Add asset bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d

.gitattributes

@@ -2429,5 +2429,5 @@ dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/mesh/sp
 dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/mesh/soap_dish_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/e391fccd610e51a2b898e66c1a5acd39/soap_dish_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/mesh/sponge_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/sponge_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/soap_dish_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/soap_dish_028.usd filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_028_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 soap_dish_028_geometry_Looks_material_0.png

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/soap_dish_028.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b037c4816a812e3b8dd06070ea4d4066cfb8113499e3acc2d6ace4b6e97f370
+size 14765516

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mesh/soap_dish_028.mtl

@@ -0,0 +1,6 @@
+newmtl soap_dish_028_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/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_0.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.05926820 -0.03394870 0.03686557
+v -0.06178715 -0.02635533 0.03678621
+v -0.06178715 -0.02888645 0.03678242
+v -0.06178715 -0.03141757 0.03672194
+v -0.06178715 -0.03394869 0.03643468
+v -0.05926820 -0.03647545 0.03647247
+v -0.05674675 -0.03647546 0.03682398
+v -0.05534914 -0.03647546 0.03684288
+v -0.06178715 0.00042657 0.03678253
+v -0.06178715 -0.00611944 0.03678629
+v -0.06385982 -0.02382420 0.03603407
+v -0.06385856 -0.02635532 0.03603406
+v -0.06386356 -0.00864619 0.03603413
+v -0.06386231 -0.01623956 0.03603410
+v -0.06384981 -0.02888644 0.03603027
+v -0.06374980 -0.03141757 0.03596979
+v -0.06341728 -0.03394869 0.03571655
+v -0.06313226 -0.03533208 0.03547842
+v -0.06160088 -0.03629652 0.03576567
+v -0.05926820 -0.03824723 0.03575433
+v -0.05677050 -0.03911131 0.03607560
+v -0.05534914 -0.03905457 0.03640065
+v -0.05534914 -0.03386141 0.03644980
+v -0.05640922 0.00042658 0.03417079
+v -0.05678425 0.00042658 0.03492672
+v -0.05731554 0.00042658 0.03599636
+v -0.05812436 0.00042658 0.03631008
+v -0.05926820 0.00042658 0.03674852
+v -0.06031328 0.00042657 0.03676363
+v -0.06264847 0.00042658 0.03647260
+v -0.06507741 -0.02382420 0.03417070
+v -0.06507616 -0.02635532 0.03417069
+v -0.06506616 -0.02888644 0.03417068
+v -0.06386356 0.00042658 0.03603038
+v -0.06507991 0.00042658 0.03417079
+v -0.06507991 -0.01370843 0.03417074
+v -0.06507866 -0.01877068 0.03417072
+v -0.06490740 -0.03141757 0.03417067
+v -0.06426235 -0.03394869 0.03417067
+v -0.06340853 -0.03569429 0.03417066
+v -0.06225468 -0.03695985 0.03417065
+v -0.06063456 -0.03781956 0.03547085
+v -0.05594668 -0.04054706 0.03562959
+v -0.05534914 -0.04073471 0.03572786
+v -0.05534914 -0.03191070 0.03584884
+v -0.05629421 0.00042659 0.03273830
+v -0.06552620 -0.02635531 0.03253410
+v -0.06552620 -0.02888643 0.03253031
+v -0.06552495 0.00042659 0.03250774
+v -0.06552495 -0.00105717 0.03251152
+v -0.06552620 -0.00864618 0.03251905
+v -0.06547994 -0.03158339 0.03179705
+v -0.06489990 -0.03394868 0.03172145
+v -0.06372981 -0.03612195 0.03172144
+v -0.06267722 -0.03738751 0.03172143
+v -0.06099459 -0.03809013 0.03417065
+v -0.05907944 -0.03938624 0.03405348
+v -0.05762682 -0.04002338 0.03479050
+v -0.05534914 -0.04164243 0.03423868
+v -0.05534914 -0.03068441 0.03414044
+v -0.05621295 0.00042659 0.03172157
+v -0.06565371 -0.02888642 0.03130570
+v -0.06562621 -0.03085459 0.03103356
+v -0.06557620 0.00042659 0.03200127
+v -0.06564996 -0.00358829 0.03128690
+v -0.06565121 -0.01117729 0.03129443
+v -0.06565246 -0.01877066 0.03130196
+v -0.06734509 -0.03308011 -0.00174741
+v -0.06720633 -0.03394855 -0.00174741
+v -0.06552245 -0.03213324 0.02926845
+v -0.06592873 -0.03567237 0.00721793
+v -0.06627126 -0.03612619 -0.00174742
+v -0.06592373 -0.03655822 -0.00174742
+v -0.06513992 -0.03732193 -0.00013351
+v -0.06387982 -0.03834748 -0.00013351
+v -0.06141837 -0.03839560 0.03172143
+v -0.05811435 -0.04033758 0.03315391
+v -0.05534914 -0.04224901 0.03172141
+v -0.05534914 -0.03040074 0.03172146
+v -0.05590793 0.00042672 -0.00174729
+v -0.06810140 -0.01997065 -0.00131647
+v -0.06810140 -0.02021067 -0.00131647
+v -0.06796514 -0.02562639 -0.00174738
+v -0.06791514 -0.02645992 -0.00174739
+v -0.06773387 -0.02888630 -0.00174740
+v -0.06744010 -0.03141744 -0.00013349
+v -0.06564871 0.00042660 0.03128313
+v -0.06751636 -0.03141743 -0.00174741
+v -0.06516367 -0.03739175 -0.00174743
+v -0.06390232 -0.03836928 -0.00174743
+v -0.06135586 -0.04031563 -0.00174744
+v -0.06042079 -0.04098332 -0.00174744
+v -0.05876316 -0.04212233 -0.00174744
+v -0.05954822 -0.03966116 0.03172142
+v -0.05828687 -0.04044231 0.03172142
+v -0.05779558 -0.04266784 -0.00013353
+v -0.05534914 -0.04415596 -0.00174745
+v -0.05534914 -0.02857646 -0.00174739
+v -0.06793889 0.00042672 -0.00174729
+v -0.06809266 -0.01242965 -0.00133913
+v -0.06812015 -0.01211543 -0.00174733
+v -0.06811765 -0.01961716 -0.00174736
+v -0.06811265 -0.01990082 -0.00174736
+v -0.06788889 -0.00358818 -0.00013338
+v -0.05698677 -0.04319151 -0.00174745
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 13
+f 2 13 14
+f 2 14 11
+f 3 12 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 16 17
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 8
+f 8 22 44
+f 8 44 59
+f 8 59 78
+f 8 78 97
+f 8 97 98
+f 8 98 79
+f 8 79 60
+f 8 60 45
+f 8 45 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 9
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 24
+f 9 24 46
+f 9 46 61
+f 9 61 80
+f 9 80 99
+f 9 99 87
+f 9 87 64
+f 9 64 49
+f 9 49 35
+f 9 35 34
+f 9 34 30
+f 9 30 10
+f 10 30 13
+f 11 31 32
+f 11 32 12
+f 11 14 31
+f 12 32 33
+f 12 33 15
+f 13 30 34
+f 13 34 35
+f 13 35 36
+f 13 36 14
+f 14 36 37
+f 14 37 31
+f 15 33 16
+f 16 38 17
+f 16 33 38
+f 17 39 18
+f 17 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 19
+f 19 42 20
+f 20 42 43
+f 20 43 44
+f 20 44 21
+f 21 44 22
+f 23 45 24
+f 24 45 46
+f 31 47 48
+f 31 48 32
+f 31 37 47
+f 32 48 33
+f 33 48 38
+f 35 49 50
+f 35 50 51
+f 35 51 47
+f 35 47 36
+f 36 47 37
+f 38 48 52
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 45 60 61
+f 45 61 46
+f 47 62 48
+f 47 51 62
+f 48 62 63
+f 48 63 52
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 51
+f 49 51 50
+f 51 67 62
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 52 63 68
+f 53 70 69
+f 53 69 71
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 57
+f 57 77 58
+f 58 77 59
+f 59 77 78
+f 60 79 80
+f 60 80 61
+f 62 67 81
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 86
+f 63 86 68
+f 64 87 65
+f 65 87 81
+f 65 81 66
+f 66 81 67
+f 68 86 88
+f 68 88 85
+f 68 85 84
+f 68 84 83
+f 68 83 103
+f 68 103 102
+f 68 102 101
+f 68 101 99
+f 68 99 80
+f 68 80 98
+f 68 98 97
+f 68 97 105
+f 68 105 93
+f 68 93 92
+f 68 92 91
+f 68 91 90
+f 68 90 89
+f 68 89 73
+f 68 73 72
+f 68 72 69
+f 69 72 71
+f 73 89 74
+f 74 89 75
+f 75 89 90
+f 75 90 91
+f 75 91 76
+f 76 91 92
+f 76 92 93
+f 76 93 94
+f 76 94 77
+f 77 94 95
+f 77 95 78
+f 78 96 97
+f 78 95 96
+f 79 98 80
+f 81 87 100
+f 81 100 101
+f 81 101 82
+f 82 101 102
+f 82 102 103
+f 82 103 83
+f 85 88 86
+f 87 99 104
+f 87 104 101
+f 87 101 100
+f 93 105 96
+f 93 96 94
+f 94 96 95
+f 96 105 97
+f 99 101 104
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_1.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.05926751 0.03436645 0.03687498
+v -0.05555882 0.03689947 0.03684156
+v -0.05674692 0.03689947 0.03682299
+v -0.05926751 0.03689948 0.03645153
+v -0.06178932 0.03436646 0.03642552
+v -0.06178932 0.03183774 0.03670782
+v -0.06178932 0.02930901 0.03676724
+v -0.06178932 0.02677599 0.03677466
+v -0.06178932 0.01918983 0.03677834
+v -0.06178932 0.00907066 0.03678202
+v -0.06178932 0.00042657 0.03678199
+v -0.05555882 0.03555770 0.03682298
+v -0.05555882 0.03809073 0.03674498
+v -0.06031367 0.00042657 0.03676342
+v -0.05926751 0.00042658 0.03674856
+v -0.05555882 0.03947550 0.03635125
+v -0.05675671 0.03951851 0.03606894
+v -0.05926751 0.03863260 0.03572719
+v -0.06157764 0.03670165 0.03574575
+v -0.06311691 0.03572973 0.03546716
+v -0.06340690 0.03436646 0.03570117
+v -0.06374338 0.03183774 0.03596119
+v -0.06384005 0.02930902 0.03602432
+v -0.06385473 0.02677600 0.03602803
+v -0.06386085 0.00907067 0.03603167
+v -0.06386207 0.00653765 0.03603166
+v -0.06386330 0.00147591 0.03603165
+v -0.06386330 0.00042658 0.03603164
+v -0.05555882 0.03277096 0.03616920
+v -0.05812468 0.00042658 0.03631024
+v -0.05731466 0.00042658 0.03599821
+v -0.05640921 0.00042658 0.03417064
+v -0.05555882 0.04045172 0.03599093
+v -0.06059632 0.03821544 0.03544488
+v -0.05555882 0.04107100 0.03568262
+v -0.05592344 0.04095489 0.03562319
+v -0.06221268 0.03735533 0.03417078
+v -0.06338977 0.03609097 0.03417077
+v -0.06423894 0.03436646 0.03417077
+v -0.06489233 0.03183774 0.03417076
+v -0.06505262 0.02930902 0.03417075
+v -0.06506853 0.02677600 0.03417074
+v -0.06385718 0.02172286 0.03602801
+v -0.06507954 0.00147591 0.03417065
+v -0.06507098 0.02172286 0.03417072
+v -0.06507954 0.00042658 0.03417064
+v -0.05555882 0.03221619 0.03591661
+v -0.05629419 0.00042659 0.03273681
+v -0.05621343 0.00042659 0.03171901
+v -0.05760465 0.04042592 0.03472797
+v -0.05905950 0.03976795 0.03401477
+v -0.06095361 0.03847347 0.03417078
+v -0.05555882 0.04132043 0.03535202
+v -0.06264461 0.03778110 0.03171915
+v -0.06371524 0.03651674 0.03171914
+v -0.06486541 0.03436647 0.03171914
+v -0.06546252 0.03191086 0.03178599
+v -0.06552248 0.02930903 0.03249547
+v -0.06526430 0.00042659 0.03348344
+v -0.05555882 0.03106364 0.03438990
+v -0.05615348 0.00042671 -0.00107335
+v -0.05555882 0.03068520 0.03173026
+v -0.05555882 0.03093462 0.03415589
+v -0.05555882 0.04190531 0.03417821
+v -0.05808063 0.04073987 0.03309355
+v -0.06138431 0.03878313 0.03171915
+v -0.06381802 0.03872304 -0.00013342
+v -0.06507832 0.03771241 -0.00013342
+v -0.06622604 0.03648675 -0.00107322
+v -0.06592871 0.03608677 0.00721773
+v -0.06714373 0.03436659 -0.00107322
+v -0.06732849 0.03183786 0.00231447
+v -0.06562281 0.03111957 0.03101335
+v -0.06564973 0.02930904 0.03126966
+v -0.06552493 0.00400894 0.03250651
+v -0.06552493 0.00042659 0.03251022
+v -0.05555882 0.03025527 -0.00107324
+v -0.05555882 0.03017356 -0.00032661
+v -0.06784362 0.00042671 -0.00107335
+v -0.05555882 0.04230527 0.03251038
+v -0.05823358 0.04083448 0.03171916
+v -0.05949387 0.04005178 0.03171916
+v -0.05555882 0.04249019 0.03171917
+v -0.05674692 0.04175480 0.03171916
+v -0.06321112 0.03922620 -0.00107321
+v -0.05773802 0.04305798 -0.00013340
+v -0.06058042 0.04073567 0.00614424
+v -0.06431603 0.03837899 -0.00107321
+v -0.06509545 0.03775111 -0.00107321
+v -0.06659067 0.03565245 -0.00107322
+v -0.06748756 0.03183787 -0.00107323
+v -0.06746186 0.03183787 -0.00013344
+v -0.06759891 0.03086595 -0.00107324
+v -0.06779101 0.02814370 -0.00107325
+v -0.06804184 0.02081128 -0.00107327
+v -0.06564973 0.02677602 0.03126965
+v -0.06564851 0.00147593 0.03128441
+v -0.06557632 0.00042659 0.03200132
+v -0.06805897 0.01322942 -0.00107330
+v -0.05555882 0.04436105 -0.00107319
+v -0.06747410 0.00042669 0.00476598
+v -0.06791949 0.00276620 -0.00107334
+v -0.05573868 0.04426213 -0.00107319
+v -0.05773680 0.04305798 -0.00107319
+v -0.06805897 0.01308750 -0.00107330
+v -0.06564851 0.00042660 0.03128440
+v -0.06797332 0.00561316 -0.00107333
+v -0.06792561 0.00653778 -0.00013354
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 29
+f 2 29 47
+f 2 47 60
+f 2 60 63
+f 2 63 62
+f 2 62 78
+f 2 78 77
+f 2 77 100
+f 2 100 83
+f 2 83 80
+f 2 80 64
+f 2 64 53
+f 2 53 35
+f 2 35 33
+f 2 33 16
+f 2 16 13
+f 2 13 3
+f 2 11 14
+f 2 14 15
+f 2 15 12
+f 3 13 4
+f 4 13 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 46
+f 11 46 59
+f 11 59 76
+f 11 76 98
+f 11 98 106
+f 11 106 101
+f 11 101 79
+f 11 79 61
+f 11 61 49
+f 11 49 48
+f 11 48 32
+f 11 32 31
+f 11 31 30
+f 11 30 15
+f 11 15 14
+f 12 15 30
+f 12 30 31
+f 12 31 32
+f 12 32 29
+f 16 33 17
+f 17 33 18
+f 18 34 19
+f 18 33 35
+f 18 35 36
+f 18 36 34
+f 19 34 20
+f 20 34 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 23
+f 23 41 24
+f 24 42 45
+f 24 45 43
+f 24 43 25
+f 24 41 42
+f 25 43 26
+f 26 44 27
+f 26 43 45
+f 26 45 44
+f 27 44 46
+f 27 46 28
+f 29 32 48
+f 29 48 49
+f 29 49 47
+f 34 36 50
+f 34 50 51
+f 34 51 52
+f 34 52 37
+f 35 53 36
+f 36 53 50
+f 37 52 54
+f 37 54 38
+f 38 55 56
+f 38 56 39
+f 38 54 55
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 58 42
+f 42 58 45
+f 44 59 46
+f 44 45 58
+f 44 58 59
+f 47 49 60
+f 49 61 62
+f 49 62 63
+f 49 63 60
+f 50 53 64
+f 50 64 65
+f 50 65 51
+f 51 65 52
+f 52 65 66
+f 52 66 54
+f 54 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 56
+f 56 70 71
+f 56 71 57
+f 57 72 73
+f 57 73 58
+f 57 71 72
+f 58 73 74
+f 58 74 75
+f 58 75 76
+f 58 76 59
+f 61 77 78
+f 61 78 62
+f 61 79 102
+f 61 102 107
+f 61 107 105
+f 61 105 99
+f 61 99 95
+f 61 95 94
+f 61 94 93
+f 61 93 91
+f 61 91 71
+f 61 71 90
+f 61 90 69
+f 61 69 89
+f 61 89 88
+f 61 88 85
+f 61 85 104
+f 61 104 103
+f 61 103 100
+f 61 100 77
+f 64 80 65
+f 65 81 82
+f 65 82 66
+f 65 80 83
+f 65 83 84
+f 65 84 81
+f 66 85 67
+f 66 82 86
+f 66 86 87
+f 66 87 85
+f 67 88 68
+f 67 85 88
+f 68 88 89
+f 68 89 69
+f 69 90 70
+f 70 90 71
+f 71 91 92
+f 71 92 72
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 73 94 95
+f 73 95 74
+f 74 96 106
+f 74 106 97
+f 74 97 98
+f 74 98 76
+f 74 76 75
+f 74 95 99
+f 74 99 105
+f 74 105 96
+f 79 101 102
+f 81 84 86
+f 81 86 82
+f 83 86 84
+f 83 100 103
+f 83 103 86
+f 85 87 86
+f 85 86 104
+f 86 103 104
+f 91 93 92
+f 96 105 106
+f 97 106 98
+f 101 106 107
+f 101 107 102
+f 105 107 108
+f 105 108 106
+f 106 108 107
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_10.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.06430907 -0.01370572 -0.01999862
+v -0.06430907 -0.01510438 -0.01998434
+v -0.06682995 -0.01510438 -0.01945552
+v -0.06682995 -0.00105549 -0.01947155
+v -0.06682995 0.00042678 -0.01947155
+v -0.06430907 0.00042678 -0.01999500
+v -0.05422556 -0.01370572 -0.01998254
+v -0.05283253 -0.01510438 -0.01997719
+v -0.06747984 -0.01510438 -0.01912502
+v -0.06828128 -0.01370572 -0.01871768
+v -0.06828419 -0.00864472 -0.01871944
+v -0.06828710 0.00042678 -0.01872298
+v -0.05422556 0.00042678 -0.01993604
+v -0.04414205 -0.00611649 -0.01994142
+v -0.04918381 -0.01370572 -0.01997361
+v -0.05170469 -0.01510438 -0.01997362
+v -0.06828128 -0.01510438 -0.01871590
+v -0.06894282 -0.00358524 -0.01729019
+v -0.06867179 0.00042678 -0.01788510
+v -0.04666293 0.00042678 -0.01977526
+v -0.04666293 -0.00358523 -0.01993070
+v -0.04162118 -0.00611649 -0.01981994
+v -0.04918381 -0.01510438 -0.01995933
+v -0.06857270 -0.01510438 -0.01807810
+v -0.06936831 -0.00864474 -0.01484087
+v -0.06937414 0.00042676 -0.01484084
+v -0.06894282 0.00042677 -0.01729018
+v -0.06893116 -0.01510439 -0.01729024
+v -0.04402548 0.00042678 -0.01916605
+v -0.03960448 -0.00611649 -0.01963771
+v -0.04779077 -0.01510438 -0.01986286
+v -0.06912351 -0.01510439 -0.01619509
+v -0.06935957 -0.01510440 -0.01484090
+v -0.06930420 -0.01510440 -0.01374396
+v -0.06923717 -0.01370574 -0.01238975
+v -0.06923717 0.00042676 -0.01238970
+v -0.04358833 0.00042678 -0.01818345
+v -0.03960448 -0.00433625 -0.01893917
+v -0.03960448 -0.00565281 -0.01949300
+v -0.03960448 -0.00878002 -0.01911784
+v -0.04666293 -0.01510438 -0.01975209
+v -0.06923425 -0.01510440 -0.01238976
+v -0.06811807 -0.01211405 -0.00174911
+v -0.06839493 0.00042673 -0.00503988
+v -0.04319491 0.00042677 -0.01729018
+v -0.03960448 -0.00417662 -0.01854792
+v -0.03960448 -0.00910840 -0.01891596
+v -0.04482109 -0.01510438 -0.01902318
+v -0.04560504 -0.01510438 -0.01935548
+v -0.06798110 -0.01510444 -0.00174913
+v -0.06810933 -0.01271152 -0.00174912
+v -0.06793738 0.00042672 -0.00174907
+v -0.06817927 0.00042672 -0.00326585
+v -0.04142883 0.00042673 -0.00503988
+v -0.03960448 -0.00389082 -0.01729019
+v -0.03960448 -0.00980166 -0.01729022
+v -0.04444223 -0.01510438 -0.01804952
+v -0.05590129 -0.01510444 -0.00174913
+v -0.05590420 0.00042672 -0.00174907
+v -0.04178147 0.00042673 -0.00438065
+v -0.03960448 -0.00392127 -0.00330337
+v -0.03960448 -0.00283274 -0.00503989
+v -0.03960448 -0.01125204 -0.00503992
+v -0.04187181 -0.01510443 -0.00503994
+v -0.04200587 -0.01510443 -0.00585817
+v -0.04420034 -0.01510439 -0.01729024
+v -0.05590129 -0.00864478 -0.00174910
+v -0.04414205 -0.01510444 -0.00304973
+v -0.03960448 -0.00864478 -0.00288534
+v -0.03960448 -0.00662129 -0.00281744
+v -0.03960448 -0.00611655 -0.00281209
+v -0.04414205 0.00042672 -0.00295320
+v -0.04227981 0.00042672 -0.00345343
+v -0.03960448 -0.01078229 -0.00383400
+v -0.04245467 -0.01510444 -0.00355354
+v -0.03960448 -0.01054664 -0.00338737
+v -0.03960448 -0.00913735 -0.00297646
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 23
+f 2 23 31
+f 2 31 41
+f 2 41 49
+f 2 49 48
+f 2 48 57
+f 2 57 66
+f 2 66 65
+f 2 65 64
+f 2 64 75
+f 2 75 68
+f 2 68 58
+f 2 58 50
+f 2 50 42
+f 2 42 34
+f 2 34 33
+f 2 33 32
+f 2 32 28
+f 2 28 24
+f 2 24 17
+f 2 17 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 19
+f 5 19 27
+f 5 27 26
+f 5 26 36
+f 5 36 44
+f 5 44 53
+f 5 53 52
+f 5 52 59
+f 5 59 72
+f 5 72 73
+f 5 73 60
+f 5 60 54
+f 5 54 45
+f 5 45 37
+f 5 37 29
+f 5 29 20
+f 5 20 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 14 21 20
+f 14 20 22
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 17 24 18
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 18 24 28
+f 18 28 25
+f 20 29 30
+f 20 30 22
+f 22 30 31
+f 22 31 23
+f 25 28 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 38
+f 30 38 46
+f 30 46 55
+f 30 55 62
+f 30 62 61
+f 30 61 71
+f 30 71 70
+f 30 70 69
+f 30 69 77
+f 30 77 76
+f 30 76 74
+f 30 74 63
+f 30 63 56
+f 30 56 47
+f 30 47 40
+f 30 40 41
+f 30 41 31
+f 34 42 35
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 37 45 38
+f 38 45 46
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 51
+f 42 51 43
+f 43 51 50
+f 43 50 58
+f 43 58 67
+f 43 67 59
+f 43 59 52
+f 43 52 53
+f 43 53 44
+f 45 54 55
+f 45 55 46
+f 47 56 57
+f 47 57 48
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 56 63 64
+f 56 64 65
+f 56 65 66
+f 56 66 57
+f 58 68 69
+f 58 69 70
+f 58 70 71
+f 58 71 67
+f 59 67 71
+f 59 71 72
+f 60 73 61
+f 61 73 71
+f 63 74 64
+f 64 74 76
+f 64 76 75
+f 68 75 77
+f 68 77 69
+f 71 73 72
+f 75 76 77
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_11.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.04075508 -0.02469552 -0.02002088
+v -0.03960157 -0.02382710 -0.02002088
+v -0.03960157 -0.02469552 -0.02002088
+v -0.04162022 -0.02469552 -0.02001909
+v -0.06430897 -0.02129694 -0.02000119
+v -0.05283206 -0.01510531 -0.01997613
+v -0.05170476 -0.01510531 -0.01997434
+v -0.04918508 -0.01510531 -0.01996003
+v -0.04778979 -0.01510531 -0.01986164
+v -0.03960157 -0.02332200 -0.01997795
+v -0.06430897 -0.01510531 -0.01998328
+v -0.03960157 -0.02469558 -0.00280819
+v -0.06430897 -0.02469552 -0.01995827
+v -0.06430897 -0.02382710 -0.01997258
+v -0.06682865 -0.02469552 -0.01945380
+v -0.06682865 -0.01876677 -0.01945557
+v -0.06682865 -0.01510531 -0.01945556
+v -0.04666249 -0.01510531 -0.01975252
+v -0.03960157 -0.02129694 -0.01959869
+v -0.03960157 -0.02180209 -0.00280460
+v -0.05589354 -0.02469558 -0.00174738
+v -0.06778118 -0.02469552 -0.01896723
+v -0.06827928 -0.02129694 -0.01871498
+v -0.06828220 -0.01510531 -0.01871675
+v -0.04560510 -0.01510531 -0.01935538
+v -0.03960157 -0.02091295 -0.01944843
+v -0.03960157 -0.02129700 -0.00280460
+v -0.05589937 -0.01510537 -0.00174735
+v -0.06796178 -0.02469558 -0.00174738
+v -0.06827637 -0.02469552 -0.01871320
+v -0.06827928 -0.02382710 -0.01871320
+v -0.06893178 -0.01510532 -0.01729101
+v -0.04482152 -0.01510531 -0.01902265
+v -0.03960157 -0.01971406 -0.01884556
+v -0.03960157 -0.01906914 -0.00329117
+v -0.04414281 -0.01510537 -0.00305145
+v -0.06798217 -0.01510537 -0.00174735
+v -0.06811034 -0.01989907 -0.00174736
+v -0.06920268 -0.02469554 -0.01238948
+v -0.06892013 -0.02469553 -0.01729104
+v -0.06935998 -0.01510533 -0.01484023
+v -0.04444284 -0.01510531 -0.01804949
+v -0.03960157 -0.01957699 -0.01849494
+v -0.03960157 -0.01797820 -0.00503891
+v -0.04245332 -0.01510537 -0.00355413
+v -0.06923473 -0.01510533 -0.01238945
+v -0.06811616 -0.01961366 -0.00174736
+v -0.06920851 -0.02382712 -0.01238948
+v -0.06925220 -0.02469554 -0.01323026
+v -0.06919686 -0.02469553 -0.01568103
+v -0.06934542 -0.02382712 -0.01484026
+v -0.06935416 -0.01876679 -0.01484024
+v -0.06923181 -0.01876679 -0.01238946
+v -0.06923473 -0.01623663 -0.01238945
+v -0.04420107 -0.01510532 -0.01729101
+v -0.03960157 -0.01938172 -0.01729102
+v -0.04200473 -0.01510536 -0.00585821
+v -0.04187073 -0.01510536 -0.00503890
+v -0.06933959 -0.02469554 -0.01484026
+f 1 2 3
+f 1 3 12
+f 1 12 21
+f 1 21 29
+f 1 29 39
+f 1 39 49
+f 1 49 59
+f 1 59 50
+f 1 50 40
+f 1 40 30
+f 1 30 22
+f 1 22 15
+f 1 15 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 19
+f 2 19 26
+f 2 26 34
+f 2 34 43
+f 2 43 56
+f 2 56 44
+f 2 44 35
+f 2 35 27
+f 2 27 20
+f 2 20 12
+f 2 12 3
+f 2 5 11
+f 2 11 6
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 11
+f 6 11 17
+f 6 17 24
+f 6 24 32
+f 6 32 41
+f 6 41 46
+f 6 46 37
+f 6 37 28
+f 6 28 36
+f 6 36 45
+f 6 45 58
+f 6 58 57
+f 6 57 55
+f 6 55 42
+f 6 42 33
+f 6 33 25
+f 6 25 18
+f 6 18 9
+f 6 9 8
+f 6 8 7
+f 9 18 10
+f 10 18 19
+f 12 20 21
+f 13 15 14
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 18 25 26
+f 18 26 19
+f 20 27 21
+f 21 28 37
+f 21 37 47
+f 21 47 38
+f 21 38 29
+f 21 27 28
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 32
+f 25 33 26
+f 26 33 34
+f 27 35 36
+f 27 36 28
+f 29 38 39
+f 30 40 31
+f 31 40 32
+f 32 40 41
+f 33 42 43
+f 33 43 34
+f 35 44 45
+f 35 45 36
+f 37 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 46
+f 42 55 43
+f 43 55 57
+f 43 57 58
+f 43 58 56
+f 44 56 58
+f 44 58 45
+f 46 54 47
+f 47 54 53
+f 47 53 48
+f 48 53 49
+f 49 51 59
+f 49 53 51
+f 50 59 51
+f 51 53 52
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_12.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00884593 -0.02469625 -0.02002870
+v -0.01050022 -0.02469625 -0.02002702
+v -0.00632318 -0.02469625 -0.02002702
+v -0.00884593 -0.03141829 -0.02002367
+v -0.00884593 -0.03219577 -0.02002199
+v -0.01136483 -0.02469625 -0.02001521
+v -0.00380235 -0.02469625 -0.02001184
+v -0.00128152 -0.03141829 -0.02001524
+v -0.00380235 -0.03141829 -0.02002030
+v -0.00632318 -0.03141829 -0.02002199
+v -0.01136483 -0.03219577 -0.01978253
+v -0.01302105 -0.02469625 -0.01993764
+v -0.01136483 -0.02635841 -0.01999330
+v -0.00632318 -0.03219577 -0.02002030
+v -0.00003840 -0.02469625 -0.01994776
+v -0.00003840 -0.03141829 -0.02000681
+v -0.00380235 -0.03219577 -0.02000513
+v -0.01310559 -0.03219577 -0.01903045
+v -0.01966705 -0.02469625 -0.01775221
+v -0.01585698 -0.02469625 -0.01932046
+v -0.00003840 -0.02469631 -0.00280154
+v -0.00003840 -0.03219577 -0.01987865
+v -0.00128152 -0.03219577 -0.01995116
+v -0.01360706 -0.03219578 -0.01729188
+v -0.01966705 -0.02493120 -0.01729185
+v -0.01966705 -0.02469631 -0.00303594
+v -0.00962024 -0.03219583 -0.00280326
+v -0.00709941 -0.03219583 -0.00280326
+v -0.00003840 -0.03219583 -0.00280494
+v -0.00380235 -0.02469631 -0.00280323
+v -0.01473491 -0.03219582 -0.00579980
+v -0.01966705 -0.02671159 -0.00497181
+v -0.01966705 -0.02582693 -0.00333441
+v -0.01371850 -0.03219583 -0.00332938
+v -0.01213146 -0.03219583 -0.00297189
+v -0.01136483 -0.03219583 -0.00280663
+v -0.01388566 -0.02469631 -0.00283527
+v -0.00884593 -0.02469631 -0.00280660
+v -0.01136483 -0.02469631 -0.00280997
+v -0.01480215 -0.03219582 -0.00503928
+v -0.01966705 -0.02613675 -0.00374587
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 19
+f 1 19 26
+f 1 26 37
+f 1 37 39
+f 1 39 38
+f 1 38 30
+f 1 30 21
+f 1 21 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 14
+f 4 14 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 14 17
+f 5 17 23
+f 5 23 22
+f 5 22 29
+f 5 29 28
+f 5 28 27
+f 5 27 36
+f 5 36 35
+f 5 35 34
+f 5 34 40
+f 5 40 31
+f 5 31 24
+f 5 24 18
+f 5 18 11
+f 6 13 12
+f 7 15 16
+f 7 16 8
+f 8 17 14
+f 8 14 9
+f 8 16 17
+f 9 14 10
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 15 21 29
+f 15 29 22
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 18 24 25
+f 18 25 19
+f 19 25 32
+f 19 32 41
+f 19 41 33
+f 19 33 26
+f 21 27 28
+f 21 28 29
+f 21 30 27
+f 24 31 32
+f 24 32 25
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 27 38 39
+f 27 39 36
+f 27 30 38
+f 31 40 32
+f 32 40 41
+f 33 41 34
+f 34 41 40
+f 36 39 37
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_13.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.02393143 0.00042672 -0.00279986
+v 0.01765301 0.00906813 -0.00281164
+v 0.01765301 0.00653862 -0.00286561
+v 0.02268770 0.00042672 -0.00300899
+v 0.02897240 0.00042672 -0.00280323
+v 0.03371306 0.02424838 -0.00280314
+v 0.03371306 0.02930740 -0.00280312
+v 0.02897240 0.02930740 -0.00280312
+v 0.02393143 0.01665986 -0.00280317
+v 0.01765301 0.02171567 -0.00281327
+v 0.01765301 0.00439111 -0.00335808
+v 0.02118610 0.00042672 -0.00328052
+v 0.03149289 0.00042672 -0.00308826
+v 0.03371306 0.00623688 -0.00283863
+v 0.03371306 0.00653862 -0.00283020
+v 0.03371306 0.03184012 -0.00280480
+v 0.03149289 0.03184012 -0.00280480
+v 0.03149289 0.03322043 -0.00280649
+v 0.02141094 0.02171567 -0.00280821
+v 0.03034821 0.03322043 -0.00281155
+v 0.02897240 0.03322043 -0.00282166
+v 0.01765301 0.02424838 -0.00287566
+v 0.01765301 0.00358219 -0.00503955
+v 0.01962475 0.00042673 -0.00491307
+v 0.02012947 0.00042673 -0.00412884
+v 0.02032287 0.00042672 -0.00391971
+v 0.03312342 0.00042672 -0.00359253
+v 0.03371306 0.00370095 -0.00326702
+v 0.03371306 0.03322043 -0.00280649
+v 0.02626166 0.03322043 -0.00335967
+v 0.01765301 0.02638627 -0.00335125
+v 0.01765301 0.00546010 -0.01729045
+v 0.01973324 0.00042674 -0.00681379
+v 0.03366117 0.00042673 -0.00503956
+v 0.03371306 0.00322587 -0.00338676
+v 0.03371306 0.03322049 -0.01904265
+v 0.02560127 0.03322043 -0.00401235
+v 0.02529623 0.03322044 -0.00431930
+v 0.01765301 0.02719842 -0.00503946
+v 0.02210592 0.00042678 -0.01905626
+v 0.02152101 0.00042677 -0.01729047
+v 0.01765301 0.00652906 -0.01924513
+v 0.03347877 0.00042673 -0.00613918
+v 0.03371306 0.00392250 -0.01729046
+v 0.03371306 0.00171395 -0.00503955
+v 0.03371306 0.00214731 -0.00417099
+v 0.03371306 0.03193648 -0.01935971
+v 0.02897240 0.03322049 -0.01972738
+v 0.02497390 0.03322044 -0.00509678
+v 0.02498019 0.03322044 -0.00571743
+v 0.02500849 0.03322044 -0.00659779
+v 0.02642833 0.03322048 -0.01729035
+v 0.01765301 0.02511836 -0.01729038
+v 0.02393143 0.00042678 -0.01980676
+v 0.01765301 0.00759158 -0.01951497
+v 0.03159509 0.00042677 -0.01729047
+v 0.03371306 0.00458698 -0.01905118
+v 0.03371306 0.02930746 -0.01998880
+v 0.02792521 0.03322049 -0.01943224
+v 0.03149289 0.02930746 -0.01998880
+v 0.02897240 0.02930746 -0.01994157
+v 0.01765301 0.02171573 -0.01992305
+v 0.01765301 0.02305431 -0.01958575
+v 0.02671607 0.03322049 -0.01811675
+v 0.01765301 0.02485514 -0.01781995
+v 0.02707614 0.03322049 -0.01912529
+v 0.02645034 0.00042678 -0.02001927
+v 0.01765301 0.00906819 -0.01984215
+v 0.03122716 0.00042678 -0.01833443
+v 0.03091426 0.00042678 -0.01908662
+v 0.03371306 0.00653868 -0.01976289
+v 0.03371306 0.02677795 -0.02002591
+v 0.03149289 0.02677795 -0.02002760
+v 0.01765301 0.02414572 -0.01922651
+v 0.02897240 0.02677795 -0.02002422
+v 0.02141094 0.02171573 -0.01998040
+v 0.02141094 0.00906819 -0.02001249
+v 0.02645034 0.00400918 -0.02002263
+v 0.02897240 0.00653868 -0.02002093
+v 0.03149289 0.00653868 -0.01997202
+v 0.02749596 0.00042678 -0.01995012
+v 0.02393143 0.00906819 -0.02002092
+v 0.02979946 0.00042678 -0.01952680
+v 0.02897240 0.00042678 -0.01983881
+v 0.03371306 0.02424844 -0.02002592
+v 0.03149289 0.02424844 -0.02002761
+v 0.02897240 0.02424844 -0.02002592
+v 0.02393143 0.01918622 -0.02001582
+v 0.02393143 0.02171573 -0.02000907
+v 0.02897240 0.02171573 -0.02002593
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 26
+f 1 26 25
+f 1 25 24
+f 1 24 33
+f 1 33 41
+f 1 41 40
+f 1 40 54
+f 1 54 67
+f 1 67 81
+f 1 81 84
+f 1 84 83
+f 1 83 70
+f 1 70 69
+f 1 69 56
+f 1 56 43
+f 1 43 34
+f 1 34 27
+f 1 27 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 22
+f 2 22 31
+f 2 31 39
+f 2 39 53
+f 2 53 65
+f 2 65 74
+f 2 74 63
+f 2 63 62
+f 2 62 68
+f 2 68 55
+f 2 55 42
+f 2 42 32
+f 2 32 23
+f 2 23 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 28
+f 6 28 35
+f 6 35 46
+f 6 46 45
+f 6 45 44
+f 6 44 57
+f 6 57 71
+f 6 71 85
+f 6 85 72
+f 6 72 58
+f 6 58 47
+f 6 47 36
+f 6 36 29
+f 6 29 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 10
+f 8 10 19
+f 8 19 9
+f 9 19 10
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 27 14
+f 14 27 28
+f 16 29 18
+f 16 18 17
+f 18 29 36
+f 18 36 48
+f 18 48 59
+f 18 59 66
+f 18 66 64
+f 18 64 52
+f 18 52 51
+f 18 51 50
+f 18 50 49
+f 18 49 38
+f 18 38 37
+f 18 37 30
+f 18 30 21
+f 18 21 20
+f 21 30 31
+f 21 31 22
+f 23 32 33
+f 23 33 24
+f 27 34 35
+f 27 35 28
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 32 40 41
+f 32 41 33
+f 32 42 40
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 36 47 48
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 40 42 54
+f 42 55 54
+f 43 56 44
+f 44 56 57
+f 47 58 48
+f 48 58 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 59
+f 52 64 53
+f 53 64 66
+f 53 66 65
+f 54 55 68
+f 54 68 67
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 58 72 73
+f 58 73 60
+f 59 63 74
+f 59 74 66
+f 60 73 75
+f 60 75 61
+f 61 75 62
+f 62 75 76
+f 62 76 77
+f 62 77 68
+f 65 66 74
+f 67 78 79
+f 67 79 80
+f 67 80 81
+f 67 68 77
+f 67 77 82
+f 67 82 78
+f 70 83 71
+f 71 83 84
+f 71 84 80
+f 71 80 85
+f 72 85 86
+f 72 86 73
+f 73 86 90
+f 73 90 87
+f 73 87 75
+f 75 87 88
+f 75 88 89
+f 75 89 76
+f 76 89 88
+f 76 88 77
+f 77 88 82
+f 78 86 85
+f 78 85 79
+f 78 82 90
+f 78 90 86
+f 79 85 80
+f 80 84 81
+f 82 88 87
+f 82 87 90
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_14.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00880502 0.03322049 -0.02001870
+v 0.00880502 0.03437092 -0.02001532
+v 0.01132354 0.03955624 -0.02000856
+v 0.01132354 0.03943096 -0.02000857
+v 0.01132354 0.03690063 -0.01997655
+v 0.01132354 0.03322049 -0.01983164
+v 0.00628284 0.03322049 -0.01992433
+v 0.00880502 0.03955624 -0.01996474
+v 0.01119953 0.03955624 -0.02000687
+v 0.01384571 0.03955624 -0.01981139
+v 0.01314724 0.03322049 -0.01908174
+v 0.01384571 0.03943096 -0.01980129
+v 0.01662685 0.03955624 -0.01914575
+v 0.00004033 0.03322049 -0.01906995
+v 0.00867371 0.03955624 -0.01993104
+v 0.01375635 0.03322048 -0.01729041
+v 0.01838125 0.03955623 -0.01729038
+v 0.00004033 0.03322043 -0.00299510
+v 0.00004033 0.03350639 -0.01894356
+v 0.00664029 0.03955624 -0.01921990
+v 0.01475574 0.03322044 -0.00653059
+v 0.01867121 0.03810994 -0.00695692
+v 0.01867121 0.03782713 -0.00503919
+v 0.01867121 0.03955621 -0.01026490
+v 0.00261721 0.03322043 -0.00286871
+v 0.00628284 0.03955618 -0.00290744
+v 0.00004033 0.03437086 -0.00315181
+v 0.00004033 0.03388531 -0.01729041
+v 0.00572479 0.03955623 -0.01729038
+v 0.01487610 0.03322044 -0.00503921
+v 0.01867121 0.03807705 -0.00406685
+v 0.01867121 0.03955618 -0.00322762
+v 0.00513756 0.03322043 -0.00280973
+v 0.00880502 0.03955618 -0.00280465
+v 0.00450292 0.03955618 -0.00341468
+v 0.00004033 0.03514919 -0.00341470
+v 0.00004033 0.03600380 -0.00673449
+v 0.00385368 0.03955619 -0.00503918
+v 0.01376365 0.03322043 -0.00331528
+v 0.01867121 0.03879584 -0.00345176
+v 0.01649007 0.03955618 -0.00294115
+v 0.01132354 0.03322043 -0.00280636
+v 0.01276426 0.03322043 -0.00308610
+v 0.01867121 0.03927772 -0.00328156
+v 0.00628284 0.03322043 -0.00280805
+v 0.00880502 0.03943090 -0.00280466
+v 0.01396972 0.03955618 -0.00280296
+v 0.00004033 0.03584627 -0.00365399
+v 0.00004033 0.03621404 -0.00503920
+v 0.00004033 0.03605838 -0.00437862
+v 0.01867121 0.03902468 -0.00333549
+v 0.00765791 0.03322043 -0.00280636
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 16
+f 1 16 21
+f 1 21 30
+f 1 30 39
+f 1 39 43
+f 1 43 42
+f 1 42 52
+f 1 52 45
+f 1 45 33
+f 1 33 25
+f 1 25 18
+f 1 18 14
+f 1 14 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 8
+f 3 8 15
+f 3 15 20
+f 3 20 29
+f 3 29 38
+f 3 38 35
+f 3 35 26
+f 3 26 34
+f 3 34 47
+f 3 47 41
+f 3 41 32
+f 3 32 24
+f 3 24 17
+f 3 17 13
+f 3 13 10
+f 3 10 4
+f 4 10 5
+f 5 10 6
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 14 8
+f 8 14 15
+f 10 13 12
+f 11 13 17
+f 11 17 16
+f 14 18 27
+f 14 27 36
+f 14 36 48
+f 14 48 50
+f 14 50 49
+f 14 49 37
+f 14 37 28
+f 14 28 19
+f 14 19 20
+f 14 20 15
+f 16 17 22
+f 16 22 23
+f 16 23 21
+f 17 24 22
+f 18 25 26
+f 18 26 27
+f 19 28 29
+f 19 29 20
+f 21 23 30
+f 22 24 32
+f 22 32 44
+f 22 44 51
+f 22 51 40
+f 22 40 31
+f 22 31 23
+f 23 31 30
+f 25 33 34
+f 25 34 26
+f 26 35 27
+f 27 35 36
+f 28 37 29
+f 29 37 38
+f 30 31 39
+f 31 40 39
+f 32 41 42
+f 32 42 43
+f 32 43 39
+f 32 39 44
+f 33 45 34
+f 34 46 47
+f 34 45 46
+f 35 38 48
+f 35 48 36
+f 37 49 38
+f 38 49 50
+f 38 50 48
+f 39 40 51
+f 39 51 44
+f 41 47 42
+f 42 47 52
+f 45 52 46
+f 46 52 47
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_15.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.01816950 -0.05334971 -0.00162666
+v 0.01816950 -0.04154165 -0.00280406
+v 0.01384566 -0.03888912 -0.00281305
+v 0.01132371 -0.03888912 -0.00279865
+v 0.00880534 -0.03888912 -0.00280045
+v 0.01635869 -0.05407144 -0.00162666
+v 0.01816950 -0.06670167 -0.00162671
+v 0.01816950 -0.03892260 -0.00327575
+v 0.01636582 -0.03901189 -0.00300749
+v 0.01635691 -0.03888912 -0.00303450
+v 0.00640281 -0.03888912 -0.00296608
+v -0.00003839 -0.04407142 -0.00279867
+v -0.00003839 -0.06326416 -0.00162669
+v 0.01158571 -0.07064885 -0.00162672
+v 0.01769541 -0.06814881 -0.01090945
+v 0.01816950 -0.06791816 -0.01141175
+v 0.01816950 -0.03888912 -0.00331356
+v 0.01816059 -0.03888912 -0.00328835
+v 0.00628339 -0.03888912 -0.00297509
+v -0.00003839 -0.04283258 -0.00306872
+v -0.00003839 -0.07596507 -0.00162674
+v 0.00951291 -0.07178724 -0.00162672
+v 0.00760585 -0.07321210 -0.00365756
+v 0.00482013 -0.07562278 -0.00994088
+v 0.00854334 -0.07375149 -0.01238938
+v 0.01319334 -0.07099851 -0.01238937
+v 0.01445342 -0.07024702 -0.01238937
+v 0.01816950 -0.06802603 -0.01238936
+v 0.01816950 -0.03888910 -0.00907296
+v 0.00387195 -0.03888912 -0.00349359
+v -0.00003839 -0.04161234 -0.00333877
+v -0.00003839 -0.07651194 -0.00749057
+v 0.00124129 -0.07651566 -0.00749057
+v 0.00084206 -0.07596507 -0.00162674
+v 0.00608734 -0.07364737 -0.00162673
+v 0.00376323 -0.07483040 -0.00162673
+v 0.00451714 -0.07539586 -0.00749057
+v 0.00325706 -0.07598366 -0.00749057
+v 0.00393790 -0.07609152 -0.01241819
+v 0.00509995 -0.07573810 -0.01325357
+v 0.00644024 -0.07509822 -0.01483970
+v 0.00867879 -0.07383333 -0.01483969
+v 0.00993709 -0.07309301 -0.01483969
+v 0.01816950 -0.06819716 -0.01483967
+v 0.01700031 -0.03888907 -0.01729167
+v 0.01816950 -0.03944711 -0.01729167
+v -0.00003839 -0.03888911 -0.00490509
+v -0.00003839 -0.07680953 -0.01238939
+v 0.00124129 -0.07680953 -0.01238939
+v 0.00376323 -0.07629986 -0.01483970
+v 0.00141061 -0.07618456 -0.00490883
+v 0.00280971 -0.07588694 -0.00563978
+v 0.00210214 -0.07556329 -0.00162674
+v 0.00282397 -0.07525079 -0.00162674
+v 0.00518016 -0.07577902 -0.01483970
+v 0.00515342 -0.07576413 -0.01627640
+v 0.01788968 -0.06826412 -0.01647621
+v 0.01816950 -0.06798138 -0.01672826
+v 0.01690229 -0.03888907 -0.01756533
+v 0.01816950 -0.03962567 -0.01834130
+v -0.00003839 -0.03888910 -0.00702593
+v -0.00003839 -0.07685418 -0.01363345
+v -0.00003839 -0.07689510 -0.01483970
+v 0.00124129 -0.07689138 -0.01483970
+v 0.00361174 -0.07597991 -0.01717298
+v 0.00435139 -0.07543302 -0.01790934
+v 0.00611051 -0.07487499 -0.01717298
+v 0.00827778 -0.07360267 -0.01729180
+v 0.01310601 -0.07094642 -0.01681289
+v 0.01252141 -0.07059298 -0.01844763
+v 0.01729617 -0.06789209 -0.01810915
+v 0.01816950 -0.06757959 -0.01763385
+v 0.01590420 -0.03888906 -0.01896602
+v 0.01816950 -0.03980424 -0.01882740
+v 0.00638677 -0.03888906 -0.01898942
+v -0.00003839 -0.04161973 -0.01729168
+v -0.00003839 -0.07666815 -0.01608376
+v -0.00003839 -0.07644494 -0.01729181
+v 0.00124129 -0.07643749 -0.01729181
+v 0.00267069 -0.07574924 -0.01857368
+v 0.00774666 -0.07328644 -0.01862228
+v 0.01561547 -0.06839804 -0.01875908
+v 0.01816950 -0.06639655 -0.01900753
+v 0.01372446 -0.03888906 -0.01963576
+v 0.01816950 -0.04091287 -0.01937831
+v 0.00869662 -0.03888906 -0.01974378
+v -0.00003839 -0.04222612 -0.01911367
+v -0.00003839 -0.07584597 -0.01867090
+v 0.00124129 -0.07583852 -0.01866549
+v 0.00124129 -0.07443227 -0.01937483
+v 0.00361174 -0.07452528 -0.01907237
+v 0.00628339 -0.07368823 -0.01889593
+v 0.01084071 -0.07108777 -0.01884731
+v 0.01384566 -0.06892631 -0.01903814
+v 0.01642107 -0.06696574 -0.01920378
+v 0.01816950 -0.06430949 -0.01973128
+v 0.01132371 -0.03888906 -0.01998503
+v 0.01816950 -0.04154159 -0.01960516
+v 0.00880534 -0.03888906 -0.01977799
+v -0.00003839 -0.04407136 -0.01985362
+v -0.00003839 -0.07512796 -0.01903277
+v -0.00003839 -0.07443227 -0.01938203
+v 0.00124129 -0.07190251 -0.01997435
+v 0.00376323 -0.07190251 -0.01991854
+v 0.00628339 -0.07190251 -0.01963048
+v 0.00867345 -0.07191739 -0.01906696
+v 0.01384566 -0.06684298 -0.01977990
+v 0.01636582 -0.06430949 -0.01990771
+v 0.01816950 -0.06177972 -0.01987170
+v 0.01120430 -0.03888906 -0.01997603
+v 0.01816950 -0.04334963 -0.01990763
+v 0.01816950 -0.04407136 -0.01996165
+v 0.01384566 -0.04154159 -0.01999224
+v 0.01132371 -0.03901183 -0.01998683
+v 0.00124129 -0.04660113 -0.02000846
+v -0.00003839 -0.04531764 -0.01992565
+v -0.00003839 -0.07190251 -0.01997615
+v 0.00124129 -0.06937274 -0.01998334
+v 0.01132371 -0.06684298 -0.01997074
+v 0.00880534 -0.06937274 -0.01985911
+v 0.01816950 -0.05852823 -0.01992029
+v 0.01636582 -0.04407136 -0.01998505
+v 0.01132371 -0.04154159 -0.02001745
+v 0.01384566 -0.04407136 -0.02001566
+v -0.00003839 -0.04660113 -0.01995445
+v 0.01132371 -0.04407136 -0.02001566
+v -0.00003839 -0.06937274 -0.01998514
+v -0.00003839 -0.05924996 -0.01999051
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 34
+f 1 34 53
+f 1 53 54
+f 1 54 36
+f 1 36 35
+f 1 35 22
+f 1 22 14
+f 1 14 7
+f 1 7 16
+f 1 16 28
+f 1 28 44
+f 1 44 58
+f 1 58 72
+f 1 72 83
+f 1 83 96
+f 1 96 109
+f 1 109 121
+f 1 121 112
+f 1 112 111
+f 1 111 98
+f 1 98 85
+f 1 85 74
+f 1 74 60
+f 1 60 46
+f 1 46 29
+f 1 29 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 18
+f 3 18 17
+f 3 17 29
+f 3 29 45
+f 3 45 59
+f 3 59 73
+f 3 73 84
+f 3 84 97
+f 3 97 110
+f 3 110 99
+f 3 99 86
+f 3 86 75
+f 3 75 61
+f 3 61 47
+f 3 47 30
+f 3 30 19
+f 3 19 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 10
+f 8 10 9
+f 11 19 12
+f 12 19 20
+f 12 20 31
+f 12 31 47
+f 12 47 61
+f 12 61 76
+f 12 76 87
+f 12 87 100
+f 12 100 116
+f 12 116 125
+f 12 125 128
+f 12 128 127
+f 12 127 117
+f 12 117 102
+f 12 102 101
+f 12 101 88
+f 12 88 78
+f 12 78 77
+f 12 77 63
+f 12 63 62
+f 12 62 48
+f 12 48 32
+f 12 32 21
+f 12 21 13
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 34
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 44 27
+f 26 43 44
+f 27 44 28
+f 29 46 45
+f 30 47 31
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 38
+f 33 38 51
+f 33 51 34
+f 34 51 38
+f 34 38 52
+f 34 52 53
+f 36 54 38
+f 36 38 37
+f 38 50 39
+f 38 54 52
+f 39 50 40
+f 40 50 55
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 44
+f 44 57 58
+f 45 46 60
+f 45 60 59
+f 48 62 49
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 50 64 56
+f 50 56 55
+f 52 54 53
+f 56 64 65
+f 56 65 66
+f 56 66 67
+f 56 67 68
+f 56 68 69
+f 56 69 57
+f 57 69 68
+f 57 68 70
+f 57 70 71
+f 57 71 72
+f 57 72 58
+f 59 60 73
+f 60 74 73
+f 61 75 76
+f 63 77 64
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 80 66
+f 65 79 80
+f 66 81 67
+f 66 80 81
+f 67 81 68
+f 68 81 70
+f 70 82 71
+f 70 81 82
+f 71 82 83
+f 71 83 72
+f 73 74 84
+f 74 85 84
+f 75 86 87
+f 75 87 76
+f 78 88 79
+f 79 88 89
+f 79 89 80
+f 80 89 90
+f 80 90 91
+f 80 91 92
+f 80 92 81
+f 81 92 93
+f 81 93 82
+f 82 93 94
+f 82 94 83
+f 83 94 95
+f 83 95 96
+f 84 85 98
+f 84 98 97
+f 86 99 87
+f 87 99 100
+f 88 101 90
+f 88 90 89
+f 90 101 102
+f 90 102 103
+f 90 103 104
+f 90 104 105
+f 90 105 91
+f 91 105 92
+f 92 105 106
+f 92 106 94
+f 92 94 93
+f 94 106 105
+f 94 105 95
+f 95 107 96
+f 95 105 107
+f 96 108 109
+f 96 107 108
+f 97 98 111
+f 97 111 112
+f 97 112 113
+f 97 113 114
+f 97 114 115
+f 97 115 116
+f 97 116 100
+f 97 100 110
+f 99 110 100
+f 102 117 103
+f 103 117 127
+f 103 127 118
+f 103 118 119
+f 103 119 104
+f 104 120 105
+f 104 119 120
+f 105 120 107
+f 107 120 108
+f 108 120 119
+f 108 119 121
+f 108 121 109
+f 112 122 113
+f 112 121 122
+f 113 123 114
+f 113 122 124
+f 113 124 123
+f 114 123 115
+f 115 125 116
+f 115 123 126
+f 115 126 127
+f 115 127 128
+f 115 128 125
+f 118 127 124
+f 118 124 119
+f 119 124 121
+f 121 124 122
+f 123 124 126
+f 124 127 126
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_16.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00628339 -0.02896628 -0.02001364
+v 0.00376323 -0.02896628 -0.01999510
+v 0.00880534 -0.02896628 -0.02001364
+v 0.00880534 -0.03141905 -0.02001197
+v -0.00003839 -0.03141905 -0.02000691
+v -0.00003839 -0.02896628 -0.01994622
+v 0.01132371 -0.02896628 -0.01987544
+v 0.01132371 -0.03888906 -0.01998502
+v -0.00003839 -0.03394855 -0.01969848
+v -0.00003839 -0.02896634 -0.00280548
+v 0.01330562 -0.02896628 -0.01912374
+v 0.01590420 -0.03888906 -0.01896534
+v 0.01372446 -0.03888906 -0.01963445
+v 0.00880534 -0.03888906 -0.01977771
+v -0.00003839 -0.03565044 -0.01895016
+v -0.00003839 -0.03270232 -0.00280549
+v 0.00116465 -0.02896634 -0.00280379
+v 0.01406132 -0.02896629 -0.01729168
+v 0.01690229 -0.03888907 -0.01756475
+v 0.00869662 -0.03888906 -0.01974400
+v -0.00003839 -0.03888910 -0.00702581
+v 0.00638677 -0.03888906 -0.01899062
+v -0.00003839 -0.03394861 -0.00280717
+v 0.00880534 -0.03888912 -0.00280045
+v 0.01132371 -0.03888912 -0.00279708
+v 0.01132371 -0.03647909 -0.00279707
+v 0.00124129 -0.02896634 -0.00280379
+v 0.01585430 -0.02896633 -0.00513810
+v 0.01816950 -0.03783611 -0.00738143
+v 0.01700031 -0.03888907 -0.01729171
+v -0.00003839 -0.03888911 -0.00490386
+v -0.00003839 -0.03527068 -0.00306337
+v 0.00628339 -0.03888912 -0.00297405
+v 0.01384566 -0.03888912 -0.00281393
+v 0.01132371 -0.03394861 -0.00280043
+v 0.00880534 -0.02896634 -0.00280716
+v 0.01535348 -0.02896634 -0.00387741
+v 0.01816950 -0.03803818 -0.00362799
+v 0.01816950 -0.03757481 -0.00481285
+v 0.01816950 -0.03751070 -0.00503869
+v 0.01816950 -0.03757676 -0.00649321
+v 0.01816950 -0.03888910 -0.00907359
+v -0.00003839 -0.03628579 -0.00331281
+v 0.00387195 -0.03888912 -0.00349316
+v 0.01132371 -0.02896634 -0.00281222
+v 0.01132371 -0.03141911 -0.00280549
+v 0.01635691 -0.03888912 -0.00303473
+v 0.01816059 -0.03888912 -0.00328754
+v 0.01421637 -0.02896634 -0.00329762
+v 0.01816950 -0.03888912 -0.00331282
+v 0.01411122 -0.02896634 -0.00326223
+f 1 2 6
+f 1 6 10
+f 1 10 17
+f 1 17 27
+f 1 27 36
+f 1 36 45
+f 1 45 51
+f 1 51 49
+f 1 49 37
+f 1 37 28
+f 1 28 18
+f 1 18 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 5
+f 5 9 15
+f 5 15 21
+f 5 21 31
+f 5 31 43
+f 5 43 32
+f 5 32 23
+f 5 23 16
+f 5 16 10
+f 5 10 6
+f 5 8 9
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 12
+f 8 12 19
+f 8 19 30
+f 8 30 42
+f 8 42 50
+f 8 50 48
+f 8 48 47
+f 8 47 34
+f 8 34 25
+f 8 25 24
+f 8 24 33
+f 8 33 44
+f 8 44 31
+f 8 31 21
+f 8 21 22
+f 8 22 20
+f 8 20 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 14 20 15
+f 15 20 22
+f 15 22 21
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 23 32 33
+f 23 33 24
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 42 30
+f 29 41 40
+f 29 40 39
+f 29 39 38
+f 29 38 50
+f 29 50 42
+f 31 44 43
+f 32 43 33
+f 33 43 44
+f 34 45 46
+f 34 46 35
+f 34 47 45
+f 35 46 36
+f 36 46 45
+f 37 48 38
+f 37 49 48
+f 38 48 50
+f 45 47 48
+f 45 48 51
+f 48 49 51
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_17.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.05670557 -0.03647851 -0.02000980
+v 0.05166003 -0.02896531 -0.01998998
+v 0.05173682 -0.02896531 -0.01998998
+v 0.05922608 -0.03647851 -0.02000620
+v 0.05670557 -0.03672381 -0.02000800
+v 0.03653696 -0.03672381 -0.01993782
+v 0.02897542 -0.02896531 -0.01996299
+v 0.06426710 -0.02896531 -0.01993060
+v 0.06426710 -0.03141908 -0.01996480
+v 0.06174659 -0.03647851 -0.01994142
+v 0.05922608 -0.03672381 -0.01999180
+v 0.02897542 -0.03672381 -0.01977047
+v 0.02640974 -0.03672381 -0.01915865
+v 0.02657235 -0.02896531 -0.01922881
+v 0.06678762 -0.02896531 -0.01945554
+v 0.06426710 -0.03394880 -0.01989102
+v 0.06176466 -0.03672381 -0.01988024
+v 0.06447489 -0.03667977 -0.01927742
+v 0.02629681 -0.03672381 -0.01909568
+v 0.02643684 -0.02896531 -0.01918203
+v 0.06678762 -0.03141908 -0.01934579
+v 0.06823759 -0.02896531 -0.01871597
+v 0.06682375 -0.03369666 -0.01902009
+v 0.06601069 -0.03596968 -0.01887254
+v 0.06445682 -0.03672381 -0.01926842
+v 0.02542050 -0.03672382 -0.01729082
+v 0.02550181 -0.02896532 -0.01763450
+v 0.06814273 -0.03141908 -0.01861521
+v 0.06804787 -0.03268660 -0.01851804
+v 0.06884287 -0.02896532 -0.01729080
+v 0.06648497 -0.03672382 -0.01752475
+v 0.06452006 -0.03672381 -0.01923783
+v 0.06769102 -0.03437257 -0.01775688
+v 0.02308067 -0.03672386 -0.00504015
+v 0.02543857 -0.02896532 -0.01729080
+v 0.06866219 -0.03141909 -0.01729081
+v 0.06823759 -0.03369667 -0.01708028
+v 0.06806594 -0.03525202 -0.01612298
+v 0.06885642 -0.02896532 -0.01721703
+v 0.06677858 -0.03645422 -0.01726743
+v 0.06663404 -0.03672382 -0.01719005
+v 0.02325684 -0.03672386 -0.00462988
+v 0.02374468 -0.02896536 -0.00507612
+v 0.02374920 -0.02896536 -0.00522908
+v 0.06904614 -0.03141910 -0.01483996
+v 0.06849054 -0.03394882 -0.01483996
+v 0.06806594 -0.03524899 -0.01483997
+v 0.06729804 -0.03651423 -0.01483997
+v 0.06714898 -0.03672383 -0.01483997
+v 0.06922682 -0.02896533 -0.01483995
+v 0.02404732 -0.03672387 -0.00351242
+v 0.02462551 -0.02896537 -0.00352140
+v 0.06890611 -0.03141910 -0.01238911
+v 0.06832793 -0.03411286 -0.01258886
+v 0.06910034 -0.02896533 -0.01238910
+v 0.06805239 -0.03522241 -0.01353717
+v 0.06736580 -0.03623095 -0.01258886
+v 0.06701798 -0.03672383 -0.01253847
+v 0.02406087 -0.03672387 -0.00350342
+v 0.02645039 -0.02896537 -0.00301755
+v 0.06909583 -0.02896533 -0.01231532
+v 0.06867574 -0.03141911 -0.00994005
+v 0.06817435 -0.03313851 -0.00748920
+v 0.06829631 -0.03356379 -0.00994005
+v 0.06800722 -0.03506597 -0.01190326
+v 0.06679213 -0.03647855 -0.00748921
+v 0.06698637 -0.03647854 -0.00994006
+v 0.06678310 -0.03672384 -0.00954058
+v 0.02621099 -0.03672387 -0.00297079
+v 0.02897542 -0.02896537 -0.00280522
+v 0.06767747 -0.02896537 -0.00162657
+v 0.06807949 -0.03281348 -0.00615221
+v 0.06716253 -0.03394886 -0.00162658
+v 0.06783557 -0.03440375 -0.00748921
+v 0.06793494 -0.03482903 -0.00994006
+v 0.06622750 -0.03611708 -0.00162659
+v 0.06659339 -0.03672385 -0.00722109
+v 0.06662048 -0.03672385 -0.00748921
+v 0.02645491 -0.03672387 -0.00295099
+v 0.04475346 -0.03672387 -0.00162659
+v 0.05533239 -0.02896537 -0.00162657
+v 0.06761423 -0.02988127 -0.00162657
+v 0.06745614 -0.03141914 -0.00162658
+v 0.06681472 -0.03477589 -0.00162659
+v 0.06566287 -0.03672387 -0.00162659
+v 0.06629978 -0.03672386 -0.00517331
+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 14
+f 2 14 20
+f 2 20 27
+f 2 27 35
+f 2 35 44
+f 2 44 43
+f 2 43 52
+f 2 52 60
+f 2 60 70
+f 2 70 81
+f 2 81 71
+f 2 71 61
+f 2 61 55
+f 2 55 50
+f 2 50 39
+f 2 39 30
+f 2 30 22
+f 2 22 15
+f 2 15 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 17
+f 5 17 25
+f 5 25 32
+f 5 32 31
+f 5 31 41
+f 5 41 49
+f 5 49 58
+f 5 58 68
+f 5 68 78
+f 5 78 77
+f 5 77 86
+f 5 86 85
+f 5 85 80
+f 5 80 79
+f 5 79 69
+f 5 69 59
+f 5 59 51
+f 5 51 42
+f 5 42 34
+f 5 34 26
+f 5 26 19
+f 5 19 13
+f 5 13 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 17
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 15 22 21
+f 16 21 23
+f 16 23 24
+f 16 24 18
+f 17 18 25
+f 18 24 25
+f 19 26 27
+f 19 27 20
+f 21 22 28
+f 21 28 29
+f 21 29 23
+f 22 30 28
+f 23 29 24
+f 24 31 32
+f 24 32 25
+f 24 29 33
+f 24 33 31
+f 26 34 27
+f 27 34 35
+f 28 30 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 33
+f 30 39 36
+f 31 40 41
+f 31 33 40
+f 33 38 40
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 36 39 45
+f 36 45 37
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 41
+f 38 41 40
+f 39 50 45
+f 42 51 52
+f 42 52 43
+f 45 53 54
+f 45 54 46
+f 45 50 55
+f 45 55 53
+f 46 54 56
+f 46 56 47
+f 47 56 48
+f 48 57 58
+f 48 58 49
+f 48 56 57
+f 51 59 52
+f 52 59 60
+f 53 55 61
+f 53 61 62
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 54 64 65
+f 54 65 56
+f 56 65 66
+f 56 66 57
+f 57 66 67
+f 57 67 58
+f 58 67 68
+f 59 69 60
+f 60 69 70
+f 61 71 62
+f 62 71 72
+f 62 72 63
+f 63 72 73
+f 63 73 74
+f 63 74 64
+f 64 74 75
+f 64 75 65
+f 65 75 66
+f 66 76 77
+f 66 77 78
+f 66 78 68
+f 66 68 67
+f 66 75 76
+f 69 79 70
+f 70 79 80
+f 70 80 81
+f 71 82 72
+f 71 81 80
+f 71 80 85
+f 71 85 76
+f 71 76 84
+f 71 84 73
+f 71 73 83
+f 71 83 82
+f 72 82 83
+f 72 83 73
+f 73 84 74
+f 74 84 76
+f 74 76 75
+f 76 85 86
+f 76 86 77
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_18.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.06715087 -0.03672383 -0.01484006
+v 0.06702142 -0.03672383 -0.01253824
+v 0.06596661 -0.03821200 -0.01238887
+v 0.06603373 -0.03830752 -0.01484007
+v 0.06587072 -0.03813496 -0.01678016
+v 0.06663305 -0.03672382 -0.01719049
+v 0.06662346 -0.03672385 -0.00749005
+v 0.06574126 -0.03797786 -0.00749006
+v 0.06472002 -0.03957384 -0.01484008
+v 0.06648442 -0.03672382 -0.01752523
+v 0.06334398 -0.04052589 -0.01676037
+v 0.06439878 -0.03917021 -0.01758823
+v 0.06545359 -0.03765738 -0.01841430
+v 0.06658991 -0.03672385 -0.00722189
+v 0.06565017 -0.03787311 -0.00596030
+v 0.06307069 -0.04031641 -0.00852850
+v 0.06442276 -0.03934277 -0.00994126
+v 0.06457618 -0.03947833 -0.01238888
+v 0.06345905 -0.04061217 -0.01484008
+v 0.06451865 -0.03672381 -0.01923856
+v 0.06194396 -0.04114211 -0.01746406
+v 0.06291246 -0.04020545 -0.01839451
+v 0.06174738 -0.04174601 -0.01484008
+v 0.05559594 -0.04543099 -0.01633206
+v 0.04311087 -0.05309367 -0.01650127
+v 0.05090685 -0.04817933 -0.01683059
+v 0.06377548 -0.03851701 -0.01892722
+v 0.06629743 -0.03672386 -0.00517382
+v 0.06566455 -0.03672387 -0.00162839
+v 0.06510838 -0.03738323 -0.00162840
+v 0.06461454 -0.03778377 -0.00162840
+v 0.06286452 -0.03913637 -0.00162840
+v 0.06011723 -0.04258099 -0.01238889
+v 0.06174738 -0.04154574 -0.01238888
+v 0.06316178 -0.04038726 -0.00994127
+v 0.06098505 -0.04069540 -0.00258946
+v 0.05922544 -0.04172757 -0.00162841
+v 0.05775830 -0.04267963 -0.00162842
+v 0.04954519 -0.04795446 -0.00162844
+v 0.06331521 -0.04050742 -0.01238888
+v 0.06445632 -0.03672381 -0.01926915
+v 0.06123436 -0.04070150 -0.01884624
+v 0.05035548 -0.04783423 -0.01846473
+v 0.04560885 -0.05054252 -0.01864831
+v 0.06026586 -0.04267342 -0.01484009
+v 0.05111781 -0.04831490 -0.01484011
+v 0.04913765 -0.04953502 -0.01484011
+v 0.03777930 -0.05544145 -0.01849535
+v 0.04253552 -0.05272393 -0.01813539
+v 0.04780476 -0.05035459 -0.01484011
+v 0.04654858 -0.05112178 -0.01484012
+v 0.04446773 -0.05238811 -0.01484012
+v 0.04320676 -0.05315222 -0.01484013
+v 0.04158140 -0.05413509 -0.01484013
+v 0.02897647 -0.06173615 -0.01484016
+v 0.03050593 -0.06067932 -0.01650309
+v 0.02518396 -0.06303943 -0.01850797
+v 0.06194396 -0.03922258 -0.01925656
+v 0.04475062 -0.03672387 -0.00162839
+v 0.06086518 -0.04059065 -0.00162841
+v 0.05099315 -0.04823788 -0.01238891
+v 0.04913765 -0.04938404 -0.01238891
+v 0.04155743 -0.05279177 -0.00162845
+v 0.03778889 -0.05545076 -0.00393929
+v 0.06176177 -0.03672381 -0.01988105
+v 0.05906242 -0.04154264 -0.01904781
+v 0.04085742 -0.05323847 -0.01877250
+v 0.04409855 -0.05098927 -0.01892907
+v 0.04651502 -0.04915911 -0.01908923
+v 0.03302309 -0.05814049 -0.01865373
+v 0.04768490 -0.05027756 -0.01238891
+v 0.04434308 -0.05231108 -0.01238892
+v 0.04158140 -0.05398103 -0.01238893
+v 0.03973069 -0.05509947 -0.01238893
+v 0.03511352 -0.05788786 -0.01238894
+v 0.03049635 -0.06067317 -0.01238895
+v 0.02725521 -0.06277140 -0.01484016
+v 0.02262366 -0.06554746 -0.01484017
+v 0.01817429 -0.06820028 -0.01484018
+v 0.01817429 -0.06798152 -0.01672808
+v 0.02574972 -0.06338144 -0.01687384
+v 0.01817429 -0.06757789 -0.01763333
+v 0.02041336 -0.06572614 -0.01865376
+v 0.04409855 -0.04913137 -0.01966514
+v 0.05670349 -0.04154264 -0.01959852
+v 0.05922544 -0.03900998 -0.01986127
+v 0.04442938 -0.03686560 -0.00162840
+v 0.02645452 -0.03672387 -0.00295118
+v 0.02024555 -0.06564917 -0.00162850
+v 0.02393257 -0.06459848 -0.01238897
+v 0.02712576 -0.06269437 -0.01238896
+v 0.02897647 -0.06158517 -0.01238896
+v 0.05670349 -0.03900998 -0.01999085
+v 0.05922544 -0.03672381 -0.01999084
+v 0.02825728 -0.06083645 -0.01877252
+v 0.03149841 -0.05858725 -0.01893270
+v 0.03905946 -0.05378383 -0.01905326
+v 0.04164853 -0.05179652 -0.01921882
+v 0.01817429 -0.06806779 -0.01298108
+v 0.01817429 -0.06639474 -0.01900650
+v 0.01888868 -0.06616058 -0.01892552
+v 0.03905946 -0.05166403 -0.01979833
+v 0.05165960 -0.04407222 -0.01976770
+v 0.03149841 -0.05672011 -0.01966877
+v 0.04662050 -0.04660180 -0.01987929
+v 0.05418154 -0.04154264 -0.01992607
+v 0.01817429 -0.04154270 -0.00280542
+v 0.03185800 -0.04448515 -0.00162842
+v 0.02621000 -0.03672387 -0.00297098
+v 0.01979006 -0.06588950 -0.00162850
+v 0.01817429 -0.06791991 -0.01141174
+v 0.01817429 -0.06802466 -0.01238898
+v 0.04913765 -0.04407222 -0.01997647
+v 0.03653751 -0.05166403 -0.01998010
+v 0.02393257 -0.05924968 -0.01998193
+v 0.02141063 -0.05924968 -0.02000712
+v 0.04662050 -0.04407222 -0.02000526
+v 0.05670349 -0.03672381 -0.02000703
+v 0.02645452 -0.06138488 -0.01905509
+v 0.01817429 -0.06431192 -0.01973179
+v 0.01888868 -0.06431192 -0.01966160
+v 0.02131474 -0.06433965 -0.01909289
+v 0.03401556 -0.05419053 -0.01988652
+v 0.02645452 -0.05924968 -0.01980016
+v 0.01817429 -0.03892377 -0.00327514
+v 0.01817429 -0.05334637 -0.00162846
+v 0.01929622 -0.05211701 -0.00162845
+v 0.02406203 -0.03672387 -0.00350369
+v 0.01817429 -0.03803950 -0.00362788
+v 0.01817429 -0.06669983 -0.00162851
+v 0.02141063 -0.06178234 -0.01988115
+v 0.01888868 -0.06178234 -0.01996574
+v 0.01817429 -0.04407222 -0.01996027
+v 0.02141063 -0.05672011 -0.02000351
+v 0.02393257 -0.04407222 -0.02000346
+v 0.03149841 -0.04407222 -0.02001246
+v 0.03653751 -0.03672381 -0.01993684
+v 0.03149841 -0.04154264 -0.02001065
+v 0.02897647 -0.04154264 -0.02000345
+v 0.01817429 -0.06178234 -0.01987036
+v 0.02404764 -0.03672387 -0.00351269
+v 0.01817429 -0.03757733 -0.00481389
+v 0.01817429 -0.05852871 -0.01991893
+v 0.01817429 -0.04335125 -0.01990808
+v 0.02897647 -0.03672381 -0.01976947
+v 0.02897647 -0.03900998 -0.01992786
+v 0.02325654 -0.03672386 -0.00463031
+v 0.01817429 -0.03751262 -0.00503885
+v 0.01817429 -0.04154264 -0.01960572
+v 0.01817429 -0.04091102 -0.01937895
+v 0.01817429 -0.03980182 -0.01882644
+v 0.02640657 -0.03672381 -0.01915757
+v 0.02308393 -0.03672386 -0.00503884
+v 0.01817429 -0.03758041 -0.00649302
+v 0.02541889 -0.03672382 -0.01729127
+v 0.01817429 -0.03962620 -0.01834052
+v 0.02629630 -0.03672381 -0.01909458
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 20
+f 1 20 41
+f 1 41 65
+f 1 65 94
+f 1 94 118
+f 1 118 137
+f 1 137 145
+f 1 145 152
+f 1 152 157
+f 1 157 155
+f 1 155 153
+f 1 153 147
+f 1 147 141
+f 1 141 128
+f 1 128 109
+f 1 109 88
+f 1 88 59
+f 1 59 29
+f 1 29 28
+f 1 28 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 5
+f 5 10 6
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 11
+f 10 13 20
+f 11 21 22
+f 11 22 12
+f 11 19 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 21
+f 12 22 13
+f 13 22 27
+f 13 27 20
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 33 34
+f 16 34 35
+f 16 35 18
+f 16 18 17
+f 16 32 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 33
+f 18 35 40
+f 18 40 19
+f 19 40 23
+f 20 27 41
+f 21 26 22
+f 22 42 27
+f 22 26 25
+f 22 25 43
+f 22 43 44
+f 22 44 42
+f 23 40 34
+f 23 34 33
+f 23 33 45
+f 23 45 24
+f 24 45 46
+f 24 46 47
+f 24 47 25
+f 25 48 49
+f 25 49 43
+f 25 47 50
+f 25 50 51
+f 25 51 52
+f 25 52 53
+f 25 53 54
+f 25 54 55
+f 25 55 56
+f 25 56 57
+f 25 57 48
+f 27 42 58
+f 27 58 41
+f 29 59 87
+f 29 87 108
+f 29 108 127
+f 29 127 126
+f 29 126 130
+f 29 130 110
+f 29 110 89
+f 29 89 63
+f 29 63 39
+f 29 39 38
+f 29 38 37
+f 29 37 60
+f 29 60 32
+f 29 32 31
+f 29 31 30
+f 32 60 36
+f 33 39 61
+f 33 61 45
+f 34 40 35
+f 36 60 37
+f 39 62 61
+f 39 63 64
+f 39 64 62
+f 41 58 65
+f 42 66 58
+f 42 44 67
+f 42 67 68
+f 42 68 69
+f 42 69 66
+f 43 49 48
+f 43 48 44
+f 44 48 57
+f 44 57 70
+f 44 70 67
+f 45 61 62
+f 45 62 46
+f 46 62 47
+f 47 62 71
+f 47 71 50
+f 50 71 51
+f 51 71 52
+f 52 71 72
+f 52 72 53
+f 53 72 54
+f 54 72 73
+f 54 73 74
+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 80
+f 56 80 81
+f 56 81 57
+f 57 81 80
+f 57 80 82
+f 57 82 83
+f 57 83 70
+f 58 66 69
+f 58 69 84
+f 58 84 85
+f 58 85 86
+f 58 86 65
+f 59 88 87
+f 62 64 71
+f 63 89 64
+f 64 75 74
+f 64 74 73
+f 64 73 72
+f 64 72 71
+f 64 89 90
+f 64 90 91
+f 64 91 92
+f 64 92 76
+f 64 76 75
+f 65 86 93
+f 65 93 94
+f 67 70 95
+f 67 95 96
+f 67 96 68
+f 68 97 69
+f 68 96 97
+f 69 97 98
+f 69 98 84
+f 70 83 95
+f 76 92 77
+f 77 92 78
+f 78 92 91
+f 78 91 90
+f 78 90 79
+f 79 90 99
+f 79 99 112
+f 79 112 111
+f 79 111 130
+f 79 130 126
+f 79 126 107
+f 79 107 125
+f 79 125 129
+f 79 129 142
+f 79 142 148
+f 79 148 154
+f 79 154 156
+f 79 156 151
+f 79 151 150
+f 79 150 149
+f 79 149 144
+f 79 144 133
+f 79 133 143
+f 79 143 140
+f 79 140 120
+f 79 120 100
+f 79 100 82
+f 79 82 80
+f 82 100 101
+f 82 101 83
+f 83 101 95
+f 84 102 103
+f 84 103 85
+f 84 98 104
+f 84 104 102
+f 85 103 86
+f 86 103 102
+f 86 102 105
+f 86 105 106
+f 86 106 93
+f 87 88 107
+f 87 107 108
+f 88 109 107
+f 89 110 111
+f 89 111 112
+f 89 112 90
+f 90 112 99
+f 93 106 113
+f 93 113 114
+f 93 114 115
+f 93 115 116
+f 93 116 117
+f 93 117 118
+f 93 118 94
+f 95 119 96
+f 95 101 119
+f 96 119 97
+f 97 119 98
+f 98 119 104
+f 100 120 121
+f 100 121 122
+f 100 122 101
+f 101 122 119
+f 102 123 105
+f 102 104 124
+f 102 124 123
+f 104 119 121
+f 104 121 124
+f 105 123 106
+f 106 123 113
+f 107 109 125
+f 107 126 127
+f 107 127 108
+f 109 128 129
+f 109 129 125
+f 110 130 111
+f 113 123 114
+f 114 123 115
+f 115 131 132
+f 115 132 116
+f 115 123 131
+f 116 132 133
+f 116 133 134
+f 116 134 135
+f 116 135 136
+f 116 136 118
+f 116 118 117
+f 118 136 138
+f 118 138 139
+f 118 139 137
+f 119 122 121
+f 120 140 132
+f 120 132 131
+f 120 131 121
+f 121 131 124
+f 123 124 131
+f 128 141 142
+f 128 142 129
+f 132 140 143
+f 132 143 133
+f 133 144 145
+f 133 145 146
+f 133 146 139
+f 133 139 135
+f 133 135 134
+f 135 139 138
+f 135 138 136
+f 137 139 146
+f 137 146 145
+f 141 147 148
+f 141 148 142
+f 144 149 145
+f 145 149 150
+f 145 150 151
+f 145 151 152
+f 147 153 148
+f 148 153 155
+f 148 155 154
+f 151 156 157
+f 151 157 152
+f 154 155 156
+f 155 157 156
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_19.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.02901425 0.05208315 -0.02001351
+v -0.02723689 0.05030088 -0.01999312
+v -0.03909650 0.05030088 -0.01992453
+v -0.03657594 0.05208315 -0.01995789
+v -0.03153481 0.05461424 -0.01999867
+v -0.02901425 0.05461424 -0.02001165
+v -0.02397313 0.05714534 -0.02000978
+v -0.02649369 0.05030088 -0.01998756
+v -0.04162971 0.05030088 -0.01971688
+v -0.03909650 0.05208315 -0.01976693
+v -0.03405537 0.05461424 -0.01986889
+v -0.02901425 0.05714534 -0.01993748
+v -0.02397313 0.05967452 -0.01997455
+v -0.02649369 0.05714534 -0.02000978
+v -0.02145257 0.05967452 -0.02000606
+v -0.01892884 0.05967452 -0.01997084
+v -0.01892884 0.05714534 -0.01994675
+v -0.01605408 0.05679003 -0.01985961
+v -0.01605408 0.05030088 -0.01917366
+v -0.04413762 0.05030088 -0.01933311
+v -0.03153481 0.05714534 -0.01963528
+v -0.02649369 0.05967452 -0.01977432
+v -0.02145257 0.06220370 -0.01986886
+v -0.01640828 0.06473479 -0.01989480
+v -0.01892884 0.06220370 -0.01995970
+v -0.01605408 0.06473479 -0.01989480
+v -0.01605408 0.05030082 -0.00277143
+v -0.04602567 0.05030088 -0.01882697
+v -0.04413762 0.05137063 -0.01889926
+v -0.04165501 0.05219968 -0.01918848
+v -0.02905536 0.05978913 -0.01919402
+v -0.01892884 0.06473479 -0.01964081
+v -0.01605408 0.06735948 -0.01928669
+v -0.01605408 0.05530569 -0.00107315
+v -0.01643675 0.05493701 -0.00107315
+v -0.02418502 0.05030081 -0.00107317
+v -0.04759746 0.05030087 -0.01731040
+v -0.04559872 0.05093891 -0.01862673
+v -0.02649369 0.06175287 -0.01902900
+v -0.03909650 0.05415769 -0.01902347
+v -0.04084223 0.05362855 -0.01874352
+v -0.02349874 0.06391146 -0.01884731
+v -0.01892884 0.06655526 -0.01890848
+v -0.02133239 0.06474625 -0.01907534
+v -0.01644940 0.06737667 -0.01919584
+v -0.01605408 0.06807201 -0.01898078
+v -0.01605408 0.06819228 -0.00107310
+v -0.04593396 0.05030081 -0.00107317
+v -0.04778089 0.05030087 -0.01672640
+v -0.04307500 0.05346999 -0.01640934
+v -0.04610157 0.05124645 -0.01729000
+v -0.04252155 0.05312233 -0.01804271
+v -0.03777138 0.05583490 -0.01844501
+v -0.02517807 0.06343199 -0.01845612
+v -0.02041208 0.06613118 -0.01863595
+v -0.01731594 0.06829550 -0.01804081
+v -0.01605408 0.06898511 -0.01797777
+v -0.01605408 0.06880167 -0.00503878
+v -0.02018754 0.06611392 -0.00107311
+v -0.04202186 0.05283382 -0.00107316
+v -0.04569360 0.05100381 -0.00503884
+v -0.04671511 0.05030083 -0.00503885
+v -0.04836280 0.05030086 -0.01484089
+v -0.03833748 0.05618255 -0.01681165
+v -0.04772080 0.05069629 -0.01484088
+v -0.04440328 0.05273644 -0.01484088
+v -0.04314141 0.05351201 -0.01484087
+v -0.04161706 0.05444421 -0.01484087
+v -0.03980491 0.05554643 -0.01484087
+v -0.03049749 0.06107090 -0.01642787
+v -0.02573467 0.06377010 -0.01682275
+v -0.02094340 0.06645019 -0.01728995
+v -0.01605408 0.06936715 -0.01728994
+v -0.01605408 0.06885325 -0.00541700
+v -0.02028558 0.06607190 -0.00114356
+v -0.04124388 0.05333430 -0.00107315
+v -0.04810347 0.05030086 -0.01238992
+v -0.04718633 0.05030084 -0.00748983
+v -0.04826793 0.05030086 -0.01392317
+v -0.04301807 0.05343559 -0.01238990
+v -0.04161706 0.05428375 -0.01238990
+v -0.03505474 0.05825517 -0.01238989
+v -0.03392255 0.05908996 -0.01484085
+v -0.02594024 0.06389234 -0.01484084
+v -0.02131025 0.06667559 -0.01484083
+v -0.01787571 0.06865080 -0.01640744
+v -0.01605408 0.06981223 -0.01484081
+v -0.01605408 0.06966705 -0.01238984
+v -0.01640828 0.06945692 -0.01238984
+v -0.01781562 0.06861641 -0.01238985
+v -0.01907749 0.06785995 -0.01238985
+v -0.02707560 0.06306138 -0.01238987
+v -0.04291055 0.05337064 -0.01105874
+v -0.04427993 0.05265812 -0.01238991
+v -0.01920399 0.06794018 -0.01484082
+v -0.01794529 0.06869282 -0.01484082
+v -0.01605408 0.06969570 -0.01285704
+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 2
+f 2 8 19
+f 2 19 27
+f 2 27 36
+f 2 36 48
+f 2 48 62
+f 2 62 78
+f 2 78 77
+f 2 77 79
+f 2 79 63
+f 2 63 49
+f 2 49 37
+f 2 37 28
+f 2 28 20
+f 2 20 9
+f 2 9 3
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 7 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 13 15 14
+f 15 25 16
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 18 26 33
+f 18 33 46
+f 18 46 57
+f 18 57 73
+f 18 73 87
+f 18 87 97
+f 18 97 88
+f 18 88 74
+f 18 74 58
+f 18 58 47
+f 18 47 34
+f 18 34 27
+f 18 27 19
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 23
+f 23 32 24
+f 24 33 26
+f 24 26 25
+f 24 32 33
+f 27 34 35
+f 27 35 36
+f 28 37 38
+f 28 38 29
+f 29 39 40
+f 29 40 30
+f 29 38 41
+f 29 41 42
+f 29 42 43
+f 29 43 39
+f 30 40 39
+f 30 39 31
+f 31 39 44
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 45 46
+f 34 47 59
+f 34 59 76
+f 34 76 60
+f 34 60 48
+f 34 48 36
+f 34 36 35
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 41
+f 39 43 44
+f 41 55 42
+f 42 55 43
+f 43 55 46
+f 43 46 45
+f 43 45 44
+f 46 55 56
+f 46 56 57
+f 47 58 59
+f 48 60 61
+f 48 61 62
+f 49 63 50
+f 50 64 52
+f 50 52 51
+f 50 63 65
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 64
+f 52 64 53
+f 53 64 54
+f 54 71 72
+f 54 72 73
+f 54 73 56
+f 54 56 55
+f 54 64 70
+f 54 70 71
+f 56 73 57
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 60 76 61
+f 61 77 78
+f 61 78 62
+f 61 76 77
+f 63 79 65
+f 65 79 80
+f 65 80 66
+f 66 80 67
+f 67 80 68
+f 68 80 69
+f 69 80 81
+f 69 81 82
+f 69 82 83
+f 69 83 70
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 71 86 72
+f 72 86 73
+f 73 86 87
+f 74 88 75
+f 75 88 89
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 82
+f 75 82 93
+f 75 93 76
+f 76 93 77
+f 77 93 94
+f 77 94 79
+f 79 94 80
+f 80 93 81
+f 80 94 93
+f 81 93 82
+f 82 92 83
+f 83 92 84
+f 84 92 85
+f 85 95 86
+f 85 92 95
+f 86 95 96
+f 86 96 87
+f 87 96 97
+f 88 97 89
+f 89 97 96
+f 89 96 90
+f 90 96 95
+f 90 95 91
+f 91 95 92
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_2.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.05922799 0.03436906 0.03686823
+v 0.06174773 0.02172003 0.03677976
+v 0.06174773 0.02677621 0.03677978
+v 0.06174773 0.02930859 0.03677242
+v 0.06174773 0.03183669 0.03670980
+v 0.06174773 0.03436907 0.03642243
+v 0.05922799 0.03689716 0.03646297
+v 0.05670582 0.03689715 0.03681298
+v 0.05550247 0.03689715 0.03683140
+v 0.06070361 0.00042657 0.03676126
+v 0.06174773 0.00042657 0.03677231
+v 0.06174773 0.00400624 0.03677601
+v 0.06380923 0.00042658 0.03602807
+v 0.06381044 0.00653863 0.03602809
+v 0.06381288 0.01919195 0.03602814
+v 0.06381288 0.02424813 0.03602816
+v 0.06380923 0.02677622 0.03602817
+v 0.06379464 0.02930860 0.03602081
+v 0.06369983 0.03183669 0.03596188
+v 0.06336071 0.03436907 0.03569661
+v 0.06307263 0.03572111 0.03546081
+v 0.06154961 0.03669972 0.03575188
+v 0.06057599 0.03823203 0.03546082
+v 0.05922799 0.03865266 0.03574083
+v 0.05672648 0.03952827 0.03606875
+v 0.05550247 0.03948105 0.03635245
+v 0.05550247 0.03429611 0.03647769
+v 0.05636912 0.00042658 0.03417116
+v 0.05690030 0.00042658 0.03523962
+v 0.05727711 0.00042658 0.03599492
+v 0.05841846 0.00042658 0.03643335
+v 0.05922799 0.00042658 0.03674284
+v 0.06295473 0.00042658 0.03633756
+v 0.06501865 0.00042658 0.03417116
+v 0.06501865 0.02172004 0.03417124
+v 0.06501744 0.02424813 0.03417125
+v 0.06501136 0.02677622 0.03417126
+v 0.06499434 0.02930860 0.03417127
+v 0.06482660 0.03183669 0.03417128
+v 0.06417996 0.03436907 0.03417129
+v 0.06334855 0.03607306 0.03417129
+v 0.06217559 0.03733926 0.03417130
+v 0.06091633 0.03848956 0.03417130
+v 0.05902743 0.03979009 0.03403499
+v 0.05757977 0.04043820 0.03476081
+v 0.05589872 0.04096185 0.03562295
+v 0.05550247 0.04108632 0.03568926
+v 0.05550247 0.03229595 0.03586977
+v 0.05617343 0.00042659 0.03172107
+v 0.06547812 0.00042659 0.03242110
+v 0.06547812 0.00147817 0.03242111
+v 0.06547690 0.01159911 0.03241745
+v 0.06547569 0.01919196 0.03240643
+v 0.06547447 0.02172005 0.03240276
+v 0.06547325 0.02424814 0.03239171
+v 0.06547082 0.02677623 0.03237698
+v 0.06546839 0.02930861 0.03235857
+v 0.06539668 0.03184529 0.03172488
+v 0.06480229 0.03436908 0.03172120
+v 0.06367552 0.03649800 0.03172120
+v 0.06259008 0.03776419 0.03172121
+v 0.06133082 0.03879002 0.03172121
+v 0.05805381 0.04074725 0.03312864
+v 0.05550247 0.04194047 0.03420079
+v 0.05550247 0.03107269 0.03417127
+v 0.05621719 0.00042671 -0.00077119
+v 0.05550247 0.03102977 0.03385442
+v 0.05550247 0.03075507 0.03172118
+v 0.05550247 0.03059209 -0.00077108
+v 0.06559723 0.00042660 0.03119789
+v 0.06559845 0.01159912 0.03119057
+v 0.06559845 0.01413150 0.03119058
+v 0.06559845 0.01665959 0.03118690
+v 0.06559723 0.02172006 0.03117587
+v 0.06559602 0.02677624 0.03115010
+v 0.06559480 0.02930862 0.03113169
+v 0.06557171 0.03100832 0.03091062
+v 0.06734634 0.03249352 -0.00077107
+v 0.06705827 0.03436920 -0.00077106
+v 0.06587194 0.03606029 0.00721660
+v 0.06616731 0.03649383 -0.00077106
+v 0.06537358 0.03742952 -0.00077105
+v 0.06505147 0.03772568 -0.00013366
+v 0.06506606 0.03775573 -0.00077105
+v 0.06379099 0.03872147 -0.00013366
+v 0.06056626 0.04075164 0.00619974
+v 0.05947960 0.04005621 0.03172122
+v 0.05821912 0.04085026 0.03172122
+v 0.05550247 0.04253279 0.03172123
+v 0.06775354 0.00042671 -0.00077119
+v 0.05550247 0.04427554 -0.00077103
+v 0.06746668 0.00042669 0.00476638
+v 0.06786415 0.00653876 -0.00013378
+v 0.06791884 0.02107635 -0.00077111
+v 0.06724789 0.03183681 0.00231641
+v 0.06780337 0.02496506 -0.00077110
+v 0.06771586 0.02677635 -0.00077109
+v 0.06759552 0.02925293 -0.00077108
+v 0.06738767 0.03183682 -0.00013368
+v 0.06740347 0.03183682 -0.00077107
+v 0.06380558 0.03873434 -0.00077105
+v 0.05806840 0.04279903 -0.00077103
+v 0.05766364 0.04303080 -0.00013364
+v 0.05550247 0.04419398 0.00086113
+v 0.06786415 0.00403643 -0.00077118
+v 0.05550247 0.04424549 -0.00016312
+v 0.05734396 0.04323683 -0.00077103
+v 0.06787995 0.00653876 -0.00077117
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 3
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 6 19 20
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 7 22 23
+f 8 26 9
+f 9 26 47
+f 9 47 64
+f 9 64 89
+f 9 89 104
+f 9 104 106
+f 9 106 91
+f 9 91 69
+f 9 69 68
+f 9 68 67
+f 9 67 65
+f 9 65 48
+f 9 48 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 32
+f 9 32 10
+f 10 32 31
+f 10 31 30
+f 10 30 29
+f 10 29 28
+f 10 28 49
+f 10 49 66
+f 10 66 90
+f 10 90 92
+f 10 92 70
+f 10 70 50
+f 10 50 34
+f 10 34 13
+f 10 13 33
+f 10 33 11
+f 11 33 12
+f 12 33 13
+f 13 34 14
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 40 21
+f 20 39 40
+f 21 41 42
+f 21 42 23
+f 21 23 22
+f 21 40 41
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 24
+f 24 46 47
+f 24 47 25
+f 25 47 26
+f 27 48 28
+f 28 48 49
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 39 57 58
+f 39 58 59
+f 39 59 40
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 43
+f 43 62 63
+f 43 63 44
+f 43 61 62
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 47
+f 48 65 49
+f 49 65 67
+f 49 67 68
+f 49 68 69
+f 49 69 66
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 73
+f 51 73 52
+f 52 73 53
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 60
+f 60 80 81
+f 60 81 82
+f 60 82 61
+f 61 82 83
+f 61 83 84
+f 61 84 62
+f 62 84 85
+f 62 85 86
+f 62 86 87
+f 62 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 64
+f 66 69 91
+f 66 91 107
+f 66 107 102
+f 66 102 101
+f 66 101 84
+f 66 84 82
+f 66 82 81
+f 66 81 79
+f 66 79 78
+f 66 78 100
+f 66 100 98
+f 66 98 97
+f 66 97 96
+f 66 96 94
+f 66 94 108
+f 66 108 105
+f 66 105 90
+f 70 92 93
+f 70 93 94
+f 70 94 71
+f 71 94 72
+f 72 94 73
+f 73 94 74
+f 74 94 75
+f 75 94 76
+f 76 94 77
+f 77 95 78
+f 77 94 96
+f 77 96 97
+f 77 97 98
+f 77 98 95
+f 78 95 99
+f 78 99 100
+f 79 81 80
+f 82 84 83
+f 84 101 85
+f 85 101 102
+f 85 102 86
+f 86 102 87
+f 87 102 103
+f 87 103 88
+f 88 103 89
+f 89 103 104
+f 90 105 92
+f 91 106 103
+f 91 103 107
+f 92 105 93
+f 93 105 108
+f 93 108 94
+f 95 98 99
+f 98 100 99
+f 102 107 103
+f 103 106 104
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_20.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00703378 0.02496173 -0.02002735
+v -0.00632513 0.02930964 -0.02002733
+v -0.00632513 0.02496173 -0.02002735
+v -0.00884569 0.02496173 -0.02002398
+v -0.00884569 0.02930964 -0.02002565
+v -0.00884569 0.03309544 -0.02002564
+v -0.00380250 0.02930964 -0.02002733
+v -0.00451321 0.02496173 -0.02002567
+v -0.00128193 0.02930964 -0.02002565
+v -0.01136419 0.02496173 -0.02001386
+v -0.01136419 0.02678019 -0.01999192
+v -0.01009564 0.03309544 -0.01996998
+v -0.00757508 0.03309544 -0.02001889
+v 0.00003827 0.02930964 -0.02002396
+v 0.00003827 0.02798401 -0.02002228
+v -0.00380250 0.02496173 -0.02002398
+v -0.01391368 0.02496173 -0.01975075
+v -0.01136419 0.03309544 -0.01987890
+v -0.00505451 0.03309544 -0.01978108
+v 0.00003827 0.03183988 -0.01969675
+v 0.00003827 0.02678019 -0.02001891
+v 0.00003827 0.02545377 -0.02001217
+v 0.00003827 0.02496173 -0.02000880
+v -0.01629375 0.02496173 -0.01916213
+v -0.01234349 0.03309544 -0.01950279
+v -0.02106629 0.02496173 -0.01789382
+v 0.00003827 0.03309544 -0.01912500
+v 0.00003827 0.02496167 -0.00280729
+v -0.01324015 0.03309544 -0.01912331
+v -0.02106629 0.02496167 -0.00307546
+v -0.02106629 0.02527621 -0.01742495
+v 0.00003827 0.03309538 -0.00297760
+v 0.00003827 0.02557552 -0.00280560
+v -0.00057122 0.02496167 -0.00280560
+v -0.01362030 0.03309544 -0.01819737
+v -0.01380211 0.03309538 -0.00331324
+v -0.02106629 0.02616628 -0.00339084
+v -0.01569666 0.02496167 -0.00284608
+v -0.01136419 0.03309538 -0.00280220
+v -0.02106629 0.02705084 -0.00503864
+v -0.01390128 0.03309543 -0.01729168
+v 0.00003827 0.03183982 -0.00280557
+v -0.00380250 0.03309538 -0.00285786
+v 0.00003827 0.02678013 -0.00280391
+v -0.00309385 0.02496167 -0.00280392
+v -0.01442812 0.03309539 -0.00418352
+v -0.01494876 0.03309539 -0.00503862
+v -0.01317610 0.02496167 -0.00280392
+v -0.01136419 0.03183982 -0.00280051
+v -0.00884569 0.03309538 -0.00280220
+v -0.01473389 0.03309540 -0.00755669
+v -0.00632513 0.03309538 -0.00280557
+v -0.00128193 0.03183982 -0.00280389
+v 0.00003827 0.03063520 -0.00280390
+v 0.00003827 0.02930958 -0.00280221
+v -0.01136419 0.02930958 -0.00279884
+v -0.01136419 0.02678013 -0.00280053
+v -0.01065347 0.02496167 -0.00280223
+v -0.01136419 0.02496167 -0.00280223
+v -0.00380250 0.03183982 -0.00280220
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 28
+f 1 28 34
+f 1 34 45
+f 1 45 58
+f 1 58 59
+f 1 59 48
+f 1 48 38
+f 1 38 30
+f 1 30 26
+f 1 26 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 7 9
+f 3 9 8
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 18
+f 6 18 25
+f 6 25 29
+f 6 29 35
+f 6 35 41
+f 6 41 51
+f 6 51 47
+f 6 47 46
+f 6 46 36
+f 6 36 39
+f 6 39 50
+f 6 50 52
+f 6 52 43
+f 6 43 32
+f 6 32 27
+f 6 27 19
+f 6 19 13
+f 6 13 14
+f 6 14 9
+f 6 9 7
+f 8 9 14
+f 8 14 15
+f 8 15 16
+f 10 17 11
+f 11 18 12
+f 11 17 18
+f 13 19 20
+f 13 20 14
+f 14 20 27
+f 14 27 32
+f 14 32 42
+f 14 42 54
+f 14 54 55
+f 14 55 44
+f 14 44 33
+f 14 33 28
+f 14 28 23
+f 14 23 22
+f 14 22 21
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 26
+f 18 26 25
+f 19 27 20
+f 25 26 29
+f 26 30 37
+f 26 37 40
+f 26 40 31
+f 26 31 29
+f 28 33 34
+f 29 31 35
+f 30 36 37
+f 30 38 39
+f 30 39 36
+f 31 40 41
+f 31 41 35
+f 32 43 42
+f 33 44 34
+f 34 44 45
+f 36 46 37
+f 37 46 47
+f 37 47 40
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 40 47 51
+f 40 51 41
+f 42 43 52
+f 42 52 50
+f 42 50 53
+f 42 53 54
+f 44 55 45
+f 45 56 57
+f 45 57 58
+f 45 55 56
+f 48 59 57
+f 48 57 56
+f 48 56 49
+f 49 56 60
+f 49 60 50
+f 50 60 53
+f 53 55 54
+f 53 60 55
+f 55 60 56
+f 57 59 58
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_21.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.02649278 0.00042678 -0.02002315
+v -0.02796999 0.00042678 -0.01990513
+v -0.02397177 0.00042678 -0.01989334
+v -0.02145077 -0.00611574 -0.01995742
+v -0.02145077 -0.00864461 -0.01999283
+v -0.02397177 -0.00611574 -0.02001979
+v -0.02397177 -0.00864461 -0.02001980
+v -0.02649278 -0.01266082 -0.02001982
+v -0.02901152 -0.00864461 -0.02001812
+v -0.02901152 -0.00611574 -0.02001811
+v -0.03153253 -0.00611574 -0.01997090
+v -0.03959930 -0.00611574 -0.01963879
+v -0.02901152 0.00042678 -0.01980904
+v -0.02200670 0.00042678 -0.01914145
+v -0.01642237 -0.00611574 -0.01939772
+v -0.01642237 -0.00864461 -0.01966915
+v -0.01892976 -0.00864461 -0.01983773
+v -0.02397177 -0.01266082 -0.01995745
+v -0.02397177 -0.01117476 -0.01999453
+v -0.02753431 -0.01266082 -0.01998611
+v -0.03153253 -0.00864461 -0.01991697
+v -0.02901152 -0.01266082 -0.01981921
+v -0.03959930 -0.00877912 -0.01911787
+v -0.03959930 -0.00565327 -0.01949381
+v -0.03959930 -0.00433631 -0.01893916
+v -0.03016197 0.00042678 -0.01936904
+v -0.02128966 0.00042677 -0.01729038
+v -0.01642237 -0.00472320 -0.01867617
+v -0.01642237 -0.01029337 -0.01894761
+v -0.02159145 -0.01266082 -0.01926793
+v -0.03006440 -0.01266082 -0.01954610
+v -0.03959930 -0.00910965 -0.01891557
+v -0.03959930 -0.00417745 -0.01854805
+v -0.03093574 0.00042678 -0.01905547
+v -0.01922475 0.00042673 -0.00503931
+v -0.01642237 -0.00472063 -0.01866774
+v -0.01642237 -0.01063543 -0.01729042
+v -0.02053631 -0.01266083 -0.01729043
+v -0.03109232 -0.01266082 -0.01910609
+v -0.03959930 -0.00980272 -0.01729042
+v -0.03959930 -0.00389050 -0.01729039
+v -0.03136234 0.00042678 -0.01801530
+v -0.01944258 0.00042673 -0.00442060
+v -0.01642237 -0.00337426 -0.00503932
+v -0.01642237 -0.01171799 -0.00503935
+v -0.01828760 -0.01266087 -0.00503936
+v -0.01855308 -0.01266087 -0.00652797
+v -0.03158699 -0.01266082 -0.01803558
+v -0.03959930 -0.01125168 -0.00503935
+v -0.03959930 -0.00283364 -0.00503932
+v -0.03161875 0.00042677 -0.01729038
+v -0.01980111 0.00042672 -0.00354902
+v -0.01642237 -0.00419929 -0.00334842
+v -0.01642237 -0.01071491 -0.00331978
+v -0.01931324 -0.01266088 -0.00337543
+v -0.01851451 -0.01266087 -0.00454035
+v -0.03180709 -0.01266083 -0.01729043
+v -0.03959930 -0.01078153 -0.00383397
+v -0.03391285 -0.01266087 -0.00574236
+v -0.03399454 -0.01266087 -0.00513208
+v -0.03324799 -0.01266088 -0.00357773
+v -0.03959930 -0.00392130 -0.00330290
+v -0.03174809 0.00042672 -0.00326411
+v -0.03260810 0.00042673 -0.00418796
+v -0.03281686 0.00042673 -0.00441723
+v -0.03342725 0.00042673 -0.00509832
+v -0.03322757 0.00042674 -0.00706570
+v -0.02048412 0.00042672 -0.00333997
+v -0.01642237 -0.00611580 -0.00284435
+v -0.02145077 0.00042672 -0.00304495
+v -0.01642237 -0.00865876 -0.00281908
+v -0.02033435 -0.01266088 -0.00308883
+v -0.03959930 -0.01054709 -0.00338722
+v -0.03164371 -0.01266088 -0.00314109
+v -0.03959930 -0.00611580 -0.00281232
+v -0.02901152 0.00042672 -0.00280725
+v -0.03024366 0.00042672 -0.00301123
+v -0.01642237 -0.00864467 -0.00281739
+v -0.02249684 0.00042672 -0.00294549
+v -0.02397177 0.00042672 -0.00280556
+v -0.02145077 -0.01266088 -0.00291688
+v -0.03959930 -0.00913661 -0.00297755
+v -0.02901152 -0.01266088 -0.00280224
+v -0.03959930 -0.00661927 -0.00281738
+v -0.03153253 -0.00864467 -0.00280222
+v -0.02901152 -0.00105550 -0.00280387
+v -0.02753885 0.00042672 -0.00280556
+v -0.02145077 -0.00611580 -0.00280389
+v -0.02145077 -0.00864467 -0.00280559
+v -0.02397177 -0.01266088 -0.00280392
+v -0.02293024 -0.01266088 -0.00281573
+v -0.02397177 -0.00105550 -0.00280387
+v -0.03959930 -0.00864467 -0.00288482
+v -0.02649278 -0.01266088 -0.00280055
+v -0.02649278 -0.00358565 -0.00280220
+v -0.02397177 -0.00358565 -0.00280220
+f 1 2 13
+f 1 13 26
+f 1 26 34
+f 1 34 42
+f 1 42 51
+f 1 51 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 77
+f 1 77 76
+f 1 76 87
+f 1 87 80
+f 1 80 79
+f 1 79 70
+f 1 70 68
+f 1 68 52
+f 1 52 43
+f 1 43 35
+f 1 35 27
+f 1 27 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 5
+f 5 18 19
+f 5 19 8
+f 5 8 7
+f 5 7 6
+f 5 17 18
+f 8 19 18
+f 8 18 30
+f 8 30 38
+f 8 38 47
+f 8 47 46
+f 8 46 56
+f 8 56 55
+f 8 55 72
+f 8 72 81
+f 8 81 91
+f 8 91 90
+f 8 90 94
+f 8 94 83
+f 8 83 74
+f 8 74 61
+f 8 61 60
+f 8 60 59
+f 8 59 57
+f 8 57 48
+f 8 48 39
+f 8 39 31
+f 8 31 22
+f 8 22 20
+f 8 20 9
+f 9 21 11
+f 9 11 10
+f 9 20 21
+f 11 21 12
+f 12 21 20
+f 12 20 22
+f 12 22 23
+f 12 23 32
+f 12 32 40
+f 12 40 49
+f 12 49 58
+f 12 58 73
+f 12 73 82
+f 12 82 93
+f 12 93 84
+f 12 84 75
+f 12 75 62
+f 12 62 50
+f 12 50 41
+f 12 41 33
+f 12 33 25
+f 12 25 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 14 27 28
+f 14 28 15
+f 15 28 36
+f 15 36 44
+f 15 44 53
+f 15 53 69
+f 15 69 78
+f 15 78 71
+f 15 71 54
+f 15 54 45
+f 15 45 37
+f 15 37 29
+f 15 29 16
+f 16 29 18
+f 16 18 17
+f 18 29 30
+f 22 31 23
+f 23 31 32
+f 25 33 34
+f 25 34 26
+f 27 35 36
+f 27 36 28
+f 29 37 38
+f 29 38 30
+f 31 39 32
+f 32 39 40
+f 33 41 34
+f 34 41 42
+f 35 43 44
+f 35 44 36
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 39 48 40
+f 40 48 49
+f 41 50 51
+f 41 51 42
+f 43 52 53
+f 43 53 44
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 48 57 49
+f 49 57 59
+f 49 59 60
+f 49 60 61
+f 49 61 58
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 52 68 53
+f 53 68 70
+f 53 70 69
+f 54 71 72
+f 54 72 55
+f 58 61 73
+f 61 74 73
+f 62 75 76
+f 62 76 77
+f 62 77 63
+f 69 70 79
+f 69 79 80
+f 69 80 78
+f 71 78 81
+f 71 81 72
+f 73 74 83
+f 73 83 82
+f 75 84 83
+f 75 83 85
+f 75 85 86
+f 75 86 76
+f 76 86 87
+f 78 88 89
+f 78 89 90
+f 78 90 91
+f 78 91 81
+f 78 80 88
+f 80 87 86
+f 80 86 92
+f 80 92 88
+f 82 83 93
+f 83 94 85
+f 83 84 93
+f 85 94 95
+f 85 95 86
+f 86 95 96
+f 86 96 92
+f 88 92 96
+f 88 96 94
+f 88 94 90
+f 88 90 89
+f 94 96 95
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_22.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.06178768 0.03437094 -0.02002424
+v -0.05698505 0.03208344 -0.02001312
+v -0.06430870 0.03208344 -0.01998529
+v -0.06178768 0.03690067 -0.01995188
+v -0.05674562 0.03943111 -0.01998898
+v -0.03659619 0.03944770 -0.02000568
+v -0.03657741 0.03944770 -0.02000568
+v -0.03657741 0.03943111 -0.02000568
+v -0.03657741 0.03208344 -0.01995190
+v -0.06705038 0.03208344 -0.01917456
+v -0.06430870 0.03437094 -0.01989809
+v -0.06452466 0.03711406 -0.01928586
+v -0.06190974 0.03944770 -0.01928029
+v -0.05926665 0.03943111 -0.01984057
+v -0.05674562 0.03944770 -0.01998713
+v -0.02901433 0.03944770 -0.01997229
+v -0.02901433 0.03943111 -0.01997229
+v -0.02901433 0.03690067 -0.01989437
+v -0.02901433 0.03208344 -0.01964950
+v -0.06712079 0.03208344 -0.01913560
+v -0.06653397 0.03437094 -0.01914116
+v -0.06382985 0.03886086 -0.01893337
+v -0.06229939 0.03944770 -0.01918011
+v -0.06604103 0.03641332 -0.01887957
+v -0.05952955 0.03944770 -0.01977934
+v -0.05926195 0.03944770 -0.01983500
+v -0.02649331 0.03944770 -0.01974409
+v -0.02717873 0.03208344 -0.01924877
+v -0.06854797 0.03208343 -0.01756609
+v -0.06806442 0.03299541 -0.01847329
+v -0.06551053 0.03810029 -0.01843246
+v -0.06447771 0.03944769 -0.01757164
+v -0.06433687 0.03944770 -0.01769594
+v -0.02573277 0.03944770 -0.01954373
+v -0.02412251 0.03944770 -0.01910776
+v -0.02698625 0.03208344 -0.01919497
+v -0.06857144 0.03208343 -0.01749003
+v -0.06837427 0.03394198 -0.01683885
+v -0.06785316 0.03461965 -0.01751042
+v -0.06654335 0.03711405 -0.01748630
+v -0.06587671 0.03851553 -0.01679801
+v -0.06453404 0.03944769 -0.01745847
+v -0.02231038 0.03944769 -0.01729150
+v -0.02630083 0.03208343 -0.01747333
+v -0.06902682 0.03208342 -0.01484078
+v -0.06849633 0.03434064 -0.01484077
+v -0.06807850 0.03560586 -0.01484077
+v -0.06726164 0.03690065 -0.01484076
+v -0.06601286 0.03866403 -0.01484076
+v -0.06518190 0.03944768 -0.01484076
+v -0.02106629 0.03944767 -0.00969254
+v -0.02106629 0.03792649 -0.00660546
+v -0.02623041 0.03208343 -0.01729152
+v -0.06901274 0.03208342 -0.01458662
+v -0.06835079 0.03393475 -0.00994116
+v -0.06842591 0.03418636 -0.01239003
+v -0.06802686 0.03545159 -0.01239003
+v -0.06713957 0.03690065 -0.01239002
+v -0.06593774 0.03856743 -0.01239002
+v -0.06511618 0.03944768 -0.01397252
+v -0.02106629 0.03944764 -0.00328463
+v -0.02106629 0.03791496 -0.00637170
+v -0.02500510 0.03208339 -0.00674091
+v -0.06887190 0.03208341 -0.01210619
+v -0.06824282 0.03359230 -0.00749042
+v -0.06785786 0.03485752 -0.00749041
+v -0.06794236 0.03519997 -0.00994115
+v -0.06678748 0.03690063 -0.00749040
+v -0.06575465 0.03836554 -0.00749040
+v -0.06497534 0.03944768 -0.01239002
+v -0.02106629 0.03926596 -0.00331802
+v -0.02395820 0.03944764 -0.00294698
+v -0.02901433 0.03208338 -0.00297853
+v -0.02872327 0.03208338 -0.00301564
+v -0.02624449 0.03208338 -0.00333659
+v -0.02106629 0.03787170 -0.00519735
+v -0.02498163 0.03208339 -0.00484488
+v -0.06867472 0.03208341 -0.00960165
+v -0.06813484 0.03328013 -0.00611385
+v -0.06714427 0.03437087 -0.00107507
+v -0.06659030 0.03565484 -0.00107507
+v -0.06622412 0.03648823 -0.00107507
+v -0.06567954 0.03827614 -0.00599881
+v -0.06460446 0.03944766 -0.00912299
+v -0.06490962 0.03944767 -0.01170730
+v -0.02106629 0.03924073 -0.00332359
+v -0.04216404 0.03944763 -0.00107506
+v -0.04482591 0.03764748 -0.00107506
+v -0.05359082 0.03208337 -0.00107508
+v -0.02623510 0.03208338 -0.00334030
+v -0.02106629 0.03816872 -0.00418441
+v -0.02498163 0.03208339 -0.00479108
+v -0.06744473 0.03208337 -0.00107508
+v -0.06509271 0.03775345 -0.00107506
+v -0.06431340 0.03837922 -0.00107506
+v -0.06321015 0.03922630 -0.00107506
+v -0.06433687 0.03944766 -0.00745886
+v -0.06287214 0.03944763 -0.00107506
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 19
+f 2 19 28
+f 2 28 36
+f 2 36 44
+f 2 44 53
+f 2 53 63
+f 2 63 77
+f 2 77 92
+f 2 92 90
+f 2 90 75
+f 2 75 74
+f 2 74 73
+f 2 73 89
+f 2 89 93
+f 2 93 78
+f 2 78 64
+f 2 64 54
+f 2 54 45
+f 2 45 37
+f 2 37 29
+f 2 29 20
+f 2 20 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 26
+f 6 26 25
+f 6 25 13
+f 6 13 23
+f 6 23 33
+f 6 33 32
+f 6 32 42
+f 6 42 50
+f 6 50 60
+f 6 60 70
+f 6 70 85
+f 6 85 84
+f 6 84 97
+f 6 97 98
+f 6 98 87
+f 6 87 72
+f 6 72 61
+f 6 61 51
+f 6 51 43
+f 6 43 35
+f 6 35 34
+f 6 34 27
+f 6 27 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 12 22 23
+f 12 23 13
+f 12 21 24
+f 12 24 22
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 27 18
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 21
+f 21 30 24
+f 22 24 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 24 30 31
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 35 43 36
+f 36 43 44
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 40
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 48
+f 48 58 49
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 51 61 71
+f 51 71 86
+f 51 86 91
+f 51 91 76
+f 51 76 62
+f 51 62 52
+f 52 62 63
+f 52 63 53
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 57
+f 55 57 56
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 58 69 59
+f 59 69 60
+f 60 69 70
+f 61 72 73
+f 61 73 74
+f 61 74 75
+f 61 75 71
+f 62 76 63
+f 63 76 77
+f 64 78 65
+f 65 79 80
+f 65 80 66
+f 65 78 79
+f 66 80 81
+f 66 81 82
+f 66 82 68
+f 66 68 67
+f 68 82 83
+f 68 83 69
+f 69 83 84
+f 69 84 85
+f 69 85 70
+f 71 75 86
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 75 90 86
+f 76 91 92
+f 76 92 77
+f 78 93 79
+f 79 93 80
+f 80 93 89
+f 80 89 88
+f 80 88 87
+f 80 87 98
+f 80 98 96
+f 80 96 95
+f 80 95 94
+f 80 94 82
+f 80 82 81
+f 82 94 83
+f 83 94 95
+f 83 95 96
+f 83 96 97
+f 83 97 84
+f 86 90 91
+f 90 92 91
+f 96 98 97
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_23.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.02897282 -0.02382639 -0.02002338
+v 0.02897282 -0.02129802 -0.02002000
+v 0.03149237 -0.02129802 -0.02000820
+v 0.03149237 -0.02382639 -0.02000653
+v 0.02897282 -0.02635775 -0.02002002
+v 0.02645326 -0.02382639 -0.02001664
+v 0.02393163 -0.02129802 -0.02001157
+v 0.02645326 -0.02129802 -0.02001832
+v 0.02645326 -0.01876816 -0.02001662
+v 0.02644704 -0.01370096 -0.01999974
+v 0.02645326 -0.01370694 -0.01999974
+v 0.03932270 -0.02129802 -0.01977386
+v 0.03149237 -0.02635775 -0.01999811
+v 0.03149237 -0.02888761 -0.01996271
+v 0.02897282 -0.02888761 -0.01996777
+v 0.01813769 -0.02129802 -0.01993739
+v 0.02141000 -0.02129802 -0.01997954
+v 0.02393163 -0.01370694 -0.01988004
+v 0.02392541 -0.01370096 -0.01987836
+v 0.02896452 -0.01370096 -0.01971651
+v 0.03932270 -0.01950485 -0.01904892
+v 0.03932270 -0.02156251 -0.01976037
+v 0.03409073 -0.02896531 -0.01984301
+v 0.03156910 -0.02896531 -0.01995597
+v 0.02897282 -0.02896531 -0.01996440
+v 0.01813769 -0.02382639 -0.01940466
+v 0.01813769 -0.01884735 -0.01919222
+v 0.02192843 -0.01370096 -0.01913151
+v 0.03071888 -0.01370096 -0.01898483
+v 0.03932270 -0.01898185 -0.01729053
+v 0.03932270 -0.02382639 -0.01956314
+v 0.03740659 -0.02896531 -0.01925632
+v 0.02656939 -0.02896531 -0.01922766
+v 0.01813769 -0.02530127 -0.01869996
+v 0.01813769 -0.01856194 -0.01857012
+v 0.02118189 -0.01370097 -0.01729051
+v 0.02192428 -0.01370096 -0.01912308
+v 0.03124560 -0.01370097 -0.01729557
+v 0.03932270 -0.01779242 -0.00498518
+v 0.03312023 -0.01370101 -0.00672332
+v 0.03932270 -0.02896531 -0.01849430
+v 0.02643667 -0.02896531 -0.01918214
+v 0.01813769 -0.02554037 -0.01729055
+v 0.02550350 -0.02896532 -0.01763449
+v 0.01813769 -0.01798664 -0.01729053
+v 0.01918491 -0.01370101 -0.00503911
+v 0.03932270 -0.01784622 -0.00489920
+v 0.03331516 -0.01370101 -0.00492110
+v 0.03290249 -0.01370102 -0.00375952
+v 0.03932270 -0.02896537 -0.00280705
+v 0.01813769 -0.02695253 -0.00503916
+v 0.02543714 -0.02896532 -0.01729057
+v 0.01813769 -0.01634743 -0.00503912
+v 0.01977799 -0.01370102 -0.00356733
+v 0.01813769 -0.01640869 -0.00473398
+v 0.01813769 -0.01680470 -0.00361791
+v 0.03932270 -0.01878167 -0.00348137
+v 0.03187393 -0.01370102 -0.00331444
+v 0.03932270 -0.01902225 -0.00330603
+v 0.03932270 -0.02862168 -0.00280705
+v 0.03905726 -0.02896537 -0.00280536
+v 0.01813769 -0.02644596 -0.00409675
+v 0.02374707 -0.02896536 -0.00522799
+v 0.02374292 -0.02896536 -0.00507626
+v 0.02462425 -0.02896537 -0.00352187
+v 0.01813769 -0.01727540 -0.00344258
+v 0.01813769 -0.01876822 -0.00310373
+v 0.02141000 -0.01370102 -0.00306493
+v 0.02897282 -0.01370102 -0.00280699
+v 0.03932270 -0.02098278 -0.00286265
+v 0.03932270 -0.02356046 -0.00281208
+v 0.03653563 -0.02896537 -0.00280199
+v 0.01813769 -0.02597975 -0.00331955
+v 0.02644704 -0.02896537 -0.00301778
+v 0.01813769 -0.01952135 -0.00297391
+v 0.02393163 -0.01370102 -0.00280699
+v 0.01813769 -0.02129808 -0.00281207
+v 0.02897282 -0.01623686 -0.00280531
+v 0.03932270 -0.02129808 -0.00281713
+v 0.02897282 -0.02896537 -0.00280536
+v 0.02393163 -0.01370700 -0.00280699
+v 0.01813769 -0.02460946 -0.00296887
+v 0.01813769 -0.02382645 -0.00283400
+v 0.01813769 -0.02204972 -0.00281376
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 10 17 16
+f 10 16 18
+f 10 18 19
+f 10 19 28
+f 10 28 37
+f 10 37 36
+f 10 36 46
+f 10 46 54
+f 10 54 68
+f 10 68 76
+f 10 76 69
+f 10 69 58
+f 10 58 49
+f 10 49 48
+f 10 48 40
+f 10 40 38
+f 10 38 29
+f 10 29 20
+f 10 20 12
+f 10 12 11
+f 12 21 30
+f 12 30 39
+f 12 39 47
+f 12 47 57
+f 12 57 59
+f 12 59 70
+f 12 70 79
+f 12 79 71
+f 12 71 60
+f 12 60 50
+f 12 50 41
+f 12 41 31
+f 12 31 22
+f 12 22 23
+f 12 23 14
+f 12 14 13
+f 12 20 21
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 26 34
+f 16 34 43
+f 16 43 51
+f 16 51 62
+f 16 62 73
+f 16 73 82
+f 16 82 83
+f 16 83 84
+f 16 84 77
+f 16 77 75
+f 16 75 67
+f 16 67 66
+f 16 66 56
+f 16 56 55
+f 16 55 53
+f 16 53 45
+f 16 45 35
+f 16 35 27
+f 16 27 28
+f 16 28 19
+f 16 19 18
+f 16 25 26
+f 20 29 21
+f 21 29 30
+f 22 31 23
+f 23 31 32
+f 23 32 41
+f 23 41 50
+f 23 50 61
+f 23 61 72
+f 23 72 80
+f 23 80 74
+f 23 74 65
+f 23 65 64
+f 23 64 63
+f 23 63 52
+f 23 52 44
+f 23 44 42
+f 23 42 33
+f 23 33 25
+f 23 25 24
+f 25 33 34
+f 25 34 26
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 29 38 30
+f 30 38 40
+f 30 40 39
+f 31 41 32
+f 33 42 34
+f 34 42 44
+f 34 44 43
+f 35 45 36
+f 36 45 46
+f 39 40 48
+f 39 48 49
+f 39 49 47
+f 43 44 51
+f 44 52 51
+f 45 53 46
+f 46 53 55
+f 46 55 56
+f 46 56 54
+f 47 49 57
+f 49 58 59
+f 49 59 57
+f 50 60 61
+f 51 52 63
+f 51 63 64
+f 51 64 65
+f 51 65 62
+f 54 56 66
+f 54 66 67
+f 54 67 68
+f 58 69 59
+f 59 69 70
+f 60 71 61
+f 61 71 69
+f 61 69 72
+f 62 65 73
+f 65 74 73
+f 67 75 68
+f 68 75 77
+f 68 77 76
+f 69 78 72
+f 69 71 79
+f 69 79 70
+f 69 76 78
+f 72 78 76
+f 72 76 81
+f 72 81 80
+f 73 74 82
+f 74 83 82
+f 74 80 83
+f 76 77 81
+f 77 84 80
+f 77 80 81
+f 80 84 83
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_24.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.01136955 0.03944770 -0.02002317
+v -0.01136955 0.04702214 -0.02001201
+v -0.00128315 0.04955226 -0.01997120
+v -0.00128315 0.04702214 -0.01996194
+v 0.00003829 0.04702214 -0.01994710
+v -0.00884795 0.03944770 -0.01985439
+v -0.03657277 0.03944770 -0.02000462
+v -0.02649914 0.04449201 -0.02001202
+v -0.02397755 0.04449201 -0.02001388
+v -0.01136955 0.04955226 -0.01998975
+v -0.00128315 0.05029897 -0.01996564
+v -0.02649914 0.04702214 -0.02000645
+v -0.02723966 0.05029897 -0.01999160
+v 0.00003829 0.04822665 -0.01995080
+v 0.00003829 0.04588666 -0.01956873
+v -0.00699665 0.03944770 -0.01910136
+v 0.00003829 0.04488290 -0.01921448
+v -0.05673918 0.03944770 -0.01998422
+v -0.03910075 0.04955226 -0.01998975
+v -0.01136955 0.05029897 -0.01997676
+v 0.00003829 0.05029897 -0.01985064
+v -0.03910075 0.05029897 -0.01992297
+v -0.00635189 0.03944769 -0.01728927
+v 0.00003829 0.04439216 -0.01820921
+v 0.00003829 0.04398428 -0.01728925
+v -0.05925440 0.03944770 -0.01983213
+v -0.05421758 0.04196189 -0.01991930
+v -0.04917438 0.04449201 -0.01997122
+v -0.04161597 0.04955226 -0.01992112
+v 0.00003829 0.05029892 -0.00465469
+v -0.04162874 0.05029897 -0.01971339
+v -0.00423885 0.03944765 -0.00503866
+v 0.00003829 0.04355936 -0.00497558
+v -0.05673918 0.04196189 -0.01958915
+v -0.05169598 0.04449201 -0.01974308
+v -0.04665917 0.04702214 -0.01984694
+v -0.05952890 0.03944770 -0.01977834
+v -0.04413757 0.04955226 -0.01963178
+v 0.00003829 0.04957132 -0.00326177
+v -0.00127038 0.05029891 -0.00323766
+v -0.04413757 0.05029897 -0.01932946
+v -0.00472402 0.03944764 -0.00354188
+v 0.00003829 0.04396937 -0.00414836
+v -0.06191006 0.03959534 -0.01923860
+v -0.05908842 0.04193958 -0.01902345
+v -0.04652511 0.04955013 -0.01905866
+v -0.06190367 0.03944770 -0.01927756
+v 0.00003829 0.04702208 -0.00280366
+v -0.00380475 0.05029891 -0.00281849
+v -0.04602717 0.05029897 -0.01882496
+v -0.00473040 0.03944764 -0.00353261
+v 0.00003829 0.04460560 -0.00334340
+v -0.06229946 0.03944770 -0.01917741
+v -0.06115677 0.04108346 -0.01881387
+v -0.05673918 0.04369856 -0.01885837
+v -0.04863815 0.04870570 -0.01882867
+v -0.02418821 0.05029890 -0.00107502
+v -0.02437972 0.05005885 -0.00107502
+v -0.00883518 0.03944764 -0.00281111
+v -0.00632635 0.03944764 -0.00303368
+v 0.00003829 0.04594821 -0.00304107
+v -0.05812446 0.04330449 -0.01858572
+v -0.05031709 0.04820541 -0.01837055
+v -0.04759120 0.05029896 -0.01730778
+v -0.00631358 0.03944764 -0.00303739
+v -0.06433590 0.03944769 -0.01769361
+v -0.06283571 0.04055024 -0.01823147
+v -0.04593142 0.05029890 -0.00107502
+v -0.03692388 0.04243661 -0.00107504
+v -0.04159044 0.03967281 -0.00107505
+v -0.04216498 0.03944763 -0.00107506
+v -0.05857771 0.04357533 -0.01728925
+v -0.05085971 0.04854530 -0.01673837
+v -0.04777633 0.05029896 -0.01672539
+v -0.06446996 0.03944769 -0.01756934
+v -0.06440612 0.03953372 -0.01751554
+v -0.06330810 0.04089119 -0.01660115
+v -0.06191006 0.04147964 -0.01736531
+v -0.05984170 0.04279463 -0.01728925
+v -0.04671024 0.05029892 -0.00504233
+v -0.04788486 0.04925690 -0.00107502
+v -0.06286762 0.03944763 -0.00107506
+v -0.05557733 0.04581761 -0.01623760
+v -0.04835726 0.05029895 -0.01483726
+v -0.06452741 0.03944769 -0.01745620
+v -0.06517856 0.03944768 -0.01483730
+v -0.06466147 0.03992991 -0.01483729
+v -0.06340387 0.04096023 -0.01483729
+v -0.06178238 0.04202135 -0.01483729
+v -0.04718264 0.05029893 -0.00749060
+v -0.04810191 0.05029895 -0.01238713
+v -0.04920630 0.04847938 -0.00107502
+v -0.05772867 0.04306436 -0.00107504
+v -0.06096526 0.04106109 -0.00259038
+v -0.06299530 0.04067660 -0.00889467
+v -0.06432951 0.03944766 -0.00746096
+v -0.06018005 0.04302193 -0.01483728
+v -0.06511472 0.03944768 -0.01396927
+v -0.06497428 0.03944768 -0.01238717
+v -0.06454656 0.03983431 -0.01238716
+v -0.06328895 0.04087844 -0.01238716
+v -0.06178238 0.04184715 -0.01238716
+v -0.06004599 0.04293376 -0.01238715
+v -0.06316128 0.04078177 -0.01052871
+v -0.06459763 0.03944766 -0.00912653
+v -0.06490406 0.03944767 -0.01170648
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 23
+f 1 23 32
+f 1 32 42
+f 1 42 51
+f 1 51 65
+f 1 65 60
+f 1 60 59
+f 1 59 71
+f 1 71 82
+f 1 82 96
+f 1 96 105
+f 1 105 106
+f 1 106 99
+f 1 99 98
+f 1 98 86
+f 1 86 85
+f 1 85 75
+f 1 75 66
+f 1 66 53
+f 1 53 47
+f 1 47 37
+f 1 37 26
+f 1 26 18
+f 1 18 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 10
+f 3 11 14
+f 3 14 5
+f 3 5 4
+f 5 14 21
+f 5 21 30
+f 5 30 39
+f 5 39 48
+f 5 48 61
+f 5 61 52
+f 5 52 43
+f 5 43 33
+f 5 33 25
+f 5 25 24
+f 5 24 17
+f 5 17 15
+f 5 15 6
+f 6 15 17
+f 6 17 16
+f 7 18 8
+f 8 18 19
+f 8 19 12
+f 8 12 9
+f 10 20 11
+f 10 13 20
+f 11 21 14
+f 11 20 13
+f 11 13 22
+f 11 22 31
+f 11 31 41
+f 11 41 50
+f 11 50 64
+f 11 64 74
+f 11 74 84
+f 11 84 91
+f 11 91 90
+f 11 90 80
+f 11 80 68
+f 11 68 57
+f 11 57 49
+f 11 49 40
+f 11 40 30
+f 11 30 21
+f 12 19 13
+f 13 19 22
+f 16 17 24
+f 16 24 25
+f 16 25 23
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 22
+f 22 29 31
+f 23 25 32
+f 25 33 32
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 37 34
+f 27 36 29
+f 27 29 28
+f 29 36 38
+f 29 38 31
+f 30 40 39
+f 31 38 41
+f 32 33 42
+f 33 43 42
+f 34 37 44
+f 34 44 45
+f 34 45 46
+f 34 46 38
+f 34 38 35
+f 35 38 36
+f 37 47 44
+f 38 46 41
+f 39 40 49
+f 39 49 48
+f 41 46 50
+f 42 43 51
+f 43 52 51
+f 44 53 54
+f 44 54 45
+f 44 47 53
+f 45 54 55
+f 45 55 46
+f 46 55 56
+f 46 56 50
+f 48 57 58
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 49 57
+f 50 56 62
+f 50 62 63
+f 50 63 64
+f 51 52 65
+f 52 61 60
+f 52 60 65
+f 53 66 67
+f 53 67 54
+f 54 62 56
+f 54 56 55
+f 54 67 62
+f 57 68 81
+f 57 81 92
+f 57 92 93
+f 57 93 82
+f 57 82 71
+f 57 71 70
+f 57 70 69
+f 57 69 58
+f 58 69 59
+f 59 69 70
+f 59 70 71
+f 62 67 72
+f 62 72 63
+f 63 73 64
+f 63 72 73
+f 64 73 74
+f 66 75 67
+f 67 75 76
+f 67 76 77
+f 67 77 78
+f 67 78 79
+f 67 79 72
+f 68 80 81
+f 72 83 73
+f 72 79 83
+f 73 84 74
+f 73 83 84
+f 75 85 76
+f 76 85 77
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 89
+f 77 89 83
+f 77 83 79
+f 77 79 78
+f 80 90 81
+f 81 91 92
+f 81 90 91
+f 82 93 94
+f 82 94 95
+f 82 95 96
+f 83 89 97
+f 83 97 84
+f 84 97 91
+f 86 98 87
+f 87 98 99
+f 87 99 100
+f 87 100 101
+f 87 101 88
+f 88 101 89
+f 89 102 103
+f 89 103 97
+f 89 101 102
+f 91 97 103
+f 91 103 92
+f 92 103 104
+f 92 104 93
+f 93 104 95
+f 93 95 94
+f 95 104 96
+f 96 104 105
+f 99 106 100
+f 100 106 105
+f 100 105 101
+f 101 105 104
+f 101 104 102
+f 102 104 103
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_25.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.01867121 0.06807449 -0.01614454
+v 0.01867121 0.06784681 -0.01718635
+v 0.01867121 0.03974623 -0.01614464
+v 0.03017261 0.06128213 -0.01614456
+v 0.03047430 0.06108072 -0.01647127
+v 0.01877332 0.06775049 -0.01727456
+v 0.01867121 0.06780887 -0.01727456
+v 0.02570758 0.06377490 -0.01686119
+v 0.02517382 0.06345383 -0.01849432
+v 0.01867121 0.03969660 -0.01729207
+v 0.02443583 0.03825465 -0.01614465
+v 0.03049286 0.06109240 -0.01614457
+v 0.04307106 0.05348857 -0.01645994
+v 0.03777522 0.05585876 -0.01848866
+v 0.01867121 0.06778552 -0.01732794
+v 0.03300386 0.05855002 -0.01864613
+v 0.02038389 0.06613341 -0.01863513
+v 0.02438478 0.03825465 -0.01729208
+v 0.02442191 0.03825465 -0.01630630
+v 0.01867121 0.04020159 -0.01898123
+v 0.02485820 0.03825466 -0.01873442
+v 0.02460292 0.03825466 -0.01822033
+v 0.06608778 0.03825465 -0.01614465
+v 0.04277866 0.05368414 -0.01614459
+v 0.04333098 0.05334846 -0.01614459
+v 0.05556572 0.04583512 -0.01628053
+v 0.05086398 0.04857601 -0.01677114
+v 0.04611118 0.05127602 -0.01729203
+v 0.04251409 0.05313539 -0.01809345
+v 0.05029773 0.04821991 -0.01840465
+v 0.04559135 0.05095787 -0.01864200
+v 0.01867121 0.06680477 -0.01879223
+v 0.02824642 0.06123836 -0.01876273
+v 0.04083855 0.05365205 -0.01876313
+v 0.01888936 0.06656833 -0.01890429
+v 0.01867121 0.04196171 -0.01971300
+v 0.02762448 0.03825466 -0.01976828
+v 0.02642700 0.03825466 -0.01945596
+v 0.02525272 0.03825466 -0.01912737
+v 0.06603672 0.03825465 -0.01650770
+v 0.06582785 0.03849984 -0.01680941
+v 0.06597174 0.03841811 -0.01614465
+v 0.05543576 0.04591977 -0.01614462
+v 0.05568639 0.04576215 -0.01614462
+v 0.06286664 0.04121737 -0.01614464
+v 0.06328901 0.04090796 -0.01663602
+v 0.06188267 0.04148883 -0.01738861
+v 0.06281559 0.04056062 -0.01826915
+v 0.05807207 0.04328982 -0.01857389
+v 0.04409681 0.05139571 -0.01891608
+v 0.06113540 0.04108311 -0.01881201
+v 0.01867121 0.06663839 -0.01892928
+v 0.03609504 0.05634330 -0.01885587
+v 0.03149541 0.05899369 -0.01891718
+v 0.02645484 0.06178712 -0.01904096
+v 0.02129825 0.06475275 -0.01907692
+v 0.01867121 0.04449243 -0.01985079
+v 0.02140964 0.04449243 -0.01998859
+v 0.02897513 0.03943391 -0.01997536
+v 0.02897513 0.03825466 -0.01989623
+v 0.06594389 0.03825465 -0.01693093
+v 0.06537300 0.03825466 -0.01835207
+v 0.06438438 0.03953023 -0.01753965
+v 0.06366032 0.04063942 -0.01614464
+v 0.06542870 0.03898147 -0.01614465
+v 0.06587427 0.03855530 -0.01614465
+v 0.06331686 0.04092840 -0.01614464
+v 0.06516878 0.03825466 -0.01853378
+v 0.06379957 0.03887347 -0.01892711
+v 0.04650570 0.04956261 -0.01907244
+v 0.03906089 0.05419496 -0.01904099
+v 0.06188267 0.03960321 -0.01923676
+v 0.05903748 0.04194127 -0.01900925
+v 0.05166230 0.04652692 -0.01900165
+v 0.01867121 0.06496584 -0.01959328
+v 0.02904010 0.05980224 -0.01920452
+v 0.01888936 0.06473232 -0.01963228
+v 0.01867121 0.05714309 -0.01995938
+v 0.01888936 0.05714309 -0.01997188
+v 0.02140964 0.05714309 -0.02000519
+v 0.02393456 0.04449243 -0.02001092
+v 0.02645484 0.04196171 -0.02001207
+v 0.05670286 0.03825466 -0.01999428
+v 0.06404556 0.03825466 -0.01904939
+v 0.04409681 0.04955386 -0.01964710
+v 0.04164151 0.05221009 -0.01920455
+v 0.06329830 0.03825466 -0.01925684
+v 0.06181304 0.03825466 -0.01958619
+v 0.06039742 0.03825466 -0.01988147
+v 0.05922314 0.03943391 -0.01983264
+v 0.05670286 0.04196171 -0.01956006
+v 0.01867121 0.06473232 -0.01965461
+v 0.03149541 0.05714309 -0.01964745
+v 0.02140964 0.06220161 -0.01987078
+v 0.02645484 0.05967381 -0.01978486
+v 0.01867121 0.06242053 -0.01995179
+v 0.01888936 0.05967381 -0.01997338
+v 0.02140964 0.05967381 -0.02000480
+v 0.02393456 0.05714309 -0.02000822
+v 0.03401569 0.05208458 -0.02000975
+v 0.05787714 0.03825466 -0.01999428
+v 0.03906089 0.05208458 -0.01978262
+v 0.05670286 0.03943391 -0.01998482
+v 0.04158117 0.04955386 -0.01993254
+v 0.04661709 0.04702314 -0.01985873
+v 0.03401569 0.05461237 -0.01987422
+v 0.02897513 0.05714309 -0.01993819
+v 0.02393456 0.05967381 -0.01997338
+v 0.01888936 0.06220161 -0.01995747
+v 0.02645484 0.05714309 -0.02000822
+v 0.03149541 0.05461237 -0.01999347
+v 0.03654061 0.05208458 -0.01997455
+f 1 2 7
+f 1 7 15
+f 1 15 32
+f 1 32 52
+f 1 52 75
+f 1 75 92
+f 1 92 96
+f 1 96 78
+f 1 78 57
+f 1 57 36
+f 1 36 20
+f 1 20 10
+f 1 10 3
+f 1 3 11
+f 1 11 23
+f 1 23 42
+f 1 42 66
+f 1 66 65
+f 1 65 64
+f 1 64 67
+f 1 67 45
+f 1 45 44
+f 1 44 43
+f 1 43 25
+f 1 25 24
+f 1 24 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 4 12 5
+f 5 9 8
+f 5 12 13
+f 5 13 14
+f 5 14 9
+f 6 15 7
+f 6 9 15
+f 9 16 17
+f 9 17 15
+f 9 14 16
+f 10 18 19
+f 10 19 11
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 11 19 18
+f 11 18 22
+f 11 22 21
+f 11 21 39
+f 11 39 38
+f 11 38 37
+f 11 37 60
+f 11 60 83
+f 11 83 101
+f 11 101 89
+f 11 89 88
+f 11 88 87
+f 11 87 84
+f 11 84 68
+f 11 68 62
+f 11 62 61
+f 11 61 40
+f 11 40 23
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 16
+f 15 17 32
+f 16 33 17
+f 16 31 34
+f 16 34 33
+f 17 35 32
+f 17 33 35
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 23 40 41
+f 23 41 42
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 30
+f 27 30 28
+f 28 30 29
+f 30 48 49
+f 30 49 31
+f 31 50 34
+f 31 49 51
+f 31 51 50
+f 32 35 52
+f 33 34 53
+f 33 53 54
+f 33 54 55
+f 33 55 35
+f 34 50 53
+f 35 56 52
+f 35 55 56
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 40 61 41
+f 41 62 63
+f 41 63 46
+f 41 46 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 41 61 62
+f 45 67 46
+f 46 67 64
+f 46 63 48
+f 46 48 47
+f 48 63 62
+f 48 62 68
+f 48 68 69
+f 48 69 51
+f 48 51 49
+f 50 70 71
+f 50 71 53
+f 50 51 70
+f 51 69 72
+f 51 72 73
+f 51 73 74
+f 51 74 70
+f 52 56 75
+f 53 71 54
+f 54 71 55
+f 55 76 77
+f 55 77 75
+f 55 75 56
+f 55 71 76
+f 57 78 79
+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 60
+f 68 84 69
+f 69 84 72
+f 70 85 86
+f 70 86 71
+f 70 74 73
+f 70 73 72
+f 70 72 85
+f 71 86 76
+f 72 84 87
+f 72 87 88
+f 72 88 89
+f 72 89 90
+f 72 90 91
+f 72 91 85
+f 75 77 92
+f 76 93 77
+f 76 86 85
+f 76 85 93
+f 77 94 92
+f 77 93 95
+f 77 95 94
+f 78 96 97
+f 78 97 79
+f 79 97 80
+f 80 97 98
+f 80 98 81
+f 81 99 82
+f 81 98 99
+f 82 99 100
+f 82 100 101
+f 82 101 83
+f 85 91 90
+f 85 90 102
+f 85 102 95
+f 85 95 93
+f 89 101 103
+f 89 103 104
+f 89 104 90
+f 90 104 105
+f 90 105 102
+f 92 94 96
+f 94 95 106
+f 94 106 107
+f 94 107 108
+f 94 108 96
+f 95 102 106
+f 96 108 109
+f 96 109 97
+f 97 109 98
+f 98 109 108
+f 98 108 110
+f 98 110 99
+f 99 110 100
+f 100 110 101
+f 101 110 103
+f 102 105 106
+f 103 110 111
+f 103 111 112
+f 103 112 104
+f 104 112 107
+f 104 107 106
+f 104 106 105
+f 107 112 108
+f 108 112 111
+f 108 111 110
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_26.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03657875 -0.02469552 -0.02002476
+v -0.03910237 -0.02834103 -0.02002119
+v -0.03910237 -0.02635786 -0.02002298
+v -0.03910237 -0.02469552 -0.02002297
+v -0.03067084 -0.02469552 -0.02001940
+v -0.03657875 -0.02834103 -0.01998541
+v -0.04162114 -0.02834103 -0.02001941
+v -0.02901759 -0.02469552 -0.02001582
+v -0.02901759 -0.02635786 -0.01999794
+v -0.04162114 -0.02469552 -0.02001940
+v -0.02901759 -0.02834103 -0.01982976
+v -0.06430947 -0.02834103 -0.01993532
+v -0.06430947 -0.02469552 -0.01995857
+v -0.02649397 -0.02469552 -0.01995499
+v -0.02649397 -0.02635786 -0.01983871
+v -0.02635295 -0.02834103 -0.01940038
+v -0.06485406 -0.02834103 -0.01983155
+v -0.06682823 -0.02834103 -0.01944332
+v -0.06682823 -0.02635786 -0.01945226
+v -0.06682823 -0.02469552 -0.01945225
+v -0.02400438 -0.02469552 -0.01960254
+v -0.02165580 -0.02469552 -0.01903539
+v -0.02505467 -0.02834103 -0.01881535
+v -0.06826266 -0.02834103 -0.01870263
+v -0.06827725 -0.02635786 -0.01871158
+v -0.06778128 -0.02469552 -0.01896741
+v -0.01966705 -0.02469552 -0.01775082
+v -0.02495256 -0.02828358 -0.01877956
+v -0.02491852 -0.02834103 -0.01854162
+v -0.06840367 -0.02834103 -0.01839491
+v -0.06827725 -0.02469552 -0.01871336
+v -0.06891423 -0.02635787 -0.01729104
+v -0.06870028 -0.02469552 -0.01777945
+v -0.01966705 -0.02469558 -0.00303553
+v -0.01966705 -0.02480510 -0.01753792
+v -0.01966705 -0.02493143 -0.01729103
+v -0.02453925 -0.02834104 -0.01729104
+v -0.06889478 -0.02834104 -0.01729104
+v -0.06891909 -0.02469553 -0.01729103
+v -0.06933240 -0.02635788 -0.01483998
+v -0.06934213 -0.02469554 -0.01483997
+v -0.01966705 -0.02582653 -0.00333430
+v -0.02484072 -0.02469558 -0.00280652
+v -0.02649397 -0.02834109 -0.00285841
+v -0.02582781 -0.02834109 -0.00295503
+v -0.01966705 -0.02671086 -0.00497134
+v -0.02316803 -0.02834107 -0.00700553
+v -0.06930323 -0.02834105 -0.01483998
+v -0.06927406 -0.02834105 -0.01431041
+v -0.06919625 -0.02635788 -0.01238892
+v -0.06924974 -0.02469554 -0.01322978
+v -0.01966705 -0.02613630 -0.00374581
+v -0.02423777 -0.02834109 -0.00333968
+v -0.02367373 -0.02834109 -0.00357047
+v -0.05542085 -0.02834109 -0.00174739
+v -0.05589251 -0.02469558 -0.00174738
+v -0.02310482 -0.02834108 -0.00444713
+v -0.02288601 -0.02834108 -0.00479779
+v -0.06916222 -0.02834105 -0.01238892
+v -0.06920111 -0.02469554 -0.01238891
+v -0.06796118 -0.02563096 -0.00174738
+v -0.06774723 -0.02834109 -0.00174739
+v -0.06796118 -0.02469558 -0.00174738
+v -0.06802926 -0.02651174 -0.00253459
+v -0.06791256 -0.02646142 -0.00174739
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 20
+f 1 20 26
+f 1 26 31
+f 1 31 33
+f 1 33 39
+f 1 39 41
+f 1 41 51
+f 1 51 60
+f 1 60 63
+f 1 63 56
+f 1 56 43
+f 1 43 34
+f 1 34 27
+f 1 27 22
+f 1 22 21
+f 1 21 14
+f 1 14 8
+f 1 8 5
+f 1 5 2
+f 2 6 11
+f 2 11 16
+f 2 16 23
+f 2 23 29
+f 2 29 37
+f 2 37 47
+f 2 47 58
+f 2 58 57
+f 2 57 54
+f 2 54 53
+f 2 53 45
+f 2 45 44
+f 2 44 55
+f 2 55 62
+f 2 62 59
+f 2 59 49
+f 2 49 48
+f 2 48 38
+f 2 38 30
+f 2 30 24
+f 2 24 18
+f 2 18 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 7 10
+f 3 10 4
+f 6 9 11
+f 7 12 13
+f 7 13 10
+f 8 14 9
+f 9 14 15
+f 9 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 24 30 25
+f 25 31 26
+f 25 30 32
+f 25 32 33
+f 25 33 31
+f 27 34 42
+f 27 42 52
+f 27 52 46
+f 27 46 36
+f 27 36 35
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 30 38 32
+f 32 39 33
+f 32 38 40
+f 32 40 41
+f 32 41 39
+f 34 43 44
+f 34 44 45
+f 34 45 42
+f 36 46 37
+f 37 46 47
+f 38 48 40
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 42 45 53
+f 42 53 54
+f 42 54 52
+f 43 55 44
+f 43 56 55
+f 46 52 54
+f 46 54 57
+f 46 57 58
+f 46 58 47
+f 49 59 50
+f 50 60 51
+f 50 59 61
+f 50 61 60
+f 55 56 63
+f 55 63 61
+f 55 61 65
+f 55 65 62
+f 59 64 61
+f 59 62 64
+f 60 61 63
+f 61 64 65
+f 62 65 64
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_27.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00632585 0.02496173 -0.02002889
+v -0.00451525 0.02496173 -0.02002552
+v -0.00380574 0.02424903 -0.02002383
+v -0.00884596 0.02171871 -0.02002722
+v -0.03657489 0.02424903 -0.02002215
+v -0.03728440 0.02496173 -0.02002046
+v -0.00380574 0.02496173 -0.02002383
+v 0.00004033 0.02496173 -0.02000866
+v 0.00004033 0.02424903 -0.02000528
+v -0.00884596 0.01918919 -0.01999012
+v -0.02649059 0.01681751 -0.02001543
+v -0.03909500 0.02424903 -0.02001877
+v -0.03909500 0.02496173 -0.02001877
+v 0.00004033 0.02496167 -0.00280592
+v 0.00004033 0.02171871 -0.01960896
+v -0.00884596 0.01681751 -0.01982823
+v -0.02664955 0.01681751 -0.02001037
+v -0.03956801 0.02424903 -0.02000697
+v -0.03956801 0.02438137 -0.02000866
+v -0.03956801 0.02472018 -0.02001203
+v -0.03956801 0.02496173 -0.02001203
+v 0.00004033 0.02424897 -0.00280761
+v -0.00128176 0.02496167 -0.00280423
+v -0.00868700 0.01681745 -0.00280089
+v 0.00004033 0.02013706 -0.01886689
+v -0.00614363 0.01681751 -0.01931214
+v -0.02901070 0.01681751 -0.01971354
+v -0.03956801 0.02171871 -0.01974556
+v -0.03956801 0.02496167 -0.00280761
+v 0.00004033 0.02171865 -0.00281436
+v -0.00884596 0.02496167 -0.00280255
+v -0.02649059 0.01681745 -0.00280089
+v -0.00632585 0.01681745 -0.00284474
+v -0.02397048 0.02171865 -0.00280087
+v 0.00004033 0.01979983 -0.01729166
+v -0.00465482 0.01681750 -0.01729167
+v -0.00552329 0.01681751 -0.01903218
+v -0.02918516 0.01681751 -0.01967475
+v -0.03956801 0.01995769 -0.01900012
+v -0.03956801 0.02377703 -0.00280592
+v -0.02649059 0.02424897 -0.00280255
+v -0.01317666 0.02496167 -0.00280255
+v -0.00613199 0.01681745 -0.00287341
+v 0.00004033 0.01950402 -0.00331528
+v -0.02649059 0.01918913 -0.00280088
+v -0.03956801 0.02171865 -0.00280593
+v -0.02901070 0.01681745 -0.00280595
+v 0.00004033 0.01832816 -0.00488208
+v -0.00308848 0.01681746 -0.00484667
+v -0.03089108 0.01681751 -0.01897315
+v -0.03956801 0.01944109 -0.01727479
+v -0.00417406 0.01681745 -0.00334396
+v 0.00004033 0.01896272 -0.00402194
+v -0.00401898 0.01681745 -0.00342154
+v -0.03956801 0.02116061 -0.00289026
+v -0.03956801 0.01939401 -0.00329167
+v -0.03167425 0.01681745 -0.00320398
+v -0.03100739 0.01681751 -0.01877414
+v -0.03956801 0.01809059 -0.00496640
+v -0.03154631 0.01681750 -0.01729167
+v -0.03956801 0.01896750 -0.00358850
+v -0.03235662 0.01681745 -0.00336251
+v -0.03956801 0.01823728 -0.00473366
+v -0.03375237 0.01681746 -0.00503893
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 29
+f 1 29 42
+f 1 42 31
+f 1 31 23
+f 1 23 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 8 14 22
+f 8 22 30
+f 8 30 44
+f 8 44 53
+f 8 53 48
+f 8 48 35
+f 8 35 25
+f 8 25 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 17 18
+f 11 18 12
+f 11 16 26
+f 11 26 37
+f 11 37 36
+f 11 36 49
+f 11 49 54
+f 11 54 52
+f 11 52 43
+f 11 43 33
+f 11 33 24
+f 11 24 32
+f 11 32 47
+f 11 47 57
+f 11 57 62
+f 11 62 64
+f 11 64 60
+f 11 60 58
+f 11 58 50
+f 11 50 38
+f 11 38 27
+f 11 27 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 23 24
+f 14 24 22
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 39
+f 18 39 51
+f 18 51 59
+f 18 59 63
+f 18 63 61
+f 18 61 56
+f 18 56 55
+f 18 55 46
+f 18 46 40
+f 18 40 29
+f 18 29 21
+f 18 21 20
+f 18 20 19
+f 22 24 30
+f 23 31 24
+f 24 33 30
+f 24 31 34
+f 24 34 45
+f 24 45 32
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 27 38 39
+f 27 39 28
+f 29 40 41
+f 29 41 42
+f 30 33 43
+f 30 43 44
+f 31 42 34
+f 32 45 40
+f 32 40 46
+f 32 46 47
+f 34 41 40
+f 34 40 45
+f 34 42 41
+f 35 48 36
+f 36 48 49
+f 38 50 39
+f 39 50 51
+f 43 52 44
+f 44 52 54
+f 44 54 53
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 48 53 54
+f 48 54 49
+f 50 58 51
+f 51 58 60
+f 51 60 59
+f 56 61 62
+f 56 62 57
+f 59 60 64
+f 59 64 62
+f 59 62 63
+f 61 63 62
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_28.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03371463 0.00171203 -0.00503902
+v 0.03882979 0.00380715 -0.00503902
+v 0.03371463 0.00214744 -0.00417198
+v 0.03371463 0.00392072 -0.01729038
+v 0.03882979 0.00509822 -0.01872771
+v 0.03882979 0.00495190 -0.01729037
+v 0.03882979 0.00464987 -0.00336294
+v 0.03371463 0.00322425 -0.00338616
+v 0.03371463 0.00458790 -0.01905098
+v 0.03882979 0.00653788 -0.01947704
+v 0.03882979 0.00653782 -0.00286394
+v 0.03371463 0.00370063 -0.00326846
+v 0.03371463 0.00653788 -0.01976219
+v 0.03371463 0.00683869 -0.01975721
+v 0.03882979 0.00906607 -0.01942233
+v 0.03882979 0.00883777 -0.00287885
+v 0.03401558 0.00906601 -0.00283077
+v 0.03401558 0.00653782 -0.00283244
+v 0.03371463 0.00623584 -0.00283907
+v 0.03371463 0.00906607 -0.01968592
+v 0.03371463 0.01087326 -0.01896973
+v 0.03882979 0.00919248 -0.01935767
+v 0.03371463 0.00937156 -0.01960800
+v 0.03882979 0.00906601 -0.00288051
+v 0.03371463 0.00876520 -0.00282911
+v 0.03371463 0.01160240 -0.00325682
+v 0.03371463 0.00906601 -0.00282911
+v 0.03371463 0.00653782 -0.00283078
+v 0.03371463 0.01102776 -0.01865972
+v 0.03882979 0.01045541 -0.01867464
+v 0.03882979 0.01076318 -0.00333308
+v 0.03371463 0.01216773 -0.00338448
+v 0.03371463 0.01141869 -0.01729035
+v 0.03371463 0.01366944 -0.00508871
+v 0.03882979 0.01172414 -0.00503899
+v 0.03882979 0.01092587 -0.00337950
+v 0.03882979 0.01165859 -0.00488979
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 19
+f 1 19 28
+f 1 28 25
+f 1 25 27
+f 1 27 26
+f 1 26 32
+f 1 32 34
+f 1 34 33
+f 1 33 29
+f 1 29 21
+f 1 21 23
+f 1 23 20
+f 1 20 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 5
+f 2 5 10
+f 2 10 15
+f 2 15 22
+f 2 22 30
+f 2 30 35
+f 2 35 37
+f 2 37 36
+f 2 36 31
+f 2 31 24
+f 2 24 16
+f 2 16 11
+f 2 11 7
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 20 15
+f 15 21 22
+f 15 20 23
+f 15 23 21
+f 16 24 17
+f 17 25 18
+f 17 24 26
+f 17 26 27
+f 17 27 25
+f 18 28 19
+f 18 25 28
+f 21 29 30
+f 21 30 22
+f 24 31 32
+f 24 32 26
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 31 36 32
+f 32 36 34
+f 34 36 37
+f 34 37 35
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_29.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01132344 -0.02382699 -0.02001962
+v 0.01132344 -0.02129749 -0.02001118
+v 0.01384453 -0.02129749 -0.01999095
+v 0.01813769 -0.02129749 -0.01993701
+v 0.00880412 -0.02896531 -0.02001458
+v 0.00880412 -0.02635649 -0.02001794
+v 0.00628303 -0.02635649 -0.02001626
+v 0.00880412 -0.02382699 -0.02001793
+v 0.00880412 -0.01876800 -0.02000780
+v 0.01813769 -0.01884733 -0.01919358
+v 0.01813769 -0.02382699 -0.01940432
+v 0.01132344 -0.02896531 -0.01987466
+v 0.00880412 -0.01367458 -0.01987966
+v 0.00636131 -0.02896531 -0.02001458
+v 0.00628303 -0.02888748 -0.02001458
+v 0.00628303 -0.02382699 -0.02001456
+v -0.00003839 -0.02382699 -0.01997073
+v 0.01813769 -0.01856294 -0.01856985
+v 0.01110104 -0.01367458 -0.01920704
+v 0.01813769 -0.02530128 -0.01870136
+v 0.01330544 -0.02896531 -0.01912450
+v -0.00003839 -0.02254278 -0.01981563
+v -0.00003839 -0.02129749 -0.01964705
+v 0.00876854 -0.01367458 -0.01987292
+v 0.00376193 -0.02896531 -0.01999435
+v -0.00003839 -0.02896531 -0.01994715
+v 0.01813769 -0.01798671 -0.01729036
+v 0.01225750 -0.01367459 -0.01726505
+v 0.01813769 -0.02554077 -0.01729038
+v 0.01406159 -0.02896532 -0.01729040
+v -0.00003839 -0.02046082 -0.01926439
+v 0.00667089 -0.01367458 -0.01919187
+v -0.00003839 -0.02896537 -0.00280468
+v 0.01813769 -0.01634632 -0.00503995
+v 0.01375024 -0.01367463 -0.00508376
+v 0.01813769 -0.02695224 -0.00503999
+v 0.01585500 -0.02896536 -0.00513777
+v -0.00003839 -0.01968700 -0.01889351
+v 0.00664598 -0.01367458 -0.01914804
+v 0.00376193 -0.02896537 -0.00280468
+v -0.00003839 -0.02382705 -0.00280129
+v 0.01813769 -0.01640768 -0.00473482
+v 0.01375557 -0.01367463 -0.00503994
+v 0.01813769 -0.02644634 -0.00409596
+v 0.01535327 -0.02896537 -0.00387851
+v -0.00003839 -0.01948494 -0.01806918
+v 0.00575283 -0.01367459 -0.01729034
+v 0.00124083 -0.02382705 -0.00280129
+v 0.00880412 -0.02896537 -0.00280637
+v 0.01384453 -0.02382705 -0.00280466
+v 0.00880412 -0.01370757 -0.00279956
+v 0.00880412 -0.01367464 -0.00279956
+v -0.00003839 -0.02129755 -0.00280465
+v 0.01813769 -0.01680583 -0.00361885
+v 0.01307593 -0.01367464 -0.00354973
+v 0.01813769 -0.02598087 -0.00331883
+v 0.01557567 -0.02831878 -0.00355820
+v 0.01421638 -0.02896537 -0.00329692
+v -0.00003839 -0.01933527 -0.01729036
+v 0.00380641 -0.01367463 -0.00503994
+v 0.01132344 -0.02129755 -0.00280296
+v 0.01132344 -0.02896537 -0.00281311
+v 0.01813769 -0.02129755 -0.00281139
+v 0.01384453 -0.02129755 -0.00280465
+v 0.00883615 -0.01367464 -0.00279956
+v 0.00628303 -0.01367464 -0.00298163
+v -0.00003839 -0.01897910 -0.00335083
+v 0.01813769 -0.01727431 -0.00344353
+v 0.01305280 -0.01367464 -0.00351770
+v 0.01135724 -0.01367464 -0.00301703
+v 0.01813769 -0.02460985 -0.00296986
+v 0.01411141 -0.02896537 -0.00326321
+v -0.00003839 -0.01798226 -0.00511919
+v 0.00451274 -0.01367464 -0.00348735
+v -0.00003839 -0.01837291 -0.00430328
+v 0.01813769 -0.02382705 -0.00283500
+v 0.01813769 -0.02205042 -0.00281477
+v 0.01813769 -0.01952092 -0.00297322
+v 0.01132344 -0.01367464 -0.00301197
+v 0.01813769 -0.01876806 -0.00310302
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 9 4
+f 4 10 18
+f 4 18 27
+f 4 27 34
+f 4 34 42
+f 4 42 54
+f 4 54 68
+f 4 68 80
+f 4 80 78
+f 4 78 63
+f 4 63 77
+f 4 77 76
+f 4 76 71
+f 4 71 56
+f 4 56 44
+f 4 44 36
+f 4 36 29
+f 4 29 20
+f 4 20 11
+f 4 11 12
+f 4 12 5
+f 4 9 13
+f 4 13 10
+f 5 14 6
+f 5 12 21
+f 5 21 30
+f 5 30 37
+f 5 37 45
+f 5 45 58
+f 5 58 72
+f 5 72 62
+f 5 62 49
+f 5 49 40
+f 5 40 33
+f 5 33 26
+f 5 26 25
+f 5 25 14
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 16
+f 8 16 9
+f 9 16 17
+f 9 17 13
+f 10 13 19
+f 10 19 18
+f 11 20 21
+f 11 21 12
+f 13 17 22
+f 13 22 23
+f 13 23 24
+f 13 24 32
+f 13 32 39
+f 13 39 47
+f 13 47 60
+f 13 60 74
+f 13 74 66
+f 13 66 52
+f 13 52 65
+f 13 65 79
+f 13 79 70
+f 13 70 69
+f 13 69 55
+f 13 55 43
+f 13 43 35
+f 13 35 28
+f 13 28 19
+f 14 25 15
+f 15 25 17
+f 17 25 26
+f 17 26 33
+f 17 33 41
+f 17 41 53
+f 17 53 67
+f 17 67 75
+f 17 75 73
+f 17 73 59
+f 17 59 46
+f 17 46 38
+f 17 38 31
+f 17 31 23
+f 17 23 22
+f 18 19 27
+f 19 28 27
+f 20 29 30
+f 20 30 21
+f 23 31 32
+f 23 32 24
+f 27 28 34
+f 28 35 34
+f 29 36 37
+f 29 37 30
+f 31 38 32
+f 32 38 39
+f 33 40 48
+f 33 48 41
+f 34 35 43
+f 34 43 42
+f 36 44 45
+f 36 45 37
+f 38 46 47
+f 38 47 39
+f 40 49 50
+f 40 50 48
+f 41 48 51
+f 41 51 52
+f 41 52 53
+f 42 43 55
+f 42 55 54
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 46 59 47
+f 47 59 60
+f 48 50 61
+f 48 61 51
+f 49 62 50
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 51
+f 50 51 61
+f 51 65 52
+f 52 66 53
+f 53 66 67
+f 54 55 69
+f 54 69 70
+f 54 70 68
+f 56 71 72
+f 56 72 58
+f 56 58 57
+f 59 73 60
+f 60 73 75
+f 60 75 74
+f 62 72 71
+f 62 71 76
+f 62 76 77
+f 62 77 63
+f 63 78 65
+f 63 65 64
+f 65 78 79
+f 66 74 67
+f 67 74 75
+f 68 70 80
+f 70 79 80
+f 78 80 79
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_3.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.05534373 -0.02857678 -0.00174739
+v -0.05534373 -0.04416038 -0.00174745
+v -0.05534373 -0.03040482 0.03171869
+v -0.00004381 -0.06361796 0.03171857
+v -0.00004381 -0.06290801 -0.00174752
+v -0.05360579 -0.04538053 -0.00174746
+v -0.05534373 -0.04225373 0.03171864
+v -0.05534373 -0.03068783 0.03414207
+v -0.00004381 -0.06380819 0.03417220
+v -0.00004381 -0.07597244 -0.00174757
+v -0.05292361 -0.04583982 -0.00174746
+v -0.05297775 -0.04534808 0.00605575
+v -0.05337839 -0.04306562 0.03371481
+v -0.05534373 -0.04164599 0.03424033
+v -0.05114777 -0.04702750 -0.00174746
+v -0.04541421 -0.05040961 0.00358698
+v -0.05050349 -0.04537601 0.03078860
+v -0.04584734 -0.04814571 0.03171862
+v -0.05033024 -0.04526931 0.03242183
+v -0.05534373 -0.03191262 0.03585091
+v -0.00004381 -0.06480101 0.03599067
+v -0.00004381 -0.06431388 0.03509844
+v -0.00004381 -0.07578226 0.00476645
+v -0.00082886 -0.07597244 -0.00174757
+v -0.05292902 -0.04278263 0.03534804
+v -0.04561453 -0.04800653 0.03338966
+v -0.05534373 -0.04074131 0.03572611
+v -0.04213325 -0.05250658 -0.00174748
+v -0.03796437 -0.05300311 0.03115530
+v -0.04252306 -0.05018239 0.03171862
+v -0.02030889 -0.06566380 -0.00109348
+v -0.01273994 -0.06816916 0.03099645
+v -0.02537652 -0.06060237 0.03121576
+v -0.04413648 -0.04919421 0.03171862
+v -0.03780194 -0.05290569 0.03278853
+v -0.05534373 -0.03386579 0.03645202
+v -0.05170001 -0.03648238 0.03661458
+v -0.00004381 -0.06684233 0.03673922
+v -0.00004381 -0.07574978 0.00578344
+v -0.00022789 -0.07578226 0.00476645
+v -0.00010878 -0.07573122 0.00636187
+v -0.00317317 -0.07343948 0.03171853
+v -0.00126199 -0.07583326 -0.00174757
+v -0.04516516 -0.04770962 0.03502289
+v -0.04042779 -0.05044220 0.03543875
+v -0.04819166 -0.04550129 0.03554462
+v -0.03305917 -0.05561971 0.03346903
+v -0.04080137 -0.05066953 0.03417224
+v -0.05534373 -0.03905723 0.03640286
+v -0.05124523 -0.04328368 0.03575257
+v -0.05422300 -0.04109854 0.03591137
+v -0.02030348 -0.06565915 -0.00174753
+v -0.03153238 -0.05683523 0.03171859
+v -0.04126157 -0.05094788 0.03171861
+v -0.01212273 -0.07035882 -0.00174755
+v -0.00632420 -0.07184354 0.03171854
+v -0.00799716 -0.07087856 0.03171854
+v -0.01370366 -0.06749647 0.03177526
+v -0.02521409 -0.06050496 0.03284899
+v -0.02421248 -0.06121478 0.03190761
+v -0.00925866 -0.07013626 0.03171854
+v -0.01256127 -0.06806711 0.03262968
+v -0.02632941 -0.05994824 0.03190761
+v -0.05534373 -0.03648239 0.03684142
+v -0.05422300 -0.03648239 0.03685654
+v -0.04918244 -0.03901084 0.03679982
+v -0.00380663 -0.06684234 0.03685264
+v -0.00004381 -0.06812280 0.03678459
+v -0.00004381 -0.07573122 0.00636187
+v -0.00128364 -0.07391269 0.03171853
+v -0.00128364 -0.07406114 0.02926869
+v -0.00443467 -0.07286884 0.03171853
+v -0.00380663 -0.07479868 -0.00174756
+v -0.00209035 -0.07553634 -0.00174757
+v -0.00285916 -0.07330494 0.03335554
+v -0.03259897 -0.05532745 0.03510226
+v -0.02784536 -0.05804147 0.03545385
+v -0.03566336 -0.05312839 0.03558240
+v -0.04348136 -0.04821995 0.03568450
+v -0.02823518 -0.05827808 0.03417222
+v -0.02043883 -0.06319114 0.03341607
+v -0.05422300 -0.03901083 0.03665994
+v -0.04665946 -0.04407237 0.03656918
+v -0.04665946 -0.04597450 0.03583195
+v -0.04909041 -0.04410485 0.03599075
+v -0.00613470 -0.07363420 -0.00174756
+v -0.01079627 -0.07100834 -0.00013700
+v -0.00778060 -0.07074865 0.03331397
+v -0.05170001 -0.03901084 0.03686031
+v -0.04665946 -0.04154393 0.03686786
+v -0.03405537 -0.04913391 0.03686783
+v -0.00884718 -0.06430925 0.03686399
+v -0.00128364 -0.06937079 0.03683374
+v -0.00004381 -0.06937079 0.03682618
+v -0.00004381 -0.07390806 0.03171853
+v -0.00128364 -0.07346268 0.03381300
+v -0.00538214 -0.07404246 -0.00174756
+v -0.00128364 -0.07298947 0.03503792
+v -0.00374166 -0.07256266 0.03417216
+v -0.00639458 -0.07123116 0.03414570
+v -0.01520878 -0.06561290 0.03543114
+v -0.02305386 -0.06071374 0.03557860
+v -0.02649724 -0.05841726 0.03572605
+v -0.03091517 -0.05581458 0.03569203
+v -0.03405537 -0.05361553 0.03586973
+v -0.04140775 -0.04909215 0.03588109
+v -0.01557153 -0.06583095 0.03417219
+v -0.04161891 -0.04660082 0.03672040
+v -0.04918244 -0.04154393 0.03677713
+v -0.03909592 -0.04913390 0.03644818
+v -0.03405537 -0.05166236 0.03661452
+v -0.04425017 -0.04676319 0.03612684
+v -0.00728250 -0.07044711 0.03494720
+v -0.04413648 -0.04407238 0.03684139
+v -0.03909592 -0.04660083 0.03687540
+v -0.02649724 -0.05419081 0.03687159
+v -0.01388774 -0.06178080 0.03686400
+v -0.00632420 -0.06684234 0.03683374
+v -0.00380663 -0.06937078 0.03666361
+v -0.00128364 -0.07172293 0.03608516
+v -0.00004381 -0.07172757 0.03608138
+v -0.00004381 -0.07345804 0.03380922
+v -0.00004381 -0.07323072 0.03441034
+v -0.00004381 -0.07299411 0.03503414
+v -0.00380663 -0.07133786 0.03591504
+v -0.00560412 -0.07092496 0.03564661
+v -0.01041187 -0.06828053 0.03555967
+v -0.01828401 -0.06339065 0.03568445
+v -0.02145128 -0.06118695 0.03586215
+v -0.03652963 -0.05172266 0.03603230
+v -0.02392553 -0.05930801 0.03603227
+v -0.02649724 -0.05671925 0.03645949
+v -0.02900940 -0.05419080 0.03672793
+v -0.03657294 -0.04913391 0.03679978
+v -0.02145128 -0.05925234 0.03660693
+v -0.03153238 -0.05166237 0.03684892
+v -0.01893370 -0.05925235 0.03684133
+v -0.01137017 -0.06430925 0.03679216
+v -0.00884718 -0.06684233 0.03658422
+v -0.00639458 -0.06950996 0.03610028
+v -0.00884718 -0.06873054 0.03583943
+v -0.01388774 -0.06597941 0.03569956
+v -0.01129978 -0.06688872 0.03601334
+v -0.01388774 -0.06430924 0.03642922
+v -0.01641072 -0.06178079 0.03671278
+v -0.02397426 -0.05671926 0.03679975
+f 1 2 7
+f 1 7 14
+f 1 14 27
+f 1 27 49
+f 1 49 64
+f 1 64 36
+f 1 36 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 24
+f 1 24 43
+f 1 43 74
+f 1 74 73
+f 1 73 97
+f 1 97 86
+f 1 86 55
+f 1 55 52
+f 1 52 28
+f 1 28 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 22
+f 4 22 21
+f 4 21 38
+f 4 38 68
+f 4 68 94
+f 4 94 121
+f 4 121 124
+f 4 124 123
+f 4 123 122
+f 4 122 95
+f 4 95 69
+f 4 69 39
+f 4 39 23
+f 4 23 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 12 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 13
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 10 23 40
+f 10 40 24
+f 11 15 12
+f 13 25 14
+f 13 19 26
+f 13 26 25
+f 14 25 27
+f 15 28 16
+f 16 29 30
+f 16 30 17
+f 16 28 31
+f 16 31 32
+f 16 32 33
+f 16 33 29
+f 17 30 34
+f 17 34 18
+f 18 34 35
+f 18 35 26
+f 18 26 19
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 23 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 25 26 44
+f 25 44 45
+f 25 45 46
+f 25 46 27
+f 26 35 47
+f 26 47 48
+f 26 48 44
+f 27 46 50
+f 27 50 51
+f 27 51 49
+f 28 52 31
+f 29 53 54
+f 29 54 30
+f 29 33 53
+f 30 54 35
+f 30 35 34
+f 31 52 55
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 32 58 59
+f 32 59 60
+f 32 60 33
+f 32 57 61
+f 32 61 62
+f 32 62 58
+f 33 60 59
+f 33 59 63
+f 33 63 53
+f 35 54 53
+f 35 53 59
+f 35 59 47
+f 36 64 65
+f 36 65 37
+f 37 65 66
+f 37 66 38
+f 38 67 68
+f 38 66 65
+f 38 65 67
+f 39 69 41
+f 39 41 40
+f 41 69 70
+f 41 70 71
+f 41 71 42
+f 42 72 73
+f 42 73 74
+f 42 74 43
+f 42 71 70
+f 42 70 75
+f 42 75 72
+f 44 48 76
+f 44 76 45
+f 45 76 77
+f 45 77 78
+f 45 78 79
+f 45 79 46
+f 46 79 50
+f 47 80 76
+f 47 76 48
+f 47 59 81
+f 47 81 80
+f 49 82 64
+f 49 51 83
+f 49 83 82
+f 50 79 84
+f 50 84 51
+f 51 84 85
+f 51 85 83
+f 53 63 59
+f 55 86 87
+f 55 87 56
+f 56 88 57
+f 56 87 86
+f 56 86 72
+f 56 72 88
+f 57 88 62
+f 57 62 61
+f 58 62 59
+f 59 62 88
+f 59 88 81
+f 64 82 89
+f 64 89 65
+f 65 89 90
+f 65 90 91
+f 65 91 67
+f 67 92 93
+f 67 93 94
+f 67 94 68
+f 67 91 92
+f 69 95 70
+f 70 96 75
+f 70 95 96
+f 72 75 88
+f 72 86 97
+f 72 97 73
+f 75 96 98
+f 75 98 99
+f 75 99 100
+f 75 100 88
+f 76 80 101
+f 76 101 77
+f 77 101 102
+f 77 102 103
+f 77 103 104
+f 77 104 78
+f 78 104 105
+f 78 105 79
+f 79 105 106
+f 79 106 84
+f 80 81 101
+f 81 88 107
+f 81 107 101
+f 82 83 108
+f 82 108 109
+f 82 109 89
+f 83 85 110
+f 83 110 111
+f 83 111 108
+f 84 106 85
+f 85 106 112
+f 85 112 110
+f 88 100 113
+f 88 113 101
+f 88 101 107
+f 89 109 114
+f 89 114 115
+f 89 115 90
+f 90 115 91
+f 91 115 92
+f 92 116 117
+f 92 117 118
+f 92 118 93
+f 92 115 116
+f 93 118 119
+f 93 119 120
+f 93 120 121
+f 93 121 94
+f 95 122 96
+f 96 122 123
+f 96 123 124
+f 96 124 98
+f 98 120 125
+f 98 125 126
+f 98 126 99
+f 98 124 121
+f 98 121 120
+f 99 126 113
+f 99 113 100
+f 101 113 127
+f 101 127 102
+f 102 127 128
+f 102 128 103
+f 103 128 129
+f 103 129 105
+f 103 105 104
+f 105 130 106
+f 105 129 131
+f 105 131 132
+f 105 132 130
+f 106 130 112
+f 108 111 133
+f 108 133 134
+f 108 134 109
+f 109 134 114
+f 110 112 130
+f 110 130 132
+f 110 132 111
+f 111 132 135
+f 111 135 133
+f 113 126 127
+f 114 134 136
+f 114 136 115
+f 115 136 116
+f 116 137 118
+f 116 118 117
+f 116 136 137
+f 118 138 119
+f 118 137 138
+f 119 125 120
+f 119 138 145
+f 119 145 139
+f 119 139 140
+f 119 140 125
+f 125 140 141
+f 125 141 126
+f 126 141 127
+f 127 141 142
+f 127 142 128
+f 128 142 141
+f 128 141 129
+f 129 141 143
+f 129 143 131
+f 131 143 132
+f 132 143 144
+f 132 144 139
+f 132 139 135
+f 133 135 145
+f 133 145 138
+f 133 138 146
+f 133 146 134
+f 134 146 136
+f 135 139 145
+f 136 146 137
+f 137 146 138
+f 139 143 140
+f 139 144 143
+f 140 143 141
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_30.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.02645326 0.00042678 -0.02001994
+v 0.02897282 -0.00611504 -0.02001322
+v 0.02645326 -0.01117455 -0.02001661
+v 0.02393163 -0.00611504 -0.02001659
+v 0.02141000 -0.00864411 -0.01994917
+v 0.02141000 -0.00611504 -0.01990870
+v 0.02393163 0.00042678 -0.01980754
+v 0.02749841 0.00042678 -0.01995083
+v 0.03932270 -0.00611504 -0.01969462
+v 0.03149237 -0.00611504 -0.01998119
+v 0.02897282 -0.00864411 -0.02000986
+v 0.02644704 -0.01369947 -0.01999976
+v 0.02393163 -0.00864411 -0.02000817
+v 0.02392541 -0.01369947 -0.01987839
+v 0.01813769 -0.00864411 -0.01975026
+v 0.01813769 -0.00611504 -0.01953616
+v 0.02210677 0.00042678 -0.01905571
+v 0.02897282 0.00042678 -0.01983788
+v 0.03932270 -0.00432852 -0.01899841
+v 0.03932270 -0.00842701 -0.01920577
+v 0.02896452 -0.01369947 -0.01971656
+v 0.02192843 -0.01369947 -0.01913161
+v 0.01813769 -0.00996740 -0.01922938
+v 0.01813769 -0.00452072 -0.01879275
+v 0.02151991 0.00042677 -0.01729075
+v 0.02980023 0.00042678 -0.01952771
+v 0.03932270 -0.00384180 -0.01729076
+v 0.03091381 0.00042678 -0.01908605
+v 0.03932270 -0.00950004 -0.01729078
+v 0.03071888 -0.01369947 -0.01898496
+v 0.02192428 -0.01369947 -0.01912319
+v 0.01813769 -0.01045413 -0.01900855
+v 0.01813769 -0.00417781 -0.01729077
+v 0.01973444 0.00042674 -0.00681395
+v 0.03932270 -0.00277297 -0.00517375
+v 0.03122694 0.00042678 -0.01833590
+v 0.03159606 0.00042677 -0.01729075
+v 0.03347899 0.00042673 -0.00613797
+v 0.03366147 0.00042673 -0.00503888
+v 0.03932270 -0.01103632 -0.00503892
+v 0.03124560 -0.01369948 -0.01729586
+v 0.02118189 -0.01369948 -0.01729080
+v 0.01813769 -0.01088417 -0.01778134
+v 0.01813769 -0.00279786 -0.00503889
+v 0.01962454 0.00042673 -0.00491414
+v 0.03932270 -0.00368836 -0.00353185
+v 0.03312231 0.00042672 -0.00359253
+v 0.03932270 -0.01041824 -0.00344254
+v 0.03290249 -0.01369953 -0.00375946
+v 0.03331516 -0.01369952 -0.00492093
+v 0.03312023 -0.01369952 -0.00672466
+v 0.01918491 -0.01369952 -0.00503893
+v 0.01813769 -0.01099480 -0.01729079
+v 0.01813769 -0.00281722 -0.00500180
+v 0.02013052 0.00042673 -0.00412859
+v 0.01813769 -0.00374921 -0.00329079
+v 0.03932270 -0.00391652 -0.00330428
+v 0.03149237 0.00042672 -0.00308849
+v 0.03187393 -0.01369953 -0.00331443
+v 0.03932270 -0.00864417 -0.00294524
+v 0.02897282 -0.01369953 -0.00280703
+v 0.01977799 -0.01369953 -0.00356729
+v 0.01813769 -0.01105708 -0.00328071
+v 0.01813769 -0.01135990 -0.00379485
+v 0.01813769 -0.01203606 -0.00503892
+v 0.02032338 0.00042672 -0.00391956
+v 0.01813769 -0.00432996 -0.00313909
+v 0.02118604 0.00042672 -0.00328067
+v 0.03932270 -0.00580951 -0.00286094
+v 0.02897282 0.00042672 -0.00280361
+v 0.03932270 -0.00611510 -0.00281543
+v 0.02393163 -0.01369953 -0.00280703
+v 0.03401400 -0.00611510 -0.00280194
+v 0.03149237 -0.00864417 -0.00280364
+v 0.02141000 -0.01369953 -0.00306494
+v 0.01813769 -0.00864417 -0.00281038
+v 0.01813769 -0.00611510 -0.00282385
+v 0.02268741 0.00042672 -0.00300758
+v 0.02645326 0.00042672 -0.00280192
+v 0.02897282 -0.00105560 -0.00280023
+v 0.02897282 -0.00358604 -0.00280024
+v 0.02393163 -0.00105560 -0.00279855
+v 0.02141000 -0.00864417 -0.00280532
+v 0.01889044 -0.00864417 -0.00280869
+v 0.01813769 -0.00686732 -0.00281881
+v 0.02393163 0.00042672 -0.00280023
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 25
+f 1 25 34
+f 1 34 45
+f 1 45 55
+f 1 55 66
+f 1 66 68
+f 1 68 78
+f 1 78 86
+f 1 86 79
+f 1 79 70
+f 1 70 58
+f 1 58 47
+f 1 47 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 28
+f 1 28 26
+f 1 26 18
+f 1 18 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 12 13
+f 3 13 4
+f 3 11 12
+f 4 13 5
+f 5 13 12
+f 5 12 14
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 8 18 9
+f 9 19 27
+f 9 27 35
+f 9 35 46
+f 9 46 57
+f 9 57 69
+f 9 69 71
+f 9 71 60
+f 9 60 48
+f 9 48 40
+f 9 40 29
+f 9 29 20
+f 9 20 21
+f 9 21 12
+f 9 12 10
+f 9 18 19
+f 10 12 11
+f 12 21 30
+f 12 30 41
+f 12 41 51
+f 12 51 50
+f 12 50 49
+f 12 49 59
+f 12 59 61
+f 12 61 72
+f 12 72 75
+f 12 75 62
+f 12 62 52
+f 12 52 42
+f 12 42 31
+f 12 31 22
+f 12 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 32
+f 15 32 43
+f 15 43 53
+f 15 53 65
+f 15 65 64
+f 15 64 63
+f 15 63 76
+f 15 76 85
+f 15 85 77
+f 15 77 67
+f 15 67 56
+f 15 56 54
+f 15 54 44
+f 15 44 33
+f 15 33 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 18 26 19
+f 19 26 28
+f 19 28 27
+f 20 29 30
+f 20 30 21
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 25
+f 27 28 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 35
+f 29 40 41
+f 29 41 30
+f 31 42 32
+f 32 42 43
+f 33 44 45
+f 33 45 34
+f 35 39 47
+f 35 47 46
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 52 53
+f 42 53 43
+f 44 54 45
+f 45 54 56
+f 45 56 55
+f 46 47 57
+f 47 58 57
+f 48 59 49
+f 48 60 61
+f 48 61 59
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 55 56 66
+f 56 67 68
+f 56 68 66
+f 57 58 69
+f 58 70 69
+f 60 71 61
+f 61 71 73
+f 61 73 74
+f 61 74 72
+f 62 75 63
+f 63 75 76
+f 67 77 68
+f 68 77 78
+f 69 70 71
+f 70 79 80
+f 70 80 71
+f 71 80 73
+f 72 74 81
+f 72 81 82
+f 72 82 83
+f 72 83 84
+f 72 84 76
+f 72 76 75
+f 73 81 74
+f 73 80 82
+f 73 82 81
+f 76 84 82
+f 76 82 86
+f 76 86 85
+f 77 85 86
+f 77 86 78
+f 79 86 80
+f 80 86 82
+f 82 84 83
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_31.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.03910043 -0.02834139 -0.02002187
+v -0.04162261 -0.02834139 -0.02001829
+v -0.03657826 -0.02834139 -0.01998609
+v -0.03910043 -0.02888850 -0.02002009
+v -0.05422440 -0.03141815 -0.02000579
+v -0.06430856 -0.02834139 -0.01993601
+v -0.03657826 -0.02888850 -0.01997716
+v -0.02901627 -0.02834139 -0.01982868
+v -0.03910043 -0.03141815 -0.01996643
+v -0.04665787 -0.03141815 -0.02000400
+v -0.06288614 -0.03284478 -0.01997717
+v -0.06430856 -0.03141815 -0.01996286
+v -0.06485390 -0.02834139 -0.01983226
+v -0.02635322 -0.02834139 -0.01939936
+v -0.02666679 -0.03284478 -0.01924018
+v -0.02768020 -0.03284478 -0.01938686
+v -0.02901627 -0.03284478 -0.01956932
+v -0.03657826 -0.03284478 -0.01985911
+v -0.03767802 -0.03284478 -0.01989131
+v -0.04665787 -0.03284478 -0.01994855
+v -0.05422440 -0.03284478 -0.01997001
+v -0.06430856 -0.03284478 -0.01991993
+v -0.06682619 -0.02888850 -0.01944052
+v -0.06682619 -0.02834139 -0.01944229
+v -0.02505350 -0.02834139 -0.01881621
+v -0.02603056 -0.03284478 -0.01813469
+v -0.06564463 -0.03284478 -0.01953891
+v -0.06708068 -0.03166416 -0.01916684
+v -0.06819408 -0.03098479 -0.01863019
+v -0.06826224 -0.02888850 -0.01869995
+v -0.06713976 -0.02834139 -0.01928309
+v -0.02491717 -0.02834139 -0.01854252
+v -0.02555339 -0.03284479 -0.01729038
+v -0.06681256 -0.03284478 -0.01915253
+v -0.06788051 -0.03284478 -0.01859800
+v -0.06808501 -0.03267152 -0.01851213
+v -0.06858036 -0.03166417 -0.01753365
+v -0.06888483 -0.02888851 -0.01729037
+v -0.06889392 -0.02834140 -0.01729036
+v -0.06840312 -0.02834139 -0.01839584
+v -0.06826679 -0.02834139 -0.01870173
+v -0.02453998 -0.02834140 -0.01729036
+v -0.02316755 -0.02834143 -0.00700470
+v -0.02288125 -0.02834144 -0.00479910
+v -0.02437638 -0.03284483 -0.00503882
+v -0.06805320 -0.03284478 -0.01843343
+v -0.06844857 -0.03284479 -0.01710434
+v -0.06911660 -0.03141817 -0.01483971
+v -0.06929838 -0.02888852 -0.01483970
+v -0.06898481 -0.02834140 -0.01676087
+v -0.02367199 -0.02834145 -0.00357018
+v -0.02488990 -0.03284484 -0.00350223
+v -0.06866670 -0.03284479 -0.01588974
+v -0.06914841 -0.02888852 -0.01238903
+v -0.06877122 -0.03284480 -0.01473238
+v -0.06865761 -0.03284480 -0.01238904
+v -0.06896209 -0.03141817 -0.01238904
+v -0.06927566 -0.02834141 -0.01431020
+v -0.06930293 -0.02834141 -0.01483969
+v -0.06916205 -0.02834141 -0.01238902
+v -0.02423550 -0.02834145 -0.00333943
+v -0.02649410 -0.03284484 -0.00300315
+v -0.06873941 -0.03141818 -0.00994016
+v -0.06774872 -0.02834145 -0.00174918
+v -0.06848038 -0.03284481 -0.00994016
+v -0.02583061 -0.02834145 -0.00295483
+v -0.02649410 -0.02888856 -0.00287435
+v -0.05126596 -0.03284484 -0.00174920
+v -0.06824407 -0.03284482 -0.00745729
+v -0.06813500 -0.03284483 -0.00631245
+v -0.06812136 -0.03280603 -0.00615503
+v -0.06773054 -0.02888856 -0.00174919
+v -0.05541959 -0.02834145 -0.00174918
+v -0.02649410 -0.02834145 -0.00286003
+v -0.05184765 -0.03193138 -0.00174920
+v -0.06736698 -0.03284484 -0.00174920
+v -0.06810319 -0.03284483 -0.00611568
+v -0.06751695 -0.03141821 -0.00174920
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 31
+f 1 31 41
+f 1 41 40
+f 1 40 39
+f 1 39 50
+f 1 50 59
+f 1 59 58
+f 1 58 60
+f 1 60 64
+f 1 64 73
+f 1 73 74
+f 1 74 66
+f 1 66 61
+f 1 61 51
+f 1 51 44
+f 1 44 43
+f 1 43 42
+f 1 42 32
+f 1 32 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 8 9
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 20
+f 11 20 19
+f 11 19 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 26
+f 11 26 33
+f 11 33 45
+f 11 45 52
+f 11 52 62
+f 11 62 68
+f 11 68 76
+f 11 76 77
+f 11 77 70
+f 11 70 69
+f 11 69 65
+f 11 65 56
+f 11 56 55
+f 11 55 53
+f 11 53 47
+f 11 47 46
+f 11 46 35
+f 11 35 34
+f 11 34 27
+f 11 27 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 25 32 33
+f 25 33 26
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 35 46 36
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 44 51 52
+f 44 52 45
+f 47 53 48
+f 48 54 49
+f 48 53 55
+f 48 55 56
+f 48 56 57
+f 48 57 54
+f 49 58 59
+f 49 59 50
+f 49 54 60
+f 49 60 58
+f 51 61 52
+f 52 61 62
+f 54 57 63
+f 54 63 64
+f 54 64 60
+f 56 65 57
+f 57 65 63
+f 61 66 62
+f 62 66 67
+f 62 67 68
+f 63 65 69
+f 63 69 70
+f 63 70 71
+f 63 71 72
+f 63 72 64
+f 64 72 78
+f 64 78 76
+f 64 76 68
+f 64 68 75
+f 64 75 73
+f 66 74 67
+f 67 74 68
+f 68 74 75
+f 70 77 71
+f 71 77 76
+f 71 76 78
+f 71 78 72
+f 73 75 74
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_32.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.06426579 -0.02382601 -0.02000570
+v 0.06426579 -0.01499938 -0.01998768
+v 0.06555448 -0.01499938 -0.01972682
+v 0.06678740 -0.01499938 -0.01946596
+v 0.06678740 -0.02129806 -0.01946598
+v 0.06678740 -0.02635533 -0.01946240
+v 0.06678740 -0.02888602 -0.01945881
+v 0.06426579 -0.02896531 -0.01992837
+v 0.05166361 -0.02896531 -0.01998953
+v 0.04410172 -0.02129806 -0.01998051
+v 0.05295231 -0.01499938 -0.01996790
+v 0.06753302 -0.01499938 -0.01908636
+v 0.06824635 -0.02635533 -0.01872299
+v 0.06823754 -0.02888602 -0.01871760
+v 0.06678740 -0.02896531 -0.01945521
+v 0.04662333 -0.02896531 -0.01997334
+v 0.04410172 -0.02382601 -0.01995893
+v 0.04158012 -0.02129806 -0.01988336
+v 0.04914201 -0.01499938 -0.01992112
+v 0.06824635 -0.01499938 -0.01872295
+v 0.06889804 -0.01623807 -0.01728910
+v 0.06888336 -0.02382602 -0.01728913
+v 0.06887455 -0.02635534 -0.01728914
+v 0.06823461 -0.02896531 -0.01871400
+v 0.06884814 -0.02888603 -0.01728915
+v 0.06825222 -0.02896531 -0.01867622
+v 0.04410172 -0.02896531 -0.01971608
+v 0.03932270 -0.02156467 -0.01975922
+v 0.03932270 -0.02129806 -0.01977182
+v 0.04662333 -0.01499938 -0.01975740
+v 0.06889804 -0.01499939 -0.01728910
+v 0.06931194 -0.01499940 -0.01484059
+v 0.06929727 -0.02129808 -0.01484061
+v 0.06928553 -0.02382603 -0.01484062
+v 0.06926791 -0.02635535 -0.01484063
+v 0.06884226 -0.02896532 -0.01728915
+v 0.06922975 -0.02888604 -0.01484064
+v 0.04119849 -0.02896531 -0.01915117
+v 0.03932270 -0.02382601 -0.01956134
+v 0.03932270 -0.01950566 -0.01904679
+v 0.04471525 -0.01499938 -0.01903239
+v 0.06916223 -0.01499940 -0.01239027
+v 0.06915636 -0.01876876 -0.01239028
+v 0.06913875 -0.02635535 -0.01239031
+v 0.06910646 -0.02888604 -0.01239032
+v 0.06922388 -0.02896533 -0.01484064
+v 0.06922094 -0.02896533 -0.01476508
+v 0.03932270 -0.02896531 -0.01849272
+v 0.03932270 -0.01898341 -0.01729091
+v 0.04403127 -0.01499939 -0.01729090
+v 0.06807315 -0.01986256 -0.00162653
+v 0.06806142 -0.01499944 -0.00162652
+v 0.06807315 -0.01968346 -0.00162653
+v 0.06807022 -0.02005534 -0.00162653
+v 0.06799683 -0.02643469 -0.00259985
+v 0.06783538 -0.02740267 -0.00162656
+v 0.06909178 -0.02896533 -0.01231476
+v 0.06910059 -0.02896533 -0.01239032
+v 0.03932270 -0.02896537 -0.00280675
+v 0.03932270 -0.01779398 -0.00498717
+v 0.04169753 -0.01499943 -0.00501414
+v 0.05590544 -0.01499944 -0.00162652
+v 0.06767686 -0.02896537 -0.00162657
+v 0.03932270 -0.02888608 -0.00280675
+v 0.05533595 -0.02896537 -0.00162657
+v 0.03932270 -0.01784730 -0.00490081
+v 0.04192944 -0.01499943 -0.00425134
+v 0.04410172 -0.01499944 -0.00304418
+v 0.03932270 -0.02129812 -0.00281752
+v 0.03932270 -0.02355947 -0.00281213
+v 0.03932270 -0.01878248 -0.00348136
+v 0.04237564 -0.01499944 -0.00354971
+v 0.04313300 -0.01499944 -0.00330144
+v 0.03932270 -0.01902447 -0.00330685
+v 0.03932270 -0.02098367 -0.00286429
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 19
+f 2 19 30
+f 2 30 41
+f 2 41 50
+f 2 50 61
+f 2 61 67
+f 2 67 72
+f 2 72 73
+f 2 73 68
+f 2 68 62
+f 2 62 52
+f 2 52 42
+f 2 42 32
+f 2 32 31
+f 2 31 20
+f 2 20 12
+f 2 12 4
+f 2 4 3
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 24
+f 8 24 26
+f 8 26 36
+f 8 36 46
+f 8 46 47
+f 8 47 58
+f 8 58 57
+f 8 57 63
+f 8 63 65
+f 8 65 59
+f 8 59 48
+f 8 48 38
+f 8 38 27
+f 8 27 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 31
+f 13 31 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 24 15
+f 14 23 25
+f 14 25 26
+f 14 26 24
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 25
+f 25 36 26
+f 25 35 37
+f 25 37 46
+f 25 46 36
+f 27 38 39
+f 27 39 28
+f 28 39 48
+f 28 48 59
+f 28 59 64
+f 28 64 70
+f 28 70 69
+f 28 69 75
+f 28 75 74
+f 28 74 71
+f 28 71 66
+f 28 66 60
+f 28 60 49
+f 28 49 40
+f 28 40 29
+f 29 40 30
+f 30 40 41
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 44 35
+f 35 44 45
+f 35 45 37
+f 37 45 47
+f 37 47 46
+f 38 48 39
+f 40 49 50
+f 40 50 41
+f 42 51 43
+f 42 52 53
+f 42 53 51
+f 43 51 44
+f 44 51 45
+f 45 51 54
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 47
+f 49 60 61
+f 49 61 50
+f 51 53 52
+f 51 52 62
+f 51 62 65
+f 51 65 63
+f 51 63 56
+f 51 56 54
+f 54 56 55
+f 56 63 57
+f 59 65 64
+f 60 66 67
+f 60 67 61
+f 62 68 69
+f 62 69 65
+f 64 65 70
+f 65 69 70
+f 66 71 67
+f 67 71 72
+f 68 73 74
+f 68 74 75
+f 68 75 69
+f 71 74 72
+f 72 74 73
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_33.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.02438206 -0.03284527 -0.00504000
+v -0.02555480 -0.03284523 -0.01729110
+v -0.02489634 -0.03284528 -0.00350191
+v -0.01966705 -0.03796741 -0.00504002
+v -0.02603544 -0.03284522 -0.01813348
+v -0.01966705 -0.03830460 -0.00742765
+v -0.01966705 -0.03973432 -0.01728934
+v -0.01966705 -0.03990965 -0.01834455
+v -0.01966705 -0.04002093 -0.01880061
+v -0.01966705 -0.03889473 -0.00334812
+v -0.01966705 -0.03802136 -0.00493987
+v -0.02649684 -0.03284528 -0.00300292
+v -0.02666987 -0.03284522 -0.01923697
+v -0.01966705 -0.04107301 -0.01933000
+v -0.01966705 -0.04154516 -0.00279907
+v -0.04454462 -0.03663209 -0.00174921
+v -0.03932975 -0.03965681 -0.00174744
+v -0.02673235 -0.04726751 -0.00174746
+v -0.01966705 -0.05175233 -0.00174748
+v -0.05126387 -0.03284528 -0.00174920
+v -0.04935095 -0.03390411 -0.00174920
+v -0.02768401 -0.03284522 -0.01938541
+v -0.01966705 -0.04154510 -0.01954998
+v -0.01966705 -0.04333227 -0.01987907
+v -0.01966705 -0.04407750 -0.02000248
+v -0.03982000 -0.03940054 -0.00174743
+v -0.01966705 -0.06592502 -0.00174753
+v -0.06736507 -0.03284528 -0.00174920
+v -0.02902017 -0.03284522 -0.01956784
+v -0.01966705 -0.06177735 -0.01990061
+v -0.02649204 -0.05671591 -0.02000074
+v -0.02145500 -0.04407750 -0.02001142
+v -0.02649204 -0.04154510 -0.02001141
+v -0.03768118 -0.03284522 -0.01988976
+v -0.03658053 -0.03284522 -0.01985757
+v -0.06248665 -0.03940054 -0.00174743
+v -0.02030629 -0.06565526 -0.00174753
+v -0.01966705 -0.06712543 -0.01238721
+v -0.06810045 -0.03284527 -0.00611667
+v -0.06734104 -0.03308133 -0.00174920
+v -0.01966705 -0.06356790 -0.01970029
+v -0.02145500 -0.06177735 -0.01982549
+v -0.02902017 -0.05671591 -0.01994530
+v -0.04414089 -0.04660653 -0.02000249
+v -0.03910385 -0.04913556 -0.02000787
+v -0.04665940 -0.04407413 -0.02001857
+v -0.04665460 -0.03284522 -0.01994700
+v -0.05926160 -0.03648029 -0.02001497
+v -0.05673828 -0.03395125 -0.01999171
+v -0.06720166 -0.03395131 -0.00174920
+v -0.06626443 -0.03612965 -0.00174921
+v -0.06591837 -0.03656127 -0.00174921
+v -0.06515897 -0.03739417 -0.00174922
+v -0.06134755 -0.04032447 -0.00174744
+v -0.02567977 -0.06329480 -0.00994413
+v -0.04214626 -0.05250766 -0.00174748
+v -0.03782056 -0.05543797 -0.00406894
+v -0.02397833 -0.06455593 -0.01238720
+v -0.01966705 -0.06729066 -0.01483922
+v -0.06812928 -0.03284527 -0.00631340
+v -0.01966705 -0.06431313 -0.01947675
+v -0.03153869 -0.05671929 -0.01966808
+v -0.02649204 -0.05924832 -0.01978434
+v -0.03910385 -0.05165785 -0.01980756
+v -0.04665940 -0.04660653 -0.01988624
+v -0.04162717 -0.04913556 -0.01994527
+v -0.04917311 -0.04407413 -0.01997923
+v -0.05421976 -0.03284522 -0.01996846
+v -0.06178012 -0.03648029 -0.01995953
+v -0.06288077 -0.03284522 -0.01997561
+v -0.06822061 -0.03313863 -0.00749022
+v -0.06786013 -0.03440315 -0.00749023
+v -0.06569728 -0.03788310 -0.00593784
+v -0.06682196 -0.03648033 -0.00749023
+v -0.06389490 -0.03837206 -0.00174922
+v -0.06309225 -0.04030759 -0.00855976
+v -0.06041512 -0.04099214 -0.00174744
+v -0.03515305 -0.05788603 -0.01238717
+v -0.05113890 -0.04702809 -0.00174746
+v -0.04917311 -0.04936488 -0.01238714
+v -0.04312194 -0.05307075 -0.01238715
+v -0.03978154 -0.05510072 -0.01238716
+v -0.03658533 -0.05702616 -0.01238717
+v -0.01966705 -0.06683205 -0.01728229
+v -0.03526840 -0.05795010 -0.01440995
+v -0.02902017 -0.06170656 -0.01483920
+v -0.03532127 -0.05798381 -0.01604641
+v -0.03532127 -0.05798381 -0.01606787
+v -0.03055820 -0.06068145 -0.01650785
+v -0.06823983 -0.03284526 -0.00745803
+v -0.01966705 -0.06558776 -0.01896882
+v -0.02134926 -0.06432998 -0.01908686
+v -0.03658533 -0.05418688 -0.01949459
+v -0.04414089 -0.04913556 -0.01966805
+v -0.05169644 -0.04407413 -0.01976640
+v -0.05926160 -0.03900932 -0.01985580
+v -0.05421976 -0.04154510 -0.01992378
+v -0.06430344 -0.03648029 -0.01947842
+v -0.06430344 -0.03395125 -0.01988619
+v -0.06430344 -0.03284522 -0.01991838
+v -0.06847534 -0.03284525 -0.00994223
+v -0.06835037 -0.03356013 -0.00994223
+v -0.06796106 -0.03482464 -0.00994224
+v -0.06578379 -0.03798763 -0.00749024
+v -0.06319318 -0.04038851 -0.00994047
+v -0.06804277 -0.03509440 -0.01238888
+v -0.06808122 -0.03521242 -0.01367301
+v -0.06720647 -0.03648031 -0.01238888
+v -0.06178493 -0.04154174 -0.01238711
+v -0.06014116 -0.04257359 -0.01238712
+v -0.05875213 -0.04212852 -0.00174744
+v -0.05101875 -0.04822850 -0.01238714
+v -0.06029496 -0.04267137 -0.01483913
+v -0.04656328 -0.05111160 -0.01483916
+v -0.04324691 -0.05314831 -0.01483917
+v -0.04162717 -0.05413632 -0.01483917
+v -0.03864725 -0.05593699 -0.01483918
+v -0.01966705 -0.06648472 -0.01799409
+v -0.02578551 -0.06337234 -0.01686198
+v -0.02521836 -0.06303175 -0.01849844
+v -0.03190877 -0.05998007 -0.01483919
+v -0.05565685 -0.04544656 -0.01635935
+v -0.04315078 -0.05309098 -0.01652392
+v -0.04261247 -0.05274702 -0.01815501
+v -0.03785421 -0.05546151 -0.01851987
+v -0.01966705 -0.06593170 -0.01878103
+v -0.02354095 -0.06350046 -0.01885434
+v -0.03153869 -0.05858403 -0.01893303
+v -0.02649204 -0.06136596 -0.01904571
+v -0.03397069 -0.05675300 -0.01910113
+v -0.04171850 -0.05180284 -0.01922452
+v -0.05673828 -0.04154510 -0.01960900
+v -0.05887229 -0.03940048 -0.01982003
+v -0.06194354 -0.03919815 -0.01925666
+v -0.06430344 -0.03829782 -0.01883816
+v -0.06556751 -0.03775155 -0.01852160
+v -0.06593760 -0.03648029 -0.01878449
+v -0.06656242 -0.03395125 -0.01913681
+v -0.06563960 -0.03284522 -0.01953743
+v -0.06865317 -0.03284524 -0.01238887
+v -0.06844650 -0.03382651 -0.01238887
+v -0.06598566 -0.03819668 -0.01238889
+v -0.06474563 -0.03956235 -0.01483912
+v -0.06468314 -0.03940050 -0.01238710
+v -0.06461105 -0.03946456 -0.01238710
+v -0.06335659 -0.04051664 -0.01238711
+v -0.06746121 -0.03624089 -0.01462985
+v -0.06844170 -0.03420418 -0.01462985
+v -0.06809564 -0.03523601 -0.01530768
+v -0.06604814 -0.03829447 -0.01484090
+v -0.06178493 -0.04173732 -0.01483912
+v -0.02043606 -0.06571252 -0.01864331
+v -0.06336621 -0.04052000 -0.01668662
+v -0.06194354 -0.04114046 -0.01741990
+v -0.05992968 -0.04244207 -0.01728935
+v -0.05038431 -0.04783058 -0.01845189
+v -0.03306710 -0.05813891 -0.01865580
+v -0.05817057 -0.04290403 -0.01860568
+v -0.04565007 -0.05054845 -0.01865042
+v -0.04093026 -0.05325283 -0.01878099
+v -0.02829441 -0.06081969 -0.01876670
+v -0.03885873 -0.05412956 -0.01895626
+v -0.04414089 -0.05100368 -0.01892763
+v -0.04656328 -0.04915916 -0.01909395
+v -0.05910780 -0.04154510 -0.01904384
+v -0.06169841 -0.03940048 -0.01923878
+v -0.06184260 -0.03940048 -0.01920122
+v -0.06121297 -0.04070208 -0.01883280
+v -0.06289038 -0.04016930 -0.01832308
+v -0.06347195 -0.03940048 -0.01853412
+v -0.06581263 -0.03803818 -0.01729112
+v -0.06809564 -0.03523601 -0.01609998
+v -0.06782168 -0.03395125 -0.01792601
+v -0.06804757 -0.03284522 -0.01843394
+v -0.06426980 -0.03940049 -0.01744135
+v -0.06787455 -0.03284522 -0.01859848
+v -0.06680754 -0.03284522 -0.01914933
+v -0.06876372 -0.03284524 -0.01473178
+v -0.06348156 -0.04060769 -0.01483912
+v -0.06866278 -0.03284523 -0.01588893
+v -0.06831673 -0.03395126 -0.01670090
+v -0.06844170 -0.03284523 -0.01710331
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 29
+f 1 29 35
+f 1 35 34
+f 1 34 47
+f 1 47 68
+f 1 68 70
+f 1 70 100
+f 1 100 139
+f 1 139 177
+f 1 177 176
+f 1 176 174
+f 1 174 182
+f 1 182 180
+f 1 180 178
+f 1 178 140
+f 1 140 101
+f 1 101 90
+f 1 90 60
+f 1 60 39
+f 1 39 28
+f 1 28 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 4
+f 3 12 10
+f 4 11 10
+f 4 10 15
+f 4 15 19
+f 4 19 27
+f 4 27 38
+f 4 38 59
+f 4 59 84
+f 4 84 118
+f 4 118 126
+f 4 126 91
+f 4 91 61
+f 4 61 41
+f 4 41 30
+f 4 30 25
+f 4 25 24
+f 4 24 23
+f 4 23 14
+f 4 14 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 9 13
+f 9 14 13
+f 10 12 15
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 15
+f 12 20 21
+f 12 21 16
+f 13 14 23
+f 13 23 24
+f 13 24 25
+f 13 25 22
+f 16 21 17
+f 17 21 20
+f 17 20 26
+f 17 26 36
+f 17 36 54
+f 17 54 77
+f 17 77 111
+f 17 111 79
+f 17 79 56
+f 17 56 37
+f 17 37 27
+f 17 27 19
+f 17 19 18
+f 20 28 36
+f 20 36 26
+f 22 25 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 29
+f 27 37 38
+f 28 39 40
+f 28 40 36
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 47 34
+f 33 46 48
+f 33 48 49
+f 33 49 47
+f 36 40 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 37 55 38
+f 37 56 57
+f 37 57 55
+f 38 55 58
+f 38 58 59
+f 39 60 50
+f 39 50 40
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 63 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 43 63 64
+f 44 46 45
+f 44 67 48
+f 44 48 46
+f 47 49 68
+f 48 67 69
+f 48 69 70
+f 48 70 49
+f 49 70 68
+f 50 60 71
+f 50 71 72
+f 50 72 51
+f 51 73 52
+f 51 72 74
+f 51 74 73
+f 52 73 53
+f 53 73 75
+f 53 75 54
+f 54 75 73
+f 54 73 76
+f 54 76 77
+f 55 57 78
+f 55 78 58
+f 56 79 57
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 78
+f 58 78 59
+f 59 78 85
+f 59 85 86
+f 59 86 87
+f 59 87 88
+f 59 88 89
+f 59 89 84
+f 60 90 71
+f 61 91 92
+f 61 92 93
+f 61 93 62
+f 62 93 94
+f 62 94 64
+f 62 64 63
+f 64 94 95
+f 64 95 96
+f 64 96 65
+f 65 96 97
+f 65 97 66
+f 66 97 69
+f 66 69 67
+f 69 97 96
+f 69 96 98
+f 69 98 99
+f 69 99 100
+f 69 100 70
+f 71 90 101
+f 71 101 102
+f 71 102 72
+f 72 103 74
+f 72 102 103
+f 73 74 104
+f 73 104 105
+f 73 105 76
+f 74 103 106
+f 74 106 107
+f 74 107 108
+f 74 108 104
+f 76 105 109
+f 76 109 110
+f 76 110 79
+f 76 79 111
+f 76 111 77
+f 78 83 85
+f 79 110 112
+f 79 112 80
+f 80 112 113
+f 80 113 114
+f 80 114 115
+f 80 115 81
+f 81 115 116
+f 81 116 82
+f 82 116 117
+f 82 117 85
+f 82 85 83
+f 84 89 119
+f 84 119 120
+f 84 120 118
+f 85 121 86
+f 85 117 87
+f 85 87 121
+f 86 121 87
+f 87 117 116
+f 87 116 115
+f 87 115 88
+f 88 115 114
+f 88 114 113
+f 88 113 122
+f 88 122 123
+f 88 123 89
+f 89 123 124
+f 89 124 125
+f 89 125 120
+f 89 120 119
+f 91 126 127
+f 91 127 128
+f 91 128 129
+f 91 129 92
+f 92 129 93
+f 93 129 130
+f 93 130 131
+f 93 131 94
+f 94 131 132
+f 94 132 95
+f 95 132 133
+f 95 133 96
+f 96 133 134
+f 96 134 98
+f 98 135 136
+f 98 136 137
+f 98 137 138
+f 98 138 99
+f 98 134 135
+f 99 138 139
+f 99 139 100
+f 101 140 102
+f 102 140 141
+f 102 141 103
+f 103 141 106
+f 104 108 142
+f 104 142 143
+f 104 143 144
+f 104 144 145
+f 104 145 146
+f 104 146 105
+f 105 146 109
+f 106 141 107
+f 107 147 108
+f 107 141 148
+f 107 148 149
+f 107 149 147
+f 108 147 150
+f 108 150 142
+f 109 146 151
+f 109 151 110
+f 110 113 112
+f 110 151 113
+f 113 151 122
+f 118 120 152
+f 118 152 126
+f 120 125 152
+f 122 151 153
+f 122 153 154
+f 122 154 155
+f 122 155 123
+f 123 155 124
+f 124 155 156
+f 124 156 125
+f 125 157 152
+f 125 156 158
+f 125 158 159
+f 125 159 160
+f 125 160 157
+f 126 152 127
+f 127 152 161
+f 127 161 160
+f 127 160 128
+f 128 160 162
+f 128 162 130
+f 128 130 129
+f 130 162 131
+f 131 162 163
+f 131 163 164
+f 131 164 132
+f 132 165 166
+f 132 166 134
+f 132 134 133
+f 132 164 165
+f 134 166 167
+f 134 167 135
+f 135 167 168
+f 135 168 169
+f 135 169 170
+f 135 170 136
+f 136 171 172
+f 136 172 173
+f 136 173 174
+f 136 174 137
+f 136 170 169
+f 136 169 175
+f 136 175 171
+f 137 174 176
+f 137 176 138
+f 138 176 177
+f 138 177 139
+f 140 178 141
+f 141 178 148
+f 142 150 143
+f 143 179 146
+f 143 146 145
+f 143 145 144
+f 143 150 171
+f 143 171 153
+f 143 153 179
+f 146 179 151
+f 147 149 172
+f 147 172 150
+f 148 178 172
+f 148 172 149
+f 150 172 171
+f 151 179 153
+f 152 157 160
+f 152 160 161
+f 153 175 169
+f 153 169 154
+f 153 171 175
+f 154 169 155
+f 155 169 156
+f 156 169 158
+f 158 169 168
+f 158 168 159
+f 159 168 160
+f 160 168 163
+f 160 163 162
+f 163 168 164
+f 164 168 165
+f 165 168 167
+f 165 167 166
+f 172 178 180
+f 172 180 181
+f 172 181 174
+f 172 174 173
+f 174 181 182
+f 180 182 181
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_34.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03956801 0.02471957 -0.02001188
+v -0.03956801 0.02496068 -0.02001188
+v -0.03956801 0.02438096 -0.02000817
+v -0.06430800 0.01425319 -0.01999709
+v -0.06430800 0.01665907 -0.02000635
+v -0.06430800 0.02171719 -0.02001003
+v -0.03956801 0.02496062 -0.00280844
+v -0.06430800 0.02424678 -0.01998222
+v -0.06430800 0.02496068 -0.01996368
+v -0.03956801 0.02424783 -0.02000632
+v -0.05183008 0.01425319 -0.01993777
+v -0.04905915 0.01425214 -0.01988215
+v -0.06682808 0.01425319 -0.01947616
+v -0.06682808 0.02424678 -0.01947612
+v -0.06501385 0.02496068 -0.01983391
+v -0.03956801 0.02171713 -0.00280659
+v -0.05614106 0.02496061 -0.00107512
+v -0.03956801 0.02171719 -0.01974494
+v -0.04666158 0.01425214 -0.01973014
+v -0.04919041 0.01425319 -0.01989142
+v -0.06936566 0.01425317 -0.01483976
+v -0.06894273 0.01425318 -0.01728680
+v -0.06828937 0.01425319 -0.01872722
+v -0.04905915 0.01425208 -0.00298088
+v -0.06682808 0.02496068 -0.01946500
+v -0.06828937 0.02171719 -0.01872719
+v -0.06723934 0.02496068 -0.01926479
+v -0.05614980 0.01425312 -0.00107516
+v -0.04414149 0.01425208 -0.00302352
+v -0.03956801 0.02116048 -0.00289001
+v -0.05883031 0.02496061 -0.00107326
+v -0.05883031 0.01425312 -0.00107330
+v -0.03956801 0.01995602 -0.01899971
+v -0.04487068 0.01425214 -0.01901271
+v -0.06922857 0.01425317 -0.01238531
+v -0.06935983 0.01919178 -0.01483974
+v -0.06893690 0.02171718 -0.01728677
+v -0.06893981 0.01919179 -0.01728678
+v -0.04666158 0.01425208 -0.00281033
+v -0.06794811 0.01425312 -0.00107330
+v -0.06828646 0.02496068 -0.01872718
+v -0.04653907 0.01425208 -0.00281775
+v -0.04404816 0.01425208 -0.00304947
+v -0.03956801 0.01939407 -0.00329045
+v -0.04249644 0.01425208 -0.00352590
+v -0.06785186 0.02496061 -0.00107326
+v -0.03956801 0.01944234 -0.01727381
+v -0.04427858 0.01425213 -0.01728495
+v -0.06809395 0.02038681 -0.00133838
+v -0.06809395 0.02054511 -0.00133837
+v -0.06922274 0.01919178 -0.01238529
+v -0.06935108 0.02171717 -0.01483973
+v -0.06921691 0.02171717 -0.01238528
+v -0.06892231 0.02496067 -0.01728676
+v -0.06804145 0.02069606 -0.00107327
+v -0.03956801 0.01896845 -0.00358892
+v -0.04245269 0.01425208 -0.00359264
+v -0.06811729 0.02496062 -0.00324038
+v -0.06789270 0.02423832 -0.00107326
+v -0.03956801 0.01809102 -0.00496630
+v -0.04194808 0.01425209 -0.00503677
+v -0.06804145 0.02081033 -0.00107327
+v -0.06920232 0.02496066 -0.01238527
+v -0.06929566 0.02496066 -0.01414825
+v -0.06933358 0.02424676 -0.01483972
+v -0.06932774 0.02496066 -0.01483972
+v -0.03956801 0.01823883 -0.00473272
+f 1 2 7
+f 1 7 16
+f 1 16 30
+f 1 30 44
+f 1 44 56
+f 1 56 67
+f 1 67 60
+f 1 60 47
+f 1 47 33
+f 1 33 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 15
+f 2 15 25
+f 2 25 27
+f 2 27 41
+f 2 41 54
+f 2 54 66
+f 2 66 64
+f 2 64 63
+f 2 63 58
+f 2 58 46
+f 2 46 31
+f 2 31 17
+f 2 17 7
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 17 16
+f 8 15 9
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 12 20 19
+f 12 19 34
+f 12 34 48
+f 12 48 61
+f 12 61 57
+f 12 57 45
+f 12 45 43
+f 12 43 29
+f 12 29 42
+f 12 42 39
+f 12 39 24
+f 12 24 21
+f 13 23 26
+f 13 26 14
+f 14 25 15
+f 14 26 27
+f 14 27 25
+f 16 17 28
+f 16 28 29
+f 16 29 30
+f 17 31 32
+f 17 32 28
+f 18 33 34
+f 18 34 19
+f 21 35 51
+f 21 51 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 21 24 35
+f 22 38 26
+f 22 26 23
+f 24 39 40
+f 24 40 35
+f 26 38 41
+f 26 41 27
+f 28 32 39
+f 28 39 42
+f 28 42 29
+f 29 43 30
+f 30 43 45
+f 30 45 44
+f 31 46 59
+f 31 59 62
+f 31 62 55
+f 31 55 40
+f 31 40 32
+f 32 40 39
+f 33 47 48
+f 33 48 34
+f 35 40 49
+f 35 49 50
+f 35 50 51
+f 36 52 37
+f 36 51 53
+f 36 53 52
+f 37 52 54
+f 37 54 41
+f 37 41 38
+f 40 55 49
+f 44 45 56
+f 45 57 56
+f 46 58 59
+f 47 60 61
+f 47 61 48
+f 49 55 62
+f 49 62 50
+f 50 62 59
+f 50 59 58
+f 50 58 63
+f 50 63 53
+f 50 53 51
+f 52 64 65
+f 52 65 54
+f 52 53 63
+f 52 63 64
+f 54 65 66
+f 56 57 67
+f 57 61 60
+f 57 60 67
+f 64 66 65
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_35.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00880412 -0.00864469 -0.02000913
+v 0.00880412 -0.00611594 -0.02000406
+v 0.01132344 -0.00864469 -0.01997711
+v 0.00880412 -0.01117482 -0.01995185
+v 0.00628303 -0.00864469 -0.01999227
+v 0.00880412 -0.00358581 -0.01993834
+v 0.01813769 -0.00864469 -0.01974963
+v 0.00628303 -0.00611594 -0.01998721
+v 0.00880412 -0.01367458 -0.01987940
+v -0.00003839 -0.00864469 -0.01981872
+v 0.00880412 0.00042678 -0.01974118
+v 0.01813769 -0.00611594 -0.01953562
+v 0.01813769 -0.00996704 -0.01922897
+v 0.00876854 -0.01367458 -0.01987266
+v 0.01813769 -0.01045429 -0.01900823
+v 0.01110104 -0.01367458 -0.01920707
+v -0.00003839 -0.01052193 -0.01910764
+v -0.00003839 -0.00593926 -0.01916492
+v 0.00614247 0.00042678 -0.01913625
+v 0.00731139 0.00042678 -0.01940249
+v 0.00954782 0.00042678 -0.01944461
+v 0.01813769 -0.00452167 -0.01879252
+v 0.00667089 -0.01367458 -0.01919191
+v 0.01813769 -0.01088357 -0.01778153
+v 0.01225750 -0.01367459 -0.01726424
+v -0.00003839 -0.01113618 -0.01729118
+v -0.00003839 -0.00503654 -0.01729116
+v 0.00526534 0.00042677 -0.01729114
+v 0.00552154 0.00042678 -0.01783372
+v 0.01056373 0.00042678 -0.01902504
+v 0.01813769 -0.00417798 -0.01729116
+v 0.00664598 -0.01367458 -0.01914810
+v 0.01813769 -0.01099400 -0.01729118
+v 0.01375024 -0.01367463 -0.00508316
+v 0.01813769 -0.01203619 -0.00503934
+v 0.00380641 -0.01367463 -0.00503935
+v -0.00003839 -0.01179601 -0.00503934
+v 0.00575283 -0.01367459 -0.01729119
+v -0.00003839 -0.00330704 -0.00503931
+v 0.00367119 0.00042673 -0.00503930
+v 0.01079146 0.00042678 -0.01830216
+v 0.01813769 -0.00279908 -0.00503931
+v 0.01107257 0.00042677 -0.01729114
+v 0.01375557 -0.01367463 -0.00503935
+v 0.01813769 -0.01135984 -0.00379579
+v 0.01305280 -0.01367464 -0.00351777
+v 0.01307593 -0.01367464 -0.00354979
+v 0.00451274 -0.01367464 -0.00348744
+v -0.00003839 -0.01090571 -0.00336948
+v -0.00003839 -0.00417527 -0.00336272
+v 0.00444158 0.00042672 -0.00341831
+v 0.00411954 0.00042673 -0.00409400
+v 0.01813769 -0.00281702 -0.00500224
+v 0.01231266 0.00042673 -0.00503930
+v 0.01210627 0.00042673 -0.00464164
+v 0.01141951 0.00042672 -0.00335259
+v 0.01813769 -0.01105617 -0.00328017
+v 0.01135724 -0.01367464 -0.00301563
+v 0.00628303 -0.01367464 -0.00298193
+v -0.00003839 -0.00981802 -0.00309651
+v -0.00003839 -0.00611600 -0.00286058
+v 0.00628303 0.00042672 -0.00291280
+v 0.00551976 0.00042672 -0.00312174
+v 0.01813769 -0.00375013 -0.00329025
+v 0.00880412 0.00042672 -0.00280664
+v 0.01813769 -0.00864475 -0.00281173
+v 0.01132344 -0.01367464 -0.00301058
+v -0.00003839 -0.00864475 -0.00282184
+v 0.00880412 -0.01367464 -0.00279827
+v 0.00775974 0.00042672 -0.00284708
+v 0.01813769 -0.00432987 -0.00313861
+v 0.00376193 -0.00864475 -0.00279656
+v 0.00628303 -0.00864475 -0.00279656
+v 0.00880412 -0.01117488 -0.00279657
+v 0.01813769 -0.00686828 -0.00281847
+v 0.01813769 -0.00611600 -0.00282351
+v 0.00883615 -0.01367464 -0.00279995
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 8
+f 6 11 7
+f 6 8 11
+f 7 12 22
+f 7 22 31
+f 7 31 42
+f 7 42 53
+f 7 53 64
+f 7 64 71
+f 7 71 76
+f 7 76 75
+f 7 75 66
+f 7 66 57
+f 7 57 45
+f 7 45 35
+f 7 35 33
+f 7 33 24
+f 7 24 15
+f 7 15 13
+f 7 13 9
+f 7 11 12
+f 8 10 11
+f 9 14 10
+f 9 13 15
+f 9 15 16
+f 9 16 25
+f 9 25 34
+f 9 34 44
+f 9 44 47
+f 9 47 46
+f 9 46 58
+f 9 58 67
+f 9 67 77
+f 9 77 69
+f 9 69 59
+f 9 59 48
+f 9 48 36
+f 9 36 38
+f 9 38 32
+f 9 32 23
+f 9 23 14
+f 10 17 26
+f 10 26 37
+f 10 37 49
+f 10 49 60
+f 10 60 68
+f 10 68 61
+f 10 61 50
+f 10 50 39
+f 10 39 27
+f 10 27 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 14 17
+f 11 20 19
+f 11 19 29
+f 11 29 28
+f 11 28 40
+f 11 40 52
+f 11 52 51
+f 11 51 63
+f 11 63 62
+f 11 62 70
+f 11 70 65
+f 11 65 56
+f 11 56 55
+f 11 55 54
+f 11 54 43
+f 11 43 41
+f 11 41 30
+f 11 30 21
+f 11 21 22
+f 11 22 12
+f 14 23 17
+f 15 24 16
+f 16 24 25
+f 17 23 26
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 21 30 22
+f 22 30 31
+f 23 32 26
+f 24 33 25
+f 25 33 35
+f 25 35 34
+f 26 36 37
+f 26 32 38
+f 26 38 36
+f 27 39 28
+f 28 39 40
+f 30 41 31
+f 31 41 43
+f 31 43 42
+f 34 35 44
+f 35 45 46
+f 35 46 47
+f 35 47 44
+f 36 48 37
+f 37 48 49
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 42 43 54
+f 42 54 55
+f 42 55 56
+f 42 56 53
+f 45 57 46
+f 46 57 58
+f 48 59 49
+f 49 59 60
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 53 56 64
+f 56 65 64
+f 57 66 67
+f 57 67 58
+f 59 68 60
+f 59 69 68
+f 61 68 65
+f 61 65 70
+f 61 70 62
+f 64 65 71
+f 65 68 72
+f 65 72 73
+f 65 73 74
+f 65 74 66
+f 65 66 75
+f 65 75 76
+f 65 76 71
+f 66 74 69
+f 66 69 77
+f 66 77 67
+f 68 69 72
+f 69 74 72
+f 72 74 73
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_36.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.04914664 0.00042678 -0.02001109
+v 0.04914664 -0.01370582 -0.02000395
+v 0.04410255 -0.00611942 -0.01997152
+v 0.04382950 -0.00611791 -0.01995893
+v 0.04662165 0.00042678 -0.01989052
+v 0.06426422 0.00042678 -0.02000390
+v 0.06174218 -0.00105578 -0.02000930
+v 0.04662165 -0.01499665 -0.01975381
+v 0.03932270 -0.00611791 -0.01969439
+v 0.04158050 -0.00611791 -0.01984735
+v 0.06426422 -0.00864067 -0.02000393
+v 0.06426422 -0.01117400 -0.02000034
+v 0.06426422 -0.01370431 -0.01999675
+v 0.06426422 -0.01499363 -0.01998416
+v 0.05295172 -0.01499363 -0.01996616
+v 0.04914664 -0.01499665 -0.01991938
+v 0.04444900 0.00042678 -0.01909690
+v 0.06678627 0.00042678 -0.01946402
+v 0.06678920 -0.01499363 -0.01946408
+v 0.04471618 -0.01499665 -0.01903038
+v 0.03932270 -0.00842629 -0.01920491
+v 0.03932270 -0.00433039 -0.01899614
+v 0.06555020 -0.01499363 -0.01972502
+v 0.05230580 -0.01499665 -0.01994457
+v 0.04397923 0.00042678 -0.01795056
+v 0.06824547 0.00042678 -0.01871899
+v 0.06745568 -0.00980166 -0.01912394
+v 0.06824547 -0.01499363 -0.01871905
+v 0.04403208 -0.01499666 -0.01729017
+v 0.03932270 -0.00949821 -0.01729014
+v 0.03932270 -0.00384275 -0.01729012
+v 0.04373555 0.00042677 -0.01729011
+v 0.04382950 0.00042677 -0.01754925
+v 0.05230580 -0.01499671 -0.00272067
+v 0.06889727 -0.01499364 -0.01728837
+v 0.06930831 -0.01499365 -0.01483733
+v 0.06890020 0.00042677 -0.01728651
+v 0.06890020 -0.00980167 -0.01728835
+v 0.06890020 -0.01370432 -0.01728836
+v 0.04169501 -0.01499670 -0.00501516
+v 0.03932270 -0.01103365 -0.00504033
+v 0.03932270 -0.00277239 -0.00517527
+v 0.04147481 0.00042673 -0.00509068
+v 0.06916151 -0.01499365 -0.01238448
+v 0.06806050 -0.01499369 -0.00163012
+v 0.05590536 -0.01499369 -0.00163012
+v 0.04662165 -0.01499671 -0.00280705
+v 0.06931712 -0.00980168 -0.01483731
+v 0.06931712 0.00042676 -0.01483727
+v 0.04192989 -0.01499670 -0.00425033
+v 0.03932270 -0.01041618 -0.00344409
+v 0.03932270 -0.00368730 -0.00353224
+v 0.04190346 0.00042673 -0.00412610
+v 0.06917032 -0.00980168 -0.01238626
+v 0.06806637 -0.01321975 -0.00163011
+v 0.04410255 -0.01499671 -0.00304640
+v 0.04533861 -0.01499671 -0.00290603
+v 0.05589949 -0.00864073 -0.00163009
+v 0.03932270 -0.00611797 -0.00281601
+v 0.03932270 -0.00864526 -0.00294739
+v 0.06917032 0.00042676 -0.01238622
+v 0.04237617 -0.01499671 -0.00355029
+v 0.03932270 -0.00391678 -0.00330369
+v 0.04228809 0.00042672 -0.00347104
+v 0.06806344 -0.01222333 -0.00163010
+v 0.04382950 -0.01499671 -0.00311659
+v 0.05589949 -0.00591416 -0.00163008
+v 0.03932270 -0.00580998 -0.00286100
+v 0.05590243 0.00042672 -0.00163006
+v 0.04410255 0.00042672 -0.00297256
+v 0.04313073 -0.01499671 -0.00330194
+v 0.06824547 0.00042673 -0.00432765
+v 0.04330395 0.00042672 -0.00317771
+v 0.06805170 0.00042672 -0.00284119
+v 0.06791664 -0.00165973 -0.00163007
+v 0.06811922 0.00042672 -0.00335047
+v 0.04382950 0.00042672 -0.00304094
+v 0.06786379 0.00042672 -0.00163006
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 25
+f 1 25 33
+f 1 33 32
+f 1 32 43
+f 1 43 53
+f 1 53 64
+f 1 64 73
+f 1 73 77
+f 1 77 70
+f 1 70 69
+f 1 69 78
+f 1 78 74
+f 1 74 76
+f 1 76 72
+f 1 72 61
+f 1 61 49
+f 1 49 37
+f 1 37 26
+f 1 26 18
+f 1 18 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 4
+f 2 4 3
+f 2 7 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 8
+f 4 10 5
+f 5 10 9
+f 5 9 17
+f 6 11 7
+f 6 18 19
+f 6 19 11
+f 8 16 24
+f 8 24 34
+f 8 34 47
+f 8 47 57
+f 8 57 56
+f 8 56 66
+f 8 66 71
+f 8 71 62
+f 8 62 50
+f 8 50 40
+f 8 40 29
+f 8 29 20
+f 8 20 21
+f 8 21 9
+f 9 21 30
+f 9 30 41
+f 9 41 51
+f 9 51 60
+f 9 60 59
+f 9 59 68
+f 9 68 63
+f 9 63 52
+f 9 52 42
+f 9 42 31
+f 9 31 22
+f 9 22 17
+f 11 19 23
+f 11 23 12
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 17 22 25
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 24
+f 19 24 23
+f 20 29 30
+f 20 30 21
+f 22 31 32
+f 22 32 33
+f 22 33 25
+f 24 28 35
+f 24 35 36
+f 24 36 34
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 26 28 27
+f 28 39 35
+f 29 40 30
+f 30 40 41
+f 31 42 43
+f 31 43 32
+f 34 36 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 35 39 36
+f 36 48 44
+f 36 39 48
+f 37 49 38
+f 38 49 48
+f 38 48 39
+f 40 50 51
+f 40 51 41
+f 42 52 43
+f 43 52 53
+f 44 48 54
+f 44 54 55
+f 44 55 45
+f 45 55 65
+f 45 65 75
+f 45 75 78
+f 45 78 69
+f 45 69 67
+f 45 67 58
+f 45 58 46
+f 46 56 57
+f 46 57 47
+f 46 58 59
+f 46 59 60
+f 46 60 56
+f 48 49 61
+f 48 61 54
+f 50 62 51
+f 51 62 60
+f 52 63 64
+f 52 64 53
+f 54 61 55
+f 55 61 65
+f 56 60 66
+f 58 67 59
+f 59 67 69
+f 59 69 70
+f 59 70 68
+f 60 62 71
+f 60 71 66
+f 61 72 65
+f 63 68 73
+f 63 73 64
+f 65 74 75
+f 65 72 76
+f 65 76 74
+f 68 70 77
+f 68 77 73
+f 74 78 75
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_37.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00884569 0.03309606 -0.02002703
+v -0.00884569 0.03437074 -0.02002533
+v -0.00757508 0.03309606 -0.02001860
+v -0.01009564 0.03309606 -0.01996969
+v -0.01136419 0.03690083 -0.01999497
+v -0.01138072 0.03944770 -0.02002195
+v -0.01136419 0.03944770 -0.02002195
+v -0.00884569 0.03944770 -0.01985669
+v -0.00505451 0.03309606 -0.01978082
+v -0.01136419 0.03309606 -0.01987863
+v -0.01390128 0.03944770 -0.01986343
+v -0.00699452 0.03944770 -0.01910291
+v 0.00003827 0.03350645 -0.01894272
+v 0.00003827 0.03309606 -0.01912485
+v -0.01234349 0.03309606 -0.01950427
+v -0.01655820 0.03944770 -0.01923107
+v -0.00635198 0.03944769 -0.01730192
+v -0.00634785 0.03944769 -0.01729012
+v 0.00003827 0.03388511 -0.01729014
+v 0.00003827 0.03309600 -0.00297838
+v -0.01324015 0.03309606 -0.01912316
+v -0.01800856 0.03944770 -0.01818555
+v -0.00423636 0.03944765 -0.00503735
+v 0.00003827 0.03600415 -0.00673548
+v -0.00380250 0.03309600 -0.00285865
+v 0.00003827 0.03437068 -0.00315206
+v -0.00632513 0.03944764 -0.00303232
+v -0.00882916 0.03944764 -0.00280973
+v -0.01362030 0.03309606 -0.01819737
+v -0.01860977 0.03944769 -0.01729012
+v -0.00472188 0.03944764 -0.00354159
+v 0.00003827 0.03605824 -0.00437970
+v 0.00003827 0.03621431 -0.00503905
+v -0.00632513 0.03437068 -0.00280805
+v -0.00632513 0.03309600 -0.00280637
+v 0.00003827 0.03514917 -0.00341512
+v -0.00631066 0.03944764 -0.00303569
+v -0.01134766 0.03944764 -0.00280298
+v -0.00884569 0.03690077 -0.00280467
+v -0.01390128 0.03309605 -0.01729014
+v -0.02106629 0.03792612 -0.00660562
+v -0.02106629 0.03944767 -0.00969158
+v -0.00472808 0.03944764 -0.00353316
+v 0.00003827 0.03584620 -0.00365458
+v -0.00884569 0.03309600 -0.00280300
+v -0.00884569 0.03437068 -0.00280299
+v -0.01011630 0.03309600 -0.00280132
+v -0.01386822 0.03944764 -0.00280130
+v -0.01473389 0.03309602 -0.00755672
+v -0.01494876 0.03309601 -0.00503906
+v -0.02106629 0.03791492 -0.00637122
+v -0.02106629 0.03944764 -0.00328527
+v -0.01136419 0.03309600 -0.00280132
+v -0.01388475 0.03944764 -0.00280130
+v -0.02106629 0.03816861 -0.00418407
+v -0.02106629 0.03787202 -0.00519755
+v -0.01442812 0.03309601 -0.00418409
+v -0.01640738 0.03944764 -0.00292777
+v -0.02106629 0.03926545 -0.00331899
+v -0.01380211 0.03309600 -0.00331396
+v -0.01388475 0.03943085 -0.00280130
+v -0.02106629 0.03924058 -0.00332405
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 35
+f 1 35 45
+f 1 45 47
+f 1 47 53
+f 1 53 60
+f 1 60 57
+f 1 57 50
+f 1 50 49
+f 1 49 40
+f 1 40 29
+f 1 29 21
+f 1 21 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 16
+f 6 16 22
+f 6 22 30
+f 6 30 42
+f 6 42 52
+f 6 52 58
+f 6 58 54
+f 6 54 48
+f 6 48 38
+f 6 38 28
+f 6 28 27
+f 6 27 37
+f 6 37 43
+f 6 43 31
+f 6 31 23
+f 6 23 18
+f 6 18 17
+f 6 17 12
+f 6 12 8
+f 6 8 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 24
+f 13 24 33
+f 13 33 32
+f 13 32 44
+f 13 44 36
+f 13 36 26
+f 13 26 20
+f 13 20 14
+f 15 21 16
+f 16 21 22
+f 18 23 24
+f 18 24 19
+f 20 26 27
+f 20 27 28
+f 20 28 25
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 25 34 35
+f 25 28 34
+f 26 36 37
+f 26 37 27
+f 28 38 39
+f 28 39 34
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 31 43 44
+f 31 44 32
+f 34 39 35
+f 35 39 46
+f 35 46 45
+f 36 44 37
+f 37 44 43
+f 38 47 46
+f 38 46 39
+f 38 48 47
+f 40 49 41
+f 41 50 51
+f 41 51 56
+f 41 56 55
+f 41 55 62
+f 41 62 59
+f 41 59 52
+f 41 52 42
+f 41 49 50
+f 45 46 47
+f 47 48 54
+f 47 54 61
+f 47 61 53
+f 50 55 56
+f 50 56 51
+f 50 57 55
+f 52 59 53
+f 52 53 58
+f 53 61 58
+f 53 59 62
+f 53 62 60
+f 54 58 61
+f 55 57 60
+f 55 60 62
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_38.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01765144 0.00906624 -0.00281183
+v 0.00889588 0.01422187 -0.00281013
+v 0.00880451 0.01422187 -0.00280339
+v 0.00880451 0.01412734 -0.00280339
+v 0.00880451 0.00147729 -0.00280511
+v 0.00880451 0.00042672 -0.00280681
+v 0.01765144 0.00653704 -0.00286577
+v 0.01765144 0.01048275 -0.00303931
+v 0.01132482 0.01422187 -0.00303930
+v 0.00628421 0.00906624 -0.00280678
+v 0.00628421 0.01422187 -0.00285731
+v 0.00004033 0.00906624 -0.00283880
+v 0.00628421 0.01159679 -0.00281014
+v 0.00628421 0.00653704 -0.00280679
+v 0.00004033 0.00653704 -0.00286240
+v 0.00775984 0.00042672 -0.00284725
+v 0.01141963 0.00042672 -0.00335277
+v 0.01765144 0.00439134 -0.00335781
+v 0.01765144 0.01151442 -0.00327353
+v 0.01140239 0.01422187 -0.00305783
+v 0.00411730 0.01422187 -0.00336620
+v 0.00004033 0.01162920 -0.00341845
+v 0.00004033 0.01030721 -0.00311177
+v 0.00004033 0.00560530 -0.00309999
+v 0.00628421 0.00042672 -0.00291297
+v 0.01210573 0.00042673 -0.00464185
+v 0.01765144 0.00358114 -0.00503952
+v 0.01309696 0.01422187 -0.00354482
+v 0.01765144 0.01327933 -0.00525516
+v 0.00387595 0.01422187 -0.00342518
+v 0.00004033 0.01238540 -0.00503948
+v 0.00004033 0.00459794 -0.00335781
+v 0.00552053 0.00042672 -0.00312192
+v 0.01231260 0.00042673 -0.00503953
+v 0.01107141 0.00042677 -0.01729167
+v 0.01765144 0.00545816 -0.01729165
+v 0.01377962 0.01422188 -0.00503948
+v 0.01765144 0.01186151 -0.01737083
+v 0.01195058 0.01422192 -0.01729162
+v 0.00325363 0.01422188 -0.00503948
+v 0.00508956 0.01422192 -0.01729162
+v 0.00004033 0.01126736 -0.01729163
+v 0.00004033 0.00417799 -0.00415990
+v 0.00444311 0.00042672 -0.00341849
+v 0.01079214 0.00042678 -0.01830103
+v 0.01056286 0.00042678 -0.01902560
+v 0.01765144 0.00652900 -0.01924633
+v 0.01765144 0.01107562 -0.01914184
+v 0.01099211 0.01422193 -0.01918901
+v 0.01192645 0.01422192 -0.01735734
+v 0.00617388 0.01422193 -0.01919238
+v 0.00004033 0.01081500 -0.01902219
+v 0.00004033 0.01104726 -0.01818640
+v 0.00004033 0.00374453 -0.00503952
+v 0.00411902 0.00042673 -0.00409252
+v 0.00954750 0.00042678 -0.01944350
+v 0.00880451 0.00042678 -0.01974176
+v 0.01765144 0.00758767 -0.01951425
+v 0.01765144 0.00906630 -0.01984115
+v 0.00880451 0.01422193 -0.01990348
+v 0.00870970 0.01422193 -0.01987820
+v 0.00004033 0.00991837 -0.01939965
+v 0.00367081 0.00042673 -0.00503953
+v 0.00004033 0.00542035 -0.01729165
+v 0.00526367 0.00042677 -0.01729167
+v 0.00004033 0.00906630 -0.01974004
+v 0.00628421 0.00653710 -0.01999282
+v 0.00880451 0.00400655 -0.01992879
+v 0.00731164 0.00042678 -0.01940306
+v 0.00004033 0.00634265 -0.01917893
+v 0.00004033 0.00759442 -0.01944516
+v 0.00880451 0.00653710 -0.02001641
+v 0.01132482 0.00906630 -0.01998607
+v 0.00880451 0.01159685 -0.01998269
+v 0.00628421 0.00906630 -0.02000292
+v 0.00376218 0.00906630 -0.01990013
+v 0.00004033 0.00567558 -0.01781570
+v 0.00614285 0.00042678 -0.01913682
+v 0.00552053 0.00042678 -0.01783426
+v 0.00880451 0.00906630 -0.02000966
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 27
+f 1 27 36
+f 1 36 47
+f 1 47 58
+f 1 58 59
+f 1 59 48
+f 1 48 38
+f 1 38 29
+f 1 29 19
+f 1 19 8
+f 1 8 9
+f 1 9 2
+f 2 9 20
+f 2 20 28
+f 2 28 37
+f 2 37 39
+f 2 39 50
+f 2 50 49
+f 2 49 60
+f 2 60 61
+f 2 61 51
+f 2 51 41
+f 2 41 40
+f 2 40 30
+f 2 30 21
+f 2 21 11
+f 2 11 3
+f 3 10 14
+f 3 14 4
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 4 14 5
+f 5 14 6
+f 6 14 12
+f 6 12 15
+f 6 15 16
+f 6 16 25
+f 6 25 33
+f 6 33 44
+f 6 44 55
+f 6 55 63
+f 6 63 65
+f 6 65 79
+f 6 79 78
+f 6 78 69
+f 6 69 57
+f 6 57 56
+f 6 56 46
+f 6 46 45
+f 6 45 35
+f 6 35 34
+f 6 34 26
+f 6 26 17
+f 6 17 18
+f 6 18 7
+f 8 19 9
+f 9 19 20
+f 10 13 12
+f 10 12 14
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 22
+f 12 22 31
+f 12 31 42
+f 12 42 53
+f 12 53 52
+f 12 52 62
+f 12 62 66
+f 12 66 71
+f 12 71 70
+f 12 70 77
+f 12 77 64
+f 12 64 54
+f 12 54 43
+f 12 43 32
+f 12 32 24
+f 12 24 15
+f 15 24 25
+f 15 25 16
+f 17 26 27
+f 17 27 18
+f 19 28 20
+f 19 29 28
+f 21 30 22
+f 22 30 31
+f 24 32 25
+f 25 32 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 28 29 37
+f 29 38 39
+f 29 39 37
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 32 43 44
+f 32 44 33
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 43 54 44
+f 44 54 55
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 48 59 60
+f 48 60 49
+f 51 61 52
+f 52 61 60
+f 52 60 62
+f 54 63 55
+f 54 64 65
+f 54 65 63
+f 57 66 67
+f 57 67 68
+f 57 68 59
+f 57 59 58
+f 57 69 70
+f 57 70 71
+f 57 71 66
+f 59 68 72
+f 59 72 73
+f 59 73 74
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 66
+f 60 66 62
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 66 76 67
+f 67 75 72
+f 67 72 68
+f 67 76 75
+f 69 78 70
+f 70 78 77
+f 72 80 73
+f 72 75 80
+f 73 80 74
+f 74 80 75
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_39.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00004000 -0.00864467 -0.00282048
+v -0.00632425 -0.01266088 -0.00282556
+v -0.00528195 -0.01266088 -0.00293173
+v -0.00004000 -0.00981815 -0.00309688
+v -0.00004000 -0.00611580 -0.00285923
+v -0.00884340 0.00042672 -0.00280191
+v -0.00632425 -0.00611580 -0.00280530
+v -0.00884340 -0.01266088 -0.00279691
+v -0.00780431 -0.01266088 -0.00280196
+v -0.00304021 -0.01266088 -0.00343394
+v -0.00004000 -0.01090579 -0.00336989
+v -0.00632425 0.00042672 -0.00289460
+v -0.00004000 -0.00417623 -0.00336313
+v -0.00441444 0.00042672 -0.00340019
+v -0.01642010 -0.00864467 -0.00281711
+v -0.00985844 0.00042672 -0.00302100
+v -0.01642010 -0.00611580 -0.00284406
+v -0.01642010 -0.00865876 -0.00281879
+v -0.01642010 -0.01071491 -0.00332102
+v -0.01145395 -0.01266088 -0.00314239
+v -0.00282053 -0.01266088 -0.00373224
+v -0.00004000 -0.01179614 -0.00504001
+v -0.00004000 -0.00330636 -0.00503998
+v -0.00354853 0.00042673 -0.00503997
+v -0.00390772 0.00042673 -0.00435743
+v -0.01142349 0.00042672 -0.00336648
+v -0.01642010 -0.00419929 -0.00334796
+v -0.01309597 -0.01266088 -0.00358393
+v -0.01642010 -0.01171799 -0.00504001
+v -0.00263933 -0.01266088 -0.00399683
+v -0.00233465 -0.01266087 -0.00504002
+v -0.00221279 -0.01266087 -0.00661576
+v -0.00336573 -0.01266083 -0.01729037
+v -0.00004000 -0.01113634 -0.01729036
+v -0.00004000 -0.00503707 -0.01729034
+v -0.00492597 0.00042678 -0.01866383
+v -0.01225732 0.00042673 -0.00503997
+v -0.01642010 -0.00337426 -0.00503998
+v -0.01393462 -0.01266087 -0.00504002
+v -0.01379351 -0.01266087 -0.00598715
+v -0.01642010 -0.01063543 -0.01729036
+v -0.01188530 -0.01266083 -0.01729037
+v -0.00422522 -0.01266082 -0.01906666
+v -0.00004000 -0.01052140 -0.01910710
+v -0.00004000 -0.00593895 -0.01916606
+v -0.00573735 0.00042678 -0.01910032
+v -0.01220280 0.00042673 -0.00572757
+v -0.01205207 0.00042674 -0.00747016
+v -0.01104666 0.00042677 -0.01729032
+v -0.01642010 -0.00472063 -0.01866890
+v -0.01642010 -0.01029337 -0.01894868
+v -0.01163515 -0.01266082 -0.01798808
+v -0.00632425 -0.01266082 -0.01974415
+v -0.00004000 -0.00864461 -0.01981828
+v -0.00632425 0.00042678 -0.01940872
+v -0.01057522 0.00042678 -0.01899751
+v -0.01642010 -0.00472320 -0.01867565
+v -0.01642010 -0.00864461 -0.01966829
+v -0.00994503 -0.01266082 -0.01962281
+v -0.01103864 -0.01266082 -0.01919474
+v -0.00884340 -0.01266082 -0.01988908
+v -0.00632425 -0.01117476 -0.01993963
+v -0.00380349 -0.00864461 -0.01998512
+v -0.00632425 -0.00611574 -0.01998343
+v -0.00884340 0.00042678 -0.01974410
+v -0.00779950 0.00042678 -0.01961264
+v -0.01642010 -0.00610677 -0.01939358
+v -0.01642010 -0.00863180 -0.01966829
+v -0.01136416 -0.00864461 -0.01995479
+v -0.00884340 -0.01117476 -0.01995480
+v -0.00632425 -0.00864461 -0.02001209
+v -0.00884340 -0.00611574 -0.02001039
+v -0.00884340 -0.00358559 -0.01992443
+v -0.01136416 -0.00611574 -0.01988231
+v -0.01642010 -0.00611574 -0.01939695
+v -0.00884340 -0.00864461 -0.02001040
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 34
+f 1 34 44
+f 1 44 54
+f 1 54 45
+f 1 45 35
+f 1 35 23
+f 1 23 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 20
+f 2 20 28
+f 2 28 39
+f 2 39 40
+f 2 40 42
+f 2 42 52
+f 2 52 60
+f 2 60 59
+f 2 59 61
+f 2 61 53
+f 2 53 43
+f 2 43 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 21
+f 2 21 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 15 8
+f 6 8 7
+f 6 12 14
+f 6 14 25
+f 6 25 24
+f 6 24 36
+f 6 36 46
+f 6 46 55
+f 6 55 66
+f 6 66 65
+f 6 65 56
+f 6 56 49
+f 6 49 48
+f 6 48 47
+f 6 47 37
+f 6 37 26
+f 6 26 16
+f 6 16 17
+f 6 17 15
+f 8 15 18
+f 8 18 19
+f 8 19 20
+f 10 21 22
+f 10 22 11
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 15 17 27
+f 15 27 38
+f 15 38 50
+f 15 50 57
+f 15 57 67
+f 15 67 75
+f 15 75 68
+f 15 68 58
+f 15 58 51
+f 15 51 41
+f 15 41 29
+f 15 29 19
+f 15 19 18
+f 16 26 17
+f 17 26 27
+f 19 28 20
+f 19 29 28
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 23 35 36
+f 23 36 24
+f 26 37 38
+f 26 38 27
+f 28 29 39
+f 29 40 39
+f 29 41 42
+f 29 42 40
+f 33 43 34
+f 34 43 44
+f 35 45 36
+f 36 45 46
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 41 51 52
+f 41 52 42
+f 43 53 44
+f 44 53 54
+f 45 54 55
+f 45 55 46
+f 49 56 50
+f 50 56 57
+f 51 58 59
+f 51 59 60
+f 51 60 52
+f 53 61 62
+f 53 62 54
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 55
+f 56 65 67
+f 56 67 57
+f 58 68 69
+f 58 69 61
+f 58 61 59
+f 61 69 70
+f 61 70 62
+f 62 70 71
+f 62 71 63
+f 63 71 72
+f 63 72 64
+f 64 72 73
+f 64 73 65
+f 65 73 74
+f 65 74 68
+f 65 68 75
+f 65 75 67
+f 68 74 69
+f 69 74 72
+f 69 72 76
+f 69 76 70
+f 70 76 71
+f 71 76 72
+f 72 74 73
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_4.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.05922811 -0.03394635 0.03686841
+v 0.05425072 -0.03641263 0.03685710
+v 0.05425072 -0.03647905 0.03685710
+v 0.05670693 -0.03647905 0.03681941
+v 0.05922811 -0.03647904 0.03647275
+v 0.06174792 -0.03394634 0.03642377
+v 0.06174792 -0.03141808 0.03670638
+v 0.06174792 -0.02888539 0.03676291
+v 0.06174792 -0.02635712 0.03677423
+v 0.06174792 0.00042657 0.03677433
+v 0.05425072 -0.03360097 0.03616001
+v 0.05922811 0.00042658 0.03674041
+v 0.05841884 0.00042658 0.03643143
+v 0.05727667 0.00042658 0.03599433
+v 0.05690045 0.00042658 0.03524071
+v 0.05636997 0.00042658 0.03417056
+v 0.05425072 -0.03894089 0.03667998
+v 0.05425072 -0.03901173 0.03666114
+v 0.05673941 -0.03910915 0.03608086
+v 0.05922811 -0.03824573 0.03574926
+v 0.06058816 -0.03781623 0.03546665
+v 0.06155576 -0.03627979 0.03575681
+v 0.06307144 -0.03530124 0.03545913
+v 0.06336104 -0.03394634 0.03570030
+v 0.06369801 -0.03141808 0.03595653
+v 0.06379139 -0.02888538 0.03601306
+v 0.06380492 -0.02635711 0.03602437
+v 0.06380763 -0.01117866 0.03602820
+v 0.06380898 -0.00358500 0.03602823
+v 0.06380898 0.00042658 0.03602824
+v 0.05425072 -0.03337073 0.03604696
+v 0.05617374 0.00042659 0.03172129
+v 0.05425072 -0.03237448 0.03537247
+v 0.05425072 -0.04104409 0.03593012
+v 0.05425072 -0.04107508 0.03591505
+v 0.05592067 -0.04056146 0.03563998
+v 0.06221481 -0.03694838 0.03417042
+v 0.05760146 -0.04002127 0.03478838
+v 0.05903865 -0.03938810 0.03404984
+v 0.06095625 -0.03808632 0.03417042
+v 0.06335157 -0.03568204 0.03417043
+v 0.06419331 -0.03394634 0.03417044
+v 0.06483613 -0.03141808 0.03417044
+v 0.06499581 -0.02888538 0.03417045
+v 0.06501070 -0.02635711 0.03417046
+v 0.06501340 -0.02130058 0.03417048
+v 0.06501611 -0.01370692 0.03417051
+v 0.06501747 -0.00864596 0.03417053
+v 0.06501882 -0.00105673 0.03417056
+v 0.06501882 0.00042658 0.03417056
+v 0.05590173 0.00042672 -0.00162646
+v 0.05425072 -0.03169702 0.03401218
+v 0.05425072 -0.04222188 0.03442664
+v 0.06264110 -0.03739558 0.03172115
+v 0.05425072 -0.04225287 0.03436635
+v 0.05673941 -0.04083155 0.03404983
+v 0.05807240 -0.04033563 0.03315303
+v 0.06137983 -0.03839183 0.03172115
+v 0.06368989 -0.03612923 0.03172116
+v 0.06484018 -0.03394633 0.03172117
+v 0.06541668 -0.03150219 0.03173625
+v 0.06547352 -0.02888537 0.03238437
+v 0.06547487 -0.02635710 0.03239192
+v 0.06547623 -0.02130057 0.03240324
+v 0.06547758 -0.01623961 0.03241457
+v 0.06547758 -0.01370691 0.03241834
+v 0.06547758 -0.00358499 0.03242215
+v 0.06547758 0.00042659 0.03242216
+v 0.06786884 0.00042672 -0.00162646
+v 0.05425072 -0.03204225 -0.00162658
+v 0.05425072 -0.03060765 -0.00162281
+v 0.05425072 -0.03144906 0.03152900
+v 0.05425072 -0.03166160 0.03369566
+v 0.06382792 -0.03833858 -0.00013443
+v 0.06508783 -0.03732019 -0.00013443
+v 0.06623001 -0.03611582 -0.00162659
+v 0.05425072 -0.04272221 0.03255765
+v 0.05824021 -0.04044190 0.03172114
+v 0.05950012 -0.03965818 0.03172114
+v 0.05425072 -0.04289489 0.03172113
+v 0.06286709 -0.03913114 -0.00162660
+v 0.05775032 -0.04266453 -0.00013445
+v 0.06060304 -0.04036210 0.00629018
+v 0.06590251 -0.03567751 0.00721716
+v 0.06716378 -0.03394620 -0.00162658
+v 0.06557231 -0.03071404 0.03093365
+v 0.06559532 -0.02888536 0.03115974
+v 0.06559667 -0.01117864 0.03119372
+v 0.06559532 -0.02635709 0.03116728
+v 0.06554795 0.00042659 0.03170245
+v 0.06746691 0.00042669 0.00476802
+v 0.06791891 -0.00166320 -0.00162647
+v 0.05425072 -0.04480757 -0.00162662
+v 0.06461418 -0.03778067 -0.00162660
+v 0.06510813 -0.03738217 -0.00162660
+v 0.06681598 -0.03477420 -0.00162659
+v 0.05533335 -0.04418768 -0.00162662
+v 0.06086829 -0.04058789 -0.00162661
+v 0.05776114 -0.04267780 -0.00162662
+v 0.05922811 -0.04172583 -0.00162661
+v 0.06745609 -0.03141794 -0.00162658
+v 0.06740872 -0.03141795 -0.00013441
+v 0.06783501 -0.02740193 -0.00162656
+v 0.06806507 -0.02019793 -0.00129871
+v 0.06559667 -0.00105671 0.03119753
+v 0.06559667 0.00042660 0.03119753
+v 0.06805153 -0.01243602 -0.00134767
+v 0.06806642 -0.01222790 -0.00162650
+v 0.06761577 -0.02987706 -0.00162657
+v 0.06807589 -0.01986141 -0.00162653
+v 0.06806507 -0.01995440 -0.00129871
+v 0.06806777 -0.01322415 -0.00162651
+v 0.06807589 -0.01968430 -0.00162653
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 31
+f 2 31 33
+f 2 33 52
+f 2 52 73
+f 2 73 72
+f 2 72 71
+f 2 71 70
+f 2 70 93
+f 2 93 80
+f 2 80 77
+f 2 77 55
+f 2 55 53
+f 2 53 35
+f 2 35 34
+f 2 34 18
+f 2 18 17
+f 2 17 3
+f 2 10 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 11
+f 3 17 4
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 26
+f 7 26 8
+f 8 26 27
+f 8 27 9
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 10
+f 10 30 50
+f 10 50 68
+f 10 68 90
+f 10 90 106
+f 10 106 91
+f 10 91 69
+f 10 69 51
+f 10 51 32
+f 10 32 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 11 16 31
+f 16 32 33
+f 16 33 31
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 37 23
+f 21 23 22
+f 21 36 38
+f 21 38 39
+f 21 39 40
+f 21 40 37
+f 23 37 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 30
+f 32 51 52
+f 32 52 33
+f 35 53 36
+f 36 53 38
+f 37 40 54
+f 37 54 41
+f 38 53 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 39 57 40
+f 40 57 58
+f 40 58 54
+f 41 59 60
+f 41 60 42
+f 41 54 59
+f 42 60 43
+f 43 61 62
+f 43 62 44
+f 43 60 61
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 47
+f 47 66 48
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 51 69 92
+f 51 92 108
+f 51 108 112
+f 51 112 113
+f 51 113 110
+f 51 110 103
+f 51 103 109
+f 51 109 101
+f 51 101 85
+f 51 85 96
+f 51 96 76
+f 51 76 95
+f 51 95 94
+f 51 94 81
+f 51 81 98
+f 51 98 100
+f 51 100 99
+f 51 99 97
+f 51 97 93
+f 51 93 70
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 54 58 74
+f 54 74 75
+f 54 75 76
+f 54 76 59
+f 55 57 56
+f 55 77 57
+f 57 78 79
+f 57 79 58
+f 57 77 80
+f 57 80 78
+f 58 81 74
+f 58 79 82
+f 58 82 83
+f 58 83 81
+f 59 76 84
+f 59 84 60
+f 60 84 85
+f 60 85 61
+f 61 86 62
+f 61 85 86
+f 62 86 87
+f 62 87 63
+f 63 87 64
+f 64 87 65
+f 65 88 66
+f 65 87 89
+f 65 89 88
+f 66 88 90
+f 66 90 67
+f 67 90 68
+f 69 91 92
+f 74 81 94
+f 74 94 95
+f 74 95 75
+f 75 95 76
+f 76 96 84
+f 78 80 82
+f 78 82 79
+f 80 93 97
+f 80 97 82
+f 81 83 98
+f 82 97 99
+f 82 99 100
+f 82 100 83
+f 83 100 98
+f 84 96 85
+f 85 101 102
+f 85 102 86
+f 86 102 103
+f 86 103 104
+f 86 104 87
+f 87 104 89
+f 88 104 105
+f 88 105 90
+f 88 89 104
+f 90 105 106
+f 91 106 107
+f 91 107 92
+f 92 107 108
+f 101 109 102
+f 102 109 103
+f 103 110 104
+f 104 110 113
+f 104 113 111
+f 104 111 106
+f 104 106 105
+f 106 111 107
+f 107 111 108
+f 108 111 112
+f 111 113 112
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_40.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02649262 0.00147731 -0.02002372
+v -0.02397221 0.00653710 -0.02002034
+v -0.02649262 0.00042678 -0.02002204
+v -0.02901302 0.00653710 -0.02002034
+v -0.02649262 0.01338837 -0.02001188
+v -0.02397221 0.00906699 -0.02001696
+v -0.02145181 0.00906699 -0.01998492
+v -0.02397221 0.00042678 -0.01989390
+v -0.02796818 0.00042678 -0.01990570
+v -0.03956587 0.00653710 -0.01980958
+v -0.03153342 0.00653710 -0.02000685
+v -0.02145181 0.00653710 -0.01995290
+v -0.02901302 0.00906699 -0.02001527
+v -0.02575697 0.01338837 -0.02000513
+v -0.02901302 0.01338837 -0.01967129
+v -0.02397221 0.01338837 -0.01996298
+v -0.01892928 0.00906699 -0.01988038
+v -0.01778422 0.00906699 -0.01981800
+v -0.01778422 0.00653710 -0.01951789
+v -0.02200621 0.00042678 -0.01914192
+v -0.02901302 0.00042678 -0.01980960
+v -0.03956587 0.00461367 -0.01908288
+v -0.03956587 0.00708647 -0.01968311
+v -0.03956587 0.00891855 -0.01924474
+v -0.03085961 0.01338837 -0.01893954
+v -0.02308304 0.01338837 -0.01976571
+v -0.01778422 0.01023425 -0.01941165
+v -0.01778422 0.00495877 -0.01878614
+v -0.02128975 0.00042677 -0.01729062
+v -0.03016234 0.00042678 -0.01936785
+v -0.03956587 0.00401481 -0.01729061
+v -0.03093424 0.00042678 -0.01905593
+v -0.03956587 0.00928395 -0.01860066
+v -0.03137990 0.01338836 -0.01729057
+v -0.03956587 0.01000206 -0.01729058
+v -0.03956587 0.01168058 -0.00503962
+v -0.02158401 0.01338837 -0.01925652
+v -0.01778422 0.01102595 -0.01908624
+v -0.01778422 0.00465553 -0.01739682
+v -0.01922354 0.00042673 -0.00503966
+v -0.03956587 0.00331695 -0.00503965
+v -0.03136284 0.00042678 -0.01801563
+v -0.03161872 0.00042677 -0.01729062
+v -0.03322862 0.00042674 -0.00706632
+v -0.03328406 0.01338832 -0.00679312
+v -0.03956587 0.01096880 -0.00337885
+v -0.03303458 0.01338831 -0.00365704
+v -0.03304097 0.01338831 -0.00366884
+v -0.03359751 0.01338832 -0.00503961
+v -0.02087822 0.01338837 -0.01869675
+v -0.01778422 0.01154106 -0.01821454
+v -0.01778422 0.00322306 -0.00503965
+v -0.01778422 0.00338546 -0.00472773
+v -0.01778422 0.00425582 -0.00329457
+v -0.01944317 0.00042673 -0.00442088
+v -0.03956587 0.00399572 -0.00389144
+v -0.03342692 0.00042673 -0.00509868
+v -0.03281708 0.00042673 -0.00441751
+v -0.03260811 0.00042673 -0.00418820
+v -0.03174879 0.00042672 -0.00326424
+v -0.03956587 0.00906693 -0.00288822
+v -0.02974867 0.01338831 -0.00284436
+v -0.03238635 0.01338831 -0.00332489
+v -0.02017028 0.01338836 -0.01741702
+v -0.01778422 0.01177831 -0.01735465
+v -0.01778422 0.00512111 -0.00306863
+v -0.01980139 0.00042672 -0.00354918
+v -0.03956587 0.00439792 -0.00331649
+v -0.03024337 0.00042672 -0.00301133
+v -0.03956587 0.00653704 -0.00283258
+v -0.02901302 0.01338831 -0.00280389
+v -0.01824907 0.01338832 -0.00503961
+v -0.01778422 0.01272349 -0.00503961
+v -0.01778422 0.00653704 -0.00282584
+v -0.02145181 0.00042672 -0.00304505
+v -0.02048374 0.00042672 -0.00334011
+v -0.03956587 0.00602066 -0.00291352
+v -0.02901302 0.00042672 -0.00280731
+v -0.03405383 0.00653704 -0.00281404
+v -0.03153342 0.00906693 -0.00280728
+v -0.02723040 0.01338831 -0.00280052
+v -0.01932589 0.01338831 -0.00339233
+v -0.01778422 0.01153212 -0.00326251
+v -0.01778422 0.00768526 -0.00281403
+v -0.02397221 0.00042672 -0.00280563
+v -0.02249665 0.00042672 -0.00294557
+v -0.02753959 0.00042672 -0.00280563
+v -0.02649262 0.01159683 -0.00280053
+v -0.02397221 0.01338831 -0.00280052
+v -0.02145181 0.01338831 -0.00292192
+v -0.01778422 0.00906693 -0.00281066
+v -0.01892928 0.00906693 -0.00280560
+v -0.02397221 0.01159683 -0.00280053
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 5
+f 3 8 20
+f 3 20 29
+f 3 29 40
+f 3 40 55
+f 3 55 67
+f 3 67 76
+f 3 76 75
+f 3 75 86
+f 3 86 85
+f 3 85 87
+f 3 87 78
+f 3 78 69
+f 3 69 60
+f 3 60 59
+f 3 59 58
+f 3 58 57
+f 3 57 44
+f 3 44 43
+f 3 43 42
+f 3 42 32
+f 3 32 30
+f 3 30 21
+f 3 21 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 12
+f 3 12 8
+f 4 11 13
+f 4 13 5
+f 5 14 6
+f 5 13 11
+f 5 11 10
+f 5 10 15
+f 5 15 25
+f 5 25 34
+f 5 34 45
+f 5 45 49
+f 5 49 48
+f 5 48 47
+f 5 47 63
+f 5 63 62
+f 5 62 71
+f 5 71 81
+f 5 81 89
+f 5 89 90
+f 5 90 82
+f 5 82 72
+f 5 72 64
+f 5 64 50
+f 5 50 37
+f 5 37 26
+f 5 26 16
+f 5 16 14
+f 6 14 7
+f 7 14 16
+f 7 16 17
+f 7 17 12
+f 8 12 18
+f 8 18 19
+f 8 19 20
+f 9 21 10
+f 10 21 22
+f 10 22 31
+f 10 31 41
+f 10 41 56
+f 10 56 68
+f 10 68 77
+f 10 77 70
+f 10 70 61
+f 10 61 46
+f 10 46 36
+f 10 36 35
+f 10 35 33
+f 10 33 24
+f 10 24 23
+f 10 23 15
+f 12 17 18
+f 15 23 24
+f 15 24 25
+f 16 26 18
+f 16 18 17
+f 18 26 27
+f 18 27 38
+f 18 38 51
+f 18 51 65
+f 18 65 73
+f 18 73 83
+f 18 83 91
+f 18 91 84
+f 18 84 74
+f 18 74 66
+f 18 66 54
+f 18 54 53
+f 18 53 52
+f 18 52 39
+f 18 39 28
+f 18 28 19
+f 19 28 20
+f 20 28 29
+f 21 30 22
+f 22 30 32
+f 22 32 31
+f 24 33 25
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 26 37 38
+f 26 38 27
+f 28 39 29
+f 29 39 40
+f 31 32 42
+f 31 42 43
+f 31 43 44
+f 31 44 41
+f 34 36 45
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 45
+f 37 50 38
+f 38 50 51
+f 39 52 40
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 41 44 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 56
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 50 64 51
+f 51 64 65
+f 54 66 67
+f 54 67 55
+f 56 60 68
+f 60 69 68
+f 61 70 71
+f 61 71 62
+f 64 72 65
+f 65 72 73
+f 66 74 75
+f 66 75 76
+f 66 76 67
+f 68 69 78
+f 68 78 77
+f 70 77 78
+f 70 78 79
+f 70 79 80
+f 70 80 71
+f 71 80 81
+f 72 82 83
+f 72 83 73
+f 74 84 85
+f 74 85 86
+f 74 86 75
+f 78 87 81
+f 78 81 80
+f 78 80 79
+f 81 87 88
+f 81 88 93
+f 81 93 89
+f 82 90 83
+f 83 90 91
+f 84 91 92
+f 84 92 85
+f 85 93 88
+f 85 88 87
+f 85 92 93
+f 89 93 92
+f 89 92 91
+f 89 91 90
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_41.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.06930866 0.01438876 -0.01484044
+v 0.06926646 0.01438877 -0.01509272
+v 0.06889059 0.02171773 -0.01729167
+v 0.06930602 0.01665888 -0.01484043
+v 0.06917150 0.01438876 -0.01238919
+v 0.06889718 0.01438877 -0.01729170
+v 0.06889586 0.01665889 -0.01729169
+v 0.06889323 0.01918888 -0.01729168
+v 0.06824436 0.02171774 -0.01872251
+v 0.06824172 0.02424888 -0.01872062
+v 0.06888531 0.02424887 -0.01729166
+v 0.06930206 0.01918887 -0.01484042
+v 0.06916359 0.01918887 -0.01238917
+v 0.06805312 0.02047786 -0.00135286
+v 0.06805312 0.02043321 -0.00135286
+v 0.06783156 0.01438871 -0.00077302
+v 0.06824699 0.01438878 -0.01872442
+v 0.06824699 0.01665890 -0.01872253
+v 0.06824568 0.01918889 -0.01872252
+v 0.06678968 0.01918889 -0.01946618
+v 0.06678968 0.02171774 -0.01946429
+v 0.06823777 0.02608283 -0.01871872
+v 0.06678968 0.02424888 -0.01946051
+v 0.06718929 0.02608283 -0.01925341
+v 0.06887872 0.02608282 -0.01729165
+v 0.06928624 0.02608281 -0.01484039
+v 0.06929679 0.02171772 -0.01484041
+v 0.06915831 0.02171772 -0.01238916
+v 0.06791201 0.02608277 -0.00176138
+v 0.06780386 0.02496430 -0.00077298
+v 0.06791861 0.02107430 -0.00077299
+v 0.06915172 0.02424886 -0.01238915
+v 0.06914644 0.02608281 -0.01238914
+v 0.05622185 0.01438871 -0.00077302
+v 0.06678968 0.01438878 -0.01946808
+v 0.06426807 0.01438878 -0.02000276
+v 0.06678968 0.02608283 -0.01945673
+v 0.06426807 0.02171774 -0.01998955
+v 0.06924799 0.02608281 -0.01416451
+v 0.06774979 0.02608276 -0.00077297
+v 0.05620603 0.02608276 -0.00077297
+v 0.05583675 0.01438872 -0.00177085
+v 0.05583675 0.01438878 -0.01978626
+v 0.05583675 0.02171774 -0.01982388
+v 0.06426807 0.02424888 -0.01996695
+v 0.06426807 0.02608283 -0.01992929
+v 0.05583675 0.02259007 -0.01982011
+v 0.05609920 0.02608276 -0.00106102
+v 0.05583675 0.02607476 -0.00175197
+v 0.05583675 0.02540855 -0.01956218
+v 0.05583675 0.02608283 -0.01943038
+v 0.05584467 0.02608277 -0.00174820
+v 0.05583675 0.02608277 -0.00382292
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 34
+f 1 34 42
+f 1 42 43
+f 1 43 36
+f 1 36 35
+f 1 35 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 9
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 12 13
+f 6 17 18
+f 6 18 19
+f 6 19 9
+f 6 9 7
+f 7 9 8
+f 9 19 17
+f 9 17 20
+f 9 20 21
+f 9 21 10
+f 10 22 11
+f 10 21 23
+f 10 23 24
+f 10 24 22
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 11 22 25
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 14 28 32
+f 14 32 33
+f 14 33 29
+f 15 31 16
+f 16 31 30
+f 16 30 40
+f 16 40 41
+f 16 41 34
+f 17 19 18
+f 17 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 23
+f 22 24 37
+f 22 37 46
+f 22 46 51
+f 22 51 53
+f 22 53 52
+f 22 52 48
+f 22 48 41
+f 22 41 40
+f 22 40 29
+f 22 29 33
+f 22 33 39
+f 22 39 26
+f 22 26 25
+f 23 37 24
+f 23 36 38
+f 23 38 37
+f 26 39 28
+f 26 28 27
+f 28 39 32
+f 29 40 30
+f 32 39 33
+f 34 41 42
+f 36 43 44
+f 36 44 38
+f 37 38 45
+f 37 45 46
+f 38 44 47
+f 38 47 45
+f 41 48 49
+f 41 49 42
+f 42 49 53
+f 42 53 51
+f 42 51 50
+f 42 50 47
+f 42 47 44
+f 42 44 43
+f 45 47 46
+f 46 47 50
+f 46 50 51
+f 48 52 49
+f 49 52 53
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_42.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00884577 0.00653710 -0.02002039
+v -0.00884577 0.00906699 -0.02001701
+v -0.00632458 0.00906699 -0.02001869
+v -0.00632458 0.00653710 -0.01999342
+v -0.00884577 0.00400720 -0.01992768
+v -0.01778422 0.00906699 -0.01981808
+v -0.01136522 0.00906699 -0.01997318
+v -0.00884577 0.01159689 -0.01997654
+v -0.00380339 0.00906699 -0.01995632
+v 0.00004033 0.00906699 -0.01974053
+v -0.00884577 0.00042678 -0.01974393
+v -0.01778422 0.00653710 -0.01951801
+v -0.01778422 0.01023425 -0.01941178
+v -0.00884577 0.01338837 -0.01986020
+v 0.00004033 0.00991833 -0.01939997
+v 0.00004033 0.00759524 -0.01944550
+v -0.00632458 0.00042678 -0.01941013
+v -0.00779891 0.00042678 -0.01961243
+v -0.00810774 0.01338837 -0.01981637
+v -0.00618675 0.01338837 -0.01943706
+v -0.01057484 0.00042678 -0.01899710
+v -0.01778422 0.00495877 -0.01878634
+v -0.01778422 0.01102595 -0.01908641
+v -0.01101452 0.01338837 -0.01917406
+v 0.00004033 0.01081534 -0.01902234
+v 0.00004033 0.00634171 -0.01917915
+v -0.00573834 0.00042678 -0.01909993
+v -0.00535973 0.01338837 -0.01923475
+v -0.01104592 0.00042677 -0.01729101
+v -0.01778422 0.00465553 -0.01739720
+v -0.01778422 0.01154106 -0.01821482
+v -0.01191831 0.01338836 -0.01729096
+v -0.01778422 0.01177831 -0.01735503
+v 0.00004033 0.01104752 -0.01818616
+v -0.00468625 0.01338837 -0.01880823
+v 0.00004033 0.00567561 -0.01781529
+v -0.00492528 0.00042678 -0.01866330
+v -0.01205266 0.00042674 -0.00747090
+v -0.01778422 0.00322306 -0.00503989
+v -0.01380789 0.01338832 -0.00503985
+v -0.01778422 0.01272349 -0.00503985
+v 0.00004033 0.01126700 -0.01729097
+v -0.00456760 0.01338837 -0.01857558
+v 0.00004033 0.00542059 -0.01729099
+v -0.00354866 0.00042673 -0.00503990
+v 0.00004033 0.00374452 -0.00503989
+v -0.01220271 0.00042673 -0.00572604
+v -0.01778422 0.00338546 -0.00472801
+v -0.01225679 0.00042673 -0.00503990
+v -0.01188865 0.00042673 -0.00430149
+v -0.01142279 0.00042672 -0.00336753
+v -0.01307160 0.01338831 -0.00369285
+v -0.01778422 0.01153212 -0.00326297
+v -0.01301751 0.01338831 -0.00361699
+v 0.00004033 0.01238474 -0.00503985
+v -0.00413490 0.01338836 -0.01729096
+v -0.00390808 0.00042673 -0.00435713
+v 0.00004033 0.00417717 -0.00415986
+v -0.00441581 0.00042672 -0.00340125
+v -0.01778422 0.00425582 -0.00329333
+v -0.00985774 0.00042672 -0.00302193
+v -0.01778422 0.00906693 -0.00280948
+v -0.00958032 0.01338831 -0.00283138
+v -0.01227599 0.01338831 -0.00329667
+v 0.00004033 0.01162855 -0.00341807
+v -0.00249482 0.01338832 -0.00614409
+v -0.00257857 0.01338832 -0.00503985
+v -0.00322762 0.01338831 -0.00362373
+v 0.00004033 0.00459838 -0.00335740
+v -0.00632458 0.00042672 -0.00289381
+v -0.01778422 0.00512111 -0.00306743
+v -0.00884577 0.00042672 -0.00280108
+v -0.01778422 0.00768526 -0.00281454
+v -0.00884577 0.01159683 -0.00279936
+v -0.00884577 0.01338831 -0.00279935
+v 0.00004033 0.01030777 -0.00311124
+v -0.00385225 0.01338831 -0.00336580
+v -0.00632458 0.01338831 -0.00283812
+v 0.00004033 0.00560450 -0.00309946
+v 0.00004033 0.00653704 -0.00286344
+v -0.01778422 0.00653704 -0.00282635
+v 0.00004033 0.00786162 -0.00284994
+v 0.00004033 0.00906693 -0.00283814
+v -0.00380339 0.00653704 -0.00281624
+v -0.00632458 0.01159683 -0.00280779
+v -0.00128220 0.00906693 -0.00282971
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 9 4
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 12 22
+f 6 22 30
+f 6 30 39
+f 6 39 48
+f 6 48 60
+f 6 60 71
+f 6 71 81
+f 6 81 73
+f 6 73 62
+f 6 62 53
+f 6 53 41
+f 6 41 33
+f 6 33 31
+f 6 31 23
+f 6 23 13
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 6 11 12
+f 8 14 9
+f 9 14 10
+f 10 15 25
+f 10 25 34
+f 10 34 42
+f 10 42 55
+f 10 55 65
+f 10 65 76
+f 10 76 83
+f 10 83 82
+f 10 82 80
+f 10 80 79
+f 10 79 69
+f 10 69 58
+f 10 58 46
+f 10 46 44
+f 10 44 36
+f 10 36 26
+f 10 26 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 10 14 19
+f 10 19 20
+f 10 20 15
+f 11 21 22
+f 11 22 12
+f 11 18 17
+f 11 17 27
+f 11 27 37
+f 11 37 45
+f 11 45 57
+f 11 57 59
+f 11 59 70
+f 11 70 72
+f 11 72 61
+f 11 61 51
+f 11 51 50
+f 11 50 49
+f 11 49 47
+f 11 47 38
+f 11 38 29
+f 11 29 21
+f 13 23 14
+f 14 23 24
+f 14 24 32
+f 14 32 40
+f 14 40 52
+f 14 52 54
+f 14 54 64
+f 14 64 63
+f 14 63 75
+f 14 75 78
+f 14 78 77
+f 14 77 68
+f 14 68 67
+f 14 67 66
+f 14 66 56
+f 14 56 43
+f 14 43 35
+f 14 35 28
+f 14 28 20
+f 14 20 19
+f 15 20 25
+f 16 26 17
+f 17 26 27
+f 20 28 25
+f 21 29 30
+f 21 30 22
+f 23 31 24
+f 24 31 33
+f 24 33 32
+f 25 28 35
+f 25 35 34
+f 26 36 37
+f 26 37 27
+f 29 38 39
+f 29 39 30
+f 32 33 41
+f 32 41 40
+f 34 35 43
+f 34 43 42
+f 36 44 37
+f 37 44 46
+f 37 46 45
+f 38 47 39
+f 39 47 49
+f 39 49 50
+f 39 50 51
+f 39 51 48
+f 40 41 52
+f 41 53 54
+f 41 54 52
+f 42 43 56
+f 42 56 55
+f 45 46 57
+f 46 58 59
+f 46 59 57
+f 48 51 60
+f 51 61 60
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 55 56 66
+f 55 66 67
+f 55 67 68
+f 55 68 65
+f 58 69 59
+f 59 69 70
+f 60 61 72
+f 60 72 71
+f 62 73 72
+f 62 72 74
+f 62 74 75
+f 62 75 63
+f 65 68 77
+f 65 77 78
+f 65 78 76
+f 69 79 70
+f 70 79 80
+f 70 80 72
+f 71 72 81
+f 72 80 82
+f 72 82 83
+f 72 83 84
+f 72 84 74
+f 72 73 81
+f 74 84 85
+f 74 85 75
+f 75 85 83
+f 75 83 78
+f 76 78 83
+f 83 86 84
+f 83 85 86
+f 84 86 85
+

dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/mjcf/mesh/soap_dish_028_collision_43.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03910016 0.02930989 -0.02002564
+v -0.03657722 0.03208272 -0.01995328
+v -0.03657722 0.03184015 -0.01995699
+v -0.02720357 0.02496173 -0.01994589
+v -0.03729063 0.02496173 -0.02002195
+v -0.05674189 0.03184015 -0.02001265
+v -0.05698757 0.03208272 -0.02001265
+v -0.02901782 0.03208272 -0.01964903
+v -0.02649488 0.02496173 -0.01991250
+v -0.06430601 0.02496173 -0.01996815
+v -0.06430601 0.03184015 -0.01999410
+v -0.06430601 0.03208272 -0.01998482
+v -0.02717995 0.03208272 -0.01924832
+v -0.02468535 0.02496173 -0.01972141
+v -0.06501943 0.02496173 -0.01983458
+v -0.06682895 0.02930989 -0.01944498
+v -0.06682895 0.02496173 -0.01947097
+v -0.06706519 0.03202626 -0.01917597
+v -0.06705102 0.03208272 -0.01917411
+v -0.02698624 0.03208272 -0.01919452
+v -0.02218602 0.02496173 -0.01914075
+v -0.06724000 0.02496173 -0.01926690
+v -0.06827469 0.02930989 -0.01871775
+v -0.06820855 0.03130761 -0.01864540
+v -0.06712188 0.03208272 -0.01913515
+v -0.02630117 0.03208271 -0.01747292
+v -0.02107101 0.02527609 -0.01742472
+v -0.02107101 0.02496173 -0.01789407
+v -0.02189310 0.02496173 -0.01896080
+v -0.06828886 0.02496173 -0.01872704
+v -0.06828886 0.02677962 -0.01872703
+v -0.06891251 0.02677961 -0.01729113
+v -0.06889362 0.02930988 -0.01729112
+v -0.06857707 0.03202625 -0.01751002
+v -0.06854399 0.03208271 -0.01756568
+v -0.02623030 0.03208271 -0.01729111
+v -0.02107101 0.02705072 -0.00503960
+v -0.02500190 0.03208267 -0.00674077
+v -0.02107101 0.02496167 -0.00307684
+v -0.06892196 0.02496172 -0.01729114
+v -0.06933300 0.02496171 -0.01484047
+v -0.06931411 0.02677960 -0.01484046
+v -0.06928103 0.02930987 -0.01484045
+v -0.06908260 0.03184013 -0.01484044
+v -0.06856762 0.03208271 -0.01748962
+v -0.02107101 0.02616616 -0.00339036
+v -0.02497827 0.03208267 -0.00480026
+v -0.05359057 0.03208265 -0.00107508
+v -0.05613714 0.02496166 -0.00107511
+v -0.02107101 0.02512617 -0.00311951
+v -0.02624447 0.03208266 -0.00333839
+v -0.02630589 0.03208266 -0.00332912
+v -0.02872017 0.03208266 -0.00301559
+v -0.02901782 0.03208266 -0.00298034
+v -0.06920072 0.02496171 -0.01238979
+v -0.06918654 0.02677960 -0.01238978
+v -0.06914875 0.02930987 -0.01238977
+v -0.06894086 0.03184013 -0.01238976
+v -0.06888889 0.03208270 -0.01238976
+v -0.06901173 0.03208270 -0.01458628
+v -0.06902590 0.03208270 -0.01484044
+v -0.02498300 0.03208267 -0.00479099
+v -0.02511056 0.03141002 -0.00369087
+v -0.02623502 0.03208266 -0.00334210
+v -0.06744788 0.03208265 -0.00107508
+v -0.06785420 0.02496166 -0.00107511
+v -0.06811878 0.02496167 -0.00323639
+v -0.06813295 0.02505716 -0.00332729
+v -0.06801956 0.02677956 -0.00217522
+v -0.06874715 0.03184012 -0.00994094
+v -0.06867628 0.03208269 -0.00960144
+v -0.06886999 0.03208269 -0.01210592
+v -0.06748568 0.03184008 -0.00107508
+v -0.06783058 0.02677955 -0.00107510
+v -0.06778806 0.02814715 -0.00107510
+v -0.06759907 0.03086562 -0.00107509
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 4
+f 2 4 3
+f 2 7 12
+f 2 12 19
+f 2 19 25
+f 2 25 35
+f 2 35 45
+f 2 45 61
+f 2 61 60
+f 2 60 59
+f 2 59 72
+f 2 72 71
+f 2 71 65
+f 2 65 48
+f 2 48 54
+f 2 54 53
+f 2 53 52
+f 2 52 51
+f 2 51 64
+f 2 64 62
+f 2 62 47
+f 2 47 38
+f 2 38 36
+f 2 36 26
+f 2 26 20
+f 2 20 13
+f 2 13 8
+f 4 9 14
+f 4 14 21
+f 4 21 29
+f 4 29 28
+f 4 28 39
+f 4 39 49
+f 4 49 66
+f 4 66 67
+f 4 67 55
+f 4 55 41
+f 4 41 40
+f 4 40 30
+f 4 30 22
+f 4 22 17
+f 4 17 15
+f 4 15 10
+f 4 10 5
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 16 12
+f 11 15 17
+f 11 17 16
+f 12 16 18
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 16 17 22
+f 16 22 23
+f 16 23 24
+f 16 24 18
+f 18 25 19
+f 18 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 26 36 27
+f 27 37 46
+f 27 46 50
+f 27 50 39
+f 27 39 28
+f 27 36 38
+f 27 38 37
+f 30 40 31
+f 31 40 32
+f 32 40 41
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 45 35
+f 34 44 45
+f 37 38 47
+f 37 47 46
+f 39 48 49
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 48
+f 41 55 56
+f 41 56 42
+f 42 56 43
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 46 47 62
+f 46 62 63
+f 46 63 64
+f 46 64 51
+f 46 51 50
+f 48 65 73
+f 48 73 76
+f 48 76 75
+f 48 75 74
+f 48 74 66
+f 48 66 49
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 70 58
+f 57 69 70
+f 58 70 71
+f 58 71 72
+f 58 72 59
+f 62 64 63
+f 65 71 73
+f 66 74 69
+f 66 69 68
+f 66 68 67
+f 69 74 75
+f 69 75 70
+f 70 75 76
+f 70 76 71
+f 71 76 73
+