Add asset kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08

.gitattributes

@@ -4204,3 +4204,5 @@ dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/mesh/tray_04
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/tray_048.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/mesh/spoon_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/52ba185865345944b5931da794557c12/spoon_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_059_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_059_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfade471b4a15f1555981e5f076cd00bc9a2b4f0553671cca68e1f3fa322246
+size 13162792

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mesh/tray_059.mtl

@@ -0,0 +1,6 @@
+newmtl tray_059_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_0.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.07925770 -0.13799657 0.00059602
+v 0.07925770 -0.12486752 -0.00814462
+v 0.08681225 -0.13588728 0.00059603
+v 0.07925770 -0.11706585 0.00059610
+v 0.08159130 -0.12396159 -0.00793421
+v 0.07925770 -0.11997286 -0.00955022
+v 0.08328416 -0.12029737 -0.00878125
+v 0.08564940 -0.12267710 -0.00719559
+v 0.10467421 -0.12340726 0.00059608
+v 0.14114964 0.00013538 0.00059653
+v 0.10101956 0.00013538 0.00058785
+v 0.07925770 0.00013538 0.00058243
+v 0.08886108 -0.11848554 -0.00811531
+v 0.09245246 -0.11716047 -0.00756542
+v 0.07925770 -0.11369905 -0.01037991
+v 0.08277788 -0.11369905 -0.01026386
+v 0.08886108 -0.11369905 -0.00957840
+v 0.09889953 -0.11146807 -0.00773893
+v 0.11098681 -0.11756613 0.00059610
+v 0.16006371 0.00013538 0.00059653
+v 0.07925770 0.00013541 -0.00873525
+v 0.09466740 -0.11357737 -0.00826713
+v 0.07925770 -0.10762806 -0.01042978
+v 0.08277788 -0.10762806 -0.01046774
+v 0.09494427 -0.10155706 -0.01041890
+v 0.08886108 -0.10762806 -0.01036253
+v 0.09494427 -0.10762806 -0.00982133
+v 0.10096418 -0.10760102 -0.00842980
+v 0.10506974 -0.10557285 -0.00779097
+v 0.11707792 -0.11150866 0.00059612
+v 0.14788942 0.00013541 -0.00816151
+v 0.16006371 -0.00300152 0.00059652
+v 0.14788942 -0.00439417 -0.00816370
+v 0.11926913 0.00013542 -0.01012895
+v 0.13751081 0.00013542 -0.01042395
+v 0.08886108 -0.10155706 -0.01048072
+v 0.10101956 -0.10155706 -0.00990047
+v 0.09494427 -0.09548607 -0.01048396
+v 0.10101956 -0.09548607 -0.01041888
+v 0.10710275 -0.10153002 -0.00843845
+v 0.11100264 -0.09948834 -0.00775733
+v 0.12295544 -0.10524838 0.00059614
+v 0.14359400 0.00013542 -0.00971247
+v 0.14359400 -0.00439416 -0.00971574
+v 0.16003207 -0.00857223 0.00059650
+v 0.15992132 -0.01641449 0.00059647
+v 0.15985013 -0.02067365 0.00059645
+v 0.14777867 -0.01046516 -0.00811057
+v 0.14359400 -0.01046515 -0.00965828
+v 0.13906126 0.00013542 -0.01024283
+v 0.13751081 -0.01046515 -0.01042833
+v 0.13142761 -0.04083363 -0.01045881
+v 0.10710275 -0.08940156 -0.01038090
+v 0.10710275 -0.09548607 -0.00984405
+v 0.10710275 -0.08333057 -0.01047849
+v 0.11318594 -0.07725958 -0.01046545
+v 0.11318594 -0.08940156 -0.00965857
+v 0.11309101 -0.09526974 -0.00831370
+v 0.11675358 -0.09310636 -0.00761305
+v 0.12863519 -0.09877174 0.00059617
+v 0.13751081 -0.02262065 -0.01039041
+v 0.13751081 -0.01654966 -0.01042076
+v 0.15893250 -0.02578464 0.00059644
+v 0.14690851 -0.02727193 -0.00752062
+v 0.14724075 -0.02262066 -0.00776571
+v 0.14756508 -0.01654967 -0.00798587
+v 0.14359400 -0.01654967 -0.00951622
+v 0.13751081 -0.02869164 -0.01031886
+v 0.13142761 -0.04690462 -0.01040352
+v 0.12534441 -0.05906012 -0.01044804
+v 0.11926913 -0.07118858 -0.01041662
+v 0.11318594 -0.08333057 -0.01031364
+v 0.11926913 -0.07725958 -0.01012923
+v 0.11926913 -0.08333058 -0.00926701
+v 0.11897644 -0.08884720 -0.00802193
+v 0.12236215 -0.08645396 -0.00733646
+v 0.14089651 -0.08063990 0.00059623
+v 0.15361663 -0.05090692 0.00059634
+v 0.14653672 -0.03132828 -0.00721045
+v 0.14224921 -0.04083364 -0.00831567
+v 0.14304817 -0.03476265 -0.00856836
+v 0.14359400 -0.02262066 -0.00925702
+v 0.14414773 -0.02905673 -0.00856183
+v 0.13751081 -0.03476264 -0.01017355
+v 0.13142761 -0.05298913 -0.01021807
+v 0.12534441 -0.06513112 -0.01026042
+v 0.12534441 -0.07118858 -0.00972791
+v 0.12555800 -0.07728663 -0.00853597
+v 0.12337469 -0.08333058 -0.00785163
+v 0.12899908 -0.07527198 -0.00769433
+v 0.13510601 -0.06352211 -0.00773116
+v 0.14710627 -0.06863313 0.00059628
+v 0.14080949 -0.05067702 -0.00749793
+v 0.14138696 -0.04690463 -0.00787643
+v 0.13751081 -0.04690463 -0.00937641
+v 0.13751081 -0.04083363 -0.00989374
+v 0.13142761 -0.05906012 -0.00976583
+v 0.13011446 -0.07118859 -0.00820732
+v 0.13183896 -0.06537451 -0.00864873
+v 0.13604735 -0.05906013 -0.00821379
+v 0.13778767 -0.05281337 -0.00846864
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 30
+f 1 30 42
+f 1 42 60
+f 1 60 77
+f 1 77 92
+f 1 92 78
+f 1 78 63
+f 1 63 47
+f 1 47 46
+f 1 46 45
+f 1 45 32
+f 1 32 20
+f 1 20 10
+f 1 10 4
+f 1 4 12
+f 1 12 21
+f 1 21 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 7 13
+f 5 13 14
+f 5 14 8
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 13
+f 8 14 9
+f 9 14 18
+f 9 18 19
+f 10 20 31
+f 10 31 43
+f 10 43 50
+f 10 50 35
+f 10 35 34
+f 10 34 21
+f 10 21 12
+f 10 12 11
+f 13 17 22
+f 13 22 14
+f 14 22 18
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 22
+f 18 22 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 32 33
+f 20 33 31
+f 21 34 23
+f 22 27 28
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 37 26
+f 25 36 38
+f 25 38 39
+f 25 39 37
+f 26 37 27
+f 27 37 28
+f 28 37 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 31 33 44
+f 31 44 43
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 44
+f 35 50 44
+f 35 44 51
+f 35 51 52
+f 35 52 38
+f 35 38 36
+f 37 39 53
+f 37 53 54
+f 37 54 40
+f 38 55 39
+f 38 52 55
+f 39 55 56
+f 39 56 53
+f 40 54 57
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 43 44 50
+f 44 49 61
+f 44 61 62
+f 44 62 51
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 61
+f 51 62 52
+f 52 62 61
+f 52 61 69
+f 52 69 70
+f 52 70 56
+f 52 56 55
+f 53 56 71
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 57
+f 56 70 71
+f 57 73 74
+f 57 74 58
+f 58 74 75
+f 58 75 59
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 61 68 69
+f 63 78 79
+f 63 79 64
+f 64 79 80
+f 64 80 81
+f 64 81 65
+f 65 82 66
+f 65 81 83
+f 65 83 82
+f 66 82 67
+f 67 82 84
+f 67 84 68
+f 68 84 69
+f 69 84 85
+f 69 85 70
+f 70 86 71
+f 70 85 86
+f 71 86 72
+f 72 86 73
+f 73 87 74
+f 73 86 87
+f 74 87 88
+f 74 88 89
+f 74 89 75
+f 75 89 76
+f 76 89 90
+f 76 90 77
+f 77 90 91
+f 77 91 92
+f 78 92 93
+f 78 93 94
+f 78 94 79
+f 79 94 80
+f 80 94 95
+f 80 95 81
+f 81 82 83
+f 81 95 96
+f 81 96 82
+f 82 96 84
+f 84 96 85
+f 85 96 97
+f 85 97 86
+f 86 97 87
+f 87 98 88
+f 87 97 99
+f 87 99 98
+f 88 98 90
+f 88 90 89
+f 90 98 91
+f 91 99 100
+f 91 100 93
+f 91 93 92
+f 91 98 99
+f 93 100 94
+f 94 100 101
+f 94 101 95
+f 95 101 100
+f 95 100 97
+f 95 97 96
+f 97 100 99
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_1.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.15876073 -0.00020009 0.00060668
+v -0.15875456 0.00013538 0.00060668
+v -0.14659691 0.00013541 -0.00816999
+v -0.14660308 -0.00439976 -0.00817110
+v -0.15874839 -0.00439979 0.00060666
+v -0.13993458 0.00013538 0.00060668
+v -0.14550401 0.00013541 -0.00857199
+v -0.14229325 0.00013542 -0.00974866
+v -0.14229325 -0.00439975 -0.00974760
+v -0.14229325 -0.01047565 -0.00968351
+v -0.14649194 -0.01047566 -0.00811353
+v -0.15866194 -0.01645218 0.00060662
+v -0.09971986 0.00013538 0.00058060
+v -0.09568171 -0.10315484 0.00060630
+v -0.14074345 0.00013542 -0.00993228
+v -0.13621135 -0.01047565 -0.01046905
+v -0.13621135 -0.01653912 -0.01045060
+v -0.13621135 -0.02261501 -0.01041042
+v -0.13621135 -0.02869091 -0.01033656
+v -0.13621135 -0.03476681 -0.01018665
+v -0.14229325 -0.01653912 -0.00953251
+v -0.14627583 -0.01653913 -0.00798861
+v -0.14594858 -0.02261502 -0.00777133
+v -0.15781604 -0.02261505 0.00060660
+v -0.09568171 0.00013538 0.00056431
+v -0.09568171 -0.12679989 0.00060621
+v -0.13621135 0.00013542 -0.01046901
+v -0.12404751 -0.05905796 -0.01048661
+v -0.13012325 -0.04083027 -0.01046372
+v -0.13012325 -0.04690617 -0.01040942
+v -0.13621135 -0.04083027 -0.00990092
+v -0.14229325 -0.02261502 -0.00926851
+v -0.13012325 -0.05298207 -0.01023125
+v -0.14284279 -0.02905125 -0.00856776
+v -0.14174372 -0.03476682 -0.00857430
+v -0.14560898 -0.02727445 -0.00752146
+v -0.14523233 -0.03132505 -0.00720965
+v -0.15243801 -0.04681924 0.00060651
+v -0.09568171 0.00013541 -0.00876213
+v -0.09963958 -0.12406635 0.00060622
+v -0.09568171 -0.11251094 -0.00802699
+v -0.11796560 0.00013542 -0.01014089
+v -0.09568171 -0.09343834 -0.01047912
+v -0.10580176 -0.08333670 -0.01048887
+v -0.11796560 -0.06512143 -0.01049315
+v -0.11188368 -0.07726080 -0.01047689
+v -0.11796560 -0.07118491 -0.01044319
+v -0.12404751 -0.06512143 -0.01029975
+v -0.14095339 -0.04083028 -0.00832551
+v -0.13012325 -0.05905796 -0.00978148
+v -0.13621135 -0.04690618 -0.00938377
+v -0.14010130 -0.04690618 -0.00788767
+v -0.13951471 -0.05070828 -0.00750416
+v -0.14603503 -0.06491025 0.00060644
+v -0.09568171 -0.06914718 -0.01013027
+v -0.10577090 -0.11854960 0.00060624
+v -0.09768843 -0.11154178 -0.00776840
+v -0.09568171 -0.11147966 -0.00837249
+v -0.09568171 -0.09547606 -0.01046610
+v -0.09971986 -0.09547606 -0.01043894
+v -0.10580176 -0.08941259 -0.01041718
+v -0.11188368 -0.08333670 -0.01033242
+v -0.11796560 -0.07726080 -0.01016181
+v -0.12404751 -0.07118491 -0.00976413
+v -0.13476650 -0.05905797 -0.00822345
+v -0.13054930 -0.06539480 -0.00866133
+v -0.13648920 -0.05283297 -0.00847549
+v -0.13381562 -0.06355588 -0.00773780
+v -0.13987284 -0.07704961 0.00060640
+v -0.11079079 -0.11366652 0.00060626
+v -0.10385061 -0.10566469 -0.00782488
+v -0.09971368 -0.10766514 -0.00846918
+v -0.09568171 -0.10764028 -0.00938835
+v -0.09568171 -0.09950180 -0.01043244
+v -0.09568171 -0.10155195 -0.01026403
+v -0.09971986 -0.10155195 -0.00993917
+v -0.10580176 -0.09547606 -0.00990329
+v -0.11188368 -0.08941259 -0.00971640
+v -0.11796560 -0.08333671 -0.00933502
+v -0.12430067 -0.07733536 -0.00856793
+v -0.12885130 -0.07118492 -0.00822675
+v -0.12772136 -0.07535976 -0.00771286
+v -0.13286474 -0.06760647 -0.00702291
+v -0.12113314 -0.08654239 -0.00738369
+v -0.12769049 -0.09528972 0.00060633
+v -0.11185281 -0.11262280 0.00060627
+v -0.10585117 -0.10157682 -0.00848870
+v -0.11675539 -0.10760304 0.00060628
+v -0.10979052 -0.09957637 -0.00779335
+v -0.09568171 -0.10557770 -0.00988378
+v -0.11184664 -0.09532697 -0.00837134
+v -0.11771862 -0.08890317 -0.00808123
+v -0.12217663 -0.08333671 -0.00790846
+v -0.11552048 -0.09321470 -0.00765099
+v -0.12236186 -0.10148987 0.00060631
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 24
+f 1 24 38
+f 1 38 54
+f 1 54 69
+f 1 69 85
+f 1 85 95
+f 1 95 88
+f 1 88 86
+f 1 86 70
+f 1 70 56
+f 1 56 40
+f 1 40 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 39
+f 2 39 42
+f 2 42 27
+f 2 27 15
+f 2 15 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 14 13
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 13 14 25
+f 14 26 41
+f 14 41 58
+f 14 58 73
+f 14 73 90
+f 14 90 75
+f 14 75 74
+f 14 74 59
+f 14 59 43
+f 14 43 55
+f 14 55 39
+f 14 39 25
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 20
+f 20 31 32
+f 20 32 21
+f 20 30 33
+f 20 33 31
+f 21 32 22
+f 22 32 23
+f 23 32 34
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 26 40 41
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 44
+f 28 44 46
+f 28 46 47
+f 28 47 48
+f 28 48 33
+f 28 33 30
+f 28 30 29
+f 31 49 35
+f 31 35 32
+f 31 33 50
+f 31 50 51
+f 31 51 49
+f 32 35 34
+f 33 48 50
+f 35 49 36
+f 36 49 37
+f 37 49 52
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 39 55 42
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 42 55 43
+f 43 59 44
+f 44 59 60
+f 44 60 46
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 50
+f 49 51 52
+f 50 65 51
+f 50 64 66
+f 50 66 65
+f 51 65 67
+f 51 67 52
+f 52 67 65
+f 52 65 53
+f 53 65 68
+f 53 68 54
+f 54 68 69
+f 56 70 71
+f 56 71 57
+f 57 71 72
+f 57 72 58
+f 58 72 73
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 62
+f 62 77 63
+f 63 77 78
+f 63 78 79
+f 63 79 64
+f 64 79 80
+f 64 80 81
+f 64 81 66
+f 65 66 81
+f 65 81 68
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 69 83 82
+f 69 82 84
+f 69 84 85
+f 70 86 71
+f 71 87 72
+f 71 86 88
+f 71 88 89
+f 71 89 87
+f 72 87 76
+f 72 76 73
+f 73 76 90
+f 75 90 76
+f 76 87 77
+f 77 91 78
+f 77 87 91
+f 78 91 79
+f 79 91 92
+f 79 92 93
+f 79 93 80
+f 80 82 81
+f 80 93 82
+f 82 93 84
+f 84 93 92
+f 84 92 94
+f 84 94 85
+f 85 94 95
+f 87 89 91
+f 88 95 89
+f 89 94 91
+f 89 95 94
+f 91 94 92
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_10.obj

@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v 0.07989160 0.11306046 0.00043379
+v 0.07989160 0.12026545 0.00744028
+v 0.07989160 0.13434471 0.00043386
+v 0.12714689 0.05800465 0.00043358
+v 0.07993771 0.12025511 0.00746428
+v 0.07989160 0.12333559 0.00900888
+v 0.13408209 0.05849047 0.00800052
+v 0.13482910 0.05800462 0.00822855
+v 0.07989160 0.15030530 0.00158367
+v 0.08275053 0.13304223 0.00043386
+v 0.14708560 0.05800465 0.00043358
+v 0.13386998 0.05800462 0.00732124
+v 0.07989160 0.12920710 0.01043708
+v 0.13732836 0.05800462 0.00920907
+v 0.07989160 0.15349949 0.00185011
+v 0.08885572 0.14743157 0.00170487
+v 0.09494247 0.14135331 0.00156804
+v 0.10086321 0.12034817 0.00043381
+v 0.14561002 0.06241863 0.00043360
+v 0.16184134 0.05800464 0.00152212
+v 0.07989160 0.13528536 0.01113199
+v 0.14359033 0.05800461 0.01064805
+v 0.07989160 0.15587705 0.00214056
+v 0.08277819 0.15349949 0.00199653
+v 0.09520992 0.14779337 0.00218613
+v 0.10101999 0.14135331 0.00191248
+v 0.10710674 0.13528539 0.00174444
+v 0.11927101 0.12313920 0.00158717
+v 0.10702374 0.11480744 0.00043379
+v 0.11319349 0.12920713 0.00163279
+v 0.13939416 0.07456481 0.00043364
+v 0.14967707 0.08671099 0.00163624
+v 0.15576382 0.07456480 0.00163259
+v 0.16184134 0.06241862 0.00164695
+v 0.16626807 0.05800464 0.00191697
+v 0.07989160 0.14135328 0.01171769
+v 0.14525035 0.05800461 0.01084367
+v 0.07989160 0.15778942 0.00241900
+v 0.08277819 0.15711750 0.00252341
+v 0.08587690 0.15655930 0.00266623
+v 0.08828394 0.15334444 0.00237697
+v 0.10101999 0.14570526 0.00244416
+v 0.11315659 0.13536808 0.00224970
+v 0.09336545 0.15121498 0.00249939
+v 0.11960301 0.12955859 0.00218247
+v 0.12577276 0.12355269 0.00216204
+v 0.12535776 0.11706094 0.00158355
+v 0.11311048 0.10891525 0.00043377
+v 0.11108156 0.11091033 0.00043378
+v 0.13566834 0.08066375 0.00043367
+v 0.14359033 0.09277891 0.00149585
+v 0.14359033 0.09885717 0.00176950
+v 0.14967707 0.09277891 0.00198311
+v 0.15576382 0.08063272 0.00193386
+v 0.16184134 0.06848654 0.00193381
+v 0.16790964 0.05800464 0.00211739
+v 0.07989160 0.15650757 0.01265025
+v 0.14967707 0.05800461 0.01127932
+v 0.15576382 0.05800461 0.01177498
+v 0.07989160 0.15922629 0.00283425
+v 0.08993473 0.15526715 0.00323749
+v 0.09742327 0.15005721 0.00277301
+v 0.07989160 0.16103528 0.00411962
+v 0.07989160 0.16359891 0.00635311
+v 0.08125651 0.16328879 0.00664114
+v 0.08828394 0.15810986 0.00500772
+v 0.10429392 0.14453716 0.00262778
+v 0.11110923 0.13888272 0.00253414
+v 0.10663640 0.14108454 0.00237573
+v 0.11779543 0.13339368 0.00246932
+v 0.12402051 0.12777026 0.00244169
+v 0.12992282 0.12180571 0.00244527
+v 0.13174883 0.11737106 0.00217282
+v 0.13142606 0.11099301 0.00160633
+v 0.11708532 0.10485274 0.00043376
+v 0.12701778 0.09277892 0.00043371
+v 0.13751281 0.10492510 0.00165552
+v 0.14364566 0.10487341 0.00226279
+v 0.14940963 0.09828862 0.00240318
+v 0.15275734 0.09589040 0.00266120
+v 0.15340291 0.09277891 0.00250997
+v 0.15568082 0.08622514 0.00232753
+v 0.16175835 0.07412030 0.00232508
+v 0.16566862 0.06848654 0.00248468
+v 0.16788198 0.06186041 0.00234904
+v 0.17116514 0.05800464 0.00261065
+v 0.17098991 0.05946219 0.00266467
+v 0.09171465 0.15029493 0.01266943
+v 0.07989160 0.15655926 0.01265026
+v 0.16828777 0.05800460 0.01227665
+v 0.16486627 0.07133956 0.01264754
+v 0.14636625 0.10149311 0.01269446
+v 0.09322712 0.15733457 0.00656191
+v 0.10101999 0.15174217 0.00633026
+v 0.11794299 0.13959598 0.00625100
+v 0.11516707 0.13744585 0.00292658
+v 0.07989160 0.16359890 0.00898503
+v 0.08125651 0.16328878 0.00869940
+v 0.12184404 0.13182243 0.00276094
+v 0.12806912 0.12584755 0.00273452
+v 0.13583434 0.11554138 0.00245724
+v 0.13772492 0.11116875 0.00220040
+v 0.12271094 0.09871246 0.00043373
+v 0.14720549 0.10280597 0.00253641
+v 0.14165363 0.10927704 0.00247763
+v 0.14570225 0.10685815 0.00295168
+v 0.15126332 0.09994257 0.00339451
+v 0.15425135 0.09828861 0.00510111
+v 0.15963720 0.09143507 0.00649566
+v 0.15765441 0.08793077 0.00317123
+v 0.15888097 0.08388894 0.00264316
+v 0.16499539 0.07180478 0.00263111
+v 0.17278826 0.05800464 0.00391521
+v 0.16987400 0.06351436 0.00311834
+v 0.17254849 0.06186040 0.00493536
+v 0.09171465 0.15061538 0.01266943
+v 0.08060172 0.15655926 0.01265026
+v 0.07989160 0.15920559 0.01144891
+v 0.17371050 0.05800461 0.01034441
+v 0.16489394 0.07154631 0.01264754
+v 0.16489394 0.07133956 0.01264754
+v 0.14690115 0.10238211 0.01269447
+v 0.14636625 0.10238211 0.01269447
+v 0.10423859 0.15059473 0.00744879
+v 0.09322712 0.15733456 0.00877618
+v 0.11108156 0.14504368 0.00674788
+v 0.11794299 0.13959597 0.00908095
+v 0.12432485 0.13401390 0.00608536
+v 0.11989812 0.13572987 0.00450598
+v 0.08295342 0.15947434 0.01067003
+v 0.08885572 0.15848198 0.00973990
+v 0.12619699 0.13000308 0.00440995
+v 0.13398064 0.11959355 0.00278491
+v 0.13027326 0.12817340 0.00605894
+v 0.14216086 0.11574811 0.00616091
+v 0.13989216 0.11331888 0.00283649
+v 0.14393155 0.11141684 0.00455629
+v 0.14791561 0.10951479 0.00627490
+v 0.14958485 0.10486306 0.00483471
+v 0.15338446 0.10287833 0.00671773
+v 0.17185680 0.06724607 0.00644277
+v 0.15963720 0.09143506 0.00884195
+v 0.17410706 0.05800463 0.00518137
+v 0.09235099 0.15061538 0.01266943
+v 0.17291737 0.06241859 0.00983196
+v 0.17185680 0.06724606 0.00889827
+v 0.15272967 0.09584901 0.01265123
+v 0.15094976 0.09990119 0.01195757
+v 0.14395000 0.11131345 0.01041062
+v 0.13794625 0.11748473 0.01047784
+v 0.13195173 0.12365603 0.01052347
+v 0.12594799 0.12980666 0.01054870
+v 0.11041756 0.13844853 0.01266819
+v 0.10423859 0.15059473 0.00788324
+v 0.09482257 0.15335475 0.01065320
+v 0.10409102 0.14440274 0.01265021
+v 0.10101999 0.15174216 0.00898739
+v 0.10813964 0.14249037 0.01191931
+v 0.11969523 0.13574019 0.01045511
+v 0.12432485 0.13401389 0.00924895
+v 0.11108156 0.14504367 0.00859491
+v 0.13027326 0.12817339 0.00925973
+v 0.14216086 0.11574810 0.00917328
+v 0.14791561 0.10951478 0.00907004
+v 0.15338446 0.10287832 0.00863317
+v 0.15424213 0.09826792 0.01023895
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 36
+f 1 36 57
+f 1 57 89
+f 1 89 118
+f 1 118 97
+f 1 97 64
+f 1 64 63
+f 1 63 60
+f 1 60 38
+f 1 38 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 29
+f 1 29 49
+f 1 49 48
+f 1 48 75
+f 1 75 103
+f 1 103 76
+f 1 76 50
+f 1 50 31
+f 1 31 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 20
+f 4 20 35
+f 4 35 56
+f 4 56 86
+f 4 86 113
+f 4 113 143
+f 4 143 119
+f 4 119 90
+f 4 90 59
+f 4 59 58
+f 4 58 37
+f 4 37 22
+f 4 22 14
+f 4 14 8
+f 4 8 12
+f 4 12 7
+f 5 8 6
+f 6 8 14
+f 6 14 13
+f 7 12 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 13 14 22
+f 13 22 21
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 28 29
+f 18 27 30
+f 18 30 28
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 21 22 37
+f 21 37 36
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 42 43
+f 25 43 26
+f 25 41 44
+f 25 44 42
+f 26 43 27
+f 27 43 45
+f 27 45 30
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 28 30 45
+f 28 45 46
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 55 34
+f 33 54 55
+f 34 55 35
+f 35 55 56
+f 36 37 58
+f 36 58 59
+f 36 59 57
+f 38 60 40
+f 38 40 39
+f 40 61 62
+f 40 62 44
+f 40 44 41
+f 40 60 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 61
+f 42 44 62
+f 42 62 67
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 70 45
+f 43 69 68
+f 43 68 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 50 76 77
+f 50 77 52
+f 50 52 51
+f 52 78 53
+f 52 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 54
+f 54 82 83
+f 54 83 55
+f 55 84 85
+f 55 85 56
+f 55 83 84
+f 56 85 87
+f 56 87 86
+f 57 88 116
+f 57 116 89
+f 57 59 90
+f 57 90 91
+f 57 91 92
+f 57 92 88
+f 61 66 93
+f 61 93 62
+f 62 93 94
+f 62 94 95
+f 62 95 96
+f 62 96 67
+f 64 97 98
+f 64 98 65
+f 65 98 125
+f 65 125 93
+f 65 93 66
+f 67 96 99
+f 67 99 68
+f 68 99 70
+f 70 99 71
+f 71 100 72
+f 71 99 100
+f 72 100 101
+f 72 101 73
+f 73 101 102
+f 73 102 74
+f 74 102 77
+f 74 77 103
+f 74 103 75
+f 76 103 77
+f 77 102 78
+f 78 104 79
+f 78 102 105
+f 78 105 104
+f 79 104 80
+f 80 104 106
+f 80 106 107
+f 80 107 108
+f 80 108 109
+f 80 109 110
+f 80 110 111
+f 80 111 82
+f 80 82 81
+f 82 111 112
+f 82 112 83
+f 83 112 84
+f 84 112 87
+f 84 87 85
+f 86 87 113
+f 87 112 114
+f 87 114 115
+f 87 115 113
+f 88 92 123
+f 88 123 116
+f 89 116 144
+f 89 144 117
+f 89 117 118
+f 90 119 120
+f 90 120 121
+f 90 121 91
+f 91 121 92
+f 92 121 122
+f 92 122 123
+f 93 124 94
+f 93 125 154
+f 93 154 124
+f 94 124 126
+f 94 126 95
+f 95 127 160
+f 95 160 128
+f 95 128 129
+f 95 129 96
+f 95 126 124
+f 95 124 154
+f 95 154 127
+f 96 129 99
+f 97 118 130
+f 97 130 131
+f 97 131 98
+f 98 131 125
+f 99 129 128
+f 99 128 132
+f 99 132 100
+f 100 133 105
+f 100 105 101
+f 100 132 134
+f 100 134 135
+f 100 135 133
+f 101 105 102
+f 104 105 106
+f 105 133 136
+f 105 136 106
+f 106 136 137
+f 106 137 138
+f 106 138 139
+f 106 139 107
+f 107 139 140
+f 107 140 108
+f 108 140 109
+f 109 141 110
+f 109 140 165
+f 109 165 142
+f 109 142 146
+f 109 146 141
+f 110 141 114
+f 110 114 112
+f 110 112 111
+f 113 115 143
+f 114 141 115
+f 115 141 143
+f 116 123 122
+f 116 122 144
+f 117 131 130
+f 117 130 118
+f 117 144 131
+f 119 143 145
+f 119 145 120
+f 120 145 146
+f 120 146 147
+f 120 147 122
+f 120 122 121
+f 122 147 148
+f 122 148 149
+f 122 149 150
+f 122 150 151
+f 122 151 152
+f 122 152 153
+f 122 153 144
+f 125 131 155
+f 125 155 156
+f 125 156 157
+f 125 157 154
+f 127 158 159
+f 127 159 160
+f 127 154 161
+f 127 161 157
+f 127 157 156
+f 127 156 158
+f 128 160 162
+f 128 162 134
+f 128 134 132
+f 131 144 156
+f 131 156 155
+f 133 135 136
+f 134 162 163
+f 134 163 135
+f 135 163 164
+f 135 164 138
+f 135 138 137
+f 135 137 136
+f 138 164 165
+f 138 165 140
+f 138 140 139
+f 141 146 143
+f 142 165 166
+f 142 166 147
+f 142 147 146
+f 143 146 145
+f 144 153 156
+f 147 166 165
+f 147 165 148
+f 148 165 164
+f 148 164 149
+f 149 164 163
+f 149 163 162
+f 149 162 150
+f 150 162 151
+f 151 162 152
+f 152 160 159
+f 152 159 156
+f 152 156 153
+f 152 162 160
+f 154 157 161
+f 156 159 158
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_11.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07989551 0.00013541 -0.00873528
+v 0.11926679 0.00013542 -0.01012877
+v 0.07989551 0.00013538 0.00056854
+v 0.07989551 0.00168157 -0.00873640
+v 0.09936361 0.05799436 -0.00996256
+v 0.10101764 0.05799436 -0.01003935
+v 0.11993310 0.00013542 -0.01013442
+v 0.10544275 0.05799436 -0.01014324
+v 0.11926679 0.05799436 -0.01037699
+v 0.11993310 0.05799436 -0.01038603
+v 0.10101764 0.00013538 0.00058774
+v 0.07989551 0.00784349 0.00098752
+v 0.07989551 0.05799435 -0.00877347
+v 0.11993310 0.00013539 -0.00172721
+v 0.11993310 0.05799432 -0.00121884
+v 0.10101764 0.00775854 0.00059567
+v 0.07989551 0.01382988 0.00114902
+v 0.10555250 0.00013538 0.00006377
+v 0.07989551 0.05799432 0.00042646
+v 0.10710069 0.00013538 -0.00011578
+v 0.08277242 0.05799432 0.00040049
+v 0.08277242 0.05633490 0.00053713
+v 0.09493852 0.03811522 0.00047947
+v 0.10101764 0.01990121 0.00051553
+v 0.10101764 0.01382988 0.00057423
+v 0.07989551 0.01656537 0.00114903
+v 0.08067941 0.05799432 0.00041969
+v 0.07989551 0.05633490 0.00056310
+v 0.08885547 0.04418656 0.00056418
+v 0.09493852 0.03204389 0.00056188
+f 1 2 7
+f 1 7 14
+f 1 14 20
+f 1 20 18
+f 1 18 11
+f 1 11 3
+f 1 3 12
+f 1 12 17
+f 1 17 26
+f 1 26 28
+f 1 28 19
+f 1 19 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 4 13 5
+f 5 13 19
+f 5 19 27
+f 5 27 21
+f 5 21 15
+f 5 15 10
+f 5 10 9
+f 5 9 8
+f 5 8 6
+f 7 10 15
+f 7 15 14
+f 11 16 17
+f 11 17 12
+f 11 18 15
+f 11 15 16
+f 14 15 20
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 15 18 20
+f 16 25 26
+f 16 26 17
+f 19 28 27
+f 21 27 22
+f 22 29 23
+f 22 27 28
+f 22 28 26
+f 22 26 29
+f 23 29 30
+f 23 30 24
+f 24 26 25
+f 24 30 26
+f 26 30 29
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_12.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07988645 0.10497007 -0.00147655
+v 0.04018462 0.08669378 0.00051198
+v 0.02724444 0.06412804 0.00205477
+v 0.06450805 0.07454379 0.00046050
+v 0.07058890 0.06846879 0.00056089
+v 0.07668445 0.06239380 0.00056209
+v 0.07988645 0.05631881 0.00056207
+v 0.07988645 0.10497010 -0.01045460
+v 0.07064766 0.10497007 -0.00144226
+v 0.00369948 0.09275850 0.00067608
+v 0.00976565 0.09275850 0.00063812
+v 0.01584651 0.09275850 0.00056343
+v 0.00309727 0.07392807 0.00205480
+v 0.02724444 0.00013537 0.00205453
+v 0.07824139 0.01466610 0.00148029
+v 0.07637600 0.01961229 0.00148031
+v 0.07988645 0.01656455 0.00114846
+v 0.07662570 0.10497010 -0.01042889
+v 0.07988645 0.08350239 -0.01013386
+v -0.07016677 0.09275854 -0.01012771
+v -0.07016677 0.10299984 -0.01027951
+v 0.02724444 0.10497007 -0.00161614
+v -0.00238138 0.10299980 -0.00110553
+v 0.00369948 0.10299980 -0.00108594
+v 0.00369948 0.09883350 -0.00030473
+v -0.07016677 0.10299981 -0.00148880
+v -0.01455778 0.09275850 0.00054751
+v -0.00266045 0.07413331 0.00205480
+v 0.06511026 0.00013537 0.00148024
+v 0.07053015 0.00166438 0.00148025
+v 0.07075047 0.00183883 0.00148025
+v 0.07640538 0.00769833 0.00148027
+v 0.07662570 0.00794461 0.00148027
+v 0.07824139 0.01383489 0.00148029
+v -0.06862453 0.00013537 0.00205453
+v 0.07988645 0.01383490 0.00114845
+v 0.04014056 0.10497010 -0.01009460
+v 0.07988645 0.00013541 -0.00873456
+v -0.06928549 0.00013541 -0.00874314
+v -0.07016677 0.00013541 -0.00874314
+v 0.02724444 0.10497010 -0.00967092
+v 0.03405970 0.10497010 -0.00994643
+v -0.07016677 0.06760680 0.00055476
+v -0.06928549 0.06847906 0.00055476
+v -0.06320463 0.07454379 0.00043356
+v -0.02622010 0.06794544 0.00205478
+v -0.03886652 0.08669378 0.00046789
+v 0.07054484 0.00013538 0.00124024
+v 0.07988645 0.00013538 0.00056798
+v 0.07988645 0.00784201 0.00098557
+v -0.07013740 0.03204961 0.00205465
+v -0.07016677 0.00013537 0.00136514
+v -0.07016677 0.03204961 0.00203873
+v -0.06979957 0.03817592 0.00205467
+v -0.06816919 0.04310159 0.00205469
+v -0.07013740 0.03208040 0.00205465
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 36
+f 1 36 50
+f 1 50 49
+f 1 49 38
+f 1 38 19
+f 1 19 8
+f 1 8 18
+f 1 18 37
+f 1 37 42
+f 1 42 41
+f 1 41 22
+f 1 22 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 3
+f 3 13 28
+f 3 28 46
+f 3 46 55
+f 3 55 54
+f 3 54 56
+f 3 56 51
+f 3 51 35
+f 3 35 14
+f 3 14 34
+f 3 34 15
+f 3 15 16
+f 3 16 6
+f 3 6 5
+f 3 5 4
+f 6 16 7
+f 7 16 15
+f 7 15 17
+f 8 19 20
+f 8 20 21
+f 8 21 18
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 13
+f 10 13 11
+f 11 13 12
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 35 52
+f 14 52 40
+f 14 40 39
+f 14 39 38
+f 14 38 49
+f 14 49 48
+f 14 48 29
+f 15 34 36
+f 15 36 17
+f 18 21 37
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 20 40 52
+f 20 52 53
+f 20 53 43
+f 20 43 26
+f 20 26 21
+f 21 26 22
+f 21 22 41
+f 21 41 42
+f 21 42 37
+f 22 26 23
+f 23 26 25
+f 23 25 24
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 46
+f 27 46 28
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 50 36
+f 35 51 52
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 44 55 45
+f 45 55 46
+f 51 56 53
+f 51 53 52
+f 53 56 54
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_13.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.17410403 0.05799430 0.00518065
+v 0.17279022 0.05799431 0.00391411
+v 0.17371687 0.05799428 0.01034424
+v 0.17741712 0.05440359 0.00832094
+v 0.17741712 0.05440359 0.00702041
+v 0.17116541 0.05799431 0.00260905
+v 0.17801373 0.05026354 0.00620473
+v 0.17522743 0.05026355 0.00371243
+v 0.16829026 0.05799427 0.01227691
+v 0.17111464 0.05515117 0.01267793
+v 0.17392632 0.05680493 0.01048018
+v 0.17801373 0.05026353 0.00915697
+v 0.18336417 0.03022019 0.00811920
+v 0.18336417 0.03022019 0.00722877
+v 0.17619216 0.04418655 0.00298737
+v 0.17682051 0.04035232 0.00273134
+v 0.13752041 0.04418659 -0.00929287
+v 0.13143372 0.05633494 -0.00968706
+v 0.13152892 0.05799435 -0.00939478
+v 0.17881345 0.04418654 0.00548194
+v 0.17072112 0.05515117 0.01267793
+v 0.15576144 0.05799428 0.01177391
+v 0.17723941 0.03204384 0.01270277
+v 0.17715056 0.03600833 0.01268013
+v 0.17881345 0.04418652 0.00986386
+v 0.18370691 0.02597818 0.00871734
+v 0.18370691 0.02597819 0.00665779
+v 0.18092696 0.02597819 0.00416549
+v 0.18133951 0.01990120 0.00359450
+v 0.18171398 0.01382987 0.00325915
+v 0.17720767 0.03630287 0.00260897
+v 0.14360075 0.01990124 -0.00921593
+v 0.13752041 0.03811526 -0.00983440
+v 0.13143372 0.05026360 -0.01016969
+v 0.12977717 0.05799436 -0.00983433
+v 0.17072112 0.05262522 0.01267792
+v 0.17665549 0.03204384 0.01270277
+v 0.14968744 0.05799428 0.01127772
+v 0.16792848 0.00013534 0.01170573
+v 0.17720767 0.02721282 0.01268463
+v 0.18009551 0.00013534 0.01215208
+v 0.18009551 0.00168150 0.01214983
+v 0.18009551 0.00775850 0.01210453
+v 0.18009551 0.01382984 0.01199353
+v 0.18465261 0.00775850 0.00979122
+v 0.18443046 0.01382984 0.00961225
+v 0.18412582 0.01990118 0.00929054
+v 0.18412582 0.01990119 0.00608680
+v 0.18443046 0.01382986 0.00575145
+v 0.18199959 0.00775853 0.00307334
+v 0.17748058 0.03204388 0.00252059
+v 0.14360075 0.01382991 -0.00948557
+v 0.13752041 0.03204393 -0.01013803
+v 0.13143372 0.04418660 -0.01037136
+v 0.12535338 0.05799436 -0.01037131
+v 0.17674434 0.02721282 0.01268463
+v 0.15576144 0.00013534 0.01051849
+v 0.14526364 0.05799428 0.01084270
+v 0.17246018 0.00013534 0.01193231
+v 0.18477320 0.00013534 0.00987729
+v 0.17400882 0.00013534 0.01200934
+v 0.18476684 0.00168150 0.00987277
+v 0.18465261 0.00775852 0.00556564
+v 0.18216462 0.00168153 0.00298496
+v 0.14360075 0.00775858 -0.00963966
+v 0.13752041 0.02597825 -0.01029891
+v 0.13143372 0.03811526 -0.01044161
+v 0.12535338 0.05633494 -0.01042568
+v 0.13752041 0.01990125 -0.01037598
+v 0.12369682 0.05799436 -0.01043022
+v 0.15421279 0.00013534 0.01016277
+v 0.14360075 0.05799428 0.01064785
+v 0.14360075 0.05633486 0.01059574
+v 0.18477320 0.00013536 0.00547725
+v 0.18476684 0.00168152 0.00547726
+v 0.18283104 0.00013537 0.00361935
+v 0.18216462 0.00013537 0.00298495
+v 0.14360075 0.00013542 -0.00971219
+v 0.14360075 0.00168158 -0.00970991
+v 0.12535338 0.05026360 -0.01044384
+v 0.13752041 0.01382992 -0.01040999
+v 0.13752041 0.00775858 -0.01042133
+v 0.13752041 0.00013542 -0.01042363
+v 0.11993310 0.05799436 -0.01038490
+v 0.14968744 0.00013535 0.00909788
+v 0.13733635 0.05799429 0.00920911
+v 0.11993310 0.00013542 -0.01013362
+v 0.11993310 0.05799432 -0.00121777
+v 0.11993310 0.00013539 -0.00172550
+v 0.13483566 0.05799429 0.00822805
+f 1 2 6
+f 1 6 19
+f 1 19 35
+f 1 35 55
+f 1 55 70
+f 1 70 84
+f 1 84 88
+f 1 88 90
+f 1 90 86
+f 1 86 72
+f 1 72 58
+f 1 58 38
+f 1 38 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 7
+f 6 8 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 7 14 20
+f 7 20 15
+f 7 15 8
+f 9 21 10
+f 9 22 21
+f 10 21 37
+f 10 37 23
+f 10 23 24
+f 10 24 12
+f 10 12 11
+f 12 24 25
+f 12 25 13
+f 13 26 27
+f 13 27 14
+f 13 25 26
+f 14 27 20
+f 15 20 16
+f 16 20 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 21 36 37
+f 21 22 36
+f 22 38 39
+f 22 39 36
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 23 37 56
+f 23 56 40
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 26
+f 24 26 25
+f 26 47 48
+f 26 48 27
+f 27 48 28
+f 28 48 29
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 54 55
+f 34 55 35
+f 34 53 54
+f 36 56 37
+f 36 39 56
+f 38 57 39
+f 38 58 57
+f 39 59 56
+f 39 57 71
+f 39 71 85
+f 39 85 89
+f 39 89 87
+f 39 87 83
+f 39 83 78
+f 39 78 77
+f 39 77 76
+f 39 76 74
+f 39 74 60
+f 39 60 41
+f 39 41 61
+f 39 61 59
+f 40 56 41
+f 41 60 42
+f 41 56 61
+f 42 60 62
+f 42 62 43
+f 43 62 44
+f 44 62 45
+f 45 62 75
+f 45 75 63
+f 45 63 49
+f 45 49 46
+f 46 49 48
+f 46 48 47
+f 49 63 50
+f 50 63 64
+f 50 64 65
+f 50 65 52
+f 50 52 51
+f 52 65 66
+f 52 66 53
+f 53 66 54
+f 54 67 68
+f 54 68 55
+f 54 66 69
+f 54 69 67
+f 55 68 70
+f 56 59 61
+f 57 58 72
+f 57 72 73
+f 57 73 71
+f 60 74 75
+f 60 75 62
+f 63 75 64
+f 64 75 74
+f 64 74 76
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 79 69
+f 65 69 66
+f 67 80 68
+f 67 69 81
+f 67 81 82
+f 67 82 83
+f 67 83 80
+f 68 80 70
+f 69 79 81
+f 70 80 84
+f 71 73 86
+f 71 86 85
+f 72 86 73
+f 78 83 82
+f 78 82 79
+f 79 82 81
+f 80 87 84
+f 80 83 87
+f 84 87 89
+f 84 89 88
+f 85 86 89
+f 86 90 89
+f 88 89 90
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_14.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00186807 0.15350125 -0.00077573
+v -0.00239256 0.14561232 -0.00813822
+v -0.00239256 0.15350125 -0.00077573
+v 0.00369158 0.15349631 -0.00077573
+v 0.00369158 0.14561232 -0.00813727
+v -0.00239256 0.14135645 -0.00968014
+v -0.00847670 0.14135645 -0.00960481
+v -0.00847670 0.14549370 -0.00807433
+v -0.00794267 0.15336780 -0.00077573
+v 0.00369158 0.14135645 -0.00968110
+v 0.00981386 0.15346665 -0.00077573
+v 0.01026206 0.15346171 -0.00077573
+v 0.00977571 0.14549370 -0.00807052
+v 0.00977571 0.14135645 -0.00960481
+v -0.00239256 0.13528650 -0.01047067
+v -0.00847670 0.13528650 -0.01046113
+v -0.01456083 0.13528650 -0.01043634
+v -0.02064496 0.13528650 -0.01037817
+v -0.01456083 0.14135644 -0.00944080
+v -0.02671956 0.13528650 -0.01026851
+v -0.01456083 0.14526137 -0.00793416
+v -0.01408402 0.15301190 -0.00077573
+v 0.00369158 0.13528650 -0.01047067
+v 0.02193444 0.13528650 -0.01037150
+v 0.01585031 0.13528650 -0.01043062
+v 0.00977571 0.13528650 -0.01046018
+v 0.01585031 0.15283890 -0.00077573
+v 0.02193444 0.14489065 -0.00768242
+v 0.01585031 0.14525643 -0.00793130
+v 0.01585031 0.14135644 -0.00943603
+v 0.02725568 0.13528650 -0.01028282
+v 0.02725568 0.12921161 -0.01051647
+v -0.02064496 0.12921161 -0.01051075
+v -0.02671956 0.12921161 -0.01050884
+v -0.03279416 0.12921161 -0.01050312
+v -0.03887830 0.12921161 -0.01046688
+v -0.03279416 0.13528650 -0.01008829
+v -0.02064496 0.14135644 -0.00913566
+v -0.04496243 0.12921161 -0.01035341
+v -0.02064496 0.14489065 -0.00768147
+v -0.02469788 0.14457925 -0.00744689
+v -0.01881400 0.15231494 -0.00077573
+v 0.02725568 0.12998271 -0.01049834
+v 0.02193444 0.15189974 -0.00077573
+v 0.02600642 0.14457925 -0.00744880
+v 0.02193444 0.14135644 -0.00913280
+v 0.02725568 0.14287887 -0.00807911
+v 0.02725568 0.14220663 -0.00837186
+v 0.02725568 0.14175682 -0.00855685
+v 0.02725568 0.13605266 -0.01012548
+v 0.02725568 0.11099682 -0.01013320
+v -0.06929897 0.11099682 -0.01048315
+v -0.04496243 0.12314166 -0.01051172
+v -0.05104657 0.12314166 -0.01050123
+v -0.05713070 0.12314166 -0.01041923
+v -0.05104657 0.12921161 -0.01009595
+v -0.03887830 0.13528650 -0.00975168
+v -0.03279416 0.14059029 -0.00849391
+v -0.02671956 0.14181614 -0.00847293
+v -0.06321484 0.12314166 -0.01016367
+v -0.02333419 0.15145487 -0.00077573
+v -0.03887830 0.13978458 -0.00820595
+v -0.02875079 0.14414426 -0.00706928
+v 0.02725568 0.15071342 -0.00077574
+v 0.02725568 0.14444579 -0.00733151
+v 0.02725568 0.10569304 -0.00974226
+v -0.07016677 0.10300902 -0.01027912
+v -0.07016677 0.10492687 -0.01033156
+v -0.07016677 0.11099682 -0.01047934
+v -0.06321484 0.11707171 -0.01048886
+v -0.06929897 0.11707171 -0.01039064
+v -0.05713070 0.12921161 -0.00954097
+v -0.04496243 0.13528649 -0.00913854
+v -0.07016677 0.11707171 -0.01033915
+v -0.06929897 0.12314166 -0.00953146
+v -0.04442840 0.14662561 -0.00077575
+v -0.05056975 0.13542489 -0.00830131
+v -0.04496243 0.13890473 -0.00770246
+v -0.04822383 0.13840055 -0.00735823
+v 0.02725568 0.13250358 -0.00077580
+v 0.02725568 0.10492687 -0.00966692
+v -0.06738218 0.10300902 -0.01025719
+v -0.07016677 0.10300899 -0.00148822
+v -0.05713070 0.13348726 -0.00804195
+v -0.06314808 0.12945381 -0.00848823
+v -0.07016677 0.12315648 -0.00936268
+v -0.06929897 0.12751616 -0.00804483
+v -0.05780778 0.14155413 -0.00077577
+v -0.06106918 0.13265684 -0.00758520
+v -0.06171764 0.13999215 -0.00077578
+v 0.00369158 0.10300898 -0.00108487
+v 0.00785892 0.10300898 -0.00110870
+v 0.02610179 0.10300898 -0.00130228
+v 0.02725568 0.10300898 -0.00134519
+v -0.07016677 0.11642415 -0.00077586
+v 0.02725568 0.10300901 -0.00946383
+v -0.00239256 0.10300898 -0.00110489
+v -0.07016677 0.12729373 -0.00793041
+v -0.06512209 0.13163858 -0.00669553
+v -0.06503626 0.13849444 -0.00077578
+v -0.07016677 0.13571650 -0.00077579
+v -0.07016677 0.13572144 -0.00081203
+v -0.07014770 0.13583513 -0.00077579
+f 1 2 3
+f 1 3 9
+f 1 9 22
+f 1 22 42
+f 1 42 61
+f 1 61 76
+f 1 76 88
+f 1 88 90
+f 1 90 100
+f 1 100 103
+f 1 103 101
+f 1 101 95
+f 1 95 80
+f 1 80 64
+f 1 64 44
+f 1 44 27
+f 1 27 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 6
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 10 15
+f 7 19 8
+f 7 18 20
+f 7 20 19
+f 8 19 21
+f 8 21 22
+f 8 22 9
+f 10 23 15
+f 10 14 24
+f 10 24 25
+f 10 25 26
+f 10 26 23
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 14
+f 14 30 31
+f 14 31 24
+f 15 23 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 16
+f 16 35 17
+f 17 35 36
+f 17 36 18
+f 18 36 20
+f 19 20 37
+f 19 37 38
+f 19 38 21
+f 20 36 39
+f 20 39 37
+f 21 38 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 23 26 32
+f 24 31 43
+f 24 43 25
+f 25 43 32
+f 25 32 26
+f 27 44 45
+f 27 45 28
+f 28 46 29
+f 28 45 47
+f 28 47 48
+f 28 48 49
+f 28 49 46
+f 29 46 30
+f 30 46 50
+f 30 50 31
+f 31 50 49
+f 31 49 48
+f 31 48 47
+f 31 47 65
+f 31 65 64
+f 31 64 80
+f 31 80 94
+f 31 94 96
+f 31 96 81
+f 31 81 66
+f 31 66 51
+f 31 51 32
+f 31 32 43
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 53 35
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 39
+f 37 39 56
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 38 59 40
+f 39 55 60
+f 39 60 56
+f 40 59 58
+f 40 58 41
+f 41 61 42
+f 41 58 62
+f 41 62 63
+f 41 63 61
+f 44 64 65
+f 44 65 45
+f 45 65 47
+f 46 49 50
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 53 70 54
+f 54 70 55
+f 55 70 71
+f 55 71 60
+f 56 60 72
+f 56 72 57
+f 57 73 62
+f 57 62 58
+f 57 72 73
+f 60 71 74
+f 60 74 75
+f 60 75 72
+f 61 63 76
+f 62 73 77
+f 62 77 78
+f 62 78 63
+f 63 78 79
+f 63 79 76
+f 66 81 82
+f 66 82 67
+f 67 82 96
+f 67 96 94
+f 67 94 93
+f 67 93 92
+f 67 92 91
+f 67 91 97
+f 67 97 83
+f 67 83 95
+f 67 95 101
+f 67 101 102
+f 67 102 98
+f 67 98 86
+f 67 86 74
+f 67 74 69
+f 67 69 68
+f 69 74 71
+f 69 71 70
+f 72 84 77
+f 72 77 73
+f 72 75 85
+f 72 85 84
+f 74 86 75
+f 75 86 87
+f 75 87 85
+f 76 79 88
+f 77 84 78
+f 78 84 79
+f 79 84 89
+f 79 89 90
+f 79 90 88
+f 80 91 92
+f 80 92 93
+f 80 93 94
+f 80 95 91
+f 81 96 82
+f 83 97 95
+f 84 85 87
+f 84 87 89
+f 86 98 87
+f 87 98 89
+f 89 98 99
+f 89 99 100
+f 89 100 90
+f 91 95 97
+f 98 102 103
+f 98 103 99
+f 99 103 100
+f 101 103 102
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_15.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.18347686 0.00012883 0.00549749
+v -0.18079718 -0.00439444 0.00300351
+v -0.18347101 -0.00439445 0.00549747
+v -0.18347686 0.00012881 0.00986724
+v -0.18079718 0.00012884 0.00300472
+v -0.17775553 -0.00439444 0.00227167
+v -0.17762710 -0.01046689 0.00228349
+v -0.17737023 -0.01653934 0.00231426
+v -0.18066873 -0.01046689 0.00307099
+v -0.18338345 -0.01046690 0.00556376
+v -0.17775553 0.00012884 0.00227169
+v -0.18347101 -0.00439447 0.00987196
+v -0.17878888 -0.00439447 0.01214802
+v -0.17878888 0.00012881 0.01214212
+v -0.17270560 -0.00439444 0.00164048
+v -0.17270560 -0.01046689 0.00165467
+v -0.17270560 -0.01653934 0.00169136
+v -0.17270560 -0.02261178 0.00175292
+v -0.17270560 -0.02868423 0.00183342
+v -0.17701995 -0.02261178 0.00236042
+v -0.17662295 -0.02868423 0.00242197
+v -0.17622596 -0.03475667 0.00250958
+v -0.18041186 -0.01653934 0.00322610
+v -0.18319079 -0.01653935 0.00572006
+v -0.18338345 -0.01046692 0.00980444
+v -0.17270560 0.00012884 0.00164050
+v -0.17878888 -0.01653937 0.01202246
+v -0.17878888 -0.01046692 0.01212195
+v -0.17595157 -0.03475671 0.01270449
+v -0.17425269 0.00012881 0.01206633
+v -0.17593405 -0.02868427 0.01268438
+v -0.17583481 -0.02516107 0.01265953
+v -0.17563631 -0.02516107 0.01265953
+v -0.15875843 -0.00126997 0.00060668
+v -0.15874676 -0.00439443 0.00060666
+v -0.15869421 -0.01206180 0.00060664
+v -0.15865918 -0.01644781 0.00060662
+v -0.15781850 -0.02261177 0.00060660
+v -0.16662232 -0.04082912 0.00150772
+v -0.16662232 -0.04690156 0.00161191
+v -0.17270560 -0.03475667 0.00195063
+v -0.17593990 -0.03938454 0.00259839
+v -0.18006158 -0.02261178 0.00352451
+v -0.18288720 -0.02261179 0.00601728
+v -0.17562464 -0.04343066 0.00270258
+v -0.18319079 -0.01653937 0.00964218
+v -0.17585816 -0.03908390 0.01268435
+v -0.15875843 0.00012885 0.00060668
+v -0.16982159 -0.05774572 0.01268073
+v -0.17532689 -0.03475671 0.01270449
+v -0.17270560 0.00012881 0.01204028
+v -0.17543782 -0.02868427 0.01268438
+v -0.16942460 -0.05528145 0.01268074
+v -0.16662232 0.00012881 0.01176080
+v -0.15244746 -0.04681004 0.00060651
+v -0.16662232 -0.05297401 0.00175755
+v -0.16053904 -0.05904645 0.00147212
+v -0.17199335 -0.04690156 0.00224428
+v -0.17324270 -0.04117555 0.00222298
+v -0.17966459 -0.02868423 0.00405500
+v -0.18288720 -0.02261180 0.00936032
+v -0.18247855 -0.02868424 0.00654778
+v -0.17097753 -0.05297401 0.00235794
+v -0.17012517 -0.05904645 0.00252962
+v -0.16973401 -0.06230819 0.00264685
+v -0.17503499 -0.04690156 0.00292757
+v -0.17756872 -0.04690157 0.00542153
+v -0.17756872 -0.04690159 0.00989549
+v -0.17678058 -0.05297403 0.00921692
+v -0.17266473 -0.05954326 0.01051124
+v -0.18247855 -0.02868425 0.00883805
+v -0.13993647 0.00012885 0.00060668
+v -0.16942460 -0.05774572 0.01268073
+v -0.17172480 -0.06511892 0.00987766
+v -0.16662232 -0.06664194 0.01181741
+v -0.16662232 -0.06511892 0.01211464
+v -0.16067916 -0.06664194 0.01208978
+v -0.14837833 -0.06664194 0.01151543
+v -0.16053904 0.00012881 0.01130488
+v -0.14604310 -0.06490972 0.00060644
+v -0.16053904 -0.06511889 0.00163789
+v -0.16662232 -0.05904645 0.00199436
+v -0.18211076 -0.03322714 0.00714106
+v -0.16662232 -0.06464826 0.00233421
+v -0.16595678 -0.06664191 0.00237803
+v -0.16840877 -0.06664191 0.00301750
+v -0.16865397 -0.06636084 0.00305066
+v -0.17135701 -0.06464827 0.00489448
+v -0.17678058 -0.05297402 0.00611427
+v -0.17401332 -0.05297401 0.00362150
+v -0.18211076 -0.03322714 0.00821159
+v -0.17616174 -0.05729468 0.00838440
+v -0.12384088 -0.06664190 0.00060644
+v -0.14537756 0.00012882 0.00761487
+v -0.15604372 -0.06664194 0.01193583
+v -0.17139203 -0.06664194 0.00959819
+v -0.14229505 -0.06664194 0.01080727
+v -0.15445576 0.00012881 0.01069975
+v -0.15600286 0.00012881 0.01085370
+v -0.14472953 -0.06664190 0.00060644
+v -0.15901530 -0.06664191 0.00158815
+v -0.16053904 -0.06664191 0.00171013
+v -0.16477165 -0.06664191 0.00220987
+v -0.17616174 -0.05729468 0.00695031
+v -0.16861311 -0.06664191 0.00314658
+v -0.17108846 -0.06664192 0.00543567
+v -0.13154130 -0.06664193 0.00856318
+v -0.14780036 0.00012882 0.00878724
+v -0.17139203 -0.06664193 0.00880832
+v -0.13621177 -0.06664194 0.00991437
+v -0.14951675 0.00012882 0.00928343
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 14
+f 1 14 30
+f 1 30 51
+f 1 51 54
+f 1 54 79
+f 1 79 99
+f 1 99 98
+f 1 98 111
+f 1 111 108
+f 1 108 94
+f 1 94 72
+f 1 72 48
+f 1 48 26
+f 1 26 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 11
+f 2 11 6
+f 3 10 25
+f 3 25 12
+f 4 12 13
+f 4 13 14
+f 6 15 16
+f 6 16 7
+f 6 11 26
+f 6 26 15
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 46
+f 10 46 25
+f 12 25 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 14
+f 14 29 31
+f 14 31 32
+f 14 32 33
+f 14 33 30
+f 15 26 48
+f 15 48 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 17
+f 17 37 18
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 21
+f 21 41 22
+f 22 41 42
+f 22 42 23
+f 23 43 44
+f 23 44 24
+f 23 42 45
+f 23 45 43
+f 24 44 61
+f 24 61 46
+f 25 46 47
+f 25 47 27
+f 27 47 28
+f 28 47 29
+f 29 47 49
+f 29 49 73
+f 29 73 50
+f 29 50 52
+f 29 52 31
+f 30 33 51
+f 31 52 33
+f 31 33 32
+f 33 52 53
+f 33 53 54
+f 33 54 51
+f 34 48 72
+f 34 72 93
+f 34 93 100
+f 34 100 80
+f 34 80 55
+f 34 55 38
+f 34 38 37
+f 34 37 36
+f 34 36 35
+f 38 55 39
+f 39 55 40
+f 40 56 41
+f 40 55 57
+f 40 57 56
+f 41 56 58
+f 41 58 59
+f 41 59 42
+f 42 59 45
+f 43 60 44
+f 43 45 60
+f 44 60 62
+f 44 62 71
+f 44 71 61
+f 45 59 58
+f 45 58 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 62
+f 45 62 60
+f 46 61 47
+f 47 68 69
+f 47 69 70
+f 47 70 49
+f 47 61 71
+f 47 71 68
+f 49 70 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 73
+f 50 73 53
+f 50 53 52
+f 53 73 78
+f 53 78 54
+f 54 78 79
+f 55 80 57
+f 56 57 81
+f 56 81 82
+f 56 82 58
+f 57 80 81
+f 58 82 63
+f 62 67 83
+f 62 83 91
+f 62 91 71
+f 63 82 64
+f 64 82 65
+f 65 82 84
+f 65 84 85
+f 65 85 86
+f 65 86 87
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 66 90 89
+f 66 89 67
+f 67 89 83
+f 68 71 91
+f 68 91 69
+f 69 92 74
+f 69 74 70
+f 69 91 92
+f 72 94 93
+f 73 77 95
+f 73 95 78
+f 74 92 96
+f 74 96 75
+f 75 96 109
+f 75 109 106
+f 75 106 105
+f 75 105 86
+f 75 86 85
+f 75 85 103
+f 75 103 102
+f 75 102 101
+f 75 101 100
+f 75 100 93
+f 75 93 107
+f 75 107 110
+f 75 110 97
+f 75 97 78
+f 75 78 95
+f 75 95 77
+f 75 77 76
+f 78 97 98
+f 78 98 99
+f 78 99 79
+f 80 100 101
+f 80 101 81
+f 81 101 102
+f 81 102 82
+f 82 102 103
+f 82 103 84
+f 83 89 104
+f 83 104 92
+f 83 92 91
+f 84 103 85
+f 86 105 87
+f 87 105 106
+f 87 106 88
+f 88 106 104
+f 88 104 89
+f 92 104 109
+f 92 109 96
+f 93 94 107
+f 94 108 107
+f 97 110 98
+f 98 110 111
+f 104 106 109
+f 107 108 110
+f 108 111 110
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_16.obj

@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v -0.17105091 0.06330933 0.00535354
+v -0.17105091 0.06330931 0.00996785
+v -0.17055712 0.06721463 0.00645061
+v -0.16852265 0.06348958 0.00312609
+v -0.16880905 0.06330934 0.00332173
+v -0.17055712 0.06721462 0.00887951
+v -0.17037934 0.06330931 0.01038522
+v -0.15144690 0.09588355 0.01265627
+v -0.15833053 0.09145757 0.00649563
+v -0.15635531 0.08792278 0.00317110
+v -0.16604374 0.06330934 0.00240003
+v -0.16830537 0.06330934 0.00304493
+v -0.15757007 0.08386727 0.00264648
+v -0.16365373 0.07170074 0.00264643
+v -0.15833053 0.09145756 0.00883032
+v -0.16720912 0.06330931 0.01183009
+v -0.14561014 0.10239240 0.01269543
+v -0.14340777 0.10643790 0.01238965
+v -0.14966920 0.09992907 0.01198965
+v -0.15210859 0.10291312 0.00866660
+v -0.15296782 0.09828683 0.01025782
+v -0.16571784 0.06330931 0.01222283
+v -0.11188332 0.11706233 0.01539247
+v -0.11188332 0.12314059 0.01476209
+v -0.15210859 0.10291313 0.00670001
+v -0.15297769 0.09830688 0.00508991
+v -0.15145678 0.09591364 0.00265811
+v -0.16429568 0.06848637 0.00250729
+v -0.16054276 0.06848637 0.00197398
+v -0.16054276 0.06330934 0.00173049
+v -0.15210859 0.09277938 0.00250738
+v -0.15438009 0.08622047 0.00234070
+v -0.11846080 0.12359120 0.01365198
+v -0.14662738 0.10954213 0.00906660
+v -0.10928592 0.13852149 0.01268396
+v -0.12404079 0.12920885 0.01135354
+v -0.13490447 0.12201909 0.00923042
+v -0.14087950 0.11575057 0.00916953
+v -0.16054276 0.06330931 0.01210690
+v -0.10579967 0.11706234 0.01434614
+v -0.07016678 0.13528710 0.01072751
+v -0.07016678 0.14049418 0.01133910
+v -0.07016678 0.14135535 0.01143620
+v -0.07016678 0.14656243 0.01188258
+v -0.07016678 0.14742359 0.01192171
+v -0.07016678 0.15925967 0.01237390
+v -0.07016678 0.15986048 0.01235362
+v -0.07826516 0.15664611 0.01266375
+v -0.07997372 0.15664611 0.01266375
+v -0.15356038 0.06330931 0.01181270
+v -0.14837544 0.06330931 0.01153300
+v -0.14747671 0.06330931 0.01144750
+v -0.14139305 0.06330931 0.01077506
+v -0.13620810 0.06330931 0.00997075
+v -0.09122258 0.15066799 0.01267676
+v -0.10284672 0.14444955 0.01266225
+v -0.14662738 0.10954214 0.00628121
+v -0.14828656 0.10487581 0.00482763
+v -0.14994573 0.09995914 0.00337549
+v -0.14438550 0.10683848 0.00295669
+v -0.14589654 0.10278297 0.00253785
+v -0.14809891 0.09830689 0.00240306
+v -0.14837544 0.09277938 0.00199001
+v -0.16041438 0.07406395 0.00234645
+v -0.15445910 0.08063288 0.00196388
+v -0.15445910 0.07456463 0.00166097
+v -0.14499782 0.06512181 0.00058707
+v -0.14509658 0.06330935 0.00058706
+v -0.12713200 0.13229305 0.00774066
+v -0.10690579 0.14256700 0.01191734
+v -0.11843117 0.13577777 0.01047390
+v -0.12404079 0.13366491 0.00892032
+v -0.12856403 0.12920886 0.00893625
+v -0.07016678 0.13441592 0.01060432
+v -0.07016678 0.16476716 0.01073052
+v -0.07016678 0.16536798 0.01043488
+v -0.08198844 0.15952003 0.01066673
+v -0.08755855 0.15848863 0.00974502
+v -0.13529951 0.06330931 0.00974612
+v -0.09361258 0.15339170 0.01066525
+v -0.09194353 0.15733707 0.00878419
+v -0.09971601 0.15176951 0.00900735
+v -0.11671273 0.13961299 0.00909570
+v -0.12713200 0.13229305 0.00758849
+v -0.14087950 0.11575058 0.00615950
+v -0.14262756 0.11143472 0.00455810
+v -0.13859812 0.11332730 0.00283498
+v -0.14032644 0.10928180 0.00247846
+v -0.14233128 0.10485579 0.00226396
+v -0.14229177 0.09885763 0.00176540
+v -0.14837544 0.08671113 0.00165957
+v -0.13878577 0.07713814 0.00058711
+v -0.12401116 0.06330935 0.00058706
+v -0.10294547 0.15059792 0.00789579
+v -0.07016678 0.12897854 0.00921160
+v -0.07016678 0.16559831 0.00517131
+v -0.07539122 0.16430654 0.00965519
+v -0.07995397 0.16328516 0.00869580
+v -0.13164536 0.06330932 0.00858095
+v -0.07016678 0.12824755 0.00898842
+v -0.09194353 0.15733708 0.00655674
+v -0.10979947 0.14505038 0.00859429
+v -0.12447533 0.12963946 0.00369588
+v -0.12856403 0.12920887 0.00640156
+v -0.10294547 0.15059792 0.00743928
+v -0.11671273 0.13961300 0.00623929
+v -0.12404079 0.13366492 0.00640303
+v -0.12678633 0.12587435 0.00273068
+v -0.13453906 0.11553029 0.00245529
+v -0.13642538 0.11118439 0.00220167
+v -0.13620810 0.10492588 0.00166109
+v -0.12728013 0.09602380 0.00058718
+v -0.13428227 0.08486864 0.00058714
+v -0.13107255 0.06330932 0.00809256
+v -0.07016678 0.11928540 0.00058727
+v -0.07016678 0.12587433 0.00780005
+v -0.07016678 0.16559831 0.00485828
+v -0.07995397 0.16328517 0.00664806
+v -0.07016678 0.12734633 0.00861162
+v -0.08702524 0.15812816 0.00500462
+v -0.08870417 0.15528431 0.00323367
+v -0.09622974 0.15012730 0.00275106
+v -0.09971601 0.15176952 0.00630455
+v -0.12066316 0.13195260 0.00273215
+v -0.10979947 0.14505039 0.00673349
+v -0.11390793 0.13748011 0.00291477
+v -0.11869783 0.13578781 0.00448572
+v -0.12273714 0.12789709 0.00243505
+v -0.12861341 0.12182885 0.00244083
+v -0.13043060 0.11736278 0.00217415
+v -0.13012445 0.11100415 0.00161763
+v -0.12159151 0.10250260 0.00058721
+v -0.07016678 0.14003359 0.00058734
+v -0.07016678 0.16510764 0.00439888
+v -0.07539122 0.16430656 0.00567708
+v -0.07539122 0.16157285 0.00318442
+v -0.08465498 0.15659609 0.00265254
+v -0.09217068 0.15123881 0.00249311
+v -0.09971601 0.14578140 0.00243947
+v -0.10302448 0.14455974 0.00262206
+v -0.10984885 0.13891206 0.00252784
+v -0.11662385 0.13343462 0.00246260
+v -0.11838179 0.12963946 0.00217565
+v -0.12447533 0.12356121 0.00215823
+v -0.12404079 0.11706238 0.00159446
+v -0.11570537 0.10874108 0.00058723
+v -0.07375179 0.13958298 0.00058734
+v -0.07016678 0.15350188 0.00152213
+v -0.07016678 0.16051140 0.00225837
+v -0.07211236 0.16248409 0.00270473
+v -0.08147488 0.15715685 0.00250907
+v -0.08147488 0.15350188 0.00197429
+v -0.08702524 0.15336169 0.00236123
+v -0.09397800 0.14783418 0.00218296
+v -0.10535524 0.14110505 0.00236119
+v -0.11188332 0.13538727 0.00224233
+v -0.11188332 0.12920888 0.00163363
+v -0.11796699 0.12314063 0.00158869
+v -0.10579967 0.13528713 0.00173366
+v -0.10962171 0.11479931 0.00058725
+v -0.08552407 0.13319430 0.00058732
+v -0.08755855 0.14742362 0.00169602
+v -0.07539122 0.15350188 0.00167575
+v -0.07016678 0.15999070 0.00217431
+v -0.07539122 0.15852872 0.00229314
+v -0.09971601 0.14135538 0.00189309
+v -0.10330102 0.12062722 0.00058727
+v -0.09363234 0.14135538 0.00155832
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 30
+f 1 30 68
+f 1 68 93
+f 1 93 114
+f 1 114 99
+f 1 99 79
+f 1 79 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 39
+f 1 39 22
+f 1 22 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 6 15
+f 3 15 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 13
+f 4 13 14
+f 4 14 11
+f 6 8 15
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 15
+f 8 16 22
+f 8 22 23
+f 8 23 24
+f 8 24 17
+f 9 15 20
+f 9 20 25
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 10 27 13
+f 11 14 28
+f 11 28 29
+f 11 29 30
+f 13 27 31
+f 13 31 32
+f 13 32 14
+f 14 32 28
+f 15 21 20
+f 17 24 33
+f 17 33 18
+f 18 34 19
+f 18 33 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 34
+f 19 34 20
+f 20 34 57
+f 20 57 25
+f 22 39 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 24
+f 23 39 50
+f 23 50 51
+f 23 51 52
+f 23 52 53
+f 23 53 54
+f 23 54 40
+f 24 49 55
+f 24 55 56
+f 24 56 35
+f 24 35 33
+f 25 57 58
+f 25 58 59
+f 25 59 26
+f 26 59 27
+f 27 59 60
+f 27 60 61
+f 27 61 62
+f 27 62 63
+f 27 63 31
+f 28 32 64
+f 28 64 29
+f 29 64 32
+f 29 32 65
+f 29 65 66
+f 29 66 30
+f 30 66 67
+f 30 67 68
+f 31 63 32
+f 32 63 65
+f 34 38 69
+f 34 69 84
+f 34 84 57
+f 35 56 36
+f 36 56 70
+f 36 70 71
+f 36 71 72
+f 36 72 73
+f 36 73 37
+f 37 73 38
+f 38 73 69
+f 40 74 41
+f 40 54 74
+f 41 74 95
+f 41 95 100
+f 41 100 119
+f 41 119 116
+f 41 116 115
+f 41 115 133
+f 41 133 148
+f 41 148 164
+f 41 164 149
+f 41 149 134
+f 41 134 117
+f 41 117 96
+f 41 96 76
+f 41 76 75
+f 41 75 47
+f 41 47 46
+f 41 46 45
+f 41 45 44
+f 41 44 43
+f 41 43 42
+f 47 75 49
+f 47 49 48
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 55
+f 54 79 74
+f 55 78 56
+f 56 78 80
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 70
+f 57 60 58
+f 57 84 85
+f 57 85 86
+f 57 86 60
+f 58 60 59
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 90 63
+f 62 89 90
+f 63 90 91
+f 63 91 65
+f 65 91 66
+f 66 91 67
+f 67 91 92
+f 67 92 113
+f 67 113 112
+f 67 112 132
+f 67 132 146
+f 67 146 160
+f 67 160 167
+f 67 167 161
+f 67 161 147
+f 67 147 133
+f 67 133 115
+f 67 115 93
+f 67 93 68
+f 69 73 72
+f 69 72 83
+f 69 83 94
+f 69 94 105
+f 69 105 84
+f 70 83 71
+f 71 83 72
+f 74 79 95
+f 76 96 97
+f 76 97 77
+f 77 97 78
+f 78 81 80
+f 78 97 98
+f 78 98 81
+f 79 99 100
+f 79 100 95
+f 81 98 118
+f 81 118 101
+f 81 101 105
+f 81 105 94
+f 81 94 82
+f 82 94 102
+f 82 102 83
+f 83 102 94
+f 84 103 104
+f 84 104 85
+f 84 105 106
+f 84 106 107
+f 84 107 103
+f 85 104 108
+f 85 108 87
+f 85 87 86
+f 87 108 88
+f 88 108 109
+f 88 109 110
+f 88 110 89
+f 89 111 90
+f 89 110 111
+f 90 112 113
+f 90 113 91
+f 90 111 112
+f 91 113 92
+f 93 115 116
+f 93 116 114
+f 96 117 118
+f 96 118 98
+f 96 98 97
+f 99 114 116
+f 99 116 119
+f 99 119 100
+f 101 118 120
+f 101 120 121
+f 101 121 122
+f 101 122 123
+f 101 123 105
+f 103 107 124
+f 103 124 108
+f 103 108 104
+f 105 123 125
+f 105 125 106
+f 106 125 123
+f 106 123 122
+f 106 122 126
+f 106 126 127
+f 106 127 107
+f 107 127 124
+f 108 124 128
+f 108 128 129
+f 108 129 109
+f 109 129 110
+f 110 129 130
+f 110 130 111
+f 111 130 131
+f 111 131 132
+f 111 132 112
+f 117 134 135
+f 117 135 118
+f 118 135 136
+f 118 136 120
+f 120 137 121
+f 120 136 137
+f 121 137 122
+f 122 137 138
+f 122 138 139
+f 122 139 140
+f 122 140 124
+f 122 124 126
+f 124 127 126
+f 124 140 141
+f 124 141 142
+f 124 142 128
+f 128 142 143
+f 128 143 144
+f 128 144 129
+f 129 144 130
+f 130 144 131
+f 131 144 145
+f 131 145 132
+f 132 145 146
+f 133 147 148
+f 134 149 150
+f 134 150 135
+f 135 150 136
+f 136 150 137
+f 137 150 151
+f 137 151 152
+f 137 152 153
+f 137 153 138
+f 138 153 154
+f 138 154 139
+f 139 155 141
+f 139 141 140
+f 139 154 155
+f 141 155 142
+f 142 155 156
+f 142 156 143
+f 143 157 158
+f 143 158 144
+f 143 156 159
+f 143 159 157
+f 144 158 145
+f 145 158 146
+f 146 158 160
+f 147 161 162
+f 147 162 163
+f 147 163 148
+f 148 163 164
+f 149 164 150
+f 150 164 165
+f 150 165 151
+f 151 165 152
+f 152 163 162
+f 152 162 154
+f 152 154 153
+f 152 165 164
+f 152 164 163
+f 154 162 166
+f 154 166 155
+f 155 166 156
+f 156 166 159
+f 157 167 158
+f 157 159 167
+f 158 167 160
+f 159 166 162
+f 159 162 168
+f 159 168 161
+f 159 161 167
+f 161 168 162
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_17.obj

@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 -0.10541741 -0.00147510
+v 0.07925769 -0.11338256 -0.00078234
+v 0.07925769 -0.10541738 -0.01036293
+v 0.00976825 -0.10541742 -0.00117260
+v 0.07925769 -0.13425862 -0.00078241
+v -0.08819849 -0.10541742 -0.00078231
+v 0.07925769 -0.10763324 -0.01042974
+v -0.08367774 -0.10541738 -0.01049080
+v 0.07836724 -0.13494233 -0.00078242
+v 0.07925769 -0.12766589 -0.00617674
+v -0.09568171 -0.10541742 -0.00078231
+v 0.07925769 -0.11370691 -0.01037919
+v 0.07667195 -0.11370691 -0.01046411
+v 0.07059291 -0.11370691 -0.01048034
+v -0.04496024 -0.12585425 -0.01052618
+v -0.05103928 -0.12585425 -0.01052236
+v -0.08145161 -0.10763324 -0.01049177
+v -0.08975678 -0.10541738 -0.01040110
+v 0.06451387 -0.11978058 -0.01050040
+v 0.04625963 -0.12585425 -0.01051664
+v 0.07836724 -0.12802522 -0.00641053
+v 0.07158611 -0.13855559 -0.00078243
+v 0.07430884 -0.12927288 -0.00755944
+v 0.07925769 -0.12487109 -0.00814534
+v -0.09568171 -0.10541738 -0.00989917
+v -0.09568171 -0.12197652 -0.00078237
+v 0.07925769 -0.11999019 -0.00955092
+v 0.07667195 -0.11978058 -0.01004236
+v 0.07059291 -0.11978058 -0.01039829
+v -0.02670599 -0.13192292 -0.01052906
+v -0.03280216 -0.13192292 -0.01052906
+v 0.02802250 -0.13192292 -0.01052716
+v -0.05711832 -0.12585425 -0.01044221
+v -0.07537257 -0.11370691 -0.01048797
+v -0.03888120 -0.13192292 -0.01049757
+v -0.08754777 -0.10763324 -0.01038394
+v 0.05843483 -0.12585425 -0.01043362
+v 0.05235579 -0.12585425 -0.01051473
+v 0.06638040 -0.14126055 -0.00078244
+v 0.06650027 -0.13437338 -0.00673118
+v 0.06244186 -0.13540145 -0.00761100
+v 0.07059291 -0.13025605 -0.00804993
+v 0.07648359 -0.12593910 -0.00839631
+v -0.09568171 -0.10558706 -0.00988295
+v -0.09475700 -0.12272513 -0.00078237
+v -0.09568171 -0.11495959 -0.00642480
+v -0.09530497 -0.11559840 -0.00617383
+v -0.09124657 -0.11725531 -0.00761189
+v 0.07059291 -0.12585425 -0.00953472
+v 0.06451387 -0.12585425 -0.01017120
+v 0.00368921 -0.13799660 -0.01048997
+v -0.00238983 -0.13799660 -0.01048997
+v -0.00846887 -0.13799660 -0.01048615
+v -0.01454791 -0.13799660 -0.01046325
+v 0.03410154 -0.13192292 -0.01052048
+v -0.06321449 -0.12585425 -0.01020174
+v -0.06929353 -0.11978058 -0.01041451
+v -0.04496024 -0.13192292 -0.01039070
+v -0.02062695 -0.13799660 -0.01041172
+v -0.02670599 -0.13799660 -0.01032011
+v -0.08145161 -0.11370691 -0.01030285
+v 0.05235579 -0.13192292 -0.01015309
+v 0.04625963 -0.13192292 -0.01039261
+v 0.04018058 -0.13192292 -0.01048326
+v 0.06309258 -0.14274778 -0.00078244
+v 0.04965019 -0.14115572 -0.00739441
+v 0.05843483 -0.13626983 -0.00808049
+v 0.06447963 -0.13217747 -0.00850607
+v -0.09362682 -0.10763324 -0.00985529
+v -0.09568171 -0.10764822 -0.00938771
+v -0.09362682 -0.12363843 -0.00078237
+v -0.09568171 -0.11252412 -0.00802696
+v -0.09342133 -0.11362707 -0.00831897
+v -0.08754777 -0.11863773 -0.00816440
+v -0.08448257 -0.12280495 -0.00728937
+v 0.05843483 -0.13192292 -0.00959009
+v 0.00976825 -0.13799660 -0.01048329
+v 0.00368921 -0.14407026 -0.00977621
+v -0.00238983 -0.14407026 -0.00977431
+v 0.01584730 -0.13799660 -0.01045943
+v -0.06929353 -0.12585425 -0.00959675
+v -0.07537257 -0.11978058 -0.01008339
+v -0.05103928 -0.13192292 -0.01015023
+v -0.05711832 -0.13192292 -0.00963303
+v -0.03280216 -0.13799660 -0.01015217
+v -0.00846887 -0.14407026 -0.00970465
+v -0.01454791 -0.14407026 -0.00954910
+v -0.08754777 -0.11370691 -0.00964537
+v 0.04018058 -0.13799660 -0.00980387
+v 0.03410154 -0.13799660 -0.01013213
+v 0.02802250 -0.13799660 -0.01031057
+v 0.02192634 -0.13799660 -0.01040790
+v 0.05922254 -0.14435977 -0.00078245
+v 0.04961594 -0.14804290 -0.00078246
+v 0.04584865 -0.14941534 -0.00078247
+v 0.03057399 -0.14697486 -0.00718163
+v 0.04625963 -0.14169970 -0.00775607
+v 0.05194481 -0.13817128 -0.00835628
+v -0.09568171 -0.11148606 -0.00837240
+v -0.08795876 -0.12785555 -0.00078239
+v -0.08205096 -0.12038446 -0.00881520
+v -0.08042417 -0.12404264 -0.00795926
+v -0.07537257 -0.13571090 -0.00078242
+v -0.07311220 -0.12933776 -0.00759762
+v 0.04625963 -0.13799661 -0.00921987
+v 0.00368921 -0.14849702 -0.00822081
+v -0.00238983 -0.14849702 -0.00821986
+v 0.00976825 -0.14407026 -0.00970465
+v -0.06326586 -0.13222238 -0.00855092
+v -0.06929353 -0.13036085 -0.00809765
+v -0.07523558 -0.12598402 -0.00844211
+v -0.03888120 -0.13799660 -0.00983631
+v -0.04496024 -0.13799661 -0.00926186
+v -0.05711832 -0.13635966 -0.00811580
+v -0.02062695 -0.14407027 -0.00927524
+v -0.00846887 -0.14836726 -0.00815496
+v -0.01454791 -0.14812771 -0.00802137
+v 0.04018058 -0.14261299 -0.00824846
+v 0.03410154 -0.14345642 -0.00852902
+v 0.02192634 -0.14407027 -0.00925997
+v 0.01584730 -0.14407026 -0.00954147
+v 0.02976916 -0.15330308 -0.00078248
+v 0.02497442 -0.15446092 -0.00078249
+v 0.02651559 -0.14739407 -0.00752707
+v -0.06968738 -0.13883507 -0.00078243
+v -0.06127947 -0.13547132 -0.00765013
+v -0.06533787 -0.13444822 -0.00681324
+v 0.00368921 -0.15639731 -0.00078249
+v -0.00238983 -0.15640230 -0.00078249
+v 0.00976825 -0.14836228 -0.00815496
+v 0.00927166 -0.15626756 -0.00078249
+v -0.00846887 -0.15625757 -0.00078249
+v -0.03280216 -0.14349136 -0.00854142
+v -0.03888120 -0.14264294 -0.00827231
+v -0.04496024 -0.14176458 -0.00780283
+v -0.05073105 -0.13820122 -0.00838013
+v -0.04850492 -0.14121061 -0.00743735
+v -0.02062695 -0.14776838 -0.00779617
+v -0.02709985 -0.14461426 -0.00855764
+v -0.01453079 -0.15600305 -0.00078249
+v 0.02833074 -0.14459430 -0.00854524
+v 0.02192634 -0.14774842 -0.00778376
+v 0.01584730 -0.14811274 -0.00801564
+v 0.02067628 -0.15526442 -0.00078249
+v 0.01605278 -0.15596811 -0.00078249
+v -0.06321449 -0.14200416 -0.00078244
+v -0.05751218 -0.14452446 -0.00078245
+v -0.02531895 -0.14740905 -0.00753757
+v -0.02937735 -0.14700481 -0.00721121
+v -0.04437802 -0.14944029 -0.00078247
+v -0.02062695 -0.15501488 -0.00078249
+v -0.02670599 -0.15366741 -0.00078248
+f 1 2 5
+f 1 5 10
+f 1 10 24
+f 1 24 27
+f 1 27 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 25
+f 1 25 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 26
+f 2 26 45
+f 2 45 71
+f 2 71 100
+f 2 100 103
+f 2 103 125
+f 2 125 146
+f 2 146 147
+f 2 147 150
+f 2 150 152
+f 2 152 151
+f 2 151 140
+f 2 140 132
+f 2 132 129
+f 2 129 128
+f 2 128 131
+f 2 131 145
+f 2 145 144
+f 2 144 123
+f 2 123 122
+f 2 122 95
+f 2 95 94
+f 2 94 93
+f 2 93 65
+f 2 65 39
+f 2 39 22
+f 2 22 9
+f 2 9 5
+f 3 7 8
+f 5 9 10
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 14 19
+f 8 19 20
+f 8 20 15
+f 9 21 10
+f 9 22 23
+f 9 23 21
+f 10 21 24
+f 11 25 44
+f 11 44 70
+f 11 70 99
+f 11 99 72
+f 11 72 46
+f 11 46 26
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 19
+f 13 19 14
+f 15 30 31
+f 15 31 16
+f 15 20 32
+f 15 32 30
+f 16 33 34
+f 16 34 17
+f 16 31 35
+f 16 35 33
+f 17 34 18
+f 18 34 36
+f 18 36 25
+f 19 37 38
+f 19 38 20
+f 19 29 37
+f 20 38 32
+f 21 23 24
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 24 43 27
+f 25 36 44
+f 26 46 47
+f 26 47 48
+f 26 48 45
+f 27 43 49
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 29 50 37
+f 30 32 51
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 31 53 54
+f 31 54 35
+f 32 38 55
+f 32 55 77
+f 32 77 51
+f 33 56 57
+f 33 57 34
+f 33 35 58
+f 33 58 56
+f 34 57 36
+f 35 54 59
+f 35 59 60
+f 35 60 58
+f 36 61 44
+f 36 57 61
+f 37 50 62
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 38 64 55
+f 39 65 41
+f 39 41 40
+f 41 65 66
+f 41 66 67
+f 41 67 42
+f 42 49 43
+f 42 67 68
+f 42 68 49
+f 44 61 69
+f 44 69 70
+f 45 48 71
+f 46 72 48
+f 46 48 47
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 71
+f 49 68 76
+f 49 76 50
+f 50 76 62
+f 51 77 78
+f 51 78 52
+f 52 78 79
+f 52 79 53
+f 53 79 54
+f 54 79 59
+f 55 64 80
+f 55 80 77
+f 56 81 82
+f 56 82 61
+f 56 61 57
+f 56 58 83
+f 56 83 84
+f 56 84 81
+f 58 60 85
+f 58 85 83
+f 59 79 86
+f 59 86 60
+f 60 86 87
+f 60 87 85
+f 61 82 88
+f 61 88 69
+f 62 76 89
+f 62 89 90
+f 62 90 63
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 64 92 80
+f 65 93 66
+f 66 94 95
+f 66 95 96
+f 66 96 97
+f 66 97 67
+f 66 93 94
+f 67 76 68
+f 67 97 98
+f 67 98 76
+f 69 88 70
+f 70 88 99
+f 71 75 100
+f 72 99 73
+f 73 99 88
+f 73 88 74
+f 74 88 101
+f 74 101 102
+f 74 102 75
+f 75 103 100
+f 75 102 104
+f 75 104 103
+f 76 98 105
+f 76 105 89
+f 77 80 78
+f 78 106 107
+f 78 107 79
+f 78 80 92
+f 78 92 108
+f 78 108 106
+f 79 107 86
+f 81 84 109
+f 81 109 110
+f 81 110 111
+f 81 111 101
+f 81 101 88
+f 81 88 82
+f 83 85 112
+f 83 112 84
+f 84 112 113
+f 84 113 114
+f 84 114 109
+f 85 87 115
+f 85 115 112
+f 86 116 87
+f 86 107 116
+f 87 116 117
+f 87 117 115
+f 89 118 119
+f 89 119 120
+f 89 120 90
+f 89 105 118
+f 90 120 121
+f 90 121 91
+f 91 121 108
+f 91 108 92
+f 95 122 96
+f 96 122 123
+f 96 123 124
+f 96 124 118
+f 96 118 97
+f 97 118 98
+f 98 118 105
+f 101 111 102
+f 102 111 104
+f 103 104 125
+f 104 111 110
+f 104 110 126
+f 104 126 127
+f 104 127 125
+f 106 128 129
+f 106 129 107
+f 106 108 130
+f 106 130 131
+f 106 131 128
+f 107 129 132
+f 107 132 116
+f 108 121 130
+f 109 114 126
+f 109 126 110
+f 112 115 133
+f 112 133 134
+f 112 134 113
+f 113 134 135
+f 113 135 136
+f 113 136 114
+f 114 136 135
+f 114 135 137
+f 114 137 126
+f 115 117 138
+f 115 138 139
+f 115 139 133
+f 116 132 140
+f 116 140 117
+f 117 140 138
+f 118 124 119
+f 119 141 120
+f 119 124 142
+f 119 142 141
+f 120 141 142
+f 120 142 143
+f 120 143 121
+f 121 143 130
+f 123 144 124
+f 124 144 145
+f 124 145 142
+f 125 127 146
+f 126 147 146
+f 126 146 127
+f 126 137 147
+f 130 143 145
+f 130 145 131
+f 133 139 138
+f 133 138 148
+f 133 148 134
+f 134 148 149
+f 134 149 135
+f 135 149 137
+f 137 149 150
+f 137 150 147
+f 138 140 148
+f 140 151 148
+f 142 145 143
+f 148 151 149
+f 149 152 150
+f 149 151 152
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_18.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03850228 -0.04289904 0.00158846
+v -0.03241774 -0.06476070 0.00158838
+v -0.03850228 -0.03859715 0.00799060
+v -0.03850228 0.00012772 0.00158862
+v -0.02963638 -0.06798331 0.00158837
+v -0.02992009 -0.06237247 0.00776731
+v -0.03850228 -0.03476217 0.00862208
+v -0.03850228 0.00012770 0.00918862
+v 0.01325426 0.00012772 0.00158862
+v -0.02403821 -0.06841964 0.00780094
+v -0.02640414 -0.07085380 0.00158836
+v -0.02632307 -0.06468417 0.00802752
+v -0.03850228 -0.02868438 0.00898438
+v -0.02063371 -0.06512049 0.00857037
+v -0.02671824 0.00012769 0.01065904
+v -0.03850228 -0.00401346 0.00920655
+v 0.01325426 -0.05891255 0.00158840
+v 0.01325426 0.00012770 0.00939499
+v -0.02063371 -0.06893250 0.00798825
+v -0.02124165 -0.07298179 0.00158835
+v 0.00064950 -0.07422952 0.00765960
+v -0.03850228 -0.02830165 0.00899448
+v -0.00107302 -0.00317147 0.01304693
+v 0.00308635 -0.07148150 0.00805217
+v 0.00368923 -0.06512049 0.00870721
+v -0.03850228 -0.00439619 0.00920766
+v -0.02671824 -0.00439620 0.01066575
+v -0.00107302 0.00010472 0.01304694
+v -0.00109835 0.00012768 0.01303348
+v 0.01325426 -0.05169424 0.00812739
+v 0.01289962 -0.06512047 0.00158838
+v 0.00235175 0.00012768 0.01303236
+v 0.00232642 0.00010472 0.01304694
+v 0.01325426 -0.02261426 0.01053446
+v 0.00349671 -0.07805682 0.00158833
+v 0.00368923 -0.07806447 0.00158833
+v 0.00065963 -0.07422952 0.00765960
+v -0.03850228 -0.01008359 0.00921213
+v 0.00232642 -0.00317147 0.01304693
+v 0.00746863 -0.06965204 0.00795011
+v 0.01325426 -0.02521684 0.01054230
+v 0.01325426 -0.04939020 0.00848743
+v 0.01124803 -0.07119060 0.00158836
+v 0.00918608 -0.07667899 0.00158834
+v 0.00471261 -0.07370135 0.00699561
+v 0.01325426 -0.04690244 0.00873868
+v 0.01325426 -0.02868439 0.01025740
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 38
+f 1 38 26
+f 1 26 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 31
+f 1 31 43
+f 1 43 44
+f 1 44 36
+f 1 36 35
+f 1 35 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 15
+f 4 15 29
+f 4 29 32
+f 4 32 18
+f 4 18 9
+f 5 10 6
+f 5 11 10
+f 6 10 12
+f 6 12 7
+f 7 12 14
+f 7 14 13
+f 8 16 15
+f 9 18 34
+f 9 34 41
+f 9 41 47
+f 9 47 46
+f 9 46 42
+f 9 42 30
+f 9 30 17
+f 10 19 14
+f 10 14 12
+f 10 11 20
+f 10 20 21
+f 10 21 19
+f 13 14 23
+f 13 23 22
+f 14 19 21
+f 14 21 24
+f 14 24 25
+f 14 25 23
+f 15 16 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 17 30 31
+f 18 32 33
+f 18 33 34
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 24
+f 22 23 27
+f 22 27 38
+f 23 39 33
+f 23 33 28
+f 23 28 27
+f 23 25 39
+f 24 37 40
+f 24 40 25
+f 25 40 41
+f 25 41 39
+f 26 38 27
+f 28 33 29
+f 29 33 32
+f 30 42 40
+f 30 40 43
+f 30 43 31
+f 33 39 41
+f 33 41 34
+f 36 44 37
+f 37 45 40
+f 37 44 45
+f 40 45 44
+f 40 44 43
+f 40 42 46
+f 40 46 47
+f 40 47 41
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_19.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 0.00013538 0.00058240
+v 0.07925769 -0.05647423 0.00058455
+v 0.07925769 0.00013541 -0.00873490
+v 0.07054154 0.00013538 0.00124100
+v 0.07216833 -0.03434286 0.00158731
+v 0.07218545 -0.03476648 0.00158731
+v 0.07233957 -0.04036648 0.00158729
+v 0.07925769 -0.06254951 0.00052187
+v 0.07233957 -0.04083143 0.00158729
+v 0.07925769 -0.08941294 -0.01014110
+v -0.09568171 -0.06914135 -0.01013038
+v -0.09362682 0.00013541 -0.00876209
+v 0.06417139 0.00013537 0.00158744
+v 0.07925769 -0.10541741 -0.00147536
+v 0.07038743 -0.04678272 0.00158727
+v 0.07667195 -0.06511187 0.00052895
+v 0.07925769 -0.10541738 -0.01036345
+v -0.09568171 -0.09343214 -0.01047927
+v -0.09568171 0.00013541 -0.00876209
+v -0.06929353 0.00013537 0.00158744
+v 0.07059291 -0.07118715 0.00053366
+v 0.05220167 -0.06506022 0.00158720
+v 0.04018058 -0.08941298 0.00045792
+v 0.01584730 -0.09547794 0.00044489
+v -0.09568171 -0.10541743 0.00156813
+v -0.08367774 -0.10541738 -0.01049115
+v -0.08754777 -0.10155317 -0.01048876
+v -0.09568171 -0.09547790 -0.01046628
+v -0.09568171 0.00013538 0.00056348
+v -0.07491022 -0.00485503 0.00158742
+v 0.04625963 -0.06760192 0.00158719
+v 0.03410154 -0.08941298 0.00056906
+v 0.00368921 -0.07805801 0.00158715
+v 0.00348372 -0.07805801 0.00158715
+v -0.02124342 -0.07298495 0.00158717
+v -0.02639776 -0.07085653 0.00158718
+v -0.06682766 -0.04440634 0.00158728
+v -0.06905379 -0.04071777 0.00158729
+v -0.07605753 -0.01722256 0.00158738
+v -0.07758157 -0.01165356 0.00158740
+v -0.07756445 -0.01046537 0.00158740
+v -0.09568171 -0.10541738 -0.00989877
+v -0.08975678 -0.10541738 -0.01040010
+v -0.09362682 -0.10155317 -0.01042846
+v -0.09568171 -0.09950741 -0.01043201
+v -0.09568171 -0.10155317 -0.01026411
+f 1 2 8
+f 1 8 14
+f 1 14 17
+f 1 17 10
+f 1 10 3
+f 1 3 12
+f 1 12 19
+f 1 19 29
+f 1 29 20
+f 1 20 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 5
+f 5 13 20
+f 5 20 30
+f 5 30 41
+f 5 41 40
+f 5 40 39
+f 5 39 38
+f 5 38 37
+f 5 37 36
+f 5 36 35
+f 5 35 34
+f 5 34 33
+f 5 33 31
+f 5 31 22
+f 5 22 15
+f 5 15 9
+f 5 9 7
+f 5 7 6
+f 8 9 15
+f 8 15 16
+f 8 16 14
+f 10 17 18
+f 10 18 11
+f 11 18 28
+f 11 28 45
+f 11 45 46
+f 11 46 42
+f 11 42 25
+f 11 25 29
+f 11 29 19
+f 11 19 12
+f 14 16 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 42
+f 14 42 43
+f 14 43 26
+f 14 26 17
+f 15 21 16
+f 15 22 21
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 20 29 30
+f 22 31 23
+f 23 32 24
+f 23 31 32
+f 24 32 25
+f 25 32 31
+f 25 31 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 29
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 28
+f 29 41 30
+f 42 46 43
+f 43 46 44
+f 44 46 45
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_2.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.11745261 -0.07930101 0.00059624
+v 0.14097504 -0.07930101 0.00059624
+v 0.12455745 -0.07930104 0.00772658
+v 0.14659696 0.00012758 0.00771028
+v 0.14115958 0.00012761 0.00059653
+v 0.15576471 -0.07930102 0.00170898
+v 0.14711763 -0.06862499 0.00059628
+v 0.15576471 -0.07726379 0.00160708
+v 0.12623152 -0.07930104 0.00876585
+v 0.14889714 0.00012758 0.00874481
+v 0.16006847 0.00012761 0.00059653
+v 0.16094505 -0.07930102 0.00237378
+v 0.16184138 -0.07119098 0.00189269
+v 0.15361612 -0.05088866 0.00059634
+v 0.16184138 -0.06511817 0.00159645
+v 0.12919077 -0.07930105 0.00958352
+v 0.14968802 0.00012758 0.00909795
+v 0.17400793 0.00012760 0.00162158
+v 0.17400793 -0.00439785 0.00162156
+v 0.16006188 -0.00439784 0.00059651
+v 0.16178207 -0.07685168 0.00230862
+v 0.16578925 -0.07119098 0.00246151
+v 0.16502472 -0.07455785 0.00262266
+v 0.16377248 -0.07860899 0.00317605
+v 0.16365384 -0.07930102 0.00341898
+v 0.16792466 -0.05904536 0.00196028
+v 0.16795761 -0.06467496 0.00230984
+v 0.16792466 -0.04689974 0.00158230
+v 0.16792466 -0.05297255 0.00172449
+v 0.16184138 -0.05904536 0.00143175
+v 0.15892827 -0.02578097 0.00059644
+v 0.16792466 -0.04082693 0.00148041
+v 0.13143821 -0.07930105 0.01000066
+v 0.15576471 0.00012757 0.01051881
+v 0.15421588 0.00012757 0.01016330
+v 0.17531290 0.00012760 0.00178393
+v 0.16003553 -0.00856561 0.00059650
+v 0.17912236 -0.00439785 0.00226385
+v 0.17400793 -0.01047066 0.00163102
+v 0.15985098 -0.02066457 0.00059645
+v 0.15992348 -0.01641905 0.00059647
+v 0.17104868 -0.06235003 0.00264166
+v 0.17000734 -0.06640116 0.00305878
+v 0.16417451 -0.07930102 0.00386811
+v 0.17189229 -0.07000131 0.00638278
+v 0.17145072 -0.05904536 0.00252080
+v 0.17328954 -0.04689974 0.00223407
+v 0.17228775 -0.05297255 0.00234900
+v 0.17400793 -0.02868909 0.00179448
+v 0.17400793 -0.03476190 0.00191534
+v 0.17454178 -0.04117684 0.00220565
+v 0.17400793 -0.02261628 0.00171512
+v 0.13548494 -0.07930105 0.01048771
+v 0.16792466 0.00012757 0.01170621
+v 0.14360475 -0.07930105 0.01133026
+v 0.17912236 0.00012760 0.00226387
+v 0.17989349 0.00012760 0.00244636
+v 0.18216070 -0.00439785 0.00298553
+v 0.17898395 -0.01047066 0.00226975
+v 0.17400793 -0.01654347 0.00166063
+v 0.17263046 -0.06467497 0.00489914
+v 0.17692764 -0.04343956 0.00270454
+v 0.17632788 -0.04689974 0.00293917
+v 0.17533268 -0.05297255 0.00363831
+v 0.17806784 -0.05297256 0.00613044
+v 0.17744831 -0.05725697 0.00695994
+v 0.16619129 -0.07930103 0.00570728
+v 0.17189229 -0.07000132 0.00892823
+v 0.17725717 -0.03940398 0.00259080
+v 0.17874668 -0.01654347 0.00228988
+v 0.17839738 -0.02261628 0.00233252
+v 0.17798216 -0.02868909 0.00239885
+v 0.17756695 -0.03476190 0.00249363
+v 0.17680901 -0.02994879 0.01268375
+v 0.17400793 0.00012757 0.01201076
+v 0.16480723 -0.07350040 0.01265870
+v 0.14765148 -0.07930105 0.01158030
+v 0.16480723 -0.07432462 0.01265870
+v 0.18216070 0.00012760 0.00298555
+v 0.18477724 -0.00439786 0.00547766
+v 0.18467178 -0.01047067 0.00555466
+v 0.18202889 -0.01047066 0.00306254
+v 0.17885874 -0.04689975 0.00543247
+v 0.18178503 -0.01654347 0.00322013
+v 0.18143572 -0.02261628 0.00352111
+v 0.18102709 -0.02868909 0.00404960
+v 0.18378861 -0.02868910 0.00654291
+v 0.18341294 -0.03319901 0.00713660
+v 0.17744831 -0.05725697 0.00836658
+v 0.16619129 -0.07930104 0.00682477
+v 0.16492586 -0.07432462 0.01265870
+v 0.16656697 -0.07671175 0.01035144
+v 0.16615175 -0.07930105 0.00959300
+v 0.17258433 -0.06451170 0.01041547
+v 0.17096959 -0.06208570 0.01264571
+v 0.17671674 -0.03476194 0.01270269
+v 0.17720445 -0.02994879 0.01268375
+v 0.18009121 0.00012757 0.01215178
+v 0.15594925 -0.07930105 0.01200336
+v 0.16018052 -0.07930105 0.01216453
+v 0.18282637 0.00012760 0.00362073
+v 0.18477724 -0.00439788 0.00988598
+v 0.18477065 0.00012759 0.00547886
+v 0.18467178 -0.01047069 0.00982315
+v 0.18448065 -0.01654348 0.00571344
+v 0.18419065 -0.02261629 0.00601442
+v 0.18378861 -0.02868911 0.00882647
+v 0.18341294 -0.03319901 0.00820669
+v 0.17806784 -0.05297257 0.00920323
+v 0.16217092 -0.07930105 0.01162652
+v 0.16485337 -0.07930105 0.01048296
+v 0.17106845 -0.05904540 0.01266824
+v 0.17724400 -0.03476194 0.01270269
+v 0.17885874 -0.04689977 0.00989057
+v 0.17715832 -0.03896859 0.01268254
+v 0.18009121 -0.00439788 0.01215769
+v 0.18477065 0.00012757 0.00987652
+v 0.18009121 -0.01047069 0.01212567
+v 0.18009121 -0.01654350 0.01202018
+v 0.18009121 -0.02261631 0.01180212
+v 0.18448065 -0.01654350 0.00965723
+v 0.18419065 -0.02261630 0.00935976
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 44
+f 1 44 67
+f 1 67 90
+f 1 90 93
+f 1 93 111
+f 1 111 110
+f 1 110 100
+f 1 100 99
+f 1 99 77
+f 1 77 55
+f 1 55 53
+f 1 53 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 20
+f 1 20 37
+f 1 37 41
+f 1 41 40
+f 1 40 31
+f 1 31 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 17
+f 4 17 35
+f 4 35 34
+f 4 34 54
+f 4 54 75
+f 4 75 98
+f 4 98 117
+f 4 117 103
+f 4 103 101
+f 4 101 79
+f 4 79 57
+f 4 57 56
+f 4 56 36
+f 4 36 18
+f 4 18 11
+f 4 11 5
+f 4 9 10
+f 6 8 13
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 15 13
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 20
+f 12 13 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 13 22 21
+f 13 15 26
+f 13 26 27
+f 13 27 22
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 31 32
+f 14 32 28
+f 15 30 29
+f 15 29 26
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 18 36 19
+f 19 37 20
+f 19 36 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 37
+f 22 27 42
+f 22 42 23
+f 23 42 43
+f 23 43 24
+f 24 44 25
+f 24 43 45
+f 24 45 44
+f 26 46 42
+f 26 42 27
+f 26 29 47
+f 26 47 48
+f 26 48 46
+f 28 32 49
+f 28 49 50
+f 28 50 29
+f 29 50 51
+f 29 51 47
+f 31 40 32
+f 32 40 52
+f 32 52 49
+f 33 53 34
+f 34 53 55
+f 34 55 54
+f 36 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 60 52
+f 42 61 43
+f 42 46 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 61
+f 43 61 45
+f 44 45 67
+f 45 61 66
+f 45 66 89
+f 45 89 68
+f 45 68 90
+f 45 90 67
+f 46 48 62
+f 47 62 48
+f 47 51 69
+f 47 69 62
+f 49 52 70
+f 49 70 71
+f 49 71 50
+f 50 71 72
+f 50 72 73
+f 50 73 51
+f 51 73 69
+f 52 60 70
+f 54 74 75
+f 54 55 76
+f 54 76 74
+f 55 77 78
+f 55 78 76
+f 57 79 58
+f 58 79 80
+f 58 80 81
+f 58 81 82
+f 58 82 70
+f 58 70 59
+f 59 70 60
+f 62 83 63
+f 62 69 84
+f 62 84 85
+f 62 85 86
+f 62 86 87
+f 62 87 83
+f 63 83 65
+f 63 65 64
+f 65 83 88
+f 65 88 66
+f 66 88 108
+f 66 108 89
+f 68 91 92
+f 68 92 93
+f 68 93 90
+f 68 89 94
+f 68 94 95
+f 68 95 91
+f 69 73 84
+f 70 82 71
+f 71 82 72
+f 72 82 73
+f 73 82 84
+f 74 96 113
+f 74 113 97
+f 74 97 98
+f 74 98 75
+f 74 76 96
+f 76 78 96
+f 77 99 78
+f 78 99 100
+f 78 100 91
+f 78 91 113
+f 78 113 96
+f 79 101 80
+f 80 102 104
+f 80 104 81
+f 80 101 103
+f 80 103 117
+f 80 117 102
+f 81 104 121
+f 81 121 105
+f 81 105 82
+f 82 105 84
+f 83 87 88
+f 84 105 106
+f 84 106 85
+f 85 106 87
+f 85 87 86
+f 87 106 122
+f 87 122 107
+f 87 107 108
+f 87 108 88
+f 89 108 109
+f 89 109 94
+f 91 100 110
+f 91 110 111
+f 91 111 93
+f 91 93 92
+f 91 95 112
+f 91 112 113
+f 94 109 95
+f 95 109 114
+f 95 114 115
+f 95 115 112
+f 97 113 98
+f 98 116 102
+f 98 102 117
+f 98 113 116
+f 102 116 118
+f 102 118 119
+f 102 119 104
+f 104 119 120
+f 104 120 121
+f 105 121 122
+f 105 122 106
+f 107 122 115
+f 107 115 114
+f 107 114 108
+f 108 114 109
+f 112 115 113
+f 113 115 118
+f 113 118 116
+f 115 122 121
+f 115 121 120
+f 115 120 119
+f 115 119 118
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_20.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.08820533 -0.10541742 -0.00078136
+v -0.09568171 -0.10541742 -0.00078136
+v -0.09132902 -0.10541742 0.00037345
+v -0.09568171 -0.11142319 0.00808648
+v -0.00849994 -0.13895338 -0.00077407
+v -0.00849994 -0.13902322 -0.00078148
+v -0.09568171 -0.12197589 -0.00078142
+v -0.09568171 -0.10541743 0.00156976
+v -0.09568171 -0.11388291 0.00895962
+v -0.00849994 -0.14960702 0.00883793
+v -0.00849994 -0.14942856 0.00875640
+v -0.01032636 -0.14701539 0.00774836
+v -0.00849994 -0.15625676 -0.00078154
+v -0.09568171 -0.14869139 0.00206622
+v -0.09475996 -0.12272856 -0.00078142
+v -0.09568171 -0.11978003 0.01017815
+v -0.02064479 -0.16228583 0.01436287
+v -0.02064479 -0.15780092 0.01335336
+v -0.01675298 -0.15847599 0.01302130
+v -0.00849994 -0.14973116 0.00887944
+v -0.00849994 -0.17442920 0.00171627
+v -0.01455103 -0.15600070 -0.00078154
+v -0.09568171 -0.15001048 0.00223225
+v -0.09362484 -0.12364416 -0.00078142
+v -0.08796635 -0.12785750 -0.00078144
+v -0.09401745 -0.15059243 0.00215813
+v -0.09568171 -0.12182851 0.01039457
+v -0.05516758 -0.17155827 0.01269363
+v -0.02064479 -0.16836142 0.01386624
+v -0.00849994 -0.18052033 0.01188568
+v -0.01592512 -0.16228583 0.01336817
+v -0.09568171 -0.12585562 0.01077703
+v -0.09568171 -0.13193120 0.01134626
+v -0.09094495 -0.15312203 0.01265664
+v -0.09094495 -0.15326946 0.01265664
+v -0.08465490 -0.15930624 0.01266403
+v -0.00849994 -0.15621024 0.01057383
+v -0.00849994 -0.17878997 0.00233146
+v -0.01455956 -0.17442920 0.00177854
+v -0.02064479 -0.17442920 0.00186600
+v -0.02672148 -0.17442920 0.00198459
+v -0.02064479 -0.15501526 -0.00078154
+v -0.09568171 -0.15309096 0.00269327
+v -0.09225077 -0.15402984 0.00248276
+v -0.08754816 -0.15014239 0.00166003
+v -0.07537770 -0.13571773 -0.00078147
+v -0.08146293 -0.15621021 0.00194316
+v -0.08708728 -0.15611710 0.00233748
+v -0.05679770 -0.17421973 0.01021798
+v -0.04497717 -0.17878223 0.00954642
+v -0.03118512 -0.17757178 0.01268175
+v -0.06321578 -0.17293167 0.00958943
+v -0.02672148 -0.17766490 0.01270696
+v -0.02064479 -0.17766490 0.01269510
+v -0.01638599 -0.17757954 0.01266693
+v -0.00849994 -0.18468710 0.00944559
+v -0.00849994 -0.17445251 0.01176711
+v -0.00849994 -0.16228582 0.01111785
+v -0.00849994 -0.15624129 0.01057679
+v -0.09568171 -0.14007853 0.01178948
+v -0.09568171 -0.15031313 0.01206813
+v -0.08870887 -0.15731983 0.01219559
+v -0.09210568 -0.16015200 0.00887050
+v -0.08702754 -0.16097450 0.01038109
+v -0.08019126 -0.16610343 0.00880674
+v -0.07537770 -0.16718975 0.00976290
+v -0.00849994 -0.18183163 0.00345958
+v -0.01455956 -0.17851062 0.00238038
+v -0.02064479 -0.17817697 0.00244710
+v -0.02672148 -0.17783555 0.00253753
+v -0.03294327 -0.17492580 0.00223364
+v -0.03889194 -0.17374637 0.00222771
+v -0.02672148 -0.15366514 -0.00078153
+v -0.08880275 -0.15808022 0.00314687
+v -0.09568171 -0.15398327 0.00329364
+v -0.08474878 -0.15934499 0.00263839
+v -0.06968507 -0.13883699 -0.00078148
+v -0.06321578 -0.14201057 -0.00078149
+v -0.05751461 -0.14453237 -0.00078150
+v -0.06989844 -0.16289102 0.00215511
+v -0.07537770 -0.16139347 0.00228706
+v -0.08146293 -0.15995023 0.00249460
+v -0.05105386 -0.17802957 0.00859916
+v -0.03889194 -0.17940298 0.00998225
+v -0.02457074 -0.18368614 0.00795725
+v -0.02064479 -0.18397324 0.00848647
+v -0.01455956 -0.18437671 0.00910019
+v -0.06759407 -0.17200830 0.00863179
+v -0.05437385 -0.17756400 0.00785202
+v -0.00849994 -0.18468709 0.00595745
+v -0.09568171 -0.15558174 0.01016171
+v -0.09568171 -0.15597745 0.00503104
+v -0.09210568 -0.16015199 0.00647046
+v -0.08019126 -0.16610342 0.00654308
+v -0.01455956 -0.18155229 0.00381239
+v -0.03505133 -0.17727688 0.00271987
+v -0.03099736 -0.17759502 0.00262054
+v -0.04497717 -0.17293940 0.00231962
+v -0.05105386 -0.16836138 0.00188677
+v -0.04438828 -0.14943628 -0.00078152
+v -0.08708728 -0.16099775 0.00495246
+v -0.07537770 -0.16442738 0.00308311
+v -0.07233082 -0.16531970 0.00267543
+v -0.05725004 -0.16874934 0.00223070
+v -0.06321578 -0.16228579 0.00173262
+v -0.06321578 -0.16704229 0.00233596
+v -0.02457074 -0.18368614 0.00738355
+v -0.02064479 -0.18397324 0.00688989
+v -0.01455956 -0.18437670 0.00630582
+v -0.06759407 -0.17200829 0.00672540
+v -0.05437385 -0.17756400 0.00747845
+v -0.03889194 -0.17940296 0.00538377
+v -0.03889194 -0.17678028 0.00289034
+v -0.05529560 -0.17165911 0.00257906
+v -0.05105386 -0.17216346 0.00245305
+v -0.06321578 -0.17008395 0.00328618
+v -0.06321578 -0.17293165 0.00577960
+v -0.05934957 -0.17103060 0.00276436
+v -0.05105386 -0.17802956 0.00675651
+v -0.04497717 -0.17878221 0.00582850
+v -0.04497717 -0.17598107 0.00333507
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 42
+f 1 42 73
+f 1 73 100
+f 1 100 79
+f 1 79 78
+f 1 78 77
+f 1 77 46
+f 1 46 25
+f 1 25 24
+f 1 24 15
+f 1 15 7
+f 1 7 2
+f 2 7 14
+f 2 14 23
+f 2 23 43
+f 2 43 75
+f 2 75 92
+f 2 92 91
+f 2 91 61
+f 2 61 60
+f 2 60 33
+f 2 33 32
+f 2 32 27
+f 2 27 16
+f 2 16 9
+f 2 9 4
+f 2 4 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 20
+f 5 20 37
+f 5 37 59
+f 5 59 58
+f 5 58 57
+f 5 57 30
+f 5 30 56
+f 5 56 90
+f 5 90 67
+f 5 67 38
+f 5 38 21
+f 5 21 13
+f 5 13 6
+f 7 15 14
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 13 21 22
+f 14 15 24
+f 14 24 25
+f 14 25 26
+f 14 26 23
+f 16 27 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 17 27 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 28
+f 19 31 37
+f 19 37 20
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 23 26 44
+f 23 44 43
+f 25 45 26
+f 25 46 45
+f 26 45 47
+f 26 47 48
+f 26 48 44
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 28 36 52
+f 28 52 49
+f 29 51 53
+f 29 53 54
+f 29 54 55
+f 29 55 30
+f 30 57 31
+f 30 55 54
+f 30 54 53
+f 30 53 51
+f 30 51 56
+f 31 57 58
+f 31 58 59
+f 31 59 37
+f 33 60 34
+f 34 60 61
+f 34 61 35
+f 35 61 62
+f 35 62 36
+f 36 62 63
+f 36 63 64
+f 36 64 65
+f 36 65 66
+f 36 66 52
+f 38 67 68
+f 38 68 40
+f 38 40 39
+f 40 69 41
+f 40 68 69
+f 41 69 70
+f 41 70 71
+f 41 71 72
+f 41 72 42
+f 42 72 73
+f 43 74 75
+f 43 44 76
+f 43 76 74
+f 44 48 76
+f 45 46 47
+f 46 77 47
+f 47 77 78
+f 47 78 79
+f 47 79 80
+f 47 80 81
+f 47 81 82
+f 47 82 76
+f 47 76 48
+f 49 83 50
+f 49 52 83
+f 50 84 51
+f 50 83 85
+f 50 85 86
+f 50 86 84
+f 51 84 87
+f 51 87 56
+f 52 66 65
+f 52 65 88
+f 52 88 89
+f 52 89 83
+f 56 87 109
+f 56 109 90
+f 61 91 62
+f 62 91 63
+f 63 65 64
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 65
+f 65 94 110
+f 65 110 88
+f 67 90 95
+f 67 95 96
+f 67 96 97
+f 67 97 70
+f 67 70 69
+f 67 69 68
+f 70 97 71
+f 71 97 72
+f 72 97 96
+f 72 96 98
+f 72 98 99
+f 72 99 73
+f 73 99 100
+f 74 101 93
+f 74 93 75
+f 74 76 102
+f 74 102 101
+f 75 93 92
+f 76 82 103
+f 76 103 102
+f 79 104 105
+f 79 105 80
+f 79 100 99
+f 79 99 104
+f 80 105 104
+f 80 104 106
+f 80 106 81
+f 81 103 82
+f 81 106 103
+f 83 89 85
+f 84 86 87
+f 85 107 108
+f 85 108 86
+f 85 89 111
+f 85 111 107
+f 86 108 109
+f 86 109 87
+f 88 110 111
+f 88 111 89
+f 90 109 95
+f 93 101 94
+f 94 102 110
+f 94 101 102
+f 95 109 96
+f 96 112 113
+f 96 113 114
+f 96 114 115
+f 96 115 98
+f 96 109 112
+f 98 115 99
+f 99 115 104
+f 102 103 116
+f 102 116 117
+f 102 117 110
+f 103 106 114
+f 103 114 118
+f 103 118 116
+f 104 115 114
+f 104 114 106
+f 107 111 119
+f 107 119 120
+f 107 120 108
+f 108 120 112
+f 108 112 109
+f 110 117 111
+f 111 117 119
+f 112 120 113
+f 113 120 121
+f 113 121 118
+f 113 118 114
+f 116 118 117
+f 117 118 119
+f 118 121 119
+f 119 121 120
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_21.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03887387 0.00013537 0.00205453
+v 0.02725568 0.00013537 0.00205453
+v -0.03887387 0.00013535 0.00910553
+v -0.03887387 0.03962360 0.00205468
+v 0.02725568 0.00013534 0.01054453
+v 0.02725568 0.06412354 0.00205477
+v -0.03434915 0.00013534 0.00969016
+v -0.03887387 0.00014260 0.00914315
+v -0.03218712 0.06185610 0.00205476
+v -0.03887387 0.03583485 0.00791814
+v 0.02725568 0.00168561 0.01054347
+v 0.00235352 0.00013533 0.01303243
+v 0.00309793 0.07393221 0.00205480
+v 0.00095533 0.07172995 0.00778930
+v 0.02725568 0.06165325 0.00582798
+v -0.02671732 0.00013534 0.01065953
+v -0.02671732 0.00168561 0.01065631
+v -0.03887387 0.01990482 0.00907229
+v -0.02998626 0.05976250 0.00780324
+v -0.02422517 0.06583316 0.00787633
+v -0.02623184 0.06794124 0.00205478
+v -0.03887387 0.03204613 0.00852532
+v 0.02725568 0.00775626 0.01044892
+v -0.00110313 0.00013533 0.01303350
+v 0.02194123 0.01383416 0.01070686
+v 0.02725568 0.04949020 0.00867799
+v 0.02725568 0.05545944 0.00827500
+v 0.00369346 0.06240664 0.00867052
+v -0.00239128 0.06240664 0.00876724
+v -0.00266316 0.07414229 0.00205480
+v -0.00007390 0.07172995 0.00778930
+v -0.00221651 0.06857872 0.00814824
+v 0.00326624 0.06812957 0.00807731
+v 0.02725568 0.06016093 0.00786234
+v -0.03887387 0.02597547 0.00897882
+v -0.02643898 0.06203719 0.00811275
+v -0.02063258 0.06618812 0.00802142
+v -0.02063258 0.06240664 0.00862215
+v 0.02725568 0.01383416 0.01020498
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 35
+f 1 35 22
+f 1 22 10
+f 1 10 4
+f 1 4 9
+f 1 9 21
+f 1 21 30
+f 1 30 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 34
+f 2 34 27
+f 2 27 26
+f 2 26 39
+f 2 39 23
+f 2 23 11
+f 2 11 5
+f 3 7 8
+f 4 10 9
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 9 19 20
+f 9 20 21
+f 9 10 19
+f 10 22 19
+f 11 23 12
+f 12 23 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 24
+f 13 30 14
+f 14 30 31
+f 14 31 32
+f 14 32 29
+f 14 29 28
+f 14 28 33
+f 14 33 34
+f 14 34 15
+f 16 24 17
+f 17 24 35
+f 17 35 18
+f 19 36 20
+f 19 22 35
+f 19 35 36
+f 20 37 31
+f 20 31 30
+f 20 30 21
+f 20 36 38
+f 20 38 37
+f 23 39 25
+f 24 29 38
+f 24 38 35
+f 25 39 26
+f 27 34 28
+f 28 34 33
+f 29 32 38
+f 31 37 38
+f 31 38 32
+f 35 38 36
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_22.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02725568 0.03841936 0.00148181
+v 0.04240738 0.03841936 0.00148181
+v 0.02725568 0.03841934 0.00894773
+v 0.02725568 0.06640254 0.00148191
+v 0.03856246 0.03841935 0.00543367
+v 0.04606670 0.05043403 0.00148186
+v 0.04377105 0.05262378 0.00792747
+v 0.02725568 0.04342673 0.00892290
+v 0.02802627 0.03841934 0.00893531
+v 0.03410834 0.05633568 0.00878043
+v 0.02725568 0.06016396 0.00786246
+v 0.02872425 0.06778378 0.00148192
+v 0.03448153 0.03841934 0.00826436
+v 0.04785602 0.05633570 0.00148188
+v 0.04786409 0.05716261 0.00148188
+v 0.04368229 0.05633568 0.00788437
+v 0.04019040 0.05633568 0.00846542
+v 0.02725568 0.04949991 0.00867808
+v 0.03410834 0.05026556 0.00873435
+v 0.02834298 0.03841934 0.00890388
+v 0.02802627 0.05633568 0.00830828
+v 0.03741262 0.06564912 0.00779377
+v 0.03421323 0.06258037 0.00815336
+v 0.02802627 0.06040285 0.00792166
+v 0.03631119 0.06564912 0.00779377
+v 0.02725568 0.05546283 0.00827538
+v 0.03410834 0.06970099 0.00148193
+v 0.04329296 0.05943812 0.00769143
+v 0.04591944 0.06206587 0.00148190
+v 0.03973853 0.06184228 0.00797721
+v 0.04346241 0.06559708 0.00148191
+v 0.03992614 0.06821256 0.00148192
+v 0.03491323 0.06970711 0.00148193
+f 1 2 5
+f 1 5 13
+f 1 13 20
+f 1 20 9
+f 1 9 3
+f 1 3 8
+f 1 8 18
+f 1 18 26
+f 1 26 11
+f 1 11 4
+f 1 4 12
+f 1 12 27
+f 1 27 33
+f 1 33 32
+f 1 32 31
+f 1 31 29
+f 1 29 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 9 10
+f 3 10 8
+f 4 11 12
+f 5 7 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 8 10 18
+f 9 19 10
+f 9 20 17
+f 9 17 19
+f 10 21 18
+f 10 19 17
+f 10 17 22
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 11 24 25
+f 11 25 12
+f 11 26 21
+f 11 21 24
+f 12 25 27
+f 13 17 20
+f 15 28 16
+f 15 29 28
+f 16 28 17
+f 17 28 30
+f 17 30 22
+f 18 21 26
+f 22 31 32
+f 22 32 33
+f 22 33 25
+f 22 25 23
+f 22 30 28
+f 22 28 31
+f 23 25 24
+f 25 33 27
+f 28 29 31
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_23.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 -0.11338687 -0.00078139
+v 0.07925769 -0.12388065 0.00770502
+v 0.07925769 -0.13426245 -0.00078146
+v -0.00846564 -0.13894267 -0.00078148
+v -0.00849141 -0.13894966 -0.00077424
+v -0.00625817 -0.14721878 0.00753127
+v 0.07925769 -0.12628022 0.00893225
+v -0.00849141 -0.14942946 0.00875705
+v 0.07925769 -0.15621540 0.00182055
+v 0.07837299 -0.13494804 -0.00078147
+v -0.00849141 -0.13902661 -0.00078148
+v 0.07925769 -0.12892467 0.00958928
+v -0.00849141 -0.14961135 0.00883809
+v -0.00849141 -0.14973027 0.00888006
+v -0.00849141 -0.15621543 0.01057328
+v 0.07925769 -0.16060178 0.00239941
+v 0.07668087 -0.16119643 0.00230100
+v 0.07105483 -0.16281248 0.00216061
+v 0.06638221 -0.14126529 -0.00078149
+v 0.07158738 -0.13856489 -0.00078148
+v -0.00849141 -0.15625736 -0.00078154
+v 0.07925769 -0.13192588 0.01006684
+v 0.02803063 -0.15771954 0.01327521
+v 0.02803063 -0.16228782 0.01400314
+v -0.00849141 -0.15624341 0.01057617
+v 0.07925769 -0.16379889 0.00396818
+v 0.07668087 -0.16423262 0.00321418
+v 0.07338255 -0.16518406 0.00271488
+v 0.06932837 -0.16589064 0.00251661
+v 0.06451832 -0.16690504 0.00234584
+v 0.05842845 -0.16868198 0.00224163
+v 0.06451832 -0.16228778 0.00174092
+v 0.06309248 -0.14275540 -0.00078149
+v -0.00238436 -0.17443256 0.00168444
+v -0.00849141 -0.17443256 0.00171628
+v -0.00238436 -0.15639729 -0.00078154
+v 0.07925769 -0.15882489 0.01254148
+v 0.03411191 -0.16228782 0.01387144
+v -0.00849141 -0.16228781 0.01111885
+v -0.00849141 -0.17445358 0.01176716
+v -0.00846564 -0.18050498 0.01189449
+v 0.01800683 -0.17752476 0.01265574
+v 0.02194935 -0.17762271 0.01268757
+v 0.02803063 -0.17764369 0.01270205
+v 0.03211918 -0.17754575 0.01267600
+v 0.05604060 -0.17151534 0.01268325
+v 0.07925769 -0.16523305 0.00519540
+v 0.06451832 -0.17276057 0.00590886
+v 0.06451832 -0.16994123 0.00341532
+v 0.06045554 -0.17092065 0.00280459
+v 0.05639276 -0.17162023 0.00258895
+v 0.05923585 -0.14436444 -0.00078150
+v 0.05235576 -0.16836017 0.00190299
+v -0.00238436 -0.17898685 0.00231106
+v 0.00369692 -0.17443256 0.00168444
+v -0.00849141 -0.17879096 0.00233132
+v 0.00369692 -0.15639729 -0.00078154
+v 0.07925769 -0.15960842 0.01256317
+v 0.06848661 -0.16546394 0.01267314
+v 0.07925769 -0.15969936 0.01256317
+v -0.00849141 -0.18051896 0.01188436
+v -0.00846564 -0.18468147 0.00945592
+v -0.00238436 -0.18484240 0.00960933
+v -0.00238436 -0.18050498 0.01200593
+v 0.00369692 -0.18050498 0.01198711
+v 0.00977820 -0.18050498 0.01184384
+v 0.00369692 -0.18482841 0.00959630
+v 0.00977820 -0.18465350 0.00940961
+v 0.01586807 -0.18433169 0.00901597
+v 0.04018460 -0.17928770 0.00992773
+v 0.04626588 -0.17863008 0.00940674
+v 0.05821371 -0.17346017 0.01057610
+v 0.06451832 -0.17276058 0.00943716
+v 0.07668087 -0.16694004 0.00962821
+v 0.07925769 -0.16508615 0.01003053
+v 0.07925769 -0.16638736 0.00626200
+v 0.06864980 -0.17189309 0.00685533
+v 0.05123914 -0.17800044 0.00678295
+v 0.04626588 -0.17863007 0.00597829
+v 0.04626588 -0.17583873 0.00348476
+v 0.04018460 -0.17669921 0.00293771
+v 0.05235576 -0.17206097 0.00246884
+v 0.03626785 -0.17725188 0.00272931
+v 0.04962433 -0.14804424 -0.00078151
+v 0.04626588 -0.17280253 0.00233280
+v 0.04018460 -0.17366301 0.00223148
+v 0.02498999 -0.15445944 -0.00078154
+v 0.04585359 -0.14941543 -0.00078152
+v 0.00369692 -0.17897985 0.00231251
+v -0.00238436 -0.18203004 0.00329950
+v -0.00846564 -0.17880495 0.00233422
+v 0.00928860 -0.15626436 -0.00078154
+v 0.00977820 -0.17443256 0.00171628
+v -0.00849141 -0.18183416 0.00345869
+v 0.07925769 -0.16053187 0.01236057
+v -0.00849141 -0.18468147 0.00944579
+v -0.00238436 -0.18484238 0.00579303
+v 0.00369692 -0.18482839 0.00580171
+v 0.00977820 -0.18465349 0.00598696
+v 0.01586807 -0.18433168 0.00637047
+v 0.02194935 -0.18390494 0.00834591
+v 0.05123914 -0.17800045 0.00858618
+v 0.02551394 -0.18362511 0.00784084
+v 0.06864980 -0.17189309 0.00849213
+v 0.07925769 -0.16638737 0.00908551
+v 0.02551394 -0.18362511 0.00749062
+v 0.02194935 -0.18390494 0.00701158
+v 0.04018460 -0.17928768 0.00542980
+v 0.01586807 -0.18151235 0.00387838
+v 0.00977820 -0.18182016 0.00349342
+v 0.03222225 -0.17759467 0.00262077
+v 0.03419781 -0.17490827 0.00223148
+v 0.02803063 -0.17443256 0.00198256
+v 0.02069530 -0.15526395 -0.00078154
+v 0.00977820 -0.17878397 0.00233711
+v 0.00369692 -0.18201604 0.00330818
+v -0.00846564 -0.18468146 0.00595512
+v -0.00846564 -0.18184115 0.00346303
+v 0.01606563 -0.15596354 -0.00078154
+v 0.01586807 -0.17443256 0.00178140
+v -0.00849141 -0.18468146 0.00595657
+v 0.02803063 -0.17781154 0.00254118
+v 0.02194935 -0.17814036 0.00245145
+v 0.01586807 -0.17847615 0.00238342
+v 0.02194935 -0.17443256 0.00186679
+f 1 2 7
+f 1 7 12
+f 1 12 22
+f 1 22 37
+f 1 37 58
+f 1 58 60
+f 1 60 95
+f 1 95 75
+f 1 75 105
+f 1 105 76
+f 1 76 47
+f 1 47 26
+f 1 26 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 33
+f 1 33 52
+f 1 52 84
+f 1 84 88
+f 1 88 87
+f 1 87 114
+f 1 114 119
+f 1 119 92
+f 1 92 57
+f 1 57 36
+f 1 36 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 5
+f 5 11 21
+f 5 21 35
+f 5 35 56
+f 5 56 94
+f 5 94 121
+f 5 121 96
+f 5 96 61
+f 5 61 40
+f 5 40 39
+f 5 39 25
+f 5 25 15
+f 5 15 14
+f 5 14 13
+f 5 13 8
+f 5 8 6
+f 7 8 13
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 12 15 23
+f 12 23 24
+f 12 24 22
+f 15 25 24
+f 15 24 23
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 35
+f 21 36 34
+f 22 24 38
+f 22 38 37
+f 24 25 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 38
+f 26 47 27
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 30
+f 30 51 31
+f 31 52 32
+f 31 51 53
+f 31 53 52
+f 32 52 33
+f 34 54 35
+f 34 36 57
+f 34 57 55
+f 34 55 54
+f 35 54 56
+f 37 38 58
+f 38 46 59
+f 38 59 60
+f 38 60 58
+f 40 61 41
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 41 61 62
+f 42 64 43
+f 43 64 44
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 59
+f 47 76 77
+f 47 77 48
+f 48 78 50
+f 48 50 49
+f 48 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 51
+f 51 82 53
+f 51 81 83
+f 51 83 82
+f 52 53 84
+f 53 82 85
+f 53 85 86
+f 53 86 87
+f 53 87 88
+f 53 88 84
+f 54 55 89
+f 54 89 90
+f 54 90 91
+f 54 91 56
+f 55 57 92
+f 55 92 93
+f 55 93 89
+f 56 91 94
+f 59 75 95
+f 59 95 60
+f 61 96 62
+f 62 96 63
+f 63 97 98
+f 63 98 67
+f 63 67 65
+f 63 65 64
+f 63 96 121
+f 63 121 97
+f 65 67 66
+f 67 98 99
+f 67 99 68
+f 68 99 100
+f 68 100 69
+f 69 100 107
+f 69 107 101
+f 69 101 70
+f 70 101 71
+f 71 102 72
+f 71 101 103
+f 71 103 102
+f 72 102 73
+f 73 102 104
+f 73 104 105
+f 73 105 74
+f 74 105 75
+f 76 105 104
+f 76 104 77
+f 77 104 102
+f 77 102 78
+f 78 102 103
+f 78 103 106
+f 78 106 79
+f 79 106 107
+f 79 107 108
+f 79 108 81
+f 79 81 80
+f 81 108 83
+f 82 83 85
+f 83 108 100
+f 83 100 109
+f 83 109 110
+f 83 110 111
+f 83 111 86
+f 83 86 85
+f 86 111 112
+f 86 112 113
+f 86 113 87
+f 87 113 114
+f 89 93 115
+f 89 115 116
+f 89 116 90
+f 90 116 98
+f 90 98 97
+f 90 97 117
+f 90 117 118
+f 90 118 94
+f 90 94 91
+f 92 119 93
+f 93 119 120
+f 93 120 115
+f 94 118 121
+f 97 121 117
+f 98 116 99
+f 99 116 110
+f 99 110 109
+f 99 109 100
+f 100 108 107
+f 101 107 106
+f 101 106 103
+f 110 116 111
+f 111 122 113
+f 111 113 112
+f 111 116 122
+f 113 122 123
+f 113 123 124
+f 113 124 125
+f 113 125 119
+f 113 119 114
+f 115 120 125
+f 115 125 124
+f 115 124 116
+f 116 124 123
+f 116 123 122
+f 117 121 118
+f 119 125 120
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_24.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.00368889 0.18210720 0.00961178
+v 0.00368889 0.17779504 0.01204336
+v 0.00977154 0.17779504 0.01189551
+v 0.00977154 0.18194154 0.00943621
+v 0.00368889 0.18210722 0.00580201
+v -0.00238819 0.18210232 0.00959198
+v -0.00238819 0.17779504 0.01202092
+v 0.02193684 0.17496898 0.01269811
+v 0.02725568 0.17492026 0.01269679
+v -0.02063614 0.17500797 0.01271131
+v 0.01585419 0.18162484 0.00904414
+v 0.00977154 0.18194155 0.00597626
+v 0.00368889 0.17926657 0.00330967
+v -0.00238819 0.18210234 0.00581521
+v -0.00847084 0.18191717 0.00939924
+v -0.02970157 0.17486179 0.01268359
+v -0.00847084 0.17779504 0.01185723
+v -0.02671879 0.17493975 0.01270603
+v 0.02725568 0.17424299 0.01269679
+v 0.02725568 0.17835050 0.00987447
+v -0.02063614 0.17412117 0.01271131
+v 0.01585419 0.18162485 0.00635776
+v 0.02193684 0.18120580 0.00837882
+v 0.00977154 0.17907166 0.00348524
+v 0.01585419 0.17876958 0.00386675
+v 0.02725568 0.17513956 0.00253608
+v 0.02193684 0.17541730 0.00246348
+v 0.01585419 0.17573400 0.00240540
+v 0.00977154 0.17603610 0.00236316
+v 0.00368889 0.17622613 0.00233808
+v -0.00238819 0.17621638 0.00233808
+v -0.00238819 0.17925195 0.00332155
+v -0.00847084 0.18191718 0.00600002
+v -0.01455349 0.18160047 0.00900586
+v -0.02970157 0.17577296 0.01190607
+v -0.02970157 0.17440865 0.01268359
+v -0.02671879 0.17419425 0.01270603
+v 0.02193684 0.17420400 0.01269811
+v -0.02970157 0.15957679 0.01183737
+v 0.02725568 0.15957679 0.01176872
+v 0.02725568 0.17897419 0.00933059
+v 0.02193684 0.18120580 0.00698481
+v 0.02193684 0.17845285 0.00449379
+v 0.02556636 0.18092806 0.00786529
+v 0.02725568 0.17552449 0.00279350
+v 0.02725568 0.17219170 0.00207932
+v 0.02193684 0.17172394 0.00191563
+v 0.01026217 0.15346673 -0.00077478
+v 0.00981614 0.15347160 -0.00077478
+v 0.00368889 0.15350083 -0.00077478
+v -0.00238819 0.15351058 -0.00077478
+v -0.00793003 0.15336927 -0.00077478
+v -0.01407959 0.15301845 -0.00077478
+v -0.00847084 0.17601661 0.00236316
+v -0.01455349 0.17571939 0.00240804
+v -0.02063614 0.17538319 0.00247404
+v -0.02671879 0.17505672 0.00256248
+v -0.02970157 0.17491056 0.00261397
+v -0.00847084 0.17905705 0.00350901
+v -0.01455349 0.17875495 0.00389051
+v -0.01455349 0.18160048 0.00638153
+v -0.02063614 0.18118143 0.00833789
+v -0.02970157 0.17754654 0.01020448
+v -0.02970157 0.15660457 0.01151129
+v 0.02725568 0.15880694 0.01167103
+v 0.02725568 0.17909114 0.00599737
+v 0.02556636 0.18092806 0.00746663
+v 0.02725568 0.17876957 0.00567791
+v 0.02725568 0.17852593 0.00545745
+v 0.02725568 0.17172394 0.00201068
+v 0.01585419 0.15284305 -0.00077478
+v -0.01881302 0.15232169 -0.00077478
+v -0.02671879 0.17172394 0.00204632
+v -0.02063614 0.17172394 0.00193015
+v -0.01455349 0.17172394 0.00183906
+v -0.02970157 0.17194808 0.00215457
+v -0.02970157 0.17759528 0.00512478
+v -0.02063614 0.18118143 0.00702177
+v -0.02418203 0.18091344 0.00783757
+v -0.02970157 0.17759041 0.00814910
+v -0.02970157 0.15053344 0.01072053
+v 0.02725568 0.15351054 0.01094496
+v 0.00368889 0.15351054 0.01103208
+v 0.01585419 0.15351054 0.01099380
+v 0.02725568 0.15071863 -0.00077479
+v 0.02193684 0.15190266 -0.00077478
+v -0.02332901 0.15145926 -0.00077478
+v -0.02820182 0.15030448 -0.00077479
+v -0.02970157 0.14990006 -0.00077479
+v -0.02418203 0.18091344 0.00749831
+v -0.02970157 0.14743454 0.01022021
+v 0.02725568 0.14743454 0.00997335
+v 0.02725568 0.13250526 -0.00077485
+v -0.02970157 0.13233959 -0.00077485
+v -0.02970157 0.14502266 0.00948095
+v 0.02725568 0.14318087 0.00863609
+v -0.02970157 0.14283004 0.00880374
+v 0.02518166 0.13245166 -0.00077485
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 4
+f 4 11 22
+f 4 22 12
+f 4 9 11
+f 5 12 13
+f 5 13 14
+f 6 14 33
+f 6 33 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 10
+f 8 10 9
+f 9 10 21
+f 9 21 19
+f 9 19 40
+f 9 40 65
+f 9 65 82
+f 9 82 92
+f 9 92 96
+f 9 96 93
+f 9 93 85
+f 9 85 70
+f 9 70 46
+f 9 46 26
+f 9 26 45
+f 9 45 69
+f 9 69 68
+f 9 68 66
+f 9 66 41
+f 9 41 20
+f 9 20 11
+f 10 18 37
+f 10 37 21
+f 11 20 23
+f 11 23 42
+f 11 42 22
+f 12 24 13
+f 12 22 25
+f 12 25 24
+f 13 24 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 14
+f 14 32 33
+f 15 33 61
+f 15 61 34
+f 15 34 16
+f 16 35 63
+f 16 63 80
+f 16 80 77
+f 16 77 58
+f 16 58 76
+f 16 76 89
+f 16 89 94
+f 16 94 97
+f 16 97 95
+f 16 95 91
+f 16 91 81
+f 16 81 64
+f 16 64 39
+f 16 39 36
+f 16 36 37
+f 16 37 18
+f 16 34 35
+f 19 21 38
+f 19 38 39
+f 19 39 40
+f 20 41 23
+f 21 37 39
+f 21 39 38
+f 22 42 43
+f 22 43 25
+f 23 41 44
+f 23 44 67
+f 23 67 42
+f 24 25 26
+f 25 43 45
+f 25 45 26
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 48 30
+f 29 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 53
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 58
+f 32 58 59
+f 32 59 33
+f 33 59 60
+f 33 60 61
+f 34 61 78
+f 34 78 62
+f 34 62 35
+f 35 62 63
+f 36 39 37
+f 39 64 40
+f 40 64 65
+f 41 66 44
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 45
+f 44 66 67
+f 46 70 47
+f 47 70 71
+f 47 71 48
+f 48 71 86
+f 48 86 85
+f 48 85 93
+f 48 93 98
+f 48 98 94
+f 48 94 89
+f 48 89 88
+f 48 88 87
+f 48 87 72
+f 48 72 53
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 75 55
+f 55 75 74
+f 55 74 56
+f 56 74 73
+f 56 73 57
+f 57 73 76
+f 57 76 58
+f 58 77 61
+f 58 61 60
+f 58 60 59
+f 61 77 78
+f 62 78 90
+f 62 90 79
+f 62 79 63
+f 63 79 80
+f 64 81 65
+f 65 81 83
+f 65 83 84
+f 65 84 82
+f 66 68 67
+f 70 85 86
+f 70 86 71
+f 72 87 73
+f 73 87 76
+f 76 87 88
+f 76 88 89
+f 77 80 79
+f 77 79 90
+f 77 90 78
+f 81 91 92
+f 81 92 82
+f 81 82 84
+f 81 84 83
+f 91 95 92
+f 92 95 97
+f 92 97 96
+f 93 96 98
+f 94 98 97
+f 96 97 98
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_25.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04241214 0.03841936 0.00148197
+v 0.02726067 0.03841936 0.00148197
+v 0.03856311 0.03841935 0.00543447
+v 0.07029883 0.02565553 0.00148192
+v 0.02726067 0.00013912 0.00148183
+v 0.02726067 0.03841934 0.00894730
+v 0.03448445 0.03841934 0.00826357
+v 0.06780271 0.02315221 0.00777720
+v 0.07379839 0.02309602 0.00148191
+v 0.02726067 0.00013909 0.01054520
+v 0.06511687 0.00013912 0.00148183
+v 0.02802947 0.03841934 0.00893563
+v 0.02726067 0.01382854 0.01020518
+v 0.02834398 0.03841934 0.00890333
+v 0.03446947 0.03839311 0.00827075
+v 0.06451780 0.01989942 0.00842681
+v 0.07013908 0.01945722 0.00803649
+v 0.07389324 0.01714130 0.00779601
+v 0.07638937 0.01960714 0.00148190
+v 0.02726067 0.00168304 0.01054431
+v 0.02802947 0.00013909 0.01064659
+v 0.07053846 0.00165684 0.00148184
+v 0.05789808 0.00013911 0.00622393
+v 0.06451780 0.01382855 0.00882607
+v 0.02726067 0.00775766 0.01044922
+v 0.02802947 0.00775766 0.01046448
+v 0.07098776 0.01367490 0.00817824
+v 0.07389324 0.01559734 0.00779601
+v 0.07825647 0.01382857 0.00148188
+v 0.07825147 0.01466425 0.00148188
+v 0.02802947 0.00168304 0.01064301
+v 0.04627613 0.00013910 0.00889960
+v 0.06824701 0.00433625 0.00789557
+v 0.06931535 0.00775767 0.00810106
+v 0.07075313 0.00183672 0.00148184
+v 0.05578137 0.00013910 0.00756176
+v 0.07327421 0.01155009 0.00727647
+v 0.07662900 0.00794132 0.00148186
+v 0.05149303 0.00013910 0.00839174
+v 0.05265623 0.00013910 0.00825626
+v 0.07641933 0.00769773 0.00148186
+v 0.07653914 0.00783264 0.00148186
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 30
+f 1 30 29
+f 1 29 38
+f 1 38 42
+f 1 42 41
+f 1 41 35
+f 1 35 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 25
+f 2 25 13
+f 2 13 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 11 23
+f 5 23 36
+f 5 36 40
+f 5 40 39
+f 5 39 32
+f 5 32 21
+f 5 21 10
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 14
+f 8 14 12
+f 8 12 16
+f 9 18 19
+f 10 21 20
+f 11 22 23
+f 12 13 24
+f 12 24 16
+f 13 25 26
+f 13 26 24
+f 16 24 17
+f 17 24 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 24 27
+f 20 21 31
+f 20 31 25
+f 21 32 33
+f 21 33 34
+f 21 34 24
+f 21 24 31
+f 22 35 33
+f 22 33 36
+f 22 36 23
+f 24 34 27
+f 24 26 31
+f 25 31 26
+f 27 34 28
+f 28 34 33
+f 28 33 37
+f 28 37 29
+f 29 37 38
+f 32 39 33
+f 33 39 40
+f 33 40 36
+f 33 35 41
+f 33 41 42
+f 33 42 38
+f 33 38 37
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_26.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.07016281 0.11641992 -0.00077491
+v -0.02970158 0.13233666 -0.00077485
+v -0.02970158 0.14283402 0.00880343
+v -0.07016281 0.12588131 0.00779846
+v -0.07016281 0.13572002 -0.00077484
+v -0.02970158 0.14989418 -0.00077479
+v -0.02970158 0.14501972 0.00948129
+v -0.07016281 0.12825265 0.00898801
+v -0.07016281 0.12735442 0.00861084
+v -0.07014697 0.13584577 -0.00077484
+v -0.07016281 0.15999034 0.00217535
+v -0.04444032 0.14663059 -0.00077480
+v -0.03888705 0.17092486 0.00226111
+v -0.02970158 0.17194885 0.00215560
+v -0.02970158 0.14743297 0.01021981
+v -0.07016281 0.12898920 0.00921220
+v -0.06504525 0.13849856 -0.00077483
+v -0.07016281 0.16051132 0.00225843
+v -0.06804766 0.16318207 0.00251296
+v -0.06976276 0.16010411 0.00216612
+v -0.05781253 0.14155855 -0.00077482
+v -0.05705994 0.16594265 0.00226109
+v -0.05105117 0.16564923 0.00193799
+v -0.04497109 0.17008651 0.00234814
+v -0.03078688 0.17485914 0.00263301
+v -0.03281093 0.17218239 0.00226902
+v -0.02970158 0.17491303 0.00261323
+v -0.03280697 0.14743297 0.01044928
+v -0.07016281 0.13442652 0.01060484
+v -0.02970158 0.15052889 0.01071963
+v -0.06171804 0.14000161 -0.00077483
+v -0.07016281 0.16511027 0.00439750
+v -0.06321528 0.16720617 0.00343348
+v -0.05904043 0.16816428 0.00281498
+v -0.05498440 0.16888887 0.00260002
+v -0.06321528 0.16417013 0.00234943
+v -0.06321528 0.15957715 0.00175466
+v -0.05105117 0.16933798 0.00248001
+v -0.03484291 0.17451780 0.00273324
+v -0.02970158 0.17759575 0.00512550
+v -0.03888705 0.14743297 0.01077633
+v -0.07016281 0.13528882 0.01072750
+v -0.02970158 0.15660097 0.01151093
+v -0.07016281 0.16560730 0.00485775
+v -0.06733468 0.16917627 0.00686889
+v -0.06321528 0.17005656 0.00592728
+v -0.05105117 0.17519446 0.00695463
+v -0.04497109 0.17595497 0.00594182
+v -0.04497109 0.17312255 0.00344933
+v -0.03888705 0.17396090 0.00293237
+v -0.03888705 0.17659572 0.00542486
+v -0.04497109 0.17595496 0.00944184
+v -0.02970158 0.17758976 0.00814813
+v -0.07016281 0.14049860 0.01133943
+v -0.02970158 0.15957712 0.01183799
+v -0.07016281 0.14136090 0.01143570
+v -0.07016281 0.16560730 0.00517162
+v -0.06733468 0.16917627 0.00848570
+v -0.05412883 0.17476930 0.00763512
+v -0.05105117 0.17519446 0.00840660
+v -0.03088194 0.17482916 0.01267415
+v -0.03888705 0.17659570 0.00993638
+v -0.05651729 0.17145180 0.01010780
+v -0.05484973 0.16882894 0.01269259
+v -0.02970158 0.17754783 0.01020541
+v -0.02970158 0.17440399 0.01268338
+v -0.07016281 0.14657066 0.01188278
+v -0.07016281 0.16536775 0.01043484
+v -0.06321528 0.17005655 0.00943786
+v -0.05412883 0.17476930 0.00768655
+v -0.02970158 0.17486508 0.01268338
+v -0.02970158 0.17577530 0.01190531
+v -0.03286639 0.17672145 0.01063270
+v -0.05105117 0.16888883 0.01269786
+v -0.06742975 0.16279879 0.01268334
+v -0.05105117 0.16823012 0.01269786
+v -0.06575822 0.16225984 0.01268334
+v -0.07016281 0.14743297 0.01192234
+v -0.06742975 0.16225984 0.01268334
+v -0.07016281 0.16476892 0.01073024
+v -0.07016281 0.15985856 0.01235363
+v -0.07016281 0.15926573 0.01237342
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 16
+f 1 16 29
+f 1 29 42
+f 1 42 54
+f 1 54 56
+f 1 56 67
+f 1 67 78
+f 1 78 82
+f 1 82 81
+f 1 81 80
+f 1 80 68
+f 1 68 57
+f 1 57 44
+f 1 44 32
+f 1 32 18
+f 1 18 11
+f 1 11 5
+f 1 5 10
+f 1 10 17
+f 1 17 31
+f 1 31 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 27
+f 2 27 40
+f 2 40 53
+f 2 53 65
+f 2 65 72
+f 2 72 71
+f 2 71 66
+f 2 66 55
+f 2 55 43
+f 2 43 30
+f 2 30 15
+f 2 15 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 11 10
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 10 11 17
+f 11 18 19
+f 11 19 20
+f 11 20 17
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 15 28 29
+f 15 29 16
+f 15 30 28
+f 17 20 31
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 31
+f 21 31 37
+f 21 37 22
+f 22 35 38
+f 22 38 23
+f 22 37 36
+f 22 36 35
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 40 27
+f 25 27 26
+f 25 39 40
+f 28 41 29
+f 28 30 41
+f 29 41 42
+f 30 43 41
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 39
+f 35 39 38
+f 39 50 51
+f 39 51 40
+f 40 51 48
+f 40 48 52
+f 40 52 53
+f 41 43 42
+f 42 43 54
+f 43 55 56
+f 43 56 54
+f 44 57 58
+f 44 58 45
+f 45 58 70
+f 45 70 59
+f 45 59 46
+f 46 59 47
+f 47 59 70
+f 47 70 60
+f 47 60 52
+f 47 52 48
+f 48 51 50
+f 48 50 49
+f 52 61 62
+f 52 62 53
+f 52 60 63
+f 52 63 64
+f 52 64 61
+f 53 62 65
+f 55 66 67
+f 55 67 56
+f 57 68 58
+f 58 69 70
+f 58 68 69
+f 60 70 69
+f 60 69 63
+f 61 71 72
+f 61 72 73
+f 61 73 62
+f 61 64 71
+f 62 73 65
+f 63 69 64
+f 64 74 71
+f 64 69 68
+f 64 68 75
+f 64 75 74
+f 65 73 72
+f 66 71 74
+f 66 74 76
+f 66 76 77
+f 66 77 67
+f 67 77 79
+f 67 79 78
+f 68 80 75
+f 74 75 79
+f 74 79 76
+f 75 80 81
+f 75 81 82
+f 75 82 79
+f 76 79 77
+f 78 79 82
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_27.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01325426 -0.05891760 0.00158840
+v 0.03974116 -0.06679575 0.00158837
+v 0.03674483 -0.06251850 0.00789999
+v 0.01325426 -0.05169598 0.00812735
+v 0.01325426 0.00012874 0.00158862
+v 0.04515539 -0.06749869 0.00158837
+v 0.04019235 -0.06287659 0.00804207
+v 0.01325426 -0.04939487 0.00848698
+v 0.01325426 0.00012872 0.00939465
+v 0.06418038 0.00012874 0.00158862
+v 0.04627179 -0.06761142 0.00158837
+v 0.04627179 -0.06307553 0.00804739
+v 0.04627179 -0.05904362 0.00863789
+v 0.04019235 -0.05904362 0.00847185
+v 0.01325426 -0.04690145 0.00873828
+v 0.02802770 0.00012871 0.01064667
+v 0.01325426 -0.02261713 0.01053471
+v 0.07217446 -0.03433485 0.00158849
+v 0.05789849 0.00012873 0.00622376
+v 0.06789399 -0.03146346 0.00781930
+v 0.05220661 -0.06505832 0.00158838
+v 0.04982921 -0.06278375 0.00790710
+v 0.06452166 -0.04082705 0.00871167
+v 0.01586304 -0.02261713 0.01062351
+v 0.01325426 -0.02521665 0.01054269
+v 0.01325426 -0.02868489 0.01025675
+v 0.04627179 0.00012872 0.00889917
+v 0.02802770 -0.00439393 0.01065997
+v 0.06452166 -0.03475265 0.00860779
+v 0.06839723 -0.03475265 0.00802707
+v 0.07219760 -0.03475263 0.00158849
+v 0.05578139 0.00012872 0.00756191
+v 0.07039286 -0.04678207 0.00158845
+v 0.06799232 -0.04462687 0.00789207
+v 0.06847242 -0.04082705 0.00808210
+v 0.02194248 -0.01654273 0.01058179
+v 0.05148934 0.00012872 0.00839126
+v 0.05265201 0.00012872 0.00825629
+v 0.07234221 -0.04036283 0.00158847
+v 0.07234799 -0.04082703 0.00158847
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 26
+f 1 26 25
+f 1 25 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 31
+f 1 31 39
+f 1 39 40
+f 1 40 33
+f 1 33 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 5 9 16
+f 5 16 27
+f 5 27 37
+f 5 37 38
+f 5 38 32
+f 5 32 19
+f 5 19 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 17 16
+f 10 19 20
+f 10 20 18
+f 11 21 22
+f 11 22 12
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 16 17 24
+f 16 24 28
+f 16 28 23
+f 16 23 29
+f 16 29 27
+f 17 25 24
+f 18 20 30
+f 18 30 31
+f 19 32 20
+f 20 32 30
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 30
+f 23 30 29
+f 23 28 36
+f 23 36 24
+f 24 36 28
+f 27 29 37
+f 29 30 38
+f 29 38 37
+f 30 32 38
+f 30 35 39
+f 30 39 31
+f 33 40 34
+f 34 40 35
+f 35 40 39
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_28.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03887388 0.01996695 0.00892389
+v -0.03887388 0.01996696 0.00440080
+v -0.03888844 0.01996695 0.00907100
+v -0.03887388 0.01989901 0.00907239
+v -0.03887388 0.00013537 0.00205453
+v -0.03887679 0.01996697 0.00205460
+v -0.03888844 0.01989901 0.00907239
+v -0.04496906 0.01996695 0.00885588
+v -0.03887388 0.00013924 0.00914379
+v -0.03887388 0.00013535 0.00910632
+v -0.06863598 0.00013537 0.00205453
+v -0.05862495 0.01996697 0.00205460
+v -0.05150419 0.01996695 0.00811129
+v -0.05254725 0.00013535 0.00813342
+v -0.04651908 0.00013535 0.00879683
+v -0.04496906 0.00013535 0.00889189
+v -0.04043555 0.00013535 0.00908689
+v -0.03888844 0.00013535 0.00914171
+v -0.06775899 0.00013537 0.00266658
+v -0.05383505 0.01802184 0.00744233
+v -0.05548704 0.01996696 0.00555690
+v -0.05153333 0.01996695 0.00810365
+v -0.05419050 0.00013535 0.00760048
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 5 10 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 23
+f 5 23 19
+f 5 19 11
+f 5 11 12
+f 5 12 6
+f 7 8 9
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 22 20
+f 14 20 23
+f 19 23 20
+f 20 22 21
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_29.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.05713324 0.04523849 0.00205470
+v -0.06325134 0.04502822 0.00205470
+v -0.06186114 0.04196574 0.00795411
+v -0.05713324 0.04186926 0.00792869
+v -0.05399152 0.04129783 0.00772401
+v -0.03887388 0.03962809 0.00205468
+v -0.06819052 0.04308388 0.00205469
+v -0.05713324 0.03811910 0.00857502
+v -0.06591844 0.04077093 0.00703578
+v -0.06671765 0.03672393 0.00791494
+v -0.06362186 0.03849511 0.00826730
+v -0.03888612 0.03582102 0.00792593
+v -0.03887388 0.03583091 0.00791837
+v -0.03887388 0.02305417 0.00205461
+v -0.06981038 0.03816118 0.00205467
+v -0.05713324 0.03204612 0.00887790
+v -0.03887388 0.02597314 0.00897954
+v -0.03887388 0.03204612 0.00852554
+v -0.06689831 0.03204612 0.00799597
+v -0.06321460 0.03204612 0.00860178
+v -0.07015334 0.03204614 0.00205465
+v -0.03887388 0.01996696 0.00440091
+v -0.03887694 0.01996697 0.00205460
+v -0.04497054 0.01996695 0.00885587
+v -0.03888612 0.01996695 0.00907155
+v -0.03888612 0.02597314 0.00897954
+v -0.03887388 0.01996695 0.00892387
+v -0.06665335 0.02849139 0.00785240
+v -0.06988387 0.03098492 0.00205464
+v -0.05862449 0.01996697 0.00205460
+v -0.05150508 0.01996695 0.00811132
+v -0.06890706 0.02714076 0.00205463
+v -0.06873864 0.02648275 0.00205463
+v -0.05548582 0.01996696 0.00555689
+v -0.05153264 0.01996695 0.00810376
+v -0.05858162 0.01996697 0.00210337
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 23
+f 1 23 30
+f 1 30 33
+f 1 33 32
+f 1 32 29
+f 1 29 21
+f 1 21 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 8 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 18
+f 6 18 17
+f 6 17 27
+f 6 27 22
+f 6 22 14
+f 7 15 10
+f 7 10 9
+f 8 11 16
+f 8 16 17
+f 8 17 18
+f 8 18 12
+f 10 19 20
+f 10 20 11
+f 10 15 21
+f 10 21 19
+f 11 20 16
+f 12 18 13
+f 14 22 23
+f 16 20 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 25
+f 17 25 27
+f 19 21 28
+f 19 28 20
+f 20 28 24
+f 21 29 28
+f 22 27 25
+f 22 25 24
+f 22 24 31
+f 22 31 35
+f 22 35 34
+f 22 34 36
+f 22 36 30
+f 22 30 23
+f 24 28 31
+f 28 29 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 31
+f 30 36 33
+f 33 36 34
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_3.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.07925769 -0.16639228 0.00626253
+v 0.07925769 -0.16639229 0.00908519
+v 0.07925769 -0.16523288 0.00519575
+v 0.08118093 -0.16597456 0.00667693
+v 0.08118093 -0.16597457 0.00867907
+v 0.08885689 -0.16114091 0.00971628
+v 0.07925769 -0.16508797 0.01003002
+v 0.07925769 -0.16380067 0.00396795
+v 0.08582735 -0.15925686 0.00267268
+v 0.08825269 -0.16076578 0.00502646
+v 0.09317993 -0.16000706 0.00659526
+v 0.09317993 -0.16000707 0.00874303
+v 0.08328289 -0.16218948 0.01065991
+v 0.09483086 -0.15602591 0.01062087
+v 0.10408115 -0.14711731 0.01264791
+v 0.09243106 -0.15335760 0.01267394
+v 0.08131709 -0.15931657 0.01265614
+v 0.07925769 -0.16052712 0.01236133
+v 0.07925769 -0.16060380 0.00239917
+v 0.08987808 -0.15793549 0.00327060
+v 0.08277229 -0.15621343 0.00200373
+v 0.08825269 -0.15603441 0.00238261
+v 0.09332461 -0.15389464 0.00250456
+v 0.09738383 -0.15272672 0.00280412
+v 0.10102609 -0.15432090 0.00643544
+v 0.10414923 -0.15323824 0.00755788
+v 0.10414923 -0.15323824 0.00776508
+v 0.11099122 -0.14768847 0.00851457
+v 0.11790978 -0.14224954 0.00903555
+v 0.11967134 -0.13840477 0.01040189
+v 0.12591763 -0.13249696 0.01050137
+v 0.11038701 -0.14114982 0.01266805
+v 0.09168218 -0.15335760 0.01267394
+v 0.14690311 -0.10512324 0.01269186
+v 0.07964064 -0.15931657 0.01265614
+v 0.07925769 -0.15970020 0.01256261
+v 0.07925769 -0.15621343 0.00182021
+v 0.09518827 -0.15047612 0.00219793
+v 0.08885689 -0.15014365 0.00171130
+v 0.10102609 -0.14837045 0.00245842
+v 0.10422582 -0.14721105 0.00263838
+v 0.11512704 -0.14017793 0.00294033
+v 0.11790978 -0.14224953 0.00626499
+v 0.12427521 -0.13665714 0.00920369
+v 0.13023216 -0.13086015 0.00925463
+v 0.14476712 -0.10917260 0.01242309
+v 0.14645208 -0.10425370 0.01269187
+v 0.09168218 -0.15307628 0.01267394
+v 0.15273241 -0.09855900 0.01265045
+v 0.15881701 -0.08641942 0.01264931
+v 0.15881701 -0.08604433 0.01264931
+v 0.07964064 -0.15920575 0.01265615
+v 0.07925769 -0.15960642 0.01256261
+v 0.08277229 -0.15014365 0.00148516
+v 0.07925769 -0.14056155 0.00070375
+v 0.10102609 -0.14406533 0.00191497
+v 0.11313572 -0.13808932 0.00223941
+v 0.09494149 -0.14406533 0.00156214
+v 0.10710218 -0.13799554 0.00173621
+v 0.08681450 -0.13588986 0.00059603
+v 0.11784170 -0.13612857 0.00245490
+v 0.12189243 -0.13456850 0.00277459
+v 0.11990111 -0.13841328 0.00451979
+v 0.12427521 -0.13665713 0.00609807
+v 0.13023216 -0.13086014 0.00605783
+v 0.14220563 -0.11843072 0.00918007
+v 0.14796685 -0.11228420 0.00909959
+v 0.15095384 -0.10260836 0.01201581
+v 0.15877446 -0.08604433 0.01264931
+v 0.15343873 -0.10566882 0.00869232
+v 0.15429823 -0.10098009 0.01027298
+v 0.15966800 -0.09421976 0.00888535
+v 0.16614406 -0.07930105 0.00959344
+v 0.16485906 -0.07930105 0.01048262
+v 0.16216992 -0.07930105 0.01162637
+v 0.16017860 -0.07930105 0.01216509
+v 0.07925769 -0.13191726 0.01006803
+v 0.07925769 -0.15882212 0.01254249
+v 0.14764347 -0.07930105 0.01158019
+v 0.14359275 -0.07930105 0.01133037
+v 0.07925769 -0.13799553 0.00059602
+v 0.11962879 -0.13229232 0.00215655
+v 0.11318678 -0.13191723 0.00159771
+v 0.10466833 -0.12340076 0.00059608
+v 0.12403694 -0.13051913 0.00243006
+v 0.12618144 -0.13271859 0.00441562
+v 0.12808766 -0.12858396 0.00273317
+v 0.14220563 -0.11843071 0.00614904
+v 0.14796685 -0.11228419 0.00624024
+v 0.15594916 -0.07930105 0.01200406
+v 0.15343873 -0.10566881 0.00665584
+v 0.15966800 -0.09421975 0.00644986
+v 0.16571856 -0.08193526 0.00882146
+v 0.16619512 -0.07930104 0.00682525
+v 0.07925769 -0.12891646 0.00958971
+v 0.13547428 -0.07930105 0.01048736
+v 0.13143206 -0.07930105 0.01000074
+v 0.07925769 -0.11708375 0.00059610
+v 0.11927137 -0.12584743 0.00155155
+v 0.12577295 -0.12627369 0.00214118
+v 0.11098270 -0.11757820 0.00059610
+v 0.12990879 -0.12453459 0.00243363
+v 0.13587425 -0.11823462 0.00245024
+v 0.14172056 -0.11203697 0.00247157
+v 0.13993347 -0.11608633 0.00282557
+v 0.14399271 -0.11418527 0.00453290
+v 0.14577980 -0.10965849 0.00291676
+v 0.14964331 -0.10766366 0.00478630
+v 0.15131126 -0.10275326 0.00333355
+v 0.15434078 -0.10106531 0.00506457
+v 0.15771923 -0.09072450 0.00312640
+v 0.16417827 -0.07930102 0.00386762
+v 0.16619512 -0.07930103 0.00570756
+v 0.16571856 -0.08193525 0.00649964
+v 0.07925769 -0.12627371 0.00893260
+v 0.12917693 -0.07930105 0.00958397
+v 0.07925769 -0.12320471 0.00703229
+v 0.11745025 -0.07930101 0.00059624
+v 0.11707581 -0.11152546 0.00059612
+v 0.12534746 -0.11978617 0.00155868
+v 0.13143206 -0.11370786 0.00158356
+v 0.13172991 -0.12006750 0.00215660
+v 0.13774642 -0.11392099 0.00218503
+v 0.14368635 -0.10763808 0.00224544
+v 0.14725202 -0.10560913 0.00252605
+v 0.15280900 -0.09871242 0.00264093
+v 0.15890210 -0.08667513 0.00263268
+v 0.16365916 -0.07930102 0.00341889
+v 0.07925769 -0.12387819 0.00770479
+v 0.12622399 -0.07930104 0.00876583
+v 0.12455604 -0.07930104 0.00772627
+v 0.14097169 -0.07930101 0.00059624
+v 0.12295617 -0.10526812 0.00059614
+v 0.13750815 -0.10763808 0.00162739
+v 0.14359275 -0.10156828 0.00173398
+v 0.14943907 -0.10106530 0.00237807
+v 0.14967735 -0.09548997 0.00195067
+v 0.15349831 -0.09548997 0.00248939
+v 0.15571939 -0.08898540 0.00231536
+v 0.16094449 -0.07930102 0.00237342
+v 0.15576195 -0.07930102 0.00170919
+v 0.14089510 -0.08064796 0.00059623
+v 0.12864081 -0.09878061 0.00059617
+v 0.14967735 -0.08942018 0.00162154
+v 0.15576195 -0.08334187 0.00191282
+f 1 2 7
+f 1 7 18
+f 1 18 36
+f 1 36 53
+f 1 53 78
+f 1 78 77
+f 1 77 95
+f 1 95 115
+f 1 115 129
+f 1 129 117
+f 1 117 98
+f 1 98 81
+f 1 81 55
+f 1 55 37
+f 1 37 19
+f 1 19 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 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 13 17
+f 7 17 18
+f 8 19 9
+f 9 20 10
+f 9 19 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 20
+f 10 20 11
+f 11 20 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 15
+f 12 15 14
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 33 35
+f 16 35 17
+f 16 32 34
+f 16 34 33
+f 17 35 18
+f 18 35 36
+f 19 37 21
+f 21 38 22
+f 21 37 39
+f 21 39 38
+f 22 38 23
+f 23 38 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 29
+f 26 29 27
+f 27 29 28
+f 29 43 64
+f 29 64 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 34
+f 33 34 47
+f 33 47 48
+f 33 48 52
+f 33 52 35
+f 34 46 49
+f 34 49 50
+f 34 50 51
+f 34 51 47
+f 35 52 53
+f 35 53 36
+f 37 54 39
+f 37 55 54
+f 38 39 56
+f 38 56 57
+f 38 57 40
+f 39 58 59
+f 39 59 56
+f 39 54 60
+f 39 60 58
+f 40 57 61
+f 40 61 41
+f 41 61 62
+f 41 62 42
+f 42 63 43
+f 42 62 63
+f 43 63 64
+f 44 64 65
+f 44 65 45
+f 45 65 88
+f 45 88 66
+f 45 66 46
+f 46 67 68
+f 46 68 49
+f 46 66 67
+f 47 51 69
+f 47 69 52
+f 47 52 48
+f 49 68 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 51
+f 51 75 76
+f 51 76 69
+f 52 77 78
+f 52 78 53
+f 52 69 79
+f 52 79 80
+f 52 80 77
+f 54 55 60
+f 55 81 60
+f 56 59 57
+f 57 59 82
+f 57 82 61
+f 58 60 83
+f 58 83 59
+f 59 83 82
+f 60 84 83
+f 60 81 98
+f 60 98 118
+f 60 118 132
+f 60 132 142
+f 60 142 143
+f 60 143 133
+f 60 133 119
+f 60 119 101
+f 60 101 84
+f 61 82 85
+f 61 85 62
+f 62 86 64
+f 62 64 63
+f 62 85 87
+f 62 87 86
+f 64 86 65
+f 65 86 87
+f 65 87 88
+f 66 88 89
+f 66 89 67
+f 67 89 91
+f 67 91 70
+f 67 70 68
+f 69 76 90
+f 69 90 79
+f 70 91 92
+f 70 92 72
+f 70 72 71
+f 72 92 114
+f 72 114 93
+f 72 93 73
+f 73 93 94
+f 73 94 113
+f 73 113 112
+f 73 112 128
+f 73 128 140
+f 73 140 141
+f 73 141 132
+f 73 132 118
+f 73 118 131
+f 73 131 130
+f 73 130 116
+f 73 116 97
+f 73 97 96
+f 73 96 80
+f 73 80 79
+f 73 79 90
+f 73 90 76
+f 73 76 75
+f 73 75 74
+f 77 80 96
+f 77 96 97
+f 77 97 95
+f 82 83 99
+f 82 99 100
+f 82 100 85
+f 83 84 99
+f 84 101 99
+f 85 100 102
+f 85 102 87
+f 87 102 103
+f 87 103 104
+f 87 104 105
+f 87 105 88
+f 88 105 106
+f 88 106 89
+f 89 106 107
+f 89 107 108
+f 89 108 91
+f 91 108 109
+f 91 109 110
+f 91 110 92
+f 92 110 111
+f 92 111 112
+f 92 112 113
+f 92 113 114
+f 93 114 113
+f 93 113 94
+f 95 97 116
+f 95 116 115
+f 98 117 118
+f 99 101 119
+f 99 119 120
+f 99 120 100
+f 100 120 121
+f 100 121 122
+f 100 122 123
+f 100 123 102
+f 102 123 103
+f 103 123 104
+f 104 123 124
+f 104 124 125
+f 104 125 107
+f 104 107 105
+f 105 107 106
+f 107 125 126
+f 107 126 109
+f 107 109 108
+f 109 126 110
+f 110 126 111
+f 111 127 128
+f 111 128 112
+f 111 126 127
+f 115 116 130
+f 115 130 129
+f 117 129 131
+f 117 131 118
+f 119 133 120
+f 120 133 121
+f 121 133 134
+f 121 134 123
+f 121 123 122
+f 123 134 124
+f 124 134 135
+f 124 135 136
+f 124 136 125
+f 125 136 126
+f 126 136 137
+f 126 137 138
+f 126 138 127
+f 127 138 139
+f 127 139 140
+f 127 140 128
+f 129 130 131
+f 132 141 142
+f 133 143 134
+f 134 143 135
+f 135 143 142
+f 135 142 144
+f 135 144 137
+f 135 137 136
+f 137 144 145
+f 137 145 139
+f 137 139 138
+f 139 145 140
+f 140 145 141
+f 141 145 144
+f 141 144 142
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_30.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07758222 -0.01165527 0.00158858
+v -0.07329398 -0.01442302 0.00798505
+v -0.07757456 -0.01046703 0.00158858
+v -0.07606354 -0.01721972 0.00158856
+v -0.06929647 -0.01046705 0.00850149
+v -0.07305681 -0.01046705 0.00790446
+v -0.06642744 -0.03819752 0.00777301
+v -0.06321414 -0.03475355 0.00846931
+v -0.07234146 -0.00742882 0.00766043
+v -0.07491976 -0.00484944 0.00158860
+v -0.06906695 -0.04070923 0.00158847
+v -0.06321414 -0.01046705 0.00883658
+v -0.04497097 0.00013053 0.00889184
+v -0.04652024 0.00013053 0.00879632
+v -0.06929647 -0.00607152 0.00792836
+v -0.05713563 -0.04083001 0.00876557
+v -0.06683293 -0.04439472 0.00158846
+v -0.06095335 -0.04434643 0.00792598
+v -0.06307260 -0.04046291 0.00814689
+v -0.06775867 0.00013055 0.00266627
+v -0.06930795 0.00013055 0.00158862
+v -0.03850610 -0.01008546 0.00921271
+v -0.03850610 -0.00439542 0.00920825
+v -0.03850610 -0.00400900 0.00920677
+v -0.03850610 0.00013053 0.00918812
+v -0.05713563 -0.03475355 0.00884097
+v -0.05254519 0.00013053 0.00813286
+v -0.05419392 0.00013053 0.00760076
+v -0.05713563 -0.04488742 0.00809912
+v -0.05238453 -0.04474734 0.00797971
+v -0.03850610 -0.03475355 0.00862230
+v -0.03850610 -0.02868193 0.00898428
+v -0.03850610 -0.02830034 0.00899548
+v -0.05105330 -0.03475355 0.00887455
+v -0.06314911 -0.04672290 0.00158845
+v -0.05806902 -0.04910904 0.00158844
+v -0.03850610 0.00013055 0.00158862
+v -0.05713563 -0.04921048 0.00158844
+v -0.05105330 -0.04888202 0.00158844
+v -0.03850610 -0.03859360 0.00799093
+v -0.03850610 -0.04290217 0.00158846
+v -0.04556772 -0.04630266 0.00158845
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 37
+f 1 37 41
+f 1 41 42
+f 1 42 39
+f 1 39 38
+f 1 38 36
+f 1 36 35
+f 1 35 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 6 9
+f 3 9 10
+f 4 11 7
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 9
+f 5 9 6
+f 5 8 16
+f 5 16 12
+f 7 11 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 16
+f 9 15 20
+f 9 20 21
+f 9 21 10
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 16 26
+f 12 26 22
+f 13 25 37
+f 13 37 21
+f 13 21 20
+f 13 20 28
+f 13 28 27
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 20
+f 16 19 18
+f 16 18 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 26
+f 17 35 18
+f 18 35 36
+f 18 36 29
+f 22 26 34
+f 22 34 33
+f 22 33 32
+f 22 32 31
+f 22 31 40
+f 22 40 41
+f 22 41 37
+f 22 37 25
+f 22 25 24
+f 22 24 23
+f 29 36 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 39 42 40
+f 40 42 41
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_4.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.02725568 0.10497010 -0.00967155
+v 0.02725568 0.10497007 -0.00161412
+v 0.02725568 0.10569567 -0.00974199
+v 0.03406187 0.10497010 -0.00994649
+v 0.07064837 0.10497007 -0.00143915
+v 0.07988645 0.12027961 0.00743862
+v 0.07988645 0.12334151 0.00900876
+v 0.02725568 0.14743049 0.00997229
+v 0.02725568 0.11099960 -0.01013280
+v 0.04014674 0.10497010 -0.01009419
+v 0.07988645 0.10497007 -0.00147324
+v 0.07988645 0.12921864 0.01043576
+v 0.07668687 0.12921864 0.01017899
+v 0.03410824 0.14743049 0.01042447
+v 0.02725568 0.15350353 0.01094483
+v 0.07663534 0.10497010 -0.01042821
+v 0.02725568 0.12921872 -0.01051448
+v 0.03410824 0.12314568 -0.01044860
+v 0.07988645 0.10497010 -0.01045321
+v 0.07988645 0.13529168 0.01113110
+v 0.02725568 0.15957656 0.01176742
+v 0.02725568 0.15880746 0.01166970
+v 0.07986583 0.10497010 -0.01045321
+v 0.02725568 0.12998783 -0.01049629
+v 0.02802852 0.12921872 -0.01051675
+v 0.07060200 0.11099960 -0.01048046
+v 0.07988645 0.10779984 -0.01046456
+v 0.07988645 0.14136471 0.01171736
+v 0.07668687 0.14136471 0.01162874
+v 0.02725568 0.17424036 0.01269683
+v 0.03410824 0.12921872 -0.01050312
+v 0.02725568 0.13529176 -0.01028268
+v 0.05235770 0.12314568 -0.01048723
+v 0.04627798 0.12314568 -0.01049859
+v 0.06451713 0.11707265 -0.01047816
+v 0.07668687 0.11099960 -0.01045092
+v 0.07988645 0.11099960 -0.01033730
+v 0.07988645 0.15650738 0.01264904
+v 0.07969581 0.15650738 0.01264904
+v 0.06713965 0.16232647 0.01267634
+v 0.05235770 0.16823263 0.01269453
+v 0.02725568 0.17491514 0.01269683
+v 0.04019311 0.12921872 -0.01045767
+v 0.02725568 0.13606086 -0.01012589
+v 0.02802852 0.13529176 -0.01026905
+v 0.05843741 0.12314568 -0.01039634
+v 0.07060200 0.11707265 -0.01037364
+v 0.07988645 0.11387287 -0.01012825
+v 0.07988645 0.15656543 0.01264905
+v 0.06858745 0.16232647 0.01267634
+v 0.05235770 0.16888565 0.01269453
+v 0.02802852 0.17490789 0.01269455
+v 0.02725568 0.17834711 0.00987470
+v 0.05606735 0.16881308 0.01268772
+v 0.04627798 0.12921872 -0.01033497
+v 0.03410824 0.13529176 -0.01008272
+v 0.02725568 0.14176384 -0.00855574
+v 0.06451713 0.12314568 -0.01013049
+v 0.07668687 0.11707265 -0.01000781
+v 0.07988645 0.11731933 -0.00939429
+v 0.07988645 0.15920652 0.01144929
+v 0.06858745 0.16276181 0.01267634
+v 0.03205763 0.17482807 0.01267410
+v 0.02725568 0.17897836 0.00933163
+v 0.07668687 0.16431455 0.00965650
+v 0.06451713 0.17003206 0.00940884
+v 0.05823132 0.17076489 0.01057452
+v 0.04627798 0.17594548 0.00943387
+v 0.05235770 0.12921872 -0.01006912
+v 0.04019311 0.13529176 -0.00973052
+v 0.02725568 0.17514011 0.00253528
+v 0.02802852 0.17509658 0.00254437
+v 0.03221735 0.17487890 0.00262163
+v 0.03627221 0.17452338 0.00272842
+v 0.03410824 0.14058842 -0.00848984
+v 0.07060200 0.12314567 -0.00948516
+v 0.05843741 0.12921871 -0.00950332
+v 0.07988645 0.12035222 -0.00856037
+v 0.07988645 0.16359625 0.00898391
+v 0.04019311 0.17659848 0.00993604
+v 0.03409278 0.17672909 0.01062681
+v 0.02725568 0.17909447 0.00599595
+v 0.05134269 0.17531422 0.00861130
+v 0.06862866 0.16916137 0.00845904
+v 0.04627798 0.13529175 -0.00909656
+v 0.05622192 0.16887117 0.00260343
+v 0.02725568 0.17552467 0.00279204
+v 0.02725568 0.17852127 0.00545515
+v 0.02725568 0.17876796 0.00567556
+v 0.04019311 0.17659850 0.00542560
+v 0.04627798 0.17594549 0.00595050
+v 0.04019311 0.17395743 0.00293292
+v 0.07341515 0.16248614 0.00270111
+v 0.07988645 0.15922107 0.00283289
+v 0.06027678 0.16814560 0.00282156
+v 0.07988645 0.16359626 0.00635264
+v 0.05134269 0.17531423 0.00675259
+v 0.06862866 0.16916137 0.00688891
+v 0.04627798 0.17311577 0.00345782
+v 0.06451713 0.16718059 0.00345324
+v 0.06451713 0.17003207 0.00594592
+v 0.07668687 0.16156466 0.00317601
+v 0.07988645 0.16103498 0.00411899
+v 0.07668687 0.16431457 0.00567096
+f 1 2 8
+f 1 8 15
+f 1 15 22
+f 1 22 21
+f 1 21 30
+f 1 30 42
+f 1 42 53
+f 1 53 64
+f 1 64 82
+f 1 82 89
+f 1 89 88
+f 1 88 87
+f 1 87 71
+f 1 71 57
+f 1 57 44
+f 1 44 32
+f 1 32 24
+f 1 24 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 6 11 19
+f 6 19 27
+f 6 27 37
+f 6 37 48
+f 6 48 60
+f 6 60 78
+f 6 78 94
+f 6 94 103
+f 6 103 96
+f 6 96 79
+f 6 79 61
+f 6 61 49
+f 6 49 38
+f 6 38 28
+f 6 28 20
+f 6 20 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 14 15
+f 8 13 12
+f 8 12 14
+f 9 16 10
+f 9 17 18
+f 9 18 16
+f 12 20 21
+f 12 21 22
+f 12 22 15
+f 12 15 14
+f 16 18 17
+f 16 17 23
+f 17 24 25
+f 17 25 26
+f 17 26 23
+f 19 23 26
+f 19 26 27
+f 20 28 29
+f 20 29 21
+f 21 29 28
+f 21 28 30
+f 24 31 25
+f 24 32 31
+f 25 31 33
+f 25 33 34
+f 25 34 26
+f 26 35 27
+f 26 34 33
+f 26 33 35
+f 27 35 36
+f 27 36 37
+f 28 38 39
+f 28 39 30
+f 30 40 41
+f 30 41 51
+f 30 51 42
+f 30 39 40
+f 31 32 43
+f 31 43 33
+f 32 44 45
+f 32 45 43
+f 33 46 35
+f 33 43 46
+f 35 47 36
+f 35 46 47
+f 36 47 37
+f 37 47 48
+f 38 49 62
+f 38 62 50
+f 38 50 40
+f 38 40 39
+f 40 50 41
+f 41 50 62
+f 41 62 51
+f 42 52 53
+f 42 51 54
+f 42 54 52
+f 43 55 46
+f 43 45 55
+f 44 56 45
+f 44 57 56
+f 45 56 55
+f 46 58 47
+f 46 55 69
+f 46 69 58
+f 47 59 48
+f 47 58 59
+f 48 59 60
+f 49 61 62
+f 51 62 54
+f 52 63 53
+f 52 54 63
+f 53 63 64
+f 54 62 65
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 63
+f 55 56 69
+f 56 57 70
+f 56 70 69
+f 57 71 72
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 70
+f 58 76 59
+f 58 69 77
+f 58 77 76
+f 59 76 60
+f 60 76 78
+f 61 79 65
+f 61 65 62
+f 63 68 80
+f 63 80 81
+f 63 81 64
+f 64 81 80
+f 64 80 68
+f 64 68 83
+f 64 83 82
+f 65 79 66
+f 66 84 83
+f 66 83 67
+f 66 79 84
+f 67 83 68
+f 69 70 77
+f 70 85 77
+f 70 75 74
+f 70 74 86
+f 70 86 85
+f 71 87 72
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 73 89 74
+f 74 89 82
+f 74 82 90
+f 74 90 91
+f 74 91 92
+f 74 92 86
+f 76 77 93
+f 76 93 94
+f 76 94 78
+f 77 85 95
+f 77 95 93
+f 79 96 98
+f 79 98 84
+f 82 97 91
+f 82 91 90
+f 82 83 97
+f 83 84 98
+f 83 98 97
+f 85 86 95
+f 86 92 95
+f 91 97 95
+f 91 95 99
+f 91 99 92
+f 92 99 95
+f 93 95 100
+f 93 100 101
+f 93 101 102
+f 93 102 94
+f 94 102 103
+f 95 97 101
+f 95 101 100
+f 96 103 102
+f 96 102 104
+f 96 104 101
+f 96 101 98
+f 97 98 101
+f 101 104 102
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_5.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.11702067 0.06330935 -0.00136768
+v -0.11702067 0.06240651 -0.00136768
+v -0.11702067 0.06330938 -0.01042869
+v -0.13165725 0.06330931 0.00858061
+v -0.11702067 0.00013539 -0.00156760
+v -0.11702067 0.06240654 -0.01043096
+v -0.11796390 0.06330938 -0.01045592
+v -0.13531314 0.06330930 0.00974699
+v -0.14780302 0.00013535 0.00878688
+v -0.11702067 0.00013542 -0.01003861
+v -0.11796390 0.00013542 -0.01014073
+v -0.11796390 0.06240654 -0.01045819
+v -0.12404623 0.05633403 -0.01044006
+v -0.12404623 0.06240654 -0.01024942
+v -0.12404623 0.06330938 -0.01016773
+v -0.13013504 0.03811648 -0.01045828
+v -0.13621735 0.06330930 0.00997164
+v -0.15445779 0.00013534 0.01069983
+v -0.14952039 0.00013535 0.00928384
+v -0.13621735 0.00013542 -0.01046750
+v -0.13621735 0.00168138 -0.01046976
+v -0.13621735 0.00776008 -0.01046747
+v -0.13013504 0.04418900 -0.01039018
+v -0.13013504 0.05026151 -0.01019047
+v -0.13013504 0.05633403 -0.00972752
+v -0.13029117 0.06330937 -0.00856793
+v -0.13621735 0.01383260 -0.01045156
+v -0.13621735 0.01990511 -0.01041297
+v -0.14139545 0.06330930 0.01077495
+v -0.14747777 0.06330930 0.01144664
+v -0.15600601 0.00013534 0.01085414
+v -0.14075144 0.00013542 -0.00993196
+v -0.14229967 0.00168138 -0.00974814
+v -0.13621735 0.02597763 -0.01033124
+v -0.13621735 0.03204396 -0.01017238
+v -0.13621735 0.03811648 -0.00987963
+v -0.13050584 0.06260441 -0.00862239
+v -0.13621735 0.04418899 -0.00933953
+v -0.16967983 0.05943207 0.00266473
+v -0.16830725 0.06330933 0.00304370
+v -0.14229967 0.00776008 -0.00967324
+v -0.14838198 0.06330930 0.01153287
+v -0.16054010 0.00013534 0.01130571
+v -0.14229967 0.00013542 -0.00974815
+v -0.18079713 0.00168133 0.00300263
+v -0.14229967 0.01383259 -0.00951210
+v -0.14229967 0.01990510 -0.00923978
+v -0.17548893 0.04029314 0.00273500
+v -0.17485143 0.04418895 0.00299370
+v -0.17388216 0.05026146 0.00372895
+v -0.17669239 0.05026145 0.00622056
+v -0.17124757 0.06183757 0.00493850
+v -0.16881465 0.06330933 0.00331827
+v -0.18066053 0.00776003 0.00307300
+v -0.15356008 0.06330930 0.01181198
+v -0.16933507 0.05228971 0.01269013
+v -0.17564505 0.02245276 0.01265598
+v -0.16662242 0.00013534 0.01176183
+v -0.18079713 0.00013537 0.00300262
+v -0.18279422 0.00013536 0.00486112
+v -0.18347075 0.00168132 0.00549651
+v -0.18337968 0.00776002 0.00556461
+v -0.17617198 0.03204391 0.00252394
+v -0.17589225 0.03624273 0.00261244
+v -0.18038731 0.01383255 0.00324775
+v -0.18002302 0.01990506 0.00357454
+v -0.17961970 0.02597757 0.00416003
+v -0.18284626 0.01990505 0.00606841
+v -0.18240391 0.02597757 0.00665390
+v -0.17749902 0.04418894 0.00548531
+v -0.18204612 0.03017019 0.00724164
+v -0.17609391 0.05440460 0.00703977
+v -0.17105892 0.06330932 0.00535150
+v -0.18317152 0.01383254 0.00573936
+v -0.16054010 0.06330930 0.01210698
+v -0.16965382 0.05938256 0.01264705
+v -0.16941312 0.05633394 0.01268107
+v -0.16985548 0.05228971 0.01269013
+v -0.17524824 0.03204387 0.01271275
+v -0.17539136 0.02597754 0.01268777
+v -0.17581419 0.02245276 0.01265598
+v -0.17878704 0.00013534 0.01214079
+v -0.17425295 0.00013534 0.01206590
+v -0.17270473 0.00013534 0.01203867
+v -0.18347075 0.00013536 0.00549650
+v -0.18347075 0.00168130 0.00986477
+v -0.18337968 0.00776000 0.00980125
+v -0.18284626 0.01990504 0.00930206
+v -0.18240391 0.02597756 0.00870982
+v -0.18204612 0.03017019 0.00809941
+v -0.17609391 0.05440460 0.00829465
+v -0.17105892 0.06330932 0.00601638
+v -0.18317152 0.01383252 0.00963108
+v -0.16572470 0.06330930 0.01222271
+v -0.16966683 0.05938256 0.01264705
+v -0.16980993 0.05633394 0.01268107
+v -0.17596381 0.03204387 0.01271275
+v -0.17592478 0.02597754 0.01268777
+v -0.17878704 0.00168130 0.01213853
+v -0.18347075 0.00013534 0.00986703
+v -0.17878704 0.00776000 0.01212720
+v -0.17878704 0.01383252 0.01202965
+v -0.17586623 0.03619940 0.01269007
+v -0.17749902 0.04418892 0.00985811
+v -0.17669239 0.05026144 0.00912517
+v -0.17123457 0.06180663 0.01038691
+v -0.17104592 0.06330930 0.00996710
+v -0.16720788 0.06330930 0.01183014
+v -0.17037588 0.06330930 0.01038464
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 40
+f 1 40 53
+f 1 53 73
+f 1 73 92
+f 1 92 107
+f 1 107 109
+f 1 109 108
+f 1 108 94
+f 1 94 75
+f 1 75 55
+f 1 55 42
+f 1 42 30
+f 1 30 29
+f 1 29 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 7
+f 4 8 9
+f 4 9 5
+f 5 9 19
+f 5 19 18
+f 5 18 31
+f 5 31 43
+f 5 43 58
+f 5 58 84
+f 5 84 83
+f 5 83 82
+f 5 82 100
+f 5 100 85
+f 5 85 60
+f 5 60 59
+f 5 59 44
+f 5 44 32
+f 5 32 20
+f 5 20 11
+f 5 11 10
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 12 16
+f 7 16 13
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 16
+f 13 16 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 22 27
+f 16 27 28
+f 16 28 23
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 27
+f 23 28 34
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 37 26
+f 25 36 38
+f 25 38 39
+f 25 39 37
+f 26 37 39
+f 26 39 40
+f 27 33 28
+f 28 33 41
+f 28 41 34
+f 30 42 43
+f 30 43 31
+f 32 44 33
+f 33 44 59
+f 33 59 45
+f 33 45 41
+f 34 41 35
+f 35 41 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 36 48 38
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 41 45 54
+f 41 54 46
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 54
+f 46 54 63
+f 46 63 64
+f 46 64 47
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 49
+f 49 70 51
+f 49 51 50
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 52 73 53
+f 52 72 73
+f 54 62 74
+f 54 74 65
+f 54 65 63
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 56 77 96
+f 56 96 78
+f 56 78 97
+f 56 97 79
+f 56 79 80
+f 56 80 57
+f 57 81 82
+f 57 82 83
+f 57 83 84
+f 57 84 58
+f 57 80 98
+f 57 98 81
+f 60 85 61
+f 61 85 100
+f 61 100 86
+f 61 86 87
+f 61 87 62
+f 62 87 93
+f 62 93 74
+f 63 65 64
+f 65 74 68
+f 65 68 66
+f 66 68 67
+f 68 74 93
+f 68 93 88
+f 68 88 89
+f 68 89 69
+f 69 89 90
+f 69 90 71
+f 69 71 70
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 73
+f 75 94 76
+f 76 95 96
+f 76 96 77
+f 76 94 95
+f 78 96 97
+f 79 97 98
+f 79 98 80
+f 81 98 82
+f 82 98 97
+f 82 97 99
+f 82 99 86
+f 82 86 100
+f 86 99 101
+f 86 101 102
+f 86 102 87
+f 87 102 103
+f 87 103 93
+f 88 93 103
+f 88 103 89
+f 89 103 104
+f 89 104 90
+f 90 104 105
+f 90 105 91
+f 91 105 106
+f 91 106 107
+f 91 107 92
+f 94 108 95
+f 95 108 109
+f 95 109 107
+f 95 107 106
+f 95 106 105
+f 95 105 104
+f 95 104 103
+f 95 103 96
+f 96 103 97
+f 97 103 101
+f 97 101 99
+f 101 103 102
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_6.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.17139500 -0.06665067 0.00880779
+v -0.17139500 -0.06665068 0.00959788
+v -0.17109114 -0.06665066 0.00543570
+v -0.17063164 -0.07010487 0.00637480
+v -0.17063164 -0.07010488 0.00896153
+v -0.16360578 -0.07430242 0.01265414
+v -0.16662216 -0.06665068 0.01181795
+v -0.16861578 -0.06665065 0.00314704
+v -0.15644652 -0.09076014 0.00310437
+v -0.15838826 -0.09431056 0.00642912
+v -0.15838826 -0.09431057 0.00889993
+v -0.15143652 -0.09857806 0.01265286
+v -0.16360578 -0.07373400 0.01265414
+v -0.14560386 -0.10511920 0.01268950
+v -0.16067833 -0.06665068 0.01208998
+v -0.16840826 -0.06665065 0.00301811
+v -0.15761008 -0.08671129 0.00262772
+v -0.15151804 -0.09874417 0.00263714
+v -0.15310404 -0.10108780 0.00503461
+v -0.15218505 -0.10575754 0.00660886
+v -0.15305958 -0.10098288 0.01030387
+v -0.15218505 -0.10575755 0.00874377
+v -0.14965782 -0.10262692 0.01206737
+v -0.16352426 -0.07373400 0.01265414
+v -0.14508508 -0.10425346 0.01268951
+v -0.14508508 -0.10511920 0.01268950
+v -0.12405196 -0.13192209 0.01141556
+v -0.10914053 -0.14115664 0.01266571
+v -0.10289285 -0.14719057 0.01266806
+v -0.15603889 -0.06665068 0.01193622
+v -0.16595515 -0.06665065 0.00237823
+v -0.16370213 -0.07452974 0.00262895
+v -0.15443807 -0.08901118 0.00231191
+v -0.15222210 -0.09549110 0.00248221
+v -0.16443584 -0.07119797 0.00247993
+v -0.14837567 -0.09549110 0.00194641
+v -0.14815334 -0.10108779 0.00237337
+v -0.14598184 -0.10567008 0.00252475
+v -0.14455146 -0.10971894 0.00288548
+v -0.15003579 -0.10279303 0.00328410
+v -0.14839049 -0.10773388 0.00474717
+v -0.14673779 -0.11236864 0.00620907
+v -0.14673779 -0.11236865 0.00911632
+v -0.14272830 -0.11411762 0.01046112
+v -0.10241853 -0.14693697 0.01266806
+v -0.10241853 -0.14719057 0.01266806
+v -0.13499837 -0.12479505 0.00925466
+v -0.12865435 -0.13192208 0.00899324
+v -0.12405196 -0.13645190 0.00898613
+v -0.11847870 -0.13852443 0.01050007
+v -0.10695421 -0.14520549 0.01197496
+v -0.14099407 -0.11855998 0.00921564
+v -0.11678894 -0.14237215 0.00912686
+v -0.09972084 -0.15460617 0.00910079
+v -0.09568171 -0.15557685 0.01016173
+v -0.09568171 -0.15031247 0.01206720
+v -0.14837567 -0.06665068 0.01151634
+v -0.16476934 -0.06665065 0.00220910
+v -0.15445289 -0.08334453 0.00191807
+v -0.16053752 -0.07119797 0.00192521
+v -0.14229103 -0.10156876 0.00174059
+v -0.14243185 -0.10767265 0.00224087
+v -0.14837567 -0.08942219 0.00162827
+v -0.14049010 -0.11215875 0.00246086
+v -0.13875587 -0.11620760 0.00278610
+v -0.14277276 -0.11428375 0.00449758
+v -0.14099407 -0.11855997 0.00610968
+v -0.12718692 -0.13505273 0.00752185
+v -0.12718692 -0.13505273 0.00780335
+v -0.09568171 -0.14007227 0.01178929
+v -0.09568171 -0.13192209 0.01134696
+v -0.10303366 -0.15338189 0.00799490
+v -0.10986683 -0.14782018 0.00865136
+v -0.09972084 -0.15460616 0.00621009
+v -0.09568171 -0.15597910 0.00503086
+v -0.14229103 -0.06665068 0.01080667
+v -0.16053752 -0.06665065 0.00170997
+v -0.15445289 -0.07727562 0.00162595
+v -0.14229103 -0.09549110 0.00148395
+v -0.13620641 -0.10763767 0.00162938
+v -0.13651767 -0.11398642 0.00217580
+v -0.13987497 -0.07706574 0.00060640
+v -0.13469451 -0.11837632 0.00243955
+v -0.12693493 -0.12873019 0.00270208
+v -0.12865435 -0.13192207 0.00633200
+v -0.12456334 -0.13242052 0.00362699
+v -0.12080584 -0.13477287 0.00270915
+v -0.12405196 -0.13645189 0.00633671
+v -0.11678894 -0.14237214 0.00619476
+v -0.10303366 -0.15338189 0.00733018
+v -0.09568171 -0.12584443 0.01077689
+v -0.09631908 -0.15291840 0.00273156
+v -0.09568171 -0.15398527 0.00329337
+v -0.13620641 -0.06665068 0.00991486
+v -0.09568171 -0.12182181 0.01039486
+v -0.09568171 -0.11977552 0.01017842
+v -0.15901823 -0.06665065 0.00158814
+v -0.12769830 -0.09529870 0.00060633
+v -0.13012918 -0.11369784 0.00158441
+v -0.12236220 -0.10149879 0.00060631
+v -0.13052198 -0.12015151 0.00214739
+v -0.12875069 -0.12468134 0.00242414
+v -0.14472193 -0.06665064 0.00060644
+v -0.12288099 -0.13072402 0.00241584
+v -0.11675188 -0.13627699 0.00243829
+v -0.10310037 -0.14732170 0.00260621
+v -0.11402454 -0.14032584 0.00287117
+v -0.11879738 -0.13859437 0.00445255
+v -0.09972084 -0.14858970 0.00241459
+v -0.09568171 -0.15309329 0.00269253
+v -0.13154473 -0.06665067 0.00856414
+v -0.09568171 -0.11387275 0.00896019
+v -0.11675188 -0.10761143 0.00060628
+v -0.12405196 -0.11977549 0.00156074
+v -0.12456334 -0.12636034 0.00212963
+v -0.12383703 -0.06665064 0.00060644
+v -0.11845647 -0.13242052 0.00213788
+v -0.11194939 -0.13818335 0.00221001
+v -0.09972084 -0.14406863 0.00184451
+v -0.09568171 -0.15000636 0.00223244
+v -0.09568171 -0.11141545 0.00808731
+v -0.11185304 -0.11262222 0.00060627
+v -0.11796733 -0.12584440 0.00154652
+v -0.09568171 -0.10316905 0.00060630
+v -0.11188269 -0.13192206 0.00157607
+v -0.10579806 -0.13799097 0.00168722
+v -0.09568171 -0.14406863 0.00162688
+v -0.09568171 -0.14868589 0.00206685
+v -0.11079323 -0.11367159 0.00060626
+v -0.10576842 -0.11855995 0.00060624
+v -0.09568171 -0.12679758 0.00060621
+v -0.09568171 -0.14202234 0.00148851
+v -0.09963931 -0.12406920 0.00060622
+f 1 2 7
+f 1 7 15
+f 1 15 30
+f 1 30 57
+f 1 57 76
+f 1 76 94
+f 1 94 111
+f 1 111 116
+f 1 116 103
+f 1 103 97
+f 1 97 77
+f 1 77 58
+f 1 58 31
+f 1 31 16
+f 1 16 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 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 7 13 15
+f 8 16 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 16 17
+f 10 19 20
+f 10 20 22
+f 10 22 11
+f 11 21 12
+f 11 22 21
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 13 24 15
+f 13 14 25
+f 13 25 24
+f 14 26 25
+f 14 23 27
+f 14 27 28
+f 14 28 29
+f 14 29 46
+f 14 46 26
+f 15 24 30
+f 16 31 32
+f 16 32 17
+f 17 33 34
+f 17 34 18
+f 17 32 35
+f 17 35 33
+f 18 34 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 40 20
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 22
+f 22 43 23
+f 23 43 44
+f 23 44 27
+f 24 25 45
+f 24 45 30
+f 25 26 46
+f 25 46 45
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 29
+f 27 29 28
+f 27 44 52
+f 27 52 47
+f 29 51 53
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 29 56 46
+f 30 45 57
+f 31 58 35
+f 31 35 32
+f 33 59 36
+f 33 36 34
+f 33 35 60
+f 33 60 59
+f 35 58 60
+f 36 61 62
+f 36 62 37
+f 36 59 63
+f 36 63 61
+f 37 62 38
+f 38 62 64
+f 38 64 39
+f 39 64 65
+f 39 65 66
+f 39 66 42
+f 39 42 41
+f 39 41 40
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 52
+f 43 52 44
+f 45 46 56
+f 45 56 70
+f 45 70 71
+f 45 71 57
+f 47 52 48
+f 48 69 49
+f 48 52 69
+f 49 69 53
+f 49 53 50
+f 50 53 51
+f 53 72 73
+f 53 73 54
+f 53 69 72
+f 54 73 72
+f 54 72 90
+f 54 90 74
+f 54 74 75
+f 54 75 55
+f 55 75 93
+f 55 93 110
+f 55 110 120
+f 55 120 128
+f 55 128 127
+f 55 127 132
+f 55 132 131
+f 55 131 124
+f 55 124 121
+f 55 121 112
+f 55 112 96
+f 55 96 95
+f 55 95 91
+f 55 91 71
+f 55 71 70
+f 55 70 56
+f 57 71 76
+f 58 77 60
+f 59 60 78
+f 59 78 63
+f 60 77 78
+f 61 63 79
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 64
+f 63 78 82
+f 63 82 79
+f 64 81 83
+f 64 83 84
+f 64 84 65
+f 65 67 66
+f 65 84 67
+f 67 84 85
+f 67 85 68
+f 68 85 84
+f 68 84 86
+f 68 86 87
+f 68 87 88
+f 68 88 89
+f 68 89 90
+f 68 90 72
+f 68 72 69
+f 71 91 76
+f 74 92 75
+f 74 90 89
+f 74 89 92
+f 75 92 93
+f 76 91 95
+f 76 95 96
+f 76 96 94
+f 77 97 78
+f 78 97 82
+f 79 98 80
+f 79 82 98
+f 80 99 81
+f 80 98 100
+f 80 100 99
+f 81 99 101
+f 81 101 102
+f 81 102 83
+f 82 97 103
+f 82 103 116
+f 82 116 124
+f 82 124 131
+f 82 131 133
+f 82 133 130
+f 82 130 129
+f 82 129 122
+f 82 122 113
+f 82 113 100
+f 82 100 98
+f 83 102 84
+f 84 104 87
+f 84 87 86
+f 84 102 104
+f 87 104 105
+f 87 105 106
+f 87 106 92
+f 87 92 107
+f 87 107 108
+f 87 108 88
+f 88 108 89
+f 89 108 107
+f 89 107 92
+f 92 106 109
+f 92 109 110
+f 92 110 93
+f 94 96 112
+f 94 112 111
+f 99 113 114
+f 99 114 115
+f 99 115 101
+f 99 100 113
+f 101 115 102
+f 102 115 104
+f 104 115 117
+f 104 117 105
+f 105 118 109
+f 105 109 106
+f 105 117 118
+f 109 119 120
+f 109 120 110
+f 109 118 119
+f 111 112 121
+f 111 121 116
+f 113 122 123
+f 113 123 114
+f 114 123 115
+f 115 123 117
+f 116 121 124
+f 117 125 126
+f 117 126 118
+f 117 123 125
+f 118 126 119
+f 119 127 128
+f 119 128 120
+f 119 126 127
+f 122 129 123
+f 123 129 130
+f 123 130 125
+f 125 132 126
+f 125 130 133
+f 125 133 132
+f 126 132 127
+f 131 132 133
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_7.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.14509840 0.06330934 0.00058706
+v -0.13124173 0.06330937 -0.00807228
+v -0.12400898 0.06330934 0.00058706
+v -0.14499570 0.06511952 0.00058707
+v -0.13277484 0.06475901 -0.00693779
+v -0.13028812 0.06330937 -0.00856902
+v -0.07017410 0.06330934 0.00057404
+v -0.07017410 0.11928973 0.00058727
+v -0.13878990 0.07713731 0.00058711
+v -0.12762536 0.07246543 -0.00765793
+v -0.12871834 0.06848453 -0.00817096
+v -0.12404566 0.06848454 -0.00969914
+v -0.12404566 0.06330938 -0.01016770
+v -0.07017410 0.06330937 -0.00876967
+v -0.07017410 0.14004295 0.00058734
+v -0.13428595 0.08486626 0.00058714
+v -0.12728792 0.09602028 0.00058718
+v -0.12103078 0.08370958 -0.00731733
+v -0.12200640 0.08063753 -0.00783252
+v -0.12422170 0.07451596 -0.00851367
+v -0.11795723 0.08063753 -0.00924031
+v -0.11795723 0.07456104 -0.01012645
+v -0.11795723 0.06848454 -0.01043340
+v -0.11795723 0.06330938 -0.01045512
+v -0.09363288 0.06330938 -0.00988788
+v -0.07017410 0.08670652 -0.00991056
+v -0.07017410 0.12728911 -0.00792996
+v -0.07374647 0.13958477 0.00058734
+v -0.12159561 0.10248734 0.00058721
+v -0.10966083 0.09672635 -0.00773918
+v -0.11543384 0.09038696 -0.00760906
+v -0.11765648 0.08612815 -0.00800386
+v -0.11175877 0.09255768 -0.00829993
+v -0.11187615 0.08670652 -0.00965135
+v -0.10580238 0.09278302 -0.00983137
+v -0.11187615 0.08063754 -0.01030537
+v -0.10580238 0.08670652 -0.01039429
+v -0.11187615 0.07456104 -0.01047460
+v -0.07538961 0.08670652 -0.01013833
+v -0.09972130 0.06330938 -0.01014059
+v -0.10580238 0.08063754 -0.01048216
+v -0.08755179 0.09885200 -0.01049295
+v -0.07017410 0.11098998 -0.01047880
+v -0.09363288 0.06848454 -0.01011562
+v -0.07017410 0.09278302 -0.01012855
+v -0.07017410 0.12315047 -0.00936272
+v -0.07518422 0.12322558 -0.00838768
+v -0.07301292 0.12654550 -0.00755253
+v -0.08552721 0.13320033 0.00058732
+v -0.11569791 0.10873660 0.00058723
+v -0.10370445 0.10280284 -0.00776411
+v -0.10575838 0.09879191 -0.00840946
+v -0.09972130 0.09885200 -0.00986389
+v -0.09972130 0.09278302 -0.01041813
+v -0.09363288 0.09885200 -0.01041269
+v -0.08147070 0.10492099 -0.01047665
+v -0.07538961 0.11098998 -0.01045711
+v -0.07017410 0.11706648 -0.01033887
+v -0.07538961 0.11706648 -0.01002976
+v -0.08755179 0.11098998 -0.00955690
+v -0.08199152 0.11760727 -0.00876513
+v -0.08031170 0.12125766 -0.00792347
+v -0.08436820 0.11999580 -0.00721525
+v -0.10329367 0.12062670 0.00058727
+v -0.10961683 0.11479807 0.00058725
+v -0.09754267 0.10872160 -0.00771311
+v -0.09962593 0.10486841 -0.00838882
+v -0.09363288 0.10492099 -0.00978251
+v -0.08755179 0.10492099 -0.01035734
+v -0.08147070 0.11098998 -0.01025103
+v -0.09335413 0.11084726 -0.00823913
+v -0.08755179 0.11578206 -0.00809920
+v -0.09113148 0.11444508 -0.00755474
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 40
+f 1 40 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 28
+f 1 28 49
+f 1 49 64
+f 1 64 65
+f 1 65 50
+f 1 50 29
+f 1 29 17
+f 1 17 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 26
+f 7 26 45
+f 7 45 43
+f 7 43 58
+f 7 58 46
+f 7 46 27
+f 7 27 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 14 25 26
+f 15 27 28
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 32 19
+f 18 31 32
+f 19 32 21
+f 19 21 20
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 39 40
+f 24 38 41
+f 24 41 42
+f 24 42 43
+f 24 43 39
+f 25 40 44
+f 25 44 39
+f 25 39 26
+f 26 39 45
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 33
+f 30 33 31
+f 31 33 32
+f 33 35 34
+f 33 52 35
+f 35 52 53
+f 35 53 37
+f 35 37 36
+f 37 53 54
+f 37 54 38
+f 38 54 41
+f 39 44 40
+f 39 43 45
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 56 57
+f 43 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 63 64
+f 50 65 51
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 67 53
+f 53 55 54
+f 53 67 68
+f 53 68 69
+f 53 69 55
+f 55 69 57
+f 55 57 56
+f 57 69 58
+f 58 69 70
+f 58 70 59
+f 59 70 68
+f 59 68 60
+f 60 68 71
+f 60 71 72
+f 60 72 61
+f 61 72 62
+f 62 72 63
+f 63 72 73
+f 63 73 64
+f 64 73 66
+f 64 66 65
+f 66 71 67
+f 66 73 71
+f 67 71 68
+f 68 70 69
+f 71 73 72
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_8.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.07989160 0.05800182 -0.00877384
+v 0.09936106 0.05800183 -0.00996310
+v 0.07989160 0.05800179 0.00042611
+v 0.07989160 0.08351014 -0.01013503
+v 0.10102517 0.05800183 -0.01003897
+v 0.12715108 0.05800179 0.00043358
+v 0.07989160 0.11306177 0.00043379
+v 0.07989160 0.10491530 -0.01045337
+v 0.11926463 0.05800183 -0.01037769
+v 0.10102517 0.06241142 -0.01015114
+v 0.10544526 0.05800183 -0.01014368
+v 0.14708754 0.05800179 0.00043358
+v 0.07989160 0.13434735 0.00043386
+v 0.07989160 0.10779273 -0.01046511
+v 0.08277255 0.10491530 -0.01047688
+v 0.08885676 0.09884652 -0.01048225
+v 0.11926463 0.06241142 -0.01043964
+v 0.12369130 0.05800183 -0.01043004
+v 0.13559003 0.05800182 -0.00797031
+v 0.14560759 0.06241138 0.00043360
+v 0.08275282 0.13304689 0.00043386
+v 0.07989160 0.12327858 -0.00713556
+v 0.08885676 0.10491530 -0.01034759
+v 0.09494097 0.09884652 -0.01039463
+v 0.07989160 0.11099155 -0.01033795
+v 0.10102517 0.09277773 -0.01040641
+v 0.10710280 0.08063270 -0.01047590
+v 0.11318700 0.07456392 -0.01045242
+v 0.11926463 0.06848766 -0.01039581
+v 0.12534884 0.05800183 -0.01037234
+v 0.13483362 0.05800182 -0.00827271
+v 0.12998598 0.06848765 -0.00815727
+v 0.13502436 0.06062515 -0.00767860
+v 0.13939842 0.07456388 0.00043364
+v 0.10086073 0.12034879 0.00043381
+v 0.08558115 0.11992282 -0.00715587
+v 0.08152282 0.12122326 -0.00791451
+v 0.07989160 0.12185855 -0.00805876
+v 0.08277255 0.11099155 -0.01023644
+v 0.09494097 0.10491530 -0.00975883
+v 0.10102517 0.09884652 -0.00984007
+v 0.07989160 0.11386899 -0.01012851
+v 0.10710280 0.08670896 -0.01036903
+v 0.11318700 0.08063270 -0.01028784
+v 0.12534884 0.06241142 -0.01022594
+v 0.12976893 0.05800183 -0.00983488
+v 0.13152513 0.05800182 -0.00939679
+v 0.13178165 0.06255340 -0.00859538
+v 0.12534884 0.06848766 -0.00966281
+v 0.12550670 0.07450412 -0.00848314
+v 0.12892700 0.07244133 -0.00764970
+v 0.13404432 0.06466851 -0.00690177
+v 0.13567555 0.08066255 0.00043367
+v 0.10701729 0.11480319 0.00043379
+v 0.09880197 0.10867464 -0.00769658
+v 0.09237573 0.11439963 -0.00752988
+v 0.07989160 0.12034135 -0.00856098
+v 0.08885676 0.11569260 -0.00807268
+v 0.08323956 0.11756107 -0.00875225
+v 0.09461867 0.11081964 -0.00821160
+v 0.10090677 0.10484055 -0.00836655
+v 0.08885676 0.11099154 -0.00952267
+v 0.10703045 0.09874935 -0.00838368
+v 0.10710280 0.09277773 -0.00979521
+v 0.07989160 0.11730696 -0.00939336
+v 0.11926463 0.07456392 -0.01008272
+v 0.11318700 0.08670896 -0.00961572
+v 0.11926463 0.08063269 -0.00920009
+v 0.12327034 0.08063269 -0.00780247
+v 0.12231002 0.08367456 -0.00730025
+v 0.12701953 0.09277769 0.00043371
+v 0.11108219 0.11090930 0.00043378
+v 0.10495853 0.10276281 -0.00774789
+v 0.11092433 0.09666414 -0.00771906
+v 0.11304888 0.09253108 -0.00826937
+v 0.11894233 0.08610356 -0.00797875
+v 0.11669940 0.09034124 -0.00758980
+v 0.12270467 0.09870447 0.00043373
+v 0.11310807 0.10890630 0.00043377
+v 0.11708089 0.10484052 0.00043376
+f 1 2 5
+f 1 5 11
+f 1 11 9
+f 1 9 18
+f 1 18 30
+f 1 30 46
+f 1 46 47
+f 1 47 31
+f 1 31 19
+f 1 19 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 38
+f 1 38 57
+f 1 57 65
+f 1 65 42
+f 1 42 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 20
+f 6 20 34
+f 6 34 53
+f 6 53 71
+f 6 71 78
+f 6 78 80
+f 6 80 79
+f 6 79 72
+f 6 72 54
+f 6 54 35
+f 6 35 21
+f 6 21 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 11 10
+f 9 17 18
+f 12 19 20
+f 13 21 22
+f 14 23 24
+f 14 24 15
+f 14 25 23
+f 15 24 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 23 25 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 26
+f 25 42 39
+f 26 41 43
+f 26 43 28
+f 26 28 27
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 34 52 51
+f 34 51 53
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 37
+f 37 57 38
+f 37 56 58
+f 37 58 59
+f 37 59 57
+f 39 42 40
+f 40 60 61
+f 40 61 41
+f 40 42 62
+f 40 62 60
+f 41 63 64
+f 41 64 43
+f 41 61 63
+f 42 65 62
+f 43 64 44
+f 44 66 45
+f 44 64 67
+f 44 67 66
+f 45 66 49
+f 45 49 46
+f 46 49 47
+f 47 49 48
+f 49 66 68
+f 49 68 50
+f 50 68 69
+f 50 69 51
+f 51 69 70
+f 51 70 53
+f 53 70 71
+f 54 72 73
+f 54 73 55
+f 55 61 60
+f 55 60 56
+f 55 73 61
+f 56 60 58
+f 57 59 65
+f 58 60 62
+f 58 62 59
+f 59 62 65
+f 61 73 63
+f 63 73 74
+f 63 74 75
+f 63 75 64
+f 64 75 67
+f 66 67 68
+f 67 75 68
+f 68 75 76
+f 68 76 69
+f 69 76 70
+f 70 76 77
+f 70 77 78
+f 70 78 71
+f 72 79 73
+f 73 79 80
+f 73 80 74
+f 74 78 77
+f 74 77 75
+f 74 80 78
+f 75 77 76
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/mesh/tray_059_collision_9.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.11702065 0.00013542 -0.01003977
+v -0.07016677 0.00013541 -0.00874324
+v -0.11702065 0.00013539 -0.00156837
+v -0.11702065 0.06240654 -0.01043265
+v -0.09971187 0.06240654 -0.01013843
+v -0.07016677 0.00013537 0.00136652
+v -0.09971187 0.06330938 -0.01014087
+v -0.09363040 0.06330938 -0.00988816
+v -0.07016677 0.06327226 -0.00876865
+v -0.10579333 0.00013538 0.00027021
+v -0.10579333 0.00168134 0.00027633
+v -0.11702065 0.06240651 -0.00136915
+v -0.11702065 0.06316716 -0.01042899
+v -0.09971187 0.00013538 0.00058030
+v -0.07016677 0.03204391 0.00203933
+v -0.11702065 0.06330938 -0.01042777
+v -0.07016677 0.06330937 -0.00876865
+v -0.09971187 0.00168134 0.00058398
+v -0.09971187 0.00776004 0.00058766
+v -0.09971187 0.01383256 0.00058035
+v -0.09971187 0.02597759 0.00051326
+v -0.11702065 0.06330935 -0.00136915
+v -0.07016677 0.06330934 0.00057321
+v -0.07448709 0.06330934 0.00055734
+v -0.08146747 0.05633399 0.00057441
+v -0.08754894 0.05026147 0.00053775
+f 1 2 6
+f 1 6 14
+f 1 14 10
+f 1 10 3
+f 1 3 12
+f 1 12 22
+f 1 22 16
+f 1 16 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 17
+f 2 17 23
+f 2 23 15
+f 2 15 6
+f 3 10 11
+f 3 11 12
+f 4 13 7
+f 4 7 5
+f 6 15 14
+f 7 13 16
+f 7 16 22
+f 7 22 24
+f 7 24 23
+f 7 23 17
+f 7 17 8
+f 8 17 9
+f 10 14 11
+f 11 14 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 14 15 18
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 22
+f 15 22 21
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 22 26 25
+f 22 25 24
+

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/mjcf/tray_059.xml

@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_059">
+  <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/tray_059.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_059_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_059_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_059_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_059_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_059_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_059_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_059_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_059_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_059_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_059_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_059_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_059_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_059_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_059_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_059_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_059_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_059_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_059_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_059_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_059_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_059_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_059_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_059_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_059_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_059_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_059_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_059_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_059_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_059_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_059_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_059_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_059">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_059">
+   <link name="tray_059">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_059.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_059_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>570266b3d4dc5cb6a7728efbe18c2a08</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>round serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>shallow round tray with raised rim and decorative center pattern</description>
+         <min_height>0.0258</min_height>
+         <max_height>0.0258</max_height>
+         <real_height>0.0258</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200747</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.182556 -0.183925 -0.009620</min>
+            <max>0.183866 0.181199 0.016171</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/tray_059.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d2622e712e38079d6e58e62da00c1949bca469005ade3ca11a3def410fa6a59
+size 4767577

dataset/kitchen_supplies/tableware/570266b3d4dc5cb6a7728efbe18c2a08/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71336156c0ce0ad1313786ecc68971804f02c63bbc5e9d26699526cdf24a70cd
+size 427813