Add asset kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d

.gitattributes

@@ -4306,3 +4306,6 @@ dataset/kitchen_supplies/tableware/a9ae80d1bd1e5f838320ff0ecb02fc90/mesh/spoon_0
 dataset/kitchen_supplies/tableware/a9ae80d1bd1e5f838320ff0ecb02fc90/spoon_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/fork_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/mesh/fork_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.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>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.247412</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with textured surface and flared base</description>
+         <min_height>0.114</min_height>
+         <max_height>0.151</max_height>
+         <real_height>0.132</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119190422</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.162067890167236</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654f476e63acd8e0fc67b60b348dc03f051699fea22f9ba681e0f5e26283857c
+size 1065423

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/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/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc3633903cb6abd9b8932e845f2b064559a7c06cff88db4d8c03b8cbb2595b4
+size 3389708

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79bd59f934275e199dd440d8c11e98a84d6dad87cd127b99b504c4bd68be670a
+size 3442345

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/ace98d09c98152d8b22cdd8feff6b85d.xml

@@ -0,0 +1,148 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_colander">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/metal_colander.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_colander_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_colander_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_colander_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_colander_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_colander_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_colander_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_colander_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_colander_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_colander_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_colander_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_colander_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_colander_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_colander_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_colander_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_colander_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_colander_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_colander_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_colander_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_colander_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_colander_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/metal_colander_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_colander_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_colander_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/metal_colander_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/metal_colander_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/metal_colander_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_colander_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/metal_colander_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/metal_colander_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/metal_colander_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/metal_colander_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/metal_colander_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/metal_colander_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/metal_colander_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/metal_colander_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/metal_colander_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/metal_colander_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/metal_colander_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/metal_colander_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/metal_colander_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/metal_colander_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/metal_colander_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/metal_colander_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/metal_colander_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/metal_colander_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/metal_colander_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/metal_colander_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/metal_colander_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/metal_colander_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/metal_colander_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/metal_colander_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/metal_colander_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/metal_colander_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/metal_colander_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/metal_colander_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/metal_colander_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/metal_colander_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/metal_colander_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/metal_colander_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/metal_colander_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/metal_colander_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/metal_colander_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/metal_colander_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/metal_colander_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/metal_colander_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/metal_colander_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/metal_colander_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_colander">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_0.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.00144206 -0.09388478 0.06505464
+v 0.00145268 -0.09387737 0.06504481
+v 0.00455231 -0.09153517 0.06593018
+v -0.00144206 -0.09153517 0.06594985
+v -0.00144206 -0.09388477 0.06301831
+v 0.00455231 -0.09383281 0.06501530
+v 0.00145268 -0.09387736 0.06301831
+v 0.00765194 -0.09153517 0.06587113
+v 0.02317903 -0.08843579 0.06562522
+v 0.02005286 -0.08843579 0.06562522
+v 0.02317903 -0.08593402 0.06495629
+v -0.00144206 -0.08894430 0.06509399
+v -0.00144206 -0.06962010 -0.02681630
+v 0.00455231 -0.09383280 0.06302815
+v 0.00765194 -0.09375486 0.06493660
+v 0.01075399 -0.09153517 0.06575310
+v 0.01385120 -0.09153517 0.06554650
+v 0.02005286 -0.09119369 0.06506449
+v 0.02317903 -0.09074827 0.06488741
+v 0.02317903 -0.08432305 0.06270354
+v -0.00144206 -0.08882926 0.06490709
+v -0.00144206 -0.06873666 -0.02987570
+v 0.00145268 -0.06870326 -0.02975766
+v 0.00145268 -0.06954957 -0.02681630
+v 0.00765194 -0.09375485 0.06306748
+v 0.01075399 -0.09359897 0.06478904
+v 0.01385120 -0.09337997 0.06456278
+v 0.01610242 -0.09320554 0.06435620
+v 0.02317903 -0.09076312 0.06487759
+v 0.02317903 -0.08430079 0.06265435
+v -0.00144206 -0.08729997 0.06236906
+v -0.00144206 -0.06829494 -0.03131196
+v 0.00455231 -0.06859561 -0.02941335
+v -0.00144206 -0.06826152 -0.03142017
+v 0.00145268 -0.06820586 -0.03130211
+v 0.00455231 -0.06933799 -0.02681629
+v 0.01075399 -0.09359896 0.06321506
+v 0.01385120 -0.09337996 0.06352000
+v 0.01610242 -0.09320553 0.06388400
+v 0.02317903 -0.09075569 0.06240841
+v 0.02317903 -0.08424882 0.06253631
+v 0.02317903 -0.08333568 0.05989007
+v -0.00144206 -0.08689164 0.06109019
+v 0.00765194 -0.06841743 -0.02882311
+v 0.00455231 -0.06807595 -0.03095781
+v 0.00765194 -0.06793490 -0.03036758
+v -0.00144206 -0.06769734 -0.03299414
+v 0.00145268 -0.06760082 -0.03299414
+v 0.00455231 -0.06734840 -0.03299414
+v 0.00927408 -0.06829496 -0.02840994
+v 0.01048644 -0.06768620 -0.02962977
+v 0.01385120 -0.06687331 -0.02990522
+v 0.01722562 -0.06589339 -0.03017081
+v 0.01844039 -0.06515101 -0.03138082
+v 0.01925989 -0.06546281 -0.02932482
+v 0.02019750 -0.06581174 -0.02691466
+v 0.02206547 -0.06537745 -0.02595059
+v 0.02317903 -0.06563357 -0.02349125
+v 0.02317903 -0.08326517 0.05965397
+v 0.02317903 -0.05596417 -0.03454839
+v -0.00144206 -0.06195509 -0.03454841
+v 0.00765194 -0.06702920 -0.03299414
+v 0.01075399 -0.06654666 -0.03299413
+v -0.00144206 -0.06697351 -0.03454843
+v 0.00145268 -0.06688444 -0.03454843
+v 0.00299287 -0.06675822 -0.03454843
+v 0.00441251 -0.06663943 -0.03454842
+v 0.00765194 -0.06633137 -0.03454842
+v 0.01394280 -0.06578944 -0.03316138
+v 0.01637478 -0.06548136 -0.03224650
+v 0.01722562 -0.06485035 -0.03316138
+v 0.02005286 -0.06393722 -0.03299412
+v 0.02315010 -0.06268262 -0.03292528
+v 0.02019750 -0.06483180 -0.03017081
+v 0.02132792 -0.06504338 -0.02800661
+v 0.02317903 -0.06368112 -0.02988551
+v 0.02317903 -0.06513617 -0.02515376
+v 0.02317903 -0.06198478 -0.03454841
+v 0.01075399 -0.06587481 -0.03454842
+v 0.01313776 -0.06541825 -0.03454842
+v 0.01409465 -0.06519924 -0.03454842
+v 0.01503707 -0.06507676 -0.03430252
+v 0.02005286 -0.06321340 -0.03454841
+v 0.02232096 -0.06238567 -0.03454841
+v 0.02317903 -0.06266035 -0.03294493
+v 0.02317903 -0.06268262 -0.03288591
+v 0.02291149 -0.06212585 -0.03454841
+v 0.02317903 -0.06206274 -0.03441070
+v 0.01487558 -0.06497652 -0.03454842
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 31
+f 1 31 43
+f 1 43 61
+f 1 61 64
+f 1 64 47
+f 1 47 34
+f 1 34 32
+f 1 32 22
+f 1 22 13
+f 1 13 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 6
+f 3 8 9
+f 3 9 4
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 7
+f 6 14 25
+f 6 25 15
+f 6 15 8
+f 7 13 14
+f 8 16 9
+f 8 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 29
+f 9 29 40
+f 9 40 58
+f 9 58 77
+f 9 77 76
+f 9 76 86
+f 9 86 85
+f 9 85 88
+f 9 88 78
+f 9 78 60
+f 9 60 59
+f 9 59 42
+f 9 42 41
+f 9 41 30
+f 9 30 20
+f 9 20 11
+f 9 11 10
+f 11 20 12
+f 12 20 21
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 15 26 17
+f 15 17 16
+f 15 25 37
+f 15 37 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 20 30 31
+f 20 31 21
+f 22 32 23
+f 23 33 24
+f 23 32 34
+f 23 34 35
+f 23 35 33
+f 24 33 36
+f 24 36 37
+f 24 37 25
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 29
+f 29 39 40
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 33 44 36
+f 33 35 45
+f 33 45 46
+f 33 46 44
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 45
+f 36 44 38
+f 36 38 37
+f 38 44 39
+f 39 44 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 44 46 50
+f 45 49 62
+f 45 62 46
+f 46 62 63
+f 46 63 50
+f 47 64 65
+f 47 65 48
+f 48 65 49
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 62
+f 50 63 51
+f 51 63 52
+f 52 63 69
+f 52 69 70
+f 52 70 53
+f 53 70 54
+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 57
+f 55 57 56
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 60 78 87
+f 60 87 84
+f 60 84 83
+f 60 83 89
+f 60 89 81
+f 60 81 80
+f 60 80 79
+f 60 79 68
+f 60 68 67
+f 60 67 66
+f 60 66 65
+f 60 65 64
+f 60 64 61
+f 62 68 79
+f 62 79 63
+f 63 79 80
+f 63 80 69
+f 69 80 81
+f 69 81 82
+f 69 82 70
+f 70 82 71
+f 71 82 83
+f 71 83 72
+f 72 83 84
+f 72 84 73
+f 73 85 86
+f 73 86 76
+f 73 76 74
+f 73 84 87
+f 73 87 88
+f 73 88 85
+f 74 76 75
+f 78 88 87
+f 81 89 82
+f 82 89 83
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_1.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.02318102 -0.09076122 0.06488205
+v 0.02934240 -0.08861520 0.06496049
+v 0.02625673 -0.08843392 0.06544098
+v 0.02318102 -0.08843392 0.06561749
+v 0.02318102 -0.09076122 0.06457808
+v 0.02830054 -0.09012427 0.06436235
+v 0.02625673 -0.09037415 0.06459770
+v 0.03245803 -0.08777248 0.06483303
+v 0.03581915 -0.08561666 0.06498995
+v 0.03245803 -0.08533249 0.06548022
+v 0.02318102 -0.08840941 0.06561749
+v 0.02830054 -0.09012426 0.06372496
+v 0.02318102 -0.09075141 0.06241099
+v 0.03648180 -0.08660637 0.06266596
+v 0.03496088 -0.08724822 0.06451925
+v 0.03865732 -0.08484742 0.06481343
+v 0.04203442 -0.08252014 0.06496052
+v 0.04356926 -0.08067788 0.06510761
+v 0.03865732 -0.08223104 0.06530374
+v 0.04356926 -0.07908552 0.06507822
+v 0.04356926 -0.07778712 0.06474482
+v 0.02318102 -0.08593512 0.06495071
+v 0.03493094 -0.08722860 0.06266596
+v 0.02625673 -0.09037414 0.06311701
+v 0.02318102 -0.06562604 -0.02351694
+v 0.02318102 -0.06513610 -0.02515451
+v 0.04299245 -0.08363722 0.06266597
+v 0.02318102 -0.06367599 -0.02990049
+v 0.02569786 -0.06254418 -0.02990049
+v 0.04118614 -0.08421048 0.06452907
+v 0.04356926 -0.08208895 0.06486247
+v 0.04356926 -0.07720897 0.06447026
+v 0.02318102 -0.08592043 0.06494090
+v 0.04356926 -0.08332855 0.06266597
+v 0.02724869 -0.06179946 -0.02990049
+v 0.02776762 -0.06204936 -0.02830215
+v 0.02318102 -0.06267647 -0.03291085
+v 0.02503322 -0.06223061 -0.03185184
+v 0.04356926 -0.08304927 0.06332295
+v 0.04356926 -0.07669942 0.06381327
+v 0.04288268 -0.07738537 0.06438200
+v 0.02543040 -0.08404879 0.06367595
+v 0.02318102 -0.08432315 0.06270519
+v 0.03045214 -0.06183867 -0.02454653
+v 0.03108485 -0.06217186 -0.02248732
+v 0.03318055 -0.06159861 -0.02064383
+v 0.03375737 -0.06192198 -0.01867287
+v 0.03432420 -0.06226986 -0.01661367
+v 0.03543593 -0.06123606 -0.01761384
+v 0.03743581 -0.05921253 -0.01975151
+v 0.03797473 -0.05958979 -0.01756480
+v 0.03952554 -0.05847760 -0.01756479
+v 0.04000258 -0.05882546 -0.01555463
+v 0.04356926 -0.06226013 0.00194868
+v 0.02614297 -0.06125070 -0.03292066
+v 0.02930647 -0.05959954 -0.03281279
+v 0.03106288 -0.05907037 -0.03167531
+v 0.02935637 -0.06065295 -0.02990048
+v 0.02318102 -0.06266177 -0.03295008
+v 0.02418497 -0.06182394 -0.03391104
+v 0.04356926 -0.07605267 0.06265621
+v 0.02318102 -0.08429866 0.06265618
+v 0.03225444 -0.06113803 -0.02360517
+v 0.03158580 -0.05938395 -0.02990048
+v 0.03259774 -0.05982985 -0.02683126
+v 0.03372142 -0.05880093 -0.02786087
+v 0.03428827 -0.05916351 -0.02580167
+v 0.03483914 -0.05953096 -0.02373263
+v 0.03574330 -0.05997684 -0.02072228
+v 0.03541597 -0.05804640 -0.02683125
+v 0.03680312 -0.05567498 -0.03088102
+v 0.03735001 -0.05603754 -0.02882183
+v 0.03785298 -0.05640013 -0.02682146
+v 0.03940381 -0.05528792 -0.02682145
+v 0.03992473 -0.05566521 -0.02469358
+v 0.04040376 -0.05602778 -0.02263438
+v 0.04085284 -0.05638055 -0.02064381
+v 0.04356926 -0.05609149 -0.01541733
+v 0.02843626 -0.05929575 -0.03453861
+v 0.03030642 -0.05861963 -0.03372473
+v 0.03224047 -0.05782589 -0.03281278
+v 0.03457967 -0.05625312 -0.03298929
+v 0.03313664 -0.05842854 -0.02990047
+v 0.02318102 -0.06206401 -0.03441115
+v 0.04356926 -0.07496985 0.05988115
+v 0.02318102 -0.08424966 0.06252868
+v 0.03849366 -0.05483225 -0.02987104
+v 0.03613051 -0.05521441 -0.03298928
+v 0.03862740 -0.05352895 -0.03277354
+v 0.04029000 -0.05284301 -0.03159685
+v 0.04067122 -0.05317129 -0.02990046
+v 0.04293857 -0.05557213 -0.01827080
+v 0.04356926 -0.05514096 -0.01799623
+v 0.02891129 -0.05902627 -0.03453861
+v 0.02318102 -0.06198561 -0.03453862
+v 0.03405077 -0.05590524 -0.03453860
+v 0.04356926 -0.07485717 0.05957719
+v 0.04356926 -0.04071165 -0.03453854
+v 0.02318102 -0.08333344 0.05989093
+v 0.03780508 -0.05321047 -0.03453859
+v 0.03831402 -0.05283810 -0.03453858
+v 0.03964331 -0.05232366 -0.03365606
+v 0.04161527 -0.05110367 -0.03275393
+v 0.04353335 -0.04988366 -0.03186158
+v 0.04356926 -0.04986407 -0.03183218
+v 0.04222003 -0.05182391 -0.02990045
+v 0.04356926 -0.05061861 -0.02990045
+v 0.02318102 -0.05596894 -0.03453860
+v 0.04356926 -0.04816391 -0.03453857
+v 0.02318102 -0.08326484 0.05965559
+v 0.04202045 -0.04974647 -0.03453857
+v 0.04294056 -0.04933492 -0.03392081
+v 0.04356926 -0.04983468 -0.03189102
+v 0.04271104 -0.04909483 -0.03453857
+v 0.04356926 -0.04867837 -0.03388159
+v 0.04356926 -0.04891355 -0.03357760
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 33
+f 1 33 43
+f 1 43 62
+f 1 62 86
+f 1 86 99
+f 1 99 110
+f 1 110 108
+f 1 108 95
+f 1 95 84
+f 1 84 59
+f 1 59 37
+f 1 37 28
+f 1 28 26
+f 1 26 25
+f 1 25 13
+f 1 13 5
+f 1 5 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 8
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 9
+f 4 10 11
+f 5 13 12
+f 6 12 14
+f 6 14 15
+f 6 15 8
+f 8 15 16
+f 8 16 9
+f 9 17 10
+f 9 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 12 23 14
+f 12 13 24
+f 12 24 25
+f 12 25 26
+f 12 26 23
+f 13 25 24
+f 14 27 15
+f 14 23 26
+f 14 26 28
+f 14 28 29
+f 14 29 27
+f 15 30 16
+f 15 27 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 20 19
+f 18 31 39
+f 18 39 34
+f 18 34 54
+f 18 54 78
+f 18 78 93
+f 18 93 107
+f 18 107 105
+f 18 105 113
+f 18 113 116
+f 18 116 115
+f 18 115 109
+f 18 109 98
+f 18 98 97
+f 18 97 85
+f 18 85 61
+f 18 61 40
+f 18 40 32
+f 18 32 21
+f 18 21 20
+f 21 32 22
+f 22 32 33
+f 27 34 30
+f 27 29 35
+f 27 35 36
+f 27 36 34
+f 28 37 38
+f 28 38 29
+f 29 38 35
+f 30 34 39
+f 30 39 31
+f 32 40 41
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 34 36 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 35 38 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 44
+f 37 59 38
+f 38 59 60
+f 38 60 55
+f 40 42 41
+f 40 61 43
+f 40 43 42
+f 43 61 62
+f 44 63 45
+f 44 58 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 68 69
+f 49 69 50
+f 50 69 68
+f 50 68 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 52
+f 50 52 51
+f 52 75 53
+f 53 75 76
+f 53 76 54
+f 54 76 77
+f 54 77 78
+f 55 60 79
+f 55 79 56
+f 56 79 80
+f 56 80 57
+f 57 80 81
+f 57 81 82
+f 57 82 71
+f 57 71 83
+f 57 83 66
+f 57 66 64
+f 57 64 58
+f 58 64 63
+f 59 84 60
+f 60 84 79
+f 61 85 62
+f 62 85 86
+f 64 66 65
+f 66 83 71
+f 66 71 67
+f 67 70 68
+f 67 71 70
+f 71 87 72
+f 71 82 88
+f 71 88 89
+f 71 89 90
+f 71 90 87
+f 72 87 74
+f 72 74 73
+f 74 87 90
+f 74 90 91
+f 74 91 75
+f 75 92 76
+f 75 91 92
+f 76 92 78
+f 76 78 77
+f 78 92 93
+f 79 94 80
+f 79 84 95
+f 79 95 108
+f 79 108 98
+f 79 98 109
+f 79 109 114
+f 79 114 111
+f 79 111 101
+f 79 101 100
+f 79 100 96
+f 79 96 94
+f 80 94 96
+f 80 96 81
+f 81 96 82
+f 82 96 88
+f 85 97 86
+f 86 97 98
+f 86 98 99
+f 88 96 100
+f 88 100 89
+f 89 100 101
+f 89 101 102
+f 89 102 90
+f 90 102 103
+f 90 103 104
+f 90 104 105
+f 90 105 106
+f 90 106 91
+f 91 106 93
+f 91 93 92
+f 93 106 107
+f 98 108 110
+f 98 110 99
+f 101 111 102
+f 102 111 112
+f 102 112 103
+f 103 112 104
+f 104 112 113
+f 104 113 105
+f 105 107 106
+f 109 115 112
+f 109 112 114
+f 111 114 112
+f 112 115 116
+f 112 116 113
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_10.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.02543122 0.05875266 -0.02989604
+v -0.02543122 0.06388613 -0.02989603
+v -0.00144449 0.06358518 -0.02989603
+v -0.00144449 0.08698990 0.06031525
+v -0.02543122 0.08336809 0.06059454
+v -0.02447324 0.06491004 -0.02780110
+v -0.02345658 0.06462294 -0.02989602
+v -0.02543122 0.06468173 -0.02727970
+v -0.00144449 0.06807177 -0.02989601
+v -0.00144449 0.08705562 0.06048283
+v -0.02543122 0.08358948 0.06136733
+v -0.02240705 0.06528366 -0.02903011
+v -0.02543122 0.07139944 -0.00435680
+v -0.02536314 0.07144442 -0.00429162
+v -0.02329693 0.06468174 -0.02989602
+v -0.00155718 0.06807870 -0.02989601
+v -0.00144449 0.06838311 -0.02900218
+v -0.00144449 0.08795501 0.06267082
+v -0.02543122 0.08384545 0.06200977
+v -0.02054512 0.06557423 -0.02989602
+v -0.02198208 0.06514183 -0.02989602
+v -0.02543122 0.09020697 0.06079940
+v -0.00165110 0.06808216 -0.02989601
+v -0.00165110 0.06838655 -0.02902079
+v -0.00144449 0.06901613 -0.02695383
+v -0.00144449 0.08930064 0.06468195
+v -0.02543122 0.08477946 0.06379742
+v -0.02543122 0.08427786 0.06298739
+v -0.02031737 0.06563994 -0.02989602
+v -0.02543122 0.09059439 0.06252188
+v -0.01525282 0.09291552 0.06200980
+v -0.01715232 0.06645978 -0.02989602
+v -0.01716642 0.06645633 -0.02989602
+v -0.02025398 0.06654280 -0.02681419
+v -0.00475276 0.06804756 -0.02989601
+v -0.00475276 0.06835888 -0.02895563
+v -0.00165110 0.06906458 -0.02681418
+v -0.00144449 0.06905764 -0.02681418
+v -0.00144449 0.09143497 0.06513819
+v -0.02543122 0.08654018 0.06497990
+v -0.02543122 0.08581721 0.06480300
+v -0.02543122 0.09048024 0.06388124
+v -0.01564728 0.09299508 0.06421643
+v -0.01564728 0.09299508 0.06406745
+v -0.02335327 0.09109597 0.06267083
+v -0.01415164 0.09312306 0.06289431
+v -0.01095372 0.09351050 0.06267084
+v -0.01318896 0.09308156 0.06101356
+v -0.01405302 0.06704094 -0.02989601
+v -0.00785206 0.06786077 -0.02989601
+v -0.00785206 0.06825856 -0.02862976
+v -0.00475276 0.06900922 -0.02681418
+v -0.00165110 0.07267248 -0.01447749
+v -0.00362339 0.07129227 -0.01915145
+v -0.00144449 0.07266555 -0.01447749
+v -0.00144449 0.09156988 0.06511025
+v -0.00475276 0.09143497 0.06517544
+v -0.02335327 0.08833550 0.06522195
+v -0.02543122 0.08833550 0.06516610
+v -0.02543122 0.09029342 0.06457023
+v -0.00785206 0.09380107 0.06267084
+v -0.02335327 0.09052866 0.06472850
+v -0.02025398 0.09087457 0.06485885
+v -0.01405067 0.09308502 0.06431885
+v -0.01095372 0.09324416 0.06083666
+v -0.00785206 0.07235422 -0.01447749
+v -0.00785206 0.07160012 -0.01714036
+v -0.01033384 0.07143062 -0.01654448
+v -0.01120259 0.07181113 -0.01474752
+v -0.00944396 0.06818591 -0.02837836
+v -0.01066727 0.06762900 -0.02960737
+v -0.01069073 0.06752523 -0.02989601
+v -0.00810094 0.06783655 -0.02989601
+v -0.00568960 0.07123001 -0.01903973
+v -0.00469404 0.07164165 -0.01782935
+v -0.00144449 0.09358660 0.06051077
+v -0.00144449 0.07459924 -0.00755036
+v -0.00475276 0.07260675 -0.01447749
+v -0.00165110 0.09358660 0.06051077
+v -0.00144449 0.09348974 0.06466335
+v -0.00785206 0.09143497 0.06516612
+v -0.00165110 0.09348974 0.06466335
+v -0.01095372 0.09143497 0.06511025
+v -0.02543122 0.08905848 0.06499852
+v -0.01095372 0.09325451 0.06448644
+v -0.00475276 0.09398096 0.06267085
+v -0.00785206 0.09341365 0.06066908
+v -0.01405067 0.09143497 0.06497992
+v -0.00924440 0.06770165 -0.02989601
+v -0.00144449 0.09405705 0.06252190
+v -0.00475276 0.09351744 0.06057596
+v -0.00165110 0.09408818 0.06267085
+v -0.00144449 0.09408818 0.06267085
+v -0.00475276 0.09345168 0.06464472
+v -0.00785206 0.09337559 0.06458885
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 20
+f 1 20 29
+f 1 29 33
+f 1 33 32
+f 1 32 49
+f 1 49 72
+f 1 72 89
+f 1 89 73
+f 1 73 50
+f 1 50 35
+f 1 35 23
+f 1 23 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 28
+f 1 28 27
+f 1 27 41
+f 1 41 40
+f 1 40 59
+f 1 59 84
+f 1 84 60
+f 1 60 42
+f 1 42 30
+f 1 30 22
+f 1 22 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 17
+f 3 17 25
+f 3 25 38
+f 3 38 55
+f 3 55 77
+f 3 77 76
+f 3 76 90
+f 3 90 93
+f 3 93 80
+f 3 80 56
+f 3 56 39
+f 3 39 26
+f 3 26 18
+f 3 18 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 6 8 13
+f 6 13 14
+f 6 14 12
+f 7 12 15
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 15
+f 12 14 22
+f 12 22 20
+f 13 22 14
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 20 22 29
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 29
+f 23 35 24
+f 24 36 37
+f 24 37 25
+f 24 35 36
+f 25 37 38
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 29 34 33
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 44
+f 31 44 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 53 55
+f 37 55 38
+f 37 52 54
+f 37 54 53
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 59
+f 42 60 43
+f 43 61 47
+f 43 47 44
+f 43 60 62
+f 43 62 63
+f 43 63 64
+f 43 64 61
+f 44 47 46
+f 47 61 48
+f 48 61 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 50 73 70
+f 50 70 51
+f 51 70 67
+f 51 67 74
+f 51 74 52
+f 52 74 75
+f 52 75 54
+f 53 76 77
+f 53 77 55
+f 53 54 78
+f 53 78 79
+f 53 79 76
+f 54 75 78
+f 56 80 57
+f 57 81 58
+f 57 80 82
+f 57 82 81
+f 58 81 83
+f 58 83 59
+f 59 83 63
+f 59 63 84
+f 60 84 62
+f 61 64 85
+f 61 85 86
+f 61 86 87
+f 61 87 65
+f 62 84 63
+f 63 83 88
+f 63 88 85
+f 63 85 64
+f 65 87 78
+f 65 78 66
+f 66 78 67
+f 67 78 74
+f 67 70 68
+f 68 70 69
+f 70 73 89
+f 70 89 71
+f 71 89 72
+f 74 78 75
+f 76 79 90
+f 78 87 91
+f 78 91 79
+f 79 91 92
+f 79 92 90
+f 80 93 92
+f 80 92 82
+f 81 82 94
+f 81 94 83
+f 82 92 94
+f 83 94 95
+f 83 95 88
+f 85 88 95
+f 85 95 86
+f 86 95 92
+f 86 92 91
+f 86 91 87
+f 90 92 93
+f 92 95 94
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_11.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.03240242 0.05830894 -0.03088941
+v 0.03240242 0.05271343 -0.03088943
+v 0.03240242 0.05873878 -0.02990139
+v 0.03290012 0.05801985 -0.03088941
+v 0.03454014 0.05111580 -0.03088943
+v 0.07152610 0.04940755 0.05811409
+v 0.07212332 0.04940754 0.05963336
+v 0.03240242 0.08017711 0.05625006
+v 0.03309920 0.05833176 -0.02990140
+v 0.03240242 0.05963648 -0.02743141
+v 0.03374383 0.05871593 -0.02787880
+v 0.03372487 0.05751012 -0.03088941
+v 0.03692434 0.04942308 -0.03088944
+v 0.03694330 0.04940787 -0.03088012
+v 0.07271106 0.04940754 0.06066799
+v 0.03240242 0.08125738 0.05954962
+v 0.03240242 0.08066399 0.05776936
+v 0.03566353 0.05667708 -0.02984549
+v 0.03527484 0.05650210 -0.03088941
+v 0.03240242 0.05991797 -0.02662051
+v 0.04983601 0.08077812 0.06077062
+v 0.03733673 0.05593912 -0.02878292
+v 0.03755477 0.04940787 -0.03088944
+v 0.07346947 0.04940753 0.06182375
+v 0.03240242 0.08273707 0.06239243
+v 0.03676793 0.05552831 -0.03084280
+v 0.03674898 0.05552070 -0.03088942
+v 0.03240242 0.06049615 -0.02493345
+v 0.04385417 0.08395052 0.06070538
+v 0.04983601 0.08077811 0.06146968
+v 0.05897465 0.07451311 0.06088243
+v 0.03848378 0.05465340 -0.02984550
+v 0.03681534 0.05547505 -0.03088942
+v 0.04419071 0.04940787 -0.03088944
+v 0.07573517 0.04940753 0.06293291
+v 0.03240242 0.08446022 0.06393036
+v 0.03240242 0.06089175 -0.02376836
+v 0.03751685 0.08696320 0.06086384
+v 0.04385417 0.08395051 0.06164678
+v 0.03240242 0.06109717 -0.02316252
+v 0.03240242 0.06274801 -0.01827845
+v 0.04796372 0.08131443 0.06207552
+v 0.05348105 0.07806212 0.06186114
+v 0.05897465 0.07451310 0.06133916
+v 0.06220730 0.07154610 0.06067738
+v 0.04392528 0.05013441 -0.02990143
+v 0.04369775 0.04992520 -0.03088944
+v 0.04216201 0.05168639 -0.02990142
+v 0.04061203 0.05300253 -0.02990142
+v 0.03959770 0.05339052 -0.03088942
+v 0.04469315 0.04940787 -0.02990143
+v 0.07897732 0.04940753 0.06278378
+v 0.07586316 0.05112308 0.06338964
+v 0.03419412 0.08410267 0.06418202
+v 0.03240242 0.08601221 0.06433116
+v 0.03555923 0.08738922 0.06043509
+v 0.03240242 0.08826793 0.06267207
+v 0.03751685 0.08696319 0.06155358
+v 0.03240242 0.06359628 -0.01575253
+v 0.03240242 0.06401469 -0.01450355
+v 0.03240242 0.06424293 -0.01381381
+v 0.03240242 0.06503411 -0.01139042
+v 0.03411355 0.08682624 0.06423794
+v 0.04021387 0.08368424 0.06420998
+v 0.05094990 0.07907016 0.06237378
+v 0.05437691 0.07616779 0.06266272
+v 0.05725879 0.07516737 0.06194501
+v 0.06015017 0.07267964 0.06201025
+v 0.06220730 0.07154609 0.06147897
+v 0.06539258 0.06854482 0.06053755
+v 0.04286352 0.05065935 -0.03088943
+v 0.04036556 0.05280093 -0.03088943
+v 0.06846407 0.06545229 0.06052823
+v 0.04584023 0.04940786 -0.02724504
+v 0.07609541 0.05442485 0.06254146
+v 0.07276322 0.05732340 0.06307276
+v 0.08082589 0.04940753 0.06153480
+v 0.07899152 0.05098615 0.06224318
+v 0.06966329 0.06042734 0.06314733
+v 0.04351763 0.08065636 0.06422861
+v 0.04351763 0.08052702 0.06422861
+v 0.04314318 0.08052702 0.06422861
+v 0.03626075 0.08347502 0.06428454
+v 0.03240242 0.08703925 0.06433116
+v 0.03240242 0.08800926 0.06006226
+v 0.03240242 0.08802068 0.06012751
+v 0.03531276 0.08729414 0.06261615
+v 0.03865918 0.08388584 0.06426590
+v 0.05725879 0.07282799 0.06326853
+v 0.06333070 0.06963655 0.06212208
+v 0.06539258 0.06854481 0.06155351
+v 0.06846407 0.06545228 0.06153486
+v 0.07147870 0.06226843 0.06064938
+v 0.04930039 0.04940783 -0.01863269
+v 0.07442695 0.05901612 0.06089171
+v 0.07797244 0.05352332 0.06180512
+v 0.07508106 0.05732340 0.06186106
+v 0.07261154 0.06020292 0.06193563
+v 0.06956374 0.06339438 0.06208479
+v 0.06648276 0.06654399 0.06214070
+v 0.08082589 0.04940754 0.06058409
+v 0.08069317 0.04986019 0.06140431
+v 0.06035874 0.06972782 0.06325921
+v 0.07147870 0.06226842 0.06146029
+v 0.07797244 0.05352333 0.06017401
+v 0.08069317 0.04986020 0.06074255
+v 0.07442695 0.05901611 0.06128319
+f 1 2 8
+f 1 8 17
+f 1 17 16
+f 1 16 25
+f 1 25 36
+f 1 36 55
+f 1 55 84
+f 1 84 57
+f 1 57 86
+f 1 86 85
+f 1 85 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 41
+f 1 41 40
+f 1 40 37
+f 1 37 28
+f 1 28 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 27
+f 1 27 33
+f 1 33 50
+f 1 50 72
+f 1 72 71
+f 1 71 47
+f 1 47 34
+f 1 34 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 3 10 11
+f 3 11 9
+f 4 9 12
+f 5 13 14
+f 5 14 6
+f 6 14 23
+f 6 23 34
+f 6 34 51
+f 6 51 74
+f 6 74 94
+f 6 94 101
+f 6 101 77
+f 6 77 52
+f 6 52 35
+f 6 35 24
+f 6 24 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 11 18
+f 9 18 19
+f 9 19 12
+f 10 20 21
+f 10 21 11
+f 11 22 18
+f 11 21 22
+f 13 23 14
+f 15 24 25
+f 15 25 16
+f 18 26 19
+f 18 22 26
+f 19 26 27
+f 20 28 29
+f 20 29 21
+f 21 29 39
+f 21 39 30
+f 21 30 44
+f 21 44 31
+f 21 31 22
+f 22 32 33
+f 22 33 26
+f 22 31 32
+f 24 35 36
+f 24 36 25
+f 26 33 27
+f 28 37 29
+f 29 38 58
+f 29 58 39
+f 29 37 40
+f 29 40 41
+f 29 41 38
+f 30 39 42
+f 30 42 43
+f 30 43 44
+f 31 44 69
+f 31 69 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 34 47 51
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 38 56 57
+f 38 57 58
+f 38 41 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 56
+f 39 58 63
+f 39 63 64
+f 39 64 42
+f 42 65 43
+f 42 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 69
+f 45 69 91
+f 45 91 70
+f 45 70 46
+f 46 51 47
+f 46 70 51
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 72 50
+f 51 70 73
+f 51 73 74
+f 52 75 76
+f 52 76 53
+f 52 77 78
+f 52 78 75
+f 53 76 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 55
+f 53 55 54
+f 55 83 81
+f 55 81 80
+f 55 80 84
+f 56 85 86
+f 56 86 57
+f 56 62 85
+f 57 84 63
+f 57 63 87
+f 57 87 58
+f 58 87 63
+f 63 84 64
+f 64 84 88
+f 64 88 80
+f 64 80 89
+f 64 89 66
+f 64 66 65
+f 66 89 67
+f 67 89 68
+f 68 90 69
+f 68 89 90
+f 69 90 91
+f 70 91 92
+f 70 92 73
+f 73 92 104
+f 73 104 93
+f 73 93 74
+f 74 93 95
+f 74 95 94
+f 75 78 96
+f 75 96 97
+f 75 97 76
+f 76 97 98
+f 76 98 99
+f 76 99 100
+f 76 100 79
+f 77 101 106
+f 77 106 102
+f 77 102 96
+f 77 96 78
+f 79 103 80
+f 79 100 103
+f 80 103 89
+f 80 88 84
+f 81 83 82
+f 89 103 100
+f 89 100 90
+f 90 100 91
+f 91 100 92
+f 92 100 99
+f 92 99 104
+f 93 104 107
+f 93 107 95
+f 94 95 105
+f 94 105 106
+f 94 106 101
+f 95 107 102
+f 95 102 106
+f 95 106 105
+f 96 102 107
+f 96 107 97
+f 97 107 98
+f 98 107 104
+f 98 104 99
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_12.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 -0.09388153 0.06506138
+v -0.00144449 -0.09153619 0.06594399
+v -0.00475350 -0.09153619 0.06596277
+v -0.00165038 -0.09388153 0.06506138
+v -0.00144449 -0.09388152 0.06302386
+v -0.03149324 -0.08523839 0.06568113
+v -0.02335453 -0.08843456 0.06604730
+v -0.00144449 -0.08894363 0.06509894
+v -0.01095385 -0.09153619 0.06596277
+v -0.00475350 -0.09386698 0.06505200
+v -0.00165038 -0.09388152 0.06302386
+v -0.00165038 -0.06962442 -0.02681554
+v -0.00144449 -0.06962079 -0.02681554
+v -0.03149324 -0.08834003 0.06526797
+v -0.02645471 -0.08843456 0.06600035
+v -0.03149324 -0.08327850 0.06471400
+v -0.01405403 -0.09153619 0.06592524
+v -0.00144449 -0.08882725 0.06491116
+v -0.00785368 -0.09382698 0.06503322
+v -0.00475350 -0.09386697 0.06304262
+v -0.00475350 -0.06957350 -0.02681554
+v -0.00197392 -0.06873719 -0.02987654
+v -0.00165038 -0.06874082 -0.02987654
+v -0.00144449 -0.06879536 -0.02967933
+v -0.00785368 -0.09382697 0.06306140
+v -0.02896073 -0.09030720 0.06462946
+v -0.02645471 -0.09068898 0.06501445
+v -0.03149324 -0.08849999 0.06251683
+v -0.02335453 -0.09109987 0.06527735
+v -0.01715125 -0.09153619 0.06571864
+v -0.00144449 -0.08730009 0.06237599
+v -0.03149324 -0.08214401 0.06262013
+v -0.01405403 -0.09358337 0.06485481
+v -0.01095385 -0.09374335 0.06497688
+v -0.00785368 -0.06939535 -0.02681553
+v -0.00785368 -0.06862809 -0.02952912
+v -0.00475350 -0.06871173 -0.02979204
+v -0.01095385 -0.09374334 0.06311774
+v -0.00475350 -0.06868627 -0.02987654
+v -0.00144449 -0.06873719 -0.02987654
+v -0.02896073 -0.09030719 0.06360599
+v -0.01907195 -0.09316520 0.06432900
+v -0.01715125 -0.09334338 0.06457314
+v -0.03149324 -0.06528652 -0.01971698
+v -0.00144449 -0.08689282 0.06108962
+v -0.03149324 -0.08171493 0.06123048
+v -0.01405403 -0.09358336 0.06328675
+v -0.01095385 -0.06906082 -0.02681553
+v -0.01095385 -0.06846083 -0.02898453
+v -0.00891842 -0.06840993 -0.02987654
+v -0.00785368 -0.06851537 -0.02987654
+v -0.00144449 -0.06413018 -0.02987653
+v -0.01907195 -0.09316520 0.06402853
+v -0.03080201 -0.06502106 -0.02171699
+v -0.02858130 -0.06542467 -0.02373575
+v -0.02804303 -0.06519560 -0.02533196
+v -0.02645471 -0.06625733 -0.02373575
+v -0.02335453 -0.06647188 -0.02681552
+v -0.02175444 -0.06825360 -0.02213952
+v -0.02025143 -0.06736272 -0.02681553
+v -0.01715125 -0.09334337 0.06367172
+v -0.03149324 -0.06481380 -0.02130383
+v -0.03149324 -0.08023501 0.05616011
+v -0.03149324 -0.08121316 0.05957791
+v -0.03149324 -0.05673788 -0.02987650
+v -0.01283630 -0.06832994 -0.02855259
+v -0.01095385 -0.06819175 -0.02987654
+v -0.01858369 -0.06823178 -0.02519113
+v -0.01651591 -0.06845721 -0.02591413
+v -0.01394225 -0.06861720 -0.02689064
+v -0.03149324 -0.06408656 -0.02373575
+v -0.03013140 -0.06473380 -0.02373575
+v -0.02926956 -0.06429018 -0.02654322
+v -0.02725475 -0.06488650 -0.02738828
+v -0.02631352 -0.06550101 -0.02654322
+v -0.02518699 -0.06528648 -0.02870284
+v -0.02335748 -0.06555191 -0.02987653
+v -0.02328394 -0.06559919 -0.02980141
+v -0.02324572 -0.06558829 -0.02987653
+v -0.02122793 -0.06619915 -0.02987653
+v -0.02025143 -0.06649368 -0.02987653
+v -0.03149324 -0.06215575 -0.02987652
+v -0.01394225 -0.06780269 -0.02970753
+v -0.01394813 -0.06775178 -0.02987654
+v -0.01335103 -0.06784269 -0.02987654
+v -0.01715418 -0.06718091 -0.02987654
+v -0.01660709 -0.06727909 -0.02987654
+v -0.03149324 -0.06361387 -0.02529441
+v -0.03149324 -0.06321388 -0.02660893
+v -0.03149324 -0.06247573 -0.02900329
+v -0.03019021 -0.06279571 -0.02987652
+v -0.02973430 -0.06300299 -0.02987652
+v -0.02956960 -0.06307569 -0.02987652
+v -0.02718710 -0.06409019 -0.02987653
+v -0.02638411 -0.06443197 -0.02987653
+v -0.02631352 -0.06448651 -0.02980141
+v -0.02616352 -0.06451923 -0.02987653
+v -0.03149324 -0.06239937 -0.02923801
+v -0.02632235 -0.06445743 -0.02987653
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 11
+f 1 11 5
+f 1 5 13
+f 1 13 24
+f 1 24 40
+f 1 40 52
+f 1 52 45
+f 1 45 31
+f 1 31 18
+f 1 18 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 9
+f 4 9 10
+f 4 10 20
+f 4 20 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 6 8 16
+f 6 16 32
+f 6 32 46
+f 6 46 64
+f 6 64 63
+f 6 63 65
+f 6 65 82
+f 6 82 98
+f 6 98 90
+f 6 90 89
+f 6 89 88
+f 6 88 71
+f 6 71 62
+f 6 62 44
+f 6 44 28
+f 6 28 14
+f 7 15 17
+f 7 17 9
+f 8 18 16
+f 9 17 19
+f 9 19 10
+f 10 19 25
+f 10 25 20
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 20 25
+f 12 25 21
+f 14 26 27
+f 14 27 15
+f 14 28 26
+f 15 27 29
+f 15 29 30
+f 15 30 17
+f 16 18 31
+f 16 31 32
+f 17 30 33
+f 17 33 34
+f 17 34 19
+f 19 34 38
+f 19 38 25
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 21 25 38
+f 21 38 35
+f 22 37 39
+f 22 39 51
+f 22 51 50
+f 22 50 67
+f 22 67 85
+f 22 85 84
+f 22 84 87
+f 22 87 86
+f 22 86 81
+f 22 81 80
+f 22 80 79
+f 22 79 77
+f 22 77 97
+f 22 97 99
+f 22 99 95
+f 22 95 94
+f 22 94 93
+f 22 93 92
+f 22 92 91
+f 22 91 82
+f 22 82 65
+f 22 65 52
+f 22 52 40
+f 22 40 23
+f 23 40 24
+f 26 28 41
+f 26 41 53
+f 26 53 42
+f 26 42 27
+f 27 42 43
+f 27 43 29
+f 28 44 41
+f 29 43 33
+f 29 33 30
+f 31 45 32
+f 32 45 46
+f 33 43 61
+f 33 61 47
+f 33 47 38
+f 33 38 34
+f 35 48 49
+f 35 49 36
+f 35 38 47
+f 35 47 48
+f 36 49 50
+f 36 50 51
+f 36 51 39
+f 36 39 37
+f 41 44 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 53
+f 42 53 61
+f 42 61 43
+f 44 62 54
+f 45 63 64
+f 45 64 46
+f 45 52 65
+f 45 65 63
+f 47 61 48
+f 48 61 49
+f 49 66 67
+f 49 67 50
+f 49 61 66
+f 53 60 68
+f 53 68 69
+f 53 69 70
+f 53 70 66
+f 53 66 61
+f 54 62 71
+f 54 71 72
+f 54 72 55
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 80
+f 58 80 81
+f 58 81 60
+f 58 60 59
+f 60 81 68
+f 66 70 69
+f 66 69 83
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 68 81 86
+f 68 86 69
+f 69 86 87
+f 69 87 83
+f 71 88 72
+f 72 88 73
+f 73 88 89
+f 73 89 90
+f 73 90 91
+f 73 91 92
+f 73 92 93
+f 73 93 74
+f 74 93 94
+f 74 94 95
+f 74 95 96
+f 74 96 76
+f 74 76 75
+f 76 96 97
+f 76 97 77
+f 77 79 78
+f 82 91 98
+f 83 87 84
+f 90 98 91
+f 95 99 96
+f 96 99 97
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_13.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.08536468 0.03502732 0.06530899
+v -0.08226522 0.03871888 0.06547717
+v -0.07916573 0.04491792 0.06555194
+v -0.08226522 0.04182073 0.06534639
+v -0.08536468 0.03561703 0.06526226
+v -0.08582036 0.03502732 0.06518753
+v -0.08266752 0.03502732 0.06506606
+v -0.04560529 0.07843924 0.06526242
+v -0.05126232 0.07592712 0.06542126
+v -0.07606216 0.05112161 0.06550525
+v -0.07942436 0.04826124 0.06508481
+v -0.08224057 0.04464396 0.06481384
+v -0.08537288 0.03841241 0.06480447
+v -0.08731057 0.03502732 0.06455221
+v -0.08222826 0.03502732 0.06495396
+v -0.04560529 0.07907539 0.06528112
+v -0.04560529 0.07660506 0.06471119
+v -0.06056484 0.06972341 0.06537451
+v -0.06366431 0.06662622 0.06542122
+v -0.04560529 0.08154574 0.06486070
+v -0.04843382 0.07931221 0.06501951
+v -0.05433306 0.07597818 0.06493542
+v -0.06675967 0.06352436 0.06543053
+v -0.06986324 0.06042251 0.06536513
+v -0.07608269 0.05416312 0.06493534
+v -0.07853354 0.05112161 0.06480452
+v -0.08118962 0.04738361 0.06461765
+v -0.08423573 0.04182073 0.06456157
+v -0.08720383 0.03561703 0.06447746
+v -0.08754046 0.03502733 0.06288915
+v -0.08081605 0.03502733 0.06397295
+v -0.04560529 0.07616857 0.06438419
+v -0.05769526 0.07307600 0.06505687
+v -0.06056484 0.07201265 0.06462709
+v -0.06338926 0.06948659 0.06461774
+v -0.06652978 0.06639404 0.06466444
+v -0.04560529 0.08184756 0.06475793
+v -0.05126232 0.07844852 0.06478594
+v -0.05682084 0.07497984 0.06462711
+v -0.06962923 0.06323183 0.06462706
+v -0.07205545 0.06042251 0.06460835
+v -0.07314743 0.05748320 0.06506614
+v -0.07506460 0.05654984 0.06461769
+v -0.07788900 0.05308582 0.06446819
+v -0.08384573 0.04342736 0.06424390
+v -0.08692057 0.03717724 0.06421587
+v -0.08692057 0.03717724 0.06416916
+v -0.08730644 0.03571919 0.06295457
+v -0.08673992 0.03682435 0.06211369
+v -0.08721614 0.03502733 0.06145034
+v -0.08047531 0.03502733 0.06328154
+v -0.04560529 0.07514702 0.06294536
+v -0.06216998 0.07132541 0.06425335
+v -0.06533923 0.06829324 0.06430940
+v -0.06843871 0.06520531 0.06432809
+v -0.04560529 0.08240015 0.06314158
+v -0.04757992 0.08109530 0.06460843
+v -0.05328212 0.07778450 0.06446829
+v -0.07144375 0.06200594 0.06423465
+v -0.07788900 0.05308583 0.06319754
+v -0.08384573 0.04342736 0.06402903
+v -0.08438353 0.04195074 0.06287049
+v -0.08612416 0.03841242 0.06295458
+v -0.08361995 0.04306983 0.06197356
+v -0.06138998 0.03502766 -0.02629907
+v -0.06166093 0.03502765 -0.02538346
+v -0.06255587 0.03502764 -0.02234697
+v -0.08023310 0.03502733 0.06273966
+v -0.08012636 0.03502733 0.06247807
+v -0.04560529 0.07503557 0.06269309
+v -0.06216998 0.07132541 0.06400108
+v -0.06533923 0.06829325 0.06373014
+v -0.06843871 0.06520532 0.06373013
+v -0.04560529 0.08245587 0.06260903
+v -0.04776466 0.08120676 0.06266509
+v -0.04931233 0.08031057 0.06266508
+v -0.05323696 0.07775665 0.06266508
+v -0.05695632 0.07509131 0.06266507
+v -0.07144375 0.06200594 0.06408516
+v -0.07395617 0.05817973 0.06266500
+v -0.07511384 0.05662881 0.06266500
+v -0.07685038 0.05416313 0.06236601
+v -0.07760574 0.05265862 0.06114206
+v -0.08034394 0.04900885 0.06266497
+v -0.08123888 0.04745793 0.06266496
+v -0.06123400 0.03502766 -0.02680359
+v -0.04560529 0.07486377 0.06229135
+v -0.07917395 0.03502734 0.05955371
+v -0.05850809 0.07396293 0.06266506
+v -0.06067978 0.07221699 0.06285194
+v -0.06179230 0.07100967 0.06193630
+v -0.06501492 0.06797748 0.06167468
+v -0.06810209 0.06484314 0.06167467
+v -0.04560529 0.05936407 -0.00853794
+v -0.05291263 0.07754307 0.06106743
+v -0.04560529 0.05891367 -0.00992071
+v -0.07109891 0.06158803 0.06202036
+v -0.05560567 0.04297728 -0.02741085
+v -0.05636516 0.04084594 -0.02989611
+v -0.05840958 0.03937859 -0.02682227
+v -0.05916493 0.03739583 -0.02879363
+v -0.06050735 0.03502767 -0.02908329
+v -0.04560529 0.07394901 0.05958188
+v -0.05452601 0.03502767 -0.02989613
+v -0.04560529 0.05340656 -0.02636439
+v -0.04560529 0.05318368 -0.02701841
+v -0.04630728 0.05240819 -0.02759769
+v -0.04951348 0.04938531 -0.02784995
+v -0.05264168 0.04628344 -0.02784996
+v -0.04560529 0.05835645 -0.01162114
+v -0.05360644 0.04427283 -0.02989610
+v -0.05515001 0.04240615 -0.02989610
+v -0.05678388 0.04025158 -0.02989611
+v -0.05802778 0.03848239 -0.02989612
+v -0.05896788 0.03709401 -0.02989612
+v -0.05979306 0.03576595 -0.02989613
+v -0.05983409 0.03572417 -0.02984940
+v -0.06004757 0.03533877 -0.02989613
+v -0.06037600 0.03502767 -0.02946635
+v -0.04560529 0.04571230 -0.02989609
+v -0.06022819 0.03502767 -0.02989613
+v -0.04560529 0.05270075 -0.02837315
+v -0.04578593 0.05197638 -0.02989607
+v -0.04755529 0.05041617 -0.02989607
+v -0.04909476 0.04899061 -0.02989608
+v -0.05069168 0.04743040 -0.02989609
+v -0.05223116 0.04583303 -0.02989609
+v -0.04560529 0.05212497 -0.02989607
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 30
+f 1 30 50
+f 1 50 67
+f 1 67 66
+f 1 66 65
+f 1 65 86
+f 1 86 102
+f 1 102 119
+f 1 119 121
+f 1 121 104
+f 1 104 88
+f 1 88 69
+f 1 69 68
+f 1 68 51
+f 1 51 31
+f 1 31 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 32
+f 8 32 52
+f 8 52 70
+f 8 70 87
+f 8 87 103
+f 8 103 120
+f 8 120 128
+f 8 128 122
+f 8 122 106
+f 8 106 105
+f 8 105 110
+f 8 110 96
+f 8 96 94
+f 8 94 74
+f 8 74 56
+f 8 56 37
+f 8 37 20
+f 8 20 16
+f 9 18 19
+f 9 19 10
+f 9 16 20
+f 9 20 21
+f 9 21 22
+f 9 22 18
+f 10 19 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 15 31 17
+f 17 31 32
+f 18 22 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 19
+f 19 36 23
+f 20 37 38
+f 20 38 21
+f 21 38 22
+f 22 38 39
+f 22 39 33
+f 23 36 40
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 31 51 52
+f 31 52 32
+f 33 39 34
+f 34 39 53
+f 34 53 35
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 40
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 58 53
+f 40 55 59
+f 40 59 41
+f 41 59 43
+f 41 43 42
+f 43 59 44
+f 44 59 79
+f 44 79 60
+f 44 60 61
+f 44 61 45
+f 45 61 47
+f 45 47 46
+f 47 61 62
+f 47 62 63
+f 47 63 49
+f 47 49 48
+f 49 63 62
+f 49 62 64
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 51 68 52
+f 52 68 69
+f 52 69 70
+f 53 58 71
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 55
+f 55 73 79
+f 55 79 59
+f 56 74 75
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 78
+f 58 78 71
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 64
+f 61 64 62
+f 64 85 84
+f 64 84 65
+f 65 84 86
+f 69 87 70
+f 69 88 87
+f 71 78 89
+f 71 89 90
+f 71 90 91
+f 71 91 92
+f 71 92 72
+f 72 92 73
+f 73 92 93
+f 73 93 79
+f 74 76 75
+f 74 94 76
+f 76 95 77
+f 76 94 96
+f 76 96 95
+f 77 95 78
+f 78 95 89
+f 79 93 97
+f 79 97 80
+f 80 83 81
+f 80 97 98
+f 80 98 83
+f 81 83 82
+f 83 98 99
+f 83 99 100
+f 83 100 101
+f 83 101 84
+f 84 101 86
+f 86 101 102
+f 87 88 103
+f 88 104 103
+f 89 91 90
+f 89 95 105
+f 89 105 106
+f 89 106 107
+f 89 107 91
+f 91 107 92
+f 92 107 108
+f 92 108 109
+f 92 109 93
+f 93 109 97
+f 95 96 110
+f 95 110 105
+f 97 109 98
+f 98 109 111
+f 98 111 112
+f 98 112 99
+f 99 112 111
+f 99 111 127
+f 99 127 126
+f 99 126 125
+f 99 125 124
+f 99 124 123
+f 99 123 128
+f 99 128 120
+f 99 120 104
+f 99 104 121
+f 99 121 118
+f 99 118 116
+f 99 116 115
+f 99 115 114
+f 99 114 113
+f 99 113 101
+f 99 101 100
+f 101 113 114
+f 101 114 115
+f 101 115 116
+f 101 116 117
+f 101 117 102
+f 102 117 118
+f 102 118 119
+f 103 104 120
+f 106 122 107
+f 107 122 123
+f 107 123 124
+f 107 124 108
+f 108 124 125
+f 108 125 126
+f 108 126 109
+f 109 126 127
+f 109 127 111
+f 116 118 117
+f 118 121 119
+f 122 128 123
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_14.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.09402013 -0.00067583 0.06266915
+v -0.09401628 -0.00160219 0.06266914
+v -0.09371051 -0.00160220 0.06482266
+v -0.09380340 -0.00067584 0.06417661
+v -0.07145567 -0.00067551 -0.02541941
+v -0.07145567 -0.00160187 -0.02542879
+v -0.09395435 -0.00470548 0.06266913
+v -0.09367567 -0.00470549 0.06480392
+v -0.09156631 -0.00470549 0.06568407
+v -0.09156631 -0.00160220 0.06570281
+v -0.09370663 -0.00067584 0.06482267
+v -0.07102993 -0.00067550 -0.02696435
+v -0.07102604 -0.00160186 -0.02696436
+v -0.07143244 -0.00342251 -0.02533515
+v -0.09379567 -0.00780519 0.06266912
+v -0.09347830 -0.01090847 0.06462602
+v -0.09360214 -0.00780520 0.06473839
+v -0.09156631 -0.01090847 0.06554360
+v -0.09156631 -0.00780520 0.06563723
+v -0.08846612 -0.02330734 0.06574953
+v -0.08846612 -0.02020763 0.06575892
+v -0.08536591 -0.03261361 0.06577759
+v -0.09156631 -0.00067584 0.06569345
+v -0.07017456 -0.00067549 -0.02987629
+v -0.07017456 -0.00068618 -0.02987629
+v -0.07017070 -0.00163035 -0.02987630
+v -0.07001975 -0.00470156 -0.02987631
+v -0.07099895 -0.00455550 -0.02654302
+v -0.07133567 -0.00549255 -0.02508236
+v -0.09320350 -0.01017093 0.06103992
+v -0.09308352 -0.01223741 0.06121783
+v -0.09345895 -0.01108661 0.06241630
+v -0.09328865 -0.01400817 0.06335262
+v -0.09315317 -0.01579320 0.06399865
+v -0.09315317 -0.01579320 0.06425146
+v -0.09328865 -0.01400818 0.06442001
+v -0.09115217 -0.02020763 0.06506605
+v -0.09156631 -0.01400818 0.06535633
+v -0.08846612 -0.02641061 0.06557163
+v -0.08213026 -0.03707435 0.06545922
+v -0.08536591 -0.03571332 0.06548733
+v -0.08886090 -0.00067584 0.06507548
+v -0.06538301 -0.00067549 -0.02987629
+v -0.06973334 -0.00780485 -0.02987632
+v -0.07060417 -0.00780486 -0.02681456
+v -0.07163370 -0.00780488 -0.02309738
+v -0.09291707 -0.01400817 0.06180769
+v -0.07150600 -0.01006731 -0.02256369
+v -0.06981462 -0.01400784 -0.02681458
+v -0.09193400 -0.02020762 0.06266908
+v -0.09123346 -0.02330733 0.06266906
+v -0.09015360 -0.02842719 0.06355854
+v -0.09015360 -0.02842720 0.06437314
+v -0.09040906 -0.02641061 0.06462596
+v -0.09078834 -0.02330734 0.06489748
+v -0.08864803 -0.02948182 0.06505664
+v -0.08783911 -0.03261361 0.06495365
+v -0.08019893 -0.03707435 0.06467273
+v -0.08538527 -0.03707435 0.06520643
+v -0.08777330 -0.00067583 0.06372719
+v -0.05448005 -0.03707401 -0.02816298
+v -0.05448005 -0.03643623 -0.02906181
+v -0.05448005 -0.03586616 -0.02987642
+v -0.08678249 -0.00067583 0.06159238
+v -0.06972948 -0.00784049 -0.02987632
+v -0.07025584 -0.01090813 -0.02681457
+v -0.06934630 -0.01094019 -0.02987633
+v -0.06885863 -0.01401497 -0.02987634
+v -0.06852577 -0.01710757 -0.02896812
+v -0.06918761 -0.01710758 -0.02681459
+v -0.06999265 -0.01710759 -0.02373410
+v -0.08988268 -0.02756497 0.06149865
+v -0.09042066 -0.02648187 0.06258478
+v -0.08727403 -0.03564562 0.06287500
+v -0.08700310 -0.03707434 0.06384876
+v -0.06833224 -0.02179989 -0.02532586
+v -0.08700310 -0.03707435 0.06429821
+v -0.08725468 -0.03571332 0.06454164
+v -0.07981187 -0.03707435 0.06407348
+v -0.08731272 -0.00067583 0.06313730
+v -0.05448005 -0.03707400 -0.02987643
+v -0.07918488 -0.03707434 0.06278136
+v -0.08715404 -0.00067583 0.06267852
+v -0.06882379 -0.01418955 -0.02987634
+v -0.06833224 -0.01871085 -0.02840634
+v -0.06875412 -0.01453514 -0.02987634
+v -0.06819678 -0.01710757 -0.02987635
+v -0.06852962 -0.01992938 -0.02654307
+v -0.06920309 -0.02020730 -0.02373411
+v -0.06699696 -0.02641028 -0.02373414
+v -0.06599839 -0.02664542 -0.02702062
+v -0.06547202 -0.02855869 -0.02613112
+v -0.06574681 -0.02955988 -0.02362180
+v -0.06502304 -0.03062518 -0.02457685
+v -0.06530558 -0.03124157 -0.02252632
+v -0.06439992 -0.03241019 -0.02362181
+v -0.06279370 -0.03531394 -0.02373417
+v -0.06216670 -0.03707403 -0.02230165
+v -0.06801488 -0.02077378 -0.02738576
+v -0.06752333 -0.02302196 -0.02654308
+v -0.05965480 -0.03707400 -0.02987643
+v -0.06764718 -0.01913839 -0.02987636
+v -0.06752333 -0.01992937 -0.02962355
+v -0.06514691 -0.02783542 -0.02819102
+v -0.06549912 -0.02560862 -0.02987638
+v -0.06474052 -0.02955987 -0.02702063
+v -0.06310332 -0.03289473 -0.02708618
+v -0.06241826 -0.03467973 -0.02623415
+v -0.06186868 -0.03686737 -0.02373418
+v -0.06199638 -0.03707403 -0.02288215
+v -0.06647446 -0.02290794 -0.02987637
+v -0.06634285 -0.02330342 -0.02987638
+v -0.06632737 -0.02334617 -0.02987638
+v -0.05990251 -0.03668564 -0.02987642
+v -0.05973220 -0.03707400 -0.02968915
+v -0.06741497 -0.01995432 -0.02987636
+v -0.06484501 -0.02712997 -0.02987639
+v -0.06376130 -0.02950999 -0.02987640
+v -0.06258470 -0.03197550 -0.02987641
+v -0.06208928 -0.03412038 -0.02829403
+v -0.06151646 -0.03571298 -0.02708619
+v -0.06173321 -0.03707402 -0.02373418
+v -0.06072302 -0.03707401 -0.02685212
+v -0.06033598 -0.03597662 -0.02987642
+v -0.06177191 -0.03352891 -0.02987641
+v -0.06176418 -0.03354318 -0.02987641
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 42
+f 1 42 60
+f 1 60 80
+f 1 80 83
+f 1 83 64
+f 1 64 43
+f 1 43 24
+f 1 24 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 14 15
+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 22
+f 10 22 23
+f 10 23 11
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 16 37 38
+f 16 38 18
+f 16 18 17
+f 16 36 37
+f 18 38 39
+f 18 39 20
+f 18 20 19
+f 20 22 21
+f 20 39 22
+f 22 40 23
+f 22 39 41
+f 22 41 40
+f 23 40 42
+f 24 43 63
+f 24 63 81
+f 24 81 101
+f 24 101 114
+f 24 114 124
+f 24 124 126
+f 24 126 125
+f 24 125 119
+f 24 119 118
+f 24 118 117
+f 24 117 105
+f 24 105 113
+f 24 113 112
+f 24 112 111
+f 24 111 116
+f 24 116 102
+f 24 102 87
+f 24 87 86
+f 24 86 84
+f 24 84 68
+f 24 68 67
+f 24 67 65
+f 24 65 44
+f 24 44 27
+f 24 27 26
+f 24 26 25
+f 27 44 29
+f 27 29 28
+f 29 44 45
+f 29 45 46
+f 29 46 31
+f 29 31 30
+f 31 47 34
+f 31 34 33
+f 31 33 32
+f 31 46 48
+f 31 48 49
+f 31 49 47
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 34 47 49
+f 34 49 50
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 37
+f 37 39 38
+f 37 55 39
+f 39 55 56
+f 39 56 57
+f 39 57 41
+f 40 58 42
+f 40 41 59
+f 40 59 77
+f 40 77 75
+f 40 75 98
+f 40 98 110
+f 40 110 122
+f 40 122 123
+f 40 123 115
+f 40 115 101
+f 40 101 81
+f 40 81 61
+f 40 61 82
+f 40 82 79
+f 40 79 58
+f 41 57 59
+f 42 58 60
+f 43 61 62
+f 43 62 63
+f 43 64 61
+f 44 65 45
+f 45 65 66
+f 45 66 46
+f 46 66 48
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 50
+f 50 71 70
+f 50 70 51
+f 51 72 73
+f 51 73 52
+f 51 70 72
+f 52 74 75
+f 52 75 77
+f 52 77 53
+f 52 73 72
+f 52 72 76
+f 52 76 74
+f 53 77 78
+f 53 78 57
+f 53 57 54
+f 54 57 56
+f 54 56 55
+f 57 78 59
+f 58 79 80
+f 58 80 60
+f 59 78 77
+f 61 81 63
+f 61 63 62
+f 61 64 82
+f 64 83 82
+f 65 67 66
+f 68 84 69
+f 69 85 70
+f 69 84 86
+f 69 86 87
+f 69 87 85
+f 70 85 88
+f 70 88 89
+f 70 89 72
+f 72 89 76
+f 74 76 75
+f 75 76 90
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 94
+f 75 94 95
+f 75 95 96
+f 75 96 97
+f 75 97 98
+f 76 89 88
+f 76 88 85
+f 76 85 99
+f 76 99 100
+f 76 100 91
+f 76 91 90
+f 79 82 80
+f 80 82 83
+f 85 87 102
+f 85 102 103
+f 85 103 99
+f 91 104 92
+f 91 100 105
+f 91 105 104
+f 92 104 106
+f 92 106 94
+f 92 94 93
+f 94 106 107
+f 94 107 96
+f 94 96 95
+f 96 107 108
+f 96 108 97
+f 97 108 109
+f 97 109 110
+f 97 110 98
+f 99 103 111
+f 99 111 112
+f 99 112 100
+f 100 112 113
+f 100 113 105
+f 101 115 114
+f 102 116 103
+f 103 116 111
+f 104 105 117
+f 104 117 118
+f 104 118 106
+f 106 118 119
+f 106 119 107
+f 107 119 120
+f 107 120 108
+f 108 120 121
+f 108 121 109
+f 109 122 110
+f 109 121 123
+f 109 123 122
+f 114 115 120
+f 114 120 124
+f 115 123 121
+f 115 121 120
+f 119 125 120
+f 120 125 126
+f 120 126 124
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_15.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.04357333 -0.08332499 0.06266887
+v 0.04710850 -0.08101466 0.06087163
+v 0.04486252 -0.08263318 0.06266888
+v 0.04710444 -0.08107874 0.06450521
+v 0.04357333 -0.08304741 0.06332331
+v 0.04357333 -0.06226303 0.00196303
+v 0.05286530 -0.07773927 0.06098885
+v 0.04745714 -0.08122822 0.06266888
+v 0.05106124 -0.07824745 0.06458334
+v 0.04486252 -0.08172785 0.06478847
+v 0.04900580 -0.08033141 0.06266888
+v 0.05278422 -0.07768805 0.06430008
+v 0.04357333 -0.08209085 0.06486660
+v 0.04357333 -0.05631427 -0.01478846
+v 0.06198296 -0.07143185 0.06107679
+v 0.05293018 -0.07778197 0.06266889
+v 0.04357333 -0.05585734 -0.01605825
+v 0.05395588 -0.07594144 0.06466149
+v 0.04806931 -0.07928945 0.06488615
+v 0.06155730 -0.07102617 0.06341124
+v 0.05619778 -0.07484820 0.06443684
+v 0.06198296 -0.07143186 0.06135027
+v 0.04357333 -0.08068160 0.06511079
+v 0.06519787 -0.06845109 0.06097912
+v 0.04357333 -0.05574203 -0.01637080
+v 0.04357333 -0.05513989 -0.01799223
+v 0.04357333 -0.05061747 -0.02990876
+v 0.04357333 -0.04991285 -0.03170600
+v 0.04357333 -0.04986160 -0.03183296
+v 0.05724373 -0.07295213 0.06472989
+v 0.05106124 -0.07603111 0.06508150
+v 0.05948971 -0.07193150 0.06448571
+v 0.04486252 -0.07913144 0.06523778
+v 0.06472760 -0.06797707 0.06372384
+v 0.06519787 -0.06845110 0.06167262
+v 0.04357333 -0.07908446 0.06508149
+v 0.06829520 -0.06537212 0.06096936
+v 0.04551119 -0.04880255 -0.02990875
+v 0.04708010 -0.04725239 -0.02990874
+v 0.04357333 -0.04983172 -0.03189158
+v 0.04665038 -0.04681679 -0.03190134
+v 0.06266813 -0.06895501 0.06448572
+v 0.06045864 -0.06992440 0.06472990
+v 0.06360461 -0.06685824 0.06470059
+v 0.06669385 -0.06374082 0.06466154
+v 0.06971414 -0.06053374 0.06460294
+v 0.07890883 -0.04788901 0.06443693
+v 0.08200211 -0.04166274 0.06440768
+v 0.08126021 -0.03970262 0.06439791
+v 0.08021021 -0.03970262 0.06434906
+v 0.06781277 -0.06485539 0.06374338
+v 0.06574518 -0.06591020 0.06446618
+v 0.06829520 -0.06537213 0.06168240
+v 0.04357333 -0.07778624 0.06474941
+v 0.07130335 -0.06217784 0.06103773
+v 0.04863284 -0.04558692 -0.02990874
+v 0.04357333 -0.04891357 -0.03358138
+v 0.04481388 -0.04807656 -0.03290741
+v 0.04963015 -0.04361398 -0.03168642
+v 0.04608686 -0.04623173 -0.03396232
+v 0.04787066 -0.04492072 -0.03281949
+v 0.06871278 -0.06278854 0.06444666
+v 0.07158714 -0.05950457 0.06438807
+v 0.07267770 -0.05722842 0.06449553
+v 0.07783855 -0.05060501 0.06436855
+v 0.08086291 -0.04501930 0.06435881
+v 0.08328319 -0.03970262 0.06434906
+v 0.08197778 -0.03970262 0.06438814
+v 0.07876694 -0.03970261 0.06296206
+v 0.04357333 -0.07720973 0.06447590
+v 0.07078038 -0.06156718 0.06346988
+v 0.07130335 -0.06217785 0.06140891
+v 0.07785072 -0.05341067 0.06072521
+v 0.05166530 -0.04181186 -0.02998684
+v 0.04357333 -0.04816197 -0.03454836
+v 0.04429901 -0.04755129 -0.03454835
+v 0.04526388 -0.04664596 -0.03454835
+v 0.04909096 -0.04295206 -0.03374741
+v 0.05035583 -0.04191860 -0.03282923
+v 0.05247208 -0.04016774 -0.03108083
+v 0.04586389 -0.04601394 -0.03454835
+v 0.04807338 -0.04354564 -0.03454834
+v 0.07512636 -0.05432455 0.06441738
+v 0.07733585 -0.05267616 0.06415367
+v 0.08057102 -0.04670185 0.06424159
+v 0.08365212 -0.04045421 0.06423184
+v 0.08374942 -0.03970262 0.06427093
+v 0.07840208 -0.03970261 0.06253228
+v 0.07784666 -0.03970261 0.06180947
+v 0.04357333 -0.07669729 0.06381170
+v 0.07205742 -0.06053373 0.06253221
+v 0.07785072 -0.05341068 0.06210244
+v 0.08057102 -0.04976800 0.06104756
+v 0.04357333 -0.04071435 -0.03454833
+v 0.04877879 -0.04267875 -0.03454834
+v 0.05001934 -0.04114566 -0.03454833
+v 0.05048962 -0.04051789 -0.03454833
+v 0.05183557 -0.03970226 -0.03314181
+v 0.05192070 -0.03970226 -0.03297575
+v 0.05213557 -0.03970226 -0.03251667
+v 0.05294233 -0.03970227 -0.03064130
+v 0.08057102 -0.04976801 0.06129176
+v 0.08094400 -0.04788900 0.06246386
+v 0.08373322 -0.04370826 0.06142852
+v 0.08407374 -0.04166273 0.06254205
+v 0.08491297 -0.03970261 0.06243460
+v 0.07737233 -0.03970260 0.06102806
+v 0.04357333 -0.07605245 0.06265914
+v 0.08373322 -0.04370825 0.06094990
+v 0.05332342 -0.03970227 -0.02959615
+v 0.04402332 -0.03988587 -0.03454833
+v 0.04357333 -0.07485672 0.05958232
+v 0.05104501 -0.03970225 -0.03454833
+v 0.05178287 -0.03970226 -0.03323947
+v 0.08498592 -0.03970261 0.06173133
+v 0.07684530 -0.03970260 0.05958244
+v 0.04357333 -0.07497202 0.05988511
+v 0.08485214 -0.03970260 0.06041270
+v 0.04418143 -0.03970225 -0.03454833
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 36
+f 1 36 54
+f 1 54 70
+f 1 70 90
+f 1 90 108
+f 1 108 117
+f 1 117 112
+f 1 112 94
+f 1 94 75
+f 1 75 57
+f 1 57 40
+f 1 40 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 17
+f 1 17 14
+f 1 14 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 5 10 13
+f 6 14 7
+f 7 15 16
+f 7 16 11
+f 7 11 8
+f 7 14 17
+f 7 17 15
+f 9 18 19
+f 9 19 10
+f 9 12 18
+f 10 19 13
+f 11 16 12
+f 12 20 21
+f 12 21 18
+f 12 16 22
+f 12 22 20
+f 13 19 23
+f 15 24 35
+f 15 35 22
+f 15 22 16
+f 15 17 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 24
+f 18 30 31
+f 18 31 19
+f 18 21 32
+f 18 32 30
+f 19 31 33
+f 19 33 23
+f 20 34 32
+f 20 32 21
+f 20 22 35
+f 20 35 34
+f 23 33 36
+f 24 37 53
+f 24 53 35
+f 24 29 38
+f 24 38 39
+f 24 39 37
+f 29 40 41
+f 29 41 38
+f 30 32 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 33
+f 32 34 42
+f 33 48 49
+f 33 49 50
+f 33 50 36
+f 34 51 52
+f 34 52 42
+f 34 35 53
+f 34 53 51
+f 36 50 54
+f 37 55 72
+f 37 72 53
+f 37 39 55
+f 38 41 39
+f 39 41 56
+f 39 56 55
+f 40 57 58
+f 40 58 41
+f 41 59 56
+f 41 58 60
+f 41 60 61
+f 41 61 59
+f 42 52 43
+f 43 52 44
+f 44 52 45
+f 45 52 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 67
+f 49 67 87
+f 49 87 106
+f 49 106 115
+f 49 115 118
+f 49 118 110
+f 49 110 101
+f 49 101 100
+f 49 100 99
+f 49 99 98
+f 49 98 114
+f 49 114 113
+f 49 113 119
+f 49 119 116
+f 49 116 107
+f 49 107 89
+f 49 89 88
+f 49 88 69
+f 49 69 50
+f 50 69 70
+f 50 70 54
+f 51 71 63
+f 51 63 62
+f 51 62 52
+f 51 53 72
+f 51 72 71
+f 55 73 92
+f 55 92 72
+f 55 56 59
+f 55 59 74
+f 55 74 73
+f 57 75 76
+f 57 76 77
+f 57 77 60
+f 57 60 58
+f 59 61 78
+f 59 78 79
+f 59 79 80
+f 59 80 74
+f 60 78 61
+f 60 77 81
+f 60 81 82
+f 60 82 78
+f 63 83 64
+f 63 71 84
+f 63 84 83
+f 64 83 65
+f 65 84 85
+f 65 85 66
+f 65 83 84
+f 66 85 86
+f 66 86 67
+f 67 86 87
+f 69 88 70
+f 70 88 89
+f 70 89 90
+f 71 72 91
+f 71 91 92
+f 71 92 84
+f 72 92 91
+f 73 93 102
+f 73 102 92
+f 73 74 80
+f 73 80 93
+f 75 94 111
+f 75 111 119
+f 75 119 113
+f 75 113 97
+f 75 97 96
+f 75 96 95
+f 75 95 82
+f 75 82 81
+f 75 81 77
+f 75 77 76
+f 78 82 95
+f 78 95 96
+f 78 96 79
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 80
+f 80 99 100
+f 80 100 101
+f 80 101 93
+f 84 92 102
+f 84 102 103
+f 84 103 85
+f 85 103 104
+f 85 104 105
+f 85 105 86
+f 86 105 106
+f 86 106 87
+f 89 107 90
+f 90 107 108
+f 93 109 104
+f 93 104 102
+f 93 101 110
+f 93 110 109
+f 94 112 111
+f 97 113 114
+f 97 114 98
+f 102 104 103
+f 104 109 115
+f 104 115 106
+f 104 106 105
+f 107 116 117
+f 107 117 108
+f 109 118 115
+f 109 110 118
+f 111 112 119
+f 112 117 116
+f 112 116 119
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_16.obj

@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 -0.02572339 -0.05085429
+v -0.02651420 -0.02572340 -0.04842613
+v -0.00144449 -0.02572338 -0.05531030
+v -0.00144449 0.03064181 -0.05039694
+v -0.04861789 -0.02572340 -0.04842613
+v -0.02053938 0.03064180 -0.04875894
+v -0.03656670 -0.00067466 -0.04842604
+v -0.00165826 -0.02572338 -0.05531204
+v -0.00144449 -0.02114397 -0.05601828
+v -0.00144449 0.03064182 -0.05496133
+v -0.04915232 -0.02572339 -0.05180440
+v -0.05022118 -0.02267782 -0.04842612
+v -0.04505864 0.03064180 -0.04875894
+v -0.05539972 -0.00067466 -0.04842604
+v -0.00476326 -0.02572338 -0.05525348
+v -0.00165826 -0.02114949 -0.05601915
+v -0.00144449 -0.01959361 -0.05624989
+v -0.00156739 0.03064182 -0.05496309
+v -0.00144449 0.02940594 -0.05517462
+v -0.04312404 -0.02572339 -0.05238391
+v -0.04966002 -0.02475786 -0.05180440
+v -0.05600896 -0.00066913 -0.05252891
+v -0.01872769 -0.00938099 -0.05614059
+v -0.01703891 -0.01061137 -0.05622364
+v -0.01592731 -0.01280176 -0.05617120
+v -0.05134880 -0.02020607 -0.04842611
+v -0.05038684 -0.02327369 -0.05180440
+v -0.04610612 0.03064181 -0.05252880
+v -0.04624507 0.03045421 -0.05252880
+v -0.04575338 0.02968176 -0.04875894
+v -0.05539438 -0.00160157 -0.04842605
+v -0.04680619 0.02813140 -0.04875895
+v -0.04788575 0.02628860 -0.04875895
+v -0.05008222 0.02234371 -0.04875897
+v -0.05114570 0.02008159 -0.04875898
+v -0.05221990 0.01737809 -0.04875899
+v -0.05287188 0.01566772 -0.04875899
+v -0.05336891 0.01418905 -0.04875900
+v -0.05344908 0.01390768 -0.04875900
+v -0.05419726 0.01113798 -0.04875901
+v -0.05427743 0.01080142 -0.04875901
+v -0.05482253 0.00767309 -0.04875902
+v -0.05515922 0.00488131 -0.04875903
+v -0.05541040 0.00186331 -0.04875904
+v -0.05604103 0.00150470 -0.05252890
+v -0.00786289 -0.02572338 -0.05513023
+v -0.00476326 -0.01932878 -0.05621844
+v -0.00165826 -0.01959913 -0.05624989
+v -0.00144449 -0.01709975 -0.05651210
+v -0.00165290 0.02940594 -0.05517636
+v -0.00165290 0.03064182 -0.05496309
+v -0.00144449 0.02430793 -0.05603819
+v -0.00910273 -0.01849565 -0.05611004
+v -0.01406218 -0.02330679 -0.05506556
+v -0.01164660 -0.02572338 -0.05489074
+v -0.01275286 -0.01573699 -0.05615899
+v -0.05553866 -0.00475197 -0.05180433
+v -0.05519129 -0.00470232 -0.04842606
+v -0.02005306 0.00150472 -0.05630052
+v -0.01802225 -0.00066911 -0.05648758
+v -0.01990340 -0.00160154 -0.05628043
+v -0.01715648 -0.00470229 -0.05649195
+v -0.01902696 -0.00780303 -0.05617731
+v -0.05187253 -0.01990260 -0.05180438
+v -0.05259934 -0.01805980 -0.05180438
+v -0.05302688 -0.01681289 -0.05180437
+v -0.05387660 -0.01399905 -0.05180436
+v -0.05460877 -0.01093139 -0.05180435
+v -0.05516458 -0.00780305 -0.05180434
+v -0.05521266 -0.00744995 -0.05180434
+v -0.01715648 -0.00780303 -0.05637484
+v -0.01406218 -0.00780303 -0.05665541
+v -0.01406218 -0.01090378 -0.05647188
+v -0.01389650 -0.01389971 -0.05623938
+v -0.05302688 -0.01599080 -0.04842610
+v -0.00785754 0.03064182 -0.05478128
+v -0.00785754 0.02940594 -0.05499893
+v -0.00725899 0.02207341 -0.05619818
+v -0.00932720 0.02160992 -0.05612999
+v -0.01095720 0.01961817 -0.05626723
+v -0.01316435 0.01898367 -0.05619469
+v -0.01414236 0.01710226 -0.05629084
+v -0.01618918 0.01613673 -0.05620169
+v -0.01719389 0.01384703 -0.05626812
+v -0.04682224 0.02963766 -0.05252880
+v -0.04732460 0.02891489 -0.05252880
+v -0.04886374 0.02645414 -0.05252881
+v -0.04957452 0.02522378 -0.05252882
+v -0.04993258 0.02457272 -0.05252882
+v -0.05069144 0.02309408 -0.05252883
+v -0.05205958 0.02018643 -0.05252884
+v -0.05254055 0.01907193 -0.05252884
+v -0.05294137 0.01805124 -0.05252884
+v -0.05339027 0.01680429 -0.05252885
+v -0.05396747 0.01492841 -0.05252886
+v -0.05428812 0.01385804 -0.05252886
+v -0.05481185 0.01171179 -0.05252887
+v -0.05500958 0.01080143 -0.05252887
+v -0.05539972 0.00852829 -0.05252888
+v -0.05551728 0.00777793 -0.05252888
+v -0.05566692 0.00669102 -0.05252889
+v -0.05587001 0.00460545 -0.05252889
+v -0.01999427 0.00460547 -0.05629000
+v -0.00854694 -0.02572338 -0.05509090
+v -0.00703454 -0.01896463 -0.05617735
+v -0.00476326 -0.01709975 -0.05644744
+v -0.00165826 -0.01709975 -0.05651210
+v -0.00144449 -0.01399903 -0.05678656
+v -0.00475790 0.02940594 -0.05512916
+v -0.00165290 0.02430793 -0.05603819
+v -0.00475790 0.03064182 -0.05491412
+v -0.00144449 0.02275755 -0.05628645
+v -0.00798581 -0.01732045 -0.05629883
+v -0.01096253 -0.02330679 -0.05529281
+v -0.01096253 -0.01634939 -0.05622104
+v -0.01096253 -0.02572338 -0.05494144
+v -0.01096253 -0.01399903 -0.05643779
+v -0.05485460 -0.00780306 -0.04842607
+v -0.01715648 0.00150472 -0.05658721
+v -0.01715648 -0.00066911 -0.05657322
+v -0.01715648 -0.00160154 -0.05656538
+v -0.01406218 -0.00470229 -0.05676642
+v -0.05366285 -0.01399906 -0.04842609
+v -0.05436827 -0.01090381 -0.04842608
+v -0.01096253 -0.00780303 -0.05687482
+v -0.01096253 -0.01090378 -0.05668953
+v -0.00475790 0.02247615 -0.05625062
+v -0.00475790 0.02009818 -0.05650324
+v -0.00811940 0.02038507 -0.05633891
+v -0.01095720 0.01700294 -0.05650849
+v -0.01405684 0.01390771 -0.05652337
+v -0.01715648 0.01080145 -0.05642898
+v -0.01895213 0.01277115 -0.05617197
+v -0.01931021 0.01080145 -0.05621395
+v -0.01973776 0.00770623 -0.05626203
+v -0.01715648 0.00460547 -0.05656623
+v -0.01715648 0.00770623 -0.05651987
+v -0.00786289 -0.01399903 -0.05660650
+v -0.00476326 -0.01399903 -0.05672187
+v -0.00165826 -0.01399903 -0.05678656
+v -0.00144449 -0.01090378 -0.05701818
+v -0.00165290 0.02275755 -0.05628645
+v -0.00144449 0.02009818 -0.05655742
+v -0.01405684 0.00150472 -0.05682757
+v -0.01405684 -0.00066911 -0.05682409
+v -0.01498673 -0.00066911 -0.05675154
+v -0.01406218 -0.00160154 -0.05682146
+v -0.01096253 -0.00470229 -0.05697182
+v -0.00786289 -0.00780303 -0.05703477
+v -0.00786289 -0.01090378 -0.05684859
+v -0.00165290 0.02009818 -0.05655742
+v -0.00475790 0.01700294 -0.05674187
+v -0.00785754 0.01700294 -0.05665184
+v -0.01095720 0.01390771 -0.05670692
+v -0.01095720 0.01080145 -0.05685988
+v -0.01405684 0.01080145 -0.05667547
+v -0.01405684 0.00460547 -0.05680047
+v -0.01405684 0.00770623 -0.05676287
+v -0.00476326 -0.01090378 -0.05695438
+v -0.00165826 -0.01090378 -0.05701730
+v -0.00144449 -0.00780303 -0.05719034
+v -0.00144449 0.01700294 -0.05678645
+v -0.01095720 0.00460547 -0.05699452
+v -0.01095720 0.00150472 -0.05702074
+v -0.01188173 -0.00066911 -0.05696131
+v -0.01096253 -0.00160154 -0.05701639
+v -0.00786289 -0.00470229 -0.05712916
+v -0.00476326 -0.00470229 -0.05723317
+v -0.00476326 -0.00780303 -0.05713265
+v -0.00165290 0.01700294 -0.05678645
+v -0.00475790 0.01390771 -0.05693066
+v -0.00785754 0.01390771 -0.05684413
+v -0.00785754 0.01080145 -0.05699187
+v -0.01095720 0.00770623 -0.05695167
+v -0.00165826 -0.00780303 -0.05718949
+v -0.00144449 -0.00470229 -0.05729436
+v -0.00144449 0.01390771 -0.05697089
+v -0.00785754 0.00460547 -0.05713698
+v -0.00785754 0.00150472 -0.05717021
+v -0.00878209 -0.00066911 -0.05712564
+v -0.00786289 -0.00160154 -0.05716847
+v -0.00476326 -0.00160154 -0.05728124
+v -0.00165826 -0.00160154 -0.05735291
+v -0.00165826 -0.00470229 -0.05729260
+v -0.00165290 0.01390771 -0.05697089
+v -0.00475790 0.01080145 -0.05707579
+v -0.00785754 0.00770623 -0.05708192
+v -0.00144449 -0.00160154 -0.05735465
+v -0.00144449 0.01080145 -0.05711424
+v -0.00475790 0.00460547 -0.05722877
+v -0.00475790 0.00150472 -0.05727859
+v -0.00568244 -0.00066911 -0.05724974
+v -0.00785754 -0.00066911 -0.05717022
+v -0.00475790 -0.00066911 -0.05728123
+v -0.00165290 -0.00066911 -0.05735203
+v -0.00144449 -0.00066911 -0.05735377
+v -0.00165290 0.01080145 -0.05711424
+v -0.00165290 0.00770623 -0.05722177
+v -0.00475790 0.00770623 -0.05716582
+v -0.00144449 0.01059730 -0.05712298
+v -0.00165290 0.00460547 -0.05729518
+v -0.00165290 0.00150472 -0.05734939
+v -0.00144449 0.00150472 -0.05735115
+v -0.00144449 0.00770623 -0.05722352
+v -0.00144449 0.00749657 -0.05722876
+v -0.00144449 0.00460547 -0.05729607
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 55
+f 1 55 116
+f 1 116 104
+f 1 104 46
+f 1 46 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 49
+f 1 49 108
+f 1 108 141
+f 1 141 161
+f 1 161 176
+f 1 176 188
+f 1 188 196
+f 1 196 203
+f 1 203 206
+f 1 206 205
+f 1 205 204
+f 1 204 200
+f 1 200 189
+f 1 189 177
+f 1 177 162
+f 1 162 143
+f 1 143 112
+f 1 112 52
+f 1 52 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 31
+f 2 31 58
+f 2 58 118
+f 2 118 124
+f 2 124 123
+f 2 123 75
+f 2 75 26
+f 2 26 12
+f 2 12 5
+f 3 8 9
+f 4 10 18
+f 4 18 51
+f 4 51 111
+f 4 111 76
+f 4 76 28
+f 4 28 13
+f 4 13 6
+f 5 12 11
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 19 18
+f 11 12 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 20
+f 12 26 27
+f 12 27 21
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 39
+f 14 39 40
+f 14 40 41
+f 14 41 42
+f 14 42 43
+f 14 43 44
+f 14 44 45
+f 14 45 31
+f 15 46 47
+f 15 47 16
+f 16 47 48
+f 16 48 17
+f 17 48 49
+f 18 19 50
+f 18 50 51
+f 19 52 50
+f 20 53 54
+f 20 54 55
+f 20 25 56
+f 20 56 53
+f 21 27 22
+f 22 57 58
+f 22 58 31
+f 22 31 45
+f 22 45 59
+f 22 59 60
+f 22 60 61
+f 22 61 62
+f 22 62 63
+f 22 63 23
+f 22 27 64
+f 22 64 65
+f 22 65 66
+f 22 66 67
+f 22 67 68
+f 22 68 69
+f 22 69 70
+f 22 70 57
+f 23 63 71
+f 23 71 24
+f 24 71 72
+f 24 72 73
+f 24 73 25
+f 25 73 74
+f 25 74 56
+f 26 64 27
+f 26 75 64
+f 28 76 77
+f 28 77 78
+f 28 78 79
+f 28 79 80
+f 28 80 81
+f 28 81 82
+f 28 82 83
+f 28 83 84
+f 28 84 29
+f 29 85 30
+f 29 84 85
+f 30 85 86
+f 30 86 32
+f 32 86 87
+f 32 87 33
+f 33 87 88
+f 33 88 34
+f 34 88 89
+f 34 89 90
+f 34 90 91
+f 34 91 35
+f 35 91 92
+f 35 92 36
+f 36 92 93
+f 36 93 37
+f 37 94 38
+f 37 93 94
+f 38 95 96
+f 38 96 39
+f 38 94 95
+f 39 96 40
+f 40 96 97
+f 40 97 41
+f 41 97 98
+f 41 98 42
+f 42 98 99
+f 42 99 100
+f 42 100 101
+f 42 101 43
+f 43 101 102
+f 43 102 44
+f 44 102 45
+f 45 102 103
+f 45 103 59
+f 46 104 105
+f 46 105 47
+f 47 105 106
+f 47 106 107
+f 47 107 48
+f 48 107 49
+f 49 107 140
+f 49 140 108
+f 50 109 51
+f 50 52 110
+f 50 110 109
+f 51 109 111
+f 52 112 142
+f 52 142 110
+f 53 113 105
+f 53 105 114
+f 53 114 54
+f 53 56 115
+f 53 115 113
+f 54 114 116
+f 54 116 55
+f 56 74 117
+f 56 117 115
+f 57 70 118
+f 57 118 58
+f 59 119 60
+f 59 103 119
+f 60 120 121
+f 60 121 61
+f 60 119 120
+f 61 121 62
+f 62 121 122
+f 62 122 72
+f 62 72 71
+f 62 71 63
+f 64 75 65
+f 65 75 66
+f 66 75 123
+f 66 123 67
+f 67 123 68
+f 68 123 124
+f 68 124 69
+f 69 124 118
+f 69 118 70
+f 72 125 73
+f 72 122 125
+f 73 126 117
+f 73 117 74
+f 73 125 126
+f 76 111 77
+f 77 111 109
+f 77 109 127
+f 77 127 78
+f 78 128 129
+f 78 129 80
+f 78 80 79
+f 78 127 128
+f 80 130 81
+f 80 129 130
+f 81 130 82
+f 82 130 131
+f 82 131 83
+f 83 131 84
+f 84 132 133
+f 84 133 86
+f 84 86 85
+f 84 131 132
+f 86 133 87
+f 87 133 88
+f 88 133 89
+f 89 133 90
+f 90 133 91
+f 91 133 92
+f 92 133 93
+f 93 133 134
+f 93 134 94
+f 94 134 95
+f 95 134 96
+f 96 134 135
+f 96 135 97
+f 97 135 98
+f 98 135 99
+f 99 135 103
+f 99 103 100
+f 100 103 101
+f 101 103 102
+f 103 136 119
+f 103 135 137
+f 103 137 136
+f 104 116 105
+f 105 113 106
+f 105 116 114
+f 106 138 139
+f 106 139 140
+f 106 140 107
+f 106 113 138
+f 108 140 141
+f 109 110 127
+f 110 142 127
+f 112 143 151
+f 112 151 142
+f 113 115 117
+f 113 117 138
+f 117 126 138
+f 119 144 145
+f 119 145 146
+f 119 146 120
+f 119 136 144
+f 120 146 147
+f 120 147 121
+f 121 147 122
+f 122 148 125
+f 122 147 148
+f 125 149 126
+f 125 148 149
+f 126 150 138
+f 126 149 150
+f 127 142 128
+f 128 142 151
+f 128 151 152
+f 128 152 153
+f 128 153 129
+f 129 153 130
+f 130 153 154
+f 130 154 131
+f 131 154 155
+f 131 155 156
+f 131 156 132
+f 132 156 137
+f 132 137 134
+f 132 134 133
+f 134 137 135
+f 136 157 144
+f 136 137 158
+f 136 158 157
+f 137 156 158
+f 138 150 139
+f 139 150 159
+f 139 159 140
+f 140 159 160
+f 140 160 141
+f 141 160 175
+f 141 175 161
+f 143 162 170
+f 143 170 151
+f 144 157 163
+f 144 163 164
+f 144 164 165
+f 144 165 145
+f 145 165 147
+f 145 147 146
+f 147 166 148
+f 147 165 166
+f 148 166 167
+f 148 167 149
+f 149 167 168
+f 149 168 169
+f 149 169 159
+f 149 159 150
+f 151 170 152
+f 152 170 171
+f 152 171 172
+f 152 172 153
+f 153 172 154
+f 154 172 155
+f 155 173 174
+f 155 174 156
+f 155 172 173
+f 156 174 158
+f 157 158 163
+f 158 174 163
+f 159 169 160
+f 160 169 175
+f 161 175 176
+f 162 177 185
+f 162 185 170
+f 163 178 179
+f 163 179 164
+f 163 174 178
+f 164 179 180
+f 164 180 166
+f 164 166 165
+f 166 180 181
+f 166 181 167
+f 167 181 182
+f 167 182 168
+f 168 182 183
+f 168 183 184
+f 168 184 169
+f 169 184 175
+f 170 185 171
+f 171 185 186
+f 171 186 173
+f 171 173 172
+f 173 186 199
+f 173 199 187
+f 173 187 174
+f 174 187 178
+f 175 184 176
+f 176 184 183
+f 176 183 188
+f 177 189 197
+f 177 197 185
+f 178 190 191
+f 178 191 179
+f 178 187 190
+f 179 191 192
+f 179 192 193
+f 179 193 180
+f 180 193 181
+f 181 193 192
+f 181 192 182
+f 182 192 194
+f 182 194 183
+f 183 194 195
+f 183 195 196
+f 183 196 188
+f 185 197 186
+f 186 197 198
+f 186 198 199
+f 187 199 190
+f 189 200 197
+f 190 201 202
+f 190 202 191
+f 190 199 201
+f 191 202 195
+f 191 195 194
+f 191 194 192
+f 195 202 203
+f 195 203 196
+f 197 200 204
+f 197 204 198
+f 198 204 205
+f 198 205 201
+f 198 201 199
+f 201 205 206
+f 201 206 203
+f 201 203 202
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_17.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.05491111 -0.02090212 -0.03454826
+v 0.05884458 0.00008985 -0.03454818
+v 0.06063872 -0.02090212 -0.03454826
+v 0.08348851 -0.02090246 0.05844318
+v 0.08511574 0.00008951 0.05649726
+v 0.06387426 0.00008985 -0.03454818
+v 0.06145804 -0.01851828 -0.03454825
+v 0.06177287 -0.01813401 -0.03419005
+v 0.06115840 -0.02090213 -0.03350268
+v 0.08359849 -0.02090247 0.05876268
+v 0.08624610 0.00008950 0.05987612
+v 0.08558610 0.00008951 0.05791078
+v 0.06451909 0.00008984 -0.03310565
+v 0.06451909 -0.00160144 -0.03311534
+v 0.06387804 -0.00160143 -0.03454819
+v 0.06163632 -0.01792029 -0.03454825
+v 0.06247837 -0.01710240 -0.03308633
+v 0.06217873 -0.01952936 -0.03212787
+v 0.06151115 -0.02042125 -0.03308635
+v 0.06135562 -0.02090213 -0.03307666
+v 0.06211424 -0.01621462 -0.03454824
+v 0.08400816 -0.02090247 0.05992445
+v 0.08661025 0.00008950 0.06080557
+v 0.06476564 0.00008984 -0.03240856
+v 0.06371874 -0.00464286 -0.03454820
+v 0.06380599 -0.00309953 -0.03454819
+v 0.06505771 -0.00160144 -0.03156627
+v 0.06503116 -0.00344888 -0.03148883
+v 0.06452668 -0.00457092 -0.03270872
+v 0.06326736 -0.01400549 -0.03298951
+v 0.06358598 -0.01710653 -0.02990111
+v 0.06259976 -0.02042126 -0.03012379
+v 0.06229253 -0.02090214 -0.03060788
+v 0.06165150 -0.02090213 -0.03236025
+v 0.06221666 -0.01578718 -0.03454824
+v 0.08570748 -0.02090248 0.06279989
+v 0.08672783 0.00008950 0.06109602
+v 0.06505392 0.00008984 -0.03156626
+v 0.06344944 -0.00781579 -0.03454821
+v 0.06415115 -0.00780348 -0.03298949
+v 0.06534220 0.00008983 -0.03066589
+v 0.06558497 -0.00160145 -0.02990106
+v 0.06539530 -0.00457093 -0.03014310
+v 0.06495529 -0.00551624 -0.03132424
+v 0.09360476 -0.00470280 0.06029242
+v 0.09351374 -0.00780382 0.06036986
+v 0.06259217 -0.01400548 -0.03454823
+v 0.06275530 -0.01306019 -0.03454823
+v 0.06379460 -0.01090448 -0.03298950
+v 0.06505392 -0.01264920 -0.02848758
+v 0.06442424 -0.01381235 -0.02967841
+v 0.09298649 -0.01593962 0.06100882
+v 0.09087751 -0.02090247 0.06020523
+v 0.08615887 -0.02090248 0.06333237
+v 0.08713748 0.00008949 0.06152200
+v 0.06326736 -0.00955639 -0.03454822
+v 0.06484150 -0.00780349 -0.03100477
+v 0.06558115 0.00008983 -0.02990105
+v 0.09365785 0.00008950 0.06017626
+v 0.09365785 -0.00160178 0.06020530
+v 0.09336581 -0.01090482 0.06051508
+v 0.06534977 -0.00780349 -0.02946539
+v 0.09360476 -0.00470281 0.06237395
+v 0.09351374 -0.00780383 0.06229651
+v 0.06311183 -0.01090447 -0.03454822
+v 0.06467461 -0.01090449 -0.03042388
+v 0.06517151 -0.01090449 -0.02888452
+v 0.09314959 -0.01400583 0.06078614
+v 0.09298649 -0.01593963 0.06131863
+v 0.09103302 -0.02090248 0.06213185
+v 0.08694404 -0.02090249 0.06413594
+v 0.08810473 0.00008949 0.06249984
+v 0.09365785 0.00008949 0.06240302
+v 0.09365785 -0.00160179 0.06240301
+v 0.09336581 -0.01090483 0.06210285
+v 0.09175372 -0.00780383 0.06383585
+v 0.09184854 -0.01090483 0.06365191
+v 0.09314959 -0.01400584 0.06168653
+v 0.08997854 -0.02090249 0.06430053
+v 0.09100646 -0.02090248 0.06271275
+v 0.08979268 -0.00223681 0.06422314
+v 0.08775954 -0.02090249 0.06427149
+v 0.09124924 0.00008949 0.06396175
+v 0.09161336 -0.00470281 0.06392301
+v 0.09026681 -0.01400585 0.06435864
+v 0.09015304 -0.01710688 0.06434897
+v 0.09001646 -0.02020789 0.06431023
+v 0.08965234 -0.02090249 0.06431988
+v 0.08945887 -0.01400585 0.06435864
+v 0.08993682 -0.00223681 0.06422314
+v 0.08805922 -0.02090249 0.06430053
+v 0.09029716 -0.01090484 0.06431992
+v 0.08929957 -0.01710688 0.06434897
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 25
+f 1 25 39
+f 1 39 56
+f 1 56 65
+f 1 65 48
+f 1 48 47
+f 1 47 35
+f 1 35 21
+f 1 21 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 20
+f 1 20 34
+f 1 34 33
+f 1 33 53
+f 1 53 70
+f 1 70 80
+f 1 80 79
+f 1 79 88
+f 1 88 91
+f 1 91 82
+f 1 82 71
+f 1 71 54
+f 1 54 36
+f 1 36 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 11
+f 2 11 23
+f 2 23 37
+f 2 37 55
+f 2 55 72
+f 2 72 83
+f 2 83 73
+f 2 73 59
+f 2 59 58
+f 2 58 41
+f 2 41 38
+f 2 38 24
+f 2 24 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 16 21
+f 8 21 17
+f 10 22 11
+f 11 22 23
+f 13 24 14
+f 14 25 26
+f 14 26 15
+f 14 24 27
+f 14 27 28
+f 14 28 29
+f 14 29 25
+f 17 21 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 21 35 30
+f 22 36 37
+f 22 37 23
+f 24 38 27
+f 25 29 40
+f 25 40 39
+f 27 38 41
+f 27 41 42
+f 27 42 28
+f 28 43 44
+f 28 44 29
+f 28 42 45
+f 28 45 46
+f 28 46 43
+f 29 44 40
+f 30 35 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 32
+f 32 52 33
+f 33 52 53
+f 36 54 37
+f 37 54 55
+f 39 40 56
+f 40 44 57
+f 40 57 49
+f 40 49 56
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 45
+f 43 46 61
+f 43 61 44
+f 44 61 62
+f 44 62 57
+f 45 60 74
+f 45 74 63
+f 45 63 64
+f 45 64 46
+f 46 64 75
+f 46 75 61
+f 48 65 49
+f 49 65 56
+f 49 57 66
+f 49 66 50
+f 50 66 67
+f 50 67 52
+f 50 52 51
+f 52 68 78
+f 52 78 69
+f 52 69 70
+f 52 70 53
+f 52 67 68
+f 54 71 55
+f 55 71 72
+f 57 62 66
+f 59 73 74
+f 59 74 60
+f 61 75 78
+f 61 78 68
+f 61 68 62
+f 62 67 66
+f 62 68 67
+f 63 74 76
+f 63 76 77
+f 63 77 64
+f 64 77 75
+f 69 78 79
+f 69 79 80
+f 69 80 70
+f 71 81 72
+f 71 82 81
+f 72 81 83
+f 73 83 84
+f 73 84 76
+f 73 76 74
+f 75 77 79
+f 75 79 78
+f 76 84 85
+f 76 85 86
+f 76 86 87
+f 76 87 77
+f 77 87 79
+f 79 87 88
+f 81 82 89
+f 81 89 85
+f 81 85 90
+f 81 90 83
+f 82 91 89
+f 83 90 92
+f 83 92 84
+f 84 92 85
+f 85 92 90
+f 85 89 93
+f 85 93 86
+f 86 93 88
+f 86 88 87
+f 88 93 91
+f 89 91 93
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_18.obj

@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.04141424 -0.03508070 -0.04146539
+v -0.05499492 -0.03508074 -0.02987642
+v -0.05190378 -0.03508070 -0.04146539
+v -0.05469088 -0.00067545 -0.04146526
+v -0.06537749 -0.00067549 -0.02987629
+v -0.06085904 -0.03508074 -0.02987642
+v -0.05224726 -0.03508070 -0.04123849
+v -0.05340431 -0.03261885 -0.04146538
+v -0.06281844 -0.00067545 -0.04146526
+v -0.07017182 -0.00067549 -0.02987629
+v -0.06176836 -0.03352819 -0.02987641
+v -0.06078304 -0.03508074 -0.03008627
+v -0.05290038 -0.03508070 -0.04077680
+v -0.05306086 -0.03457215 -0.04090272
+v -0.05363233 -0.03261212 -0.04131223
+v -0.05390261 -0.03174321 -0.04146538
+v -0.06288037 -0.00067545 -0.04141306
+v -0.06281844 -0.00070915 -0.04146526
+v -0.07016621 -0.00163196 -0.02987630
+v -0.07016058 -0.00067549 -0.02991032
+v -0.07015776 -0.00160164 -0.02991033
+v -0.06176274 -0.03351473 -0.02991044
+v -0.06256226 -0.03200933 -0.02987641
+v -0.06257352 -0.03196554 -0.02991044
+v -0.05952744 -0.03508073 -0.03297218
+v -0.05451913 -0.03508071 -0.03935994
+v -0.05518354 -0.03261212 -0.04008254
+v -0.05572406 -0.03072616 -0.04055898
+v -0.05628710 -0.02865833 -0.04099458
+v -0.05532710 -0.02919381 -0.04146537
+v -0.06396707 -0.00067545 -0.04033993
+v -0.06288037 -0.00160160 -0.04141194
+v -0.06281563 -0.00160160 -0.04146527
+v -0.07000572 -0.00470337 -0.02991034
+v -0.07001418 -0.00470337 -0.02987631
+v -0.06887682 -0.00067548 -0.03328967
+v -0.06887402 -0.00169594 -0.03328741
+v -0.06891624 -0.00470336 -0.03283707
+v -0.06222444 -0.03127850 -0.03170844
+v -0.06257915 -0.03197565 -0.02987641
+v -0.06373902 -0.02955085 -0.02987640
+v -0.06107300 -0.03243028 -0.03284058
+v -0.05911361 -0.03433981 -0.03469418
+v -0.05894468 -0.03508072 -0.03413720
+v -0.05560020 -0.03508071 -0.03838777
+v -0.05689238 -0.03261213 -0.03853978
+v -0.05761308 -0.02979666 -0.03932363
+v -0.05842669 -0.02640867 -0.04021072
+v -0.05888839 -0.02456649 -0.04060887
+v -0.05687549 -0.02640867 -0.04141658
+v -0.05680229 -0.02641541 -0.04146536
+v -0.06442876 -0.00067545 -0.03988164
+v -0.06442876 -0.00160160 -0.03988279
+v -0.06280999 -0.00171275 -0.04146527
+v -0.06278748 -0.00470333 -0.04133142
+v -0.06876703 -0.00780509 -0.03251605
+v -0.06972138 -0.00780510 -0.02991035
+v -0.07001136 -0.00473705 -0.02987631
+v -0.06833911 -0.00067547 -0.03458288
+v -0.06833911 -0.00072264 -0.03458288
+v -0.06829408 -0.00279045 -0.03451029
+v -0.06822370 -0.00470335 -0.03437984
+v -0.06808010 -0.00780508 -0.03405883
+v -0.06374465 -0.02951042 -0.02991043
+v -0.06522547 -0.02488984 -0.03148269
+v -0.06261012 -0.02936224 -0.03284057
+v -0.06175148 -0.03029849 -0.03376623
+v -0.06483979 -0.02712941 -0.02987639
+v -0.06483415 -0.02711593 -0.02991042
+v -0.06223288 -0.02823065 -0.03473726
+v -0.05959219 -0.03261214 -0.03536688
+v -0.05893906 -0.03093160 -0.03754377
+v -0.05844358 -0.03261213 -0.03690851
+v -0.05807197 -0.03508072 -0.03547351
+v -0.05616043 -0.03508071 -0.03786254
+v -0.05625895 -0.03475067 -0.03796691
+v -0.05945424 -0.02886378 -0.03808827
+v -0.06063102 -0.02349891 -0.03925667
+v -0.06124192 -0.02020522 -0.03986016
+v -0.05928533 -0.02249867 -0.04094236
+v -0.05835067 -0.02305436 -0.04146534
+v -0.05805226 -0.02377843 -0.04146535
+v -0.05697121 -0.02606179 -0.04146536
+v -0.06001728 -0.02640868 -0.03866794
+v -0.06578851 -0.00067546 -0.03833886
+v -0.06433866 -0.00470333 -0.03978410
+v -0.06570968 -0.00470334 -0.03824133
+v -0.06578851 -0.00160161 -0.03834000
+v -0.06262700 -0.00470333 -0.04146528
+v -0.06259604 -0.00499970 -0.04146528
+v -0.06262982 -0.00780506 -0.04118848
+v -0.06856434 -0.01090680 -0.03204981
+v -0.06933571 -0.01090681 -0.02991036
+v -0.06934697 -0.01090681 -0.02987633
+v -0.06972703 -0.00783878 -0.02987632
+v -0.06752270 -0.00067547 -0.03579894
+v -0.06752270 -0.00169593 -0.03579895
+v -0.06717361 -0.00470335 -0.03608144
+v -0.06687802 -0.00780508 -0.03608145
+v -0.06645292 -0.01090679 -0.03608146
+v -0.06787460 -0.01090680 -0.03359260
+v -0.06411626 -0.02611908 -0.03270555
+v -0.06549572 -0.02560717 -0.02987638
+v -0.06550136 -0.02556339 -0.02991041
+v -0.06632904 -0.02330699 -0.02991041
+v -0.06646980 -0.02290959 -0.02987637
+v -0.06741290 -0.01995603 -0.02987636
+v -0.06549856 -0.02330698 -0.03208957
+v -0.06477503 -0.02330698 -0.03363236
+v -0.06261856 -0.02640869 -0.03532488
+v -0.06156847 -0.02640868 -0.03686651
+v -0.06060287 -0.02958113 -0.03613938
+v -0.05755114 -0.03508072 -0.03615074
+v -0.06197389 -0.02449914 -0.03744392
+v -0.06235111 -0.02243133 -0.03790560
+v -0.05969074 -0.02020522 -0.04127021
+v -0.06270865 -0.02020523 -0.03831737
+v -0.06172615 -0.01711022 -0.04033886
+v -0.05942328 -0.02022879 -0.04146533
+v -0.06417820 -0.00780506 -0.03959920
+v -0.06555766 -0.00780507 -0.03805642
+v -0.06229763 -0.00780506 -0.04146529
+v -0.06182748 -0.01090004 -0.04146530
+v -0.06240461 -0.01090677 -0.04098317
+v -0.06840950 -0.01298472 -0.03167776
+v -0.06879518 -0.01401527 -0.03006011
+v -0.06885431 -0.01401192 -0.02987634
+v -0.06534089 -0.01090678 -0.03778758
+v -0.06521704 -0.01248292 -0.03762991
+v -0.06588704 -0.01371215 -0.03621873
+v -0.06570968 -0.01711024 -0.03535319
+v -0.06767472 -0.01401526 -0.03282237
+v -0.06550699 -0.02557687 -0.02987638
+v -0.06634031 -0.02330360 -0.02987638
+v -0.06764375 -0.01913767 -0.02987636
+v -0.06795624 -0.01711026 -0.03051727
+v -0.06596308 -0.02031638 -0.03317858
+v -0.06511004 -0.02142100 -0.03432886
+v -0.06314502 -0.02340126 -0.03628228
+v -0.06438935 -0.02031637 -0.03597713
+v -0.06470184 -0.01711023 -0.03689484
+v -0.05993284 -0.01866277 -0.04146533
+v -0.06315065 -0.01711023 -0.03879608
+v -0.06040579 -0.01711022 -0.04146532
+v -0.06199640 -0.01504577 -0.04060091
+v -0.06395299 -0.01090678 -0.03933148
+v -0.06128132 -0.01366163 -0.04146531
+v -0.06221880 -0.01297797 -0.04081077
+v -0.06819272 -0.01505256 -0.03118884
+v -0.06875015 -0.01453728 -0.02987634
+v -0.06361234 -0.01376266 -0.03911484
+v -0.06500588 -0.01455072 -0.03733951
+v -0.06541408 -0.01935321 -0.03488017
+v -0.06690617 -0.01711025 -0.03299592
+v -0.06819272 -0.01711026 -0.02987635
+v -0.06113776 -0.01429814 -0.04146531
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 44
+f 1 44 74
+f 1 74 113
+f 1 113 75
+f 1 75 45
+f 1 45 26
+f 1 26 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 51
+f 1 51 83
+f 1 83 82
+f 1 82 81
+f 1 81 119
+f 1 119 142
+f 1 142 144
+f 1 144 156
+f 1 156 147
+f 1 147 123
+f 1 123 122
+f 1 122 90
+f 1 90 89
+f 1 89 54
+f 1 54 33
+f 1 33 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 35
+f 2 35 58
+f 2 58 95
+f 2 95 94
+f 2 94 127
+f 2 127 150
+f 2 150 155
+f 2 155 135
+f 2 135 107
+f 2 107 106
+f 2 106 134
+f 2 134 133
+f 2 133 103
+f 2 103 68
+f 2 68 41
+f 2 41 40
+f 2 40 23
+f 2 23 11
+f 2 11 6
+f 3 7 8
+f 4 9 17
+f 4 17 31
+f 4 31 52
+f 4 52 85
+f 4 85 96
+f 4 96 59
+f 4 59 36
+f 4 36 20
+f 4 20 10
+f 4 10 5
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 9 18 17
+f 10 20 21
+f 10 21 19
+f 11 22 12
+f 11 23 24
+f 11 24 22
+f 12 22 25
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 17 18 32
+f 17 32 31
+f 18 33 32
+f 19 34 35
+f 19 21 34
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 34
+f 22 24 39
+f 22 39 25
+f 23 40 24
+f 24 40 41
+f 24 41 39
+f 25 39 42
+f 25 42 43
+f 25 43 44
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 47 48
+f 28 48 29
+f 28 46 47
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 30
+f 31 32 53
+f 31 53 52
+f 32 33 54
+f 32 54 55
+f 32 55 53
+f 34 38 56
+f 34 56 57
+f 34 57 95
+f 34 95 58
+f 34 58 35
+f 36 59 60
+f 36 60 37
+f 37 61 38
+f 37 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 56
+f 39 41 64
+f 39 64 65
+f 39 65 66
+f 39 66 67
+f 39 67 42
+f 41 68 69
+f 41 69 64
+f 42 67 43
+f 43 67 70
+f 43 70 71
+f 43 71 72
+f 43 72 73
+f 43 73 74
+f 43 74 44
+f 45 75 76
+f 45 76 46
+f 46 72 47
+f 46 76 72
+f 47 77 48
+f 47 72 77
+f 48 77 49
+f 49 78 79
+f 49 79 80
+f 49 80 81
+f 49 81 82
+f 49 82 83
+f 49 83 50
+f 49 77 84
+f 49 84 78
+f 50 83 51
+f 52 53 88
+f 52 88 85
+f 53 55 86
+f 53 86 87
+f 53 87 88
+f 54 89 55
+f 55 89 90
+f 55 90 91
+f 55 91 86
+f 56 63 92
+f 56 92 57
+f 57 92 93
+f 57 93 94
+f 57 94 95
+f 59 96 97
+f 59 97 60
+f 60 97 61
+f 61 97 98
+f 61 98 62
+f 62 98 99
+f 62 99 63
+f 63 99 100
+f 63 100 101
+f 63 101 92
+f 64 69 65
+f 65 102 66
+f 65 69 103
+f 65 103 104
+f 65 104 105
+f 65 105 106
+f 65 106 107
+f 65 107 108
+f 65 108 109
+f 65 109 102
+f 66 102 70
+f 66 70 67
+f 68 103 69
+f 70 110 111
+f 70 111 112
+f 70 112 71
+f 70 102 109
+f 70 109 110
+f 71 112 72
+f 72 76 75
+f 72 75 73
+f 72 112 111
+f 72 111 77
+f 73 75 113
+f 73 113 74
+f 77 111 114
+f 77 114 84
+f 78 84 114
+f 78 114 115
+f 78 115 79
+f 79 116 80
+f 79 115 117
+f 79 117 118
+f 79 118 116
+f 80 119 81
+f 80 116 119
+f 85 88 96
+f 86 91 120
+f 86 120 121
+f 86 121 87
+f 87 121 98
+f 87 98 97
+f 87 97 88
+f 88 97 96
+f 90 122 91
+f 91 122 123
+f 91 123 124
+f 91 124 120
+f 92 101 125
+f 92 125 93
+f 93 125 126
+f 93 126 94
+f 94 126 127
+f 98 121 99
+f 99 121 128
+f 99 128 100
+f 100 128 129
+f 100 129 130
+f 100 130 101
+f 101 130 131
+f 101 131 132
+f 101 132 125
+f 103 133 104
+f 104 133 105
+f 105 134 106
+f 105 133 134
+f 107 135 136
+f 107 136 137
+f 107 137 108
+f 108 137 138
+f 108 138 109
+f 109 138 110
+f 110 138 139
+f 110 139 114
+f 110 114 111
+f 114 139 115
+f 115 139 140
+f 115 140 141
+f 115 141 117
+f 116 118 142
+f 116 142 119
+f 117 141 143
+f 117 143 118
+f 118 144 142
+f 118 143 145
+f 118 145 144
+f 120 124 146
+f 120 146 128
+f 120 128 121
+f 123 147 148
+f 123 148 124
+f 124 148 146
+f 125 132 149
+f 125 149 126
+f 126 149 150
+f 126 150 127
+f 128 146 129
+f 129 148 151
+f 129 151 143
+f 129 143 152
+f 129 152 130
+f 129 146 148
+f 130 152 131
+f 131 141 153
+f 131 153 154
+f 131 154 132
+f 131 152 141
+f 132 154 149
+f 135 155 136
+f 136 154 137
+f 136 155 149
+f 136 149 154
+f 137 154 153
+f 137 153 138
+f 138 153 140
+f 138 140 139
+f 140 153 141
+f 141 152 143
+f 143 151 145
+f 144 145 156
+f 145 151 148
+f 145 148 156
+f 147 156 148
+f 149 155 150
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_19.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.06526508 0.00008983 -0.03089074
+v 0.06505210 0.00008984 -0.03156893
+v 0.06526508 0.00066985 -0.03089074
+v 0.06048148 0.00008983 -0.03089074
+v 0.06476209 0.00008984 -0.03240966
+v 0.06451829 0.00150074 -0.03310803
+v 0.06504953 0.00150074 -0.03156444
+v 0.06526253 0.00150073 -0.03089073
+v 0.04995185 0.00008988 -0.04234043
+v 0.05180732 0.03212051 -0.03089062
+v 0.03905014 0.03212056 -0.04234031
+v 0.06451829 0.00008984 -0.03311251
+v 0.06318122 0.00150075 -0.03608200
+v 0.06301188 0.00460473 -0.03608199
+v 0.06450546 0.00440093 -0.03270558
+v 0.06502386 0.00323458 -0.03148372
+v 0.06391265 0.00008985 -0.03446105
+v 0.06518297 0.00374563 -0.03089073
+v 0.05794852 0.00008988 -0.04234043
+v 0.05755074 0.03212051 -0.03089062
+v 0.04922560 0.03212056 -0.04234031
+v 0.06212392 0.00150076 -0.03791365
+v 0.06203666 0.00460474 -0.03779259
+v 0.06318380 0.00008985 -0.03608201
+v 0.06270391 0.00008986 -0.03691938
+v 0.06195710 0.00655806 -0.03768386
+v 0.06261152 0.00763662 -0.03632299
+v 0.06411282 0.00770560 -0.03299591
+v 0.06493148 0.00530076 -0.03129874
+v 0.06509058 0.00498723 -0.03089072
+v 0.05832833 0.00008987 -0.04200638
+v 0.05795365 0.00076083 -0.04234043
+v 0.05851567 0.03035845 -0.03089063
+v 0.05670384 0.03212052 -0.03297565
+v 0.05034450 0.03212055 -0.04145362
+v 0.05084495 0.02939595 -0.04234032
+v 0.06083306 0.00150076 -0.03945726
+v 0.06212650 0.00008986 -0.03791816
+v 0.06142331 0.00008986 -0.03876002
+v 0.06073554 0.00460474 -0.03933618
+v 0.06080226 0.00763663 -0.03889450
+v 0.06183649 0.00862426 -0.03751121
+v 0.06256019 0.01080645 -0.03570754
+v 0.06376380 0.01080644 -0.03299590
+v 0.06482113 0.00770559 -0.03098599
+v 0.06485448 0.00770559 -0.03089071
+v 0.05928299 0.00008987 -0.04116565
+v 0.05795623 0.00150078 -0.04234042
+v 0.05860549 0.03017974 -0.03089063
+v 0.05904947 0.02835810 -0.03201273
+v 0.05809478 0.02939904 -0.03302273
+v 0.05602634 0.03153108 -0.03505729
+v 0.05629324 0.03212052 -0.03384328
+v 0.05192023 0.03212055 -0.03998065
+v 0.05238728 0.03054975 -0.04048847
+v 0.05101688 0.02932383 -0.04223383
+v 0.05092963 0.02924544 -0.04234032
+v 0.05928299 0.00150077 -0.04116787
+v 0.05918549 0.00460475 -0.04107932
+v 0.06083306 0.00008986 -0.03946176
+v 0.05903150 0.00770563 -0.04093132
+v 0.05889805 0.00986901 -0.04079905
+v 0.05991175 0.01086290 -0.03943594
+v 0.05983220 0.01390732 -0.03888665
+v 0.06166968 0.01080646 -0.03725002
+v 0.06229074 0.01390731 -0.03522327
+v 0.06449263 0.01080643 -0.03089070
+v 0.06326081 0.01390730 -0.03299589
+v 0.05780737 0.00400278 -0.04234042
+v 0.05921886 0.02888484 -0.03089063
+v 0.06032237 0.02631385 -0.03089064
+v 0.05948831 0.02632642 -0.03302274
+v 0.05860036 0.02737049 -0.03406974
+v 0.05649856 0.02931755 -0.03608412
+v 0.05537194 0.03028636 -0.03711318
+v 0.05530265 0.03212053 -0.03565478
+v 0.05585953 0.03212053 -0.03475016
+v 0.05331631 0.03212054 -0.03841800
+v 0.05415036 0.02938652 -0.03916907
+v 0.05293138 0.02848355 -0.04101198
+v 0.05110158 0.02891312 -0.04234032
+v 0.05776888 0.00460476 -0.04234041
+v 0.05743525 0.00781536 -0.04234040
+v 0.05724534 0.00921686 -0.04234040
+v 0.05753278 0.01086291 -0.04188416
+v 0.05874665 0.01193833 -0.04064323
+v 0.05854904 0.01390733 -0.04043023
+v 0.05947548 0.01700504 -0.03847074
+v 0.06138226 0.01390732 -0.03676574
+v 0.06205978 0.01602367 -0.03480850
+v 0.06399990 0.01376621 -0.03089069
+v 0.06250118 0.01703323 -0.03312366
+v 0.06329417 0.01701442 -0.03089068
+v 0.06352000 0.01602365 -0.03089068
+v 0.06142075 0.02342307 -0.03089065
+v 0.06067909 0.02320673 -0.03299585
+v 0.05903407 0.02530428 -0.03494410
+v 0.05793313 0.02632643 -0.03601687
+v 0.05588520 0.02822018 -0.03784969
+v 0.05489204 0.03212053 -0.03627805
+v 0.05499212 0.02630762 -0.03991005
+v 0.05546431 0.02413796 -0.04044590
+v 0.05344206 0.02630762 -0.04147606
+v 0.05243093 0.02630763 -0.04234033
+v 0.05701694 0.01085038 -0.04234039
+v 0.05685784 0.01176590 -0.04234039
+v 0.05648315 0.01390734 -0.04234038
+v 0.05699898 0.01390733 -0.04188303
+v 0.05663970 0.01700505 -0.04159157
+v 0.05819233 0.01700505 -0.04001322
+v 0.05912389 0.01957916 -0.03803019
+v 0.06112306 0.01703324 -0.03593508
+v 0.05989378 0.02041003 -0.03638795
+v 0.06178003 0.01808671 -0.03423678
+v 0.06219834 0.01954151 -0.03217867
+v 0.06250374 0.02009019 -0.03089067
+v 0.06179285 0.02241661 -0.03089066
+v 0.06189040 0.02160772 -0.03141190
+v 0.06155420 0.02038805 -0.03312365
+v 0.05942159 0.02320674 -0.03560997
+v 0.05851309 0.02320675 -0.03715244
+v 0.05632147 0.02630761 -0.03836647
+v 0.05680906 0.02314718 -0.03931707
+v 0.05586980 0.02207176 -0.04087074
+v 0.05405028 0.02293085 -0.04217894
+v 0.05382444 0.02303748 -0.04234035
+v 0.05623678 0.01504233 -0.04234037
+v 0.05580049 0.01700506 -0.04234037
+v 0.05620085 0.02010591 -0.04119024
+v 0.05795879 0.02041004 -0.03910186
+v 0.05880824 0.02164536 -0.03761878
+v 0.06222400 0.02108409 -0.03089066
+v 0.05490229 0.02010592 -0.04234036
+v 0.05417089 0.02210626 -0.04234035
+v 0.05391169 0.02281172 -0.04234035
+v 0.05521026 0.01904304 -0.04234036
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 30
+f 1 30 46
+f 1 46 67
+f 1 67 91
+f 1 91 94
+f 1 94 93
+f 1 93 116
+f 1 116 132
+f 1 132 117
+f 1 117 95
+f 1 95 71
+f 1 71 70
+f 1 70 49
+f 1 49 33
+f 1 33 20
+f 1 20 10
+f 1 10 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 47
+f 1 47 60
+f 1 60 39
+f 1 39 38
+f 1 38 25
+f 1 25 24
+f 1 24 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 10 11
+f 4 11 9
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 12 17
+f 6 17 13
+f 7 16 8
+f 8 16 18
+f 9 11 21
+f 9 21 36
+f 9 36 57
+f 9 57 81
+f 9 81 104
+f 9 104 126
+f 9 126 135
+f 9 135 134
+f 9 134 133
+f 9 133 136
+f 9 136 128
+f 9 128 127
+f 9 127 107
+f 9 107 106
+f 9 106 105
+f 9 105 84
+f 9 84 83
+f 9 83 82
+f 9 82 69
+f 9 69 48
+f 9 48 32
+f 9 32 19
+f 10 20 34
+f 10 34 53
+f 10 53 77
+f 10 77 76
+f 10 76 100
+f 10 100 78
+f 10 78 54
+f 10 54 35
+f 10 35 21
+f 10 21 11
+f 13 22 23
+f 13 23 14
+f 13 17 24
+f 13 24 25
+f 13 25 22
+f 14 23 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 18
+f 19 32 31
+f 20 33 34
+f 21 35 36
+f 22 37 23
+f 22 25 38
+f 22 38 39
+f 22 39 37
+f 23 37 40
+f 23 40 26
+f 26 41 42
+f 26 42 27
+f 26 40 41
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 31 32 47
+f 32 48 47
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 37 58 59
+f 37 59 40
+f 37 39 60
+f 37 60 58
+f 40 59 61
+f 40 61 41
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 43 66 44
+f 44 67 46
+f 44 46 45
+f 44 66 68
+f 44 68 67
+f 47 48 58
+f 47 58 60
+f 48 69 58
+f 49 70 50
+f 50 71 72
+f 50 72 73
+f 50 73 51
+f 50 70 71
+f 51 73 52
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 54 78 55
+f 55 78 79
+f 55 79 80
+f 55 80 56
+f 56 80 57
+f 57 80 81
+f 58 69 59
+f 59 69 82
+f 59 82 61
+f 61 83 62
+f 61 82 83
+f 62 84 85
+f 62 85 86
+f 62 86 63
+f 62 83 84
+f 63 86 64
+f 64 87 88
+f 64 88 89
+f 64 89 65
+f 64 86 87
+f 65 89 66
+f 66 89 90
+f 66 90 68
+f 67 68 91
+f 68 90 92
+f 68 92 93
+f 68 93 94
+f 68 94 91
+f 71 95 72
+f 72 95 96
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 73 98 74
+f 74 98 99
+f 74 99 75
+f 75 78 100
+f 75 100 76
+f 75 99 78
+f 78 99 79
+f 79 99 101
+f 79 101 80
+f 80 101 102
+f 80 102 103
+f 80 103 104
+f 80 104 81
+f 84 105 85
+f 85 105 106
+f 85 106 107
+f 85 107 86
+f 86 107 108
+f 86 108 87
+f 87 108 109
+f 87 109 110
+f 87 110 88
+f 88 110 111
+f 88 111 89
+f 89 111 112
+f 89 112 90
+f 90 112 113
+f 90 113 114
+f 90 114 92
+f 92 114 115
+f 92 115 93
+f 93 115 116
+f 95 117 118
+f 95 118 96
+f 96 118 119
+f 96 119 120
+f 96 120 97
+f 97 120 121
+f 97 121 98
+f 98 121 99
+f 99 121 122
+f 99 122 101
+f 101 122 102
+f 102 122 123
+f 102 123 124
+f 102 124 103
+f 103 124 125
+f 103 125 126
+f 103 126 104
+f 107 127 108
+f 108 127 109
+f 109 127 128
+f 109 128 129
+f 109 129 110
+f 110 129 130
+f 110 130 111
+f 111 130 131
+f 111 131 112
+f 112 131 113
+f 113 131 120
+f 113 120 114
+f 114 120 119
+f 114 119 115
+f 115 119 118
+f 115 118 132
+f 115 132 116
+f 117 132 118
+f 120 131 121
+f 121 131 122
+f 122 131 123
+f 123 131 124
+f 124 131 130
+f 124 130 129
+f 124 129 133
+f 124 133 134
+f 124 134 135
+f 124 135 125
+f 125 135 126
+f 128 136 129
+f 129 136 133
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_2.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 -0.04456224 -0.04987097
+v -0.00144449 -0.05258837 -0.04987100
+v -0.00144449 -0.04456225 -0.04620681
+v 0.02505545 -0.04456224 -0.04987097
+v -0.00144449 -0.06072420 -0.04260268
+v 0.00042425 -0.05250941 -0.04987100
+v 0.00145134 -0.06067375 -0.04255918
+v -0.00144449 -0.06195041 -0.03454841
+v 0.03967248 -0.04456229 -0.03454834
+v 0.03569249 -0.04456226 -0.04414299
+v 0.03608717 -0.04571164 -0.04323108
+v 0.03401872 -0.04658250 -0.04380402
+v 0.03245429 -0.04867732 -0.04308410
+v 0.03046668 -0.04936828 -0.04359254
+v 0.02940156 -0.05114725 -0.04279164
+v 0.02448958 -0.04492417 -0.04987098
+v -0.00144449 -0.06242419 -0.04106085
+v 0.00145134 -0.06238033 -0.04101735
+v 0.00145134 -0.05246552 -0.04987100
+v 0.00451361 -0.05224397 -0.04987100
+v 0.00455165 -0.06224872 -0.04088535
+v -0.00144449 -0.06697141 -0.03454843
+v 0.04713316 -0.04456229 -0.03454834
+v 0.03820318 -0.04456226 -0.04275261
+v 0.03860258 -0.04497243 -0.04224417
+v 0.03783227 -0.04717036 -0.04117625
+v 0.03527880 -0.04790960 -0.04211369
+v 0.03447521 -0.05000441 -0.04099477
+v 0.03216901 -0.05111215 -0.04139077
+v 0.03094219 -0.05279899 -0.04073532
+v 0.02935400 -0.05329033 -0.04115079
+v 0.02625372 -0.05228128 -0.04343808
+v 0.02467502 -0.05275950 -0.04378604
+v 0.01972979 -0.04760904 -0.04987098
+v -0.00144449 -0.06252729 -0.04094385
+v 0.00145134 -0.06393117 -0.03924600
+v -0.00144449 -0.06397503 -0.03929849
+v 0.00649646 -0.05203340 -0.04987100
+v 0.00425682 -0.06401232 -0.03886205
+v 0.00656302 -0.06214124 -0.04077887
+v -0.00144449 -0.06625631 -0.03608279
+v 0.00145134 -0.06617735 -0.03608279
+v 0.00145134 -0.06688368 -0.03454843
+v 0.04585879 -0.04601002 -0.03454835
+v 0.04635808 -0.04456229 -0.03574826
+v 0.03873574 -0.04456226 -0.04243313
+v 0.03992924 -0.04456227 -0.04169970
+v 0.03990073 -0.04629955 -0.04048932
+v 0.03653888 -0.04923887 -0.04032584
+v 0.03301064 -0.05207291 -0.04002438
+v 0.03446093 -0.05308415 -0.03796808
+v 0.03216901 -0.05357770 -0.03906598
+v 0.03085184 -0.05583923 -0.03758563
+v 0.02963456 -0.05502762 -0.03925646
+v 0.02715716 -0.05550141 -0.04034388
+v 0.02509349 -0.05608708 -0.04091083
+v 0.02617763 -0.05441121 -0.04177924
+v 0.02344823 -0.05433004 -0.04306011
+v 0.02005787 -0.05544436 -0.04346958
+v 0.01847444 -0.04819032 -0.04987099
+v 0.00302527 -0.06517708 -0.03762916
+v 0.00145134 -0.06523194 -0.03770264
+v -0.00144449 -0.06527142 -0.03775514
+v 0.00950165 -0.05141482 -0.04987100
+v 0.01075224 -0.06021969 -0.04185425
+v 0.00863148 -0.06198769 -0.04062138
+v 0.00761864 -0.06078125 -0.04186175
+v 0.00509372 -0.06507400 -0.03747316
+v 0.00761864 -0.06314807 -0.03942298
+v -0.00144449 -0.06533502 -0.03764716
+v 0.00425682 -0.06583516 -0.03630028
+v 0.00441376 -0.06663580 -0.03454842
+v 0.00299198 -0.06675645 -0.03454843
+v 0.04525966 -0.04664393 -0.03454835
+v 0.04401859 -0.04726911 -0.03543179
+v 0.04513127 -0.04530589 -0.03643368
+v 0.04554496 -0.04456228 -0.03680265
+v 0.04132723 -0.04456227 -0.04072630
+v 0.03889739 -0.04831979 -0.03937943
+v 0.04244944 -0.04456227 -0.03986237
+v 0.04209280 -0.04534096 -0.03947842
+v 0.04111325 -0.04740071 -0.03843153
+v 0.03789409 -0.05029178 -0.03826954
+v 0.03550230 -0.05118234 -0.03914696
+v 0.03652463 -0.05235809 -0.03710115
+v 0.02954422 -0.05753703 -0.03626426
+v 0.02700977 -0.05852849 -0.03699919
+v 0.02494607 -0.05910101 -0.03778212
+v 0.02878340 -0.05646219 -0.03828757
+v 0.03245429 -0.05530839 -0.03685070
+v 0.03403774 -0.05589628 -0.03457540
+v 0.03245429 -0.05639639 -0.03530734
+v 0.02604925 -0.05730670 -0.03906299
+v 0.02315342 -0.05813145 -0.03982642
+v 0.02085198 -0.05867107 -0.04040538
+v 0.02315342 -0.05658063 -0.04134278
+v 0.01991047 -0.05755235 -0.04174475
+v 0.01831752 -0.05580410 -0.04374706
+v 0.01104229 -0.05089058 -0.04987100
+v 0.01715254 -0.05727597 -0.04283215
+v 0.01385729 -0.05805466 -0.04304662
+v 0.01385729 -0.05983802 -0.04150629
+v 0.01075224 -0.05847144 -0.04339609
+v 0.01075224 -0.06177052 -0.04039039
+v 0.01075224 -0.06309543 -0.03884703
+v 0.00765193 -0.06491826 -0.03722569
+v 0.00765193 -0.06581980 -0.03568234
+v 0.00765193 -0.06632869 -0.03454842
+v 0.04271094 -0.04909192 -0.03454836
+v 0.04201673 -0.04974561 -0.03454836
+v 0.04087075 -0.05025231 -0.03532381
+v 0.04202623 -0.04836807 -0.03640670
+v 0.04318170 -0.04645090 -0.03748959
+v 0.04436570 -0.04456228 -0.03807004
+v 0.03996253 -0.04946702 -0.03738011
+v 0.04379036 -0.04456228 -0.03865798
+v 0.03876901 -0.05130521 -0.03621324
+v 0.03757550 -0.05312146 -0.03504484
+v 0.03528356 -0.05413707 -0.03583828
+v 0.02823656 -0.05922385 -0.03494289
+v 0.02608729 -0.05966914 -0.03601529
+v 0.02315342 -0.05953314 -0.03828458
+v 0.02314866 -0.06113003 -0.03601978
+v 0.02005787 -0.06175958 -0.03715369
+v 0.03407578 -0.05588310 -0.03454839
+v 0.03404725 -0.05590066 -0.03454839
+v 0.02890704 -0.05902423 -0.03454840
+v 0.01848394 -0.06206885 -0.03761716
+v 0.01878352 -0.05907908 -0.04081184
+v 0.01695757 -0.05937958 -0.04108632
+v 0.01385729 -0.06138885 -0.03997344
+v 0.01385729 -0.06273130 -0.03843007
+v 0.01075224 -0.06464408 -0.03679223
+v 0.01075224 -0.06556756 -0.03524887
+v 0.01075224 -0.06587026 -0.03454842
+v 0.03831252 -0.05283629 -0.03454837
+v 0.03780373 -0.05320919 -0.03454838
+v 0.02843153 -0.05929185 -0.03454840
+v 0.02291092 -0.06212151 -0.03454841
+v 0.02211682 -0.06231016 -0.03494889
+v 0.02005787 -0.06271378 -0.03561184
+v 0.01725239 -0.06318757 -0.03638575
+v 0.01394762 -0.06440059 -0.03595380
+v 0.01642026 -0.06238253 -0.03800862
+v 0.01725239 -0.06115635 -0.03909000
+v 0.01297284 -0.06533943 -0.03483791
+v 0.01313928 -0.06541619 -0.03454842
+v 0.02232127 -0.06238254 -0.03454841
+v 0.02005787 -0.06320950 -0.03454841
+v 0.01487963 -0.06497531 -0.03454842
+v 0.01409504 -0.06519465 -0.03454842
+f 1 2 5
+f 1 5 17
+f 1 17 35
+f 1 35 37
+f 1 37 63
+f 1 63 70
+f 1 70 41
+f 1 41 22
+f 1 22 8
+f 1 8 3
+f 1 3 9
+f 1 9 23
+f 1 23 45
+f 1 45 77
+f 1 77 114
+f 1 114 116
+f 1 116 80
+f 1 80 78
+f 1 78 47
+f 1 47 46
+f 1 46 24
+f 1 24 10
+f 1 10 4
+f 1 4 16
+f 1 16 34
+f 1 34 60
+f 1 60 99
+f 1 99 64
+f 1 64 38
+f 1 38 20
+f 1 20 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 7 18
+f 5 18 17
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 18
+f 8 22 43
+f 8 43 73
+f 8 73 72
+f 8 72 108
+f 8 108 135
+f 8 135 147
+f 8 147 151
+f 8 151 150
+f 8 150 149
+f 8 149 148
+f 8 148 139
+f 8 139 138
+f 8 138 127
+f 8 127 126
+f 8 126 125
+f 8 125 137
+f 8 137 136
+f 8 136 110
+f 8 110 109
+f 8 109 74
+f 8 74 44
+f 8 44 23
+f 8 23 9
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 29 14
+f 13 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 17 18 35
+f 18 21 36
+f 18 36 37
+f 18 37 35
+f 20 38 21
+f 21 39 36
+f 21 38 40
+f 21 40 39
+f 22 41 42
+f 22 42 43
+f 23 44 45
+f 24 46 25
+f 25 46 47
+f 25 47 26
+f 26 47 48
+f 26 48 49
+f 26 49 28
+f 26 28 27
+f 28 30 29
+f 28 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 31
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 32 57 33
+f 33 57 56
+f 33 56 58
+f 33 58 34
+f 34 59 60
+f 34 58 59
+f 36 39 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 38 64 65
+f 38 65 66
+f 38 66 67
+f 38 67 40
+f 39 40 68
+f 39 68 61
+f 40 67 66
+f 40 66 69
+f 40 69 68
+f 41 70 62
+f 41 62 42
+f 42 62 61
+f 42 61 71
+f 42 71 72
+f 42 72 73
+f 42 73 43
+f 44 74 45
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 47 78 48
+f 48 79 49
+f 48 78 80
+f 48 80 81
+f 48 81 82
+f 48 82 79
+f 49 79 83
+f 49 83 84
+f 49 84 50
+f 50 84 51
+f 51 53 52
+f 51 84 83
+f 51 83 85
+f 51 85 53
+f 53 86 87
+f 53 87 88
+f 53 88 89
+f 53 89 54
+f 53 85 90
+f 53 90 91
+f 53 91 92
+f 53 92 86
+f 54 89 55
+f 55 89 93
+f 55 93 56
+f 56 88 94
+f 56 94 95
+f 56 95 96
+f 56 96 58
+f 56 93 88
+f 58 96 59
+f 59 97 98
+f 59 98 60
+f 59 96 97
+f 60 98 99
+f 61 68 71
+f 62 70 63
+f 64 99 98
+f 64 98 100
+f 64 100 101
+f 64 101 102
+f 64 102 103
+f 64 103 65
+f 65 104 66
+f 65 103 102
+f 65 102 104
+f 66 104 105
+f 66 105 69
+f 68 69 106
+f 68 106 107
+f 68 107 71
+f 69 105 106
+f 71 107 72
+f 72 107 108
+f 74 109 75
+f 75 109 110
+f 75 110 111
+f 75 111 112
+f 75 112 113
+f 75 113 76
+f 76 113 77
+f 77 113 114
+f 79 82 115
+f 79 115 83
+f 80 116 81
+f 81 116 113
+f 81 113 82
+f 82 113 115
+f 83 115 85
+f 85 115 117
+f 85 117 118
+f 85 118 119
+f 85 119 90
+f 86 92 120
+f 86 120 87
+f 87 120 121
+f 87 121 88
+f 88 122 94
+f 88 93 89
+f 88 121 123
+f 88 123 124
+f 88 124 122
+f 90 119 91
+f 91 119 118
+f 91 118 125
+f 91 125 126
+f 91 126 127
+f 91 127 120
+f 91 120 92
+f 94 122 95
+f 95 128 129
+f 95 129 97
+f 95 97 96
+f 95 122 128
+f 97 129 98
+f 98 129 100
+f 100 130 101
+f 100 129 130
+f 101 130 102
+f 102 130 131
+f 102 131 104
+f 104 131 132
+f 104 132 105
+f 105 133 106
+f 105 132 133
+f 106 133 134
+f 106 134 107
+f 107 134 108
+f 108 134 135
+f 110 136 111
+f 111 136 118
+f 111 118 117
+f 111 117 115
+f 111 115 112
+f 112 115 113
+f 113 116 114
+f 118 136 137
+f 118 137 125
+f 120 127 138
+f 120 138 139
+f 120 139 140
+f 120 140 121
+f 121 140 123
+f 122 124 128
+f 123 140 124
+f 124 140 141
+f 124 141 128
+f 128 141 142
+f 128 142 143
+f 128 143 144
+f 128 144 145
+f 128 145 129
+f 129 145 131
+f 129 131 130
+f 131 145 144
+f 131 144 132
+f 132 144 133
+f 133 144 143
+f 133 143 146
+f 133 146 134
+f 134 146 135
+f 135 146 147
+f 139 148 140
+f 140 148 149
+f 140 149 141
+f 141 149 150
+f 141 150 142
+f 142 150 143
+f 143 150 146
+f 146 150 151
+f 146 151 147
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_20.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.00475133 0.05622627 -0.06385540
+v -0.00475133 0.05589154 -0.06199840
+v -0.00165055 0.05619715 -0.06385540
+v -0.00165055 0.05611166 -0.06585662
+v -0.00475133 0.05610803 -0.06583436
+v -0.00785212 0.05602072 -0.06572307
+v -0.00785212 0.05608800 -0.06385540
+v -0.00952352 0.05578605 -0.06227526
+v -0.00785212 0.05583879 -0.06213549
+v -0.00475133 0.05529120 -0.06045654
+v -0.00165055 0.05526393 -0.06054023
+v -0.00165055 0.05585879 -0.06208208
+v -0.00144449 0.05585333 -0.06209812
+v -0.00144449 0.05618441 -0.06385005
+v -0.00144449 0.05618626 -0.06398181
+v -0.00144449 0.05610620 -0.06585128
+v -0.00144449 0.05598616 -0.06589845
+v -0.00144449 0.05422156 -0.06646108
+v -0.00165055 0.05422156 -0.06645929
+v -0.00475133 0.05422156 -0.06638274
+v -0.00785212 0.05422156 -0.06625454
+v -0.01018751 0.05589155 -0.06555749
+v -0.01715446 0.05353393 -0.06601506
+v -0.01008284 0.05587153 -0.06385540
+v -0.00829694 0.05390319 -0.05736750
+v -0.00785212 0.05394320 -0.05736750
+v -0.00785212 0.05523483 -0.06059363
+v -0.01163323 0.05561866 -0.06385541
+v -0.01405368 0.05512567 -0.06385541
+v -0.01715446 0.05393231 -0.06076991
+v -0.01405368 0.05455445 -0.06076991
+v -0.01071413 0.05515841 -0.06105656
+v -0.01095289 0.05366122 -0.05736750
+v -0.00475133 0.05405054 -0.05736750
+v -0.00165055 0.05400142 -0.05736750
+v -0.00144449 0.05532395 -0.06072807
+v -0.00144449 0.05407238 -0.06643614
+v -0.03485965 0.04282274 -0.06557623
+v -0.03275978 0.04490567 -0.06568842
+v -0.02645354 0.05033767 -0.06583794
+v -0.02025197 0.05317920 -0.06584949
+v -0.02235841 0.05286448 -0.06559579
+v -0.02025197 0.05370856 -0.06385541
+v -0.01715446 0.05447260 -0.06385541
+v -0.02239439 0.05286810 -0.06179189
+v -0.02014729 0.05315370 -0.06076546
+v -0.01904176 0.05276804 -0.05899037
+v -0.01715446 0.05299361 -0.05844111
+v -0.01407984 0.05318644 -0.05736750
+v -0.01399481 0.05320099 -0.05736750
+v -0.01131923 0.05361031 -0.05736750
+v -0.00144449 0.05398503 -0.05736750
+v -0.00144449 0.05210954 -0.06600797
+v -0.03485965 0.04127464 -0.06406021
+v -0.03485965 0.04479834 -0.06563142
+v -0.03265510 0.04699770 -0.06565902
+v -0.02857631 0.04987015 -0.06564209
+v -0.02421625 0.05232237 -0.06385542
+v -0.02266588 0.05296451 -0.06385542
+v -0.02903425 0.05011936 -0.06385543
+v -0.02645354 0.05132183 -0.06385542
+v -0.02110894 0.05246787 -0.05973459
+v -0.02880529 0.05000112 -0.06136993
+v -0.02671193 0.05062508 -0.06051264
+v -0.02339855 0.05210406 -0.06076547
+v -0.02016365 0.05178933 -0.05736751
+v -0.01715446 0.05255155 -0.05736751
+v -0.00144449 0.04861672 -0.05736752
+v -0.00144449 0.05202584 -0.06585840
+v -0.03485965 0.03964649 -0.06166375
+v -0.03485965 0.04012128 -0.06244624
+v -0.03485965 0.04576614 -0.06553261
+v -0.03433304 0.04655564 -0.06546851
+v -0.03460781 0.04673937 -0.06385544
+v -0.03461435 0.04674301 -0.06179904
+v -0.02332004 0.05071966 -0.05736751
+v -0.02972440 0.04906424 -0.06051265
+v -0.02791889 0.04952631 -0.05931263
+v -0.02546900 0.04983556 -0.05736752
+v -0.00144449 0.04852759 -0.05745296
+v -0.00145103 0.04849301 -0.05736752
+v -0.00144449 0.05095981 -0.06385542
+v -0.03485965 0.03909164 -0.06062752
+v -0.03485965 0.04626821 -0.06500559
+v -0.03485965 0.04654836 -0.06385544
+v -0.03485965 0.04644467 -0.06156578
+v -0.03485965 0.04416161 -0.05736754
+v -0.03269762 0.04558418 -0.05736753
+v -0.02962955 0.04753796 -0.05736753
+v -0.02732032 0.04891143 -0.05736752
+v -0.02704883 0.04906059 -0.05736752
+v -0.02567508 0.04973732 -0.05736752
+v -0.00144449 0.04937532 -0.05973727
+v -0.03485965 0.03764356 -0.05737644
+v -0.03481060 0.03768178 -0.05736756
+v -0.03485965 0.03777273 -0.05768270
+v -0.03485965 0.03882785 -0.06008627
+v -0.03485965 0.03772361 -0.05736756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 10
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 22 7
+f 6 21 23
+f 6 23 22
+f 7 22 24
+f 7 24 8
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 8 24 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 25
+f 9 27 10
+f 10 34 35
+f 10 35 11
+f 10 27 26
+f 10 26 34
+f 11 35 36
+f 11 36 13
+f 11 13 12
+f 13 36 52
+f 13 52 68
+f 13 68 80
+f 13 80 93
+f 13 93 82
+f 13 82 69
+f 13 69 53
+f 13 53 37
+f 13 37 18
+f 13 18 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 18 37 38
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 23 21
+f 20 39 40
+f 20 40 23
+f 22 29 28
+f 22 28 24
+f 22 23 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 29
+f 23 40 41
+f 25 33 51
+f 25 51 50
+f 25 50 49
+f 25 49 67
+f 25 67 66
+f 25 66 76
+f 25 76 79
+f 25 79 92
+f 25 92 91
+f 25 91 90
+f 25 90 89
+f 25 89 88
+f 25 88 87
+f 25 87 98
+f 25 98 95
+f 25 95 81
+f 25 81 68
+f 25 68 52
+f 25 52 35
+f 25 35 34
+f 25 34 26
+f 29 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 50 51
+f 31 51 32
+f 31 49 50
+f 32 51 33
+f 35 52 36
+f 37 53 38
+f 38 54 71
+f 38 71 70
+f 38 70 83
+f 38 83 97
+f 38 97 96
+f 38 96 94
+f 38 94 98
+f 38 98 87
+f 38 87 86
+f 38 86 85
+f 38 85 84
+f 38 84 72
+f 38 72 55
+f 38 55 39
+f 38 53 54
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 42
+f 42 58 59
+f 42 59 43
+f 42 57 60
+f 42 60 61
+f 42 61 58
+f 43 59 45
+f 43 45 44
+f 45 62 46
+f 45 59 58
+f 45 58 63
+f 45 63 64
+f 45 64 65
+f 45 65 62
+f 46 62 47
+f 47 62 66
+f 47 66 67
+f 47 67 48
+f 48 67 49
+f 53 69 70
+f 53 70 71
+f 53 71 54
+f 55 72 56
+f 56 72 73
+f 56 73 57
+f 57 73 60
+f 58 61 63
+f 60 63 61
+f 60 73 74
+f 60 74 75
+f 60 75 63
+f 62 65 76
+f 62 76 66
+f 63 75 77
+f 63 77 78
+f 63 78 64
+f 64 78 79
+f 64 79 65
+f 65 79 76
+f 68 81 80
+f 69 82 83
+f 69 83 70
+f 72 84 73
+f 73 84 85
+f 73 85 74
+f 74 85 75
+f 75 85 86
+f 75 86 87
+f 75 87 88
+f 75 88 89
+f 75 89 77
+f 77 89 90
+f 77 90 78
+f 78 90 91
+f 78 91 92
+f 78 92 79
+f 80 81 93
+f 81 94 93
+f 81 95 94
+f 82 93 94
+f 82 94 96
+f 82 96 97
+f 82 97 83
+f 94 95 98
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_21.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 0.05618741 -0.06398217
+v 0.00145087 0.05602810 -0.06576926
+v -0.00144449 0.05610428 -0.06585117
+v -0.00144449 0.05618278 -0.06385000
+v 0.00377302 0.05589418 -0.06476309
+v 0.00377302 0.05589418 -0.06558868
+v 0.01075616 0.05361304 -0.06636218
+v 0.00765161 0.05395936 -0.06636776
+v -0.00144449 0.05598421 -0.06589863
+v -0.00144449 0.05585262 -0.06209924
+v 0.00019985 0.05580411 -0.06222582
+v 0.00132115 0.05599576 -0.06378299
+v 0.00226675 0.05568637 -0.06270611
+v 0.00470606 0.05552015 -0.06378300
+v 0.00765161 0.05493832 -0.06385468
+v 0.01075616 0.05418793 -0.06385468
+v 0.01579792 0.05282570 -0.06564549
+v 0.01385654 0.05316049 -0.06602896
+v 0.01688159 0.05127187 -0.06636870
+v 0.01385654 0.05111949 -0.06681825
+v 0.00145087 0.05422027 -0.06648222
+v -0.00144449 0.05422027 -0.06646082
+v -0.00144449 0.05532388 -0.06072822
+v 0.00145087 0.05375384 -0.05738583
+v 0.00132115 0.05520612 -0.06102699
+v -0.00144449 0.05399165 -0.05738583
+v 0.00455124 0.05464738 -0.06077010
+v 0.00765161 0.05403322 -0.06077010
+v 0.01074362 0.05321358 -0.06070124
+v 0.01297789 0.05290651 -0.06168505
+v 0.01394857 0.05320205 -0.06381465
+v 0.01579792 0.05282570 -0.06481617
+v 0.02209489 0.04984730 -0.06578882
+v 0.02005309 0.05035525 -0.06622816
+v 0.02313673 0.04813874 -0.06644594
+v 0.02005309 0.04801871 -0.06686293
+v 0.03855071 0.03260252 -0.06689371
+v -0.00144449 0.05407249 -0.06643570
+v 0.00472279 0.05328746 -0.05738583
+v -0.00144449 0.04850121 -0.05738585
+v 0.00474371 0.05329900 -0.05742492
+v 0.00691103 0.05287417 -0.05738584
+v 0.00765161 0.05271718 -0.05738584
+v 0.00970178 0.05280952 -0.05886669
+v 0.01074362 0.05196449 -0.05738584
+v 0.01176871 0.05251863 -0.05962711
+v 0.01385236 0.05098091 -0.05738584
+v 0.01394857 0.05218614 -0.06070125
+v 0.01504480 0.05254171 -0.06275916
+v 0.01688159 0.05209380 -0.06381466
+v 0.02030413 0.05047761 -0.06363129
+v 0.02209489 0.04984730 -0.06451088
+v 0.02788144 0.04652256 -0.06548913
+v 0.02625384 0.04704666 -0.06600293
+v 0.02909062 0.04480248 -0.06613975
+v 0.02625384 0.04491793 -0.06687879
+v 0.02935420 0.04181714 -0.06688996
+v 0.03865532 0.03260252 -0.06688718
+v 0.03615326 0.03260251 -0.06612769
+v -0.00144449 0.05210766 -0.06600756
+v -0.00144449 0.04931856 -0.05958432
+v 0.03472232 0.03260251 -0.06421775
+v 0.03469303 0.03260251 -0.06416004
+v 0.03331649 0.03260249 -0.06077018
+v 0.03219097 0.03260248 -0.05791644
+v 0.03201107 0.03260248 -0.05738591
+v 0.00830014 0.05256247 -0.05738584
+v 0.01658453 0.04992808 -0.05738585
+v 0.01695691 0.05102942 -0.06077011
+v 0.01931671 0.04996966 -0.06077012
+v 0.02150914 0.04952175 -0.06245389
+v 0.02313673 0.04897224 -0.06363130
+v 0.02632078 0.04717135 -0.06405295
+v 0.02788144 0.04652256 -0.06521364
+v 0.03128723 0.04369421 -0.06580280
+v 0.03237508 0.04176864 -0.06635663
+v 0.03550891 0.03866093 -0.06638735
+v 0.03858418 0.03546085 -0.06628312
+v 0.04098582 0.03260251 -0.06619193
+v -0.00144449 0.04937628 -0.05973790
+v -0.00144449 0.05095785 -0.06385469
+v -0.00144449 0.05202455 -0.06585771
+v 0.03870552 0.03260248 -0.05738591
+v 0.01735858 0.04960022 -0.05738585
+v 0.01796526 0.04934164 -0.05738585
+v 0.01865144 0.04963948 -0.05903330
+v 0.01988573 0.04842272 -0.05738585
+v 0.02252166 0.04700740 -0.05738586
+v 0.02343798 0.04765388 -0.06049460
+v 0.02532916 0.04687119 -0.06133976
+v 0.02739608 0.04619237 -0.06315661
+v 0.02936257 0.04494099 -0.06382957
+v 0.03128723 0.04369421 -0.06450253
+v 0.03444617 0.04070195 -0.06588287
+v 0.03750053 0.03759193 -0.06586706
+v 0.04040843 0.03432491 -0.06568557
+v 0.04102766 0.03260251 -0.06616493
+v 0.04011136 0.03260249 -0.06077018
+v 0.04004441 0.03384697 -0.06275550
+v 0.03733734 0.03434565 -0.05738590
+v 0.02405722 0.04609077 -0.05738586
+v 0.02641283 0.04449074 -0.05738587
+v 0.02632078 0.04584606 -0.06049461
+v 0.02788560 0.04343560 -0.05738587
+v 0.02881865 0.04415828 -0.06077014
+v 0.03083954 0.04331555 -0.06244554
+v 0.03237508 0.04238278 -0.06362667
+v 0.03437088 0.04062575 -0.06385473
+v 0.03741266 0.03749725 -0.06385474
+v 0.04040843 0.03432491 -0.06481251
+v 0.03591896 0.03904881 -0.06385474
+v 0.04129963 0.03260250 -0.06381473
+v 0.04118666 0.03260250 -0.06352340
+v 0.03911556 0.03546084 -0.06381285
+v 0.03711978 0.03718326 -0.06228081
+v 0.03622858 0.03560167 -0.05738590
+v 0.02915336 0.04241510 -0.05738587
+v 0.02928726 0.04230657 -0.05738587
+v 0.03116172 0.04073194 -0.05738588
+v 0.03404869 0.04031173 -0.06221936
+v 0.03621602 0.03561553 -0.05738590
+v 0.03441271 0.03758728 -0.05738589
+v 0.03128723 0.04061420 -0.05738588
+v 0.03284786 0.03913882 -0.05738589
+v 0.03424535 0.03775814 -0.05738589
+f 1 2 3
+f 1 3 9
+f 1 9 22
+f 1 22 38
+f 1 38 60
+f 1 60 82
+f 1 82 81
+f 1 81 80
+f 1 80 61
+f 1 61 40
+f 1 40 26
+f 1 26 23
+f 1 23 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 9
+f 9 21 22
+f 10 23 11
+f 11 24 25
+f 11 25 13
+f 11 13 12
+f 11 23 26
+f 11 26 24
+f 13 27 28
+f 13 28 14
+f 13 25 27
+f 14 28 15
+f 15 28 16
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 16 28 29
+f 17 32 52
+f 17 52 33
+f 17 33 34
+f 17 34 18
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 22
+f 20 22 21
+f 22 37 38
+f 24 26 40
+f 24 40 66
+f 24 66 83
+f 24 83 100
+f 24 100 116
+f 24 116 121
+f 24 121 122
+f 24 122 125
+f 24 125 124
+f 24 124 123
+f 24 123 119
+f 24 119 118
+f 24 118 117
+f 24 117 104
+f 24 104 102
+f 24 102 101
+f 24 101 88
+f 24 88 87
+f 24 87 85
+f 24 85 84
+f 24 84 68
+f 24 68 47
+f 24 47 45
+f 24 45 67
+f 24 67 43
+f 24 43 42
+f 24 42 39
+f 24 39 27
+f 24 27 25
+f 27 39 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 30 46 47
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 33 52 74
+f 33 74 53
+f 33 53 54
+f 33 54 34
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 79
+f 37 79 97
+f 37 97 112
+f 37 112 113
+f 37 113 98
+f 37 98 83
+f 37 83 66
+f 37 66 65
+f 37 65 64
+f 37 64 63
+f 37 63 62
+f 37 62 59
+f 37 59 60
+f 37 60 38
+f 39 42 41
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 43 67 44
+f 44 67 45
+f 45 47 46
+f 47 49 48
+f 47 68 49
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 50 70 51
+f 51 70 71
+f 51 71 52
+f 52 72 73
+f 52 73 74
+f 52 71 72
+f 53 74 93
+f 53 93 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 57
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 59 62 80
+f 59 80 81
+f 59 81 82
+f 59 82 60
+f 61 80 62
+f 68 84 69
+f 69 84 85
+f 69 85 86
+f 69 86 70
+f 70 87 71
+f 70 86 87
+f 71 87 88
+f 71 88 89
+f 71 89 90
+f 71 90 72
+f 72 90 73
+f 73 90 91
+f 73 91 74
+f 74 91 92
+f 74 92 93
+f 75 93 94
+f 75 94 76
+f 76 94 77
+f 77 94 95
+f 77 95 78
+f 78 95 96
+f 78 96 97
+f 78 97 79
+f 83 98 99
+f 83 99 100
+f 85 87 86
+f 88 101 90
+f 88 90 89
+f 90 102 103
+f 90 103 91
+f 90 101 102
+f 91 104 105
+f 91 105 106
+f 91 106 92
+f 91 103 102
+f 91 102 104
+f 92 106 93
+f 93 106 107
+f 93 107 108
+f 93 108 94
+f 94 108 95
+f 95 109 110
+f 95 110 96
+f 95 108 111
+f 95 111 109
+f 96 110 112
+f 96 112 97
+f 98 113 99
+f 99 113 112
+f 99 112 110
+f 99 110 114
+f 99 114 115
+f 99 115 100
+f 100 115 116
+f 104 117 106
+f 104 106 105
+f 106 117 118
+f 106 118 119
+f 106 119 120
+f 106 120 107
+f 107 120 108
+f 108 120 111
+f 109 111 115
+f 109 115 114
+f 109 114 110
+f 111 120 115
+f 115 121 116
+f 115 120 122
+f 115 122 121
+f 119 123 120
+f 120 124 125
+f 120 125 122
+f 120 123 124
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_22.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.04418208 -0.03970225 -0.03454833
+v 0.05491474 -0.02090601 -0.03454826
+v 0.05104364 -0.03970225 -0.03454833
+v 0.07684794 -0.03970260 0.05957800
+v 0.08359943 -0.02090636 0.05876432
+v 0.08348935 -0.02090635 0.05844461
+v 0.06063886 -0.02090601 -0.03454826
+v 0.05274986 -0.03746105 -0.03454832
+v 0.05178210 -0.03970226 -0.03324050
+v 0.07737082 -0.03970260 0.06103118
+v 0.08400764 -0.02090636 0.05991716
+v 0.08388382 -0.02090636 0.05956838
+v 0.06116172 -0.02090602 -0.03350199
+v 0.06026274 -0.02212966 -0.03454826
+v 0.05287829 -0.03725313 -0.03454832
+v 0.05542386 -0.03365398 -0.03387017
+v 0.05469919 -0.03556027 -0.03290141
+v 0.05310762 -0.03799836 -0.03298860
+v 0.05202518 -0.03954769 -0.03298861
+v 0.05191969 -0.03970226 -0.03297893
+v 0.07784323 -0.03970261 0.06180620
+v 0.08348018 -0.02441904 0.06137030
+v 0.08382418 -0.02235264 0.06058560
+v 0.08570927 -0.02090637 0.06279441
+v 0.06135894 -0.02090602 -0.03307573
+v 0.05931790 -0.02496335 -0.03454827
+v 0.05466248 -0.03426119 -0.03454831
+v 0.05521289 -0.03333563 -0.03454830
+v 0.05609351 -0.03181206 -0.03454830
+v 0.05641458 -0.03261802 -0.03290140
+v 0.05586416 -0.03442312 -0.03181638
+v 0.05527709 -0.03654839 -0.02990789
+v 0.05294251 -0.03970227 -0.03064418
+v 0.05213527 -0.03970226 -0.03251391
+v 0.07840279 -0.03970261 0.06253279
+v 0.08615876 -0.02090637 0.06332724
+v 0.06165250 -0.02090602 -0.03235885
+v 0.06058381 -0.02331098 -0.03298855
+v 0.05909316 -0.02554111 -0.03454827
+v 0.05941422 -0.02639309 -0.03294981
+v 0.05646044 -0.03110548 -0.03454829
+v 0.05804282 -0.02944022 -0.03294982
+v 0.05851066 -0.03042283 -0.03055693
+v 0.05778138 -0.03235122 -0.02967535
+v 0.08672292 -0.03728476 0.06110868
+v 0.05619900 -0.03499723 -0.02990789
+v 0.05364884 -0.03900488 -0.02999508
+v 0.05560274 -0.03708204 -0.02801878
+v 0.05332321 -0.03970227 -0.02959790
+v 0.07876513 -0.03970261 0.06295904
+v 0.08669999 -0.02169208 0.06421851
+v 0.08694307 -0.02090638 0.06413133
+v 0.06229460 -0.02090603 -0.03060535
+v 0.06184970 -0.02159973 -0.03129319
+v 0.06156076 -0.02347843 -0.03012098
+v 0.05837306 -0.02711989 -0.03454828
+v 0.05857487 -0.02741432 -0.03395734
+v 0.06049208 -0.02641149 -0.02990786
+v 0.05899223 -0.02835827 -0.03189386
+v 0.05797861 -0.02797001 -0.03454828
+v 0.05926285 -0.02944023 -0.02967534
+v 0.05885923 -0.03114414 -0.02850315
+v 0.08989228 -0.02817827 0.06101184
+v 0.08672292 -0.03728476 0.06114742
+v 0.08498459 -0.03970261 0.06173837
+v 0.08485158 -0.03970260 0.06042085
+v 0.06180385 -0.02462480 -0.02809624
+v 0.06219828 -0.02255657 -0.02923938
+v 0.08020992 -0.03970262 0.06435409
+v 0.08021910 -0.03966397 0.06435409
+v 0.08805763 -0.02090638 0.06430571
+v 0.08775949 -0.02090638 0.06426696
+v 0.08651194 -0.02331134 0.06431539
+v 0.06251018 -0.02090603 -0.02992722
+v 0.09016286 -0.02641182 0.06068247
+v 0.09103433 -0.02090637 0.06212596
+v 0.08989228 -0.02817828 0.06135092
+v 0.08700271 -0.03571519 0.06179653
+v 0.08491579 -0.03970261 0.06243589
+v 0.08126024 -0.03970262 0.06440252
+v 0.08616335 -0.02641184 0.06442195
+v 0.08964917 -0.02090638 0.06431540
+v 0.09087840 -0.02090636 0.06019810
+v 0.09061694 -0.02331132 0.06026590
+v 0.09100681 -0.02090637 0.06271691
+v 0.09016286 -0.02641183 0.06196125
+v 0.08637433 -0.03369114 0.06405378
+v 0.08375080 -0.03970262 0.06427658
+v 0.08198035 -0.03970262 0.06439283
+v 0.08435622 -0.03571520 0.06440254
+v 0.08755769 -0.02641184 0.06442195
+v 0.08997942 -0.02090638 0.06429603
+v 0.09050687 -0.02330765 0.06289129
+v 0.08990144 -0.02227171 0.06425728
+v 0.08951156 -0.02433992 0.06407319
+v 0.08685133 -0.03162474 0.06428628
+v 0.08386546 -0.03881572 0.06432503
+v 0.08328296 -0.03970262 0.06434439
+v 0.08710819 -0.02951419 0.06437349
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 39
+f 1 39 56
+f 1 56 60
+f 1 60 41
+f 1 41 29
+f 1 29 28
+f 1 28 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 34
+f 1 34 33
+f 1 33 49
+f 1 49 66
+f 1 66 65
+f 1 65 79
+f 1 79 88
+f 1 88 98
+f 1 98 89
+f 1 89 80
+f 1 80 69
+f 1 69 50
+f 1 50 35
+f 1 35 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 12
+f 2 12 11
+f 2 11 24
+f 2 24 36
+f 2 36 52
+f 2 52 72
+f 2 72 71
+f 2 71 82
+f 2 82 92
+f 2 92 85
+f 2 85 76
+f 2 76 83
+f 2 83 74
+f 2 74 53
+f 2 53 37
+f 2 37 25
+f 2 25 13
+f 2 13 7
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 13 25 26
+f 13 26 14
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 21 35 24
+f 21 24 22
+f 22 24 23
+f 24 35 36
+f 25 37 38
+f 25 38 26
+f 26 38 40
+f 26 40 39
+f 29 41 30
+f 30 42 43
+f 30 43 31
+f 30 41 42
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 47 33
+f 32 46 45
+f 32 45 48
+f 32 48 47
+f 33 47 49
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 40
+f 39 40 57
+f 39 57 56
+f 40 55 58
+f 40 58 59
+f 40 59 57
+f 41 60 57
+f 41 57 42
+f 42 59 43
+f 42 57 59
+f 43 59 61
+f 43 61 45
+f 43 45 62
+f 43 62 44
+f 44 62 45
+f 45 63 77
+f 45 77 64
+f 45 64 65
+f 45 65 66
+f 45 66 49
+f 45 49 47
+f 45 47 48
+f 45 61 59
+f 45 59 58
+f 45 58 67
+f 45 67 55
+f 45 55 68
+f 45 68 63
+f 50 69 70
+f 50 70 51
+f 51 71 72
+f 51 72 52
+f 51 70 73
+f 51 73 71
+f 53 74 75
+f 53 75 63
+f 53 63 54
+f 54 63 68
+f 54 68 55
+f 55 67 58
+f 56 57 60
+f 63 75 76
+f 63 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 69 80 70
+f 70 80 81
+f 70 81 73
+f 71 73 81
+f 71 81 82
+f 74 83 84
+f 74 84 75
+f 75 84 76
+f 76 85 86
+f 76 86 77
+f 76 84 83
+f 77 86 78
+f 78 86 87
+f 78 87 88
+f 78 88 79
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 82
+f 82 91 92
+f 85 93 86
+f 85 92 94
+f 85 94 93
+f 86 93 95
+f 86 95 87
+f 87 95 96
+f 87 96 88
+f 88 96 97
+f 88 97 98
+f 89 98 90
+f 90 98 97
+f 90 97 99
+f 90 99 91
+f 91 99 92
+f 92 99 94
+f 93 94 95
+f 94 99 96
+f 94 96 95
+f 96 99 97
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_23.obj

@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.02669756 0.03212057 -0.04673666
+v -0.00144449 0.03519300 -0.04929081
+v 0.01317474 0.03212058 -0.04929082
+v 0.02669756 0.03212058 -0.04929082
+v 0.02669756 0.05612851 -0.03088941
+v -0.00144449 0.05214698 -0.04929075
+v -0.00144449 0.06314769 -0.03088939
+v 0.02669756 0.04306910 -0.04929078
+v 0.02669756 0.05887000 -0.03088940
+v 0.00145070 0.05204598 -0.04929075
+v -0.00144449 0.05866106 -0.04362945
+v -0.00144449 0.06770406 -0.03088937
+v 0.02620448 0.04402705 -0.04929078
+v 0.02669756 0.05174638 -0.04356825
+v 0.02669756 0.06135719 -0.03089838
+v 0.02668656 0.06136416 -0.03088939
+v 0.00455250 0.05183696 -0.04929075
+v 0.00145070 0.05860532 -0.04358262
+v -0.00144449 0.06038187 -0.04208762
+v -0.00123514 0.06769708 -0.03088937
+v -0.00144449 0.06686806 -0.03299679
+v 0.02568935 0.04439282 -0.04929078
+v 0.02625407 0.05218181 -0.04344395
+v 0.02669756 0.05202855 -0.04336291
+v 0.02669756 0.06058736 -0.03276447
+v 0.02482711 0.06202951 -0.03158466
+v 0.02509984 0.06215491 -0.03088939
+v 0.00765431 0.05148862 -0.04929075
+v 0.00455250 0.05847642 -0.04347455
+v 0.00145070 0.06031917 -0.04204077
+v 0.00455250 0.06019376 -0.04193090
+v -0.00144449 0.06183099 -0.04076189
+v 0.00145070 0.06758562 -0.03088937
+v 0.00145070 0.06673915 -0.03299679
+v -0.00144449 0.06565232 -0.03558336
+v 0.02023504 0.04741298 -0.04929077
+v 0.02463430 0.05263814 -0.04377357
+v 0.02615214 0.05431369 -0.04176160
+v 0.02669756 0.05412557 -0.04166434
+v 0.02669756 0.06028777 -0.03343273
+v 0.02601715 0.06092525 -0.03276626
+v 0.02372249 0.06156275 -0.03364165
+v 0.02165647 0.06199469 -0.03457829
+v 0.02287403 0.06230122 -0.03276625
+v 0.02305860 0.06295611 -0.03088939
+v 0.02413294 0.06255551 -0.03088939
+v 0.01087729 0.05085462 -0.04929075
+v 0.00765431 0.05826741 -0.04330343
+v 0.01075334 0.05974438 -0.04152744
+v 0.01075334 0.05799570 -0.04306928
+v 0.00765431 0.06000218 -0.04175978
+v 0.00145070 0.06186932 -0.04059978
+v 0.00455250 0.06174389 -0.04045748
+v -0.00144449 0.06193201 -0.04066643
+v 0.00206501 0.06754033 -0.03088937
+v 0.00455250 0.06649879 -0.03299680
+v 0.00145070 0.06556872 -0.03543385
+v -0.00144449 0.06559658 -0.03568602
+v 0.01975296 0.04766378 -0.04929076
+v 0.02005322 0.05514623 -0.04332147
+v 0.02342222 0.05416041 -0.04297923
+v 0.02505025 0.05594047 -0.04087359
+v 0.02669756 0.05493025 -0.04095466
+v 0.02669756 0.05922185 -0.03551493
+v 0.02597034 0.05934029 -0.03591302
+v 0.02005322 0.06135024 -0.03659928
+v 0.02005322 0.06226988 -0.03505561
+v 0.02005322 0.06323479 -0.03299681
+v 0.02474999 0.05889442 -0.03765480
+v 0.02102564 0.06370504 -0.03088939
+v 0.01385238 0.05766477 -0.04278109
+v 0.01575313 0.05587428 -0.04387263
+v 0.01781916 0.05555728 -0.04363668
+v 0.00765431 0.06155578 -0.04024315
+v 0.01075334 0.06129453 -0.03994053
+v 0.01385238 0.05941695 -0.04123743
+v -0.00144449 0.06313726 -0.03922725
+v 0.00145070 0.06313726 -0.03905793
+v 0.00455250 0.06299446 -0.03891744
+v 0.00461587 0.06729649 -0.03088937
+v 0.00765431 0.06614000 -0.03299680
+v 0.00765431 0.06526915 -0.03489709
+v 0.00455250 0.06543983 -0.03520150
+v 0.00145070 0.06468740 -0.03697750
+v -0.00144449 0.06477102 -0.03712702
+v 0.02005322 0.05696110 -0.04177781
+v 0.02315226 0.05635847 -0.04124824
+v 0.02669756 0.05603103 -0.03985589
+v 0.02005322 0.05851126 -0.04031882
+v 0.02315226 0.05790862 -0.03961634
+v 0.02593176 0.05715618 -0.03899312
+v 0.02669756 0.05850774 -0.03669836
+v 0.02315226 0.05922186 -0.03807266
+v 0.01768968 0.06173343 -0.03724771
+v 0.01677512 0.06263216 -0.03616338
+v 0.01680268 0.06432859 -0.03279326
+v 0.01777508 0.06483369 -0.03088938
+v 0.02002568 0.06406733 -0.03088938
+v 0.02669756 0.05820469 -0.03712165
+v 0.02669756 0.05692628 -0.03879859
+v 0.01625173 0.05911737 -0.04095464
+v 0.01703682 0.05734431 -0.04229657
+v 0.01831776 0.05881780 -0.04065024
+v 0.00765431 0.06280635 -0.03870131
+v 0.01075334 0.06255554 -0.03839689
+v 0.01385238 0.06224202 -0.03798620
+v 0.01385238 0.06096709 -0.03952807
+v -0.00144449 0.06322087 -0.03912458
+v -0.00144449 0.06467000 -0.03726391
+v 0.00455250 0.06454458 -0.03674515
+v 0.00572326 0.06716761 -0.03088937
+v 0.00765431 0.06691332 -0.03088937
+v 0.01072304 0.06642912 -0.03088938
+v 0.01065418 0.06560354 -0.03313369
+v 0.00955504 0.06513677 -0.03465572
+v 0.00765431 0.06435648 -0.03643895
+v 0.02005322 0.05980011 -0.03877875
+v 0.01562090 0.06203650 -0.03771062
+v 0.01385238 0.06340898 -0.03608232
+v 0.01385238 0.06469087 -0.03368669
+v 0.01566774 0.06514721 -0.03162787
+v 0.01771723 0.06485111 -0.03088938
+v 0.01697072 0.06042715 -0.03918042
+v 0.01065418 0.06421715 -0.03584274
+v 0.01211418 0.06616437 -0.03088938
+v 0.01385238 0.06536318 -0.03214302
+v 0.01162384 0.06493125 -0.03425406
+v 0.01488815 0.06558959 -0.03088938
+v 0.01614154 0.06527608 -0.03088938
+v 0.01385238 0.06581950 -0.03088938
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
+f 1 24 39
+f 1 39 63
+f 1 63 88
+f 1 88 100
+f 1 100 99
+f 1 99 92
+f 1 92 64
+f 1 64 40
+f 1 40 25
+f 1 25 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 6 10
+f 2 10 17
+f 2 17 28
+f 2 28 47
+f 2 47 59
+f 2 59 36
+f 2 36 22
+f 2 22 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 2 5 7
+f 2 7 12
+f 2 12 21
+f 2 21 35
+f 2 35 58
+f 2 58 85
+f 2 85 109
+f 2 109 108
+f 2 108 77
+f 2 77 54
+f 2 54 32
+f 2 32 19
+f 2 19 11
+f 2 11 6
+f 5 9 16
+f 5 16 27
+f 5 27 46
+f 5 46 45
+f 5 45 70
+f 5 70 98
+f 5 98 97
+f 5 97 122
+f 5 122 129
+f 5 129 128
+f 5 128 130
+f 5 130 125
+f 5 125 113
+f 5 113 112
+f 5 112 111
+f 5 111 80
+f 5 80 55
+f 5 55 33
+f 5 33 20
+f 5 20 12
+f 5 12 7
+f 6 11 10
+f 8 13 14
+f 9 15 16
+f 10 11 18
+f 10 18 17
+f 11 19 18
+f 12 20 21
+f 13 22 14
+f 14 23 24
+f 14 22 23
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 17 18 29
+f 17 29 28
+f 18 19 30
+f 18 30 31
+f 18 31 29
+f 19 32 30
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 28 29 48
+f 28 48 49
+f 28 49 50
+f 28 50 47
+f 29 31 51
+f 29 51 48
+f 30 32 52
+f 30 52 31
+f 31 52 53
+f 31 53 51
+f 32 54 52
+f 33 55 34
+f 34 56 57
+f 34 57 35
+f 34 55 56
+f 35 57 58
+f 36 59 37
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 37 59 60
+f 38 62 39
+f 39 62 63
+f 40 64 42
+f 40 42 41
+f 42 64 65
+f 42 65 43
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 43 65 69
+f 43 69 66
+f 44 68 70
+f 44 70 45
+f 47 50 71
+f 47 71 72
+f 47 72 73
+f 47 73 59
+f 48 51 49
+f 49 51 74
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 50 76 71
+f 51 53 74
+f 52 54 77
+f 52 77 78
+f 52 78 53
+f 53 78 79
+f 53 79 74
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 84
+f 57 84 58
+f 58 84 85
+f 59 73 60
+f 60 73 86
+f 60 86 87
+f 60 87 61
+f 61 87 62
+f 62 88 63
+f 62 87 89
+f 62 89 90
+f 62 90 69
+f 62 69 91
+f 62 91 88
+f 64 92 69
+f 64 69 65
+f 66 93 94
+f 66 94 67
+f 66 69 93
+f 67 94 95
+f 67 95 96
+f 67 96 68
+f 68 96 97
+f 68 97 98
+f 68 98 70
+f 69 92 99
+f 69 99 100
+f 69 100 91
+f 69 90 93
+f 71 76 101
+f 71 101 72
+f 72 101 102
+f 72 102 73
+f 73 102 103
+f 73 103 86
+f 74 79 104
+f 74 104 105
+f 74 105 75
+f 75 105 106
+f 75 106 107
+f 75 107 76
+f 76 107 101
+f 77 108 78
+f 78 108 109
+f 78 109 84
+f 78 84 79
+f 79 84 110
+f 79 110 104
+f 80 111 81
+f 81 111 112
+f 81 112 113
+f 81 113 114
+f 81 114 115
+f 81 115 82
+f 82 115 116
+f 82 116 110
+f 82 110 83
+f 83 110 84
+f 84 109 85
+f 86 103 87
+f 87 103 89
+f 88 91 100
+f 89 103 117
+f 89 117 93
+f 89 93 90
+f 93 117 94
+f 94 118 95
+f 94 117 118
+f 95 119 120
+f 95 120 96
+f 95 118 119
+f 96 120 121
+f 96 121 122
+f 96 122 97
+f 101 103 102
+f 101 107 118
+f 101 118 123
+f 101 123 103
+f 103 123 117
+f 104 110 116
+f 104 116 105
+f 105 116 124
+f 105 124 106
+f 106 118 107
+f 106 124 119
+f 106 119 118
+f 113 125 114
+f 114 126 127
+f 114 127 115
+f 114 125 126
+f 115 127 119
+f 115 119 124
+f 115 124 116
+f 117 123 118
+f 119 127 120
+f 120 127 126
+f 120 126 121
+f 121 126 128
+f 121 128 129
+f 121 129 122
+f 125 130 126
+f 126 130 128
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_24.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.02669756 0.06135748 -0.03089838
+v 0.02669756 0.06058765 -0.03276447
+v 0.02669756 0.05887051 -0.03088940
+v 0.02778181 0.06081659 -0.03088940
+v 0.02919827 0.05933986 -0.03275365
+v 0.02669756 0.06028716 -0.03343273
+v 0.02805966 0.05900504 -0.03477103
+v 0.02669756 0.05612884 -0.03088941
+v 0.03032780 0.05952588 -0.03088940
+v 0.03099223 0.05892204 -0.03156304
+v 0.03012545 0.05844125 -0.03362005
+v 0.02669756 0.05922255 -0.03551493
+v 0.02681838 0.05836971 -0.03682804
+v 0.03188016 0.05637212 -0.03550234
+v 0.02944591 0.05737091 -0.03616519
+v 0.02669756 0.03212344 -0.04673666
+v 0.05180414 0.03212338 -0.03088950
+v 0.03121876 0.05905081 -0.03088940
+v 0.03246910 0.05733941 -0.03301304
+v 0.03372548 0.05750826 -0.03088941
+v 0.03470099 0.05624046 -0.03240603
+v 0.03394595 0.05573105 -0.03446304
+v 0.02669756 0.05850708 -0.03669836
+v 0.03083215 0.05572533 -0.03756114
+v 0.02876336 0.05630343 -0.03827443
+v 0.02669756 0.05820658 -0.03712165
+v 0.02669756 0.03212345 -0.04929082
+v 0.05755152 0.03212338 -0.03088950
+v 0.03527180 0.05649802 -0.03088941
+v 0.03674564 0.05551925 -0.03088942
+v 0.03566443 0.05514149 -0.03325983
+v 0.03747350 0.05294358 -0.03495838
+v 0.03551642 0.05361897 -0.03602470
+v 0.03273185 0.05529031 -0.03635253
+v 0.03099827 0.05272895 -0.04076554
+v 0.02962110 0.05494117 -0.03924888
+v 0.03445637 0.05298937 -0.03799525
+v 0.03220333 0.05349020 -0.03908138
+v 0.02712040 0.05541055 -0.04032964
+v 0.02669756 0.05603158 -0.03985589
+v 0.02669756 0.05692734 -0.03879859
+v 0.02669756 0.04306728 -0.04929078
+v 0.03855472 0.03212345 -0.04929082
+v 0.05670284 0.03212339 -0.03297712
+v 0.05648540 0.03254694 -0.03296992
+v 0.05740354 0.03240384 -0.03088950
+v 0.03681208 0.05547059 -0.03088942
+v 0.03856679 0.05331275 -0.03269964
+v 0.03953929 0.05214796 -0.03353002
+v 0.04080474 0.05008169 -0.03528983
+v 0.03871477 0.05116349 -0.03615259
+v 0.03652214 0.05224242 -0.03701538
+v 0.03055432 0.04933192 -0.04364032
+v 0.02945498 0.05106050 -0.04285135
+v 0.02935832 0.05321834 -0.04118702
+v 0.03306708 0.05201633 -0.04005405
+v 0.03453187 0.04995007 -0.04102853
+v 0.03220333 0.05103759 -0.04145902
+v 0.03789029 0.05017615 -0.03829428
+v 0.03552851 0.05109769 -0.03917325
+v 0.02669756 0.05412841 -0.04166434
+v 0.02669756 0.05493261 -0.04095466
+v 0.02669756 0.05174734 -0.04356825
+v 0.02928586 0.04169071 -0.04929079
+v 0.03840371 0.03232090 -0.04929082
+v 0.04348663 0.03738357 -0.04391232
+v 0.04414504 0.03561492 -0.04431402
+v 0.04631048 0.03392069 -0.04373044
+v 0.04688432 0.03212343 -0.04411229
+v 0.05629212 0.03212339 -0.03384349
+v 0.05586022 0.03212340 -0.03475133
+v 0.05544346 0.03360012 -0.03398039
+v 0.05592064 0.03441860 -0.03192159
+v 0.05611694 0.03474485 -0.03088949
+v 0.03959668 0.05338715 -0.03088942
+v 0.04022184 0.05268028 -0.03147301
+v 0.04154770 0.05094312 -0.03264922
+v 0.04287053 0.04916874 -0.03382542
+v 0.03995909 0.04935764 -0.03734681
+v 0.04396987 0.04710248 -0.03540872
+v 0.04199166 0.04823006 -0.03637775
+v 0.03245701 0.04866224 -0.04314677
+v 0.03408791 0.04653012 -0.04383485
+v 0.02848550 0.04998728 -0.04406719
+v 0.02669756 0.05202782 -0.04336291
+v 0.03659766 0.04918309 -0.04034946
+v 0.03787518 0.04711681 -0.04121766
+v 0.03534428 0.04785515 -0.04215248
+v 0.03891713 0.04823578 -0.03939842
+v 0.03736477 0.04359384 -0.04393032
+v 0.02973284 0.04130436 -0.04929079
+v 0.03545000 0.03552620 -0.04929081
+v 0.04160810 0.03853690 -0.04435724
+v 0.04047554 0.04054594 -0.04395015
+v 0.04253831 0.03945270 -0.04331613
+v 0.04403933 0.04108969 -0.04125911
+v 0.04479738 0.03864280 -0.04221917
+v 0.04690546 0.03782999 -0.04112403
+v 0.04569438 0.03561492 -0.04328551
+v 0.04794740 0.03546609 -0.04163017
+v 0.04968400 0.03432992 -0.04086647
+v 0.04798668 0.03273587 -0.04302973
+v 0.04823734 0.03212343 -0.04313242
+v 0.05530150 0.03212340 -0.03565373
+v 0.05477902 0.03254695 -0.03608422
+v 0.05318135 0.03538879 -0.03586626
+v 0.05270717 0.03730625 -0.03469185
+v 0.05473370 0.03551758 -0.03296991
+v 0.05563372 0.03554046 -0.03088949
+v 0.05313907 0.03793873 -0.03299690
+v 0.05250484 0.04012519 -0.03120467
+v 0.04036680 0.05280047 -0.03088943
+v 0.04285843 0.05065691 -0.03088943
+v 0.04348966 0.04973542 -0.03176842
+v 0.04476416 0.04792382 -0.03282935
+v 0.04603565 0.04608078 -0.03389029
+v 0.04317254 0.04634124 -0.03746571
+v 0.04110977 0.04728852 -0.03844739
+v 0.04510241 0.04517642 -0.03640658
+v 0.04699003 0.04401450 -0.03534928
+v 0.03615370 0.04566298 -0.04327647
+v 0.03994398 0.04622962 -0.04050257
+v 0.04104334 0.04416049 -0.04129332
+v 0.03865439 0.04491317 -0.04228400
+v 0.03943057 0.04261508 -0.04335033
+v 0.04179233 0.04185096 -0.04230562
+v 0.04310610 0.04315598 -0.04054401
+v 0.04610512 0.03989915 -0.04043595
+v 0.04897427 0.03639907 -0.04017840
+v 0.05084676 0.03530008 -0.03895717
+v 0.05179813 0.03251548 -0.03985420
+v 0.05191591 0.03212342 -0.03998207
+v 0.05024876 0.03251548 -0.04134379
+v 0.05034240 0.03212342 -0.04145366
+v 0.05489076 0.03212340 -0.03627875
+v 0.05269811 0.03420112 -0.03773232
+v 0.05200954 0.03627025 -0.03675066
+v 0.05204275 0.03948988 -0.03299689
+v 0.05094944 0.03856835 -0.03593110
+v 0.04989240 0.04075767 -0.03511153
+v 0.05285214 0.03979608 -0.03088947
+v 0.05228134 0.04057737 -0.03088947
+v 0.05036656 0.04180226 -0.03282038
+v 0.04962360 0.04350222 -0.03167479
+v 0.04369200 0.04992427 -0.03088944
+v 0.04605074 0.04765480 -0.03088944
+v 0.04661251 0.04667892 -0.03183329
+v 0.04783265 0.04479293 -0.03278253
+v 0.04905582 0.04282682 -0.03373179
+v 0.04623800 0.04317313 -0.03740629
+v 0.04416919 0.04427209 -0.03848882
+v 0.04210944 0.04525087 -0.03949751
+v 0.04808028 0.04196540 -0.03625891
+v 0.04513867 0.04213140 -0.03946329
+v 0.04710479 0.04110684 -0.03838075
+v 0.04803802 0.03882879 -0.03927958
+v 0.04994071 0.03776132 -0.03812319
+v 0.05319646 0.03251547 -0.03831234
+v 0.05331726 0.03212341 -0.03842042
+v 0.04917360 0.03983043 -0.03716853
+v 0.04978970 0.04369396 -0.03088946
+v 0.04916755 0.04438368 -0.03088946
+v 0.04682693 0.04689354 -0.03088945
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 26
+f 1 26 41
+f 1 41 40
+f 1 40 62
+f 1 62 61
+f 1 61 85
+f 1 85 63
+f 1 63 42
+f 1 42 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 17
+f 3 17 28
+f 3 28 46
+f 3 46 74
+f 3 74 109
+f 3 109 141
+f 3 141 142
+f 3 142 161
+f 3 161 162
+f 3 162 163
+f 3 163 146
+f 3 146 145
+f 3 145 113
+f 3 113 112
+f 3 112 75
+f 3 75 47
+f 3 47 30
+f 3 30 29
+f 3 29 20
+f 3 20 18
+f 3 18 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 7
+f 6 7 12
+f 7 13 12
+f 7 11 14
+f 7 14 15
+f 7 15 13
+f 8 16 17
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 21
+f 10 21 19
+f 11 19 22
+f 11 22 14
+f 12 13 23
+f 13 15 24
+f 13 24 25
+f 13 25 26
+f 13 26 23
+f 14 24 15
+f 14 22 24
+f 16 27 43
+f 16 43 69
+f 16 69 103
+f 16 103 134
+f 16 134 132
+f 16 132 159
+f 16 159 135
+f 16 135 104
+f 16 104 71
+f 16 71 70
+f 16 70 44
+f 16 44 28
+f 16 28 17
+f 19 21 22
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 24
+f 24 35 36
+f 24 36 25
+f 24 34 37
+f 24 37 38
+f 24 38 35
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 25 36 39
+f 27 42 64
+f 27 64 91
+f 27 91 92
+f 27 92 65
+f 27 65 43
+f 28 44 45
+f 28 45 46
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 37
+f 33 37 34
+f 35 53 54
+f 35 54 55
+f 35 55 39
+f 35 39 36
+f 35 38 56
+f 35 56 57
+f 35 57 58
+f 35 58 53
+f 37 52 59
+f 37 59 60
+f 37 60 56
+f 37 56 38
+f 39 55 61
+f 39 61 62
+f 39 62 40
+f 42 63 64
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 69
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 47 75 76
+f 47 76 48
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 79 51
+f 50 78 80
+f 50 80 81
+f 50 81 79
+f 51 79 52
+f 52 79 59
+f 53 58 82
+f 53 82 83
+f 53 83 64
+f 53 64 84
+f 53 84 63
+f 53 63 85
+f 53 85 54
+f 54 85 55
+f 55 85 61
+f 56 60 86
+f 56 86 57
+f 57 86 87
+f 57 87 88
+f 57 88 82
+f 57 82 58
+f 59 79 89
+f 59 89 86
+f 59 86 60
+f 63 84 64
+f 64 83 90
+f 64 90 91
+f 65 92 66
+f 66 93 94
+f 66 94 95
+f 66 95 96
+f 66 96 97
+f 66 97 98
+f 66 98 99
+f 66 99 68
+f 66 68 67
+f 66 92 93
+f 68 99 100
+f 68 100 101
+f 68 101 102
+f 68 102 103
+f 68 103 69
+f 71 104 105
+f 71 105 72
+f 72 105 106
+f 72 106 107
+f 72 107 108
+f 72 108 73
+f 73 109 74
+f 73 108 110
+f 73 110 111
+f 73 111 109
+f 75 112 76
+f 76 112 113
+f 76 113 114
+f 76 114 77
+f 77 114 78
+f 78 114 115
+f 78 115 116
+f 78 116 80
+f 79 81 117
+f 79 117 118
+f 79 118 89
+f 80 119 117
+f 80 117 81
+f 80 116 120
+f 80 120 119
+f 82 88 83
+f 83 88 121
+f 83 121 90
+f 86 89 122
+f 86 122 87
+f 87 122 123
+f 87 123 124
+f 87 124 121
+f 87 121 88
+f 89 118 122
+f 90 125 94
+f 90 94 91
+f 90 121 125
+f 91 94 92
+f 92 94 93
+f 94 125 95
+f 95 126 96
+f 95 125 126
+f 96 126 127
+f 96 127 128
+f 96 128 97
+f 97 128 98
+f 98 128 129
+f 98 129 101
+f 98 101 100
+f 98 100 99
+f 101 129 130
+f 101 130 131
+f 101 131 132
+f 101 132 133
+f 101 133 102
+f 102 133 103
+f 103 133 134
+f 104 135 105
+f 105 135 136
+f 105 136 106
+f 106 136 137
+f 106 137 107
+f 107 138 110
+f 107 110 108
+f 107 137 139
+f 107 139 140
+f 107 140 138
+f 109 111 141
+f 110 138 111
+f 111 142 141
+f 111 138 143
+f 111 143 144
+f 111 144 142
+f 113 145 114
+f 114 145 146
+f 114 146 147
+f 114 147 115
+f 115 147 116
+f 116 147 148
+f 116 148 149
+f 116 149 120
+f 117 119 150
+f 117 150 151
+f 117 151 152
+f 117 152 118
+f 118 152 122
+f 119 120 150
+f 120 149 140
+f 120 140 153
+f 120 153 150
+f 121 124 125
+f 122 152 127
+f 122 127 123
+f 123 127 126
+f 123 126 125
+f 123 125 124
+f 127 151 154
+f 127 154 128
+f 127 152 151
+f 128 155 156
+f 128 156 129
+f 128 154 155
+f 129 156 157
+f 129 157 130
+f 130 136 131
+f 130 157 136
+f 131 136 158
+f 131 158 132
+f 132 134 133
+f 132 158 159
+f 135 159 158
+f 135 158 136
+f 136 157 137
+f 137 157 160
+f 137 160 139
+f 138 140 143
+f 139 160 140
+f 140 160 153
+f 140 149 143
+f 142 144 161
+f 143 149 144
+f 144 149 148
+f 144 148 147
+f 144 147 162
+f 144 162 161
+f 146 163 147
+f 147 163 162
+f 150 153 160
+f 150 160 155
+f 150 155 154
+f 150 154 151
+f 155 160 157
+f 155 157 156
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_25.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 -0.03933795 -0.05274842
+v -0.00144449 -0.04965759 -0.05738731
+v -0.00144449 -0.03933796 -0.04987168
+v 0.02509946 -0.03933793 -0.05738727
+v -0.00144449 -0.05517080 -0.05738733
+v -0.00144449 -0.05258705 -0.04987173
+v 0.03106609 -0.03933796 -0.04987168
+v 0.03366792 -0.03933793 -0.05738727
+v 0.00145291 -0.05246459 -0.04987173
+v -0.00099425 -0.05512430 -0.05738733
+v 0.00451184 -0.05224140 -0.04987173
+v 0.02904514 -0.04155132 -0.04987169
+v 0.03353044 -0.03947743 -0.05738728
+v 0.00145291 -0.05485617 -0.05738733
+v 0.00649842 -0.05203060 -0.04987173
+v 0.02808967 -0.04230460 -0.04987170
+v 0.02847458 -0.04400177 -0.05738729
+v 0.03004187 -0.04271066 -0.05738729
+v 0.03027902 -0.04250451 -0.05738729
+v 0.03176725 -0.04116999 -0.05738728
+v 0.03332076 -0.03968979 -0.05738728
+v 0.00172787 -0.05480966 -0.05738733
+v 0.00453932 -0.05432607 -0.05738733
+v 0.00950236 -0.05141218 -0.04987173
+v 0.02550160 -0.04427614 -0.04987170
+v 0.02644676 -0.04545254 -0.05738730
+v 0.00765325 -0.05365184 -0.05738733
+v 0.00795227 -0.05358055 -0.05738733
+v 0.01014164 -0.05301481 -0.05738732
+v 0.01045786 -0.05292182 -0.05738732
+v 0.01084279 -0.05280401 -0.05738732
+v 0.01260942 -0.05223673 -0.05738732
+v 0.01378829 -0.05184458 -0.05738732
+v 0.01104214 -0.05088984 -0.04987173
+v 0.02449111 -0.04492403 -0.04987171
+v 0.02586935 -0.04584623 -0.05738730
+v 0.02623369 -0.04560443 -0.05738730
+v 0.01417668 -0.05169268 -0.05738732
+v 0.01847292 -0.04818824 -0.04987172
+v 0.01972399 -0.04760701 -0.04987171
+v 0.02320913 -0.04748764 -0.05738730
+v 0.02351156 -0.04730783 -0.05738730
+v 0.01709471 -0.05054417 -0.05738732
+v 0.01725280 -0.05047598 -0.05738732
+v 0.01999896 -0.04920655 -0.05738731
+v 0.02018798 -0.04911665 -0.05738731
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 13
+f 2 13 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 26
+f 2 26 37
+f 2 37 36
+f 2 36 42
+f 2 42 41
+f 2 41 46
+f 2 46 45
+f 2 45 44
+f 2 44 43
+f 2 43 38
+f 2 38 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 27
+f 2 27 23
+f 2 23 22
+f 2 22 14
+f 2 14 10
+f 2 10 5
+f 3 6 9
+f 3 9 11
+f 3 11 15
+f 3 15 24
+f 3 24 34
+f 3 34 39
+f 3 39 40
+f 3 40 35
+f 3 35 25
+f 3 25 16
+f 3 16 12
+f 3 12 7
+f 5 9 6
+f 5 10 11
+f 5 11 9
+f 7 12 8
+f 8 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 33 38 39
+f 33 39 34
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 38 43 39
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 40 45 46
+f 40 46 41
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_26.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.06086057 -0.03508074 -0.02987642
+v -0.06078148 -0.03508074 -0.03008702
+v -0.06020052 -0.03600650 -0.03019052
+v -0.06033436 -0.03597920 -0.02987642
+v -0.05499017 -0.03508074 -0.02987642
+v -0.05951614 -0.03508073 -0.03299750
+v -0.05898994 -0.03723541 -0.03140700
+v -0.05989940 -0.03668925 -0.02987642
+v -0.02978693 -0.05764344 -0.02987650
+v -0.02978693 -0.03508068 -0.04554173
+v -0.05894432 -0.03508072 -0.03413771
+v -0.05860366 -0.03659911 -0.03299750
+v -0.05701590 -0.03895862 -0.03307921
+v -0.05622812 -0.04079377 -0.03210422
+v -0.05837552 -0.03884937 -0.03019053
+v -0.05875271 -0.03847251 -0.02987643
+v -0.02978693 -0.06297689 -0.02987652
+v -0.02978693 -0.03508067 -0.04842495
+v -0.05807441 -0.03508072 -0.03547403
+v -0.05641973 -0.03802191 -0.03524527
+v -0.05571103 -0.04008919 -0.03416133
+v -0.05668130 -0.04140277 -0.02991093
+v -0.05490499 -0.04186429 -0.03307922
+v -0.05325336 -0.04399165 -0.03299753
+v -0.05550722 -0.04295118 -0.02991094
+v -0.05840899 -0.03896681 -0.02987643
+v -0.02978693 -0.06291134 -0.03008531
+v -0.03019451 -0.06279117 -0.02987652
+v -0.02978693 -0.04612170 -0.04842499
+v -0.04244329 -0.03508067 -0.04842495
+v -0.05755124 -0.03508072 -0.03615307
+v -0.05563802 -0.03682301 -0.03730419
+v -0.05502971 -0.03895861 -0.03619848
+v -0.05335069 -0.04163488 -0.03580085
+v -0.05283970 -0.04350553 -0.03458258
+v -0.05551334 -0.04296212 -0.02987645
+v -0.05666308 -0.04144099 -0.02987644
+v -0.05668741 -0.04140823 -0.02987644
+v -0.05185420 -0.04554280 -0.03299754
+v -0.05246557 -0.04619823 -0.03064811
+v -0.05517875 -0.04336356 -0.02987645
+v -0.02978693 -0.06166878 -0.03320458
+v -0.03093971 -0.06198830 -0.03122917
+v -0.03243622 -0.06169064 -0.02987652
+v -0.02978693 -0.05460935 -0.04185968
+v -0.03083934 -0.05572357 -0.04057423
+v -0.03265826 -0.05363170 -0.04138761
+v -0.03462926 -0.05303637 -0.04092644
+v -0.03008196 -0.04593326 -0.04842499
+v -0.04193230 -0.03571697 -0.04842495
+v -0.04956688 -0.04019294 -0.04061047
+v -0.05033641 -0.03812565 -0.04114608
+v -0.05240171 -0.03664277 -0.04038894
+v -0.05289749 -0.03508070 -0.04077750
+v -0.05616120 -0.03508071 -0.03786341
+v -0.05340850 -0.03881658 -0.03818478
+v -0.05284578 -0.04041416 -0.03766187
+v -0.05197891 -0.04248145 -0.03663969
+v -0.04991363 -0.04369125 -0.03781804
+v -0.05089608 -0.04463339 -0.03565924
+v -0.04981325 -0.04667885 -0.03467700
+v -0.05030296 -0.04717589 -0.03299754
+v -0.04937220 -0.04933604 -0.03073526
+v -0.05079876 -0.04827098 -0.02987647
+v -0.05144054 -0.04761011 -0.02987646
+v -0.05357579 -0.04527792 -0.02987646
+v -0.02978693 -0.06165238 -0.03324089
+v -0.03267042 -0.06149675 -0.03008531
+v -0.03494255 -0.05939393 -0.03235848
+v -0.03290159 -0.06008484 -0.03322998
+v -0.03275558 -0.06152405 -0.02987652
+v -0.02978693 -0.05745497 -0.03933959
+v -0.03265826 -0.05668485 -0.03850983
+v -0.03265826 -0.05518286 -0.04005130
+v -0.03669455 -0.05235909 -0.04035450
+v -0.03815150 -0.05029181 -0.04116608
+v -0.03244535 -0.04438212 -0.04842498
+v -0.04053919 -0.03740466 -0.04842496
+v -0.05107250 -0.04163487 -0.03831914
+v -0.05132495 -0.03902139 -0.03986241
+v -0.04659821 -0.04345910 -0.04070309
+v -0.04838366 -0.04222202 -0.04014387
+v -0.05434835 -0.03570062 -0.03917792
+v -0.05451565 -0.03508071 -0.03935949
+v -0.05559545 -0.03508071 -0.03838812
+v -0.04800344 -0.04484368 -0.03849164
+v -0.04686588 -0.04682358 -0.03785617
+v -0.04893116 -0.04576127 -0.03673411
+v -0.04780879 -0.04778485 -0.03568468
+v -0.04668336 -0.04974019 -0.03463524
+v -0.04873649 -0.04872704 -0.03299755
+v -0.04718830 -0.05020718 -0.03299755
+v -0.04616020 -0.05238372 -0.03052647
+v -0.04834411 -0.05066871 -0.02987648
+v -0.02978693 -0.06164147 -0.03326086
+v -0.03409392 -0.05891055 -0.03441560
+v -0.03202862 -0.05945946 -0.03529253
+v -0.03584896 -0.05983907 -0.02987651
+v -0.03588850 -0.05980085 -0.02992190
+v -0.03700784 -0.05879587 -0.03095861
+v -0.03588850 -0.05842718 -0.03322997
+v -0.02978693 -0.05750960 -0.03928148
+v -0.03072374 -0.05877126 -0.03734966
+v -0.03463230 -0.05612504 -0.03791068
+v -0.03566342 -0.05426528 -0.03913260
+v -0.03827012 -0.05342690 -0.03829922
+v -0.03924347 -0.05150434 -0.03944489
+v -0.04021984 -0.04951351 -0.04059418
+v -0.03399354 -0.04331707 -0.04842498
+v -0.03900316 -0.03895582 -0.04842496
+v -0.04350179 -0.04656140 -0.04070491
+v -0.04536329 -0.04532431 -0.04022375
+v -0.04486446 -0.04796237 -0.03847532
+v -0.04370252 -0.04983304 -0.03778901
+v -0.04576480 -0.04889088 -0.03669238
+v -0.04486446 -0.05039014 -0.03583176
+v -0.04342574 -0.05270322 -0.03442281
+v -0.04510171 -0.05191945 -0.03323540
+v -0.04409492 -0.05324122 -0.03236572
+v -0.04502262 -0.05357166 -0.02987649
+v -0.04536329 -0.05329857 -0.02987649
+v -0.04746204 -0.05147981 -0.02987648
+v -0.02978693 -0.06001111 -0.03616768
+v -0.03290159 -0.05834526 -0.03622579
+v -0.03786253 -0.05623428 -0.03507829
+v -0.03570296 -0.05682414 -0.03609687
+v -0.03596455 -0.05977355 -0.02987651
+v -0.03868075 -0.05812952 -0.02987650
+v -0.03872941 -0.05808311 -0.02992189
+v -0.04068217 -0.05606224 -0.03184828
+v -0.03888150 -0.05671766 -0.03292495
+v -0.02978693 -0.05757240 -0.03921068
+v -0.02978693 -0.05986909 -0.03638192
+v -0.03670064 -0.05549417 -0.03713539
+v -0.04033847 -0.05271959 -0.03756206
+v -0.03745192 -0.04050424 -0.04842497
+v -0.03575771 -0.04190246 -0.04842497
+v -0.04195967 -0.05052942 -0.03843356
+v -0.04226383 -0.04833921 -0.04011847
+v -0.04221822 -0.05217888 -0.03635286
+v -0.04135741 -0.05347060 -0.03550495
+v -0.03993088 -0.05553791 -0.03390538
+v -0.04205395 -0.05439092 -0.03313556
+v -0.04277179 -0.05532763 -0.02991098
+v -0.04308509 -0.05509550 -0.02987649
+v -0.03910050 -0.05448377 -0.03632018
+v -0.03874462 -0.05808857 -0.02987650
+v -0.04120535 -0.05646368 -0.02987650
+v -0.04122055 -0.05644183 -0.02991099
+v -0.04122967 -0.05644729 -0.02987650
+v -0.04277789 -0.05533308 -0.02987649
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 26
+f 1 26 38
+f 1 38 37
+f 1 37 36
+f 1 36 41
+f 1 41 66
+f 1 66 65
+f 1 65 64
+f 1 64 94
+f 1 94 122
+f 1 122 121
+f 1 121 120
+f 1 120 145
+f 1 145 151
+f 1 151 150
+f 1 150 148
+f 1 148 147
+f 1 147 128
+f 1 128 127
+f 1 127 98
+f 1 98 71
+f 1 71 44
+f 1 44 28
+f 1 28 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 30
+f 1 30 54
+f 1 54 84
+f 1 84 85
+f 1 85 55
+f 1 55 31
+f 1 31 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 27
+f 9 27 42
+f 9 42 67
+f 9 67 95
+f 9 95 123
+f 9 123 133
+f 9 133 132
+f 9 132 102
+f 9 102 72
+f 9 72 45
+f 9 45 29
+f 9 29 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 24
+f 14 24 25
+f 14 25 22
+f 15 26 16
+f 15 22 26
+f 17 28 27
+f 18 29 49
+f 18 49 77
+f 18 77 109
+f 18 109 137
+f 18 137 136
+f 18 136 110
+f 18 110 78
+f 18 78 50
+f 18 50 30
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 23
+f 22 25 36
+f 22 36 37
+f 22 37 38
+f 22 38 26
+f 23 35 24
+f 24 35 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 36
+f 27 28 43
+f 27 43 42
+f 28 44 43
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 31 55 32
+f 32 55 56
+f 32 56 57
+f 32 57 33
+f 33 57 34
+f 34 57 35
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 39
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 42 43 67
+f 43 44 68
+f 43 68 69
+f 43 69 70
+f 43 70 67
+f 44 71 68
+f 45 72 46
+f 46 73 74
+f 46 74 48
+f 46 48 47
+f 46 72 73
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 48 74 75
+f 50 78 51
+f 51 59 79
+f 51 79 57
+f 51 57 80
+f 51 80 53
+f 51 53 52
+f 51 78 81
+f 51 81 82
+f 51 82 59
+f 53 80 56
+f 53 56 83
+f 53 83 84
+f 53 84 54
+f 55 85 83
+f 55 83 56
+f 56 80 57
+f 57 79 59
+f 57 59 58
+f 59 82 81
+f 59 81 86
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 60 88 61
+f 61 88 89
+f 61 89 90
+f 61 90 91
+f 61 91 62
+f 62 91 63
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 67 70 96
+f 67 96 97
+f 67 97 95
+f 68 71 98
+f 68 98 99
+f 68 99 69
+f 69 99 100
+f 69 100 101
+f 69 101 96
+f 69 96 70
+f 72 102 73
+f 73 102 103
+f 73 103 104
+f 73 104 74
+f 74 104 105
+f 74 105 75
+f 75 105 106
+f 75 106 107
+f 75 107 108
+f 75 108 76
+f 76 108 109
+f 76 109 77
+f 78 110 81
+f 81 111 112
+f 81 112 87
+f 81 87 86
+f 81 110 111
+f 83 85 84
+f 87 112 111
+f 87 111 113
+f 87 113 114
+f 87 114 115
+f 87 115 89
+f 87 89 88
+f 89 115 90
+f 90 115 116
+f 90 116 117
+f 90 117 118
+f 90 118 92
+f 90 92 91
+f 92 118 93
+f 93 118 119
+f 93 119 120
+f 93 120 121
+f 93 121 122
+f 93 122 94
+f 95 97 123
+f 96 124 97
+f 96 101 125
+f 96 125 126
+f 96 126 124
+f 97 103 123
+f 97 124 103
+f 98 127 99
+f 99 127 100
+f 100 128 129
+f 100 129 130
+f 100 130 131
+f 100 131 101
+f 100 127 128
+f 101 131 125
+f 102 132 103
+f 103 124 104
+f 103 132 133
+f 103 133 123
+f 104 124 126
+f 104 126 134
+f 104 134 106
+f 104 106 105
+f 106 134 135
+f 106 135 107
+f 107 135 108
+f 108 136 137
+f 108 137 109
+f 108 135 138
+f 108 138 114
+f 108 114 139
+f 108 139 111
+f 108 111 136
+f 110 136 111
+f 111 139 114
+f 111 114 113
+f 114 138 135
+f 114 135 140
+f 114 140 117
+f 114 117 116
+f 114 116 115
+f 117 119 118
+f 117 140 135
+f 117 135 141
+f 117 141 142
+f 117 142 143
+f 117 143 119
+f 119 143 130
+f 119 130 144
+f 119 144 120
+f 120 144 145
+f 125 131 142
+f 125 142 141
+f 125 141 146
+f 125 146 134
+f 125 134 126
+f 128 147 129
+f 129 147 148
+f 129 148 149
+f 129 149 130
+f 130 142 131
+f 130 149 144
+f 130 143 142
+f 134 146 135
+f 135 146 141
+f 144 149 150
+f 144 150 151
+f 144 151 145
+f 148 150 149
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_27.obj

@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v -0.02727013 0.06316008 -0.02989603
+v -0.02727013 0.05793001 -0.02989605
+v -0.02727013 0.06315709 -0.02990709
+v -0.02928569 0.06232219 -0.02989603
+v -0.02727013 0.03270118 -0.04707649
+v -0.05594485 0.03270112 -0.02989614
+v -0.02831150 0.06211348 -0.03177007
+v -0.02727013 0.06228643 -0.03234060
+v -0.02973918 0.06211645 -0.02989603
+v -0.02727013 0.03270119 -0.04875668
+v -0.06158843 0.03270112 -0.02989614
+v -0.02727013 0.06165727 -0.03373275
+v -0.02943013 0.06105494 -0.03287790
+v -0.03256434 0.05948652 -0.03287420
+v -0.03446903 0.05901839 -0.03176270
+v -0.03037744 0.06163042 -0.03046101
+v -0.03058572 0.06172883 -0.02989603
+v -0.04348196 0.03270119 -0.04875668
+v -0.02727013 0.04651282 -0.04875663
+v -0.06004316 0.03533701 -0.02989613
+v -0.06149771 0.03270112 -0.03015648
+v -0.02727013 0.06162149 -0.03380661
+v -0.03146584 0.05905716 -0.03484058
+v -0.03353180 0.05850851 -0.03382139
+v -0.03560447 0.05781076 -0.03287421
+v -0.03807689 0.05626916 -0.03299607
+v -0.04029737 0.05569368 -0.03125681
+v -0.03664249 0.05848762 -0.02991081
+v -0.03509051 0.05937023 -0.02991080
+v -0.03171779 0.06115332 -0.02989604
+v -0.05348922 0.03270116 -0.04120876
+v -0.05297861 0.03432622 -0.04084133
+v -0.05021393 0.03785667 -0.04107951
+v -0.04943794 0.03992303 -0.04048868
+v -0.04281683 0.03355099 -0.04875668
+v -0.02727013 0.05617379 -0.04106835
+v -0.02938646 0.04543640 -0.04875663
+v -0.02832157 0.05593226 -0.04085787
+v -0.05982481 0.03570675 -0.02989613
+v -0.06143726 0.03270112 -0.03031711
+v -0.02727013 0.06038703 -0.03590223
+v -0.02930246 0.05942690 -0.03595579
+v -0.03282635 0.05741120 -0.03622537
+v -0.03575899 0.05632285 -0.03537418
+v -0.03741176 0.05583981 -0.03464302
+v -0.03016246 0.05838328 -0.03689929
+v -0.03962887 0.05523450 -0.03299608
+v -0.04067698 0.05595609 -0.02989605
+v -0.03910147 0.05689534 -0.03010099
+v -0.04197701 0.05359154 -0.03290192
+v -0.04374400 0.05285503 -0.03180888
+v -0.04192661 0.05496315 -0.03010100
+v -0.04168811 0.05521957 -0.02989606
+v -0.03664585 0.05849061 -0.02989605
+v -0.03908131 0.05697883 -0.02989605
+v -0.03510730 0.05936427 -0.02989604
+v -0.03496285 0.05944179 -0.02989604
+v -0.03237958 0.06080447 -0.02989604
+v -0.05487996 0.03270116 -0.04004924
+v -0.05228326 0.03639261 -0.04025050
+v -0.05141656 0.03893308 -0.03934023
+v -0.05054984 0.04127677 -0.03843367
+v -0.04852758 0.04224287 -0.03951376
+v -0.04645492 0.04320898 -0.04059574
+v -0.04737198 0.04113961 -0.04122905
+v -0.04141937 0.03529534 -0.04875667
+v -0.02727013 0.05769152 -0.03946571
+v -0.02943686 0.05429228 -0.04167213
+v -0.03177491 0.04384710 -0.04875664
+v -0.03786862 0.04996571 -0.04103330
+v -0.03548354 0.05104810 -0.04139886
+v -0.03426413 0.05270300 -0.04073973
+v -0.03265840 0.05317411 -0.04112745
+v -0.03039088 0.05537467 -0.04031505
+v -0.02924201 0.05715776 -0.03899858
+v -0.02809650 0.05891703 -0.03768211
+v -0.02727013 0.05841012 -0.03867731
+v -0.05979121 0.03576340 -0.02989613
+v -0.05879015 0.03682791 -0.03085437
+v -0.06021785 0.03270113 -0.03317158
+v -0.05943850 0.03475856 -0.03232962
+v -0.02727013 0.05909594 -0.03790184
+v -0.03418685 0.05575929 -0.03760829
+v -0.03866813 0.05408354 -0.03590596
+v -0.04095242 0.05306675 -0.03511201
+v -0.03575899 0.05526135 -0.03691774
+v -0.04302173 0.05229744 -0.03386572
+v -0.03950120 0.05671345 -0.02989605
+v -0.04505747 0.05111365 -0.03299794
+v -0.04701590 0.04992988 -0.03213017
+v -0.04577970 0.05196943 -0.02991083
+v -0.04423108 0.05326949 -0.02991082
+v -0.04424450 0.05326351 -0.02989606
+v -0.05504122 0.03270116 -0.03989785
+v -0.05419468 0.03537582 -0.03904297
+v -0.05334812 0.03794611 -0.03819364
+v -0.05261580 0.04001248 -0.03739233
+v -0.04968653 0.04334314 -0.03760095
+v -0.04737870 0.04492051 -0.03832471
+v -0.04662287 0.04648594 -0.03764156
+v -0.04527582 0.04512031 -0.03994950
+v -0.04330728 0.04628917 -0.04056619
+v -0.04439232 0.04421980 -0.04126780
+v -0.03995137 0.03699794 -0.04875666
+v -0.03332353 0.04273489 -0.04875664
+v -0.03633342 0.05203209 -0.04009535
+v -0.03539957 0.04116648 -0.04875665
+v -0.04123795 0.04714195 -0.04120688
+v -0.03993456 0.04920535 -0.04039076
+v -0.03548354 0.05352297 -0.03910755
+v -0.03295400 0.05492440 -0.03924047
+v -0.03211754 0.05631393 -0.03826004
+v -0.05896482 0.03709329 -0.02989612
+v -0.05836687 0.03572166 -0.03321401
+v -0.05802425 0.03847981 -0.02989612
+v -0.05600868 0.04040309 -0.03165015
+v -0.06017417 0.03274288 -0.03321402
+v -0.06014394 0.03270113 -0.03331373
+v -0.05892787 0.03392964 -0.03438832
+v -0.03785518 0.05303692 -0.03803851
+v -0.03992114 0.05231833 -0.03716887
+v -0.04217184 0.05127470 -0.03631216
+v -0.04431169 0.05023107 -0.03545362
+v -0.04637764 0.04936335 -0.03418702
+v -0.04753660 0.05041591 -0.02991083
+v -0.04828572 0.04813783 -0.03320845
+v -0.05013667 0.04691232 -0.03222989
+v -0.04908858 0.04898466 -0.02991084
+v -0.04753996 0.05041890 -0.02989607
+v -0.04578306 0.05196943 -0.02989607
+v -0.05662678 0.03270115 -0.03835614
+v -0.05609938 0.03435603 -0.03783546
+v -0.05155429 0.04217427 -0.03646729
+v -0.05541408 0.03642242 -0.03697506
+v -0.05439623 0.03878100 -0.03615526
+v -0.05337836 0.04100244 -0.03533362
+v -0.05049275 0.04424066 -0.03554226
+v -0.04899116 0.04513221 -0.03637495
+v -0.04955215 0.04631001 -0.03428673
+v -0.04727792 0.04710317 -0.03608322
+v -0.04522878 0.04877893 -0.03632324
+v -0.04339126 0.04947370 -0.03751230
+v -0.04505747 0.04718667 -0.03830253
+v -0.04231628 0.04830486 -0.03945096
+v -0.03679364 0.04003638 -0.04875665
+v -0.03855055 0.03839341 -0.04875666
+v -0.03889319 0.05114052 -0.03921648
+v -0.04132530 0.05025195 -0.03833579
+v -0.05661671 0.03863788 -0.03280599
+v -0.05678130 0.04024803 -0.02989611
+v -0.05635132 0.04085333 -0.02991087
+v -0.05428873 0.04173595 -0.03287797
+v -0.05544767 0.03961888 -0.03370699
+v -0.05514533 0.04240385 -0.02991086
+v -0.05312977 0.04373374 -0.03205080
+v -0.05839711 0.03270114 -0.03620143
+v -0.05617327 0.03754952 -0.03491819
+v -0.05675106 0.03548016 -0.03600018
+v -0.05834336 0.03274289 -0.03624391
+v -0.04755002 0.05040995 -0.02989607
+v -0.05134601 0.04502186 -0.03316968
+v -0.05222615 0.04582693 -0.02991085
+v -0.05068759 0.04743114 -0.02989609
+v -0.04909195 0.04898764 -0.02989608
+v -0.05804437 0.03270114 -0.03663719
+v -0.05835008 0.03270114 -0.03626606
+v -0.05255869 0.04306881 -0.03410763
+v -0.05636141 0.04084439 -0.02989611
+v -0.05514533 0.04240683 -0.02989610
+v -0.05360344 0.04427045 -0.02989610
+v -0.05359337 0.04427641 -0.02991086
+v -0.05222615 0.04582993 -0.02989609
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 36
+f 1 36 67
+f 1 67 77
+f 1 77 82
+f 1 82 41
+f 1 41 22
+f 1 22 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 30
+f 1 30 58
+f 1 58 57
+f 1 57 56
+f 1 56 54
+f 1 54 55
+f 1 55 88
+f 1 88 48
+f 1 48 53
+f 1 53 93
+f 1 93 130
+f 1 130 129
+f 1 129 160
+f 1 160 164
+f 1 164 163
+f 1 163 172
+f 1 172 170
+f 1 170 169
+f 1 169 168
+f 1 168 150
+f 1 150 115
+f 1 115 113
+f 1 113 78
+f 1 78 39
+f 1 39 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 5 6 11
+f 5 11 21
+f 5 21 40
+f 5 40 80
+f 5 80 118
+f 5 118 156
+f 5 156 166
+f 5 166 165
+f 5 165 131
+f 5 131 94
+f 5 94 59
+f 5 59 31
+f 5 31 18
+f 5 18 10
+f 7 8 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 9 16 17
+f 10 18 35
+f 10 35 66
+f 10 66 104
+f 10 104 146
+f 10 146 145
+f 10 145 107
+f 10 107 105
+f 10 105 69
+f 10 69 37
+f 10 37 19
+f 11 20 21
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 17
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 19 37 38
+f 19 38 36
+f 20 39 40
+f 20 40 21
+f 22 41 42
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 23 42 46
+f 23 46 43
+f 24 45 25
+f 25 45 26
+f 26 45 47
+f 26 47 27
+f 27 48 49
+f 27 49 28
+f 27 47 50
+f 27 50 51
+f 27 51 52
+f 27 52 53
+f 27 53 48
+f 28 54 29
+f 28 49 55
+f 28 55 54
+f 29 56 57
+f 29 57 58
+f 29 58 30
+f 29 54 56
+f 31 59 32
+f 32 59 60
+f 32 60 33
+f 33 60 34
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 65
+f 34 65 66
+f 34 66 35
+f 36 38 67
+f 37 68 38
+f 37 69 70
+f 37 70 71
+f 37 71 72
+f 37 72 73
+f 37 73 68
+f 38 68 73
+f 38 73 74
+f 38 74 75
+f 38 75 76
+f 38 76 77
+f 38 77 67
+f 39 78 79
+f 39 79 40
+f 40 79 81
+f 40 81 80
+f 41 82 76
+f 41 76 42
+f 42 76 46
+f 43 83 44
+f 43 46 83
+f 44 83 45
+f 45 84 85
+f 45 85 47
+f 45 83 86
+f 45 86 84
+f 46 76 83
+f 47 85 87
+f 47 87 50
+f 48 88 49
+f 49 88 55
+f 50 87 51
+f 51 89 90
+f 51 90 91
+f 51 91 92
+f 51 92 52
+f 51 87 89
+f 52 92 53
+f 53 92 93
+f 59 94 60
+f 60 94 95
+f 60 95 96
+f 60 96 61
+f 61 96 97
+f 61 97 62
+f 62 98 63
+f 62 97 98
+f 63 98 64
+f 64 98 99
+f 64 99 100
+f 64 100 101
+f 64 101 102
+f 64 102 103
+f 64 103 104
+f 64 104 65
+f 65 104 66
+f 69 105 70
+f 70 106 72
+f 70 72 71
+f 70 105 107
+f 70 107 108
+f 70 108 109
+f 70 109 106
+f 72 106 110
+f 72 110 83
+f 72 83 111
+f 72 111 74
+f 72 74 73
+f 74 111 83
+f 74 83 112
+f 74 112 75
+f 75 112 76
+f 76 82 77
+f 76 112 83
+f 78 113 79
+f 79 114 81
+f 79 113 115
+f 79 115 116
+f 79 116 114
+f 80 117 118
+f 80 81 117
+f 81 114 119
+f 81 119 117
+f 83 110 120
+f 83 120 86
+f 84 86 121
+f 84 121 85
+f 85 121 122
+f 85 122 123
+f 85 123 87
+f 86 120 121
+f 87 123 124
+f 87 124 89
+f 89 124 90
+f 90 125 91
+f 90 124 126
+f 90 126 127
+f 90 127 128
+f 90 128 125
+f 91 125 129
+f 91 129 130
+f 91 130 93
+f 91 93 92
+f 94 131 132
+f 94 132 95
+f 95 132 96
+f 96 132 97
+f 97 133 98
+f 97 132 134
+f 97 134 135
+f 97 135 136
+f 97 136 133
+f 98 133 137
+f 98 137 138
+f 98 138 100
+f 98 100 99
+f 100 138 139
+f 100 139 140
+f 100 140 141
+f 100 141 142
+f 100 142 143
+f 100 143 102
+f 100 102 101
+f 102 143 142
+f 102 142 144
+f 102 144 109
+f 102 109 108
+f 102 108 145
+f 102 145 103
+f 103 145 146
+f 103 146 104
+f 106 109 147
+f 106 147 120
+f 106 120 110
+f 107 145 108
+f 109 144 148
+f 109 148 147
+f 114 149 119
+f 114 116 149
+f 115 150 151
+f 115 151 116
+f 116 152 153
+f 116 153 149
+f 116 151 154
+f 116 154 155
+f 116 155 152
+f 117 119 118
+f 118 119 156
+f 119 149 153
+f 119 153 157
+f 119 157 158
+f 119 158 159
+f 119 159 156
+f 120 147 148
+f 120 148 121
+f 121 148 142
+f 121 142 122
+f 122 142 123
+f 123 142 141
+f 123 141 124
+f 124 140 139
+f 124 139 126
+f 124 141 140
+f 125 160 129
+f 125 128 160
+f 126 139 127
+f 127 139 161
+f 127 161 155
+f 127 155 162
+f 127 162 163
+f 127 163 128
+f 128 163 164
+f 128 164 160
+f 131 165 132
+f 132 165 166
+f 132 166 159
+f 132 159 134
+f 133 136 167
+f 133 167 137
+f 134 159 158
+f 134 158 157
+f 134 157 135
+f 135 157 136
+f 136 157 153
+f 136 153 167
+f 137 139 138
+f 137 167 139
+f 139 167 161
+f 142 148 144
+f 150 168 151
+f 151 168 154
+f 152 155 167
+f 152 167 153
+f 154 168 169
+f 154 169 170
+f 154 170 171
+f 154 171 155
+f 155 161 167
+f 155 171 162
+f 156 159 166
+f 162 171 170
+f 162 170 172
+f 162 172 163
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_28.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.03043778 -0.03453676 -0.05738813
+v 0.03792887 -0.03453676 -0.05738813
+v 0.03201896 -0.03453675 -0.06077034
+v -0.00144449 -0.04965736 -0.05738818
+v 0.03777691 -0.03474469 -0.05738813
+v 0.04008912 -0.03453674 -0.06184691
+v 0.03238859 -0.03453674 -0.06154523
+v -0.00144449 -0.04998133 -0.05832680
+v -0.00144449 -0.05516890 -0.05738820
+v 0.03324695 -0.03453674 -0.06327944
+v 0.03415870 -0.03453673 -0.06490851
+v 0.03767424 -0.03488041 -0.05738813
+v 0.04021234 -0.03453674 -0.06223650
+v 0.03774816 -0.03497015 -0.05768461
+v 0.03865991 -0.03571216 -0.06077551
+v 0.03746477 -0.03769087 -0.06157798
+v -0.00144449 -0.05084590 -0.06077040
+v -0.00144449 -0.05645374 -0.06047306
+v -0.00028222 -0.05585619 -0.05925687
+v -0.00098450 -0.05512294 -0.05738820
+v 0.03433939 -0.03453673 -0.06505245
+v -0.00144449 -0.05209353 -0.06367083
+v 0.03658590 -0.03618933 -0.05738813
+v 0.03694730 -0.03708675 -0.05952055
+v 0.03926363 -0.03610395 -0.06385521
+v 0.04051214 -0.03453674 -0.06385521
+v 0.03570701 -0.03897793 -0.06049281
+v 0.03446670 -0.04084283 -0.06146422
+v 0.03630252 -0.03952733 -0.06385523
+v 0.03771120 -0.03797543 -0.06385522
+v -0.00144449 -0.05688057 -0.06367171
+v 0.00145092 -0.05638810 -0.06108847
+v 0.00145092 -0.05485591 -0.05738820
+v 0.03579736 -0.03453673 -0.06601437
+v -0.00144449 -0.05316169 -0.06519474
+v -0.00144449 -0.05218329 -0.06380183
+v 0.03636823 -0.03644324 -0.05738813
+v 0.03645857 -0.03652204 -0.05768461
+v 0.03482812 -0.03813961 -0.05738814
+v 0.04042180 -0.03453673 -0.06568167
+v 0.04049162 -0.03453673 -0.06446287
+v 0.03390404 -0.04026498 -0.05940679
+v 0.03262268 -0.04207296 -0.06049799
+v 0.03134131 -0.04383938 -0.06158922
+v 0.03314426 -0.04267489 -0.06385524
+v 0.03475420 -0.04112301 -0.06385523
+v 0.03454064 -0.04090192 -0.06578512
+v 0.03755515 -0.03778717 -0.06577736
+v -0.00144449 -0.05689808 -0.06385529
+v 0.00145092 -0.05662010 -0.06385529
+v 0.00455166 -0.05611665 -0.06172199
+v 0.00173018 -0.05480995 -0.05738820
+v 0.03863114 -0.03453673 -0.06619280
+v 0.03539898 -0.03558300 -0.06615401
+v -0.00144449 -0.05469172 -0.06568086
+v 0.03353033 -0.03947699 -0.05738815
+v 0.03861473 -0.03561146 -0.06607383
+v 0.03332087 -0.03968932 -0.05738815
+v 0.03176844 -0.04117118 -0.05738815
+v 0.03071296 -0.04330531 -0.05953178
+v 0.03159594 -0.04404731 -0.06385524
+v 0.02856912 -0.04407797 -0.05768464
+v 0.02933713 -0.04502136 -0.06080055
+v 0.02795718 -0.04667394 -0.06206932
+v 0.03139060 -0.04387001 -0.06572393
+v 0.03243376 -0.04192848 -0.06606525
+v 0.03556736 -0.03882031 -0.06610143
+v -0.00144449 -0.05622170 -0.06568175
+v 0.00145092 -0.05610352 -0.06560072
+v 0.00361118 -0.05596782 -0.06548954
+v 0.00460916 -0.05612541 -0.06386391
+v 0.00639158 -0.05593499 -0.06284080
+v 0.00639158 -0.05593499 -0.06215902
+v 0.00453935 -0.05432621 -0.05738820
+v 0.02625281 -0.04501915 -0.06619195
+v -0.00144449 -0.05482086 -0.06568174
+v 0.03027762 -0.04250420 -0.05738816
+v 0.03003940 -0.04271215 -0.05738816
+v 0.02847467 -0.04400137 -0.05738816
+v 0.02962050 -0.04559702 -0.06385525
+v 0.02800236 -0.04670018 -0.06553690
+v 0.02724667 -0.04620116 -0.06001275
+v 0.02807219 -0.04674617 -0.06385525
+v 0.02622817 -0.04725399 -0.06093330
+v 0.02212942 -0.04995941 -0.06163320
+v 0.02239226 -0.05009075 -0.06385526
+v 0.02394059 -0.04919987 -0.06385526
+v 0.02625281 -0.04782747 -0.06385526
+v 0.02916463 -0.04494910 -0.06593596
+v 0.01075316 -0.05352505 -0.06586705
+v 0.00567697 -0.05564824 -0.06489823
+v 0.01385390 -0.05315294 -0.06571360
+v 0.01571026 -0.05287934 -0.06550763
+v 0.01075316 -0.05459105 -0.06385528
+v 0.01385390 -0.05370453 -0.06385528
+v 0.00751690 -0.05517765 -0.06098676
+v 0.00795221 -0.05358199 -0.05738820
+v 0.00765241 -0.05365202 -0.05738820
+v 0.01585812 -0.05294719 -0.06186680
+v 0.01075316 -0.05424081 -0.06077041
+v 0.02315616 -0.04822582 -0.06598597
+v 0.02005132 -0.05037091 -0.06588083
+v 0.02623226 -0.04560581 -0.05738817
+v 0.02212532 -0.04994189 -0.06564982
+v 0.02625281 -0.04718831 -0.06583341
+v 0.02587087 -0.04584439 -0.05738817
+v 0.02518088 -0.04685781 -0.05857590
+v 0.02316026 -0.04896130 -0.06067043
+v 0.02130392 -0.04951946 -0.05957576
+v 0.02018273 -0.05053291 -0.06067044
+v 0.02005132 -0.05118737 -0.06385527
+v 0.01752553 -0.05231681 -0.06385527
+v 0.01597310 -0.05298441 -0.06385527
+v 0.01014122 -0.05301508 -0.05738819
+v 0.01691771 -0.05207823 -0.06081177
+v 0.01471637 -0.05253352 -0.05981021
+v 0.01375123 -0.05327990 -0.06081178
+v 0.01264648 -0.05288593 -0.05894396
+v 0.01084351 -0.05280495 -0.05738819
+v 0.01045746 -0.05292095 -0.05738819
+v 0.02351347 -0.04730654 -0.05738817
+v 0.02320546 -0.04748822 -0.05738817
+v 0.02028540 -0.04906419 -0.05738818
+v 0.02018273 -0.04916707 -0.05749934
+v 0.01923812 -0.05002291 -0.05840525
+v 0.01725445 -0.05047599 -0.05738819
+v 0.01714358 -0.05057230 -0.05749935
+v 0.01709840 -0.05054386 -0.05738819
+v 0.01417836 -0.05169301 -0.05738819
+v 0.01378819 -0.05184404 -0.05738819
+v 0.01260950 -0.05223584 -0.05738819
+v 0.02018683 -0.04911454 -0.05738818
+v 0.01999790 -0.04920647 -0.05738818
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 41
+f 1 41 40
+f 1 40 53
+f 1 53 34
+f 1 34 21
+f 1 21 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 33
+f 1 33 52
+f 1 52 74
+f 1 74 98
+f 1 98 97
+f 1 97 114
+f 1 114 120
+f 1 120 119
+f 1 119 131
+f 1 131 130
+f 1 130 129
+f 1 129 128
+f 1 128 126
+f 1 126 133
+f 1 133 132
+f 1 132 123
+f 1 123 122
+f 1 122 121
+f 1 121 106
+f 1 106 103
+f 1 103 79
+f 1 79 78
+f 1 78 77
+f 1 77 59
+f 1 59 58
+f 1 58 56
+f 1 56 39
+f 1 39 37
+f 1 37 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 17
+f 4 17 22
+f 4 22 36
+f 4 36 35
+f 4 35 55
+f 4 55 76
+f 4 76 68
+f 4 68 49
+f 4 49 31
+f 4 31 18
+f 4 18 9
+f 4 7 10
+f 4 10 11
+f 4 11 8
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 8 11 17
+f 9 18 19
+f 9 19 20
+f 11 21 22
+f 11 22 17
+f 12 23 24
+f 12 24 14
+f 13 25 26
+f 13 16 25
+f 14 24 15
+f 15 24 16
+f 16 24 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 25
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 27
+f 25 30 40
+f 25 40 41
+f 25 41 26
+f 27 39 28
+f 28 39 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 40
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 37 39 38
+f 39 56 42
+f 40 48 57
+f 40 57 53
+f 42 56 58
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 44
+f 44 61 45
+f 44 60 62
+f 44 62 63
+f 44 63 64
+f 44 64 61
+f 45 61 65
+f 45 65 47
+f 45 47 46
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 57
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 51
+f 51 73 74
+f 51 74 52
+f 53 57 67
+f 53 67 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 59 77 60
+f 60 77 78
+f 60 78 79
+f 60 79 62
+f 61 64 80
+f 61 80 81
+f 61 81 65
+f 62 79 82
+f 62 82 64
+f 62 64 63
+f 64 83 80
+f 64 82 84
+f 64 84 85
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 83
+f 65 81 89
+f 65 89 66
+f 66 89 75
+f 66 75 67
+f 68 76 75
+f 68 75 90
+f 68 90 69
+f 69 90 70
+f 70 91 71
+f 70 90 92
+f 70 92 93
+f 70 93 91
+f 71 91 72
+f 72 91 94
+f 72 94 95
+f 72 95 73
+f 73 96 97
+f 73 97 98
+f 73 98 74
+f 73 95 99
+f 73 99 100
+f 73 100 96
+f 75 89 101
+f 75 101 102
+f 75 102 90
+f 79 103 82
+f 80 83 81
+f 81 83 88
+f 81 88 87
+f 81 87 86
+f 81 86 104
+f 81 104 105
+f 81 105 89
+f 82 103 106
+f 82 106 107
+f 82 107 84
+f 84 107 108
+f 84 108 85
+f 85 108 109
+f 85 109 110
+f 85 110 99
+f 85 99 86
+f 86 99 111
+f 86 111 104
+f 89 105 101
+f 90 102 92
+f 91 93 94
+f 92 102 93
+f 93 102 104
+f 93 104 111
+f 93 111 112
+f 93 112 113
+f 93 113 95
+f 93 95 94
+f 95 113 99
+f 96 100 114
+f 96 114 97
+f 99 113 112
+f 99 112 111
+f 99 110 115
+f 99 115 116
+f 99 116 117
+f 99 117 100
+f 100 117 118
+f 100 118 119
+f 100 119 120
+f 100 120 114
+f 101 105 102
+f 102 105 104
+f 106 121 107
+f 107 121 122
+f 107 122 108
+f 108 122 109
+f 109 122 123
+f 109 123 124
+f 109 124 125
+f 109 125 110
+f 110 125 115
+f 115 126 127
+f 115 127 128
+f 115 128 116
+f 115 125 126
+f 116 129 130
+f 116 130 118
+f 116 118 117
+f 116 128 129
+f 118 130 131
+f 118 131 119
+f 123 132 124
+f 124 132 133
+f 124 133 125
+f 125 133 126
+f 126 128 127
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_29.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.05194117 -0.00160139 -0.06385548
+v 0.05090786 -0.00160138 -0.06653972
+v 0.05089734 0.00008996 -0.06654523
+v 0.05192644 0.00008995 -0.06385547
+v 0.05141294 0.00008995 -0.06217262
+v 0.05098151 -0.00160140 -0.06077027
+v 0.05177702 -0.00470274 -0.06385549
+v 0.05083421 -0.00470273 -0.06653973
+v 0.04828355 0.00008996 -0.06654523
+v 0.04795945 -0.01400679 -0.06678161
+v 0.05097521 0.00008994 -0.06077026
+v 0.05081105 -0.00470275 -0.06077028
+v 0.05041752 0.00008994 -0.05925664
+v 0.04972513 0.00008993 -0.05738713
+v 0.04972091 -0.00160141 -0.05738714
+v 0.05048485 -0.00780410 -0.06077029
+v 0.05142769 -0.00780409 -0.06385550
+v 0.05037752 -0.01090543 -0.06638894
+v 0.05065531 -0.00780408 -0.06651860
+v 0.04757852 0.00008996 -0.06561370
+v 0.04795945 -0.01090542 -0.06672551
+v 0.03865961 -0.03261151 -0.06640558
+v 0.03579748 -0.03453673 -0.06601476
+v 0.03434324 -0.03453673 -0.06505196
+v 0.03426748 -0.03445877 -0.06497287
+v 0.03416228 -0.03453673 -0.06490851
+v 0.04747961 -0.02020612 -0.06636139
+v 0.04485738 -0.02330744 -0.06664556
+v 0.04955045 -0.00470276 -0.05738715
+v 0.04931053 -0.00709912 -0.05738716
+v 0.04923899 -0.00780411 -0.05738716
+v 0.04422604 0.00008993 -0.05738713
+v 0.04957780 -0.00970560 -0.05904242
+v 0.04995661 -0.01080716 -0.06068294
+v 0.05088682 -0.01090544 -0.06385551
+v 0.04970830 -0.01621333 -0.06570294
+v 0.05000713 -0.01400680 -0.06606893
+v 0.04673251 0.00008996 -0.06449548
+v 0.04203313 -0.02978132 -0.06630348
+v 0.03863436 -0.03453673 -0.06619224
+v 0.03325103 -0.03453674 -0.06327900
+v 0.04687351 -0.02330744 -0.06593104
+v 0.04489316 -0.02619865 -0.06616737
+v 0.04883912 -0.01035299 -0.05738717
+v 0.03044150 -0.03453676 -0.05738726
+v 0.04541298 0.00008994 -0.06077026
+v 0.04876336 -0.01082074 -0.05738717
+v 0.04937578 -0.01177316 -0.05959691
+v 0.04974406 -0.01336279 -0.06165402
+v 0.04947258 -0.01543038 -0.06245408
+v 0.05004923 -0.01424067 -0.06363204
+v 0.04970830 -0.01621333 -0.06451210
+v 0.04649260 -0.02502592 -0.06552182
+v 0.04583388 0.00008995 -0.06196202
+v 0.03239238 -0.03453674 -0.06154560
+v 0.03201989 -0.03453675 -0.06077039
+v 0.04114082 -0.03261151 -0.06604510
+v 0.04042529 -0.03453673 -0.06568095
+v 0.04388300 -0.02892718 -0.06595588
+v 0.03793355 -0.03453676 -0.05738726
+v 0.04803732 -0.01402039 -0.05738718
+v 0.04916322 -0.01424068 -0.06068295
+v 0.04711974 -0.01718613 -0.05738719
+v 0.04710292 -0.01724374 -0.05738719
+v 0.04836983 -0.01710817 -0.06077032
+v 0.04719341 -0.02040271 -0.06057355
+v 0.04672620 -0.02252112 -0.06147106
+v 0.04822880 -0.02020613 -0.06385554
+v 0.04919058 -0.01719289 -0.06363205
+v 0.04649260 -0.02502592 -0.06494800
+v 0.04404084 -0.02919835 -0.06385558
+v 0.04310434 -0.03075071 -0.06385558
+v 0.04047371 -0.03450622 -0.06567083
+v 0.04049264 -0.03453673 -0.06446250
+v 0.04009278 -0.03453674 -0.06184722
+v 0.03985708 -0.03366225 -0.05997311
+v 0.03942776 -0.03252004 -0.05738725
+v 0.04705660 -0.01738611 -0.05738719
+v 0.04671568 -0.01950113 -0.05838678
+v 0.04602330 -0.02039595 -0.05738720
+v 0.04633896 -0.02156869 -0.05941303
+v 0.04496051 -0.02300923 -0.05738721
+v 0.04598962 -0.02345661 -0.06057357
+v 0.04629268 -0.02458868 -0.06289090
+v 0.04697243 -0.02345660 -0.06389417
+v 0.04568448 -0.02619866 -0.06389418
+v 0.04370832 -0.02864586 -0.06133131
+v 0.04033690 -0.03433335 -0.06203022
+v 0.04184795 -0.03261152 -0.06385559
+v 0.04051369 -0.03453674 -0.06385560
+v 0.04021484 -0.03453674 -0.06223620
+v 0.04057261 -0.03159471 -0.05843926
+v 0.04122922 -0.02985929 -0.05738724
+v 0.04605697 -0.02030105 -0.05738720
+v 0.04483424 -0.02330747 -0.05738722
+v 0.04379041 -0.02551742 -0.05738722
+v 0.04441123 -0.02669694 -0.06048988
+v 0.04328742 -0.02792392 -0.05927421
+v 0.04276552 -0.02961187 -0.06048989
+v 0.04099351 -0.03262170 -0.06090923
+v 0.04049264 -0.03453674 -0.06373237
+v 0.04134918 -0.02967967 -0.05738724
+v 0.04372307 -0.02565301 -0.05738722
+v 0.04288966 -0.02720536 -0.05738723
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 9 20
+f 3 20 38
+f 3 38 54
+f 3 54 46
+f 3 46 32
+f 3 32 14
+f 3 14 13
+f 3 13 11
+f 3 11 5
+f 3 5 4
+f 3 8 10
+f 3 10 9
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 29
+f 6 29 12
+f 7 12 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 10
+f 9 10 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 20
+f 10 19 18
+f 10 18 27
+f 10 27 28
+f 10 28 22
+f 10 22 21
+f 12 29 30
+f 12 30 31
+f 12 31 16
+f 14 32 45
+f 14 45 60
+f 14 60 77
+f 14 77 93
+f 14 93 102
+f 14 102 104
+f 14 104 103
+f 14 103 96
+f 14 96 95
+f 14 95 82
+f 14 82 80
+f 14 80 94
+f 14 94 78
+f 14 78 64
+f 14 64 63
+f 14 63 61
+f 14 61 47
+f 14 47 44
+f 14 44 31
+f 14 31 30
+f 14 30 29
+f 14 29 15
+f 16 31 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 27
+f 20 26 38
+f 22 28 39
+f 22 39 40
+f 22 40 23
+f 23 40 58
+f 23 58 74
+f 23 74 90
+f 23 90 101
+f 23 101 91
+f 23 91 75
+f 23 75 60
+f 23 60 45
+f 23 45 56
+f 23 56 55
+f 23 55 41
+f 23 41 26
+f 23 26 24
+f 24 26 25
+f 26 41 38
+f 27 37 36
+f 27 36 42
+f 27 42 43
+f 27 43 28
+f 28 43 39
+f 31 44 33
+f 32 46 45
+f 33 44 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 70
+f 36 70 53
+f 36 53 42
+f 38 41 55
+f 38 55 56
+f 38 56 45
+f 38 45 54
+f 39 43 57
+f 39 57 40
+f 40 57 58
+f 42 53 59
+f 42 59 43
+f 43 59 57
+f 45 46 54
+f 47 61 48
+f 48 61 49
+f 49 61 62
+f 49 62 50
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 52
+f 50 52 51
+f 50 62 61
+f 50 61 63
+f 52 69 68
+f 52 68 70
+f 53 70 71
+f 53 71 72
+f 53 72 73
+f 53 73 59
+f 57 73 58
+f 57 59 73
+f 58 73 74
+f 60 75 76
+f 60 76 77
+f 64 78 65
+f 65 78 79
+f 65 79 66
+f 66 79 80
+f 66 80 81
+f 66 81 67
+f 67 81 82
+f 67 82 83
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 70
+f 70 85 84
+f 70 84 86
+f 70 86 71
+f 71 86 87
+f 71 87 72
+f 72 87 88
+f 72 88 89
+f 72 89 73
+f 73 89 90
+f 73 90 74
+f 75 91 88
+f 75 88 76
+f 76 88 92
+f 76 92 77
+f 77 92 93
+f 78 94 79
+f 79 94 80
+f 80 82 81
+f 82 95 83
+f 83 95 96
+f 83 96 97
+f 83 97 84
+f 84 97 87
+f 84 87 86
+f 87 97 98
+f 87 98 99
+f 87 99 88
+f 88 99 100
+f 88 100 92
+f 88 91 101
+f 88 101 89
+f 89 101 90
+f 92 100 99
+f 92 99 102
+f 92 102 93
+f 96 103 97
+f 97 103 98
+f 98 104 102
+f 98 102 99
+f 98 103 104
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_3.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04560331 0.04570866 -0.02989609
+v -0.04560331 0.05212378 -0.02989607
+v -0.02543122 0.05875417 -0.02989604
+v -0.02543122 0.08336845 0.06059867
+v -0.02543122 0.08358813 0.06136305
+v -0.04560331 0.07394793 0.05958256
+v -0.04424074 0.05326619 -0.02989606
+v -0.04560331 0.05269936 -0.02837663
+v -0.02543122 0.06388624 -0.02989603
+v -0.02543122 0.08384300 0.06201557
+v -0.04560331 0.07486185 0.06228586
+v -0.04198951 0.05499299 -0.02989606
+v -0.04518665 0.05364845 -0.02667076
+v -0.04296503 0.05537086 -0.02681992
+v -0.04560331 0.05318270 -0.02701565
+v -0.02543122 0.06468153 -0.02727664
+v -0.02646994 0.06350395 -0.02989603
+v -0.02543122 0.08427799 0.06298501
+v -0.04560331 0.07514747 0.06294771
+v -0.04560331 0.07503323 0.06268670
+v -0.04168542 0.05522147 -0.02989606
+v -0.04086785 0.05609585 -0.02919692
+v -0.04560331 0.05340678 -0.02636314
+v -0.04560331 0.05835864 -0.01161627
+v -0.04141487 0.05649131 -0.02681991
+v -0.04560331 0.05843333 -0.01139255
+v -0.04560331 0.05891667 -0.00991975
+v -0.04560331 0.05936924 -0.00854012
+v -0.04426837 0.05943075 -0.01139254
+v -0.04328298 0.06182541 -0.00626563
+v -0.02543122 0.07139532 -0.00435466
+v -0.03707633 0.08666387 0.06189440
+v -0.02796878 0.08987143 0.06124189
+v -0.02659632 0.06345123 -0.02989603
+v -0.02942812 0.06235716 -0.02961639
+v -0.02543122 0.08477889 0.06379601
+v -0.04560331 0.07617124 0.06438324
+v -0.04067435 0.05595965 -0.02989605
+v -0.03878054 0.05816538 -0.02698768
+v -0.03718889 0.05880248 -0.02813425
+v -0.03907873 0.05698343 -0.02989605
+v -0.03949936 0.05671540 -0.02989605
+v -0.04560331 0.08245891 0.06261215
+v -0.04337382 0.08359254 0.06151220
+v -0.04519060 0.05979105 -0.00818590
+v -0.02543122 0.09020536 0.06079445
+v -0.02590121 0.09015265 0.06084105
+v -0.04369570 0.08377709 0.06357229
+v -0.03737651 0.08681325 0.06395449
+v -0.03592901 0.08723508 0.06281724
+v -0.03113234 0.06198806 -0.02839524
+v -0.02827684 0.08995929 0.06330196
+v -0.02674444 0.09027566 0.06243506
+v -0.02543122 0.09059642 0.06251896
+v -0.02928594 0.06232639 -0.02989603
+v -0.02973815 0.06211991 -0.02989603
+v -0.03058334 0.06173322 -0.02989603
+v -0.02820179 0.08376828 0.06408498
+v -0.02543122 0.08581585 0.06480274
+v -0.04560331 0.07660183 0.06470950
+v -0.03599615 0.05981308 -0.02698767
+v -0.03510554 0.05936932 -0.02989604
+v -0.03664190 0.05849493 -0.02989605
+v -0.04560331 0.08239739 0.06314347
+v -0.04369570 0.08377708 0.06430869
+v -0.03310511 0.06142126 -0.02681989
+v -0.03737651 0.08681324 0.06424345
+v -0.03236258 0.06092914 -0.02961640
+v -0.02827684 0.08995928 0.06429008
+v -0.02543122 0.09047779 0.06388924
+v -0.03171488 0.06115764 -0.02989604
+v -0.02543122 0.08654083 0.06497986
+v -0.04560331 0.07843848 0.06526881
+v -0.04560331 0.08184816 0.06475613
+v -0.04195793 0.08416374 0.06459765
+v -0.03575719 0.08710325 0.06449514
+v -0.03265684 0.08763930 0.06483072
+v -0.02645611 0.09017459 0.06448581
+v -0.02543122 0.09029322 0.06456973
+v -0.02543122 0.08833356 0.06516630
+v -0.03265684 0.08523144 0.06530610
+v -0.04505828 0.07903165 0.06533405
+v -0.04560331 0.07907561 0.06527813
+v -0.04560331 0.08154498 0.06485866
+v -0.04486081 0.08212937 0.06481206
+v -0.03858900 0.08524902 0.06478410
+v -0.03575719 0.08523144 0.06519426
+v -0.02645611 0.08833356 0.06513834
+v -0.02543122 0.08905854 0.06499852
+v -0.04195793 0.08212937 0.06527814
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 38
+f 1 38 42
+f 1 42 41
+f 1 41 63
+f 1 63 62
+f 1 62 71
+f 1 71 57
+f 1 57 56
+f 1 56 55
+f 1 55 34
+f 1 34 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 19
+f 1 19 37
+f 1 37 60
+f 1 60 73
+f 1 73 83
+f 1 83 84
+f 1 84 74
+f 1 74 64
+f 1 64 43
+f 1 43 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 23
+f 1 23 15
+f 1 15 8
+f 1 8 2
+f 2 8 7
+f 3 9 16
+f 3 16 31
+f 3 31 46
+f 3 46 54
+f 3 54 70
+f 3 70 79
+f 3 79 89
+f 3 89 80
+f 3 80 72
+f 3 72 59
+f 3 59 36
+f 3 36 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 7 8 13
+f 7 13 14
+f 7 14 12
+f 8 15 13
+f 9 17 16
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 14 22
+f 12 22 21
+f 13 15 23
+f 13 23 24
+f 13 24 14
+f 14 25 22
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 25
+f 16 17 32
+f 16 32 33
+f 16 33 31
+f 17 34 35
+f 17 35 32
+f 18 36 19
+f 19 36 37
+f 21 22 38
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 38
+f 22 25 43
+f 22 43 44
+f 22 44 39
+f 25 30 43
+f 28 45 29
+f 28 43 45
+f 29 45 30
+f 30 45 43
+f 31 33 47
+f 31 47 46
+f 32 44 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 32 35 51
+f 32 51 44
+f 33 50 52
+f 33 52 53
+f 33 53 54
+f 33 54 47
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 51
+f 36 58 37
+f 36 59 58
+f 37 59 60
+f 37 58 59
+f 39 44 40
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 40 44 61
+f 43 64 65
+f 43 65 48
+f 43 48 44
+f 44 51 66
+f 44 66 61
+f 46 47 54
+f 48 65 67
+f 48 67 49
+f 49 67 69
+f 49 69 52
+f 49 52 50
+f 51 57 68
+f 51 68 62
+f 51 62 61
+f 51 61 66
+f 52 69 54
+f 52 54 53
+f 54 69 70
+f 57 71 68
+f 59 72 73
+f 59 73 60
+f 62 68 71
+f 64 74 65
+f 65 74 75
+f 65 75 67
+f 67 75 76
+f 67 76 69
+f 69 76 77
+f 69 77 78
+f 69 78 70
+f 70 78 79
+f 72 80 81
+f 72 81 82
+f 72 82 73
+f 73 82 83
+f 74 84 85
+f 74 85 75
+f 75 85 86
+f 75 86 76
+f 76 86 77
+f 77 87 88
+f 77 88 89
+f 77 89 79
+f 77 79 78
+f 77 86 87
+f 80 89 88
+f 80 88 81
+f 81 88 87
+f 81 87 90
+f 81 90 82
+f 82 90 83
+f 83 90 84
+f 84 90 85
+f 85 90 86
+f 86 90 87
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_30.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05192452 0.00008995 -0.06385543
+v 0.05141191 0.00008995 -0.06217279
+v 0.05089734 0.00008996 -0.06654542
+v 0.05088955 0.00150290 -0.06655008
+v 0.05191282 0.00150289 -0.06385542
+v 0.05097140 0.00150288 -0.06076995
+v 0.05097530 0.00008994 -0.06076996
+v 0.04828362 0.00008996 -0.06654542
+v 0.04795813 0.01390745 -0.06691381
+v 0.05079991 0.00460243 -0.06656594
+v 0.05065370 0.00770516 -0.06655565
+v 0.05171207 0.00460242 -0.06385541
+v 0.05077650 0.00460241 -0.06076994
+v 0.04957196 0.00460240 -0.05738601
+v 0.04972985 0.00150287 -0.05738602
+v 0.05041788 0.00008994 -0.05925614
+v 0.04757806 0.00008996 -0.06561364
+v 0.03615838 0.03260021 -0.06612744
+v 0.03855380 0.03260022 -0.06689414
+v 0.03865904 0.03251111 -0.06690628
+v 0.05041397 0.01080470 -0.06644652
+v 0.04485910 0.02320928 -0.06684940
+v 0.04743773 0.02010655 -0.06644089
+v 0.05138072 0.00770515 -0.06385540
+v 0.05042567 0.00770514 -0.06076993
+v 0.04926596 0.00770513 -0.05738600
+v 0.04972596 0.00027131 -0.05738603
+v 0.04972399 0.00008993 -0.05738603
+v 0.04673215 0.00008996 -0.06449530
+v 0.03472775 0.03260021 -0.06421814
+v 0.03865711 0.03260022 -0.06688762
+v 0.04200757 0.02962476 -0.06656585
+v 0.05003389 0.01390744 -0.06613404
+v 0.04486297 0.02603195 -0.06624778
+v 0.04679843 0.02320927 -0.06590642
+v 0.04971230 0.01606823 -0.06574042
+v 0.05087006 0.01080469 -0.06385539
+v 0.04990721 0.01065513 -0.06074193
+v 0.04956418 0.00952223 -0.05905931
+v 0.04922892 0.00794698 -0.05738600
+v 0.04422562 0.00008993 -0.05738603
+v 0.04583362 0.00008995 -0.06196199
+v 0.03219394 0.03260018 -0.05791662
+v 0.03332052 0.03260019 -0.06076984
+v 0.03469462 0.03260021 -0.06415939
+v 0.04098821 0.03260021 -0.06619181
+v 0.04106227 0.03251110 -0.06618900
+v 0.04383191 0.02873690 -0.06602019
+v 0.04643590 0.02481314 -0.06544936
+v 0.04971230 0.01606823 -0.06466591
+v 0.05004559 0.01402835 -0.06372387
+v 0.04970450 0.01307687 -0.06175208
+v 0.04877676 0.01067739 -0.05738599
+v 0.04541263 0.00008994 -0.06076996
+v 0.03201462 0.03260018 -0.05738591
+v 0.04103108 0.03260021 -0.06616568
+v 0.04130005 0.03260020 -0.06381427
+v 0.04289051 0.03030576 -0.06385532
+v 0.04643590 0.02481314 -0.06530389
+v 0.04942188 0.01514535 -0.06260832
+v 0.04803023 0.02010654 -0.06385536
+v 0.04910418 0.01706107 -0.06372386
+v 0.04866174 0.01115473 -0.05738599
+v 0.04798736 0.01392652 -0.05738598
+v 0.03870778 0.03260018 -0.05738591
+v 0.04119090 0.03260020 -0.06352327
+v 0.04074846 0.03172504 -0.06076984
+v 0.04102328 0.02940835 -0.05738592
+v 0.04350252 0.02817682 -0.06180520
+v 0.04384751 0.02875599 -0.06385532
+v 0.04542626 0.02603195 -0.06410718
+v 0.04611820 0.02413849 -0.06324627
+v 0.04683545 0.02314564 -0.06410719
+v 0.04817642 0.01700379 -0.06076990
+v 0.04698163 0.01712152 -0.05738597
+v 0.04700891 0.01703878 -0.05738597
+v 0.04790746 0.01418427 -0.05738598
+v 0.04659767 0.02207001 -0.06179216
+v 0.04701672 0.02014152 -0.06076617
+v 0.04011307 0.03260019 -0.06076984
+v 0.03871752 0.03258743 -0.05738591
+v 0.04008578 0.03078308 -0.05738592
+v 0.04279304 0.02648381 -0.05738593
+v 0.04285153 0.02638515 -0.05738593
+v 0.04351812 0.02515999 -0.05738594
+v 0.04407946 0.02639790 -0.06077359
+v 0.04432504 0.02351793 -0.05738594
+v 0.04644174 0.01862038 -0.05738596
+v 0.04576541 0.02031655 -0.05738596
+v 0.04584532 0.02013833 -0.05738596
+f 1 2 7
+f 1 7 16
+f 1 16 28
+f 1 28 41
+f 1 41 54
+f 1 54 42
+f 1 42 29
+f 1 29 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 21 11
+f 9 11 10
+f 9 20 22
+f 9 22 23
+f 9 23 21
+f 11 21 12
+f 12 21 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 40
+f 14 40 53
+f 14 53 63
+f 14 63 64
+f 14 64 77
+f 14 77 76
+f 14 76 75
+f 14 75 88
+f 14 88 90
+f 14 90 89
+f 14 89 87
+f 14 87 85
+f 14 85 84
+f 14 84 83
+f 14 83 68
+f 14 68 82
+f 14 82 81
+f 14 81 65
+f 14 65 55
+f 14 55 41
+f 14 41 28
+f 14 28 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 17 29 18
+f 18 30 45
+f 18 45 44
+f 18 44 43
+f 18 43 55
+f 18 55 65
+f 18 65 80
+f 18 80 66
+f 18 66 57
+f 18 57 56
+f 18 56 46
+f 18 46 31
+f 18 31 19
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 20 32 22
+f 21 33 24
+f 21 23 33
+f 22 32 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 33
+f 24 33 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 34
+f 33 36 37
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 50 37
+f 36 49 59
+f 36 59 50
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 41 55 43
+f 41 43 54
+f 42 54 43
+f 46 56 47
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 50 60 51
+f 50 59 61
+f 50 61 62
+f 50 62 60
+f 51 60 52
+f 52 63 53
+f 52 60 64
+f 52 64 63
+f 57 66 58
+f 58 66 67
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 59 71 72
+f 59 72 73
+f 59 73 61
+f 60 62 74
+f 60 74 75
+f 60 75 76
+f 60 76 77
+f 60 77 64
+f 61 73 78
+f 61 78 79
+f 61 79 74
+f 61 74 62
+f 65 81 80
+f 66 80 67
+f 67 82 68
+f 67 80 82
+f 68 83 69
+f 69 83 84
+f 69 84 85
+f 69 85 86
+f 69 86 71
+f 69 71 70
+f 71 86 72
+f 72 87 78
+f 72 78 73
+f 72 86 85
+f 72 85 87
+f 74 88 75
+f 74 79 88
+f 78 89 90
+f 78 90 79
+f 78 87 89
+f 79 90 88
+f 80 81 82
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_31.obj

@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.04249690 0.03270116 -0.04159762
+v -0.05289991 0.03270116 -0.04159762
+v -0.05595037 0.03270112 -0.02989614
+v -0.06536998 -0.00067549 -0.02989626
+v -0.05444680 -0.00067545 -0.04159774
+v -0.05349320 0.03270116 -0.04120927
+v -0.05302994 0.03250186 -0.04159762
+v -0.05355281 0.03251167 -0.04125166
+v -0.06158806 0.03270112 -0.02989614
+v -0.07016510 -0.00067549 -0.02989626
+v -0.06265814 -0.00067545 -0.04159774
+v -0.05488298 0.03270116 -0.04005000
+v -0.05569842 0.03058081 -0.04052655
+v -0.05332795 0.03201506 -0.04159762
+v -0.05417318 0.03062329 -0.04159763
+v -0.06149863 0.03270112 -0.03015616
+v -0.06158261 0.03255083 -0.03016991
+v -0.06185353 0.03222739 -0.02989614
+v -0.06979396 -0.00067549 -0.03087340
+v -0.07017053 0.00148732 -0.02989625
+v -0.07016780 0.00150364 -0.02990998
+v -0.06288029 -0.00067545 -0.04141330
+v -0.06265814 0.00150368 -0.04159773
+v -0.05504281 0.03270116 -0.03989766
+v -0.05510242 0.03251167 -0.03995837
+v -0.05473126 0.02966927 -0.04159763
+v -0.05497778 0.02924457 -0.04159763
+v -0.05625379 0.02851274 -0.04098477
+v -0.05834795 0.02630744 -0.04009471
+v -0.05753791 0.02956473 -0.03926535
+v -0.05882203 0.03061674 -0.03737982
+v -0.05668724 0.03251166 -0.03841536
+v -0.06143633 0.03270112 -0.03031654
+v -0.06208110 0.03090749 -0.03137157
+v -0.06233305 0.03136159 -0.02989614
+v -0.06887556 -0.00067548 -0.03328928
+v -0.07017053 0.00150364 -0.02989625
+v -0.06888100 0.00165395 -0.03329385
+v -0.07004048 0.00460411 -0.02989624
+v -0.06893245 0.00460412 -0.03284824
+v -0.06396664 -0.00067545 -0.04033994
+v -0.06288029 0.00150368 -0.04141329
+v -0.06249829 0.00409777 -0.04159772
+v -0.05520538 0.03270116 -0.03974072
+v -0.05567135 0.02791486 -0.04159764
+v -0.05679562 0.02630744 -0.04138686
+v -0.05881933 0.02426552 -0.04053916
+v -0.05985420 0.02630743 -0.03855170
+v -0.05935031 0.02854867 -0.03800300
+v -0.05951827 0.03186149 -0.03532360
+v -0.05835336 0.03270114 -0.03626521
+v -0.05662763 0.03270115 -0.03835580
+v -0.06140382 0.02630742 -0.03659972
+v -0.06211632 0.02786910 -0.03454581
+v -0.06021724 0.03270113 -0.03317231
+v -0.06169370 0.03015278 -0.03299592
+v -0.06248206 0.02860092 -0.03299592
+v -0.06510990 0.02451051 -0.03117341
+v -0.06470353 0.02634989 -0.03005079
+v -0.06309701 0.02968885 -0.03016992
+v -0.06288571 0.03028019 -0.02989615
+v -0.06833916 -0.00067547 -0.03458257
+v -0.06830123 0.00278763 -0.03452070
+v -0.06833916 0.00071955 -0.03458257
+v -0.06975060 0.00770458 -0.02989623
+v -0.06878347 0.00770459 -0.03251260
+v -0.06823080 0.00460413 -0.03439125
+v -0.06442992 -0.00067545 -0.03988176
+v -0.06442992 0.00150368 -0.03987945
+v -0.06278548 0.00460415 -0.04133310
+v -0.06246037 0.00460415 -0.04159772
+v -0.05647865 0.02633032 -0.04159764
+v -0.05663848 0.02598400 -0.04159764
+v -0.05732117 0.02441907 -0.04159765
+v -0.05778445 0.02333765 -0.04159765
+v -0.05789550 0.02306323 -0.04159766
+v -0.05920403 0.02219746 -0.04087368
+v -0.06108956 0.02010651 -0.03969381
+v -0.06225449 0.02205043 -0.03779910
+v -0.06186167 0.02411522 -0.03728018
+v -0.06014407 0.03270113 -0.03331321
+v -0.05839669 0.03270114 -0.03619992
+v -0.06244682 0.02630742 -0.03505785
+v -0.06500694 0.02102453 -0.03414262
+v -0.06467372 0.02336704 -0.03306695
+v -0.06351422 0.02630741 -0.03299593
+v -0.06019825 0.03270113 -0.03321011
+v -0.06585218 0.02369374 -0.02989617
+v -0.06533204 0.02502672 -0.02989617
+v -0.06483085 0.02618325 -0.02989616
+v -0.06551084 0.02244245 -0.03208527
+v -0.06592534 0.02336703 -0.03005080
+v -0.06472249 0.02641524 -0.02989616
+v -0.06330290 0.02944383 -0.02989615
+v -0.06752372 -0.00067547 -0.03579911
+v -0.06752372 0.00165396 -0.03579910
+v -0.06716070 0.00460413 -0.03608090
+v -0.06930902 0.01080505 -0.02989622
+v -0.06855317 0.01080506 -0.03199480
+v -0.06806826 0.00770460 -0.03405560
+v -0.06784068 0.01080506 -0.03353781
+v -0.06684102 0.00770460 -0.03608089
+v -0.06578718 -0.00067546 -0.03833873
+v -0.06578448 0.00150367 -0.03833643
+v -0.06569236 0.00460414 -0.03822416
+v -0.06433508 0.00460415 -0.03976716
+v -0.06260939 0.00770462 -0.04117042
+v -0.06218134 0.00692705 -0.04159771
+v -0.05848880 0.02142968 -0.04159766
+v -0.05893852 0.02010651 -0.04159767
+v -0.05953723 0.02010651 -0.04115320
+v -0.06155280 0.01700603 -0.04017953
+v -0.06256603 0.02010650 -0.03815079
+v -0.06455994 0.01700601 -0.03669257
+v -0.06421319 0.02003787 -0.03589296
+v -0.06295885 0.02313182 -0.03618393
+v -0.06533474 0.01895648 -0.03473945
+v -0.06584136 0.02003786 -0.03306697
+v -0.06597412 0.02336050 -0.02989617
+v -0.06710108 0.02010647 -0.02990992
+v -0.06710651 0.02010647 -0.02989619
+v -0.06602828 0.02320693 -0.02989617
+v -0.06553252 0.00770461 -0.03802712
+v -0.06838250 0.01272284 -0.03161334
+v -0.06876179 0.01382058 -0.02989621
+v -0.06873470 0.01381733 -0.02999244
+v -0.06616645 0.01100109 -0.03635923
+v -0.06760228 0.01381734 -0.03278291
+v -0.06597952 0.01390554 -0.03573377
+v -0.06536455 0.01009939 -0.03781747
+v -0.06415898 0.00770462 -0.03957013
+v -0.06234930 0.01080509 -0.04092757
+v -0.06205944 0.00776997 -0.04159771
+v -0.05917152 0.01938448 -0.04159767
+v -0.05990027 0.01700603 -0.04159768
+v -0.06000050 0.01700603 -0.04152094
+v -0.06188876 0.01464719 -0.04050371
+v -0.06301032 0.01700602 -0.03863650
+v -0.06496091 0.01390555 -0.03727563
+v -0.06560026 0.01700601 -0.03515069
+v -0.06674078 0.01700600 -0.03299597
+v -0.06794092 0.01719221 -0.02999243
+v -0.06795718 0.01725103 -0.02989620
+v -0.06817391 0.01479090 -0.03107609
+v -0.06871302 0.01405908 -0.02989621
+v -0.06837438 0.01564689 -0.02989620
+v -0.06517492 0.01216747 -0.03757348
+v -0.06414004 0.01100110 -0.03897445
+v -0.06216779 0.01257913 -0.04076144
+v -0.06149593 0.01080509 -0.04159770
+v -0.06167744 0.00985437 -0.04159770
+v -0.06045292 0.01499677 -0.04159768
+v -0.06318372 0.01373239 -0.03935130
+v -0.06799782 0.01710076 -0.02989620
+v -0.06081595 0.01366708 -0.04159769
+v -0.06131171 0.01163493 -0.04159770
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 44
+f 1 44 52
+f 1 52 51
+f 1 51 82
+f 1 82 81
+f 1 81 87
+f 1 87 55
+f 1 55 33
+f 1 33 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 43
+f 1 43 71
+f 1 71 108
+f 1 108 133
+f 1 133 151
+f 1 151 150
+f 1 150 156
+f 1 156 155
+f 1 155 152
+f 1 152 135
+f 1 135 134
+f 1 134 110
+f 1 110 109
+f 1 109 76
+f 1 76 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 45
+f 1 45 27
+f 1 27 26
+f 1 26 15
+f 1 15 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 18
+f 3 18 35
+f 3 35 61
+f 3 61 94
+f 3 94 93
+f 3 93 90
+f 3 90 89
+f 3 89 88
+f 3 88 119
+f 3 119 122
+f 3 122 121
+f 3 121 143
+f 3 143 154
+f 3 154 146
+f 3 146 145
+f 3 145 125
+f 3 125 98
+f 3 98 65
+f 3 65 39
+f 3 39 37
+f 3 37 20
+f 3 20 10
+f 3 10 4
+f 4 10 19
+f 4 19 36
+f 4 36 62
+f 4 62 95
+f 4 95 103
+f 4 103 68
+f 4 68 41
+f 4 41 22
+f 4 22 11
+f 4 11 5
+f 6 8 13
+f 6 13 12
+f 7 14 8
+f 8 14 15
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 10 20 21
+f 10 21 19
+f 11 22 42
+f 11 42 23
+f 12 13 25
+f 12 25 24
+f 13 15 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 25
+f 16 33 17
+f 17 34 35
+f 17 35 18
+f 17 33 34
+f 19 21 36
+f 20 37 21
+f 21 38 36
+f 21 37 39
+f 21 39 40
+f 21 40 38
+f 22 41 42
+f 23 42 43
+f 24 25 44
+f 25 32 44
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 29 48 49
+f 29 49 30
+f 29 47 48
+f 30 49 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 31 49 53
+f 31 53 54
+f 31 54 50
+f 32 52 44
+f 33 55 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 35
+f 34 55 56
+f 36 38 62
+f 38 40 63
+f 38 63 64
+f 38 64 62
+f 39 65 66
+f 39 66 40
+f 40 67 63
+f 40 66 67
+f 41 68 42
+f 42 69 70
+f 42 70 43
+f 42 68 69
+f 43 70 71
+f 45 72 46
+f 46 73 74
+f 46 74 47
+f 46 72 73
+f 47 74 75
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 49
+f 49 80 53
+f 50 81 82
+f 50 82 51
+f 50 54 81
+f 53 83 54
+f 53 80 83
+f 54 83 84
+f 54 84 85
+f 54 85 86
+f 54 86 57
+f 54 57 56
+f 54 56 81
+f 55 87 56
+f 56 87 81
+f 57 86 58
+f 58 88 89
+f 58 89 90
+f 58 90 59
+f 58 86 85
+f 58 85 91
+f 58 91 92
+f 58 92 88
+f 59 90 93
+f 59 93 94
+f 59 94 60
+f 60 94 61
+f 62 64 96
+f 62 96 95
+f 63 96 64
+f 63 67 97
+f 63 97 96
+f 65 98 99
+f 65 99 66
+f 66 100 67
+f 66 99 101
+f 66 101 100
+f 67 100 102
+f 67 102 97
+f 68 103 69
+f 69 104 105
+f 69 105 106
+f 69 106 70
+f 69 103 104
+f 70 106 107
+f 70 107 108
+f 70 108 71
+f 76 109 77
+f 77 109 110
+f 77 110 111
+f 77 111 112
+f 77 112 78
+f 78 113 79
+f 78 112 113
+f 79 113 114
+f 79 114 115
+f 79 115 116
+f 79 116 80
+f 80 116 83
+f 83 116 84
+f 84 117 118
+f 84 118 91
+f 84 91 85
+f 84 116 117
+f 88 92 119
+f 91 118 120
+f 91 120 121
+f 91 121 92
+f 92 121 122
+f 92 122 119
+f 95 96 103
+f 96 97 105
+f 96 105 104
+f 96 104 103
+f 97 102 123
+f 97 123 105
+f 98 124 99
+f 98 125 126
+f 98 126 124
+f 99 124 101
+f 100 101 127
+f 100 127 102
+f 101 124 128
+f 101 128 129
+f 101 129 127
+f 102 127 130
+f 102 130 123
+f 105 123 106
+f 106 123 131
+f 106 131 107
+f 107 131 132
+f 107 132 133
+f 107 133 108
+f 110 134 111
+f 111 134 135
+f 111 135 136
+f 111 136 137
+f 111 137 112
+f 112 137 138
+f 112 138 113
+f 113 138 139
+f 113 139 114
+f 114 139 140
+f 114 140 117
+f 114 117 115
+f 115 117 116
+f 117 140 141
+f 117 141 118
+f 118 141 142
+f 118 142 120
+f 120 142 121
+f 121 142 143
+f 123 130 131
+f 124 126 144
+f 124 144 128
+f 125 145 126
+f 126 145 146
+f 126 146 144
+f 127 129 147
+f 127 147 130
+f 128 144 141
+f 128 141 140
+f 128 140 129
+f 129 140 139
+f 129 139 147
+f 130 147 148
+f 130 148 131
+f 131 148 132
+f 132 148 149
+f 132 149 150
+f 132 150 151
+f 132 151 133
+f 135 152 136
+f 136 152 149
+f 136 149 137
+f 137 153 138
+f 137 149 153
+f 138 153 147
+f 138 147 139
+f 141 144 142
+f 142 154 143
+f 142 144 146
+f 142 146 154
+f 147 149 148
+f 147 153 149
+f 149 155 156
+f 149 156 150
+f 149 152 155
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_32.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01824210 0.04083165 -0.05243023
+v 0.01824210 0.02334855 -0.05484235
+v 0.01824210 0.04083164 -0.04929157
+v 0.02260559 0.04083167 -0.05738587
+v 0.01824210 0.02334853 -0.05020605
+v 0.03846166 0.02334856 -0.05738593
+v 0.01824210 0.02862223 -0.04929161
+v 0.02991649 0.04083164 -0.04929157
+v 0.03104064 0.04083167 -0.05738587
+v 0.01824210 0.02338106 -0.05019970
+v 0.02347369 0.02334853 -0.04929163
+v 0.04440256 0.02334856 -0.05738593
+v 0.01824210 0.02347520 -0.05018227
+v 0.02338406 0.02343756 -0.04929163
+v 0.03236455 0.03861161 -0.04929158
+v 0.03116357 0.04073069 -0.05738587
+v 0.04382128 0.02334853 -0.04929163
+v 0.04432573 0.02351973 -0.05738593
+v 0.04161905 0.02836375 -0.04929162
+v 0.03128904 0.04061259 -0.05738587
+v 0.03261805 0.03836171 -0.04929158
+v 0.03284852 0.03913712 -0.05738588
+v 0.04351654 0.02516295 -0.05738593
+v 0.04285074 0.02638681 -0.05738592
+v 0.04128614 0.02894574 -0.04929161
+v 0.03544512 0.03552374 -0.04929159
+v 0.03424412 0.03775579 -0.05738588
+v 0.04279186 0.02648608 -0.05738592
+v 0.04102240 0.02940963 -0.05738591
+v 0.04008260 0.03078583 -0.05738591
+v 0.03871517 0.03258651 -0.05738590
+v 0.03734006 0.03434270 -0.05738589
+v 0.03840276 0.03231774 -0.04929160
+v 0.03441313 0.03758463 -0.05738588
+v 0.03624406 0.03558195 -0.05738589
+v 0.03622870 0.03559907 -0.05738589
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 17
+f 2 17 11
+f 2 11 5
+f 3 7 14
+f 3 14 11
+f 3 11 17
+f 3 17 19
+f 3 19 25
+f 3 25 33
+f 3 33 26
+f 3 26 21
+f 3 21 15
+f 3 15 8
+f 4 9 16
+f 4 16 20
+f 4 20 22
+f 4 22 27
+f 4 27 34
+f 4 34 36
+f 4 36 35
+f 4 35 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 24
+f 4 24 23
+f 4 23 18
+f 4 18 12
+f 4 12 6
+f 5 11 10
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 10 11 13
+f 11 14 13
+f 12 18 19
+f 12 19 17
+f 15 20 16
+f 15 21 22
+f 15 22 20
+f 18 23 19
+f 19 24 25
+f 19 23 24
+f 21 26 27
+f 21 27 22
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 26 34 27
+f 26 33 34
+f 32 35 33
+f 33 35 36
+f 33 36 34
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_33.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04973028 0.00150136 -0.05738601
+v 0.04871594 0.00150133 -0.04929171
+v 0.04871594 0.00140572 -0.04929171
+v 0.04972471 0.00008993 -0.05738602
+v 0.04957166 0.00460199 -0.05738600
+v 0.04851838 0.00734288 -0.04929169
+v 0.04864499 0.00460196 -0.04929170
+v 0.04865472 0.00434016 -0.04929170
+v 0.04870898 0.00008990 -0.04929172
+v 0.04422590 0.00008993 -0.05738602
+v 0.04926553 0.00770487 -0.05738599
+v 0.04825121 0.01028870 -0.04929168
+v 0.04848914 0.00770484 -0.04929169
+v 0.03551717 0.00008990 -0.04929172
+v 0.03551717 0.00008992 -0.05345020
+v 0.03846275 0.02334685 -0.05738593
+v 0.04922938 0.00794619 -0.05738599
+v 0.04817052 0.01080547 -0.04929168
+v 0.03551717 0.02334682 -0.04929163
+v 0.03551717 0.00167665 -0.05345099
+v 0.03551717 0.02334683 -0.05243267
+v 0.04440122 0.02334685 -0.05738593
+v 0.03551717 0.00437432 -0.05341532
+v 0.03551717 0.00460198 -0.05341134
+v 0.03551717 0.00467254 -0.05340898
+v 0.03551717 0.00770486 -0.05330119
+v 0.04877717 0.01067803 -0.05738598
+v 0.04765571 0.01323907 -0.04929167
+v 0.04382242 0.02334682 -0.04929163
+v 0.04440122 0.02285510 -0.04929164
+v 0.04576620 0.02031909 -0.05738595
+v 0.04866307 0.01115381 -0.05738598
+v 0.04753883 0.01372625 -0.04929167
+v 0.04459742 0.02238160 -0.04929164
+v 0.04584410 0.02013926 -0.05738595
+v 0.04798686 0.01392434 -0.05738597
+v 0.04790755 0.01418158 -0.05738597
+v 0.04701011 0.01703861 -0.05738596
+v 0.04698227 0.01712057 -0.05738596
+v 0.04644102 0.01862308 -0.05738595
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
+f 1 22 31
+f 1 31 35
+f 1 35 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 32
+f 1 32 27
+f 1 27 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 28
+f 2 28 33
+f 2 33 34
+f 2 34 30
+f 2 30 29
+f 2 29 19
+f 2 19 14
+f 2 14 9
+f 2 9 3
+f 3 9 4
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 14 19 21
+f 14 21 26
+f 14 26 25
+f 14 25 24
+f 14 24 23
+f 14 23 20
+f 14 20 15
+f 15 20 16
+f 16 21 19
+f 16 19 29
+f 16 29 22
+f 16 20 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 21
+f 17 27 18
+f 18 27 28
+f 22 30 31
+f 22 29 30
+f 27 32 28
+f 28 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 35
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_34.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01360375 -0.02640868 -0.04987034
+v -0.00143946 -0.03120829 -0.04987035
+v 0.03923404 -0.02640870 -0.04409211
+v 0.04165826 -0.02640868 -0.04987034
+v -0.00143946 -0.04456224 -0.04987040
+v -0.00143946 -0.04456225 -0.04620740
+v 0.04993176 -0.02640870 -0.04409211
+v 0.01896520 -0.04456226 -0.04409217
+v 0.04155265 -0.02666102 -0.04987034
+v 0.02505592 -0.04456224 -0.04987040
+v 0.04926787 -0.02775566 -0.04409211
+v 0.03578381 -0.04456226 -0.04409217
+v 0.04880515 -0.02860682 -0.04409212
+v 0.04691911 -0.03182493 -0.04409213
+v 0.03819294 -0.03222294 -0.04987036
+v 0.02550354 -0.04427436 -0.04987040
+v 0.03569327 -0.04456226 -0.04414310
+v 0.03603024 -0.04436678 -0.04409217
+v 0.04689396 -0.03186402 -0.04409213
+v 0.03757934 -0.03297992 -0.04987036
+v 0.04582770 -0.03351306 -0.04409213
+v 0.04458038 -0.03527580 -0.04409214
+v 0.04381590 -0.03630820 -0.04409214
+v 0.04316208 -0.03713808 -0.04409215
+v 0.02808869 -0.04230371 -0.04987040
+v 0.02904430 -0.04155026 -0.04987039
+v 0.03640242 -0.04404693 -0.04409217
+v 0.04239760 -0.03804608 -0.04409215
+v 0.04096921 -0.03966314 -0.04409216
+v 0.04026006 -0.04042723 -0.04409216
+v 0.03461195 -0.03605231 -0.04987037
+v 0.03216257 -0.03850632 -0.04987038
+v 0.03960119 -0.04108472 -0.04409216
+v 0.03783586 -0.04276752 -0.04409217
+v 0.03709651 -0.04344098 -0.04409217
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 31
+f 1 31 32
+f 1 32 26
+f 1 26 25
+f 1 25 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 12
+f 3 12 18
+f 3 18 27
+f 3 27 35
+f 3 35 34
+f 3 34 33
+f 3 33 30
+f 3 30 29
+f 3 29 28
+f 3 28 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 19
+f 3 19 14
+f 3 14 13
+f 3 13 11
+f 3 11 7
+f 4 7 9
+f 5 10 17
+f 5 17 12
+f 5 12 8
+f 5 8 6
+f 7 11 9
+f 9 11 13
+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 12 17 18
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 20 24 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 30 33 32
+f 30 32 31
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_35.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.06387460 -0.00160147 -0.03454819
+v 0.06380413 -0.00309875 -0.03454819
+v 0.06304356 -0.00470351 -0.03608209
+v 0.06318448 -0.00160147 -0.03608208
+v 0.06387217 0.00008985 -0.03454818
+v 0.06371664 -0.00464321 -0.03454820
+v 0.06344693 -0.00781605 -0.03454821
+v 0.06263776 -0.00782916 -0.03633617
+v 0.06197682 -0.00681174 -0.03771313
+v 0.06205700 -0.00470350 -0.03782427
+v 0.06213233 -0.00160146 -0.03792422
+v 0.06318206 0.00008985 -0.03608207
+v 0.05884217 0.00008985 -0.03454818
+v 0.06326225 -0.00955719 -0.03454822
+v 0.06258186 -0.01090498 -0.03574300
+v 0.06185045 -0.00887802 -0.03753469
+v 0.06074726 -0.00470350 -0.03936655
+v 0.06082744 -0.00782915 -0.03891256
+v 0.06082987 -0.00160146 -0.03946650
+v 0.06083231 0.00008986 -0.03946181
+v 0.06142278 0.00008986 -0.03876028
+v 0.06212746 0.00008986 -0.03791952
+v 0.06270336 0.00008986 -0.03691998
+v 0.04681392 0.00008988 -0.04409144
+v 0.03905023 -0.02669838 -0.04409154
+v 0.05264824 -0.02669841 -0.03454828
+v 0.06310674 -0.01090498 -0.03454822
+v 0.06275196 -0.01306303 -0.03454823
+v 0.06229514 -0.01400441 -0.03522924
+v 0.06169007 -0.01090497 -0.03728622
+v 0.05993323 -0.01096265 -0.03943102
+v 0.05891021 -0.00996884 -0.04080888
+v 0.05905358 -0.00780554 -0.04094714
+v 0.05919451 -0.00470349 -0.04108164
+v 0.05927957 -0.00160145 -0.04116198
+v 0.05928200 0.00008987 -0.04116570
+v 0.05586548 0.00008988 -0.04409144
+v 0.04979546 -0.02669838 -0.04409154
+v 0.05851171 -0.02669841 -0.03454828
+v 0.06258917 -0.01400441 -0.03454823
+v 0.06138391 -0.01400440 -0.03677152
+v 0.06204972 -0.01606543 -0.03479207
+v 0.05983358 -0.01400440 -0.03887335
+v 0.05873768 -0.01203513 -0.04063515
+v 0.05752758 -0.01096264 -0.04187195
+v 0.05566379 -0.00896978 -0.04376079
+v 0.05699542 -0.00788420 -0.04273042
+v 0.05743280 -0.00470348 -0.04262485
+v 0.05752758 -0.00160144 -0.04270518
+v 0.05753243 0.00008988 -0.04270890
+v 0.05832944 0.00008987 -0.04200642
+v 0.05598214 0.00008988 -0.04400831
+v 0.05585819 -0.00139689 -0.04409145
+v 0.04987079 -0.02669838 -0.04404484
+v 0.04993883 -0.02640729 -0.04409154
+v 0.05809133 -0.02669841 -0.03538623
+v 0.05901956 -0.02534536 -0.03491073
+v 0.05909004 -0.02553940 -0.03454827
+v 0.06221251 -0.01578748 -0.03454824
+v 0.06110202 -0.01710119 -0.03592519
+v 0.05910218 -0.01959489 -0.03801020
+v 0.05945452 -0.01710644 -0.03844645
+v 0.06211046 -0.01621491 -0.03454824
+v 0.06163176 -0.01791933 -0.03454825
+v 0.06145436 -0.01851718 -0.03454825
+v 0.05986276 -0.02046021 -0.03636240
+v 0.05853356 -0.01400439 -0.04041563
+v 0.05698326 -0.01400439 -0.04184301
+v 0.05549856 -0.01090495 -0.04363095
+v 0.05524585 -0.00859743 -0.04409147
+v 0.05578530 -0.00690087 -0.04385326
+v 0.05509519 -0.00961221 -0.04409148
+v 0.05588250 -0.00470348 -0.04392986
+v 0.05597726 -0.00160144 -0.04400457
+v 0.05585578 -0.00160144 -0.04409145
+v 0.05217197 -0.02330788 -0.04346846
+v 0.05115138 -0.02669838 -0.04307800
+v 0.05127530 -0.02330788 -0.04409153
+v 0.05774141 -0.02669841 -0.03600276
+v 0.05931359 -0.02495987 -0.03454827
+v 0.05788718 -0.02639160 -0.03599622
+v 0.05847282 -0.02330790 -0.03709663
+v 0.05939135 -0.02330791 -0.03555343
+v 0.06025884 -0.02212793 -0.03454826
+v 0.05877900 -0.02166378 -0.03757771
+v 0.05788962 -0.02046020 -0.03909010
+v 0.05815208 -0.01710643 -0.03998872
+v 0.05660176 -0.01710643 -0.04152540
+v 0.05480603 -0.01710642 -0.04306861
+v 0.05518753 -0.01400438 -0.04338528
+v 0.05455088 -0.01248350 -0.04409149
+v 0.05486192 -0.01090495 -0.04409148
+v 0.05541836 -0.00716834 -0.04409147
+v 0.05548884 -0.00650230 -0.04409146
+v 0.05565652 -0.00470348 -0.04409146
+v 0.05253402 -0.02154840 -0.04374122
+v 0.05429574 -0.02317415 -0.04174589
+v 0.05336263 -0.02640994 -0.04137504
+v 0.05148913 -0.02640993 -0.04291826
+v 0.05143811 -0.02669838 -0.04284447
+v 0.05169811 -0.02231670 -0.04409152
+v 0.05755915 -0.02669841 -0.03629327
+v 0.05622270 -0.02669840 -0.03824285
+v 0.05628828 -0.02640995 -0.03831944
+v 0.05674512 -0.02317416 -0.03929656
+v 0.05581688 -0.02204924 -0.04081640
+v 0.05613036 -0.02020583 -0.04110599
+v 0.05347684 -0.01710642 -0.04409150
+v 0.05363237 -0.01650069 -0.04409150
+v 0.05402114 -0.02039202 -0.04284537
+v 0.05289610 -0.01947950 -0.04400745
+v 0.05301516 -0.01869808 -0.04409151
+v 0.05423498 -0.01400438 -0.04409149
+v 0.05214037 -0.02117342 -0.04409152
+v 0.05273328 -0.01957389 -0.04409151
+v 0.05541836 -0.02411553 -0.04041007
+v 0.05329459 -0.02669839 -0.04131620
+v 0.05168111 -0.02669838 -0.04264548
+v 0.05505874 -0.02669839 -0.03954693
+v 0.05491294 -0.02640994 -0.03986172
+v 0.05280131 -0.01936412 -0.04409151
+v 0.05462866 -0.02669839 -0.04001212
+v 0.05483519 -0.02669839 -0.03979167
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 13
+f 1 13 26
+f 1 26 39
+f 1 39 58
+f 1 58 80
+f 1 80 84
+f 1 84 65
+f 1 65 64
+f 1 64 63
+f 1 63 59
+f 1 59 40
+f 1 40 28
+f 1 28 27
+f 1 27 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 7
+f 4 11 12
+f 4 10 11
+f 5 12 23
+f 5 23 22
+f 5 22 21
+f 5 21 20
+f 5 20 36
+f 5 36 51
+f 5 51 50
+f 5 50 52
+f 5 52 37
+f 5 37 24
+f 5 24 13
+f 7 14 15
+f 7 15 8
+f 8 16 9
+f 8 15 16
+f 9 17 10
+f 9 16 18
+f 9 18 17
+f 10 17 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 24 25
+f 13 25 26
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 18
+f 17 18 33
+f 17 33 34
+f 17 34 19
+f 18 32 33
+f 19 35 36
+f 19 36 20
+f 19 34 35
+f 24 37 53
+f 24 53 75
+f 24 75 95
+f 24 95 94
+f 24 94 93
+f 24 93 70
+f 24 70 72
+f 24 72 92
+f 24 92 91
+f 24 91 113
+f 24 113 109
+f 24 109 108
+f 24 108 112
+f 24 112 121
+f 24 121 115
+f 24 115 114
+f 24 114 101
+f 24 101 78
+f 24 78 55
+f 24 55 38
+f 24 38 25
+f 25 38 54
+f 25 54 77
+f 25 77 100
+f 25 100 118
+f 25 118 117
+f 25 117 122
+f 25 122 123
+f 25 123 119
+f 25 119 103
+f 25 103 102
+f 25 102 79
+f 25 79 56
+f 25 56 39
+f 25 39 26
+f 28 40 29
+f 29 41 30
+f 29 40 42
+f 29 42 41
+f 30 41 43
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 37 52 53
+f 38 55 54
+f 39 56 57
+f 39 57 58
+f 40 59 42
+f 41 42 60
+f 41 60 61
+f 41 61 62
+f 41 62 43
+f 42 59 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 60
+f 43 67 44
+f 43 62 67
+f 44 67 68
+f 44 68 45
+f 45 69 46
+f 45 68 69
+f 46 70 71
+f 46 71 47
+f 46 69 72
+f 46 72 70
+f 47 71 48
+f 48 73 49
+f 48 71 73
+f 49 74 52
+f 49 52 50
+f 49 73 74
+f 52 74 53
+f 53 74 75
+f 54 55 76
+f 54 76 77
+f 55 78 76
+f 56 79 57
+f 57 80 58
+f 57 79 81
+f 57 81 82
+f 57 82 83
+f 57 83 84
+f 57 84 80
+f 60 66 85
+f 60 85 61
+f 61 85 86
+f 61 86 87
+f 61 87 62
+f 62 87 67
+f 65 84 83
+f 65 83 66
+f 66 83 85
+f 67 87 88
+f 67 88 68
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 91
+f 69 91 92
+f 69 92 72
+f 70 93 71
+f 71 93 94
+f 71 94 95
+f 71 95 73
+f 73 95 74
+f 74 95 75
+f 76 78 96
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 77
+f 77 99 100
+f 78 101 96
+f 79 102 81
+f 81 102 82
+f 82 85 83
+f 82 102 103
+f 82 103 104
+f 82 104 85
+f 85 104 105
+f 85 105 86
+f 86 105 106
+f 86 106 87
+f 87 106 107
+f 87 107 88
+f 88 107 89
+f 89 108 109
+f 89 109 90
+f 89 107 110
+f 89 110 111
+f 89 111 112
+f 89 112 108
+f 90 109 113
+f 90 113 91
+f 96 114 115
+f 96 115 111
+f 96 111 110
+f 96 110 106
+f 96 106 97
+f 96 101 114
+f 97 106 116
+f 97 116 98
+f 98 116 117
+f 98 117 118
+f 98 118 99
+f 99 118 100
+f 103 119 120
+f 103 120 104
+f 104 120 116
+f 104 116 105
+f 105 116 106
+f 106 110 107
+f 111 121 112
+f 111 115 121
+f 116 120 122
+f 116 122 117
+f 119 123 120
+f 120 123 122
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_36.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02384086 0.05050687 -0.05736661
+v -0.02384086 0.04838537 -0.04875846
+v -0.02384086 0.04458974 -0.05736664
+v -0.02547286 0.04983602 -0.05736662
+v -0.02384086 0.03064375 -0.04875853
+v -0.02645590 0.04713506 -0.04875847
+v -0.02384086 0.03064377 -0.05328590
+v -0.04158379 0.03064378 -0.05736669
+v -0.02567954 0.04973685 -0.05736662
+v -0.04506172 0.03064375 -0.04875853
+v -0.02705198 0.04906015 -0.05736662
+v -0.02732358 0.04891042 -0.05736662
+v -0.02938583 0.04543556 -0.04875847
+v -0.04839545 0.03064378 -0.05736669
+v -0.04418203 0.03186488 -0.04875852
+v -0.04727058 0.03224216 -0.05736668
+v -0.02963339 0.04753760 -0.05736663
+v -0.03177254 0.04384496 -0.04875848
+v -0.03270031 0.04558339 -0.05736663
+v -0.03533699 0.04384694 -0.05736664
+v -0.03562541 0.04365638 -0.05736664
+v -0.04660480 0.03309385 -0.05736668
+v -0.04141555 0.03529694 -0.04875851
+v -0.03332284 0.04273272 -0.04875848
+v -0.03628638 0.04316830 -0.05736664
+v -0.04568905 0.03420998 -0.05736667
+v -0.04476128 0.03530279 -0.05736667
+v -0.03994699 0.03699839 -0.04875850
+v -0.03539708 0.04116544 -0.04875849
+v -0.03717089 0.04249940 -0.05736664
+v -0.04401618 0.03611365 -0.05736667
+v -0.03854572 0.03839452 -0.04875850
+v -0.04175204 0.03851122 -0.05736666
+v -0.04197558 0.03827984 -0.05736666
+v -0.04244188 0.03779176 -0.05736666
+v -0.03850246 0.04147659 -0.05736665
+v -0.03679114 0.04003568 -0.04875849
+v -0.04102858 0.03919958 -0.05736666
+v -0.03935092 0.04073186 -0.05736665
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 22
+f 1 22 26
+f 1 26 27
+f 1 27 31
+f 1 31 35
+f 1 35 34
+f 1 34 33
+f 1 33 38
+f 1 38 39
+f 1 39 36
+f 1 36 30
+f 1 30 25
+f 1 25 21
+f 1 21 20
+f 1 20 19
+f 1 19 17
+f 1 17 12
+f 1 12 11
+f 1 11 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 18
+f 2 18 24
+f 2 24 29
+f 2 29 37
+f 2 37 32
+f 2 32 28
+f 2 28 23
+f 2 23 15
+f 2 15 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 14
+f 5 14 8
+f 5 8 7
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 10 15 16
+f 10 16 14
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 13 20 21
+f 13 21 18
+f 15 22 16
+f 15 23 22
+f 18 21 24
+f 21 25 24
+f 22 23 26
+f 23 27 26
+f 23 28 27
+f 24 25 29
+f 25 30 29
+f 27 28 31
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 31
+f 29 30 36
+f 29 36 37
+f 32 37 38
+f 32 38 33
+f 36 39 37
+f 37 39 38
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_37.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.06281857 -0.00067751 -0.04146526
+v -0.06281534 -0.00160216 -0.04146527
+v -0.05468530 -0.00067751 -0.04146526
+v -0.05539972 -0.00067748 -0.04842482
+v -0.05539972 -0.00160213 -0.04842483
+v -0.06280888 -0.00171311 -0.04146527
+v -0.04997213 -0.02166675 -0.04146534
+v -0.02979732 -0.02166672 -0.04842490
+v -0.03657614 -0.00067748 -0.04842482
+v -0.05519282 -0.00470274 -0.04842484
+v -0.06262786 -0.00470277 -0.04146528
+v -0.05887156 -0.02166675 -0.04146534
+v -0.05068976 -0.02166672 -0.04842490
+v -0.05485986 -0.00780335 -0.04842485
+v -0.06229814 -0.00780338 -0.04146529
+v -0.05942432 -0.02022841 -0.04146533
+v -0.05302696 -0.01599150 -0.04842488
+v -0.05135245 -0.02020786 -0.04842489
+v -0.05436850 -0.01090601 -0.04842486
+v -0.06182617 -0.01089989 -0.04146530
+v -0.05993184 -0.01866477 -0.04146533
+v -0.05367025 -0.01400456 -0.04842487
+v -0.06128308 -0.01365735 -0.04146531
+v -0.06040381 -0.01710521 -0.04146532
+v -0.06113761 -0.01429637 -0.04146531
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 20
+f 1 20 23
+f 1 23 25
+f 1 25 24
+f 1 24 21
+f 1 21 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 13
+f 4 13 18
+f 4 18 17
+f 4 17 22
+f 4 22 19
+f 4 19 14
+f 4 14 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 19 22 23
+f 19 23 20
+f 21 24 22
+f 22 24 25
+f 22 25 23
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_38.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 0.03723282 -0.04875767
+v -0.02727013 0.03270407 -0.04707715
+v -0.01718104 0.03270408 -0.04875769
+v -0.00144449 0.05251085 -0.04875762
+v -0.00144449 0.05528995 -0.04030526
+v -0.02727013 0.03270408 -0.04875769
+v -0.02727013 0.04877737 -0.04030528
+v -0.00158858 0.05251954 -0.04875762
+v -0.00144449 0.05865906 -0.04363158
+v -0.00144449 0.06223637 -0.04030523
+v -0.02727013 0.04651010 -0.04875764
+v -0.02727013 0.05686318 -0.04030525
+v -0.00165179 0.05252242 -0.04875762
+v -0.00165179 0.05866485 -0.04363488
+v -0.00144449 0.06038264 -0.04208839
+v -0.00144449 0.06193269 -0.04066764
+v -0.00165179 0.06193849 -0.04067261
+v -0.00165179 0.06224504 -0.04030523
+v -0.02645106 0.04713766 -0.04875764
+v -0.02727013 0.05617489 -0.04106897
+v -0.02702743 0.05698753 -0.04030525
+v -0.00475105 0.05248771 -0.04875762
+v -0.00475105 0.05862436 -0.04361006
+v -0.00475105 0.06038553 -0.04206687
+v -0.00165179 0.06038553 -0.04209170
+v -0.00475105 0.06193558 -0.04067261
+v -0.00475105 0.06224215 -0.04030523
+v -0.02319504 0.04869352 -0.04875763
+v -0.02645359 0.05727671 -0.04030525
+v -0.02390035 0.05844793 -0.04030525
+v -0.02381189 0.05848844 -0.04030525
+v -0.02645359 0.05636287 -0.04123198
+v -0.00785286 0.05227661 -0.04875762
+v -0.00785286 0.05851445 -0.04352816
+v -0.00785286 0.06030166 -0.04198495
+v -0.00785286 0.06185173 -0.04058408
+v -0.00785286 0.06208599 -0.04030523
+v -0.00544878 0.06220743 -0.04030523
+v -0.02307119 0.05738949 -0.04156379
+v -0.01999972 0.05002668 -0.04875763
+v -0.02218894 0.05911886 -0.04030524
+v -0.02184764 0.05889040 -0.04072724
+v -0.01330566 0.05177630 -0.04875762
+v -0.01095467 0.06013682 -0.04184428
+v -0.01095467 0.06168979 -0.04040619
+v -0.01095467 0.06177365 -0.04030523
+v -0.02025250 0.05914489 -0.04096884
+v -0.01715322 0.05087404 -0.04875762
+v -0.02026768 0.05972615 -0.04030524
+v -0.01387194 0.05169534 -0.04875762
+v -0.01405394 0.05990835 -0.04163743
+v -0.01405394 0.06129650 -0.04030523
+v -0.01218073 0.06159725 -0.04030523
+v -0.01715322 0.06061400 -0.04030524
+v -0.01715322 0.05958447 -0.04136188
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 19
+f 1 19 28
+f 1 28 40
+f 1 40 48
+f 1 48 50
+f 1 50 43
+f 1 43 33
+f 1 33 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 12
+f 2 12 20
+f 2 20 11
+f 2 11 6
+f 4 8 9
+f 5 10 18
+f 5 18 27
+f 5 27 38
+f 5 38 37
+f 5 37 46
+f 5 46 53
+f 5 53 52
+f 5 52 54
+f 5 54 49
+f 5 49 41
+f 5 41 31
+f 5 31 30
+f 5 30 29
+f 5 29 21
+f 5 21 12
+f 5 12 7
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 11 20 19
+f 12 21 20
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 23
+f 15 25 17
+f 15 17 16
+f 17 26 27
+f 17 27 18
+f 17 25 26
+f 19 20 28
+f 20 21 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 28
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 26
+f 24 26 25
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 26 35 36
+f 28 32 39
+f 28 39 40
+f 31 41 42
+f 31 42 32
+f 32 42 39
+f 33 43 34
+f 34 44 35
+f 34 43 44
+f 35 44 36
+f 36 45 37
+f 36 44 45
+f 37 45 46
+f 39 42 40
+f 40 42 47
+f 40 47 48
+f 41 49 42
+f 42 49 47
+f 43 50 44
+f 44 51 45
+f 44 50 51
+f 45 52 53
+f 45 53 46
+f 45 51 52
+f 47 49 54
+f 47 54 55
+f 47 55 48
+f 48 55 50
+f 50 55 51
+f 51 55 52
+f 52 55 54
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_39.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.05887386 -0.02166806 -0.04146534
+v -0.05834891 -0.02305593 -0.04146534
+v -0.04997246 -0.02166806 -0.04146534
+v -0.05068748 -0.02166803 -0.04842490
+v -0.05805025 -0.02377942 -0.04146535
+v -0.04141048 -0.03508070 -0.04146539
+v -0.01264272 -0.03508067 -0.04842495
+v -0.02979839 -0.02166803 -0.04842490
+v -0.05022588 -0.02268431 -0.04842490
+v -0.05697322 -0.02606278 -0.04146536
+v -0.05190028 -0.03508070 -0.04146539
+v -0.04244225 -0.03508067 -0.04842495
+v -0.05680124 -0.02641862 -0.04146536
+v -0.04827092 -0.02641201 -0.04842492
+v -0.05194553 -0.03500717 -0.04146539
+v -0.04705361 -0.02860085 -0.04842493
+v -0.04600824 -0.03015154 -0.04842493
+v -0.04445605 -0.03240733 -0.04842494
+v -0.04334734 -0.03395802 -0.04842494
+v -0.05661118 -0.02677970 -0.04146536
+v -0.05532599 -0.02919436 -0.04146537
+v -0.05340269 -0.03262007 -0.04146538
+v -0.05390048 -0.03174559 -0.04146538
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 20
+f 1 20 21
+f 1 21 23
+f 1 23 22
+f 1 22 15
+f 1 15 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 5
+f 4 8 7
+f 4 7 12
+f 4 12 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 14
+f 4 14 9
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 9 13 10
+f 9 14 13
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 14 20
+f 14 16 21
+f 14 21 20
+f 15 22 16
+f 16 22 23
+f 16 23 21
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_4.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05444495 0.02723717 -0.03088952
+v 0.05991912 0.02723717 -0.03088952
+v 0.06048343 0.00008983 -0.03088962
+v 0.08511718 0.00008951 0.05648971
+v 0.08155475 0.02723685 0.05653623
+v 0.06070992 0.02630977 -0.02990532
+v 0.06032604 0.02631508 -0.03088952
+v 0.06031451 0.02723717 -0.02986818
+v 0.06527044 0.00008983 -0.03088962
+v 0.08558935 0.00008951 0.05791028
+v 0.08256821 0.02723684 0.05972092
+v 0.08223804 0.02723684 0.05869960
+v 0.06166961 0.02349565 -0.03019316
+v 0.06172336 0.02723715 -0.02569930
+v 0.06157748 0.02647983 -0.02710131
+v 0.06189611 0.02472066 -0.02832691
+v 0.06142392 0.02342391 -0.03088953
+v 0.06526660 0.00150087 -0.03088961
+v 0.06558139 0.00008983 -0.02990542
+v 0.08624580 0.00008950 0.05987866
+v 0.08672564 0.00008950 0.06110426
+v 0.08327071 0.02723683 0.06130863
+v 0.06179630 0.02241676 -0.03088954
+v 0.06225696 0.02265328 -0.02934825
+v 0.09012300 0.02723684 0.06061227
+v 0.06223393 0.02555772 -0.02626568
+v 0.06518599 0.00374367 -0.03088961
+v 0.06557754 0.00150087 -0.02990541
+v 0.09366239 0.00150054 0.06015723
+v 0.09365857 0.00008950 0.06017576
+v 0.08713639 0.00008949 0.06152207
+v 0.08335900 0.02723683 0.06149432
+v 0.06222625 0.02108544 -0.03088954
+v 0.06267155 0.02038657 -0.03019318
+v 0.09012300 0.02723683 0.06166144
+v 0.09302515 0.01603086 0.06092790
+v 0.06364277 0.01700643 -0.02990536
+v 0.06509386 0.00498729 -0.03088960
+v 0.06538945 0.00440267 -0.03011895
+v 0.09337064 0.01080654 0.06041722
+v 0.09350116 0.00770276 0.06026867
+v 0.09359714 0.00460165 0.06018507
+v 0.09366239 0.00150053 0.06239485
+v 0.09365857 0.00008949 0.06240413
+v 0.08810378 0.00008949 0.06249697
+v 0.08498665 0.02723683 0.06274776
+v 0.06250649 0.02009160 -0.03088955
+v 0.08833027 0.02723683 0.06302632
+v 0.09024583 0.02630943 0.06185643
+v 0.09302515 0.01603085 0.06137358
+v 0.09318253 0.01390500 0.06067720
+v 0.06535106 0.00770309 -0.02944114
+v 0.06516295 0.01080687 -0.02884692
+v 0.06504010 0.01250490 -0.02844765
+v 0.06443356 0.01368209 -0.02964539
+v 0.06400364 0.01376448 -0.03088957
+v 0.06352378 0.01602054 -0.03088956
+v 0.06329728 0.01701441 -0.03088956
+v 0.06485584 0.00770309 -0.03088959
+v 0.09337064 0.01080653 0.06199564
+v 0.09350116 0.00770275 0.06219988
+v 0.09359714 0.00460164 0.06232986
+v 0.09136679 0.00460164 0.06383401
+v 0.09136679 0.00150053 0.06391755
+v 0.09124778 0.00008949 0.06396398
+v 0.08826500 0.02010721 0.06361123
+v 0.08826500 0.02320832 0.06361125
+v 0.08826500 0.02630943 0.06327700
+v 0.09064508 0.02320832 0.06231139
+v 0.09318253 0.01390499 0.06168924
+v 0.06479827 0.00820799 -0.03088959
+v 0.06466775 0.01080687 -0.03038820
+v 0.06449500 0.01080687 -0.03088958
+v 0.09136679 0.01390499 0.06321197
+v 0.09136679 0.01080653 0.06350907
+v 0.09136679 0.00770275 0.06370403
+v 0.09103280 0.02010721 0.06255276
+v 0.06456409 0.01021693 -0.03088958
+f 1 2 7
+f 1 7 17
+f 1 17 23
+f 1 23 33
+f 1 33 47
+f 1 47 58
+f 1 58 57
+f 1 57 56
+f 1 56 73
+f 1 73 78
+f 1 78 71
+f 1 71 59
+f 1 59 38
+f 1 38 27
+f 1 27 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 22
+f 1 22 32
+f 1 32 46
+f 1 46 48
+f 1 48 35
+f 1 35 25
+f 1 25 14
+f 1 14 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 19
+f 3 19 30
+f 3 30 44
+f 3 44 65
+f 3 65 45
+f 3 45 31
+f 3 31 21
+f 3 21 20
+f 3 20 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 6 8 14
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 13 17
+f 9 18 28
+f 9 28 19
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 13 23 17
+f 13 16 24
+f 13 24 23
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 25
+f 16 25 24
+f 18 27 28
+f 19 28 29
+f 19 29 30
+f 21 31 32
+f 21 32 22
+f 23 24 33
+f 24 34 33
+f 24 25 34
+f 25 35 50
+f 25 50 36
+f 25 36 37
+f 25 37 34
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 42 62
+f 29 62 43
+f 29 43 44
+f 29 44 30
+f 31 45 32
+f 32 45 46
+f 33 34 47
+f 34 37 47
+f 35 48 49
+f 35 49 50
+f 36 50 70
+f 36 70 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 47
+f 38 59 52
+f 38 52 39
+f 39 52 40
+f 40 51 70
+f 40 70 60
+f 40 60 61
+f 40 61 41
+f 40 52 51
+f 41 61 62
+f 41 62 42
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 48
+f 48 68 69
+f 48 69 49
+f 49 69 50
+f 50 69 70
+f 52 59 71
+f 52 71 72
+f 52 72 53
+f 53 72 54
+f 54 72 56
+f 54 56 55
+f 56 72 73
+f 60 70 74
+f 60 74 61
+f 61 74 75
+f 61 75 62
+f 62 75 76
+f 62 76 63
+f 63 76 67
+f 63 67 64
+f 64 67 65
+f 65 67 66
+f 67 75 74
+f 67 74 68
+f 67 76 75
+f 68 74 77
+f 68 77 69
+f 69 77 70
+f 70 77 74
+f 71 78 72
+f 72 78 73
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_40.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.02978693 -0.04867177 -0.03995538
+v -0.02978693 -0.05676142 -0.03995541
+v -0.02978693 -0.05764547 -0.02987749
+v -0.00144449 -0.06412621 -0.02987752
+v -0.00144449 -0.05659246 -0.03995541
+v -0.02937632 -0.05705216 -0.03995541
+v -0.02978693 -0.05745684 -0.03933973
+v -0.02978693 -0.06297896 -0.02987751
+v -0.00144449 -0.06873483 -0.02987753
+v -0.00144449 -0.06339541 -0.03995543
+v -0.02709860 -0.05821708 -0.03995541
+v -0.02974531 -0.05752364 -0.03929236
+v -0.02978693 -0.05751184 -0.03928151
+v -0.02978693 -0.06291609 -0.03007385
+v -0.02973420 -0.06300255 -0.02987751
+v -0.00144449 -0.06829284 -0.03131808
+v -0.00165256 -0.06873877 -0.02987753
+v -0.00165256 -0.06873680 -0.02988639
+v -0.00144449 -0.06397492 -0.03929632
+v -0.00165256 -0.06397886 -0.03930028
+v -0.00156932 -0.06339933 -0.03995543
+v -0.02865500 -0.05929557 -0.03800969
+v -0.02645497 -0.05853335 -0.03995542
+v -0.02978693 -0.05757472 -0.03921245
+v -0.02978693 -0.06291218 -0.03008470
+v -0.02976474 -0.06292201 -0.03008470
+v -0.02957053 -0.06307327 -0.02987751
+v -0.00165256 -0.06826336 -0.03142857
+v -0.00144449 -0.06825944 -0.03142069
+v -0.00197160 -0.06873483 -0.02987753
+v -0.00144449 -0.06406137 -0.03919471
+v -0.00165256 -0.06340130 -0.03995543
+v -0.00144449 -0.06527146 -0.03775416
+v -0.00165256 -0.06527343 -0.03775714
+v -0.00475147 -0.06523415 -0.03770287
+v -0.00475147 -0.06393563 -0.03924600
+v -0.00283164 -0.06337181 -0.03995543
+v -0.02645497 -0.05979456 -0.03857506
+v -0.02418281 -0.06181205 -0.03722923
+v -0.02669356 -0.06146044 -0.03615279
+v -0.02963434 -0.06004797 -0.03622479
+v -0.02978693 -0.05987117 -0.03638069
+v -0.02399969 -0.05955685 -0.03995542
+v -0.02978693 -0.06290432 -0.03010542
+v -0.02886862 -0.06246624 -0.03237478
+v -0.02718738 -0.06408890 -0.02987752
+v -0.00475147 -0.06868574 -0.02987753
+v -0.00475147 -0.06821819 -0.03134175
+v -0.00165256 -0.06770153 -0.03299640
+v -0.00144449 -0.06773492 -0.03288393
+v -0.00144449 -0.06625763 -0.03608174
+v -0.00165256 -0.06626353 -0.03608174
+v -0.00475147 -0.06618691 -0.03608174
+v -0.00658253 -0.06519486 -0.03765155
+v -0.00475147 -0.06331485 -0.03995543
+v -0.00771167 -0.06407904 -0.03887503
+v -0.00778657 -0.06314591 -0.03995543
+v -0.00605263 -0.06324806 -0.03995543
+v -0.02331721 -0.06051158 -0.03916312
+v -0.02211593 -0.06217941 -0.03776303
+v -0.02581963 -0.06244855 -0.03517201
+v -0.02323122 -0.06280411 -0.03615279
+v -0.02788651 -0.06202227 -0.03443201
+v -0.02978693 -0.06001066 -0.03616558
+v -0.02293158 -0.05993008 -0.03995542
+v -0.02978693 -0.06167062 -0.03320359
+v -0.02669356 -0.06302021 -0.03324010
+v -0.02427157 -0.06495325 -0.03076651
+v -0.02632181 -0.06445429 -0.02987752
+v -0.02638285 -0.06442874 -0.02987752
+v -0.00785316 -0.06851089 -0.02987753
+v -0.00475147 -0.06762098 -0.03299640
+v -0.00785316 -0.06811603 -0.03107436
+v -0.00785316 -0.06743436 -0.03299640
+v -0.00144449 -0.06769367 -0.03299640
+v -0.00771167 -0.06588243 -0.03633829
+v -0.00864938 -0.06511628 -0.03753808
+v -0.00912103 -0.06303001 -0.03995543
+v -0.02025160 -0.06113037 -0.03966140
+v -0.02025160 -0.06245836 -0.03811824
+v -0.02025160 -0.06378438 -0.03608173
+v -0.02025160 -0.06494932 -0.03401861
+v -0.02328392 -0.06446802 -0.03289084
+v -0.01869242 -0.06517325 -0.03453462
+v -0.02976474 -0.06166472 -0.03324010
+v -0.02978693 -0.06164312 -0.03325983
+v -0.02076206 -0.06068642 -0.03995542
+v -0.02978693 -0.06165295 -0.03324010
+v -0.02220472 -0.06531275 -0.03179264
+v -0.02324786 -0.06558581 -0.02987752
+v -0.02335606 -0.06554849 -0.02987752
+v -0.02616366 -0.06451715 -0.02987752
+v -0.00891850 -0.06840678 -0.02987753
+v -0.01095485 -0.06798835 -0.03053664
+v -0.01095485 -0.06714558 -0.03299640
+v -0.01095485 -0.06588438 -0.03577883
+v -0.01095485 -0.06498269 -0.03732199
+v -0.01115182 -0.06322841 -0.03946012
+v -0.01082722 -0.06285124 -0.03995543
+v -0.01839558 -0.06138771 -0.03995543
+v -0.02025160 -0.06084553 -0.03995542
+v -0.01715269 -0.06172757 -0.03995543
+v -0.01715269 -0.06286304 -0.03861059
+v -0.01745507 -0.06456427 -0.03601366
+v -0.02025160 -0.06559562 -0.03247543
+v -0.01662556 -0.06539722 -0.03494016
+v -0.01745507 -0.06594332 -0.03330227
+v -0.02025160 -0.06647964 -0.02991006
+v -0.02025160 -0.06648945 -0.02987752
+v -0.01095485 -0.06818871 -0.02987753
+v -0.01335187 -0.06783906 -0.02987753
+v -0.01405375 -0.06671734 -0.03299640
+v -0.01405375 -0.06564473 -0.03537430
+v -0.01405375 -0.06473517 -0.03691648
+v -0.01405375 -0.06318520 -0.03897271
+v -0.01162624 -0.06275105 -0.03995543
+v -0.01405375 -0.06236013 -0.03995543
+v -0.01715269 -0.06716917 -0.02991007
+v -0.01715544 -0.06717703 -0.02987753
+v -0.01394833 -0.06774672 -0.02987753
+v -0.01660613 -0.06727525 -0.02987753
+v -0.01711384 -0.06718489 -0.02987753
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 42
+f 1 42 64
+f 1 64 86
+f 1 86 88
+f 1 88 66
+f 1 66 44
+f 1 44 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 21
+f 1 21 32
+f 1 32 37
+f 1 37 55
+f 1 55 58
+f 1 58 57
+f 1 57 78
+f 1 78 99
+f 1 99 116
+f 1 116 117
+f 1 117 102
+f 1 102 100
+f 1 100 101
+f 1 101 87
+f 1 87 65
+f 1 65 43
+f 1 43 23
+f 1 23 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 15
+f 3 15 27
+f 3 27 46
+f 3 46 70
+f 3 70 69
+f 3 69 92
+f 3 92 91
+f 3 91 90
+f 3 90 109
+f 3 109 119
+f 3 119 122
+f 3 122 121
+f 3 121 120
+f 3 120 111
+f 3 111 110
+f 3 110 93
+f 3 93 71
+f 3 71 47
+f 3 47 30
+f 3 30 17
+f 3 17 9
+f 3 9 4
+f 4 9 16
+f 4 16 29
+f 4 29 50
+f 4 50 75
+f 4 75 51
+f 4 51 33
+f 4 33 31
+f 4 31 19
+f 4 19 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 17 18
+f 9 18 16
+f 10 19 20
+f 10 20 21
+f 11 22 12
+f 11 23 22
+f 12 22 13
+f 13 22 24
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 16 18 28
+f 16 28 29
+f 17 30 18
+f 18 30 28
+f 19 31 20
+f 20 32 21
+f 20 31 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 32
+f 22 23 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 24
+f 23 43 38
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 28 30 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 55 37
+f 36 54 56
+f 36 56 57
+f 36 57 58
+f 36 58 55
+f 38 43 59
+f 38 59 60
+f 38 60 39
+f 39 61 40
+f 39 60 62
+f 39 62 61
+f 40 63 41
+f 40 61 63
+f 41 63 64
+f 41 64 42
+f 43 65 59
+f 44 66 45
+f 45 63 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 45 66 63
+f 47 71 48
+f 48 72 49
+f 48 71 73
+f 48 73 74
+f 48 74 72
+f 49 52 51
+f 49 51 75
+f 49 75 50
+f 49 72 53
+f 49 53 52
+f 53 72 74
+f 53 74 76
+f 53 76 54
+f 54 76 77
+f 54 77 56
+f 56 77 78
+f 56 78 57
+f 59 65 79
+f 59 79 60
+f 60 79 80
+f 60 80 81
+f 60 81 62
+f 61 62 82
+f 61 82 83
+f 61 83 63
+f 62 81 84
+f 62 84 82
+f 63 83 67
+f 63 66 85
+f 63 85 86
+f 63 86 64
+f 65 87 79
+f 66 88 85
+f 67 83 68
+f 68 83 89
+f 68 89 90
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 71 93 73
+f 73 93 94
+f 73 94 95
+f 73 95 74
+f 74 95 96
+f 74 96 76
+f 76 96 77
+f 77 96 97
+f 77 97 98
+f 77 98 99
+f 77 99 78
+f 79 100 80
+f 79 87 101
+f 79 101 100
+f 80 100 102
+f 80 102 103
+f 80 103 104
+f 80 104 81
+f 81 104 84
+f 82 84 105
+f 82 105 89
+f 82 89 83
+f 84 104 106
+f 84 106 107
+f 84 107 105
+f 85 88 86
+f 89 105 108
+f 89 108 90
+f 90 108 109
+f 93 110 94
+f 94 110 111
+f 94 111 112
+f 94 112 95
+f 95 112 113
+f 95 113 96
+f 96 113 97
+f 97 113 114
+f 97 114 115
+f 97 115 98
+f 98 116 99
+f 98 115 116
+f 102 117 103
+f 103 117 115
+f 103 115 114
+f 103 114 104
+f 104 114 106
+f 105 107 108
+f 106 114 113
+f 106 113 112
+f 106 112 107
+f 107 112 118
+f 107 118 108
+f 108 118 109
+f 109 118 119
+f 111 120 112
+f 112 120 118
+f 115 117 116
+f 118 120 121
+f 118 121 122
+f 118 122 119
+

dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_41.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.04480476 0.02627019 -0.05736670
+v -0.04634526 0.02627020 -0.06077011
+v -0.05116775 0.02627019 -0.05736670
+v -0.05249575 -0.00067276 -0.05736680
+v -0.05260486 -0.00067276 -0.05770396
+v -0.05296092 -0.00067275 -0.05878676
+v -0.05370174 -0.00067275 -0.06077021
+v -0.04842271 0.02627021 -0.06381600
+v -0.05510297 -0.00067274 -0.06340554
+v -0.05132852 0.02627019 -0.05772152
+v -0.05282741 0.02479050 -0.05918771
+v -0.05188846 0.02491972 -0.05736671
+v -0.05790829 -0.00067276 -0.05736680
+v -0.05126107 0.02320798 -0.06425103
+v -0.05121226 0.02627022 -0.06412730
+v -0.05580358 -0.00067274 -0.06367470
+v -0.05746181 -0.00067273 -0.06430141
+v -0.05242685 0.02627020 -0.06030654
+v -0.05311741 0.02533121 -0.06077012
+v -0.05413387 0.02320796 -0.06077012
+v -0.05541739 0.02016945 -0.06063691
+v -0.05314612 0.02295999 -0.05796896
+v -0.05305710 0.02258545 -0.05736672
+v -0.05258620 0.02358248 -0.05736671
+v -0.05886734 -0.00067275 -0.05956982
+v -0.05793414 0.00150061 -0.05736679
+v -0.05746181 0.00150064 -0.06431093
+v -0.05436071 0.01700436 -0.06425651
+v -0.05178078 0.02627021 -0.06380851
+v -0.05374910 0.02320797 -0.06358217
+v -0.05806048 -0.00067274 -0.06397516
+v -0.05947033 0.00150063 -0.06321655
+v -0.05259912 0.02627020 -0.06077011
+v -0.05320355 0.02548947 -0.06304723
+v -0.05616538 0.01917772 -0.06157564
+v -0.05580071 0.01822817 -0.05951945
+v -0.05427457 0.02010614 -0.05768417
+v -0.05415110 0.02008240 -0.05736673
+v -0.05928943 -0.00067275 -0.06065263
+v -0.05887883 0.00150062 -0.05954872
+v -0.05778626 0.00428590 -0.05736678
+v -0.05746181 0.00460243 -0.06421575
+v -0.05699089 0.01390518 -0.06364203
+v -0.05653722 0.01700435 -0.06335720
+v -0.05616538 0.01917772 -0.06285081
+v -0.05946602 -0.00067274 -0.06320840
+v -0.05947033 0.00150062 -0.06109104
+v -0.05936842 0.00460242 -0.06305613
+v -0.05655014 0.01711775 -0.06063692
+v -0.05905972 0.00948460 -0.06216092
+v -0.05754364 0.01390517 -0.06077016
+v -0.05613954 0.01616031 -0.05868542
+v -0.05526949 0.01710718 -0.05736674
+v -0.05426164 0.01978963 -0.05736673
+v -0.05946602 -0.00067275 -0.06111212
+v -0.05776904 0.00460240 -0.05736678
+v -0.05879556 0.00460241 -0.05977983
+v -0.05746181 0.00770423 -0.06397171
+v -0.05919468 0.00770423 -0.06271694
+v -0.05905972 0.00948460 -0.06243213
+v -0.05936842 0.00460242 -0.06132213
+v -0.05919468 0.00770423 -0.06178502
+v -0.05863907 0.00770422 -0.06024272
+v -0.05840362 0.01063457 -0.06098701
+v -0.05639221 0.01374692 -0.05766787
+v -0.05548198 0.01641088 -0.05736674
+v -0.05619408 0.01401596 -0.05736675
+v -0.05746037 0.00767519 -0.05736677
+v -0.05758814 0.00770421 -0.05768421
+v -0.05708135 0.01080601 -0.05768420
+v -0.05631899 0.01354382 -0.05736675
+v -0.05700524 0.01046576 -0.05736676
+v -0.05694638 0.01080601 -0.05736676
+f 1 2 8
+f 1 8 15
+f 1 15 29
+f 1 29 33
+f 1 33 18
+f 1 18 10
+f 1 10 3
+f 1 3 12
+f 1 12 24
+f 1 24 23
+f 1 23 38
+f 1 38 54
+f 1 54 53
+f 1 53 66
+f 1 66 67
+f 1 67 71
+f 1 71 73
+f 1 73 72
+f 1 72 68
+f 1 68 56
+f 1 56 41
+f 1 41 26
+f 1 26 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 12
+f 4 13 25
+f 4 25 39
+f 4 39 55
+f 4 55 46
+f 4 46 31
+f 4 31 17
+f 4 17 16
+f 4 16 9
+f 4 9 7
+f 4 7 6
+f 4 6 5
+f 8 14 15
+f 8 9 16
+f 8 16 17
+f 8 17 14
+f 10 18 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 18 19
+f 13 26 25
+f 14 17 27
+f 14 27 28
+f 14 28 15
+f 15 28 30
+f 15 30 29
+f 17 31 32
+f 17 32 27
+f 18 33 19
+f 19 34 35
+f 19 35 20
+f 19 33 34
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 23 37 38
+f 25 26 40
+f 25 40 39
+f 26 41 40
+f 27 32 42
+f 27 42 28
+f 28 42 43
+f 28 43 30
+f 29 30 34
+f 29 34 33
+f 30 43 44
+f 30 44 45
+f 30 45 34
+f 31 46 32
+f 32 46 55
+f 32 55 47
+f 32 47 61
+f 32 61 48
+f 32 48 42
+f 34 45 35
+f 35 49 36
+f 35 45 60
+f 35 60 50
+f 35 50 51
+f 35 51 49
+f 36 49 52
+f 36 52 53
+f 36 53 54
+f 36 54 38
+f 36 38 37
+f 39 40 55
+f 40 41 56
+f 40 56 57
+f 40 57 47
+f 40 47 55
+f 42 48 58
+f 42 58 43
+f 43 58 48
+f 43 48 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 47 57 61
+f 48 61 62
+f 48 62 59
+f 49 51 52
+f 50 60 59
+f 50 59 62
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 51 64 65
+f 51 65 52
+f 52 66 53
+f 52 65 67
+f 52 67 66
+f 56 68 57
+f 57 68 69
+f 57 69 63
+f 57 63 61
+f 61 63 62
+f 63 69 70
+f 63 70 64
+f 64 70 65
+f 65 70 71
+f 65 71 67
+f 68 72 69
+f 69 72 70
+f 70 72 73
+f 70 73 71
+