Add asset kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be

.gitattributes

@@ -4048,3 +4048,6 @@ dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/mesh/storage_b
 dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/storage_bin_098.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/mesh/storage_bin_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_colander">
+   <link name="metal_colander">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.289264</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with handles and small supporting legs</description>
+         <min_height>0.108</min_height>
+         <max_height>0.134</max_height>
+         <real_height>0.124</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119192727</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5334906578063965</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1234bef1af062f45cace17888c21e885bbfb5dcc80c0954547d883f772e7219f
+size 927188

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material.mtl

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

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bfd55b5e2815ad30786a9f6294c3a1b5c2e1a04211f534eb35b47d02127db9
+size 3826444

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580b962c42b93a79a172686f8b5991cd2a542430958357c53806fa1a1d26a293
+size 3093801

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/01dbfbb228385981a0d162f2ac7664be.xml

@@ -0,0 +1,164 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_colander">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/metal_colander.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_colander_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_colander_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_colander_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_colander_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_colander_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_colander_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_colander_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_colander_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_colander_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_colander_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_colander_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_colander_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_colander_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_colander_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_colander_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_colander_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_colander_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_colander_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_colander_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_colander_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/metal_colander_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_colander_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_colander_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/metal_colander_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/metal_colander_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/metal_colander_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_colander_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/metal_colander_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/metal_colander_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/metal_colander_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/metal_colander_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/metal_colander_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/metal_colander_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/metal_colander_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/metal_colander_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/metal_colander_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/metal_colander_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/metal_colander_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/metal_colander_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/metal_colander_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/metal_colander_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/metal_colander_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/metal_colander_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/metal_colander_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/metal_colander_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/metal_colander_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/metal_colander_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/metal_colander_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/metal_colander_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/metal_colander_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/metal_colander_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/metal_colander_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/metal_colander_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/metal_colander_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/metal_colander_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/metal_colander_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/metal_colander_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/metal_colander_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/metal_colander_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/metal_colander_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/metal_colander_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/metal_colander_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/metal_colander_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/metal_colander_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/metal_colander_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/metal_colander_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/metal_colander_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/metal_colander_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/metal_colander_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/metal_colander_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/metal_colander_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/metal_colander_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/metal_colander_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/metal_colander_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/metal_colander_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_colander">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_0.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.03067670 -0.00042108 -0.04504159
+v 0.03932749 -0.00042108 -0.04504159
+v 0.02190547 -0.02186618 -0.04504167
+v 0.04792103 -0.00042113 -0.03213888
+v 0.03932447 -0.00170798 -0.04504160
+v 0.04150222 -0.00042109 -0.04341740
+v 0.03266468 -0.02186618 -0.04504167
+v 0.04289382 -0.02186623 -0.03213896
+v 0.05267713 -0.00042113 -0.03213888
+v 0.03922506 -0.00280597 -0.04504160
+v 0.04149922 -0.00170799 -0.04341614
+v 0.04138474 -0.00429444 -0.04333024
+v 0.04283358 -0.00042109 -0.04233248
+v 0.03350808 -0.02055617 -0.04504167
+v 0.03577019 -0.02186619 -0.04307899
+v 0.04817705 -0.02186623 -0.03213896
+v 0.05267413 -0.00159046 -0.03213889
+v 0.05191808 -0.00061216 -0.03316315
+v 0.05201749 -0.00042113 -0.03302927
+v 0.03908352 -0.00429443 -0.04504161
+v 0.04283358 -0.00170799 -0.04232743
+v 0.04283358 -0.00429445 -0.04215441
+v 0.04116487 -0.00688084 -0.04317365
+v 0.03869494 -0.00688083 -0.04504162
+v 0.04416191 -0.00580388 -0.04090027
+v 0.04303236 -0.00675069 -0.04170100
+v 0.04435469 -0.00042110 -0.04107202
+v 0.03394786 -0.01981928 -0.04504166
+v 0.03612562 -0.02071992 -0.04330381
+v 0.03726116 -0.02186620 -0.04208247
+v 0.04811078 -0.02186623 -0.03221978
+v 0.04831861 -0.02155760 -0.03213896
+v 0.05257772 -0.00377381 -0.03213889
+v 0.05188798 -0.00233575 -0.03312780
+v 0.05191808 -0.00042113 -0.03316315
+v 0.05099636 -0.00156736 -0.03418873
+v 0.04948730 -0.00170802 -0.03591524
+v 0.04949335 -0.00042112 -0.03592153
+v 0.04435166 -0.00170800 -0.04106822
+v 0.04425227 -0.00429445 -0.04098110
+v 0.04253839 -0.00946519 -0.04168207
+v 0.04088774 -0.00946518 -0.04296907
+v 0.03819191 -0.00946517 -0.04504162
+v 0.04542097 -0.00682208 -0.03957665
+v 0.04402938 -0.00752747 -0.04078282
+v 0.04679450 -0.00611882 -0.03837175
+v 0.04500228 -0.00042110 -0.04046704
+v 0.03439666 -0.01905511 -0.04504166
+v 0.03660755 -0.01899634 -0.04361322
+v 0.03753829 -0.01983819 -0.04266471
+v 0.03910458 -0.02140432 -0.04099632
+v 0.03839975 -0.02186620 -0.04130196
+v 0.04715593 -0.02186623 -0.03334765
+v 0.04894514 -0.02018460 -0.03213895
+v 0.05255364 -0.00429448 -0.03213890
+v 0.05183978 -0.00429448 -0.03306718
+v 0.05063491 -0.00429447 -0.03444133
+v 0.04940900 -0.00429447 -0.03582810
+v 0.04827043 -0.00170801 -0.03720096
+v 0.04889393 -0.00042112 -0.03656186
+v 0.04565290 -0.00042110 -0.03984817
+v 0.04564687 -0.00170800 -0.03983555
+v 0.04555049 -0.00429445 -0.03974968
+v 0.04222813 -0.01204952 -0.04143074
+v 0.04383660 -0.00946519 -0.04061611
+v 0.03812867 -0.00972339 -0.04504163
+v 0.04667701 -0.00784239 -0.03825433
+v 0.04522819 -0.00946520 -0.03933037
+v 0.04688485 -0.00429446 -0.03846396
+v 0.04818306 -0.00429446 -0.03711508
+v 0.04934272 -0.00579759 -0.03575610
+v 0.04801440 -0.00681998 -0.03700521
+v 0.03521897 -0.01754775 -0.04504165
+v 0.03830939 -0.01722027 -0.04300572
+v 0.03950519 -0.01980670 -0.04128933
+v 0.04080041 -0.01980670 -0.04028399
+v 0.04188175 -0.02178642 -0.03859032
+v 0.03961664 -0.02186620 -0.04038882
+v 0.04692703 -0.02186623 -0.03360530
+v 0.04704750 -0.02179066 -0.03351561
+v 0.04878550 -0.01980673 -0.03252919
+v 0.04910477 -0.01980673 -0.03213895
+v 0.05239097 -0.00594666 -0.03213890
+v 0.05229762 -0.00688088 -0.03213891
+v 0.05170422 -0.00688088 -0.03290175
+v 0.04697220 -0.00170801 -0.03855109
+v 0.04698426 -0.00042111 -0.03856243
+v 0.04828248 -0.00042111 -0.03720725
+v 0.04184560 -0.01463595 -0.04112131
+v 0.04054739 -0.01204951 -0.04271774
+v 0.04352635 -0.01204952 -0.04034584
+v 0.04493604 -0.01204953 -0.03906010
+v 0.03747203 -0.01197601 -0.04504163
+v 0.04923428 -0.00752121 -0.03563614
+v 0.04907164 -0.00946521 -0.03545930
+v 0.04777343 -0.00946520 -0.03681701
+v 0.04652642 -0.00946520 -0.03810275
+v 0.05020418 -0.00674863 -0.03464342
+v 0.03532438 -0.01731261 -0.04504165
+v 0.03870698 -0.01529512 -0.04328484
+v 0.04033050 -0.01706493 -0.04158106
+v 0.03617380 -0.01540640 -0.04504165
+v 0.04125824 -0.01782488 -0.04065403
+v 0.04235164 -0.01980671 -0.03899825
+v 0.04364984 -0.01980671 -0.03786157
+v 0.04197814 -0.02186621 -0.03846782
+v 0.04168897 -0.02186621 -0.03871155
+v 0.04453542 -0.02186622 -0.03610476
+v 0.04628243 -0.01980672 -0.03526739
+v 0.04749030 -0.01980673 -0.03398165
+v 0.04914996 -0.01801806 -0.03295862
+v 0.04947828 -0.01887251 -0.03213895
+v 0.05211686 -0.00816991 -0.03213891
+v 0.05150239 -0.00946522 -0.03266053
+v 0.05020721 -0.00946521 -0.03417358
+v 0.04314382 -0.01463595 -0.04002379
+v 0.04159860 -0.01609922 -0.04092304
+v 0.04002629 -0.01451418 -0.04251946
+v 0.03902024 -0.01357155 -0.04350078
+v 0.04459264 -0.01463596 -0.03873805
+v 0.04623124 -0.01204953 -0.03781229
+v 0.03688768 -0.01357785 -0.04504164
+v 0.04996021 -0.01204955 -0.03388185
+v 0.04879753 -0.01204954 -0.03516881
+v 0.04749932 -0.01204954 -0.03652655
+v 0.03649612 -0.01459393 -0.04504164
+v 0.04280347 -0.01714682 -0.03956532
+v 0.04400830 -0.01819230 -0.03818868
+v 0.04498723 -0.01980672 -0.03657583
+v 0.04317695 -0.02186621 -0.03736521
+v 0.04661377 -0.01820070 -0.03561216
+v 0.04943309 -0.01629449 -0.03328828
+v 0.05010781 -0.01709224 -0.03213894
+v 0.05004154 -0.01729798 -0.03213894
+v 0.04803246 -0.01724758 -0.03445020
+v 0.05191808 -0.00946522 -0.03213891
+v 0.05176146 -0.01031545 -0.03213892
+v 0.05143314 -0.01204955 -0.03213892
+v 0.05125542 -0.01204955 -0.03235868
+v 0.04432156 -0.01646872 -0.03847662
+v 0.04589084 -0.01463596 -0.03747886
+v 0.04718004 -0.01463597 -0.03619187
+v 0.04965598 -0.01463598 -0.03353832
+v 0.04847524 -0.01463597 -0.03482532
+v 0.04546614 -0.01733367 -0.03705577
+v 0.04691496 -0.01647711 -0.03592286
+v 0.05078554 -0.01473674 -0.03213893
+v 0.05067408 -0.01516291 -0.03213894
+v 0.05136988 -0.01232036 -0.03213893
+v 0.05120420 -0.01300686 -0.03213893
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 24
+f 1 24 43
+f 1 43 66
+f 1 66 93
+f 1 93 122
+f 1 122 126
+f 1 126 102
+f 1 102 99
+f 1 99 73
+f 1 73 48
+f 1 48 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 35
+f 1 35 38
+f 1 38 60
+f 1 60 88
+f 1 88 87
+f 1 87 61
+f 1 61 47
+f 1 47 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 30
+f 3 30 52
+f 3 52 78
+f 3 78 107
+f 3 107 106
+f 3 106 130
+f 3 130 108
+f 3 108 79
+f 3 79 53
+f 3 53 31
+f 3 31 16
+f 3 16 8
+f 3 8 4
+f 4 8 16
+f 4 16 32
+f 4 32 54
+f 4 54 82
+f 4 82 112
+f 4 112 134
+f 4 134 133
+f 4 133 148
+f 4 148 147
+f 4 147 150
+f 4 150 149
+f 4 149 138
+f 4 138 137
+f 4 137 136
+f 4 136 113
+f 4 113 84
+f 4 84 83
+f 4 83 55
+f 4 55 33
+f 4 33 17
+f 4 17 9
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 6 13 11
+f 7 14 15
+f 9 17 18
+f 9 18 19
+f 10 12 20
+f 11 13 21
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 20
+f 12 22 25
+f 12 25 26
+f 12 26 23
+f 13 27 21
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 16 31 32
+f 17 33 34
+f 17 34 18
+f 18 35 19
+f 18 34 36
+f 18 36 37
+f 18 37 38
+f 18 38 35
+f 21 27 39
+f 21 39 40
+f 21 40 22
+f 22 40 25
+f 23 26 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 25 44 45
+f 25 45 26
+f 25 40 46
+f 25 46 44
+f 26 45 41
+f 27 47 39
+f 28 48 29
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 29 48 49
+f 31 53 54
+f 31 54 32
+f 33 55 34
+f 34 56 37
+f 34 37 36
+f 34 55 56
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 37 56 57
+f 39 47 61
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 40 63 46
+f 41 64 42
+f 41 45 65
+f 41 65 64
+f 42 64 66
+f 42 66 43
+f 44 46 67
+f 44 67 45
+f 45 67 68
+f 45 68 65
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 67
+f 46 63 69
+f 48 73 49
+f 49 73 74
+f 49 74 75
+f 49 75 50
+f 50 75 51
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 81 82
+f 55 83 56
+f 56 83 84
+f 56 84 85
+f 56 85 71
+f 56 71 57
+f 57 71 58
+f 58 71 70
+f 58 70 59
+f 59 70 86
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 61 87 62
+f 62 87 86
+f 62 86 69
+f 62 69 63
+f 64 89 90
+f 64 90 66
+f 64 65 91
+f 64 91 89
+f 65 68 92
+f 65 92 91
+f 66 90 93
+f 67 72 94
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 68
+f 68 97 92
+f 69 86 70
+f 71 85 98
+f 71 98 94
+f 71 94 72
+f 73 99 74
+f 74 100 101
+f 74 101 75
+f 74 99 102
+f 74 102 100
+f 75 101 103
+f 75 103 76
+f 76 103 104
+f 76 104 77
+f 77 104 105
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 79 108 109
+f 79 109 80
+f 80 109 110
+f 80 110 81
+f 81 110 111
+f 81 111 82
+f 82 111 112
+f 84 113 85
+f 85 113 114
+f 85 114 115
+f 85 115 94
+f 85 94 98
+f 89 91 116
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 90 118 119
+f 90 119 93
+f 91 92 120
+f 91 120 116
+f 92 97 121
+f 92 121 120
+f 93 119 100
+f 93 100 122
+f 94 115 95
+f 95 115 123
+f 95 123 124
+f 95 124 125
+f 95 125 96
+f 96 125 97
+f 97 125 121
+f 100 119 118
+f 100 118 117
+f 100 117 101
+f 100 102 126
+f 100 126 122
+f 101 117 103
+f 103 117 127
+f 103 127 128
+f 103 128 104
+f 104 128 105
+f 105 128 129
+f 105 129 108
+f 105 108 130
+f 105 130 106
+f 108 129 109
+f 109 131 110
+f 109 129 131
+f 110 131 111
+f 111 132 133
+f 111 133 134
+f 111 134 112
+f 111 131 135
+f 111 135 132
+f 113 136 114
+f 114 136 137
+f 114 137 138
+f 114 138 139
+f 114 139 123
+f 114 123 115
+f 116 120 140
+f 116 140 117
+f 117 140 127
+f 120 121 141
+f 120 141 140
+f 121 125 142
+f 121 142 141
+f 123 143 124
+f 123 139 143
+f 124 144 142
+f 124 142 125
+f 124 143 144
+f 127 140 128
+f 128 140 145
+f 128 145 131
+f 128 131 129
+f 131 146 135
+f 131 145 146
+f 132 143 147
+f 132 147 148
+f 132 148 133
+f 132 135 146
+f 132 146 144
+f 132 144 143
+f 138 149 139
+f 139 149 150
+f 139 150 147
+f 139 147 143
+f 140 141 146
+f 140 146 145
+f 141 142 146
+f 142 144 146
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_1.obj

@@ -0,0 +1,691 @@
+# https://github.com/mikedh/trimesh
+v 0.02190812 -0.02186618 -0.04504167
+v 0.01682149 -0.02579971 -0.04504168
+v 0.04289306 -0.02186623 -0.03213896
+v 0.03266152 -0.02186618 -0.04504167
+v 0.01682149 -0.03577025 -0.04504172
+v 0.01682149 -0.04572410 -0.03213905
+v 0.04817921 -0.02186623 -0.03213896
+v 0.03576506 -0.02186619 -0.04307899
+v 0.03560237 -0.02239345 -0.04297542
+v 0.03236989 -0.02232648 -0.04504167
+v 0.01699648 -0.03568655 -0.04504172
+v 0.01682149 -0.03872460 -0.04313463
+v 0.01682149 -0.05036346 -0.03213906
+v 0.04793366 -0.02240742 -0.03213896
+v 0.04715699 -0.02186623 -0.03334765
+v 0.03726005 -0.02186620 -0.04208247
+v 0.03770518 -0.02231813 -0.04160130
+v 0.03688248 -0.02452203 -0.04124512
+v 0.03508666 -0.02503533 -0.04218731
+v 0.03384647 -0.02382458 -0.04350082
+v 0.03134767 -0.02374365 -0.04504168
+v 0.01728810 -0.03554430 -0.04504172
+v 0.01874932 -0.03693638 -0.04364108
+v 0.01689211 -0.03870507 -0.04312324
+v 0.01948607 -0.03992143 -0.04139422
+v 0.01693510 -0.04065513 -0.04174407
+v 0.01682149 -0.04053795 -0.04186279
+v 0.01682149 -0.05032162 -0.03220346
+v 0.01685832 -0.05035229 -0.03213906
+v 0.04780164 -0.02268641 -0.03213896
+v 0.04663820 -0.02351774 -0.03305969
+v 0.04692676 -0.02186623 -0.03360530
+v 0.03839894 -0.02186620 -0.04130196
+v 0.03861380 -0.02312993 -0.04062625
+v 0.03632683 -0.02624607 -0.04085866
+v 0.03320182 -0.02554864 -0.04312952
+v 0.03147352 -0.02664220 -0.04361703
+v 0.03010440 -0.02526408 -0.04504168
+v 0.01879228 -0.03471014 -0.04504172
+v 0.01956282 -0.03784304 -0.04276582
+v 0.01948607 -0.04121306 -0.04041794
+v 0.01782840 -0.04162316 -0.04074377
+v 0.02125424 -0.03945832 -0.04105952
+v 0.01682149 -0.04083925 -0.04164683
+v 0.01682149 -0.04064117 -0.04178954
+v 0.01682149 -0.04959070 -0.03321260
+v 0.01782532 -0.04940100 -0.03297515
+v 0.01704559 -0.05028535 -0.03213906
+v 0.04700044 -0.02428772 -0.03213897
+v 0.04623607 -0.02497957 -0.03259745
+v 0.04442796 -0.02675664 -0.03347270
+v 0.04493753 -0.02497957 -0.03400567
+v 0.04409029 -0.02360980 -0.03568798
+v 0.04557911 -0.02270034 -0.03460179
+v 0.04453542 -0.02186622 -0.03610476
+v 0.03961762 -0.02186620 -0.04038882
+v 0.04027456 -0.02246039 -0.03960828
+v 0.04144106 -0.02351216 -0.03822027
+v 0.03968822 -0.02497955 -0.03889724
+v 0.03770518 -0.02522225 -0.04031306
+v 0.03916637 -0.02661155 -0.03848552
+v 0.03768060 -0.02750984 -0.03914478
+v 0.03684256 -0.02952406 -0.03868003
+v 0.03581725 -0.02756564 -0.04050377
+v 0.03392934 -0.02907490 -0.04098498
+v 0.03451874 -0.02756564 -0.04136386
+v 0.03238525 -0.02752934 -0.04266728
+v 0.03072757 -0.02836628 -0.04320656
+v 0.02895631 -0.02662548 -0.04504169
+v 0.02026579 -0.03383139 -0.04504171
+v 0.02047760 -0.03642586 -0.04333035
+v 0.02210458 -0.03802160 -0.04167712
+v 0.01948607 -0.04272512 -0.03913221
+v 0.02230103 -0.04061327 -0.03968920
+v 0.02161342 -0.04221460 -0.03868008
+v 0.01810466 -0.04433478 -0.03826707
+v 0.01710085 -0.04316308 -0.03966899
+v 0.01682149 -0.04283390 -0.04005418
+v 0.01682149 -0.04183797 -0.04091557
+v 0.02298559 -0.03895895 -0.04069832
+v 0.01682149 -0.04873146 -0.03421162
+v 0.01710698 -0.04833810 -0.03453874
+v 0.01811695 -0.04692647 -0.03569436
+v 0.01948607 -0.04774943 -0.03406891
+v 0.01948607 -0.04904392 -0.03251542
+v 0.01948607 -0.04932566 -0.03213906
+v 0.01862039 -0.04969114 -0.03213906
+v 0.04662284 -0.02497957 -0.03213897
+v 0.04640183 -0.02538131 -0.03213897
+v 0.04496210 -0.02779165 -0.03213898
+v 0.04388768 -0.02848069 -0.03288794
+v 0.04287160 -0.02762703 -0.03448815
+v 0.04185548 -0.02677337 -0.03602268
+v 0.04369121 -0.02497956 -0.03529265
+v 0.04521383 -0.02737877 -0.03213898
+v 0.04452006 -0.02188572 -0.03611107
+v 0.04239270 -0.02497956 -0.03653165
+v 0.04298516 -0.02269755 -0.03716566
+v 0.04317551 -0.02186621 -0.03736521
+v 0.04168973 -0.02186621 -0.03871155
+v 0.04098367 -0.02497955 -0.03781739
+v 0.04197830 -0.02186621 -0.03846782
+v 0.04023157 -0.02755449 -0.03700781
+v 0.03857084 -0.02833560 -0.03799420
+v 0.03618869 -0.03124810 -0.03817989
+v 0.03505901 -0.03016010 -0.03959442
+v 0.03316804 -0.03079894 -0.04050883
+v 0.03236682 -0.03002339 -0.04141187
+v 0.02986189 -0.03016009 -0.04275696
+v 0.02899621 -0.02930084 -0.04367263
+v 0.02766392 -0.02796735 -0.04504169
+v 0.02207386 -0.03267923 -0.04504171
+v 0.02208308 -0.03592928 -0.04302471
+v 0.02467705 -0.03711215 -0.04120225
+v 0.01948607 -0.04401956 -0.03796648
+v 0.02334479 -0.04176545 -0.03828221
+v 0.02231947 -0.04307663 -0.03753075
+v 0.01724512 -0.04581057 -0.03716448
+v 0.01682149 -0.04526379 -0.03786419
+v 0.01682149 -0.04459982 -0.03851085
+v 0.01682149 -0.04375731 -0.03925095
+v 0.01948607 -0.04532795 -0.03668077
+v 0.02603696 -0.03665740 -0.04090163
+v 0.02467705 -0.03840657 -0.04028278
+v 0.02467705 -0.04005812 -0.03899582
+v 0.01682149 -0.04791405 -0.03514624
+v 0.01948607 -0.04661961 -0.03535589
+v 0.01682149 -0.04718593 -0.03597097
+v 0.02147528 -0.04729475 -0.03354981
+v 0.02113145 -0.04857245 -0.03213906
+v 0.01982988 -0.04917784 -0.03213906
+v 0.04421002 -0.02898284 -0.03213899
+v 0.04353464 -0.03000390 -0.03213899
+v 0.04157614 -0.03150202 -0.03319738
+v 0.04203354 -0.03015178 -0.03366215
+v 0.04129678 -0.02849745 -0.03550232
+v 0.03941808 -0.03015177 -0.03614773
+v 0.03895147 -0.03145735 -0.03573600
+v 0.03768060 -0.03029402 -0.03753575
+v 0.03748108 -0.03248676 -0.03625382
+v 0.03650489 -0.03420245 -0.03585853
+v 0.03521558 -0.03293312 -0.03774920
+v 0.03364999 -0.03392627 -0.03822788
+v 0.03446040 -0.03220220 -0.03879370
+v 0.03254488 -0.03282710 -0.03965378
+v 0.03143975 -0.03172513 -0.04103802
+v 0.02975752 -0.03264855 -0.04144091
+v 0.02809982 -0.03102492 -0.04322679
+v 0.02635314 -0.02926457 -0.04504170
+v 0.02349211 -0.03167491 -0.04504171
+v 0.02356886 -0.03416337 -0.04352234
+v 0.02452969 -0.03514536 -0.04250564
+v 0.02208308 -0.04470582 -0.03606568
+v 0.02442226 -0.04304038 -0.03644962
+v 0.02338775 -0.04437385 -0.03573224
+v 0.02642069 -0.03950016 -0.03854617
+v 0.02467705 -0.04134977 -0.03791342
+v 0.02656498 -0.04215322 -0.03608714
+v 0.01682149 -0.04653591 -0.03661762
+v 0.02529714 -0.03350779 -0.04315228
+v 0.02704690 -0.03520118 -0.04131462
+v 0.02882125 -0.03425545 -0.04101404
+v 0.02776524 -0.03597951 -0.04044317
+v 0.02709294 -0.03777887 -0.03949341
+v 0.02223658 -0.04613699 -0.03442126
+v 0.02320663 -0.04686791 -0.03304841
+v 0.02204933 -0.04814282 -0.03213906
+v 0.04318777 -0.03051722 -0.03213899
+v 0.04108806 -0.03344087 -0.03213900
+v 0.04092228 -0.03322606 -0.03249894
+v 0.03919093 -0.03432522 -0.03339695
+v 0.03993689 -0.03234171 -0.03415474
+v 0.04071354 -0.03015177 -0.03494789
+v 0.04198748 -0.03223291 -0.03213900
+v 0.03823624 -0.03318142 -0.03511208
+v 0.03746266 -0.03512587 -0.03428609
+v 0.03567299 -0.03592653 -0.03517524
+v 0.03394470 -0.03679132 -0.03587496
+v 0.03490554 -0.03516772 -0.03636624
+v 0.03265234 -0.03549689 -0.03776689
+v 0.03099770 -0.03647051 -0.03819379
+v 0.03192172 -0.03474923 -0.03879749
+v 0.03054953 -0.03344920 -0.04051262
+v 0.02724953 -0.03268202 -0.04270898
+v 0.02499323 -0.03042788 -0.04504170
+v 0.02511602 -0.04387729 -0.03521696
+v 0.02650048 -0.04468073 -0.03350308
+v 0.02442226 -0.04502386 -0.03439223
+v 0.02814895 -0.03889760 -0.03805359
+v 0.02735696 -0.04055192 -0.03706975
+v 0.02829632 -0.04160365 -0.03555416
+v 0.02739685 -0.04315753 -0.03452860
+v 0.02990795 -0.03536577 -0.03962096
+v 0.02926636 -0.03717352 -0.03872803
+v 0.02467705 -0.04647736 -0.03256342
+v 0.02467705 -0.04681490 -0.03213905
+v 0.02395872 -0.04719151 -0.03213905
+v 0.02235937 -0.04799497 -0.03213906
+v 0.03986321 -0.03494174 -0.03213901
+v 0.03842041 -0.03604928 -0.03264421
+v 0.03669214 -0.03695316 -0.03346011
+v 0.03485948 -0.03773427 -0.03428610
+v 0.03404292 -0.03944440 -0.03339696
+v 0.03293166 -0.03851539 -0.03511210
+v 0.03120338 -0.03923238 -0.03575749
+v 0.03222560 -0.03775380 -0.03628542
+v 0.03002459 -0.03798255 -0.03759135
+v 0.02822878 -0.04415908 -0.03291072
+v 0.02750430 -0.04521637 -0.03213905
+v 0.02708683 -0.04545908 -0.03213905
+v 0.02503621 -0.04662242 -0.03213905
+v 0.02986496 -0.03973452 -0.03620839
+v 0.02986496 -0.04102896 -0.03500096
+v 0.03124327 -0.04184357 -0.03321760
+v 0.02986496 -0.04231784 -0.03371525
+v 0.03932599 -0.03556109 -0.03213901
+v 0.03866908 -0.03631429 -0.03213901
+v 0.03791083 -0.03708708 -0.03213902
+v 0.03737057 -0.03763384 -0.03213902
+v 0.03681493 -0.03817505 -0.03213902
+v 0.03577429 -0.03867721 -0.03263917
+v 0.03466301 -0.04011394 -0.03213903
+v 0.03317725 -0.04133585 -0.03213903
+v 0.03296851 -0.04116846 -0.03249897
+v 0.03208747 -0.04020041 -0.03416487
+v 0.02974523 -0.04379639 -0.03213904
+v 0.02872301 -0.04447430 -0.03213904
+v 0.03004301 -0.04359276 -0.03213904
+v 0.03197083 -0.04224810 -0.03213904
+v 0.03604135 -0.03891992 -0.03213902
+v 0.03528924 -0.03957272 -0.03213903
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 32
+f 1 32 55
+f 1 55 99
+f 1 99 102
+f 1 102 100
+f 1 100 56
+f 1 56 33
+f 1 33 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 38
+f 1 38 69
+f 1 69 111
+f 1 111 149
+f 1 149 185
+f 1 185 150
+f 1 150 112
+f 1 112 70
+f 1 70 39
+f 1 39 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 27
+f 2 27 45
+f 2 45 44
+f 2 44 79
+f 2 79 78
+f 2 78 121
+f 2 121 120
+f 2 120 119
+f 2 119 159
+f 2 159 128
+f 2 128 126
+f 2 126 81
+f 2 81 46
+f 2 46 28
+f 2 28 13
+f 2 13 6
+f 2 6 3
+f 3 6 13
+f 3 13 29
+f 3 29 48
+f 3 48 87
+f 3 87 86
+f 3 86 131
+f 3 131 130
+f 3 130 167
+f 3 167 198
+f 3 198 197
+f 3 197 196
+f 3 196 211
+f 3 211 210
+f 3 210 209
+f 3 209 227
+f 3 227 226
+f 3 226 228
+f 3 228 229
+f 3 229 223
+f 3 223 222
+f 3 222 231
+f 3 231 230
+f 3 230 220
+f 3 220 219
+f 3 219 218
+f 3 218 217
+f 3 217 216
+f 3 216 199
+f 3 199 169
+f 3 169 174
+f 3 174 168
+f 3 168 133
+f 3 133 132
+f 3 132 90
+f 3 90 95
+f 3 95 89
+f 3 89 88
+f 3 88 49
+f 3 49 30
+f 3 30 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 13 28 29
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 16 33 17
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 36 20
+f 19 35 36
+f 20 36 21
+f 21 37 38
+f 21 36 37
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 41 42
+f 25 42 26
+f 25 40 43
+f 25 43 41
+f 26 42 44
+f 26 44 45
+f 26 45 27
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 30 49 31
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 31 49 50
+f 32 54 55
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 60 61
+f 35 61 62
+f 35 62 63
+f 35 63 64
+f 35 64 65
+f 35 65 66
+f 35 66 36
+f 36 66 67
+f 36 67 37
+f 37 68 69
+f 37 69 38
+f 37 67 68
+f 39 70 71
+f 39 71 40
+f 40 71 72
+f 40 72 43
+f 41 73 42
+f 41 43 74
+f 41 74 75
+f 41 75 73
+f 42 73 76
+f 42 76 77
+f 42 77 78
+f 42 78 79
+f 42 79 44
+f 43 72 80
+f 43 80 74
+f 46 81 82
+f 46 82 47
+f 47 82 83
+f 47 83 84
+f 47 84 85
+f 47 85 86
+f 47 86 87
+f 47 87 48
+f 49 88 50
+f 50 88 89
+f 50 89 51
+f 51 90 91
+f 51 91 92
+f 51 92 93
+f 51 93 94
+f 51 94 52
+f 51 89 95
+f 51 95 90
+f 52 94 53
+f 53 96 54
+f 53 94 97
+f 53 97 58
+f 53 58 98
+f 53 98 96
+f 54 96 55
+f 55 96 99
+f 56 100 57
+f 57 100 58
+f 58 101 61
+f 58 61 59
+f 58 100 102
+f 58 102 98
+f 58 97 93
+f 58 93 101
+f 59 61 60
+f 61 101 103
+f 61 103 104
+f 61 104 62
+f 62 104 63
+f 63 105 106
+f 63 106 64
+f 63 104 105
+f 64 106 65
+f 65 106 107
+f 65 107 108
+f 65 108 68
+f 65 68 67
+f 65 67 66
+f 68 109 110
+f 68 110 69
+f 68 108 109
+f 69 110 111
+f 70 112 113
+f 70 113 71
+f 71 113 72
+f 72 113 114
+f 72 114 80
+f 73 115 76
+f 73 75 115
+f 74 80 116
+f 74 116 75
+f 75 116 117
+f 75 117 115
+f 76 83 118
+f 76 118 119
+f 76 119 120
+f 76 120 121
+f 76 121 77
+f 76 115 122
+f 76 122 83
+f 77 121 78
+f 80 114 123
+f 80 123 124
+f 80 124 125
+f 80 125 116
+f 81 126 82
+f 82 126 83
+f 83 122 127
+f 83 127 84
+f 83 126 128
+f 83 128 118
+f 84 127 129
+f 84 129 85
+f 85 129 130
+f 85 130 131
+f 85 131 86
+f 90 132 91
+f 91 132 133
+f 91 133 134
+f 91 134 135
+f 91 135 92
+f 92 135 136
+f 92 136 93
+f 93 97 94
+f 93 136 103
+f 93 103 101
+f 96 98 99
+f 98 102 99
+f 103 136 104
+f 104 136 137
+f 104 137 138
+f 104 138 139
+f 104 139 105
+f 105 139 138
+f 105 138 140
+f 105 140 141
+f 105 141 142
+f 105 142 143
+f 105 143 144
+f 105 144 107
+f 105 107 106
+f 107 145 146
+f 107 146 108
+f 107 144 145
+f 108 146 109
+f 109 147 148
+f 109 148 110
+f 109 146 147
+f 110 148 149
+f 110 149 111
+f 112 150 151
+f 112 151 113
+f 113 151 152
+f 113 152 114
+f 114 152 123
+f 115 117 153
+f 115 153 122
+f 116 154 155
+f 116 155 117
+f 116 125 156
+f 116 156 157
+f 116 157 158
+f 116 158 154
+f 117 155 153
+f 118 128 159
+f 118 159 119
+f 122 153 127
+f 123 152 160
+f 123 160 161
+f 123 161 162
+f 123 162 163
+f 123 163 164
+f 123 164 156
+f 123 156 124
+f 124 156 125
+f 127 153 165
+f 127 165 129
+f 129 165 166
+f 129 166 167
+f 129 167 130
+f 133 168 134
+f 134 169 170
+f 134 170 171
+f 134 171 172
+f 134 172 138
+f 134 138 173
+f 134 173 136
+f 134 136 135
+f 134 168 174
+f 134 174 169
+f 136 173 138
+f 136 138 137
+f 138 171 175
+f 138 175 140
+f 138 172 171
+f 140 175 141
+f 141 175 171
+f 141 171 176
+f 141 176 177
+f 141 177 178
+f 141 178 179
+f 141 179 143
+f 141 143 142
+f 143 180 181
+f 143 181 182
+f 143 182 145
+f 143 145 144
+f 143 179 178
+f 143 178 180
+f 145 182 183
+f 145 183 146
+f 146 183 162
+f 146 162 147
+f 147 162 148
+f 148 162 184
+f 148 184 149
+f 149 184 185
+f 150 185 184
+f 150 184 160
+f 150 160 151
+f 151 160 152
+f 153 155 165
+f 154 158 155
+f 155 166 165
+f 155 158 186
+f 155 186 187
+f 155 187 188
+f 155 188 166
+f 156 164 189
+f 156 189 190
+f 156 190 157
+f 157 190 158
+f 158 190 191
+f 158 191 192
+f 158 192 186
+f 160 184 161
+f 161 184 162
+f 162 183 193
+f 162 193 163
+f 163 193 194
+f 163 194 164
+f 164 194 189
+f 166 188 187
+f 166 187 195
+f 166 195 196
+f 166 196 197
+f 166 197 198
+f 166 198 167
+f 169 199 171
+f 169 171 170
+f 171 200 201
+f 171 201 176
+f 171 199 200
+f 176 201 177
+f 177 201 178
+f 178 201 202
+f 178 202 203
+f 178 203 204
+f 178 204 205
+f 178 205 206
+f 178 206 181
+f 178 181 180
+f 181 206 205
+f 181 205 207
+f 181 207 189
+f 181 189 194
+f 181 194 193
+f 181 193 182
+f 182 193 183
+f 186 192 187
+f 187 192 208
+f 187 208 209
+f 187 209 210
+f 187 210 211
+f 187 211 195
+f 189 207 205
+f 189 205 212
+f 189 212 191
+f 189 191 190
+f 191 212 205
+f 191 205 213
+f 191 213 214
+f 191 214 215
+f 191 215 208
+f 191 208 192
+f 195 211 196
+f 199 216 200
+f 200 216 217
+f 200 217 218
+f 200 218 219
+f 200 219 201
+f 201 219 220
+f 201 220 221
+f 201 221 203
+f 201 203 202
+f 203 221 222
+f 203 222 223
+f 203 223 224
+f 203 224 214
+f 203 214 225
+f 203 225 205
+f 203 205 204
+f 205 214 213
+f 205 225 214
+f 208 215 214
+f 208 214 226
+f 208 226 227
+f 208 227 209
+f 214 228 226
+f 214 224 223
+f 214 223 229
+f 214 229 228
+f 220 230 221
+f 221 231 222
+f 221 230 231
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_10.obj

@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v 0.04389490 -0.01988371 -0.03212915
+v 0.04792405 -0.00042092 -0.03213888
+v 0.04392479 -0.01980751 -0.03213895
+v 0.04403575 -0.01988371 -0.03213895
+v 0.05916432 -0.01988383 0.00123043
+v 0.06219474 -0.00042104 0.00123050
+v 0.05267881 -0.00042092 -0.03213888
+v 0.04907647 -0.01988371 -0.03213895
+v 0.06280081 -0.01988383 0.00123043
+v 0.06569251 -0.00042104 0.00123050
+v 0.05267881 -0.00154126 -0.03213889
+v 0.05418334 -0.00042093 -0.03008759
+v 0.05418762 -0.00170893 -0.03009413
+v 0.04910849 -0.01980751 -0.03213895
+v 0.04984260 -0.01980752 -0.03124069
+v 0.04982554 -0.01988372 -0.03122109
+v 0.06350932 -0.01722022 0.00123044
+v 0.06274746 -0.01988383 0.00102137
+v 0.06245508 -0.01910075 -0.00100050
+v 0.06297793 -0.01722022 -0.00100049
+v 0.06379744 -0.00042102 -0.00614501
+v 0.06567971 -0.00130702 0.00123050
+v 0.06378674 -0.00170902 -0.00614502
+v 0.05270016 -0.00156791 -0.03210949
+v 0.05258064 -0.00377238 -0.03213889
+v 0.05499004 -0.00042093 -0.02880062
+v 0.05498790 -0.00170893 -0.02880717
+v 0.05494522 -0.00429445 -0.02872880
+v 0.05412785 -0.00429445 -0.03001249
+v 0.05283247 -0.00429444 -0.03177958
+v 0.04948195 -0.01887199 -0.03213895
+v 0.05161390 -0.01722011 -0.03014645
+v 0.05122764 -0.01988372 -0.02925800
+v 0.06409621 -0.01463470 0.00123045
+v 0.06358616 -0.01463470 -0.00100048
+v 0.06220538 -0.01988383 -0.00100050
+v 0.06228863 -0.01851391 -0.00228745
+v 0.06244441 -0.01698966 -0.00331636
+v 0.06230144 -0.01597221 -0.00490385
+v 0.06295020 -0.01463469 -0.00357439
+v 0.06345599 -0.00042101 -0.00743848
+v 0.06567329 -0.00170904 0.00123049
+v 0.06369284 -0.00429454 -0.00614503
+v 0.06302917 -0.00429453 -0.00871892
+v 0.06310386 -0.00170901 -0.00871891
+v 0.06566048 -0.00214536 0.00123049
+v 0.06557514 -0.00475375 0.00123048
+v 0.05255504 -0.00429444 -0.03213890
+v 0.05554915 -0.00042094 -0.02776844
+v 0.05763418 -0.00170895 -0.02382921
+v 0.05484278 -0.00687996 -0.02854913
+v 0.05758296 -0.00429447 -0.02375408
+v 0.05585220 -0.00687996 -0.02672323
+v 0.05400408 -0.00687995 -0.02983285
+v 0.05270654 -0.00687994 -0.03161301
+v 0.05239499 -0.00594634 -0.03213890
+v 0.05004320 -0.01729819 -0.03213894
+v 0.05185933 -0.01571300 -0.03049921
+v 0.05244832 -0.01722011 -0.02885947
+v 0.05213676 -0.01909495 -0.02836627
+v 0.05124257 -0.01988372 -0.02923513
+v 0.06513124 -0.00925981 0.00123047
+v 0.06181061 -0.01988382 -0.00240180
+v 0.06074994 -0.01988381 -0.00614179
+v 0.06077341 -0.01980761 -0.00614508
+v 0.06169748 -0.01698965 -0.00591638
+v 0.06078408 -0.01722019 -0.00871896
+v 0.05977895 -0.01623702 -0.01282480
+v 0.06063470 -0.01463466 -0.01129285
+v 0.06244868 -0.01463468 -0.00542970
+v 0.06266209 -0.01216731 -0.00631815
+v 0.06341117 -0.01204918 -0.00357438
+v 0.06495623 -0.00855293 0.00001537
+v 0.06309959 -0.00042101 -0.00871890
+v 0.06239533 -0.00641324 -0.01035865
+v 0.06248281 -0.00429452 -0.01064936
+v 0.06505226 -0.00688006 -0.00035044
+v 0.06350292 -0.00688004 -0.00614504
+v 0.06080117 -0.00042098 -0.01643410
+v 0.06078836 -0.00170898 -0.01643411
+v 0.06544708 -0.00688006 0.00123047
+v 0.05762562 -0.00042095 -0.02385858
+v 0.05870335 -0.00170896 -0.02157867
+v 0.05466779 -0.00946548 -0.02826497
+v 0.05856251 -0.00429448 -0.02157868
+v 0.05745706 -0.00687997 -0.02360057
+v 0.05681256 -0.00687997 -0.02488753
+v 0.05549582 -0.00946548 -0.02672323
+v 0.05382696 -0.00946547 -0.02955194
+v 0.05252942 -0.00946546 -0.03137131
+v 0.05211754 -0.00816984 -0.03213891
+v 0.05229895 -0.00687994 -0.03213891
+v 0.05010936 -0.01709053 -0.03213894
+v 0.05207272 -0.01398867 -0.03078993
+v 0.05367970 -0.01189475 -0.02907504
+v 0.05272789 -0.01476414 -0.02950295
+v 0.05067703 -0.01516235 -0.03213894
+v 0.05111240 -0.01476413 -0.03173391
+v 0.05411078 -0.01463460 -0.02728182
+v 0.05459948 -0.01619317 -0.02560616
+v 0.05377573 -0.01712106 -0.02656649
+v 0.05267028 -0.01988373 -0.02684741
+v 0.05264894 -0.01988373 -0.02688659
+v 0.05430499 -0.01791748 -0.02505417
+v 0.06540653 -0.00724777 0.00123047
+v 0.06002437 -0.01988380 -0.00852953
+v 0.06004997 -0.01971807 -0.00862098
+v 0.05980241 -0.01879587 -0.01035217
+v 0.06002009 -0.01714777 -0.01124062
+v 0.05950792 -0.01795944 -0.01206702
+v 0.05917072 -0.01714776 -0.01375572
+v 0.05820824 -0.01722016 -0.01643416
+v 0.05712414 -0.01600645 -0.02034731
+v 0.05946734 -0.01506716 -0.01453964
+v 0.05969570 -0.01334285 -0.01515046
+v 0.05991125 -0.01437743 -0.01375571
+v 0.06220327 -0.01310852 -0.00729154
+v 0.06239533 -0.01138420 -0.00768351
+v 0.06227796 -0.00813754 -0.00998955
+v 0.06314012 -0.00946556 -0.00614504
+v 0.06270264 -0.00711628 -0.00896719
+v 0.06035726 -0.00688000 -0.01643413
+v 0.06062402 -0.00429450 -0.01643412
+v 0.06002437 -0.00042097 -0.01858339
+v 0.06001368 -0.00170897 -0.01856705
+v 0.05869694 -0.00042096 -0.02157866
+v 0.05908750 -0.00042096 -0.02073594
+v 0.05946949 -0.00042097 -0.01987033
+v 0.05946523 -0.00170897 -0.01985076
+v 0.05454613 -0.01092877 -0.02806900
+v 0.05992192 -0.00429449 -0.01831231
+v 0.05834910 -0.00687998 -0.02157869
+v 0.05725430 -0.00946549 -0.02318575
+v 0.05663330 -0.00946549 -0.02447270
+v 0.05799484 -0.00946550 -0.02157869
+v 0.05229254 -0.01204908 -0.03107080
+v 0.05192122 -0.00946546 -0.03213891
+v 0.05078802 -0.01473557 -0.03213893
+v 0.05137274 -0.01232152 -0.03213893
+v 0.05435408 -0.01265307 -0.02772931
+v 0.05480222 -0.01463460 -0.02599811
+v 0.05570497 -0.01463461 -0.02414934
+v 0.05637932 -0.01701054 -0.02135333
+v 0.05501990 -0.01712107 -0.02417875
+v 0.05476168 -0.01920927 -0.02333930
+v 0.05411292 -0.01988374 -0.02408731
+v 0.05826160 -0.01988378 -0.01386025
+v 0.05828722 -0.01980758 -0.01386354
+v 0.05746559 -0.01970276 -0.01635252
+v 0.05719456 -0.01877106 -0.01795631
+v 0.05737381 -0.01701055 -0.01889050
+v 0.05686378 -0.01773077 -0.01967114
+v 0.05670586 -0.01463462 -0.02201965
+v 0.05729273 -0.01463462 -0.02073273
+v 0.05981521 -0.01204913 -0.01550649
+v 0.06081184 -0.00946553 -0.01386350
+v 0.06034232 -0.01204914 -0.01386351
+v 0.05914510 -0.00928831 -0.01878592
+v 0.05971919 -0.00830707 -0.01778315
+v 0.05980027 -0.00687999 -0.01799547
+v 0.05499857 -0.01189476 -0.02681145
+v 0.05929022 -0.00687999 -0.01928241
+v 0.05712839 -0.01089639 -0.02292118
+v 0.05751038 -0.01187573 -0.02164076
+v 0.05143465 -0.01204907 -0.03213892
+v 0.05176330 -0.01031332 -0.03213892
+v 0.05642843 -0.01187572 -0.02392722
+v 0.05692993 -0.01262072 -0.02253903
+v 0.05526322 -0.01988375 -0.02174533
+v 0.05517996 -0.01988375 -0.02193150
+v 0.05743997 -0.01988377 -0.01625453
+v 0.05658848 -0.01988376 -0.01849524
+v 0.05650312 -0.01970275 -0.01889051
+v 0.05733326 -0.01988377 -0.01653543
+v 0.05529095 -0.01988375 -0.02167999
+v 0.05999236 -0.00928832 -0.01646353
+v 0.05642628 -0.01988376 -0.01891335
+v 0.05636438 -0.01988376 -0.01906687
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 33
+f 1 33 61
+f 1 61 103
+f 1 103 102
+f 1 102 146
+f 1 146 170
+f 1 170 169
+f 1 169 175
+f 1 175 178
+f 1 178 177
+f 1 177 172
+f 1 172 174
+f 1 174 171
+f 1 171 147
+f 1 147 106
+f 1 106 64
+f 1 64 63
+f 1 63 36
+f 1 36 18
+f 1 18 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 7 11
+f 2 11 25
+f 2 25 48
+f 2 48 56
+f 2 56 92
+f 2 92 91
+f 2 91 137
+f 2 137 166
+f 2 166 165
+f 2 165 139
+f 2 139 138
+f 2 138 97
+f 2 97 93
+f 2 93 57
+f 2 57 31
+f 2 31 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 2 6 10
+f 2 10 21
+f 2 21 41
+f 2 41 74
+f 2 74 79
+f 2 79 124
+f 2 124 128
+f 2 128 127
+f 2 127 126
+f 2 126 82
+f 2 82 49
+f 2 49 26
+f 2 26 12
+f 2 12 7
+f 5 9 17
+f 5 17 34
+f 5 34 62
+f 5 62 105
+f 5 105 81
+f 5 81 47
+f 5 47 46
+f 5 46 42
+f 5 42 22
+f 5 22 10
+f 5 10 6
+f 7 12 13
+f 7 13 11
+f 8 14 15
+f 8 15 16
+f 9 18 19
+f 9 19 20
+f 9 20 17
+f 10 22 23
+f 10 23 21
+f 11 24 25
+f 11 13 24
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 24
+f 14 31 15
+f 15 32 33
+f 15 33 16
+f 15 31 32
+f 17 20 35
+f 17 35 34
+f 18 36 19
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 35
+f 21 23 41
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 41
+f 23 42 46
+f 23 46 47
+f 23 47 43
+f 24 30 25
+f 25 30 48
+f 26 49 27
+f 27 49 50
+f 27 50 28
+f 28 51 29
+f 28 50 52
+f 28 52 53
+f 28 53 51
+f 29 51 54
+f 29 54 55
+f 29 55 30
+f 30 55 56
+f 30 56 48
+f 31 57 32
+f 32 57 58
+f 32 58 59
+f 32 59 60
+f 32 60 33
+f 33 60 61
+f 34 35 62
+f 35 40 62
+f 36 63 37
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 39
+f 37 39 38
+f 39 66 67
+f 39 67 68
+f 39 68 69
+f 39 69 70
+f 39 70 40
+f 40 70 71
+f 40 71 72
+f 40 72 73
+f 40 73 62
+f 41 45 74
+f 43 47 44
+f 44 75 76
+f 44 76 45
+f 44 47 77
+f 44 77 78
+f 44 78 75
+f 45 79 74
+f 45 76 80
+f 45 80 79
+f 47 81 77
+f 49 82 50
+f 50 82 83
+f 50 83 52
+f 51 84 89
+f 51 89 54
+f 51 53 84
+f 52 83 85
+f 52 85 86
+f 52 86 87
+f 52 87 53
+f 53 87 88
+f 53 88 84
+f 54 89 90
+f 54 90 55
+f 55 90 91
+f 55 91 92
+f 55 92 56
+f 57 93 58
+f 58 94 95
+f 58 95 96
+f 58 96 59
+f 58 93 97
+f 58 97 98
+f 58 98 94
+f 59 99 100
+f 59 100 101
+f 59 101 60
+f 59 96 99
+f 60 102 103
+f 60 103 61
+f 60 101 104
+f 60 104 102
+f 62 73 105
+f 64 106 107
+f 64 107 65
+f 65 107 67
+f 65 67 66
+f 67 107 108
+f 67 108 109
+f 67 109 68
+f 68 109 110
+f 68 110 111
+f 68 111 112
+f 68 112 113
+f 68 113 114
+f 68 114 115
+f 68 115 116
+f 68 116 69
+f 69 116 115
+f 69 115 117
+f 69 117 70
+f 70 117 71
+f 71 117 118
+f 71 118 119
+f 71 119 120
+f 71 120 73
+f 71 73 72
+f 73 77 105
+f 73 120 119
+f 73 119 121
+f 73 121 78
+f 73 78 77
+f 75 78 121
+f 75 121 119
+f 75 119 122
+f 75 122 123
+f 75 123 76
+f 76 123 80
+f 77 81 105
+f 79 80 124
+f 80 123 125
+f 80 125 124
+f 82 126 83
+f 83 126 127
+f 83 127 128
+f 83 128 129
+f 83 129 85
+f 84 130 89
+f 84 88 130
+f 85 129 125
+f 85 125 131
+f 85 131 132
+f 85 132 86
+f 86 133 134
+f 86 134 87
+f 86 132 135
+f 86 135 133
+f 87 134 88
+f 88 134 130
+f 89 136 90
+f 89 130 95
+f 89 95 136
+f 90 137 91
+f 90 136 137
+f 94 136 95
+f 94 98 138
+f 94 138 139
+f 94 139 136
+f 95 130 140
+f 95 140 96
+f 96 140 99
+f 97 138 98
+f 99 140 141
+f 99 141 100
+f 100 104 101
+f 100 141 142
+f 100 142 113
+f 100 113 143
+f 100 143 144
+f 100 144 145
+f 100 145 104
+f 102 104 145
+f 102 145 146
+f 106 147 148
+f 106 148 108
+f 106 108 107
+f 108 148 110
+f 108 110 109
+f 110 148 149
+f 110 149 111
+f 111 149 150
+f 111 150 112
+f 112 150 151
+f 112 151 113
+f 113 151 152
+f 113 152 143
+f 113 142 153
+f 113 153 154
+f 113 154 115
+f 113 115 114
+f 115 155 156
+f 115 156 157
+f 115 157 117
+f 115 154 158
+f 115 158 159
+f 115 159 155
+f 117 157 119
+f 117 119 118
+f 119 157 156
+f 119 156 159
+f 119 159 122
+f 122 159 160
+f 122 160 123
+f 123 160 131
+f 123 131 125
+f 124 125 129
+f 124 129 128
+f 130 161 140
+f 130 134 161
+f 131 160 162
+f 131 162 132
+f 132 162 159
+f 132 159 135
+f 133 163 134
+f 133 135 163
+f 134 163 161
+f 135 164 163
+f 135 159 158
+f 135 158 164
+f 136 139 165
+f 136 165 166
+f 136 166 137
+f 140 161 141
+f 141 167 142
+f 141 161 167
+f 142 167 168
+f 142 168 153
+f 143 152 169
+f 143 169 170
+f 143 170 145
+f 143 145 144
+f 145 170 146
+f 147 171 148
+f 148 171 149
+f 149 171 150
+f 150 172 173
+f 150 173 152
+f 150 152 151
+f 150 171 174
+f 150 174 172
+f 152 175 169
+f 152 173 175
+f 153 168 164
+f 153 164 154
+f 154 164 158
+f 155 159 176
+f 155 176 156
+f 156 176 159
+f 159 162 160
+f 161 163 167
+f 163 168 167
+f 163 164 168
+f 172 177 173
+f 173 177 178
+f 173 178 175
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_11.obj

@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
+v 0.03195682 -0.03632218 -0.03213901
+v 0.04497850 -0.03632225 -0.01382605
+v 0.03866068 -0.03632218 -0.03213901
+v 0.01682165 -0.04572595 -0.03213905
+v 0.04968151 -0.03632225 -0.01382605
+v 0.01682165 -0.05536481 -0.01382612
+v 0.03867353 -0.03632218 -0.03212646
+v 0.03791116 -0.03708978 -0.03213902
+v 0.01682165 -0.05036520 -0.03213907
+v 0.04940164 -0.03671612 -0.01382605
+v 0.04918614 -0.03643863 -0.01484424
+v 0.04931156 -0.03632225 -0.01473489
+v 0.01682165 -0.05918271 -0.01382614
+v 0.03929116 -0.03632218 -0.03147755
+v 0.03925900 -0.03695777 -0.03092902
+v 0.03755408 -0.03781937 -0.03178230
+v 0.03737072 -0.03763585 -0.03213902
+v 0.01686025 -0.05035402 -0.03213906
+v 0.01682165 -0.05046143 -0.03200642
+v 0.04859423 -0.03770083 -0.01382606
+v 0.04909926 -0.03632224 -0.01522427
+v 0.04844303 -0.03782613 -0.01393719
+v 0.04673490 -0.03921588 -0.01517587
+v 0.04737182 -0.03788431 -0.01619404
+v 0.04705979 -0.03700705 -0.01843118
+v 0.04665449 -0.03652812 -0.02014669
+v 0.01682165 -0.05858966 -0.01557212
+v 0.01689241 -0.05827410 -0.01643613
+v 0.01948841 -0.05832781 -0.01386379
+v 0.01906379 -0.05847329 -0.01382613
+v 0.03955174 -0.03632219 -0.03120330
+v 0.03841619 -0.03868320 -0.02999330
+v 0.03668874 -0.03951348 -0.03092366
+v 0.04037202 -0.03632219 -0.03028011
+v 0.04129202 -0.03632219 -0.02918484
+v 0.04169092 -0.03678770 -0.02820609
+v 0.04007286 -0.03773655 -0.02910058
+v 0.03681422 -0.03817745 -0.03213902
+v 0.01693423 -0.05041444 -0.03201717
+v 0.01704683 -0.05028686 -0.03213906
+v 0.01689241 -0.05178854 -0.03005071
+v 0.01682165 -0.05179974 -0.03007044
+v 0.04846235 -0.03785972 -0.01382606
+v 0.04689898 -0.03632223 -0.01995488
+v 0.04415502 -0.03922931 -0.02034386
+v 0.04483698 -0.03790222 -0.02135310
+v 0.04702763 -0.03953370 -0.01386373
+v 0.04578914 -0.04082721 -0.01386373
+v 0.04449919 -0.04217670 -0.01382607
+v 0.04161694 -0.04186558 -0.02044425
+v 0.04650007 -0.03632222 -0.02076512
+v 0.04448954 -0.03703611 -0.02347551
+v 0.01682165 -0.05829426 -0.01643613
+v 0.01682165 -0.05826292 -0.01651859
+v 0.01689241 -0.05754900 -0.01833626
+v 0.01828208 -0.05733417 -0.01780565
+v 0.02088128 -0.05733865 -0.01525124
+v 0.02143457 -0.05757140 -0.01386379
+v 0.01953023 -0.05832335 -0.01382613
+v 0.01948517 -0.05833902 -0.01382613
+v 0.01928251 -0.05755573 -0.01623893
+v 0.03915929 -0.03941949 -0.02827780
+v 0.03747367 -0.04032809 -0.02910239
+v 0.03652792 -0.04194391 -0.02821150
+v 0.03570119 -0.04123893 -0.02992700
+v 0.03397054 -0.04196178 -0.03078205
+v 0.03487126 -0.04034150 -0.03171062
+v 0.03528624 -0.03957616 -0.03213903
+v 0.03603895 -0.03892265 -0.03213902
+v 0.04185178 -0.03632220 -0.02848394
+v 0.03966754 -0.03997450 -0.02672365
+v 0.04236646 -0.03632220 -0.02776691
+v 0.04393626 -0.03632221 -0.02539713
+v 0.04397808 -0.03643412 -0.02519100
+v 0.04218631 -0.03730240 -0.02672364
+v 0.01948841 -0.05000713 -0.03122844
+v 0.01861985 -0.04969159 -0.03213906
+v 0.01945946 -0.05135214 -0.02919027
+v 0.01857484 -0.05227866 -0.02826174
+v 0.01689241 -0.05257853 -0.02876364
+v 0.01682165 -0.05255167 -0.02884790
+v 0.04705338 -0.03952026 -0.01382607
+v 0.04371430 -0.03875933 -0.02205757
+v 0.04703406 -0.03954264 -0.01382607
+v 0.04579559 -0.04083391 -0.01382607
+v 0.04321247 -0.04345005 -0.01382608
+v 0.04318352 -0.04346125 -0.01386374
+v 0.04191610 -0.04466975 -0.01382608
+v 0.03896305 -0.04439220 -0.02033492
+v 0.04005355 -0.04291742 -0.02124735
+v 0.03941663 -0.04224603 -0.02364760
+v 0.04114729 -0.04138889 -0.02215795
+v 0.04579559 -0.03632222 -0.02210238
+v 0.04198686 -0.03966343 -0.02354363
+v 0.04298087 -0.03805885 -0.02436820
+v 0.04412605 -0.03632221 -0.02508702
+v 0.04488523 -0.03632221 -0.02376229
+v 0.01682165 -0.05753334 -0.01842587
+v 0.01689241 -0.05618385 -0.02158082
+v 0.01952057 -0.05529765 -0.02165431
+v 0.01928251 -0.05657327 -0.01880053
+v 0.02001275 -0.05701416 -0.01696673
+v 0.02218087 -0.05534688 -0.01909630
+v 0.02188171 -0.05656208 -0.01623893
+v 0.02273417 -0.05701641 -0.01386379
+v 0.02144744 -0.05757812 -0.01382613
+v 0.03889229 -0.04174024 -0.02536309
+v 0.03839046 -0.04126802 -0.02672365
+v 0.03709406 -0.04242951 -0.02672366
+v 0.03614512 -0.04421092 -0.02514977
+v 0.03518648 -0.04382822 -0.02694416
+v 0.03369713 -0.04433398 -0.02794978
+v 0.03491948 -0.04247875 -0.02915978
+v 0.03268382 -0.04389535 -0.02949677
+v 0.03105610 -0.04430265 -0.03048986
+v 0.03224632 -0.04240265 -0.03173212
+v 0.03197291 -0.04225048 -0.03213904
+v 0.03318241 -0.04133737 -0.03213903
+v 0.03466214 -0.04011548 -0.03213903
+v 0.01948841 -0.04932456 -0.03213906
+v 0.02108393 -0.04967594 -0.03076595
+v 0.02200074 -0.05020633 -0.02931932
+v 0.02030546 -0.05193848 -0.02766480
+v 0.01945946 -0.05275533 -0.02677388
+v 0.01744894 -0.05446736 -0.02494369
+v 0.01682165 -0.05397949 -0.02627198
+v 0.01682165 -0.05384520 -0.02652116
+v 0.01682165 -0.05309548 -0.02787813
+v 0.01682165 -0.05258747 -0.02878515
+v 0.04189681 -0.04468765 -0.01382608
+v 0.03846444 -0.04397147 -0.02205041
+v 0.03665336 -0.04721200 -0.01830574
+v 0.03619015 -0.04684050 -0.02001943
+v 0.03781142 -0.04322847 -0.02439870
+v 0.01682165 -0.05620401 -0.02157902
+v 0.01682165 -0.05576313 -0.02257747
+v 0.01867776 -0.05488810 -0.02322819
+v 0.02040520 -0.05456584 -0.02256135
+v 0.02137990 -0.05496419 -0.02084766
+v 0.02311055 -0.05458599 -0.02001232
+v 0.02385361 -0.05494404 -0.01829683
+v 0.02470286 -0.05526857 -0.01639846
+v 0.02467714 -0.05615481 -0.01386379
+v 0.02467714 -0.05616597 -0.01382613
+v 0.02276311 -0.05701417 -0.01382613
+v 0.03499993 -0.04562978 -0.02407782
+v 0.03320171 -0.04658761 -0.02472137
+v 0.03441446 -0.04486440 -0.02623428
+v 0.03673378 -0.04467193 -0.02343428
+v 0.03258732 -0.04575507 -0.02686707
+v 0.03067972 -0.04664580 -0.02749986
+v 0.03196968 -0.04492255 -0.02877437
+v 0.03000421 -0.04575506 -0.02942151
+v 0.02793900 -0.04658534 -0.03007042
+v 0.02932867 -0.04486214 -0.03119436
+v 0.02974685 -0.04379911 -0.03213904
+v 0.03006208 -0.04372303 -0.03197771
+v 0.01982939 -0.04917911 -0.03213906
+v 0.02214548 -0.04828393 -0.03190603
+v 0.02281138 -0.04927087 -0.03019231
+v 0.02396944 -0.04984378 -0.02847684
+v 0.02222268 -0.05162293 -0.02677388
+v 0.02145388 -0.05241068 -0.02594930
+v 0.01952057 -0.05412945 -0.02411191
+v 0.01682165 -0.05501565 -0.02423920
+v 0.01682165 -0.05457031 -0.02514981
+v 0.04003104 -0.04625195 -0.01382609
+v 0.03762806 -0.04824597 -0.01383686
+v 0.03620622 -0.04943207 -0.01382610
+v 0.03602608 -0.04928435 -0.01453238
+v 0.03551140 -0.04889270 -0.01643610
+v 0.03382579 -0.04959763 -0.01785044
+v 0.03329178 -0.04921720 -0.01956594
+v 0.03435658 -0.04741564 -0.02158078
+v 0.03565615 -0.04644886 -0.02158078
+v 0.01682165 -0.05512306 -0.02401333
+v 0.01682165 -0.05510069 -0.02406174
+v 0.02222268 -0.05294332 -0.02431447
+v 0.02413992 -0.05248904 -0.02356519
+v 0.02218087 -0.05424806 -0.02165431
+v 0.02487335 -0.05299034 -0.02177261
+v 0.02661366 -0.05247113 -0.02104302
+v 0.02470286 -0.05421001 -0.01909630
+v 0.02558428 -0.05452110 -0.01723022
+v 0.02625659 -0.05485679 -0.01551651
+v 0.02699324 -0.05507835 -0.01382612
+v 0.02504064 -0.05599590 -0.01382613
+v 0.03385474 -0.04703297 -0.02300767
+v 0.03244253 -0.04876065 -0.02162918
+v 0.03156434 -0.04980126 -0.02080282
+v 0.03084378 -0.04935370 -0.02251831
+v 0.03147107 -0.04716273 -0.02578617
+v 0.02895229 -0.04719406 -0.02835492
+v 0.02715088 -0.04761033 -0.02924581
+v 0.02620834 -0.04709113 -0.03075697
+v 0.02721842 -0.04563422 -0.03183252
+v 0.02750473 -0.04521797 -0.03213905
+v 0.02872390 -0.04447720 -0.03213904
+v 0.02112899 -0.04857262 -0.03213906
+v 0.02236103 -0.04799524 -0.03213906
+v 0.02395980 -0.04719404 -0.03213905
+v 0.02467714 -0.04750289 -0.03127681
+v 0.02204898 -0.04814293 -0.03213906
+v 0.02477040 -0.04885461 -0.02931932
+v 0.02318131 -0.05203696 -0.02528067
+v 0.02570009 -0.04939621 -0.02775620
+v 0.02477040 -0.05039430 -0.02682944
+v 0.03520579 -0.05019519 -0.01382610
+v 0.03421502 -0.04989307 -0.01643610
+v 0.03308912 -0.05169907 -0.01386377
+v 0.03229778 -0.05122240 -0.01632137
+v 0.03244253 -0.05009670 -0.01882739
+v 0.02487335 -0.05173037 -0.02431447
+v 0.02587058 -0.05207055 -0.02275851
+v 0.02834432 -0.05200566 -0.01999256
+v 0.02739536 -0.05286725 -0.01908374
+v 0.02717982 -0.05403769 -0.01639846
+v 0.02798725 -0.05442039 -0.01430653
+v 0.02742752 -0.05486576 -0.01382612
+v 0.02707690 -0.05503807 -0.01382612
+v 0.03132308 -0.05222720 -0.01538744
+v 0.03070224 -0.05187586 -0.01710294
+v 0.02984980 -0.05154017 -0.01908374
+v 0.02993341 -0.05032721 -0.02162918
+v 0.02652359 -0.04988853 -0.02604250
+v 0.02983692 -0.04763271 -0.02667528
+v 0.02467714 -0.04681807 -0.03213905
+v 0.02503742 -0.04662337 -0.03213905
+v 0.02708653 -0.04546189 -0.03213905
+v 0.03509000 -0.05028246 -0.01382610
+v 0.03311488 -0.05169461 -0.01382611
+v 0.03309878 -0.05170579 -0.01382611
+v 0.03179274 -0.05250026 -0.01386377
+v 0.02739536 -0.05168786 -0.02177261
+v 0.02984980 -0.05266136 -0.01632137
+v 0.02897480 -0.05235029 -0.01827887
+v 0.02911313 -0.05399071 -0.01382612
+v 0.02815130 -0.05450321 -0.01382612
+v 0.02962781 -0.05371099 -0.01382612
+v 0.03183136 -0.05248908 -0.01382611
+v 0.03147428 -0.05268824 -0.01382611
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 44
+f 1 44 51
+f 1 51 93
+f 1 93 97
+f 1 97 96
+f 1 96 73
+f 1 73 72
+f 1 72 70
+f 1 70 35
+f 1 35 34
+f 1 34 31
+f 1 31 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 38
+f 1 38 69
+f 1 69 68
+f 1 68 119
+f 1 119 118
+f 1 118 117
+f 1 117 156
+f 1 156 198
+f 1 198 197
+f 1 197 229
+f 1 229 228
+f 1 228 227
+f 1 227 201
+f 1 201 200
+f 1 200 203
+f 1 203 199
+f 1 199 158
+f 1 158 120
+f 1 120 77
+f 1 77 40
+f 1 40 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 30
+f 2 30 60
+f 2 60 59
+f 2 59 106
+f 2 106 145
+f 2 145 144
+f 2 144 187
+f 2 187 186
+f 2 186 220
+f 2 220 219
+f 2 219 238
+f 2 238 237
+f 2 237 239
+f 2 239 241
+f 2 241 240
+f 2 240 232
+f 2 232 231
+f 2 231 230
+f 2 230 208
+f 2 208 169
+f 2 169 167
+f 2 167 130
+f 2 130 88
+f 2 88 86
+f 2 86 49
+f 2 49 85
+f 2 85 84
+f 2 84 82
+f 2 82 43
+f 2 43 20
+f 2 20 10
+f 2 10 5
+f 3 7 8
+f 4 9 19
+f 4 19 42
+f 4 42 81
+f 4 81 129
+f 4 129 128
+f 4 128 127
+f 4 127 126
+f 4 126 166
+f 4 166 165
+f 4 165 177
+f 4 177 176
+f 4 176 136
+f 4 136 135
+f 4 135 98
+f 4 98 54
+f 4 54 53
+f 4 53 27
+f 4 27 13
+f 4 13 6
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 21
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 14 31 15
+f 15 32 33
+f 15 33 16
+f 15 31 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 32
+f 16 33 38
+f 16 38 17
+f 18 39 19
+f 18 40 39
+f 19 39 41
+f 19 41 42
+f 20 43 22
+f 21 26 44
+f 22 43 23
+f 23 45 46
+f 23 46 26
+f 23 26 25
+f 23 25 24
+f 23 43 47
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 45
+f 26 51 44
+f 26 46 52
+f 26 52 51
+f 27 53 28
+f 28 53 54
+f 28 54 55
+f 28 55 56
+f 28 56 29
+f 29 57 58
+f 29 58 59
+f 29 59 60
+f 29 60 30
+f 29 56 61
+f 29 61 57
+f 32 37 62
+f 32 62 63
+f 32 63 33
+f 33 63 64
+f 33 64 65
+f 33 65 66
+f 33 66 67
+f 33 67 68
+f 33 68 69
+f 33 69 38
+f 35 70 36
+f 36 71 62
+f 36 62 37
+f 36 70 72
+f 36 72 73
+f 36 73 74
+f 36 74 75
+f 36 75 71
+f 39 40 76
+f 39 76 41
+f 40 77 76
+f 41 76 78
+f 41 78 79
+f 41 79 80
+f 41 80 81
+f 41 81 42
+f 43 82 47
+f 45 83 46
+f 45 50 83
+f 46 83 52
+f 47 82 84
+f 47 84 48
+f 48 84 85
+f 48 85 49
+f 49 86 87
+f 49 87 50
+f 50 88 89
+f 50 89 90
+f 50 90 91
+f 50 91 92
+f 50 92 83
+f 50 87 88
+f 51 52 93
+f 52 83 94
+f 52 94 95
+f 52 95 74
+f 52 74 96
+f 52 96 97
+f 52 97 93
+f 54 98 55
+f 55 98 99
+f 55 99 56
+f 56 100 101
+f 56 101 102
+f 56 102 61
+f 56 99 100
+f 57 61 102
+f 57 102 103
+f 57 103 104
+f 57 104 105
+f 57 105 58
+f 58 106 59
+f 58 105 106
+f 62 71 107
+f 62 107 108
+f 62 108 64
+f 62 64 63
+f 64 108 107
+f 64 107 109
+f 64 109 110
+f 64 110 111
+f 64 111 112
+f 64 112 113
+f 64 113 66
+f 64 66 65
+f 66 112 114
+f 66 114 115
+f 66 115 116
+f 66 116 117
+f 66 117 118
+f 66 118 119
+f 66 119 67
+f 66 113 112
+f 67 119 68
+f 71 75 107
+f 73 96 74
+f 74 95 75
+f 75 95 107
+f 76 77 120
+f 76 120 121
+f 76 121 78
+f 78 121 122
+f 78 122 123
+f 78 123 79
+f 79 123 124
+f 79 124 125
+f 79 125 126
+f 79 126 127
+f 79 127 128
+f 79 128 80
+f 80 128 129
+f 80 129 81
+f 83 92 94
+f 86 88 87
+f 88 130 89
+f 89 131 90
+f 89 130 132
+f 89 132 133
+f 89 133 131
+f 90 131 91
+f 91 131 134
+f 91 134 107
+f 91 107 92
+f 92 107 94
+f 94 107 95
+f 98 135 99
+f 99 135 136
+f 99 136 137
+f 99 137 100
+f 100 138 139
+f 100 139 101
+f 100 137 138
+f 101 139 103
+f 101 103 102
+f 103 140 141
+f 103 141 104
+f 103 139 140
+f 104 141 142
+f 104 142 105
+f 105 142 143
+f 105 143 144
+f 105 144 145
+f 105 145 106
+f 107 134 110
+f 107 110 109
+f 110 146 147
+f 110 147 148
+f 110 148 111
+f 110 134 149
+f 110 149 146
+f 111 148 112
+f 112 150 151
+f 112 151 152
+f 112 152 115
+f 112 115 114
+f 112 148 150
+f 115 117 116
+f 115 152 153
+f 115 153 154
+f 115 154 155
+f 115 155 156
+f 115 156 157
+f 115 157 117
+f 117 157 156
+f 120 158 121
+f 121 158 159
+f 121 159 160
+f 121 160 122
+f 122 160 161
+f 122 161 123
+f 123 161 162
+f 123 162 163
+f 123 163 124
+f 124 163 164
+f 124 164 125
+f 125 164 137
+f 125 137 165
+f 125 165 166
+f 125 166 126
+f 130 167 132
+f 131 133 149
+f 131 149 134
+f 132 168 169
+f 132 169 170
+f 132 170 171
+f 132 171 172
+f 132 172 133
+f 132 167 168
+f 133 172 173
+f 133 173 174
+f 133 174 175
+f 133 175 149
+f 136 176 137
+f 137 164 138
+f 137 176 177
+f 137 177 165
+f 138 164 178
+f 138 178 179
+f 138 179 180
+f 138 180 139
+f 139 180 140
+f 140 180 181
+f 140 181 182
+f 140 182 183
+f 140 183 141
+f 141 183 184
+f 141 184 142
+f 142 184 185
+f 142 185 143
+f 143 185 186
+f 143 186 187
+f 143 187 144
+f 146 149 175
+f 146 175 174
+f 146 174 188
+f 146 188 147
+f 147 188 189
+f 147 189 190
+f 147 190 191
+f 147 191 192
+f 147 192 148
+f 148 192 150
+f 150 192 151
+f 151 193 152
+f 151 192 193
+f 152 193 153
+f 153 193 154
+f 154 193 194
+f 154 194 195
+f 154 195 155
+f 155 195 196
+f 155 196 197
+f 155 197 198
+f 155 198 156
+f 158 199 159
+f 159 200 201
+f 159 201 202
+f 159 202 160
+f 159 199 203
+f 159 203 200
+f 160 202 195
+f 160 195 204
+f 160 204 161
+f 161 205 162
+f 161 204 206
+f 161 206 207
+f 161 207 205
+f 162 205 163
+f 163 205 178
+f 163 178 164
+f 167 169 168
+f 169 208 170
+f 170 208 209
+f 170 209 171
+f 171 209 172
+f 172 209 210
+f 172 210 211
+f 172 211 212
+f 172 212 173
+f 173 212 190
+f 173 190 189
+f 173 189 174
+f 174 189 188
+f 178 205 179
+f 179 205 213
+f 179 213 214
+f 179 214 181
+f 179 181 180
+f 181 214 182
+f 182 184 183
+f 182 214 215
+f 182 215 216
+f 182 216 184
+f 184 216 185
+f 185 216 217
+f 185 217 218
+f 185 218 219
+f 185 219 220
+f 185 220 186
+f 190 212 221
+f 190 221 222
+f 190 222 223
+f 190 223 215
+f 190 215 224
+f 190 224 191
+f 191 224 214
+f 191 214 225
+f 191 225 226
+f 191 226 192
+f 192 226 193
+f 193 226 206
+f 193 206 194
+f 194 206 204
+f 194 204 195
+f 195 202 227
+f 195 227 228
+f 195 228 229
+f 195 229 196
+f 196 229 197
+f 201 227 202
+f 205 207 213
+f 206 225 214
+f 206 214 207
+f 206 226 225
+f 207 214 213
+f 208 230 209
+f 209 230 210
+f 210 231 232
+f 210 232 233
+f 210 233 221
+f 210 221 211
+f 210 230 231
+f 211 221 212
+f 214 224 234
+f 214 234 215
+f 215 234 224
+f 215 223 222
+f 215 222 235
+f 215 235 236
+f 215 236 216
+f 216 236 235
+f 216 235 217
+f 217 235 218
+f 218 235 221
+f 218 221 237
+f 218 237 238
+f 218 238 219
+f 221 233 239
+f 221 239 237
+f 221 235 222
+f 232 240 233
+f 233 240 241
+f 233 241 239
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_12.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.03190949 0.04431489 -0.01898888
+v 0.01428769 0.05271001 -0.01898885
+v 0.03190949 0.04884955 -0.01898886
+v 0.03190949 0.05800644 0.02809703
+v 0.01428769 0.06428199 0.02809706
+v 0.01428769 0.06403725 0.02711995
+v 0.01428769 0.05640885 -0.01898883
+v 0.03163520 0.04902965 -0.01898886
+v 0.03190949 0.04916586 -0.01826063
+v 0.03190949 0.06191074 0.02809705
+v 0.01428769 0.06657008 0.02809706
+v 0.01429804 0.05640655 -0.01898883
+v 0.01428769 0.05669286 -0.01828363
+v 0.02983076 0.05011712 -0.01898886
+v 0.03099001 0.05119767 -0.01489603
+v 0.03190949 0.05021641 -0.01581324
+v 0.03190949 0.06123658 0.02514267
+v 0.03127812 0.06170068 0.02572801
+v 0.03186810 0.06193153 0.02809705
+v 0.01429115 0.06789999 0.02809707
+v 0.01428769 0.06771067 0.02730432
+v 0.01605418 0.05595401 -0.01898883
+v 0.01428769 0.05743398 -0.01643083
+v 0.01429804 0.05743168 -0.01643083
+v 0.01668557 0.05681752 -0.01642621
+v 0.02915970 0.05051195 -0.01898885
+v 0.03001879 0.05209584 -0.01396501
+v 0.03152825 0.05153014 -0.01318147
+v 0.03190949 0.05084671 -0.01429685
+v 0.02911656 0.05161328 -0.01643085
+v 0.03190949 0.06053699 0.02214678
+v 0.03047766 0.06128506 0.02214679
+v 0.02918214 0.06192695 0.02214679
+v 0.02986181 0.06283663 0.02809705
+v 0.01609386 0.06751904 0.02809707
+v 0.01428769 0.06243265 0.00158591
+v 0.01741182 0.05628418 -0.01727888
+v 0.01668557 0.05587320 -0.01877680
+v 0.01671144 0.05578083 -0.01898884
+v 0.01428769 0.05747323 -0.01632019
+v 0.01428769 0.05842449 -0.01362853
+v 0.01689256 0.05770181 -0.01385897
+v 0.01863319 0.05663510 -0.01556432
+v 0.02740528 0.05149553 -0.01898885
+v 0.02733974 0.05348349 -0.01406639
+v 0.02825404 0.05372820 -0.01192780
+v 0.03190949 0.05174948 -0.01175728
+v 0.03190949 0.05115379 -0.01351793
+v 0.03098137 0.05377437 -0.00710214
+v 0.03190949 0.05343956 -0.00650297
+v 0.02726728 0.05259455 -0.01643085
+v 0.03190949 0.05562144 0.00157668
+v 0.03075024 0.05623559 0.00157669
+v 0.02877673 0.06174225 0.02048755
+v 0.02945296 0.05691210 0.00157669
+v 0.02726728 0.06270504 0.02214679
+v 0.02701542 0.06400260 0.02809706
+v 0.02928736 0.06307443 0.02809705
+v 0.01692019 0.06734358 0.02809707
+v 0.01854349 0.06692798 0.02809707
+v 0.01429804 0.06242805 0.00157671
+v 0.01428769 0.06234030 0.00116188
+v 0.01926802 0.05502583 -0.01898884
+v 0.01428769 0.05861843 -0.01296942
+v 0.01949400 0.05689601 -0.01382211
+v 0.01474140 0.05885162 -0.01178029
+v 0.01689256 0.05983288 -0.00614344
+v 0.01824850 0.05907557 -0.00749388
+v 0.02036346 0.05630493 -0.01465634
+v 0.01949400 0.05596553 -0.01642621
+v 0.01948714 0.05495887 -0.01898884
+v 0.01946641 0.05496578 -0.01898884
+v 0.02707404 0.05166638 -0.01898885
+v 0.02590099 0.05384136 -0.01505733
+v 0.02652374 0.05414842 -0.01334277
+v 0.02719656 0.05592855 -0.00617113
+v 0.03001534 0.05455706 -0.00620338
+v 0.03144718 0.05403987 -0.00538757
+v 0.03190949 0.05365660 -0.00579778
+v 0.03190949 0.05520587 -0.00005955
+v 0.02896649 0.05667661 -0.00042364
+v 0.02747602 0.05715455 -0.00117029
+v 0.02448298 0.05846599 -0.00085228
+v 0.02349106 0.05910095 0.00010179
+v 0.02210236 0.05942188 -0.00085227
+v 0.02353590 0.06428432 0.02317462
+v 0.02476246 0.06487768 0.02809706
+v 0.01857281 0.06691873 0.02809707
+v 0.02210581 0.06456137 0.02224819
+v 0.01948714 0.06535334 0.02214680
+v 0.01637159 0.06187621 0.00157671
+v 0.01581612 0.06170537 0.00001883
+v 0.01428769 0.06189240 -0.00087530
+v 0.01428769 0.05908712 -0.01131477
+v 0.01948714 0.05759789 -0.01128713
+v 0.02107765 0.05658660 -0.01294178
+v 0.01428769 0.05978672 -0.00880746
+v 0.01429804 0.05980981 -0.00871530
+v 0.01429804 0.06049322 -0.00614344
+v 0.01965790 0.05959044 -0.00371449
+v 0.01877120 0.05925336 -0.00614344
+v 0.02125189 0.05923947 -0.00295399
+v 0.02142439 0.05419925 -0.01898884
+v 0.02199884 0.05592628 -0.01382211
+v 0.02489182 0.05463330 -0.01406639
+v 0.02487456 0.05265920 -0.01898885
+v 0.02467446 0.05274926 -0.01898885
+v 0.02628396 0.05660968 -0.00533227
+v 0.02808667 0.05622638 -0.00357161
+v 0.03190087 0.05429155 -0.00357162
+v 0.03190949 0.05428692 -0.00357162
+v 0.03190949 0.05494031 -0.00108276
+v 0.02678942 0.05684748 -0.00357161
+v 0.02467276 0.05770868 -0.00357161
+v 0.01948714 0.06030618 -0.00099978
+v 0.02208166 0.06509242 0.02472325
+v 0.02204198 0.06581278 0.02809706
+v 0.02392921 0.06516861 0.02809706
+v 0.01428769 0.06049555 -0.00614344
+v 0.01428769 0.05981211 -0.00871530
+f 1 2 7
+f 1 7 12
+f 1 12 22
+f 1 22 39
+f 1 39 63
+f 1 63 72
+f 1 72 71
+f 1 71 103
+f 1 103 107
+f 1 107 106
+f 1 106 73
+f 1 73 44
+f 1 44 26
+f 1 26 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 29
+f 1 29 48
+f 1 48 47
+f 1 47 50
+f 1 50 79
+f 1 79 111
+f 1 111 112
+f 1 112 80
+f 1 80 52
+f 1 52 31
+f 1 31 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 21
+f 2 21 36
+f 2 36 62
+f 2 62 93
+f 2 93 119
+f 2 119 120
+f 2 120 97
+f 2 97 94
+f 2 94 64
+f 2 64 41
+f 2 41 40
+f 2 40 23
+f 2 23 13
+f 2 13 7
+f 3 8 9
+f 4 10 19
+f 4 19 34
+f 4 34 58
+f 4 58 57
+f 4 57 87
+f 4 87 118
+f 4 118 117
+f 4 117 88
+f 4 88 60
+f 4 60 59
+f 4 59 35
+f 4 35 20
+f 4 20 11
+f 4 11 5
+f 7 13 12
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 12 13 22
+f 13 23 24
+f 13 24 25
+f 13 25 22
+f 14 26 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 26 30
+f 15 30 27
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 20 35 36
+f 20 36 21
+f 22 37 38
+f 22 38 39
+f 22 25 37
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 37
+f 26 44 30
+f 27 30 45
+f 27 45 46
+f 27 46 28
+f 28 47 48
+f 28 48 29
+f 28 46 49
+f 28 49 50
+f 28 50 47
+f 30 44 51
+f 30 51 45
+f 31 52 53
+f 31 53 32
+f 32 54 33
+f 32 53 55
+f 32 55 54
+f 33 54 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 35 59 36
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 37 63 39
+f 37 39 38
+f 37 43 63
+f 41 64 42
+f 42 65 43
+f 42 64 66
+f 42 66 67
+f 42 67 68
+f 42 68 65
+f 43 65 69
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 63
+f 44 73 51
+f 45 74 75
+f 45 75 46
+f 45 51 74
+f 46 75 76
+f 46 76 77
+f 46 77 49
+f 49 77 78
+f 49 78 79
+f 49 79 50
+f 51 73 74
+f 52 80 81
+f 52 81 53
+f 53 81 55
+f 54 55 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 85
+f 54 85 56
+f 56 86 87
+f 56 87 57
+f 56 85 86
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 61
+f 61 92 62
+f 62 92 93
+f 64 94 66
+f 65 68 95
+f 65 95 96
+f 65 96 69
+f 66 94 97
+f 66 97 98
+f 66 98 67
+f 67 98 99
+f 67 99 93
+f 67 93 92
+f 67 92 100
+f 67 100 68
+f 68 100 101
+f 68 101 102
+f 68 102 96
+f 68 96 95
+f 69 74 103
+f 69 103 70
+f 69 96 104
+f 69 104 105
+f 69 105 74
+f 70 103 71
+f 73 106 74
+f 74 105 75
+f 74 106 107
+f 74 107 103
+f 75 105 108
+f 75 108 76
+f 76 108 77
+f 77 108 109
+f 77 109 81
+f 77 81 78
+f 78 110 111
+f 78 111 79
+f 78 81 110
+f 80 112 81
+f 81 112 110
+f 81 109 108
+f 81 108 113
+f 81 113 82
+f 82 113 83
+f 83 85 84
+f 83 113 114
+f 83 114 102
+f 83 102 85
+f 85 102 115
+f 85 115 86
+f 86 89 116
+f 86 116 117
+f 86 117 118
+f 86 118 87
+f 86 115 89
+f 88 117 116
+f 88 116 89
+f 89 115 91
+f 89 91 90
+f 91 115 92
+f 92 115 100
+f 93 99 119
+f 96 105 104
+f 96 102 108
+f 96 108 105
+f 97 120 98
+f 98 120 119
+f 98 119 99
+f 100 115 102
+f 100 102 101
+f 102 114 108
+f 108 114 113
+f 110 112 111
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_13.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.03500479 -0.06659788 0.03766692
+v -0.03500479 -0.06659788 0.03752242
+v -0.03500479 -0.06648333 0.03991958
+v -0.03919951 -0.06523765 0.03923038
+v -0.03919951 -0.06523765 0.03849023
+v -0.03758870 -0.06568120 0.03794863
+v -0.03500479 -0.06091291 0.03014593
+v -0.03758870 -0.06568121 0.03966073
+v -0.03500479 -0.06376283 0.04051213
+v -0.03758870 -0.06376283 0.04057658
+v -0.04225524 -0.06300136 0.03953079
+v -0.04689965 -0.06005910 0.03920130
+v -0.04689965 -0.06005910 0.03855991
+v -0.04225524 -0.06300135 0.03810353
+v -0.03653450 -0.06003688 0.03014593
+v -0.03633176 -0.06015516 0.03014593
+v -0.03500479 -0.05682477 0.03014594
+v -0.04010996 -0.06382195 0.03990296
+v -0.04018369 -0.06117908 0.04066078
+v -0.03500479 -0.06301247 0.04021275
+v -0.06610027 -0.02883620 0.03970244
+v -0.06871366 -0.02883620 0.04063908
+v -0.06871366 -0.03015211 0.04074926
+v -0.04796491 -0.05600792 0.04070966
+v -0.04536994 -0.05859166 0.04059736
+v -0.04536994 -0.06061355 0.03965868
+v -0.04784329 -0.05856209 0.03983228
+v -0.04972315 -0.05768234 0.03942063
+v -0.04972315 -0.05768234 0.03827300
+v -0.04314727 -0.05534255 0.03014595
+v -0.04098356 -0.05693566 0.03014594
+v -0.03968606 -0.05788191 0.03014594
+v -0.03949072 -0.05802240 0.03014594
+v -0.03783199 -0.05917563 0.03014593
+v -0.03500479 -0.05718334 0.03244121
+v -0.06119045 -0.02883616 0.03014604
+v -0.05055990 -0.05342049 0.04072838
+v -0.06612240 -0.03532328 0.04076587
+v -0.03500479 -0.06111993 0.03945078
+v -0.06470695 -0.02883619 0.03895295
+v -0.07132706 -0.02883620 0.04001640
+v -0.06871366 -0.03273953 0.04045091
+v -0.05057465 -0.05605228 0.04000070
+v -0.05323598 -0.05351290 0.04005060
+v -0.05242504 -0.05522061 0.03949341
+v -0.05242504 -0.05522060 0.03818153
+v -0.04828194 -0.05128397 0.03014596
+v -0.04698443 -0.05238549 0.03014596
+v -0.04680750 -0.05252593 0.03014596
+v -0.04497185 -0.05396010 0.03014595
+v -0.03500479 -0.05761580 0.03501302
+v -0.06498338 -0.02883616 0.03014604
+v -0.06144112 -0.02883617 0.03162008
+v -0.05584200 -0.05093656 0.04004748
+v -0.06093244 -0.04308184 0.04073155
+v -0.06352739 -0.04049443 0.04064840
+v -0.03500479 -0.05996298 0.03878755
+v -0.06453370 -0.02883619 0.03878663
+v -0.07265773 -0.02883619 0.03896750
+v -0.07133813 -0.02994140 0.03970557
+v -0.06871366 -0.03511257 0.03971283
+v -0.06631405 -0.03807333 0.04005066
+v -0.05766660 -0.05014185 0.03951527
+v -0.05504214 -0.05271079 0.03951213
+v -0.05504214 -0.05271078 0.03817945
+v -0.04973791 -0.04999026 0.03014597
+v -0.04958310 -0.05013071 0.03014597
+v -0.03500479 -0.05769343 0.03536542
+v -0.06158486 -0.02883617 0.03244131
+v -0.06197189 -0.02883618 0.03462536
+v -0.06222253 -0.02883618 0.03587801
+v -0.07265773 -0.02883619 0.03880221
+v -0.06420196 -0.03045886 0.03014604
+v -0.07263931 -0.02893598 0.03882405
+v -0.05845541 -0.04836391 0.04003504
+v -0.06102826 -0.04573582 0.03999450
+v -0.06555103 -0.04049443 0.03965356
+v -0.06353478 -0.04300424 0.03984376
+v -0.03500479 -0.05898715 0.03770644
+v -0.06345737 -0.02883619 0.03766497
+v -0.07263931 -0.02893598 0.03893840
+v -0.07040557 -0.03273952 0.03938850
+v -0.06785113 -0.03731928 0.03944357
+v -0.05766660 -0.05014184 0.03821899
+v -0.06022841 -0.04758398 0.03949969
+v -0.05103540 -0.04872610 0.03014597
+v -0.05089532 -0.04886287 0.03014597
+v -0.03500479 -0.05877646 0.03745798
+v -0.06227783 -0.02883618 0.03614517
+v -0.06299662 -0.03293538 0.03014603
+v -0.07040557 -0.03273952 0.03841343
+v -0.07005539 -0.03411084 0.03880637
+v -0.06267224 -0.04492261 0.03941859
+v -0.06503501 -0.04209122 0.03920552
+v -0.06234788 -0.02883618 0.03626991
+v -0.07005539 -0.03411084 0.03895188
+v -0.06022841 -0.04758397 0.03830317
+v -0.05231077 -0.04743609 0.03014598
+v -0.05217439 -0.04757655 0.03014598
+v -0.06254693 -0.03384469 0.03014603
+v -0.06214145 -0.03459504 0.03014602
+v -0.06785113 -0.03731928 0.03838431
+v -0.06503501 -0.04209122 0.03859635
+v -0.06267224 -0.04492261 0.03839569
+v -0.05360826 -0.04601302 0.03014598
+v -0.06169546 -0.03533430 0.03014602
+v -0.06027264 -0.03758536 0.03014601
+v -0.05937324 -0.03885691 0.03014601
+v -0.05928479 -0.03897520 0.03014601
+v -0.05800939 -0.04065331 0.03014600
+v -0.05782879 -0.04088988 0.03014600
+v -0.05758549 -0.04120408 0.03014600
+v -0.05657554 -0.04248671 0.03014599
+v -0.05474356 -0.04471930 0.03014599
+f 1 2 7
+f 1 7 17
+f 1 17 35
+f 1 35 51
+f 1 51 68
+f 1 68 88
+f 1 88 79
+f 1 79 57
+f 1 57 39
+f 1 39 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 4 8 11
+f 4 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 7
+f 5 7 6
+f 7 16 15
+f 7 15 34
+f 7 34 33
+f 7 33 32
+f 7 32 31
+f 7 31 30
+f 7 30 50
+f 7 50 49
+f 7 49 48
+f 7 48 47
+f 7 47 67
+f 7 67 66
+f 7 66 87
+f 7 87 86
+f 7 86 99
+f 7 99 98
+f 7 98 105
+f 7 105 114
+f 7 114 113
+f 7 113 112
+f 7 112 111
+f 7 111 110
+f 7 110 109
+f 7 109 108
+f 7 108 107
+f 7 107 106
+f 7 106 101
+f 7 101 100
+f 7 100 90
+f 7 90 73
+f 7 73 52
+f 7 52 36
+f 7 36 17
+f 8 10 18
+f 8 18 11
+f 9 19 10
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 19
+f 10 19 24
+f 10 24 25
+f 10 25 18
+f 11 18 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 17 36 35
+f 18 25 27
+f 18 27 26
+f 19 37 24
+f 19 23 38
+f 19 38 37
+f 20 39 21
+f 21 40 58
+f 21 58 80
+f 21 80 95
+f 21 95 89
+f 21 89 71
+f 21 71 70
+f 21 70 69
+f 21 69 53
+f 21 53 36
+f 21 36 52
+f 21 52 72
+f 21 72 59
+f 21 59 41
+f 21 41 22
+f 21 39 40
+f 22 41 23
+f 23 41 42
+f 23 42 38
+f 24 43 25
+f 24 37 44
+f 24 44 43
+f 25 43 27
+f 27 43 28
+f 28 43 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 35 36 51
+f 36 53 51
+f 37 54 44
+f 37 38 55
+f 37 55 54
+f 38 42 56
+f 38 56 55
+f 39 57 40
+f 40 57 58
+f 41 59 60
+f 41 60 42
+f 42 61 62
+f 42 62 56
+f 42 60 61
+f 43 44 45
+f 44 54 63
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 51 53 69
+f 51 69 70
+f 51 70 71
+f 51 71 68
+f 52 73 74
+f 52 74 72
+f 54 75 63
+f 54 55 75
+f 55 56 76
+f 55 76 75
+f 56 62 77
+f 56 77 78
+f 56 78 76
+f 57 79 80
+f 57 80 58
+f 59 72 74
+f 59 74 81
+f 59 81 82
+f 59 82 60
+f 60 82 61
+f 61 82 83
+f 61 83 77
+f 61 77 62
+f 63 84 65
+f 63 65 64
+f 63 75 85
+f 63 85 97
+f 63 97 84
+f 65 84 86
+f 65 86 87
+f 65 87 66
+f 68 71 89
+f 68 89 88
+f 73 90 74
+f 74 90 91
+f 74 91 92
+f 74 92 96
+f 74 96 81
+f 75 76 85
+f 76 78 93
+f 76 93 85
+f 77 83 94
+f 77 94 78
+f 78 94 93
+f 79 88 80
+f 80 88 95
+f 81 96 82
+f 82 96 83
+f 83 96 94
+f 84 97 98
+f 84 98 99
+f 84 99 86
+f 85 93 104
+f 85 104 97
+f 88 89 95
+f 90 100 91
+f 91 100 92
+f 92 100 101
+f 92 101 102
+f 92 102 103
+f 92 103 94
+f 92 94 96
+f 93 94 103
+f 93 103 104
+f 97 104 105
+f 97 105 98
+f 101 106 102
+f 102 106 103
+f 103 106 107
+f 103 107 108
+f 103 108 109
+f 103 109 110
+f 103 110 111
+f 103 111 104
+f 104 111 112
+f 104 112 113
+f 104 113 114
+f 104 114 105
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_14.obj

@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v 0.03191122 0.04884869 -0.01898886
+v 0.03294923 0.04816824 -0.01898886
+v 0.03191122 0.04431597 -0.01898888
+v 0.03191122 0.04916478 -0.01826063
+v 0.03349612 0.04855016 -0.01733884
+v 0.03495890 0.04673269 -0.01898887
+v 0.03503058 0.04676121 -0.01882293
+v 0.03779951 0.03948690 -0.01898889
+v 0.03191122 0.05800618 0.02809703
+v 0.03191122 0.05021620 -0.01581324
+v 0.03256163 0.04952255 -0.01646310
+v 0.03642965 0.04619270 -0.01784581
+v 0.03404300 0.04892333 -0.01562426
+v 0.03521640 0.04653951 -0.01898887
+v 0.04323119 0.03948690 -0.01898889
+v 0.05452460 0.03948673 0.02809697
+v 0.03191122 0.06190896 0.02809705
+v 0.03191122 0.05084615 -0.01429685
+v 0.03963926 0.04413377 -0.01643088
+v 0.03919061 0.04376061 -0.01812237
+v 0.03754199 0.04476156 -0.01884136
+v 0.03720749 0.04496349 -0.01898887
+v 0.03582170 0.04829112 -0.01385900
+v 0.03622523 0.04861819 -0.01230115
+v 0.03902867 0.04620148 -0.01273902
+v 0.03242093 0.05065518 -0.01396501
+v 0.03452617 0.04927672 -0.01385900
+v 0.04318073 0.03954397 -0.01898889
+v 0.04325773 0.03948690 -0.01894279
+v 0.05903242 0.03948673 0.02809697
+v 0.03191122 0.06190237 0.02806019
+v 0.03278731 0.06146556 0.02809705
+v 0.03191122 0.05115125 -0.01351793
+v 0.04135160 0.04337428 -0.01475318
+v 0.04093478 0.04300115 -0.01643088
+v 0.04185337 0.04126706 -0.01832059
+v 0.04018351 0.04242385 -0.01898888
+v 0.03770660 0.04454645 -0.01898888
+v 0.03750484 0.04471547 -0.01898888
+v 0.03936317 0.04648022 -0.01128717
+v 0.03630752 0.05125879 -0.00474695
+v 0.03956494 0.04918887 -0.00357164
+v 0.03916140 0.04888596 -0.00527698
+v 0.04086312 0.04816159 -0.00357164
+v 0.04065870 0.04536734 -0.01128717
+v 0.04172858 0.04373644 -0.01303862
+v 0.03333684 0.05101954 -0.01128715
+v 0.03413593 0.05156392 -0.00818068
+v 0.04295244 0.03978103 -0.01898889
+v 0.04402496 0.03948689 -0.01739878
+v 0.05259460 0.03948681 0.00583995
+v 0.05887313 0.03970402 0.02809697
+v 0.03191122 0.06123509 0.02514267
+v 0.03499075 0.06032851 0.02809704
+v 0.03226960 0.06097385 0.02481080
+v 0.03191122 0.05174830 -0.01175728
+v 0.04398248 0.04080390 -0.01474859
+v 0.04230997 0.04170826 -0.01643089
+v 0.04360549 0.04041318 -0.01643089
+v 0.04270288 0.04003785 -0.01898889
+v 0.04047818 0.04215825 -0.01898889
+v 0.04152948 0.04612245 -0.00741096
+v 0.03528544 0.05220483 -0.00376523
+v 0.03568897 0.05345379 0.00157668
+v 0.03664999 0.05151121 -0.00303239
+v 0.03706679 0.05180315 -0.00099981
+v 0.03873398 0.05114902 0.00081155
+v 0.03836497 0.05088563 -0.00099981
+v 0.04034809 0.04945884 -0.00087535
+v 0.03465890 0.05191290 -0.00614347
+v 0.04128524 0.04850621 -0.00164968
+v 0.04234183 0.04686872 -0.00357165
+v 0.04190114 0.04646265 -0.00569642
+v 0.04420284 0.04361132 -0.00757690
+v 0.04447894 0.03948689 -0.01643089
+v 0.05226007 0.03948681 0.00469229
+v 0.05751389 0.04147762 0.02809697
+v 0.03191122 0.06053708 0.02214678
+v 0.03613231 0.05972269 0.02809704
+v 0.03509430 0.05952295 0.02494446
+v 0.03422352 0.05931884 0.02214678
+v 0.03245810 0.06025392 0.02214678
+v 0.03191122 0.05343844 -0.00650297
+v 0.03237316 0.05327383 -0.00620338
+v 0.04643285 0.04067439 -0.00931453
+v 0.04640628 0.03948687 -0.01205691
+v 0.04568154 0.03948688 -0.01370693
+v 0.03320142 0.05356577 -0.00357162
+v 0.03399257 0.05402890 -0.00023470
+v 0.03439076 0.05427034 0.00157668
+v 0.03609516 0.05371500 0.00351247
+v 0.03778093 0.05204679 0.00163194
+v 0.04161974 0.04878278 0.00006490
+v 0.03907114 0.05139265 0.00252612
+v 0.04279846 0.04739332 -0.00089841
+v 0.04397453 0.04597974 -0.00186170
+v 0.04364004 0.04565707 -0.00357165
+v 0.04447894 0.04388131 -0.00614350
+v 0.04691336 0.04373862 -0.00022089
+v 0.04678858 0.04102777 -0.00759997
+v 0.05209548 0.03948681 0.00414845
+v 0.05138135 0.04033630 0.00414845
+v 0.05168664 0.04070067 0.00618566
+v 0.05513255 0.04438164 0.02809698
+v 0.05647854 0.04277049 0.02809698
+v 0.05719265 0.04187932 0.02809697
+v 0.03191122 0.05562029 0.00157668
+v 0.03685176 0.05934076 0.02809704
+v 0.03245810 0.05532834 0.00157668
+v 0.03191122 0.05365358 -0.00579778
+v 0.04698238 0.03948687 -0.01067420
+v 0.03191122 0.05428353 -0.00357162
+v 0.03262006 0.05457547 -0.00105509
+v 0.03814994 0.05857689 0.02809704
+v 0.03800924 0.05324964 0.00671572
+v 0.03743315 0.05299720 0.00428215
+v 0.04028438 0.05724670 0.02809703
+v 0.04111266 0.05670892 0.02809703
+v 0.04243476 0.05581335 0.02809703
+v 0.04422142 0.04878713 0.00774352
+v 0.04392142 0.04855008 0.00602896
+v 0.04508155 0.04696966 0.00414847
+v 0.04461432 0.04656359 0.00157665
+v 0.04429574 0.04628264 -0.00014717
+v 0.04458512 0.05424609 0.02809702
+v 0.04588067 0.05318152 0.02809702
+v 0.04276925 0.05557848 0.02809702
+v 0.04405152 0.05465000 0.02809702
+v 0.04590721 0.04534975 0.00157665
+v 0.04637444 0.04579092 0.00414847
+v 0.04722397 0.04405686 0.00157664
+v 0.04851949 0.04266522 0.00157664
+v 0.04942212 0.04107385 -0.00001810
+v 0.04802041 0.04223940 -0.00097678
+v 0.04753723 0.03975466 -0.00855863
+v 0.04743371 0.03948686 -0.00946664
+v 0.04912480 0.04073802 -0.00173266
+v 0.04879824 0.04037144 -0.00357167
+v 0.04919912 0.03948685 -0.00459488
+v 0.05177161 0.03948682 0.00311601
+v 0.05124330 0.03948682 0.00145679
+v 0.05113978 0.03958121 0.00138304
+v 0.04968229 0.04137235 0.00157663
+v 0.05402020 0.04561084 0.02809699
+v 0.03191122 0.05520323 -0.00005955
+v 0.03191122 0.05429232 -0.00353934
+v 0.03191122 0.05493763 -0.00108276
+v 0.04543465 0.04742842 0.00671569
+v 0.04748680 0.05182938 0.02809701
+v 0.04664522 0.04604994 0.00568329
+v 0.04945132 0.04369247 0.00762828
+v 0.05119552 0.03948683 0.00130930
+v 0.05019732 0.03979193 -0.00092611
+v 0.04971680 0.03948684 -0.00311539
+v 0.04861242 0.03948685 -0.00621725
+v 0.04955753 0.03948684 -0.00357167
+v 0.05365384 0.04599499 0.02809699
+v 0.04870798 0.05075822 0.02809701
+v 0.05012034 0.04948728 0.02809700
+v 0.05142912 0.04824490 0.02809700
+v 0.05273262 0.04695642 0.02809699
+v 0.05007520 0.03948684 -0.00205071
+f 1 2 6
+f 1 6 14
+f 1 14 22
+f 1 22 39
+f 1 39 38
+f 1 38 37
+f 1 37 61
+f 1 61 60
+f 1 60 49
+f 1 49 28
+f 1 28 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 31
+f 1 31 53
+f 1 53 78
+f 1 78 107
+f 1 107 145
+f 1 145 147
+f 1 147 146
+f 1 146 112
+f 1 112 110
+f 1 110 83
+f 1 83 56
+f 1 56 33
+f 1 33 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 12 7
+f 5 11 13
+f 5 13 12
+f 6 7 14
+f 7 12 14
+f 8 15 29
+f 8 29 50
+f 8 50 75
+f 8 75 87
+f 8 87 86
+f 8 86 111
+f 8 111 136
+f 8 136 155
+f 8 155 139
+f 8 139 156
+f 8 156 154
+f 8 154 162
+f 8 162 152
+f 8 152 141
+f 8 141 140
+f 8 140 101
+f 8 101 76
+f 8 76 51
+f 8 51 30
+f 8 30 16
+f 8 16 9
+f 9 16 30
+f 9 30 52
+f 9 52 77
+f 9 77 106
+f 9 106 105
+f 9 105 104
+f 9 104 144
+f 9 144 157
+f 9 157 161
+f 9 161 160
+f 9 160 159
+f 9 159 158
+f 9 158 149
+f 9 149 126
+f 9 126 125
+f 9 125 128
+f 9 128 127
+f 9 127 119
+f 9 119 118
+f 9 118 117
+f 9 117 114
+f 9 114 108
+f 9 108 79
+f 9 79 54
+f 9 54 32
+f 9 32 17
+f 10 18 13
+f 10 13 11
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 14
+f 12 13 23
+f 12 23 24
+f 12 24 25
+f 12 25 19
+f 13 18 26
+f 13 26 27
+f 13 27 23
+f 15 28 29
+f 17 32 31
+f 18 33 26
+f 19 34 35
+f 19 35 20
+f 19 25 34
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 22
+f 23 27 24
+f 24 40 25
+f 24 27 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 40
+f 25 40 45
+f 25 45 46
+f 25 46 34
+f 26 33 47
+f 26 47 27
+f 27 47 48
+f 27 48 41
+f 28 49 36
+f 28 36 50
+f 28 50 29
+f 30 51 52
+f 31 32 53
+f 32 54 55
+f 32 55 53
+f 33 56 47
+f 34 57 58
+f 34 58 35
+f 34 46 57
+f 35 58 36
+f 36 58 59
+f 36 59 50
+f 36 49 60
+f 36 60 61
+f 36 61 37
+f 40 62 45
+f 40 44 62
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 69
+f 41 69 42
+f 41 48 70
+f 41 70 63
+f 42 69 71
+f 42 71 44
+f 42 44 43
+f 44 71 72
+f 44 72 73
+f 44 73 62
+f 45 62 46
+f 46 62 73
+f 46 73 74
+f 46 74 57
+f 47 56 48
+f 48 56 70
+f 50 59 75
+f 51 76 77
+f 51 77 52
+f 53 55 78
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 82 78
+f 56 83 84
+f 56 84 70
+f 57 75 59
+f 57 59 58
+f 57 74 85
+f 57 85 86
+f 57 86 87
+f 57 87 75
+f 63 70 88
+f 63 88 89
+f 63 89 64
+f 64 66 65
+f 64 89 90
+f 64 90 91
+f 64 91 66
+f 66 91 92
+f 66 92 67
+f 67 93 69
+f 67 69 68
+f 67 92 94
+f 67 94 93
+f 69 93 71
+f 70 84 88
+f 71 93 95
+f 71 95 72
+f 72 95 96
+f 72 96 97
+f 72 97 74
+f 72 74 73
+f 74 98 99
+f 74 99 100
+f 74 100 85
+f 74 97 96
+f 74 96 98
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 106
+f 76 106 77
+f 78 82 107
+f 79 108 80
+f 80 108 81
+f 81 108 109
+f 81 109 107
+f 81 107 82
+f 83 110 84
+f 84 110 88
+f 85 100 111
+f 85 111 86
+f 88 110 112
+f 88 112 113
+f 88 113 89
+f 89 113 90
+f 90 113 109
+f 90 109 108
+f 90 108 114
+f 90 114 91
+f 91 115 116
+f 91 116 92
+f 91 114 117
+f 91 117 118
+f 91 118 119
+f 91 119 115
+f 92 116 94
+f 93 120 121
+f 93 121 122
+f 93 122 123
+f 93 123 124
+f 93 124 95
+f 93 94 125
+f 93 125 126
+f 93 126 120
+f 94 116 115
+f 94 115 127
+f 94 127 128
+f 94 128 125
+f 95 124 96
+f 96 124 129
+f 96 129 99
+f 96 99 98
+f 99 129 130
+f 99 130 131
+f 99 131 132
+f 99 132 133
+f 99 133 134
+f 99 134 100
+f 100 135 136
+f 100 136 111
+f 100 134 137
+f 100 137 138
+f 100 138 139
+f 100 139 135
+f 101 140 102
+f 102 140 141
+f 102 141 142
+f 102 142 143
+f 102 143 103
+f 103 143 104
+f 104 143 132
+f 104 132 144
+f 107 109 113
+f 107 113 145
+f 112 146 113
+f 113 147 145
+f 113 146 147
+f 115 119 127
+f 120 148 121
+f 120 126 149
+f 120 149 148
+f 121 148 122
+f 122 148 150
+f 122 150 123
+f 123 150 130
+f 123 130 124
+f 124 130 129
+f 130 150 131
+f 131 150 151
+f 131 151 132
+f 132 143 133
+f 132 151 144
+f 133 143 142
+f 133 142 152
+f 133 152 153
+f 133 153 154
+f 133 154 137
+f 133 137 134
+f 135 139 155
+f 135 155 136
+f 137 154 138
+f 138 154 156
+f 138 156 139
+f 141 152 142
+f 144 151 150
+f 144 150 157
+f 148 149 158
+f 148 158 150
+f 150 158 159
+f 150 159 160
+f 150 160 161
+f 150 161 157
+f 152 162 153
+f 153 162 154
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_15.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.01226314 0.05025181 -0.03357672
+v -0.01226314 0.04565912 -0.03357673
+v -0.01226314 0.04953660 -0.03448638
+v -0.01423902 0.04947372 -0.03408918
+v -0.01423902 0.04987195 -0.03357672
+v -0.01226314 0.04559886 -0.03358472
+v -0.04376933 0.02348688 -0.03357681
+v -0.01226314 0.04861963 -0.03561854
+v -0.01238550 0.04860653 -0.03560602
+v -0.01423902 0.04841267 -0.03537546
+v -0.01683396 0.04809042 -0.03498853
+v -0.01683396 0.04914884 -0.03370228
+v -0.01684115 0.04924054 -0.03357672
+v -0.01226314 0.02919309 -0.04523543
+v -0.04903116 0.02348688 -0.03357681
+v -0.02276521 0.02348693 -0.04523545
+v -0.01285699 0.04611241 -0.03828469
+v -0.01226314 0.04682240 -0.03761361
+v -0.01423902 0.04711844 -0.03681924
+v -0.01683396 0.04679618 -0.03645517
+v -0.01843914 0.04878731 -0.03357672
+v -0.01942888 0.04640843 -0.03603401
+v -0.01753216 0.04904929 -0.03357672
+v -0.01226314 0.03802740 -0.04523540
+v -0.04842653 0.02449031 -0.03357681
+v -0.04890160 0.02348688 -0.03372177
+v -0.03527196 0.02348693 -0.04523545
+v -0.01226314 0.04616217 -0.03833378
+v -0.01226314 0.04533165 -0.03914070
+v -0.01272022 0.04350037 -0.04083442
+v -0.01423902 0.04464524 -0.03937810
+v -0.01423902 0.04593686 -0.03810552
+v -0.01683396 0.04558580 -0.03774145
+v -0.01884943 0.04865892 -0.03357672
+v -0.01949365 0.04783890 -0.03431515
+v -0.01942888 0.04518494 -0.03732029
+v -0.02084330 0.04617527 -0.03577950
+v -0.01226314 0.04067612 -0.04323238
+v -0.01423902 0.03759249 -0.04523540
+v -0.04791185 0.02407112 -0.03439743
+v -0.04746198 0.02605700 -0.03357680
+v -0.04719565 0.02626924 -0.03372290
+v -0.04718844 0.02348689 -0.03550453
+v -0.04083251 0.02348691 -0.04121342
+v -0.03505961 0.02424409 -0.04523545
+v -0.01226314 0.04353965 -0.04087095
+v -0.01226314 0.04301044 -0.04131835
+v -0.01226314 0.04105601 -0.04292648
+v -0.01423902 0.04201750 -0.04175433
+v -0.01423902 0.04330912 -0.04066322
+v -0.01683396 0.04429418 -0.03904027
+v -0.01942888 0.04389334 -0.03864079
+v -0.02000473 0.04827118 -0.03357672
+v -0.02094407 0.04363134 -0.03838515
+v -0.02175746 0.04472646 -0.03690370
+v -0.02257446 0.04582157 -0.03538003
+v -0.02183665 0.04686168 -0.03448980
+v -0.01683396 0.03695323 -0.04523540
+v -0.01423902 0.04042721 -0.04303947
+v -0.04637504 0.02497238 -0.03543717
+v -0.04728203 0.02633735 -0.03357680
+v -0.04635706 0.02775208 -0.03357680
+v -0.04645064 0.02348689 -0.03624752
+v -0.04211736 0.02348691 -0.04019079
+v -0.04097287 0.02471042 -0.04047043
+v -0.03924172 0.02591818 -0.04113807
+v -0.03856870 0.02764208 -0.04063704
+v -0.03684113 0.02866124 -0.04126248
+v -0.03607813 0.03038511 -0.04072263
+v -0.03434700 0.03127328 -0.04131497
+v -0.03297575 0.02989782 -0.04303039
+v -0.02731441 0.03199377 -0.04523542
+v -0.01683396 0.04162975 -0.04141880
+v -0.01683396 0.04292135 -0.04032540
+v -0.01966280 0.04217469 -0.04010743
+v -0.02192662 0.04756118 -0.03357673
+v -0.02068494 0.04094071 -0.04085727
+v -0.02189424 0.04233711 -0.03917152
+v -0.02267164 0.04325930 -0.03802791
+v -0.02461873 0.04407411 -0.03628738
+v -0.02461873 0.04536831 -0.03486644
+v -0.02461873 0.04647916 -0.03358016
+v -0.01895378 0.04126034 -0.04111863
+v -0.02213898 0.03445122 -0.04523541
+v -0.02202379 0.03764226 -0.04291280
+v -0.02202379 0.03935043 -0.04162654
+v -0.04564086 0.02713904 -0.03471814
+v -0.04464391 0.02628495 -0.03628518
+v -0.04374054 0.02493834 -0.03800060
+v -0.04533133 0.02409472 -0.03697911
+v -0.04566964 0.02871622 -0.03357679
+v -0.04405368 0.02800885 -0.03571336
+v -0.04461151 0.02348690 -0.03802455
+v -0.04369015 0.02348690 -0.03885658
+v -0.04265004 0.02396375 -0.03948203
+v -0.04201302 0.02618016 -0.03875613
+v -0.04031063 0.02691111 -0.03969660
+v -0.04137958 0.02790405 -0.03821857
+v -0.03950084 0.02932404 -0.03880407
+v -0.03893940 0.03068642 -0.03834753
+v -0.03765814 0.02944456 -0.04015653
+v -0.03741698 0.03169244 -0.03882461
+v -0.03644164 0.03335610 -0.03841716
+v -0.03512438 0.03204353 -0.04025239
+v -0.03347242 0.03299715 -0.04072835
+v -0.02768153 0.03784400 -0.04044411
+v -0.02595040 0.03839153 -0.04088807
+v -0.02461873 0.03873213 -0.04115288
+v -0.03174126 0.03376743 -0.04126817
+v -0.03071194 0.03548869 -0.04065072
+v -0.02898800 0.03612272 -0.04112776
+v -0.02461873 0.04648178 -0.03357673
+v -0.02202379 0.04064465 -0.04061074
+v -0.02461873 0.04150659 -0.03879831
+v -0.02461873 0.04279821 -0.03757366
+v -0.02620231 0.04369421 -0.03588906
+v -0.02569844 0.04599446 -0.03357673
+v -0.04303513 0.02709451 -0.03725188
+v -0.04486344 0.02932402 -0.03395228
+v -0.04448915 0.03034579 -0.03357679
+v -0.04420842 0.03072569 -0.03357679
+v -0.04354979 0.02932403 -0.03523856
+v -0.04225052 0.02932403 -0.03643353
+v -0.04166029 0.03084098 -0.03589255
+v -0.04080011 0.02932404 -0.03771981
+v -0.03993994 0.03162432 -0.03680900
+v -0.03920932 0.03355255 -0.03601123
+v -0.03816920 0.03241029 -0.03772666
+v -0.03740977 0.03431498 -0.03687407
+v -0.03664680 0.03612531 -0.03602265
+v -0.03553109 0.03507999 -0.03773691
+v -0.03379994 0.03588168 -0.03837605
+v -0.03479687 0.03432807 -0.03884512
+v -0.03252228 0.03457435 -0.04018391
+v -0.02692932 0.03948928 -0.03944204
+v -0.02998493 0.03720211 -0.03968970
+v -0.02925072 0.03886312 -0.03872985
+v -0.02461873 0.04002638 -0.04008346
+v -0.02617712 0.04111099 -0.03844107
+v -0.03239630 0.03643971 -0.03883486
+v -0.03097826 0.03828414 -0.03822424
+v -0.02705530 0.04216159 -0.03692313
+v -0.02793347 0.04321214 -0.03538347
+v -0.02696892 0.04470287 -0.03429692
+v -0.02633186 0.04567747 -0.03357673
+v -0.04392770 0.03107674 -0.03357679
+v -0.04093688 0.03256485 -0.03523399
+v -0.04262123 0.03172910 -0.03430495
+v -0.03837793 0.03527647 -0.03528077
+v -0.04182586 0.03358138 -0.03357678
+v -0.04013069 0.03444595 -0.03439966
+v -0.03753935 0.03703441 -0.03440080
+v -0.03567145 0.03784657 -0.03523626
+v -0.03473569 0.03686413 -0.03682499
+v -0.03394030 0.03856445 -0.03591305
+v -0.03239630 0.03772870 -0.03773919
+v -0.02790467 0.04058702 -0.03795716
+v -0.03106825 0.04093545 -0.03570646
+v -0.03016129 0.03989798 -0.03723356
+v -0.03239630 0.03914605 -0.03645291
+v -0.02934071 0.04148825 -0.03624173
+v -0.03016129 0.04247594 -0.03468726
+v -0.02925072 0.04398763 -0.03366806
+v -0.02929031 0.04404004 -0.03357674
+v -0.04304953 0.03212470 -0.03357678
+v -0.03933170 0.03619865 -0.03357677
+v -0.03931370 0.03621700 -0.03357677
+v -0.04173947 0.03367306 -0.03357678
+v -0.04058418 0.03488609 -0.03357677
+v -0.03797485 0.03747979 -0.03357676
+v -0.03675475 0.03861946 -0.03357676
+v -0.03480047 0.03950761 -0.03429123
+v -0.03666479 0.03869806 -0.03357676
+v -0.03656042 0.03878449 -0.03357676
+v -0.03374233 0.04105073 -0.03357675
+v -0.03239630 0.04044027 -0.03521228
+v -0.03414185 0.04073896 -0.03357675
+v -0.03071552 0.04314928 -0.03357674
+v -0.03332126 0.04135200 -0.03357675
+v -0.03239630 0.04167950 -0.03392600
+v -0.02950986 0.04390903 -0.03357674
+v -0.03239630 0.04199389 -0.03357675
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 38
+f 1 38 48
+f 1 48 47
+f 1 47 46
+f 1 46 29
+f 1 29 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 21
+f 1 21 34
+f 1 34 53
+f 1 53 76
+f 1 76 112
+f 1 112 117
+f 1 117 145
+f 1 145 164
+f 1 164 181
+f 1 181 178
+f 1 178 182
+f 1 182 179
+f 1 179 175
+f 1 175 177
+f 1 177 174
+f 1 174 173
+f 1 173 171
+f 1 171 170
+f 1 170 167
+f 1 167 166
+f 1 166 169
+f 1 169 168
+f 1 168 150
+f 1 150 165
+f 1 165 146
+f 1 146 121
+f 1 121 120
+f 1 120 91
+f 1 91 62
+f 1 62 61
+f 1 61 41
+f 1 41 25
+f 1 25 15
+f 1 15 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 9 10
+f 5 12 13
+f 6 7 14
+f 7 15 26
+f 7 26 43
+f 7 43 63
+f 7 63 93
+f 7 93 94
+f 7 94 64
+f 7 64 44
+f 7 44 27
+f 7 27 16
+f 7 16 14
+f 8 17 9
+f 8 18 17
+f 9 17 10
+f 10 19 20
+f 10 20 11
+f 10 17 19
+f 11 21 12
+f 11 20 22
+f 11 22 21
+f 12 21 23
+f 12 23 13
+f 14 16 27
+f 14 27 45
+f 14 45 72
+f 14 72 84
+f 14 84 58
+f 14 58 39
+f 14 39 24
+f 15 25 26
+f 17 18 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 22
+f 21 22 35
+f 21 35 34
+f 22 36 37
+f 22 37 35
+f 22 33 36
+f 24 39 38
+f 25 40 26
+f 25 41 42
+f 25 42 40
+f 26 40 43
+f 27 44 45
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 32
+f 32 51 33
+f 33 51 52
+f 33 52 36
+f 34 35 53
+f 35 37 53
+f 36 52 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 53
+f 38 39 58
+f 38 58 59
+f 38 59 48
+f 40 42 60
+f 40 60 43
+f 41 61 42
+f 42 61 62
+f 42 62 60
+f 43 60 63
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 72
+f 48 59 49
+f 49 59 58
+f 49 58 73
+f 49 73 50
+f 50 73 74
+f 50 74 51
+f 51 74 52
+f 52 75 54
+f 52 74 75
+f 53 57 76
+f 54 77 78
+f 54 78 79
+f 54 79 55
+f 54 75 77
+f 55 79 80
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 57
+f 57 82 76
+f 58 83 73
+f 58 84 85
+f 58 85 86
+f 58 86 77
+f 58 77 83
+f 60 62 87
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 63
+f 62 91 92
+f 62 92 87
+f 63 90 93
+f 64 94 95
+f 64 95 65
+f 65 95 96
+f 65 96 97
+f 65 97 66
+f 66 97 67
+f 67 97 98
+f 67 98 99
+f 67 99 100
+f 67 100 101
+f 67 101 68
+f 68 101 69
+f 69 101 100
+f 69 100 102
+f 69 102 103
+f 69 103 104
+f 69 104 70
+f 70 104 105
+f 70 105 72
+f 70 72 71
+f 72 106 107
+f 72 107 108
+f 72 108 85
+f 72 85 84
+f 72 105 109
+f 72 109 110
+f 72 110 111
+f 72 111 106
+f 73 83 74
+f 74 83 75
+f 75 83 77
+f 76 82 112
+f 77 86 113
+f 77 113 78
+f 78 113 114
+f 78 114 79
+f 79 114 115
+f 79 115 80
+f 80 115 116
+f 80 116 81
+f 81 116 117
+f 81 117 82
+f 82 117 112
+f 85 108 86
+f 86 108 113
+f 87 92 88
+f 88 92 89
+f 89 118 96
+f 89 96 95
+f 89 95 94
+f 89 94 93
+f 89 93 90
+f 89 92 118
+f 91 119 92
+f 91 120 119
+f 92 119 120
+f 92 120 121
+f 92 121 122
+f 92 122 123
+f 92 123 98
+f 92 98 118
+f 96 98 97
+f 96 118 98
+f 98 123 124
+f 98 124 125
+f 98 125 100
+f 98 100 99
+f 100 125 124
+f 100 124 126
+f 100 126 127
+f 100 127 128
+f 100 128 103
+f 100 103 102
+f 103 128 127
+f 103 127 129
+f 103 129 130
+f 103 130 131
+f 103 131 132
+f 103 132 133
+f 103 133 105
+f 103 105 104
+f 105 133 132
+f 105 132 134
+f 105 134 109
+f 106 135 107
+f 106 111 136
+f 106 136 137
+f 106 137 135
+f 107 138 108
+f 107 135 139
+f 107 139 138
+f 108 138 113
+f 109 134 110
+f 110 134 132
+f 110 132 140
+f 110 140 141
+f 110 141 136
+f 110 136 111
+f 113 138 114
+f 114 138 139
+f 114 139 115
+f 115 139 116
+f 116 139 142
+f 116 142 143
+f 116 143 144
+f 116 144 145
+f 116 145 117
+f 121 146 124
+f 121 124 122
+f 122 124 123
+f 124 147 127
+f 124 127 126
+f 124 146 148
+f 124 148 147
+f 127 149 130
+f 127 130 129
+f 127 147 150
+f 127 150 151
+f 127 151 149
+f 130 149 152
+f 130 152 153
+f 130 153 154
+f 130 154 132
+f 130 132 131
+f 132 155 156
+f 132 156 141
+f 132 141 140
+f 132 154 155
+f 135 137 139
+f 136 141 137
+f 137 141 157
+f 137 157 139
+f 139 157 142
+f 141 158 159
+f 141 159 157
+f 141 156 155
+f 141 155 160
+f 141 160 158
+f 142 157 161
+f 142 161 143
+f 143 161 158
+f 143 158 162
+f 143 162 163
+f 143 163 144
+f 144 163 145
+f 145 163 164
+f 146 165 148
+f 147 148 150
+f 148 165 150
+f 149 151 166
+f 149 166 167
+f 149 167 152
+f 150 168 151
+f 151 169 166
+f 151 168 169
+f 152 170 171
+f 152 171 153
+f 152 167 170
+f 153 172 155
+f 153 155 154
+f 153 171 173
+f 153 173 174
+f 153 174 172
+f 155 175 176
+f 155 176 158
+f 155 158 160
+f 155 172 177
+f 155 177 175
+f 157 159 161
+f 158 178 162
+f 158 161 159
+f 158 176 175
+f 158 175 179
+f 158 179 180
+f 158 180 178
+f 162 178 181
+f 162 181 163
+f 163 181 164
+f 172 174 177
+f 178 180 182
+f 179 182 180
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_16.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01581204 0.01638712 -0.04695037
+v 0.03483178 0.01638712 -0.04695037
+v 0.02278644 -0.00041898 -0.04695043
+v 0.04082138 -0.00041901 -0.03907034
+v 0.03726966 0.01638709 -0.03907028
+v 0.03558235 0.01425838 -0.04695038
+v 0.04289900 0.01638710 -0.03955397
+v 0.04355052 0.01604985 -0.03907028
+v 0.04167407 0.01545598 -0.04098728
+v 0.03834146 -0.00041898 -0.04695043
+v 0.04645676 -0.00041901 -0.03907034
+v 0.04342442 0.01638709 -0.03907028
+v 0.03674125 0.01076589 -0.04695039
+v 0.04323828 0.01380596 -0.04006311
+v 0.04431011 0.01380595 -0.03907029
+v 0.03833549 -0.00014423 -0.04695043
+v 0.04648379 0.00087896 -0.03907034
+v 0.04494660 0.01153905 -0.03907030
+v 0.04499164 0.01121989 -0.03911119
+v 0.03716156 0.00907968 -0.04695040
+v 0.03831146 0.00087899 -0.04695043
+v 0.04636969 0.00346502 -0.03907033
+v 0.04503367 0.01121989 -0.03907030
+v 0.04561010 0.00863550 -0.03907031
+v 0.04527984 0.00863550 -0.03938273
+v 0.03726365 0.00863553 -0.04695040
+v 0.03828745 0.00140214 -0.04695042
+v 0.04559209 0.00346503 -0.03980935
+v 0.04420802 0.00525489 -0.04094100
+v 0.04608749 0.00592604 -0.03907032
+v 0.04597339 0.00666800 -0.03907032
+v 0.04406992 0.00697892 -0.04081913
+v 0.03765096 0.00649529 -0.04695041
+v 0.03799621 0.00395035 -0.04695042
+v 0.04545998 0.00625508 -0.03961803
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 26
+f 1 26 33
+f 1 33 34
+f 1 34 27
+f 1 27 21
+f 1 21 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 4
+f 4 11 17
+f 4 17 22
+f 4 22 30
+f 4 30 31
+f 4 31 24
+f 4 24 23
+f 4 23 18
+f 4 18 15
+f 4 15 8
+f 4 8 12
+f 4 12 5
+f 6 9 14
+f 6 14 13
+f 7 12 8
+f 8 15 14
+f 8 14 9
+f 10 16 17
+f 10 17 11
+f 13 14 15
+f 13 15 18
+f 13 18 19
+f 13 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 22 28 29
+f 22 29 30
+f 22 27 28
+f 24 31 32
+f 24 32 25
+f 25 32 26
+f 26 32 33
+f 27 34 29
+f 27 29 28
+f 29 35 30
+f 29 34 33
+f 29 33 35
+f 30 35 31
+f 31 35 32
+f 32 35 33
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_17.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.04902900 0.02348688 -0.03357681
+v -0.04890324 0.02348688 -0.03372177
+v -0.04911391 0.02336052 -0.03357681
+v -0.04376881 0.02348688 -0.03357681
+v -0.04718968 0.02348689 -0.03550453
+v -0.04689412 0.02324588 -0.03595762
+v -0.04933712 0.02296271 -0.03357682
+v -0.05031811 -0.00041903 -0.03357690
+v -0.02276260 0.02348693 -0.04523545
+v -0.04645393 0.02348689 -0.03624752
+v -0.04428758 0.02321312 -0.03849592
+v -0.04604520 0.02156337 -0.03770272
+v -0.04734688 0.02156336 -0.03641646
+v -0.04864542 0.02156336 -0.03508452
+v -0.04963896 0.02236600 -0.03357682
+v -0.05487718 -0.00041903 -0.03357690
+v -0.03274849 -0.00041898 -0.04523554
+v -0.03527326 0.02348693 -0.04523545
+v -0.04461143 0.02348690 -0.03802455
+v -0.04369019 0.02348690 -0.03885658
+v -0.04155846 0.02298614 -0.04093608
+v -0.04326259 0.02156338 -0.04018966
+v -0.04474664 0.02156337 -0.03890567
+v -0.04648536 0.01989260 -0.03813071
+v -0.04907302 0.01986449 -0.03552735
+v -0.04983706 0.02156335 -0.03379824
+v -0.05002571 0.02156335 -0.03357682
+v -0.05488344 0.00087970 -0.03357690
+v -0.05483629 -0.00041903 -0.03363284
+v -0.04254887 -0.00041898 -0.04523554
+v -0.03768798 0.01924677 -0.04523547
+v -0.03915944 0.02072333 -0.04362734
+v -0.04008698 0.02157743 -0.04261497
+v -0.04083529 0.02348691 -0.04121342
+v -0.04211812 0.02348691 -0.04019079
+v -0.04196720 0.02156338 -0.04125338
+v -0.04377510 0.01966095 -0.04062567
+v -0.04688468 0.01817032 -0.03850165
+v -0.04797884 0.01901743 -0.03703505
+v -0.04533775 0.01891681 -0.03956308
+v -0.04945976 0.01813989 -0.03594052
+v -0.05051933 0.01889337 -0.03439972
+v -0.05107271 0.01928650 -0.03357683
+v -0.05023322 0.02112811 -0.03357682
+v -0.05483629 0.00087970 -0.03363625
+v -0.05476712 0.00346546 -0.03357689
+v -0.05375784 0.00087971 -0.03492253
+v -0.05375155 -0.00041902 -0.03491796
+v -0.04572761 -0.00041899 -0.04269494
+v -0.04254887 0.00111141 -0.04523554
+v -0.03774457 0.01913913 -0.04523547
+v -0.04092649 0.01897766 -0.04305780
+v -0.04285699 0.01886999 -0.04164942
+v -0.04418699 0.01793867 -0.04096692
+v -0.04578107 0.01639190 -0.04010180
+v -0.04722425 0.01639189 -0.03881668
+v -0.04852278 0.01639189 -0.03757033
+v -0.04979932 0.01639188 -0.03628522
+v -0.05109787 0.01639188 -0.03488936
+v -0.05178959 0.01763442 -0.03357684
+v -0.05156322 0.01818667 -0.03357683
+v -0.05455646 0.00576338 -0.03357688
+v -0.05369182 0.00346547 -0.03484948
+v -0.05245930 0.00087971 -0.03638684
+v -0.05310700 -0.00041902 -0.03564842
+v -0.04651052 -0.00041900 -0.04205352
+v -0.04729657 0.00087973 -0.04140755
+v -0.04572448 0.00087974 -0.04269380
+v -0.04235708 0.00303726 -0.04523553
+v -0.04564274 0.00346550 -0.04261620
+v -0.04434733 0.00346550 -0.04365594
+v -0.03880416 0.01705415 -0.04523548
+v -0.04132895 0.01733260 -0.04334088
+v -0.04448252 0.01639190 -0.04120546
+v -0.04263062 0.01643871 -0.04262069
+v -0.04621182 0.01380616 -0.04048073
+v -0.04764556 0.01380615 -0.03919559
+v -0.04894411 0.01380615 -0.03799379
+v -0.05021436 0.01380614 -0.03670751
+v -0.05150976 0.01380614 -0.03535278
+v -0.05222977 0.01639187 -0.03360311
+v -0.05221090 0.01650887 -0.03357684
+v -0.05452817 0.00605120 -0.03357688
+v -0.05355661 0.00605121 -0.03470453
+v -0.05239326 0.00346547 -0.03631380
+v -0.05125507 0.00087972 -0.03767312
+v -0.05185248 -0.00041901 -0.03702713
+v -0.05245614 -0.00041902 -0.03638114
+v -0.04729657 -0.00041900 -0.04140866
+v -0.04720224 0.00346549 -0.04132992
+v -0.04859512 0.00087973 -0.04027420
+v -0.04230678 0.00346551 -0.04523553
+v -0.04419956 0.00605124 -0.04354180
+v -0.04549495 0.00605124 -0.04248264
+v -0.03910285 0.01640596 -0.04523548
+v -0.04167164 0.01560800 -0.04358626
+v -0.03947387 0.01557055 -0.04523548
+v -0.04327832 0.01380617 -0.04284441
+v -0.04491644 0.01380616 -0.04155927
+v -0.04649167 0.01183349 -0.04072155
+v -0.04917364 0.01212363 -0.03821863
+v -0.05173928 0.01199024 -0.03560499
+v -0.05263537 0.01380614 -0.03406650
+v -0.05227064 0.01633337 -0.03357684
+v -0.05225178 0.01639187 -0.03357684
+v -0.05432694 0.00753245 -0.03357687
+v -0.05206628 0.00863697 -0.03595425
+v -0.05225807 0.00605121 -0.03616769
+v -0.05117334 0.00346548 -0.03760006
+v -0.04995653 0.00087972 -0.03898906
+v -0.04995340 -0.00041901 -0.03898906
+v -0.05125194 -0.00041901 -0.03766742
+v -0.04859512 -0.00041900 -0.04027304
+v -0.04703875 0.00605123 -0.04119636
+v -0.04850080 0.00346549 -0.04018403
+v -0.04927424 -0.00041900 -0.03963278
+v -0.04987478 0.00346548 -0.03889889
+v -0.04211184 0.00479934 -0.04523552
+v -0.04408951 0.00744825 -0.04345847
+v -0.04683752 0.00863699 -0.04102059
+v -0.04008068 0.01395593 -0.04523549
+v -0.04366505 0.01122274 -0.04314002
+v -0.04552325 0.01107298 -0.04168027
+v -0.04670862 0.01011122 -0.04090874
+v -0.04935600 0.01040138 -0.03839439
+v -0.05192478 0.01026797 -0.03580245
+v -0.05276742 0.01116655 -0.03462460
+v -0.05366352 0.01120164 -0.03357686
+v -0.05331137 0.01272034 -0.03357685
+v -0.05304096 0.01380613 -0.03357685
+v -0.05422631 0.00819235 -0.03357687
+v -0.05355031 0.00873523 -0.03425139
+v -0.05081804 0.00863698 -0.03724053
+v -0.05102555 0.00605122 -0.03745282
+v -0.04973016 0.00605122 -0.03875051
+v -0.04833728 0.00605123 -0.04003564
+v -0.04190746 0.00605125 -0.04523552
+v -0.04512080 0.00844042 -0.04246551
+v -0.04391658 0.00917286 -0.04332949
+v -0.04142953 0.00859254 -0.04523551
+v -0.04176911 0.00681175 -0.04523551
+v -0.04813292 0.00863699 -0.03983590
+v -0.04083215 0.01141229 -0.04523550
+v -0.04088561 0.01122275 -0.04523550
+v -0.04951949 0.00863698 -0.03855076
+v -0.05404711 0.00928048 -0.03357687
+v -0.05388989 0.01013225 -0.03357686
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 44
+f 1 44 43
+f 1 43 61
+f 1 61 60
+f 1 60 82
+f 1 82 105
+f 1 105 104
+f 1 104 130
+f 1 130 129
+f 1 129 128
+f 1 128 147
+f 1 147 146
+f 1 146 131
+f 1 131 106
+f 1 106 83
+f 1 83 62
+f 1 62 46
+f 1 46 28
+f 1 28 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 34
+f 1 34 35
+f 1 35 20
+f 1 20 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 16 29
+f 8 29 48
+f 8 48 65
+f 8 65 88
+f 8 88 87
+f 8 87 112
+f 8 112 111
+f 8 111 116
+f 8 116 113
+f 8 113 89
+f 8 89 66
+f 8 66 49
+f 8 49 30
+f 8 30 17
+f 8 17 9
+f 9 17 30
+f 9 30 50
+f 9 50 69
+f 9 69 92
+f 9 92 118
+f 9 118 137
+f 9 137 141
+f 9 141 140
+f 9 140 144
+f 9 144 143
+f 9 143 121
+f 9 121 97
+f 9 97 95
+f 9 95 72
+f 9 72 51
+f 9 51 31
+f 9 31 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 13
+f 12 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 16 28 29
+f 18 31 32
+f 18 32 33
+f 18 33 21
+f 18 21 34
+f 20 35 21
+f 21 35 34
+f 21 33 36
+f 21 36 22
+f 22 37 23
+f 22 36 37
+f 23 37 24
+f 24 38 39
+f 24 39 25
+f 24 37 40
+f 24 40 38
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 25 39 41
+f 26 44 27
+f 28 45 29
+f 28 46 45
+f 29 45 47
+f 29 47 48
+f 30 49 50
+f 31 51 52
+f 31 52 32
+f 32 52 33
+f 33 52 36
+f 36 52 53
+f 36 53 37
+f 37 54 40
+f 37 53 54
+f 38 40 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 41
+f 38 41 39
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 43
+f 45 46 47
+f 46 62 63
+f 46 63 47
+f 47 63 85
+f 47 85 64
+f 47 64 65
+f 47 65 48
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 70
+f 50 70 71
+f 50 71 69
+f 51 72 52
+f 52 73 53
+f 52 72 73
+f 53 73 54
+f 54 74 55
+f 54 73 75
+f 54 75 74
+f 55 76 56
+f 55 74 76
+f 56 76 77
+f 56 77 78
+f 56 78 57
+f 57 78 58
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 82
+f 59 82 60
+f 62 83 63
+f 63 83 84
+f 63 84 85
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 65
+f 66 89 67
+f 67 90 70
+f 67 70 68
+f 67 89 91
+f 67 91 90
+f 69 71 93
+f 69 93 92
+f 70 94 93
+f 70 93 71
+f 70 90 94
+f 72 95 73
+f 73 96 75
+f 73 95 97
+f 73 97 96
+f 74 75 98
+f 74 98 99
+f 74 99 76
+f 75 96 98
+f 76 100 77
+f 76 99 100
+f 77 100 101
+f 77 101 78
+f 78 101 79
+f 79 101 102
+f 79 102 80
+f 80 102 103
+f 80 103 81
+f 81 103 104
+f 81 104 105
+f 81 105 82
+f 83 106 84
+f 84 106 107
+f 84 107 108
+f 84 108 85
+f 85 108 109
+f 85 109 86
+f 86 109 110
+f 86 110 111
+f 86 111 112
+f 86 112 87
+f 89 113 91
+f 90 114 94
+f 90 91 115
+f 90 115 114
+f 91 113 116
+f 91 116 110
+f 91 110 117
+f 91 117 115
+f 92 93 118
+f 93 94 119
+f 93 119 118
+f 94 114 120
+f 94 120 119
+f 96 97 121
+f 96 121 98
+f 98 122 99
+f 98 121 122
+f 99 122 123
+f 99 123 100
+f 100 123 124
+f 100 124 101
+f 101 125 126
+f 101 126 102
+f 101 124 125
+f 102 126 127
+f 102 127 128
+f 102 128 129
+f 102 129 103
+f 103 130 104
+f 103 129 130
+f 106 131 132
+f 106 132 107
+f 107 126 133
+f 107 133 134
+f 107 134 108
+f 107 132 126
+f 108 134 109
+f 109 134 135
+f 109 135 117
+f 109 117 110
+f 110 116 111
+f 114 115 136
+f 114 136 120
+f 115 117 135
+f 115 135 136
+f 118 119 137
+f 119 120 138
+f 119 138 139
+f 119 139 140
+f 119 140 141
+f 119 141 137
+f 120 136 142
+f 120 142 124
+f 120 124 138
+f 121 143 122
+f 122 139 123
+f 122 143 144
+f 122 144 139
+f 123 139 124
+f 124 139 138
+f 124 142 145
+f 124 145 125
+f 125 145 133
+f 125 133 126
+f 126 132 146
+f 126 146 147
+f 126 147 127
+f 127 147 128
+f 131 146 132
+f 133 145 134
+f 134 145 135
+f 135 145 142
+f 135 142 136
+f 139 144 140
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_18.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03914052 -0.00041896 -0.05065723
+v 0.03914052 -0.00041896 -0.05165770
+v 0.03911862 0.00087998 -0.05071222
+v 0.03831337 0.00087996 -0.04695110
+v 0.03834257 -0.00041898 -0.04695110
+v 0.03850313 -0.00041896 -0.05229874
+v 0.03784385 0.00087998 -0.05290693
+v 0.03911862 0.00087998 -0.05162082
+v 0.03903103 0.00295239 -0.05093619
+v 0.03828662 0.00140177 -0.04695109
+v 0.02278768 -0.00041898 -0.04695110
+v 0.03782927 -0.00041896 -0.05294447
+v 0.03651558 0.00346681 -0.05378869
+v 0.03644989 0.00605355 -0.05377461
+v 0.03639395 0.00780771 -0.05375516
+v 0.03903103 0.00295239 -0.05140758
+v 0.03641582 0.01528679 -0.05100451
+v 0.03726486 0.00863663 -0.04695107
+v 0.03765167 0.00649764 -0.04695108
+v 0.03799468 0.00395157 -0.04695109
+v 0.01428769 -0.00041898 -0.04760422
+v 0.01429499 0.01761081 -0.04695104
+v 0.03653262 -0.00041895 -0.05378470
+v 0.03654720 0.00087999 -0.05379007
+v 0.03530166 0.00346681 -0.05380011
+v 0.03051404 0.02672936 -0.05380002
+v 0.03602173 0.00953223 -0.05370285
+v 0.03699240 0.01122344 -0.05227725
+v 0.03712376 0.00865885 -0.05268563
+v 0.03354035 0.01756273 -0.05372696
+v 0.03663965 0.01381021 -0.05180652
+v 0.03641582 0.01528679 -0.05136058
+v 0.03558384 0.01426170 -0.04695105
+v 0.03674184 0.01076823 -0.04695106
+v 0.03716026 0.00908442 -0.04695107
+v 0.03398797 0.02073422 -0.05068197
+v 0.03411692 0.01822144 -0.04695103
+v 0.03474211 0.01674486 -0.04695104
+v 0.01428769 -0.00041895 -0.05327506
+v 0.01428769 0.01896527 -0.04695103
+v 0.03505108 -0.00041895 -0.05379407
+v 0.03505108 0.00087999 -0.05379944
+v 0.03532112 0.00299682 -0.05380011
+v 0.02963825 0.02911260 -0.05380001
+v 0.03398797 0.02073422 -0.05166567
+v 0.03126088 0.02558582 -0.05094079
+v 0.03204665 0.02170379 -0.04695102
+v 0.01428769 -0.00041154 -0.05331865
+v 0.01429985 -0.00041895 -0.05331865
+v 0.01428769 0.03605139 -0.04695097
+v 0.01577896 0.03371998 -0.05380000
+v 0.03505108 0.00154244 -0.05380011
+v 0.02704495 0.03162908 -0.05380000
+v 0.02882083 0.02826513 -0.05066318
+v 0.02905926 0.02601510 -0.04695100
+v 0.03028050 0.02437199 -0.04695101
+v 0.01428769 0.03450082 -0.05359749
+v 0.01529971 0.03535938 -0.05379999
+v 0.01694423 0.03497448 -0.04695097
+v 0.01613414 0.03603289 -0.04823507
+v 0.01429985 0.03737993 -0.04987523
+v 0.01428769 0.03737993 -0.04986651
+v 0.02650247 0.03209538 -0.05380000
+v 0.02564369 0.03033751 -0.04918393
+v 0.02834160 0.02779144 -0.04894923
+v 0.02661679 0.02861299 -0.04773956
+v 0.02631755 0.02833911 -0.04695100
+v 0.01428769 0.03459333 -0.05356463
+v 0.01528025 0.03583676 -0.05378590
+v 0.01530457 0.03584048 -0.05379999
+v 0.01529971 0.03582196 -0.05379999
+v 0.01930643 0.03388277 -0.04695098
+v 0.02072958 0.03651770 -0.05379999
+v 0.01786382 0.03561469 -0.04899882
+v 0.01428769 0.03738365 -0.04987523
+v 0.02371697 0.03446380 -0.05379999
+v 0.02208703 0.03189551 -0.04695098
+v 0.02494063 0.02949745 -0.04695099
+v 0.01428769 0.03661020 -0.05265870
+v 0.01578139 0.03636596 -0.05379999
+v 0.02107258 0.03339427 -0.04832561
+v 0.01825306 0.03686926 -0.05379998
+v 0.01428769 0.03665090 -0.05255142
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 39
+f 1 39 49
+f 1 49 41
+f 1 41 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 8 16
+f 3 16 9
+f 3 9 10
+f 3 10 4
+f 4 10 20
+f 4 20 19
+f 4 19 18
+f 4 18 35
+f 4 35 34
+f 4 34 33
+f 4 33 38
+f 4 38 37
+f 4 37 47
+f 4 47 56
+f 4 56 55
+f 4 55 67
+f 4 67 78
+f 4 78 77
+f 4 77 72
+f 4 72 59
+f 4 59 50
+f 4 50 40
+f 4 40 22
+f 4 22 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 16 32
+f 9 32 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 22 21
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 26 30
+f 15 30 27
+f 16 29 28
+f 16 28 31
+f 16 31 32
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 17 32 45
+f 17 45 36
+f 17 36 37
+f 17 37 38
+f 17 38 33
+f 21 22 40
+f 21 40 50
+f 21 50 62
+f 21 62 75
+f 21 75 83
+f 21 83 79
+f 21 79 68
+f 21 68 57
+f 21 57 48
+f 21 48 39
+f 23 41 24
+f 24 42 43
+f 24 43 25
+f 24 41 42
+f 25 43 52
+f 25 52 51
+f 25 51 58
+f 25 58 71
+f 25 71 70
+f 25 70 80
+f 25 80 82
+f 25 82 73
+f 25 73 76
+f 25 76 63
+f 25 63 53
+f 25 53 44
+f 25 44 26
+f 26 44 32
+f 26 32 31
+f 26 31 30
+f 27 30 28
+f 28 30 31
+f 32 44 45
+f 36 45 44
+f 36 44 46
+f 36 46 37
+f 37 46 47
+f 39 48 49
+f 41 49 48
+f 41 48 51
+f 41 51 42
+f 42 52 43
+f 42 51 52
+f 44 53 54
+f 44 54 55
+f 44 55 46
+f 46 55 56
+f 46 56 47
+f 48 57 58
+f 48 58 51
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 54 65 55
+f 55 65 64
+f 55 64 66
+f 55 66 67
+f 57 68 69
+f 57 69 70
+f 57 70 71
+f 57 71 58
+f 59 72 60
+f 60 73 61
+f 60 72 74
+f 60 74 73
+f 61 73 75
+f 61 75 62
+f 63 76 64
+f 64 76 77
+f 64 77 66
+f 66 77 78
+f 66 78 67
+f 68 79 69
+f 69 79 70
+f 70 79 80
+f 72 81 73
+f 72 73 74
+f 72 77 81
+f 73 82 75
+f 73 81 76
+f 75 82 83
+f 76 81 77
+f 79 83 82
+f 79 82 80
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_19.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01428769 0.04345653 -0.03907018
+v 0.01428769 0.03805059 -0.03907020
+v 0.01429912 0.04345388 -0.03907018
+v 0.01428769 0.03604990 -0.04695030
+v 0.01428769 0.01897083 -0.04679838
+v 0.01429339 0.01761138 -0.04695037
+v 0.01488948 0.01698336 -0.04695037
+v 0.03726721 0.01638709 -0.03907028
+v 0.01629272 0.04264562 -0.03907018
+v 0.01694587 0.03497400 -0.04695030
+v 0.01428769 0.01897083 -0.04695036
+v 0.01581358 0.01638712 -0.04695037
+v 0.04342492 0.01638709 -0.03907028
+v 0.01682608 0.04240185 -0.03907018
+v 0.01930742 0.03388487 -0.04695031
+v 0.03483149 0.01638712 -0.04695037
+v 0.04327662 0.01677399 -0.03907028
+v 0.04280887 0.01638710 -0.03963650
+v 0.03474023 0.01674222 -0.04695037
+v 0.01948711 0.04111660 -0.03907019
+v 0.02053097 0.04058131 -0.03907019
+v 0.02182297 0.03991616 -0.03907019
+v 0.02203973 0.03980222 -0.03907019
+v 0.02321196 0.03915562 -0.03907020
+v 0.02471788 0.03829173 -0.03907020
+v 0.02670866 0.03699591 -0.03907020
+v 0.02705092 0.03676005 -0.03907020
+v 0.02208822 0.03189738 -0.04695031
+v 0.04223273 0.01897876 -0.03907027
+v 0.03411560 0.01822090 -0.04695036
+v 0.02933831 0.03500577 -0.03907021
+v 0.02631792 0.02834380 -0.04695033
+v 0.04101488 0.02114643 -0.03907026
+v 0.04059277 0.02185928 -0.03907026
+v 0.03204784 0.02170825 -0.04695035
+v 0.02987167 0.03453938 -0.03907021
+v 0.02905880 0.02601975 -0.04695033
+v 0.03973998 0.02325583 -0.03907025
+v 0.03027950 0.02437413 -0.04695034
+v 0.03916099 0.02419654 -0.03907025
+v 0.03050768 0.03398288 -0.03907022
+v 0.03196225 0.03264465 -0.03907022
+v 0.03258689 0.03204045 -0.03907022
+v 0.03323147 0.03141242 -0.03907022
+v 0.03455198 0.03005563 -0.03907023
+v 0.03515378 0.02940374 -0.03907023
+v 0.03567286 0.02882076 -0.03907023
+v 0.03750392 0.02656032 -0.03907024
+v 0.03757808 0.02645962 -0.03907024
+f 1 2 8
+f 1 8 13
+f 1 13 17
+f 1 17 29
+f 1 29 33
+f 1 33 34
+f 1 34 38
+f 1 38 40
+f 1 40 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 36
+f 1 36 31
+f 1 31 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 15
+f 4 15 28
+f 4 28 32
+f 4 32 37
+f 4 37 39
+f 4 39 35
+f 4 35 30
+f 4 30 19
+f 4 19 16
+f 4 16 12
+f 4 12 7
+f 4 7 6
+f 4 6 11
+f 5 11 6
+f 7 12 8
+f 8 12 16
+f 8 16 18
+f 8 18 13
+f 9 14 10
+f 10 14 15
+f 13 18 19
+f 13 19 17
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 16 19 18
+f 17 19 30
+f 17 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 33
+f 30 34 33
+f 30 35 34
+f 31 36 37
+f 31 37 32
+f 34 35 38
+f 35 39 40
+f 35 40 38
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 39
+f 39 48 49
+f 39 49 40
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_2.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.03779833 0.03948690 -0.01898889
+v 0.04322899 0.03948690 -0.01898889
+v 0.05126225 0.02072933 -0.01898896
+v 0.06451544 0.02072916 0.02704347
+v 0.06567994 0.02072915 0.03072943
+v 0.06626777 0.02072914 0.03249711
+v 0.05511065 0.03948672 0.02986515
+v 0.04325856 0.03948690 -0.01893871
+v 0.04440090 0.03865873 -0.01825839
+v 0.04533618 0.03710341 -0.01898890
+v 0.05522896 0.02072933 -0.01898896
+v 0.05600902 0.03948671 0.03222394
+v 0.06652284 0.02072914 0.03312165
+v 0.04402382 0.03948689 -0.01739962
+v 0.04482602 0.03911779 -0.01642938
+v 0.04651919 0.03812619 -0.01469514
+v 0.04612362 0.03761756 -0.01642938
+v 0.04715874 0.03632483 -0.01642939
+v 0.04542491 0.03699141 -0.01898890
+v 0.05496280 0.02143079 -0.01898896
+v 0.05680381 0.02072932 -0.01559855
+v 0.05614579 0.03948671 0.03254179
+v 0.06708846 0.02072913 0.03439305
+v 0.04447853 0.03948689 -0.01642937
+v 0.04690367 0.03857058 -0.01298321
+v 0.04765042 0.03718969 -0.01384754
+v 0.04904783 0.03542872 -0.01385869
+v 0.04680385 0.03588780 -0.01788480
+v 0.04549517 0.03690143 -0.01898890
+v 0.04959865 0.03358693 -0.01571563
+v 0.05493323 0.02150241 -0.01898896
+v 0.05465964 0.02318994 -0.01805770
+v 0.05497757 0.02409156 -0.01632905
+v 0.05461528 0.02565239 -0.01540336
+v 0.07282597 0.02840478 0.03590984
+v 0.07551727 0.02103579 0.03570348
+v 0.07556164 0.02072913 0.03563656
+v 0.05776129 0.03948670 0.03514592
+v 0.06760970 0.02072913 0.03514585
+v 0.04568370 0.03948688 -0.01370812
+v 0.04932139 0.03578310 -0.01257058
+v 0.04640830 0.03948687 -0.01205753
+v 0.06754687 0.03847859 0.03611061
+v 0.04999422 0.03413598 -0.01385869
+v 0.04721788 0.03465567 -0.01898891
+v 0.05167260 0.03283954 -0.01196836
+v 0.05140273 0.03194898 -0.01408734
+v 0.05189070 0.03058463 -0.01510224
+v 0.05026780 0.03204263 -0.01651861
+v 0.04971326 0.03117777 -0.01898893
+v 0.04881125 0.03247049 -0.01898892
+v 0.04737685 0.03443898 -0.01898891
+v 0.05385744 0.02401443 -0.01898895
+v 0.05383895 0.02409157 -0.01894991
+v 0.05426039 0.02491421 -0.01712087
+v 0.05370956 0.02660359 -0.01632904
+v 0.05421233 0.02749048 -0.01385872
+v 0.07028992 0.03359959 0.03581503
+v 0.07282597 0.02840478 0.03657899
+v 0.07551727 0.02103579 0.03670720
+v 0.07556164 0.02072912 0.03676298
+v 0.06793133 0.02072913 0.03560870
+v 0.05779458 0.03948670 0.03519052
+v 0.04698499 0.03948687 -0.01067462
+v 0.06613097 0.03948670 0.03527419
+v 0.06754687 0.03847859 0.03642846
+v 0.05290734 0.02956365 -0.01408735
+v 0.05240087 0.02881630 -0.01642941
+v 0.05159497 0.03010903 -0.01642941
+v 0.05103674 0.02919457 -0.01892759
+v 0.05100716 0.02919457 -0.01898893
+v 0.05382046 0.02409157 -0.01898895
+v 0.05249699 0.02671193 -0.01898894
+v 0.05244523 0.02680559 -0.01898894
+v 0.07028992 0.03359959 0.03664592
+v 0.07072246 0.03190654 0.03706415
+v 0.07315868 0.02673558 0.03696934
+v 0.07365775 0.02415011 0.03727601
+v 0.07410878 0.02072912 0.03754924
+v 0.06840083 0.02072913 0.03612171
+v 0.05782045 0.03948670 0.03522398
+v 0.06613097 0.03948669 0.03706975
+v 0.06613836 0.03947016 0.03707530
+v 0.06798308 0.03707750 0.03687456
+v 0.05204228 0.02824523 -0.01801306
+v 0.05108480 0.02907337 -0.01898893
+v 0.06887773 0.03447365 0.03725933
+v 0.06877423 0.03190654 0.03787272
+v 0.07136940 0.02673558 0.03783364
+v 0.07149881 0.02928801 0.03724815
+v 0.07136940 0.02415011 0.03797861
+v 0.07136940 0.02156465 0.03778902
+v 0.07136940 0.02072912 0.03769424
+v 0.06927698 0.02072912 0.03675740
+v 0.05920307 0.03948670 0.03651212
+v 0.06592765 0.03948669 0.03714224
+v 0.06617903 0.03707750 0.03775005
+v 0.06358754 0.03948669 0.03788390
+v 0.06099974 0.03948669 0.03723145
+f 1 2 10
+f 1 10 19
+f 1 19 29
+f 1 29 45
+f 1 45 52
+f 1 52 51
+f 1 51 50
+f 1 50 71
+f 1 71 86
+f 1 86 74
+f 1 74 73
+f 1 73 72
+f 1 72 53
+f 1 53 31
+f 1 31 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 22
+f 1 22 38
+f 1 38 63
+f 1 63 81
+f 1 81 95
+f 1 95 99
+f 1 99 98
+f 1 98 96
+f 1 96 82
+f 1 82 65
+f 1 65 64
+f 1 64 42
+f 1 42 40
+f 1 40 24
+f 1 24 14
+f 1 14 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 21
+f 3 21 37
+f 3 37 61
+f 3 61 79
+f 3 79 93
+f 3 93 94
+f 3 94 80
+f 3 80 62
+f 3 62 39
+f 3 39 23
+f 3 23 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 12 7
+f 6 13 12
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 12 13 22
+f 13 23 22
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 18
+f 16 18 17
+f 18 28 29
+f 18 29 19
+f 18 27 30
+f 18 30 28
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 22 23 38
+f 23 39 38
+f 24 40 25
+f 25 41 26
+f 25 40 42
+f 25 42 43
+f 25 43 41
+f 26 41 27
+f 27 44 30
+f 27 41 43
+f 27 43 44
+f 28 45 29
+f 28 30 45
+f 30 44 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 45
+f 31 53 32
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 34
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 35 58 75
+f 35 75 59
+f 35 59 60
+f 35 60 36
+f 36 60 61
+f 36 61 37
+f 38 39 62
+f 38 62 63
+f 42 64 43
+f 43 65 82
+f 43 82 66
+f 43 66 75
+f 43 75 58
+f 43 58 67
+f 43 67 48
+f 43 48 47
+f 43 47 46
+f 43 46 44
+f 43 64 65
+f 48 67 68
+f 48 68 69
+f 48 69 50
+f 48 50 49
+f 50 69 70
+f 50 70 71
+f 53 72 54
+f 54 72 73
+f 54 73 55
+f 55 73 56
+f 56 68 57
+f 56 73 74
+f 56 74 68
+f 57 68 67
+f 57 67 58
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 60 77 61
+f 61 77 78
+f 61 78 79
+f 62 80 81
+f 62 81 63
+f 66 82 83
+f 66 83 84
+f 66 84 75
+f 68 74 85
+f 68 85 69
+f 69 85 86
+f 69 86 70
+f 70 86 71
+f 74 86 85
+f 75 84 76
+f 76 84 87
+f 76 87 88
+f 76 88 89
+f 76 89 90
+f 76 90 77
+f 77 90 78
+f 78 90 89
+f 78 89 79
+f 79 89 91
+f 79 91 92
+f 79 92 93
+f 80 94 95
+f 80 95 81
+f 82 96 83
+f 83 96 97
+f 83 97 87
+f 83 87 84
+f 87 97 88
+f 88 98 91
+f 88 91 89
+f 88 97 98
+f 91 98 92
+f 92 98 93
+f 93 98 99
+f 93 99 95
+f 93 95 94
+f 96 98 97
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_20.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.00231814 -0.05269634 -0.03314712
+v -0.00386338 -0.05266649 -0.03314712
+v -0.00386338 -0.05240856 -0.03350771
+v -0.00231814 -0.05242213 -0.03352881
+v -0.00231814 -0.04825730 -0.03314711
+v -0.00645727 -0.05252260 -0.03314712
+v -0.00645727 -0.05233253 -0.03341172
+v -0.00645727 -0.05128451 -0.03469724
+v -0.00386338 -0.05135241 -0.03479442
+v -0.00231814 -0.05199858 -0.03404862
+v -0.02190181 -0.04417388 -0.03314709
+v -0.00231814 -0.03116349 -0.04510668
+v -0.02190181 -0.02496241 -0.04510666
+v -0.00905118 -0.05228368 -0.03314712
+v -0.00905118 -0.05220494 -0.03325367
+v -0.00905118 -0.05114605 -0.03453919
+v -0.00645727 -0.04999218 -0.03622278
+v -0.00386338 -0.05006005 -0.03630239
+v -0.00231814 -0.05084470 -0.03542432
+v -0.00231814 -0.05136597 -0.03481550
+v -0.02190181 -0.04894691 -0.03314711
+v -0.00231814 -0.04015563 -0.04510672
+v -0.02190181 -0.03516543 -0.04510670
+v -0.01034908 -0.05213977 -0.03314712
+v -0.01036249 -0.05213164 -0.03315883
+v -0.00905118 -0.04985100 -0.03606706
+v -0.00645727 -0.04876499 -0.03750949
+v -0.00386338 -0.04885458 -0.03758791
+v -0.00231814 -0.05007364 -0.03632112
+v -0.00231814 -0.04887629 -0.03760667
+v -0.02190181 -0.04787718 -0.03441976
+v -0.02189414 -0.04779300 -0.03452395
+v -0.02066334 -0.04947362 -0.03314711
+v -0.00386338 -0.04206430 -0.04365494
+v -0.00386338 -0.04008233 -0.04510672
+v -0.00231814 -0.04209688 -0.04367835
+v -0.01667183 -0.03770669 -0.04510671
+v -0.01992524 -0.03883615 -0.04320651
+v -0.02190181 -0.04028596 -0.04149367
+v -0.01037208 -0.05213705 -0.03314712
+v -0.01202658 -0.05182211 -0.03314712
+v -0.01160290 -0.05083113 -0.03443264
+v -0.01111595 -0.04968810 -0.03588677
+v -0.00905118 -0.04861023 -0.03735376
+v -0.00905118 -0.04731515 -0.03864748
+v -0.00645727 -0.04747262 -0.03879969
+v -0.00386338 -0.04756222 -0.03888983
+v -0.00231814 -0.04758395 -0.03891327
+v -0.02190181 -0.04778215 -0.03453215
+v -0.02094323 -0.04704367 -0.03582120
+v -0.02061350 -0.04949263 -0.03314711
+v -0.00645727 -0.04196114 -0.04357648
+v -0.00386338 -0.04335936 -0.04261996
+v -0.00469158 -0.04001173 -0.04510672
+v -0.00231814 -0.04338922 -0.04263988
+v -0.02067868 -0.04176566 -0.04085674
+v -0.01423705 -0.03834471 -0.04510671
+v -0.01423705 -0.04117106 -0.04299579
+v -0.01683288 -0.04245257 -0.04140002
+v -0.01894940 -0.04209147 -0.04111432
+v -0.02190181 -0.04146157 -0.04062260
+v -0.01241576 -0.05174338 -0.03314712
+v -0.01284330 -0.04952249 -0.03570644
+v -0.01301776 -0.04697308 -0.03831732
+v -0.01164508 -0.04710339 -0.03844024
+v -0.00905118 -0.04592777 -0.03993300
+v -0.00645727 -0.04610155 -0.04008521
+v -0.00386338 -0.04619657 -0.04017537
+v -0.00231814 -0.04703280 -0.03943192
+v -0.02190181 -0.04568618 -0.03679061
+v -0.01942678 -0.04731245 -0.03610686
+v -0.01963384 -0.04877315 -0.03437645
+v -0.02181937 -0.04558299 -0.03693228
+v -0.02096626 -0.04447253 -0.03839576
+v -0.01942678 -0.04604726 -0.03739239
+v -0.01890721 -0.04980758 -0.03347494
+v -0.01901076 -0.05001935 -0.03314711
+v -0.00818270 -0.04185796 -0.04349923
+v -0.00645727 -0.03984613 -0.04510672
+v -0.00645727 -0.04325347 -0.04253685
+v -0.00386338 -0.04490422 -0.04133327
+v -0.00645727 -0.04480921 -0.04125132
+v -0.00231814 -0.04492593 -0.04135318
+v -0.01965876 -0.04300370 -0.04011916
+v -0.02190181 -0.04318020 -0.03916263
+v -0.01402040 -0.03839901 -0.04510671
+v -0.01164508 -0.04151316 -0.04324516
+v -0.01423705 -0.04282995 -0.04171025
+v -0.01423705 -0.04412230 -0.04066006
+v -0.01683288 -0.04374490 -0.04033576
+v -0.01423705 -0.05134154 -0.03314712
+v -0.01423705 -0.05045101 -0.03423948
+v -0.01423705 -0.04936230 -0.03552616
+v -0.01402426 -0.04785816 -0.03715942
+v -0.01474703 -0.04676673 -0.03811361
+v -0.01402426 -0.04580834 -0.03916847
+v -0.01266500 -0.04432048 -0.04082632
+v -0.01173901 -0.04546623 -0.03992715
+v -0.01093764 -0.04447525 -0.04096095
+v -0.00905118 -0.04463543 -0.04109794
+v -0.00231814 -0.04569700 -0.04066593
+v -0.00231814 -0.04621829 -0.04019760
+v -0.02190181 -0.04556398 -0.03691470
+v -0.01683288 -0.04773055 -0.03654006
+v -0.01683288 -0.04902293 -0.03513863
+v -0.01683288 -0.04647623 -0.03782557
+v -0.02190181 -0.04544453 -0.03703529
+v -0.01942678 -0.04475490 -0.03865800
+v -0.01683288 -0.05011709 -0.03385192
+v -0.01683288 -0.05066551 -0.03314712
+v -0.01837810 -0.05021483 -0.03314711
+v -0.00991198 -0.04170320 -0.04337980
+v -0.00905118 -0.03950132 -0.04510672
+v -0.00904926 -0.04286251 -0.04255793
+v -0.01164508 -0.03899361 -0.04510671
+v -0.01173901 -0.04330509 -0.04179573
+v -0.01683288 -0.04518388 -0.03905140
+v -0.01530874 -0.05107276 -0.03314712
+v -0.01096640 -0.03913479 -0.04510671
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 29
+f 1 29 30
+f 1 30 48
+f 1 48 69
+f 1 69 102
+f 1 102 101
+f 1 101 83
+f 1 83 55
+f 1 55 36
+f 1 36 22
+f 1 22 12
+f 1 12 5
+f 1 5 11
+f 1 11 21
+f 1 21 33
+f 1 33 51
+f 1 51 77
+f 1 77 111
+f 1 111 110
+f 1 110 118
+f 1 118 91
+f 1 91 62
+f 1 62 41
+f 1 41 40
+f 1 40 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 12 13
+f 5 13 11
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 13 23
+f 11 23 39
+f 11 39 61
+f 11 61 85
+f 11 85 107
+f 11 107 103
+f 11 103 70
+f 11 70 49
+f 11 49 31
+f 11 31 21
+f 12 22 35
+f 12 35 54
+f 12 54 79
+f 12 79 113
+f 12 113 119
+f 12 119 115
+f 12 115 86
+f 12 86 57
+f 12 57 37
+f 12 37 23
+f 12 23 13
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 26 17
+f 16 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 29
+f 21 31 32
+f 21 32 33
+f 22 34 35
+f 22 36 34
+f 23 37 38
+f 23 38 39
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 44
+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 30
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 34 52 35
+f 34 36 53
+f 34 53 52
+f 35 52 54
+f 36 55 53
+f 37 56 38
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 56
+f 38 56 39
+f 39 56 61
+f 41 62 63
+f 41 63 42
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 48
+f 48 68 69
+f 49 70 50
+f 50 71 72
+f 50 72 51
+f 50 70 73
+f 50 73 74
+f 50 74 75
+f 50 75 71
+f 51 76 77
+f 51 72 76
+f 52 78 79
+f 52 79 54
+f 52 53 80
+f 52 80 78
+f 53 55 81
+f 53 81 82
+f 53 82 80
+f 55 83 81
+f 56 60 84
+f 56 84 74
+f 56 74 85
+f 56 85 61
+f 57 86 87
+f 57 87 58
+f 58 87 88
+f 58 88 59
+f 59 88 89
+f 59 89 90
+f 59 90 60
+f 60 90 84
+f 62 91 92
+f 62 92 63
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 96
+f 64 96 97
+f 64 97 65
+f 65 97 98
+f 65 98 66
+f 66 98 99
+f 66 99 100
+f 66 100 82
+f 66 82 67
+f 67 82 68
+f 68 82 81
+f 68 81 101
+f 68 101 102
+f 68 102 69
+f 70 103 73
+f 71 104 105
+f 71 105 72
+f 71 75 106
+f 71 106 104
+f 72 105 76
+f 73 103 107
+f 73 107 74
+f 74 84 108
+f 74 108 75
+f 74 107 85
+f 75 108 106
+f 76 105 109
+f 76 109 110
+f 76 110 111
+f 76 111 77
+f 78 112 113
+f 78 113 79
+f 78 80 82
+f 78 82 100
+f 78 100 114
+f 78 114 112
+f 81 83 101
+f 84 90 108
+f 86 115 87
+f 87 115 112
+f 87 112 116
+f 87 116 97
+f 87 97 88
+f 88 97 89
+f 89 97 96
+f 89 96 117
+f 89 117 90
+f 90 117 108
+f 91 118 109
+f 91 109 92
+f 92 109 93
+f 93 109 105
+f 93 105 104
+f 93 104 95
+f 93 95 94
+f 95 106 117
+f 95 117 96
+f 95 104 106
+f 97 116 99
+f 97 99 98
+f 99 116 112
+f 99 112 114
+f 99 114 100
+f 106 108 117
+f 109 118 110
+f 112 115 119
+f 112 119 113
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_21.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v -0.05104860 -0.02023630 -0.03314700
+v -0.05004709 -0.02023629 -0.03436111
+v -0.04968186 -0.02239471 -0.03365396
+v -0.05007277 -0.02242846 -0.03314701
+v -0.04620936 -0.02023630 -0.03314700
+v -0.04940792 -0.02023629 -0.03511860
+v -0.04900276 -0.02052576 -0.03544644
+v -0.04933375 -0.02382524 -0.03324303
+v -0.04855194 -0.02239470 -0.03493948
+v -0.04937369 -0.02389270 -0.03314702
+v -0.02190181 -0.04417568 -0.03314709
+v -0.02637584 -0.02023625 -0.04510664
+v -0.04906554 -0.02023629 -0.03551550
+v -0.04862897 -0.02023629 -0.03596275
+v -0.04725653 -0.02239470 -0.03632923
+v -0.04925386 -0.02411753 -0.03314702
+v -0.04684565 -0.02401071 -0.03591242
+v -0.04785572 -0.02478079 -0.03432365
+v -0.02190181 -0.04894781 -0.03314711
+v -0.02190181 -0.02496062 -0.04510666
+v -0.02571672 -0.02091919 -0.04510665
+v -0.03687040 -0.02023625 -0.04510664
+v -0.04695691 -0.02023628 -0.03765572
+v -0.04640622 -0.02055947 -0.03806082
+v -0.04593828 -0.02239469 -0.03761592
+v -0.04857475 -0.02532884 -0.03314702
+v -0.04422343 -0.02394046 -0.03843197
+v -0.04528488 -0.02483699 -0.03693453
+v -0.04634632 -0.02573633 -0.03540314
+v -0.04713384 -0.02704602 -0.03368794
+v -0.02190181 -0.04787703 -0.03441976
+v -0.02317726 -0.04839978 -0.03314711
+v -0.02461819 -0.04736555 -0.03364117
+v -0.02267506 -0.04669102 -0.03543599
+v -0.02190181 -0.03516253 -0.04510670
+v -0.03535529 -0.02245651 -0.04510665
+v -0.03892195 -0.02116090 -0.04346872
+v -0.03918445 -0.02023626 -0.04363496
+v -0.04648326 -0.02023628 -0.03812988
+v -0.04603528 -0.02023628 -0.03851274
+v -0.04509654 -0.02023628 -0.03931123
+v -0.04464001 -0.02239469 -0.03878672
+v -0.04744486 -0.02728208 -0.03314703
+v -0.04277394 -0.02257177 -0.04019284
+v -0.04138436 -0.02354979 -0.04080752
+v -0.04278822 -0.02487353 -0.03906421
+v -0.04366133 -0.02566328 -0.03795663
+v -0.04448881 -0.02756592 -0.03611967
+v -0.04408076 -0.02886997 -0.03573567
+v -0.04592687 -0.02777110 -0.03450399
+v -0.04658027 -0.02872945 -0.03314704
+v -0.04665734 -0.02860579 -0.03314704
+v -0.02190181 -0.04778149 -0.03453215
+v -0.02464387 -0.04774776 -0.03314711
+v -0.02605055 -0.04702548 -0.03323841
+v -0.02461819 -0.04624698 -0.03492786
+v -0.02461819 -0.04495416 -0.03631642
+v -0.02269788 -0.04409416 -0.03804335
+v -0.02190181 -0.04568769 -0.03679061
+v -0.02190181 -0.04015671 -0.04158496
+v -0.02191037 -0.03515971 -0.04510670
+v -0.03501289 -0.02291743 -0.04510665
+v -0.03658222 -0.02406691 -0.04362092
+v -0.03831132 -0.02288370 -0.04309640
+v -0.04015457 -0.02235536 -0.04214220
+v -0.04190938 -0.02182697 -0.04118799
+v -0.04052551 -0.02023626 -0.04274749
+v -0.04367558 -0.02023627 -0.04050660
+v -0.04363850 -0.02025314 -0.04053120
+v -0.04193221 -0.02688862 -0.03864974
+v -0.03956110 -0.02498031 -0.04132030
+v -0.03901325 -0.02643892 -0.04095856
+v -0.04085936 -0.02498031 -0.04044223
+v -0.04278822 -0.02767834 -0.03749651
+v -0.04128166 -0.02861422 -0.03815217
+v -0.04262272 -0.02990142 -0.03625080
+v -0.04165543 -0.03164953 -0.03588085
+v -0.04338740 -0.03059560 -0.03508116
+v -0.04427479 -0.03170574 -0.03336715
+v -0.04468282 -0.02990142 -0.03431080
+v -0.04438892 -0.03180410 -0.03314705
+v -0.02596210 -0.04713791 -0.03314710
+v -0.02611334 -0.04706482 -0.03314710
+v -0.02755998 -0.04628633 -0.03314710
+v -0.02701212 -0.04556123 -0.03432490
+v -0.02624743 -0.04454946 -0.03591132
+v -0.02461819 -0.04363043 -0.03760196
+v -0.02461819 -0.04233764 -0.03877977
+v -0.02191037 -0.04316951 -0.03916846
+v -0.02190181 -0.04333815 -0.03901392
+v -0.02190181 -0.04544319 -0.03703529
+v -0.02190181 -0.04556403 -0.03691470
+v -0.02190181 -0.04028601 -0.04149367
+v -0.02202168 -0.04013984 -0.04155687
+v -0.02405894 -0.03960868 -0.04116467
+v -0.02578805 -0.03912529 -0.04081693
+v -0.02721187 -0.03735470 -0.04137423
+v -0.02509756 -0.03608718 -0.04312105
+v -0.02636156 -0.03436719 -0.04364555
+v -0.02469523 -0.03320646 -0.04510669
+v -0.03332940 -0.02513486 -0.04510666
+v -0.03750097 -0.02494938 -0.04263746
+v -0.03590881 -0.02579253 -0.04321700
+v -0.04251428 -0.02023627 -0.04136714
+v -0.04361852 -0.02023627 -0.04055226
+v -0.04014602 -0.02752657 -0.03956765
+v -0.03749812 -0.02740855 -0.04141400
+v -0.03657652 -0.02919316 -0.04105575
+v -0.03830846 -0.02816455 -0.04048790
+v -0.03954966 -0.02965409 -0.03877386
+v -0.03882492 -0.03137688 -0.03825755
+v -0.04032007 -0.03037076 -0.03776347
+v -0.04007467 -0.03260226 -0.03643463
+v -0.03913879 -0.03430818 -0.03593823
+v -0.04086791 -0.03337513 -0.03519592
+v -0.04182662 -0.03441500 -0.03348073
+v -0.04260559 -0.03254044 -0.03428154
+v -0.04406365 -0.03221161 -0.03314705
+v -0.02849016 -0.04577762 -0.03314710
+v -0.02931762 -0.04485020 -0.03369737
+v -0.02797656 -0.04406889 -0.03541139
+v -0.02707776 -0.04300090 -0.03694629
+v -0.02618182 -0.04193574 -0.03842971
+v -0.02202168 -0.04143267 -0.04060033
+v -0.02190181 -0.04146358 -0.04062260
+v -0.02480080 -0.04047992 -0.04019408
+v -0.02190181 -0.04316951 -0.03917081
+v -0.02711202 -0.04052208 -0.03908416
+v -0.02721187 -0.03864749 -0.04046802
+v -0.02876124 -0.03681227 -0.04100660
+v -0.02722043 -0.03526372 -0.04270071
+v -0.02528302 -0.03277928 -0.04510669
+v -0.02809069 -0.03368707 -0.04324980
+v -0.02738022 -0.03116328 -0.04510668
+v -0.03252479 -0.02609322 -0.04510667
+v -0.03502429 -0.02764460 -0.04281190
+v -0.03770070 -0.03028642 -0.03967069
+v -0.03342073 -0.02855800 -0.04328958
+v -0.03495868 -0.03009530 -0.04153693
+v -0.03580040 -0.03091879 -0.04056869
+v -0.03689893 -0.03273714 -0.03872002
+v -0.03629972 -0.03403839 -0.03830557
+v -0.03819718 -0.03273714 -0.03778338
+v -0.03730981 -0.03503328 -0.03680929
+v -0.03659077 -0.03690504 -0.03596635
+v -0.03832274 -0.03603100 -0.03524747
+v -0.04008325 -0.03522159 -0.03436467
+v -0.04148425 -0.03514573 -0.03314706
+v -0.04200068 -0.03457802 -0.03314706
+v -0.04325329 -0.03314467 -0.03314705
+v -0.03929574 -0.03703152 -0.03353226
+v -0.02955446 -0.04516496 -0.03314710
+v -0.03102392 -0.04431900 -0.03314709
+v -0.03003096 -0.04365855 -0.03450873
+v -0.03111809 -0.04179522 -0.03573805
+v -0.02980556 -0.04221118 -0.03613964
+v -0.02791093 -0.04140458 -0.03798127
+v -0.02918065 -0.03967895 -0.03867439
+v -0.02983692 -0.03793364 -0.03959929
+v -0.03049034 -0.03607876 -0.04052538
+v -0.02969713 -0.03525809 -0.04147256
+v -0.02989684 -0.03279052 -0.04284823
+v -0.02838461 -0.03029485 -0.04510668
+v -0.03106102 -0.02774576 -0.04510667
+v -0.03249340 -0.03025269 -0.04288335
+v -0.03407128 -0.03182375 -0.04109204
+v -0.03495868 -0.03270622 -0.04000202
+v -0.03319246 -0.03354653 -0.04057691
+v -0.03499291 -0.03466511 -0.03872705
+v -0.03367183 -0.03659028 -0.03828332
+v -0.03499291 -0.03595792 -0.03782319
+v -0.03750384 -0.03782970 -0.03437289
+v -0.03486737 -0.03782125 -0.03647328
+v -0.03391721 -0.03938667 -0.03589024
+v -0.03564632 -0.03862785 -0.03521352
+v -0.03949260 -0.03722545 -0.03314707
+v -0.03818008 -0.03851825 -0.03314707
+v -0.03887344 -0.03785498 -0.03314707
+v -0.03107814 -0.04428530 -0.03314709
+v -0.03214814 -0.04242197 -0.03432372
+v -0.03397998 -0.04200883 -0.03338708
+v -0.03284720 -0.04110947 -0.03510231
+v -0.03214814 -0.04034505 -0.03627895
+v -0.03090979 -0.03905220 -0.03818732
+v -0.02994821 -0.04052208 -0.03753287
+v -0.03194268 -0.03732660 -0.03881137
+v -0.03256757 -0.03547450 -0.03969296
+v -0.03146048 -0.03435875 -0.04107331
+v -0.03082134 -0.03118294 -0.04330133
+v -0.02998531 -0.02883341 -0.04510668
+v -0.03235643 -0.03270622 -0.04155450
+v -0.03264462 -0.03807701 -0.03780565
+v -0.03668495 -0.03955812 -0.03349829
+v -0.03481315 -0.04033379 -0.03430030
+v -0.03686185 -0.03974360 -0.03314708
+v -0.03351488 -0.04255406 -0.03314709
+v -0.03409126 -0.04213530 -0.03314708
+v -0.03543517 -0.04099144 -0.03314708
+v -0.03628832 -0.04026353 -0.03314708
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 26
+f 1 26 43
+f 1 43 52
+f 1 52 51
+f 1 51 81
+f 1 81 118
+f 1 118 150
+f 1 150 149
+f 1 149 148
+f 1 148 176
+f 1 176 178
+f 1 178 177
+f 1 177 195
+f 1 195 199
+f 1 199 198
+f 1 198 197
+f 1 197 196
+f 1 196 179
+f 1 179 153
+f 1 153 152
+f 1 152 119
+f 1 119 84
+f 1 84 83
+f 1 83 82
+f 1 82 54
+f 1 54 32
+f 1 32 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 22
+f 1 22 38
+f 1 38 67
+f 1 67 104
+f 1 104 105
+f 1 105 68
+f 1 68 41
+f 1 41 40
+f 1 40 39
+f 1 39 23
+f 1 23 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 8 10
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 8 16 10
+f 8 9 17
+f 8 17 18
+f 8 18 16
+f 9 15 17
+f 11 19 31
+f 11 31 53
+f 11 53 59
+f 11 59 92
+f 11 92 91
+f 11 91 90
+f 11 90 127
+f 11 127 125
+f 11 125 93
+f 11 93 60
+f 11 60 35
+f 11 35 20
+f 11 20 21
+f 11 21 12
+f 12 21 20
+f 12 20 35
+f 12 35 61
+f 12 61 100
+f 12 100 132
+f 12 132 134
+f 12 134 163
+f 12 163 190
+f 12 190 164
+f 12 164 135
+f 12 135 101
+f 12 101 62
+f 12 62 36
+f 12 36 22
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 17
+f 16 18 26
+f 17 25 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 30 26
+f 18 29 30
+f 19 32 33
+f 19 33 34
+f 19 34 31
+f 22 36 37
+f 22 37 38
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 27
+f 26 30 43
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 27 42 44
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 43
+f 31 34 53
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 53
+f 35 60 61
+f 36 62 63
+f 36 63 64
+f 36 64 37
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 37 67 38
+f 41 68 69
+f 41 69 42
+f 42 69 44
+f 44 69 66
+f 44 66 45
+f 45 70 46
+f 45 66 65
+f 45 65 64
+f 45 64 71
+f 45 71 72
+f 45 72 73
+f 45 73 70
+f 46 70 47
+f 47 49 48
+f 47 70 74
+f 47 74 49
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 79
+f 49 79 80
+f 49 80 51
+f 49 51 50
+f 51 80 79
+f 51 79 81
+f 54 82 55
+f 55 82 83
+f 55 83 84
+f 55 84 85
+f 55 85 86
+f 55 86 56
+f 56 86 57
+f 57 87 58
+f 57 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 92
+f 58 92 59
+f 60 93 94
+f 60 94 61
+f 61 94 95
+f 61 95 96
+f 61 96 97
+f 61 97 98
+f 61 98 99
+f 61 99 100
+f 62 101 63
+f 63 102 64
+f 63 101 103
+f 63 103 102
+f 64 102 71
+f 66 69 104
+f 66 104 67
+f 68 105 69
+f 69 105 104
+f 70 73 72
+f 70 72 106
+f 70 106 75
+f 70 75 74
+f 71 102 72
+f 72 102 103
+f 72 103 107
+f 72 107 108
+f 72 108 109
+f 72 109 106
+f 75 77 76
+f 75 106 110
+f 75 110 111
+f 75 111 112
+f 75 112 77
+f 77 112 111
+f 77 111 113
+f 77 113 114
+f 77 114 115
+f 77 115 116
+f 77 116 117
+f 77 117 78
+f 78 117 79
+f 79 117 116
+f 79 116 118
+f 79 118 81
+f 84 119 120
+f 84 120 85
+f 85 121 86
+f 85 120 121
+f 86 121 122
+f 86 122 123
+f 86 123 87
+f 87 123 88
+f 88 124 125
+f 88 125 89
+f 88 123 126
+f 88 126 124
+f 89 125 127
+f 89 127 90
+f 93 125 94
+f 94 125 124
+f 94 124 95
+f 95 124 126
+f 95 126 96
+f 96 126 123
+f 96 123 128
+f 96 128 129
+f 96 129 97
+f 97 129 130
+f 97 130 131
+f 97 131 98
+f 98 131 99
+f 99 132 100
+f 99 131 133
+f 99 133 134
+f 99 134 132
+f 101 135 103
+f 103 135 136
+f 103 136 107
+f 106 109 110
+f 107 136 108
+f 108 137 109
+f 108 136 138
+f 108 138 139
+f 108 139 140
+f 108 140 137
+f 109 137 110
+f 110 137 111
+f 111 137 140
+f 111 140 141
+f 111 141 142
+f 111 142 143
+f 111 143 113
+f 113 143 114
+f 114 143 142
+f 114 142 144
+f 114 144 145
+f 114 145 146
+f 114 146 115
+f 115 147 116
+f 115 146 147
+f 116 148 149
+f 116 149 150
+f 116 150 118
+f 116 147 151
+f 116 151 148
+f 119 152 120
+f 120 152 153
+f 120 153 154
+f 120 154 121
+f 121 154 155
+f 121 155 156
+f 121 156 122
+f 122 156 157
+f 122 157 123
+f 123 157 128
+f 128 157 158
+f 128 158 129
+f 129 158 130
+f 130 133 131
+f 130 158 159
+f 130 159 160
+f 130 160 161
+f 130 161 133
+f 133 161 162
+f 133 162 163
+f 133 163 134
+f 135 138 136
+f 135 164 138
+f 138 165 166
+f 138 166 139
+f 138 164 165
+f 139 166 140
+f 140 166 167
+f 140 167 142
+f 140 142 141
+f 142 145 144
+f 142 167 168
+f 142 168 169
+f 142 169 170
+f 142 170 171
+f 142 171 145
+f 145 172 146
+f 145 171 170
+f 145 170 173
+f 145 173 174
+f 145 174 175
+f 145 175 172
+f 146 151 147
+f 146 172 151
+f 148 151 176
+f 151 172 177
+f 151 177 178
+f 151 178 176
+f 153 179 154
+f 154 179 155
+f 155 179 180
+f 155 180 181
+f 155 181 182
+f 155 182 174
+f 155 174 183
+f 155 183 184
+f 155 184 185
+f 155 185 157
+f 155 157 156
+f 157 185 158
+f 158 185 184
+f 158 184 159
+f 159 184 186
+f 159 186 160
+f 160 186 170
+f 160 170 187
+f 160 187 188
+f 160 188 161
+f 161 188 162
+f 162 188 189
+f 162 189 163
+f 163 189 190
+f 164 190 165
+f 165 190 189
+f 165 189 166
+f 166 189 191
+f 166 191 168
+f 166 168 167
+f 168 187 170
+f 168 170 169
+f 168 191 188
+f 168 188 187
+f 170 186 184
+f 170 184 192
+f 170 192 174
+f 170 174 173
+f 172 175 193
+f 172 193 177
+f 174 192 184
+f 174 184 183
+f 174 182 181
+f 174 181 194
+f 174 194 175
+f 175 194 193
+f 177 193 195
+f 179 196 181
+f 179 181 180
+f 181 197 198
+f 181 198 199
+f 181 199 193
+f 181 193 194
+f 181 196 197
+f 188 191 189
+f 193 199 195
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_22.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01429010 0.07564493 0.03502155
+v 0.01573760 0.07469404 0.03358235
+v 0.01429976 0.07494762 0.03334576
+v 0.01429010 0.07494762 0.03334576
+v 0.01429010 0.07548435 0.03761316
+v 0.02344794 0.07200825 0.03636367
+v 0.03644411 0.06686278 0.03640508
+v 0.03644411 0.06686278 0.03614671
+v 0.02932481 0.06967747 0.03564080
+v 0.02701366 0.06400586 0.02809814
+v 0.02617166 0.06433340 0.02809814
+v 0.02476278 0.06487858 0.02809814
+v 0.03504967 0.06718399 0.03555031
+v 0.03367456 0.06673388 0.03373824
+v 0.03186758 0.06193288 0.02809813
+v 0.02986280 0.06283730 0.02809813
+v 0.02928623 0.06307609 0.02809813
+v 0.01429253 0.06790034 0.02809815
+v 0.02393047 0.06517018 0.02809814
+v 0.02204388 0.06581257 0.02809814
+v 0.01857230 0.06691986 0.02809815
+v 0.01854336 0.06692832 0.02809815
+v 0.01691971 0.06734248 0.02809815
+v 0.01609465 0.06752001 0.02809815
+v 0.01429010 0.06656907 0.02809814
+v 0.01429010 0.07545052 0.03770367
+v 0.02932481 0.06967746 0.03684776
+v 0.03893381 0.06496095 0.03697642
+v 0.03504967 0.06718398 0.03683684
+v 0.03893381 0.06496096 0.03602785
+v 0.03893381 0.06492504 0.03527881
+v 0.03873115 0.06410093 0.03375130
+v 0.03498936 0.06032900 0.02809812
+v 0.03278435 0.06146588 0.02809813
+v 0.01429010 0.06428269 0.02809814
+v 0.01429010 0.07413616 0.03916247
+v 0.03744289 0.06552938 0.03712360
+v 0.03504967 0.06552093 0.03773417
+v 0.03893381 0.06303801 0.03769707
+v 0.03893381 0.06405020 0.03387125
+v 0.03893381 0.05808910 0.02809811
+v 0.03814733 0.05857936 0.02809812
+v 0.03684941 0.05934220 0.02809812
+v 0.01429010 0.06432918 0.02828460
+v 0.03893381 0.05405725 0.02809810
+v 0.01429010 0.07319370 0.03923553
+v 0.03764312 0.06293658 0.03794892
+v 0.03893381 0.06035010 0.03744412
+v 0.01429010 0.06537304 0.03244079
+v 0.03893381 0.05440802 0.02936503
+v 0.01429010 0.07087983 0.03822370
+v 0.03893381 0.05826658 0.03660459
+v 0.01429010 0.06633871 0.03508255
+v 0.03893381 0.05456651 0.02992873
+v 0.03893381 0.05502718 0.03141260
+v 0.03893381 0.05538004 0.03248871
+v 0.01429010 0.06981058 0.03770690
+v 0.03893381 0.05707055 0.03554047
+v 0.01429010 0.06799118 0.03682050
+v 0.01538779 0.06676769 0.03634184
+v 0.01429010 0.06692406 0.03615104
+v 0.03893381 0.05617458 0.03427571
+f 1 2 3
+f 1 3 4
+f 1 4 25
+f 1 25 35
+f 1 35 44
+f 1 44 49
+f 1 49 53
+f 1 53 61
+f 1 61 59
+f 1 59 57
+f 1 57 51
+f 1 51 46
+f 1 46 36
+f 1 36 26
+f 1 26 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 8
+f 2 8 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 10
+f 3 18 4
+f 3 12 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 3 22 23
+f 3 23 24
+f 3 24 18
+f 4 18 25
+f 5 26 27
+f 5 27 6
+f 6 27 7
+f 7 28 30
+f 7 30 8
+f 7 27 29
+f 7 29 28
+f 8 30 31
+f 8 31 32
+f 8 32 14
+f 8 14 13
+f 10 17 16
+f 10 16 15
+f 10 15 34
+f 10 34 33
+f 10 33 43
+f 10 43 42
+f 10 42 41
+f 10 41 45
+f 10 45 35
+f 10 35 25
+f 10 25 18
+f 10 18 24
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 12
+f 10 12 11
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 26 36 27
+f 27 36 29
+f 28 29 37
+f 28 37 38
+f 28 38 39
+f 28 39 48
+f 28 48 52
+f 28 52 58
+f 28 58 62
+f 28 62 56
+f 28 56 55
+f 28 55 54
+f 28 54 50
+f 28 50 45
+f 28 45 41
+f 28 41 40
+f 28 40 31
+f 28 31 30
+f 29 36 37
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 35 45 44
+f 36 46 47
+f 36 47 39
+f 36 39 38
+f 36 38 37
+f 39 47 48
+f 44 45 49
+f 45 50 49
+f 46 51 52
+f 46 52 48
+f 46 48 47
+f 49 50 54
+f 49 54 55
+f 49 55 56
+f 49 56 53
+f 51 57 52
+f 52 57 59
+f 52 59 60
+f 52 60 61
+f 52 61 58
+f 53 56 62
+f 53 62 61
+f 58 61 62
+f 59 61 60
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_23.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.07235663 -0.00041926 0.02989939
+v 0.07237938 0.00056605 0.02989939
+v 0.06882151 -0.00041926 0.02989939
+v 0.07120099 -0.00041924 0.02472150
+v 0.07237730 0.00087860 0.02989939
+v 0.07121753 0.00087862 0.02472150
+v 0.06542284 0.02072731 0.02989947
+v 0.06451529 0.02072732 0.02704252
+v 0.05126172 0.02072749 -0.01898896
+v 0.05607649 -0.00041908 -0.01898904
+v 0.07090332 -0.00041924 0.02342944
+v 0.07226567 0.00333769 0.02989940
+v 0.07062422 0.00087863 0.02214691
+v 0.07014460 0.00301690 0.02055336
+v 0.07107696 0.00346399 0.02472151
+v 0.06904894 0.02072731 0.02989947
+v 0.05522888 0.02072749 -0.01898896
+v 0.05984934 -0.00041908 -0.01898904
+v 0.07040299 -0.00041923 0.02126639
+v 0.07147181 0.00605140 0.02729132
+v 0.07203827 0.00610314 0.02989941
+v 0.07019836 0.00087864 0.02031886
+v 0.06573295 0.00346407 0.00157416
+v 0.06556756 0.00605149 0.00157417
+v 0.06616086 0.00605148 0.00414876
+v 0.06960503 0.01895545 0.02989946
+v 0.06489982 0.01514477 0.00536911
+v 0.06504038 0.01816480 0.00992967
+v 0.06238182 0.02051010 0.00252655
+v 0.06246242 0.02072741 0.00318694
+v 0.05680627 0.02072748 -0.01559604
+v 0.05713908 0.02035076 -0.01522279
+v 0.05589251 0.01897839 -0.01898897
+v 0.05987002 0.00087878 -0.01898904
+v 0.06002713 -0.00041908 -0.01858226
+v 0.07019006 -0.00041922 0.02035236
+v 0.07180054 0.00868023 0.02989942
+v 0.07180466 0.00863676 0.02989942
+v 0.06749843 0.00753355 0.01047997
+v 0.06641101 -0.00041917 0.00414874
+v 0.06641722 0.00087869 0.00414874
+v 0.06581150 0.00087870 0.00157415
+v 0.06515616 0.00346408 -0.00075156
+v 0.06507761 0.00605150 -0.00040222
+v 0.06589212 0.00863685 0.00414877
+v 0.06497837 0.00786478 -0.00003373
+v 0.07040299 0.01634318 0.02989945
+v 0.06492048 0.01265463 0.00272751
+v 0.06249760 0.01575751 -0.00307249
+v 0.06278081 0.01652750 -0.00111044
+v 0.06245624 0.01814830 -0.00032561
+v 0.06266918 0.01899695 0.00163165
+v 0.05977286 0.01788544 -0.01024591
+v 0.05998787 0.01845880 -0.00871453
+v 0.05949172 0.01975047 -0.00871453
+v 0.05967362 0.02023897 -0.00738419
+v 0.06026074 0.02072744 -0.00461817
+v 0.06223297 0.02072741 0.00232076
+v 0.06234254 0.02072741 0.00271796
+v 0.05737889 0.02072747 -0.01396421
+v 0.05884050 0.02072745 -0.00947063
+v 0.05912371 0.01883969 -0.01117907
+v 0.05815208 0.01897837 -0.01385895
+v 0.05912579 0.01629159 -0.01374888
+v 0.05738510 0.01897838 -0.01575397
+v 0.05765591 0.01394844 -0.01898899
+v 0.06003748 0.00087878 -0.01860143
+v 0.05979973 0.00184752 -0.01898903
+v 0.06080238 -0.00041909 -0.01643360
+v 0.07148215 0.01122007 0.02989943
+v 0.06648337 0.00863685 0.00671379
+v 0.06579084 -0.00041916 0.00157415
+v 0.06518096 0.00087871 -0.00089516
+v 0.06381034 0.00087873 -0.00614483
+v 0.06301649 0.00346411 -0.00871459
+v 0.06239629 0.00554649 -0.01036558
+v 0.06549727 0.01122016 0.00414878
+v 0.06612365 0.01122016 0.00671380
+v 0.06341546 0.01122019 -0.00357018
+v 0.06503626 0.01122017 0.00229202
+v 0.06226604 0.00727077 -0.00996359
+v 0.07100460 0.01383853 0.02989944
+v 0.06247897 0.01330255 -0.00548916
+v 0.06225364 0.01502682 -0.00479047
+v 0.05999200 0.01629158 -0.01117908
+v 0.05949791 0.01708646 -0.01195910
+v 0.06068455 0.01639093 -0.00871454
+v 0.05907410 0.02072745 -0.00871452
+v 0.05994650 0.02072744 -0.00570926
+v 0.05946896 0.01426512 -0.01452891
+v 0.05977906 0.01536219 -0.01281571
+v 0.05768900 0.01384494 -0.01898899
+v 0.05993825 0.00346415 -0.01834299
+v 0.06064114 0.00346414 -0.01643359
+v 0.06081480 0.00087877 -0.01643360
+v 0.05966948 0.00346415 -0.01898903
+v 0.06310124 -0.00041912 -0.00871460
+v 0.07147594 0.01125733 0.02989943
+v 0.06379793 -0.00041913 -0.00614483
+v 0.06345475 -0.00041912 -0.00743210
+v 0.06309917 0.00087874 -0.00871460
+v 0.06248105 0.00346412 -0.01066709
+v 0.06121585 0.00605155 -0.01385900
+v 0.06093055 0.00863692 -0.01385899
+v 0.07101080 0.01380542 0.02989944
+v 0.06045715 0.01122023 -0.01385898
+v 0.05970464 0.01254085 -0.01516539
+v 0.05992790 0.01356340 -0.01374889
+v 0.05843530 0.01123472 -0.01898900
+v 0.05972324 0.00749640 -0.01778308
+v 0.05948756 0.00525259 -0.01898902
+v 0.06035791 0.00605156 -0.01643358
+v 0.06002921 0.00846926 -0.01650533
+v 0.05985762 0.01122024 -0.01556738
+v 0.05932424 0.01122024 -0.01685468
+v 0.05843945 0.01122025 -0.01898900
+v 0.05953306 0.00922067 -0.01740979
+v 0.05940073 0.00605157 -0.01898902
+v 0.05917955 0.00747365 -0.01898901
+v 0.05904930 0.00829542 -0.01898901
+v 0.05901623 0.00849827 -0.01898901
+v 0.05848699 0.01099877 -0.01898900
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 38
+f 1 38 37
+f 1 37 70
+f 1 70 98
+f 1 98 105
+f 1 105 82
+f 1 82 47
+f 1 47 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 18
+f 1 18 35
+f 1 35 69
+f 1 69 97
+f 1 97 100
+f 1 100 99
+f 1 99 72
+f 1 72 40
+f 1 40 36
+f 1 36 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 6 12
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 30
+f 7 30 59
+f 7 59 58
+f 7 58 57
+f 7 57 89
+f 7 89 88
+f 7 88 61
+f 7 61 60
+f 7 60 31
+f 7 31 17
+f 7 17 9
+f 7 9 8
+f 9 17 33
+f 9 33 66
+f 9 66 92
+f 9 92 109
+f 9 109 116
+f 9 116 122
+f 9 122 121
+f 9 121 120
+f 9 120 119
+f 9 119 118
+f 9 118 111
+f 9 111 96
+f 9 96 68
+f 9 68 34
+f 9 34 18
+f 9 18 10
+f 11 19 13
+f 12 20 21
+f 12 15 20
+f 13 19 36
+f 13 36 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 20
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 17 31 32
+f 17 32 33
+f 18 34 35
+f 20 37 38
+f 20 38 21
+f 20 25 39
+f 20 39 37
+f 22 36 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 24 45 39
+f 24 39 25
+f 24 44 46
+f 24 46 45
+f 26 47 27
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 28
+f 28 52 29
+f 29 52 51
+f 29 51 53
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 29 56 57
+f 29 57 58
+f 29 58 59
+f 29 59 30
+f 31 60 32
+f 32 60 61
+f 32 61 62
+f 32 62 63
+f 32 63 64
+f 32 64 65
+f 32 65 33
+f 33 65 66
+f 34 67 35
+f 34 68 67
+f 35 67 69
+f 37 39 70
+f 39 71 70
+f 39 45 71
+f 40 72 42
+f 40 42 41
+f 42 72 73
+f 42 73 43
+f 43 73 74
+f 43 74 75
+f 43 75 44
+f 44 75 76
+f 44 76 46
+f 45 46 77
+f 45 77 78
+f 45 78 70
+f 45 70 71
+f 46 79 48
+f 46 48 80
+f 46 80 77
+f 46 76 81
+f 46 81 79
+f 47 82 48
+f 48 77 80
+f 48 79 83
+f 48 83 84
+f 48 84 49
+f 48 82 78
+f 48 78 77
+f 49 84 53
+f 49 53 51
+f 49 51 50
+f 53 85 86
+f 53 86 62
+f 53 62 55
+f 53 55 54
+f 53 84 87
+f 53 87 85
+f 55 88 56
+f 55 62 88
+f 56 88 89
+f 56 89 57
+f 61 88 62
+f 62 86 63
+f 63 86 64
+f 64 90 65
+f 64 86 91
+f 64 91 90
+f 65 90 66
+f 66 90 92
+f 67 68 93
+f 67 93 94
+f 67 94 95
+f 67 95 69
+f 68 96 93
+f 69 95 97
+f 70 78 98
+f 72 99 73
+f 73 99 74
+f 74 99 100
+f 74 100 97
+f 74 97 101
+f 74 101 102
+f 74 102 75
+f 75 102 76
+f 76 102 94
+f 76 94 103
+f 76 103 104
+f 76 104 81
+f 78 82 105
+f 78 105 98
+f 79 81 104
+f 79 104 106
+f 79 106 83
+f 83 106 91
+f 83 91 84
+f 84 91 85
+f 84 85 87
+f 85 91 86
+f 90 91 107
+f 90 107 92
+f 91 106 108
+f 91 108 107
+f 92 107 109
+f 93 110 94
+f 93 96 111
+f 93 111 110
+f 94 112 103
+f 94 102 95
+f 94 110 112
+f 95 102 101
+f 95 101 97
+f 103 112 104
+f 104 112 110
+f 104 110 113
+f 104 113 114
+f 104 114 106
+f 106 114 107
+f 106 107 108
+f 107 114 115
+f 107 115 116
+f 107 116 109
+f 110 117 113
+f 110 111 118
+f 110 118 119
+f 110 119 120
+f 110 120 121
+f 110 121 117
+f 113 117 114
+f 114 117 115
+f 115 117 116
+f 116 117 122
+f 117 121 122
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_24.obj

@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v 0.05209018 0.02739462 -0.01898894
+v 0.05186598 0.02739462 -0.01953734
+v 0.05166010 0.02760504 -0.01973390
+v 0.05108132 0.02907343 -0.01898893
+v 0.04897444 0.02739462 -0.01898894
+v 0.05185682 0.02739462 -0.01955896
+v 0.04982772 0.02922669 -0.02139089
+v 0.04937477 0.03069967 -0.02040612
+v 0.05172187 0.02739462 -0.01986559
+v 0.05155715 0.02739462 -0.02019778
+v 0.05100354 0.02919468 -0.01898893
+v 0.04719466 0.02826607 -0.01898894
+v 0.04774369 0.02739462 -0.01899680
+v 0.05087087 0.02739463 -0.02156385
+v 0.04949602 0.02830039 -0.02318547
+v 0.04894012 0.03002494 -0.02212209
+v 0.05000614 0.03072710 -0.01898893
+v 0.04799304 0.03187531 -0.02153041
+v 0.04704596 0.03363878 -0.02093681
+v 0.04880285 0.03248142 -0.01898892
+v 0.04971106 0.03117999 -0.01898893
+v 0.02872214 0.04653645 -0.01898887
+v 0.02978130 0.02739469 -0.03906946
+v 0.04975679 0.02739464 -0.02369259
+v 0.04901102 0.02751814 -0.02489947
+v 0.04811200 0.02945545 -0.02430978
+v 0.04721066 0.03132640 -0.02372011
+v 0.04660675 0.03304867 -0.02265280
+v 0.04642145 0.03536333 -0.01960414
+v 0.04721525 0.03465887 -0.01898891
+v 0.02872214 0.02848112 -0.03906946
+v 0.02872214 0.05075869 -0.01898885
+v 0.03682718 0.02739469 -0.03906946
+v 0.04915288 0.02739464 -0.02477763
+v 0.04714205 0.02867321 -0.02672551
+v 0.04672112 0.03061048 -0.02543411
+v 0.04904764 0.02739464 -0.02496240
+v 0.04892179 0.02739464 -0.02516485
+v 0.04627962 0.03207661 -0.02440609
+v 0.04437402 0.03351298 -0.02579579
+v 0.04474920 0.03442330 -0.02394025
+v 0.04458221 0.03634456 -0.02157957
+v 0.04597765 0.03449878 -0.02170930
+v 0.04396453 0.03819950 -0.01997956
+v 0.04533254 0.03710619 -0.01898890
+v 0.04549267 0.03690494 -0.01898890
+v 0.02872214 0.03547546 -0.03906943
+v 0.02916136 0.05051167 -0.01898885
+v 0.02872214 0.05069006 -0.01917951
+v 0.03716116 0.02739469 -0.03881396
+v 0.03567421 0.02882193 -0.03906945
+v 0.03666019 0.02841024 -0.03857218
+v 0.04796101 0.02739465 -0.02668426
+v 0.04672571 0.02803050 -0.02801104
+v 0.04629334 0.02996778 -0.02672551
+v 0.04442435 0.03101535 -0.02841396
+v 0.04496880 0.03189134 -0.02668228
+v 0.04376322 0.03273992 -0.02751174
+v 0.04284589 0.03451023 -0.02674121
+v 0.04193084 0.03622336 -0.02597266
+v 0.04366030 0.03523755 -0.02465770
+v 0.04349786 0.03763684 -0.02157956
+v 0.04172267 0.03857005 -0.02314809
+v 0.04220078 0.03906180 -0.02157956
+v 0.04138411 0.04081608 -0.02003852
+v 0.04290767 0.03973880 -0.01915203
+v 0.04317760 0.03954211 -0.01898889
+v 0.02872214 0.03614793 -0.03856626
+v 0.02933980 0.03500661 -0.03906943
+v 0.02983392 0.05011596 -0.01898886
+v 0.03120191 0.04873904 -0.02034316
+v 0.02872214 0.05064889 -0.01927189
+v 0.03835302 0.02739469 -0.03775254
+v 0.03515722 0.02940288 -0.03906945
+v 0.03591443 0.03013479 -0.03793923
+v 0.03764843 0.02932281 -0.03700755
+v 0.03931837 0.02851086 -0.03607587
+v 0.04692014 0.02739465 -0.02829603
+v 0.04526393 0.02907120 -0.02906852
+v 0.04594562 0.02739466 -0.02964836
+v 0.04289624 0.03198513 -0.02937709
+v 0.04375866 0.03011189 -0.03012600
+v 0.04203379 0.03378516 -0.02863016
+v 0.04128346 0.03550974 -0.02768669
+v 0.04034780 0.03718172 -0.02685522
+v 0.04113934 0.03794563 -0.02486408
+v 0.03941218 0.03883080 -0.02602376
+v 0.04011449 0.03956043 -0.02396969
+v 0.04088312 0.04035180 -0.02157955
+v 0.04270177 0.04003615 -0.01898889
+v 0.03908734 0.04107456 -0.02307537
+v 0.03958832 0.04150683 -0.02157955
+v 0.03865726 0.04329317 -0.01983998
+v 0.04029061 0.04227991 -0.01908126
+v 0.04047592 0.04215641 -0.01898889
+v 0.02890056 0.03605872 -0.03853087
+v 0.02872214 0.03632175 -0.03841685
+v 0.02987509 0.03454227 -0.03906943
+v 0.03148330 0.04912101 -0.01898886
+v 0.03046302 0.04827247 -0.02205910
+v 0.02873357 0.04881913 -0.02304583
+v 0.02970352 0.04912332 -0.02135150
+v 0.02872214 0.05018916 -0.02029402
+v 0.03164570 0.04901582 -0.01900655
+v 0.03294737 0.04816727 -0.01898886
+v 0.03294278 0.04816267 -0.01900655
+v 0.03415066 0.04642210 -0.02084046
+v 0.03351242 0.04595551 -0.02255444
+v 0.03178297 0.04654792 -0.02360016
+v 0.03970957 0.02739468 -0.03647685
+v 0.03455555 0.03005702 -0.03906945
+v 0.03418498 0.03105427 -0.03863705
+v 0.03515491 0.03201032 -0.03709404
+v 0.03612487 0.03296411 -0.03552942
+v 0.03690496 0.03124181 -0.03622328
+v 0.03863438 0.03023543 -0.03543312
+v 0.04188966 0.02850626 -0.03352650
+v 0.04102267 0.02739468 -0.03521887
+v 0.04027690 0.02937086 -0.03447980
+v 0.04437631 0.02838732 -0.03086900
+v 0.04460508 0.02739467 -0.03136237
+v 0.04133149 0.03295493 -0.03034416
+v 0.04202922 0.03123036 -0.03112058
+v 0.04282302 0.02930910 -0.03185376
+v 0.04044162 0.03471838 -0.02953433
+v 0.03881512 0.03565385 -0.03043851
+v 0.03955630 0.03641777 -0.02872649
+v 0.03870988 0.03814235 -0.02773778
+v 0.03772848 0.03975714 -0.02682964
+v 0.03847656 0.04055307 -0.02478937
+v 0.03634448 0.04353561 -0.02285718
+v 0.03692784 0.04403422 -0.02114317
+v 0.03750432 0.04471353 -0.01898888
+v 0.03770561 0.04454429 -0.01898888
+v 0.04018310 0.04242171 -0.01898888
+v 0.03063001 0.03532224 -0.03791761
+v 0.02904012 0.03872791 -0.03606009
+v 0.02983392 0.03705824 -0.03698787
+v 0.02872214 0.03883083 -0.03616625
+v 0.03051106 0.03398420 -0.03906944
+v 0.03163657 0.04902726 -0.01898886
+v 0.03104408 0.04605615 -0.02531613
+v 0.02872214 0.04882142 -0.02305372
+v 0.02872214 0.04883284 -0.02303207
+v 0.02872214 0.04965626 -0.02141045
+v 0.03314639 0.04802545 -0.01898886
+v 0.03495817 0.04673087 -0.01898887
+v 0.03588008 0.04575649 -0.01956479
+v 0.03524642 0.04499488 -0.02184882
+v 0.03456470 0.04419207 -0.02415248
+v 0.03397680 0.04371860 -0.02569941
+v 0.03257221 0.04556899 -0.02433530
+v 0.03323333 0.03141564 -0.03906944
+v 0.03258820 0.03204463 -0.03906944
+v 0.03332024 0.03277654 -0.03796480
+v 0.03439543 0.03383553 -0.03625079
+v 0.03351011 0.03555781 -0.03552547
+v 0.03530820 0.03474584 -0.03467044
+v 0.03621866 0.03565615 -0.03302719
+v 0.03705366 0.03393388 -0.03381541
+v 0.03878308 0.03301898 -0.03299380
+v 0.03784514 0.03212924 -0.03462524
+v 0.03950826 0.03129439 -0.03371911
+v 0.04123542 0.03023086 -0.03283656
+v 0.04357565 0.02739467 -0.03254370
+v 0.04229228 0.02739467 -0.03390979
+v 0.03960433 0.03392928 -0.03127782
+v 0.04041872 0.03212466 -0.03205817
+v 0.03793438 0.03479386 -0.03215250
+v 0.03708566 0.03650471 -0.03131320
+v 0.03619808 0.03822928 -0.03042276
+v 0.03789779 0.03732353 -0.02957363
+v 0.03698044 0.03896119 -0.02870879
+v 0.03603565 0.04068346 -0.02763556
+v 0.03674711 0.04128502 -0.02591959
+v 0.03586178 0.04313764 -0.02415248
+v 0.03720691 0.04496055 -0.01898887
+v 0.03178068 0.03633319 -0.03620164
+v 0.03254932 0.03457887 -0.03708418
+v 0.03159080 0.03359994 -0.03861932
+v 0.02872214 0.03916935 -0.03584193
+v 0.02872214 0.04011625 -0.03488467
+v 0.02902182 0.04127129 -0.03349892
+v 0.02989570 0.03968856 -0.03446403
+v 0.03076957 0.03805776 -0.03543112
+v 0.03196600 0.03264846 -0.03906944
+v 0.03238460 0.04425383 -0.02662324
+v 0.03147185 0.04376435 -0.02831761
+v 0.03005353 0.04565362 -0.02690827
+v 0.02872214 0.04598069 -0.02771611
+v 0.02931463 0.04658452 -0.02617314
+v 0.02872214 0.04730042 -0.02558736
+v 0.03521669 0.04653645 -0.01898887
+v 0.03500621 0.04220447 -0.02666650
+v 0.03430622 0.04140394 -0.02859671
+v 0.03320130 0.04312623 -0.02741343
+v 0.03267743 0.03727553 -0.03461932
+v 0.03357647 0.03821557 -0.03299378
+v 0.03448921 0.03649327 -0.03380951
+v 0.03534479 0.03736015 -0.03215249
+v 0.03446863 0.03901150 -0.03127977
+v 0.03347810 0.04073380 -0.03031075
+v 0.03525328 0.03984634 -0.02950877
+v 0.02872214 0.04133761 -0.03363651
+v 0.02872214 0.04159151 -0.03335543
+v 0.02882736 0.04371177 -0.03079425
+v 0.02979046 0.04219762 -0.03180654
+v 0.03075127 0.04065148 -0.03281883
+v 0.03184702 0.03893147 -0.03371513
+v 0.02976072 0.04424698 -0.02922178
+v 0.02872214 0.04566504 -0.02817409
+v 0.03247382 0.04226394 -0.02931218
+v 0.03055681 0.04312395 -0.03003159
+v 0.02872214 0.04683382 -0.02634217
+v 0.03266141 0.03983035 -0.03204831
+v 0.03174865 0.04139938 -0.03110285
+v 0.02872214 0.04374378 -0.03083356
+v 0.02872214 0.04385586 -0.03068616
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 21
+f 1 21 20
+f 1 20 30
+f 1 30 46
+f 1 46 45
+f 1 45 67
+f 1 67 90
+f 1 90 95
+f 1 95 135
+f 1 135 134
+f 1 134 133
+f 1 133 177
+f 1 177 193
+f 1 193 147
+f 1 147 146
+f 1 146 105
+f 1 105 141
+f 1 141 99
+f 1 99 70
+f 1 70 48
+f 1 48 32
+f 1 32 22
+f 1 22 12
+f 1 12 5
+f 1 5 13
+f 1 13 23
+f 1 23 33
+f 1 33 50
+f 1 50 73
+f 1 73 110
+f 1 110 118
+f 1 118 166
+f 1 166 165
+f 1 165 121
+f 1 121 80
+f 1 80 78
+f 1 78 53
+f 1 53 38
+f 1 38 37
+f 1 37 34
+f 1 34 24
+f 1 24 14
+f 1 14 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 8 11
+f 5 12 13
+f 7 10 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 17 11
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 12 22 13
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 18
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 22 31 23
+f 22 32 49
+f 22 49 72
+f 22 72 103
+f 22 103 145
+f 22 145 144
+f 22 144 143
+f 22 143 192
+f 22 192 214
+f 22 214 190
+f 22 190 211
+f 22 211 218
+f 22 218 217
+f 22 217 205
+f 22 205 204
+f 22 204 182
+f 22 182 181
+f 22 181 139
+f 22 139 97
+f 22 97 68
+f 22 68 47
+f 22 47 31
+f 23 31 47
+f 23 47 69
+f 23 69 98
+f 23 98 140
+f 23 140 186
+f 23 186 154
+f 23 154 153
+f 23 153 111
+f 23 111 74
+f 23 74 51
+f 23 51 33
+f 24 34 25
+f 25 35 36
+f 25 36 26
+f 25 34 37
+f 25 37 38
+f 25 38 35
+f 26 36 27
+f 27 36 39
+f 27 39 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 28 39 40
+f 29 42 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 29 43 42
+f 32 48 49
+f 33 51 52
+f 33 52 50
+f 35 38 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 40
+f 36 40 39
+f 40 57 56
+f 40 56 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 42 62 44
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 67
+f 44 67 45
+f 44 62 63
+f 47 68 69
+f 48 70 49
+f 49 70 71
+f 49 71 72
+f 50 52 73
+f 51 74 75
+f 51 75 52
+f 52 76 77
+f 52 77 73
+f 52 75 76
+f 53 78 54
+f 54 79 56
+f 54 56 55
+f 54 78 80
+f 54 80 79
+f 56 81 58
+f 56 79 82
+f 56 82 81
+f 58 83 59
+f 58 81 83
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 63
+f 60 63 61
+f 61 63 62
+f 63 87 88
+f 63 88 89
+f 63 89 65
+f 63 65 64
+f 63 86 87
+f 65 90 66
+f 65 89 91
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 90
+f 66 90 67
+f 68 96 69
+f 68 97 96
+f 69 96 98
+f 70 99 71
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 71 103 72
+f 71 99 104
+f 71 104 105
+f 71 105 106
+f 71 106 107
+f 71 107 108
+f 71 108 109
+f 71 109 100
+f 73 77 110
+f 74 111 75
+f 75 111 112
+f 75 112 113
+f 75 113 114
+f 75 114 115
+f 75 115 76
+f 76 115 116
+f 76 116 77
+f 77 117 118
+f 77 118 110
+f 77 116 119
+f 77 119 117
+f 79 80 120
+f 79 120 82
+f 80 121 120
+f 81 82 122
+f 81 122 83
+f 82 123 122
+f 82 120 124
+f 82 124 123
+f 83 122 125
+f 83 125 84
+f 84 125 126
+f 84 126 127
+f 84 127 128
+f 84 128 85
+f 85 128 87
+f 85 87 86
+f 87 128 129
+f 87 129 130
+f 87 130 88
+f 88 130 91
+f 88 91 89
+f 91 131 132
+f 91 132 92
+f 91 130 131
+f 92 132 93
+f 93 132 133
+f 93 133 134
+f 93 134 135
+f 93 135 94
+f 94 135 95
+f 96 136 98
+f 96 97 137
+f 96 137 138
+f 96 138 136
+f 97 139 137
+f 98 136 140
+f 99 141 104
+f 100 109 142
+f 100 142 101
+f 101 143 144
+f 101 144 102
+f 101 142 143
+f 102 144 145
+f 102 145 103
+f 104 141 105
+f 105 146 106
+f 106 146 147
+f 106 147 107
+f 107 147 148
+f 107 148 149
+f 107 149 108
+f 108 149 150
+f 108 150 151
+f 108 151 152
+f 108 152 109
+f 109 152 142
+f 111 153 112
+f 112 153 154
+f 112 154 155
+f 112 155 113
+f 113 155 156
+f 113 156 114
+f 114 156 157
+f 114 157 158
+f 114 158 159
+f 114 159 160
+f 114 160 161
+f 114 161 162
+f 114 162 115
+f 115 162 116
+f 116 162 161
+f 116 161 163
+f 116 163 119
+f 117 119 164
+f 117 164 124
+f 117 124 120
+f 117 120 165
+f 117 165 166
+f 117 166 118
+f 119 163 164
+f 120 121 165
+f 122 161 167
+f 122 167 126
+f 122 126 125
+f 122 123 168
+f 122 168 161
+f 123 124 164
+f 123 164 168
+f 126 167 161
+f 126 161 169
+f 126 169 159
+f 126 159 170
+f 126 170 171
+f 126 171 172
+f 126 172 128
+f 126 128 127
+f 128 171 173
+f 128 173 174
+f 128 174 129
+f 128 172 171
+f 129 174 175
+f 129 175 130
+f 130 175 176
+f 130 176 131
+f 131 176 150
+f 131 150 149
+f 131 149 132
+f 132 149 148
+f 132 148 133
+f 133 148 177
+f 136 138 178
+f 136 178 179
+f 136 179 180
+f 136 180 140
+f 137 139 181
+f 137 181 182
+f 137 182 183
+f 137 183 184
+f 137 184 185
+f 137 185 138
+f 138 185 178
+f 140 180 186
+f 142 152 151
+f 142 151 187
+f 142 187 188
+f 142 188 189
+f 142 189 190
+f 142 190 191
+f 142 191 192
+f 142 192 143
+f 147 193 148
+f 148 193 177
+f 150 176 151
+f 151 176 175
+f 151 175 194
+f 151 194 195
+f 151 195 196
+f 151 196 187
+f 154 186 155
+f 155 186 180
+f 155 180 179
+f 155 179 156
+f 156 179 157
+f 157 178 197
+f 157 197 198
+f 157 198 199
+f 157 199 158
+f 157 179 178
+f 158 199 159
+f 159 169 161
+f 159 161 160
+f 159 199 198
+f 159 198 200
+f 159 200 170
+f 161 168 164
+f 161 164 163
+f 170 200 171
+f 171 198 201
+f 171 201 202
+f 171 202 203
+f 171 203 173
+f 171 200 198
+f 173 203 174
+f 174 203 195
+f 174 195 194
+f 174 194 175
+f 178 185 197
+f 182 204 183
+f 183 204 205
+f 183 205 206
+f 183 206 207
+f 183 207 208
+f 183 208 184
+f 184 208 209
+f 184 209 185
+f 185 209 198
+f 185 198 197
+f 187 196 188
+f 188 210 211
+f 188 211 190
+f 188 190 189
+f 188 196 212
+f 188 212 213
+f 188 213 210
+f 190 214 191
+f 191 214 192
+f 195 212 196
+f 195 203 202
+f 195 202 212
+f 198 209 208
+f 198 208 215
+f 198 215 202
+f 198 202 201
+f 202 215 216
+f 202 216 212
+f 205 217 206
+f 206 217 218
+f 206 218 211
+f 206 211 210
+f 206 210 213
+f 206 213 207
+f 207 216 208
+f 207 213 216
+f 208 216 215
+f 212 216 213
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_25.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06219485 -0.00042265 0.00123331
+v 0.06465752 -0.00042269 0.01208852
+v 0.06569443 -0.00042265 0.00123331
+v 0.05036096 -0.03632230 0.00123318
+v 0.06736649 -0.00042274 0.02390461
+v 0.06579166 -0.00042266 0.00157246
+v 0.06567283 -0.00170893 0.00123330
+v 0.05462746 -0.03632230 0.00123318
+v 0.05071308 -0.03632231 0.00269430
+v 0.06881384 -0.00042276 0.02986775
+v 0.06640948 -0.00042267 0.00414707
+v 0.06640302 -0.00170895 0.00414706
+v 0.06577006 -0.00170894 0.00157245
+v 0.06565987 -0.00214471 0.00123330
+v 0.06222941 -0.03621699 0.03010219
+v 0.05750060 -0.03632235 0.01226645
+v 0.05493206 -0.03585138 0.00123318
+v 0.05715064 -0.03409770 0.00528587
+v 0.05733858 -0.03438940 0.00671872
+v 0.05723922 -0.03632240 0.02731845
+v 0.06887648 -0.00042276 0.03010232
+v 0.07018993 -0.00042272 0.02035217
+v 0.07018345 -0.00170900 0.02038605
+v 0.06632090 -0.00429555 0.00414705
+v 0.06568795 -0.00429554 0.00157244
+v 0.06559075 -0.00429553 0.00123329
+v 0.06211706 -0.03632241 0.03010219
+v 0.06014258 -0.03632238 0.02242925
+v 0.05983584 -0.03632238 0.02124226
+v 0.06295523 -0.03505019 0.03010219
+v 0.05521722 -0.03540856 0.00123318
+v 0.05743578 -0.03195739 0.00123319
+v 0.05801689 -0.03632241 0.03010219
+v 0.07242796 -0.00042276 0.03010232
+v 0.07060686 -0.00042273 0.02214956
+v 0.07118580 -0.00170902 0.02472136
+v 0.07241068 -0.00186367 0.03010231
+v 0.06614162 -0.00688215 0.00414704
+v 0.06553241 -0.00688214 0.00157243
+v 0.06544817 -0.00688213 0.00123328
+v 0.06557563 -0.00475594 0.00123329
+v 0.05982503 -0.03166575 0.01004794
+v 0.05986824 -0.02917401 0.00471501
+v 0.06429458 -0.03255496 0.03010220
+v 0.05829341 -0.03043920 0.00123320
+v 0.07120092 -0.00042274 0.02472137
+v 0.07203263 -0.00688224 0.03010229
+v 0.07141910 -0.00688223 0.02729313
+v 0.06578734 -0.00946525 0.00414704
+v 0.06540713 -0.00724762 0.00123328
+v 0.07178635 -0.00946534 0.03010229
+v 0.07114044 -0.00946533 0.02729313
+v 0.05853970 -0.03014751 0.00157235
+v 0.05964140 -0.02878743 0.00300237
+v 0.06038237 -0.02777877 0.00397458
+v 0.06540713 -0.03022491 0.03010221
+v 0.05843815 -0.03016856 0.00123320
+v 0.06517381 -0.00943711 0.00153003
+v 0.06513061 -0.00926138 0.00123328
+v 0.07141049 -0.01205191 0.03010228
+v 0.06526024 -0.01225917 0.00392657
+v 0.05923960 -0.02863631 0.00123320
+v 0.05945996 -0.02838678 0.00157236
+v 0.06008858 -0.02709348 0.00157236
+v 0.06239791 -0.02648903 0.01010163
+v 0.06494483 -0.02899135 0.02574996
+v 0.06173684 -0.02484428 0.00418372
+v 0.06237197 -0.02389186 0.00506833
+v 0.06591480 -0.02756451 0.02729306
+v 0.06733190 -0.02559293 0.03010223
+v 0.06501395 -0.01153169 0.00236092
+v 0.06484544 -0.01325727 0.00292332
+v 0.06409584 -0.01463843 0.00123326
+v 0.07088768 -0.01463149 0.03010227
+v 0.07012295 -0.01357366 0.02579526
+v 0.06004106 -0.02699158 0.00123321
+v 0.06090083 -0.02499185 0.00123322
+v 0.06099805 -0.02497782 0.00157237
+v 0.06212786 -0.02336821 0.00335285
+v 0.06247999 -0.02164265 0.00209237
+v 0.06851790 -0.02240538 0.03010224
+v 0.06781150 -0.02442617 0.03010223
+v 0.06506365 -0.01415347 0.00463877
+v 0.06351043 -0.01722503 0.00123325
+v 0.07035841 -0.01669445 0.03010226
+v 0.07012511 -0.01610754 0.02835288
+v 0.06485411 -0.01587553 0.00549226
+v 0.06185134 -0.02261261 0.00123323
+v 0.06195072 -0.02246150 0.00137174
+v 0.06235901 -0.02132984 0.00123323
+v 0.06279968 -0.02001548 0.00137175
+v 0.06359251 -0.01722504 0.00157240
+v 0.06277808 -0.01996274 0.00123324
+v 0.06191400 -0.02245447 0.00123323
+v 0.06271976 -0.02015604 0.00123324
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 34
+f 1 34 46
+f 1 46 35
+f 1 35 22
+f 1 22 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 41
+f 1 41 40
+f 1 40 50
+f 1 50 59
+f 1 59 73
+f 1 73 84
+f 1 84 93
+f 1 93 95
+f 1 95 90
+f 1 90 94
+f 1 94 88
+f 1 88 77
+f 1 77 76
+f 1 76 62
+f 1 62 57
+f 1 57 45
+f 1 45 32
+f 1 32 31
+f 1 31 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 13
+f 3 13 7
+f 4 8 16
+f 4 16 29
+f 4 29 28
+f 4 28 27
+f 4 27 33
+f 4 33 20
+f 4 20 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 7 13 14
+f 8 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 15
+f 9 20 10
+f 10 20 21
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 14
+f 14 25 26
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 19 30
+f 15 30 44
+f 15 44 56
+f 15 56 70
+f 15 70 82
+f 15 82 81
+f 15 81 85
+f 15 85 74
+f 15 74 60
+f 15 60 51
+f 15 51 47
+f 15 47 37
+f 15 37 34
+f 15 34 21
+f 15 21 33
+f 15 33 27
+f 17 31 18
+f 18 32 30
+f 18 30 19
+f 18 31 32
+f 20 33 21
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 24 36 37
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 30 32 42
+f 30 42 43
+f 30 43 44
+f 32 45 42
+f 34 36 46
+f 34 37 36
+f 35 46 36
+f 37 47 48
+f 37 48 38
+f 38 49 50
+f 38 50 39
+f 38 48 51
+f 38 51 52
+f 38 52 49
+f 39 50 40
+f 42 45 43
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 43 45 53
+f 44 55 56
+f 45 57 53
+f 47 51 48
+f 49 58 59
+f 49 59 50
+f 49 52 60
+f 49 60 61
+f 49 61 58
+f 51 60 52
+f 53 57 54
+f 54 57 62
+f 54 62 63
+f 54 63 64
+f 54 64 55
+f 55 65 66
+f 55 66 56
+f 55 64 67
+f 55 67 68
+f 55 68 65
+f 56 66 69
+f 56 69 70
+f 58 61 71
+f 58 71 59
+f 59 71 72
+f 59 72 73
+f 60 74 75
+f 60 75 72
+f 60 72 61
+f 61 72 71
+f 62 76 63
+f 63 76 64
+f 64 76 77
+f 64 77 78
+f 64 78 67
+f 65 68 66
+f 66 68 69
+f 67 78 68
+f 68 78 79
+f 68 79 80
+f 68 80 81
+f 68 81 82
+f 68 82 69
+f 69 82 70
+f 72 75 83
+f 72 83 84
+f 72 84 73
+f 74 83 75
+f 74 85 86
+f 74 86 87
+f 74 87 83
+f 77 88 89
+f 77 89 80
+f 77 80 79
+f 77 79 78
+f 80 89 90
+f 80 90 91
+f 80 91 85
+f 80 85 81
+f 83 87 92
+f 83 92 84
+f 84 92 91
+f 84 91 93
+f 85 91 86
+f 86 91 92
+f 86 92 87
+f 88 94 89
+f 89 94 90
+f 90 95 91
+f 91 95 93
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_26.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v -0.04101950 -0.02883593 -0.03314380
+v -0.05348890 -0.02883601 -0.01194399
+v -0.04650053 -0.02883593 -0.03314380
+v -0.05072201 -0.00042181 -0.03314369
+v -0.06124358 -0.00042189 -0.01194388
+v -0.05740984 -0.02883601 -0.01194399
+v -0.04654871 -0.02883593 -0.03309814
+v -0.04661066 -0.02876916 -0.03308777
+v -0.04658312 -0.02872745 -0.03314380
+v -0.05520274 -0.00042181 -0.03314369
+v -0.06445556 -0.00042189 -0.01194388
+v -0.05738461 -0.02883601 -0.01203738
+v -0.05748784 -0.02867467 -0.01194399
+v -0.04658770 -0.02883593 -0.03306077
+v -0.04904032 -0.02849381 -0.03026910
+v -0.04808816 -0.02777059 -0.03202296
+v -0.04744578 -0.02728103 -0.03314379
+v -0.04666114 -0.02860506 -0.03314380
+v -0.05548722 -0.00042181 -0.03276800
+v -0.05519815 -0.00170968 -0.03314370
+v -0.06324191 -0.00042187 -0.01643538
+v -0.06443494 -0.00150672 -0.01194389
+v -0.05714828 -0.02883600 -0.01287177
+v -0.05976377 -0.02395430 -0.01194397
+v -0.04769126 -0.02883593 -0.03167221
+v -0.05045587 -0.02739228 -0.02914833
+v -0.04956109 -0.02677199 -0.03095614
+v -0.04893936 -0.02883594 -0.03009064
+v -0.04986166 -0.02883594 -0.02872492
+v -0.04886594 -0.02554529 -0.03267055
+v -0.04857686 -0.02532553 -0.03314378
+v -0.05613421 -0.00042181 -0.03191078
+v -0.05613192 -0.00170968 -0.03190667
+v -0.05503756 -0.00424652 -0.03314371
+v -0.05704504 -0.00304209 -0.03058661
+v -0.06288400 -0.00042187 -0.01756242
+v -0.06321208 -0.00170974 -0.01643539
+v -0.06443034 -0.00170976 -0.01194389
+v -0.06443264 -0.00160964 -0.01194389
+v -0.05750390 -0.02756479 -0.01372480
+v -0.05681791 -0.02842711 -0.01449070
+v -0.05666419 -0.02883600 -0.01428730
+v -0.05966282 -0.02374289 -0.01265795
+v -0.06039241 -0.02236044 -0.01194396
+v -0.05186684 -0.02629077 -0.02802750
+v -0.05135294 -0.02497785 -0.02983946
+v -0.05174984 -0.02345633 -0.03043309
+v -0.04994196 -0.02480260 -0.03183616
+v -0.05098356 -0.02883595 -0.02691917
+v -0.05135294 -0.02801538 -0.02717031
+v -0.04925597 -0.02411555 -0.03314378
+v -0.05707258 -0.00042182 -0.03062602
+v -0.05707028 -0.00170969 -0.03062190
+v -0.05619386 -0.00406014 -0.03161399
+v -0.05474849 -0.00688072 -0.03314372
+v -0.05695097 -0.00476666 -0.03047659
+v -0.05763925 -0.00406015 -0.02949071
+v -0.05788705 -0.00170969 -0.02929560
+v -0.06253526 -0.00042186 -0.01864795
+v -0.06251920 -0.00170973 -0.01859815
+v -0.06305837 -0.00429386 -0.01643540
+v -0.06431333 -0.00429388 -0.01194390
+v -0.06433398 -0.00385159 -0.01194389
+v -0.05726071 -0.02670527 -0.01575263
+v -0.05887129 -0.02475260 -0.01365423
+v -0.05498018 -0.02883598 -0.01879335
+v -0.05938291 -0.02306417 -0.01437442
+v -0.05772646 -0.02511698 -0.01653926
+v -0.05992666 -0.02227695 -0.01365422
+v -0.05973164 -0.02133958 -0.01542883
+v -0.06061265 -0.02173734 -0.01194396
+v -0.05408543 -0.02557591 -0.02475019
+v -0.05347517 -0.02481932 -0.02655593
+v -0.05220871 -0.02497786 -0.02855470
+v -0.05187374 -0.02883596 -0.02548081
+v -0.05217199 -0.02731720 -0.02647706
+v -0.05412444 -0.02239095 -0.02745465
+v -0.05442266 -0.02105301 -0.02797770
+v -0.05212841 -0.02173171 -0.03095197
+v -0.05109139 -0.02251332 -0.03183200
+v -0.04937755 -0.02389021 -0.03314378
+v -0.05789852 -0.00042182 -0.02929559
+v -0.05452591 -0.00845509 -0.03314372
+v -0.05568454 -0.00688072 -0.03186722
+v -0.05682709 -0.00688073 -0.03027529
+v -0.05765075 -0.00688073 -0.02899052
+v -0.05915579 -0.00170970 -0.02712663
+v -0.05908237 -0.00429382 -0.02696682
+v -0.05916494 -0.00042183 -0.02713286
+v -0.06056677 -0.00042184 -0.02415025
+v -0.06056219 -0.00170971 -0.02415026
+v -0.06040388 -0.00429383 -0.02415027
+v -0.06244120 -0.00429385 -0.01835946
+v -0.06233566 -0.00635781 -0.01805019
+v -0.06268210 -0.00708382 -0.01666996
+v -0.06354703 -0.00688079 -0.01386380
+v -0.06411833 -0.00681403 -0.01194391
+v -0.05735018 -0.02434924 -0.01854425
+v -0.05691427 -0.02607384 -0.01746705
+v -0.05483795 -0.02701682 -0.02158082
+v -0.05534498 -0.02780401 -0.01924164
+v -0.05442038 -0.02883598 -0.02025039
+v -0.05901811 -0.02227694 -0.01634623
+v -0.06073655 -0.01980689 -0.01386384
+v -0.05781592 -0.02263020 -0.01924371
+v -0.05998860 -0.01972066 -0.01634622
+v -0.05941504 -0.02052454 -0.01714324
+v -0.06133536 -0.01963723 -0.01194395
+v -0.05348432 -0.02740065 -0.02399470
+v -0.05453281 -0.02643266 -0.02303579
+v -0.05453052 -0.02385133 -0.02558665
+v -0.05259185 -0.02883596 -0.02410469
+v -0.05484713 -0.02239095 -0.02616986
+v -0.05533121 -0.02003773 -0.02696065
+v -0.05475767 -0.01932840 -0.02850486
+v -0.05393399 -0.02003772 -0.02933509
+v -0.05252990 -0.01980682 -0.03148745
+v -0.05156171 -0.01980682 -0.03277431
+v -0.05007731 -0.02242433 -0.03314377
+v -0.05444105 -0.00893353 -0.03314372
+v -0.05433320 -0.01013239 -0.03300672
+v -0.05519129 -0.00934799 -0.03203536
+v -0.05664354 -0.00946482 -0.02996601
+v -0.05901353 -0.00680563 -0.02651434
+v -0.05967659 -0.00589325 -0.02551807
+v -0.05745114 -0.00946482 -0.02867917
+v -0.05984407 -0.00170971 -0.02583977
+v -0.05976148 -0.00429383 -0.02567998
+v -0.05984636 -0.00042184 -0.02584600
+v -0.06020657 -0.00042184 -0.02499917
+v -0.06007120 -0.00680564 -0.02430801
+v -0.06105316 -0.00688076 -0.02158075
+v -0.06070901 -0.00946485 -0.02158075
+v -0.06254213 -0.00946487 -0.01608050
+v -0.06326256 -0.00946488 -0.01386380
+v -0.06376960 -0.00946489 -0.01194391
+v -0.05701523 -0.02365385 -0.02025867
+v -0.05413819 -0.02831024 -0.02158082
+v -0.05584056 -0.02497788 -0.02158081
+v -0.05380093 -0.02883597 -0.02162233
+v -0.06228978 -0.01612683 -0.01275340
+v -0.05738003 -0.02192924 -0.02113870
+v -0.05973394 -0.01879995 -0.01798385
+v -0.06236320 -0.01657747 -0.01194394
+v -0.05484942 -0.02481933 -0.02399469
+v -0.05586348 -0.02239096 -0.02415033
+v -0.05703359 -0.02108640 -0.02285310
+v -0.05669630 -0.02005719 -0.02426864
+v -0.05734789 -0.01936180 -0.02349029
+v -0.05723088 -0.01646337 -0.02579210
+v -0.05501690 -0.01705026 -0.02933508
+v -0.05420930 -0.01779851 -0.03021927
+v -0.05681791 -0.01463584 -0.02761027
+v -0.05183930 -0.01846888 -0.03313544
+v -0.05125888 -0.01978736 -0.03314376
+v -0.05423226 -0.01004059 -0.03314373
+v -0.05379175 -0.01200443 -0.03314373
+v -0.05412673 -0.01205171 -0.03272862
+v -0.05507654 -0.01205171 -0.03144176
+v -0.05649212 -0.01227425 -0.02924167
+v -0.05724235 -0.01155938 -0.02834708
+v -0.05846750 -0.00946483 -0.02672191
+v -0.05951599 -0.00761785 -0.02527111
+v -0.05995877 -0.00946484 -0.02361482
+v -0.05977295 -0.01139806 -0.02317271
+v -0.06012857 -0.01217692 -0.02175510
+v -0.06237696 -0.01151492 -0.01557200
+v -0.06272111 -0.01224648 -0.01408175
+v -0.06346674 -0.01139532 -0.01194392
+v -0.05680184 -0.02263019 -0.02182986
+v -0.05986013 -0.01463586 -0.02092281
+v -0.05967888 -0.01607117 -0.02041223
+v -0.05991749 -0.01704751 -0.01890745
+v -0.06284958 -0.01463590 -0.01194393
+v -0.06245956 -0.01463589 -0.01330341
+v -0.06051629 -0.01463587 -0.01900708
+v -0.05898371 -0.01704750 -0.02139397
+v -0.05780216 -0.02005720 -0.02182985
+v -0.05768744 -0.01728395 -0.02426863
+v -0.05851567 -0.01463585 -0.02415030
+v -0.05749702 -0.01463584 -0.02632551
+v -0.05701752 -0.01328398 -0.02797974
+v -0.05578778 -0.01463583 -0.02929564
+v -0.05449610 -0.01607671 -0.03065100
+v -0.05317000 -0.01727278 -0.03189218
+v -0.05377110 -0.01463582 -0.03224707
+v -0.05236242 -0.01686110 -0.03314375
+v -0.05184620 -0.01842160 -0.03314376
+v -0.05183244 -0.01846054 -0.03314376
+v -0.05306906 -0.01463582 -0.03314374
+v -0.05471405 -0.01463583 -0.03096024
+v -0.05777922 -0.01227426 -0.02696271
+v -0.05935310 -0.00946484 -0.02489959
+v -0.05916268 -0.01217691 -0.02407764
+v -0.05955040 -0.01312268 -0.02272854
+v -0.06217964 -0.01323672 -0.01508424
+v -0.06296430 -0.01407957 -0.01194393
+v -0.06334516 -0.01209628 -0.01194392
+v -0.05935769 -0.01463586 -0.02220966
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 42
+f 1 42 66
+f 1 66 102
+f 1 102 140
+f 1 140 112
+f 1 112 75
+f 1 75 49
+f 1 49 29
+f 1 29 28
+f 1 28 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 31
+f 1 31 51
+f 1 51 81
+f 1 81 119
+f 1 119 155
+f 1 155 189
+f 1 189 188
+f 1 188 187
+f 1 187 190
+f 1 190 157
+f 1 157 156
+f 1 156 120
+f 1 120 83
+f 1 83 55
+f 1 55 34
+f 1 34 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 39
+f 2 39 38
+f 2 38 63
+f 2 63 62
+f 2 62 97
+f 2 97 136
+f 2 136 169
+f 2 169 198
+f 2 198 197
+f 2 197 174
+f 2 174 144
+f 2 144 108
+f 2 108 71
+f 2 71 44
+f 2 44 24
+f 2 24 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 19
+f 4 19 32
+f 4 32 52
+f 4 52 82
+f 4 82 89
+f 4 89 129
+f 4 129 130
+f 4 130 90
+f 4 90 59
+f 4 59 36
+f 4 36 21
+f 4 21 11
+f 4 11 5
+f 6 13 12
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 20 19
+f 11 21 22
+f 12 13 24
+f 12 24 23
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 28
+f 15 28 29
+f 15 29 26
+f 16 27 30
+f 16 30 17
+f 17 30 31
+f 19 20 33
+f 19 33 32
+f 20 34 35
+f 20 35 33
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 23 40 41
+f 23 41 42
+f 23 24 43
+f 23 43 40
+f 24 44 43
+f 26 45 27
+f 26 29 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 30
+f 29 49 50
+f 29 50 45
+f 30 48 51
+f 30 51 31
+f 32 33 53
+f 32 53 52
+f 33 35 53
+f 34 54 35
+f 34 55 54
+f 35 54 56
+f 35 56 57
+f 35 57 58
+f 35 58 53
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 38
+f 40 64 41
+f 40 43 65
+f 40 65 64
+f 41 64 66
+f 41 66 42
+f 43 67 68
+f 43 68 65
+f 43 44 69
+f 43 69 70
+f 43 70 67
+f 44 71 69
+f 45 72 73
+f 45 73 74
+f 45 74 46
+f 45 50 75
+f 45 75 76
+f 45 76 72
+f 46 74 47
+f 47 77 78
+f 47 78 79
+f 47 79 80
+f 47 80 81
+f 47 81 48
+f 47 74 77
+f 48 81 51
+f 49 75 50
+f 52 53 82
+f 53 58 82
+f 54 55 56
+f 55 83 84
+f 55 84 56
+f 56 85 86
+f 56 86 57
+f 56 84 85
+f 57 87 58
+f 57 86 88
+f 57 88 87
+f 58 87 89
+f 58 89 82
+f 59 90 91
+f 59 91 60
+f 60 91 92
+f 60 92 93
+f 60 93 61
+f 61 93 94
+f 61 94 95
+f 61 95 96
+f 61 96 97
+f 61 97 62
+f 64 68 98
+f 64 98 99
+f 64 99 100
+f 64 100 101
+f 64 101 102
+f 64 102 66
+f 64 65 68
+f 67 70 103
+f 67 103 98
+f 67 98 68
+f 69 71 104
+f 69 104 70
+f 70 105 103
+f 70 104 106
+f 70 106 107
+f 70 107 105
+f 71 108 104
+f 72 76 75
+f 72 75 109
+f 72 109 110
+f 72 110 111
+f 72 111 73
+f 73 111 74
+f 74 111 77
+f 75 112 109
+f 77 111 78
+f 78 111 113
+f 78 113 114
+f 78 114 115
+f 78 115 116
+f 78 116 79
+f 79 116 117
+f 79 117 118
+f 79 118 80
+f 80 119 81
+f 80 118 119
+f 83 120 121
+f 83 121 122
+f 83 122 84
+f 84 122 85
+f 85 122 123
+f 85 123 86
+f 86 124 125
+f 86 125 88
+f 86 123 126
+f 86 126 124
+f 87 127 89
+f 87 88 127
+f 88 125 128
+f 88 128 127
+f 89 127 129
+f 90 130 91
+f 91 127 128
+f 91 128 92
+f 91 130 127
+f 92 128 125
+f 92 125 131
+f 92 131 132
+f 92 132 93
+f 93 132 94
+f 94 132 133
+f 94 133 134
+f 94 134 135
+f 94 135 95
+f 95 135 96
+f 96 135 97
+f 97 135 136
+f 98 103 105
+f 98 105 137
+f 98 137 100
+f 98 100 99
+f 100 110 138
+f 100 138 102
+f 100 102 101
+f 100 137 139
+f 100 139 110
+f 102 138 140
+f 104 108 141
+f 104 141 106
+f 105 107 142
+f 105 142 137
+f 106 143 107
+f 106 141 143
+f 107 143 142
+f 108 144 141
+f 109 112 110
+f 110 112 138
+f 110 139 145
+f 110 145 111
+f 111 145 146
+f 111 146 113
+f 112 140 138
+f 113 146 147
+f 113 147 114
+f 114 147 148
+f 114 148 149
+f 114 149 150
+f 114 150 115
+f 115 151 152
+f 115 152 116
+f 115 150 153
+f 115 153 151
+f 116 152 117
+f 117 152 154
+f 117 154 118
+f 118 154 155
+f 118 155 119
+f 120 156 121
+f 121 156 157
+f 121 157 158
+f 121 158 159
+f 121 159 122
+f 122 159 123
+f 123 159 160
+f 123 160 161
+f 123 161 126
+f 124 126 162
+f 124 162 125
+f 125 162 163
+f 125 163 131
+f 126 161 162
+f 127 130 129
+f 131 163 164
+f 131 164 133
+f 131 133 132
+f 133 164 165
+f 133 165 166
+f 133 166 167
+f 133 167 134
+f 134 167 135
+f 135 167 168
+f 135 168 169
+f 135 169 136
+f 137 142 147
+f 137 147 170
+f 137 170 139
+f 139 170 145
+f 141 171 172
+f 141 172 173
+f 141 173 143
+f 141 144 174
+f 141 174 175
+f 141 175 176
+f 141 176 171
+f 142 143 147
+f 143 173 172
+f 143 172 177
+f 143 177 178
+f 143 178 147
+f 145 170 147
+f 145 147 146
+f 147 178 149
+f 147 149 148
+f 149 178 177
+f 149 177 179
+f 149 179 150
+f 150 180 181
+f 150 181 153
+f 150 179 180
+f 151 153 182
+f 151 182 183
+f 151 183 184
+f 151 184 152
+f 152 184 185
+f 152 185 154
+f 153 181 182
+f 154 185 186
+f 154 186 187
+f 154 187 188
+f 154 188 189
+f 154 189 155
+f 157 190 158
+f 158 190 186
+f 158 186 159
+f 159 186 191
+f 159 191 160
+f 160 191 183
+f 160 183 182
+f 160 182 161
+f 161 182 192
+f 161 192 162
+f 162 193 163
+f 162 192 193
+f 163 193 164
+f 164 193 165
+f 165 193 192
+f 165 192 194
+f 165 194 195
+f 165 195 166
+f 166 195 171
+f 166 171 196
+f 166 196 167
+f 167 196 168
+f 168 196 175
+f 168 175 197
+f 168 197 198
+f 168 198 169
+f 171 199 172
+f 171 176 196
+f 171 195 199
+f 172 199 177
+f 174 197 175
+f 175 196 176
+f 177 199 179
+f 179 199 180
+f 180 199 195
+f 180 195 194
+f 180 194 181
+f 181 194 192
+f 181 192 182
+f 183 191 184
+f 184 191 186
+f 184 186 185
+f 186 190 187
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_27.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.03039943 0.06974114 0.03772158
+v -0.03039943 0.06974114 0.03793770
+v -0.03039943 0.06960441 0.03711040
+v -0.03099302 0.06922944 0.03655637
+v -0.03130393 0.06947162 0.03827060
+v -0.03039943 0.06964739 0.03915258
+v -0.03130393 0.06947162 0.03897616
+v -0.03039943 0.06938179 0.03639738
+v -0.03039943 0.06078467 0.01504659
+v -0.03633115 0.06683116 0.03628309
+v -0.03664207 0.06697568 0.03758490
+v -0.03671477 0.06701081 0.03911528
+v -0.03039943 0.06938178 0.03932645
+v -0.03499459 0.06739750 0.03942333
+v -0.03039943 0.05708958 0.01504658
+v -0.03083149 0.06059329 0.01504659
+v -0.03254761 0.05982770 0.01504659
+v -0.03372670 0.05922619 0.01504659
+v -0.03386802 0.05915197 0.01504659
+v -0.03400933 0.05907384 0.01504659
+v -0.03741736 0.05709740 0.01504658
+v -0.04178237 0.06441330 0.03817120
+v -0.04178237 0.06441330 0.03909292
+v -0.04018334 0.06483515 0.03940594
+v -0.03039943 0.06812793 0.03986059
+v -0.03758292 0.06563588 0.03959974
+v -0.03499459 0.06551870 0.04009908
+v -0.05926660 0.02983723 0.01504648
+v -0.03039943 0.05802311 0.02138672
+v -0.05988844 0.02983722 0.01976184
+v -0.05950081 0.02983723 0.01700665
+v -0.03792614 0.05679271 0.01504658
+v -0.04014701 0.05540999 0.01504657
+v -0.04197619 0.05423425 0.01504657
+v -0.04489158 0.06215170 0.03758488
+v -0.04949078 0.05923391 0.03832272
+v -0.03868528 0.05633182 0.01504658
+v -0.04949078 0.05923391 0.03907302
+v -0.04485523 0.06213609 0.03931402
+v -0.04269896 0.06297197 0.03955499
+v -0.04018334 0.06293290 0.04008665
+v -0.03039943 0.06751469 0.04000469
+v -0.03239821 0.06551870 0.04013386
+v -0.06871537 0.03190732 0.04042692
+v -0.06300574 0.02983723 0.01504648
+v -0.03039943 0.05814418 0.02220160
+v -0.06115636 0.02983719 0.02745347
+v -0.04228306 0.05401163 0.01504657
+v -0.04327236 0.05328511 0.01504657
+v -0.04491580 0.05199222 0.01504656
+v -0.04522673 0.05173834 0.01504656
+v -0.04783523 0.04960172 0.01504655
+v -0.04908697 0.04856662 0.01504655
+v -0.05494602 0.05432794 0.03806184
+v -0.04796444 0.05978466 0.03939350
+v -0.05494602 0.05432794 0.03924442
+v -0.05043565 0.05767931 0.03943325
+v -0.04557803 0.06056587 0.03969659
+v -0.04796444 0.05776132 0.04005185
+v -0.06093427 0.04483629 0.04017849
+v -0.06611898 0.03707890 0.04031762
+v -0.03039943 0.06551870 0.03991028
+v -0.06871537 0.02983714 0.04029769
+v -0.06897382 0.03475093 0.03985550
+v -0.07098468 0.03190732 0.03970894
+v -0.07150156 0.02983714 0.03986544
+v -0.07124714 0.02983714 0.03994493
+v -0.07164690 0.02983715 0.03741831
+v -0.07045166 0.03405956 0.03812141
+v -0.06245254 0.03104417 0.01504648
+v -0.03039943 0.05850745 0.02449219
+v -0.06157631 0.02983718 0.02985088
+v -0.03039943 0.05873788 0.02588594
+v -0.05039930 0.04727375 0.01504654
+v -0.05753838 0.05181245 0.03807924
+v -0.05753838 0.05181245 0.03927422
+v -0.05578187 0.05264051 0.03961459
+v -0.05310068 0.05518336 0.03952764
+v -0.05837826 0.05002739 0.03963197
+v -0.06092621 0.04737910 0.03959716
+v -0.06352662 0.04225048 0.04010896
+v -0.06626432 0.03975454 0.03975365
+v -0.06832774 0.03707890 0.03961951
+v -0.03039943 0.06500702 0.03974383
+v -0.06810161 0.02983714 0.04011634
+v -0.07045166 0.03405956 0.03935863
+v -0.06777048 0.03894990 0.03829284
+v -0.06175801 0.03233708 0.01504649
+v -0.06192355 0.03203239 0.01504649
+v -0.06205278 0.02983717 0.03243961
+v -0.03039943 0.05897224 0.02729706
+v -0.03039943 0.05940189 0.02982617
+v -0.05089600 0.04676986 0.01504654
+v -0.06005804 0.04918368 0.03816865
+v -0.06005804 0.04918368 0.03925434
+v -0.06252522 0.04649246 0.03918229
+v -0.06344587 0.04464099 0.03944312
+v -0.06538409 0.04225049 0.03935866
+v -0.06777048 0.03894990 0.03926672
+v -0.03039943 0.06369070 0.03920220
+v -0.06637740 0.02983715 0.03939587
+v -0.06489953 0.04364495 0.03871025
+v -0.05967445 0.03584862 0.01504650
+v -0.05989652 0.03548926 0.01504650
+v -0.06041742 0.03463384 0.01504650
+v -0.06066779 0.03420808 0.01504650
+v -0.06256154 0.02983716 0.03506560
+v -0.03039943 0.05990578 0.03243972
+v -0.05641985 0.04019992 0.01504652
+v -0.06252522 0.04649246 0.03830779
+v -0.06489953 0.04364495 0.03896861
+v -0.03039943 0.06339383 0.03901836
+v -0.06508528 0.02983715 0.03867292
+v -0.05744954 0.03890700 0.01504651
+v -0.05884264 0.03700087 0.01504651
+v -0.06263022 0.02983716 0.03533142
+v -0.03039943 0.06041745 0.03505827
+v -0.03039943 0.06239781 0.03815131
+v -0.06479857 0.02983715 0.03839964
+v -0.06382949 0.02983715 0.03740589
+v -0.03039943 0.06089789 0.03639735
+v -0.03039943 0.06210483 0.03785817
+v -0.03039943 0.06116350 0.03686688
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 42
+f 1 42 62
+f 1 62 84
+f 1 84 100
+f 1 100 112
+f 1 112 118
+f 1 118 122
+f 1 122 123
+f 1 123 121
+f 1 121 117
+f 1 117 108
+f 1 108 92
+f 1 92 91
+f 1 91 73
+f 1 73 71
+f 1 71 46
+f 1 46 29
+f 1 29 15
+f 1 15 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 7 14
+f 6 14 13
+f 7 12 14
+f 9 15 28
+f 9 28 45
+f 9 45 70
+f 9 70 89
+f 9 89 88
+f 9 88 106
+f 9 106 105
+f 9 105 104
+f 9 104 103
+f 9 103 115
+f 9 115 114
+f 9 114 109
+f 9 109 93
+f 9 93 74
+f 9 74 53
+f 9 53 52
+f 9 52 51
+f 9 51 50
+f 9 50 49
+f 9 49 48
+f 9 48 34
+f 9 34 33
+f 9 33 37
+f 9 37 32
+f 9 32 21
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 13 14 25
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 15 29 30
+f 15 30 31
+f 15 31 28
+f 21 32 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 38
+f 22 38 23
+f 22 32 37
+f 22 37 33
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 26
+f 25 27 42
+f 26 41 27
+f 27 43 42
+f 27 41 44
+f 27 44 43
+f 28 31 30
+f 28 30 47
+f 28 47 72
+f 28 72 90
+f 28 90 107
+f 28 107 116
+f 28 116 120
+f 28 120 119
+f 28 119 113
+f 28 113 101
+f 28 101 85
+f 28 85 63
+f 28 63 67
+f 28 67 66
+f 28 66 68
+f 28 68 45
+f 29 46 30
+f 30 46 47
+f 34 48 36
+f 34 36 35
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 56
+f 36 56 38
+f 38 55 39
+f 38 56 57
+f 38 57 55
+f 39 55 40
+f 40 55 58
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 44
+f 42 43 62
+f 43 44 63
+f 43 63 62
+f 44 61 64
+f 44 64 65
+f 44 65 66
+f 44 66 67
+f 44 67 63
+f 45 68 69
+f 45 69 70
+f 46 71 47
+f 47 71 73
+f 47 73 72
+f 53 74 75
+f 53 75 54
+f 54 75 76
+f 54 76 56
+f 55 57 59
+f 55 59 58
+f 56 76 77
+f 56 77 78
+f 56 78 57
+f 57 78 59
+f 59 78 77
+f 59 77 60
+f 60 77 79
+f 60 79 80
+f 60 80 81
+f 60 81 61
+f 61 81 82
+f 61 82 83
+f 61 83 64
+f 62 63 85
+f 62 85 84
+f 64 83 65
+f 65 86 68
+f 65 68 66
+f 65 83 86
+f 68 86 69
+f 69 86 99
+f 69 99 87
+f 69 87 88
+f 69 88 89
+f 69 89 70
+f 72 73 91
+f 72 91 92
+f 72 92 90
+f 74 93 75
+f 75 93 94
+f 75 94 95
+f 75 95 76
+f 76 95 79
+f 76 79 77
+f 79 95 80
+f 80 95 96
+f 80 96 97
+f 80 97 81
+f 81 97 82
+f 82 97 98
+f 82 98 83
+f 83 99 86
+f 83 98 99
+f 84 85 100
+f 85 101 100
+f 87 99 111
+f 87 111 102
+f 87 102 103
+f 87 103 104
+f 87 104 105
+f 87 105 106
+f 87 106 88
+f 90 92 107
+f 92 108 107
+f 93 109 110
+f 93 110 94
+f 94 110 96
+f 94 96 95
+f 96 110 102
+f 96 102 111
+f 96 111 98
+f 96 98 97
+f 98 111 99
+f 100 101 113
+f 100 113 112
+f 102 110 114
+f 102 114 115
+f 102 115 103
+f 107 108 117
+f 107 117 116
+f 109 114 110
+f 112 113 118
+f 113 119 118
+f 116 117 121
+f 116 121 120
+f 118 119 122
+f 119 120 123
+f 119 123 122
+f 120 121 123
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_28.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.05520374 -0.00042095 -0.03314693
+v -0.05483689 -0.00042095 -0.03363280
+v -0.05519809 -0.00170900 -0.03314694
+v -0.05071980 -0.00042095 -0.03314693
+v -0.05483408 -0.00170900 -0.03362813
+v -0.05375330 -0.00042094 -0.03491832
+v -0.05474944 -0.00429480 -0.03352746
+v -0.05503726 -0.00424825 -0.03314695
+v -0.04621045 -0.02023438 -0.03314700
+v -0.02637841 -0.02023433 -0.04510664
+v -0.03314525 -0.00042090 -0.04510657
+v -0.05374766 -0.00170899 -0.03491484
+v -0.05366582 -0.00429479 -0.03481417
+v -0.05310710 -0.00042094 -0.03564773
+v -0.05460270 -0.00688058 -0.03334717
+v -0.05474944 -0.00688058 -0.03314696
+v -0.05104996 -0.02023438 -0.03314700
+v -0.03687290 -0.02023433 -0.04510664
+v -0.04266056 -0.00042090 -0.04510657
+v -0.05245525 -0.00042094 -0.03638183
+v -0.05244961 -0.00170899 -0.03637598
+v -0.05236777 -0.00429479 -0.03628819
+v -0.05221258 -0.00688057 -0.03611726
+v -0.05350780 -0.00688057 -0.03463269
+v -0.05448983 -0.00840725 -0.03320666
+v -0.05452650 -0.00845572 -0.03314696
+v -0.05125596 -0.01978820 -0.03314700
+v -0.05004539 -0.02023437 -0.03436111
+v -0.03744010 -0.02023434 -0.04474604
+v -0.03742036 -0.01967565 -0.04510664
+v -0.04265492 -0.00177489 -0.04510658
+v -0.04442986 -0.00170896 -0.04371803
+v -0.04442986 -0.00042091 -0.04371802
+v -0.05185136 -0.00042093 -0.03702694
+v -0.05124749 -0.00170898 -0.03766268
+v -0.05115437 -0.00429478 -0.03757489
+v -0.05199528 -0.00946637 -0.03587957
+v -0.05099352 -0.00688056 -0.03740397
+v -0.05423302 -0.01004058 -0.03314697
+v -0.05444185 -0.00893099 -0.03314696
+v -0.05187113 -0.01084171 -0.03574847
+v -0.05183162 -0.01846135 -0.03314700
+v -0.05013284 -0.01972030 -0.03452970
+v -0.04940762 -0.02023437 -0.03511860
+v -0.03918685 -0.02023434 -0.04363496
+v -0.04053005 -0.02023434 -0.04274749
+v -0.04060622 -0.01980564 -0.04286927
+v -0.04113674 -0.01776104 -0.04321932
+v -0.03997134 -0.01445363 -0.04510662
+v -0.04236708 -0.00429475 -0.04510659
+v -0.04431980 -0.00429476 -0.04363491
+v -0.04572791 -0.00170896 -0.04269474
+v -0.04572791 -0.00042091 -0.04269473
+v -0.05125032 -0.00042093 -0.03766735
+v -0.04995224 -0.00170898 -0.03898803
+v -0.04985912 -0.00429478 -0.03889203
+v -0.04969547 -0.00688056 -0.03872929
+v -0.05075648 -0.00946636 -0.03716512
+v -0.04945843 -0.00946636 -0.03849747
+v -0.05379281 -0.01200175 -0.03314697
+v -0.05264432 -0.01184071 -0.03457769
+v -0.05167079 -0.01256429 -0.03552603
+v -0.04930604 -0.01097750 -0.03834528
+v -0.04911700 -0.01270200 -0.03816265
+v -0.05236212 -0.01686294 -0.03314699
+v -0.05213074 -0.01674655 -0.03350291
+v -0.05113744 -0.01745265 -0.03439271
+v -0.04937941 -0.01879889 -0.03585739
+v -0.04906619 -0.02023437 -0.03551550
+v -0.04251383 -0.02023435 -0.04136714
+v -0.04277342 -0.01955733 -0.04144440
+v -0.04407713 -0.01852730 -0.04087656
+v -0.04308666 -0.01463598 -0.04274045
+v -0.04353815 -0.01205018 -0.04305656
+v -0.04070218 -0.01205017 -0.04510661
+v -0.04433676 -0.01721985 -0.04108380
+v -0.04191560 -0.00694067 -0.04510660
+v -0.04418437 -0.00626367 -0.04353069
+v -0.04561788 -0.00429476 -0.04260694
+v -0.04719529 -0.00429477 -0.04132142
+v -0.04729687 -0.00170897 -0.04140805
+v -0.04729687 -0.00042092 -0.04140804
+v -0.04995508 -0.00042093 -0.03898802
+v -0.04927502 -0.00042092 -0.03963313
+v -0.04859495 -0.00170897 -0.04027237
+v -0.04849336 -0.00429477 -0.04017756
+v -0.04830994 -0.00688055 -0.04001366
+v -0.04779918 -0.00966615 -0.03998907
+v -0.05247499 -0.01463602 -0.03390799
+v -0.05307040 -0.01463602 -0.03314698
+v -0.05139142 -0.01463601 -0.03519352
+v -0.05009617 -0.01463601 -0.03660903
+v -0.04664503 -0.01066129 -0.04085195
+v -0.04647007 -0.01205019 -0.04070444
+v -0.04755084 -0.01463600 -0.03910515
+v -0.04884607 -0.01463600 -0.03789453
+v -0.04967290 -0.01721987 -0.03616529
+v -0.04841152 -0.01721986 -0.03745200
+v -0.04680588 -0.01883379 -0.03843195
+v -0.04790357 -0.01967956 -0.03695910
+v -0.04862879 -0.02023437 -0.03596275
+v -0.04364256 -0.02023435 -0.04053353
+v -0.04524256 -0.01954377 -0.03948098
+v -0.04563199 -0.01721985 -0.03999727
+v -0.04367644 -0.02023435 -0.04050660
+v -0.04479953 -0.01463599 -0.04145493
+v -0.04388243 -0.00946634 -0.04330358
+v -0.04517203 -0.01205019 -0.04176986
+v -0.04138508 -0.00946633 -0.04510660
+v -0.04609477 -0.01463599 -0.04038951
+v -0.04154593 -0.00871368 -0.04510660
+v -0.04403765 -0.00798819 -0.04341479
+v -0.04517484 -0.00702799 -0.04263622
+v -0.04701469 -0.00688055 -0.04116922
+v -0.04859495 -0.00042092 -0.04027355
+v -0.04682562 -0.00893871 -0.04100884
+v -0.04561505 -0.00966615 -0.04187054
+v -0.04711346 -0.01721986 -0.03871294
+v -0.04695824 -0.02023436 -0.03765572
+v -0.04648136 -0.02023436 -0.03812988
+v -0.04509583 -0.02023436 -0.03931123
+v -0.04603549 -0.02023436 -0.03851274
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 40
+f 1 40 39
+f 1 39 60
+f 1 60 90
+f 1 90 65
+f 1 65 42
+f 1 42 27
+f 1 27 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 33
+f 1 33 53
+f 1 53 82
+f 1 82 115
+f 1 115 84
+f 1 84 83
+f 1 83 54
+f 1 54 34
+f 1 34 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 7
+f 6 14 12
+f 7 15 8
+f 7 13 15
+f 8 15 16
+f 9 17 28
+f 9 28 44
+f 9 44 69
+f 9 69 101
+f 9 101 119
+f 9 119 120
+f 9 120 122
+f 9 122 121
+f 9 121 105
+f 9 105 102
+f 9 102 70
+f 9 70 46
+f 9 46 45
+f 9 45 29
+f 9 29 18
+f 9 18 10
+f 10 18 30
+f 10 30 49
+f 10 49 75
+f 10 75 109
+f 10 109 111
+f 10 111 77
+f 10 77 50
+f 10 50 31
+f 10 31 19
+f 10 19 11
+f 12 14 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 27 28
+f 18 29 30
+f 19 31 32
+f 19 32 33
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 37 24
+f 23 36 38
+f 23 38 37
+f 24 37 25
+f 25 39 40
+f 25 40 26
+f 25 37 41
+f 25 41 39
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 34 54 35
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 38
+f 37 38 58
+f 37 58 41
+f 38 57 59
+f 38 59 58
+f 39 41 61
+f 39 61 60
+f 41 62 61
+f 41 58 59
+f 41 59 63
+f 41 63 64
+f 41 64 62
+f 42 65 66
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 44
+f 46 70 47
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 73 74
+f 49 74 75
+f 49 72 76
+f 49 76 73
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 53
+f 54 83 55
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 85 86
+f 56 86 57
+f 57 86 87
+f 57 87 59
+f 59 87 88
+f 59 88 63
+f 60 61 62
+f 60 62 89
+f 60 89 90
+f 62 91 89
+f 62 64 92
+f 62 92 91
+f 63 88 93
+f 63 93 64
+f 64 93 94
+f 64 94 95
+f 64 95 96
+f 64 96 92
+f 65 90 66
+f 66 91 67
+f 66 90 89
+f 66 89 91
+f 67 97 68
+f 67 91 97
+f 68 97 98
+f 68 98 99
+f 68 99 100
+f 68 100 101
+f 68 101 69
+f 70 102 71
+f 71 102 72
+f 72 103 99
+f 72 99 104
+f 72 104 76
+f 72 102 105
+f 72 105 103
+f 73 76 106
+f 73 106 74
+f 74 107 75
+f 74 106 108
+f 74 108 107
+f 75 107 109
+f 76 104 110
+f 76 110 106
+f 77 111 112
+f 77 112 78
+f 78 112 113
+f 78 113 114
+f 78 114 79
+f 79 114 80
+f 80 114 86
+f 80 86 85
+f 80 85 81
+f 81 85 115
+f 81 115 82
+f 84 115 85
+f 86 114 87
+f 87 114 116
+f 87 116 88
+f 88 116 93
+f 91 92 97
+f 92 96 97
+f 93 116 117
+f 93 117 107
+f 93 107 108
+f 93 108 94
+f 94 108 106
+f 94 106 110
+f 94 110 95
+f 95 110 118
+f 95 118 96
+f 96 118 98
+f 96 98 97
+f 98 118 99
+f 99 119 100
+f 99 118 104
+f 99 103 120
+f 99 120 119
+f 100 119 101
+f 103 105 121
+f 103 121 122
+f 103 122 120
+f 104 118 110
+f 107 111 109
+f 107 117 116
+f 107 116 112
+f 107 112 111
+f 112 116 114
+f 112 114 113
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_29.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.05428279 -0.03632508 0.01582852
+v 0.05459076 -0.03632508 0.01709251
+v 0.05840095 -0.03632508 0.01582852
+v 0.04070720 -0.05035808 0.01582847
+v 0.04070720 -0.05125071 0.01958062
+v 0.05608159 -0.03632510 0.02292333
+v 0.04070720 -0.05189989 0.02215293
+v 0.04070720 -0.05385015 0.02986755
+v 0.06855062 -0.03632515 0.03528004
+v 0.06804367 -0.03791021 0.03549698
+v 0.06761852 -0.03943847 0.03599283
+v 0.05766236 -0.03742867 0.01582851
+v 0.04070720 -0.05475895 0.01582845
+v 0.05723719 -0.03632512 0.02731968
+v 0.04070720 -0.05455345 0.03243982
+v 0.06855062 -0.03632516 0.03718159
+v 0.06761852 -0.03943847 0.03655511
+v 0.06235291 -0.04703653 0.03617432
+v 0.06535637 -0.04244904 0.03565412
+v 0.05724810 -0.03802103 0.01582851
+v 0.04070720 -0.06395568 0.03523788
+v 0.04115692 -0.05443168 0.01582845
+v 0.04459920 -0.06276552 0.03595070
+v 0.04283582 -0.06333355 0.03555443
+v 0.05832464 -0.03632513 0.03123125
+v 0.04070720 -0.05541901 0.03461367
+v 0.05868442 -0.03632514 0.03243989
+v 0.06780929 -0.03632516 0.03758004
+v 0.06617946 -0.03791022 0.03800506
+v 0.06804367 -0.03791022 0.03699783
+v 0.06535637 -0.04244905 0.03690262
+v 0.06235291 -0.04703653 0.03641562
+v 0.05985636 -0.04971979 0.03601050
+v 0.05206153 -0.04453715 0.01582849
+v 0.05250304 -0.04402049 0.01582849
+v 0.05330707 -0.04307648 0.01582849
+v 0.05445176 -0.04172675 0.01582850
+v 0.05498051 -0.04105324 0.01582850
+v 0.05540840 -0.04050684 0.01582850
+v 0.05616335 -0.03952228 0.01582850
+v 0.05675752 -0.03872160 0.01582851
+v 0.04070720 -0.06395569 0.03759764
+v 0.04277312 -0.05321174 0.01582845
+v 0.04459920 -0.06276552 0.03674982
+v 0.04416857 -0.05215685 0.01582846
+v 0.05196342 -0.05733951 0.03622299
+v 0.04283582 -0.06333356 0.03721469
+v 0.04070720 -0.05566247 0.03503204
+v 0.05939033 -0.03632515 0.03417984
+v 0.06617946 -0.03632516 0.03810912
+v 0.06620400 -0.04037710 0.03723691
+v 0.06358754 -0.04049610 0.03823306
+v 0.06099289 -0.04566518 0.03797625
+v 0.06375653 -0.04321723 0.03750031
+v 0.06287347 -0.04566518 0.03691369
+v 0.06082936 -0.04804005 0.03696902
+v 0.05985636 -0.04971979 0.03656614
+v 0.05730534 -0.05233272 0.03596843
+v 0.04957864 -0.04723122 0.01582848
+v 0.05007193 -0.04670107 0.01582848
+v 0.05150008 -0.04514844 0.01582848
+v 0.04070720 -0.06375554 0.03770168
+v 0.04544953 -0.06127243 0.03743827
+v 0.04283582 -0.06117777 0.03834588
+v 0.04749365 -0.06047178 0.03695127
+v 0.05196342 -0.05733951 0.03638458
+v 0.04431575 -0.05203783 0.01582846
+v 0.04552859 -0.05103702 0.01582846
+v 0.04700306 -0.04979816 0.01582847
+v 0.05467254 -0.05486451 0.03603484
+v 0.04070720 -0.05577878 0.03522462
+v 0.05997356 -0.03632515 0.03504539
+v 0.06517649 -0.03632516 0.03810027
+v 0.05580360 -0.05083423 0.03823079
+v 0.05839825 -0.04825104 0.03813341
+v 0.04802237 -0.05600598 0.03841673
+v 0.05826196 -0.05068005 0.03711954
+v 0.05730534 -0.05233272 0.03663255
+v 0.04747728 -0.04933292 0.01582847
+v 0.04830311 -0.04851874 0.01582847
+v 0.04070720 -0.06117777 0.03840123
+v 0.04822408 -0.05880828 0.03760873
+v 0.05061703 -0.05600598 0.03808469
+v 0.05321166 -0.05342012 0.03822858
+v 0.04543046 -0.05859187 0.03844108
+v 0.05061703 -0.05792376 0.03692914
+v 0.05467254 -0.05486451 0.03657275
+v 0.04070720 -0.05663352 0.03626948
+v 0.06039874 -0.03632515 0.03559881
+v 0.06344584 -0.03632516 0.03752691
+v 0.04070720 -0.06071251 0.03836802
+v 0.05564279 -0.05328486 0.03713946
+v 0.05298272 -0.05583830 0.03698890
+v 0.04070720 -0.05712312 0.03675649
+v 0.04085167 -0.05682558 0.03664138
+v 0.06159248 -0.03632515 0.03670343
+v 0.06230658 -0.03632516 0.03707754
+v 0.04070720 -0.05844850 0.03745600
+v 0.04070720 -0.05786697 0.03719480
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 27
+f 1 27 49
+f 1 49 72
+f 1 72 89
+f 1 89 96
+f 1 96 97
+f 1 97 90
+f 1 90 73
+f 1 73 50
+f 1 50 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 12
+f 1 12 20
+f 1 20 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 61
+f 1 61 60
+f 1 60 59
+f 1 59 80
+f 1 80 79
+f 1 79 69
+f 1 69 68
+f 1 68 67
+f 1 67 45
+f 1 45 43
+f 1 43 22
+f 1 22 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 21
+f 4 21 42
+f 4 42 62
+f 4 62 81
+f 4 81 91
+f 4 91 98
+f 4 98 99
+f 4 99 94
+f 4 94 88
+f 4 88 71
+f 4 71 48
+f 4 48 26
+f 4 26 15
+f 4 15 8
+f 4 8 7
+f 4 7 5
+f 6 8 14
+f 8 15 14
+f 9 16 17
+f 9 17 11
+f 9 11 10
+f 11 17 32
+f 11 32 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 14 15 25
+f 15 26 27
+f 15 27 25
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 18 32 57
+f 18 57 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 19
+f 19 41 20
+f 21 24 47
+f 21 47 42
+f 22 43 23
+f 23 44 47
+f 23 47 24
+f 23 43 45
+f 23 45 46
+f 23 46 66
+f 23 66 44
+f 26 48 49
+f 26 49 27
+f 28 50 29
+f 29 51 30
+f 29 50 52
+f 29 52 53
+f 29 53 54
+f 29 54 51
+f 30 51 31
+f 31 51 54
+f 31 54 55
+f 31 55 32
+f 32 56 57
+f 32 55 56
+f 33 57 78
+f 33 78 58
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 34
+f 42 47 63
+f 42 63 64
+f 42 64 62
+f 44 65 63
+f 44 63 47
+f 44 66 65
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 87
+f 46 87 66
+f 48 71 49
+f 49 71 72
+f 50 73 52
+f 52 74 75
+f 52 75 53
+f 52 73 76
+f 52 76 74
+f 53 56 55
+f 53 55 54
+f 53 75 77
+f 53 77 56
+f 56 77 57
+f 57 77 78
+f 58 78 87
+f 58 87 70
+f 58 70 69
+f 58 69 79
+f 58 79 80
+f 58 80 59
+f 62 64 81
+f 63 65 82
+f 63 82 83
+f 63 83 64
+f 64 83 84
+f 64 84 85
+f 64 85 81
+f 65 86 82
+f 65 66 86
+f 66 87 86
+f 71 88 89
+f 71 89 72
+f 73 90 91
+f 73 91 81
+f 73 81 76
+f 74 84 92
+f 74 92 77
+f 74 77 75
+f 74 76 85
+f 74 85 84
+f 76 81 85
+f 77 92 78
+f 78 92 87
+f 82 86 93
+f 82 93 83
+f 83 93 92
+f 83 92 84
+f 86 87 93
+f 87 92 93
+f 88 94 95
+f 88 95 89
+f 89 95 96
+f 90 97 91
+f 91 97 98
+f 94 99 96
+f 94 96 95
+f 96 99 97
+f 97 99 98
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_3.obj

@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.04443407 -0.00041896 -0.05184095
+v -0.04442809 -0.00171031 -0.05183100
+v -0.04440409 -0.00041896 -0.05073918
+v -0.04360657 -0.00041896 -0.05242050
+v -0.04277310 -0.00171031 -0.05298675
+v -0.04277310 -0.00429307 -0.05283565
+v -0.04433214 -0.00429307 -0.05168404
+v -0.04433214 -0.00429308 -0.05015550
+v -0.04436213 -0.00170220 -0.04964238
+v -0.04436813 -0.00041897 -0.04964071
+v -0.04277310 -0.00041896 -0.05299588
+v -0.04017670 -0.00946671 -0.05345338
+v -0.04017670 -0.01205355 -0.05339111
+v -0.03777816 -0.02761931 -0.05358879
+v -0.04238335 -0.01205356 -0.05221463
+v -0.04417025 -0.00687990 -0.05138433
+v -0.04417025 -0.00687990 -0.05073173
+v -0.04396037 -0.00429308 -0.04887024
+v -0.04405031 -0.00255769 -0.04863193
+v -0.04408028 -0.00083449 -0.04857216
+v -0.04415226 -0.00041897 -0.04882955
+v -0.04147189 -0.00041895 -0.05324162
+v -0.04017670 -0.00687989 -0.05346581
+v -0.04171174 -0.01652245 -0.05159857
+v -0.04202954 -0.01463632 -0.05198548
+v -0.04017670 -0.00429306 -0.05347164
+v -0.04017670 -0.00171030 -0.05347578
+v -0.03778415 -0.02508545 -0.05358878
+v -0.03684274 -0.02950138 -0.05358880
+v -0.03922927 -0.02185498 -0.04987494
+v -0.04171174 -0.01652245 -0.05036975
+v -0.04408028 -0.00822423 -0.05118341
+v -0.04408028 -0.00822423 -0.05111367
+v -0.04378048 -0.00687991 -0.04944562
+v -0.04236535 -0.00429309 -0.04510659
+v -0.04259321 -0.00231734 -0.04510658
+v -0.04265317 -0.00177552 -0.04510658
+v -0.04408028 -0.00041897 -0.04857216
+v -0.04265916 -0.00041898 -0.04510657
+v -0.04017670 -0.00041895 -0.05347410
+v -0.03687271 -0.02291822 -0.05358877
+v -0.03647695 -0.03021429 -0.05358880
+v -0.03896543 -0.02129282 -0.04851578
+v -0.04143590 -0.01583808 -0.04865606
+v -0.04204756 -0.01484002 -0.04965739
+v -0.04285705 -0.01205357 -0.04987490
+v -0.04355260 -0.00923862 -0.05010322
+v -0.04154384 -0.00871718 -0.04510660
+v -0.04191562 -0.00694104 -0.04510660
+v -0.03314298 -0.00041898 -0.04510657
+v -0.03493590 -0.02071433 -0.05358877
+v -0.01294136 -0.00041895 -0.05346913
+v -0.03623111 -0.02619760 -0.04863536
+v -0.03409640 -0.03284592 -0.05358881
+v -0.03380858 -0.02899218 -0.04851082
+v -0.03741838 -0.01967964 -0.04510664
+v -0.03996683 -0.01445708 -0.04510662
+v -0.04069837 -0.01205358 -0.04510661
+v -0.04138195 -0.00946674 -0.04510660
+v 0.01681244 -0.02558654 -0.04510666
+v 0.01681244 -0.00041898 -0.04748449
+v -0.01164613 -0.00041895 -0.05346832
+v 0.01681244 -0.02884958 -0.05358880
+v -0.03332288 -0.02513435 -0.04510666
+v -0.03500783 -0.02291417 -0.04510665
+v -0.03188975 -0.03474429 -0.05358882
+v -0.03099630 -0.03394177 -0.05130470
+v -0.03040867 -0.03343662 -0.04987498
+v -0.03182380 -0.03214524 -0.04987498
+v -0.03311900 -0.03084575 -0.04987497
+v -0.03126014 -0.03159937 -0.04849339
+v -0.03105626 -0.02774155 -0.04510667
+v -0.03251936 -0.02609171 -0.04510667
+v 0.01681244 -0.03566905 -0.04510670
+v 0.01681244 -0.00041895 -0.05327899
+v -0.01034494 -0.00041895 -0.05346578
+v -0.00905574 -0.00041895 -0.05346332
+v -0.00645932 -0.00041895 -0.05345585
+v -0.00386290 -0.00041895 -0.05344672
+v 0.00002870 -0.00041895 -0.05343259
+v 0.00262511 -0.00041895 -0.05341931
+v 0.00392032 -0.00041895 -0.05341183
+v 0.00522152 -0.00041895 -0.05340187
+v 0.00651076 -0.00041895 -0.05339191
+v 0.00910716 -0.00041895 -0.05336868
+v 0.01169756 -0.00041895 -0.05334374
+v 0.01429397 -0.00041895 -0.05331803
+v 0.01559518 -0.00041895 -0.05329808
+v 0.01681244 -0.03772220 -0.05358883
+v -0.03136207 -0.03518018 -0.05358882
+v -0.02854980 -0.03405991 -0.04856563
+v -0.02838191 -0.03029172 -0.04510668
+v -0.02998291 -0.02882924 -0.04510668
+v 0.01681244 -0.03865510 -0.04984014
+v 0.01504351 -0.03649601 -0.04510670
+v 0.01503751 -0.03900137 -0.04899904
+v 0.00651076 -0.03807252 -0.05358883
+v 0.01681244 -0.03855324 -0.05229441
+v 0.01429397 -0.03956353 -0.05183281
+v 0.01169756 -0.03992609 -0.05223549
+v 0.00910716 -0.04023570 -0.05238244
+v 0.00392032 -0.04049233 -0.05267637
+v 0.00132391 -0.04049233 -0.05285902
+v -0.00127248 -0.04049233 -0.05288807
+v -0.02824997 -0.03602344 -0.05358882
+v -0.01870382 -0.03938836 -0.05154633
+v -0.01870382 -0.03938836 -0.05044124
+v -0.02602535 -0.03665895 -0.05098922
+v -0.02532978 -0.03623123 -0.04927551
+v -0.02911345 -0.03444691 -0.04987499
+v -0.02737452 -0.03115943 -0.04510668
+v -0.02360284 -0.03672820 -0.04849092
+v -0.02190586 -0.03515983 -0.04510670
+v -0.02469415 -0.03320037 -0.04510669
+v -0.02528180 -0.03277262 -0.04510669
+v 0.01681244 -0.03868361 -0.04990986
+v 0.01433594 -0.03682191 -0.04510671
+v 0.01598495 -0.03931097 -0.05071275
+v 0.01344848 -0.03721301 -0.04510671
+v 0.01185946 -0.03790554 -0.04510671
+v 0.01173355 -0.03795036 -0.04510671
+v 0.00958686 -0.03871213 -0.04510671
+v 0.01331057 -0.03927024 -0.04851501
+v 0.01422203 -0.03953503 -0.04986338
+v 0.00392032 -0.03810106 -0.05358883
+v 0.01681244 -0.03868361 -0.04994889
+v 0.01598495 -0.03931097 -0.05142015
+v 0.00555133 -0.04182853 -0.05126157
+v 0.00392032 -0.04191001 -0.05143012
+v 0.00132391 -0.04201186 -0.05161775
+v -0.00127248 -0.04203628 -0.05165096
+v -0.00370699 -0.03806438 -0.05358883
+v -0.00127248 -0.03809697 -0.05358883
+v 0.00132391 -0.03811734 -0.05358883
+v -0.00386290 -0.04049233 -0.05280008
+v -0.01164613 -0.03790551 -0.05354233
+v -0.00910969 -0.03790551 -0.05358883
+v -0.00636938 -0.03799922 -0.05358883
+v -0.01423656 -0.03997089 -0.05220476
+v -0.01682699 -0.03965724 -0.05192909
+v -0.00645932 -0.04049233 -0.05261492
+v -0.01164613 -0.04022349 -0.05231686
+v -0.00795841 -0.04181631 -0.05123249
+v -0.00795841 -0.04181631 -0.05099753
+v -0.01423656 -0.04033348 -0.04987501
+v -0.01698287 -0.03966946 -0.04969981
+v -0.01794830 -0.03913580 -0.04872756
+v -0.02452626 -0.03696857 -0.05002944
+v -0.01667107 -0.03770593 -0.04510671
+v 0.01169756 -0.04018276 -0.04987501
+v 0.00555133 -0.04182853 -0.05094025
+v 0.00910716 -0.03885065 -0.04510671
+v 0.00910716 -0.04078974 -0.04987501
+v 0.00392032 -0.04191001 -0.05058241
+v 0.00132391 -0.04201187 -0.05019715
+v -0.00127248 -0.04203629 -0.05009336
+v -0.00386290 -0.04198332 -0.05156794
+v -0.00645932 -0.04189371 -0.05139524
+v -0.00891782 -0.04137229 -0.05003359
+v -0.01164613 -0.04082233 -0.04987501
+v -0.00645932 -0.04189371 -0.05062807
+v -0.00645932 -0.04155152 -0.04934281
+v -0.01621536 -0.03937208 -0.04841454
+v -0.00904973 -0.03950245 -0.04510672
+v -0.01096856 -0.03913581 -0.04510671
+v -0.01423656 -0.03834143 -0.04510671
+v -0.01164613 -0.03899323 -0.04510671
+v 0.00645678 -0.04138043 -0.04999955
+v 0.00392032 -0.04155152 -0.04929713
+v 0.00653473 -0.03942097 -0.04510671
+v 0.00132391 -0.04167373 -0.04891189
+v -0.00127248 -0.04170634 -0.04880810
+v -0.00386290 -0.04166560 -0.04894840
+v -0.00386290 -0.04198333 -0.05023370
+v -0.00645932 -0.03984464 -0.04510672
+v 0.00501766 -0.03967355 -0.04510672
+v 0.00392032 -0.03984464 -0.04510672
+v 0.00294292 -0.03996685 -0.04510672
+v 0.00132391 -0.04014203 -0.04510672
+v 0.00069431 -0.04015831 -0.04510672
+v -0.00127248 -0.04020313 -0.04510672
+v -0.00184213 -0.04017869 -0.04510672
+v -0.00386290 -0.04008092 -0.04510672
+v -0.00469640 -0.04001167 -0.04510672
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 38
+f 1 38 39
+f 1 39 50
+f 1 50 61
+f 1 61 75
+f 1 75 88
+f 1 88 87
+f 1 87 86
+f 1 86 85
+f 1 85 84
+f 1 84 83
+f 1 83 82
+f 1 82 81
+f 1 81 80
+f 1 80 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 62
+f 1 62 52
+f 1 52 40
+f 1 40 22
+f 1 22 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 15
+f 7 16 17
+f 7 17 8
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 11 23 12
+f 12 23 14
+f 12 14 13
+f 14 24 25
+f 14 25 15
+f 14 23 26
+f 14 26 27
+f 14 27 28
+f 14 28 41
+f 14 41 51
+f 14 51 63
+f 14 63 89
+f 14 89 97
+f 14 97 125
+f 14 125 134
+f 14 134 133
+f 14 133 132
+f 14 132 138
+f 14 138 137
+f 14 137 105
+f 14 105 90
+f 14 90 66
+f 14 66 54
+f 14 54 42
+f 14 42 29
+f 14 29 30
+f 14 30 31
+f 14 31 24
+f 15 25 32
+f 15 32 16
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 20
+f 20 38 21
+f 20 37 39
+f 20 39 38
+f 22 40 27
+f 22 27 26
+f 22 26 23
+f 24 31 33
+f 24 33 32
+f 24 32 25
+f 27 40 28
+f 28 40 41
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 33
+f 33 46 47
+f 33 47 34
+f 34 47 46
+f 34 46 48
+f 34 48 49
+f 34 49 35
+f 35 49 48
+f 35 48 59
+f 35 59 58
+f 35 58 57
+f 35 57 56
+f 35 56 65
+f 35 65 64
+f 35 64 73
+f 35 73 72
+f 35 72 93
+f 35 93 92
+f 35 92 111
+f 35 111 115
+f 35 115 114
+f 35 114 113
+f 35 113 149
+f 35 149 166
+f 35 166 167
+f 35 167 165
+f 35 165 164
+f 35 164 175
+f 35 175 184
+f 35 184 183
+f 35 183 182
+f 35 182 181
+f 35 181 180
+f 35 180 179
+f 35 179 178
+f 35 178 177
+f 35 177 176
+f 35 176 170
+f 35 170 152
+f 35 152 122
+f 35 122 121
+f 35 121 120
+f 35 120 119
+f 35 119 117
+f 35 117 95
+f 35 95 74
+f 35 74 60
+f 35 60 50
+f 35 50 39
+f 35 39 37
+f 35 37 36
+f 40 51 41
+f 40 52 51
+f 42 53 43
+f 42 54 55
+f 42 55 53
+f 43 53 56
+f 43 56 57
+f 43 57 44
+f 44 58 59
+f 44 59 46
+f 44 46 45
+f 44 57 58
+f 46 59 48
+f 50 60 61
+f 51 52 62
+f 51 62 63
+f 53 55 64
+f 53 64 65
+f 53 65 56
+f 54 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 64
+f 60 74 94
+f 60 94 116
+f 60 116 126
+f 60 126 98
+f 60 98 89
+f 60 89 63
+f 60 63 75
+f 60 75 61
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 82
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 75
+f 66 90 67
+f 67 90 91
+f 67 91 68
+f 68 71 69
+f 68 91 71
+f 69 71 70
+f 71 91 92
+f 71 92 93
+f 71 93 72
+f 74 95 96
+f 74 96 94
+f 89 98 99
+f 89 99 100
+f 89 100 101
+f 89 101 102
+f 89 102 103
+f 89 103 104
+f 89 104 97
+f 90 105 106
+f 90 106 107
+f 90 107 108
+f 90 108 109
+f 90 109 110
+f 90 110 91
+f 91 111 92
+f 91 110 109
+f 91 109 112
+f 91 112 113
+f 91 113 114
+f 91 114 115
+f 91 115 111
+f 94 96 116
+f 95 117 96
+f 96 118 116
+f 96 117 119
+f 96 119 120
+f 96 120 121
+f 96 121 122
+f 96 122 123
+f 96 123 124
+f 96 124 118
+f 97 104 125
+f 98 126 127
+f 98 127 99
+f 99 127 128
+f 99 128 100
+f 100 128 101
+f 101 128 129
+f 101 129 130
+f 101 130 102
+f 102 130 103
+f 103 130 131
+f 103 131 104
+f 104 132 133
+f 104 133 134
+f 104 134 125
+f 104 131 135
+f 104 135 136
+f 104 136 137
+f 104 137 138
+f 104 138 132
+f 105 139 140
+f 105 140 106
+f 105 137 136
+f 105 136 135
+f 105 135 141
+f 105 141 142
+f 105 142 139
+f 106 140 143
+f 106 143 144
+f 106 144 107
+f 107 144 145
+f 107 145 146
+f 107 146 147
+f 107 147 148
+f 107 148 108
+f 108 148 109
+f 109 148 112
+f 112 148 147
+f 112 147 149
+f 112 149 113
+f 116 118 127
+f 116 127 126
+f 118 124 150
+f 118 150 151
+f 118 151 128
+f 118 128 127
+f 122 152 123
+f 123 152 153
+f 123 153 150
+f 123 150 124
+f 128 151 154
+f 128 154 129
+f 129 154 155
+f 129 155 130
+f 130 155 156
+f 130 156 131
+f 131 156 174
+f 131 174 157
+f 131 157 135
+f 135 157 141
+f 139 142 158
+f 139 158 143
+f 139 143 140
+f 141 157 158
+f 141 158 142
+f 143 158 161
+f 143 161 144
+f 144 159 160
+f 144 160 145
+f 144 161 162
+f 144 162 159
+f 145 163 147
+f 145 147 146
+f 145 160 164
+f 145 164 165
+f 145 165 163
+f 147 166 149
+f 147 163 165
+f 147 165 167
+f 147 167 166
+f 150 153 151
+f 151 153 168
+f 151 168 169
+f 151 169 154
+f 152 170 153
+f 153 170 168
+f 154 169 171
+f 154 171 155
+f 155 171 172
+f 155 172 156
+f 156 172 173
+f 156 173 174
+f 157 174 161
+f 157 161 158
+f 159 164 160
+f 159 162 164
+f 161 174 173
+f 161 173 162
+f 162 175 164
+f 162 173 175
+f 168 170 169
+f 169 170 176
+f 169 176 177
+f 169 177 178
+f 169 178 179
+f 169 179 171
+f 171 179 172
+f 172 179 180
+f 172 180 181
+f 172 181 173
+f 173 181 182
+f 173 182 183
+f 173 183 184
+f 173 184 175
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_30.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01681534 -0.02885016 -0.05358880
+v 0.01572366 -0.02898810 -0.05358880
+v 0.01681534 -0.03772382 -0.05358883
+v 0.01681534 -0.03532619 -0.05466779
+v 0.01351248 -0.02937107 -0.05358880
+v 0.00650892 -0.03807503 -0.05358883
+v 0.01681534 -0.03704864 -0.05467998
+v 0.01681534 -0.03536338 -0.05466949
+v -0.01468366 -0.03532163 -0.05358882
+v -0.01437216 -0.03518550 -0.05358882
+v -0.01026132 -0.03411284 -0.05358882
+v -0.00818894 -0.03359283 -0.05358881
+v -0.00608882 -0.03310277 -0.05358881
+v -0.00394241 -0.03265355 -0.05358881
+v -0.00177751 -0.03222792 -0.05358881
+v 0.00391846 -0.03810408 -0.05358883
+v 0.01681534 -0.03694245 -0.05467998
+v 0.00132488 -0.03812132 -0.05358883
+v -0.00126559 -0.03809955 -0.05358883
+v -0.00370186 -0.03806596 -0.05358883
+v -0.00636328 -0.03799971 -0.05358883
+v -0.00904937 -0.03790896 -0.05358883
+v -0.00910178 -0.03790715 -0.05358883
+f 1 2 5
+f 1 5 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 16
+f 1 16 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 7
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 9
+f 7 9 17
+f 8 17 9
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_31.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04070720 -0.05035930 0.01583083
+v 0.04070720 -0.05125379 0.01957984
+v 0.04070720 -0.05476057 0.01583081
+v 0.01682076 -0.06198985 0.01583078
+v 0.01682076 -0.06303628 0.02223548
+v 0.01682076 -0.06347741 0.02472384
+v 0.01682076 -0.06393567 0.02729703
+v 0.01682076 -0.06443563 0.02993855
+v 0.01682076 -0.06488164 0.03217712
+v 0.01682076 -0.06490860 0.03229495
+v 0.04070720 -0.05190073 0.02215303
+v 0.03997765 -0.05528990 0.01583081
+v 0.04070720 -0.06395531 0.03523809
+v 0.03979292 -0.06553351 0.03582719
+v 0.01682076 -0.06564127 0.01583077
+v 0.01682076 -0.06496007 0.03249288
+v 0.04070720 -0.05385390 0.02986790
+v 0.03789882 -0.05671372 0.01583080
+v 0.04070720 -0.06395532 0.03759686
+v 0.03979292 -0.06553352 0.03695118
+v 0.03649348 -0.06771209 0.03620891
+v 0.03668522 -0.05751751 0.01583080
+v 0.03712716 -0.05722834 0.01583080
+v 0.01692366 -0.06561676 0.01583077
+v 0.01682076 -0.07535799 0.03660003
+v 0.01682076 -0.06555557 0.03437093
+v 0.04070720 -0.05455723 0.03243870
+v 0.04070720 -0.06375438 0.03770289
+v 0.03638825 -0.06507526 0.03887636
+v 0.03151978 -0.06779053 0.03892349
+v 0.02647823 -0.07043472 0.03896825
+v 0.03505069 -0.06804538 0.03695826
+v 0.03649348 -0.06771209 0.03646341
+v 0.03124381 -0.07026563 0.03624897
+v 0.02986184 -0.06119098 0.01583079
+v 0.03107314 -0.06060037 0.01583079
+v 0.03182842 -0.06022788 0.01583079
+v 0.03312624 -0.05956867 0.01583079
+v 0.03402415 -0.05906140 0.01583079
+v 0.03512554 -0.05843894 0.01583080
+v 0.01864469 -0.06518054 0.01583077
+v 0.02376340 -0.07294662 0.03616175
+v 0.01682076 -0.07539477 0.03758266
+v 0.01904690 -0.06506047 0.01583077
+v 0.02208209 -0.06414884 0.01583077
+v 0.02348747 -0.06371755 0.01583078
+v 0.01682076 -0.06570750 0.03484220
+v 0.04070720 -0.05542232 0.03461367
+v 0.04070720 -0.06118123 0.03840277
+v 0.03638825 -0.06502378 0.03887636
+v 0.01682076 -0.07161349 0.03990137
+v 0.01682076 -0.07410083 0.03951256
+v 0.02117716 -0.07294170 0.03896351
+v 0.03124381 -0.07026563 0.03639741
+v 0.02650396 -0.06268339 0.01583078
+v 0.02699268 -0.06248244 0.01583078
+v 0.02771990 -0.06216877 0.01583078
+v 0.02376340 -0.07294662 0.03674144
+v 0.02474785 -0.06330830 0.01583078
+v 0.01682076 -0.07412535 0.03948429
+v 0.01682076 -0.06577613 0.03497888
+v 0.04070720 -0.05566490 0.03503312
+v 0.04070720 -0.06071563 0.03836976
+v 0.01682076 -0.07152526 0.03988722
+v 0.01682076 -0.06697202 0.03702187
+v 0.04070720 -0.05578010 0.03522400
+v 0.04070720 -0.05845128 0.03745549
+v 0.01682076 -0.06972651 0.03925337
+v 0.01682076 -0.06700879 0.03705958
+v 0.04070720 -0.05663781 0.03627021
+v 0.04070720 -0.05787048 0.03719629
+v 0.01682076 -0.06841788 0.03833910
+v 0.04070720 -0.05712549 0.03675562
+v 0.01682076 -0.06838114 0.03830848
+f 1 2 11
+f 1 11 17
+f 1 17 27
+f 1 27 48
+f 1 48 62
+f 1 62 66
+f 1 66 70
+f 1 70 73
+f 1 73 71
+f 1 71 67
+f 1 67 63
+f 1 63 49
+f 1 49 28
+f 1 28 19
+f 1 19 13
+f 1 13 3
+f 1 3 12
+f 1 12 18
+f 1 18 23
+f 1 23 22
+f 1 22 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 57
+f 1 57 56
+f 1 56 55
+f 1 55 59
+f 1 59 46
+f 1 46 45
+f 1 45 44
+f 1 44 41
+f 1 41 24
+f 1 24 15
+f 1 15 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 3 13 14
+f 3 14 12
+f 4 15 25
+f 4 25 43
+f 4 43 60
+f 4 60 52
+f 4 52 51
+f 4 51 64
+f 4 64 68
+f 4 68 72
+f 4 72 74
+f 4 74 69
+f 4 69 65
+f 4 65 61
+f 4 61 47
+f 4 47 26
+f 4 26 16
+f 4 16 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 16 17
+f 10 17 11
+f 12 14 18
+f 13 19 20
+f 13 20 14
+f 14 20 33
+f 14 33 21
+f 14 21 22
+f 14 22 23
+f 14 23 18
+f 15 24 25
+f 16 26 27
+f 16 27 17
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 21 33 54
+f 21 54 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 24 41 25
+f 25 42 43
+f 25 41 44
+f 25 44 45
+f 25 45 46
+f 25 46 42
+f 26 47 27
+f 27 47 48
+f 28 49 29
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 29 49 50
+f 30 52 31
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 32 54 33
+f 34 54 58
+f 34 58 42
+f 34 42 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 42 58 43
+f 42 46 59
+f 42 59 55
+f 43 53 60
+f 43 58 54
+f 43 54 53
+f 47 61 48
+f 48 61 62
+f 49 63 50
+f 50 63 51
+f 51 63 64
+f 52 60 53
+f 61 65 62
+f 62 65 66
+f 63 67 68
+f 63 68 64
+f 65 69 70
+f 65 70 66
+f 67 71 68
+f 68 71 73
+f 68 73 72
+f 69 74 73
+f 69 73 70
+f 72 73 74
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_32.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03893381 0.06496300 0.03602750
+v 0.03893381 0.06496299 0.03697558
+v 0.03969794 0.06467122 0.03546653
+v 0.03893381 0.06492558 0.03527922
+v 0.03893381 0.06303530 0.03769696
+v 0.04043548 0.06315249 0.03740400
+v 0.03969794 0.06467121 0.03690066
+v 0.03893381 0.06404779 0.03387198
+v 0.04445062 0.06186573 0.03579983
+v 0.03893381 0.06034953 0.03744431
+v 0.04024112 0.06034953 0.03771905
+v 0.04283447 0.06034953 0.03783718
+v 0.04283447 0.06240437 0.03707933
+v 0.04536121 0.06037696 0.03720994
+v 0.04445062 0.06186573 0.03664705
+v 0.04243506 0.05581339 0.02809798
+v 0.04196910 0.05613012 0.02809798
+v 0.04111177 0.05670865 0.02809798
+v 0.04028638 0.05724730 0.02809798
+v 0.03893381 0.05808522 0.02809798
+v 0.04639429 0.05886576 0.03377208
+v 0.05193506 0.05648919 0.03624553
+v 0.04740606 0.05953157 0.03548669
+v 0.03893381 0.05826474 0.03660478
+v 0.06099840 0.03948917 0.03723388
+v 0.06358638 0.03948917 0.03788804
+v 0.06358638 0.03966623 0.03791014
+v 0.04817286 0.05794054 0.03736940
+v 0.05580376 0.05000788 0.03780930
+v 0.05321041 0.05259141 0.03778626
+v 0.05061709 0.05517744 0.03771710
+v 0.04740606 0.05953156 0.03687855
+v 0.05193506 0.05648919 0.03633197
+v 0.04276789 0.05557648 0.02809797
+v 0.03893381 0.05405530 0.02809797
+v 0.04817286 0.05839692 0.03478258
+v 0.04945088 0.05656151 0.03368945
+v 0.04405390 0.05464881 0.02809797
+v 0.05459230 0.05396548 0.03608989
+v 0.05043605 0.05697047 0.03523789
+v 0.03893381 0.05706774 0.03554047
+v 0.05920382 0.03948918 0.03651538
+v 0.06592942 0.03948917 0.03714454
+v 0.06369821 0.04230713 0.03735110
+v 0.05839706 0.04742184 0.03780352
+v 0.05061709 0.05702781 0.03683050
+v 0.05559607 0.05239690 0.03689005
+v 0.05820269 0.04979840 0.03688715
+v 0.05296282 0.05496797 0.03681033
+v 0.05459230 0.05396548 0.03643473
+v 0.03893381 0.05433458 0.02910946
+v 0.05452572 0.03948921 0.02809792
+v 0.05720957 0.05140938 0.03605435
+v 0.05373761 0.05303783 0.03437527
+v 0.05273383 0.04695804 0.02809794
+v 0.05143182 0.04824482 0.02809795
+v 0.05012185 0.04948922 0.02809795
+v 0.04871070 0.05076103 0.02809796
+v 0.04841516 0.05102040 0.02809796
+v 0.04748860 0.05183336 0.02809796
+v 0.04588309 0.05317999 0.02809797
+v 0.04458642 0.05424730 0.02809797
+v 0.03893381 0.05617246 0.03427541
+v 0.05779268 0.03948918 0.03519460
+v 0.05781929 0.03948918 0.03522535
+v 0.06613180 0.03948917 0.03707348
+v 0.06524783 0.04148171 0.03680836
+v 0.06291008 0.04433457 0.03694958
+v 0.06035671 0.04742184 0.03691116
+v 0.05720957 0.05140938 0.03646836
+v 0.05976828 0.04879842 0.03642607
+v 0.03893381 0.05456402 0.02992786
+v 0.05903077 0.03948921 0.02809792
+v 0.05490912 0.03948920 0.02926502
+v 0.05976828 0.04879842 0.03611773
+v 0.05802166 0.04961885 0.03522922
+v 0.05365507 0.04599546 0.02809794
+v 0.03893381 0.05537696 0.03248874
+v 0.05614188 0.03948919 0.03254536
+v 0.05776072 0.03948918 0.03514659
+v 0.06613180 0.03948918 0.03527913
+v 0.06524783 0.04148172 0.03563167
+v 0.03893381 0.05502536 0.03141291
+v 0.05510881 0.03948920 0.02986922
+v 0.05887102 0.03970370 0.02809792
+v 0.05902811 0.04742185 0.03423885
+v 0.06291008 0.04433458 0.03549431
+v 0.06035671 0.04742185 0.03552507
+v 0.05401982 0.04561141 0.02809794
+v 0.05600610 0.03948919 0.03222934
+v 0.05751577 0.04147674 0.02809792
+v 0.05966711 0.04607522 0.03373360
+v 0.05513279 0.04438198 0.02809793
+v 0.05470411 0.04485582 0.02809793
+v 0.05647736 0.04277101 0.02809793
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 20
+f 1 20 35
+f 1 35 51
+f 1 51 72
+f 1 72 83
+f 1 83 78
+f 1 78 63
+f 1 63 41
+f 1 41 24
+f 1 24 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 7 15
+f 3 15 9
+f 3 9 8
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 7 13 15
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 9 21
+f 8 21 16
+f 9 15 33
+f 9 33 22
+f 9 22 23
+f 9 23 21
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 12
+f 12 28 14
+f 12 27 29
+f 12 29 30
+f 12 30 31
+f 12 31 28
+f 13 14 32
+f 13 32 15
+f 14 28 32
+f 15 32 33
+f 16 34 38
+f 16 38 62
+f 16 62 61
+f 16 61 60
+f 16 60 59
+f 16 59 58
+f 16 58 57
+f 16 57 56
+f 16 56 55
+f 16 55 77
+f 16 77 89
+f 16 89 94
+f 16 94 93
+f 16 93 95
+f 16 95 91
+f 16 91 85
+f 16 85 73
+f 16 73 52
+f 16 52 35
+f 16 35 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 16 21 34
+f 21 23 36
+f 21 36 37
+f 21 37 38
+f 21 38 34
+f 22 33 50
+f 22 50 39
+f 22 39 37
+f 22 37 40
+f 22 40 23
+f 23 40 36
+f 24 41 42
+f 24 42 25
+f 25 42 65
+f 25 65 64
+f 25 64 80
+f 25 80 79
+f 25 79 90
+f 25 90 84
+f 25 84 74
+f 25 74 52
+f 25 52 73
+f 25 73 81
+f 25 81 66
+f 25 66 43
+f 25 43 26
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 29
+f 28 31 46
+f 28 46 32
+f 29 47 30
+f 29 45 48
+f 29 48 47
+f 30 47 31
+f 31 47 49
+f 31 49 46
+f 32 46 33
+f 33 49 50
+f 33 46 49
+f 35 52 51
+f 36 40 37
+f 37 39 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 39 50 70
+f 39 70 53
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 43 66 44
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 45 68 69
+f 45 69 48
+f 47 50 49
+f 47 48 70
+f 47 70 50
+f 48 69 71
+f 48 71 70
+f 51 52 72
+f 52 74 72
+f 53 70 71
+f 53 71 75
+f 53 75 76
+f 53 76 55
+f 53 55 54
+f 55 76 77
+f 63 78 79
+f 63 79 80
+f 63 80 64
+f 66 81 82
+f 66 82 67
+f 67 82 75
+f 67 75 71
+f 67 71 68
+f 68 71 69
+f 72 74 84
+f 72 84 83
+f 73 85 82
+f 73 82 81
+f 75 86 76
+f 75 82 87
+f 75 87 88
+f 75 88 86
+f 76 86 77
+f 77 86 89
+f 78 83 84
+f 78 84 90
+f 78 90 79
+f 82 85 91
+f 82 91 87
+f 86 88 92
+f 86 92 93
+f 86 93 94
+f 86 94 89
+f 87 91 95
+f 87 95 92
+f 87 92 88
+f 92 95 93
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_33.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.05986602 0.00087919 -0.01898904
+v 0.05979760 0.00184736 -0.01898903
+v 0.05984891 -0.00041761 -0.01898904
+v 0.05947033 -0.00041761 -0.01987356
+v 0.05947460 0.00087919 -0.01989125
+v 0.05939760 0.00346541 -0.01963374
+v 0.05966711 0.00346541 -0.01898903
+v 0.05607371 -0.00041761 -0.01898904
+v 0.05908745 -0.00041760 -0.02073842
+v 0.05869390 0.00087920 -0.02157970
+v 0.05853562 0.00346542 -0.02157969
+v 0.05830460 0.00605016 -0.02157968
+v 0.05928425 0.00605015 -0.01927796
+v 0.05948530 0.00525146 -0.01898902
+v 0.05357116 0.01462079 -0.01898899
+v 0.05356687 0.01463405 -0.01899095
+v 0.03801686 0.01463412 -0.03906951
+v 0.04082314 -0.00041754 -0.03906956
+v 0.05869816 -0.00041760 -0.02157970
+v 0.05761802 0.00087921 -0.02388928
+v 0.05753458 0.00346543 -0.02372807
+v 0.05741695 0.00605017 -0.02348628
+v 0.05726722 0.00820317 -0.02319539
+v 0.05774635 0.00889280 -0.02183714
+v 0.05917944 0.00747073 -0.01898901
+v 0.05939760 0.00605015 -0.01898902
+v 0.05359681 0.01463405 -0.01898899
+v 0.04402726 0.01463412 -0.03906951
+v 0.04645922 -0.00041754 -0.03906956
+v 0.05762656 -0.00041759 -0.02386176
+v 0.05611220 0.00087922 -0.02672562
+v 0.05597530 0.00346544 -0.02672561
+v 0.05573575 0.00605018 -0.02672560
+v 0.05710038 0.00992728 -0.02286516
+v 0.05520958 0.00882797 -0.02695952
+v 0.05668331 0.00889281 -0.02409170
+v 0.05901474 0.00849638 -0.01898901
+v 0.05741053 0.01463405 -0.01898899
+v 0.04449568 0.01463412 -0.03864693
+v 0.04431386 0.01380594 -0.03906951
+v 0.04646992 0.00008794 -0.03906956
+v 0.04698751 -0.00041754 -0.03856048
+v 0.05554753 -0.00041758 -0.02777134
+v 0.05498928 -0.00041757 -0.02880522
+v 0.05499139 0.00087923 -0.02880128
+v 0.05492724 0.00346545 -0.02869907
+v 0.05479462 0.00605018 -0.02848481
+v 0.05464276 0.00809559 -0.02823322
+v 0.05497216 0.01122114 -0.02633246
+v 0.05607584 0.01122113 -0.02415260
+v 0.05690788 0.01122112 -0.02248578
+v 0.05727151 0.01302339 -0.02064399
+v 0.05750465 0.01122112 -0.02119833
+v 0.05843081 0.01122111 -0.01900669
+v 0.05447591 0.00981972 -0.02797374
+v 0.05430696 0.01122114 -0.02761798
+v 0.05843723 0.01122111 -0.01898900
+v 0.05765437 0.01394881 -0.01898899
+v 0.05737418 0.01463405 -0.01907744
+v 0.04577477 0.01463412 -0.03733784
+v 0.04592662 0.01380594 -0.03747740
+v 0.04463044 0.01380594 -0.03877470
+v 0.04494698 0.01153951 -0.03906952
+v 0.04648488 0.00087926 -0.03906956
+v 0.04700036 0.00087926 -0.03857425
+v 0.04828585 -0.00041754 -0.03720619
+v 0.05418074 -0.00041757 -0.03008878
+v 0.05417647 0.00087923 -0.03008483
+v 0.05411016 0.00346545 -0.02998260
+v 0.05397328 0.00605019 -0.02976834
+v 0.05389627 0.00882798 -0.02917082
+v 0.05400535 0.01390758 -0.02669018
+v 0.05519675 0.01390757 -0.02431967
+v 0.05508978 0.01463407 -0.02408184
+v 0.05629187 0.01463406 -0.02154623
+v 0.05696350 0.01463405 -0.02002485
+v 0.05703194 0.01463405 -0.01986761
+v 0.05768858 0.01384565 -0.01898899
+v 0.05219796 0.01122115 -0.03098110
+v 0.05329738 0.01122115 -0.02929461
+v 0.05256587 0.01372192 -0.02939682
+v 0.04702175 0.01463411 -0.03604447
+v 0.04716079 0.01380593 -0.03618993
+v 0.04753082 0.01122117 -0.03657519
+v 0.04629025 0.01122118 -0.03786070
+v 0.04503468 0.01122118 -0.03906952
+v 0.04637366 0.00346548 -0.03906955
+v 0.04694689 0.00346548 -0.03852115
+v 0.04829868 0.00087926 -0.03721210
+v 0.04889544 -0.00041755 -0.03656148
+v 0.05269420 -0.00041756 -0.03211332
+v 0.05268991 0.00087778 -0.03211922
+v 0.05190493 0.00173838 -0.03314525
+v 0.05281399 0.00346546 -0.03178703
+v 0.05267708 0.00605020 -0.03161012
+v 0.05246962 0.00863496 -0.03134867
+v 0.05245036 0.01463409 -0.02909607
+v 0.05376365 0.01463408 -0.02670003
+v 0.05151138 0.00863496 -0.03263417
+v 0.05123330 0.01122116 -0.03226660
+v 0.05199904 0.01280386 -0.03070200
+v 0.05173595 0.01452799 -0.03032065
+v 0.04828373 0.01463411 -0.03461352
+v 0.04845912 0.01380593 -0.03474128
+v 0.04882702 0.01122117 -0.03516783
+v 0.04781530 0.00863498 -0.03686612
+v 0.04657900 0.00863498 -0.03815356
+v 0.04910935 0.00863497 -0.03549412
+v 0.04561220 0.00863498 -0.03906953
+v 0.04609132 0.00592496 -0.03906954
+v 0.04684208 0.00553152 -0.03841502
+v 0.04937671 0.00521907 -0.03579094
+v 0.04824522 0.00346548 -0.03715312
+v 0.04949864 0.00087925 -0.03592658
+v 0.04949435 -0.00041755 -0.03592069
+v 0.05191990 -0.00041756 -0.03316099
+v 0.05191990 0.00001422 -0.03316099
+v 0.05101514 0.00087779 -0.03418703
+v 0.04944516 0.00346547 -0.03586761
+v 0.05067932 0.00346547 -0.03444059
+v 0.05184931 0.00346546 -0.03307450
+v 0.05171029 0.00605020 -0.03289562
+v 0.05171671 0.01463409 -0.03029119
+v 0.05021519 0.00863497 -0.03420862
+v 0.04993499 0.01122116 -0.03388232
+v 0.04957135 0.01380592 -0.03345578
+v 0.05097022 0.01372193 -0.03168281
+v 0.04944089 0.01463410 -0.03330050
+v 0.04671160 0.00725418 -0.03828526
+v 0.04926336 0.00694326 -0.03566513
+v 0.04597582 0.00666769 -0.03906954
+v 0.04805486 0.00623740 -0.03703910
+v 0.05023015 0.00606938 -0.03466072
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 25
+f 1 25 37
+f 1 37 57
+f 1 57 78
+f 1 78 58
+f 1 58 38
+f 1 38 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 18
+f 3 18 29
+f 3 29 42
+f 3 42 66
+f 3 66 90
+f 3 90 115
+f 3 115 116
+f 3 116 91
+f 3 91 67
+f 3 67 44
+f 3 44 43
+f 3 43 30
+f 3 30 19
+f 3 19 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 25 26
+f 13 26 14
+f 13 24 25
+f 15 27 16
+f 16 27 38
+f 16 38 59
+f 16 59 77
+f 16 77 76
+f 16 76 75
+f 16 75 74
+f 16 74 98
+f 16 98 97
+f 16 97 123
+f 16 123 128
+f 16 128 103
+f 16 103 82
+f 16 82 60
+f 16 60 39
+f 16 39 28
+f 16 28 17
+f 17 28 40
+f 17 40 63
+f 17 63 86
+f 17 86 109
+f 17 109 131
+f 17 131 110
+f 17 110 87
+f 17 87 64
+f 17 64 41
+f 17 41 29
+f 17 29 18
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 34 24
+f 23 33 35
+f 23 35 36
+f 23 36 34
+f 24 34 37
+f 24 37 25
+f 28 39 40
+f 29 41 42
+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 46 47
+f 33 47 48
+f 33 48 35
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 37
+f 34 36 55
+f 34 55 56
+f 34 56 49
+f 35 48 55
+f 35 55 36
+f 37 54 57
+f 38 58 59
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 41 64 65
+f 41 65 42
+f 42 65 66
+f 44 67 45
+f 45 67 68
+f 45 68 46
+f 46 68 69
+f 46 69 47
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 55
+f 49 56 72
+f 49 72 50
+f 50 72 73
+f 50 73 51
+f 51 73 52
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 59
+f 52 59 58
+f 52 58 78
+f 52 78 54
+f 52 54 53
+f 54 78 57
+f 55 71 79
+f 55 79 80
+f 55 80 81
+f 55 81 56
+f 56 81 72
+f 60 82 61
+f 61 82 83
+f 61 83 84
+f 61 84 85
+f 61 85 62
+f 62 86 63
+f 62 85 86
+f 64 87 88
+f 64 88 65
+f 65 89 66
+f 65 88 89
+f 66 89 90
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 69 95 70
+f 70 95 96
+f 70 96 71
+f 71 96 79
+f 72 81 97
+f 72 97 98
+f 72 98 74
+f 72 74 73
+f 79 96 99
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 81
+f 81 101 102
+f 81 102 97
+f 82 103 104
+f 82 104 83
+f 83 104 105
+f 83 105 84
+f 84 106 107
+f 84 107 85
+f 84 105 108
+f 84 108 106
+f 85 107 86
+f 86 107 109
+f 87 110 111
+f 87 111 88
+f 88 111 112
+f 88 112 113
+f 88 113 89
+f 89 114 115
+f 89 115 90
+f 89 113 119
+f 89 119 114
+f 91 116 92
+f 92 116 117
+f 92 117 93
+f 93 118 114
+f 93 114 119
+f 93 119 120
+f 93 120 121
+f 93 121 94
+f 93 117 118
+f 94 121 95
+f 95 121 122
+f 95 122 99
+f 95 99 96
+f 97 102 123
+f 99 122 124
+f 99 124 125
+f 99 125 100
+f 100 125 126
+f 100 126 101
+f 101 126 127
+f 101 127 102
+f 102 127 128
+f 102 128 123
+f 103 128 104
+f 104 128 126
+f 104 126 105
+f 105 126 125
+f 105 125 108
+f 106 129 107
+f 106 108 130
+f 106 130 129
+f 107 129 109
+f 108 125 124
+f 108 124 130
+f 109 129 131
+f 110 131 129
+f 110 129 111
+f 111 129 132
+f 111 132 112
+f 112 130 133
+f 112 133 121
+f 112 121 120
+f 112 120 119
+f 112 119 113
+f 112 132 130
+f 114 116 115
+f 114 118 117
+f 114 117 116
+f 121 133 122
+f 122 133 130
+f 122 130 124
+f 126 128 127
+f 129 130 132
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_34.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.01681843 -0.04963690 -0.03314711
+v 0.01623780 -0.04984668 -0.03314711
+v 0.01609357 -0.04972718 -0.03338244
+v 0.01681843 -0.04958910 -0.03321150
+v 0.01681843 -0.04480424 -0.03314709
+v 0.01433482 -0.05043350 -0.03314712
+v 0.01429736 -0.05001128 -0.03373484
+v 0.01429736 -0.04892793 -0.03502156
+v 0.01638576 -0.04727368 -0.03606237
+v 0.01681843 -0.04791359 -0.03514681
+v 0.01681843 -0.04873144 -0.03421136
+v -0.00231623 -0.04825616 -0.03314711
+v 0.01681843 -0.02559043 -0.04510666
+v 0.01170325 -0.05114512 -0.03314712
+v 0.01170325 -0.05035914 -0.03415868
+v 0.01170325 -0.04929436 -0.03544537
+v 0.01429736 -0.04763746 -0.03643937
+v 0.01429736 -0.04636556 -0.03772606
+v 0.01637264 -0.04469270 -0.03859478
+v 0.01681843 -0.04653815 -0.03661733
+v 0.01681843 -0.04718604 -0.03597103
+v -0.00231623 -0.05269583 -0.03314712
+v -0.00231623 -0.03116393 -0.04510668
+v 0.01681843 -0.03566996 -0.04510670
+v 0.00912224 -0.05174521 -0.03314712
+v 0.00920652 -0.05050253 -0.03465979
+v 0.01013742 -0.04948553 -0.03566314
+v 0.01170325 -0.04800122 -0.03682105
+v 0.01170325 -0.04675852 -0.03810657
+v 0.01429736 -0.04507242 -0.03894603
+v 0.01681843 -0.04375805 -0.03925160
+v 0.01681843 -0.04459976 -0.03851050
+v 0.01681843 -0.04526361 -0.03786421
+v 0.01429736 -0.04362261 -0.04023038
+v 0.01609734 -0.04199225 -0.04103821
+v -0.00231623 -0.05259226 -0.03329229
+v -0.00126736 -0.05271706 -0.03314712
+v -0.00231623 -0.04015741 -0.04510672
+v 0.01504656 -0.03649841 -0.04510670
+v 0.01681843 -0.03872622 -0.04313508
+v 0.01534438 -0.03908204 -0.04336458
+v 0.00758825 -0.05207448 -0.03314712
+v 0.00840862 -0.04966343 -0.03586452
+v 0.00937321 -0.04830658 -0.03707512
+v 0.01033970 -0.04694174 -0.03828569
+v 0.01170325 -0.04546540 -0.03931249
+v 0.01170325 -0.04405011 -0.04059917
+v 0.01681843 -0.04283399 -0.04005477
+v 0.01429736 -0.04232948 -0.04130867
+v 0.01440599 -0.04039111 -0.04271713
+v 0.01681843 -0.04053979 -0.04186244
+v 0.01681843 -0.04083986 -0.04164586
+v 0.01681843 -0.04183825 -0.04091644
+v -0.00231623 -0.05242230 -0.03352881
+v -0.00126736 -0.05243296 -0.03354285
+v 0.00132678 -0.05266128 -0.03314712
+v 0.00132678 -0.05240904 -0.03350889
+v -0.00126736 -0.04020521 -0.04510672
+v -0.00231623 -0.04209580 -0.04367835
+v 0.01433670 -0.03682767 -0.04510671
+v 0.01361558 -0.03946174 -0.04361864
+v 0.00728293 -0.05211696 -0.03314712
+v 0.00588379 -0.05221520 -0.03326535
+v 0.00665548 -0.05129115 -0.03425118
+v 0.00651502 -0.04981481 -0.03603194
+v 0.00651502 -0.04860662 -0.03731866
+v 0.00860903 -0.04713028 -0.03847069
+v 0.00835244 -0.04450151 -0.04098789
+v 0.01008310 -0.04428644 -0.04079938
+v 0.01170325 -0.04275699 -0.04166110
+v 0.01170325 -0.04110006 -0.04294778
+v -0.00231623 -0.05199747 -0.03404862
+v -0.00231623 -0.05136815 -0.03481550
+v -0.00126736 -0.05137612 -0.03482954
+v 0.00392088 -0.05231875 -0.03339649
+v 0.00392088 -0.05249136 -0.03314712
+v 0.00132678 -0.05134161 -0.03479558
+v 0.00069932 -0.04015741 -0.04510672
+v 0.00132678 -0.04209846 -0.04368070
+v -0.00126736 -0.04211706 -0.04369474
+v -0.00231623 -0.04338892 -0.04263988
+v 0.01345264 -0.03721533 -0.04510671
+v 0.01170325 -0.03980694 -0.04384345
+v 0.00958675 -0.03871561 -0.04510671
+v 0.01173509 -0.03795617 -0.04510671
+v 0.01186432 -0.03790839 -0.04510671
+v 0.00596249 -0.05228689 -0.03314712
+v 0.00392088 -0.05125132 -0.03468320
+v 0.00392088 -0.04995819 -0.03619115
+v 0.00392088 -0.04875797 -0.03747670
+v 0.00651502 -0.04731350 -0.03865332
+v 0.00651502 -0.04595930 -0.03993887
+v 0.00651502 -0.04466614 -0.04113190
+v 0.00658055 -0.04287646 -0.04259422
+v 0.00748710 -0.04172140 -0.04339619
+v 0.00917468 -0.04328539 -0.04180979
+v 0.00910913 -0.04150368 -0.04324283
+v -0.00231623 -0.05007502 -0.03632112
+v -0.00126736 -0.05008297 -0.03633284
+v 0.00132678 -0.05004847 -0.03629537
+v 0.00132678 -0.04014151 -0.04510672
+v 0.00392088 -0.04199756 -0.04360342
+v 0.00132678 -0.04339159 -0.04263286
+v -0.00126736 -0.04341018 -0.04265276
+v -0.00231623 -0.04492636 -0.04135318
+v 0.00910913 -0.03885367 -0.04510671
+v 0.00132678 -0.04885620 -0.03758089
+v 0.00392088 -0.04746484 -0.03880554
+v 0.00392088 -0.04611331 -0.04008990
+v 0.00392088 -0.04482015 -0.04126653
+v 0.00392088 -0.04329069 -0.04255208
+v 0.00576018 -0.04187808 -0.04351445
+v 0.00653748 -0.03942191 -0.04510671
+v -0.00231623 -0.04887748 -0.03760667
+v -0.00126736 -0.04889338 -0.03761952
+v 0.00294881 -0.03996623 -0.04510672
+v 0.00392088 -0.03984410 -0.04510672
+v 0.00132678 -0.04491575 -0.04134731
+v -0.00126736 -0.04494230 -0.04136724
+v -0.00231623 -0.04569640 -0.04066593
+v 0.00132678 -0.04756311 -0.03889685
+v 0.00132678 -0.04620889 -0.04018239
+v 0.00502036 -0.03967681 -0.04510672
+v -0.00231623 -0.04758434 -0.03891327
+v -0.00126736 -0.04760027 -0.03892847
+v -0.00126736 -0.04623543 -0.04021283
+v -0.00231623 -0.04621951 -0.04019760
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 21
+f 1 21 20
+f 1 20 33
+f 1 33 32
+f 1 32 31
+f 1 31 48
+f 1 48 53
+f 1 53 52
+f 1 52 51
+f 1 51 40
+f 1 40 24
+f 1 24 13
+f 1 13 5
+f 1 5 12
+f 1 12 22
+f 1 22 37
+f 1 37 56
+f 1 56 76
+f 1 76 87
+f 1 87 62
+f 1 62 42
+f 1 42 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 13 12
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 9 17 18
+f 12 13 23
+f 12 23 38
+f 12 38 59
+f 12 59 81
+f 12 81 105
+f 12 105 120
+f 12 120 127
+f 12 127 124
+f 12 124 114
+f 12 114 98
+f 12 98 73
+f 12 73 72
+f 12 72 54
+f 12 54 36
+f 12 36 22
+f 13 24 39
+f 13 39 60
+f 13 60 82
+f 13 82 86
+f 13 86 85
+f 13 85 84
+f 13 84 106
+f 13 106 113
+f 13 113 123
+f 13 123 117
+f 13 117 116
+f 13 116 101
+f 13 101 78
+f 13 78 58
+f 13 58 38
+f 13 38 23
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 30 34
+f 19 34 35
+f 19 35 31
+f 22 36 37
+f 24 40 41
+f 24 41 39
+f 25 42 26
+f 26 43 27
+f 26 42 43
+f 27 44 45
+f 27 45 28
+f 27 43 44
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 47 34
+f 30 46 47
+f 31 35 48
+f 34 47 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 48
+f 36 54 55
+f 36 55 37
+f 37 55 57
+f 37 57 56
+f 38 58 59
+f 39 41 60
+f 40 51 41
+f 41 51 50
+f 41 50 61
+f 41 61 60
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 44 67 45
+f 45 67 68
+f 45 68 69
+f 45 69 46
+f 46 69 47
+f 47 69 70
+f 47 70 49
+f 49 70 71
+f 49 71 50
+f 50 71 61
+f 54 72 55
+f 55 72 73
+f 55 73 74
+f 55 74 57
+f 56 57 75
+f 56 75 76
+f 57 74 77
+f 57 77 88
+f 57 88 75
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 60 61 82
+f 61 83 84
+f 61 84 85
+f 61 85 86
+f 61 86 82
+f 61 71 83
+f 62 87 63
+f 63 87 76
+f 63 76 75
+f 63 75 88
+f 63 88 65
+f 63 65 64
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 66 90 91
+f 66 91 67
+f 67 92 68
+f 67 91 92
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 69
+f 68 92 93
+f 69 96 70
+f 70 97 71
+f 70 96 97
+f 71 97 84
+f 71 84 83
+f 73 98 74
+f 74 98 99
+f 74 99 77
+f 77 99 100
+f 77 100 89
+f 77 89 88
+f 78 101 79
+f 79 101 102
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 80 104 81
+f 81 104 105
+f 84 97 106
+f 89 100 107
+f 89 107 90
+f 90 107 108
+f 90 108 91
+f 91 108 109
+f 91 109 92
+f 92 109 93
+f 93 110 111
+f 93 111 112
+f 93 112 94
+f 93 109 110
+f 94 112 95
+f 95 112 113
+f 95 113 106
+f 95 106 97
+f 95 97 96
+f 98 114 115
+f 98 115 99
+f 99 115 100
+f 100 115 107
+f 101 116 102
+f 102 116 117
+f 102 117 112
+f 102 112 111
+f 102 111 103
+f 103 111 110
+f 103 110 118
+f 103 118 119
+f 103 119 104
+f 104 119 105
+f 105 119 120
+f 107 115 121
+f 107 121 108
+f 108 121 109
+f 109 122 110
+f 109 121 122
+f 110 122 118
+f 112 117 123
+f 112 123 113
+f 114 124 125
+f 114 125 115
+f 115 125 121
+f 118 122 126
+f 118 126 119
+f 119 126 120
+f 120 126 127
+f 121 125 122
+f 122 125 126
+f 124 127 126
+f 124 126 125
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_35.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.07853077 -0.00042279 0.03716857
+v 0.07853077 -0.00042278 0.03509897
+v 0.07754675 -0.00042279 0.03763481
+v 0.07852276 -0.00170907 0.03715907
+v 0.07242761 -0.00042276 0.03010312
+v 0.07852276 -0.00170906 0.03510369
+v 0.07655664 -0.00042279 0.03809473
+v 0.07655664 -0.00170907 0.03808840
+v 0.07655664 -0.00429567 0.03802516
+v 0.07655664 -0.00688227 0.03791059
+v 0.07843038 -0.00429567 0.03708796
+v 0.06887694 -0.00042276 0.03010312
+v 0.07241154 -0.00186367 0.03010311
+v 0.07843038 -0.00429566 0.03516454
+v 0.07525526 -0.00042279 0.03786083
+v 0.06517970 -0.03632244 0.03810013
+v 0.06618184 -0.03532084 0.03817522
+v 0.07396396 -0.01463857 0.03811602
+v 0.07396396 -0.01722517 0.03808201
+v 0.07655664 -0.00946537 0.03773673
+v 0.07829983 -0.00688227 0.03696230
+v 0.05801614 -0.03632241 0.03010299
+v 0.06916212 -0.00042276 0.03115889
+v 0.07203198 -0.00688224 0.03010309
+v 0.07829983 -0.00688226 0.03529097
+v 0.07178695 -0.00946534 0.03010309
+v 0.07396396 -0.00042279 0.03761033
+v 0.06344854 -0.03632244 0.03752879
+v 0.06618184 -0.03632244 0.03810961
+v 0.06877451 -0.03273423 0.03800136
+v 0.07136926 -0.02497795 0.03809146
+v 0.07396396 -0.01980475 0.03786706
+v 0.07600033 -0.01722517 0.03718274
+v 0.07631164 -0.01463857 0.03730525
+v 0.07812712 -0.00946537 0.03675607
+v 0.06211906 -0.03632241 0.03010299
+v 0.05832740 -0.03632241 0.03123301
+v 0.06950956 -0.00042277 0.03244063
+v 0.07812712 -0.00946536 0.03557938
+v 0.07141141 -0.01205191 0.03010308
+v 0.07304416 -0.00042279 0.03714487
+v 0.06230984 -0.03632244 0.03707757
+v 0.06781258 -0.03632244 0.03758176
+v 0.06888299 -0.03527515 0.03730201
+v 0.07065427 -0.03273423 0.03702541
+v 0.07136926 -0.02756455 0.03783228
+v 0.07352614 -0.02497795 0.03722854
+v 0.07797047 -0.01131745 0.03651582
+v 0.07565491 -0.01980475 0.03689589
+v 0.06854959 -0.03632243 0.03528060
+v 0.06223152 -0.03621699 0.03010299
+v 0.05868690 -0.03632242 0.03244050
+v 0.06998752 -0.00042277 0.03390414
+v 0.07797047 -0.01131745 0.03595632
+v 0.07565491 -0.01980474 0.03544105
+v 0.07600033 -0.01722516 0.03514789
+v 0.07088725 -0.01463149 0.03010307
+v 0.07214243 -0.00042278 0.03668417
+v 0.06159491 -0.03632243 0.03670380
+v 0.06854959 -0.03632244 0.03718187
+v 0.07024862 -0.03438599 0.03660423
+v 0.07276700 -0.02910035 0.03648966
+v 0.07305619 -0.02756455 0.03685950
+v 0.07146965 -0.03003867 0.03721589
+v 0.07540789 -0.02155137 0.03656240
+v 0.06295652 -0.03505019 0.03010299
+v 0.07065427 -0.03273422 0.03538729
+v 0.07024862 -0.03438599 0.03586615
+v 0.05939182 -0.03632243 0.03417979
+v 0.07084508 -0.00042278 0.03518905
+v 0.07540789 -0.02155137 0.03588832
+v 0.07305619 -0.02756454 0.03551611
+v 0.07352614 -0.02497794 0.03512497
+v 0.06851747 -0.02240538 0.03010304
+v 0.07035906 -0.01669445 0.03010306
+v 0.06039997 -0.03632243 0.03559905
+v 0.07276700 -0.02910035 0.03601869
+v 0.06429806 -0.03255496 0.03010300
+v 0.06540864 -0.03022491 0.03010301
+v 0.05997823 -0.03632243 0.03504747
+v 0.06733255 -0.02559293 0.03010303
+v 0.06781258 -0.02442617 0.03010303
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 38
+f 1 38 53
+f 1 53 70
+f 1 70 58
+f 1 58 41
+f 1 41 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 14
+f 4 14 6
+f 4 8 9
+f 5 6 13
+f 5 13 24
+f 5 24 26
+f 5 26 40
+f 5 40 57
+f 5 57 75
+f 5 75 74
+f 5 74 82
+f 5 82 81
+f 5 81 79
+f 5 79 78
+f 5 78 66
+f 5 66 51
+f 5 51 36
+f 5 36 22
+f 5 22 12
+f 6 14 13
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 25
+f 11 25 14
+f 12 22 23
+f 13 14 24
+f 14 25 26
+f 14 26 24
+f 15 27 16
+f 16 28 42
+f 16 42 59
+f 16 59 76
+f 16 76 80
+f 16 80 69
+f 16 69 52
+f 16 52 37
+f 16 37 22
+f 16 22 36
+f 16 36 50
+f 16 50 60
+f 16 60 43
+f 16 43 29
+f 16 29 17
+f 16 27 28
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 39
+f 21 39 25
+f 22 37 38
+f 22 38 23
+f 25 39 40
+f 25 40 26
+f 27 41 42
+f 27 42 28
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 46 32
+f 32 46 47
+f 32 47 33
+f 33 48 35
+f 33 35 34
+f 33 47 49
+f 33 49 48
+f 35 48 54
+f 35 54 39
+f 36 51 50
+f 37 52 38
+f 38 52 53
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 41 58 42
+f 42 58 59
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 64 47
+f 47 64 63
+f 47 63 49
+f 48 49 65
+f 48 65 71
+f 48 71 54
+f 49 63 65
+f 50 51 66
+f 50 66 67
+f 50 67 68
+f 50 68 61
+f 50 61 60
+f 52 69 53
+f 53 69 70
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 75
+f 55 75 56
+f 56 75 57
+f 58 70 76
+f 58 76 59
+f 61 68 77
+f 61 77 62
+f 62 77 71
+f 62 71 65
+f 62 65 63
+f 66 78 67
+f 67 78 79
+f 67 79 72
+f 67 72 77
+f 67 77 68
+f 69 80 70
+f 70 80 76
+f 71 77 72
+f 72 81 82
+f 72 82 73
+f 72 79 81
+f 73 82 74
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_36.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.01428911 0.04345740 -0.03906940
+v 0.01428911 0.04389482 -0.03864877
+v 0.01429898 0.04389482 -0.03864682
+v 0.01429898 0.04345465 -0.03906940
+v 0.01428911 0.03805234 -0.03906942
+v 0.01428911 0.04519345 -0.03732396
+v 0.01576538 0.04361596 -0.03837360
+v 0.01629372 0.04264540 -0.03906940
+v 0.02871985 0.02848346 -0.03906946
+v 0.01428911 0.05270906 -0.01898885
+v 0.01428911 0.04641827 -0.03604239
+v 0.01570606 0.04617223 -0.03577310
+v 0.01660030 0.04471230 -0.03687973
+v 0.01749451 0.04322500 -0.03798638
+v 0.01682491 0.04240483 -0.03906940
+v 0.02871985 0.04653576 -0.01898887
+v 0.02871985 0.03547420 -0.03906943
+v 0.01428911 0.05640810 -0.01898883
+v 0.01428911 0.04795748 -0.03422616
+v 0.01528930 0.04860816 -0.03301536
+v 0.01669918 0.04686665 -0.03448760
+v 0.01743517 0.04580585 -0.03537799
+v 0.01948642 0.04404518 -0.03622911
+v 0.01948642 0.04273017 -0.03751660
+v 0.01948642 0.04111984 -0.03906941
+v 0.02871985 0.05075700 -0.01898885
+v 0.02705003 0.03676191 -0.03906942
+v 0.02871985 0.03614677 -0.03856626
+v 0.01429898 0.05640810 -0.01898883
+v 0.01428911 0.05539110 -0.02157164
+v 0.01428911 0.04951309 -0.03218390
+v 0.01437388 0.04958692 -0.03204042
+v 0.01689271 0.04924518 -0.03133673
+v 0.01689271 0.04831016 -0.03262224
+v 0.01948642 0.04649755 -0.03359129
+v 0.02091042 0.04619134 -0.03322765
+v 0.01948642 0.04533561 -0.03487875
+v 0.02103618 0.04367063 -0.03585174
+v 0.02052901 0.04058400 -0.03906941
+v 0.02871985 0.05068866 -0.01917951
+v 0.02798101 0.05098940 -0.01949991
+v 0.02740603 0.05149244 -0.01898885
+v 0.02670673 0.03699703 -0.03906942
+v 0.02702036 0.03698338 -0.03890038
+v 0.02871985 0.03632175 -0.03841685
+v 0.01605358 0.05595155 -0.01898883
+v 0.01429898 0.05538564 -0.02157950
+v 0.01428911 0.05430298 -0.02410330
+v 0.01428911 0.04967167 -0.03195786
+v 0.01869389 0.04891709 -0.03087089
+v 0.01428911 0.05096755 -0.03006301
+v 0.01695770 0.05061761 -0.02920798
+v 0.01953023 0.04788092 -0.03178292
+v 0.02263958 0.04574022 -0.03268908
+v 0.02423734 0.04401784 -0.03367975
+v 0.02183717 0.04470679 -0.03431071
+v 0.02042306 0.04855894 -0.03034804
+v 0.02189651 0.04676820 -0.03184584
+v 0.02393926 0.04642372 -0.03097310
+v 0.02276389 0.04321679 -0.03539376
+v 0.02467387 0.04140965 -0.03616229
+v 0.02270176 0.04061133 -0.03795887
+v 0.02182021 0.03991964 -0.03906941
+v 0.02871985 0.05064764 -0.01927189
+v 0.02871985 0.05018834 -0.02029402
+v 0.02871985 0.04965796 -0.02141045
+v 0.02717718 0.05049457 -0.02149889
+v 0.02625186 0.05143778 -0.02058885
+v 0.02707404 0.05166468 -0.01898885
+v 0.02471483 0.03829294 -0.03906942
+v 0.02599050 0.03838588 -0.03831070
+v 0.02771966 0.03778167 -0.03777410
+v 0.02871985 0.03883151 -0.03616625
+v 0.01671190 0.05577931 -0.01898884
+v 0.01706789 0.05455995 -0.02177999
+v 0.01631915 0.05410066 -0.02330922
+v 0.01490221 0.05367691 -0.02502321
+v 0.01428911 0.05419363 -0.02432739
+v 0.01786606 0.05117808 -0.02783599
+v 0.01953023 0.04952130 -0.02941241
+v 0.01428911 0.05176315 -0.02878341
+v 0.01613690 0.05146787 -0.02829594
+v 0.02495216 0.04498566 -0.03206205
+v 0.02596649 0.04353940 -0.03315100
+v 0.02607245 0.04102415 -0.03578883
+v 0.02208014 0.04817345 -0.02977015
+v 0.01948642 0.05086367 -0.02731317
+v 0.02092174 0.05136124 -0.02554216
+v 0.02208014 0.04901823 -0.02848663
+v 0.02338831 0.04872024 -0.02802077
+v 0.02452837 0.04735053 -0.02918245
+v 0.02566842 0.04595621 -0.03034411
+v 0.02467387 0.04006182 -0.03744782
+v 0.02467387 0.03876864 -0.03867239
+v 0.02203777 0.03980481 -0.03906941
+v 0.02871985 0.04882137 -0.02305372
+v 0.02535056 0.05102222 -0.02230284
+v 0.02711645 0.04919047 -0.02400308
+v 0.02456087 0.05175765 -0.02149889
+v 0.02087510 0.05392568 -0.02038048
+v 0.02467387 0.05274187 -0.01900654
+v 0.02467530 0.05274733 -0.01898885
+v 0.02320890 0.03915688 -0.03906942
+v 0.02689604 0.03941932 -0.03678148
+v 0.02780300 0.04045277 -0.03521293
+v 0.02871985 0.03917052 -0.03584193
+v 0.01946525 0.05496457 -0.01898884
+v 0.01948642 0.05495093 -0.01900653
+v 0.01948642 0.05416627 -0.02093085
+v 0.01804829 0.05381905 -0.02277262
+v 0.01706789 0.05344179 -0.02416032
+v 0.01695770 0.05203107 -0.02687677
+v 0.01428911 0.05303990 -0.02654265
+v 0.01428911 0.05320667 -0.02623600
+v 0.01948642 0.05164284 -0.02602764
+v 0.01428911 0.05297702 -0.02665467
+v 0.02726758 0.04418735 -0.03138196
+v 0.02871985 0.04374443 -0.03083356
+v 0.02726758 0.04312930 -0.03266746
+v 0.02871985 0.04159280 -0.03335543
+v 0.02871985 0.04134128 -0.03363651
+v 0.02706982 0.04170219 -0.03438932
+v 0.01948642 0.05261339 -0.02415245
+v 0.02190214 0.05169751 -0.02402471
+v 0.02264948 0.05097302 -0.02479523
+v 0.02442101 0.04910025 -0.02656625
+v 0.02190214 0.05031141 -0.02652889
+v 0.02511745 0.04827459 -0.02731904
+v 0.02615155 0.04881592 -0.02560505
+v 0.02670673 0.04654947 -0.02863208
+v 0.02744982 0.04556253 -0.02941045
+v 0.02871985 0.04385651 -0.03068616
+v 0.02871985 0.04729856 -0.02558736
+v 0.02788072 0.04830741 -0.02475985
+v 0.02456087 0.05048363 -0.02402471
+v 0.02187532 0.05300708 -0.02137509
+v 0.01948642 0.05356208 -0.02221832
+v 0.02140489 0.05420454 -0.01898884
+v 0.02142466 0.05419635 -0.01898884
+v 0.02871985 0.04011921 -0.03488467
+v 0.01948642 0.05495639 -0.01898884
+v 0.02871985 0.04683381 -0.02634217
+v 0.02843591 0.04604914 -0.02788910
+v 0.02871985 0.04566366 -0.02817409
+v 0.02871985 0.04598080 -0.02771611
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 25
+f 1 25 39
+f 1 39 63
+f 1 63 95
+f 1 95 103
+f 1 103 70
+f 1 70 43
+f 1 43 27
+f 1 27 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 30
+f 1 30 48
+f 1 48 78
+f 1 78 114
+f 1 114 113
+f 1 113 116
+f 1 116 81
+f 1 81 51
+f 1 51 49
+f 1 49 31
+f 1 31 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 9 17 28
+f 9 28 45
+f 9 45 73
+f 9 73 106
+f 9 106 140
+f 9 140 121
+f 9 121 120
+f 9 120 118
+f 9 118 132
+f 9 132 144
+f 9 144 145
+f 9 145 142
+f 9 142 133
+f 9 133 96
+f 9 96 66
+f 9 66 65
+f 9 65 64
+f 9 64 40
+f 9 40 26
+f 9 26 16
+f 10 16 26
+f 10 26 42
+f 10 42 69
+f 10 69 102
+f 10 102 139
+f 10 139 138
+f 10 138 141
+f 10 141 107
+f 10 107 74
+f 10 74 46
+f 10 46 29
+f 10 29 18
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 17 27 28
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 35 22
+f 21 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 26 40 41
+f 26 41 42
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 31 49 32
+f 32 49 33
+f 33 50 34
+f 33 49 51
+f 33 51 52
+f 33 52 50
+f 34 50 53
+f 34 53 35
+f 35 53 36
+f 36 54 55
+f 36 55 56
+f 36 56 38
+f 36 38 37
+f 36 53 57
+f 36 57 58
+f 36 58 59
+f 36 59 54
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 39
+f 38 56 60
+f 40 64 41
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 69
+f 41 69 42
+f 43 70 71
+f 43 71 44
+f 44 71 72
+f 44 72 45
+f 45 72 73
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 48 75 76
+f 48 76 77
+f 48 77 78
+f 50 52 79
+f 50 79 80
+f 50 80 57
+f 50 57 53
+f 51 81 82
+f 51 82 52
+f 52 82 79
+f 54 59 83
+f 54 83 84
+f 54 84 55
+f 55 84 85
+f 55 85 60
+f 55 60 56
+f 57 86 59
+f 57 59 58
+f 57 80 87
+f 57 87 88
+f 57 88 89
+f 57 89 86
+f 59 86 90
+f 59 90 91
+f 59 91 92
+f 59 92 83
+f 60 85 61
+f 61 85 93
+f 61 93 62
+f 62 93 94
+f 62 94 95
+f 62 95 63
+f 66 96 67
+f 67 97 68
+f 67 96 98
+f 67 98 97
+f 68 97 99
+f 68 99 100
+f 68 100 101
+f 68 101 69
+f 69 101 102
+f 70 103 94
+f 70 94 71
+f 71 94 85
+f 71 85 104
+f 71 104 72
+f 72 104 73
+f 73 104 85
+f 73 85 105
+f 73 105 106
+f 74 107 75
+f 75 107 108
+f 75 108 109
+f 75 109 110
+f 75 110 76
+f 76 110 111
+f 76 111 77
+f 77 111 112
+f 77 112 113
+f 77 113 114
+f 77 114 78
+f 79 82 112
+f 79 112 115
+f 79 115 87
+f 79 87 80
+f 81 116 112
+f 81 112 82
+f 83 92 84
+f 84 92 117
+f 84 117 118
+f 84 118 119
+f 84 119 120
+f 84 120 121
+f 84 121 122
+f 84 122 85
+f 85 94 93
+f 85 122 105
+f 86 89 90
+f 87 115 88
+f 88 115 123
+f 88 123 100
+f 88 100 124
+f 88 124 125
+f 88 125 126
+f 88 126 127
+f 88 127 89
+f 89 127 90
+f 90 128 91
+f 90 127 126
+f 90 126 129
+f 90 129 128
+f 91 130 92
+f 91 128 130
+f 92 130 131
+f 92 131 132
+f 92 132 118
+f 92 118 117
+f 94 103 95
+f 96 133 134
+f 96 134 129
+f 96 129 98
+f 97 98 129
+f 97 129 135
+f 97 135 125
+f 97 125 124
+f 97 124 136
+f 97 136 99
+f 99 136 100
+f 100 136 124
+f 100 123 137
+f 100 137 110
+f 100 110 109
+f 100 109 108
+f 100 108 138
+f 100 138 139
+f 100 139 101
+f 101 139 102
+f 105 122 121
+f 105 121 140
+f 105 140 106
+f 107 141 108
+f 108 141 138
+f 110 137 123
+f 110 123 111
+f 111 123 115
+f 111 115 112
+f 112 116 113
+f 118 120 119
+f 125 135 129
+f 125 129 126
+f 128 129 130
+f 129 134 133
+f 129 133 142
+f 129 142 143
+f 129 143 130
+f 130 143 131
+f 131 143 132
+f 132 143 144
+f 142 145 143
+f 143 145 144
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_37.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.05741094 0.01463552 -0.01898899
+v 0.05737310 0.01463552 -0.01907744
+v 0.05570432 0.01639370 -0.02157964
+v 0.05588282 0.01897853 -0.01900666
+v 0.05588282 0.01899476 -0.01898897
+v 0.05359740 0.01463552 -0.01898899
+v 0.05696468 0.01463552 -0.02002485
+v 0.05629122 0.01463553 -0.02154623
+v 0.05483614 0.01639371 -0.02350787
+v 0.05457918 0.01786220 -0.02301252
+v 0.05557448 0.01981142 -0.01898897
+v 0.05356495 0.01463552 -0.01899095
+v 0.04818811 0.02669307 -0.01898894
+v 0.04774186 0.02739235 -0.01899680
+v 0.05509037 0.01463554 -0.02408184
+v 0.05376238 0.01463555 -0.02670003
+v 0.05318088 0.01639372 -0.02672556
+v 0.05421948 0.01958666 -0.02224007
+v 0.05425734 0.02226513 -0.01977714
+v 0.05493080 0.02150093 -0.01898896
+v 0.05495243 0.02144598 -0.01898896
+v 0.05488210 0.01882621 -0.02146167
+v 0.05196379 0.01781602 -0.02809559
+v 0.05235326 0.01879874 -0.02666068
+v 0.05208551 0.02067056 -0.02575846
+v 0.02978303 0.02739242 -0.03906946
+v 0.03801865 0.01463559 -0.03906951
+v 0.04897517 0.02739235 -0.01898894
+v 0.05245063 0.01463556 -0.02909607
+v 0.05223156 0.01639372 -0.02852214
+v 0.05385436 0.02401208 -0.01898895
+v 0.05215852 0.02587891 -0.02079924
+v 0.05140124 0.01639373 -0.02980565
+v 0.05064395 0.01904226 -0.02933586
+v 0.05160678 0.01954048 -0.02747443
+v 0.05116862 0.02154467 -0.02666067
+v 0.05173660 0.02490116 -0.02251327
+v 0.03682862 0.02739242 -0.03906946
+v 0.04402568 0.01463559 -0.03906951
+v 0.05208821 0.02739235 -0.01898894
+v 0.05171496 0.01463556 -0.03029119
+v 0.05381648 0.02408949 -0.01898895
+v 0.04951610 0.02579278 -0.02576044
+v 0.04995696 0.02668684 -0.02408571
+v 0.05124168 0.02673928 -0.02162677
+v 0.05155810 0.02739235 -0.02019778
+v 0.05172038 0.02739235 -0.01986559
+v 0.05185831 0.02739235 -0.01955896
+v 0.05244251 0.02680421 -0.01898894
+v 0.05249389 0.02671055 -0.01898894
+v 0.04968108 0.01854528 -0.03107148
+v 0.04931596 0.02026849 -0.03057813
+v 0.04984606 0.02156339 -0.02882086
+v 0.04946201 0.02311804 -0.02823512
+v 0.04991366 0.02404833 -0.02666066
+v 0.03716129 0.02739242 -0.03881396
+v 0.03750479 0.02655952 -0.03906946
+v 0.04355236 0.01605164 -0.03906950
+v 0.04432860 0.01565079 -0.03849162
+v 0.04449358 0.01463559 -0.03864693
+v 0.04944037 0.01463557 -0.03330050
+v 0.04935112 0.01519499 -0.03319434
+v 0.04996777 0.01619146 -0.03190295
+v 0.04904820 0.02739237 -0.02496240
+v 0.04898057 0.02484250 -0.02747638
+v 0.04841260 0.02668685 -0.02666065
+v 0.04915367 0.02739237 -0.02477763
+v 0.04975681 0.02739237 -0.02369259
+v 0.05087113 0.02739236 -0.02156385
+v 0.04902385 0.01691946 -0.03278550
+v 0.04873176 0.01923581 -0.03190294
+v 0.04898869 0.02156339 -0.03010443
+v 0.04690883 0.02062937 -0.03336730
+v 0.04760662 0.02151971 -0.03193044
+v 0.04714954 0.02360878 -0.03111471
+v 0.04806370 0.02422565 -0.02936533
+v 0.03835404 0.02739242 -0.03775254
+v 0.03838920 0.02729250 -0.03779185
+v 0.03757510 0.02655328 -0.03901444
+v 0.03758052 0.02645836 -0.03906946
+v 0.04327919 0.01677338 -0.03906950
+v 0.04401216 0.01737526 -0.03818105
+v 0.04577288 0.01463559 -0.03733784
+v 0.04687367 0.01551342 -0.03589112
+v 0.04701972 0.01463558 -0.03604447
+v 0.04655723 0.01723663 -0.03553734
+v 0.04892108 0.02739237 -0.02516485
+v 0.04666000 0.02533326 -0.03049557
+v 0.04711978 0.02673556 -0.02859090
+v 0.04691965 0.02739238 -0.02829603
+v 0.04796092 0.02739238 -0.02668426
+v 0.04729020 0.01897858 -0.03381546
+v 0.04644902 0.02235260 -0.03283068
+v 0.04616503 0.01897859 -0.03510096
+v 0.04441786 0.02077423 -0.03602477
+v 0.04543480 0.02156341 -0.03443462
+v 0.04604604 0.02434178 -0.03193043
+v 0.03971177 0.02739241 -0.03647685
+v 0.03903560 0.02556930 -0.03838348
+v 0.03916542 0.02419320 -0.03906947
+v 0.04223521 0.01897860 -0.03906949
+v 0.04230824 0.01897860 -0.03900267
+v 0.04360375 0.01897860 -0.03779188
+v 0.04486952 0.01897859 -0.03650637
+v 0.04420418 0.02555556 -0.03323362
+v 0.04480190 0.02654452 -0.03178300
+v 0.04460448 0.02739240 -0.03136237
+v 0.04621102 0.02673556 -0.02987440
+v 0.04594598 0.02739239 -0.02964836
+v 0.04462882 0.02414948 -0.03368965
+v 0.04391209 0.02249745 -0.03550194
+v 0.04181870 0.02075552 -0.03855646
+v 0.04131562 0.02247748 -0.03808472
+v 0.04004173 0.02645215 -0.03681494
+v 0.04102624 0.02739241 -0.03521887
+v 0.04104786 0.02733372 -0.03524049
+v 0.04165100 0.02561049 -0.03583804
+v 0.04079363 0.02414950 -0.03757957
+v 0.03949541 0.02414950 -0.03880217
+v 0.03974422 0.02325418 -0.03906947
+v 0.04101812 0.02114511 -0.03906948
+v 0.04340363 0.02414949 -0.03497515
+v 0.04263548 0.02644464 -0.03423804
+v 0.04229470 0.02739240 -0.03390979
+v 0.04361999 0.02727876 -0.03258496
+v 0.04357670 0.02739240 -0.03254370
+v 0.04210807 0.02414949 -0.03629407
+v 0.04059618 0.02185688 -0.03906948
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
+f 1 20 31
+f 1 31 42
+f 1 42 50
+f 1 50 49
+f 1 49 40
+f 1 40 28
+f 1 28 13
+f 1 13 6
+f 1 6 12
+f 1 12 27
+f 1 27 39
+f 1 39 60
+f 1 60 83
+f 1 83 85
+f 1 85 61
+f 1 61 41
+f 1 41 29
+f 1 29 16
+f 1 16 15
+f 1 15 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 13 14
+f 6 14 12
+f 8 15 9
+f 9 16 17
+f 9 17 10
+f 9 15 16
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 17 23
+f 10 23 24
+f 10 24 25
+f 10 25 18
+f 11 22 21
+f 12 14 26
+f 12 26 27
+f 13 28 14
+f 14 28 40
+f 14 40 48
+f 14 48 47
+f 14 47 46
+f 14 46 69
+f 14 69 68
+f 14 68 67
+f 14 67 64
+f 14 64 87
+f 14 87 91
+f 14 91 90
+f 14 90 109
+f 14 109 107
+f 14 107 126
+f 14 126 124
+f 14 124 115
+f 14 115 98
+f 14 98 77
+f 14 77 56
+f 14 56 38
+f 14 38 26
+f 16 29 30
+f 16 30 17
+f 17 30 23
+f 18 25 19
+f 19 31 20
+f 19 25 32
+f 19 32 31
+f 23 30 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 32
+f 26 38 57
+f 26 57 80
+f 26 80 100
+f 26 100 120
+f 26 120 128
+f 26 128 121
+f 26 121 101
+f 26 101 81
+f 26 81 58
+f 26 58 39
+f 26 39 27
+f 29 41 30
+f 30 41 33
+f 31 32 42
+f 32 37 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 42
+f 33 41 51
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 43
+f 38 56 57
+f 39 58 59
+f 39 59 60
+f 40 49 48
+f 41 61 62
+f 41 62 63
+f 41 63 51
+f 43 64 44
+f 43 55 54
+f 43 54 65
+f 43 65 66
+f 43 66 64
+f 44 64 67
+f 44 67 68
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 51 63 70
+f 51 70 71
+f 51 71 52
+f 52 72 53
+f 52 71 73
+f 52 73 74
+f 52 74 75
+f 52 75 72
+f 53 72 54
+f 54 72 76
+f 54 76 65
+f 56 77 78
+f 56 78 79
+f 56 79 57
+f 57 79 80
+f 58 81 82
+f 58 82 59
+f 59 83 60
+f 59 82 84
+f 59 84 85
+f 59 85 83
+f 61 85 84
+f 61 84 62
+f 62 84 86
+f 62 86 70
+f 62 70 63
+f 64 66 87
+f 65 76 88
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 91
+f 66 91 87
+f 70 86 92
+f 70 92 71
+f 71 92 73
+f 72 75 88
+f 72 88 76
+f 73 93 74
+f 73 92 94
+f 73 94 95
+f 73 95 96
+f 73 96 93
+f 74 93 75
+f 75 93 97
+f 75 97 88
+f 77 98 78
+f 78 98 99
+f 78 99 79
+f 79 99 80
+f 80 99 100
+f 81 101 82
+f 82 101 102
+f 82 102 103
+f 82 103 104
+f 82 104 86
+f 82 86 84
+f 86 104 94
+f 86 94 92
+f 88 90 89
+f 88 97 105
+f 88 105 106
+f 88 106 107
+f 88 107 108
+f 88 108 90
+f 90 108 109
+f 93 96 110
+f 93 110 105
+f 93 105 97
+f 94 104 95
+f 95 111 96
+f 95 104 103
+f 95 103 112
+f 95 112 113
+f 95 113 111
+f 96 111 110
+f 98 114 99
+f 98 115 116
+f 98 116 114
+f 99 114 117
+f 99 117 118
+f 99 118 119
+f 99 119 100
+f 100 119 120
+f 101 121 112
+f 101 112 102
+f 102 112 103
+f 105 111 122
+f 105 122 117
+f 105 117 123
+f 105 123 124
+f 105 124 125
+f 105 125 107
+f 105 107 106
+f 105 110 111
+f 107 109 108
+f 107 125 126
+f 111 113 127
+f 111 127 117
+f 111 117 122
+f 112 121 128
+f 112 128 113
+f 113 128 120
+f 113 120 119
+f 113 119 118
+f 113 118 127
+f 114 116 117
+f 115 124 116
+f 116 124 123
+f 116 123 117
+f 117 127 118
+f 124 126 125
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_38.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.07854216 0.00087857 0.03717824
+v 0.07655822 0.00087857 0.03810246
+v 0.07655822 -0.00041929 0.03809522
+v 0.07754568 -0.00041929 0.03763513
+v 0.07853190 -0.00041929 0.03716861
+v 0.07854216 0.00087858 0.03509296
+v 0.07847666 0.00346394 0.03713089
+v 0.07655822 0.00346394 0.03806070
+v 0.07396434 0.01639076 0.03806639
+v 0.07525615 -0.00041929 0.03786078
+v 0.07396434 0.01380539 0.03801016
+v 0.07853190 -0.00041928 0.03509857
+v 0.07237849 0.00056605 0.02989937
+v 0.07237849 0.00087860 0.02989937
+v 0.07847666 0.00346395 0.03511303
+v 0.07836882 0.00605136 0.03703533
+v 0.07655822 0.00863673 0.03783913
+v 0.07655822 0.00605136 0.03797560
+v 0.07396434 0.01897818 0.03793712
+v 0.07137048 0.02072728 0.03769785
+v 0.07396434 -0.00041929 0.03761024
+v 0.07235665 -0.00041926 0.02989937
+v 0.07226550 0.00333769 0.02989938
+v 0.07836882 0.00605137 0.03519093
+v 0.07821727 0.00863673 0.03688117
+v 0.07616786 0.01639076 0.03727948
+v 0.07582501 0.01897818 0.03706670
+v 0.07411202 0.02072728 0.03755090
+v 0.06928127 0.02072728 0.03676080
+v 0.07304494 -0.00041929 0.03714452
+v 0.06882413 -0.00041926 0.02989937
+v 0.07203821 0.00610314 0.02989939
+v 0.07180709 0.00863676 0.02989940
+v 0.07180192 0.00868023 0.02989940
+v 0.07148350 0.01122007 0.02989941
+v 0.07147834 0.01125733 0.02989941
+v 0.07531264 0.01550071 0.03370308
+v 0.07821727 0.00863674 0.03540532
+v 0.07801054 0.01122005 0.03658250
+v 0.07556434 0.02072728 0.03676561
+v 0.07788469 0.01265658 0.03635847
+v 0.06840420 0.02072729 0.03612645
+v 0.07214222 -0.00041928 0.03668442
+v 0.06916439 -0.00041926 0.03115924
+v 0.06542383 0.02072731 0.02989945
+v 0.07100706 0.01383853 0.02989942
+v 0.07040483 0.01634318 0.02989943
+v 0.06960613 0.01895545 0.02989944
+v 0.06960098 0.01897201 0.02989944
+v 0.06905140 0.02072731 0.02989945
+v 0.07439707 0.01897820 0.03396005
+v 0.07582501 0.01897819 0.03524479
+v 0.07601764 0.01637421 0.03478306
+v 0.07801054 0.01122005 0.03585580
+v 0.07556434 0.02072729 0.03563665
+v 0.07788469 0.01265658 0.03620351
+v 0.06793424 0.02072729 0.03561174
+v 0.07084655 -0.00041928 0.03518929
+v 0.06951239 -0.00041927 0.03244076
+v 0.06568320 0.02072731 0.03073534
+v 0.07437139 0.02072729 0.03455827
+v 0.07490303 0.02072729 0.03503684
+v 0.06761323 0.02072729 0.03515084
+v 0.06998878 -0.00041927 0.03390377
+v 0.06709187 0.02072729 0.03439446
+v 0.06627133 0.02072730 0.03250026
+v 0.06652556 0.02072730 0.03312657
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 21
+f 3 21 30
+f 3 30 43
+f 3 43 58
+f 3 58 64
+f 3 64 59
+f 3 59 44
+f 3 44 31
+f 3 31 22
+f 3 22 12
+f 3 12 5
+f 3 5 4
+f 3 9 11
+f 3 11 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 15 24
+f 7 24 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 19 20
+f 9 20 11
+f 9 18 19
+f 10 11 21
+f 11 20 21
+f 12 22 13
+f 13 22 31
+f 13 31 45
+f 13 45 50
+f 13 50 49
+f 13 49 48
+f 13 48 47
+f 13 47 46
+f 13 46 36
+f 13 36 35
+f 13 35 34
+f 13 34 33
+f 13 33 32
+f 13 32 23
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 16 24 38
+f 16 38 25
+f 16 25 17
+f 17 25 26
+f 17 26 19
+f 17 19 18
+f 19 27 28
+f 19 28 20
+f 19 26 27
+f 20 28 40
+f 20 40 55
+f 20 55 62
+f 20 62 61
+f 20 61 50
+f 20 50 45
+f 20 45 60
+f 20 60 66
+f 20 66 67
+f 20 67 65
+f 20 65 63
+f 20 63 57
+f 20 57 42
+f 20 42 29
+f 20 29 21
+f 21 29 30
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 25 38 54
+f 25 54 39
+f 25 39 26
+f 26 39 27
+f 27 40 28
+f 27 39 41
+f 27 41 40
+f 29 42 43
+f 29 43 30
+f 31 44 45
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 52
+f 38 52 54
+f 39 54 56
+f 39 56 41
+f 40 41 56
+f 40 56 55
+f 42 57 43
+f 43 57 58
+f 44 59 45
+f 45 59 60
+f 50 61 51
+f 51 61 52
+f 52 61 62
+f 52 62 55
+f 52 55 56
+f 52 56 54
+f 57 63 58
+f 58 63 65
+f 58 65 64
+f 59 64 60
+f 60 64 66
+f 64 65 67
+f 64 67 66
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_39.obj

@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
+v 0.05840236 -0.03632236 0.01582852
+v 0.05766155 -0.03743021 0.01582851
+v 0.05748244 -0.03717475 0.01443228
+v 0.05724635 -0.03683037 0.01257160
+v 0.05749464 -0.03632235 0.01226394
+v 0.05427899 -0.03632236 0.01582852
+v 0.05725042 -0.03802144 0.01582851
+v 0.05657880 -0.03846628 0.01443228
+v 0.05439295 -0.03647154 0.00068194
+v 0.05452321 -0.03632230 0.00081544
+v 0.04497794 -0.03632225 -0.01382605
+v 0.01682251 -0.05536509 -0.01382612
+v 0.01682251 -0.06198642 0.01582842
+v 0.05675791 -0.03872173 0.01582851
+v 0.05469010 -0.03945071 0.00988656
+v 0.05369690 -0.03774585 0.00154983
+v 0.05204429 -0.03937030 -0.00010765
+v 0.05401847 -0.03632230 -0.00099587
+v 0.05429527 -0.03632230 -0.00003506
+v 0.04967935 -0.03632225 -0.01382605
+v 0.01682251 -0.05918227 -0.01382614
+v 0.01682251 -0.06564287 0.01582841
+v 0.05616361 -0.03952249 0.01582850
+v 0.05495059 -0.03979226 0.01186043
+v 0.05393706 -0.04108378 0.01186043
+v 0.05228036 -0.03967740 0.00157017
+v 0.05124648 -0.03785776 -0.00637760
+v 0.05217048 -0.03696231 -0.00567511
+v 0.05249610 -0.03737561 -0.00357062
+v 0.05124648 -0.04097181 0.00157017
+v 0.04956536 -0.04208538 -0.00099878
+v 0.04934963 -0.04182707 -0.00238630
+v 0.05004163 -0.04057572 -0.00337615
+v 0.04979740 -0.03978645 -0.00614246
+v 0.05389637 -0.03632229 -0.00140807
+v 0.04982995 -0.03632225 -0.01345741
+v 0.04939849 -0.03671831 -0.01382605
+v 0.01682251 -0.05924827 -0.01363455
+v 0.01906532 -0.05847336 -0.01382613
+v 0.01682251 -0.06540178 0.01443800
+v 0.01696091 -0.06536735 0.01443800
+v 0.01847513 -0.06513775 0.01530010
+v 0.01864607 -0.06518081 0.01582841
+v 0.05540648 -0.04050692 0.01582850
+v 0.05528032 -0.04021128 0.01443227
+v 0.05498317 -0.04105222 0.01582850
+v 0.05426676 -0.04150569 0.01443227
+v 0.05263858 -0.04262499 0.01186042
+v 0.05181635 -0.04167210 0.00579658
+v 0.05159654 -0.04140234 0.00414200
+v 0.05189368 -0.03659777 -0.00738774
+v 0.04949618 -0.03941333 -0.00791896
+v 0.05251646 -0.03632228 -0.00599732
+v 0.05283395 -0.03632228 -0.00496392
+v 0.04994800 -0.04252164 0.00157016
+v 0.04882453 -0.04381317 0.00157016
+v 0.04840528 -0.04337690 -0.00099879
+v 0.04906470 -0.04149412 -0.00410183
+v 0.05019629 -0.03632225 -0.01252560
+v 0.04954908 -0.03690774 -0.01312651
+v 0.04846228 -0.03786060 -0.01382606
+v 0.01682251 -0.05939179 -0.01319334
+v 0.01735981 -0.05967592 -0.01180292
+v 0.01948460 -0.05833847 -0.01382613
+v 0.01682251 -0.06533865 0.01408674
+v 0.01904904 -0.06506026 0.01582841
+v 0.01689576 -0.06390645 0.00671375
+v 0.01948866 -0.06320618 0.00671375
+v 0.01948866 -0.06370270 0.00928850
+v 0.02208155 -0.06414758 0.01582841
+v 0.05444587 -0.04172668 0.01582850
+v 0.05439295 -0.04179269 0.01582850
+v 0.05330612 -0.04307848 0.01582849
+v 0.05250018 -0.04402274 0.01582849
+v 0.05199952 -0.04447333 0.01539597
+v 0.05216640 -0.03632227 -0.00711776
+v 0.05026549 -0.03807014 -0.00875205
+v 0.04990321 -0.03735835 -0.01128906
+v 0.05157618 -0.03632227 -0.00884781
+v 0.05170236 -0.03632227 -0.00849368
+v 0.04869428 -0.04107797 -0.00614246
+v 0.04918274 -0.03903734 -0.00963447
+v 0.04910542 -0.04413175 0.00363691
+v 0.04905250 -0.04668039 0.01186041
+v 0.04752607 -0.04521375 0.00157015
+v 0.04711087 -0.04477175 -0.00099879
+v 0.04652473 -0.04416902 -0.00428182
+v 0.04794126 -0.04299805 -0.00333261
+v 0.04739582 -0.04251014 -0.00614247
+v 0.04886117 -0.03864987 -0.01128906
+v 0.04705390 -0.03952238 -0.01382607
+v 0.01682251 -0.05974480 -0.01205256
+v 0.01926887 -0.05926264 -0.01108302
+v 0.01825530 -0.05990840 -0.01009029
+v 0.01682251 -0.06003181 -0.01098144
+v 0.01952938 -0.05832125 -0.01382613
+v 0.01682251 -0.06390932 0.00664118
+v 0.01689576 -0.06340706 0.00414192
+v 0.01859317 -0.06258623 0.00227255
+v 0.02085636 -0.06249727 0.00528848
+v 0.02208155 -0.06339848 0.01186035
+v 0.01947238 -0.06273547 0.00431610
+v 0.02348994 -0.06371706 0.01582842
+v 0.05205649 -0.04453648 0.01582849
+v 0.05022478 -0.04538598 0.01186041
+v 0.04987472 -0.04500139 0.00928856
+v 0.04700911 -0.04209397 -0.00816857
+v 0.04809592 -0.04057570 -0.00890300
+v 0.04756271 -0.04013368 -0.01128907
+v 0.05084348 -0.04585670 0.01582848
+v 0.05006604 -0.04670050 0.01582848
+v 0.04947990 -0.04713100 0.01510279
+v 0.04829946 -0.04852012 0.01582847
+v 0.04775401 -0.04796332 0.01186040
+v 0.04738768 -0.04761027 0.00928856
+v 0.04653694 -0.04678653 0.00349175
+v 0.04624387 -0.04650529 0.00157015
+v 0.04580426 -0.04606327 -0.00099880
+v 0.04537279 -0.04560982 -0.00340809
+v 0.04388705 -0.04674346 -0.00424989
+v 0.04485991 -0.04508171 -0.00614248
+v 0.04615432 -0.04380452 -0.00614247
+v 0.04637412 -0.04142522 -0.01128907
+v 0.04579613 -0.04083399 -0.01382607
+v 0.02145064 -0.05757791 -0.01382613
+v 0.02228507 -0.05795676 -0.01146039
+v 0.02208155 -0.05881491 -0.00871728
+v 0.02063248 -0.05980222 -0.00722818
+v 0.02007074 -0.05960705 -0.00871728
+v 0.01689576 -0.06060009 -0.00871728
+v 0.02122267 -0.06004619 -0.00551554
+v 0.01877632 -0.06007486 -0.00871728
+v 0.01682251 -0.06185721 -0.00333268
+v 0.01682251 -0.06139798 -0.00533848
+v 0.01682251 -0.06061732 -0.00871728
+v 0.01682251 -0.06340992 0.00406937
+v 0.01703009 -0.06284451 0.00147719
+v 0.01682251 -0.06278999 0.00092276
+v 0.01682251 -0.06251446 -0.00040091
+v 0.01682251 -0.06229347 -0.00141108
+v 0.01948866 -0.06102777 -0.00357070
+v 0.02208155 -0.06072929 -0.00099885
+v 0.02358355 -0.06255467 0.01017677
+v 0.02484134 -0.06297085 0.01433059
+v 0.02474771 -0.06330950 0.01582842
+v 0.04667533 -0.04173807 -0.00988412
+v 0.04957351 -0.04723146 0.01582848
+v 0.04747315 -0.04933522 0.01582847
+v 0.04700098 -0.04979729 0.01582847
+v 0.04689922 -0.04970544 0.01514922
+v 0.04639855 -0.04925770 0.01186040
+v 0.04600778 -0.04890181 0.00928855
+v 0.04494944 -0.04768201 0.00157014
+v 0.04450985 -0.04729741 -0.00099880
+v 0.04422084 -0.04704481 -0.00253437
+v 0.04181112 -0.04977142 -0.00033407
+v 0.04294679 -0.04778243 -0.00346325
+v 0.04061848 -0.04879270 -0.00614249
+v 0.04218560 -0.04750116 -0.00614248
+v 0.04177855 -0.04716824 -0.00799157
+v 0.04140001 -0.04684965 -0.00970708
+v 0.04348409 -0.04637610 -0.00614248
+v 0.04378938 -0.04404558 -0.01128908
+v 0.04507564 -0.04275120 -0.01128908
+v 0.04451798 -0.04215708 -0.01382607
+v 0.02274912 -0.05702112 -0.01382613
+v 0.02328640 -0.05723349 -0.01243280
+v 0.02468666 -0.05774439 -0.00860408
+v 0.02467852 -0.05843321 -0.00614252
+v 0.02208562 -0.05948938 -0.00628187
+v 0.02295264 -0.05970179 -0.00412512
+v 0.02344108 -0.05991131 -0.00240962
+v 0.02208562 -0.06020692 -0.00338781
+v 0.01965554 -0.06036189 -0.00628187
+v 0.02631482 -0.06260634 0.01511724
+v 0.02650614 -0.06268099 0.01582842
+v 0.04552340 -0.05103714 0.01582846
+v 0.04470930 -0.05003546 0.00928855
+v 0.04437960 -0.04975708 0.00722180
+v 0.04410280 -0.04952174 0.00550626
+v 0.04345153 -0.04897641 0.00157014
+v 0.04215305 -0.05005267 0.00157014
+v 0.04050043 -0.05134133 0.00157013
+v 0.03862801 -0.05189524 -0.00145166
+v 0.03821282 -0.05157091 -0.00357067
+v 0.03931999 -0.04985462 -0.00614249
+v 0.03901472 -0.04960491 -0.00758809
+v 0.04101738 -0.04653106 -0.01128909
+v 0.04249090 -0.04523667 -0.01128909
+v 0.03861173 -0.04927484 -0.00930360
+v 0.03647068 -0.04964507 -0.01281594
+v 0.04189660 -0.04468847 -0.01382608
+v 0.04319508 -0.04346870 -0.01382608
+v 0.02467852 -0.05616584 -0.01382613
+v 0.02727138 -0.05575256 -0.01128912
+v 0.02710859 -0.05664802 -0.00860408
+v 0.02613574 -0.05737127 -0.00766940
+v 0.02662012 -0.05757219 -0.00614252
+v 0.02840298 -0.05719622 -0.00457503
+v 0.02886702 -0.05744305 -0.00286243
+v 0.02941248 -0.05768701 -0.00099884
+v 0.03010038 -0.05796541 0.00135527
+v 0.02699054 -0.06248006 0.01582842
+v 0.04416792 -0.05215648 0.01582846
+v 0.04414351 -0.05213924 0.01567752
+v 0.04310960 -0.05132698 0.00928854
+v 0.04096040 -0.05168001 0.00414196
+v 0.03966192 -0.05267305 0.00414196
+v 0.03920195 -0.05232575 0.00157013
+v 0.03692250 -0.05253525 -0.00357067
+v 0.03656022 -0.05228270 -0.00532103
+v 0.03751270 -0.05126094 -0.00616574
+v 0.03616132 -0.05199566 -0.00703656
+v 0.03770401 -0.05027362 -0.00855469
+v 0.03684109 -0.04993782 -0.01128910
+v 0.03924672 -0.04720839 -0.01313813
+v 0.03621016 -0.04943269 -0.01382610
+v 0.03493610 -0.05133266 -0.01132974
+v 0.03511927 -0.05029657 -0.01374772
+v 0.03509484 -0.05028510 -0.01382610
+v 0.04002826 -0.04625265 -0.01382609
+v 0.02504080 -0.05599650 -0.01382613
+v 0.02718185 -0.05506086 -0.01361131
+v 0.02857801 -0.05471931 -0.01258954
+v 0.02898100 -0.05493172 -0.01128912
+v 0.02992942 -0.05528761 -0.00867082
+v 0.02791454 -0.05698958 -0.00614252
+v 0.02986429 -0.05606829 -0.00614252
+v 0.03112206 -0.05727086 0.00035675
+v 0.03152914 -0.05749184 0.00206937
+v 0.02771915 -0.06216437 0.01582842
+v 0.04277176 -0.05321266 0.01582845
+v 0.04181112 -0.05233726 0.00928854
+v 0.04129417 -0.05194405 0.00615937
+v 0.04115172 -0.05443243 0.01582845
+v 0.04074058 -0.05473379 0.01582845
+v 0.03867688 -0.05452712 0.00879797
+v 0.03831866 -0.05428028 0.00671378
+v 0.03787906 -0.05396457 0.00414195
+v 0.03636484 -0.05472515 0.00282411
+v 0.03489132 -0.05392434 -0.00355324
+v 0.03355214 -0.05458158 -0.00440085
+v 0.03520068 -0.05293132 -0.00616574
+v 0.03444358 -0.05258977 -0.00871725
+v 0.03356843 -0.05200714 -0.01221507
+v 0.03574204 -0.05170005 -0.00871725
+v 0.03906355 -0.04705626 -0.01382609
+v 0.03311660 -0.05169428 -0.01382611
+v 0.02708009 -0.05503789 -0.01382612
+v 0.02743014 -0.05486570 -0.01382612
+v 0.02815063 -0.05450407 -0.01382612
+v 0.02961192 -0.05380091 -0.01361131
+v 0.03137038 -0.05483702 -0.00778546
+v 0.03181404 -0.05508672 -0.00614251
+v 0.03242054 -0.05680303 0.00135527
+v 0.03107728 -0.06059732 0.01582843
+v 0.02986429 -0.06118854 0.01582843
+v 0.03325906 -0.05700396 0.00414194
+v 0.03196057 -0.05771287 0.00414194
+v 0.03183438 -0.06022421 0.01582843
+v 0.03997534 -0.05528770 0.01582845
+v 0.03391442 -0.05739717 0.00755558
+v 0.03505415 -0.05587315 0.00414194
+v 0.03507856 -0.05527619 0.00180813
+v 0.03391848 -0.05482269 -0.00268534
+v 0.03789941 -0.05671127 0.01582844
+v 0.03713010 -0.05722499 0.01582844
+v 0.03668641 -0.05751487 0.01582844
+v 0.03311252 -0.05430894 -0.00614251
+v 0.03183032 -0.05248929 -0.01382611
+v 0.03310032 -0.05170577 -0.01382611
+v 0.02911124 -0.05399034 -0.01382612
+v 0.02962823 -0.05370906 -0.01382612
+v 0.03147622 -0.05268732 -0.01382611
+v 0.03180592 -0.05250366 -0.01382611
+v 0.03312881 -0.05956409 0.01582843
+v 0.03615317 -0.05783058 0.01582844
+v 0.03512741 -0.05843616 0.01582844
+v 0.03402838 -0.05905897 0.01582843
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 18
+f 1 18 35
+f 1 35 54
+f 1 54 53
+f 1 53 76
+f 1 76 80
+f 1 80 79
+f 1 79 59
+f 1 59 36
+f 1 36 20
+f 1 20 11
+f 1 11 6
+f 1 6 13
+f 1 13 22
+f 1 22 43
+f 1 43 66
+f 1 66 70
+f 1 70 103
+f 1 103 145
+f 1 145 176
+f 1 176 203
+f 1 203 231
+f 1 231 257
+f 1 257 256
+f 1 256 260
+f 1 260 276
+f 1 276 279
+f 1 279 278
+f 1 278 277
+f 1 277 268
+f 1 268 267
+f 1 267 266
+f 1 266 261
+f 1 261 236
+f 1 236 235
+f 1 235 232
+f 1 232 204
+f 1 204 177
+f 1 177 149
+f 1 149 148
+f 1 148 113
+f 1 113 147
+f 1 147 111
+f 1 111 110
+f 1 110 104
+f 1 104 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 46
+f 1 46 44
+f 1 44 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 37
+f 11 37 61
+f 11 61 91
+f 11 91 124
+f 11 124 165
+f 11 165 193
+f 11 193 192
+f 11 192 221
+f 11 221 247
+f 11 247 217
+f 11 217 220
+f 11 220 248
+f 11 248 271
+f 11 271 270
+f 11 270 275
+f 11 275 274
+f 11 274 273
+f 11 273 272
+f 11 272 251
+f 11 251 250
+f 11 250 249
+f 11 249 222
+f 11 222 194
+f 11 194 166
+f 11 166 125
+f 11 125 96
+f 11 96 64
+f 11 64 39
+f 11 39 21
+f 11 21 12
+f 12 21 38
+f 12 38 62
+f 12 62 92
+f 12 92 95
+f 12 95 135
+f 12 135 134
+f 12 134 133
+f 12 133 140
+f 12 140 139
+f 12 139 138
+f 12 138 136
+f 12 136 97
+f 12 97 65
+f 12 65 40
+f 12 40 22
+f 12 22 13
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 26 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 27
+f 18 29 35
+f 20 36 37
+f 21 39 38
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 23 44 45
+f 23 45 24
+f 24 45 44
+f 24 44 46
+f 24 46 25
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 30
+f 25 30 26
+f 27 51 28
+f 27 34 52
+f 27 52 51
+f 28 51 53
+f 28 53 54
+f 28 54 35
+f 28 35 29
+f 30 50 55
+f 30 55 31
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 32 58 34
+f 32 34 33
+f 32 57 58
+f 34 58 52
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 38 39 63
+f 38 63 62
+f 39 64 63
+f 40 65 41
+f 41 65 42
+f 42 66 43
+f 42 65 67
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 66
+f 46 71 47
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 55
+f 48 55 49
+f 49 55 50
+f 51 76 53
+f 51 52 77
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 76
+f 52 58 81
+f 52 81 82
+f 52 82 77
+f 55 75 56
+f 56 75 83
+f 56 83 84
+f 56 84 85
+f 56 85 57
+f 57 85 86
+f 57 86 87
+f 57 87 88
+f 57 88 58
+f 58 88 87
+f 58 87 89
+f 58 89 81
+f 59 79 60
+f 60 79 78
+f 60 78 90
+f 60 90 61
+f 61 90 91
+f 62 63 92
+f 63 64 93
+f 63 93 94
+f 63 94 95
+f 63 95 92
+f 64 96 93
+f 65 97 67
+f 67 97 136
+f 67 136 98
+f 67 98 99
+f 67 99 68
+f 68 100 101
+f 68 101 69
+f 68 99 102
+f 68 102 100
+f 69 101 70
+f 70 101 103
+f 74 104 75
+f 75 104 84
+f 75 84 105
+f 75 105 106
+f 75 106 83
+f 77 82 78
+f 78 82 90
+f 81 89 107
+f 81 107 108
+f 81 108 82
+f 82 108 109
+f 82 109 90
+f 83 106 84
+f 84 106 105
+f 84 104 110
+f 84 110 111
+f 84 111 112
+f 84 112 113
+f 84 113 114
+f 84 114 115
+f 84 115 116
+f 84 116 85
+f 85 116 117
+f 85 117 86
+f 86 117 118
+f 86 118 87
+f 87 118 119
+f 87 119 120
+f 87 120 121
+f 87 121 122
+f 87 122 89
+f 89 122 107
+f 90 109 91
+f 91 109 123
+f 91 123 124
+f 93 96 125
+f 93 125 126
+f 93 126 127
+f 93 127 128
+f 93 128 129
+f 93 129 94
+f 94 130 95
+f 94 129 128
+f 94 128 131
+f 94 131 132
+f 94 132 133
+f 94 133 134
+f 94 134 130
+f 95 130 135
+f 98 137 99
+f 98 136 138
+f 98 138 137
+f 99 137 138
+f 99 138 139
+f 99 139 140
+f 99 140 141
+f 99 141 131
+f 99 131 100
+f 99 100 102
+f 100 131 142
+f 100 142 143
+f 100 143 144
+f 100 144 145
+f 100 145 101
+f 101 145 103
+f 107 146 108
+f 107 122 146
+f 108 146 109
+f 109 146 123
+f 111 147 112
+f 112 147 113
+f 113 148 114
+f 114 148 149
+f 114 149 115
+f 115 149 150
+f 115 150 151
+f 115 151 116
+f 116 151 152
+f 116 152 153
+f 116 153 117
+f 117 153 154
+f 117 154 118
+f 118 154 155
+f 118 155 119
+f 119 155 120
+f 120 156 157
+f 120 157 158
+f 120 158 159
+f 120 159 160
+f 120 160 161
+f 120 161 162
+f 120 162 121
+f 120 155 156
+f 121 162 163
+f 121 163 122
+f 122 163 146
+f 123 164 165
+f 123 165 124
+f 123 146 164
+f 125 166 167
+f 125 167 126
+f 126 167 168
+f 126 168 127
+f 127 168 169
+f 127 169 170
+f 127 170 131
+f 127 131 128
+f 130 134 135
+f 131 170 171
+f 131 171 172
+f 131 172 173
+f 131 173 142
+f 131 141 174
+f 131 174 132
+f 132 140 133
+f 132 174 141
+f 132 141 140
+f 142 173 172
+f 142 172 175
+f 142 175 143
+f 143 175 144
+f 144 175 145
+f 145 175 176
+f 146 163 164
+f 149 177 178
+f 149 178 150
+f 150 178 151
+f 151 178 152
+f 152 178 179
+f 152 179 153
+f 153 179 180
+f 153 180 181
+f 153 181 154
+f 154 181 156
+f 154 156 155
+f 156 181 182
+f 156 182 183
+f 156 183 184
+f 156 184 185
+f 156 185 186
+f 156 186 158
+f 156 158 157
+f 158 186 187
+f 158 187 159
+f 159 187 160
+f 160 187 161
+f 161 188 189
+f 161 189 162
+f 161 187 190
+f 161 190 191
+f 161 191 188
+f 162 189 163
+f 163 189 192
+f 163 192 193
+f 163 193 165
+f 163 165 164
+f 166 194 167
+f 167 194 195
+f 167 195 196
+f 167 196 197
+f 167 197 168
+f 168 197 169
+f 169 171 170
+f 169 197 198
+f 169 198 199
+f 169 199 200
+f 169 200 201
+f 169 201 171
+f 171 201 172
+f 172 201 202
+f 172 202 175
+f 175 202 203
+f 175 203 176
+f 177 204 205
+f 177 205 178
+f 178 205 206
+f 178 206 179
+f 179 206 182
+f 179 182 180
+f 180 182 181
+f 182 206 207
+f 182 207 183
+f 183 207 208
+f 183 208 209
+f 183 209 184
+f 184 209 210
+f 184 210 211
+f 184 211 185
+f 185 212 186
+f 185 211 212
+f 186 212 187
+f 187 212 213
+f 187 213 214
+f 187 214 215
+f 187 215 190
+f 188 216 192
+f 188 192 189
+f 188 191 217
+f 188 217 216
+f 190 215 191
+f 191 218 219
+f 191 219 220
+f 191 220 217
+f 191 215 218
+f 192 216 221
+f 194 222 195
+f 195 223 224
+f 195 224 225
+f 195 225 226
+f 195 226 196
+f 195 222 223
+f 196 227 197
+f 196 226 228
+f 196 228 227
+f 197 227 198
+f 198 227 199
+f 199 227 228
+f 199 228 229
+f 199 229 200
+f 200 229 201
+f 201 229 202
+f 202 229 230
+f 202 230 231
+f 202 231 203
+f 204 232 205
+f 205 232 233
+f 205 233 206
+f 206 233 234
+f 206 234 207
+f 207 234 208
+f 208 235 236
+f 208 236 237
+f 208 237 238
+f 208 238 239
+f 208 239 240
+f 208 240 209
+f 208 234 233
+f 208 233 235
+f 209 240 210
+f 210 240 241
+f 210 241 211
+f 211 241 242
+f 211 242 243
+f 211 243 213
+f 211 213 212
+f 213 243 244
+f 213 244 245
+f 213 245 246
+f 213 246 215
+f 213 215 214
+f 215 246 218
+f 216 247 221
+f 216 217 247
+f 218 246 245
+f 218 245 219
+f 219 245 220
+f 220 245 248
+f 222 249 223
+f 223 249 250
+f 223 250 224
+f 224 250 251
+f 224 251 252
+f 224 252 253
+f 224 253 225
+f 225 253 226
+f 226 253 228
+f 228 253 254
+f 228 254 229
+f 229 254 242
+f 229 242 255
+f 229 255 230
+f 230 256 257
+f 230 257 231
+f 230 255 258
+f 230 258 259
+f 230 259 260
+f 230 260 256
+f 232 235 233
+f 236 261 237
+f 237 261 240
+f 237 240 238
+f 238 240 239
+f 240 262 263
+f 240 263 258
+f 240 258 264
+f 240 264 265
+f 240 265 241
+f 240 261 266
+f 240 266 267
+f 240 267 268
+f 240 268 262
+f 241 265 242
+f 242 265 255
+f 242 254 269
+f 242 269 243
+f 243 269 244
+f 244 269 245
+f 245 270 271
+f 245 271 248
+f 245 269 253
+f 245 253 270
+f 251 272 252
+f 252 272 273
+f 252 273 274
+f 252 274 275
+f 252 275 253
+f 253 275 270
+f 253 269 254
+f 255 265 264
+f 255 264 258
+f 258 262 259
+f 258 263 262
+f 259 262 276
+f 259 276 260
+f 262 277 278
+f 262 278 279
+f 262 279 276
+f 262 268 277
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_4.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.03932833 -0.00041898 -0.04504159
+v 0.03913883 -0.00041896 -0.05165828
+v 0.03067561 -0.00041898 -0.04504159
+v 0.03932393 -0.00170750 -0.04504160
+v 0.03916086 -0.00170748 -0.05169459
+v 0.03850424 -0.00041896 -0.05229878
+v 0.01682063 -0.00041898 -0.04748430
+v 0.01682063 -0.02579649 -0.04504168
+v 0.03922698 -0.00280502 -0.04504160
+v 0.03900221 -0.00606755 -0.05098842
+v 0.03900221 -0.00606755 -0.05132294
+v 0.03909697 -0.00429581 -0.05154162
+v 0.03781460 -0.00170748 -0.05298077
+v 0.03783002 -0.00041896 -0.05294446
+v 0.03776833 -0.00429581 -0.05282779
+v 0.01682063 -0.00041895 -0.05327897
+v 0.01682063 -0.03576397 -0.04504172
+v 0.03908375 -0.00429583 -0.04504161
+v 0.03869594 -0.00688040 -0.04504162
+v 0.03819358 -0.00946500 -0.04504162
+v 0.03653003 -0.01639462 -0.05155116
+v 0.03684290 -0.01463785 -0.05199803
+v 0.03720865 -0.01205328 -0.05234030
+v 0.03726154 -0.00955111 -0.05269815
+v 0.03619290 -0.01046506 -0.05372242
+v 0.03638680 -0.00874203 -0.05374919
+v 0.03651679 -0.00170747 -0.05377945
+v 0.03653224 -0.00041895 -0.05378462
+v 0.03642646 -0.00688037 -0.05376044
+v 0.03504932 -0.00041895 -0.05379413
+v 0.01682063 -0.03361761 -0.05387203
+v 0.01682063 -0.03865567 -0.04983981
+v 0.01683385 -0.03576020 -0.04504172
+v 0.03812968 -0.00972344 -0.04504163
+v 0.03653003 -0.01639462 -0.05064445
+v 0.03090474 -0.03086074 -0.05387202
+v 0.03098849 -0.03063599 -0.05387202
+v 0.03134322 -0.02949354 -0.05387202
+v 0.03144018 -0.02901033 -0.05387202
+v 0.03130356 -0.02808887 -0.05387201
+v 0.03094000 -0.02715243 -0.05387201
+v 0.03031642 -0.02558670 -0.05387200
+v 0.02917728 -0.02486004 -0.05387200
+v 0.02800948 -0.02490873 -0.05387200
+v 0.01746403 -0.03263997 -0.05387203
+v 0.01682063 -0.03754692 -0.05387205
+v 0.01682063 -0.03868566 -0.04990981
+v 0.01686911 -0.03864821 -0.04986315
+v 0.01964978 -0.03744206 -0.04967299
+v 0.02062370 -0.03651684 -0.04868243
+v 0.01699471 -0.03568530 -0.04504172
+v 0.03747086 -0.01197839 -0.04504163
+v 0.03746647 -0.01199336 -0.04504163
+v 0.03688256 -0.01358159 -0.04504164
+v 0.03649255 -0.01459668 -0.04504164
+v 0.03617087 -0.01540951 -0.04504165
+v 0.03521680 -0.01755207 -0.04504165
+v 0.03439493 -0.01905786 -0.04504166
+v 0.03394542 -0.01981826 -0.04504166
+v 0.03350695 -0.02055618 -0.04504167
+v 0.03012034 -0.03210059 -0.05387203
+v 0.01683606 -0.03755440 -0.05387205
+v 0.01682063 -0.03855454 -0.05229458
+v 0.01682063 -0.03868566 -0.04994871
+v 0.02210218 -0.03835976 -0.05387205
+v 0.02137506 -0.03698879 -0.05039646
+v 0.02461404 -0.03703000 -0.05387205
+v 0.02599558 -0.03404465 -0.05112338
+v 0.02351897 -0.03413454 -0.04851559
+v 0.02349030 -0.03167359 -0.04504171
+v 0.02207572 -0.03267745 -0.04504171
+v 0.02026674 -0.03382742 -0.04504171
+v 0.01951759 -0.03427692 -0.04504172
+v 0.01879046 -0.03470766 -0.04504172
+v 0.01728775 -0.03554298 -0.04504172
+v 0.03235898 -0.02233542 -0.04504167
+v 0.02975676 -0.03260625 -0.05387203
+v 0.03234576 -0.02235415 -0.04504167
+v 0.01947572 -0.03846089 -0.05387205
+v 0.02705540 -0.03503724 -0.05387204
+v 0.02746524 -0.03468141 -0.05387204
+v 0.02865728 -0.03153499 -0.05100236
+v 0.02635472 -0.02926133 -0.04504170
+v 0.02499524 -0.03042252 -0.04504170
+v 0.03134762 -0.02374009 -0.04504168
+v 0.03010051 -0.02526086 -0.04504168
+v 0.02895253 -0.02662431 -0.04504169
+v 0.02766574 -0.02796529 -0.04504169
+f 1 2 6
+f 1 6 14
+f 1 14 28
+f 1 28 30
+f 1 30 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 33
+f 1 33 51
+f 1 51 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 70
+f 1 70 84
+f 1 84 83
+f 1 83 88
+f 1 88 87
+f 1 87 86
+f 1 86 85
+f 1 85 78
+f 1 78 76
+f 1 76 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 34
+f 1 34 20
+f 1 20 19
+f 1 19 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 6
+f 5 12 15
+f 5 15 13
+f 7 16 31
+f 7 31 46
+f 7 46 63
+f 7 63 64
+f 7 64 47
+f 7 47 32
+f 7 32 17
+f 7 17 8
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 15
+f 13 27 28
+f 13 28 14
+f 13 15 26
+f 13 26 29
+f 13 29 27
+f 16 30 31
+f 17 32 33
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 38 25
+f 23 25 24
+f 25 38 26
+f 26 38 39
+f 26 39 29
+f 27 29 28
+f 28 29 39
+f 28 39 40
+f 28 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 44
+f 31 44 43
+f 31 43 42
+f 31 42 41
+f 31 41 40
+f 31 40 39
+f 31 39 38
+f 31 38 37
+f 31 37 36
+f 31 36 61
+f 31 61 77
+f 31 77 81
+f 31 81 80
+f 31 80 67
+f 31 67 65
+f 31 65 79
+f 31 79 62
+f 31 62 46
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 56 57
+f 46 62 63
+f 47 64 65
+f 47 65 48
+f 48 65 49
+f 49 65 50
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 51
+f 60 76 61
+f 61 76 78
+f 61 78 77
+f 62 79 63
+f 63 79 64
+f 64 79 65
+f 65 67 66
+f 67 80 68
+f 68 80 81
+f 68 81 77
+f 68 77 82
+f 68 82 83
+f 68 83 84
+f 68 84 70
+f 68 70 69
+f 77 78 85
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 82
+f 82 88 83
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_40.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03494081 -0.02071323 -0.05358877
+v -0.03306404 -0.02236565 -0.05358877
+v -0.03610481 -0.02861049 -0.05902516
+v -0.03758484 -0.02815867 -0.05937485
+v -0.04017875 -0.02813108 -0.05953521
+v -0.04191599 -0.02857442 -0.05923918
+v -0.04449898 -0.03092262 -0.05937778
+v -0.04450116 -0.03091201 -0.05759154
+v -0.03687209 -0.02292142 -0.05358877
+v -0.03235345 -0.02300202 -0.05358877
+v -0.03758484 -0.03015049 -0.06025855
+v -0.02291734 -0.03273201 -0.05358881
+v -0.03096932 -0.03390290 -0.05896568
+v -0.04017875 -0.03015049 -0.06052701
+v -0.04277917 -0.03009532 -0.05979349
+v -0.04277480 -0.03273412 -0.06076789
+v -0.04484339 -0.03273412 -0.05973764
+v -0.04518344 -0.03273413 -0.05759155
+v -0.04421563 -0.03125777 -0.05620433
+v -0.03778756 -0.02508718 -0.05358878
+v -0.03499097 -0.03273412 -0.06018239
+v -0.03499097 -0.03531988 -0.06074613
+v -0.03758484 -0.03273412 -0.06078386
+v -0.02535648 -0.03510142 -0.05358882
+v -0.03314690 -0.03978290 -0.05939885
+v -0.03065326 -0.03711867 -0.05924503
+v -0.03066634 -0.03531988 -0.05921961
+v -0.03239924 -0.03531988 -0.06007721
+v -0.04017875 -0.03273412 -0.06092605
+v -0.04277480 -0.03531988 -0.06081215
+v -0.04017875 -0.03531988 -0.06100007
+v -0.04479978 -0.03531988 -0.05974927
+v -0.04514856 -0.03531989 -0.05759156
+v -0.04441832 -0.03531989 -0.05605197
+v -0.04441181 -0.03273413 -0.05606864
+v -0.03777886 -0.02762201 -0.05358879
+v -0.03499097 -0.03790562 -0.06077660
+v -0.03758484 -0.03531988 -0.06094783
+v -0.03572117 -0.04209929 -0.05759158
+v -0.03577130 -0.04208017 -0.05927333
+v -0.02825118 -0.03602204 -0.05358882
+v -0.03605032 -0.04190837 -0.05619419
+v -0.03494081 -0.04058259 -0.05984071
+v -0.03232948 -0.03795018 -0.05979280
+v -0.04294920 -0.03804351 -0.06000175
+v -0.04017875 -0.03790562 -0.06095292
+v -0.03758484 -0.03790562 -0.06096525
+v -0.04444014 -0.03727352 -0.05939377
+v -0.04446412 -0.03734989 -0.05759157
+v -0.04422436 -0.03693625 -0.05618187
+v -0.03684590 -0.02950566 -0.05358880
+v -0.03758484 -0.04049140 -0.06049004
+v -0.03758484 -0.04238141 -0.05759159
+v -0.03758484 -0.04219897 -0.05945038
+v -0.03136603 -0.03517989 -0.05358882
+v -0.03914771 -0.04190200 -0.05619274
+v -0.03758484 -0.04196777 -0.05613688
+v -0.04025068 -0.04064199 -0.05990600
+v -0.04219936 -0.03988048 -0.05952581
+v -0.04366853 -0.03864171 -0.05759157
+v -0.04194650 -0.03963231 -0.05607014
+v -0.04279662 -0.03784202 -0.05595910
+v -0.03647972 -0.03021626 -0.05358880
+v -0.03943108 -0.04204197 -0.05924649
+v -0.03949430 -0.04206746 -0.05759158
+v -0.03189137 -0.03474504 -0.05358882
+v -0.04008066 -0.04049353 -0.05594896
+v -0.04079123 -0.04132715 -0.05759158
+v -0.04237156 -0.04003534 -0.05759158
+v -0.03409943 -0.03284657 -0.05358881
+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 20
+f 1 20 36
+f 1 36 51
+f 1 51 63
+f 1 63 70
+f 1 70 66
+f 1 66 55
+f 1 55 41
+f 1 41 24
+f 1 24 12
+f 1 12 10
+f 1 10 2
+f 2 10 3
+f 3 11 4
+f 3 10 12
+f 3 12 13
+f 3 13 11
+f 4 11 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 11 13 21
+f 11 21 22
+f 11 22 23
+f 11 23 14
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 21
+f 14 29 16
+f 14 16 15
+f 14 23 29
+f 16 30 17
+f 16 29 31
+f 16 31 30
+f 17 32 33
+f 17 33 18
+f 17 30 32
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 35 34
+f 20 34 36
+f 21 28 22
+f 22 28 37
+f 22 37 38
+f 22 38 23
+f 23 38 29
+f 24 39 40
+f 24 40 25
+f 24 41 42
+f 24 42 39
+f 25 43 44
+f 25 44 26
+f 25 40 43
+f 26 44 28
+f 26 28 27
+f 28 44 37
+f 29 38 31
+f 30 45 32
+f 30 31 46
+f 30 46 45
+f 31 38 47
+f 31 47 46
+f 32 48 33
+f 32 45 48
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 36
+f 36 50 51
+f 37 44 43
+f 37 43 52
+f 37 52 47
+f 37 47 38
+f 39 42 53
+f 39 53 40
+f 40 53 54
+f 40 54 52
+f 40 52 43
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 53
+f 45 46 58
+f 45 58 59
+f 45 59 48
+f 46 47 52
+f 46 52 58
+f 48 59 60
+f 48 60 49
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 52 64 58
+f 52 54 64
+f 53 57 56
+f 53 56 65
+f 53 65 64
+f 53 64 54
+f 55 66 61
+f 55 61 67
+f 55 67 56
+f 56 67 61
+f 56 61 68
+f 56 68 65
+f 58 64 59
+f 59 64 68
+f 59 68 69
+f 59 69 60
+f 60 69 61
+f 61 69 68
+f 61 66 70
+f 61 70 63
+f 61 63 62
+f 64 65 68
+

dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_41.obj

@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v -0.03500479 -0.04611561 -0.01814631
+v -0.01164494 -0.05584765 -0.01814635
+v -0.03500479 -0.05042388 -0.01814633
+v -0.03500479 -0.05717381 0.03234551
+v -0.01164494 -0.06579485 0.03234548
+v -0.01164268 -0.05825068 -0.01814635
+v -0.01164268 -0.06509338 0.02854475
+v -0.01164268 -0.06483544 0.02721524
+v -0.01164268 -0.05640203 -0.01643133
+v -0.03434160 -0.05083793 -0.01814633
+v -0.03378818 -0.05219107 -0.01531928
+v -0.03478982 -0.05122034 -0.01627811
+v -0.03500479 -0.05134481 -0.01554167
+v -0.03500479 -0.06131915 0.03234549
+v -0.01164268 -0.06591930 0.03234548
+v -0.01164268 -0.06537623 0.02989897
+v -0.01164268 -0.05972146 -0.01733087
+v -0.01164494 -0.05946125 -0.01814636
+v -0.03282774 -0.05174303 -0.01814633
+v -0.03328282 -0.05189465 -0.01703430
+v -0.03241153 -0.05265040 -0.01627811
+v -0.03239782 -0.05345369 -0.01385632
+v -0.03419755 -0.05243544 -0.01385631
+v -0.03500479 -0.05193537 -0.01385631
+v -0.03327139 -0.06225140 0.03234549
+v -0.03500479 -0.05807202 0.01205189
+v -0.03305642 -0.05952927 0.01443414
+v -0.03175980 -0.06022843 0.01443414
+v -0.01164494 -0.06923195 0.03234547
+v -0.01164268 -0.06883823 0.02986437
+v -0.01164268 -0.06015816 -0.01604584
+v -0.01290271 -0.05921687 -0.01814636
+v -0.01164494 -0.06015816 -0.01604584
+v -0.01349498 -0.06000204 -0.01551204
+v -0.03166145 -0.05241735 -0.01814633
+v -0.03059580 -0.05444475 -0.01385632
+v -0.03103259 -0.05465975 -0.01245266
+v -0.03236352 -0.05420719 -0.01146913
+v -0.03500479 -0.05271376 -0.01142462
+v -0.03197248 -0.06288722 0.03234549
+v -0.03500479 -0.05789781 0.01104363
+v -0.03460916 -0.05781181 0.00928906
+v -0.03263563 -0.05933012 0.01185913
+v -0.03133674 -0.06001119 0.01185913
+v -0.02979998 -0.06071945 0.01185913
+v -0.02979998 -0.06111995 0.01443414
+v -0.01424050 -0.06870019 0.03234547
+v -0.01297817 -0.06765027 0.02337989
+v -0.01164268 -0.06774756 0.02246556
+v -0.01164268 -0.06078950 -0.01385634
+v -0.01426566 -0.05894533 -0.01814636
+v -0.01164494 -0.06078950 -0.01385634
+v -0.01431367 -0.06026454 -0.01397494
+v -0.01624374 -0.06005864 -0.01319404
+v -0.01683604 -0.05835703 -0.01814635
+v -0.03131844 -0.05260062 -0.01814633
+v -0.02970167 -0.05405558 -0.01639671
+v -0.02876636 -0.05484752 -0.01551697
+v -0.02930148 -0.05511229 -0.01385632
+v -0.03002182 -0.05546528 -0.01146913
+v -0.03147395 -0.05492900 -0.01073764
+v -0.03500479 -0.05277939 -0.01120221
+v -0.02986400 -0.06376291 0.03234549
+v -0.02751090 -0.06207256 0.01443413
+v -0.03500479 -0.05758328 0.00928906
+v -0.03500479 -0.05735926 0.00810290
+v -0.03416780 -0.05757195 0.00671901
+v -0.03111262 -0.05989127 0.01053950
+v -0.02987545 -0.06028949 0.00952136
+v -0.02909795 -0.06016957 0.00671900
+v -0.02720676 -0.06097285 0.00671900
+v -0.01431596 -0.06868436 0.03234547
+v -0.01424050 -0.06645551 0.01700419
+v -0.01424050 -0.06606406 0.01443412
+v -0.01164268 -0.06690806 0.01703875
+v -0.01164268 -0.06274228 -0.00619557
+v -0.01424050 -0.06096828 -0.01128628
+v -0.01797487 -0.05980295 -0.01241808
+v -0.01942928 -0.05822581 -0.01643133
+v -0.01683604 -0.05889558 -0.01643134
+v -0.01683604 -0.06106557 -0.00871126
+v -0.01699840 -0.06033243 -0.01145432
+v -0.01879127 -0.06006541 -0.01070307
+v -0.01924404 -0.05771442 -0.01814635
+v -0.02988230 -0.05333147 -0.01814634
+v -0.02900875 -0.05376367 -0.01814634
+v -0.02812606 -0.05453074 -0.01723198
+v -0.02647496 -0.05496519 -0.01814634
+v -0.02723876 -0.05523444 -0.01639671
+v -0.02575234 -0.05720079 -0.01233899
+v -0.02717472 -0.05682745 -0.01139993
+v -0.02801855 -0.05708089 -0.00925492
+v -0.02856738 -0.05733205 -0.00753988
+v -0.03197932 -0.05520959 -0.00871124
+v -0.03500479 -0.05281107 -0.01109349
+v -0.02719759 -0.06483092 0.03234548
+v -0.02594672 -0.06248437 0.01306013
+v -0.02621654 -0.06258395 0.01443413
+v -0.03500479 -0.05709450 0.00671901
+v -0.03385908 -0.05739546 0.00496447
+v -0.03257161 -0.05792042 0.00411929
+v -0.02874120 -0.05999985 0.00482606
+v -0.02349524 -0.06253414 0.00762840
+v -0.02740340 -0.06042072 0.00403525
+v -0.02674709 -0.06023744 0.00157393
+v -0.02461350 -0.06104297 0.00157393
+v -0.01700756 -0.06802366 0.03234547
+v -0.01683604 -0.06586721 0.01700419
+v -0.01621172 -0.06523361 0.01185911
+v -0.01571778 -0.06510238 0.01030225
+v -0.01424050 -0.06564994 0.01185911
+v -0.01330061 -0.06512727 0.00757896
+v -0.01164268 -0.06566805 0.00920009
+v -0.01164268 -0.06319030 -0.00414447
+v -0.01354303 -0.06259294 -0.00536524
+v -0.01942928 -0.05897251 -0.01385634
+v -0.02086997 -0.05735465 -0.01786465
+v -0.02202254 -0.05816471 -0.01385633
+v -0.01942928 -0.06103616 -0.00614615
+v -0.01956420 -0.06033922 -0.00884471
+v -0.01609967 -0.06259068 -0.00287428
+v -0.02125872 -0.06005866 -0.00807370
+v -0.02037601 -0.05739763 -0.01814635
+v -0.02769611 -0.05438817 -0.01814634
+v -0.02622342 -0.05507604 -0.01814634
+v -0.02436882 -0.05654231 -0.01619410
+v -0.02516460 -0.05696319 -0.01385633
+v -0.02462722 -0.05576619 -0.01814634
+v -0.02334431 -0.05731165 -0.01517596
+v -0.02386568 -0.05751079 -0.01385633
+v -0.02477587 -0.05786833 -0.01139993
+v -0.02628515 -0.05746328 -0.01062398
+v -0.02717472 -0.05766921 -0.00852344
+v -0.02720676 -0.05830052 -0.00614614
+v -0.02889670 -0.05751309 -0.00614614
+v -0.03111720 -0.05731170 -0.00232070
+v -0.03403518 -0.05491091 -0.00557773
+v -0.03500479 -0.05413481 -0.00631416
+v -0.02485134 -0.06567265 0.03234548
+v -0.02384970 -0.06265634 0.00928904
+v -0.03500479 -0.05602874 0.00157394
+v -0.03269512 -0.05676640 -0.00100107
+v -0.03193130 -0.05774389 0.00157394
+v -0.02839590 -0.05980301 0.00310610
+v -0.02627143 -0.06003830 -0.00045741
+v -0.02979998 -0.05826433 -0.00100107
+v -0.02081738 -0.06249566 0.00272057
+v -0.02122900 -0.06261786 0.00411927
+v -0.02211630 -0.06280567 0.00675360
+v -0.02202254 -0.06324014 0.00928904
+v -0.02065960 -0.06501642 0.01843255
+v -0.02100946 -0.06515220 0.02014757
+v -0.02483531 -0.06042524 -0.00118889
+v -0.01939499 -0.06731768 0.03234547
+v -0.01942928 -0.06626999 0.02471932
+v -0.01900852 -0.06530377 0.01700419
+v -0.01850312 -0.06515897 0.01509641
+v -0.01700756 -0.06542143 0.01431548
+v -0.01942928 -0.06354333 0.00671899
+v -0.01419476 -0.06525395 0.00938296
+v -0.01847340 -0.06255900 -0.00020535
+v -0.01683604 -0.06326727 0.00157392
+v -0.01424050 -0.06382164 0.00157392
+v -0.01424050 -0.06334645 -0.00100109
+v -0.01164494 -0.06380124 -0.00100109
+v -0.01164268 -0.06525621 0.00674862
+v -0.01164268 -0.06331248 -0.00357117
+v -0.01164494 -0.06331248 -0.00357117
+v -0.01434113 -0.06279659 -0.00366999
+v -0.02184875 -0.05752435 -0.01619410
+v -0.02259881 -0.05702880 -0.01689098
+v -0.02211400 -0.05677990 -0.01814635
+v -0.02115126 -0.05714646 -0.01814635
+v -0.02208198 -0.06026457 -0.00613626
+v -0.02202254 -0.06086194 -0.00357116
+v -0.01691380 -0.06276718 -0.00104062
+v -0.02360500 -0.05998625 -0.00527628
+v -0.02381081 -0.05610109 -0.01814635
+v -0.02452661 -0.05938437 -0.00613626
+v -0.02542760 -0.05967401 -0.00357116
+v -0.02584837 -0.05983240 -0.00217245
+v -0.02720676 -0.05890692 -0.00357116
+v -0.02981828 -0.05772580 -0.00333391
+v -0.03446509 -0.05516890 -0.00357114
+v -0.03140076 -0.05745878 -0.00100107
+v -0.03500479 -0.05484306 -0.00357114
+v -0.02202254 -0.06653704 0.03234548
+v -0.03500479 -0.05551057 -0.00081325
+v -0.03500479 -0.05546759 -0.00100106
+v -0.03500479 -0.05534313 -0.00153979
+v -0.02804600 -0.05964687 0.00157393
+v -0.02716330 -0.05946586 -0.00118889
+v -0.01964882 -0.06545312 0.01940125
+v -0.02413098 -0.06017634 -0.00357116
+v -0.01164268 -0.06380124 -0.00100109
+f 1 2 6
+f 1 6 18
+f 1 18 32
+f 1 32 51
+f 1 51 55
+f 1 55 84
+f 1 84 123
+f 1 123 173
+f 1 173 172
+f 1 172 178
+f 1 178 128
+f 1 128 125
+f 1 125 88
+f 1 88 124
+f 1 124 86
+f 1 86 85
+f 1 85 56
+f 1 56 35
+f 1 35 19
+f 1 19 10
+f 1 10 3
+f 1 3 13
+f 1 13 24
+f 1 24 39
+f 1 39 62
+f 1 62 95
+f 1 95 138
+f 1 138 186
+f 1 186 190
+f 1 190 189
+f 1 189 188
+f 1 188 141
+f 1 141 99
+f 1 99 66
+f 1 66 65
+f 1 65 41
+f 1 41 26
+f 1 26 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 25
+f 4 25 40
+f 4 40 63
+f 4 63 96
+f 4 96 139
+f 4 139 187
+f 4 187 154
+f 4 154 107
+f 4 107 72
+f 4 72 47
+f 4 47 29
+f 4 29 15
+f 4 15 5
+f 5 15 16
+f 5 16 7
+f 6 9 8
+f 6 8 7
+f 6 7 16
+f 6 16 15
+f 6 15 30
+f 6 30 49
+f 6 49 75
+f 6 75 113
+f 6 113 166
+f 6 166 195
+f 6 195 167
+f 6 167 114
+f 6 114 76
+f 6 76 50
+f 6 50 31
+f 6 31 17
+f 6 17 18
+f 10 19 20
+f 10 20 11
+f 11 13 12
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 13
+f 14 26 27
+f 14 27 28
+f 14 28 25
+f 15 29 30
+f 17 31 18
+f 18 31 33
+f 18 33 34
+f 18 34 32
+f 19 35 20
+f 20 35 21
+f 21 36 22
+f 21 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 25 28 40
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 40
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 31 50 52
+f 31 52 33
+f 32 34 51
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 51
+f 35 56 36
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 37
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 62
+f 38 62 39
+f 40 46 64
+f 40 64 63
+f 41 65 42
+f 42 65 66
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 44
+f 44 68 69
+f 44 69 45
+f 45 64 46
+f 45 69 70
+f 45 70 71
+f 45 71 64
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 49
+f 49 74 75
+f 50 76 52
+f 52 76 77
+f 52 77 53
+f 53 77 54
+f 54 78 79
+f 54 79 80
+f 54 80 55
+f 54 77 81
+f 54 81 82
+f 54 82 83
+f 54 83 78
+f 55 80 79
+f 55 79 84
+f 56 85 57
+f 57 85 58
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 59
+f 59 90 91
+f 59 91 92
+f 59 92 93
+f 59 93 60
+f 60 93 61
+f 61 93 94
+f 61 94 95
+f 61 95 62
+f 63 64 96
+f 64 71 97
+f 64 97 98
+f 64 98 96
+f 66 99 67
+f 67 99 100
+f 67 100 101
+f 67 101 68
+f 68 101 102
+f 68 102 70
+f 68 70 69
+f 70 102 71
+f 71 103 97
+f 71 102 104
+f 71 104 105
+f 71 105 106
+f 71 106 103
+f 72 107 108
+f 72 108 73
+f 73 108 109
+f 73 109 74
+f 74 109 110
+f 74 110 111
+f 74 111 112
+f 74 112 113
+f 74 113 75
+f 76 114 115
+f 76 115 77
+f 77 115 81
+f 78 116 79
+f 78 83 116
+f 79 117 84
+f 79 116 118
+f 79 118 117
+f 81 119 120
+f 81 120 82
+f 81 115 121
+f 81 121 119
+f 82 120 83
+f 83 120 122
+f 83 122 116
+f 84 117 123
+f 86 124 87
+f 87 124 88
+f 88 125 89
+f 89 126 127
+f 89 127 90
+f 89 125 128
+f 89 128 126
+f 90 127 129
+f 90 129 130
+f 90 130 131
+f 90 131 132
+f 90 132 92
+f 90 92 91
+f 92 132 93
+f 93 133 134
+f 93 134 135
+f 93 135 136
+f 93 136 94
+f 93 132 133
+f 94 137 95
+f 94 136 137
+f 95 137 138
+f 96 98 97
+f 96 97 139
+f 97 103 140
+f 97 140 139
+f 99 141 100
+f 100 141 142
+f 100 142 143
+f 100 143 101
+f 101 143 102
+f 102 144 145
+f 102 145 105
+f 102 105 104
+f 102 143 146
+f 102 146 144
+f 103 147 148
+f 103 148 149
+f 103 149 150
+f 103 150 151
+f 103 151 152
+f 103 152 139
+f 103 139 140
+f 103 106 147
+f 105 145 106
+f 106 145 153
+f 106 153 147
+f 107 154 155
+f 107 155 156
+f 107 156 108
+f 108 156 157
+f 108 157 158
+f 108 158 109
+f 109 158 157
+f 109 157 159
+f 109 159 110
+f 110 160 111
+f 110 159 147
+f 110 147 161
+f 110 161 162
+f 110 162 112
+f 110 112 160
+f 111 160 112
+f 112 162 163
+f 112 163 164
+f 112 164 165
+f 112 165 166
+f 112 166 113
+f 114 167 168
+f 114 168 115
+f 115 168 169
+f 115 169 121
+f 116 122 118
+f 117 118 170
+f 117 170 129
+f 117 129 171
+f 117 171 172
+f 117 172 173
+f 117 173 123
+f 118 130 129
+f 118 129 170
+f 118 122 130
+f 119 174 122
+f 119 122 120
+f 119 121 161
+f 119 161 175
+f 119 175 174
+f 121 164 176
+f 121 176 161
+f 121 169 164
+f 122 174 177
+f 122 177 131
+f 122 131 130
+f 126 129 127
+f 126 128 178
+f 126 178 171
+f 126 171 129
+f 131 177 179
+f 131 179 134
+f 131 134 132
+f 132 134 133
+f 134 179 177
+f 134 177 180
+f 134 180 181
+f 134 181 182
+f 134 182 135
+f 135 182 183
+f 135 183 136
+f 136 184 137
+f 136 183 146
+f 136 146 185
+f 136 185 142
+f 136 142 184
+f 137 184 186
+f 137 186 138
+f 139 152 187
+f 141 188 142
+f 142 189 190
+f 142 190 184
+f 142 185 143
+f 142 188 189
+f 143 185 146
+f 144 146 191
+f 144 191 145
+f 145 191 192
+f 145 192 182
+f 145 182 181
+f 145 181 153
+f 146 183 182
+f 146 182 192
+f 146 192 191
+f 147 159 148
+f 147 153 175
+f 147 175 161
+f 148 159 149
+f 149 159 157
+f 149 157 150
+f 150 157 156
+f 150 156 151
+f 151 193 155
+f 151 155 152
+f 151 156 193
+f 152 155 187
+f 153 181 194
+f 153 194 175
+f 154 187 155
+f 155 193 156
+f 161 176 162
+f 162 176 164
+f 162 164 163
+f 164 169 168
+f 164 168 165
+f 165 168 167
+f 165 167 195
+f 165 195 166
+f 171 178 172
+f 174 175 177
+f 175 194 177
+f 177 194 180
+f 180 194 181
+f 184 190 186
+