Add asset kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14

.gitattributes

@@ -4661,5 +4661,6 @@ dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/baby_bottle_008.u
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/148b8cc8fb1955c48fbe4ac67acd20b2/mjcf/mesh/baby_bottle_008.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/mesh/thermos_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/thermos_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/2974ccc2c2f351569f22b3295904fc14.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/2974ccc2c2f351569f22b3295904fc14.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="purple_cup">
+   <link name="purple_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/purple_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/purple_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>purple cup</category>
+         <description>simple purple cup with a slightly flared top edge</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120061759</generate_time>
+         <gs_model>mesh/purple_cup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5149922370910645</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/2974ccc2c2f351569f22b3295904fc14.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b882dc995da1c301f392b44dcf78613a3c2120d6b0c08e989e158b8eb85486e
+size 1199149

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mesh/material.mtl

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

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mesh/purple_cup.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c9679430bc6ebe924da44099702f9fa367375bc65b67ee93330b78f1cdec4d
+size 2145140

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mesh/purple_cup_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019d99a07de28e446176f2efde12ecb7b1818234ffc8d85e0cff447b56e2bcde
+size 4933513

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/2974ccc2c2f351569f22b3295904fc14.xml

@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="purple_cup">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/purple_cup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/purple_cup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/purple_cup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/purple_cup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/purple_cup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/purple_cup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/purple_cup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/purple_cup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/purple_cup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/purple_cup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/purple_cup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/purple_cup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/purple_cup_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/purple_cup_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/purple_cup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/purple_cup_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/purple_cup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/purple_cup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/purple_cup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/purple_cup_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/purple_cup_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/purple_cup_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/purple_cup_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/purple_cup_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/purple_cup_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/purple_cup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/purple_cup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/purple_cup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/purple_cup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/purple_cup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/purple_cup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/purple_cup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/purple_cup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/purple_cup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/purple_cup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/purple_cup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/purple_cup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/purple_cup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/purple_cup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/purple_cup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/purple_cup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/purple_cup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/purple_cup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/purple_cup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/purple_cup_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/purple_cup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="purple_cup">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_0.obj

@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.00037315 0.00030992 -0.05680778
+v -0.00037315 -0.03365452 -0.05752553
+v -0.00037315 0.00030990 -0.05285661
+v 0.03451661 0.00030992 -0.05752541
+v -0.00037315 -0.03858498 -0.05752555
+v -0.00037315 -0.03573257 -0.05091545
+v 0.03633661 0.00030990 -0.05091532
+v 0.03930104 0.00030992 -0.05752541
+v 0.00064811 -0.03856552 -0.05752555
+v 0.00029047 -0.03873674 -0.05635107
+v -0.00037315 -0.03867059 -0.05690692
+v -0.00037315 -0.03944111 -0.05091546
+v 0.04021899 0.00030990 -0.05091532
+v 0.03963484 0.00030991 -0.05520169
+v 0.03962689 -0.00064349 -0.05520169
+v 0.03928912 -0.00073687 -0.05752541
+v 0.00101370 -0.03855384 -0.05752555
+v -0.00026983 -0.03944111 -0.05091546
+v 0.00105344 -0.03941776 -0.05091546
+v 0.04021104 -0.00064350 -0.05091532
+v 0.04020309 0.00030990 -0.05106416
+v 0.03992095 0.00030991 -0.05313292
+v 0.03991300 -0.00064349 -0.05313292
+v 0.03924144 -0.00270205 -0.05692168
+v 0.03919375 -0.00218449 -0.05752542
+v 0.03929707 -0.00077579 -0.05745423
+v 0.00311185 -0.03842542 -0.05752555
+v 0.00311185 -0.03928545 -0.05091546
+v 0.04007990 -0.00255419 -0.05091533
+v 0.04019117 -0.00064350 -0.05106416
+v 0.04005209 0.00030990 -0.05217652
+v 0.04004811 -0.00270207 -0.05106417
+v 0.03918183 -0.00398233 -0.05650042
+v 0.03915401 -0.00270205 -0.05752542
+v 0.00517027 -0.03816470 -0.05752555
+v 0.00424438 -0.03874064 -0.05429525
+v 0.00325888 -0.03926989 -0.05091546
+v 0.04006798 -0.00270207 -0.05091533
+v 0.03893943 -0.00471392 -0.05752543
+v 0.03911825 -0.00307952 -0.05752542
+v 0.03982955 -0.00476064 -0.05091534
+v 0.03980969 -0.00476064 -0.05106418
+v 0.00697834 -0.03782614 -0.05752555
+v 0.00658493 -0.03879513 -0.05091546
+v 0.00535306 -0.03896246 -0.05124031
+v 0.00532525 -0.03900916 -0.05091546
+v 0.03908646 -0.00535602 -0.05576403
+v 0.03860563 -0.00681919 -0.05752544
+v 0.03951562 -0.00667133 -0.05091534
+v 0.03917388 -0.00595919 -0.05438442
+v 0.00722869 -0.03777556 -0.05752555
+v 0.00722869 -0.03781058 -0.05727124
+v 0.00747109 -0.03862002 -0.05091546
+v 0.00610411 -0.03887685 -0.05091546
+v 0.03815659 -0.00887776 -0.05752544
+v 0.03894738 -0.00671413 -0.05512535
+v 0.03908248 -0.00746129 -0.05313295
+v 0.03914606 -0.00784655 -0.05209501
+v 0.03945999 -0.00699043 -0.05091535
+v 0.03940833 -0.00702545 -0.05126867
+v 0.00903675 -0.03735139 -0.05752555
+v 0.00928313 -0.03819974 -0.05091546
+v 0.03819236 -0.00887776 -0.05727113
+v 0.03850629 -0.01093635 -0.05106420
+v 0.03821223 -0.01093634 -0.05313296
+v 0.03790625 -0.01093634 -0.05520173
+v 0.03759629 -0.01093633 -0.05727114
+v 0.03755656 -0.01094022 -0.05752545
+v 0.03915799 -0.00848474 -0.05091535
+v 0.03876856 -0.00887777 -0.05313295
+v 0.03848244 -0.00887777 -0.05520172
+v 0.03930104 -0.00780374 -0.05091535
+v 0.03922554 -0.00818899 -0.05091535
+v 0.00931095 -0.03728523 -0.05752555
+v 0.00943811 -0.03815694 -0.05091546
+v 0.03902288 -0.00905289 -0.05091535
+v 0.03855795 -0.01081182 -0.05091536
+v 0.03852616 -0.01092467 -0.05091536
+v 0.03788241 -0.01284315 -0.05091537
+v 0.03781088 -0.01299492 -0.05106421
+v 0.03733800 -0.01260576 -0.05520174
+v 0.03715520 -0.01213489 -0.05752545
+v 0.03747708 -0.01118538 -0.05752545
+v 0.01079714 -0.03686885 -0.05752555
+v 0.01134949 -0.03761992 -0.05091546
+v 0.03783074 -0.01299492 -0.05091537
+v 0.03731018 -0.01428687 -0.05091537
+v 0.03725058 -0.01438416 -0.05106421
+v 0.03714328 -0.01415067 -0.05248199
+v 0.03703996 -0.01390939 -0.05386160
+v 0.03744926 -0.01313111 -0.05315627
+v 0.03692870 -0.01363699 -0.05520174
+v 0.03673796 -0.01315834 -0.05752546
+v 0.01090443 -0.03683772 -0.05752555
+v 0.01191377 -0.03653419 -0.05752554
+v 0.01226744 -0.03662758 -0.05599386
+v 0.01253765 -0.03672488 -0.05461426
+v 0.01317346 -0.03697783 -0.05106430
+v 0.01320525 -0.03698562 -0.05091546
+v 0.03725852 -0.01440751 -0.05091537
+v 0.03678564 -0.01543874 -0.05091538
+v 0.03677372 -0.01541539 -0.05106422
+v 0.03667835 -0.01492506 -0.05315627
+v 0.03661477 -0.01344630 -0.05752546
+v 0.03589154 -0.01507292 -0.05752547
+v 0.01340791 -0.03598160 -0.05752554
+v 0.01420267 -0.03656534 -0.05106429
+v 0.01423048 -0.03657312 -0.05091545
+v 0.03599486 -0.01701477 -0.05091538
+v 0.03521997 -0.01645438 -0.05752547
+v 0.01563322 -0.03505155 -0.05752554
+v 0.01546235 -0.03603610 -0.05091545
+v 0.01429406 -0.03654588 -0.05091545
+v 0.03521600 -0.01848573 -0.05091539
+v 0.03497757 -0.01804988 -0.05386227
+v 0.03550609 -0.01726381 -0.05315693
+v 0.03469941 -0.01752063 -0.05727116
+v 0.03468749 -0.01746226 -0.05752547
+v 0.01656309 -0.03463517 -0.05752554
+v 0.01561733 -0.03596606 -0.05091545
+v 0.03463583 -0.01951307 -0.05091539
+v 0.03462391 -0.01949361 -0.05106423
+v 0.03371391 -0.01918228 -0.05752548
+v 0.03452059 -0.01775801 -0.05752548
+v 0.01742540 -0.03419932 -0.05752554
+v 0.01741745 -0.03421878 -0.05741748
+v 0.01764396 -0.03500488 -0.05096140
+v 0.01763998 -0.03501266 -0.05091545
+v 0.03348343 -0.02134204 -0.05091540
+v 0.03324103 -0.02061044 -0.05520177
+v 0.03304234 -0.02030690 -0.05752548
+v 0.03357483 -0.01941966 -0.05752548
+v 0.01962290 -0.03298909 -0.05752553
+v 0.01850229 -0.03457682 -0.05091545
+v 0.03291916 -0.02218259 -0.05091540
+v 0.03272842 -0.02190240 -0.05313300
+v 0.03254959 -0.02163778 -0.05520177
+v 0.03235488 -0.02132257 -0.05752549
+v 0.02026268 -0.03260773 -0.05752553
+v 0.01941626 -0.03405536 -0.05091545
+v 0.03222772 -0.02309708 -0.05091540
+v 0.03133759 -0.02280910 -0.05727118
+v 0.03131375 -0.02278186 -0.05752549
+v 0.03221977 -0.02151714 -0.05752549
+v 0.02048918 -0.03247153 -0.05752553
+v 0.02124817 -0.03295409 -0.05091544
+v 0.03110711 -0.02454080 -0.05091541
+v 0.03121440 -0.02290638 -0.05752549
+v 0.02073953 -0.03231198 -0.05752553
+v 0.02132367 -0.03290739 -0.05091544
+v 0.03024878 -0.02549810 -0.05091541
+v 0.02948581 -0.02501165 -0.05727119
+v 0.02946197 -0.02498441 -0.05752550
+v 0.03051502 -0.02384033 -0.05727119
+v 0.03049118 -0.02380919 -0.05752550
+v 0.02148263 -0.03182944 -0.05752553
+v 0.02228135 -0.03228865 -0.05091544
+v 0.03018122 -0.02557203 -0.05091541
+v 0.02853211 -0.02604288 -0.05727120
+v 0.02850826 -0.02601564 -0.05752551
+v 0.03036402 -0.02395707 -0.05752550
+v 0.02307214 -0.03077097 -0.05752552
+v 0.02385894 -0.03119516 -0.05091543
+v 0.02922752 -0.02660327 -0.05091542
+v 0.02913612 -0.02666942 -0.05106426
+v 0.02838508 -0.02614406 -0.05752551
+v 0.02397418 -0.03010164 -0.05752552
+v 0.02478881 -0.03053361 -0.05091543
+v 0.02399803 -0.03109787 -0.05091543
+v 0.02915202 -0.02668109 -0.05091542
+v 0.02809102 -0.02771232 -0.05091542
+v 0.02747906 -0.02704687 -0.05752551
+v 0.02410134 -0.03000436 -0.05752552
+v 0.02412519 -0.03002771 -0.05727121
+v 0.02536898 -0.02897702 -0.05752552
+v 0.02533719 -0.03008610 -0.05091543
+v 0.02713334 -0.02859179 -0.05091543
+v 0.02704591 -0.02864627 -0.05106427
+v 0.02642600 -0.02809756 -0.05727120
+v 0.02639819 -0.02807421 -0.05752551
+v 0.02565907 -0.02982148 -0.05091543
+v 0.02627103 -0.02818706 -0.05752551
+v 0.02705783 -0.02865794 -0.05091543
+v 0.02579020 -0.02971252 -0.05091543
+f 1 2 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 31
+f 1 31 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 16
+f 2 16 25
+f 2 25 34
+f 2 34 40
+f 2 40 39
+f 2 39 48
+f 2 48 55
+f 2 55 68
+f 2 68 83
+f 2 83 82
+f 2 82 93
+f 2 93 104
+f 2 104 105
+f 2 105 110
+f 2 110 118
+f 2 118 124
+f 2 124 123
+f 2 123 132
+f 2 132 131
+f 2 131 138
+f 2 138 144
+f 2 144 143
+f 2 143 148
+f 2 148 155
+f 2 155 161
+f 2 161 153
+f 2 153 160
+f 2 160 166
+f 2 166 172
+f 2 172 180
+f 2 180 182
+f 2 182 175
+f 2 175 173
+f 2 173 167
+f 2 167 162
+f 2 162 156
+f 2 156 149
+f 2 149 145
+f 2 145 139
+f 2 139 133
+f 2 133 125
+f 2 125 119
+f 2 119 111
+f 2 111 106
+f 2 106 95
+f 2 95 94
+f 2 94 84
+f 2 84 74
+f 2 74 61
+f 2 61 51
+f 2 51 43
+f 2 43 35
+f 2 35 27
+f 2 27 17
+f 2 17 9
+f 2 9 5
+f 3 6 7
+f 5 9 10
+f 5 10 11
+f 6 12 18
+f 6 18 19
+f 6 19 28
+f 6 28 37
+f 6 37 46
+f 6 46 54
+f 6 54 44
+f 6 44 53
+f 6 53 62
+f 6 62 75
+f 6 75 85
+f 6 85 99
+f 6 99 108
+f 6 108 113
+f 6 113 112
+f 6 112 120
+f 6 120 128
+f 6 128 134
+f 6 134 140
+f 6 140 146
+f 6 146 150
+f 6 150 157
+f 6 157 163
+f 6 163 169
+f 6 169 168
+f 6 168 176
+f 6 176 181
+f 6 181 184
+f 6 184 183
+f 6 183 177
+f 6 177 171
+f 6 171 170
+f 6 170 164
+f 6 164 158
+f 6 158 151
+f 6 151 147
+f 6 147 141
+f 6 141 135
+f 6 135 129
+f 6 129 121
+f 6 121 114
+f 6 114 109
+f 6 109 101
+f 6 101 100
+f 6 100 87
+f 6 87 86
+f 6 86 79
+f 6 79 78
+f 6 78 77
+f 6 77 76
+f 6 76 69
+f 6 69 73
+f 6 73 72
+f 6 72 59
+f 6 59 49
+f 6 49 41
+f 6 41 38
+f 6 38 29
+f 6 29 20
+f 6 20 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 18
+f 11 18 12
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 25
+f 17 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 21
+f 21 30 23
+f 21 23 31
+f 22 31 23
+f 23 30 29
+f 23 29 24
+f 24 29 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 29 38 32
+f 32 38 33
+f 33 39 40
+f 33 40 34
+f 33 38 41
+f 33 41 42
+f 33 42 39
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 37
+f 39 42 47
+f 39 47 48
+f 41 49 50
+f 41 50 42
+f 42 50 47
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 44 54 45
+f 45 54 46
+f 47 50 48
+f 48 50 56
+f 48 56 57
+f 48 57 58
+f 48 58 55
+f 49 59 60
+f 49 60 56
+f 49 56 50
+f 51 61 52
+f 52 61 62
+f 52 62 53
+f 55 63 64
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 55 58 63
+f 56 60 57
+f 57 60 58
+f 58 69 70
+f 58 70 71
+f 58 71 63
+f 58 60 59
+f 58 59 72
+f 58 72 73
+f 58 73 69
+f 61 74 62
+f 62 74 75
+f 63 71 64
+f 64 71 70
+f 64 70 76
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 80
+f 64 80 65
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 83 68
+f 69 76 70
+f 74 84 75
+f 75 84 85
+f 79 86 80
+f 80 86 87
+f 80 87 88
+f 80 88 89
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 90
+f 81 90 82
+f 82 90 92
+f 82 92 93
+f 84 94 85
+f 85 94 95
+f 85 95 96
+f 85 96 97
+f 85 97 98
+f 85 98 99
+f 87 100 88
+f 88 100 101
+f 88 101 89
+f 89 101 102
+f 89 102 103
+f 89 103 90
+f 90 104 92
+f 90 103 105
+f 90 105 104
+f 92 104 93
+f 95 106 96
+f 96 106 97
+f 97 106 98
+f 98 106 107
+f 98 107 99
+f 99 107 108
+f 101 109 102
+f 102 109 110
+f 102 110 103
+f 103 110 105
+f 106 111 107
+f 107 111 112
+f 107 112 113
+f 107 113 108
+f 109 114 115
+f 109 115 116
+f 109 116 110
+f 110 116 115
+f 110 115 117
+f 110 117 118
+f 111 119 112
+f 112 119 120
+f 114 121 122
+f 114 122 115
+f 115 122 123
+f 115 123 117
+f 117 123 124
+f 117 124 118
+f 119 125 126
+f 119 126 127
+f 119 127 120
+f 120 127 128
+f 121 129 122
+f 122 129 130
+f 122 130 131
+f 122 131 132
+f 122 132 123
+f 125 133 134
+f 125 134 126
+f 126 134 127
+f 127 134 128
+f 129 135 136
+f 129 136 130
+f 130 136 137
+f 130 137 131
+f 131 137 138
+f 133 139 140
+f 133 140 134
+f 135 141 142
+f 135 142 143
+f 135 143 136
+f 136 143 137
+f 137 143 144
+f 137 144 138
+f 139 145 146
+f 139 146 140
+f 141 147 142
+f 142 147 143
+f 143 147 148
+f 145 149 150
+f 145 150 146
+f 147 151 152
+f 147 152 153
+f 147 153 154
+f 147 154 148
+f 148 154 155
+f 149 156 157
+f 149 157 150
+f 151 158 152
+f 152 158 164
+f 152 164 159
+f 152 159 160
+f 152 160 153
+f 153 161 154
+f 154 161 155
+f 156 162 157
+f 157 162 163
+f 159 164 165
+f 159 165 166
+f 159 166 160
+f 162 167 168
+f 162 168 169
+f 162 169 163
+f 164 170 165
+f 165 170 171
+f 165 171 172
+f 165 172 166
+f 167 173 174
+f 167 174 168
+f 168 174 175
+f 168 175 176
+f 171 177 178
+f 171 178 179
+f 171 179 172
+f 172 179 180
+f 173 175 174
+f 175 181 176
+f 175 182 179
+f 175 179 178
+f 175 178 181
+f 177 183 178
+f 178 183 184
+f 178 184 181
+f 179 182 180
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_1.obj

@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
+v -0.00037315 0.04000988 -0.05098793
+v -0.00037315 0.04000210 -0.05106356
+v -0.00037315 0.03624003 -0.05098795
+v 0.00097801 0.03998268 -0.05098793
+v 0.00105352 0.03997102 -0.05106356
+v 0.00025474 0.03951242 -0.05426485
+v -0.00037315 0.03960181 -0.05370348
+v -0.00037315 0.00031379 -0.05285670
+v 0.03631484 0.00031379 -0.05098808
+v 0.00105352 0.03997879 -0.05098793
+v 0.00311205 0.03982722 -0.05098793
+v 0.00311205 0.03882842 -0.05764805
+v 0.00142707 0.03893724 -0.05764805
+v 0.00105352 0.03896056 -0.05764805
+v -0.00037315 0.03898777 -0.05764805
+v -0.00037315 0.00031381 -0.05680777
+v 0.04021334 0.00031379 -0.05098808
+v 0.00504739 0.03960569 -0.05098793
+v 0.00429630 0.03952019 -0.05223911
+v 0.00517058 0.03859912 -0.05764805
+v -0.00037315 0.03410640 -0.05764806
+v 0.03476896 0.00031381 -0.05764819
+v 0.03992324 0.00031380 -0.05313314
+v 0.04022526 0.00141753 -0.05098807
+v 0.00507521 0.03960180 -0.05098793
+v 0.00567131 0.03941914 -0.05160016
+v 0.00554811 0.03854083 -0.05764805
+v 0.03928342 0.00031381 -0.05764819
+v 0.03976825 0.00031380 -0.05424609
+v 0.03964505 0.00141754 -0.05520190
+v 0.03993119 0.00141754 -0.05313313
+v 0.04022129 0.00149526 -0.05098807
+v 0.00711387 0.03926368 -0.05098794
+v 0.00722912 0.03827655 -0.05764805
+v 0.03929137 0.00092009 -0.05764819
+v 0.03963313 0.00031380 -0.05520191
+v 0.04011399 0.00347735 -0.05098807
+v 0.03929137 0.00107166 -0.05764819
+v 0.03934303 0.00141755 -0.05727133
+v 0.03920791 0.00301488 -0.05764818
+v 0.00722912 0.03863021 -0.05520177
+v 0.00923599 0.03878954 -0.05098794
+v 0.00929162 0.03788013 -0.05727120
+v 0.00764241 0.03818716 -0.05764805
+v 0.04010604 0.00355119 -0.05098807
+v 0.03952186 0.00347736 -0.05520190
+v 0.03919599 0.00483374 -0.05659390
+v 0.03928740 0.00141755 -0.05764818
+v 0.03916420 0.00360173 -0.05764818
+v 0.03923971 0.00329859 -0.05727850
+v 0.00929162 0.03877399 -0.05098794
+v 0.00929162 0.03876622 -0.05106357
+v 0.00929162 0.03847086 -0.05313300
+v 0.00965723 0.03772856 -0.05764805
+v 0.00929162 0.03782572 -0.05764805
+v 0.03987952 0.00553716 -0.05098806
+v 0.03904896 0.00464330 -0.05764817
+v 0.03894563 0.00552552 -0.05764817
+v 0.01127465 0.03820657 -0.05098794
+v 0.01135016 0.03817548 -0.05106357
+v 0.01049575 0.03749537 -0.05764805
+v 0.03986760 0.00561100 -0.05098806
+v 0.03909267 0.00620565 -0.05582063
+v 0.03865950 0.00722001 -0.05764816
+v 0.01135016 0.03818325 -0.05098794
+v 0.01296360 0.03765081 -0.05098794
+v 0.01294373 0.03764692 -0.05106357
+v 0.01261786 0.03752645 -0.05267987
+v 0.01152104 0.03716891 -0.05764805
+v 0.03948212 0.00777575 -0.05098805
+v 0.03859592 0.00759311 -0.05764816
+v 0.01398890 0.03726994 -0.05098794
+v 0.01397300 0.03726605 -0.05106357
+v 0.01340869 0.03651210 -0.05764806
+v 0.01193831 0.03702512 -0.05764805
+v 0.03933906 0.00843256 -0.05098805
+v 0.03914830 0.00862299 -0.05209774
+v 0.03821839 0.00927594 -0.05764816
+v 0.01540761 0.03669863 -0.05098795
+v 0.01546722 0.03666366 -0.05106358
+v 0.01547120 0.03570372 -0.05764806
+v 0.01371071 0.03639551 -0.05764806
+v 0.03912843 0.00936142 -0.05098805
+v 0.03813096 0.00965292 -0.05764815
+v 0.01546325 0.03667532 -0.05098795
+v 0.01636932 0.03627113 -0.05098795
+v 0.01676275 0.03550551 -0.05520178
+v 0.01656802 0.03541224 -0.05646860
+v 0.01610306 0.03543944 -0.05764806
+v 0.01568579 0.03561434 -0.05764806
+v 0.03901716 0.00981224 -0.05098804
+v 0.03765805 0.01133575 -0.05764815
+v 0.03847670 0.01171271 -0.05106367
+v 0.01759332 0.03572314 -0.05098795
+v 0.01779202 0.03501193 -0.05520178
+v 0.01739859 0.03483705 -0.05764806
+v 0.01665545 0.03519071 -0.05764806
+v 0.03848862 0.01170494 -0.05098804
+v 0.03760242 0.01171273 -0.05727130
+v 0.03754678 0.01172051 -0.05764815
+v 0.03716131 0.01294085 -0.05764814
+v 0.03779317 0.01376864 -0.05098803
+v 0.01775228 0.03564541 -0.05098795
+v 0.01836427 0.03528397 -0.05145348
+v 0.01810596 0.03516350 -0.05313301
+v 0.01958826 0.03407530 -0.05520178
+v 0.01956045 0.03371387 -0.05764807
+v 0.03690299 0.01363652 -0.05764814
+v 0.03695466 0.01443323 -0.05520186
+v 0.03776933 0.01383471 -0.05098803
+v 0.01919881 0.03491087 -0.05098795
+v 0.01939751 0.03480594 -0.05098795
+v 0.01958826 0.03438233 -0.05313301
+v 0.02062945 0.03333299 -0.05629975
+v 0.01968761 0.03372941 -0.05710235
+v 0.01981478 0.03357396 -0.05764807
+v 0.03678377 0.01395521 -0.05764814
+v 0.03704606 0.01468974 -0.05387571
+v 0.03601282 0.01582847 -0.05764813
+v 0.03724873 0.01517164 -0.05106365
+v 0.03725270 0.01518330 -0.05098802
+v 0.02123350 0.03377214 -0.05098796
+v 0.02129311 0.03372939 -0.05106359
+v 0.02049036 0.03318920 -0.05764807
+v 0.02039499 0.03324750 -0.05764807
+v 0.02230251 0.03312700 -0.05098796
+v 0.02144810 0.03267619 -0.05710235
+v 0.03606845 0.01582847 -0.05727128
+v 0.03529352 0.01737916 -0.05764813
+v 0.03636650 0.01582846 -0.05520185
+v 0.03679967 0.01620155 -0.05106365
+v 0.03723681 0.01522217 -0.05098802
+v 0.02130901 0.03372939 -0.05098796
+v 0.02149579 0.03255182 -0.05764807
+v 0.02233033 0.03310756 -0.05098796
+v 0.02332383 0.03173566 -0.05520179
+v 0.02308539 0.03156078 -0.05727122
+v 0.02178589 0.03236139 -0.05764807
+v 0.03476101 0.01840907 -0.05764812
+v 0.03532134 0.01743746 -0.05727128
+v 0.03677980 0.01626373 -0.05098802
+v 0.03680364 0.01621321 -0.05098802
+v 0.03600487 0.01788827 -0.05098801
+v 0.02371328 0.03213984 -0.05098796
+v 0.02385634 0.03203879 -0.05098796
+v 0.02389608 0.03197272 -0.05122007
+v 0.02471075 0.03124984 -0.05201486
+v 0.02458756 0.03115269 -0.05313303
+v 0.02322845 0.03138978 -0.05764807
+v 0.02303770 0.03152969 -0.05764807
+v 0.02435309 0.03097392 -0.05520180
+v 0.03478883 0.01846348 -0.05727127
+v 0.03384301 0.01997142 -0.05764812
+v 0.03494381 0.01875495 -0.05520184
+v 0.03597308 0.01795045 -0.05098801
+v 0.02427759 0.03173176 -0.05098796
+v 0.02535057 0.02972638 -0.05764808
+v 0.02532673 0.03091950 -0.05098797
+v 0.02568041 0.03063190 -0.05098797
+v 0.02411465 0.03079127 -0.05727123
+v 0.02406697 0.03075629 -0.05764808
+v 0.02430541 0.03056974 -0.05764808
+v 0.03391852 0.01994421 -0.05727127
+v 0.03309590 0.02116067 -0.05764811
+v 0.03466166 0.02034838 -0.05098801
+v 0.03525378 0.01931459 -0.05106364
+v 0.03523789 0.01936123 -0.05098801
+v 0.02637983 0.02883250 -0.05764808
+v 0.02702362 0.02949317 -0.05098797
+v 0.02690043 0.02930274 -0.05262773
+v 0.02675737 0.02917450 -0.05400735
+v 0.02663417 0.02906179 -0.05520180
+v 0.03257928 0.02190298 -0.05764811
+v 0.03288925 0.02291732 -0.05167260
+v 0.03352907 0.02213614 -0.05098800
+v 0.03462986 0.02039891 -0.05098801
+v 0.02658251 0.02864595 -0.05764808
+v 0.02706734 0.02945431 -0.05098797
+v 0.02806084 0.02851379 -0.05098798
+v 0.02747666 0.02780648 -0.05764809
+v 0.03239648 0.02216337 -0.05764811
+v 0.03134734 0.02357803 -0.05764810
+v 0.03226931 0.02386172 -0.05098799
+v 0.03350125 0.02217501 -0.05098800
+v 0.02809660 0.02847881 -0.05098798
+v 0.02884372 0.02714189 -0.05414232
+v 0.02854169 0.02683098 -0.05727124
+v 0.02850593 0.02679212 -0.05764809
+v 0.03065984 0.02441750 -0.05764810
+v 0.03109698 0.02530359 -0.05098799
+v 0.03224149 0.02389670 -0.05098799
+v 0.02914574 0.02744891 -0.05098798
+v 0.02897486 0.02727790 -0.05276271
+v 0.02950737 0.02580108 -0.05727125
+v 0.02868476 0.02660557 -0.05764809
+v 0.03050088 0.02460794 -0.05764810
+v 0.03053664 0.02464681 -0.05727125
+v 0.03017501 0.02633350 -0.05098798
+v 0.02966236 0.02554846 -0.05764810
+v 0.02947161 0.02576221 -0.05764810
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 24
+f 1 24 32
+f 1 32 37
+f 1 37 45
+f 1 45 56
+f 1 56 62
+f 1 62 70
+f 1 70 76
+f 1 76 83
+f 1 83 91
+f 1 91 98
+f 1 98 102
+f 1 102 110
+f 1 110 121
+f 1 121 132
+f 1 132 142
+f 1 142 141
+f 1 141 143
+f 1 143 155
+f 1 155 167
+f 1 167 165
+f 1 165 176
+f 1 176 175
+f 1 175 184
+f 1 184 183
+f 1 183 191
+f 1 191 190
+f 1 190 198
+f 1 198 192
+f 1 192 185
+f 1 185 179
+f 1 179 178
+f 1 178 169
+f 1 169 159
+f 1 159 158
+f 1 158 156
+f 1 156 145
+f 1 145 144
+f 1 144 135
+f 1 135 126
+f 1 126 133
+f 1 133 122
+f 1 122 112
+f 1 112 111
+f 1 111 103
+f 1 103 94
+f 1 94 86
+f 1 86 85
+f 1 85 79
+f 1 79 72
+f 1 72 66
+f 1 66 65
+f 1 65 59
+f 1 59 51
+f 1 51 42
+f 1 42 33
+f 1 33 25
+f 1 25 18
+f 1 18 11
+f 1 11 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 8 16 22
+f 8 22 28
+f 8 28 36
+f 8 36 29
+f 8 29 23
+f 8 23 17
+f 8 17 9
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 27
+f 12 27 34
+f 12 34 44
+f 12 44 55
+f 12 55 54
+f 12 54 61
+f 12 61 69
+f 12 69 75
+f 12 75 74
+f 12 74 82
+f 12 82 81
+f 12 81 90
+f 12 90 89
+f 12 89 97
+f 12 97 96
+f 12 96 107
+f 12 107 116
+f 12 116 125
+f 12 125 124
+f 12 124 134
+f 12 134 138
+f 12 138 150
+f 12 150 149
+f 12 149 161
+f 12 161 162
+f 12 162 157
+f 12 157 168
+f 12 168 177
+f 12 177 180
+f 12 180 188
+f 12 188 195
+f 12 195 200
+f 12 200 199
+f 12 199 196
+f 12 196 189
+f 12 189 182
+f 12 182 181
+f 12 181 173
+f 12 173 164
+f 12 164 153
+f 12 153 139
+f 12 139 129
+f 12 129 119
+f 12 119 117
+f 12 117 108
+f 12 108 101
+f 12 101 100
+f 12 100 92
+f 12 92 84
+f 12 84 78
+f 12 78 71
+f 12 71 64
+f 12 64 58
+f 12 58 57
+f 12 57 49
+f 12 49 40
+f 12 40 48
+f 12 48 38
+f 12 38 35
+f 12 35 28
+f 12 28 22
+f 12 22 21
+f 12 21 15
+f 12 15 14
+f 12 14 13
+f 16 21 22
+f 17 23 24
+f 18 25 20
+f 18 20 19
+f 20 25 26
+f 20 26 27
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 28 35 36
+f 29 36 30
+f 30 37 31
+f 30 36 35
+f 30 35 38
+f 30 38 39
+f 30 39 40
+f 30 40 37
+f 31 37 32
+f 33 41 34
+f 33 42 43
+f 33 43 44
+f 33 44 41
+f 34 41 44
+f 37 40 46
+f 37 46 47
+f 37 47 45
+f 38 48 39
+f 39 48 40
+f 40 49 50
+f 40 50 46
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 45 47 56
+f 46 50 49
+f 46 49 47
+f 47 49 57
+f 47 57 58
+f 47 58 56
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 52 61 54
+f 52 54 53
+f 56 58 63
+f 56 63 62
+f 58 64 63
+f 59 65 60
+f 60 65 66
+f 60 66 67
+f 60 67 68
+f 60 68 69
+f 60 69 61
+f 62 63 71
+f 62 71 70
+f 63 64 71
+f 66 72 73
+f 66 73 74
+f 66 74 67
+f 67 74 68
+f 68 75 69
+f 68 74 75
+f 70 71 77
+f 70 77 76
+f 71 78 77
+f 72 79 73
+f 73 79 80
+f 73 80 81
+f 73 81 82
+f 73 82 74
+f 76 77 83
+f 77 78 84
+f 77 84 83
+f 79 85 80
+f 80 85 86
+f 80 86 87
+f 80 87 88
+f 80 88 89
+f 80 89 90
+f 80 90 81
+f 83 84 91
+f 84 92 93
+f 84 93 91
+f 86 94 87
+f 87 94 95
+f 87 95 88
+f 88 95 96
+f 88 96 97
+f 88 97 89
+f 91 93 98
+f 92 99 93
+f 92 100 99
+f 93 99 101
+f 93 101 102
+f 93 102 98
+f 94 103 104
+f 94 104 105
+f 94 105 95
+f 95 105 106
+f 95 106 107
+f 95 107 96
+f 99 100 101
+f 101 108 109
+f 101 109 110
+f 101 110 102
+f 103 111 104
+f 104 111 112
+f 104 112 106
+f 104 106 105
+f 106 112 113
+f 106 113 114
+f 106 114 115
+f 106 115 107
+f 107 115 116
+f 108 117 109
+f 109 118 110
+f 109 117 119
+f 109 119 118
+f 110 118 120
+f 110 120 121
+f 112 122 123
+f 112 123 114
+f 112 114 113
+f 114 124 125
+f 114 125 116
+f 114 116 115
+f 114 123 126
+f 114 126 127
+f 114 127 124
+f 118 119 128
+f 118 128 120
+f 119 129 128
+f 120 128 130
+f 120 130 131
+f 120 131 132
+f 120 132 121
+f 122 133 123
+f 123 133 126
+f 124 127 134
+f 126 135 136
+f 126 136 137
+f 126 137 138
+f 126 138 127
+f 127 138 134
+f 128 129 131
+f 128 131 130
+f 129 139 140
+f 129 140 131
+f 131 141 142
+f 131 142 132
+f 131 140 143
+f 131 143 141
+f 135 144 136
+f 136 144 145
+f 136 145 146
+f 136 146 147
+f 136 147 148
+f 136 148 137
+f 137 149 150
+f 137 150 138
+f 137 148 151
+f 137 151 149
+f 139 152 140
+f 139 153 152
+f 140 152 154
+f 140 154 155
+f 140 155 143
+f 145 156 146
+f 146 156 147
+f 147 157 148
+f 147 156 158
+f 147 158 159
+f 147 159 157
+f 148 157 151
+f 149 151 160
+f 149 160 161
+f 151 157 162
+f 151 162 160
+f 152 153 163
+f 152 163 154
+f 153 164 165
+f 153 165 163
+f 154 166 155
+f 154 163 165
+f 154 165 166
+f 155 166 167
+f 157 159 169
+f 157 169 170
+f 157 170 171
+f 157 171 172
+f 157 172 168
+f 160 162 161
+f 164 173 174
+f 164 174 175
+f 164 175 176
+f 164 176 165
+f 165 167 166
+f 168 172 177
+f 169 178 170
+f 170 177 171
+f 170 178 179
+f 170 179 180
+f 170 180 177
+f 171 177 172
+f 173 181 174
+f 174 181 182
+f 174 182 183
+f 174 183 184
+f 174 184 175
+f 179 185 180
+f 180 185 186
+f 180 186 187
+f 180 187 188
+f 182 189 190
+f 182 190 191
+f 182 191 183
+f 185 192 193
+f 185 193 186
+f 186 193 194
+f 186 194 195
+f 186 195 187
+f 187 195 188
+f 189 196 197
+f 189 197 190
+f 190 197 194
+f 190 194 198
+f 192 194 193
+f 192 198 194
+f 194 199 200
+f 194 200 195
+f 194 197 199
+f 196 199 197
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_10.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00037315 -0.05694008 0.05860839
+v -0.00037315 -0.05629302 0.06066870
+v -0.00100908 -0.05629050 0.06066870
+v -0.00100908 -0.05693504 0.05860839
+v -0.00100908 -0.03946145 -0.05088698
+v -0.00037315 -0.03944886 -0.05088698
+v -0.00037315 -0.05542188 0.06188717
+v -0.00100908 -0.05542188 0.06188717
+v -0.00306860 -0.05539419 0.06186501
+v -0.00306860 -0.05623259 0.06066870
+v -0.00306860 -0.05687965 0.05860839
+v -0.00290420 -0.03939599 -0.05088698
+v -0.00037315 -0.03574022 -0.05088697
+v -0.00037315 -0.05503163 0.06198686
+v -0.00100908 -0.05416301 0.06220840
+v -0.00306860 -0.05416301 0.06219732
+v -0.00512813 -0.05416301 0.06217517
+v -0.00512813 -0.05534132 0.06183179
+v -0.00718766 -0.05416301 0.06213086
+v -0.00512813 -0.05612936 0.06066870
+v -0.00512813 -0.05677894 0.05860839
+v -0.00306860 -0.03938844 -0.05088698
+v -0.01882942 -0.03122086 -0.05088695
+v -0.00037315 -0.05075899 0.05653702
+v -0.00037315 -0.05416301 0.06220840
+v -0.01542397 -0.05210349 0.06225272
+v -0.00718766 -0.05526075 0.06176532
+v -0.00911711 -0.05429645 0.06202009
+v -0.01130491 -0.05387095 0.06207548
+v -0.00718766 -0.05595060 0.06066870
+v -0.00834389 -0.05520787 0.06172102
+v -0.00718766 -0.05658759 0.05860839
+v -0.00512813 -0.03921220 -0.05088698
+v -0.01882942 -0.04385020 0.03382935
+v -0.00037315 -0.05098559 0.05814317
+v -0.00037315 -0.05091509 0.05764472
+v -0.01882942 -0.03527192 -0.05088697
+v -0.01882942 -0.05001879 0.06218627
+v -0.01336444 -0.05210349 0.06225272
+v -0.00037315 -0.05268257 0.06203118
+v -0.01882942 -0.05186431 0.06205334
+v -0.01336444 -0.05364939 0.06203117
+v -0.00911711 -0.05564596 0.06082378
+v -0.01130491 -0.05557546 0.06036963
+v -0.00971510 -0.05507444 0.06161025
+v -0.01542397 -0.05341524 0.06190932
+v -0.00924719 -0.05631819 0.05860839
+v -0.00724909 -0.03892265 -0.05088698
+v -0.01882942 -0.04603063 0.04825150
+v -0.01882942 -0.04761937 0.05863058
+v -0.00037315 -0.05109638 0.05885210
+v -0.01747085 -0.03591898 -0.05088697
+v -0.01882942 -0.05392633 0.05860840
+v -0.01882942 -0.04884552 0.06184288
+v -0.00037315 -0.05172582 0.06066872
+v -0.01882942 -0.05284119 0.06135549
+v -0.01815194 -0.05296708 0.06154379
+v -0.01677892 -0.05323396 0.06178748
+v -0.01336444 -0.05535893 0.05997086
+v -0.01130491 -0.05490071 0.06139978
+v -0.01336444 -0.05467914 0.06101210
+v -0.01130491 -0.05599089 0.05860839
+v -0.00762667 -0.03885971 -0.05088698
+v -0.01882942 -0.04822615 0.06066873
+v -0.00037315 -0.05114673 0.05917333
+v -0.01734981 -0.03597185 -0.05088697
+v -0.01459835 -0.05524814 0.05747855
+v -0.01748350 -0.05437953 0.05860840
+v -0.01450621 -0.05522297 0.05970502
+v -0.01882942 -0.05349076 0.06034747
+v -0.01608338 -0.03651569 -0.05088697
+v -0.01506445 -0.03692104 -0.05088698
+v -0.01882942 -0.05317352 0.06085701
+v -0.01747266 -0.05368211 0.06079056
+v -0.01528486 -0.05449282 0.06051363
+v -0.01336444 -0.05556539 0.05860840
+v -0.00848119 -0.03877663 -0.05043283
+v -0.00898162 -0.03861045 -0.05088698
+v -0.01463268 -0.05525822 0.05860840
+v -0.01566063 -0.05494854 0.05860840
+v -0.01489102 -0.03698147 -0.05088698
+v -0.01336444 -0.03748502 -0.05088698
+v -0.01319823 -0.03753286 -0.05088698
+v -0.01129046 -0.03806914 -0.05088698
+v -0.01116038 -0.03810187 -0.05088698
+v -0.00927610 -0.03855003 -0.05088698
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 24
+f 1 24 36
+f 1 36 35
+f 1 35 51
+f 1 51 65
+f 1 65 55
+f 1 55 40
+f 1 40 25
+f 1 25 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 9
+f 4 11 5
+f 5 12 22
+f 5 22 33
+f 5 33 48
+f 5 48 63
+f 5 63 78
+f 5 78 86
+f 5 86 85
+f 5 85 84
+f 5 84 83
+f 5 83 82
+f 5 82 81
+f 5 81 72
+f 5 72 71
+f 5 71 66
+f 5 66 52
+f 5 52 37
+f 5 37 23
+f 5 23 13
+f 5 13 6
+f 5 11 12
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 10 20 21
+f 10 21 11
+f 10 18 20
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 14 25 15
+f 15 25 39
+f 15 39 26
+f 15 26 16
+f 16 26 17
+f 17 26 19
+f 18 27 20
+f 18 19 28
+f 18 28 29
+f 18 29 27
+f 19 26 29
+f 19 29 28
+f 20 30 21
+f 20 27 31
+f 20 31 30
+f 21 30 32
+f 21 32 33
+f 21 33 22
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 23 37 53
+f 23 53 70
+f 23 70 73
+f 23 73 56
+f 23 56 41
+f 23 41 38
+f 23 38 54
+f 23 54 64
+f 23 64 50
+f 23 50 49
+f 23 49 34
+f 25 38 39
+f 25 40 38
+f 26 39 38
+f 26 38 41
+f 26 41 42
+f 26 42 29
+f 27 29 31
+f 29 42 31
+f 30 31 43
+f 30 43 44
+f 30 44 32
+f 31 45 43
+f 31 42 46
+f 31 46 45
+f 32 44 47
+f 32 47 33
+f 33 47 48
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 37 52 53
+f 38 40 54
+f 40 55 54
+f 41 46 42
+f 41 56 57
+f 41 57 58
+f 41 58 46
+f 43 45 44
+f 44 59 47
+f 44 45 60
+f 44 60 61
+f 44 61 59
+f 45 46 58
+f 45 58 60
+f 47 59 62
+f 47 62 48
+f 48 62 63
+f 50 64 65
+f 50 65 51
+f 52 66 53
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 66 71
+f 53 71 72
+f 53 72 67
+f 54 55 64
+f 55 65 64
+f 56 73 57
+f 57 73 74
+f 57 74 58
+f 58 74 75
+f 58 75 61
+f 58 61 60
+f 59 61 75
+f 59 75 69
+f 59 69 62
+f 62 69 76
+f 62 76 67
+f 62 67 63
+f 63 77 78
+f 63 67 77
+f 67 76 79
+f 67 79 80
+f 67 80 68
+f 67 72 81
+f 67 81 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 67 85 86
+f 67 86 78
+f 67 78 77
+f 68 80 69
+f 69 75 74
+f 69 74 70
+f 69 80 79
+f 69 79 76
+f 70 74 73
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_11.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.01883075 -0.05392807 0.05860396
+v -0.01883075 -0.05348741 0.06034385
+v -0.01954417 -0.05338948 0.06012221
+v -0.02070664 -0.05318314 0.05974542
+v -0.01954417 -0.05368676 0.05860396
+v -0.02077439 -0.05320761 0.05746251
+v -0.01883075 -0.03527282 -0.05089804
+v -0.01883075 -0.05317264 0.06085363
+v -0.02276454 -0.05112671 0.06175129
+v -0.02510674 -0.05126309 0.06000031
+v -0.02535651 -0.05138200 0.05860397
+v -0.02366263 -0.05208847 0.05860397
+v -0.02082488 -0.05322511 0.05860396
+v -0.02353509 -0.05150441 0.06067632
+v -0.02516387 -0.05129456 0.05731845
+v -0.01914561 -0.03512243 -0.05089804
+v -0.01883075 -0.03121939 -0.05089802
+v -0.01883075 -0.05284041 0.06135233
+v -0.02691355 -0.04909825 0.06177346
+v -0.02413691 -0.05077697 0.06137449
+v -0.02160340 -0.05132955 0.06188427
+v -0.02572053 -0.04937104 0.06191753
+v -0.02916010 -0.04921015 0.05996708
+v -0.02777975 -0.05016842 0.05860398
+v -0.02638479 -0.05087489 0.05860397
+v -0.02767214 -0.04951792 0.06066525
+v -0.02923184 -0.04924512 0.05731846
+v -0.01933426 -0.03503150 -0.05089804
+v -0.03240173 -0.01819877 -0.05089798
+v -0.01883075 -0.04353736 0.03175211
+v -0.01883075 -0.05186115 0.06205050
+v -0.01954417 -0.05167929 0.06205050
+v -0.03088321 -0.04696487 0.06171806
+v -0.02828593 -0.04868556 0.06135234
+v -0.02767214 -0.04799308 0.06202835
+v -0.02983898 -0.04723066 0.06186213
+v -0.02353509 -0.05007400 0.06202835
+v -0.03170159 -0.04729710 0.06053228
+v -0.03240173 -0.04715021 0.06012224
+v -0.03240173 -0.04753492 0.05860399
+v -0.03189821 -0.04784618 0.05860398
+v -0.03041822 -0.04874151 0.05860398
+v -0.02938861 -0.04933605 0.05860398
+v -0.03240173 -0.04752092 0.05811638
+v -0.02035325 -0.03448592 -0.05089804
+v -0.03240173 -0.03999465 0.05860401
+v -0.01883075 -0.04761886 0.05862616
+v -0.01883075 -0.04624436 0.04964967
+v -0.01883075 -0.04603102 0.04825333
+v -0.01883075 -0.04384862 0.03382446
+v -0.03240173 -0.02460941 -0.05089800
+v -0.01883075 -0.05001805 0.06218350
+v -0.01954417 -0.05004603 0.06226107
+v -0.02160340 -0.05004603 0.06223891
+v -0.03170159 -0.04586320 0.06196186
+v -0.03240173 -0.04553795 0.06191754
+v -0.03240173 -0.04644375 0.06108638
+v -0.03240173 -0.04660113 0.06087582
+v -0.02572053 -0.04798609 0.06226107
+v -0.02983898 -0.04592615 0.06222784
+v -0.03240173 -0.02494516 -0.04931327
+v -0.03154216 -0.02557118 -0.05089800
+v -0.03090314 -0.02641055 -0.05019985
+v -0.02986157 -0.02729537 -0.05089801
+v -0.02971543 -0.02743526 -0.05089801
+v -0.02882664 -0.02844950 -0.05011119
+v -0.02792191 -0.02907202 -0.05089802
+v -0.02647779 -0.03027511 -0.05089802
+v -0.02546412 -0.03107250 -0.05089802
+v -0.02534189 -0.03116693 -0.05089802
+v -0.02406916 -0.03211471 -0.05089803
+v -0.02303954 -0.03281768 -0.05089803
+v -0.02289075 -0.03291211 -0.05089803
+v -0.02159277 -0.03373049 -0.05089803
+v -0.03240173 -0.04048078 0.06019983
+v -0.01883075 -0.04822390 0.06067633
+v -0.03240173 -0.04204760 0.06203946
+v -0.01883075 -0.04884644 0.06183995
+v -0.03189821 -0.04386971 0.06231650
+v -0.03240173 -0.04388021 0.06226109
+v -0.02824076 -0.02878174 -0.05089802
+v -0.03240173 -0.04056121 0.06041039
+v -0.03240173 -0.04099839 0.06129696
+v -0.03189821 -0.04221197 0.06199512
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 30
+f 1 30 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 76
+f 1 76 78
+f 1 78 52
+f 1 52 31
+f 1 31 18
+f 1 18 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 9 14
+f 4 14 10
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 15
+f 6 15 7
+f 7 16 28
+f 7 28 45
+f 7 45 74
+f 7 74 73
+f 7 73 72
+f 7 72 71
+f 7 71 70
+f 7 70 69
+f 7 69 68
+f 7 68 67
+f 7 67 81
+f 7 81 65
+f 7 65 64
+f 7 64 62
+f 7 62 51
+f 7 51 29
+f 7 29 17
+f 7 15 16
+f 8 18 9
+f 9 19 20
+f 9 20 14
+f 9 18 21
+f 9 21 22
+f 9 22 19
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 10 14 20
+f 10 20 26
+f 10 26 23
+f 11 25 15
+f 15 25 27
+f 15 27 28
+f 15 28 16
+f 17 29 30
+f 18 31 32
+f 18 32 21
+f 19 33 34
+f 19 34 26
+f 19 26 20
+f 19 22 35
+f 19 35 36
+f 19 36 33
+f 21 32 37
+f 21 37 22
+f 22 37 35
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 23 26 34
+f 23 34 33
+f 23 33 38
+f 24 43 27
+f 24 27 25
+f 27 43 42
+f 27 42 44
+f 27 44 45
+f 27 45 28
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 29 51 61
+f 29 61 44
+f 29 44 40
+f 29 40 39
+f 29 39 58
+f 29 58 57
+f 29 57 56
+f 29 56 80
+f 29 80 77
+f 29 77 83
+f 29 83 82
+f 29 82 75
+f 29 75 46
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 32 54 37
+f 33 36 55
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 39
+f 33 39 38
+f 35 55 36
+f 35 37 59
+f 35 59 60
+f 35 60 55
+f 37 54 59
+f 40 44 41
+f 41 44 42
+f 44 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 74
+f 44 74 45
+f 46 75 76
+f 46 76 47
+f 51 62 61
+f 52 77 53
+f 52 78 77
+f 53 59 54
+f 53 77 79
+f 53 79 59
+f 55 60 80
+f 55 80 56
+f 59 79 60
+f 60 79 80
+f 62 64 63
+f 65 81 66
+f 66 81 67
+f 75 82 76
+f 76 83 78
+f 76 82 83
+f 77 80 79
+f 77 78 84
+f 77 84 83
+f 78 83 84
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_12.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.02247969 0.02902817 -0.05091773
+v -0.02247969 0.03376977 -0.05091772
+v -0.00037315 0.03625523 -0.05091771
+v -0.00037315 0.03820309 -0.03657594
+v -0.00037315 0.04364975 0.00350589
+v -0.00037315 0.04410836 0.00687565
+v -0.00037315 0.04524996 0.01514780
+v -0.00037315 0.04533873 0.01578724
+v -0.00037315 0.04555325 0.01731987
+v -0.00037315 0.05052156 0.05277337
+v -0.02247969 0.04510682 0.05277335
+v -0.02171150 0.03422840 -0.05091771
+v -0.02247969 0.03724143 -0.02829365
+v -0.00037315 0.04002533 -0.05091769
+v -0.00037315 0.05421769 0.05277338
+v -0.02247969 0.04928377 0.05277336
+v -0.02160114 0.03429251 -0.05091771
+v -0.02237582 0.03730307 -0.02829365
+v -0.02247969 0.03735732 -0.02753241
+v -0.00100934 0.04004012 -0.05091769
+v -0.00037315 0.04157870 -0.03983404
+v -0.00110888 0.05421523 0.05277338
+v -0.00061984 0.04157870 -0.03983404
+v -0.02101256 0.04998897 0.05277336
+v -0.02247969 0.04354369 0.01346291
+v -0.02037636 0.03528372 -0.04898924
+v -0.02010588 0.03514318 -0.05091771
+v -0.02247969 0.04348698 0.01307722
+v -0.00115432 0.04003519 -0.05091769
+v -0.00100934 0.04030641 -0.04898922
+v -0.00161524 0.05420043 0.05277338
+v -0.00118895 0.04145788 -0.04059528
+v -0.02138908 0.04399738 0.01307722
+v -0.02160114 0.04450531 0.01721836
+v -0.01989814 0.05043773 0.05277337
+v -0.01639909 0.04154163 -0.01885427
+v -0.01583215 0.03711823 -0.05091770
+v -0.01748321 0.03641057 -0.05091771
+v -0.01914943 0.03562647 -0.05091771
+v -0.00306939 0.03996862 -0.05091769
+v -0.00306939 0.04023491 -0.04898922
+v -0.00306939 0.05321663 0.04618612
+v -0.00512943 0.05333251 0.04825669
+v -0.00512943 0.05358401 0.05032726
+v -0.00584352 0.05381578 0.05277338
+v -0.00199392 0.04155651 -0.03966150
+v -0.01785108 0.05116019 0.05277337
+v -0.01336312 0.03803055 -0.05091770
+v -0.01470259 0.03755960 -0.05091770
+v -0.01573261 0.03716015 -0.05091770
+v -0.00321437 0.03995875 -0.05091769
+v -0.00512943 0.04008696 -0.04898922
+v -0.00512943 0.05305142 0.04618611
+v -0.00718731 0.05310073 0.04825669
+v -0.00718731 0.05337442 0.05032726
+v -0.00718731 0.05368263 0.05277338
+v -0.01748538 0.05128101 0.05277337
+v -0.01214917 0.03945079 -0.04343725
+v -0.01130741 0.03864945 -0.05091770
+v -0.01503799 0.05207744 0.05277337
+v -0.00512943 0.03980835 -0.05091769
+v -0.00673722 0.03960369 -0.05091769
+v -0.00718731 0.04010175 -0.04691864
+v -0.00927116 0.05337688 0.05277338
+v -0.00759629 0.05363085 0.05277338
+v -0.01043751 0.03954449 -0.04617770
+v -0.00925169 0.03913520 -0.05091770
+v -0.01377859 0.05239798 0.05277337
+v -0.00778023 0.03942616 -0.05091770
+v -0.00819570 0.03949519 -0.04999406
+v -0.00738207 0.03975409 -0.04918206
+v -0.00924736 0.05304648 0.05032725
+v -0.01167311 0.05287140 0.05277337
+v -0.00929929 0.03969983 -0.04688820
+v -0.00864796 0.03959628 -0.04862382
+f 1 2 12
+f 1 12 17
+f 1 17 27
+f 1 27 39
+f 1 39 38
+f 1 38 37
+f 1 37 50
+f 1 50 49
+f 1 49 48
+f 1 48 59
+f 1 59 67
+f 1 67 69
+f 1 69 62
+f 1 62 61
+f 1 61 51
+f 1 51 40
+f 1 40 29
+f 1 29 20
+f 1 20 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 16
+f 1 16 25
+f 1 25 28
+f 1 28 19
+f 1 19 13
+f 1 13 2
+f 2 13 12
+f 3 14 21
+f 3 21 15
+f 3 15 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 10 15 22
+f 10 22 31
+f 10 31 45
+f 10 45 56
+f 10 56 65
+f 10 65 64
+f 10 64 73
+f 10 73 68
+f 10 68 60
+f 10 60 57
+f 10 57 47
+f 10 47 35
+f 10 35 24
+f 10 24 16
+f 10 16 11
+f 12 13 18
+f 12 18 17
+f 13 19 18
+f 14 20 21
+f 15 21 23
+f 15 23 22
+f 16 24 25
+f 17 26 27
+f 17 18 26
+f 18 27 26
+f 18 19 28
+f 18 28 27
+f 20 29 30
+f 20 30 23
+f 20 23 21
+f 22 23 31
+f 23 30 32
+f 23 32 31
+f 24 33 34
+f 24 34 25
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 33
+f 25 34 33
+f 25 33 28
+f 27 28 39
+f 28 33 38
+f 28 38 39
+f 29 40 41
+f 29 41 30
+f 30 41 32
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 32 46
+f 31 46 41
+f 31 41 42
+f 32 41 46
+f 35 47 36
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 36 47 48
+f 40 51 41
+f 41 51 52
+f 41 52 42
+f 42 53 43
+f 42 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 45
+f 43 45 44
+f 47 57 48
+f 48 58 59
+f 48 57 60
+f 48 60 58
+f 51 61 52
+f 52 61 62
+f 52 62 63
+f 52 63 54
+f 52 54 53
+f 54 64 55
+f 54 63 64
+f 55 64 65
+f 55 65 56
+f 58 60 59
+f 59 66 67
+f 59 60 66
+f 60 68 66
+f 62 69 70
+f 62 70 71
+f 62 71 63
+f 63 71 70
+f 63 70 72
+f 63 72 64
+f 64 72 73
+f 66 74 67
+f 66 68 73
+f 66 73 74
+f 67 75 70
+f 67 70 69
+f 67 74 75
+f 70 75 72
+f 72 75 74
+f 72 74 73
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_13.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02573465 -0.02866129 -0.05752552
+v 0.02537060 -0.02897758 -0.05752552
+v 0.02573465 -0.02850973 -0.05842951
+v 0.02573465 -0.02182022 -0.05752549
+v 0.02521622 -0.02910409 -0.05752552
+v 0.02518910 -0.02882865 -0.05934141
+v 0.02573465 -0.02834499 -0.05934140
+v 0.02573465 -0.02416864 -0.06215174
+v 0.02474370 -0.02225643 -0.05752549
+v 0.02410324 -0.03000683 -0.05752552
+v 0.02392591 -0.02985791 -0.05934141
+v 0.02497005 -0.02864018 -0.06141025
+v 0.02573465 -0.02819607 -0.06014443
+v 0.02573465 -0.02518341 -0.06288903
+v 0.02423050 -0.02591351 -0.06276125
+v 0.01507834 -0.03206006 -0.06282543
+v 0.01660544 -0.02865865 -0.05752552
+v 0.01507834 -0.03144461 -0.06138134
+v 0.02397702 -0.03010436 -0.05752552
+v 0.02275347 -0.03054715 -0.06070977
+v 0.02481463 -0.02850444 -0.06252092
+v 0.02573465 -0.02788372 -0.06165899
+v 0.02573465 -0.02794566 -0.06141024
+v 0.02354518 -0.02977882 -0.06140395
+v 0.02257406 -0.03039822 -0.06208918
+v 0.02573465 -0.02527302 -0.06289482
+v 0.02569396 -0.02527434 -0.06289797
+v 0.01546638 -0.03197571 -0.06287539
+v 0.01507834 -0.03360592 -0.06285698
+v 0.01507834 -0.02986582 -0.05752552
+v 0.02307370 -0.03077252 -0.05752552
+v 0.02289637 -0.03064731 -0.05934141
+v 0.02164361 -0.03148020 -0.05934142
+v 0.02178964 -0.03105848 -0.06140395
+v 0.02120134 -0.03087134 -0.06276126
+v 0.02370269 -0.02893143 -0.06275495
+v 0.02560530 -0.02727487 -0.06275494
+v 0.02573465 -0.02719843 -0.06273653
+v 0.02001951 -0.03218657 -0.06141026
+v 0.01874692 -0.03265442 -0.06256933
+v 0.02178964 -0.02961145 -0.06288538
+v 0.01744201 -0.03140639 -0.06288539
+v 0.01539023 -0.03363492 -0.06285962
+v 0.01507834 -0.03408562 -0.06273446
+v 0.01507834 -0.03528227 -0.05752554
+v 0.02148297 -0.03183209 -0.05752553
+v 0.02049203 -0.03247389 -0.05752553
+v 0.02028550 -0.03235132 -0.05934142
+v 0.01752545 -0.03295753 -0.06279703
+v 0.01949378 -0.03154214 -0.06286856
+v 0.01898997 -0.03279675 -0.06141026
+v 0.01752545 -0.03356243 -0.06141026
+v 0.01596915 -0.03434129 -0.06141027
+v 0.01507834 -0.03458642 -0.06218911
+v 0.01507834 -0.03505691 -0.05934143
+v 0.01527027 -0.03497784 -0.05934143
+v 0.01563327 -0.03505033 -0.05752554
+v 0.01962208 -0.03299181 -0.05752553
+v 0.01925596 -0.03296149 -0.05934142
+v 0.01752545 -0.03389850 -0.05934142
+v 0.01629981 -0.03451526 -0.05934143
+v 0.01507834 -0.03476565 -0.06141027
+v 0.01507834 -0.03489349 -0.06053888
+v 0.01646671 -0.03459171 -0.05820499
+v 0.01656059 -0.03463784 -0.05752554
+v 0.01742219 -0.03420162 -0.05752554
+v 0.01507834 -0.03479861 -0.06119834
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 22
+f 1 22 38
+f 1 38 26
+f 1 26 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 30
+f 1 30 45
+f 1 45 57
+f 1 57 65
+f 1 65 66
+f 1 66 58
+f 1 58 47
+f 1 47 46
+f 1 46 31
+f 1 31 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 18
+f 9 18 17
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 20 24
+f 12 24 25
+f 12 25 21
+f 14 26 27
+f 14 27 28
+f 14 28 16
+f 14 16 15
+f 16 28 29
+f 16 29 44
+f 16 44 54
+f 16 54 62
+f 16 62 67
+f 16 67 63
+f 16 63 55
+f 16 55 45
+f 16 45 30
+f 16 30 18
+f 17 18 30
+f 19 31 32
+f 19 32 20
+f 20 25 24
+f 20 32 33
+f 20 33 34
+f 20 34 25
+f 21 25 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 25 34 39
+f 25 39 40
+f 25 40 35
+f 26 38 37
+f 26 37 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 39
+f 35 40 49
+f 35 49 50
+f 35 50 36
+f 36 50 41
+f 36 41 37
+f 39 48 59
+f 39 59 51
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 44
+f 40 44 49
+f 41 50 42
+f 42 50 43
+f 43 50 49
+f 43 49 44
+f 45 55 56
+f 45 56 57
+f 47 58 48
+f 48 58 59
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 52 61 53
+f 53 61 62
+f 53 62 54
+f 55 63 56
+f 56 63 61
+f 56 61 64
+f 56 64 65
+f 56 65 57
+f 58 66 59
+f 59 66 60
+f 60 66 64
+f 60 64 61
+f 61 63 67
+f 61 67 62
+f 64 66 65
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_14.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v 0.05374282 -0.02140826 0.05860989
+v 0.05273920 -0.02140825 0.05676538
+v 0.05360165 -0.02140826 0.05923822
+v 0.05348101 -0.02206365 0.05860989
+v 0.05154564 -0.02645359 0.05750658
+v 0.05181259 -0.02534621 0.05720946
+v 0.05228231 -0.02328684 0.05688678
+v 0.04978481 -0.02141106 0.05146082
+v 0.04990545 -0.02140823 0.05225528
+v 0.05293941 -0.02140826 0.06066846
+v 0.05179205 -0.02492813 0.06012106
+v 0.05146607 -0.02630105 0.05933618
+v 0.05294455 -0.02328685 0.05860988
+v 0.04734379 -0.02636882 0.05146080
+v 0.04764410 -0.02579818 0.05146081
+v 0.04786741 -0.02536597 0.05146081
+v 0.04855018 -0.02400435 0.05146081
+v 0.04893520 -0.02323314 0.05146081
+v 0.04941520 -0.02223876 0.05146082
+v 0.04942546 -0.02221617 0.05146082
+v 0.05154564 -0.02645359 0.05795705
+v 0.04992342 -0.02923051 0.05860986
+v 0.04929456 -0.03026161 0.05860986
+v 0.04754913 -0.03278145 0.05736598
+v 0.04980535 -0.02902993 0.05716791
+v 0.04679449 -0.02734060 0.05146080
+v 0.04766977 -0.02140823 0.05146082
+v 0.05185109 -0.02140827 0.06194641
+v 0.05164318 -0.02258910 0.06182394
+v 0.05211547 -0.02327837 0.06075791
+v 0.05128896 -0.02395919 0.06150018
+v 0.05010823 -0.02740843 0.06074619
+v 0.04972321 -0.02889999 0.06010081
+v 0.05104255 -0.02724458 0.05863224
+v 0.05192296 -0.02550724 0.05863225
+v 0.04747726 -0.03268541 0.05979941
+v 0.04845778 -0.03152153 0.05860985
+v 0.04757737 -0.03282665 0.05860985
+v 0.04683812 -0.03385493 0.05860985
+v 0.04580884 -0.03523915 0.05860984
+v 0.04499773 -0.03626460 0.05860984
+v 0.04567793 -0.03507247 0.05720410
+v 0.04460758 -0.03074747 0.05146079
+v 0.04507730 -0.03013164 0.05146079
+v 0.04574724 -0.02910336 0.05146079
+v 0.04589098 -0.02140823 0.05146082
+v 0.05176638 -0.02140827 0.06197730
+v 0.04993112 -0.02534623 0.06200072
+v 0.04962054 -0.02672763 0.06184522
+v 0.04920728 -0.02809772 0.06147994
+v 0.04744902 -0.03059214 0.06176321
+v 0.04780838 -0.03137464 0.06056512
+v 0.04694850 -0.03196505 0.06117960
+v 0.04628370 -0.03349334 0.06063541
+v 0.04561890 -0.03498490 0.06009227
+v 0.04396844 -0.03745955 0.05860983
+v 0.04321893 -0.03249328 0.05146078
+v 0.04398641 -0.03154411 0.05146078
+v 0.04377080 -0.03723354 0.05713593
+v 0.02752295 -0.04223931 0.05146074
+v 0.02752295 -0.04237209 0.05234678
+v 0.02752295 -0.04341451 0.05860023
+v 0.04607835 -0.02140823 0.05262908
+v 0.05048042 -0.02140827 0.06232128
+v 0.05055229 -0.02327838 0.06210508
+v 0.04847831 -0.02740844 0.06210081
+v 0.04776988 -0.02946217 0.06192508
+v 0.04629910 -0.03137465 0.06200175
+v 0.04557526 -0.03292836 0.06187076
+v 0.04506190 -0.03429846 0.06147139
+v 0.04314963 -0.03653581 0.06162581
+v 0.04369636 -0.03715728 0.06024668
+v 0.04303413 -0.03849065 0.05860983
+v 0.04311370 -0.03261476 0.05146078
+v 0.04176613 -0.03930422 0.05715297
+v 0.03930713 -0.03682391 0.05146076
+v 0.03971012 -0.03639734 0.05146077
+v 0.04031845 -0.03574761 0.05146077
+v 0.04084208 -0.03517980 0.05146077
+v 0.04128614 -0.03469673 0.05146077
+v 0.04161725 -0.03432102 0.05146077
+v 0.04227949 -0.03356676 0.05146078
+v 0.02752295 -0.04626485 0.05146073
+v 0.02752295 -0.04346254 0.05877275
+v 0.04730528 -0.02140826 0.05966740
+v 0.04707427 -0.02140826 0.05860989
+v 0.04674059 -0.02140825 0.05664078
+v 0.05026737 -0.02140827 0.06232341
+v 0.04841414 -0.02534623 0.06233938
+v 0.04635557 -0.02946217 0.06228717
+v 0.04434320 -0.03360070 0.06209547
+v 0.04368866 -0.03516571 0.06191974
+v 0.04177639 -0.03727877 0.06194316
+v 0.04113469 -0.03865168 0.06166414
+v 0.04242836 -0.03790307 0.06095594
+v 0.04170966 -0.03922514 0.06028502
+v 0.04200484 -0.03953588 0.05860982
+v 0.04098839 -0.04056698 0.05860982
+v 0.03973579 -0.04130711 0.05715296
+v 0.03725369 -0.03887764 0.05146076
+v 0.03765924 -0.03847650 0.05146076
+v 0.03828298 -0.03785501 0.05146076
+v 0.03887591 -0.03725895 0.05146076
+v 0.02772829 -0.04614903 0.05146073
+v 0.02922217 -0.04922822 0.05730522
+v 0.02782326 -0.04959829 0.05701448
+v 0.02752295 -0.04968586 0.05698147
+v 0.02752295 -0.04396538 0.06057147
+v 0.04758250 -0.02140826 0.06059604
+v 0.04873499 -0.02140827 0.06209658
+v 0.02752295 -0.04622816 0.06220830
+v 0.03194298 -0.04386934 0.06230629
+v 0.04429699 -0.03152154 0.06232657
+v 0.04237189 -0.03576742 0.06211995
+v 0.04034155 -0.03785505 0.06212100
+v 0.03976402 -0.03930142 0.06194316
+v 0.03903505 -0.04067434 0.06163644
+v 0.04039289 -0.03994832 0.06096019
+v 0.03964595 -0.04124214 0.06025625
+v 0.03996167 -0.04152181 0.05860982
+v 0.03614997 -0.03988332 0.05146075
+v 0.03760791 -0.04326196 0.05717744
+v 0.02930944 -0.04519420 0.05146073
+v 0.03035413 -0.04868302 0.05860979
+v 0.02932484 -0.04928473 0.05860979
+v 0.02782326 -0.05010962 0.05860979
+v 0.02752295 -0.05026499 0.05860979
+v 0.03304670 -0.04700782 0.05750331
+v 0.02752295 -0.04413487 0.06099107
+v 0.04765694 -0.02140826 0.06079093
+v 0.04770827 -0.02140826 0.06092512
+v 0.02752295 -0.04467445 0.06183878
+v 0.02752295 -0.04481570 0.06189628
+v 0.02752295 -0.04593719 0.06216997
+v 0.02752295 -0.04797115 0.06202086
+v 0.02768979 -0.04796832 0.06200276
+v 0.03002044 -0.04608409 0.06209861
+v 0.03194298 -0.04547673 0.06198679
+v 0.03394508 -0.04386086 0.06204857
+v 0.03612430 -0.04189471 0.06209011
+v 0.03825731 -0.03989183 0.06211141
+v 0.03766181 -0.04126475 0.06192931
+v 0.03548260 -0.04316876 0.06188989
+v 0.03685583 -0.04263767 0.06154378
+v 0.03827784 -0.04193990 0.06089949
+v 0.03752064 -0.04319417 0.06016359
+v 0.03882970 -0.04255009 0.05860981
+v 0.03509244 -0.04083532 0.05146075
+v 0.03327515 -0.04232971 0.05146074
+v 0.03398102 -0.04175342 0.05146075
+v 0.03468432 -0.04117431 0.05146075
+v 0.03780042 -0.04342016 0.05860981
+v 0.03536966 -0.04515184 0.05728819
+v 0.02987157 -0.04482413 0.05146074
+v 0.02911180 -0.04916326 0.05990798
+v 0.03304670 -0.04700782 0.05814974
+v 0.03213805 -0.04754457 0.05874718
+v 0.03295430 -0.04694569 0.05952886
+v 0.02752295 -0.04964068 0.06037230
+v 0.03547746 -0.04523095 0.05860980
+v 0.03033873 -0.04450774 0.05146074
+v 0.03118321 -0.04390320 0.05146074
+v 0.03186854 -0.04341166 0.05146074
+v 0.03650675 -0.04445127 0.05860981
+v 0.02752295 -0.04808697 0.06199317
+v 0.02942495 -0.04727056 0.06189095
+v 0.02752295 -0.04820844 0.06195058
+v 0.03322381 -0.04506429 0.06182492
+v 0.03459448 -0.04454168 0.06133505
+v 0.03607039 -0.04386650 0.06074932
+v 0.03528752 -0.04508970 0.05995591
+v 0.03280542 -0.04270825 0.05146074
+v 0.03253591 -0.04291165 0.05146074
+v 0.03158363 -0.04739203 0.06027327
+v 0.03079818 -0.04687508 0.06165346
+v 0.02829042 -0.04864348 0.06128710
+v 0.02768979 -0.04945988 0.06063002
+v 0.02752295 -0.04954180 0.06063215
+v 0.03383984 -0.04639200 0.05874718
+v 0.02752295 -0.04937796 0.06087390
+v 0.03394508 -0.04551910 0.06065879
+v 0.03213805 -0.04658975 0.06084942
+f 1 2 9
+f 1 9 27
+f 1 27 46
+f 1 46 63
+f 1 63 87
+f 1 87 86
+f 1 86 85
+f 1 85 109
+f 1 109 130
+f 1 130 131
+f 1 131 110
+f 1 110 88
+f 1 88 64
+f 1 64 47
+f 1 47 28
+f 1 28 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 8
+f 5 8 6
+f 5 13 21
+f 5 21 22
+f 5 22 23
+f 5 23 24
+f 5 24 25
+f 5 25 26
+f 5 26 14
+f 6 8 7
+f 8 20 19
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 15
+f 8 15 14
+f 8 14 26
+f 8 26 45
+f 8 45 44
+f 8 44 43
+f 8 43 58
+f 8 58 57
+f 8 57 74
+f 8 74 82
+f 8 82 81
+f 8 81 80
+f 8 80 79
+f 8 79 78
+f 8 78 77
+f 8 77 76
+f 8 76 103
+f 8 103 102
+f 8 102 101
+f 8 101 100
+f 8 100 121
+f 8 121 148
+f 8 148 151
+f 8 151 150
+f 8 150 149
+f 8 149 172
+f 8 172 173
+f 8 173 163
+f 8 163 162
+f 8 162 161
+f 8 161 154
+f 8 154 123
+f 8 123 104
+f 8 104 83
+f 8 83 60
+f 8 60 46
+f 8 46 27
+f 8 27 9
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 12
+f 12 34 21
+f 12 21 35
+f 12 35 13
+f 12 33 22
+f 12 22 34
+f 13 35 21
+f 21 34 22
+f 22 33 23
+f 23 33 36
+f 23 36 37
+f 23 37 24
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 25
+f 24 37 38
+f 25 45 26
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 31
+f 29 31 30
+f 31 49 50
+f 31 50 32
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 36
+f 36 53 54
+f 36 54 55
+f 36 55 40
+f 36 40 39
+f 36 39 38
+f 36 38 37
+f 36 52 53
+f 40 55 41
+f 41 56 42
+f 41 55 56
+f 42 57 58
+f 42 58 43
+f 42 56 59
+f 42 59 57
+f 46 60 61
+f 46 61 62
+f 46 62 63
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 51
+f 49 51 50
+f 51 68 69
+f 51 69 70
+f 51 70 53
+f 51 53 52
+f 51 67 68
+f 53 70 54
+f 54 70 55
+f 55 70 71
+f 55 71 72
+f 55 72 56
+f 56 73 59
+f 56 72 73
+f 57 59 74
+f 59 73 75
+f 59 75 76
+f 59 76 77
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 74
+f 60 83 107
+f 60 107 127
+f 60 127 159
+f 60 159 178
+f 60 178 180
+f 60 180 167
+f 60 167 165
+f 60 165 135
+f 60 135 111
+f 60 111 134
+f 60 134 133
+f 60 133 132
+f 60 132 129
+f 60 129 108
+f 60 108 84
+f 60 84 62
+f 60 62 61
+f 62 84 85
+f 62 85 86
+f 62 86 87
+f 62 87 63
+f 64 88 89
+f 64 89 65
+f 65 89 66
+f 66 90 68
+f 66 68 67
+f 66 89 90
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 71
+f 69 71 70
+f 71 93 94
+f 71 94 95
+f 71 95 72
+f 71 92 93
+f 72 95 96
+f 72 96 73
+f 73 96 97
+f 73 97 75
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 101
+f 75 101 102
+f 75 102 103
+f 75 103 76
+f 83 104 105
+f 83 105 106
+f 83 106 107
+f 84 108 85
+f 85 108 109
+f 88 110 111
+f 88 111 112
+f 88 112 89
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 91
+f 91 114 93
+f 91 93 92
+f 93 115 116
+f 93 116 94
+f 93 114 115
+f 94 116 117
+f 94 117 118
+f 94 118 96
+f 94 96 95
+f 96 118 119
+f 96 119 98
+f 96 98 97
+f 98 119 120
+f 98 120 99
+f 99 121 100
+f 99 120 122
+f 99 122 121
+f 104 123 105
+f 105 124 125
+f 105 125 126
+f 105 126 127
+f 105 127 106
+f 105 123 128
+f 105 128 124
+f 106 127 107
+f 108 129 109
+f 109 129 130
+f 110 131 132
+f 110 132 133
+f 110 133 134
+f 110 134 111
+f 111 135 112
+f 112 135 136
+f 112 136 137
+f 112 137 138
+f 112 138 139
+f 112 139 140
+f 112 140 141
+f 112 141 115
+f 112 115 113
+f 113 115 114
+f 115 141 116
+f 116 141 142
+f 116 142 117
+f 117 142 143
+f 117 143 144
+f 117 144 145
+f 117 145 119
+f 117 119 118
+f 119 145 146
+f 119 146 147
+f 119 147 120
+f 120 147 122
+f 121 122 148
+f 122 149 150
+f 122 150 151
+f 122 151 148
+f 122 147 152
+f 122 152 153
+f 122 153 149
+f 123 154 128
+f 124 155 125
+f 124 128 156
+f 124 156 157
+f 124 157 158
+f 124 158 155
+f 125 155 126
+f 126 155 127
+f 127 155 159
+f 128 160 156
+f 128 154 161
+f 128 161 162
+f 128 162 163
+f 128 163 153
+f 128 153 164
+f 128 164 160
+f 129 132 131
+f 129 131 130
+f 135 165 136
+f 136 166 138
+f 136 138 137
+f 136 165 167
+f 136 167 166
+f 138 166 168
+f 138 168 139
+f 139 168 143
+f 139 143 142
+f 139 142 140
+f 140 142 141
+f 143 168 144
+f 144 168 169
+f 144 169 170
+f 144 170 146
+f 144 146 145
+f 146 170 171
+f 146 171 152
+f 146 152 147
+f 149 153 172
+f 152 171 164
+f 152 164 153
+f 153 163 173
+f 153 173 172
+f 155 174 175
+f 155 175 176
+f 155 176 177
+f 155 177 178
+f 155 178 159
+f 155 158 174
+f 156 160 179
+f 156 179 158
+f 156 158 157
+f 158 179 160
+f 158 160 171
+f 158 171 174
+f 160 164 171
+f 166 167 175
+f 166 175 168
+f 167 180 176
+f 167 176 175
+f 168 175 169
+f 169 175 181
+f 169 181 171
+f 169 171 170
+f 171 181 174
+f 174 181 182
+f 174 182 175
+f 175 182 181
+f 176 180 177
+f 177 180 178
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_15.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.01948139 0.05427416 0.05855584
+v 0.01948139 0.05414331 0.05738758
+v 0.01948139 0.05405982 0.05980007
+v 0.02053339 0.05387706 0.05919761
+v 0.01974074 0.05419068 0.05854886
+v 0.02065578 0.05392220 0.05781891
+v 0.02065578 0.05392220 0.05755260
+v 0.01958629 0.05410495 0.05732297
+v 0.01948139 0.05412074 0.05730725
+v 0.01948139 0.05371462 0.06036937
+v 0.02175442 0.05258650 0.06084609
+v 0.02370398 0.05221196 0.06024624
+v 0.02493374 0.05194122 0.05982451
+v 0.02370398 0.05263162 0.05860997
+v 0.02146300 0.05355442 0.05854886
+v 0.02141055 0.05017912 0.05351953
+v 0.01958629 0.05086502 0.05351954
+v 0.01953676 0.05088306 0.05351954
+v 0.02510276 0.05202244 0.05860997
+v 0.02502700 0.05198635 0.05737971
+v 0.01948139 0.05090111 0.05351954
+v 0.01948139 0.05341679 0.06076053
+v 0.02251501 0.05176748 0.06164676
+v 0.02370398 0.05149673 0.06128092
+v 0.02681628 0.04980004 0.06172271
+v 0.02762932 0.05012044 0.06057191
+v 0.02900771 0.04987676 0.05981053
+v 0.02613437 0.05152607 0.05860997
+v 0.02187098 0.04997606 0.05351953
+v 0.02908639 0.04991739 0.05739804
+v 0.02555737 0.04816205 0.05351953
+v 0.01948139 0.04673611 0.05351952
+v 0.01948139 0.05227287 0.06199952
+v 0.01958629 0.05225708 0.06199340
+v 0.02114244 0.05202694 0.06184933
+v 0.02576427 0.05002115 0.06186591
+v 0.02762932 0.04871931 0.06200125
+v 0.02934867 0.04800634 0.06188600
+v 0.03072414 0.04759796 0.06160047
+v 0.02818884 0.04937814 0.06119010
+v 0.02986447 0.04874188 0.06070550
+v 0.03150222 0.04810337 0.06022091
+v 0.03522940 0.04582231 0.05989434
+v 0.03287478 0.04766566 0.05860996
+v 0.03184609 0.04832673 0.05860996
+v 0.03017337 0.04935783 0.05860996
+v 0.02914468 0.04995122 0.05860996
+v 0.02782457 0.05065968 0.05860997
+v 0.02835494 0.04652628 0.05351952
+v 0.02780126 0.04685569 0.05351952
+v 0.02602363 0.04790484 0.05351953
+v 0.03530226 0.04587873 0.05732643
+v 0.03156633 0.04815301 0.05716753
+v 0.01948139 0.04712643 0.05641574
+v 0.04019510 0.03122677 0.05351946
+v 0.04035829 0.03122677 0.05447206
+v 0.01948139 0.05081986 0.06241251
+v 0.01958629 0.05081986 0.06241251
+v 0.02175442 0.05097554 0.06215930
+v 0.02370398 0.05046563 0.06207809
+v 0.02576427 0.04875992 0.06230859
+v 0.02997521 0.04682858 0.06214967
+v 0.03194225 0.04617653 0.06197155
+v 0.03315162 0.04579298 0.06179692
+v 0.03209087 0.04727533 0.06081813
+v 0.03390347 0.04620813 0.06062255
+v 0.03600457 0.04459493 0.06068540
+v 0.03744998 0.04392031 0.06009690
+v 0.03767145 0.04411209 0.05860994
+v 0.03641546 0.04514093 0.05860995
+v 0.03538677 0.04593964 0.05860995
+v 0.03400255 0.04690305 0.05860995
+v 0.03452127 0.04526953 0.06127391
+v 0.03191894 0.04427005 0.05351951
+v 0.03749952 0.04397221 0.05722950
+v 0.03560824 0.04146781 0.05351950
+v 0.03406083 0.04272904 0.05351951
+v 0.03235897 0.04397222 0.05351951
+v 0.01948139 0.04741523 0.05851827
+v 0.04063222 0.03122676 0.05599308
+v 0.04073421 0.03122676 0.05655626
+v 0.04509960 0.03122677 0.05351946
+v 0.02370398 0.04875992 0.06243957
+v 0.01948139 0.04906677 0.06212698
+v 0.04426324 0.03122674 0.06225177
+v 0.04429530 0.03229394 0.06237053
+v 0.02782457 0.04670224 0.06242995
+v 0.03194225 0.04464455 0.06236707
+v 0.03390347 0.04460845 0.06203877
+v 0.03540717 0.04389774 0.06187375
+v 0.03677973 0.04334496 0.06147647
+v 0.03817560 0.04265005 0.06081026
+v 0.03956856 0.04195288 0.06014404
+v 0.03981626 0.04218753 0.05860993
+v 0.03870015 0.04321411 0.05860994
+v 0.03961810 0.04200027 0.05719194
+v 0.03851655 0.03892052 0.05351949
+v 0.03795995 0.03942141 0.05351949
+v 0.03748495 0.03984784 0.05351950
+v 0.03684384 0.04040512 0.05351950
+v 0.01948139 0.04765438 0.05975290
+v 0.04103437 0.03122676 0.05814188
+v 0.04129956 0.03122675 0.05938786
+v 0.04484024 0.03164643 0.05351947
+v 0.04757370 0.03357550 0.05734209
+v 0.04801374 0.03229396 0.05705308
+v 0.04834595 0.03122676 0.05688805
+v 0.01948139 0.04800635 0.06085045
+v 0.02067618 0.04776718 0.06165461
+v 0.04280034 0.03122674 0.06194530
+v 0.04630605 0.03122674 0.06210770
+v 0.04427489 0.03429522 0.06206232
+v 0.04227288 0.03642961 0.06210161
+v 0.04022424 0.03851663 0.06211297
+v 0.03400255 0.04258687 0.06240200
+v 0.03607742 0.04263199 0.06210775
+v 0.03752574 0.04197543 0.06191478
+v 0.03889831 0.04130759 0.06152274
+v 0.04162011 0.03992227 0.06013357
+v 0.04084495 0.04120381 0.05860993
+v 0.03958896 0.03789168 0.05351949
+v 0.03901487 0.03844672 0.05351949
+v 0.04168714 0.03997643 0.05718321
+v 0.04135784 0.03122675 0.05955638
+v 0.04433318 0.03234361 0.05351947
+v 0.04576694 0.03591520 0.05860991
+v 0.04679854 0.03464043 0.05860991
+v 0.04759993 0.03361159 0.05860990
+v 0.04852080 0.03229395 0.05860990
+v 0.04925225 0.03122675 0.05860989
+v 0.04262841 0.03444416 0.05351948
+v 0.04566203 0.03577984 0.05723296
+v 0.04489561 0.03694404 0.05860992
+v 0.04184742 0.03122675 0.06067138
+v 0.04229911 0.03122674 0.06133235
+v 0.04741925 0.03122674 0.06173487
+v 0.04625942 0.03210216 0.06195578
+v 0.04357550 0.03575725 0.06188333
+v 0.04551049 0.03356871 0.06183006
+v 0.04160846 0.03786232 0.06191127
+v 0.03817269 0.04058334 0.06211735
+v 0.03956856 0.03993354 0.06190779
+v 0.04094112 0.03923636 0.06151312
+v 0.04230202 0.03853920 0.06080849
+v 0.04363670 0.03784202 0.06010474
+v 0.04290816 0.03912357 0.05860992
+v 0.04187656 0.04017497 0.05860993
+v 0.04369498 0.03790972 0.05719106
+v 0.04061765 0.03678613 0.05351949
+v 0.04748045 0.03345591 0.05978777
+v 0.04558043 0.03569409 0.05998424
+v 0.04914442 0.03122675 0.05885000
+v 0.04153852 0.03575728 0.05351948
+v 0.04386692 0.03809472 0.05860992
+v 0.04749211 0.03122674 0.06166065
+v 0.04739885 0.03128766 0.06172526
+v 0.04298102 0.03712904 0.06148431
+v 0.04494806 0.03494050 0.06136380
+v 0.04429238 0.03641157 0.06073427
+v 0.04779809 0.03210217 0.06055876
+v 0.04830224 0.03122675 0.06064955
+v 0.04623029 0.03419821 0.06057623
+v 0.04688305 0.03265946 0.06116734
+f 1 2 9
+f 1 9 21
+f 1 21 32
+f 1 32 54
+f 1 54 79
+f 1 79 101
+f 1 101 108
+f 1 108 84
+f 1 84 57
+f 1 57 33
+f 1 33 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 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 6
+f 4 6 5
+f 6 15 14
+f 6 14 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 14 19
+f 7 19 20
+f 7 20 16
+f 8 18 21
+f 8 21 9
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 19
+f 13 19 14
+f 16 29 31
+f 16 31 51
+f 16 51 50
+f 16 50 49
+f 16 49 74
+f 16 74 78
+f 16 78 77
+f 16 77 76
+f 16 76 100
+f 16 100 99
+f 16 99 98
+f 16 98 97
+f 16 97 122
+f 16 122 121
+f 16 121 149
+f 16 149 153
+f 16 153 131
+f 16 131 125
+f 16 125 104
+f 16 104 82
+f 16 82 55
+f 16 55 32
+f 16 32 21
+f 16 21 18
+f 16 18 17
+f 16 20 29
+f 19 28 20
+f 20 28 30
+f 20 30 31
+f 20 31 29
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 25
+f 23 25 24
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 27
+f 25 27 26
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 30
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 30 48 47
+f 30 47 46
+f 30 46 45
+f 30 45 44
+f 30 44 52
+f 30 52 53
+f 30 53 49
+f 32 55 56
+f 32 56 54
+f 33 57 58
+f 33 58 59
+f 33 59 34
+f 34 59 60
+f 34 60 35
+f 35 60 36
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 38
+f 38 63 64
+f 38 64 39
+f 39 65 42
+f 39 42 41
+f 39 41 40
+f 39 64 66
+f 39 66 65
+f 42 65 66
+f 42 66 43
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 44
+f 43 66 73
+f 43 73 67
+f 44 72 52
+f 49 53 74
+f 52 72 71
+f 52 71 70
+f 52 70 69
+f 52 69 75
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 74
+f 52 74 53
+f 54 56 80
+f 54 80 81
+f 54 81 79
+f 55 82 107
+f 55 107 130
+f 55 130 152
+f 55 152 161
+f 55 161 155
+f 55 155 136
+f 55 136 111
+f 55 111 85
+f 55 85 110
+f 55 110 135
+f 55 135 134
+f 55 134 124
+f 55 124 103
+f 55 103 102
+f 55 102 81
+f 55 81 80
+f 55 80 56
+f 57 83 58
+f 57 84 85
+f 57 85 86
+f 57 86 83
+f 58 83 61
+f 58 61 59
+f 59 61 60
+f 61 87 88
+f 61 88 62
+f 61 83 87
+f 62 88 89
+f 62 89 63
+f 63 89 64
+f 64 89 90
+f 64 90 91
+f 64 91 73
+f 64 73 66
+f 67 73 91
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 69
+f 69 95 75
+f 75 95 94
+f 75 94 96
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 76
+f 79 81 102
+f 79 102 103
+f 79 103 101
+f 82 104 105
+f 82 105 106
+f 82 106 107
+f 83 86 87
+f 84 108 109
+f 84 109 110
+f 84 110 85
+f 85 111 86
+f 86 111 112
+f 86 112 113
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 88
+f 88 115 116
+f 88 116 89
+f 89 116 90
+f 90 116 117
+f 90 117 91
+f 91 117 118
+f 91 118 92
+f 92 118 93
+f 93 118 119
+f 93 119 120
+f 93 120 94
+f 94 120 96
+f 96 121 122
+f 96 122 97
+f 96 120 123
+f 96 123 121
+f 101 103 124
+f 101 124 108
+f 104 125 105
+f 105 126 127
+f 105 127 128
+f 105 128 129
+f 105 129 130
+f 105 130 106
+f 105 125 131
+f 105 131 132
+f 105 132 133
+f 105 133 126
+f 106 130 107
+f 108 124 134
+f 108 134 135
+f 108 135 110
+f 108 110 109
+f 111 136 137
+f 111 137 112
+f 112 138 113
+f 112 137 139
+f 112 139 138
+f 113 140 114
+f 113 138 140
+f 114 140 141
+f 114 141 115
+f 115 141 116
+f 116 141 117
+f 117 141 140
+f 117 140 142
+f 117 142 118
+f 118 142 140
+f 118 140 143
+f 118 143 119
+f 119 143 144
+f 119 144 145
+f 119 145 146
+f 119 146 147
+f 119 147 120
+f 120 147 123
+f 121 123 148
+f 121 148 149
+f 123 147 146
+f 123 146 148
+f 126 150 127
+f 126 133 151
+f 126 151 150
+f 127 150 128
+f 128 150 129
+f 129 150 130
+f 130 150 152
+f 131 153 132
+f 132 148 154
+f 132 154 133
+f 132 153 149
+f 132 149 148
+f 133 154 145
+f 133 145 151
+f 136 155 156
+f 136 156 137
+f 137 156 139
+f 138 139 157
+f 138 157 140
+f 139 158 157
+f 139 156 158
+f 140 157 143
+f 143 157 144
+f 144 157 145
+f 145 159 151
+f 145 154 146
+f 145 157 159
+f 146 154 148
+f 150 160 161
+f 150 161 152
+f 150 151 162
+f 150 162 163
+f 150 163 156
+f 150 156 160
+f 151 159 158
+f 151 158 162
+f 155 161 160
+f 155 160 156
+f 156 163 158
+f 157 158 159
+f 158 163 162
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_16.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00037177 0.03898799 -0.05764922
+v -0.00037177 0.03895005 -0.05791064
+v -0.00037177 0.03410912 -0.05764923
+v 0.00105070 0.03896318 -0.05764922
+v 0.00105070 0.03871874 -0.05934080
+v -0.00037177 0.03873990 -0.05934080
+v -0.00037177 0.03535185 -0.06248623
+v 0.01370687 0.03246218 -0.06140954
+v 0.01370687 0.03153396 -0.05764924
+v 0.00310998 0.03883110 -0.05764922
+v 0.00310998 0.03858666 -0.05934080
+v 0.00105070 0.03838673 -0.06140952
+v -0.00037177 0.03863774 -0.05997988
+v -0.00037177 0.03608229 -0.06278762
+v 0.01370687 0.03286863 -0.06280552
+v 0.01370687 0.03276939 -0.06257828
+v 0.01370687 0.03639824 -0.05764923
+v 0.00516926 0.03860197 -0.05764922
+v 0.00516926 0.03835753 -0.05934080
+v 0.00310998 0.03824881 -0.06140952
+v 0.00310998 0.03775187 -0.06281496
+v 0.00105070 0.03782193 -0.06287124
+v -0.00037177 0.03840497 -0.06140952
+v -0.00037177 0.03641066 -0.06291912
+v 0.01370687 0.03407120 -0.06300275
+v 0.01370687 0.03616328 -0.05934081
+v 0.01340639 0.03651499 -0.05764923
+v 0.00554556 0.03854433 -0.05764922
+v 0.00722717 0.03803864 -0.05934080
+v 0.00732779 0.03766869 -0.06152524
+v 0.00516926 0.03801311 -0.06140952
+v 0.00670752 0.03751837 -0.06255197
+v 0.00516926 0.03763002 -0.06269083
+v 0.01134711 0.03591957 -0.06293490
+v 0.00928782 0.03619394 -0.06295278
+v -0.00037177 0.03783069 -0.06287755
+v -0.00037177 0.03823057 -0.06186082
+v 0.00516926 0.03641066 -0.06297645
+v -0.00037177 0.03739505 -0.06289281
+v 0.00310998 0.03641066 -0.06296751
+v 0.01340639 0.03435287 -0.06302221
+v 0.01370687 0.03435798 -0.06299644
+v 0.01370687 0.03609177 -0.05983051
+v 0.01340639 0.03628003 -0.05934081
+v 0.01193567 0.03702798 -0.05764922
+v 0.00722717 0.03827798 -0.05764922
+v 0.00861518 0.03753514 -0.06091299
+v 0.00808038 0.03738337 -0.06229213
+v 0.01340639 0.03558755 -0.06267243
+v 0.01370687 0.03539271 -0.06270294
+v 0.01370687 0.03585170 -0.06140953
+v 0.01340639 0.03596554 -0.06140953
+v 0.01115138 0.03707031 -0.05915986
+v 0.01151665 0.03716954 -0.05764922
+v 0.00928920 0.03782702 -0.05764922
+v 0.00929609 0.03761468 -0.05915986
+v 0.00998804 0.03734396 -0.05972846
+v 0.01134711 0.03664563 -0.06140953
+v 0.00929609 0.03720897 -0.06152524
+v 0.01370687 0.03553136 -0.06261141
+v 0.01370687 0.03580135 -0.06170987
+v 0.01033538 0.03744611 -0.05834932
+v 0.01069238 0.03743224 -0.05764922
+v 0.00965447 0.03772851 -0.05764922
+v 0.01049252 0.03749573 -0.05764922
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 37
+f 1 37 36
+f 1 36 39
+f 1 39 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 27
+f 1 27 45
+f 1 45 54
+f 1 54 63
+f 1 63 65
+f 1 65 64
+f 1 64 55
+f 1 55 46
+f 1 46 28
+f 1 28 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 25
+f 8 25 42
+f 8 42 50
+f 8 50 60
+f 8 60 61
+f 8 61 51
+f 8 51 43
+f 8 43 26
+f 8 26 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 24 15
+f 15 24 25
+f 17 26 44
+f 17 44 27
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 36 37
+f 22 37 23
+f 22 35 38
+f 22 38 36
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 26 43 44
+f 27 44 45
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 34
+f 32 34 33
+f 34 48 49
+f 34 49 50
+f 34 50 42
+f 34 42 41
+f 34 41 35
+f 35 41 38
+f 36 38 40
+f 36 40 39
+f 38 41 40
+f 43 51 52
+f 43 52 44
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 48 59 58
+f 48 58 60
+f 48 60 49
+f 49 60 50
+f 51 61 52
+f 52 61 58
+f 52 58 53
+f 53 58 57
+f 53 57 62
+f 53 62 54
+f 54 62 63
+f 55 64 56
+f 56 64 62
+f 56 62 57
+f 58 61 60
+f 62 64 65
+f 62 65 63
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_17.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.05830920 0.00030737 0.05861016
+v 0.05817550 0.00030738 0.05775172
+v 0.05813782 0.00030737 0.05928755
+v 0.05830191 -0.00064289 0.05861016
+v 0.05805395 0.00030738 0.05701257
+v 0.05805273 -0.00064288 0.05701363
+v 0.05793848 0.00030737 0.06006504
+v 0.05793240 -0.00064289 0.06005546
+v 0.05788621 -0.00270072 0.05998835
+v 0.05821925 -0.00270072 0.05861015
+v 0.05794577 -0.00476067 0.05714568
+v 0.05801505 -0.00270071 0.05705623
+v 0.05464326 0.00030740 0.05147103
+v 0.05464447 -0.00064286 0.05147103
+v 0.05711315 0.00030737 0.06109922
+v 0.05710586 -0.00064289 0.06108964
+v 0.05706939 -0.00270072 0.06102359
+v 0.05701470 -0.00476068 0.06090962
+v 0.05781571 -0.00476068 0.05987438
+v 0.05774278 -0.00622327 0.05975083
+v 0.05807826 -0.00476068 0.05861014
+v 0.05783151 -0.00681850 0.05731395
+v 0.05437950 -0.00476065 0.05147101
+v 0.05446580 -0.00362969 0.05147102
+v 0.05453265 -0.00270069 0.05147102
+v 0.05459585 -0.00157186 0.05147102
+v 0.05099190 0.00030740 0.05147103
+v 0.05608241 0.00030736 0.06201944
+v 0.05607512 -0.00064290 0.06201305
+v 0.05603865 -0.00270073 0.06199174
+v 0.05598517 -0.00476069 0.06196617
+v 0.05588914 -0.00681852 0.06191290
+v 0.05573235 -0.00887635 0.06180107
+v 0.05704873 -0.00687378 0.06053577
+v 0.05660629 -0.00887634 0.06067956
+v 0.05615412 -0.01075559 0.06078286
+v 0.05602406 -0.01299200 0.06024606
+v 0.05764554 -0.00759657 0.05938018
+v 0.05783759 -0.00687378 0.05865806
+v 0.05773549 -0.00815779 0.05800092
+v 0.05773549 -0.00815779 0.05747371
+v 0.05412910 -0.00681848 0.05147100
+v 0.04589288 -0.02140823 0.05147095
+v 0.05183789 0.00030737 0.05861016
+v 0.05459342 0.00030736 0.06234641
+v 0.05459342 -0.00476069 0.06232723
+v 0.05459342 -0.00681852 0.06230378
+v 0.05459342 -0.00887635 0.06222603
+v 0.05418866 -0.01299201 0.06209394
+v 0.05563389 -0.00995416 0.06172331
+v 0.05395772 -0.01504983 0.06199169
+v 0.05543333 -0.01132321 0.06154225
+v 0.05357848 -0.01817910 0.06172754
+v 0.05579920 -0.01461615 0.05992867
+v 0.05707912 -0.01093417 0.05861012
+v 0.05751184 -0.00885720 0.05865806
+v 0.05334024 -0.01101704 0.05147099
+v 0.05345572 -0.01050046 0.05147099
+v 0.05357483 -0.00996049 0.05147099
+v 0.05360522 -0.00979893 0.05147099
+v 0.05378390 -0.00883591 0.05147100
+v 0.05658320 -0.01299200 0.05861011
+v 0.05569709 -0.01629131 0.05744918
+v 0.05589522 -0.01504981 0.05719357
+v 0.04978856 -0.02140823 0.05147095
+v 0.04608007 -0.02140823 0.05262868
+v 0.05211016 0.00030737 0.05972209
+v 0.04674251 -0.02140825 0.05664078
+v 0.04707556 -0.02140826 0.05861008
+v 0.04730651 -0.02140826 0.05966770
+v 0.05382036 0.00030736 0.06218452
+v 0.04873715 -0.02140827 0.06209604
+v 0.05047531 -0.01916762 0.06231120
+v 0.05047531 -0.02122545 0.06234207
+v 0.05253437 -0.01504983 0.06235062
+v 0.05253437 -0.01710979 0.06225582
+v 0.05371705 -0.01710979 0.06183299
+v 0.05254895 -0.01898692 0.06203322
+v 0.05188529 -0.02122545 0.06196504
+v 0.05185369 -0.02140827 0.06194587
+v 0.05293913 -0.02140826 0.06066779
+v 0.05374257 -0.02065571 0.05996165
+v 0.05394191 -0.01898691 0.06066248
+v 0.05559621 -0.01598945 0.05947068
+v 0.05308134 -0.01205871 0.05147099
+v 0.05594627 -0.01520289 0.05871235
+v 0.05569709 -0.01629131 0.05809142
+v 0.05133345 -0.01765184 0.05147097
+v 0.05153280 -0.01708637 0.05147097
+v 0.05169446 -0.01662293 0.05147097
+v 0.05201656 -0.01565141 0.05147097
+v 0.05221591 -0.01504979 0.05147097
+v 0.05255746 -0.01391884 0.05147098
+v 0.05283703 -0.01299197 0.05147098
+v 0.05460801 -0.01916761 0.05861009
+v 0.05389694 -0.02102986 0.05861008
+v 0.05374500 -0.02140826 0.05861008
+v 0.05382887 -0.02085128 0.05723402
+v 0.05273979 -0.02140825 0.05676539
+v 0.04986270 -0.02124029 0.05147095
+v 0.05234475 0.00030737 0.06067959
+v 0.04758486 -0.02140826 0.06059643
+v 0.05315792 0.00030736 0.06204074
+v 0.04770884 -0.02140826 0.06092447
+v 0.05026989 -0.02140827 0.06232397
+v 0.05048260 -0.02140827 0.06232184
+v 0.05176739 -0.02140827 0.06197676
+v 0.05360279 -0.02140826 0.05923848
+v 0.05535189 -0.01703112 0.05871235
+v 0.05102836 -0.01844266 0.05147096
+v 0.05074151 -0.01916758 0.05147096
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 44
+f 1 44 67
+f 1 67 101
+f 1 101 103
+f 1 103 71
+f 1 71 45
+f 1 45 28
+f 1 28 15
+f 1 15 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 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 6 14
+f 5 14 13
+f 6 12 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 14
+f 13 14 26
+f 13 26 25
+f 13 25 24
+f 13 24 23
+f 13 23 42
+f 13 42 61
+f 13 61 60
+f 13 60 59
+f 13 59 58
+f 13 58 57
+f 13 57 85
+f 13 85 94
+f 13 94 93
+f 13 93 92
+f 13 92 91
+f 13 91 90
+f 13 90 89
+f 13 89 88
+f 13 88 110
+f 13 110 111
+f 13 111 100
+f 13 100 65
+f 13 65 43
+f 13 43 27
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 20
+f 18 20 19
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 42 23
+f 22 41 42
+f 27 43 44
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 31
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 50 34
+f 33 49 51
+f 33 51 50
+f 34 50 35
+f 35 50 36
+f 36 50 37
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 37 50 52
+f 38 55 56
+f 38 56 40
+f 38 40 39
+f 38 54 55
+f 40 56 55
+f 40 55 41
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 41 55 62
+f 41 62 63
+f 41 63 64
+f 41 64 57
+f 43 65 99
+f 43 99 97
+f 43 97 108
+f 43 108 81
+f 43 81 80
+f 43 80 107
+f 43 107 106
+f 43 106 105
+f 43 105 72
+f 43 72 104
+f 43 104 102
+f 43 102 70
+f 43 70 69
+f 43 69 68
+f 43 68 66
+f 43 66 44
+f 44 66 68
+f 44 68 69
+f 44 69 70
+f 44 70 67
+f 45 71 72
+f 45 72 73
+f 45 73 74
+f 45 74 75
+f 45 75 46
+f 46 75 47
+f 47 75 48
+f 48 75 76
+f 48 76 49
+f 49 76 51
+f 50 51 77
+f 50 77 53
+f 50 53 52
+f 51 76 78
+f 51 78 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 54
+f 54 84 62
+f 54 62 55
+f 54 83 84
+f 57 64 85
+f 62 84 86
+f 62 86 87
+f 62 87 63
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 63 87 95
+f 63 95 96
+f 63 96 97
+f 63 97 98
+f 63 98 88
+f 64 94 85
+f 65 100 98
+f 65 98 99
+f 67 70 101
+f 70 102 101
+f 71 103 72
+f 72 105 73
+f 72 103 104
+f 73 105 74
+f 74 105 106
+f 74 106 76
+f 74 76 75
+f 76 106 107
+f 76 107 79
+f 76 79 78
+f 79 107 80
+f 81 108 82
+f 82 108 97
+f 82 97 96
+f 82 96 95
+f 82 95 84
+f 82 84 83
+f 84 109 87
+f 84 87 86
+f 84 95 109
+f 87 109 95
+f 88 98 110
+f 97 99 98
+f 98 100 111
+f 98 111 110
+f 101 102 104
+f 101 104 103
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_18.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v -0.03240173 -0.04753841 0.05860973
+v -0.03240173 -0.04752131 0.05812046
+v -0.03240173 -0.04715279 0.06012765
+v -0.03302792 -0.04702100 0.05975852
+v -0.03313263 -0.04708934 0.05860973
+v -0.03310184 -0.04706980 0.05743867
+v -0.03240173 -0.04727725 0.05729069
+v -0.03240173 -0.04660121 0.06087945
+v -0.03240173 -0.04644501 0.06109028
+v -0.03384301 -0.04584462 0.06061215
+v -0.03537464 -0.04518322 0.06008628
+v -0.03561074 -0.04536382 0.05860973
+v -0.03416124 -0.04639376 0.05860973
+v -0.03664141 -0.04457306 0.05860974
+v -0.03543212 -0.04523446 0.05725808
+v -0.03240173 -0.04368222 0.05433760
+v -0.03240173 -0.04553956 0.06192323
+v -0.03328456 -0.04513197 0.06186436
+v -0.03465810 -0.04463409 0.06146579
+v -0.03615071 -0.04396291 0.06086037
+v -0.03758789 -0.04329174 0.06025416
+v -0.03789175 -0.04354312 0.05860974
+v -0.03892242 -0.04267427 0.05860974
+v -0.03763306 -0.04332834 0.05719126
+v -0.03323940 -0.04302813 0.05433760
+v -0.03240173 -0.03916708 0.05433762
+v -0.03240173 -0.04387994 0.06226294
+v -0.03396620 -0.04391655 0.06209587
+v -0.03555326 -0.04326246 0.06193119
+v -0.03692679 -0.04273529 0.06163365
+v -0.03911541 -0.04078768 0.06171799
+v -0.03956299 -0.04120258 0.06067900
+v -0.04059366 -0.04021901 0.06067900
+v -0.04107819 -0.04069493 0.05860975
+v -0.04004753 -0.04164433 0.05860975
+v -0.03976009 -0.04137585 0.05717456
+v -0.03539927 -0.04115131 0.05433761
+v -0.03240173 -0.03999447 0.05860975
+v -0.04568538 -0.02260752 0.05433768
+v -0.04568743 -0.02260752 0.05435677
+v -0.04570181 -0.02260752 0.05447212
+v -0.04623151 -0.02260753 0.05847537
+v -0.03807859 -0.03975286 0.06229080
+v -0.03240173 -0.04204948 0.06204417
+v -0.04837291 -0.02328604 0.06238553
+v -0.04631363 -0.02740336 0.06242529
+v -0.04425436 -0.03152067 0.06246426
+v -0.03615071 -0.04195430 0.06214918
+v -0.03807859 -0.04122211 0.06190654
+v -0.03993666 -0.03955761 0.06188347
+v -0.04118495 -0.03874245 0.06172516
+v -0.04161405 -0.03918907 0.06067901
+v -0.04371439 -0.03723170 0.06030032
+v -0.04205342 -0.03966499 0.05860975
+v -0.04177009 -0.03937699 0.05716582
+v -0.03863293 -0.03812983 0.05433762
+v -0.03856518 -0.03819572 0.05433762
+v -0.03760227 -0.03912071 0.05433762
+v -0.03753451 -0.03918417 0.05433762
+v -0.03650179 -0.04014577 0.05433761
+v -0.03642788 -0.04021411 0.05433761
+v -0.03240173 -0.04048259 0.06020087
+v -0.04648199 -0.02260754 0.05960506
+v -0.04673452 -0.02260754 0.06067907
+v -0.04979982 -0.02260752 0.05433768
+v -0.04013786 -0.03769298 0.06231786
+v -0.03240173 -0.04100001 0.06130430
+v -0.03293554 -0.04078524 0.06170924
+v -0.04720469 -0.02260755 0.06182228
+v -0.04836675 -0.02260755 0.06228370
+v -0.05052252 -0.02260755 0.06229484
+v -0.04837291 -0.02534592 0.06245951
+v -0.04631363 -0.02946324 0.06240778
+v -0.04165922 -0.03769298 0.06192087
+v -0.04317647 -0.03661179 0.06167983
+v -0.04273300 -0.03782721 0.06086596
+v -0.04398745 -0.03753921 0.05860976
+v -0.04308203 -0.03856671 0.05860976
+v -0.04563405 -0.03505467 0.06016031
+v -0.04375135 -0.03726341 0.05717776
+v -0.04160173 -0.03507418 0.05433763
+v -0.04063266 -0.03610412 0.05433763
+v -0.03966975 -0.03709745 0.05433762
+v -0.03960200 -0.03716578 0.05433762
+v -0.03240173 -0.04056314 0.06041566
+v -0.04695010 -0.02260755 0.06133301
+v -0.05312176 -0.02260753 0.05736795
+v -0.04973823 -0.02275884 0.05433768
+v -0.04433854 -0.03363669 0.06215319
+v -0.04237370 -0.03580883 0.06218580
+v -0.05171948 -0.02260755 0.06189229
+v -0.05057179 -0.02338367 0.06218027
+v -0.04847146 -0.02744973 0.06215321
+v -0.04628900 -0.03141573 0.06205375
+v -0.04371028 -0.03523773 0.06195191
+v -0.04558683 -0.03298992 0.06189623
+v -0.04508176 -0.03436155 0.06153981
+v -0.04501606 -0.03634332 0.05860977
+v -0.04566279 -0.03510347 0.05723027
+v -0.04582910 -0.03531338 0.05860977
+v -0.04629515 -0.03356101 0.06071562
+v -0.04748596 -0.03276049 0.05989142
+v -0.04263034 -0.03392709 0.05433764
+v -0.04166743 -0.03500096 0.05433763
+v -0.04352961 -0.03289715 0.05433764
+v -0.05337635 -0.02260753 0.05803145
+v -0.05178313 -0.02534590 0.05724543
+v -0.05150596 -0.02645882 0.05751511
+v -0.04971154 -0.02281253 0.05433768
+v -0.05185499 -0.02260755 0.06174591
+v -0.05168663 -0.02276131 0.06187479
+v -0.05000308 -0.02534592 0.06204344
+v -0.04780419 -0.02946324 0.06196625
+v -0.04745106 -0.03065670 0.06178963
+v -0.04695831 -0.03203076 0.06127171
+v -0.04751060 -0.03279465 0.05738939
+v -0.04469167 -0.03142546 0.05433764
+v -0.04467730 -0.03144498 0.05433764
+v -0.04685976 -0.03391979 0.05860978
+v -0.04757630 -0.03288985 0.05860978
+v -0.04785347 -0.03141572 0.06062095
+v -0.04973002 -0.02898242 0.06016988
+v -0.05148338 -0.02641490 0.05968857
+v -0.04929065 -0.03032720 0.05860979
+v -0.04849404 -0.03152066 0.05860978
+v -0.05337635 -0.02260753 0.05835842
+v -0.05207262 -0.02534591 0.05860981
+v -0.04850636 -0.02521654 0.05433767
+v -0.04843655 -0.02535565 0.05433767
+v -0.05151212 -0.02646859 0.05860980
+v -0.04975671 -0.02903611 0.05722472
+v -0.04991274 -0.02929726 0.05860979
+v -0.05094341 -0.02749609 0.05860980
+v -0.05258795 -0.02260754 0.06080556
+v -0.05135198 -0.02413294 0.06161781
+v -0.04962736 -0.02679564 0.06186761
+v -0.04922495 -0.02816727 0.06154938
+v -0.04590301 -0.02965357 0.05433765
+v -0.04889645 -0.02958526 0.06078723
+v -0.05036443 -0.02729108 0.06061858
+v -0.05103374 -0.02534591 0.06115718
+v -0.05175233 -0.02534591 0.06012296
+v -0.05311355 -0.02260754 0.05990976
+v -0.05336197 -0.02260754 0.05916750
+v -0.05314435 -0.02309322 0.05872438
+v -0.04767485 -0.02671263 0.05433766
+v -0.04594407 -0.02958768 0.05433765
+v -0.04592765 -0.02961452 0.05433765
+v -0.05222660 -0.02338366 0.06082862
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 38
+f 1 38 62
+f 1 62 85
+f 1 85 67
+f 1 67 44
+f 1 44 27
+f 1 27 17
+f 1 17 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 12
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 11 14 12
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 37
+f 16 37 61
+f 16 61 60
+f 16 60 59
+f 16 59 58
+f 16 58 57
+f 16 57 56
+f 16 56 84
+f 16 84 83
+f 16 83 82
+f 16 82 81
+f 16 81 104
+f 16 104 103
+f 16 103 105
+f 16 105 118
+f 16 118 117
+f 16 117 138
+f 16 138 148
+f 16 148 147
+f 16 147 146
+f 16 146 129
+f 16 129 128
+f 16 128 109
+f 16 109 88
+f 16 88 65
+f 16 65 39
+f 16 39 26
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 38
+f 27 43 28
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 43
+f 28 43 48
+f 28 48 29
+f 29 48 49
+f 29 49 31
+f 29 31 30
+f 31 49 50
+f 31 50 51
+f 31 51 33
+f 31 33 32
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 36
+f 34 36 35
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 37
+f 38 42 63
+f 38 63 64
+f 38 64 62
+f 39 65 87
+f 39 87 106
+f 39 106 126
+f 39 126 144
+f 39 144 143
+f 39 143 134
+f 39 134 110
+f 39 110 91
+f 39 91 71
+f 39 71 70
+f 39 70 69
+f 39 69 86
+f 39 86 64
+f 39 64 63
+f 39 63 42
+f 39 42 41
+f 39 41 40
+f 43 50 49
+f 43 49 48
+f 43 47 66
+f 43 66 50
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 46
+f 46 72 47
+f 47 72 73
+f 47 73 66
+f 50 66 74
+f 50 74 51
+f 51 74 75
+f 51 75 76
+f 51 76 52
+f 52 76 53
+f 53 77 78
+f 53 78 54
+f 53 76 75
+f 53 75 79
+f 53 79 77
+f 54 78 55
+f 55 78 80
+f 55 80 81
+f 55 81 82
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 62 64 85
+f 64 86 85
+f 65 88 87
+f 66 89 90
+f 66 90 74
+f 66 73 89
+f 67 85 86
+f 67 86 69
+f 67 69 68
+f 71 91 92
+f 71 92 72
+f 72 92 93
+f 72 93 73
+f 73 93 94
+f 73 94 89
+f 74 90 95
+f 74 95 75
+f 75 95 96
+f 75 96 97
+f 75 97 79
+f 77 79 98
+f 77 98 99
+f 77 99 80
+f 77 80 78
+f 79 100 98
+f 79 97 101
+f 79 101 102
+f 79 102 100
+f 80 103 104
+f 80 104 81
+f 80 99 105
+f 80 105 103
+f 87 88 107
+f 87 107 108
+f 87 108 106
+f 88 109 107
+f 89 95 90
+f 89 94 96
+f 89 96 95
+f 91 110 111
+f 91 111 112
+f 91 112 92
+f 92 112 93
+f 93 113 94
+f 93 112 113
+f 94 113 114
+f 94 114 96
+f 96 114 97
+f 97 114 115
+f 97 115 101
+f 98 100 99
+f 99 100 116
+f 99 116 117
+f 99 117 118
+f 99 118 105
+f 100 102 119
+f 100 119 116
+f 101 115 102
+f 102 120 119
+f 102 115 121
+f 102 121 122
+f 102 122 123
+f 102 123 124
+f 102 124 125
+f 102 125 120
+f 106 108 127
+f 106 127 126
+f 107 128 129
+f 107 129 108
+f 107 109 128
+f 108 130 127
+f 108 129 131
+f 108 131 116
+f 108 116 124
+f 108 124 132
+f 108 132 133
+f 108 133 130
+f 110 134 135
+f 110 135 111
+f 111 135 136
+f 111 136 112
+f 112 136 113
+f 113 136 114
+f 114 121 115
+f 114 136 137
+f 114 137 121
+f 116 120 125
+f 116 125 124
+f 116 131 138
+f 116 138 117
+f 116 119 120
+f 121 137 139
+f 121 139 122
+f 122 139 137
+f 122 137 140
+f 122 140 123
+f 123 141 142
+f 123 142 143
+f 123 143 144
+f 123 144 127
+f 123 127 130
+f 123 130 133
+f 123 133 132
+f 123 132 124
+f 123 140 141
+f 126 127 145
+f 126 145 144
+f 127 144 145
+f 129 146 131
+f 131 147 148
+f 131 148 138
+f 131 146 147
+f 134 143 149
+f 134 149 135
+f 135 149 142
+f 135 142 141
+f 135 141 137
+f 135 137 136
+f 137 141 140
+f 142 149 143
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_19.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03068383 0.02598198 -0.05769279
+v -0.03042031 0.02598199 -0.05934101
+v -0.03106297 0.02530503 -0.05934102
+v -0.03118934 0.02544616 -0.05769280
+v -0.02442130 0.02598198 -0.05769279
+v -0.03003041 0.02598200 -0.06139737
+v -0.03094331 0.02517108 -0.06075183
+v -0.03222189 0.02388533 -0.05929859
+v -0.03224341 0.02416280 -0.05769280
+v -0.03200813 0.02445224 -0.05769280
+v -0.03354216 0.01376441 -0.05769284
+v -0.03455320 0.01376443 -0.06148834
+v -0.03467689 0.01376443 -0.06185506
+v -0.02577115 0.02598200 -0.06140141
+v -0.02998201 0.02598200 -0.06160750
+v -0.03078601 0.02500603 -0.06213132
+v -0.03157924 0.02421545 -0.06142870
+v -0.03286724 0.02294405 -0.05995981
+v -0.03296807 0.02308398 -0.05858032
+v -0.03302992 0.02316650 -0.05769280
+v -0.03815503 0.01376441 -0.05769284
+v -0.03551046 0.01376443 -0.06273297
+v -0.03477101 0.01415913 -0.06265972
+v -0.02587198 0.02598200 -0.06158174
+v -0.02968085 0.02598200 -0.06201362
+v -0.03135337 0.02363298 -0.06277990
+v -0.03321008 0.02139398 -0.06270364
+v -0.03273145 0.02276704 -0.06141002
+v -0.02941331 0.02573442 -0.06278041
+v -0.03344402 0.02173845 -0.06141002
+v -0.03350183 0.02215466 -0.05929860
+v -0.03359325 0.02234960 -0.05769281
+v -0.03740078 0.01558359 -0.05769283
+v -0.03729860 0.01535396 -0.05934105
+v -0.03795470 0.01376801 -0.05934106
+v -0.03795604 0.01376442 -0.05934056
+v -0.03584927 0.01376443 -0.06276681
+v -0.03438783 0.01582641 -0.06284762
+v -0.02819925 0.02441638 -0.06278041
+v -0.02682655 0.02516271 -0.06208384
+v -0.02764533 0.02598200 -0.06267230
+v -0.02841706 0.02598200 -0.06278141
+v -0.03198393 0.02204822 -0.06285265
+v -0.03392130 0.01976617 -0.06279407
+v -0.03528863 0.01788480 -0.06271224
+v -0.03501435 0.01896124 -0.06247887
+v -0.03447388 0.02015130 -0.06141003
+v -0.03464463 0.02041202 -0.05934104
+v -0.03452093 0.02095861 -0.05769281
+v -0.03380837 0.02203265 -0.05769281
+v -0.03693425 0.01661339 -0.05769283
+v -0.03682804 0.01638376 -0.05934105
+v -0.03716147 0.01504779 -0.06141004
+v -0.03767371 0.01376443 -0.06141005
+v -0.03724482 0.01376443 -0.06268548
+v -0.03728112 0.01376802 -0.06268346
+v -0.03603615 0.01565777 -0.06278903
+v -0.02783490 0.02598200 -0.06278191
+v -0.03707408 0.01485881 -0.06248040
+v -0.03576187 0.01788480 -0.06141003
+v -0.03511115 0.01912270 -0.06141003
+v -0.03526308 0.01938462 -0.05934104
+v -0.03475891 0.02059740 -0.05769281
+v -0.03678098 0.01691838 -0.05769283
+v -0.03607379 0.01788479 -0.05934104
+v -0.03666804 0.01607758 -0.06141004
+v -0.03728381 0.01376443 -0.06268044
+v -0.03537198 0.01957000 -0.05769282
+v -0.03612488 0.01818977 -0.05769282
+v -0.03628891 0.01788478 -0.05769282
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 20
+f 1 20 32
+f 1 32 50
+f 1 50 49
+f 1 49 63
+f 1 63 68
+f 1 68 69
+f 1 69 70
+f 1 70 64
+f 1 64 51
+f 1 51 33
+f 1 33 21
+f 1 21 11
+f 1 11 5
+f 1 5 14
+f 1 14 24
+f 1 24 41
+f 1 41 58
+f 1 58 42
+f 1 42 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 11 21 36
+f 11 36 54
+f 11 54 67
+f 11 67 55
+f 11 55 37
+f 11 37 22
+f 11 22 13
+f 11 13 12
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 16 25 29
+f 16 29 26
+f 17 28 18
+f 18 28 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 25 42 29
+f 26 29 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 30
+f 29 42 43
+f 30 47 48
+f 30 48 31
+f 30 46 47
+f 31 49 50
+f 31 50 32
+f 31 48 49
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 54 36
+f 35 53 54
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 43
+f 38 43 39
+f 39 58 41
+f 39 41 40
+f 39 43 58
+f 42 58 43
+f 43 57 44
+f 44 57 45
+f 45 57 56
+f 45 56 59
+f 45 59 46
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 47 61 48
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 51 64 65
+f 51 65 52
+f 52 65 60
+f 52 60 66
+f 52 66 53
+f 53 66 59
+f 53 59 54
+f 54 59 67
+f 55 67 56
+f 56 67 59
+f 59 66 60
+f 60 65 61
+f 61 65 62
+f 62 68 63
+f 62 65 69
+f 62 69 68
+f 64 70 65
+f 65 70 69
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_2.obj

@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v -0.00101196 0.04003386 -0.05091769
+v -0.00101196 0.04001434 -0.05106358
+v -0.00115659 0.04002996 -0.05091769
+v -0.00037717 0.04002215 -0.05091769
+v -0.00212886 0.03950270 -0.05419555
+v -0.00306899 0.03996747 -0.05091769
+v -0.00037717 0.04000262 -0.05106358
+v -0.00037717 0.03960425 -0.05370350
+v -0.00101196 0.03969799 -0.05313321
+v -0.00037717 0.03625314 -0.05091771
+v -0.00101196 0.03899106 -0.05769225
+v -0.00265116 0.03893638 -0.05769225
+v -0.00306899 0.03898715 -0.05727116
+v -0.00291632 0.03961987 -0.05322870
+v -0.00349888 0.03946755 -0.05398203
+v -0.00513004 0.03884655 -0.05727116
+v -0.00513004 0.03978390 -0.05106358
+v -0.00513004 0.03980343 -0.05091769
+v -0.00037717 0.03897934 -0.05769225
+v -0.00037717 0.00014102 -0.05285750
+v -0.03754038 0.00014102 -0.05091784
+v -0.00306899 0.03892076 -0.05769225
+v -0.00471221 0.03881140 -0.05769225
+v -0.00619472 0.03950269 -0.05213852
+v -0.00513004 0.03878015 -0.05769225
+v -0.00718708 0.03853019 -0.05769225
+v -0.00668487 0.03958862 -0.05106358
+v -0.00674112 0.03960033 -0.05091769
+v -0.00037717 0.03414799 -0.05769226
+v -0.00037717 0.00014104 -0.05680777
+v -0.04140937 0.00014102 -0.05091784
+v -0.00718708 0.03859268 -0.05727116
+v -0.00924813 0.03816305 -0.05769225
+v -0.00718708 0.03889731 -0.05520153
+v -0.00778169 0.03942457 -0.05091770
+v -0.03583288 0.00014104 -0.05769239
+v -0.04141741 0.00141818 -0.05091783
+v -0.04132902 0.00014102 -0.05166784
+v -0.00924813 0.03822554 -0.05727116
+v -0.01130516 0.03768656 -0.05769225
+v -0.01142569 0.03771390 -0.05732488
+v -0.00924813 0.03852627 -0.05520153
+v -0.00924813 0.03881920 -0.05313322
+v -0.00924813 0.03911212 -0.05106359
+v -0.00925215 0.03913165 -0.05091770
+v -0.04062191 0.00014104 -0.05769239
+v -0.04131295 0.00352726 -0.05091783
+v -0.04119644 0.00288673 -0.05238733
+v -0.04122858 0.00141818 -0.05265921
+v -0.04122456 0.00014102 -0.05263071
+v -0.01130918 0.03804978 -0.05520153
+v -0.01181138 0.03755376 -0.05769225
+v -0.01253456 0.03750689 -0.05667169
+v -0.01130918 0.03833880 -0.05313322
+v -0.01130918 0.03862781 -0.05106359
+v -0.01130918 0.03864734 -0.05091770
+v -0.04067816 0.00014104 -0.05727130
+v -0.04063397 0.00141820 -0.05769238
+v -0.04128483 0.00353507 -0.05117380
+v -0.04120447 0.00479271 -0.05091782
+v -0.04114421 0.00425763 -0.05193639
+v -0.04111207 0.00141819 -0.05369436
+v -0.04106787 0.00353508 -0.05309953
+v -0.04082682 0.00347650 -0.05520166
+v -0.04093529 0.00141819 -0.05520166
+v -0.04115225 0.00014103 -0.05327328
+v -0.01228145 0.03742487 -0.05769225
+v -0.01273143 0.03727255 -0.05769225
+v -0.01327783 0.03714757 -0.05732488
+v -0.01387244 0.03725301 -0.05520153
+v -0.01283990 0.03761234 -0.05520153
+v -0.01145381 0.03860438 -0.05091770
+v -0.04083485 0.00014104 -0.05598483
+v -0.04068620 0.00141820 -0.05727129
+v -0.04052549 0.00347651 -0.05769238
+v -0.04113215 0.00535513 -0.05091782
+v -0.04085092 0.00553480 -0.05313334
+v -0.04060584 0.00553480 -0.05520165
+v -0.04035675 0.00553481 -0.05727128
+v -0.04057772 0.00347651 -0.05727129
+v -0.04110805 0.00014103 -0.05366519
+v -0.04092726 0.00014103 -0.05520167
+v -0.01329390 0.03708117 -0.05769225
+v -0.01542727 0.03631956 -0.05769226
+v -0.01542727 0.03638205 -0.05727117
+v -0.01418581 0.03736628 -0.05364848
+v -0.01336621 0.03800680 -0.05106359
+v -0.01336621 0.03802633 -0.05091770
+v -0.04048130 0.00389442 -0.05769238
+v -0.04107993 0.00575351 -0.05091782
+v -0.04051344 0.00759311 -0.05313333
+v -0.04080271 0.00745249 -0.05091781
+v -0.03996302 0.00759312 -0.05769236
+v -0.04023622 0.00595272 -0.05769237
+v -0.04030452 0.00553481 -0.05769237
+v -0.01705039 0.03565559 -0.05769226
+v -0.01573662 0.03715926 -0.05091770
+v -0.01542727 0.03667497 -0.05520154
+v -0.01445901 0.03746391 -0.05226916
+v -0.01467998 0.03754593 -0.05106359
+v -0.01470811 0.03755374 -0.05091770
+v -0.04032059 0.00965140 -0.05091780
+v -0.04077860 0.00759310 -0.05091781
+v -0.03985856 0.00805399 -0.05769236
+v -0.01786999 0.03527283 -0.05769226
+v -0.01711869 0.03568684 -0.05727117
+v -0.01478042 0.03752640 -0.05091770
+v -0.01748430 0.03638594 -0.05106360
+v -0.01748430 0.03640546 -0.05091771
+v -0.03971794 0.01170971 -0.05091780
+v -0.03916351 0.01086610 -0.05769235
+v -0.03938850 0.01004199 -0.05769235
+v -0.03948492 0.00966705 -0.05769235
+v -0.01807891 0.03517129 -0.05769226
+v -0.01814721 0.03520643 -0.05727117
+v -0.01837622 0.03531188 -0.05576653
+v -0.01876191 0.03550326 -0.05313323
+v -0.01907930 0.03565948 -0.05091771
+v -0.03928404 0.01298297 -0.05091779
+v -0.03906709 0.01262365 -0.05383689
+v -0.03883005 0.01187377 -0.05769235
+v -0.01954535 0.03443701 -0.05769226
+v -0.01954535 0.03449950 -0.05727117
+v -0.01915162 0.03562433 -0.05091771
+v -0.02010782 0.03514002 -0.05091771
+v -0.03923985 0.01310404 -0.05091779
+v -0.03923181 0.01308061 -0.05106368
+v -0.03887424 0.01406094 -0.05091779
+v -0.03820329 0.01376803 -0.05727125
+v -0.03815106 0.01376803 -0.05769234
+v -0.03866934 0.01233464 -0.05769234
+v -0.02106402 0.03361291 -0.05769227
+v -0.02160239 0.03426904 -0.05106360
+v -0.02160239 0.03428858 -0.05091771
+v -0.03884612 0.01413124 -0.05091779
+v -0.03883808 0.01410781 -0.05106368
+v -0.03801848 0.01409221 -0.05769234
+v -0.02111625 0.03364415 -0.05727118
+v -0.02188362 0.03312079 -0.05769227
+v -0.02214477 0.03302705 -0.05727118
+v -0.02171086 0.03422609 -0.05091771
+v -0.03816714 0.01573258 -0.05091778
+v -0.03739976 0.01558418 -0.05769233
+v -0.02292017 0.03350353 -0.05091772
+v -0.02209254 0.03299190 -0.05769227
+v -0.02355496 0.03204672 -0.05769227
+v -0.02379602 0.03189049 -0.05769227
+v -0.02384825 0.03190221 -0.05740115
+v -0.02299249 0.03345666 -0.05091772
+v -0.03812696 0.01582632 -0.05091778
+v -0.03703416 0.01683010 -0.05612933
+v -0.03696184 0.01667388 -0.05727124
+v -0.03693372 0.01661529 -0.05769233
+v -0.02471204 0.03128121 -0.05769228
+v -0.02394869 0.03282784 -0.05091772
+v -0.03735557 0.01747062 -0.05091778
+v -0.03686542 0.01842752 -0.05091777
+v -0.03682122 0.01847829 -0.05106366
+v -0.03634312 0.01788855 -0.05727123
+v -0.03678104 0.01691994 -0.05769233
+v -0.02523835 0.03087111 -0.05769228
+v -0.02642758 0.03101169 -0.05091773
+v -0.02538299 0.03178502 -0.05106361
+v -0.02541111 0.03178502 -0.05091772
+v -0.03682926 0.01849782 -0.05091777
+v -0.03537085 0.01957191 -0.05769232
+v -0.03612215 0.01819319 -0.05769232
+v -0.03628688 0.01788855 -0.05769232
+v -0.02560396 0.03058599 -0.05769228
+v -0.02703826 0.02944552 -0.05769228
+v -0.02707843 0.02948068 -0.05727119
+v -0.02767706 0.02998840 -0.05091773
+v -0.02548343 0.03173034 -0.05091772
+v -0.03607394 0.01986091 -0.05091777
+v -0.03539898 0.01961878 -0.05727123
+v -0.03475615 0.02059520 -0.05769231
+v -0.02807079 0.02854721 -0.05769229
+v -0.02871362 0.02911742 -0.05091773
+v -0.03602573 0.01994683 -0.05091777
+v -0.03521417 0.02132164 -0.05091776
+v -0.03478428 0.02064207 -0.05727122
+v -0.03451911 0.02095843 -0.05769231
+v -0.02918770 0.02751611 -0.05769229
+v -0.02975820 0.02809022 -0.05091774
+v -0.03457536 0.02227854 -0.05091776
+v -0.03451911 0.02233322 -0.05106365
+v -0.03388834 0.02200126 -0.05727122
+v -0.03380799 0.02203250 -0.05769231
+v -0.03000730 0.02668810 -0.05769229
+v -0.03078672 0.02706303 -0.05091774
+v -0.03452715 0.02234884 -0.05091776
+v -0.03349060 0.02380176 -0.05091775
+v -0.03349060 0.02377442 -0.05106364
+v -0.03302857 0.02316515 -0.05769230
+v -0.03359104 0.02234886 -0.05769231
+v -0.03021622 0.02647328 -0.05769229
+v -0.03118446 0.02544608 -0.05769230
+v -0.03085904 0.02698101 -0.05091774
+v -0.03271519 0.02482115 -0.05091775
+v -0.03224914 0.02423532 -0.05727121
+v -0.03224111 0.02416111 -0.05769230
+v -0.03169069 0.02602801 -0.05091774
+v -0.03200808 0.02445013 -0.05769230
+f 1 2 3
+f 1 3 6
+f 1 6 18
+f 1 18 28
+f 1 28 35
+f 1 35 45
+f 1 45 56
+f 1 56 72
+f 1 72 88
+f 1 88 101
+f 1 101 107
+f 1 107 97
+f 1 97 109
+f 1 109 118
+f 1 118 124
+f 1 124 125
+f 1 125 134
+f 1 134 141
+f 1 141 144
+f 1 144 149
+f 1 149 155
+f 1 155 164
+f 1 164 173
+f 1 173 162
+f 1 162 172
+f 1 172 178
+f 1 178 184
+f 1 184 190
+f 1 190 198
+f 1 198 202
+f 1 202 199
+f 1 199 192
+f 1 192 191
+f 1 191 185
+f 1 185 180
+f 1 180 179
+f 1 179 174
+f 1 174 165
+f 1 165 157
+f 1 157 156
+f 1 156 150
+f 1 150 142
+f 1 142 135
+f 1 135 128
+f 1 128 126
+f 1 126 119
+f 1 119 110
+f 1 110 102
+f 1 102 103
+f 1 103 92
+f 1 92 90
+f 1 90 76
+f 1 76 60
+f 1 60 47
+f 1 47 37
+f 1 37 31
+f 1 31 21
+f 1 21 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 20
+f 4 20 30
+f 4 30 29
+f 4 29 19
+f 4 19 8
+f 4 8 7
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 8 19 11
+f 8 11 9
+f 10 21 20
+f 11 19 29
+f 11 29 36
+f 11 36 46
+f 11 46 58
+f 11 58 75
+f 11 75 89
+f 11 89 95
+f 11 95 94
+f 11 94 93
+f 11 93 104
+f 11 104 113
+f 11 113 112
+f 11 112 111
+f 11 111 121
+f 11 121 131
+f 11 131 130
+f 11 130 137
+f 11 137 143
+f 11 143 153
+f 11 153 160
+f 11 160 168
+f 11 168 167
+f 11 167 166
+f 11 166 176
+f 11 176 182
+f 11 182 188
+f 11 188 195
+f 11 195 194
+f 11 194 201
+f 11 201 203
+f 11 203 197
+f 11 197 196
+f 11 196 189
+f 11 189 183
+f 11 183 177
+f 11 177 170
+f 11 170 169
+f 11 169 161
+f 11 161 154
+f 11 154 147
+f 11 147 146
+f 11 146 145
+f 11 145 139
+f 11 139 132
+f 11 132 122
+f 11 122 114
+f 11 114 105
+f 11 105 96
+f 11 96 84
+f 11 84 83
+f 11 83 68
+f 11 68 67
+f 11 67 52
+f 11 52 40
+f 11 40 33
+f 11 33 26
+f 11 26 25
+f 11 25 23
+f 11 23 22
+f 11 22 12
+f 12 22 13
+f 13 22 23
+f 13 23 15
+f 15 23 16
+f 16 24 17
+f 16 23 25
+f 16 25 26
+f 16 26 24
+f 17 24 27
+f 17 27 18
+f 18 27 28
+f 20 21 31
+f 20 31 38
+f 20 38 50
+f 20 50 66
+f 20 66 81
+f 20 81 82
+f 20 82 73
+f 20 73 57
+f 20 57 46
+f 20 46 36
+f 20 36 30
+f 24 26 32
+f 24 32 27
+f 26 33 39
+f 26 39 32
+f 27 32 34
+f 27 34 35
+f 27 35 28
+f 29 30 36
+f 31 37 38
+f 32 35 34
+f 32 39 35
+f 33 40 41
+f 33 41 39
+f 35 39 42
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 39 41 51
+f 39 51 42
+f 40 52 41
+f 41 52 53
+f 41 53 51
+f 42 51 43
+f 43 51 44
+f 44 51 45
+f 45 51 54
+f 45 54 55
+f 45 55 56
+f 46 57 58
+f 47 59 48
+f 47 60 61
+f 47 61 59
+f 48 62 49
+f 48 59 63
+f 48 63 64
+f 48 64 65
+f 48 65 62
+f 49 62 66
+f 49 66 50
+f 51 53 54
+f 52 67 53
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 55
+f 53 55 54
+f 55 72 56
+f 57 73 74
+f 57 74 58
+f 58 74 80
+f 58 80 75
+f 59 61 63
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 61 64 63
+f 61 78 79
+f 61 79 80
+f 61 80 64
+f 62 65 81
+f 62 81 66
+f 64 80 74
+f 64 74 65
+f 65 74 73
+f 65 73 82
+f 65 82 81
+f 68 83 69
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 71 86 87
+f 71 87 88
+f 71 88 72
+f 75 80 89
+f 76 90 77
+f 77 90 78
+f 78 91 79
+f 78 90 92
+f 78 92 91
+f 79 89 80
+f 79 91 93
+f 79 93 94
+f 79 94 95
+f 79 95 89
+f 84 96 85
+f 85 97 98
+f 85 98 99
+f 85 99 86
+f 85 96 97
+f 86 99 87
+f 87 99 88
+f 88 99 100
+f 88 100 101
+f 91 102 93
+f 91 92 103
+f 91 103 102
+f 93 102 104
+f 96 105 106
+f 96 106 97
+f 97 107 100
+f 97 100 99
+f 97 99 98
+f 97 106 108
+f 97 108 109
+f 100 107 101
+f 102 110 111
+f 102 111 112
+f 102 112 113
+f 102 113 104
+f 105 114 115
+f 105 115 106
+f 106 115 116
+f 106 116 117
+f 106 117 108
+f 108 117 118
+f 108 118 109
+f 110 119 120
+f 110 120 111
+f 111 120 121
+f 114 122 115
+f 115 122 123
+f 115 123 116
+f 116 123 117
+f 117 124 118
+f 117 123 125
+f 117 125 124
+f 119 126 127
+f 119 127 120
+f 120 127 128
+f 120 128 129
+f 120 129 130
+f 120 130 131
+f 120 131 121
+f 122 132 125
+f 122 125 123
+f 125 132 133
+f 125 133 134
+f 126 128 127
+f 128 135 136
+f 128 136 129
+f 129 136 130
+f 130 136 137
+f 132 138 133
+f 132 139 140
+f 132 140 138
+f 133 141 134
+f 133 138 141
+f 135 142 143
+f 135 143 136
+f 136 143 137
+f 138 140 144
+f 138 144 141
+f 139 145 140
+f 140 145 146
+f 140 146 147
+f 140 147 148
+f 140 148 149
+f 140 149 144
+f 142 150 143
+f 143 150 151
+f 143 151 152
+f 143 152 153
+f 147 154 148
+f 148 155 149
+f 148 154 155
+f 150 156 151
+f 151 157 158
+f 151 158 159
+f 151 159 160
+f 151 160 152
+f 151 156 157
+f 152 160 153
+f 154 161 162
+f 154 162 163
+f 154 163 155
+f 155 163 164
+f 157 165 158
+f 158 165 166
+f 158 166 159
+f 159 167 168
+f 159 168 160
+f 159 166 167
+f 161 169 162
+f 162 170 171
+f 162 171 172
+f 162 173 163
+f 162 169 170
+f 163 173 164
+f 165 174 175
+f 165 175 166
+f 166 175 181
+f 166 181 176
+f 170 177 178
+f 170 178 171
+f 171 178 172
+f 174 179 175
+f 175 180 181
+f 175 179 180
+f 176 181 182
+f 177 183 178
+f 178 183 184
+f 180 185 186
+f 180 186 187
+f 180 187 182
+f 180 182 181
+f 182 187 188
+f 183 189 190
+f 183 190 184
+f 185 191 186
+f 186 191 192
+f 186 192 193
+f 186 193 194
+f 186 194 195
+f 186 195 187
+f 187 195 188
+f 189 196 190
+f 190 196 197
+f 190 197 198
+f 192 199 194
+f 192 194 193
+f 194 199 200
+f 194 200 201
+f 197 202 198
+f 197 203 200
+f 197 200 199
+f 197 199 202
+f 200 203 201
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_20.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.03354408 0.01376322 -0.05769285
+v -0.03355380 0.01367385 -0.05769285
+v -0.03455402 0.01376324 -0.06148810
+v -0.03815441 0.01376322 -0.05769285
+v -0.03583606 0.00013713 -0.05769290
+v -0.03467758 0.01376324 -0.06185474
+v -0.03717501 0.00013715 -0.06186651
+v -0.03867083 0.01233339 -0.05769285
+v -0.03795659 0.01376323 -0.05934070
+v -0.04062408 0.00013713 -0.05769290
+v -0.03551052 0.01376324 -0.06273265
+v -0.03502394 0.01278556 -0.06225551
+v -0.03820438 0.00013715 -0.06288495
+v -0.03883325 0.01187323 -0.05769286
+v -0.03767339 0.01376324 -0.06140968
+v -0.03875968 0.01153178 -0.05921391
+v -0.04062894 0.00072934 -0.05769290
+v -0.04057826 0.00013713 -0.05805496
+v -0.03626780 0.01170919 -0.06289459
+v -0.03585063 0.01376324 -0.06276676
+v -0.03953015 0.00013715 -0.06288495
+v -0.03821271 0.00141760 -0.06289259
+v -0.03916365 0.01086221 -0.05769286
+v -0.03912201 0.01072749 -0.05843938
+v -0.03728398 0.01376324 -0.06268071
+v -0.03913797 0.00874015 -0.06248773
+v -0.03836472 0.01170919 -0.06140969
+v -0.03902552 0.01044074 -0.05981887
+v -0.04063449 0.00141758 -0.05769289
+v -0.04041237 0.00013714 -0.05934126
+v -0.04042417 0.00141759 -0.05934125
+v -0.03761369 0.01170919 -0.06289459
+v -0.03724511 0.01376324 -0.06268529
+v -0.04011459 0.00013715 -0.06140973
+v -0.04012778 0.00141760 -0.06140972
+v -0.03953709 0.00141760 -0.06289259
+v -0.03938855 0.01003792 -0.05769286
+v -0.03921710 0.00904559 -0.06140970
+v -0.03930248 0.00971248 -0.05921391
+v -0.03948781 0.00966312 -0.05769286
+v -0.03924833 0.00759175 -0.06262166
+v -0.03983139 0.00553504 -0.06140971
+v -0.03952112 0.00759175 -0.06140970
+v -0.04061297 0.00183639 -0.05769289
+v -0.04032075 0.00347564 -0.05934125
+v -0.04030062 0.00013714 -0.06012394
+v -0.03948225 0.00347565 -0.06285440
+v -0.03939410 0.00553504 -0.06277800
+v -0.04002366 0.00347565 -0.06140972
+v -0.03977239 0.00759174 -0.05934123
+v -0.03996397 0.00759173 -0.05769287
+v -0.04010765 0.00553503 -0.05934124
+v -0.04052690 0.00347563 -0.05769289
+v -0.04048386 0.00389444 -0.05769289
+v -0.04030756 0.00553502 -0.05769288
+v -0.04023884 0.00595249 -0.05769288
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 20
+f 1 20 33
+f 1 33 25
+f 1 25 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 37
+f 1 37 40
+f 1 40 51
+f 1 51 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 44
+f 1 44 29
+f 1 29 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 9 8
+f 5 10 18
+f 5 18 30
+f 5 30 46
+f 5 46 34
+f 5 34 21
+f 5 21 13
+f 5 13 7
+f 6 7 12
+f 6 12 11
+f 7 13 12
+f 8 9 14
+f 9 15 16
+f 9 16 14
+f 10 17 18
+f 11 19 20
+f 11 12 13
+f 11 13 19
+f 13 21 36
+f 13 36 22
+f 13 22 19
+f 14 16 24
+f 14 24 23
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 24
+f 17 29 18
+f 18 29 31
+f 18 31 30
+f 19 32 20
+f 19 22 36
+f 19 36 32
+f 20 32 33
+f 21 34 35
+f 21 35 36
+f 23 24 37
+f 24 28 38
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 25 33 32
+f 25 32 26
+f 26 41 42
+f 26 42 43
+f 26 43 38
+f 26 38 27
+f 26 32 41
+f 27 38 28
+f 29 44 45
+f 29 45 31
+f 30 31 46
+f 31 35 46
+f 31 45 35
+f 32 36 47
+f 32 47 48
+f 32 48 41
+f 34 46 35
+f 35 45 49
+f 35 49 47
+f 35 47 36
+f 38 43 50
+f 38 50 51
+f 38 51 40
+f 38 40 39
+f 41 48 42
+f 42 48 49
+f 42 49 45
+f 42 45 52
+f 42 52 43
+f 43 52 50
+f 44 53 45
+f 45 53 54
+f 45 54 52
+f 47 49 48
+f 50 52 55
+f 50 55 56
+f 50 56 51
+f 52 54 55
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_21.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.04841498 0.02611784 0.06235216
+v 0.05047507 0.02200253 0.06232823
+v 0.05055935 0.02407181 0.06210825
+v 0.04845874 0.02815481 0.06209232
+v 0.04635651 0.03023443 0.06227884
+v 0.04635651 0.02817549 0.06231072
+v 0.05047507 0.01994358 0.06224214
+v 0.05253678 0.01802164 0.06225171
+v 0.04993533 0.02611784 0.06199509
+v 0.05193383 0.02200253 0.06197435
+v 0.04961440 0.02745428 0.06183568
+v 0.04770829 0.03023443 0.06188989
+v 0.04630626 0.03122448 0.06210668
+v 0.04426400 0.03122448 0.06225175
+v 0.05046372 0.01802164 0.06203810
+v 0.05102615 0.01802164 0.06210186
+v 0.05375566 0.01802164 0.06185637
+v 0.05257244 0.01981433 0.06203969
+v 0.05166963 0.02339196 0.06183726
+v 0.05360978 0.01904271 0.06175276
+v 0.04917353 0.02882691 0.06147224
+v 0.04741816 0.03122448 0.06173527
+v 0.05130170 0.02476330 0.06154077
+v 0.05096456 0.02611785 0.06108966
+v 0.05037458 0.02800360 0.06057318
+v 0.04280200 0.03122448 0.06194569
+v 0.04423320 0.03019824 0.06213697
+v 0.04943449 0.01888503 0.06172407
+v 0.05038430 0.01802164 0.06195202
+v 0.05464712 0.01802165 0.06075328
+v 0.05328561 0.02041534 0.06144829
+v 0.05223206 0.02407182 0.06078199
+v 0.05478651 0.01802165 0.06055561
+v 0.05407496 0.01981434 0.06072618
+v 0.05383832 0.02165098 0.06006943
+v 0.04976190 0.02972132 0.06009337
+v 0.04749272 0.03122448 0.06166034
+v 0.05179120 0.02611785 0.06005351
+v 0.05152213 0.02718028 0.05967412
+v 0.04230277 0.03122448 0.06133197
+v 0.04929996 0.01802165 0.06058430
+v 0.04185056 0.03122449 0.06067043
+v 0.05355953 0.02302361 0.05961831
+v 0.05509934 0.01802165 0.05976495
+v 0.05554831 0.01802165 0.05860925
+v 0.04933561 0.03110042 0.05860929
+v 0.04925133 0.03122449 0.05860929
+v 0.04914598 0.03122449 0.05884999
+v 0.04830314 0.03122449 0.06064970
+v 0.05159831 0.02731857 0.05860928
+v 0.05101481 0.02834869 0.05860928
+v 0.04998557 0.03007159 0.05860929
+v 0.05220937 0.02611785 0.05860928
+v 0.04926106 0.01802165 0.06049823
+v 0.04136107 0.03122449 0.05955617
+v 0.05543647 0.01836029 0.05860925
+v 0.05488052 0.01994359 0.05860925
+v 0.05399068 0.02220288 0.05880055
+v 0.05364382 0.02320845 0.05823945
+v 0.05322726 0.02396067 0.05880056
+v 0.05554183 0.01802166 0.05820914
+v 0.05161128 0.02734314 0.05741691
+v 0.04984942 0.02984412 0.05716825
+v 0.04378585 0.03122454 0.04606713
+v 0.04872618 0.01802165 0.05860287
+v 0.04130271 0.03122449 0.05938720
+v 0.05364382 0.02320845 0.05745197
+v 0.05069388 0.01802170 0.04606709
+v 0.04814268 0.02406800 0.04606711
+v 0.04751217 0.02532172 0.04606711
+v 0.04699836 0.02624585 0.04606712
+v 0.04694325 0.02634279 0.04606712
+v 0.04580866 0.02824017 0.04606712
+v 0.04557850 0.02860724 0.04606713
+v 0.04489613 0.02964512 0.04606713
+v 0.04458979 0.03009103 0.04606713
+v 0.04437908 0.03038830 0.04606713
+v 0.03976777 0.03122454 0.04606713
+v 0.04834528 0.01802166 0.05654014
+v 0.04103690 0.03122450 0.05814063
+v 0.04073542 0.03122450 0.05655453
+v 0.05020925 0.01931420 0.04606709
+v 0.04989805 0.02014140 0.04606709
+v 0.04987860 0.02019180 0.04606709
+v 0.04983970 0.02028874 0.04606709
+v 0.04919136 0.02183327 0.04606710
+v 0.04913949 0.02195089 0.04606710
+v 0.04820751 0.02393358 0.04606711
+v 0.04675037 0.01802170 0.04606709
+v 0.03898977 0.03122067 0.04606713
+v 0.03900760 0.03122454 0.04618668
+v 0.04800490 0.01802167 0.05447104
+v 0.04036101 0.03122451 0.05447108
+v 0.04018919 0.03122451 0.05347159
+v 0.04000604 0.03122452 0.05240356
+v 0.04675037 0.01802170 0.04607346
+v 0.03967053 0.03122453 0.05032330
+v 0.04769532 0.01802168 0.05242425
+v 0.04798059 0.01802167 0.05431322
+v 0.03977750 0.03122452 0.05098962
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 15
+f 8 17 18
+f 8 18 10
+f 8 16 15
+f 8 15 29
+f 8 29 41
+f 8 41 54
+f 8 54 65
+f 8 65 79
+f 8 79 92
+f 8 92 99
+f 8 99 98
+f 8 98 96
+f 8 96 89
+f 8 89 68
+f 8 68 61
+f 8 61 45
+f 8 45 44
+f 8 44 33
+f 8 33 30
+f 8 30 17
+f 9 10 19
+f 9 19 11
+f 10 18 17
+f 10 17 20
+f 10 20 19
+f 11 21 22
+f 11 22 12
+f 11 19 23
+f 11 23 24
+f 11 24 25
+f 11 25 21
+f 12 22 13
+f 13 22 37
+f 13 37 49
+f 13 49 48
+f 13 48 47
+f 13 47 64
+f 13 64 78
+f 13 78 91
+f 13 91 97
+f 13 97 100
+f 13 100 95
+f 13 95 94
+f 13 94 93
+f 13 93 81
+f 13 81 80
+f 13 80 66
+f 13 66 55
+f 13 55 42
+f 13 42 40
+f 13 40 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 28 29
+f 15 27 26
+f 15 26 28
+f 17 30 20
+f 19 20 31
+f 19 31 32
+f 19 32 23
+f 20 30 33
+f 20 33 34
+f 20 34 35
+f 20 35 31
+f 21 25 36
+f 21 36 37
+f 21 37 22
+f 23 32 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 36
+f 26 40 28
+f 28 41 29
+f 28 40 42
+f 28 42 41
+f 31 35 32
+f 32 35 43
+f 32 43 38
+f 33 44 35
+f 33 35 34
+f 35 44 45
+f 35 45 43
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 36 39 46
+f 38 43 39
+f 39 50 51
+f 39 51 52
+f 39 52 46
+f 39 43 53
+f 39 53 50
+f 41 42 54
+f 42 55 54
+f 43 45 56
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 53
+f 45 61 56
+f 46 52 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 50 62 51
+f 50 53 62
+f 51 62 52
+f 53 60 59
+f 53 59 62
+f 54 55 66
+f 54 66 65
+f 56 61 57
+f 57 61 67
+f 57 67 59
+f 57 59 58
+f 59 67 62
+f 61 68 67
+f 62 67 69
+f 62 69 70
+f 62 70 71
+f 62 71 72
+f 62 72 73
+f 62 73 74
+f 62 74 75
+f 62 75 63
+f 63 75 76
+f 63 76 77
+f 63 77 64
+f 64 77 76
+f 64 76 75
+f 64 75 74
+f 64 74 73
+f 64 73 72
+f 64 72 71
+f 64 71 70
+f 64 70 69
+f 64 69 88
+f 64 88 87
+f 64 87 86
+f 64 86 85
+f 64 85 84
+f 64 84 83
+f 64 83 82
+f 64 82 68
+f 64 68 89
+f 64 89 90
+f 64 90 78
+f 65 66 80
+f 65 80 81
+f 65 81 79
+f 67 68 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 67 85 86
+f 67 86 87
+f 67 87 88
+f 67 88 69
+f 78 90 91
+f 79 81 93
+f 79 93 94
+f 79 94 95
+f 79 95 92
+f 89 96 90
+f 90 97 91
+f 90 96 98
+f 90 98 99
+f 90 99 92
+f 90 92 97
+f 92 95 100
+f 92 100 97
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_22.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.05471530 -0.00064324 0.05432745
+v -0.05467778 -0.00256768 0.05432744
+v -0.05471321 0.00013672 0.05432745
+v -0.05449438 -0.00064323 0.05240115
+v -0.05460484 -0.00462676 0.05432743
+v -0.05376287 -0.00064321 0.04618961
+v -0.05116610 0.00013672 0.05432745
+v -0.05449021 0.00013673 0.05240115
+v -0.05439851 0.00013673 0.05161827
+v -0.05447146 -0.00668585 0.05432743
+v -0.05355238 -0.00204877 0.04492257
+v -0.04141052 -0.00064285 -0.05088762
+v -0.04128756 -0.00267073 -0.05088763
+v -0.05375662 0.00013675 0.04618961
+v -0.05358155 -0.00064320 0.04471656
+v -0.05424638 0.00013674 0.05033064
+v -0.05090143 0.00013673 0.05240115
+v -0.04823588 -0.01663811 0.05432739
+v -0.04803165 -0.01663810 0.05292645
+v -0.03342640 -0.01663772 -0.05088768
+v -0.05428806 -0.00874166 0.05432742
+v -0.04141468 0.00007472 -0.05088762
+v -0.04125213 -0.00304347 -0.05088763
+v -0.05357739 0.00013676 0.04474746
+v -0.04141468 0.00013711 -0.05088762
+v -0.04837343 0.00013680 0.03377683
+v -0.05218314 -0.01663811 0.05432739
+v -0.03753204 -0.01663772 -0.05088768
+v -0.03754663 0.00013711 -0.05088762
+v -0.04671867 0.00013684 0.02135375
+v -0.05426930 -0.00888287 0.05432742
+v -0.04121044 -0.00404674 -0.05040348
+v -0.04108123 -0.00455413 -0.05088764
+v -0.04501389 -0.01663792 0.00253364
+v -0.05394627 -0.01081552 0.05432741
+v -0.03976618 -0.01093336 -0.05088766
+v -0.03927642 -0.01247028 -0.05088767
+v -0.03924724 -0.01255567 -0.05088767
+v -0.03890962 -0.01348505 -0.05088767
+v -0.03901590 -0.01376913 -0.04935281
+v -0.03910969 -0.01402692 -0.04797247
+v -0.03826981 -0.01503511 -0.05088768
+v -0.03889294 -0.01663776 -0.04123558
+v -0.03910552 -0.01607291 -0.04173003
+v -0.04104372 -0.00482834 -0.05088764
+v -0.04071860 -0.00681026 -0.05088765
+v -0.04030178 -0.00887427 -0.05088765
+v -0.04026010 -0.00904011 -0.05088765
+v -0.03864286 -0.01484793 -0.04879655
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 31
+f 1 31 35
+f 1 35 27
+f 1 27 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 17
+f 3 17 26
+f 3 26 30
+f 3 30 29
+f 3 29 25
+f 3 25 24
+f 3 24 14
+f 3 14 16
+f 3 16 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 4 9 6
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 14 15
+f 6 15 11
+f 6 9 16
+f 6 16 14
+f 7 18 19
+f 7 19 20
+f 7 20 17
+f 10 13 21
+f 11 15 12
+f 12 22 25
+f 12 25 29
+f 12 29 20
+f 12 20 28
+f 12 28 42
+f 12 42 39
+f 12 39 38
+f 12 38 37
+f 12 37 36
+f 12 36 48
+f 12 48 47
+f 12 47 46
+f 12 46 45
+f 12 45 33
+f 12 33 23
+f 12 23 13
+f 12 15 22
+f 13 23 21
+f 14 24 15
+f 15 24 25
+f 15 25 22
+f 17 20 26
+f 18 27 34
+f 18 34 43
+f 18 43 28
+f 18 28 20
+f 18 20 19
+f 20 29 30
+f 20 30 26
+f 21 23 32
+f 21 32 33
+f 21 33 31
+f 23 33 32
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 34
+f 28 43 44
+f 28 44 42
+f 31 33 45
+f 31 45 46
+f 31 46 35
+f 34 41 44
+f 34 44 43
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 39 42 40
+f 40 42 41
+f 41 42 49
+f 41 49 44
+f 42 44 49
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_23.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00037121 0.05768096 0.05861003
+v -0.00037121 0.05684559 0.05681858
+v -0.00037121 0.05680052 0.06066485
+v 0.00105141 0.05680162 0.06067019
+v 0.00105141 0.05767877 0.05861003
+v -0.00037121 0.05396464 0.05151888
+v 0.00105141 0.05684449 0.05682285
+v 0.00077933 0.05396574 0.05151888
+v -0.00037121 0.05593984 0.06169920
+v 0.00105141 0.05594974 0.06170560
+v 0.00311150 0.05675435 0.06063819
+v 0.00311150 0.05759193 0.05861003
+v 0.00311150 0.05680382 0.05683137
+v -0.00037121 0.05036700 0.05151887
+v 0.00118357 0.05395255 0.05151888
+v -0.00037121 0.05490991 0.06213746
+v 0.00105141 0.05492090 0.06214172
+v 0.00311150 0.05487033 0.06215132
+v 0.00516964 0.05478350 0.06215985
+v 0.00311150 0.05590027 0.06167254
+v 0.00516964 0.05667741 0.06056995
+v 0.00516964 0.05743914 0.05861003
+v 0.00722972 0.05661037 0.05689749
+v 0.00516964 0.05672688 0.05685377
+v -0.00037121 0.05097044 0.05654131
+v 0.01948139 0.04645280 0.05151885
+v 0.00185018 0.05392068 0.05151888
+v -0.00037121 0.05295445 0.06213745
+v 0.00928981 0.05287861 0.06237950
+v 0.01134600 0.05287861 0.06239230
+v 0.00722972 0.05466918 0.06215132
+v 0.00516964 0.05581344 0.06160430
+v 0.00722972 0.05656419 0.06045905
+v 0.00928981 0.05641141 0.06028950
+v 0.00722972 0.05720832 0.05861003
+v 0.00928981 0.05645758 0.05698280
+v 0.00524543 0.05371293 0.05151888
+v 0.00311150 0.05385692 0.05151888
+v -0.00037121 0.05105397 0.05718005
+v 0.01948139 0.05047363 0.05151887
+v 0.01948139 0.04741567 0.05850655
+v -0.00037121 0.05124193 0.05861001
+v -0.00037121 0.05192561 0.06158082
+v 0.01948139 0.04906882 0.06212677
+v 0.01752431 0.05082093 0.06240723
+v 0.01948139 0.05082093 0.06241256
+v 0.01340608 0.05287861 0.06234431
+v 0.00928981 0.05451969 0.06210333
+v 0.00722972 0.05569802 0.06149339
+v 0.00928981 0.05554963 0.06132384
+v 0.01134600 0.05538586 0.06107858
+v 0.01134600 0.05621905 0.06004318
+v 0.00928981 0.05690274 0.05861003
+v 0.01292410 0.05610364 0.05736774
+v 0.01134600 0.05627292 0.05715341
+v 0.00722972 0.05350628 0.05151888
+v 0.01948139 0.05412071 0.05730589
+v 0.01752431 0.05116282 0.05151887
+v 0.01948139 0.04741787 0.05851828
+v -0.00037121 0.05135844 0.05921355
+v -0.00037121 0.05171128 0.06086531
+v 0.01948139 0.04765638 0.05975310
+v 0.01948139 0.04800922 0.06085036
+v 0.01948139 0.05227186 0.06199989
+v 0.01752431 0.05256644 0.06212038
+v 0.01550892 0.05302700 0.06213318
+v 0.01134600 0.05435702 0.06202229
+v 0.01340608 0.05417455 0.06190925
+v 0.01485203 0.05401846 0.06179942
+v 0.01276279 0.05606296 0.05981392
+v 0.01134600 0.05652572 0.05861003
+v 0.01307764 0.05614210 0.05861003
+v 0.01410768 0.05587500 0.05861003
+v 0.01546422 0.05549688 0.05861002
+v 0.01752431 0.05490112 0.05861002
+v 0.01948139 0.05414489 0.05738693
+v 0.01670222 0.05140903 0.05151887
+v 0.01579267 0.05167833 0.05151887
+v 0.01519797 0.05184431 0.05151887
+v 0.01480539 0.05195203 0.05151887
+v 0.01418542 0.05210372 0.05151887
+v 0.01344301 0.05228509 0.05151887
+v 0.01134600 0.05275884 0.05151887
+v 0.00928981 0.05318312 0.05151888
+v -0.00037121 0.05162115 0.06054647
+v 0.01948139 0.05341612 0.06076081
+v 0.01752431 0.05359528 0.06139422
+v 0.01622607 0.05381291 0.06163627
+v 0.01550892 0.05458895 0.06083972
+v 0.01752431 0.05437681 0.06035987
+v 0.01915683 0.05411630 0.05998559
+v 0.01948139 0.05406024 0.05980004
+v 0.01948139 0.05427348 0.05855563
+v 0.01948139 0.05371510 0.06036947
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 39
+f 1 39 42
+f 1 42 60
+f 1 60 85
+f 1 85 61
+f 1 61 43
+f 1 43 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 6 8 15
+f 6 15 27
+f 6 27 38
+f 6 38 37
+f 6 37 56
+f 6 56 84
+f 6 84 83
+f 6 83 82
+f 6 82 81
+f 6 81 80
+f 6 80 79
+f 6 79 78
+f 6 78 77
+f 6 77 58
+f 6 58 40
+f 6 40 26
+f 6 26 14
+f 7 13 8
+f 8 13 15
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 16 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 15
+f 14 26 25
+f 15 24 27
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 30 19
+f 19 31 20
+f 19 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 37 24
+f 23 36 37
+f 24 37 38
+f 24 38 27
+f 25 26 39
+f 26 40 57
+f 26 57 76
+f 26 76 93
+f 26 93 92
+f 26 92 94
+f 26 94 86
+f 26 86 64
+f 26 64 46
+f 26 46 44
+f 26 44 63
+f 26 63 62
+f 26 62 59
+f 26 59 41
+f 26 41 42
+f 26 42 39
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 48 32
+f 31 47 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 56 37
+f 36 55 56
+f 40 58 57
+f 41 59 42
+f 42 59 60
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 46 45
+f 46 64 65
+f 46 65 47
+f 47 66 67
+f 47 67 48
+f 47 65 66
+f 48 67 49
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 51
+f 51 69 52
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 57
+f 54 57 77
+f 54 77 78
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 55
+f 55 84 56
+f 57 58 77
+f 59 62 60
+f 60 62 85
+f 61 85 62
+f 64 86 87
+f 64 87 88
+f 64 88 69
+f 64 69 65
+f 65 69 68
+f 65 68 66
+f 66 68 67
+f 69 88 70
+f 70 72 71
+f 70 88 89
+f 70 89 90
+f 70 90 91
+f 70 91 92
+f 70 92 75
+f 70 75 74
+f 70 74 73
+f 70 73 72
+f 75 92 93
+f 75 93 76
+f 86 94 87
+f 87 91 90
+f 87 90 88
+f 87 94 91
+f 88 90 89
+f 91 94 92
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_24.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.04755704 0.01802039 0.05147107
+v 0.04770241 0.01802039 0.05246550
+v 0.05150112 0.01802039 0.05147107
+v 0.05099231 0.00030952 0.05147100
+v 0.05183822 0.00030949 0.05860999
+v 0.04800580 0.01802038 0.05447247
+v 0.05554107 0.01802037 0.05820931
+v 0.05576440 0.01729224 0.05735023
+v 0.05170970 0.01743269 0.05147106
+v 0.05464354 0.00030952 0.05147100
+v 0.05211106 0.00030949 0.05972273
+v 0.04872741 0.01802036 0.05860260
+v 0.04869896 0.01802037 0.05844912
+v 0.04834711 0.01802037 0.05654127
+v 0.05554739 0.01802036 0.05861006
+v 0.05577283 0.01732864 0.05861005
+v 0.05597930 0.01582558 0.05709550
+v 0.05337414 0.01191104 0.05147104
+v 0.05286849 0.01376604 0.05147105
+v 0.05223642 0.01582560 0.05147106
+v 0.05620579 0.01582557 0.05861005
+v 0.05674094 0.01376601 0.05861004
+v 0.05774276 0.00898984 0.05746105
+v 0.05805353 0.00030950 0.05701230
+v 0.05464249 0.00091976 0.05147100
+v 0.05805564 0.00141730 0.05701018
+v 0.05234598 0.00030949 0.06067879
+v 0.04926256 0.01802036 0.06049873
+v 0.05509968 0.01802036 0.05976543
+v 0.05568118 0.01704952 0.05974730
+v 0.05361327 0.01089340 0.05147104
+v 0.05355533 0.01114477 0.05147104
+v 0.05718760 0.01170818 0.05861003
+v 0.05766165 0.00846974 0.05948614
+v 0.05774276 0.00898984 0.05810695
+v 0.05810726 0.00553468 0.05861001
+v 0.05784284 0.00759252 0.05729904
+v 0.05396723 0.00872461 0.05147103
+v 0.05383133 0.00962957 0.05147104
+v 0.05817573 0.00030950 0.05775199
+v 0.05464143 0.00141732 0.05147101
+v 0.05802298 0.00347513 0.05704642
+v 0.05831794 0.00141729 0.05861000
+v 0.05315818 0.00030948 0.06204093
+v 0.04930153 0.01802036 0.06058506
+v 0.05478575 0.01802036 0.06055522
+v 0.05464670 0.01802036 0.06075453
+v 0.05584973 0.01582557 0.06001270
+v 0.05754893 0.00966421 0.05872195
+v 0.05775014 0.00709669 0.05976433
+v 0.05785127 0.00770693 0.05872194
+v 0.05612152 0.01376601 0.06038360
+v 0.05783336 0.00553468 0.05990927
+v 0.05825263 0.00347512 0.05861000
+v 0.05413157 0.00759254 0.05147103
+v 0.05795556 0.00553469 0.05713383
+v 0.05437386 0.00553471 0.05147102
+v 0.05424112 0.00666678 0.05147102
+v 0.05830952 0.00030949 0.05860999
+v 0.05458560 0.00254939 0.05147101
+v 0.05453819 0.00347515 0.05147101
+v 0.05791132 0.00347512 0.06003290
+v 0.05794502 0.00141729 0.06007553
+v 0.05813781 0.00030949 0.05928787
+v 0.05382080 0.00030948 0.06218482
+v 0.05046453 0.01802035 0.06203780
+v 0.05038658 0.01802035 0.06195254
+v 0.04974819 0.01751067 0.06112011
+v 0.05375654 0.01802035 0.06185661
+v 0.05506281 0.01582557 0.06104763
+v 0.05624056 0.01167004 0.06083018
+v 0.05669248 0.00964861 0.06067883
+v 0.05707383 0.00770693 0.06054452
+v 0.05530826 0.01376600 0.06141747
+v 0.05550104 0.01233228 0.06162104
+v 0.05703380 0.00553468 0.06094420
+v 0.05444865 0.00460722 0.05147102
+v 0.05709806 0.00347512 0.06106783
+v 0.05712123 0.00141729 0.06111046
+v 0.05793870 0.00030949 0.06006487
+v 0.05459297 0.00030948 0.06234576
+v 0.05253455 0.01376600 0.06233729
+v 0.05253455 0.01582556 0.06234689
+v 0.05102707 0.01802035 0.06210175
+v 0.05253771 0.01802035 0.06225204
+v 0.05377550 0.01788339 0.06187046
+v 0.05568118 0.01095923 0.06176172
+v 0.05578126 0.00964860 0.06183846
+v 0.05590767 0.00759250 0.06192478
+v 0.05600353 0.00553467 0.06197913
+v 0.05606885 0.00347511 0.06201323
+v 0.05609202 0.00141728 0.06202602
+v 0.05608254 0.00030948 0.06201855
+v 0.05711280 0.00030949 0.06109979
+v 0.05528614 0.00030948 0.06219441
+v 0.05459297 0.00141728 0.06235323
+v 0.05253455 0.01788339 0.06226803
+v 0.05459297 0.00347511 0.06235963
+v 0.05459297 0.00553467 0.06235431
+v 0.05459297 0.00759250 0.06233833
+v 0.05459297 0.00964860 0.06229037
+v 0.05403254 0.01582556 0.06201647
+v 0.05427905 0.01376600 0.06210706
+v 0.05472676 0.01167003 0.06210492
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 28
+f 1 28 45
+f 1 45 67
+f 1 67 66
+f 1 66 84
+f 1 84 85
+f 1 85 69
+f 1 69 47
+f 1 47 46
+f 1 46 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 18
+f 1 18 32
+f 1 32 31
+f 1 31 39
+f 1 39 38
+f 1 38 55
+f 1 55 58
+f 1 58 57
+f 1 57 77
+f 1 77 61
+f 1 61 60
+f 1 60 41
+f 1 41 25
+f 1 25 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 24
+f 4 24 40
+f 4 40 59
+f 4 59 64
+f 4 64 80
+f 4 80 94
+f 4 94 93
+f 4 93 95
+f 4 95 81
+f 4 81 65
+f 4 65 44
+f 4 44 27
+f 4 27 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 16 21
+f 8 21 22
+f 8 22 23
+f 8 23 17
+f 10 25 26
+f 10 26 24
+f 11 27 12
+f 12 27 28
+f 15 29 30
+f 15 30 16
+f 16 30 21
+f 17 31 32
+f 17 32 18
+f 17 23 31
+f 21 30 22
+f 22 33 23
+f 22 30 34
+f 22 34 33
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 31
+f 23 33 35
+f 24 26 40
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 40
+f 27 44 45
+f 27 45 28
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 34
+f 33 49 35
+f 33 34 49
+f 34 50 36
+f 34 36 51
+f 34 51 35
+f 34 35 49
+f 34 48 52
+f 34 52 50
+f 35 51 36
+f 36 50 53
+f 36 53 54
+f 36 54 37
+f 37 55 38
+f 37 54 56
+f 37 56 57
+f 37 57 58
+f 37 58 55
+f 40 43 59
+f 41 60 42
+f 42 54 43
+f 42 60 61
+f 42 61 56
+f 42 56 54
+f 43 54 62
+f 43 62 63
+f 43 63 64
+f 43 64 59
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 45 68 67
+f 47 69 70
+f 47 70 48
+f 48 70 52
+f 50 52 71
+f 50 71 72
+f 50 72 73
+f 50 73 53
+f 52 70 74
+f 52 74 75
+f 52 75 71
+f 53 73 76
+f 53 76 62
+f 53 62 54
+f 56 61 77
+f 56 77 57
+f 62 76 78
+f 62 78 63
+f 63 78 79
+f 63 79 80
+f 63 80 64
+f 65 81 82
+f 65 82 66
+f 66 82 83
+f 66 83 84
+f 69 85 86
+f 69 86 75
+f 69 75 74
+f 69 74 70
+f 71 75 87
+f 71 87 72
+f 72 87 73
+f 73 87 76
+f 75 86 87
+f 76 87 88
+f 76 88 89
+f 76 89 78
+f 78 89 90
+f 78 90 91
+f 78 91 79
+f 79 91 92
+f 79 92 93
+f 79 93 94
+f 79 94 80
+f 81 95 92
+f 81 92 96
+f 81 96 82
+f 82 96 83
+f 83 97 84
+f 83 96 98
+f 83 98 99
+f 83 99 100
+f 83 100 101
+f 83 101 97
+f 84 97 85
+f 85 97 102
+f 85 102 86
+f 86 102 87
+f 87 102 103
+f 87 103 88
+f 88 101 89
+f 88 103 104
+f 88 104 101
+f 89 101 90
+f 90 101 91
+f 91 101 100
+f 91 100 92
+f 92 100 99
+f 92 99 98
+f 92 98 96
+f 92 95 93
+f 97 101 103
+f 97 103 102
+f 101 104 103
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_25.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03154833 0.01802077 -0.05098801
+v 0.03593636 0.01802077 -0.05098801
+v 0.03631842 0.00030990 -0.05098808
+v 0.04614118 0.00030964 0.01833427
+v 0.04627908 0.00030964 0.01928705
+v 0.04869125 0.00030958 0.03584539
+v 0.05099039 0.00030952 0.05147100
+v 0.04755638 0.01802039 0.05147107
+v 0.03596123 0.01802077 -0.05082754
+v 0.03600871 0.01788381 -0.05098801
+v 0.04021361 0.00030990 -0.05098808
+v 0.05464369 0.00030952 0.05147100
+v 0.05149905 0.01802039 0.05147107
+v 0.04455643 0.01802056 0.00493523
+v 0.03678412 0.01625939 -0.05098802
+v 0.04021587 0.00035151 -0.05098808
+v 0.05420964 0.00030953 0.04826163
+v 0.05449448 0.00141733 0.05032767
+v 0.05464143 0.00141732 0.05147101
+v 0.05449448 0.00030953 0.05032766
+v 0.05150810 0.01799959 0.05147107
+v 0.04938755 0.01802044 0.03716932
+v 0.04501761 0.01802055 0.00800419
+v 0.04459260 0.01788360 0.00480485
+v 0.03725435 0.01518107 -0.05098802
+v 0.03723853 0.01521921 -0.05098802
+v 0.03680673 0.01621085 -0.05098802
+v 0.04022718 0.00141770 -0.05098807
+v 0.05420964 0.00141733 0.04826164
+v 0.05410790 0.00347516 0.04826164
+v 0.05438823 0.00347516 0.05032767
+v 0.05453744 0.00347515 0.05147101
+v 0.05458491 0.00254939 0.05147101
+v 0.05170703 0.01743269 0.05147106
+v 0.04945311 0.01687625 0.03475226
+v 0.04953450 0.01709642 0.03584545
+v 0.04537028 0.01697170 0.00760301
+v 0.04917505 0.01802045 0.03574517
+v 0.04496109 0.01774837 0.00690097
+v 0.03779692 0.01376642 -0.05098803
+v 0.04011640 0.00347553 -0.05098807
+v 0.05382079 0.00347517 0.04618558
+v 0.05358116 0.00469565 0.04503222
+v 0.05394965 0.00553472 0.04826165
+v 0.05444927 0.00460722 0.05147102
+v 0.05223378 0.01582560 0.05147106
+v 0.05162339 0.01719172 0.05032772
+v 0.04526855 0.01669086 0.00622900
+v 0.05153070 0.01693341 0.04910415
+v 0.04995951 0.01582566 0.03584545
+v 0.03849096 0.01170338 -0.05098804
+v 0.03988355 0.00553509 -0.05098806
+v 0.05361507 0.00691124 0.04686759
+v 0.05351108 0.00606869 0.04549357
+v 0.05367611 0.00544285 0.04618559
+v 0.05437467 0.00553471 0.05147102
+v 0.05286678 0.01376604 0.05147105
+v 0.05207101 0.01582561 0.05032772
+v 0.05165052 0.01525005 0.04618563
+v 0.05155105 0.01494321 0.04485173
+v 0.03908326 0.01040835 -0.04952377
+v 0.03901996 0.00980852 -0.05098804
+v 0.03948341 0.00777322 -0.05098805
+v 0.03980669 0.00759291 -0.04899223
+v 0.05349299 0.01026409 0.04978612
+v 0.05360829 0.00889278 0.04896371
+v 0.05351334 0.00828429 0.04758970
+v 0.05370550 0.00759602 0.04827169
+v 0.05397904 0.00759255 0.05032769
+v 0.05413051 0.00759254 0.05147103
+v 0.05424128 0.00666678 0.05147102
+v 0.05337317 0.01191104 0.05147104
+v 0.03925281 0.00903705 -0.05071726
+v 0.03913300 0.00935777 -0.05098805
+v 0.03934324 0.00843201 -0.05098805
+v 0.05359020 0.01080325 0.05117016
+v 0.05383210 0.00962957 0.05147104
+v 0.05396774 0.00872461 0.05147103
+v 0.05355403 0.01114477 0.05147104
+v 0.05361281 0.01089340 0.05147104
+f 1 2 10
+f 1 10 15
+f 1 15 27
+f 1 27 26
+f 1 26 25
+f 1 25 40
+f 1 40 51
+f 1 51 62
+f 1 62 74
+f 1 74 75
+f 1 75 63
+f 1 63 52
+f 1 52 41
+f 1 41 28
+f 1 28 16
+f 1 16 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 22
+f 1 22 38
+f 1 38 23
+f 1 23 14
+f 1 14 9
+f 1 9 2
+f 2 9 10
+f 3 11 17
+f 3 17 20
+f 3 20 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 19
+f 7 19 33
+f 7 33 32
+f 7 32 45
+f 7 45 56
+f 7 56 71
+f 7 71 70
+f 7 70 78
+f 7 78 77
+f 7 77 80
+f 7 80 79
+f 7 79 72
+f 7 72 57
+f 7 57 46
+f 7 46 34
+f 7 34 21
+f 7 21 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 12 18 19
+f 12 20 18
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 28 17
+f 17 29 18
+f 17 18 20
+f 17 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 23 39 24
+f 23 38 39
+f 24 39 25
+f 25 39 37
+f 25 37 40
+f 28 41 42
+f 28 42 29
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 34 46 47
+f 34 47 35
+f 35 48 37
+f 35 37 36
+f 35 47 49
+f 35 49 50
+f 35 50 51
+f 35 51 40
+f 35 40 48
+f 37 39 38
+f 37 48 40
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 43
+f 41 43 42
+f 43 55 44
+f 44 56 45
+f 44 55 53
+f 44 53 56
+f 46 57 58
+f 46 58 47
+f 47 58 49
+f 49 58 50
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 51 61 62
+f 51 60 57
+f 51 57 61
+f 52 63 64
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 53
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 56
+f 53 55 54
+f 57 60 59
+f 57 59 58
+f 57 72 61
+f 61 73 74
+f 61 74 62
+f 61 72 73
+f 63 75 76
+f 63 76 64
+f 64 76 65
+f 65 76 77
+f 65 77 66
+f 66 77 78
+f 66 78 68
+f 66 68 67
+f 68 78 69
+f 69 78 70
+f 72 79 73
+f 73 75 74
+f 73 79 80
+f 73 80 76
+f 73 76 75
+f 76 80 77
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_26.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.01809876 0.03122490 -0.05098797
+v 0.02494030 0.03122490 -0.05098797
+v 0.03154891 0.01802206 -0.05098801
+v 0.04674774 0.01802170 0.04606709
+v 0.03898718 0.03122067 0.04606713
+v 0.03898399 0.03122454 0.04605763
+v 0.02501689 0.03122490 -0.05074097
+v 0.02533280 0.03092117 -0.05098797
+v 0.03593337 0.01802206 -0.05098801
+v 0.05069184 0.01802170 0.04606709
+v 0.03976579 0.03122454 0.04606713
+v 0.02691874 0.03122486 -0.04202919
+v 0.02568381 0.03063165 -0.05098797
+v 0.03526007 0.01932102 -0.05098801
+v 0.04742105 0.02515498 0.04494607
+v 0.03595890 0.01802206 -0.05082651
+v 0.04938672 0.01802173 0.03716530
+v 0.04940267 0.01879981 0.03923637
+v 0.04976964 0.01973685 0.04411952
+v 0.04988452 0.02014786 0.04599108
+v 0.04989728 0.02014140 0.04606709
+v 0.04378328 0.03122454 0.04606713
+v 0.02853340 0.03122484 -0.03450495
+v 0.02707191 0.02945677 -0.05098797
+v 0.03466016 0.02035114 -0.05098801
+v 0.04506927 0.02671507 0.03584479
+v 0.04550005 0.02539673 0.03377372
+v 0.04751040 0.02532172 0.04606711
+v 0.04753912 0.02526614 0.04606711
+v 0.04814222 0.02406800 0.04606711
+v 0.04733170 0.02291771 0.03722231
+v 0.04330463 0.02104758 0.00560530
+v 0.04365883 0.02005882 0.00486427
+v 0.04402261 0.01994378 0.00686883
+v 0.04541390 0.01910881 0.01354755
+v 0.04530540 0.01886842 0.01217000
+v 0.04455551 0.01802185 0.00494027
+v 0.04917611 0.01802174 0.03574976
+v 0.04930375 0.01854002 0.03791583
+v 0.04501821 0.01802184 0.00800887
+v 0.04944097 0.02096988 0.04516457
+v 0.04987813 0.02019180 0.04606709
+v 0.04437681 0.03038830 0.04606713
+v 0.04350247 0.03122455 0.04437607
+v 0.02880463 0.03122483 -0.03323191
+v 0.02880782 0.03122225 -0.03323191
+v 0.02867380 0.03110464 -0.03450495
+v 0.02809942 0.02848094 -0.05098798
+v 0.02914926 0.02948904 -0.04070865
+v 0.02898333 0.02932878 -0.04235220
+v 0.03352096 0.02215546 -0.05098800
+v 0.04129110 0.02522363 0.00740087
+v 0.04557664 0.02860724 0.04606713
+v 0.04580639 0.02824017 0.04606712
+v 0.04693920 0.02634279 0.04606712
+v 0.04699664 0.02624585 0.04606712
+v 0.04820604 0.02393358 0.04606711
+v 0.04911548 0.02200130 0.04606710
+v 0.04913782 0.02195089 0.04606710
+v 0.04918887 0.02183327 0.04606710
+v 0.04983984 0.02028874 0.04606709
+v 0.04458742 0.03009103 0.04606713
+v 0.04323762 0.03122455 0.04281802
+v 0.04355353 0.02961800 0.03791587
+v 0.03088518 0.03122479 -0.02294308
+v 0.02935668 0.02968549 -0.03864708
+v 0.02914926 0.02745082 -0.05098798
+v 0.03038419 0.02866313 -0.03864708
+v 0.03499202 0.03122472 -0.00226092
+v 0.03227327 0.02386285 -0.05098799
+v 0.03301997 0.02309510 -0.05028498
+v 0.04337483 0.02936210 0.03584480
+v 0.04523201 0.02905961 0.04570612
+v 0.04489376 0.02964512 0.04606713
+v 0.04299191 0.03089110 0.03997743
+v 0.03921374 0.02929110 0.01166653
+v 0.04281959 0.03122456 0.04047145
+v 0.03014167 0.02637546 -0.05098798
+v 0.03101920 0.02726208 -0.04228571
+v 0.03723212 0.03122467 0.00955746
+v 0.03304231 0.02722844 -0.03178787
+v 0.03223179 0.02391455 -0.05098799
+v 0.03297530 0.02509068 -0.04175370
+v 0.03850533 0.03048019 0.01308207
+v 0.04236328 0.03122457 0.03791587
+v 0.04249092 0.03122457 0.03862839
+v 0.04273663 0.03122456 0.04000593
+v 0.03106707 0.02534276 -0.05098799
+v 0.03291467 0.02707851 -0.03316542
+v 0.03750336 0.03122467 0.01101101
+v 0.03788309 0.03122466 0.01308207
+v 0.03109898 0.02530527 -0.05098799
+v 0.03231156 0.02426868 -0.04899293
+f 1 2 8
+f 1 8 13
+f 1 13 24
+f 1 24 48
+f 1 48 67
+f 1 67 78
+f 1 78 88
+f 1 88 92
+f 1 92 82
+f 1 82 70
+f 1 70 51
+f 1 51 25
+f 1 25 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 22
+f 1 22 44
+f 1 44 63
+f 1 63 77
+f 1 77 87
+f 1 87 86
+f 1 86 85
+f 1 85 91
+f 1 91 90
+f 1 90 80
+f 1 80 69
+f 1 69 65
+f 1 65 45
+f 1 45 23
+f 1 23 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 3 9 16
+f 3 16 37
+f 3 37 40
+f 3 40 38
+f 3 38 17
+f 3 17 10
+f 3 10 4
+f 4 10 21
+f 4 21 42
+f 4 42 61
+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 57
+f 4 57 30
+f 4 30 29
+f 4 29 28
+f 4 28 56
+f 4 56 55
+f 4 55 54
+f 4 54 53
+f 4 53 74
+f 4 74 62
+f 4 62 43
+f 4 43 22
+f 4 22 11
+f 4 11 5
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 12 23 24
+f 12 24 13
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 41 20
+f 19 40 41
+f 20 41 42
+f 20 42 21
+f 22 43 44
+f 23 45 46
+f 23 46 47
+f 23 47 24
+f 24 47 49
+f 24 49 50
+f 24 50 48
+f 25 51 52
+f 25 52 26
+f 26 52 53
+f 26 53 54
+f 26 54 55
+f 26 55 56
+f 26 56 27
+f 27 56 28
+f 30 57 31
+f 31 57 58
+f 31 58 34
+f 31 34 33
+f 31 33 32
+f 34 58 41
+f 34 41 35
+f 35 41 36
+f 36 41 37
+f 37 41 40
+f 38 40 39
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 43 62 44
+f 44 62 64
+f 44 64 63
+f 45 65 46
+f 46 66 49
+f 46 49 47
+f 46 65 66
+f 48 50 67
+f 49 68 67
+f 49 67 50
+f 49 66 69
+f 49 69 68
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 52 73 53
+f 53 73 74
+f 62 74 64
+f 63 64 75
+f 63 75 76
+f 63 76 77
+f 64 74 73
+f 64 73 72
+f 64 72 71
+f 64 71 75
+f 65 69 66
+f 67 68 79
+f 67 79 78
+f 68 69 79
+f 69 80 81
+f 69 81 79
+f 70 82 71
+f 71 82 83
+f 71 83 76
+f 71 76 75
+f 76 84 85
+f 76 85 86
+f 76 86 87
+f 76 87 77
+f 76 83 81
+f 76 81 84
+f 78 79 88
+f 79 81 89
+f 79 89 88
+f 80 90 81
+f 81 83 89
+f 81 90 91
+f 81 91 84
+f 82 92 93
+f 82 93 83
+f 83 93 92
+f 83 92 89
+f 84 91 85
+f 88 89 92
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_27.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03255741 -0.01409619 -0.05754301
+v -0.03779584 -0.01409619 -0.05754301
+v -0.03396240 -0.01409617 -0.06133911
+v -0.03553678 0.00013713 -0.05754296
+v -0.03824623 -0.01299274 -0.05754301
+v -0.03757579 -0.01409618 -0.05934099
+v -0.03454973 -0.01409617 -0.06276461
+v -0.03717448 0.00013715 -0.06186661
+v -0.04064302 0.00013713 -0.05754296
+v -0.03801510 -0.01299273 -0.05934099
+v -0.03886759 -0.01118850 -0.05754300
+v -0.03728688 -0.01409617 -0.06140983
+v -0.03512280 -0.01409617 -0.06288039
+v -0.03820428 0.00013715 -0.06288505
+v -0.04063985 -0.00037279 -0.05754296
+v -0.04057811 0.00013713 -0.05805480
+v -0.03877577 -0.01077470 -0.05924773
+v -0.03771035 -0.01299272 -0.06140983
+v -0.03893725 -0.01097255 -0.05754300
+v -0.03709058 -0.01409617 -0.06249952
+v -0.03603308 -0.01409617 -0.06284843
+v -0.03601804 -0.01299272 -0.06289087
+v -0.03953011 0.00013715 -0.06288505
+v -0.03760429 -0.01093352 -0.06289504
+v -0.04063748 -0.00064308 -0.05754296
+v -0.04041268 0.00013714 -0.05934094
+v -0.03913038 -0.00998195 -0.05849595
+v -0.03903065 -0.00965314 -0.05987535
+v -0.03836417 -0.01093352 -0.06140982
+v -0.03912247 -0.00790462 -0.06246650
+v -0.03918816 -0.01017143 -0.05754300
+v -0.03729400 -0.01299272 -0.06269493
+v -0.03657053 -0.01409617 -0.06276566
+v -0.03952615 -0.00064306 -0.06288034
+v -0.04011506 0.00013715 -0.06140978
+v -0.03920954 -0.00681789 -0.06257599
+v -0.03934964 -0.00476008 -0.06273524
+v -0.03945412 -0.00270087 -0.06282848
+v -0.04050292 -0.00270089 -0.05754297
+v -0.04040556 -0.00064307 -0.05934094
+v -0.04027416 -0.00270088 -0.05934095
+v -0.04030028 0.00013714 -0.06012416
+v -0.03950874 -0.00888269 -0.05754299
+v -0.03929740 -0.00893005 -0.05924772
+v -0.03919925 -0.00821531 -0.06140981
+v -0.03974620 -0.00681790 -0.05934097
+v -0.03946916 -0.00681789 -0.06140981
+v -0.03976362 -0.00476008 -0.06140980
+v -0.04010715 -0.00064306 -0.06140978
+v -0.03997100 -0.00270087 -0.06140979
+v -0.04006599 -0.00476009 -0.05934096
+v -0.04028524 -0.00476010 -0.05754298
+v -0.03956890 -0.00860544 -0.05754299
+v -0.03995359 -0.00681791 -0.05754299
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 33
+f 1 33 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 39
+f 1 39 52
+f 1 52 54
+f 1 54 53
+f 1 53 43
+f 1 43 31
+f 1 31 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 14
+f 4 14 23
+f 4 23 35
+f 4 35 42
+f 4 42 26
+f 4 26 16
+f 4 16 9
+f 5 10 6
+f 5 11 10
+f 6 10 12
+f 7 13 14
+f 7 14 8
+f 9 16 15
+f 10 11 17
+f 10 17 18
+f 10 18 12
+f 11 19 17
+f 12 18 20
+f 13 21 22
+f 13 22 14
+f 14 22 24
+f 14 24 23
+f 15 16 26
+f 15 26 25
+f 17 19 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 19 31 27
+f 20 30 32
+f 20 32 33
+f 21 33 24
+f 21 24 22
+f 23 34 35
+f 23 24 34
+f 24 33 32
+f 24 32 30
+f 24 30 36
+f 24 36 37
+f 24 37 38
+f 24 38 34
+f 25 26 40
+f 25 40 41
+f 25 41 39
+f 26 42 40
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 27 31 43
+f 28 45 30
+f 28 30 29
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 36
+f 34 38 49
+f 34 49 35
+f 35 49 40
+f 35 40 42
+f 36 48 50
+f 36 50 37
+f 37 50 38
+f 38 50 49
+f 39 41 51
+f 39 51 52
+f 40 49 41
+f 41 50 48
+f 41 48 51
+f 41 49 50
+f 43 53 46
+f 43 46 45
+f 43 45 44
+f 46 53 54
+f 46 54 52
+f 46 52 51
+f 46 51 47
+f 47 51 48
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_28.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.02752294 -0.04626511 0.05144965
+v 0.02782368 -0.04591716 0.05032729
+v 0.02772779 -0.04614832 0.05144965
+v 0.02752294 -0.04223828 0.05144966
+v 0.02752294 -0.04574198 0.04817278
+v 0.02800456 -0.04546947 0.04814272
+v 0.02898957 -0.04498771 0.04875400
+v 0.02917917 -0.04510937 0.05032729
+v 0.02930992 -0.04519454 0.05144965
+v 0.04588960 -0.02141066 0.05144974
+v 0.02752294 -0.02309158 -0.05090474
+v 0.02752294 -0.04541836 0.04618862
+v 0.02760793 -0.04537213 0.04618862
+v 0.02881088 -0.04487334 0.04737111
+v 0.02975885 -0.04435753 0.04814273
+v 0.03020777 -0.04441592 0.05032730
+v 0.03033853 -0.04450839 0.05144966
+v 0.02986999 -0.04482470 0.05144966
+v 0.04978609 -0.02141066 0.05144974
+v 0.02901137 -0.02141028 -0.05090474
+v 0.02752294 -0.02823765 -0.05090476
+v 0.02752294 -0.04532104 0.04560741
+v 0.02752294 -0.04512638 0.04445499
+v 0.02988306 -0.04392685 0.04618863
+v 0.02752294 -0.04060796 0.01844050
+v 0.02752294 -0.03685356 -0.00299441
+v 0.02752294 -0.03677083 -0.00346539
+v 0.03116228 -0.04302660 0.04618863
+v 0.03140853 -0.04321152 0.04826298
+v 0.03118407 -0.04390497 0.05144966
+v 0.04967059 -0.02166858 0.05144974
+v 0.04915193 -0.02141064 0.04711065
+v 0.03344177 -0.02141028 -0.05090474
+v 0.02809173 -0.02771453 -0.05090476
+v 0.02752294 -0.02836419 -0.05026342
+v 0.03099666 -0.04290250 0.04482577
+v 0.02752294 -0.03603357 -0.00757399
+v 0.03219306 -0.04224312 0.04618863
+v 0.03253738 -0.04291226 0.05144966
+v 0.03186835 -0.04341348 0.05144966
+v 0.04942434 -0.02221603 0.05144974
+v 0.04743469 -0.02235954 0.03861284
+v 0.04733008 -0.02214055 0.03723996
+v 0.04870300 -0.02141063 0.04412439
+v 0.03299066 -0.02228379 -0.05013312
+v 0.03292311 -0.02218645 -0.05090474
+v 0.03375776 -0.02141029 -0.04899073
+v 0.04533608 -0.02639124 0.03888339
+v 0.04537748 -0.02851539 0.04692023
+v 0.04549080 -0.02869059 0.04826303
+v 0.04507675 -0.03013344 0.05144971
+v 0.02816800 -0.02764154 -0.05090476
+v 0.02828568 -0.02790432 -0.04899075
+v 0.03651886 -0.03819438 0.04412433
+v 0.03549026 -0.03912627 0.04412433
+v 0.03429821 -0.04015549 0.04412432
+v 0.03326961 -0.04102655 0.04412432
+v 0.03280325 -0.04270787 0.05144966
+v 0.04893618 -0.02323308 0.05144973
+v 0.04813422 -0.02328659 0.04618870
+v 0.04741725 -0.02437907 0.04494610
+v 0.04654120 -0.02328655 0.03584703
+v 0.04621649 -0.02328654 0.03377268
+v 0.04722548 -0.02191183 0.03584704
+v 0.04745430 -0.02141060 0.03584704
+v 0.03231728 -0.02344683 -0.04899074
+v 0.03224100 -0.02308914 -0.05090474
+v 0.04497868 -0.02141054 0.02038464
+v 0.04502226 -0.02164413 0.02135668
+v 0.04527505 -0.02422328 0.03096681
+v 0.04539056 -0.02442525 0.03234970
+v 0.04522275 -0.02619659 0.03751051
+v 0.04550606 -0.02462963 0.03377268
+v 0.04567168 -0.02492891 0.03584703
+v 0.04696179 -0.02558590 0.04618870
+v 0.04625790 -0.02740346 0.04826304
+v 0.04584384 -0.02754457 0.04620873
+v 0.04565860 -0.02895823 0.05032735
+v 0.04574795 -0.02910423 0.05144971
+v 0.04460821 -0.03074659 0.05144971
+v 0.04357743 -0.03087796 0.04618868
+v 0.02915520 -0.02668531 -0.05090476
+v 0.03722711 -0.03680019 0.04035643
+v 0.03739274 -0.03696564 0.04204998
+v 0.03673025 -0.03838661 0.04618865
+v 0.03615057 -0.03988301 0.05144967
+v 0.03530284 -0.04064458 0.05144967
+v 0.03509145 -0.04083436 0.05144967
+v 0.03349407 -0.04121391 0.04618864
+v 0.03327615 -0.04232830 0.05144966
+v 0.04855046 -0.02400438 0.05144973
+v 0.04786835 -0.02536694 0.05144973
+v 0.04764389 -0.02579760 0.05144973
+v 0.04736277 -0.02633289 0.05144972
+v 0.04712305 -0.02588032 0.04826304
+v 0.04706639 -0.02156631 0.03377269
+v 0.04713831 -0.02141059 0.03377269
+v 0.03710943 -0.02845439 -0.00045906
+v 0.03110780 -0.02454659 -0.05090475
+v 0.03118189 -0.02445170 -0.05090475
+v 0.04513559 -0.02141055 0.02135668
+v 0.04679399 -0.02734021 0.05144972
+v 0.04398712 -0.03154466 0.05144970
+v 0.04376484 -0.03110912 0.04826303
+v 0.04322003 -0.03249358 0.05144970
+v 0.03721404 -0.02857605 0.00066330
+v 0.02922929 -0.02660745 -0.05090476
+v 0.03925381 -0.03471986 0.04047669
+v 0.03842352 -0.03590966 0.04204999
+v 0.03862183 -0.03611892 0.04412434
+v 0.03759322 -0.03716517 0.04412433
+v 0.03705713 -0.03869076 0.04945550
+v 0.03725326 -0.03887812 0.05144968
+v 0.03468394 -0.04117257 0.05144967
+v 0.03398004 -0.04175408 0.05144967
+v 0.03128650 -0.02475342 -0.04899074
+v 0.03037122 -0.02578263 -0.04899074
+v 0.03018380 -0.02557581 -0.05090475
+v 0.04228078 -0.03356659 0.05144970
+v 0.04062673 -0.03394613 0.04412435
+v 0.04123038 -0.03257870 0.04088756
+v 0.03921894 -0.03262976 0.03029537
+v 0.03954583 -0.03299717 0.03377265
+v 0.03940418 -0.03488044 0.04204999
+v 0.03959595 -0.03508971 0.04412434
+v 0.03970709 -0.03639876 0.05144969
+v 0.03930393 -0.03682456 0.05144968
+v 0.03828187 -0.03785621 0.05144968
+v 0.03765860 -0.03847666 0.05144968
+v 0.04161829 -0.03431843 0.05144969
+v 0.04128704 -0.03469314 0.05144969
+v 0.04084248 -0.03517733 0.05144969
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 30
+f 1 30 40
+f 1 40 39
+f 1 39 58
+f 1 58 90
+f 1 90 115
+f 1 115 114
+f 1 114 88
+f 1 88 87
+f 1 87 86
+f 1 86 113
+f 1 113 129
+f 1 129 128
+f 1 128 127
+f 1 127 126
+f 1 126 132
+f 1 132 131
+f 1 131 130
+f 1 130 119
+f 1 119 105
+f 1 105 103
+f 1 103 80
+f 1 80 51
+f 1 51 79
+f 1 79 102
+f 1 102 94
+f 1 94 93
+f 1 93 92
+f 1 92 91
+f 1 91 59
+f 1 59 41
+f 1 41 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 35
+f 1 35 37
+f 1 37 27
+f 1 27 26
+f 1 26 25
+f 1 25 23
+f 1 23 22
+f 1 22 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 10 19 32
+f 10 32 44
+f 10 44 65
+f 10 65 97
+f 10 97 101
+f 10 101 68
+f 10 68 47
+f 10 47 33
+f 10 33 20
+f 10 20 11
+f 11 20 33
+f 11 33 46
+f 11 46 67
+f 11 67 100
+f 11 100 99
+f 11 99 118
+f 11 118 107
+f 11 107 82
+f 11 82 52
+f 11 52 34
+f 11 34 21
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 24 15
+f 14 23 25
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 15 24 28
+f 15 28 29
+f 15 29 16
+f 16 30 17
+f 16 29 30
+f 19 31 32
+f 21 34 35
+f 24 36 28
+f 24 27 36
+f 27 37 28
+f 27 28 36
+f 28 38 29
+f 28 37 35
+f 28 35 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 33 45 46
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 45
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 38
+f 38 57 58
+f 38 58 39
+f 41 59 60
+f 41 60 42
+f 42 61 43
+f 42 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 45 66 67
+f 45 67 46
+f 45 51 66
+f 47 68 69
+f 47 69 63
+f 47 63 70
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 71
+f 48 71 73
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 49 77 50
+f 50 77 76
+f 50 76 78
+f 50 78 51
+f 51 78 79
+f 51 80 81
+f 51 81 66
+f 52 82 53
+f 53 82 83
+f 53 83 54
+f 54 83 84
+f 54 84 85
+f 54 85 55
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 56
+f 56 88 57
+f 57 88 89
+f 57 89 90
+f 57 90 58
+f 59 91 61
+f 59 61 60
+f 61 91 92
+f 61 92 93
+f 61 93 94
+f 61 94 95
+f 61 95 75
+f 61 75 71
+f 61 71 63
+f 61 63 62
+f 63 69 96
+f 63 96 64
+f 63 71 70
+f 64 96 97
+f 64 97 65
+f 66 98 99
+f 66 99 100
+f 66 100 67
+f 66 81 98
+f 68 101 96
+f 68 96 69
+f 71 75 73
+f 73 75 74
+f 75 95 76
+f 76 95 102
+f 76 102 79
+f 76 79 78
+f 80 103 104
+f 80 104 81
+f 81 104 105
+f 81 105 106
+f 81 106 98
+f 82 107 108
+f 82 108 109
+f 82 109 83
+f 83 109 110
+f 83 110 84
+f 84 110 111
+f 84 111 112
+f 84 112 85
+f 85 112 86
+f 86 112 113
+f 88 114 89
+f 89 114 115
+f 89 115 90
+f 94 102 95
+f 96 101 97
+f 98 106 99
+f 99 116 117
+f 99 117 118
+f 99 106 116
+f 103 105 104
+f 105 119 120
+f 105 120 121
+f 105 121 106
+f 106 121 122
+f 106 122 116
+f 107 118 117
+f 107 117 108
+f 108 122 123
+f 108 123 124
+f 108 124 109
+f 108 117 122
+f 109 124 110
+f 110 124 125
+f 110 125 126
+f 110 126 127
+f 110 127 111
+f 111 127 128
+f 111 128 129
+f 111 129 113
+f 111 113 112
+f 116 122 117
+f 119 130 120
+f 120 130 131
+f 120 131 125
+f 120 125 124
+f 120 124 123
+f 120 123 121
+f 121 123 122
+f 125 131 132
+f 125 132 126
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_29.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01507834 -0.02986656 -0.05752552
+v 0.01507834 -0.03528347 -0.05752554
+v 0.01507834 -0.03144594 -0.06138120
+v -0.00037315 -0.03509904 -0.06140989
+v -0.00037315 -0.03365797 -0.05752553
+v 0.01340554 -0.03598437 -0.05752554
+v 0.01507834 -0.03505722 -0.05934104
+v 0.01507834 -0.03206147 -0.06282542
+v -0.00037315 -0.03595533 -0.06295184
+v -0.00037315 -0.03858739 -0.05752555
+v 0.01191121 -0.03653503 -0.05752554
+v 0.01340554 -0.03575130 -0.05934104
+v 0.01507834 -0.03489330 -0.06053880
+v 0.01507834 -0.03360758 -0.06285729
+v 0.01134706 -0.03389955 -0.06292475
+v 0.00105160 -0.03593569 -0.06294865
+v -0.00037315 -0.03726239 -0.06295185
+v -0.00037315 -0.03845932 -0.05864417
+v 0.00064777 -0.03856605 -0.05752555
+v 0.01177963 -0.03657516 -0.05752554
+v 0.01030949 -0.03666222 -0.06035874
+v 0.01130773 -0.03645818 -0.05953810
+v 0.01340554 -0.03544138 -0.06140989
+v 0.01493768 -0.03483182 -0.06140989
+v 0.01507834 -0.03479939 -0.06119796
+v 0.01507834 -0.03408652 -0.06273407
+v 0.01340554 -0.03493598 -0.06276966
+v 0.01134706 -0.03525698 -0.06292476
+v 0.00105160 -0.03724616 -0.06294866
+v -0.00037315 -0.03806489 -0.06140990
+v 0.00076121 -0.03856349 -0.05752555
+v -0.00037315 -0.03837736 -0.05934105
+v 0.00105160 -0.03834492 -0.05934105
+v 0.01090390 -0.03683981 -0.05752555
+v 0.00930975 -0.03728546 -0.05752555
+v 0.00948822 -0.03698579 -0.05953811
+v 0.00898607 -0.03686028 -0.06140990
+v 0.01001607 -0.03654184 -0.06140989
+v 0.01134706 -0.03612266 -0.06140989
+v 0.01465031 -0.03470376 -0.06256197
+v 0.00855048 -0.03674161 -0.06254392
+v 0.01507834 -0.03458680 -0.06218910
+v 0.01507834 -0.03476523 -0.06140989
+v 0.00722857 -0.03688333 -0.06269902
+v 0.00517009 -0.03706432 -0.06285837
+v 0.00311009 -0.03718128 -0.06292848
+v 0.00105160 -0.03803074 -0.06140990
+v -0.00037315 -0.03816137 -0.06077145
+v 0.00101379 -0.03855751 -0.05752555
+v 0.00311009 -0.03821003 -0.05934105
+v 0.00311009 -0.03842519 -0.05752555
+v 0.00285751 -0.03844141 -0.05752555
+v 0.00903447 -0.03735119 -0.05752555
+v 0.00722857 -0.03755437 -0.05934105
+v 0.00722857 -0.03726666 -0.06140990
+v 0.00517009 -0.03764230 -0.06140990
+v 0.00311009 -0.03789244 -0.06140990
+v 0.00517009 -0.03794453 -0.05934105
+v 0.00517009 -0.03816650 -0.05752555
+v 0.00491750 -0.03819895 -0.05752555
+v 0.00722857 -0.03777891 -0.05752555
+v 0.00697599 -0.03782672 -0.05752555
+f 1 2 7
+f 1 7 13
+f 1 13 25
+f 1 25 43
+f 1 43 42
+f 1 42 26
+f 1 26 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 31
+f 1 31 49
+f 1 49 52
+f 1 52 51
+f 1 51 60
+f 1 60 59
+f 1 59 62
+f 1 62 61
+f 1 61 53
+f 1 53 35
+f 1 35 34
+f 1 34 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 17
+f 4 17 30
+f 4 30 48
+f 4 48 32
+f 4 32 18
+f 4 18 10
+f 4 10 5
+f 4 8 9
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 9 16 29
+f 9 29 17
+f 9 15 16
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 13
+f 12 22 23
+f 13 24 25
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 17 29 30
+f 18 31 19
+f 18 32 33
+f 18 33 31
+f 20 34 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 23
+f 21 23 22
+f 21 34 35
+f 23 40 24
+f 23 39 41
+f 23 41 40
+f 24 40 42
+f 24 42 43
+f 24 43 25
+f 26 42 40
+f 26 40 27
+f 27 40 41
+f 27 41 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 47 30
+f 29 46 47
+f 30 47 33
+f 30 33 48
+f 31 33 49
+f 32 48 33
+f 33 47 50
+f 33 50 51
+f 33 51 52
+f 33 52 49
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 37 41 38
+f 37 54 55
+f 37 55 41
+f 38 41 39
+f 41 55 56
+f 41 56 44
+f 44 56 57
+f 44 57 45
+f 45 57 46
+f 46 57 47
+f 47 57 50
+f 50 57 56
+f 50 56 58
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 53 61 54
+f 54 58 55
+f 54 61 58
+f 55 58 56
+f 58 61 62
+f 58 62 59
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_3.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.04141331 0.00013711 -0.05089857
+v -0.04122449 0.00013711 -0.05263008
+v -0.04122449 -0.00064195 -0.05261251
+v -0.04140929 -0.00064195 -0.05089857
+v -0.03754470 0.00013711 -0.05089857
+v -0.04115219 0.00013712 -0.05327338
+v -0.04118834 -0.00195976 -0.05232502
+v -0.04110800 0.00013712 -0.05366495
+v -0.04092320 -0.00064194 -0.05520197
+v -0.04128475 -0.00267293 -0.05089858
+v -0.00037315 -0.03573836 -0.05089870
+v -0.00037315 0.00013711 -0.05285708
+v -0.04126467 -0.00266905 -0.05108266
+v -0.04079063 -0.00270392 -0.05520198
+v -0.04103970 -0.00266905 -0.05306199
+v -0.04092722 0.00013712 -0.05520197
+v -0.04083482 0.00013713 -0.05598512
+v -0.04067815 0.00013713 -0.05727106
+v -0.04063798 -0.00054115 -0.05754296
+v -0.04067012 -0.00064193 -0.05727106
+v -0.04112407 -0.00333183 -0.05178514
+v -0.04124860 -0.00304501 -0.05089858
+v -0.00037315 -0.03944373 -0.05089871
+v -0.00037315 0.00013713 -0.05680794
+v -0.04053755 -0.00270391 -0.05727107
+v -0.04028446 -0.00476202 -0.05754298
+v -0.04031660 -0.00476202 -0.05727108
+v -0.04064199 0.00013713 -0.05754296
+v -0.04063396 -0.00064193 -0.05754296
+v -0.04107987 -0.00455662 -0.05089859
+v -0.04055763 -0.00476203 -0.05520199
+v -0.00037315 -0.03942435 -0.05106392
+v -0.00084718 -0.03945536 -0.05089871
+v -0.00037315 -0.03368798 -0.05754308
+v -0.03553608 0.00013713 -0.05754296
+v -0.04050139 -0.00270391 -0.05754297
+v -0.03999522 -0.00654882 -0.05754298
+v -0.03998317 -0.00682013 -0.05727109
+v -0.04079465 -0.00476203 -0.05313355
+v -0.04103970 -0.00482793 -0.05089859
+v -0.00037315 -0.03867240 -0.05690695
+v -0.00101189 -0.03945923 -0.05089871
+v -0.00037315 -0.03858326 -0.05754310
+v -0.03995103 -0.00682013 -0.05754299
+v -0.04030053 -0.00887827 -0.05089860
+v -0.04068217 -0.00698294 -0.05089860
+v -0.04069422 -0.00682015 -0.05106381
+v -0.04071431 -0.00681240 -0.05089860
+v -0.00095565 -0.03859876 -0.05754310
+v -0.00290401 -0.03939335 -0.05089871
+v -0.00229741 -0.03873442 -0.05634951
+v -0.00101189 -0.03859876 -0.05754310
+v -0.03956939 -0.00860693 -0.05754299
+v -0.03950913 -0.00888600 -0.05754299
+v -0.03918776 -0.01017280 -0.05754300
+v -0.03976222 -0.01093638 -0.05089861
+v -0.00306872 -0.03938559 -0.05089871
+v -0.00306872 -0.03910651 -0.05313367
+v -0.00302855 -0.03855613 -0.05754310
+v -0.03974213 -0.01093638 -0.05106382
+v -0.03886638 -0.01119217 -0.05754300
+v -0.03888245 -0.01125806 -0.05727110
+v -0.03901100 -0.01166504 -0.05520201
+v -0.03971401 -0.01109141 -0.05089861
+v -0.00496486 -0.03922280 -0.05089871
+v -0.00465955 -0.03879257 -0.05469476
+v -0.00367131 -0.03869954 -0.05607437
+v -0.00341019 -0.03852512 -0.05754310
+v -0.03908331 -0.01190147 -0.05400843
+v -0.03824370 -0.01299447 -0.05754301
+v -0.03827985 -0.01299447 -0.05727111
+v -0.03917169 -0.01214954 -0.05262881
+v -0.03926810 -0.01242860 -0.05106383
+v -0.03927212 -0.01247124 -0.05089862
+v -0.00512957 -0.03920730 -0.05089871
+v -0.00512957 -0.03918792 -0.05106392
+v -0.00526213 -0.03890109 -0.05326571
+v -0.00512957 -0.03838171 -0.05754310
+v -0.03739205 -0.01509134 -0.05754302
+v -0.03887842 -0.01356037 -0.05089862
+v -0.03890655 -0.01348673 -0.05089862
+v -0.03924399 -0.01255651 -0.05089862
+v -0.00725067 -0.03892048 -0.05089871
+v -0.00661595 -0.03879258 -0.05266404
+v -0.00603345 -0.03870342 -0.05404365
+v -0.00719041 -0.03808714 -0.05754310
+v -0.03740410 -0.01517273 -0.05717746
+v -0.03826379 -0.01503709 -0.05089863
+v -0.03715503 -0.01561846 -0.05754302
+v -0.00762829 -0.03885847 -0.05089871
+v -0.00719041 -0.03812202 -0.05727120
+v -0.00798984 -0.03868018 -0.05181390
+v -0.00745957 -0.03803675 -0.05754310
+v -0.03707067 -0.01613008 -0.05642488
+v -0.03817541 -0.01523089 -0.05089863
+v -0.03680151 -0.01635489 -0.05754302
+v -0.00898210 -0.03860654 -0.05089871
+v -0.00924724 -0.03769180 -0.05754310
+v -0.03655244 -0.01693627 -0.05717746
+v -0.03691801 -0.01788977 -0.05089864
+v -0.03742419 -0.01687040 -0.05089863
+v -0.03648415 -0.01696340 -0.05754302
+v -0.00927938 -0.03854839 -0.05089871
+v -0.01116346 -0.03809879 -0.05089871
+v -0.01129202 -0.03806778 -0.05089871
+v -0.00953247 -0.03762203 -0.05754310
+v -0.03542761 -0.01888586 -0.05754303
+v -0.03621098 -0.01915719 -0.05089864
+v -0.01336893 -0.03748252 -0.05089871
+v -0.01132415 -0.03717242 -0.05754310
+v -0.03480896 -0.01991298 -0.05754303
+v -0.03513837 -0.02042461 -0.05313361
+v -0.03530308 -0.02067655 -0.05089865
+v -0.01489548 -0.03697865 -0.05089871
+v -0.01465445 -0.03676546 -0.05313367
+v -0.01444154 -0.03668020 -0.05429537
+v -0.01283062 -0.03674220 -0.05754309
+v -0.01271412 -0.03677708 -0.05754310
+v -0.01152903 -0.03711429 -0.05754310
+v -0.03388098 -0.02124629 -0.05754304
+v -0.03459203 -0.02168429 -0.05106386
+v -0.03460408 -0.02170367 -0.05089865
+v -0.01506823 -0.03691664 -0.05089871
+v -0.01502805 -0.03691276 -0.05106392
+v -0.01605647 -0.03650191 -0.05106391
+v -0.01542576 -0.03582361 -0.05754309
+v -0.01401169 -0.03635848 -0.05754309
+v -0.01372647 -0.03645926 -0.05754309
+v -0.03312975 -0.02229666 -0.05754304
+v -0.03356763 -0.02313776 -0.05089865
+v -0.01601629 -0.03654067 -0.05089870
+v -0.01608459 -0.03651354 -0.05089870
+v -0.01735404 -0.03597091 -0.05089870
+v -0.01750268 -0.03493990 -0.05754309
+v -0.03304539 -0.02240906 -0.05754304
+v -0.03280435 -0.02415712 -0.05089866
+v -0.01747455 -0.03591665 -0.05089870
+v -0.01806107 -0.03469184 -0.05754309
+v -0.03239058 -0.02322688 -0.05754305
+v -0.03223792 -0.02341680 -0.05754305
+v -0.03134609 -0.02448268 -0.05754305
+v -0.03118942 -0.02466872 -0.05754305
+v -0.03121353 -0.02469585 -0.05727115
+v -0.03162328 -0.02547881 -0.05089866
+v -0.01933454 -0.03502906 -0.05089870
+v -0.01901316 -0.03487014 -0.05313366
+v -0.01855921 -0.03462595 -0.05639959
+v -0.01873999 -0.03435076 -0.05754309
+v -0.03034178 -0.02556406 -0.05754305
+v -0.03062299 -0.02612220 -0.05313363
+v -0.03076761 -0.02626950 -0.05158620
+v -0.03153892 -0.02556796 -0.05089866
+v -0.02035492 -0.03448256 -0.05089870
+v -0.01939480 -0.03399417 -0.05754308
+v -0.03021323 -0.02569972 -0.05754305
+v -0.02918482 -0.02674234 -0.05754306
+v -0.02981553 -0.02733537 -0.05089867
+v -0.02145564 -0.03380815 -0.05089869
+v -0.02119854 -0.03293993 -0.05754308
+v -0.01965190 -0.03384689 -0.05754308
+v -0.02822470 -0.02763767 -0.05754306
+v -0.02868266 -0.02831598 -0.05149448
+v -0.02971509 -0.02743227 -0.05089867
+v -0.02158821 -0.03372676 -0.05089869
+v -0.02303844 -0.03281591 -0.05089869
+v -0.02222695 -0.03228490 -0.05754308
+v -0.02807606 -0.02777333 -0.05754306
+v -0.02704765 -0.02867642 -0.05754307
+v -0.02789930 -0.02908729 -0.05089868
+v -0.02824077 -0.02877721 -0.05089868
+v -0.02398249 -0.03216864 -0.05089869
+v -0.02242380 -0.03214924 -0.05754308
+v -0.02558939 -0.02983144 -0.05754307
+v -0.02645711 -0.03025781 -0.05106389
+v -0.02647720 -0.03026944 -0.05089868
+v -0.02406685 -0.03211050 -0.05089869
+v -0.02382180 -0.03116476 -0.05754307
+v -0.02538852 -0.02998648 -0.05754307
+v -0.02546083 -0.03107176 -0.05089868
+v -0.02534032 -0.03116478 -0.05089868
+v -0.02401463 -0.03102135 -0.05754307
+v -0.02479397 -0.03056787 -0.05677293
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 30
+f 1 30 40
+f 1 40 48
+f 1 48 46
+f 1 46 45
+f 1 45 56
+f 1 56 64
+f 1 64 74
+f 1 74 82
+f 1 82 81
+f 1 81 80
+f 1 80 88
+f 1 88 95
+f 1 95 101
+f 1 101 100
+f 1 100 108
+f 1 108 113
+f 1 113 122
+f 1 122 130
+f 1 130 136
+f 1 136 144
+f 1 144 152
+f 1 152 157
+f 1 157 163
+f 1 163 170
+f 1 170 169
+f 1 169 175
+f 1 175 179
+f 1 179 180
+f 1 180 176
+f 1 176 171
+f 1 171 165
+f 1 165 164
+f 1 164 158
+f 1 158 153
+f 1 153 145
+f 1 145 137
+f 1 137 133
+f 1 133 132
+f 1 132 131
+f 1 131 123
+f 1 123 114
+f 1 114 109
+f 1 109 105
+f 1 105 104
+f 1 104 103
+f 1 103 97
+f 1 97 90
+f 1 90 83
+f 1 83 75
+f 1 75 65
+f 1 65 57
+f 1 57 50
+f 1 50 42
+f 1 42 33
+f 1 33 23
+f 1 23 11
+f 1 11 5
+f 1 5 12
+f 1 12 24
+f 1 24 35
+f 1 35 28
+f 1 28 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 5 11 12
+f 7 13 10
+f 7 9 14
+f 7 14 15
+f 7 15 13
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 25
+f 9 25 14
+f 10 13 21
+f 10 21 22
+f 11 23 32
+f 11 32 41
+f 11 41 43
+f 11 43 34
+f 11 34 24
+f 11 24 12
+f 13 15 21
+f 14 21 15
+f 14 25 26
+f 14 26 27
+f 14 27 21
+f 18 28 19
+f 19 29 20
+f 19 28 35
+f 19 35 34
+f 19 34 43
+f 19 43 49
+f 19 49 52
+f 19 52 59
+f 19 59 68
+f 19 68 78
+f 19 78 86
+f 19 86 93
+f 19 93 98
+f 19 98 106
+f 19 106 110
+f 19 110 119
+f 19 119 118
+f 19 118 117
+f 19 117 128
+f 19 128 127
+f 19 127 126
+f 19 126 134
+f 19 134 138
+f 19 138 148
+f 19 148 154
+f 19 154 160
+f 19 160 159
+f 19 159 166
+f 19 166 172
+f 19 172 177
+f 19 177 181
+f 19 181 178
+f 19 178 173
+f 19 173 168
+f 19 168 167
+f 19 167 161
+f 19 161 156
+f 19 156 155
+f 19 155 149
+f 19 149 142
+f 19 142 141
+f 19 141 140
+f 19 140 139
+f 19 139 135
+f 19 135 129
+f 19 129 120
+f 19 120 111
+f 19 111 107
+f 19 107 102
+f 19 102 96
+f 19 96 89
+f 19 89 79
+f 19 79 70
+f 19 70 61
+f 19 61 55
+f 19 55 54
+f 19 54 53
+f 19 53 44
+f 19 44 37
+f 19 37 26
+f 19 26 36
+f 19 36 29
+f 20 29 36
+f 20 36 25
+f 21 30 22
+f 21 27 31
+f 21 31 30
+f 23 33 32
+f 24 34 35
+f 25 36 26
+f 26 37 27
+f 27 37 38
+f 27 38 31
+f 30 31 39
+f 30 39 40
+f 31 38 39
+f 32 33 42
+f 32 42 41
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 40
+f 40 47 48
+f 41 42 49
+f 41 49 43
+f 42 50 51
+f 42 51 52
+f 42 52 49
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 46 48 47
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 51 59 52
+f 55 60 56
+f 55 61 62
+f 55 62 63
+f 55 63 60
+f 56 60 64
+f 57 65 66
+f 57 66 67
+f 57 67 58
+f 58 67 59
+f 59 67 68
+f 60 63 69
+f 60 69 64
+f 61 70 62
+f 62 70 71
+f 62 71 63
+f 63 71 69
+f 64 69 72
+f 64 72 73
+f 64 73 74
+f 65 75 76
+f 65 76 66
+f 66 76 77
+f 66 77 78
+f 66 78 67
+f 67 78 68
+f 69 71 72
+f 70 79 71
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 71 79 80
+f 72 82 73
+f 73 82 74
+f 75 83 76
+f 76 84 85
+f 76 85 77
+f 76 83 84
+f 77 85 78
+f 78 85 86
+f 79 87 88
+f 79 88 80
+f 79 89 87
+f 83 90 91
+f 83 91 84
+f 84 91 85
+f 85 91 86
+f 86 91 92
+f 86 92 93
+f 87 89 94
+f 87 94 88
+f 88 94 95
+f 89 96 94
+f 90 97 92
+f 90 92 91
+f 92 97 98
+f 92 98 93
+f 94 96 99
+f 94 99 100
+f 94 100 101
+f 94 101 95
+f 96 102 99
+f 97 103 98
+f 98 103 104
+f 98 104 105
+f 98 105 106
+f 99 102 107
+f 99 107 100
+f 100 107 108
+f 105 109 110
+f 105 110 106
+f 107 111 112
+f 107 112 108
+f 108 112 113
+f 109 114 115
+f 109 115 116
+f 109 116 117
+f 109 117 118
+f 109 118 119
+f 109 119 110
+f 111 120 121
+f 111 121 112
+f 112 121 122
+f 112 122 113
+f 114 123 124
+f 114 124 115
+f 115 124 125
+f 115 125 126
+f 115 126 116
+f 116 126 127
+f 116 127 128
+f 116 128 117
+f 120 129 121
+f 121 129 122
+f 122 129 130
+f 123 131 124
+f 124 131 132
+f 124 132 125
+f 125 132 133
+f 125 133 134
+f 125 134 126
+f 129 135 136
+f 129 136 130
+f 133 137 138
+f 133 138 134
+f 135 139 136
+f 136 139 140
+f 136 140 141
+f 136 141 142
+f 136 142 143
+f 136 143 144
+f 137 145 146
+f 137 146 147
+f 137 147 138
+f 138 147 148
+f 142 149 150
+f 142 150 151
+f 142 151 143
+f 143 151 144
+f 144 151 152
+f 145 153 146
+f 146 153 147
+f 147 153 154
+f 147 154 148
+f 149 155 150
+f 150 155 156
+f 150 156 151
+f 151 156 157
+f 151 157 152
+f 153 158 159
+f 153 159 160
+f 153 160 154
+f 156 161 162
+f 156 162 163
+f 156 163 157
+f 158 164 159
+f 159 164 165
+f 159 165 166
+f 161 167 162
+f 162 167 168
+f 162 168 169
+f 162 169 170
+f 162 170 163
+f 165 171 166
+f 166 171 176
+f 166 176 172
+f 168 173 174
+f 168 174 175
+f 168 175 169
+f 172 176 177
+f 173 178 180
+f 173 180 179
+f 173 179 174
+f 174 179 175
+f 176 180 177
+f 177 180 181
+f 178 182 180
+f 178 181 182
+f 180 182 181
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_30.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.02575587 -0.02970109 -0.05754307
+v -0.02704878 -0.02867614 -0.05754307
+v -0.02575587 -0.02942919 -0.05934101
+v -0.02575587 -0.02382023 -0.05754305
+v -0.02807887 -0.02777339 -0.05754306
+v -0.02687907 -0.02853713 -0.05934100
+v -0.02575587 -0.02942308 -0.05937868
+v -0.02677181 -0.02844701 -0.06047616
+v -0.02575587 -0.02362166 -0.05754566
+v -0.02589848 -0.02348724 -0.05754305
+v -0.02822619 -0.02763744 -0.05754306
+v -0.02903117 -0.02658957 -0.05934100
+v -0.02790915 -0.02761910 -0.05934100
+v -0.02575587 -0.02933907 -0.05987616
+v -0.02889799 -0.02645668 -0.06077748
+v -0.02661624 -0.02829883 -0.06185562
+v -0.02584662 -0.02903355 -0.06126346
+v -0.02590673 -0.02347043 -0.05754305
+v -0.02575587 -0.02536756 -0.06133616
+v -0.03255633 -0.01409619 -0.05754301
+v -0.02918792 -0.02674386 -0.05754306
+v -0.03021683 -0.02570058 -0.05754305
+v -0.03006126 -0.02553713 -0.05934099
+v -0.02575587 -0.02912674 -0.06113007
+v -0.02872945 -0.02628864 -0.06215693
+v -0.03092988 -0.02438081 -0.06069377
+v -0.03077195 -0.02422041 -0.06207322
+v -0.02575587 -0.02900759 -0.06148735
+v -0.02575587 -0.02910229 -0.06127183
+v -0.02735639 -0.02692714 -0.06276793
+v -0.02575587 -0.02717306 -0.06276688
+v -0.02615070 -0.02579832 -0.06276792
+v -0.03454815 -0.01409617 -0.06276422
+v -0.03396121 -0.01409617 -0.06133925
+v -0.03779516 -0.01409619 -0.05754301
+v -0.03034648 -0.02556463 -0.05754305
+v -0.03104538 -0.02450759 -0.05934099
+v -0.03135653 -0.02284872 -0.06278256
+v -0.02939889 -0.02491695 -0.06276478
+v -0.03220982 -0.02310993 -0.05930855
+v -0.03286983 -0.02217816 -0.05997657
+v -0.03157574 -0.02343375 -0.06139422
+v -0.03273548 -0.02201165 -0.06140990
+v -0.03323284 -0.02063691 -0.06271926
+v -0.02575587 -0.02744038 -0.06270777
+v -0.02575587 -0.02736400 -0.06276688
+v -0.03198471 -0.02128457 -0.06288718
+v -0.03434661 -0.01505238 -0.06287146
+v -0.03512212 -0.01409617 -0.06288035
+v -0.03739326 -0.01508906 -0.05754302
+v -0.03757594 -0.01409618 -0.05934095
+v -0.03734140 -0.01468426 -0.05934095
+v -0.03119270 -0.02467105 -0.05754305
+v -0.03223929 -0.02341850 -0.05754305
+v -0.03353102 -0.02138692 -0.05930855
+v -0.03348152 -0.02098365 -0.06140990
+v -0.03239251 -0.02322909 -0.05754305
+v -0.03304780 -0.02241035 -0.05754304
+v -0.03388460 -0.02124945 -0.05754304
+v -0.03503726 -0.01822499 -0.06250582
+v -0.03531423 -0.01710992 -0.06273127
+v -0.03393528 -0.01901318 -0.06280923
+v -0.03604260 -0.01489963 -0.06281758
+v -0.03603199 -0.01409617 -0.06284844
+v -0.03715755 -0.01561910 -0.05754302
+v -0.03728601 -0.01409617 -0.06140987
+v -0.03719172 -0.01434362 -0.06140987
+v -0.03687586 -0.01571380 -0.05934096
+v -0.03698076 -0.01593835 -0.05780510
+v -0.03480979 -0.01991442 -0.05754303
+v -0.03468015 -0.01970667 -0.05934097
+v -0.03451161 -0.01944240 -0.06140989
+v -0.03514923 -0.01841287 -0.06140989
+v -0.03583163 -0.01710992 -0.06140988
+v -0.03670025 -0.01537315 -0.06140988
+v -0.03708801 -0.01411297 -0.06249638
+v -0.03709036 -0.01409617 -0.06249952
+v -0.03656943 -0.01409617 -0.06276579
+v -0.03680279 -0.01635383 -0.05754302
+v -0.03616517 -0.01710993 -0.05934096
+v -0.03489229 -0.01977847 -0.05754303
+v -0.03530716 -0.01867714 -0.05934097
+v -0.03648810 -0.01696330 -0.05754302
+v -0.03543091 -0.01888489 -0.05754303
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 29
+f 1 29 28
+f 1 28 45
+f 1 45 46
+f 1 46 31
+f 1 31 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 20
+f 1 20 35
+f 1 35 50
+f 1 50 65
+f 1 65 79
+f 1 79 83
+f 1 83 84
+f 1 84 81
+f 1 81 70
+f 1 70 59
+f 1 59 58
+f 1 58 57
+f 1 57 54
+f 1 54 53
+f 1 53 36
+f 1 36 22
+f 1 22 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 8
+f 5 8 6
+f 7 8 14
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 9 18 10
+f 9 19 20
+f 9 20 18
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 15
+f 12 15 13
+f 14 17 24
+f 15 25 16
+f 15 23 26
+f 15 26 27
+f 15 27 25
+f 16 28 29
+f 16 29 17
+f 16 25 30
+f 16 30 28
+f 17 29 24
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 33
+f 20 33 49
+f 20 49 64
+f 20 64 78
+f 20 78 77
+f 20 77 66
+f 20 66 51
+f 20 51 35
+f 22 36 37
+f 22 37 23
+f 23 37 26
+f 25 27 38
+f 25 38 39
+f 25 39 30
+f 26 37 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 38
+f 28 30 45
+f 30 46 45
+f 30 39 38
+f 30 38 47
+f 30 47 46
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 35 51 52
+f 35 52 50
+f 36 53 37
+f 37 53 54
+f 37 54 40
+f 38 44 47
+f 40 54 41
+f 41 55 56
+f 41 56 43
+f 41 43 42
+f 41 54 57
+f 41 57 58
+f 41 58 59
+f 41 59 55
+f 43 56 44
+f 44 56 60
+f 44 60 61
+f 44 61 62
+f 44 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 49
+f 47 49 48
+f 50 52 65
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 65
+f 55 59 70
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 60
+f 60 73 74
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 60 72 73
+f 61 76 77
+f 61 77 78
+f 61 78 63
+f 61 63 62
+f 63 78 64
+f 65 69 79
+f 66 77 76
+f 66 76 67
+f 67 76 75
+f 67 75 68
+f 68 75 74
+f 68 74 80
+f 68 80 69
+f 69 80 79
+f 70 81 82
+f 70 82 71
+f 71 82 73
+f 71 73 72
+f 73 82 80
+f 73 80 74
+f 79 80 83
+f 80 82 83
+f 81 84 82
+f 82 84 83
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_31.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.04568694 -0.02260508 0.05433768
+v -0.04568940 -0.02260508 0.05435694
+v -0.04980242 -0.02260508 0.05433768
+v -0.05116850 0.00013672 0.05433776
+v -0.04570420 -0.02260508 0.05447173
+v -0.05312144 -0.02260509 0.05736795
+v -0.05353077 -0.02227563 0.05756301
+v -0.05374037 -0.02122714 0.05732460
+v -0.05203031 -0.01732256 0.05433770
+v -0.05471314 0.00013672 0.05433776
+v -0.05173071 0.00013670 0.05860984
+v -0.04623312 -0.02260509 0.05847571
+v -0.05337542 -0.02260509 0.05803100
+v -0.05353077 -0.02227563 0.05811127
+v -0.05386119 -0.02142750 0.05872455
+v -0.05470697 -0.01916801 0.05860977
+v -0.05566126 -0.01630524 0.05746430
+v -0.05585606 -0.01504972 0.05724114
+v -0.05204510 -0.01727581 0.05433770
+v -0.05796312 0.00013671 0.05712240
+v -0.05471437 -0.00051107 0.05433776
+v -0.05796559 -0.00064242 0.05711918
+v -0.05221031 0.00013670 0.06067926
+v -0.04648340 -0.02260510 0.05960514
+v -0.05337542 -0.02260509 0.05835851
+v -0.05336186 -0.02260510 0.05916765
+v -0.05351967 -0.02224893 0.05949035
+v -0.05564646 -0.01627631 0.05978176
+v -0.05569085 -0.01639652 0.05860978
+v -0.05610388 -0.01504973 0.05860978
+v -0.05665252 -0.01299282 0.05860979
+v -0.05768325 -0.00808204 0.05751008
+v -0.05612607 -0.01299281 0.05700515
+v -0.05394626 -0.01081567 0.05433772
+v -0.05393640 -0.01085129 0.05433772
+v -0.05827628 0.00013670 0.05860984
+v -0.05828121 -0.00064243 0.05860984
+v -0.05471437 -0.00064241 0.05433776
+v -0.05467862 -0.00256799 0.05433775
+v -0.05794092 -0.00270156 0.05714647
+v -0.05304254 0.00013669 0.06212094
+v -0.04720589 -0.02260511 0.06182226
+v -0.04695315 -0.02260511 0.06133259
+v -0.04673615 -0.02260510 0.06067918
+v -0.05311404 -0.02260510 0.05991017
+v -0.05379461 -0.02087765 0.06014055
+v -0.05406339 -0.01914352 0.06076990
+v -0.05490424 -0.01702205 0.06055478
+v -0.05582893 -0.01504973 0.06009803
+v -0.05767091 -0.00801081 0.05970793
+v -0.05711610 -0.01093590 0.05860980
+v -0.05748844 -0.00917283 0.05860981
+v -0.05769558 -0.00814438 0.05860981
+v -0.05787435 -0.00681985 0.05860981
+v -0.05808641 -0.00476071 0.05860982
+v -0.05776955 -0.00681984 0.05737763
+v -0.05427052 -0.00888565 0.05433773
+v -0.05795449 0.00013670 0.06022572
+v -0.05822203 -0.00270157 0.05860983
+v -0.05792243 -0.00270157 0.06017514
+v -0.05795572 -0.00064243 0.06022732
+v -0.05460588 -0.00462713 0.05433774
+v -0.05447149 -0.00668626 0.05433774
+v -0.05787681 -0.00476070 0.05722352
+v -0.05455163 0.00013669 0.06253756
+v -0.04836977 -0.02260511 0.06228382
+v -0.05258882 -0.02260510 0.06080521
+v -0.05313501 -0.02142750 0.06076989
+v -0.05334090 -0.01981581 0.06151964
+v -0.05362940 -0.01844231 0.06180220
+v -0.05513603 -0.01504973 0.06113274
+v -0.05542330 -0.01299283 0.06154535
+v -0.05610757 -0.01299282 0.06051063
+v -0.05705322 -0.00681985 0.06089516
+v -0.05774489 -0.00681985 0.05986045
+v -0.05628018 -0.01113625 0.06088472
+v -0.05557742 -0.01195324 0.06171152
+v -0.05699404 -0.00876768 0.06050986
+v -0.05785092 -0.00476071 0.06005873
+v -0.05428778 -0.00874318 0.05433773
+v -0.05768941 0.00013670 0.06061745
+v -0.05722336 -0.00270157 0.06120985
+v -0.05715802 -0.00476071 0.06109344
+v -0.05725296 -0.00064244 0.06126204
+v -0.05725296 0.00013669 0.06126043
+v -0.05559098 0.00013669 0.06228631
+v -0.05455163 -0.00270158 0.06253514
+v -0.05043368 -0.02122716 0.06249654
+v -0.05043368 -0.01916802 0.06245882
+v -0.05052368 -0.02260511 0.06229426
+v -0.05185770 -0.02260511 0.06174599
+v -0.05172208 -0.02260511 0.06189209
+v -0.05382790 -0.01710888 0.06193706
+v -0.05201058 -0.02122716 0.06204541
+v -0.05572290 -0.01058196 0.06182791
+v -0.05587825 -0.00887677 0.06193870
+v -0.05410655 -0.01504974 0.06208396
+v -0.05619264 -0.00270158 0.06211452
+v -0.05602373 -0.00681986 0.06202700
+v -0.05612853 -0.00476072 0.06208159
+v -0.05622347 0.00013669 0.06213138
+v -0.05622347 -0.00064244 0.06213058
+v -0.05455163 -0.00476072 0.06252469
+v -0.05249265 -0.01504974 0.06251261
+v -0.05249265 -0.01710888 0.06242111
+v -0.05259005 -0.01914353 0.06213292
+v -0.05439381 -0.01299283 0.06216986
+v -0.05475506 -0.01113626 0.06218271
+v -0.05455163 -0.00887677 0.06244120
+v -0.05455163 -0.00681986 0.06249820
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 44
+f 1 44 43
+f 1 43 42
+f 1 42 66
+f 1 66 90
+f 1 90 92
+f 1 92 91
+f 1 91 67
+f 1 67 45
+f 1 45 26
+f 1 26 25
+f 1 25 13
+f 1 13 6
+f 1 6 3
+f 1 3 9
+f 1 9 19
+f 1 19 35
+f 1 35 34
+f 1 34 57
+f 1 57 80
+f 1 80 63
+f 1 63 62
+f 1 62 39
+f 1 39 38
+f 1 38 21
+f 1 21 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 36
+f 4 36 58
+f 4 58 81
+f 4 81 85
+f 4 85 101
+f 4 101 86
+f 4 86 65
+f 4 65 41
+f 4 41 23
+f 4 23 11
+f 4 11 5
+f 5 11 12
+f 6 13 7
+f 7 13 25
+f 7 25 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 10 21 22
+f 10 22 20
+f 11 23 24
+f 11 24 12
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 32 33
+f 20 22 37
+f 20 37 36
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 37
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 26 45 27
+f 27 46 28
+f 27 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 31
+f 28 31 30
+f 28 30 29
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 34
+f 32 34 33
+f 34 56 57
+f 36 37 58
+f 37 40 59
+f 37 59 60
+f 37 60 61
+f 37 61 58
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 59
+f 41 65 66
+f 41 66 42
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 70 48
+f 47 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 50 74 75
+f 50 75 55
+f 50 55 54
+f 50 54 53
+f 50 53 52
+f 50 52 51
+f 50 73 76
+f 50 76 77
+f 50 77 78
+f 50 78 74
+f 55 75 79
+f 55 79 59
+f 55 59 56
+f 56 64 57
+f 56 59 64
+f 57 64 80
+f 58 61 81
+f 59 79 60
+f 60 82 61
+f 60 79 83
+f 60 83 82
+f 61 82 84
+f 61 84 85
+f 61 85 81
+f 63 80 64
+f 65 86 87
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 89 88
+f 66 88 90
+f 67 91 69
+f 67 69 68
+f 69 91 92
+f 69 92 70
+f 70 93 77
+f 70 77 72
+f 70 72 71
+f 70 92 94
+f 70 94 93
+f 72 77 73
+f 73 77 76
+f 74 83 79
+f 74 79 75
+f 74 78 77
+f 74 77 95
+f 74 95 96
+f 74 96 83
+f 77 93 97
+f 77 97 95
+f 82 98 84
+f 82 83 99
+f 82 99 100
+f 82 100 98
+f 83 96 99
+f 84 101 85
+f 84 98 102
+f 84 102 101
+f 86 101 102
+f 86 102 87
+f 87 102 103
+f 87 103 104
+f 87 104 88
+f 88 104 105
+f 88 105 94
+f 88 94 90
+f 90 94 92
+f 93 94 106
+f 93 106 105
+f 93 105 97
+f 94 105 106
+f 95 97 96
+f 96 97 107
+f 96 107 108
+f 96 108 109
+f 96 109 99
+f 97 105 107
+f 98 100 110
+f 98 110 103
+f 98 103 102
+f 99 109 100
+f 100 109 110
+f 103 110 104
+f 104 110 109
+f 104 109 105
+f 105 109 107
+f 107 109 108
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_32.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00105152 -0.05357851 0.05138144
+v 0.00209516 -0.05353448 0.05138144
+v 0.00003543 -0.05357432 0.05138144
+v -0.00037315 -0.05328495 0.04915848
+v 0.00105152 -0.05321785 0.04862777
+v 0.00311126 -0.05348835 0.05138144
+v -0.00037315 -0.05357222 0.05138144
+v -0.00037315 -0.05262233 0.04412178
+v 0.00105152 -0.05261814 0.04412178
+v 0.00417785 -0.05313607 0.04925861
+v 0.00507459 -0.05332689 0.05138144
+v 0.00311126 -0.05250910 0.04412178
+v -0.00037315 -0.05012923 0.05138146
+v -0.00037315 -0.03944552 -0.05091482
+v 0.00105152 -0.03941826 -0.05091482
+v 0.00516946 -0.05261186 0.04618453
+v 0.00311126 -0.03929035 -0.05091482
+v 0.00631563 -0.05315286 0.05121122
+v 0.00640744 -0.05315915 0.05138144
+v 0.00119996 -0.03940987 -0.05091482
+v -0.00037315 -0.04469831 0.01308044
+v 0.01526002 -0.04786676 0.05138146
+v 0.01526002 -0.04519953 0.03416853
+v 0.01526002 -0.03215904 -0.05091480
+v -0.00037315 -0.03573623 -0.05091481
+v 0.00722920 -0.05232669 0.04618453
+v 0.00532402 -0.03901357 -0.05091482
+v 0.00722920 -0.05260348 0.04825729
+v 0.00744343 -0.05298301 0.05138145
+v -0.00037315 -0.04460815 0.01243959
+v 0.01526002 -0.05134539 0.05138145
+v 0.01526002 -0.03612624 -0.05091481
+v 0.00928740 -0.05196813 0.04618453
+v 0.00928740 -0.05224702 0.04825729
+v 0.00610292 -0.03887937 -0.05091482
+v 0.00919711 -0.05267478 0.05138145
+v 0.01458670 -0.05151943 0.05138145
+v 0.01291718 -0.05121956 0.04618453
+v 0.00928128 -0.03820210 -0.05091482
+v 0.01134713 -0.03790226 -0.04899226
+v 0.01134713 -0.03762127 -0.05091482
+v 0.01320334 -0.03698803 -0.05091482
+v 0.01526002 -0.05026969 0.04412179
+v 0.01429136 -0.03654980 -0.05091481
+v 0.01526002 -0.03636319 -0.04934271
+v 0.01440613 -0.03665255 -0.04994352
+v 0.01134713 -0.05157183 0.04618453
+v 0.01134713 -0.05185491 0.04825729
+v 0.00658342 -0.03879550 -0.05091482
+v 0.00667677 -0.03881437 -0.05066449
+v 0.01134713 -0.05227009 0.05138145
+v 0.01340534 -0.05182137 0.05138145
+v 0.01254839 -0.05112100 0.04484274
+v 0.00847177 -0.03878083 -0.04836142
+v 0.00804789 -0.03867809 -0.04973325
+v 0.00746792 -0.03862356 -0.05091482
+v 0.01333495 -0.03693561 -0.05091482
+v 0.01422709 -0.03657706 -0.05091481
+v 0.01238924 -0.05204573 0.05138145
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 29
+f 1 29 36
+f 1 36 51
+f 1 51 59
+f 1 59 52
+f 1 52 37
+f 1 37 31
+f 1 31 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 13
+f 4 13 21
+f 4 21 30
+f 4 30 25
+f 4 25 14
+f 4 14 8
+f 4 8 5
+f 5 8 9
+f 5 9 6
+f 6 10 11
+f 6 9 12
+f 6 12 10
+f 8 14 9
+f 9 14 15
+f 9 15 12
+f 10 16 11
+f 10 12 17
+f 10 17 16
+f 11 18 19
+f 11 16 18
+f 12 15 20
+f 12 20 17
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 14 25 24
+f 14 24 32
+f 14 32 44
+f 14 44 58
+f 14 58 57
+f 14 57 42
+f 14 42 41
+f 14 41 39
+f 14 39 56
+f 14 56 49
+f 14 49 35
+f 14 35 27
+f 14 27 17
+f 14 17 20
+f 14 20 15
+f 16 26 18
+f 16 17 27
+f 16 27 26
+f 18 28 29
+f 18 29 19
+f 18 26 28
+f 21 24 30
+f 22 31 43
+f 22 43 45
+f 22 45 32
+f 22 32 24
+f 22 24 23
+f 24 25 30
+f 26 33 34
+f 26 34 28
+f 26 27 35
+f 26 35 33
+f 28 34 29
+f 29 34 36
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 32 45 46
+f 32 46 44
+f 33 47 48
+f 33 48 34
+f 33 35 49
+f 33 49 50
+f 33 50 47
+f 34 48 51
+f 34 51 36
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 41 40
+f 42 57 43
+f 43 57 46
+f 43 46 45
+f 44 46 58
+f 46 57 58
+f 47 53 48
+f 47 50 55
+f 47 55 54
+f 47 54 53
+f 48 52 59
+f 48 59 51
+f 48 53 52
+f 49 56 50
+f 50 56 55
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_33.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02562976 0.02298425 -0.05764876
+v 0.02562976 0.02439974 -0.06140985
+v 0.02562976 0.02948649 -0.05764873
+v 0.01370825 0.03153223 -0.05764872
+v 0.01370825 0.03246190 -0.06140982
+v 0.01370825 0.03276915 -0.06257817
+v 0.02405205 0.02656759 -0.06278989
+v 0.02562976 0.02595177 -0.06292505
+v 0.01370825 0.03286763 -0.06280571
+v 0.02562976 0.02944579 -0.05787944
+v 0.02517699 0.02958236 -0.05934080
+v 0.02535086 0.02972809 -0.05764873
+v 0.01370825 0.03227411 -0.05764872
+v 0.02562976 0.02596621 -0.06292716
+v 0.01370825 0.03407039 -0.06300263
+v 0.02562976 0.02918581 -0.05934080
+v 0.02494126 0.02938278 -0.06140983
+v 0.02386884 0.03060917 -0.05934080
+v 0.02430878 0.03056976 -0.05764873
+v 0.01546917 0.03570643 -0.05764871
+v 0.01370825 0.03639841 -0.05764924
+v 0.02174383 0.03035576 -0.06294668
+v 0.02562976 0.02597672 -0.06292663
+v 0.01752649 0.03229382 -0.06304170
+v 0.01370825 0.03435663 -0.06299629
+v 0.02562976 0.02877090 -0.06140983
+v 0.02478489 0.02925016 -0.06249476
+v 0.02351409 0.03049625 -0.06126517
+v 0.02270073 0.03128408 -0.06047853
+v 0.02283843 0.03138518 -0.05934079
+v 0.02406955 0.03075753 -0.05764873
+v 0.01610282 0.03544120 -0.05764871
+v 0.01505957 0.03564079 -0.05934078
+v 0.01370825 0.03616339 -0.05934078
+v 0.02370313 0.02964802 -0.06275451
+v 0.02558775 0.02803953 -0.06275029
+v 0.02562976 0.02799751 -0.06275082
+v 0.01943211 0.03228595 -0.06287171
+v 0.02112535 0.03159528 -0.06275291
+v 0.01527546 0.03438158 -0.06286219
+v 0.01370825 0.03539263 -0.06270328
+v 0.02562976 0.02801458 -0.06274396
+v 0.02249768 0.03112258 -0.06185806
+v 0.02174383 0.03175678 -0.06126516
+v 0.02164347 0.03217433 -0.05934079
+v 0.02304031 0.03153092 -0.05764872
+v 0.02178701 0.03236209 -0.05764872
+v 0.01665595 0.03519172 -0.05764871
+v 0.01633738 0.03531383 -0.05784880
+v 0.01608882 0.03520617 -0.05934078
+v 0.01468265 0.03548455 -0.06140981
+v 0.01370825 0.03609117 -0.05983072
+v 0.01752649 0.03365415 -0.06275556
+v 0.01864443 0.03337315 -0.06250953
+v 0.01370825 0.03553182 -0.06261141
+v 0.01989072 0.03289389 -0.06140982
+v 0.02020580 0.03308296 -0.05934079
+v 0.02049053 0.03319062 -0.05764872
+v 0.02149527 0.03255379 -0.05764872
+v 0.01739696 0.03483850 -0.05764871
+v 0.01752649 0.03452469 -0.05934078
+v 0.01571189 0.03503548 -0.06140981
+v 0.01752649 0.03417937 -0.06140981
+v 0.01446210 0.03539132 -0.06245936
+v 0.01370825 0.03580099 -0.06170968
+v 0.01370825 0.03585089 -0.06140981
+v 0.01886264 0.03349658 -0.06140982
+v 0.01917772 0.03366990 -0.05934079
+v 0.02043569 0.03321951 -0.05767987
+v 0.02039601 0.03324708 -0.05764872
+v 0.01956048 0.03371716 -0.05764872
+f 1 2 8
+f 1 8 14
+f 1 14 23
+f 1 23 37
+f 1 37 42
+f 1 42 26
+f 1 26 16
+f 1 16 10
+f 1 10 3
+f 1 3 12
+f 1 12 19
+f 1 19 31
+f 1 31 46
+f 1 46 47
+f 1 47 59
+f 1 59 58
+f 1 58 70
+f 1 70 71
+f 1 71 60
+f 1 60 48
+f 1 48 32
+f 1 32 20
+f 1 20 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 7
+f 3 10 11
+f 3 11 12
+f 4 13 21
+f 4 21 34
+f 4 34 52
+f 4 52 66
+f 4 66 65
+f 4 65 55
+f 4 55 41
+f 4 41 25
+f 4 25 15
+f 4 15 9
+f 4 9 6
+f 4 6 5
+f 7 9 8
+f 8 9 15
+f 8 15 14
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 14 22 23
+f 14 15 24
+f 14 24 22
+f 15 25 24
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 22 24 38
+f 22 38 39
+f 22 39 35
+f 24 25 40
+f 24 40 38
+f 25 41 40
+f 26 42 27
+f 27 35 39
+f 27 39 43
+f 27 43 28
+f 27 42 36
+f 27 36 35
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 46 31
+f 30 45 47
+f 30 47 46
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 36 42 37
+f 38 40 53
+f 38 53 39
+f 39 53 54
+f 39 54 43
+f 40 41 53
+f 41 55 53
+f 43 54 56
+f 43 56 44
+f 44 56 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 47
+f 48 60 49
+f 49 60 61
+f 49 61 50
+f 50 62 51
+f 50 61 63
+f 50 63 62
+f 51 62 64
+f 51 64 65
+f 51 65 66
+f 51 66 52
+f 53 55 64
+f 53 64 54
+f 54 64 63
+f 54 63 67
+f 54 67 56
+f 55 65 64
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 58 69 70
+f 60 71 68
+f 60 68 61
+f 61 68 67
+f 61 67 63
+f 62 63 64
+f 68 71 70
+f 68 70 69
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_34.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.01948139 0.03122489 -0.04678375
+v -0.00037121 0.03624257 -0.05098795
+v 0.01809375 0.03122491 -0.05098797
+v 0.01948139 0.03122491 -0.05098797
+v 0.01948139 0.03180812 -0.04288054
+v -0.00037121 0.05036467 0.05151887
+v -0.00037121 0.04555194 0.01732317
+v -0.00037121 0.04533823 0.01578798
+v -0.00037121 0.04524919 0.01514581
+v -0.00037121 0.04410945 0.00686779
+v -0.00037121 0.04365089 0.00350642
+v -0.00037121 0.04001584 -0.05098793
+v 0.01948139 0.03475998 -0.05098795
+v 0.01948139 0.03183706 -0.04268989
+v 0.01948139 0.04645116 0.05151885
+v -0.00037121 0.05396430 0.05151888
+v 0.01948139 0.03214203 -0.04071321
+v 0.01948139 0.03246258 -0.03864621
+v 0.00039452 0.04157853 -0.03983018
+v 0.00105141 0.04026961 -0.04899117
+v 0.00097562 0.03998467 -0.05098793
+v -0.00037121 0.04157853 -0.03983018
+v 0.01919764 0.03491358 -0.05098795
+v 0.01938616 0.03482899 -0.05087758
+v 0.01948139 0.04118663 -0.00977853
+v 0.01948139 0.05047153 0.05151887
+v 0.00077933 0.05396430 0.05151888
+v -0.00037121 0.05392868 0.05117773
+v -0.00037121 0.05330093 0.04619085
+v 0.00105141 0.05329871 0.04619085
+v 0.00311150 0.05320299 0.04619085
+v 0.00106891 0.04143606 -0.04059277
+v 0.00105141 0.04113332 -0.04278017
+v 0.00176661 0.04153846 -0.03953920
+v 0.00311150 0.04099530 -0.04278017
+v 0.00311150 0.04012491 -0.04899117
+v 0.00105141 0.03998245 -0.05098793
+v 0.01775169 0.03564820 -0.05098795
+v 0.01856601 0.03538996 -0.05006483
+v 0.01758844 0.03572611 -0.05098795
+v 0.01849022 0.04153167 -0.01053107
+v 0.01872149 0.04163629 -0.00914639
+v 0.01948139 0.04562984 0.01928983
+v 0.01752431 0.05116162 0.05151887
+v 0.01948139 0.04594371 0.02135682
+v 0.01662254 0.04161183 -0.01516675
+v 0.01426316 0.03737788 -0.04959322
+v 0.01395414 0.03728662 -0.05098794
+v 0.01296103 0.03765170 -0.05098794
+v 0.00118357 0.05395317 0.05151888
+v 0.00058498 0.05392868 0.05117773
+v -0.00037121 0.05356806 0.04825785
+v -0.00037121 0.05348570 0.04761567
+v 0.00105141 0.05356361 0.04825785
+v 0.00311150 0.05347234 0.04825785
+v 0.00516964 0.05330983 0.04825785
+v 0.00516964 0.05303380 0.04619084
+v 0.00445250 0.04982161 0.02216958
+v 0.00311150 0.04128023 -0.04071318
+v 0.00429313 0.04157852 -0.03776319
+v 0.00516964 0.04018055 -0.04692418
+v 0.00516964 0.03988671 -0.04899117
+v 0.00504720 0.03960846 -0.05098793
+v 0.00311150 0.03983107 -0.05098793
+v 0.01636600 0.03627374 -0.05098795
+v 0.01546034 0.03667889 -0.05098795
+v 0.01827449 0.04144040 -0.01174518
+v 0.01579267 0.05167808 0.05151887
+v 0.01288329 0.03767842 -0.05098794
+v 0.01134600 0.03818820 -0.05098794
+v 0.01037038 0.03951716 -0.04392403
+v 0.01540398 0.03670338 -0.05098795
+v 0.01452941 0.03748028 -0.04820854
+v 0.00185018 0.05391978 0.05151888
+v 0.00516964 0.05357251 0.05032484
+v 0.00311150 0.05385522 0.05151888
+v 0.00329030 0.05384409 0.05151888
+v 0.00524543 0.05371275 0.05151888
+v 0.00722972 0.05350572 0.05151888
+v 0.00722972 0.05334990 0.05032484
+v 0.00582459 0.04974815 0.02269134
+v 0.00516964 0.04104872 -0.04071318
+v 0.00634738 0.03952831 -0.05021532
+v 0.00566522 0.04148280 -0.03705078
+v 0.00629102 0.04157629 -0.03567613
+v 0.00507441 0.03960401 -0.05098793
+v 0.01519797 0.05184281 0.05151887
+v 0.00928981 0.03877812 -0.05098794
+v 0.00928981 0.03994680 -0.04278017
+v 0.01212728 0.04973253 0.03107972
+v 0.01480539 0.05194966 0.05151887
+v 0.00928981 0.05318293 0.05151888
+v 0.00722972 0.05306719 0.04825784
+v 0.00837637 0.05187179 0.04084275
+v 0.00654367 0.04983941 0.02406599
+v 0.00722972 0.04936303 0.02135683
+v 0.00678272 0.03961735 -0.04899117
+v 0.00711311 0.03926564 -0.05098794
+v 0.00707424 0.03927231 -0.05098794
+v 0.00722972 0.04069477 -0.04071318
+v 0.00791577 0.04973701 0.02484864
+v 0.00928981 0.04928955 0.02342382
+v 0.00923539 0.03879147 -0.05098794
+v 0.00820146 0.03948601 -0.04786737
+v 0.01169388 0.04963236 0.02963483
+v 0.01344301 0.05228358 0.05151887
+v 0.01418542 0.05210327 0.05151887
+v 0.01134600 0.05275775 0.05151887
+v 0.01034317 0.04979710 0.02855117
+v 0.00928981 0.05101253 0.03584585
+v 0.00722972 0.04964573 0.02339372
+v 0.00847355 0.04982827 0.02623332
+v 0.00781082 0.03941033 -0.04899118
+v 0.00984370 0.04970360 0.02717651
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 25
+f 1 25 43
+f 1 43 45
+f 1 45 26
+f 1 26 15
+f 1 15 18
+f 1 18 17
+f 1 17 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 21
+f 2 21 37
+f 2 37 64
+f 2 64 63
+f 2 63 86
+f 2 86 99
+f 2 99 98
+f 2 98 103
+f 2 103 88
+f 2 88 70
+f 2 70 69
+f 2 69 49
+f 2 49 48
+f 2 48 72
+f 2 72 66
+f 2 66 65
+f 2 65 40
+f 2 40 38
+f 2 38 23
+f 2 23 13
+f 2 13 4
+f 2 4 3
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 16
+f 2 16 28
+f 2 28 52
+f 2 52 53
+f 2 53 29
+f 2 29 22
+f 2 22 12
+f 5 14 6
+f 6 15 26
+f 6 26 44
+f 6 44 68
+f 6 68 87
+f 6 87 91
+f 6 91 107
+f 6 107 106
+f 6 106 108
+f 6 108 92
+f 6 92 79
+f 6 79 78
+f 6 78 77
+f 6 77 76
+f 6 76 74
+f 6 74 50
+f 6 50 27
+f 6 27 16
+f 6 14 17
+f 6 17 18
+f 6 18 15
+f 12 19 20
+f 12 20 21
+f 12 22 19
+f 13 23 24
+f 13 24 25
+f 16 27 51
+f 16 51 28
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 22 29
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 23 38 39
+f 23 39 25
+f 23 25 24
+f 25 39 38
+f 25 38 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 44
+f 27 50 51
+f 28 51 52
+f 29 53 30
+f 30 53 52
+f 30 52 54
+f 30 54 55
+f 30 55 31
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 34
+f 31 34 32
+f 32 34 33
+f 34 59 35
+f 34 58 59
+f 35 59 60
+f 35 60 36
+f 36 60 61
+f 36 61 62
+f 36 62 63
+f 36 63 64
+f 36 64 37
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 41 67 45
+f 41 45 43
+f 41 43 42
+f 44 49 69
+f 44 69 70
+f 44 70 71
+f 44 71 68
+f 45 67 72
+f 45 72 46
+f 46 72 73
+f 46 73 47
+f 47 73 72
+f 47 72 48
+f 50 74 55
+f 50 55 54
+f 50 54 51
+f 51 54 52
+f 55 75 56
+f 55 74 76
+f 55 76 77
+f 55 77 78
+f 55 78 75
+f 56 75 79
+f 56 79 80
+f 56 80 57
+f 57 80 81
+f 57 81 58
+f 58 81 60
+f 58 60 59
+f 60 82 61
+f 60 81 82
+f 61 83 62
+f 61 82 84
+f 61 84 85
+f 61 85 83
+f 62 83 63
+f 63 83 86
+f 66 72 67
+f 68 71 87
+f 70 88 71
+f 71 88 89
+f 71 89 90
+f 71 90 91
+f 71 91 87
+f 75 78 79
+f 79 92 80
+f 80 93 81
+f 80 92 94
+f 80 94 93
+f 81 93 95
+f 81 95 82
+f 82 95 96
+f 82 96 84
+f 83 97 98
+f 83 98 99
+f 83 99 86
+f 83 85 100
+f 83 100 97
+f 84 96 85
+f 85 96 101
+f 85 101 102
+f 85 102 100
+f 88 103 89
+f 89 103 104
+f 89 104 105
+f 89 105 90
+f 90 105 106
+f 90 106 107
+f 90 107 91
+f 92 108 109
+f 92 109 110
+f 92 110 94
+f 93 94 111
+f 93 111 95
+f 94 110 112
+f 94 112 101
+f 94 101 111
+f 95 111 96
+f 96 111 101
+f 97 113 98
+f 97 100 113
+f 98 113 103
+f 100 102 109
+f 100 109 113
+f 101 112 102
+f 102 112 110
+f 102 110 114
+f 102 114 109
+f 103 113 104
+f 104 113 109
+f 104 109 105
+f 105 109 106
+f 106 109 108
+f 109 114 110
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_35.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.04651541 0.01998942 0.05165485
+v -0.05045062 0.01998942 0.05165485
+v -0.04662709 0.01998942 0.05240497
+v -0.05173089 0.00013670 0.05860963
+v -0.05090424 0.00013673 0.05240276
+v -0.05080638 0.00013673 0.05165478
+v -0.05402547 0.01998940 0.05708812
+v -0.05047135 0.01994278 0.05165485
+v -0.04692413 0.01998941 0.05439176
+v -0.05221214 0.00013670 0.06067965
+v -0.04718548 0.01998940 0.05608726
+v -0.04725571 0.01998940 0.05654181
+v -0.04758383 0.01998939 0.05860970
+v -0.04762068 0.01998939 0.05883484
+v -0.05440310 0.00013673 0.05165478
+v -0.05455277 0.01998939 0.05857128
+v -0.05562120 0.01696758 0.05752026
+v -0.05089964 0.01888369 0.05165485
+v -0.05252645 0.00013670 0.06122596
+v -0.04804782 0.01998939 0.06050259
+v -0.04872594 0.01998938 0.06169339
+v -0.04894239 0.01998938 0.06207005
+v -0.05796299 0.00013671 0.05712113
+v -0.05440310 0.00019503 0.05165478
+v -0.05455968 0.01998939 0.05860970
+v -0.05143846 0.01743788 0.05165484
+v -0.05155359 0.01711335 0.05165484
+v -0.05176197 0.01645457 0.05165484
+v -0.05194734 0.01586769 0.05165484
+v -0.05255408 0.01376699 0.05165483
+v -0.05290408 0.01242807 0.05165483
+v -0.05578814 0.01582492 0.05732286
+v -0.05773617 0.00720641 0.05742953
+v -0.05696825 0.01170707 0.05860967
+v -0.05651808 0.01376696 0.05860968
+v -0.05598271 0.01582491 0.05860969
+v -0.05563387 0.01700838 0.05860969
+v -0.05457695 0.01994275 0.05860970
+v -0.05120474 0.01809471 0.05165485
+v -0.05304224 0.00013669 0.06212012
+v -0.05038845 0.01998938 0.06253847
+v -0.05827729 0.00013670 0.05860963
+v -0.05827039 0.00141733 0.05860964
+v -0.05795723 0.00141734 0.05712755
+v -0.05439850 0.00141736 0.05165479
+v -0.05398172 0.01998939 0.06068505
+v -0.05561199 0.01694814 0.05971192
+v -0.05311593 0.01160605 0.05165482
+v -0.05336346 0.01053918 0.05165482
+v -0.05408995 0.00553520 0.05165480
+v -0.05783749 0.00553518 0.05728440
+v -0.05818749 0.00347528 0.05860964
+v -0.05802170 0.00553517 0.05860965
+v -0.05777762 0.00749596 0.05860966
+v -0.05762334 0.00852396 0.05860966
+v -0.05739193 0.00965107 0.05860967
+v -0.05344060 0.01017967 0.05165482
+v -0.05360179 0.00923329 0.05165481
+v -0.05374224 0.00828108 0.05165481
+v -0.05383550 0.00761453 0.05165481
+v -0.05772696 0.00716171 0.05982606
+v -0.05455162 0.00013669 0.06253733
+v -0.05043450 0.01998938 0.06254701
+v -0.05043450 0.01994274 0.06254701
+v -0.05795492 0.00013670 0.06022616
+v -0.05795262 0.00141733 0.06022297
+v -0.05791117 0.00347528 0.06015788
+v -0.05791808 0.00347529 0.05717663
+v -0.05427876 0.00347531 0.05165479
+v -0.05400014 0.01985725 0.06073520
+v -0.05385508 0.01998939 0.06088779
+v -0.05577548 0.01582491 0.06000535
+v -0.05484751 0.01773323 0.06051219
+v -0.05359372 0.01911490 0.06177555
+v -0.05421198 0.00421959 0.05165480
+v -0.05782482 0.00553517 0.06001384
+v -0.05713979 0.00553517 0.06104779
+v -0.05713634 0.00774664 0.06058151
+v -0.05674374 0.00965107 0.06067969
+v -0.05621068 0.01181784 0.06086108
+v -0.05605064 0.01376696 0.06044069
+v -0.05455162 0.00141732 0.06254161
+v -0.05559011 0.00013669 0.06228658
+v -0.05243665 0.01998938 0.06215967
+v -0.05249191 0.01788285 0.06243496
+v -0.05249191 0.01582490 0.06255553
+v -0.05455162 0.00347527 0.06254801
+v -0.05769012 0.00013670 0.06061776
+v -0.05725377 0.00141732 0.06125798
+v -0.05721808 0.00347528 0.06119290
+v -0.05340951 0.01998938 0.06157601
+v -0.05509620 0.01582491 0.06104036
+v -0.05378369 0.01788285 0.06191213
+v -0.05256790 0.01985724 0.06213407
+v -0.05252991 0.01998938 0.06212767
+v -0.05536676 0.01376695 0.06147570
+v -0.05553370 0.01257766 0.06167203
+v -0.05598962 0.00759311 0.06200918
+v -0.05583304 0.00965106 0.06191103
+v -0.05569143 0.01120375 0.06180753
+v -0.05622334 0.00013669 0.06213079
+v -0.05622449 0.00141732 0.06213294
+v -0.05406577 0.01582490 0.06207964
+v -0.05433748 0.01376695 0.06218206
+v -0.05455162 0.00965106 0.06243814
+v -0.05455162 0.00759311 0.06250002
+v -0.05455162 0.00553516 0.06253202
+v -0.05725262 0.00013669 0.06126011
+v -0.05618880 0.00347527 0.06211587
+v -0.05611051 0.00553516 0.06207533
+v -0.05472893 0.01181783 0.06218952
+f 1 2 7
+f 1 7 16
+f 1 16 25
+f 1 25 46
+f 1 46 71
+f 1 71 91
+f 1 91 95
+f 1 95 84
+f 1 84 63
+f 1 63 41
+f 1 41 22
+f 1 22 21
+f 1 21 20
+f 1 20 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 24
+f 1 24 45
+f 1 45 69
+f 1 69 75
+f 1 75 50
+f 1 50 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 49
+f 1 49 48
+f 1 48 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 39
+f 1 39 18
+f 1 18 8
+f 1 8 2
+f 2 8 7
+f 3 9 4
+f 4 10 19
+f 4 19 40
+f 4 40 62
+f 4 62 83
+f 4 83 101
+f 4 101 108
+f 4 108 88
+f 4 88 65
+f 4 65 42
+f 4 42 23
+f 4 23 15
+f 4 15 6
+f 4 6 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 7 8 17
+f 7 17 16
+f 8 18 17
+f 10 14 20
+f 10 20 21
+f 10 21 22
+f 10 22 19
+f 15 23 24
+f 16 17 25
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 25
+f 17 18 39
+f 17 39 26
+f 19 22 40
+f 22 41 40
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 25 38 47
+f 25 47 46
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 33 49 57
+f 33 57 58
+f 33 58 59
+f 33 59 60
+f 33 60 50
+f 34 56 61
+f 34 61 47
+f 34 47 35
+f 35 47 36
+f 36 47 37
+f 37 47 38
+f 40 41 62
+f 41 63 64
+f 41 64 62
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 52
+f 43 52 68
+f 43 68 44
+f 44 68 45
+f 45 68 69
+f 46 70 71
+f 46 47 70
+f 47 61 72
+f 47 72 73
+f 47 73 74
+f 47 74 70
+f 50 75 51
+f 51 75 69
+f 51 69 68
+f 51 68 52
+f 52 67 76
+f 52 76 61
+f 52 61 53
+f 53 61 54
+f 54 61 55
+f 55 61 56
+f 61 76 77
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 81
+f 61 81 72
+f 62 82 83
+f 62 64 82
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 64 86 87
+f 64 87 82
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 67
+f 67 90 77
+f 67 77 76
+f 70 74 71
+f 71 74 91
+f 72 81 92
+f 72 92 74
+f 72 74 73
+f 74 93 94
+f 74 94 95
+f 74 95 91
+f 74 92 96
+f 74 96 97
+f 74 97 93
+f 77 98 99
+f 77 99 100
+f 77 100 78
+f 77 90 98
+f 78 100 79
+f 79 100 97
+f 79 97 80
+f 80 97 81
+f 81 97 96
+f 81 96 92
+f 82 87 83
+f 83 87 102
+f 83 102 101
+f 84 95 94
+f 84 94 85
+f 85 94 103
+f 85 103 104
+f 85 104 105
+f 85 105 86
+f 86 105 106
+f 86 106 107
+f 86 107 87
+f 87 107 102
+f 88 108 89
+f 89 102 109
+f 89 109 90
+f 89 108 102
+f 90 109 110
+f 90 110 98
+f 93 97 100
+f 93 100 103
+f 93 103 94
+f 98 105 99
+f 98 110 105
+f 99 105 111
+f 99 111 104
+f 99 104 100
+f 100 104 103
+f 101 102 108
+f 102 107 109
+f 104 111 105
+f 105 110 109
+f 105 109 106
+f 106 109 107
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_36.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01948139 0.03475929 -0.05098795
+v 0.02131201 0.03373461 -0.05098796
+v 0.01948139 0.03122491 -0.05098797
+v 0.01948139 0.03485367 -0.05039462
+v 0.02456450 0.04352469 0.02089674
+v 0.02233515 0.03311055 -0.05098796
+v 0.02557761 0.04305087 0.02149007
+v 0.02743080 0.04194914 0.02135707
+v 0.02494065 0.03122491 -0.05098797
+v 0.01948139 0.03122489 -0.04678353
+v 0.01948139 0.04117882 -0.00981307
+v 0.02187123 0.04997506 0.05351953
+v 0.02380717 0.04400428 0.02149007
+v 0.02555754 0.04816068 0.05351953
+v 0.02476762 0.04363255 0.02227776
+v 0.02253577 0.03323767 -0.04947395
+v 0.02371689 0.03214366 -0.05098796
+v 0.02602398 0.04790451 0.05351953
+v 0.02595627 0.04313946 0.02342350
+v 0.02780194 0.04685671 0.05351952
+v 0.02835363 0.04652542 0.05351952
+v 0.02886019 0.04156006 0.02443624
+v 0.02868214 0.04144450 0.02305522
+v 0.02428363 0.03173533 -0.05098796
+v 0.02486542 0.03137129 -0.05062992
+v 0.02501588 0.03122491 -0.05074245
+v 0.01948139 0.03183545 -0.04269161
+v 0.04019499 0.03122452 0.05351946
+v 0.01948139 0.05089959 0.05351954
+v 0.01953656 0.05088225 0.05351954
+v 0.01958671 0.05086492 0.05351954
+v 0.02140981 0.05017923 0.05351953
+v 0.02386234 0.03204157 -0.05098796
+v 0.03191958 0.04426996 0.05351951
+v 0.03235843 0.04397335 0.05351951
+v 0.02968021 0.04083200 0.02361785
+v 0.03005385 0.04016557 0.02128546
+v 0.03085631 0.03945677 0.02055914
+v 0.03130269 0.03775991 0.01308117
+v 0.02684149 0.03130576 -0.04196530
+v 0.02691672 0.03122487 -0.04203691
+v 0.01948139 0.03214169 -0.04070703
+v 0.04510005 0.03122452 0.05351946
+v 0.01948139 0.04673537 0.05351952
+v 0.03405614 0.04272716 0.05351951
+v 0.03101430 0.03958004 0.02194017
+v 0.03255403 0.03707614 0.01514759
+v 0.03560841 0.04146557 0.05351950
+v 0.03548302 0.03988429 0.04411833
+v 0.03525984 0.03969746 0.04205192
+v 0.03291263 0.03739008 0.01852341
+v 0.02853418 0.03122485 -0.03450779
+v 0.04323684 0.03122456 0.04281911
+v 0.04484176 0.03164633 0.05351947
+v 0.03347436 0.03585115 0.01308116
+v 0.02880502 0.03122484 -0.03322907
+v 0.03695504 0.03937963 0.04826138
+v 0.03684471 0.04040429 0.05351950
+v 0.03707040 0.03948556 0.04937644
+v 0.04273780 0.03122457 0.04000592
+v 0.04433270 0.03234358 0.05351947
+v 0.04236415 0.03122458 0.03790882
+v 0.03503415 0.03538887 0.01821651
+v 0.03087638 0.03123250 -0.02294814
+v 0.03088390 0.03122480 -0.02294814
+v 0.03798571 0.03878061 0.05016412
+v 0.03748668 0.03984765 0.05351950
+v 0.03851734 0.03891927 0.05351949
+v 0.03840199 0.03881527 0.05239421
+v 0.04123067 0.03335291 0.04088569
+v 0.04262746 0.03444495 0.05351948
+v 0.03788289 0.03122467 0.01308114
+v 0.03928720 0.03758258 0.05032780
+v 0.03552064 0.03383646 0.01308115
+v 0.03499402 0.03122473 -0.00224307
+v 0.03901637 0.03844545 0.05351949
+v 0.03948782 0.03778674 0.05239421
+v 0.04153912 0.03575662 0.05351948
+v 0.03750172 0.03122468 0.01100450
+v 0.03728355 0.03149048 0.01101474
+v 0.04051849 0.03666767 0.05239420
+v 0.03715315 0.03134024 0.00964395
+v 0.03723089 0.03122468 0.00955187
+v 0.03958813 0.03789074 0.05351949
+v 0.04061879 0.03678515 0.05351949
+f 1 2 6
+f 1 6 17
+f 1 17 33
+f 1 33 24
+f 1 24 9
+f 1 9 3
+f 1 3 10
+f 1 10 27
+f 1 27 42
+f 1 42 44
+f 1 44 29
+f 1 29 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 26
+f 3 26 41
+f 3 41 52
+f 3 52 56
+f 3 56 65
+f 3 65 75
+f 3 75 83
+f 3 83 79
+f 3 79 72
+f 3 72 62
+f 3 62 60
+f 3 60 53
+f 3 53 43
+f 3 43 28
+f 3 28 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 7
+f 6 16 17
+f 6 8 16
+f 7 15 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 16
+f 9 24 25
+f 9 25 26
+f 10 28 27
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 12
+f 12 32 31
+f 12 31 30
+f 12 30 29
+f 12 29 44
+f 12 44 28
+f 12 28 43
+f 12 43 54
+f 12 54 61
+f 12 61 71
+f 12 71 78
+f 12 78 85
+f 12 85 84
+f 12 84 76
+f 12 76 68
+f 12 68 67
+f 12 67 58
+f 12 58 48
+f 12 48 45
+f 12 45 35
+f 12 35 34
+f 12 34 21
+f 12 21 20
+f 12 20 18
+f 12 18 14
+f 12 14 13
+f 14 18 15
+f 16 33 17
+f 16 23 22
+f 16 22 33
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 33
+f 24 33 38
+f 24 38 25
+f 25 39 26
+f 25 38 39
+f 26 39 40
+f 26 40 41
+f 27 28 42
+f 28 44 42
+f 33 37 38
+f 35 45 46
+f 35 46 37
+f 35 37 36
+f 37 46 38
+f 38 46 39
+f 39 47 40
+f 39 46 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 47
+f 40 52 41
+f 40 47 52
+f 43 53 54
+f 45 48 46
+f 47 55 56
+f 47 56 52
+f 47 51 57
+f 47 57 55
+f 48 58 59
+f 48 59 49
+f 49 59 50
+f 50 59 51
+f 51 59 57
+f 53 60 54
+f 54 60 62
+f 54 62 61
+f 55 57 63
+f 55 63 56
+f 56 64 65
+f 56 63 64
+f 57 59 66
+f 57 66 63
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 66
+f 61 70 71
+f 61 62 72
+f 61 72 70
+f 63 66 73
+f 63 73 74
+f 63 74 65
+f 63 65 64
+f 65 74 75
+f 66 69 73
+f 68 76 77
+f 68 77 69
+f 69 77 73
+f 70 78 71
+f 70 72 79
+f 70 79 80
+f 70 80 78
+f 73 77 81
+f 73 81 75
+f 73 75 74
+f 75 80 82
+f 75 82 83
+f 75 81 80
+f 76 84 77
+f 77 84 85
+f 77 85 81
+f 78 81 85
+f 78 80 81
+f 79 83 82
+f 79 82 80
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_37.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.05440389 0.00013673 0.05165478
+v -0.05439714 0.00141736 0.05165479
+v -0.05439939 0.00013673 0.05161462
+v -0.05080589 0.00013673 0.05165478
+v -0.05424168 0.00141737 0.05032946
+v -0.05435433 0.00216164 0.05165479
+v -0.05388571 0.00347532 0.04826114
+v -0.05375504 0.00013675 0.04619281
+v -0.04508107 0.01998946 0.04204620
+v -0.04651397 0.01998942 0.05165485
+v -0.04837268 0.00013680 0.03377285
+v -0.03138748 0.01998980 -0.05091777
+v -0.05374603 0.00141738 0.04619282
+v -0.05427773 0.00347531 0.05165479
+v -0.05358381 0.00501442 0.04675509
+v -0.05363112 0.00341703 0.04611249
+v -0.05368970 0.00013675 0.04566067
+v -0.05044992 0.01998942 0.05165485
+v -0.04671899 0.00013684 0.02135289
+v -0.03754487 0.00013711 -0.05091784
+v -0.03600158 0.01998980 -0.05091777
+v -0.05353875 0.00269218 0.04503818
+v -0.05357029 0.00141739 0.04480724
+v -0.05357705 0.00013676 0.04474699
+v -0.05421239 0.00421959 0.05165480
+v -0.05348693 0.00406415 0.04537954
+v -0.05393978 0.00553521 0.05032947
+v -0.05368069 0.00563432 0.04816075
+v -0.05349594 0.00638638 0.04739768
+v -0.04122848 0.00498174 -0.05055636
+v -0.04120595 0.00479130 -0.05091782
+v -0.04126228 0.00413252 -0.05091782
+v -0.04131410 0.00352622 -0.05091783
+v -0.05047020 0.01994278 0.05165485
+v -0.04973573 0.01998944 0.04600211
+v -0.04141323 0.00013711 -0.05091784
+v -0.03603086 0.01994316 -0.05091777
+v -0.03861278 0.01998973 -0.03303583
+v -0.04141773 0.00141774 -0.05091783
+v -0.04141773 0.00127200 -0.05091784
+v -0.05408848 0.00553520 0.05165480
+v -0.05358606 0.00701017 0.04878326
+v -0.04108429 0.00575129 -0.05091782
+v -0.04113611 0.00535291 -0.05091782
+v -0.05089826 0.01888369 0.05165485
+v -0.04967715 0.01955221 0.04412456
+v -0.04948790 0.01998945 0.04412456
+v -0.03683293 0.01849541 -0.05091777
+v -0.03911519 0.01892869 -0.03352782
+v -0.04069453 0.01998968 -0.01852747
+v -0.05383389 0.00761453 0.05165481
+v -0.05367393 0.00765535 0.05028932
+v -0.05357255 0.00892236 0.05095198
+v -0.05348243 0.00838214 0.04957645
+v -0.04113611 0.00635370 -0.04979329
+v -0.04080718 0.00744973 -0.05091781
+v -0.05120241 0.01809471 0.05165485
+v -0.04953521 0.01922575 0.04204620
+v -0.05058285 0.01788291 0.04619288
+v -0.04920177 0.01998946 0.04204620
+v -0.03735787 0.01746741 -0.05091778
+v -0.03901831 0.01873049 -0.03490335
+v -0.04431957 0.01998958 0.00687471
+v -0.05374152 0.00828108 0.05165481
+v -0.05360183 0.00923329 0.05165481
+v -0.05343962 0.01017967 0.05165482
+v -0.04078014 0.00758964 -0.05091781
+v -0.05143672 0.01743788 0.05165484
+v -0.04944284 0.01900810 0.04073090
+v -0.05031249 0.01788292 0.04412456
+v -0.04537171 0.01910537 0.01142301
+v -0.04527483 0.01888967 0.01004748
+v -0.03885159 0.01413077 -0.05091779
+v -0.05120467 0.01604067 0.04619287
+v -0.05151107 0.01699286 0.05101225
+v -0.05155162 0.01711335 0.05165484
+v -0.04519598 0.01998956 0.01307967
+v -0.03742095 0.01733332 -0.05091778
+v -0.03915349 0.01694851 -0.03998379
+v -0.04117216 0.01892476 -0.01902949
+v -0.04496167 0.01998957 0.01141297
+v -0.05336302 0.01053918 0.05165482
+v -0.04032279 0.00965148 -0.05091780
+v -0.04739488 0.01698327 0.01995733
+v -0.04766749 0.01595721 0.01927458
+v -0.04757287 0.01544613 0.01721630
+v -0.04494590 0.01985160 0.01084067
+v -0.03812839 0.01582532 -0.05091778
+v -0.03817119 0.01572816 -0.05091778
+v -0.03924361 0.01310082 -0.05091779
+v -0.05146376 0.01480085 0.04514866
+v -0.05153135 0.01501267 0.04619287
+v -0.04743093 0.01504776 0.01514798
+v -0.04735433 0.01482817 0.01403349
+v -0.05175439 0.01594544 0.05031947
+v -0.05176115 0.01645457 0.05165484
+v -0.05311519 0.01160605 0.05165482
+v -0.05292144 0.01170711 0.05032949
+v -0.03976180 0.01156368 -0.05091780
+v -0.04720789 0.01647413 0.01721630
+v -0.03928642 0.01298034 -0.05091779
+v -0.03971899 0.01170748 -0.05091780
+v -0.05238973 0.01376700 0.05032950
+v -0.05255420 0.01376699 0.05165483
+v -0.05194590 0.01586769 0.05165484
+v -0.05290341 0.01242807 0.05165483
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 24
+f 1 24 36
+f 1 36 20
+f 1 20 19
+f 1 19 11
+f 1 11 4
+f 1 4 10
+f 1 10 18
+f 1 18 34
+f 1 34 45
+f 1 45 57
+f 1 57 68
+f 1 68 76
+f 1 76 96
+f 1 96 105
+f 1 105 104
+f 1 104 106
+f 1 106 97
+f 1 97 82
+f 1 82 66
+f 1 66 65
+f 1 65 64
+f 1 64 51
+f 1 51 41
+f 1 41 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 4 11 12
+f 4 12 9
+f 5 7 13
+f 5 13 8
+f 6 14 7
+f 7 15 16
+f 7 16 13
+f 7 14 15
+f 8 13 17
+f 9 12 21
+f 9 21 38
+f 9 38 50
+f 9 50 63
+f 9 63 81
+f 9 81 77
+f 9 77 60
+f 9 60 47
+f 9 47 35
+f 9 35 18
+f 9 18 10
+f 11 19 12
+f 12 20 36
+f 12 36 40
+f 12 40 39
+f 12 39 33
+f 12 33 32
+f 12 32 31
+f 12 31 44
+f 12 44 43
+f 12 43 56
+f 12 56 67
+f 12 67 83
+f 12 83 99
+f 12 99 102
+f 12 102 101
+f 12 101 90
+f 12 90 73
+f 12 73 89
+f 12 89 88
+f 12 88 78
+f 12 78 61
+f 12 61 48
+f 12 48 37
+f 12 37 21
+f 12 19 20
+f 13 16 22
+f 13 22 23
+f 13 23 24
+f 13 24 17
+f 14 25 15
+f 15 26 16
+f 15 25 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 26
+f 16 26 33
+f 16 33 22
+f 18 35 34
+f 21 37 38
+f 22 33 39
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 24 40 36
+f 25 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 34 35 46
+f 34 46 45
+f 35 47 46
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 55 56
+f 43 54 55
+f 45 46 57
+f 46 47 58
+f 46 58 59
+f 46 59 57
+f 47 60 58
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 51 64 52
+f 52 64 53
+f 53 64 65
+f 53 65 66
+f 53 66 56
+f 53 56 55
+f 53 55 54
+f 56 66 67
+f 57 59 68
+f 58 69 70
+f 58 70 59
+f 58 60 71
+f 58 71 72
+f 58 72 73
+f 58 73 69
+f 59 70 74
+f 59 74 75
+f 59 75 76
+f 59 76 68
+f 60 77 71
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 63
+f 63 80 81
+f 66 82 67
+f 67 82 83
+f 69 84 70
+f 69 73 84
+f 70 84 85
+f 70 85 86
+f 70 86 74
+f 71 77 87
+f 71 87 79
+f 71 79 88
+f 71 88 89
+f 71 89 72
+f 72 89 73
+f 73 90 84
+f 74 91 92
+f 74 92 75
+f 74 86 93
+f 74 93 94
+f 74 94 91
+f 75 95 96
+f 75 96 76
+f 75 92 95
+f 77 81 87
+f 78 88 79
+f 79 87 81
+f 79 81 80
+f 82 97 98
+f 82 98 83
+f 83 98 91
+f 83 91 99
+f 84 100 86
+f 84 86 85
+f 84 90 100
+f 86 100 101
+f 86 101 102
+f 86 102 93
+f 90 101 100
+f 91 98 103
+f 91 103 104
+f 91 104 92
+f 91 94 99
+f 92 104 105
+f 92 105 95
+f 93 102 94
+f 94 102 99
+f 95 105 96
+f 97 106 98
+f 98 106 103
+f 103 106 104
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_38.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.02900996 -0.02140785 -0.05091476
+v 0.03633981 0.00030778 -0.05091468
+v 0.03344150 -0.02140785 -0.05091476
+v 0.04589046 -0.02140823 0.05146989
+v 0.05098949 0.00030740 0.05146997
+v 0.04869091 0.00030746 0.03584568
+v 0.04627941 0.00030752 0.01928936
+v 0.04614140 0.00030752 0.01832725
+v 0.04022431 0.00030778 -0.05091468
+v 0.03347914 -0.02135258 -0.05091476
+v 0.03375768 -0.02140786 -0.04899054
+v 0.04978751 -0.02140823 0.05146989
+v 0.05464313 0.00030740 0.05146997
+v 0.04021678 -0.00049580 -0.05091468
+v 0.05420901 0.00030741 0.04826293
+v 0.05421152 -0.00064285 0.04826293
+v 0.03463847 -0.01951159 -0.05091475
+v 0.03479404 -0.01978583 -0.04899053
+v 0.03387813 -0.02122504 -0.04899054
+v 0.03949660 -0.02140799 -0.01353274
+v 0.04986028 -0.02124029 0.05146989
+v 0.04915013 -0.02140821 0.04711032
+v 0.04911249 -0.02114035 0.04602795
+v 0.04953155 -0.02039630 0.04660923
+v 0.05464564 -0.00064286 0.05146997
+v 0.05449508 0.00030741 0.05032746
+v 0.04021428 -0.00064248 -0.05091468
+v 0.05434200 0.00030741 0.04921502
+v 0.05449508 -0.00064285 0.05032746
+v 0.05411114 -0.00270068 0.04826292
+v 0.05382006 -0.00270067 0.04618837
+v 0.03468112 -0.01943718 -0.05091475
+v 0.03522064 -0.01848267 -0.05091475
+v 0.04713762 -0.02140816 0.03377105
+v 0.04497956 -0.02140811 0.02038167
+v 0.05038975 -0.01999241 0.05146990
+v 0.04899204 -0.02140821 0.04604799
+v 0.04943118 -0.02017096 0.04523622
+v 0.04870346 -0.02140820 0.04412377
+v 0.04769720 -0.02088096 0.03584560
+v 0.05073855 -0.01916758 0.05146990
+v 0.05459545 -0.00157186 0.05146996
+v 0.05438466 -0.00270068 0.05032745
+v 0.04007124 -0.00270031 -0.05091469
+v 0.05396560 -0.00476064 0.04826291
+v 0.05367702 -0.00465646 0.04614827
+v 0.03594835 -0.01710937 -0.05091474
+v 0.04753661 -0.02053444 0.03377105
+v 0.04745631 -0.02140817 0.03584560
+v 0.03678899 -0.01543632 -0.05091474
+v 0.03726326 -0.01440528 -0.05091473
+v 0.04934837 -0.01997112 0.04412378
+v 0.04951148 -0.01829806 0.04055595
+v 0.04962189 -0.01856805 0.04204922
+v 0.04977496 -0.01894221 0.04412378
+v 0.04988286 -0.01935676 0.04602796
+v 0.04843998 -0.01916752 0.03584561
+v 0.05027934 -0.01916757 0.04826286
+v 0.05102713 -0.01844266 0.05146990
+v 0.05453272 -0.00270069 0.05146996
+v 0.05423661 -0.00476064 0.05032744
+v 0.03985042 -0.00461146 -0.05091470
+v 0.05351893 -0.00527508 0.04543671
+v 0.05362433 -0.00614669 0.04680972
+v 0.04743372 -0.02030272 0.03243814
+v 0.03731345 -0.01428198 -0.05091473
+v 0.04940859 -0.01804295 0.03918293
+v 0.04875114 -0.01916753 0.03791014
+v 0.05133076 -0.01765184 0.05146991
+v 0.05446496 -0.00362969 0.05146996
+v 0.05398568 -0.00681847 0.05032743
+v 0.05437965 -0.00476065 0.05146995
+v 0.05426672 -0.00568752 0.05146995
+v 0.03983285 -0.00476027 -0.05091470
+v 0.05371717 -0.00682697 0.04829296
+v 0.05350639 -0.00751999 0.04763151
+v 0.03946398 -0.00699029 -0.05091471
+v 0.03783540 -0.01299159 -0.05091473
+v 0.04931574 -0.01777297 0.03791014
+v 0.05076616 -0.01710973 0.04618832
+v 0.05153152 -0.01708637 0.05146991
+v 0.05412871 -0.00681848 0.05146994
+v 0.05378242 -0.00883591 0.05146994
+v 0.05360174 -0.00805572 0.04900453
+v 0.05336084 -0.00879551 0.04829296
+v 0.03923061 -0.00818715 -0.05091471
+v 0.03853049 -0.01092313 -0.05091472
+v 0.05131320 -0.01551108 0.04618832
+v 0.04967207 -0.01674405 0.03791015
+v 0.05142863 -0.01585761 0.04777179
+v 0.05114005 -0.01693754 0.04837311
+v 0.05169211 -0.01662293 0.05146991
+v 0.05360425 -0.00979893 0.05146993
+v 0.05356661 -0.00992010 0.05133964
+v 0.05347126 -0.00942902 0.04996664
+v 0.03916034 -0.00848477 -0.05091471
+v 0.05290163 -0.01093413 0.04826289
+v 0.05260301 -0.01093412 0.04618834
+v 0.03856311 -0.01080833 -0.05091472
+v 0.05145122 -0.01382740 0.04343228
+v 0.05155410 -0.01417391 0.04481531
+v 0.05165447 -0.01448217 0.04618833
+v 0.05175485 -0.01512206 0.04837311
+v 0.05205346 -0.01504978 0.05032740
+v 0.05221406 -0.01504979 0.05146991
+v 0.05201582 -0.01565141 0.05146991
+v 0.05357414 -0.00996049 0.05146993
+v 0.05334077 -0.01101704 0.05146993
+v 0.03902484 -0.00905025 -0.05091471
+v 0.05307979 -0.01205871 0.05146993
+v 0.05208106 -0.01299195 0.04618833
+v 0.05237968 -0.01299196 0.04826288
+v 0.05283638 -0.01299197 0.05146992
+v 0.05255785 -0.01391884 0.05146992
+f 1 2 9
+f 1 9 14
+f 1 14 27
+f 1 27 44
+f 1 44 62
+f 1 62 74
+f 1 74 77
+f 1 77 86
+f 1 86 96
+f 1 96 109
+f 1 109 99
+f 1 99 87
+f 1 87 78
+f 1 78 66
+f 1 66 51
+f 1 51 50
+f 1 50 47
+f 1 47 33
+f 1 33 32
+f 1 32 17
+f 1 17 10
+f 1 10 3
+f 1 3 11
+f 1 11 20
+f 1 20 35
+f 1 35 34
+f 1 34 49
+f 1 49 39
+f 1 39 37
+f 1 37 22
+f 1 22 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 26
+f 2 26 28
+f 2 28 15
+f 2 15 9
+f 3 10 11
+f 4 12 21
+f 4 21 36
+f 4 36 41
+f 4 41 59
+f 4 59 69
+f 4 69 81
+f 4 81 92
+f 4 92 106
+f 4 106 105
+f 4 105 114
+f 4 114 113
+f 4 113 110
+f 4 110 108
+f 4 108 107
+f 4 107 93
+f 4 93 83
+f 4 83 82
+f 4 82 73
+f 4 73 72
+f 4 72 70
+f 4 70 60
+f 4 60 42
+f 4 42 25
+f 4 25 13
+f 4 13 5
+f 9 15 16
+f 9 16 14
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 13 25 26
+f 14 16 27
+f 15 28 16
+f 16 28 26
+f 16 26 29
+f 16 29 30
+f 16 30 31
+f 16 31 27
+f 17 32 18
+f 18 20 19
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 20
+f 21 24 36
+f 22 37 23
+f 23 38 24
+f 23 37 39
+f 23 39 40
+f 23 40 38
+f 24 38 41
+f 24 41 36
+f 25 42 43
+f 25 43 29
+f 25 29 26
+f 27 31 44
+f 29 43 30
+f 30 45 46
+f 30 46 31
+f 30 43 45
+f 31 46 44
+f 33 47 34
+f 34 48 40
+f 34 40 49
+f 34 47 50
+f 34 50 51
+f 34 51 48
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 41
+f 38 40 48
+f 38 48 57
+f 38 57 52
+f 39 49 40
+f 41 58 59
+f 41 56 58
+f 42 60 43
+f 43 61 45
+f 43 60 61
+f 44 46 63
+f 44 63 64
+f 44 64 62
+f 45 61 64
+f 45 64 63
+f 45 63 46
+f 48 51 65
+f 48 65 57
+f 51 66 67
+f 51 67 53
+f 51 53 57
+f 51 57 65
+f 52 57 68
+f 52 68 53
+f 53 68 57
+f 53 67 69
+f 53 69 59
+f 53 59 54
+f 54 59 55
+f 55 59 58
+f 55 58 56
+f 60 70 61
+f 61 71 64
+f 61 70 72
+f 61 72 73
+f 61 73 71
+f 62 64 74
+f 64 71 75
+f 64 75 76
+f 64 76 77
+f 64 77 74
+f 66 78 67
+f 67 79 80
+f 67 80 69
+f 67 78 79
+f 69 80 81
+f 71 73 82
+f 71 82 83
+f 71 83 84
+f 71 84 75
+f 75 84 76
+f 76 84 85
+f 76 85 77
+f 77 85 86
+f 78 87 88
+f 78 88 89
+f 78 89 79
+f 79 89 80
+f 80 90 91
+f 80 91 81
+f 80 89 90
+f 81 91 90
+f 81 90 92
+f 83 93 94
+f 83 94 84
+f 84 94 95
+f 84 95 85
+f 85 95 86
+f 86 95 94
+f 86 94 97
+f 86 97 98
+f 86 98 96
+f 87 99 100
+f 87 100 101
+f 87 101 102
+f 87 102 88
+f 88 102 90
+f 88 90 89
+f 90 102 103
+f 90 103 104
+f 90 104 105
+f 90 105 106
+f 90 106 92
+f 93 107 94
+f 94 107 108
+f 94 108 97
+f 96 98 109
+f 97 108 110
+f 97 110 98
+f 98 110 111
+f 98 111 109
+f 99 109 111
+f 99 111 100
+f 100 111 101
+f 101 111 112
+f 101 112 113
+f 101 113 102
+f 102 113 114
+f 102 114 105
+f 102 105 104
+f 102 104 103
+f 110 113 112
+f 110 112 111
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_39.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01526122 -0.05134627 0.05138145
+v 0.01535004 -0.05132137 0.05138145
+v 0.01526122 -0.04786679 0.05138146
+v 0.01526122 -0.05023712 0.04391151
+v 0.01546648 -0.05021223 0.04412179
+v 0.01636075 -0.05102819 0.05138145
+v 0.01526122 -0.04520043 0.03416853
+v 0.02752294 -0.04222717 0.05138148
+v 0.02752294 -0.02308969 -0.05091476
+v 0.01526122 -0.03640740 -0.04905233
+v 0.01752630 -0.04991629 0.04618454
+v 0.01750110 -0.05067416 0.05138145
+v 0.01526122 -0.03215900 -0.05091480
+v 0.02752294 -0.04625152 0.05138147
+v 0.02752294 -0.02823975 -0.05091478
+v 0.01526122 -0.03612803 -0.05091481
+v 0.01864985 -0.04905056 0.04286011
+v 0.01752630 -0.04960927 0.04412179
+v 0.01890672 -0.04915013 0.04412179
+v 0.01932445 -0.04930780 0.04618454
+v 0.01958493 -0.04996886 0.05138146
+v 0.02652544 -0.04681576 0.05138147
+v 0.02752294 -0.04603024 0.04997961
+v 0.02713523 -0.02859655 -0.05091479
+v 0.02752294 -0.02836423 -0.05026391
+v 0.01546048 -0.03603952 -0.05091481
+v 0.02156193 -0.04869931 0.04810710
+v 0.02058003 -0.04900078 0.04731605
+v 0.02138908 -0.04926909 0.05138146
+v 0.02558556 -0.04731085 0.05138147
+v 0.02605970 -0.04657512 0.04825731
+v 0.02752294 -0.04574259 0.04816719
+v 0.02706080 -0.02866293 -0.05091479
+v 0.02752294 -0.03655968 -0.00466317
+v 0.01561532 -0.03596761 -0.05091481
+v 0.02370338 -0.04775615 0.04825730
+v 0.02232656 -0.04886528 0.05138146
+v 0.02164356 -0.04836463 0.04618454
+v 0.02361456 -0.04827891 0.05138146
+v 0.02502979 -0.04710893 0.04825731
+v 0.02482692 -0.04700382 0.04693555
+v 0.01849980 -0.03458191 -0.05091481
+v 0.02752294 -0.04532217 0.04560377
+v 0.02566118 -0.02982460 -0.05091479
+v 0.02752294 -0.03677543 -0.00346158
+v 0.01763794 -0.03501339 -0.05091481
+v 0.02278390 -0.04865783 0.05138146
+v 0.01766675 -0.03499955 -0.05091481
+v 0.01935806 -0.03408958 -0.05091481
+v 0.02752294 -0.04512578 0.04445224
+v 0.01941568 -0.03405639 -0.05091481
+v 0.02125224 -0.03295557 -0.05091480
+v 0.02132666 -0.03290855 -0.05091480
+v 0.02228095 -0.03229176 -0.05091480
+v 0.02479091 -0.03053819 -0.05091479
+v 0.02752294 -0.04060625 0.01843759
+v 0.02752294 -0.04086071 0.01989954
+v 0.02236618 -0.03223368 -0.05091480
+v 0.02386063 -0.03119924 -0.05091479
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 29
+f 1 29 37
+f 1 37 47
+f 1 47 39
+f 1 39 30
+f 1 30 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 7
+f 4 10 5
+f 5 11 6
+f 5 10 11
+f 6 11 12
+f 7 9 13
+f 8 14 23
+f 8 23 32
+f 8 32 43
+f 8 43 50
+f 8 50 57
+f 8 57 56
+f 8 56 45
+f 8 45 34
+f 8 34 25
+f 8 25 15
+f 8 15 9
+f 9 15 24
+f 9 24 33
+f 9 33 44
+f 9 44 55
+f 9 55 59
+f 9 59 58
+f 9 58 54
+f 9 54 53
+f 9 53 52
+f 9 52 51
+f 9 51 49
+f 9 49 42
+f 9 42 48
+f 9 48 46
+f 9 46 35
+f 9 35 26
+f 9 26 16
+f 9 16 13
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 17
+f 11 17 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 14 22 23
+f 15 25 24
+f 16 26 27
+f 16 27 28
+f 16 28 20
+f 16 20 19
+f 16 19 17
+f 20 28 21
+f 21 28 29
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 25 34
+f 24 34 33
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 37 29
+f 27 29 28
+f 27 38 37
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 33 34 45
+f 33 45 44
+f 35 46 36
+f 36 41 40
+f 36 40 39
+f 36 39 47
+f 36 47 37
+f 36 46 48
+f 36 48 41
+f 41 48 42
+f 42 49 43
+f 43 49 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 50
+f 44 45 55
+f 45 56 55
+f 50 54 58
+f 50 58 59
+f 50 59 55
+f 50 55 57
+f 55 56 57
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_4.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.03929165 0.00092110 -0.05764884
+v 0.03929165 0.00106960 -0.05764884
+v 0.03928496 0.00030992 -0.05764884
+v 0.03922611 0.00030992 -0.05810987
+v 0.03929031 0.00141803 -0.05764883
+v 0.03917261 0.00030992 -0.05847019
+v 0.03476844 0.00030992 -0.05764884
+v 0.03916994 0.00141803 -0.05845182
+v 0.03915122 0.00249187 -0.05832804
+v 0.03921006 0.00301451 -0.05764883
+v 0.03912313 0.00030993 -0.05878645
+v 0.03555619 0.00030994 -0.06140994
+v 0.02562976 0.02298331 -0.05764876
+v 0.02562976 0.02439702 -0.06140985
+v 0.03900543 0.00141804 -0.05948664
+v 0.03897066 0.00329726 -0.05914729
+v 0.03916459 0.00359998 -0.05764883
+v 0.03901747 0.00030993 -0.05936077
+v 0.03593468 0.00030994 -0.06212324
+v 0.02562976 0.02595066 -0.06292508
+v 0.02562976 0.02948345 -0.05764873
+v 0.03862293 0.00141805 -0.06140993
+v 0.03854937 0.00347719 -0.06140993
+v 0.03879679 0.00030993 -0.06052041
+v 0.03862025 0.00030994 -0.06140994
+v 0.03837283 0.00553633 -0.06140992
+v 0.03871387 0.00553632 -0.05934134
+v 0.03909638 0.00386558 -0.05797401
+v 0.03904957 0.00464240 -0.05764882
+v 0.03637738 0.00030994 -0.06294983
+v 0.02562976 0.02596494 -0.06292719
+v 0.02638140 0.02883515 -0.05764873
+v 0.02562976 0.02944346 -0.05787951
+v 0.03773621 0.00141805 -0.06295245
+v 0.03770277 0.00347719 -0.06295822
+v 0.03762922 0.00553633 -0.06294509
+v 0.03773354 0.00030994 -0.06294983
+v 0.03748878 0.00759261 -0.06286851
+v 0.03726543 0.00965175 -0.06265608
+v 0.03805987 0.00759261 -0.06140991
+v 0.03894525 0.00552774 -0.05764882
+v 0.03836882 0.00759260 -0.05934133
+v 0.03605907 0.00965175 -0.06300644
+v 0.02562976 0.02597351 -0.06292666
+v 0.03202537 0.01996744 -0.06296497
+v 0.02620753 0.02868093 -0.05934125
+v 0.02562976 0.02918358 -0.05934125
+v 0.02658335 0.02864665 -0.05764873
+v 0.02731760 0.02764994 -0.05934126
+v 0.03554282 0.01377003 -0.06289996
+v 0.03711698 0.01077129 -0.06248405
+v 0.03760247 0.00965175 -0.06140990
+v 0.03859618 0.00759259 -0.05764881
+v 0.03790339 0.00965174 -0.05934132
+v 0.03821902 0.00927760 -0.05764881
+v 0.02562976 0.02799552 -0.06275043
+v 0.02768673 0.02597065 -0.06277718
+v 0.02942673 0.02406002 -0.06278138
+v 0.03139410 0.02164674 -0.06280448
+v 0.03357679 0.01788260 -0.06288735
+v 0.02597214 0.02846389 -0.06140984
+v 0.02562976 0.02876948 -0.06140983
+v 0.02709425 0.02743575 -0.06140984
+v 0.02747809 0.02780700 -0.05764874
+v 0.02850658 0.02679314 -0.05764874
+v 0.02834609 0.02662751 -0.05934126
+v 0.03526463 0.01531510 -0.06270221
+v 0.03721060 0.01106830 -0.06140990
+v 0.03625567 0.01377003 -0.06140989
+v 0.03684682 0.01209930 -0.06140990
+v 0.03732027 0.01176229 -0.05921387
+v 0.03754763 0.01171944 -0.05764880
+v 0.03765730 0.01133389 -0.05764880
+v 0.03813343 0.00965173 -0.05764880
+v 0.02562976 0.02801265 -0.06274413
+v 0.02690835 0.02725868 -0.06255795
+v 0.02894392 0.02518812 -0.06254012
+v 0.03320900 0.01929915 -0.06268752
+v 0.03090059 0.02301760 -0.06240796
+v 0.02812407 0.02639904 -0.06140984
+v 0.02868580 0.02660751 -0.05764874
+v 0.02932509 0.02559937 -0.05934127
+v 0.02910976 0.02536804 -0.06140985
+v 0.03491289 0.01668596 -0.06199993
+v 0.03540506 0.01592913 -0.06135009
+v 0.03700463 0.01248199 -0.05981912
+v 0.03669167 0.01359581 -0.05921386
+v 0.03710762 0.01279328 -0.05843919
+v 0.03716111 0.01294179 -0.05764879
+v 0.03277299 0.02067857 -0.06140986
+v 0.03342566 0.01964758 -0.06140987
+v 0.03028670 0.02395720 -0.06159499
+v 0.03104904 0.02320037 -0.06102802
+v 0.03166025 0.02219794 -0.06159500
+v 0.02947622 0.02576500 -0.05764875
+v 0.03050604 0.02460549 -0.05764875
+v 0.03035491 0.02442843 -0.05934127
+v 0.03450096 0.01772838 -0.06135008
+v 0.03507204 0.01693727 -0.06062000
+v 0.03576751 0.01582345 -0.05934130
+v 0.03678396 0.01395565 -0.05764879
+v 0.03690433 0.01363864 -0.05764879
+v 0.03291075 0.02088134 -0.06000424
+v 0.03350591 0.02009309 -0.05932503
+v 0.03463203 0.01815962 -0.05934129
+v 0.03120552 0.02339743 -0.05934127
+v 0.03234769 0.02183808 -0.05932502
+v 0.03066119 0.02441985 -0.05764875
+v 0.03516967 0.01713147 -0.05934130
+v 0.03601493 0.01582344 -0.05764878
+v 0.03384294 0.01997028 -0.05764877
+v 0.03239851 0.02216079 -0.05764876
+v 0.03257907 0.02190376 -0.05764876
+v 0.03309799 0.02116121 -0.05764876
+v 0.03476176 0.01840808 -0.05764877
+v 0.03134863 0.02357734 -0.05764875
+v 0.03485939 0.01821958 -0.05764877
+v 0.03529539 0.01737708 -0.05764878
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 29
+f 1 29 41
+f 1 41 53
+f 1 53 55
+f 1 55 74
+f 1 74 73
+f 1 73 72
+f 1 72 89
+f 1 89 102
+f 1 102 101
+f 1 101 110
+f 1 110 118
+f 1 118 117
+f 1 117 115
+f 1 115 111
+f 1 111 114
+f 1 114 113
+f 1 113 112
+f 1 112 116
+f 1 116 108
+f 1 108 96
+f 1 96 95
+f 1 95 81
+f 1 81 65
+f 1 65 64
+f 1 64 48
+f 1 48 32
+f 1 32 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 12
+f 3 12 19
+f 3 19 30
+f 3 30 37
+f 3 37 25
+f 3 25 24
+f 3 24 18
+f 3 18 11
+f 3 11 6
+f 3 6 4
+f 5 6 8
+f 5 8 9
+f 5 9 10
+f 6 11 8
+f 7 13 14
+f 7 14 12
+f 8 15 9
+f 8 11 15
+f 9 16 10
+f 9 15 16
+f 10 16 17
+f 11 18 15
+f 12 14 20
+f 12 20 19
+f 13 21 33
+f 13 33 47
+f 13 47 62
+f 13 62 75
+f 13 75 56
+f 13 56 44
+f 13 44 31
+f 13 31 20
+f 13 20 14
+f 15 22 23
+f 15 23 16
+f 15 18 24
+f 15 24 25
+f 15 25 22
+f 16 23 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 19 20 30
+f 20 31 30
+f 21 32 33
+f 22 34 35
+f 22 35 23
+f 22 25 34
+f 23 35 36
+f 23 36 26
+f 25 37 34
+f 26 36 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 41 29
+f 27 29 28
+f 27 40 42
+f 27 42 41
+f 30 43 37
+f 30 31 43
+f 31 44 45
+f 31 45 43
+f 32 46 47
+f 32 47 33
+f 32 48 49
+f 32 49 46
+f 34 37 35
+f 35 37 43
+f 35 43 36
+f 36 43 50
+f 36 50 38
+f 38 50 39
+f 39 51 40
+f 39 50 51
+f 40 51 52
+f 40 52 42
+f 41 42 53
+f 42 52 54
+f 42 54 55
+f 42 55 53
+f 43 45 50
+f 44 56 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 50
+f 46 61 62
+f 46 62 47
+f 46 49 63
+f 46 63 61
+f 48 64 49
+f 49 65 66
+f 49 66 63
+f 49 64 65
+f 50 67 51
+f 50 60 67
+f 51 68 52
+f 51 67 69
+f 51 69 70
+f 51 70 68
+f 52 68 54
+f 54 68 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 55
+f 56 75 57
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 77 59
+f 59 78 60
+f 59 77 79
+f 59 79 78
+f 60 78 67
+f 61 63 76
+f 61 76 62
+f 62 76 75
+f 63 66 80
+f 63 80 76
+f 65 81 66
+f 66 81 82
+f 66 82 83
+f 66 83 80
+f 67 78 84
+f 67 84 85
+f 67 85 69
+f 68 70 86
+f 68 86 71
+f 69 87 86
+f 69 86 70
+f 69 85 87
+f 71 86 88
+f 71 88 72
+f 72 88 89
+f 76 80 77
+f 77 83 79
+f 77 80 83
+f 78 90 91
+f 78 91 84
+f 78 79 90
+f 79 83 92
+f 79 92 93
+f 79 93 94
+f 79 94 90
+f 81 95 82
+f 82 96 97
+f 82 97 83
+f 82 95 96
+f 83 97 92
+f 84 91 98
+f 84 98 99
+f 84 99 85
+f 85 99 100
+f 85 100 87
+f 86 87 88
+f 87 100 101
+f 87 101 102
+f 87 102 88
+f 88 102 89
+f 90 94 103
+f 90 103 91
+f 91 103 104
+f 91 104 105
+f 91 105 98
+f 92 97 93
+f 93 97 106
+f 93 106 107
+f 93 107 103
+f 93 103 94
+f 96 108 97
+f 97 108 106
+f 98 105 99
+f 99 109 110
+f 99 110 100
+f 99 105 109
+f 100 110 101
+f 103 111 104
+f 103 107 112
+f 103 112 113
+f 103 113 114
+f 103 114 111
+f 104 111 115
+f 104 115 105
+f 105 115 109
+f 106 108 116
+f 106 116 112
+f 106 112 107
+f 109 115 117
+f 109 117 118
+f 109 118 110
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_40.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.03240366 -0.04368185 0.05432729
+v -0.03240366 -0.03916529 0.05432731
+v -0.03324021 -0.04302793 0.05432729
+v -0.03240366 -0.03464325 0.00272929
+v -0.03240366 -0.03911764 0.05411099
+v -0.04823620 -0.01663811 0.05432739
+v -0.03429171 -0.04211456 0.05432730
+v -0.03284130 -0.03452678 0.00421264
+v -0.03269219 -0.03439439 0.00272929
+v -0.03240366 -0.03431496 0.00087510
+v -0.04803287 -0.01663810 0.05292645
+v -0.03240366 -0.03877081 0.05240101
+v -0.05218271 -0.01663811 0.05432739
+v -0.03539937 -0.04115089 0.05432730
+v -0.03339513 -0.03299652 -0.00139112
+v -0.03655544 -0.03827836 0.04411896
+v -0.03726612 -0.03687520 0.03997793
+v -0.03240366 -0.03390724 -0.00139112
+v -0.03240366 -0.03413758 -0.00012410
+v -0.04802706 -0.01663810 0.05288524
+v -0.03240366 -0.01819972 -0.05088769
+v -0.03342612 -0.01663772 -0.05088768
+v -0.05204523 -0.01727879 0.05432739
+v -0.04501392 -0.01663792 0.00253364
+v -0.03642957 -0.04021369 0.05432730
+v -0.03494043 -0.03249617 0.00403754
+v -0.03240366 -0.02582177 -0.04485129
+v -0.03290327 -0.03252261 -0.00643865
+v -0.03650122 -0.04014750 0.05432730
+v -0.03746171 -0.03706581 0.04204844
+v -0.03868362 -0.03623188 0.04411897
+v -0.03240366 -0.03385429 -0.00167955
+v -0.03240366 -0.02460920 -0.05088771
+v -0.03753142 -0.01663772 -0.05088768
+v -0.05202973 -0.01732645 0.05432739
+v -0.03889276 -0.01663776 -0.04123558
+v -0.03949112 -0.03500874 0.04204845
+v -0.03240366 -0.02535845 -0.04725143
+v -0.03240366 -0.02689136 -0.03912390
+v -0.03240366 -0.03204870 -0.01143466
+v -0.03240366 -0.03275823 -0.00760267
+v -0.03753530 -0.03918383 0.05432731
+v -0.03856356 -0.03819633 0.05432731
+v -0.03863327 -0.03812749 0.05432731
+v -0.03960344 -0.03716647 0.05432731
+v -0.03967702 -0.03520466 0.04411897
+v -0.03240366 -0.02494544 -0.04931165
+v -0.03290133 -0.02427828 -0.04986790
+v -0.03280645 -0.02415914 -0.05088771
+v -0.03742491 -0.01687069 -0.05088768
+v -0.04973890 -0.02275902 0.05432737
+v -0.04088731 -0.03429924 0.04618948
+v -0.04070529 -0.03409803 0.04411897
+v -0.03302140 -0.02442654 -0.04848756
+v -0.03240366 -0.02501957 -0.04895111
+v -0.04063170 -0.03610219 0.05432732
+v -0.04069560 -0.03603600 0.05432732
+v -0.04159993 -0.03507498 0.05432732
+v -0.03356941 -0.02314251 -0.05088771
+v -0.03347259 -0.02327224 -0.05088771
+v -0.03362557 -0.02347081 -0.04909532
+v -0.03736876 -0.01698454 -0.05088768
+v -0.04850730 -0.02521586 0.05432736
+v -0.03691950 -0.01788732 -0.05088769
+v -0.04179552 -0.03327203 0.04618949
+v -0.04143727 -0.03286431 0.04204846
+v -0.04262820 -0.03392334 0.05432733
+v -0.04353059 -0.03289612 0.05432733
+v -0.04469247 -0.03142414 0.05432733
+v -0.03451247 -0.02183997 -0.05088770
+v -0.03428203 -0.02308958 -0.04675697
+v -0.03476034 -0.02192469 -0.04899230
+v -0.04843566 -0.02535618 0.05432736
+v -0.03688077 -0.01795880 -0.05088769
+v -0.03700470 -0.01805412 -0.04971337
+v -0.04590276 -0.02965299 0.05432734
+v -0.03460736 -0.02170759 -0.05088770
+v -0.04767462 -0.02671167 0.05432735
+v -0.03621269 -0.01915810 -0.05088769
+v -0.04592793 -0.02961593 0.05432734
+v -0.03525027 -0.02076245 -0.05088770
+v -0.04764170 -0.02676727 0.05432735
+v -0.03702794 -0.02016152 -0.04161673
+v -0.03530449 -0.02067773 -0.05088770
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 35
+f 1 35 51
+f 1 51 63
+f 1 63 73
+f 1 73 78
+f 1 78 82
+f 1 82 80
+f 1 80 76
+f 1 76 69
+f 1 69 68
+f 1 68 67
+f 1 67 58
+f 1 58 57
+f 1 57 56
+f 1 56 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 29
+f 1 29 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 32
+f 1 32 41
+f 1 41 40
+f 1 40 39
+f 1 39 27
+f 1 27 38
+f 1 38 55
+f 1 55 47
+f 1 47 33
+f 1 33 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 5 12 11
+f 6 11 20
+f 6 20 22
+f 6 22 34
+f 6 34 36
+f 6 36 24
+f 6 24 13
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 15 18
+f 9 18 19
+f 9 19 10
+f 11 12 20
+f 12 21 22
+f 12 22 20
+f 13 24 23
+f 14 25 16
+f 15 26 27
+f 15 27 28
+f 15 28 18
+f 15 17 26
+f 16 25 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 26
+f 18 28 32
+f 21 33 49
+f 21 49 60
+f 21 60 59
+f 21 59 70
+f 21 70 77
+f 21 77 81
+f 21 81 84
+f 21 84 79
+f 21 79 74
+f 21 74 64
+f 21 64 62
+f 21 62 50
+f 21 50 34
+f 21 34 22
+f 23 24 35
+f 24 36 35
+f 26 31 37
+f 26 37 27
+f 27 39 28
+f 27 37 38
+f 28 40 41
+f 28 41 32
+f 28 39 40
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 37
+f 33 47 48
+f 33 48 49
+f 34 50 51
+f 34 51 36
+f 35 36 51
+f 37 46 52
+f 37 52 53
+f 37 53 38
+f 38 54 55
+f 38 53 54
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 52
+f 47 55 48
+f 48 59 60
+f 48 60 49
+f 48 55 54
+f 48 54 61
+f 48 61 59
+f 50 62 51
+f 51 62 64
+f 51 64 63
+f 52 65 66
+f 52 66 53
+f 52 58 67
+f 52 67 65
+f 53 66 54
+f 54 66 68
+f 54 68 69
+f 54 69 61
+f 59 61 70
+f 61 71 72
+f 61 72 70
+f 61 69 71
+f 63 64 73
+f 64 74 75
+f 64 75 73
+f 65 67 68
+f 65 68 66
+f 69 76 72
+f 69 72 71
+f 70 72 77
+f 72 76 77
+f 73 75 79
+f 73 79 78
+f 74 79 75
+f 76 80 81
+f 76 81 77
+f 78 79 83
+f 78 83 82
+f 79 84 83
+f 80 82 83
+f 80 83 84
+f 80 84 81
+

dataset/kitchen_supplies/ware/2974ccc2c2f351569f22b3295904fc14/mjcf/mesh/purple_cup_collision_41.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.04251766 0.03430399 0.05427344
+v -0.04615890 0.03430256 0.06067647
+v -0.04530478 0.03430255 0.06168114
+v -0.04440072 0.03430255 0.06214564
+v -0.04434578 0.03430255 0.06216679
+v -0.04429416 0.03430255 0.06218144
+v -0.04224461 0.03430255 0.06258331
+v -0.04219633 0.03430255 0.06257436
+v -0.04029829 0.03430255 0.06214320
+v -0.04024168 0.03430255 0.06211799
+v -0.03929599 0.03430256 0.06111088
+v -0.03906789 0.03430256 0.06067973
+v -0.03885311 0.03430256 0.06001835
+v -0.03838526 0.03430257 0.05841902
+v -0.03795071 0.03430257 0.05628928
+v -0.03763437 0.03430258 0.05470053
+v -0.03758942 0.03430258 0.05447194
+v -0.03755945 0.03430258 0.05431330
+v -0.03755279 0.03430258 0.05427344
+v -0.04330352 0.03339461 0.05427343
+v -0.04742094 0.03343103 0.05748430
+v -0.04621718 0.03430257 0.05714671
+v -0.04687317 0.03430256 0.05861019
+v -0.04685818 0.03430256 0.05886319
+v -0.04621218 0.03430256 0.06060488
+v -0.04623716 0.03425212 0.06062441
+v -0.04692312 0.03275145 0.06119222
+v -0.04741761 0.03137827 0.06176980
+v -0.04555286 0.03368043 0.06188450
+v -0.04626713 0.03215593 0.06205208
+v -0.04631375 0.03023490 0.06246939
+v -0.04425587 0.03229325 0.06258004
+v -0.04631375 0.02817654 0.06257026
+v -0.05043283 0.01998938 0.06254664
+v -0.05038621 0.01998938 0.06253850
+v -0.04894103 0.01998938 0.06206993
+v -0.04872459 0.01998938 0.06169410
+v -0.04804529 0.01998939 0.06050232
+v -0.04761906 0.01998939 0.05883466
+v -0.04690480 0.01998941 0.05427338
+v -0.04758244 0.01998939 0.05861013
+v -0.04725444 0.01998940 0.05654141
+v -0.04411768 0.03237455 0.05427343
+v -0.04965363 0.02962540 0.05730126
+v -0.04979515 0.02985658 0.05861017
+v -0.04915914 0.03088646 0.05861017
+v -0.04825841 0.03229326 0.05861018
+v -0.04747255 0.03350108 0.05861018
+v -0.04421591 0.03224984 0.05427343
+v -0.04510832 0.03100138 0.05427342
+v -0.04743758 0.03345204 0.05981253
+v -0.04776724 0.03215594 0.06057315
+v -0.04775226 0.03023490 0.06195527
+v -0.04881783 0.03029796 0.06075048
+v -0.04918745 0.02888695 0.06148751
+v -0.04960368 0.02751378 0.06186170
+v -0.04844987 0.02819056 0.06218304
+v -0.04837329 0.02611960 0.06255969
+v -0.05043283 0.02200149 0.06255397
+v -0.05243576 0.01998938 0.06216023
+v -0.05089735 0.01998941 0.05427338
+v -0.05176479 0.02567404 0.05725405
+v -0.05138018 0.02703038 0.05861016
+v -0.05074251 0.02817655 0.05861016
+v -0.04565443 0.03015226 0.05427342
+v -0.04744924 0.02724058 0.05427341
+v -0.04967528 0.02965341 0.06010782
+v -0.05008152 0.02819057 0.06075047
+v -0.05131358 0.02482490 0.06155989
+v -0.05165157 0.02345173 0.06185926
+v -0.04995665 0.02611960 0.06205206
+v -0.05054938 0.02410748 0.06220662
+v -0.05195626 0.02200149 0.06203740
+v -0.05253066 0.01998938 0.06212850
+v -0.05402412 0.01998940 0.05708808
+v -0.05374774 0.02150970 0.05731587
+v -0.04998496 0.02216406 0.05427339
+v -0.05284367 0.02405985 0.05861015
+v -0.05192462 0.02600191 0.05861016
+v -0.04955041 0.02317712 0.05427340
+v -0.05177644 0.02572167 0.06018020
+v -0.05106384 0.02629195 0.06079359
+v -0.05214772 0.02410749 0.06079358
+v -0.05306511 0.02214162 0.06073581
+v -0.05330486 0.02048821 0.06146307
+v -0.05340975 0.01998938 0.06157614
+v -0.05455191 0.01998939 0.05857190
+v -0.05387095 0.02180674 0.05861014
+v -0.05341142 0.02283661 0.05861014
+v -0.05375939 0.02154752 0.06008338
+v -0.05398083 0.01998939 0.06068536
+v -0.05385430 0.01998939 0.06088792
+v -0.05455857 0.01998939 0.05861013
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 17
+f 1 17 18
+f 1 18 19
+f 1 19 40
+f 1 40 61
+f 1 61 77
+f 1 77 80
+f 1 80 66
+f 1 66 65
+f 1 65 50
+f 1 50 49
+f 1 49 43
+f 1 43 20
+f 1 20 21
+f 1 21 22
+f 1 22 23
+f 1 23 24
+f 1 24 25
+f 1 25 2
+f 2 25 26
+f 2 26 27
+f 2 27 3
+f 3 27 28
+f 3 28 29
+f 3 29 4
+f 4 29 5
+f 5 29 30
+f 5 30 31
+f 5 31 6
+f 6 31 32
+f 6 32 7
+f 7 32 33
+f 7 33 34
+f 7 34 35
+f 7 35 8
+f 8 35 9
+f 9 35 36
+f 9 36 10
+f 10 36 11
+f 11 36 37
+f 11 37 38
+f 11 38 12
+f 12 38 13
+f 13 38 14
+f 14 38 39
+f 14 39 15
+f 15 39 16
+f 16 39 17
+f 17 39 18
+f 18 39 19
+f 19 39 41
+f 19 41 42
+f 19 42 40
+f 20 43 21
+f 21 44 45
+f 21 45 46
+f 21 46 47
+f 21 47 48
+f 21 48 23
+f 21 23 22
+f 21 43 49
+f 21 49 50
+f 21 50 44
+f 23 48 24
+f 24 48 51
+f 24 51 25
+f 25 51 26
+f 26 51 27
+f 27 51 52
+f 27 52 28
+f 28 53 30
+f 28 30 29
+f 28 52 54
+f 28 54 55
+f 28 55 56
+f 28 56 53
+f 30 53 57
+f 30 57 31
+f 31 57 58
+f 31 58 32
+f 32 58 59
+f 32 59 33
+f 33 59 34
+f 34 59 60
+f 34 60 74
+f 34 74 86
+f 34 86 92
+f 34 92 91
+f 34 91 93
+f 34 93 87
+f 34 87 75
+f 34 75 61
+f 34 61 40
+f 34 40 42
+f 34 42 41
+f 34 41 39
+f 34 39 38
+f 34 38 37
+f 34 37 36
+f 34 36 35
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 44 50 65
+f 44 65 66
+f 44 66 62
+f 45 67 51
+f 45 51 46
+f 45 64 67
+f 46 51 47
+f 47 51 48
+f 51 67 52
+f 52 67 54
+f 53 56 57
+f 54 67 55
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 70
+f 56 70 71
+f 56 71 57
+f 57 71 72
+f 57 72 58
+f 58 72 59
+f 59 72 73
+f 59 73 74
+f 59 74 60
+f 61 75 76
+f 61 76 77
+f 62 76 78
+f 62 78 79
+f 62 79 63
+f 62 66 80
+f 62 80 76
+f 63 79 81
+f 63 81 67
+f 63 67 64
+f 67 81 68
+f 68 82 69
+f 68 81 82
+f 69 81 83
+f 69 83 84
+f 69 84 85
+f 69 85 70
+f 69 82 81
+f 70 73 71
+f 70 85 86
+f 70 86 73
+f 71 73 72
+f 73 86 74
+f 75 87 76
+f 76 87 88
+f 76 88 89
+f 76 89 78
+f 76 80 77
+f 78 89 90
+f 78 90 81
+f 78 81 79
+f 81 90 83
+f 83 90 84
+f 84 90 85
+f 85 90 91
+f 85 91 92
+f 85 92 86
+f 87 93 88
+f 88 93 90
+f 88 90 89
+f 90 93 91
+