Add asset kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb

.gitattributes

@@ -4167,7 +4167,6 @@ dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork.gl
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/mesh/tray_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/tray_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/3b97adb9260c55fab0abdb52d2efeaeb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/3b97adb9260c55fab0abdb52d2efeaeb.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.413836</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with handles for straining liquids</description>
+         <min_height>0.130</min_height>
+         <max_height>0.194</max_height>
+         <real_height>0.162</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260119191153</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.407288074493408</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/3b97adb9260c55fab0abdb52d2efeaeb/3b97adb9260c55fab0abdb52d2efeaeb.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ed145d18d56e5099663de7007249b60369dcf844b8332307d29459a8870691
+size 524748

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/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/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a59630ddb4cf8051acc8e90967b49cc6616d54c58cf662edff2aeaec1dd1244
+size 2281828

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mesh/metal_colander_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1d50bc95c25aa3c0f7a81ccacfbc6bdf3cde4d95c1479466fc275389b007d5
+size 1744425

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/3b97adb9260c55fab0abdb52d2efeaeb.xml

@@ -0,0 +1,96 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_0.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.19044769 -0.00001376 0.05830580
+v -0.19044769 -0.00136501 0.05830579
+v -0.19044769 -0.00001376 0.05836283
+v -0.14623864 -0.00001350 -0.01365230
+v -0.14624615 -0.00349505 -0.01366047
+v -0.18560400 -0.03309194 0.05566651
+v -0.18500324 -0.04048250 0.05598418
+v -0.18413963 -0.04787993 0.05683942
+v -0.19044769 -0.00136501 0.05836282
+v -0.14606592 -0.01089248 -0.01339169
+v -0.14576552 -0.01829682 -0.01279710
+v -0.18790948 -0.00369525 0.06123820
+v -0.18789445 -0.00001377 0.06123821
+v -0.14378297 -0.00001349 -0.01723637
+v -0.14379049 -0.00349504 -0.01723638
+v -0.14349763 -0.01089247 -0.01723641
+v -0.14525486 -0.02569426 -0.01188479
+v -0.14492444 -0.03370530 -0.01000321
+v -0.18346376 -0.05272652 0.05773542
+v -0.18413963 -0.04787994 0.06017910
+v -0.14005820 -0.04048223 -0.01521643
+v -0.18500324 -0.04048252 0.06125437
+v -0.18626488 -0.02569453 0.06193867
+v -0.18688814 -0.01829710 0.06193869
+v -0.18720355 -0.01089276 0.06193872
+v -0.14285177 -0.01829681 -0.01723644
+v -0.14279922 -0.01864841 -0.01723644
+v -0.18362147 -0.00349534 0.06579159
+v -0.18362147 -0.00001379 0.06579973
+v -0.13168499 -0.00001349 -0.01723637
+v -0.14173288 -0.02561840 -0.01723646
+v -0.14092183 -0.03309168 -0.01645452
+v -0.17702053 -0.07044453 0.05679048
+v -0.18346376 -0.05272653 0.05909574
+v -0.13939738 -0.04514270 -0.01430412
+v -0.13863889 -0.05007890 -0.01315561
+v -0.17708060 -0.07007226 0.06048857
+v -0.17586404 -0.05938631 0.06560403
+v -0.14035861 -0.03309168 -0.01723649
+v -0.13855628 -0.04048223 -0.01723652
+v -0.18314084 -0.02978278 0.06557970
+v -0.18513090 -0.03258871 0.06254138
+v -0.18331356 -0.02569454 0.06566933
+v -0.18350134 -0.01829711 0.06575895
+v -0.18357641 -0.01089277 0.06577526
+v -0.17943112 -0.01829711 0.06597888
+v -0.18165395 -0.00001379 0.06588121
+v -0.11373702 -0.07044426 -0.01723663
+v -0.16855720 -0.00001376 0.05808588
+v -0.14106450 -0.02936884 -0.01723648
+v -0.17702053 -0.07044454 0.06039081
+v -0.13773024 -0.05527712 -0.01173831
+v -0.13188025 -0.06659733 -0.01402726
+v -0.13097910 -0.07044427 -0.01269955
+v -0.13640104 -0.04772800 -0.01723655
+v -0.13564258 -0.05000305 -0.01723655
+v -0.13401296 -0.05487034 -0.01723657
+v -0.13266124 -0.06267452 -0.01510247
+v -0.17314555 -0.07044456 0.06417850
+v -0.17337086 -0.07007228 0.06409704
+v -0.17448227 -0.06431564 0.06513972
+v -0.16966111 -0.07044456 0.06586464
+v -0.17619446 -0.05527740 0.06572622
+v -0.17679524 -0.04787996 0.06586472
+v -0.17943112 -0.02569454 0.06593000
+v -0.16488498 -0.07044456 0.06589724
+v -0.17943112 -0.00001379 0.06595452
+v -0.16969865 -0.07007228 0.06587280
+v -0.12752467 -0.07044426 -0.01723663
+v -0.15276449 -0.07044452 0.05439567
+v -0.16969116 -0.00001377 0.05946248
+v -0.15775838 -0.07044455 0.06184888
+v -0.15742795 -0.07044455 0.06139272
+v -0.15458932 -0.06827287 0.05652982
+v -0.13103916 -0.06267452 -0.01723660
+v -0.12797525 -0.06956179 -0.01723663
+v -0.12793019 -0.06965832 -0.01723663
+v -0.12910169 -0.07044426 -0.01517582
+v -0.13353236 -0.05617336 -0.01723658
+v -0.16478737 -0.07044456 0.06588909
+v -0.17549606 -0.00001379 0.06571014
+v -0.17756120 -0.00001379 0.06584050
+v -0.12788513 -0.06974796 -0.01723663
+v -0.12767488 -0.07044426 -0.01704930
+v -0.17163613 -0.00001378 0.06162920
+v -0.17361114 -0.00001378 0.06372264
+v -0.15812634 -0.07044455 0.06215841
+v -0.16251948 -0.06811433 0.06507455
+f 1 2 9
+f 1 9 3
+f 1 3 13
+f 1 13 29
+f 1 29 47
+f 1 47 67
+f 1 67 82
+f 1 82 81
+f 1 81 86
+f 1 86 85
+f 1 85 71
+f 1 71 49
+f 1 49 30
+f 1 30 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 20
+f 2 20 9
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 9 12
+f 3 12 13
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 6 11 7
+f 7 11 17
+f 7 17 18
+f 7 18 8
+f 8 19 34
+f 8 34 20
+f 8 18 21
+f 8 21 19
+f 9 20 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 12
+f 10 16 26
+f 10 26 11
+f 11 26 27
+f 11 27 17
+f 12 25 28
+f 12 28 29
+f 12 29 13
+f 14 30 48
+f 14 48 69
+f 14 69 83
+f 14 83 77
+f 14 77 76
+f 14 76 75
+f 14 75 79
+f 14 79 57
+f 14 57 56
+f 14 56 55
+f 14 55 40
+f 14 40 39
+f 14 39 50
+f 14 50 31
+f 14 31 27
+f 14 27 26
+f 14 26 16
+f 14 16 15
+f 17 27 31
+f 17 31 32
+f 17 32 18
+f 18 32 21
+f 19 33 51
+f 19 51 34
+f 19 21 35
+f 19 35 36
+f 19 36 33
+f 20 37 38
+f 20 38 22
+f 20 34 37
+f 21 32 39
+f 21 39 40
+f 21 40 35
+f 22 38 41
+f 22 41 42
+f 22 42 23
+f 23 42 41
+f 23 41 24
+f 24 41 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 30 49 48
+f 31 50 32
+f 32 50 39
+f 33 36 52
+f 33 52 53
+f 33 53 54
+f 33 54 78
+f 33 78 84
+f 33 84 69
+f 33 69 48
+f 33 48 70
+f 33 70 73
+f 33 73 72
+f 33 72 87
+f 33 87 80
+f 33 80 66
+f 33 66 62
+f 33 62 59
+f 33 59 51
+f 34 51 37
+f 35 40 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 52
+f 37 51 59
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 62
+f 38 62 63
+f 38 63 41
+f 41 63 64
+f 41 64 43
+f 43 64 44
+f 44 64 65
+f 44 65 46
+f 44 46 45
+f 46 66 67
+f 46 67 47
+f 46 65 64
+f 46 64 68
+f 46 68 66
+f 48 49 70
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 70
+f 52 58 53
+f 53 58 75
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 54 77 78
+f 57 79 58
+f 58 79 75
+f 59 62 61
+f 59 61 60
+f 62 66 68
+f 62 68 63
+f 63 68 64
+f 66 80 81
+f 66 81 82
+f 66 82 67
+f 69 84 83
+f 70 74 73
+f 71 85 72
+f 72 85 86
+f 72 86 81
+f 72 81 87
+f 77 83 78
+f 78 83 84
+f 80 88 81
+f 80 87 88
+f 81 88 87
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_1.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.16102614 0.10706325 0.06164371
+v -0.15586716 0.11485112 0.06205685
+v -0.15438978 0.11949273 0.05972928
+v -0.15438978 0.11949274 0.05753266
+v -0.16013506 0.10706327 0.05622271
+v -0.16000217 0.10706325 0.06321560
+v -0.15273265 0.11730145 0.06454568
+v -0.14639330 0.12592582 0.06553319
+v -0.14780032 0.12788020 0.06071677
+v -0.14780032 0.12788021 0.05689789
+v -0.10976429 0.10706352 -0.01028032
+v -0.15605473 0.10706324 0.06621830
+v -0.15592969 0.10748522 0.06620823
+v -0.15442888 0.11237112 0.06589588
+v -0.14784720 0.12099551 0.06604706
+v -0.14120303 0.12967908 0.06617810
+v -0.13950679 0.13389875 0.06576498
+v -0.14090600 0.13549776 0.06193604
+v -0.14492377 0.13007886 0.06265141
+v -0.13773242 0.13919922 0.06193605
+v -0.14110921 0.13568284 0.05665606
+v -0.10285434 0.11158668 -0.01431078
+v -0.10487886 0.10706354 -0.01625553
+v -0.15058304 0.10706323 0.06674228
+v -0.15009840 0.10748521 0.06677249
+v -0.15021569 0.11485111 0.06639971
+v -0.14347768 0.12298687 0.06657105
+v -0.13543432 0.12967907 0.06707488
+v -0.13516073 0.13664520 0.06628893
+v -0.13253431 0.14160512 0.06590607
+v -0.13406639 0.14317455 0.06193607
+v -0.13406639 0.14313757 0.05661581
+v -0.09535031 0.11879711 -0.01411931
+v -0.09780475 0.11397784 -0.01661824
+v -0.09537374 0.11143129 -0.02133391
+v -0.10026701 0.10889949 -0.01911716
+v -0.10385488 0.10706354 -0.01724297
+v -0.12677342 0.15028136 0.05661583
+v -0.15011404 0.10706323 0.06674228
+v -0.08117866 0.16894399 0.06709516
+v -0.09144978 0.16665649 0.06746797
+v -0.12810226 0.13707456 0.06723612
+v -0.12785210 0.14423316 0.06638973
+v -0.12523351 0.14884517 0.06588595
+v -0.13045506 0.14686122 0.06193608
+v -0.08751799 0.12577806 -0.01365579
+v -0.09144978 0.12044058 -0.01578188
+v -0.09144978 0.11682797 -0.01939926
+v -0.11913648 0.15718083 0.05676700
+v -0.09807053 0.10706356 -0.02265391
+v -0.09841446 0.10706356 -0.02235161
+v -0.08761960 0.11845662 -0.02099128
+v -0.09144978 0.11312654 -0.02292595
+v -0.08750236 0.11094272 -0.02812527
+v -0.09210637 0.10807780 -0.02683552
+v -0.09276298 0.10706358 -0.02715799
+v -0.09714814 0.10706357 -0.02343987
+v -0.12678904 0.15025911 0.06193609
+v -0.14490814 0.10706324 0.06611753
+v -0.08117866 0.16687121 0.06668203
+v -0.08117866 0.17443697 0.06720602
+v -0.08478996 0.17474046 0.06688359
+v -0.09883657 0.16687121 0.06668203
+v -0.11344595 0.15186552 0.06724624
+v -0.12077802 0.14447003 0.06725629
+v -0.12031684 0.15153242 0.06629911
+v -0.11755754 0.15590753 0.06575499
+v -0.08117866 0.13159670 -0.01205364
+v -0.08117866 0.12811738 -0.01602368
+v -0.08263255 0.12755476 -0.01550979
+v -0.08117866 0.12647395 -0.01769634
+v -0.08117866 0.12450479 -0.01969144
+v -0.08512608 0.12300939 -0.01825053
+v -0.11114002 0.16400632 0.05720029
+v -0.10305757 0.17080216 0.05773436
+v -0.12263057 0.15396057 0.06193611
+v -0.11114002 0.16400631 0.06067660
+v -0.08117866 0.12081075 -0.02334911
+v -0.08117866 0.11911550 -0.02502178
+v -0.08117866 0.11715372 -0.02692619
+v -0.08511826 0.11567314 -0.02545507
+v -0.08260909 0.11288968 -0.02986845
+v -0.08117866 0.11176444 -0.03180308
+v -0.08117866 0.10931410 -0.03382844
+v -0.08474306 0.10804820 -0.03240768
+v -0.08514953 0.10706360 -0.03289136
+v -0.08731474 0.10706360 -0.03130940
+v -0.09112930 0.10706358 -0.02844773
+v -0.14472052 0.10706324 0.06607723
+v -0.08117866 0.16357693 0.06550309
+v -0.08117866 0.17759058 0.06674254
+v -0.09144978 0.17274170 0.06645031
+v -0.10680176 0.15995688 0.06681300
+v -0.09643682 0.17115749 0.06598679
+v -0.10480849 0.16454668 0.06619836
+v -0.11344595 0.15761760 0.06623865
+v -0.10970176 0.16288844 0.06548294
+v -0.08117866 0.13389902 -0.00909123
+v -0.10305757 0.17080215 0.05953803
+v -0.08949560 0.17876768 0.05710968
+v -0.11897237 0.15703277 0.06193612
+v -0.08117866 0.11337827 -0.03038236
+v -0.08117866 0.10706361 -0.03547085
+v -0.08342984 0.10706361 -0.03405011
+v -0.08381288 0.10706360 -0.03380828
+v -0.14105450 0.10706325 0.06369927
+v -0.08117866 0.16283663 0.06502951
+v -0.08117866 0.17963378 0.06628909
+v -0.08278889 0.17903414 0.06621857
+v -0.08768213 0.17766462 0.06547293
+v -0.10132228 0.16948442 0.06435445
+v -0.08117866 0.13458745 -0.00816423
+v -0.08949560 0.17876767 0.06065651
+v -0.08117866 0.18268380 0.06221833
+v -0.08411772 0.18027047 0.05609197
+v -0.08117866 0.10706356 -0.02086035
+v -0.13784966 0.10706326 0.06031364
+v -0.13763080 0.10706326 0.06006173
+v -0.08117866 0.16026045 0.06149274
+v -0.08117866 0.18105515 0.06452579
+v -0.08478996 0.18052957 0.06261128
+v -0.08117866 0.18107739 0.05585015
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 37
+f 1 37 51
+f 1 51 50
+f 1 50 57
+f 1 57 56
+f 1 56 88
+f 1 88 87
+f 1 87 86
+f 1 86 105
+f 1 105 104
+f 1 104 103
+f 1 103 116
+f 1 116 118
+f 1 118 117
+f 1 117 106
+f 1 106 89
+f 1 89 59
+f 1 59 39
+f 1 39 24
+f 1 24 12
+f 1 12 6
+f 1 6 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 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 18 20
+f 9 20 21
+f 9 21 10
+f 9 19 18
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 15
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 20
+f 17 20 18
+f 20 31 21
+f 20 30 31
+f 21 31 32
+f 21 32 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 22 32 38
+f 22 38 33
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 28
+f 25 28 26
+f 26 28 27
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 38
+f 33 46 47
+f 33 47 48
+f 33 48 35
+f 33 35 34
+f 33 38 49
+f 33 49 46
+f 35 50 51
+f 35 51 36
+f 35 48 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 50
+f 36 51 37
+f 38 45 58
+f 38 58 49
+f 39 59 40
+f 40 60 90
+f 40 90 107
+f 40 107 119
+f 40 119 116
+f 40 116 103
+f 40 103 84
+f 40 84 83
+f 40 83 102
+f 40 102 80
+f 40 80 79
+f 40 79 78
+f 40 78 72
+f 40 72 71
+f 40 71 69
+f 40 69 68
+f 40 68 98
+f 40 98 112
+f 40 112 122
+f 40 122 114
+f 40 114 120
+f 40 120 108
+f 40 108 91
+f 40 91 61
+f 40 61 41
+f 40 59 60
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 42 65 43
+f 43 66 44
+f 43 65 64
+f 43 64 66
+f 44 66 67
+f 44 67 58
+f 44 58 45
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 52
+f 46 52 47
+f 46 49 74
+f 46 74 75
+f 46 75 68
+f 47 52 48
+f 49 58 76
+f 49 76 77
+f 49 77 74
+f 52 73 72
+f 52 72 78
+f 52 78 79
+f 52 79 80
+f 52 80 81
+f 52 81 54
+f 52 54 53
+f 54 82 83
+f 54 83 84
+f 54 84 85
+f 54 85 86
+f 54 86 87
+f 54 87 88
+f 54 88 56
+f 54 56 55
+f 54 81 82
+f 58 67 76
+f 59 89 60
+f 60 89 90
+f 61 91 62
+f 62 91 92
+f 62 92 63
+f 63 93 64
+f 63 92 94
+f 63 94 95
+f 63 95 96
+f 63 96 93
+f 64 93 66
+f 66 93 96
+f 66 96 67
+f 67 96 95
+f 67 95 97
+f 67 97 76
+f 68 75 98
+f 69 71 70
+f 74 77 99
+f 74 99 75
+f 75 99 113
+f 75 113 100
+f 75 100 98
+f 76 101 77
+f 76 97 101
+f 77 101 97
+f 77 97 99
+f 80 102 82
+f 80 82 81
+f 82 102 83
+f 84 103 104
+f 84 104 105
+f 84 105 85
+f 85 105 86
+f 89 106 107
+f 89 107 90
+f 91 108 109
+f 91 109 92
+f 92 109 94
+f 94 110 97
+f 94 97 95
+f 94 109 110
+f 97 110 111
+f 97 111 99
+f 98 100 112
+f 99 111 110
+f 99 110 113
+f 100 113 114
+f 100 114 115
+f 100 115 112
+f 106 117 107
+f 107 117 118
+f 107 118 119
+f 108 120 110
+f 108 110 109
+f 110 120 114
+f 110 114 121
+f 110 121 113
+f 112 115 122
+f 113 121 114
+f 114 122 115
+f 116 119 118
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_10.obj

@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
+v 0.14762872 -0.00349526 -0.01332943
+v 0.14747070 -0.00818486 -0.01332945
+v 0.14709997 -0.00349526 -0.01423733
+v 0.14761656 -0.00001350 -0.01332942
+v 0.14740993 -0.00984475 -0.01332946
+v 0.14698450 -0.00933869 -0.01408021
+v 0.14441978 -0.00349524 -0.01785144
+v 0.14583583 -0.00001349 -0.01591925
+v 0.14708784 -0.00001350 -0.01422568
+v 0.13520628 -0.00001350 -0.01332942
+v 0.14718505 -0.01374487 -0.01332947
+v 0.14683256 -0.01427118 -0.01386487
+v 0.14479660 -0.01143719 -0.01689701
+v 0.14074897 -0.00349523 -0.02265282
+v 0.14074897 -0.00001347 -0.02265864
+v 0.14441371 -0.00001348 -0.01783398
+v 0.14063350 -0.01089736 -0.02250154
+v 0.08554688 -0.00001334 -0.05714126
+v 0.08554688 -0.06894691 -0.04238237
+v 0.11863897 -0.06894702 -0.01332967
+v 0.14710604 -0.01481774 -0.01332947
+v 0.14677181 -0.01829275 -0.01332949
+v 0.14662592 -0.01829275 -0.01356809
+v 0.14383634 -0.01829274 -0.01750814
+v 0.14040254 -0.01829272 -0.02223967
+v 0.13785001 -0.00349521 -0.02626695
+v 0.13939368 -0.00001346 -0.02435804
+v 0.13752180 -0.01829271 -0.02584797
+v 0.13772843 -0.01089734 -0.02611568
+v 0.08554688 -0.00001328 -0.07271521
+v 0.08554688 -0.06894687 -0.05524424
+v 0.13210674 -0.06894702 -0.01332967
+v 0.14648005 -0.02071515 -0.01332950
+v 0.14584801 -0.02568813 -0.01332951
+v 0.14296117 -0.02568812 -0.01750816
+v 0.13997712 -0.02568810 -0.02170426
+v 0.13417918 -0.00349520 -0.03053874
+v 0.13419134 -0.00001344 -0.03056201
+v 0.13785606 -0.00001345 -0.02626694
+v 0.13406370 -0.01089733 -0.03040491
+v 0.13385706 -0.01829269 -0.03021869
+v 0.13706599 -0.02568809 -0.02531840
+v 0.13340125 -0.02568807 -0.02970657
+v 0.11347309 -0.00001337 -0.04986646
+v 0.08554688 -0.00008749 -0.07272102
+v 0.08983762 -0.06894688 -0.05250893
+v 0.08554688 -0.06534363 -0.05683306
+v 0.12978514 -0.06894701 -0.01637927
+v 0.13285426 -0.06765150 -0.01332967
+v 0.14572645 -0.02635614 -0.01332952
+v 0.13964894 -0.02991209 -0.02127363
+v 0.13083047 -0.00349518 -0.03414704
+v 0.13084870 -0.00001342 -0.03417031
+v 0.13262333 -0.00001343 -0.03225558
+v 0.13069067 -0.01089732 -0.03401321
+v 0.13050834 -0.01829268 -0.03383282
+v 0.13278743 -0.03185540 -0.02901404
+v 0.13003432 -0.02568806 -0.03331487
+v 0.11541180 -0.00001337 -0.04827762
+v 0.08554688 -0.00349504 -0.07278504
+v 0.09204376 -0.06894688 -0.05107723
+v 0.08690825 -0.06433825 -0.05640821
+v 0.09550794 -0.06632208 -0.04998310
+v 0.08554688 -0.06313041 -0.05771767
+v 0.12874588 -0.06894701 -0.01763054
+v 0.13059952 -0.06267849 -0.01917859
+v 0.13249570 -0.06700371 -0.01428411
+v 0.13357144 -0.06602532 -0.01332966
+v 0.14446234 -0.03298231 -0.01332954
+v 0.14144788 -0.03266513 -0.01785738
+v 0.13906549 -0.03483785 -0.02049378
+v 0.13592342 -0.03334661 -0.02481210
+v 0.12715966 -0.00349517 -0.03784845
+v 0.12890389 -0.00001342 -0.03613159
+v 0.12702593 -0.01089730 -0.03770883
+v 0.12684360 -0.01829266 -0.03747605
+v 0.12636956 -0.02568804 -0.03701631
+v 0.13219789 -0.03678114 -0.02834476
+v 0.12511152 -0.03756383 -0.03580584
+v 0.12988237 -0.03382567 -0.03163297
+v 0.12564026 -0.03309018 -0.03631795
+v 0.11973900 -0.00001339 -0.04466348
+v 0.11973900 -0.00349515 -0.04466349
+v 0.11541180 -0.00349513 -0.04827182
+v 0.11519302 -0.01089726 -0.04812635
+v 0.11931965 -0.01829264 -0.04429109
+v 0.11488306 -0.01829262 -0.04790525
+v 0.11067133 -0.02568799 -0.05036705
+v 0.08554688 -0.01089718 -0.07191210
+v 0.09460848 -0.06894689 -0.04936621
+v 0.08554688 -0.06145702 -0.05838114
+v 0.08847017 -0.05940575 -0.05739755
+v 0.09198906 -0.06286727 -0.05369615
+v 0.09689970 -0.06138955 -0.05097828
+v 0.09928816 -0.06338688 -0.04844080
+v 0.10364572 -0.06771211 -0.04340085
+v 0.10154292 -0.06894691 -0.04437858
+v 0.09825499 -0.06894690 -0.04677637
+v 0.12716573 -0.06894700 -0.01952198
+v 0.12564634 -0.06784040 -0.02201287
+v 0.12693475 -0.06267847 -0.02348529
+v 0.13172993 -0.05775946 -0.02055205
+v 0.13348027 -0.06267850 -0.01557029
+v 0.13502395 -0.06266501 -0.01332965
+v 0.14374519 -0.03591751 -0.01332955
+v 0.14091913 -0.04047886 -0.01585537
+v 0.13829975 -0.04047885 -0.01946367
+v 0.13462891 -0.04047883 -0.02409629
+v 0.12340374 -0.00349516 -0.04145676
+v 0.12717788 -0.00001341 -0.03784264
+v 0.12324574 -0.01089729 -0.04132295
+v 0.12298438 -0.01829265 -0.04108437
+v 0.12246172 -0.02568803 -0.04062461
+v 0.13166308 -0.04047882 -0.02770461
+v 0.12751822 -0.04020890 -0.03234883
+v 0.12429712 -0.04249633 -0.03501435
+v 0.11970251 -0.04788093 -0.03753434
+v 0.12159264 -0.04020888 -0.03816287
+v 0.11689471 -0.04047876 -0.04224841
+v 0.11751463 -0.03671362 -0.04277219
+v 0.12082686 -0.03378517 -0.04049078
+v 0.11813455 -0.03178786 -0.04329596
+v 0.12340374 -0.00001340 -0.04145675
+v 0.11957492 -0.01089728 -0.04451222
+v 0.11879090 -0.02568802 -0.04385463
+v 0.11433608 -0.02568801 -0.04746293
+v 0.11026416 -0.02961510 -0.05005279
+v 0.08554688 -0.01829254 -0.07053865
+v 0.08554688 -0.05636258 -0.06016198
+v 0.08953375 -0.05527619 -0.05809591
+v 0.09320456 -0.05527620 -0.05566323
+v 0.10499495 -0.06267840 -0.04445422
+v 0.09837653 -0.05527621 -0.05204910
+v 0.10204736 -0.05527622 -0.04939525
+v 0.10866576 -0.06267841 -0.04152102
+v 0.10503140 -0.06894692 -0.04166071
+v 0.12390816 -0.06894698 -0.02324669
+v 0.12373193 -0.06267846 -0.02709359
+v 0.11949590 -0.06894697 -0.02805971
+v 0.11860252 -0.06823172 -0.02945647
+v 0.12473471 -0.05867036 -0.02819937
+v 0.12875194 -0.05574867 -0.02494021
+v 0.13264765 -0.05282698 -0.02168691
+v 0.13467754 -0.05528986 -0.01789239
+v 0.13726655 -0.05722643 -0.01332963
+v 0.14257830 -0.04049913 -0.01332957
+v 0.14012300 -0.04612662 -0.01472634
+v 0.13752180 -0.04830610 -0.01728709
+v 0.13348633 -0.04788099 -0.02271703
+v 0.13050834 -0.04788097 -0.02632531
+v 0.12684360 -0.04788096 -0.03047486
+v 0.12336727 -0.04788094 -0.03408319
+v 0.11854780 -0.05389303 -0.03649262
+v 0.11559413 -0.04788092 -0.04114267
+v 0.11323606 -0.04047875 -0.04521073
+v 0.11192332 -0.04788091 -0.04415736
+v 0.10958954 -0.03454086 -0.04954068
+v 0.11389243 -0.03316436 -0.04642122
+v 0.10690328 -0.03248281 -0.05195590
+v 0.10117218 -0.03309010 -0.05601815
+v 0.09629196 -0.04047871 -0.05775250
+v 0.08554688 -0.03294834 -0.06697111
+v 0.08554688 -0.05477689 -0.06067412
+v 0.08554688 -0.04787407 -0.06279835
+v 0.09204376 -0.04721956 -0.05885245
+v 0.09460238 -0.04925062 -0.05657693
+v 0.10982050 -0.05809002 -0.04246964
+v 0.10285566 -0.05153807 -0.04998885
+v 0.10704307 -0.05548543 -0.04550757
+v 0.11284710 -0.06267842 -0.03790687
+v 0.11135204 -0.06838690 -0.03660324
+v 0.11016691 -0.06894693 -0.03733656
+v 0.12006719 -0.06267845 -0.03093469
+v 0.11738701 -0.06894696 -0.03027125
+v 0.11203270 -0.06894694 -0.03561968
+v 0.11651791 -0.06267843 -0.03454883
+v 0.11746603 -0.05882555 -0.03550325
+v 0.12164126 -0.05628170 -0.03241293
+v 0.12576790 -0.05373786 -0.02932257
+v 0.13935115 -0.05105913 -0.01366133
+v 0.13803232 -0.05527635 -0.01332962
+v 0.14147827 -0.04451394 -0.01332958
+v 0.14079150 -0.04691607 -0.01332959
+v 0.11088406 -0.05315750 -0.04332513
+v 0.10861106 -0.04047874 -0.04881902
+v 0.10636847 -0.04859610 -0.04820797
+v 0.10494632 -0.04047873 -0.05153108
+v 0.09996275 -0.04047872 -0.05514521
+v 0.09559302 -0.04431811 -0.05726945
+v 0.09922740 -0.04792809 -0.05363790
+v 0.10380982 -0.04660557 -0.05069887
+v 0.13966109 -0.05073524 -0.01332961
+v 0.13946053 -0.05135603 -0.01332961
+v 0.13913843 -0.05228720 -0.01332961
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 32
+f 1 32 49
+f 1 49 68
+f 1 68 104
+f 1 104 145
+f 1 145 181
+f 1 181 194
+f 1 194 193
+f 1 193 192
+f 1 192 183
+f 1 183 182
+f 1 182 146
+f 1 146 105
+f 1 105 69
+f 1 69 50
+f 1 50 34
+f 1 34 33
+f 1 33 22
+f 1 22 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 16
+f 4 16 15
+f 4 15 27
+f 4 27 39
+f 4 39 38
+f 4 38 54
+f 4 54 53
+f 4 53 74
+f 4 74 110
+f 4 110 123
+f 4 123 82
+f 4 82 59
+f 4 59 44
+f 4 44 30
+f 4 30 18
+f 4 18 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 7 13 17
+f 7 17 14
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 17
+f 14 26 27
+f 14 27 15
+f 14 17 26
+f 17 25 28
+f 17 28 29
+f 17 29 26
+f 18 30 45
+f 18 45 60
+f 18 60 89
+f 18 89 128
+f 18 128 162
+f 18 162 164
+f 18 164 163
+f 18 163 129
+f 18 129 91
+f 18 91 64
+f 18 64 47
+f 18 47 31
+f 18 31 19
+f 19 31 46
+f 19 46 61
+f 19 61 90
+f 19 90 98
+f 19 98 97
+f 19 97 136
+f 19 136 172
+f 19 172 175
+f 19 175 174
+f 19 174 139
+f 19 139 137
+f 19 137 99
+f 19 99 65
+f 19 65 48
+f 19 48 32
+f 19 32 20
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 28
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 26 29 40
+f 26 40 37
+f 28 41 29
+f 28 36 42
+f 28 42 43
+f 28 43 41
+f 29 41 40
+f 30 44 45
+f 31 47 46
+f 32 48 49
+f 34 50 51
+f 34 51 35
+f 35 51 36
+f 36 51 42
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 37 40 52
+f 40 55 52
+f 40 41 56
+f 40 56 55
+f 41 43 56
+f 42 51 43
+f 43 51 57
+f 43 57 58
+f 43 58 56
+f 44 59 60
+f 44 60 45
+f 46 47 62
+f 46 62 63
+f 46 63 61
+f 47 64 62
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 50 69 70
+f 50 70 51
+f 51 70 71
+f 51 71 72
+f 51 72 57
+f 52 73 74
+f 52 74 53
+f 52 55 75
+f 52 75 73
+f 55 56 75
+f 56 76 75
+f 56 58 77
+f 56 77 76
+f 57 72 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 58
+f 58 81 77
+f 59 82 83
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 89
+f 61 63 90
+f 62 64 91
+f 62 91 92
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 95
+f 63 95 96
+f 63 96 97
+f 63 97 98
+f 63 98 90
+f 65 99 100
+f 65 100 66
+f 66 101 102
+f 66 102 103
+f 66 103 67
+f 66 100 101
+f 67 103 104
+f 67 104 68
+f 69 105 106
+f 69 106 70
+f 70 106 71
+f 71 106 107
+f 71 107 108
+f 71 108 78
+f 71 78 72
+f 73 109 110
+f 73 110 74
+f 73 75 109
+f 75 111 109
+f 75 76 111
+f 76 112 111
+f 76 77 112
+f 77 113 112
+f 77 81 113
+f 78 108 114
+f 78 114 115
+f 78 115 79
+f 79 115 116
+f 79 116 117
+f 79 117 118
+f 79 118 119
+f 79 119 120
+f 79 120 121
+f 79 121 81
+f 79 81 80
+f 81 121 122
+f 81 122 113
+f 82 123 109
+f 82 109 83
+f 83 109 111
+f 83 111 124
+f 83 124 84
+f 84 124 85
+f 85 124 86
+f 86 124 111
+f 86 111 112
+f 86 112 125
+f 86 125 87
+f 87 125 126
+f 87 126 88
+f 88 126 127
+f 88 127 89
+f 89 127 128
+f 91 129 92
+f 92 129 130
+f 92 130 131
+f 92 131 94
+f 92 94 93
+f 94 132 95
+f 94 131 133
+f 94 133 134
+f 94 134 132
+f 95 132 96
+f 96 132 135
+f 96 135 136
+f 96 136 97
+f 99 137 100
+f 100 138 101
+f 100 137 139
+f 100 139 140
+f 100 140 138
+f 101 138 141
+f 101 141 102
+f 102 141 142
+f 102 142 143
+f 102 143 144
+f 102 144 103
+f 103 144 145
+f 103 145 104
+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 108 149 114
+f 109 123 110
+f 112 113 125
+f 113 122 125
+f 114 149 150
+f 114 150 151
+f 114 151 115
+f 115 151 116
+f 116 151 152
+f 116 152 117
+f 117 152 153
+f 117 153 154
+f 117 154 119
+f 117 119 118
+f 119 155 120
+f 119 154 156
+f 119 156 155
+f 120 157 158
+f 120 158 122
+f 120 122 121
+f 120 155 157
+f 122 127 126
+f 122 126 125
+f 122 158 127
+f 127 158 157
+f 127 157 159
+f 127 159 128
+f 128 159 160
+f 128 160 161
+f 128 161 162
+f 129 163 130
+f 130 163 164
+f 130 164 165
+f 130 165 166
+f 130 166 131
+f 131 166 133
+f 132 134 167
+f 132 167 135
+f 133 166 168
+f 133 168 134
+f 134 169 167
+f 134 168 169
+f 135 170 171
+f 135 171 136
+f 135 167 170
+f 136 171 172
+f 138 173 141
+f 138 140 173
+f 139 174 140
+f 140 174 175
+f 140 175 171
+f 140 171 176
+f 140 176 173
+f 141 177 178
+f 141 178 179
+f 141 179 142
+f 141 173 176
+f 141 176 177
+f 142 179 143
+f 143 180 144
+f 143 179 150
+f 143 150 149
+f 143 149 148
+f 143 148 180
+f 144 180 181
+f 144 181 145
+f 146 182 147
+f 147 183 180
+f 147 180 148
+f 147 182 183
+f 150 179 151
+f 151 179 152
+f 152 179 153
+f 153 184 154
+f 153 179 178
+f 153 178 177
+f 153 177 167
+f 153 167 184
+f 154 184 156
+f 155 185 157
+f 155 156 185
+f 156 184 186
+f 156 186 185
+f 157 160 159
+f 157 185 187
+f 157 187 160
+f 160 187 188
+f 160 188 161
+f 161 188 189
+f 161 189 162
+f 162 189 165
+f 162 165 164
+f 165 189 166
+f 166 189 190
+f 166 190 168
+f 167 177 170
+f 167 169 184
+f 168 190 191
+f 168 191 186
+f 168 186 184
+f 168 184 169
+f 170 177 171
+f 171 175 172
+f 171 177 176
+f 180 192 193
+f 180 193 194
+f 180 194 181
+f 180 183 192
+f 185 186 191
+f 185 191 187
+f 187 191 188
+f 188 191 189
+f 189 191 190
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_11.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.17777994 0.07100678 0.06085820
+v 0.17777994 0.07100679 0.05630234
+v 0.17692439 0.07591498 0.05967484
+v 0.16907676 0.08221906 0.06566285
+v 0.17414134 0.07100676 0.06442258
+v 0.15593839 0.07100689 0.03075471
+v 0.17692439 0.07591499 0.05722989
+v 0.16988316 0.09112365 0.06013687
+v 0.17086656 0.08492087 0.06230460
+v 0.16771966 0.08714980 0.06495212
+v 0.16062924 0.10248230 0.06506590
+v 0.16195686 0.09755158 0.06576953
+v 0.16283209 0.09268841 0.06598272
+v 0.16956845 0.07789625 0.06580499
+v 0.17385616 0.07100676 0.06467846
+v 0.14397026 0.07100689 0.03075471
+v 0.15526966 0.07285308 0.03075472
+v 0.15387322 0.07618527 0.03075473
+v 0.16988316 0.09112366 0.05697050
+v 0.16255674 0.10565689 0.06025063
+v 0.15593839 0.11444886 0.06189247
+v 0.15271278 0.11662153 0.06426637
+v 0.15447310 0.11169082 0.06569851
+v 0.15556469 0.10748056 0.06595791
+v 0.16524146 0.08492086 0.06597205
+v 0.15805273 0.10005070 0.06608227
+v 0.17044370 0.07100676 0.06587605
+v 0.15128683 0.07100682 0.04811812
+v 0.07732444 0.15657395 0.04852004
+v 0.07732444 0.14799590 0.03075499
+v 0.15283080 0.07843673 0.03075474
+v 0.14935933 0.08541629 0.03075476
+v 0.16255674 0.10565690 0.05706297
+v 0.15474845 0.11944716 0.05945112
+v 0.14640910 0.12542480 0.06535029
+v 0.13979075 0.13372145 0.06568793
+v 0.14782522 0.12049406 0.06590820
+v 0.15037226 0.11444885 0.06608586
+v 0.13585711 0.12966880 0.06643774
+v 0.16704109 0.07100676 0.06588315
+v 0.09187892 0.16666044 0.06693183
+v 0.07732444 0.17405652 0.06705981
+v 0.15267344 0.07100681 0.05111746
+v 0.07732444 0.15981604 0.05514061
+v 0.07732444 0.16116699 0.03075504
+v 0.14595676 0.09183299 0.03075479
+v 0.14152153 0.09955553 0.03075482
+v 0.15474845 0.11944717 0.05760319
+v 0.14515033 0.09330768 0.03075479
+v 0.13230700 0.14827724 0.05860542
+v 0.14821858 0.12781136 0.06053501
+v 0.14116753 0.13543259 0.06194587
+v 0.13806979 0.13913623 0.06194588
+v 0.13041883 0.14634096 0.06342071
+v 0.13274952 0.14141023 0.06578747
+v 0.13546373 0.13653580 0.06605397
+v 0.14121672 0.12966880 0.06598643
+v 0.14365555 0.12268925 0.06618185
+v 0.12819632 0.14411200 0.06613573
+v 0.12120427 0.14446097 0.06659061
+v 0.16665755 0.07100676 0.06582631
+v 0.08454266 0.17405652 0.06696032
+v 0.07732444 0.18120497 0.06638465
+v 0.07732444 0.16923840 0.06608252
+v 0.15396172 0.07100680 0.05390360
+v 0.07732444 0.16222507 0.05922385
+v 0.15493529 0.07100679 0.05583680
+v 0.07732444 0.18601189 0.05737952
+v 0.08090404 0.18516758 0.05831415
+v 0.09036446 0.17895352 0.05700992
+v 0.07760962 0.16100940 0.03075504
+v 0.13960391 0.10261752 0.03075483
+v 0.13877784 0.10385585 0.03075483
+v 0.14821858 0.12781137 0.05688180
+v 0.13230700 0.14827725 0.05819321
+v 0.13402795 0.14411201 0.06138443
+v 0.10403389 0.17115216 0.06015139
+v 0.11173402 0.16416134 0.06194597
+v 0.11540213 0.16108808 0.06194596
+v 0.11970947 0.15738441 0.06194595
+v 0.12336778 0.15413105 0.06194594
+v 0.12819632 0.15004463 0.06138445
+v 0.11802785 0.15595472 0.06575197
+v 0.12554110 0.14876128 0.06580525
+v 0.12076174 0.15148555 0.06613220
+v 0.10654159 0.15926438 0.06664043
+v 0.16340249 0.07100676 0.06484546
+v 0.09947086 0.16698692 0.06647696
+v 0.09124952 0.17386516 0.06626021
+v 0.08454266 0.17871708 0.06603278
+v 0.08838780 0.17783899 0.06561700
+v 0.07732444 0.18431201 0.06394324
+v 0.07732444 0.16508444 0.06235824
+v 0.15885912 0.07100677 0.06126332
+v 0.15934098 0.07100677 0.06164358
+v 0.07732444 0.16419513 0.06143068
+v 0.15839690 0.07100678 0.06076225
+v 0.07732444 0.18584300 0.06080887
+v 0.08090404 0.18516758 0.05837457
+v 0.10403389 0.17115217 0.05736883
+v 0.08383462 0.15735075 0.03075503
+v 0.07936991 0.15999625 0.03075504
+v 0.07768829 0.16096436 0.03075504
+v 0.13626030 0.10741315 0.03075484
+v 0.14146255 0.13577032 0.05670769
+v 0.13286754 0.11206244 0.03075486
+v 0.13164809 0.11364972 0.03075487
+v 0.12987794 0.11593495 0.03075488
+v 0.12608198 0.12073058 0.03075489
+v 0.11957179 0.12804788 0.03075492
+v 0.11673958 0.13092978 0.03075493
+v 0.11590368 0.13175153 0.03075493
+v 0.11256989 0.13485857 0.03075495
+v 0.11994550 0.15759833 0.05658694
+v 0.11214703 0.16448781 0.05681797
+v 0.12411516 0.12303837 0.03075490
+v 0.12318091 0.12411906 0.03075491
+v 0.08996125 0.17872835 0.06194603
+v 0.10208674 0.16967743 0.06496666
+v 0.10650226 0.16795506 0.06231202
+v 0.11030804 0.16303559 0.06560276
+v 0.10654159 0.16435270 0.06599365
+v 0.11319929 0.15875779 0.06600785
+v 0.09719918 0.17126473 0.06599368
+v 0.09628459 0.14875015 0.03075500
+v 0.09406211 0.15039372 0.03075500
+v 0.09171174 0.15207107 0.03075501
+v 0.08782727 0.15482912 0.03075502
+v 0.08709954 0.15532443 0.03075502
+v 0.10983602 0.13727891 0.03075495
+v 0.10810522 0.13879863 0.03075496
+v 0.10433874 0.14202950 0.03075497
+v 0.10209656 0.14393201 0.03075498
+v 0.10009040 0.14560935 0.03075498
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 27
+f 1 27 40
+f 1 40 61
+f 1 61 87
+f 1 87 95
+f 1 95 94
+f 1 94 97
+f 1 97 67
+f 1 67 65
+f 1 65 43
+f 1 43 28
+f 1 28 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 3 7 19
+f 3 19 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 30
+f 6 30 45
+f 6 45 71
+f 6 71 103
+f 6 103 102
+f 6 102 101
+f 6 101 129
+f 6 129 128
+f 6 128 127
+f 6 127 126
+f 6 126 125
+f 6 125 134
+f 6 134 133
+f 6 133 132
+f 6 132 131
+f 6 131 130
+f 6 130 113
+f 6 113 112
+f 6 112 111
+f 6 111 110
+f 6 110 117
+f 6 117 116
+f 6 116 109
+f 6 109 108
+f 6 108 107
+f 6 107 106
+f 6 106 104
+f 6 104 73
+f 6 73 72
+f 6 72 47
+f 6 47 49
+f 6 49 46
+f 6 46 32
+f 6 32 31
+f 6 31 18
+f 6 18 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 8 10 9
+f 8 19 33
+f 8 33 20
+f 8 20 11
+f 8 11 10
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 25 14
+f 13 24 26
+f 13 26 25
+f 14 27 15
+f 14 25 27
+f 16 28 29
+f 16 29 30
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 20 33 48
+f 20 48 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 26
+f 25 26 39
+f 25 39 27
+f 26 38 39
+f 27 39 41
+f 27 41 42
+f 27 42 40
+f 28 43 44
+f 28 44 29
+f 29 44 66
+f 29 66 96
+f 29 96 93
+f 29 93 64
+f 29 64 42
+f 29 42 63
+f 29 63 92
+f 29 92 98
+f 29 98 68
+f 29 68 45
+f 29 45 30
+f 32 46 33
+f 33 47 48
+f 33 46 49
+f 33 49 47
+f 34 48 75
+f 34 75 50
+f 34 50 51
+f 34 51 35
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 57 56
+f 39 56 59
+f 39 59 60
+f 39 60 41
+f 39 58 57
+f 40 42 61
+f 41 62 42
+f 41 60 62
+f 42 62 63
+f 42 64 61
+f 43 65 44
+f 44 65 67
+f 44 67 66
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 47 72 48
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 50 54 76
+f 50 76 53
+f 50 53 52
+f 50 52 51
+f 50 75 100
+f 50 100 77
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 50 82 54
+f 53 76 54
+f 54 82 81
+f 54 81 83
+f 54 83 84
+f 54 84 55
+f 55 84 59
+f 55 59 56
+f 59 84 85
+f 59 85 86
+f 59 86 60
+f 60 86 62
+f 61 64 87
+f 62 86 88
+f 62 88 89
+f 62 89 63
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 64 93 94
+f 64 94 95
+f 64 95 87
+f 66 67 97
+f 66 97 96
+f 68 98 99
+f 68 99 69
+f 69 99 77
+f 69 77 100
+f 69 100 70
+f 70 100 101
+f 70 101 102
+f 70 102 103
+f 70 103 71
+f 73 104 74
+f 74 105 75
+f 74 104 106
+f 74 106 107
+f 74 107 108
+f 74 108 109
+f 74 109 105
+f 75 110 111
+f 75 111 112
+f 75 112 113
+f 75 113 114
+f 75 114 115
+f 75 115 100
+f 75 105 116
+f 75 116 117
+f 75 117 110
+f 77 99 118
+f 77 118 91
+f 77 91 119
+f 77 119 120
+f 77 120 78
+f 78 120 121
+f 78 121 79
+f 79 121 80
+f 80 121 81
+f 81 121 83
+f 83 121 122
+f 83 122 123
+f 83 123 85
+f 83 85 84
+f 85 123 88
+f 85 88 86
+f 88 122 124
+f 88 124 89
+f 88 123 122
+f 89 124 90
+f 90 124 91
+f 91 118 99
+f 91 99 98
+f 91 98 92
+f 91 124 119
+f 93 96 97
+f 93 97 94
+f 100 115 125
+f 100 125 126
+f 100 126 127
+f 100 127 128
+f 100 128 129
+f 100 129 101
+f 105 109 116
+f 113 130 114
+f 114 130 131
+f 114 131 132
+f 114 132 115
+f 115 132 133
+f 115 133 134
+f 115 134 125
+f 119 124 121
+f 119 121 120
+f 121 124 122
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_12.obj

@@ -0,0 +1,964 @@
+# https://github.com/mikedh/trimesh
+v 0.15593942 0.07100687 0.03074589
+v 0.14397326 0.07100687 0.03074589
+v 0.15477745 0.07100688 0.02817255
+v 0.15419260 0.07418420 0.02944161
+v 0.15526993 0.07284267 0.03074590
+v 0.07732441 0.14799542 0.03074617
+v 0.07732441 0.07100715 -0.04642778
+v 0.15353081 0.07100689 0.02559040
+v 0.15333845 0.07122755 0.02536128
+v 0.15073741 0.07789111 0.02582838
+v 0.15283054 0.07843830 0.03074592
+v 0.15387710 0.07618769 0.03074591
+v 0.14688978 0.07425487 0.01493575
+v 0.07732441 0.16117253 0.03074622
+v 0.07732441 0.07100716 -0.04788189
+v 0.15336151 0.07100689 0.02524671
+v 0.15242269 0.07100689 0.02337840
+v 0.15003716 0.07100691 0.01864592
+v 0.14772089 0.07718507 0.01919234
+v 0.14698212 0.08180984 0.02199482
+v 0.14793635 0.08357501 0.02582840
+v 0.14935996 0.08541078 0.03074594
+v 0.14752849 0.07100693 0.01372838
+v 0.14199557 0.07100697 0.00368179
+v 0.13930224 0.07369888 0.00091460
+v 0.14070277 0.07651433 0.00572638
+v 0.14319604 0.07784703 0.01141945
+v 0.14568930 0.07918854 0.01717421
+v 0.07760912 0.16101366 0.03074622
+v 0.07765530 0.15823349 0.02542329
+v 0.07732441 0.15857771 0.02574054
+v 0.07732441 0.07813856 -0.05584861
+v 0.07733210 0.07100720 -0.05926803
+v 0.14079512 0.08393693 0.01271496
+v 0.14321915 0.08534021 0.01855784
+v 0.14074895 0.09118297 0.01993265
+v 0.13936380 0.09611666 0.02250601
+v 0.14236495 0.09326588 0.02528204
+v 0.14515835 0.09330115 0.03074597
+v 0.14595865 0.09183605 0.03074597
+v 0.13987938 0.07100698 -0.00008126
+v 0.13806329 0.07100699 -0.00311286
+v 0.13293055 0.07568476 -0.00771313
+v 0.13169928 0.08061841 -0.00587123
+v 0.13844806 0.07854431 0.00365538
+v 0.13943305 0.08144801 0.00790315
+v 0.07768608 0.16096952 0.03074622
+v 0.08039483 0.15527684 0.02274418
+v 0.07732441 0.15799521 0.02462132
+v 0.07732441 0.07832385 -0.05575169
+v 0.07744753 0.07825327 -0.05572523
+v 0.08004854 0.07316954 -0.05673872
+v 0.07744753 0.07100720 -0.05920634
+v 0.13944844 0.08887060 0.01511206
+v 0.13813254 0.10040605 0.02528207
+v 0.14062583 0.09815544 0.02731782
+v 0.13847884 0.09326590 0.01795860
+v 0.13314601 0.09784657 0.01342884
+v 0.13456962 0.10022074 0.01856671
+v 0.14151847 0.09955872 0.03074600
+v 0.13799404 0.07100699 -0.00321862
+v 0.13370776 0.07100702 -0.00974010
+v 0.13142998 0.07100703 -0.01288628
+v 0.13116062 0.07211027 -0.01252496
+v 0.12984473 0.07805010 -0.01018953
+v 0.12491976 0.08168641 -0.01396138
+v 0.12634337 0.08460776 -0.00993394
+v 0.12532758 0.08966503 -0.00729008
+v 0.13040648 0.08553445 -0.00330671
+v 0.13316138 0.08323087 -0.00105943
+v 0.07937136 0.15999865 0.03074622
+v 0.08248025 0.15655654 0.02755598
+v 0.08477346 0.15393529 0.02542328
+v 0.08904433 0.14874564 0.02124599
+v 0.08448101 0.15027253 0.01874315
+v 0.08199546 0.14891337 0.01380798
+v 0.07765530 0.15422657 0.01809983
+v 0.07732441 0.15459724 0.01841710
+v 0.07732441 0.08523457 -0.05208555
+v 0.08201852 0.08282509 -0.05071073
+v 0.08087963 0.07100719 -0.05724108
+v 0.07784770 0.07100720 -0.05898599
+v 0.08449642 0.07758248 -0.05178594
+v 0.08445023 0.07100718 -0.05496737
+v 0.08377307 0.07100718 -0.05539920
+v 0.13476202 0.09290407 0.01116393
+v 0.13907905 0.10308911 0.03030537
+v 0.13292286 0.10481019 0.02095500
+v 0.13960236 0.10262133 0.03074601
+v 0.13150691 0.10277142 0.01613439
+v 0.13166081 0.09552537 0.00861705
+v 0.13011408 0.10022077 0.01116396
+v 0.12962927 0.07100704 -0.01510710
+v 0.12806711 0.07100704 -0.01702829
+v 0.12595861 0.07789126 -0.01521283
+v 0.12422717 0.07301936 -0.02039477
+v 0.12284972 0.07789127 -0.01881725
+v 0.11793241 0.08227777 -0.02155801
+v 0.11646262 0.08721145 -0.01991000
+v 0.12069503 0.08444893 -0.01693128
+v 0.11856343 0.09053000 -0.01508941
+v 0.12344994 0.08662008 -0.01210188
+v 0.11688587 0.09546367 -0.01310648
+v 0.11874043 0.09812909 -0.00828588
+v 0.11698590 0.10306275 -0.00593284
+v 0.12363464 0.09459871 -0.00482247
+v 0.12521987 0.09691990 -0.00001068
+v 0.12652036 0.09235691 -0.00267214
+v 0.13169159 0.08816455 0.00136408
+v 0.13315369 0.09059168 0.00618471
+v 0.08383463 0.15735087 0.03074621
+v 0.08709742 0.15532093 0.03074620
+v 0.08736676 0.15502085 0.03049064
+v 0.09531599 0.14059933 0.01526206
+v 0.08688194 0.14726288 0.01643419
+v 0.09164534 0.14976944 0.02636622
+v 0.09393084 0.14698927 0.02432165
+v 0.07732441 0.15139344 0.01310296
+v 0.08280344 0.14212625 0.00415793
+v 0.08104895 0.14088181 0.00037727
+v 0.07966378 0.14738651 0.00899618
+v 0.07732441 0.15038731 0.01145497
+v 0.07732441 0.15430599 0.01790595
+v 0.07732441 0.08540225 -0.05198860
+v 0.07966378 0.08775876 -0.04927422
+v 0.09015244 0.08528750 -0.04409233
+v 0.08690503 0.07983307 -0.04915971
+v 0.08849028 0.08927680 -0.04297309
+v 0.08871342 0.07490822 -0.05034062
+v 0.09012935 0.07100717 -0.05126598
+v 0.13396169 0.10736086 0.02630438
+v 0.13877894 0.10384815 0.03074601
+v 0.12887510 0.10793459 0.01804679
+v 0.12624334 0.11295653 0.01996799
+v 0.13112984 0.10974387 0.02421575
+v 0.12354230 0.10185358 0.00265080
+v 0.12505828 0.10405121 0.00746259
+v 0.12632798 0.10573695 0.01138430
+v 0.12475814 0.11105898 0.01514739
+v 0.12705902 0.07100705 -0.01824444
+v 0.12475814 0.07100706 -0.02101166
+v 0.12132606 0.07100707 -0.02484522
+v 0.11918675 0.07789128 -0.02293281
+v 0.11587009 0.07789130 -0.02654606
+v 0.11082198 0.08257788 -0.02897839
+v 0.11363844 0.08489906 -0.02445742
+v 0.11423101 0.09321308 -0.01790949
+v 0.10922906 0.08751158 -0.02736563
+v 0.11157612 0.09096248 -0.02254502
+v 0.10982159 0.09589617 -0.02072955
+v 0.11200706 0.09872044 -0.01591778
+v 0.11009861 0.10365413 -0.01377623
+v 0.11450033 0.10089159 -0.01103545
+v 0.11210711 0.10604594 -0.00896445
+v 0.11001396 0.11097961 -0.00645278
+v 0.11440030 0.10810235 -0.00378252
+v 0.11865577 0.10521625 -0.00112106
+v 0.12114136 0.09999133 -0.00297174
+v 0.08782847 0.15483549 0.03074620
+v 0.08646640 0.13950496 0.00415792
+v 0.09042948 0.14232924 0.01264467
+v 0.09713978 0.14205559 0.02007386
+v 0.09943296 0.13895772 0.01803808
+v 0.10321136 0.13366215 0.01455701
+v 0.09893275 0.13529497 0.01184268
+v 0.09630098 0.13397110 0.00692515
+v 0.08925211 0.13420058 -0.00060099
+v 0.09170690 0.15207301 0.03074619
+v 0.09574692 0.14833079 0.02913343
+v 0.08400391 0.13667187 -0.00252216
+v 0.08206471 0.13420945 -0.00777462
+v 0.07732441 0.13949617 -0.00495451
+v 0.07732441 0.14209098 -0.00133242
+v 0.07732441 0.14590374 0.00436066
+v 0.07732441 0.15034317 0.01138446
+v 0.07732441 0.09245417 -0.04780249
+v 0.07732441 0.09267481 -0.04767030
+v 0.09381539 0.08528749 -0.04159831
+v 0.09540834 0.08141289 -0.04268230
+v 0.09206087 0.07815616 -0.04654231
+v 0.09385388 0.07100716 -0.04881604
+v 0.08110279 0.09660232 -0.04292019
+v 0.08598930 0.09421049 -0.04135151
+v 0.08959069 0.09780261 -0.03653971
+v 0.09148373 0.09227758 -0.03891919
+v 0.09673193 0.09035353 -0.03648687
+v 0.08394235 0.09211876 -0.04398655
+v 0.13241496 0.11147376 0.02902755
+v 0.13626258 0.10741380 0.03074602
+v 0.12428105 0.11788137 0.02321994
+v 0.12838262 0.11467754 0.02612815
+v 0.11829410 0.11211810 0.00662541
+v 0.11956382 0.11470408 0.01184260
+v 0.12315754 0.11520714 0.01797631
+v 0.11785546 0.07100709 -0.02866998
+v 0.11713213 0.07351362 -0.02790326
+v 0.11219942 0.07789131 -0.03043251
+v 0.10994471 0.07374315 -0.03530601
+v 0.10853648 0.07789133 -0.03404576
+v 0.10628945 0.08489909 -0.03174559
+v 0.10434256 0.09084777 -0.02970101
+v 0.10280350 0.10369828 -0.02104679
+v 0.10751300 0.10120935 -0.01848229
+v 0.10232639 0.09578146 -0.02785911
+v 0.10493509 0.09876459 -0.02304733
+v 0.10304204 0.11135915 -0.01406702
+v 0.10865960 0.10810238 -0.01093849
+v 0.10475041 0.10748460 -0.01577674
+v 0.09506203 0.12558652 -0.00615308
+v 0.09984082 0.12291227 -0.00380890
+v 0.10730524 0.11561321 -0.00395875
+v 0.10949070 0.11788145 0.00145233
+v 0.11179927 0.11295661 -0.00163218
+v 0.10468885 0.11292134 -0.01028635
+v 0.11667810 0.11014995 0.00181364
+v 0.10202626 0.14007856 0.02350202
+v 0.10464266 0.13492425 0.01860210
+v 0.10979081 0.13297371 0.02287629
+v 0.10831333 0.13154393 0.01860208
+v 0.11062192 0.12639845 0.01442478
+v 0.10601243 0.12916096 0.01208059
+v 0.10393471 0.12699863 0.00638754
+v 0.10119518 0.13193228 0.00974521
+v 0.08695121 0.13243545 -0.00542160
+v 0.09405396 0.15039607 0.03074618
+v 0.09627790 0.14875442 0.03074618
+v 0.10008708 0.14561243 0.03074616
+v 0.07732441 0.13566575 -0.01009236
+v 0.08485811 0.12990239 -0.01058592
+v 0.07940214 0.13230307 -0.01259520
+v 0.07732441 0.09825278 -0.04410109
+v 0.09918672 0.08496091 -0.03773830
+v 0.09947146 0.07852682 -0.04116650
+v 0.10208782 0.07298414 -0.04219762
+v 0.09720134 0.07647922 -0.04392492
+v 0.09927906 0.07100715 -0.04509704
+v 0.07732441 0.10202143 -0.04157181
+v 0.08222629 0.10498691 -0.03645155
+v 0.08411165 0.09967372 -0.03890153
+v 0.07732441 0.09830573 -0.04406585
+v 0.08711282 0.10273629 -0.03481239
+v 0.09448490 0.09527840 -0.03473310
+v 0.09953302 0.09306310 -0.03221265
+v 0.10161841 0.08721151 -0.03451281
+v 0.12988320 0.11593082 0.03074606
+v 0.13286897 0.11206507 0.03074604
+v 0.11721678 0.12563055 0.02272644
+v 0.12144918 0.12255913 0.02537909
+v 0.12410405 0.12303570 0.03074608
+v 0.12562771 0.11948769 0.02804054
+v 0.11914058 0.12039677 0.01860204
+v 0.11619331 0.11704297 0.00974516
+v 0.11780929 0.11887874 0.01455696
+v 0.11448494 0.07100710 -0.03218628
+v 0.11423101 0.07116596 -0.03236254
+v 0.11069886 0.07100711 -0.03600224
+v 0.10691279 0.07100712 -0.03921009
+v 0.10652032 0.07100713 -0.03953616
+v 0.10486582 0.07789134 -0.03722718
+v 0.10334987 0.08227782 -0.03595813
+v 0.09554684 0.11119148 -0.02111729
+v 0.10098740 0.10748461 -0.01938116
+v 0.09521593 0.10342470 -0.02806178
+v 0.09732446 0.10748462 -0.02272121
+v 0.09743987 0.09849101 -0.02992130
+v 0.09847874 0.11277131 -0.01687831
+v 0.09553145 0.11856111 -0.01389076
+v 0.09285349 0.12309764 -0.01123809
+v 0.08765148 0.12554243 -0.01339720
+v 0.09017552 0.12750175 -0.00858540
+v 0.10201088 0.12517169 0.00156692
+v 0.10460420 0.12023801 -0.00146471
+v 0.10882121 0.12460680 0.00960419
+v 0.11129910 0.11967311 0.00627292
+v 0.11399244 0.11500420 0.00404329
+v 0.10209553 0.14393549 0.03074616
+v 0.10434256 0.14202907 0.03074615
+v 0.10556611 0.14097879 0.03074615
+v 0.10810554 0.13879881 0.03074614
+v 0.10667422 0.13720132 0.02559946
+v 0.11129138 0.13433289 0.02769690
+v 0.11590087 0.13175570 0.03074611
+v 0.11426178 0.13004349 0.02521168
+v 0.11211480 0.12784585 0.01860207
+v 0.11578546 0.12409485 0.01860206
+v 0.07732441 0.13534799 -0.01049775
+v 0.08276498 0.12736940 -0.01542414
+v 0.07732441 0.12984948 -0.01706333
+v 0.10270344 0.07100714 -0.04266471
+v 0.10000243 0.07100714 -0.04459472
+v 0.07732441 0.10732581 -0.03778228
+v 0.07936364 0.10992061 -0.03457442
+v 0.08499660 0.10789066 -0.03228309
+v 0.08775920 0.11078550 -0.02799125
+v 0.09032945 0.10585183 -0.02999177
+v 0.09240715 0.10061808 -0.03236243
+v 0.12606635 0.12071447 0.03074607
+v 0.11673197 0.13092608 0.03074611
+v 0.11861731 0.12711328 0.02754706
+v 0.12316523 0.12411246 0.03074609
+v 0.11433874 0.07100710 -0.03233610
+v 0.08782847 0.11826108 -0.02079999
+v 0.09259957 0.11690186 -0.01804157
+v 0.09241487 0.10798770 -0.02651952
+v 0.09187619 0.11280664 -0.02266831
+v 0.09063727 0.12060871 -0.01598818
+v 0.08529673 0.12286819 -0.01811207
+v 0.07978690 0.12513645 -0.02023593
+v 0.10983700 0.13728074 0.03074613
+v 0.11256883 0.13486243 0.03074613
+v 0.07732441 0.12932874 -0.01764497
+v 0.07732441 0.12948761 -0.01746869
+v 0.07732441 0.10777591 -0.03744739
+v 0.07732441 0.11428944 -0.03217732
+v 0.08287272 0.11278019 -0.02976261
+v 0.07970225 0.11770504 -0.02751533
+v 0.08535059 0.11552504 -0.02534740
+v 0.11956382 0.12804000 0.03074610
+v 0.08293428 0.12020276 -0.02269473
+v 0.07732441 0.12232983 -0.02480979
+v 0.07732441 0.12237394 -0.02476573
+v 0.07732441 0.11507496 -0.03148992
+f 1 2 7
+f 1 7 15
+f 1 15 33
+f 1 33 53
+f 1 53 82
+f 1 82 81
+f 1 81 85
+f 1 85 84
+f 1 84 130
+f 1 130 181
+f 1 181 236
+f 1 236 290
+f 1 290 289
+f 1 289 258
+f 1 258 257
+f 1 257 256
+f 1 256 301
+f 1 301 254
+f 1 254 195
+f 1 195 142
+f 1 142 141
+f 1 141 140
+f 1 140 94
+f 1 94 93
+f 1 93 63
+f 1 63 62
+f 1 62 61
+f 1 61 42
+f 1 42 41
+f 1 41 24
+f 1 24 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 22
+f 1 22 40
+f 1 40 39
+f 1 39 60
+f 1 60 89
+f 1 89 132
+f 1 132 189
+f 1 189 246
+f 1 246 245
+f 1 245 297
+f 1 297 249
+f 1 249 300
+f 1 300 318
+f 1 318 298
+f 1 298 282
+f 1 282 310
+f 1 310 309
+f 1 309 279
+f 1 279 278
+f 1 278 277
+f 1 277 276
+f 1 276 227
+f 1 227 226
+f 1 226 225
+f 1 225 168
+f 1 168 159
+f 1 159 112
+f 1 112 111
+f 1 111 71
+f 1 71 47
+f 1 47 29
+f 1 29 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 9 13
+f 4 13 10
+f 6 14 31
+f 6 31 49
+f 6 49 78
+f 6 78 123
+f 6 123 118
+f 6 118 122
+f 6 122 175
+f 6 175 174
+f 6 174 173
+f 6 173 172
+f 6 172 228
+f 6 228 286
+f 6 286 288
+f 6 288 312
+f 6 312 311
+f 6 311 321
+f 6 321 320
+f 6 320 322
+f 6 322 314
+f 6 314 313
+f 6 313 291
+f 6 291 237
+f 6 237 240
+f 6 240 231
+f 6 231 177
+f 6 177 176
+f 6 176 124
+f 6 124 79
+f 6 79 50
+f 6 50 32
+f 6 32 15
+f 6 15 7
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 13
+f 10 13 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 13 18 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 20
+f 13 20 19
+f 14 29 30
+f 14 30 31
+f 15 32 33
+f 20 28 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 22
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 34
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 34 54 35
+f 34 46 54
+f 35 54 36
+f 36 54 37
+f 37 55 56
+f 37 56 39
+f 37 39 38
+f 37 54 57
+f 37 57 58
+f 37 58 59
+f 37 59 55
+f 39 56 60
+f 42 61 43
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 43 61 62
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 70
+f 44 70 46
+f 44 46 45
+f 46 70 54
+f 47 71 48
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 77
+f 48 77 78
+f 48 78 49
+f 50 79 51
+f 51 79 80
+f 51 80 52
+f 52 81 82
+f 52 82 53
+f 52 80 83
+f 52 83 84
+f 52 84 85
+f 52 85 81
+f 54 86 58
+f 54 58 57
+f 54 70 86
+f 55 87 56
+f 55 59 88
+f 55 88 87
+f 56 87 89
+f 56 89 60
+f 58 90 59
+f 58 86 91
+f 58 91 92
+f 58 92 90
+f 59 90 88
+f 63 93 64
+f 64 93 94
+f 64 94 95
+f 64 95 65
+f 65 95 66
+f 66 95 96
+f 66 96 97
+f 66 97 98
+f 66 98 99
+f 66 99 100
+f 66 100 101
+f 66 101 102
+f 66 102 67
+f 67 102 68
+f 68 102 101
+f 68 101 103
+f 68 103 104
+f 68 104 105
+f 68 105 106
+f 68 106 107
+f 68 107 108
+f 68 108 91
+f 68 91 69
+f 69 109 70
+f 69 91 109
+f 70 109 110
+f 70 110 86
+f 71 111 72
+f 72 111 112
+f 72 112 113
+f 72 113 73
+f 73 113 74
+f 74 114 115
+f 74 115 75
+f 74 113 116
+f 74 116 117
+f 74 117 114
+f 75 115 76
+f 76 118 77
+f 76 115 119
+f 76 119 120
+f 76 120 121
+f 76 121 122
+f 76 122 118
+f 77 118 123
+f 77 123 78
+f 79 124 125
+f 79 125 80
+f 80 126 127
+f 80 127 83
+f 80 125 128
+f 80 128 126
+f 83 127 84
+f 84 127 129
+f 84 129 130
+f 86 110 91
+f 87 88 131
+f 87 131 132
+f 87 132 89
+f 88 90 133
+f 88 133 134
+f 88 134 135
+f 88 135 131
+f 90 92 136
+f 90 136 137
+f 90 137 138
+f 90 138 139
+f 90 139 133
+f 91 110 109
+f 91 108 107
+f 91 107 92
+f 92 107 136
+f 94 140 96
+f 94 96 95
+f 96 140 141
+f 96 141 142
+f 96 142 143
+f 96 143 98
+f 96 98 97
+f 98 143 144
+f 98 144 145
+f 98 145 146
+f 98 146 99
+f 99 147 101
+f 99 101 100
+f 99 146 148
+f 99 148 149
+f 99 149 147
+f 101 147 103
+f 103 147 150
+f 103 150 151
+f 103 151 152
+f 103 152 153
+f 103 153 105
+f 103 105 104
+f 105 153 152
+f 105 152 154
+f 105 154 155
+f 105 155 156
+f 105 156 157
+f 105 157 158
+f 105 158 106
+f 106 158 107
+f 107 158 136
+f 112 159 113
+f 113 159 116
+f 114 160 120
+f 114 120 161
+f 114 161 115
+f 114 117 162
+f 114 162 163
+f 114 163 164
+f 114 164 165
+f 114 165 166
+f 114 166 167
+f 114 167 160
+f 115 161 119
+f 116 159 168
+f 116 168 169
+f 116 169 117
+f 117 169 162
+f 119 161 120
+f 120 167 170
+f 120 170 171
+f 120 171 172
+f 120 172 173
+f 120 173 174
+f 120 174 121
+f 120 160 167
+f 121 174 175
+f 121 175 122
+f 124 176 125
+f 125 176 177
+f 125 177 128
+f 126 128 178
+f 126 178 179
+f 126 179 127
+f 127 179 180
+f 127 180 181
+f 127 181 129
+f 128 182 183
+f 128 183 184
+f 128 184 185
+f 128 185 186
+f 128 186 178
+f 128 177 187
+f 128 187 182
+f 129 181 130
+f 131 135 188
+f 131 188 189
+f 131 189 132
+f 133 139 134
+f 134 139 190
+f 134 190 135
+f 135 190 191
+f 135 191 188
+f 136 158 157
+f 136 157 137
+f 137 157 138
+f 138 157 139
+f 139 192 193
+f 139 193 194
+f 139 194 190
+f 139 157 192
+f 142 195 143
+f 143 195 196
+f 143 196 144
+f 144 196 197
+f 144 197 145
+f 145 197 198
+f 145 198 199
+f 145 199 200
+f 145 200 148
+f 145 148 146
+f 147 149 150
+f 148 200 201
+f 148 201 150
+f 148 150 149
+f 150 202 203
+f 150 203 152
+f 150 152 151
+f 150 201 204
+f 150 204 205
+f 150 205 202
+f 152 206 207
+f 152 207 155
+f 152 155 154
+f 152 203 202
+f 152 202 208
+f 152 208 206
+f 155 209 210
+f 155 210 211
+f 155 211 212
+f 155 212 213
+f 155 213 156
+f 155 207 206
+f 155 206 214
+f 155 214 209
+f 156 213 215
+f 156 215 157
+f 157 215 192
+f 162 169 216
+f 162 216 163
+f 163 216 217
+f 163 217 164
+f 164 217 218
+f 164 218 219
+f 164 219 220
+f 164 220 221
+f 164 221 222
+f 164 222 223
+f 164 223 165
+f 165 223 166
+f 166 223 209
+f 166 209 167
+f 167 209 224
+f 167 224 170
+f 168 225 169
+f 169 225 226
+f 169 226 227
+f 169 227 216
+f 170 224 171
+f 171 228 172
+f 171 224 229
+f 171 229 230
+f 171 230 228
+f 177 231 182
+f 177 182 187
+f 178 186 179
+f 179 186 232
+f 179 232 233
+f 179 233 234
+f 179 234 235
+f 179 235 180
+f 180 235 181
+f 181 235 236
+f 182 237 238
+f 182 238 239
+f 182 239 183
+f 182 231 240
+f 182 240 237
+f 183 239 184
+f 184 186 185
+f 184 239 241
+f 184 241 242
+f 184 242 186
+f 186 242 243
+f 186 243 201
+f 186 201 244
+f 186 244 232
+f 188 191 245
+f 188 245 246
+f 188 246 189
+f 190 247 248
+f 190 248 249
+f 190 249 250
+f 190 250 191
+f 190 194 251
+f 190 251 247
+f 191 250 245
+f 192 215 252
+f 192 252 193
+f 193 253 194
+f 193 252 253
+f 194 253 251
+f 195 254 255
+f 195 255 198
+f 195 198 197
+f 195 197 196
+f 198 256 257
+f 198 257 258
+f 198 258 234
+f 198 234 259
+f 198 259 260
+f 198 260 244
+f 198 244 199
+f 198 255 256
+f 199 244 200
+f 200 244 201
+f 201 243 204
+f 202 261 262
+f 202 262 206
+f 202 206 208
+f 202 205 204
+f 202 204 263
+f 202 263 264
+f 202 264 261
+f 204 243 265
+f 204 265 263
+f 206 262 261
+f 206 261 266
+f 206 266 267
+f 206 267 209
+f 206 209 214
+f 209 267 268
+f 209 268 269
+f 209 269 270
+f 209 270 224
+f 209 223 271
+f 209 271 210
+f 210 272 211
+f 210 271 272
+f 211 272 212
+f 212 272 271
+f 212 271 222
+f 212 222 273
+f 212 273 274
+f 212 274 275
+f 212 275 213
+f 213 275 215
+f 215 275 252
+f 216 227 276
+f 216 276 277
+f 216 277 278
+f 216 278 279
+f 216 279 280
+f 216 280 218
+f 216 218 217
+f 218 280 281
+f 218 281 282
+f 218 282 283
+f 218 283 247
+f 218 247 284
+f 218 284 219
+f 219 284 220
+f 220 284 247
+f 220 247 285
+f 220 285 274
+f 220 274 273
+f 220 273 222
+f 220 222 221
+f 222 271 223
+f 224 270 229
+f 228 230 286
+f 229 269 230
+f 229 270 269
+f 230 269 287
+f 230 287 288
+f 230 288 286
+f 232 244 260
+f 232 260 233
+f 233 260 259
+f 233 259 234
+f 234 258 289
+f 234 289 290
+f 234 290 235
+f 235 290 236
+f 237 291 238
+f 238 291 292
+f 238 292 293
+f 238 293 241
+f 238 241 239
+f 241 293 294
+f 241 294 295
+f 241 295 296
+f 241 296 242
+f 242 296 263
+f 242 263 265
+f 242 265 243
+f 245 250 297
+f 247 283 282
+f 247 282 298
+f 247 298 299
+f 247 299 300
+f 247 300 248
+f 247 251 253
+f 247 253 252
+f 247 252 285
+f 248 300 249
+f 249 297 250
+f 252 275 274
+f 252 274 285
+f 254 301 255
+f 255 301 256
+f 261 302 303
+f 261 303 267
+f 261 267 266
+f 261 264 263
+f 261 263 304
+f 261 304 294
+f 261 294 305
+f 261 305 302
+f 263 296 295
+f 263 295 294
+f 263 294 304
+f 267 303 302
+f 267 302 306
+f 267 306 269
+f 267 269 268
+f 269 306 302
+f 269 302 307
+f 269 307 308
+f 269 308 287
+f 279 309 281
+f 279 281 280
+f 281 309 310
+f 281 310 282
+f 287 308 311
+f 287 311 312
+f 287 312 288
+f 291 313 292
+f 292 314 315
+f 292 315 294
+f 292 294 293
+f 292 313 314
+f 294 316 317
+f 294 317 302
+f 294 302 305
+f 294 315 316
+f 298 318 299
+f 299 318 300
+f 302 308 307
+f 302 317 319
+f 302 319 308
+f 308 319 320
+f 308 320 321
+f 308 321 311
+f 314 322 315
+f 315 322 316
+f 316 320 319
+f 316 319 317
+f 316 322 320
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_13.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.14443926 -0.00000652 -0.01779902
+v 0.14441300 -0.00000652 -0.01783603
+v 0.14442613 0.00390738 -0.01779901
+v 0.13186387 -0.00000652 -0.01779902
+v 0.14074681 -0.00000651 -0.02265611
+v 0.14074681 0.00390739 -0.02266228
+v 0.14441300 0.00390738 -0.01781751
+v 0.14441957 0.00409508 -0.01779900
+v 0.07732441 -0.00000637 -0.06044647
+v 0.11319785 0.07100707 -0.01779876
+v 0.13939336 -0.00000650 -0.02435735
+v 0.13786248 0.00390741 -0.02627428
+v 0.13776391 0.01130424 -0.02612630
+v 0.14061540 0.01130422 -0.02252047
+v 0.14410421 0.01179084 -0.01779898
+v 0.07732441 -0.00000629 -0.08075627
+v 0.07732441 0.07100717 -0.04643588
+v 0.12742896 0.07100707 -0.01779876
+v 0.13785590 -0.00000649 -0.02626813
+v 0.13419629 0.00390742 -0.03058278
+v 0.13409774 0.01130425 -0.03045331
+v 0.13388747 0.01870107 -0.03023140
+v 0.13755366 0.01870105 -0.02581193
+v 0.14035915 0.01870104 -0.02219993
+v 0.14359829 0.01828391 -0.01779895
+v 0.07732441 0.01113062 -0.08071306
+v 0.08214696 -0.00000630 -0.08000429
+v 0.07732441 0.07100718 -0.04789055
+v 0.12705446 0.07100707 -0.01825492
+v 0.12765892 0.07057604 -0.01779876
+v 0.13418972 -0.00000648 -0.03055814
+v 0.13086520 0.00390744 -0.03419478
+v 0.13072720 0.01130427 -0.03405914
+v 0.13051039 0.01870108 -0.03384340
+v 0.13342758 0.02610481 -0.02971977
+v 0.13709377 0.02610479 -0.02522017
+v 0.14356543 0.01870103 -0.01779895
+v 0.13989925 0.02610478 -0.02160817
+v 0.08211410 0.00390760 -0.07997961
+v 0.07732441 0.01851355 -0.08049732
+v 0.12340142 -0.00000644 -0.04145575
+v 0.12340142 0.00390746 -0.04145574
+v 0.07733098 0.07100722 -0.05927508
+v 0.07732441 0.07088902 -0.05933057
+v 0.12476144 0.07100708 -0.02101630
+v 0.12784945 0.07021454 -0.01779876
+v 0.13261944 -0.00000647 -0.03225936
+v 0.12719900 0.00390745 -0.03784378
+v 0.13084548 -0.00000646 -0.03417014
+v 0.12890070 -0.00000646 -0.03613024
+v 0.12717929 -0.00000645 -0.03784379
+v 0.12706103 0.01130428 -0.03769579
+v 0.12684421 0.01870110 -0.03747388
+v 0.12993880 0.02610482 -0.03333177
+v 0.13280998 0.03223638 -0.02901706
+v 0.13959046 0.03003957 -0.02119519
+v 0.14261932 0.02610477 -0.01779892
+v 0.12322403 0.01130429 -0.04130162
+v 0.08182504 0.01130443 -0.07978234
+v 0.12296778 0.01870111 -0.04108588
+v 0.07732441 0.02614671 -0.08001036
+v 0.07784346 0.07100722 -0.05898540
+v 0.07732441 0.03313336 -0.07713181
+v 0.12143690 0.07100709 -0.02473308
+v 0.12554330 0.06807337 -0.02191006
+v 0.12803344 0.06986000 -0.01779876
+v 0.12243558 0.02610485 -0.04053724
+v 0.12627260 0.02610484 -0.03692527
+v 0.12503741 0.03779097 -0.03572944
+v 0.13218580 0.03716528 -0.02833286
+v 0.14127899 0.03293154 -0.01779890
+v 0.14129213 0.03287592 -0.01779890
+v 0.13896628 0.03496844 -0.02033838
+v 0.08132568 0.01870125 -0.07933852
+v 0.08095775 0.02275419 -0.07898718
+v 0.08087891 0.07100721 -0.05724104
+v 0.08194330 0.06823337 -0.05788824
+v 0.09539912 0.06656490 -0.04989995
+v 0.09927554 0.06369378 -0.04837751
+v 0.12132521 0.07100709 -0.02485635
+v 0.11855260 0.06857393 -0.02942375
+v 0.12901896 0.06779528 -0.01779877
+v 0.13038557 0.06308886 -0.01887132
+v 0.12671936 0.06308888 -0.02333393
+v 0.12363794 0.06308889 -0.02694593
+v 0.11810580 0.03225034 -0.04328630
+v 0.11752763 0.03717924 -0.04278702
+v 0.12160774 0.04050916 -0.03816413
+v 0.12432124 0.04271988 -0.03501441
+v 0.12673252 0.04828831 -0.03041621
+v 0.13160764 0.04089149 -0.02761785
+v 0.13445255 0.04089148 -0.02400585
+v 0.13911083 0.04089146 -0.01779887
+v 0.13811872 0.04089146 -0.01918575
+v 0.10361846 0.06804562 -0.04337865
+v 0.10496536 0.06308895 -0.04443881
+v 0.10980103 0.05845899 -0.04246027
+v 0.11084569 0.05353008 -0.04332320
+v 0.11560912 0.04828835 -0.04115357
+v 0.11696260 0.04089155 -0.04230005
+v 0.08445311 0.07100720 -0.05496660
+v 0.09031375 0.07048579 -0.05139159
+v 0.09397993 0.07048578 -0.04898770
+v 0.09947264 0.07049968 -0.04521543
+v 0.11785614 0.07100711 -0.02868408
+v 0.11997175 0.06308890 -0.03087227
+v 0.11644355 0.06308892 -0.03448428
+v 0.11070114 0.07100713 -0.03600668
+v 0.11447905 0.07100712 -0.03219746
+v 0.13122654 0.06308886 -0.01779879
+v 0.13154849 0.05776370 -0.02028284
+v 0.12464976 0.05889688 -0.02809857
+v 0.11967610 0.04828834 -0.03754154
+v 0.12334229 0.04828832 -0.03402820
+v 0.13039871 0.04828830 -0.02613234
+v 0.12568786 0.05396106 -0.02925122
+v 0.13328304 0.04828828 -0.02252033
+v 0.13754054 0.04602889 -0.01779885
+v 0.10269865 0.07100716 -0.04267594
+v 0.10652250 0.07100715 -0.03954472
+v 0.11131219 0.06880337 -0.03657378
+v 0.10863154 0.06308894 -0.04148635
+v 0.11277736 0.06308893 -0.03787435
+v 0.11740937 0.05911938 -0.03545199
+v 0.11849345 0.05418354 -0.03644438
+v 0.09012322 0.07100719 -0.05126831
+v 0.09384854 0.07100718 -0.04882127
+v 0.09927554 0.07100717 -0.04510449
+v 0.10000484 0.07100716 -0.04459905
+v 0.10691012 0.07100714 -0.03921804
+v 0.13430141 0.05551127 -0.01779882
+v 0.13252088 0.05282787 -0.02154028
+v 0.12861817 0.05585890 -0.02481940
+v 0.12156832 0.05654022 -0.03235160
+v 0.13679153 0.04839255 -0.01779884
+v 0.13434083 0.05540701 -0.01779882
+v 0.13436056 0.05535139 -0.01779882
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 37
+f 1 37 57
+f 1 57 72
+f 1 72 71
+f 1 71 93
+f 1 93 118
+f 1 118 135
+f 1 135 137
+f 1 137 136
+f 1 136 131
+f 1 131 110
+f 1 110 82
+f 1 82 66
+f 1 66 46
+f 1 46 30
+f 1 30 18
+f 1 18 10
+f 1 10 4
+f 1 4 9
+f 1 9 16
+f 1 16 27
+f 1 27 41
+f 1 41 51
+f 1 51 50
+f 1 50 49
+f 1 49 47
+f 1 47 31
+f 1 31 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 8
+f 4 10 9
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 12
+f 7 14 8
+f 8 14 15
+f 9 10 17
+f 9 17 28
+f 9 28 44
+f 9 44 63
+f 9 63 61
+f 9 61 40
+f 9 40 26
+f 9 26 16
+f 10 18 29
+f 10 29 45
+f 10 45 64
+f 10 64 80
+f 10 80 105
+f 10 105 109
+f 10 109 108
+f 10 108 130
+f 10 130 120
+f 10 120 119
+f 10 119 129
+f 10 129 128
+f 10 128 127
+f 10 127 126
+f 10 126 101
+f 10 101 76
+f 10 76 62
+f 10 62 43
+f 10 43 28
+f 10 28 17
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 20
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 16 26 27
+f 18 30 29
+f 19 31 20
+f 20 32 21
+f 20 31 32
+f 21 33 22
+f 21 32 33
+f 22 34 35
+f 22 35 23
+f 22 33 34
+f 23 35 36
+f 23 36 38
+f 23 38 24
+f 24 37 25
+f 24 38 37
+f 26 39 27
+f 26 40 39
+f 27 39 42
+f 27 42 41
+f 28 43 44
+f 29 30 46
+f 29 46 45
+f 31 47 32
+f 32 48 33
+f 32 47 49
+f 32 49 50
+f 32 50 51
+f 32 51 48
+f 33 52 34
+f 33 48 52
+f 34 53 54
+f 34 54 35
+f 34 52 53
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 38
+f 37 38 57
+f 38 56 57
+f 39 58 42
+f 39 40 59
+f 39 59 60
+f 39 60 58
+f 40 61 59
+f 41 42 48
+f 41 48 51
+f 42 58 52
+f 42 52 48
+f 43 62 63
+f 43 63 44
+f 45 46 65
+f 45 65 64
+f 46 66 65
+f 52 58 53
+f 53 60 67
+f 53 67 68
+f 53 68 54
+f 53 58 60
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 56
+f 56 71 72
+f 56 72 57
+f 56 70 73
+f 56 73 71
+f 59 61 74
+f 59 74 60
+f 60 74 67
+f 61 63 75
+f 61 75 74
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 75
+f 64 65 81
+f 64 81 80
+f 65 66 82
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 81
+f 67 74 75
+f 67 75 86
+f 67 86 69
+f 67 69 68
+f 69 87 88
+f 69 88 89
+f 69 89 70
+f 69 86 87
+f 70 89 90
+f 70 90 91
+f 70 91 92
+f 70 92 73
+f 71 73 93
+f 73 92 94
+f 73 94 93
+f 75 79 95
+f 75 95 96
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 87
+f 75 87 86
+f 76 101 77
+f 77 101 78
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 95
+f 78 95 79
+f 80 81 105
+f 81 85 106
+f 81 106 107
+f 81 107 108
+f 81 108 109
+f 81 109 105
+f 82 110 83
+f 83 110 111
+f 83 111 112
+f 83 112 84
+f 84 112 85
+f 85 112 106
+f 87 100 88
+f 88 100 89
+f 89 100 113
+f 89 113 114
+f 89 114 90
+f 90 115 91
+f 90 114 116
+f 90 116 115
+f 91 115 117
+f 91 117 92
+f 92 117 94
+f 93 94 118
+f 94 117 118
+f 95 104 119
+f 95 119 120
+f 95 120 121
+f 95 121 122
+f 95 122 96
+f 96 122 97
+f 97 122 123
+f 97 123 124
+f 97 124 125
+f 97 125 99
+f 97 99 98
+f 99 125 113
+f 99 113 100
+f 101 126 102
+f 102 126 103
+f 103 126 127
+f 103 127 128
+f 103 128 104
+f 104 128 129
+f 104 129 119
+f 106 112 124
+f 106 124 107
+f 107 124 121
+f 107 121 108
+f 108 121 130
+f 110 131 111
+f 111 131 132
+f 111 132 133
+f 111 133 112
+f 112 133 116
+f 112 116 134
+f 112 134 124
+f 113 125 114
+f 114 125 134
+f 114 134 116
+f 115 116 132
+f 115 132 117
+f 116 133 132
+f 117 132 135
+f 117 135 118
+f 120 130 121
+f 121 124 123
+f 121 123 122
+f 124 134 125
+f 131 136 132
+f 132 136 137
+f 132 137 135
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_14.obj

@@ -0,0 +1,904 @@
+# https://github.com/mikedh/trimesh
+v 0.08554688 -0.15645842 0.03143399
+v 0.08635645 -0.15595298 0.03143399
+v 0.08554688 -0.14298264 0.03143403
+v 0.08554688 -0.15531046 0.02916859
+v 0.08749404 -0.15467650 0.03034795
+v 0.08790582 -0.15495922 0.03143399
+v 0.14516900 -0.06894719 0.03143431
+v 0.08554688 -0.06894691 -0.04237403
+v 0.08554688 -0.15395686 0.02665712
+v 0.09175129 -0.14953634 0.02625835
+v 0.08935048 -0.15394834 0.03143399
+v 0.08922487 -0.14847403 0.02101482
+v 0.15683798 -0.06894719 0.03143431
+v 0.08554688 -0.06894687 -0.05524532
+v 0.08554688 -0.15327151 0.02540987
+v 0.09411020 -0.14670065 0.02414567
+v 0.09586892 -0.14800285 0.02895650
+v 0.09180013 -0.15221780 0.03143400
+v 0.08554688 -0.14975049 0.01909728
+v 0.08554688 -0.14892805 0.01770577
+v 0.08554688 -0.14753165 0.01535552
+v 0.08711021 -0.14700048 0.01620402
+v 0.09233054 -0.14438759 0.01806217
+v 0.15659371 -0.06965826 0.03143430
+v 0.15511418 -0.06894717 0.02747197
+v 0.08983205 -0.06894688 -0.05250475
+v 0.09055087 -0.07007772 -0.05155449
+v 0.08554688 -0.07024907 -0.05466837
+v 0.09903043 -0.14390786 0.02609718
+v 0.09730662 -0.14177465 0.01992880
+v 0.09890483 -0.14688917 0.03143402
+v 0.09668549 -0.14865396 0.03143401
+v 0.08554688 -0.14609238 0.01309861
+v 0.08842228 -0.14050671 0.00753267
+v 0.09011818 -0.14175749 0.01137622
+v 0.09543623 -0.14027545 0.01511797
+v 0.15644716 -0.07007803 0.03143430
+v 0.15489781 -0.07007801 0.02788769
+v 0.15463958 -0.06894717 0.02645381
+v 0.09204440 -0.06894688 -0.05107933
+v 0.09422188 -0.07007773 -0.04910240
+v 0.08892476 -0.07469529 -0.05047693
+v 0.08554688 -0.07133704 -0.05416777
+v 0.10219195 -0.13977860 0.02323783
+v 0.10376224 -0.14110647 0.02804865
+v 0.10046114 -0.14562985 0.03143403
+v 0.09953296 -0.13871627 0.01795187
+v 0.08554688 -0.14490156 0.01126592
+v 0.08554688 -0.14126916 0.00571695
+v 0.08608427 -0.13888753 0.00272185
+v 0.08954588 -0.13395296 -0.00083322
+v 0.09142325 -0.13631749 0.00465638
+v 0.09378917 -0.13903322 0.01137623
+v 0.10330163 -0.13333623 0.01442226
+v 0.09652495 -0.13373884 0.00659091
+v 0.09906533 -0.13509243 0.01175806
+v 0.15584698 -0.07174003 0.03143430
+v 0.15421387 -0.07382176 0.02939798
+v 0.15336242 -0.06894716 0.02381507
+v 0.09460571 -0.06894689 -0.04936541
+v 0.09825576 -0.06894690 -0.04677758
+v 0.09951200 -0.07014629 -0.04531822
+v 0.10215707 -0.07264783 -0.04224679
+v 0.09726474 -0.07612602 -0.04401160
+v 0.08692177 -0.07962131 -0.04917879
+v 0.08554688 -0.07667428 -0.05157995
+v 0.09545018 -0.08106058 -0.04271346
+v 0.10681907 -0.13691725 0.02538447
+v 0.10731458 -0.13988998 0.03143405
+v 0.10478119 -0.13466411 0.01860523
+v 0.10987590 -0.13264231 0.02272878
+v 0.10483700 -0.14201459 0.03143404
+v 0.08554688 -0.13959860 0.00323093
+v 0.08554688 -0.13906745 0.00245036
+v 0.08554688 -0.13819361 0.00120309
+v 0.08554688 -0.13577772 -0.00222470
+v 0.09443125 -0.13211967 0.00178008
+v 0.08715209 -0.13221386 -0.00565251
+v 0.09244919 -0.12969520 -0.00365860
+v 0.10844520 -0.13127161 0.01860524
+v 0.10141032 -0.13171703 0.00960299
+v 0.10240830 -0.12514619 0.00113527
+v 0.10418099 -0.12678247 0.00595457
+v 0.10618398 -0.12890709 0.01191083
+v 0.15466054 -0.07479841 0.03143429
+v 0.15315307 -0.07007800 0.02427323
+v 0.15281806 -0.07866211 0.03143427
+v 0.14699753 -0.08143774 0.02194837
+v 0.14777221 -0.07683729 0.01916542
+v 0.14693471 -0.07394165 0.01484673
+v 0.14773033 -0.07007796 0.01327707
+v 0.14858176 -0.06894712 0.01411705
+v 0.10154290 -0.06894691 -0.04437643
+v 0.10503242 -0.06894692 -0.04165283
+v 0.10679116 -0.07052326 -0.03942136
+v 0.10499056 -0.07747960 -0.03737657
+v 0.10352496 -0.08208864 -0.03610390
+v 0.09951200 -0.07814781 -0.04130500
+v 0.08554688 -0.08041802 -0.04961153
+v 0.08554688 -0.07830199 -0.05073150
+v 0.09021588 -0.08488142 -0.04413043
+v 0.08853392 -0.08894216 -0.04300198
+v 0.09387989 -0.08488143 -0.04165289
+v 0.09923282 -0.08468441 -0.03787721
+v 0.09680413 -0.09012441 -0.03652815
+v 0.11138338 -0.13405590 0.02753959
+v 0.10854989 -0.13880198 0.03143405
+v 0.11071339 -0.12608859 0.01421866
+v 0.11215106 -0.12757069 0.01860525
+v 0.11718298 -0.12515480 0.02278821
+v 0.11427968 -0.12969530 0.02516390
+v 0.11623384 -0.13164858 0.03143408
+v 0.11612214 -0.13175996 0.03143408
+v 0.08554688 -0.13446699 -0.00406587
+v 0.09535247 -0.12540315 -0.00648398
+v 0.09752297 -0.12718509 -0.00166469
+v 0.08554688 -0.13277073 -0.00639069
+v 0.08554688 -0.13021777 -0.00962334
+v 0.08554688 -0.12892414 -0.01125239
+v 0.08789885 -0.12532602 -0.01362809
+v 0.09046712 -0.12727931 -0.00882577
+v 0.10907333 -0.12440944 0.00939937
+v 0.09965856 -0.12374976 -0.00367553
+v 0.10289683 -0.11818978 -0.00670458
+v 0.10440433 -0.11972328 -0.00306464
+v 0.10977820 -0.11766724 0.00116923
+v 0.10697957 -0.12231053 0.00356188
+v 0.15207828 -0.08015275 0.03143427
+v 0.13939733 -0.09577022 0.02244045
+v 0.14078615 -0.09083568 0.01990353
+v 0.14326373 -0.08495875 0.01852055
+v 0.14084898 -0.08355376 0.01267459
+v 0.14574130 -0.07887622 0.01712910
+v 0.14793270 -0.08316827 0.02582589
+v 0.14592973 -0.08686919 0.02582588
+v 0.14236342 -0.09289175 0.02524040
+v 0.14075824 -0.07615188 0.00556444
+v 0.13939036 -0.07353040 0.00074517
+v 0.14220290 -0.07066905 0.00355361
+v 0.14580410 -0.07007795 0.00967108
+v 0.14604838 -0.06894710 0.00922139
+v 0.14743722 -0.06894711 0.01183469
+v 0.14796761 -0.06894712 0.01287829
+v 0.11016203 -0.06894693 -0.03733412
+v 0.10993871 -0.07332466 -0.03529783
+v 0.10866155 -0.07747961 -0.03410150
+v 0.11091578 -0.08232853 -0.02906159
+v 0.10642825 -0.08467585 -0.03181063
+v 0.10169642 -0.08702319 -0.03455970
+v 0.08554688 -0.08596083 -0.04654009
+v 0.08554688 -0.09081831 -0.04372318
+v 0.09162566 -0.09200057 -0.03902266
+v 0.08616104 -0.09387669 -0.04151716
+v 0.09964460 -0.09282301 -0.03232824
+v 0.09471738 -0.09505896 -0.03490762
+v 0.11296066 -0.13477553 0.03143406
+v 0.11140432 -0.11947489 0.00598004
+v 0.11350500 -0.12146243 0.01195325
+v 0.11582206 -0.12366415 0.01860527
+v 0.11783902 -0.11850685 0.01451565
+v 0.11905337 -0.11997181 0.01860528
+v 0.12478318 -0.11066812 0.01513508
+v 0.12138438 -0.12206217 0.02554574
+v 0.12310121 -0.12413540 0.03143410
+v 0.11864161 -0.12675684 0.02759901
+v 0.11980710 -0.12787056 0.03143409
+v 0.09249805 -0.12394676 -0.01085360
+v 0.09572934 -0.11832685 -0.01406079
+v 0.09858378 -0.11966329 -0.00958088
+v 0.08554688 -0.12616560 -0.01456143
+v 0.08554688 -0.12264456 -0.01822679
+v 0.08803842 -0.11802696 -0.02098431
+v 0.09187690 -0.11996312 -0.01572379
+v 0.11007829 -0.11062520 -0.00651786
+v 0.10841729 -0.11490869 -0.00369248
+v 0.10061468 -0.11591096 -0.01152386
+v 0.10307131 -0.11098496 -0.01409471
+v 0.11025277 -0.10342893 -0.01394194
+v 0.11186494 -0.11274124 -0.00169858
+v 0.11675726 -0.10981136 0.00166987
+v 0.11841128 -0.11180748 0.00648915
+v 0.11629664 -0.11672490 0.00969635
+v 0.14946811 -0.08522438 0.03143425
+v 0.13464457 -0.09983951 0.01853746
+v 0.13319294 -0.09748357 0.01342121
+v 0.13853890 -0.09289173 0.01794358
+v 0.13946014 -0.08847976 0.01509272
+v 0.14061168 -0.09775776 0.02725973
+v 0.13909026 -0.10268376 0.03030572
+v 0.13818295 -0.10000232 0.02524037
+v 0.13946014 -0.08108648 0.00785532
+v 0.13322086 -0.08295402 -0.00115542
+v 0.14726273 -0.08933651 0.03143423
+v 0.14617400 -0.09134117 0.03143422
+v 0.14539232 -0.09277184 0.03143422
+v 0.14488984 -0.09367994 0.03143422
+v 0.13855288 -0.07816512 0.00355358
+v 0.13176224 -0.08033252 -0.00597475
+v 0.13301848 -0.07540652 -0.00786681
+v 0.13813411 -0.07066903 -0.00326810
+v 0.14009522 -0.06894706 -0.00137600
+v 0.14079314 -0.06894707 -0.00021360
+v 0.14384298 -0.06894709 0.00519965
+v 0.11203242 -0.06894694 -0.03561174
+v 0.11426575 -0.07078886 -0.03237907
+v 0.11230462 -0.07747963 -0.03048700
+v 0.11596861 -0.07747964 -0.02671132
+v 0.11810422 -0.08217434 -0.02173081
+v 0.11377720 -0.08471872 -0.02461562
+v 0.10933153 -0.08726310 -0.02749194
+v 0.11739932 -0.06894696 -0.03026639
+v 0.10443919 -0.09058703 -0.02974888
+v 0.08554688 -0.09325989 -0.04226381
+v 0.08983205 -0.09760336 -0.03670637
+v 0.08554688 -0.09570146 -0.04071114
+v 0.08554688 -0.09418511 -0.04170384
+v 0.10248506 -0.09552160 -0.02800105
+v 0.08731260 -0.10253790 -0.03491611
+v 0.09759973 -0.09820305 -0.03008830
+v 0.09531758 -0.10313761 -0.02815382
+v 0.09257482 -0.10037048 -0.03250647
+v 0.11966054 -0.11434331 0.01181754
+v 0.13296962 -0.10438000 0.02090469
+v 0.13102944 -0.10930600 0.02431552
+v 0.12613711 -0.11235579 0.01994587
+v 0.12339434 -0.12378416 0.03143411
+v 0.12362464 -0.10915175 0.01137634
+v 0.12643025 -0.10545939 0.01137635
+v 0.09187690 -0.11631358 -0.01933829
+v 0.09568049 -0.11090787 -0.02123880
+v 0.09815110 -0.11340085 -0.01648740
+v 0.08554688 -0.11898646 -0.02195157
+v 0.08554688 -0.11532838 -0.02551512
+v 0.08797561 -0.11055658 -0.02815385
+v 0.09187690 -0.11262124 -0.02287637
+v 0.11703642 -0.10274362 -0.00598332
+v 0.11445416 -0.10775529 -0.00383672
+v 0.11169744 -0.10515948 -0.01028506
+v 0.10057279 -0.10841489 -0.01891401
+v 0.10297360 -0.10348031 -0.02120484
+v 0.10546513 -0.10592191 -0.01642799
+v 0.10828466 -0.09967661 -0.01918549
+v 0.10998757 -0.09568440 -0.02089090
+v 0.11176723 -0.09967662 -0.01557099
+v 0.11712714 -0.09540173 -0.01338192
+v 0.11555687 -0.10003645 -0.01070079
+v 0.11871838 -0.10487681 -0.00116403
+v 0.12100750 -0.10679582 0.00447831
+v 0.12516703 -0.10378883 0.00728675
+v 0.13153193 -0.10240960 0.01609386
+v 0.12379214 -0.09434802 -0.00497359
+v 0.12664658 -0.09203495 -0.00276756
+v 0.13177620 -0.08788001 0.00124570
+v 0.13483303 -0.08519857 0.00385051
+v 0.14161667 -0.09942835 0.03143419
+v 0.14036042 -0.10150154 0.03143419
+v 0.13937640 -0.10312070 0.03143418
+v 0.13053392 -0.08519855 -0.00336146
+v 0.12539035 -0.08941345 -0.00743414
+v 0.12652794 -0.08439321 -0.01002195
+v 0.12510420 -0.08160041 -0.01417945
+v 0.13006630 -0.07771101 -0.01027647
+v 0.13128766 -0.07194545 -0.01266914
+v 0.13400251 -0.06971806 -0.01027644
+v 0.13435846 -0.06894703 -0.01025947
+v 0.13839234 -0.06894706 -0.00404868
+v 0.12391080 -0.06894698 -0.02324105
+v 0.12431558 -0.07277643 -0.02050051
+v 0.12304537 -0.07747967 -0.01906662
+v 0.12088189 -0.08435036 -0.01715757
+v 0.11663860 -0.08710033 -0.02014420
+v 0.11950003 -0.06894697 -0.02805187
+v 0.11174630 -0.09075842 -0.02268113
+v 0.10720992 -0.09314002 -0.02533686
+v 0.08554688 -0.10334319 -0.03551853
+v 0.08554688 -0.09902544 -0.03851359
+v 0.09970739 -0.10027626 -0.02663505
+v 0.10461368 -0.09967660 -0.02274057
+v 0.09043224 -0.10562203 -0.03010531
+v 0.08554688 -0.10802930 -0.03187012
+v 0.08554688 -0.10680426 -0.03282889
+v 0.09855586 -0.10640163 -0.02257936
+v 0.09247710 -0.10768665 -0.02675386
+v 0.13832254 -0.10460276 0.03143418
+v 0.13660570 -0.10701008 0.03143417
+v 0.13396760 -0.10693298 0.02636033
+v 0.13301148 -0.11179044 0.03143415
+v 0.13236942 -0.11098512 0.02912633
+v 0.08554688 -0.11155890 -0.02902776
+v 0.12125176 -0.09968523 -0.00307303
+v 0.11890681 -0.09780904 -0.00857111
+v 0.11444021 -0.09308008 -0.01810790
+v 0.12365257 -0.08652638 -0.01224495
+v 0.12127271 -0.09241186 -0.01041230
+v 0.11876723 -0.09046716 -0.01532491
+v 0.12359671 -0.10155284 0.00247594
+v 0.12619992 -0.07747968 -0.01545214
+v 0.13356982 -0.06894703 -0.01141339
+v 0.12978716 -0.06894701 -0.01636845
+v 0.12717002 -0.06894700 -0.01951626
+v 0.12846811 -0.06989795 -0.01738662
+v 0.12874728 -0.06894701 -0.01762418
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 32
+f 1 32 31
+f 1 31 46
+f 1 46 72
+f 1 72 69
+f 1 69 107
+f 1 107 156
+f 1 156 113
+f 1 113 112
+f 1 112 166
+f 1 166 164
+f 1 164 226
+f 1 226 287
+f 1 287 285
+f 1 285 284
+f 1 284 257
+f 1 257 256
+f 1 256 255
+f 1 255 196
+f 1 196 195
+f 1 195 194
+f 1 194 193
+f 1 193 183
+f 1 183 128
+f 1 128 87
+f 1 87 85
+f 1 85 57
+f 1 57 37
+f 1 37 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 28
+f 1 28 43
+f 1 43 66
+f 1 66 100
+f 1 100 99
+f 1 99 150
+f 1 150 151
+f 1 151 213
+f 1 213 216
+f 1 216 215
+f 1 215 276
+f 1 276 275
+f 1 275 281
+f 1 281 280
+f 1 280 289
+f 1 289 233
+f 1 233 232
+f 1 232 171
+f 1 171 170
+f 1 170 119
+f 1 119 118
+f 1 118 117
+f 1 117 114
+f 1 114 76
+f 1 76 75
+f 1 75 74
+f 1 74 73
+f 1 73 49
+f 1 49 48
+f 1 48 33
+f 1 33 21
+f 1 21 20
+f 1 20 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 12
+f 5 12 10
+f 7 13 25
+f 7 25 39
+f 7 39 59
+f 7 59 92
+f 7 92 143
+f 7 143 142
+f 7 142 141
+f 7 141 203
+f 7 203 202
+f 7 202 201
+f 7 201 266
+f 7 266 265
+f 7 265 298
+f 7 298 299
+f 7 299 302
+f 7 302 300
+f 7 300 267
+f 7 267 272
+f 7 272 211
+f 7 211 204
+f 7 204 144
+f 7 144 94
+f 7 94 93
+f 7 93 61
+f 7 61 60
+f 7 60 40
+f 7 40 26
+f 7 26 14
+f 7 14 8
+f 9 15 12
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 10 12 16
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 16
+f 12 15 19
+f 13 24 25
+f 14 26 27
+f 14 27 28
+f 16 29 17
+f 16 23 30
+f 16 30 29
+f 17 29 31
+f 17 31 32
+f 17 32 18
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 30
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 29 30 44
+f 29 44 45
+f 29 45 46
+f 29 46 31
+f 30 36 47
+f 30 47 44
+f 33 48 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 36
+f 34 36 35
+f 34 48 49
+f 36 54 47
+f 36 53 55
+f 36 55 56
+f 36 56 54
+f 37 57 58
+f 37 58 38
+f 38 58 39
+f 39 58 59
+f 40 60 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 41 60 61
+f 42 65 66
+f 42 66 43
+f 42 64 67
+f 42 67 65
+f 44 68 69
+f 44 69 45
+f 44 47 54
+f 44 54 70
+f 44 70 71
+f 44 71 68
+f 45 69 72
+f 45 72 46
+f 49 73 50
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 51
+f 51 77 52
+f 51 76 78
+f 51 78 79
+f 51 79 77
+f 52 77 53
+f 53 77 55
+f 54 80 71
+f 54 71 70
+f 54 56 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 80
+f 55 81 56
+f 55 77 82
+f 55 82 81
+f 57 85 58
+f 58 86 59
+f 58 85 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 86
+f 59 86 92
+f 61 93 62
+f 62 93 63
+f 63 93 94
+f 63 94 95
+f 63 95 96
+f 63 96 97
+f 63 97 98
+f 63 98 64
+f 64 98 67
+f 65 99 100
+f 65 100 66
+f 65 67 101
+f 65 101 102
+f 65 102 99
+f 67 103 101
+f 67 98 104
+f 67 104 105
+f 67 105 103
+f 68 106 107
+f 68 107 69
+f 68 71 106
+f 71 80 108
+f 71 108 109
+f 71 109 110
+f 71 110 111
+f 71 111 112
+f 71 112 113
+f 71 113 106
+f 76 114 78
+f 77 79 115
+f 77 115 116
+f 77 116 82
+f 78 117 118
+f 78 118 119
+f 78 119 120
+f 78 120 121
+f 78 121 115
+f 78 115 79
+f 78 114 117
+f 80 84 122
+f 80 122 108
+f 82 116 115
+f 82 115 123
+f 82 123 124
+f 82 124 125
+f 82 125 126
+f 82 126 127
+f 82 127 122
+f 82 122 83
+f 83 122 84
+f 86 91 92
+f 87 128 88
+f 88 129 130
+f 88 130 131
+f 88 131 132
+f 88 132 133
+f 88 133 89
+f 88 128 134
+f 88 134 135
+f 88 135 136
+f 88 136 129
+f 89 133 90
+f 90 133 137
+f 90 137 138
+f 90 138 139
+f 90 139 140
+f 90 140 141
+f 90 141 91
+f 91 141 142
+f 91 142 143
+f 91 143 92
+f 94 144 95
+f 95 144 145
+f 95 145 96
+f 96 145 97
+f 97 145 146
+f 97 146 147
+f 97 147 148
+f 97 148 149
+f 97 149 105
+f 97 105 104
+f 97 104 98
+f 99 102 150
+f 101 103 102
+f 102 151 150
+f 102 103 105
+f 102 105 152
+f 102 152 153
+f 102 153 151
+f 105 149 154
+f 105 154 155
+f 105 155 152
+f 106 113 156
+f 106 156 107
+f 108 110 109
+f 108 122 157
+f 108 157 158
+f 108 158 110
+f 110 158 159
+f 110 159 160
+f 110 160 161
+f 110 161 162
+f 110 162 163
+f 110 163 164
+f 110 164 165
+f 110 165 111
+f 111 165 112
+f 112 165 166
+f 115 124 123
+f 115 121 120
+f 115 120 167
+f 115 167 168
+f 115 168 169
+f 115 169 124
+f 119 170 120
+f 120 170 171
+f 120 171 172
+f 120 172 173
+f 120 173 168
+f 120 168 167
+f 122 127 126
+f 122 126 157
+f 124 174 175
+f 124 175 126
+f 124 126 125
+f 124 169 168
+f 124 168 176
+f 124 176 177
+f 124 177 178
+f 124 178 174
+f 126 175 174
+f 126 174 179
+f 126 179 180
+f 126 180 181
+f 126 181 182
+f 126 182 157
+f 128 183 134
+f 129 184 185
+f 129 185 186
+f 129 186 187
+f 129 187 130
+f 129 136 188
+f 129 188 189
+f 129 189 190
+f 129 190 184
+f 130 187 131
+f 131 187 132
+f 132 191 137
+f 132 137 133
+f 132 187 192
+f 132 192 191
+f 134 183 193
+f 134 193 135
+f 135 193 194
+f 135 194 136
+f 136 194 195
+f 136 195 196
+f 136 196 188
+f 137 191 197
+f 137 197 138
+f 138 192 198
+f 138 198 199
+f 138 199 200
+f 138 200 201
+f 138 201 202
+f 138 202 139
+f 138 197 192
+f 139 203 141
+f 139 141 140
+f 139 202 203
+f 144 204 145
+f 145 204 205
+f 145 205 206
+f 145 206 147
+f 145 147 146
+f 147 207 208
+f 147 208 209
+f 147 209 210
+f 147 210 148
+f 147 206 211
+f 147 211 207
+f 148 210 212
+f 148 212 149
+f 149 212 154
+f 151 153 213
+f 152 155 214
+f 152 214 153
+f 153 214 215
+f 153 215 216
+f 153 216 213
+f 154 212 217
+f 154 217 155
+f 155 218 214
+f 155 217 219
+f 155 219 220
+f 155 220 221
+f 155 221 218
+f 157 182 160
+f 157 160 158
+f 158 160 159
+f 160 162 161
+f 160 182 222
+f 160 222 162
+f 162 223 224
+f 162 224 225
+f 162 225 226
+f 162 226 163
+f 162 222 181
+f 162 181 227
+f 162 227 228
+f 162 228 223
+f 163 226 164
+f 164 166 165
+f 168 173 172
+f 168 172 229
+f 168 229 230
+f 168 230 231
+f 168 231 177
+f 168 177 176
+f 171 232 172
+f 172 232 233
+f 172 233 234
+f 172 234 235
+f 172 235 229
+f 174 236 237
+f 174 237 179
+f 174 178 238
+f 174 238 236
+f 177 231 230
+f 177 230 239
+f 177 239 240
+f 177 240 241
+f 177 241 178
+f 178 241 240
+f 178 240 242
+f 178 242 243
+f 178 243 244
+f 178 244 245
+f 178 245 246
+f 178 246 236
+f 178 236 238
+f 179 237 180
+f 180 237 236
+f 180 236 247
+f 180 247 248
+f 180 248 181
+f 181 248 249
+f 181 249 227
+f 181 222 182
+f 184 190 223
+f 184 223 250
+f 184 250 185
+f 185 250 249
+f 185 249 251
+f 185 251 252
+f 185 252 253
+f 185 253 186
+f 186 253 187
+f 187 253 254
+f 187 254 192
+f 188 196 255
+f 188 255 256
+f 188 256 257
+f 188 257 189
+f 189 257 223
+f 189 223 190
+f 191 192 197
+f 192 254 253
+f 192 253 258
+f 192 258 198
+f 198 258 259
+f 198 259 260
+f 198 260 261
+f 198 261 262
+f 198 262 199
+f 199 262 263
+f 199 263 264
+f 199 264 200
+f 200 264 265
+f 200 265 266
+f 200 266 201
+f 204 211 205
+f 205 211 206
+f 207 211 208
+f 208 267 268
+f 208 268 269
+f 208 269 261
+f 208 261 270
+f 208 270 271
+f 208 271 209
+f 208 211 272
+f 208 272 267
+f 209 271 210
+f 210 271 273
+f 210 273 243
+f 210 243 274
+f 210 274 212
+f 212 274 217
+f 214 218 275
+f 214 275 276
+f 214 276 215
+f 217 277 220
+f 217 220 219
+f 217 274 243
+f 217 243 278
+f 217 278 240
+f 217 240 277
+f 218 221 279
+f 218 279 234
+f 218 234 280
+f 218 280 281
+f 218 281 275
+f 220 277 240
+f 220 240 282
+f 220 282 283
+f 220 283 234
+f 220 234 279
+f 220 279 221
+f 223 228 250
+f 223 257 284
+f 223 284 285
+f 223 285 286
+f 223 286 287
+f 223 287 288
+f 223 288 224
+f 224 288 226
+f 224 226 225
+f 226 288 287
+f 227 249 228
+f 228 249 250
+f 229 235 230
+f 230 235 234
+f 230 234 283
+f 230 283 282
+f 230 282 240
+f 230 240 239
+f 233 289 234
+f 234 289 280
+f 236 290 247
+f 236 246 245
+f 236 245 291
+f 236 291 290
+f 240 278 243
+f 240 243 242
+f 243 273 292
+f 243 292 245
+f 243 245 244
+f 245 293 294
+f 245 294 291
+f 245 292 295
+f 245 295 293
+f 247 296 249
+f 247 249 248
+f 247 290 296
+f 249 296 251
+f 251 296 290
+f 251 290 291
+f 251 291 294
+f 251 294 259
+f 251 259 252
+f 252 259 253
+f 253 259 258
+f 259 294 293
+f 259 293 260
+f 260 293 261
+f 261 295 270
+f 261 269 268
+f 261 268 297
+f 261 297 263
+f 261 263 262
+f 261 293 295
+f 263 298 264
+f 263 297 299
+f 263 299 298
+f 264 298 265
+f 267 300 268
+f 268 300 297
+f 270 295 271
+f 271 295 292
+f 271 292 273
+f 285 287 286
+f 297 301 299
+f 297 300 301
+f 299 301 302
+f 300 302 301
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_15.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.11320793 0.07100707 -0.01779261
+v 0.12743668 0.07100707 -0.01779261
+v 0.13187033 -0.00000652 -0.01779287
+v 0.16938528 -0.00000680 0.05732462
+v 0.15493596 0.07100679 0.05583416
+v 0.12767244 0.07057604 -0.01779261
+v 0.12807550 0.07100706 -0.01702268
+v 0.14444884 -0.00000652 -0.01779287
+v 0.17305082 -0.00000682 0.06164934
+v 0.15839620 0.07100678 0.06075680
+v 0.12803748 0.06986000 -0.01779261
+v 0.12835687 0.07008938 -0.01726840
+v 0.12963450 0.07100706 -0.01510605
+v 0.14443361 0.00390738 -0.01779286
+v 0.14584052 -0.00000653 -0.01591720
+v 0.17985721 -0.00000683 0.06523688
+v 0.16340783 0.07100676 0.06484400
+v 0.15934681 0.07100677 0.06164142
+v 0.15886009 0.07100677 0.06125646
+v 0.12821998 0.06948459 -0.01779261
+v 0.13238748 0.06716959 -0.01413136
+v 0.13143686 0.07100705 -0.01287815
+v 0.14411423 0.01179084 -0.01779283
+v 0.14479865 0.01188814 -0.01686729
+v 0.14708012 0.00390736 -0.01419711
+v 0.14709533 -0.00000654 -0.01421351
+v 0.18365966 -0.00000682 0.06334483
+v 0.18087626 0.02610446 0.06534347
+v 0.17765177 0.03350130 0.06572846
+v 0.17721072 0.02610446 0.06563016
+v 0.17603195 0.02610446 0.06563016
+v 0.17616122 0.02189857 0.06556461
+v 0.16867801 0.05862542 0.06564666
+v 0.16666273 0.07100676 0.06582688
+v 0.12902611 0.06779528 -0.01779262
+v 0.13322400 0.06308885 -0.01525352
+v 0.13123153 0.06308886 -0.01779264
+v 0.13371834 0.07100704 -0.00973289
+v 0.13388563 0.06997815 -0.01017520
+v 0.13897330 0.06538292 -0.00572765
+v 0.13708729 0.06298454 -0.00992951
+v 0.14357425 0.01870103 -0.01779280
+v 0.14685197 0.01473843 -0.01386947
+v 0.14696605 0.00980952 -0.01403326
+v 0.19088430 0.00136273 0.05826657
+v 0.19088430 -0.00000680 0.05826656
+v 0.18788036 -0.00000681 0.06123980
+v 0.18702101 0.01130391 0.06187054
+v 0.18131736 0.03350130 0.06515509
+v 0.17698254 0.04828796 0.06578585
+v 0.17734758 0.04089115 0.06576943
+v 0.17573536 0.03350130 0.06572846
+v 0.16704298 0.07100676 0.06588423
+v 0.13834970 0.05568506 -0.01219838
+v 0.13434952 0.05540701 -0.01779267
+v 0.17778868 0.07100679 0.05630103
+v 0.13994675 0.06045405 -0.00729210
+v 0.14263126 0.02610477 -0.01779277
+v 0.14378720 0.01870102 -0.01750613
+v 0.14661622 0.01870101 -0.01352542
+v 0.18534034 0.04089118 0.05608796
+v 0.18470152 0.04828799 0.05663678
+v 0.18407792 0.05389816 0.05744769
+v 0.19088430 0.00136273 0.05839761
+v 0.19088430 -0.00000680 0.05839760
+v 0.18789559 0.00385843 0.06124802
+v 0.18679286 0.01870073 0.06180504
+v 0.18644304 0.02610447 0.06173134
+v 0.18592591 0.03350131 0.06154300
+v 0.18101314 0.04089115 0.06470463
+v 0.17624488 0.05974466 0.06558112
+v 0.17657951 0.05568478 0.06569578
+v 0.17044997 0.07100676 0.06587605
+v 0.17051078 0.07048536 0.06587605
+v 0.17544637 0.04089115 0.06576943
+v 0.13921664 0.05095777 -0.01341883
+v 0.14080608 0.05568505 -0.00858626
+v 0.13679831 0.04839255 -0.01779269
+v 0.17778868 0.07100678 0.06085508
+v 0.14130802 0.03284117 -0.01779275
+v 0.14612951 0.02610475 -0.01274727
+v 0.14832731 0.02610473 -0.00913514
+v 0.14765050 0.03350157 -0.00794744
+v 0.18407792 0.05389815 0.05937250
+v 0.14538422 0.03350158 -0.01155958
+v 0.14708773 0.03804113 -0.00702186
+v 0.14462372 0.04066202 -0.00977398
+v 0.14644891 0.04297003 -0.00592431
+v 0.14177951 0.04840642 -0.01071588
+v 0.18470152 0.04828798 0.06035538
+v 0.18534034 0.04089117 0.06109253
+v 0.18064812 0.04828797 0.06395932
+v 0.17521823 0.06468050 0.06533543
+v 0.17385695 0.07100676 0.06468019
+v 0.13996954 0.04602193 -0.01450002
+v 0.13755120 0.04602889 -0.01779270
+v 0.13727742 0.04840644 -0.01714564
+v 0.17444252 0.07100676 0.06412321
+v 0.17787994 0.07048538 0.06097795
+v 0.14130040 0.03287592 -0.01779275
+v 0.14071482 0.04089145 -0.01556483
+v 0.17417638 0.07048536 0.06459009
+v 0.17413834 0.07100676 0.06441807
+v 0.13911778 0.04089146 -0.01779272
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 35
+f 1 35 37
+f 1 37 55
+f 1 55 78
+f 1 78 96
+f 1 96 104
+f 1 104 100
+f 1 100 80
+f 1 80 58
+f 1 58 42
+f 1 42 23
+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 34
+f 1 34 53
+f 1 53 73
+f 1 73 94
+f 1 94 103
+f 1 103 98
+f 1 98 79
+f 1 79 56
+f 1 56 38
+f 1 38 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 15
+f 3 15 26
+f 3 26 46
+f 3 46 65
+f 3 65 47
+f 3 47 27
+f 3 27 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 7 12
+f 6 12 11
+f 7 13 12
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 12 21
+f 11 21 20
+f 12 13 22
+f 12 22 21
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 20 21 35
+f 21 36 37
+f 21 37 35
+f 21 22 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 36
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 25
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 75
+f 29 75 52
+f 29 52 31
+f 29 31 30
+f 31 52 53
+f 31 53 32
+f 32 53 34
+f 32 34 33
+f 36 41 54
+f 36 54 55
+f 36 55 37
+f 38 40 39
+f 38 56 40
+f 40 57 41
+f 40 56 57
+f 41 57 54
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 45
+f 43 45 44
+f 45 61 62
+f 45 62 63
+f 45 63 84
+f 45 84 64
+f 45 64 65
+f 45 65 46
+f 47 65 66
+f 47 66 48
+f 48 66 64
+f 48 64 67
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 73 74
+f 50 74 51
+f 50 72 73
+f 51 74 53
+f 51 53 75
+f 52 75 53
+f 53 74 73
+f 54 76 55
+f 54 57 77
+f 54 77 76
+f 55 76 78
+f 56 79 84
+f 56 84 63
+f 56 63 76
+f 56 76 77
+f 56 77 57
+f 58 80 81
+f 58 81 60
+f 58 60 59
+f 60 81 82
+f 60 82 61
+f 61 82 62
+f 62 82 81
+f 62 81 83
+f 62 83 63
+f 63 83 85
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 89
+f 63 89 76
+f 64 84 90
+f 64 90 91
+f 64 91 69
+f 64 69 68
+f 64 68 67
+f 64 66 65
+f 69 91 70
+f 70 92 71
+f 70 91 92
+f 71 73 72
+f 71 92 90
+f 71 90 93
+f 71 93 73
+f 73 93 94
+f 76 89 95
+f 76 95 96
+f 76 96 97
+f 76 97 78
+f 78 97 96
+f 79 98 99
+f 79 99 84
+f 80 100 85
+f 80 85 81
+f 81 85 83
+f 84 99 90
+f 85 100 101
+f 85 101 87
+f 85 87 86
+f 87 89 88
+f 87 101 95
+f 87 95 89
+f 90 99 93
+f 90 92 91
+f 93 102 94
+f 93 99 102
+f 94 102 103
+f 95 101 104
+f 95 104 96
+f 98 103 102
+f 98 102 99
+f 100 104 101
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_16.obj

@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
+v 0.08554688 -0.10480996 -0.01900538
+v 0.08554688 -0.14902169 0.04349230
+v 0.08554688 -0.11726957 -0.01900543
+v 0.00186619 -0.13998624 -0.01900551
+v 0.00186619 -0.17575761 0.04349220
+v 0.08554688 -0.16255044 0.04349225
+v 0.08552233 -0.12190776 -0.01900545
+v 0.08554688 -0.12258298 -0.01829582
+v 0.00186619 -0.15312913 -0.01900556
+v 0.00186619 -0.18693107 0.04349216
+v 0.08301582 -0.16428674 0.04349225
+v 0.08554688 -0.15685916 0.03219910
+v 0.08552233 -0.12263123 -0.01827135
+v 0.08514553 -0.12219715 -0.01900545
+v 0.08554688 -0.12265534 -0.01822240
+v 0.00388122 -0.15312109 -0.01900556
+v 0.00388122 -0.15334617 -0.01872415
+v 0.00186619 -0.15328990 -0.01879758
+v 0.00186619 -0.18596645 0.04100841
+v 0.00388122 -0.18596645 0.04101453
+v 0.00388122 -0.18692304 0.04349216
+v 0.08079604 -0.16567740 0.04349224
+v 0.08259808 -0.15626430 0.02739063
+v 0.08554688 -0.15530773 0.02917088
+v 0.08554688 -0.12616817 -0.01455795
+v 0.08356463 -0.12340294 -0.01900545
+v 0.01040137 -0.15275937 -0.01900556
+v 0.01122050 -0.15314520 -0.01846108
+v 0.01122050 -0.15584616 -0.01484558
+v 0.00388122 -0.15603907 -0.01510864
+v 0.00186619 -0.15603907 -0.01511476
+v 0.00186619 -0.15334617 -0.01872415
+v 0.00186619 -0.17929445 0.02582446
+v 0.00388122 -0.17929445 0.02582446
+v 0.00668258 -0.18682658 0.04349216
+v 0.01122050 -0.18582176 0.04136937
+v 0.07706087 -0.15879641 0.02597746
+v 0.07740490 -0.16757447 0.04349223
+v 0.07358783 -0.16257450 0.02938496
+v 0.08054213 -0.15494598 0.02256994
+v 0.08484245 -0.15370001 0.02531675
+v 0.08554688 -0.15395726 0.02665653
+v 0.08554688 -0.12893341 -0.01124830
+v 0.07948546 -0.13200408 -0.01272266
+v 0.07460353 -0.13370822 -0.01473539
+v 0.08300764 -0.12707650 -0.01556124
+v 0.08078783 -0.12548487 -0.01900546
+v 0.01122050 -0.15271113 -0.01900556
+v 0.01855157 -0.15187512 -0.01900556
+v 0.01855157 -0.15272721 -0.01791663
+v 0.01855157 -0.15545228 -0.01430725
+v 0.01122050 -0.15886861 -0.01028181
+v 0.00388122 -0.15924642 -0.01028181
+v 0.00186619 -0.15924642 -0.01028181
+v 0.00186619 -0.17747775 0.02193974
+v 0.00388122 -0.17747775 0.02193974
+v 0.00805872 -0.17738935 0.02213551
+v 0.01078637 -0.17865944 0.02529832
+v 0.01122050 -0.18664973 0.04349216
+v 0.01375156 -0.18652110 0.04349216
+v 0.01855157 -0.18558865 0.04197498
+v 0.02055839 -0.18609507 0.04349217
+v 0.07565201 -0.15639288 0.02004947
+v 0.07488202 -0.16893296 0.04349223
+v 0.06903355 -0.17197953 0.04349222
+v 0.06914824 -0.16333814 0.02651580
+v 0.07111411 -0.16132852 0.02457038
+v 0.08221310 -0.14865184 0.01356479
+v 0.08460491 -0.15008268 0.01860571
+v 0.08554688 -0.14975311 0.01909512
+v 0.07774073 -0.15398939 0.01802452
+v 0.08554688 -0.15327397 0.02541465
+v 0.08554688 -0.13022760 -0.00961492
+v 0.08225405 -0.13393334 -0.00790809
+v 0.07359601 -0.14040430 -0.00672741
+v 0.06986906 -0.13885286 -0.01184176
+v 0.06563424 -0.14006664 -0.01350575
+v 0.06923014 -0.13476930 -0.01728646
+v 0.07076188 -0.13234167 -0.01900549
+v 0.07163834 -0.13180308 -0.01900548
+v 0.07656122 -0.12848321 -0.01900547
+v 0.07725745 -0.12931922 -0.01755560
+v 0.07654483 -0.13628859 -0.00972506
+v 0.07861717 -0.12702826 -0.01900547
+v 0.02548946 -0.15058897 -0.01900555
+v 0.02227036 -0.15516288 -0.01390957
+v 0.01855157 -0.15809692 -0.01028181
+v 0.01122050 -0.16188306 -0.00560184
+v 0.00388122 -0.16205990 -0.00597503
+v 0.00186619 -0.16205990 -0.00598115
+v 0.00186619 -0.16128820 -0.00716185
+v 0.00186619 -0.17698741 0.02094867
+v 0.00388122 -0.17567714 0.01833032
+v 0.00186619 -0.17568518 0.01832420
+v 0.01078637 -0.17570931 0.01927856
+v 0.01294882 -0.17713212 0.02253314
+v 0.01122050 -0.17176238 0.01166823
+v 0.01855157 -0.17864336 0.02675434
+v 0.02588263 -0.18553239 0.04349217
+v 0.06975437 -0.15881245 0.01870969
+v 0.07327655 -0.15498613 0.01523488
+v 0.06666632 -0.17312100 0.04349221
+v 0.06617486 -0.16992971 0.03668942
+v 0.06623219 -0.16256643 0.02219062
+v 0.08460491 -0.14554896 0.01125234
+v 0.08554688 -0.14752646 0.01535728
+v 0.07733939 -0.15019521 0.01125232
+v 0.07987045 -0.14713256 0.00875021
+v 0.08554688 -0.13278384 -0.00638480
+v 0.08416261 -0.13641723 -0.00270199
+v 0.08118922 -0.14058116 0.00024672
+v 0.07848613 -0.13886092 -0.00456788
+v 0.07230184 -0.14704411 0.00162316
+v 0.06986086 -0.14530777 -0.00294672
+v 0.06986906 -0.14152967 -0.00822623
+v 0.07650390 -0.14156989 -0.00251848
+v 0.06428270 -0.14680293 -0.00527755
+v 0.06251340 -0.14406982 -0.01026342
+v 0.06074412 -0.14132064 -0.01504740
+v 0.06293117 -0.13811330 -0.01747610
+v 0.06798509 -0.13402173 -0.01900549
+v 0.03178025 -0.14909382 -0.01900555
+v 0.02517820 -0.15234941 -0.01679100
+v 0.02716044 -0.15462431 -0.01311428
+v 0.02517820 -0.15673038 -0.01053266
+v 0.02588263 -0.16081396 -0.00382161
+v 0.01855157 -0.16149722 -0.00490441
+v 0.01122050 -0.16406147 -0.00199242
+v 0.00388122 -0.16428657 -0.00236561
+v 0.00186619 -0.16367566 -0.00336280
+v 0.00458566 -0.17163377 0.01066496
+v 0.00261160 -0.17004217 0.00761225
+v 0.00186619 -0.17004217 0.00761225
+v 0.01855157 -0.17454371 0.01860562
+v 0.01122050 -0.16755020 0.00416189
+v 0.01855157 -0.17136047 0.01239623
+v 0.00750170 -0.16994570 0.00777741
+v 0.02588263 -0.17632024 0.02428892
+v 0.02588263 -0.17811281 0.02789834
+v 0.03046967 -0.18492146 0.04349217
+v 0.02693930 -0.18541985 0.04349217
+v 0.06838646 -0.15629641 0.01306313
+v 0.07044244 -0.15391700 0.01095253
+v 0.07498034 -0.14861964 0.00643771
+v 0.06279191 -0.17490554 0.04349221
+v 0.06253799 -0.16609532 0.02582451
+v 0.06292296 -0.15767901 0.01095252
+v 0.06561786 -0.15485751 0.00825465
+v 0.06253799 -0.16341045 0.02068567
+v 0.06253799 -0.16135260 0.01707626
+v 0.08554688 -0.14128054 0.00572810
+v 0.08554688 -0.14490588 0.01127681
+v 0.08554688 -0.14608755 0.01310597
+v 0.07733939 -0.14561323 0.00408246
+v 0.08399058 -0.14169051 0.00474316
+v 0.08554688 -0.13447193 -0.00406008
+v 0.08554688 -0.13578219 -0.00221869
+v 0.08554688 -0.13907798 0.00245517
+v 0.06986086 -0.14997812 0.00408244
+v 0.06741172 -0.14841865 -0.00046298
+v 0.06212024 -0.14941542 -0.00294674
+v 0.05939260 -0.14800064 -0.00702721
+v 0.05520690 -0.14632864 -0.01195190
+v 0.05453522 -0.14221291 -0.01747611
+v 0.05728746 -0.13964863 -0.01900551
+v 0.05884378 -0.13886087 -0.01900551
+v 0.06280829 -0.13684321 -0.01900550
+v 0.03376250 -0.14851505 -0.01900555
+v 0.03274681 -0.14975297 -0.01776981
+v 0.03321370 -0.15385261 -0.01198252
+v 0.03321370 -0.15624811 -0.00836698
+v 0.03264853 -0.16016285 -0.00239619
+v 0.02983076 -0.16261458 0.00044851
+v 0.02588263 -0.16300043 -0.00020610
+v 0.01855157 -0.16362743 -0.00128891
+v 0.00458566 -0.16837818 0.00478589
+v 0.00186619 -0.16427853 -0.00236561
+v 0.02588263 -0.17345049 0.01860562
+v 0.01855157 -0.16671422 0.00416190
+v 0.01855157 -0.16933474 0.00879296
+v 0.02588263 -0.16880423 0.00985743
+v 0.02588263 -0.17078170 0.01346071
+v 0.03339390 -0.17172223 0.01811624
+v 0.03084647 -0.17762248 0.02887715
+v 0.03325465 -0.17897297 0.03262112
+v 0.03472907 -0.18402920 0.04349217
+v 0.05973661 -0.17612738 0.04349220
+v 0.05856529 -0.16978499 0.02967860
+v 0.06072773 -0.15603110 0.00633983
+v 0.06292296 -0.15353113 0.00402736
+v 0.05575571 -0.16879623 0.02559201
+v 0.05560008 -0.16489755 0.01811626
+v 0.05831136 -0.16227703 0.01538780
+v 0.05735299 -0.15453594 0.00152523
+v 0.05502671 -0.15272727 -0.00267758
+v 0.05520690 -0.14888486 -0.00833637
+v 0.05048063 -0.14736558 -0.01335284
+v 0.05333932 -0.14147337 -0.01900552
+v 0.05581306 -0.14033994 -0.01900552
+v 0.03649015 -0.14769514 -0.01900554
+v 0.04054477 -0.14905363 -0.01559802
+v 0.04062668 -0.15302467 -0.00994536
+v 0.03823487 -0.15556484 -0.00730865
+v 0.03472087 -0.16204386 0.00140897
+v 0.03264853 -0.16401329 0.00395393
+v 0.03107581 -0.17028333 0.01437223
+v 0.02588263 -0.16554862 0.00416190
+v 0.03595774 -0.16968847 0.01538165
+v 0.04054477 -0.17101483 0.02017177
+v 0.04054477 -0.17829774 0.03479291
+v 0.04054477 -0.18255012 0.04349218
+v 0.05769701 -0.17687495 0.04349220
+v 0.05368337 -0.17074959 0.02783717
+v 0.05575571 -0.17223673 0.03247435
+v 0.05560008 -0.16106320 0.01132567
+v 0.05502671 -0.15700376 0.00402734
+v 0.05025947 -0.16951165 0.02302258
+v 0.05342944 -0.16329789 0.01368097
+v 0.05246288 -0.15551660 -0.00001642
+v 0.04786765 -0.15398930 -0.00489831
+v 0.04797414 -0.15006650 -0.01067943
+v 0.04559052 -0.14822569 -0.01451520
+v 0.04797414 -0.14521126 -0.01715190
+v 0.04793318 -0.14369199 -0.01900553
+v 0.04054477 -0.14638486 -0.01900554
+v 0.04076592 -0.14631250 -0.01900554
+v 0.04311679 -0.15480118 -0.00614629
+v 0.04062668 -0.15730115 -0.00346678
+v 0.04054477 -0.16122395 0.00276710
+v 0.04054477 -0.16336218 0.00637650
+v 0.03339390 -0.16825761 0.01173552
+v 0.04054477 -0.16618370 0.01138685
+v 0.04054477 -0.16906952 0.01656237
+v 0.04536935 -0.17031549 0.02151152
+v 0.04510723 -0.17763858 0.03608987
+v 0.04761374 -0.18034757 0.04349219
+v 0.05381441 -0.17828974 0.04349220
+v 0.04999735 -0.17684280 0.03771103
+v 0.04965332 -0.16193134 0.00887252
+v 0.04783488 -0.17157755 0.02559200
+v 0.04783488 -0.16811295 0.01890543
+v 0.04747447 -0.16404545 0.01132566
+v 0.04747447 -0.16016288 0.00470027
+v 0.04786765 -0.15632849 -0.00128888
+v 0.04476322 -0.16273519 0.00746544
+v 0.04767925 -0.17549230 0.03342868
+v 0.05147993 -0.17907749 0.04349219
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 42
+f 1 42 72
+f 1 72 70
+f 1 70 106
+f 1 106 153
+f 1 153 152
+f 1 152 151
+f 1 151 158
+f 1 158 157
+f 1 157 156
+f 1 156 109
+f 1 109 73
+f 1 73 43
+f 1 43 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 47
+f 1 47 84
+f 1 84 81
+f 1 81 80
+f 1 80 79
+f 1 79 121
+f 1 121 167
+f 1 167 166
+f 1 166 165
+f 1 165 199
+f 1 199 198
+f 1 198 224
+f 1 224 226
+f 1 226 225
+f 1 225 200
+f 1 200 168
+f 1 168 122
+f 1 122 85
+f 1 85 49
+f 1 49 48
+f 1 48 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 21
+f 2 21 35
+f 2 35 59
+f 2 59 60
+f 2 60 62
+f 2 62 99
+f 2 99 141
+f 2 141 140
+f 2 140 186
+f 2 186 211
+f 2 211 236
+f 2 236 247
+f 2 247 237
+f 2 237 212
+f 2 212 187
+f 2 187 145
+f 2 145 102
+f 2 102 65
+f 2 65 64
+f 2 64 38
+f 2 38 22
+f 2 22 11
+f 2 11 6
+f 3 8 7
+f 4 9 18
+f 4 18 32
+f 4 32 31
+f 4 31 54
+f 4 54 91
+f 4 91 90
+f 4 90 130
+f 4 130 177
+f 4 177 133
+f 4 133 94
+f 4 94 92
+f 4 92 55
+f 4 55 33
+f 4 33 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 14
+f 7 8 15
+f 7 15 13
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 13 15 25
+f 13 25 26
+f 13 26 14
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 19 33 34
+f 19 34 20
+f 20 35 21
+f 20 34 36
+f 20 36 35
+f 22 37 23
+f 22 38 39
+f 22 39 37
+f 23 37 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 53 31
+f 31 53 54
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 36
+f 35 36 59
+f 36 60 59
+f 36 58 61
+f 36 61 62
+f 36 62 60
+f 37 63 40
+f 37 39 63
+f 38 64 39
+f 39 65 66
+f 39 66 67
+f 39 67 63
+f 39 64 65
+f 40 68 69
+f 40 69 70
+f 40 70 41
+f 40 63 71
+f 40 71 68
+f 41 70 72
+f 41 72 42
+f 43 73 74
+f 43 74 44
+f 44 74 45
+f 45 75 76
+f 45 76 77
+f 45 77 78
+f 45 78 79
+f 45 79 80
+f 45 80 81
+f 45 81 82
+f 45 82 46
+f 45 74 83
+f 45 83 75
+f 46 82 84
+f 46 84 47
+f 49 85 50
+f 50 85 86
+f 50 86 51
+f 51 86 87
+f 51 87 52
+f 52 87 88
+f 52 88 89
+f 52 89 53
+f 53 89 90
+f 53 90 91
+f 53 91 54
+f 55 92 56
+f 56 93 57
+f 56 92 94
+f 56 94 93
+f 57 95 96
+f 57 96 58
+f 57 93 97
+f 57 97 95
+f 58 96 98
+f 58 98 61
+f 61 98 62
+f 62 98 99
+f 63 67 100
+f 63 100 101
+f 63 101 71
+f 65 102 103
+f 65 103 66
+f 66 103 104
+f 66 104 67
+f 67 104 100
+f 68 105 106
+f 68 106 69
+f 68 71 107
+f 68 107 108
+f 68 108 105
+f 69 106 70
+f 71 101 107
+f 73 109 74
+f 74 110 111
+f 74 111 112
+f 74 112 83
+f 74 109 110
+f 75 113 114
+f 75 114 115
+f 75 115 76
+f 75 83 112
+f 75 112 116
+f 75 116 113
+f 76 115 77
+f 77 117 118
+f 77 118 119
+f 77 119 120
+f 77 120 121
+f 77 121 78
+f 77 115 117
+f 78 121 79
+f 81 84 82
+f 85 122 123
+f 85 123 86
+f 86 123 124
+f 86 124 125
+f 86 125 126
+f 86 126 127
+f 86 127 87
+f 87 127 88
+f 88 127 128
+f 88 128 129
+f 88 129 89
+f 89 130 90
+f 89 129 130
+f 93 131 97
+f 93 94 132
+f 93 132 131
+f 94 133 132
+f 95 97 134
+f 95 134 96
+f 96 134 98
+f 97 135 136
+f 97 136 134
+f 97 131 137
+f 97 137 135
+f 98 134 138
+f 98 138 139
+f 98 139 140
+f 98 140 141
+f 98 141 99
+f 100 104 142
+f 100 142 101
+f 101 142 143
+f 101 143 144
+f 101 144 107
+f 102 145 103
+f 103 145 146
+f 103 146 104
+f 104 147 148
+f 104 148 142
+f 104 146 149
+f 104 149 150
+f 104 150 147
+f 105 108 151
+f 105 151 152
+f 105 152 153
+f 105 153 106
+f 107 144 108
+f 108 144 154
+f 108 154 111
+f 108 111 155
+f 108 155 151
+f 109 156 110
+f 110 156 157
+f 110 157 158
+f 110 158 111
+f 111 158 155
+f 111 154 113
+f 111 113 116
+f 111 116 112
+f 113 159 160
+f 113 160 114
+f 113 154 144
+f 113 144 159
+f 114 160 117
+f 114 117 115
+f 117 160 161
+f 117 161 162
+f 117 162 118
+f 118 162 163
+f 118 163 119
+f 119 163 164
+f 119 164 165
+f 119 165 166
+f 119 166 120
+f 120 167 121
+f 120 166 167
+f 122 168 169
+f 122 169 124
+f 122 124 123
+f 124 169 170
+f 124 170 171
+f 124 171 125
+f 125 171 172
+f 125 172 173
+f 125 173 126
+f 126 174 127
+f 126 173 174
+f 127 174 175
+f 127 175 128
+f 128 137 129
+f 128 175 135
+f 128 135 137
+f 129 137 176
+f 129 176 132
+f 129 132 133
+f 129 133 177
+f 129 177 130
+f 131 132 137
+f 132 176 137
+f 134 136 178
+f 134 178 138
+f 135 175 179
+f 135 179 180
+f 135 180 136
+f 136 180 181
+f 136 181 182
+f 136 182 178
+f 138 178 183
+f 138 183 184
+f 138 184 139
+f 139 184 140
+f 140 184 185
+f 140 185 186
+f 142 148 143
+f 143 159 144
+f 143 148 159
+f 145 187 188
+f 145 188 146
+f 146 188 149
+f 147 150 189
+f 147 189 148
+f 148 160 159
+f 148 189 190
+f 148 190 160
+f 149 188 191
+f 149 191 192
+f 149 192 193
+f 149 193 150
+f 150 193 189
+f 151 155 158
+f 160 190 161
+f 161 194 162
+f 161 190 194
+f 162 194 195
+f 162 195 196
+f 162 196 163
+f 163 196 197
+f 163 197 164
+f 164 197 198
+f 164 198 199
+f 164 199 165
+f 168 200 201
+f 168 201 169
+f 169 201 170
+f 170 201 202
+f 170 202 203
+f 170 203 171
+f 171 203 204
+f 171 204 172
+f 172 204 173
+f 173 204 205
+f 173 205 206
+f 173 206 181
+f 173 181 207
+f 173 207 174
+f 174 207 175
+f 175 207 181
+f 175 181 179
+f 178 182 206
+f 178 206 183
+f 179 181 180
+f 181 206 182
+f 183 185 184
+f 183 206 208
+f 183 208 209
+f 183 209 210
+f 183 210 186
+f 183 186 185
+f 186 210 211
+f 187 212 213
+f 187 213 214
+f 187 214 188
+f 188 214 213
+f 188 213 191
+f 189 193 215
+f 189 215 216
+f 189 216 194
+f 189 194 190
+f 191 213 217
+f 191 217 192
+f 192 217 218
+f 192 218 193
+f 193 218 215
+f 194 216 219
+f 194 219 195
+f 195 219 196
+f 196 219 197
+f 197 219 220
+f 197 220 221
+f 197 221 222
+f 197 222 223
+f 197 223 224
+f 197 224 198
+f 200 225 201
+f 201 225 226
+f 201 226 222
+f 201 222 202
+f 202 222 221
+f 202 221 227
+f 202 227 203
+f 203 227 228
+f 203 228 204
+f 204 228 229
+f 204 229 230
+f 204 230 208
+f 204 208 231
+f 204 231 205
+f 205 231 206
+f 206 231 208
+f 208 230 232
+f 208 232 233
+f 208 233 209
+f 209 233 234
+f 209 234 210
+f 210 234 235
+f 210 235 211
+f 211 235 236
+f 212 237 213
+f 213 237 238
+f 213 238 217
+f 215 218 216
+f 216 218 239
+f 216 239 219
+f 217 238 240
+f 217 240 234
+f 217 234 241
+f 217 241 218
+f 218 241 242
+f 218 242 239
+f 219 239 243
+f 219 243 244
+f 219 244 220
+f 220 244 227
+f 220 227 221
+f 222 226 223
+f 223 226 224
+f 227 244 228
+f 228 244 229
+f 229 244 243
+f 229 243 245
+f 229 245 230
+f 230 245 232
+f 232 245 233
+f 233 245 242
+f 233 242 234
+f 234 242 241
+f 234 240 235
+f 235 240 246
+f 235 246 238
+f 235 238 236
+f 236 238 247
+f 237 247 238
+f 238 246 240
+f 239 242 245
+f 239 245 243
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_17.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.01312453 0.07223853 -0.06113615
+v -0.08117866 0.07223847 -0.04365063
+v -0.01312453 0.07223858 -0.07393478
+v -0.01312453 0.13938277 -0.01921453
+v -0.08117866 0.10883409 -0.01921464
+v -0.08117866 0.07223852 -0.05628334
+v -0.03894713 0.07223860 -0.07955194
+v -0.01312453 0.08119536 -0.07919046
+v -0.01312453 0.15235521 -0.01921448
+v -0.08117866 0.12496725 -0.01921458
+v -0.08117866 0.07233262 -0.05624780
+v -0.05039274 0.07346997 -0.07789287
+v -0.05221817 0.07223859 -0.07697444
+v -0.04008636 0.07223860 -0.07962303
+v -0.01812116 0.08069341 -0.07948673
+v -0.01312453 0.08502280 -0.07937413
+v -0.01312453 0.14958662 -0.02287039
+v -0.01812116 0.14935134 -0.02259189
+v -0.01838100 0.15185325 -0.01921448
+v -0.07602212 0.12881035 -0.01921457
+v -0.07453646 0.12706135 -0.02220092
+v -0.08117866 0.12449669 -0.01970044
+v -0.08117866 0.07474044 -0.05509828
+v -0.04550936 0.07517974 -0.07944525
+v -0.04917354 0.07223860 -0.07846761
+v -0.08117866 0.08252075 -0.05124683
+v -0.08117866 0.08318741 -0.05089722
+v -0.08117866 0.08691286 -0.04874040
+v -0.08117866 0.08971281 -0.04708132
+v -0.08117866 0.09612842 -0.04315877
+v -0.08117866 0.09655194 -0.04289805
+v -0.08080555 0.09674016 -0.04302247
+v -0.08117866 0.10444203 -0.03755343
+v -0.07313741 0.10380676 -0.04280321
+v -0.04073924 0.07223860 -0.07960528
+v -0.03961999 0.07774441 -0.07958745
+v -0.02545620 0.08361888 -0.07974743
+v -0.02545620 0.07968166 -0.07974745
+v -0.01312453 0.08925803 -0.07913119
+v -0.01312453 0.14657492 -0.02648482
+v -0.01812116 0.14635528 -0.02620633
+v -0.02545620 0.14877094 -0.02188085
+v -0.02545620 0.15074739 -0.01921449
+v -0.07204480 0.13157112 -0.01921456
+v -0.07090556 0.13199465 -0.01961156
+v -0.06850718 0.12909271 -0.02414439
+v -0.07099218 0.12452807 -0.02701818
+v -0.07450980 0.11959480 -0.02926980
+v -0.07939982 0.11781441 -0.02759889
+v -0.08117866 0.11714775 -0.02693525
+v -0.08117866 0.11910849 -0.02502729
+v -0.08117866 0.12080260 -0.02335637
+v -0.03684852 0.08180711 -0.07907196
+v -0.03278461 0.08252085 -0.07946896
+v -0.04643540 0.07223860 -0.07944526
+v -0.07415004 0.11193999 -0.03617279
+v -0.08117866 0.09711663 -0.04253066
+v -0.08117866 0.10539103 -0.03687197
+v -0.07608875 0.10694398 -0.03877995
+v -0.01518982 0.08912470 -0.07901860
+v -0.01812116 0.13551622 -0.03749403
+v -0.01312453 0.13572800 -0.03772511
+v -0.01312453 0.14287299 -0.03061476
+v -0.01812116 0.14265340 -0.03039554
+v -0.02545620 0.14206517 -0.02978521
+v -0.02545620 0.14575922 -0.02548938
+v -0.02977331 0.14833173 -0.02133575
+v -0.03140554 0.14950032 -0.01921449
+v -0.07117872 0.13216717 -0.01921455
+v -0.07055246 0.13255933 -0.01921455
+v -0.06749454 0.13443383 -0.01921455
+v -0.06601552 0.13351618 -0.02127654
+v -0.06610880 0.12618296 -0.02854096
+v -0.06890692 0.12214379 -0.03042523
+v -0.06943990 0.11723407 -0.03440703
+v -0.07677496 0.11487329 -0.03198361
+v -0.08117866 0.11336741 -0.03039564
+v -0.06943990 0.11354000 -0.03743486
+v -0.06565579 0.11849678 -0.03550320
+v -0.06077242 0.11997914 -0.03670604
+v -0.05644199 0.12491241 -0.03465585
+v -0.05155861 0.12619867 -0.03575797
+v -0.04744807 0.12724179 -0.03663491
+v -0.04011965 0.12892023 -0.03805695
+v -0.03644214 0.13336723 -0.03556240
+v -0.07903343 0.11008118 -0.03469741
+v -0.08117866 0.10932040 -0.03383822
+v -0.03155212 0.13412801 -0.03625565
+v -0.02545620 0.13491231 -0.03694300
+v -0.01812116 0.13921812 -0.03400996
+v -0.01312453 0.13690445 -0.03661709
+v -0.01312453 0.13942208 -0.03422326
+v -0.03129227 0.14139064 -0.02903863
+v -0.02545620 0.13861423 -0.03339374
+v -0.03466336 0.14768077 -0.02051806
+v -0.03622229 0.14826113 -0.01921450
+v -0.03297782 0.14453571 -0.02479614
+v -0.06245128 0.13732790 -0.01921454
+v -0.06211151 0.13462208 -0.02243789
+v -0.06211151 0.13106134 -0.02604640
+v -0.05684837 0.13254369 -0.02753957
+v -0.06211151 0.12735943 -0.02961343
+v -0.06277106 0.12237908 -0.03365451
+v -0.08117866 0.11176744 -0.03180587
+v -0.05420350 0.12936727 -0.03169914
+v -0.04744807 0.13094370 -0.03338783
+v -0.04011965 0.13262214 -0.03489286
+v -0.04011965 0.13630051 -0.03127841
+v -0.03617566 0.14068476 -0.02825058
+v -0.03386388 0.13740641 -0.03229757
+v -0.04011965 0.14685722 -0.01956409
+v -0.04011965 0.14713173 -0.01921450
+v -0.05850727 0.13944554 -0.01921453
+v -0.05641536 0.13982985 -0.02004405
+v -0.05418352 0.13680244 -0.02443472
+v -0.05195834 0.13377504 -0.02874833
+v -0.04744807 0.13482601 -0.02977934
+v -0.04011965 0.14000242 -0.02751586
+v -0.04011965 0.14315534 -0.02390732
+v -0.04052608 0.14700624 -0.01921450
+v -0.05712155 0.14017494 -0.01921453
+v -0.05570249 0.14084162 -0.01921452
+v -0.05152531 0.14095142 -0.02132392
+v -0.04744807 0.13852008 -0.02593379
+v -0.04744807 0.14180630 -0.02231936
+v -0.04767457 0.14434745 -0.01921451
+v -0.05308427 0.14201022 -0.01921452
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 55
+f 1 55 35
+f 1 35 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 39
+f 1 39 62
+f 1 62 91
+f 1 91 92
+f 1 92 63
+f 1 63 40
+f 1 40 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 22
+f 2 22 52
+f 2 52 51
+f 2 51 50
+f 2 50 77
+f 2 77 104
+f 2 104 87
+f 2 87 58
+f 2 58 33
+f 2 33 57
+f 2 57 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 23
+f 2 23 11
+f 2 11 6
+f 3 7 8
+f 4 9 19
+f 4 19 43
+f 4 43 68
+f 4 68 96
+f 4 96 112
+f 4 112 120
+f 4 120 126
+f 4 126 127
+f 4 127 122
+f 4 122 121
+f 4 121 113
+f 4 113 98
+f 4 98 71
+f 4 71 70
+f 4 70 69
+f 4 69 44
+f 4 44 20
+f 4 20 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 11 23 12
+f 12 24 25
+f 12 25 13
+f 12 23 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 34
+f 12 34 24
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 15
+f 15 38 16
+f 16 38 37
+f 16 37 39
+f 17 40 41
+f 17 41 18
+f 18 42 19
+f 18 41 42
+f 19 42 43
+f 20 44 45
+f 20 45 21
+f 21 45 46
+f 21 46 47
+f 21 47 48
+f 21 48 49
+f 21 49 50
+f 21 50 51
+f 21 51 52
+f 21 52 22
+f 24 53 54
+f 24 54 36
+f 24 36 35
+f 24 35 55
+f 24 55 25
+f 24 34 56
+f 24 56 53
+f 31 57 32
+f 32 57 33
+f 33 58 34
+f 34 58 59
+f 34 59 56
+f 36 54 37
+f 37 54 60
+f 37 60 39
+f 39 60 61
+f 39 61 62
+f 40 63 64
+f 40 64 41
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 67 43
+f 42 66 67
+f 43 67 68
+f 44 69 45
+f 45 69 70
+f 45 70 71
+f 45 71 72
+f 45 72 46
+f 46 73 47
+f 46 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 56
+f 48 56 76
+f 48 76 77
+f 48 77 49
+f 49 77 50
+f 53 60 54
+f 53 56 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 60
+f 56 59 86
+f 56 86 76
+f 56 75 79
+f 56 79 78
+f 58 87 86
+f 58 86 59
+f 60 85 88
+f 60 88 89
+f 60 89 61
+f 61 89 90
+f 61 90 62
+f 62 90 91
+f 63 92 90
+f 63 90 64
+f 64 90 65
+f 65 93 66
+f 65 90 94
+f 65 94 93
+f 66 93 67
+f 67 95 96
+f 67 96 68
+f 67 93 97
+f 67 97 95
+f 71 98 72
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 103
+f 73 103 79
+f 73 79 75
+f 73 75 74
+f 76 86 104
+f 76 104 77
+f 79 103 80
+f 80 103 81
+f 81 103 102
+f 81 102 101
+f 81 101 105
+f 81 105 82
+f 82 105 106
+f 82 106 83
+f 83 106 107
+f 83 107 84
+f 84 107 85
+f 85 107 108
+f 85 108 109
+f 85 109 110
+f 85 110 88
+f 86 87 104
+f 88 110 93
+f 88 93 94
+f 88 94 89
+f 89 94 90
+f 90 92 91
+f 93 110 109
+f 93 109 97
+f 95 111 96
+f 95 97 109
+f 95 109 111
+f 96 111 112
+f 98 113 114
+f 98 114 99
+f 99 101 100
+f 99 114 101
+f 101 114 115
+f 101 115 116
+f 101 116 105
+f 105 116 106
+f 106 116 117
+f 106 117 107
+f 107 117 108
+f 108 118 109
+f 108 117 118
+f 109 118 119
+f 109 119 111
+f 111 119 120
+f 111 120 112
+f 113 121 114
+f 114 121 122
+f 114 122 123
+f 114 123 115
+f 115 123 124
+f 115 124 116
+f 116 124 117
+f 117 124 118
+f 118 124 125
+f 118 125 119
+f 119 125 120
+f 120 125 126
+f 122 127 123
+f 123 127 126
+f 123 126 125
+f 123 125 124
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_18.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.02588315 0.22473787 0.07639057
+v 0.01854991 0.22286051 0.08064371
+v 0.02588315 0.22286051 0.08064371
+v 0.03321637 0.22469647 0.07639057
+v 0.03321637 0.22402700 0.06994503
+v 0.00388344 0.22471716 0.07639057
+v -0.00195210 0.22285362 0.08063994
+v -0.00195210 0.21845017 0.08185082
+v 0.02588315 0.21845017 0.08184706
+v 0.03321637 0.22281910 0.08060988
+v 0.04054186 0.22246021 0.08029023
+v 0.04054186 0.22412359 0.07639056
+v 0.04054186 0.22380611 0.06999767
+v -0.00195210 0.22399938 0.07028346
+v 0.00388344 0.22401317 0.07025715
+v -0.00195210 0.22471027 0.07639057
+v 0.04054186 0.22048632 0.06638757
+v -0.00195210 0.21409504 0.08134315
+v 0.04054186 0.21218320 0.08112878
+v 0.03321637 0.21845017 0.08179819
+v 0.04054186 0.21845017 0.08141460
+v 0.04421233 0.22214964 0.08000441
+v 0.04558588 0.22286746 0.07639056
+v 0.04604372 0.22310901 0.07101303
+v 0.04787508 0.21671785 0.06428164
+v -0.00195210 0.18723968 0.04343319
+v -0.00195210 0.22456531 0.07513454
+v 0.01121669 0.18710166 0.04343319
+v 0.00388344 0.18732252 0.04343319
+v -0.00195210 0.21297694 0.08121151
+v 0.07732441 0.16925312 0.06608275
+v 0.04585747 0.21246618 0.08071890
+v 0.04544618 0.21845017 0.08054215
+v 0.04923307 0.21884360 0.07674026
+v 0.05255437 0.21664187 0.07456668
+v 0.05275614 0.21677305 0.06916659
+v 0.04823980 0.22042416 0.06883191
+v 0.05543335 0.17804631 0.04343315
+v 0.04746379 0.18054482 0.04343316
+v 0.04357603 0.18172504 0.04343317
+v 0.04054186 0.18262228 0.04343317
+v 0.03253349 0.18479640 0.04343318
+v 0.01854991 0.18654949 0.04343319
+v 0.05214311 0.21555830 0.06490590
+v 0.07040245 0.17182074 0.04343313
+v 0.06275882 0.17527170 0.04343314
+v -0.00195210 0.17547189 0.04343314
+v -0.00195210 0.18492058 0.06577447
+v 0.07732441 0.16509818 0.06236359
+v 0.07732441 0.17406378 0.06705676
+v 0.07732441 0.18122111 0.06638367
+v 0.07732441 0.18432011 0.06394308
+v 0.07732441 0.18585234 0.06081434
+v 0.07732441 0.18601799 0.05738473
+v 0.07732441 0.18596278 0.05733585
+v 0.07732441 0.16801776 0.04343312
+v -0.00195210 0.17962680 0.05472604
+v 0.07732441 0.15424147 0.04343307
+v -0.00195210 0.18273955 0.06194623
+v 0.07732441 0.15981820 0.05514339
+v 0.07732441 0.16223388 0.05922731
+v 0.07732441 0.16420783 0.06143473
+v -0.00195210 0.18026179 0.05620391
+v 0.07732441 0.15624301 0.04780282
+v 0.07732441 0.15658122 0.04852107
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 13 17
+f 5 17 14
+f 6 16 7
+f 7 16 27
+f 7 27 14
+f 7 14 26
+f 7 26 47
+f 7 47 57
+f 7 57 63
+f 7 63 59
+f 7 59 48
+f 7 48 30
+f 7 30 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 17
+f 14 27 15
+f 14 17 26
+f 15 27 16
+f 17 25 28
+f 17 28 29
+f 17 29 26
+f 18 30 19
+f 19 31 32
+f 19 32 21
+f 19 21 20
+f 19 30 31
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 28
+f 25 37 44
+f 25 44 45
+f 25 45 46
+f 25 46 38
+f 26 29 28
+f 26 28 43
+f 26 43 42
+f 26 42 41
+f 26 41 40
+f 26 40 39
+f 26 39 38
+f 26 38 46
+f 26 46 45
+f 26 45 56
+f 26 56 58
+f 26 58 47
+f 30 48 31
+f 31 49 62
+f 31 62 61
+f 31 61 60
+f 31 60 65
+f 31 65 64
+f 31 64 58
+f 31 58 56
+f 31 56 55
+f 31 55 54
+f 31 54 53
+f 31 53 52
+f 31 52 51
+f 31 51 50
+f 31 50 32
+f 31 48 49
+f 32 50 33
+f 33 35 34
+f 33 50 51
+f 33 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 44 37
+f 36 53 54
+f 36 54 44
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 47 58 57
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 57 58 63
+f 58 64 59
+f 58 59 63
+f 59 64 65
+f 59 65 60
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_19.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v -0.00247169 0.18726951 0.04351160
+v -0.00195210 0.18726951 0.04351160
+v -0.00195210 0.17934502 0.02620302
+v -0.00345660 0.17933733 0.02620915
+v -0.00345660 0.18725415 0.04351160
+v -0.00195210 0.17549787 0.04351155
+v -0.00195210 0.17896876 0.02546006
+v -0.00345660 0.17205789 0.01182931
+v -0.00596152 0.18715434 0.04351160
+v -0.01079298 0.17186592 0.01221613
+v -0.01079298 0.17914536 0.02664508
+v -0.00195210 0.13992209 -0.01921453
+v -0.08117866 0.15133257 0.04351147
+v -0.08117866 0.10883051 -0.01921464
+v -0.00195210 0.17205789 0.01182931
+v -0.00345660 0.16440981 -0.00189356
+v -0.01079298 0.16422552 -0.00159270
+v -0.01079298 0.18207097 0.03304908
+v -0.01079298 0.18683182 0.04351160
+v -0.01812158 0.16669806 0.00416660
+v -0.01812158 0.17150498 0.01286695
+v -0.01285584 0.18669361 0.04351160
+v -0.01812158 0.17437684 0.01860783
+v -0.01812158 0.17875375 0.02743099
+v -0.00195210 0.15290699 -0.01921448
+v -0.08117866 0.16502392 0.04351152
+v -0.08117866 0.12497907 -0.01921458
+v -0.00195210 0.17164322 0.01108635
+v -0.00195210 0.16440212 -0.00188743
+v -0.00195210 0.16396445 -0.00262423
+v -0.00195210 0.16223670 -0.00549773
+v -0.00345660 0.16223670 -0.00550388
+v -0.01079298 0.16207546 -0.00520301
+v -0.01812158 0.16171453 -0.00457059
+v -0.01812158 0.16384924 -0.00095414
+v -0.02395345 0.16338084 -0.00016211
+v -0.02545793 0.16894795 0.01034955
+v -0.02545793 0.17092140 0.01395374
+v -0.02545793 0.17325574 0.01860783
+v -0.01812158 0.18133382 0.03304908
+v -0.01919177 0.18587964 0.04351159
+v -0.02545793 0.17638869 0.02507323
+v -0.02545793 0.17812407 0.02868353
+v -0.02545793 0.18016662 0.03304907
+v -0.00195210 0.15341379 -0.01855749
+v -0.00345660 0.15290699 -0.01921448
+v -0.08117866 0.15600906 0.02649148
+v -0.07993782 0.16582255 0.04351152
+v -0.08117866 0.12647644 -0.01769186
+v -0.07602148 0.12881850 -0.01921457
+v -0.00195210 0.15917288 -0.01028080
+v -0.01079298 0.15884271 -0.01028080
+v -0.00345660 0.15917288 -0.01028080
+v -0.01639993 0.15580955 -0.01424109
+v -0.01855586 0.15767550 -0.01094392
+v -0.02128567 0.15547169 -0.01379900
+v -0.02545793 0.15742209 -0.00961153
+v -0.02601631 0.16143811 -0.00276546
+v -0.02883918 0.16287404 0.00065452
+v -0.02601631 0.16504715 0.00350348
+v -0.02970000 0.17049137 0.01474579
+v -0.03240654 0.17171995 0.01838679
+v -0.03206533 0.17575899 0.02654683
+v -0.02913386 0.17776316 0.02943262
+v -0.03021186 0.18413655 0.04351159
+v -0.03686575 0.18296938 0.04351158
+v -0.03278656 0.18370652 0.04351158
+v -0.00195210 0.15354432 -0.01838558
+v -0.00345660 0.15354432 -0.01838558
+v -0.01079298 0.15259981 -0.01921448
+v -0.08117866 0.15461152 0.02392497
+v -0.07965864 0.15509531 0.02307153
+v -0.07690556 0.16749655 0.04351153
+v -0.07476514 0.15651587 0.02052343
+v -0.08117866 0.12811206 -0.01602792
+v -0.07684351 0.12977834 -0.01755676
+v -0.07426882 0.13413222 -0.01478763
+v -0.07118226 0.13217414 -0.01921455
+v -0.00195210 0.15619349 -0.01477528
+v -0.01079298 0.15603225 -0.01456037
+v -0.00345660 0.15619349 -0.01477528
+v -0.01079298 0.15339843 -0.01817068
+v -0.01838525 0.15185498 -0.01921448
+v -0.01855586 0.15349824 -0.01699181
+v -0.02545793 0.15074923 -0.01921449
+v -0.02545793 0.15201624 -0.01750143
+v -0.02545793 0.15511079 -0.01322185
+v -0.03278656 0.15665422 -0.00840195
+v -0.03278656 0.15982554 -0.00305403
+v -0.03278656 0.16243633 0.00145271
+v -0.03278656 0.16445585 0.00506302
+v -0.03240654 0.16831828 0.01196437
+v -0.03459350 0.16989242 0.01583256
+v -0.04012291 0.17104421 0.02088575
+v -0.04040210 0.18219381 0.04351158
+v -0.03206533 0.17886889 0.03296923
+v -0.08117866 0.14866046 0.01360367
+v -0.07703740 0.15392045 0.01831305
+v -0.07402066 0.16903998 0.04351153
+v -0.06972431 0.15797485 0.01831306
+v -0.07235328 0.15514907 0.01570969
+v -0.06764591 0.16394128 0.02752918
+v -0.06520306 0.16266663 0.02271544
+v -0.08117866 0.13159821 -0.01206148
+v -0.07915456 0.13248894 -0.01278600
+v -0.07055408 0.13256577 -0.01921455
+v -0.07617656 0.13669694 -0.00976512
+v -0.06944510 0.13934613 -0.01195094
+v -0.06541244 0.14058246 -0.01363329
+v -0.06885572 0.13528405 -0.01731728
+v -0.03140614 0.14949758 -0.01921449
+v -0.03244534 0.15024243 -0.01786368
+v -0.03278656 0.15433522 -0.01201227
+v -0.03806006 0.15601688 -0.00737048
+v -0.04034780 0.15763709 -0.00353910
+v -0.04012291 0.16151488 0.00318417
+v -0.04012291 0.16350369 0.00679450
+v -0.04012291 0.16598391 0.01138721
+v -0.04012291 0.16913988 0.01726930
+v -0.04410131 0.17046833 0.02200936
+v -0.04373681 0.18117252 0.04351158
+v -0.08117866 0.14128114 0.00172893
+v -0.07667290 0.15014248 0.01150994
+v -0.07416023 0.14879871 0.00672077
+v -0.07904598 0.14730133 0.00918902
+v -0.08058150 0.14087418 0.00040271
+v -0.06816552 0.17202704 0.04351154
+v -0.06746755 0.15646217 0.01340721
+v -0.06972431 0.15392817 0.01115997
+v -0.06680062 0.14873732 -0.00040775
+v -0.06932104 0.15008110 0.00425249
+v -0.06568387 0.17322493 0.04351155
+v -0.06031730 0.16378775 0.02064626
+v -0.06250424 0.16157625 0.01838675
+v -0.08117866 0.13390184 -0.00908971
+v -0.06749857 0.13443939 -0.01921455
+v -0.07319084 0.14082813 -0.00674424
+v -0.08117866 0.13458526 -0.00816874
+v -0.06944510 0.14197996 -0.00833449
+v -0.06396222 0.14725530 -0.00522150
+v -0.06224833 0.14454471 -0.01037295
+v -0.06052670 0.14184178 -0.01522353
+v -0.06262834 0.13870114 -0.01758130
+v -0.03622207 0.14826128 -0.01921450
+v -0.04012291 0.14971260 -0.01594800
+v -0.04034780 0.15367484 -0.00997996
+v -0.04294579 0.15528736 -0.00626527
+v -0.04744378 0.15665419 -0.00134713
+v -0.04378336 0.16295847 0.00777688
+v -0.04671480 0.16402582 0.01158982
+v -0.04690866 0.16802644 0.01920340
+v -0.04899480 0.16963899 0.02361188
+v -0.04690866 0.17152029 0.02594509
+v -0.04731968 0.18005142 0.04351157
+v -0.08117866 0.14071294 0.00082022
+v -0.07168634 0.14734744 0.00190700
+v -0.07667290 0.14573486 0.00425248
+v -0.07609127 0.14184939 -0.00242170
+v -0.07808435 0.13926165 -0.00441105
+v -0.08117866 0.14006026 -0.00016220
+v -0.06224833 0.15772149 0.01115998
+v -0.06479203 0.15508767 0.00859961
+v -0.06932104 0.14568115 -0.00291287
+v -0.06175978 0.14974326 -0.00291286
+v -0.06226386 0.17469159 0.04351155
+v -0.05732383 0.16992307 0.03030447
+v -0.05484218 0.16867911 0.02594508
+v -0.05725404 0.16251307 0.01583254
+v -0.06244998 0.13733432 -0.01921454
+v -0.05907648 0.14846091 -0.00711261
+v -0.05478013 0.14692516 -0.01213512
+v -0.05049154 0.14790804 -0.01351661
+v -0.05429155 0.14284771 -0.01758129
+v -0.05712220 0.14018316 -0.01921453
+v -0.05850260 0.13945367 -0.01921453
+v -0.04012291 0.14714018 -0.01921450
+v -0.04052618 0.14701731 -0.01921450
+v -0.04560581 0.14888326 -0.01483053
+v -0.04780825 0.15071080 -0.01077815
+v -0.04744378 0.15450412 -0.00495745
+v -0.05185644 0.15587095 0.00002822
+v -0.04671480 0.16037838 0.00488495
+v -0.04866910 0.16212916 0.00931802
+v -0.05236051 0.16342687 0.01412562
+v -0.05479564 0.16478598 0.01838677
+v -0.05243808 0.17087528 0.02843179
+v -0.04996420 0.17920675 0.04351157
+v -0.05989853 0.15624717 0.00659797
+v -0.06224833 0.15371316 0.00417882
+v -0.05674996 0.15484966 0.00178424
+v -0.05860344 0.17610448 0.04351156
+v -0.05479564 0.16112322 0.01158981
+v -0.05449319 0.15713790 0.00417884
+v -0.05449319 0.15315265 -0.00264884
+v -0.05478013 0.14939006 -0.00852478
+v -0.04780825 0.14588851 -0.01734180
+v -0.05308176 0.14201839 -0.01921452
+v -0.05569523 0.14085123 -0.01921452
+v -0.04766867 0.14436045 -0.01921451
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 19
+f 1 19 22
+f 1 22 41
+f 1 41 65
+f 1 65 67
+f 1 67 66
+f 1 66 95
+f 1 95 121
+f 1 121 154
+f 1 154 187
+f 1 187 191
+f 1 191 165
+f 1 165 132
+f 1 132 127
+f 1 127 99
+f 1 99 73
+f 1 73 48
+f 1 48 26
+f 1 26 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 25
+f 2 25 45
+f 2 45 68
+f 2 68 79
+f 2 79 51
+f 2 51 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 15
+f 2 15 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 10
+f 9 11 18
+f 9 18 19
+f 10 17 20
+f 10 20 21
+f 10 21 11
+f 11 22 18
+f 11 21 23
+f 11 23 24
+f 11 24 22
+f 12 14 27
+f 12 27 50
+f 12 50 78
+f 12 78 106
+f 12 106 136
+f 12 136 169
+f 12 169 175
+f 12 175 174
+f 12 174 198
+f 12 198 197
+f 12 197 199
+f 12 199 177
+f 12 177 176
+f 12 176 144
+f 12 144 111
+f 12 111 85
+f 12 85 83
+f 12 83 70
+f 12 70 46
+f 12 46 25
+f 13 26 47
+f 13 47 71
+f 13 71 97
+f 13 97 122
+f 13 122 155
+f 13 155 160
+f 13 160 138
+f 13 138 135
+f 13 135 104
+f 13 104 75
+f 13 75 49
+f 13 49 27
+f 13 27 14
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 34 35
+f 17 35 20
+f 17 33 34
+f 18 22 19
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 23
+f 22 24 40
+f 22 40 41
+f 23 39 24
+f 24 39 42
+f 24 42 43
+f 24 43 44
+f 24 44 40
+f 25 46 45
+f 26 48 47
+f 27 49 50
+f 31 51 32
+f 32 52 33
+f 32 51 53
+f 32 53 52
+f 33 52 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 57
+f 34 57 36
+f 34 36 35
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 42
+f 40 44 65
+f 40 65 41
+f 42 64 43
+f 43 64 66
+f 43 66 44
+f 44 66 67
+f 44 67 65
+f 45 46 69
+f 45 69 68
+f 46 70 69
+f 47 48 72
+f 47 72 71
+f 48 73 74
+f 48 74 72
+f 49 75 50
+f 50 76 77
+f 50 77 78
+f 50 75 76
+f 51 79 81
+f 51 81 53
+f 52 80 54
+f 52 53 80
+f 53 81 80
+f 54 80 82
+f 54 82 83
+f 54 83 84
+f 54 84 56
+f 54 56 55
+f 56 84 83
+f 56 83 85
+f 56 85 86
+f 56 86 87
+f 56 87 57
+f 57 87 88
+f 57 88 58
+f 58 88 59
+f 59 61 60
+f 59 88 89
+f 59 89 90
+f 59 90 91
+f 59 91 61
+f 61 91 92
+f 61 92 93
+f 61 93 62
+f 62 93 94
+f 62 94 95
+f 62 95 66
+f 62 66 63
+f 63 66 96
+f 63 96 64
+f 64 96 66
+f 68 69 81
+f 68 81 79
+f 69 70 82
+f 69 82 81
+f 70 83 82
+f 71 72 97
+f 72 74 98
+f 72 98 97
+f 73 99 74
+f 74 100 101
+f 74 101 98
+f 74 99 102
+f 74 102 103
+f 74 103 100
+f 75 104 105
+f 75 105 77
+f 75 77 76
+f 77 106 78
+f 77 105 107
+f 77 107 108
+f 77 108 109
+f 77 109 110
+f 77 110 106
+f 80 81 82
+f 85 111 86
+f 86 111 87
+f 87 111 112
+f 87 112 113
+f 87 113 88
+f 88 113 114
+f 88 114 89
+f 89 114 90
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 91 116 117
+f 91 117 93
+f 91 93 92
+f 93 117 118
+f 93 118 119
+f 93 119 94
+f 94 119 120
+f 94 120 95
+f 95 120 121
+f 97 98 123
+f 97 123 124
+f 97 124 125
+f 97 125 126
+f 97 126 122
+f 98 101 123
+f 99 127 102
+f 100 103 128
+f 100 128 101
+f 101 124 123
+f 101 128 129
+f 101 129 130
+f 101 130 131
+f 101 131 124
+f 102 127 103
+f 103 127 132
+f 103 132 133
+f 103 133 134
+f 103 134 128
+f 104 135 105
+f 105 135 107
+f 106 110 136
+f 107 137 108
+f 107 135 138
+f 107 138 137
+f 108 139 109
+f 108 137 139
+f 109 136 110
+f 109 139 140
+f 109 140 141
+f 109 141 142
+f 109 142 143
+f 109 143 136
+f 111 144 145
+f 111 145 112
+f 112 145 113
+f 113 145 146
+f 113 146 114
+f 114 146 147
+f 114 147 115
+f 115 147 116
+f 116 147 148
+f 116 148 149
+f 116 149 117
+f 117 149 118
+f 118 149 119
+f 119 149 120
+f 120 149 150
+f 120 150 151
+f 120 151 152
+f 120 152 153
+f 120 153 154
+f 120 154 121
+f 122 126 155
+f 124 131 156
+f 124 156 157
+f 124 157 125
+f 125 157 126
+f 126 157 156
+f 126 156 158
+f 126 158 137
+f 126 137 159
+f 126 159 138
+f 126 138 160
+f 126 160 155
+f 128 134 161
+f 128 161 162
+f 128 162 130
+f 128 130 129
+f 130 163 156
+f 130 156 131
+f 130 162 164
+f 130 164 140
+f 130 140 163
+f 132 165 133
+f 133 165 166
+f 133 166 167
+f 133 167 168
+f 133 168 134
+f 134 168 161
+f 136 143 169
+f 137 138 159
+f 137 158 163
+f 137 163 139
+f 139 163 140
+f 140 164 170
+f 140 170 141
+f 141 170 171
+f 141 171 142
+f 142 171 172
+f 142 172 173
+f 142 173 174
+f 142 174 143
+f 143 174 175
+f 143 175 169
+f 144 176 145
+f 145 176 177
+f 145 177 178
+f 145 178 146
+f 146 178 147
+f 147 178 179
+f 147 179 180
+f 147 180 148
+f 148 180 181
+f 148 181 182
+f 148 182 149
+f 149 182 183
+f 149 183 150
+f 150 183 184
+f 150 184 151
+f 151 184 152
+f 152 184 185
+f 152 185 186
+f 152 186 153
+f 153 186 187
+f 153 187 154
+f 156 163 158
+f 161 188 162
+f 161 168 188
+f 162 188 189
+f 162 189 164
+f 164 188 190
+f 164 190 170
+f 164 189 188
+f 165 191 186
+f 165 186 166
+f 166 186 167
+f 167 185 168
+f 167 186 185
+f 168 185 184
+f 168 184 192
+f 168 192 181
+f 168 181 193
+f 168 193 188
+f 170 190 194
+f 170 194 195
+f 170 195 172
+f 170 172 171
+f 172 195 179
+f 172 179 178
+f 172 178 196
+f 172 196 197
+f 172 197 173
+f 173 198 174
+f 173 197 198
+f 177 199 178
+f 178 199 196
+f 179 195 180
+f 180 195 181
+f 181 184 183
+f 181 183 182
+f 181 195 194
+f 181 194 190
+f 181 190 193
+f 181 192 184
+f 186 191 187
+f 188 193 190
+f 196 199 197
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_2.obj

@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
+v -0.08117866 -0.15831676 0.03132207
+v -0.08303932 -0.15713834 0.03132207
+v -0.08117866 -0.15676847 0.02832990
+v -0.08117866 -0.14511354 0.03132212
+v -0.08337827 -0.15692334 0.03132207
+v -0.08117866 -0.15435147 0.02367730
+v -0.14312868 -0.07044444 0.03132239
+v -0.08117866 -0.07044416 -0.04450285
+v -0.08418600 -0.15639001 0.03132208
+v -0.08418600 -0.15330209 0.02550204
+v -0.09524903 -0.14784881 0.02927256
+v -0.08839774 -0.14821863 0.02142020
+v -0.08117866 -0.15318166 0.02160179
+v -0.15484796 -0.07044444 0.03132239
+v -0.08117866 -0.07044411 -0.05702508
+v -0.09312151 -0.15037764 0.03132210
+v -0.09598463 -0.14839930 0.03132210
+v -0.09976366 -0.14539739 0.03132212
+v -0.10135027 -0.14413298 0.03132212
+v -0.10314602 -0.14096762 0.02841644
+v -0.10137191 -0.13949678 0.02359952
+v -0.09460716 -0.13994402 0.01566070
+v -0.08971752 -0.14184493 0.01272903
+v -0.08633514 -0.14678216 0.01660330
+v -0.08398406 -0.14969805 0.01885176
+v -0.08144548 -0.14840782 0.01393108
+v -0.08117866 -0.14849385 0.01379272
+v -0.15437922 -0.07173467 0.03132239
+v -0.15387436 -0.07044443 0.02916905
+v -0.08117866 -0.07198378 -0.05630731
+v -0.08407781 -0.07044412 -0.05524362
+v -0.10409078 -0.14181919 0.03132213
+v -0.10611732 -0.13664971 0.02584800
+v -0.10382394 -0.13422407 0.01860105
+v -0.10253302 -0.13303707 0.01488240
+v -0.10779046 -0.13843022 0.03132214
+v -0.09886938 -0.13816355 0.01828103
+v -0.09838619 -0.13450788 0.01203724
+v -0.09567452 -0.13340690 0.00709926
+v -0.09187385 -0.13884303 0.01074868
+v -0.08764049 -0.14025364 0.00792079
+v -0.08454659 -0.14437374 0.01092159
+v -0.08117866 -0.14596500 0.00978874
+v -0.15299453 -0.07513222 0.03132237
+v -0.15340560 -0.07291305 0.03013762
+v -0.15238873 -0.07044442 0.02604713
+v -0.08117866 -0.07754030 -0.05353998
+v -0.08410667 -0.07729947 -0.05193146
+v -0.08845543 -0.07471905 -0.05047858
+v -0.08984010 -0.07044413 -0.05146444
+v -0.10912466 -0.13718302 0.03132215
+v -0.10908862 -0.13227155 0.02327092
+v -0.10749478 -0.13069748 0.01860106
+v -0.10990355 -0.12569145 0.01481328
+v -0.10330470 -0.12641391 0.00658905
+v -0.09468649 -0.12518386 -0.00615803
+v -0.09361915 -0.13178120 0.00228236
+v -0.09170798 -0.12947601 -0.00336476
+v -0.08117866 -0.14231799 0.00415027
+v -0.08659477 -0.13211662 -0.00537973
+v -0.08117866 -0.13947088 -0.00016504
+v -0.08117866 -0.14087292 0.00193640
+v -0.15180456 -0.07784168 0.03132236
+v -0.14856642 -0.07044439 0.01830723
+v -0.14737648 -0.07584609 0.02040001
+v -0.14886210 -0.07797928 0.02532933
+v -0.08117866 -0.08277859 -0.05090238
+v -0.08166185 -0.08253778 -0.05076402
+v -0.08655150 -0.07964768 -0.04922466
+v -0.09170077 -0.07784139 -0.04657837
+v -0.09671303 -0.07602650 -0.04394078
+v -0.09884052 -0.07044415 -0.04504768
+v -0.09353982 -0.07044414 -0.04882682
+v -0.11156951 -0.13477459 0.03132215
+v -0.11061031 -0.13379404 0.02808783
+v -0.11114401 -0.12699887 0.01860107
+v -0.11348786 -0.12929547 0.02576157
+v -0.11637262 -0.12473669 0.02343528
+v -0.11521148 -0.12210463 0.01797842
+v -0.11700725 -0.11804476 0.01515921
+v -0.11758420 -0.11129258 0.00707340
+v -0.10944920 -0.11034639 -0.00614069
+v -0.10421336 -0.11256555 -0.01029168
+v -0.10148009 -0.12457321 0.00177214
+v -0.10269167 -0.11104309 -0.01416597
+v -0.09679958 -0.11985955 -0.01029171
+v -0.09529950 -0.11832848 -0.01407953
+v -0.09192433 -0.12384202 -0.01087114
+v -0.08753232 -0.12536447 -0.01365581
+v -0.08980405 -0.12717939 -0.00884755
+v -0.08461871 -0.12963938 -0.01079335
+v -0.08171232 -0.13385411 -0.00792223
+v -0.08117866 -0.13458523 -0.00738607
+v -0.14849432 -0.08471424 0.03132234
+v -0.14745580 -0.08308854 0.02739618
+v -0.14663365 -0.07044437 0.01457998
+v -0.14608555 -0.07302482 0.01559175
+v -0.14620094 -0.08077474 0.02257928
+v -0.13996266 -0.07555360 0.00621739
+v -0.08117866 -0.08354413 -0.05047862
+v -0.08117866 -0.08648581 -0.04878366
+v -0.08410667 -0.08495478 -0.04784966
+v -0.08808042 -0.08892007 -0.04299818
+v -0.08971752 -0.08487736 -0.04416564
+v -0.09495334 -0.08095513 -0.04265222
+v -0.10160268 -0.07243971 -0.04209873
+v -0.10221569 -0.07044416 -0.04258302
+v -0.11521148 -0.13098997 0.03132217
+v -0.11781499 -0.12631936 0.02825217
+v -0.12062762 -0.12170039 0.02606427
+v -0.12344024 -0.11701263 0.02388501
+v -0.11855058 -0.11979945 0.01996746
+v -0.12129832 -0.11506008 0.01779684
+v -0.12403884 -0.11028625 0.01561755
+v -0.11899054 -0.11291828 0.01138007
+v -0.11593988 -0.10946907 0.00225650
+v -0.11807461 -0.10453184 -0.00085676
+v -0.11637983 -0.10244165 -0.00567367
+v -0.11394942 -0.10029129 -0.01089701
+v -0.10952852 -0.10306953 -0.01358654
+v -0.11151901 -0.09813230 -0.01584364
+v -0.10934825 -0.09540561 -0.02066053
+v -0.10243206 -0.10335335 -0.02110161
+v -0.10073004 -0.10706919 -0.01950173
+v -0.09527788 -0.11093981 -0.02125732
+v -0.09773713 -0.11346007 -0.01652688
+v -0.09144835 -0.11640174 -0.01941531
+v -0.08772702 -0.11811342 -0.02107572
+v -0.09144835 -0.11998854 -0.01580913
+v -0.08518124 -0.12268939 -0.01837757
+v -0.08117866 -0.12431508 -0.01989963
+v -0.08264266 -0.12716216 -0.01567943
+v -0.08117866 -0.12924372 -0.01443413
+v -0.08117866 -0.13118767 -0.01202136
+v -0.08117866 -0.13408635 -0.00810386
+v -0.14742696 -0.08670116 0.03132233
+v -0.14609998 -0.08801717 0.03005109
+v -0.14011410 -0.09037393 0.02039132
+v -0.14497493 -0.07044436 0.01142346
+v -0.13874384 -0.08049083 0.00840529
+v -0.14005640 -0.08301970 0.01322220
+v -0.14160696 -0.08523885 0.01822936
+v -0.13758997 -0.07780716 0.00394296
+v -0.14103001 -0.07044433 0.00407270
+v -0.13862124 -0.07266351 0.00140049
+v -0.08117866 -0.09598184 -0.04319711
+v -0.08365955 -0.09174133 -0.04416567
+v -0.08580146 -0.09385730 -0.04145020
+v -0.08924874 -0.09756454 -0.03663331
+v -0.09110940 -0.09188758 -0.03893364
+v -0.09619376 -0.08990925 -0.03640843
+v -0.09338114 -0.08487737 -0.04151935
+v -0.09900641 -0.07809085 -0.04100910
+v -0.10108342 -0.08658049 -0.03444535
+v -0.10943478 -0.07323966 -0.03526685
+v -0.10611011 -0.07044418 -0.03941784
+v -0.11649522 -0.12963954 0.03132217
+v -0.11870204 -0.12727415 0.03132218
+v -0.12231518 -0.12327450 0.03132220
+v -0.12485377 -0.11866411 0.02869326
+v -0.12551728 -0.11208399 0.02043449
+v -0.12818566 -0.10716393 0.01848872
+v -0.12562544 -0.10491033 0.01138009
+v -0.12449317 -0.10344807 0.00767877
+v -0.12060598 -0.09942257 -0.00279390
+v -0.12296426 -0.10133211 0.00286187
+v -0.11824771 -0.09751301 -0.00819886
+v -0.11640866 -0.09499278 -0.01300709
+v -0.11377632 -0.09273059 -0.01788454
+v -0.11115120 -0.09047698 -0.02252846
+v -0.10662216 -0.09291979 -0.02520933
+v -0.10193442 -0.09537120 -0.02788158
+v -0.10445857 -0.09842472 -0.02306467
+v -0.09974202 -0.10075570 -0.02559853
+v -0.09485236 -0.10309527 -0.02812375
+v -0.09705922 -0.10706918 -0.02287447
+v -0.09202531 -0.10761966 -0.02669686
+v -0.08743134 -0.11045814 -0.02808054
+v -0.09144835 -0.11271170 -0.02283988
+v -0.08513076 -0.11530935 -0.02547751
+v -0.08117866 -0.11681460 -0.02704279
+v -0.08283738 -0.12000576 -0.02287452
+v -0.08117866 -0.12255178 -0.02164651
+v -0.08117866 -0.12772986 -0.01618965
+v -0.14553743 -0.09016754 0.03132232
+v -0.14143388 -0.09261033 0.02558008
+v -0.13871501 -0.09530257 0.02301162
+v -0.13876548 -0.08794830 0.01557442
+v -0.13764767 -0.09261031 0.01822933
+v -0.13252723 -0.08251213 -0.00070100
+v -0.13372439 -0.07738569 -0.00309647
+v -0.14079923 -0.07044433 0.00364895
+v -0.13909724 -0.07044432 0.00057028
+v -0.13733753 -0.07044431 -0.00242192
+v -0.13230365 -0.07485682 -0.00751556
+v -0.08117866 -0.09670436 -0.04272149
+v -0.08389030 -0.09946544 -0.03901153
+v -0.08686162 -0.10249314 -0.03490376
+v -0.09205415 -0.10032562 -0.03243906
+v -0.09413839 -0.09484649 -0.03479128
+v -0.09906410 -0.09264452 -0.03220553
+v -0.10388885 -0.09043395 -0.02962845
+v -0.10577836 -0.08437853 -0.03171259
+v -0.10793472 -0.07748016 -0.03401291
+v -0.11024972 -0.07044419 -0.03597597
+v -0.11042281 -0.08216797 -0.02897117
+v -0.11187960 -0.07748017 -0.03039804
+v -0.11682695 -0.07328270 -0.02803715
+v -0.11384844 -0.07079686 -0.03236114
+v -0.12365659 -0.12175202 0.03132220
+v -0.12672887 -0.11450961 0.02610752
+v -0.12557495 -0.11952426 0.03132221
+v -0.12946217 -0.11463005 0.03132223
+v -0.13223874 -0.10404164 0.02136848
+v -0.13065935 -0.10930570 0.02582216
+v -0.13086127 -0.10206328 0.01655158
+v -0.12937562 -0.09962904 0.01134551
+v -0.12569758 -0.09919035 0.00482497
+v -0.12473117 -0.09640345 0.00008592
+v -0.12313734 -0.09397785 -0.00473101
+v -0.12061319 -0.09201669 -0.01004948
+v -0.11808182 -0.09005555 -0.01509987
+v -0.11604088 -0.08689881 -0.01991677
+v -0.10877851 -0.08710520 -0.02734538
+v -0.09704478 -0.09816665 -0.02997440
+v -0.08996273 -0.10552091 -0.03008686
+v -0.08469805 -0.10758521 -0.03236990
+v -0.08254170 -0.11251386 -0.02984472
+v -0.08117866 -0.12062505 -0.02348852
+v -0.08117866 -0.11474162 -0.02886750
+v -0.14425372 -0.09251575 0.03132231
+v -0.13252000 -0.09712602 0.01372372
+v -0.13373160 -0.09962907 0.01881736
+v -0.13721495 -0.09968072 0.02558005
+v -0.13832556 -0.10214934 0.03099365
+v -0.13870780 -0.10179671 0.03132228
+v -0.13986890 -0.09722070 0.02782854
+v -0.13391188 -0.09230921 0.01134554
+v -0.13103437 -0.07978546 -0.00551793
+v -0.12963526 -0.08493773 -0.00309650
+v -0.13110647 -0.08744078 0.00168582
+v -0.13296714 -0.07044428 -0.00960837
+v -0.13072423 -0.07153667 -0.01233248
+v -0.12923858 -0.07738566 -0.01006672
+v -0.08117866 -0.10496176 -0.03686684
+v -0.08197194 -0.10471233 -0.03656415
+v -0.11343018 -0.07044420 -0.03294054
+v -0.11322823 -0.08453339 -0.02449153
+v -0.11759142 -0.08197017 -0.02163772
+v -0.11555045 -0.07748018 -0.02669674
+v -0.11759863 -0.07044421 -0.02885006
+v -0.11888956 -0.07748020 -0.02309052
+v -0.12390181 -0.07270641 -0.02048750
+v -0.11446147 -0.07044420 -0.03194604
+v -0.11393501 -0.07044420 -0.03245625
+v -0.13015452 -0.11374410 0.03132223
+v -0.13337099 -0.10560711 0.02582217
+v -0.13517396 -0.10696618 0.03132226
+v -0.13069540 -0.11303017 0.03132223
+v -0.13164738 -0.11062176 0.02964456
+v -0.12584903 -0.09181889 -0.00262090
+v -0.12471673 -0.08904062 -0.00708323
+v -0.13107761 -0.09479503 0.00890682
+v -0.12967133 -0.09230919 0.00412450
+v -0.12297148 -0.08612472 -0.01189149
+v -0.12444270 -0.08118749 -0.01389779
+v -0.12027425 -0.08404314 -0.01690728
+v -0.08117866 -0.10886684 -0.03379682
+v -0.08117866 -0.11299554 -0.03036360
+v -0.14058289 -0.09880340 0.03132229
+v -0.13781353 -0.10312991 0.03132227
+v -0.12563988 -0.08414638 -0.00980731
+v -0.13097668 -0.07044427 -0.01270435
+v -0.12766642 -0.07044426 -0.01705424
+v -0.12548842 -0.07748022 -0.01523819
+v -0.08117866 -0.10604555 -0.03604528
+v -0.12256039 -0.07748021 -0.01884438
+v -0.12092330 -0.07044423 -0.02514009
+v -0.12444991 -0.07044424 -0.02113610
+v -0.12105312 -0.07044423 -0.02499308
+v -0.12686587 -0.07044425 -0.01810065
+v -0.13381094 -0.10882408 0.03132225
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 27
+f 1 27 43
+f 1 43 59
+f 1 59 62
+f 1 62 61
+f 1 61 93
+f 1 93 135
+f 1 135 134
+f 1 134 133
+f 1 133 184
+f 1 184 131
+f 1 131 183
+f 1 183 229
+f 1 229 181
+f 1 181 230
+f 1 230 269
+f 1 269 268
+f 1 268 276
+f 1 276 245
+f 1 245 196
+f 1 196 146
+f 1 146 101
+f 1 101 100
+f 1 100 67
+f 1 67 47
+f 1 47 30
+f 1 30 15
+f 1 15 8
+f 1 8 4
+f 1 4 7
+f 1 7 14
+f 1 14 28
+f 1 28 44
+f 1 44 63
+f 1 63 94
+f 1 94 136
+f 1 136 185
+f 1 185 231
+f 1 231 270
+f 1 270 236
+f 1 236 271
+f 1 271 258
+f 1 258 282
+f 1 282 259
+f 1 259 256
+f 1 256 213
+f 1 213 212
+f 1 212 210
+f 1 210 159
+f 1 159 158
+f 1 158 157
+f 1 157 108
+f 1 108 74
+f 1 74 51
+f 1 51 36
+f 1 36 32
+f 1 32 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 8 15
+f 7 15 31
+f 7 31 50
+f 7 50 73
+f 7 73 72
+f 7 72 107
+f 7 107 156
+f 7 156 205
+f 7 205 247
+f 7 247 255
+f 7 255 254
+f 7 254 251
+f 7 251 278
+f 7 278 280
+f 7 280 279
+f 7 279 281
+f 7 281 274
+f 7 274 273
+f 7 273 242
+f 7 242 194
+f 7 194 193
+f 7 193 192
+f 7 192 144
+f 7 144 139
+f 7 139 96
+f 7 96 64
+f 7 64 46
+f 7 46 29
+f 7 29 14
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 14 29 28
+f 15 30 31
+f 19 32 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 20 32 36
+f 20 36 33
+f 21 35 37
+f 21 37 22
+f 22 37 35
+f 22 35 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 43
+f 24 43 26
+f 24 26 25
+f 26 43 27
+f 28 29 45
+f 28 45 44
+f 29 46 45
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 33 36 51
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 39 38
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 39
+f 39 57 40
+f 39 56 58
+f 39 58 57
+f 40 57 41
+f 41 59 42
+f 41 57 58
+f 41 58 60
+f 41 60 61
+f 41 61 62
+f 41 62 59
+f 42 59 43
+f 44 45 63
+f 45 46 64
+f 45 64 65
+f 45 65 66
+f 45 66 63
+f 47 67 68
+f 47 68 48
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 51 74 75
+f 51 75 52
+f 52 76 54
+f 52 54 53
+f 52 75 77
+f 52 77 78
+f 52 78 76
+f 54 76 78
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 55
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 56 84 83
+f 56 83 85
+f 56 85 86
+f 56 86 87
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 58
+f 58 90 60
+f 60 90 91
+f 60 91 92
+f 60 92 61
+f 61 92 93
+f 63 66 95
+f 63 95 94
+f 64 96 97
+f 64 97 65
+f 65 98 66
+f 65 97 99
+f 65 99 98
+f 66 98 95
+f 67 100 68
+f 68 100 101
+f 68 101 102
+f 68 102 69
+f 69 102 103
+f 69 103 104
+f 69 104 105
+f 69 105 70
+f 70 105 71
+f 71 105 106
+f 71 106 72
+f 72 106 107
+f 74 108 75
+f 75 108 109
+f 75 109 77
+f 77 109 78
+f 78 109 110
+f 78 110 111
+f 78 111 112
+f 78 112 79
+f 79 112 80
+f 80 112 113
+f 80 113 114
+f 80 114 115
+f 80 115 81
+f 81 116 82
+f 81 115 114
+f 81 114 117
+f 81 117 116
+f 82 117 118
+f 82 118 85
+f 82 85 83
+f 82 116 117
+f 85 119 120
+f 85 120 121
+f 85 121 122
+f 85 122 123
+f 85 123 124
+f 85 124 125
+f 85 125 126
+f 85 126 87
+f 85 87 86
+f 85 118 119
+f 87 89 88
+f 87 126 125
+f 87 125 127
+f 87 127 128
+f 87 128 129
+f 87 129 89
+f 89 129 128
+f 89 128 130
+f 89 130 131
+f 89 131 132
+f 89 132 133
+f 89 133 134
+f 89 134 91
+f 89 91 90
+f 91 134 92
+f 92 135 93
+f 92 134 135
+f 94 95 136
+f 95 137 136
+f 95 98 138
+f 95 138 137
+f 96 139 97
+f 97 139 99
+f 98 99 140
+f 98 140 141
+f 98 141 142
+f 98 142 138
+f 99 143 140
+f 99 139 144
+f 99 144 145
+f 99 145 143
+f 101 146 147
+f 101 147 102
+f 102 147 103
+f 103 147 146
+f 103 146 148
+f 103 148 149
+f 103 149 150
+f 103 150 151
+f 103 151 152
+f 103 152 104
+f 104 152 105
+f 105 153 106
+f 105 152 151
+f 105 151 154
+f 105 154 153
+f 106 153 155
+f 106 155 156
+f 106 156 107
+f 108 157 109
+f 109 157 158
+f 109 158 159
+f 109 159 110
+f 110 159 160
+f 110 160 111
+f 111 160 161
+f 111 161 113
+f 111 113 112
+f 113 161 114
+f 114 161 162
+f 114 162 163
+f 114 163 164
+f 114 164 117
+f 117 165 118
+f 117 164 166
+f 117 166 165
+f 118 165 167
+f 118 167 119
+f 119 168 120
+f 119 167 168
+f 120 168 121
+f 121 168 122
+f 122 168 169
+f 122 169 170
+f 122 170 171
+f 122 171 172
+f 122 172 173
+f 122 173 123
+f 123 125 124
+f 123 173 172
+f 123 172 174
+f 123 174 175
+f 123 175 176
+f 123 176 125
+f 125 128 127
+f 125 176 175
+f 125 175 177
+f 125 177 178
+f 125 178 179
+f 125 179 128
+f 128 179 178
+f 128 178 180
+f 128 180 181
+f 128 181 182
+f 128 182 183
+f 128 183 131
+f 128 131 130
+f 131 184 132
+f 132 184 133
+f 136 137 185
+f 137 138 186
+f 137 186 185
+f 138 187 186
+f 138 142 141
+f 138 141 188
+f 138 188 189
+f 138 189 187
+f 140 188 141
+f 140 143 190
+f 140 190 188
+f 143 145 191
+f 143 191 190
+f 144 192 145
+f 145 193 194
+f 145 194 195
+f 145 195 191
+f 145 192 193
+f 146 196 148
+f 148 196 149
+f 149 196 197
+f 149 197 198
+f 149 198 199
+f 149 199 200
+f 149 200 150
+f 150 200 151
+f 151 200 201
+f 151 201 202
+f 151 202 154
+f 153 154 155
+f 154 202 203
+f 154 203 204
+f 154 204 155
+f 155 205 156
+f 155 204 206
+f 155 206 207
+f 155 207 208
+f 155 208 209
+f 155 209 205
+f 159 210 160
+f 160 211 161
+f 160 210 212
+f 160 212 213
+f 160 213 211
+f 161 214 162
+f 161 211 215
+f 161 215 214
+f 162 214 216
+f 162 216 163
+f 163 216 164
+f 164 216 217
+f 164 217 218
+f 164 218 219
+f 164 219 166
+f 165 166 219
+f 165 219 167
+f 167 219 220
+f 167 220 221
+f 167 221 168
+f 168 222 169
+f 168 221 222
+f 169 223 170
+f 169 222 223
+f 170 224 171
+f 170 223 224
+f 171 224 202
+f 171 202 172
+f 172 202 201
+f 172 201 200
+f 172 200 225
+f 172 225 175
+f 172 175 174
+f 175 225 200
+f 175 200 199
+f 175 199 198
+f 175 198 226
+f 175 226 177
+f 177 226 178
+f 178 226 198
+f 178 198 227
+f 178 227 228
+f 178 228 181
+f 178 181 180
+f 181 229 182
+f 181 228 230
+f 182 229 183
+f 185 186 231
+f 186 187 231
+f 187 189 232
+f 187 232 233
+f 187 233 214
+f 187 214 234
+f 187 234 235
+f 187 235 236
+f 187 236 237
+f 187 237 231
+f 188 238 189
+f 188 190 238
+f 189 238 232
+f 190 191 239
+f 190 239 240
+f 190 240 241
+f 190 241 238
+f 191 195 239
+f 194 242 195
+f 195 242 243
+f 195 243 244
+f 195 244 239
+f 196 245 246
+f 196 246 197
+f 197 246 198
+f 198 246 227
+f 202 224 206
+f 202 206 203
+f 203 206 204
+f 205 209 247
+f 206 208 207
+f 206 224 248
+f 206 248 249
+f 206 249 250
+f 206 250 208
+f 208 251 209
+f 208 250 249
+f 208 249 252
+f 208 252 253
+f 208 253 251
+f 209 251 254
+f 209 254 255
+f 209 255 247
+f 211 213 215
+f 213 256 215
+f 214 233 216
+f 214 215 257
+f 214 257 258
+f 214 258 235
+f 214 235 234
+f 215 256 259
+f 215 259 260
+f 215 260 257
+f 216 233 232
+f 216 232 217
+f 217 232 219
+f 217 219 218
+f 219 261 262
+f 219 262 220
+f 219 232 263
+f 219 263 264
+f 219 264 261
+f 220 262 221
+f 221 262 222
+f 222 262 265
+f 222 265 266
+f 222 266 267
+f 222 267 223
+f 223 267 249
+f 223 249 248
+f 223 248 224
+f 227 268 228
+f 227 246 268
+f 228 269 230
+f 228 268 269
+f 231 237 270
+f 232 238 263
+f 235 258 271
+f 235 271 236
+f 236 270 237
+f 238 241 263
+f 239 244 272
+f 239 272 262
+f 239 262 240
+f 240 261 241
+f 240 262 261
+f 241 261 264
+f 241 264 263
+f 242 273 243
+f 243 273 274
+f 243 274 253
+f 243 253 275
+f 243 275 244
+f 244 275 266
+f 244 266 272
+f 245 276 246
+f 246 276 268
+f 249 267 277
+f 249 277 253
+f 249 253 252
+f 251 253 278
+f 253 279 280
+f 253 280 278
+f 253 277 275
+f 253 274 281
+f 253 281 279
+f 257 260 258
+f 258 260 282
+f 259 282 260
+f 262 272 266
+f 262 266 265
+f 266 275 277
+f 266 277 267
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_20.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v 0.00388344 0.18731186 0.04342706
+v 0.00388344 0.17936028 0.02615848
+v -0.00195210 0.17934552 0.02620141
+v -0.00195210 0.18723806 0.04342706
+v 0.01121669 0.18709777 0.04342706
+v 0.01121669 0.17919787 0.02652641
+v 0.00388344 0.17552107 0.01860347
+v -0.00195210 0.17205838 0.01182728
+v -0.00195210 0.17546930 0.04342701
+v 0.01854991 0.18654403 0.04342706
+v 0.01854991 0.17889514 0.02717033
+v 0.01854991 0.17454648 0.01860347
+v 0.01121669 0.17190334 0.01218297
+v 0.00388344 0.17206578 0.01181501
+v -0.00195210 0.17164492 0.01108527
+v -0.00195210 0.13992698 -0.01920839
+v 0.07732441 0.11190054 -0.01920849
+v 0.07732441 0.15422794 0.04342694
+v 0.03253349 0.18479424 0.04342705
+v 0.02588315 0.17839309 0.02820054
+v 0.02588315 0.17350545 0.01860347
+v 0.02588315 0.17102475 0.01375894
+v 0.01854991 0.17157108 0.01279619
+v 0.01854991 0.16386313 -0.00101992
+v 0.01121669 0.16418801 -0.00157795
+v 0.00388344 0.16438735 -0.00187229
+v -0.00195210 0.16440949 -0.00188456
+v -0.00195210 0.15290660 -0.01920834
+v 0.07732441 0.12780386 -0.01920843
+v 0.07732441 0.16801231 0.04342699
+v 0.04054186 0.18261620 0.04342704
+v 0.04054186 0.17670233 0.03154877
+v 0.04054186 0.17119455 0.02055968
+v 0.03552884 0.17001326 0.01557409
+v 0.03313100 0.17190331 0.01822939
+v 0.03046933 0.17796486 0.02904066
+v 0.03064003 0.17058914 0.01456229
+v 0.02588315 0.16906821 0.01015316
+v 0.02588315 0.16574580 0.00416803
+v 0.02588315 0.16333894 -0.00010006
+v 0.01854991 0.16176636 -0.00463185
+v 0.01121669 0.16209858 -0.00518986
+v 0.00388344 0.16223146 -0.00548423
+v -0.00195210 0.16396650 -0.00262656
+v -0.00195210 0.15341604 -0.01855832
+v 0.00388344 0.15289184 -0.01920834
+v 0.07732441 0.12933216 -0.01764469
+v 0.07629233 0.12864552 -0.01920843
+v 0.07550081 0.15669402 0.02017943
+v 0.07040245 0.17181462 0.04342700
+v 0.07732441 0.15799343 0.02461920
+v 0.04357603 0.18172285 0.04342704
+v 0.04467018 0.17790576 0.03636263
+v 0.04054186 0.16931921 0.01694774
+v 0.04751812 0.17174827 0.02575987
+v 0.04483315 0.17055220 0.02184131
+v 0.04054186 0.16636599 0.01139186
+v 0.04054186 0.16370806 0.00646151
+v 0.03464422 0.16245294 0.00143300
+v 0.03313100 0.16855140 0.01185181
+v 0.02975538 0.16300669 0.00047639
+v 0.03261108 0.16434303 0.00397178
+v 0.02588315 0.16117567 -0.00371199
+v 0.02588315 0.15746936 -0.00959287
+v 0.01892240 0.15770564 -0.01093585
+v 0.01121669 0.15886478 -0.01027970
+v 0.00388344 0.15917487 -0.01027970
+v -0.00195210 0.16223886 -0.00549649
+v -0.00195210 0.15619945 -0.01477467
+v 0.00388344 0.15619945 -0.01478080
+v 0.00388344 0.15352677 -0.01839275
+v 0.00519488 0.15284013 -0.01920834
+v 0.07732441 0.12949460 -0.01747297
+v 0.07197774 0.13159878 -0.01920842
+v 0.07450752 0.13403523 -0.01467665
+v 0.07732441 0.12956842 -0.01739327
+v 0.07313399 0.15533552 0.01535942
+v 0.07732441 0.15460458 0.01841943
+v 0.07036364 0.15823710 0.01810672
+v 0.06595597 0.16280727 0.02242999
+v 0.06312356 0.16556855 0.02523859
+v 0.06275882 0.17526996 0.04342701
+v 0.04746379 0.18053415 0.04342703
+v 0.04741724 0.17569082 0.03359081
+v 0.04751812 0.16829296 0.01910016
+v 0.04459260 0.16308788 0.00755304
+v 0.05543335 0.17803864 0.04342702
+v 0.05340022 0.17103945 0.02812081
+v 0.04972196 0.16979170 0.02330694
+v 0.04054186 0.16164817 0.00284957
+v 0.04075138 0.15774249 -0.00353418
+v 0.03844664 0.15601486 -0.00738527
+v 0.03261108 0.16059240 -0.00238129
+v 0.03321637 0.15667935 -0.00840933
+v 0.02588315 0.15507723 -0.01320483
+v 0.02161512 0.15546114 -0.01378125
+v 0.03321637 0.15431675 -0.01202128
+v 0.01672631 0.15579340 -0.01421663
+v 0.01121669 0.15602965 -0.01454779
+v -0.00195210 0.15856205 -0.01119954
+v -0.00195210 0.15916748 -0.01027970
+v -0.00195210 0.16161128 -0.00647766
+v 0.01121669 0.15338651 -0.01815972
+v 0.01121669 0.15258174 -0.01920834
+v 0.07090686 0.13230758 -0.01920841
+v 0.06917638 0.13509840 -0.01725220
+v 0.06563003 0.14047333 -0.01351149
+v 0.07059647 0.13950615 -0.01077649
+v 0.07352975 0.14076865 -0.00666170
+v 0.07705282 0.13575548 -0.01021846
+v 0.07732441 0.13535679 -0.01049442
+v 0.07732441 0.12985637 -0.01706825
+v 0.07732441 0.15430186 0.01790432
+v 0.07732441 0.15139292 0.01310274
+v 0.07732441 0.15038883 0.01145927
+v 0.07477136 0.14894913 0.00654729
+v 0.06739932 0.14886056 -0.00051712
+v 0.06545932 0.15520267 0.00838701
+v 0.06824518 0.15658329 0.01319472
+v 0.06282868 0.15791227 0.01103003
+v 0.06106714 0.16394428 0.02040634
+v 0.05828905 0.17010918 0.02987461
+v 0.04737068 0.16426917 0.01141639
+v 0.04947364 0.16226835 0.00903091
+v 0.04737068 0.16054808 0.00475059
+v 0.05544887 0.16506653 0.01824165
+v 0.05316743 0.16358990 0.01383864
+v 0.05558855 0.16897958 0.02575986
+v 0.04787508 0.15676793 -0.00140625
+v 0.04333546 0.15525439 -0.00626305
+v 0.04075138 0.15363749 -0.00998536
+v 0.02588315 0.15190986 -0.01750356
+v 0.03269646 0.15018222 -0.01782858
+v 0.01877496 0.15181389 -0.01920834
+v 0.01892240 0.15348247 -0.01697620
+v 0.02588315 0.15061782 -0.01920835
+v 0.04054186 0.14968754 -0.01586011
+v 0.01297820 0.15241194 -0.01920834
+v 0.06771749 0.13424936 -0.01920841
+v 0.06864094 0.14232649 -0.00869763
+v 0.06450484 0.13608037 -0.01920840
+v 0.06292955 0.13847988 -0.01746681
+v 0.06074898 0.14171372 -0.01503842
+v 0.06254155 0.14448976 -0.01027975
+v 0.06434186 0.14725843 -0.00533099
+v 0.07046454 0.14486627 -0.00358941
+v 0.07732441 0.14209759 -0.00132048
+v 0.07732441 0.14204591 -0.00139406
+v 0.07732441 0.13950613 -0.00494465
+v 0.07732441 0.13942489 -0.00505505
+v 0.07732441 0.13567428 -0.01008354
+v 0.07732441 0.15028548 0.01129368
+v 0.07228813 0.14740606 0.00172729
+v 0.07732441 0.14590727 0.00437030
+v 0.07732441 0.14576698 0.00414955
+v 0.06215354 0.14985731 -0.00297617
+v 0.06282868 0.15391803 0.00405759
+v 0.06057826 0.15636182 0.00639400
+v 0.05805624 0.16260055 0.01559250
+v 0.05505311 0.15733639 0.00405760
+v 0.05250781 0.15594838 -0.00006331
+v 0.05544887 0.16132328 0.01141638
+v 0.04787508 0.15444961 -0.00501821
+v 0.04572556 0.14885321 -0.01476858
+v 0.03155572 0.14940697 -0.01920835
+v 0.02773002 0.15023388 -0.01920835
+v 0.03379838 0.14883848 -0.01920835
+v 0.04054186 0.14695578 -0.01920836
+v 0.06278210 0.13700328 -0.01920840
+v 0.05828905 0.13935111 -0.01920839
+v 0.05604638 0.14045858 -0.01920838
+v 0.05456424 0.14259970 -0.01746680
+v 0.05520055 0.14669735 -0.01192320
+v 0.05945305 0.14843974 -0.00704187
+v 0.07732441 0.14569318 0.00403918
+v 0.05739665 0.15495904 0.00158015
+v 0.05505311 0.15317971 -0.00270633
+v 0.05520055 0.14934049 -0.00831126
+v 0.05322950 0.14178015 -0.01920838
+v 0.04983838 0.14330111 -0.01920837
+v 0.04797595 0.14406896 -0.01920837
+v 0.04143425 0.14661614 -0.01920836
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 50
+f 1 50 82
+f 1 82 87
+f 1 87 83
+f 1 83 52
+f 1 52 31
+f 1 31 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 15
+f 3 15 27
+f 3 27 44
+f 3 44 68
+f 3 68 102
+f 3 102 101
+f 3 101 100
+f 3 100 69
+f 3 69 45
+f 3 45 28
+f 3 28 16
+f 3 16 9
+f 3 9 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 28 46
+f 16 46 72
+f 16 72 104
+f 16 104 138
+f 16 138 134
+f 16 134 136
+f 16 136 166
+f 16 166 165
+f 16 165 167
+f 16 167 168
+f 16 168 182
+f 16 182 181
+f 16 181 180
+f 16 180 179
+f 16 179 171
+f 16 171 170
+f 16 170 169
+f 16 169 141
+f 16 141 139
+f 16 139 105
+f 16 105 74
+f 16 74 48
+f 16 48 29
+f 16 29 17
+f 17 29 47
+f 17 47 73
+f 17 73 76
+f 17 76 112
+f 17 112 111
+f 17 111 151
+f 17 151 150
+f 17 150 149
+f 17 149 148
+f 17 148 147
+f 17 147 175
+f 17 175 155
+f 17 155 154
+f 17 154 152
+f 17 152 115
+f 17 115 114
+f 17 114 113
+f 17 113 78
+f 17 78 51
+f 17 51 30
+f 17 30 18
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 21
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 26
+f 26 43 27
+f 26 42 43
+f 27 43 44
+f 28 45 46
+f 29 48 47
+f 30 49 50
+f 30 51 49
+f 31 52 53
+f 31 53 32
+f 32 53 33
+f 33 54 34
+f 33 53 55
+f 33 55 56
+f 33 56 54
+f 34 54 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 37
+f 34 37 35
+f 35 37 36
+f 37 61 38
+f 37 60 62
+f 37 62 61
+f 38 61 39
+f 39 61 40
+f 40 61 63
+f 40 63 41
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 43
+f 43 67 68
+f 43 68 44
+f 43 66 67
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 47 48 73
+f 48 74 75
+f 48 75 76
+f 48 76 73
+f 49 77 50
+f 49 51 78
+f 49 78 77
+f 50 77 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 52 83 53
+f 53 83 84
+f 53 84 55
+f 54 56 85
+f 54 85 86
+f 54 86 57
+f 55 84 87
+f 55 87 88
+f 55 88 89
+f 55 89 56
+f 56 89 85
+f 57 86 58
+f 58 86 90
+f 58 90 59
+f 59 90 91
+f 59 91 92
+f 59 92 93
+f 59 93 61
+f 59 61 62
+f 59 62 60
+f 61 64 63
+f 61 93 94
+f 61 94 64
+f 64 95 96
+f 64 96 65
+f 64 94 97
+f 64 97 95
+f 65 96 98
+f 65 98 66
+f 66 98 99
+f 66 99 70
+f 66 70 67
+f 67 70 69
+f 67 69 100
+f 67 100 101
+f 67 101 102
+f 67 102 68
+f 70 99 103
+f 70 103 71
+f 71 103 104
+f 71 104 72
+f 74 105 75
+f 75 105 106
+f 75 106 107
+f 75 107 108
+f 75 108 109
+f 75 109 110
+f 75 110 111
+f 75 111 112
+f 75 112 76
+f 77 78 113
+f 77 113 114
+f 77 114 115
+f 77 115 116
+f 77 116 117
+f 77 117 118
+f 77 118 119
+f 77 119 79
+f 79 119 80
+f 80 119 120
+f 80 120 121
+f 80 121 81
+f 81 121 82
+f 82 121 122
+f 82 122 87
+f 83 87 84
+f 85 123 86
+f 85 89 123
+f 86 123 124
+f 86 124 125
+f 86 125 90
+f 87 122 88
+f 88 126 127
+f 88 127 89
+f 88 122 128
+f 88 128 126
+f 89 127 123
+f 90 125 129
+f 90 129 91
+f 91 129 130
+f 91 130 92
+f 92 97 94
+f 92 94 93
+f 92 130 131
+f 92 131 97
+f 95 132 96
+f 95 97 133
+f 95 133 132
+f 96 134 135
+f 96 135 98
+f 96 132 136
+f 96 136 134
+f 97 131 137
+f 97 137 133
+f 98 103 99
+f 98 135 134
+f 98 134 103
+f 103 134 138
+f 103 138 104
+f 105 139 106
+f 106 139 107
+f 107 140 108
+f 107 139 141
+f 107 141 142
+f 107 142 143
+f 107 143 144
+f 107 144 145
+f 107 145 140
+f 108 140 109
+f 109 140 146
+f 109 146 147
+f 109 147 148
+f 109 148 149
+f 109 149 150
+f 109 150 151
+f 109 151 110
+f 110 151 111
+f 115 152 116
+f 116 153 117
+f 116 152 154
+f 116 154 155
+f 116 155 153
+f 117 140 145
+f 117 145 156
+f 117 156 157
+f 117 157 118
+f 117 153 146
+f 117 146 140
+f 118 157 158
+f 118 158 120
+f 118 120 119
+f 120 158 121
+f 121 158 159
+f 121 159 126
+f 121 126 122
+f 122 126 128
+f 123 127 124
+f 124 127 160
+f 124 160 161
+f 124 161 125
+f 125 161 129
+f 126 159 127
+f 127 159 162
+f 127 162 160
+f 129 161 163
+f 129 163 130
+f 130 163 164
+f 130 164 131
+f 131 164 137
+f 132 133 165
+f 132 165 166
+f 132 166 136
+f 133 137 167
+f 133 167 165
+f 137 168 167
+f 137 164 168
+f 141 169 142
+f 142 169 170
+f 142 170 143
+f 143 170 171
+f 143 171 172
+f 143 172 164
+f 143 164 173
+f 143 173 174
+f 143 174 144
+f 144 174 145
+f 145 174 156
+f 146 153 147
+f 147 153 175
+f 153 155 175
+f 156 174 176
+f 156 176 157
+f 157 176 158
+f 158 176 160
+f 158 160 159
+f 159 160 162
+f 160 176 161
+f 161 176 177
+f 161 177 164
+f 161 164 163
+f 164 177 178
+f 164 178 174
+f 164 174 173
+f 164 172 179
+f 164 179 180
+f 164 180 181
+f 164 181 182
+f 164 182 168
+f 171 179 172
+f 174 178 177
+f 174 177 176
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_21.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01956007 -0.07045580 -0.06098680
+v -0.08117866 -0.07045586 -0.04450549
+v -0.01956007 -0.07045575 -0.07244887
+v -0.01956007 -0.02569144 -0.06110554
+v -0.08117866 -0.07045581 -0.05702037
+v -0.01956007 -0.00001333 -0.06119639
+v -0.08117866 -0.00001333 -0.05910475
+v -0.02497040 -0.07045574 -0.07666015
+v -0.01956007 -0.07044196 -0.07555836
+v -0.07351252 -0.04487412 -0.07922388
+v -0.06693208 -0.05328642 -0.07957719
+v -0.05808979 -0.06601514 -0.07841597
+v -0.05184106 -0.07045573 -0.07870280
+v -0.08117866 -0.02569137 -0.07870263
+v -0.08052121 -0.02962171 -0.07897548
+v -0.01956007 -0.00001328 -0.07274593
+v -0.08117866 -0.00001326 -0.07985680
+v -0.02507896 -0.07045574 -0.07669512
+v -0.03027214 -0.07045573 -0.07831106
+v -0.03421680 -0.07045573 -0.07946182
+v -0.07440517 -0.04048183 -0.07969605
+v -0.06940501 -0.04755641 -0.07984997
+v -0.06021892 -0.06107809 -0.07967862
+v -0.05319816 -0.06812511 -0.07968918
+v -0.04767928 -0.07045573 -0.08017185
+v -0.08117866 -0.02260227 -0.07947914
+v -0.08093136 -0.02569137 -0.07931125
+v -0.07831363 -0.00001326 -0.07985680
+v -0.03774529 -0.07045573 -0.08011239
+v -0.08117866 -0.00349539 -0.07985681
+v -0.03930142 -0.07045573 -0.08023482
+v -0.04770943 -0.07038677 -0.08018235
+v -0.08117866 -0.01882365 -0.07972397
+v -0.07683590 -0.03249015 -0.07971702
+v -0.05529716 -0.06319496 -0.08005642
+v -0.06244457 -0.05556187 -0.07992696
+v -0.07677560 -0.02569137 -0.07983242
+v -0.08117866 -0.01089405 -0.07983586
+v -0.04763102 -0.07045573 -0.08017886
+v -0.08117866 -0.00483997 -0.07985332
+f 1 2 5
+f 1 5 13
+f 1 13 25
+f 1 25 39
+f 1 39 31
+f 1 31 29
+f 1 29 20
+f 1 20 19
+f 1 19 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 17
+f 2 17 30
+f 2 30 40
+f 2 40 38
+f 2 38 33
+f 2 33 26
+f 2 26 14
+f 2 14 5
+f 3 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 14 15
+f 5 15 10
+f 6 16 28
+f 6 28 17
+f 6 17 7
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 16
+f 10 15 21
+f 10 21 11
+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 14 26 27
+f 14 27 15
+f 15 27 21
+f 16 20 29
+f 16 29 28
+f 17 28 31
+f 17 31 32
+f 17 32 30
+f 21 27 26
+f 21 26 33
+f 21 33 34
+f 21 34 22
+f 22 32 35
+f 22 35 36
+f 22 36 23
+f 22 34 33
+f 22 33 37
+f 22 37 38
+f 22 38 32
+f 23 36 35
+f 23 35 32
+f 23 32 24
+f 24 32 25
+f 25 32 39
+f 28 29 31
+f 30 32 40
+f 31 39 32
+f 32 38 40
+f 33 38 37
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_22.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02362714 -0.00000626 -0.06119029
+v -0.08117866 -0.00000626 -0.05910283
+v -0.02362714 -0.00000621 -0.07274405
+v -0.02362714 0.07223853 -0.06105181
+v -0.08117866 0.07223847 -0.04365033
+v -0.08117866 -0.00000619 -0.07985347
+v -0.07831685 -0.00000619 -0.07985347
+v -0.03894454 0.07223860 -0.07955551
+v -0.02362714 0.07223859 -0.07534513
+v -0.08117866 0.07223852 -0.05628855
+v -0.08117866 0.00390486 -0.07985346
+v -0.07832813 0.00390486 -0.07985346
+v -0.04011632 0.07184961 -0.07962641
+v -0.04008815 0.07223860 -0.07962284
+v -0.05222826 0.07223859 -0.07697541
+v -0.05787299 0.06617044 -0.07832929
+v -0.06674570 0.05346839 -0.07941382
+v -0.07332560 0.04498147 -0.07906298
+v -0.08035051 0.02971212 -0.07884686
+v -0.08117866 0.02827643 -0.07744341
+v -0.08117866 0.01130970 -0.07980384
+v -0.07570856 0.03350295 -0.07964072
+v -0.06929202 0.04778214 -0.07951307
+v -0.05298313 0.06853264 -0.07944919
+v -0.04074162 0.07223860 -0.07960513
+v -0.04918056 0.07223860 -0.07846748
+v -0.05990106 0.06124098 -0.07940316
+v -0.07410301 0.04089363 -0.07944929
+v -0.08094768 0.02477557 -0.07930760
+v -0.08117866 0.02428050 -0.07897799
+v -0.08117866 0.01815579 -0.07964785
+v -0.08117866 0.01872160 -0.07963012
+v -0.08117866 0.02186173 -0.07946356
+v -0.04643704 0.07223860 -0.07944917
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 30
+f 2 30 33
+f 2 33 32
+f 2 32 31
+f 2 31 21
+f 2 21 11
+f 2 11 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 14
+f 4 14 25
+f 4 25 34
+f 4 34 26
+f 4 26 15
+f 4 15 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 21 13
+f 11 13 12
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 26 24
+f 15 24 16
+f 16 24 27
+f 16 27 17
+f 17 27 24
+f 17 24 23
+f 17 23 28
+f 17 28 18
+f 18 28 19
+f 19 29 30
+f 19 30 20
+f 19 28 29
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 28
+f 22 28 23
+f 24 26 34
+f 24 34 25
+f 28 33 29
+f 29 33 30
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_23.obj

@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
+v -0.08117866 -0.10851511 -0.01900540
+v -0.08117866 -0.12510754 -0.01900546
+v -0.08117866 -0.15117832 0.04345332
+v 0.00185809 -0.17573696 0.04345323
+v 0.00185809 -0.13998856 -0.01900551
+v -0.07821971 -0.12729480 -0.01900547
+v -0.08117866 -0.12773994 -0.01619313
+v -0.08117866 -0.16480838 0.04345327
+v 0.00185809 -0.18691116 0.04345319
+v 0.00185809 -0.15312743 -0.01900556
+v -0.07630943 -0.12862248 -0.01900547
+v -0.07695974 -0.12939763 -0.01766045
+v -0.07429346 -0.13375681 -0.01482365
+v -0.08117866 -0.12925184 -0.01443234
+v -0.08117866 -0.16189968 0.03790806
+v -0.07999994 -0.16229109 0.03716827
+v -0.07695974 -0.16734098 0.04345327
+v 0.00185809 -0.18596719 0.04100768
+v -0.00345822 -0.18691884 0.04345319
+v 0.00185809 -0.15334999 -0.01872435
+v -0.00345822 -0.15335766 -0.01873656
+v -0.00345822 -0.15314277 -0.01900556
+v -0.07292780 -0.13091721 -0.01900548
+v -0.07044036 -0.13255187 -0.01900549
+v -0.06892025 -0.13494635 -0.01734255
+v -0.06546547 -0.14019578 -0.01367426
+v -0.06944052 -0.13898322 -0.01203575
+v -0.07326923 -0.14047209 -0.00682066
+v -0.07917893 -0.13209912 -0.01273272
+v -0.08117866 -0.13120119 -0.01201738
+v -0.08117866 -0.15434786 0.02368119
+v -0.07986989 -0.15480064 0.02288638
+v -0.07291156 -0.16242922 0.02963603
+v -0.06976567 -0.17117828 0.04345325
+v 0.00185809 -0.17929793 0.02582705
+v -0.00345822 -0.18596719 0.04099545
+v -0.00345822 -0.17930558 0.02582705
+v -0.01079050 -0.18661952 0.04345319
+v 0.00185809 -0.15529934 -0.01610763
+v -0.00345822 -0.15604379 -0.01512329
+v -0.01079050 -0.15586728 -0.01487873
+v -0.01079050 -0.15314277 -0.01849200
+v -0.01079050 -0.15272837 -0.01900556
+v -0.06776596 -0.13421725 -0.01900549
+v -0.06944052 -0.14165396 -0.00842249
+v -0.06395350 -0.13641987 -0.01900550
+v -0.06265290 -0.13836155 -0.01759935
+v -0.06057188 -0.14148510 -0.01525163
+v -0.06234397 -0.14420194 -0.01044618
+v -0.06410796 -0.14691108 -0.00537781
+v -0.07191982 -0.14704155 0.00167754
+v -0.07613873 -0.14150051 -0.00236978
+v -0.07815469 -0.13879137 -0.00432010
+v -0.08117866 -0.13459337 -0.00738311
+v -0.08117866 -0.13409452 -0.00809231
+v -0.06946489 -0.14540687 -0.00300565
+v -0.08117866 -0.15318129 0.02160249
+v -0.07430158 -0.14852276 0.00649524
+v -0.07716295 -0.15368013 0.01817876
+v -0.07498442 -0.15623579 0.02030637
+v -0.08117866 -0.14873770 0.01419864
+v -0.06985510 -0.15777837 0.01817874
+v -0.07005830 -0.16153895 0.02527076
+v -0.06801794 -0.16364178 0.02731277
+v -0.06544924 -0.16236776 0.02249509
+v -0.06843253 -0.17179224 0.04345325
+v 0.00185809 -0.17879906 0.02475713
+v -0.01079050 -0.18580600 0.04138673
+v -0.01051410 -0.17869162 0.02524013
+v -0.00788035 -0.17739459 0.02211596
+v -0.00345822 -0.17748669 0.02193255
+v -0.01812275 -0.18605930 0.04345320
+v 0.00185809 -0.15603612 -0.01511109
+v 0.00185809 -0.15925177 -0.01028115
+v -0.00345822 -0.15926713 -0.01028116
+v -0.01079050 -0.15890643 -0.01028115
+v -0.01812275 -0.15554495 -0.01443244
+v -0.01812275 -0.15276673 -0.01804569
+v -0.01169279 -0.15264394 -0.01900556
+v -0.05916558 -0.13897552 -0.01900551
+v -0.05922250 -0.14813899 -0.00722418
+v -0.05558074 -0.14076367 -0.01900552
+v -0.05435327 -0.14250581 -0.01759936
+v -0.05477596 -0.14655804 -0.01223754
+v -0.06183998 -0.14957416 -0.00300567
+v -0.06703436 -0.14846136 -0.00056015
+v -0.07675652 -0.14536084 0.00411697
+v -0.06946489 -0.14991955 0.00411695
+v -0.08049581 -0.14040305 0.00049147
+v -0.08117866 -0.13947442 -0.00015659
+v -0.07257012 -0.15486202 0.01548866
+v -0.08117866 -0.14849211 0.01379515
+v -0.07918705 -0.14691113 0.00912419
+v -0.06768466 -0.15615900 0.01317764
+v -0.06511595 -0.15481593 0.00837215
+v -0.06244154 -0.15754811 0.01101944
+v -0.06264475 -0.16136239 0.01824596
+v -0.05762108 -0.16221427 0.01559257
+v -0.06055562 -0.16345758 0.02041026
+v -0.06232772 -0.17457812 0.04345324
+v 0.00185809 -0.17747901 0.02193866
+v -0.01812275 -0.18550670 0.04212651
+v -0.01812275 -0.18154658 0.03304749
+v -0.01812275 -0.17869930 0.02658518
+v -0.01276579 -0.17717972 0.02244000
+v -0.01051410 -0.17577525 0.01926693
+v -0.00345822 -0.17569085 0.01831928
+v 0.00185809 -0.17698784 0.02094822
+v -0.02615410 -0.18509996 0.04345320
+v 0.00185809 -0.16129322 -0.00715699
+v -0.00345822 -0.16206837 -0.00598926
+v -0.01079050 -0.16189952 -0.00561631
+v -0.01812275 -0.15826176 -0.01028115
+v -0.02241481 -0.15527635 -0.01405949
+v -0.01812275 -0.15199926 -0.01900556
+v -0.05477596 -0.14912135 -0.00862427
+v -0.05471906 -0.15296633 -0.00277946
+v -0.05712522 -0.15462407 0.00146353
+v -0.05333716 -0.14179977 -0.01900552
+v -0.04935400 -0.14357259 -0.01900553
+v -0.04782577 -0.14556800 -0.01740371
+v -0.05052456 -0.14749430 -0.01353979
+v -0.06244154 -0.15358031 0.00398855
+v -0.08117866 -0.14597484 0.00979670
+v -0.08117866 -0.14232171 0.00415365
+v -0.08117866 -0.14087888 0.00194046
+v -0.06985510 -0.15375686 0.01101946
+v -0.06022234 -0.15600550 0.00628123
+v -0.05471906 -0.15698781 0.00398853
+v -0.05501170 -0.16096330 0.01144128
+v -0.05272748 -0.16315055 0.01388069
+v -0.04947593 -0.16935165 0.02339378
+v -0.05269498 -0.17056424 0.02821148
+v -0.05682444 -0.17668862 0.04345323
+v -0.01812275 -0.17689576 0.02297190
+v -0.02545501 -0.18053354 0.03304750
+v -0.02545501 -0.17814672 0.02778349
+v -0.02545501 -0.17635853 0.02417021
+v -0.01812275 -0.17469315 0.01860663
+v -0.01812275 -0.17144676 0.01232774
+v -0.01079050 -0.17180746 0.01168579
+v -0.00188120 -0.17004230 0.00761398
+v 0.00185809 -0.17004230 0.00761398
+v 0.00185809 -0.17568318 0.01832539
+v -0.00397846 -0.17163863 0.01068311
+v -0.03278731 -0.18391809 0.04345320
+v 0.00185809 -0.16206070 -0.00597704
+v 0.00185809 -0.16368004 -0.00336032
+v -0.00345822 -0.16425563 -0.00237600
+v -0.01079050 -0.16401771 -0.00200305
+v -0.01812275 -0.16156952 -0.00498658
+v -0.02509736 -0.15693406 -0.01067244
+v -0.02730029 -0.15477750 -0.01334419
+v -0.02509736 -0.15252115 -0.01688407
+v -0.02524366 -0.15080973 -0.01900555
+v -0.01992736 -0.15169997 -0.01900556
+v -0.04782577 -0.15053344 -0.01078859
+v -0.04361498 -0.15509217 -0.00659451
+v -0.04744370 -0.15433239 -0.00535951
+v -0.05223163 -0.15558337 -0.00018719
+v -0.04770384 -0.14425561 -0.01900553
+v -0.04563910 -0.14853807 -0.01492764
+v -0.04912639 -0.16185353 0.00907521
+v -0.04698848 -0.16391032 0.01144127
+v -0.04719170 -0.16789347 0.01898572
+v -0.05493042 -0.17741003 0.04345323
+v -0.04458234 -0.17023422 0.02165134
+v -0.02545501 -0.17357265 0.01860663
+v -0.03034050 -0.17763255 0.02885341
+v -0.03300679 -0.17175379 0.01811143
+v -0.03071442 -0.17032629 0.01430251
+v -0.02545501 -0.17086353 0.01334264
+v -0.02545501 -0.16886042 0.00973550
+v -0.02545501 -0.16570615 0.00416579
+v -0.01812275 -0.16365701 -0.00137944
+v -0.00676668 -0.16991951 0.00780352
+v 0.00185809 -0.16427866 -0.00236986
+v -0.00397846 -0.16833854 0.00478940
+v -0.04011144 -0.18234479 0.04345321
+v -0.02545501 -0.16309679 -0.00039510
+v -0.02545501 -0.16098625 -0.00400836
+v -0.03278731 -0.15648895 -0.00878326
+v -0.03255155 -0.15004992 -0.01792952
+v -0.02738971 -0.15037227 -0.01900555
+v -0.03278731 -0.15416353 -0.01239041
+v -0.04424093 -0.16271309 0.00748561
+v -0.04698848 -0.16021116 0.00471607
+v -0.04744370 -0.15644291 -0.00175235
+v -0.04074551 -0.15354189 -0.01013439
+v -0.03872951 -0.15575219 -0.00762775
+v -0.03460004 -0.16209143 0.00137791
+v -0.03559988 -0.16968931 0.01537856
+v -0.04011144 -0.16334240 0.00637291
+v -0.04248509 -0.14625867 -0.01900554
+v -0.04011144 -0.14714127 -0.01900554
+v -0.04011144 -0.14948970 -0.01610149
+v -0.04708603 -0.18015753 0.04345322
+v -0.04011144 -0.16902929 0.01666246
+v -0.04011144 -0.17094793 0.02027572
+v -0.04305409 -0.18143919 0.04345321
+v -0.03278731 -0.17575995 0.02619389
+v -0.03240523 -0.16407914 0.00393349
+v -0.02970643 -0.16269770 0.00030798
+v -0.03240523 -0.16038763 -0.00248602
+v -0.03173867 -0.14939760 -0.01900555
+v -0.03346199 -0.14896014 -0.01900555
+v -0.04011144 -0.16612061 0.01138621
+f 1 2 7
+f 1 7 14
+f 1 14 30
+f 1 30 55
+f 1 55 54
+f 1 54 90
+f 1 90 126
+f 1 126 125
+f 1 125 124
+f 1 124 92
+f 1 92 61
+f 1 61 57
+f 1 57 31
+f 1 31 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 22
+f 1 22 43
+f 1 43 79
+f 1 79 115
+f 1 115 156
+f 1 156 155
+f 1 155 184
+f 1 184 205
+f 1 205 206
+f 1 206 195
+f 1 195 194
+f 1 194 161
+f 1 161 120
+f 1 120 119
+f 1 119 82
+f 1 82 80
+f 1 80 46
+f 1 46 44
+f 1 44 24
+f 1 24 23
+f 1 23 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 17
+f 3 17 34
+f 3 34 66
+f 3 66 100
+f 3 100 134
+f 3 134 166
+f 3 166 197
+f 3 197 200
+f 3 200 179
+f 3 179 146
+f 3 146 109
+f 3 109 72
+f 3 72 38
+f 3 38 19
+f 3 19 9
+f 3 9 4
+f 4 9 18
+f 4 18 35
+f 4 35 67
+f 4 67 101
+f 4 101 108
+f 4 108 144
+f 4 144 143
+f 4 143 177
+f 4 177 148
+f 4 148 147
+f 4 147 110
+f 4 110 74
+f 4 74 73
+f 4 73 39
+f 4 39 20
+f 4 20 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 9 19 18
+f 10 20 21
+f 10 21 22
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 18 19 36
+f 18 36 37
+f 18 37 35
+f 19 38 36
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 43
+f 24 44 25
+f 25 44 26
+f 26 45 27
+f 26 44 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 45
+f 27 45 28
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 55
+f 28 55 29
+f 28 45 56
+f 28 56 51
+f 29 55 30
+f 31 57 32
+f 32 58 59
+f 32 59 60
+f 32 60 33
+f 32 57 61
+f 32 61 58
+f 33 60 62
+f 33 62 63
+f 33 63 64
+f 33 64 34
+f 34 64 65
+f 34 65 66
+f 35 37 67
+f 36 38 68
+f 36 68 37
+f 37 68 69
+f 37 69 70
+f 37 70 71
+f 37 71 67
+f 38 72 68
+f 39 73 40
+f 40 73 74
+f 40 74 75
+f 40 75 41
+f 41 75 76
+f 41 76 77
+f 41 77 42
+f 42 77 78
+f 42 78 79
+f 42 79 43
+f 45 50 56
+f 46 80 47
+f 47 80 48
+f 48 81 49
+f 48 80 82
+f 48 82 83
+f 48 83 84
+f 48 84 81
+f 49 81 50
+f 50 81 85
+f 50 85 86
+f 50 86 56
+f 51 58 87
+f 51 87 52
+f 51 56 86
+f 51 86 88
+f 51 88 58
+f 52 87 89
+f 52 89 53
+f 53 89 54
+f 54 89 90
+f 58 88 91
+f 58 91 59
+f 58 61 92
+f 58 92 93
+f 58 93 87
+f 59 91 60
+f 60 91 62
+f 62 94 63
+f 62 91 94
+f 63 94 65
+f 63 65 64
+f 65 94 95
+f 65 95 96
+f 65 96 97
+f 65 97 98
+f 65 98 99
+f 65 99 100
+f 65 100 66
+f 67 71 101
+f 68 72 102
+f 68 102 103
+f 68 103 104
+f 68 104 69
+f 69 104 105
+f 69 105 70
+f 70 105 106
+f 70 106 107
+f 70 107 71
+f 71 107 108
+f 71 108 101
+f 72 109 102
+f 74 110 75
+f 75 110 111
+f 75 111 76
+f 76 111 112
+f 76 112 113
+f 76 113 77
+f 77 113 114
+f 77 114 78
+f 78 115 79
+f 78 114 115
+f 81 84 116
+f 81 116 117
+f 81 117 118
+f 81 118 85
+f 82 119 83
+f 83 119 120
+f 83 120 121
+f 83 121 122
+f 83 122 84
+f 84 122 116
+f 85 123 86
+f 85 118 123
+f 86 95 88
+f 86 123 95
+f 87 93 124
+f 87 124 125
+f 87 125 126
+f 87 126 89
+f 88 95 127
+f 88 127 91
+f 89 126 90
+f 91 127 95
+f 91 95 94
+f 92 124 93
+f 95 123 128
+f 95 128 96
+f 96 128 97
+f 97 128 98
+f 98 118 129
+f 98 129 130
+f 98 130 131
+f 98 131 132
+f 98 132 133
+f 98 133 100
+f 98 100 99
+f 98 128 118
+f 100 133 134
+f 102 109 103
+f 103 109 104
+f 104 135 105
+f 104 109 136
+f 104 136 137
+f 104 137 138
+f 104 138 135
+f 105 135 139
+f 105 139 106
+f 106 139 140
+f 106 140 141
+f 106 141 107
+f 107 142 143
+f 107 143 144
+f 107 144 108
+f 107 141 145
+f 107 145 142
+f 109 146 136
+f 110 147 111
+f 111 147 148
+f 111 148 149
+f 111 149 112
+f 112 149 150
+f 112 150 151
+f 112 151 113
+f 113 151 114
+f 114 152 153
+f 114 153 154
+f 114 154 155
+f 114 155 156
+f 114 156 115
+f 114 151 152
+f 116 122 157
+f 116 157 158
+f 116 158 159
+f 116 159 117
+f 117 159 118
+f 118 159 160
+f 118 160 129
+f 118 128 123
+f 120 161 121
+f 121 161 162
+f 121 162 122
+f 122 162 157
+f 129 160 163
+f 129 163 131
+f 129 131 130
+f 131 163 164
+f 131 164 165
+f 131 165 132
+f 132 166 133
+f 132 165 167
+f 132 167 166
+f 133 166 134
+f 135 138 168
+f 135 168 139
+f 136 146 137
+f 137 146 169
+f 137 169 170
+f 137 170 138
+f 138 170 171
+f 138 171 168
+f 139 168 172
+f 139 172 140
+f 140 172 173
+f 140 173 174
+f 140 174 175
+f 140 175 141
+f 141 176 145
+f 141 175 150
+f 141 150 176
+f 142 177 143
+f 142 145 176
+f 142 176 178
+f 142 178 149
+f 142 149 177
+f 146 179 169
+f 148 177 149
+f 149 178 176
+f 149 176 150
+f 150 175 151
+f 151 175 180
+f 151 180 181
+f 151 181 152
+f 152 181 182
+f 152 182 153
+f 153 183 184
+f 153 184 154
+f 153 182 185
+f 153 185 183
+f 154 184 155
+f 157 162 158
+f 158 186 187
+f 158 187 188
+f 158 188 160
+f 158 160 159
+f 158 162 189
+f 158 189 190
+f 158 190 191
+f 158 191 192
+f 158 192 193
+f 158 193 186
+f 160 188 187
+f 160 187 163
+f 161 194 162
+f 162 194 195
+f 162 195 196
+f 162 196 189
+f 163 187 186
+f 163 186 164
+f 164 186 167
+f 164 167 165
+f 166 167 197
+f 167 186 198
+f 167 198 199
+f 167 199 200
+f 167 200 197
+f 168 171 172
+f 169 179 201
+f 169 201 170
+f 170 201 179
+f 170 179 199
+f 170 199 192
+f 170 192 171
+f 171 202 203
+f 171 203 173
+f 171 173 172
+f 171 192 191
+f 171 191 202
+f 173 203 174
+f 174 203 180
+f 174 180 175
+f 179 200 199
+f 180 203 181
+f 181 203 182
+f 182 190 185
+f 182 203 204
+f 182 204 190
+f 183 205 184
+f 183 185 196
+f 183 196 206
+f 183 206 205
+f 185 190 189
+f 185 189 196
+f 186 193 207
+f 186 207 198
+f 190 204 191
+f 191 204 203
+f 191 203 202
+f 192 199 198
+f 192 198 207
+f 192 207 193
+f 195 206 196
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_24.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07720482 -0.00000618 -0.08078114
+v 0.07720482 0.01130971 -0.08073661
+v 0.07732109 -0.00000618 -0.08076061
+v 0.07506870 -0.00000619 -0.08027130
+v 0.04338578 0.06770517 -0.08012050
+v 0.04338578 0.07057656 -0.08017866
+v 0.07055729 0.04156552 -0.08019587
+v 0.07720482 0.01870746 -0.08052103
+v 0.07732109 0.01112581 -0.08071611
+v 0.04823606 0.07087361 -0.08021631
+v 0.06266728 0.05568207 -0.08014792
+v 0.07732109 -0.00000626 -0.06045224
+v 0.04338578 -0.00000621 -0.07269545
+v 0.04338578 0.07172231 -0.08014786
+v 0.07543414 0.03350295 -0.08009327
+v 0.06855737 0.04829136 -0.08000422
+v 0.07732109 0.01851649 -0.08050049
+v 0.04666804 0.07223860 -0.08016154
+v 0.04757497 0.07223860 -0.08004862
+v 0.05346173 0.06867409 -0.07972699
+v 0.05562773 0.06349001 -0.08017184
+v 0.06031190 0.06129755 -0.07969621
+v 0.06697604 0.05321379 -0.07948408
+v 0.07732109 0.07223848 -0.04582381
+v 0.04338578 -0.00000625 -0.06131456
+v 0.04338578 0.07223860 -0.08013074
+v 0.07440428 0.03954987 -0.07957995
+v 0.07732109 0.02614763 -0.08001457
+v 0.05162460 0.07223860 -0.07806056
+v 0.07732109 0.07223853 -0.05868634
+v 0.07345750 0.04447933 -0.07874161
+v 0.04338578 0.07223853 -0.05963077
+v 0.07732109 0.03313517 -0.07713340
+v 0.07732109 0.07088769 -0.05933650
+f 1 2 3
+f 1 3 12
+f 1 12 25
+f 1 25 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 3 9 17
+f 3 17 28
+f 3 28 33
+f 3 33 34
+f 3 34 30
+f 3 30 24
+f 3 24 12
+f 4 13 5
+f 5 13 25
+f 5 25 32
+f 5 32 26
+f 5 26 14
+f 5 14 6
+f 6 14 10
+f 7 15 8
+f 7 11 16
+f 7 16 15
+f 8 15 17
+f 8 17 9
+f 10 14 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 16
+f 12 24 25
+f 14 26 18
+f 15 16 27
+f 15 27 28
+f 15 28 17
+f 16 23 27
+f 18 26 32
+f 18 32 24
+f 18 24 30
+f 18 30 29
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 20 30 22
+f 20 22 21
+f 22 30 23
+f 23 30 31
+f 23 31 27
+f 24 32 25
+f 27 33 28
+f 27 31 30
+f 27 30 34
+f 27 34 33
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_25.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00160806 -0.07045575 -0.07380444
+v 0.00160806 -0.07985227 -0.07995477
+v 0.00160806 -0.07045580 -0.06109608
+v 0.03687031 -0.07045573 -0.08025536
+v 0.00160806 -0.08332481 -0.08034397
+v 0.00160806 -0.09301319 -0.05671943
+v 0.05698421 -0.07045581 -0.05671935
+v 0.04012033 -0.07045572 -0.08032294
+v 0.00160806 -0.08487673 -0.08050945
+v 0.00160806 -0.11185085 -0.05671950
+v 0.08200067 -0.07045581 -0.05671935
+v 0.03374622 -0.07808154 -0.08032065
+v 0.00388230 -0.08487673 -0.08052576
+v 0.04782437 -0.07045573 -0.08022973
+v 0.00160806 -0.08913941 -0.07945606
+v 0.00388230 -0.08914753 -0.07946537
+v 0.00388230 -0.11184681 -0.05671950
+v 0.08041894 -0.07271681 -0.05671936
+v 0.04054530 -0.07609203 -0.08012721
+v 0.02588482 -0.08301281 -0.08017384
+v 0.01855062 -0.08407039 -0.08027639
+v 0.04553440 -0.07462117 -0.07955387
+v 0.08022221 -0.07296802 -0.05671936
+v 0.00950095 -0.08889224 -0.07922767
+v 0.00879271 -0.11155100 -0.05671950
+v 0.03166085 -0.08203629 -0.07961218
+v 0.01439564 -0.08838168 -0.07863801
+v 0.04787159 -0.09983267 -0.05671946
+v 0.03654769 -0.08094631 -0.07843990
+v 0.07989168 -0.07335298 -0.05671936
+v 0.07662594 -0.07702811 -0.05671937
+v 0.07387170 -0.08007116 -0.05671938
+v 0.07317920 -0.08081671 -0.05671939
+v 0.07243163 -0.08152583 -0.05671939
+v 0.06942553 -0.08428523 -0.05671940
+v 0.06578995 -0.08756733 -0.05671941
+v 0.06539648 -0.08791174 -0.05671941
+v 0.06512892 -0.08813462 -0.05671941
+v 0.06154051 -0.09101150 -0.05671942
+v 0.05677962 -0.09450838 -0.05671944
+v 0.05587464 -0.09509997 -0.05671944
+v 0.05280563 -0.09705302 -0.05671945
+v 0.02588482 -0.10859711 -0.05671949
+v 0.01860572 -0.11011661 -0.05671949
+v 0.01354577 -0.11089864 -0.05671950
+v 0.01268015 -0.11102425 -0.05671950
+v 0.04266211 -0.10250294 -0.05671947
+v 0.04247327 -0.10259612 -0.05671947
+v 0.04239456 -0.10263260 -0.05671947
+v 0.03827105 -0.10441953 -0.05671947
+v 0.03321110 -0.10636043 -0.05671948
+v 0.03046472 -0.10720729 -0.05671948
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 17
+f 6 17 25
+f 6 25 46
+f 6 46 45
+f 6 45 44
+f 6 44 43
+f 6 43 52
+f 6 52 51
+f 6 51 50
+f 6 50 49
+f 6 49 48
+f 6 48 47
+f 6 47 28
+f 6 28 42
+f 6 42 41
+f 6 41 40
+f 6 40 39
+f 6 39 38
+f 6 38 37
+f 6 37 36
+f 6 36 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 31
+f 6 31 30
+f 6 30 23
+f 6 23 18
+f 6 18 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 8 14 12
+f 9 13 15
+f 10 15 16
+f 10 16 17
+f 11 18 14
+f 12 14 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 16
+f 13 16 15
+f 14 22 19
+f 14 18 23
+f 14 23 22
+f 16 21 24
+f 16 24 25
+f 16 25 17
+f 19 22 26
+f 19 26 20
+f 20 27 24
+f 20 24 21
+f 20 26 27
+f 22 28 29
+f 22 29 26
+f 22 23 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 28
+f 24 27 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 26 29 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 52
+f 26 52 27
+f 27 52 43
+f 28 47 29
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_26.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.06323648 -0.19298744 0.05736859
+v -0.05235842 -0.21627546 0.06916732
+v -0.06323648 -0.19298745 0.05986784
+v -0.06246541 -0.19298744 0.05707245
+v -0.04965006 -0.20626472 0.05865000
+v -0.05168292 -0.21509482 0.06492441
+v -0.05220547 -0.21616534 0.07459206
+v -0.04771915 -0.21994879 0.06887945
+v -0.04545688 -0.22258530 0.07109638
+v -0.04545688 -0.22258531 0.07457264
+v -0.05676191 -0.19298748 0.06672627
+v -0.05290010 -0.21064158 0.07541963
+v -0.05267706 -0.20324595 0.07471111
+v -0.05190596 -0.19778335 0.07364831
+v -0.05745652 -0.19298743 0.05571072
+v -0.04729855 -0.20357621 0.05721079
+v -0.04476227 -0.20723426 0.05819056
+v -0.04729855 -0.21007569 0.06030786
+v -0.04744513 -0.21628460 0.06417713
+v -0.04781473 -0.21854187 0.07699167
+v -0.04528481 -0.21598494 0.08055927
+v -0.04011025 -0.22329182 0.07021624
+v -0.03278173 -0.22405036 0.07638829
+v -0.04000830 -0.22313279 0.07674532
+v -0.04238527 -0.22091839 0.07938853
+v -0.05435305 -0.19298748 0.06898196
+v -0.04761720 -0.21001765 0.07918650
+v -0.04744513 -0.20324596 0.07747605
+v -0.04955446 -0.19298750 0.07243055
+v -0.05028096 -0.19298743 0.05442651
+v -0.04744513 -0.19584721 0.05473924
+v -0.04354508 -0.20723426 0.05819056
+v -0.04011025 -0.19298743 0.05369583
+v -0.00345492 -0.19298743 0.05348270
+v -0.04011025 -0.21988454 0.06660716
+v -0.04528481 -0.21206689 0.08055928
+v -0.03749110 -0.22198891 0.08022434
+v -0.04000830 -0.21828498 0.08093014
+v -0.03278173 -0.21804029 0.08161377
+v -0.03278173 -0.22359460 0.07020795
+v -0.03278173 -0.22219688 0.08040980
+v -0.02545322 -0.22414821 0.07638829
+v -0.02545322 -0.22228558 0.08048451
+v -0.04544411 -0.19298750 0.07334667
+v -0.04720297 -0.19552917 0.07420189
+v -0.04937603 -0.19298750 0.07248867
+v -0.04011025 -0.21169682 0.08099382
+v -0.04734953 -0.19298743 0.05395877
+v 0.00185984 -0.19298743 0.05348547
+v 0.00185984 -0.21840419 0.06667084
+v 0.00185984 -0.22364661 0.07027992
+v -0.03278173 -0.21244618 0.08120418
+v -0.02545322 -0.21804029 0.08175215
+v 0.00185984 -0.22407176 0.07471658
+v 0.00185984 -0.22423083 0.07638829
+v -0.00345492 -0.22421552 0.07638829
+v -0.01078982 -0.22231312 0.08049560
+v -0.04473041 -0.19298750 0.07334667
+v -0.04720297 -0.19298750 0.07304774
+v -0.02545322 -0.21243085 0.08126506
+v -0.01811832 -0.21243697 0.08126506
+v 0.00185984 -0.19298747 0.06640244
+v -0.00345492 -0.22232230 0.08049836
+v 0.00185984 -0.22232537 0.08050113
+v -0.01811832 -0.21804029 0.08175492
+v -0.04324558 -0.19298750 0.07322489
+v 0.00185984 -0.21247369 0.08123461
+v 0.00185984 -0.21804029 0.08173554
+v 0.00185984 -0.21400603 0.08137300
+f 1 2 3
+f 1 3 11
+f 1 11 26
+f 1 26 29
+f 1 29 46
+f 1 46 59
+f 1 59 44
+f 1 44 58
+f 1 58 66
+f 1 66 62
+f 1 62 49
+f 1 49 34
+f 1 34 33
+f 1 33 48
+f 1 48 30
+f 1 30 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 15 5
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 15 16
+f 6 19 8
+f 7 10 20
+f 7 20 21
+f 7 21 12
+f 8 19 9
+f 9 19 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 20
+f 11 14 26
+f 12 21 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 26
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 17 32 19
+f 17 19 18
+f 17 31 33
+f 17 33 34
+f 17 34 32
+f 19 32 35
+f 19 35 22
+f 20 25 21
+f 21 36 27
+f 21 25 37
+f 21 37 38
+f 21 38 39
+f 21 39 36
+f 22 35 40
+f 22 40 23
+f 23 41 37
+f 23 37 24
+f 23 40 42
+f 23 42 43
+f 23 43 41
+f 24 37 25
+f 27 36 28
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 28 36 47
+f 28 47 44
+f 30 48 31
+f 31 48 33
+f 32 34 49
+f 32 49 50
+f 32 50 35
+f 35 50 51
+f 35 51 40
+f 36 39 47
+f 37 41 39
+f 37 39 38
+f 39 52 47
+f 39 41 53
+f 39 53 52
+f 40 51 54
+f 40 54 55
+f 40 55 56
+f 40 56 42
+f 41 43 53
+f 42 56 43
+f 43 57 53
+f 43 56 55
+f 43 55 57
+f 44 59 45
+f 44 47 58
+f 45 59 46
+f 47 52 60
+f 47 60 61
+f 47 61 58
+f 49 62 67
+f 49 67 69
+f 49 69 68
+f 49 68 64
+f 49 64 55
+f 49 55 54
+f 49 54 51
+f 49 51 50
+f 52 53 60
+f 53 57 63
+f 53 63 64
+f 53 64 65
+f 53 65 60
+f 55 64 63
+f 55 63 57
+f 58 61 67
+f 58 67 66
+f 60 65 61
+f 61 65 68
+f 61 68 69
+f 61 69 67
+f 62 66 67
+f 64 68 65
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_27.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.05549362 0.20003154 0.06890413
+v -0.05258544 0.20003152 0.07440357
+v -0.05514463 0.20003156 0.06175545
+v -0.08117866 0.18268777 0.06221744
+v -0.04971602 0.20003151 0.07577683
+v -0.08117866 0.18105731 0.06453402
+v -0.08117866 0.17963662 0.06629870
+v -0.05253889 0.20003158 0.05731806
+v -0.07533901 0.18632533 0.05702282
+v -0.08117866 0.18107642 0.05586132
+v -0.04744378 0.20003151 0.07628699
+v -0.08117866 0.17759141 0.06674147
+v -0.08117866 0.17444014 0.06720669
+v -0.08117866 0.16895287 0.06709759
+v -0.05060011 0.20003158 0.05680467
+v -0.06226386 0.17469768 0.04351157
+v -0.06568387 0.17322931 0.04351157
+v -0.06816552 0.17203272 0.04351156
+v -0.07402066 0.16904354 0.04351155
+v -0.07690556 0.16750368 0.04351155
+v -0.07993782 0.16583032 0.04351154
+v -0.08117866 0.16502941 0.04351154
+v -0.08117866 0.16687429 0.06669009
+v -0.08117866 0.16358002 0.06550934
+v -0.04356618 0.19223204 0.07293082
+v -0.00195210 0.18491414 0.06577251
+v -0.00195210 0.18571982 0.06601638
+v -0.00195210 0.18885678 0.06695969
+v -0.00195210 0.19479695 0.06674154
+v -0.04154209 0.20003152 0.07440998
+v -0.04744378 0.20003158 0.05606348
+v -0.05860344 0.17610883 0.04351158
+v -0.08117866 0.15133266 0.04351149
+v -0.08117866 0.16284586 0.06503126
+v -0.08086068 0.16326061 0.06534248
+v -0.00195210 0.18273545 0.06194469
+v -0.08117866 0.16027145 0.06149865
+v -0.08117866 0.15755883 0.05705158
+v -0.00195210 0.19855367 0.06203781
+v -0.00195210 0.19891602 0.06119399
+v -0.00195210 0.20001249 0.05857580
+v -0.00345660 0.20001727 0.05860145
+v -0.01079298 0.20002680 0.05862713
+v -0.03954128 0.20003153 0.07180785
+v -0.04446578 0.20003158 0.05617580
+v -0.00195210 0.18727406 0.04351162
+v -0.00247169 0.18726931 0.04351162
+v -0.00345660 0.18725502 0.04351162
+v -0.00596152 0.18715488 0.04351162
+v -0.01285584 0.18669244 0.04351162
+v -0.01919177 0.18587724 0.04351161
+v -0.03021186 0.18413712 0.04351161
+v -0.03278656 0.18371283 0.04351160
+v -0.03686575 0.18296912 0.04351160
+v -0.04040210 0.18219204 0.04351160
+v -0.04373681 0.18117181 0.04351160
+v -0.04731968 0.18005148 0.04351159
+v -0.04996420 0.17920765 0.04351159
+v -0.08117866 0.15305370 0.04740344
+v -0.00195210 0.17550338 0.04351157
+v -0.00195210 0.17962235 0.05472547
+v -0.00195210 0.18025643 0.05620462
+v -0.08117866 0.15696291 0.05597031
+v -0.08117866 0.15620012 0.05443019
+v -0.00195210 0.20001250 0.05824530
+v -0.00345660 0.20001728 0.05823567
+v -0.01079298 0.20002681 0.05822283
+v -0.03437635 0.20003158 0.05851802
+v -0.03754820 0.20003158 0.05705815
+v -0.03439187 0.20003158 0.05825174
+f 1 2 5
+f 1 5 11
+f 1 11 30
+f 1 30 44
+f 1 44 68
+f 1 68 70
+f 1 70 69
+f 1 69 45
+f 1 45 31
+f 1 31 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 22
+f 4 22 33
+f 4 33 59
+f 4 59 64
+f 4 64 63
+f 4 63 38
+f 4 38 37
+f 4 37 34
+f 4 34 24
+f 4 24 23
+f 4 23 14
+f 4 14 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 10
+f 10 21 22
+f 11 14 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 15 31 32
+f 15 32 16
+f 16 32 58
+f 16 58 57
+f 16 57 56
+f 16 56 55
+f 16 55 54
+f 16 54 53
+f 16 53 52
+f 16 52 51
+f 16 51 50
+f 16 50 49
+f 16 49 48
+f 16 48 47
+f 16 47 46
+f 16 46 60
+f 16 60 33
+f 16 33 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 24 34 35
+f 24 35 26
+f 24 26 25
+f 26 36 62
+f 26 62 61
+f 26 61 60
+f 26 60 46
+f 26 46 65
+f 26 65 41
+f 26 41 40
+f 26 40 39
+f 26 39 29
+f 26 29 28
+f 26 28 27
+f 26 35 34
+f 26 34 37
+f 26 37 38
+f 26 38 36
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 32
+f 33 60 61
+f 33 61 62
+f 33 62 36
+f 33 36 59
+f 36 38 63
+f 36 63 64
+f 36 64 59
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 44
+f 45 69 67
+f 45 67 66
+f 45 66 65
+f 45 65 46
+f 67 69 70
+f 67 70 68
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_28.obj

@@ -0,0 +1,766 @@
+# https://github.com/mikedh/trimesh
+v -0.00345041 0.15290426 -0.01921448
+v -0.00218443 0.15290426 -0.01921448
+v -0.00345041 0.14984823 -0.02317275
+v -0.01078069 0.14969817 -0.02300081
+v -0.01078069 0.15260418 -0.01921448
+v 0.00387988 0.15289637 -0.01921448
+v 0.00387988 0.14983243 -0.02316102
+v 0.00387988 0.14679216 -0.02677156
+v -0.00345041 0.14680005 -0.02678327
+v -0.01078069 0.14667371 -0.02661136
+v -0.01310902 0.14657105 -0.02648240
+v -0.01310902 0.14958762 -0.02287188
+v -0.01310902 0.15235939 -0.01921448
+v 0.00519899 0.15284108 -0.01921448
+v 0.01121902 0.14969026 -0.02298129
+v 0.01121902 0.14663423 -0.02659181
+v 0.01121902 0.14293063 -0.03055008
+v 0.00387988 0.14308855 -0.03056569
+v -0.00345041 0.14309646 -0.03066339
+v -0.01078069 0.14297802 -0.03071419
+v -0.01310902 0.14287534 -0.03061262
+v -0.01310902 0.13938493 -0.01921453
+v 0.01121902 0.15258050 -0.01921448
+v 0.01298078 0.15241469 -0.01921448
+v 0.01854932 0.14933492 -0.02253975
+v 0.01854932 0.14623938 -0.02615417
+v 0.01854932 0.14253581 -0.03019060
+v 0.01854932 0.13895856 -0.03380111
+v 0.01121902 0.13922706 -0.03416060
+v 0.00387988 0.13201727 -0.04133866
+v -0.00345041 0.13204097 -0.04146369
+v -0.01078069 0.13951923 -0.03432472
+v -0.01310902 0.13942448 -0.03422313
+v -0.01310902 0.08665810 -0.05913344
+v 0.07731556 0.07223848 -0.04582073
+v 0.07731556 0.11189615 -0.01921463
+v 0.01877064 0.15181448 -0.01921448
+v 0.02587961 0.14869528 -0.02175435
+v 0.02587961 0.14555236 -0.02536487
+v 0.02587961 0.14185668 -0.02947944
+v 0.02587961 0.13828734 -0.03309387
+v 0.01854932 0.13526286 -0.03732176
+v 0.02587961 0.13458373 -0.03671219
+v 0.01121902 0.13170933 -0.04124878
+v 0.00387988 0.12832160 -0.04464438
+v -0.00345041 0.12833738 -0.04463267
+v -0.01078069 0.13176458 -0.04144025
+v -0.01078069 0.13582353 -0.03783363
+v -0.01310902 0.13689750 -0.03661450
+v -0.01310902 0.10752146 -0.05913337
+v 0.04657792 0.07223853 -0.05913349
+v 0.07731556 0.07223853 -0.05868415
+v 0.07731556 0.12780031 -0.01921457
+v 0.02587961 0.15061419 -0.01921449
+v 0.02772989 0.15023514 -0.01921449
+v 0.02990773 0.14825306 -0.02122684
+v 0.03114714 0.14121702 -0.02882298
+v 0.03137732 0.13392041 -0.03608701
+v 0.01854932 0.13124342 -0.04092836
+v 0.02587961 0.13054059 -0.04031879
+v 0.01121902 0.12800571 -0.04443727
+v 0.01121902 0.12339401 -0.04804783
+v 0.00387988 0.12359932 -0.04825492
+v -0.01078069 0.11968253 -0.05084948
+v -0.01078069 0.12337819 -0.04803609
+v -0.01078069 0.12806889 -0.04442557
+v -0.00345041 0.12356773 -0.04824317
+v -0.01310902 0.12792676 -0.04432397
+v -0.01310902 0.13162245 -0.04133084
+v -0.01310902 0.13295701 -0.04018204
+v -0.01310902 0.13572088 -0.03772422
+v -0.01310902 0.10834274 -0.05860585
+v -0.01078069 0.10777415 -0.05913336
+v 0.07652764 0.07223853 -0.05913349
+v 0.07731556 0.07813743 -0.05584729
+v 0.07674895 0.07223853 -0.05901627
+v 0.07514657 0.07602897 -0.05813707
+v 0.07731556 0.12232785 -0.02481789
+v 0.07488984 0.12697117 -0.02213737
+v 0.07629746 0.12863738 -0.01921457
+v 0.03155438 0.14939809 -0.01921449
+v 0.03478574 0.14761340 -0.02045708
+v 0.03296201 0.14441521 -0.02465371
+v 0.03602515 0.14052209 -0.02807665
+v 0.03369680 0.13722125 -0.03210137
+v 0.03043891 0.12625264 -0.04301499
+v 0.03625534 0.13317020 -0.03538366
+v 0.03334268 0.12971140 -0.03922082
+v 0.01854932 0.12753980 -0.04408170
+v 0.02587961 0.12683698 -0.04349951
+v 0.01854932 0.12297548 -0.04769615
+v 0.01854932 0.11927189 -0.05052515
+v 0.01121902 0.11969832 -0.05084166
+v 0.00387988 0.11990363 -0.05099408
+v -0.00608858 0.11114608 -0.05719525
+v -0.01078069 0.11487337 -0.05429588
+v -0.01310902 0.11487337 -0.05412005
+v -0.01310902 0.11955617 -0.05075570
+v -0.00345041 0.11987204 -0.05098234
+v -0.01310902 0.12325976 -0.04793451
+v -0.01310902 0.11086180 -0.05698423
+v -0.01078069 0.11098814 -0.05706630
+v -0.00362746 0.10827165 -0.05913336
+v 0.07186212 0.07751360 -0.05913348
+v 0.07731556 0.07837431 -0.05572615
+v 0.07291561 0.08095658 -0.05690620
+v 0.07072007 0.07874550 -0.05913347
+v 0.07731556 0.11507071 -0.03149189
+v 0.07480132 0.11954029 -0.02921382
+v 0.07728899 0.12233575 -0.02482964
+v 0.07133978 0.12447578 -0.02695528
+v 0.06645292 0.12612622 -0.02849091
+v 0.06879898 0.12901643 -0.02405593
+v 0.07115386 0.13189877 -0.01949590
+v 0.07197719 0.13159079 -0.01921456
+v 0.03379420 0.14882952 -0.01921449
+v 0.04054020 0.14695008 -0.01921450
+v 0.04054020 0.14673686 -0.01947629
+v 0.04054020 0.14304117 -0.02363778
+v 0.04054020 0.13973242 -0.02724827
+v 0.04054020 0.13603672 -0.03100727
+v 0.02823450 0.11823737 -0.04974367
+v 0.02582650 0.12170407 -0.04753203
+v 0.03531691 0.12547872 -0.04235852
+v 0.03300629 0.12271487 -0.04517973
+v 0.03320989 0.11752667 -0.04921225
+v 0.04054020 0.13234892 -0.03461781
+v 0.04054020 0.12864534 -0.03789228
+v 0.02334763 0.11885334 -0.05022038
+v 0.01854932 0.11487337 -0.05363162
+v 0.01121902 0.11487337 -0.05425681
+v 0.00648268 0.11113820 -0.05719134
+v 0.00159583 0.11123295 -0.05726167
+v -0.00119288 0.11123295 -0.05726167
+v 0.00397727 0.11416266 -0.05510866
+v -0.00356549 0.11416266 -0.05510083
+v -0.01310902 0.11222793 -0.05601128
+v -0.00350350 0.10827165 -0.05913336
+v 0.07720931 0.08529192 -0.05211954
+v 0.07731556 0.08185681 -0.05387790
+v 0.07476589 0.09021164 -0.05073237
+v 0.06802874 0.08332562 -0.05815267
+v 0.07023316 0.08559199 -0.05578865
+v 0.06948949 0.07995370 -0.05913347
+v 0.07731556 0.11471534 -0.03180841
+v 0.07707653 0.11480222 -0.03189827
+v 0.07446487 0.11190409 -0.03614179
+v 0.06987019 0.11725025 -0.03439903
+v 0.06928589 0.12211465 -0.03038995
+v 0.06626701 0.13340706 -0.02116047
+v 0.06616963 0.11855319 -0.03554782
+v 0.06324812 0.12239894 -0.03364096
+v 0.06253988 0.12723966 -0.02956155
+v 0.06253988 0.13094326 -0.02585726
+v 0.07090600 0.13230150 -0.01921455
+v 0.04143433 0.14661050 -0.01921450
+v 0.04797671 0.14405982 -0.01921451
+v 0.04787046 0.14165920 -0.02209040
+v 0.04787046 0.13828731 -0.02570095
+v 0.04787046 0.13459161 -0.02955371
+v 0.02582650 0.11541035 -0.05223665
+v 0.03320989 0.11382309 -0.05193576
+v 0.04054020 0.12446005 -0.04150280
+v 0.04054020 0.12075645 -0.04458190
+v 0.04054020 0.11623950 -0.04819241
+v 0.04054020 0.11254380 -0.05100581
+v 0.04787046 0.13080114 -0.03316813
+v 0.04787046 0.12709755 -0.03654420
+v 0.01854932 0.11047486 -0.05672244
+v 0.02587961 0.10974835 -0.05624574
+v 0.01121902 0.11093287 -0.05703504
+v 0.01060819 0.10774256 -0.05913336
+v 0.00403040 0.10826376 -0.05913336
+v 0.07731556 0.08540246 -0.05199059
+v 0.07731556 0.08522874 -0.05208437
+v 0.06536402 0.08825323 -0.05683193
+v 0.06974623 0.09268333 -0.05195930
+v 0.07210115 0.09514712 -0.04922406
+v 0.07720931 0.09268332 -0.04773531
+v 0.07731556 0.09267544 -0.04767672
+v 0.06415999 0.08499188 -0.05913345
+v 0.06311533 0.08594738 -0.05913344
+v 0.07731556 0.11428102 -0.03217961
+v 0.07347335 0.10373094 -0.04274543
+v 0.07056070 0.10782935 -0.04137391
+v 0.06523120 0.11053008 -0.04230386
+v 0.06987019 0.11354664 -0.03744296
+v 0.07731556 0.10777407 -0.03745471
+v 0.07702339 0.10746610 -0.03787281
+v 0.06253988 0.13441785 -0.02224673
+v 0.06278779 0.13699219 -0.01921454
+v 0.06450524 0.13607618 -0.01921454
+v 0.06771006 0.13424412 -0.01921455
+v 0.06325698 0.11534713 -0.03955691
+v 0.06128276 0.12001414 -0.03680993
+v 0.05683856 0.12494172 -0.03463346
+v 0.05703334 0.13244368 -0.02740071
+v 0.04983582 0.14329385 -0.01921451
+v 0.05169496 0.14083796 -0.02120342
+v 0.05214646 0.13365978 -0.02863156
+v 0.03320989 0.10873754 -0.05555020
+v 0.03801708 0.10425215 -0.05753913
+v 0.04631234 0.11950875 -0.04356987
+v 0.04509948 0.11159617 -0.05031811
+v 0.04049592 0.10702394 -0.05491720
+v 0.05195172 0.12617364 -0.03575100
+v 0.05119919 0.11841110 -0.04265163
+v 0.04840165 0.12209102 -0.04060018
+v 0.01854932 0.10681865 -0.05913337
+v 0.02587961 0.10605266 -0.05873871
+v 0.03320989 0.10504185 -0.05805881
+v 0.01121902 0.10767940 -0.05913336
+v 0.06047714 0.09028270 -0.05797291
+v 0.06277008 0.09272282 -0.05543695
+v 0.06721428 0.09718451 -0.05052914
+v 0.07720045 0.09836111 -0.04410917
+v 0.07033938 0.10045378 -0.04664511
+v 0.07731556 0.09830582 -0.04407010
+v 0.06223003 0.08668968 -0.05913344
+v 0.06858650 0.10559457 -0.04406615
+v 0.07720045 0.10205680 -0.04162011
+v 0.06253988 0.10252274 -0.04915371
+v 0.06268156 0.10782937 -0.04540250
+v 0.06033550 0.11214893 -0.04347612
+v 0.07731556 0.10732395 -0.03779075
+v 0.05659068 0.13966921 -0.01985535
+v 0.05829046 0.13934543 -0.01921453
+v 0.05520077 0.11732921 -0.04181542
+v 0.05472269 0.12239896 -0.03779069
+v 0.05449250 0.12930868 -0.03163251
+v 0.05436858 0.13666054 -0.02430207
+v 0.05322655 0.14176977 -0.01921452
+v 0.03320989 0.10332827 -0.05913338
+v 0.04290392 0.10320981 -0.05685922
+v 0.04035426 0.10069072 -0.05913339
+v 0.04814491 0.11499970 -0.04650440
+v 0.04998635 0.11039586 -0.04944281
+v 0.04767571 0.10775045 -0.05210772
+v 0.02591501 0.10541302 -0.05913337
+v 0.05500597 0.09243856 -0.05913342
+v 0.05498828 0.09272284 -0.05898103
+v 0.05729006 0.09521822 -0.05652323
+v 0.06253988 0.09881913 -0.05167403
+v 0.07731556 0.10189097 -0.04165918
+v 0.07731556 0.10201732 -0.04157321
+v 0.05396134 0.10546038 -0.05116604
+v 0.05520077 0.11362562 -0.04468741
+v 0.05604180 0.14045100 -0.01921452
+v 0.04132810 0.10022481 -0.05913339
+v 0.04058443 0.10058805 -0.05913339
+v 0.04787046 0.10193841 -0.05601523
+v 0.04787046 0.09824271 -0.05838314
+v 0.05240322 0.09696341 -0.05759774
+v 0.05462530 0.09269124 -0.05913342
+v 0.05562570 0.10036693 -0.05384657
+v 0.04779080 0.09701872 -0.05913340
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 36
+f 1 36 53
+f 1 53 80
+f 1 80 115
+f 1 115 155
+f 1 155 193
+f 1 193 192
+f 1 192 191
+f 1 191 227
+f 1 227 248
+f 1 248 232
+f 1 232 198
+f 1 198 157
+f 1 157 156
+f 1 156 117
+f 1 117 116
+f 1 116 81
+f 1 81 55
+f 1 55 54
+f 1 54 37
+f 1 37 24
+f 1 24 23
+f 1 23 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 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 33
+f 11 33 49
+f 11 49 71
+f 11 71 70
+f 11 70 69
+f 11 69 68
+f 11 68 100
+f 11 100 98
+f 11 98 97
+f 11 97 137
+f 11 137 101
+f 11 101 72
+f 11 72 50
+f 11 50 34
+f 11 34 22
+f 11 22 13
+f 11 13 12
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 22 34 35
+f 22 35 36
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 42 29
+f 28 41 43
+f 28 43 42
+f 29 42 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 33
+f 33 48 49
+f 34 50 73
+f 34 73 103
+f 34 103 138
+f 34 138 173
+f 34 173 172
+f 34 172 212
+f 34 212 209
+f 34 209 239
+f 34 239 233
+f 34 233 235
+f 34 235 250
+f 34 250 249
+f 34 249 256
+f 34 256 254
+f 34 254 240
+f 34 240 219
+f 34 219 182
+f 34 182 181
+f 34 181 144
+f 34 144 107
+f 34 107 104
+f 34 104 74
+f 34 74 51
+f 34 51 35
+f 35 51 74
+f 35 74 76
+f 35 76 52
+f 35 52 75
+f 35 75 105
+f 35 105 140
+f 35 140 175
+f 35 175 174
+f 35 174 180
+f 35 180 218
+f 35 218 244
+f 35 244 245
+f 35 245 225
+f 35 225 188
+f 35 188 183
+f 35 183 145
+f 35 145 108
+f 35 108 78
+f 35 78 53
+f 35 53 36
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 57 41
+f 41 57 58
+f 41 58 43
+f 42 59 44
+f 42 43 59
+f 43 58 60
+f 43 60 59
+f 44 59 61
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 46 63 67
+f 46 67 64
+f 47 66 68
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 49
+f 50 72 73
+f 52 76 77
+f 52 77 75
+f 53 78 79
+f 53 79 80
+f 55 81 56
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 84
+f 57 84 85
+f 57 85 58
+f 58 86 60
+f 58 85 87
+f 58 87 88
+f 58 88 86
+f 59 89 61
+f 59 60 90
+f 59 90 89
+f 60 86 90
+f 61 89 91
+f 61 91 62
+f 62 91 92
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 99
+f 63 99 67
+f 64 95 96
+f 64 96 97
+f 64 97 98
+f 64 98 65
+f 64 67 99
+f 64 99 95
+f 65 98 100
+f 65 100 66
+f 66 100 68
+f 72 101 102
+f 72 102 73
+f 73 102 95
+f 73 95 103
+f 74 104 77
+f 74 77 76
+f 75 77 106
+f 75 106 105
+f 77 104 107
+f 77 107 106
+f 78 108 109
+f 78 109 110
+f 78 110 79
+f 79 109 111
+f 79 111 112
+f 79 112 113
+f 79 113 114
+f 79 114 115
+f 79 115 80
+f 79 110 109
+f 81 116 82
+f 82 84 83
+f 82 116 117
+f 82 117 118
+f 82 118 84
+f 84 87 85
+f 84 118 119
+f 84 119 120
+f 84 120 121
+f 84 121 87
+f 86 122 123
+f 86 123 90
+f 86 88 124
+f 86 124 125
+f 86 125 126
+f 86 126 122
+f 87 124 88
+f 87 121 127
+f 87 127 128
+f 87 128 124
+f 89 90 129
+f 89 129 91
+f 90 123 129
+f 91 129 92
+f 92 129 130
+f 92 130 131
+f 92 131 93
+f 93 131 132
+f 93 132 94
+f 94 133 134
+f 94 134 99
+f 94 132 135
+f 94 135 133
+f 95 102 96
+f 95 99 136
+f 95 136 134
+f 95 134 103
+f 96 102 137
+f 96 137 97
+f 99 134 136
+f 101 137 102
+f 103 134 133
+f 103 133 138
+f 105 139 140
+f 105 106 139
+f 106 141 139
+f 106 107 142
+f 106 142 143
+f 106 143 141
+f 107 144 142
+f 108 145 146
+f 108 146 109
+f 109 147 148
+f 109 148 149
+f 109 149 111
+f 109 146 147
+f 111 149 112
+f 112 150 113
+f 112 149 151
+f 112 151 152
+f 112 152 153
+f 112 153 154
+f 112 154 150
+f 113 150 114
+f 114 155 115
+f 114 150 155
+f 117 156 118
+f 118 156 157
+f 118 157 158
+f 118 158 119
+f 119 158 120
+f 120 158 159
+f 120 159 160
+f 120 160 121
+f 121 160 127
+f 122 161 129
+f 122 129 123
+f 122 126 162
+f 122 162 161
+f 124 128 163
+f 124 163 164
+f 124 164 165
+f 124 165 125
+f 125 165 126
+f 126 165 166
+f 126 166 162
+f 127 160 167
+f 127 167 168
+f 127 168 128
+f 128 168 163
+f 129 169 130
+f 129 161 170
+f 129 170 169
+f 130 169 171
+f 130 171 131
+f 131 171 132
+f 132 171 172
+f 132 172 173
+f 132 173 133
+f 132 133 135
+f 133 173 138
+f 139 174 175
+f 139 175 140
+f 139 141 174
+f 141 143 176
+f 141 176 177
+f 141 177 178
+f 141 178 179
+f 141 179 180
+f 141 180 174
+f 142 144 181
+f 142 181 182
+f 142 182 176
+f 142 176 143
+f 145 183 146
+f 146 183 147
+f 147 184 185
+f 147 185 186
+f 147 186 187
+f 147 187 151
+f 147 151 148
+f 147 183 188
+f 147 188 189
+f 147 189 184
+f 148 151 149
+f 150 154 190
+f 150 190 191
+f 150 191 192
+f 150 192 193
+f 150 193 155
+f 151 186 194
+f 151 194 195
+f 151 195 152
+f 151 187 186
+f 152 195 196
+f 152 196 153
+f 153 196 197
+f 153 197 154
+f 154 197 190
+f 157 198 199
+f 157 199 158
+f 158 199 159
+f 159 199 200
+f 159 200 160
+f 160 200 167
+f 161 162 201
+f 161 201 170
+f 162 166 202
+f 162 202 201
+f 163 168 203
+f 163 203 164
+f 164 203 204
+f 164 204 165
+f 165 204 166
+f 166 204 205
+f 166 205 202
+f 167 200 206
+f 167 206 168
+f 168 206 207
+f 168 207 208
+f 168 208 203
+f 169 209 171
+f 169 170 210
+f 169 210 209
+f 170 201 211
+f 170 211 210
+f 171 212 172
+f 171 209 212
+f 176 182 213
+f 176 213 214
+f 176 214 215
+f 176 215 177
+f 177 215 178
+f 178 184 216
+f 178 216 180
+f 178 180 179
+f 178 215 217
+f 178 217 184
+f 180 216 218
+f 182 219 213
+f 184 217 220
+f 184 220 185
+f 184 189 221
+f 184 221 216
+f 185 220 186
+f 186 220 222
+f 186 222 223
+f 186 223 224
+f 186 224 194
+f 188 225 189
+f 189 225 221
+f 190 197 226
+f 190 226 191
+f 191 226 227
+f 194 224 195
+f 195 224 228
+f 195 228 229
+f 195 229 196
+f 196 229 206
+f 196 206 230
+f 196 230 197
+f 197 230 200
+f 197 200 231
+f 197 231 226
+f 198 232 199
+f 199 232 226
+f 199 226 231
+f 199 231 200
+f 200 230 206
+f 201 202 211
+f 202 233 211
+f 202 205 234
+f 202 234 235
+f 202 235 233
+f 203 208 207
+f 203 207 236
+f 203 236 204
+f 204 236 237
+f 204 237 238
+f 204 238 234
+f 204 234 205
+f 206 229 207
+f 207 237 236
+f 207 229 228
+f 207 228 237
+f 209 210 239
+f 210 211 233
+f 210 233 239
+f 213 219 240
+f 213 240 241
+f 213 241 242
+f 213 242 214
+f 214 242 215
+f 215 220 217
+f 215 242 243
+f 215 243 222
+f 215 222 220
+f 216 221 244
+f 216 244 218
+f 221 225 245
+f 221 245 244
+f 222 243 246
+f 222 246 223
+f 223 246 224
+f 224 246 237
+f 224 237 247
+f 224 247 228
+f 226 232 248
+f 226 248 227
+f 228 247 237
+f 234 249 250
+f 234 250 235
+f 234 238 251
+f 234 251 252
+f 234 252 249
+f 237 251 238
+f 237 246 253
+f 237 253 251
+f 240 254 253
+f 240 253 241
+f 241 253 242
+f 242 253 255
+f 242 255 243
+f 243 255 246
+f 246 255 253
+f 249 252 256
+f 251 253 252
+f 252 253 256
+f 253 254 256
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_29.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00186619 -0.19070219 0.05184576
+v 0.00186619 -0.21840499 0.06667330
+v 0.00186619 -0.19070224 0.06645628
+v 0.00388042 -0.19070219 0.05184867
+v 0.04787484 -0.20239966 0.05708849
+v 0.04787484 -0.20610107 0.05875489
+v 0.00186619 -0.22364560 0.07028191
+v 0.04787484 -0.21063962 0.06120756
+v 0.04053743 -0.21980908 0.06652367
+v 0.00186619 -0.21247556 0.08123399
+v 0.04787484 -0.19070226 0.07052260
+v 0.04150259 -0.19070219 0.05270241
+v 0.04787484 -0.19584723 0.05469450
+v 0.05488255 -0.19575496 0.05630810
+v 0.06251966 -0.19070221 0.05626998
+v 0.05222694 -0.20101864 0.05775447
+v 0.06129676 -0.19322695 0.05710025
+v 0.00388042 -0.22365222 0.07027310
+v 0.02588063 -0.22437404 0.07639017
+v 0.00186619 -0.22423232 0.07639017
+v 0.02588063 -0.22371481 0.07012641
+v 0.05194517 -0.21486510 0.06511249
+v 0.04787484 -0.21610106 0.06439956
+v 0.04053743 -0.22335555 0.07013227
+v 0.03320603 -0.22370166 0.07007360
+v 0.00186619 -0.21803918 0.08173565
+v 0.02588063 -0.21803918 0.08181486
+v 0.02588063 -0.21250525 0.08124278
+v 0.04053743 -0.21175374 0.08102860
+v 0.04787484 -0.20324678 0.07706209
+v 0.04787484 -0.19716901 0.07416347
+v 0.05239477 -0.19070225 0.06928452
+v 0.04764104 -0.19070220 0.05328626
+v 0.05510435 -0.19070220 0.05467986
+v 0.06310715 -0.19070223 0.06193816
+v 0.05259259 -0.21601539 0.06916705
+v 0.01854922 -0.22369504 0.07018216
+v 0.02588063 -0.22239647 0.08057382
+v 0.00186619 -0.22232396 0.08050048
+v 0.03320603 -0.22429824 0.07639017
+v 0.04810862 -0.21973656 0.06886485
+v 0.04582468 -0.22260079 0.07107111
+v 0.04582468 -0.22260080 0.07464746
+v 0.03320603 -0.21803918 0.08174738
+v 0.03320603 -0.21250525 0.08122518
+v 0.04563286 -0.21211958 0.08056506
+v 0.04799472 -0.21004971 0.07899546
+v 0.05225690 -0.19822371 0.07348282
+v 0.05523023 -0.19070225 0.06793786
+v 0.06310715 -0.19070223 0.06218462
+v 0.05253865 -0.21605168 0.07446267
+v 0.03320603 -0.22233385 0.08052102
+v 0.04059737 -0.22323695 0.07678917
+v 0.03819355 -0.22207674 0.08029804
+v 0.04817459 -0.21853355 0.07696229
+v 0.04307915 -0.22101544 0.07946189
+v 0.04059737 -0.21834569 0.08100218
+v 0.04563286 -0.21608136 0.08056505
+v 0.05323402 -0.21063968 0.07520789
+v 0.05301822 -0.20324677 0.07447151
+v 0.06300523 -0.19070223 0.06235183
+f 1 2 7
+f 1 7 20
+f 1 20 39
+f 1 39 26
+f 1 26 10
+f 1 10 3
+f 1 3 11
+f 1 11 32
+f 1 32 49
+f 1 49 61
+f 1 61 50
+f 1 50 35
+f 1 35 15
+f 1 15 34
+f 1 34 33
+f 1 33 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 8
+f 7 18 19
+f 7 19 20
+f 7 9 21
+f 7 21 18
+f 8 17 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 21
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 11
+f 11 31 32
+f 12 33 13
+f 13 33 34
+f 13 34 15
+f 13 15 14
+f 15 35 36
+f 15 36 22
+f 15 22 17
+f 15 17 16
+f 18 21 37
+f 18 37 19
+f 19 38 39
+f 19 39 20
+f 19 37 21
+f 19 21 25
+f 19 25 40
+f 19 40 38
+f 22 41 23
+f 22 36 41
+f 23 41 42
+f 23 42 24
+f 24 40 25
+f 24 42 43
+f 24 43 40
+f 26 39 38
+f 26 38 27
+f 27 38 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 44
+f 29 44 46
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 35 50 36
+f 36 42 41
+f 36 50 51
+f 36 51 43
+f 36 43 42
+f 38 40 52
+f 38 52 44
+f 40 43 53
+f 40 53 54
+f 40 54 52
+f 43 55 56
+f 43 56 53
+f 43 51 55
+f 44 52 54
+f 44 54 57
+f 44 57 58
+f 44 58 46
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 48 60 61
+f 48 61 49
+f 50 61 59
+f 50 59 51
+f 51 59 58
+f 51 58 55
+f 53 56 54
+f 54 56 58
+f 54 58 57
+f 55 58 56
+f 59 61 60
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_3.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v -0.15209260 0.00390561 -0.00325611
+v -0.15209260 -0.00000671 -0.00325612
+v -0.15205096 0.00456792 -0.00325610
+v -0.14818418 0.01130699 -0.00971948
+v -0.15204402 0.00390561 -0.00334609
+v -0.15205096 -0.00000671 -0.00334610
+v -0.14115181 -0.00000671 -0.00325612
+v -0.15164137 0.01099287 -0.00325608
+v -0.14785097 0.01870147 -0.00917209
+v -0.14574749 0.01870149 -0.01278618
+v -0.14602520 0.01130700 -0.01333358
+v -0.14837856 0.00390564 -0.01003443
+v -0.14838550 -0.00000668 -0.01004945
+v -0.12490025 0.06973923 -0.00325586
+v -0.08117866 -0.00000650 -0.05910220
+v -0.15155807 0.01194876 -0.00325608
+v -0.14735807 0.02610281 -0.00830227
+v -0.14526848 0.02610282 -0.01190887
+v -0.15089857 0.01870145 -0.00325605
+v -0.14999610 0.02610279 -0.00325602
+v -0.14124203 0.02613015 -0.01805734
+v -0.14263741 0.01870150 -0.01750999
+v -0.14621956 0.00390565 -0.01364104
+v -0.14322749 0.01130701 -0.01751002
+v -0.14724701 -0.00000668 -0.01196146
+v -0.08117866 0.06973938 -0.04478051
+v -0.13761827 0.06973923 -0.00325586
+v -0.08117866 -0.00000643 -0.07985704
+v -0.14685824 0.03216589 -0.00742496
+v -0.14093659 0.03349734 -0.01652768
+v -0.14495609 0.03418010 -0.01001182
+v -0.14871872 0.03413227 -0.00325599
+v -0.14844799 0.03418007 -0.00376585
+v -0.13886783 0.02861548 -0.02082415
+v -0.13933296 0.02367897 -0.02142400
+v -0.13965925 0.01870152 -0.02186641
+v -0.13997858 0.01130703 -0.02227882
+v -0.14622652 -0.00000667 -0.01365601
+v -0.14357460 0.00390566 -0.01751005
+v -0.14498387 -0.00000666 -0.01547808
+v -0.08117866 0.06973943 -0.05739237
+v -0.13832634 0.06802545 -0.00325587
+v -0.13753495 0.06973923 -0.00340584
+v -0.08188674 -0.00000643 -0.07985704
+v -0.08117866 0.00390589 -0.07984951
+v -0.14640701 0.03709554 -0.00664515
+v -0.14006882 0.04089184 -0.01526798
+v -0.13835411 0.03349735 -0.02013430
+v -0.14323444 0.04089182 -0.01028920
+v -0.14749690 0.03995639 -0.00325597
+v -0.13425130 0.03342909 -0.02524054
+v -0.13201594 0.03092329 -0.02862967
+v -0.13663942 0.02613017 -0.02419082
+v -0.13253660 0.02610289 -0.02920705
+v -0.13682684 0.01870153 -0.02548053
+v -0.13716700 0.01130705 -0.02588545
+v -0.13732669 0.00390570 -0.02607294
+v -0.14012436 0.00390568 -0.02245883
+v -0.14196403 -0.00000665 -0.01984198
+v -0.14358848 -0.00000666 -0.01751006
+v -0.08117866 0.06846946 -0.05801471
+v -0.08153268 0.06828511 -0.05790225
+v -0.08306690 0.06973943 -0.05626763
+v -0.13898587 0.06642774 -0.00325588
+v -0.13839576 0.06492565 -0.00540036
+v -0.13366817 0.06973926 -0.00988422
+v -0.08188674 0.00390589 -0.07984951
+v -0.12292868 -0.00000657 -0.04138411
+v -0.08117866 0.01006457 -0.07981201
+v -0.14593494 0.04089180 -0.00576785
+v -0.13940236 0.04560983 -0.01433070
+v -0.13743775 0.04089185 -0.01888208
+v -0.13377230 0.04089187 -0.02357590
+v -0.13147445 0.03584614 -0.02799233
+v -0.14102683 0.04816344 -0.01060412
+v -0.14726089 0.04089179 -0.00325597
+v -0.12821166 0.03390024 -0.03205631
+v -0.12494190 0.03194067 -0.03608284
+v -0.12921131 0.02610290 -0.03282115
+v -0.13316138 0.01870155 -0.02990442
+v -0.13349461 0.01130706 -0.03028686
+v -0.13366123 0.00390571 -0.03047433
+v -0.13733362 -0.00000662 -0.02608044
+v -0.13865262 -0.00000663 -0.02438586
+v -0.13561198 -0.00000662 -0.02814992
+v -0.14012436 -0.00000664 -0.02247383
+v -0.08117866 0.02828111 -0.07744254
+v -0.08949533 0.06973941 -0.05209119
+v -0.14046454 0.06255637 -0.00325589
+v -0.13662553 0.06271346 -0.00980177
+v -0.13933296 0.05999600 -0.00707244
+v -0.13320305 0.06973926 -0.01064152
+v -0.08175484 0.01130724 -0.07979700
+v -0.12292174 0.00390575 -0.04137660
+v -0.12468503 -0.00000657 -0.03968954
+v -0.08117866 0.01130724 -0.07979700
+v -0.14649725 0.04384140 -0.00325596
+v -0.14524766 0.04838190 -0.00325594
+v -0.13866652 0.05053951 -0.01322845
+v -0.13663942 0.04816346 -0.01704500
+v -0.13268238 0.04829320 -0.02224871
+v -0.13080107 0.04089188 -0.02718999
+v -0.12712868 0.04089189 -0.03127648
+v -0.12435182 0.03687033 -0.03549044
+v -0.14509493 0.04890762 -0.00325594
+v -0.14501857 0.04916709 -0.00325594
+v -0.14009658 0.05568766 -0.00827968
+v -0.12094324 0.03415287 -0.03933701
+v -0.08117866 0.02428005 -0.07897966
+v -0.12177626 0.02610293 -0.04029680
+v -0.12554585 0.02610291 -0.03668269
+v -0.12979445 0.01870156 -0.03351101
+v -0.13014156 0.01130707 -0.03389344
+v -0.13032206 0.00390573 -0.03408095
+v -0.13366817 -0.00000661 -0.03048184
+v -0.10924572 0.05818676 -0.04232866
+v -0.10432374 0.06308912 -0.04428566
+v -0.10304639 0.06776614 -0.04325839
+v -0.09493796 0.06650302 -0.04987176
+v -0.09386194 0.06973940 -0.04912192
+v -0.09088378 0.06973941 -0.05116890
+v -0.14284568 0.05589930 -0.00325591
+v -0.13200900 0.06729493 -0.01421814
+v -0.13286983 0.06308902 -0.01533539
+v -0.13786122 0.05568767 -0.01189378
+v -0.12869064 0.06973928 -0.01681998
+v -0.08142854 0.01870173 -0.07963200
+v -0.08117866 0.01815552 -0.07964699
+v -0.12270653 0.01130710 -0.04117414
+v -0.12666354 -0.00000658 -0.03777751
+v -0.12665662 0.00390574 -0.03776251
+v -0.12647610 0.01130709 -0.03756003
+v -0.13384867 0.05533946 -0.01774979
+v -0.13200205 0.05264250 -0.02140891
+v -0.12968338 0.04829321 -0.02586282
+v -0.12601792 0.04829323 -0.03006926
+v -0.12374092 0.04089191 -0.03488309
+v -0.12007546 0.04089192 -0.03834724
+v -0.11688208 0.03635145 -0.04258368
+v -0.14291510 0.05568764 -0.00325592
+v -0.11618092 0.04089193 -0.04195383
+v -0.11492437 0.04829327 -0.04081408
+v -0.11032176 0.05325707 -0.04324346
+v -0.08117866 0.02186301 -0.07945956
+v -0.12235942 0.01870159 -0.04084417
+v -0.12612901 0.01870158 -0.03723007
+v -0.13032900 -0.00000659 -0.03408845
+v -0.11358457 0.05600184 -0.03929194
+v -0.11684040 0.05874660 -0.03532542
+v -0.11214059 0.06308910 -0.03767981
+v -0.10799614 0.06308911 -0.04129392
+v -0.11075216 0.06851717 -0.03643511
+v -0.10523317 0.06973937 -0.04047658
+v -0.09989465 0.06973938 -0.04467554
+v -0.09831880 0.06973939 -0.04584525
+v -0.12726752 0.06973929 -0.01856705
+v -0.12519182 0.06827133 -0.02199371
+v -0.13000271 0.06308903 -0.01894950
+v -0.13110652 0.05757900 -0.02031416
+v -0.08117866 0.01872222 -0.07962453
+v -0.12810058 0.05564674 -0.02470809
+v -0.12510158 0.05370767 -0.02906450
+v -0.12251911 0.04829324 -0.03367586
+v -0.11885365 0.04829326 -0.03719996
+v -0.11783314 0.05381691 -0.03624771
+v -0.12098489 0.05622713 -0.03219119
+v -0.12413660 0.05864416 -0.02800725
+v -0.11949925 0.06308907 -0.03074405
+v -0.11581298 0.06308909 -0.03435813
+v -0.10809334 0.06973936 -0.03807717
+v -0.11815249 0.06865372 -0.02937936
+v -0.11617398 0.06973933 -0.03069153
+v -0.11219612 0.06973935 -0.03444059
+v -0.12289398 0.06973931 -0.02365077
+v -0.12316471 0.06308906 -0.02694248
+v -0.12633727 0.06308905 -0.02332837
+v -0.11952008 0.06973932 -0.02728737
+f 1 2 7
+f 1 7 14
+f 1 14 27
+f 1 27 42
+f 1 42 64
+f 1 64 89
+f 1 89 122
+f 1 122 140
+f 1 140 106
+f 1 106 105
+f 1 105 98
+f 1 98 97
+f 1 97 76
+f 1 76 50
+f 1 50 32
+f 1 32 20
+f 1 20 19
+f 1 19 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 38
+f 2 38 40
+f 2 40 60
+f 2 60 59
+f 2 59 86
+f 2 86 84
+f 2 84 83
+f 2 83 85
+f 2 85 115
+f 2 115 147
+f 2 147 130
+f 2 130 95
+f 2 95 68
+f 2 68 44
+f 2 44 28
+f 2 28 15
+f 2 15 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 8 9
+f 5 12 13
+f 5 13 6
+f 7 15 14
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 19
+f 9 19 20
+f 9 20 17
+f 10 18 21
+f 10 21 22
+f 10 22 11
+f 11 23 12
+f 11 22 24
+f 11 24 23
+f 12 23 25
+f 12 25 13
+f 14 26 41
+f 14 41 63
+f 14 63 88
+f 14 88 121
+f 14 121 120
+f 14 120 155
+f 14 155 154
+f 14 154 153
+f 14 153 170
+f 14 170 173
+f 14 173 172
+f 14 172 177
+f 14 177 174
+f 14 174 156
+f 14 156 126
+f 14 126 92
+f 14 92 66
+f 14 66 43
+f 14 43 27
+f 14 15 26
+f 15 28 45
+f 15 45 69
+f 15 69 96
+f 15 96 128
+f 15 128 160
+f 15 160 144
+f 15 144 109
+f 15 109 87
+f 15 87 61
+f 15 61 41
+f 15 41 26
+f 17 29 18
+f 17 20 29
+f 18 30 21
+f 18 29 31
+f 18 31 30
+f 20 32 33
+f 20 33 29
+f 21 34 35
+f 21 35 22
+f 21 30 34
+f 22 35 36
+f 22 36 37
+f 22 37 24
+f 23 38 25
+f 23 24 37
+f 23 37 39
+f 23 39 40
+f 23 40 38
+f 27 43 42
+f 28 44 67
+f 28 67 45
+f 29 46 31
+f 29 33 46
+f 30 31 47
+f 30 47 48
+f 30 48 34
+f 31 46 49
+f 31 49 47
+f 32 50 46
+f 32 46 33
+f 34 48 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 41 61 62
+f 41 62 63
+f 42 43 64
+f 43 65 64
+f 43 66 65
+f 44 68 67
+f 45 67 69
+f 46 70 49
+f 46 50 70
+f 47 49 71
+f 47 71 72
+f 47 72 48
+f 48 72 73
+f 48 73 74
+f 48 74 51
+f 49 70 75
+f 49 75 71
+f 50 76 70
+f 51 74 52
+f 52 74 77
+f 52 77 78
+f 52 78 54
+f 52 54 53
+f 54 78 79
+f 54 79 80
+f 54 80 55
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 57
+f 57 83 84
+f 57 84 58
+f 57 82 85
+f 57 85 83
+f 58 86 59
+f 58 84 86
+f 61 87 62
+f 62 87 63
+f 63 87 88
+f 64 65 89
+f 65 66 90
+f 65 90 91
+f 65 91 89
+f 66 92 90
+f 67 93 69
+f 67 68 94
+f 67 94 93
+f 68 95 94
+f 69 93 96
+f 70 76 97
+f 70 97 98
+f 70 98 75
+f 71 99 100
+f 71 100 72
+f 71 75 99
+f 72 101 73
+f 72 100 101
+f 73 101 102
+f 73 102 74
+f 74 102 103
+f 74 103 104
+f 74 104 77
+f 75 98 105
+f 75 105 106
+f 75 106 107
+f 75 107 99
+f 77 104 78
+f 78 104 108
+f 78 108 109
+f 78 109 110
+f 78 110 111
+f 78 111 79
+f 79 111 112
+f 79 112 80
+f 80 112 113
+f 80 113 81
+f 81 113 114
+f 81 114 82
+f 82 115 85
+f 82 114 147
+f 82 147 115
+f 87 109 116
+f 87 116 117
+f 87 117 118
+f 87 118 119
+f 87 119 120
+f 87 120 121
+f 87 121 88
+f 89 91 122
+f 90 92 123
+f 90 123 124
+f 90 124 125
+f 90 125 91
+f 91 125 107
+f 91 107 122
+f 92 126 123
+f 93 127 128
+f 93 128 96
+f 93 94 129
+f 93 129 127
+f 94 95 130
+f 94 130 131
+f 94 131 132
+f 94 132 129
+f 99 107 125
+f 99 125 133
+f 99 133 100
+f 100 133 134
+f 100 134 101
+f 101 135 102
+f 101 134 135
+f 102 136 103
+f 102 135 136
+f 103 136 137
+f 103 137 104
+f 104 137 138
+f 104 138 139
+f 104 139 109
+f 104 109 108
+f 106 140 107
+f 107 140 122
+f 109 139 141
+f 109 141 142
+f 109 142 143
+f 109 143 116
+f 109 144 110
+f 110 144 145
+f 110 145 146
+f 110 146 111
+f 111 146 112
+f 112 146 113
+f 113 146 132
+f 113 132 131
+f 113 131 114
+f 114 131 130
+f 114 130 147
+f 116 143 148
+f 116 148 149
+f 116 149 150
+f 116 150 151
+f 116 151 117
+f 117 151 118
+f 118 151 152
+f 118 152 153
+f 118 153 154
+f 118 154 119
+f 119 154 155
+f 119 155 120
+f 123 126 156
+f 123 156 157
+f 123 157 158
+f 123 158 124
+f 124 158 159
+f 124 159 133
+f 124 133 125
+f 127 144 160
+f 127 160 128
+f 127 129 145
+f 127 145 144
+f 129 132 146
+f 129 146 145
+f 133 159 134
+f 134 159 161
+f 134 161 162
+f 134 162 135
+f 135 162 136
+f 136 162 163
+f 136 163 137
+f 137 163 164
+f 137 164 138
+f 138 164 141
+f 138 141 139
+f 141 164 142
+f 142 164 165
+f 142 165 143
+f 143 165 148
+f 148 165 149
+f 149 165 166
+f 149 166 167
+f 149 167 168
+f 149 168 169
+f 149 169 150
+f 150 152 151
+f 150 169 152
+f 152 170 153
+f 152 169 171
+f 152 171 172
+f 152 172 173
+f 152 173 170
+f 156 174 157
+f 157 174 171
+f 157 171 175
+f 157 175 176
+f 157 176 158
+f 158 176 159
+f 159 176 167
+f 159 167 161
+f 161 167 162
+f 162 167 166
+f 162 166 165
+f 162 165 163
+f 163 165 164
+f 167 176 175
+f 167 175 168
+f 168 175 171
+f 168 171 169
+f 171 174 177
+f 171 177 172
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_30.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.08117866 -0.15118482 0.04345626
+v -0.08117866 -0.16481486 0.04345621
+v -0.08117866 -0.15627106 0.05478634
+v 0.00185809 -0.18264730 0.06194362
+v 0.00185809 -0.18060543 0.05670582
+v 0.00185809 -0.17984026 0.05472188
+v 0.00185809 -0.17574016 0.04345617
+v -0.07695974 -0.16734363 0.04345621
+v -0.08083722 -0.18497149 0.05802256
+v -0.08117866 -0.18449270 0.05782943
+v -0.08117866 -0.15994558 0.06141409
+v 0.00185809 -0.18459505 0.06568911
+v 0.00185809 -0.18318743 0.06298242
+v 0.00185809 -0.18691506 0.04345613
+v -0.06976567 -0.17118591 0.04345619
+v -0.07677280 -0.18598623 0.05703936
+v -0.06618083 -0.19234503 0.05804888
+v -0.08083722 -0.18497150 0.05880092
+v -0.08117866 -0.18449270 0.05851124
+v -0.08117866 -0.16274444 0.06513614
+v -0.04354182 -0.19176814 0.07293424
+v -0.04324919 -0.19298750 0.07322394
+v 0.00185809 -0.18566302 0.06592319
+v -0.08117866 -0.16292040 0.06532633
+v 0.00185809 -0.19298743 0.05348699
+v -0.00041802 -0.19298743 0.05348405
+v -0.00345822 -0.19298743 0.05348113
+v -0.00345822 -0.18691506 0.04345613
+v -0.06843253 -0.17179967 0.04345619
+v -0.06246590 -0.19298744 0.05707154
+v -0.06323003 -0.19298744 0.05736999
+v -0.06618083 -0.19234504 0.05877456
+v -0.08117866 -0.18448452 0.05916377
+v -0.05675942 -0.19298748 0.06672201
+v -0.05435327 -0.19298748 0.06898100
+v -0.04472866 -0.19298750 0.07334684
+v -0.08117866 -0.16654580 0.06647925
+v 0.00185809 -0.19298747 0.06640013
+v 0.00185809 -0.18844550 0.06651721
+v -0.04011144 -0.19298743 0.05369767
+v -0.01079050 -0.18662043 0.04345613
+v -0.04734617 -0.19298743 0.05396101
+v -0.06232772 -0.17457806 0.04345618
+v -0.05682444 -0.17668946 0.04345617
+v -0.05493042 -0.17741373 0.04345617
+v -0.05745851 -0.19298743 0.05571085
+v -0.06323003 -0.19298745 0.05986601
+v -0.08117866 -0.18167345 0.06269565
+v -0.04955720 -0.19298750 0.07243095
+v -0.04544400 -0.19298750 0.07334684
+v -0.08117866 -0.17379660 0.06672794
+v -0.01812275 -0.18606394 0.04345614
+v -0.05028067 -0.19298743 0.05442627
+v -0.02615410 -0.18510236 0.04345614
+v -0.04708603 -0.18015936 0.04345616
+v -0.04305409 -0.18144011 0.04345615
+v -0.04011144 -0.18234444 0.04345615
+v -0.03278731 -0.18392390 0.04345614
+v -0.08117866 -0.17820763 0.06592908
+v -0.04937026 -0.19298750 0.07248948
+v -0.04720796 -0.19298750 0.07304838
+f 1 2 10
+f 1 10 19
+f 1 19 33
+f 1 33 48
+f 1 48 59
+f 1 59 51
+f 1 51 37
+f 1 37 24
+f 1 24 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 14
+f 1 14 28
+f 1 28 41
+f 1 41 52
+f 1 52 54
+f 1 54 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 45
+f 1 45 44
+f 1 44 43
+f 1 43 29
+f 1 29 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 23
+f 4 23 39
+f 4 39 38
+f 4 38 25
+f 4 25 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 32
+f 9 32 18
+f 9 18 19
+f 9 19 10
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 20 24
+f 12 24 21
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 47
+f 17 47 32
+f 18 33 19
+f 18 32 34
+f 18 34 35
+f 18 35 33
+f 21 36 22
+f 21 24 37
+f 21 37 36
+f 22 36 50
+f 22 50 61
+f 22 61 60
+f 22 60 49
+f 22 49 35
+f 22 35 34
+f 22 34 47
+f 22 47 31
+f 22 31 30
+f 22 30 46
+f 22 46 53
+f 22 53 42
+f 22 42 40
+f 22 40 27
+f 22 27 26
+f 22 26 25
+f 22 25 38
+f 22 38 39
+f 22 39 23
+f 27 40 28
+f 28 40 42
+f 28 42 41
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 32 47 34
+f 33 35 48
+f 35 49 48
+f 36 37 50
+f 37 51 50
+f 41 42 52
+f 42 53 54
+f 42 54 52
+f 45 55 46
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 53
+f 48 49 59
+f 49 60 59
+f 50 51 61
+f 51 59 60
+f 51 60 61
+f 53 58 54
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_31.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.08117866 -0.09612974 -0.02953044
+v -0.08117866 -0.07045586 -0.04450506
+v -0.08117866 -0.09612969 -0.04310159
+v 0.00160806 -0.09612965 -0.05490450
+v 0.00160806 -0.07045580 -0.06109310
+v -0.08117866 -0.07045581 -0.05701726
+v -0.08117866 -0.09597387 -0.04320149
+v -0.08108141 -0.09612969 -0.04316650
+v 0.00160806 -0.09612960 -0.06744670
+v 0.00160806 -0.07045575 -0.07380511
+v -0.05184350 -0.07045573 -0.07870010
+v -0.08117866 -0.07197623 -0.05630800
+v -0.08117866 -0.08648438 -0.04879072
+v -0.07642992 -0.09612968 -0.04575385
+v -0.04543352 -0.07484863 -0.07959921
+v 0.00048166 -0.09612960 -0.06745667
+v 0.00160806 -0.08913559 -0.07945439
+v 0.00160806 -0.07985221 -0.07995385
+v -0.03774317 -0.07045573 -0.08011364
+v -0.08117866 -0.08353902 -0.05048899
+v -0.08117866 -0.08277503 -0.05090856
+v -0.08117866 -0.07753270 -0.05354584
+v -0.04767012 -0.07045573 -0.08017358
+v -0.07096807 -0.09612967 -0.04874081
+v -0.03956650 -0.07737933 -0.07990391
+v -0.03676264 -0.08133243 -0.07904977
+v -0.00345671 -0.09612960 -0.06746169
+v 0.00160806 -0.08487085 -0.08050831
+v -0.00345671 -0.08912053 -0.07943441
+v 0.00160806 -0.08332280 -0.08034348
+v -0.03929909 -0.07045573 -0.08023352
+v -0.04762962 -0.07045573 -0.08017857
+v -0.06714314 -0.09612966 -0.05073378
+v -0.03278375 -0.07747730 -0.08055322
+v -0.02545806 -0.08316195 -0.08010872
+v -0.03278375 -0.08201599 -0.07954429
+v -0.01471267 -0.08862794 -0.07895991
+v -0.05190022 -0.09612964 -0.05754183
+v -0.05597634 -0.09612964 -0.05597842
+v -0.06191632 -0.09612965 -0.05330116
+v -0.00666574 -0.09612960 -0.06728187
+v -0.00345671 -0.08487085 -0.08047333
+v -0.01079050 -0.09612960 -0.06702213
+v -0.01079050 -0.08883150 -0.07915971
+v -0.01754082 -0.08514480 -0.07995387
+v -0.01079050 -0.08487086 -0.08028853
+v -0.01812428 -0.09612961 -0.06612305
+v -0.02578222 -0.09612961 -0.06503916
+v -0.03278375 -0.09612962 -0.06338085
+v -0.04006891 -0.09612962 -0.06151277
+v -0.04731356 -0.09612963 -0.05916517
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 21
+f 1 21 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 24
+f 1 24 33
+f 1 33 40
+f 1 40 39
+f 1 39 38
+f 1 38 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 43
+f 1 43 41
+f 1 41 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 31
+f 2 31 32
+f 2 32 23
+f 2 23 11
+f 2 11 6
+f 3 7 8
+f 4 9 17
+f 4 17 28
+f 4 28 30
+f 4 30 18
+f 4 18 10
+f 4 10 5
+f 6 11 12
+f 7 13 11
+f 7 11 8
+f 8 11 15
+f 8 15 14
+f 9 16 17
+f 10 18 19
+f 11 13 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 11 23 15
+f 14 15 24
+f 15 25 26
+f 15 26 24
+f 15 23 25
+f 16 27 17
+f 17 27 29
+f 17 29 28
+f 18 30 31
+f 18 31 19
+f 23 32 25
+f 24 26 33
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 25 32 34
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 33
+f 27 41 29
+f 28 29 42
+f 28 42 34
+f 28 34 31
+f 28 31 30
+f 29 41 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 42
+f 31 34 32
+f 34 42 35
+f 35 42 46
+f 35 46 45
+f 35 45 44
+f 35 44 37
+f 35 37 36
+f 37 44 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 43 47 44
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_32.obj

@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
+v 0.05698668 -0.07045581 -0.05671933
+v 0.08554688 -0.07045587 -0.04166472
+v 0.08199740 -0.07045581 -0.05671933
+v 0.00160806 -0.09301855 -0.05671941
+v 0.08554688 -0.10481799 -0.01900539
+v 0.08554688 -0.07045582 -0.05457447
+v 0.00160806 -0.13998124 -0.01900551
+v 0.08419939 -0.07045582 -0.05542724
+v 0.08041985 -0.07272178 -0.05671934
+v 0.00160806 -0.11185051 -0.05671948
+v 0.08554688 -0.11725663 -0.01900543
+v 0.08554688 -0.07132985 -0.05417209
+v 0.08466773 -0.07045582 -0.05513560
+v 0.00160806 -0.15313205 -0.01900556
+v 0.08022266 -0.07297267 -0.05671934
+v 0.08554688 -0.07667111 -0.05158054
+v 0.00216678 -0.11185051 -0.05671948
+v 0.00160806 -0.11350145 -0.05554553
+v 0.08554688 -0.11898851 -0.02196248
+v 0.08552226 -0.12190191 -0.01900545
+v 0.00160806 -0.14965211 -0.02336543
+v 0.00388400 -0.14965211 -0.02336911
+v 0.00388400 -0.15312395 -0.01900556
+v 0.07989400 -0.07335304 -0.05671934
+v 0.08449520 -0.07728615 -0.05192390
+v 0.08202205 -0.08246556 -0.05073518
+v 0.08554688 -0.07829776 -0.05073517
+v 0.00388400 -0.11184243 -0.05671948
+v 0.00388400 -0.11464253 -0.05473337
+v 0.00160806 -0.11464253 -0.05472601
+v 0.08554688 -0.11529007 -0.02555446
+v 0.08514428 -0.12219324 -0.01900545
+v 0.08314771 -0.11991107 -0.02290016
+v 0.08001726 -0.11750749 -0.02771777
+v 0.00160806 -0.14647164 -0.02697587
+v 0.00388400 -0.14647974 -0.02697954
+v 0.01121304 -0.14630169 -0.02673959
+v 0.01121304 -0.14944173 -0.02312545
+v 0.01121304 -0.15271122 -0.01900556
+v 0.07749481 -0.07788502 -0.05580016
+v 0.07663210 -0.07703527 -0.05671935
+v 0.07972147 -0.08740217 -0.04932867
+v 0.07724832 -0.08490957 -0.05216757
+v 0.07317298 -0.08082269 -0.05671937
+v 0.08554688 -0.08041807 -0.04961663
+v 0.08554688 -0.08596165 -0.04654516
+v 0.00878921 -0.11155917 -0.05671948
+v 0.01121304 -0.11942539 -0.05095683
+v 0.00388400 -0.11966819 -0.05112294
+v 0.00160806 -0.11810628 -0.05223414
+v 0.08554688 -0.11155927 -0.02903197
+v 0.08356675 -0.12339099 -0.01900545
+v 0.07991045 -0.12484769 -0.02037876
+v 0.07751946 -0.12208802 -0.02497858
+v 0.07512850 -0.11933646 -0.02941964
+v 0.07735513 -0.11458598 -0.03207391
+v 0.08307377 -0.11257896 -0.02991430
+v 0.00160806 -0.12795526 -0.04474377
+v 0.00388400 -0.12798762 -0.04475485
+v 0.01121304 -0.13145134 -0.04135854
+v 0.01121304 -0.14260326 -0.03058996
+v 0.01855030 -0.14221481 -0.03030573
+v 0.01855030 -0.14591324 -0.02624491
+v 0.01855030 -0.14902896 -0.02263446
+v 0.01855030 -0.15187768 -0.01900556
+v 0.07387138 -0.08007007 -0.05671936
+v 0.08554688 -0.09081734 -0.04372843
+v 0.08404328 -0.09175612 -0.04409391
+v 0.08126616 -0.09635282 -0.04302334
+v 0.07724832 -0.09229832 -0.04785941
+v 0.07483271 -0.08984617 -0.05075368
+v 0.07243350 -0.08152677 -0.05671937
+v 0.01083508 -0.11376041 -0.05498071
+v 0.01268378 -0.11103314 -0.05671948
+v 0.01121304 -0.12312382 -0.04814747
+v 0.00388400 -0.12336660 -0.04836529
+v 0.01855030 -0.11893983 -0.05059504
+v 0.00160806 -0.12220933 -0.04921067
+v 0.00160806 -0.11965199 -0.05111557
+v 0.08554688 -0.10803079 -0.03187824
+v 0.07957356 -0.10969791 -0.03472821
+v 0.08519359 -0.10766662 -0.03242092
+v 0.08078959 -0.12547893 -0.01900546
+v 0.07502168 -0.12662001 -0.02224307
+v 0.07155437 -0.12427306 -0.02706068
+v 0.06895798 -0.12127062 -0.03142424
+v 0.07125856 -0.11659297 -0.03423356
+v 0.07468478 -0.11167254 -0.03627504
+v 0.00160806 -0.12653898 -0.04586236
+v 0.01121304 -0.12775291 -0.04453705
+v 0.00160806 -0.12335042 -0.04835791
+v 0.01855030 -0.13094149 -0.04104842
+v 0.01855030 -0.13498790 -0.03744170
+v 0.01855030 -0.13868633 -0.03391616
+v 0.02587934 -0.14156739 -0.02963753
+v 0.02587934 -0.14526580 -0.02544012
+v 0.02587934 -0.14834110 -0.02182598
+v 0.02549316 -0.15058282 -0.01900555
+v 0.08554688 -0.09326138 -0.04226655
+v 0.07853830 -0.10128136 -0.04139534
+v 0.07364952 -0.10347451 -0.04285354
+v 0.07654171 -0.09916106 -0.04397210
+v 0.07216236 -0.09477473 -0.04927332
+v 0.08554688 -0.09418397 -0.04170911
+v 0.08554688 -0.09569733 -0.04071235
+v 0.08554688 -0.09902349 -0.03851951
+v 0.08428158 -0.09944432 -0.03905114
+v 0.06977960 -0.09229831 -0.05198301
+v 0.07026439 -0.08516853 -0.05581123
+v 0.06942631 -0.08428640 -0.05671938
+v 0.01354650 -0.11090363 -0.05671948
+v 0.01855030 -0.11446451 -0.05372556
+v 0.01855030 -0.12263822 -0.04777462
+v 0.02354586 -0.11847854 -0.05024433
+v 0.08554688 -0.10680877 -0.03283807
+v 0.07661566 -0.10659024 -0.03883335
+v 0.08241644 -0.10476940 -0.03658510
+v 0.08554688 -0.10333695 -0.03552190
+v 0.07656634 -0.12848137 -0.01900547
+v 0.07163651 -0.13179940 -0.01900548
+v 0.07125856 -0.13154853 -0.01955555
+v 0.06895798 -0.12869176 -0.02414428
+v 0.06666559 -0.12583496 -0.02861489
+v 0.06636980 -0.11826819 -0.03565855
+v 0.06923731 -0.11426222 -0.03729025
+v 0.06553993 -0.11030482 -0.04244381
+v 0.06986998 -0.10864582 -0.04125508
+v 0.01855030 -0.12723499 -0.04416418
+v 0.02587934 -0.12654709 -0.04360304
+v 0.02587934 -0.13024552 -0.04043930
+v 0.02587934 -0.13433240 -0.03682887
+v 0.02587934 -0.13803082 -0.03324796
+v 0.03132683 -0.14090377 -0.02893242
+v 0.02999575 -0.14787981 -0.02127962
+v 0.03177872 -0.14909374 -0.01900555
+v 0.06986998 -0.10494739 -0.04382079
+v 0.06727358 -0.09678982 -0.05056172
+v 0.08554688 -0.10073108 -0.03733451
+v 0.06512912 -0.08813859 -0.05671939
+v 0.06540026 -0.08791198 -0.05671939
+v 0.06578642 -0.08757211 -0.05671939
+v 0.01855030 -0.11013484 -0.05671947
+v 0.01902684 -0.11003770 -0.05671947
+v 0.02587934 -0.10930937 -0.05625063
+v 0.02594506 -0.11503908 -0.05225627
+v 0.02843465 -0.11788778 -0.04979763
+v 0.02594506 -0.12131104 -0.04764910
+v 0.07076557 -0.13233354 -0.01900549
+v 0.06636980 -0.13305381 -0.02122419
+v 0.06253273 -0.13067448 -0.02595320
+v 0.05715919 -0.13210690 -0.02745573
+v 0.06253273 -0.12697608 -0.02972979
+v 0.06253273 -0.12310768 -0.03334021
+v 0.06253273 -0.11940927 -0.03663315
+v 0.06286961 -0.11440790 -0.04054630
+v 0.06065118 -0.11189912 -0.04365099
+v 0.05916402 -0.10360396 -0.05016306
+v 0.03085847 -0.12595630 -0.04310836
+v 0.03163082 -0.13361213 -0.03617544
+v 0.03310157 -0.14402763 -0.02469810
+v 0.03651958 -0.13285950 -0.03545557
+v 0.03621558 -0.14014305 -0.02811286
+v 0.03487631 -0.14715957 -0.02036410
+v 0.03375888 -0.14851915 -0.01900555
+v 0.06198223 -0.09941997 -0.05144406
+v 0.06273815 -0.09228213 -0.05543471
+v 0.06154676 -0.09101152 -0.05671940
+v 0.02472083 -0.10884807 -0.05671947
+v 0.02587934 -0.10860530 -0.05671947
+v 0.03321659 -0.10817638 -0.05553443
+v 0.03321659 -0.11348529 -0.05192032
+v 0.03321659 -0.11718368 -0.04928817
+v 0.06798022 -0.13401683 -0.01900549
+v 0.06280388 -0.13684122 -0.01900550
+v 0.06253273 -0.13407347 -0.02233908
+v 0.05653476 -0.13927716 -0.01986938
+v 0.05439847 -0.13629089 -0.02431783
+v 0.05227044 -0.13331271 -0.02870349
+v 0.05467786 -0.12899117 -0.03171959
+v 0.05708526 -0.12465341 -0.03473566
+v 0.05486683 -0.12205560 -0.03795848
+v 0.05520371 -0.11713519 -0.04195284
+v 0.05520371 -0.11343673 -0.04481388
+v 0.05520371 -0.10850012 -0.04842798
+v 0.05520371 -0.10480169 -0.05097891
+v 0.05480930 -0.09914482 -0.05468534
+v 0.05698668 -0.09475041 -0.05650530
+v 0.03326588 -0.12239547 -0.04529381
+v 0.03574724 -0.12521178 -0.04252876
+v 0.04054562 -0.12839226 -0.03813940
+v 0.04054562 -0.13209070 -0.03473569
+v 0.04054562 -0.13569201 -0.03112156
+v 0.04054562 -0.13939042 -0.02727485
+v 0.04054562 -0.14252237 -0.02366073
+v 0.04054562 -0.14622081 -0.01921228
+v 0.04054562 -0.14638265 -0.01900554
+v 0.03649493 -0.14769366 -0.01900554
+v 0.05678126 -0.09451573 -0.05671942
+v 0.03047231 -0.10721333 -0.05671946
+v 0.03321659 -0.10637169 -0.05671946
+v 0.03826967 -0.10442132 -0.05671945
+v 0.04021698 -0.10650117 -0.05484041
+v 0.04054562 -0.11215807 -0.05099002
+v 0.04054562 -0.11585647 -0.04830619
+v 0.05884356 -0.13885635 -0.01900551
+v 0.05581172 -0.14032924 -0.01900552
+v 0.05334679 -0.14146222 -0.01900552
+v 0.05164598 -0.14040206 -0.02117624
+v 0.05729068 -0.13964134 -0.01900551
+v 0.05219648 -0.12588353 -0.03585792
+v 0.04787467 -0.13795801 -0.02568373
+v 0.04787467 -0.13425960 -0.02967073
+v 0.04787467 -0.13056116 -0.03328117
+v 0.05145701 -0.11812249 -0.04275024
+v 0.04995341 -0.10997300 -0.04943950
+v 0.04765282 -0.10733472 -0.05203473
+v 0.04787467 -0.10118419 -0.05592204
+v 0.05280450 -0.09705686 -0.05671943
+v 0.05587742 -0.09510649 -0.05671942
+v 0.04054562 -0.12060698 -0.04469575
+v 0.04054562 -0.12430539 -0.04174983
+v 0.04787467 -0.12686274 -0.03674763
+v 0.04787467 -0.14116277 -0.02207330
+v 0.04128511 -0.14612369 -0.01900554
+v 0.04076747 -0.14630982 -0.01900554
+v 0.04240253 -0.10264089 -0.05671945
+v 0.04506464 -0.11119502 -0.05031445
+v 0.04656824 -0.11929593 -0.04367318
+v 0.04793218 -0.14367965 -0.01900553
+v 0.04855663 -0.12180471 -0.04081951
+v 0.04826083 -0.11465064 -0.04655633
+v 0.04267367 -0.10251140 -0.05671945
+v 0.04787467 -0.09984077 -0.05671944
+f 1 2 6
+f 1 6 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 24
+f 1 24 41
+f 1 41 66
+f 1 66 44
+f 1 44 72
+f 1 72 110
+f 1 110 141
+f 1 141 140
+f 1 140 139
+f 1 139 167
+f 1 167 198
+f 1 198 219
+f 1 219 218
+f 1 218 233
+f 1 233 232
+f 1 232 226
+f 1 226 201
+f 1 201 200
+f 1 200 199
+f 1 199 169
+f 1 169 168
+f 1 168 143
+f 1 143 142
+f 1 142 111
+f 1 111 74
+f 1 74 47
+f 1 47 28
+f 1 28 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 11
+f 2 11 19
+f 2 19 31
+f 2 31 51
+f 2 51 80
+f 2 80 115
+f 2 115 118
+f 2 118 138
+f 2 138 106
+f 2 106 105
+f 2 105 104
+f 2 104 99
+f 2 99 67
+f 2 67 46
+f 2 46 45
+f 2 45 27
+f 2 27 16
+f 2 16 12
+f 2 12 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 4 10 18
+f 4 18 30
+f 4 30 50
+f 4 50 79
+f 4 79 78
+f 4 78 91
+f 4 91 89
+f 4 89 58
+f 4 58 35
+f 4 35 21
+f 4 21 14
+f 4 14 7
+f 5 7 14
+f 5 14 23
+f 5 23 39
+f 5 39 65
+f 5 65 98
+f 5 98 135
+f 5 135 164
+f 5 164 197
+f 5 197 196
+f 5 196 225
+f 5 225 224
+f 5 224 229
+f 5 229 207
+f 5 207 206
+f 5 206 209
+f 5 209 205
+f 5 205 174
+f 5 174 173
+f 5 173 148
+f 5 148 120
+f 5 120 119
+f 5 119 83
+f 5 83 52
+f 5 52 32
+f 5 32 20
+f 5 20 11
+f 6 12 13
+f 8 13 9
+f 9 13 12
+f 9 12 16
+f 9 16 15
+f 10 17 18
+f 11 20 19
+f 14 21 22
+f 14 22 23
+f 15 16 25
+f 15 25 26
+f 15 26 24
+f 16 27 25
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 20 32
+f 19 32 33
+f 19 33 34
+f 19 34 31
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 24 26 40
+f 24 40 41
+f 25 27 26
+f 26 42 43
+f 26 43 44
+f 26 44 40
+f 26 27 45
+f 26 45 46
+f 26 46 42
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 31 34 51
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 51
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 36 60 61
+f 36 61 37
+f 37 61 62
+f 37 62 63
+f 37 63 38
+f 38 63 64
+f 38 64 39
+f 39 64 65
+f 40 44 66
+f 40 66 41
+f 42 46 67
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 71
+f 42 71 43
+f 43 71 44
+f 44 71 72
+f 47 73 48
+f 47 74 73
+f 48 75 76
+f 48 76 49
+f 48 73 77
+f 48 77 75
+f 49 76 78
+f 49 78 79
+f 49 79 50
+f 51 57 81
+f 51 81 82
+f 51 82 80
+f 52 83 53
+f 53 83 84
+f 53 84 54
+f 54 84 85
+f 54 85 55
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 56
+f 56 81 57
+f 56 88 81
+f 58 89 59
+f 59 76 90
+f 59 90 60
+f 59 89 91
+f 59 91 76
+f 60 92 93
+f 60 93 94
+f 60 94 61
+f 60 90 92
+f 61 94 62
+f 62 94 95
+f 62 95 63
+f 63 95 96
+f 63 96 64
+f 64 96 97
+f 64 97 65
+f 65 97 98
+f 67 99 68
+f 68 99 69
+f 69 100 101
+f 69 101 102
+f 69 102 103
+f 69 103 70
+f 69 99 104
+f 69 104 105
+f 69 105 106
+f 69 106 107
+f 69 107 100
+f 70 103 71
+f 71 103 108
+f 71 108 109
+f 71 109 72
+f 72 109 110
+f 73 74 77
+f 74 111 112
+f 74 112 77
+f 75 77 113
+f 75 113 90
+f 75 90 76
+f 76 91 78
+f 77 112 114
+f 77 114 113
+f 80 82 115
+f 81 88 116
+f 81 116 117
+f 81 117 82
+f 82 118 115
+f 82 117 118
+f 83 119 84
+f 84 119 120
+f 84 120 121
+f 84 121 122
+f 84 122 85
+f 85 122 123
+f 85 123 86
+f 86 123 124
+f 86 124 87
+f 87 124 125
+f 87 125 88
+f 88 101 116
+f 88 125 126
+f 88 126 127
+f 88 127 101
+f 90 113 128
+f 90 128 92
+f 92 128 129
+f 92 129 130
+f 92 130 131
+f 92 131 93
+f 93 131 94
+f 94 131 132
+f 94 132 95
+f 95 132 133
+f 95 133 96
+f 96 133 134
+f 96 134 97
+f 97 134 98
+f 98 134 135
+f 100 107 117
+f 100 117 101
+f 101 103 102
+f 101 117 116
+f 101 127 126
+f 101 126 136
+f 101 136 137
+f 101 137 103
+f 103 137 108
+f 106 138 117
+f 106 117 107
+f 108 137 139
+f 108 139 140
+f 108 140 141
+f 108 141 109
+f 109 141 110
+f 111 142 112
+f 112 142 143
+f 112 143 114
+f 113 114 129
+f 113 129 128
+f 114 143 144
+f 114 144 145
+f 114 145 146
+f 114 146 147
+f 114 147 129
+f 117 138 118
+f 120 148 121
+f 121 148 149
+f 121 149 122
+f 122 149 123
+f 123 149 150
+f 123 150 151
+f 123 151 152
+f 123 152 153
+f 123 153 124
+f 124 153 154
+f 124 154 155
+f 124 155 126
+f 124 126 125
+f 126 155 156
+f 126 156 157
+f 126 157 136
+f 129 147 158
+f 129 158 130
+f 130 158 159
+f 130 159 131
+f 131 159 132
+f 132 159 133
+f 133 160 134
+f 133 159 161
+f 133 161 162
+f 133 162 160
+f 134 160 163
+f 134 163 164
+f 134 164 135
+f 136 157 137
+f 137 157 165
+f 137 165 166
+f 137 166 139
+f 139 166 167
+f 143 168 144
+f 144 168 169
+f 144 169 170
+f 144 170 171
+f 144 171 146
+f 144 146 145
+f 146 158 147
+f 146 171 172
+f 146 172 158
+f 148 173 149
+f 149 173 174
+f 149 174 175
+f 149 175 150
+f 150 175 151
+f 151 176 177
+f 151 177 178
+f 151 178 179
+f 151 179 180
+f 151 180 152
+f 151 175 176
+f 152 180 153
+f 153 180 154
+f 154 180 181
+f 154 181 182
+f 154 182 156
+f 154 156 155
+f 156 182 183
+f 156 183 184
+f 156 184 157
+f 157 184 185
+f 157 185 186
+f 157 186 187
+f 157 187 165
+f 158 172 188
+f 158 188 189
+f 158 189 159
+f 159 189 161
+f 160 162 163
+f 161 189 190
+f 161 190 191
+f 161 191 192
+f 161 192 162
+f 162 192 193
+f 162 193 194
+f 162 194 163
+f 163 194 195
+f 163 195 196
+f 163 196 197
+f 163 197 164
+f 165 187 166
+f 166 187 167
+f 167 187 198
+f 169 199 170
+f 170 199 200
+f 170 200 201
+f 170 201 202
+f 170 202 203
+f 170 203 171
+f 171 203 172
+f 172 203 204
+f 172 204 189
+f 172 189 188
+f 174 205 175
+f 175 205 176
+f 176 206 207
+f 176 207 208
+f 176 208 177
+f 176 205 209
+f 176 209 206
+f 177 208 178
+f 178 210 179
+f 178 208 211
+f 178 211 212
+f 178 212 213
+f 178 213 210
+f 179 210 180
+f 180 210 181
+f 181 210 214
+f 181 214 182
+f 182 214 183
+f 183 214 215
+f 183 215 184
+f 184 215 185
+f 185 215 216
+f 185 216 217
+f 185 217 186
+f 186 218 219
+f 186 219 187
+f 186 217 218
+f 187 219 198
+f 189 204 220
+f 189 220 221
+f 189 221 190
+f 190 221 222
+f 190 222 191
+f 191 222 213
+f 191 213 212
+f 191 212 192
+f 192 212 193
+f 193 212 211
+f 193 211 223
+f 193 223 194
+f 194 224 195
+f 194 223 224
+f 195 224 225
+f 195 225 196
+f 201 226 202
+f 202 226 227
+f 202 227 203
+f 203 227 204
+f 204 227 228
+f 204 228 220
+f 207 229 208
+f 208 229 223
+f 208 223 211
+f 210 230 214
+f 210 213 222
+f 210 222 230
+f 214 230 228
+f 214 228 231
+f 214 231 215
+f 215 231 227
+f 215 227 216
+f 216 227 226
+f 216 226 232
+f 216 232 217
+f 217 232 233
+f 217 233 218
+f 220 228 221
+f 221 228 230
+f 221 230 222
+f 223 229 224
+f 227 231 228
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_33.obj

@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v -0.08117866 -0.09613526 -0.04310097
+v -0.08117866 -0.09613531 -0.02953057
+v -0.08108141 -0.09613526 -0.04316263
+v -0.08091122 -0.09643104 -0.04309624
+v -0.08117866 -0.09670450 -0.04273102
+v -0.08117866 -0.10699569 -0.02026708
+v 0.00160806 -0.09613522 -0.05490213
+v -0.07642992 -0.09613525 -0.04574770
+v -0.07611386 -0.09921031 -0.04401168
+v -0.07322899 -0.10347408 -0.04285910
+v -0.07812358 -0.10136452 -0.04138869
+v -0.08117866 -0.10495860 -0.03687315
+v -0.08117866 -0.10851925 -0.01900540
+v 0.00160806 -0.13997851 -0.01900551
+v 0.00160806 -0.09613517 -0.06744799
+v -0.07096807 -0.09613524 -0.04873594
+v -0.06944459 -0.10491951 -0.04382199
+v -0.06503622 -0.11026598 -0.04242276
+v -0.06944459 -0.10861407 -0.04118950
+v -0.07416090 -0.11158866 -0.03620911
+v -0.07613819 -0.10655474 -0.03879890
+v -0.06679470 -0.09675469 -0.05053364
+v -0.06358567 -0.10168819 -0.04891146
+v -0.07904738 -0.10964095 -0.03466281
+v -0.08117866 -0.10604131 -0.03605257
+v -0.08117866 -0.12509995 -0.01900546
+v 0.00160806 -0.15312700 -0.01900556
+v 0.00048166 -0.09613517 -0.06745275
+v 0.00160806 -0.11095238 -0.05735446
+v -0.06714314 -0.09613523 -0.05072808
+v -0.05869916 -0.10355778 -0.05013523
+v -0.06239443 -0.11436232 -0.04047804
+v -0.06585467 -0.11821872 -0.03561151
+v -0.06875578 -0.11422282 -0.03720048
+v -0.06014161 -0.11182861 -0.04359433
+v -0.07464712 -0.11933490 -0.02938838
+v -0.07684321 -0.11451863 -0.03202560
+v -0.07074926 -0.11652215 -0.03420276
+v -0.06191632 -0.09613522 -0.05329419
+v -0.06152732 -0.09940003 -0.05143485
+v -0.08117866 -0.11299506 -0.03036548
+v -0.08117866 -0.10886522 -0.03379954
+v -0.08117866 -0.12431865 -0.01991142
+v -0.07822084 -0.12728767 -0.01900547
+v 0.00160806 -0.15220614 -0.02016292
+v -0.00345671 -0.15314371 -0.01900556
+v -0.00345671 -0.09613517 -0.06746223
+v 0.00160806 -0.11350283 -0.05554728
+v -0.00345671 -0.11095238 -0.05735919
+v -0.05597634 -0.09613521 -0.05597886
+v -0.05442857 -0.09916005 -0.05466024
+v -0.05477700 -0.10471858 -0.05091787
+v -0.05477700 -0.10841870 -0.04835651
+v -0.06211080 -0.11935164 -0.03656487
+v -0.06620314 -0.12581985 -0.02858206
+v -0.06847216 -0.12124355 -0.03139480
+v -0.06211080 -0.12304616 -0.03331105
+v -0.05477700 -0.11331312 -0.04474220
+v -0.05477700 -0.11701323 -0.04186307
+v -0.07108962 -0.12426840 -0.02711165
+v -0.07473626 -0.12669608 -0.02229729
+v -0.07713494 -0.12214208 -0.02499616
+v -0.07953362 -0.11744858 -0.02769504
+v -0.08117866 -0.11474745 -0.02887135
+v -0.08117866 -0.12256065 -0.02165218
+v -0.07962274 -0.12494369 -0.02050432
+v -0.07631647 -0.12861033 -0.01900547
+v 0.00160806 -0.14965011 -0.02336457
+v -0.01079050 -0.15273075 -0.01900556
+v -0.00345671 -0.14965568 -0.02335985
+v -0.00775164 -0.11084075 -0.05727856
+v -0.00666574 -0.09613517 -0.06728673
+v 0.00160806 -0.11465249 -0.05472672
+v -0.00345671 -0.11465249 -0.05470774
+v -0.05190022 -0.09613521 -0.05754411
+v -0.05175436 -0.09635288 -0.05746823
+v -0.04744324 -0.10133098 -0.05593143
+v -0.04932325 -0.10990877 -0.04940478
+v -0.05655979 -0.12462552 -0.03472456
+v -0.06613019 -0.13317543 -0.02135341
+v -0.06211080 -0.12700859 -0.02969674
+v -0.06211080 -0.13070310 -0.02612033
+v -0.05081432 -0.11803450 -0.04267417
+v -0.05437994 -0.12204159 -0.03785507
+v -0.07101670 -0.13162957 -0.01964584
+v -0.08117866 -0.12063526 -0.02349729
+v -0.08117866 -0.11682355 -0.02704520
+v -0.07292914 -0.13090962 -0.01900548
+v 0.00160806 -0.14647460 -0.02697892
+v -0.01168998 -0.15264145 -0.01900556
+v -0.01079050 -0.14944360 -0.02310372
+v -0.01079050 -0.14627926 -0.02671804
+v -0.00345671 -0.14645786 -0.02697416
+v -0.00345671 -0.11963061 -0.05109816
+v -0.01079050 -0.11939063 -0.05092266
+v -0.01043393 -0.11377072 -0.05496859
+v -0.01263814 -0.11055053 -0.05705087
+v -0.01079050 -0.09613517 -0.06702111
+v 0.00160806 -0.11811820 -0.05223177
+v -0.04731356 -0.09613520 -0.05916629
+v -0.04744324 -0.09763088 -0.05823664
+v -0.04237034 -0.10273736 -0.05682318
+v -0.04443677 -0.11106959 -0.05022535
+v -0.04762150 -0.11455206 -0.04647822
+v -0.05677862 -0.13215972 -0.02755280
+v -0.05167331 -0.12583102 -0.03580600
+v -0.05422598 -0.12899534 -0.03171259
+v -0.06395842 -0.13641235 -0.01900550
+v -0.06775903 -0.13420792 -0.01900549
+v -0.06211080 -0.13428047 -0.02250601
+v -0.05651117 -0.13943716 -0.02007274
+v -0.05916918 -0.13896837 -0.01900551
+v -0.04592784 -0.11912835 -0.04355643
+v -0.04800238 -0.12170673 -0.04067729
+v -0.07043322 -0.13254481 -0.01900549
+v 0.00160806 -0.12795727 -0.04474225
+v -0.01812428 -0.15199967 -0.01900556
+v -0.01812428 -0.14906414 -0.02266260
+v -0.01812428 -0.14589975 -0.02627692
+v -0.01812428 -0.14219965 -0.03026596
+v -0.01079050 -0.14257916 -0.03054581
+v -0.00345671 -0.12789588 -0.04472327
+v 0.00160806 -0.11965849 -0.05111239
+v 0.00160806 -0.12221456 -0.04921035
+v 0.00160806 -0.12335863 -0.04835656
+v -0.00345671 -0.12333072 -0.04833285
+v -0.01079050 -0.12308518 -0.04809095
+v -0.01812428 -0.11892742 -0.05057638
+v -0.01812428 -0.11446830 -0.05370217
+v -0.01812428 -0.11007617 -0.05674732
+v -0.01812428 -0.09613518 -0.06612462
+v -0.04006891 -0.09613519 -0.06151419
+v -0.03999599 -0.10003063 -0.05917106
+v -0.03748386 -0.10379213 -0.05751094
+v -0.03999599 -0.10658258 -0.05482154
+v -0.04010942 -0.11200717 -0.05091315
+v -0.04010942 -0.11570729 -0.04815260
+v -0.05189212 -0.13332611 -0.02870067
+v -0.05420166 -0.13637883 -0.02446971
+v -0.04744324 -0.12678533 -0.03662184
+v -0.04744324 -0.13048543 -0.03327314
+v -0.05162471 -0.14059799 -0.02138188
+v -0.05334266 -0.14179229 -0.01900552
+v -0.05557926 -0.14075983 -0.01900552
+v -0.04010942 -0.12038404 -0.04454301
+v -0.04010942 -0.12408416 -0.04156428
+v 0.00160806 -0.12654531 -0.04586164
+v -0.01992330 -0.15170388 -0.01900556
+v -0.02545806 -0.14845022 -0.02194164
+v -0.02545806 -0.14525799 -0.02555122
+v -0.02545806 -0.14155787 -0.02960192
+v -0.01812428 -0.13862790 -0.03388030
+v -0.01079050 -0.13878972 -0.03415540
+v -0.01079050 -0.13132251 -0.04124650
+v -0.01079050 -0.12762241 -0.04447662
+v -0.01812428 -0.12717036 -0.04410192
+v -0.01812428 -0.12262756 -0.04771150
+v -0.02294594 -0.11846424 -0.05022538
+v -0.02545806 -0.10931158 -0.05623505
+v -0.02578222 -0.09613518 -0.06503843
+v -0.03278375 -0.09613519 -0.06337829
+v -0.03278375 -0.09967346 -0.06118693
+v -0.03278375 -0.10460135 -0.05806116
+v -0.03278375 -0.10830147 -0.05551882
+v -0.03278375 -0.11338561 -0.05190924
+v -0.03278375 -0.11708573 -0.04918188
+v -0.03504468 -0.12508870 -0.04239435
+v -0.04744324 -0.13431390 -0.02966355
+v -0.04744324 -0.13800843 -0.02595436
+v -0.04010942 -0.12831447 -0.03795469
+v -0.04010942 -0.13201458 -0.03471034
+v -0.04744324 -0.14151324 -0.02234002
+v -0.04770254 -0.14424786 -0.01900553
+v -0.04935568 -0.14356141 -0.01900553
+v -0.02524738 -0.15081094 -0.01900555
+v -0.02738672 -0.15037003 -0.01900555
+v -0.02994749 -0.14797029 -0.02137715
+v -0.03101714 -0.14091047 -0.02892362
+v -0.02545806 -0.13797493 -0.03321626
+v -0.02545806 -0.13427481 -0.03677838
+v -0.01812428 -0.13492776 -0.03738079
+v -0.01812428 -0.13087049 -0.04099037
+v -0.02545806 -0.12647276 -0.04353273
+v -0.02541754 -0.12130487 -0.04755971
+v -0.02784054 -0.11783359 -0.04974631
+v -0.02541754 -0.11500966 -0.05223176
+v -0.03015818 -0.12589792 -0.04306788
+v -0.03267840 -0.12232619 -0.04517863
+v -0.03307548 -0.12935249 -0.03926857
+v -0.03599279 -0.13280706 -0.03542657
+v -0.04010942 -0.13575937 -0.03109602
+v -0.04010942 -0.13945948 -0.02743426
+v -0.04010942 -0.14285821 -0.02381992
+v -0.04010942 -0.14655833 -0.01971702
+v -0.04248379 -0.14625139 -0.01900554
+v -0.03173837 -0.14939898 -0.01900555
+v -0.03483397 -0.14732289 -0.02062298
+v -0.03590365 -0.14019055 -0.02816945
+v -0.03350497 -0.13688108 -0.03217746
+v -0.03110629 -0.13357723 -0.03613805
+v -0.02545806 -0.13017287 -0.04039272
+v -0.04010942 -0.14713314 -0.01900554
+v -0.03346447 -0.14895811 -0.01900555
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 47
+f 1 47 72
+f 1 72 98
+f 1 98 131
+f 1 131 160
+f 1 160 161
+f 1 161 132
+f 1 132 100
+f 1 100 75
+f 1 75 50
+f 1 50 39
+f 1 39 30
+f 1 30 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 25
+f 1 25 42
+f 1 42 41
+f 1 41 64
+f 1 64 87
+f 1 87 86
+f 1 86 65
+f 1 65 43
+f 1 43 26
+f 1 26 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 7
+f 7 14 27
+f 7 27 45
+f 7 45 68
+f 7 68 89
+f 7 89 116
+f 7 116 147
+f 7 147 125
+f 7 125 124
+f 7 124 123
+f 7 123 99
+f 7 99 73
+f 7 73 48
+f 7 48 29
+f 7 29 15
+f 7 13 14
+f 8 16 9
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 10 12 11
+f 10 16 22
+f 10 22 23
+f 10 23 17
+f 12 21 24
+f 12 24 25
+f 13 26 44
+f 13 44 67
+f 13 67 88
+f 13 88 115
+f 13 115 109
+f 13 109 108
+f 13 108 112
+f 13 112 144
+f 13 144 143
+f 13 143 174
+f 13 174 173
+f 13 173 195
+f 13 195 202
+f 13 202 203
+f 13 203 196
+f 13 196 176
+f 13 176 175
+f 13 175 148
+f 13 148 117
+f 13 117 90
+f 13 90 69
+f 13 69 46
+f 13 46 27
+f 13 27 14
+f 15 29 28
+f 16 30 22
+f 17 23 31
+f 17 31 18
+f 18 32 33
+f 18 33 34
+f 18 34 20
+f 18 20 19
+f 18 31 35
+f 18 35 32
+f 20 36 37
+f 20 37 24
+f 20 24 21
+f 20 34 38
+f 20 38 36
+f 22 30 39
+f 22 39 40
+f 22 40 31
+f 22 31 23
+f 24 37 41
+f 24 41 42
+f 24 42 25
+f 26 43 44
+f 27 46 45
+f 28 29 47
+f 29 48 49
+f 29 49 47
+f 31 40 39
+f 31 39 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 35
+f 32 35 54
+f 32 54 33
+f 33 55 56
+f 33 56 38
+f 33 38 34
+f 33 54 57
+f 33 57 55
+f 35 53 58
+f 35 58 59
+f 35 59 54
+f 36 38 56
+f 36 56 60
+f 36 60 61
+f 36 61 62
+f 36 62 63
+f 36 63 37
+f 37 63 41
+f 41 63 64
+f 43 65 66
+f 43 66 44
+f 44 66 67
+f 45 46 68
+f 46 69 70
+f 46 70 68
+f 47 71 72
+f 47 49 71
+f 48 73 49
+f 49 74 71
+f 49 73 74
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 51 77 52
+f 52 78 53
+f 52 77 78
+f 53 78 58
+f 54 59 79
+f 54 79 57
+f 55 80 60
+f 55 60 56
+f 55 57 81
+f 55 81 82
+f 55 82 80
+f 57 79 81
+f 58 78 83
+f 58 83 59
+f 59 83 84
+f 59 84 79
+f 60 80 61
+f 61 80 85
+f 61 85 67
+f 61 67 66
+f 61 66 62
+f 62 66 86
+f 62 86 63
+f 63 86 87
+f 63 87 64
+f 65 86 66
+f 67 85 88
+f 68 70 89
+f 69 90 91
+f 69 91 70
+f 70 91 92
+f 70 92 93
+f 70 93 89
+f 71 74 94
+f 71 94 95
+f 71 95 96
+f 71 96 97
+f 71 97 98
+f 71 98 72
+f 73 99 74
+f 74 99 94
+f 75 100 76
+f 76 100 101
+f 76 101 77
+f 77 101 102
+f 77 102 78
+f 78 102 103
+f 78 103 104
+f 78 104 83
+f 79 105 81
+f 79 84 106
+f 79 106 107
+f 79 107 105
+f 80 108 109
+f 80 109 85
+f 80 82 110
+f 80 110 111
+f 80 111 112
+f 80 112 108
+f 81 105 82
+f 82 105 110
+f 83 106 84
+f 83 104 113
+f 83 113 114
+f 83 114 106
+f 85 115 88
+f 85 109 115
+f 89 93 116
+f 90 117 91
+f 91 117 118
+f 91 118 119
+f 91 119 92
+f 92 119 120
+f 92 120 121
+f 92 121 93
+f 93 121 122
+f 93 122 116
+f 94 99 123
+f 94 123 124
+f 94 124 125
+f 94 125 126
+f 94 126 95
+f 95 127 128
+f 95 128 96
+f 95 126 127
+f 96 128 97
+f 97 128 129
+f 97 129 130
+f 97 130 98
+f 98 130 131
+f 100 132 101
+f 101 132 102
+f 102 132 133
+f 102 133 134
+f 102 134 135
+f 102 135 136
+f 102 136 103
+f 103 136 137
+f 103 137 113
+f 103 113 104
+f 105 111 110
+f 105 107 138
+f 105 138 139
+f 105 139 111
+f 106 138 107
+f 106 114 140
+f 106 140 141
+f 106 141 138
+f 111 139 142
+f 111 142 143
+f 111 143 144
+f 111 144 112
+f 113 137 145
+f 113 145 146
+f 113 146 114
+f 114 146 140
+f 116 122 147
+f 117 148 149
+f 117 149 118
+f 118 149 119
+f 119 149 150
+f 119 150 151
+f 119 151 120
+f 120 151 152
+f 120 152 121
+f 121 152 153
+f 121 153 122
+f 122 153 154
+f 122 154 155
+f 122 155 127
+f 122 127 126
+f 122 126 147
+f 125 147 126
+f 127 156 157
+f 127 157 128
+f 127 155 156
+f 128 157 158
+f 128 158 129
+f 129 158 159
+f 129 159 130
+f 130 159 131
+f 131 159 160
+f 132 161 133
+f 133 161 134
+f 134 136 135
+f 134 161 162
+f 134 162 160
+f 134 160 163
+f 134 163 164
+f 134 164 165
+f 134 165 136
+f 136 165 166
+f 136 166 137
+f 137 166 167
+f 137 167 145
+f 138 142 139
+f 138 141 168
+f 138 168 169
+f 138 169 142
+f 140 146 170
+f 140 170 171
+f 140 171 141
+f 141 171 168
+f 142 169 172
+f 142 172 173
+f 142 173 174
+f 142 174 143
+f 145 167 146
+f 146 167 170
+f 148 175 149
+f 149 175 176
+f 149 176 177
+f 149 177 150
+f 150 177 178
+f 150 178 151
+f 151 178 179
+f 151 179 152
+f 152 179 180
+f 152 180 181
+f 152 181 154
+f 152 154 153
+f 154 181 182
+f 154 182 155
+f 155 182 156
+f 156 182 183
+f 156 183 157
+f 157 183 158
+f 158 183 184
+f 158 184 185
+f 158 185 186
+f 158 186 159
+f 159 164 163
+f 159 163 160
+f 159 186 164
+f 160 162 161
+f 164 186 185
+f 164 185 165
+f 165 185 166
+f 166 185 187
+f 166 187 188
+f 166 188 167
+f 167 188 187
+f 167 187 189
+f 167 189 190
+f 167 190 170
+f 168 171 191
+f 168 191 192
+f 168 192 169
+f 169 192 172
+f 170 190 171
+f 171 190 191
+f 172 192 193
+f 172 193 194
+f 172 194 173
+f 173 194 195
+f 176 196 177
+f 177 196 197
+f 177 197 178
+f 178 197 198
+f 178 198 199
+f 178 199 200
+f 178 200 179
+f 179 200 180
+f 180 200 201
+f 180 201 182
+f 180 182 181
+f 182 201 183
+f 183 201 187
+f 183 187 184
+f 184 187 185
+f 187 201 200
+f 187 200 189
+f 189 200 190
+f 190 200 199
+f 190 199 198
+f 190 198 191
+f 191 198 192
+f 192 198 193
+f 193 198 197
+f 193 197 194
+f 194 202 195
+f 194 197 202
+f 196 203 197
+f 197 203 202
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_34.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.08554688 -0.14902971 0.04349496
+v 0.08554688 -0.14936832 0.04419882
+v 0.08554688 -0.16255336 0.04349491
+v 0.00186619 -0.17575884 0.04349486
+v 0.00186619 -0.17983839 0.05472221
+v 0.00186619 -0.18060537 0.05670677
+v 0.00186619 -0.18264514 0.06194338
+v 0.08554688 -0.15087774 0.04733442
+v 0.08554688 -0.18057271 0.05645010
+v 0.08301582 -0.16429125 0.04349491
+v 0.00186619 -0.18692859 0.04349482
+v 0.00186619 -0.18459518 0.06568757
+v 0.08554688 -0.15466359 0.05472230
+v 0.08554688 -0.18057271 0.05722012
+v 0.08125472 -0.18494597 0.05803509
+v 0.07720013 -0.18590467 0.05705868
+v 0.07740490 -0.16757936 0.04349489
+v 0.08079604 -0.16568646 0.04349490
+v 0.00186619 -0.19069812 0.05184586
+v 0.00388122 -0.18692859 0.04349482
+v 0.00186619 -0.18566404 0.06592311
+v 0.04786765 -0.19069819 0.07052464
+v 0.08554688 -0.16551113 0.06602635
+v 0.08286022 -0.16385892 0.06465835
+v 0.08554688 -0.15952236 0.06169208
+v 0.08554688 -0.15935507 0.06153332
+v 0.08554688 -0.15929799 0.06146450
+v 0.08554688 -0.18025455 0.06151471
+v 0.08125472 -0.18494598 0.05874689
+v 0.06310316 -0.19069816 0.06193806
+v 0.06251340 -0.19069814 0.05626749
+v 0.05973661 -0.17613008 0.04349486
+v 0.06279191 -0.17490212 0.04349487
+v 0.06666632 -0.17311936 0.04349487
+v 0.06903355 -0.17198117 0.04349488
+v 0.07488202 -0.16893786 0.04349489
+v 0.00186619 -0.19069817 0.06645230
+v 0.00388122 -0.19069812 0.05184853
+v 0.00668258 -0.18682660 0.04349482
+v 0.04151131 -0.19069812 0.05270322
+v 0.00186619 -0.18844626 0.06651845
+v 0.05238916 -0.19069818 0.06928362
+v 0.08182812 -0.17781498 0.06575642
+v 0.08554688 -0.17330303 0.06611629
+v 0.08554688 -0.17255240 0.06617453
+v 0.08554688 -0.16629438 0.06612427
+v 0.08554688 -0.16590684 0.06610044
+v 0.08554688 -0.17816173 0.06370307
+v 0.07266223 -0.18418316 0.06529860
+v 0.07720013 -0.18590468 0.06025781
+v 0.06300487 -0.19069816 0.06234819
+v 0.06310316 -0.19069816 0.06218149
+v 0.05510862 -0.19069813 0.05467983
+v 0.03472907 -0.18403214 0.04349483
+v 0.04054477 -0.18255532 0.04349484
+v 0.04761374 -0.18034833 0.04349485
+v 0.05147993 -0.17907550 0.04349485
+v 0.05381441 -0.17829222 0.04349486
+v 0.05769701 -0.17687662 0.04349486
+v 0.01122050 -0.18665118 0.04349482
+v 0.01375156 -0.18652474 0.04349482
+v 0.04763831 -0.19069813 0.05328799
+v 0.05523150 -0.19069818 0.06793938
+v 0.08554688 -0.17496340 0.06561355
+v 0.03046967 -0.18492148 0.04349483
+v 0.02055839 -0.18610044 0.04349483
+v 0.02693930 -0.18542325 0.04349483
+f 1 2 8
+f 1 8 13
+f 1 13 27
+f 1 27 26
+f 1 26 25
+f 1 25 23
+f 1 23 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 64
+f 1 64 48
+f 1 48 28
+f 1 28 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 17
+f 1 17 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 65
+f 1 65 67
+f 1 67 66
+f 1 66 61
+f 1 61 60
+f 1 60 39
+f 1 39 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 19
+f 4 19 37
+f 4 37 41
+f 4 41 21
+f 4 21 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 9 14 29
+f 9 29 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 20 19
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 14 28 29
+f 15 29 52
+f 15 52 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 19 20 38
+f 19 38 40
+f 19 40 62
+f 19 62 53
+f 19 53 31
+f 19 31 30
+f 19 30 52
+f 19 52 51
+f 19 51 63
+f 19 63 42
+f 19 42 22
+f 19 22 37
+f 20 39 40
+f 20 40 38
+f 21 41 22
+f 22 41 37
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 23
+f 23 25 24
+f 28 48 49
+f 28 49 29
+f 29 50 51
+f 29 51 52
+f 29 49 50
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 59
+f 31 59 32
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 42 63 49
+f 42 49 43
+f 43 48 64
+f 43 64 44
+f 43 49 48
+f 49 63 50
+f 50 63 51
+f 53 62 65
+f 53 65 54
+f 61 66 62
+f 62 66 67
+f 62 67 65
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_35.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01956007 -0.00001328 -0.07274878
+v -0.01956007 -0.00001333 -0.06119470
+v -0.01423092 -0.00001328 -0.07274878
+v 0.04796092 -0.06268470 -0.08025693
+v 0.04004273 -0.06952486 -0.08035684
+v 0.03686310 -0.07045573 -0.08025696
+v -0.01956007 -0.07044196 -0.07555840
+v -0.01811791 -0.00001333 -0.06119684
+v -0.01956007 -0.02569144 -0.06110554
+v 0.05059805 -0.07045580 -0.05864701
+v -0.00689645 -0.00001328 -0.07274454
+v 0.05059805 -0.00001328 -0.07269564
+v 0.05059805 -0.06276747 -0.08026330
+v 0.00043114 -0.00001328 -0.07274029
+v 0.00388547 -0.00001328 -0.07273816
+v 0.01121308 -0.00001328 -0.07273178
+v 0.04011139 -0.07045572 -0.08032284
+v 0.04793345 -0.07024887 -0.08026333
+v -0.01811791 -0.07045574 -0.07527364
+v -0.01956007 -0.07045575 -0.07245152
+v 0.02587512 -0.00001332 -0.06126484
+v -0.01956007 -0.07045580 -0.06098672
+v 0.05059805 -0.07045573 -0.07768347
+v 0.05059805 -0.00001332 -0.06134772
+v 0.04787165 -0.00001332 -0.06133498
+v 0.04399153 -0.00001332 -0.06131797
+v 0.04053720 -0.00001332 -0.06130307
+v 0.03665706 -0.00001332 -0.06129032
+v 0.03320959 -0.00001332 -0.06127972
+v 0.05059805 -0.06905599 -0.07999345
+v 0.04782359 -0.07045573 -0.08022933
+f 1 2 8
+f 1 8 21
+f 1 21 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 12
+f 1 12 16
+f 1 16 15
+f 1 15 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 20
+f 1 20 22
+f 1 22 9
+f 1 9 2
+f 2 9 10
+f 2 10 8
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 12
+f 5 17 6
+f 5 13 18
+f 5 18 17
+f 6 19 7
+f 6 17 31
+f 6 31 23
+f 6 23 10
+f 6 10 22
+f 6 22 20
+f 6 20 19
+f 7 19 20
+f 8 10 21
+f 9 22 10
+f 10 23 30
+f 10 30 13
+f 10 13 12
+f 10 12 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 21
+f 13 30 18
+f 17 18 31
+f 18 30 31
+f 23 31 30
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_36.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.07720310 -0.01089404 -0.08083337
+v 0.07720310 -0.00349538 -0.08080267
+v 0.08216353 -0.00349539 -0.08002056
+v 0.07720310 -0.01829272 -0.08066087
+v 0.05546951 -0.06293295 -0.08027380
+v 0.05059805 -0.06276747 -0.08026229
+v 0.07720310 -0.00001325 -0.08077966
+v 0.07983041 -0.00001325 -0.08036558
+v 0.08442139 -0.00349540 -0.07528945
+v 0.08194459 -0.01089405 -0.07987106
+v 0.08213959 -0.00001326 -0.08000137
+v 0.07751098 -0.02537420 -0.08013179
+v 0.07548576 -0.03309005 -0.08017400
+v 0.07048428 -0.04104725 -0.08029672
+v 0.06267072 -0.05527227 -0.08022009
+v 0.06031366 -0.06063680 -0.07971788
+v 0.05319458 -0.06789756 -0.07972557
+v 0.05059805 -0.06905599 -0.07999013
+v 0.05059805 -0.00001328 -0.07269385
+v 0.07265662 -0.00001326 -0.07967546
+v 0.07506840 -0.00001326 -0.08026975
+v 0.08554348 -0.00349541 -0.07278205
+v 0.08554348 -0.01089408 -0.07191178
+v 0.08438034 -0.00001327 -0.07528944
+v 0.08551952 -0.00001328 -0.07277437
+v 0.08554348 -0.01829276 -0.07053924
+v 0.08146907 -0.01829273 -0.07947235
+v 0.08105856 -0.02269191 -0.07909280
+v 0.07440131 -0.03895105 -0.07961428
+v 0.06846589 -0.04788048 -0.08008974
+v 0.06697776 -0.05279685 -0.07950698
+v 0.08554348 -0.07045582 -0.05457871
+v 0.05059805 -0.07045573 -0.07768209
+v 0.05059805 -0.00001332 -0.06134536
+v 0.08554348 -0.00008224 -0.07272070
+v 0.08554348 -0.00001328 -0.07271686
+v 0.08554348 -0.03295217 -0.06696990
+v 0.08554348 -0.04787364 -0.06279862
+v 0.08554348 -0.04801847 -0.06275644
+v 0.08554348 -0.05477587 -0.06068229
+v 0.08554348 -0.05636179 -0.06016472
+v 0.08554348 -0.06145743 -0.05838195
+v 0.08554348 -0.06312611 -0.05772251
+v 0.08554348 -0.06533949 -0.05683688
+v 0.07333735 -0.04388810 -0.07850244
+v 0.08554348 -0.07024208 -0.05467455
+v 0.08554348 -0.07045587 -0.04166979
+v 0.05059805 -0.07045580 -0.05865036
+v 0.08554348 -0.00001334 -0.05714720
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 9 10
+f 3 10 4
+f 3 8 11
+f 3 11 9
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 33
+f 6 33 48
+f 6 48 34
+f 6 34 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 20
+f 7 20 19
+f 7 19 34
+f 7 34 49
+f 7 49 36
+f 7 36 25
+f 7 25 24
+f 7 24 11
+f 7 11 8
+f 9 22 23
+f 9 23 10
+f 9 11 24
+f 9 24 25
+f 9 25 22
+f 10 23 26
+f 10 26 27
+f 10 27 13
+f 10 13 12
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 15
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 32 18
+f 18 32 33
+f 22 25 35
+f 22 35 36
+f 22 36 49
+f 22 49 47
+f 22 47 32
+f 22 32 46
+f 22 46 44
+f 22 44 43
+f 22 43 42
+f 22 42 41
+f 22 41 40
+f 22 40 39
+f 22 39 38
+f 22 38 37
+f 22 37 26
+f 22 26 23
+f 25 36 35
+f 26 37 27
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 31
+f 29 31 30
+f 31 45 32
+f 32 47 48
+f 32 48 33
+f 32 45 46
+f 34 48 47
+f 34 47 49
+f 44 46 45
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_37.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00350908 0.10826787 -0.05913336
+v -0.00362314 0.10826434 -0.05913336
+v 0.00392348 0.10826080 -0.05913336
+v -0.00344764 0.08966951 -0.07944244
+v -0.00372844 0.10825728 -0.05913336
+v -0.01078367 0.08940852 -0.07925239
+v 0.00402881 0.10825728 -0.05913336
+v 0.00388838 0.08960605 -0.07940319
+v -0.01311787 0.08501729 -0.07937429
+v 0.02587896 0.08341599 -0.07989280
+v 0.03320622 0.07788900 -0.08023574
+v -0.01078367 0.10776702 -0.05913336
+v -0.01311787 0.08925333 -0.07913051
+v -0.01311787 0.10752011 -0.05913337
+v 0.01060139 0.10773527 -0.05913336
+v 0.00971512 0.08933092 -0.07919453
+v -0.01311787 0.08119037 -0.07919249
+v 0.03873457 0.07223860 -0.08017793
+v 0.03320622 0.08253067 -0.07959740
+v 0.04013861 0.07789254 -0.07994449
+v 0.04665854 0.07223860 -0.08016346
+v -0.01311787 0.08665732 -0.05913344
+v 0.01121564 0.10767531 -0.05913336
+v 0.01846396 0.10682177 -0.05913337
+v 0.01855170 0.10681119 -0.05913337
+v 0.01899923 0.10672652 -0.05913337
+v 0.02591406 0.10540385 -0.05913337
+v 0.01460287 0.08877718 -0.07877107
+v -0.01311787 0.07223858 -0.07393712
+v 0.03743585 0.08186758 -0.07914912
+v 0.04602673 0.07542708 -0.07965734
+v 0.04757117 0.07223860 -0.08004777
+v -0.01311787 0.07223853 -0.06113939
+v 0.04657958 0.07223853 -0.05913349
+v 0.02707238 0.10507938 -0.05913337
+v 0.03320622 0.10332639 -0.05913338
+v 0.04034921 0.10068813 -0.05913339
+v 0.04058614 0.10058585 -0.05913339
+v 0.04132326 0.10022255 -0.05913339
+v 0.04779054 0.09701289 -0.05913340
+v 0.05462640 0.09268865 -0.05913342
+v 0.05500373 0.09243118 -0.05913342
+v 0.06223446 0.08668553 -0.05913344
+v 0.06311201 0.08594133 -0.05913344
+v 0.06416501 0.08498901 -0.05913345
+v 0.05161652 0.07223860 -0.07806046
+v 0.07652921 0.07223853 -0.05913349
+v 0.06949152 0.07994878 -0.05913347
+v 0.07072007 0.07874250 -0.05913347
+v 0.07186082 0.07751154 -0.05913348
+f 1 2 5
+f 1 5 12
+f 1 12 14
+f 1 14 22
+f 1 22 34
+f 1 34 47
+f 1 47 50
+f 1 50 49
+f 1 49 48
+f 1 48 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 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 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 9 6
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 6 12
+f 6 9 13
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 9 17 29
+f 9 29 33
+f 9 33 22
+f 9 22 14
+f 9 14 13
+f 9 11 18
+f 9 18 17
+f 10 19 20
+f 10 20 11
+f 10 16 19
+f 11 20 21
+f 11 21 18
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 19
+f 17 18 29
+f 18 21 32
+f 18 32 46
+f 18 46 47
+f 18 47 34
+f 18 34 33
+f 18 33 29
+f 19 30 20
+f 19 28 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 22 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 45 48 46
+f 46 48 49
+f 46 49 50
+f 46 50 47
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_38.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04337922 -0.00000625 -0.06131389
+v 0.03665563 -0.00000625 -0.06128974
+v 0.04337922 -0.00000621 -0.07269758
+v 0.04337922 0.07223853 -0.05962990
+v 0.03320527 -0.00000625 -0.06127766
+v 0.03320527 -0.00000621 -0.07270964
+v 0.04337922 0.06770517 -0.08012015
+v 0.04337922 0.07223860 -0.08013221
+v -0.02362060 0.07223853 -0.06105010
+v -0.02362060 -0.00000626 -0.06118915
+v -0.02200038 -0.00000626 -0.06119118
+v 0.02587164 -0.00000625 -0.06126359
+v 0.01121092 -0.00000621 -0.07273178
+v 0.04053235 0.07039977 -0.08015836
+v 0.04337922 0.07057656 -0.08017848
+v 0.00388385 -0.00000621 -0.07273781
+v -0.01078343 -0.00000621 -0.07274788
+v -0.02156086 -0.00000621 -0.07274788
+v -0.02362060 -0.00000621 -0.07274584
+v 0.03873502 0.07223860 -0.08017847
+v 0.04337922 0.07172231 -0.08014832
+v -0.02362060 0.07223859 -0.07534660
+f 1 2 5
+f 1 5 12
+f 1 12 11
+f 1 11 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 21
+f 1 21 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 20
+f 4 20 22
+f 4 22 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 7 14 15
+f 7 13 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 14
+f 8 21 20
+f 9 22 19
+f 9 19 10
+f 14 20 15
+f 14 19 20
+f 15 20 21
+f 19 22 20
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_39.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04744756 0.20003868 0.07628778
+v -0.04972220 0.20003868 0.07577552
+v -0.04154183 0.20003869 0.07441119
+v -0.03289462 0.21298267 0.08126082
+v -0.04011686 0.21213073 0.08117460
+v -0.04744756 0.20365469 0.07771555
+v -0.05258766 0.20003869 0.07440360
+v -0.04776840 0.21040261 0.07933603
+v -0.03953491 0.20003870 0.07180677
+v -0.03289462 0.21292702 0.08121770
+v -0.03289462 0.21835343 0.08196076
+v -0.04011686 0.21845024 0.08151698
+v -0.04553798 0.21243084 0.08072320
+v -0.05305675 0.20365470 0.07502744
+v -0.05549737 0.20003871 0.06890565
+v -0.05308109 0.21105369 0.07561074
+v -0.03289462 0.20923600 0.07582881
+v -0.03289462 0.20936428 0.07603169
+v -0.03437491 0.20003875 0.05851589
+v -0.03289462 0.21845024 0.08196584
+v -0.04510650 0.21845024 0.08054823
+v -0.03289462 0.22287708 0.08072577
+v -0.04011686 0.22252854 0.08034284
+v -0.04379437 0.22215582 0.08000811
+v -0.05528717 0.20365473 0.06916689
+v -0.05514776 0.20003873 0.06175683
+v -0.05228010 0.21666164 0.07470289
+v -0.05454812 0.21105372 0.06916692
+v -0.03289462 0.21058175 0.07017874
+v -0.03439039 0.20003875 0.05825215
+v -0.03289462 0.21065436 0.06988709
+v -0.03289462 0.22293756 0.08070803
+v -0.03289462 0.22473835 0.07645019
+v -0.03289462 0.22476254 0.07639185
+v -0.04011686 0.22411147 0.07639184
+v -0.04512199 0.22283353 0.07639184
+v -0.05257880 0.21105374 0.06369179
+v -0.05254120 0.20003875 0.05731892
+v -0.04555790 0.22305622 0.07122360
+v -0.05236639 0.21665442 0.06916694
+v -0.05161628 0.21537647 0.06502824
+v -0.03754790 0.20003875 0.05705772
+v -0.03289462 0.21845273 0.06689473
+v -0.04011686 0.22373151 0.07036644
+v -0.03289462 0.22397111 0.07029797
+v -0.05182207 0.20150549 0.05771707
+v -0.05059846 0.20003875 0.05680413
+v -0.04744756 0.21640997 0.06443739
+v -0.04744756 0.21105374 0.06135366
+v -0.04446703 0.20003875 0.05617523
+v -0.04744756 0.20632438 0.05886588
+v -0.04150423 0.21633493 0.06459207
+v -0.04744756 0.20262610 0.05715918
+v -0.04744756 0.20003875 0.05606111
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 38
+f 1 38 47
+f 1 47 54
+f 1 54 50
+f 1 50 42
+f 1 42 30
+f 1 30 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 18
+f 4 18 17
+f 4 17 29
+f 4 29 31
+f 4 31 43
+f 4 43 45
+f 4 45 34
+f 4 34 33
+f 4 33 32
+f 4 32 22
+f 4 22 20
+f 4 20 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 8
+f 7 8 14
+f 7 14 15
+f 8 13 16
+f 8 16 14
+f 9 17 18
+f 9 18 10
+f 9 19 17
+f 11 20 12
+f 12 21 13
+f 12 20 22
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 13 21 16
+f 14 16 15
+f 15 25 26
+f 15 16 25
+f 16 21 27
+f 16 27 28
+f 16 28 25
+f 17 19 29
+f 19 30 31
+f 19 31 29
+f 21 24 27
+f 22 32 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 32 33
+f 24 35 36
+f 24 36 27
+f 25 28 26
+f 26 37 38
+f 26 28 37
+f 27 36 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 37
+f 30 42 43
+f 30 43 31
+f 34 44 35
+f 34 45 44
+f 35 44 39
+f 35 39 36
+f 37 41 38
+f 38 46 47
+f 38 41 46
+f 39 44 48
+f 39 48 41
+f 39 41 40
+f 41 48 49
+f 41 49 46
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 43 52 45
+f 44 45 48
+f 45 52 48
+f 46 49 51
+f 46 51 53
+f 46 53 47
+f 47 53 54
+f 48 52 49
+f 49 52 51
+f 50 54 53
+f 50 53 51
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_4.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.17747608 0.06974265 0.05632425
+v -0.17744780 0.06974263 0.06134312
+v -0.17738182 0.07048797 0.06118513
+v -0.17738182 0.07048798 0.05638501
+v -0.13319716 0.06974290 -0.01063442
+v -0.17484593 0.06974262 0.06492802
+v -0.17648623 0.07608151 0.05977552
+v -0.16806787 0.08833901 0.06537771
+v -0.17648623 0.07608152 0.05730860
+v -0.13080269 0.07223097 -0.01250583
+v -0.12870047 0.06974292 -0.01680773
+v -0.16940651 0.09267940 0.05713852
+v -0.16849207 0.09651559 0.05822008
+v -0.17119766 0.06974262 0.06610680
+v -0.17100910 0.07048795 0.06611894
+v -0.16962334 0.07788631 0.06602172
+v -0.16889744 0.08340678 0.06580303
+v -0.16940651 0.09267939 0.06012798
+v -0.16849207 0.09651559 0.05848745
+v -0.16192144 0.09854326 0.06596106
+v -0.16086559 0.10347551 0.06543853
+v -0.12941692 0.07793042 -0.01017260
+v -0.12456199 0.08177393 -0.01402482
+v -0.12563668 0.07788661 -0.01534943
+v -0.12800285 0.07025443 -0.01735456
+v -0.12727697 0.06974293 -0.01855764
+v -0.16240222 0.10598551 0.05687125
+v -0.16525862 0.06974262 0.06603386
+v -0.16476841 0.07788631 0.06630125
+v -0.15058068 0.10706323 0.06675098
+v -0.16327891 0.09267937 0.06621622
+v -0.16240222 0.10598550 0.06062627
+v -0.15605779 0.10706324 0.06621627
+v -0.15999830 0.10706325 0.06321469
+v -0.12303481 0.08670617 -0.01197110
+v -0.11814217 0.09054968 -0.01511851
+v -0.11604935 0.08726882 -0.01993078
+v -0.11756712 0.08233660 -0.02159566
+v -0.12256345 0.07788662 -0.01895863
+v -0.12392095 0.07320648 -0.02051414
+v -0.12290284 0.06974295 -0.02363727
+v -0.16102586 0.10706325 0.06164705
+v -0.16013028 0.10706327 0.05621501
+v -0.10976150 0.10706352 -0.01028186
+v -0.10985579 0.10387767 -0.01397614
+v -0.11650184 0.09548193 -0.01310121
+v -0.12067806 0.09251159 -0.01012395
+v -0.14491500 0.10706324 0.06611907
+v -0.15010933 0.10706323 0.06673882
+v -0.16227022 0.06974262 0.06490372
+v -0.16101642 0.07396609 0.06560857
+v -0.15802806 0.10063673 0.06634995
+v -0.11383400 0.09322407 -0.01793781
+v -0.11116613 0.09096984 -0.02254348
+v -0.11321180 0.08490140 -0.02447573
+v -0.11889631 0.07788663 -0.02301747
+v -0.11546488 0.07788665 -0.02662668
+v -0.11676580 0.07359011 -0.02797559
+v -0.12103627 0.07093036 -0.02498616
+v -0.11952794 0.06974296 -0.02728294
+v -0.10487828 0.10706354 -0.01626074
+v -0.10517995 0.10638764 -0.01655240
+v -0.10261579 0.10396539 -0.02126747
+v -0.10781011 0.10007803 -0.01910437
+v -0.10943154 0.09590209 -0.02075709
+v -0.11121328 0.10007802 -0.01549517
+v -0.14472646 0.10706324 0.06607045
+v -0.14105934 0.10706325 0.06370078
+v -0.15912161 0.06974263 0.06184136
+v -0.10666000 0.09340311 -0.02525343
+v -0.10877166 0.08746614 -0.02735578
+v -0.11037427 0.08253393 -0.02892344
+v -0.11179776 0.07788666 -0.03028448
+v -0.10934671 0.07345497 -0.03516971
+v -0.11617190 0.06974297 -0.03068554
+v -0.10386017 0.10706354 -0.01724507
+v -0.09842075 0.10706356 -0.02234900
+v -0.09820391 0.10684802 -0.02272570
+v -0.09498930 0.10363660 -0.02823066
+v -0.09925033 0.10073570 -0.02668735
+v -0.10200302 0.09584001 -0.02795119
+v -0.10414295 0.10007804 -0.02275005
+v -0.13785416 0.10706326 0.06032245
+v -0.13762790 0.10706326 0.06006727
+v -0.08117866 0.06974302 -0.04478210
+v -0.10388844 0.09090777 -0.02962822
+v -0.10581155 0.08482103 -0.03168197
+v -0.10792321 0.07788667 -0.03390583
+v -0.11219369 0.06974299 -0.03442844
+v -0.10285147 0.08217590 -0.03588665
+v -0.10425610 0.07788669 -0.03705327
+v -0.10149397 0.07269871 -0.04204785
+v -0.10619808 0.07061254 -0.03924070
+v -0.10809290 0.06974300 -0.03806192
+v -0.09807193 0.10706356 -0.02265280
+v -0.09276450 0.10706358 -0.02714913
+v -0.09112420 0.10706358 -0.02844943
+v -0.09010607 0.10600408 -0.03012643
+v -0.08688200 0.10289497 -0.03493870
+v -0.09211404 0.10080149 -0.03245965
+v -0.09413144 0.09523356 -0.03479288
+v -0.09711038 0.09870436 -0.02996848
+v -0.09909950 0.09307066 -0.03221665
+v -0.08117866 0.10706356 -0.02085428
+v -0.08117866 0.06974307 -0.05739610
+v -0.10107919 0.08710448 -0.03445265
+v -0.09869413 0.08489778 -0.03760011
+v -0.09489502 0.08129178 -0.04261896
+v -0.09893923 0.07844935 -0.04100275
+v -0.10523652 0.06974301 -0.04046807
+v -0.09660133 0.07635956 -0.04390712
+v -0.09893923 0.07033491 -0.04511021
+v -0.09989136 0.06974302 -0.04467273
+v -0.08731567 0.10706360 -0.03131732
+v -0.08514744 0.10706360 -0.03288496
+v -0.08381821 0.10706360 -0.03380853
+v -0.08198939 0.10514186 -0.03655493
+v -0.08384651 0.09981506 -0.03899754
+v -0.08924822 0.09796274 -0.03661572
+v -0.09106763 0.09223402 -0.03891252
+v -0.09619597 0.09030131 -0.03638487
+v -0.08117866 0.10706361 -0.03546124
+v -0.08306407 0.06974307 -0.05626593
+v -0.08117866 0.07232978 -0.05624162
+v -0.09328300 0.08528507 -0.04147666
+v -0.08961587 0.08528508 -0.04405291
+v -0.08650493 0.07993271 -0.04914473
+v -0.09165210 0.07814611 -0.04651982
+v -0.08839978 0.07500047 -0.05042071
+v -0.09361294 0.07048837 -0.04893816
+v -0.09386747 0.06974304 -0.04912046
+v -0.09892979 0.06974303 -0.04538972
+v -0.08343170 0.10706361 -0.03405158
+v -0.08117866 0.10539032 -0.03685874
+v -0.08117866 0.10443674 -0.03753928
+v -0.08117866 0.09711149 -0.04252170
+v -0.08570364 0.09416675 -0.04142799
+v -0.08800385 0.08923451 -0.04293490
+v -0.08439328 0.06974306 -0.05540314
+v -0.08403504 0.07065278 -0.05523299
+v -0.08117866 0.07474108 -0.05509933
+v -0.08408219 0.08537278 -0.04774719
+v -0.08161230 0.08296147 -0.05076095
+v -0.08408219 0.07763463 -0.05187896
+v -0.08994581 0.07048838 -0.05146582
+v -0.09088853 0.06974305 -0.05116202
+v -0.08117866 0.09654153 -0.04288628
+v -0.08117866 0.09612137 -0.04315362
+v -0.08360142 0.09209157 -0.04406504
+v -0.08117866 0.08970948 -0.04706666
+v -0.08117866 0.08691456 -0.04873152
+v -0.08949331 0.06974305 -0.05208560
+v -0.08117866 0.08251573 -0.05124704
+v -0.08117866 0.08318069 -0.05089463
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 26
+f 1 26 41
+f 1 41 60
+f 1 60 75
+f 1 75 89
+f 1 89 94
+f 1 94 110
+f 1 110 113
+f 1 113 132
+f 1 132 131
+f 1 131 146
+f 1 146 152
+f 1 152 139
+f 1 139 123
+f 1 123 105
+f 1 105 85
+f 1 85 69
+f 1 69 50
+f 1 50 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 9
+f 3 9 4
+f 3 6 8
+f 3 8 7
+f 4 9 5
+f 5 10 11
+f 5 9 12
+f 5 12 13
+f 5 13 10
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 18 19
+f 7 19 13
+f 7 13 9
+f 7 8 18
+f 8 17 20
+f 8 20 21
+f 8 21 18
+f 9 13 12
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 10 13 22
+f 11 24 25
+f 11 25 26
+f 13 19 32
+f 13 32 27
+f 13 27 22
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 17 31 20
+f 18 21 19
+f 19 21 32
+f 20 31 33
+f 20 33 21
+f 21 33 34
+f 21 34 32
+f 22 27 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 23 27 35
+f 24 40 25
+f 25 40 26
+f 26 40 41
+f 27 32 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 35
+f 28 48 49
+f 28 49 29
+f 28 50 51
+f 28 51 48
+f 29 49 30
+f 30 49 48
+f 30 48 67
+f 30 67 68
+f 30 68 83
+f 30 83 84
+f 30 84 104
+f 30 104 122
+f 30 122 133
+f 30 133 116
+f 30 116 115
+f 30 115 114
+f 30 114 97
+f 30 97 96
+f 30 96 95
+f 30 95 77
+f 30 77 76
+f 30 76 61
+f 30 61 44
+f 30 44 43
+f 30 43 42
+f 30 42 34
+f 30 34 33
+f 30 33 52
+f 30 52 31
+f 31 52 33
+f 32 34 42
+f 35 47 46
+f 35 46 36
+f 36 46 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 56 40
+f 38 40 39
+f 38 55 57
+f 38 57 56
+f 40 56 58
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 46
+f 46 66 53
+f 48 51 67
+f 50 68 51
+f 50 69 68
+f 51 68 67
+f 53 65 54
+f 53 66 65
+f 54 65 70
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 57
+f 56 57 58
+f 57 72 58
+f 58 60 59
+f 58 72 73
+f 58 73 74
+f 58 74 75
+f 58 75 60
+f 61 76 63
+f 61 63 62
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 82
+f 63 82 65
+f 63 65 64
+f 63 76 77
+f 65 82 81
+f 65 81 70
+f 68 69 83
+f 69 84 83
+f 69 85 84
+f 70 81 86
+f 70 86 71
+f 71 86 87
+f 71 87 72
+f 72 87 88
+f 72 88 74
+f 72 74 73
+f 74 89 75
+f 74 88 90
+f 74 90 91
+f 74 91 92
+f 74 92 93
+f 74 93 94
+f 74 94 89
+f 77 95 78
+f 78 95 79
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 100
+f 79 100 101
+f 79 101 102
+f 79 102 81
+f 79 81 80
+f 79 95 96
+f 81 102 101
+f 81 101 103
+f 81 103 86
+f 84 85 104
+f 85 105 124
+f 85 124 141
+f 85 141 153
+f 85 153 154
+f 85 154 151
+f 85 151 150
+f 85 150 148
+f 85 148 147
+f 85 147 136
+f 85 136 135
+f 85 135 134
+f 85 134 122
+f 85 122 104
+f 86 103 106
+f 86 106 87
+f 87 106 90
+f 87 90 88
+f 90 106 107
+f 90 107 108
+f 90 108 109
+f 90 109 92
+f 90 92 91
+f 92 110 93
+f 92 109 111
+f 92 111 112
+f 92 112 113
+f 92 113 110
+f 93 110 94
+f 97 114 98
+f 98 114 99
+f 99 114 115
+f 99 115 116
+f 99 116 117
+f 99 117 118
+f 99 118 119
+f 99 119 100
+f 100 119 101
+f 101 119 120
+f 101 120 121
+f 101 121 103
+f 103 121 106
+f 105 123 124
+f 106 121 107
+f 107 121 108
+f 108 121 125
+f 108 125 126
+f 108 126 127
+f 108 127 128
+f 108 128 111
+f 108 111 109
+f 111 128 129
+f 111 129 130
+f 111 130 131
+f 111 131 112
+f 112 132 113
+f 112 131 132
+f 116 133 134
+f 116 134 117
+f 117 134 135
+f 117 135 136
+f 117 136 118
+f 118 136 119
+f 119 136 137
+f 119 137 138
+f 119 138 120
+f 120 138 121
+f 121 138 125
+f 122 134 133
+f 123 139 140
+f 123 140 124
+f 124 140 129
+f 124 129 141
+f 125 138 126
+f 126 142 127
+f 126 138 142
+f 127 129 128
+f 127 142 143
+f 127 143 144
+f 127 144 129
+f 129 131 130
+f 129 144 141
+f 129 140 145
+f 129 145 131
+f 131 145 146
+f 136 147 137
+f 137 147 148
+f 137 148 149
+f 137 149 138
+f 138 149 150
+f 138 150 151
+f 138 151 142
+f 139 152 145
+f 139 145 140
+f 141 144 143
+f 141 143 153
+f 142 151 143
+f 143 154 153
+f 143 151 154
+f 145 152 146
+f 148 150 149
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_40.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02544974 0.21844994 0.08197731
+v -0.02544974 0.22295644 0.08073066
+v -0.03278254 0.21844994 0.08197434
+v -0.03289459 0.21835393 0.08196232
+v -0.03289459 0.21298483 0.08126171
+v -0.00195210 0.21298331 0.08121370
+v -0.00195210 0.21410192 0.08134423
+v -0.00195210 0.21844994 0.08184981
+v -0.00195210 0.21935215 0.08160380
+v -0.00195210 0.22285586 0.08063915
+v -0.02544974 0.22480356 0.07639055
+v -0.03278254 0.22294427 0.08071416
+v -0.00195210 0.22323839 0.07976902
+v -0.00195210 0.22471364 0.07639055
+v -0.03289459 0.22287719 0.08072766
+v -0.03289459 0.21844994 0.08196832
+v -0.03289459 0.21292846 0.08121818
+v -0.00195210 0.20965794 0.07639049
+v -0.02544974 0.22399587 0.07032215
+v -0.03278254 0.22397603 0.07029815
+v -0.03278254 0.22477156 0.07639055
+v -0.00195210 0.22400500 0.07028463
+v -0.03289459 0.22473805 0.07645204
+v -0.03289459 0.22293814 0.08070965
+v -0.03289459 0.20936533 0.07603344
+v -0.00195210 0.21106614 0.07067464
+v -0.03289459 0.20923732 0.07583089
+v -0.03289459 0.21058151 0.07018107
+v -0.03289459 0.21065314 0.06988852
+v -0.03289459 0.21845305 0.06689260
+v -0.03289459 0.22397148 0.07029964
+v -0.00345440 0.21844999 0.06671408
+v -0.03289459 0.22476241 0.07639055
+v -0.00195210 0.21830216 0.06665110
+v -0.00195210 0.21156603 0.06903792
+v -0.00345440 0.21142887 0.06920292
+v -0.01811695 0.21152183 0.06931546
+v -0.00195210 0.21704789 0.06709364
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 13
+f 2 13 14
+f 2 14 11
+f 3 12 15
+f 3 15 16
+f 3 16 4
+f 4 16 15
+f 4 15 24
+f 4 24 23
+f 4 23 33
+f 4 33 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 25
+f 4 25 17
+f 4 17 5
+f 5 17 6
+f 6 18 26
+f 6 26 35
+f 6 35 38
+f 6 38 34
+f 6 34 22
+f 6 22 14
+f 6 14 13
+f 6 13 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 6 17 18
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 11 14 22
+f 11 22 19
+f 12 21 23
+f 12 23 24
+f 12 24 15
+f 17 25 18
+f 18 25 27
+f 18 27 28
+f 18 28 29
+f 18 29 26
+f 19 22 20
+f 20 30 31
+f 20 31 21
+f 20 22 32
+f 20 32 30
+f 21 31 33
+f 21 33 23
+f 22 34 32
+f 26 29 36
+f 26 36 35
+f 29 30 37
+f 29 37 35
+f 29 35 36
+f 30 34 38
+f 30 38 35
+f 30 35 37
+f 30 32 34
+

dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/mjcf/mesh/metal_colander_collision_5.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.08189564 -0.00349481 -0.07985864
+v -0.08118476 -0.00349481 -0.07985864
+v -0.08179760 -0.01089224 -0.07983416
+v -0.12293711 -0.00349495 -0.04140013
+v -0.08188954 -0.00001326 -0.07985248
+v -0.08118476 -0.01089224 -0.07983416
+v -0.08118476 -0.00001326 -0.07985248
+v -0.08118476 -0.01882055 -0.07972383
+v -0.08152183 -0.01829658 -0.07971157
+v -0.12277165 -0.01089238 -0.04125304
+v -0.12653447 -0.01089239 -0.03764258
+v -0.12666929 -0.00349496 -0.03778969
+v -0.12468983 -0.00001340 -0.03968992
+v -0.12293100 -0.00001340 -0.04138787
+v -0.08118476 -0.00001333 -0.05909693
+v -0.08118476 -0.02259854 -0.07947866
+v -0.12239170 -0.01829672 -0.04090369
+v -0.12618515 -0.01829673 -0.03729323
+v -0.13019918 -0.01089241 -0.03394630
+v -0.13033402 -0.00349497 -0.03409339
+v -0.13032790 -0.00001342 -0.03408726
+v -0.12860584 -0.00001342 -0.03582198
+v -0.12666316 -0.00001341 -0.03777740
+v -0.13168226 -0.00001349 -0.01723637
+v -0.11372622 -0.07044426 -0.01723663
+v -0.08118476 -0.07044416 -0.04450820
+v -0.08118476 -0.02569401 -0.07870018
+v -0.12436502 -0.03648352 -0.03549111
+v -0.11756869 -0.03107160 -0.04319628
+v -0.12179112 -0.02569415 -0.04029686
+v -0.12985601 -0.01829675 -0.03358467
+v -0.12556007 -0.02569417 -0.03668637
+v -0.13355753 -0.01089242 -0.03033584
+v -0.13322659 -0.01829676 -0.02997422
+v -0.13368008 -0.00349499 -0.03048293
+v -0.13366784 -0.00001344 -0.03047680
+v -0.14377346 -0.00001349 -0.01723637
+v -0.12752111 -0.07044426 -0.01723663
+v -0.08118476 -0.07044411 -0.05701918
+v -0.08377705 -0.07044412 -0.05543154
+v -0.08407735 -0.07044412 -0.05524153
+v -0.08984412 -0.07044413 -0.05147170
+v -0.09900598 -0.07000981 -0.04514571
+v -0.10312421 -0.06749344 -0.04331289
+v -0.10446630 -0.06267442 -0.04436106
+v -0.10813105 -0.06267443 -0.04143715
+v -0.10934447 -0.05792434 -0.04243015
+v -0.11032500 -0.05299503 -0.04326378
+v -0.11495801 -0.04787957 -0.04086088
+v -0.11890468 -0.04787958 -0.03725044
+v -0.11620819 -0.04048214 -0.04199487
+v -0.12011809 -0.04048215 -0.03837827
+v -0.12378282 -0.04048216 -0.03491493
+v -0.12712890 -0.04048218 -0.03130447
+v -0.13146164 -0.03545635 -0.02797596
+v -0.12820138 -0.03351217 -0.03207067
+v -0.12494107 -0.03156109 -0.03607957
+v -0.12922481 -0.02569418 -0.03286138
+v -0.13722841 -0.01089243 -0.02595303
+v -0.13689134 -0.01829678 -0.02550557
+v -0.13257086 -0.02569419 -0.02925092
+v -0.13734484 -0.00349500 -0.02608784
+v -0.13733872 -0.00001345 -0.02608172
+v -0.13561052 -0.00001345 -0.02815357
+v -0.14358961 -0.00001349 -0.01751222
+v -0.14378574 -0.00349504 -0.01723638
+v -0.12794398 -0.06962384 -0.01723663
+v -0.12686539 -0.07044425 -0.01810708
+v -0.09860149 -0.07044415 -0.04522542
+v -0.09884050 -0.07044415 -0.04505376
+v -0.09947173 -0.07044416 -0.04460016
+v -0.10221720 -0.07044416 -0.04259570
+v -0.10636612 -0.07044418 -0.03921204
+v -0.11087042 -0.06830010 -0.03653330
+v -0.11228606 -0.06267444 -0.03782667
+v -0.11691296 -0.05848279 -0.03538700
+v -0.11361592 -0.05573894 -0.03934684
+v -0.11786898 -0.05354659 -0.03626355
+v -0.12257555 -0.04787960 -0.03369512
+v -0.12599515 -0.04787961 -0.03008466
+v -0.13079364 -0.04048219 -0.02714843
+v -0.13828860 -0.03309167 -0.02007460
+v -0.13420712 -0.03303651 -0.02523592
+v -0.13203156 -0.03053389 -0.02864409
+v -0.13369849 -0.04048220 -0.02353799
+v -0.14001679 -0.01089245 -0.02234256
+v -0.13967972 -0.01829679 -0.02189510
+v -0.13664620 -0.02560460 -0.02417541
+v -0.13930591 -0.02308133 -0.02139860
+v -0.14012711 -0.00349502 -0.02247738
+v -0.13865632 -0.00001346 -0.02438375
+v -0.14196562 -0.00001348 -0.01984154
+v -0.14359574 -0.00349504 -0.01751223
+v -0.14330771 -0.01089247 -0.01751226
+v -0.14348540 -0.01089247 -0.01723641
+v -0.13103267 -0.06267452 -0.01723660
+v -0.12989892 -0.06267451 -0.01872616
+v -0.12510042 -0.06776241 -0.02190756
+v -0.12444470 -0.07044424 -0.02114132
+v -0.11024534 -0.07044419 -0.03598776
+v -0.11816317 -0.06834839 -0.02946563
+v -0.11594470 -0.06267445 -0.03446752
+v -0.11342594 -0.07044420 -0.03295350
+v -0.12414440 -0.05820706 -0.02800669
+v -0.12100670 -0.05587684 -0.03221788
+v -0.11951137 -0.06267447 -0.03085092
+v -0.12506978 -0.05327774 -0.02905488
+v -0.12966604 -0.04787963 -0.02578764
+v -0.13260151 -0.04787964 -0.02217720
+v -0.13736321 -0.04048222 -0.01883641
+v -0.13855212 -0.04048223 -0.01723652
+v -0.14035386 -0.03309168 -0.01723649
+v -0.13882175 -0.02801756 -0.02077338
+v -0.14266424 -0.01829681 -0.01751229
+v -0.14105861 -0.02936884 -0.01723648
+v -0.14120568 -0.02560462 -0.01802721
+v -0.14012711 -0.00001347 -0.02247124
+v -0.14344867 -0.01131991 -0.01723641
+v -0.13352688 -0.05617336 -0.01723658
+v -0.13105716 -0.05701443 -0.02019729
+v -0.12623416 -0.06267449 -0.02326835
+v -0.12317611 -0.06267448 -0.02687881
+v -0.12092704 -0.07044423 -0.02514411
+v -0.11445551 -0.07044420 -0.03195433
+v -0.11759321 -0.07044421 -0.02885878
+v -0.12806041 -0.05514607 -0.02467818
+v -0.13194578 -0.05208508 -0.02134356
+v -0.13638883 -0.04772800 -0.01723655
+v -0.13664006 -0.04688689 -0.01723654
+v -0.14284196 -0.01829681 -0.01723644
+v -0.14172047 -0.02561840 -0.01723646
+v -0.13400489 -0.05487034 -0.01723657
+v -0.13371074 -0.05484277 -0.01767792
+v -0.13563504 -0.05000305 -0.01723655
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 15
+f 2 15 26
+f 2 26 39
+f 2 39 27
+f 2 27 16
+f 2 16 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 23
+f 5 23 22
+f 5 22 21
+f 5 21 36
+f 5 36 64
+f 5 64 63
+f 5 63 91
+f 5 91 117
+f 5 117 92
+f 5 92 65
+f 5 65 37
+f 5 37 24
+f 5 24 15
+f 5 15 7
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 19 20
+f 11 20 12
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 15 24 25
+f 15 25 26
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 18
+f 16 18 17
+f 18 31 19
+f 18 30 32
+f 18 32 31
+f 19 33 20
+f 19 31 34
+f 19 34 33
+f 20 35 21
+f 20 33 35
+f 21 35 36
+f 24 37 66
+f 24 66 95
+f 24 95 118
+f 24 118 130
+f 24 130 131
+f 24 131 115
+f 24 115 112
+f 24 112 111
+f 24 111 129
+f 24 129 128
+f 24 128 134
+f 24 134 132
+f 24 132 119
+f 24 119 96
+f 24 96 67
+f 24 67 38
+f 24 38 25
+f 25 38 68
+f 25 68 99
+f 25 99 123
+f 25 123 125
+f 25 125 124
+f 25 124 103
+f 25 103 100
+f 25 100 73
+f 25 73 72
+f 25 72 71
+f 25 71 70
+f 25 70 69
+f 25 69 42
+f 25 42 41
+f 25 41 40
+f 25 40 39
+f 25 39 26
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 28
+f 28 52 53
+f 28 53 54
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 29
+f 29 57 30
+f 30 57 32
+f 31 32 58
+f 31 58 34
+f 32 57 58
+f 33 59 35
+f 33 34 59
+f 34 60 59
+f 34 58 61
+f 34 61 60
+f 35 62 63
+f 35 63 64
+f 35 64 36
+f 35 59 62
+f 37 65 66
+f 38 67 68
+f 42 69 43
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 44
+f 44 72 73
+f 44 73 74
+f 44 74 46
+f 44 46 45
+f 46 75 47
+f 46 74 75
+f 47 75 76
+f 47 76 77
+f 47 77 48
+f 48 77 49
+f 49 77 78
+f 49 78 50
+f 50 78 79
+f 50 79 53
+f 50 53 52
+f 50 52 51
+f 53 79 80
+f 53 80 54
+f 54 81 55
+f 54 80 81
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 55 81 85
+f 55 85 82
+f 56 84 61
+f 56 61 57
+f 57 61 58
+f 59 86 62
+f 59 60 87
+f 59 87 86
+f 60 61 88
+f 60 88 89
+f 60 89 87
+f 61 84 88
+f 62 90 91
+f 62 91 63
+f 62 86 90
+f 65 92 93
+f 65 93 66
+f 66 93 86
+f 66 86 94
+f 66 94 95
+f 67 96 97
+f 67 97 98
+f 67 98 68
+f 68 98 99
+f 73 100 74
+f 74 101 102
+f 74 102 75
+f 74 100 103
+f 74 103 101
+f 75 102 76
+f 76 104 105
+f 76 105 79
+f 76 79 78
+f 76 78 77
+f 76 102 106
+f 76 106 104
+f 79 105 107
+f 79 107 80
+f 80 107 108
+f 80 108 81
+f 81 108 109
+f 81 109 85
+f 82 85 110
+f 82 110 111
+f 82 111 112
+f 82 112 113
+f 82 113 88
+f 82 88 83
+f 83 88 84
+f 85 109 110
+f 86 93 90
+f 86 87 94
+f 87 114 94
+f 87 89 114
+f 88 113 89
+f 89 113 115
+f 89 115 116
+f 89 116 114
+f 90 93 92
+f 90 92 117
+f 90 117 91
+f 94 114 118
+f 94 118 95
+f 96 119 120
+f 96 120 97
+f 97 121 98
+f 97 120 121
+f 98 121 122
+f 98 122 101
+f 98 101 123
+f 98 123 99
+f 101 122 106
+f 101 106 102
+f 101 103 124
+f 101 124 125
+f 101 125 123
+f 104 106 122
+f 104 122 121
+f 104 121 120
+f 104 120 126
+f 104 126 107
+f 104 107 105
+f 107 126 127
+f 107 127 108
+f 108 127 109
+f 109 128 110
+f 109 127 128
+f 110 129 111
+f 110 128 129
+f 112 115 113
+f 114 130 118
+f 114 116 131
+f 114 131 130
+f 115 131 116
+f 119 132 133
+f 119 133 120
+f 120 133 127
+f 120 127 126
+f 127 133 128
+f 128 133 134
+f 132 134 133
+