Add asset kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd

.gitattributes

@@ -4070,7 +4070,5 @@ dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_t
 dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/coaster_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0afbd979b69752a4b333a877c68877e5/mesh/coaster_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df501f97bf75928ae17e00874b53329/mesh/spoon_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df501f97bf75928ae17e00874b53329/spoon_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df6283ee18d524e94d09b8f069663dc/mesh/plate_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0df6283ee18d524e94d09b8f069663dc/plate_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_056_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_056_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d42126a97f4a85cad54fb53de42d71039ec1a4f5b5985af7b021ba0f20eddf
+size 21318960

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mesh/tray_056.mtl

@@ -0,0 +1,6 @@
+newmtl tray_056_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/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_0.obj

@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
+v 0.12480159 -0.00901761 0.02566745
+v 0.12479912 -0.06887462 0.02566362
+v 0.12480159 -0.05689745 0.02566366
+v 0.12776915 -0.06887462 0.02343174
+v 0.12777408 -0.00901761 0.02343196
+v 0.12777408 -0.00303624 0.02343198
+v 0.12627304 -0.00006717 0.02456055
+v 0.12480159 -0.00006717 0.02566387
+v 0.12477940 -0.00901761 0.02566745
+v 0.12479419 -0.09280013 0.02566353
+v 0.13104729 -0.06887461 0.02065540
+v 0.12717021 -0.09826264 0.02386791
+v 0.12776422 -0.11075866 0.02340994
+v 0.13104236 -0.08681874 0.02065172
+v 0.13104236 -0.08082295 0.02065535
+v 0.13104482 -0.00303623 0.02065924
+v 0.13104482 -0.00006716 0.02065925
+v 0.12939343 -0.00006716 0.02205824
+v 0.12777162 -0.00006717 0.02343199
+v 0.12477940 -0.00006717 0.02566387
+v 0.12181923 -0.14666134 0.02484846
+v 0.12478926 -0.09280013 0.02566353
+v 0.12479172 -0.09592774 0.02565992
+v 0.13104729 -0.06887460 0.01855692
+v 0.12776422 -0.11674004 0.02339550
+v 0.13103003 -0.11075865 0.02063721
+v 0.13103496 -0.10477727 0.02064085
+v 0.13104236 -0.08681873 0.01856767
+v 0.13104482 -0.00006715 0.01856799
+v 0.12328083 -0.00006717 0.02496078
+v 0.12105268 -0.14730992 0.02459967
+v 0.12181923 -0.14730992 0.02483764
+v 0.12776422 -0.13469857 0.02307814
+v 0.12776422 -0.12871721 0.02328369
+v 0.12776422 -0.12272141 0.02335942
+v 0.13104482 -0.07484156 0.01855330
+v 0.13047546 -0.09878147 0.01579850
+v 0.13047546 -0.07484155 0.01578056
+v 0.13102017 -0.11674003 0.02062637
+v 0.13103003 -0.11075864 0.01860363
+v 0.13103496 -0.10477726 0.01858564
+v 0.13103989 -0.09280011 0.01856765
+v 0.13046807 -0.00006714 0.01579526
+v 0.12180936 -0.00006717 0.02426849
+v 0.11632774 -0.14730991 0.02226322
+v 0.12661071 -0.14730991 0.02297714
+v 0.13084025 -0.13469856 0.02031623
+v 0.13095116 -0.12871720 0.02051456
+v 0.12718007 -0.14666133 0.02276441
+v 0.12824731 -0.14018991 0.02233536
+v 0.13099799 -0.12272140 0.02059030
+v 0.13103743 -0.09878148 0.01857484
+v 0.13047300 -0.10477725 0.01581290
+v 0.12886104 -0.11075861 0.01179259
+v 0.12886844 -0.10477723 0.01179262
+v 0.12887337 -0.09878145 0.01179264
+v 0.12887337 -0.09280008 0.01179266
+v 0.12886350 -0.00006712 0.01179300
+v 0.13102017 -0.11674002 0.01865409
+v 0.13045820 -0.11674001 0.01587776
+v 0.13046807 -0.11075863 0.01583090
+v 0.11971185 -0.00006716 0.02286590
+v 0.11572387 -0.14730991 0.02174762
+v 0.11765871 -0.00006716 0.02149216
+v 0.12709380 -0.14730991 0.02270671
+v 0.13084025 -0.13469856 0.01957347
+v 0.13075398 -0.13786942 0.02015035
+v 0.13095116 -0.12871719 0.01901101
+v 0.13099799 -0.12272139 0.01876224
+v 0.12616459 -0.11075859 0.00625073
+v 0.12884379 -0.11673999 0.01179257
+v 0.12587868 -0.11710030 0.00569545
+v 0.12617199 -0.10477721 0.00625076
+v 0.12617692 -0.09878143 0.00625078
+v 0.12617692 -0.09280006 0.00625080
+v 0.12753007 -0.00006711 0.00904551
+v 0.13043602 -0.12272138 0.01598951
+v 0.12880435 -0.12272136 0.01179255
+v 0.11341932 -0.14730990 0.01835832
+v 0.10586976 -0.00006709 0.00325847
+v 0.12866386 -0.14730990 0.01786074
+v 0.13026842 -0.13469855 0.01680074
+v 0.13038180 -0.12871718 0.01623467
+v 0.13075398 -0.13786942 0.02001334
+v 0.12893991 -0.14666131 0.01734153
+v 0.12479912 -0.11075858 0.00346358
+v 0.12480404 -0.10477720 0.00345640
+v 0.12479172 -0.11933430 0.00347797
+v 0.12613009 -0.12272134 0.00627233
+v 0.12480651 -0.09878142 0.00345281
+v 0.12480651 -0.01501332 0.00345311
+v 0.12616952 -0.00006710 0.00625114
+v 0.12869590 -0.12871716 0.01179253
+v 0.10586976 -0.14730985 0.00599460
+v 0.10586976 -0.00006704 -0.01081071
+v 0.12875506 -0.14730989 0.01734153
+v 0.12844942 -0.13469853 0.01179251
+v 0.13005892 -0.14018990 0.01783553
+v 0.12793676 -0.14067991 0.01179248
+v 0.12690156 -0.14666129 0.01179246
+v 0.12673395 -0.14730987 0.01183573
+v 0.11887877 -0.10477716 -0.00765616
+v 0.11888370 -0.09878138 -0.00766335
+v 0.12477940 -0.12272133 0.00349960
+v 0.11885904 -0.11518332 -0.00763457
+v 0.11887137 -0.11075854 -0.00764538
+v 0.12607586 -0.12871714 0.00638769
+v 0.11890341 -0.04493457 -0.00768840
+v 0.11890588 -0.00303612 -0.00769185
+v 0.11890588 -0.00006705 -0.00769184
+v 0.12480159 -0.00006709 0.00346038
+v 0.12549172 -0.00006710 0.00486658
+v 0.10586976 -0.14730979 -0.01068145
+v 0.10993662 -0.00006704 -0.01114243
+v 0.10586976 -0.14067983 -0.01097349
+v 0.12594277 -0.13469851 0.00667973
+v 0.12471778 -0.12871713 0.00361496
+v 0.12567164 -0.14067990 0.00724578
+v 0.12507024 -0.14730986 0.00845725
+v 0.12514418 -0.14666128 0.00830942
+v 0.11587915 -0.11075853 -0.00973304
+v 0.11587915 -0.10477715 -0.00974382
+v 0.11587915 -0.09878137 -0.00975101
+v 0.11884426 -0.11917572 -0.00760935
+v 0.11647070 -0.11699936 -0.00929317
+v 0.11587915 -0.04493456 -0.00976885
+v 0.11740977 -0.00006705 -0.00871944
+v 0.10586976 -0.14666121 -0.01088337
+v 0.10993662 -0.14666121 -0.01024517
+v 0.10989472 -0.14730979 -0.01004686
+v 0.11293623 -0.00006704 -0.01045015
+v 0.10993662 -0.13469845 -0.01116816
+v 0.10993662 -0.14067983 -0.01108526
+v 0.12456003 -0.13469850 0.00390699
+v 0.11879003 -0.12272129 -0.00751201
+v 0.12424454 -0.14067989 0.00447305
+v 0.12387976 -0.14730985 0.00627584
+v 0.12363328 -0.14666127 0.00554029
+v 0.11582000 -0.12272128 -0.00967899
+v 0.11587915 -0.00006704 -0.00976868
+v 0.11473304 -0.14067984 -0.00921754
+v 0.11365101 -0.14666122 -0.00833058
+v 0.11056513 -0.14730979 -0.00970793
+v 0.11555873 -0.12871708 -0.00963214
+v 0.11524078 -0.13469845 -0.00953120
+v 0.11852630 -0.12871709 -0.00706132
+v 0.11770553 -0.14067985 -0.00560830
+v 0.11821328 -0.13469847 -0.00648084
+v 0.12350265 -0.14730985 0.00568813
+v 0.12032804 -0.14614238 0.00060058
+v 0.12019248 -0.14730983 0.00096114
+v 0.11350559 -0.14730980 -0.00818995
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 20
+f 1 20 9
+f 1 9 22
+f 1 22 10
+f 1 10 2
+f 2 4 3
+f 2 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 11
+f 5 16 17
+f 5 17 6
+f 5 11 16
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 18
+f 7 18 17
+f 7 17 29
+f 7 29 43
+f 7 43 58
+f 7 58 76
+f 7 76 92
+f 7 92 112
+f 7 112 111
+f 7 111 110
+f 7 110 127
+f 7 127 140
+f 7 140 131
+f 7 131 114
+f 7 114 95
+f 7 95 80
+f 7 80 64
+f 7 64 62
+f 7 62 44
+f 7 44 30
+f 7 30 20
+f 7 20 8
+f 9 20 21
+f 9 21 22
+f 10 22 23
+f 10 23 13
+f 10 13 12
+f 11 24 29
+f 11 29 17
+f 11 17 16
+f 11 15 14
+f 11 14 28
+f 11 28 24
+f 13 23 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 41
+f 14 41 28
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 23
+f 21 23 22
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 25
+f 24 28 36
+f 24 36 37
+f 24 37 38
+f 24 38 29
+f 25 39 26
+f 25 35 39
+f 26 39 59
+f 26 59 40
+f 26 40 41
+f 26 41 27
+f 28 41 42
+f 28 42 36
+f 29 38 43
+f 30 44 31
+f 31 45 63
+f 31 63 79
+f 31 79 94
+f 31 94 113
+f 31 113 130
+f 31 130 143
+f 31 143 152
+f 31 152 151
+f 31 151 149
+f 31 149 137
+f 31 137 119
+f 31 119 101
+f 31 101 96
+f 31 96 81
+f 31 81 65
+f 31 65 46
+f 31 46 32
+f 31 44 45
+f 32 46 33
+f 33 47 48
+f 33 48 34
+f 33 46 49
+f 33 49 50
+f 33 50 47
+f 34 48 51
+f 34 51 35
+f 35 51 39
+f 36 42 37
+f 37 52 41
+f 37 41 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 37 42 52
+f 38 56 57
+f 38 57 58
+f 38 58 43
+f 39 51 69
+f 39 69 59
+f 40 59 60
+f 40 60 61
+f 40 61 53
+f 40 53 41
+f 41 52 42
+f 44 62 45
+f 45 62 64
+f 45 64 63
+f 46 65 49
+f 47 66 68
+f 47 68 48
+f 47 50 67
+f 47 67 84
+f 47 84 66
+f 48 68 69
+f 48 69 51
+f 49 65 67
+f 49 67 50
+f 53 61 54
+f 54 70 73
+f 54 73 55
+f 54 61 71
+f 54 71 72
+f 54 72 70
+f 55 73 74
+f 55 74 56
+f 56 74 75
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 59 69 60
+f 60 69 77
+f 60 77 78
+f 60 78 71
+f 60 71 61
+f 63 64 79
+f 64 80 79
+f 65 81 67
+f 66 82 83
+f 66 83 68
+f 66 84 82
+f 67 81 85
+f 67 85 84
+f 68 83 77
+f 68 77 69
+f 70 86 87
+f 70 87 73
+f 70 72 88
+f 70 88 86
+f 71 78 89
+f 71 89 88
+f 71 88 72
+f 73 87 74
+f 74 87 90
+f 74 90 91
+f 74 91 75
+f 75 91 92
+f 75 92 76
+f 77 83 93
+f 77 93 78
+f 78 93 89
+f 79 80 94
+f 80 95 115
+f 80 115 128
+f 80 128 113
+f 80 113 94
+f 81 96 85
+f 82 97 83
+f 82 84 98
+f 82 98 99
+f 82 99 97
+f 83 97 93
+f 84 85 98
+f 85 100 99
+f 85 99 98
+f 85 96 101
+f 85 101 100
+f 86 102 87
+f 86 88 102
+f 87 102 103
+f 87 103 90
+f 88 89 104
+f 88 104 105
+f 88 105 106
+f 88 106 102
+f 89 93 107
+f 89 107 104
+f 90 103 108
+f 90 108 109
+f 90 109 110
+f 90 110 91
+f 91 110 111
+f 91 111 112
+f 91 112 92
+f 93 97 107
+f 95 114 115
+f 97 116 117
+f 97 117 107
+f 97 99 116
+f 99 100 118
+f 99 118 116
+f 100 101 119
+f 100 119 120
+f 100 120 118
+f 102 106 121
+f 102 121 122
+f 102 122 103
+f 103 122 123
+f 103 123 108
+f 104 124 105
+f 104 107 117
+f 104 117 124
+f 105 124 125
+f 105 125 106
+f 106 125 121
+f 108 126 109
+f 108 123 126
+f 109 126 127
+f 109 127 110
+f 113 128 129
+f 113 129 130
+f 114 131 132
+f 114 132 115
+f 115 132 133
+f 115 133 128
+f 116 134 117
+f 116 118 134
+f 117 134 135
+f 117 135 124
+f 118 120 136
+f 118 136 134
+f 119 137 138
+f 119 138 120
+f 120 138 136
+f 121 125 139
+f 121 139 132
+f 121 132 122
+f 122 132 123
+f 123 132 126
+f 124 135 139
+f 124 139 125
+f 126 140 127
+f 126 132 140
+f 128 133 129
+f 129 133 141
+f 129 141 142
+f 129 142 143
+f 129 143 130
+f 131 140 132
+f 132 139 133
+f 133 139 144
+f 133 144 145
+f 133 145 141
+f 134 146 135
+f 134 136 146
+f 135 146 145
+f 135 145 144
+f 135 144 139
+f 136 138 147
+f 136 147 148
+f 136 148 146
+f 137 149 138
+f 138 150 147
+f 138 149 151
+f 138 151 150
+f 141 147 142
+f 141 145 146
+f 141 146 148
+f 141 148 147
+f 142 147 151
+f 142 151 152
+f 142 152 143
+f 147 150 151
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_1.obj

@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v -0.12480316 0.13767277 0.02566103
+v -0.12480588 0.13767277 0.02566103
+v -0.12480316 0.12493000 0.02566098
+v -0.12183359 0.14658119 0.02487429
+v -0.12183359 0.14721545 0.02485986
+v -0.12664277 0.14721546 0.02298318
+v -0.12710949 0.14721546 0.02271972
+v -0.12719410 0.14658120 0.02277747
+v -0.12768812 0.13980619 0.02291819
+v -0.13087877 0.13458801 0.02036300
+v -0.13099068 0.12862022 0.02055425
+v -0.12777819 0.12862021 0.02332957
+v -0.12777819 0.11665585 0.02343420
+v -0.12777819 -0.02097768 0.02343729
+v -0.12480588 0.12493000 0.02566098
+v -0.12183632 -0.14664684 0.02486239
+v -0.12109119 0.14721545 0.02463249
+v -0.12868162 0.14721547 0.01784758
+v -0.13078597 0.13796109 0.02018979
+v -0.13087877 0.13458801 0.01945353
+v -0.13099068 0.12862023 0.01891938
+v -0.13103981 0.12262362 0.02063724
+v -0.13106165 0.11665586 0.02066248
+v -0.13106710 0.10469147 0.02066243
+v -0.13106983 -0.03294205 0.02066193
+v -0.12777819 -0.02697428 0.02343727
+v -0.12777819 -0.03893866 0.02343363
+v -0.12777819 -0.11075372 0.02340809
+v -0.12777819 -0.11672149 0.02340446
+v -0.12777819 -0.12271809 0.02337918
+v -0.12777819 -0.12871469 0.02329976
+v -0.12183632 -0.14730992 0.02485156
+v -0.11638573 -0.14730991 0.02226391
+v -0.11636663 0.14721546 0.02227221
+v -0.12876623 0.14721548 0.01734232
+v -0.12894910 0.14658122 0.01734232
+v -0.13078597 0.13796109 0.01991911
+v -0.13028649 0.13458802 0.01668543
+v -0.13040113 0.12862024 0.01614767
+v -0.13103981 0.12262363 0.01868838
+v -0.13106165 0.11665587 0.01859814
+v -0.13106710 0.10469148 0.01857643
+v -0.13106983 -0.03294204 0.01857233
+v -0.13105892 -0.11075371 0.02064721
+v -0.13105346 -0.11672148 0.02064358
+v -0.13103435 -0.12271808 0.02061830
+v -0.13098249 -0.12871468 0.02053888
+v -0.12777819 -0.13468246 0.02309403
+v -0.12719957 -0.14664683 0.02276917
+v -0.12711222 -0.14730991 0.02271503
+v -0.10318642 -0.14730985 0.00438854
+v -0.11578254 0.14721546 0.02176334
+v -0.12674375 0.14721550 0.01183138
+v -0.12690751 0.14658124 0.01179168
+v -0.12794468 0.14058463 0.01179166
+v -0.13007361 0.14020981 0.01777899
+v -0.12846053 0.13458804 0.01179163
+v -0.12870073 0.12862026 0.01179161
+v -0.13045026 0.12262364 0.01591667
+v -0.13046664 0.11665588 0.01583004
+v -0.13047482 0.11065927 0.01580475
+v -0.13106437 0.11065926 0.01857646
+v -0.13048574 -0.09279271 0.01579318
+v -0.13106165 -0.08679613 0.01856852
+v -0.13105892 -0.11075370 0.01860091
+v -0.13105346 -0.11672147 0.01862254
+v -0.13103435 -0.12271807 0.01869831
+v -0.13098249 -0.12871467 0.01894370
+v -0.13086786 -0.13468245 0.02033675
+v -0.12826129 -0.14024661 0.02234333
+v -0.13077779 -0.13794021 0.02016711
+v -0.12877988 -0.14730989 0.01733763
+v -0.10318642 -0.14730979 -0.01115541
+v -0.10318642 -0.00004716 0.00303571
+v -0.10457840 0.14721552 0.00518360
+v -0.12508155 0.14721551 0.00845696
+v -0.12515525 0.14658125 0.00831260
+v -0.12568203 0.14058464 0.00724793
+v -0.12595223 0.13458806 0.00669933
+v -0.12471582 0.12862029 0.00364971
+v -0.12607779 0.12862028 0.00642503
+v -0.12477313 0.12374805 0.00354142
+v -0.12480862 0.11976954 0.00347284
+v -0.12879898 0.12262366 0.01179159
+v -0.12884265 0.11665590 0.01179157
+v -0.12885357 0.11065929 0.01179155
+v -0.12885629 0.10469151 0.01179152
+v -0.12886449 -0.03294201 0.01179102
+v -0.12886449 -0.03893861 0.01179100
+v -0.12885903 -0.09279269 0.01179080
+v -0.12885357 -0.10475707 0.01179076
+v -0.13048301 -0.09876048 0.01580037
+v -0.13105892 -0.09876049 0.01857209
+v -0.13046937 -0.11672146 0.01584361
+v -0.13045572 -0.12271806 0.01592299
+v -0.13040386 -0.12871466 0.01616838
+v -0.13086786 -0.13468245 0.01951029
+v -0.13077779 -0.13794021 0.01996862
+v -0.12896001 -0.14664681 0.01733763
+v -0.12674648 -0.14730987 0.01183030
+v -0.10337748 -0.14730979 -0.01116985
+v -0.10457840 0.14658132 -0.01107132
+v -0.10318642 -0.00004711 -0.01069292
+v -0.10457840 0.14721558 -0.01088727
+v -0.12388882 0.14721552 0.00626269
+v -0.12364863 0.14658126 0.00554450
+v -0.12426001 0.14058465 0.00447983
+v -0.12456843 0.13458807 0.00392401
+v -0.11880670 0.12386342 -0.00751294
+v -0.11886947 0.11988490 -0.00762483
+v -0.11889131 0.11665597 -0.00765011
+v -0.11891042 0.11065936 -0.00767539
+v -0.12481408 0.11665593 0.00346200
+v -0.12482499 0.11065932 0.00344754
+v -0.12483045 0.10469154 0.00344030
+v -0.12483318 0.09869495 0.00343667
+v -0.12619788 -0.03893859 0.00625119
+v -0.12483865 -0.03893858 0.00342895
+v -0.12483045 -0.11075364 0.00343951
+v -0.12883720 -0.11672144 0.01179071
+v -0.12880172 -0.12271804 0.01179069
+v -0.12870073 -0.12871464 0.01179067
+v -0.12844962 -0.13468242 0.01179065
+v -0.13028377 -0.13468244 0.01673497
+v -0.13006541 -0.14024660 0.01780682
+v -0.12691024 -0.14664679 0.01179060
+v -0.12793377 -0.14067901 0.01179062
+v -0.12646262 -0.14730987 0.01120233
+v -0.10401069 -0.14730979 -0.01110849
+v -0.10401069 -0.14664671 -0.01116985
+v -0.10995257 -0.13468234 -0.01120950
+v -0.10995530 0.13458812 -0.01118325
+v -0.10995530 0.14058471 -0.01107495
+v -0.10995530 0.14658132 -0.01020155
+v -0.10991163 0.14721558 -0.01000667
+v -0.12352035 0.14721552 0.00568886
+v -0.12034334 0.14606234 0.00060018
+v -0.11772041 0.14058469 -0.00562897
+v -0.11835908 0.13458810 -0.00669727
+v -0.12021506 0.14721554 0.00095386
+v -0.11867842 0.12862033 -0.00727834
+v -0.11539224 0.13458812 -0.00954838
+v -0.11571157 0.12862034 -0.00966027
+v -0.11645670 0.12219128 -0.00927774
+v -0.11589717 0.11665598 -0.00972889
+v -0.11589717 0.11065937 -0.00975417
+v -0.11891314 0.10469158 -0.00767902
+v -0.11893225 -0.03294194 -0.00770479
+v -0.11893225 -0.03893854 -0.00770481
+v -0.11889404 -0.11075360 -0.00765816
+v -0.12482499 -0.11672141 0.00344670
+v -0.11892952 -0.04490631 -0.00770483
+v -0.11890769 -0.09279262 -0.00767253
+v -0.12481681 -0.12084407 0.00346113
+v -0.12480043 -0.12482258 0.00349359
+v -0.12475131 -0.12871461 0.00358381
+v -0.12459573 -0.13468239 0.00387612
+v -0.12567110 -0.14067900 0.00723245
+v -0.12427366 -0.14067899 0.00446796
+v -0.12514979 -0.14664678 0.00831513
+v -0.12507883 -0.14730986 0.00846310
+v -0.10932208 -0.14730979 -0.01027842
+v -0.10995257 -0.14067893 -0.01108682
+v -0.11571430 -0.12871456 -0.00967565
+v -0.11589717 -0.11672136 -0.00972253
+v -0.11589717 -0.11075359 -0.00973694
+v -0.11589717 -0.03893853 -0.00978720
+v -0.11589717 0.10469159 -0.00975781
+v -0.11475356 0.14058470 -0.00920188
+v -0.11364816 0.14658131 -0.00829961
+v -0.11350623 0.14721557 -0.00816608
+v -0.11056668 0.14721558 -0.00967825
+v -0.11887766 -0.11672137 -0.00763653
+v -0.11886401 -0.11983498 -0.00761849
+v -0.11880670 -0.12381351 -0.00751023
+v -0.11868115 -0.12871457 -0.00727928
+v -0.11836180 -0.13468236 -0.00670547
+v -0.11773405 -0.14067895 -0.00565889
+v -0.12366501 -0.14664677 0.00555064
+v -0.12353126 -0.14730985 0.00569861
+v -0.10991163 -0.14730979 -0.01004384
+v -0.10995257 -0.14664671 -0.01023512
+v -0.11476448 -0.14067894 -0.00922097
+v -0.11539769 -0.13468234 -0.00956379
+v -0.11645943 -0.12219904 -0.00928225
+v -0.11368091 -0.14664672 -0.00833678
+v -0.12023690 -0.14730983 0.00093112
+v -0.12036791 -0.14618547 0.00058827
+v -0.12323650 -0.14730985 0.00523305
+v -0.11353625 -0.14730980 -0.00819964
+f 1 2 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 26
+f 2 26 15
+f 3 15 16
+f 3 16 4
+f 4 17 5
+f 4 16 17
+f 5 17 34
+f 5 34 52
+f 5 52 75
+f 5 75 104
+f 5 104 135
+f 5 135 172
+f 5 172 171
+f 5 171 140
+f 5 140 136
+f 5 136 105
+f 5 105 76
+f 5 76 53
+f 5 53 35
+f 5 35 18
+f 5 18 7
+f 5 7 6
+f 7 18 19
+f 7 19 8
+f 8 19 9
+f 9 19 10
+f 10 19 37
+f 10 37 20
+f 10 20 21
+f 10 21 11
+f 11 21 40
+f 11 40 22
+f 11 22 12
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 25 26
+f 14 24 25
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 59
+f 21 59 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 65
+f 25 65 44
+f 25 44 27
+f 25 27 26
+f 27 44 28
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 46 31
+f 30 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 72
+f 32 72 100
+f 32 100 128
+f 32 128 161
+f 32 161 180
+f 32 180 189
+f 32 189 187
+f 32 187 190
+f 32 190 181
+f 32 181 162
+f 32 162 129
+f 32 129 101
+f 32 101 73
+f 32 73 51
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 57 39
+f 38 56 55
+f 38 55 57
+f 39 58 59
+f 39 57 58
+f 40 59 41
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 41 59 60
+f 42 62 61
+f 42 61 63
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 97
+f 47 97 69
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 50
+f 50 71 72
+f 51 73 103
+f 51 103 74
+f 51 74 75
+f 51 75 52
+f 53 76 54
+f 54 77 78
+f 54 78 55
+f 54 76 77
+f 55 78 79
+f 55 79 57
+f 57 79 80
+f 57 80 81
+f 57 81 58
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 60
+f 60 84 85
+f 60 85 61
+f 61 85 86
+f 61 86 87
+f 61 87 63
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 65
+f 63 65 93
+f 63 93 64
+f 63 87 88
+f 64 93 65
+f 65 94 66
+f 65 92 94
+f 66 94 95
+f 66 95 67
+f 67 95 96
+f 67 96 68
+f 68 96 97
+f 69 97 98
+f 69 98 71
+f 69 71 70
+f 71 98 99
+f 71 99 72
+f 72 99 100
+f 73 101 102
+f 73 102 103
+f 74 103 104
+f 74 104 75
+f 76 105 77
+f 77 106 107
+f 77 107 78
+f 77 105 106
+f 78 107 108
+f 78 108 79
+f 79 108 80
+f 80 109 110
+f 80 110 82
+f 80 82 81
+f 80 108 109
+f 82 110 83
+f 83 110 111
+f 83 111 112
+f 83 112 113
+f 83 113 85
+f 83 85 84
+f 85 113 114
+f 85 114 86
+f 86 114 115
+f 86 115 116
+f 86 116 87
+f 87 116 117
+f 87 117 88
+f 88 117 89
+f 89 117 90
+f 90 117 118
+f 90 118 119
+f 90 119 91
+f 91 119 120
+f 91 120 92
+f 92 120 94
+f 94 120 121
+f 94 121 95
+f 95 121 122
+f 95 122 96
+f 96 122 123
+f 96 123 124
+f 96 124 97
+f 97 124 98
+f 98 125 99
+f 98 124 125
+f 99 126 100
+f 99 125 127
+f 99 127 126
+f 100 126 128
+f 101 129 130
+f 101 130 131
+f 101 131 132
+f 101 132 102
+f 102 132 133
+f 102 133 134
+f 102 134 104
+f 102 104 103
+f 104 134 135
+f 105 136 106
+f 106 137 138
+f 106 138 139
+f 106 139 107
+f 106 136 140
+f 106 140 137
+f 107 139 141
+f 107 141 108
+f 108 141 109
+f 109 141 142
+f 109 142 143
+f 109 143 110
+f 110 144 111
+f 110 143 144
+f 111 144 145
+f 111 145 112
+f 112 114 113
+f 112 145 146
+f 112 146 147
+f 112 147 115
+f 112 115 114
+f 115 147 116
+f 116 147 148
+f 116 148 118
+f 116 118 117
+f 118 148 149
+f 118 149 119
+f 119 150 151
+f 119 151 120
+f 119 149 152
+f 119 152 153
+f 119 153 150
+f 120 151 154
+f 120 154 121
+f 121 154 155
+f 121 155 122
+f 122 156 123
+f 122 155 156
+f 123 157 127
+f 123 127 124
+f 123 156 157
+f 124 127 125
+f 126 127 158
+f 126 158 159
+f 126 159 160
+f 126 160 161
+f 126 161 128
+f 127 157 158
+f 129 162 163
+f 129 163 130
+f 130 163 131
+f 131 163 164
+f 131 164 165
+f 131 165 166
+f 131 166 167
+f 131 167 132
+f 132 168 146
+f 132 146 145
+f 132 145 143
+f 132 143 133
+f 132 167 168
+f 133 143 142
+f 133 142 169
+f 133 169 134
+f 134 170 171
+f 134 171 172
+f 134 172 135
+f 134 169 170
+f 137 140 138
+f 138 140 170
+f 138 170 169
+f 138 169 139
+f 139 169 142
+f 139 142 141
+f 140 171 170
+f 143 145 144
+f 146 168 147
+f 147 168 148
+f 148 167 149
+f 148 168 167
+f 149 167 152
+f 150 166 165
+f 150 165 173
+f 150 173 154
+f 150 154 151
+f 150 153 166
+f 152 167 166
+f 152 166 153
+f 154 174 155
+f 154 173 174
+f 155 174 156
+f 156 174 175
+f 156 175 176
+f 156 176 157
+f 157 176 177
+f 157 177 159
+f 157 159 158
+f 159 177 178
+f 159 178 179
+f 159 179 160
+f 160 179 161
+f 161 179 180
+f 162 181 182
+f 162 182 163
+f 163 182 183
+f 163 183 184
+f 163 184 164
+f 164 184 175
+f 164 175 174
+f 164 174 185
+f 164 185 165
+f 165 185 173
+f 173 185 174
+f 175 184 176
+f 176 184 177
+f 177 184 183
+f 177 183 178
+f 178 183 186
+f 178 186 187
+f 178 187 188
+f 178 188 179
+f 179 188 189
+f 179 189 180
+f 181 190 182
+f 182 186 183
+f 182 190 186
+f 186 190 187
+f 187 189 188
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_10.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.06496232 -0.16113938 -0.00977115
+v -0.06241182 -0.16301738 -0.00892080
+v -0.06835370 -0.16300874 -0.00892080
+v -0.06835370 -0.16113938 -0.00976772
+v -0.05190408 -0.16113938 -0.00976772
+v -0.05190408 -0.16302084 -0.00892080
+v -0.06241182 -0.16591046 -0.00484392
+v -0.05190408 -0.16524296 -0.00579371
+v -0.06835370 -0.16590009 -0.00484392
+v -0.07429558 -0.16298625 -0.00891052
+v -0.07429558 -0.16113938 -0.00975400
+v -0.07089725 -0.16113938 -0.00976429
+v -0.05190408 -0.16113946 0.01172082
+v -0.07429558 -0.17259587 0.00525742
+v -0.05646995 -0.16591393 -0.00484392
+v -0.05190408 -0.16591565 -0.00484392
+v -0.08023747 -0.17258895 0.00527113
+v -0.07429558 -0.16586723 -0.00484392
+v -0.08023747 -0.16292573 -0.00887280
+v -0.08023747 -0.16113938 -0.00969914
+v -0.07682523 -0.16113938 -0.00973686
+v -0.05190408 -0.16281342 0.01734067
+v -0.10984957 -0.16113951 0.02346802
+v -0.06835370 -0.17259069 0.00526084
+v -0.05646995 -0.17635360 0.01179276
+v -0.05190408 -0.17257857 0.00530542
+v -0.05646995 -0.17258204 0.00528828
+v -0.08023747 -0.16577212 -0.00484392
+v -0.06241182 -0.17633804 0.01179276
+v -0.06835370 -0.17632075 0.01179276
+v -0.07429558 -0.17629826 0.01179276
+v -0.08023747 -0.17624639 0.01179276
+v -0.08618629 -0.17253535 0.00536714
+v -0.08618629 -0.16277009 -0.00875965
+v -0.08271846 -0.16113938 -0.00965799
+v -0.05190408 -0.16569613 0.02289196
+v -0.11610419 -0.16113951 0.02419493
+v -0.05190408 -0.17631210 0.01179276
+v -0.05190408 -0.17822815 0.01625368
+v -0.08618629 -0.16550928 -0.00484392
+v -0.07429558 -0.17852904 0.01734061
+v -0.05190408 -0.17880400 0.01766635
+v -0.08023747 -0.17846333 0.01734061
+v -0.08618629 -0.17610285 0.01179276
+v -0.09212122 -0.17389803 0.00846337
+v -0.09212122 -0.17234167 0.00569288
+v -0.08618629 -0.16113938 -0.00954484
+v -0.09212122 -0.16935001 0.00135541
+v -0.09212122 -0.16240349 -0.00842705
+v -0.09212122 -0.16113939 -0.00910252
+v -0.08852135 -0.16113939 -0.00942140
+v -0.05190408 -0.16712625 0.02362916
+v -0.12133721 -0.16113950 0.02237765
+v -0.11645166 -0.16519466 0.02319712
+v -0.10994687 -0.16462918 0.02485669
+v -0.05190408 -0.17061247 0.02525784
+v -0.05190408 -0.17056577 0.02524755
+v -0.05190408 -0.17723038 0.02171925
+v -0.08618629 -0.17624643 0.02282677
+v -0.08618629 -0.17828003 0.01734062
+v -0.09212122 -0.17572242 0.01179276
+v -0.09564466 -0.17371472 0.00881311
+v -0.09779902 -0.17204423 0.00668038
+v -0.09806310 -0.16887792 0.00198631
+v -0.09610333 -0.16197636 -0.00799501
+v -0.09433119 -0.16113939 -0.00877678
+v -0.12290086 -0.16113948 0.01734068
+v -0.12044071 -0.16357604 0.02182560
+v -0.11483936 -0.16911145 0.02180500
+v -0.10998857 -0.17090816 0.02275478
+v -0.10400499 -0.17061247 0.02457892
+v -0.09806310 -0.17061247 0.02496295
+v -0.05190408 -0.17675656 0.02286448
+v -0.09212122 -0.17604237 0.02279934
+v -0.09212122 -0.17786673 0.01734062
+v -0.09806310 -0.17700556 0.01734062
+v -0.09779902 -0.17476959 0.01156990
+v -0.09960591 -0.17332046 0.00957089
+v -0.10264287 -0.16824155 0.00275437
+v -0.10006458 -0.16123969 -0.00708636
+v -0.10015492 -0.16113939 -0.00712751
+v -0.09665234 -0.16113939 -0.00837904
+v -0.12217116 -0.16113948 0.01550283
+v -0.11988475 -0.16288085 0.01288661
+v -0.12080904 -0.16402391 0.01734067
+v -0.11823771 -0.16701555 0.01734066
+v -0.11526328 -0.16945037 0.01734065
+v -0.10803574 -0.17412633 0.02099578
+v -0.10400499 -0.17487338 0.02196614
+v -0.09806310 -0.17563426 0.02263475
+v -0.10400499 -0.17542673 0.01734063
+v -0.10400499 -0.17415916 0.01355863
+v -0.10400499 -0.17263048 0.01078470
+v -0.10437332 -0.16960768 0.00583004
+v -0.10660413 -0.16745128 0.00370416
+v -0.10052326 -0.16113939 -0.00687721
+v -0.12075345 -0.16113947 0.01238601
+v -0.11875891 -0.16149914 0.00919033
+v -0.11643776 -0.16515656 0.01110704
+v -0.11412356 -0.16857188 0.01302718
+v -0.11078776 -0.17244201 0.01734064
+v -0.10781335 -0.17401737 0.01734063
+v -0.10703500 -0.17363347 0.01451870
+v -0.10868204 -0.16860126 0.00740045
+v -0.11264330 -0.16743228 0.00933089
+v -0.11037774 -0.16647252 0.00583005
+v -0.11337995 -0.16207324 0.00306985
+v -0.10994687 -0.16333388 0.00189376
+v -0.11376218 -0.16113943 0.00270983
+v -0.11917590 -0.16113945 0.00951950
+v -0.11884231 -0.16113945 0.00894689
+v -0.11846704 -0.16113945 0.00842913
+v -0.11540923 -0.16113944 0.00458197
+v -0.11467258 -0.16332005 0.00624838
+v -0.10983567 -0.17057956 0.01192308
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 21
+f 1 21 20
+f 1 20 35
+f 1 35 47
+f 1 47 51
+f 1 51 50
+f 1 50 66
+f 1 66 82
+f 1 82 81
+f 1 81 96
+f 1 96 109
+f 1 109 113
+f 1 113 112
+f 1 112 111
+f 1 111 110
+f 1 110 97
+f 1 97 83
+f 1 83 67
+f 1 67 53
+f 1 53 37
+f 1 37 23
+f 1 23 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 9
+f 5 13 22
+f 5 22 36
+f 5 36 52
+f 5 52 57
+f 5 57 56
+f 5 56 73
+f 5 73 58
+f 5 58 42
+f 5 42 39
+f 5 39 38
+f 5 38 26
+f 5 26 16
+f 5 16 8
+f 5 8 6
+f 7 14 9
+f 7 8 15
+f 7 15 14
+f 8 16 15
+f 9 14 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 13 23 22
+f 14 15 16
+f 14 16 24
+f 14 24 25
+f 14 25 17
+f 16 26 27
+f 16 27 24
+f 17 28 18
+f 17 25 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 28
+f 18 28 19
+f 19 28 34
+f 19 34 35
+f 19 35 20
+f 22 23 36
+f 23 37 36
+f 24 27 25
+f 25 27 26
+f 25 26 38
+f 25 38 39
+f 25 39 29
+f 28 33 40
+f 28 40 34
+f 29 39 30
+f 30 39 31
+f 31 41 32
+f 31 39 42
+f 31 42 41
+f 32 41 43
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 40
+f 34 47 35
+f 34 40 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 47
+f 36 37 52
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 52
+f 40 46 48
+f 41 42 43
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 48
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 53 67 68
+f 53 68 54
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 54 68 69
+f 55 71 72
+f 55 72 56
+f 56 72 73
+f 58 73 59
+f 59 72 74
+f 59 74 60
+f 59 73 72
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 62
+f 62 77 78
+f 62 78 63
+f 63 78 79
+f 63 79 64
+f 64 79 65
+f 65 79 80
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 67 83 84
+f 67 84 85
+f 67 85 68
+f 68 85 86
+f 68 86 69
+f 69 86 87
+f 69 87 88
+f 69 88 70
+f 70 88 89
+f 70 89 71
+f 71 89 90
+f 71 90 72
+f 72 90 74
+f 74 90 75
+f 75 90 76
+f 76 90 89
+f 76 89 88
+f 76 88 91
+f 76 91 92
+f 76 92 77
+f 77 92 78
+f 78 92 93
+f 78 93 94
+f 78 94 79
+f 79 94 95
+f 79 95 80
+f 80 95 81
+f 81 95 96
+f 83 97 84
+f 84 98 99
+f 84 99 100
+f 84 100 86
+f 84 86 85
+f 84 97 98
+f 86 100 87
+f 87 100 101
+f 87 101 88
+f 88 102 91
+f 88 101 102
+f 91 102 103
+f 91 103 92
+f 92 103 93
+f 93 103 94
+f 94 103 95
+f 95 103 104
+f 95 104 105
+f 95 105 106
+f 95 106 107
+f 95 107 108
+f 95 108 96
+f 96 108 107
+f 96 107 109
+f 97 110 98
+f 98 110 111
+f 98 111 112
+f 98 112 113
+f 98 113 107
+f 98 107 114
+f 98 114 99
+f 99 114 105
+f 99 105 100
+f 100 105 115
+f 100 115 103
+f 100 103 101
+f 101 103 102
+f 103 115 104
+f 104 115 105
+f 105 114 107
+f 105 107 106
+f 107 113 109
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_11.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.02091831 -0.17070301 0.03818007
+v -0.02091831 -0.17677139 0.03775743
+v -0.02091831 -0.17060491 0.03817538
+v -0.03102144 -0.17180878 0.03720335
+v -0.03102144 -0.17455783 0.03720334
+v -0.02675392 -0.17537132 0.03758839
+v -0.02248337 -0.17899720 0.03632521
+v -0.02091831 -0.17718221 0.03753673
+v -0.02091831 -0.16733874 0.03705780
+v -0.02783673 -0.16781905 0.03665396
+v -0.02621404 -0.17013481 0.03742406
+v -0.03287768 -0.17013480 0.03595898
+v -0.03907726 -0.17033305 0.03287385
+v -0.04195563 -0.17213783 0.03151208
+v -0.03287768 -0.17657108 0.03509963
+v -0.02675392 -0.17836563 0.03584155
+v -0.04195563 -0.17408976 0.03151207
+v -0.03820677 -0.17629105 0.03242773
+v -0.03269569 -0.18022559 0.03214598
+v -0.02675392 -0.18080400 0.03306635
+v -0.02091831 -0.18084489 0.03422151
+v -0.02091831 -0.18055467 0.03460186
+v -0.02091831 -0.16729377 0.03703902
+v -0.02091831 -0.16536226 0.03399146
+v -0.02621404 -0.16628816 0.03447513
+v -0.03269569 -0.16635560 0.03322136
+v -0.03739391 -0.16694220 0.03214133
+v -0.04135509 -0.16815014 0.03104251
+v -0.05190105 -0.17056807 0.02524792
+v -0.05190105 -0.17061508 0.02525731
+v -0.03594410 -0.17973504 0.03139935
+v -0.04915006 -0.17426347 0.02610723
+v -0.05190105 -0.17675702 0.02286245
+v -0.03269569 -0.18121276 0.02843631
+v -0.02675392 -0.18181573 0.02843631
+v -0.02091831 -0.18089394 0.03399611
+v -0.02091831 -0.16389676 0.02843638
+v -0.03269569 -0.16419517 0.02843638
+v -0.05190105 -0.16281344 0.01734027
+v -0.03907726 -0.16566066 0.02888716
+v -0.05190105 -0.16569537 0.02289066
+v -0.05190105 -0.16712613 0.02362790
+v -0.03820677 -0.18010292 0.02798552
+v -0.04824014 -0.17964711 0.02024220
+v -0.05190105 -0.17722917 0.02171668
+v -0.02091831 -0.18202012 0.02843631
+v -0.04824014 -0.17964711 0.01991819
+v -0.04457923 -0.17979632 0.01965523
+v -0.03863443 -0.16304647 0.02288598
+v -0.02091831 -0.16113945 0.00934338
+v -0.03451856 -0.16113947 0.01403446
+v -0.03727562 -0.16113947 0.01419412
+v -0.05190105 -0.16113946 0.01172414
+v -0.05190105 -0.17880501 0.01766892
+v -0.03988405 -0.17980858 0.01969749
+v -0.02091831 -0.18199559 0.02835648
+v -0.05190105 -0.17822657 0.01625080
+v -0.05190105 -0.17631141 0.01179921
+v -0.03863443 -0.17437377 0.00748381
+v -0.02091831 -0.16113938 -0.00979188
+v -0.05190105 -0.16113938 -0.00976370
+v -0.02091831 -0.18057505 0.02463274
+v -0.03406360 -0.17432677 0.00755894
+v -0.05190105 -0.17257920 0.00530498
+v -0.03863443 -0.17289192 0.00470861
+v -0.02091831 -0.16301774 -0.00895135
+v -0.02932899 -0.16113938 -0.00978718
+v -0.03526773 -0.16113938 -0.00978249
+v -0.05190105 -0.16200396 -0.00937866
+v -0.02091831 -0.17009788 0.00070314
+v -0.05190105 -0.16591601 -0.00484256
+v -0.05190105 -0.16524357 -0.00579110
+v -0.05190105 -0.16302183 -0.00891847
+v -0.03302023 -0.16970954 0.00015843
+v -0.02675392 -0.17015511 0.00070313
+v -0.02091831 -0.16305453 -0.00893256
+v -0.03269569 -0.16304431 -0.00893256
+v -0.02091831 -0.16604683 -0.00499282
+v -0.02675392 -0.16604274 -0.00498813
+v -0.02091831 -0.16599165 -0.00506795
+f 1 2 8
+f 1 8 22
+f 1 22 21
+f 1 21 36
+f 1 36 46
+f 1 46 56
+f 1 56 62
+f 1 62 70
+f 1 70 78
+f 1 78 80
+f 1 80 76
+f 1 76 66
+f 1 66 60
+f 1 60 50
+f 1 50 37
+f 1 37 24
+f 1 24 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 17
+f 4 17 5
+f 5 15 16
+f 5 16 6
+f 5 17 18
+f 5 18 15
+f 6 16 7
+f 7 16 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 12
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 17
+f 15 18 31
+f 15 31 16
+f 16 31 19
+f 17 30 32
+f 17 32 33
+f 17 33 18
+f 18 33 31
+f 19 31 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 24 26 25
+f 24 37 38
+f 24 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 41
+f 29 41 39
+f 29 39 53
+f 29 53 61
+f 29 61 69
+f 29 69 73
+f 29 73 72
+f 29 72 71
+f 29 71 64
+f 29 64 58
+f 29 58 57
+f 29 57 54
+f 29 54 45
+f 29 45 33
+f 29 33 30
+f 30 33 32
+f 31 43 34
+f 31 33 44
+f 31 44 43
+f 33 45 44
+f 34 43 44
+f 34 44 35
+f 35 46 36
+f 35 44 47
+f 35 47 48
+f 35 48 46
+f 37 49 38
+f 37 50 51
+f 37 51 52
+f 37 52 49
+f 38 49 39
+f 39 41 40
+f 39 49 53
+f 44 45 54
+f 44 54 47
+f 46 48 55
+f 46 55 56
+f 47 54 48
+f 48 54 57
+f 48 57 58
+f 48 58 59
+f 48 59 55
+f 49 52 53
+f 50 60 67
+f 50 67 68
+f 50 68 61
+f 50 61 53
+f 50 53 52
+f 50 52 51
+f 55 62 56
+f 55 59 63
+f 55 63 62
+f 58 64 65
+f 58 65 59
+f 59 65 63
+f 60 66 67
+f 61 68 69
+f 62 63 70
+f 63 65 70
+f 64 71 65
+f 65 71 72
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 70
+f 66 76 77
+f 66 77 67
+f 67 77 68
+f 68 77 69
+f 69 77 73
+f 70 75 78
+f 73 77 79
+f 73 79 75
+f 73 75 74
+f 75 79 78
+f 76 80 77
+f 77 80 79
+f 78 79 80
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_12.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.09790460 0.16105366 0.01668215
+v -0.09798920 0.16105366 0.01686904
+v -0.09790460 0.14722907 0.00293348
+v -0.09790460 0.16105375 -0.00726421
+v -0.10067513 0.16105365 0.02005319
+v -0.09792575 0.14721553 0.00293348
+v -0.09790460 0.14721554 -0.00135789
+v -0.11577860 0.14721546 0.02176334
+v -0.09790460 0.15908016 -0.00924241
+v -0.09990772 0.16105375 -0.00711964
+v -0.10142743 0.16105364 0.02058564
+v -0.11636172 0.14721546 0.02227464
+v -0.09790460 0.14721558 -0.01073755
+v -0.09790460 0.15890136 -0.00934467
+v -0.09802244 0.15890813 -0.00932351
+v -0.10401064 0.15698330 -0.00871701
+v -0.10033373 0.16105375 -0.00687985
+v -0.10733408 0.15588746 -0.00790599
+v -0.10296225 0.16105364 0.02130851
+v -0.12109306 0.14721545 0.02463366
+v -0.10401064 0.14721558 -0.01110428
+v -0.09790460 0.15241980 -0.01113247
+v -0.09790460 0.15258235 -0.01114305
+v -0.09806775 0.15258235 -0.01115010
+v -0.10401064 0.15258235 -0.01057886
+v -0.10441852 0.16017870 -0.00505329
+v -0.10445477 0.16105373 -0.00403422
+v -0.10956983 0.15200664 -0.00852662
+v -0.11295066 0.14962804 -0.00764508
+v -0.11372412 0.16105371 0.00274665
+v -0.11183580 0.16105372 0.00133617
+v -0.10723739 0.16105364 0.02301871
+v -0.12183630 0.14721545 0.02486286
+v -0.10990822 0.14721558 -0.01001116
+v -0.11056384 0.14721558 -0.00967970
+v -0.11350054 0.14721557 -0.00816696
+v -0.11959752 0.15258230 0.00261615
+v -0.11890565 0.15563953 0.00342718
+v -0.11761555 0.15999986 0.00625168
+v -0.11663665 0.16105370 0.00625168
+v -0.11342501 0.16105363 0.02487349
+v -0.11589341 0.15856666 0.02485937
+v -0.12183630 0.15258222 0.02476415
+v -0.12664318 0.14721546 0.02298340
+v -0.12021386 0.14721554 0.00095176
+v -0.12352219 0.14721552 0.00568744
+v -0.12253422 0.15198492 0.00680526
+v -0.12400560 0.15358058 0.01053244
+v -0.12499053 0.15593344 0.01423143
+v -0.11978182 0.15700763 0.00625167
+v -0.11916245 0.16105368 0.00953456
+v -0.11846151 0.16105369 0.00846260
+v -0.11609282 0.16105363 0.02422467
+v -0.12008093 0.16105364 0.02300813
+v -0.12217771 0.15874548 0.02290234
+v -0.12635617 0.15258223 0.02222529
+v -0.12711149 0.14721546 0.02271894
+v -0.12388777 0.14721552 0.00626221
+v -0.12480624 0.14959141 0.00901970
+v -0.12547999 0.15198490 0.01214744
+v -0.12073957 0.16105367 0.01241193
+v -0.12194204 0.15867101 0.01172079
+v -0.12719911 0.15258225 0.01734152
+v -0.12545582 0.15681660 0.01734154
+v -0.12376691 0.15980882 0.01734155
+v -0.12131664 0.16105364 0.02237695
+v -0.12548906 0.15687076 0.02121329
+v -0.12868256 0.14721547 0.01784574
+v -0.12508420 0.14721551 0.00845902
+v -0.12674591 0.14721550 0.01183359
+v -0.12876716 0.14721548 0.01734150
+v -0.12285751 0.16105366 0.01734155
+v -0.12262184 0.16105365 0.01887897
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 27
+f 1 27 31
+f 1 31 30
+f 1 30 40
+f 1 40 52
+f 1 52 51
+f 1 51 61
+f 1 61 72
+f 1 72 73
+f 1 73 66
+f 1 66 54
+f 1 54 53
+f 1 53 41
+f 1 41 32
+f 1 32 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
+f 5 11 12
+f 5 12 8
+f 6 8 12
+f 6 12 20
+f 6 20 33
+f 6 33 44
+f 6 44 57
+f 6 57 68
+f 6 68 71
+f 6 71 70
+f 6 70 69
+f 6 69 58
+f 6 58 46
+f 6 46 45
+f 6 45 36
+f 6 36 35
+f 6 35 34
+f 6 34 21
+f 6 21 13
+f 6 13 7
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 18
+f 10 18 17
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 18
+f 17 26 27
+f 17 18 26
+f 18 27 26
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 27
+f 19 32 20
+f 20 32 33
+f 21 34 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 25 34 28
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 40
+f 41 53 42
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 46 58 59
+f 46 59 47
+f 47 59 48
+f 48 59 60
+f 48 60 49
+f 49 61 62
+f 49 62 50
+f 49 60 63
+f 49 63 64
+f 49 64 65
+f 49 65 61
+f 50 62 51
+f 51 62 61
+f 54 66 55
+f 55 66 67
+f 55 67 56
+f 56 67 68
+f 56 68 57
+f 58 69 59
+f 59 69 70
+f 59 70 60
+f 60 70 71
+f 60 71 63
+f 61 65 72
+f 63 71 67
+f 63 67 64
+f 64 67 65
+f 65 67 72
+f 66 73 67
+f 67 73 72
+f 67 71 68
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_13.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.05253578 0.16105549 -0.00976623
+v 0.05253578 0.16291307 -0.00891332
+v 0.05899137 0.16105549 -0.00976281
+v 0.05253578 0.16105541 0.01183713
+v 0.05253578 0.16579207 -0.00484406
+v 0.05645180 0.16579035 -0.00484406
+v 0.06239810 0.16290614 -0.00890990
+v 0.06493078 0.16105549 -0.00975938
+v 0.05253578 0.16270350 0.01734160
+v 0.10981708 0.16105536 0.02350028
+v 0.05253578 0.17249010 0.00531540
+v 0.05645180 0.17249529 0.00530170
+v 0.06833751 0.17250568 0.00527087
+v 0.07428382 0.17250568 0.00526745
+v 0.06239810 0.16578341 -0.00484406
+v 0.06833751 0.16289749 -0.00890647
+v 0.06833751 0.16105549 -0.00975596
+v 0.05253578 0.16556518 0.02282209
+v 0.11607308 0.16105536 0.02420247
+v 0.05253578 0.17625720 0.01179267
+v 0.05645180 0.17627625 0.01179267
+v 0.08022323 0.17249529 0.00528458
+v 0.06833751 0.16577130 -0.00484406
+v 0.06239810 0.17626933 0.01179267
+v 0.06833751 0.17625894 0.01179267
+v 0.07428382 0.16287326 -0.00889620
+v 0.07428382 0.16105549 -0.00973883
+v 0.07087020 0.16105549 -0.00974911
+v 0.05253578 0.16749028 0.02381544
+v 0.12128986 0.16105537 0.02236308
+v 0.11640343 0.16508736 0.02317832
+v 0.10993408 0.16455241 0.02486699
+v 0.05253578 0.17053549 0.02522667
+v 0.05253578 0.17789664 0.01560502
+v 0.08022323 0.16563972 -0.00484406
+v 0.07428382 0.16573494 -0.00484406
+v 0.07428382 0.17623296 0.01179267
+v 0.08022323 0.17617064 0.01179267
+v 0.08616953 0.17244336 0.00538048
+v 0.05253578 0.17873974 0.01763281
+v 0.08022323 0.16281785 -0.00886194
+v 0.08022323 0.16105549 -0.00968745
+v 0.07679585 0.16105549 -0.00972170
+v 0.12283837 0.16105539 0.01734159
+v 0.12039516 0.16344791 0.02181504
+v 0.11477232 0.16901549 0.02177396
+v 0.10996160 0.17081942 0.02272963
+v 0.10398778 0.17053549 0.02455874
+v 0.09804836 0.17053549 0.02495950
+v 0.05253578 0.17116046 0.02499718
+v 0.08616953 0.16538178 -0.00484406
+v 0.08616953 0.16266550 -0.00874206
+v 0.07428382 0.17849045 0.01734166
+v 0.06833751 0.17853373 0.01734166
+v 0.08022323 0.17839697 0.01734166
+v 0.08616953 0.17601137 0.01179267
+v 0.08616953 0.17398760 0.00815156
+v 0.09210207 0.17381274 0.00848039
+v 0.09210207 0.17225465 0.00570931
+v 0.05253578 0.17739976 0.02108208
+v 0.08022323 0.17626755 0.02284611
+v 0.08268709 0.16105549 -0.00963950
+v 0.12211573 0.16105539 0.01547138
+v 0.11986523 0.16279181 0.01287159
+v 0.12077368 0.16389977 0.01734160
+v 0.11816529 0.16689304 0.01734161
+v 0.11519214 0.16933579 0.01734162
+v 0.10799327 0.17403602 0.02098274
+v 0.10398778 0.17478217 0.02194867
+v 0.09804836 0.17554909 0.02262688
+v 0.09210207 0.17595940 0.02280158
+v 0.08616953 0.17616887 0.02283583
+v 0.05253578 0.17666746 0.02285296
+v 0.09210207 0.16926313 0.00138315
+v 0.09210207 0.16229676 -0.00839953
+v 0.09210207 0.16105548 -0.00906405
+v 0.08849574 0.16105548 -0.00938945
+v 0.08616953 0.16105548 -0.00952304
+v 0.08616953 0.17819269 0.01734165
+v 0.09210207 0.17561839 0.01179267
+v 0.09559826 0.17363097 0.00882635
+v 0.09776619 0.17196381 0.00668895
+v 0.09804836 0.16879743 0.00200998
+v 0.12073927 0.16105540 0.01237491
+v 0.11875029 0.16143802 0.00917568
+v 0.11641719 0.16507356 0.01110414
+v 0.11408409 0.16846327 0.01303602
+v 0.11073242 0.17232732 0.01734163
+v 0.10775928 0.17391831 0.01734164
+v 0.10398778 0.17531713 0.01734164
+v 0.09804836 0.17690293 0.01734165
+v 0.09210207 0.17776507 0.01734165
+v 0.09604561 0.16188127 -0.00797480
+v 0.09660308 0.16105548 -0.00835501
+v 0.09428375 0.16105548 -0.00874207
+v 0.09776619 0.17467315 0.01157686
+v 0.09955558 0.17323969 0.00958334
+v 0.10263197 0.16816554 0.00276012
+v 0.11919076 0.16105542 0.00952506
+v 0.11883976 0.16105542 0.00891878
+v 0.11845435 0.16105542 0.00837416
+v 0.11338210 0.16201454 0.00305468
+v 0.11467597 0.16325580 0.00625048
+v 0.11262505 0.16735531 0.00933669
+v 0.10981019 0.17048707 0.01193993
+v 0.10698846 0.17354265 0.01454317
+v 0.10398778 0.17406374 0.01358409
+v 0.10000981 0.16115243 -0.00707395
+v 0.10010616 0.16105548 -0.00711163
+v 0.10398778 0.17255068 0.01081301
+v 0.10435943 0.16952972 0.00582919
+v 0.10658928 0.16737956 0.00369864
+v 0.11545367 0.16105543 0.00460290
+v 0.10993408 0.16327313 0.00187637
+v 0.11036077 0.16640661 0.00582918
+v 0.11376751 0.16105544 0.00269158
+v 0.10047781 0.16105548 -0.00686500
+v 0.10866774 0.16852561 0.00739798
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 28
+f 1 28 27
+f 1 27 43
+f 1 43 42
+f 1 42 62
+f 1 62 78
+f 1 78 77
+f 1 77 76
+f 1 76 95
+f 1 95 94
+f 1 94 109
+f 1 109 117
+f 1 117 116
+f 1 116 113
+f 1 113 101
+f 1 101 100
+f 1 100 99
+f 1 99 84
+f 1 84 63
+f 1 63 44
+f 1 44 30
+f 1 30 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 29
+f 1 29 33
+f 1 33 50
+f 1 50 73
+f 1 73 60
+f 1 60 40
+f 1 40 34
+f 1 34 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 10 9
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 10 18
+f 10 19 18
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 14 22 23
+f 14 23 15
+f 14 21 24
+f 14 24 25
+f 14 25 22
+f 15 23 16
+f 16 23 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 18 19 29
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 29
+f 20 34 21
+f 21 34 24
+f 22 35 36
+f 22 36 23
+f 22 25 37
+f 22 37 38
+f 22 38 39
+f 22 39 35
+f 23 36 26
+f 24 34 25
+f 25 34 40
+f 25 40 37
+f 26 36 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 30 44 45
+f 30 45 31
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 31 45 46
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 35 41 36
+f 35 39 51
+f 35 51 52
+f 35 52 41
+f 37 53 38
+f 37 40 54
+f 37 54 53
+f 38 53 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 39 57 58
+f 39 58 59
+f 39 59 51
+f 40 60 61
+f 40 61 55
+f 40 55 53
+f 40 53 54
+f 41 62 42
+f 41 52 62
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 46
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 72
+f 49 72 61
+f 49 61 50
+f 50 61 73
+f 51 59 74
+f 51 74 52
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 62
+f 55 61 72
+f 55 72 79
+f 55 79 56
+f 56 79 80
+f 56 80 58
+f 56 58 57
+f 58 80 81
+f 58 81 59
+f 59 81 82
+f 59 82 83
+f 59 83 74
+f 60 73 61
+f 63 84 64
+f 64 85 86
+f 64 86 87
+f 64 87 66
+f 64 66 65
+f 64 84 85
+f 66 87 67
+f 67 87 88
+f 67 88 68
+f 68 89 90
+f 68 90 91
+f 68 91 69
+f 68 88 89
+f 69 91 70
+f 70 91 92
+f 70 92 71
+f 71 92 79
+f 71 79 72
+f 74 83 75
+f 75 83 93
+f 75 93 94
+f 75 94 95
+f 75 95 76
+f 79 92 80
+f 80 92 91
+f 80 91 96
+f 80 96 81
+f 81 96 97
+f 81 97 82
+f 82 97 98
+f 82 98 83
+f 83 98 93
+f 84 99 85
+f 85 99 100
+f 85 100 101
+f 85 101 102
+f 85 102 103
+f 85 103 86
+f 86 103 104
+f 86 104 87
+f 87 104 105
+f 87 105 106
+f 87 106 88
+f 88 106 89
+f 89 106 90
+f 90 106 107
+f 90 107 91
+f 91 107 96
+f 93 98 108
+f 93 108 109
+f 93 109 94
+f 96 107 97
+f 97 107 110
+f 97 110 111
+f 97 111 98
+f 98 111 112
+f 98 112 108
+f 101 113 102
+f 102 114 112
+f 102 112 115
+f 102 115 104
+f 102 104 103
+f 102 113 116
+f 102 116 117
+f 102 117 114
+f 104 115 112
+f 104 112 118
+f 104 118 105
+f 105 118 106
+f 106 118 112
+f 106 112 111
+f 106 111 110
+f 106 110 107
+f 108 112 109
+f 109 112 117
+f 112 114 117
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_14.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.09213406 -0.16113947 0.01284007
+v -0.10159337 -0.16113950 0.02057375
+v -0.09213406 -0.16113941 -0.00150586
+v -0.09213406 -0.14731931 0.00256028
+v -0.11637959 -0.14730991 0.02227006
+v -0.12183564 -0.14730992 0.02485148
+v -0.10401111 -0.16113950 0.02147654
+v -0.09433657 -0.16113939 -0.00877757
+v -0.09213406 -0.16113532 -0.00910200
+v -0.09213406 -0.14730979 -0.01037503
+v -0.09283355 -0.14730984 0.00261671
+v -0.12183564 -0.15265982 0.02476330
+v -0.11589174 -0.15864325 0.02481265
+v -0.10985457 -0.16113951 0.02346551
+v -0.12711233 -0.14730991 0.02271441
+v -0.09807796 -0.15900321 -0.00936296
+v -0.09213406 -0.15864312 -0.01043150
+v -0.09666103 -0.16113939 -0.00837907
+v -0.09213406 -0.14730979 -0.01058663
+v -0.12218718 -0.15883682 0.02289775
+v -0.11610696 -0.16113951 0.02419550
+v -0.12637696 -0.15265981 0.02223125
+v -0.12878036 -0.14730989 0.01733997
+v -0.10401111 -0.15709448 -0.00874582
+v -0.10401111 -0.15265969 -0.01060780
+v -0.09806721 -0.15265969 -0.01116500
+v -0.09213406 -0.15265969 -0.01100983
+v -0.10016210 -0.16113939 -0.00712715
+v -0.10337976 -0.14730979 -0.01116850
+v -0.12550529 -0.15697004 0.02121559
+v -0.12134061 -0.16113950 0.02237581
+v -0.12724147 -0.15265979 0.01733995
+v -0.12674644 -0.14730987 0.01183506
+v -0.12549812 -0.15206143 0.01213479
+v -0.10734715 -0.15597766 -0.00792412
+v -0.10401111 -0.14730979 -0.01111208
+v -0.10957836 -0.15211008 -0.00856242
+v -0.10932008 -0.14730979 -0.01027982
+v -0.10053157 -0.16113939 -0.00687676
+v -0.12547659 -0.15692399 0.01733993
+v -0.12378346 -0.15991571 0.01733992
+v -0.12289743 -0.16113948 0.01733992
+v -0.12500310 -0.15602782 0.01421544
+v -0.12646306 -0.14730987 0.01120381
+v -0.12480938 -0.14966939 0.00901735
+v -0.12400227 -0.15365881 0.01051612
+v -0.11297538 -0.14974920 -0.00767725
+v -0.10444874 -0.16030144 -0.00508176
+v -0.11376097 -0.16113943 0.00271187
+v -0.10990837 -0.14730979 -0.01004354
+v -0.12217284 -0.16113948 0.01550260
+v -0.11892647 -0.15574621 0.00340662
+v -0.11979455 -0.15711619 0.00624899
+v -0.12194326 -0.15876368 0.01170101
+v -0.12075591 -0.16113947 0.01238515
+v -0.12507842 -0.14730986 0.00846722
+v -0.12353236 -0.14730985 0.00569537
+v -0.12255665 -0.15206141 0.00680268
+v -0.11353139 -0.14730980 -0.00820269
+v -0.11962596 -0.15265974 0.00258142
+v -0.11541106 -0.16113944 0.00458094
+v -0.11764585 -0.16010790 0.00624898
+v -0.11847090 -0.16113945 0.00842838
+v -0.11884396 -0.16113945 0.00894678
+v -0.11917757 -0.16113945 0.00951808
+v -0.12323463 -0.14730985 0.00523339
+v -0.12023936 -0.14730983 0.00093102
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 31
+f 1 31 42
+f 1 42 51
+f 1 51 55
+f 1 55 65
+f 1 65 64
+f 1 64 63
+f 1 63 61
+f 1 61 49
+f 1 49 39
+f 1 39 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 27
+f 1 27 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 19
+f 5 19 29
+f 5 29 36
+f 5 36 38
+f 5 38 50
+f 5 50 59
+f 5 59 67
+f 5 67 66
+f 5 66 57
+f 5 57 56
+f 5 56 44
+f 5 44 33
+f 5 33 23
+f 5 23 15
+f 5 15 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 15 12
+f 8 16 17
+f 8 17 9
+f 8 18 16
+f 12 20 21
+f 12 21 13
+f 12 15 22
+f 12 22 20
+f 13 21 14
+f 15 23 22
+f 16 18 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 28 24
+f 19 27 29
+f 20 22 30
+f 20 30 31
+f 20 31 21
+f 22 23 30
+f 23 32 30
+f 23 33 34
+f 23 34 32
+f 24 28 35
+f 24 35 25
+f 25 36 26
+f 25 35 37
+f 25 37 38
+f 25 38 36
+f 26 36 29
+f 26 29 27
+f 28 39 35
+f 30 32 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 32 34 43
+f 32 43 40
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 43
+f 35 47 37
+f 35 39 48
+f 35 48 49
+f 35 49 47
+f 37 50 38
+f 37 47 50
+f 39 49 48
+f 40 43 41
+f 41 43 51
+f 41 51 42
+f 43 46 52
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 51
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 58 52
+f 47 59 50
+f 47 49 52
+f 47 52 60
+f 47 60 59
+f 49 61 52
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 53
+f 52 58 60
+f 53 64 65
+f 53 65 54
+f 54 65 55
+f 57 66 60
+f 57 60 58
+f 59 60 67
+f 60 66 67
+f 61 63 62
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_15.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03002898 0.17053857 0.01669151
+v 0.00043026 0.17053855 0.02246030
+v 0.03013607 0.17141433 0.01669151
+v 0.03247174 0.16442016 0.01669148
+v 0.00043026 0.16533363 0.02410557
+v 0.00043026 0.17652191 0.02300799
+v 0.03275223 0.16394157 0.01669148
+v 0.03223205 0.17542972 0.01669152
+v 0.00043026 0.16402891 0.02658148
+v 0.03363447 0.16332000 0.01669148
+v 0.03746946 0.16176706 0.01669147
+v 0.00043026 0.18048169 0.02465329
+v 0.03256863 0.17591228 0.01669153
+v 0.00043026 0.16305385 0.02843671
+v 0.03788253 0.16176706 0.01669147
+v 0.00043026 0.18198101 0.02843678
+v 0.03977452 0.17973902 0.01969460
+v 0.03820381 0.17813842 0.01669153
+v 0.00891108 0.16311939 0.02843671
+v 0.00891108 0.16388194 0.03398415
+v 0.00043026 0.16361981 0.03162004
+v 0.03861689 0.16297444 0.02289156
+v 0.05252890 0.16257133 0.01669148
+v 0.00043026 0.18164338 0.03398422
+v 0.00891108 0.18187376 0.03398422
+v 0.01485224 0.18205250 0.02843678
+v 0.04456315 0.17971716 0.01967862
+v 0.04480794 0.17840254 0.01669154
+v 0.01485224 0.16447372 0.03398415
+v 0.00891108 0.16616564 0.03798899
+v 0.00043026 0.16406067 0.03398415
+v 0.03267573 0.16413019 0.02843671
+v 0.05252890 0.16270439 0.01734412
+v 0.05252890 0.17834694 0.01669154
+v 0.00043026 0.18014405 0.03740714
+v 0.00891108 0.18034065 0.03760567
+v 0.01485224 0.18153615 0.03398422
+v 0.02673457 0.18171290 0.02843678
+v 0.02079340 0.18194129 0.02843678
+v 0.04813295 0.17955830 0.01995474
+v 0.05252890 0.17873815 0.01763399
+v 0.05141207 0.17835885 0.01669154
+v 0.02649998 0.16617558 0.03449532
+v 0.02833078 0.16768483 0.03668600
+v 0.01485224 0.16661048 0.03757824
+v 0.03267573 0.16627092 0.03323796
+v 0.00891108 0.17053848 0.04000398
+v 0.00043026 0.16874924 0.03892917
+v 0.00043026 0.16633842 0.03780415
+v 0.00043026 0.16536536 0.03618168
+v 0.05252890 0.16556598 0.02282539
+v 0.00043026 0.17652185 0.03934908
+v 0.00891108 0.17652184 0.03962063
+v 0.01485224 0.17997923 0.03723143
+v 0.02673457 0.18070210 0.03299156
+v 0.03267573 0.18107347 0.02843678
+v 0.04813295 0.17955830 0.02022629
+v 0.05252890 0.17739967 0.02108658
+v 0.01485224 0.17053849 0.03920073
+v 0.03739806 0.16686270 0.03213806
+v 0.04136053 0.16806415 0.03105642
+v 0.03284402 0.17002218 0.03595806
+v 0.03097242 0.17167440 0.03722456
+v 0.00043026 0.17053848 0.03974384
+v 0.03097242 0.17448835 0.03722457
+v 0.05252890 0.16749026 0.02381805
+v 0.00043026 0.17397003 0.03951793
+v 0.01485224 0.17652185 0.03885389
+v 0.01826905 0.17962375 0.03686632
+v 0.03267573 0.18009045 0.03208106
+v 0.03584775 0.17961386 0.03134627
+v 0.03814262 0.17999715 0.02799635
+v 0.05252890 0.17666689 0.02285509
+v 0.03907586 0.17025056 0.03284092
+v 0.05252890 0.17053854 0.02522831
+v 0.04192150 0.17205172 0.03149228
+v 0.04192150 0.17399190 0.03149229
+v 0.03814262 0.17620017 0.03236629
+v 0.03284402 0.17650002 0.03503162
+v 0.02673457 0.17820984 0.03576413
+v 0.02673457 0.17521716 0.03757371
+v 0.05252890 0.17116210 0.02500240
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 28
+f 1 28 42
+f 1 42 34
+f 1 34 23
+f 1 23 15
+f 1 15 11
+f 1 11 10
+f 1 10 7
+f 1 7 4
+f 1 4 2
+f 2 5 9
+f 2 9 14
+f 2 14 21
+f 2 21 31
+f 2 31 50
+f 2 50 49
+f 2 49 48
+f 2 48 64
+f 2 64 67
+f 2 67 52
+f 2 52 35
+f 2 35 24
+f 2 24 16
+f 2 16 12
+f 2 12 6
+f 2 6 3
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 5 7 10
+f 5 10 11
+f 5 11 9
+f 6 12 13
+f 6 13 8
+f 9 11 14
+f 11 15 14
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 14 15 19
+f 15 22 20
+f 15 20 19
+f 15 23 22
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 27 28
+f 17 28 18
+f 17 26 27
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 20 22 32
+f 20 32 29
+f 22 23 33
+f 22 33 32
+f 23 34 41
+f 23 41 58
+f 23 58 73
+f 23 73 82
+f 23 82 75
+f 23 75 66
+f 23 66 51
+f 23 51 33
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 27
+f 27 40 41
+f 27 41 34
+f 27 34 42
+f 27 42 28
+f 27 39 38
+f 27 38 40
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 29 32 46
+f 29 46 43
+f 30 45 44
+f 30 44 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 32 33 46
+f 33 51 46
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 40
+f 40 57 41
+f 41 57 58
+f 43 46 44
+f 44 59 47
+f 44 46 60
+f 44 60 61
+f 44 61 62
+f 44 62 63
+f 44 63 59
+f 46 51 60
+f 47 53 64
+f 47 64 48
+f 47 59 63
+f 47 63 65
+f 47 65 53
+f 51 66 61
+f 51 61 60
+f 52 67 53
+f 53 68 54
+f 53 67 64
+f 53 65 68
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 56
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 73 58
+f 57 72 71
+f 57 71 73
+f 61 74 62
+f 61 66 75
+f 61 75 74
+f 62 74 63
+f 63 74 76
+f 63 76 77
+f 63 77 65
+f 65 77 78
+f 65 78 79
+f 65 79 80
+f 65 80 69
+f 65 69 81
+f 65 81 68
+f 68 81 69
+f 69 80 70
+f 70 79 71
+f 70 80 79
+f 71 79 78
+f 71 78 73
+f 73 77 82
+f 73 78 77
+f 74 75 76
+f 75 82 77
+f 75 77 76
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_16.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03860884 0.15258242 -0.01102842
+v 0.05644461 0.15856694 -0.01090490
+v 0.09336839 0.15258242 -0.01102595
+v 0.00889383 0.14721558 -0.01071970
+v 0.00236194 0.14721558 -0.01071970
+v -0.06833812 0.15258242 -0.01102595
+v -0.01486464 0.15856694 -0.01090490
+v 0.03522444 0.16105260 -0.00977365
+v 0.06832385 0.15856694 -0.01089996
+v -0.01486464 0.16105260 -0.00977859
+v 0.07426347 0.15856694 -0.01088761
+v 0.08022000 0.15856694 -0.01085303
+v 0.08615962 0.15856694 -0.01073694
+v 0.09336839 0.15729635 -0.01055170
+v 0.09336839 0.15131182 -0.01093209
+v 0.08022000 0.14721558 -0.01066783
+v 0.07426347 0.14721558 -0.01068511
+v 0.06832385 0.14721558 -0.01069252
+v 0.03860884 0.14721558 -0.01071229
+v 0.03266922 0.14721558 -0.01071476
+v -0.06300769 0.14721558 -0.01069747
+v -0.06833812 0.14721558 -0.01069252
+v -0.07427774 0.15258242 -0.01101854
+v -0.06833812 0.15856694 -0.01089255
+v -0.06239850 0.15856694 -0.01089749
+v 0.05898291 0.16105260 -0.00976377
+v 0.06238423 0.16105260 -0.00976130
+v 0.06832385 0.16105260 -0.00975636
+v 0.07086215 0.16105260 -0.00975142
+v -0.06239850 0.16105260 -0.00975389
+v 0.07426347 0.16105260 -0.00973907
+v 0.07678484 0.16105260 -0.00972425
+v 0.08022000 0.16105260 -0.00968720
+v 0.08267369 0.16105260 -0.00963780
+v 0.08615962 0.16105259 -0.00952418
+v 0.08849486 0.16105259 -0.00939080
+v 0.09209924 0.15856694 -0.01039115
+v 0.09336839 0.15864144 -0.01016638
+v 0.09336839 0.14721558 -0.01060608
+v -0.07490385 0.14721558 -0.01067771
+v -0.07950663 0.15192274 -0.01096914
+v -0.07950663 0.15258242 -0.01100866
+v -0.07427774 0.15856694 -0.01087773
+v -0.06833812 0.16105260 -0.00974648
+v 0.09209924 0.16105259 -0.00906230
+v 0.09336839 0.16060016 -0.00912158
+v 0.09336839 0.14721553 0.00266505
+v -0.07950663 0.14721558 -0.01066042
+v -0.07950663 0.15184688 -0.01096420
+v -0.07950663 0.15856694 -0.01084068
+v -0.07427774 0.16105260 -0.00972672
+v 0.09336839 0.16105259 -0.00887952
+v 0.09336839 0.16105251 0.01328595
+v 0.09260690 0.16105251 0.01331806
+v 0.03727200 0.16105251 0.01420478
+v 0.06911918 0.14721553 0.00272680
+v -0.07950663 0.14721553 0.00265764
+v -0.07950663 0.16074782 -0.00981811
+v -0.07950663 0.16105260 -0.00967485
+v -0.03726935 0.16105251 0.01401953
+v -0.06239850 0.14721553 0.00274409
+v -0.05645889 0.14721553 0.00275644
+v -0.01486464 0.14721553 0.00283054
+v -0.00890810 0.14721553 0.00283548
+v -0.00296848 0.14721553 0.00283795
+v -0.00210546 0.14721553 0.00283795
+v 0.00383415 0.14721553 0.00283548
+v 0.00975685 0.14721553 0.00283301
+v 0.01483344 0.14721553 0.00282807
+v 0.02078999 0.14721553 0.00281819
+v -0.07950663 0.16105252 0.01180397
+v -0.07427774 0.14721553 0.00269963
+v -0.06833812 0.14721553 0.00272680
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 26
+f 2 26 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 38
+f 3 38 46
+f 3 46 52
+f 3 52 53
+f 3 53 47
+f 3 47 39
+f 3 39 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 4
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 39
+f 4 39 47
+f 4 47 56
+f 4 56 70
+f 4 70 69
+f 4 69 68
+f 4 68 67
+f 4 67 66
+f 4 66 65
+f 4 65 64
+f 4 64 63
+f 4 63 62
+f 4 62 61
+f 4 61 73
+f 4 73 72
+f 4 72 57
+f 4 57 48
+f 4 48 40
+f 4 40 22
+f 4 22 21
+f 4 21 5
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 10
+f 8 10 30
+f 8 30 44
+f 8 44 51
+f 8 51 59
+f 8 59 71
+f 8 71 60
+f 8 60 55
+f 8 55 54
+f 8 54 53
+f 8 53 52
+f 8 52 45
+f 8 45 36
+f 8 36 35
+f 8 35 34
+f 8 34 33
+f 8 33 32
+f 8 32 31
+f 8 31 29
+f 8 29 28
+f 8 28 27
+f 8 27 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 11
+f 10 25 30
+f 11 29 31
+f 11 31 12
+f 12 31 32
+f 12 32 33
+f 12 33 13
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 14
+f 13 33 34
+f 14 37 38
+f 15 39 16
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 30
+f 24 30 25
+f 36 45 37
+f 37 45 46
+f 37 46 38
+f 40 48 49
+f 40 49 41
+f 41 49 48
+f 41 48 57
+f 41 57 71
+f 41 71 59
+f 41 59 58
+f 41 58 50
+f 41 50 42
+f 42 50 43
+f 43 50 51
+f 43 51 44
+f 45 52 46
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 50 58 51
+f 51 58 59
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 56
+f 57 72 60
+f 57 60 71
+f 60 72 73
+f 60 73 61
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_17.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01486687 0.16105582 -0.00977881
+v -0.01486687 0.16294306 -0.00891891
+v 0.00043026 0.16293895 -0.00890920
+v 0.00043026 0.16105582 -0.00975937
+v -0.05051932 0.16105582 -0.00975937
+v -0.01486687 0.16593633 -0.00494010
+v 0.00043026 0.16593016 -0.00493524
+v -0.05402114 0.16214540 -0.00925898
+v -0.05402114 0.16290811 -0.00890920
+v -0.05051932 0.16291222 -0.00890920
+v 0.00043026 0.16105575 0.00930874
+v -0.05402114 0.16105582 -0.00975452
+v -0.05402114 0.16112160 -0.00972537
+v -0.02675280 0.17003769 0.00070504
+v -0.02675280 0.16591989 -0.00493038
+v 0.00043026 0.16998218 0.00070504
+v -0.05402114 0.16577804 -0.00484294
+v -0.03863340 0.17281303 0.00470814
+v 0.00043026 0.16305394 0.02843516
+v -0.03447066 0.16105573 0.01382679
+v -0.05402114 0.16105574 0.01181553
+v 0.00043026 0.18048120 0.02465075
+v -0.03863340 0.17431583 0.00748214
+v -0.03408689 0.17427061 0.00756473
+v -0.05402114 0.17248822 0.00531055
+v -0.05402114 0.17625241 0.01179616
+v 0.00043026 0.16362133 0.03161723
+v -0.00892391 0.16388653 0.03398313
+v -0.00298094 0.16302311 0.02843516
+v -0.03660266 0.16105573 0.01402597
+v -0.03269043 0.16409214 0.02843516
+v -0.05402114 0.16271066 0.01733922
+v -0.03727957 0.16105573 0.01402597
+v 0.00043026 0.18198193 0.02843523
+v -0.03980600 0.17973495 0.01969547
+v -0.04457636 0.17849530 0.01686318
+v -0.05402114 0.17863920 0.01750931
+v -0.04457636 0.17972468 0.01963717
+v 0.00043026 0.16406128 0.03398313
+v -0.00892391 0.16617876 0.03795223
+v -0.01486687 0.16450533 0.03398313
+v -0.02693935 0.16613971 0.03449811
+v -0.03269043 0.16627129 0.03324471
+v -0.02080984 0.16519198 0.03398314
+v -0.05402114 0.16387631 0.01960310
+v -0.01486687 0.18205390 0.02843523
+v -0.00892391 0.18181333 0.03398320
+v 0.00043026 0.18164477 0.03398320
+v -0.05402114 0.17650524 0.02280951
+v -0.03589910 0.17963006 0.03136467
+v -0.04825940 0.17957459 0.02024929
+v -0.04825940 0.17957459 0.01989951
+v -0.02675280 0.18173525 0.02843523
+v -0.02080984 0.18196139 0.02843523
+v 0.00043026 0.16536467 0.03617902
+v 0.00043026 0.16633911 0.03780163
+v 0.00043026 0.16874854 0.03892872
+v 0.00043026 0.17053916 0.03974489
+v -0.00892391 0.17053916 0.03985177
+v -0.02904470 0.16767747 0.03668912
+v -0.03739683 0.16685515 0.03214192
+v -0.05402114 0.16548189 0.02258600
+v -0.00892391 0.18028996 0.03753448
+v -0.01486687 0.18151115 0.03398320
+v 0.00043026 0.18014398 0.03740331
+v -0.05402114 0.17053922 0.02506366
+v -0.04192734 0.17398681 0.03149096
+v -0.03818034 0.17619888 0.03239458
+v -0.03288231 0.17648874 0.03505683
+v -0.03269043 0.18011524 0.03208853
+v -0.03269043 0.18109177 0.02843523
+v -0.03818034 0.18000423 0.02798828
+v -0.02675280 0.18072787 0.03299700
+v 0.00043026 0.17397033 0.03951657
+v -0.03103280 0.17166576 0.03722353
+v -0.01486687 0.17053917 0.03910362
+v -0.02693935 0.17001904 0.03747614
+v 0.00043026 0.17652163 0.03934655
+v -0.00892391 0.17652163 0.03942914
+v -0.03103280 0.17447196 0.03722354
+v -0.03288231 0.17001905 0.03597498
+v -0.04135703 0.16810716 0.03104885
+v -0.01486687 0.17996102 0.03719441
+v -0.03908112 0.17027605 0.03285608
+v -0.04192734 0.17209545 0.03149095
+v -0.02675280 0.17821358 0.03577097
+v -0.01829407 0.17962799 0.03686406
+v -0.01486687 0.17652163 0.03873928
+v -0.02675280 0.17522028 0.03760247
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 30
+f 1 30 33
+f 1 33 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 7 16
+f 3 16 22
+f 3 22 34
+f 3 34 48
+f 3 48 65
+f 3 65 78
+f 3 78 74
+f 3 74 58
+f 3 58 57
+f 3 57 56
+f 3 56 55
+f 3 55 39
+f 3 39 27
+f 3 27 19
+f 3 19 11
+f 3 11 4
+f 5 12 13
+f 5 13 8
+f 6 14 7
+f 6 10 9
+f 6 9 15
+f 6 15 14
+f 7 14 16
+f 8 13 12
+f 8 12 21
+f 8 21 32
+f 8 32 45
+f 8 45 62
+f 8 62 66
+f 8 66 49
+f 8 49 37
+f 8 37 26
+f 8 26 25
+f 8 25 17
+f 8 17 9
+f 9 17 18
+f 9 18 14
+f 9 14 15
+f 11 19 20
+f 14 18 16
+f 16 18 23
+f 16 23 24
+f 16 24 22
+f 17 25 18
+f 18 25 26
+f 18 26 23
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 21 31 32
+f 21 33 28
+f 21 28 31
+f 22 24 35
+f 22 35 34
+f 23 26 36
+f 23 36 35
+f 23 35 24
+f 26 37 38
+f 26 38 36
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 31
+f 28 33 29
+f 29 33 30
+f 31 42 43
+f 31 43 32
+f 31 41 44
+f 31 44 42
+f 32 43 45
+f 34 46 47
+f 34 47 48
+f 34 35 46
+f 35 36 38
+f 35 38 46
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 46
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 42
+f 40 42 41
+f 41 42 44
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 45
+f 46 54 47
+f 47 63 48
+f 47 54 53
+f 47 53 64
+f 47 64 63
+f 48 63 65
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 71
+f 51 71 53
+f 51 53 52
+f 53 73 64
+f 53 71 73
+f 58 74 59
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 59 74 78
+f 59 78 79
+f 59 79 80
+f 59 80 75
+f 60 77 75
+f 60 75 81
+f 60 81 82
+f 60 82 61
+f 61 82 62
+f 62 82 66
+f 63 64 83
+f 63 83 79
+f 63 79 78
+f 63 78 65
+f 64 73 83
+f 66 82 84
+f 66 84 75
+f 66 75 85
+f 66 85 67
+f 67 85 75
+f 67 75 80
+f 67 80 68
+f 68 80 69
+f 69 80 86
+f 69 86 70
+f 70 86 87
+f 70 87 73
+f 70 73 71
+f 73 87 83
+f 75 77 76
+f 75 84 81
+f 79 83 88
+f 79 88 89
+f 79 89 80
+f 80 89 87
+f 80 87 86
+f 81 84 82
+f 83 87 88
+f 87 89 88
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_18.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.12874700 0.14721548 0.01734071
+v 0.12719555 0.15258225 0.01734073
+v 0.12547788 0.15685450 0.02122217
+v 0.12634018 0.15258223 0.02223040
+v 0.12707435 0.14721546 0.02271335
+v 0.12853229 0.14721548 0.01674844
+v 0.12548480 0.15200928 0.01214435
+v 0.12544670 0.15680847 0.01734075
+v 0.12497919 0.15593885 0.01422432
+v 0.12129104 0.16105364 0.02236087
+v 0.12215681 0.15873599 0.02289319
+v 0.12374634 0.15980069 0.01734076
+v 0.12283557 0.16105366 0.01734076
+v 0.12182088 0.15258222 0.02477218
+v 0.12182088 0.14721545 0.02486030
+v 0.12674882 0.14721550 0.01183409
+v 0.12648216 0.14721550 0.01122068
+v 0.12480604 0.14963204 0.00898914
+v 0.12399222 0.15362256 0.01052621
+v 0.11890153 0.15565715 0.00341557
+v 0.11977422 0.15704014 0.00624996
+v 0.12192824 0.15868726 0.01170017
+v 0.12074041 0.16105367 0.01237705
+v 0.12211871 0.16105366 0.01546879
+v 0.11607913 0.16105363 0.02420463
+v 0.11587828 0.15856666 0.02483566
+v 0.10982138 0.16105363 0.02349956
+v 0.10399306 0.16105364 0.02151478
+v 0.10154121 0.16105364 0.02058056
+v 0.11632847 0.14721546 0.02227621
+v 0.12507962 0.14721551 0.00844270
+v 0.12351085 0.14721552 0.00567529
+v 0.12253428 0.15200930 0.00678580
+v 0.11376928 0.16105371 0.00268936
+v 0.11545232 0.16105370 0.00460363
+v 0.11765136 0.16003237 0.00624997
+v 0.11845133 0.16105369 0.00837577
+v 0.11884266 0.16105369 0.00891867
+v 0.11960107 0.15258230 0.00260472
+v 0.11295891 0.14967138 -0.00767524
+v 0.11919589 0.16105369 0.00952503
+v 0.09336839 0.16105367 0.01328659
+v 0.09336839 0.14721553 0.00266816
+v 0.12321996 0.14721552 0.00523110
+v 0.10733491 0.15590642 -0.00792552
+v 0.10443633 0.16022475 -0.00507348
+v 0.10048152 0.16105375 -0.00686436
+v 0.12020363 0.14721554 0.00094778
+v 0.11351647 0.14721557 -0.00820052
+v 0.10989411 0.14721558 -0.01003724
+v 0.10956512 0.15203238 -0.00856009
+v 0.09336839 0.16105375 -0.00887734
+v 0.09336839 0.14721558 -0.01060482
+v 0.10399306 0.15258235 -0.01059070
+v 0.10399306 0.15701310 -0.00873281
+v 0.10011097 0.16105375 -0.00711114
+v 0.10932270 0.14721558 -0.01026286
+v 0.09429302 0.16105375 -0.00874338
+v 0.09336839 0.16059998 -0.00912059
+v 0.09336839 0.15144316 -0.01093971
+v 0.10338010 0.14721558 -0.01115478
+v 0.10399306 0.14721558 -0.01109484
+v 0.09805044 0.15258235 -0.01114065
+v 0.09336839 0.15729621 -0.01054837
+v 0.09336839 0.15864129 -0.01016411
+v 0.09804006 0.15892032 -0.00933212
+v 0.09660982 0.16105375 -0.00835206
+v 0.09336839 0.15258235 -0.01102432
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 30
+f 1 30 43
+f 1 43 53
+f 1 53 61
+f 1 61 62
+f 1 62 57
+f 1 57 50
+f 1 50 49
+f 1 49 48
+f 1 48 44
+f 1 44 32
+f 1 32 31
+f 1 31 17
+f 1 17 16
+f 1 16 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 4
+f 3 8 12
+f 3 12 13
+f 3 13 10
+f 4 11 14
+f 4 14 5
+f 5 14 15
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 9
+f 8 9 12
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 12
+f 10 25 11
+f 10 13 24
+f 10 24 23
+f 10 23 41
+f 10 41 38
+f 10 38 37
+f 10 37 35
+f 10 35 34
+f 10 34 47
+f 10 47 56
+f 10 56 67
+f 10 67 58
+f 10 58 52
+f 10 52 42
+f 10 42 29
+f 10 29 28
+f 10 28 27
+f 10 27 25
+f 11 25 14
+f 12 24 13
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 20 33 39
+f 20 39 40
+f 20 40 34
+f 21 38 41
+f 21 41 22
+f 22 41 23
+f 25 27 26
+f 29 42 43
+f 29 43 30
+f 32 44 39
+f 32 39 33
+f 34 40 45
+f 34 45 46
+f 34 46 47
+f 35 37 36
+f 39 44 48
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 45
+f 42 52 59
+f 42 59 65
+f 42 65 64
+f 42 64 68
+f 42 68 60
+f 42 60 53
+f 42 53 43
+f 45 51 54
+f 45 54 55
+f 45 55 56
+f 45 56 47
+f 45 47 46
+f 50 57 54
+f 50 54 51
+f 52 58 59
+f 53 60 61
+f 54 62 61
+f 54 61 63
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 55
+f 54 57 62
+f 55 66 67
+f 55 67 56
+f 58 66 59
+f 58 67 66
+f 59 66 65
+f 60 68 61
+f 61 68 63
+f 63 68 64
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_19.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.01484957 -0.16113938 -0.00979948
+v 0.01484957 -0.16306910 -0.00893976
+v 0.00296437 -0.16307247 -0.00893720
+v -0.02091831 -0.16113938 -0.00979178
+v 0.03863402 -0.16113938 -0.00979435
+v 0.01484957 -0.16606058 -0.00501326
+v 0.00891398 -0.16606395 -0.00501583
+v 0.03863402 -0.16304718 -0.00893976
+v 0.04456961 -0.16304382 -0.00893720
+v 0.00296437 -0.16606395 -0.00501583
+v -0.02091831 -0.16305392 -0.00893463
+v -0.02091831 -0.16113945 0.00934033
+v 0.04456961 -0.16113938 -0.00979178
+v 0.02079919 -0.16605047 -0.00501070
+v 0.02674881 -0.17017283 0.00070197
+v 0.06832600 -0.16301853 -0.00893206
+v 0.06832600 -0.16113938 -0.00977895
+v -0.00297123 -0.16606058 -0.00501326
+v -0.01485643 -0.16605216 -0.00500043
+v -0.02091831 -0.16599149 -0.00506716
+v -0.02091831 -0.16117316 0.00935060
+v 0.03400342 -0.16298829 0.01641830
+v 0.03759564 -0.16176979 0.01641831
+v 0.03532244 -0.16144621 0.01543027
+v 0.03450858 -0.16113947 0.01402905
+v 0.02674881 -0.16604372 -0.00499787
+v 0.03863402 -0.17290140 0.00469006
+v -0.02091831 -0.17009698 0.00070198
+v 0.07427562 -0.16299494 -0.00892180
+v 0.07427562 -0.16588868 -0.00484645
+v 0.07427562 -0.16113938 -0.00976612
+v -0.02091831 -0.16604709 -0.00499273
+v -0.02091831 -0.16462979 0.00967395
+v 0.03238973 -0.16450172 0.01641830
+v 0.09791974 -0.16113948 0.01641831
+v 0.03650114 -0.16113947 0.01418816
+v 0.03863402 -0.17437777 0.00746428
+v 0.08021120 -0.16579598 -0.00484645
+v 0.08021120 -0.17260478 0.00523927
+v 0.08021120 -0.17627884 0.01179370
+v -0.02091831 -0.17091945 0.00624528
+v 0.03410165 -0.17433227 0.00753357
+v 0.04403639 -0.17835688 0.01641824
+v 0.03825515 -0.17809228 0.01641825
+v 0.08021120 -0.16113938 -0.00971479
+v 0.08021120 -0.16293595 -0.00888587
+v -0.02091831 -0.16854988 0.00936596
+v 0.03264231 -0.17594348 0.01641825
+v 0.03022878 -0.17061276 0.01641827
+v 0.03032701 -0.17016109 0.01641827
+v 0.12243387 -0.16113948 0.01641831
+v 0.07427562 -0.17632434 0.01179370
+v 0.06832600 -0.17634288 0.01179370
+v 0.06239041 -0.17635299 0.01179370
+v 0.05644079 -0.17635806 0.01179370
+v 0.08616083 -0.16277248 -0.00876525
+v 0.08616083 -0.16551621 -0.00484645
+v 0.08616083 -0.17255085 0.00532909
+v 0.08616083 -0.17613391 0.01179370
+v 0.08021120 -0.17810409 0.01641825
+v 0.07427562 -0.17817824 0.01641825
+v 0.03717468 -0.17785971 0.01641825
+v 0.08616083 -0.16113938 -0.00955311
+v 0.12059566 -0.16378039 0.01641830
+v 0.11985195 -0.16287873 0.01292037
+v 0.12072195 -0.16113947 0.01241738
+v 0.09209641 -0.16113939 -0.00909117
+v 0.09209641 -0.16239159 -0.00842136
+v 0.09209641 -0.16937060 0.00135127
+v 0.09209641 -0.17236210 0.00566785
+v 0.09209641 -0.17390756 0.00843949
+v 0.08616083 -0.17793387 0.01641825
+v 0.09209641 -0.17573616 0.01179370
+v 0.11794359 -0.16673479 0.01641829
+v 0.11871535 -0.16147483 0.00922228
+v 0.11409878 -0.16855832 0.01302044
+v 0.11641409 -0.16515899 0.01112135
+v 0.11910825 -0.16113946 0.00953024
+v 0.09661476 -0.16113939 -0.00837003
+v 0.09606751 -0.16196857 -0.00798764
+v 0.09804604 -0.16889704 0.00197489
+v 0.09777942 -0.17206043 0.00667386
+v 0.09563251 -0.17371544 0.00880648
+v 0.09209641 -0.17753275 0.01641825
+v 0.09777942 -0.17476541 0.01157300
+v 0.09800394 -0.17666312 0.01641825
+v 0.09704976 -0.17680974 0.01641825
+v 0.11499684 -0.16925606 0.01641828
+v 0.11466006 -0.16334385 0.00624531
+v 0.11338314 -0.16209839 0.00305021
+v 0.11846277 -0.16113945 0.00852167
+v 0.11061882 -0.17211945 0.01641827
+v 0.10699853 -0.17362781 0.01452687
+v 0.10981899 -0.17058072 0.01192460
+v 0.11263944 -0.16744093 0.00932234
+v 0.09994037 -0.16113939 -0.00718437
+v 0.10002457 -0.16123545 -0.00708685
+v 0.10266260 -0.16825323 0.00274222
+v 0.09958958 -0.17331939 0.00957638
+v 0.10398162 -0.17415196 0.01356705
+v 0.10398162 -0.17512946 0.01641826
+v 0.11036624 -0.16650386 0.00581158
+v 0.10661967 -0.16747293 0.00367124
+v 0.10993124 -0.16336912 0.00186712
+v 0.10448678 -0.16113940 -0.00411759
+v 0.11176945 -0.16113942 0.00119731
+v 0.11376202 -0.16113943 0.00269093
+v 0.11665264 -0.16113944 0.00624532
+v 0.10754579 -0.17389580 0.01641826
+v 0.10866835 -0.16861897 0.00736935
+v 0.10398162 -0.17264189 0.01079541
+v 0.10437452 -0.16962343 0.00581157
+v 0.10048762 -0.16113939 -0.00687898
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 36
+f 1 36 35
+f 1 35 51
+f 1 51 66
+f 1 66 78
+f 1 78 91
+f 1 91 108
+f 1 108 107
+f 1 107 106
+f 1 106 105
+f 1 105 113
+f 1 113 96
+f 1 96 79
+f 1 79 67
+f 1 67 63
+f 1 63 45
+f 1 45 31
+f 1 31 17
+f 1 17 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 7 10
+f 3 10 11
+f 3 11 4
+f 4 11 20
+f 4 20 32
+f 4 32 28
+f 4 28 41
+f 4 41 47
+f 4 47 33
+f 4 33 21
+f 4 21 12
+f 5 13 8
+f 6 14 15
+f 6 15 7
+f 6 9 16
+f 6 16 14
+f 7 15 10
+f 8 13 17
+f 8 17 9
+f 9 17 16
+f 10 18 11
+f 10 15 18
+f 11 19 20
+f 11 18 19
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 14 26 15
+f 14 16 26
+f 15 27 28
+f 15 28 19
+f 15 19 18
+f 15 26 16
+f 15 16 29
+f 15 29 30
+f 15 30 27
+f 16 17 31
+f 16 31 29
+f 19 28 32
+f 19 32 20
+f 21 33 34
+f 21 34 22
+f 22 34 50
+f 22 50 49
+f 22 49 48
+f 22 48 62
+f 22 62 44
+f 22 44 43
+f 22 43 61
+f 22 61 60
+f 22 60 72
+f 22 72 84
+f 22 84 87
+f 22 87 86
+f 22 86 101
+f 22 101 109
+f 22 109 92
+f 22 92 88
+f 22 88 74
+f 22 74 64
+f 22 64 51
+f 22 51 35
+f 22 35 23
+f 23 35 24
+f 24 36 25
+f 24 35 36
+f 27 37 28
+f 27 30 38
+f 27 38 39
+f 27 39 40
+f 27 40 37
+f 28 37 42
+f 28 42 43
+f 28 43 44
+f 28 44 41
+f 29 31 45
+f 29 45 46
+f 29 46 30
+f 30 46 38
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 37 43 42
+f 37 40 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 43
+f 38 46 56
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 52
+f 41 44 62
+f 41 62 47
+f 43 55 54
+f 43 54 53
+f 43 53 52
+f 43 52 61
+f 45 63 46
+f 46 63 56
+f 47 62 48
+f 51 64 65
+f 51 65 66
+f 56 63 67
+f 56 67 68
+f 56 68 69
+f 56 69 57
+f 57 69 70
+f 57 70 58
+f 58 70 71
+f 58 71 59
+f 59 72 60
+f 59 71 73
+f 59 73 72
+f 64 74 65
+f 65 75 66
+f 65 74 76
+f 65 76 77
+f 65 77 75
+f 66 75 78
+f 67 79 68
+f 68 79 80
+f 68 80 81
+f 68 81 69
+f 69 81 70
+f 70 81 82
+f 70 82 83
+f 70 83 71
+f 71 83 73
+f 72 73 84
+f 73 83 85
+f 73 85 86
+f 73 86 87
+f 73 87 84
+f 74 88 76
+f 75 77 89
+f 75 89 90
+f 75 90 91
+f 75 91 78
+f 76 92 93
+f 76 93 94
+f 76 94 95
+f 76 95 77
+f 76 88 92
+f 77 95 89
+f 79 96 80
+f 80 96 97
+f 80 97 98
+f 80 98 81
+f 81 98 82
+f 82 98 99
+f 82 99 83
+f 83 99 85
+f 85 99 100
+f 85 100 86
+f 86 100 101
+f 89 95 90
+f 90 95 102
+f 90 102 103
+f 90 103 104
+f 90 104 105
+f 90 105 106
+f 90 106 107
+f 90 107 108
+f 90 108 91
+f 92 109 93
+f 93 103 110
+f 93 110 94
+f 93 109 101
+f 93 101 100
+f 93 100 111
+f 93 111 112
+f 93 112 103
+f 94 110 95
+f 95 110 103
+f 95 103 102
+f 96 113 97
+f 97 113 103
+f 97 103 98
+f 98 112 99
+f 98 103 112
+f 99 112 111
+f 99 111 100
+f 103 105 104
+f 103 113 105
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_2.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.03021808 -0.17061496 0.01641827
+v 0.03031801 -0.17016229 0.01641827
+v 0.03262357 -0.17594325 0.01641825
+v -0.02091831 -0.17061498 0.02246408
+v 0.03238802 -0.16450299 0.01641830
+v 0.03716332 -0.17785959 0.01641825
+v -0.02091831 -0.17659733 0.02297498
+v -0.02091831 -0.17646373 0.02295887
+v -0.02091831 -0.16583110 0.02411421
+v 0.03398692 -0.16298945 0.01641830
+v 0.03824115 -0.17809290 0.01641825
+v -0.02091831 -0.18050382 0.02458825
+v -0.02091831 -0.16389681 0.02843627
+v 0.03757732 -0.16176904 0.01641831
+v 0.04403004 -0.17835613 0.01641824
+v -0.02091831 -0.18057561 0.02463658
+v -0.02091831 -0.16536251 0.03399187
+v -0.02080410 -0.16534257 0.03398267
+v -0.01485817 -0.16454890 0.03398268
+v -0.00891939 -0.16396463 0.03398268
+v -0.01485817 -0.16348602 0.02843627
+v 0.03861947 -0.16303733 0.02288987
+v 0.03854095 -0.16181690 0.01641831
+v -0.00891939 -0.16314104 0.02843627
+v -0.00297346 -0.16306327 0.02843627
+v 0.00296533 -0.16305329 0.02843627
+v 0.00891125 -0.16312309 0.02843627
+v 0.00891125 -0.16398059 0.03398268
+v 0.04455825 -0.17857149 0.01687162
+v 0.03980437 -0.17981385 0.01969775
+v 0.05035428 -0.17829830 0.01641825
+v -0.02091831 -0.18199743 0.02836026
+v -0.02091831 -0.16729283 0.03703894
+v -0.02080410 -0.16728087 0.03705045
+v -0.01485817 -0.16667665 0.03759818
+v -0.00891939 -0.16625589 0.03799173
+v 0.03267354 -0.16422783 0.02843627
+v 0.05200315 -0.16281396 0.01734347
+v 0.05200315 -0.16259062 0.01641830
+v 0.00891125 -0.16626985 0.03794109
+v 0.01485004 -0.16456286 0.03398268
+v 0.04455825 -0.17980188 0.01964482
+v 0.01485004 -0.18214101 0.02843620
+v -0.01485817 -0.18212307 0.02843620
+v 0.05200315 -0.17827636 0.01641825
+v -0.02091831 -0.18201937 0.02843620
+v -0.02080410 -0.18202335 0.02843620
+v -0.02091831 -0.16733870 0.03705735
+v -0.01485817 -0.17061504 0.03917233
+v -0.00891939 -0.17061505 0.03992949
+v 0.00891125 -0.17061505 0.03991799
+v 0.02673475 -0.16596872 0.03389061
+v 0.03267354 -0.16640543 0.03316567
+v 0.05200315 -0.16491579 0.02141005
+v 0.03902633 -0.16569352 0.02888044
+v 0.01485004 -0.16669859 0.03756827
+v 0.05200315 -0.17838405 0.01666910
+v 0.05200315 -0.17880480 0.01765410
+v 0.04819862 -0.17965032 0.01990718
+v 0.02673475 -0.18182793 0.02843620
+v 0.02078883 -0.18203730 0.02843620
+v 0.00891125 -0.18198548 0.03398261
+v -0.00891939 -0.18197752 0.03398261
+v -0.02091831 -0.18089270 0.03399873
+v -0.01485817 -0.18166245 0.03398261
+v -0.02091831 -0.17060507 0.03817352
+v -0.02091831 -0.17070278 0.03817812
+v -0.01485817 -0.17659739 0.03885932
+v -0.00891939 -0.17659740 0.03956585
+v 0.00891125 -0.17659740 0.03961878
+v 0.03097470 -0.17452152 0.03717930
+v 0.03097470 -0.17184342 0.03717931
+v 0.01485004 -0.17061504 0.03915622
+v 0.02673475 -0.16781130 0.03666380
+v 0.03732036 -0.16699769 0.03207710
+v 0.05200315 -0.16569947 0.02287375
+v 0.05200315 -0.17675288 0.02287371
+v 0.04819862 -0.17965032 0.02025470
+v 0.03267354 -0.18118783 0.02843620
+v 0.02673475 -0.18081494 0.03302753
+v 0.01485004 -0.18161658 0.03398261
+v 0.00891125 -0.18044404 0.03763956
+v -0.00891939 -0.18043608 0.03763035
+v -0.02091831 -0.18084485 0.03421966
+v -0.01485817 -0.18010904 0.03728514
+v -0.02091831 -0.17677089 0.03775694
+v -0.01851281 -0.17975409 0.03691692
+v 0.01485004 -0.18005720 0.03723221
+v 0.01485004 -0.17659739 0.03882019
+v 0.02673475 -0.17826247 0.03580074
+v 0.03284485 -0.17654952 0.03507580
+v 0.03816977 -0.17625838 0.03238545
+v 0.04188865 -0.17403692 0.03146949
+v 0.02673475 -0.17526931 0.03753832
+v 0.01825485 -0.17969427 0.03686168
+v 0.03284485 -0.17015439 0.03591583
+v 0.02673475 -0.17080448 0.03753833
+v 0.04188865 -0.17226016 0.03146950
+v 0.03902633 -0.17040563 0.03281123
+v 0.04128906 -0.16827191 0.03102534
+v 0.05200315 -0.17061499 0.02524649
+v 0.04917652 -0.17429415 0.02612562
+v 0.03588562 -0.17971019 0.03136821
+v 0.03816977 -0.18009104 0.02800125
+v 0.03267354 -0.18019676 0.03211387
+v -0.02091831 -0.18055371 0.03460400
+v -0.02091831 -0.17718367 0.03753601
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 23
+f 1 23 39
+f 1 39 45
+f 1 45 31
+f 1 31 15
+f 1 15 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 7
+f 4 7 12
+f 4 12 16
+f 4 16 32
+f 4 32 46
+f 4 46 64
+f 4 64 84
+f 4 84 106
+f 4 106 107
+f 4 107 86
+f 4 86 67
+f 4 67 66
+f 4 66 48
+f 4 48 33
+f 4 33 17
+f 4 17 13
+f 4 13 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 22 23
+f 14 21 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 22
+f 15 29 30
+f 15 30 16
+f 15 31 29
+f 16 30 32
+f 17 33 34
+f 17 34 35
+f 17 35 19
+f 17 19 18
+f 19 35 36
+f 19 36 20
+f 20 24 21
+f 20 36 28
+f 20 28 26
+f 20 26 25
+f 20 25 24
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 22 28 37
+f 26 28 27
+f 28 36 40
+f 28 40 41
+f 28 41 37
+f 29 42 30
+f 29 31 42
+f 30 42 43
+f 30 43 44
+f 30 44 32
+f 31 45 42
+f 32 44 47
+f 32 47 46
+f 33 48 34
+f 34 49 35
+f 34 48 49
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 36 51 40
+f 37 52 53
+f 37 53 38
+f 37 41 52
+f 38 54 76
+f 38 76 101
+f 38 101 77
+f 38 77 58
+f 38 58 57
+f 38 57 45
+f 38 45 39
+f 38 53 55
+f 38 55 54
+f 40 51 56
+f 40 56 41
+f 41 56 52
+f 42 45 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 43 62 63
+f 43 63 44
+f 43 61 62
+f 44 63 47
+f 46 47 63
+f 46 63 65
+f 46 65 64
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 51
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 56
+f 52 74 53
+f 52 56 74
+f 53 75 76
+f 53 76 54
+f 53 54 55
+f 53 74 75
+f 58 77 78
+f 58 78 59
+f 59 78 60
+f 60 79 80
+f 60 80 81
+f 60 81 62
+f 60 62 61
+f 60 78 79
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 65
+f 64 65 84
+f 65 83 85
+f 65 85 84
+f 67 86 68
+f 68 86 87
+f 68 87 85
+f 68 85 69
+f 69 85 83
+f 69 83 70
+f 70 83 82
+f 70 82 88
+f 70 88 89
+f 70 89 71
+f 71 90 91
+f 71 91 92
+f 71 92 93
+f 71 93 98
+f 71 98 72
+f 71 89 94
+f 71 94 95
+f 71 95 90
+f 72 96 74
+f 72 74 97
+f 72 97 73
+f 72 98 99
+f 72 99 96
+f 73 97 74
+f 74 96 75
+f 75 96 100
+f 75 100 76
+f 76 100 101
+f 77 101 102
+f 77 102 93
+f 77 93 92
+f 77 92 103
+f 77 103 78
+f 78 103 104
+f 78 104 79
+f 79 104 103
+f 79 103 105
+f 79 105 80
+f 80 105 95
+f 80 95 88
+f 80 88 81
+f 81 88 82
+f 84 85 87
+f 84 87 106
+f 86 107 87
+f 87 107 106
+f 88 95 89
+f 89 95 94
+f 90 105 91
+f 90 95 105
+f 91 105 103
+f 91 103 92
+f 93 102 101
+f 93 101 98
+f 96 99 100
+f 98 101 99
+f 99 101 100
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_20.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01485224 0.16105533 -0.00977145
+v 0.01485224 0.16105355 0.00930569
+v 0.00296482 0.16105533 -0.00976367
+v 0.00043026 0.16293882 -0.00890877
+v 0.01485224 0.16294221 -0.00891654
+v 0.02079340 0.16293882 -0.00891913
+v 0.04117185 0.16105533 -0.00977145
+v 0.00043026 0.16105526 0.00930569
+v 0.00043026 0.16105533 -0.00976109
+v 0.04710791 0.16105533 -0.00976886
+v 0.05050431 0.16105533 -0.00976627
+v 0.05252890 0.16105533 -0.00976367
+v 0.05252890 0.16105525 0.01183670
+v 0.03727567 0.16105524 0.01420450
+v 0.03448102 0.16105524 0.01401539
+v 0.00043026 0.16185694 -0.00939840
+v 0.00043026 0.16421430 -0.00721711
+v 0.01485224 0.16593474 -0.00494515
+v 0.02079340 0.16593135 -0.00495033
+v 0.03267573 0.16293202 -0.00891654
+v 0.03861689 0.16292693 -0.00891654
+v 0.03275223 0.16394247 0.01668889
+v 0.03247174 0.16441971 0.01668889
+v 0.03002898 0.17053557 0.01668892
+v 0.00043026 0.16455220 0.00961398
+v 0.03531738 0.16136262 0.01545317
+v 0.03746946 0.16176854 0.01668888
+v 0.03363447 0.16332086 0.01668889
+v 0.03306840 0.16371828 0.01668889
+v 0.05252890 0.16143576 -0.00959011
+v 0.05252890 0.16257188 0.01668889
+v 0.03788253 0.16176854 0.01668888
+v 0.03654131 0.16136262 0.01545317
+v 0.00043026 0.16593135 -0.00493738
+v 0.02673457 0.17007028 0.00070235
+v 0.02673457 0.16592625 -0.00495033
+v 0.05252890 0.16291334 -0.00891136
+v 0.03013607 0.17141363 0.01668892
+v 0.00043026 0.16678558 0.00945078
+v 0.05252890 0.17834810 0.01668895
+v 0.00043026 0.16998026 0.00070235
+v 0.03861689 0.17280295 0.00471519
+v 0.05252890 0.16579208 -0.00484412
+v 0.03223205 0.17543029 0.01668893
+v 0.00043026 0.16844659 0.00932903
+v 0.05252890 0.17789633 0.01560607
+v 0.05141207 0.17835829 0.01668895
+v 0.00043026 0.17033691 0.00306758
+v 0.03820381 0.17813751 0.01668894
+v 0.03403735 0.17426523 0.00757004
+v 0.03861689 0.17431279 0.00748973
+v 0.05252890 0.17625743 0.01179531
+v 0.05252890 0.17249044 0.00531362
+v 0.03256863 0.17591264 0.01668894
+v 0.00043026 0.17081244 0.00624883
+v 0.04480794 0.17840415 0.01668895
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 8
+f 3 9 16
+f 3 16 4
+f 4 16 9
+f 4 9 8
+f 4 8 25
+f 4 25 39
+f 4 39 45
+f 4 45 55
+f 4 55 48
+f 4 48 41
+f 4 41 34
+f 4 34 17
+f 4 17 5
+f 5 18 19
+f 5 19 6
+f 5 17 18
+f 6 19 20
+f 6 20 21
+f 6 21 10
+f 6 10 7
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 15 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 22
+f 10 21 11
+f 11 30 12
+f 11 21 30
+f 12 30 37
+f 12 37 43
+f 12 43 53
+f 12 53 52
+f 12 52 46
+f 12 46 40
+f 12 40 31
+f 12 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 26
+f 14 26 15
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 21
+f 19 21 20
+f 21 37 30
+f 21 36 37
+f 22 29 28
+f 22 28 27
+f 22 27 32
+f 22 32 31
+f 22 31 40
+f 22 40 47
+f 22 47 56
+f 22 56 49
+f 22 49 54
+f 22 54 44
+f 22 44 38
+f 22 38 24
+f 22 24 23
+f 24 38 25
+f 25 38 39
+f 26 33 32
+f 26 32 27
+f 34 41 35
+f 35 41 42
+f 35 42 37
+f 35 37 36
+f 37 42 43
+f 38 44 45
+f 38 45 39
+f 40 46 47
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 44 54 45
+f 45 54 55
+f 46 52 56
+f 46 56 47
+f 48 55 49
+f 49 56 50
+f 49 55 54
+f 50 56 51
+f 51 56 52
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_21.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.12287273 -0.16113948 0.01734273
+v 0.12263687 -0.16113949 0.01885031
+v 0.12042393 -0.16357074 0.02181277
+v 0.12079160 -0.16401858 0.01734272
+v 0.12059735 -0.16377996 0.01641830
+v 0.12242875 -0.16113948 0.01641831
+v 0.12131881 -0.16113950 0.02236483
+v 0.12009095 -0.16113950 0.02299724
+v 0.11642815 -0.16519100 0.02318815
+v 0.11481874 -0.16911624 0.02179979
+v 0.11821792 -0.16701007 0.01734271
+v 0.11794738 -0.16673513 0.01641829
+v 0.09791992 -0.16113948 0.01641831
+v 0.11608823 -0.16113951 0.02419467
+v 0.10993502 -0.16462901 0.02487631
+v 0.10398990 -0.17061374 0.02460068
+v 0.10999051 -0.17091114 0.02277344
+v 0.10804811 -0.17414473 0.02102481
+v 0.11524190 -0.16944477 0.01734270
+v 0.11499910 -0.16925456 0.01641828
+v 0.09862058 -0.16113948 0.01734273
+v 0.05200316 -0.16259027 0.01641830
+v 0.11339663 -0.16113951 0.02484003
+v 0.05200316 -0.17061374 0.02524432
+v 0.09804479 -0.17061374 0.02496354
+v 0.09804479 -0.17565604 0.02263951
+v 0.10398990 -0.17489866 0.02199156
+v 0.11078134 -0.17243627 0.01734269
+v 0.09804479 -0.17702381 0.01734267
+v 0.10398990 -0.17544506 0.01734268
+v 0.10781225 -0.17402712 0.01734268
+v 0.11062178 -0.17211983 0.01641827
+v 0.10075721 -0.16113949 0.02000627
+v 0.05200316 -0.17827747 0.01641825
+v 0.05200316 -0.16275627 0.01710946
+v 0.10722953 -0.16113950 0.02297737
+v 0.10299096 -0.16113950 0.02126331
+v 0.10154110 -0.16113950 0.02057215
+v 0.05200316 -0.16281333 0.01734272
+v 0.05200316 -0.16491605 0.02140843
+v 0.05200316 -0.16569937 0.02287281
+v 0.05200316 -0.17675234 0.02287277
+v 0.08616845 -0.17624742 0.02282871
+v 0.09210663 -0.17606413 0.02280193
+v 0.09210663 -0.17789186 0.01734267
+v 0.10754864 -0.17389570 0.01641826
+v 0.09705972 -0.17680939 0.01641825
+v 0.09800317 -0.17666240 0.01641825
+v 0.10398990 -0.17512862 0.01641826
+v 0.05200316 -0.17880314 0.01765368
+v 0.06834006 -0.17820830 0.01641825
+v 0.08022334 -0.17846941 0.01734266
+v 0.08616845 -0.17829476 0.01734267
+v 0.09111461 -0.17759963 0.01641825
+v 0.09210663 -0.17753219 0.01641825
+v 0.07428517 -0.17854896 0.01734266
+v 0.07428517 -0.17817717 0.01641825
+v 0.08022334 -0.17810455 0.01641825
+v 0.08616845 -0.17793509 0.01641825
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 33
+f 1 33 38
+f 1 38 37
+f 1 37 36
+f 1 36 23
+f 1 23 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 8
+f 4 11 5
+f 5 11 12
+f 5 12 20
+f 5 20 32
+f 5 32 46
+f 5 46 49
+f 5 49 48
+f 5 48 47
+f 5 47 55
+f 5 55 54
+f 5 54 59
+f 5 59 58
+f 5 58 57
+f 5 57 51
+f 5 51 34
+f 5 34 22
+f 5 22 13
+f 5 13 6
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 13 22 21
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 28 19
+f 18 27 29
+f 18 29 30
+f 18 30 31
+f 18 31 28
+f 19 28 20
+f 20 28 32
+f 21 22 33
+f 22 34 50
+f 22 50 42
+f 22 42 24
+f 22 24 41
+f 22 41 40
+f 22 40 39
+f 22 39 35
+f 22 35 23
+f 22 23 36
+f 22 36 37
+f 22 37 38
+f 22 38 33
+f 23 35 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 29 27
+f 26 44 45
+f 26 45 29
+f 28 31 46
+f 28 46 32
+f 29 45 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 46
+f 30 46 31
+f 34 51 50
+f 42 50 43
+f 43 50 52
+f 43 52 53
+f 43 53 44
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 47
+f 50 56 52
+f 50 51 57
+f 50 57 56
+f 52 56 58
+f 52 58 59
+f 52 59 53
+f 53 59 54
+f 56 57 58
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_3.obj

@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.12479387 0.04822931 0.02566367
+v 0.12479082 0.04822931 0.02566367
+v 0.12479995 0.00296038 0.02566350
+v 0.12716966 0.05046392 0.02388530
+v 0.12776284 0.06281916 0.02343804
+v 0.12776284 0.10470013 0.02342376
+v 0.12776284 0.11068313 0.02342019
+v 0.12776284 0.11666613 0.02339856
+v 0.12776284 0.12264911 0.02336612
+v 0.12776284 0.12863212 0.02327596
+v 0.12181881 0.14721545 0.02485961
+v 0.12181881 0.14659552 0.02486682
+v 0.12478170 0.00296038 0.02566350
+v 0.12479995 -0.00006717 0.02566349
+v 0.12627227 -0.00006717 0.02455967
+v 0.12777197 0.00296038 0.02343422
+v 0.13105427 0.06281917 0.02067128
+v 0.13105123 0.07477075 0.02066772
+v 0.13103906 0.10470014 0.02065340
+v 0.13103297 0.11068314 0.02064621
+v 0.13102080 0.11666614 0.02062820
+v 0.13099951 0.12264912 0.02059214
+v 0.13094476 0.12863213 0.02050559
+v 0.12776284 0.13461512 0.02306676
+v 0.12716053 0.14659553 0.02277101
+v 0.12707536 0.14721546 0.02271330
+v 0.11632803 0.14721546 0.02227682
+v 0.12180968 -0.00006717 0.02426748
+v 0.12327896 -0.00006717 0.02496007
+v 0.12478170 -0.00006717 0.02566349
+v 0.12777197 -0.00006717 0.02343060
+v 0.12939334 -0.00006716 0.02205984
+v 0.13104514 -0.00006716 0.02066023
+v 0.13105427 0.06281918 0.01853940
+v 0.13105123 0.07477076 0.01855387
+v 0.13104514 0.09271973 0.02065696
+v 0.13103906 0.10470015 0.01861891
+v 0.13103297 0.11068315 0.01864058
+v 0.13102080 0.11666615 0.01868750
+v 0.13099951 0.12264913 0.01878491
+v 0.13094476 0.12863214 0.01904826
+v 0.13082916 0.13461513 0.02029639
+v 0.12823739 0.14009352 0.02233450
+v 0.13075007 0.13775801 0.02014491
+v 0.12874540 0.14721548 0.01734210
+v 0.09997738 0.14721553 0.00342173
+v 0.09997738 -0.00006709 0.00298471
+v 0.11765737 -0.00006716 0.02149351
+v 0.11971376 -0.00006716 0.02286787
+v 0.13104514 -0.00006715 0.01856803
+v 0.13105123 0.04485578 0.01852851
+v 0.13047933 0.04485579 0.01575453
+v 0.13047933 0.05083879 0.01575456
+v 0.13047021 0.07477077 0.01577989
+v 0.13104514 0.09271974 0.01859362
+v 0.13045500 0.10470016 0.01584493
+v 0.13046412 0.08673676 0.01580519
+v 0.13044892 0.11068316 0.01586661
+v 0.13044283 0.11666616 0.01591352
+v 0.13042458 0.12264914 0.01601094
+v 0.13037286 0.12863215 0.01627789
+v 0.13082916 0.13461513 0.01962544
+v 0.13075007 0.13775801 0.02003669
+v 0.12892488 0.14659555 0.01734210
+v 0.12853246 0.14721548 0.01674691
+v 0.09997738 0.14721558 -0.01088823
+v 0.09997738 -0.00006704 -0.01087073
+v 0.13075920 -0.00006714 0.01719727
+v 0.13047933 0.03887280 0.01576173
+v 0.12886405 -0.00006712 0.01179361
+v 0.12888229 0.04485581 0.01179377
+v 0.12887925 0.05083881 0.01179380
+v 0.12884275 0.10470018 0.01179399
+v 0.13047629 0.05682178 0.01575819
+v 0.12883362 0.11068318 0.01179402
+v 0.12882145 0.11666618 0.01179404
+v 0.12878190 0.12264916 0.01179406
+v 0.12866631 0.12863217 0.01179408
+v 0.12841687 0.13461516 0.01179410
+v 0.13025422 0.13461514 0.01685147
+v 0.13004129 0.14009353 0.01785069
+v 0.12791494 0.14059815 0.01179413
+v 0.12691109 0.14659557 0.01179415
+v 0.12674682 0.14721550 0.01183383
+v 0.10338135 0.14721558 -0.01115156
+v 0.10993682 -0.00006704 -0.01114488
+v 0.13046716 -0.00006714 0.01579766
+v 0.12967321 -0.00006713 0.01381367
+v 0.12616884 -0.00006710 0.00624927
+v 0.12618101 0.00894344 0.00624930
+v 0.12618405 0.01492644 0.00624932
+v 0.12618405 0.04485583 0.00624943
+v 0.12615364 0.10470020 0.00624965
+v 0.12587681 0.11013536 0.00569776
+v 0.12613843 0.11666620 0.00626774
+v 0.12612017 0.12264918 0.00630383
+v 0.12605933 0.12863219 0.00643010
+v 0.12592549 0.13461518 0.00672231
+v 0.12566083 0.14059816 0.00727064
+v 0.12514674 0.14659558 0.00830234
+v 0.12507982 0.14721551 0.00844302
+v 0.12648217 0.14721550 0.01122060
+v 0.10399583 0.14721558 -0.01109745
+v 0.10399583 0.14659565 -0.01115517
+v 0.10993682 0.13461524 -0.01118047
+v 0.11587782 0.00894350 -0.00977410
+v 0.11587782 -0.00006704 -0.00977052
+v 0.12549352 -0.00006710 0.00486769
+v 0.12481517 0.01492645 0.00343927
+v 0.12481517 0.02092386 0.00343930
+v 0.12481212 0.03887285 0.00344658
+v 0.12479691 0.09271980 0.00346842
+v 0.12479387 0.10470021 0.00347568
+v 0.12479082 0.11177889 0.00347931
+v 0.12478170 0.11666621 0.00349376
+v 0.12476345 0.12264919 0.00352986
+v 0.12469652 0.12863220 0.00365613
+v 0.12453834 0.13461519 0.00394834
+v 0.12423414 0.14059817 0.00450028
+v 0.12363792 0.14659559 0.00553197
+v 0.12351319 0.14721552 0.00567626
+v 0.10932234 0.14721558 -0.01026417
+v 0.10993682 0.14059823 -0.01106861
+v 0.11567096 0.12863225 -0.00966183
+v 0.11582002 0.12264924 -0.00969432
+v 0.11587782 0.11068326 -0.00973404
+v 0.11587782 0.10470026 -0.00974128
+v 0.11587782 0.09271985 -0.00975214
+v 0.11587782 0.03288990 -0.00977401
+v 0.11890763 0.00296050 -0.00769274
+v 0.11890459 -0.00006705 -0.00769275
+v 0.12480300 -0.00006709 0.00345726
+v 0.11890763 0.02690689 -0.00769265
+v 0.11889242 0.08673685 -0.00767439
+v 0.11887417 0.11068325 -0.00764905
+v 0.11888938 0.09271984 -0.00767076
+v 0.11888633 0.09870284 -0.00766353
+v 0.11888026 0.10470025 -0.00765990
+v 0.11886200 0.11502272 -0.00763461
+v 0.11884071 0.11901620 -0.00760213
+v 0.11879203 0.12264923 -0.00750833
+v 0.11863994 0.12863224 -0.00723055
+v 0.11832054 0.13461522 -0.00663894
+v 0.11770301 0.14059821 -0.00560002
+v 0.12033128 0.14607661 0.00059364
+v 0.12322117 0.14721552 0.00522896
+v 0.10989424 0.14721558 -0.01003692
+v 0.10993682 0.14659565 -0.01022810
+v 0.11473404 0.14059822 -0.00921088
+v 0.11535459 0.13461524 -0.00954638
+v 0.11646797 0.11686808 -0.00929393
+v 0.11890459 0.03288989 -0.00769263
+v 0.11366021 0.14659564 -0.00833069
+v 0.12020352 0.14721554 0.00094715
+v 0.11352028 0.14721557 -0.00820083
+f 1 2 13
+f 1 13 30
+f 1 30 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 45
+f 11 45 65
+f 11 65 84
+f 11 84 102
+f 11 102 101
+f 11 101 121
+f 11 121 146
+f 11 146 154
+f 11 154 155
+f 11 155 147
+f 11 147 122
+f 11 122 103
+f 11 103 85
+f 11 85 66
+f 11 66 46
+f 11 46 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 13
+f 14 30 29
+f 14 29 28
+f 14 28 49
+f 14 49 48
+f 14 48 47
+f 14 47 67
+f 14 67 86
+f 14 86 107
+f 14 107 131
+f 14 131 132
+f 14 132 108
+f 14 108 89
+f 14 89 70
+f 14 70 88
+f 14 88 87
+f 14 87 68
+f 14 68 50
+f 14 50 33
+f 14 33 32
+f 14 32 31
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 50
+f 17 50 34
+f 17 34 35
+f 17 35 18
+f 18 35 55
+f 18 55 36
+f 18 36 19
+f 19 37 38
+f 19 38 20
+f 19 36 55
+f 19 55 37
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 23
+f 23 41 62
+f 23 62 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 37 56 58
+f 37 58 38
+f 37 55 54
+f 37 54 57
+f 37 57 56
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 42 62 63
+f 42 63 44
+f 42 44 43
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 46 66 67
+f 46 67 47
+f 50 68 69
+f 50 69 51
+f 51 69 52
+f 52 69 70
+f 52 70 71
+f 52 71 53
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 53 71 72
+f 54 73 57
+f 54 74 73
+f 56 73 75
+f 56 75 76
+f 56 76 58
+f 56 57 73
+f 58 76 59
+f 59 76 77
+f 59 77 60
+f 60 77 78
+f 60 78 61
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 63
+f 63 81 64
+f 63 80 81
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 65 83 84
+f 66 85 67
+f 67 85 86
+f 68 87 69
+f 69 87 88
+f 69 88 70
+f 70 89 90
+f 70 90 91
+f 70 91 71
+f 71 92 93
+f 71 93 72
+f 71 91 92
+f 72 93 73
+f 73 93 75
+f 75 93 94
+f 75 94 76
+f 76 94 95
+f 76 95 96
+f 76 96 77
+f 77 96 78
+f 78 96 97
+f 78 97 79
+f 79 97 98
+f 79 98 82
+f 79 82 80
+f 80 82 81
+f 82 99 83
+f 82 98 99
+f 83 100 101
+f 83 101 102
+f 83 102 84
+f 83 99 100
+f 85 103 104
+f 85 104 86
+f 86 105 106
+f 86 106 107
+f 86 104 105
+f 89 108 90
+f 90 108 109
+f 90 109 91
+f 91 109 110
+f 91 110 92
+f 92 110 111
+f 92 111 112
+f 92 112 93
+f 93 112 113
+f 93 113 114
+f 93 114 94
+f 94 114 95
+f 95 114 115
+f 95 115 116
+f 95 116 96
+f 96 116 97
+f 97 116 117
+f 97 117 98
+f 98 117 118
+f 98 118 99
+f 99 119 100
+f 99 118 119
+f 100 120 101
+f 100 119 120
+f 101 120 121
+f 103 122 123
+f 103 123 104
+f 104 123 105
+f 105 123 124
+f 105 124 125
+f 105 125 126
+f 105 126 127
+f 105 127 128
+f 105 128 129
+f 105 129 106
+f 106 129 133
+f 106 133 130
+f 106 130 107
+f 107 130 131
+f 108 132 109
+f 109 132 131
+f 109 131 130
+f 109 130 133
+f 109 133 110
+f 110 133 111
+f 111 133 134
+f 111 134 112
+f 112 134 113
+f 113 134 114
+f 114 135 115
+f 114 134 136
+f 114 136 137
+f 114 137 138
+f 114 138 135
+f 115 135 139
+f 115 139 116
+f 116 140 117
+f 116 139 140
+f 117 140 141
+f 117 141 142
+f 117 142 118
+f 118 142 119
+f 119 142 143
+f 119 143 120
+f 120 143 144
+f 120 144 145
+f 120 145 146
+f 120 146 121
+f 122 147 148
+f 122 148 123
+f 123 148 149
+f 123 149 150
+f 123 150 124
+f 124 150 141
+f 124 141 140
+f 124 140 125
+f 125 140 139
+f 125 139 151
+f 125 151 126
+f 126 135 138
+f 126 138 136
+f 126 136 127
+f 126 151 135
+f 127 136 134
+f 127 134 128
+f 128 134 152
+f 128 152 129
+f 129 152 133
+f 133 152 134
+f 135 151 139
+f 136 138 137
+f 141 150 142
+f 142 150 143
+f 143 150 149
+f 143 149 144
+f 144 149 153
+f 144 153 154
+f 144 154 145
+f 145 154 146
+f 147 155 148
+f 148 153 149
+f 148 155 153
+f 153 155 154
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_4.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.09997737 0.14721553 0.00341927
+v 0.07426814 -0.00006709 0.00362986
+v 0.08021490 0.00894345 0.00357671
+v 0.08021490 -0.00006709 0.00357507
+v 0.08500035 -0.00006709 0.00351060
+v 0.08796372 -0.00006709 0.00345097
+v 0.09000603 -0.00006709 0.00338327
+v 0.09208840 -0.00006709 0.00331236
+v 0.09997737 -0.00006709 0.00298196
+v 0.09997737 0.14721558 -0.01089104
+v -0.10457519 0.14721552 0.00518086
+v 0.07126473 -0.00006709 0.00364759
+v 0.09997737 -0.00006704 -0.01087063
+v 0.09803516 0.00894350 -0.01097375
+v 0.09208840 0.01492650 -0.01118809
+v 0.09208840 0.02092391 -0.01118645
+v 0.09208840 0.03887290 -0.01118155
+v 0.09208840 0.10470026 -0.01114746
+v 0.09208840 0.11068326 -0.01114421
+v 0.09208840 0.11666626 -0.01113775
+v 0.09208840 0.12264924 -0.01111999
+v 0.08616167 0.12264924 -0.01120864
+v 0.08616167 0.12863225 -0.01116671
+v 0.08021490 0.12863225 -0.01120701
+v 0.08021490 0.13461524 -0.01112479
+v 0.07426814 0.13461524 -0.01114091
+v 0.06237462 0.13461524 -0.01115703
+v -0.10399452 0.14659565 -0.01116503
+v -0.10399452 0.14721558 -0.01110540
+v -0.10457519 0.14721558 -0.01088943
+v -0.10457519 -0.00006709 0.00310928
+v -0.08795629 -0.00006709 0.00345097
+v -0.08497289 -0.00006709 0.00350738
+v -0.08022750 -0.00006709 0.00357346
+v -0.07428074 -0.00006709 0.00362342
+v -0.07133739 -0.00006709 0.00363792
+v -0.06833398 -0.00006709 0.00365243
+v -0.06539063 -0.00006709 0.00366210
+v -0.05946390 -0.00006709 0.00367499
+v -0.05646048 -0.00006709 0.00368144
+v -0.05351713 -0.00006709 0.00368627
+v -0.03862020 -0.00006709 0.00370561
+v -0.02079994 -0.00006709 0.00372334
+v -0.00890642 -0.00006709 0.00372495
+v -0.00295966 -0.00006709 0.00372495
+v 0.01778393 -0.00006709 0.00371851
+v 0.02078734 -0.00006709 0.00371690
+v 0.03860760 -0.00006709 0.00370723
+v 0.04155095 -0.00006709 0.00370561
+v 0.04455436 -0.00006709 0.00370239
+v 0.05050112 -0.00006709 0.00369595
+v 0.05939123 -0.00006709 0.00368305
+v 0.06237462 -0.00006709 0.00367822
+v 0.06531797 -0.00006709 0.00367177
+v 0.06832138 -0.00006709 0.00366371
+v 0.09803516 -0.00006704 -0.01097217
+v 0.09509181 -0.00006704 -0.01107854
+v 0.09208840 0.00894350 -0.01118811
+v 0.08616167 0.03288990 -0.01125087
+v 0.08616167 0.03887290 -0.01124924
+v 0.08616167 0.11068326 -0.01122480
+v 0.08616167 0.11666626 -0.01122155
+v 0.08021490 0.12264924 -0.01124249
+v 0.07426814 0.12863225 -0.01121829
+v 0.05644788 0.13461524 -0.01116347
+v -0.06240724 0.12264924 -0.01126344
+v -0.06833398 0.12264924 -0.01125860
+v -0.07428074 0.12264924 -0.01125216
+v -0.07428074 0.11666626 -0.01126346
+v -0.08022750 0.11666626 -0.01125379
+v -0.08022750 0.11068326 -0.01125703
+v -0.08617426 0.03288990 -0.01125571
+v -0.08617426 0.02690690 -0.01125573
+v -0.08617426 -0.00006704 -0.01125422
+v -0.09212102 -0.00006704 -0.01119781
+v -0.09804776 -0.00006704 -0.01098184
+v -0.10457519 -0.00006704 -0.01069334
+v -0.10457519 0.14659565 -0.01107317
+v 0.05644788 0.12863225 -0.01122796
+v 0.04455436 0.12863225 -0.01123441
+v 0.00889382 0.12863225 -0.01124569
+v 0.00294706 0.12863225 -0.01124569
+v 0.09208840 -0.00006704 -0.01118653
+v 0.08914505 -0.00006704 -0.01121876
+v 0.08616167 -0.00006704 -0.01125099
+v 0.08021490 0.03887290 -0.01126858
+v 0.08021490 0.11068326 -0.01125381
+v 0.08021490 0.11666626 -0.01125218
+v 0.07426814 0.12264924 -0.01125054
+v -0.06240724 0.11666626 -0.01127152
+v 0.00294706 0.12264924 -0.01126827
+v -0.07428074 0.11068326 -0.01126509
+v -0.08022750 0.03887290 -0.01127342
+v -0.08022750 0.01492650 -0.01127351
+v -0.08317084 -0.00006704 -0.01126389
+v 0.04455436 0.12264924 -0.01125860
+v 0.00889382 0.12264924 -0.01126827
+v 0.08021490 -0.00006704 -0.01126872
+v 0.07426814 0.03887290 -0.01127342
+v 0.07426814 0.10470026 -0.01126190
+v 0.07426814 0.11666626 -0.01125862
+v -0.06833398 0.04485589 -0.01127823
+v -0.07428074 0.03887290 -0.01127664
+v 0.00294706 0.11666626 -0.01127474
+v 0.00889382 0.03288990 -0.01128472
+v -0.07428074 -0.00006704 -0.01127517
+v -0.08022750 -0.00006704 -0.01127195
+v 0.00889382 0.11666626 -0.01127474
+v 0.07727156 -0.00006704 -0.01127033
+v 0.07426814 0.02690690 -0.01127346
+v 0.06832138 0.03288990 -0.01127666
+v 0.06832138 0.10470026 -0.01126351
+v 0.04455436 0.11068326 -0.01126831
+v -0.06833398 0.03288990 -0.01127827
+v 0.01189723 -0.00006704 -0.01128323
+v 0.00294706 -0.00006704 -0.01128323
+v -0.06535059 -0.00006704 -0.01127678
+v 0.07426814 -0.00006704 -0.01127195
+v 0.06832138 -0.00006704 -0.01127356
+v 0.04455436 -0.00006704 -0.01127839
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 13
+f 1 13 10
+f 1 10 29
+f 1 29 30
+f 1 30 11
+f 1 11 2
+f 2 12 55
+f 2 55 54
+f 2 54 53
+f 2 53 52
+f 2 52 51
+f 2 51 50
+f 2 50 49
+f 2 49 48
+f 2 48 47
+f 2 47 46
+f 2 46 45
+f 2 45 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
+f 2 41 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 77
+f 2 77 76
+f 2 76 75
+f 2 75 74
+f 2 74 95
+f 2 95 107
+f 2 107 106
+f 2 106 117
+f 2 117 116
+f 2 116 115
+f 2 115 120
+f 2 120 119
+f 2 119 118
+f 2 118 109
+f 2 109 98
+f 2 98 85
+f 2 85 84
+f 2 84 83
+f 2 83 57
+f 2 57 56
+f 2 56 13
+f 2 13 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 11 12
+f 10 13 14
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 11 30 78
+f 11 78 77
+f 11 77 31
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 11 36 37
+f 11 37 38
+f 11 38 39
+f 11 39 40
+f 11 40 41
+f 11 41 42
+f 11 42 43
+f 11 43 44
+f 11 44 45
+f 11 45 46
+f 11 46 47
+f 11 47 48
+f 11 48 49
+f 11 49 50
+f 11 50 51
+f 11 51 52
+f 11 52 53
+f 11 53 54
+f 11 54 55
+f 11 55 12
+f 13 56 14
+f 14 56 57
+f 14 57 58
+f 14 58 15
+f 15 58 85
+f 15 85 59
+f 15 59 16
+f 16 59 60
+f 16 60 17
+f 17 60 61
+f 17 61 18
+f 18 61 62
+f 18 62 19
+f 19 62 20
+f 20 62 22
+f 20 22 21
+f 22 62 63
+f 22 63 24
+f 22 24 23
+f 24 63 64
+f 24 64 26
+f 24 26 25
+f 26 64 27
+f 27 64 65
+f 27 65 28
+f 28 66 67
+f 28 67 68
+f 28 68 69
+f 28 69 70
+f 28 70 71
+f 28 71 72
+f 28 72 73
+f 28 73 74
+f 28 74 75
+f 28 75 76
+f 28 76 77
+f 28 77 78
+f 28 78 29
+f 28 65 64
+f 28 64 79
+f 28 79 80
+f 28 80 81
+f 28 81 82
+f 28 82 66
+f 29 78 30
+f 57 83 58
+f 58 83 84
+f 58 84 85
+f 59 85 98
+f 59 98 86
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 60 88 61
+f 61 88 62
+f 62 88 63
+f 63 88 89
+f 63 89 64
+f 64 89 79
+f 66 90 69
+f 66 69 67
+f 66 82 91
+f 66 91 90
+f 67 69 68
+f 69 92 71
+f 69 71 70
+f 69 90 92
+f 71 92 93
+f 71 93 72
+f 72 93 94
+f 72 94 73
+f 73 94 95
+f 73 95 74
+f 79 89 80
+f 80 89 81
+f 81 89 96
+f 81 96 97
+f 81 97 91
+f 81 91 82
+f 86 98 110
+f 86 110 99
+f 86 99 100
+f 86 100 87
+f 87 100 101
+f 87 101 88
+f 88 101 89
+f 89 101 96
+f 90 102 103
+f 90 103 93
+f 90 93 92
+f 90 91 104
+f 90 104 105
+f 90 105 102
+f 91 97 108
+f 91 108 104
+f 93 103 94
+f 94 103 106
+f 94 106 107
+f 94 107 95
+f 96 101 97
+f 97 101 108
+f 98 109 110
+f 99 110 111
+f 99 111 100
+f 100 111 112
+f 100 112 113
+f 100 113 101
+f 101 113 108
+f 102 114 103
+f 102 105 114
+f 103 114 106
+f 104 108 105
+f 105 108 111
+f 105 111 115
+f 105 115 116
+f 105 116 114
+f 106 114 117
+f 108 113 111
+f 109 118 110
+f 110 118 111
+f 111 118 119
+f 111 119 120
+f 111 120 115
+f 111 113 112
+f 114 116 117
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_5.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.10586732 -0.00006709 0.00325629
+v 0.10586732 -0.14730985 0.00599268
+v 0.10586732 -0.00006704 -0.01081237
+v 0.08020625 -0.00006709 0.00357599
+v 0.10586732 -0.14730979 -0.01068267
+v 0.07721860 -0.00006709 0.00360305
+v 0.07427188 -0.00006709 0.00362843
+v 0.07126376 -0.00006709 0.00364703
+v 0.06831703 -0.00006709 0.00366395
+v 0.06238266 -0.00006709 0.00367748
+v 0.05644829 -0.00006709 0.00368763
+v 0.05049344 -0.00006709 0.00369609
+v 0.04455907 -0.00006709 0.00370286
+v 0.03860423 -0.00006709 0.00370793
+v 0.01777252 -0.00006709 0.00371808
+v -0.00297733 -0.00006709 0.00372485
+v -0.00891170 -0.00006709 0.00372485
+v -0.02080092 -0.00006709 0.00372315
+v -0.03567778 -0.00006709 0.00370793
+v -0.04163262 -0.00006709 0.00370117
+v -0.05352184 -0.00006709 0.00368594
+v -0.05945622 -0.00006709 0.00367579
+v -0.06240294 -0.00006709 0.00366902
+v -0.06539059 -0.00006709 0.00366057
+v -0.06833732 -0.00006709 0.00365211
+v -0.07134543 -0.00006709 0.00363858
+v -0.07429216 -0.00006709 0.00362335
+v -0.10318642 -0.14730985 0.00438740
+v 0.10586732 -0.14067983 -0.01097359
+v 0.10398468 -0.14666121 -0.01118168
+v 0.09209546 -0.00006704 -0.01118790
+v 0.10586732 -0.14666121 -0.01088565
+v 0.10398468 -0.14730979 -0.01112078
+v -0.07727981 -0.00006709 0.00359798
+v -0.08022653 -0.00006709 0.00357261
+v -0.08262075 -0.00006709 0.00354047
+v -0.08497403 -0.00006709 0.00350833
+v -0.08648832 -0.00006709 0.00347957
+v -0.08794122 -0.00006709 0.00345081
+v -0.10318642 -0.00006709 0.00302962
+v -0.10318642 -0.14730979 -0.01115630
+v 0.00889142 -0.12871708 -0.01125434
+v 0.04455907 -0.12272128 -0.01126109
+v 0.06831703 -0.12272128 -0.01125263
+v 0.07427188 -0.12272128 -0.01124756
+v 0.08020625 -0.11075853 -0.01125428
+v 0.08020625 -0.10477715 -0.01125764
+v 0.08616109 -0.03295740 -0.01125230
+v 0.08616109 -0.02099465 -0.01125226
+v 0.08616109 -0.00006704 -0.01125049
+v 0.00295705 -0.12871708 -0.01125434
+v -0.10318642 -0.00006704 -0.01069397
+v -0.09805012 -0.00006704 -0.01098153
+v -0.09506248 -0.00006704 -0.01108979
+v -0.09211575 -0.00006704 -0.01119636
+v -0.08616091 -0.00006704 -0.01125387
+v -0.08616091 -0.02099465 -0.01125734
+v -0.08616091 -0.02697602 -0.01125736
+v -0.08022653 -0.10477715 -0.01125933
+v -0.08022653 -0.11075853 -0.01125597
+v -0.08022653 -0.11673991 -0.01124923
+v -0.08022653 -0.12272128 -0.01124079
+v -0.07429216 -0.12272128 -0.01125263
+v -0.06833732 -0.12272128 -0.01125771
+v -0.06240294 -0.12272128 -0.01126109
+v 0.00889142 -0.12272128 -0.01126955
+v 0.07427188 -0.11075853 -0.01126105
+v 0.07427188 -0.10477715 -0.01126271
+v 0.08020625 -0.03295740 -0.01126922
+v 0.08020625 -0.02099465 -0.01127087
+v 0.08020625 -0.00006704 -0.01126910
+v -0.08022653 -0.00006704 -0.01127248
+v -0.08022653 -0.02099465 -0.01127594
+v -0.08022653 -0.03295740 -0.01127429
+v -0.07429216 -0.10477715 -0.01126778
+v -0.07429216 -0.11075853 -0.01126443
+v -0.06833732 -0.11075853 -0.01126781
+v -0.06240294 -0.10477715 -0.01127455
+v 0.00889142 -0.11075853 -0.01127458
+v 0.03860423 -0.10477715 -0.01127117
+v 0.00295705 -0.11075853 -0.01127458
+v 0.06831703 -0.03895319 -0.01127431
+v 0.07427188 -0.03895319 -0.01127262
+v 0.04455907 -0.03295740 -0.01128106
+v 0.07427188 -0.02099465 -0.01127425
+v 0.07725953 -0.00006704 -0.01127079
+v -0.07429216 -0.00006704 -0.01127586
+v -0.07429216 -0.02099465 -0.01127933
+v -0.06833732 -0.02099465 -0.01128102
+v -0.06240294 -0.03295740 -0.01128106
+v 0.00889142 -0.03895319 -0.01128615
+v 0.00889142 -0.10477715 -0.01127624
+v 0.06831703 -0.02099465 -0.01127594
+v 0.04455907 -0.01501327 -0.01128100
+v 0.06831703 -0.01501327 -0.01127592
+v 0.06831703 -0.00006704 -0.01127417
+v -0.06240294 -0.00006704 -0.01127755
+v 0.00889142 -0.00006704 -0.01128432
+v 0.00889142 -0.02099465 -0.01128609
+v 0.00295705 -0.02697602 -0.01128611
+v 0.00295705 -0.03295740 -0.01128613
+v 0.04455907 -0.00006704 -0.01127925
+f 1 2 5
+f 1 5 32
+f 1 32 29
+f 1 29 3
+f 1 3 31
+f 1 31 50
+f 1 50 71
+f 1 71 86
+f 1 86 96
+f 1 96 102
+f 1 102 98
+f 1 98 97
+f 1 97 87
+f 1 87 72
+f 1 72 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 21
+f 2 21 22
+f 2 22 23
+f 2 23 24
+f 2 24 25
+f 2 25 26
+f 2 26 27
+f 2 27 28
+f 2 28 41
+f 2 41 33
+f 2 33 5
+f 3 29 30
+f 3 30 31
+f 5 33 32
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 52
+f 28 52 41
+f 29 32 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 30 32 33
+f 30 33 41
+f 30 41 51
+f 30 51 42
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 51
+f 42 66 43
+f 42 51 66
+f 43 66 67
+f 43 67 44
+f 44 67 45
+f 45 67 46
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 50
+f 51 65 66
+f 56 72 73
+f 56 73 57
+f 57 73 58
+f 58 73 74
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 63
+f 60 63 61
+f 61 63 62
+f 63 76 64
+f 64 76 65
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 66 79 80
+f 66 80 67
+f 66 78 81
+f 66 81 79
+f 67 80 68
+f 68 82 83
+f 68 83 69
+f 68 80 84
+f 68 84 82
+f 69 83 70
+f 70 83 85
+f 70 85 86
+f 70 86 71
+f 72 87 88
+f 72 88 73
+f 73 88 75
+f 73 75 74
+f 75 88 78
+f 75 78 76
+f 76 78 77
+f 78 88 89
+f 78 89 90
+f 78 90 91
+f 78 91 92
+f 78 92 81
+f 79 92 80
+f 79 81 92
+f 80 92 84
+f 82 93 85
+f 82 85 83
+f 82 84 93
+f 84 92 91
+f 84 91 99
+f 84 99 94
+f 84 94 95
+f 84 95 93
+f 85 93 95
+f 85 95 86
+f 86 95 96
+f 87 97 89
+f 87 89 88
+f 89 97 98
+f 89 98 99
+f 89 99 100
+f 89 100 101
+f 89 101 90
+f 90 101 91
+f 91 101 100
+f 91 100 99
+f 94 99 98
+f 94 98 102
+f 94 102 96
+f 94 96 95
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_6.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.12875544 -0.14730989 0.01734087
+v 0.12866213 -0.14730990 0.01785895
+v 0.12548594 -0.15696734 0.02122113
+v 0.12720144 -0.15265979 0.01734085
+v 0.12547158 -0.15206548 0.01214245
+v 0.12693227 -0.14730988 0.01238212
+v 0.12709377 -0.14730991 0.02270492
+v 0.12635446 -0.15265981 0.02222911
+v 0.12263634 -0.16113949 0.01884924
+v 0.12286961 -0.16113948 0.01734082
+v 0.12376326 -0.15990217 0.01734082
+v 0.12545005 -0.15690911 0.01734083
+v 0.12217336 -0.15883547 0.02288814
+v 0.12132279 -0.16113950 0.02236301
+v 0.12497631 -0.15601158 0.01422180
+v 0.12400371 -0.15366558 0.01052477
+v 0.12479328 -0.14967480 0.00901284
+v 0.12673129 -0.14730987 0.01183585
+v 0.12660927 -0.14730991 0.02297629
+v 0.12181806 -0.15265982 0.02475959
+v 0.12073421 -0.16113947 0.01241731
+v 0.12009180 -0.16113950 0.02299386
+v 0.12193291 -0.15874202 0.01172303
+v 0.11976521 -0.15706339 0.00624973
+v 0.11887874 -0.15570290 0.00343731
+v 0.12252508 -0.15206546 0.00679954
+v 0.12506962 -0.14730986 0.00845953
+v 0.12350127 -0.14730985 0.00568940
+v 0.12387810 -0.14730985 0.00627796
+v 0.12181806 -0.14730992 0.02483714
+v 0.11339846 -0.16113951 0.02483709
+v 0.11609015 -0.16113951 0.02419214
+v 0.11911561 -0.16113945 0.00952735
+v 0.11957858 -0.15265974 0.00262672
+v 0.11846602 -0.16113945 0.00851939
+v 0.11763339 -0.16005646 0.00624972
+v 0.11377171 -0.16113943 0.00269366
+v 0.11294626 -0.14972890 -0.00766434
+v 0.12019228 -0.14730983 0.00096325
+v 0.12105362 -0.14730992 0.02460101
+v 0.10723270 -0.16113950 0.02297624
+v 0.11350254 -0.14730980 -0.00818946
+v 0.11665362 -0.16113944 0.00624972
+v 0.11177268 -0.16113942 0.00119934
+v 0.10734037 -0.15598443 -0.00793221
+v 0.10956550 -0.15209791 -0.00856306
+v 0.11056321 -0.14730979 -0.00970845
+v 0.11632343 -0.14730991 0.02226437
+v 0.10154786 -0.16113950 0.02056912
+v 0.10299778 -0.16113950 0.02126341
+v 0.10449077 -0.16113940 -0.00411537
+v 0.10444411 -0.16030957 -0.00508104
+v 0.10049272 -0.16113939 -0.00687846
+v 0.09995079 -0.16113939 -0.00718507
+v 0.10399550 -0.15709584 -0.00874987
+v 0.10399550 -0.15265969 -0.01061423
+v 0.10989567 -0.14730979 -0.01004679
+v 0.10076188 -0.16113949 0.02000522
+v 0.09210901 -0.14730984 0.00255626
+v 0.09209106 -0.14732202 0.00255978
+v 0.09662745 -0.16113939 -0.00836925
+v 0.09805225 -0.15900051 -0.00935958
+v 0.09210901 -0.15864312 -0.01042393
+v 0.09805225 -0.15265969 -0.01116050
+v 0.10399550 -0.14730979 -0.01112171
+v 0.09209106 -0.16113947 0.01272746
+v 0.09209106 -0.14730979 -0.01033226
+v 0.09210901 -0.16113939 -0.00909174
+v 0.09209106 -0.15864312 -0.01042393
+v 0.09209106 -0.15265969 -0.01101600
+v 0.09209106 -0.14730979 -0.01059306
+v 0.09209106 -0.16113939 -0.00895429
+v 0.09209106 -0.16113262 -0.00909527
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 18
+f 1 18 27
+f 1 27 29
+f 1 29 28
+f 1 28 39
+f 1 39 42
+f 1 42 47
+f 1 47 57
+f 1 57 65
+f 1 65 71
+f 1 71 67
+f 1 67 59
+f 1 59 48
+f 1 48 40
+f 1 40 30
+f 1 30 19
+f 1 19 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 13
+f 3 13 14
+f 3 14 9
+f 4 12 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 7 19 8
+f 8 19 20
+f 8 20 13
+f 9 14 22
+f 9 22 32
+f 9 32 31
+f 9 31 41
+f 9 41 50
+f 9 50 49
+f 9 49 58
+f 9 58 66
+f 9 66 72
+f 9 72 68
+f 9 68 61
+f 9 61 54
+f 9 54 53
+f 9 53 51
+f 9 51 44
+f 9 44 37
+f 9 37 43
+f 9 43 35
+f 9 35 33
+f 9 33 21
+f 9 21 10
+f 10 21 11
+f 11 21 15
+f 11 15 12
+f 13 20 22
+f 13 22 14
+f 15 21 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 27 18
+f 17 26 28
+f 17 28 29
+f 17 29 27
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 22
+f 21 33 23
+f 23 33 24
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 34
+f 26 34 28
+f 28 34 39
+f 30 40 41
+f 30 41 31
+f 34 38 42
+f 34 42 39
+f 35 43 36
+f 36 43 37
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 42
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 48 58 49
+f 48 59 60
+f 48 60 58
+f 51 53 52
+f 54 61 55
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 56 63 64
+f 56 64 65
+f 56 65 57
+f 58 60 66
+f 59 67 60
+f 60 67 71
+f 60 71 70
+f 60 70 69
+f 60 69 73
+f 60 73 72
+f 60 72 66
+f 61 68 62
+f 62 68 63
+f 63 68 69
+f 63 69 64
+f 64 70 65
+f 64 69 70
+f 65 70 71
+f 68 72 73
+f 68 73 69
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_7.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.07950664 0.16105368 0.01180332
+v -0.09790460 0.16105366 0.01668522
+v -0.07950664 0.14721553 0.00266062
+v -0.07950664 0.16105376 -0.00967484
+v -0.09790460 0.14722907 0.00293304
+v -0.09790460 0.16105375 -0.00726658
+v -0.09754982 0.14721553 0.00290035
+v -0.07950664 0.14721558 -0.01066107
+v -0.07950664 0.16074764 -0.00981922
+v -0.08023780 0.16105376 -0.00966939
+v -0.09790460 0.14721554 -0.00136041
+v -0.09656293 0.16105375 -0.00833177
+v -0.09790460 0.15908016 -0.00924441
+v -0.09790460 0.14721558 -0.01074007
+v -0.09790460 0.15258235 -0.01114597
+v -0.07950664 0.15192267 -0.01096889
+v -0.07950664 0.15856679 -0.01084083
+v -0.08023780 0.15856679 -0.01083539
+v -0.08618076 0.16105375 -0.00950865
+v -0.08618076 0.15856679 -0.01072642
+v -0.09212191 0.16105375 -0.00904008
+v -0.09790460 0.15890136 -0.00934521
+v -0.09212191 0.15856679 -0.01038043
+v -0.07950664 0.15258235 -0.01100976
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 22
+f 2 22 15
+f 2 15 14
+f 2 14 11
+f 2 11 5
+f 3 7 11
+f 3 11 14
+f 3 14 8
+f 3 5 7
+f 4 9 10
+f 5 11 7
+f 6 12 13
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 20
+f 10 20 19
+f 12 21 13
+f 13 21 22
+f 15 22 23
+f 15 23 20
+f 15 20 18
+f 15 18 17
+f 15 17 24
+f 15 24 16
+f 19 20 23
+f 19 23 21
+f 21 23 22
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_8.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.05646712 0.16105376 -0.00975874
+v -0.05402115 0.16214520 -0.00925763
+v -0.05402115 0.16112262 -0.00972465
+v -0.05402115 0.16105376 -0.00975533
+v -0.06241025 0.16105376 -0.00975533
+v -0.06241025 0.16290093 -0.00890651
+v -0.05402115 0.16290782 -0.00890651
+v -0.05646712 0.16290610 -0.00890651
+v -0.05402115 0.16105368 0.01180924
+v -0.06835337 0.16105376 -0.00974852
+v -0.06241025 0.16576036 -0.00484312
+v -0.05402115 0.16577757 -0.00484312
+v -0.06835337 0.16289060 -0.00889970
+v -0.05402115 0.16271148 0.01734186
+v -0.11341871 0.16105363 0.02487207
+v -0.07429650 0.16105376 -0.00972465
+v -0.06835337 0.16574314 -0.00484312
+v -0.07429650 0.17249314 0.00527446
+v -0.05402115 0.17248798 0.00531195
+v -0.06835337 0.17249142 0.00528127
+v -0.07429650 0.16286823 -0.00888606
+v -0.05402115 0.16387693 0.01960536
+v -0.09806226 0.17053571 0.02499483
+v -0.10994852 0.16455347 0.02489253
+v -0.11608705 0.16105363 0.02422438
+v -0.05402115 0.16548137 0.02258814
+v -0.05402115 0.17053571 0.02506641
+v -0.08023962 0.16105376 -0.00967011
+v -0.07429650 0.16570699 -0.00484312
+v -0.08023962 0.17248626 0.00529832
+v -0.07429650 0.17622364 0.01179566
+v -0.06835337 0.17624085 0.01179566
+v -0.05646712 0.17626495 0.01179566
+v -0.05402115 0.17625118 0.01179566
+v -0.08023962 0.16280797 -0.00884515
+v -0.08618275 0.17615473 0.02284044
+v -0.09211914 0.17595159 0.02280294
+v -0.09806226 0.17554360 0.02263589
+v -0.10400539 0.17053571 0.02458576
+v -0.05402115 0.17650593 0.02280975
+v -0.08023962 0.17624598 0.02284044
+v -0.11641048 0.16508196 0.02319492
+v -0.12007609 0.16105364 0.02300741
+v -0.08618275 0.16105375 -0.00950990
+v -0.08023962 0.16561403 -0.00484312
+v -0.08023962 0.17615306 0.01179566
+v -0.08618275 0.17243289 0.00539036
+v -0.07429650 0.17845641 0.01734192
+v -0.06835337 0.17849085 0.01734192
+v -0.05402115 0.17864062 0.01751237
+v -0.08618275 0.16265304 -0.00872584
+v -0.08618275 0.17816376 0.01734191
+v -0.08023962 0.17836345 0.01734192
+v -0.09211914 0.17774543 0.01734191
+v -0.09806226 0.17688812 0.01734191
+v -0.10400539 0.17477408 0.02194730
+v -0.10994852 0.17080084 0.02274156
+v -0.11477983 0.16898464 0.02178365
+v -0.12042647 0.16344138 0.02183477
+v -0.12131592 0.16105364 0.02237677
+v -0.09211914 0.16105375 -0.00903947
+v -0.08618275 0.16535579 -0.00484312
+v -0.08618275 0.17398223 0.00816179
+v -0.08618275 0.17598951 0.01179566
+v -0.09211914 0.17224352 0.00570738
+v -0.09211914 0.17381525 0.00847881
+v -0.09211914 0.16227947 -0.00838155
+v -0.09211914 0.16925155 0.00140537
+v -0.09211914 0.17560733 0.01179566
+v -0.09777925 0.17466567 0.01158430
+v -0.10400539 0.17405624 0.01359895
+v -0.10400539 0.17530089 0.01734190
+v -0.10797421 0.17402523 0.02097236
+v -0.11517739 0.16929625 0.01734188
+v -0.11814895 0.16686893 0.01734187
+v -0.12079034 0.16387694 0.01734186
+v -0.12262313 0.16105365 0.01887926
+v -0.09655963 0.16105375 -0.00833042
+v -0.09806226 0.16877814 0.00203601
+v -0.09777925 0.17194398 0.00668573
+v -0.09560954 0.17363278 0.00882311
+v -0.09600710 0.16186458 -0.00795545
+v -0.09957163 0.17323509 0.00959352
+v -0.10400539 0.17252927 0.01082411
+v -0.10699717 0.17353807 0.01455003
+v -0.10773837 0.17390819 0.01734190
+v -0.11070993 0.17228653 0.01734189
+v -0.11407231 0.16844068 0.01309442
+v -0.11987393 0.16276829 0.01290691
+v -0.12285223 0.16105366 0.01734185
+v -0.09990180 0.16105375 -0.00712027
+v -0.09996918 0.16113122 -0.00704187
+v -0.10256341 0.16814634 0.00278256
+v -0.10432883 0.16950116 0.00586418
+v -0.10652549 0.16733551 0.00375408
+v -0.10862782 0.16850267 0.00745272
+v -0.10979354 0.17046518 0.01197291
+v -0.11258991 0.16731999 0.00939577
+v -0.11641048 0.16504415 0.01115135
+v -0.11874865 0.16141004 0.00920826
+v -0.12073643 0.16105367 0.01240920
+v -0.10033305 0.16105375 -0.00688165
+v -0.10994852 0.16320388 0.00193372
+v -0.11335132 0.16196612 0.00309614
+v -0.11033934 0.16633014 0.00586417
+v -0.11464506 0.16319182 0.00624937
+v -0.11845890 0.16105369 0.00846172
+v -0.11915968 0.16105368 0.00953552
+v -0.10445011 0.16105373 -0.00403523
+v -0.11182848 0.16105372 0.00133716
+v -0.11372193 0.16105371 0.00274503
+v -0.11663285 0.16105370 0.00624936
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 43
+f 1 43 60
+f 1 60 77
+f 1 77 90
+f 1 90 101
+f 1 101 108
+f 1 108 107
+f 1 107 112
+f 1 112 111
+f 1 111 110
+f 1 110 109
+f 1 109 102
+f 1 102 91
+f 1 91 78
+f 1 78 61
+f 1 61 44
+f 1 44 28
+f 1 28 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 12
+f 2 12 19
+f 2 19 34
+f 2 34 50
+f 2 50 40
+f 2 40 27
+f 2 27 26
+f 2 26 22
+f 2 22 14
+f 2 14 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 7
+f 5 10 6
+f 6 11 12
+f 6 12 8
+f 6 10 13
+f 6 13 11
+f 7 8 12
+f 9 14 15
+f 10 16 13
+f 11 13 17
+f 11 17 18
+f 11 18 12
+f 12 18 20
+f 12 20 19
+f 13 16 21
+f 13 21 17
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 22 26
+f 15 26 27
+f 15 27 23
+f 16 28 21
+f 17 21 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 19 33 34
+f 19 20 33
+f 21 28 35
+f 21 35 29
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 23 27 40
+f 23 40 41
+f 23 41 36
+f 24 39 42
+f 24 42 25
+f 25 42 43
+f 28 44 35
+f 29 35 45
+f 29 45 30
+f 30 46 31
+f 30 45 47
+f 30 47 46
+f 31 46 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 33
+f 33 50 34
+f 35 44 51
+f 35 51 45
+f 36 52 37
+f 36 41 48
+f 36 48 53
+f 36 53 52
+f 37 52 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 42
+f 40 50 41
+f 41 50 48
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 42 57 58
+f 44 61 51
+f 45 51 62
+f 45 62 47
+f 46 53 48
+f 46 47 63
+f 46 63 64
+f 46 64 53
+f 47 62 65
+f 47 65 66
+f 47 66 63
+f 48 50 49
+f 51 61 67
+f 51 67 68
+f 51 68 62
+f 52 53 64
+f 52 64 69
+f 52 69 54
+f 54 69 55
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 58
+f 58 74 75
+f 58 75 59
+f 58 73 74
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 61 78 67
+f 62 68 65
+f 63 66 64
+f 64 66 69
+f 65 68 79
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 66 81 69
+f 67 78 82
+f 67 82 79
+f 67 79 68
+f 69 81 70
+f 70 81 83
+f 70 83 71
+f 71 84 85
+f 71 85 72
+f 71 83 84
+f 72 85 86
+f 72 86 73
+f 73 86 87
+f 73 87 74
+f 74 87 88
+f 74 88 75
+f 75 89 76
+f 75 88 89
+f 76 90 77
+f 76 89 90
+f 78 91 92
+f 78 92 82
+f 79 82 93
+f 79 93 80
+f 80 93 83
+f 80 83 81
+f 82 92 93
+f 83 93 94
+f 83 94 84
+f 84 94 85
+f 85 95 96
+f 85 96 97
+f 85 97 88
+f 85 88 87
+f 85 87 86
+f 85 94 95
+f 88 97 98
+f 88 98 99
+f 88 99 89
+f 89 99 100
+f 89 100 101
+f 89 101 90
+f 91 102 92
+f 92 102 95
+f 92 95 93
+f 93 95 94
+f 95 103 104
+f 95 104 105
+f 95 105 98
+f 95 98 96
+f 95 102 103
+f 96 98 97
+f 98 104 106
+f 98 106 99
+f 98 105 104
+f 99 106 100
+f 100 107 108
+f 100 108 101
+f 100 106 104
+f 100 104 107
+f 102 109 103
+f 103 109 104
+f 104 109 110
+f 104 110 111
+f 104 111 112
+f 104 112 107
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/mesh/tray_056_collision_9.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.07425642 -0.15265969 -0.01103293
+v 0.08020731 -0.15265969 -0.01103046
+v 0.06832356 -0.15864177 -0.01090700
+v 0.03862321 -0.15864177 -0.01091441
+v 0.03267233 -0.15265969 -0.01103046
+v 0.00890483 -0.14730979 -0.01074891
+v 0.00953599 -0.14730979 -0.01074891
+v 0.03330348 -0.14730979 -0.01074397
+v 0.06895472 -0.14730979 -0.01072915
+v 0.08614016 -0.15265969 -0.01102799
+v 0.07425642 -0.15864177 -0.01090206
+v 0.06832356 -0.16113938 -0.00977840
+v 0.03862321 -0.16113938 -0.00979568
+v 0.01483769 -0.16113938 -0.00979815
+v 0.00295394 -0.16113938 -0.00979815
+v -0.02674640 -0.15864177 -0.01090453
+v -0.06833050 -0.15265969 -0.01102305
+v -0.08616513 -0.15265969 -0.01101811
+v -0.06239764 -0.14730979 -0.01072668
+v 0.07490561 -0.14730979 -0.01072421
+v 0.09209106 -0.15265969 -0.01101564
+v 0.08020731 -0.15864177 -0.01086749
+v 0.07425642 -0.16113938 -0.00976605
+v -0.02674640 -0.16113938 -0.00978828
+v -0.06833050 -0.15864177 -0.01089712
+v -0.09213405 -0.15265969 -0.01101071
+v -0.06833050 -0.14730979 -0.01071927
+v 0.08083846 -0.14730979 -0.01070939
+v 0.08614016 -0.15864177 -0.01075883
+v 0.08678935 -0.14730979 -0.01066494
+v 0.09209106 -0.14730979 -0.01059332
+v 0.09209106 -0.15864177 -0.01042543
+v 0.08020731 -0.16113938 -0.00971419
+v -0.06494029 -0.16113938 -0.00976852
+v -0.06833050 -0.16113938 -0.00976605
+v -0.07089118 -0.16113938 -0.00976358
+v -0.07428139 -0.15864177 -0.01088971
+v -0.09213405 -0.14730979 -0.01058591
+v -0.08616513 -0.14730979 -0.01065259
+v -0.08023228 -0.14730979 -0.01069210
+v -0.07428139 -0.14730979 -0.01070939
+v -0.08023228 -0.15864177 -0.01085267
+v -0.08616513 -0.15864177 -0.01075389
+v -0.09211603 -0.15864177 -0.01043284
+v -0.09213405 -0.15864177 -0.01043037
+v 0.08614016 -0.16113938 -0.00955366
+v 0.09209106 -0.14730979 -0.01033154
+v 0.09209106 -0.16113262 -0.00909431
+v -0.07428139 -0.16113938 -0.00975123
+v -0.07680601 -0.16113938 -0.00973641
+v -0.09213405 -0.14730979 -0.01037599
+v -0.08023228 -0.16113938 -0.00969690
+v -0.08850942 -0.16113939 -0.00942030
+v -0.08270279 -0.16113938 -0.00965491
+v -0.08616513 -0.16113938 -0.00954625
+v -0.09211603 -0.16113939 -0.00910172
+v -0.09213405 -0.16113397 -0.00910172
+v 0.09010743 -0.16113939 -0.00920051
+v 0.09129760 -0.14730984 0.00254010
+v 0.09209106 -0.14732202 0.00255492
+v 0.09209106 -0.16113939 -0.00895354
+v -0.09213405 -0.14731931 0.00255739
+v -0.09211603 -0.14730984 0.00255739
+v -0.09213405 -0.16113941 -0.00150518
+v 0.08020731 -0.14730984 0.00261172
+v 0.09209106 -0.16113947 0.01272721
+v 0.07425642 -0.14730984 0.00264629
+v 0.03725271 -0.16113947 0.01418676
+v -0.09213405 -0.16113947 0.01283835
+v -0.03727767 -0.16113947 0.01419664
+v -0.07509287 -0.14730984 0.00264629
+v 0.06832356 -0.14730984 0.00266852
+v 0.01483769 -0.14730984 0.00276977
+v 0.00890483 -0.14730984 0.00277471
+v -0.06320913 -0.14730984 0.00268581
+v -0.06833050 -0.14730984 0.00267346
+v -0.06914198 -0.14730984 0.00267099
+v 0.00207033 -0.14730984 0.00277471
+v -0.00384450 -0.14730984 0.00277224
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 27
+f 6 27 41
+f 6 41 40
+f 6 40 39
+f 6 39 38
+f 6 38 51
+f 6 51 63
+f 6 63 71
+f 6 71 77
+f 6 77 76
+f 6 76 75
+f 6 75 79
+f 6 79 78
+f 6 78 74
+f 6 74 73
+f 6 73 72
+f 6 72 67
+f 6 67 65
+f 6 65 59
+f 6 59 47
+f 6 47 31
+f 6 31 30
+f 6 30 28
+f 6 28 20
+f 6 20 9
+f 6 9 8
+f 6 8 7
+f 9 20 10
+f 10 21 11
+f 10 20 21
+f 11 22 23
+f 11 23 12
+f 11 21 22
+f 12 23 33
+f 12 33 46
+f 12 46 58
+f 12 58 61
+f 12 61 66
+f 12 66 68
+f 12 68 70
+f 12 70 69
+f 12 69 64
+f 12 64 56
+f 12 56 53
+f 12 53 55
+f 12 55 54
+f 12 54 52
+f 12 52 50
+f 12 50 49
+f 12 49 36
+f 12 36 35
+f 12 35 34
+f 12 34 24
+f 12 24 15
+f 12 15 14
+f 12 14 13
+f 15 24 25
+f 15 25 16
+f 16 25 17
+f 17 25 18
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 20 28 21
+f 21 29 22
+f 21 28 30
+f 21 30 31
+f 21 31 47
+f 21 47 60
+f 21 60 66
+f 21 66 61
+f 21 61 48
+f 21 48 32
+f 21 32 29
+f 22 33 23
+f 22 29 33
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 26 37 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 57
+f 26 57 64
+f 26 64 69
+f 26 69 62
+f 26 62 51
+f 26 51 38
+f 29 32 46
+f 29 46 33
+f 32 48 46
+f 36 49 37
+f 37 49 50
+f 37 50 42
+f 42 50 52
+f 42 52 43
+f 43 53 44
+f 43 52 54
+f 43 54 55
+f 43 55 53
+f 44 53 56
+f 44 56 45
+f 45 56 57
+f 46 48 58
+f 47 59 60
+f 48 61 58
+f 51 62 63
+f 56 64 57
+f 59 65 60
+f 60 65 67
+f 60 67 68
+f 60 68 66
+f 62 69 63
+f 63 69 70
+f 63 70 71
+f 67 72 68
+f 68 72 73
+f 68 73 74
+f 68 74 70
+f 70 75 76
+f 70 76 77
+f 70 77 71
+f 70 74 78
+f 70 78 79
+f 70 79 75
+

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/mjcf/tray_056.xml

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_056">
+  <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_056.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_056_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_056_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_056_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_056_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_056_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_056_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_056_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_056_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_056_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_056_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_056_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_056_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_056_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_056_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_056_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_056_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_056_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_056_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_056_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_056_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_056_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_056_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_056">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/tray_056.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_056">
+   <link name="tray_056">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_056.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_056_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>0cba227e931e5559a8fc0f246cd970fd</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>decorative serving tray</name>
+         <color>brown,blue</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular shallow tray with side handles and colorful floral swirl pattern</description>
+         <min_height>0.0510</min_height>
+         <max_height>0.0510</max_height>
+         <real_height>0.0510</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200645</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.130418 -0.181230 -0.009655</min>
+            <max>0.130402 0.181153 0.041380</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/0cba227e931e5559a8fc0f246cd970fd/tray_056.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479fd8163dcb266945a7fb63f1ee7737e15c1d60439e36b4a20caa3feb3be5d0
+size 4443022

dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7adcd06286885ae0b7c75c6c4ba655816425093fce8ef22ed1b052c0fedd733f
+size 903423