004565 0.02266274 0.02107789
+v 0.02006197 0.02267655 0.01998374
+v 0.02103684 0.02101934 0.01734229
+v 0.01931824 0.02246596 0.01708860
+v 0.01524474 0.02497942 0.01619973
+v 0.01524474 0.02324279 0.01323681
+v 0.01524474 0.02347584 0.01359508
+v 0.01524474 0.02414737 0.01472602
+v 0.01611627 0.02359841 0.01470084
+v 0.02232170 0.01963141 0.01734228
+v 0.02343797 0.01834706 0.01734228
+v 0.02477179 0.01655345 0.01744491
+v 0.02547201 0.01499289 0.01663156
+v 0.02820762 0.00849863 0.01626745
+v 0.02768007 0.00849863 0.01524883
+v 0.02739727 0.00880246 0.01493317
+v 0.02608113 0.00900617 0.01285525
+v 0.02615591 0.00849864 0.01274487
+v 0.02726538 0.01321481 0.02107786
+v 0.02682893 0.01414528 0.01998371
+v 0.02848226 0.00849863 0.01702658
+v 0.02377925 0.01876653 0.01998373
+v 0.02506411 0.01704025 0.01998372
+v 0.02593157 0.01575417 0.01998372
+v 0.02139714 0.02137838 0.02107789
+v 0.02140938 0.02139220 0.01998374
+v 0.02269289 0.02005088 0.01998373
+v 0.02641016 0.00849864 0.01314961
+v 0.02680718 0.01414527 0.02107786
+v 0.02628099 0.01508955 0.02107787
+v 0.02376701 0.01875271 0.02107788
+v 0.02505187 0.01702125 0.02107787
+v 0.02556038 0.01626860 0.02107787
+v 0.02591933 0.01573690 0.02107787
+v 0.02268065 0.02003706 0.02107788
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 46
+f 1 46 74
+f 1 74 73
+f 1 73 104
+f 1 104 106
+f 1 106 105
+f 1 105 132
+f 1 132 142
+f 1 142 129
+f 1 129 128
+f 1 128 135
+f 1 135 109
+f 1 109 78
+f 1 78 48
+f 1 48 29
+f 1 29 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 31
+f 1 31 53
+f 1 53 82
+f 1 82 85
+f 1 85 119
+f 1 119 122
+f 1 122 121
+f 1 121 120
+f 1 120 88
+f 1 88 86
+f 1 86 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 32
+f 1 32 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 12 15
+f 7 15 8
+f 9 16 28
+f 9 28 47
+f 9 47 76
+f 9 76 107
+f 9 107 133
+f 9 133 143
+f 9 143 144
+f 9 144 148
+f 9 148 147
+f 9 147 146
+f 9 146 145
+f 9 145 149
+f 9 149 139
+f 9 139 115
+f 9 115 80
+f 9 80 50
+f 9 50 30
+f 9 30 17
+f 9 17 10
+f 11 18 13
+f 12 14 19
+f 12 19 15
+f 13 18 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 19
+f 15 19 27
+f 16 29 28
+f 17 30 31
+f 18 32 33
+f 18 33 20
+f 19 26 27
+f 20 33 21
+f 21 33 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 22 24 23
+f 22 33 34
+f 24 40 39
+f 24 39 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 46 27
+f 26 45 46
+f 28 29 48
+f 28 48 49
+f 28 49 47
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 54
+f 31 54 53
+f 32 55 33
+f 33 55 56
+f 33 56 35
+f 33 35 34
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 37
+f 35 37 36
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 38 65 39
+f 39 65 64
+f 39 64 66
+f 39 66 67
+f 39 67 68
+f 39 68 41
+f 41 68 42
+f 42 68 67
+f 42 67 69
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 43 72 44
+f 44 73 74
+f 44 74 45
+f 44 72 75
+f 44 75 73
+f 45 74 46
+f 47 49 77
+f 47 77 76
+f 48 78 79
+f 48 79 49
+f 49 79 77
+f 50 80 51
+f 51 81 54
+f 51 54 52
+f 51 80 81
+f 53 54 82
+f 54 81 83
+f 54 83 84
+f 54 84 85
+f 54 85 82
+f 58 86 59
+f 59 87 62
+f 59 62 61
+f 59 61 60
+f 59 86 88
+f 59 88 89
+f 59 89 87
+f 62 89 90
+f 62 90 91
+f 62 91 92
+f 62 92 93
+f 62 93 94
+f 62 94 64
+f 62 64 63
+f 62 87 89
+f 64 94 93
+f 64 93 95
+f 64 95 96
+f 64 96 97
+f 64 97 67
+f 64 67 66
+f 67 97 96
+f 67 96 98
+f 67 98 99
+f 67 99 69
+f 69 99 70
+f 70 99 100
+f 70 100 101
+f 70 101 102
+f 70 102 71
+f 71 102 72
+f 72 102 103
+f 72 103 75
+f 73 75 104
+f 75 103 105
+f 75 105 106
+f 75 106 104
+f 76 77 107
+f 77 108 107
+f 77 79 108
+f 78 109 79
+f 79 109 110
+f 79 110 111
+f 79 111 112
+f 79 112 113
+f 79 113 114
+f 79 114 108
+f 80 115 116
+f 80 116 81
+f 81 116 83
+f 83 117 118
+f 83 118 91
+f 83 91 84
+f 83 116 117
+f 84 91 85
+f 85 91 119
+f 88 120 89
+f 89 120 121
+f 89 121 122
+f 89 122 123
+f 89 123 91
+f 89 91 90
+f 91 118 93
+f 91 93 92
+f 91 123 119
+f 93 118 117
+f 93 117 124
+f 93 124 96
+f 93 96 95
+f 96 124 125
+f 96 125 126
+f 96 126 127
+f 96 127 98
+f 98 127 99
+f 99 127 100
+f 100 127 113
+f 100 113 112
+f 100 112 111
+f 100 111 101
+f 101 111 128
+f 101 128 129
+f 101 129 130
+f 101 130 102
+f 102 131 103
+f 102 130 131
+f 103 131 105
+f 105 131 132
+f 107 108 133
+f 108 134 133
+f 108 114 134
+f 109 135 110
+f 110 135 128
+f 110 128 111
+f 113 127 114
+f 114 127 126
+f 114 126 125
+f 114 125 136
+f 114 136 137
+f 114 137 138
+f 114 138 134
+f 115 139 116
+f 116 140 117
+f 116 139 140
+f 117 140 141
+f 117 141 124
+f 119 123 122
+f 124 141 125
+f 125 141 136
+f 129 142 131
+f 129 131 130
+f 131 142 132
+f 133 134 143
+f 134 138 144
+f 134 144 143
+f 136 141 149
+f 136 149 145
+f 136 145 137
+f 137 145 146
+f 137 146 147
+f 137 147 148
+f 137 148 138
+f 138 148 144
+f 139 149 141
+f 139 141 140
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_18.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.00854030 0.01243264 0.00552295
+v -0.00854030 -0.00002314 0.00070547
+v -0.00854030 0.01243266 -0.00082887
+v -0.02240311 0.01243258 0.02107578
+v -0.02574688 -0.00002322 0.02107573
+v -0.00854030 -0.00002312 -0.00595058
+v -0.00854030 0.01111942 -0.00175744
+v -0.00877458 0.01243266 -0.00072305
+v -0.02764879 0.01243258 0.02107578
+v -0.03028121 -0.00002322 0.02107573
+v -0.00994383 -0.00002312 -0.00487916
+v -0.00994383 0.00129745 -0.00487916
+v -0.00854030 0.00129745 -0.00594794
+v -0.00854030 0.00933671 -0.00283417
+v -0.00958816 0.00961594 -0.00210136
+v -0.00982244 0.01243266 -0.00022570
+v -0.02767008 0.01243259 0.01998319
+v -0.02787241 0.01197166 0.02107577
+v -0.03027695 0.00129735 0.02107573
+v -0.03029611 -0.00002321 0.01998314
+v -0.01071908 -0.00002312 -0.00428392
+v -0.01154118 0.00129744 -0.00365165
+v -0.01286165 0.00270703 -0.00249556
+v -0.00854030 0.00386787 -0.00533946
+v -0.01166258 0.00368496 -0.00317281
+v -0.00956047 0.00386787 -0.00464899
+v -0.00882782 0.00885750 -0.00295057
+v -0.00854030 0.00856973 -0.00326803
+v -0.01040174 0.00790274 -0.00256168
+v -0.01278072 0.01023049 0.00020551
+v -0.01106623 0.01109502 -0.00034211
+v -0.01078084 0.01243266 0.00032986
+v -0.02708013 0.01243260 0.01744617
+v -0.02832180 0.01048161 0.01843821
+v -0.02788093 0.01199484 0.01998318
+v -0.02841338 0.01071085 0.01998318
+v -0.02809178 0.01144124 0.02107577
+v -0.03018963 0.00235942 0.02107574
+v -0.03029186 0.00129736 0.01998314
+v -0.02973598 0.00129737 0.01734294
+v -0.02973811 -0.00002320 0.01734294
+v -0.01154118 -0.00002313 -0.00365165
+v -0.01294045 0.00129744 -0.00255907
+v -0.01260181 0.00442023 -0.00229714
+v -0.01422684 0.00129744 -0.00149293
+v -0.01579863 0.00129743 -0.00017284
+v -0.01560056 0.00386785 0.00000178
+v -0.01543231 0.00524086 0.00014464
+v -0.01083835 0.00643584 -0.00288444
+v -0.00854030 0.00605907 -0.00453523
+v -0.01212261 0.00643584 -0.00197439
+v -0.00854030 0.00647853 -0.00432888
+v -0.01334298 0.00851728 -0.00021778
+v -0.01376042 0.01243265 0.00220286
+v -0.01239948 0.01243266 0.00131398
+v -0.01569001 0.01070969 0.00258116
+v -0.01504468 0.01242290 0.00307323
+v -0.02607913 0.01243260 0.01517105
+v -0.02756146 0.01143272 0.01746997
+v -0.02799807 0.00952930 0.01667632
+v -0.02851135 0.00880621 0.01746996
+v -0.02907362 0.00643577 0.01734296
+v -0.02964014 0.00643576 0.01998316
+v -0.02897139 0.00900496 0.01998317
+v -0.02873285 0.00968657 0.02107577
+v -0.02840273 0.01068645 0.02107577
+v -0.03006184 0.00386777 0.02107574
+v -0.03007675 0.00386778 0.01998315
+v -0.02951661 0.00386779 0.01734295
+v -0.02865405 0.00386779 0.01522921
+v -0.02876480 0.00129737 0.01502285
+v -0.02923761 -0.00002320 0.01614983
+v -0.01294045 -0.00002313 -0.00255907
+v -0.01416508 0.00623220 -0.00050615
+v -0.01356448 -0.00002313 -0.00204055
+v -0.01422471 -0.00002313 -0.00149029
+v -0.01498718 -0.00002314 -0.00085008
+v -0.01708289 0.00129743 0.00094885
+v -0.01688482 0.00386785 0.00110495
+v -0.01579650 -0.00002314 -0.00017019
+v -0.01708289 -0.00002314 0.00094885
+v -0.01505746 0.00695162 0.00043830
+v -0.01816483 0.00573591 0.00263405
+v -0.01786240 0.00744789 0.00290654
+v -0.01618199 0.00900502 0.00217639
+v -0.01504894 0.01243265 0.00308381
+v -0.01746626 0.00900502 0.00323987
+v -0.01841401 0.01102427 0.00505469
+v -0.01755358 0.01243264 0.00508909
+v -0.02547853 0.01243261 0.01413401
+v -0.02625164 0.01146444 0.01470808
+v -0.02737191 0.00880622 0.01493029
+v -0.02827494 0.00781609 0.01596467
+v -0.02843042 0.00643577 0.01566043
+v -0.02962523 0.00643575 0.02107575
+v -0.02895435 0.00900495 0.02107576
+v -0.02795122 0.00386780 0.01390646
+v -0.02806409 0.00129738 0.01370275
+v -0.02876480 -0.00002320 0.01502285
+v -0.01855884 0.00129742 0.00226895
+v -0.01839271 0.00386784 0.00242769
+v -0.01855884 -0.00002315 0.00226895
+v -0.01967485 0.00386784 0.00365255
+v -0.02077808 0.00596636 0.00521340
+v -0.02052038 0.00767834 0.00547002
+v -0.01893581 0.00900501 0.00456262
+v -0.02021795 0.00900501 0.00575573
+v -0.02092078 0.01157542 0.00770018
+v -0.01926380 0.01175833 0.00623987
+v -0.01831178 0.01243264 0.00575046
+v -0.02533796 0.01243261 0.01391708
+v -0.02538695 0.01224849 0.01383242
+v -0.02578096 0.01053528 0.01322131
+v -0.02605144 0.00900498 0.01281919
+v -0.02771055 0.00643578 0.01434033
+v -0.02628359 0.00621631 0.01196998
+v -0.02568938 0.00521399 0.01071601
+v -0.02678409 0.00386781 0.01205991
+v -0.02806197 -0.00002319 0.01370275
+v -0.02702050 0.00129739 0.01205990
+v -0.02752526 -0.00002319 0.01285619
+v -0.01918287 -0.00002315 0.00286419
+v -0.01984310 0.00129742 0.00349646
+v -0.02101236 0.00386783 0.00497265
+v -0.02229662 0.00386783 0.00630068
+v -0.02331466 0.00596635 0.00785624
+v -0.02309316 0.00767833 0.00811286
+v -0.02153203 0.00900500 0.00707583
+v -0.02281629 0.00900500 0.00844090
+v -0.02233070 0.01172784 0.00941975
+v -0.02069076 0.01243263 0.00793828
+v -0.02002626 0.01243263 0.00731659
+v -0.02334235 0.01243262 0.01113403
+v -0.02441150 0.01161077 0.01203878
+v -0.02343819 0.01097304 0.01030334
+v -0.02384285 0.00900499 0.00976365
+v -0.02512711 0.00900499 0.01149644
+v -0.02546788 0.00692598 0.01102819
+v -0.02579161 0.00386781 0.01057315
+v -0.02439234 0.00644556 0.00941443
+v -0.02480764 0.00386782 0.00925305
+v -0.02591727 0.00129739 0.01039854
+v -0.02645184 -0.00002318 0.01120541
+v -0.02701837 -0.00002318 0.01205990
+v -0.01984097 -0.00002315 0.00349646
+v -0.02116144 0.00129741 0.00481656
+v -0.02244571 0.00129741 0.00615253
+v -0.02352125 0.00386782 0.00762078
+v -0.02283333 0.01243262 0.01047531
+v -0.02493756 0.00129740 0.00907844
+v -0.02541250 -0.00002318 0.00971864
+v -0.02591514 -0.00002318 0.01039854
+v -0.02116144 -0.00002316 0.00481920
+v -0.02178547 -0.00002316 0.00546735
+v -0.02244571 -0.00002316 0.00615517
+v -0.02303140 -0.00002316 0.00679538
+v -0.02365330 0.00129740 0.00747263
+v -0.02493543 -0.00002317 0.00907844
+v -0.02365117 -0.00002317 0.00747527
+v -0.02427520 -0.00002317 0.00825304
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 50
+f 1 50 52
+f 1 52 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 32
+f 1 32 55
+f 1 55 54
+f 1 54 86
+f 1 86 89
+f 1 89 110
+f 1 110 132
+f 1 132 131
+f 1 131 149
+f 1 149 133
+f 1 133 111
+f 1 111 90
+f 1 90 58
+f 1 58 33
+f 1 33 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 41
+f 2 41 72
+f 2 72 99
+f 2 99 119
+f 2 119 121
+f 2 121 144
+f 2 144 143
+f 2 143 152
+f 2 152 151
+f 2 151 158
+f 2 158 160
+f 2 160 159
+f 2 159 156
+f 2 156 155
+f 2 155 154
+f 2 154 153
+f 2 153 145
+f 2 145 122
+f 2 122 102
+f 2 102 81
+f 2 81 80
+f 2 80 77
+f 2 77 76
+f 2 76 75
+f 2 75 73
+f 2 73 42
+f 2 42 21
+f 2 21 11
+f 2 11 6
+f 3 7 8
+f 4 9 18
+f 4 18 37
+f 4 37 66
+f 4 66 65
+f 4 65 96
+f 4 96 95
+f 4 95 67
+f 4 67 38
+f 4 38 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 10 19 39
+f 10 39 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 25
+f 13 25 26
+f 13 26 24
+f 14 27 15
+f 14 28 27
+f 15 27 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 37
+f 19 38 39
+f 20 39 40
+f 20 40 41
+f 21 42 22
+f 22 43 23
+f 22 42 73
+f 22 73 43
+f 23 44 25
+f 23 43 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 44
+f 24 26 49
+f 24 49 50
+f 25 44 26
+f 26 44 51
+f 26 51 49
+f 27 28 29
+f 28 52 29
+f 29 52 50
+f 29 50 49
+f 29 49 53
+f 29 53 30
+f 30 54 55
+f 30 55 31
+f 30 53 56
+f 30 56 57
+f 30 57 54
+f 31 55 32
+f 33 58 59
+f 33 59 34
+f 34 59 60
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 36
+f 34 36 35
+f 36 64 65
+f 36 65 66
+f 36 66 37
+f 38 67 68
+f 38 68 39
+f 39 68 40
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 41
+f 41 71 72
+f 43 73 45
+f 44 48 74
+f 44 74 51
+f 45 73 75
+f 45 75 76
+f 45 76 77
+f 45 77 46
+f 46 78 79
+f 46 79 47
+f 46 77 80
+f 46 80 81
+f 46 81 78
+f 47 79 48
+f 48 82 74
+f 48 79 83
+f 48 83 84
+f 48 84 82
+f 49 51 53
+f 51 74 82
+f 51 82 53
+f 53 82 85
+f 53 85 56
+f 54 57 86
+f 56 87 88
+f 56 88 89
+f 56 89 57
+f 56 85 87
+f 57 89 86
+f 58 60 59
+f 58 90 91
+f 58 91 60
+f 60 91 92
+f 60 92 93
+f 60 93 61
+f 61 93 62
+f 62 93 94
+f 62 94 69
+f 62 69 63
+f 63 68 67
+f 63 67 95
+f 63 95 64
+f 63 69 68
+f 64 95 96
+f 64 96 65
+f 69 94 70
+f 70 94 97
+f 70 97 98
+f 70 98 71
+f 71 98 99
+f 71 99 72
+f 78 100 101
+f 78 101 79
+f 78 81 102
+f 78 102 100
+f 79 101 83
+f 82 84 85
+f 83 101 103
+f 83 103 104
+f 83 104 105
+f 83 105 84
+f 84 105 106
+f 84 106 87
+f 84 87 85
+f 87 106 88
+f 88 107 108
+f 88 108 109
+f 88 109 110
+f 88 110 89
+f 88 106 107
+f 90 111 112
+f 90 112 91
+f 91 112 113
+f 91 113 92
+f 92 113 114
+f 92 114 115
+f 92 115 93
+f 93 115 94
+f 94 115 97
+f 97 115 116
+f 97 116 117
+f 97 117 118
+f 97 118 98
+f 98 119 99
+f 98 118 120
+f 98 120 121
+f 98 121 119
+f 100 122 123
+f 100 123 103
+f 100 103 101
+f 100 102 122
+f 103 123 124
+f 103 124 104
+f 104 124 125
+f 104 125 126
+f 104 126 127
+f 104 127 105
+f 105 128 107
+f 105 107 106
+f 105 127 128
+f 107 128 108
+f 108 128 129
+f 108 129 130
+f 108 130 131
+f 108 131 109
+f 109 131 132
+f 109 132 110
+f 111 133 112
+f 112 133 134
+f 112 134 113
+f 113 134 135
+f 113 135 136
+f 113 136 137
+f 113 137 114
+f 114 137 138
+f 114 138 116
+f 114 116 115
+f 116 138 117
+f 117 139 118
+f 117 138 140
+f 117 140 126
+f 117 126 141
+f 117 141 139
+f 118 139 142
+f 118 142 120
+f 120 142 143
+f 120 143 144
+f 120 144 121
+f 122 145 123
+f 123 145 146
+f 123 146 124
+f 124 146 125
+f 125 146 147
+f 125 147 148
+f 125 148 126
+f 126 140 127
+f 126 148 141
+f 127 140 138
+f 127 138 137
+f 127 137 136
+f 127 136 129
+f 127 129 128
+f 129 136 135
+f 129 135 130
+f 130 135 149
+f 130 149 131
+f 133 149 135
+f 133 135 134
+f 139 141 150
+f 139 150 142
+f 141 148 150
+f 142 150 151
+f 142 151 152
+f 142 152 143
+f 145 153 146
+f 146 153 154
+f 146 154 147
+f 147 154 155
+f 147 155 156
+f 147 156 157
+f 147 157 148
+f 148 157 150
+f 150 158 151
+f 150 157 158
+f 156 159 157
+f 157 159 160
+f 157 160 158
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_19.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.00131035 -0.03018854 0.01998237
+v 0.00388087 -0.02997006 0.01998237
+v 0.00131035 -0.03016690 0.02107490
+v 0.00055254 -0.03016690 0.02107490
+v 0.00001727 -0.03018657 0.01998237
+v 0.00131035 -0.02963938 0.01734104
+v 0.00645018 -0.02952719 0.01998237
+v 0.00494420 -0.02976340 0.02107490
+v 0.00388087 -0.02994645 0.02107490
+v 0.00388087 -0.02942090 0.01734104
+v 0.00001727 -0.03016493 0.02107490
+v 0.00001727 -0.02963741 0.01734104
+v 0.00001727 -0.02917486 0.01622317
+v 0.00001727 -0.02871822 0.01512050
+v 0.00131035 -0.02871822 0.01512050
+v 0.00388087 -0.02860602 0.01533597
+v 0.00901950 -0.02884420 0.01998237
+v 0.00645018 -0.02950358 0.02107490
+v 0.00667993 -0.02883238 0.01709516
+v 0.00901950 -0.02849778 0.01795703
+v 0.01037753 -0.02828127 0.01857554
+v 0.00597746 -0.02843282 0.01567311
+v 0.00001727 -0.02567920 0.02107492
+v 0.00001727 -0.02801947 0.01379985
+v 0.00131035 -0.02801947 0.01379985
+v 0.00388087 -0.02789940 0.01401531
+v 0.01054353 -0.02834819 0.01998238
+v 0.01054713 -0.02835017 0.02107491
+v 0.00979655 -0.02859424 0.02107490
+v 0.00911332 -0.02878516 0.02107490
+v 0.00769034 -0.02824189 0.01604827
+v 0.00901950 -0.02802735 0.01663636
+v 0.01137591 -0.02748804 0.01755398
+v 0.01230332 -0.02704321 0.01752864
+v 0.01230332 -0.02758646 0.01998238
+v 0.01182818 -0.02781282 0.01998238
+v 0.00667993 -0.02777146 0.01475549
+v 0.01230332 -0.02235870 0.02107493
+v 0.01230332 -0.01008245 0.00630432
+v 0.00001727 -0.01008244 0.00168833
+v 0.00001727 -0.02747031 0.01292279
+v 0.00131035 -0.02693099 0.01205840
+v 0.00407573 -0.02649403 0.01180745
+v 0.00506208 -0.02566735 0.01076056
+v 0.00645018 -0.02637398 0.01232709
+v 0.01117984 -0.02808642 0.02107491
+v 0.00901950 -0.02600788 0.01288730
+v 0.00901950 -0.02706682 0.01469973
+v 0.01143485 -0.02618699 0.01474789
+v 0.01230332 -0.02604135 0.01518389
+v 0.01230332 -0.02757270 0.02052231
+v 0.01230332 -0.02755498 0.02107491
+v 0.01230332 -0.01008243 -0.00014945
+v 0.00001727 -0.01008241 -0.00481613
+v 0.00001727 -0.02692903 0.01205840
+v 0.00001727 -0.02587796 0.01045890
+v 0.00131035 -0.02587796 0.01045636
+v 0.00334800 -0.02579332 0.01058058
+v 0.00407573 -0.02496074 0.00958692
+v 0.00594257 -0.02331131 0.00786828
+v 0.00665828 -0.02411043 0.00917120
+v 0.00645018 -0.02549611 0.01100644
+v 0.01047376 -0.02575594 0.01327007
+v 0.00901950 -0.02509655 0.01156664
+v 0.01218784 -0.02536425 0.01390125
+v 0.01230332 -0.02542133 0.01409137
+v 0.01230332 -0.01100358 0.00038034
+v 0.01110526 -0.01107444 -0.00033196
+v 0.01012974 -0.01008242 -0.00149800
+v 0.00131035 -0.01008241 -0.00481360
+v 0.00001727 -0.01075950 -0.00429902
+v 0.00001727 -0.02491940 0.00913824
+v 0.00131035 -0.02491940 0.00913571
+v 0.00388087 -0.02350617 0.00763760
+v 0.00388087 -0.02230944 0.00631695
+v 0.00597385 -0.02078795 0.00520921
+v 0.00765425 -0.02308889 0.00812684
+v 0.00901950 -0.02381323 0.00979224
+v 0.01095009 -0.02342351 0.01032963
+v 0.01156837 -0.02439387 0.01207362
+v 0.01230332 -0.02533275 0.01395195
+v 0.01230332 -0.02345894 0.01127007
+v 0.01230332 -0.01227116 0.00115853
+v 0.01181255 -0.01177909 0.00054257
+v 0.01024281 -0.01278685 0.00020542
+v 0.00791647 -0.01041309 -0.00256517
+v 0.00811495 -0.01008242 -0.00264375
+v 0.00146311 -0.01008241 -0.00478825
+v 0.00276822 -0.01288722 -0.00250688
+v 0.00131035 -0.01155076 -0.00368812
+v 0.00001727 -0.01155076 -0.00369065
+v 0.00001727 -0.02427183 0.00830681
+v 0.00131035 -0.02363411 0.00749058
+v 0.00131035 -0.02245509 0.00616993
+v 0.00131035 -0.02116980 0.00480110
+v 0.00388087 -0.02102415 0.00496080
+v 0.00768552 -0.02052814 0.00547284
+v 0.00388087 -0.01970145 0.00364014
+v 0.00576094 -0.01818193 0.00262620
+v 0.00901950 -0.02152017 0.00708248
+v 0.00901950 -0.02280546 0.00847158
+v 0.01171993 -0.02231338 0.00943737
+v 0.01230332 -0.02274051 0.01032964
+v 0.01230332 -0.01382415 0.00217248
+v 0.01230332 -0.01490474 0.00290252
+v 0.01072396 -0.01570189 0.00258058
+v 0.00852993 -0.01336159 -0.00021790
+v 0.00645018 -0.01213927 -0.00197962
+v 0.00645018 -0.01085398 -0.00288710
+v 0.00641410 -0.01008242 -0.00340421
+v 0.00758569 -0.01008242 -0.00291499
+v 0.00384478 -0.01008241 -0.00430916
+v 0.00372690 -0.01167673 -0.00318875
+v 0.00388087 -0.01563299 -0.00001766
+v 0.00131035 -0.01583573 -0.00019510
+v 0.00131035 -0.01425912 -0.00151575
+v 0.00131035 -0.01297383 -0.00257786
+v 0.00448110 -0.01261757 -0.00230409
+v 0.00528220 -0.01545388 0.00013697
+v 0.00001727 -0.01225737 -0.00314060
+v 0.00001727 -0.02363411 0.00749058
+v 0.00001727 -0.02245312 0.00616993
+v 0.00001727 -0.02116783 0.00480364
+v 0.00001727 -0.01987269 0.00348298
+v 0.00131035 -0.01987269 0.00348045
+v 0.00901950 -0.01893776 0.00456030
+v 0.00901950 -0.02022109 0.00576183
+v 0.00747262 -0.01787488 0.00290503
+v 0.00131035 -0.01858937 0.00224597
+v 0.00388087 -0.01841616 0.00240820
+v 0.00388087 -0.01691828 0.00108755
+v 0.01159002 -0.02091196 0.00771366
+v 0.01230332 -0.02072498 0.00791138
+v 0.01230332 -0.01537713 0.00326499
+v 0.00901950 -0.01619593 0.00216993
+v 0.00923962 -0.01418040 0.00073267
+v 0.01230332 -0.01741037 0.00488731
+v 0.01103429 -0.01841814 0.00505206
+v 0.00901950 -0.01748122 0.00323965
+v 0.00699388 -0.01507597 0.00042848
+v 0.00626254 -0.01418040 -0.00051448
+v 0.00488646 -0.01008242 -0.00396695
+v 0.00131035 -0.01712102 0.00092531
+v 0.00001727 -0.01583573 -0.00019510
+v 0.00001727 -0.01425912 -0.00151575
+v 0.00001727 -0.01361352 -0.00205061
+v 0.00001727 -0.01297383 -0.00257786
+v 0.00001727 -0.01922512 0.00285941
+v 0.00001727 -0.01858740 0.00224850
+v 0.00001727 -0.01784929 0.00158183
+v 0.01230332 -0.01987862 0.00710530
+v 0.01230332 -0.01851655 0.00585815
+v 0.00001727 -0.01711905 0.00092785
+v 0.00001727 -0.01647345 0.00036257
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 7
+f 3 9 8
+f 3 8 18
+f 3 18 30
+f 3 30 29
+f 3 29 28
+f 3 28 46
+f 3 46 52
+f 3 52 38
+f 3 38 23
+f 3 23 11
+f 3 11 4
+f 4 11 5
+f 5 11 23
+f 5 23 40
+f 5 40 54
+f 5 54 71
+f 5 71 91
+f 5 91 120
+f 5 120 147
+f 5 147 146
+f 5 146 145
+f 5 145 144
+f 5 144 154
+f 5 154 153
+f 5 153 150
+f 5 150 149
+f 5 149 148
+f 5 148 124
+f 5 124 123
+f 5 123 122
+f 5 122 121
+f 5 121 92
+f 5 92 72
+f 5 72 56
+f 5 56 55
+f 5 55 41
+f 5 41 24
+f 5 24 14
+f 5 14 13
+f 5 13 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 10
+f 7 17 18
+f 7 18 8
+f 7 10 19
+f 7 19 20
+f 7 20 21
+f 7 21 17
+f 10 16 22
+f 10 22 19
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 22
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 17 21 27
+f 19 22 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 27
+f 22 26 37
+f 22 37 31
+f 23 38 39
+f 23 39 40
+f 24 41 42
+f 24 42 25
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 37
+f 27 36 28
+f 28 36 46
+f 31 37 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 50 66
+f 34 66 81
+f 34 81 82
+f 34 82 103
+f 34 103 133
+f 34 133 151
+f 34 151 152
+f 34 152 137
+f 34 137 134
+f 34 134 105
+f 34 105 104
+f 34 104 83
+f 34 83 67
+f 34 67 53
+f 34 53 39
+f 34 39 38
+f 34 38 52
+f 34 52 51
+f 34 51 35
+f 35 51 36
+f 36 51 46
+f 37 45 47
+f 39 53 69
+f 39 69 87
+f 39 87 111
+f 39 111 110
+f 39 110 142
+f 39 142 112
+f 39 112 88
+f 39 88 70
+f 39 70 54
+f 39 54 40
+f 41 55 42
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 47
+f 46 51 52
+f 47 63 48
+f 47 62 64
+f 47 64 63
+f 48 63 49
+f 49 63 65
+f 49 65 66
+f 49 66 50
+f 53 67 68
+f 53 68 69
+f 54 70 71
+f 56 72 73
+f 56 73 57
+f 57 73 58
+f 58 73 74
+f 58 74 59
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 77
+f 60 77 61
+f 61 77 62
+f 62 77 64
+f 63 64 78
+f 63 78 79
+f 63 79 80
+f 63 80 65
+f 64 77 78
+f 65 81 66
+f 65 80 82
+f 65 82 81
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 69
+f 69 85 86
+f 69 86 87
+f 70 88 89
+f 70 89 90
+f 70 90 71
+f 71 90 91
+f 72 92 73
+f 73 92 93
+f 73 93 74
+f 74 93 94
+f 74 94 75
+f 75 94 95
+f 75 95 96
+f 75 96 76
+f 76 97 77
+f 76 96 98
+f 76 98 99
+f 76 99 97
+f 77 97 100
+f 77 100 101
+f 77 101 78
+f 78 101 79
+f 79 101 102
+f 79 102 103
+f 79 103 82
+f 79 82 80
+f 83 85 84
+f 83 104 85
+f 85 104 105
+f 85 105 106
+f 85 106 107
+f 85 107 86
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 111
+f 86 111 87
+f 88 112 113
+f 88 113 89
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 90
+f 89 113 118
+f 89 118 119
+f 89 119 114
+f 90 117 120
+f 90 120 91
+f 92 121 93
+f 93 121 94
+f 94 121 122
+f 94 122 95
+f 95 123 124
+f 95 124 125
+f 95 125 96
+f 95 122 123
+f 96 125 98
+f 97 126 127
+f 97 127 100
+f 97 99 128
+f 97 128 126
+f 98 125 129
+f 98 129 130
+f 98 130 99
+f 99 130 131
+f 99 131 119
+f 99 119 128
+f 100 132 101
+f 100 127 132
+f 101 132 102
+f 102 132 133
+f 102 133 103
+f 105 134 106
+f 106 135 136
+f 106 136 107
+f 106 134 137
+f 106 137 138
+f 106 138 139
+f 106 139 135
+f 107 136 135
+f 107 135 140
+f 107 140 108
+f 108 140 141
+f 108 141 118
+f 108 118 142
+f 108 142 109
+f 109 142 110
+f 112 142 118
+f 112 118 113
+f 114 119 131
+f 114 131 115
+f 115 131 143
+f 115 143 144
+f 115 144 145
+f 115 145 116
+f 116 145 146
+f 116 146 117
+f 117 146 147
+f 117 147 120
+f 118 141 119
+f 119 140 128
+f 119 141 140
+f 124 148 125
+f 125 148 129
+f 126 139 138
+f 126 138 127
+f 126 128 139
+f 127 138 132
+f 128 140 135
+f 128 135 139
+f 129 148 149
+f 129 149 150
+f 129 150 143
+f 129 143 130
+f 130 143 131
+f 132 138 151
+f 132 151 133
+f 137 152 138
+f 138 152 151
+f 143 150 153
+f 143 153 154
+f 143 154 144
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_2.obj

@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
+v 0.00001339 -0.01926019 0.07757364
+v -0.01415835 -0.01297005 0.07746846
+v -0.01411011 -0.01412168 0.07762904
+v -0.00383238 -0.01926020 0.07764562
+v 0.00001339 -0.02112063 0.07737983
+v 0.00001339 -0.01854968 0.07727464
+v 0.00001339 -0.01782739 0.07697009
+v -0.01248336 -0.01297005 0.07699227
+v -0.01642561 -0.01297005 0.07730787
+v -0.01599950 -0.01412167 0.07716391
+v -0.01411011 -0.01599389 0.07716390
+v -0.01170885 -0.01687781 0.07746291
+v -0.00897259 -0.01888641 0.07742414
+v -0.00383238 -0.02097920 0.07726355
+v -0.00126228 -0.02112063 0.07737983
+v 0.00001339 -0.02154659 0.07641084
+v 0.00001339 -0.01775668 0.07545293
+v -0.01224484 -0.01297005 0.07545295
+v -0.01770933 -0.01297005 0.07628351
+v -0.01543670 -0.01545007 0.07682060
+v -0.01096381 -0.01839142 0.07716943
+v -0.00585041 -0.02076369 0.07703653
+v -0.00383238 -0.02167792 0.07545292
+v -0.00126228 -0.02196414 0.07545292
+v 0.00001339 -0.02196582 0.07545292
+v 0.00001339 -0.01782907 0.07457253
+v -0.02204286 -0.01296985 0.02107856
+v -0.01252088 -0.01297004 0.07282836
+v -0.01806308 -0.01297005 0.07496014
+v -0.01706881 -0.01396846 0.07553600
+v -0.01562966 -0.01564033 0.07545294
+v -0.01394127 -0.01706470 0.07548063
+v -0.01267632 -0.01785938 0.07637762
+v -0.00756560 -0.02048589 0.07658803
+v -0.00658472 -0.02099267 0.07560242
+v -0.00640249 -0.02156847 0.07281172
+v -0.00383238 -0.02216785 0.07281172
+v -0.00126228 -0.02245744 0.07281172
+v 0.00001339 -0.02221331 0.07412401
+v 0.00001339 -0.01790483 0.07368105
+v 0.00001339 -0.02567808 0.02107852
+v -0.02735994 -0.01296985 0.02107856
+v -0.01811668 -0.01297004 0.07473313
+v -0.01809524 -0.01301045 0.07470544
+v -0.01724301 -0.01456614 0.07281175
+v -0.01755389 -0.01492812 0.07017055
+v -0.01779241 -0.01520591 0.06809412
+v -0.01595662 -0.01596526 0.07281174
+v -0.01541526 -0.01799404 0.06628902
+v -0.01517674 -0.01779538 0.06804982
+v -0.01488731 -0.01755462 0.07017054
+v -0.01452015 -0.01724989 0.07281174
+v -0.01297648 -0.01808498 0.07461683
+v -0.01170885 -0.01866249 0.07548062
+v -0.00890827 -0.02010201 0.07560243
+v -0.00800779 -0.02068118 0.07482723
+v -0.00640249 -0.02202136 0.07017052
+v -0.00559581 -0.02324367 0.06434547
+v -0.00501425 -0.02309214 0.06610628
+v -0.00780680 -0.02315779 0.06118378
+v -0.00731100 -0.02300627 0.06294460
+v -0.00383238 -0.02261064 0.07017052
+v -0.00330175 -0.02323863 0.06695899
+v -0.00213863 -0.02308711 0.06871980
+v 0.00001339 -0.02245744 0.07281172
+v -0.00127300 -0.02330261 0.06771757
+v -0.00042613 -0.02313593 0.06898558
+v 0.00001339 -0.03016671 0.02107850
+v -0.02680250 -0.01412147 0.02107856
+v -0.02735726 -0.01296985 0.02136095
+v -0.02044291 -0.01297000 0.06338759
+v -0.01830160 -0.01328152 0.07281175
+v -0.01799072 -0.01543656 0.06633332
+v -0.01750029 -0.01752259 0.05960574
+v -0.01558410 -0.01813883 0.06488813
+v -0.01545814 -0.02059356 0.05326019
+v -0.01522230 -0.02042351 0.05502099
+v -0.01360360 -0.01854124 0.07017053
+v -0.01323644 -0.01827524 0.07281173
+v -0.01796660 -0.01797884 0.05565223
+v -0.01274868 -0.02049931 0.06333219
+v -0.01248604 -0.02034779 0.06488813
+v -0.01154269 -0.01932920 0.07281173
+v -0.00973906 -0.02031414 0.07281173
+v -0.01010086 -0.02047576 0.07112290
+v -0.00845535 -0.02086638 0.07281172
+v -0.00643197 -0.02338173 0.06213617
+v -0.00640249 -0.02380600 0.05960571
+v -0.00640249 -0.02424037 0.05696451
+v -0.00640249 -0.02467137 0.05432331
+v -0.00500086 -0.02566303 0.05024800
+v -0.00383238 -0.02392218 0.06224691
+v -0.00402802 -0.02342719 0.06508744
+v -0.00878499 -0.02261229 0.06213618
+v -0.00944694 -0.02279917 0.05960572
+v -0.00991594 -0.02298100 0.05752377
+v -0.01029918 -0.02313420 0.05576297
+v -0.00816323 -0.02328911 0.05960571
+v -0.00897259 -0.02386827 0.05432331
+v -0.00897259 -0.02430096 0.05167657
+v -0.00781216 -0.02572531 0.04535873
+v -0.00730832 -0.02558725 0.04711953
+v -0.00383238 -0.02477577 0.05696451
+v -0.00328835 -0.02578931 0.05105641
+v -0.00126228 -0.02419493 0.06224691
+v -0.00126228 -0.02376898 0.06488811
+v -0.00198856 -0.02564957 0.05281721
+v 0.00001339 -0.02313593 0.06898558
+v -0.00027337 -0.02569672 0.05309407
+v -0.00126228 -0.03016839 0.02107850
+v 0.00001339 -0.03013977 0.02262889
+v -0.02589667 -0.01575461 0.02107855
+v -0.02588327 -0.01573609 0.02262894
+v -0.02677570 -0.01412147 0.02262895
+v -0.02733582 -0.01296985 0.02262895
+v -0.02062247 -0.01297000 0.06248504
+v -0.02044023 -0.01527658 0.05516498
+v -0.02025531 -0.01503077 0.05696454
+v -0.01857496 -0.01364349 0.07017055
+v -0.01814616 -0.01561166 0.06488814
+v -0.01758337 -0.02022481 0.04639973
+v -0.01367059 -0.02108857 0.05696452
+v -0.01329540 -0.02084950 0.05960572
+v -0.01781653 -0.02042179 0.04446173
+v -0.01565110 -0.02074171 0.05167658
+v -0.01538310 -0.02310552 0.03976073
+v -0.01301400 -0.02066599 0.06157139
+v -0.01495162 -0.02022822 0.05696453
+v -0.02023119 -0.01763030 0.04639974
+v -0.02042415 -0.01784916 0.04453926
+v -0.01811132 -0.01811859 0.05432333
+v -0.01842756 -0.01592818 0.06224694
+v -0.01262272 -0.02300959 0.04975521
+v -0.01229576 -0.02284291 0.05167658
+v -0.01175173 -0.02120813 0.06236874
+v -0.01119965 -0.02104650 0.06488812
+v -0.01074941 -0.02080744 0.06752932
+v -0.01043318 -0.02063907 0.06936210
+v -0.01203581 -0.02008851 0.06752933
+v -0.01138993 -0.01992858 0.07021482
+v -0.00640249 -0.02509396 0.05167657
+v -0.00559581 -0.02579940 0.04849274
+v -0.00536265 -0.02830799 0.03224686
+v -0.00456402 -0.02817330 0.03400765
+v -0.00383238 -0.02682305 0.04375850
+v -0.00383238 -0.02642235 0.04639970
+v -0.00401998 -0.02596272 0.04924023
+v -0.00383238 -0.02519499 0.05432331
+v -0.00902351 -0.02344232 0.05677071
+v -0.01154269 -0.02181760 0.05960572
+v -0.01183749 -0.02260890 0.05432332
+v -0.01055378 -0.02325542 0.05432331
+v -0.01031258 -0.02570677 0.03994898
+v -0.00992666 -0.02556535 0.04170978
+v -0.00897259 -0.02472523 0.04904091
+v -0.00879035 -0.02522863 0.04630558
+v -0.01024022 -0.02824735 0.02390797
+v -0.00862955 -0.02854704 0.02527010
+v -0.00810159 -0.02838205 0.02742404
+v -0.00765672 -0.02824400 0.02918484
+v -0.00643197 -0.02593072 0.04630557
+v -0.00643197 -0.02547277 0.04924024
+v -0.00285151 -0.02829285 0.03479946
+v -0.00126228 -0.02504179 0.05696451
+v -0.00126228 -0.02706549 0.04375850
+v -0.00126228 -0.02666816 0.04639970
+v -0.00126228 -0.02626914 0.04904090
+v -0.00118188 -0.02584487 0.05183715
+v 0.00001339 -0.02569672 0.05309407
+v -0.00126228 -0.02746114 0.04111730
+v -0.00126228 -0.02980136 0.02527009
+v -0.00383238 -0.02994278 0.02107850
+v -0.00126228 -0.03014145 0.02262889
+v -0.00383238 -0.02991753 0.02262889
+v 0.00001339 -0.02979968 0.02527009
+v -0.02502568 -0.01704093 0.02107855
+v -0.02501227 -0.01702072 0.02262894
+v -0.02575999 -0.01554080 0.02446172
+v -0.02629063 -0.01431173 0.02531445
+v -0.02694186 -0.01296986 0.02524800
+v -0.02616735 -0.01375445 0.02791135
+v -0.02069215 -0.01307439 0.06175415
+v -0.02318453 -0.01296995 0.04850385
+v -0.02061174 -0.01550555 0.05340418
+v -0.02089582 -0.01337743 0.05960575
+v -0.02114238 -0.01374614 0.05696455
+v -0.02297817 -0.01520918 0.04174303
+v -0.01518746 -0.02298430 0.04111732
+v -0.01290680 -0.02315943 0.04799993
+v -0.01597538 -0.02098415 0.04904092
+v -0.01802020 -0.02059352 0.04270093
+v -0.01797732 -0.02312401 0.02929560
+v -0.01646313 -0.02488341 0.02515383
+v -0.01546082 -0.02572355 0.02419591
+v -0.02077523 -0.01571432 0.05167660
+v -0.02102446 -0.01603252 0.04904094
+v -0.02060103 -0.01804783 0.04277846
+v -0.02049115 -0.02050256 0.03167101
+v -0.01266024 -0.02560573 0.03404643
+v -0.00640249 -0.02632637 0.04375850
+v -0.00640249 -0.02672875 0.04111730
+v -0.00640249 -0.02712945 0.03847610
+v -0.00640249 -0.02912453 0.02527009
+v -0.00383238 -0.02957744 0.02527009
+v -0.00383238 -0.02721869 0.04111730
+v -0.01234132 -0.02546094 0.03583491
+v -0.01154269 -0.02748970 0.02527010
+v -0.01142745 -0.02787525 0.02286699
+v -0.01049482 -0.02834836 0.02214717
+v -0.00921915 -0.02868004 0.02286698
+v -0.00640249 -0.02946462 0.02262889
+v -0.00720648 -0.02814130 0.03055250
+v -0.00640249 -0.02948819 0.02107850
+v -0.02374196 -0.01876162 0.02107854
+v -0.02372856 -0.01874479 0.02262893
+v -0.02351952 -0.01848888 0.02527013
+v -0.02493992 -0.01651564 0.02531444
+v -0.02560991 -0.01529331 0.02622252
+v -0.02313629 -0.01545163 0.03997670
+v -0.02595563 -0.01335544 0.03055255
+v -0.02653986 -0.01296987 0.02791135
+v -0.02243681 -0.01396331 0.04912401
+v -0.02574659 -0.01296989 0.03308301
+v -0.02578947 -0.01304902 0.03257359
+v -0.01295236 -0.02574883 0.03228563
+v -0.01972199 -0.02241517 0.02527012
+v -0.01813544 -0.02324690 0.02791131
+v -0.01843560 -0.02348260 0.02527011
+v -0.01691069 -0.02497431 0.02262891
+v -0.01562698 -0.02582624 0.02262891
+v -0.01411011 -0.02664618 0.02262890
+v -0.01424947 -0.02621349 0.02515382
+v -0.02279593 -0.01757132 0.03319374
+v -0.02298085 -0.01781376 0.03120591
+v -0.02314165 -0.01802253 0.02944511
+v -0.02241805 -0.01977351 0.02527013
+v -0.02066803 -0.02067765 0.02991022
+v -0.01361699 -0.02610070 0.02791130
+v -0.01163917 -0.02783821 0.02107851
+v -0.01048946 -0.02834499 0.02107851
+v -0.00906639 -0.02877095 0.02107850
+v -0.00790863 -0.02909085 0.02107850
+v -0.02265925 -0.02004625 0.02107854
+v -0.02264317 -0.02002942 0.02262893
+v -0.02328101 -0.01819425 0.02791133
+v -0.02581895 -0.01296989 0.03262343
+v -0.02086902 -0.02087463 0.02791132
+v -0.02113434 -0.02113222 0.02527012
+v -0.01998195 -0.02263740 0.02262892
+v -0.01869556 -0.02368968 0.02262891
+v -0.01693749 -0.02499115 0.02107852
+v -0.01565110 -0.02584308 0.02107852
+v -0.01411011 -0.02667817 0.02107851
+v -0.02137554 -0.02136961 0.02107853
+v -0.02135946 -0.02135445 0.02262892
+v -0.02000071 -0.02265255 0.02107853
+v -0.01924763 -0.02327045 0.02107852
+v -0.01871700 -0.02370484 0.02107852
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 25
+f 1 25 39
+f 1 39 65
+f 1 65 108
+f 1 108 169
+f 1 169 175
+f 1 175 111
+f 1 111 68
+f 1 68 41
+f 1 41 40
+f 1 40 26
+f 1 26 17
+f 1 17 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 18
+f 2 18 28
+f 2 28 27
+f 2 27 42
+f 2 42 70
+f 2 70 115
+f 2 115 180
+f 2 180 221
+f 2 221 246
+f 2 246 223
+f 2 223 183
+f 2 183 116
+f 2 116 71
+f 2 71 43
+f 2 43 29
+f 2 29 19
+f 2 19 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 7 17 18
+f 7 18 8
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 21 12
+f 11 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 26 40 27
+f 27 41 68
+f 27 68 110
+f 27 110 172
+f 27 172 213
+f 27 213 242
+f 27 242 241
+f 27 241 240
+f 27 240 239
+f 27 239 253
+f 27 253 252
+f 27 252 251
+f 27 251 258
+f 27 258 257
+f 27 257 256
+f 27 256 254
+f 27 254 243
+f 27 243 214
+f 27 214 176
+f 27 176 112
+f 27 112 69
+f 27 69 42
+f 27 40 41
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 35
+f 35 56 36
+f 36 57 58
+f 36 58 59
+f 36 59 37
+f 36 56 60
+f 36 60 61
+f 36 61 57
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 37 59 62
+f 38 65 39
+f 38 64 66
+f 38 66 67
+f 38 67 108
+f 38 108 65
+f 42 69 70
+f 43 71 44
+f 44 71 72
+f 44 72 46
+f 44 46 45
+f 46 72 47
+f 47 73 48
+f 47 72 73
+f 48 73 74
+f 48 74 49
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 79
+f 49 79 53
+f 49 53 50
+f 49 74 80
+f 49 80 75
+f 50 53 51
+f 51 53 52
+f 53 79 81
+f 53 81 82
+f 53 82 83
+f 53 83 54
+f 54 83 84
+f 54 84 55
+f 55 84 56
+f 56 84 85
+f 56 85 86
+f 56 86 60
+f 57 61 58
+f 58 61 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 59
+f 59 91 92
+f 59 92 93
+f 59 93 63
+f 59 63 62
+f 60 86 94
+f 60 94 95
+f 60 95 96
+f 60 96 97
+f 60 97 98
+f 60 98 99
+f 60 99 100
+f 60 100 101
+f 60 101 102
+f 60 102 90
+f 60 90 89
+f 60 89 61
+f 61 89 87
+f 63 93 92
+f 63 92 103
+f 63 103 104
+f 63 104 64
+f 64 105 106
+f 64 106 66
+f 64 104 107
+f 64 107 105
+f 66 106 67
+f 67 106 105
+f 67 105 109
+f 67 109 169
+f 67 169 108
+f 68 111 173
+f 68 173 110
+f 69 112 113
+f 69 113 114
+f 69 114 115
+f 69 115 70
+f 71 116 117
+f 71 117 118
+f 71 118 72
+f 72 118 119
+f 72 119 73
+f 73 120 80
+f 73 80 74
+f 73 119 118
+f 73 118 117
+f 73 117 120
+f 75 80 121
+f 75 121 76
+f 76 122 123
+f 76 123 77
+f 76 121 124
+f 76 124 125
+f 76 125 126
+f 76 126 122
+f 77 123 127
+f 77 127 128
+f 77 128 78
+f 78 128 79
+f 79 127 81
+f 79 128 127
+f 80 129 130
+f 80 130 131
+f 80 131 124
+f 80 124 121
+f 80 120 132
+f 80 132 129
+f 81 127 133
+f 81 133 134
+f 81 134 135
+f 81 135 136
+f 81 136 137
+f 81 137 138
+f 81 138 82
+f 82 138 139
+f 82 139 83
+f 83 140 138
+f 83 138 85
+f 83 85 84
+f 83 139 140
+f 85 138 97
+f 85 97 86
+f 86 97 96
+f 86 96 95
+f 86 95 94
+f 87 89 88
+f 90 102 141
+f 90 141 142
+f 90 142 91
+f 91 142 143
+f 91 143 144
+f 91 144 145
+f 91 145 146
+f 91 146 147
+f 91 147 104
+f 91 104 148
+f 91 148 103
+f 91 103 92
+f 97 100 99
+f 97 99 149
+f 97 149 98
+f 97 138 137
+f 97 137 150
+f 97 150 151
+f 97 151 134
+f 97 134 152
+f 97 152 153
+f 97 153 100
+f 98 149 99
+f 100 153 154
+f 100 154 155
+f 100 155 101
+f 101 155 156
+f 101 156 154
+f 101 154 157
+f 101 157 158
+f 101 158 159
+f 101 159 160
+f 101 160 102
+f 102 160 161
+f 102 161 142
+f 102 142 162
+f 102 162 141
+f 103 148 104
+f 104 147 146
+f 104 146 145
+f 104 145 163
+f 104 163 107
+f 105 107 164
+f 105 164 109
+f 107 163 165
+f 107 165 166
+f 107 166 167
+f 107 167 168
+f 107 168 164
+f 109 164 168
+f 109 168 167
+f 109 167 166
+f 109 166 165
+f 109 165 170
+f 109 170 171
+f 109 171 169
+f 110 173 174
+f 110 174 172
+f 111 175 171
+f 111 171 173
+f 112 176 113
+f 113 177 178
+f 113 178 114
+f 113 176 177
+f 114 178 179
+f 114 179 115
+f 115 179 181
+f 115 181 180
+f 116 182 117
+f 116 183 182
+f 117 184 132
+f 117 132 120
+f 117 182 185
+f 117 185 186
+f 117 186 187
+f 117 187 184
+f 122 126 123
+f 123 126 188
+f 123 188 189
+f 123 189 127
+f 124 190 125
+f 124 131 191
+f 124 191 190
+f 125 190 192
+f 125 192 126
+f 126 192 193
+f 126 193 194
+f 126 194 189
+f 126 189 188
+f 127 189 133
+f 129 184 130
+f 129 132 184
+f 130 184 195
+f 130 195 196
+f 130 196 197
+f 130 197 131
+f 131 197 198
+f 131 198 191
+f 133 152 134
+f 133 189 199
+f 133 199 152
+f 134 151 150
+f 134 150 135
+f 135 150 136
+f 136 150 137
+f 138 140 139
+f 141 162 142
+f 142 161 200
+f 142 200 201
+f 142 201 202
+f 142 202 143
+f 143 202 203
+f 143 203 204
+f 143 204 144
+f 144 205 145
+f 144 204 205
+f 145 205 163
+f 152 199 206
+f 152 206 153
+f 153 206 199
+f 153 199 207
+f 153 207 157
+f 153 157 154
+f 154 156 155
+f 157 207 208
+f 157 208 209
+f 157 209 210
+f 157 210 158
+f 158 210 211
+f 158 211 203
+f 158 203 159
+f 159 203 160
+f 160 203 212
+f 160 212 202
+f 160 202 201
+f 160 201 200
+f 160 200 161
+f 163 170 165
+f 163 205 204
+f 163 204 171
+f 163 171 170
+f 169 171 175
+f 171 204 174
+f 171 174 173
+f 172 174 211
+f 172 211 213
+f 174 204 203
+f 174 203 211
+f 176 214 215
+f 176 215 177
+f 177 215 216
+f 177 216 217
+f 177 217 178
+f 178 218 179
+f 178 217 219
+f 178 219 218
+f 179 218 220
+f 179 220 181
+f 180 181 221
+f 181 220 221
+f 182 183 185
+f 183 222 185
+f 183 223 224
+f 183 224 218
+f 183 218 219
+f 183 219 187
+f 183 187 222
+f 184 187 219
+f 184 219 195
+f 185 222 186
+f 186 222 187
+f 189 194 225
+f 189 225 199
+f 190 191 192
+f 191 198 226
+f 191 226 192
+f 192 226 227
+f 192 227 228
+f 192 228 193
+f 193 228 229
+f 193 229 194
+f 194 229 230
+f 194 230 231
+f 194 231 232
+f 194 232 225
+f 195 219 196
+f 196 219 233
+f 196 233 234
+f 196 234 197
+f 197 234 235
+f 197 235 236
+f 197 236 198
+f 198 236 237
+f 198 237 226
+f 199 225 207
+f 202 212 203
+f 207 238 232
+f 207 232 231
+f 207 231 208
+f 207 225 238
+f 208 231 209
+f 209 231 239
+f 209 239 240
+f 209 240 241
+f 209 241 242
+f 209 242 211
+f 209 211 210
+f 211 242 213
+f 214 243 215
+f 215 244 216
+f 215 243 244
+f 216 236 245
+f 216 245 217
+f 216 244 236
+f 217 245 235
+f 217 235 219
+f 218 224 220
+f 219 235 234
+f 219 234 233
+f 220 224 246
+f 220 246 221
+f 223 246 224
+f 225 232 238
+f 226 237 247
+f 226 247 248
+f 226 248 249
+f 226 249 228
+f 226 228 227
+f 228 249 250
+f 228 250 229
+f 229 250 251
+f 229 251 230
+f 230 251 252
+f 230 252 253
+f 230 253 231
+f 231 253 239
+f 235 245 236
+f 236 244 248
+f 236 248 247
+f 236 247 237
+f 243 254 255
+f 243 255 244
+f 244 255 248
+f 248 255 249
+f 249 255 256
+f 249 256 257
+f 249 257 258
+f 249 258 250
+f 250 258 251
+f 254 256 255
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_20.obj

@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v 0.02818419 -0.01121978 0.02107750
+v 0.02812061 -0.01137018 0.02107750
+v 0.02306134 -0.01121978 0.02107750
+v 0.02815416 -0.01121978 0.02262713
+v 0.02789458 -0.01190247 0.02107750
+v 0.02787869 -0.01186868 0.02262713
+v 0.01014385 -0.02345246 0.02107745
+v 0.01014385 -0.01499336 0.07281279
+v 0.01420364 -0.01121997 0.07280727
+v 0.02807117 -0.01121979 0.02328572
+v 0.02680503 -0.01412122 0.02107749
+v 0.02677147 -0.01412122 0.02262712
+v 0.02782218 -0.01121979 0.02501798
+v 0.02774801 -0.01134484 0.02513973
+v 0.02619050 -0.01369709 0.02791244
+v 0.02630705 -0.01428683 0.02522827
+v 0.01014385 -0.02848140 0.02107744
+v 0.01014385 -0.01470609 0.07484391
+v 0.01410828 -0.01121997 0.07347139
+v 0.02592031 -0.01571304 0.02107748
+v 0.02590266 -0.01568600 0.02262711
+v 0.02578611 -0.01550351 0.02432062
+v 0.02580730 -0.01121984 0.03769722
+v 0.02567839 -0.01273561 0.03422716
+v 0.02563777 -0.01525512 0.02608056
+v 0.01054824 -0.02834959 0.02107744
+v 0.01014385 -0.02848309 0.02157000
+v 0.01014385 -0.01463513 0.07545269
+v 0.01387165 -0.01121998 0.07545270
+v 0.02505150 -0.01699900 0.02107748
+v 0.02503560 -0.01697027 0.02262711
+v 0.02495437 -0.01649206 0.02522826
+v 0.02316376 -0.01541908 0.03985561
+v 0.02554771 -0.01121984 0.03929665
+v 0.02554595 -0.01245341 0.03583766
+v 0.02466653 -0.01155107 0.04376289
+v 0.02422859 -0.01155108 0.04640279
+v 0.02370412 -0.01171838 0.04904268
+v 0.02307547 -0.01268665 0.04991710
+v 0.02323086 -0.01296379 0.04816271
+v 0.02300836 -0.01517912 0.04161554
+v 0.02338096 -0.01321556 0.04640278
+v 0.01118043 -0.02808598 0.02107744
+v 0.01055178 -0.02835128 0.02214004
+v 0.01014385 -0.02847464 0.02184119
+v 0.01014385 -0.01483115 0.07673113
+v 0.01388931 -0.01121998 0.07558000
+v 0.02451997 -0.01772056 0.02107747
+v 0.02375004 -0.01871587 0.02262710
+v 0.02354166 -0.01845733 0.02527253
+v 0.02329973 -0.01815655 0.02791242
+v 0.02317082 -0.01799434 0.02931262
+v 0.02064207 -0.01547827 0.05329859
+v 0.02079394 -0.01567428 0.05167702
+v 0.02104116 -0.01599196 0.04904266
+v 0.02527930 -0.01121985 0.04094036
+v 0.02359287 -0.01121989 0.05117342
+v 0.02488197 -0.01121986 0.04335888
+v 0.02352930 -0.01121989 0.05154975
+v 0.02320438 -0.01121990 0.05345358
+v 0.02291830 -0.01238756 0.05167703
+v 0.02110650 -0.01121994 0.06512557
+v 0.02112769 -0.01126050 0.06488759
+v 0.02077981 -0.01121995 0.06691870
+v 0.02055554 -0.01278640 0.06341543
+v 0.02072507 -0.01304664 0.06165550
+v 0.02091578 -0.01333728 0.05960225
+v 0.02281235 -0.01487665 0.04376288
+v 0.01279446 -0.02732894 0.02107744
+v 0.01014385 -0.02845774 0.02237249
+v 0.01416125 -0.02664117 0.02262707
+v 0.01148240 -0.02787475 0.02286504
+v 0.01028866 -0.02824652 0.02389997
+v 0.01014385 -0.01496464 0.07709640
+v 0.01270263 -0.01266647 0.07692484
+v 0.01448971 -0.01121998 0.07723477
+v 0.02376593 -0.01873615 0.02107747
+v 0.02267108 -0.01999845 0.02262710
+v 0.02313551 -0.01948812 0.02107747
+v 0.02063147 -0.01802819 0.04267812
+v 0.02244151 -0.01974160 0.02527253
+v 0.02046901 -0.01524846 0.05505852
+v 0.01802326 -0.01541410 0.06624349
+v 0.01844530 -0.01589062 0.06224767
+v 0.01872255 -0.01620323 0.05960224
+v 0.02025004 -0.01759222 0.04640277
+v 0.02045312 -0.01782372 0.04443805
+v 0.02292007 -0.01121990 0.05505854
+v 0.02268167 -0.01193470 0.05432247
+v 0.02252274 -0.01135679 0.05687382
+v 0.02261633 -0.01121991 0.05674653
+v 0.02045665 -0.01121995 0.06861775
+v 0.02041074 -0.01254477 0.06488758
+v 0.01813097 -0.01298922 0.07463361
+v 0.01832699 -0.01324777 0.07281280
+v 0.02027653 -0.01498823 0.05696235
+v 0.01416125 -0.02667497 0.02107744
+v 0.01014385 -0.02830735 0.02375608
+v 0.01570288 -0.02584188 0.02107745
+v 0.01567462 -0.02582330 0.02262708
+v 0.01550863 -0.02572191 0.02418223
+v 0.01429899 -0.02621028 0.02514521
+v 0.01159188 -0.02748441 0.02527250
+v 0.01014385 -0.02819921 0.02449769
+v 0.01014385 -0.02827187 0.02402173
+v 0.01035400 -0.02570339 0.03993306
+v 0.01014385 -0.02574901 0.04009355
+v 0.01014385 -0.01558650 0.07739524
+v 0.01467513 -0.01121998 0.07732886
+v 0.02115594 -0.02110868 0.02527252
+v 0.02138551 -0.02133511 0.02262709
+v 0.02268874 -0.02001873 0.02107747
+v 0.02051846 -0.02047671 0.03156510
+v 0.02070034 -0.02065751 0.02980517
+v 0.01799500 -0.01795557 0.05555107
+v 0.01818572 -0.01814483 0.05379114
+v 0.01841175 -0.01836787 0.05167701
+v 0.01869253 -0.01864500 0.04904265
+v 0.02089106 -0.02084676 0.02791241
+v 0.01860070 -0.01360938 0.07016737
+v 0.01782724 -0.01518598 0.06800342
+v 0.01598718 -0.01594136 0.07281279
+v 0.01752351 -0.01748919 0.05960224
+v 0.01783254 -0.01779504 0.05696234
+v 0.02014939 -0.01210880 0.06752748
+v 0.02015645 -0.01121996 0.07012864
+v 0.01999929 -0.01142950 0.07030020
+v 0.01942007 -0.01155118 0.07281281
+v 0.01873314 -0.01172186 0.07549144
+v 0.01790141 -0.01269351 0.07639354
+v 0.01709263 -0.01395582 0.07549143
+v 0.01727275 -0.01453373 0.07281280
+v 0.01758002 -0.01489534 0.07016737
+v 0.01698668 -0.02498514 0.02107745
+v 0.01695842 -0.02496993 0.02262708
+v 0.01299224 -0.02574391 0.03226242
+v 0.01651165 -0.02487700 0.02514522
+v 0.01542916 -0.02310274 0.03973936
+v 0.01295162 -0.02315684 0.04797450
+v 0.01365974 -0.02609707 0.02791239
+v 0.01270263 -0.02560197 0.03402235
+v 0.01014385 -0.02550568 0.04159890
+v 0.01237770 -0.02545496 0.03583762
+v 0.01033987 -0.02312983 0.05573370
+v 0.01014385 -0.02323966 0.05552891
+v 0.01014385 -0.01670179 0.07745613
+v 0.01416125 -0.01412143 0.07761663
+v 0.01686660 -0.01121998 0.07745061
+v 0.01975736 -0.02239295 0.02527252
+v 0.02001871 -0.02261938 0.02262709
+v 0.02060322 -0.02210567 0.02107746
+v 0.02140317 -0.02135201 0.02107746
+v 0.02215720 -0.02057130 0.02107746
+v 0.01806210 -0.02058321 0.04265044
+v 0.01785550 -0.02040747 0.04441038
+v 0.01544682 -0.01797588 0.06621027
+v 0.01560575 -0.01811276 0.06488756
+v 0.01592185 -0.01838650 0.06224766
+v 0.01566226 -0.01562030 0.07545268
+v 0.02008935 -0.01121996 0.07046623
+v 0.01969025 -0.01121997 0.07244200
+v 0.01961079 -0.01121997 0.07281281
+v 0.01899979 -0.01121998 0.07553018
+v 0.01917638 -0.01121997 0.07477197
+v 0.01837290 -0.01121998 0.07706320
+v 0.01547684 -0.01543611 0.07680307
+v 0.01772129 -0.02445453 0.02107745
+v 0.01873491 -0.02368566 0.02262708
+v 0.01847356 -0.02347444 0.02527251
+v 0.01816982 -0.02323449 0.02791240
+v 0.01801796 -0.02311284 0.02923513
+v 0.01565167 -0.02325312 0.03797943
+v 0.01569228 -0.02073195 0.05167700
+v 0.01550333 -0.02058663 0.05322663
+v 0.01523315 -0.02297938 0.04111742
+v 0.01485172 -0.02274112 0.04376285
+v 0.01305051 -0.02065763 0.06152819
+v 0.01266378 -0.02300307 0.04972890
+v 0.01172079 -0.02359958 0.04893194
+v 0.01104446 -0.02346947 0.05167699
+v 0.01058709 -0.02324811 0.05432242
+v 0.01232826 -0.02283241 0.05167700
+v 0.01079370 -0.02080636 0.06752744
+v 0.01048291 -0.02063907 0.06935932
+v 0.01014385 -0.02047516 0.07111371
+v 0.01014385 -0.02317715 0.05589418
+v 0.01014385 -0.01805535 0.07743397
+v 0.01174905 -0.01686908 0.07745613
+v 0.01416125 -0.01597347 0.07715173
+v 0.01602603 -0.01412142 0.07714621
+v 0.01691957 -0.01172186 0.07745061
+v 0.01729571 -0.01121998 0.07744508
+v 0.02003814 -0.02263628 0.02107746
+v 0.01761533 -0.02020301 0.04640276
+v 0.01521019 -0.01777987 0.06797020
+v 0.01301166 -0.01807561 0.07457271
+v 0.01326242 -0.01825980 0.07281278
+v 0.01526140 -0.02041258 0.05498657
+v 0.01398467 -0.01704145 0.07545268
+v 0.01454622 -0.01722732 0.07281279
+v 0.01491176 -0.01753148 0.07016736
+v 0.01795439 -0.01121998 0.07726245
+v 0.01099678 -0.01838655 0.07716279
+v 0.01270969 -0.01784581 0.07633263
+v 0.01875433 -0.02370087 0.02107745
+v 0.01950660 -0.02307732 0.02107746
+v 0.01332422 -0.02083337 0.05960222
+v 0.01278386 -0.02049034 0.06328811
+v 0.01252074 -0.02033489 0.06488756
+v 0.01207927 -0.02007466 0.06752745
+v 0.01159188 -0.01931088 0.07281278
+v 0.01014915 -0.02047178 0.07111925
+v 0.01014385 -0.02011186 0.07281278
+v 0.01014385 -0.01860285 0.07727348
+v 0.01174905 -0.01865185 0.07545267
+v 0.01014385 -0.01910304 0.07651527
+v 0.01014385 -0.01948494 0.07554676
+v 0.01014385 -0.02000878 0.07328873
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 30
+f 1 30 48
+f 1 48 77
+f 1 77 79
+f 1 79 112
+f 1 112 153
+f 1 153 152
+f 1 152 151
+f 1 151 193
+f 1 193 206
+f 1 206 205
+f 1 205 167
+f 1 167 134
+f 1 134 99
+f 1 99 97
+f 1 97 69
+f 1 69 43
+f 1 43 26
+f 1 26 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 29
+f 1 29 47
+f 1 47 76
+f 1 76 109
+f 1 109 148
+f 1 148 192
+f 1 192 202
+f 1 202 165
+f 1 165 163
+f 1 163 164
+f 1 164 162
+f 1 162 161
+f 1 161 160
+f 1 160 126
+f 1 126 92
+f 1 92 64
+f 1 64 62
+f 1 62 91
+f 1 91 88
+f 1 88 60
+f 1 60 59
+f 1 59 57
+f 1 57 58
+f 1 58 56
+f 1 56 34
+f 1 34 23
+f 1 23 13
+f 1 13 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 6 11
+f 6 12 11
+f 6 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 12
+f 7 17 27
+f 7 27 45
+f 7 45 70
+f 7 70 98
+f 7 98 105
+f 7 105 104
+f 7 104 107
+f 7 107 142
+f 7 142 145
+f 7 145 186
+f 7 186 185
+f 7 185 213
+f 7 213 218
+f 7 218 217
+f 7 217 216
+f 7 216 214
+f 7 214 187
+f 7 187 146
+f 7 146 108
+f 7 108 74
+f 7 74 46
+f 7 46 28
+f 7 28 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 11 12 21
+f 11 21 20
+f 12 16 22
+f 12 22 21
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 25 16
+f 15 24 25
+f 16 25 22
+f 17 26 27
+f 18 28 19
+f 19 28 29
+f 20 21 31
+f 20 31 30
+f 21 22 31
+f 22 32 31
+f 22 25 33
+f 22 33 32
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 41 33
+f 25 40 42
+f 25 42 41
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 28 46 47
+f 28 47 29
+f 30 31 49
+f 30 49 48
+f 31 32 50
+f 31 50 49
+f 32 51 50
+f 32 33 52
+f 32 52 51
+f 33 41 53
+f 33 53 54
+f 33 54 55
+f 33 55 52
+f 34 56 36
+f 34 36 35
+f 36 57 37
+f 36 56 58
+f 36 58 57
+f 37 57 38
+f 38 57 39
+f 39 57 59
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 67
+f 40 67 68
+f 40 68 41
+f 40 41 42
+f 41 68 67
+f 41 67 53
+f 43 69 44
+f 44 70 45
+f 44 69 71
+f 44 71 72
+f 44 72 73
+f 44 73 70
+f 46 74 75
+f 46 75 47
+f 47 75 76
+f 48 49 77
+f 49 78 79
+f 49 79 77
+f 49 50 78
+f 50 51 80
+f 50 80 81
+f 50 81 78
+f 51 52 80
+f 52 55 80
+f 53 67 82
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 86
+f 53 86 87
+f 53 87 80
+f 53 80 54
+f 54 80 55
+f 60 88 61
+f 61 88 89
+f 61 89 62
+f 62 64 63
+f 62 89 90
+f 62 90 91
+f 64 92 65
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 82
+f 66 82 67
+f 69 97 71
+f 70 73 98
+f 71 97 99
+f 71 99 100
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 71 103 72
+f 72 103 73
+f 73 104 105
+f 73 105 98
+f 73 103 106
+f 73 106 107
+f 73 107 104
+f 74 108 109
+f 74 109 76
+f 74 76 75
+f 78 81 110
+f 78 110 111
+f 78 111 112
+f 78 112 79
+f 80 113 114
+f 80 114 81
+f 80 87 115
+f 80 115 116
+f 80 116 117
+f 80 117 118
+f 80 118 113
+f 81 119 110
+f 81 114 119
+f 82 96 83
+f 83 120 95
+f 83 95 121
+f 83 121 122
+f 83 122 123
+f 83 123 124
+f 83 124 115
+f 83 115 84
+f 83 96 120
+f 84 115 85
+f 85 115 86
+f 86 115 87
+f 88 91 90
+f 88 90 89
+f 92 125 93
+f 92 126 127
+f 92 127 125
+f 93 125 94
+f 94 128 129
+f 94 129 130
+f 94 130 131
+f 94 131 132
+f 94 132 133
+f 94 133 121
+f 94 121 95
+f 94 125 128
+f 95 120 96
+f 99 134 135
+f 99 135 100
+f 100 135 101
+f 101 136 102
+f 101 135 137
+f 101 137 138
+f 101 138 139
+f 101 139 136
+f 102 136 140
+f 102 140 103
+f 103 140 136
+f 103 136 141
+f 103 141 106
+f 106 142 107
+f 106 141 143
+f 106 143 144
+f 106 144 145
+f 106 145 142
+f 108 146 147
+f 108 147 109
+f 109 147 148
+f 110 119 149
+f 110 149 150
+f 110 150 111
+f 111 150 151
+f 111 151 152
+f 111 152 153
+f 111 153 112
+f 113 154 114
+f 113 118 154
+f 114 154 149
+f 114 149 119
+f 115 155 154
+f 115 154 116
+f 115 124 156
+f 115 156 157
+f 115 157 158
+f 115 158 155
+f 116 154 117
+f 117 154 118
+f 121 133 159
+f 121 159 122
+f 122 159 156
+f 122 156 123
+f 123 156 124
+f 125 127 128
+f 126 160 127
+f 127 160 128
+f 128 160 161
+f 128 161 162
+f 128 162 129
+f 129 163 130
+f 129 162 164
+f 129 164 163
+f 130 163 165
+f 130 165 166
+f 130 166 131
+f 131 166 159
+f 131 159 132
+f 132 159 133
+f 134 167 135
+f 135 168 169
+f 135 169 137
+f 135 167 168
+f 136 139 141
+f 137 169 170
+f 137 170 171
+f 137 171 172
+f 137 172 138
+f 138 172 171
+f 138 171 173
+f 138 173 174
+f 138 174 175
+f 138 175 139
+f 139 176 177
+f 139 177 178
+f 139 178 179
+f 139 179 141
+f 139 175 176
+f 141 179 180
+f 141 180 181
+f 141 181 143
+f 143 181 144
+f 144 181 178
+f 144 178 182
+f 144 182 183
+f 144 183 184
+f 144 184 185
+f 144 185 186
+f 144 186 145
+f 146 187 147
+f 147 188 189
+f 147 189 190
+f 147 190 191
+f 147 191 192
+f 147 192 148
+f 147 187 188
+f 149 169 150
+f 149 154 169
+f 150 169 168
+f 150 168 193
+f 150 193 151
+f 154 171 170
+f 154 170 169
+f 154 155 174
+f 154 174 173
+f 154 173 171
+f 155 158 194
+f 155 194 174
+f 156 159 195
+f 156 195 196
+f 156 196 197
+f 156 197 198
+f 156 198 174
+f 156 174 157
+f 157 174 194
+f 157 194 158
+f 159 166 199
+f 159 199 200
+f 159 200 201
+f 159 201 195
+f 165 202 190
+f 165 190 166
+f 166 190 189
+f 166 189 203
+f 166 203 204
+f 166 204 199
+f 167 205 168
+f 168 205 206
+f 168 206 193
+f 174 198 177
+f 174 177 207
+f 174 207 175
+f 175 207 177
+f 175 177 176
+f 177 197 208
+f 177 208 178
+f 177 198 197
+f 178 181 180
+f 178 180 179
+f 178 208 183
+f 178 183 182
+f 183 208 184
+f 184 208 209
+f 184 209 210
+f 184 210 211
+f 184 211 212
+f 184 212 185
+f 185 212 213
+f 187 214 188
+f 188 214 203
+f 188 203 189
+f 190 202 191
+f 191 202 192
+f 195 201 196
+f 196 201 200
+f 196 200 199
+f 196 199 204
+f 196 204 215
+f 196 215 211
+f 196 211 209
+f 196 209 208
+f 196 208 197
+f 203 214 216
+f 203 216 204
+f 204 216 217
+f 204 217 215
+f 209 211 210
+f 211 215 218
+f 211 218 213
+f 211 213 212
+f 215 217 218
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_21.obj

@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.00853817 0.02895039 0.02107584
+v -0.00853817 0.02406829 0.02107582
+v -0.00853817 0.02898443 0.01998439
+v -0.00897079 0.02887100 0.01998439
+v -0.00906630 0.02881104 0.02107584
+v -0.02240428 0.01243258 0.02107578
+v -0.00853817 0.01243264 0.00552112
+v -0.00853817 0.02858744 0.01778435
+v -0.00897079 0.02852425 0.01794302
+v -0.01033605 0.02830874 0.01856701
+v -0.01050273 0.02837680 0.01998438
+v -0.01050460 0.02837679 0.02107583
+v -0.00974050 0.02862308 0.02107584
+v -0.02764809 0.01243258 0.02107578
+v -0.00853817 0.01243266 -0.00083026
+v -0.00853817 0.02844162 0.01731689
+v -0.00853817 0.02812727 0.01643130
+v -0.00897079 0.02805598 0.01662214
+v -0.01133237 0.02751802 0.01754848
+v -0.01408537 0.02619420 0.01747771
+v -0.01552367 0.02578586 0.01844692
+v -0.01411159 0.02673215 0.01998438
+v -0.01178746 0.02784208 0.01998438
+v -0.01114509 0.02810943 0.02107583
+v -0.02681844 0.01414529 0.02107578
+v -0.02765932 0.01243258 0.02052040
+v -0.00877602 0.01243266 -0.00072304
+v -0.00853817 0.01317802 -0.00032206
+v -0.00853817 0.02722961 0.01470944
+v -0.00897079 0.02709998 0.01470086
+v -0.01138668 0.02621528 0.01474804
+v -0.01321077 0.02591064 0.01565936
+v -0.01492437 0.02543750 0.01668646
+v -0.01650126 0.02474561 0.01747770
+v -0.01832910 0.02342341 0.01734261
+v -0.01875235 0.02375719 0.01998437
+v -0.01696571 0.02504213 0.01998437
+v -0.01567911 0.02588146 0.01998438
+v -0.01566413 0.02587173 0.02107583
+v -0.01474271 0.02637080 0.02107583
+v -0.01411159 0.02671107 0.02107583
+v -0.01274820 0.02736245 0.02107583
+v -0.02644763 0.01481611 0.02107578
+v -0.02683904 0.01414530 0.01998433
+v -0.02766869 0.01243259 0.01998433
+v -0.00982103 0.01243266 -0.00022557
+v -0.01018997 0.01281020 0.00020758
+v -0.00853817 0.01345024 -0.00013122
+v -0.00853817 0.02609699 0.01279459
+v -0.00897079 0.02603542 0.01288894
+v -0.01042781 0.02578264 0.01326847
+v -0.01214141 0.02538566 0.01389889
+v -0.01408537 0.02486067 0.01474803
+v -0.01645631 0.02351578 0.01495817
+v -0.01797702 0.02314633 0.01600887
+v -0.01961383 0.02232968 0.01734260
+v -0.02003896 0.02270396 0.01998436
+v -0.01949210 0.02312849 0.02107581
+v -0.01873737 0.02374584 0.02107582
+v -0.01768861 0.02450092 0.02107582
+v -0.01694886 0.02503077 0.02107582
+v -0.01641699 0.02537915 0.02107582
+v -0.02590640 0.01579318 0.02107579
+v -0.02591763 0.01581101 0.01998434
+v -0.02579965 0.01562629 0.01833110
+v -0.02708063 0.01243260 0.01744764
+v -0.01077990 0.01243266 0.00032980
+v -0.01239986 0.01243266 0.00131403
+v -0.01333063 0.01336597 0.00246980
+v -0.01153650 0.01419235 0.00195731
+v -0.01067690 0.01572519 0.00258131
+v -0.00897079 0.01621616 0.00217604
+v -0.00853817 0.01598121 0.00181151
+v -0.00853817 0.02594792 0.01257373
+v -0.00897079 0.02511345 0.01156805
+v -0.00897079 0.02382852 0.00981616
+v -0.01089039 0.02344125 0.01033937
+v -0.01151590 0.02441346 0.01207624
+v -0.01260399 0.02302482 0.01088401
+v -0.01411159 0.02356601 0.01279244
+v -0.01544875 0.02317388 0.01333280
+v -0.01897147 0.02160862 0.01505250
+v -0.02064761 0.02068178 0.01585876
+v -0.01716236 0.02253547 0.01424840
+v -0.01825419 0.02082276 0.01306904
+v -0.02101468 0.02104474 0.01734260
+v -0.02139485 0.02141903 0.01998436
+v -0.02058581 0.02216114 0.02107581
+v -0.02002210 0.02269099 0.02107581
+v -0.02539512 0.01654664 0.02107579
+v -0.02504491 0.01709595 0.01998434
+v -0.02341559 0.01838575 0.01734259
+v -0.02475650 0.01657583 0.01740691
+v -0.02544194 0.01503164 0.01657064
+v -0.02624350 0.01416313 0.01740690
+v -0.02376018 0.01881027 0.01998435
+v -0.02591951 0.01331893 0.01559283
+v -0.02607869 0.01243260 0.01517041
+v -0.01375950 0.01243265 0.00220176
+v -0.01239049 0.01507868 0.00307450
+v -0.01503862 0.01243265 0.00307663
+v -0.01543752 0.01547079 0.00542678
+v -0.01098029 0.01843926 0.00505797
+v -0.00897079 0.01750109 0.00324390
+v -0.01269389 0.01790941 0.00553400
+v -0.00853817 0.01760966 0.00315169
+v -0.00853817 0.02517988 0.01147370
+v -0.00853817 0.02360654 0.00930582
+v -0.00853817 0.02290331 0.00838806
+v -0.00897079 0.02281581 0.00849527
+v -0.01166573 0.02233295 0.00944519
+v -0.01411159 0.02255816 0.01147154
+v -0.01285682 0.02058945 0.00807714
+v -0.01565289 0.02076444 0.01050876
+v -0.01640762 0.02164914 0.01232068
+v -0.01996592 0.02000935 0.01409829
+v -0.02080118 0.01829664 0.01305616
+v -0.02158026 0.01901769 0.01504392
+v -0.02312531 0.01802604 0.01598955
+v -0.02230128 0.01967069 0.01734259
+v -0.01736649 0.02005959 0.01130857
+v -0.01831599 0.01834688 0.01037795
+v -0.01914189 0.01917812 0.01218344
+v -0.02267958 0.02009359 0.01998435
+v -0.02138174 0.02140606 0.02107581
+v -0.02503368 0.01707811 0.02107579
+v -0.02450368 0.01778944 0.02107580
+v -0.02352796 0.01650940 0.01494527
+v -0.02488385 0.01416314 0.01470724
+v -0.02374895 0.01879568 0.02107580
+v -0.02547940 0.01243261 0.01413472
+v -0.01411159 0.01603629 0.00496790
+v -0.01755377 0.01243264 0.00508797
+v -0.01788338 0.01273889 0.00552755
+v -0.01600685 0.01414535 0.00496789
+v -0.01729158 0.01414535 0.00599501
+v -0.01822235 0.01572517 0.00786483
+v -0.01642073 0.01645433 0.00698568
+v -0.01568847 0.01825291 0.00786699
+v -0.01411159 0.01731960 0.00600145
+v -0.00897079 0.01895778 0.00456479
+v -0.01154212 0.02093135 0.00771904
+v -0.00897079 0.02024271 0.00576773
+v -0.00853817 0.01866287 0.00410591
+v -0.01387374 0.01917975 0.00746386
+v -0.00853817 0.02121492 0.00657185
+v -0.00897079 0.02153087 0.00708862
+v -0.01387374 0.02114360 0.00954598
+v -0.01457042 0.01996724 0.00874829
+v -0.01652748 0.01915706 0.00956312
+v -0.02002959 0.01741843 0.01129569
+v -0.02074687 0.01570572 0.01049159
+v -0.02163082 0.01646727 0.01229707
+v -0.02316464 0.01551613 0.01330060
+v -0.02251478 0.01723046 0.01422908
+v -0.01740207 0.01743788 0.00861748
+v -0.01912504 0.01657099 0.00955668
+v -0.02311407 0.01954914 0.02107580
+v -0.02266647 0.02007900 0.02107580
+v -0.02357665 0.01414532 0.01274522
+v -0.02533894 0.01243261 0.01391600
+v -0.01831037 0.01243264 0.00575056
+v -0.02002772 0.01243263 0.00731589
+v -0.02056333 0.01290577 0.00806853
+v -0.01914751 0.01391525 0.00745527
+v -0.01993408 0.01461848 0.00873326
+v -0.00853817 0.02034155 0.00567553
+v -0.02113828 0.01391524 0.00953737
+v -0.02255223 0.01414533 0.01142434
+v -0.02301294 0.01268702 0.01085396
+v -0.02334442 0.01243262 0.01113272
+v -0.02069068 0.01243263 0.00793987
+v -0.02283315 0.01243262 0.01047442
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 48
+f 1 48 73
+f 1 73 106
+f 1 106 144
+f 1 144 167
+f 1 167 146
+f 1 146 109
+f 1 109 108
+f 1 108 107
+f 1 107 74
+f 1 74 49
+f 1 49 29
+f 1 29 17
+f 1 17 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 24
+f 1 24 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 89
+f 1 89 88
+f 1 88 125
+f 1 125 159
+f 1 159 158
+f 1 158 130
+f 1 130 127
+f 1 127 126
+f 1 126 90
+f 1 90 63
+f 1 63 43
+f 1 43 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 26
+f 6 26 45
+f 6 45 66
+f 6 66 98
+f 6 98 131
+f 6 131 161
+f 6 161 171
+f 6 171 173
+f 6 173 172
+f 6 172 163
+f 6 163 162
+f 6 162 133
+f 6 133 101
+f 6 101 99
+f 6 99 68
+f 6 68 67
+f 6 67 46
+f 6 46 27
+f 6 27 15
+f 6 15 7
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 14 25 26
+f 15 27 28
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 24
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 35
+f 35 56 57
+f 35 57 36
+f 35 55 56
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 39
+f 37 39 38
+f 43 63 64
+f 43 64 44
+f 44 65 45
+f 44 64 65
+f 45 65 66
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 48
+f 48 72 73
+f 48 71 72
+f 49 74 50
+f 50 74 75
+f 50 75 51
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 53 80 81
+f 53 81 54
+f 54 81 55
+f 55 82 83
+f 55 83 56
+f 55 81 84
+f 55 84 85
+f 55 85 82
+f 56 83 86
+f 56 86 57
+f 57 86 87
+f 57 87 88
+f 57 88 89
+f 57 89 58
+f 63 90 64
+f 64 90 91
+f 64 91 65
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 66
+f 65 91 96
+f 65 96 92
+f 66 95 97
+f 66 97 98
+f 68 99 69
+f 69 100 70
+f 69 99 101
+f 69 101 102
+f 69 102 100
+f 70 100 71
+f 71 103 104
+f 71 104 72
+f 71 100 105
+f 71 105 103
+f 72 104 106
+f 72 106 73
+f 74 107 75
+f 75 107 108
+f 75 108 76
+f 76 108 109
+f 76 109 110
+f 76 110 77
+f 77 110 111
+f 77 111 79
+f 77 79 78
+f 79 112 81
+f 79 81 80
+f 79 111 113
+f 79 113 112
+f 81 112 114
+f 81 114 115
+f 81 115 85
+f 81 85 84
+f 82 85 83
+f 83 85 116
+f 83 116 117
+f 83 117 118
+f 83 118 119
+f 83 119 120
+f 83 120 86
+f 85 115 114
+f 85 114 121
+f 85 121 122
+f 85 122 123
+f 85 123 117
+f 85 117 116
+f 86 120 124
+f 86 124 87
+f 87 124 125
+f 87 125 88
+f 90 126 91
+f 91 126 127
+f 91 127 96
+f 92 96 124
+f 92 124 120
+f 92 120 119
+f 92 119 93
+f 93 119 94
+f 94 119 128
+f 94 128 129
+f 94 129 97
+f 94 97 95
+f 96 127 130
+f 96 130 124
+f 97 129 131
+f 97 131 98
+f 100 102 132
+f 100 132 105
+f 101 133 134
+f 101 134 135
+f 101 135 102
+f 102 136 137
+f 102 137 138
+f 102 138 139
+f 102 139 140
+f 102 140 132
+f 102 135 136
+f 103 141 104
+f 103 105 113
+f 103 113 142
+f 103 142 143
+f 103 143 141
+f 104 141 144
+f 104 144 106
+f 105 140 139
+f 105 139 145
+f 105 145 113
+f 105 132 140
+f 109 146 147
+f 109 147 110
+f 110 147 142
+f 110 142 111
+f 111 142 113
+f 112 113 148
+f 112 148 114
+f 113 145 139
+f 113 139 149
+f 113 149 114
+f 113 114 148
+f 114 149 139
+f 114 139 150
+f 114 150 121
+f 117 123 122
+f 117 122 151
+f 117 151 152
+f 117 152 153
+f 117 153 154
+f 117 154 155
+f 117 155 119
+f 117 119 118
+f 119 155 154
+f 119 154 128
+f 121 150 122
+f 122 150 139
+f 122 139 156
+f 122 156 137
+f 122 137 157
+f 122 157 151
+f 124 130 158
+f 124 158 159
+f 124 159 125
+f 128 154 129
+f 129 154 160
+f 129 160 161
+f 129 161 131
+f 133 162 134
+f 134 162 163
+f 134 163 164
+f 134 164 165
+f 134 165 137
+f 134 137 136
+f 134 136 135
+f 137 139 138
+f 137 165 164
+f 137 164 166
+f 137 166 152
+f 137 152 157
+f 137 156 139
+f 141 143 167
+f 141 167 144
+f 142 147 143
+f 143 147 167
+f 146 167 147
+f 151 157 152
+f 152 166 164
+f 152 164 168
+f 152 168 169
+f 152 169 154
+f 152 154 153
+f 154 169 170
+f 154 170 160
+f 160 170 161
+f 161 170 171
+f 163 172 164
+f 164 172 173
+f 164 173 170
+f 164 170 168
+f 168 170 169
+f 170 173 171
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_22.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.01155778 -0.01066734 0.00616528
+v -0.01155778 -0.01066732 -0.00028488
+v -0.01155778 -0.00002437 0.00274185
+v -0.02574804 -0.00002444 0.02107861
+v -0.02334294 -0.01066740 0.02107857
+v -0.01190267 -0.01066732 -0.00007923
+v -0.01155778 -0.00901191 -0.00119941
+v -0.01155778 -0.00002435 -0.00363815
+v -0.03028122 -0.00002444 0.02107861
+v -0.02839163 -0.01066740 0.02107857
+v -0.01159263 -0.00904420 -0.00116070
+v -0.01249707 -0.01066732 0.00029094
+v -0.01278693 -0.01021414 0.00020142
+v -0.01334647 -0.00850143 -0.00021713
+v -0.01155778 -0.00688247 -0.00215750
+v -0.01155778 -0.00127241 -0.00363574
+v -0.01222188 -0.00002435 -0.00312040
+v -0.03028305 -0.00075577 0.02107861
+v -0.03029589 -0.00002443 0.01998261
+v -0.03029956 -0.00127249 0.01998261
+v -0.02839896 -0.01064864 0.02107857
+v -0.02840630 -0.01066739 0.02019790
+v -0.01570020 -0.01066733 0.00257003
+v -0.01211181 -0.00641054 -0.00196636
+v -0.01155778 -0.00641054 -0.00235830
+v -0.01416651 -0.00920672 0.00073128
+v -0.01617901 -0.00898066 0.00217083
+v -0.01505994 -0.00690957 0.00043369
+v -0.01155778 -0.00163496 -0.00357526
+v -0.01285664 -0.00266425 -0.00249136
+v -0.01293736 -0.00127241 -0.00255668
+v -0.01293919 -0.00002435 -0.00255909
+v -0.03028305 -0.00127250 0.02107861
+v -0.02973819 -0.00002442 0.01734303
+v -0.03008859 -0.00384260 0.01998260
+v -0.03016013 -0.00277894 0.02107860
+v -0.02974002 -0.00127248 0.01734303
+v -0.02895117 -0.00898073 0.02107858
+v -0.02896768 -0.00898072 0.01998258
+v -0.02840814 -0.01066739 0.01998257
+v -0.01746503 -0.00898066 0.00324506
+v -0.01849972 -0.01066734 0.00497251
+v -0.01258880 -0.00437696 -0.00228814
+v -0.01416651 -0.00619698 -0.00049535
+v -0.01155778 -0.00556564 -0.00263170
+v -0.01785763 -0.00740964 0.00291118
+v -0.01542318 -0.00519790 0.00015305
+v -0.01155778 -0.00365812 -0.00323412
+v -0.01165684 -0.00364979 -0.00316638
+v -0.01559196 -0.00384253 0.00000790
+v -0.01687798 -0.00384253 0.00110631
+v -0.01579559 -0.00127242 -0.00016871
+v -0.01422338 -0.00127241 -0.00148971
+v -0.01422522 -0.00002435 -0.00149213
+v -0.02923736 -0.00002442 0.01615025
+v -0.02964463 -0.00641062 0.01998259
+v -0.02981340 -0.00534696 0.02107859
+v -0.03007208 -0.00384261 0.02107860
+v -0.02952538 -0.00384259 0.01734302
+v -0.02876588 -0.00127248 0.01502523
+v -0.02865580 -0.00384259 0.01523570
+v -0.02923185 -0.00791706 0.02107858
+v -0.02831825 -0.01044652 0.01845108
+v -0.02840630 -0.01066739 0.01995354
+v -0.01892901 -0.00898067 0.00456606
+v -0.01871253 -0.01066734 0.00517090
+v -0.02021503 -0.00898067 0.00576125
+v -0.01816400 -0.00569693 0.00263537
+v -0.02051773 -0.00763572 0.00547576
+v -0.01708161 -0.00127242 0.00094906
+v -0.01838965 -0.00384254 0.00242731
+v -0.01579743 -0.00002436 -0.00017113
+v -0.01498839 -0.00002436 -0.00085099
+v -0.02876404 -0.00002442 0.01502523
+v -0.02962812 -0.00641063 0.02107859
+v -0.02907592 -0.00641061 0.01734301
+v -0.02842832 -0.00641061 0.01567119
+v -0.02806324 -0.00002441 0.01370422
+v -0.02806141 -0.00127247 0.01370422
+v -0.02794216 -0.00384258 0.01391470
+v -0.02825220 -0.01066739 0.01867367
+v -0.02850720 -0.00877548 0.01747848
+v -0.02799353 -0.00949432 0.01668975
+v -0.02772202 -0.01066738 0.01717363
+v -0.02814029 -0.01066739 0.01822607
+v -0.02113230 -0.01066735 0.00748870
+v -0.02153040 -0.00898068 0.00708225
+v -0.02077824 -0.00592197 0.00521689
+v -0.01967384 -0.00384254 0.00365638
+v -0.02309161 -0.00765031 0.00811534
+v -0.01855659 -0.00127243 0.00227006
+v -0.01855843 -0.00002437 0.00227006
+v -0.01779892 -0.00002437 0.00159020
+v -0.01708161 -0.00002436 0.00094906
+v -0.01984262 -0.00127243 0.00349912
+v -0.02827055 -0.00778161 0.01597119
+v -0.02770000 -0.00641060 0.01435019
+v -0.02701938 -0.00002440 0.01205902
+v -0.02701755 -0.00127246 0.01205902
+v -0.02676988 -0.00384257 0.01205901
+v -0.02568566 -0.00517294 0.01072348
+v -0.02627272 -0.00618139 0.01197190
+v -0.02736428 -0.00877547 0.01493326
+v -0.02656625 -0.01066737 0.01477841
+v -0.02693499 -0.01066738 0.01549697
+v -0.02157443 -0.01066735 0.00795807
+v -0.02281642 -0.00898068 0.00844680
+v -0.02331359 -0.00593656 0.00785889
+v -0.02229541 -0.00384255 0.00630564
+v -0.02100939 -0.00384255 0.00497738
+v -0.02383643 -0.00898069 0.00976538
+v -0.02512246 -0.00898069 0.01150494
+v -0.02546368 -0.00688565 0.01103316
+v -0.02438863 -0.00641058 0.00941700
+v -0.01918218 -0.00002437 0.00286524
+v -0.02115982 -0.00127244 0.00481771
+v -0.01984262 -0.00002437 0.00349671
+v -0.02604707 -0.00898070 0.01282595
+v -0.02645251 -0.00002440 0.01120497
+v -0.02591498 -0.00127246 0.01039930
+v -0.02578840 -0.00384257 0.01057833
+v -0.02480324 -0.00384256 0.00925975
+v -0.02577739 -0.01050068 0.01322756
+v -0.02585995 -0.01066737 0.01349128
+v -0.02251739 -0.01066735 0.00904923
+v -0.02349337 -0.01066736 0.01022748
+v -0.02351906 -0.00384256 0.00762664
+v -0.02244584 -0.00127244 0.00615564
+v -0.02178541 -0.00002438 0.00546611
+v -0.02115982 -0.00002438 0.00481771
+v -0.02048287 -0.00002438 0.00413785
+v -0.02591498 -0.00002440 0.01039930
+v -0.02541231 -0.00002440 0.00971945
+v -0.02493717 -0.00002439 0.00907830
+v -0.02493533 -0.00127245 0.00907830
+v -0.02367683 -0.01066736 0.01047668
+v -0.02556642 -0.01066737 0.01304368
+v -0.02573886 -0.01066737 0.01328804
+v -0.02364931 -0.00127245 0.00747665
+v -0.02244584 -0.00002438 0.00615322
+v -0.02365114 -0.00002439 0.00747423
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 45
+f 1 45 48
+f 1 48 29
+f 1 29 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 22
+f 1 22 40
+f 1 40 64
+f 1 64 81
+f 1 81 85
+f 1 85 84
+f 1 84 105
+f 1 105 104
+f 1 104 124
+f 1 124 138
+f 1 138 137
+f 1 137 136
+f 1 136 126
+f 1 126 125
+f 1 125 106
+f 1 106 86
+f 1 86 66
+f 1 66 42
+f 1 42 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 17
+f 3 17 32
+f 3 32 54
+f 3 54 73
+f 3 73 72
+f 3 72 94
+f 3 94 93
+f 3 93 92
+f 3 92 115
+f 3 115 117
+f 3 117 131
+f 3 131 130
+f 3 130 129
+f 3 129 140
+f 3 140 141
+f 3 141 134
+f 3 134 133
+f 3 133 132
+f 3 132 119
+f 3 119 98
+f 3 98 78
+f 3 78 74
+f 3 74 55
+f 3 55 34
+f 3 34 19
+f 3 19 9
+f 3 9 4
+f 4 9 18
+f 4 18 33
+f 4 33 36
+f 4 36 58
+f 4 58 57
+f 4 57 75
+f 4 75 62
+f 4 62 38
+f 4 38 21
+f 4 21 10
+f 4 10 5
+f 6 11 7
+f 6 12 13
+f 6 13 11
+f 7 11 14
+f 7 14 15
+f 8 16 17
+f 9 19 20
+f 9 20 18
+f 10 21 22
+f 11 13 14
+f 12 23 13
+f 13 23 14
+f 14 24 25
+f 14 25 15
+f 14 23 26
+f 14 26 27
+f 14 27 28
+f 14 28 24
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 18 20 33
+f 19 34 20
+f 20 35 36
+f 20 36 33
+f 20 34 37
+f 20 37 35
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 23 41 27
+f 23 27 26
+f 23 42 41
+f 24 43 25
+f 24 28 44
+f 24 44 43
+f 25 43 45
+f 27 41 46
+f 27 46 28
+f 28 46 47
+f 28 47 44
+f 29 48 49
+f 29 49 30
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 30 49 43
+f 30 43 47
+f 30 47 50
+f 31 53 54
+f 31 54 32
+f 34 55 37
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 35 37 59
+f 35 59 56
+f 37 55 60
+f 37 60 61
+f 37 61 59
+f 38 62 39
+f 39 62 56
+f 39 56 63
+f 39 63 64
+f 39 64 40
+f 41 42 65
+f 41 65 46
+f 42 66 67
+f 42 67 65
+f 43 49 48
+f 43 48 45
+f 43 44 47
+f 46 68 47
+f 46 65 69
+f 46 69 68
+f 47 68 51
+f 47 51 50
+f 51 70 52
+f 51 68 71
+f 51 71 70
+f 52 72 73
+f 52 73 53
+f 52 70 72
+f 53 73 54
+f 55 74 60
+f 56 62 75
+f 56 75 57
+f 56 59 76
+f 56 76 63
+f 59 61 77
+f 59 77 76
+f 60 74 78
+f 60 78 79
+f 60 79 61
+f 61 79 80
+f 61 80 77
+f 63 81 64
+f 63 76 82
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 81
+f 65 67 69
+f 66 86 67
+f 67 86 87
+f 67 87 69
+f 68 69 88
+f 68 88 89
+f 68 89 71
+f 69 87 90
+f 69 90 88
+f 70 71 91
+f 70 91 92
+f 70 92 93
+f 70 93 94
+f 70 94 72
+f 71 89 95
+f 71 95 91
+f 76 77 96
+f 76 96 82
+f 77 80 97
+f 77 97 96
+f 78 98 99
+f 78 99 79
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 102
+f 80 102 97
+f 82 96 83
+f 83 96 103
+f 83 103 104
+f 83 104 105
+f 83 105 84
+f 86 106 107
+f 86 107 87
+f 87 107 90
+f 88 90 108
+f 88 108 109
+f 88 109 110
+f 88 110 89
+f 89 110 95
+f 90 107 111
+f 90 111 112
+f 90 112 113
+f 90 113 114
+f 90 114 108
+f 91 95 115
+f 91 115 92
+f 95 110 116
+f 95 116 117
+f 95 117 115
+f 96 97 103
+f 97 102 118
+f 97 118 103
+f 98 119 99
+f 99 119 120
+f 99 120 121
+f 99 121 100
+f 100 121 101
+f 101 121 122
+f 101 122 108
+f 101 108 114
+f 101 114 113
+f 101 113 102
+f 102 113 118
+f 103 118 123
+f 103 123 124
+f 103 124 104
+f 106 125 107
+f 107 125 126
+f 107 126 111
+f 108 127 109
+f 108 122 127
+f 109 127 128
+f 109 128 116
+f 109 116 110
+f 111 126 112
+f 112 126 123
+f 112 123 118
+f 112 118 113
+f 116 128 129
+f 116 129 130
+f 116 130 131
+f 116 131 117
+f 119 132 120
+f 120 132 133
+f 120 133 134
+f 120 134 135
+f 120 135 121
+f 121 135 122
+f 122 135 127
+f 123 126 136
+f 123 136 137
+f 123 137 138
+f 123 138 124
+f 127 135 139
+f 127 139 128
+f 128 140 129
+f 128 139 141
+f 128 141 140
+f 134 141 135
+f 135 141 139
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_23.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.01155943 -0.02790176 0.01998265
+v -0.01176892 -0.02781404 0.01998265
+v -0.01155943 -0.02788152 0.01977979
+v -0.01155943 -0.02787141 0.02107851
+v -0.01164025 -0.02783767 0.02107851
+v -0.01411132 -0.02667870 0.02107851
+v -0.01411132 -0.02670062 0.01998265
+v -0.01552170 -0.02576096 0.01844762
+v -0.01155943 -0.02737035 0.01755252
+v -0.01155943 -0.02273618 0.02107853
+v -0.01565367 -0.02584363 0.02107852
+v -0.01567181 -0.02585375 0.01998266
+v -0.01695683 -0.02500181 0.01998266
+v -0.01873177 -0.02371632 0.01998266
+v -0.01842495 -0.02347339 0.01779095
+v -0.01674073 -0.02444341 0.01723883
+v -0.01491301 -0.02541174 0.01668672
+v -0.01407832 -0.02616414 0.01747724
+v -0.01320075 -0.02587567 0.01567033
+v -0.01155943 -0.02728094 0.01732248
+v -0.02334232 -0.01066908 0.02107857
+v -0.01155943 -0.01066902 0.00616529
+v -0.01693868 -0.02499001 0.02107852
+v -0.01871857 -0.02370621 0.02107852
+v -0.02001514 -0.02266532 0.01998267
+v -0.02100818 -0.02101036 0.01734132
+v -0.01926953 -0.02245612 0.01708199
+v -0.01796142 -0.02310899 0.01603006
+v -0.01607596 -0.02358134 0.01469996
+v -0.01407832 -0.02483647 0.01475434
+v -0.01212523 -0.02536112 0.01390944
+v -0.01155943 -0.02598025 0.01455147
+v -0.01155943 -0.02614727 0.01484634
+v -0.02839167 -0.01066908 0.02107857
+v -0.01155943 -0.01066900 -0.00028646
+v -0.02000194 -0.02265352 0.02107853
+v -0.02138593 -0.02137983 0.01998267
+v -0.02137603 -0.02136803 0.02107853
+v -0.02229320 -0.01963208 0.01734133
+v -0.02064527 -0.02065272 0.01586484
+v -0.02267095 -0.02005722 0.01998268
+v -0.01916396 -0.02126846 0.01487146
+v -0.01824844 -0.02079104 0.01307710
+v -0.01736097 -0.02265349 0.01469997
+v -0.01545077 -0.02315115 0.01332805
+v -0.01411132 -0.02354254 0.01279058
+v -0.01260360 -0.02299931 0.01088538
+v -0.01155943 -0.02432530 0.01202724
+v -0.01155943 -0.02446869 0.01223219
+v -0.01155943 -0.02548933 0.01370030
+v -0.02786545 -0.01193433 0.02107857
+v -0.02840651 -0.01066907 0.02019812
+v -0.02787535 -0.01195794 0.01998271
+v -0.01155943 -0.01084276 -0.00018817
+v -0.01190254 -0.01066900 -0.00007942
+v -0.02266105 -0.02004542 0.02107854
+v -0.02340831 -0.01834997 0.01734133
+v -0.02311963 -0.01799401 0.01599660
+v -0.02157398 -0.01898259 0.01505132
+v -0.02079043 -0.01825717 0.01307083
+v -0.01996070 -0.01996947 0.01410395
+v -0.02375142 -0.01877341 0.01998268
+v -0.01913426 -0.01914115 0.01219247
+v -0.01830618 -0.01831115 0.01038347
+v -0.01735602 -0.02002176 0.01131621
+v -0.01564377 -0.02073368 0.01051313
+v -0.01640422 -0.02161936 0.01232213
+v -0.01411132 -0.02252864 0.01147096
+v -0.01166500 -0.02231438 0.00944237
+v -0.01155943 -0.02325405 0.01054867
+v -0.01286589 -0.02056834 0.00807254
+v -0.02680313 -0.01412068 0.02107856
+v -0.02840816 -0.01066907 0.01998271
+v -0.02840816 -0.01067245 0.01998271
+v -0.02682127 -0.01412067 0.01998270
+v -0.02840651 -0.01066907 0.01995343
+v -0.02825310 -0.01066907 0.01867354
+v -0.01155943 -0.01157323 0.00025310
+v -0.01249638 -0.01066900 0.00029075
+v -0.02374152 -0.01876161 0.02107854
+v -0.02579029 -0.01558667 0.01835354
+v -0.02474611 -0.01654150 0.01742081
+v -0.02543728 -0.01499453 0.01659264
+v -0.02352048 -0.01648414 0.01495095
+v -0.02316417 -0.01549049 0.01329880
+v -0.02250434 -0.01720448 0.01423571
+v -0.02162512 -0.01643859 0.01230542
+v -0.02074590 -0.01567437 0.01049432
+v -0.02001844 -0.01738667 0.01130994
+v -0.02503643 -0.01705436 0.01998269
+v -0.01912437 -0.01654654 0.00955950
+v -0.01740551 -0.01741871 0.00862258
+v -0.01569161 -0.01823016 0.00786342
+v -0.01652464 -0.01912765 0.00956786
+v -0.01457979 -0.01994246 0.00875433
+v -0.01387873 -0.02111831 0.00954902
+v -0.01155943 -0.02233463 0.00940472
+v -0.01155943 -0.02246453 0.00956366
+v -0.01155943 -0.02111493 0.00795543
+v -0.01387873 -0.01915632 0.00745561
+v -0.01270258 -0.01789106 0.00552950
+v -0.01155943 -0.01824533 0.00520743
+v -0.01155943 -0.01908040 0.00597704
+v -0.01155943 -0.02075728 0.00756853
+v -0.01155943 -0.02091080 0.00771493
+v -0.02589751 -0.01575538 0.02107855
+v -0.02590741 -0.01576887 0.01998269
+v -0.02814093 -0.01066907 0.01822599
+v -0.01155943 -0.01192919 0.00047478
+v -0.01177552 -0.01178917 0.00051870
+v -0.01333766 -0.01335134 0.00246363
+v -0.01416080 -0.01155131 0.00194708
+v -0.01569161 -0.01069432 0.00257657
+v -0.01569985 -0.01066901 0.00257030
+v -0.02502654 -0.01704087 0.02107855
+v -0.02622908 -0.01413078 0.01742082
+v -0.02591236 -0.01328222 0.01560555
+v -0.02487808 -0.01413077 0.01471673
+v -0.02357326 -0.01412065 0.01274461
+v -0.02301406 -0.01266139 0.01085404
+v -0.02255383 -0.01412064 0.01142498
+v -0.02114179 -0.01389458 0.00953651
+v -0.02056774 -0.01288743 0.00806421
+v -0.01994090 -0.01459974 0.00873553
+v -0.01822700 -0.01570641 0.00785925
+v -0.01642732 -0.01643857 0.00698089
+v -0.01544912 -0.01545841 0.00541658
+v -0.01411132 -0.01730905 0.00599587
+v -0.01411132 -0.01602355 0.00495230
+v -0.01240896 -0.01506533 0.00306383
+v -0.01155943 -0.01538586 0.00281914
+v -0.01155943 -0.01665111 0.00384808
+v -0.02772194 -0.01066906 0.01717405
+v -0.02755203 -0.01140291 0.01747939
+v -0.01155943 -0.01418472 0.00195543
+v -0.01505157 -0.01240662 0.00306802
+v -0.01841340 -0.01100473 0.00505270
+v -0.01571965 -0.01066901 0.00258703
+v -0.01788554 -0.01271704 0.00552533
+v -0.02693509 -0.01066906 0.01549681
+v -0.02624227 -0.01143495 0.01471674
+v -0.02538284 -0.01221434 0.01384466
+v -0.02343635 -0.01094908 0.01030822
+v -0.02233279 -0.01170316 0.00942358
+v -0.02440960 -0.01158171 0.01203984
+v -0.02092405 -0.01155133 0.00770242
+v -0.01915076 -0.01389457 0.00744727
+v -0.01730324 -0.01412062 0.00598961
+v -0.01601822 -0.01412062 0.00495649
+v -0.01871197 -0.01066902 0.00516982
+v -0.01849918 -0.01066902 0.00497114
+v -0.02656724 -0.01066905 0.01477948
+v -0.02586122 -0.01066905 0.01349331
+v -0.02573915 -0.01066905 0.01328627
+v -0.02556760 -0.01066905 0.01304368
+v -0.02367554 -0.01066904 0.01047552
+v -0.02349244 -0.01066904 0.01023084
+v -0.02251754 -0.01066903 0.00905133
+v -0.02157398 -0.01066903 0.00795756
+v -0.02113190 -0.01066903 0.00748910
+f 1 2 3
+f 1 3 9
+f 1 9 20
+f 1 20 33
+f 1 33 32
+f 1 32 50
+f 1 50 49
+f 1 49 48
+f 1 48 70
+f 1 70 98
+f 1 98 97
+f 1 97 99
+f 1 99 105
+f 1 105 104
+f 1 104 103
+f 1 103 102
+f 1 102 132
+f 1 132 131
+f 1 131 135
+f 1 135 109
+f 1 109 78
+f 1 78 54
+f 1 54 35
+f 1 35 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 21
+f 4 21 34
+f 4 34 51
+f 4 51 72
+f 4 72 106
+f 4 106 115
+f 4 115 80
+f 4 80 56
+f 4 56 38
+f 4 38 36
+f 4 36 24
+f 4 24 23
+f 4 23 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 10 22 21
+f 11 23 13
+f 11 13 12
+f 13 23 24
+f 13 24 14
+f 14 25 15
+f 14 24 25
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 25 26
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 19
+f 17 19 18
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 22 35
+f 21 35 55
+f 21 55 79
+f 21 79 114
+f 21 114 138
+f 21 138 151
+f 21 151 150
+f 21 150 160
+f 21 160 159
+f 21 159 158
+f 21 158 157
+f 21 157 156
+f 21 156 155
+f 21 155 154
+f 21 154 153
+f 21 153 152
+f 21 152 140
+f 21 140 133
+f 21 133 108
+f 21 108 77
+f 21 77 76
+f 21 76 73
+f 21 73 52
+f 21 52 34
+f 24 36 25
+f 25 37 26
+f 25 36 38
+f 25 38 37
+f 26 39 40
+f 26 40 27
+f 26 37 41
+f 26 41 39
+f 27 40 28
+f 28 40 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 30 45 46
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 34 52 53
+f 34 53 51
+f 35 54 55
+f 37 38 56
+f 37 56 41
+f 39 57 58
+f 39 58 40
+f 39 41 57
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 43
+f 40 43 42
+f 41 62 57
+f 41 56 80
+f 41 80 62
+f 43 45 44
+f 43 61 60
+f 43 60 63
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 45
+f 45 67 66
+f 45 66 68
+f 45 68 47
+f 45 47 46
+f 47 69 70
+f 47 70 48
+f 47 68 71
+f 47 71 69
+f 51 53 72
+f 52 73 74
+f 52 74 53
+f 53 75 72
+f 53 74 76
+f 53 76 77
+f 53 77 75
+f 54 78 55
+f 55 78 79
+f 57 62 81
+f 57 81 82
+f 57 82 58
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 60
+f 58 60 59
+f 58 82 83
+f 60 86 85
+f 60 85 87
+f 60 87 88
+f 60 88 89
+f 60 89 64
+f 60 64 63
+f 62 90 81
+f 62 80 90
+f 64 89 91
+f 64 91 92
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 65 94 66
+f 66 94 93
+f 66 93 95
+f 66 95 71
+f 66 71 96
+f 66 96 68
+f 68 96 71
+f 69 97 98
+f 69 98 70
+f 69 71 99
+f 69 99 97
+f 71 93 100
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 71 103 104
+f 71 104 105
+f 71 105 99
+f 71 95 93
+f 72 75 106
+f 73 76 74
+f 75 77 81
+f 75 81 107
+f 75 107 106
+f 77 108 81
+f 78 109 110
+f 78 110 79
+f 79 110 111
+f 79 111 112
+f 79 112 113
+f 79 113 114
+f 80 115 90
+f 81 108 116
+f 81 116 83
+f 81 83 82
+f 81 90 107
+f 83 117 118
+f 83 118 84
+f 83 116 117
+f 84 118 85
+f 85 119 120
+f 85 120 121
+f 85 121 88
+f 85 88 87
+f 85 118 119
+f 88 122 123
+f 88 123 124
+f 88 124 125
+f 88 125 91
+f 88 91 89
+f 88 121 122
+f 90 115 106
+f 90 106 107
+f 91 125 92
+f 92 125 93
+f 93 125 126
+f 93 126 127
+f 93 127 128
+f 93 128 101
+f 93 101 100
+f 101 128 129
+f 101 129 130
+f 101 130 131
+f 101 131 132
+f 101 132 102
+f 108 133 134
+f 108 134 116
+f 109 135 111
+f 109 111 110
+f 111 136 112
+f 111 135 130
+f 111 130 127
+f 111 127 136
+f 112 136 113
+f 113 137 138
+f 113 138 114
+f 113 136 139
+f 113 139 137
+f 116 134 117
+f 117 134 133
+f 117 133 140
+f 117 140 141
+f 117 141 142
+f 117 142 118
+f 118 142 119
+f 119 142 120
+f 120 143 144
+f 120 144 123
+f 120 123 122
+f 120 122 121
+f 120 142 145
+f 120 145 143
+f 123 146 137
+f 123 137 139
+f 123 139 147
+f 123 147 125
+f 123 125 124
+f 123 144 146
+f 125 147 139
+f 125 139 148
+f 125 148 127
+f 125 127 126
+f 127 148 149
+f 127 149 136
+f 127 130 129
+f 127 129 128
+f 130 135 131
+f 136 149 139
+f 137 150 151
+f 137 151 138
+f 137 146 150
+f 139 149 148
+f 140 152 141
+f 141 152 153
+f 141 153 142
+f 142 153 154
+f 142 154 155
+f 142 155 145
+f 143 145 155
+f 143 155 156
+f 143 156 157
+f 143 157 158
+f 143 158 144
+f 144 158 146
+f 146 158 159
+f 146 159 160
+f 146 160 150
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_24.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.03032434 -0.00127313 0.02108308
+v 0.03032273 0.00000978 0.02108308
+v 0.03029857 0.00000978 0.02262770
+v 0.03029857 -0.00127313 0.02262770
+v 0.03007954 -0.00384224 0.02262769
+v 0.03010370 -0.00384224 0.02108307
+v 0.02578259 0.00000978 0.02108308
+v 0.03012947 0.00000977 0.02395087
+v 0.02996197 -0.00127314 0.02526850
+v 0.02963181 -0.00641135 0.02262768
+v 0.02965757 -0.00641135 0.02108306
+v 0.02973971 -0.00384225 0.02526849
+v 0.02306077 -0.01121978 0.02108304
+v 0.01420274 -0.01121997 0.07280843
+v 0.01818402 0.00000959 0.07289705
+v 0.02996036 0.00000977 0.02526850
+v 0.02829666 0.00000972 0.03716595
+v 0.02829666 -0.00001557 0.03716595
+v 0.02842712 -0.00103243 0.03594243
+v 0.02881204 -0.00127317 0.03319644
+v 0.02824995 -0.00172831 0.03689466
+v 0.02838524 -0.00321348 0.03513413
+v 0.02895215 -0.00898047 0.02262767
+v 0.02928876 -0.00641136 0.02526848
+v 0.02897792 -0.00898047 0.02108305
+v 0.02853985 -0.00397970 0.03334591
+v 0.02826284 -0.00492732 0.03432582
+v 0.02818392 -0.01121978 0.02108304
+v 0.01410772 -0.01121997 0.07347278
+v 0.01387097 -0.01121998 0.07545476
+v 0.01790862 0.00000958 0.07538283
+v 0.02578420 0.00000966 0.05338169
+v 0.02686166 -0.00127322 0.04640045
+v 0.02726269 -0.00127321 0.04375965
+v 0.02765566 -0.00127320 0.04111885
+v 0.02578420 -0.00127325 0.05337615
+v 0.02645419 -0.00127323 0.04904125
+v 0.02701144 -0.00384232 0.04375964
+v 0.02740764 -0.00384231 0.04111884
+v 0.02574233 -0.00267488 0.05311040
+v 0.02859944 -0.00904534 0.02514114
+v 0.02833048 -0.01035023 0.02417228
+v 0.02842389 -0.01058218 0.02262766
+v 0.02876050 -0.00964336 0.02108304
+v 0.02844805 -0.00818238 0.02790927
+v 0.02839490 -0.00556602 0.03256529
+v 0.02819681 -0.00727875 0.03123103
+v 0.02833048 -0.00780752 0.02947050
+v 0.02575038 -0.00523079 0.05052495
+v 0.02843839 -0.01061625 0.02108304
+v 0.02815493 -0.01121978 0.02262766
+v 0.01389030 -0.01121998 0.07557656
+v 0.01791667 0.00000958 0.07691084
+v 0.02480177 0.00000964 0.05960446
+v 0.02480177 -0.00127327 0.05960446
+v 0.02660558 -0.00384233 0.04640044
+v 0.02317189 -0.00266284 0.06895521
+v 0.02452959 -0.00384238 0.05960445
+v 0.02495638 -0.00384237 0.05696365
+v 0.02543471 -0.00365548 0.05412354
+v 0.02561349 -0.00438762 0.05228548
+v 0.02584218 -0.00365547 0.05151595
+v 0.02580997 -0.00794170 0.04562534
+v 0.02819036 -0.00994569 0.02593281
+v 0.02782155 -0.01121979 0.02501933
+v 0.02807118 -0.01121979 0.02328647
+v 0.02564570 -0.01004798 0.04193817
+v 0.02578420 -0.01039976 0.04017764
+v 0.02731262 -0.00641141 0.03847802
+v 0.02690998 -0.00641142 0.04111883
+v 0.02566985 -0.00748988 0.04738587
+v 0.02317673 -0.00520666 0.06633655
+v 0.02441524 -0.00641148 0.05696364
+v 0.02484525 -0.00641147 0.05432284
+v 0.02534291 -0.00621688 0.05151594
+v 0.02605155 -0.00654446 0.04646686
+v 0.02650412 -0.00641143 0.04375963
+v 0.01448942 -0.01121998 0.07723744
+v 0.01467625 -0.01121998 0.07733156
+v 0.01860760 0.00000958 0.07722641
+v 0.02437175 0.00000963 0.06224526
+v 0.02437014 -0.00127328 0.06224526
+v 0.02393529 -0.00127329 0.06488606
+v 0.02349883 -0.00127330 0.06752686
+v 0.02321699 -0.00127330 0.06922650
+v 0.02260820 -0.00127332 0.07280847
+v 0.02211537 -0.00127333 0.07545480
+v 0.02182386 -0.00384244 0.07545479
+v 0.02231508 -0.00384243 0.07280846
+v 0.02283368 -0.00364894 0.06996835
+v 0.02302694 -0.00437558 0.06809708
+v 0.02327658 -0.00364893 0.06733862
+v 0.02409152 -0.00384239 0.06224525
+v 0.02534130 -0.00887172 0.04646685
+v 0.02550075 -0.00964454 0.04375961
+v 0.02323954 -0.00791427 0.06141479
+v 0.02445711 -0.00898058 0.05167649
+v 0.02580675 -0.01121984 0.03769739
+v 0.02402226 -0.00898059 0.05432283
+v 0.02320571 -0.01036904 0.05593387
+v 0.02488230 -0.01121986 0.04336100
+v 0.02528010 -0.01121985 0.04094164
+v 0.02554745 -0.01121984 0.03929737
+v 0.02334261 -0.01064825 0.05432282
+v 0.02308653 -0.00745696 0.06317532
+v 0.02171112 -0.00641154 0.07280845
+v 0.02217335 -0.00641153 0.07016764
+v 0.02272255 -0.00620155 0.06733861
+v 0.02349722 -0.00652473 0.06227292
+v 0.02397717 -0.00641149 0.05960444
+v 0.01930174 -0.00384245 0.07763609
+v 0.01930174 0.00000958 0.07754198
+v 0.01686659 -0.01121998 0.07745336
+v 0.02349883 0.00000961 0.06752686
+v 0.02335711 0.00000961 0.06837945
+v 0.02321699 0.00000961 0.06922096
+v 0.02260820 0.00000959 0.07280847
+v 0.02211376 0.00000958 0.07545480
+v 0.02121346 -0.00127333 0.07740911
+v 0.02107335 -0.00384244 0.07730391
+v 0.02236179 0.00000959 0.07413164
+v 0.02083982 -0.00597293 0.07707137
+v 0.02058052 -0.00768567 0.07675580
+v 0.02109429 -0.00666220 0.07570945
+v 0.02075607 -0.00809132 0.07499527
+v 0.02095900 -0.00856621 0.07280844
+v 0.02173206 -0.00898064 0.06752683
+v 0.02288200 -0.00959623 0.05960442
+v 0.02305110 -0.01001176 0.05769440
+v 0.02339254 -0.00831112 0.05960443
+v 0.02355359 -0.00908503 0.05687504
+v 0.02054509 -0.01017561 0.07127488
+v 0.02070936 -0.01049001 0.06950881
+v 0.02292065 -0.01121990 0.05505914
+v 0.02320410 -0.01121990 0.05345362
+v 0.02359225 -0.01121989 0.05117268
+v 0.02352944 -0.01121989 0.05154914
+v 0.01729661 -0.01121998 0.07744782
+v 0.01897963 -0.00898067 0.07741461
+v 0.02121185 0.00000958 0.07740911
+v 0.01899896 -0.01121998 0.07553227
+v 0.02020204 -0.00896088 0.07570944
+v 0.02039531 -0.00985132 0.07280843
+v 0.01844976 -0.01097813 0.07717100
+v 0.01837246 -0.01121998 0.07706028
+v 0.02114743 -0.00918292 0.07030051
+v 0.01969150 -0.01121997 0.07244303
+v 0.02009252 -0.01121996 0.07046658
+v 0.02045812 -0.01121995 0.06861747
+v 0.02078184 -0.01121995 0.06691783
+v 0.02089136 -0.01082200 0.06752682
+v 0.02110717 -0.01121994 0.06512408
+v 0.01795371 -0.01121998 0.07725959
+v 0.01917934 -0.01121997 0.07477380
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 25
+f 1 25 44
+f 1 44 50
+f 1 50 28
+f 1 28 13
+f 1 13 7
+f 1 7 2
+f 2 7 15
+f 2 15 31
+f 2 31 53
+f 2 53 80
+f 2 80 112
+f 2 112 140
+f 2 140 118
+f 2 118 121
+f 2 121 117
+f 2 117 116
+f 2 116 115
+f 2 115 114
+f 2 114 81
+f 2 81 54
+f 2 54 32
+f 2 32 17
+f 2 17 16
+f 2 16 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 12
+f 5 12 10
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 10 23 25
+f 10 25 11
+f 10 12 24
+f 10 24 23
+f 12 22 26
+f 12 26 27
+f 12 27 24
+f 13 28 51
+f 13 51 66
+f 13 66 65
+f 13 65 98
+f 13 98 103
+f 13 103 102
+f 13 102 101
+f 13 101 136
+f 13 136 137
+f 13 137 135
+f 13 135 134
+f 13 134 152
+f 13 152 150
+f 13 150 149
+f 13 149 148
+f 13 148 147
+f 13 147 154
+f 13 154 141
+f 13 141 145
+f 13 145 153
+f 13 153 138
+f 13 138 113
+f 13 113 79
+f 13 79 78
+f 13 78 52
+f 13 52 30
+f 13 30 29
+f 13 29 14
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 17 32 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 32 36
+f 18 36 37
+f 18 37 33
+f 19 21 20
+f 19 35 21
+f 21 35 34
+f 21 34 22
+f 22 38 39
+f 22 39 27
+f 22 27 26
+f 22 34 40
+f 22 40 38
+f 23 24 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 25
+f 24 45 41
+f 24 27 46
+f 24 46 47
+f 24 47 48
+f 24 48 45
+f 27 39 38
+f 27 38 49
+f 27 49 46
+f 28 50 43
+f 28 43 51
+f 30 52 53
+f 30 53 31
+f 32 54 55
+f 32 55 36
+f 33 37 40
+f 33 40 34
+f 36 55 40
+f 36 40 37
+f 38 56 49
+f 38 40 56
+f 40 55 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 56
+f 41 45 48
+f 41 48 63
+f 41 63 64
+f 41 64 42
+f 42 65 66
+f 42 66 51
+f 42 51 43
+f 42 64 63
+f 42 63 67
+f 42 67 68
+f 42 68 65
+f 43 50 44
+f 46 69 47
+f 46 49 69
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 63
+f 49 61 59
+f 49 59 58
+f 49 58 72
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 71
+f 49 71 76
+f 49 76 77
+f 49 77 70
+f 49 70 69
+f 49 56 61
+f 52 78 53
+f 53 78 79
+f 53 79 80
+f 54 81 55
+f 55 81 82
+f 55 82 57
+f 56 62 61
+f 57 83 84
+f 57 84 85
+f 57 85 86
+f 57 86 87
+f 57 87 88
+f 57 88 89
+f 57 89 90
+f 57 90 91
+f 57 91 92
+f 57 92 93
+f 57 93 58
+f 57 82 83
+f 58 93 72
+f 59 61 60
+f 63 94 95
+f 63 95 67
+f 63 71 96
+f 63 96 97
+f 63 97 94
+f 65 68 98
+f 67 95 97
+f 67 97 99
+f 67 99 100
+f 67 100 68
+f 68 101 102
+f 68 102 103
+f 68 103 98
+f 68 100 104
+f 68 104 101
+f 70 77 71
+f 71 77 76
+f 71 75 74
+f 71 74 73
+f 71 73 105
+f 71 105 96
+f 72 91 89
+f 72 89 106
+f 72 106 107
+f 72 107 108
+f 72 108 105
+f 72 105 109
+f 72 109 110
+f 72 110 73
+f 72 93 91
+f 73 110 105
+f 79 111 112
+f 79 112 80
+f 79 113 111
+f 81 114 84
+f 81 84 83
+f 81 83 82
+f 84 114 85
+f 85 114 115
+f 85 115 116
+f 85 116 117
+f 85 117 86
+f 86 117 121
+f 86 121 87
+f 87 118 140
+f 87 140 119
+f 87 119 120
+f 87 120 88
+f 87 121 118
+f 88 120 122
+f 88 122 123
+f 88 123 124
+f 88 124 106
+f 88 106 89
+f 89 91 90
+f 91 93 92
+f 94 97 95
+f 96 105 125
+f 96 125 126
+f 96 126 127
+f 96 127 128
+f 96 128 129
+f 96 129 130
+f 96 130 99
+f 96 99 97
+f 99 131 100
+f 99 130 131
+f 100 131 129
+f 100 129 132
+f 100 132 133
+f 100 133 134
+f 100 134 135
+f 100 135 104
+f 101 104 136
+f 104 135 137
+f 104 137 136
+f 105 110 109
+f 105 108 107
+f 105 107 106
+f 105 106 123
+f 105 123 125
+f 106 124 123
+f 111 113 138
+f 111 138 139
+f 111 139 120
+f 111 120 119
+f 111 119 140
+f 111 140 112
+f 120 139 122
+f 122 139 123
+f 123 141 142
+f 123 142 143
+f 123 143 125
+f 123 139 144
+f 123 144 145
+f 123 145 141
+f 125 143 132
+f 125 132 126
+f 126 132 146
+f 126 146 127
+f 127 146 132
+f 127 132 129
+f 127 129 128
+f 129 131 130
+f 132 143 147
+f 132 147 148
+f 132 148 149
+f 132 149 133
+f 133 149 150
+f 133 150 151
+f 133 151 134
+f 134 151 152
+f 138 153 144
+f 138 144 139
+f 141 154 142
+f 142 154 143
+f 143 154 147
+f 144 153 145
+f 150 152 151
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_25.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v 0.01230612 -0.02758653 0.01998447
+v 0.01230612 -0.02704331 0.01752839
+v 0.01557329 -0.02576156 0.01844475
+v 0.01416188 -0.02669889 0.01998447
+v 0.01416188 -0.02667491 0.02107744
+v 0.01230612 -0.02757454 0.02052264
+v 0.01413151 -0.02616767 0.01747644
+v 0.01230612 -0.02604086 0.01518451
+v 0.01325558 -0.02588321 0.01566243
+v 0.01572194 -0.02585409 0.01998448
+v 0.01496908 -0.02541026 0.01668477
+v 0.01679128 -0.02444037 0.01723957
+v 0.01846483 -0.02347049 0.01779437
+v 0.01876693 -0.02371211 0.01998448
+v 0.01700707 -0.02499730 0.01998448
+v 0.01570276 -0.02584211 0.02107745
+v 0.01478686 -0.02633733 0.02107744
+v 0.01279363 -0.02732779 0.02107744
+v 0.01230612 -0.02755398 0.02107744
+v 0.01230612 -0.02542053 0.01409363
+v 0.01230612 -0.02533314 0.01395233
+v 0.01413151 -0.02483620 0.01474817
+v 0.01612314 -0.02357843 0.01470037
+v 0.01800928 -0.02310720 0.01603232
+v 0.01931359 -0.02244062 0.01708582
+v 0.02103828 -0.02099092 0.01734140
+v 0.02005206 -0.02264968 0.01998449
+v 0.01950700 -0.02307809 0.02107746
+v 0.01875414 -0.02370012 0.02107745
+v 0.01772156 -0.02445410 0.02107745
+v 0.01698789 -0.02498531 0.02107745
+v 0.01230612 -0.02235839 0.02107746
+v 0.01230612 -0.02346018 0.01127184
+v 0.01266416 -0.02300265 0.01087912
+v 0.01416188 -0.02354416 0.01278663
+v 0.01549976 -0.02315003 0.01333104
+v 0.02068024 -0.02063792 0.01588479
+v 0.01740827 -0.02264966 0.01470038
+v 0.01829060 -0.02078700 0.01308170
+v 0.01920809 -0.02125652 0.01488324
+v 0.02232341 -0.01960806 0.01734141
+v 0.02270224 -0.02003304 0.01998450
+v 0.02141711 -0.02136450 0.01998449
+v 0.02003927 -0.02263770 0.02107746
+v 0.02359416 -0.01008054 0.02107750
+v 0.01230612 -0.01008048 0.00630362
+v 0.01230612 -0.02274047 0.01033056
+v 0.01416188 -0.02253484 0.01146717
+v 0.01291032 -0.02056592 0.00807603
+v 0.01569956 -0.02073729 0.01051133
+v 0.01645561 -0.02161980 0.01232534
+v 0.02315619 -0.01797672 0.01601986
+v 0.02000410 -0.01996105 0.01412274
+v 0.02083049 -0.01825089 0.01308171
+v 0.02161212 -0.01896718 0.01507234
+v 0.01741307 -0.02001759 0.01131965
+v 0.01834495 -0.01830571 0.01039706
+v 0.01917453 -0.01913337 0.01220068
+v 0.02343591 -0.01832458 0.01734141
+v 0.02377798 -0.01874956 0.01998450
+v 0.02376679 -0.01873586 0.02107747
+v 0.02268945 -0.02001763 0.02107747
+v 0.02215718 -0.02057111 0.02107746
+v 0.02140432 -0.02135251 0.02107746
+v 0.02861639 -0.01008054 0.02107750
+v 0.01230612 -0.01008046 -0.00015034
+v 0.01230612 -0.02072357 0.00790980
+v 0.01392372 -0.02112114 0.00954719
+v 0.01230612 -0.01987535 0.00710566
+v 0.01230612 -0.01851475 0.00585684
+v 0.01274888 -0.01788929 0.00553061
+v 0.01392372 -0.01914879 0.00746514
+v 0.01572833 -0.01822002 0.00787241
+v 0.01462383 -0.01993190 0.00875136
+v 0.01657070 -0.01911795 0.00957421
+v 0.02254399 -0.01718675 0.01425989
+v 0.02320254 -0.01547316 0.01331652
+v 0.02354620 -0.01647390 0.01496430
+v 0.02547230 -0.01496595 0.01662663
+v 0.02477059 -0.01653046 0.01744116
+v 0.02005845 -0.01737181 0.01131966
+v 0.02078413 -0.01565994 0.01050928
+v 0.02166327 -0.01642249 0.01231705
+v 0.01744184 -0.01740093 0.00863501
+v 0.01916014 -0.01653044 0.00957214
+v 0.02582715 -0.01556743 0.01838660
+v 0.02506311 -0.01701713 0.01998451
+v 0.02451964 -0.01771971 0.02107747
+v 0.02843737 -0.01061689 0.02107750
+v 0.02844696 -0.01064087 0.01998453
+v 0.02863398 -0.01008053 0.01998453
+v 0.01270572 -0.01008046 0.00008239
+v 0.01281921 -0.01019184 0.00021122
+v 0.01230612 -0.01014215 -0.00011502
+v 0.01230612 -0.01740949 0.00488647
+v 0.01416188 -0.01729468 0.00600231
+v 0.01230612 -0.01537716 0.00326363
+v 0.01243878 -0.01504130 0.00307662
+v 0.01416188 -0.01601120 0.00497167
+v 0.01548218 -0.01544229 0.00543088
+v 0.01646201 -0.01642076 0.00699347
+v 0.01826183 -0.01568734 0.00787450
+v 0.02258236 -0.01412113 0.01145058
+v 0.02305069 -0.01263717 0.01087084
+v 0.02360375 -0.01412114 0.01277004
+v 0.02490486 -0.01411429 0.01473158
+v 0.02594703 -0.01325237 0.01563339
+v 0.02625553 -0.01411430 0.01744117
+v 0.01997533 -0.01457351 0.00874930
+v 0.02060032 -0.01285993 0.00808437
+v 0.02116456 -0.01387781 0.00954514
+v 0.02836064 -0.01042839 0.01847182
+v 0.02790509 -0.01192606 0.01998453
+v 0.02682776 -0.01412116 0.01998452
+v 0.02593264 -0.01573365 0.01998451
+v 0.02505192 -0.01699829 0.02107748
+v 0.02811928 -0.01137087 0.02107750
+v 0.02839901 -0.01008053 0.01826610
+v 0.01297426 -0.01008046 0.00027147
+v 0.01336427 -0.01332943 0.00248027
+v 0.01230612 -0.01227042 0.00115665
+v 0.01230612 -0.01100408 0.00038160
+v 0.01572514 -0.01066651 0.00259457
+v 0.01507778 -0.01238010 0.00308287
+v 0.01230612 -0.01490421 0.00290209
+v 0.01732995 -0.01412111 0.00600855
+v 0.01604482 -0.01412111 0.00497583
+v 0.01792136 -0.01269541 0.00553687
+v 0.01919211 -0.01387780 0.00747555
+v 0.02235218 -0.01168783 0.00943502
+v 0.02347587 -0.01092358 0.01032644
+v 0.02444771 -0.01155418 0.01205733
+v 0.02541795 -0.01218479 0.01387342
+v 0.02789231 -0.01008052 0.01695702
+v 0.02757902 -0.01139141 0.01749105
+v 0.02626991 -0.01141711 0.01473159
+v 0.01844884 -0.01098182 0.00506312
+v 0.02094558 -0.01155074 0.00772699
+v 0.02824076 -0.01008053 0.01782767
+v 0.02789391 -0.01190208 0.02107750
+v 0.02743676 -0.01283427 0.02107749
+v 0.02680538 -0.01412117 0.02107749
+v 0.02644574 -0.01476891 0.02107749
+v 0.02591986 -0.01571310 0.02107748
+v 0.01512093 -0.01008047 0.00186315
+v 0.01230612 -0.01382294 0.00217274
+v 0.01589297 -0.01008047 0.00245535
+v 0.01801887 -0.01008048 0.00425066
+v 0.02264150 -0.01008049 0.00886568
+v 0.02319935 -0.01008049 0.00952437
+v 0.02364691 -0.01008050 0.01009579
+v 0.02564333 -0.01008051 0.01279707
+v 0.02581596 -0.01047121 0.01324589
+v 0.02683735 -0.01008051 0.01483757
+v 0.01868061 -0.01008048 0.00484494
+v 0.02054437 -0.01008048 0.00661323
+v 0.02129243 -0.01008049 0.00736959
+v 0.02588469 -0.01008051 0.01314200
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 32
+f 1 32 46
+f 1 46 66
+f 1 66 94
+f 1 94 122
+f 1 122 121
+f 1 121 146
+f 1 146 125
+f 1 125 97
+f 1 97 95
+f 1 95 70
+f 1 70 69
+f 1 69 67
+f 1 67 47
+f 1 47 33
+f 1 33 21
+f 1 21 20
+f 1 20 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 3 7 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 10
+f 4 10 16
+f 4 16 17
+f 4 17 5
+f 5 17 16
+f 5 16 31
+f 5 31 30
+f 5 30 29
+f 5 29 28
+f 5 28 44
+f 5 44 64
+f 5 64 63
+f 5 63 62
+f 5 62 61
+f 5 61 88
+f 5 88 116
+f 5 116 144
+f 5 144 143
+f 5 143 142
+f 5 142 141
+f 5 141 140
+f 5 140 117
+f 5 117 89
+f 5 89 65
+f 5 65 45
+f 5 45 32
+f 5 32 19
+f 5 19 18
+f 5 18 6
+f 6 18 19
+f 7 9 11
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 11
+f 10 15 31
+f 10 31 16
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 37 25
+f 24 36 38
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 25 37 26
+f 26 37 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 64
+f 27 64 44
+f 27 44 28
+f 32 45 46
+f 33 47 34
+f 34 48 36
+f 34 36 35
+f 34 47 49
+f 34 49 48
+f 36 48 50
+f 36 50 51
+f 36 51 39
+f 36 39 38
+f 37 52 41
+f 37 40 39
+f 37 39 53
+f 37 53 54
+f 37 54 55
+f 37 55 52
+f 39 54 53
+f 39 51 50
+f 39 50 56
+f 39 56 57
+f 39 57 58
+f 39 58 54
+f 41 52 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 45 65 91
+f 45 91 118
+f 45 118 139
+f 45 139 134
+f 45 134 154
+f 45 154 158
+f 45 158 152
+f 45 152 151
+f 45 151 150
+f 45 150 149
+f 45 149 157
+f 45 157 156
+f 45 156 155
+f 45 155 148
+f 45 148 147
+f 45 147 145
+f 45 145 119
+f 45 119 92
+f 45 92 66
+f 45 66 46
+f 47 67 49
+f 48 49 68
+f 48 68 50
+f 49 67 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 50
+f 49 50 68
+f 50 74 73
+f 50 73 75
+f 50 75 56
+f 52 55 54
+f 52 54 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 80
+f 52 80 59
+f 54 77 76
+f 54 58 57
+f 54 57 81
+f 54 81 82
+f 54 82 83
+f 54 83 77
+f 56 75 57
+f 57 75 73
+f 57 73 84
+f 57 84 85
+f 57 85 81
+f 59 80 86
+f 59 86 60
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 65 89 90
+f 65 90 91
+f 66 92 93
+f 66 93 94
+f 70 95 71
+f 71 96 73
+f 71 73 72
+f 71 95 97
+f 71 97 98
+f 71 98 99
+f 71 99 96
+f 73 96 100
+f 73 100 101
+f 73 101 102
+f 73 102 84
+f 77 83 82
+f 77 82 103
+f 77 103 104
+f 77 104 105
+f 77 105 106
+f 77 106 78
+f 78 106 79
+f 79 106 107
+f 79 107 108
+f 79 108 86
+f 79 86 80
+f 81 85 82
+f 82 85 102
+f 82 102 109
+f 82 109 110
+f 82 110 111
+f 82 111 103
+f 84 102 85
+f 86 108 112
+f 86 112 113
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 116
+f 87 116 88
+f 89 117 113
+f 89 113 90
+f 90 113 112
+f 90 112 91
+f 91 112 118
+f 92 119 93
+f 93 120 121
+f 93 121 122
+f 93 122 94
+f 93 119 123
+f 93 123 124
+f 93 124 120
+f 96 99 100
+f 97 125 98
+f 98 125 120
+f 98 120 100
+f 98 100 99
+f 100 126 102
+f 100 102 101
+f 100 120 124
+f 100 124 127
+f 100 127 126
+f 102 126 128
+f 102 128 129
+f 102 129 110
+f 102 110 109
+f 103 111 104
+f 104 111 110
+f 104 110 130
+f 104 130 131
+f 104 131 132
+f 104 132 133
+f 104 133 105
+f 105 133 106
+f 106 133 107
+f 107 134 135
+f 107 135 108
+f 107 133 136
+f 107 136 134
+f 108 135 112
+f 110 129 128
+f 110 128 137
+f 110 137 138
+f 110 138 130
+f 112 135 134
+f 112 134 139
+f 112 139 118
+f 113 117 140
+f 113 140 141
+f 113 141 142
+f 113 142 114
+f 114 142 115
+f 115 142 143
+f 115 143 144
+f 115 144 116
+f 119 145 123
+f 120 125 146
+f 120 146 121
+f 123 145 147
+f 123 147 148
+f 123 148 137
+f 123 137 128
+f 123 128 124
+f 124 128 127
+f 126 127 128
+f 130 149 131
+f 130 138 149
+f 131 149 150
+f 131 150 151
+f 131 151 152
+f 131 152 153
+f 131 153 132
+f 132 153 133
+f 133 153 136
+f 134 136 154
+f 136 153 154
+f 137 148 155
+f 137 155 156
+f 137 156 138
+f 138 156 157
+f 138 157 149
+f 152 158 153
+f 153 158 154
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_26.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00001551 -0.00002432 -0.00925240
+v -0.00571703 -0.00002432 -0.00925240
+v 0.00001551 -0.00571968 -0.00925242
+v 0.00001551 -0.00002427 -0.02120386
+v -0.00571871 -0.00119910 -0.00925240
+v -0.00361849 -0.00002427 -0.02120386
+v -0.00361905 -0.00022732 -0.02120386
+v -0.00362073 -0.00127268 -0.02120386
+v -0.00117187 -0.00572303 -0.00925242
+v -0.00126001 -0.00361664 -0.02120387
+v 0.00001551 -0.00360883 -0.02120387
+v -0.00568559 -0.00129839 -0.00925240
+v -0.00317890 -0.00218862 -0.02120387
+v -0.00127292 -0.00568956 -0.00925242
+v -0.00217791 -0.00318154 -0.02120387
+v -0.00404291 -0.00405458 -0.00925241
+v -0.00284431 -0.00285299 -0.02120387
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 4 11 10
+f 4 10 15
+f 4 15 17
+f 4 17 13
+f 4 13 8
+f 4 8 7
+f 4 7 6
+f 5 8 12
+f 8 13 12
+f 9 14 10
+f 10 14 15
+f 12 13 17
+f 12 17 16
+f 14 16 17
+f 14 17 15
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_27.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00001607 -0.00959094 0.00136597
+v -0.01155778 -0.00002437 0.00273944
+v -0.01155778 -0.00959095 0.00553257
+v 0.00001607 -0.00959091 -0.00518280
+v 0.00001607 -0.00002435 -0.00156610
+v -0.01155778 -0.00002435 -0.00363711
+v -0.01155778 -0.00959093 -0.00088015
+v -0.00126073 -0.00959091 -0.00518714
+v 0.00001607 -0.00571970 -0.00925242
+v 0.00001607 -0.00002433 -0.00925240
+v -0.00571761 -0.00002433 -0.00925240
+v -0.00571987 -0.00119955 -0.00925240
+v -0.01155778 -0.00127261 -0.00363566
+v -0.01155778 -0.00901222 -0.00119998
+v -0.00404316 -0.00405472 -0.00925241
+v -0.00959217 -0.00959092 -0.00210162
+v -0.00117236 -0.00572251 -0.00925242
+v -0.00114177 -0.00572251 -0.00925242
+v -0.00383017 -0.00959091 -0.00467482
+v -0.00568589 -0.00129881 -0.00925240
+v -0.01155778 -0.00365863 -0.00323478
+v -0.01155778 -0.00163501 -0.00357633
+v -0.01155778 -0.00688276 -0.00215806
+v -0.00127319 -0.00568973 -0.00925242
+v -0.00634977 -0.00959092 -0.00374858
+v -0.00837542 -0.00959092 -0.00277170
+v -0.00383924 -0.00959091 -0.00467192
+v -0.01155778 -0.00641080 -0.00235921
+v -0.01155778 -0.00556614 -0.00263274
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 26
+f 1 26 25
+f 1 25 27
+f 1 27 19
+f 1 19 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 2 6 13
+f 2 13 22
+f 2 22 21
+f 2 21 29
+f 2 29 28
+f 2 28 23
+f 2 23 14
+f 2 14 7
+f 2 7 3
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 8 19 17
+f 9 18 17
+f 9 17 24
+f 9 24 15
+f 9 15 20
+f 9 20 12
+f 9 12 11
+f 9 11 10
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 20
+f 14 20 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 19 24
+f 19 27 24
+f 20 23 28
+f 20 28 29
+f 20 29 21
+f 24 27 25
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_3.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.00131079 -0.03016768 0.02108297
+v 0.00001706 -0.03016616 0.02108297
+v 0.00388041 -0.02994720 0.02108297
+v 0.00131079 -0.03013727 0.02262778
+v 0.00001706 -0.03013879 0.02262778
+v 0.00001706 -0.02567893 0.02108299
+v 0.00494414 -0.02976473 0.02108297
+v 0.00388041 -0.02991375 0.02262778
+v 0.00131079 -0.02979667 0.02526892
+v 0.00001706 -0.02979971 0.02526892
+v 0.01014286 -0.02345279 0.02108299
+v 0.00001706 -0.01790438 0.07367867
+v 0.01014286 -0.01499399 0.07280938
+v 0.00645003 -0.02950319 0.02108297
+v 0.00645003 -0.02947126 0.02262778
+v 0.00388041 -0.02957011 0.02526892
+v 0.00287715 -0.02829134 0.03477590
+v 0.00131079 -0.02745960 0.04112127
+v 0.00033033 -0.02569729 0.05309220
+v 0.00001706 -0.02569729 0.05309220
+v 0.01014286 -0.02848136 0.02108298
+v 0.00001706 -0.01775689 0.07545050
+v 0.01014286 -0.01463514 0.07545052
+v 0.01014286 -0.01470660 0.07484145
+v 0.00911383 -0.02878547 0.02108297
+v 0.00926650 -0.02868816 0.02286587
+v 0.00867267 -0.02854675 0.02526893
+v 0.00645003 -0.02912305 0.02526892
+v 0.00540017 -0.02830501 0.03222889
+v 0.00459023 -0.02816968 0.03398965
+v 0.00388041 -0.02917780 0.02791005
+v 0.00388041 -0.02760404 0.03848013
+v 0.00388041 -0.02721022 0.04112127
+v 0.00333020 -0.02579004 0.05106567
+v 0.00204440 -0.02565015 0.05282643
+v 0.00131079 -0.02706274 0.04376240
+v 0.00131079 -0.02626749 0.04904467
+v 0.00123644 -0.02584478 0.05184085
+v 0.00123644 -0.02549201 0.05411100
+v 0.00131079 -0.02504345 0.05696254
+v 0.00131079 -0.02419955 0.06224481
+v 0.00044929 -0.02313668 0.06898885
+v 0.00001706 -0.02313668 0.06898885
+v 0.00979688 -0.02859388 0.02108297
+v 0.01014286 -0.02848288 0.02157023
+v 0.00001706 -0.01782836 0.07697316
+v 0.01014286 -0.01482977 0.07672956
+v 0.01014286 -0.02845855 0.02236756
+v 0.01014286 -0.02830802 0.02375733
+v 0.01014286 -0.02827305 0.02402311
+v 0.00814725 -0.02838102 0.02743388
+v 0.00770807 -0.02824418 0.02919464
+v 0.00564207 -0.02579763 0.04848544
+v 0.00504427 -0.02566078 0.05024066
+v 0.00388041 -0.02681336 0.04376240
+v 0.00406480 -0.02596033 0.04923846
+v 0.00388041 -0.02520310 0.05432141
+v 0.00388041 -0.02478799 0.05696254
+v 0.00388041 -0.02641498 0.04640353
+v 0.00216336 -0.02308346 0.06870646
+v 0.00131079 -0.02377076 0.06488595
+v 0.00131079 -0.02245700 0.07280936
+v 0.00001706 -0.02245700 0.07280936
+v 0.00001706 -0.01854912 0.07727770
+v 0.01014286 -0.01558550 0.07739952
+v 0.01014286 -0.01496511 0.07709500
+v 0.01014286 -0.02820006 0.02449929
+v 0.00785777 -0.02572463 0.04535152
+v 0.00735614 -0.02558930 0.04711228
+v 0.00647977 -0.02547527 0.04923847
+v 0.00645003 -0.02510273 0.05168028
+v 0.00645003 -0.02468611 0.05432141
+v 0.00507699 -0.02309562 0.06612070
+v 0.00388041 -0.02436224 0.05960368
+v 0.00336391 -0.02323704 0.06694570
+v 0.00388041 -0.02216809 0.07280936
+v 0.00388041 -0.02168304 0.07545049
+v 0.00131079 -0.02196739 0.07545049
+v 0.00001706 -0.02221523 0.07412162
+v 0.00001706 -0.01926075 0.07757670
+v 0.00388041 -0.01926076 0.07764314
+v 0.01014286 -0.01670161 0.07745489
+v 0.01014286 -0.02574894 0.04009694
+v 0.00997037 -0.02556495 0.04169158
+v 0.00950343 -0.02540074 0.04376241
+v 0.00883624 -0.02523196 0.04629834
+v 0.00901965 -0.02473018 0.04904468
+v 0.00901965 -0.02430443 0.05168028
+v 0.00785777 -0.02315946 0.06119832
+v 0.00645003 -0.02425579 0.05696254
+v 0.00565594 -0.02324615 0.06435993
+v 0.00645003 -0.02202971 0.07016822
+v 0.00645003 -0.02157050 0.07280936
+v 0.00408463 -0.02343015 0.06509635
+v 0.00388041 -0.02393345 0.06224481
+v 0.00664334 -0.02099725 0.07561660
+v 0.00591568 -0.02076765 0.07704514
+v 0.00388041 -0.02098205 0.07726662
+v 0.00131079 -0.02112194 0.07737735
+v 0.00001706 -0.02196739 0.07545049
+v 0.00001706 -0.02019743 0.07747703
+v 0.00001706 -0.02112042 0.07737735
+v 0.00901965 -0.01888669 0.07741612
+v 0.01014286 -0.01805645 0.07743274
+v 0.01014286 -0.02550565 0.04159746
+v 0.01014286 -0.02323851 0.05552847
+v 0.00901965 -0.02386955 0.05432141
+v 0.00821168 -0.02329327 0.05960368
+v 0.01014286 -0.02317770 0.05589391
+v 0.00996144 -0.02297546 0.05749964
+v 0.00901965 -0.02206314 0.06488596
+v 0.00806001 -0.02068248 0.07484696
+v 0.00736902 -0.02301045 0.06295909
+v 0.00648770 -0.02338908 0.06214515
+v 0.00645003 -0.02381939 0.05960368
+v 0.00762876 -0.02049242 0.07660772
+v 0.01014286 -0.01860234 0.07727217
+v 0.00907021 -0.02344532 0.05675214
+v 0.01014286 -0.02047263 0.07113719
+v 0.00901965 -0.02159785 0.06752709
+v 0.00850315 -0.02086951 0.07280936
+v 0.00978795 -0.02031146 0.07280937
+v 0.00895818 -0.02010163 0.07561661
+v 0.01014286 -0.01948580 0.07554463
+v 0.01014286 -0.01910413 0.07651914
+v 0.01014286 -0.02011379 0.07280937
+v 0.00918223 -0.02104893 0.07021252
+v 0.01014286 -0.02001039 0.07329108
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 44
+f 1 44 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 43
+f 2 43 63
+f 2 63 79
+f 2 79 100
+f 2 100 102
+f 2 102 101
+f 2 101 80
+f 2 80 64
+f 2 64 46
+f 2 46 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 13 24
+f 11 24 23
+f 11 23 47
+f 11 47 66
+f 11 66 65
+f 11 65 82
+f 11 82 104
+f 11 104 117
+f 11 117 125
+f 11 125 124
+f 11 124 128
+f 11 128 126
+f 11 126 119
+f 11 119 109
+f 11 109 106
+f 11 106 105
+f 11 105 83
+f 11 83 67
+f 11 67 50
+f 11 50 49
+f 11 49 48
+f 11 48 45
+f 11 45 21
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 35
+f 19 35 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 21 45 44
+f 22 46 23
+f 23 46 47
+f 25 44 45
+f 25 45 48
+f 25 48 26
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 27 51 28
+f 27 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 54
+f 29 54 30
+f 30 33 32
+f 30 32 31
+f 30 54 33
+f 33 55 34
+f 33 54 55
+f 34 56 54
+f 34 54 57
+f 34 57 58
+f 34 58 35
+f 34 55 59
+f 34 59 56
+f 35 41 40
+f 35 40 39
+f 35 38 37
+f 35 37 36
+f 35 58 60
+f 35 60 41
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 50 67 51
+f 51 67 68
+f 51 68 52
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 58
+f 54 58 57
+f 54 56 55
+f 55 56 59
+f 58 74 75
+f 58 75 60
+f 58 73 74
+f 60 75 76
+f 60 76 62
+f 60 62 61
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 64 80 65
+f 65 80 81
+f 65 81 82
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 86
+f 68 86 87
+f 68 87 88
+f 68 88 89
+f 68 89 69
+f 69 89 72
+f 69 72 71
+f 69 71 70
+f 72 89 90
+f 72 90 91
+f 72 91 73
+f 73 92 93
+f 73 93 76
+f 73 76 94
+f 73 94 95
+f 73 95 74
+f 73 91 92
+f 74 95 75
+f 75 94 76
+f 75 95 94
+f 76 93 77
+f 77 93 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 80 101 81
+f 81 101 102
+f 81 102 99
+f 81 99 98
+f 81 98 103
+f 81 103 104
+f 81 104 82
+f 83 105 84
+f 84 105 106
+f 84 106 88
+f 84 88 87
+f 84 87 85
+f 85 87 86
+f 88 106 107
+f 88 107 89
+f 89 107 108
+f 89 108 109
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 115
+f 90 115 91
+f 91 115 114
+f 91 114 113
+f 91 113 92
+f 92 113 93
+f 93 112 96
+f 93 113 112
+f 96 116 97
+f 96 112 116
+f 97 116 117
+f 97 117 103
+f 97 103 98
+f 99 102 100
+f 103 117 104
+f 106 109 107
+f 107 109 118
+f 107 118 108
+f 108 118 109
+f 109 119 110
+f 110 119 120
+f 110 120 111
+f 111 120 121
+f 111 121 112
+f 112 121 119
+f 112 119 122
+f 112 122 123
+f 112 123 116
+f 116 123 124
+f 116 124 125
+f 116 125 117
+f 119 126 122
+f 119 121 127
+f 119 127 120
+f 120 127 121
+f 122 126 128
+f 122 128 123
+f 123 128 124
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_4.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.01442293 0.01054906 0.07545123
+v 0.01442293 0.01097804 0.07281561
+v 0.01442293 0.01139546 0.07725629
+v 0.00001748 0.01786462 0.07695732
+v 0.00001748 0.01780114 0.07545126
+v 0.00001748 0.01793580 0.07371264
+v 0.00001748 0.02570937 0.02107791
+v 0.01442293 0.02112344 0.02107790
+v 0.01442293 0.01173594 0.07731167
+v 0.01425511 0.01173401 0.07730612
+v 0.00001748 0.01928425 0.07757747
+v 0.00001748 0.03019719 0.02107793
+v 0.01442293 0.02655577 0.02107792
+v 0.01442293 0.01414624 0.07756084
+v 0.01415922 0.01414623 0.07762728
+v 0.00388150 0.01928424 0.07764391
+v 0.00001748 0.02021721 0.07748888
+v 0.00001748 0.03019335 0.02131602
+v 0.00024734 0.03019912 0.02107793
+v 0.01415922 0.02669619 0.02107792
+v 0.01442293 0.02652499 0.02262828
+v 0.01442293 0.01589867 0.07709020
+v 0.01415922 0.01600447 0.07715665
+v 0.01174773 0.01689511 0.07745564
+v 0.00901895 0.01889953 0.07741689
+v 0.00131065 0.02115979 0.07739476
+v 0.00001748 0.02115787 0.07739476
+v 0.00388150 0.02101167 0.07727294
+v 0.00001748 0.03016834 0.02262829
+v 0.00131065 0.03019719 0.02107793
+v 0.00131065 0.03016834 0.02262829
+v 0.01168850 0.02785614 0.02107792
+v 0.01415922 0.02666541 0.02262828
+v 0.01442293 0.02618450 0.02505348
+v 0.01271092 0.01787231 0.07633164
+v 0.01099749 0.01840900 0.07716220
+v 0.01442293 0.01670274 0.07545125
+v 0.00588966 0.02078853 0.07704038
+v 0.00131065 0.02201580 0.07545127
+v 0.00001748 0.02158299 0.07643132
+v 0.00388150 0.02171764 0.07545127
+v 0.00001748 0.02999713 0.02395717
+v 0.00281678 0.03006831 0.02107793
+v 0.00131065 0.02982592 0.02526944
+v 0.00388150 0.02994328 0.02262829
+v 0.00388150 0.02997598 0.02107793
+v 0.01053776 0.02836975 0.02107792
+v 0.01054058 0.02837167 0.02211887
+v 0.01147415 0.02789653 0.02284976
+v 0.01158979 0.02750218 0.02526943
+v 0.01429883 0.02623451 0.02515315
+v 0.01298591 0.02576512 0.03223497
+v 0.01294642 0.02317778 0.04796559
+v 0.01442293 0.02570743 0.02791057
+v 0.00894985 0.02011334 0.07558968
+v 0.00760167 0.02050191 0.07656421
+v 0.01398153 0.01707400 0.07545125
+v 0.01300706 0.01809739 0.07457088
+v 0.01174773 0.01866869 0.07545126
+v 0.01442293 0.01721636 0.07336933
+v 0.00662861 0.02101744 0.07558969
+v 0.00001748 0.02249672 0.07281012
+v 0.00001748 0.02201388 0.07545127
+v 0.00388150 0.02220048 0.07281012
+v 0.00131065 0.02249672 0.07281012
+v 0.00645093 0.02159069 0.07281012
+v 0.00001748 0.02982592 0.02526944
+v 0.00388150 0.02959701 0.02526944
+v 0.00026991 0.02571888 0.05308178
+v 0.00131065 0.02668264 0.04640417
+v 0.00283511 0.02831006 0.03473770
+v 0.00645093 0.02949699 0.02262829
+v 0.00645093 0.02952970 0.02107793
+v 0.00911202 0.02880641 0.02107793
+v 0.00926151 0.02870831 0.02284977
+v 0.01027828 0.02826778 0.02387964
+v 0.01365718 0.02612101 0.02791058
+v 0.01033892 0.02572277 0.03989264
+v 0.01268553 0.02562084 0.03399574
+v 0.01394486 0.02238524 0.04892348
+v 0.01442293 0.02254491 0.04640415
+v 0.01442293 0.02301429 0.04376300
+v 0.01317347 0.02331052 0.04640416
+v 0.01265733 0.02302773 0.04972082
+v 0.01303527 0.02067124 0.06148141
+v 0.01330321 0.02084630 0.05960437
+v 0.01442293 0.02346635 0.04112186
+v 0.00976496 0.02032495 0.07281011
+v 0.00804589 0.02070005 0.07480344
+v 0.01442293 0.01734909 0.07281010
+v 0.01442293 0.01792619 0.07016896
+v 0.01325667 0.01827821 0.07281011
+v 0.01276733 0.02050581 0.06324218
+v 0.01249233 0.02034614 0.06488666
+v 0.01158979 0.01931696 0.07281011
+v 0.00001748 0.02316232 0.06900067
+v 0.00505480 0.02311616 0.06609927
+v 0.00334279 0.02325850 0.06695198
+v 0.00218782 0.02310846 0.06871273
+v 0.00131065 0.02378558 0.06488668
+v 0.00047439 0.02316232 0.06900067
+v 0.00783718 0.02317581 0.06115474
+v 0.00734501 0.02302768 0.06291549
+v 0.00645093 0.02205045 0.07016897
+v 0.00001748 0.02571888 0.05308178
+v 0.00538762 0.02832546 0.03219622
+v 0.00645093 0.02914496 0.02526944
+v 0.00388150 0.02643641 0.04640417
+v 0.00131065 0.02421071 0.06224553
+v 0.00131065 0.02505136 0.05696322
+v 0.00120066 0.02550727 0.05410613
+v 0.00198333 0.02566886 0.05279940
+v 0.00120066 0.02586507 0.05181936
+v 0.00131065 0.02628636 0.04904532
+v 0.00331741 0.02581121 0.05103863
+v 0.00795564 0.02912766 0.02107793
+v 0.00865652 0.02856787 0.02526943
+v 0.00784282 0.02574390 0.04532444
+v 0.01188029 0.02525533 0.03847517
+v 0.01235554 0.02547079 0.03583402
+v 0.00995111 0.02558042 0.04165341
+v 0.00901895 0.02473592 0.04904531
+v 0.01032482 0.02314698 0.05570079
+v 0.01103275 0.02348362 0.05168092
+v 0.01171671 0.02361252 0.04892349
+v 0.01367833 0.02109061 0.05696321
+v 0.01415922 0.02174851 0.05168091
+v 0.01442293 0.02113871 0.05406182
+v 0.01231746 0.02285460 0.05168091
+v 0.01076058 0.02081164 0.06752782
+v 0.01442293 0.02007300 0.05960436
+v 0.01442293 0.02058854 0.05696321
+v 0.01442293 0.02110024 0.05426670
+v 0.01013020 0.02048846 0.07106596
+v 0.00848024 0.02088472 0.07281012
+v 0.01442293 0.01847444 0.06752781
+v 0.01362051 0.01854175 0.07016896
+v 0.01442293 0.01992103 0.06036846
+v 0.01045879 0.02065006 0.06930519
+v 0.01142620 0.01992869 0.07018003
+v 0.01204529 0.02008836 0.06752781
+v 0.00407188 0.02344510 0.06508601
+v 0.00563300 0.02326428 0.06433851
+v 0.00503083 0.02568426 0.05023023
+v 0.00388150 0.02393756 0.06224553
+v 0.00388150 0.02436269 0.05960438
+v 0.00388150 0.02478590 0.05696322
+v 0.00645093 0.02425498 0.05696322
+v 0.00901895 0.02206009 0.06488667
+v 0.00994546 0.02299500 0.05746155
+v 0.00818409 0.02330662 0.05960438
+v 0.00734783 0.02560925 0.04709075
+v 0.00647490 0.02339894 0.06211818
+v 0.00563723 0.02582276 0.04847500
+v 0.00769051 0.02826584 0.02916748
+v 0.00813333 0.02840243 0.02740671
+v 0.00405636 0.02598242 0.04922804
+v 0.00901895 0.02430501 0.05168092
+v 0.00906125 0.02345475 0.05673067
+v 0.00917266 0.02105978 0.07018004
+v 0.00901895 0.02159648 0.06752782
+v 0.00645093 0.02468396 0.05432207
+v 0.00647631 0.02549190 0.04922803
+f 1 2 8
+f 1 8 13
+f 1 13 21
+f 1 21 34
+f 1 34 54
+f 1 54 87
+f 1 87 82
+f 1 82 81
+f 1 81 128
+f 1 128 133
+f 1 133 132
+f 1 132 131
+f 1 131 138
+f 1 138 136
+f 1 136 91
+f 1 91 90
+f 1 90 60
+f 1 60 37
+f 1 37 22
+f 1 22 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 17
+f 4 17 27
+f 4 27 40
+f 4 40 63
+f 4 63 62
+f 4 62 96
+f 4 96 105
+f 4 105 67
+f 4 67 42
+f 4 42 29
+f 4 29 18
+f 4 18 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 19
+f 7 19 30
+f 7 30 43
+f 7 43 46
+f 7 46 73
+f 7 73 116
+f 7 116 74
+f 7 74 47
+f 7 47 32
+f 7 32 20
+f 7 20 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 13 20 33
+f 13 33 21
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 26 27
+f 16 27 17
+f 16 25 28
+f 16 28 26
+f 18 29 19
+f 19 29 31
+f 19 31 30
+f 20 32 33
+f 21 33 34
+f 22 35 36
+f 22 36 23
+f 22 37 35
+f 23 36 24
+f 24 36 25
+f 25 36 38
+f 25 38 28
+f 26 28 39
+f 26 39 40
+f 26 40 27
+f 28 38 41
+f 28 41 39
+f 29 42 31
+f 30 31 43
+f 31 42 44
+f 31 44 45
+f 31 45 46
+f 31 46 43
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 35 55 56
+f 35 56 36
+f 35 37 57
+f 35 57 58
+f 35 58 59
+f 35 59 55
+f 36 56 38
+f 37 60 57
+f 38 56 61
+f 38 61 41
+f 39 62 63
+f 39 63 40
+f 39 41 64
+f 39 64 65
+f 39 65 62
+f 41 66 64
+f 41 61 66
+f 42 67 44
+f 44 68 45
+f 44 67 105
+f 44 105 69
+f 44 69 70
+f 44 70 71
+f 44 71 68
+f 45 72 73
+f 45 73 46
+f 45 68 72
+f 47 74 48
+f 48 75 76
+f 48 76 49
+f 48 74 75
+f 49 76 50
+f 50 52 77
+f 50 77 51
+f 50 76 78
+f 50 78 79
+f 50 79 52
+f 51 77 52
+f 52 79 53
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 54
+f 53 79 84
+f 53 84 85
+f 53 85 86
+f 53 86 80
+f 54 83 87
+f 55 59 88
+f 55 88 89
+f 55 89 56
+f 56 89 61
+f 57 60 58
+f 58 60 90
+f 58 90 91
+f 58 91 92
+f 58 92 93
+f 58 93 94
+f 58 94 95
+f 58 95 59
+f 59 95 88
+f 61 89 66
+f 62 65 101
+f 62 101 96
+f 64 66 97
+f 64 97 98
+f 64 98 99
+f 64 99 65
+f 65 99 100
+f 65 100 101
+f 66 89 102
+f 66 102 103
+f 66 103 104
+f 66 104 97
+f 68 106 107
+f 68 107 72
+f 68 71 108
+f 68 108 106
+f 69 105 96
+f 69 96 101
+f 69 101 109
+f 69 109 110
+f 69 110 111
+f 69 111 112
+f 69 112 113
+f 69 113 114
+f 69 114 70
+f 70 114 112
+f 70 112 71
+f 71 112 115
+f 71 115 108
+f 72 75 74
+f 72 74 116
+f 72 116 73
+f 72 107 117
+f 72 117 75
+f 75 117 76
+f 76 117 118
+f 76 118 78
+f 78 119 120
+f 78 120 79
+f 78 118 121
+f 78 121 122
+f 78 122 123
+f 78 123 124
+f 78 124 119
+f 79 125 84
+f 79 120 124
+f 79 124 125
+f 80 86 81
+f 81 86 126
+f 81 126 127
+f 81 127 128
+f 82 87 83
+f 84 124 123
+f 84 123 129
+f 84 129 130
+f 84 130 93
+f 84 93 85
+f 84 125 124
+f 85 131 132
+f 85 132 86
+f 85 93 92
+f 85 92 131
+f 86 132 133
+f 86 133 128
+f 86 128 126
+f 88 95 134
+f 88 134 135
+f 88 135 89
+f 89 135 102
+f 91 136 92
+f 92 136 137
+f 92 137 138
+f 92 138 131
+f 93 130 139
+f 93 139 94
+f 94 139 140
+f 94 140 141
+f 94 141 95
+f 95 141 140
+f 95 140 139
+f 95 139 134
+f 97 142 98
+f 97 104 143
+f 97 143 144
+f 97 144 145
+f 97 145 142
+f 98 142 145
+f 98 145 146
+f 98 146 147
+f 98 147 115
+f 98 115 99
+f 99 115 112
+f 99 112 109
+f 99 109 100
+f 100 109 101
+f 102 148 103
+f 102 135 149
+f 102 149 150
+f 102 150 151
+f 102 151 122
+f 102 122 118
+f 102 118 152
+f 102 152 148
+f 103 148 153
+f 103 153 143
+f 103 143 104
+f 106 108 144
+f 106 144 154
+f 106 154 107
+f 107 155 156
+f 107 156 117
+f 107 154 155
+f 108 115 157
+f 108 157 144
+f 109 112 110
+f 110 112 111
+f 112 114 113
+f 115 147 144
+f 115 144 157
+f 117 156 118
+f 118 156 155
+f 118 155 152
+f 118 122 121
+f 119 124 120
+f 122 151 158
+f 122 158 123
+f 123 158 159
+f 123 159 151
+f 123 151 150
+f 123 150 160
+f 123 160 134
+f 123 134 139
+f 123 139 129
+f 126 128 127
+f 129 139 130
+f 134 160 135
+f 135 160 161
+f 135 161 150
+f 135 150 149
+f 136 138 137
+f 143 153 148
+f 143 148 162
+f 143 162 154
+f 143 154 144
+f 144 147 146
+f 144 146 145
+f 148 152 162
+f 150 161 160
+f 151 159 158
+f 152 155 154
+f 152 154 163
+f 152 163 162
+f 154 162 163
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_5.obj

@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v -0.01224652 -0.01296837 0.07545310
+v -0.01252199 -0.01296836 0.07282904
+v -0.01788312 -0.00002464 0.07550851
+v -0.01788489 -0.00002464 0.07621712
+v -0.01788665 -0.00002464 0.07688143
+v -0.01248314 -0.01296837 0.07699211
+v -0.01816036 -0.00002463 0.07295088
+v -0.02204171 -0.01296817 0.02107856
+v -0.02574823 -0.00002444 0.02107861
+v -0.01925166 -0.00002464 0.07752914
+v -0.01416070 -0.01296837 0.07746820
+v -0.02736222 -0.01296817 0.02107856
+v -0.03028118 -0.00002444 0.02107861
+v -0.02117997 -0.00002464 0.07741843
+v -0.01925166 -0.00384340 0.07763432
+v -0.01925166 -0.00641288 0.07758449
+v -0.01688188 -0.01173810 0.07745714
+v -0.01642629 -0.01296837 0.07730766
+v -0.02786549 -0.01193302 0.02107857
+v -0.02733574 -0.01296817 0.02262864
+v -0.03028471 -0.00127244 0.02107861
+v -0.03027941 -0.00002444 0.02127237
+v -0.02117997 -0.00127264 0.07741843
+v -0.02210528 -0.00002464 0.07545315
+v -0.02210704 -0.00127264 0.07545315
+v -0.02104223 -0.00384339 0.07731877
+v -0.01926225 -0.00873150 0.07730214
+v -0.01841288 -0.01100704 0.07718587
+v -0.01787253 -0.01272003 0.07646618
+v -0.01771360 -0.01296837 0.07628350
+v -0.02817805 -0.01118042 0.02107857
+v -0.02785137 -0.01190135 0.02262865
+v -0.02838642 -0.01061660 0.02262865
+v -0.02694372 -0.01296818 0.02525270
+v -0.03016110 -0.00277891 0.02107860
+v -0.03026352 -0.00127244 0.02262869
+v -0.03025999 -0.00002444 0.02262869
+v -0.02236309 -0.00002463 0.07409129
+v -0.02181921 -0.00384339 0.07545314
+v -0.02260678 -0.00127263 0.07281247
+v -0.02074027 -0.00641288 0.07701428
+v -0.02054250 -0.00770903 0.07678176
+v -0.01870778 -0.01173810 0.07553614
+v -0.01811798 -0.01296836 0.07473342
+v -0.01806501 -0.01296837 0.07496039
+v -0.02839878 -0.01064828 0.02107857
+v -0.02828930 -0.01037462 0.02423409
+v -0.02772599 -0.01135908 0.02517520
+v -0.02892677 -0.00898090 0.02262866
+v -0.02895149 -0.00898090 0.02107858
+v -0.02653934 -0.01296819 0.02790998
+v -0.03007281 -0.00384319 0.02107860
+v -0.03004985 -0.00384319 0.02262868
+v -0.02993331 -0.00127245 0.02526936
+v -0.02993154 -0.00002445 0.02526936
+v -0.03010106 -0.00002445 0.02391304
+v -0.02260501 -0.00002463 0.07281247
+v -0.02121176 -0.00641288 0.07545313
+v -0.02231895 -0.00384338 0.07281246
+v -0.02318951 -0.00002461 0.06936356
+v -0.02318951 -0.00127261 0.06936356
+v -0.02313830 -0.00276134 0.06904799
+v -0.02171149 -0.00641287 0.07281245
+v -0.02067670 -0.00802071 0.07545312
+v -0.02036415 -0.00989080 0.07281243
+v -0.02007808 -0.00930545 0.07545312
+v -0.01941588 -0.01155058 0.07281243
+v -0.02039063 -0.01258949 0.06488489
+v -0.02052661 -0.01281881 0.06351749
+v -0.02044538 -0.01296832 0.06339016
+v -0.02815156 -0.00997805 0.02599453
+v -0.02856654 -0.00906453 0.02517521
+v -0.02574823 -0.01043169 0.04026079
+v -0.02560697 -0.01008073 0.04202124
+v -0.02608198 -0.00912667 0.04113549
+v -0.02574823 -0.01296821 0.03308613
+v -0.02564405 -0.01277056 0.03433727
+v -0.02720860 -0.01155041 0.02790999
+v -0.02588950 -0.01075097 0.03847820
+v -0.02926582 -0.00641269 0.02526934
+v -0.02960663 -0.00641268 0.02262867
+v -0.02962958 -0.00641268 0.02107859
+v -0.02981323 -0.00534839 0.02107859
+v -0.02971434 -0.00384320 0.02526935
+v -0.02825398 -0.00002450 0.03721050
+v -0.02820630 -0.00187939 0.03693922
+v -0.02838819 -0.00112298 0.03597044
+v -0.02825398 -0.00016640 0.03721050
+v -0.02281515 -0.00370780 0.07002786
+v -0.02299527 -0.00447433 0.06818990
+v -0.02314183 -0.00526366 0.06642946
+v -0.02348971 -0.00002461 0.06752561
+v -0.02348971 -0.00127261 0.06752561
+v -0.02434438 -0.00127259 0.06224426
+v -0.02570232 -0.00274102 0.05317076
+v -0.02492888 -0.00384332 0.05696292
+v -0.02450154 -0.00384333 0.05960359
+v -0.02407244 -0.00384334 0.06224425
+v -0.02325308 -0.00370779 0.06739827
+v -0.02218121 -0.00641286 0.07017179
+v -0.02305178 -0.00751259 0.06326286
+v -0.02093099 -0.00860605 0.07281244
+v -0.02050718 -0.01020121 0.07133433
+v -0.01997919 -0.01144287 0.07033785
+v -0.02012752 -0.01214478 0.06752557
+v -0.02290698 -0.01245134 0.05168154
+v -0.02305178 -0.01273134 0.05005395
+v -0.02062549 -0.01296832 0.06248780
+v -0.02067141 -0.01051416 0.06957388
+v -0.02086212 -0.01086004 0.06752557
+v -0.02829106 -0.00784062 0.02953758
+v -0.02841467 -0.00823212 0.02791000
+v -0.02592129 -0.00840576 0.04375955
+v -0.02576943 -0.00797119 0.04569161
+v -0.02552044 -0.01250576 0.03583752
+v -0.02331665 -0.01070541 0.05432222
+v -0.02317186 -0.01040388 0.05602730
+v -0.02546746 -0.00969050 0.04375954
+v -0.02444327 -0.00898101 0.05168156
+v -0.02318422 -0.01296827 0.04850388
+v -0.02368395 -0.01174561 0.04912392
+v -0.02353739 -0.01116659 0.05168155
+v -0.02815686 -0.00731735 0.03129802
+v -0.02887203 -0.00641270 0.02791001
+v -0.02835287 -0.00560564 0.03261006
+v -0.02822043 -0.00497721 0.03437605
+v -0.02932762 -0.00384321 0.02791002
+v -0.02834051 -0.00326422 0.03517878
+v -0.02602547 -0.00002455 0.05168159
+v -0.02722802 -0.00127252 0.04375958
+v -0.02762180 -0.00127251 0.04111891
+v -0.02683070 -0.00127253 0.04640025
+v -0.02643162 -0.00127254 0.04904092
+v -0.02602547 -0.00127255 0.05168159
+v -0.02557342 -0.00445400 0.05235142
+v -0.02270744 -0.00623673 0.06739826
+v -0.02571115 -0.00527122 0.05059098
+v -0.02482293 -0.00641280 0.05432224
+v -0.02439206 -0.00641281 0.05696291
+v -0.02395766 -0.00641282 0.05960358
+v -0.02346852 -0.00655853 0.06232728
+v -0.02434438 -0.00002459 0.06224426
+v -0.02456335 -0.00002458 0.06088794
+v -0.02476995 -0.00127258 0.05960360
+v -0.02574647 -0.00127256 0.05345864
+v -0.02698433 -0.00384327 0.04375957
+v -0.02658348 -0.00384328 0.04640024
+v -0.02617734 -0.00384329 0.04904091
+v -0.02581181 -0.00369506 0.05155425
+v -0.02540213 -0.00369507 0.05415617
+v -0.02320187 -0.00795224 0.06150241
+v -0.02562816 -0.00752900 0.04745206
+v -0.02172915 -0.00898107 0.06752558
+v -0.02112876 -0.00919900 0.07033786
+v -0.02301823 -0.01004911 0.05778775
+v -0.02267035 -0.01199016 0.05432222
+v -0.02648459 -0.00641276 0.04375956
+v -0.02688898 -0.00641275 0.04111889
+v -0.02531207 -0.00888850 0.04650540
+v -0.02487060 -0.00898100 0.04904089
+v -0.02400710 -0.00898102 0.05432223
+v -0.02848178 -0.00644185 0.03047317
+v -0.02728806 -0.00641274 0.03847822
+v -0.02737988 -0.00384326 0.04111890
+v -0.02574647 -0.00002456 0.05345864
+v -0.02531030 -0.00624174 0.05155424
+v -0.02602018 -0.00656734 0.04650541
+v -0.02550455 -0.00703488 0.04904089
+v -0.02476995 -0.00002458 0.05960360
+v -0.02352326 -0.00910773 0.05692968
+v -0.02286106 -0.00965255 0.05960356
+v -0.02269154 -0.00887715 0.06232727
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 30
+f 1 30 45
+f 1 45 44
+f 1 44 70
+f 1 70 108
+f 1 108 120
+f 1 120 76
+f 1 76 51
+f 1 51 34
+f 1 34 20
+f 1 20 12
+f 1 12 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 7 9
+f 3 9 13
+f 3 13 22
+f 3 22 37
+f 3 37 56
+f 3 56 55
+f 3 55 85
+f 3 85 129
+f 3 129 165
+f 3 165 169
+f 3 169 143
+f 3 143 142
+f 3 142 92
+f 3 92 60
+f 3 60 57
+f 3 57 38
+f 3 38 24
+f 3 24 14
+f 3 14 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 8 12 19
+f 8 19 31
+f 8 31 46
+f 8 46 50
+f 8 50 82
+f 8 82 83
+f 8 83 52
+f 8 52 35
+f 8 35 21
+f 8 21 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 20 19
+f 13 21 22
+f 14 23 15
+f 14 24 25
+f 14 25 23
+f 15 23 16
+f 16 23 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 19 20 32
+f 19 32 33
+f 19 33 31
+f 20 34 32
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 23 25 26
+f 24 38 25
+f 25 39 26
+f 25 38 40
+f 25 40 59
+f 25 59 39
+f 26 41 27
+f 26 39 41
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 31 33 46
+f 32 47 33
+f 32 34 48
+f 32 48 47
+f 33 47 49
+f 33 49 50
+f 33 50 46
+f 34 51 48
+f 35 52 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 36 52 53
+f 38 57 40
+f 39 58 42
+f 39 42 41
+f 39 59 63
+f 39 63 58
+f 40 57 60
+f 40 60 61
+f 40 61 62
+f 40 62 59
+f 42 58 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 43 66 65
+f 43 65 67
+f 43 67 44
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 47 71 72
+f 47 72 49
+f 47 48 73
+f 47 73 74
+f 47 74 75
+f 47 75 71
+f 48 51 76
+f 48 76 77
+f 48 77 78
+f 48 78 79
+f 48 79 73
+f 49 72 80
+f 49 80 81
+f 49 81 50
+f 50 81 82
+f 52 83 53
+f 53 83 81
+f 53 81 84
+f 53 84 54
+f 54 85 55
+f 54 84 86
+f 54 86 87
+f 54 87 88
+f 54 88 85
+f 59 62 89
+f 59 89 90
+f 59 90 91
+f 59 91 63
+f 60 92 93
+f 60 93 61
+f 61 93 62
+f 62 93 94
+f 62 94 95
+f 62 95 96
+f 62 96 97
+f 62 97 98
+f 62 98 99
+f 62 99 90
+f 62 90 89
+f 63 91 100
+f 63 100 101
+f 63 101 64
+f 64 102 65
+f 64 101 102
+f 65 102 103
+f 65 103 67
+f 67 103 104
+f 67 104 105
+f 67 105 68
+f 68 105 103
+f 68 103 69
+f 69 106 107
+f 69 107 108
+f 69 108 70
+f 69 103 109
+f 69 109 110
+f 69 110 106
+f 71 111 112
+f 71 112 72
+f 71 75 113
+f 71 113 114
+f 71 114 111
+f 72 112 80
+f 73 79 77
+f 73 77 115
+f 73 115 116
+f 73 116 117
+f 73 117 74
+f 74 118 114
+f 74 114 75
+f 74 117 119
+f 74 119 118
+f 75 114 113
+f 76 120 107
+f 76 107 77
+f 77 79 78
+f 77 107 121
+f 77 121 122
+f 77 122 115
+f 80 84 81
+f 80 112 111
+f 80 111 123
+f 80 123 124
+f 80 124 125
+f 80 125 126
+f 80 126 84
+f 81 83 82
+f 84 126 127
+f 84 127 128
+f 84 128 86
+f 85 88 134
+f 85 134 129
+f 86 130 131
+f 86 131 87
+f 86 128 95
+f 86 95 130
+f 87 131 88
+f 88 131 130
+f 88 130 132
+f 88 132 133
+f 88 133 134
+f 90 99 98
+f 90 98 135
+f 90 135 91
+f 91 136 100
+f 91 135 137
+f 91 137 138
+f 91 138 139
+f 91 139 140
+f 91 140 141
+f 91 141 101
+f 91 101 136
+f 92 142 94
+f 92 94 93
+f 94 142 143
+f 94 143 144
+f 94 144 95
+f 95 144 145
+f 95 145 134
+f 95 134 133
+f 95 133 132
+f 95 132 130
+f 95 128 146
+f 95 146 147
+f 95 147 148
+f 95 148 149
+f 95 149 135
+f 95 135 150
+f 95 150 96
+f 96 150 135
+f 96 135 97
+f 97 135 98
+f 100 136 101
+f 101 151 102
+f 101 141 140
+f 101 140 139
+f 101 139 152
+f 101 152 151
+f 102 151 153
+f 102 153 154
+f 102 154 103
+f 103 105 104
+f 103 154 155
+f 103 155 117
+f 103 117 109
+f 106 156 117
+f 106 117 107
+f 106 110 156
+f 107 117 116
+f 107 116 122
+f 107 122 121
+f 107 120 108
+f 109 117 156
+f 109 156 110
+f 111 114 152
+f 111 152 157
+f 111 157 158
+f 111 158 123
+f 114 118 159
+f 114 159 160
+f 114 160 119
+f 114 119 151
+f 114 151 152
+f 115 122 116
+f 117 155 161
+f 117 161 119
+f 118 119 160
+f 118 160 159
+f 119 161 151
+f 123 162 124
+f 123 158 163
+f 123 163 162
+f 124 162 125
+f 125 162 163
+f 125 163 137
+f 125 137 126
+f 126 146 164
+f 126 164 128
+f 126 128 127
+f 126 137 146
+f 128 164 146
+f 129 134 145
+f 129 145 165
+f 135 149 148
+f 135 148 147
+f 135 147 137
+f 137 166 138
+f 137 147 146
+f 137 163 158
+f 137 158 157
+f 137 157 167
+f 137 167 152
+f 137 152 168
+f 137 168 166
+f 138 166 168
+f 138 168 152
+f 138 152 139
+f 143 169 144
+f 144 169 165
+f 144 165 145
+f 151 161 170
+f 151 170 155
+f 151 155 171
+f 151 171 172
+f 151 172 153
+f 152 167 157
+f 153 172 171
+f 153 171 155
+f 153 155 154
+f 155 170 161
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_6.obj

@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
+v -0.00950502 0.01511636 0.07545383
+v -0.00954570 0.01511636 0.07523793
+v -0.00983653 0.01511636 0.07699831
+v -0.01788617 -0.00002315 0.07688200
+v -0.01788414 -0.00002315 0.07621771
+v -0.01788414 -0.00002315 0.07550913
+v -0.01816073 -0.00002314 0.07295159
+v -0.02574667 -0.00002295 0.02107573
+v -0.01000533 0.01511637 0.07281326
+v -0.00987110 0.01511636 0.07705367
+v -0.01858782 -0.00002315 0.07721415
+v -0.03028197 -0.00002295 0.02107573
+v -0.02080259 0.01511656 0.02107579
+v -0.01068054 0.01511636 0.07735814
+v -0.01925083 -0.00002315 0.07752415
+v -0.03025960 -0.00002295 0.02263128
+v -0.03025756 0.00129759 0.02263128
+v -0.03027790 0.00129759 0.02107573
+v -0.02627952 0.01511656 0.02107579
+v -0.01326546 0.01511636 0.07756850
+v -0.01411150 0.01414410 0.07762938
+v -0.01925083 0.00386731 0.07762381
+v -0.02117680 -0.00002315 0.07741898
+v -0.02993216 -0.00002296 0.02527185
+v -0.02993013 0.00129758 0.02527185
+v -0.03004199 0.00386752 0.02263129
+v -0.03006232 0.00386752 0.02107574
+v -0.02644832 0.01481421 0.02107578
+v -0.02627138 0.01511656 0.02156847
+v -0.01411150 0.01511636 0.07738582
+v -0.01501449 0.01511636 0.07716439
+v -0.01598867 0.01414411 0.07716438
+v -0.01687335 0.01175054 0.07746330
+v -0.01925083 0.00643726 0.07757400
+v -0.02117680 0.00129739 0.07741898
+v -0.02210420 -0.00002315 0.07545377
+v -0.02825227 0.00019782 0.03721255
+v -0.02825227 -0.00002301 0.03721255
+v -0.02970845 0.00386751 0.02527186
+v -0.02838650 0.00115229 0.03597253
+v -0.02820753 0.00191111 0.03694684
+v -0.02834176 0.00328501 0.03518646
+v -0.02960269 0.00643746 0.02263130
+v -0.02962506 0.00643746 0.02107575
+v -0.02681847 0.01414431 0.02107578
+v -0.02625105 0.01511656 0.02263134
+v -0.01558598 0.01511636 0.07690974
+v -0.01841088 0.01101098 0.07718097
+v -0.01926100 0.00875080 0.07729721
+v -0.02103240 0.00386732 0.07731380
+v -0.02210216 0.00129739 0.07545377
+v -0.02260450 0.00129740 0.07281320
+v -0.02236249 -0.00002314 0.07409197
+v -0.02602530 -0.00002306 0.05167756
+v -0.02643002 0.00129749 0.04904252
+v -0.02682864 0.00129750 0.04640196
+v -0.02762180 0.00129752 0.04112081
+v -0.02805296 0.00115228 0.03824774
+v -0.02926102 0.00643745 0.02527187
+v -0.02821973 0.00499831 0.03437271
+v -0.02570193 0.00276177 0.05316670
+v -0.02698117 0.00386744 0.04376140
+v -0.02737775 0.00386745 0.04112082
+v -0.02777027 0.00386746 0.03848025
+v -0.02892952 0.00900443 0.02263131
+v -0.02895392 0.00900443 0.02107576
+v -0.02743063 0.01288306 0.02107578
+v -0.02678796 0.01414431 0.02263133
+v -0.02608834 0.01511655 0.02388243
+v -0.01582393 0.01511636 0.07650563
+v -0.01785770 0.01272427 0.07641151
+v -0.02053617 0.00772371 0.07677685
+v -0.02072937 0.00643726 0.07700380
+v -0.02180524 0.00386732 0.07545378
+v -0.02260450 -0.00002314 0.07281320
+v -0.02230554 0.00386733 0.07281321
+v -0.02313735 0.00277654 0.06904334
+v -0.02319023 0.00129742 0.06935887
+v -0.02319023 -0.00002312 0.06936440
+v -0.02574667 -0.00002307 0.05346008
+v -0.02574667 0.00129747 0.05346008
+v -0.02602327 0.00129748 0.05167756
+v -0.02856547 0.00909039 0.02518331
+v -0.02835396 0.00562968 0.03261233
+v -0.02815668 0.00734299 0.03128929
+v -0.02828888 0.00786172 0.02952891
+v -0.02841090 0.00825596 0.02791246
+v -0.02658255 0.00386743 0.04640197
+v -0.02571007 0.00529466 0.05058703
+v -0.02476843 0.00129745 0.05960481
+v -0.02434337 0.00129744 0.06224538
+v -0.02492503 0.00386739 0.05696425
+v -0.02539890 0.00371771 0.05415760
+v -0.02557177 0.00447359 0.05234741
+v -0.02617783 0.00386742 0.04904253
+v -0.02829091 0.01040648 0.02424777
+v -0.02839057 0.01065400 0.02263132
+v -0.02873224 0.00968620 0.02107577
+v -0.02787196 0.01197157 0.02107577
+v -0.02785772 0.01193897 0.02263132
+v -0.02629579 0.01433401 0.02531619
+v -0.02595818 0.01511655 0.02477369
+v -0.01705639 0.01398256 0.07549810
+v -0.01609035 0.01511636 0.07547044
+v -0.01808751 0.01301922 0.07465113
+v -0.01869561 0.01175054 0.07549809
+v -0.02007043 0.00931696 0.07545380
+v -0.02035516 0.00990239 0.07281324
+v -0.02066836 0.00803199 0.07545380
+v -0.02169541 0.00643727 0.07281322
+v -0.02119104 0.00643726 0.07545379
+v -0.02280788 0.00372655 0.07002317
+v -0.02313938 0.00527979 0.06641385
+v -0.02299092 0.00448983 0.06817976
+v -0.02325124 0.00372656 0.06738814
+v -0.02363766 0.00386736 0.06488596
+v -0.02348919 0.00129742 0.06752652
+v -0.02348919 -0.00002312 0.06752652
+v -0.02476843 -0.00002309 0.05960481
+v -0.02815262 0.01000482 0.02600815
+v -0.02728420 0.00643740 0.03848026
+v -0.02688355 0.00643739 0.04112083
+v -0.02647883 0.00643738 0.04376141
+v -0.02562668 0.00755042 0.04744271
+v -0.02576904 0.00798912 0.04568233
+v -0.02481724 0.00643734 0.05431815
+v -0.02530738 0.00626543 0.05155026
+v -0.02583209 0.00577339 0.04904254
+v -0.02456302 -0.00002309 0.06088911
+v -0.02772959 0.01138762 0.02518332
+v -0.02560634 0.01009963 0.04201212
+v -0.02574667 0.01045385 0.04025174
+v -0.02809160 0.01144099 0.02107577
+v -0.02840277 0.01068660 0.02107577
+v -0.02616970 0.01377525 0.02791248
+v -0.02578938 0.01307124 0.03257361
+v -0.02568362 0.01511654 0.02644550
+v -0.01642796 0.01511637 0.07413631
+v -0.01723333 0.01456652 0.07281325
+v -0.01939116 0.01157418 0.07281324
+v -0.01753840 0.01492815 0.07016714
+v -0.01828682 0.01328303 0.07281325
+v -0.02051176 0.01282214 0.06345223
+v -0.02050159 0.01021808 0.07131304
+v -0.02092258 0.00861742 0.07281323
+v -0.02304583 0.00752220 0.06323078
+v -0.02216114 0.00643728 0.07016711
+v -0.02269399 0.00625648 0.06738815
+v -0.02326548 0.00574072 0.06488597
+v -0.02438405 0.00643733 0.05696426
+v -0.02370884 -0.00002311 0.06617025
+v -0.02601920 0.00659151 0.04649608
+v -0.02550059 0.00705836 0.04904255
+v -0.02319633 0.00795941 0.06147040
+v -0.02442879 0.00900432 0.05167759
+v -0.02485792 0.00900433 0.04904255
+v -0.02546398 0.00970686 0.04376143
+v -0.02564295 0.01279408 0.03433399
+v -0.02399153 0.00900431 0.05431816
+v -0.02301126 0.01005807 0.05774483
+v -0.02316379 0.01040784 0.05598445
+v -0.02551889 0.01252582 0.03583419
+v -0.02303770 0.01273178 0.04997259
+v -0.02318820 0.01299856 0.04821774
+v -0.02549245 0.01511654 0.02754712
+v -0.01769906 0.01511639 0.06876106
+v -0.02010704 0.01214629 0.06752656
+v -0.01996061 0.01145859 0.07032767
+v -0.01782922 0.01511639 0.06816320
+v -0.01817090 0.01511640 0.06655782
+v -0.01855935 0.01364319 0.07016714
+v -0.02030432 0.01511643 0.05628893
+v -0.02049956 0.01511644 0.05530910
+v -0.02067853 0.01307706 0.06169185
+v -0.02066429 0.01052488 0.06955266
+v -0.02111172 0.00921916 0.07032766
+v -0.02170761 0.00900426 0.06752655
+v -0.02346275 0.00657366 0.06230629
+v -0.02217538 0.00900427 0.06488598
+v -0.02267569 0.00889165 0.06230630
+v -0.02284652 0.00965345 0.05960485
+v -0.02335293 0.00836848 0.05960484
+v -0.02352783 0.01115483 0.05167760
+v -0.02351563 0.00912287 0.05690337
+v -0.02288517 0.01243980 0.05167761
+v -0.02241536 0.01397081 0.04907579
+v -0.02290347 0.01511648 0.04236643
+v -0.02300312 0.01511649 0.04181285
+v -0.02328378 0.01511649 0.04021854
+v -0.02081479 0.01511644 0.05365390
+v -0.02087377 0.01336904 0.05960486
+v -0.02182761 0.01414420 0.05167761
+f 1 2 9
+f 1 9 13
+f 1 13 19
+f 1 19 29
+f 1 29 46
+f 1 46 69
+f 1 69 102
+f 1 102 137
+f 1 137 165
+f 1 165 189
+f 1 189 188
+f 1 188 187
+f 1 187 190
+f 1 190 173
+f 1 173 172
+f 1 172 170
+f 1 170 169
+f 1 169 166
+f 1 166 138
+f 1 138 104
+f 1 104 70
+f 1 70 47
+f 1 47 31
+f 1 31 30
+f 1 30 20
+f 1 20 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 15
+f 4 15 23
+f 4 23 36
+f 4 36 53
+f 4 53 75
+f 4 75 79
+f 4 79 118
+f 4 118 151
+f 4 151 129
+f 4 129 119
+f 4 119 80
+f 4 80 54
+f 4 54 38
+f 4 38 24
+f 4 24 16
+f 4 16 12
+f 4 12 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 12 18
+f 8 18 27
+f 8 27 44
+f 8 44 66
+f 8 66 98
+f 8 98 134
+f 8 134 133
+f 8 133 99
+f 8 99 67
+f 8 67 45
+f 8 45 28
+f 8 28 19
+f 8 19 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 28 29
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 24 37 25
+f 24 38 37
+f 25 39 26
+f 25 37 40
+f 25 40 41
+f 25 41 42
+f 25 42 39
+f 26 39 43
+f 26 43 44
+f 26 44 27
+f 28 45 46
+f 28 46 29
+f 31 47 32
+f 32 48 33
+f 32 47 48
+f 33 49 34
+f 33 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 37 38 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 41
+f 37 41 40
+f 39 59 43
+f 39 42 60
+f 39 60 59
+f 41 58 57
+f 41 57 56
+f 41 56 61
+f 41 61 42
+f 42 62 63
+f 42 63 64
+f 42 64 60
+f 42 61 62
+f 43 59 65
+f 43 65 66
+f 43 66 44
+f 45 67 68
+f 45 68 46
+f 46 68 69
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 72 73
+f 49 73 50
+f 50 73 74
+f 50 74 51
+f 51 74 52
+f 52 75 53
+f 52 74 76
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 75
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 82 61
+f 55 61 56
+f 59 83 65
+f 59 60 84
+f 59 84 85
+f 59 85 86
+f 59 86 87
+f 59 87 83
+f 60 64 63
+f 60 63 62
+f 60 62 88
+f 60 88 89
+f 60 89 84
+f 61 82 81
+f 61 81 90
+f 61 90 91
+f 61 91 77
+f 61 77 92
+f 61 92 93
+f 61 93 94
+f 61 94 95
+f 61 95 88
+f 61 88 62
+f 65 83 96
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 67 99 100
+f 67 100 68
+f 68 100 101
+f 68 101 69
+f 69 101 102
+f 70 103 71
+f 70 104 103
+f 71 103 105
+f 71 105 106
+f 71 106 72
+f 72 106 107
+f 72 107 108
+f 72 108 109
+f 72 109 110
+f 72 110 111
+f 72 111 74
+f 72 74 73
+f 74 111 110
+f 74 110 76
+f 76 112 77
+f 76 110 113
+f 76 113 114
+f 76 114 112
+f 77 112 114
+f 77 114 115
+f 77 115 116
+f 77 116 92
+f 77 91 117
+f 77 117 78
+f 78 117 79
+f 79 117 118
+f 80 119 90
+f 80 90 81
+f 83 87 86
+f 83 86 120
+f 83 120 96
+f 84 121 85
+f 84 89 121
+f 85 121 122
+f 85 122 123
+f 85 123 124
+f 85 124 86
+f 86 124 125
+f 86 125 120
+f 88 95 89
+f 89 94 113
+f 89 113 126
+f 89 126 127
+f 89 127 128
+f 89 128 122
+f 89 122 121
+f 89 95 94
+f 90 119 129
+f 90 129 91
+f 91 129 151
+f 91 151 117
+f 92 94 93
+f 92 116 94
+f 94 116 113
+f 96 130 100
+f 96 100 97
+f 96 120 125
+f 96 125 131
+f 96 131 132
+f 96 132 130
+f 97 100 99
+f 97 99 133
+f 97 133 134
+f 97 134 98
+f 100 130 135
+f 100 135 101
+f 101 135 136
+f 101 136 137
+f 101 137 102
+f 103 104 138
+f 103 138 139
+f 103 139 105
+f 105 140 106
+f 105 139 141
+f 105 141 142
+f 105 142 143
+f 105 143 140
+f 106 140 108
+f 106 108 107
+f 108 144 145
+f 108 145 109
+f 108 140 144
+f 109 145 146
+f 109 146 110
+f 110 147 113
+f 110 146 147
+f 113 147 148
+f 113 148 146
+f 113 146 149
+f 113 149 150
+f 113 150 126
+f 113 116 114
+f 114 116 115
+f 117 151 118
+f 122 128 123
+f 123 128 152
+f 123 152 124
+f 124 152 128
+f 124 128 153
+f 124 153 126
+f 124 126 150
+f 124 150 146
+f 124 146 154
+f 124 154 125
+f 125 154 155
+f 125 155 156
+f 125 156 157
+f 125 157 131
+f 126 153 127
+f 127 153 128
+f 130 136 135
+f 130 132 158
+f 130 158 136
+f 131 157 155
+f 131 155 159
+f 131 159 160
+f 131 160 161
+f 131 161 132
+f 132 162 158
+f 132 161 162
+f 136 158 163
+f 136 163 164
+f 136 164 137
+f 137 164 165
+f 138 166 141
+f 138 141 139
+f 140 143 167
+f 140 167 168
+f 140 168 144
+f 141 166 142
+f 142 166 169
+f 142 169 170
+f 142 170 171
+f 142 171 172
+f 142 172 143
+f 143 172 173
+f 143 173 174
+f 143 174 163
+f 143 163 175
+f 143 175 144
+f 143 144 167
+f 144 176 145
+f 144 168 167
+f 144 175 161
+f 144 161 160
+f 144 160 176
+f 145 176 177
+f 145 177 154
+f 145 154 146
+f 146 150 178
+f 146 178 149
+f 146 148 147
+f 149 178 150
+f 154 177 179
+f 154 179 180
+f 154 180 181
+f 154 181 160
+f 154 160 182
+f 154 182 155
+f 155 182 159
+f 155 157 156
+f 158 162 161
+f 158 161 183
+f 158 183 163
+f 159 182 184
+f 159 184 160
+f 160 184 182
+f 160 181 179
+f 160 179 177
+f 160 177 176
+f 161 175 185
+f 161 185 163
+f 161 163 183
+f 163 185 175
+f 163 174 186
+f 163 186 164
+f 164 186 187
+f 164 187 188
+f 164 188 189
+f 164 189 165
+f 170 172 171
+f 173 190 174
+f 174 191 186
+f 174 190 191
+f 179 181 180
+f 186 191 192
+f 186 192 187
+f 187 192 190
+f 190 192 191
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_7.obj

@@ -0,0 +1,763 @@
+# https://github.com/mikedh/trimesh
+v 0.00001350 0.01928413 0.07757813
+v 0.00001350 0.02116059 0.07739542
+v -0.00383227 0.01928412 0.07763903
+v -0.01326391 0.01511636 0.07756704
+v -0.01068205 0.01511636 0.07736218
+v 0.00001350 0.01786535 0.07695801
+v -0.00126070 0.02115911 0.07739542
+v 0.00001350 0.02158578 0.07643203
+v -0.00897025 0.01890323 0.07742309
+v -0.01170913 0.01690276 0.07745630
+v -0.01410823 0.01601842 0.07716286
+v -0.01410823 0.01511636 0.07738433
+v -0.00987120 0.01511636 0.07705213
+v -0.00950567 0.01511636 0.07545201
+v 0.00001350 0.01783287 0.07619948
+v -0.00983516 0.01511636 0.07700230
+v -0.00383227 0.02101000 0.07727362
+v -0.00126070 0.02201540 0.07545203
+v 0.00001350 0.02201540 0.07545203
+v -0.00583752 0.02078855 0.07704107
+v -0.01096521 0.01841603 0.07716840
+v -0.01501176 0.01511636 0.07716286
+v -0.01543649 0.01547216 0.07681958
+v 0.00001350 0.01780186 0.07545202
+v -0.00954428 0.01511636 0.07523608
+v -0.00383227 0.02171275 0.07545203
+v 0.00001350 0.02249818 0.07281101
+v -0.00126070 0.02249671 0.07281101
+v -0.00383227 0.02219701 0.07281101
+v -0.00657630 0.02101590 0.07559045
+v -0.00755190 0.02050213 0.07656491
+v -0.01267958 0.01788454 0.07638773
+v -0.01558321 0.01511636 0.07690817
+v -0.01394349 0.01708730 0.07548523
+v -0.01562440 0.01566114 0.07545201
+v -0.01608775 0.01511636 0.07546862
+v -0.01582261 0.01511636 0.07650399
+v 0.00001350 0.01786831 0.07457722
+v -0.01000505 0.01511637 0.07281099
+v -0.02080099 0.01511656 0.02107579
+v -0.00640126 0.02159022 0.07281101
+v 0.00001350 0.02316257 0.06900175
+v -0.00043698 0.02316257 0.06900175
+v -0.00126070 0.02378560 0.06488796
+v -0.00215136 0.02311090 0.06871937
+v -0.00328913 0.02325853 0.06695870
+v -0.00383227 0.02263550 0.07016999
+v -0.00500350 0.02311533 0.06609496
+v -0.00800752 0.02070293 0.07480423
+v -0.00890590 0.02012271 0.07559044
+v -0.01170913 0.01868916 0.07548524
+v -0.01298076 0.01811339 0.07462705
+v -0.01452009 0.01726595 0.07281099
+v -0.01642496 0.01511637 0.07413427
+v -0.01487790 0.01756862 0.07016997
+v -0.01516878 0.01781223 0.06798851
+v -0.01594617 0.01598152 0.07281099
+v -0.01797716 0.01544563 0.06627211
+v -0.01777895 0.01521383 0.06803279
+v -0.01769658 0.01511639 0.06875810
+v 0.00001350 0.01793622 0.07371349
+v -0.02628134 0.01511656 0.02107579
+v 0.00001350 0.02570799 0.02107582
+v -0.00640126 0.02204938 0.07016999
+v -0.00730221 0.02303119 0.06293902
+v -0.00780159 0.02318031 0.06117835
+v 0.00001350 0.02571969 0.05307811
+v -0.00126070 0.02421228 0.06224694
+v -0.00023362 0.02571969 0.05307811
+v -0.00194800 0.02567244 0.05281235
+v -0.00327883 0.02581418 0.05105167
+v -0.00383227 0.02478956 0.05696490
+v -0.00383227 0.02436436 0.05960592
+v -0.00383227 0.02393768 0.06224694
+v -0.00402018 0.02344456 0.06508174
+v -0.00499321 0.02568574 0.05023777
+v -0.00558783 0.02326297 0.06433429
+v -0.00845285 0.02088895 0.07281101
+v -0.00973992 0.02034122 0.07281100
+v -0.01154182 0.01935944 0.07281100
+v -0.01323560 0.01830236 0.07281100
+v -0.01247365 0.02036487 0.06488794
+v -0.01273879 0.02051842 0.06329891
+v -0.01540045 0.01800416 0.06622783
+v -0.01795400 0.01798944 0.05559731
+v -0.01812646 0.01561246 0.06488793
+v -0.02060279 0.01551801 0.05334939
+v -0.02042517 0.01528179 0.05511006
+v -0.01816765 0.01511640 0.06656002
+v -0.01782786 0.01511639 0.06816568
+v -0.02590551 0.01579273 0.02107579
+v -0.02625045 0.01511656 0.02263161
+v -0.02589007 0.01576764 0.02263161
+v 0.00001350 0.03019908 0.02107584
+v -0.00640126 0.02249820 0.06752897
+v -0.00642700 0.02340028 0.06213067
+v -0.00640126 0.02382253 0.05960592
+v -0.00640126 0.02425512 0.05696490
+v -0.00878234 0.02263553 0.06213066
+v -0.00897025 0.02208188 0.06488795
+v -0.00640126 0.02468622 0.05431834
+v -0.00730221 0.02561046 0.04709845
+v -0.00780417 0.02574628 0.04533777
+v -0.00897025 0.02474530 0.04904184
+v -0.00897025 0.02431714 0.05167732
+v -0.00815425 0.02331171 0.05960592
+v -0.00990981 0.02300168 0.05749088
+v -0.00943874 0.02282008 0.05960591
+v 0.00001350 0.02982703 0.02527268
+v -0.00126070 0.02982851 0.02527268
+v -0.00126070 0.02505678 0.05696490
+v -0.00126070 0.02668230 0.04640083
+v -0.00126070 0.02628810 0.04904185
+v -0.00115774 0.02586732 0.05183236
+v -0.00115774 0.02551151 0.05410241
+v -0.00279232 0.02830929 0.03474048
+v -0.00383227 0.02643574 0.04640083
+v -0.00401246 0.02598397 0.04923564
+v -0.00383227 0.02959967 0.02527268
+v -0.00558783 0.02582304 0.04848263
+v -0.00640126 0.02511143 0.05167732
+v -0.00534071 0.02832702 0.03220466
+v -0.00640126 0.02914495 0.02527268
+v -0.00913500 0.02107055 0.07021428
+v -0.01010287 0.02050067 0.07112785
+v -0.00897025 0.02161682 0.06752897
+v -0.01043494 0.02066456 0.06936716
+v -0.01139252 0.01995294 0.07021427
+v -0.01203090 0.02010797 0.06752896
+v -0.01300135 0.02068377 0.06153823
+v -0.01521254 0.02043873 0.05499381
+v -0.01074641 0.02083139 0.06752897
+v -0.01118916 0.02107057 0.06488795
+v -0.01262038 0.02303272 0.04975053
+v -0.01545193 0.02061442 0.05323313
+v -0.01724868 0.01996041 0.04904182
+v -0.01756788 0.02023059 0.04640080
+v -0.01780470 0.02043434 0.04441866
+v -0.01801320 0.02061298 0.04265798
+v -0.01814448 0.01817694 0.05383663
+v -0.02059249 0.01806478 0.04274102
+v -0.02041487 0.01786251 0.04450170
+v -0.02021666 0.01763810 0.04640079
+v -0.01840447 0.01592841 0.06224691
+v -0.02081387 0.01511644 0.05365390
+v -0.02049982 0.01511644 0.05530939
+v -0.01994123 0.01732362 0.04904181
+v -0.02075981 0.01572176 0.05167729
+v -0.02314346 0.01804859 0.02944733
+v -0.02297614 0.01783599 0.03120801
+v -0.02312802 0.01546343 0.03992282
+v -0.02030419 0.01511643 0.05628939
+v -0.02539326 0.01654715 0.02107579
+v -0.02608828 0.01511655 0.02388291
+v -0.02576136 0.01556832 0.02446427
+v -0.02501744 0.01705207 0.02263161
+v -0.00126070 0.03019761 0.02107584
+v -0.00126070 0.03016808 0.02263166
+v 0.00001350 0.03016808 0.02263166
+v -0.00642700 0.02549381 0.04923563
+v -0.00764972 0.02826649 0.02918160
+v -0.00878491 0.02525170 0.04629009
+v -0.00809504 0.02840381 0.02742092
+v -0.00862789 0.02856917 0.02527267
+v -0.01024702 0.02827390 0.02392171
+v -0.00992011 0.02558981 0.04170567
+v -0.01031138 0.02573154 0.03994499
+v -0.01028821 0.02315228 0.05573021
+v -0.00901916 0.02346083 0.05675450
+v 0.00001350 0.02999681 0.02396047
+v -0.00383227 0.02994220 0.02263166
+v -0.00640126 0.02949338 0.02263166
+v -0.01182240 0.02263113 0.05431833
+v -0.01228574 0.02286440 0.05167731
+v -0.01290611 0.02318331 0.04799540
+v -0.01327421 0.02086390 0.05960591
+v -0.01053790 0.02327187 0.05431834
+v -0.01100125 0.02349186 0.05167732
+v -0.01265899 0.02562969 0.03405391
+v -0.01564242 0.02076058 0.05167731
+v -0.01365004 0.02110603 0.05696489
+v -0.01425753 0.02121825 0.05419653
+v -0.01518680 0.02300765 0.04111877
+v -0.01538243 0.02313019 0.03975120
+v -0.01798231 0.02315090 0.02930894
+v -0.01814448 0.02327935 0.02791368
+v -0.01818309 0.02076062 0.04111877
+v -0.02048438 0.02052001 0.03163989
+v -0.01837616 0.01840283 0.05167730
+v -0.01596419 0.02100715 0.04904183
+v -0.02074951 0.01823900 0.04111876
+v -0.02241240 0.01979957 0.02527264
+v -0.02296584 0.01521541 0.04168903
+v -0.02096059 0.01511645 0.05286215
+v -0.02352186 0.01851514 0.02527264
+v -0.02494278 0.01654124 0.02531139
+v -0.02348582 0.01597723 0.03583671
+v -0.02325415 0.01564651 0.03847773
+v -0.02560949 0.01531880 0.02622495
+v -0.02328247 0.01511649 0.04021626
+v -0.02503288 0.01707717 0.02107579
+v -0.02595700 0.01511655 0.02477432
+v -0.02575106 0.01511654 0.02603670
+v -0.02373294 0.01877351 0.02263162
+v -0.02450261 0.01778878 0.02107580
+v -0.00383227 0.02997320 0.02107584
+v -0.00922252 0.02871239 0.02287527
+v -0.01050701 0.02837725 0.02216103
+v -0.01143370 0.02790481 0.02287526
+v -0.01154182 0.02751652 0.02527267
+v -0.00640126 0.02952586 0.02107584
+v -0.00906549 0.02881130 0.02107584
+v -0.01442228 0.02253519 0.04640081
+v -0.01295502 0.02577438 0.03228769
+v -0.01520739 0.02560167 0.02598136
+v -0.01546738 0.02575227 0.02422068
+v -0.01480582 0.02277142 0.04375979
+v -0.01646614 0.02492255 0.02516746
+v -0.01845080 0.02352001 0.02527266
+v -0.01973530 0.02244374 0.02527265
+v -0.02066456 0.02069866 0.02987921
+v -0.02086277 0.02089502 0.02791367
+v -0.02112791 0.02115783 0.02527265
+v -0.02264665 0.02005942 0.02263162
+v -0.02300188 0.01511649 0.04181638
+v -0.02290406 0.01511648 0.04237005
+v -0.02549365 0.01511654 0.02754269
+v -0.02311515 0.01954860 0.02107580
+v -0.02374838 0.01879566 0.02107580
+v -0.00973992 0.02862380 0.02107584
+v -0.01050444 0.02837578 0.02107583
+v -0.01114540 0.02811003 0.02107583
+v -0.01274651 0.02736151 0.02107583
+v -0.01410823 0.02667943 0.02263165
+v -0.01425238 0.02624242 0.02516747
+v -0.01362429 0.02612725 0.02791369
+v -0.01322015 0.02591465 0.03055471
+v -0.01563727 0.02585710 0.02263164
+v -0.01692177 0.02501410 0.02263164
+v -0.01871594 0.02372966 0.02263164
+v -0.02000044 0.02267258 0.02263163
+v -0.02136216 0.02138815 0.02263163
+v -0.02213440 0.02062930 0.02107581
+v -0.02266467 0.02008009 0.02107580
+v -0.01410823 0.02671044 0.02107583
+v -0.01474147 0.02637087 0.02107583
+v -0.01566044 0.02587186 0.02107583
+v -0.01641466 0.02537876 0.02107582
+v -0.01694493 0.02503181 0.02107582
+v -0.01768629 0.02450032 0.02107582
+v -0.01873653 0.02374590 0.02107582
+v -0.01949076 0.02312731 0.02107581
+v -0.02002103 0.02269030 0.02107581
+v -0.02058477 0.02216176 0.02107581
+v -0.02138018 0.02140734 0.02107581
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 24
+f 1 24 38
+f 1 38 61
+f 1 61 63
+f 1 63 94
+f 1 94 159
+f 1 159 170
+f 1 170 109
+f 1 109 67
+f 1 67 42
+f 1 42 27
+f 1 27 19
+f 1 19 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 22
+f 4 22 33
+f 4 33 37
+f 4 37 36
+f 4 36 54
+f 4 54 60
+f 4 60 90
+f 4 90 89
+f 4 89 152
+f 4 152 146
+f 4 146 145
+f 4 145 194
+f 4 194 226
+f 4 226 225
+f 4 225 200
+f 4 200 227
+f 4 227 203
+f 4 203 202
+f 4 202 154
+f 4 154 92
+f 4 92 62
+f 4 62 40
+f 4 40 39
+f 4 39 25
+f 4 25 14
+f 4 14 16
+f 4 16 13
+f 4 13 5
+f 5 13 6
+f 6 14 15
+f 6 13 16
+f 6 16 14
+f 7 17 9
+f 7 8 18
+f 7 18 17
+f 8 19 18
+f 9 17 20
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 22
+f 14 24 15
+f 14 25 24
+f 17 18 26
+f 17 26 20
+f 18 19 27
+f 18 27 28
+f 18 28 29
+f 18 29 26
+f 20 26 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 23
+f 22 23 33
+f 23 32 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 33
+f 24 25 39
+f 24 39 40
+f 24 40 38
+f 26 29 41
+f 26 41 30
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 41
+f 30 41 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 34
+f 34 52 53
+f 34 53 35
+f 35 54 36
+f 35 53 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 54
+f 38 40 61
+f 40 62 91
+f 40 91 153
+f 40 153 201
+f 40 201 205
+f 40 205 229
+f 40 229 228
+f 40 228 244
+f 40 244 243
+f 40 243 255
+f 40 255 254
+f 40 254 253
+f 40 253 252
+f 40 252 251
+f 40 251 250
+f 40 250 249
+f 40 249 248
+f 40 248 247
+f 40 247 246
+f 40 246 245
+f 40 245 233
+f 40 233 232
+f 40 232 231
+f 40 231 230
+f 40 230 212
+f 40 212 211
+f 40 211 206
+f 40 206 157
+f 40 157 94
+f 40 94 63
+f 40 63 61
+f 41 48 64
+f 41 64 65
+f 41 65 66
+f 41 66 49
+f 42 67 69
+f 42 69 43
+f 43 68 44
+f 43 69 68
+f 44 68 45
+f 45 68 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 48
+f 46 48 47
+f 48 75 74
+f 48 74 76
+f 48 76 77
+f 48 77 64
+f 49 78 79
+f 49 79 50
+f 49 66 78
+f 50 79 51
+f 51 79 80
+f 51 80 52
+f 52 81 56
+f 52 56 55
+f 52 55 53
+f 52 80 82
+f 52 82 83
+f 52 83 81
+f 56 84 57
+f 56 81 84
+f 57 84 85
+f 57 85 58
+f 58 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 59
+f 58 85 86
+f 59 90 60
+f 62 92 93
+f 62 93 91
+f 64 77 95
+f 64 95 65
+f 65 95 77
+f 65 77 96
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 66 99 100
+f 66 100 78
+f 66 98 101
+f 66 101 102
+f 66 102 103
+f 66 103 104
+f 66 104 105
+f 66 105 106
+f 66 106 107
+f 66 107 108
+f 66 108 99
+f 67 109 110
+f 67 110 69
+f 68 69 111
+f 68 111 70
+f 69 112 113
+f 69 113 114
+f 69 114 115
+f 69 115 111
+f 69 110 112
+f 70 111 115
+f 70 115 114
+f 70 114 113
+f 70 113 116
+f 70 116 71
+f 71 117 118
+f 71 118 76
+f 71 76 72
+f 71 116 119
+f 71 119 117
+f 72 76 73
+f 73 76 74
+f 76 120 121
+f 76 121 101
+f 76 101 77
+f 76 118 117
+f 76 117 119
+f 76 119 122
+f 76 122 123
+f 76 123 120
+f 77 101 98
+f 77 98 97
+f 77 97 96
+f 78 124 125
+f 78 125 79
+f 78 100 126
+f 78 126 124
+f 79 125 80
+f 80 125 127
+f 80 127 128
+f 80 128 129
+f 80 129 82
+f 81 83 130
+f 81 130 131
+f 81 131 84
+f 82 129 127
+f 82 127 83
+f 83 127 132
+f 83 132 133
+f 83 133 134
+f 83 134 130
+f 84 131 135
+f 84 135 136
+f 84 136 137
+f 84 137 85
+f 85 137 138
+f 85 138 139
+f 85 139 140
+f 85 140 141
+f 85 141 142
+f 85 142 143
+f 85 143 144
+f 85 144 86
+f 86 144 87
+f 87 145 146
+f 87 146 88
+f 87 144 147
+f 87 147 143
+f 87 143 142
+f 87 142 141
+f 87 141 148
+f 87 148 149
+f 87 149 150
+f 87 150 151
+f 87 151 145
+f 88 146 152
+f 88 152 89
+f 91 93 153
+f 92 154 93
+f 93 154 155
+f 93 155 156
+f 93 156 153
+f 94 157 158
+f 94 158 159
+f 99 108 100
+f 100 108 107
+f 100 107 126
+f 101 121 102
+f 102 121 160
+f 102 160 120
+f 102 120 161
+f 102 161 103
+f 103 162 104
+f 103 161 163
+f 103 163 164
+f 103 164 165
+f 103 165 166
+f 103 166 162
+f 104 162 166
+f 104 166 105
+f 105 166 167
+f 105 167 168
+f 105 168 169
+f 105 169 106
+f 106 169 107
+f 107 169 168
+f 107 168 125
+f 107 125 126
+f 109 170 110
+f 110 170 159
+f 110 159 158
+f 110 158 171
+f 110 171 119
+f 110 119 116
+f 110 116 112
+f 112 116 113
+f 119 171 172
+f 119 172 123
+f 119 123 122
+f 120 160 121
+f 120 123 161
+f 123 172 164
+f 123 164 163
+f 123 163 161
+f 124 126 125
+f 125 168 127
+f 127 129 128
+f 127 168 173
+f 127 173 174
+f 127 174 132
+f 130 134 175
+f 130 175 176
+f 130 176 135
+f 130 135 131
+f 132 174 134
+f 132 134 133
+f 134 174 168
+f 134 168 177
+f 134 177 178
+f 134 178 179
+f 134 179 175
+f 135 180 139
+f 135 139 138
+f 135 138 137
+f 135 137 136
+f 135 176 181
+f 135 181 182
+f 135 182 183
+f 135 183 184
+f 135 184 180
+f 139 185 186
+f 139 186 187
+f 139 187 188
+f 139 188 189
+f 139 189 140
+f 139 180 190
+f 139 190 185
+f 140 189 141
+f 141 188 191
+f 141 191 192
+f 141 192 149
+f 141 149 148
+f 141 189 188
+f 143 147 144
+f 145 151 193
+f 145 193 194
+f 149 192 195
+f 149 195 196
+f 149 196 197
+f 149 197 198
+f 149 198 151
+f 149 151 150
+f 151 198 196
+f 151 196 155
+f 151 155 199
+f 151 199 200
+f 151 200 193
+f 153 156 201
+f 154 202 155
+f 155 196 156
+f 155 202 203
+f 155 203 199
+f 156 196 195
+f 156 195 204
+f 156 204 205
+f 156 205 201
+f 157 206 158
+f 158 206 171
+f 164 172 207
+f 164 207 165
+f 165 207 208
+f 165 208 209
+f 165 209 210
+f 165 210 167
+f 165 167 166
+f 167 210 179
+f 167 179 177
+f 167 177 168
+f 168 174 173
+f 171 206 211
+f 171 211 172
+f 172 211 212
+f 172 212 207
+f 175 213 176
+f 175 179 214
+f 175 214 215
+f 175 215 216
+f 175 216 184
+f 175 184 183
+f 175 183 217
+f 175 217 213
+f 176 213 181
+f 177 179 178
+f 179 210 214
+f 180 184 185
+f 180 185 190
+f 181 213 217
+f 181 217 183
+f 181 183 182
+f 184 216 218
+f 184 218 185
+f 185 218 186
+f 186 218 219
+f 186 219 187
+f 187 219 220
+f 187 220 188
+f 188 220 221
+f 188 221 191
+f 191 221 192
+f 192 221 222
+f 192 222 223
+f 192 223 224
+f 192 224 195
+f 193 200 225
+f 193 225 226
+f 193 226 194
+f 195 224 204
+f 196 198 197
+f 199 203 227
+f 199 227 200
+f 204 224 228
+f 204 228 229
+f 204 229 205
+f 207 212 208
+f 208 212 230
+f 208 230 231
+f 208 231 232
+f 208 232 233
+f 208 233 234
+f 208 234 209
+f 209 234 210
+f 210 234 235
+f 210 235 236
+f 210 236 237
+f 210 237 214
+f 214 237 235
+f 214 235 216
+f 214 216 215
+f 216 235 234
+f 216 234 238
+f 216 238 239
+f 216 239 218
+f 218 239 219
+f 219 239 240
+f 219 240 241
+f 219 241 220
+f 220 241 223
+f 220 223 222
+f 220 222 221
+f 223 241 242
+f 223 242 224
+f 224 242 243
+f 224 243 244
+f 224 244 228
+f 233 245 234
+f 234 245 246
+f 234 246 238
+f 235 237 236
+f 238 246 247
+f 238 247 248
+f 238 248 249
+f 238 249 239
+f 239 249 240
+f 240 249 250
+f 240 250 251
+f 240 251 252
+f 240 252 241
+f 241 252 253
+f 241 253 254
+f 241 254 242
+f 242 254 255
+f 242 255 243
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_8.obj

@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v 0.02578304 0.00001347 0.02107781
+v 0.01442449 0.02112261 0.02107789
+v 0.03032303 0.00001347 0.02107781
+v 0.01818473 0.00001328 0.07289564
+v 0.01442449 0.02655580 0.02107791
+v 0.01790925 0.00001327 0.07538108
+v 0.01442449 0.01097839 0.07281265
+v 0.03032148 0.00129966 0.02107781
+v 0.03029813 0.00001347 0.02262776
+v 0.01570228 0.02586463 0.02107791
+v 0.01442449 0.02652462 0.02262786
+v 0.01567738 0.02584904 0.02262785
+v 0.01791236 0.00001327 0.07611177
+v 0.01442449 0.01054965 0.07545308
+v 0.03019230 0.00280412 0.02107782
+v 0.03029658 0.00129966 0.02262776
+v 0.02996039 0.00001346 0.02526819
+v 0.01623457 0.02551385 0.02107790
+v 0.01442449 0.02618422 0.02505240
+v 0.01551085 0.02574769 0.02418886
+v 0.01696296 0.02499678 0.02262785
+v 0.01698787 0.02501496 0.02107790
+v 0.01791703 0.00001327 0.07690888
+v 0.01442449 0.01139672 0.07725212
+v 0.03010047 0.00386685 0.02107782
+v 0.03007557 0.00386685 0.02262777
+v 0.02995884 0.00129965 0.02526819
+v 0.02829661 0.00003940 0.03716398
+v 0.02829661 0.00001341 0.03716398
+v 0.01442449 0.02615044 0.02525722
+v 0.01522447 0.02299856 0.04111641
+v 0.01542213 0.02312328 0.03971592
+v 0.01651317 0.02490323 0.02515203
+v 0.01524937 0.02559438 0.02594914
+v 0.01442449 0.02301414 0.04376238
+v 0.01874036 0.02371318 0.02262785
+v 0.01847422 0.02350011 0.02526828
+v 0.01876060 0.02372877 0.02107790
+v 0.01860807 0.00001327 0.07722440
+v 0.01442449 0.01173451 0.07731301
+v 0.02984211 0.00537390 0.02107783
+v 0.02963044 0.00643664 0.02262778
+v 0.02973627 0.00386684 0.02526820
+v 0.02965845 0.00643664 0.02107783
+v 0.02838221 0.00323020 0.03512139
+v 0.02824836 0.00175172 0.03688168
+v 0.02881022 0.00129962 0.03319503
+v 0.02842579 0.00105797 0.03593510
+v 0.02765382 0.00129959 0.04111633
+v 0.02726161 0.00129958 0.04376230
+v 0.02686162 0.00129957 0.04640273
+v 0.02645540 0.00129956 0.04904317
+v 0.02604918 0.00129955 0.05167807
+v 0.02578615 0.00129954 0.05338300
+v 0.02591689 0.00001336 0.05253053
+v 0.01442449 0.02570611 0.02791425
+v 0.01484471 0.02276210 0.04376238
+v 0.01549217 0.02060282 0.05317826
+v 0.01801508 0.02313632 0.02923169
+v 0.01822053 0.02330002 0.02747141
+v 0.01567894 0.02074574 0.05167815
+v 0.01600422 0.02099519 0.04904325
+v 0.01442449 0.02346627 0.04111642
+v 0.01442449 0.02251265 0.04657995
+v 0.02002439 0.02264525 0.02262784
+v 0.02004618 0.02266344 0.02107789
+v 0.01804932 0.02059766 0.04259439
+v 0.01975980 0.02241139 0.02526827
+v 0.01930066 0.00001327 0.07753993
+v 0.01442449 0.01414319 0.07756211
+v 0.02926157 0.00794369 0.02107784
+v 0.02895341 0.00900642 0.02262779
+v 0.02928648 0.00643663 0.02526821
+v 0.02826081 0.00494253 0.03431875
+v 0.02853785 0.00399933 0.03334449
+v 0.02740635 0.00386678 0.04111634
+v 0.02701103 0.00386677 0.04376231
+v 0.02574413 0.00271046 0.05312284
+v 0.02480251 0.00129952 0.05960490
+v 0.02480251 0.00001333 0.05960490
+v 0.02578459 0.00001335 0.05338300
+v 0.01442449 0.02113808 0.05406395
+v 0.01728825 0.01994545 0.04904324
+v 0.01760420 0.02021569 0.04640280
+v 0.01442449 0.02058722 0.05696455
+v 0.01524937 0.02042613 0.05493855
+v 0.01544392 0.01799661 0.06619775
+v 0.01565715 0.01817850 0.06443746
+v 0.01784544 0.02042097 0.04435468
+v 0.02137845 0.02135906 0.02262784
+v 0.02114654 0.02112780 0.02526827
+v 0.02139712 0.02137725 0.02107789
+v 0.02051154 0.02049377 0.03152338
+v 0.02069208 0.02067306 0.02975756
+v 0.01818162 0.01816035 0.05376502
+v 0.01840418 0.01838382 0.05167814
+v 0.01868277 0.01866186 0.04904324
+v 0.02087884 0.02086016 0.02791424
+v 0.02121191 0.00001327 0.07740707
+v 0.01930066 0.00386664 0.07762850
+v 0.01442449 0.01589709 0.07709161
+v 0.01897849 0.00900622 0.07741818
+v 0.01692250 0.01175270 0.07745694
+v 0.01603535 0.01414319 0.07715802
+v 0.02898142 0.00900642 0.02107784
+v 0.02842423 0.01060961 0.02262780
+v 0.02832930 0.01037575 0.02416666
+v 0.02859855 0.00906877 0.02513537
+v 0.02844447 0.00819831 0.02791419
+v 0.02832774 0.00782673 0.02945859
+v 0.02819856 0.00730966 0.03121888
+v 0.02839622 0.00559732 0.03255847
+v 0.02575035 0.00525687 0.05052670
+v 0.02660793 0.00386676 0.04640274
+v 0.02561339 0.00442539 0.05228699
+v 0.02543441 0.00368744 0.05413030
+v 0.02495504 0.00386672 0.05696448
+v 0.02452858 0.00386671 0.05960491
+v 0.02317141 0.00268183 0.06894884
+v 0.02620015 0.00386675 0.04904318
+v 0.02584529 0.00368745 0.05151201
+v 0.02437139 0.00129951 0.06224534
+v 0.02437139 0.00001332 0.06224534
+v 0.01798862 0.01797067 0.05552531
+v 0.01496455 0.02022345 0.05696454
+v 0.01442449 0.02007013 0.05960497
+v 0.01442449 0.01847211 0.06752627
+v 0.01442449 0.01792384 0.07016671
+v 0.01526494 0.01784850 0.06752627
+v 0.01567116 0.01565025 0.07545310
+v 0.01599177 0.01596726 0.07281267
+v 0.01751704 0.01750294 0.05960496
+v 0.01782365 0.01780696 0.05696454
+v 0.02266247 0.02001570 0.02262783
+v 0.02267959 0.02003649 0.02107788
+v 0.02243057 0.01975846 0.02526826
+v 0.02062360 0.01804087 0.04263866
+v 0.02044617 0.01783819 0.04439895
+v 0.02121191 0.00129946 0.07740707
+v 0.02166327 0.00001327 0.07643282
+v 0.01442449 0.01669999 0.07545310
+v 0.01548439 0.01546576 0.07681484
+v 0.02106872 0.00386665 0.07729637
+v 0.02083527 0.00598692 0.07706389
+v 0.02057379 0.00769924 0.07673731
+v 0.01845399 0.01101216 0.07717462
+v 0.02843824 0.01064339 0.02107785
+v 0.02788417 0.01189321 0.02262780
+v 0.02774876 0.01137093 0.02513538
+v 0.02578304 0.01042246 0.04016980
+v 0.02564296 0.01006649 0.04193009
+v 0.02549822 0.00966633 0.04376234
+v 0.02580950 0.00796699 0.04563332
+v 0.02567098 0.00752266 0.04739361
+v 0.02650365 0.00643656 0.04376232
+v 0.02730519 0.00643658 0.03847592
+v 0.02586708 0.00572458 0.04904319
+v 0.02554024 0.00700818 0.04904320
+v 0.02534102 0.00624425 0.05151202
+v 0.02483986 0.00643652 0.05431852
+v 0.02440874 0.00643651 0.05696449
+v 0.02317141 0.00521265 0.06630842
+v 0.02408968 0.00386670 0.06224535
+v 0.02302200 0.00439415 0.06806870
+v 0.02282589 0.00366920 0.06996737
+v 0.02230761 0.00386666 0.07281262
+v 0.02181579 0.00386665 0.07545305
+v 0.02211462 0.00129946 0.07545304
+v 0.02260800 0.00129947 0.07281261
+v 0.02321810 0.00129949 0.06922006
+v 0.02349825 0.00129949 0.06752620
+v 0.02335818 0.00001330 0.06837867
+v 0.02415349 0.00001332 0.06356832
+v 0.01801820 0.01543203 0.06621989
+v 0.01815983 0.01559312 0.06488583
+v 0.01843531 0.01590754 0.06224540
+v 0.01996836 0.01728992 0.04904323
+v 0.02024073 0.01760173 0.04640279
+v 0.01442449 0.01991943 0.06036887
+v 0.01442449 0.01734699 0.07281267
+v 0.01490697 0.01755227 0.07016670
+v 0.01710148 0.01397430 0.07548630
+v 0.01727580 0.01454595 0.07281266
+v 0.01757774 0.01490454 0.07016669
+v 0.01782209 0.01519816 0.06798018
+v 0.01454277 0.01725345 0.07281267
+v 0.02375039 0.01873211 0.02262783
+v 0.02354183 0.01847486 0.02526826
+v 0.02376751 0.01875030 0.02107788
+v 0.02330059 0.01817604 0.02791423
+v 0.02316985 0.01801753 0.02931471
+v 0.02063761 0.01549443 0.05326127
+v 0.02078857 0.01568671 0.05167813
+v 0.02103604 0.01600373 0.04904323
+v 0.02211618 0.00001327 0.07545304
+v 0.01442449 0.01721448 0.07337175
+v 0.01790614 0.01272449 0.07639413
+v 0.02108585 0.00668068 0.07569663
+v 0.02169284 0.00643645 0.07281263
+v 0.02308114 0.00746284 0.06313658
+v 0.02074811 0.00810199 0.07497702
+v 0.02038391 0.00985330 0.07281265
+v 0.02019559 0.00897764 0.07569664
+v 0.02789817 0.01192699 0.02107785
+v 0.02677757 0.01414339 0.02262781
+v 0.02630910 0.01430968 0.02522949
+v 0.02618770 0.01371464 0.02791421
+v 0.02581728 0.01303125 0.03243671
+v 0.02567253 0.01275062 0.03420254
+v 0.02465777 0.01157613 0.04376234
+v 0.02333795 0.01066146 0.05431854
+v 0.02320098 0.01038603 0.05590723
+v 0.02445232 0.00900631 0.05167810
+v 0.02488344 0.00900632 0.04904320
+v 0.02534102 0.00889720 0.04646919
+v 0.02323211 0.00792275 0.06137629
+v 0.02605385 0.00657426 0.04646918
+v 0.02396828 0.00643650 0.05960492
+v 0.02329281 0.00564657 0.06488579
+v 0.02271072 0.00621820 0.06732141
+v 0.02215509 0.00643646 0.07016666
+v 0.02236209 0.00001328 0.07413559
+v 0.02260800 0.00001328 0.07281261
+v 0.02321810 0.00001330 0.06922560
+v 0.01812559 0.01300772 0.07463384
+v 0.01831547 0.01326496 0.07281266
+v 0.02046173 0.01525797 0.05502710
+v 0.02503597 0.01699380 0.02262782
+v 0.02505153 0.01701979 0.02107787
+v 0.02495348 0.01651569 0.02522950
+v 0.02315585 0.01542952 0.03980447
+v 0.02327258 0.01559582 0.03847596
+v 0.02071854 0.01305973 0.06161434
+v 0.02090686 0.01334036 0.05960495
+v 0.02280255 0.01488645 0.04376235
+v 0.01872635 0.01175270 0.07548629
+v 0.02349047 0.00654042 0.06225089
+v 0.02094888 0.00856711 0.07281264
+v 0.02053644 0.01018330 0.07122949
+v 0.02680714 0.01414339 0.02107786
+v 0.02590444 0.01571021 0.02262782
+v 0.02578926 0.01552831 0.02432721
+v 0.02563674 0.01527626 0.02608750
+v 0.02322744 0.01298442 0.04813539
+v 0.02422198 0.01157612 0.04640277
+v 0.02356362 0.01111359 0.05167811
+v 0.02307025 0.01270120 0.04989015
+v 0.02290994 0.01239978 0.05167812
+v 0.02267336 0.01194765 0.05431854
+v 0.02070142 0.01050030 0.06946920
+v 0.02304690 0.01002485 0.05766752
+v 0.02354650 0.00910503 0.05685932
+v 0.02401186 0.00900630 0.05431853
+v 0.02338464 0.00831512 0.05960493
+v 0.01939872 0.01157602 0.07281265
+v 0.02054889 0.01279729 0.06337463
+v 0.02026407 0.01499293 0.05696453
+v 0.02556047 0.01626626 0.02107787
+v 0.02337685 0.01323388 0.04640278
+v 0.02256286 0.01451487 0.04640278
+v 0.01998236 0.01144611 0.07027738
+v 0.02628108 0.01508660 0.02107787
+v 0.02592000 0.01573360 0.02107787
+v 0.02370214 0.01173721 0.04902660
+v 0.02087884 0.01082511 0.06752624
+v 0.02013489 0.01210870 0.06752624
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 22
+f 1 22 38
+f 1 38 66
+f 1 66 92
+f 1 92 135
+f 1 135 189
+f 1 189 229
+f 1 229 258
+f 1 258 263
+f 1 263 262
+f 1 262 240
+f 1 240 204
+f 1 204 147
+f 1 147 105
+f 1 105 71
+f 1 71 44
+f 1 44 41
+f 1 41 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 29
+f 1 29 55
+f 1 55 81
+f 1 81 80
+f 1 80 123
+f 1 123 173
+f 1 173 172
+f 1 172 224
+f 1 224 223
+f 1 223 222
+f 1 222 195
+f 1 195 140
+f 1 140 99
+f 1 99 69
+f 1 69 39
+f 1 39 23
+f 1 23 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 24
+f 2 24 40
+f 2 40 70
+f 2 70 101
+f 2 101 141
+f 2 141 196
+f 2 196 180
+f 2 180 128
+f 2 128 127
+f 2 127 179
+f 2 179 126
+f 2 126 85
+f 2 85 82
+f 2 82 64
+f 2 64 35
+f 2 35 63
+f 2 63 56
+f 2 56 30
+f 2 30 19
+f 2 19 11
+f 2 11 5
+f 3 8 16
+f 3 16 9
+f 5 11 12
+f 5 12 10
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 16 27
+f 9 27 17
+f 10 12 18
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 18
+f 12 20 21
+f 13 23 14
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 17 27 28
+f 17 28 29
+f 19 30 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 20 30 34
+f 20 34 35
+f 20 35 31
+f 21 36 22
+f 21 33 37
+f 21 37 36
+f 22 36 38
+f 23 39 40
+f 23 40 24
+f 25 41 26
+f 26 42 43
+f 26 43 27
+f 26 41 44
+f 26 44 42
+f 27 43 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 29 54 55
+f 30 56 34
+f 31 35 57
+f 31 57 58
+f 31 58 32
+f 32 59 60
+f 32 60 33
+f 32 58 61
+f 32 61 62
+f 32 62 59
+f 33 60 37
+f 34 56 63
+f 34 63 35
+f 35 64 57
+f 36 65 66
+f 36 66 38
+f 36 37 65
+f 37 60 67
+f 37 67 68
+f 37 68 65
+f 39 69 40
+f 40 69 70
+f 42 44 71
+f 42 71 72
+f 42 72 73
+f 42 73 43
+f 43 73 74
+f 43 74 75
+f 43 75 45
+f 45 75 76
+f 45 76 77
+f 45 77 78
+f 45 78 46
+f 46 78 50
+f 46 50 49
+f 46 49 48
+f 46 48 47
+f 50 78 51
+f 51 78 52
+f 52 78 53
+f 53 78 54
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 55
+f 57 64 82
+f 57 82 58
+f 58 83 84
+f 58 84 61
+f 58 82 85
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 83
+f 59 67 60
+f 59 62 67
+f 61 84 89
+f 61 89 62
+f 62 89 67
+f 65 90 66
+f 65 68 91
+f 65 91 90
+f 66 90 92
+f 67 93 94
+f 67 94 68
+f 67 89 95
+f 67 95 96
+f 67 96 97
+f 67 97 93
+f 68 94 98
+f 68 98 91
+f 69 99 100
+f 69 100 70
+f 70 100 102
+f 70 102 103
+f 70 103 104
+f 70 104 101
+f 71 105 72
+f 72 106 107
+f 72 107 108
+f 72 108 73
+f 72 105 106
+f 73 108 109
+f 73 109 110
+f 73 110 111
+f 73 111 112
+f 73 112 74
+f 74 77 76
+f 74 76 75
+f 74 112 113
+f 74 113 77
+f 77 113 114
+f 77 114 78
+f 78 115 116
+f 78 116 117
+f 78 117 118
+f 78 118 119
+f 78 119 79
+f 78 114 120
+f 78 120 121
+f 78 121 115
+f 79 119 122
+f 79 122 123
+f 79 123 80
+f 83 124 84
+f 83 88 124
+f 84 124 95
+f 84 95 89
+f 85 125 86
+f 85 126 125
+f 86 125 87
+f 87 127 128
+f 87 128 129
+f 87 129 130
+f 87 130 131
+f 87 131 132
+f 87 132 133
+f 87 133 124
+f 87 124 88
+f 87 125 127
+f 90 134 135
+f 90 135 92
+f 90 91 134
+f 91 98 136
+f 91 136 134
+f 93 137 94
+f 93 97 137
+f 94 136 98
+f 94 137 136
+f 95 124 138
+f 95 138 137
+f 95 137 96
+f 96 137 97
+f 99 139 100
+f 99 140 139
+f 100 139 102
+f 101 104 142
+f 101 142 141
+f 102 139 143
+f 102 143 144
+f 102 144 145
+f 102 145 146
+f 102 146 103
+f 103 146 104
+f 104 146 142
+f 105 147 106
+f 106 147 204
+f 106 204 148
+f 106 148 107
+f 107 148 149
+f 107 149 150
+f 107 150 151
+f 107 151 152
+f 107 152 153
+f 107 153 108
+f 108 110 109
+f 108 153 110
+f 110 153 154
+f 110 154 111
+f 111 155 156
+f 111 156 112
+f 111 154 155
+f 112 156 155
+f 112 155 113
+f 113 118 115
+f 113 115 114
+f 113 155 157
+f 113 157 158
+f 113 158 159
+f 113 159 160
+f 113 160 161
+f 113 161 162
+f 113 162 118
+f 114 115 120
+f 115 118 117
+f 115 117 116
+f 115 121 120
+f 118 162 163
+f 118 163 119
+f 119 164 165
+f 119 165 166
+f 119 166 167
+f 119 167 168
+f 119 168 169
+f 119 169 170
+f 119 170 171
+f 119 171 122
+f 119 163 164
+f 122 171 172
+f 122 172 173
+f 122 173 123
+f 124 133 174
+f 124 174 175
+f 124 175 176
+f 124 176 177
+f 124 177 178
+f 124 178 138
+f 125 126 179
+f 125 179 127
+f 128 180 181
+f 128 181 129
+f 129 181 130
+f 130 141 142
+f 130 142 182
+f 130 182 183
+f 130 183 184
+f 130 184 185
+f 130 185 174
+f 130 174 131
+f 130 181 186
+f 130 186 141
+f 131 174 132
+f 132 174 133
+f 134 187 135
+f 134 136 188
+f 134 188 187
+f 135 187 189
+f 136 190 188
+f 136 137 190
+f 137 191 190
+f 137 138 192
+f 137 192 193
+f 137 193 194
+f 137 194 191
+f 138 178 192
+f 139 140 195
+f 139 195 168
+f 139 168 143
+f 141 186 196
+f 142 197 182
+f 142 146 197
+f 143 168 167
+f 143 167 144
+f 144 167 145
+f 145 167 198
+f 145 198 199
+f 145 199 200
+f 145 200 201
+f 145 201 202
+f 145 202 203
+f 145 203 197
+f 145 197 146
+f 148 205 206
+f 148 206 207
+f 148 207 149
+f 148 204 205
+f 149 207 208
+f 149 208 209
+f 149 209 150
+f 150 209 210
+f 150 210 211
+f 150 211 212
+f 150 212 151
+f 151 212 213
+f 151 213 152
+f 152 213 214
+f 152 214 215
+f 152 215 153
+f 153 215 214
+f 153 214 213
+f 153 213 216
+f 153 216 154
+f 154 161 160
+f 154 160 158
+f 154 158 157
+f 154 157 217
+f 154 217 155
+f 154 216 200
+f 154 200 161
+f 155 217 157
+f 158 160 159
+f 161 218 162
+f 161 200 218
+f 162 164 163
+f 162 218 219
+f 162 219 200
+f 162 200 220
+f 162 220 221
+f 162 221 199
+f 162 199 166
+f 162 166 164
+f 164 166 165
+f 166 199 167
+f 167 199 198
+f 168 195 169
+f 169 195 222
+f 169 222 223
+f 169 223 224
+f 169 224 170
+f 170 224 172
+f 170 172 171
+f 174 185 225
+f 174 225 226
+f 174 226 227
+f 174 227 192
+f 174 192 175
+f 175 192 176
+f 176 192 177
+f 177 192 178
+f 180 196 186
+f 180 186 181
+f 182 197 225
+f 182 225 183
+f 183 225 184
+f 184 225 185
+f 187 228 229
+f 187 229 189
+f 187 188 228
+f 188 230 228
+f 188 190 230
+f 190 191 230
+f 191 231 232
+f 191 232 230
+f 191 194 193
+f 191 193 231
+f 192 227 233
+f 192 233 234
+f 192 234 235
+f 192 235 231
+f 192 231 193
+f 197 203 236
+f 197 236 225
+f 199 221 200
+f 200 219 237
+f 200 237 218
+f 200 216 201
+f 200 221 220
+f 201 238 239
+f 201 239 202
+f 201 216 238
+f 202 239 236
+f 202 236 203
+f 204 240 205
+f 205 240 241
+f 205 241 242
+f 205 242 206
+f 206 242 243
+f 206 243 208
+f 206 208 207
+f 208 243 244
+f 208 244 209
+f 209 244 245
+f 209 245 210
+f 210 245 211
+f 211 245 246
+f 211 246 247
+f 211 247 212
+f 212 247 248
+f 212 248 249
+f 212 249 250
+f 212 250 239
+f 212 239 251
+f 212 251 252
+f 212 252 253
+f 212 253 213
+f 213 253 254
+f 213 254 216
+f 216 254 251
+f 216 251 238
+f 218 237 219
+f 225 236 255
+f 225 255 256
+f 225 256 226
+f 226 256 233
+f 226 233 257
+f 226 257 227
+f 227 257 233
+f 228 241 229
+f 228 230 242
+f 228 242 241
+f 229 241 258
+f 230 232 231
+f 230 231 242
+f 231 235 259
+f 231 259 242
+f 233 256 244
+f 233 244 234
+f 234 244 260
+f 234 260 235
+f 235 260 244
+f 235 244 259
+f 236 239 255
+f 238 251 239
+f 239 250 261
+f 239 261 255
+f 240 262 241
+f 241 262 263
+f 241 263 258
+f 242 259 243
+f 243 259 244
+f 244 256 247
+f 244 247 246
+f 244 246 264
+f 244 264 245
+f 245 264 246
+f 247 256 248
+f 248 256 265
+f 248 265 250
+f 248 250 249
+f 250 265 256
+f 250 256 266
+f 250 266 261
+f 251 254 252
+f 252 254 253
+f 255 261 266
+f 255 266 256
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/mesh/wine_glass_040_collision_9.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00001678 0.00001103 -0.02120386
+v 0.00001678 0.00361849 -0.02120385
+v 0.00362370 0.00001103 -0.02120386
+v 0.00001678 0.00001096 -0.00157683
+v 0.00026499 0.00361683 -0.02120385
+v 0.00001678 0.00849871 -0.00599080
+v 0.00131033 0.00849871 -0.00598386
+v 0.00362299 0.00025281 -0.02120386
+v 0.00726042 0.00129794 -0.00703187
+v 0.00726042 0.00001098 -0.00703187
+v 0.00002387 0.00001096 -0.00156527
+v 0.00001678 0.00849869 0.00063714
+v 0.00131033 0.00360769 -0.02120385
+v 0.00387972 0.00849871 -0.00537312
+v 0.00361803 0.00129799 -0.02120386
+v 0.00726042 0.00390257 -0.00626149
+v 0.00726042 0.00001095 -0.00004766
+v 0.00726042 0.00849868 0.00243003
+v 0.00220888 0.00317649 -0.02120385
+v 0.00488109 0.00849871 -0.00502148
+v 0.00599522 0.00849871 -0.00460275
+v 0.00651435 0.00849871 -0.00434365
+v 0.00726042 0.00849870 -0.00393186
+v 0.00318826 0.00219611 -0.02120385
+v 0.00726042 0.00706636 -0.00478783
+v 0.00726042 0.00685367 -0.00489424
+v 0.00726042 0.00579686 -0.00540552
+v 0.00286204 0.00284997 -0.02120385
+f 1 2 5
+f 1 5 13
+f 1 13 19
+f 1 19 28
+f 1 28 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 7 13
+f 6 12 18
+f 6 18 23
+f 6 23 22
+f 6 22 21
+f 6 21 20
+f 6 20 14
+f 6 14 7
+f 7 14 13
+f 8 15 9
+f 9 15 16
+f 9 16 27
+f 9 27 26
+f 9 26 25
+f 9 25 23
+f 9 23 18
+f 9 18 17
+f 9 17 10
+f 11 17 18
+f 11 18 12
+f 13 14 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 19
+f 15 24 23
+f 15 23 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 19 23 28
+f 23 24 28
+

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/mjcf/wine_glass_040.xml

@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wine_glass_040">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wine_glass_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wine_glass_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wine_glass_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wine_glass_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wine_glass_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wine_glass_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wine_glass_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wine_glass_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wine_glass_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wine_glass_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wine_glass_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wine_glass_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wine_glass_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wine_glass_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wine_glass_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wine_glass_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wine_glass_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wine_glass_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wine_glass_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wine_glass_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wine_glass_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wine_glass_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wine_glass_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wine_glass_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wine_glass_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wine_glass_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wine_glass_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wine_glass_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wine_glass_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wine_glass_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6d8f0ae988851e9f9b798411431a50390fd67dfa2729783d1de1282d58bb09
+size 86892

dataset/kitchen_supplies/ware/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wine_glass_040">
+   <link name="wine_glass_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wine_glass_040.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/wine_glass_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>a2ce1f36017f53d2a773e502966f0467</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>wine_glass</category>
+         <name>black wine glass</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>glass</material>
+         <description>tall black stemmed wine glass with tapered bowl</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611161453</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030143 -0.030041 -0.082491</min>
+            <max>0.030195 0.030067 0.077509</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/a2ce1f36017f53d2a773e502966f0467/wine_glass_040.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05e3f00902746f16b1066175699d40bf07fd73f12b24075eec0aeecf018ef11
+size 4818510