Add asset kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932

.gitattributes

@@ -4708,3 +4708,5 @@ dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/thermos_010.usd f
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_019_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mug_019_geometry_Looks_material_0.png

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6563ecf67646f99de981ed79e42ceea4df8c08b1cc2751b00de34af870af4b4d
+size 12797924

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.mtl

@@ -0,0 +1,6 @@
+newmtl mug_019_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_0.obj

@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v -0.03409790 0.00009375 -0.02617557
+v -0.03408903 0.00009375 -0.02655482
+v -0.02803467 0.00009375 -0.02617557
+v -0.03409790 0.00087144 -0.02617557
+v -0.03408903 0.00085371 -0.02655364
+v -0.03401507 0.00009375 -0.02731921
+v -0.01898790 0.00009376 -0.02986207
+v -0.01898790 0.01875847 -0.02617550
+v -0.03409347 0.00135782 -0.02617557
+v -0.03401507 0.00085371 -0.02731803
+v -0.03408459 0.00180620 -0.02617556
+v -0.03407719 0.00163647 -0.02643468
+v -0.03239091 0.00009378 -0.03482177
+v -0.01898790 0.00009378 -0.03486063
+v -0.01898790 0.02597307 -0.02617547
+v -0.03396921 0.00223938 -0.02703889
+v -0.03229920 0.00237874 -0.03482176
+v -0.03238647 0.00085374 -0.03482177
+v -0.03402246 0.00256363 -0.02617556
+v -0.03184952 0.00085374 -0.03634937
+v -0.03185248 0.00009378 -0.03634937
+v -0.02871954 0.00009379 -0.03820793
+v -0.01898790 0.01909036 -0.03801706
+v -0.01898790 0.02594520 -0.02718131
+v -0.01964023 0.02563361 -0.02617548
+v -0.03377988 0.00390117 -0.02718140
+v -0.03212909 0.00390120 -0.03482176
+v -0.03159954 0.00390120 -0.03634936
+v -0.03176521 0.00237874 -0.03634936
+v -0.03384496 0.00381251 -0.02617556
+v -0.03117501 0.00237875 -0.03725273
+v -0.03121347 0.00085375 -0.03728572
+v -0.03121643 0.00009379 -0.03728690
+v -0.03025051 0.00009379 -0.03782515
+v -0.02871954 0.00237875 -0.03820557
+v -0.02412959 0.01456097 -0.03819728
+v -0.01953816 0.01913089 -0.03817253
+v -0.01898790 0.02065589 -0.03809007
+v -0.01898790 0.02577041 -0.02815889
+v -0.01961360 0.02557535 -0.02718132
+v -0.02046710 0.02513204 -0.02617548
+v -0.03353285 0.00542363 -0.02718139
+v -0.03187615 0.00542366 -0.03482175
+v -0.03122087 0.00694865 -0.03600542
+v -0.03132885 0.00534006 -0.03643533
+v -0.03103596 0.00477770 -0.03713258
+v -0.03109513 0.00390121 -0.03718559
+v -0.03358018 0.00542363 -0.02617555
+v -0.03025051 0.00390121 -0.03767438
+v -0.03025051 0.00237875 -0.03777685
+v -0.03025051 0.00085375 -0.03782397
+v -0.02871954 0.00390121 -0.03819025
+v -0.02718857 0.00847113 -0.03819141
+v -0.02566056 0.01303851 -0.03816548
+v -0.02260010 0.01760843 -0.03810422
+v -0.02718857 0.00999359 -0.03816549
+v -0.02106913 0.01913089 -0.03809479
+v -0.01953816 0.02065589 -0.03803354
+v -0.01898790 0.02217835 -0.03758951
+v -0.01898790 0.02420491 -0.03482168
+v -0.02060614 0.02466846 -0.02842036
+v -0.02082506 0.02481285 -0.02718132
+v -0.02088128 0.02487112 -0.02617548
+v -0.03340120 0.00642678 -0.02617555
+v -0.03319855 0.00694862 -0.02718138
+v -0.03153741 0.00694865 -0.03482174
+v -0.03108774 0.00794927 -0.03574749
+v -0.03076823 0.00694866 -0.03676981
+v -0.03092207 0.00579352 -0.03700185
+v -0.02978161 0.00847113 -0.03733633
+v -0.03000348 0.00694866 -0.03746118
+v -0.03034814 0.00534007 -0.03747179
+v -0.02871954 0.00694866 -0.03805597
+v -0.02871954 0.00542367 -0.03815138
+v -0.02718857 0.01151858 -0.03799589
+v -0.02566056 0.01456097 -0.03792403
+v -0.02412959 0.01608597 -0.03805358
+v -0.02420355 0.01766923 -0.03754713
+v -0.02269033 0.01922209 -0.03756950
+v -0.02111795 0.02071669 -0.03753533
+v -0.01948343 0.02217835 -0.03744228
+v -0.01898790 0.02295858 -0.03721379
+v -0.01898790 0.02360201 -0.03635399
+v -0.02044047 0.02303963 -0.03577452
+v -0.01953816 0.02385026 -0.03482168
+v -0.02158981 0.02429101 -0.02718132
+v -0.02114309 0.02469126 -0.02617548
+v -0.03328583 0.00694862 -0.02617554
+v -0.03275183 0.00858255 -0.02722496
+v -0.03252552 0.00916519 -0.02776203
+v -0.03267196 0.00814937 -0.02829204
+v -0.03094721 0.00901069 -0.03482174
+v -0.03059369 0.00999358 -0.03482173
+v -0.02949760 0.01230387 -0.03561437
+v -0.02967214 0.01151857 -0.03594652
+v -0.02995763 0.01007464 -0.03646829
+v -0.02943252 0.01063449 -0.03705718
+v -0.03059073 0.00846352 -0.03629398
+v -0.02960706 0.00961867 -0.03721383
+v -0.02884231 0.01007465 -0.03754008
+v -0.02871954 0.00847113 -0.03788518
+v -0.02845033 0.01151858 -0.03742348
+v -0.02730395 0.01312717 -0.03757305
+v -0.02686019 0.01456097 -0.03738107
+v -0.02567831 0.01606064 -0.03746704
+v -0.02374204 0.01877624 -0.03731391
+v -0.02517982 0.01720312 -0.03728095
+v -0.02223918 0.02025311 -0.03730920
+v -0.02064017 0.02166918 -0.03727150
+v -0.02166081 0.02126639 -0.03696174
+v -0.01995678 0.02268499 -0.03679332
+v -0.01898790 0.02306751 -0.03710543
+v -0.01948343 0.02332082 -0.03631041
+v -0.02105138 0.02216061 -0.03636813
+v -0.02209422 0.02163370 -0.03594295
+v -0.02229687 0.02180596 -0.03482169
+v -0.02135314 0.02256846 -0.03482169
+v -0.02331603 0.02289774 -0.02764656
+v -0.02225397 0.02387810 -0.02617548
+v -0.02164602 0.02432648 -0.02617548
+v -0.02272287 0.02342719 -0.02715541
+v -0.02339739 0.02296867 -0.02662776
+v -0.02342401 0.02299147 -0.02617549
+v -0.02320066 0.02316120 -0.02617548
+v -0.03282875 0.00850908 -0.02617554
+v -0.03258025 0.00933745 -0.02674324
+v -0.03233470 0.00990489 -0.02722495
+v -0.03173415 0.01151854 -0.02718137
+v -0.03112176 0.01250903 -0.02823195
+v -0.02958191 0.01548049 -0.02819190
+v -0.02791782 0.01526266 -0.03535289
+v -0.02821366 0.01424685 -0.03602896
+v -0.02869588 0.01300050 -0.03633165
+v -0.02921507 0.01151857 -0.03671091
+v -0.02789119 0.01369462 -0.03704775
+v -0.02815745 0.01268133 -0.03725976
+v -0.02655843 0.01553626 -0.03721028
+v -0.02476269 0.01821894 -0.03698531
+v -0.02325982 0.01979206 -0.03702182
+v -0.02267702 0.02072174 -0.03648238
+v -0.02365181 0.02017457 -0.03600303
+v -0.02306161 0.02114479 -0.03482169
+v -0.02399646 0.02235817 -0.02715542
+v -0.02490469 0.02142595 -0.02796574
+v -0.02496534 0.02148421 -0.02718133
+v -0.02364442 0.02278881 -0.02617549
+v -0.03258025 0.00934758 -0.02617554
+v -0.03236280 0.01004675 -0.02617553
+v -0.03201519 0.01098150 -0.02617553
+v -0.03181402 0.01151854 -0.02617553
+v -0.03121939 0.01271675 -0.02718136
+v -0.03085846 0.01347672 -0.02718136
+v -0.03028453 0.01456093 -0.02718136
+v -0.02967658 0.01563248 -0.02718135
+v -0.02918845 0.01639498 -0.02718135
+v -0.02842370 0.01749946 -0.02718135
+v -0.02656139 0.01702832 -0.03583697
+v -0.02687054 0.01606063 -0.03634695
+v -0.02766931 0.01467749 -0.03646239
+v -0.02620047 0.01655208 -0.03685576
+v -0.02567091 0.01762362 -0.03641055
+v -0.02513989 0.01864197 -0.03596652
+v -0.02420651 0.01921701 -0.03649417
+v -0.02462808 0.01961219 -0.03482170
+v -0.02386334 0.02038229 -0.03482170
+v -0.02641791 0.01988575 -0.02789508
+v -0.02586469 0.02054439 -0.02730382
+v -0.02649039 0.01996428 -0.02687629
+v -0.02633951 0.02020747 -0.02617550
+v -0.02582031 0.02072678 -0.02617549
+v -0.02501119 0.02152221 -0.02617549
+v -0.03124453 0.01279275 -0.02617552
+v -0.03090136 0.01355018 -0.02617552
+v -0.03057889 0.01419108 -0.02617552
+v -0.03038216 0.01456093 -0.02617552
+v -0.02993840 0.01534370 -0.02617551
+v -0.02972983 0.01571101 -0.02617551
+v -0.02956416 0.01597193 -0.02617551
+v -0.02924466 0.01647351 -0.02617551
+v -0.02841187 0.01765652 -0.02617551
+v -0.02792965 0.01833796 -0.02617550
+v -0.02787048 0.01825943 -0.02718134
+v -0.02609397 0.01796307 -0.03482170
+v -0.02532774 0.01884970 -0.03482170
+v -0.02700811 0.01927778 -0.02730383
+v -0.02653033 0.02001241 -0.02617550
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 33
+f 1 33 34
+f 1 34 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 41
+f 1 41 63
+f 1 63 87
+f 1 87 120
+f 1 120 119
+f 1 119 124
+f 1 124 123
+f 1 123 146
+f 1 146 171
+f 1 171 170
+f 1 170 169
+f 1 169 186
+f 1 186 181
+f 1 181 180
+f 1 180 179
+f 1 179 178
+f 1 178 177
+f 1 177 176
+f 1 176 175
+f 1 175 174
+f 1 174 173
+f 1 173 172
+f 1 172 150
+f 1 150 149
+f 1 149 148
+f 1 148 147
+f 1 147 125
+f 1 125 88
+f 1 88 64
+f 1 64 48
+f 1 48 30
+f 1 30 19
+f 1 19 11
+f 1 11 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 4 5
+f 3 7 8
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 10
+f 6 10 13
+f 7 14 23
+f 7 23 38
+f 7 38 59
+f 7 59 82
+f 7 82 112
+f 7 112 83
+f 7 83 60
+f 7 60 39
+f 7 39 24
+f 7 24 15
+f 7 15 8
+f 10 12 16
+f 10 16 17
+f 10 17 18
+f 10 18 13
+f 11 19 12
+f 12 19 16
+f 13 18 20
+f 13 20 21
+f 14 22 23
+f 15 24 25
+f 16 19 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 20
+f 19 30 26
+f 20 29 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 26 30 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 31
+f 30 48 42
+f 31 47 49
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 33
+f 33 51 34
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 54 55
+f 36 55 37
+f 36 53 56
+f 36 56 54
+f 37 55 57
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 41
+f 41 62 63
+f 42 48 64
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 44 68 69
+f 44 69 45
+f 44 67 68
+f 45 69 46
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 49
+f 46 49 47
+f 49 72 71
+f 49 71 73
+f 49 73 50
+f 50 73 74
+f 50 74 51
+f 51 74 52
+f 52 74 56
+f 52 56 53
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 54 56 75
+f 55 78 79
+f 55 79 57
+f 55 77 78
+f 56 74 73
+f 56 73 75
+f 57 79 80
+f 57 80 58
+f 58 80 81
+f 58 81 59
+f 59 81 82
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 61 85 84
+f 61 84 62
+f 62 84 86
+f 62 86 63
+f 63 86 87
+f 64 88 65
+f 65 88 89
+f 65 89 90
+f 65 90 91
+f 65 91 66
+f 66 91 67
+f 67 91 90
+f 67 90 92
+f 67 92 93
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 98
+f 67 98 68
+f 68 99 69
+f 68 98 97
+f 68 97 99
+f 69 99 70
+f 70 99 100
+f 70 100 101
+f 70 101 71
+f 71 101 73
+f 73 101 75
+f 75 102 103
+f 75 103 76
+f 75 101 100
+f 75 100 102
+f 76 104 105
+f 76 105 77
+f 76 103 104
+f 77 105 78
+f 78 106 79
+f 78 105 107
+f 78 107 106
+f 79 108 80
+f 79 106 108
+f 80 108 109
+f 80 109 81
+f 81 109 82
+f 82 109 110
+f 82 110 111
+f 82 111 112
+f 83 112 111
+f 83 111 113
+f 83 113 84
+f 84 113 111
+f 84 111 114
+f 84 114 115
+f 84 115 116
+f 84 116 117
+f 84 117 118
+f 84 118 86
+f 86 119 120
+f 86 120 87
+f 86 118 121
+f 86 121 122
+f 86 122 123
+f 86 123 124
+f 86 124 119
+f 88 125 126
+f 88 126 89
+f 89 126 90
+f 90 126 127
+f 90 127 128
+f 90 128 129
+f 90 129 93
+f 90 93 92
+f 93 129 94
+f 94 129 130
+f 94 130 131
+f 94 131 132
+f 94 132 133
+f 94 133 134
+f 94 134 97
+f 94 97 95
+f 95 97 96
+f 97 134 135
+f 97 135 136
+f 97 136 102
+f 97 102 99
+f 99 102 100
+f 102 136 103
+f 103 136 104
+f 104 137 105
+f 104 136 137
+f 105 137 107
+f 106 107 138
+f 106 138 139
+f 106 139 108
+f 107 137 138
+f 108 139 110
+f 108 110 109
+f 110 139 140
+f 110 140 115
+f 110 115 114
+f 110 114 111
+f 115 140 141
+f 115 141 142
+f 115 142 116
+f 116 118 117
+f 116 142 118
+f 118 143 122
+f 118 122 121
+f 118 142 144
+f 118 144 143
+f 122 143 145
+f 122 145 123
+f 123 145 146
+f 125 147 126
+f 126 147 148
+f 126 148 127
+f 127 148 149
+f 127 149 128
+f 128 149 150
+f 128 150 151
+f 128 151 129
+f 129 151 152
+f 129 152 130
+f 130 153 154
+f 130 154 155
+f 130 155 156
+f 130 156 157
+f 130 157 131
+f 130 152 153
+f 131 157 132
+f 132 157 158
+f 132 158 159
+f 132 159 135
+f 132 135 133
+f 133 135 134
+f 135 159 158
+f 135 158 160
+f 135 160 137
+f 135 137 136
+f 137 160 138
+f 138 161 162
+f 138 162 163
+f 138 163 139
+f 138 160 161
+f 139 163 141
+f 139 141 140
+f 141 163 162
+f 141 162 164
+f 141 164 165
+f 141 165 142
+f 142 165 144
+f 143 144 145
+f 144 165 164
+f 144 164 166
+f 144 166 167
+f 144 167 145
+f 145 167 168
+f 145 168 169
+f 145 169 170
+f 145 170 171
+f 145 171 146
+f 150 172 151
+f 151 172 173
+f 151 173 152
+f 152 173 174
+f 152 174 153
+f 153 174 175
+f 153 175 176
+f 153 176 154
+f 154 176 177
+f 154 177 178
+f 154 178 179
+f 154 179 155
+f 155 179 156
+f 156 179 180
+f 156 180 181
+f 156 181 182
+f 156 182 157
+f 157 160 158
+f 157 182 166
+f 157 166 183
+f 157 183 162
+f 157 162 161
+f 157 161 160
+f 162 183 184
+f 162 184 164
+f 164 184 166
+f 166 184 183
+f 166 182 185
+f 166 185 168
+f 166 168 167
+f 168 186 169
+f 168 185 182
+f 168 182 181
+f 168 181 186
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_1.obj

@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
+v 0.00051329 0.03001799 -0.02565262
+v 0.00051329 0.02993921 -0.02718135
+v 0.00051329 0.03001648 -0.02564648
+v 0.00188810 0.02987101 -0.02564648
+v 0.00188810 0.02987101 -0.02565262
+v 0.00051329 0.02836039 -0.03482130
+v 0.00188810 0.02971344 -0.02718135
+v 0.00051329 0.02384200 -0.02564650
+v 0.00341342 0.02946039 -0.02564648
+v 0.00341791 0.02945888 -0.02565262
+v 0.00440859 0.02910281 -0.02718135
+v 0.00341791 0.02936798 -0.02718135
+v 0.00051329 0.02832403 -0.03495391
+v 0.00188810 0.02813008 -0.03482130
+v 0.00425134 0.02905433 -0.02800894
+v 0.00051329 0.01453863 -0.02984961
+v 0.01636855 0.01453861 -0.02564654
+v 0.00647979 0.02847551 -0.02564649
+v 0.00647979 0.02847551 -0.02565263
+v 0.00517462 0.02886493 -0.02718135
+v 0.00051329 0.02782552 -0.03641633
+v 0.00314610 0.02763461 -0.03585395
+v 0.00188810 0.02777249 -0.03611795
+v 0.00416822 0.02750581 -0.03555312
+v 0.00647979 0.02842097 -0.02718136
+v 0.00647979 0.02683003 -0.03482130
+v 0.00051329 0.01453865 -0.03482258
+v 0.02346052 0.01453861 -0.02564654
+v 0.00800961 0.02796488 -0.02564649
+v 0.00800961 0.02796488 -0.02565263
+v 0.00051329 0.02766188 -0.03672576
+v 0.00188810 0.02733309 -0.03688293
+v 0.00494998 0.02680882 -0.03635002
+v 0.00356169 0.02721641 -0.03635739
+v 0.00077387 0.02744976 -0.03704624
+v 0.00759177 0.02613455 -0.03589570
+v 0.00641689 0.02631183 -0.03638195
+v 0.00811968 0.02777852 -0.02715680
+v 0.00870375 0.02747851 -0.02765041
+v 0.00861165 0.02591484 -0.03510862
+v 0.00051329 0.02370113 -0.03793278
+v 0.01719075 0.01453866 -0.03818700
+v 0.02346276 0.01453861 -0.02565268
+v 0.02345153 0.01455982 -0.02564654
+v 0.00889470 0.02757850 -0.02564649
+v 0.00889919 0.02757699 -0.02565263
+v 0.00882281 0.02753154 -0.02663126
+v 0.00051329 0.02747097 -0.03706834
+v 0.00586427 0.02603759 -0.03715798
+v 0.00494998 0.02617395 -0.03726112
+v 0.00341791 0.02638457 -0.03739741
+v 0.00188810 0.02657094 -0.03749196
+v 0.01062220 0.02464207 -0.03593009
+v 0.00954616 0.02490723 -0.03640283
+v 0.00806577 0.02562089 -0.03638196
+v 0.00688639 0.02583303 -0.03691363
+v 0.00941587 0.02719365 -0.02715680
+v 0.01175664 0.02594209 -0.02750552
+v 0.01087605 0.02478753 -0.03482131
+v 0.00051329 0.02506937 -0.03814767
+v 0.01721321 0.01453866 -0.03818946
+v 0.02344929 0.01456437 -0.02565268
+v 0.02331899 0.01453862 -0.02718141
+v 0.02279108 0.01567502 -0.02564653
+v 0.00890144 0.02757547 -0.02564649
+v 0.01246202 0.02564206 -0.02564650
+v 0.01184650 0.02599360 -0.02631323
+v 0.01184650 0.02599360 -0.02648637
+v 0.01117482 0.02630271 -0.02706962
+v 0.00051329 0.02682549 -0.03747968
+v 0.00904296 0.02458753 -0.03721201
+v 0.00800961 0.02482239 -0.03735813
+v 0.00641689 0.02528604 -0.03746496
+v 0.00494998 0.02522543 -0.03777439
+v 0.00341791 0.02522543 -0.03797331
+v 0.00188810 0.02522543 -0.03809364
+v 0.00051329 0.02664518 -0.03756072
+v 0.01163983 0.02434812 -0.03482131
+v 0.01344596 0.02299958 -0.03570294
+v 0.01251369 0.02325565 -0.03626654
+v 0.01110743 0.02404962 -0.03640283
+v 0.01006284 0.02432388 -0.03694802
+v 0.01245304 0.02557086 -0.02706963
+v 0.01377618 0.02473901 -0.02718137
+v 0.01359197 0.02461779 -0.02831839
+v 0.00051329 0.02522543 -0.03815258
+v 0.01719075 0.01456442 -0.03819068
+v 0.01719075 0.01608721 -0.03803350
+v 0.01872056 0.01453866 -0.03791318
+v 0.02330551 0.01456438 -0.02718141
+v 0.02271021 0.01557806 -0.02718140
+v 0.02278659 0.01568260 -0.02564653
+v 0.02262260 0.01544472 -0.02813915
+v 0.02145895 0.01453865 -0.03478205
+v 0.01384582 0.02482385 -0.02564650
+v 0.01385256 0.02482082 -0.02565264
+v 0.01245304 0.02564813 -0.02574350
+v 0.00954616 0.02377083 -0.03751039
+v 0.01194984 0.02301171 -0.03716905
+v 0.01107148 0.02326930 -0.03732375
+v 0.00800961 0.02370113 -0.03790946
+v 0.00647979 0.02370113 -0.03811574
+v 0.00494998 0.02370113 -0.03818942
+v 0.01454221 0.02421323 -0.02718137
+v 0.01554861 0.02345260 -0.02718137
+v 0.01631464 0.02284803 -0.02718138
+v 0.01433779 0.02250865 -0.03482132
+v 0.01528578 0.02174953 -0.03482132
+v 0.01510157 0.02159498 -0.03588467
+v 0.01405698 0.02212076 -0.03630338
+v 0.01296747 0.02264654 -0.03672086
+v 0.01107148 0.02065708 -0.03817960
+v 0.01565868 0.01760999 -0.03807525
+v 0.00800961 0.02217986 -0.03818697
+v 0.01724241 0.01765090 -0.03752638
+v 0.01872056 0.01604478 -0.03745394
+v 0.01872056 0.01456442 -0.03790950
+v 0.01874752 0.01453866 -0.03790336
+v 0.02220027 0.01633869 -0.02718140
+v 0.02227441 0.01644020 -0.02564653
+v 0.02096249 0.01524171 -0.03525969
+v 0.01958768 0.01698117 -0.03577909
+v 0.02143649 0.01741297 -0.02718140
+v 0.02117590 0.01453865 -0.03579507
+v 0.01385480 0.02481779 -0.02564650
+v 0.01579122 0.02339501 -0.02564650
+v 0.01107148 0.02217986 -0.03784439
+v 0.01466801 0.02122680 -0.03690382
+v 0.01364813 0.02163136 -0.03725254
+v 0.01251369 0.02215562 -0.03741340
+v 0.00953942 0.02217986 -0.03812434
+v 0.01638877 0.02291167 -0.02614012
+v 0.01798149 0.02144343 -0.02659567
+v 0.01731205 0.02196921 -0.02713472
+v 0.01790286 0.02136919 -0.02761359
+v 0.01605181 0.02108284 -0.03482132
+v 0.01666733 0.02013129 -0.03595222
+v 0.01568789 0.02067828 -0.03642863
+v 0.01412887 0.01913278 -0.03806542
+v 0.01572158 0.01919793 -0.03754234
+v 0.01676617 0.01873276 -0.03729799
+v 0.01821287 0.01717058 -0.03727221
+v 0.01960790 0.01550840 -0.03720345
+v 0.01991566 0.01456442 -0.03737168
+v 0.01992240 0.01453866 -0.03737536
+v 0.02150837 0.01752812 -0.02565267
+v 0.02150613 0.01753115 -0.02564653
+v 0.01923275 0.01652359 -0.03679824
+v 0.01869810 0.01758422 -0.03636111
+v 0.01816120 0.01860547 -0.03592520
+v 0.01832968 0.01879487 -0.03482133
+v 0.01909571 0.01789029 -0.03482133
+v 0.01942369 0.01982519 -0.02752642
+v 0.02085916 0.01817361 -0.02718139
+v 0.02087488 0.01453865 -0.03634148
+v 0.01989544 0.01604477 -0.03631323
+v 0.02095126 0.01829027 -0.02565266
+v 0.01704248 0.02235861 -0.02564651
+v 0.01259905 0.02065708 -0.03800156
+v 0.01627196 0.01974795 -0.03697137
+v 0.01525208 0.02021009 -0.03729185
+v 0.01414684 0.02069344 -0.03750672
+v 0.01801069 0.02146160 -0.02564651
+v 0.01877223 0.02071309 -0.02565265
+v 0.01953601 0.01994791 -0.02564652
+v 0.01949782 0.01990852 -0.02650727
+v 0.01870259 0.02063885 -0.02706104
+v 0.01762655 0.01955551 -0.03482133
+v 0.01686277 0.02032069 -0.03482133
+v 0.01722669 0.01917671 -0.03644829
+v 0.01778605 0.01818577 -0.03694435
+v 0.02074684 0.01453865 -0.03654285
+v 0.01994486 0.01453866 -0.03736308
+v 0.02095126 0.01829027 -0.02564652
+v 0.01998081 0.01924486 -0.02708315
+v 0.02071539 0.01466593 -0.03646549
+v 0.02023241 0.01913273 -0.02565266
+v 0.01877223 0.02071309 -0.02564651
+v 0.02023465 0.01912970 -0.02564652
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 31
+f 1 31 48
+f 1 48 70
+f 1 70 77
+f 1 77 86
+f 1 86 60
+f 1 60 41
+f 1 41 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 17
+f 3 17 28
+f 3 28 44
+f 3 44 64
+f 3 64 92
+f 3 92 120
+f 3 120 147
+f 3 147 174
+f 3 174 179
+f 3 179 165
+f 3 165 178
+f 3 178 163
+f 3 163 158
+f 3 158 126
+f 3 126 125
+f 3 125 95
+f 3 95 66
+f 3 66 65
+f 3 65 45
+f 3 45 29
+f 3 29 18
+f 3 18 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 7 14
+f 6 14 13
+f 7 12 15
+f 7 15 14
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 15 12
+f 11 20 15
+f 13 14 22
+f 13 22 23
+f 13 23 21
+f 14 15 24
+f 14 24 22
+f 15 20 25
+f 15 25 26
+f 15 26 24
+f 16 27 42
+f 16 42 61
+f 16 61 89
+f 16 89 118
+f 16 118 145
+f 16 145 173
+f 16 173 172
+f 16 172 155
+f 16 155 124
+f 16 124 94
+f 16 94 63
+f 16 63 43
+f 16 43 28
+f 16 28 17
+f 18 29 30
+f 18 30 19
+f 19 30 20
+f 20 30 25
+f 21 23 31
+f 22 32 23
+f 22 24 33
+f 22 33 34
+f 22 34 32
+f 23 32 35
+f 23 35 31
+f 24 26 36
+f 24 36 37
+f 24 37 33
+f 25 30 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 36
+f 27 41 42
+f 28 43 44
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 38
+f 31 35 48
+f 32 34 49
+f 32 49 50
+f 32 50 35
+f 33 37 49
+f 33 49 34
+f 35 50 51
+f 35 51 52
+f 35 52 48
+f 36 40 53
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 49
+f 38 47 39
+f 39 47 57
+f 39 57 58
+f 39 58 40
+f 40 58 59
+f 40 59 53
+f 41 60 61
+f 41 61 42
+f 43 62 44
+f 43 63 90
+f 43 90 62
+f 44 62 64
+f 45 65 46
+f 46 57 47
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 57
+f 48 52 70
+f 49 56 71
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 50 73 74
+f 50 74 51
+f 51 75 52
+f 51 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 70
+f 53 59 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 54
+f 54 82 55
+f 55 82 56
+f 56 82 71
+f 57 69 58
+f 58 78 59
+f 58 69 68
+f 58 68 83
+f 58 83 84
+f 58 84 85
+f 58 85 78
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 61 88 89
+f 62 90 91
+f 62 91 92
+f 62 92 64
+f 63 93 90
+f 63 94 93
+f 66 95 96
+f 66 96 97
+f 66 97 67
+f 67 97 68
+f 68 97 96
+f 68 96 83
+f 71 98 72
+f 71 82 99
+f 71 99 100
+f 71 100 98
+f 72 98 101
+f 72 101 73
+f 73 101 74
+f 74 101 102
+f 74 102 75
+f 75 102 76
+f 76 86 77
+f 76 102 103
+f 76 103 86
+f 78 85 79
+f 79 85 104
+f 79 104 105
+f 79 105 106
+f 79 106 107
+f 79 107 108
+f 79 108 109
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 80 99 81
+f 80 111 99
+f 81 99 82
+f 83 96 84
+f 84 96 104
+f 84 104 85
+f 86 103 87
+f 87 112 113
+f 87 113 88
+f 87 103 114
+f 87 114 112
+f 88 115 116
+f 88 116 117
+f 88 117 89
+f 88 113 115
+f 89 117 118
+f 90 93 91
+f 91 93 119
+f 91 119 92
+f 92 119 120
+f 93 94 121
+f 93 121 122
+f 93 122 123
+f 93 123 119
+f 94 124 121
+f 95 125 96
+f 96 125 126
+f 96 126 104
+f 98 100 127
+f 98 127 101
+f 99 111 128
+f 99 128 129
+f 99 129 130
+f 99 130 100
+f 100 130 127
+f 101 127 131
+f 101 131 102
+f 102 131 103
+f 103 131 114
+f 104 126 132
+f 104 132 105
+f 105 132 106
+f 106 132 133
+f 106 133 134
+f 106 134 135
+f 106 135 108
+f 106 108 107
+f 108 135 136
+f 108 136 109
+f 109 128 110
+f 109 136 137
+f 109 137 138
+f 109 138 128
+f 110 128 111
+f 112 139 113
+f 112 114 131
+f 112 131 139
+f 113 140 115
+f 113 139 140
+f 115 140 141
+f 115 141 142
+f 115 142 116
+f 116 142 143
+f 116 143 144
+f 116 144 117
+f 117 144 145
+f 117 145 118
+f 119 123 146
+f 119 146 120
+f 120 146 147
+f 121 124 122
+f 122 148 149
+f 122 149 150
+f 122 150 151
+f 122 151 152
+f 122 152 153
+f 122 153 154
+f 122 154 123
+f 122 124 155
+f 122 155 156
+f 122 156 148
+f 123 154 157
+f 123 157 146
+f 126 158 132
+f 127 130 159
+f 127 159 131
+f 128 138 160
+f 128 160 161
+f 128 161 129
+f 129 161 162
+f 129 162 130
+f 130 162 159
+f 131 159 139
+f 132 158 133
+f 133 163 164
+f 133 164 165
+f 133 165 166
+f 133 166 167
+f 133 167 135
+f 133 135 134
+f 133 158 163
+f 135 167 153
+f 135 153 168
+f 135 168 169
+f 135 169 136
+f 136 169 137
+f 137 160 138
+f 137 169 168
+f 137 168 150
+f 137 150 170
+f 137 170 160
+f 139 159 162
+f 139 162 140
+f 140 162 161
+f 140 161 141
+f 141 161 160
+f 141 160 171
+f 141 171 142
+f 142 171 143
+f 143 172 173
+f 143 173 144
+f 143 171 148
+f 143 148 172
+f 144 173 145
+f 146 157 174
+f 146 174 147
+f 148 171 149
+f 148 156 172
+f 149 171 150
+f 150 171 170
+f 150 168 151
+f 151 168 153
+f 151 153 152
+f 153 166 175
+f 153 175 154
+f 153 167 166
+f 154 175 157
+f 155 172 176
+f 155 176 156
+f 156 176 172
+f 157 175 166
+f 157 166 177
+f 157 177 174
+f 160 170 171
+f 163 178 164
+f 164 178 165
+f 165 179 177
+f 165 177 166
+f 174 177 179
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_10.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.03235365 -0.01004999 -0.02581031
+v -0.03223419 -0.01004998 -0.02725840
+v -0.03175923 -0.01133398 -0.02718200
+v -0.03187149 -0.01133399 -0.02581031
+v -0.02591148 -0.01004999 -0.02581031
+v -0.03053729 -0.01004995 -0.03470868
+v -0.03113171 -0.01234434 -0.02824928
+v -0.03123102 -0.01255483 -0.02718201
+v -0.03181680 -0.01145867 -0.02581031
+v -0.01765007 -0.01004997 -0.02961246
+v -0.01765007 -0.01975365 -0.02581034
+v -0.03046245 -0.01004995 -0.03497671
+v -0.02951253 -0.01215001 -0.03564497
+v -0.02958881 -0.01530903 -0.02820077
+v -0.03086832 -0.01331584 -0.02718201
+v -0.03096188 -0.01333852 -0.02581032
+v -0.01765007 -0.01004995 -0.03505312
+v -0.01765007 -0.02659139 -0.02581037
+v -0.02994143 -0.01004995 -0.03641510
+v -0.02968812 -0.01133395 -0.03597121
+v -0.02791926 -0.01355868 -0.03707852
+v -0.02822582 -0.01408815 -0.03605976
+v -0.02793221 -0.01510337 -0.03545337
+v -0.02943337 -0.01045635 -0.03705789
+v -0.02922324 -0.01133395 -0.03673528
+v -0.03030413 -0.01437963 -0.02718201
+v -0.02920453 -0.01623034 -0.02718202
+v -0.02968668 -0.01546933 -0.02718202
+v -0.03092445 -0.01341624 -0.02581032
+v -0.03043223 -0.01437964 -0.02581032
+v -0.01765007 -0.01909784 -0.03776256
+v -0.02565961 -0.01004994 -0.03799660
+v -0.01962475 -0.02554217 -0.02581036
+v -0.01765007 -0.02656224 -0.02673817
+v -0.02982197 -0.01004995 -0.03663462
+v -0.02816681 -0.01254346 -0.03726408
+v -0.02689306 -0.01437959 -0.03738778
+v -0.02657354 -0.01537214 -0.03722042
+v -0.02620941 -0.01638736 -0.03686265
+v -0.02689162 -0.01588867 -0.03635205
+v -0.02770337 -0.01450914 -0.03648181
+v -0.02656491 -0.01685207 -0.03584389
+v -0.02670164 -0.01703180 -0.03482149
+v -0.02843884 -0.01733623 -0.02718202
+v -0.02845899 -0.01133394 -0.03742780
+v -0.02950677 -0.01004994 -0.03712338
+v -0.02975865 -0.01557135 -0.02581033
+v -0.03036890 -0.01449298 -0.02581032
+v -0.02927361 -0.01633236 -0.02581033
+v -0.01765007 -0.02047090 -0.03815552
+v -0.02565961 -0.01133394 -0.03817246
+v -0.02694775 -0.01004994 -0.03817246
+v -0.01970391 -0.02549522 -0.02581036
+v -0.01889792 -0.02587409 -0.02718206
+v -0.01800845 -0.02635337 -0.02718206
+v -0.01765007 -0.02653471 -0.02718206
+v -0.02732196 -0.01297416 -0.03757455
+v -0.02565961 -0.01437959 -0.03793233
+v -0.02568264 -0.01588866 -0.03747511
+v -0.02518896 -0.01704798 -0.03728592
+v -0.02478741 -0.01806320 -0.03701183
+v -0.02567976 -0.01745764 -0.03642846
+v -0.02515155 -0.01848095 -0.03599307
+v -0.02611010 -0.01779442 -0.03482150
+v -0.02643106 -0.01971640 -0.02796065
+v -0.02788616 -0.01809886 -0.02718203
+v -0.02794229 -0.01817172 -0.02621663
+v -0.02919445 -0.01644570 -0.02581033
+v -0.02880009 -0.01004994 -0.03753452
+v -0.02718955 -0.01133394 -0.03800024
+v -0.01765007 -0.02082711 -0.03818220
+v -0.01800845 -0.02047090 -0.03819312
+v -0.02412966 -0.01437959 -0.03820036
+v -0.02718955 -0.01004994 -0.03814456
+v -0.02565961 -0.01285596 -0.03816640
+v -0.01966361 -0.02541749 -0.02718205
+v -0.02092297 -0.02473421 -0.02581036
+v -0.01880724 -0.02582228 -0.02799948
+v -0.01765007 -0.02483942 -0.03476209
+v -0.02412966 -0.01590323 -0.03805241
+v -0.02421890 -0.01750296 -0.03755152
+v -0.02376697 -0.01860885 -0.03731989
+v -0.02327762 -0.01962407 -0.03703730
+v -0.02422753 -0.01905252 -0.03651458
+v -0.02366622 -0.02000297 -0.03601854
+v -0.02465500 -0.01946216 -0.03482150
+v -0.02534441 -0.01869954 -0.03482150
+v -0.02575604 -0.02054056 -0.02718204
+v -0.02648719 -0.01977955 -0.02718203
+v -0.02718379 -0.01894730 -0.02718203
+v -0.02492270 -0.02125947 -0.02800432
+v -0.02830355 -0.01771189 -0.02581034
+v -0.02656779 -0.01987833 -0.02581034
+v -0.02757240 -0.01865748 -0.02581034
+v -0.02866048 -0.01004994 -0.03759637
+v -0.01765007 -0.02199453 -0.03794449
+v -0.01953839 -0.02047090 -0.03803545
+v -0.02106978 -0.01894726 -0.03810457
+v -0.02259972 -0.01742686 -0.03810577
+v -0.02086108 -0.02465486 -0.02718205
+v -0.02168866 -0.02416750 -0.02581036
+v -0.02162677 -0.02413187 -0.02718205
+v -0.01866476 -0.02421442 -0.03515990
+v -0.01765007 -0.02450911 -0.03599673
+v -0.02270047 -0.01904927 -0.03757821
+v -0.02225717 -0.02008391 -0.03731625
+v -0.02167571 -0.02110075 -0.03697788
+v -0.02269183 -0.02055186 -0.03649761
+v -0.02210605 -0.02145698 -0.03595791
+v -0.02308332 -0.02098094 -0.03482151
+v -0.02389074 -0.02021994 -0.03482150
+v -0.02499178 -0.02132424 -0.02718204
+v -0.02333807 -0.02273453 -0.02777025
+v -0.02573445 -0.02072030 -0.02581035
+v -0.01765007 -0.02238961 -0.03780017
+v -0.01800845 -0.02199453 -0.03788264
+v -0.02112735 -0.02054376 -0.03754184
+v -0.02044513 -0.02285756 -0.03578084
+v -0.02261267 -0.02348260 -0.02581036
+v -0.02271630 -0.02340487 -0.02581036
+v -0.02346328 -0.02284302 -0.02581035
+v -0.02341147 -0.02279606 -0.02675149
+v -0.02273645 -0.02327047 -0.02722935
+v -0.01765007 -0.02450263 -0.03600765
+v -0.02065527 -0.02149097 -0.03727260
+v -0.01894110 -0.02285917 -0.03719134
+v -0.01996154 -0.02250619 -0.03679960
+v -0.02105970 -0.02198159 -0.03637876
+v -0.02231906 -0.02163185 -0.03482151
+v -0.02431533 -0.02205449 -0.02581035
+v -0.02504792 -0.02137120 -0.02581035
+v -0.02400445 -0.02220668 -0.02722934
+v -0.02136195 -0.02239286 -0.03482151
+v -0.01765007 -0.02326396 -0.03739874
+v -0.01800845 -0.02314900 -0.03735265
+v -0.01948658 -0.02199777 -0.03744239
+v -0.01948658 -0.02314415 -0.03631449
+v -0.01809624 -0.02394564 -0.03644668
+v -0.01765007 -0.02405574 -0.03670137
+v -0.01765007 -0.02355703 -0.03722288
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 29
+f 1 29 30
+f 1 30 48
+f 1 48 47
+f 1 47 49
+f 1 49 68
+f 1 68 92
+f 1 92 94
+f 1 94 93
+f 1 93 114
+f 1 114 131
+f 1 131 130
+f 1 130 121
+f 1 121 120
+f 1 120 119
+f 1 119 101
+f 1 101 77
+f 1 77 53
+f 1 53 33
+f 1 33 18
+f 1 18 11
+f 1 11 5
+f 1 5 10
+f 1 10 17
+f 1 17 32
+f 1 32 52
+f 1 52 74
+f 1 74 95
+f 1 95 69
+f 1 69 46
+f 1 46 35
+f 1 35 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 11 10
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 10 11 18
+f 10 18 34
+f 10 34 56
+f 10 56 79
+f 10 79 104
+f 10 104 124
+f 10 124 139
+f 10 139 140
+f 10 140 134
+f 10 134 115
+f 10 115 96
+f 10 96 71
+f 10 71 50
+f 10 50 31
+f 10 31 17
+f 12 19 20
+f 12 20 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 13 20 24
+f 13 24 25
+f 13 25 21
+f 14 26 15
+f 14 23 27
+f 14 27 28
+f 14 28 26
+f 15 29 16
+f 15 26 30
+f 15 30 29
+f 17 31 32
+f 18 33 34
+f 19 35 20
+f 20 35 24
+f 21 25 24
+f 21 24 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 41 40
+f 22 40 23
+f 23 40 42
+f 23 42 43
+f 23 43 44
+f 23 44 27
+f 24 45 36
+f 24 35 46
+f 24 46 45
+f 26 28 47
+f 26 47 48
+f 26 48 30
+f 27 47 28
+f 27 44 49
+f 27 49 47
+f 31 50 32
+f 32 51 52
+f 32 50 51
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 36 57 37
+f 36 45 57
+f 37 58 59
+f 37 59 38
+f 37 57 58
+f 38 59 60
+f 38 60 61
+f 38 61 39
+f 39 61 62
+f 39 62 42
+f 39 42 40
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 44
+f 44 66 67
+f 44 67 68
+f 44 68 49
+f 45 46 69
+f 45 69 70
+f 45 70 57
+f 50 71 72
+f 50 72 51
+f 51 73 52
+f 51 72 73
+f 52 73 75
+f 52 75 74
+f 53 76 54
+f 53 77 76
+f 54 76 78
+f 54 78 55
+f 55 78 56
+f 56 78 79
+f 57 70 58
+f 58 80 81
+f 58 81 59
+f 58 70 75
+f 58 75 80
+f 59 81 60
+f 60 81 82
+f 60 82 61
+f 61 63 62
+f 61 82 83
+f 61 83 84
+f 61 84 63
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 64
+f 64 87 65
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 65 87 86
+f 65 86 91
+f 65 91 88
+f 66 90 67
+f 67 92 68
+f 67 90 93
+f 67 93 94
+f 67 94 92
+f 69 95 70
+f 70 95 74
+f 70 74 75
+f 71 96 97
+f 71 97 98
+f 71 98 72
+f 72 98 73
+f 73 98 99
+f 73 99 75
+f 75 99 80
+f 76 77 100
+f 76 100 78
+f 77 101 102
+f 77 102 100
+f 78 100 103
+f 78 103 79
+f 79 103 104
+f 80 99 81
+f 81 99 105
+f 81 105 82
+f 82 105 106
+f 82 106 83
+f 83 106 107
+f 83 107 108
+f 83 108 85
+f 83 85 84
+f 85 108 109
+f 85 109 110
+f 85 110 111
+f 85 111 86
+f 86 111 91
+f 88 93 89
+f 88 91 112
+f 88 112 93
+f 89 93 90
+f 91 110 113
+f 91 113 112
+f 91 111 110
+f 93 112 114
+f 96 115 116
+f 96 116 97
+f 97 116 117
+f 97 117 98
+f 98 117 105
+f 98 105 99
+f 100 102 118
+f 100 118 103
+f 101 119 102
+f 102 119 120
+f 102 120 121
+f 102 121 122
+f 102 122 123
+f 102 123 113
+f 102 113 118
+f 103 118 104
+f 104 118 124
+f 105 117 106
+f 106 117 125
+f 106 125 107
+f 107 125 126
+f 107 126 127
+f 107 127 128
+f 107 128 109
+f 107 109 108
+f 109 129 110
+f 109 128 118
+f 109 118 129
+f 110 129 113
+f 112 130 131
+f 112 131 114
+f 112 113 132
+f 112 132 122
+f 112 122 121
+f 112 121 130
+f 113 123 122
+f 113 122 132
+f 113 129 133
+f 113 133 118
+f 115 134 135
+f 115 135 116
+f 116 135 136
+f 116 136 117
+f 117 136 125
+f 118 133 129
+f 118 128 127
+f 118 127 137
+f 118 137 124
+f 124 137 138
+f 124 138 139
+f 125 136 126
+f 126 136 135
+f 126 135 140
+f 126 140 139
+f 126 139 127
+f 127 139 138
+f 127 138 137
+f 134 140 135
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_11.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.02672727 0.00538524 -0.02694893
+v 0.02675352 0.00524258 -0.02694893
+v 0.02671152 0.00538524 -0.02713274
+v 0.01993688 0.00538524 -0.02694893
+v 0.02699762 0.00382037 -0.02694894
+v 0.02670627 0.00538524 -0.02717897
+v 0.02699237 0.00378196 -0.02707111
+v 0.01978727 -0.00582568 -0.02694897
+v 0.00051329 0.00538525 -0.03059980
+v 0.02702387 0.00365905 -0.02694894
+v 0.02525213 0.00389941 -0.03482192
+v 0.02500014 0.00538527 -0.03482191
+v 0.02709474 0.00237620 -0.02758182
+v 0.02662228 -0.00582568 -0.02694897
+v 0.00051329 -0.00582567 -0.03057453
+v 0.00051329 0.00538527 -0.03482521
+v 0.02716824 0.00237620 -0.02694894
+v 0.02542274 0.00237623 -0.03482192
+v 0.02472191 0.00389941 -0.03634963
+v 0.02444631 0.00538527 -0.03642006
+v 0.02713149 0.00141928 -0.02789881
+v 0.02732310 0.00088046 -0.02694895
+v 0.02660128 -0.00582568 -0.02718121
+v 0.02675352 -0.00523858 -0.02694897
+v 0.00051329 -0.00582565 -0.03480875
+v 0.00051329 0.00526676 -0.03482852
+v 0.02177950 0.00538528 -0.03815469
+v 0.02552510 0.00092110 -0.03472177
+v 0.02497127 0.00085306 -0.03634964
+v 0.02488465 0.00237623 -0.03634963
+v 0.02412083 0.00490792 -0.03715530
+v 0.02440694 0.00538527 -0.03650371
+v 0.02443318 0.00538527 -0.03645418
+v 0.02714461 0.00040420 -0.02797036
+v 0.02732835 -0.00071953 -0.02694895
+v 0.02673252 -0.00523858 -0.02718121
+v 0.02487940 -0.00582565 -0.03482195
+v 0.02703962 -0.00358920 -0.02694896
+v 0.00051329 -0.00523855 -0.03482525
+v 0.02024924 -0.00582564 -0.03796212
+v 0.00051329 0.00389941 -0.03486375
+v 0.02181887 0.00538528 -0.03814259
+v 0.02330976 0.00237624 -0.03780580
+v 0.02330976 0.00085307 -0.03784873
+v 0.02177950 0.00389942 -0.03818992
+v 0.02553036 -0.00077766 -0.03472177
+v 0.02497652 -0.00066902 -0.03634964
+v 0.02430719 0.00085307 -0.03730721
+v 0.02426520 0.00237624 -0.03727528
+v 0.02418908 0.00389942 -0.03721364
+v 0.02407096 0.00538528 -0.03710027
+v 0.02330976 0.00389942 -0.03771554
+v 0.02347250 0.00538528 -0.03747339
+v 0.02714461 -0.00026850 -0.02797036
+v 0.02730473 -0.00105533 -0.02694895
+v 0.02713411 -0.00128469 -0.02791533
+v 0.02700812 -0.00361774 -0.02709535
+v 0.02501064 -0.00523855 -0.03482195
+v 0.02526525 -0.00371537 -0.03482194
+v 0.02439119 -0.00582565 -0.03631444
+v 0.02713149 -0.00271788 -0.02694896
+v 0.02709999 -0.00219223 -0.02762366
+v 0.00051329 -0.00371537 -0.03486267
+v 0.02177950 0.00237624 -0.03819213
+v 0.02177950 -0.00371536 -0.03818884
+v 0.02177950 -0.00523854 -0.03816244
+v 0.02177950 -0.00582564 -0.03812942
+v 0.00051329 -0.00219220 -0.03488688
+v 0.00051329 -0.00082485 -0.03489898
+v 0.00051329 -0.00066902 -0.03490008
+v 0.00051329 0.00085306 -0.03490338
+v 0.00051329 0.00374358 -0.03486705
+v 0.02342263 0.00538528 -0.03750090
+v 0.02330976 -0.00066901 -0.03785314
+v 0.00051329 0.00237623 -0.03489126
+v 0.02543586 -0.00219220 -0.03482194
+v 0.02489778 -0.00219220 -0.03634965
+v 0.02426782 -0.00219219 -0.03727750
+v 0.02430719 -0.00066901 -0.03730831
+v 0.02473504 -0.00371537 -0.03634965
+v 0.02403684 -0.00582564 -0.03697703
+v 0.02443581 -0.00524404 -0.03646083
+v 0.02330976 -0.00219219 -0.03781242
+v 0.02330976 -0.00371536 -0.03772217
+v 0.02330714 -0.00582564 -0.03749654
+v 0.02412346 -0.00473923 -0.03715754
+v 0.02419433 -0.00371536 -0.03721697
+v 0.02400534 -0.00582564 -0.03702987
+v 0.02401584 -0.00575431 -0.03704417
+v 0.02342788 -0.00524403 -0.03750425
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 20
+f 1 20 33
+f 1 33 32
+f 1 32 51
+f 1 51 53
+f 1 53 73
+f 1 73 42
+f 1 42 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
+f 1 24 38
+f 1 38 61
+f 1 61 55
+f 1 55 35
+f 1 35 22
+f 1 22 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 7
+f 6 7 11
+f 6 11 12
+f 7 10 13
+f 7 13 11
+f 8 9 15
+f 8 15 25
+f 8 25 40
+f 8 40 67
+f 8 67 85
+f 8 85 88
+f 8 88 81
+f 8 81 60
+f 8 60 37
+f 8 37 23
+f 8 23 14
+f 9 16 26
+f 9 26 41
+f 9 41 72
+f 9 72 75
+f 9 75 71
+f 9 71 70
+f 9 70 69
+f 9 69 68
+f 9 68 63
+f 9 63 39
+f 9 39 25
+f 9 25 15
+f 10 17 13
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 11 13 21
+f 11 21 18
+f 13 17 22
+f 13 22 21
+f 14 23 36
+f 14 36 24
+f 16 27 26
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 21 28
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 22 34
+f 21 34 28
+f 22 35 34
+f 23 37 58
+f 23 58 36
+f 24 36 38
+f 25 39 40
+f 26 27 41
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 41
+f 28 46 47
+f 28 47 29
+f 28 34 46
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 31
+f 31 51 32
+f 31 50 52
+f 31 52 53
+f 31 53 51
+f 34 35 54
+f 34 54 46
+f 35 55 56
+f 35 56 54
+f 36 57 38
+f 36 58 59
+f 36 59 57
+f 37 60 58
+f 38 57 62
+f 38 62 61
+f 39 63 40
+f 40 64 65
+f 40 65 66
+f 40 66 67
+f 40 63 68
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 64
+f 41 45 72
+f 42 73 52
+f 42 52 43
+f 43 52 49
+f 43 49 48
+f 43 48 44
+f 44 74 45
+f 44 48 74
+f 45 74 64
+f 45 64 71
+f 45 71 75
+f 45 75 72
+f 46 76 47
+f 46 54 56
+f 46 56 76
+f 47 77 78
+f 47 78 79
+f 47 79 48
+f 47 76 77
+f 48 79 74
+f 49 52 50
+f 52 73 53
+f 55 61 62
+f 55 62 56
+f 56 62 76
+f 57 59 62
+f 58 60 80
+f 58 80 59
+f 59 80 76
+f 59 76 62
+f 60 81 82
+f 60 82 80
+f 64 74 65
+f 65 74 66
+f 66 74 83
+f 66 83 67
+f 67 83 84
+f 67 84 85
+f 74 79 83
+f 76 80 77
+f 77 80 86
+f 77 86 87
+f 77 87 78
+f 78 87 84
+f 78 84 83
+f 78 83 79
+f 80 82 86
+f 81 88 89
+f 81 89 82
+f 82 89 86
+f 84 87 86
+f 84 86 90
+f 84 90 85
+f 85 90 86
+f 85 86 89
+f 85 89 88
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_12.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01176908 -0.01883296 -0.02576932
+v 0.01176908 -0.00582567 -0.02975535
+v 0.00051329 -0.00582567 -0.03057544
+v 0.00051329 -0.02363105 -0.02576934
+v 0.01176908 -0.02585731 -0.02576934
+v 0.01176908 -0.00582565 -0.03490586
+v 0.00051329 -0.00582565 -0.03480852
+v 0.00051329 -0.02984200 -0.02576936
+v 0.00896946 -0.02738301 -0.02576935
+v 0.01176908 -0.02587140 -0.02608449
+v 0.01176908 -0.01887993 -0.03794171
+v 0.00188721 -0.02351816 -0.03805732
+v 0.00051329 -0.02351816 -0.03794051
+v 0.00051329 -0.02977852 -0.02702505
+v 0.00178254 -0.02970565 -0.02576936
+v 0.00892428 -0.02740652 -0.02576935
+v 0.01176908 -0.02586905 -0.02669043
+v 0.01176908 -0.02587140 -0.02610273
+v 0.01176908 -0.02047145 -0.03809381
+v 0.01106835 -0.02047145 -0.03817290
+v 0.00341758 -0.02351816 -0.03816439
+v 0.00051329 -0.02504151 -0.03815831
+v 0.00051329 -0.02976206 -0.02718201
+v 0.00188721 -0.02953873 -0.02718201
+v 0.00188721 -0.02968684 -0.02576936
+v 0.00884606 -0.02735949 -0.02675978
+v 0.00942890 -0.02702802 -0.02723431
+v 0.01118624 -0.02613705 -0.02714549
+v 0.00801752 -0.02779206 -0.02576935
+v 0.01176908 -0.02577266 -0.02762610
+v 0.01176908 -0.02198305 -0.03763875
+v 0.01106835 -0.02199480 -0.03784681
+v 0.00953798 -0.02199480 -0.03812788
+v 0.00800760 -0.02199480 -0.03818872
+v 0.00494796 -0.02351816 -0.03819968
+v 0.00188721 -0.02504151 -0.03810234
+v 0.00051329 -0.02665889 -0.03748789
+v 0.00051329 -0.02820342 -0.03482198
+v 0.00426595 -0.02887344 -0.02802035
+v 0.00341758 -0.02919315 -0.02718201
+v 0.00188721 -0.02797068 -0.03482198
+v 0.00341758 -0.02927780 -0.02576936
+v 0.00813761 -0.02760633 -0.02723431
+v 0.00873368 -0.02730777 -0.02777820
+v 0.00789081 -0.02784142 -0.02576935
+v 0.00863231 -0.02573972 -0.03514441
+v 0.01089757 -0.02461837 -0.03482197
+v 0.01166331 -0.02417641 -0.03482197
+v 0.01176908 -0.02410823 -0.03482197
+v 0.01176908 -0.02288813 -0.03720558
+v 0.01106835 -0.02309735 -0.03732847
+v 0.00955891 -0.02359103 -0.03751830
+v 0.00800760 -0.02351816 -0.03792104
+v 0.00647723 -0.02351816 -0.03812667
+v 0.00341758 -0.02504151 -0.03798310
+v 0.00188721 -0.02640970 -0.03749762
+v 0.00084382 -0.02727952 -0.03706202
+v 0.00051329 -0.02688928 -0.03734188
+v 0.00051329 -0.02765802 -0.03643540
+v 0.00188721 -0.02760160 -0.03614703
+v 0.00519365 -0.02869007 -0.02718201
+v 0.00442792 -0.02892281 -0.02718201
+v 0.00419324 -0.02732890 -0.03559219
+v 0.00647723 -0.02825517 -0.02718200
+v 0.00341758 -0.02742764 -0.03580877
+v 0.00637917 -0.02833745 -0.02576935
+v 0.00647723 -0.02666831 -0.03482198
+v 0.00761206 -0.02596070 -0.03590854
+v 0.01063425 -0.02446791 -0.03594260
+v 0.01176908 -0.02350641 -0.03634656
+v 0.01008226 -0.02414819 -0.03696102
+v 0.00906201 -0.02441618 -0.03722141
+v 0.00800760 -0.02465362 -0.03736864
+v 0.00642324 -0.02510498 -0.03747449
+v 0.00494796 -0.02504151 -0.03778598
+v 0.00341758 -0.02621929 -0.03740515
+v 0.00494796 -0.02599831 -0.03726887
+v 0.00188721 -0.02717138 -0.03691115
+v 0.00051329 -0.02753342 -0.03667388
+v 0.00341758 -0.02698097 -0.03657289
+v 0.00480142 -0.02677880 -0.03620057
+v 0.00642324 -0.02613937 -0.03639038
+v 0.00689701 -0.02565508 -0.03692696
+v 0.00807701 -0.02545527 -0.03639037
+v 0.00955891 -0.02474296 -0.03641105
+v 0.01111463 -0.02387785 -0.03641105
+v 0.00587786 -0.02585726 -0.03716179
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 42
+f 1 42 66
+f 1 66 45
+f 1 45 29
+f 1 29 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 17
+f 1 17 30
+f 1 30 49
+f 1 49 70
+f 1 70 50
+f 1 50 31
+f 1 31 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 22
+f 3 22 37
+f 3 37 58
+f 3 58 79
+f 3 79 59
+f 3 59 38
+f 3 38 23
+f 3 23 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 16 29 26
+f 17 28 30
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 23 38 24
+f 24 39 40
+f 24 40 25
+f 24 38 41
+f 24 41 39
+f 25 40 42
+f 26 29 43
+f 26 43 44
+f 26 44 27
+f 27 30 28
+f 27 44 30
+f 29 45 43
+f 30 44 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 35
+f 33 35 34
+f 35 54 36
+f 36 55 56
+f 36 56 37
+f 36 54 55
+f 37 56 57
+f 37 57 58
+f 38 59 60
+f 38 60 41
+f 39 61 62
+f 39 62 40
+f 39 41 63
+f 39 63 64
+f 39 64 61
+f 40 62 42
+f 41 60 65
+f 41 65 63
+f 42 62 61
+f 42 61 66
+f 43 45 64
+f 43 64 44
+f 44 64 67
+f 44 67 46
+f 45 66 61
+f 45 61 64
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 69 48
+f 48 69 49
+f 49 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 52
+f 52 72 73
+f 52 73 53
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 76 77
+f 57 77 78
+f 57 78 60
+f 57 60 79
+f 57 79 58
+f 59 79 60
+f 60 78 65
+f 63 65 80
+f 63 80 81
+f 63 81 82
+f 63 82 68
+f 63 68 67
+f 63 67 64
+f 65 78 80
+f 68 82 83
+f 68 83 84
+f 68 84 85
+f 68 85 69
+f 69 85 71
+f 69 71 86
+f 69 86 70
+f 70 86 71
+f 71 85 84
+f 71 84 83
+f 71 83 72
+f 72 83 87
+f 72 87 73
+f 73 87 74
+f 74 87 77
+f 74 77 75
+f 75 77 76
+f 77 87 78
+f 78 87 80
+f 80 87 81
+f 81 87 82
+f 82 87 83
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_13.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00884596 0.02091297 -0.02564005
+v 0.00051410 0.02384310 -0.02564004
+v 0.00884596 0.02759986 -0.02564003
+v 0.00884596 0.02386960 0.03088712
+v 0.00051410 0.02646780 0.03088713
+v 0.00051410 0.03001746 -0.02564002
+v 0.00800821 0.02796485 -0.02564003
+v 0.00800821 0.02807041 -0.02412065
+v 0.00884596 0.03179769 0.03700343
+v 0.00884596 0.02393064 0.03163064
+v 0.00051410 0.02658097 0.03241297
+v 0.00051410 0.02647924 0.03104230
+v 0.00122052 0.03056938 -0.01596775
+v 0.00188779 0.02998949 -0.02412064
+v 0.00188779 0.02987121 -0.02564002
+v 0.00051410 0.03390372 0.03700343
+v 0.00647790 0.02847483 -0.02564003
+v 0.00767621 0.03223518 0.03700343
+v 0.00844136 0.03195793 0.03700343
+v 0.00763379 0.03221991 0.03823833
+v 0.00884596 0.03163999 0.03859393
+v 0.00884596 0.02399677 0.03241296
+v 0.00051410 0.02660005 0.03257461
+v 0.00263500 0.03055411 -0.01261220
+v 0.00341157 0.02946044 -0.02564002
+v 0.00275736 0.03362393 0.03759179
+v 0.00051410 0.03377019 0.03854220
+v 0.00188779 0.03370024 0.03811549
+v 0.00275736 0.03362393 0.03785041
+v 0.00647790 0.03262561 0.03700343
+v 0.00494759 0.03292192 0.03852927
+v 0.00660434 0.03242340 0.03865858
+v 0.00719901 0.03206349 0.03925340
+v 0.00808978 0.03191724 0.03865858
+v 0.00884596 0.03098376 0.03965425
+v 0.00884596 0.02408452 0.03307243
+v 0.00051410 0.02676284 0.03394527
+v 0.00494759 0.03305800 0.03700343
+v 0.00051410 0.03367607 0.03887194
+v 0.00076453 0.03355399 0.03916935
+v 0.00188779 0.03346242 0.03888487
+v 0.00332755 0.03332507 0.03842582
+v 0.00617853 0.03221483 0.03944090
+v 0.00800821 0.03114782 0.03975770
+v 0.00884596 0.02979467 0.04024906
+v 0.00884596 0.02420534 0.03394526
+v 0.00051410 0.02679207 0.03410044
+v 0.00051410 0.03323859 0.03947323
+v 0.00051410 0.03292827 0.03974478
+v 0.00188779 0.03270063 0.03979003
+v 0.00341810 0.03255692 0.03971891
+v 0.00494759 0.03238142 0.03959607
+v 0.00660434 0.03146067 0.03982882
+v 0.00494759 0.03131823 0.04019735
+v 0.00800821 0.02979467 0.04035251
+v 0.00884596 0.02827111 0.04028785
+v 0.00884596 0.02439100 0.03491507
+v 0.00051410 0.02705533 0.03547111
+v 0.00051410 0.03131823 0.04039778
+v 0.00188779 0.03131823 0.04038485
+v 0.00341810 0.03131823 0.04032666
+v 0.00647790 0.02979467 0.04039777
+v 0.00051410 0.02979467 0.03998398
+v 0.00800821 0.02827111 0.04019087
+v 0.00884596 0.02690015 0.03966717
+v 0.00884596 0.02460974 0.03576851
+v 0.00051410 0.02737963 0.03661549
+v 0.00051410 0.02891463 0.03941503
+v 0.00884596 0.02617654 0.03898830
+v 0.00884596 0.02505866 0.03710038
+v 0.00051410 0.02766322 0.03736548
+v 0.00051410 0.02829782 0.03851632
+v 0.00884596 0.02568309 0.03828356
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 35
+f 1 35 45
+f 1 45 56
+f 1 56 65
+f 1 65 69
+f 1 69 73
+f 1 73 70
+f 1 70 66
+f 1 66 57
+f 1 57 46
+f 1 46 36
+f 1 36 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 11
+f 2 11 23
+f 2 23 37
+f 2 37 47
+f 2 47 58
+f 2 58 67
+f 2 67 71
+f 2 71 72
+f 2 72 68
+f 2 68 63
+f 2 63 59
+f 2 59 49
+f 2 49 48
+f 2 48 39
+f 2 39 27
+f 2 27 16
+f 2 16 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 6 16 13
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 10 22 11
+f 11 22 23
+f 13 16 14
+f 14 24 25
+f 14 25 15
+f 14 16 26
+f 14 26 24
+f 16 27 28
+f 16 28 29
+f 16 29 26
+f 17 25 30
+f 17 30 18
+f 18 30 20
+f 18 20 19
+f 20 29 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 20 30 29
+f 21 34 33
+f 21 33 35
+f 22 36 37
+f 22 37 23
+f 24 26 38
+f 24 38 30
+f 24 30 25
+f 26 29 38
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 31
+f 29 30 38
+f 31 42 41
+f 31 41 43
+f 31 43 33
+f 31 33 32
+f 33 43 35
+f 35 44 45
+f 35 43 44
+f 36 46 37
+f 37 46 47
+f 39 48 40
+f 40 43 41
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 43
+f 43 52 44
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 46 57 47
+f 47 57 58
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 54
+f 50 54 51
+f 51 54 52
+f 52 54 53
+f 54 61 55
+f 55 60 62
+f 55 62 56
+f 55 61 60
+f 56 62 59
+f 56 59 63
+f 56 63 64
+f 56 64 65
+f 57 66 58
+f 58 66 67
+f 59 62 60
+f 63 65 64
+f 63 68 65
+f 65 68 69
+f 66 70 67
+f 67 70 71
+f 68 72 73
+f 68 73 69
+f 70 73 71
+f 71 73 72
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_14.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.02871898 -0.00219391 -0.03820927
+v -0.02871898 -0.00371706 -0.03819835
+v -0.03024939 -0.00066977 -0.03782695
+v -0.02871898 0.00009279 -0.03820683
+v -0.02718857 -0.00828551 -0.03820079
+v -0.02871898 -0.00523922 -0.03815830
+v -0.02718857 -0.00980866 -0.03817167
+v -0.03024939 0.00009279 -0.03782574
+v -0.03024939 -0.00219391 -0.03778570
+v -0.03121757 -0.00066977 -0.03728807
+v -0.01765007 0.00009278 -0.03477211
+v -0.02565976 -0.01004895 -0.03799569
+v -0.02694692 -0.01004895 -0.03817167
+v -0.02871898 -0.00676236 -0.03806485
+v -0.02718857 -0.01004895 -0.03814498
+v -0.02871898 -0.00828551 -0.03789859
+v -0.03121596 0.00009279 -0.03728686
+v -0.03024939 -0.00371706 -0.03768860
+v -0.03118052 -0.00219391 -0.03725774
+v -0.03185551 -0.00066978 -0.03634990
+v -0.01765007 0.00009276 -0.03002175
+v -0.01765007 -0.01004896 -0.03505372
+v -0.03002546 -0.00676236 -0.03746772
+v -0.02866098 -0.01004895 -0.03759639
+v -0.02884141 -0.00989207 -0.03754663
+v -0.02979993 -0.00828551 -0.03734636
+v -0.03185229 0.00009278 -0.03634990
+v -0.03035571 -0.00519156 -0.03748107
+v -0.03104520 -0.00465339 -0.03714124
+v -0.03110481 -0.00371706 -0.03719463
+v -0.03177819 -0.00219392 -0.03634991
+v -0.03239358 -0.00066978 -0.03482187
+v -0.02591107 -0.01004900 -0.02581031
+v -0.01765007 -0.01004898 -0.02961278
+v -0.02815353 0.00009274 -0.02581027
+v -0.02879952 -0.01004895 -0.03753449
+v -0.02961628 -0.00943929 -0.03722014
+v -0.03093727 -0.00566816 -0.03702230
+v -0.03239035 0.00009278 -0.03482187
+v -0.03134323 -0.00519157 -0.03644701
+v -0.03161709 -0.00371707 -0.03634991
+v -0.03231303 -0.00219392 -0.03482188
+v -0.03401581 -0.00066981 -0.02732131
+v -0.03401581 0.00009275 -0.02731888
+v -0.03235330 -0.01004900 -0.02581031
+v -0.03410603 0.00009274 -0.02581027
+v -0.02950674 -0.01004895 -0.03712305
+v -0.03079067 -0.00676236 -0.03680019
+v -0.03123368 -0.00676237 -0.03603557
+v -0.03214549 -0.00371707 -0.03482188
+v -0.03379028 -0.00371710 -0.02718174
+v -0.03397231 -0.00205792 -0.02704096
+v -0.03407864 -0.00145919 -0.02643897
+v -0.03408830 -0.00066981 -0.02655668
+v -0.03408830 0.00009275 -0.02655547
+v -0.03238552 -0.00996162 -0.02581031
+v -0.03259172 -0.00918316 -0.02683101
+v -0.03234847 -0.00973820 -0.02727765
+v -0.03223409 -0.01004899 -0.02725823
+v -0.03409958 0.00009275 -0.02616102
+v -0.03410603 -0.00071351 -0.02581027
+v -0.02982087 -0.01004896 -0.03663394
+v -0.03061185 -0.00829645 -0.03630623
+v -0.03109675 -0.00779700 -0.03576736
+v -0.03189740 -0.00523923 -0.03482189
+v -0.03355024 -0.00523926 -0.02718175
+v -0.03383216 -0.00385612 -0.02581028
+v -0.03398842 -0.00285128 -0.02581028
+v -0.03403837 -0.00247495 -0.02595714
+v -0.03409314 -0.00187226 -0.02581028
+v -0.03241613 -0.00987822 -0.02581031
+v -0.03285592 -0.00840571 -0.02581030
+v -0.03329893 -0.00692228 -0.02581030
+v -0.03276893 -0.00841563 -0.02727764
+v -0.03253534 -0.00901039 -0.02785050
+v -0.03053614 -0.01004896 -0.03470904
+v -0.02994169 -0.01004896 -0.03641426
+v -0.02997230 -0.00989208 -0.03646888
+v -0.03094210 -0.00881277 -0.03508648
+v -0.03156071 -0.00676237 -0.03482189
+v -0.03322161 -0.00676240 -0.02718175
+v -0.03334243 -0.00676241 -0.02581029
+v -0.03360824 -0.00523927 -0.02581029
+v -0.03405931 -0.00233198 -0.02581028
+v -0.03268033 -0.00799463 -0.02831656
+v -0.03046203 -0.01004896 -0.03497726
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 8
+f 4 8 17
+f 4 17 27
+f 4 27 39
+f 4 39 44
+f 4 44 55
+f 4 55 60
+f 4 60 46
+f 4 46 35
+f 4 35 21
+f 4 21 11
+f 4 11 12
+f 4 12 5
+f 5 13 7
+f 5 12 13
+f 6 14 9
+f 6 7 14
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 8 10 17
+f 9 14 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 17
+f 11 21 34
+f 11 34 22
+f 11 22 12
+f 12 22 34
+f 12 34 33
+f 12 33 45
+f 12 45 59
+f 12 59 76
+f 12 76 86
+f 12 86 77
+f 12 77 62
+f 12 62 47
+f 12 47 36
+f 12 36 24
+f 12 24 15
+f 12 15 13
+f 14 16 23
+f 14 23 18
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 23
+f 17 20 27
+f 18 23 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 31 20
+f 19 30 31
+f 20 31 32
+f 20 32 39
+f 20 39 27
+f 21 33 34
+f 21 35 33
+f 23 26 29
+f 23 29 28
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 29
+f 29 38 40
+f 29 40 41
+f 29 41 31
+f 29 31 30
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 39
+f 33 35 46
+f 33 46 61
+f 33 61 70
+f 33 70 84
+f 33 84 68
+f 33 68 67
+f 33 67 83
+f 33 83 82
+f 33 82 73
+f 33 73 72
+f 33 72 71
+f 33 71 56
+f 33 56 45
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 38 49 40
+f 40 49 41
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 46 60 61
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 49
+f 49 65 50
+f 49 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 52 69 53
+f 53 69 70
+f 53 70 54
+f 54 70 61
+f 54 61 60
+f 54 60 55
+f 56 71 57
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 57 71 72
+f 58 75 59
+f 59 75 76
+f 62 77 78
+f 62 78 63
+f 63 78 64
+f 64 78 77
+f 64 77 79
+f 64 79 75
+f 64 75 80
+f 64 80 65
+f 65 80 81
+f 65 81 66
+f 66 81 82
+f 66 82 83
+f 66 83 67
+f 68 84 69
+f 69 84 70
+f 73 82 74
+f 74 82 81
+f 74 81 75
+f 75 81 85
+f 75 85 80
+f 75 79 76
+f 76 79 86
+f 77 86 79
+f 80 85 81
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_15.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01568057 0.01538250 -0.02564653
+v 0.00884678 0.02091381 -0.02564651
+v 0.01568057 0.02347698 -0.02564650
+v 0.01568057 0.01906073 0.03096809
+v 0.00884678 0.02386889 0.03089055
+v 0.00884678 0.02759895 -0.02564649
+v 0.01385573 0.02481883 -0.02564650
+v 0.01568057 0.02347859 -0.02564003
+v 0.01568057 0.01919089 0.03233191
+v 0.00884678 0.02399583 0.03241596
+v 0.00884678 0.02392834 0.03162740
+v 0.00884678 0.02760538 -0.02556246
+v 0.00889427 0.02757966 -0.02564649
+v 0.01384770 0.02482365 -0.02564650
+v 0.01469457 0.02891164 0.03699867
+v 0.01568057 0.02827205 0.03699866
+v 0.01568057 0.01944801 0.03394135
+v 0.00884678 0.02420474 0.03394137
+v 0.00884678 0.02408261 0.03306878
+v 0.00884678 0.03179782 0.03699868
+v 0.00953912 0.03152141 0.03699868
+v 0.01187971 0.03057810 0.03761917
+v 0.01246235 0.02564161 -0.02564650
+v 0.01392931 0.02936482 0.03699867
+v 0.01187971 0.03057810 0.03784540
+v 0.01458218 0.02883932 0.03853054
+v 0.01568057 0.02824313 0.03728306
+v 0.01568057 0.01954603 0.03432916
+v 0.00884678 0.02438954 0.03491737
+v 0.00884678 0.03164033 0.03858872
+v 0.00953912 0.03138642 0.03853055
+v 0.01104288 0.03077737 0.03842712
+v 0.01153454 0.03040455 0.03886665
+v 0.01247305 0.03006707 0.03842712
+v 0.01381693 0.02929571 0.03853054
+v 0.01351992 0.02912055 0.03938373
+v 0.01568057 0.02810653 0.03861455
+v 0.01568057 0.01984011 0.03547322
+v 0.00884678 0.02460809 0.03577056
+v 0.00884678 0.03098306 0.03965520
+v 0.00953912 0.03084646 0.03957118
+v 0.01051442 0.03064720 0.03939020
+v 0.01259948 0.02936641 0.03957764
+v 0.01406979 0.02829132 0.03971337
+v 0.01534477 0.02779637 0.03953238
+v 0.01568057 0.02798761 0.03882785
+v 0.01568057 0.02047808 0.03706327
+v 0.00884678 0.02505644 0.03710206
+v 0.00884678 0.02979388 0.04024985
+v 0.00953912 0.02979388 0.04015936
+v 0.01104288 0.02985494 0.03975216
+v 0.01259948 0.02827044 0.04015289
+v 0.01568057 0.02708125 0.03979093
+v 0.01568057 0.02053593 0.03717962
+v 0.00884678 0.02568156 0.03828490
+v 0.00884678 0.02827044 0.04028863
+v 0.00953912 0.02827044 0.04036619
+v 0.01106963 0.02827044 0.04037265
+v 0.01412999 0.02674860 0.04033387
+v 0.01568057 0.02686591 0.03988788
+v 0.01568057 0.02147121 0.03853051
+v 0.00884678 0.02617491 0.03898944
+v 0.01568057 0.02370172 0.04011410
+v 0.00884678 0.02689805 0.03966812
+v 0.01565983 0.02522516 0.04038557
+v 0.01568057 0.02550960 0.04029508
+v 0.01568057 0.02167369 0.03876966
+v 0.01568057 0.02522516 0.04037910
+v 0.01568057 0.02252057 0.03955822
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 37
+f 1 37 46
+f 1 46 53
+f 1 53 60
+f 1 60 66
+f 1 66 68
+f 1 68 63
+f 1 63 69
+f 1 69 67
+f 1 67 61
+f 1 61 54
+f 1 54 47
+f 1 47 38
+f 1 38 28
+f 1 28 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 10
+f 2 10 19
+f 2 19 18
+f 2 18 29
+f 2 29 39
+f 2 39 48
+f 2 48 55
+f 2 55 62
+f 2 62 64
+f 2 64 56
+f 2 56 49
+f 2 49 40
+f 2 40 30
+f 2 30 20
+f 2 20 12
+f 2 12 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 17 28 29
+f 17 29 18
+f 20 30 25
+f 20 25 21
+f 21 25 22
+f 22 25 24
+f 22 24 23
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 28 38 39
+f 28 39 29
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 33
+f 31 33 32
+f 33 42 36
+f 33 36 35
+f 33 35 34
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 38 47 48
+f 38 48 39
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 42
+f 42 51 43
+f 43 51 52
+f 43 52 44
+f 44 53 45
+f 44 52 53
+f 45 53 46
+f 47 54 48
+f 48 54 55
+f 49 56 57
+f 49 57 58
+f 49 58 50
+f 50 58 52
+f 50 52 51
+f 52 58 59
+f 52 59 60
+f 52 60 53
+f 54 61 55
+f 55 61 62
+f 56 63 57
+f 56 64 63
+f 57 63 65
+f 57 65 58
+f 58 65 59
+f 59 65 66
+f 59 66 60
+f 61 67 62
+f 62 67 64
+f 63 68 65
+f 63 64 69
+f 64 67 69
+f 65 68 66
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_16.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.01503130 -0.02855190 0.03700347
+v 0.01566183 -0.02814258 0.03700347
+v 0.01663628 -0.02747299 0.03819507
+v 0.01503130 -0.02838728 0.03856421
+v 0.01503130 -0.02380003 -0.02574991
+v 0.01664985 -0.02748189 0.03700347
+v 0.01741463 -0.02692798 0.03700347
+v 0.01840417 -0.02616496 0.03700347
+v 0.01831366 -0.02609155 0.03853183
+v 0.01716423 -0.02692575 0.03863545
+v 0.01637683 -0.02729058 0.03921830
+v 0.01578401 -0.02788231 0.03863545
+v 0.01503130 -0.02808029 0.03910173
+v 0.01503130 -0.02379781 -0.02576933
+v 0.01576289 -0.02326169 -0.02576933
+v 0.01646582 -0.02279231 -0.02525124
+v 0.01916895 -0.02553096 0.03700348
+v 0.01907844 -0.02545088 0.03853184
+v 0.01807985 -0.02590024 0.03938020
+v 0.01535712 -0.02762427 0.03953563
+v 0.01503130 -0.02774884 0.03958743
+v 0.01503130 -0.01589399 -0.02576930
+v 0.01643716 -0.02276562 -0.02576932
+v 0.01803762 -0.02130409 -0.02576932
+v 0.02002725 -0.02477017 0.03700348
+v 0.01993372 -0.02468786 0.03853184
+v 0.01967427 -0.02445206 0.03943849
+v 0.01864250 -0.02499263 0.03964573
+v 0.01719138 -0.02622948 0.03960039
+v 0.01578401 -0.02669441 0.03986591
+v 0.01503130 -0.02732173 0.03980115
+v 0.02049336 -0.00582569 -0.02576926
+v 0.01503130 -0.01950686 0.03089654
+v 0.01879938 -0.02054997 -0.02576932
+v 0.01880692 -0.02055664 -0.02565275
+v 0.02079203 -0.02406276 0.03700348
+v 0.02069850 -0.02397155 0.03853184
+v 0.02120685 -0.02295049 0.03944498
+v 0.02021128 -0.02348216 0.03969106
+v 0.01872245 -0.02351775 0.04024153
+v 0.01719138 -0.02504157 0.04016382
+v 0.01503130 -0.02663435 0.04007962
+v 0.02672623 -0.00582569 -0.02576926
+v 0.01503130 -0.01960475 0.03229538
+v 0.02317687 -0.00582589 0.03089011
+v 0.01955360 -0.01978918 -0.02576931
+v 0.01955812 -0.01979585 -0.02565274
+v 0.02154926 -0.02329974 0.03700348
+v 0.02146177 -0.02320853 0.03853184
+v 0.02222655 -0.02240325 0.03853185
+v 0.02267908 -0.02138885 0.03940612
+v 0.02174385 -0.02193610 0.03966517
+v 0.02025201 -0.02199394 0.04024802
+v 0.01566183 -0.02504157 0.04038400
+v 0.01503130 -0.02566667 0.04036458
+v 0.02651806 -0.00676445 -0.02576926
+v 0.02772481 -0.00582571 -0.01894346
+v 0.02327793 -0.00582590 0.03241847
+v 0.02323871 -0.00582590 0.03182915
+v 0.01503130 -0.01988727 0.03394031
+v 0.02025955 -0.01895719 -0.02576931
+v 0.02027916 -0.01894830 -0.02565274
+v 0.02296720 -0.02173588 0.03700349
+v 0.02231404 -0.02249668 0.03700349
+v 0.02288725 -0.02164023 0.03853185
+v 0.02409853 -0.01973824 0.03931547
+v 0.02323721 -0.02033665 0.03957451
+v 0.02331112 -0.01894854 0.04006670
+v 0.02178307 -0.02047013 0.04019621
+v 0.02331112 -0.01742472 0.04035813
+v 0.02178307 -0.01894854 0.04038402
+v 0.01719138 -0.02351775 0.04039048
+v 0.02790281 -0.00582593 0.04037760
+v 0.01503130 -0.02504157 0.04032572
+v 0.02547573 -0.01012574 -0.02576928
+v 0.02786208 -0.00582572 -0.01754462
+v 0.02548327 -0.01013686 -0.02565271
+v 0.02345140 -0.00582590 0.03394683
+v 0.01503130 -0.01990506 0.03401802
+v 0.02096701 -0.01812076 -0.02576931
+v 0.02097304 -0.01812966 -0.02565274
+v 0.02373197 -0.02078823 0.03700349
+v 0.02365203 -0.02069257 0.03853185
+v 0.02577440 -0.01694866 0.03945147
+v 0.02436401 -0.01894854 0.03951623
+v 0.02424183 -0.01993178 0.03853186
+v 0.02503828 -0.01882840 0.03844767
+v 0.02545914 -0.01796305 0.03890747
+v 0.02484219 -0.01590313 0.04024156
+v 0.02490554 -0.01744252 0.03978176
+v 0.02484219 -0.01437932 0.04038404
+v 0.02731301 -0.00582593 0.04025455
+v 0.02637174 -0.01133391 0.04037758
+v 0.02790281 -0.00676469 0.04036465
+v 0.02891497 -0.00582593 0.03999551
+v 0.01503130 -0.02414285 0.04016382
+v 0.02497795 -0.01133367 -0.02576928
+v 0.02792694 -0.00582572 -0.01648254
+v 0.02871435 -0.01221037 0.03742448
+v 0.02561903 -0.01059291 -0.02204553
+v 0.02498850 -0.01133367 -0.02565271
+v 0.01503130 -0.02025433 0.03547514
+v 0.02362638 -0.00582591 0.03489234
+v 0.02152060 -0.01735997 -0.02576930
+v 0.02152664 -0.01736887 -0.02565273
+v 0.02431272 -0.02002743 0.03700350
+v 0.02564317 -0.01824112 0.03789073
+v 0.02731753 -0.01401671 0.03947091
+v 0.02607006 -0.01590313 0.03965223
+v 0.02707769 -0.01503110 0.03914710
+v 0.02593430 -0.01744251 0.03844768
+v 0.02679561 -0.01587420 0.03859663
+v 0.02637174 -0.01285773 0.04026100
+v 0.02648940 -0.01446607 0.03983357
+v 0.02629330 -0.00582593 0.03987894
+v 0.02790281 -0.00828628 0.04028692
+v 0.02944896 -0.00582593 0.03976884
+v 0.02591167 -0.00582593 0.03964580
+v 0.01503130 -0.02353333 0.03989830
+v 0.02398539 -0.01342030 -0.02576929
+v 0.03044151 -0.00582592 0.03706184
+v 0.03019865 -0.00752548 0.03776772
+v 0.02947913 -0.00981009 0.03700353
+v 0.02871435 -0.01221037 0.03793609
+v 0.02771124 -0.01437931 0.03700352
+v 0.02724362 -0.01534254 0.03700351
+v 0.01503130 -0.02042562 0.03593493
+v 0.02374103 -0.00582591 0.03550110
+v 0.02157943 -0.01727766 -0.02576930
+v 0.02228689 -0.01627662 -0.02576930
+v 0.02229142 -0.01628329 -0.02565273
+v 0.02564317 -0.01824112 0.03752806
+v 0.02682880 -0.01610333 0.03700351
+v 0.02724664 -0.01534476 0.03813035
+v 0.02873999 -0.01078444 0.03937378
+v 0.02756643 -0.01285773 0.03966520
+v 0.02751966 -0.01446606 0.03859664
+v 0.02830255 -0.01277318 0.03848007
+v 0.02855144 -0.01179883 0.03895931
+v 0.02790281 -0.00981010 0.04010558
+v 0.02927851 -0.00676469 0.03978827
+v 0.03007345 -0.00582592 0.03922485
+v 0.02552853 -0.00582592 0.03937380
+v 0.01503130 -0.02287486 0.03958745
+v 0.02398992 -0.01342697 -0.02565272
+v 0.02348761 -0.01437908 -0.02565272
+v 0.02352079 -0.01429899 -0.02576929
+v 0.03044000 -0.00582592 0.03740507
+v 0.03027860 -0.00676468 0.03805268
+v 0.03004328 -0.00676468 0.03881686
+v 0.02985171 -0.00813500 0.03837647
+v 0.02934337 -0.00981009 0.03853189
+v 0.02887575 -0.01130943 0.03848008
+v 0.01503130 -0.02077933 0.03685454
+v 0.01503130 -0.02088611 0.03712006
+v 0.02395221 -0.00582591 0.03629118
+v 0.02276507 -0.01557366 -0.02576930
+v 0.02280881 -0.01552249 -0.02565273
+v 0.03014133 -0.00582592 0.03914066
+v 0.02888480 -0.00981010 0.03951626
+v 0.02798577 -0.01130944 0.03975587
+v 0.02909598 -0.00828628 0.03968465
+v 0.02542595 -0.00582592 0.03923133
+v 0.01503130 -0.02259678 0.03940612
+v 0.02280428 -0.01551582 -0.02576930
+v 0.02347705 -0.01437908 -0.02576929
+v 0.03034950 -0.00582592 0.03839591
+v 0.01503130 -0.02115083 0.03761224
+v 0.02400349 -0.00582591 0.03647251
+v 0.02496437 -0.00582592 0.03855781
+v 0.01503130 -0.02233206 0.03914060
+v 0.01503130 -0.02122869 0.03774177
+v 0.02416791 -0.00582592 0.03695174
+v 0.02469285 -0.00582592 0.03805268
+v 0.01503130 -0.02186268 0.03858366
+v 0.02425993 -0.00582592 0.03718488
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 31
+f 1 31 42
+f 1 42 55
+f 1 55 74
+f 1 74 96
+f 1 96 119
+f 1 119 144
+f 1 144 164
+f 1 164 171
+f 1 171 175
+f 1 175 172
+f 1 172 168
+f 1 168 155
+f 1 155 154
+f 1 154 127
+f 1 127 102
+f 1 102 79
+f 1 79 60
+f 1 60 44
+f 1 44 33
+f 1 33 22
+f 1 22 14
+f 1 14 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 13
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 5 7 6
+f 7 16 8
+f 8 17 9
+f 8 16 17
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 9 17 18
+f 11 19 20
+f 11 20 13
+f 13 20 21
+f 14 22 32
+f 14 32 43
+f 14 43 56
+f 14 56 75
+f 14 75 97
+f 14 97 120
+f 14 120 147
+f 14 147 166
+f 14 166 165
+f 14 165 157
+f 14 157 130
+f 14 130 129
+f 14 129 104
+f 14 104 80
+f 14 80 61
+f 14 61 46
+f 14 46 34
+f 14 34 24
+f 14 24 23
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 18 26 27
+f 18 27 19
+f 18 25 26
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 22 33 32
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 26
+f 26 37 27
+f 26 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 32 33 44
+f 32 44 45
+f 32 45 59
+f 32 59 58
+f 32 58 78
+f 32 78 103
+f 32 103 128
+f 32 128 156
+f 32 156 169
+f 32 169 173
+f 32 173 176
+f 32 176 174
+f 32 174 170
+f 32 170 163
+f 32 163 143
+f 32 143 118
+f 32 118 115
+f 32 115 92
+f 32 92 73
+f 32 73 95
+f 32 95 117
+f 32 117 142
+f 32 142 159
+f 32 159 167
+f 32 167 148
+f 32 148 121
+f 32 121 98
+f 32 98 76
+f 32 76 57
+f 32 57 43
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 40
+f 40 53 72
+f 40 72 54
+f 40 54 55
+f 40 55 41
+f 41 55 42
+f 43 57 56
+f 44 58 59
+f 44 59 45
+f 44 60 58
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 49
+f 49 64 50
+f 50 65 51
+f 50 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 56 57 75
+f 57 76 77
+f 57 77 75
+f 58 60 78
+f 60 79 78
+f 61 80 81
+f 61 81 62
+f 62 81 63
+f 63 82 83
+f 63 83 65
+f 63 65 64
+f 63 81 82
+f 65 83 66
+f 66 84 85
+f 66 85 67
+f 66 83 86
+f 66 86 87
+f 66 87 88
+f 66 88 84
+f 67 85 68
+f 68 89 69
+f 68 85 90
+f 68 90 89
+f 69 89 70
+f 70 91 71
+f 70 89 91
+f 71 91 72
+f 72 91 73
+f 73 92 74
+f 73 91 93
+f 73 93 94
+f 73 94 95
+f 74 92 96
+f 75 77 97
+f 76 98 99
+f 76 99 100
+f 76 100 77
+f 77 100 101
+f 77 101 97
+f 78 79 102
+f 78 102 103
+f 80 104 105
+f 80 105 81
+f 81 105 106
+f 81 106 82
+f 82 106 107
+f 82 107 83
+f 83 107 86
+f 84 108 109
+f 84 109 90
+f 84 90 85
+f 84 88 110
+f 84 110 108
+f 86 107 87
+f 87 107 88
+f 88 107 111
+f 88 111 112
+f 88 112 110
+f 89 113 91
+f 89 90 109
+f 89 109 114
+f 89 114 113
+f 91 113 93
+f 92 115 96
+f 93 113 116
+f 93 116 94
+f 94 116 95
+f 95 116 117
+f 96 115 118
+f 96 118 119
+f 97 101 120
+f 98 121 122
+f 98 122 123
+f 98 123 99
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 100 120 101
+f 100 125 126
+f 100 126 120
+f 102 127 128
+f 102 128 103
+f 104 129 105
+f 105 129 130
+f 105 130 131
+f 105 131 132
+f 105 132 106
+f 106 132 107
+f 107 132 133
+f 107 133 134
+f 107 134 111
+f 108 110 135
+f 108 135 136
+f 108 136 114
+f 108 114 109
+f 110 112 134
+f 110 134 137
+f 110 137 138
+f 110 138 139
+f 110 139 135
+f 111 134 112
+f 113 114 136
+f 113 136 140
+f 113 140 116
+f 116 140 141
+f 116 141 117
+f 117 141 142
+f 118 143 119
+f 119 143 144
+f 120 126 145
+f 120 145 146
+f 120 146 147
+f 121 148 122
+f 122 148 149
+f 122 149 150
+f 122 150 151
+f 122 151 152
+f 122 152 124
+f 122 124 123
+f 124 134 125
+f 124 152 153
+f 124 153 139
+f 124 139 138
+f 124 138 137
+f 124 137 134
+f 125 134 126
+f 126 134 133
+f 126 133 146
+f 126 146 145
+f 127 154 128
+f 128 154 155
+f 128 155 156
+f 130 157 131
+f 131 157 158
+f 131 158 132
+f 132 158 146
+f 132 146 133
+f 135 139 153
+f 135 153 152
+f 135 152 150
+f 135 150 159
+f 135 159 160
+f 135 160 136
+f 136 160 161
+f 136 161 140
+f 140 161 160
+f 140 160 162
+f 140 162 141
+f 141 162 142
+f 142 162 160
+f 142 160 159
+f 143 163 164
+f 143 164 144
+f 146 158 165
+f 146 165 166
+f 146 166 147
+f 148 167 149
+f 149 167 159
+f 149 159 150
+f 150 152 151
+f 155 168 169
+f 155 169 156
+f 157 165 158
+f 163 170 164
+f 164 170 171
+f 168 172 173
+f 168 173 169
+f 170 174 171
+f 171 174 175
+f 172 176 173
+f 172 175 176
+f 174 176 175
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_17.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.02526528 0.01123450 -0.02617553
+v -0.02803614 0.00009375 -0.02617557
+v -0.03191905 0.01123450 -0.02617553
+v -0.02831138 0.01123429 0.03088614
+v -0.03072925 0.00009354 0.03088610
+v -0.03409871 0.00009375 -0.02617557
+v -0.03201532 0.01097931 -0.02617553
+v -0.03255221 0.01076664 -0.02043614
+v -0.03196102 0.01123449 -0.02564784
+v -0.02832249 0.01123429 0.03104249
+v -0.03083416 0.00009353 0.03241704
+v -0.03078109 0.00009353 0.03164831
+v -0.03409871 0.00087129 -0.02617557
+v -0.03787424 0.00009351 0.03700334
+v -0.03236338 0.01004474 -0.02617553
+v -0.03258060 0.00934462 -0.02617554
+v -0.03333225 0.00694656 -0.02564785
+v -0.03643389 0.00999215 0.03700338
+v -0.03601919 0.01123426 0.03692520
+v -0.02842493 0.01123428 0.03243662
+v -0.03089587 0.00009353 0.03300336
+v -0.03787301 0.00085360 0.03700334
+v -0.03409378 0.00135766 -0.02617557
+v -0.03773231 0.00009351 0.03852776
+v -0.03282868 0.00850601 -0.02617554
+v -0.03328659 0.00694657 -0.02617554
+v -0.03340137 0.00642530 -0.02617555
+v -0.03713740 0.00771079 0.03775907
+v -0.03713740 0.00771079 0.03776558
+v -0.03594143 0.01123426 0.03823465
+v -0.02846936 0.01123428 0.03278841
+v -0.03095882 0.00009353 0.03358967
+v -0.03773107 0.00085360 0.03852776
+v -0.03766442 0.00237706 0.03852777
+v -0.03780389 0.00237706 0.03700335
+v -0.03408514 0.00180586 -0.02617556
+v -0.03732254 0.00009350 0.03950496
+v -0.03358034 0.00542421 -0.02617555
+v -0.03407773 0.00314610 -0.02491172
+v -0.03746695 0.00542397 0.03700336
+v -0.03767059 0.00390051 0.03700335
+v -0.03721393 0.00694633 0.03803920
+v -0.03697572 0.00694633 0.03880792
+v -0.03679429 0.00831821 0.03837796
+v -0.03630306 0.00999215 0.03852780
+v -0.03591798 0.01123426 0.03850826
+v -0.02862858 0.01123428 0.03394802
+v -0.03101312 0.00009353 0.03396752
+v -0.03732130 0.00085359 0.03950496
+v -0.03728675 0.00237706 0.03946588
+v -0.03722257 0.00390051 0.03939422
+v -0.03716826 0.00487434 0.03932908
+v -0.03753606 0.00390051 0.03852777
+v -0.03410242 0.00223770 -0.02551107
+v -0.03403824 0.00265211 -0.02592800
+v -0.03402343 0.00256159 -0.02617556
+v -0.03684613 0.00009350 0.03980463
+v -0.03384570 0.00381133 -0.02617556
+v -0.03732625 0.00539888 0.03859293
+v -0.03708186 0.00588853 0.03914667
+v -0.03568841 0.01099652 0.03938773
+v -0.03564521 0.01123426 0.03929653
+v -0.02895318 0.01123427 0.03547244
+v -0.03129330 0.00009352 0.03547240
+v -0.03106866 0.00009352 0.03435188
+v -0.03637218 0.00085359 0.04009779
+v -0.03637218 0.00237705 0.04005871
+v -0.03637218 0.00390050 0.03996751
+v -0.03649190 0.00539887 0.03975253
+v -0.03621049 0.00694632 0.03978512
+v -0.03603647 0.00846869 0.03968740
+v -0.03583529 0.00999214 0.03953106
+v -0.03637218 0.00009350 0.04009779
+v -0.03509598 0.01123425 0.03972650
+v -0.03533789 0.01123425 0.03956363
+v -0.02903341 0.01123427 0.03575909
+v -0.03174256 0.00009351 0.03700334
+v -0.03484172 0.00542396 0.04037142
+v -0.03484172 0.00694632 0.04035840
+v -0.03484172 0.00846869 0.04028674
+v -0.03484172 0.00999214 0.04011737
+v -0.03491578 0.01123425 0.03983724
+v -0.03484172 0.00009350 0.04033232
+v -0.02933333 0.01123427 0.03669068
+v -0.02940985 0.01123426 0.03690566
+v -0.02962337 0.01123426 0.03740729
+v -0.03228192 0.00009351 0.03822158
+v -0.03331127 0.01123425 0.04037796
+v -0.03359391 0.01123425 0.04033236
+v -0.03331127 0.00999214 0.04034539
+v -0.03418511 0.00009350 0.04003916
+v -0.03206346 0.01123425 0.04006526
+v -0.03021457 0.01123426 0.03846266
+v -0.03252506 0.00009351 0.03860594
+v -0.03353467 0.00009350 0.03973948
+v -0.03177218 0.01123425 0.03993496
+v -0.03044537 0.01123426 0.03879490
+v -0.03276944 0.00009351 0.03898379
+v -0.03102670 0.01123425 0.03948545
+v -0.03315082 0.00009351 0.03936164
+v -0.03090204 0.01123426 0.03939425
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 36
+f 1 36 56
+f 1 56 58
+f 1 58 38
+f 1 38 27
+f 1 27 26
+f 1 26 25
+f 1 25 16
+f 1 16 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 30
+f 1 30 46
+f 1 46 62
+f 1 62 75
+f 1 75 74
+f 1 74 82
+f 1 82 89
+f 1 89 88
+f 1 88 92
+f 1 92 96
+f 1 96 99
+f 1 99 101
+f 1 101 97
+f 1 97 93
+f 1 93 86
+f 1 86 85
+f 1 85 84
+f 1 84 76
+f 1 76 63
+f 1 63 47
+f 1 47 31
+f 1 31 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 11
+f 2 11 21
+f 2 21 32
+f 2 32 48
+f 2 48 65
+f 2 65 64
+f 2 64 77
+f 2 77 87
+f 2 87 94
+f 2 94 98
+f 2 98 100
+f 2 100 95
+f 2 95 91
+f 2 91 83
+f 2 83 73
+f 2 73 57
+f 2 57 37
+f 2 37 24
+f 2 24 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 14 13
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 13 14 22
+f 13 22 23
+f 14 24 33
+f 14 33 22
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 21
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 24 37 49
+f 24 49 33
+f 27 38 39
+f 27 39 28
+f 28 40 29
+f 28 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 31 47 32
+f 32 47 48
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 41
+f 35 41 39
+f 35 39 54
+f 35 54 36
+f 36 54 39
+f 36 39 55
+f 36 55 56
+f 37 57 49
+f 38 58 39
+f 39 58 55
+f 39 41 40
+f 41 53 42
+f 42 53 59
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 45
+f 43 45 44
+f 45 61 62
+f 45 62 46
+f 47 63 64
+f 47 64 65
+f 47 65 48
+f 49 57 66
+f 49 66 67
+f 49 67 50
+f 50 67 68
+f 50 68 51
+f 51 68 69
+f 51 69 52
+f 52 60 59
+f 52 59 53
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 60
+f 55 58 56
+f 57 73 66
+f 60 72 61
+f 61 72 74
+f 61 74 75
+f 61 75 62
+f 63 76 64
+f 64 76 77
+f 66 78 79
+f 66 79 67
+f 66 73 78
+f 67 79 80
+f 67 80 68
+f 68 80 70
+f 68 70 69
+f 70 80 81
+f 70 81 71
+f 71 81 72
+f 72 81 82
+f 72 82 74
+f 73 83 78
+f 76 84 77
+f 77 84 85
+f 77 85 86
+f 77 86 87
+f 78 88 79
+f 78 83 88
+f 79 88 80
+f 80 88 89
+f 80 89 81
+f 81 89 82
+f 83 90 88
+f 83 91 92
+f 83 92 90
+f 86 93 87
+f 87 93 94
+f 88 90 92
+f 91 95 96
+f 91 96 92
+f 93 97 98
+f 93 98 94
+f 95 99 96
+f 95 100 101
+f 95 101 99
+f 97 101 98
+f 98 101 100
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_18.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00051329 0.03131804 0.04040262
+v -0.00270448 0.03284117 0.03997245
+v -0.00423544 0.03284117 0.03997897
+v -0.00576403 0.03131804 0.04040914
+v -0.01163927 0.03004112 0.04031788
+v -0.01163927 0.02979492 0.04029832
+v 0.00051329 0.02979492 0.03998547
+v 0.00051329 0.03292846 0.03974433
+v -0.00117470 0.03284117 0.03992031
+v -0.00270448 0.03369395 0.03940541
+v -0.00576403 0.03284117 0.03994638
+v -0.00882477 0.03131804 0.04038958
+v -0.00729499 0.03131804 0.04040262
+v -0.00423544 0.03369731 0.03940541
+v -0.01035574 0.03131804 0.04033744
+v -0.01163927 0.03131804 0.04023967
+v -0.01163927 0.02870377 0.03979646
+v -0.01163927 0.02852471 0.03969869
+v 0.00051329 0.02901489 0.03947710
+v 0.00051329 0.03323847 0.03947059
+v -0.00025636 0.03361897 0.03931416
+v 0.00029441 0.03296427 0.03973781
+v -0.00117470 0.03365590 0.03935979
+v -0.00270448 0.03401402 0.03853204
+v -0.00423544 0.03402297 0.03853204
+v -0.00732474 0.03297770 0.03975085
+v -0.00882477 0.03273373 0.03980299
+v -0.00576403 0.03367045 0.03937282
+v -0.00683345 0.03363352 0.03933372
+v -0.01163927 0.03152284 0.04014191
+v 0.00051329 0.02891530 0.03941192
+v -0.01163927 0.02788682 0.03909906
+v 0.00051329 0.03367604 0.03887096
+v 0.00029441 0.03378124 0.03861026
+v -0.00117470 0.03393904 0.03853204
+v -0.00270448 0.03414719 0.03700040
+v -0.00576403 0.03396366 0.03853204
+v -0.00423544 0.03415503 0.03700040
+v -0.01035574 0.03258825 0.03973781
+v -0.00732474 0.03380027 0.03864285
+v -0.00785409 0.03357644 0.03922292
+v -0.01163927 0.03244276 0.03964005
+v -0.01163927 0.02776372 0.03894916
+v 0.00051329 0.02829866 0.03851899
+v 0.00051329 0.03377005 0.03853856
+v 0.00035626 0.03392673 0.03700039
+v -0.00117470 0.03407221 0.03700040
+v -0.00344795 0.03056511 -0.02346410
+v -0.00576403 0.03408900 0.03700040
+v -0.00882477 0.03372528 0.03821919
+v -0.00355382 0.03056511 -0.02346410
+v -0.00882477 0.03349587 0.03898177
+v -0.01163927 0.03256476 0.03943800
+v -0.01163927 0.02732838 0.03831042
+v -0.01163927 0.02724556 0.03818659
+v 0.00051329 0.02766412 0.03736536
+v 0.00051329 0.03390434 0.03700691
+v 0.00035626 0.03001116 -0.02617546
+v -0.00218107 0.03024505 -0.02617546
+v -0.00270448 0.03027415 -0.02617546
+v -0.00371085 0.03031444 -0.02617546
+v -0.00423544 0.03031668 -0.02617546
+v -0.00729499 0.03395247 0.03700039
+v -0.00413314 0.03047894 -0.02403114
+v -0.00979902 0.03364471 0.03793242
+v -0.00423544 0.03036479 -0.02564753
+v -0.01032838 0.03336269 0.03847338
+v -0.01163927 0.03304598 0.03851901
+v -0.01163927 0.02674867 0.03715028
+v -0.01163927 0.02668600 0.03700037
+v 0.00051329 0.02737875 0.03661582
+v 0.00051329 0.03001786 -0.02564753
+v 0.00040980 0.03000220 -0.02617546
+v -0.00576403 0.03018686 -0.02617546
+v -0.00979902 0.03364471 0.03746966
+v -0.00830136 0.02993953 -0.02617546
+v -0.00964319 0.03058186 -0.01315314
+v -0.01163927 0.03317132 0.03699387
+v -0.01163927 0.02629320 0.03575549
+v -0.01163927 0.02622270 0.03552737
+v 0.00051329 0.02705532 0.03547523
+v 0.00051329 0.02998430 -0.02617546
+v -0.00882477 0.02985672 -0.02617546
+v -0.00882477 0.02990483 -0.02564753
+v -0.01035574 0.02955342 -0.02564753
+v -0.01163927 0.02911922 -0.02617546
+v -0.01163927 0.02601006 0.03449107
+v 0.00051329 0.02676212 0.03394358
+v 0.00051329 0.02356501 -0.02617548
+v -0.01035574 0.02951091 -0.02617546
+v -0.01163927 0.02272343 -0.02617549
+v -0.01163927 0.02589144 0.03382626
+v -0.01163927 0.02575155 0.03267262
+v 0.00051329 0.02658083 0.03241845
+v 0.00051329 0.02646780 0.03088679
+v -0.01163927 0.02560384 0.03088678
+v -0.01163927 0.02572358 0.03241844
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 31
+f 1 31 44
+f 1 44 56
+f 1 56 71
+f 1 71 81
+f 1 81 88
+f 1 88 94
+f 1 94 95
+f 1 95 89
+f 1 89 82
+f 1 82 72
+f 1 72 57
+f 1 57 45
+f 1 45 33
+f 1 33 20
+f 1 20 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 14
+f 3 14 11
+f 4 13 5
+f 5 12 15
+f 5 15 16
+f 5 16 30
+f 5 30 42
+f 5 42 53
+f 5 53 68
+f 5 68 78
+f 5 78 86
+f 5 86 91
+f 5 91 96
+f 5 96 97
+f 5 97 93
+f 5 93 92
+f 5 92 87
+f 5 87 80
+f 5 80 79
+f 5 79 70
+f 5 70 69
+f 5 69 55
+f 5 55 54
+f 5 54 43
+f 5 43 32
+f 5 32 18
+f 5 18 17
+f 5 17 6
+f 5 13 12
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 14
+f 11 26 27
+f 11 27 15
+f 11 15 12
+f 11 14 28
+f 11 28 29
+f 11 29 26
+f 14 25 28
+f 15 27 16
+f 16 27 30
+f 18 31 19
+f 18 32 31
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 23 35 24
+f 24 35 47
+f 24 47 36
+f 24 36 25
+f 25 37 28
+f 25 36 38
+f 25 38 37
+f 26 29 27
+f 27 29 39
+f 27 39 30
+f 28 37 29
+f 29 37 40
+f 29 40 41
+f 29 41 39
+f 30 39 42
+f 31 32 43
+f 31 43 44
+f 33 45 34
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 36 47 48
+f 36 48 38
+f 37 38 49
+f 37 49 50
+f 37 50 40
+f 38 48 51
+f 38 51 49
+f 39 41 42
+f 40 50 41
+f 41 50 52
+f 41 52 53
+f 41 53 42
+f 43 54 44
+f 44 54 55
+f 44 55 56
+f 45 57 46
+f 46 57 58
+f 46 58 48
+f 46 48 47
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 51
+f 49 63 50
+f 49 51 64
+f 49 64 63
+f 50 63 65
+f 50 65 52
+f 51 62 66
+f 51 66 64
+f 52 65 67
+f 52 67 68
+f 52 68 53
+f 55 69 56
+f 56 69 70
+f 56 70 71
+f 57 72 58
+f 58 72 73
+f 58 73 82
+f 58 82 89
+f 58 89 91
+f 58 91 86
+f 58 86 90
+f 58 90 83
+f 58 83 76
+f 58 76 74
+f 58 74 62
+f 58 62 61
+f 58 61 60
+f 58 60 59
+f 62 74 66
+f 63 75 65
+f 63 64 76
+f 63 76 77
+f 63 77 75
+f 64 66 74
+f 64 74 76
+f 65 75 78
+f 65 78 68
+f 65 68 67
+f 70 79 71
+f 71 79 80
+f 71 80 81
+f 72 82 73
+f 75 77 78
+f 76 83 84
+f 76 84 77
+f 77 84 85
+f 77 85 86
+f 77 86 78
+f 80 87 81
+f 81 87 88
+f 83 90 84
+f 84 90 85
+f 85 90 86
+f 87 92 88
+f 88 92 93
+f 88 93 94
+f 89 95 96
+f 89 96 91
+f 93 97 94
+f 94 97 96
+f 94 96 95
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_19.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00423389 -0.03397895 0.03700153
+v -0.00270416 -0.03396866 0.03700153
+v -0.00270416 -0.03383277 0.03853100
+v -0.00423389 -0.03383997 0.03853100
+v -0.00576455 -0.03378541 0.03853100
+v -0.00576455 -0.03391821 0.03700153
+v -0.00361680 -0.03038796 -0.02353562
+v -0.00342907 -0.03038796 -0.02353562
+v -0.00117443 -0.03389247 0.03700153
+v -0.00117443 -0.03376070 0.03853100
+v -0.00117443 -0.03347657 0.03936054
+v -0.00270416 -0.03351054 0.03939943
+v -0.00423389 -0.03351363 0.03940591
+v -0.00576455 -0.03348584 0.03937350
+v -0.00681659 -0.03345187 0.03933462
+v -0.00731380 -0.03362378 0.03863469
+v -0.00882494 -0.03354760 0.03821992
+v -0.00729428 -0.03378438 0.03700153
+v -0.00417070 -0.03030457 -0.02408001
+v -0.00439189 -0.03017177 -0.02581038
+v -0.00423389 -0.03019339 -0.02564836
+v -0.00423389 -0.03017898 -0.02581038
+v -0.00270416 -0.03012339 -0.02581038
+v 0.00019823 -0.02987323 -0.02581038
+v 0.00035622 -0.03374629 0.03700153
+v 0.00051329 -0.03372364 0.03711819
+v 0.00051329 -0.03359290 0.03855044
+v 0.00031162 -0.03360217 0.03860877
+v -0.00022741 -0.03344157 0.03932166
+v 0.00031162 -0.03278067 0.03974291
+v -0.00117443 -0.03265816 0.03992437
+v -0.00270416 -0.03265816 0.03997622
+v -0.00423389 -0.03265816 0.03997622
+v -0.00576455 -0.03265816 0.03994382
+v -0.00783703 -0.03338804 0.03921796
+v -0.00731380 -0.03279096 0.03975587
+v -0.00882494 -0.03254595 0.03980772
+v -0.00898108 -0.03253154 0.03980124
+v -0.00898108 -0.03353422 0.03817456
+v -0.00882494 -0.03330774 0.03897818
+v -0.00898108 -0.03333245 0.03881616
+v -0.00898108 -0.03354863 0.03700153
+v -0.00882494 -0.02982278 -0.02411890
+v -0.00882494 -0.02972087 -0.02564836
+v -0.00882494 -0.02970749 -0.02581038
+v 0.00037388 -0.02985470 -0.02581038
+v 0.00051329 -0.02985985 -0.02549282
+v 0.00051329 -0.03372467 0.03700153
+v 0.00051329 -0.03350540 0.03884208
+v 0.00051329 -0.03339010 0.03921148
+v 0.00051329 -0.03274772 0.03974939
+v 0.00051329 -0.03257066 0.03982068
+v 0.00051329 -0.03113456 0.04039100
+v -0.00729428 -0.03113456 0.04039748
+v -0.00882494 -0.03113456 0.04038452
+v -0.00898108 -0.03113456 0.04037804
+v -0.00898108 -0.03329436 0.03892633
+v -0.00898108 -0.02977852 -0.02427443
+v -0.00898108 -0.02968690 -0.02564836
+v -0.00898108 -0.02967454 -0.02580390
+v -0.00898108 -0.02966528 -0.02581038
+v 0.00051329 -0.02983926 -0.02581038
+v 0.00051329 -0.03097911 0.04035860
+v -0.00898108 -0.02961096 0.04006048
+v -0.00898108 -0.02381279 -0.02581036
+v 0.00051329 -0.02361102 -0.02581036
+v 0.00051329 -0.02961096 0.03995678
+v -0.00898108 -0.02866076 0.03947720
+v -0.00898108 -0.02346174 -0.02580388
+v -0.00882494 -0.02349675 -0.02581036
+v -0.00898108 -0.02610663 0.03089015
+v 0.00051329 -0.02629914 0.03089015
+v 0.00051329 -0.02874826 0.03939296
+v -0.00898108 -0.02796484 0.03852454
+v 0.00051329 -0.02867105 0.03928926
+v -0.00898108 -0.02611796 0.03105217
+v 0.00051329 -0.02640210 0.03225760
+v -0.00898108 -0.02739966 0.03757834
+v 0.00051329 -0.02814499 0.03851806
+v -0.00898108 -0.02622297 0.03242610
+v 0.00051329 -0.02641445 0.03241315
+v 0.00051329 -0.02807808 0.03840140
+v 0.00051329 -0.02749437 0.03733855
+v -0.00898108 -0.02710935 0.03682009
+v -0.00898108 -0.02641342 0.03394261
+v 0.00051329 -0.02660078 0.03394261
+v 0.00051329 -0.02720817 0.03658678
+v -0.00898108 -0.02671197 0.03547208
+v 0.00051329 -0.02716082 0.03643124
+v 0.00051329 -0.02686742 0.03531654
+v 0.00051329 -0.02689831 0.03547208
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 7 18 19
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 9 26 10
+f 10 27 28
+f 10 28 29
+f 10 29 11
+f 10 26 27
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 12 31 32
+f 12 32 13
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 14 34 15
+f 15 35 16
+f 15 34 36
+f 15 36 37
+f 15 37 38
+f 15 38 35
+f 16 35 17
+f 17 39 18
+f 17 35 40
+f 17 40 41
+f 17 41 39
+f 18 39 42
+f 18 42 43
+f 18 43 19
+f 19 43 20
+f 20 44 45
+f 20 45 61
+f 20 61 65
+f 20 65 70
+f 20 70 66
+f 20 66 62
+f 20 62 46
+f 20 46 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 20 43 44
+f 24 46 47
+f 24 47 25
+f 25 48 26
+f 25 47 48
+f 26 48 47
+f 26 47 62
+f 26 62 66
+f 26 66 72
+f 26 72 77
+f 26 77 81
+f 26 81 86
+f 26 86 90
+f 26 90 91
+f 26 91 89
+f 26 89 87
+f 26 87 83
+f 26 83 82
+f 26 82 79
+f 26 79 75
+f 26 75 73
+f 26 73 67
+f 26 67 63
+f 26 63 53
+f 26 53 52
+f 26 52 51
+f 26 51 50
+f 26 50 49
+f 26 49 27
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 29 50 51
+f 29 51 30
+f 30 51 31
+f 31 51 52
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 32 54 33
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 37
+f 34 37 36
+f 35 38 40
+f 37 56 38
+f 38 56 64
+f 38 64 68
+f 38 68 74
+f 38 74 78
+f 38 78 84
+f 38 84 88
+f 38 88 85
+f 38 85 80
+f 38 80 76
+f 38 76 71
+f 38 71 69
+f 38 69 65
+f 38 65 61
+f 38 61 60
+f 38 60 59
+f 38 59 58
+f 38 58 42
+f 38 42 39
+f 38 39 41
+f 38 41 57
+f 38 57 40
+f 40 57 41
+f 42 58 43
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 45 60 61
+f 46 62 47
+f 53 63 54
+f 54 63 64
+f 54 64 55
+f 55 64 56
+f 63 67 64
+f 64 67 68
+f 65 69 70
+f 66 70 69
+f 66 69 71
+f 66 71 72
+f 67 73 68
+f 68 73 75
+f 68 75 74
+f 71 76 72
+f 72 76 77
+f 74 75 79
+f 74 79 78
+f 76 80 77
+f 77 80 81
+f 78 82 83
+f 78 83 84
+f 78 79 82
+f 80 85 86
+f 80 86 81
+f 83 87 84
+f 84 87 89
+f 84 89 88
+f 85 88 90
+f 85 90 86
+f 88 89 91
+f 88 91 90
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_2.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01721383 0.01453866 -0.03819012
+v 0.01871917 0.01303968 -0.03815452
+v 0.02025029 0.00999244 -0.03815821
+v 0.02025029 0.00847016 -0.03817295
+v 0.02025029 0.00694699 -0.03806368
+v 0.00051587 0.00538527 -0.03482588
+v 0.01719063 0.01453866 -0.03818644
+v 0.01871917 0.01453866 -0.03791386
+v 0.02025029 0.01151561 -0.03799245
+v 0.02178141 0.00694699 -0.03806613
+v 0.02178141 0.00542381 -0.03815455
+v 0.02178141 0.00538528 -0.03815455
+v 0.00051587 0.00538525 -0.03060089
+v 0.00051587 0.01453865 -0.03482340
+v 0.01874752 0.01453866 -0.03790404
+v 0.02036886 0.01313376 -0.03756884
+v 0.02151075 0.01151561 -0.03742519
+v 0.02189998 0.01007128 -0.03754552
+v 0.02178141 0.00847016 -0.03790037
+v 0.02182007 0.00538528 -0.03814350
+v 0.02342594 0.00542023 -0.03749643
+v 0.02342336 0.00538528 -0.03750134
+v 0.00051587 0.01453863 -0.02984943
+v 0.02069880 0.00538523 -0.02564657
+v 0.01636836 0.01453861 -0.02564654
+v 0.01992293 0.01453866 -0.03737484
+v 0.02121948 0.01268845 -0.03726065
+v 0.02249026 0.01063217 -0.03705561
+v 0.02267842 0.00961702 -0.03722014
+v 0.02286917 0.00847016 -0.03734908
+v 0.02310116 0.00694699 -0.03747554
+v 0.02347234 0.00538528 -0.03747310
+v 0.02684389 0.00538523 -0.02564657
+v 0.02346203 0.01453861 -0.02564654
+v 0.01994355 0.01453866 -0.03736256
+v 0.02095656 0.01370360 -0.03705192
+v 0.02227373 0.01151560 -0.03671428
+v 0.02256243 0.01230855 -0.03562026
+v 0.02274029 0.01151560 -0.03595056
+v 0.02303672 0.01007127 -0.03646748
+v 0.02368113 0.00849524 -0.03631892
+v 0.02386672 0.00694699 -0.03682847
+v 0.02401107 0.00592467 -0.03703722
+v 0.02407035 0.00538528 -0.03709984
+v 0.02684389 0.00538523 -0.02565271
+v 0.02683874 0.00542376 -0.02564657
+v 0.02397240 0.01357274 -0.02564654
+v 0.02346203 0.01453861 -0.02565268
+v 0.02074777 0.01453865 -0.03654360
+v 0.02087665 0.01453865 -0.03634100
+v 0.02127103 0.01422506 -0.03603404
+v 0.02331768 0.01453862 -0.02718134
+v 0.02390538 0.01346075 -0.02718134
+v 0.02418377 0.01249757 -0.02822623
+v 0.02560920 0.00923977 -0.02795367
+v 0.02400591 0.00901939 -0.03508863
+v 0.02416830 0.00800334 -0.03578972
+v 0.02117566 0.01453865 -0.03579584
+v 0.02145920 0.01453865 -0.03478288
+v 0.02431007 0.00694698 -0.03606353
+v 0.02442864 0.00542022 -0.03645645
+v 0.02440802 0.00538527 -0.03650311
+v 0.02683874 0.00542376 -0.02565271
+v 0.02671243 0.00538524 -0.02713225
+v 0.02650107 0.00694066 -0.02564656
+v 0.02397240 0.01357274 -0.02565268
+v 0.02494933 0.01151556 -0.02564655
+v 0.02428172 0.01269917 -0.02718134
+v 0.02481787 0.01151557 -0.02718135
+v 0.02537721 0.01013127 -0.02718135
+v 0.02565560 0.00937058 -0.02718136
+v 0.02593656 0.00847012 -0.02718136
+v 0.02635930 0.00694695 -0.02718136
+v 0.02465290 0.00694698 -0.03482096
+v 0.02499572 0.00542380 -0.03482097
+v 0.02444669 0.00538527 -0.03641961
+v 0.02443380 0.00538527 -0.03645399
+v 0.02669955 0.00542377 -0.02718137
+v 0.02670728 0.00538524 -0.02717891
+v 0.02546485 0.01026297 -0.02565269
+v 0.02546485 0.01026208 -0.02564655
+v 0.02494933 0.01151556 -0.02565269
+v 0.02500088 0.00538527 -0.03482097
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 23
+f 1 23 25
+f 1 25 34
+f 1 34 48
+f 1 48 52
+f 1 52 59
+f 1 59 58
+f 1 58 50
+f 1 50 49
+f 1 49 35
+f 1 35 26
+f 1 26 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 19
+f 3 19 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 23
+f 6 23 14
+f 6 14 7
+f 6 12 20
+f 6 20 22
+f 6 22 32
+f 6 32 44
+f 6 44 62
+f 6 62 77
+f 6 77 76
+f 6 76 83
+f 6 83 79
+f 6 79 64
+f 6 64 45
+f 6 45 33
+f 6 33 24
+f 6 24 13
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 15 16
+f 10 20 11
+f 10 19 21
+f 10 21 22
+f 10 22 20
+f 11 20 12
+f 13 24 25
+f 13 25 23
+f 15 26 16
+f 16 27 17
+f 16 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 21
+f 21 32 22
+f 21 31 32
+f 24 33 46
+f 24 46 65
+f 24 65 81
+f 24 81 67
+f 24 67 47
+f 24 47 34
+f 24 34 25
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 28 36 37
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 32
+f 33 45 63
+f 33 63 46
+f 34 47 66
+f 34 66 48
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 38
+f 36 38 37
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 38 51 58
+f 38 58 59
+f 38 59 52
+f 39 57 40
+f 40 57 41
+f 41 57 42
+f 42 57 60
+f 42 60 43
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 45 64 63
+f 46 63 65
+f 47 67 82
+f 47 82 66
+f 48 66 53
+f 48 53 52
+f 50 58 51
+f 53 66 68
+f 53 68 54
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 57
+f 55 57 56
+f 57 74 75
+f 57 75 60
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 62
+f 63 64 78
+f 63 78 65
+f 64 79 78
+f 65 78 73
+f 65 73 72
+f 65 72 80
+f 65 80 81
+f 66 82 68
+f 67 81 80
+f 67 80 82
+f 68 82 69
+f 69 82 80
+f 69 80 70
+f 70 80 71
+f 71 80 72
+f 73 78 75
+f 73 75 74
+f 75 83 76
+f 75 78 79
+f 75 79 83
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_20.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00898108 -0.03354823 0.03700112
+v -0.00898108 -0.03353463 0.03817389
+v -0.00981140 -0.03346388 0.03793415
+v -0.00981140 -0.03346388 0.03742876
+v -0.00961116 -0.03038215 -0.01436772
+v -0.00898108 -0.02977805 -0.02427476
+v -0.00898108 -0.03329518 0.03893198
+v -0.01033532 -0.03317953 0.03847842
+v -0.01188635 -0.03280403 0.03853026
+v -0.01341581 -0.03239044 0.03853026
+v -0.01341581 -0.03251969 0.03700112
+v -0.01188635 -0.03294417 0.03700112
+v -0.01494699 -0.02792504 -0.02564838
+v -0.01047514 -0.02933860 -0.02581038
+v -0.01035603 -0.02938214 -0.02564839
+v -0.00898108 -0.02968553 -0.02566783
+v -0.00898108 -0.02968689 -0.02564839
+v -0.01473984 -0.03209385 0.03700112
+v -0.01421851 -0.03190882 0.03930779
+v -0.00898108 -0.03253194 0.03980023
+v -0.01035603 -0.03240133 0.03973543
+v -0.01188635 -0.03222719 0.03961880
+v -0.01341581 -0.03202446 0.03943090
+v -0.01456462 -0.03203127 0.03853026
+v -0.01601122 -0.02748151 -0.02564838
+v -0.01504279 -0.02787198 -0.02581037
+v -0.01494699 -0.02791143 -0.02581037
+v -0.01550543 -0.03182311 0.03700112
+v -0.01647731 -0.03144217 0.03700112
+v -0.01035603 -0.02936989 -0.02581038
+v -0.00898108 -0.02967464 -0.02580390
+v -0.01647731 -0.03130068 0.03853027
+v -0.01533022 -0.03175101 0.03853026
+v -0.01647731 -0.03071295 0.03960585
+v -0.01752514 -0.03049798 0.03942443
+v -0.00898108 -0.03113471 0.04038338
+v -0.01035603 -0.03113471 0.04033803
+v -0.01188635 -0.03113471 0.04021492
+v -0.01341581 -0.03113471 0.03999462
+v -0.01481579 -0.03117824 0.03968361
+v -0.01690283 -0.02700126 -0.02581037
+v -0.01599741 -0.02747335 -0.02581037
+v -0.01779875 -0.03085988 0.03694281
+v -0.01779875 -0.03074967 0.03849787
+v -0.00898366 -0.02967329 -0.02581038
+v -0.00898108 -0.02966512 -0.02581038
+v -0.01647731 -0.02961094 0.04019548
+v -0.01779875 -0.02968169 0.03984559
+v -0.01779875 -0.03005855 0.03962529
+v -0.01779875 -0.03058369 0.03891255
+v -0.00898108 -0.02961094 0.04005941
+v -0.01035603 -0.02961094 0.04018252
+v -0.01188635 -0.02961094 0.04030563
+v -0.01647731 -0.02808854 0.04033156
+v -0.01779875 -0.02808854 0.04037044
+v -0.01341581 -0.02961094 0.04037690
+v -0.01494699 -0.02961094 0.04035099
+v -0.01779875 -0.02651011 -0.02581037
+v -0.00898108 -0.02381223 -0.02581036
+v -0.01779875 -0.02656205 0.04001407
+v -0.00898108 -0.02865859 0.03947626
+v -0.01779875 -0.02559064 0.03946333
+v -0.01779875 -0.01965045 -0.02581034
+v -0.00898108 -0.02346258 -0.02580388
+v -0.00898108 -0.02796472 0.03852380
+v -0.01779875 -0.02482604 0.03853677
+v -0.01779875 -0.02273627 0.03088458
+v -0.00898108 -0.02610624 0.03088456
+v -0.00898108 -0.02739875 0.03757780
+v -0.01779875 -0.02462876 0.03821928
+v -0.01779875 -0.02282608 0.03197960
+v -0.00898108 -0.02622326 0.03242666
+v -0.00898108 -0.02611849 0.03105303
+v -0.00898108 -0.02710896 0.03681971
+v -0.01779875 -0.02390906 0.03691691
+v -0.01779875 -0.02402198 0.03716961
+v -0.01779875 -0.02286281 0.03241372
+v -0.00898108 -0.02624094 0.03256921
+v -0.00898108 -0.02671033 0.03547199
+v -0.01779875 -0.02339070 0.03543313
+v -0.01779875 -0.02306961 0.03390399
+v -0.00898108 -0.02641373 0.03394285
+v -0.00898108 -0.02644367 0.03409835
+v -0.01779875 -0.02307505 0.03394287
+v -0.01779875 -0.02333084 0.03517395
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 16
+f 1 16 31
+f 1 31 46
+f 1 46 59
+f 1 59 64
+f 1 64 68
+f 1 68 73
+f 1 73 72
+f 1 72 78
+f 1 78 82
+f 1 82 83
+f 1 83 79
+f 1 79 74
+f 1 74 69
+f 1 69 65
+f 1 65 61
+f 1 61 51
+f 1 51 36
+f 1 36 20
+f 1 20 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 5 12 11
+f 5 11 18
+f 5 18 13
+f 7 19 9
+f 7 9 8
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 19
+f 9 19 10
+f 10 24 11
+f 10 19 24
+f 11 24 18
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 18 28
+f 13 28 29
+f 13 29 25
+f 14 27 26
+f 14 26 42
+f 14 42 41
+f 14 41 58
+f 14 58 63
+f 14 63 59
+f 14 59 46
+f 14 46 45
+f 14 45 30
+f 14 30 15
+f 15 30 16
+f 16 30 31
+f 18 24 28
+f 19 32 33
+f 19 33 24
+f 19 23 34
+f 19 34 35
+f 19 35 32
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 34
+f 24 33 28
+f 25 41 42
+f 25 42 26
+f 25 29 43
+f 25 43 41
+f 28 33 29
+f 29 33 32
+f 29 32 44
+f 29 44 43
+f 30 45 31
+f 31 45 46
+f 32 35 44
+f 34 40 39
+f 34 39 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 44
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 38
+f 38 57 47
+f 38 47 39
+f 41 43 58
+f 43 44 50
+f 43 50 49
+f 43 49 48
+f 43 48 55
+f 43 55 60
+f 43 60 62
+f 43 62 66
+f 43 66 70
+f 43 70 76
+f 43 76 75
+f 43 75 80
+f 43 80 85
+f 43 85 84
+f 43 84 81
+f 43 81 77
+f 43 77 71
+f 43 71 67
+f 43 67 63
+f 43 63 58
+f 47 57 55
+f 47 55 48
+f 51 60 54
+f 51 54 52
+f 51 61 62
+f 51 62 60
+f 52 54 53
+f 54 60 55
+f 55 57 56
+f 59 63 64
+f 61 65 66
+f 61 66 62
+f 63 67 68
+f 63 68 64
+f 65 69 70
+f 65 70 66
+f 67 71 72
+f 67 72 73
+f 67 73 68
+f 69 74 75
+f 69 75 76
+f 69 76 70
+f 71 77 72
+f 72 77 78
+f 74 79 80
+f 74 80 75
+f 77 81 82
+f 77 82 78
+f 79 83 84
+f 79 84 85
+f 79 85 80
+f 81 84 82
+f 82 84 83
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_21.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.02509526 -0.01172363 -0.02581031
+v -0.03169551 -0.01172363 -0.02581031
+v -0.02815394 0.00009374 -0.02581027
+v -0.03072974 0.00009354 0.03088834
+v -0.02798631 -0.01172383 0.03088830
+v -0.03181685 -0.01145758 -0.02581031
+v -0.03582129 -0.01172386 0.03701823
+v -0.03410742 0.00009374 -0.02581027
+v -0.03078103 0.00009353 0.03165297
+v -0.03083357 0.00009353 0.03241759
+v -0.02808639 -0.01172384 0.03223611
+v -0.03187065 -0.01133149 -0.02581031
+v -0.03255619 -0.01058887 -0.02050332
+v -0.03188316 -0.01133149 -0.02564831
+v -0.03576875 -0.01172386 0.03829476
+v -0.03644804 -0.00980944 0.03699879
+v -0.03787542 -0.00066995 0.03699883
+v -0.03787417 0.00009351 0.03699883
+v -0.03410742 0.00003359 -0.02581027
+v -0.03095867 0.00009353 0.03359044
+v -0.02813142 -0.01172384 0.03268970
+v -0.03238981 -0.00998504 -0.02564831
+v -0.03232476 -0.01012385 -0.02581031
+v -0.03329928 -0.00692312 -0.02581030
+v -0.03241733 -0.00987746 -0.02581031
+v -0.03558110 -0.01172386 0.03890387
+v -0.03584005 -0.01133057 0.03851508
+v -0.03631668 -0.00980944 0.03852804
+v -0.03713983 -0.00753758 0.03777639
+v -0.03713983 -0.00753758 0.03773751
+v -0.03335558 -0.00676233 -0.02564829
+v -0.03781037 -0.00219339 0.03699882
+v -0.03767526 -0.00219339 0.03852807
+v -0.03773406 -0.00066995 0.03852808
+v -0.03410617 -0.00071368 -0.02581027
+v -0.03409366 -0.00187274 -0.02581028
+v -0.03773281 0.00009351 0.03852808
+v -0.03106876 0.00009352 0.03435506
+v -0.02830156 -0.01172384 0.03394679
+v -0.03238606 -0.00996074 -0.02581031
+v -0.03334181 -0.00676233 -0.02581029
+v -0.03537718 -0.01172386 0.03918898
+v -0.03568993 -0.01082275 0.03938986
+v -0.03698972 -0.00676256 0.03883261
+v -0.03680582 -0.00814140 0.03838549
+v -0.03767776 -0.00371683 0.03699882
+v -0.03747635 -0.00524027 0.03699881
+v -0.03721865 -0.00676256 0.03806799
+v -0.03407990 -0.00296818 -0.02493550
+v -0.03360828 -0.00524004 -0.02581029
+v -0.03754641 -0.00371683 0.03852807
+v -0.03409992 -0.00205782 -0.02552517
+v -0.03717236 -0.00473246 0.03933804
+v -0.03722991 -0.00371683 0.03940285
+v -0.03729246 -0.00219339 0.03947412
+v -0.03732248 -0.00066996 0.03950653
+v -0.03752764 0.00009351 0.03902054
+v -0.03405989 -0.00233197 -0.02581028
+v -0.03118010 0.00009352 0.03491233
+v -0.02839914 -0.01172385 0.03443278
+v -0.03483050 -0.01172387 0.03974625
+v -0.03709355 -0.00574809 0.03917604
+v -0.03584380 -0.00980945 0.03953889
+v -0.03733249 -0.00524027 0.03861229
+v -0.03398858 -0.00285135 -0.02581028
+v -0.03387349 -0.00359630 -0.02581028
+v -0.03383220 -0.00385541 -0.02581028
+v -0.03604897 -0.00828601 0.03969442
+v -0.03622411 -0.00676257 0.03978515
+v -0.03649808 -0.00524028 0.03975923
+v -0.03637173 -0.00371684 0.03997955
+v -0.03637173 -0.00219340 0.04006379
+v -0.03732248 0.00009350 0.03950653
+v -0.03637173 -0.00066996 0.04010268
+v -0.03129394 0.00009352 0.03546959
+v -0.02861931 -0.01172385 0.03546955
+v -0.03331054 -0.01172387 0.04035535
+v -0.03484176 -0.00980945 0.04012856
+v -0.03493433 -0.01133058 0.03977217
+v -0.03484176 -0.00828601 0.04029704
+v -0.03484176 -0.00676257 0.04036833
+v -0.03684585 0.00009350 0.03980461
+v -0.03484176 -0.00524028 0.04038777
+v -0.03637173 0.00009350 0.04009620
+v -0.03151661 0.00009352 0.03623421
+v -0.03174179 0.00009351 0.03699883
+v -0.02872815 -0.01172385 0.03581298
+v -0.03178057 -0.01172387 0.04007672
+v -0.03331054 -0.01133173 0.04038127
+v -0.03484176 0.00009350 0.04033595
+v -0.03560487 0.00009350 0.04021932
+v -0.02908593 -0.01172386 0.03691456
+v -0.03228222 0.00009351 0.03822352
+v -0.03418499 0.00009350 0.04003788
+v -0.03331054 -0.00980945 0.04034887
+v -0.03074976 -0.01172387 0.03950649
+v -0.03353447 0.00009350 0.03973981
+v -0.02935114 -0.01172386 0.03749774
+v -0.03252492 0.00009351 0.03860584
+v -0.02966639 -0.01172386 0.03810037
+v -0.02998164 -0.01172386 0.03856692
+v -0.03276886 0.00009351 0.03898815
+v -0.03315041 0.00009351 0.03936398
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 40
+f 1 40 25
+f 1 25 24
+f 1 24 41
+f 1 41 50
+f 1 50 67
+f 1 67 66
+f 1 66 65
+f 1 65 58
+f 1 58 36
+f 1 36 35
+f 1 35 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 39
+f 1 39 60
+f 1 60 76
+f 1 76 87
+f 1 87 92
+f 1 92 98
+f 1 98 100
+f 1 100 101
+f 1 101 96
+f 1 96 88
+f 1 88 77
+f 1 77 61
+f 1 61 42
+f 1 42 26
+f 1 26 15
+f 1 15 7
+f 1 7 2
+f 2 7 6
+f 3 8 18
+f 3 18 37
+f 3 37 57
+f 3 57 73
+f 3 73 82
+f 3 82 84
+f 3 84 91
+f 3 91 90
+f 3 90 94
+f 3 94 97
+f 3 97 103
+f 3 103 102
+f 3 102 99
+f 3 99 93
+f 3 93 86
+f 3 86 85
+f 3 85 75
+f 3 75 59
+f 3 59 38
+f 3 38 20
+f 3 20 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 7 13
+f 6 13 14
+f 6 14 12
+f 7 15 16
+f 7 16 13
+f 8 17 18
+f 8 19 17
+f 10 20 21
+f 10 21 11
+f 12 14 22
+f 12 22 23
+f 13 24 25
+f 13 25 22
+f 13 22 14
+f 13 16 24
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 24
+f 17 32 33
+f 17 33 34
+f 17 34 37
+f 17 37 18
+f 17 19 35
+f 17 35 36
+f 17 36 32
+f 20 38 39
+f 20 39 21
+f 22 25 40
+f 22 40 23
+f 24 31 41
+f 26 42 43
+f 26 43 28
+f 26 28 27
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 46 47
+f 29 47 30
+f 29 45 44
+f 29 44 48
+f 29 48 46
+f 30 47 49
+f 30 49 31
+f 31 49 50
+f 31 50 41
+f 32 46 51
+f 32 51 33
+f 32 36 52
+f 32 52 49
+f 32 49 46
+f 33 51 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 57
+f 34 57 37
+f 36 58 49
+f 36 49 52
+f 38 59 39
+f 39 59 60
+f 42 61 43
+f 43 62 44
+f 43 61 63
+f 43 63 62
+f 44 62 48
+f 46 48 51
+f 46 49 47
+f 48 62 64
+f 48 64 51
+f 49 58 65
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 51 64 53
+f 53 64 62
+f 53 62 68
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 56
+f 56 73 57
+f 56 72 74
+f 56 74 73
+f 59 75 60
+f 60 75 76
+f 61 77 78
+f 61 78 79
+f 61 79 63
+f 62 63 68
+f 63 79 78
+f 63 78 68
+f 68 78 69
+f 69 78 80
+f 69 80 71
+f 69 71 70
+f 71 80 72
+f 72 80 81
+f 72 81 74
+f 73 74 82
+f 74 83 84
+f 74 84 82
+f 74 81 83
+f 75 85 76
+f 76 85 86
+f 76 86 87
+f 77 88 89
+f 77 89 80
+f 77 80 78
+f 80 89 81
+f 81 89 83
+f 83 89 90
+f 83 90 91
+f 83 91 84
+f 86 92 87
+f 86 93 92
+f 88 94 90
+f 88 90 95
+f 88 95 89
+f 88 96 97
+f 88 97 94
+f 89 95 90
+f 92 93 98
+f 93 99 100
+f 93 100 98
+f 96 101 102
+f 96 102 103
+f 96 103 97
+f 99 102 100
+f 100 102 101
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_22.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.02173350 0.01622441 -0.02617551
+v -0.02173350 0.02426365 -0.02617548
+v -0.01163927 0.02272249 -0.02617549
+v -0.01163927 0.02560220 0.03088811
+v -0.02173350 0.01997175 0.03077080
+v -0.02167520 0.02434659 -0.02564772
+v -0.02164556 0.02432835 -0.02617548
+v -0.02173350 0.02909093 0.03761874
+v -0.01163927 0.02911937 -0.02617546
+v -0.01163927 0.02572164 0.03241275
+v -0.02173350 0.02015423 0.03243880
+v -0.02114164 0.02469497 -0.02617548
+v -0.02173350 0.02909093 0.03768389
+v -0.01888585 0.03061384 0.03739721
+v -0.01800745 0.02651815 -0.02617547
+v -0.01965260 0.02566378 -0.02564772
+v -0.02090944 0.02490233 -0.02564772
+v -0.01175587 0.02908453 -0.02617546
+v -0.01341683 0.03268917 0.03699977
+v -0.01188629 0.03311552 0.03699977
+v -0.01163927 0.03317193 0.03699977
+v -0.01163927 0.02574984 0.03266686
+v -0.01163927 0.02589085 0.03382665
+v -0.02173350 0.02038980 0.03394390
+v -0.02088079 0.02487082 -0.02617548
+v -0.02173350 0.02907600 0.03787936
+v -0.01888585 0.03061384 0.03797058
+v -0.01647790 0.03160755 0.03699977
+v -0.01597398 0.02764456 -0.02564771
+v -0.01673876 0.02723978 -0.02564771
+v -0.01668935 0.02722652 -0.02617547
+v -0.01963877 0.02563227 -0.02617548
+v -0.02046580 0.02513127 -0.02617548
+v -0.01442368 0.02822354 -0.02617547
+v -0.01471615 0.03226780 0.03699977
+v -0.01455510 0.03221306 0.03853093
+v -0.01341683 0.03257139 0.03853093
+v -0.01188629 0.03298613 0.03853093
+v -0.01163927 0.03304585 0.03851790
+v -0.01163927 0.02600862 0.03449124
+v -0.01163927 0.02622097 0.03552722
+v -0.02173350 0.02076969 0.03547507
+v -0.02173350 0.02877407 0.03872639
+v -0.02155169 0.02885868 0.03881109
+v -0.02105271 0.02929166 0.03839409
+v -0.01945301 0.03013275 0.03849834
+v -0.01855287 0.03044131 0.03898701
+v -0.01802919 0.03083946 0.03849834
+v -0.01647790 0.03147815 0.03853093
+v -0.01531987 0.03192938 0.03853093
+v -0.01548093 0.03199740 0.03699977
+v -0.01494737 0.02807423 -0.02564771
+v -0.01592557 0.02761803 -0.02617547
+v -0.01618741 0.02749361 -0.02617547
+v -0.01494737 0.02802613 -0.02617547
+v -0.01422014 0.03209196 0.03930628
+v -0.01341683 0.03220808 0.03943008
+v -0.01163927 0.03256476 0.03943660
+v -0.01163927 0.02629230 0.03576178
+v -0.01163927 0.02668546 0.03699975
+v -0.02173350 0.02111143 0.03641984
+v -0.02173350 0.02867122 0.03892837
+v -0.02053199 0.02916060 0.03941704
+v -0.01753317 0.03068517 0.03943007
+v -0.01647790 0.03089751 0.03960599
+v -0.01481694 0.03136201 0.03969070
+v -0.01188629 0.03241378 0.03961903
+v -0.01163927 0.03244198 0.03963858
+v -0.02173350 0.02119271 0.03662833
+v -0.01163927 0.02674684 0.03714960
+v -0.02173350 0.02807730 0.03964508
+v -0.02105271 0.02831951 0.03975584
+v -0.01953799 0.02942271 0.03961902
+v -0.01802919 0.02987726 0.03978843
+v -0.01647790 0.02979431 0.04019891
+v -0.01341683 0.03131722 0.04000345
+v -0.01188629 0.03131722 0.04021847
+v -0.01163927 0.03152293 0.04014028
+v -0.02173350 0.02136855 0.03704533
+v -0.01163927 0.02724453 0.03818558
+v -0.02173350 0.02762773 0.03988615
+v -0.01953799 0.02827140 0.04020542
+v -0.01800745 0.02827140 0.04037482
+v -0.01494737 0.02979431 0.04036180
+v -0.01163927 0.03131722 0.04023802
+v -0.02173350 0.02159417 0.03747536
+v -0.01163927 0.02732747 0.03830938
+v -0.02173350 0.02182144 0.03782069
+v -0.02173350 0.02674849 0.04022496
+v -0.02106754 0.02674849 0.04035527
+v -0.01341683 0.02979431 0.04038786
+v -0.02173350 0.02608657 0.04036831
+v -0.01163927 0.03003983 0.04032271
+v -0.01163927 0.02776212 0.03895442
+v -0.02173350 0.02232576 0.03849831
+v -0.02173350 0.02522392 0.04027708
+v -0.01188629 0.02979431 0.04031619
+v -0.01163927 0.02979431 0.04029665
+v -0.01163927 0.02788488 0.03909777
+v -0.02173350 0.02297109 0.03925412
+v -0.02173350 0.02456367 0.04012071
+v -0.01163927 0.02870273 0.03979494
+v -0.01163927 0.02852356 0.03969720
+v -0.02173350 0.02306731 0.03933882
+v -0.02173350 0.02374581 0.03972977
+v -0.02173350 0.02334103 0.03953430
+f 1 2 7
+f 1 7 12
+f 1 12 25
+f 1 25 33
+f 1 33 32
+f 1 32 15
+f 1 15 31
+f 1 31 54
+f 1 54 53
+f 1 53 55
+f 1 55 34
+f 1 34 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 24
+f 1 24 42
+f 1 42 61
+f 1 61 69
+f 1 69 79
+f 1 79 86
+f 1 86 88
+f 1 88 95
+f 1 95 100
+f 1 100 104
+f 1 104 106
+f 1 106 105
+f 1 105 101
+f 1 101 96
+f 1 96 92
+f 1 92 89
+f 1 89 81
+f 1 81 71
+f 1 71 62
+f 1 62 43
+f 1 43 26
+f 1 26 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 21
+f 3 21 39
+f 3 39 58
+f 3 58 68
+f 3 68 78
+f 3 78 85
+f 3 85 93
+f 3 93 98
+f 3 98 102
+f 3 102 103
+f 3 103 99
+f 3 99 94
+f 3 94 87
+f 3 87 80
+f 3 80 70
+f 3 70 60
+f 3 60 59
+f 3 59 41
+f 3 41 40
+f 3 40 23
+f 3 23 22
+f 3 22 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 8 7
+f 7 8 12
+f 8 13 27
+f 8 27 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 12
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 12 17 25
+f 13 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 32 16
+f 16 32 33
+f 16 33 17
+f 17 33 25
+f 18 34 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 19 34 35
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 28
+f 28 51 52
+f 28 52 29
+f 29 52 53
+f 29 53 54
+f 29 54 30
+f 30 54 31
+f 34 55 52
+f 34 52 35
+f 35 51 36
+f 35 52 51
+f 36 50 56
+f 36 56 37
+f 36 51 50
+f 37 56 38
+f 38 56 57
+f 38 57 39
+f 39 57 58
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 43 62 44
+f 44 62 63
+f 44 63 47
+f 44 47 46
+f 44 46 45
+f 47 49 48
+f 47 63 64
+f 47 64 49
+f 49 64 56
+f 49 56 50
+f 52 55 53
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 67
+f 57 67 58
+f 58 67 68
+f 60 69 61
+f 60 70 69
+f 62 71 63
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 74
+f 64 74 65
+f 65 74 75
+f 65 75 76
+f 65 76 66
+f 66 76 67
+f 67 76 68
+f 68 76 77
+f 68 77 78
+f 69 70 79
+f 70 80 79
+f 71 81 72
+f 72 81 82
+f 72 82 73
+f 73 82 74
+f 74 82 75
+f 75 82 83
+f 75 83 84
+f 75 84 77
+f 75 77 76
+f 77 84 85
+f 77 85 78
+f 79 80 86
+f 80 87 88
+f 80 88 86
+f 81 89 82
+f 82 89 90
+f 82 90 83
+f 83 91 84
+f 83 90 92
+f 83 92 91
+f 84 91 85
+f 85 91 93
+f 87 94 88
+f 88 94 95
+f 89 92 90
+f 91 92 96
+f 91 96 97
+f 91 97 93
+f 93 97 98
+f 94 99 100
+f 94 100 95
+f 96 98 97
+f 96 101 98
+f 98 101 102
+f 99 103 100
+f 100 103 104
+f 101 105 102
+f 102 105 106
+f 102 106 103
+f 103 106 104
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_23.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v -0.03191978 0.01123450 -0.02617553
+v -0.02526598 0.01123450 -0.02617553
+v -0.03195335 0.01123449 -0.02575202
+v -0.03185546 0.01151765 -0.02564778
+v -0.03181350 0.01151766 -0.02617553
+v -0.02173490 0.01622485 -0.02617551
+v -0.02173490 0.01997221 0.03077592
+v -0.02831039 0.01123429 0.03088665
+v -0.03196034 0.01123449 -0.02564778
+v -0.03092409 0.01359245 -0.02564777
+v -0.03124433 0.01279190 -0.02617552
+v -0.03566343 0.01242635 0.03734997
+v -0.03470409 0.01456407 0.03699814
+v -0.02173490 0.02426184 -0.02617548
+v -0.02173490 0.02015398 0.03244387
+v -0.02842507 0.01123428 0.03243732
+v -0.03602003 0.01123426 0.03692646
+v -0.03043324 0.01456430 -0.02564777
+v -0.03057867 0.01419200 -0.02617552
+v -0.03090172 0.01355226 -0.02617552
+v -0.03421324 0.01559535 0.03699815
+v -0.03566343 0.01242635 0.03798197
+v -0.03420485 0.01557962 0.03819047
+v -0.02225372 0.02387730 -0.02617548
+v -0.02259914 0.02366229 -0.02564773
+v -0.02442551 0.02716317 0.03699819
+v -0.02366056 0.02772077 0.03699819
+v -0.02173490 0.02430204 -0.02564773
+v -0.02173490 0.02038820 0.03394242
+v -0.02846982 0.01123428 0.03278916
+v -0.03594172 0.01123426 0.03822955
+v -0.02975918 0.01575289 -0.02564776
+v -0.03038289 0.01456431 -0.02617552
+v -0.03381328 0.01635745 0.03699815
+v -0.03591794 0.01123426 0.03850971
+v -0.03583264 0.01151043 0.03850319
+v -0.03550121 0.01201383 0.03899837
+v -0.03526907 0.01297520 0.03850320
+v -0.03449153 0.01467594 0.03863351
+v -0.03262041 0.01848818 0.03801457
+v -0.03403983 0.01525800 0.03920688
+v -0.03378811 0.01608652 0.03863352
+v -0.03293645 0.01766490 0.03852276
+v -0.02320047 0.02316239 -0.02617548
+v -0.02345499 0.02301905 -0.02564774
+v -0.02541701 0.02640108 0.03699819
+v -0.02433881 0.02709326 0.03852932
+v -0.02184677 0.02904045 0.03779308
+v -0.02184677 0.02904045 0.03771489
+v -0.02173490 0.02909114 0.03761716
+v -0.02862924 0.01123428 0.03394890
+v -0.02173490 0.02076750 0.03547356
+v -0.02927253 0.01651499 -0.02564776
+v -0.02924456 0.01647480 -0.02617551
+v -0.02972982 0.01571270 -0.02617551
+v -0.03262041 0.01848818 0.03729787
+v -0.03564385 0.01123426 0.03929808
+v -0.03074649 0.02106988 0.03699817
+v -0.03132265 0.02030778 0.03699816
+v -0.03244140 0.01821026 0.03903097
+v -0.03205963 0.01905101 0.03852277
+v -0.03125133 0.02020989 0.03852929
+v -0.03427477 0.01424244 0.03948703
+v -0.03274487 0.01719470 0.03948053
+v -0.02342422 0.02299284 -0.02617549
+v -0.02364378 0.02279008 -0.02617549
+v -0.02501006 0.02152283 -0.02617549
+v -0.02422133 0.02230415 -0.02564774
+v -0.02781115 0.02432453 0.03699818
+v -0.02704480 0.02502021 0.03699818
+v -0.02618196 0.02578056 0.03699818
+v -0.02533030 0.02633116 0.03852932
+v -0.02338507 0.02752325 0.03931117
+v -0.02357386 0.02765784 0.03852932
+v -0.02173490 0.02907716 0.03787778
+v -0.02173490 0.02909114 0.03768232
+v -0.02173490 0.02877477 0.03872479
+v -0.02895228 0.01123427 0.03547352
+v -0.02173490 0.02111009 0.03641829
+v -0.02840689 0.01774729 -0.02562168
+v -0.02841388 0.01765990 -0.02617551
+v -0.03533759 0.01123425 0.03956521
+v -0.03452929 0.01303986 0.03968250
+v -0.03066678 0.02097199 0.03852930
+v -0.02990183 0.02191762 0.03852930
+v -0.02998154 0.02201027 0.03699817
+v -0.02793561 0.01834509 -0.02611035
+v -0.03108072 0.01998616 0.03935674
+v -0.03305113 0.01608651 0.03968251
+v -0.03187084 0.01766489 0.03981933
+v -0.03136880 0.01913316 0.03956524
+v -0.02581976 0.02072752 -0.02617549
+v -0.02579878 0.02081141 -0.02564774
+v -0.02856771 0.02356418 0.03699818
+v -0.02848520 0.02348028 0.03852931
+v -0.02772584 0.02424238 0.03852931
+v -0.02696089 0.02494330 0.03852931
+v -0.02655954 0.02005281 -0.02564775
+v -0.02609525 0.02570365 0.03852931
+v -0.02507159 0.02612315 0.03942193
+v -0.02398919 0.02667724 0.03957830
+v -0.02259914 0.02777145 0.03950011
+v -0.02173490 0.02866989 0.03893328
+v -0.02903199 0.01123427 0.03575368
+v -0.02173490 0.02119224 0.03662679
+v -0.02793142 0.01833985 -0.02617550
+v -0.03509566 0.01123425 0.03972810
+v -0.03493204 0.01151042 0.03977370
+v -0.03344269 0.01467593 0.03985190
+v -0.03331124 0.01303986 0.04027540
+v -0.02966829 0.02163796 0.03944797
+v -0.02924875 0.02267972 0.03852930
+v -0.02933266 0.02277236 0.03699817
+v -0.02653017 0.02001611 -0.02617550
+v -0.03020669 0.02055772 0.03963692
+v -0.03177994 0.01608651 0.04027541
+v -0.03025004 0.01913316 0.04013208
+v -0.02633998 0.02020664 -0.02617550
+v -0.02820551 0.02319535 0.03948056
+v -0.02667281 0.02468460 0.03946753
+v -0.02561279 0.02520548 0.03969557
+v -0.02259914 0.02674715 0.04005393
+v -0.02173490 0.02762811 0.03989104
+v -0.02173490 0.02807733 0.03964346
+v -0.02173490 0.02136703 0.03705029
+v -0.02933266 0.01123427 0.03669190
+v -0.03491526 0.01123425 0.03983234
+v -0.03359373 0.01123425 0.04033403
+v -0.03331124 0.01151741 0.04037964
+v -0.03025004 0.01761071 0.04037966
+v -0.02871734 0.02215883 0.03972162
+v -0.02872154 0.02065561 0.04025589
+v -0.02718604 0.02370226 0.03973466
+v -0.02413044 0.02522471 0.04021680
+v -0.02173490 0.02674715 0.04022333
+v -0.02173490 0.02159251 0.03747380
+v -0.02940817 0.01123426 0.03690691
+v -0.03331124 0.01123425 0.04037312
+v -0.02259914 0.02522471 0.04038620
+v -0.02719024 0.02217806 0.04028846
+v -0.02566034 0.02370051 0.04027544
+v -0.02173490 0.02608644 0.04036667
+v -0.02173490 0.02181974 0.03782563
+v -0.02962214 0.01123426 0.03740860
+v -0.03206383 0.01123425 0.04006690
+v -0.02173490 0.02522471 0.04027544
+v -0.02173490 0.02232489 0.03849672
+v -0.03021368 0.01123426 0.03846410
+v -0.02173490 0.02456224 0.04011907
+v -0.03177155 0.01123425 0.03993659
+v -0.02173490 0.02296988 0.03925251
+v -0.03044442 0.01123426 0.03878987
+v -0.03102478 0.01123425 0.03948702
+v -0.02173490 0.02374421 0.03973466
+v -0.02173490 0.02306427 0.03933721
+v -0.03090032 0.01123426 0.03938929
+v -0.02173490 0.02334043 0.03953268
+f 1 2 8
+f 1 8 16
+f 1 16 30
+f 1 30 51
+f 1 51 78
+f 1 78 104
+f 1 104 126
+f 1 126 137
+f 1 137 144
+f 1 144 148
+f 1 148 152
+f 1 152 156
+f 1 156 153
+f 1 153 150
+f 1 150 145
+f 1 145 138
+f 1 138 128
+f 1 128 127
+f 1 127 107
+f 1 107 82
+f 1 82 57
+f 1 57 35
+f 1 35 31
+f 1 31 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 19
+f 1 19 33
+f 1 33 55
+f 1 55 54
+f 1 54 81
+f 1 81 106
+f 1 106 114
+f 1 114 118
+f 1 118 92
+f 1 92 67
+f 1 67 66
+f 1 66 65
+f 1 65 44
+f 1 44 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 13
+f 4 13 10
+f 6 14 28
+f 6 28 50
+f 6 50 76
+f 6 76 75
+f 6 75 77
+f 6 77 103
+f 6 103 124
+f 6 124 123
+f 6 123 135
+f 6 135 142
+f 6 142 146
+f 6 146 149
+f 6 149 154
+f 6 154 157
+f 6 157 155
+f 6 155 151
+f 6 151 147
+f 6 147 143
+f 6 143 136
+f 6 136 125
+f 6 125 105
+f 6 105 79
+f 6 79 52
+f 6 52 29
+f 6 29 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 9 17 12
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 13 21
+f 10 21 18
+f 12 17 22
+f 12 22 13
+f 13 22 23
+f 13 23 21
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 15 29 16
+f 16 29 30
+f 17 31 22
+f 18 32 33
+f 18 33 19
+f 18 21 34
+f 18 34 32
+f 21 23 34
+f 22 31 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 40 34
+f 23 39 41
+f 23 41 42
+f 23 42 43
+f 23 43 40
+f 24 44 45
+f 24 45 25
+f 25 45 26
+f 26 46 72
+f 26 72 47
+f 26 47 48
+f 26 48 27
+f 26 45 46
+f 27 48 49
+f 27 49 28
+f 28 49 50
+f 29 51 30
+f 29 52 51
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 32 34 56
+f 32 56 53
+f 34 40 56
+f 35 57 37
+f 35 37 36
+f 37 57 41
+f 37 41 38
+f 38 41 39
+f 40 58 59
+f 40 59 56
+f 40 43 60
+f 40 60 61
+f 40 61 62
+f 40 62 58
+f 41 60 42
+f 41 57 63
+f 41 63 64
+f 41 64 60
+f 42 60 43
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 48
+f 48 75 76
+f 48 76 50
+f 48 50 49
+f 48 74 73
+f 48 73 77
+f 48 77 75
+f 51 52 78
+f 52 79 78
+f 53 80 81
+f 53 81 54
+f 53 56 59
+f 53 59 80
+f 57 82 83
+f 57 83 63
+f 58 62 84
+f 58 84 85
+f 58 85 86
+f 58 86 87
+f 58 87 59
+f 59 87 80
+f 60 64 88
+f 60 88 61
+f 61 88 62
+f 62 88 84
+f 63 83 89
+f 63 89 64
+f 64 89 90
+f 64 90 91
+f 64 91 88
+f 67 92 93
+f 67 93 69
+f 67 69 68
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 70
+f 69 93 98
+f 69 98 94
+f 70 97 71
+f 71 97 99
+f 71 99 72
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 103
+f 73 103 77
+f 78 79 104
+f 79 105 104
+f 80 87 81
+f 81 87 106
+f 82 107 108
+f 82 108 83
+f 83 109 89
+f 83 108 110
+f 83 110 109
+f 84 88 85
+f 85 88 111
+f 85 111 112
+f 85 112 113
+f 85 113 86
+f 86 113 98
+f 86 98 87
+f 87 98 114
+f 87 114 106
+f 88 91 115
+f 88 115 111
+f 89 109 116
+f 89 116 90
+f 90 116 117
+f 90 117 91
+f 91 117 115
+f 92 118 98
+f 92 98 93
+f 94 113 95
+f 94 98 113
+f 95 112 119
+f 95 119 96
+f 95 113 112
+f 96 119 120
+f 96 120 97
+f 97 120 100
+f 97 100 99
+f 98 118 114
+f 100 120 121
+f 100 121 101
+f 101 121 122
+f 101 122 102
+f 102 122 123
+f 102 123 124
+f 102 124 103
+f 104 105 125
+f 104 125 126
+f 107 127 108
+f 108 127 110
+f 109 110 116
+f 110 128 129
+f 110 129 130
+f 110 130 116
+f 110 127 128
+f 111 119 112
+f 111 115 131
+f 111 131 119
+f 115 117 131
+f 116 132 117
+f 116 130 132
+f 117 132 131
+f 119 131 133
+f 119 133 120
+f 120 133 121
+f 121 133 134
+f 121 134 122
+f 122 134 135
+f 122 135 123
+f 125 136 137
+f 125 137 126
+f 128 138 129
+f 129 138 139
+f 129 139 130
+f 130 139 140
+f 130 140 132
+f 131 132 140
+f 131 140 133
+f 133 140 141
+f 133 141 134
+f 134 141 142
+f 134 142 135
+f 136 143 144
+f 136 144 137
+f 138 142 139
+f 138 145 146
+f 138 146 142
+f 139 142 141
+f 139 141 140
+f 143 147 148
+f 143 148 144
+f 145 149 146
+f 145 150 149
+f 147 151 148
+f 148 151 152
+f 149 150 153
+f 149 153 154
+f 151 155 156
+f 151 156 152
+f 153 156 157
+f 153 157 154
+f 155 157 156
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_24.obj

@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.01780051 -0.03085999 0.03693926
+v -0.01780051 -0.03074948 0.03850088
+v -0.01888374 -0.03042729 0.03796306
+v -0.01888374 -0.03042729 0.03738636
+v -0.01780051 -0.02650843 -0.02581037
+v -0.01780051 -0.03058277 0.03891558
+v -0.01854677 -0.03025684 0.03898038
+v -0.01802633 -0.03065395 0.03849440
+v -0.02105371 -0.02911234 0.03839720
+v -0.02185114 -0.02885947 0.03780106
+v -0.01945181 -0.02994964 0.03849440
+v -0.02185114 -0.02885947 0.03769739
+v -0.01962471 -0.02554188 -0.02581036
+v -0.01780051 -0.01965082 -0.02581034
+v -0.01780051 -0.03005829 0.03962187
+v -0.02155475 -0.02867402 0.03881839
+v -0.02053327 -0.02897747 0.03942100
+v -0.02444629 -0.02699006 0.03699759
+v -0.02368062 -0.02755013 0.03699759
+v -0.02245803 -0.02825818 0.03839721
+v -0.02358006 -0.02748082 0.03852681
+v -0.02434573 -0.02690764 0.03852681
+v -0.02093022 -0.02474204 -0.02564837
+v -0.01970409 -0.02549505 -0.02581036
+v -0.02509552 -0.01172363 -0.02581031
+v -0.01780051 -0.02273422 0.03088723
+v -0.01780051 -0.02968179 0.03984866
+v -0.01802633 -0.02969303 0.03978386
+v -0.01953826 -0.02923785 0.03961539
+v -0.02338423 -0.02734034 0.03930437
+v -0.02259916 -0.02758573 0.03950525
+v -0.02105371 -0.02813457 0.03975795
+v -0.02542895 -0.02622769 0.03699759
+v -0.02347245 -0.02285204 -0.02564836
+v -0.02261327 -0.02348329 -0.02581036
+v -0.02168883 -0.02416886 -0.02581036
+v -0.02532663 -0.02614527 0.03852681
+v -0.02092316 -0.02473268 -0.02581036
+v -0.03169542 -0.01172363 -0.02581031
+v -0.02798353 -0.01172383 0.03088727
+v -0.02808585 -0.01172384 0.03223505
+v -0.01780051 -0.02282415 0.03198230
+v -0.01780051 -0.02808774 0.04036705
+v -0.01800869 -0.02808774 0.04037353
+v -0.01953826 -0.02808774 0.04020506
+v -0.02398936 -0.02649181 0.03957652
+v -0.02506376 -0.02593547 0.03941453
+v -0.02259916 -0.02656486 0.04004954
+v -0.02619462 -0.02560767 0.03699760
+v -0.02431574 -0.02205407 -0.02581035
+v -0.02346363 -0.02284267 -0.02581035
+v -0.02704850 -0.02484717 0.03699760
+v -0.02781416 -0.02414474 0.03699760
+v -0.02609230 -0.02552151 0.03852682
+v -0.03096152 -0.01333829 -0.02581032
+v -0.03471928 -0.01437999 0.03699764
+v -0.03567019 -0.01225958 0.03730867
+v -0.03582015 -0.01172386 0.03701709
+v -0.01780051 -0.02286161 0.03241645
+v -0.02812996 -0.01172384 0.03268864
+v -0.01780051 -0.02656112 0.04001066
+v -0.01800869 -0.02656486 0.04006898
+v -0.03178011 -0.01172387 0.04007552
+v -0.03178011 -0.01285713 0.04027638
+v -0.03331144 -0.01172387 0.04035415
+v -0.03178011 -0.01438000 0.04038654
+v -0.02259916 -0.02504199 0.04038001
+v -0.02106959 -0.02656486 0.04034761
+v -0.02413050 -0.02504199 0.04020507
+v -0.02560890 -0.02501951 0.03968669
+v -0.02666919 -0.02449689 0.03947285
+v -0.02695676 -0.02475913 0.03852682
+v -0.02504965 -0.02137037 -0.02581035
+v -0.02772066 -0.02405483 0.03852682
+v -0.02847927 -0.02329246 0.03852682
+v -0.02856925 -0.02338424 0.03699760
+v -0.02657922 -0.01989058 -0.02564835
+v -0.02582061 -0.02065295 -0.02564836
+v -0.02573593 -0.02072226 -0.02581035
+v -0.03092447 -0.01341696 -0.02581032
+v -0.03421824 -0.01541772 0.03699763
+v -0.03420766 -0.01539712 0.03819638
+v -0.03567019 -0.01225958 0.03800200
+v -0.03576898 -0.01172386 0.03830008
+v -0.01780051 -0.02306766 0.03390678
+v -0.02829932 -0.01172384 0.03394570
+v -0.01780051 -0.02307328 0.03394566
+v -0.03074804 -0.01172387 0.03950531
+v -0.01780051 -0.02558894 0.03945989
+v -0.03483043 -0.01172387 0.03975153
+v -0.03331144 -0.01285713 0.04027638
+v -0.03025054 -0.01742762 0.04038004
+v -0.03178011 -0.01590288 0.04027637
+v -0.02718964 -0.02199437 0.04028931
+v -0.02566006 -0.02351724 0.04027634
+v -0.02718258 -0.02351537 0.03973853
+v -0.02820053 -0.02300587 0.03947934
+v -0.02924494 -0.02249262 0.03852683
+v -0.02933491 -0.02259002 0.03699761
+v -0.02757247 -0.01865992 -0.02581034
+v -0.02657040 -0.01987934 -0.02581034
+v -0.02998591 -0.02182952 0.03699761
+v -0.03043225 -0.01437976 -0.02581032
+v -0.03044637 -0.01437976 -0.02564833
+v -0.03381777 -0.01618009 0.03699763
+v -0.03262516 -0.01830799 0.03802142
+v -0.03293919 -0.01748381 0.03852685
+v -0.03379130 -0.01590474 0.03863700
+v -0.03404359 -0.01508430 0.03922018
+v -0.03449875 -0.01449800 0.03863701
+v -0.03527853 -0.01280280 0.03851390
+v -0.03550612 -0.01184000 0.03901933
+v -0.03558021 -0.01172386 0.03890269
+v -0.02839812 -0.01172385 0.03443168
+v -0.01780051 -0.02332804 0.03517680
+v -0.02997885 -0.01172386 0.03856575
+v -0.01780051 -0.02482469 0.03853977
+v -0.03537556 -0.01172386 0.03918780
+v -0.03453404 -0.01285713 0.03968025
+v -0.03344552 -0.01449801 0.03984872
+v -0.02871920 -0.02047337 0.04025043
+v -0.03305387 -0.01590288 0.03968672
+v -0.03187185 -0.01748382 0.03981631
+v -0.03025054 -0.01895050 0.04012733
+v -0.02871391 -0.02197189 0.03971910
+v -0.02966306 -0.02144927 0.03944046
+v -0.02990122 -0.02173025 0.03852683
+v -0.02797294 -0.01821036 -0.02519477
+v -0.02830285 -0.01771210 -0.02581034
+v -0.03074981 -0.02089107 0.03699761
+v -0.03036874 -0.01449215 -0.02581032
+v -0.02975832 -0.01557109 -0.02581033
+v -0.02976538 -0.01558233 -0.02564834
+v -0.03262516 -0.01830799 0.03726329
+v -0.03132141 -0.02012870 0.03699762
+v -0.03066513 -0.02078618 0.03852683
+v -0.03124202 -0.02002380 0.03852684
+v -0.03205356 -0.01886994 0.03852684
+v -0.03244169 -0.01802889 0.03903873
+v -0.03274513 -0.01701366 0.03947936
+v -0.03427823 -0.01406719 0.03949233
+v -0.02861688 -0.01172385 0.03547491
+v -0.01780051 -0.02338985 0.03543599
+v -0.02966482 -0.01172386 0.03809921
+v -0.01780051 -0.02462614 0.03822227
+v -0.03136552 -0.01895050 0.03955711
+v -0.03020290 -0.02037035 0.03962839
+v -0.03107442 -0.01979528 0.03934976
+v -0.02841576 -0.01756974 -0.02568073
+v -0.02927317 -0.01633346 -0.02581033
+v -0.02928022 -0.01634470 -0.02564834
+v -0.02872626 -0.01172385 0.03581834
+v -0.01780051 -0.02390872 0.03691336
+v -0.02934903 -0.01172386 0.03750307
+v -0.01780051 -0.02402111 0.03716607
+v -0.02908440 -0.01172386 0.03691341
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 42
+f 1 42 59
+f 1 59 85
+f 1 85 87
+f 1 87 115
+f 1 115 143
+f 1 143 153
+f 1 153 155
+f 1 155 145
+f 1 145 117
+f 1 117 89
+f 1 89 61
+f 1 61 43
+f 1 43 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 12
+f 3 12 4
+f 3 8 7
+f 3 7 11
+f 3 11 9
+f 4 12 13
+f 4 13 5
+f 5 13 24
+f 5 24 38
+f 5 38 36
+f 5 36 35
+f 5 35 51
+f 5 51 50
+f 5 50 73
+f 5 73 79
+f 5 79 101
+f 5 101 100
+f 5 100 129
+f 5 129 150
+f 5 150 132
+f 5 132 131
+f 5 131 103
+f 5 103 80
+f 5 80 55
+f 5 55 39
+f 5 39 25
+f 5 25 14
+f 6 15 7
+f 7 16 9
+f 7 9 11
+f 7 15 17
+f 7 17 16
+f 9 16 10
+f 10 18 19
+f 10 19 12
+f 10 16 20
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 12 19 23
+f 12 23 24
+f 12 24 13
+f 14 25 26
+f 15 27 28
+f 15 28 29
+f 15 29 17
+f 16 17 30
+f 16 30 20
+f 17 31 30
+f 17 29 32
+f 17 32 31
+f 18 22 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 23
+f 18 23 19
+f 20 30 21
+f 21 30 22
+f 22 30 37
+f 22 37 33
+f 23 36 38
+f 23 38 24
+f 25 39 58
+f 25 58 84
+f 25 84 113
+f 25 113 118
+f 25 118 90
+f 25 90 65
+f 25 65 63
+f 25 63 88
+f 25 88 116
+f 25 116 144
+f 25 144 154
+f 25 154 156
+f 25 156 152
+f 25 152 142
+f 25 142 114
+f 25 114 86
+f 25 86 60
+f 25 60 41
+f 25 41 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 32
+f 30 31 46
+f 30 46 47
+f 30 47 37
+f 31 32 48
+f 31 48 46
+f 32 45 48
+f 33 37 49
+f 33 49 34
+f 34 50 51
+f 34 51 35
+f 34 49 52
+f 34 52 53
+f 34 53 50
+f 37 47 54
+f 37 54 49
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 41 59 42
+f 41 60 59
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 44 65 66
+f 45 68 69
+f 45 69 48
+f 46 48 70
+f 46 70 47
+f 47 71 54
+f 47 70 71
+f 48 69 70
+f 49 54 72
+f 49 72 52
+f 50 53 73
+f 52 72 53
+f 53 72 74
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 73
+f 54 71 72
+f 55 80 56
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 56 80 81
+f 57 83 58
+f 58 83 84
+f 59 60 85
+f 60 86 87
+f 60 87 85
+f 61 88 63
+f 61 63 62
+f 61 89 88
+f 63 65 64
+f 65 90 91
+f 65 91 66
+f 66 92 67
+f 66 91 93
+f 66 93 92
+f 67 92 94
+f 67 94 95
+f 67 95 68
+f 68 95 69
+f 69 95 96
+f 69 96 70
+f 70 96 71
+f 71 97 74
+f 71 74 72
+f 71 96 97
+f 74 97 75
+f 75 97 98
+f 75 98 99
+f 75 99 76
+f 76 99 77
+f 77 100 101
+f 77 101 79
+f 77 79 78
+f 77 99 102
+f 77 102 100
+f 80 103 104
+f 80 104 81
+f 81 105 82
+f 81 104 105
+f 82 105 106
+f 82 106 107
+f 82 107 108
+f 82 108 109
+f 82 109 110
+f 82 110 83
+f 83 110 111
+f 83 111 112
+f 83 112 84
+f 84 112 113
+f 86 114 115
+f 86 115 87
+f 88 89 116
+f 89 117 116
+f 90 118 112
+f 90 112 119
+f 90 119 91
+f 91 119 120
+f 91 120 93
+f 92 93 121
+f 92 121 94
+f 93 120 122
+f 93 122 123
+f 93 123 124
+f 93 124 121
+f 94 121 125
+f 94 125 96
+f 94 96 95
+f 96 125 97
+f 97 126 98
+f 97 125 126
+f 98 126 127
+f 98 127 99
+f 99 127 102
+f 100 128 129
+f 100 102 130
+f 100 130 128
+f 102 127 130
+f 103 131 104
+f 104 131 132
+f 104 132 133
+f 104 133 105
+f 105 134 106
+f 105 133 134
+f 106 134 135
+f 106 135 130
+f 106 130 136
+f 106 136 137
+f 106 137 138
+f 106 138 139
+f 106 139 107
+f 107 139 109
+f 107 109 108
+f 109 139 140
+f 109 140 141
+f 109 141 112
+f 109 112 111
+f 109 111 110
+f 112 141 119
+f 112 118 113
+f 114 142 115
+f 115 142 143
+f 116 117 144
+f 117 145 144
+f 119 122 120
+f 119 141 122
+f 121 124 125
+f 122 141 140
+f 122 140 123
+f 123 140 146
+f 123 146 124
+f 124 146 147
+f 124 147 125
+f 125 147 126
+f 126 148 127
+f 126 147 148
+f 127 148 136
+f 127 136 130
+f 128 130 129
+f 129 149 150
+f 129 130 135
+f 129 135 149
+f 132 150 151
+f 132 151 133
+f 133 151 134
+f 134 151 149
+f 134 149 135
+f 136 148 137
+f 137 148 139
+f 137 139 138
+f 139 148 140
+f 140 148 146
+f 142 152 143
+f 143 152 153
+f 144 145 154
+f 145 155 154
+f 146 148 147
+f 149 151 150
+f 152 156 153
+f 153 156 155
+f 154 155 156
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_25.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.00051329 -0.03372486 0.03700010
+v 0.00279558 -0.03344907 0.03754413
+v 0.00279558 -0.03344907 0.03787442
+v 0.00051329 -0.03372311 0.03711668
+v 0.00051329 -0.02986012 -0.02549087
+v 0.00128637 -0.03039427 -0.01612596
+v 0.00188750 -0.03001898 -0.02106747
+v 0.00494856 -0.03288528 0.03700010
+v 0.00265916 -0.03037683 -0.01273880
+v 0.00765150 -0.03203697 0.03823062
+v 0.00494856 -0.03274389 0.03852854
+v 0.00335123 -0.03314710 0.03844435
+v 0.00188750 -0.03327976 0.03890417
+v 0.00188750 -0.03352587 0.03813995
+v 0.00647909 -0.03244716 0.03700010
+v 0.00051329 -0.03359220 0.03854797
+v 0.00051329 -0.02984092 -0.02576936
+v 0.00188750 -0.02982522 -0.02412435
+v 0.00341803 -0.02927713 -0.02576936
+v 0.00953873 -0.03122183 0.03852855
+v 0.00809915 -0.03173850 0.03865807
+v 0.00719248 -0.03187813 0.03924742
+v 0.00660130 -0.03223945 0.03865807
+v 0.00769697 -0.03205268 0.03700010
+v 0.00846011 -0.03178388 0.03700010
+v 0.01188213 -0.03039622 0.03785500
+v 0.00617213 -0.03202999 0.03944171
+v 0.00079324 -0.03337052 0.03916971
+v 0.00051329 -0.03350493 0.03884588
+v 0.00638103 -0.02833806 -0.02576935
+v 0.00177097 -0.02970652 -0.02576936
+v 0.00051329 -0.02363398 -0.02576934
+v 0.00188750 -0.02969954 -0.02565278
+v 0.00188750 -0.02968732 -0.02576936
+v 0.01104794 -0.03060393 0.03843140
+v 0.01052497 -0.03047128 0.03939639
+v 0.00953873 -0.03067027 0.03957125
+v 0.00800820 -0.02791391 -0.02412434
+v 0.00953873 -0.03135973 0.03700010
+v 0.01460781 -0.02867168 0.03852855
+v 0.01384183 -0.02912202 0.03852855
+v 0.01247473 -0.02989177 0.03843140
+v 0.01154533 -0.03022342 0.03887180
+v 0.01188213 -0.03039622 0.03760242
+v 0.01396121 -0.02919358 0.03700011
+v 0.01472718 -0.02874848 0.03700011
+v 0.00800820 -0.03096351 0.03975907
+v 0.00494856 -0.03219582 0.03959067
+v 0.00051329 -0.03338972 0.03921504
+v 0.00789167 -0.02784235 -0.02576935
+v 0.00178233 -0.02970478 -0.02576936
+v 0.01503130 -0.01589276 -0.02576931
+v 0.00051329 -0.02629779 0.03088638
+v 0.01259837 -0.02919010 0.03958420
+v 0.01104794 -0.02967360 0.03975907
+v 0.01353630 -0.02894572 0.03938991
+v 0.00953873 -0.02961076 0.04016061
+v 0.00800820 -0.02780744 -0.02565277
+v 0.00893334 -0.02741121 -0.02565277
+v 0.01503130 -0.02855124 0.03700012
+v 0.01503130 -0.02838891 0.03856742
+v 0.00897028 -0.02738328 -0.02576935
+v 0.01232836 -0.02556274 -0.02576934
+v 0.01376936 -0.02471618 -0.02576934
+v 0.01388020 -0.02465684 -0.02565276
+v 0.00494856 -0.03113457 0.04019299
+v 0.00660130 -0.03127595 0.03983031
+v 0.00341803 -0.03237386 0.03972020
+v 0.00188750 -0.03251874 0.03979144
+v 0.00051329 -0.03274739 0.03974610
+v 0.00801672 -0.02779173 -0.02576935
+v 0.01503130 -0.02379981 -0.02576934
+v 0.01503130 -0.01950786 0.03089937
+v 0.00051329 -0.02640079 0.03225939
+v 0.01503130 -0.01960562 0.03229827
+v 0.01407916 -0.02811488 0.03972022
+v 0.01259837 -0.02808695 0.04016062
+v 0.01503130 -0.02807996 0.03909849
+v 0.01503130 -0.02775008 0.03958421
+v 0.01106926 -0.02808695 0.04036786
+v 0.00800820 -0.02961076 0.04034842
+v 0.00892339 -0.02740598 -0.02576935
+v 0.01393278 -0.02461146 -0.02576934
+v 0.01503130 -0.02380155 -0.02574991
+v 0.01387452 -0.02465160 -0.02576934
+v 0.00341803 -0.03113457 0.04032252
+v 0.00051329 -0.03257110 0.03982383
+v 0.00051329 -0.02641300 0.03241482
+v 0.00051329 -0.02658057 0.03378782
+v 0.00051329 -0.02659977 0.03394325
+v 0.01503130 -0.01989013 0.03394328
+v 0.01503130 -0.02732243 0.03980442
+v 0.01503130 -0.02663646 0.04008290
+v 0.01412890 -0.02656489 0.04033548
+v 0.01503130 -0.02566771 0.04036139
+v 0.00647909 -0.02961076 0.04038080
+v 0.00188750 -0.03113457 0.04038080
+v 0.00051329 -0.03113457 0.04039376
+v 0.00051329 -0.02689651 0.03547169
+v 0.01503130 -0.02025669 0.03547172
+v 0.01503130 -0.02504109 0.04032254
+v 0.01503130 -0.02414565 0.04016710
+v 0.00051329 -0.03097922 0.04036137
+v 0.00051329 -0.02716008 0.03643020
+v 0.00051329 -0.02720721 0.03658563
+v 0.01503130 -0.02042775 0.03593153
+v 0.01503130 -0.02353648 0.03989510
+v 0.00051329 -0.02961076 0.03995336
+v 0.00051329 -0.02746904 0.03727861
+v 0.01503130 -0.02078209 0.03685766
+v 0.01503130 -0.02287669 0.03958423
+v 0.00051329 -0.02951301 0.03989508
+v 0.00051329 -0.02749348 0.03733690
+v 0.01503130 -0.02088857 0.03712320
+v 0.01503130 -0.02259914 0.03940290
+v 0.00051329 -0.02874848 0.03939639
+v 0.01503130 -0.02115214 0.03760893
+v 0.00051329 -0.02807647 0.03839903
+v 0.01503130 -0.02233383 0.03913736
+v 0.01503130 -0.02186429 0.03858039
+v 0.01503130 -0.02123068 0.03773846
+v 0.00051329 -0.02866994 0.03928629
+v 0.00051329 -0.02814280 0.03851561
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 29
+f 1 29 49
+f 1 49 70
+f 1 70 87
+f 1 87 98
+f 1 98 103
+f 1 103 108
+f 1 108 112
+f 1 112 116
+f 1 116 122
+f 1 122 123
+f 1 123 118
+f 1 118 113
+f 1 113 109
+f 1 109 105
+f 1 105 104
+f 1 104 99
+f 1 99 90
+f 1 90 89
+f 1 89 88
+f 1 88 74
+f 1 74 53
+f 1 53 32
+f 1 32 17
+f 1 17 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 8 15
+f 3 15 10
+f 4 14 16
+f 5 17 18
+f 5 18 6
+f 6 18 7
+f 7 18 9
+f 8 9 15
+f 9 18 19
+f 9 19 15
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 15 24
+f 10 24 25
+f 10 25 26
+f 10 26 20
+f 11 23 22
+f 11 22 27
+f 11 27 13
+f 11 13 12
+f 13 28 14
+f 13 27 28
+f 14 28 29
+f 14 29 16
+f 15 19 30
+f 15 30 24
+f 17 31 18
+f 17 32 52
+f 17 52 72
+f 17 72 83
+f 17 83 85
+f 17 85 64
+f 17 64 63
+f 17 63 62
+f 17 62 82
+f 17 82 71
+f 17 71 50
+f 17 50 30
+f 17 30 19
+f 17 19 34
+f 17 34 51
+f 17 51 31
+f 18 31 33
+f 18 33 19
+f 19 33 34
+f 20 22 21
+f 20 26 35
+f 20 35 36
+f 20 36 22
+f 22 36 37
+f 22 37 27
+f 24 30 38
+f 24 38 25
+f 25 39 26
+f 25 38 39
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 35
+f 26 39 44
+f 26 44 45
+f 26 45 46
+f 26 46 40
+f 27 37 47
+f 27 47 48
+f 27 48 28
+f 28 49 29
+f 28 48 49
+f 30 50 38
+f 31 51 33
+f 32 53 52
+f 33 51 34
+f 35 43 36
+f 36 54 55
+f 36 55 37
+f 36 43 56
+f 36 56 54
+f 37 55 57
+f 37 57 47
+f 38 50 58
+f 38 58 59
+f 38 59 44
+f 38 44 39
+f 40 46 60
+f 40 60 61
+f 40 61 56
+f 40 56 41
+f 41 56 43
+f 41 43 42
+f 44 59 62
+f 44 62 63
+f 44 63 45
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 60
+f 47 57 66
+f 47 66 67
+f 47 67 48
+f 48 67 66
+f 48 66 68
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 50 71 58
+f 52 53 73
+f 52 73 75
+f 52 75 91
+f 52 91 100
+f 52 100 106
+f 52 106 110
+f 52 110 114
+f 52 114 117
+f 52 117 121
+f 52 121 120
+f 52 120 119
+f 52 119 115
+f 52 115 111
+f 52 111 107
+f 52 107 102
+f 52 102 101
+f 52 101 95
+f 52 95 93
+f 52 93 92
+f 52 92 79
+f 52 79 78
+f 52 78 61
+f 52 61 60
+f 52 60 84
+f 52 84 72
+f 53 74 75
+f 53 75 73
+f 54 76 77
+f 54 77 55
+f 54 56 76
+f 55 77 57
+f 56 61 78
+f 56 78 79
+f 56 79 76
+f 57 77 80
+f 57 80 81
+f 57 81 66
+f 58 71 82
+f 58 82 59
+f 59 82 62
+f 60 65 83
+f 60 83 84
+f 64 85 65
+f 65 85 83
+f 66 81 86
+f 66 86 69
+f 66 69 68
+f 69 86 87
+f 69 87 70
+f 72 84 83
+f 74 88 75
+f 75 88 89
+f 75 89 90
+f 75 90 91
+f 76 79 92
+f 76 92 77
+f 77 93 94
+f 77 94 80
+f 77 92 93
+f 80 95 96
+f 80 96 81
+f 80 94 95
+f 81 96 97
+f 81 97 86
+f 86 97 87
+f 87 97 98
+f 90 99 91
+f 91 99 100
+f 93 95 94
+f 95 101 98
+f 95 98 96
+f 96 98 97
+f 98 101 102
+f 98 102 103
+f 99 104 100
+f 100 104 105
+f 100 105 106
+f 102 107 108
+f 102 108 103
+f 105 109 106
+f 106 109 110
+f 107 111 108
+f 108 111 112
+f 109 113 114
+f 109 114 110
+f 111 115 116
+f 111 116 112
+f 113 117 114
+f 113 118 117
+f 115 119 116
+f 116 119 120
+f 116 120 121
+f 116 121 122
+f 117 118 123
+f 117 123 121
+f 121 123 122
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_26.obj

@@ -0,0 +1,703 @@
+# https://github.com/mikedh/trimesh
+v 0.05551320 -0.00066929 0.01560863
+v 0.05549292 -0.00219269 0.01560862
+v 0.05549672 -0.00066928 0.01408036
+v 0.05549545 0.00085312 0.01408036
+v 0.05551067 0.00085311 0.01560863
+v 0.05550686 -0.00066929 0.01713691
+v 0.05507716 -0.00362914 0.01560862
+v 0.05547137 -0.00219268 0.01408035
+v 0.05548024 -0.00219269 0.01713690
+v 0.05506829 -0.00361729 0.01713690
+v 0.05539151 -0.00066928 0.01255208
+v 0.05539025 0.00085312 0.01255208
+v 0.05546503 0.00237652 0.01408037
+v 0.05548404 0.00237651 0.01560864
+v 0.05550306 0.00085311 0.01713691
+v 0.05549038 0.00085310 0.01866519
+v 0.05549038 -0.00066930 0.01866519
+v 0.05455874 -0.00439084 0.01560861
+v 0.05506322 -0.00359851 0.01408035
+v 0.05500111 -0.00350564 0.01255207
+v 0.05535602 -0.00219268 0.01255207
+v 0.05545109 -0.00219270 0.01866518
+v 0.05454606 -0.00437899 0.01713689
+v 0.05504801 -0.00358074 0.01866518
+v 0.05516716 -0.00066927 0.01102380
+v 0.05516716 0.00085313 0.01102380
+v 0.05535349 0.00237652 0.01255209
+v 0.05499985 0.00367170 0.01255209
+v 0.05505942 0.00376160 0.01408037
+v 0.05507082 0.00379320 0.01560864
+v 0.05506449 0.00378728 0.01713692
+v 0.05547517 0.00237651 0.01713692
+v 0.05544982 0.00237650 0.01866520
+v 0.05544475 0.00216409 0.01887781
+v 0.05547898 0.00085310 0.01887780
+v 0.05547898 -0.00066930 0.01887780
+v 0.05379315 -0.00473168 0.01560861
+v 0.05375385 -0.00472376 0.01408034
+v 0.05451945 -0.00436020 0.01408034
+v 0.05378047 -0.00473168 0.01713689
+v 0.05442565 -0.00426734 0.01255206
+v 0.05488703 -0.00332286 0.01102379
+v 0.05477296 -0.00311935 0.00992438
+v 0.05512786 -0.00219267 0.01102379
+v 0.05543715 -0.00219270 0.01887779
+v 0.05538771 -0.00237349 0.01887779
+v 0.05450424 -0.00434244 0.01866517
+v 0.05438636 -0.00439381 0.01887778
+v 0.05372850 -0.00472477 0.01887778
+v 0.05373864 -0.00472675 0.01866517
+v 0.05504041 -0.00356889 0.01887779
+v 0.05483633 -0.00219267 0.00966633
+v 0.05485535 -0.00066927 0.00957548
+v 0.05485535 0.00085313 0.00957185
+v 0.05483126 0.00237653 0.00967180
+v 0.05512153 0.00237653 0.01102381
+v 0.05476662 0.00329333 0.00993530
+v 0.05488070 0.00349092 0.01102381
+v 0.05440283 0.00443340 0.01255210
+v 0.05449156 0.00452330 0.01408038
+v 0.05453212 0.00455490 0.01560865
+v 0.05452452 0.00454897 0.01713693
+v 0.05504674 0.00374479 0.01866520
+v 0.05503914 0.00373293 0.01887781
+v 0.05543715 0.00237650 0.01887781
+v 0.05238871 -0.00495099 0.01255206
+v 0.05238871 -0.00493616 0.01102378
+v 0.05366132 -0.00470697 0.01255206
+v 0.05352570 -0.00467139 0.01102378
+v 0.05238871 -0.00494014 0.01887778
+v 0.05335965 -0.00460322 0.00949732
+v 0.05323416 -0.00453209 0.00846151
+v 0.05429002 -0.00408456 0.01102378
+v 0.05463860 -0.00219266 0.00890310
+v 0.05420763 -0.00366270 0.00944827
+v 0.05366259 -0.00382769 0.00795815
+v 0.05346359 -0.00342756 0.00644078
+v 0.05326078 -0.00314502 0.00542132
+v 0.05435593 -0.00219266 0.00796906
+v 0.05457142 -0.00422488 0.01887778
+v 0.05449283 -0.00433059 0.01887778
+v 0.05466522 -0.00066926 0.00881044
+v 0.05466522 0.00085314 0.00880862
+v 0.05463733 0.00237654 0.00890857
+v 0.05426848 0.00425261 0.01102382
+v 0.05435720 0.00237654 0.00796908
+v 0.05325825 0.00331508 0.00543406
+v 0.05346232 0.00359269 0.00644080
+v 0.05365245 0.00400564 0.00799088
+v 0.05418989 0.00384066 0.00945556
+v 0.05321769 0.00470411 0.00851425
+v 0.05333810 0.00477030 0.00949736
+v 0.05350288 0.00484142 0.01102382
+v 0.05363724 0.00488192 0.01255210
+v 0.05372597 0.00490069 0.01408038
+v 0.05376653 0.00490759 0.01560865
+v 0.05375892 0.00490759 0.01713693
+v 0.05370949 0.00490067 0.01866521
+v 0.05369935 0.00489869 0.01887782
+v 0.05447509 0.00450648 0.01866521
+v 0.05446368 0.00449463 0.01887782
+v 0.04779896 -0.00496676 0.00185594
+v 0.04932761 -0.00496478 0.00338421
+v 0.05085880 -0.00495195 0.00644077
+v 0.05238871 -0.00487885 0.00949732
+v 0.05120103 -0.00469316 0.01887778
+v 0.04625510 -0.00494402 0.00031494
+v 0.05247618 -0.00471880 0.00795814
+v 0.05207437 -0.00468224 0.00644077
+v 0.05177776 -0.00456270 0.00491249
+v 0.05162819 -0.00448070 0.00413836
+v 0.05304530 -0.00440958 0.00744205
+v 0.05283996 -0.00418926 0.00644077
+v 0.05334697 -0.00219265 0.00521779
+v 0.05382991 -0.00219265 0.00644078
+v 0.05195395 -0.00370813 0.00353142
+v 0.05177269 -0.00319539 0.00234841
+v 0.05251547 -0.00219264 0.00338422
+v 0.05301995 -0.00219265 0.00445456
+v 0.05388821 -0.00066925 0.00644079
+v 0.05440917 -0.00066926 0.00796907
+v 0.05440917 0.00085314 0.00796907
+v 0.05388695 0.00085315 0.00644079
+v 0.05382864 0.00237655 0.00644080
+v 0.05334444 0.00237655 0.00522872
+v 0.05301235 0.00237655 0.00446549
+v 0.05250153 0.00237656 0.00338424
+v 0.05176509 0.00336449 0.00235934
+v 0.05202113 0.00367964 0.00338424
+v 0.05160157 0.00464978 0.00418746
+v 0.05280193 0.00435439 0.00644081
+v 0.05302248 0.00458358 0.00749479
+v 0.05179678 0.00475747 0.00520510
+v 0.05203761 0.00484737 0.00644081
+v 0.05246223 0.00488293 0.00799089
+v 0.05238871 0.00503210 0.00949736
+v 0.05238871 0.00509335 0.01102382
+v 0.05238871 0.00511507 0.01255210
+v 0.05238871 0.00511309 0.01408038
+v 0.05238871 0.00510221 0.01887782
+v 0.05352570 0.00492833 0.01887782
+v 0.04626904 -0.00494402 0.00031494
+v 0.04778502 -0.00492920 0.00031494
+v 0.04779896 -0.00492920 0.00032766
+v 0.05085880 -0.00483833 0.00491249
+v 0.05109456 -0.00463191 0.01887778
+v 0.04487602 -0.00463480 0.00031494
+v 0.04491151 -0.00464764 0.00031494
+v 0.05083598 -0.00465358 0.00353141
+v 0.05031249 -0.00459035 0.00220302
+v 0.05002729 -0.00444018 0.00118538
+v 0.05133159 -0.00421099 0.00311890
+v 0.05305417 -0.00066925 0.00437825
+v 0.05337866 -0.00066925 0.00514330
+v 0.05041009 -0.00336926 0.00032767
+v 0.05040629 -0.00336333 0.00031495
+v 0.05081824 -0.00219263 0.00032767
+v 0.05146215 -0.00219264 0.00137257
+v 0.05188550 -0.00219264 0.00213762
+v 0.05258772 -0.00066924 0.00338423
+v 0.05192099 -0.00066924 0.00206312
+v 0.05337866 0.00085315 0.00514511
+v 0.05305417 0.00085315 0.00438007
+v 0.05258392 0.00085316 0.00338423
+v 0.05191972 0.00085316 0.00206494
+v 0.05187663 0.00237656 0.00214854
+v 0.05137215 0.00444134 0.00338425
+v 0.05145834 0.00237656 0.00138349
+v 0.05079922 0.00239040 0.00031497
+v 0.05040121 0.00353541 0.00031497
+v 0.05040502 0.00354035 0.00032769
+v 0.05000954 0.00461424 0.00121450
+v 0.05029094 0.00476242 0.00223396
+v 0.05060656 0.00486022 0.00338425
+v 0.05099823 0.00492443 0.00478169
+v 0.05085880 0.00509633 0.00644081
+v 0.04932761 0.00511313 0.00338425
+v 0.04779896 0.00512598 0.00185598
+v 0.05221633 0.00507059 0.01887782
+v 0.04626904 0.00509141 0.00032770
+v 0.04779896 -0.00492624 0.00031494
+v 0.04897270 -0.00464468 0.00032766
+v 0.04944169 -0.00476028 0.00175781
+v 0.04896129 -0.00464468 0.00031494
+v 0.05043544 -0.00418141 0.01887778
+v 0.04421182 -0.00424951 0.00031494
+v 0.04896763 -0.00464270 0.00031494
+v 0.04973703 -0.00413095 0.00032766
+v 0.05039868 -0.00337222 0.00031495
+v 0.05080936 -0.00219263 0.00031495
+v 0.05090823 -0.00066923 0.00032768
+v 0.05150778 -0.00066923 0.00129807
+v 0.05081063 -0.00217188 0.00031495
+v 0.05150651 0.00085317 0.00130171
+v 0.05081063 0.00237657 0.00032769
+v 0.05080176 0.00237657 0.00031497
+v 0.04971801 0.00428427 0.00031498
+v 0.04971041 0.00430205 0.00032770
+v 0.04969393 0.00430897 0.00031498
+v 0.04894228 0.00481281 0.00031498
+v 0.04894735 0.00481479 0.00032770
+v 0.04943028 0.00492642 0.00177784
+v 0.04779896 0.00508153 0.00032770
+v 0.04626904 0.00509141 0.00031498
+v 0.05122638 0.00486510 0.01887782
+v 0.04611060 0.00505980 0.00031498
+v 0.04980167 -0.00341971 0.01887779
+v 0.04344243 -0.00352535 0.00031495
+v 0.04351468 -0.00360537 0.00031495
+v 0.04973196 -0.00412601 0.00031494
+v 0.05089936 -0.00066923 0.00031496
+v 0.05089936 -0.00064849 0.00031496
+v 0.05090696 0.00085317 0.00032768
+v 0.05089682 0.00087491 0.00031496
+v 0.04779896 0.00507955 0.00031498
+v 0.05046079 0.00434743 0.01887782
+v 0.04490010 0.00479503 0.00031498
+v 0.04973449 -0.00323694 0.01887779
+v 0.04280106 -0.00242677 0.00031495
+v 0.05089809 0.00085317 0.00031496
+v 0.04980801 0.00358573 0.01887781
+v 0.04472264 0.00467154 0.00031498
+v 0.04374284 0.00395232 0.00031497
+v 0.04346651 0.00368953 0.00031497
+v 0.04938972 -0.00219270 0.01887779
+v 0.04273387 -0.00219263 0.00031495
+v 0.04939859 0.00237650 0.01887781
+v 0.04274275 0.00237657 0.00031497
+v 0.04925536 -0.00066930 0.01887780
+v 0.04256910 -0.00066923 0.00031496
+v 0.04927817 0.00106452 0.01887780
+v 0.04268191 0.00185790 0.00031497
+v 0.04256529 0.00085317 0.00031496
+v 0.04925916 0.00085310 0.01887780
+v 0.04256656 0.00021991 0.00031496
+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 9
+f 2 9 10
+f 2 10 7
+f 3 8 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 9
+f 7 18 19
+f 7 19 8
+f 7 10 18
+f 8 19 20
+f 8 20 21
+f 8 21 11
+f 9 17 22
+f 9 22 10
+f 10 23 18
+f 10 22 24
+f 10 24 23
+f 11 21 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 22
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 18 23 40
+f 18 40 37
+f 19 39 20
+f 20 39 41
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 44
+f 21 44 25
+f 22 36 45
+f 22 45 46
+f 22 46 24
+f 23 24 47
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 40
+f 24 46 51
+f 24 51 47
+f 25 44 52
+f 25 52 53
+f 25 53 54
+f 25 54 26
+f 26 54 55
+f 26 55 56
+f 26 56 27
+f 27 56 57
+f 27 57 58
+f 27 58 28
+f 28 59 60
+f 28 60 29
+f 28 58 59
+f 29 60 61
+f 29 61 30
+f 30 61 31
+f 31 61 62
+f 31 62 63
+f 31 63 33
+f 31 33 32
+f 33 63 64
+f 33 64 65
+f 33 65 34
+f 34 65 64
+f 34 64 101
+f 34 101 99
+f 34 99 141
+f 34 141 140
+f 34 140 179
+f 34 179 205
+f 34 205 216
+f 34 216 221
+f 34 221 227
+f 34 227 231
+f 34 231 234
+f 34 234 229
+f 34 229 225
+f 34 225 218
+f 34 218 207
+f 34 207 185
+f 34 185 146
+f 34 146 106
+f 34 106 70
+f 34 70 49
+f 34 49 48
+f 34 48 81
+f 34 81 80
+f 34 80 51
+f 34 51 46
+f 34 46 45
+f 34 45 36
+f 34 36 35
+f 37 40 66
+f 37 66 67
+f 37 67 38
+f 38 67 68
+f 38 68 39
+f 39 68 69
+f 39 69 41
+f 40 50 70
+f 40 70 66
+f 41 69 71
+f 41 71 72
+f 41 72 73
+f 41 73 42
+f 42 73 43
+f 43 74 52
+f 43 52 44
+f 43 73 75
+f 43 75 76
+f 43 76 77
+f 43 77 78
+f 43 78 79
+f 43 79 74
+f 47 51 80
+f 47 80 81
+f 47 81 48
+f 49 70 50
+f 52 74 82
+f 52 82 53
+f 53 82 54
+f 54 82 83
+f 54 83 55
+f 55 57 56
+f 55 83 84
+f 55 84 57
+f 57 85 58
+f 57 84 86
+f 57 86 87
+f 57 87 88
+f 57 88 89
+f 57 89 90
+f 57 90 85
+f 58 85 59
+f 59 85 91
+f 59 91 92
+f 59 92 93
+f 59 93 60
+f 60 93 94
+f 60 94 95
+f 60 95 61
+f 61 95 96
+f 61 96 97
+f 61 97 62
+f 62 97 98
+f 62 98 99
+f 62 99 100
+f 62 100 63
+f 63 100 64
+f 64 100 101
+f 66 70 102
+f 66 102 103
+f 66 103 104
+f 66 104 67
+f 67 105 68
+f 67 104 105
+f 68 105 69
+f 69 105 71
+f 70 106 107
+f 70 107 102
+f 71 105 108
+f 71 108 72
+f 72 75 73
+f 72 108 109
+f 72 109 110
+f 72 110 111
+f 72 111 112
+f 72 112 76
+f 72 76 75
+f 74 79 82
+f 76 112 77
+f 77 112 113
+f 77 113 111
+f 77 111 78
+f 78 114 115
+f 78 115 79
+f 78 111 116
+f 78 116 117
+f 78 117 118
+f 78 118 119
+f 78 119 114
+f 79 115 120
+f 79 120 121
+f 79 121 82
+f 82 121 83
+f 83 121 122
+f 83 122 86
+f 83 86 84
+f 85 90 91
+f 86 123 124
+f 86 124 87
+f 86 122 123
+f 87 124 125
+f 87 125 126
+f 87 126 127
+f 87 127 128
+f 87 128 129
+f 87 129 130
+f 87 130 88
+f 88 130 131
+f 88 131 132
+f 88 132 89
+f 89 91 90
+f 89 132 91
+f 91 132 130
+f 91 130 133
+f 91 133 134
+f 91 134 135
+f 91 135 92
+f 92 135 136
+f 92 136 93
+f 93 136 94
+f 94 136 137
+f 94 137 95
+f 95 137 138
+f 95 138 96
+f 96 138 97
+f 97 138 139
+f 97 139 140
+f 97 140 141
+f 97 141 98
+f 98 141 99
+f 99 101 100
+f 102 107 142
+f 102 142 143
+f 102 143 144
+f 102 144 103
+f 103 144 145
+f 103 145 104
+f 104 145 105
+f 105 145 109
+f 105 109 108
+f 106 146 147
+f 106 147 148
+f 106 148 107
+f 107 148 147
+f 107 147 186
+f 107 186 209
+f 107 209 208
+f 107 208 219
+f 107 219 226
+f 107 226 230
+f 107 230 235
+f 107 235 233
+f 107 233 232
+f 107 232 228
+f 107 228 224
+f 107 224 223
+f 107 223 222
+f 107 222 217
+f 107 217 206
+f 107 206 204
+f 107 204 215
+f 107 215 200
+f 107 200 199
+f 107 199 197
+f 107 197 170
+f 107 170 169
+f 107 169 196
+f 107 196 214
+f 107 214 220
+f 107 220 212
+f 107 212 211
+f 107 211 193
+f 107 193 190
+f 107 190 156
+f 107 156 189
+f 107 189 210
+f 107 210 187
+f 107 187 184
+f 107 184 181
+f 107 181 143
+f 107 143 142
+f 109 145 110
+f 110 145 149
+f 110 149 111
+f 111 149 150
+f 111 150 151
+f 111 151 152
+f 111 152 116
+f 111 113 112
+f 114 119 153
+f 114 153 154
+f 114 154 115
+f 115 154 120
+f 116 152 117
+f 117 151 155
+f 117 155 156
+f 117 156 157
+f 117 157 158
+f 117 158 159
+f 117 159 118
+f 117 152 151
+f 118 160 119
+f 118 159 161
+f 118 161 160
+f 119 160 153
+f 120 154 162
+f 120 162 123
+f 120 123 122
+f 120 122 121
+f 123 162 124
+f 124 162 125
+f 125 162 163
+f 125 163 126
+f 126 163 164
+f 126 164 127
+f 127 164 165
+f 127 165 166
+f 127 166 128
+f 128 167 129
+f 128 166 168
+f 128 168 169
+f 128 169 170
+f 128 170 171
+f 128 171 172
+f 128 172 167
+f 129 167 130
+f 130 167 172
+f 130 172 173
+f 130 173 174
+f 130 174 133
+f 130 132 131
+f 133 174 134
+f 134 174 175
+f 134 175 176
+f 134 176 136
+f 134 136 135
+f 136 176 137
+f 137 176 138
+f 138 176 177
+f 138 177 178
+f 138 178 139
+f 139 178 140
+f 140 178 180
+f 140 180 179
+f 143 181 144
+f 144 182 183
+f 144 183 145
+f 144 181 184
+f 144 184 182
+f 145 183 149
+f 146 185 186
+f 146 186 147
+f 149 183 150
+f 150 183 182
+f 150 182 151
+f 151 182 187
+f 151 187 188
+f 151 188 155
+f 153 163 162
+f 153 162 154
+f 153 160 163
+f 155 188 189
+f 155 189 156
+f 156 190 157
+f 157 191 192
+f 157 192 158
+f 157 190 193
+f 157 193 191
+f 158 192 159
+f 159 192 161
+f 160 164 163
+f 160 161 165
+f 160 165 164
+f 161 192 165
+f 165 192 194
+f 165 194 166
+f 166 194 168
+f 168 194 195
+f 168 195 169
+f 169 195 196
+f 170 197 198
+f 170 198 172
+f 170 172 171
+f 172 198 199
+f 172 199 200
+f 172 200 201
+f 172 201 173
+f 173 201 202
+f 173 202 174
+f 174 177 175
+f 174 202 177
+f 175 177 176
+f 177 202 203
+f 177 203 178
+f 178 203 204
+f 178 204 180
+f 179 180 206
+f 179 206 205
+f 180 204 206
+f 182 184 187
+f 185 207 208
+f 185 208 209
+f 185 209 186
+f 187 210 188
+f 188 210 189
+f 191 193 211
+f 191 211 212
+f 191 212 213
+f 191 213 192
+f 192 213 194
+f 194 213 195
+f 195 213 214
+f 195 214 196
+f 197 199 198
+f 200 215 201
+f 201 203 202
+f 201 215 203
+f 203 215 204
+f 205 206 217
+f 205 217 216
+f 207 218 219
+f 207 219 208
+f 212 220 213
+f 213 220 214
+f 216 217 222
+f 216 222 223
+f 216 223 224
+f 216 224 221
+f 218 225 219
+f 219 225 226
+f 221 224 228
+f 221 228 227
+f 225 229 230
+f 225 230 226
+f 227 228 232
+f 227 232 233
+f 227 233 231
+f 229 234 233
+f 229 233 235
+f 229 235 230
+f 231 233 234
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_27.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01978861 -0.00582568 -0.02694897
+v 0.01993775 0.00538524 -0.02694893
+v 0.02662303 -0.00582568 -0.02694897
+v 0.02231285 -0.00582578 0.00031312
+v 0.02245278 0.00538514 0.00031316
+v 0.02672890 0.00538524 -0.02694893
+v 0.02670220 -0.00547013 -0.02694897
+v 0.02919238 -0.00239745 -0.02378671
+v 0.02919238 -0.00351130 -0.02323965
+v 0.02919238 -0.00395026 -0.02278866
+v 0.02919238 -0.00418730 -0.02238572
+v 0.02919238 -0.00472173 -0.02112349
+v 0.02919238 -0.00473270 -0.02108613
+v 0.02919238 -0.00473709 -0.02106745
+v 0.02919238 -0.00495548 -0.01993331
+v 0.02919238 -0.00513326 -0.01826545
+v 0.02919238 -0.00525618 -0.01675237
+v 0.02772497 -0.00582571 -0.01894327
+v 0.02778481 -0.00582578 0.00031312
+v 0.02781887 0.00538514 0.00031316
+v 0.02919238 0.00254739 -0.02378402
+v 0.02919238 0.00237619 -0.02383739
+v 0.02675928 0.00521186 -0.02694893
+v 0.02833624 0.00538522 -0.02101137
+v 0.02919238 0.00513391 -0.01959169
+v 0.02919238 0.00509880 -0.01979450
+v 0.02919238 0.00488262 -0.02103805
+v 0.02919238 0.00466534 -0.02179593
+v 0.02919238 0.00410238 -0.02274861
+v 0.02919238 0.00368648 -0.02319960
+v 0.02919238 0.00329361 -0.02351450
+v 0.02675375 -0.00523858 -0.02694897
+v 0.02919238 -0.00219224 -0.02385075
+v 0.02919238 -0.00526496 -0.01648285
+v 0.02786306 -0.00582572 -0.01754760
+v 0.02919238 -0.00514974 -0.01342467
+v 0.02919238 -0.00478761 -0.01191693
+v 0.02837214 -0.00219233 0.00031313
+v 0.02793855 -0.00582573 -0.01495376
+v 0.02919238 -0.00530227 -0.01523663
+v 0.02919238 -0.00529899 -0.01495376
+v 0.02837030 0.00237610 0.00031315
+v 0.02919238 0.00496049 -0.01193823
+v 0.02919238 0.00524363 -0.01316044
+v 0.02919238 0.00530399 -0.01342463
+v 0.02919238 0.00538519 -0.01424655
+v 0.02919238 0.00085302 -0.02392813
+v 0.02732360 0.00088046 -0.02694895
+v 0.02716986 0.00237620 -0.02694894
+v 0.02702533 0.00365905 -0.02694894
+v 0.02699771 0.00382037 -0.02694894
+v 0.02868606 0.00538521 -0.01957034
+v 0.02919238 0.00529852 -0.01800923
+v 0.02704006 -0.00358920 -0.02694896
+v 0.02919238 -0.00066906 -0.02393080
+v 0.02713211 -0.00271788 -0.02694896
+v 0.02730518 -0.00105533 -0.02694895
+v 0.02732820 -0.00071953 -0.02694895
+v 0.02792842 -0.00582572 -0.01648285
+v 0.02919238 -0.00374619 -0.01039583
+v 0.02919238 -0.00213852 -0.00922433
+v 0.02919238 -0.00080410 -0.00920564
+v 0.02919238 0.00080248 -0.00920831
+v 0.02794591 -0.00582572 -0.01609057
+v 0.02919238 0.00231797 -0.00922698
+v 0.02919238 0.00391688 -0.01040916
+v 0.02919238 0.00538520 -0.01686975
+v 0.02919238 -0.00052530 -0.02393080
+v 0.02899077 0.00538521 -0.01800923
+f 1 2 6
+f 1 6 23
+f 1 23 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 58
+f 1 58 57
+f 1 57 56
+f 1 56 54
+f 1 54 32
+f 1 32 7
+f 1 7 3
+f 1 3 18
+f 1 18 35
+f 1 35 59
+f 1 59 64
+f 1 64 39
+f 1 39 19
+f 1 19 4
+f 1 4 5
+f 1 5 2
+f 2 5 20
+f 2 20 46
+f 2 46 67
+f 2 67 69
+f 2 69 52
+f 2 52 24
+f 2 24 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 4 19 38
+f 4 38 42
+f 4 42 20
+f 4 20 5
+f 6 21 22
+f 6 22 23
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 29
+f 6 29 30
+f 6 30 31
+f 6 31 21
+f 7 32 8
+f 8 32 33
+f 8 33 55
+f 8 55 68
+f 8 68 47
+f 8 47 22
+f 8 22 21
+f 8 21 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 26
+f 8 26 25
+f 8 25 53
+f 8 53 67
+f 8 67 46
+f 8 46 45
+f 8 45 44
+f 8 44 43
+f 8 43 66
+f 8 66 65
+f 8 65 63
+f 8 63 62
+f 8 62 61
+f 8 61 60
+f 8 60 37
+f 8 37 36
+f 8 36 41
+f 8 41 40
+f 8 40 34
+f 8 34 17
+f 8 17 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 17 34 35
+f 17 35 18
+f 19 36 37
+f 19 37 38
+f 19 39 40
+f 19 40 41
+f 19 41 36
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 22 47 48
+f 22 48 49
+f 22 49 50
+f 22 50 51
+f 22 51 23
+f 24 52 25
+f 25 52 53
+f 32 54 33
+f 33 54 56
+f 33 56 57
+f 33 57 58
+f 33 58 55
+f 34 40 35
+f 35 40 59
+f 37 60 38
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 42
+f 39 64 40
+f 40 64 59
+f 42 63 65
+f 42 65 66
+f 42 66 43
+f 47 68 58
+f 47 58 48
+f 52 69 53
+f 53 69 67
+f 55 58 68
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_28.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.02231222 -0.00582578 0.00031312
+v 0.02245270 0.00538514 0.00031316
+v 0.02778443 -0.00582578 0.00031312
+v 0.02307389 -0.00582588 0.02783348
+v 0.02321099 0.00538504 0.02783352
+v 0.02781828 0.00538514 0.00031316
+v 0.02837261 -0.00219233 0.00031313
+v 0.03095808 -0.00357072 0.02039248
+v 0.03095808 -0.00376277 0.02073374
+v 0.03095808 -0.00427525 0.02171828
+v 0.03095808 -0.00471531 0.02330298
+v 0.03095808 -0.00492162 0.02477000
+v 0.03095808 -0.00492272 0.02477784
+v 0.03095808 -0.00510600 0.02629586
+v 0.03095808 -0.00520805 0.02782564
+v 0.02950582 -0.00582587 0.02326375
+v 0.02310013 -0.00582589 0.02877096
+v 0.02311705 -0.00582589 0.02935934
+v 0.02325585 0.00538503 0.02935938
+v 0.02837092 0.00237610 0.00031315
+v 0.03090814 0.00538504 0.02783352
+v 0.03095808 0.00536419 0.02780606
+v 0.03095808 0.00525884 0.02630374
+v 0.03095808 0.00506462 0.02477788
+v 0.03095808 0.00486270 0.02338539
+v 0.03095808 0.00464103 0.02234985
+v 0.03095808 0.00435571 0.02151435
+v 0.03095808 0.00375106 0.02040427
+v 0.03095808 0.00085286 0.01931380
+v 0.03095808 -0.00066922 0.01931380
+v 0.03095808 -0.00219240 0.01945500
+v 0.03095808 -0.00520805 0.02783348
+v 0.03044098 -0.00582592 0.03706316
+v 0.02315429 -0.00582589 0.03030074
+v 0.02331763 0.00538503 0.03084993
+v 0.03095808 0.00282048 0.01960408
+v 0.03095808 0.00237603 0.01945110
+v 0.03095808 0.00176369 0.01938049
+v 0.03054339 0.00538500 0.03700044
+v 0.03095808 0.00536529 0.02784137
+v 0.03095808 0.00536529 0.02783352
+v 0.03095808 -0.00513344 0.02935934
+v 0.03044014 -0.00582592 0.03740834
+v 0.02317883 -0.00582589 0.03088912
+v 0.02331932 0.00538503 0.03088916
+v 0.03054000 0.00538500 0.03703966
+v 0.03074904 0.00389914 0.03700043
+v 0.03095808 0.00492852 0.03052044
+v 0.03095808 0.00529176 0.02936722
+v 0.03095808 0.00529285 0.02935938
+v 0.03095808 0.00530054 0.02921032
+v 0.03095808 -0.00475813 0.03054002
+v 0.03074735 -0.00371564 0.03700041
+v 0.03061194 -0.00371564 0.03853019
+v 0.03034958 -0.00582592 0.03839289
+v 0.02324062 -0.00582590 0.03183052
+v 0.02327954 -0.00582590 0.03241890
+v 0.02342342 0.00538502 0.03241894
+v 0.03039867 0.00538500 0.03860475
+v 0.03061194 0.00389914 0.03853021
+v 0.03088699 0.00237596 0.03700043
+v 0.03095808 0.00372138 0.03237578
+v 0.03095638 0.00085279 0.03700042
+v 0.03095808 -0.00353126 0.03239538
+v 0.03095638 -0.00066929 0.03700042
+v 0.03088529 -0.00219247 0.03700041
+v 0.03039444 -0.00523114 0.03860863
+v 0.03074311 -0.00219247 0.03853019
+v 0.03023279 -0.00471866 0.03933821
+v 0.03015155 -0.00573374 0.03917347
+v 0.03014224 -0.00582592 0.03914209
+v 0.02345304 -0.00582590 0.03394476
+v 0.02359945 0.00538502 0.03394480
+v 0.03038428 0.00538500 0.03865181
+v 0.03023364 0.00490545 0.03933825
+v 0.03074311 0.00237596 0.03853021
+v 0.03095808 0.00369724 0.03239540
+v 0.03080913 0.00085279 0.03853020
+v 0.03095808 0.00085281 0.03364666
+v 0.03095808 0.00136529 0.03357215
+v 0.03095808 0.00237598 0.03342310
+v 0.03095808 -0.00274004 0.03327010
+v 0.03095808 -0.00219245 0.03341915
+v 0.03095808 -0.00066927 0.03363882
+v 0.03095808 -0.00022702 0.03364274
+v 0.03080659 -0.00066929 0.03853020
+v 0.03035466 -0.00219248 0.03947551
+v 0.03029203 -0.00371564 0.03940491
+v 0.03007369 -0.00582592 0.03922838
+v 0.02955829 -0.00523115 0.03975792
+v 0.02944996 -0.00582593 0.03976969
+v 0.02362822 -0.00582591 0.03489401
+v 0.02389396 0.00538501 0.03551380
+v 0.02960060 0.00538499 0.03973050
+v 0.03029034 0.00389914 0.03940493
+v 0.03035297 0.00237596 0.03947161
+v 0.03038513 0.00085278 0.03950298
+v 0.03038428 -0.00066930 0.03950298
+v 0.02943303 -0.00219248 0.04006389
+v 0.02943303 -0.00371565 0.03997759
+v 0.02891594 -0.00582593 0.03999327
+v 0.02374247 -0.00582591 0.03550199
+v 0.02389904 0.00538501 0.03553341
+v 0.02955490 0.00538499 0.03976189
+v 0.02943303 0.00389913 0.03997761
+v 0.02943303 0.00237595 0.04005606
+v 0.02943303 0.00085278 0.04009528
+v 0.02943303 -0.00066930 0.04009528
+v 0.02790291 -0.00582593 0.04037768
+v 0.02395405 -0.00582591 0.03629435
+v 0.02400483 -0.00582591 0.03647086
+v 0.02431288 0.00538500 0.03692199
+v 0.02790291 0.00538499 0.04037772
+v 0.02790291 -0.00523883 0.04038553
+v 0.02731388 -0.00582593 0.04025608
+v 0.02416901 -0.00582592 0.03695333
+v 0.02432135 0.00538500 0.03694944
+v 0.02786737 0.00538499 0.04036595
+v 0.02629493 -0.00582593 0.03987952
+v 0.02426041 -0.00582592 0.03718475
+v 0.02469457 -0.00582592 0.03805163
+v 0.02517781 0.00538500 0.03865181
+v 0.02624585 0.00538499 0.03976189
+v 0.02591240 -0.00582593 0.03964809
+v 0.02496623 -0.00582592 0.03855763
+v 0.02542747 -0.00582592 0.03923231
+v 0.02552987 -0.00582592 0.03937352
+v 0.02564920 0.00485606 0.03924411
+f 1 2 6
+f 1 6 20
+f 1 20 7
+f 1 7 3
+f 1 3 16
+f 1 16 33
+f 1 33 43
+f 1 43 55
+f 1 55 71
+f 1 71 89
+f 1 89 91
+f 1 91 101
+f 1 101 109
+f 1 109 115
+f 1 115 119
+f 1 119 124
+f 1 124 127
+f 1 127 126
+f 1 126 125
+f 1 125 121
+f 1 121 120
+f 1 120 116
+f 1 116 111
+f 1 111 110
+f 1 110 102
+f 1 102 92
+f 1 92 72
+f 1 72 57
+f 1 57 56
+f 1 56 44
+f 1 44 34
+f 1 34 18
+f 1 18 17
+f 1 17 4
+f 1 4 5
+f 1 5 2
+f 2 5 19
+f 2 19 35
+f 2 35 45
+f 2 45 58
+f 2 58 73
+f 2 73 93
+f 2 93 103
+f 2 103 112
+f 2 112 117
+f 2 117 122
+f 2 122 123
+f 2 123 118
+f 2 118 113
+f 2 113 104
+f 2 104 94
+f 2 94 74
+f 2 74 59
+f 2 59 46
+f 2 46 39
+f 2 39 21
+f 2 21 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 20
+f 7 20 29
+f 7 29 30
+f 7 30 31
+f 7 31 8
+f 8 31 30
+f 8 30 29
+f 8 29 38
+f 8 38 37
+f 8 37 36
+f 8 36 28
+f 8 28 27
+f 8 27 26
+f 8 26 25
+f 8 25 24
+f 8 24 23
+f 8 23 22
+f 8 22 41
+f 8 41 40
+f 8 40 51
+f 8 51 50
+f 8 50 49
+f 8 49 48
+f 8 48 62
+f 8 62 77
+f 8 77 81
+f 8 81 80
+f 8 80 79
+f 8 79 85
+f 8 85 84
+f 8 84 83
+f 8 83 82
+f 8 82 64
+f 8 64 52
+f 8 52 42
+f 8 42 32
+f 8 32 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 15 32 33
+f 15 33 16
+f 18 34 19
+f 19 34 35
+f 20 28 36
+f 20 36 37
+f 20 37 38
+f 20 38 29
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 32 42 43
+f 32 43 33
+f 34 44 35
+f 35 44 45
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 42 52 43
+f 43 53 54
+f 43 54 55
+f 43 52 53
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 46 59 60
+f 46 60 47
+f 47 60 61
+f 47 61 48
+f 48 61 63
+f 48 63 62
+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 53 66 54
+f 54 67 55
+f 54 66 68
+f 54 68 69
+f 54 69 67
+f 55 67 70
+f 55 70 71
+f 57 72 58
+f 58 72 73
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 63
+f 62 63 77
+f 63 76 78
+f 63 78 65
+f 63 65 79
+f 63 79 80
+f 63 80 81
+f 63 81 77
+f 64 82 65
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 79
+f 65 78 86
+f 65 86 68
+f 65 68 66
+f 67 69 70
+f 68 86 87
+f 68 87 88
+f 68 88 69
+f 69 89 70
+f 69 88 90
+f 69 90 91
+f 69 91 89
+f 70 89 71
+f 72 92 73
+f 73 92 93
+f 74 94 75
+f 75 94 95
+f 75 95 76
+f 76 95 96
+f 76 96 78
+f 78 96 97
+f 78 97 98
+f 78 98 86
+f 86 98 87
+f 87 98 99
+f 87 99 100
+f 87 100 88
+f 88 100 90
+f 90 100 91
+f 91 100 101
+f 92 102 93
+f 93 102 103
+f 94 104 95
+f 95 104 105
+f 95 105 96
+f 96 105 106
+f 96 106 97
+f 97 106 107
+f 97 107 108
+f 97 108 98
+f 98 108 99
+f 99 108 109
+f 99 109 100
+f 100 109 101
+f 102 110 103
+f 103 110 111
+f 103 111 112
+f 104 113 105
+f 105 113 106
+f 106 113 107
+f 107 113 114
+f 107 114 108
+f 108 114 109
+f 109 114 115
+f 111 116 117
+f 111 117 112
+f 113 118 115
+f 113 115 114
+f 115 118 119
+f 116 120 117
+f 117 120 121
+f 117 121 122
+f 118 123 119
+f 119 123 124
+f 121 125 122
+f 122 125 126
+f 122 126 127
+f 122 127 128
+f 122 128 123
+f 123 128 127
+f 123 127 124
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_29.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02919381 -0.00530329 -0.01523864
+v 0.02919381 -0.00529912 -0.01495564
+v 0.02919381 -0.00525621 -0.01675322
+v 0.03437961 -0.00506686 -0.01037171
+v 0.03437961 -0.00506268 -0.01001709
+v 0.02919381 -0.00514950 -0.01342883
+v 0.02919381 -0.00513379 -0.01826606
+v 0.03437961 -0.00501246 -0.01154564
+v 0.03437961 -0.00480322 -0.00882044
+v 0.02919381 -0.00478856 -0.01191599
+v 0.02919381 -0.00495593 -0.01993437
+v 0.03437961 -0.00492980 -0.01188629
+v 0.02919381 -0.00473725 -0.02106638
+v 0.03437961 -0.00472370 -0.00850250
+v 0.02919381 -0.00374649 -0.01039616
+v 0.03437961 -0.00461907 -0.00819155
+v 0.03351810 -0.00434810 -0.00828414
+v 0.03437961 -0.00466300 -0.01287680
+v 0.02919381 -0.00473202 -0.02108734
+v 0.03437961 -0.00388461 -0.00720453
+v 0.03437961 -0.00337823 -0.00671539
+v 0.02919381 -0.00213841 -0.00922397
+v 0.03437961 -0.00430938 -0.00772512
+v 0.03437961 -0.00459290 -0.01305324
+v 0.02919381 -0.00472156 -0.02112402
+v 0.03016751 -0.00445477 -0.02023484
+v 0.02997409 -0.00425284 -0.02106812
+v 0.03437961 -0.00234035 -0.00626818
+v 0.03437961 -0.00219283 -0.00622451
+v 0.03437961 -0.00066949 -0.00608824
+v 0.02919381 -0.00080340 -0.00920475
+v 0.03437961 -0.00402269 -0.01368736
+v 0.03031880 -0.00318462 -0.02208133
+v 0.02919381 -0.00418692 -0.02238705
+v 0.02919381 -0.00395047 -0.02278883
+v 0.02947252 -0.00377156 -0.02262287
+v 0.03437961 0.00085281 -0.00608824
+v 0.02919381 0.00080260 -0.00920824
+v 0.03437961 -0.00350480 -0.01419048
+v 0.02919381 -0.00351104 -0.02323954
+v 0.02999744 -0.00219277 -0.02303689
+v 0.03040814 -0.00219277 -0.02227174
+v 0.03437961 -0.00248052 -0.01471630
+v 0.03437961 -0.00318255 -0.01442107
+v 0.03437961 0.00101811 -0.00610396
+v 0.02919381 0.00231757 -0.00922570
+v 0.02919381 -0.00239678 -0.02378633
+v 0.02923239 -0.00219276 -0.02381777
+v 0.03004364 -0.00066943 -0.02310152
+v 0.03437961 -0.00219280 -0.01477045
+v 0.03437961 0.00237615 -0.00623497
+v 0.03437961 0.00316084 -0.00647255
+v 0.03437961 0.00356469 -0.00674332
+v 0.02919381 0.00391730 -0.01040837
+v 0.02919381 -0.00219276 -0.02385096
+v 0.02919381 -0.00066942 -0.02393306
+v 0.02927808 -0.00066942 -0.02385968
+v 0.02927757 0.00085288 -0.02385794
+v 0.03004262 0.00085287 -0.02309977
+v 0.03437961 0.00085284 -0.01490845
+v 0.03437961 -0.00066946 -0.01490845
+v 0.03437961 0.00405121 -0.00721848
+v 0.02919381 0.00496041 -0.01193691
+v 0.03354095 0.00451888 -0.00830331
+v 0.03437961 0.00470197 -0.00798887
+v 0.02919381 0.00085288 -0.02392956
+v 0.02922681 0.00237622 -0.02381076
+v 0.02999186 0.00237621 -0.02302640
+v 0.03040205 0.00237621 -0.02226299
+v 0.03437961 0.00237618 -0.01477043
+v 0.03437961 0.00190432 -0.01481411
+v 0.02919381 0.00524395 -0.01315976
+v 0.03437961 0.00480137 -0.00823693
+v 0.03404049 0.00491122 -0.00882390
+v 0.03437961 0.00496981 -0.00882914
+v 0.02919381 0.00237622 -0.02383871
+v 0.02919381 0.00254676 -0.02378281
+v 0.02919381 0.00329378 -0.02351553
+v 0.03031220 0.00334922 -0.02207083
+v 0.03437961 0.00336593 -0.01441581
+v 0.02919381 0.00530359 -0.01342879
+v 0.03402476 0.00523139 -0.01037167
+v 0.03437961 0.00521988 -0.01037167
+v 0.02919381 0.00368612 -0.02319934
+v 0.02945373 0.00393617 -0.02259840
+v 0.02992840 0.00440593 -0.02106808
+v 0.03437961 0.00475431 -0.01302175
+v 0.03437961 0.00413179 -0.01371179
+v 0.02919381 0.00538519 -0.01424809
+v 0.02940906 0.00538519 -0.01495560
+v 0.02939687 0.00538519 -0.01491367
+v 0.03437961 0.00507863 -0.01188276
+v 0.03402476 0.00515396 -0.01190023
+v 0.02919381 0.00538520 -0.01687023
+v 0.02928823 0.00538520 -0.01648241
+v 0.02919381 0.00410148 -0.02274862
+v 0.02919381 0.00466540 -0.02179830
+v 0.02919381 0.00488302 -0.02103838
+v 0.02919381 0.00513411 -0.01959193
+v 0.02919381 0.00529838 -0.01801097
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 22
+f 1 22 31
+f 1 31 38
+f 1 38 46
+f 1 46 54
+f 1 54 63
+f 1 63 72
+f 1 72 81
+f 1 81 89
+f 1 89 94
+f 1 94 100
+f 1 100 99
+f 1 99 98
+f 1 98 97
+f 1 97 96
+f 1 96 84
+f 1 84 78
+f 1 78 77
+f 1 77 76
+f 1 76 66
+f 1 66 56
+f 1 56 55
+f 1 55 47
+f 1 47 40
+f 1 40 35
+f 1 35 34
+f 1 34 25
+f 1 25 19
+f 1 19 13
+f 1 13 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 18
+f 4 18 24
+f 4 24 32
+f 4 32 39
+f 4 39 44
+f 4 44 43
+f 4 43 50
+f 4 50 61
+f 4 61 60
+f 4 60 71
+f 4 71 70
+f 4 70 80
+f 4 80 88
+f 4 88 87
+f 4 87 92
+f 4 92 83
+f 4 83 75
+f 4 75 73
+f 4 73 65
+f 4 65 62
+f 4 62 53
+f 4 53 52
+f 4 52 51
+f 4 51 45
+f 4 45 37
+f 4 37 30
+f 4 30 29
+f 4 29 28
+f 4 28 21
+f 4 21 20
+f 4 20 23
+f 4 23 16
+f 4 16 14
+f 4 14 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 13
+f 8 13 12
+f 9 14 10
+f 10 14 16
+f 10 16 17
+f 10 17 15
+f 12 13 19
+f 12 19 18
+f 15 17 20
+f 15 20 21
+f 15 21 22
+f 16 23 17
+f 17 23 20
+f 18 19 25
+f 18 25 26
+f 18 26 27
+f 18 27 24
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 24 27 33
+f 24 33 32
+f 25 34 27
+f 25 27 26
+f 27 34 35
+f 27 35 36
+f 27 36 33
+f 30 37 31
+f 31 37 38
+f 32 33 39
+f 33 36 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 39
+f 35 40 36
+f 37 45 46
+f 37 46 38
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 42 50 43
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 49 57 58
+f 49 58 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 53 62 54
+f 54 62 64
+f 54 64 65
+f 54 65 63
+f 56 66 58
+f 56 58 57
+f 58 66 67
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 60
+f 62 65 64
+f 63 65 73
+f 63 73 74
+f 63 74 75
+f 63 75 72
+f 66 76 67
+f 67 76 77
+f 67 77 78
+f 67 78 68
+f 68 79 69
+f 68 78 79
+f 69 79 80
+f 69 80 70
+f 72 75 81
+f 73 75 74
+f 75 82 81
+f 75 83 82
+f 78 84 79
+f 79 84 85
+f 79 85 86
+f 79 86 87
+f 79 87 88
+f 79 88 80
+f 81 82 89
+f 82 83 90
+f 82 90 91
+f 82 91 89
+f 83 92 93
+f 83 93 94
+f 83 94 95
+f 83 95 90
+f 84 96 85
+f 85 96 86
+f 86 96 97
+f 86 97 87
+f 87 97 98
+f 87 98 92
+f 89 91 90
+f 89 90 95
+f 89 95 94
+f 92 98 99
+f 92 99 93
+f 93 99 100
+f 93 100 94
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_3.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00051329 0.01456122 -0.02984612
+v 0.00051329 0.00009376 -0.03071152
+v 0.00051329 0.01456124 -0.03482489
+v -0.01898790 0.01456122 -0.02872182
+v 0.00051329 0.00009378 -0.03490127
+v -0.01898790 0.00009376 -0.02986258
+v 0.00051329 0.00085425 -0.03490341
+v -0.01898790 0.01456124 -0.03600983
+v 0.00043311 0.00009378 -0.03490341
+v -0.01898790 0.00009378 -0.03486132
+v 0.00035485 0.00009378 -0.03490484
+v -0.00117417 0.00009378 -0.03492553
+v -0.00270510 0.00009378 -0.03493409
+v -0.00347247 0.00009378 -0.03493338
+v -0.00423602 0.00009378 -0.03493266
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 9
+f 2 9 5
+f 3 7 8
+f 4 8 10
+f 4 10 6
+f 5 9 8
+f 5 8 7
+f 8 9 11
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 10
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_30.obj

@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
+v 0.03438123 -0.00066941 -0.01490804
+v 0.03438123 -0.00219207 -0.01476800
+v 0.03438123 0.00085326 -0.01490655
+v 0.04438661 -0.00066943 -0.00689517
+v 0.04336456 -0.00219209 -0.00759992
+v 0.03438123 -0.00248109 -0.01471436
+v 0.03438123 0.00190361 -0.01481268
+v 0.04335971 0.00237590 -0.00759096
+v 0.04438661 0.00085324 -0.00689219
+v 0.04515152 0.00085323 -0.00625300
+v 0.04515314 -0.00066944 -0.00625300
+v 0.04431707 -0.00219209 -0.00683707
+v 0.04250261 -0.00302693 -0.00812437
+v 0.03479522 -0.00296045 -0.01419437
+v 0.03438123 -0.00318200 -0.01441935
+v 0.03438123 0.00237592 -0.01476947
+v 0.04249614 0.00320369 -0.00811989
+v 0.04430737 0.00237590 -0.00682811
+v 0.04507228 0.00237589 -0.00618744
+v 0.04594717 0.00237589 -0.00542310
+v 0.04601994 0.00085323 -0.00549016
+v 0.04508360 -0.00219210 -0.00619491
+v 0.04601994 -0.00066944 -0.00548867
+v 0.04595687 -0.00219210 -0.00543057
+v 0.04415697 -0.00317699 -0.00670447
+v 0.03438123 -0.00350526 -0.01418841
+v 0.03438123 0.00336585 -0.01441337
+v 0.03480007 0.00315034 -0.01419882
+v 0.04414403 0.00334064 -0.00669551
+v 0.04575149 0.00342624 -0.00524729
+v 0.04671208 0.00237589 -0.00471538
+v 0.04678486 0.00085323 -0.00478393
+v 0.04678647 -0.00066944 -0.00478542
+v 0.04576443 -0.00326561 -0.00525774
+v 0.04672179 -0.00219210 -0.00472285
+v 0.04469063 -0.00372886 -0.00574644
+v 0.04359743 -0.00419311 -0.00623515
+v 0.03438123 -0.00402188 -0.01368482
+v 0.04092265 -0.00448212 -0.00808565
+v 0.03438123 0.00413221 -0.01371011
+v 0.04302981 0.00377973 -0.00717378
+v 0.04356671 0.00435676 -0.00620680
+v 0.04466638 0.00389150 -0.00572705
+v 0.04518710 0.00444236 -0.00472431
+v 0.04624796 0.00394487 -0.00424009
+v 0.04728456 0.00344839 -0.00375586
+v 0.04747215 0.00237588 -0.00395104
+v 0.04753684 0.00085322 -0.00402108
+v 0.04753845 -0.00066945 -0.00402108
+v 0.04748185 -0.00219211 -0.00395851
+v 0.04729588 -0.00327872 -0.00376482
+v 0.04626898 -0.00377921 -0.00426246
+v 0.04522430 -0.00428072 -0.00476011
+v 0.04257862 -0.00453752 -0.00665382
+v 0.03490034 -0.00453145 -0.01275063
+v 0.03438123 -0.00459288 -0.01305160
+v 0.03438123 0.00475357 -0.01302027
+v 0.03487285 0.00470120 -0.01272825
+v 0.04088545 0.00464881 -0.00805432
+v 0.04254790 0.00470721 -0.00663292
+v 0.04572400 0.00475554 -0.00370668
+v 0.04674443 0.00446349 -0.00320309
+v 0.04416667 0.00474347 -0.00518768
+v 0.04776324 0.00392472 -0.00269503
+v 0.04874324 0.00338595 -0.00218696
+v 0.04823707 0.00237588 -0.00312711
+v 0.04830175 0.00085322 -0.00319566
+v 0.04830337 -0.00066945 -0.00319864
+v 0.04824677 -0.00219211 -0.00313756
+v 0.04677515 -0.00429382 -0.00322399
+v 0.04874809 -0.00321527 -0.00219592
+v 0.04777779 -0.00375404 -0.00270995
+v 0.04575472 -0.00458587 -0.00374099
+v 0.04420387 -0.00457579 -0.00521752
+v 0.04313492 -0.00469160 -0.00575092
+v 0.03438123 -0.00466236 -0.01287579
+v 0.03438123 0.00507883 -0.01188196
+v 0.03545179 0.00485325 -0.01183130
+v 0.04167786 0.00482505 -0.00697709
+v 0.04311552 0.00484921 -0.00573300
+v 0.04624796 0.00488444 -0.00270843
+v 0.04721987 0.00475151 -0.00218397
+v 0.04470034 0.00488244 -0.00423263
+v 0.04824030 0.00440106 -0.00157459
+v 0.04920575 0.00380789 -0.00103971
+v 0.05014047 0.00321373 -0.00050631
+v 0.04888878 0.00237588 -0.00236277
+v 0.04894377 0.00085322 -0.00243281
+v 0.04894538 -0.00066945 -0.00243579
+v 0.04889363 -0.00219211 -0.00237322
+v 0.04826133 -0.00423038 -0.00160145
+v 0.04724090 -0.00457680 -0.00220636
+v 0.05014370 -0.00303703 -0.00051229
+v 0.04921545 -0.00363421 -0.00105612
+v 0.04626575 -0.00472283 -0.00272188
+v 0.04472298 -0.00472282 -0.00425353
+v 0.04167786 -0.00496250 -0.00578668
+v 0.04014641 -0.00490307 -0.00731386
+v 0.03438123 -0.00492924 -0.01188498
+v 0.03438123 0.00522083 -0.01036968
+v 0.03555529 0.00518357 -0.01036968
+v 0.04167786 0.00511104 -0.00578664
+v 0.04320608 0.00514226 -0.00425796
+v 0.04473591 0.00514225 -0.00273078
+v 0.04626736 0.00513116 -0.00120210
+v 0.04775677 0.00485019 -0.00112016
+v 0.04864621 0.00470820 -0.00055547
+v 0.04969413 0.00430840 0.00031316
+v 0.04970545 0.00429732 0.00031316
+v 0.04971839 0.00428423 0.00031316
+v 0.05040083 0.00353498 0.00031315
+v 0.05080027 0.00238997 0.00031315
+v 0.05021162 0.00237587 -0.00060912
+v 0.04965370 0.00237588 -0.00137346
+v 0.04970868 0.00085322 -0.00144200
+v 0.04971030 -0.00066945 -0.00144200
+v 0.04965855 -0.00219211 -0.00137646
+v 0.04973133 -0.00412566 0.00031312
+v 0.04866238 -0.00453553 -0.00058233
+v 0.04776971 -0.00468658 -0.00113659
+v 0.05021324 -0.00219212 -0.00061361
+v 0.05080835 -0.00219212 0.00031313
+v 0.05040568 -0.00336332 0.00031313
+v 0.04626736 -0.00498266 -0.00120214
+v 0.04473591 -0.00499775 -0.00273082
+v 0.04320608 -0.00499472 -0.00425800
+v 0.03438123 -0.00501283 -0.01154379
+v 0.03861658 0.00520974 -0.00731382
+v 0.03708674 0.00520470 -0.00884100
+v 0.03438123 0.00497006 -0.00882759
+v 0.03555529 0.00517550 -0.00884100
+v 0.04626736 0.00509188 0.00031316
+v 0.04779720 0.00507980 0.00031316
+v 0.04894053 0.00481293 0.00031316
+v 0.05080188 0.00237587 0.00031315
+v 0.05089730 0.00085321 0.00031314
+v 0.05025852 0.00085321 -0.00067915
+v 0.05025852 -0.00066946 -0.00067915
+v 0.04896641 -0.00464227 0.00031312
+v 0.04895994 -0.00464429 0.00031312
+v 0.04779720 -0.00492626 0.00031312
+v 0.04778426 -0.00492928 0.00031312
+v 0.05090053 -0.00066946 0.00031314
+v 0.05080997 -0.00217198 0.00031313
+v 0.04626736 -0.00494439 0.00031312
+v 0.04014641 -0.00502997 -0.00578668
+v 0.03861658 -0.00505010 -0.00731386
+v 0.03708674 -0.00505010 -0.00884104
+v 0.03555529 -0.00503398 -0.01036972
+v 0.03438123 -0.00506721 -0.01036972
+v 0.03438123 0.00480088 -0.00823460
+v 0.04489925 0.00479480 0.00031316
+v 0.04610888 0.00505966 0.00031316
+v 0.05090053 -0.00064831 0.00031314
+v 0.04625281 -0.00494338 0.00031312
+v 0.03438123 -0.00506217 -0.01001511
+v 0.03438123 0.00470219 -0.00798727
+v 0.03456235 0.00474247 -0.00792022
+v 0.04472136 0.00467194 0.00031316
+v 0.03438123 0.00405163 -0.00721847
+v 0.04491057 -0.00464731 0.00031312
+v 0.03438123 -0.00472381 -0.00849985
+v 0.03438123 -0.00480337 -0.00881869
+v 0.04374136 0.00395190 0.00031315
+v 0.03438123 0.00356421 -0.00674467
+v 0.04487499 -0.00463522 0.00031312
+v 0.03453971 -0.00456470 -0.00790834
+v 0.03438123 -0.00461908 -0.00818994
+v 0.04346483 0.00368906 0.00031315
+v 0.03456882 0.00334971 -0.00639901
+v 0.03438123 0.00316139 -0.00647202
+v 0.04421034 -0.00424952 0.00031312
+v 0.03438123 -0.00430992 -0.00772359
+v 0.04234898 0.00325200 -0.00034987
+v 0.04274195 0.00237587 0.00031315
+v 0.03438123 0.00237589 -0.00623512
+v 0.04351334 -0.00360501 0.00031313
+v 0.03456073 -0.00317599 -0.00639158
+v 0.03438123 -0.00337740 -0.00671490
+v 0.03438123 -0.00388494 -0.00720359
+v 0.04268050 0.00185824 0.00031315
+v 0.03438123 0.00101838 -0.00610252
+v 0.04344218 -0.00352545 0.00031313
+v 0.03438123 -0.00234013 -0.00626791
+v 0.04280017 -0.00242676 0.00031313
+v 0.04256568 0.00085321 0.00031314
+v 0.03438123 0.00085323 -0.00608762
+v 0.03438123 -0.00219210 -0.00622471
+v 0.04273225 -0.00219212 0.00031313
+v 0.03438123 -0.00066944 -0.00608762
+v 0.04256892 -0.00066946 0.00031314
+v 0.03438123 -0.00214376 -0.00622024
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 38
+f 1 38 56
+f 1 56 76
+f 1 76 99
+f 1 99 127
+f 1 127 150
+f 1 150 156
+f 1 156 163
+f 1 163 162
+f 1 162 168
+f 1 168 173
+f 1 173 180
+f 1 180 179
+f 1 179 184
+f 1 184 188
+f 1 188 192
+f 1 192 190
+f 1 190 187
+f 1 187 182
+f 1 182 176
+f 1 176 171
+f 1 171 165
+f 1 165 160
+f 1 160 157
+f 1 157 151
+f 1 151 130
+f 1 130 100
+f 1 100 77
+f 1 77 57
+f 1 57 40
+f 1 40 27
+f 1 27 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 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 4 10 11
+f 4 11 22
+f 4 22 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 14 15
+f 6 13 14
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 17
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 18 19
+f 11 21 23
+f 11 23 24
+f 11 24 22
+f 12 25 13
+f 12 22 25
+f 13 25 26
+f 13 26 15
+f 13 15 14
+f 16 27 28
+f 16 28 17
+f 17 29 19
+f 17 19 18
+f 17 28 27
+f 17 27 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 23
+f 22 24 25
+f 23 33 24
+f 24 34 25
+f 24 33 35
+f 24 35 34
+f 25 34 36
+f 25 36 37
+f 25 37 26
+f 26 37 39
+f 26 39 38
+f 27 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 30 43 44
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 35
+f 34 35 51
+f 34 51 52
+f 34 52 53
+f 34 53 36
+f 35 50 51
+f 36 53 37
+f 37 54 39
+f 37 53 54
+f 38 55 56
+f 38 39 55
+f 39 54 56
+f 39 56 55
+f 40 57 58
+f 40 58 59
+f 40 59 42
+f 40 42 41
+f 42 59 60
+f 42 60 44
+f 42 44 43
+f 44 61 62
+f 44 62 45
+f 44 60 63
+f 44 63 61
+f 45 62 46
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 46 62 64
+f 47 66 48
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 50
+f 50 69 51
+f 51 70 52
+f 51 69 71
+f 51 71 72
+f 51 72 70
+f 52 70 53
+f 53 70 73
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 56
+f 57 77 78
+f 57 78 79
+f 57 79 60
+f 57 60 58
+f 58 60 59
+f 60 79 80
+f 60 80 63
+f 61 81 82
+f 61 82 62
+f 61 63 83
+f 61 83 81
+f 62 82 84
+f 62 84 64
+f 63 80 83
+f 64 84 65
+f 65 85 86
+f 65 86 87
+f 65 87 66
+f 65 84 85
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 68
+f 68 89 90
+f 68 90 69
+f 69 90 71
+f 70 72 91
+f 70 91 92
+f 70 92 73
+f 71 90 93
+f 71 93 94
+f 71 94 91
+f 71 91 72
+f 73 92 95
+f 73 95 96
+f 73 96 74
+f 74 96 75
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 76
+f 77 100 101
+f 77 101 102
+f 77 102 80
+f 77 80 79
+f 77 79 78
+f 80 102 83
+f 81 83 103
+f 81 103 104
+f 81 104 105
+f 81 105 106
+f 81 106 82
+f 82 106 107
+f 82 107 84
+f 83 102 103
+f 84 107 108
+f 84 108 109
+f 84 109 110
+f 84 110 85
+f 85 110 86
+f 86 110 111
+f 86 111 112
+f 86 112 113
+f 86 113 114
+f 86 114 87
+f 87 114 88
+f 88 114 115
+f 88 115 89
+f 89 115 116
+f 89 116 90
+f 90 116 117
+f 90 117 93
+f 91 94 118
+f 91 118 119
+f 91 119 92
+f 92 120 95
+f 92 119 120
+f 93 121 122
+f 93 122 123
+f 93 123 118
+f 93 118 94
+f 93 117 121
+f 95 120 124
+f 95 124 125
+f 95 125 96
+f 96 125 126
+f 96 126 97
+f 97 126 127
+f 97 127 98
+f 98 127 99
+f 100 128 129
+f 100 129 101
+f 100 130 131
+f 100 131 132
+f 100 132 128
+f 101 129 103
+f 101 103 102
+f 103 129 128
+f 103 128 104
+f 104 128 105
+f 105 132 133
+f 105 133 106
+f 105 128 132
+f 106 133 134
+f 106 134 107
+f 107 134 108
+f 108 134 133
+f 108 133 132
+f 108 132 153
+f 108 153 152
+f 108 152 159
+f 108 159 164
+f 108 164 169
+f 108 169 175
+f 108 175 181
+f 108 181 186
+f 108 186 191
+f 108 191 189
+f 108 189 185
+f 108 185 183
+f 108 183 177
+f 108 177 172
+f 108 172 166
+f 108 166 161
+f 108 161 155
+f 108 155 145
+f 108 145 142
+f 108 142 141
+f 108 141 140
+f 108 140 139
+f 108 139 118
+f 108 118 123
+f 108 123 122
+f 108 122 144
+f 108 144 143
+f 108 143 154
+f 108 154 136
+f 108 136 135
+f 108 135 112
+f 108 112 111
+f 108 111 110
+f 108 110 109
+f 112 135 113
+f 113 115 114
+f 113 135 136
+f 113 136 137
+f 113 137 115
+f 115 137 116
+f 116 137 138
+f 116 138 121
+f 116 121 117
+f 118 139 119
+f 119 139 140
+f 119 140 120
+f 120 140 141
+f 120 141 142
+f 120 142 124
+f 121 138 143
+f 121 143 144
+f 121 144 122
+f 124 142 145
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 125 147 148
+f 125 148 126
+f 126 148 149
+f 126 149 127
+f 127 149 150
+f 130 151 152
+f 130 152 153
+f 130 153 132
+f 130 132 131
+f 136 154 137
+f 137 154 143
+f 137 143 138
+f 145 155 156
+f 145 156 146
+f 146 156 147
+f 147 156 150
+f 147 150 148
+f 148 150 149
+f 151 157 158
+f 151 158 152
+f 152 158 157
+f 152 157 160
+f 152 160 159
+f 155 161 162
+f 155 162 163
+f 155 163 156
+f 159 160 164
+f 160 165 164
+f 161 166 167
+f 161 167 168
+f 161 168 162
+f 164 165 170
+f 164 170 169
+f 165 171 170
+f 166 172 167
+f 167 173 168
+f 167 172 173
+f 169 174 175
+f 169 170 174
+f 170 171 175
+f 170 175 174
+f 171 176 175
+f 172 177 178
+f 172 178 179
+f 172 179 180
+f 172 180 173
+f 175 176 182
+f 175 182 181
+f 177 183 178
+f 178 184 179
+f 178 183 185
+f 178 185 184
+f 181 182 187
+f 181 187 186
+f 184 185 188
+f 185 189 188
+f 186 190 191
+f 186 187 190
+f 188 189 192
+f 189 191 190
+f 189 190 192
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_31.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.03095808 -0.00520868 0.02783442
+v 0.03405856 -0.00512484 0.02936269
+v 0.03402457 -0.00512588 0.02936269
+v 0.03095808 -0.00513312 0.02936269
+v 0.03095808 -0.00510620 0.02630756
+v 0.03405856 -0.00481947 0.02772636
+v 0.03405856 -0.00512070 0.02939637
+v 0.03095808 -0.00492194 0.02477088
+v 0.03095808 -0.00471492 0.02330436
+v 0.03405856 -0.00475116 0.03100463
+v 0.03095808 -0.00475738 0.03054011
+v 0.03405856 -0.00480912 0.02767725
+v 0.03095808 -0.00427498 0.02172277
+v 0.03405856 -0.00474081 0.03102708
+v 0.03354318 -0.00443443 0.03159123
+v 0.03095808 -0.00353180 0.03239818
+v 0.03405856 -0.00478635 0.02761971
+v 0.03095808 -0.00376260 0.02073621
+v 0.03123094 -0.00408762 0.02172277
+v 0.03405856 -0.00386408 0.03208523
+v 0.03095808 -0.00273994 0.03326967
+v 0.03405856 -0.00393030 0.02633564
+v 0.03180794 -0.00308459 0.02080919
+v 0.03095808 -0.00357109 0.02039519
+v 0.03405856 -0.00384130 0.03210207
+v 0.03405856 -0.00219029 0.03283743
+v 0.03095808 -0.00219236 0.03342123
+v 0.03405856 -0.00384128 0.02621214
+v 0.03095808 -0.00219231 0.01945634
+v 0.03137754 -0.00219231 0.01988156
+v 0.03189293 -0.00219232 0.02064499
+v 0.03405856 -0.00211159 0.02515541
+v 0.03405856 -0.00379263 0.02617285
+v 0.03405856 -0.00215716 0.03284024
+v 0.03095808 -0.00066970 0.03363876
+v 0.03095808 -0.00066965 0.01931321
+v 0.03145858 -0.00066965 0.01979316
+v 0.03193603 -0.00066966 0.02055659
+v 0.03405856 -0.00066967 0.02497438
+v 0.03405856 -0.00066970 0.03295954
+v 0.03095808 -0.00022667 0.03364297
+v 0.03095808 0.00032510 0.01931321
+v 0.03095808 0.00085301 0.01931461
+v 0.03145858 0.00085301 0.01979737
+v 0.03193147 0.00085300 0.02056220
+v 0.03405856 0.00095029 0.02496316
+v 0.03405856 0.00085296 0.03296094
+v 0.03095808 0.00085296 0.03364718
+v 0.03095808 0.00176392 0.01938058
+v 0.03138695 0.00237567 0.01989281
+v 0.03188109 0.00237566 0.02065764
+v 0.03095808 0.00237567 0.01944794
+v 0.03405856 0.00237565 0.02518350
+v 0.03405856 0.00237355 0.03283745
+v 0.03095808 0.00136535 0.03357281
+v 0.03095808 0.00282078 0.01960091
+v 0.03179823 0.00325241 0.02081903
+v 0.03405856 0.00289943 0.02545856
+v 0.03405856 0.00240978 0.03282201
+v 0.03095808 0.00237562 0.03342546
+v 0.03095808 0.00375135 0.02040784
+v 0.03405856 0.00398733 0.02622339
+v 0.03405856 0.00469017 0.02698262
+v 0.03405856 0.00402561 0.03209507
+v 0.03095808 0.00369747 0.03239539
+v 0.03405856 0.00464771 0.03163197
+v 0.03095808 0.00435585 0.02151792
+v 0.03405856 0.00497276 0.02770255
+v 0.03095808 0.00372128 0.03237574
+v 0.03405856 0.00492306 0.03100467
+v 0.03095808 0.00492824 0.03052191
+v 0.03356898 0.00461459 0.03158566
+v 0.03095808 0.00464154 0.02235432
+v 0.03405856 0.00498622 0.02774465
+v 0.03405856 0.00529053 0.02936273
+v 0.03405735 0.00492410 0.03100186
+v 0.03095808 0.00529157 0.02936974
+v 0.03095808 0.00486408 0.02339702
+v 0.03095808 0.00536611 0.02783446
+v 0.03402457 0.00529157 0.02936273
+v 0.03095808 0.00506490 0.02477934
+v 0.03095808 0.00525742 0.02629778
+v 0.03095808 0.00525949 0.02631462
+v 0.03095808 0.00529364 0.02936273
+v 0.03095808 0.00530088 0.02921397
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 21
+f 1 21 27
+f 1 27 35
+f 1 35 41
+f 1 41 48
+f 1 48 55
+f 1 55 60
+f 1 60 65
+f 1 65 69
+f 1 69 71
+f 1 71 77
+f 1 77 84
+f 1 84 85
+f 1 85 79
+f 1 79 83
+f 1 83 82
+f 1 82 81
+f 1 81 78
+f 1 78 73
+f 1 73 67
+f 1 67 61
+f 1 61 56
+f 1 56 52
+f 1 52 49
+f 1 49 43
+f 1 43 42
+f 1 42 36
+f 1 36 29
+f 1 29 24
+f 1 24 18
+f 1 18 13
+f 1 13 9
+f 1 9 8
+f 1 8 5
+f 1 5 2
+f 2 6 12
+f 2 12 17
+f 2 17 22
+f 2 22 28
+f 2 28 33
+f 2 33 32
+f 2 32 39
+f 2 39 46
+f 2 46 53
+f 2 53 58
+f 2 58 62
+f 2 62 63
+f 2 63 68
+f 2 68 74
+f 2 74 75
+f 2 75 70
+f 2 70 66
+f 2 66 64
+f 2 64 59
+f 2 59 54
+f 2 54 47
+f 2 47 40
+f 2 40 34
+f 2 34 26
+f 2 26 25
+f 2 25 20
+f 2 20 14
+f 2 14 10
+f 2 10 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 7 4
+f 4 7 10
+f 4 10 11
+f 6 9 12
+f 9 13 12
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 13 17
+f 13 18 19
+f 13 19 17
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 19 23
+f 17 23 22
+f 18 24 19
+f 19 24 23
+f 20 25 21
+f 21 26 27
+f 21 25 26
+f 22 23 28
+f 23 24 29
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 28
+f 26 34 35
+f 26 35 27
+f 29 36 37
+f 29 37 30
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 34 40 35
+f 35 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 48
+f 40 48 41
+f 43 49 44
+f 44 50 51
+f 44 51 45
+f 44 49 52
+f 44 52 50
+f 45 51 46
+f 46 51 53
+f 47 54 48
+f 48 54 55
+f 50 52 56
+f 50 56 57
+f 50 57 51
+f 51 57 53
+f 53 57 58
+f 54 59 60
+f 54 60 55
+f 56 61 57
+f 57 62 58
+f 57 61 63
+f 57 63 62
+f 59 64 60
+f 60 64 66
+f 60 66 65
+f 61 67 63
+f 63 67 68
+f 65 66 69
+f 66 70 71
+f 66 71 72
+f 66 72 69
+f 67 73 68
+f 68 73 74
+f 69 72 71
+f 70 75 76
+f 70 76 71
+f 71 76 77
+f 73 78 74
+f 74 78 75
+f 75 79 80
+f 75 80 76
+f 75 78 81
+f 75 81 82
+f 75 82 83
+f 75 83 79
+f 76 84 77
+f 76 80 84
+f 79 85 80
+f 80 85 84
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_32.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03985004 -0.00066909 0.03335356
+v 0.03861595 -0.00066909 0.03333467
+v 0.03985004 -0.00091890 0.03333795
+v 0.03985004 0.00085321 0.03335274
+v 0.03861595 0.00085321 0.03333467
+v 0.03708540 -0.00066909 0.03325335
+v 0.03629461 -0.00145012 0.03318518
+v 0.03708540 -0.00166220 0.03321310
+v 0.03861595 -0.00195687 0.03325417
+v 0.03708540 0.00085321 0.03325418
+v 0.03985004 -0.00201805 0.03326402
+v 0.03985004 0.00219401 0.03326322
+v 0.03861595 0.00214303 0.03325419
+v 0.03708540 0.00184938 0.03321394
+v 0.03628837 0.00163729 0.03318602
+v 0.03623849 -0.00066909 0.03319094
+v 0.03569316 -0.00205170 0.03304144
+v 0.03708540 -0.00242386 0.03310879
+v 0.03547378 -0.00066909 0.03311619
+v 0.03405886 -0.00066909 0.03295932
+v 0.03405886 -0.00218935 0.03283776
+v 0.03861595 -0.00271853 0.03314904
+v 0.03623452 0.00085321 0.03319094
+v 0.03985004 -0.00216487 0.03324349
+v 0.03985004 0.00295567 0.03315563
+v 0.03861595 0.00290468 0.03314823
+v 0.03708540 0.00261103 0.03310553
+v 0.03405886 0.00085321 0.03296096
+v 0.03546924 0.00085321 0.03311701
+v 0.03568919 0.00223785 0.03303818
+v 0.03405886 0.00237346 0.03283778
+v 0.03555541 -0.00371572 0.03236139
+v 0.03405886 -0.00384113 0.03210185
+v 0.03985004 -0.00277971 0.03315725
+v 0.03708540 -0.00371572 0.03248951
+v 0.03861595 -0.00371572 0.03256097
+v 0.03985004 0.00389984 0.03256427
+v 0.03861595 0.00389984 0.03255113
+v 0.03708540 0.00389984 0.03247475
+v 0.03555541 0.00389984 0.03234744
+v 0.03405886 0.00241017 0.03282299
+v 0.03456395 -0.00450287 0.03168625
+v 0.03555541 -0.00454467 0.03173963
+v 0.03405886 -0.00386356 0.03208542
+v 0.03985004 -0.00297241 0.03304309
+v 0.03708540 -0.00458648 0.03179959
+v 0.03861595 -0.00460585 0.03183080
+v 0.03985004 -0.00388804 0.03243120
+v 0.03985004 -0.00371572 0.03257247
+v 0.03985004 0.00478385 0.03182755
+v 0.03861595 0.00478181 0.03182180
+v 0.03708540 0.00476142 0.03178813
+v 0.03555541 0.00472063 0.03172982
+v 0.03458946 0.00468290 0.03168218
+v 0.03405886 0.00402525 0.03209447
+v 0.03405886 -0.00474145 0.03102754
+v 0.03405886 -0.00475063 0.03100455
+v 0.03555541 -0.00488216 0.03089038
+v 0.03708540 -0.00492192 0.03089038
+v 0.03985004 -0.00460687 0.03183409
+v 0.03861595 -0.00493110 0.03089038
+v 0.03985004 -0.00467009 0.03165257
+v 0.03985004 0.00508669 0.03089042
+v 0.03861595 0.00509382 0.03089042
+v 0.03708540 0.00508567 0.03089042
+v 0.03555541 0.00504692 0.03089042
+v 0.03405886 0.00492355 0.03100459
+v 0.03405886 0.00464722 0.03163208
+v 0.03405886 -0.00512075 0.02939639
+v 0.03985004 -0.00492396 0.03089038
+v 0.03405886 -0.00512483 0.02936189
+v 0.03985004 0.00507445 0.02936193
+v 0.03555541 0.00523861 0.02936193
+v 0.03405886 0.00528959 0.02936193
+v 0.03555541 -0.00507996 0.02936189
+v 0.03985004 -0.00492804 0.03059470
+v 0.03405886 -0.00481995 0.02772746
+v 0.03405886 0.00497352 0.02770368
+v 0.03405886 0.00498677 0.02774639
+v 0.03985004 0.00477163 0.02844369
+v 0.03985004 -0.00491886 0.02936189
+v 0.03405886 -0.00480873 0.02767818
+v 0.03405886 0.00469006 0.02698420
+v 0.03405886 0.00398754 0.02622364
+v 0.03985004 0.00387538 0.02769381
+v 0.03985004 -0.00485565 0.02917381
+v 0.03405886 -0.00478630 0.02762151
+v 0.03985004 -0.00460073 0.02842723
+v 0.03405886 0.00289962 0.02545816
+v 0.03985004 0.00289859 0.02710739
+v 0.03405886 -0.00393084 0.02633614
+v 0.03467789 -0.00442638 0.02714021
+v 0.03405886 -0.00384111 0.02621212
+v 0.03985004 -0.00439885 0.02825557
+v 0.03405886 0.00237655 0.02518302
+v 0.03985004 0.00217058 0.02699486
+v 0.03405886 -0.00379217 0.02617270
+v 0.03985004 -0.00369327 0.02767162
+v 0.03405886 0.00095010 0.02496372
+v 0.03985004 0.00085323 0.02690533
+v 0.03405886 -0.00211182 0.02515508
+v 0.03985004 -0.00343632 0.02751639
+v 0.03985004 -0.00066907 0.02690205
+v 0.03405886 -0.00066906 0.02497439
+v 0.03985004 -0.00201803 0.02698992
+v 0.03985004 -0.00262878 0.02707780
+v 0.03985004 -0.00274910 0.02710162
+v 0.03985004 -0.00170908 0.02696692
+f 1 2 3
+f 1 3 11
+f 1 11 24
+f 1 24 34
+f 1 34 45
+f 1 45 49
+f 1 49 48
+f 1 48 60
+f 1 60 62
+f 1 62 70
+f 1 70 76
+f 1 76 81
+f 1 81 86
+f 1 86 88
+f 1 88 94
+f 1 94 98
+f 1 98 102
+f 1 102 107
+f 1 107 106
+f 1 106 105
+f 1 105 108
+f 1 108 103
+f 1 103 100
+f 1 100 96
+f 1 96 90
+f 1 90 85
+f 1 85 80
+f 1 80 72
+f 1 72 63
+f 1 63 50
+f 1 50 37
+f 1 37 25
+f 1 25 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 6
+f 3 9 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 10
+f 6 16 7
+f 6 10 16
+f 7 17 18
+f 7 18 8
+f 7 16 19
+f 7 19 20
+f 7 20 21
+f 7 21 17
+f 8 18 9
+f 9 18 22
+f 9 22 11
+f 10 15 23
+f 10 23 16
+f 11 22 24
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 28 29
+f 15 29 23
+f 15 27 30
+f 15 30 31
+f 15 31 28
+f 16 23 29
+f 16 29 19
+f 17 21 18
+f 18 21 32
+f 18 32 22
+f 19 29 28
+f 19 28 20
+f 20 28 31
+f 20 31 41
+f 20 41 55
+f 20 55 68
+f 20 68 67
+f 20 67 74
+f 20 74 79
+f 20 79 78
+f 20 78 83
+f 20 83 84
+f 20 84 89
+f 20 89 95
+f 20 95 99
+f 20 99 104
+f 20 104 101
+f 20 101 97
+f 20 97 93
+f 20 93 91
+f 20 91 87
+f 20 87 82
+f 20 82 77
+f 20 77 71
+f 20 71 69
+f 20 69 57
+f 20 57 56
+f 20 56 44
+f 20 44 33
+f 20 33 21
+f 21 33 32
+f 22 34 24
+f 22 32 35
+f 22 35 36
+f 22 36 34
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 31
+f 27 31 30
+f 32 33 42
+f 32 42 43
+f 32 43 35
+f 33 44 42
+f 34 36 45
+f 35 43 46
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 45
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 41
+f 42 44 56
+f 42 56 43
+f 43 56 57
+f 43 57 58
+f 43 58 46
+f 46 58 59
+f 46 59 47
+f 47 60 48
+f 47 59 61
+f 47 61 62
+f 47 62 60
+f 50 63 64
+f 50 64 51
+f 51 64 65
+f 51 65 52
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 54
+f 54 68 55
+f 54 67 68
+f 57 69 58
+f 58 69 59
+f 59 69 61
+f 61 70 62
+f 61 69 71
+f 61 71 70
+f 63 72 73
+f 63 73 74
+f 63 74 64
+f 64 74 65
+f 65 74 66
+f 66 74 67
+f 70 71 75
+f 70 75 76
+f 71 77 75
+f 72 78 79
+f 72 79 73
+f 72 80 78
+f 73 79 74
+f 75 81 76
+f 75 77 81
+f 77 82 81
+f 78 80 83
+f 80 84 83
+f 80 85 84
+f 81 82 86
+f 82 87 88
+f 82 88 86
+f 84 85 89
+f 85 90 89
+f 87 91 92
+f 87 92 88
+f 88 92 93
+f 88 93 94
+f 89 90 95
+f 90 96 95
+f 91 93 92
+f 93 97 98
+f 93 98 94
+f 95 96 99
+f 96 100 99
+f 97 101 98
+f 98 101 102
+f 99 100 103
+f 99 103 104
+f 101 104 105
+f 101 105 106
+f 101 106 107
+f 101 107 102
+f 103 108 104
+f 104 108 105
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_33.obj

@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
+v 0.04779899 -0.00495665 0.02783379
+v 0.04711436 -0.00486385 0.02780100
+v 0.05238919 -0.00494083 0.01887909
+v 0.05238919 -0.00494576 0.02019469
+v 0.05085940 -0.00494677 0.02477894
+v 0.04932878 -0.00493000 0.02783379
+v 0.04711436 -0.00490730 0.02936188
+v 0.04711436 -0.00460125 0.02671888
+v 0.05120171 -0.00469303 0.01887909
+v 0.05372816 -0.00472462 0.01887909
+v 0.05238919 -0.00493491 0.02172277
+v 0.05085940 -0.00489149 0.02630571
+v 0.05079552 -0.00465358 0.02774460
+v 0.05024191 -0.00454795 0.02874015
+v 0.04919694 -0.00463384 0.02929367
+v 0.04779899 -0.00485794 0.02936188
+v 0.04711436 -0.00463680 0.03044924
+v 0.04711436 -0.00405038 0.02600535
+v 0.04980295 -0.00341952 0.01887910
+v 0.05043682 -0.00418165 0.01887909
+v 0.05109525 -0.00463183 0.01887909
+v 0.05438660 -0.00439391 0.01887909
+v 0.05366019 -0.00471278 0.02019469
+v 0.05238919 -0.00487470 0.02325085
+v 0.05244488 -0.00470885 0.02475270
+v 0.05194368 -0.00462495 0.02630571
+v 0.05170127 -0.00452326 0.02717534
+v 0.05076931 -0.00367525 0.02927532
+v 0.04961869 -0.00417380 0.02975800
+v 0.04859911 -0.00449168 0.03014756
+v 0.05126232 -0.00419254 0.02819450
+v 0.04779899 -0.00458251 0.03031808
+v 0.04711436 -0.00396154 0.03125986
+v 0.04711436 -0.00328331 0.02526688
+v 0.04973580 -0.00323689 0.01887910
+v 0.05449306 -0.00433072 0.01887909
+v 0.05353325 -0.00467824 0.02172277
+v 0.05336537 -0.00460519 0.02325085
+v 0.05323188 -0.00453016 0.02422542
+v 0.05317046 -0.00298221 0.02709534
+v 0.05225734 -0.00358738 0.02764492
+v 0.05299275 -0.00436332 0.02524458
+v 0.05270858 -0.00403163 0.02630572
+v 0.05179218 -0.00317769 0.02879131
+v 0.05027631 -0.00315795 0.03026956
+v 0.04919694 -0.00368611 0.03049123
+v 0.04740017 -0.00320633 0.03180944
+v 0.04786615 -0.00371474 0.03115624
+v 0.04711436 -0.00346795 0.03169926
+v 0.04711436 -0.00219243 0.02477501
+v 0.04939021 -0.00219241 0.01887910
+v 0.05457250 -0.00422509 0.01887909
+v 0.05442509 -0.00425767 0.02019469
+v 0.05429897 -0.00408097 0.02172278
+v 0.05421216 -0.00366437 0.02329808
+v 0.05363890 -0.00379962 0.02475271
+v 0.05323106 -0.00219244 0.02719371
+v 0.05270858 -0.00219244 0.02795841
+v 0.05194286 -0.00219245 0.02896445
+v 0.05336701 -0.00326949 0.02630572
+v 0.05463555 -0.00247872 0.02383980
+v 0.05368476 -0.00219244 0.02630572
+v 0.05121154 -0.00219245 0.02972915
+v 0.05044583 -0.00219245 0.03040466
+v 0.04919939 -0.00212038 0.03122576
+v 0.04842057 -0.00257945 0.03158909
+v 0.04786615 -0.00212039 0.03189995
+v 0.04711436 -0.00215396 0.03216228
+v 0.04711436 -0.00327445 0.03185798
+v 0.04711436 -0.00165538 0.02470287
+v 0.04925672 -0.00066913 0.01887911
+v 0.05504012 -0.00356958 0.01887910
+v 0.05499262 -0.00349554 0.02019470
+v 0.05488370 -0.00331982 0.02172278
+v 0.05477232 -0.00312139 0.02282064
+v 0.05328429 -0.00066916 0.02728160
+v 0.05277491 -0.00066916 0.02804499
+v 0.05379040 -0.00066916 0.02630573
+v 0.05201001 -0.00066917 0.02904316
+v 0.05129016 -0.00066917 0.02980786
+v 0.05481982 -0.00206014 0.02329808
+v 0.05468715 -0.00146287 0.02402343
+v 0.05440625 -0.00206014 0.02463204
+v 0.05052527 -0.00066917 0.03046763
+v 0.04938939 -0.00066917 0.03123232
+v 0.04860320 -0.00156459 0.03167566
+v 0.04779899 -0.00066918 0.03203637
+v 0.04711436 -0.00135135 0.03222525
+v 0.04711436 -0.00066915 0.02459270
+v 0.04925999 0.00085316 0.01887911
+v 0.04711436 -0.00023181 0.02459139
+v 0.04711436 0.00085314 0.02458877
+v 0.05538735 -0.00237406 0.01887910
+v 0.05543812 -0.00219241 0.01887910
+v 0.05535541 -0.00219241 0.02019470
+v 0.05514986 -0.00219242 0.02172278
+v 0.05328511 0.00085313 0.02728292
+v 0.05277409 0.00085313 0.02804630
+v 0.05379040 0.00085313 0.02630573
+v 0.05442509 -0.00066915 0.02479994
+v 0.05442427 0.00085314 0.02480781
+v 0.05200838 0.00085312 0.02904185
+v 0.05128607 0.00085312 0.02980524
+v 0.05489353 -0.00066915 0.02325087
+v 0.05469124 -0.00066915 0.02403656
+v 0.05052117 0.00085312 0.03046500
+v 0.04938284 0.00085312 0.03122839
+v 0.04862449 -0.00066918 0.03168747
+v 0.04779899 0.00085311 0.03203112
+v 0.04711436 -0.00066918 0.03227772
+v 0.04927883 0.00106443 0.01887911
+v 0.04711436 0.00237642 0.02477241
+v 0.05547907 -0.00066913 0.01887911
+v 0.05541028 -0.00066913 0.02019471
+v 0.05521701 -0.00066914 0.02172279
+v 0.05323106 0.00237641 0.02719373
+v 0.05270448 0.00237641 0.02795712
+v 0.05193877 0.00237640 0.02895792
+v 0.05368640 0.00237641 0.02630574
+v 0.05440625 0.00226289 0.02463862
+v 0.05469452 0.00085314 0.02404443
+v 0.05469124 0.00167944 0.02403526
+v 0.05043027 0.00237640 0.03039287
+v 0.05119598 0.00237640 0.02972261
+v 0.05489598 0.00085314 0.02325087
+v 0.04859419 0.00172285 0.03167043
+v 0.04861794 0.00085311 0.03168354
+v 0.04711436 0.00161426 0.03221083
+v 0.04711436 0.00085311 0.03227116
+v 0.04786369 0.00228853 0.03189210
+v 0.04939921 0.00237644 0.01887912
+v 0.04711436 0.00289471 0.02497178
+v 0.05547989 0.00085316 0.01887911
+v 0.05541110 0.00085316 0.02019471
+v 0.05521701 0.00085315 0.02172279
+v 0.05316882 0.00316224 0.02709273
+v 0.05178890 0.00336066 0.02878478
+v 0.05463392 0.00269529 0.02383457
+v 0.05482146 0.00226289 0.02329548
+v 0.05026075 0.00332413 0.03025777
+v 0.04919448 0.00228854 0.03121659
+v 0.05514986 0.00237643 0.02172280
+v 0.04841730 0.00273771 0.03158648
+v 0.04711436 0.00232999 0.03215050
+v 0.04739689 0.00337842 0.03180422
+v 0.04711436 0.00312766 0.03196424
+v 0.04980951 0.00358578 0.01887912
+v 0.04711436 0.00346335 0.02526953
+v 0.04711436 0.00391056 0.02559220
+v 0.05544467 0.00216419 0.01887912
+v 0.05535623 0.00237644 0.02019472
+v 0.05168489 0.00469736 0.02715833
+v 0.05224669 0.00376938 0.02763445
+v 0.05336865 0.00344458 0.02630574
+v 0.05268073 0.00420573 0.02630575
+v 0.05075785 0.00385032 0.02926484
+v 0.05125413 0.00437651 0.02817749
+v 0.05477150 0.00330047 0.02281672
+v 0.04960559 0.00433998 0.02974492
+v 0.04858518 0.00466971 0.03013973
+v 0.04918875 0.00385920 0.03047813
+v 0.05488370 0.00349495 0.02172280
+v 0.04711436 0.00413069 0.03123890
+v 0.04711436 0.00344357 0.03185144
+v 0.05037130 0.00424130 0.01887913
+v 0.04711436 0.00452460 0.02635297
+v 0.04711436 0.00477733 0.02672417
+v 0.05543648 0.00237644 0.01887912
+v 0.05499262 0.00365982 0.02019472
+v 0.05079060 0.00482372 0.02773415
+v 0.05023372 0.00472598 0.02872576
+v 0.05297146 0.00453744 0.02519871
+v 0.05321468 0.00470132 0.02417955
+v 0.05191584 0.00479411 0.02630575
+v 0.05362907 0.00397769 0.02472519
+v 0.05427522 0.00425708 0.02172281
+v 0.05419087 0.00384441 0.02329548
+v 0.04779899 0.00475757 0.03030107
+v 0.04711436 0.00459764 0.03076933
+v 0.04918875 0.00480298 0.02928584
+v 0.04779899 0.00502215 0.02936192
+v 0.05439397 0.00442196 0.02019473
+v 0.05046221 0.00434693 0.01887913
+v 0.04711436 0.00487901 0.02701273
+v 0.05503929 0.00373288 0.01887912
+v 0.05446440 0.00449501 0.01887913
+v 0.05085940 0.00504881 0.02630575
+v 0.04932878 0.00508830 0.02783383
+v 0.05243259 0.00487507 0.02472520
+v 0.05334080 0.00477141 0.02325089
+v 0.04711436 0.00481187 0.03042830
+v 0.04711436 0.00507644 0.02936192
+v 0.04711436 0.00495798 0.02990888
+v 0.05351032 0.00484645 0.02172281
+v 0.05122710 0.00486522 0.01887913
+v 0.04711436 0.00503203 0.02779711
+v 0.05369868 0.00489780 0.01887913
+v 0.05362907 0.00488299 0.02019473
+v 0.05238919 0.00503006 0.02325089
+v 0.05085940 0.00510608 0.02477898
+v 0.04711436 0.00512878 0.02851721
+v 0.05221639 0.00507155 0.01887913
+v 0.05352670 0.00492840 0.01887913
+v 0.05238919 0.00508733 0.02172281
+v 0.05238919 0.00510215 0.02019473
+v 0.05238919 0.00510215 0.01887913
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 17
+f 2 17 33
+f 2 33 49
+f 2 49 69
+f 2 69 68
+f 2 68 88
+f 2 88 110
+f 2 110 129
+f 2 129 128
+f 2 128 144
+f 2 144 146
+f 2 146 164
+f 2 164 163
+f 2 163 179
+f 2 179 191
+f 2 191 193
+f 2 193 192
+f 2 192 201
+f 2 201 196
+f 2 196 184
+f 2 184 167
+f 2 167 166
+f 2 166 149
+f 2 149 148
+f 2 148 132
+f 2 132 112
+f 2 112 92
+f 2 92 91
+f 2 91 89
+f 2 89 70
+f 2 70 50
+f 2 50 34
+f 2 34 18
+f 2 18 8
+f 2 8 9
+f 2 9 3
+f 3 9 21
+f 3 21 20
+f 3 20 19
+f 3 19 35
+f 3 35 51
+f 3 51 71
+f 3 71 90
+f 3 90 111
+f 3 111 131
+f 3 131 147
+f 3 147 165
+f 3 165 183
+f 3 183 195
+f 3 195 202
+f 3 202 206
+f 3 206 203
+f 3 203 197
+f 3 197 186
+f 3 186 185
+f 3 185 168
+f 3 168 150
+f 3 150 133
+f 3 133 113
+f 3 113 94
+f 3 94 93
+f 3 93 72
+f 3 72 52
+f 3 52 36
+f 3 36 22
+f 3 22 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 6
+f 5 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 27 31
+f 14 31 28
+f 15 30 32
+f 15 32 16
+f 16 32 17
+f 17 32 33
+f 18 34 19
+f 19 34 35
+f 22 36 37
+f 22 37 23
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 26
+f 26 39 27
+f 27 40 41
+f 27 41 31
+f 27 39 42
+f 27 42 43
+f 27 43 40
+f 28 31 44
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 33
+f 30 33 32
+f 31 41 44
+f 33 48 47
+f 33 47 49
+f 34 50 51
+f 34 51 35
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 39 55 56
+f 39 56 42
+f 39 54 55
+f 40 57 58
+f 40 58 59
+f 40 59 44
+f 40 44 41
+f 40 43 60
+f 40 60 61
+f 40 61 62
+f 40 62 57
+f 42 60 43
+f 42 56 60
+f 44 59 63
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 47
+f 45 47 46
+f 47 67 68
+f 47 68 69
+f 47 69 49
+f 47 66 67
+f 50 70 71
+f 50 71 51
+f 52 72 73
+f 52 73 53
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 55
+f 55 75 56
+f 56 75 60
+f 57 76 77
+f 57 77 58
+f 57 62 78
+f 57 78 76
+f 58 77 59
+f 59 79 80
+f 59 80 63
+f 59 77 79
+f 60 75 61
+f 61 75 81
+f 61 81 82
+f 61 82 83
+f 61 83 62
+f 62 83 78
+f 63 80 64
+f 64 80 84
+f 64 84 85
+f 64 85 86
+f 64 86 65
+f 65 86 66
+f 66 86 67
+f 67 87 88
+f 67 88 68
+f 67 86 87
+f 70 89 71
+f 71 89 91
+f 71 91 92
+f 71 92 90
+f 72 93 73
+f 73 93 94
+f 73 94 95
+f 73 95 74
+f 74 96 75
+f 74 95 96
+f 75 96 81
+f 76 78 97
+f 76 97 77
+f 77 97 98
+f 77 98 79
+f 78 99 97
+f 78 83 100
+f 78 100 101
+f 78 101 99
+f 79 102 80
+f 79 98 102
+f 80 103 106
+f 80 106 84
+f 80 102 103
+f 81 96 104
+f 81 104 82
+f 82 105 100
+f 82 100 83
+f 82 104 105
+f 84 106 85
+f 85 107 127
+f 85 127 108
+f 85 108 86
+f 85 106 107
+f 86 108 87
+f 87 109 110
+f 87 110 88
+f 87 108 109
+f 90 92 112
+f 90 112 111
+f 94 113 114
+f 94 114 95
+f 95 114 115
+f 95 115 96
+f 96 115 104
+f 97 116 98
+f 97 99 116
+f 98 116 117
+f 98 117 118
+f 98 118 102
+f 99 119 116
+f 99 101 120
+f 99 120 119
+f 100 105 121
+f 100 121 101
+f 101 121 122
+f 101 122 120
+f 102 118 103
+f 103 123 106
+f 103 118 124
+f 103 124 123
+f 104 115 125
+f 104 125 121
+f 104 121 105
+f 106 123 107
+f 107 126 127
+f 107 123 126
+f 108 127 109
+f 109 128 129
+f 109 129 110
+f 109 127 126
+f 109 126 130
+f 109 130 128
+f 111 112 131
+f 112 132 131
+f 113 133 134
+f 113 134 114
+f 114 134 115
+f 115 134 135
+f 115 135 125
+f 116 136 117
+f 116 119 136
+f 117 136 118
+f 118 137 124
+f 118 136 137
+f 119 120 136
+f 120 122 138
+f 120 138 136
+f 121 125 122
+f 122 125 139
+f 122 139 138
+f 123 124 140
+f 123 140 141
+f 123 141 126
+f 124 137 140
+f 125 135 142
+f 125 142 139
+f 126 141 143
+f 126 143 130
+f 128 130 144
+f 130 145 146
+f 130 146 144
+f 130 143 145
+f 131 132 148
+f 131 148 149
+f 131 149 147
+f 133 150 134
+f 134 150 151
+f 134 151 135
+f 135 151 142
+f 136 152 153
+f 136 153 137
+f 136 138 154
+f 136 154 155
+f 136 155 152
+f 137 156 140
+f 137 153 157
+f 137 157 156
+f 138 139 158
+f 138 158 154
+f 139 142 158
+f 140 156 159
+f 140 159 160
+f 140 160 161
+f 140 161 145
+f 140 145 143
+f 140 143 141
+f 142 151 162
+f 142 162 158
+f 145 163 164
+f 145 164 146
+f 145 161 160
+f 145 160 163
+f 147 149 166
+f 147 166 167
+f 147 167 165
+f 150 168 151
+f 151 168 169
+f 151 169 162
+f 152 170 171
+f 152 171 157
+f 152 157 153
+f 152 155 172
+f 152 172 173
+f 152 173 174
+f 152 174 170
+f 154 172 155
+f 154 158 175
+f 154 175 172
+f 156 157 171
+f 156 171 159
+f 158 162 176
+f 158 176 177
+f 158 177 175
+f 159 171 160
+f 160 178 179
+f 160 179 163
+f 160 171 180
+f 160 180 181
+f 160 181 178
+f 162 169 182
+f 162 182 176
+f 165 167 183
+f 167 184 183
+f 168 185 169
+f 169 185 186
+f 169 186 182
+f 170 174 187
+f 170 187 188
+f 170 188 171
+f 171 188 180
+f 172 175 173
+f 173 189 174
+f 173 175 177
+f 173 177 176
+f 173 176 190
+f 173 190 189
+f 174 189 187
+f 176 182 190
+f 178 181 191
+f 178 191 179
+f 180 188 181
+f 181 192 193
+f 181 193 191
+f 181 188 192
+f 182 186 194
+f 182 194 190
+f 183 184 195
+f 184 196 195
+f 186 197 198
+f 186 198 194
+f 187 189 199
+f 187 199 200
+f 187 200 188
+f 188 201 192
+f 188 200 201
+f 189 190 199
+f 190 194 199
+f 194 198 199
+f 195 196 201
+f 195 201 202
+f 197 203 204
+f 197 204 198
+f 198 204 199
+f 199 204 200
+f 200 204 205
+f 200 205 201
+f 201 205 206
+f 201 206 202
+f 203 206 205
+f 203 205 204
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_34.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.04014652 0.00085331 0.03335721
+v 0.04167729 0.00085331 0.03331086
+v 0.04167729 0.00203609 0.03324219
+v 0.04014652 0.00220647 0.03326537
+v 0.03985004 0.00219458 0.03326365
+v 0.03985004 0.00085331 0.03335292
+v 0.04014652 -0.00066925 0.03335721
+v 0.04281701 0.00085331 0.03322501
+v 0.04266628 0.00180033 0.03320785
+v 0.04167729 -0.00066925 0.03331086
+v 0.04167729 0.00279786 0.03313144
+v 0.04014652 0.00296825 0.03315720
+v 0.03985004 0.00295636 0.03315548
+v 0.03985004 -0.00066925 0.03335292
+v 0.03985004 -0.00091888 0.03333747
+v 0.04014652 -0.00203232 0.03326620
+v 0.04167729 -0.00185500 0.03324217
+v 0.04358132 0.00085331 0.03313830
+v 0.04280777 -0.00066925 0.03322501
+v 0.04473740 0.00237587 0.03281552
+v 0.04318886 0.00233525 0.03306791
+v 0.04265419 -0.00160636 0.03320783
+v 0.04626746 0.00363888 0.03199052
+v 0.04466701 0.00400343 0.03208924
+v 0.04320734 0.00389941 0.03237684
+v 0.04167729 0.00389941 0.03251076
+v 0.04014652 0.00389941 0.03256742
+v 0.03985004 0.00389941 0.03256398
+v 0.03985004 -0.00201746 0.03326363
+v 0.03985004 -0.00216506 0.03324302
+v 0.03985004 -0.00277923 0.03315718
+v 0.04014652 -0.00279409 0.03315889
+v 0.04167729 -0.00261677 0.03313142
+v 0.04473740 0.00085331 0.03294171
+v 0.04357280 -0.00066925 0.03313573
+v 0.04473740 -0.00066925 0.03294085
+v 0.04626746 0.00237587 0.03244380
+v 0.04318175 -0.00214525 0.03306789
+v 0.04473740 -0.00219279 0.03282408
+v 0.04711354 0.00344373 0.03185144
+v 0.04626746 0.00440066 0.03134838
+v 0.04513058 0.00457996 0.03153553
+v 0.04411030 0.00468298 0.03168233
+v 0.04320734 0.00471864 0.03173212
+v 0.04167729 0.00476322 0.03179823
+v 0.04014652 0.00478501 0.03182913
+v 0.03985004 0.00478402 0.03182741
+v 0.03985004 -0.00297240 0.03304300
+v 0.04014652 -0.00371634 0.03257598
+v 0.04167729 -0.00371634 0.03252447
+v 0.04320734 -0.00371634 0.03239313
+v 0.04626746 0.00085331 0.03256912
+v 0.04626746 -0.00066925 0.03257342
+v 0.04711354 0.00312773 0.03196476
+v 0.04711354 0.00161409 0.03221029
+v 0.04711354 0.00232931 0.03215105
+v 0.04626746 -0.00219279 0.03245665
+v 0.04626746 -0.00347662 0.03199994
+v 0.04711354 0.00413122 0.03123935
+v 0.04711354 0.00459780 0.03076976
+v 0.04711354 0.00481276 0.03042809
+v 0.04626746 0.00487913 0.03058433
+v 0.04466701 0.00488804 0.03097150
+v 0.04320734 0.00500493 0.03089081
+v 0.04167729 0.00505843 0.03089081
+v 0.04014652 0.00508517 0.03089081
+v 0.03985004 0.00508715 0.03089081
+v 0.03985004 -0.00371634 0.03257255
+v 0.03985004 -0.00388772 0.03243176
+v 0.03985004 -0.00460689 0.03183424
+v 0.04014652 -0.00460689 0.03183510
+v 0.04167729 -0.00459203 0.03181192
+v 0.04320734 -0.00454647 0.03174668
+v 0.04468905 -0.00383026 0.03209781
+v 0.04414728 -0.00450090 0.03168487
+v 0.04711354 0.00085331 0.03227209
+v 0.04711354 -0.00066925 0.03227724
+v 0.04711354 -0.00215416 0.03216219
+v 0.04711354 -0.00135078 0.03222487
+v 0.04711354 -0.00327453 0.03185743
+v 0.04516684 -0.00441472 0.03155781
+v 0.04626746 -0.00423839 0.03137581
+v 0.04711354 -0.00346770 0.03170033
+v 0.04711354 0.00495838 0.02990870
+v 0.04711354 0.00507626 0.02936271
+v 0.04626746 0.00514263 0.02936271
+v 0.04473740 0.00514659 0.02936271
+v 0.03985004 0.00507428 0.02936271
+v 0.03985004 -0.00466930 0.03165224
+v 0.03985004 -0.00492487 0.03089077
+v 0.04014652 -0.00492289 0.03089077
+v 0.04167729 -0.00489911 0.03089077
+v 0.04320734 -0.00484364 0.03089077
+v 0.04468905 -0.00471387 0.03098520
+v 0.04626746 -0.00470297 0.03061176
+v 0.04711354 -0.00463660 0.03044951
+v 0.04711354 -0.00396101 0.03125993
+v 0.04711354 0.00512877 0.02851882
+v 0.04711354 0.00503169 0.02779855
+v 0.04711354 0.00487914 0.02701304
+v 0.03985004 0.00477215 0.02844413
+v 0.03985004 -0.00492784 0.03059459
+v 0.04473740 -0.00497341 0.02936267
+v 0.04626746 -0.00496845 0.02936267
+v 0.04711354 -0.00490704 0.02936267
+v 0.04711354 0.00477711 0.02672545
+v 0.04711354 0.00452450 0.02635458
+v 0.04711354 0.00391034 0.02559310
+v 0.03985004 0.00387566 0.02769380
+v 0.03985004 -0.00491892 0.02936267
+v 0.04711354 -0.00486344 0.02780194
+v 0.04711354 0.00346358 0.02526945
+v 0.03985004 0.00289892 0.02710746
+v 0.03985004 -0.00485552 0.02917380
+v 0.04711354 -0.00460192 0.02672026
+v 0.04711354 0.00289497 0.02497241
+v 0.04711354 0.00237590 0.02477239
+v 0.03985004 0.00217083 0.02699500
+v 0.03985004 -0.00460093 0.02842692
+v 0.04711354 -0.00405015 0.02600686
+v 0.04711354 0.00085334 0.02458780
+v 0.03985004 0.00085333 0.02690571
+v 0.03985004 -0.00439885 0.02825608
+v 0.04711354 -0.00328342 0.02526685
+v 0.04711354 -0.00023137 0.02459038
+v 0.03985004 -0.00066923 0.02690227
+v 0.03985004 -0.00369354 0.02767146
+v 0.03985004 -0.00274949 0.02710143
+v 0.04711354 -0.00219276 0.02477408
+v 0.04711354 -0.00066922 0.02459209
+v 0.03985004 -0.00170837 0.02696665
+v 0.03985004 -0.00262864 0.02707739
+v 0.04711354 -0.00165586 0.02470283
+v 0.03985004 -0.00201843 0.02698983
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 7
+f 1 7 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 28
+f 5 28 47
+f 5 47 67
+f 5 67 88
+f 5 88 101
+f 5 101 109
+f 5 109 113
+f 5 113 118
+f 5 118 122
+f 5 122 126
+f 5 126 131
+f 5 131 134
+f 5 134 132
+f 5 132 128
+f 5 128 127
+f 5 127 123
+f 5 123 119
+f 5 119 114
+f 5 114 110
+f 5 110 102
+f 5 102 90
+f 5 90 89
+f 5 89 70
+f 5 70 69
+f 5 69 68
+f 5 68 48
+f 5 48 31
+f 5 31 30
+f 5 30 29
+f 5 29 15
+f 5 15 14
+f 5 14 6
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 10
+f 8 18 9
+f 8 10 19
+f 8 19 18
+f 9 18 20
+f 9 20 21
+f 9 21 11
+f 10 17 22
+f 10 22 19
+f 11 21 20
+f 11 20 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 22
+f 18 34 20
+f 18 19 35
+f 18 35 36
+f 18 36 34
+f 19 22 35
+f 20 37 23
+f 20 34 37
+f 22 33 38
+f 22 38 39
+f 22 39 35
+f 23 37 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 39 38
+f 33 50 51
+f 33 51 39
+f 34 52 37
+f 34 36 53
+f 34 53 52
+f 35 39 36
+f 36 39 57
+f 36 57 53
+f 37 54 40
+f 37 52 55
+f 37 55 56
+f 37 56 54
+f 39 51 58
+f 39 58 57
+f 40 54 56
+f 40 56 55
+f 40 55 76
+f 40 76 77
+f 40 77 79
+f 40 79 78
+f 40 78 80
+f 40 80 83
+f 40 83 97
+f 40 97 96
+f 40 96 105
+f 40 105 111
+f 40 111 115
+f 40 115 120
+f 40 120 124
+f 40 124 129
+f 40 129 133
+f 40 133 130
+f 40 130 125
+f 40 125 121
+f 40 121 117
+f 40 117 116
+f 40 116 112
+f 40 112 108
+f 40 108 107
+f 40 107 106
+f 40 106 100
+f 40 100 99
+f 40 99 98
+f 40 98 85
+f 40 85 84
+f 40 84 61
+f 40 61 60
+f 40 60 59
+f 40 59 41
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 50 73 51
+f 51 74 58
+f 51 73 75
+f 51 75 74
+f 52 76 55
+f 52 53 77
+f 52 77 76
+f 53 57 77
+f 57 78 79
+f 57 79 77
+f 57 58 80
+f 57 80 78
+f 58 74 81
+f 58 81 82
+f 58 82 83
+f 58 83 80
+f 61 84 62
+f 62 84 85
+f 62 85 86
+f 62 86 64
+f 62 64 63
+f 64 86 65
+f 65 86 66
+f 66 86 67
+f 67 86 87
+f 67 87 88
+f 70 89 71
+f 71 89 90
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 93
+f 72 93 73
+f 73 93 94
+f 73 94 75
+f 74 75 81
+f 75 94 95
+f 75 95 81
+f 81 95 96
+f 81 96 82
+f 82 97 83
+f 82 96 97
+f 85 98 86
+f 86 98 87
+f 87 98 88
+f 88 98 99
+f 88 99 100
+f 88 100 101
+f 90 102 103
+f 90 103 104
+f 90 104 91
+f 91 104 92
+f 92 104 93
+f 93 104 95
+f 93 95 94
+f 95 104 105
+f 95 105 96
+f 100 106 101
+f 101 107 108
+f 101 108 109
+f 101 106 107
+f 102 110 103
+f 103 110 111
+f 103 111 104
+f 104 111 105
+f 108 112 109
+f 109 112 113
+f 110 114 115
+f 110 115 111
+f 112 116 113
+f 113 116 117
+f 113 117 118
+f 114 119 115
+f 115 119 120
+f 117 121 118
+f 118 121 122
+f 119 123 124
+f 119 124 120
+f 121 125 126
+f 121 126 122
+f 123 127 124
+f 124 128 129
+f 124 127 128
+f 125 130 126
+f 126 130 131
+f 128 132 129
+f 129 132 134
+f 129 134 133
+f 130 133 134
+f 130 134 131
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_4.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.01176908 -0.02587313 -0.02608532
+v 0.01176908 -0.02586921 -0.02669052
+v 0.01187011 -0.02582211 -0.02661152
+v 0.01187011 -0.02582211 -0.02616066
+v 0.01232983 -0.02556113 -0.02576934
+v 0.01176908 -0.02585744 -0.02576934
+v 0.01176908 -0.02577305 -0.02762627
+v 0.01177494 -0.02576913 -0.02763113
+v 0.01246892 -0.02541001 -0.02714503
+v 0.01387592 -0.02465059 -0.02576934
+v 0.01377050 -0.02471535 -0.02576934
+v 0.01176908 -0.01883220 -0.02576932
+v 0.01176908 -0.02410894 -0.03482191
+v 0.01361238 -0.02444650 -0.02834207
+v 0.01380564 -0.02457405 -0.02718149
+v 0.01457137 -0.02405010 -0.02718149
+v 0.01393302 -0.02460938 -0.02576934
+v 0.02049218 -0.00582569 -0.02576927
+v 0.01176908 -0.00582567 -0.02975536
+v 0.01176908 -0.02350846 -0.03634708
+v 0.01345426 -0.02281967 -0.03571269
+v 0.01557281 -0.02328871 -0.02718149
+v 0.01640881 -0.02274121 -0.02627609
+v 0.01643809 -0.02276673 -0.02576933
+v 0.02672630 -0.00582569 -0.02576927
+v 0.01176908 -0.00582565 -0.03490569
+v 0.01176908 -0.02288835 -0.03720505
+v 0.01195649 -0.02283340 -0.03717224
+v 0.01252017 -0.02308263 -0.03627294
+v 0.01297696 -0.02246841 -0.03673109
+v 0.01406479 -0.02194054 -0.03631061
+v 0.01510869 -0.02141266 -0.03589134
+v 0.01529317 -0.02156769 -0.03482190
+v 0.01633853 -0.02268234 -0.02718148
+v 0.01732533 -0.02180909 -0.02721186
+v 0.01800321 -0.02127533 -0.02672332
+v 0.01803688 -0.02130477 -0.02576933
+v 0.02654329 -0.00664792 -0.02576927
+v 0.02665456 -0.00582568 -0.02659322
+v 0.02025060 -0.00582564 -0.03796211
+v 0.01176908 -0.01887925 -0.03794150
+v 0.01176908 -0.02198370 -0.03763890
+v 0.01252017 -0.02197389 -0.03741408
+v 0.01365484 -0.02145190 -0.03725488
+v 0.01467532 -0.02104765 -0.03690974
+v 0.01569579 -0.02050017 -0.03643578
+v 0.01667967 -0.01995267 -0.03596060
+v 0.01605889 -0.02090637 -0.03482190
+v 0.01792415 -0.02120272 -0.02774171
+v 0.01872501 -0.02047272 -0.02719120
+v 0.01951562 -0.01974272 -0.02663945
+v 0.01955223 -0.01978983 -0.02576932
+v 0.01879968 -0.02055123 -0.02576933
+v 0.02653304 -0.00669305 -0.02576927
+v 0.02639395 -0.00676369 -0.02718142
+v 0.02660332 -0.00582568 -0.02718142
+v 0.02178058 -0.00582564 -0.03812981
+v 0.02025060 -0.00676365 -0.03806540
+v 0.01260069 -0.01894793 -0.03817240
+v 0.01176908 -0.02047072 -0.03809463
+v 0.01260069 -0.02047072 -0.03800105
+v 0.01415117 -0.02051193 -0.03751008
+v 0.01526096 -0.02003115 -0.03729619
+v 0.01628143 -0.01956803 -0.03697900
+v 0.01723895 -0.01899700 -0.03645886
+v 0.01817305 -0.01842792 -0.03593751
+v 0.01764304 -0.01938358 -0.03482189
+v 0.01687878 -0.02014498 -0.03482189
+v 0.01944535 -0.01966423 -0.02765785
+v 0.02001634 -0.01907356 -0.02716202
+v 0.02089188 -0.01802762 -0.02718147
+v 0.02096508 -0.01812183 -0.02576932
+v 0.02025792 -0.01895779 -0.02576932
+v 0.02651694 -0.00676370 -0.02576927
+v 0.02467071 -0.00676366 -0.03482184
+v 0.02597522 -0.00828648 -0.02718143
+v 0.02562530 -0.00909890 -0.02799809
+v 0.02488008 -0.00582565 -0.03482184
+v 0.02330764 -0.00582564 -0.03749666
+v 0.02178058 -0.00676365 -0.03807756
+v 0.02025060 -0.00981119 -0.03816264
+v 0.02025060 -0.00828644 -0.03817479
+v 0.01719210 -0.01437956 -0.03818332
+v 0.01566065 -0.01742514 -0.03807881
+v 0.01413067 -0.01894793 -0.03807032
+v 0.01572800 -0.01901465 -0.03754653
+v 0.01677923 -0.01855350 -0.03729983
+v 0.01779970 -0.01801189 -0.03695591
+v 0.01870744 -0.01741141 -0.03637621
+v 0.01959908 -0.01681289 -0.03579531
+v 0.01911446 -0.01772932 -0.03482189
+v 0.01835020 -0.01862219 -0.03482189
+v 0.02145995 -0.01726623 -0.02718146
+v 0.02151997 -0.01736043 -0.02576931
+v 0.02547596 -0.01012522 -0.02576929
+v 0.02417438 -0.00784099 -0.03580258
+v 0.02567655 -0.00924215 -0.02718143
+v 0.02539690 -0.01000354 -0.02718144
+v 0.02485665 -0.01133402 -0.02718144
+v 0.02419781 -0.01234464 -0.02826425
+v 0.02257559 -0.01215033 -0.03564703
+v 0.02401480 -0.00885750 -0.03516699
+v 0.02439253 -0.00582565 -0.03631420
+v 0.02431933 -0.00676366 -0.03607843
+v 0.02400601 -0.00582564 -0.03702999
+v 0.02311438 -0.00676365 -0.03748329
+v 0.02178058 -0.00828644 -0.03791594
+v 0.02025060 -0.01133398 -0.03799858
+v 0.01872208 -0.01285677 -0.03815415
+v 0.01725066 -0.01747224 -0.03752951
+v 0.01719210 -0.01590039 -0.03803142
+v 0.01822136 -0.01699735 -0.03727430
+v 0.01960933 -0.01532934 -0.03720381
+v 0.01924184 -0.01634388 -0.03681493
+v 0.01991093 -0.01586311 -0.03632274
+v 0.02128132 -0.01406167 -0.03603593
+v 0.02097533 -0.01507817 -0.03533108
+v 0.02264147 -0.01528817 -0.02817312
+v 0.02222567 -0.01619086 -0.02718146
+v 0.02157854 -0.01727801 -0.02576931
+v 0.02497817 -0.01133403 -0.02576929
+v 0.02370148 -0.00832373 -0.03632757
+v 0.02388010 -0.00676365 -0.03684284
+v 0.02275860 -0.01133399 -0.03597637
+v 0.02305728 -0.00990147 -0.03647220
+v 0.02430176 -0.01256442 -0.02718145
+v 0.02392988 -0.01332581 -0.02718145
+v 0.02095630 -0.01352201 -0.03705433
+v 0.02228423 -0.01133399 -0.03673956
+v 0.02249945 -0.01047054 -0.03706282
+v 0.02403676 -0.00582564 -0.03697652
+v 0.02269564 -0.00945600 -0.03723052
+v 0.02288890 -0.00828644 -0.03736056
+v 0.02190649 -0.00990146 -0.03755622
+v 0.02151851 -0.01133398 -0.03742862
+v 0.02036773 -0.01295096 -0.03756960
+v 0.01872208 -0.01437956 -0.03790502
+v 0.01872794 -0.01586310 -0.03745295
+v 0.01991679 -0.01437956 -0.03736908
+v 0.02072497 -0.01449339 -0.03646735
+v 0.02335302 -0.01437960 -0.02718145
+v 0.02273371 -0.01542946 -0.02718146
+v 0.02280399 -0.01551385 -0.02576931
+v 0.02276446 -0.01557272 -0.02576931
+v 0.02228570 -0.01627329 -0.02576931
+v 0.02398551 -0.01342002 -0.02576930
+v 0.02352139 -0.01429915 -0.02576930
+v 0.02347747 -0.01437961 -0.02576930
+v 0.02122276 -0.01250747 -0.03726092
+v 0.02285084 -0.01543536 -0.02576931
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 19
+f 1 19 26
+f 1 26 41
+f 1 41 60
+f 1 60 42
+f 1 42 27
+f 1 27 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 5 4
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 5
+f 5 11 10
+f 5 10 17
+f 5 17 24
+f 5 24 37
+f 5 37 53
+f 5 53 52
+f 5 52 73
+f 5 73 72
+f 5 72 94
+f 5 94 120
+f 5 120 145
+f 5 145 144
+f 5 144 143
+f 5 143 150
+f 5 150 148
+f 5 148 147
+f 5 147 146
+f 5 146 121
+f 5 121 95
+f 5 95 74
+f 5 74 54
+f 5 54 38
+f 5 38 25
+f 5 25 18
+f 5 18 12
+f 5 12 6
+f 7 13 8
+f 8 14 15
+f 8 15 9
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 14 21 16
+f 14 16 15
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 25 39
+f 18 39 56
+f 18 56 78
+f 18 78 103
+f 18 103 131
+f 18 131 105
+f 18 105 79
+f 18 79 57
+f 18 57 40
+f 18 40 26
+f 18 26 19
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 25 38 39
+f 26 40 41
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 30
+f 28 30 29
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 68 67
+f 49 67 69
+f 49 69 50
+f 50 69 51
+f 51 69 70
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 54 74 55
+f 55 75 78
+f 55 78 56
+f 55 74 76
+f 55 76 77
+f 55 77 75
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 58
+f 58 82 59
+f 59 82 83
+f 59 83 84
+f 59 84 85
+f 59 85 60
+f 60 85 61
+f 61 85 62
+f 62 85 86
+f 62 86 63
+f 63 86 87
+f 63 87 64
+f 64 87 88
+f 64 88 65
+f 65 88 66
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 92
+f 66 92 67
+f 67 92 69
+f 69 92 91
+f 69 91 90
+f 69 90 71
+f 69 71 70
+f 71 90 93
+f 71 93 72
+f 72 93 94
+f 74 95 76
+f 75 77 96
+f 75 96 78
+f 76 95 97
+f 76 97 77
+f 77 97 98
+f 77 98 99
+f 77 99 100
+f 77 100 101
+f 77 101 102
+f 77 102 96
+f 78 96 104
+f 78 104 103
+f 79 105 106
+f 79 106 80
+f 80 106 107
+f 80 107 81
+f 81 108 109
+f 81 109 83
+f 81 83 82
+f 81 107 108
+f 83 109 84
+f 84 110 86
+f 84 86 85
+f 84 109 111
+f 84 111 110
+f 86 110 87
+f 87 110 112
+f 87 112 88
+f 88 112 113
+f 88 113 114
+f 88 114 89
+f 89 114 90
+f 90 114 115
+f 90 115 116
+f 90 116 117
+f 90 117 93
+f 93 117 118
+f 93 118 119
+f 93 119 94
+f 94 119 120
+f 95 121 99
+f 95 99 98
+f 95 98 97
+f 96 122 123
+f 96 123 104
+f 96 102 101
+f 96 101 124
+f 96 124 125
+f 96 125 122
+f 99 126 100
+f 99 121 126
+f 100 126 127
+f 100 127 101
+f 101 128 129
+f 101 129 130
+f 101 130 124
+f 101 127 118
+f 101 118 117
+f 101 117 116
+f 101 116 128
+f 103 104 131
+f 104 123 131
+f 105 131 123
+f 105 123 132
+f 105 132 133
+f 105 133 106
+f 106 133 107
+f 107 133 134
+f 107 134 108
+f 108 135 136
+f 108 136 137
+f 108 137 109
+f 108 134 135
+f 109 137 111
+f 110 111 138
+f 110 138 112
+f 111 137 138
+f 112 138 113
+f 113 138 139
+f 113 139 128
+f 113 128 114
+f 114 128 140
+f 114 140 115
+f 115 140 116
+f 116 140 128
+f 118 141 142
+f 118 142 119
+f 118 127 141
+f 119 142 143
+f 119 143 144
+f 119 144 145
+f 119 145 120
+f 121 146 126
+f 122 125 130
+f 122 130 123
+f 123 130 132
+f 124 130 125
+f 126 146 127
+f 127 146 147
+f 127 147 148
+f 127 148 141
+f 128 149 130
+f 128 130 129
+f 128 139 149
+f 130 149 135
+f 130 135 132
+f 132 135 134
+f 132 134 133
+f 135 149 136
+f 136 149 139
+f 136 139 137
+f 137 139 138
+f 141 148 142
+f 142 148 150
+f 142 150 143
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_5.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03090827 0.00538504 0.02782987
+v 0.02871991 0.01237166 0.03743420
+v 0.02947188 0.00999239 0.03700116
+v 0.02989757 0.00847005 0.03700115
+v 0.03014610 0.00746472 0.03700115
+v 0.03030160 0.00668782 0.03814512
+v 0.03054376 0.00538500 0.03700114
+v 0.02940815 0.00538519 -0.01494999
+v 0.02871736 0.01237166 0.03794479
+v 0.02453818 0.01237189 -0.02564654
+v 0.02934315 0.00999239 0.03852647
+v 0.02976247 0.00847005 0.03852646
+v 0.03007218 0.00709611 0.03860402
+v 0.03015120 0.00592118 0.03916630
+v 0.03039336 0.00541783 0.03860401
+v 0.03039846 0.00538500 0.03860401
+v 0.02928707 0.00538520 -0.01648176
+v 0.02870589 0.01237166 0.03798357
+v 0.02887413 0.01148807 0.03848123
+v 0.02495113 0.01151634 -0.02564655
+v 0.01788770 0.01237189 -0.02564654
+v 0.02873903 0.01096147 0.03937315
+v 0.03038444 0.00538500 0.03864925
+v 0.02888687 0.00999238 0.03952180
+v 0.02909589 0.00847004 0.03968337
+v 0.02927688 0.00694701 0.03978678
+v 0.02960061 0.00538499 0.03972860
+v 0.02899011 0.00538521 -0.01800708
+v 0.02844461 0.01237166 0.03875915
+v 0.02854657 0.01197705 0.03895304
+v 0.02546604 0.01026208 -0.02564655
+v 0.02868549 0.00538521 -0.01956470
+v 0.02081529 0.01237169 0.03088699
+v 0.02070186 0.00538523 -0.02564657
+v 0.02331719 0.00538503 0.03084818
+v 0.02774235 0.01237165 0.03970278
+v 0.02798323 0.01148806 0.03975447
+v 0.02790294 0.00999238 0.04010349
+v 0.02955472 0.00538499 0.03976092
+v 0.02790294 0.00847004 0.04028445
+v 0.02650096 0.00694041 -0.02564656
+v 0.02833627 0.00538522 -0.02100600
+v 0.02331974 0.00538503 0.03088696
+v 0.02342425 0.00538502 0.03241873
+v 0.02090578 0.01237168 0.03208914
+v 0.02684635 0.00538523 -0.02564657
+v 0.02637223 0.01237165 0.04030385
+v 0.02790294 0.00694701 0.04036201
+v 0.02790294 0.00542329 0.04038138
+v 0.02790294 0.00538499 0.04037492
+v 0.02637223 0.01151610 0.04037494
+v 0.02683871 0.00542353 -0.02564657
+v 0.02683998 0.00541738 -0.02564657
+v 0.02359503 0.00538502 0.03390527
+v 0.02099245 0.01237168 0.03294228
+v 0.02484152 0.01237165 0.04016166
+v 0.02637223 0.00999238 0.04034909
+v 0.02637223 0.00694701 0.04003884
+v 0.02624478 0.00538499 0.03976092
+v 0.02786725 0.00538499 0.04036200
+v 0.02360013 0.00538502 0.03394405
+v 0.02113647 0.01237168 0.03394408
+v 0.02369062 0.01237165 0.03958644
+v 0.02624350 0.00538841 0.03976092
+v 0.02555016 0.00587262 0.03935374
+v 0.02517672 0.00538500 0.03864925
+v 0.02389200 0.00538501 0.03550168
+v 0.02134932 0.01237167 0.03502989
+v 0.02292208 0.01237166 0.03874623
+v 0.02240335 0.01237166 0.03798357
+v 0.02432151 0.00538500 0.03694943
+v 0.02143981 0.01237167 0.03546939
+v 0.02389965 0.00538501 0.03553399
+v 0.02189991 0.01237166 0.03692361
+v 0.02168069 0.01237167 0.03624497
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 23
+f 1 23 27
+f 1 27 39
+f 1 39 50
+f 1 50 60
+f 1 60 59
+f 1 59 66
+f 1 66 71
+f 1 71 73
+f 1 73 67
+f 1 67 61
+f 1 61 54
+f 1 54 44
+f 1 44 43
+f 1 43 35
+f 1 35 34
+f 1 34 46
+f 1 46 42
+f 1 42 32
+f 1 32 28
+f 1 28 17
+f 1 17 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 21
+f 2 21 33
+f 2 33 45
+f 2 45 55
+f 2 55 62
+f 2 62 68
+f 2 68 72
+f 2 72 75
+f 2 75 74
+f 2 74 70
+f 2 70 69
+f 2 69 63
+f 2 63 56
+f 2 56 47
+f 2 47 36
+f 2 36 29
+f 2 29 18
+f 2 18 9
+f 3 9 11
+f 3 11 6
+f 3 6 4
+f 4 6 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 10
+f 9 18 19
+f 9 19 11
+f 10 17 20
+f 10 20 31
+f 10 31 41
+f 10 41 52
+f 10 52 53
+f 10 53 46
+f 10 46 34
+f 10 34 21
+f 11 19 22
+f 11 22 12
+f 12 22 14
+f 12 14 13
+f 14 23 16
+f 14 16 15
+f 14 22 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 23
+f 17 28 20
+f 18 29 30
+f 18 30 19
+f 19 30 22
+f 20 28 32
+f 20 32 31
+f 21 34 35
+f 21 35 33
+f 22 36 24
+f 22 30 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 39 27
+f 26 38 40
+f 26 40 39
+f 29 36 30
+f 31 32 42
+f 31 42 41
+f 33 35 43
+f 33 43 44
+f 33 44 45
+f 36 47 38
+f 36 38 37
+f 38 47 40
+f 39 40 48
+f 39 48 49
+f 39 49 50
+f 40 47 51
+f 40 51 48
+f 41 42 52
+f 42 46 53
+f 42 53 52
+f 44 54 55
+f 44 55 45
+f 47 56 51
+f 48 51 49
+f 49 51 57
+f 49 57 56
+f 49 56 58
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 51 56 57
+f 54 61 55
+f 55 61 62
+f 56 63 64
+f 56 64 58
+f 58 64 59
+f 59 64 65
+f 59 65 66
+f 61 67 62
+f 62 67 68
+f 63 69 65
+f 63 65 64
+f 65 69 66
+f 66 69 70
+f 66 70 71
+f 67 72 68
+f 67 73 72
+f 70 74 71
+f 71 74 75
+f 71 75 72
+f 71 72 73
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_6.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.00051151 -0.01610011 -0.02962521
+v 0.00051151 -0.02360950 -0.02581036
+v 0.00051151 -0.01610009 -0.03501285
+v -0.01764830 -0.01610012 -0.02857145
+v -0.01764830 -0.01975490 -0.02581034
+v 0.00051151 -0.02983997 -0.02581038
+v 0.00051151 -0.02351849 -0.03794013
+v -0.01764830 -0.01909887 -0.03776307
+v -0.01764830 -0.01889491 -0.03766364
+v -0.01764830 -0.01610009 -0.03617454
+v -0.01764830 -0.02659037 -0.02581037
+v 0.00051151 -0.02977932 -0.02702542
+v 0.00019859 -0.02987305 -0.02581038
+v -0.00117397 -0.02995297 -0.02718185
+v 0.00035505 -0.02978897 -0.02718185
+v 0.00051151 -0.02504131 -0.03815840
+v 0.00035505 -0.02504131 -0.03816447
+v -0.01764830 -0.02047285 -0.03815597
+v -0.01690334 -0.02700105 -0.02581037
+v -0.01764830 -0.02656280 -0.02673802
+v 0.00051151 -0.02976417 -0.02718185
+v -0.00270477 -0.03012386 -0.02581038
+v -0.00117397 -0.02840393 -0.03482130
+v -0.00270477 -0.03003979 -0.02718185
+v -0.00270477 -0.02849351 -0.03482130
+v 0.00035505 -0.02823029 -0.03482130
+v 0.00051151 -0.02665785 -0.03748784
+v -0.00117397 -0.02656413 -0.03765760
+v -0.00270477 -0.02656413 -0.03771217
+v -0.00117397 -0.02504131 -0.03818993
+v -0.01764830 -0.02082841 -0.03818264
+v -0.01599659 -0.02747236 -0.02581037
+v -0.01764830 -0.02656004 -0.02678774
+v 0.00051151 -0.02820410 -0.03482130
+v -0.00423557 -0.03017899 -0.02581038
+v -0.00117397 -0.02788714 -0.03634919
+v -0.00423557 -0.03005081 -0.02718185
+v -0.00270477 -0.02797396 -0.03634919
+v -0.00423557 -0.02850453 -0.03482130
+v 0.00051151 -0.02765975 -0.03643529
+v 0.00051151 -0.02689075 -0.03734111
+v -0.00017833 -0.02735379 -0.03713981
+v 0.00034083 -0.02668954 -0.03748662
+v -0.00117397 -0.02739376 -0.03717619
+v -0.00270477 -0.02743786 -0.03721378
+v -0.00423557 -0.02744475 -0.03721985
+v -0.00423557 -0.02656413 -0.03772066
+v -0.00270477 -0.02504131 -0.03819721
+v -0.01764830 -0.02199567 -0.03794497
+v -0.01494584 -0.02199567 -0.03818871
+v -0.01188602 -0.02351849 -0.03818993
+v -0.01647664 -0.02199567 -0.03814990
+v -0.01504184 -0.02787202 -0.02581037
+v -0.01764830 -0.02653386 -0.02718184
+v -0.01664554 -0.02704238 -0.02718184
+v -0.01588103 -0.02740483 -0.02718184
+v -0.00439381 -0.03017072 -0.02581038
+v -0.00576637 -0.02998328 -0.02718185
+v 0.00034083 -0.02766664 -0.03647167
+v -0.00423557 -0.02798498 -0.03634919
+v -0.00576637 -0.02843287 -0.03482130
+v -0.00576637 -0.02792021 -0.03634919
+v 0.00051151 -0.02753434 -0.03667296
+v -0.00576637 -0.02741581 -0.03719438
+v -0.00576637 -0.02656413 -0.03768064
+v -0.00423557 -0.02504131 -0.03819721
+v -0.00729539 -0.02504131 -0.03816931
+v -0.00576637 -0.02504131 -0.03818993
+v -0.01764830 -0.02239119 -0.03779946
+v -0.01494584 -0.02351849 -0.03795468
+v -0.01341504 -0.02351849 -0.03814506
+v -0.01494584 -0.02791198 -0.02581037
+v -0.01764830 -0.02484012 -0.03476187
+v -0.01566590 -0.02578275 -0.03543366
+v -0.01577080 -0.02735246 -0.02802339
+v -0.01494584 -0.02779208 -0.02718184
+v -0.00576637 -0.03002740 -0.02581038
+v -0.00729539 -0.02982894 -0.02718185
+v -0.00729539 -0.02827301 -0.03482130
+v -0.00737362 -0.02769420 -0.03648864
+v -0.00691669 -0.02737033 -0.03715558
+v -0.00737362 -0.02670470 -0.03749996
+v -0.00882441 -0.02644286 -0.03750966
+v -0.01035521 -0.02504131 -0.03800804
+v -0.00882441 -0.02504131 -0.03811596
+v -0.01764830 -0.02326354 -0.03739931
+v -0.01653886 -0.02361772 -0.03754361
+v -0.01494584 -0.02470505 -0.03739203
+v -0.01188602 -0.02504131 -0.03782372
+v -0.01341148 -0.02512813 -0.03750116
+v -0.01047434 -0.02933834 -0.02581038
+v -0.01341504 -0.02836262 -0.02718184
+v -0.01227360 -0.02873747 -0.02718185
+v -0.01764830 -0.02451213 -0.03598540
+v -0.01764296 -0.02451075 -0.03600238
+v -0.01653886 -0.02481118 -0.03644619
+v -0.01464537 -0.02599498 -0.03596479
+v -0.01121218 -0.02735380 -0.03565073
+v -0.01341504 -0.02676673 -0.03482130
+v -0.00882441 -0.02970767 -0.02581038
+v -0.00882441 -0.02958777 -0.02718185
+v -0.00882441 -0.02803184 -0.03482130
+v -0.00882441 -0.02762943 -0.03619519
+v -0.00793723 -0.02730556 -0.03709131
+v -0.01035521 -0.02625130 -0.03742357
+v -0.01764830 -0.02355708 -0.03722227
+v -0.01607127 -0.02444734 -0.03723803
+v -0.01289944 -0.02588472 -0.03718347
+v -0.01188602 -0.02603769 -0.03729382
+v -0.01150909 -0.02896348 -0.02718185
+v -0.01035521 -0.02937003 -0.02581038
+v -0.01129752 -0.02890146 -0.02810101
+v -0.01764830 -0.02450799 -0.03599753
+v -0.01764830 -0.02450248 -0.03600723
+v -0.01764830 -0.02405597 -0.03670205
+v -0.01709180 -0.02419239 -0.03702097
+v -0.01507207 -0.02552091 -0.03642436
+v -0.01391997 -0.02569316 -0.03698338
+v -0.01341148 -0.02619619 -0.03642437
+v -0.01178823 -0.02682736 -0.03623521
+v -0.01035521 -0.02701203 -0.03664265
+v -0.01035521 -0.02746268 -0.03587870
+v -0.00898265 -0.02967322 -0.02581038
+v -0.01035521 -0.02926253 -0.02718185
+v -0.00882441 -0.02720496 -0.03695914
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 34
+f 1 34 40
+f 1 40 63
+f 1 63 41
+f 1 41 27
+f 1 27 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 32
+f 2 32 53
+f 2 53 72
+f 2 72 91
+f 2 91 111
+f 2 111 123
+f 2 123 100
+f 2 100 77
+f 2 77 57
+f 2 57 35
+f 2 35 22
+f 2 22 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 8
+f 4 8 18
+f 4 18 31
+f 4 31 49
+f 4 49 69
+f 4 69 86
+f 4 86 106
+f 4 106 115
+f 4 115 114
+f 4 114 113
+f 4 113 94
+f 4 94 73
+f 4 73 54
+f 4 54 33
+f 4 33 20
+f 4 20 11
+f 4 11 5
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 11 20 19
+f 12 15 21
+f 13 22 14
+f 14 23 15
+f 14 22 24
+f 14 24 25
+f 14 25 23
+f 15 23 26
+f 15 26 21
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 19 20 32
+f 20 33 32
+f 21 26 34
+f 22 35 24
+f 23 36 26
+f 23 25 36
+f 24 35 37
+f 24 37 39
+f 24 39 25
+f 25 38 36
+f 25 39 60
+f 25 60 38
+f 26 36 40
+f 26 40 34
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 42
+f 28 42 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 31
+f 31 48 50
+f 31 50 51
+f 31 51 52
+f 31 52 49
+f 32 33 54
+f 32 54 55
+f 32 55 56
+f 32 56 53
+f 35 57 58
+f 35 58 37
+f 36 44 42
+f 36 42 59
+f 36 59 40
+f 36 38 44
+f 37 58 39
+f 38 45 44
+f 38 60 45
+f 39 58 61
+f 39 61 62
+f 39 62 60
+f 40 59 63
+f 41 63 42
+f 42 63 59
+f 45 60 46
+f 46 60 64
+f 46 64 65
+f 46 65 47
+f 47 66 48
+f 47 65 67
+f 47 67 68
+f 47 68 66
+f 48 66 50
+f 49 52 70
+f 49 70 69
+f 50 66 51
+f 51 71 52
+f 51 66 68
+f 51 68 67
+f 51 67 71
+f 52 71 70
+f 53 56 72
+f 54 73 74
+f 54 74 75
+f 54 75 55
+f 55 75 56
+f 56 75 76
+f 56 76 72
+f 57 77 78
+f 57 78 58
+f 58 78 61
+f 60 62 64
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 62 80 81
+f 62 81 64
+f 64 81 65
+f 65 81 82
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 67
+f 67 85 71
+f 69 70 87
+f 69 87 86
+f 70 88 87
+f 70 71 89
+f 70 89 90
+f 70 90 88
+f 71 85 84
+f 71 84 89
+f 72 76 92
+f 72 92 93
+f 72 93 91
+f 73 94 95
+f 73 95 74
+f 74 95 96
+f 74 96 97
+f 74 97 98
+f 74 98 99
+f 74 99 75
+f 75 99 92
+f 75 92 76
+f 77 100 78
+f 78 100 101
+f 78 101 102
+f 78 102 79
+f 79 102 103
+f 79 103 80
+f 80 103 104
+f 80 104 81
+f 81 104 83
+f 81 83 82
+f 83 105 84
+f 83 104 105
+f 84 105 89
+f 86 87 107
+f 86 107 106
+f 87 88 107
+f 88 90 108
+f 88 108 107
+f 89 109 90
+f 89 105 109
+f 90 109 108
+f 91 93 110
+f 91 110 111
+f 92 99 98
+f 92 98 112
+f 92 112 93
+f 93 112 110
+f 94 113 95
+f 95 113 114
+f 95 114 115
+f 95 115 116
+f 95 116 96
+f 96 116 117
+f 96 117 97
+f 97 118 119
+f 97 119 98
+f 97 117 118
+f 98 120 121
+f 98 121 122
+f 98 122 102
+f 98 102 112
+f 98 119 120
+f 100 123 124
+f 100 124 101
+f 101 124 112
+f 101 112 102
+f 102 122 103
+f 103 125 104
+f 103 122 125
+f 104 125 108
+f 104 108 109
+f 104 109 105
+f 106 107 116
+f 106 116 115
+f 107 108 118
+f 107 118 116
+f 108 125 121
+f 108 121 120
+f 108 120 118
+f 110 112 124
+f 110 124 111
+f 111 124 123
+f 116 118 117
+f 118 120 119
+f 121 125 122
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_7.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.00423602 0.03031753 -0.02617546
+v -0.00371108 0.03031444 -0.02617546
+v -0.00270510 0.03021882 -0.02718152
+v -0.00423602 0.03022499 -0.02718152
+v -0.00576504 0.03015404 -0.02718152
+v -0.00576504 0.03018643 -0.02617546
+v -0.00270510 0.03027434 -0.02617546
+v -0.00218206 0.03024503 -0.02617546
+v -0.00117417 0.03013245 -0.02718152
+v -0.00270510 0.02865494 -0.03482162
+v -0.00423602 0.02866419 -0.03482162
+v -0.00576504 0.02859170 -0.03482162
+v -0.00729597 0.03000598 -0.02718152
+v -0.00830386 0.02993966 -0.02617546
+v 0.00035485 0.03001060 -0.02617546
+v -0.00117417 0.02856086 -0.03482163
+v 0.00035485 0.02996588 -0.02718152
+v -0.00270510 0.02812592 -0.03634895
+v -0.00117417 0.02804264 -0.03634895
+v -0.00423602 0.02813518 -0.03634895
+v -0.00576504 0.02807040 -0.03634895
+v -0.00729597 0.02843130 -0.03482163
+v -0.00882690 0.02976383 -0.02718152
+v -0.00882690 0.02985637 -0.02617546
+v 0.00051329 0.02998438 -0.02617546
+v 0.00035485 0.02838658 -0.03482163
+v 0.00051329 0.02993966 -0.02718152
+v -0.00270510 0.02760154 -0.03719615
+v -0.00117417 0.02756453 -0.03716438
+v 0.00051329 0.02832334 -0.03495459
+v 0.00029949 0.02783443 -0.03646190
+v -0.00024836 0.02753060 -0.03713261
+v -0.00423602 0.02760617 -0.03720085
+v -0.00576504 0.02758149 -0.03717849
+v -0.00679966 0.02754294 -0.03714437
+v -0.00730360 0.02785910 -0.03647485
+v -0.00882690 0.02779741 -0.03616068
+v -0.00882690 0.02818299 -0.03482163
+v -0.01126454 0.02907596 -0.02807107
+v -0.01035591 0.02942761 -0.02718152
+v -0.01035591 0.02951089 -0.02617546
+v 0.00051329 0.02356372 -0.02617548
+v 0.00051329 0.02836036 -0.03482163
+v -0.00270510 0.02674864 -0.03769152
+v -0.00117417 0.02674864 -0.03764328
+v 0.00051329 0.02782517 -0.03641602
+v 0.00051329 0.02766168 -0.03672548
+v 0.00051329 0.02747045 -0.03706789
+v 0.00051329 0.02682576 -0.03747972
+v 0.00029949 0.02686432 -0.03747855
+v -0.00423602 0.02674864 -0.03769741
+v -0.00576504 0.02674864 -0.03765858
+v -0.00730360 0.02687511 -0.03749031
+v -0.00882690 0.02660212 -0.03750443
+v -0.00781900 0.02746891 -0.03706789
+v -0.00882690 0.02736248 -0.03692551
+v -0.01035591 0.02762930 -0.03584415
+v -0.01117674 0.02752750 -0.03562647
+v -0.01341586 0.02691520 -0.03482163
+v -0.01341586 0.02851147 -0.02718153
+v -0.01222853 0.02890476 -0.02718152
+v -0.01146307 0.02913611 -0.02718152
+v -0.01175513 0.02908367 -0.02617546
+v 0.00051329 0.01456122 -0.02984673
+v -0.01898790 0.01876094 -0.02617550
+v -0.00270510 0.02522483 -0.03819515
+v 0.00035485 0.02522483 -0.03815867
+v -0.00117417 0.02522483 -0.03818691
+v 0.00051329 0.02664531 -0.03756091
+v 0.00051329 0.02522483 -0.03815279
+v -0.00423602 0.02522483 -0.03819515
+v -0.00576504 0.02522483 -0.03818691
+v -0.00729597 0.02522483 -0.03816220
+v -0.00882690 0.02522483 -0.03810808
+v -0.01035591 0.02522483 -0.03799747
+v -0.01035591 0.02641396 -0.03741383
+v -0.01188493 0.02620421 -0.03728204
+v -0.01286610 0.02605923 -0.03717614
+v -0.01035591 0.02717586 -0.03660781
+v -0.01176658 0.02698923 -0.03622069
+v -0.01339295 0.02635997 -0.03641248
+v -0.01461273 0.02616872 -0.03594417
+v -0.01563399 0.02595126 -0.03533701
+v -0.01573516 0.02752130 -0.02797695
+v -0.01494679 0.02793156 -0.02718153
+v -0.01494679 0.02802564 -0.02617547
+v -0.01442184 0.02822306 -0.02617547
+v 0.00051329 0.01456124 -0.03482403
+v -0.01898790 0.01456122 -0.02872183
+v -0.01898790 0.02597282 -0.02617547
+v -0.01800673 0.02065649 -0.03819045
+v 0.00051329 0.02506906 -0.03814808
+v -0.01188493 0.02370103 -0.03818338
+v -0.01341586 0.02370103 -0.03813749
+v -0.01188493 0.02522483 -0.03781038
+v -0.01339295 0.02530195 -0.03749150
+v -0.01494679 0.02486856 -0.03738678
+v -0.01604440 0.02462179 -0.03723499
+v -0.01388736 0.02586181 -0.03696318
+v -0.01505178 0.02568135 -0.03641249
+v -0.01652353 0.02497034 -0.03643250
+v -0.01762496 0.02467730 -0.03597948
+v -0.01791129 0.02484233 -0.03482164
+v -0.01877220 0.02598670 -0.02794754
+v -0.01659607 0.02720205 -0.02718153
+v -0.01583060 0.02756449 -0.02718153
+v -0.01562253 0.02774340 -0.02617547
+v 0.00051329 0.01456433 -0.03482521
+v -0.01898790 0.01456124 -0.03600894
+v -0.01898790 0.01774305 -0.03752800
+v -0.01887337 0.02604068 -0.02617547
+v -0.01898790 0.02594660 -0.02718153
+v -0.01898790 0.01909104 -0.03801749
+v -0.01898790 0.02065649 -0.03808926
+v -0.01647580 0.02218030 -0.03813985
+v 0.00051329 0.02370103 -0.03793393
+v -0.01494679 0.02370103 -0.03794687
+v -0.01652353 0.02379202 -0.03753857
+v -0.01800673 0.02332007 -0.03735030
+v -0.01893445 0.02304246 -0.03719028
+v -0.01706565 0.02435960 -0.03699848
+v -0.01808500 0.02411436 -0.03643250
+v -0.01898790 0.02360231 -0.03635366
+v -0.01898790 0.02420535 -0.03482164
+v -0.01867484 0.02440740 -0.03482164
+v -0.01898790 0.02577077 -0.02815934
+v -0.01884664 0.02602988 -0.02718153
+v -0.01800673 0.02648333 -0.02718153
+v -0.01618565 0.02749354 -0.02617547
+v -0.01592414 0.02761693 -0.02617547
+v -0.01800673 0.02651880 -0.02617547
+v -0.01898790 0.02218030 -0.03758917
+v -0.01800673 0.02218030 -0.03787981
+v -0.01898790 0.02295917 -0.03721382
+v -0.01898790 0.02306868 -0.03710556
+v -0.01668960 0.02722672 -0.02617547
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 24
+f 1 24 41
+f 1 41 63
+f 1 63 87
+f 1 87 86
+f 1 86 107
+f 1 107 130
+f 1 130 129
+f 1 129 136
+f 1 136 131
+f 1 131 111
+f 1 111 90
+f 1 90 65
+f 1 65 42
+f 1 42 25
+f 1 25 15
+f 1 15 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 16
+f 10 18 20
+f 10 20 11
+f 10 16 19
+f 10 19 18
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 27
+f 15 27 17
+f 16 17 26
+f 16 26 19
+f 17 27 43
+f 17 43 26
+f 18 28 20
+f 18 19 29
+f 18 29 28
+f 19 26 30
+f 19 30 31
+f 19 31 32
+f 19 32 29
+f 20 33 34
+f 20 34 21
+f 20 28 33
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+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 64
+f 25 64 88
+f 25 88 108
+f 25 108 116
+f 25 116 92
+f 25 92 70
+f 25 70 69
+f 25 69 49
+f 25 49 48
+f 25 48 47
+f 25 47 46
+f 25 46 30
+f 25 30 43
+f 25 43 27
+f 26 43 30
+f 28 44 33
+f 28 29 45
+f 28 45 44
+f 29 32 45
+f 30 46 31
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 45
+f 33 51 34
+f 33 44 51
+f 34 52 35
+f 34 51 52
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 35 52 53
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 41
+f 41 62 61
+f 41 61 63
+f 42 65 64
+f 44 66 51
+f 44 45 67
+f 44 67 68
+f 44 68 66
+f 45 50 49
+f 45 49 69
+f 45 69 70
+f 45 70 67
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 51 66 71
+f 52 73 74
+f 52 74 54
+f 52 54 53
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 56
+f 56 77 78
+f 56 78 79
+f 56 79 57
+f 57 79 58
+f 58 79 80
+f 58 80 81
+f 58 81 82
+f 58 82 59
+f 59 82 83
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 61
+f 61 87 63
+f 64 65 89
+f 64 89 109
+f 64 109 88
+f 65 90 112
+f 65 112 126
+f 65 126 124
+f 65 124 123
+f 65 123 135
+f 65 135 134
+f 65 134 132
+f 65 132 114
+f 65 114 113
+f 65 113 110
+f 65 110 109
+f 65 109 89
+f 66 68 91
+f 66 91 71
+f 67 70 92
+f 67 92 68
+f 68 92 91
+f 71 91 93
+f 71 93 72
+f 72 93 73
+f 73 93 94
+f 73 94 74
+f 74 94 75
+f 75 94 95
+f 75 95 76
+f 76 95 77
+f 77 95 96
+f 77 96 78
+f 78 96 97
+f 78 97 98
+f 78 98 99
+f 78 99 81
+f 78 81 80
+f 78 80 79
+f 81 99 82
+f 82 99 100
+f 82 100 101
+f 82 101 102
+f 82 102 83
+f 83 102 103
+f 83 103 104
+f 83 104 84
+f 84 104 105
+f 84 105 106
+f 84 106 85
+f 85 106 86
+f 86 106 107
+f 88 109 110
+f 88 110 108
+f 90 111 112
+f 91 113 114
+f 91 114 115
+f 91 115 94
+f 91 94 93
+f 91 92 113
+f 92 116 113
+f 94 117 95
+f 94 115 117
+f 95 117 96
+f 96 117 97
+f 97 117 118
+f 97 118 98
+f 98 118 119
+f 98 119 120
+f 98 120 121
+f 98 121 99
+f 99 121 100
+f 100 121 101
+f 101 121 102
+f 102 121 122
+f 102 122 123
+f 102 123 124
+f 102 124 125
+f 102 125 103
+f 103 125 104
+f 104 125 124
+f 104 124 126
+f 104 126 112
+f 104 112 127
+f 104 127 128
+f 104 128 105
+f 105 129 106
+f 105 128 129
+f 106 129 130
+f 106 130 107
+f 108 110 113
+f 108 113 116
+f 111 127 112
+f 111 131 127
+f 114 132 133
+f 114 133 115
+f 115 133 117
+f 117 133 118
+f 118 133 119
+f 119 133 132
+f 119 132 134
+f 119 134 120
+f 120 134 135
+f 120 135 123
+f 120 123 121
+f 121 123 122
+f 127 131 128
+f 128 131 136
+f 128 136 129
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_8.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00051151 0.00009376 -0.03071126
+v 0.00051151 -0.01610011 -0.02962537
+v 0.00051151 0.00009378 -0.03490173
+v -0.01764830 0.00009376 -0.03002129
+v -0.01764830 -0.01610012 -0.02857217
+v 0.00051151 -0.01610009 -0.03501269
+v -0.01764830 -0.01610009 -0.03617530
+v 0.00035505 0.00009378 -0.03490470
+v -0.01764830 0.00009378 -0.03477222
+v -0.00576637 0.00009378 -0.03492182
+v -0.00500186 0.00009378 -0.03492778
+v -0.00423557 0.00009378 -0.03493299
+v -0.00270477 0.00009378 -0.03493448
+v -0.00117397 0.00009378 -0.03492480
+v -0.00041124 0.00009378 -0.03491512
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 7
+f 4 7 5
+f 7 9 10
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_9.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.01788870 0.01237189 -0.02564654
+v 0.01568057 0.01538206 -0.02564653
+v 0.02453860 0.01237189 -0.02564654
+v 0.02081542 0.01237169 0.03088464
+v 0.01568057 0.01906130 0.03096869
+v 0.01568057 0.02347558 -0.02564650
+v 0.02397317 0.01357346 -0.02564654
+v 0.02770146 0.01456313 0.03699927
+v 0.02871362 0.01239189 0.03744526
+v 0.02871873 0.01237166 0.03743233
+v 0.02090604 0.01237168 0.03209335
+v 0.01568057 0.01919203 0.03233252
+v 0.01568057 0.02347714 -0.02564003
+v 0.01579161 0.02339465 -0.02564650
+v 0.02345113 0.01456025 -0.02564654
+v 0.02723941 0.01551568 0.03699928
+v 0.02724324 0.01552346 0.03811749
+v 0.02871362 0.01239189 0.03793650
+v 0.02871745 0.01237166 0.03794943
+v 0.02099284 0.01237168 0.03294655
+v 0.01568057 0.01922316 0.03253290
+v 0.01645150 0.02296351 -0.02511649
+v 0.01568057 0.02827232 0.03699932
+v 0.01661487 0.02764507 0.03699932
+v 0.01580183 0.02338686 -0.02564650
+v 0.02279125 0.01567467 -0.02564653
+v 0.02563756 0.01841690 0.03758101
+v 0.02682204 0.01627834 0.03699928
+v 0.02563756 0.01841690 0.03786542
+v 0.02592475 0.01762155 0.03843421
+v 0.02678757 0.01605265 0.03858934
+v 0.02707476 0.01520750 0.03913875
+v 0.02751383 0.01464563 0.03858933
+v 0.02829497 0.01295532 0.03847945
+v 0.02844431 0.01237166 0.03876385
+v 0.02113579 0.01237168 0.03394196
+v 0.01568057 0.01944884 0.03394198
+v 0.01800485 0.02146621 -0.02564651
+v 0.01705522 0.02234871 -0.02564651
+v 0.01737942 0.02707853 0.03699932
+v 0.01836606 0.02631742 0.03699932
+v 0.01913061 0.02568084 0.03699931
+v 0.01999088 0.02491973 0.03699931
+v 0.02075543 0.02421311 0.03699931
+v 0.01568057 0.02810734 0.03861523
+v 0.01660977 0.02764041 0.03817570
+v 0.02278614 0.01568245 -0.02564653
+v 0.02429737 0.02018969 0.03699929
+v 0.02227432 0.01644044 -0.02564653
+v 0.02150722 0.01753151 -0.02564653
+v 0.02371279 0.02095079 0.03699930
+v 0.02363621 0.02085585 0.03853118
+v 0.02422717 0.02009630 0.03853117
+v 0.02408804 0.01991109 0.03930681
+v 0.02545121 0.01813674 0.03888667
+v 0.02576903 0.01712193 0.03944900
+v 0.02731472 0.01419114 0.03946839
+v 0.02756106 0.01304092 0.03965583
+v 0.02774230 0.01237165 0.03970108
+v 0.02134895 0.01237167 0.03502785
+v 0.01568057 0.01954533 0.03432979
+v 0.01801123 0.02145998 -0.02564651
+v 0.01827799 0.02624583 0.03853120
+v 0.01904254 0.02560457 0.03853119
+v 0.01990537 0.02484191 0.03853119
+v 0.02066992 0.02412906 0.03853119
+v 0.02143702 0.02336796 0.03853119
+v 0.02151615 0.02345201 0.03699931
+v 0.01953777 0.01994867 -0.02564652
+v 0.01877322 0.02071133 -0.02564651
+v 0.01568057 0.02798749 0.03882207
+v 0.01636598 0.02746608 0.03919050
+v 0.01577757 0.02804353 0.03862170
+v 0.01714840 0.02708164 0.03862170
+v 0.02095199 0.01828950 -0.02564652
+v 0.02294696 0.02188466 0.03699930
+v 0.02287166 0.02179906 0.03853118
+v 0.02266872 0.02156248 0.03940378
+v 0.02323160 0.02051187 0.03956537
+v 0.02435225 0.01913285 0.03950719
+v 0.02490109 0.01762154 0.03977865
+v 0.02606387 0.01608689 0.03965584
+v 0.02648763 0.01464562 0.03983035
+v 0.02637275 0.01304092 0.04025049
+v 0.02637275 0.01237165 0.04030220
+v 0.02143957 0.01237167 0.03547384
+v 0.01568057 0.01983950 0.03547386
+v 0.01805718 0.02606684 0.03937148
+v 0.01965903 0.02461779 0.03942318
+v 0.02119578 0.02312048 0.03943610
+v 0.02220029 0.02256016 0.03853118
+v 0.02228070 0.02264732 0.03699930
+v 0.02023722 0.01912998 -0.02564652
+v 0.01568057 0.02708007 0.03979162
+v 0.01719180 0.02639524 0.03958478
+v 0.02173696 0.02211345 0.03966232
+v 0.02331201 0.01913285 0.04005660
+v 0.02484238 0.01608689 0.04024404
+v 0.02484238 0.01456312 0.04037976
+v 0.02484238 0.01304092 0.04028281
+v 0.02484238 0.01237165 0.04016646
+v 0.02168080 0.01237167 0.03624302
+v 0.01568057 0.02047608 0.03706393
+v 0.01862899 0.02516564 0.03963002
+v 0.02020276 0.02365745 0.03967526
+v 0.01568057 0.02686684 0.03988857
+v 0.01577757 0.02687462 0.03986272
+v 0.01719180 0.02522479 0.04015357
+v 0.02025254 0.02217882 0.04023759
+v 0.02178291 0.02065506 0.04019234
+v 0.02331201 0.01761065 0.04036038
+v 0.02178291 0.01913285 0.04038625
+v 0.01568057 0.02522479 0.04037980
+v 0.01568057 0.02370103 0.04011479
+v 0.02368854 0.01237165 0.03958473
+v 0.02190034 0.01237166 0.03692170
+v 0.01568057 0.02053367 0.03718028
+v 0.01872217 0.02370103 0.04022467
+v 0.01568057 0.02550962 0.04029577
+v 0.01568057 0.02251968 0.03955890
+v 0.02292144 0.01237166 0.03874446
+v 0.02240323 0.01237166 0.03798174
+v 0.01568057 0.02147065 0.03853118
+v 0.01568057 0.02167299 0.03877034
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 39
+f 1 39 38
+f 1 38 62
+f 1 62 70
+f 1 70 69
+f 1 69 93
+f 1 93 75
+f 1 75 50
+f 1 50 49
+f 1 49 47
+f 1 47 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 19
+f 1 19 35
+f 1 35 59
+f 1 59 85
+f 1 85 101
+f 1 101 115
+f 1 115 121
+f 1 121 122
+f 1 122 116
+f 1 116 102
+f 1 102 86
+f 1 86 60
+f 1 60 36
+f 1 36 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 21
+f 2 21 37
+f 2 37 61
+f 2 61 87
+f 2 87 103
+f 2 103 117
+f 2 117 123
+f 2 123 124
+f 2 124 120
+f 2 120 114
+f 2 114 113
+f 2 113 119
+f 2 119 106
+f 2 106 94
+f 2 94 71
+f 2 71 45
+f 2 45 23
+f 2 23 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 13 22 14
+f 13 23 24
+f 13 24 22
+f 14 22 25
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 27
+f 17 27 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 20 36 37
+f 20 37 21
+f 22 38 39
+f 22 39 25
+f 22 24 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 38
+f 23 45 46
+f 23 46 24
+f 24 46 40
+f 26 47 27
+f 27 48 29
+f 27 47 49
+f 27 49 50
+f 27 50 48
+f 29 48 51
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 55
+f 29 55 30
+f 30 55 31
+f 31 55 32
+f 32 56 57
+f 32 57 35
+f 32 35 34
+f 32 34 33
+f 32 55 56
+f 35 57 58
+f 35 58 59
+f 36 60 61
+f 36 61 37
+f 38 44 62
+f 40 46 41
+f 41 46 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 44
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 62
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 72
+f 46 72 74
+f 46 74 63
+f 48 50 75
+f 48 75 51
+f 51 76 77
+f 51 77 52
+f 51 75 76
+f 52 77 54
+f 52 54 53
+f 54 78 79
+f 54 79 80
+f 54 80 56
+f 54 56 55
+f 54 77 78
+f 56 80 81
+f 56 81 82
+f 56 82 57
+f 57 82 83
+f 57 83 58
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 60 86 87
+f 60 87 61
+f 63 74 72
+f 63 72 88
+f 63 88 64
+f 64 88 65
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 67
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 68 92 69
+f 69 92 76
+f 69 76 93
+f 71 94 72
+f 72 94 95
+f 72 95 88
+f 75 93 76
+f 76 92 77
+f 77 91 78
+f 77 92 91
+f 78 90 96
+f 78 96 79
+f 78 91 90
+f 79 96 97
+f 79 97 80
+f 80 97 81
+f 81 97 98
+f 81 98 82
+f 82 98 83
+f 83 98 84
+f 84 98 99
+f 84 99 85
+f 85 99 100
+f 85 100 101
+f 86 102 103
+f 86 103 87
+f 88 95 104
+f 88 104 89
+f 89 104 105
+f 89 105 90
+f 90 105 96
+f 94 106 107
+f 94 107 95
+f 95 107 108
+f 95 108 104
+f 96 105 109
+f 96 109 110
+f 96 110 97
+f 97 110 98
+f 98 110 111
+f 98 111 99
+f 99 112 113
+f 99 113 100
+f 99 111 112
+f 100 113 101
+f 101 113 114
+f 101 114 115
+f 102 116 103
+f 103 116 117
+f 104 108 118
+f 104 118 105
+f 105 118 109
+f 106 119 108
+f 106 108 107
+f 108 119 113
+f 108 113 118
+f 109 118 113
+f 109 113 112
+f 109 112 111
+f 109 111 110
+f 114 120 115
+f 115 120 121
+f 116 122 117
+f 117 122 123
+f 120 124 121
+f 121 124 122
+f 122 124 123
+

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mug_019.xml

@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_019">
+  <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/mug_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_019_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_019_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_019_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_019_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_019_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_019_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_019_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_019_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_019_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_019">
+   <link name="mug_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_019.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5c4fb0d872af550aad3f70c4c68c7932</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>ribbed mug</name>
+         <color>green,beige</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>dark green ribbed mug with curved handle and beige base</description>
+         <min_height>0.0782</min_height>
+         <max_height>0.0782</max_height>
+         <real_height>0.0782</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202517</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037583 -0.033804 -0.038008</min>
+            <max>0.055341 0.033991 0.040219</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e51736d8cface5b96f3577c6001d465100dbd98f22eef70545b60a66521a6e0
+size 4940482