Add asset kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32

.gitattributes

@@ -4283,3 +4283,5 @@ dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_0
 dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9ab6fbc59516564cbf5287f22041b11a/chopsticks_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9ab6fbc59516564cbf5287f22041b11a/mesh/chopsticks_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mesh/tray_078.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/tray_078.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_078_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_078_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mesh/tray_078.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf4a311f09551104cc691a0266748625de19139da51ed1cc0df18c659579be7
+size 16537016

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mesh/tray_078.mtl

@@ -0,0 +1,6 @@
+newmtl tray_078_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/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_0.obj

@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
+v 0.00024023 -0.13901931 -0.00193948
+v 0.00024023 -0.17838674 0.02098967
+v 0.00024023 -0.13901927 -0.01291833
+v -0.01136732 -0.13901931 -0.00193948
+v -0.08154099 -0.17800743 0.02114203
+v 0.00024023 -0.17996901 0.02125373
+v 0.00024023 -0.14993266 -0.01292175
+v -0.02856251 -0.13901927 -0.01292849
+v -0.02405558 -0.13901931 -0.00194287
+v -0.07931554 -0.13901931 -0.00196318
+v -0.08154099 -0.13901931 -0.00196657
+v -0.08154099 -0.18181682 0.02165659
+v 0.00024023 -0.18181682 0.02155841
+v 0.00024023 -0.15337359 -0.01287098
+v -0.01587425 -0.14993266 -0.01292514
+v -0.02856251 -0.14993266 -0.01292514
+v -0.06027915 -0.14993266 -0.01292175
+v -0.04759090 -0.13901927 -0.01292510
+v -0.08154099 -0.13901927 -0.01291494
+v -0.08154099 -0.18650948 0.02136542
+v -0.07931554 -0.18664494 0.02138912
+v -0.07296741 -0.18681292 0.02140605
+v -0.06662728 -0.18685627 0.02140943
+v -0.01587425 -0.18689962 0.02142297
+v -0.00953413 -0.18689962 0.02142297
+v 0.00024023 -0.18689421 0.02141959
+v 0.00024023 -0.15631056 -0.01282699
+v -0.01587425 -0.15631056 -0.01283037
+v -0.02856251 -0.15631056 -0.01283037
+v -0.06662728 -0.14993266 -0.01291837
+v -0.08154099 -0.14770014 -0.01291159
+v -0.04124276 -0.15631056 -0.01282699
+v -0.08154099 -0.18969570 0.01983183
+v -0.07931554 -0.18983116 0.02000448
+v -0.07296741 -0.19000457 0.02017375
+v -0.06662728 -0.19004791 0.02021099
+v -0.02222239 -0.19008043 0.02023130
+v -0.00953413 -0.19008585 0.02023469
+v 0.00024023 -0.19008585 0.02023469
+v 0.00024023 -0.18836268 0.02087454
+v 0.00024023 -0.16205445 -0.01222103
+v -0.00953413 -0.16205987 -0.01222441
+v -0.02222239 -0.16204904 -0.01222441
+v -0.02856251 -0.16204362 -0.01222441
+v -0.03491064 -0.16203278 -0.01222441
+v -0.04124276 -0.16202195 -0.01222441
+v -0.05393903 -0.15631056 -0.01282021
+v -0.07931554 -0.14993266 -0.01291160
+v -0.08154099 -0.14993266 -0.01290483
+v -0.08154099 -0.19261098 0.01711673
+v -0.07931554 -0.19275730 0.01728938
+v -0.07296741 -0.19292526 0.01746204
+v -0.06662728 -0.19295779 0.01749589
+v -0.05393903 -0.19296863 0.01750266
+v -0.02222239 -0.19298487 0.01751620
+v -0.01587425 -0.19008585 0.02023130
+v -0.00318600 -0.19299030 0.01751959
+v -0.01587425 -0.19298487 0.01751959
+v 0.00024023 -0.19299030 0.01751959
+v 0.00024023 -0.16524070 -0.01158120
+v -0.00318600 -0.16524612 -0.01158458
+v -0.00953413 -0.16525153 -0.01158458
+v -0.01587425 -0.16524612 -0.01158458
+v -0.04124276 -0.16521360 -0.01157443
+v -0.04759090 -0.16199485 -0.01222103
+v -0.06027915 -0.15631056 -0.01281683
+v -0.03491064 -0.16522443 -0.01157781
+v -0.07296741 -0.15631056 -0.01279313
+v -0.06662728 -0.15631056 -0.01281006
+v -0.08154099 -0.15407802 -0.01279313
+v -0.08154099 -0.19363513 0.01270894
+v -0.07931554 -0.19392773 0.01270894
+v -0.07296741 -0.19425287 0.01270894
+v -0.06662728 -0.19431788 0.01270894
+v -0.06027915 -0.19432872 0.01270894
+v -0.04759090 -0.19434498 0.01270894
+v -0.03491064 -0.19435582 0.01270894
+v -0.02222239 -0.19436665 0.01270894
+v -0.03491064 -0.19297946 0.01750943
+v 0.00024023 -0.19437749 0.01270894
+v 0.00024023 -0.16729983 -0.01066037
+v 0.00024023 -0.16906092 -0.00987158
+v -0.00953413 -0.16906092 -0.00987158
+v -0.02222239 -0.16906092 -0.00986142
+v -0.04124276 -0.16906092 -0.00984111
+v -0.05393903 -0.16906092 -0.00981403
+v -0.06027915 -0.16906092 -0.00979710
+v -0.04759090 -0.16518651 -0.01156766
+v -0.06027915 -0.16193524 -0.01221425
+v -0.03491064 -0.16906092 -0.00984788
+v -0.07296741 -0.16175100 -0.01219394
+v -0.07931554 -0.15631056 -0.01274235
+v -0.06662728 -0.16188648 -0.01220748
+v -0.08154099 -0.15631056 -0.01269157
+v -0.08154099 -0.19329915 0.01136493
+v -0.07931554 -0.19255675 0.00830453
+v -0.08154099 -0.19241046 0.00850427
+v -0.07296741 -0.19271390 0.00810141
+v -0.06662728 -0.19274641 0.00806417
+v -0.05393903 -0.19275727 0.00805740
+v -0.04759090 -0.19276268 0.00805401
+v -0.00953413 -0.19277351 0.00803709
+v 0.00024023 -0.19277351 0.00803709
+v 0.00024023 -0.17374274 -0.00729193
+v -0.00318600 -0.17374274 -0.00729193
+v -0.00953413 -0.17373733 -0.00729193
+v -0.02856251 -0.17372649 -0.00728177
+v -0.04124276 -0.17371566 -0.00727161
+v -0.04759090 -0.17370482 -0.00726484
+v -0.05393903 -0.17368855 -0.00725807
+v -0.06027915 -0.17367772 -0.00724792
+v -0.06662728 -0.17366147 -0.00723438
+v -0.06662728 -0.16906092 -0.00977002
+v -0.06027915 -0.16512690 -0.01155411
+v -0.07296741 -0.16493725 -0.01150333
+v -0.07931554 -0.16137169 -0.01214315
+v -0.06662728 -0.16507813 -0.01154057
+v -0.08154099 -0.15959975 -0.01230227
+v -0.07931554 -0.19041092 0.00558945
+v -0.07296741 -0.19058432 0.00538972
+v -0.08154099 -0.19025378 0.00578919
+v -0.06662728 -0.19061684 0.00534909
+v -0.05393903 -0.19062767 0.00534232
+v -0.00953413 -0.19064935 0.00532201
+v 0.00024023 -0.19064935 0.00532201
+v 0.00024023 -0.17546592 -0.00610027
+v -0.00318600 -0.17693441 -0.00508127
+v -0.04124276 -0.17690190 -0.00506773
+v -0.04759090 -0.17689648 -0.00506096
+v -0.06027915 -0.17686939 -0.00504403
+v -0.06662728 -0.17684771 -0.00503388
+v -0.07296741 -0.17678268 -0.00499325
+v -0.07296741 -0.17359102 -0.00718021
+v -0.07296741 -0.16906092 -0.00967861
+v -0.07931554 -0.16906093 -0.00939424
+v -0.07931554 -0.16456335 -0.01138145
+v -0.08154099 -0.16112243 -0.01210253
+v -0.08154099 -0.18913751 0.00474989
+v -0.08154099 -0.18706754 0.00298271
+v -0.07931554 -0.18721926 0.00286760
+v -0.07296741 -0.18739808 0.00273896
+v -0.06662728 -0.18743059 0.00271188
+v -0.06027915 -0.18743602 0.00270510
+v -0.04759090 -0.18744142 0.00269156
+v -0.01587425 -0.18745769 0.00268479
+v -0.00953413 -0.18745769 0.00268141
+v -0.00318600 -0.18745769 0.00267802
+v 0.00024023 -0.18918087 0.00410666
+v 0.00024023 -0.17693441 -0.00508127
+v -0.00318600 -0.18068963 -0.00236619
+v -0.04124276 -0.18068421 -0.00235265
+v -0.04759090 -0.18067879 -0.00234588
+v -0.05393903 -0.18066795 -0.00233911
+v -0.06027915 -0.18065712 -0.00232895
+v -0.06662728 -0.18064085 -0.00231880
+v -0.07296741 -0.18059751 -0.00227817
+v -0.07931554 -0.18041326 -0.00213260
+v -0.07931554 -0.17654426 -0.00484429
+v -0.07931554 -0.17335260 -0.00701771
+v -0.08154099 -0.16906093 -0.00916742
+v -0.08154099 -0.16723480 -0.00999344
+v -0.08154099 -0.16431409 -0.01128327
+v -0.08154099 -0.16319782 -0.01160489
+v -0.08154099 -0.18343695 0.00026764
+v -0.07931554 -0.18360493 0.00015253
+v -0.07296741 -0.18378917 0.00002388
+v -0.06662728 -0.18383251 -0.00000320
+v -0.05393903 -0.18385420 -0.00001675
+v -0.04759090 -0.18386503 -0.00002352
+v -0.04124276 -0.18387045 -0.00002690
+v -0.00318600 -0.18388129 -0.00003367
+v 0.00024023 -0.18581038 0.00142882
+v 0.00024023 -0.18745769 0.00268141
+v 0.00024023 -0.18068963 -0.00236619
+v -0.08154099 -0.18024529 -0.00200734
+v -0.08154099 -0.17634918 -0.00472242
+v -0.08154099 -0.17315752 -0.00688568
+v -0.08154099 -0.17185160 -0.00762030
+v 0.00024023 -0.18388129 -0.00003367
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 40
+f 1 40 39
+f 1 39 59
+f 1 59 80
+f 1 80 103
+f 1 103 125
+f 1 125 148
+f 1 148 173
+f 1 173 172
+f 1 172 179
+f 1 179 174
+f 1 174 149
+f 1 149 126
+f 1 126 104
+f 1 104 82
+f 1 82 81
+f 1 81 60
+f 1 60 41
+f 1 41 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 19
+f 1 19 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 10 11
+f 5 11 19
+f 5 19 31
+f 5 31 49
+f 5 49 70
+f 5 70 94
+f 5 94 118
+f 5 118 137
+f 5 137 163
+f 5 163 162
+f 5 162 161
+f 5 161 160
+f 5 160 178
+f 5 178 177
+f 5 177 176
+f 5 176 175
+f 5 175 164
+f 5 164 139
+f 5 139 138
+f 5 138 121
+f 5 121 97
+f 5 97 95
+f 5 95 71
+f 5 71 50
+f 5 50 33
+f 5 33 20
+f 5 20 12
+f 5 12 13
+f 5 13 6
+f 5 9 10
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 17
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 17 29 32
+f 17 32 47
+f 17 47 30
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 32
+f 29 42 43
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 32 46 47
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 35 52 36
+f 35 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 55 56
+f 37 56 38
+f 37 54 55
+f 38 57 59
+f 38 59 39
+f 38 56 55
+f 38 55 58
+f 38 58 57
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 43
+f 43 62 63
+f 43 63 44
+f 44 63 45
+f 45 63 46
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 46 63 67
+f 46 67 64
+f 47 66 48
+f 48 68 49
+f 48 66 69
+f 48 69 68
+f 49 68 70
+f 50 71 72
+f 50 72 51
+f 51 72 73
+f 51 73 52
+f 52 73 74
+f 52 74 53
+f 53 74 75
+f 53 75 76
+f 53 76 54
+f 54 76 77
+f 54 77 78
+f 54 78 79
+f 54 79 55
+f 55 78 80
+f 55 80 57
+f 55 57 58
+f 55 79 78
+f 57 80 59
+f 60 81 61
+f 61 81 82
+f 61 82 62
+f 62 82 83
+f 62 83 63
+f 63 84 67
+f 63 83 84
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 65
+f 64 67 85
+f 65 89 66
+f 66 89 69
+f 67 90 85
+f 67 84 90
+f 68 91 92
+f 68 92 70
+f 68 69 93
+f 68 93 91
+f 69 89 93
+f 70 92 94
+f 71 95 72
+f 72 96 73
+f 72 95 97
+f 72 97 96
+f 73 98 74
+f 73 96 98
+f 74 99 75
+f 74 98 99
+f 75 99 76
+f 76 99 100
+f 76 100 101
+f 76 101 77
+f 77 101 78
+f 78 101 80
+f 80 102 103
+f 80 101 102
+f 82 104 105
+f 82 105 83
+f 83 105 106
+f 83 106 84
+f 84 107 90
+f 84 106 107
+f 85 90 107
+f 85 107 108
+f 85 108 109
+f 85 109 86
+f 86 109 110
+f 86 110 111
+f 86 111 87
+f 87 111 112
+f 87 112 113
+f 87 113 114
+f 87 114 88
+f 88 114 89
+f 89 114 93
+f 91 115 116
+f 91 116 92
+f 91 93 117
+f 91 117 115
+f 92 116 118
+f 92 118 94
+f 93 114 117
+f 96 119 120
+f 96 120 98
+f 96 97 119
+f 97 121 119
+f 98 120 122
+f 98 122 99
+f 99 122 123
+f 99 123 100
+f 100 123 101
+f 101 123 124
+f 101 124 102
+f 102 124 125
+f 102 125 103
+f 104 126 105
+f 105 127 106
+f 105 126 127
+f 106 127 107
+f 107 127 128
+f 107 128 108
+f 108 128 129
+f 108 129 109
+f 109 129 130
+f 109 130 111
+f 109 111 110
+f 111 130 112
+f 112 131 132
+f 112 132 133
+f 112 133 134
+f 112 134 113
+f 112 130 131
+f 113 134 117
+f 113 117 114
+f 115 134 135
+f 115 135 136
+f 115 136 116
+f 115 117 134
+f 116 136 137
+f 116 137 118
+f 119 121 138
+f 119 138 139
+f 119 139 140
+f 119 140 120
+f 120 141 122
+f 120 140 141
+f 122 142 143
+f 122 143 144
+f 122 144 123
+f 122 141 142
+f 123 144 124
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 124 144 145
+f 125 147 148
+f 126 149 127
+f 127 149 174
+f 127 174 150
+f 127 150 151
+f 127 151 128
+f 128 151 152
+f 128 152 129
+f 129 152 153
+f 129 153 154
+f 129 154 130
+f 130 154 155
+f 130 155 131
+f 131 155 156
+f 131 156 132
+f 132 156 157
+f 132 157 158
+f 132 158 133
+f 133 158 159
+f 133 159 135
+f 133 135 134
+f 135 159 160
+f 135 160 161
+f 135 161 136
+f 136 161 162
+f 136 162 163
+f 136 163 137
+f 139 164 165
+f 139 165 140
+f 140 165 166
+f 140 166 141
+f 141 166 167
+f 141 167 142
+f 142 167 168
+f 142 168 169
+f 142 169 143
+f 143 169 144
+f 144 169 170
+f 144 170 145
+f 145 170 146
+f 146 170 147
+f 147 170 171
+f 147 171 172
+f 147 172 173
+f 147 173 148
+f 150 174 179
+f 150 179 171
+f 150 171 170
+f 150 170 151
+f 151 170 169
+f 151 169 152
+f 152 169 168
+f 152 168 153
+f 153 168 167
+f 153 167 154
+f 154 167 155
+f 155 167 166
+f 155 166 156
+f 156 166 165
+f 156 165 157
+f 157 165 164
+f 157 164 175
+f 157 175 158
+f 158 175 176
+f 158 176 159
+f 159 176 177
+f 159 177 178
+f 159 178 160
+f 171 179 172
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_1.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.00023462 0.19430105 0.01270914
+v 0.00023462 0.19366686 0.01492506
+v 0.00023462 0.19270208 0.00803035
+v -0.06662439 0.19430105 0.01270914
+v -0.06662439 0.19292969 0.01751988
+v 0.00023462 0.19292429 0.01750973
+v 0.00023462 0.19059903 0.00531712
+v -0.04759042 0.19060445 0.00531373
+v -0.05393775 0.19060445 0.00531373
+v -0.05393775 0.19269666 0.00802697
+v -0.06662439 0.19269666 0.00803374
+v -0.07297171 0.19266956 0.00806080
+v -0.07297171 0.19424685 0.01270914
+v -0.07297171 0.19289719 0.01749281
+v -0.07297171 0.18998649 0.02020941
+v -0.06662439 0.19001359 0.02023309
+v 0.00023462 0.19000275 0.02022294
+v 0.00023462 0.18741192 0.00266478
+v -0.00318316 0.18741192 0.00266139
+v -0.04759042 0.18741734 0.00265801
+v -0.05393775 0.18741734 0.00266139
+v -0.06027707 0.19060445 0.00531712
+v -0.06662439 0.19059903 0.00531712
+v -0.07297171 0.19057735 0.00534757
+v -0.07931103 0.19252862 0.00824349
+v -0.07931103 0.19394329 0.01270914
+v -0.07931103 0.19273999 0.01733719
+v -0.07931103 0.18981846 0.02005041
+v -0.07931103 0.18662591 0.02140024
+v -0.07297171 0.18679935 0.02141716
+v -0.06662439 0.18682104 0.02141716
+v 0.00023462 0.18681020 0.02142054
+v 0.00023462 0.18383997 -0.00005184
+v -0.05393775 0.18383997 -0.00005522
+v -0.04124310 0.18383997 -0.00005522
+v -0.06662439 0.18741192 0.00266478
+v -0.07297171 0.18738482 0.00268846
+v -0.07931103 0.18722762 0.00282040
+v -0.07931103 0.19041473 0.00553025
+v -0.08153620 0.19101638 0.00666358
+v -0.08153620 0.19238772 0.00842956
+v -0.08153620 0.19366686 0.01270914
+v -0.08153620 0.19337959 0.01416387
+v -0.08153620 0.19259906 0.01717480
+v -0.08153620 0.19158005 0.01812205
+v -0.08153620 0.18967754 0.01988802
+v -0.08153620 0.18856637 0.02049696
+v -0.08153620 0.18649040 0.02137318
+v -0.08153620 0.18492394 0.02150511
+v -0.02221713 0.18680477 0.02142054
+v -0.01587781 0.18681020 0.02142054
+v 0.00023462 0.18447948 0.02148143
+v -0.08153620 0.18175308 0.02164719
+v 0.00023462 0.18212174 -0.00130359
+v -0.04759042 0.18065286 -0.00237265
+v -0.05393775 0.18065286 -0.00236927
+v -0.06662439 0.18382913 -0.00004846
+v -0.04124310 0.18065286 -0.00237265
+v -0.07297171 0.18379119 -0.00002478
+v -0.07931103 0.18359606 0.00010377
+v -0.08153620 0.18707586 0.00293542
+v -0.08153620 0.19026297 0.00571294
+v 0.00023462 0.18175308 0.02155246
+v -0.08153620 0.18033839 0.02147802
+v 0.00023462 0.18064744 -0.00237265
+v -0.04759042 0.17688579 -0.00508589
+v -0.00318316 0.17689662 -0.00508927
+v -0.05393775 0.17688037 -0.00508589
+v -0.06027707 0.18064744 -0.00236250
+v -0.06662439 0.18063660 -0.00235235
+v 0.00023462 0.17863110 -0.00383414
+v 0.00023462 0.17689662 -0.00508927
+v -0.07297171 0.18059866 -0.00231852
+v -0.07931103 0.18040353 -0.00216628
+v -0.08153620 0.18342261 0.00021880
+v -0.08153620 0.18471263 0.00116945
+v -0.07297171 0.17678822 -0.00503176
+v 0.00023462 0.18017579 0.02129195
+v -0.08153620 0.17799684 0.02112617
+v -0.04759042 0.17369868 -0.00730857
+v 0.00023462 0.17517840 -0.00629027
+v -0.00318316 0.17370409 -0.00731872
+v -0.05393775 0.17369326 -0.00730519
+v -0.06662439 0.17684784 -0.00506559
+v -0.07931103 0.17654973 -0.00487952
+v -0.08153620 0.18134665 -0.00125622
+v -0.07297171 0.17360111 -0.00723753
+v -0.06662439 0.17366073 -0.00728151
+v 0.00023462 0.17833831 0.02098748
+v -0.08153620 0.13893305 -0.00194315
+v -0.07750209 0.13893305 -0.00193977
+v -0.07297171 0.13893305 -0.00193638
+v -0.00953049 0.13893305 -0.00191947
+v 0.00023462 0.13893305 -0.00191947
+v -0.04759042 0.16899931 -0.00987297
+v -0.03491178 0.16899931 -0.00987973
+v 0.00023462 0.17370409 -0.00731872
+v 0.00023462 0.17117283 -0.00869903
+v -0.05393775 0.16899931 -0.00986620
+v -0.06027707 0.16899931 -0.00984928
+v -0.06027707 0.17367699 -0.00729504
+v -0.07931103 0.17335720 -0.00706838
+v -0.08153620 0.17427863 -0.00617863
+v -0.08153620 0.17635459 -0.00475096
+v -0.08153620 0.17772592 -0.00380370
+v -0.07297171 0.16899931 -0.00974441
+v -0.07931103 0.16899930 -0.00946023
+v -0.06662439 0.16899931 -0.00982560
+v -0.08153620 0.13893309 -0.01290093
+v 0.00023462 0.13893309 -0.01290769
+v -0.04124310 0.16512924 -0.01157128
+v 0.00023462 0.16899931 -0.00988311
+v -0.05393775 0.16509671 -0.01156451
+v -0.04759042 0.16511839 -0.01156790
+v -0.06027707 0.16506419 -0.01155775
+v -0.08153620 0.16899930 -0.00923356
+v -0.08153620 0.17316748 -0.00693982
+v -0.07297171 0.16488533 -0.01151038
+v -0.07931103 0.16450591 -0.01139537
+v -0.06662439 0.16502083 -0.01154760
+v -0.08153620 0.16425658 -0.01129726
+v -0.08153620 0.14349153 -0.01290091
+v -0.06027707 0.14349153 -0.01290767
+v -0.02856446 0.13893309 -0.01291446
+v 0.00023462 0.14349153 -0.01290767
+v -0.00318316 0.13893309 -0.01291108
+v -0.04124310 0.16193670 -0.01221408
+v -0.03491178 0.16512924 -0.01157128
+v -0.03491178 0.16194212 -0.01221408
+v 0.00023462 0.16510214 -0.01156790
+v -0.02856446 0.16512382 -0.01157128
+v -0.04759042 0.16192585 -0.01221070
+v -0.06027707 0.16187707 -0.01220055
+v -0.06662439 0.16183372 -0.01219717
+v -0.07297171 0.16169821 -0.01217687
+v -0.07931103 0.16131337 -0.01212951
+v -0.08153620 0.16106946 -0.01208891
+v -0.08153620 0.14986577 -0.01287721
+v -0.07931103 0.14986577 -0.01288735
+v -0.07297171 0.14986577 -0.01289412
+v -0.06027707 0.14986577 -0.01290089
+v -0.04124310 0.14986577 -0.01290427
+v -0.03491178 0.14349153 -0.01291106
+v -0.00953049 0.14349153 -0.01291106
+v 0.00023462 0.14986577 -0.01290089
+v -0.04759042 0.15624543 -0.01279937
+v -0.03491178 0.15624543 -0.01280614
+v -0.02856446 0.16193670 -0.01221408
+v 0.00023462 0.16191502 -0.01220393
+v -0.01587781 0.16192585 -0.01221070
+v -0.06027707 0.15624543 -0.01278923
+v -0.06662439 0.15624543 -0.01278246
+v -0.07297171 0.15624543 -0.01276216
+v -0.07931103 0.15624543 -0.01270803
+v -0.08153620 0.15624543 -0.01265728
+v -0.00953049 0.14986577 -0.01290427
+v 0.00023462 0.15624543 -0.01279261
+v -0.00318316 0.15624543 -0.01279599
+v 0.00023462 0.15886342 -0.01252195
+f 1 2 6
+f 1 6 17
+f 1 17 32
+f 1 32 52
+f 1 52 63
+f 1 63 78
+f 1 78 89
+f 1 89 94
+f 1 94 110
+f 1 110 125
+f 1 125 145
+f 1 145 157
+f 1 157 159
+f 1 159 149
+f 1 149 130
+f 1 130 112
+f 1 112 98
+f 1 98 97
+f 1 97 81
+f 1 81 72
+f 1 72 71
+f 1 71 65
+f 1 65 54
+f 1 54 33
+f 1 33 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 9
+f 9 21 22
+f 9 22 11
+f 9 11 10
+f 9 20 21
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 33 19
+f 19 33 20
+f 20 34 21
+f 20 33 35
+f 20 35 34
+f 21 34 36
+f 21 36 22
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 49
+f 32 49 53
+f 32 53 52
+f 33 54 35
+f 34 55 56
+f 34 56 57
+f 34 57 36
+f 34 35 58
+f 34 58 55
+f 35 54 58
+f 36 57 37
+f 37 59 38
+f 37 57 59
+f 38 60 61
+f 38 61 39
+f 38 59 60
+f 39 61 62
+f 39 62 40
+f 40 62 61
+f 40 61 76
+f 40 76 75
+f 40 75 86
+f 40 86 105
+f 40 105 104
+f 40 104 103
+f 40 103 117
+f 40 117 116
+f 40 116 121
+f 40 121 137
+f 40 137 155
+f 40 155 138
+f 40 138 122
+f 40 122 109
+f 40 109 90
+f 40 90 79
+f 40 79 64
+f 40 64 53
+f 40 53 49
+f 40 49 48
+f 40 48 47
+f 40 47 46
+f 40 46 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 49 51 50
+f 52 53 63
+f 53 64 63
+f 54 65 58
+f 55 66 56
+f 55 58 72
+f 55 72 67
+f 55 67 66
+f 56 68 69
+f 56 69 57
+f 56 66 68
+f 57 69 70
+f 57 70 59
+f 58 65 71
+f 58 71 72
+f 59 73 60
+f 59 70 73
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 60 73 77
+f 60 77 74
+f 63 64 79
+f 63 79 78
+f 66 80 68
+f 66 67 81
+f 66 81 82
+f 66 82 80
+f 67 72 81
+f 68 83 84
+f 68 84 70
+f 68 70 69
+f 68 80 83
+f 70 84 73
+f 73 84 77
+f 74 85 86
+f 74 86 75
+f 74 77 85
+f 77 87 85
+f 77 84 88
+f 77 88 87
+f 78 79 89
+f 79 90 91
+f 79 91 92
+f 79 92 93
+f 79 93 94
+f 79 94 89
+f 80 95 83
+f 80 82 96
+f 80 96 95
+f 81 97 82
+f 82 97 98
+f 82 98 96
+f 83 99 100
+f 83 100 101
+f 83 101 84
+f 83 95 99
+f 84 101 88
+f 85 102 103
+f 85 103 104
+f 85 104 105
+f 85 105 86
+f 85 87 102
+f 87 106 107
+f 87 107 102
+f 87 88 108
+f 87 108 106
+f 88 101 100
+f 88 100 108
+f 90 109 124
+f 90 124 126
+f 90 126 110
+f 90 110 94
+f 90 94 93
+f 90 93 92
+f 90 92 91
+f 95 96 111
+f 95 111 99
+f 96 98 112
+f 96 112 111
+f 99 113 100
+f 99 111 114
+f 99 114 113
+f 100 115 108
+f 100 113 115
+f 102 107 116
+f 102 116 117
+f 102 117 103
+f 106 118 119
+f 106 119 107
+f 106 108 120
+f 106 120 118
+f 107 119 121
+f 107 121 116
+f 108 115 120
+f 109 122 123
+f 109 123 124
+f 110 126 125
+f 111 127 132
+f 111 132 114
+f 111 112 128
+f 111 128 129
+f 111 129 127
+f 112 130 131
+f 112 131 128
+f 113 114 132
+f 113 132 133
+f 113 133 134
+f 113 134 115
+f 115 134 120
+f 118 135 136
+f 118 136 119
+f 118 120 135
+f 119 136 137
+f 119 137 121
+f 120 134 135
+f 122 138 139
+f 122 139 140
+f 122 140 141
+f 122 141 123
+f 123 141 142
+f 123 142 143
+f 123 143 124
+f 124 143 144
+f 124 144 126
+f 125 126 144
+f 125 144 156
+f 125 156 145
+f 127 146 132
+f 127 129 147
+f 127 147 146
+f 128 131 148
+f 128 148 129
+f 129 148 147
+f 130 149 150
+f 130 150 148
+f 130 148 131
+f 132 146 151
+f 132 151 152
+f 132 152 133
+f 133 152 134
+f 134 152 153
+f 134 153 135
+f 135 153 154
+f 135 154 136
+f 136 154 155
+f 136 155 137
+f 138 155 154
+f 138 154 153
+f 138 153 139
+f 139 153 152
+f 139 152 140
+f 140 152 151
+f 140 151 146
+f 140 146 147
+f 140 147 141
+f 141 147 142
+f 142 147 156
+f 142 156 144
+f 142 144 143
+f 145 156 158
+f 145 158 157
+f 147 148 158
+f 147 158 156
+f 148 150 158
+f 149 159 150
+f 150 159 158
+f 157 158 159
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_10.obj

@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v 0.00024024 -0.15720456 -0.01273339
+v 0.00024024 -0.15720461 -0.00004093
+v 0.00024024 -0.15629702 -0.01282679
+v 0.00950962 -0.15629702 -0.01282950
+v 0.04123738 -0.15629702 -0.01283627
+v 0.04123738 -0.15720456 -0.01274016
+v 0.08132083 -0.15720461 0.00089313
+v 0.11111527 -0.00007781 0.00089371
+v 0.00024024 -0.00007780 -0.00186923
+v 0.00024024 -0.15335907 -0.01287145
+v 0.00024024 -0.14992889 -0.01292288
+v 0.04758029 -0.15629702 -0.01283356
+v 0.04223053 -0.15720456 -0.01274016
+v 0.04758029 -0.14992889 -0.01293236
+v 0.05392319 -0.14992889 -0.01293236
+v 0.12497961 -0.15720461 0.00089313
+v 0.13550698 -0.00007781 0.00089371
+v 0.00024024 -0.00007776 -0.01292775
+v 0.00024024 -0.05425305 -0.01292795
+v 0.06026610 -0.15629702 -0.01282544
+v 0.04758029 -0.15720456 -0.01273746
+v 0.07929481 -0.14992889 -0.01292153
+v 0.04758029 -0.12441020 -0.01293363
+v 0.09832353 -0.13077834 -0.01292552
+v 0.12133807 -0.15720460 -0.00136352
+v 0.12482071 -0.15629707 0.00039903
+v 0.12520472 -0.15688159 0.00089313
+v 0.13483164 -0.00007781 0.00036847
+v 0.13552022 -0.00323111 0.00089370
+v 0.00024024 -0.00176978 -0.01292911
+v 0.04444194 -0.00007776 -0.01293317
+v 0.00024024 -0.00961458 -0.01292914
+v 0.06662224 -0.15629702 -0.01282002
+v 0.06026610 -0.15720456 -0.01272933
+v 0.08563772 -0.14992889 -0.01290122
+v 0.07295190 -0.15629702 -0.01280649
+v 0.09832353 -0.13716186 -0.01291201
+v 0.04758029 -0.00323106 -0.01293453
+v 0.10466643 -0.11802668 -0.01289163
+v 0.10466643 -0.12441020 -0.01288489
+v 0.09832353 -0.00961458 -0.01292102
+v 0.10466643 -0.00961458 -0.01290071
+v 0.10466643 -0.01598271 -0.01290073
+v 0.10466643 -0.04150140 -0.01289947
+v 0.11818648 -0.15720460 -0.00320593
+v 0.11475681 -0.15385132 -0.00660781
+v 0.12164264 -0.15629706 -0.00155438
+v 0.12558874 -0.15629707 0.00089314
+v 0.12623760 -0.15189784 -0.00045786
+v 0.13322936 -0.00007781 -0.00086612
+v 0.13550698 -0.11164322 0.00089330
+v 0.13322936 -0.00323111 -0.00086613
+v 0.04758029 -0.00007776 -0.01293317
+v 0.06662224 -0.15720456 -0.01272392
+v 0.09832353 -0.14354537 -0.01282811
+v 0.09198062 -0.14992889 -0.01280647
+v 0.07929481 -0.15629702 -0.01275910
+v 0.07295190 -0.15720456 -0.01270767
+v 0.10466643 -0.13077834 -0.01284836
+v 0.05392319 -0.00007776 -0.01293181
+v 0.09832353 -0.00007776 -0.01291963
+v 0.11102258 -0.08613987 -0.01248811
+v 0.11102258 -0.11164317 -0.01248008
+v 0.11102258 -0.01598271 -0.01250139
+v 0.11102258 -0.11802668 -0.01247198
+v 0.11102258 -0.00961458 -0.01250137
+v 0.10466643 -0.00007776 -0.01289932
+v 0.11483626 -0.15720459 -0.00505375
+v 0.11202896 -0.15720459 -0.00650765
+v 0.11091664 -0.15611247 -0.00749856
+v 0.11102258 -0.14992890 -0.00958597
+v 0.11602804 -0.14992891 -0.00729548
+v 0.11919288 -0.14992892 -0.00551399
+v 0.12728372 -0.15357447 0.00089315
+v 0.12872709 -0.15092877 0.00089316
+v 0.12029196 -0.14620649 -0.00614887
+v 0.12732344 -0.14765240 -0.00116854
+v 0.13005129 -0.00007780 -0.00321618
+v 0.13005129 -0.00323110 -0.00321754
+v 0.13549374 -0.11802673 0.00089328
+v 0.13321612 -0.11164322 -0.00085570
+v 0.09832353 -0.14992889 -0.01247886
+v 0.10466643 -0.13716186 -0.01273061
+v 0.08563772 -0.15629702 -0.01261561
+v 0.07929481 -0.15720456 -0.01265352
+v 0.11102258 -0.12441020 -0.01242192
+v 0.11475681 -0.09250802 -0.01191145
+v 0.11475681 -0.10527505 -0.01190879
+v 0.11474357 -0.11164318 -0.01190746
+v 0.11478329 -0.00961459 -0.01192062
+v 0.11478329 -0.02236624 -0.01191931
+v 0.11471709 -0.11802669 -0.01189935
+v 0.11102258 -0.00323106 -0.01249998
+v 0.11478329 -0.00323107 -0.01192059
+v 0.10787098 -0.00007776 -0.01269762
+v 0.11034724 -0.15720458 -0.00729551
+v 0.10558012 -0.15720458 -0.00909460
+v 0.10412351 -0.15572790 -0.01020735
+v 0.10622898 -0.14992890 -0.01129572
+v 0.10767236 -0.14649872 -0.01168964
+v 0.11094313 -0.14403760 -0.01103849
+v 0.11785543 -0.14386842 -0.00805219
+v 0.12941567 -0.14955978 0.00089316
+v 0.12119242 -0.14196105 -0.00671200
+v 0.12347003 -0.14386843 -0.00472610
+v 0.12813121 -0.14354541 -0.00172626
+v 0.13129603 -0.14354542 0.00047759
+v 0.13164033 -0.14417609 0.00089318
+v 0.12637002 -0.00007779 -0.00592767
+v 0.13005129 -0.02874979 -0.00321223
+v 0.12637002 -0.02874978 -0.00592778
+v 0.13540105 -0.12241060 0.00089326
+v 0.13320288 -0.11802673 -0.00085166
+v 0.13003804 -0.11802672 -0.00318683
+v 0.13003804 -0.11164321 -0.00319493
+v 0.12637002 -0.03511791 -0.00592645
+v 0.10305091 -0.14992890 -0.01197258
+v 0.10163402 -0.15323602 -0.01175193
+v 0.09832353 -0.15438968 -0.01195906
+v 0.09212628 -0.15662006 -0.01220815
+v 0.10519610 -0.14403759 -0.01227173
+v 0.11147281 -0.13085526 -0.01218233
+v 0.10991025 -0.13716187 -0.01213903
+v 0.08563772 -0.15720456 -0.01249785
+v 0.11459791 -0.12441021 -0.01185877
+v 0.11438604 -0.12877869 -0.01178974
+v 0.11478329 -0.02874976 -0.01191799
+v 0.11796137 -0.01598272 -0.01071313
+v 0.11793489 -0.09250802 -0.01070258
+v 0.11792164 -0.11164318 -0.01069859
+v 0.11796137 -0.00961459 -0.01071446
+v 0.11789516 -0.11802669 -0.01068236
+v 0.11102258 -0.00007776 -0.01249862
+v 0.11796137 -0.00323107 -0.01071443
+v 0.11478329 -0.00007777 -0.01191923
+v 0.10416323 -0.15720457 -0.00959954
+v 0.09954178 -0.15720457 -0.01098710
+v 0.10878469 -0.14223792 -0.01194818
+v 0.11308832 -0.13716187 -0.01143781
+v 0.11736548 -0.13716187 -0.00964142
+v 0.12198693 -0.13716188 -0.00721015
+v 0.12515176 -0.13716189 -0.00513625
+v 0.12907138 -0.13716190 -0.00242069
+v 0.13187868 -0.14354542 0.00089318
+v 0.13224946 -0.13716191 -0.00016810
+v 0.12319196 -0.00323108 -0.00799887
+v 0.12319196 -0.00007778 -0.00799751
+v 0.12319196 -0.02874977 -0.00799762
+v 0.12319196 -0.02236625 -0.00799894
+v 0.13534808 -0.12441025 0.00089325
+v 0.13312343 -0.12441025 -0.00079077
+v 0.12995860 -0.12441024 -0.00311782
+v 0.12631706 -0.11802671 -0.00590103
+v 0.12634354 -0.11164320 -0.00591049
+v 0.12319196 -0.03511790 -0.00799628
+v 0.12316546 -0.11164319 -0.00798438
+v 0.12316546 -0.10527506 -0.00798707
+v 0.09832353 -0.15720457 -0.01128762
+v 0.09266920 -0.15720457 -0.01206195
+v 0.09178199 -0.15720457 -0.01215130
+v 0.11389608 -0.13302411 -0.01166251
+v 0.11776274 -0.12441021 -0.01060794
+v 0.11684904 -0.13085526 -0.01061337
+v 0.12315222 -0.11802670 -0.00796816
+v 0.12304628 -0.12441022 -0.00789373
+v 0.11638558 -0.00007777 -0.01131006
+v 0.11794813 -0.00007777 -0.01071307
+v 0.12059652 -0.00007778 -0.00934175
+v 0.12268875 -0.13077836 -0.00766497
+v 0.12586683 -0.13077837 -0.00559785
+v 0.13313667 -0.13917694 0.00089320
+v 0.12966728 -0.13077838 -0.00288364
+v 0.13283210 -0.13077839 -0.00058232
+v 0.13428871 -0.13379326 0.00089322
+v 0.13367959 -0.13716191 0.00089321
+v 0.13507000 -0.12774815 0.00089324
+v 0.13479192 -0.13088606 0.00089323
+v 0.12621112 -0.12441023 -0.00583202
+f 1 2 9
+f 1 9 18
+f 1 18 30
+f 1 30 32
+f 1 32 19
+f 1 19 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 34
+f 1 34 54
+f 1 54 58
+f 1 58 85
+f 1 85 124
+f 1 124 160
+f 1 160 159
+f 1 159 158
+f 1 158 137
+f 1 137 136
+f 1 136 97
+f 1 97 96
+f 1 96 69
+f 1 69 68
+f 1 68 45
+f 1 45 25
+f 1 25 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 14
+f 5 14 15
+f 5 15 22
+f 5 22 12
+f 7 16 27
+f 7 27 48
+f 7 48 74
+f 7 74 75
+f 7 75 103
+f 7 103 108
+f 7 108 144
+f 7 144 171
+f 7 171 175
+f 7 175 174
+f 7 174 177
+f 7 177 176
+f 7 176 150
+f 7 150 112
+f 7 112 80
+f 7 80 51
+f 7 51 29
+f 7 29 17
+f 7 17 8
+f 8 17 28
+f 8 28 50
+f 8 50 78
+f 8 78 109
+f 8 109 147
+f 8 147 168
+f 8 168 167
+f 8 167 166
+f 8 166 135
+f 8 135 133
+f 8 133 95
+f 8 95 67
+f 8 67 61
+f 8 61 60
+f 8 60 53
+f 8 53 31
+f 8 31 18
+f 8 18 9
+f 11 19 14
+f 12 20 34
+f 12 34 21
+f 12 21 13
+f 12 22 20
+f 14 19 23
+f 14 23 15
+f 15 24 22
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 17 29 28
+f 18 31 30
+f 19 32 23
+f 20 33 54
+f 20 54 34
+f 20 22 33
+f 22 35 36
+f 22 36 33
+f 22 24 37
+f 22 37 35
+f 23 32 38
+f 23 38 24
+f 24 39 40
+f 24 40 37
+f 24 38 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 39
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 48 27
+f 26 47 49
+f 26 49 48
+f 28 29 50
+f 29 51 52
+f 29 52 50
+f 30 31 38
+f 30 38 32
+f 31 53 38
+f 33 36 54
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 35 37 55
+f 36 57 58
+f 36 58 54
+f 37 40 59
+f 37 59 55
+f 38 53 60
+f 38 60 61
+f 38 61 41
+f 39 62 63
+f 39 63 40
+f 39 44 64
+f 39 64 62
+f 40 63 65
+f 40 65 59
+f 41 61 67
+f 41 67 42
+f 42 66 64
+f 42 64 43
+f 42 67 66
+f 43 64 44
+f 45 68 46
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 47
+f 47 73 49
+f 48 49 74
+f 49 75 74
+f 49 73 76
+f 49 76 77
+f 49 77 75
+f 50 52 79
+f 50 79 78
+f 51 80 81
+f 51 81 52
+f 52 81 79
+f 55 82 56
+f 55 59 83
+f 55 83 82
+f 56 82 84
+f 56 84 57
+f 57 84 85
+f 57 85 58
+f 59 65 86
+f 59 86 83
+f 62 87 88
+f 62 88 63
+f 62 64 87
+f 63 89 65
+f 63 88 89
+f 64 66 94
+f 64 94 90
+f 64 90 91
+f 64 91 87
+f 65 89 92
+f 65 92 86
+f 66 67 93
+f 66 93 94
+f 67 95 93
+f 69 96 70
+f 70 96 97
+f 70 97 98
+f 70 98 71
+f 71 98 99
+f 71 99 100
+f 71 100 101
+f 71 101 102
+f 71 102 72
+f 72 102 76
+f 72 76 73
+f 75 77 103
+f 76 102 104
+f 76 104 105
+f 76 105 77
+f 77 105 106
+f 77 106 107
+f 77 107 108
+f 77 108 103
+f 78 79 109
+f 79 110 111
+f 79 111 109
+f 79 81 110
+f 80 112 113
+f 80 113 81
+f 81 113 114
+f 81 114 115
+f 81 115 116
+f 81 116 110
+f 82 117 118
+f 82 118 119
+f 82 119 120
+f 82 120 84
+f 82 83 121
+f 82 121 117
+f 83 86 122
+f 83 122 123
+f 83 123 121
+f 84 120 124
+f 84 124 85
+f 86 92 125
+f 86 125 126
+f 86 126 122
+f 87 91 127
+f 87 127 88
+f 88 127 128
+f 88 128 129
+f 88 129 130
+f 88 130 89
+f 89 130 92
+f 90 94 134
+f 90 134 131
+f 90 131 91
+f 91 131 127
+f 92 132 125
+f 92 130 132
+f 93 95 133
+f 93 133 135
+f 93 135 94
+f 94 135 134
+f 97 136 98
+f 98 136 137
+f 98 137 118
+f 98 118 99
+f 99 118 100
+f 100 121 138
+f 100 138 139
+f 100 139 101
+f 100 118 117
+f 100 117 121
+f 101 139 140
+f 101 140 102
+f 102 140 104
+f 104 106 105
+f 104 140 141
+f 104 141 142
+f 104 142 106
+f 106 142 143
+f 106 143 107
+f 107 144 108
+f 107 143 145
+f 107 145 144
+f 109 146 147
+f 109 111 149
+f 109 149 146
+f 110 116 111
+f 111 116 155
+f 111 155 148
+f 111 148 149
+f 112 150 151
+f 112 151 113
+f 113 151 114
+f 114 151 152
+f 114 152 153
+f 114 153 154
+f 114 154 115
+f 115 154 116
+f 116 154 156
+f 116 156 157
+f 116 157 155
+f 118 137 158
+f 118 158 119
+f 119 158 159
+f 119 159 160
+f 119 160 120
+f 120 160 124
+f 121 123 138
+f 122 126 123
+f 123 126 161
+f 123 161 138
+f 125 162 126
+f 125 132 162
+f 126 162 163
+f 126 163 161
+f 127 131 128
+f 128 131 148
+f 128 148 155
+f 128 155 129
+f 129 157 156
+f 129 156 130
+f 129 155 157
+f 130 156 164
+f 130 164 132
+f 131 134 146
+f 131 146 149
+f 131 149 148
+f 132 164 165
+f 132 165 162
+f 134 135 166
+f 134 166 167
+f 134 167 168
+f 134 168 147
+f 134 147 146
+f 138 161 139
+f 139 161 140
+f 140 161 163
+f 140 163 169
+f 140 169 141
+f 141 169 170
+f 141 170 142
+f 142 170 143
+f 143 170 145
+f 144 145 171
+f 145 170 172
+f 145 172 173
+f 145 173 174
+f 145 174 175
+f 145 175 171
+f 150 176 151
+f 151 176 177
+f 151 177 173
+f 151 173 152
+f 152 178 153
+f 152 173 172
+f 152 172 178
+f 153 178 164
+f 153 164 154
+f 154 164 156
+f 162 165 169
+f 162 169 163
+f 164 178 165
+f 165 178 170
+f 165 170 169
+f 170 178 172
+f 173 177 174
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_11.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.00023462 -0.00006238 -0.01292790
+v 0.04758047 -0.00006238 -0.01293381
+v 0.00023462 -0.00006242 -0.00186909
+v 0.00023462 0.01886419 -0.01292902
+v 0.09832397 -0.00006238 -0.01291964
+v 0.00023462 0.02230662 -0.01292901
+v 0.04758047 0.02230662 -0.01293255
+v 0.05393317 0.02230662 -0.01293137
+v 0.09832397 0.01592520 -0.01292076
+v 0.10915482 -0.00006243 -0.00087383
+v 0.10271099 0.13894104 -0.00087332
+v 0.00023462 0.04143725 -0.00186304
+v 0.10152636 -0.00006238 -0.01290901
+v 0.00023462 0.13894109 -0.01290968
+v 0.04758047 0.13894109 -0.01291441
+v 0.05393317 0.13894109 -0.01291441
+v 0.06661254 0.13894109 -0.01291205
+v 0.07295222 0.13710421 -0.01291088
+v 0.09198429 0.13710421 -0.01290615
+v 0.10467667 0.01592520 -0.01289951
+v 0.09832397 0.13072279 -0.01290381
+v 0.13026974 -0.00006243 -0.00087383
+v 0.13067329 0.13894104 -0.00087332
+v 0.00023462 0.13894105 -0.00192053
+v 0.00023462 0.12434134 -0.00190641
+v 0.00023462 0.05762892 -0.00186652
+v 0.00023462 0.05124749 -0.00186418
+v 0.00023462 0.04781867 -0.00186301
+v 0.10467667 -0.00006238 -0.01289839
+v 0.07112973 0.13894109 -0.01291087
+v 0.09016179 0.13894109 -0.01290496
+v 0.09198429 0.13894109 -0.01290378
+v 0.09832397 0.13710421 -0.01289789
+v 0.10467667 0.02230662 -0.01289831
+v 0.11101636 0.02230662 -0.01249690
+v 0.11101636 -0.00006238 -0.01249934
+v 0.10787906 -0.00006238 -0.01269768
+v 0.10467667 0.11795995 -0.01287435
+v 0.10467667 0.11159213 -0.01287673
+v 0.10467667 0.09244786 -0.01288388
+v 0.10467667 0.02867444 -0.01289710
+v 0.13164962 -0.00006242 -0.00202965
+v 0.13322478 -0.00004882 -0.00087383
+v 0.12878570 0.13894105 -0.00219561
+v 0.13122004 0.13710416 -0.00087333
+v 0.12905908 0.13710417 -0.00239160
+v 0.09650148 0.13894109 -0.01289788
+v 0.10467667 0.13072279 -0.01282471
+v 0.10467667 0.12434138 -0.01286251
+v 0.09832397 0.13894109 -0.01287663
+v 0.11477852 0.02230661 -0.01191722
+v 0.11291696 -0.00006239 -0.01220655
+v 0.11101636 0.02867444 -0.01249569
+v 0.11101636 0.11159213 -0.01247060
+v 0.11101636 0.09882928 -0.01247537
+v 0.13004844 -0.00006242 -0.00321617
+v 0.13321176 0.04995487 -0.00087365
+v 0.12467206 0.13894106 -0.00499957
+v 0.12511466 0.13710418 -0.00510584
+v 0.13240465 0.13072274 -0.00087335
+v 0.12964488 0.13072275 -0.00284734
+v 0.12581764 0.13072276 -0.00556275
+v 0.10285418 0.13894109 -0.01274558
+v 0.10467667 0.13710421 -0.01271489
+v 0.11101636 0.12434138 -0.01239735
+v 0.11101636 0.11795995 -0.01245759
+v 0.11795486 -0.00006239 -0.01071307
+v 0.11477852 0.00316234 -0.01191847
+v 0.11477852 0.02867443 -0.01191601
+v 0.11477852 -0.00006239 -0.01191848
+v 0.11473947 0.11159212 -0.01190390
+v 0.12822593 -0.00006241 -0.00455971
+v 0.12636438 0.00954374 -0.00592682
+v 0.12636438 0.02230659 -0.00592206
+v 0.13004844 0.06694933 -0.00318995
+v 0.13319875 0.06699014 -0.00087358
+v 0.12361762 0.13894106 -0.00571620
+v 0.12195134 0.13710419 -0.00719316
+v 0.13295140 0.12464066 -0.00087337
+v 0.12993126 0.12434134 -0.00308939
+v 0.12618213 0.12434135 -0.00580362
+v 0.12265430 0.13072277 -0.00764418
+v 0.10481987 0.13894109 -0.01259564
+v 0.10987079 0.13710420 -0.01212931
+v 0.11144595 0.13070918 -0.01216593
+v 0.10863409 0.13894108 -0.01216590
+v 0.11436194 0.12855936 -0.01177870
+v 0.11455722 0.12434137 -0.01184600
+v 0.11470040 0.11795994 -0.01189326
+v 0.11795486 0.00316234 -0.01071188
+v 0.12318803 0.02867442 -0.00799283
+v 0.12318803 -0.00006240 -0.00799884
+v 0.11791581 0.10521070 -0.01069261
+v 0.11790279 0.11159212 -0.01068905
+v 0.12636438 -0.00006241 -0.00592804
+v 0.12314898 0.10521069 -0.00797838
+v 0.12632533 0.09882925 -0.00589581
+v 0.13002239 0.11159209 -0.00317562
+v 0.13315969 0.11167372 -0.00087342
+v 0.12165192 0.13894107 -0.00700425
+v 0.11735604 0.13710420 -0.00961460
+v 0.13297745 0.12434133 -0.00087337
+v 0.12629929 0.11795992 -0.00588157
+v 0.12312294 0.11795993 -0.00795827
+v 0.12300578 0.12434136 -0.00787678
+v 0.11773356 0.12434137 -0.01059101
+v 0.11682231 0.13070918 -0.01059217
+v 0.10948026 0.13894108 -0.01206318
+v 0.11385425 0.13281817 -0.01165353
+v 0.11787676 0.11795994 -0.01067250
+v 0.11795486 0.00954376 -0.01070949
+v 0.12313595 0.11159211 -0.00797482
+v 0.12631232 0.11159210 -0.00589103
+v 0.13002239 0.11795991 -0.00316734
+v 0.13314667 0.11805514 -0.00087340
+v 0.11749924 0.13894107 -0.00918485
+v 0.11304713 0.13710420 -0.01142684
+v 0.11248738 0.13894108 -0.01132412
+v 0.11565071 0.13894108 -0.00999357
+v 0.11151104 0.13894108 -0.01161101
+f 1 2 5
+f 1 5 13
+f 1 13 29
+f 1 29 37
+f 1 37 36
+f 1 36 52
+f 1 52 70
+f 1 70 67
+f 1 67 92
+f 1 92 95
+f 1 95 72
+f 1 72 56
+f 1 56 42
+f 1 42 22
+f 1 22 10
+f 1 10 3
+f 1 3 12
+f 1 12 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 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 5
+f 3 10 11
+f 3 11 12
+f 5 9 13
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 20 13
+f 9 19 21
+f 9 21 20
+f 10 22 43
+f 10 43 57
+f 10 57 76
+f 10 76 99
+f 10 99 115
+f 10 115 102
+f 10 102 79
+f 10 79 60
+f 10 60 45
+f 10 45 23
+f 10 23 11
+f 11 23 44
+f 11 44 58
+f 11 58 77
+f 11 77 100
+f 11 100 116
+f 11 116 119
+f 11 119 118
+f 11 118 120
+f 11 120 108
+f 11 108 86
+f 11 86 83
+f 11 83 63
+f 11 63 50
+f 11 50 47
+f 11 47 32
+f 11 32 31
+f 11 31 30
+f 11 30 17
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 13 20 29
+f 17 30 19
+f 17 19 18
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 21
+f 20 21 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 29
+f 21 33 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 34
+f 22 42 43
+f 23 45 46
+f 23 46 44
+f 32 47 33
+f 33 48 49
+f 33 49 38
+f 33 47 50
+f 33 50 48
+f 34 41 53
+f 34 53 35
+f 35 51 52
+f 35 52 36
+f 35 53 69
+f 35 69 51
+f 38 54 39
+f 38 49 54
+f 39 54 55
+f 39 55 40
+f 40 55 53
+f 40 53 41
+f 42 56 43
+f 43 56 57
+f 44 46 59
+f 44 59 58
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 59
+f 48 50 63
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 54
+f 51 67 68
+f 51 68 52
+f 51 69 67
+f 52 68 70
+f 53 55 71
+f 53 71 69
+f 54 71 55
+f 54 66 71
+f 56 72 57
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 76
+f 58 59 77
+f 59 62 78
+f 59 78 77
+f 60 79 80
+f 60 80 81
+f 60 81 61
+f 61 81 62
+f 62 81 82
+f 62 82 78
+f 63 83 64
+f 64 84 85
+f 64 85 65
+f 64 83 86
+f 64 86 84
+f 65 85 87
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 89 71
+f 67 90 91
+f 67 91 92
+f 67 70 68
+f 67 69 71
+f 67 71 93
+f 67 93 90
+f 71 89 94
+f 71 94 93
+f 72 95 73
+f 73 95 92
+f 73 92 91
+f 73 91 74
+f 74 91 96
+f 74 96 97
+f 74 97 75
+f 75 97 98
+f 75 98 99
+f 75 99 76
+f 77 78 100
+f 78 82 101
+f 78 101 100
+f 79 102 80
+f 80 102 103
+f 80 103 81
+f 81 103 104
+f 81 104 105
+f 81 105 82
+f 82 105 106
+f 82 106 107
+f 82 107 101
+f 84 86 108
+f 84 108 109
+f 84 109 87
+f 84 87 85
+f 87 109 107
+f 87 107 106
+f 87 106 88
+f 88 106 110
+f 88 110 89
+f 89 110 94
+f 90 111 91
+f 90 93 111
+f 91 111 93
+f 91 93 96
+f 93 94 112
+f 93 112 96
+f 94 110 104
+f 94 104 112
+f 96 112 113
+f 96 113 97
+f 97 113 98
+f 98 113 114
+f 98 114 99
+f 99 114 115
+f 100 101 116
+f 101 107 109
+f 101 109 117
+f 101 117 118
+f 101 118 119
+f 101 119 116
+f 102 115 114
+f 102 114 103
+f 103 114 113
+f 103 113 112
+f 103 112 104
+f 104 110 105
+f 105 110 106
+f 108 120 109
+f 109 120 117
+f 117 120 118
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_12.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.14410926 -0.12968224 0.01271036
+v 0.14370977 -0.12968223 0.01176421
+v 0.14157099 -0.12968226 0.01855823
+v 0.14403552 -0.13079488 0.01271036
+v 0.14136204 -0.13101037 0.00678721
+v 0.14152182 -0.12968222 0.00688692
+v 0.14082119 -0.12968226 0.01941079
+v 0.14146651 -0.13049586 0.01862131
+v 0.14141734 -0.13717441 0.01771582
+v 0.14307060 -0.13717439 0.01271034
+v 0.14122682 -0.13717437 0.00775777
+v 0.13948752 -0.13328146 0.00464665
+v 0.14026192 -0.12968221 0.00521639
+v 0.13948752 -0.12968227 0.02083511
+v 0.13926013 -0.13242480 0.02075371
+v 0.13864553 -0.13717442 0.02043018
+v 0.14063066 -0.14354853 0.01688155
+v 0.13996691 -0.14769468 0.01602084
+v 0.14148495 -0.14354852 0.01271031
+v 0.13982556 -0.14736866 0.00961138
+v 0.14042785 -0.14354850 0.00876494
+v 0.13910033 -0.13717436 0.00504138
+v 0.13592903 -0.13717435 0.00254881
+v 0.13368576 -0.13717434 0.00089660
+v 0.13430035 -0.13380409 0.00089661
+v 0.13479817 -0.13089721 0.00089662
+v 0.13698612 -0.13101036 0.00254273
+v 0.13881147 -0.12968220 0.00381241
+v 0.13781583 -0.12968227 0.02117695
+v 0.13547423 -0.13717442 0.02142720
+v 0.13454005 -0.14354855 0.02130712
+v 0.13379025 -0.14827930 0.02108736
+v 0.13771135 -0.14354854 0.01959590
+v 0.13870084 -0.15111611 0.01271028
+v 0.14005910 -0.14792904 0.01271030
+v 0.13642070 -0.15011394 0.01837503
+v 0.13474901 -0.15630755 0.01713178
+v 0.13449088 -0.15720198 0.01687132
+v 0.13551110 -0.15720197 0.01347940
+v 0.13607653 -0.15630754 0.01271027
+v 0.13430650 -0.15720195 0.00865094
+v 0.13455848 -0.15630752 0.00835184
+v 0.13650674 -0.15018933 0.00711067
+v 0.13822147 -0.14354849 0.00605058
+v 0.13504402 -0.14354848 0.00319380
+v 0.13313263 -0.13918949 0.00089659
+v 0.13490880 -0.12968219 0.00089662
+v 0.13722582 -0.12968227 0.02128072
+v 0.13684477 -0.13049587 0.02133566
+v 0.13678947 -0.12968227 0.02135601
+v 0.13005352 -0.14354855 0.02167745
+v 0.13045301 -0.15021363 0.02142715
+v 0.12849860 -0.15630757 0.02126639
+v 0.12822203 -0.15720200 0.02121144
+v 0.13283763 -0.15253321 0.02072922
+v 0.13166989 -0.15630756 0.01984613
+v 0.13138104 -0.15720199 0.01958567
+v 0.13556642 -0.15720197 0.01271026
+v 0.13251189 -0.15720194 0.00660195
+v 0.13317565 -0.15300999 0.00461199
+v 0.13408525 -0.14875877 0.00390797
+v 0.13187886 -0.14354847 0.00089657
+v 0.10941547 -0.12968219 0.00089662
+v 0.13189115 -0.12968227 0.02144553
+v 0.13102457 -0.12968227 0.02143536
+v 0.12281975 -0.15720200 0.02167740
+v 0.12371091 -0.15630757 0.02168147
+v 0.12777952 -0.15720200 0.02127859
+v 0.13065582 -0.15720199 0.02012081
+v 0.13183584 -0.15720194 0.00589996
+v 0.13218001 -0.15630751 0.00563749
+v 0.12872599 -0.15720193 0.00330769
+v 0.12900871 -0.15630750 0.00311440
+v 0.12728784 -0.15357573 0.00089654
+v 0.12872599 -0.15093555 0.00089655
+v 0.13025634 -0.15033479 0.00172673
+v 0.12941434 -0.14956697 0.00089655
+v 0.13163917 -0.14418157 0.00089657
+v 0.08132242 -0.15720192 0.00089652
+v 0.12144921 -0.12968224 0.01438089
+v 0.12840026 -0.12968227 0.02063163
+v 0.11726383 -0.15720200 0.02116871
+v 0.11742977 -0.15720200 0.02120737
+v 0.11773092 -0.15720200 0.02123586
+v 0.12369248 -0.15720200 0.02163060
+v 0.12541949 -0.15720192 0.00116307
+v 0.12559157 -0.15630749 0.00089653
+v 0.11500827 -0.15720199 0.02032836
+v 0.12785327 -0.12968226 0.02040781
+v 0.12518594 -0.12968226 0.01816756
+v 0.12462666 -0.12968225 0.01769346
+v 0.12200235 -0.12968225 0.01499538
+v 0.12498313 -0.15720192 0.00089652
+v 0.12521052 -0.15688941 0.00089652
+f 1 2 6
+f 1 6 13
+f 1 13 28
+f 1 28 47
+f 1 47 63
+f 1 63 80
+f 1 80 92
+f 1 92 91
+f 1 91 90
+f 1 90 89
+f 1 89 81
+f 1 81 65
+f 1 65 64
+f 1 64 50
+f 1 50 48
+f 1 48 29
+f 1 29 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 17
+f 17 33 18
+f 18 34 35
+f 18 35 19
+f 18 33 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 34
+f 19 35 20
+f 20 35 34
+f 20 34 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 21
+f 21 44 22
+f 22 44 45
+f 22 45 23
+f 23 45 46
+f 23 46 24
+f 24 46 62
+f 24 62 78
+f 24 78 77
+f 24 77 75
+f 24 75 74
+f 24 74 87
+f 24 87 94
+f 24 94 93
+f 24 93 79
+f 24 79 63
+f 24 63 47
+f 24 47 26
+f 24 26 25
+f 26 47 28
+f 26 28 27
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 36
+f 36 55 37
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 69
+f 38 69 54
+f 38 54 68
+f 38 68 85
+f 38 85 66
+f 38 66 84
+f 38 84 83
+f 38 83 82
+f 38 82 88
+f 38 88 79
+f 38 79 93
+f 38 93 86
+f 38 86 72
+f 38 72 70
+f 38 70 59
+f 38 59 41
+f 38 41 58
+f 38 58 39
+f 39 58 40
+f 40 58 41
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 48 50 49
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 67 53
+f 53 67 68
+f 53 68 54
+f 54 69 55
+f 55 69 56
+f 56 69 57
+f 59 70 71
+f 59 71 60
+f 60 71 72
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 78
+f 61 78 62
+f 63 79 80
+f 65 81 82
+f 65 82 83
+f 65 83 84
+f 65 84 66
+f 66 85 67
+f 67 85 68
+f 70 72 71
+f 72 86 87
+f 72 87 73
+f 73 87 74
+f 75 77 76
+f 79 88 89
+f 79 89 90
+f 79 90 91
+f 79 91 92
+f 79 92 80
+f 81 89 88
+f 81 88 82
+f 86 93 94
+f 86 94 87
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_13.obj

@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v -0.14265782 0.13893778 0.01270815
+v -0.14101654 0.13893780 0.00805759
+v -0.14240685 0.13893778 0.01390612
+v -0.13999273 0.14768300 0.01603626
+v -0.14153044 0.14348799 0.01270817
+v -0.13985729 0.14734704 0.00959211
+v -0.14045883 0.14348801 0.00876092
+v -0.13948283 0.13893781 0.00611930
+v -0.14123166 0.13893777 0.01747985
+v -0.14066599 0.14348798 0.01689434
+v -0.14009233 0.14793261 0.01270818
+v -0.13774993 0.14348797 0.01960661
+v -0.13647117 0.15012130 0.01839183
+v -0.13481794 0.15624585 0.01718378
+v -0.13371446 0.16014809 0.01606323
+v -0.13619629 0.15624586 0.01270821
+v -0.13875780 0.15111967 0.01270820
+v -0.13823196 0.14348802 0.00604529
+v -0.13359494 0.15997053 0.00950803
+v -0.13462672 0.15624588 0.00829321
+v -0.13653889 0.15016453 0.00709185
+v -0.13884942 0.13893781 0.00534533
+v -0.13839528 0.13893776 0.02019548
+v -0.13383397 0.14831176 0.02110072
+v -0.13291374 0.15256438 0.02075077
+v -0.13179034 0.15624584 0.01989941
+v -0.13385787 0.16037369 0.01270823
+v -0.12982639 0.16230799 0.01817651
+v -0.12801381 0.16715580 0.01666896
+v -0.12846397 0.16769818 0.01270826
+v -0.13163498 0.16355596 0.01270824
+v -0.13321252 0.15298682 0.00459497
+v -0.13410884 0.14873421 0.00390175
+v -0.13506095 0.14348803 0.00318833
+v -0.13224050 0.15624589 0.00558095
+v -0.12787439 0.16698303 0.00884849
+v -0.12990606 0.16239922 0.00737121
+v -0.13567443 0.13893782 0.00272729
+v -0.13748700 0.13893775 0.02068342
+v -0.13051158 0.15020767 0.02144397
+v -0.12861933 0.15624583 0.02129592
+v -0.13457494 0.14348796 0.02131607
+v -0.12740829 0.16021527 0.02105366
+v -0.12572718 0.16445830 0.02028979
+v -0.12383892 0.16911410 0.01852314
+v -0.12195065 0.17352033 0.01675649
+v -0.12569929 0.17088525 0.01270827
+v -0.12629287 0.15187809 -0.00047623
+v -0.13028451 0.15030855 0.00171444
+v -0.12770707 0.16057532 0.00400947
+v -0.12906949 0.15624590 0.00308069
+v -0.12735651 0.14762547 -0.00116272
+v -0.13132425 0.14348804 0.00047270
+v -0.13200546 0.13893783 0.00001166
+v -0.13307308 0.13893783 0.00078900
+v -0.12610564 0.16482313 0.00523102
+v -0.12179927 0.17337156 0.00870719
+v -0.12395046 0.16923894 0.00697078
+v -0.13522029 0.13893775 0.02139009
+v -0.13007338 0.14348796 0.02168623
+v -0.12373136 0.15624583 0.02170983
+v -0.12365965 0.16245198 0.02137335
+v -0.13393357 0.13893775 0.02149777
+v -0.12150049 0.16682459 0.02112771
+v -0.11942898 0.17107722 0.02037731
+v -0.11740926 0.17538265 0.01843567
+v -0.11538953 0.17946248 0.01649739
+v -0.11901468 0.17726419 0.01270829
+v -0.12252828 0.17407232 0.01270828
+v -0.11921785 0.14986699 -0.00551714
+v -0.12031735 0.14614235 -0.00614306
+v -0.12491452 0.15624591 0.00036506
+v -0.12174350 0.15624592 -0.00158670
+v -0.12063604 0.15952897 -0.00090356
+v -0.12188293 0.16724225 0.00375374
+v -0.12336885 0.16217846 0.00207119
+v -0.12348437 0.14380485 -0.00471627
+v -0.12815324 0.14348805 -0.00171461
+v -0.12973875 0.13893784 -0.00158339
+v -0.11984727 0.17149486 0.00508970
+v -0.11521027 0.17932332 0.00903699
+v -0.11752877 0.17550268 0.00706166
+v -0.12979452 0.13893775 0.02148431
+v -0.10196055 0.17522905 0.02160895
+v -0.10470132 0.17537784 0.02171326
+v -0.11734552 0.16897010 0.02140702
+v -0.11519832 0.17299234 0.02111428
+v -0.11256510 0.17724497 0.02011822
+v -0.11033026 0.18127680 0.01787036
+v -0.10809541 0.18507826 0.01562585
+v -0.11584367 0.17980328 0.01270830
+v -0.11478401 0.15379323 -0.00660069
+v -0.11604683 0.14986700 -0.00729054
+v -0.11787534 0.14380486 -0.00804098
+v -0.12121367 0.14188973 -0.00670168
+v -0.11872387 0.16377680 0.00013626
+v -0.11691926 0.16204408 -0.00169098
+v -0.11298737 0.15804585 -0.00567527
+v -0.11449320 0.16607111 -0.00100450
+v -0.11717023 0.16878298 0.00197026
+v -0.12601401 0.13893785 -0.00414759
+v -0.12883047 0.13893784 -0.00220930
+v -0.11291567 0.17762900 0.00541614
+v -0.11561660 0.17337639 0.00380425
+v -0.10788029 0.18494868 0.00998933
+v -0.11039798 0.18132963 0.00770106
+v -0.12852373 0.13893775 0.02134634
+v -0.10196055 0.17189318 0.02136665
+v -0.10196055 0.17805612 0.02157194
+v -0.10470132 0.17971205 0.02122198
+v -0.11068880 0.17521944 0.02132628
+v -0.10833443 0.17883849 0.02097633
+v -0.10470132 0.18290393 0.01934763
+v -0.10470132 0.18593741 0.01663538
+v -0.10196055 0.18751176 0.01494275
+v -0.10196055 0.18796294 0.01270833
+v -0.10470132 0.18673899 0.01270833
+v -0.10804363 0.18504947 0.01270832
+v -0.11121862 0.18299515 0.01270831
+v -0.11104334 0.14986701 -0.00956198
+v -0.11093976 0.15604915 -0.00749243
+v -0.11095569 0.14390086 -0.01102245
+v -0.11752080 0.13893786 -0.00918513
+v -0.11884736 0.13893786 -0.00850202
+v -0.12169570 0.13893786 -0.00700792
+v -0.10875670 0.16027296 -0.00671171
+v -0.11104334 0.17068371 -0.00001177
+v -0.11104334 0.16749185 -0.00181547
+v -0.10621910 0.16452079 -0.00561131
+v -0.10868898 0.17908815 0.00419126
+v -0.11089992 0.17545470 0.00284856
+v -0.10470132 0.18339837 0.00623388
+v -0.10470132 0.18574546 0.00894951
+v -0.12661952 0.13893775 0.02099637
+v -0.10196055 0.17069323 0.02117147
+v -0.10196055 0.18060482 0.02128255
+v -0.10196055 0.18224155 0.02077780
+v -0.10196055 0.18358071 0.01999037
+v -0.10196055 0.18637420 0.01737907
+v -0.10196055 0.18627823 0.00810151
+v -0.10515944 0.15047179 -0.01135894
+v -0.10757753 0.14630076 -0.01166854
+v -0.10470132 0.15624595 -0.00982107
+v -0.11249340 0.13893787 -0.01131523
+v -0.10434279 0.16249048 -0.00738135
+v -0.10765323 0.17204205 -0.00077565
+v -0.10198843 0.16612392 -0.00647277
+v -0.10196055 0.18410873 0.00542626
+v -0.10470132 0.18021130 0.00341728
+v -0.10520327 0.17541152 0.00043916
+v -0.10196055 0.18492950 0.00637522
+v -0.12343657 0.13893776 0.01861052
+v -0.10196055 0.16766937 0.01961006
+v -0.10196055 0.16914769 0.02048162
+v -0.10196055 0.15349566 -0.01141950
+v -0.10196055 0.15265569 -0.01166179
+v -0.10335086 0.14874386 -0.01201177
+v -0.10878459 0.14204814 -0.01193777
+v -0.10196055 0.16254328 -0.00811831
+v -0.10196055 0.15638035 -0.01052101
+v -0.10947775 0.13893787 -0.01205555
+v -0.10196055 0.16609991 -0.00649296
+v -0.10342256 0.17330921 -0.00157317
+v -0.10196055 0.16613352 -0.00647613
+v -0.10196055 0.17245005 -0.00260626
+v -0.10196055 0.18103687 0.00306395
+v -0.10196055 0.17916974 0.00178858
+v -0.12238487 0.13893776 0.01779280
+v -0.10196055 0.16558145 0.01823373
+v -0.10196055 0.14929104 -0.01209926
+v -0.10515944 0.14390087 -0.01225071
+v -0.10482481 0.13893788 -0.01258051
+v -0.10196055 0.17368360 -0.00182555
+v -0.10196055 0.13893783 -0.00128390
+v -0.10196055 0.14370888 -0.01250982
+v -0.10196055 0.13893788 -0.01266464
+f 1 2 8
+f 1 8 22
+f 1 22 38
+f 1 38 55
+f 1 55 54
+f 1 54 79
+f 1 79 102
+f 1 102 101
+f 1 101 125
+f 1 125 124
+f 1 124 123
+f 1 123 144
+f 1 144 161
+f 1 161 172
+f 1 172 176
+f 1 176 174
+f 1 174 168
+f 1 168 152
+f 1 152 134
+f 1 134 107
+f 1 107 83
+f 1 83 63
+f 1 63 59
+f 1 59 39
+f 1 39 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 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 16
+f 4 16 17
+f 4 17 11
+f 5 11 6
+f 6 18 7
+f 6 11 17
+f 6 17 19
+f 6 19 20
+f 6 20 21
+f 6 21 18
+f 7 18 22
+f 7 22 8
+f 9 23 10
+f 10 23 12
+f 12 24 25
+f 12 25 13
+f 12 23 24
+f 13 25 14
+f 14 26 15
+f 14 25 26
+f 15 27 16
+f 15 26 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 27
+f 16 27 19
+f 16 19 17
+f 18 21 32
+f 18 32 33
+f 18 33 34
+f 18 34 22
+f 19 35 32
+f 19 32 20
+f 19 27 31
+f 19 31 30
+f 19 30 36
+f 19 36 37
+f 19 37 35
+f 20 32 21
+f 22 34 38
+f 23 39 24
+f 24 40 41
+f 24 41 25
+f 24 39 42
+f 24 42 40
+f 25 41 43
+f 25 43 26
+f 26 43 44
+f 26 44 28
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 36
+f 32 48 49
+f 32 49 33
+f 32 35 50
+f 32 50 51
+f 32 51 48
+f 33 49 52
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 38
+f 35 37 56
+f 35 56 50
+f 36 56 37
+f 36 47 57
+f 36 57 58
+f 36 58 56
+f 39 59 42
+f 40 42 60
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 43
+f 42 59 63
+f 42 63 60
+f 43 62 64
+f 43 64 44
+f 44 64 65
+f 44 65 45
+f 45 65 46
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 46 65 66
+f 47 69 57
+f 48 70 71
+f 48 71 52
+f 48 52 49
+f 48 51 72
+f 48 72 73
+f 48 73 70
+f 50 74 72
+f 50 72 51
+f 50 56 75
+f 50 75 76
+f 50 76 74
+f 52 71 77
+f 52 77 78
+f 52 78 53
+f 53 78 79
+f 53 79 54
+f 56 58 80
+f 56 80 75
+f 57 69 68
+f 57 68 81
+f 57 81 82
+f 57 82 80
+f 57 80 58
+f 60 63 83
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 61 85 86
+f 61 86 62
+f 62 86 64
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 65 88 66
+f 66 88 67
+f 67 89 90
+f 67 90 91
+f 67 91 68
+f 67 88 89
+f 68 91 81
+f 70 73 92
+f 70 92 93
+f 70 93 71
+f 71 94 95
+f 71 95 77
+f 71 93 94
+f 72 74 73
+f 73 74 92
+f 74 76 75
+f 74 75 96
+f 74 96 97
+f 74 97 98
+f 74 98 92
+f 75 99 96
+f 75 80 100
+f 75 100 99
+f 77 95 78
+f 78 95 101
+f 78 101 102
+f 78 102 79
+f 80 82 103
+f 80 103 104
+f 80 104 100
+f 81 103 82
+f 81 91 105
+f 81 105 106
+f 81 106 103
+f 83 107 108
+f 83 108 84
+f 84 108 135
+f 84 135 154
+f 84 154 153
+f 84 153 169
+f 84 169 174
+f 84 174 176
+f 84 176 175
+f 84 175 170
+f 84 170 156
+f 84 156 155
+f 84 155 160
+f 84 160 159
+f 84 159 162
+f 84 162 164
+f 84 164 165
+f 84 165 173
+f 84 173 167
+f 84 167 166
+f 84 166 148
+f 84 148 151
+f 84 151 140
+f 84 140 116
+f 84 116 115
+f 84 115 139
+f 84 139 138
+f 84 138 137
+f 84 137 136
+f 84 136 109
+f 84 109 85
+f 85 109 110
+f 85 110 111
+f 85 111 86
+f 86 111 87
+f 87 111 112
+f 87 112 88
+f 88 112 89
+f 89 112 113
+f 89 113 114
+f 89 114 90
+f 90 114 115
+f 90 115 116
+f 90 116 117
+f 90 117 118
+f 90 118 119
+f 90 119 91
+f 91 119 105
+f 92 120 93
+f 92 98 121
+f 92 121 120
+f 93 120 94
+f 94 120 122
+f 94 122 123
+f 94 123 95
+f 95 123 124
+f 95 124 125
+f 95 125 101
+f 96 99 97
+f 97 99 98
+f 98 99 126
+f 98 126 121
+f 99 100 104
+f 99 104 127
+f 99 127 128
+f 99 128 129
+f 99 129 126
+f 103 106 130
+f 103 130 104
+f 104 131 127
+f 104 130 131
+f 105 132 106
+f 105 119 118
+f 105 118 117
+f 105 117 116
+f 105 116 133
+f 105 133 132
+f 106 132 130
+f 107 134 108
+f 108 134 135
+f 109 136 110
+f 110 136 137
+f 110 137 112
+f 110 112 111
+f 112 137 138
+f 112 138 113
+f 113 138 114
+f 114 138 139
+f 114 139 115
+f 116 140 133
+f 120 141 142
+f 120 142 122
+f 120 121 143
+f 120 143 141
+f 121 126 143
+f 122 142 144
+f 122 144 123
+f 126 129 145
+f 126 145 143
+f 127 131 146
+f 127 146 128
+f 128 146 129
+f 129 146 147
+f 129 147 145
+f 130 132 148
+f 130 148 149
+f 130 149 150
+f 130 150 146
+f 130 146 131
+f 132 133 151
+f 132 151 148
+f 133 140 151
+f 134 152 153
+f 134 153 154
+f 134 154 135
+f 141 143 155
+f 141 155 156
+f 141 156 142
+f 142 156 157
+f 142 157 158
+f 142 158 144
+f 143 145 159
+f 143 159 160
+f 143 160 155
+f 144 158 161
+f 145 147 162
+f 145 162 159
+f 146 150 163
+f 146 163 147
+f 147 164 162
+f 147 163 165
+f 147 165 164
+f 148 166 149
+f 149 166 167
+f 149 167 163
+f 149 163 150
+f 152 168 153
+f 153 168 169
+f 156 170 157
+f 157 170 171
+f 157 171 158
+f 158 171 161
+f 161 171 172
+f 163 167 173
+f 163 173 165
+f 168 174 169
+f 170 175 171
+f 171 175 172
+f 172 175 176
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_14.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.08566465 0.18175793 0.02169931
+v -0.08153819 0.18175793 0.02164511
+v -0.08153819 0.18492439 0.02150285
+v -0.09200627 0.18175793 0.02167221
+v -0.10196055 0.17523211 0.02160782
+v -0.10196055 0.17189421 0.02136731
+v -0.08153819 0.18033811 0.02147912
+v -0.08153819 0.18648888 0.02137414
+v -0.08566465 0.18623170 0.02133010
+v -0.09200627 0.18560484 0.02113702
+v -0.09805801 0.18187045 0.02137073
+v -0.10196055 0.17805569 0.02157057
+v -0.10196055 0.17069405 0.02117084
+v -0.08153819 0.17799675 0.02112344
+v -0.08153819 0.18856235 0.02049682
+v -0.09574687 0.18513871 0.02095071
+v -0.08153819 0.18967678 0.01988710
+v -0.08566465 0.18941960 0.01958563
+v -0.10196055 0.18060600 0.02128265
+v -0.10196055 0.16915100 0.02047981
+v -0.10196055 0.16767226 0.01960926
+v -0.08153819 0.13893305 -0.00194118
+v -0.09997729 0.18407250 0.02045616
+v -0.10196055 0.18224013 0.02077795
+v -0.09063079 0.19181457 0.01616440
+v -0.09805801 0.18699252 0.01844408
+v -0.08153819 0.19157880 0.01812229
+v -0.08153819 0.19259680 0.01717385
+v -0.08566465 0.19233426 0.01686898
+v -0.10196055 0.16558807 0.01823399
+v -0.10196055 0.13893304 -0.00128404
+v -0.08153819 0.13893309 -0.01289927
+v -0.10196055 0.18358495 0.01999208
+v -0.10196055 0.18637103 0.01738044
+v -0.08566465 0.19314867 0.01270931
+v -0.09117858 0.19196459 0.01270931
+v -0.09434940 0.19108055 0.01270930
+v -0.09835189 0.18958037 0.01270930
+v -0.10196055 0.18750689 0.01494156
+v -0.08153819 0.19338441 0.01416249
+v -0.10196055 0.13893309 -0.01266215
+v -0.08153819 0.14348722 -0.01289925
+v -0.08566465 0.13893309 -0.01289927
+v -0.08153819 0.19366301 0.01270931
+v -0.08566465 0.19213606 0.00877321
+v -0.09016696 0.19168601 0.00943373
+v -0.10196055 0.18796766 0.01270929
+v -0.10196055 0.18627461 0.00810249
+v -0.09835189 0.13893309 -0.01285862
+v -0.10196055 0.14370689 -0.01250970
+v -0.09835189 0.14348722 -0.01279763
+v -0.08153819 0.14986838 -0.01287890
+v -0.08566465 0.14348722 -0.01289925
+v -0.09200627 0.13893309 -0.01289588
+v -0.08153819 0.19238788 0.00842770
+v -0.08153819 0.19101629 0.00666288
+v -0.08566465 0.18998222 0.00605993
+v -0.09217021 0.18950537 0.00748601
+v -0.09836189 0.18697113 0.00699144
+v -0.10196055 0.18492982 0.00637494
+v -0.09200627 0.14348722 -0.01288570
+v -0.10196055 0.14928972 -0.01209643
+v -0.09894968 0.15046845 -0.01228612
+v -0.09200627 0.14986838 -0.01277051
+v -0.08566465 0.14986838 -0.01286197
+v -0.08153819 0.15624952 -0.01265871
+v -0.08153819 0.19026084 0.00571442
+v -0.08566465 0.18679434 0.00315019
+v -0.09200627 0.18603353 0.00372264
+v -0.09625468 0.18536380 0.00424090
+v -0.10048509 0.18449047 0.00498951
+v -0.10196055 0.18410472 0.00542309
+v -0.10196055 0.15265979 -0.01166283
+v -0.10146273 0.15299732 -0.01171026
+v -0.09723232 0.15459395 -0.01199140
+v -0.09209224 0.15653348 -0.01218109
+v -0.08566465 0.15624952 -0.01256725
+v -0.08153819 0.16106619 -0.01208961
+v -0.08153819 0.18707295 0.00293340
+v -0.08153819 0.18471016 0.00116858
+v -0.08153819 0.18342429 0.00022011
+v -0.08566465 0.18310283 0.00043351
+v -0.09089069 0.17924520 -0.00132792
+v -0.09260605 0.18152762 0.00064353
+v -0.09511911 0.17854332 -0.00084692
+v -0.09836189 0.18212234 0.00259803
+v -0.10196055 0.18103470 0.00306209
+v -0.10196055 0.15350096 -0.01141895
+v -0.09894968 0.15653348 -0.01128683
+v -0.09426542 0.15884806 -0.01160523
+v -0.09003701 0.15993034 -0.01185927
+v -0.08566465 0.16061077 -0.01201170
+v -0.08153819 0.16425944 -0.01129696
+v -0.08153819 0.18135082 -0.00125678
+v -0.08153819 0.17772359 -0.00380409
+v -0.08566465 0.17991494 -0.00180215
+v -0.08929729 0.17235507 -0.00639882
+v -0.09352370 0.17151926 -0.00587378
+v -0.09835189 0.17460534 -0.00244238
+v -0.09835189 0.17779323 -0.00035915
+v -0.10196055 0.17917017 0.00178844
+v -0.10196055 0.15638346 -0.01051790
+v -0.09835189 0.16262530 -0.00924084
+v -0.09209224 0.16228241 -0.01075498
+v -0.08566465 0.16379867 -0.01111743
+v -0.08153819 0.16900109 -0.00923404
+v -0.08153819 0.17635735 -0.00475255
+v -0.08566465 0.17599303 -0.00451543
+v -0.08566465 0.16900109 -0.00881062
+v -0.09165041 0.16923684 -0.00763183
+v -0.08566465 0.17280513 -0.00669691
+v -0.09835189 0.16714194 -0.00705599
+v -0.09835189 0.17032983 -0.00515566
+v -0.10196055 0.17367844 -0.00182588
+v -0.10196055 0.17244615 -0.00260837
+v -0.10196055 0.16254493 -0.00811962
+v -0.10196055 0.16613466 -0.00647675
+v -0.08153819 0.17316412 -0.00694079
+v -0.08153819 0.17427853 -0.00617863
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 14
+f 2 14 22
+f 2 22 32
+f 2 32 42
+f 2 42 52
+f 2 52 66
+f 2 66 78
+f 2 78 93
+f 2 93 106
+f 2 106 118
+f 2 118 119
+f 2 119 107
+f 2 107 95
+f 2 95 94
+f 2 94 81
+f 2 81 80
+f 2 80 79
+f 2 79 67
+f 2 67 56
+f 2 56 55
+f 2 55 44
+f 2 44 40
+f 2 40 28
+f 2 28 27
+f 2 27 17
+f 2 17 15
+f 2 15 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 19
+f 5 19 24
+f 5 24 33
+f 5 33 34
+f 5 34 39
+f 5 39 47
+f 5 47 48
+f 5 48 60
+f 5 60 72
+f 5 72 87
+f 5 87 101
+f 5 101 114
+f 5 114 115
+f 5 115 117
+f 5 117 116
+f 5 116 102
+f 5 102 88
+f 5 88 73
+f 5 73 62
+f 5 62 50
+f 5 50 41
+f 5 41 31
+f 5 31 30
+f 5 30 21
+f 5 21 20
+f 5 20 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 15 10
+f 10 16 11
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 11 19 12
+f 11 16 19
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 16 23 24
+f 16 24 19
+f 16 18 25
+f 16 25 26
+f 16 26 23
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 21 30 22
+f 22 30 31
+f 22 31 41
+f 22 41 49
+f 22 49 54
+f 22 54 43
+f 22 43 32
+f 23 33 24
+f 23 26 34
+f 23 34 33
+f 25 29 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 34
+f 25 34 26
+f 28 40 29
+f 29 40 35
+f 32 43 53
+f 32 53 42
+f 35 40 44
+f 35 44 45
+f 35 45 46
+f 35 46 36
+f 36 46 37
+f 37 46 38
+f 38 47 39
+f 38 46 48
+f 38 48 47
+f 41 50 51
+f 41 51 49
+f 42 53 52
+f 43 54 53
+f 44 55 45
+f 45 56 57
+f 45 57 46
+f 45 55 56
+f 46 57 58
+f 46 58 59
+f 46 59 48
+f 48 59 60
+f 49 51 61
+f 49 61 54
+f 50 62 63
+f 50 63 51
+f 51 63 64
+f 51 64 65
+f 51 65 61
+f 52 53 61
+f 52 61 65
+f 52 65 66
+f 53 54 61
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 57 69 70
+f 57 70 58
+f 58 70 59
+f 59 70 71
+f 59 71 60
+f 60 71 72
+f 62 73 74
+f 62 74 75
+f 62 75 63
+f 63 75 76
+f 63 76 64
+f 64 76 77
+f 64 77 66
+f 64 66 65
+f 66 77 78
+f 67 79 68
+f 68 80 81
+f 68 81 82
+f 68 82 69
+f 68 79 80
+f 69 82 83
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 71 86 87
+f 71 87 72
+f 73 88 74
+f 74 88 89
+f 74 89 90
+f 74 90 75
+f 75 90 91
+f 75 91 76
+f 76 91 92
+f 76 92 77
+f 77 92 78
+f 78 92 93
+f 81 94 82
+f 82 94 95
+f 82 95 96
+f 82 96 83
+f 83 96 97
+f 83 97 85
+f 83 85 84
+f 85 97 98
+f 85 98 99
+f 85 99 100
+f 85 100 86
+f 86 100 101
+f 86 101 87
+f 88 102 89
+f 89 102 103
+f 89 103 90
+f 90 103 104
+f 90 104 91
+f 91 104 105
+f 91 105 92
+f 92 105 93
+f 93 105 106
+f 95 107 96
+f 96 107 108
+f 96 108 97
+f 97 109 110
+f 97 110 98
+f 97 108 111
+f 97 111 109
+f 98 110 112
+f 98 112 113
+f 98 113 99
+f 99 114 100
+f 99 113 115
+f 99 115 114
+f 100 114 101
+f 102 116 103
+f 103 116 117
+f 103 117 112
+f 103 112 110
+f 103 110 104
+f 104 110 109
+f 104 109 105
+f 105 109 106
+f 106 109 118
+f 107 119 108
+f 108 119 111
+f 109 111 118
+f 111 119 118
+f 112 117 113
+f 113 117 115
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_15.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.10205481 0.13894109 -0.01276573
+v 0.10205481 0.13894104 -0.00129050
+v 0.10205481 0.13974654 -0.01275898
+v 0.10285656 0.13894109 -0.01274549
+v 0.12061415 0.13894098 0.01610623
+v 0.10205481 0.16400588 0.01706456
+v 0.10205481 0.14671274 -0.01236419
+v 0.10482919 0.13894109 -0.01259365
+v 0.12342425 0.13894097 0.01859967
+v 0.10205481 0.16764000 0.01964574
+v 0.10205481 0.14986742 -0.01208750
+v 0.10312249 0.14986742 -0.01197616
+v 0.10523403 0.14401831 -0.01226298
+v 0.10864742 0.13894108 -0.01216515
+v 0.12645661 0.13894096 0.02087717
+v 0.10205481 0.17063646 0.02117421
+v 0.10205481 0.15233172 -0.01181419
+v 0.10772263 0.14650178 -0.01169612
+v 0.10877443 0.14224918 -0.01194245
+v 0.10948490 0.13894108 -0.01206055
+v 0.12672650 0.13894096 0.02102226
+v 0.12658759 0.13903684 0.02100201
+v 0.10205481 0.17522946 0.02160273
+v 0.12979062 0.13894096 0.02147438
+v 0.10205481 0.15293581 -0.01171972
+v 0.11094154 0.14401830 -0.01104156
+v 0.11248948 0.13894108 -0.01132500
+v 0.11152499 0.13894108 -0.01160843
+v 0.10629377 0.14986742 -0.01131147
+v 0.11102489 0.14986742 -0.00961431
+v 0.10468233 0.17537809 0.02169720
+v 0.10205481 0.18055119 0.02127209
+v 0.13005655 0.14349080 0.02166673
+v 0.13517267 0.13894096 0.02138328
+v 0.10205481 0.15359743 -0.01152740
+v 0.11786358 0.14381693 -0.00804201
+v 0.11750637 0.13894107 -0.00918584
+v 0.11566473 0.13894108 -0.00999224
+v 0.10414651 0.15570216 -0.01024861
+v 0.11480344 0.15385631 -0.00662148
+v 0.11606163 0.14986741 -0.00730644
+v 0.11096535 0.15608569 -0.00753586
+v 0.11733570 0.16898720 0.02140364
+v 0.11065180 0.17521507 0.02131931
+v 0.10468233 0.17969780 0.02121136
+v 0.12371002 0.15624859 0.02168364
+v 0.10205481 0.18353809 0.01996633
+v 0.13452175 0.14349080 0.02129895
+v 0.13046933 0.15016934 0.02142719
+v 0.13834395 0.13894097 0.02017874
+v 0.10205481 0.15639254 -0.01060289
+v 0.12030853 0.14615657 -0.00614914
+v 0.12118966 0.14190397 -0.00669914
+v 0.12166198 0.13894107 -0.00700281
+v 0.10205481 0.15819522 -0.00991794
+v 0.10437274 0.16253411 -0.00743460
+v 0.10880619 0.16034307 -0.00674293
+v 0.11923291 0.14986740 -0.00552830
+v 0.11303721 0.15810891 -0.00570710
+v 0.12062606 0.15954239 -0.00090915
+v 0.12173343 0.15624868 -0.00160086
+v 0.11520035 0.17298090 0.02111349
+v 0.12362666 0.16242372 0.02136650
+v 0.12145956 0.16684892 0.02112695
+v 0.10829020 0.17882523 0.02097180
+v 0.12855228 0.15624859 0.02128212
+v 0.10468233 0.18594966 0.01663950
+v 0.10205481 0.18489969 0.01875842
+v 0.10468233 0.18288606 0.01935225
+v 0.13377953 0.14824681 0.02108639
+v 0.13918540 0.13894097 0.01939933
+v 0.13769700 0.14349081 0.01958829
+v 0.13286268 0.15249940 0.02073888
+v 0.12732980 0.14761882 -0.00115888
+v 0.12346394 0.14381692 -0.00471180
+v 0.12627403 0.15187142 -0.00047393
+v 0.12361873 0.13894106 -0.00571392
+v 0.12811965 0.14349089 -0.00170887
+v 0.10205481 0.16256766 -0.00816003
+v 0.10205481 0.16618261 -0.00650335
+v 0.10628583 0.16459088 -0.00564972
+v 0.11452164 0.16612506 -0.00103397
+v 0.11693085 0.16204985 -0.00172904
+v 0.11875266 0.16379020 0.00012670
+v 0.12186044 0.16725650 0.00374709
+v 0.12335280 0.16217929 0.00207017
+v 0.12768304 0.16056358 0.00401362
+v 0.12490471 0.15624867 0.00036960
+v 0.11943137 0.17110152 0.02039480
+v 0.12736155 0.16016078 0.02104258
+v 0.12568661 0.16440860 0.02025981
+v 0.11030253 0.18127036 0.01787103
+v 0.11252122 0.17723351 0.02011140
+v 0.10808382 0.18508667 0.01563065
+v 0.10205481 0.18792016 0.01270872
+v 0.10205481 0.18636198 0.01735143
+v 0.14118977 0.13894098 0.01746261
+v 0.14062617 0.14349082 0.01687216
+v 0.13996333 0.14765233 0.01601853
+v 0.13642689 0.15007346 0.01837702
+v 0.13477974 0.15624861 0.01716237
+v 0.13172356 0.15624860 0.01987513
+v 0.13129093 0.14349088 0.00048091
+v 0.13320004 0.15299328 0.00459056
+v 0.13409309 0.14874069 0.00390561
+v 0.12904840 0.15624866 0.00308236
+v 0.12467053 0.13894106 -0.00499861
+v 0.12879041 0.13894105 -0.00219476
+v 0.10205481 0.17388233 -0.00175600
+v 0.10347177 0.17336933 -0.00161766
+v 0.10770279 0.17208924 -0.00080114
+v 0.11102489 0.16756336 -0.00186736
+v 0.11102489 0.17075640 -0.00004198
+v 0.11561313 0.17338370 0.00378761
+v 0.11718090 0.16881468 0.00195884
+v 0.12608749 0.16481138 0.00524518
+v 0.11984415 0.17150909 0.00508325
+v 0.13221968 0.15624865 0.00559267
+v 0.12380527 0.16912146 0.01851880
+v 0.12193188 0.17353707 0.01677443
+v 0.11740714 0.17538768 0.01844459
+v 0.12978268 0.16227031 0.01815438
+v 0.12797279 0.16713660 0.01664281
+v 0.11538690 0.17946290 0.01649102
+v 0.11120350 0.18300115 0.01270870
+v 0.10802825 0.18505313 0.01270871
+v 0.10468233 0.18674554 0.01270872
+v 0.11583937 0.17980810 0.01270869
+v 0.10205481 0.18733046 0.01050544
+v 0.10785758 0.18494766 0.00998920
+v 0.14260276 0.13894099 0.01270854
+v 0.14148349 0.14349083 0.01270856
+v 0.14005859 0.14789206 0.01270857
+v 0.13872498 0.15108030 0.01270858
+v 0.13614113 0.15624862 0.01270860
+v 0.13368427 0.16012725 0.01604558
+v 0.13504566 0.14349087 0.00319704
+v 0.13196170 0.13894104 0.00002539
+v 0.13651819 0.15015981 0.00709749
+v 0.13821694 0.14349086 0.00605150
+v 0.13355726 0.15994508 0.00953024
+v 0.13458922 0.15624864 0.00830880
+v 0.10205481 0.17486996 -0.00113179
+v 0.10205481 0.17664387 0.00004577
+v 0.10522212 0.17545008 0.00039666
+v 0.10868712 0.17910336 0.00417227
+v 0.11088994 0.17545486 0.00281250
+v 0.11291417 0.17763628 0.00541392
+v 0.12392435 0.16923177 0.00697272
+v 0.12783784 0.16695445 0.00886556
+v 0.12987397 0.16238063 0.00738771
+v 0.11751828 0.17550279 0.00705709
+v 0.12176517 0.17337410 0.00870364
+v 0.12249945 0.17408844 0.01270867
+v 0.11901065 0.17727667 0.01270868
+v 0.12567073 0.17085704 0.01270866
+v 0.12841732 0.16766400 0.01270865
+v 0.11519637 0.17932868 0.00903432
+v 0.10468233 0.18574353 0.00895336
+v 0.10205481 0.18625174 0.00814021
+v 0.11038587 0.18134232 0.00770157
+v 0.10468233 0.18341828 0.00623722
+v 0.14229714 0.13894100 0.01157822
+v 0.13982838 0.14732633 0.00960104
+v 0.13381525 0.16033342 0.01270862
+v 0.13158860 0.16352167 0.01270863
+v 0.13792323 0.13894102 0.00452303
+v 0.13566087 0.13894103 0.00273814
+v 0.14042771 0.14349085 0.00876426
+v 0.13883215 0.13894102 0.00534293
+v 0.10205481 0.18073345 0.00284626
+v 0.10468233 0.18022525 0.00337937
+v 0.10205481 0.18288611 0.00438485
+v 0.10205481 0.18408949 0.00546119
+v 0.14098338 0.13894101 0.00805906
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 23
+f 1 23 32
+f 1 32 47
+f 1 47 68
+f 1 68 96
+f 1 96 95
+f 1 95 129
+f 1 129 160
+f 1 160 174
+f 1 174 173
+f 1 173 171
+f 1 171 144
+f 1 144 143
+f 1 143 109
+f 1 109 80
+f 1 80 79
+f 1 79 55
+f 1 55 51
+f 1 51 35
+f 1 35 25
+f 1 25 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 28
+f 1 28 27
+f 1 27 38
+f 1 38 37
+f 1 37 54
+f 1 54 77
+f 1 77 107
+f 1 107 108
+f 1 108 138
+f 1 138 168
+f 1 168 167
+f 1 167 170
+f 1 170 175
+f 1 175 163
+f 1 163 131
+f 1 131 97
+f 1 97 71
+f 1 71 50
+f 1 50 34
+f 1 34 24
+f 1 24 21
+f 1 21 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 21
+f 16 21 24
+f 16 24 23
+f 17 25 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 18 25 29
+f 18 29 30
+f 18 30 26
+f 19 28 20
+f 23 31 32
+f 23 24 33
+f 23 33 31
+f 24 34 33
+f 25 35 29
+f 26 30 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 29 35 39
+f 29 39 30
+f 30 40 41
+f 30 41 36
+f 30 39 42
+f 30 42 40
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 31 33 46
+f 31 46 43
+f 32 45 47
+f 33 34 48
+f 33 48 49
+f 33 49 46
+f 34 50 48
+f 35 51 39
+f 36 41 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 39 51 55
+f 39 55 56
+f 39 56 57
+f 39 57 42
+f 40 58 41
+f 40 42 59
+f 40 59 60
+f 40 60 61
+f 40 61 58
+f 41 58 52
+f 42 57 59
+f 43 62 44
+f 43 46 63
+f 43 63 64
+f 43 64 62
+f 44 62 65
+f 44 65 45
+f 45 65 47
+f 46 66 63
+f 46 49 66
+f 47 67 68
+f 47 65 69
+f 47 69 67
+f 48 70 49
+f 48 50 70
+f 49 70 66
+f 50 71 72
+f 50 72 73
+f 50 73 70
+f 52 74 75
+f 52 75 53
+f 52 58 76
+f 52 76 74
+f 53 77 54
+f 53 75 78
+f 53 78 77
+f 55 79 56
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 59
+f 58 61 76
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 61
+f 61 88 76
+f 62 64 89
+f 62 89 65
+f 63 66 90
+f 63 90 64
+f 64 90 91
+f 64 91 89
+f 65 92 69
+f 65 89 93
+f 65 93 92
+f 66 70 73
+f 66 73 90
+f 67 94 95
+f 67 95 96
+f 67 96 68
+f 67 69 92
+f 67 92 94
+f 71 97 98
+f 71 98 72
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 90
+f 74 103 78
+f 74 78 75
+f 74 76 104
+f 74 104 105
+f 74 105 103
+f 76 88 106
+f 76 106 104
+f 77 78 107
+f 78 103 108
+f 78 108 107
+f 80 109 110
+f 80 110 111
+f 80 111 81
+f 81 111 112
+f 81 112 82
+f 82 112 113
+f 82 113 114
+f 82 114 115
+f 82 115 85
+f 82 85 84
+f 82 84 83
+f 85 116 87
+f 85 87 86
+f 85 115 117
+f 85 117 116
+f 87 118 104
+f 87 104 106
+f 87 106 88
+f 87 116 118
+f 89 119 120
+f 89 120 121
+f 89 121 93
+f 89 91 119
+f 90 102 91
+f 91 122 123
+f 91 123 119
+f 91 102 122
+f 92 93 124
+f 92 124 94
+f 93 121 124
+f 94 125 126
+f 94 126 127
+f 94 127 95
+f 94 124 128
+f 94 128 125
+f 95 127 130
+f 95 130 129
+f 97 131 98
+f 98 131 99
+f 99 131 132
+f 99 132 133
+f 99 133 134
+f 99 134 135
+f 99 135 136
+f 99 136 101
+f 99 101 100
+f 101 136 102
+f 102 136 122
+f 103 137 138
+f 103 138 108
+f 103 105 137
+f 104 139 140
+f 104 140 105
+f 104 118 141
+f 104 141 142
+f 104 142 139
+f 105 140 137
+f 109 143 110
+f 110 143 144
+f 110 144 145
+f 110 145 111
+f 111 145 146
+f 111 146 147
+f 111 147 113
+f 111 113 112
+f 113 147 114
+f 114 117 115
+f 114 147 146
+f 114 146 148
+f 114 148 117
+f 116 117 149
+f 116 149 150
+f 116 150 151
+f 116 151 118
+f 117 148 152
+f 117 152 153
+f 117 153 149
+f 118 151 141
+f 119 123 120
+f 120 154 155
+f 120 155 124
+f 120 124 121
+f 120 123 156
+f 120 156 154
+f 122 136 123
+f 123 136 157
+f 123 157 156
+f 124 155 128
+f 125 128 130
+f 125 130 126
+f 126 130 127
+f 128 155 158
+f 128 158 130
+f 129 130 159
+f 129 159 160
+f 130 158 161
+f 130 161 162
+f 130 162 159
+f 131 163 164
+f 131 164 132
+f 132 164 133
+f 133 164 134
+f 134 164 141
+f 134 141 135
+f 135 141 165
+f 135 165 136
+f 136 165 166
+f 136 166 157
+f 137 140 167
+f 137 167 168
+f 137 168 138
+f 139 164 140
+f 139 142 164
+f 140 169 170
+f 140 170 167
+f 140 164 169
+f 141 164 142
+f 141 151 150
+f 141 150 157
+f 141 157 166
+f 141 166 165
+f 144 171 172
+f 144 172 145
+f 145 172 146
+f 146 172 173
+f 146 173 174
+f 146 174 162
+f 146 162 161
+f 146 161 148
+f 148 161 158
+f 148 158 152
+f 149 153 150
+f 150 153 156
+f 150 156 157
+f 152 158 153
+f 153 158 155
+f 153 155 154
+f 153 154 156
+f 159 162 174
+f 159 174 160
+f 163 175 169
+f 163 169 164
+f 169 175 170
+f 171 173 172
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_16.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.08564541 0.18175680 0.02170557
+v 0.09198767 0.18175680 0.02166491
+v 0.08170740 0.18646713 0.02137017
+v 0.08170740 0.18175680 0.02165813
+v 0.10205481 0.17523192 0.02160390
+v 0.10205481 0.18055245 0.02127528
+v 0.09803711 0.18186384 0.02136677
+v 0.09198767 0.18559465 0.02113301
+v 0.08564541 0.18622091 0.02132612
+v 0.08170740 0.18965731 0.01985914
+v 0.08170740 0.17796177 0.02113975
+v 0.10205481 0.17063399 0.02117361
+v 0.10205481 0.18353923 0.01996414
+v 0.09995533 0.18406379 0.02045541
+v 0.09572450 0.18513967 0.02095006
+v 0.08564541 0.18940575 0.01956439
+v 0.08170740 0.19076531 0.01883258
+v 0.10205481 0.16763651 0.01964562
+v 0.08170740 0.13894639 -0.00194955
+v 0.10205481 0.18489881 0.01875802
+v 0.10205481 0.18636009 0.01735201
+v 0.09803711 0.18699170 0.01844295
+v 0.09056544 0.19180373 0.01614590
+v 0.08564541 0.19232295 0.01685062
+v 0.08170740 0.19257451 0.01714537
+v 0.10205481 0.16401278 0.01706395
+v 0.08170740 0.13894643 -0.01290631
+v 0.10205481 0.13894638 -0.00129228
+v 0.10205481 0.18791773 0.01271047
+v 0.09833391 0.18957705 0.01271048
+v 0.09428036 0.19107044 0.01271048
+v 0.09110923 0.19194291 0.01271049
+v 0.08564541 0.19312050 0.01271049
+v 0.08170740 0.19362366 0.01271049
+v 0.09198767 0.13894643 -0.01290293
+v 0.08170740 0.14349083 -0.01290291
+v 0.10205481 0.13894643 -0.01276741
+v 0.10205481 0.18732894 0.01050489
+v 0.09012722 0.19167531 0.00944446
+v 0.08564541 0.19211959 0.00879058
+v 0.08170740 0.19324362 0.01122316
+v 0.09650931 0.13894643 -0.01289615
+v 0.09198767 0.14349083 -0.01289613
+v 0.08170740 0.14745179 -0.01289612
+v 0.09833391 0.13894643 -0.01287582
+v 0.09833391 0.14349083 -0.01282160
+v 0.10205481 0.13974933 -0.01275724
+v 0.10205481 0.18625308 0.00814006
+v 0.09834387 0.18697033 0.00699154
+v 0.09213906 0.18950213 0.00749297
+v 0.08564541 0.18997853 0.00607340
+v 0.08170740 0.19237116 0.00845178
+v 0.08170740 0.19025151 0.00573799
+v 0.08170740 0.14986583 -0.01288595
+v 0.08564541 0.14986583 -0.01286901
+v 0.09198767 0.14986583 -0.01278431
+v 0.09833391 0.14986583 -0.01247600
+v 0.10205481 0.14671312 -0.01236421
+v 0.10205481 0.18409061 0.00546016
+v 0.10046725 0.18449741 0.00498923
+v 0.09623642 0.18535919 0.00423709
+v 0.08170740 0.18904181 0.00462333
+v 0.09198767 0.18602828 0.00371873
+v 0.08564541 0.18678836 0.00313939
+v 0.08170740 0.15382680 -0.01278429
+v 0.08170740 0.15624619 -0.01268265
+v 0.08564541 0.15624619 -0.01259456
+v 0.10205481 0.14986582 -0.01208638
+v 0.09220678 0.15662087 -0.01219816
+v 0.09833391 0.15443699 -0.01196100
+v 0.10167435 0.15321659 -0.01175774
+v 0.10205481 0.15233340 -0.01181533
+v 0.10205481 0.18288627 0.00438277
+v 0.10205481 0.18073451 0.00284800
+v 0.09784987 0.18154811 0.00199762
+v 0.09523250 0.17859881 -0.00088218
+v 0.09198767 0.18231355 0.00100155
+v 0.08170740 0.18706135 0.00293273
+v 0.08564541 0.18314856 0.00042559
+v 0.08170740 0.18344296 0.00021892
+v 0.08170740 0.15944173 -0.01232011
+v 0.08564541 0.16068889 -0.01203213
+v 0.09023877 0.15998233 -0.01187290
+v 0.09446561 0.15899209 -0.01163914
+v 0.10205481 0.15359663 -0.01152735
+v 0.10205481 0.15293825 -0.01172047
+v 0.09833391 0.15762717 -0.01122919
+v 0.10205481 0.17664509 0.00004612
+v 0.09946133 0.17761928 -0.00024186
+v 0.09774032 0.17544611 -0.00218319
+v 0.09357323 0.17157080 -0.00590661
+v 0.08934440 0.17237369 -0.00641142
+v 0.09198767 0.17912338 -0.00124809
+v 0.08564541 0.17995839 -0.00184098
+v 0.08170740 0.18025814 -0.00206120
+v 0.08170740 0.16112780 -0.01210667
+v 0.08170740 0.16310293 -0.01164589
+v 0.08170740 0.16431263 -0.01131048
+v 0.08564541 0.16387907 -0.01114108
+v 0.09220678 0.16231609 -0.01079889
+v 0.09833391 0.16262654 -0.00932512
+v 0.10205481 0.15639607 -0.01060242
+v 0.10205481 0.15819455 -0.00991804
+v 0.10205481 0.17486802 -0.00113291
+v 0.09833391 0.17040928 -0.00521545
+v 0.09833391 0.16722446 -0.00709920
+v 0.09167095 0.16926917 -0.00766159
+v 0.08564541 0.16899619 -0.00885417
+v 0.08564541 0.17283938 -0.00671634
+v 0.08564541 0.17602956 -0.00455478
+v 0.08170740 0.17637212 -0.00477500
+v 0.08170740 0.16705319 -0.01012129
+v 0.08170740 0.16899619 -0.00925395
+v 0.10205481 0.16256765 -0.00815965
+v 0.10205281 0.16619139 -0.00650291
+v 0.10205481 0.17388313 -0.00175630
+v 0.08170740 0.17173140 -0.00775984
+v 0.08170740 0.17318732 -0.00694671
+v 0.10205481 0.16618604 -0.00650291
+f 1 2 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 3
+f 3 9 10
+f 3 10 17
+f 3 17 25
+f 3 25 34
+f 3 34 41
+f 3 41 52
+f 3 52 53
+f 3 53 62
+f 3 62 78
+f 3 78 80
+f 3 80 95
+f 3 95 111
+f 3 111 118
+f 3 118 117
+f 3 117 113
+f 3 113 112
+f 3 112 98
+f 3 98 97
+f 3 97 96
+f 3 96 81
+f 3 81 66
+f 3 66 65
+f 3 65 54
+f 3 54 44
+f 3 44 36
+f 3 36 27
+f 3 27 19
+f 3 19 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 18
+f 5 18 26
+f 5 26 28
+f 5 28 37
+f 5 37 47
+f 5 47 58
+f 5 58 68
+f 5 68 72
+f 5 72 86
+f 5 86 85
+f 5 85 102
+f 5 102 103
+f 5 103 114
+f 5 114 119
+f 5 119 116
+f 5 116 104
+f 5 104 88
+f 5 88 74
+f 5 74 73
+f 5 73 59
+f 5 59 48
+f 5 48 38
+f 5 38 29
+f 5 29 21
+f 5 21 20
+f 5 20 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 11 18 12
+f 11 19 18
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 19 26
+f 19 27 35
+f 19 35 42
+f 19 42 45
+f 19 45 37
+f 19 37 28
+f 19 28 26
+f 21 29 30
+f 21 30 23
+f 21 23 22
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 27 36 35
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 32
+f 32 39 33
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 35 36 43
+f 35 43 42
+f 36 44 43
+f 37 45 46
+f 37 46 47
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 52 41
+f 40 51 53
+f 40 53 52
+f 42 43 45
+f 43 44 54
+f 43 54 55
+f 43 55 46
+f 43 46 45
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 48 59 60
+f 48 60 49
+f 49 60 61
+f 49 61 50
+f 50 61 51
+f 51 62 53
+f 51 61 63
+f 51 63 64
+f 51 64 62
+f 54 65 55
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 57
+f 57 68 58
+f 57 67 69
+f 57 69 70
+f 57 70 71
+f 57 71 72
+f 57 72 68
+f 59 73 60
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 63
+f 62 64 78
+f 63 77 79
+f 63 79 64
+f 64 79 80
+f 64 80 78
+f 66 81 67
+f 67 81 96
+f 67 96 82
+f 67 82 69
+f 69 82 83
+f 69 83 84
+f 69 84 70
+f 70 84 71
+f 71 85 86
+f 71 86 72
+f 71 84 87
+f 71 87 85
+f 74 88 89
+f 74 89 75
+f 75 89 76
+f 76 89 90
+f 76 90 91
+f 76 91 92
+f 76 92 93
+f 76 93 77
+f 77 93 94
+f 77 94 79
+f 79 94 95
+f 79 95 80
+f 82 96 97
+f 82 97 98
+f 82 98 99
+f 82 99 83
+f 83 99 100
+f 83 100 84
+f 84 100 101
+f 84 101 87
+f 85 87 102
+f 87 101 103
+f 87 103 102
+f 88 104 89
+f 89 104 105
+f 89 105 90
+f 90 105 91
+f 91 105 106
+f 91 106 107
+f 91 107 92
+f 92 107 108
+f 92 108 109
+f 92 109 110
+f 92 110 94
+f 92 94 93
+f 94 110 111
+f 94 111 95
+f 98 112 99
+f 99 112 113
+f 99 113 108
+f 99 108 100
+f 100 108 107
+f 100 107 101
+f 101 114 103
+f 101 107 106
+f 101 106 115
+f 101 115 114
+f 104 116 105
+f 105 115 106
+f 105 116 115
+f 108 113 117
+f 108 117 109
+f 109 117 118
+f 109 118 110
+f 110 118 111
+f 114 115 119
+f 115 116 119
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_2.obj

@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.04123121 -0.15720456 -0.01274118
+v 0.04123121 -0.16204403 -0.01222605
+v 0.03489097 -0.16205495 -0.01222605
+v 0.00024023 -0.16205131 -0.01222269
+v 0.00951449 -0.15720456 -0.01273445
+v 0.04757146 -0.15720456 -0.01273781
+v 0.03489097 -0.16524243 -0.01158297
+v 0.06660769 -0.15720456 -0.01272434
+v 0.04757146 -0.16202219 -0.01222269
+v 0.04123121 -0.16523515 -0.01157961
+v 0.00024023 -0.16524243 -0.01158297
+v 0.00024023 -0.15720456 -0.01273108
+v 0.04123121 -0.16906669 -0.00986920
+v 0.03489097 -0.16906669 -0.00987257
+v 0.00024023 -0.16730557 -0.01066043
+v 0.06660769 -0.16193850 -0.01221258
+v 0.06025970 -0.16197125 -0.01221594
+v 0.05391945 -0.16199672 -0.01221932
+v 0.07294794 -0.15720456 -0.01270751
+v 0.04757146 -0.16521332 -0.01157624
+v 0.00024023 -0.15720461 -0.00003764
+v 0.04757146 -0.17373151 -0.00728676
+v 0.04123121 -0.17374242 -0.00729350
+v 0.03489097 -0.17374970 -0.00729350
+v 0.05391945 -0.16906669 -0.00984227
+v 0.00024023 -0.17159196 -0.00848202
+v 0.00024023 -0.16906669 -0.00987257
+v 0.06025970 -0.16515875 -0.01156277
+v 0.05391945 -0.16518785 -0.01156951
+v 0.07294794 -0.16181115 -0.01220247
+v 0.06660769 -0.16512599 -0.01155267
+v 0.07929593 -0.15720456 -0.01265364
+v 0.06025970 -0.16906669 -0.00982543
+v 0.00024023 -0.17222153 0.01546043
+v 0.07932689 -0.17185403 0.01583753
+v 0.07932689 -0.15720461 0.00049771
+v 0.06025970 -0.17370968 -0.00726993
+v 0.06025970 -0.17689717 -0.00505785
+v 0.05391945 -0.17690809 -0.00506458
+v 0.03489097 -0.17693356 -0.00508141
+v 0.02854298 -0.17693720 -0.00508141
+v 0.00024023 -0.17374970 -0.00729350
+v 0.06660769 -0.16906669 -0.00980523
+v 0.07929593 -0.16144000 -0.01215534
+v 0.07294794 -0.16500228 -0.01151900
+v 0.07294794 -0.16906669 -0.00972106
+v 0.07932689 -0.15720461 0.00022162
+v 0.07932689 -0.15722275 -0.01265027
+v 0.06660769 -0.17369876 -0.00725646
+v 0.00024023 -0.17359333 0.01671293
+v 0.07932689 -0.17187223 0.01585437
+v 0.06660769 -0.17688262 -0.00505111
+v 0.06660769 -0.18066687 -0.00233735
+v 0.03489097 -0.18069962 -0.00236429
+v 0.02854298 -0.18069962 -0.00236765
+v 0.04123121 -0.18069234 -0.00236092
+v 0.00024023 -0.17693720 -0.00508141
+v 0.07932689 -0.16145091 -0.01215197
+v 0.07932689 -0.16462386 -0.01140115
+v 0.07929593 -0.16462750 -0.01140115
+v 0.07294794 -0.17362962 -0.00720596
+v 0.07929593 -0.16906670 -0.00943150
+v 0.07294794 -0.17681349 -0.00501407
+v 0.00024023 -0.17520164 0.01817756
+v 0.07932689 -0.17496512 0.01856813
+v 0.00024023 -0.17666803 0.01947383
+v 0.00024023 -0.17838914 0.02099232
+v 0.07294794 -0.18062685 -0.00229695
+v 0.07294794 -0.18381798 0.00000603
+v 0.06660769 -0.18385801 -0.00002090
+v 0.03489097 -0.18388711 -0.00004110
+v 0.02854298 -0.18389075 -0.00004110
+v 0.01585474 -0.18069598 -0.00236765
+v 0.00024023 -0.18069234 -0.00236429
+v 0.07932689 -0.16908126 -0.00942140
+v 0.07929593 -0.17337856 -0.00703424
+v 0.07932689 -0.17656241 -0.00485583
+v 0.07929593 -0.18043035 -0.00214207
+v 0.07932689 -0.17813807 0.02109334
+v 0.00024023 -0.18182042 0.02155796
+v 0.07929593 -0.17815262 0.02110007
+v 0.07932689 -0.18361786 0.00014409
+v 0.07294794 -0.18740574 0.00271979
+v 0.06660769 -0.18744941 0.00269286
+v 0.07929593 -0.18722017 0.00285784
+v 0.03489097 -0.18745304 0.00267602
+v 0.02854298 -0.18745304 0.00267266
+v 0.06025970 -0.18745304 0.00268949
+v 0.00024023 -0.18746032 0.00267939
+v 0.00024023 -0.18387984 -0.00003437
+v 0.00024023 -0.18241345 -0.00110842
+v 0.07932689 -0.17338947 -0.00702414
+v 0.07932689 -0.18044127 -0.00213197
+v 0.07932689 -0.18182042 0.02165560
+v 0.00024023 -0.18689640 0.02141989
+v 0.07932689 -0.18721653 0.00286121
+v 0.07294794 -0.19059688 0.00537632
+v 0.06660769 -0.19064054 0.00533254
+v 0.06025970 -0.19064419 0.00532581
+v 0.07932689 -0.19040767 0.00559517
+v 0.07929593 -0.19040767 0.00559180
+v 0.00316650 -0.19064782 0.00532244
+v 0.00024023 -0.19064782 0.00532244
+v 0.07294794 -0.18684910 0.02142326
+v 0.07932689 -0.18668171 0.02140306
+v 0.00024023 -0.19008387 0.02023471
+v 0.00316650 -0.19008387 0.02023471
+v 0.06025970 -0.18688548 0.02141989
+v 0.07294794 -0.19272551 0.00809344
+v 0.07929593 -0.19255815 0.00830556
+v 0.06660769 -0.19276192 0.00804631
+v 0.06025970 -0.19276920 0.00803957
+v 0.04757146 -0.19277648 0.00804294
+v 0.00024023 -0.19277648 0.00803620
+v 0.07932689 -0.19255815 0.00830893
+v 0.06660769 -0.18688184 0.02141989
+v 0.06660769 -0.19006932 0.02021788
+v 0.07294794 -0.19004021 0.02018421
+v 0.07929593 -0.18987283 0.02001586
+v 0.07932689 -0.18986919 0.02001586
+v 0.00024023 -0.19142292 0.01898220
+v 0.00951449 -0.19298754 0.01751756
+v 0.06025970 -0.19007296 0.02022461
+v 0.07294794 -0.19426836 0.01270955
+v 0.06660769 -0.19434475 0.01270955
+v 0.06025970 -0.19435568 0.01270955
+v 0.04757146 -0.19436658 0.01270955
+v 0.04123121 -0.19437023 0.01270955
+v 0.00316650 -0.19437751 0.01270955
+v 0.00024023 -0.19363884 0.01055469
+v 0.07932689 -0.19392995 0.01270955
+v 0.07929593 -0.19393360 0.01270955
+v 0.06660769 -0.19296936 0.01750410
+v 0.07294794 -0.19293295 0.01747043
+v 0.07929593 -0.19276195 0.01730208
+v 0.07932689 -0.19275830 0.01729871
+v 0.00024023 -0.19298754 0.01751756
+v 0.02854298 -0.19298391 0.01751420
+v 0.05391945 -0.19297663 0.01751083
+v 0.00024023 -0.19362795 0.01530210
+v 0.00024023 -0.19437386 0.01270955
+v 0.07932689 -0.19392632 0.01272638
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 36
+f 1 36 47
+f 1 47 32
+f 1 32 19
+f 1 19 8
+f 1 8 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 20
+f 2 20 10
+f 2 10 7
+f 3 7 11
+f 3 11 4
+f 4 11 15
+f 4 15 27
+f 4 27 26
+f 4 26 42
+f 4 42 57
+f 4 57 74
+f 4 74 91
+f 4 91 90
+f 4 90 89
+f 4 89 103
+f 4 103 114
+f 4 114 130
+f 4 130 141
+f 4 141 140
+f 4 140 137
+f 4 137 121
+f 4 121 106
+f 4 106 95
+f 4 95 80
+f 4 80 67
+f 4 67 66
+f 4 66 64
+f 4 64 50
+f 4 50 34
+f 4 34 21
+f 4 21 12
+f 4 12 5
+f 7 10 13
+f 7 13 14
+f 7 14 15
+f 7 15 11
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 19 16
+f 9 18 20
+f 10 20 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 13 20 25
+f 13 25 22
+f 14 24 26
+f 14 26 27
+f 14 27 15
+f 16 28 29
+f 16 29 20
+f 16 20 17
+f 16 19 30
+f 16 30 31
+f 16 31 28
+f 17 20 18
+f 19 32 30
+f 20 29 33
+f 20 33 25
+f 21 34 35
+f 21 35 36
+f 22 25 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 57
+f 24 57 42
+f 24 42 26
+f 25 33 37
+f 28 31 43
+f 28 43 33
+f 28 33 29
+f 30 32 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 43
+f 32 47 48
+f 32 48 44
+f 33 43 49
+f 33 49 37
+f 34 50 51
+f 34 51 35
+f 35 51 65
+f 35 65 79
+f 35 79 94
+f 35 94 105
+f 35 105 120
+f 35 120 136
+f 35 136 142
+f 35 142 131
+f 35 131 115
+f 35 115 100
+f 35 100 96
+f 35 96 82
+f 35 82 93
+f 35 93 77
+f 35 77 92
+f 35 92 75
+f 35 75 59
+f 35 59 58
+f 35 58 48
+f 35 48 47
+f 35 47 36
+f 37 49 52
+f 37 52 38
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 54 55
+f 40 55 41
+f 40 53 56
+f 40 56 54
+f 41 55 57
+f 43 46 49
+f 44 48 58
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 61 49
+f 46 60 62
+f 46 62 61
+f 49 61 63
+f 49 63 52
+f 50 64 51
+f 51 64 66
+f 51 66 67
+f 51 67 65
+f 52 63 68
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 56
+f 54 71 55
+f 54 56 70
+f 54 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 57
+f 57 73 74
+f 59 62 60
+f 59 75 62
+f 61 62 76
+f 61 76 77
+f 61 77 63
+f 62 75 76
+f 63 77 78
+f 63 78 68
+f 65 67 79
+f 67 80 81
+f 67 81 79
+f 68 78 82
+f 68 82 69
+f 69 83 84
+f 69 84 70
+f 69 82 85
+f 69 85 83
+f 70 84 71
+f 71 86 87
+f 71 87 72
+f 71 84 88
+f 71 88 86
+f 72 87 89
+f 72 89 90
+f 72 90 91
+f 72 91 73
+f 73 91 74
+f 75 92 76
+f 76 92 77
+f 77 93 78
+f 78 93 82
+f 79 81 94
+f 80 95 94
+f 80 94 81
+f 82 96 85
+f 83 97 98
+f 83 98 84
+f 83 85 97
+f 84 98 99
+f 84 99 88
+f 85 96 100
+f 85 100 101
+f 85 101 97
+f 86 88 99
+f 86 99 87
+f 87 102 103
+f 87 103 89
+f 87 99 102
+f 94 95 104
+f 94 104 105
+f 95 106 107
+f 95 107 108
+f 95 108 104
+f 97 109 98
+f 97 101 110
+f 97 110 109
+f 98 111 112
+f 98 112 99
+f 98 109 111
+f 99 112 113
+f 99 113 114
+f 99 114 102
+f 100 115 110
+f 100 110 101
+f 102 114 103
+f 104 108 116
+f 104 116 117
+f 104 117 118
+f 104 118 105
+f 105 119 120
+f 105 118 119
+f 106 121 107
+f 107 121 122
+f 107 122 123
+f 107 123 116
+f 107 116 108
+f 109 124 125
+f 109 125 111
+f 109 110 115
+f 109 115 124
+f 111 125 126
+f 111 126 112
+f 112 126 127
+f 112 127 128
+f 112 128 113
+f 113 128 129
+f 113 129 114
+f 114 129 130
+f 115 131 132
+f 115 132 124
+f 116 123 117
+f 117 123 133
+f 117 133 118
+f 118 133 134
+f 118 134 119
+f 119 135 120
+f 119 134 135
+f 120 135 136
+f 121 137 122
+f 122 138 123
+f 122 137 129
+f 122 129 128
+f 122 128 138
+f 123 139 133
+f 123 138 139
+f 124 134 125
+f 124 132 135
+f 124 135 134
+f 125 133 126
+f 125 134 133
+f 126 133 127
+f 127 139 128
+f 127 133 139
+f 128 139 138
+f 129 137 140
+f 129 140 141
+f 129 141 130
+f 131 142 132
+f 132 142 135
+f 135 142 136
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_3.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v 0.06026111 0.19431225 0.01270856
+v 0.06026111 0.19270776 0.00800751
+v 0.05391315 0.19431225 0.01270856
+v 0.06026111 0.19292999 0.01752129
+v 0.06660906 0.19430682 0.01270856
+v 0.06660906 0.19270776 0.00801090
+v 0.06026111 0.19062628 0.00529315
+v 0.00316936 0.19270234 0.00803121
+v 0.00023462 0.19430139 0.01270856
+v 0.00023462 0.19366720 0.01492539
+v 0.05391315 0.19292999 0.01751790
+v 0.00023462 0.19292456 0.01750775
+v 0.06026111 0.19002454 0.02023563
+v 0.06660906 0.19292456 0.01751452
+v 0.07294905 0.19289203 0.01748406
+v 0.07294905 0.19424178 0.01270856
+v 0.07294905 0.19267524 0.00804813
+v 0.06660906 0.19062085 0.00529654
+v 0.06660906 0.18743357 0.00265663
+v 0.06026111 0.18743357 0.00265325
+v 0.00023462 0.18741188 0.00266340
+v 0.00023462 0.19059918 0.00531684
+v 0.00023462 0.19156945 0.00656910
+v 0.00023462 0.19269693 0.00803121
+v 0.00023462 0.19343953 0.01019050
+v 0.00023462 0.19000285 0.02022209
+v 0.06026111 0.18683722 0.02142695
+v 0.06660906 0.18682639 0.02142357
+v 0.06660906 0.19001370 0.02022886
+v 0.00023462 0.18681012 0.02142019
+v 0.07294905 0.18998117 0.02019840
+v 0.07929701 0.19272943 0.01732499
+v 0.07929701 0.19392737 0.01270856
+v 0.07929701 0.19252347 0.00824443
+v 0.07294905 0.19058833 0.00533377
+v 0.07294905 0.18739562 0.00268032
+v 0.06660906 0.18384514 -0.00005773
+v 0.06026111 0.18385057 -0.00006111
+v 0.02854524 0.18385057 -0.00005773
+v 0.00023462 0.18383972 -0.00005096
+v 0.08170541 0.18175815 0.02165708
+v 0.07294905 0.18678844 0.02142019
+v 0.00023462 0.18447927 0.02148110
+v 0.07929701 0.18662041 0.02139988
+v 0.07929701 0.18981314 0.02003933
+v 0.08170541 0.19257764 0.01714561
+v 0.08170541 0.19361841 0.01270856
+v 0.08170541 0.19324440 0.01122277
+v 0.07929701 0.19042029 0.00553007
+v 0.08170541 0.19237170 0.00845088
+v 0.07929701 0.18722758 0.00280555
+v 0.07294905 0.18380720 -0.00003404
+v 0.06660906 0.18065786 -0.00237612
+v 0.06026111 0.18065786 -0.00238289
+v 0.02219728 0.18065786 -0.00238289
+v 0.00023462 0.18212140 -0.00130323
+v 0.08170541 0.17795831 0.02114262
+v 0.08170541 0.18646863 0.02137279
+v 0.00023462 0.18175815 0.02155216
+v 0.08170541 0.18966136 0.01985995
+v 0.08170541 0.19025226 0.00573652
+v 0.08170541 0.18904347 0.00462302
+v 0.07929701 0.18362833 0.00009118
+v 0.08170541 0.18705955 0.00293416
+v 0.07294905 0.18061991 -0.00234227
+v 0.06660906 0.17688514 -0.00509048
+v 0.06026111 0.17690140 -0.00509725
+v 0.04122521 0.17690682 -0.00510063
+v 0.02219728 0.17690682 -0.00509725
+v 0.00023462 0.17863056 -0.00383483
+v 0.00023462 0.18064701 -0.00237273
+v 0.07294905 0.13894106 -0.00194305
+v 0.07929701 0.13894106 -0.00194644
+v 0.08170541 0.13894106 -0.00194982
+v 0.00023462 0.18017534 0.02129155
+v 0.00023462 0.17833775 0.02098694
+v 0.00023462 0.13894106 -0.00191936
+v 0.00498762 0.13894106 -0.00191936
+v 0.08170541 0.18344402 0.00021979
+v 0.07929701 0.18043560 -0.00219674
+v 0.07294905 0.17682009 -0.00505663
+v 0.06660906 0.17369784 -0.00730394
+v 0.06026111 0.17371411 -0.00731748
+v 0.05391315 0.17371411 -0.00732086
+v 0.02219728 0.17371953 -0.00732763
+v 0.00316936 0.17689598 -0.00509048
+v 0.00023462 0.17689598 -0.00508709
+v 0.08170541 0.13894110 -0.01290538
+v 0.00023462 0.13894110 -0.01290877
+v 0.08170541 0.18025673 -0.00206136
+v 0.07929701 0.17658701 -0.00491110
+v 0.07294905 0.17363280 -0.00725317
+v 0.06660906 0.16899821 -0.00986262
+v 0.06026111 0.16899821 -0.00988970
+v 0.05391315 0.16899821 -0.00989985
+v 0.04122521 0.16899821 -0.00989985
+v 0.02854524 0.16899821 -0.00989647
+v 0.00023462 0.16899821 -0.00988293
+v 0.00023462 0.17370869 -0.00731748
+v 0.08170541 0.14176522 -0.01290537
+v 0.06660906 0.13894110 -0.01291215
+v 0.00023462 0.14348896 -0.01290875
+v 0.04122521 0.13894110 -0.01291215
+v 0.08170541 0.17637560 -0.00477572
+v 0.07929701 0.17339429 -0.00709072
+v 0.07929701 0.16899820 -0.00949710
+v 0.07294905 0.16899821 -0.00977463
+v 0.06660906 0.16508455 -0.01156164
+v 0.06026111 0.16513875 -0.01157518
+v 0.05391315 0.16516044 -0.01157857
+v 0.04757317 0.16516585 -0.01157857
+v 0.04122521 0.16516585 -0.01157857
+v 0.00023462 0.16690044 -0.01078998
+v 0.03489320 0.16515502 -0.01157857
+v 0.08170541 0.14745140 -0.01289520
+v 0.07294905 0.14348896 -0.01290875
+v 0.07929701 0.14348896 -0.01290536
+v 0.07929701 0.14986898 -0.01289519
+v 0.06026111 0.14348896 -0.01291213
+v 0.00023462 0.14986898 -0.01290196
+v 0.04122521 0.14986898 -0.01290873
+v 0.04122521 0.14348896 -0.01291213
+v 0.08170541 0.17318289 -0.00694857
+v 0.08170541 0.17173018 -0.00775747
+v 0.08170541 0.16899820 -0.00925342
+v 0.08170541 0.16705764 -0.01011985
+v 0.07929701 0.16458044 -0.01141274
+v 0.07294905 0.16494904 -0.01152441
+v 0.07294905 0.16176174 -0.01219456
+v 0.06660906 0.16189725 -0.01220471
+v 0.06026111 0.16194603 -0.01220810
+v 0.05391315 0.16197313 -0.01221148
+v 0.04757317 0.16197856 -0.01221487
+v 0.04122521 0.16197313 -0.01221487
+v 0.03489320 0.16196771 -0.01221487
+v 0.00023462 0.16510082 -0.01156503
+v 0.00316936 0.16510082 -0.01156841
+v 0.02854524 0.16195145 -0.01221487
+v 0.00023462 0.16338791 -0.01191025
+v 0.08170541 0.14986898 -0.01288503
+v 0.06660906 0.14986898 -0.01290534
+v 0.07294905 0.14986898 -0.01290196
+v 0.06660906 0.15624901 -0.01279702
+v 0.07294905 0.15624901 -0.01278348
+v 0.05391315 0.14986898 -0.01290873
+v 0.00023462 0.15624901 -0.01279363
+v 0.04122521 0.15624901 -0.01281056
+v 0.08170541 0.16431483 -0.01130782
+v 0.08170541 0.16310604 -0.01164627
+v 0.08170541 0.16112753 -0.01210656
+v 0.07929701 0.16139313 -0.01215056
+v 0.07929701 0.15624901 -0.01273610
+v 0.04757317 0.15624901 -0.01280717
+v 0.00023462 0.15886173 -0.01252287
+v 0.00023462 0.16191351 -0.01220471
+v 0.08170541 0.15382601 -0.01278686
+v 0.08170541 0.15944173 -0.01231979
+v 0.08170541 0.15624901 -0.01268195
+f 1 2 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 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 35
+f 6 35 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 24
+f 9 24 23
+f 9 23 22
+f 9 22 21
+f 9 21 40
+f 9 40 56
+f 9 56 71
+f 9 71 70
+f 9 70 87
+f 9 87 99
+f 9 99 98
+f 9 98 113
+f 9 113 136
+f 9 136 139
+f 9 139 155
+f 9 155 154
+f 9 154 146
+f 9 146 120
+f 9 120 102
+f 9 102 89
+f 9 89 77
+f 9 77 76
+f 9 76 75
+f 9 75 59
+f 9 59 43
+f 9 43 30
+f 9 30 26
+f 9 26 12
+f 9 12 10
+f 10 12 11
+f 12 26 13
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 13 26 30
+f 13 30 27
+f 14 29 31
+f 14 31 15
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 18 35 36
+f 18 36 19
+f 19 37 38
+f 19 38 20
+f 19 36 52
+f 19 52 37
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 27 41 28
+f 27 30 41
+f 28 41 42
+f 28 42 29
+f 29 42 31
+f 30 43 41
+f 31 44 45
+f 31 45 32
+f 31 42 44
+f 32 46 33
+f 32 45 60
+f 32 60 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 49 35
+f 34 48 50
+f 34 50 49
+f 35 49 51
+f 35 51 36
+f 36 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 56
+f 41 57 74
+f 41 74 88
+f 41 88 100
+f 41 100 115
+f 41 115 140
+f 41 140 156
+f 41 156 158
+f 41 158 157
+f 41 157 150
+f 41 150 149
+f 41 149 148
+f 41 148 126
+f 41 126 125
+f 41 125 124
+f 41 124 123
+f 41 123 104
+f 41 104 90
+f 41 90 79
+f 41 79 64
+f 41 64 62
+f 41 62 61
+f 41 61 50
+f 41 50 48
+f 41 48 47
+f 41 47 46
+f 41 46 60
+f 41 60 58
+f 41 58 44
+f 41 44 42
+f 41 43 59
+f 41 59 57
+f 44 58 45
+f 45 58 60
+f 49 50 61
+f 49 61 62
+f 49 62 51
+f 51 63 52
+f 51 62 64
+f 51 64 63
+f 52 65 53
+f 52 63 65
+f 53 66 67
+f 53 67 54
+f 53 65 66
+f 54 67 68
+f 54 68 55
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 55 68 69
+f 57 72 73
+f 57 73 74
+f 57 59 75
+f 57 75 76
+f 57 76 77
+f 57 77 78
+f 57 78 72
+f 63 64 79
+f 63 79 80
+f 63 80 65
+f 65 80 81
+f 65 81 66
+f 66 81 82
+f 66 82 83
+f 66 83 67
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 69
+f 69 85 86
+f 69 86 70
+f 70 86 87
+f 72 78 77
+f 72 77 89
+f 72 89 103
+f 72 103 101
+f 72 101 88
+f 72 88 74
+f 72 74 73
+f 79 90 80
+f 80 90 91
+f 80 91 81
+f 81 91 92
+f 81 92 82
+f 82 92 93
+f 82 93 94
+f 82 94 83
+f 83 94 95
+f 83 95 84
+f 84 95 85
+f 85 96 97
+f 85 97 98
+f 85 98 99
+f 85 99 86
+f 85 95 96
+f 86 99 87
+f 88 101 100
+f 89 102 122
+f 89 122 103
+f 90 104 91
+f 91 104 105
+f 91 105 92
+f 92 105 106
+f 92 106 107
+f 92 107 93
+f 93 107 108
+f 93 108 109
+f 93 109 94
+f 94 109 110
+f 94 110 95
+f 95 110 111
+f 95 111 112
+f 95 112 96
+f 96 112 97
+f 97 112 98
+f 98 112 114
+f 98 114 113
+f 100 101 116
+f 100 116 117
+f 100 117 118
+f 100 118 115
+f 101 119 116
+f 101 103 122
+f 101 122 119
+f 102 120 121
+f 102 121 122
+f 104 123 105
+f 105 123 124
+f 105 124 125
+f 105 125 106
+f 106 125 126
+f 106 126 127
+f 106 127 107
+f 107 127 128
+f 107 128 108
+f 108 128 129
+f 108 129 130
+f 108 130 109
+f 109 130 131
+f 109 131 132
+f 109 132 110
+f 110 132 133
+f 110 133 111
+f 111 133 112
+f 112 133 134
+f 112 134 135
+f 112 135 114
+f 113 114 137
+f 113 137 136
+f 114 135 138
+f 114 138 139
+f 114 139 137
+f 115 118 140
+f 116 119 141
+f 116 141 117
+f 117 141 142
+f 117 142 118
+f 118 142 143
+f 118 143 144
+f 118 144 140
+f 119 145 141
+f 119 122 121
+f 119 121 145
+f 120 146 147
+f 120 147 121
+f 121 147 145
+f 126 148 127
+f 127 148 149
+f 127 149 150
+f 127 150 151
+f 127 151 128
+f 128 151 129
+f 129 151 152
+f 129 152 144
+f 129 144 130
+f 130 144 143
+f 130 143 131
+f 131 143 132
+f 132 143 133
+f 133 143 153
+f 133 153 147
+f 133 147 134
+f 134 147 135
+f 135 147 138
+f 136 137 139
+f 138 147 146
+f 138 146 154
+f 138 154 155
+f 138 155 139
+f 140 144 156
+f 141 145 147
+f 141 147 153
+f 141 153 143
+f 141 143 142
+f 144 152 156
+f 150 157 151
+f 151 157 152
+f 152 157 158
+f 152 158 156
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_4.obj

@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
+v -0.08154100 -0.13901931 -0.00196669
+v -0.08154100 -0.17800898 0.02114342
+v -0.08154100 -0.13901927 -0.01291508
+v -0.12658623 -0.13901940 0.02101136
+v -0.08154100 -0.18182080 0.02165522
+v -0.12979349 -0.13901940 0.02148930
+v -0.08154100 -0.14769610 -0.01291172
+v -0.09017546 -0.13901927 -0.01291847
+v -0.08566376 -0.18182080 0.02170946
+v -0.08154100 -0.18650938 0.02136370
+v -0.13007473 -0.14355295 0.02168248
+v -0.13520873 -0.13901940 0.02138761
+v -0.08154100 -0.14993079 -0.01290156
+v -0.08566376 -0.14993079 -0.01289139
+v -0.09201246 -0.14355282 -0.01290154
+v -0.09651818 -0.13901927 -0.01290830
+v -0.12372603 -0.15630890 0.02168583
+v -0.10469788 -0.17544283 0.02169254
+v -0.09201246 -0.18182080 0.02165861
+v -0.08566376 -0.18625811 0.02131964
+v -0.08154100 -0.18969569 0.01983159
+v -0.13456848 -0.14355295 0.02130285
+v -0.13046367 -0.15021428 0.02143163
+v -0.13838607 -0.13901939 0.02019447
+v -0.08154100 -0.15407408 -0.01279311
+v -0.09201246 -0.14993079 -0.01279987
+v -0.09835517 -0.14355282 -0.01282019
+v -0.09835517 -0.13901927 -0.01288457
+v -0.12851298 -0.15630890 0.02126891
+v -0.12362431 -0.16245165 0.02135023
+v -0.11731151 -0.16901138 0.02139089
+v -0.10469788 -0.17972510 0.02120442
+v -0.09802009 -0.18190633 0.02135355
+v -0.11066363 -0.17526105 0.02130613
+v -0.09201246 -0.18563261 0.02112305
+v -0.08154100 -0.19260934 0.01711652
+v -0.08566376 -0.18944442 0.01951636
+v -0.13381453 -0.14827362 0.02108929
+v -0.13773983 -0.14355294 0.01960805
+v -0.13922977 -0.13901939 0.01940808
+v -0.14066586 -0.14355293 0.01689299
+v -0.08154100 -0.15630877 -0.01269142
+v -0.09835517 -0.14993079 -0.01246769
+v -0.08566376 -0.15630877 -0.01259652
+v -0.10286090 -0.13901927 -0.01275576
+v -0.12733419 -0.16016884 0.02102823
+v -0.12143427 -0.16685154 0.02111973
+v -0.11514542 -0.17301031 0.02109936
+v -0.09568047 -0.18517819 0.02094001
+v -0.10829409 -0.17888041 0.02096376
+v -0.08154100 -0.19363579 0.01271005
+v -0.08566376 -0.19233667 0.01680129
+v -0.09045670 -0.19182880 0.01610982
+v -0.13284518 -0.15252916 0.02072320
+v -0.13998970 -0.14771225 0.01602524
+v -0.13644138 -0.15011803 0.01837422
+v -0.14123432 -0.13901938 0.01747940
+v -0.14266441 -0.13901937 0.01271025
+v -0.08154100 -0.15959666 -0.01230164
+v -0.09835517 -0.15438950 -0.01195588
+v -0.10164022 -0.15321870 -0.01174572
+v -0.10305237 -0.14993080 -0.01196264
+v -0.10522445 -0.14404466 -0.01226768
+v -0.10484149 -0.13901927 -0.01260323
+v -0.09212615 -0.15662420 -0.01219994
+v -0.08154100 -0.16112568 -0.01210166
+v -0.08566376 -0.16066591 -0.01202030
+v -0.12566475 -0.16442437 0.02023844
+v -0.13168434 -0.15630889 0.01983850
+v -0.11937588 -0.17110173 0.02034688
+v -0.11251858 -0.17726586 0.02008586
+v -0.09991093 -0.18409292 0.02042479
+v -0.09802009 -0.18698518 0.01842492
+v -0.11026870 -0.18131290 0.01781821
+v -0.10469788 -0.18291140 0.01927234
+v -0.08154100 -0.19329896 0.01136438
+v -0.08566376 -0.19308514 0.01271005
+v -0.08566376 -0.19213884 0.00887303
+v -0.10469788 -0.18593198 0.01655727
+v -0.10801884 -0.18509797 0.01555395
+v -0.09835517 -0.18949785 0.01271006
+v -0.09408880 -0.19107497 0.01271006
+v -0.09091744 -0.19195174 0.01271005
+v -0.13477193 -0.15630888 0.01712344
+v -0.14153948 -0.14355292 0.01271023
+v -0.14008545 -0.14795816 0.01271022
+v -0.13872115 -0.15114447 0.01271020
+v -0.13610629 -0.15630887 0.01271019
+v -0.13367690 -0.16015812 0.01600824
+v -0.14235326 -0.13901936 0.01156118
+v -0.13985208 -0.14739145 0.00959518
+v -0.09008571 -0.15999229 -0.01186099
+v -0.09431618 -0.15896047 -0.01161354
+v -0.10412944 -0.15573139 -0.01019668
+v -0.10622971 -0.14993080 -0.01129150
+v -0.10768375 -0.14649857 -0.01168807
+v -0.09835517 -0.15757582 -0.01118984
+v -0.10882664 -0.14224837 -0.01194566
+v -0.10953869 -0.13901928 -0.01206768
+v -0.10867704 -0.13901928 -0.01216937
+v -0.08154100 -0.16319464 -0.01160678
+v -0.08566376 -0.16385757 -0.01110173
+v -0.12976956 -0.16229125 0.01812334
+v -0.12797445 -0.16718297 0.01661835
+v -0.12379184 -0.16914503 0.01848262
+v -0.11736536 -0.17540539 0.01840802
+v -0.12191297 -0.17355026 0.01672679
+v -0.11534886 -0.17950055 0.01646577
+v -0.08154100 -0.19241149 0.00850356
+v -0.08998997 -0.19169511 0.00951367
+v -0.08566376 -0.18996829 0.00615797
+v -0.08154100 -0.19025699 0.00578851
+v -0.10801884 -0.18509796 0.01420828
+v -0.10528429 -0.18635431 0.01252365
+v -0.11578567 -0.17982665 0.01271010
+v -0.10356098 -0.18602283 0.00865612
+v -0.10779146 -0.18496430 0.01058819
+v -0.13355723 -0.15997633 0.00955785
+v -0.13380256 -0.16035057 0.01271017
+v -0.13157065 -0.16354223 0.01271016
+v -0.12839929 -0.16770154 0.01271014
+v -0.14102488 -0.13901935 0.00804956
+v -0.14046242 -0.14355290 0.00875118
+v -0.13823049 -0.14355289 0.00603612
+v -0.13652515 -0.15018749 0.00710721
+v -0.13458643 -0.15630885 0.00835117
+v -0.09212615 -0.16234460 -0.01074583
+v -0.09835517 -0.16268676 -0.00922390
+v -0.10431493 -0.16253707 -0.00736301
+v -0.10873687 -0.16030773 -0.00670203
+v -0.11092691 -0.15610564 -0.00748501
+v -0.11104658 -0.14993080 -0.00957298
+v -0.11098077 -0.14404467 -0.01104065
+v -0.11253652 -0.13901928 -0.01133553
+v -0.11155520 -0.13901928 -0.01162703
+v -0.08154100 -0.16431199 -0.01128477
+v -0.08154100 -0.16723634 -0.00999335
+v -0.08154100 -0.16906474 -0.00916630
+v -0.08566376 -0.16906474 -0.00874260
+v -0.12564680 -0.17089320 0.01271013
+v -0.12247544 -0.17408486 0.01271012
+v -0.11895703 -0.17727117 0.01271011
+v -0.09829534 -0.18694772 0.00701894
+v -0.09206631 -0.18948180 0.00753415
+v -0.08566376 -0.18678197 0.00319548
+v -0.09613522 -0.18537059 0.00427677
+v -0.09201246 -0.18601746 0.00377511
+v -0.08154100 -0.18913964 0.00475130
+v -0.11050206 -0.18338719 0.01252366
+v -0.11516934 -0.17936151 0.00906967
+v -0.10036569 -0.18450451 0.00503604
+v -0.11086109 -0.18060182 0.00726641
+v -0.10528429 -0.18369190 0.00701896
+v -0.13218697 -0.15630884 0.00563611
+v -0.12986529 -0.16240347 0.00741900
+v -0.12783085 -0.16700118 0.00889686
+v -0.13885280 -0.13901934 0.00533449
+v -0.13505914 -0.14355288 0.00319564
+v -0.13410175 -0.14873332 0.00391421
+v -0.13318026 -0.15298887 0.00461924
+v -0.09156368 -0.16927858 -0.00759692
+v -0.09835517 -0.16715616 -0.00703762
+v -0.10194539 -0.16616712 -0.00645800
+v -0.10617586 -0.16455793 -0.00558348
+v -0.11442737 -0.16608161 -0.00097364
+v -0.11296137 -0.15809976 -0.00566820
+v -0.11477443 -0.15384422 -0.00660032
+v -0.11602502 -0.14993081 -0.00728839
+v -0.11786799 -0.14386292 -0.00805442
+v -0.11751496 -0.13901929 -0.00921364
+v -0.11566001 -0.13901928 -0.01002714
+v -0.08154100 -0.17185009 -0.00762065
+v -0.08154100 -0.17315989 -0.00688851
+v -0.08566376 -0.17279637 -0.00664784
+v -0.08915225 -0.17236333 -0.00636311
+v -0.12175740 -0.17339519 0.00874090
+v -0.08566376 -0.18312518 0.00048044
+v -0.08154100 -0.18343526 0.00026689
+v -0.08154100 -0.18706531 0.00298194
+v -0.09507012 -0.17859163 -0.00083472
+v -0.09258091 -0.18156945 0.00069059
+v -0.09829534 -0.18215753 0.00263622
+v -0.09083966 -0.17928129 -0.00131265
+v -0.11284768 -0.17764538 0.00544960
+v -0.11747905 -0.17551762 0.00709695
+v -0.10862319 -0.17910488 0.00421917
+v -0.10469788 -0.18020619 0.00344973
+v -0.12766928 -0.16057507 0.00403281
+v -0.12605966 -0.16483063 0.00527677
+v -0.12390553 -0.16925726 0.00700884
+v -0.13793132 -0.13901934 0.00451082
+v -0.13199549 -0.13901932 0.00001622
+v -0.13130138 -0.14355287 0.00048058
+v -0.13568145 -0.13901933 0.00272790
+v -0.12732223 -0.14762130 -0.00114644
+v -0.13025423 -0.15030509 0.00173132
+v -0.12625115 -0.15187150 -0.00045159
+v -0.12901561 -0.15630883 0.00311764
+v -0.09338273 -0.17154536 -0.00585128
+v -0.09835517 -0.17034248 -0.00512591
+v -0.10330967 -0.17334169 -0.00155668
+v -0.10754014 -0.17202654 -0.00072961
+v -0.11104658 -0.16745556 -0.00177359
+v -0.11104658 -0.17064189 0.00005000
+v -0.11555828 -0.17338982 0.00384294
+v -0.11710806 -0.16879746 0.00200580
+v -0.12182920 -0.16726312 0.00378535
+v -0.11865784 -0.16378275 0.00016527
+v -0.11688068 -0.16207197 -0.00165155
+v -0.12058459 -0.15953256 -0.00087532
+v -0.11920236 -0.14993082 -0.00550208
+v -0.12167362 -0.15630881 -0.00155322
+v -0.12030336 -0.14619920 -0.00613931
+v -0.12122485 -0.14194901 -0.00671213
+v -0.12170354 -0.13901929 -0.00702057
+v -0.08154100 -0.17634623 -0.00472257
+v -0.08566376 -0.17598269 -0.00449208
+v -0.11978876 -0.17151333 0.00512422
+v -0.08566376 -0.17993351 -0.00177702
+v -0.08154100 -0.18024359 -0.00200752
+v -0.09835517 -0.17782714 -0.00033983
+v -0.09835517 -0.17463546 -0.00241086
+v -0.11086109 -0.17548552 0.00291758
+v -0.10513470 -0.17545878 0.00049402
+v -0.12484498 -0.15630882 0.00040257
+v -0.12331913 -0.16217892 0.00210073
+v -0.12882414 -0.13901931 -0.00221074
+v -0.12813002 -0.14355286 -0.00170571
+v -0.12349267 -0.14386293 -0.00470550
+v -0.12364823 -0.13901930 -0.00574270
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 36
+f 1 36 51
+f 1 51 76
+f 1 76 109
+f 1 109 112
+f 1 112 148
+f 1 148 179
+f 1 179 178
+f 1 178 220
+f 1 220 216
+f 1 216 173
+f 1 173 172
+f 1 172 138
+f 1 138 137
+f 1 137 136
+f 1 136 101
+f 1 101 66
+f 1 66 59
+f 1 59 42
+f 1 42 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 45
+f 1 45 64
+f 1 64 100
+f 1 100 99
+f 1 99 135
+f 1 135 134
+f 1 134 171
+f 1 171 170
+f 1 170 215
+f 1 215 230
+f 1 230 227
+f 1 227 192
+f 1 192 194
+f 1 194 191
+f 1 191 157
+f 1 157 122
+f 1 122 90
+f 1 90 58
+f 1 58 57
+f 1 57 40
+f 1 40 24
+f 1 24 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 5 9 10
+f 5 6 11
+f 5 11 9
+f 6 12 11
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 11 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 11 12 22
+f 11 22 23
+f 11 23 17
+f 12 24 22
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 17 23 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 32 33
+f 18 33 19
+f 18 31 34
+f 18 34 32
+f 19 33 35
+f 19 35 20
+f 20 35 21
+f 21 35 37
+f 21 37 36
+f 22 38 23
+f 22 24 38
+f 23 38 29
+f 24 39 38
+f 24 40 41
+f 24 41 39
+f 25 42 26
+f 26 43 27
+f 26 42 44
+f 26 44 43
+f 27 43 45
+f 27 45 28
+f 29 46 30
+f 29 38 46
+f 30 47 31
+f 30 46 47
+f 31 47 48
+f 31 48 34
+f 32 49 33
+f 32 34 50
+f 32 50 49
+f 33 49 35
+f 34 48 50
+f 35 49 37
+f 36 37 52
+f 36 52 51
+f 37 49 53
+f 37 53 52
+f 38 54 46
+f 38 39 54
+f 39 41 55
+f 39 55 56
+f 39 56 54
+f 40 57 41
+f 41 57 58
+f 41 58 55
+f 42 59 44
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 45
+f 43 44 65
+f 43 65 60
+f 44 59 66
+f 44 66 67
+f 44 67 65
+f 46 68 47
+f 46 54 69
+f 46 69 68
+f 47 68 70
+f 47 70 48
+f 48 70 71
+f 48 71 50
+f 49 50 72
+f 49 72 73
+f 49 73 53
+f 50 71 74
+f 50 74 75
+f 50 75 72
+f 51 52 53
+f 51 53 77
+f 51 77 78
+f 51 78 76
+f 53 73 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 77
+f 54 56 84
+f 54 84 69
+f 55 58 85
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 89
+f 55 89 84
+f 55 84 56
+f 58 90 91
+f 58 91 85
+f 60 65 92
+f 60 92 93
+f 60 93 61
+f 61 94 95
+f 61 95 96
+f 61 96 62
+f 61 93 97
+f 61 97 94
+f 62 96 63
+f 63 96 98
+f 63 98 99
+f 63 99 100
+f 63 100 64
+f 65 67 92
+f 66 101 67
+f 67 101 102
+f 67 102 92
+f 68 69 103
+f 68 103 104
+f 68 104 105
+f 68 105 70
+f 69 84 89
+f 69 89 103
+f 70 106 71
+f 70 105 107
+f 70 107 106
+f 71 106 108
+f 71 108 74
+f 72 75 79
+f 72 79 73
+f 74 80 79
+f 74 79 75
+f 74 108 80
+f 76 78 109
+f 77 83 110
+f 77 110 78
+f 78 111 112
+f 78 112 109
+f 78 110 111
+f 80 113 114
+f 80 114 81
+f 80 108 115
+f 80 115 113
+f 81 116 110
+f 81 110 82
+f 81 114 117
+f 81 117 116
+f 82 110 83
+f 85 91 86
+f 86 91 87
+f 87 91 118
+f 87 118 88
+f 88 119 89
+f 88 118 119
+f 89 119 120
+f 89 120 121
+f 89 121 104
+f 89 104 103
+f 90 122 123
+f 90 123 91
+f 91 123 124
+f 91 124 125
+f 91 125 126
+f 91 126 118
+f 92 127 93
+f 92 102 127
+f 93 127 128
+f 93 128 97
+f 94 97 128
+f 94 128 129
+f 94 129 130
+f 94 130 131
+f 94 131 132
+f 94 132 95
+f 95 132 96
+f 96 132 133
+f 96 133 134
+f 96 134 135
+f 96 135 98
+f 98 135 99
+f 101 136 102
+f 102 136 137
+f 102 137 138
+f 102 138 139
+f 102 139 127
+f 104 121 140
+f 104 140 107
+f 104 107 105
+f 106 107 108
+f 107 140 141
+f 107 141 142
+f 107 142 108
+f 108 142 115
+f 110 116 143
+f 110 143 144
+f 110 144 111
+f 111 145 112
+f 111 144 146
+f 111 146 147
+f 111 147 145
+f 112 145 148
+f 113 149 117
+f 113 117 114
+f 113 115 149
+f 115 142 150
+f 115 150 117
+f 115 117 149
+f 116 151 143
+f 116 117 152
+f 116 152 153
+f 116 153 151
+f 117 150 152
+f 118 126 154
+f 118 154 155
+f 118 155 156
+f 118 156 121
+f 118 121 120
+f 118 120 119
+f 121 156 140
+f 122 157 123
+f 123 157 124
+f 124 157 158
+f 124 158 159
+f 124 159 160
+f 124 160 125
+f 125 160 126
+f 126 160 154
+f 127 161 128
+f 127 139 161
+f 128 162 163
+f 128 163 129
+f 128 161 162
+f 129 163 164
+f 129 164 130
+f 130 164 165
+f 130 165 166
+f 130 166 131
+f 131 166 167
+f 131 167 132
+f 132 167 168
+f 132 168 169
+f 132 169 133
+f 133 169 170
+f 133 170 171
+f 133 171 134
+f 138 172 139
+f 139 172 173
+f 139 173 174
+f 139 174 175
+f 139 175 161
+f 140 156 176
+f 140 176 141
+f 141 176 142
+f 142 176 150
+f 143 151 146
+f 143 146 144
+f 145 177 178
+f 145 178 179
+f 145 179 148
+f 145 147 177
+f 146 180 181
+f 146 181 147
+f 146 151 182
+f 146 182 180
+f 147 181 183
+f 147 183 177
+f 150 184 152
+f 150 176 185
+f 150 185 184
+f 151 153 186
+f 151 186 187
+f 151 187 182
+f 152 186 153
+f 152 184 186
+f 154 160 188
+f 154 188 189
+f 154 189 155
+f 155 189 156
+f 156 189 190
+f 156 190 176
+f 157 191 158
+f 158 192 193
+f 158 193 159
+f 158 191 194
+f 158 194 192
+f 159 193 195
+f 159 195 196
+f 159 196 160
+f 160 196 197
+f 160 197 198
+f 160 198 188
+f 161 175 199
+f 161 199 162
+f 162 200 163
+f 162 199 200
+f 163 201 202
+f 163 202 164
+f 163 200 201
+f 164 202 203
+f 164 203 165
+f 165 203 204
+f 165 204 205
+f 165 205 206
+f 165 206 207
+f 165 207 208
+f 165 208 209
+f 165 209 166
+f 166 209 210
+f 166 210 167
+f 167 211 168
+f 167 210 212
+f 167 212 211
+f 168 211 213
+f 168 213 169
+f 169 213 214
+f 169 214 170
+f 170 214 215
+f 173 216 217
+f 173 217 174
+f 174 217 175
+f 175 183 180
+f 175 180 199
+f 175 217 183
+f 176 190 218
+f 176 218 185
+f 177 219 220
+f 177 220 178
+f 177 183 219
+f 180 183 181
+f 180 182 221
+f 180 221 222
+f 180 222 199
+f 182 187 221
+f 183 217 219
+f 184 185 218
+f 184 218 205
+f 184 205 186
+f 186 205 223
+f 186 223 202
+f 186 202 224
+f 186 224 187
+f 187 201 221
+f 187 224 201
+f 188 198 225
+f 188 225 210
+f 188 210 226
+f 188 226 207
+f 188 207 189
+f 189 207 218
+f 189 218 190
+f 192 227 193
+f 193 227 228
+f 193 228 195
+f 195 228 229
+f 195 229 213
+f 195 213 197
+f 195 197 196
+f 197 225 198
+f 197 213 211
+f 197 211 212
+f 197 212 225
+f 199 222 200
+f 200 222 201
+f 201 222 221
+f 201 224 202
+f 202 223 204
+f 202 204 203
+f 204 223 205
+f 205 218 206
+f 206 218 207
+f 207 226 210
+f 207 210 208
+f 208 210 209
+f 210 225 212
+f 213 229 214
+f 214 229 228
+f 214 228 230
+f 214 230 215
+f 216 220 219
+f 216 219 217
+f 227 230 228
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_5.obj

@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v 0.07932690 -0.15722253 -0.01265134
+v 0.07932690 -0.16145014 -0.01215002
+v 0.07932690 -0.15720461 0.00022166
+v 0.08059309 -0.15720456 -0.01261097
+v 0.08564683 -0.15720456 -0.01249657
+v 0.07932690 -0.16462444 -0.01139973
+v 0.08564683 -0.16073116 -0.01203226
+v 0.07932690 -0.15720461 0.00049756
+v 0.08672584 -0.15720456 -0.01243601
+v 0.08564683 -0.16391985 -0.01112046
+v 0.07932690 -0.16908213 -0.00942135
+v 0.09178509 -0.15720457 -0.01215001
+v 0.09010601 -0.16002297 -0.01187076
+v 0.07932690 -0.17185388 0.01583678
+v 0.11501138 -0.15720468 0.02032858
+v 0.08564683 -0.16906774 -0.00877535
+v 0.09213191 -0.16236685 -0.01075709
+v 0.07932690 -0.17338882 -0.00702241
+v 0.09267692 -0.15720457 -0.01206253
+v 0.09433949 -0.15896606 -0.01161504
+v 0.07932690 -0.17187185 0.01585360
+v 0.11726849 -0.15720469 0.02116637
+v 0.07932690 -0.17496349 0.01856883
+v 0.07932690 -0.17813779 0.02109228
+v 0.08564683 -0.17281365 -0.00665565
+v 0.09155937 -0.16928703 -0.00761119
+v 0.08915912 -0.17237866 -0.00636966
+v 0.09833623 -0.16268680 -0.00923965
+v 0.07932690 -0.17656312 -0.00485561
+v 0.08564683 -0.17599873 -0.00449559
+v 0.09833623 -0.15720457 -0.01128531
+v 0.09833623 -0.15759642 -0.01119446
+v 0.11742814 -0.15720469 0.02120675
+v 0.07932690 -0.18181896 0.02165415
+v 0.12281770 -0.15720469 0.02167779
+v 0.09833623 -0.16718042 -0.00705266
+v 0.09338709 -0.17156262 -0.00585488
+v 0.09507718 -0.17860146 -0.00084163
+v 0.09084371 -0.17928448 -0.00131268
+v 0.08564683 -0.17993875 -0.00178036
+v 0.09955288 -0.15720457 -0.01098586
+v 0.10416620 -0.15720457 -0.00959964
+v 0.10432035 -0.16255379 -0.00737901
+v 0.10196414 -0.16618464 -0.00646721
+v 0.07932690 -0.18044203 -0.00213028
+v 0.07932690 -0.18668287 0.02140515
+v 0.08564683 -0.18181896 0.02172144
+v 0.10468369 -0.17544521 0.02169455
+v 0.11729051 -0.16900674 0.02138503
+v 0.12369302 -0.15720469 0.02163069
+v 0.09833623 -0.17036911 -0.00514158
+v 0.09833623 -0.17466862 -0.00242635
+v 0.09833623 -0.17785371 -0.00036048
+v 0.09827568 -0.18216401 0.00262054
+v 0.09612316 -0.18537426 0.00427256
+v 0.09257233 -0.18157443 0.00068925
+v 0.09199428 -0.18601055 0.00377459
+v 0.08564683 -0.18312743 0.00048401
+v 0.10559755 -0.15720458 -0.00909495
+v 0.10873549 -0.16033934 -0.00671281
+v 0.10619211 -0.16459210 -0.00561259
+v 0.10756839 -0.17206951 -0.00075076
+v 0.10334042 -0.17337805 -0.00157173
+v 0.07932690 -0.18361634 0.00014419
+v 0.07932690 -0.18987153 0.02001555
+v 0.08564683 -0.18627304 0.02132441
+v 0.09199428 -0.18181896 0.02166088
+v 0.10468369 -0.17973033 0.02120330
+v 0.11062376 -0.17525827 0.02130426
+v 0.09800593 -0.18191962 0.02136143
+v 0.12139737 -0.16683902 0.02111251
+v 0.12358843 -0.16244245 0.02134131
+v 0.11512148 -0.17300786 0.02109902
+v 0.12778336 -0.15720469 0.02127740
+v 0.10468369 -0.18023355 0.00342133
+v 0.10035112 -0.18451867 0.00502959
+v 0.09827568 -0.18695962 0.00701470
+v 0.09205485 -0.18947246 0.00752612
+v 0.08564683 -0.18995775 0.00615335
+v 0.08564683 -0.18676907 0.00319587
+v 0.11035401 -0.15720458 -0.00729488
+v 0.11203308 -0.15720459 -0.00650756
+v 0.11296345 -0.15811769 -0.00567650
+v 0.11444434 -0.16612355 -0.00099636
+v 0.11102013 -0.16751477 -0.00181060
+v 0.10514613 -0.17548108 0.00046049
+v 0.11102013 -0.17070346 0.00002310
+v 0.11086049 -0.17550266 0.00288301
+v 0.10863639 -0.17913351 0.00420192
+v 0.07932690 -0.18721844 0.00285941
+v 0.07932690 -0.19275823 0.01730030
+v 0.08564683 -0.18946171 0.01951759
+v 0.09199428 -0.18563315 0.02112590
+v 0.10824002 -0.17886755 0.02095768
+v 0.09567173 -0.18518019 0.02094084
+v 0.11934944 -0.17109177 0.02035208
+v 0.12562534 -0.16440167 0.02022762
+v 0.12731542 -0.16014891 0.02102505
+v 0.11247349 -0.17725343 0.02008626
+v 0.12822377 -0.15720469 0.02121011
+v 0.10529476 -0.18373140 0.00701472
+v 0.10359366 -0.18604293 0.00864655
+v 0.08998490 -0.19170490 0.00950114
+v 0.08564683 -0.19214347 0.00886859
+v 0.07932690 -0.19040712 0.00559483
+v 0.11483521 -0.15720459 -0.00505068
+v 0.11818785 -0.15720460 -0.00320351
+v 0.12054957 -0.15951613 -0.00086848
+v 0.11688314 -0.16206131 -0.00166590
+v 0.11867781 -0.16376889 0.00015772
+v 0.12182678 -0.16728472 0.00377803
+v 0.11711435 -0.16883052 0.00199141
+v 0.11555639 -0.17341402 0.00382510
+v 0.11286436 -0.17766320 0.00543001
+v 0.11086049 -0.18064697 0.00725699
+v 0.07932690 -0.19392655 0.01272443
+v 0.08564683 -0.19233761 0.01680570
+v 0.09044183 -0.19183073 0.01610588
+v 0.11025491 -0.18131208 0.01783868
+v 0.09989970 -0.18411252 0.02043615
+v 0.10468369 -0.18291900 0.01930901
+v 0.09800593 -0.18700280 0.01843083
+v 0.11734557 -0.17541284 0.01840733
+v 0.12188733 -0.17356505 0.01673175
+v 0.12375908 -0.16912896 0.01848137
+v 0.12794851 -0.16716973 0.01661066
+v 0.12974870 -0.16227708 0.01812138
+v 0.13138373 -0.15720468 0.01958500
+v 0.13065705 -0.15720468 0.02011998
+v 0.11534169 -0.17950742 0.01646593
+v 0.10781613 -0.18499322 0.01022119
+v 0.09833623 -0.18953359 0.01270762
+v 0.09408625 -0.19107220 0.01270762
+v 0.09090977 -0.19195655 0.01270761
+v 0.08564683 -0.19309253 0.01270761
+v 0.07932690 -0.19393015 0.01270761
+v 0.07932690 -0.19255689 0.00831006
+v 0.12134232 -0.15720461 -0.00135970
+v 0.12330215 -0.16217636 0.00209573
+v 0.12541614 -0.15720461 0.00116375
+v 0.12765123 -0.16058742 0.00403376
+v 0.11978987 -0.17153749 0.00511376
+v 0.12605473 -0.16484020 0.00526519
+v 0.11747770 -0.17553863 0.00708205
+v 0.11516553 -0.17938158 0.00905032
+v 0.10803083 -0.18511906 0.01559111
+v 0.10468369 -0.18596746 0.01659376
+v 0.11895859 -0.17728576 0.01270767
+v 0.12245436 -0.17410068 0.01270768
+v 0.12562534 -0.17088326 0.01270769
+v 0.12838342 -0.16769457 0.01270770
+v 0.13365737 -0.16015608 0.01601514
+v 0.13449415 -0.15720467 0.01686976
+v 0.11578761 -0.17984893 0.01270766
+v 0.11049714 -0.18342226 0.01230389
+v 0.10803083 -0.18511905 0.01384151
+v 0.10529476 -0.18639524 0.01230388
+v 0.12872475 -0.15720462 0.00330701
+v 0.13183516 -0.15720463 0.00589776
+v 0.12389671 -0.16927272 0.00700132
+v 0.12173869 -0.17340685 0.00873407
+v 0.12984779 -0.16240286 0.00741518
+v 0.12781088 -0.16700793 0.00888551
+v 0.13353076 -0.15996553 0.00956518
+v 0.13155440 -0.16352809 0.01270772
+v 0.13377848 -0.16033941 0.01270773
+v 0.13551261 -0.15720466 0.01347823
+v 0.13251229 -0.15720463 0.00660097
+v 0.13430698 -0.15720464 0.00864665
+v 0.13556215 -0.15720466 0.01270774
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 29
+f 1 29 45
+f 1 45 64
+f 1 64 90
+f 1 90 105
+f 1 105 137
+f 1 137 136
+f 1 136 116
+f 1 116 91
+f 1 91 65
+f 1 65 46
+f 1 46 34
+f 1 34 24
+f 1 24 23
+f 1 23 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 15
+f 3 15 22
+f 3 22 33
+f 3 33 35
+f 3 35 50
+f 3 50 74
+f 3 74 100
+f 3 100 129
+f 3 129 128
+f 3 128 153
+f 3 153 167
+f 3 167 170
+f 3 170 169
+f 3 169 168
+f 3 168 159
+f 3 159 158
+f 3 158 140
+f 3 140 138
+f 3 138 107
+f 3 107 106
+f 3 106 82
+f 3 82 81
+f 3 81 59
+f 3 59 42
+f 3 42 41
+f 3 41 31
+f 3 31 19
+f 3 19 12
+f 3 12 9
+f 3 9 5
+f 3 5 4
+f 5 9 7
+f 6 7 10
+f 6 10 11
+f 7 9 12
+f 7 12 13
+f 7 13 10
+f 8 14 15
+f 10 16 11
+f 10 13 17
+f 10 17 16
+f 11 16 18
+f 12 19 13
+f 13 19 20
+f 13 20 17
+f 14 21 15
+f 15 21 23
+f 15 23 24
+f 15 24 22
+f 16 25 18
+f 16 17 26
+f 16 26 27
+f 16 27 25
+f 17 20 28
+f 17 28 26
+f 18 25 30
+f 18 30 29
+f 19 31 20
+f 20 31 32
+f 20 32 28
+f 22 24 33
+f 24 34 35
+f 24 35 33
+f 25 27 30
+f 26 28 36
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 30
+f 28 32 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 36
+f 29 30 40
+f 29 40 45
+f 31 41 32
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 36 51 37
+f 36 44 51
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 45
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 51
+f 45 58 64
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 47 67 48
+f 48 68 69
+f 48 69 49
+f 48 67 70
+f 48 70 68
+f 49 71 72
+f 49 72 50
+f 49 69 73
+f 49 73 71
+f 50 72 74
+f 51 63 52
+f 52 63 53
+f 53 63 75
+f 53 75 54
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 57
+f 55 57 56
+f 57 79 80
+f 57 80 58
+f 58 80 64
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 62
+f 62 86 63
+f 62 85 87
+f 62 87 88
+f 62 88 89
+f 62 89 86
+f 63 86 75
+f 64 80 90
+f 65 91 92
+f 65 92 93
+f 65 93 66
+f 66 93 67
+f 67 93 70
+f 68 94 69
+f 68 70 95
+f 68 95 94
+f 69 94 73
+f 70 93 95
+f 71 73 96
+f 71 96 97
+f 71 97 98
+f 71 98 72
+f 72 98 74
+f 73 94 99
+f 73 99 96
+f 74 98 100
+f 75 86 89
+f 75 89 76
+f 76 89 101
+f 76 101 102
+f 76 102 77
+f 77 103 78
+f 77 102 103
+f 78 103 79
+f 79 104 105
+f 79 105 80
+f 79 103 104
+f 80 105 90
+f 82 106 83
+f 83 106 107
+f 83 107 108
+f 83 108 109
+f 83 109 84
+f 84 87 85
+f 84 109 110
+f 84 110 111
+f 84 111 112
+f 84 112 113
+f 84 113 87
+f 87 113 88
+f 88 113 89
+f 89 113 114
+f 89 114 115
+f 89 115 101
+f 91 116 117
+f 91 117 92
+f 92 117 118
+f 92 118 95
+f 92 95 93
+f 94 119 99
+f 94 95 120
+f 94 120 121
+f 94 121 119
+f 95 122 120
+f 95 118 122
+f 96 123 124
+f 96 124 125
+f 96 125 97
+f 96 99 123
+f 97 125 126
+f 97 126 127
+f 97 127 128
+f 97 128 129
+f 97 129 98
+f 98 129 100
+f 99 119 130
+f 99 130 123
+f 101 115 131
+f 101 131 102
+f 102 131 103
+f 103 131 132
+f 103 132 133
+f 103 133 134
+f 103 134 135
+f 103 135 104
+f 104 135 136
+f 104 136 137
+f 104 137 105
+f 107 138 108
+f 108 139 111
+f 108 111 110
+f 108 110 109
+f 108 138 140
+f 108 140 141
+f 108 141 139
+f 111 142 112
+f 111 139 141
+f 111 141 143
+f 111 143 142
+f 112 142 113
+f 113 142 114
+f 114 142 144
+f 114 144 145
+f 114 145 115
+f 115 145 131
+f 116 136 117
+f 117 136 135
+f 117 135 118
+f 118 134 133
+f 118 133 132
+f 118 132 146
+f 118 146 147
+f 118 147 122
+f 118 135 134
+f 119 121 147
+f 119 147 146
+f 119 146 130
+f 120 122 147
+f 120 147 121
+f 123 130 124
+f 124 130 148
+f 124 148 149
+f 124 149 150
+f 124 150 126
+f 124 126 125
+f 126 150 151
+f 126 151 152
+f 126 152 127
+f 127 152 128
+f 128 152 153
+f 130 154 148
+f 130 146 154
+f 131 145 154
+f 131 154 155
+f 131 155 156
+f 131 156 157
+f 131 157 132
+f 132 157 146
+f 140 158 141
+f 141 158 159
+f 141 159 143
+f 142 143 160
+f 142 160 161
+f 142 161 144
+f 143 159 162
+f 143 162 163
+f 143 163 160
+f 144 161 145
+f 145 161 148
+f 145 148 154
+f 146 157 156
+f 146 156 154
+f 148 161 149
+f 149 161 150
+f 150 163 151
+f 150 161 163
+f 151 163 164
+f 151 164 165
+f 151 165 152
+f 152 166 167
+f 152 167 153
+f 152 165 166
+f 154 156 155
+f 159 168 162
+f 160 163 161
+f 162 168 164
+f 162 164 163
+f 164 168 169
+f 164 169 170
+f 164 170 166
+f 164 166 165
+f 166 170 167
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_6.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.10272796 0.13894104 -0.00087214
+v 0.10322345 0.13894104 -0.00033744
+v 0.13066792 0.13894104 -0.00087214
+v 0.10916525 -0.00005097 -0.00087265
+v 0.10941914 -0.12968218 0.00089752
+v 0.12145834 -0.12968223 0.01437898
+v 0.12201116 -0.12968224 0.01499257
+v 0.12061477 0.13894098 0.01610679
+v 0.12462785 -0.12968224 0.01769237
+v 0.13196193 0.13894104 0.00002414
+v 0.13122074 0.13710043 -0.00087215
+v 0.13027481 -0.00005097 -0.00087265
+v 0.13490622 -0.12968218 0.00089752
+v 0.12343211 0.13894097 0.01859622
+v 0.12785058 -0.12968225 0.02040751
+v 0.13565969 0.13894103 0.00273928
+v 0.13223220 0.13710043 -0.00015995
+v 0.13240009 0.13071090 -0.00087217
+v 0.13321908 -0.00002467 -0.00087265
+v 0.13507820 -0.12773640 0.00089753
+v 0.13971780 -0.12899854 0.00444101
+v 0.13881281 -0.12968219 0.00381426
+v 0.12645830 0.13894096 0.02087965
+v 0.12840340 -0.12968226 0.02063103
+v 0.12672447 0.13894096 0.02102209
+v 0.13792011 0.13894102 0.00452527
+v 0.13908307 0.13710041 0.00506215
+v 0.13590948 0.13710042 0.00255519
+v 0.13282187 0.13071090 -0.00056976
+v 0.13297748 0.12432136 -0.00087219
+v 0.13321908 0.00320953 -0.00087264
+v 0.13323137 -0.00005097 -0.00086389
+v 0.13549998 -0.11803377 0.00089757
+v 0.13540579 -0.12239864 0.00089755
+v 0.13535256 -0.12439701 0.00089754
+v 0.14026243 -0.12968220 0.00521457
+v 0.13640088 -0.12439702 0.00168863
+v 0.13984064 -0.12439703 0.00433145
+v 0.14216659 -0.12439704 0.00728326
+v 0.13102009 -0.12968226 0.02143308
+v 0.12978750 0.13894096 0.02147571
+v 0.13883328 0.13894102 0.00534704
+v 0.14097905 0.13894101 0.00806218
+v 0.14120427 0.13710040 0.00777510
+v 0.13947620 0.13307737 0.00466111
+v 0.13970961 0.12884398 0.00444853
+v 0.13310852 0.12432136 -0.00077577
+v 0.13697417 0.13086866 0.00255736
+v 0.13314948 0.11795813 -0.00087222
+v 0.13323137 0.00318324 -0.00086388
+v 0.13321500 0.04567493 -0.00087248
+v 0.13640088 -0.11164425 0.00157692
+v 0.13550817 -0.11164424 0.00089759
+v 0.13640088 -0.11803378 0.00158128
+v 0.14152368 -0.12968221 0.00688879
+v 0.13988979 -0.11803379 0.00428546
+v 0.14226078 -0.11803380 0.00728329
+v 0.14444339 -0.12439706 0.01270916
+v 0.14371040 -0.12968222 0.01176246
+v 0.13188822 -0.12968226 0.02144404
+v 0.13640088 0.02866240 0.02151476
+v 0.13640088 0.11795805 0.02149097
+v 0.13640088 0.12432128 0.02147785
+v 0.13543037 0.13710035 0.02141434
+v 0.13516829 0.13894096 0.02138148
+v 0.13640088 -0.11164432 0.02150109
+v 0.14229353 0.13894100 0.01157718
+v 0.14400113 0.13071085 0.01270791
+v 0.14133531 0.13086865 0.00679552
+v 0.14304700 0.13710038 0.01270793
+v 0.14213383 0.12432133 0.00728418
+v 0.13982837 0.12432134 0.00434333
+v 0.13640088 0.12432135 0.00171365
+v 0.13640088 0.11795812 0.00160405
+v 0.13640088 0.11156859 0.00159746
+v 0.13315766 0.11164748 -0.00087224
+v 0.13576615 0.04780477 0.00109102
+v 0.13483250 -0.00005097 0.00036987
+v 0.13640497 -0.00005098 0.00158171
+v 0.13989389 -0.11164426 0.00428329
+v 0.14226897 -0.11164427 0.00728331
+v 0.14453757 -0.11803382 0.01270919
+v 0.14410761 -0.12968223 0.01270914
+v 0.14232220 -0.11803384 0.01813728
+v 0.14222391 -0.12439708 0.01813725
+v 0.13678990 -0.12968226 0.02135639
+v 0.13640088 -0.12439709 0.02148351
+v 0.13640088 -0.11803385 0.02149669
+v 0.13973828 0.02229916 0.02094935
+v 0.13973828 0.04141516 0.02094942
+v 0.13972599 0.07331023 0.02094515
+v 0.13972189 0.09242623 0.02094084
+v 0.13973418 -0.11164432 0.02094667
+v 0.13971370 0.11156852 0.02093653
+v 0.13970961 0.11795805 0.02093436
+v 0.13967276 0.12432128 0.02091466
+v 0.13961952 0.12805509 0.02088180
+v 0.13682266 0.13039528 0.02132886
+v 0.13834189 0.13894097 0.02017840
+v 0.13922230 0.13228848 0.02074377
+v 0.13860396 0.13710036 0.02041726
+v 0.14259656 0.13894099 0.01270794
+v 0.14220754 0.12432129 0.01814036
+v 0.14441472 0.12432131 0.01270789
+v 0.14141311 0.13710036 0.01770212
+v 0.14118380 0.13894098 0.01746327
+v 0.14224439 0.11795810 0.00728415
+v 0.13988160 0.11795811 0.00429728
+v 0.13988570 0.11156858 0.00429288
+v 0.14456214 -0.04788046 0.01270944
+v 0.14454576 -0.11164429 0.01270921
+v 0.14225258 0.11156857 0.00728413
+v 0.14233449 -0.11164431 0.01813730
+v 0.14156872 -0.12968225 0.01855578
+v 0.13972599 -0.11803385 0.02094226
+v 0.13967685 -0.12439709 0.02091594
+v 0.13961543 -0.12815718 0.02087867
+v 0.13781773 -0.12968226 0.02117669
+v 0.14233449 -0.03510142 0.01813758
+v 0.14233039 0.04141517 0.01814005
+v 0.14232220 0.07331024 0.01814017
+v 0.14231810 0.08606300 0.01814022
+v 0.13973008 0.06694699 0.02094513
+v 0.14230172 0.11156853 0.01814031
+v 0.14228943 0.11795806 0.01814033
+v 0.14145816 0.13039529 0.01861372
+v 0.13918545 0.13894097 0.01939608
+v 0.14451710 0.11795808 0.01270786
+v 0.14453349 0.11156855 0.01270784
+v 0.14454167 0.09881579 0.01270779
+v 0.14081935 -0.12968225 0.01941043
+v 0.13948849 -0.12968226 0.02083483
+f 1 2 8
+f 1 8 14
+f 1 14 23
+f 1 23 25
+f 1 25 41
+f 1 41 65
+f 1 65 99
+f 1 99 127
+f 1 127 106
+f 1 106 102
+f 1 102 67
+f 1 67 43
+f 1 43 42
+f 1 42 26
+f 1 26 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
+f 1 11 18
+f 1 18 30
+f 1 30 49
+f 1 49 76
+f 1 76 51
+f 1 51 31
+f 1 31 19
+f 1 19 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 22
+f 5 22 36
+f 5 36 55
+f 5 55 59
+f 5 59 83
+f 5 83 114
+f 5 114 131
+f 5 131 132
+f 5 132 118
+f 5 118 86
+f 5 86 60
+f 5 60 40
+f 5 40 24
+f 5 24 15
+f 5 15 9
+f 5 9 7
+f 5 7 6
+f 8 9 14
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 13
+f 13 20 21
+f 13 21 22
+f 13 19 20
+f 14 15 23
+f 15 24 25
+f 15 25 23
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 31 50
+f 19 50 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 36 22
+f 21 35 37
+f 21 37 38
+f 21 38 39
+f 21 39 36
+f 24 40 25
+f 25 40 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 46 47
+f 29 47 30
+f 29 45 48
+f 29 48 46
+f 30 47 49
+f 31 51 50
+f 32 52 53
+f 32 53 33
+f 32 50 52
+f 33 54 34
+f 33 53 54
+f 34 54 37
+f 34 37 35
+f 36 39 55
+f 37 54 38
+f 38 54 56
+f 38 56 57
+f 38 57 39
+f 39 57 82
+f 39 82 58
+f 39 58 59
+f 39 59 55
+f 40 60 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 60 66
+f 41 66 61
+f 43 67 44
+f 44 68 69
+f 44 69 45
+f 44 67 70
+f 44 70 68
+f 45 69 46
+f 45 46 48
+f 46 69 71
+f 46 71 72
+f 46 72 73
+f 46 73 47
+f 47 73 49
+f 49 74 75
+f 49 75 76
+f 49 73 74
+f 50 51 77
+f 50 77 78
+f 50 78 52
+f 51 76 75
+f 51 75 77
+f 52 54 53
+f 52 78 79
+f 52 79 80
+f 52 80 54
+f 54 80 56
+f 56 80 81
+f 56 81 57
+f 57 81 111
+f 57 111 82
+f 58 83 59
+f 58 82 84
+f 58 84 85
+f 58 85 83
+f 60 86 87
+f 60 87 88
+f 60 88 66
+f 61 89 90
+f 61 90 91
+f 61 91 92
+f 61 92 62
+f 61 66 93
+f 61 93 89
+f 62 92 94
+f 62 94 95
+f 62 95 63
+f 63 95 96
+f 63 96 97
+f 63 97 98
+f 63 98 64
+f 64 98 97
+f 64 97 65
+f 65 97 100
+f 65 100 101
+f 65 101 99
+f 66 88 93
+f 67 102 70
+f 68 103 104
+f 68 104 71
+f 68 71 69
+f 68 70 105
+f 68 105 103
+f 70 102 106
+f 70 106 105
+f 71 104 107
+f 71 107 72
+f 72 107 108
+f 72 108 74
+f 72 74 73
+f 74 109 75
+f 74 108 109
+f 75 109 77
+f 77 109 79
+f 77 79 78
+f 79 109 80
+f 80 109 81
+f 81 110 111
+f 81 109 112
+f 81 112 110
+f 82 111 113
+f 82 113 84
+f 83 85 114
+f 84 115 116
+f 84 116 85
+f 84 113 115
+f 85 116 117
+f 85 117 114
+f 86 118 116
+f 86 116 87
+f 87 116 115
+f 87 115 88
+f 88 115 93
+f 89 93 113
+f 89 113 119
+f 89 119 90
+f 90 119 120
+f 90 120 121
+f 90 121 122
+f 90 122 123
+f 90 123 91
+f 91 123 92
+f 92 123 122
+f 92 122 94
+f 93 115 113
+f 94 124 95
+f 94 122 124
+f 95 125 96
+f 95 124 125
+f 96 125 103
+f 96 103 97
+f 97 103 126
+f 97 126 100
+f 99 101 127
+f 100 126 105
+f 100 105 101
+f 101 105 127
+f 103 105 126
+f 103 125 128
+f 103 128 104
+f 104 128 107
+f 105 106 127
+f 107 128 129
+f 107 129 112
+f 107 112 108
+f 108 112 109
+f 110 119 113
+f 110 113 111
+f 110 112 130
+f 110 130 120
+f 110 120 119
+f 112 129 130
+f 114 117 131
+f 116 118 117
+f 117 118 132
+f 117 132 131
+f 120 130 121
+f 121 130 122
+f 122 130 129
+f 122 129 124
+f 124 129 125
+f 125 129 128
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_7.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.14458137 -0.11803165 0.01271020
+v -0.14228432 -0.11803163 0.00728243
+v -0.14449545 -0.12441094 0.01271017
+v -0.14226171 -0.12441096 0.01813794
+v -0.14233859 -0.11803167 0.01813797
+v -0.14233859 -0.11165239 0.01813799
+v -0.14232502 -0.02874888 0.01813829
+v -0.14232049 -0.00961103 0.01813836
+v -0.14455876 -0.03511455 0.01271050
+v -0.13990136 -0.11803162 0.00429579
+v -0.13984711 -0.12441091 0.00434349
+v -0.14218936 -0.12441092 0.00728240
+v -0.14224815 -0.00323170 0.00728285
+v -0.13988327 -0.00323169 0.00430985
+v -0.14408398 -0.13079023 0.01271015
+v -0.13970241 -0.12441097 0.02091775
+v -0.14146589 -0.13716954 0.01771968
+v -0.14150658 -0.13050462 0.01861751
+v -0.13964362 -0.12819230 0.02088364
+v -0.13973406 -0.11803168 0.02093596
+v -0.13973406 -0.11165240 0.02093825
+v -0.13973406 -0.10527312 0.02093827
+v -0.13973406 -0.06701101 0.02093614
+v -0.13972953 -0.00961104 0.02093408
+v -0.14103632 -0.00007610 0.01952262
+v -0.14231598 -0.00007610 0.01813840
+v -0.14344189 -0.00007609 0.01539724
+v -0.14454972 -0.00961101 0.01271059
+v -0.13578657 -0.11834446 0.00109322
+v -0.13324535 -0.12069758 -0.00085924
+v -0.13642866 -0.00961097 0.00159593
+v -0.13641961 -0.12441090 0.00168870
+v -0.13972502 -0.12889954 0.00445031
+v -0.14138449 -0.13092622 0.00679370
+v -0.14454519 -0.00007608 0.01271063
+v -0.14338310 -0.00007607 0.00996947
+v -0.14224363 -0.00007606 0.00728286
+v -0.13987876 -0.00007605 0.00430986
+v -0.13813335 -0.00007604 0.00293928
+v -0.13642414 -0.00323168 0.00159596
+v -0.14125337 -0.13716950 0.00776649
+v -0.14312537 -0.13716952 0.01271013
+v -0.13641961 -0.12441097 0.02147916
+v -0.13684918 -0.13050463 0.02133595
+v -0.13864884 -0.13716955 0.02043357
+v -0.13925476 -0.13243609 0.02074497
+v -0.14123528 -0.13901938 0.01747874
+v -0.13521231 -0.13901940 0.02138820
+v -0.13547458 -0.13716955 0.02142230
+v -0.13641961 -0.11803168 0.02148828
+v -0.13641961 -0.10527312 0.02149060
+v -0.13641961 -0.00007611 0.02149326
+v -0.13972953 -0.00007611 0.02093184
+v -0.13324988 -0.11644019 -0.00086378
+v -0.13325439 -0.00961096 -0.00086566
+v -0.13206970 -0.11960942 -0.00172523
+v -0.13199735 -0.12211217 -0.00172524
+v -0.13316396 -0.12441089 -0.00080244
+v -0.13287456 -0.13079018 -0.00059108
+v -0.13699388 -0.13092621 0.00254103
+v -0.13949440 -0.13315693 0.00465940
+v -0.13610762 -0.00007603 0.00135277
+v -0.13324988 -0.00323167 -0.00086563
+v -0.13910553 -0.13716949 0.00505261
+v -0.14102728 -0.13901935 0.00805287
+v -0.14235667 -0.13901936 0.01156229
+v -0.14266867 -0.13901937 0.01271012
+v -0.12979073 -0.13901940 0.02148820
+v -0.13923215 -0.13901939 0.01940847
+v -0.13838205 -0.13901939 0.02019490
+v -0.13158588 -0.00007611 0.02141371
+v -0.13207422 -0.11732430 -0.00172522
+v -0.13209231 -0.01193687 -0.00172483
+v -0.13208779 -0.04383330 -0.00172495
+v -0.13244048 -0.00007602 -0.00146340
+v -0.13209231 -0.00961095 -0.00172483
+v -0.13189787 -0.12441088 -0.00172525
+v -0.13130101 -0.13079017 -0.00172527
+v -0.13228223 -0.13716947 -0.00017515
+v -0.13593127 -0.13716948 0.00253874
+v -0.13324988 -0.00007603 -0.00086335
+v -0.13568257 -0.13901933 0.00272966
+v -0.13793440 -0.13901934 0.00451391
+v -0.13885232 -0.13901934 0.00533899
+v -0.12658482 -0.13901940 0.02101089
+v -0.12658482 -0.13900581 0.02101089
+v -0.12841613 -0.00007610 0.02001358
+v -0.13208779 -0.00323166 -0.00172480
+v -0.13208326 -0.00007602 -0.00172479
+v -0.13008466 -0.13716946 -0.00172529
+v -0.13199735 -0.13901932 0.00001350
+v -0.12340151 -0.13901939 0.01863794
+v -0.12682447 -0.00007610 0.01867027
+v -0.09838721 -0.13901931 -0.00172530
+v -0.10589783 -0.00007602 -0.00172479
+v -0.12951039 -0.13901931 -0.00172530
+v -0.12520569 -0.00007609 0.01729969
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 13
+f 2 13 14
+f 2 14 10
+f 3 12 15
+f 3 15 4
+f 4 16 5
+f 4 15 17
+f 4 17 18
+f 4 18 19
+f 4 19 16
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 5 16 20
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 25
+f 7 25 8
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 13
+f 10 29 30
+f 10 30 11
+f 10 14 31
+f 10 31 29
+f 11 30 32
+f 11 32 33
+f 11 33 12
+f 12 33 34
+f 12 34 15
+f 13 28 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 14
+f 14 38 39
+f 14 39 40
+f 14 40 31
+f 15 34 41
+f 15 41 42
+f 15 42 17
+f 16 43 20
+f 16 19 44
+f 16 44 43
+f 17 45 46
+f 17 46 18
+f 17 42 47
+f 17 47 45
+f 18 46 19
+f 19 46 48
+f 19 48 49
+f 19 49 44
+f 20 50 21
+f 20 43 50
+f 21 51 52
+f 21 52 22
+f 21 50 51
+f 22 52 24
+f 22 24 23
+f 24 52 53
+f 24 53 25
+f 25 53 52
+f 25 52 71
+f 25 71 87
+f 25 87 93
+f 25 93 97
+f 25 97 95
+f 25 95 89
+f 25 89 75
+f 25 75 81
+f 25 81 62
+f 25 62 39
+f 25 39 38
+f 25 38 37
+f 25 37 36
+f 25 36 35
+f 25 35 27
+f 25 27 26
+f 27 35 28
+f 29 54 30
+f 29 31 55
+f 29 55 54
+f 30 54 56
+f 30 56 57
+f 30 57 58
+f 30 58 32
+f 31 40 63
+f 31 63 55
+f 32 58 33
+f 33 59 60
+f 33 60 61
+f 33 61 34
+f 33 58 59
+f 34 61 41
+f 39 62 40
+f 40 62 63
+f 41 61 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 47
+f 43 44 49
+f 43 49 68
+f 43 68 50
+f 45 47 69
+f 45 69 70
+f 45 70 48
+f 45 48 46
+f 47 67 66
+f 47 66 65
+f 47 65 84
+f 47 84 83
+f 47 83 82
+f 47 82 91
+f 47 91 96
+f 47 96 94
+f 47 94 92
+f 47 92 85
+f 47 85 68
+f 47 68 48
+f 47 48 70
+f 47 70 69
+f 48 68 49
+f 50 68 51
+f 51 68 52
+f 52 68 71
+f 54 72 56
+f 54 55 73
+f 54 73 74
+f 54 74 72
+f 55 63 75
+f 55 75 76
+f 55 76 73
+f 56 72 74
+f 56 74 73
+f 56 73 76
+f 56 76 88
+f 56 88 89
+f 56 89 95
+f 56 95 94
+f 56 94 96
+f 56 96 90
+f 56 90 78
+f 56 78 77
+f 56 77 57
+f 57 77 58
+f 58 77 59
+f 59 61 60
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 61
+f 61 80 64
+f 62 81 63
+f 63 81 75
+f 64 80 82
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 68 85 86
+f 68 86 71
+f 71 86 87
+f 75 88 76
+f 75 89 88
+f 78 90 79
+f 79 90 91
+f 79 91 82
+f 79 82 80
+f 85 92 86
+f 86 92 87
+f 87 92 94
+f 87 94 93
+f 90 96 91
+f 93 94 97
+f 94 95 97
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_8.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.14457016 0.09245603 0.01270912
+v -0.14457016 0.11158559 0.01270919
+v -0.14228683 0.10520456 0.00728439
+v -0.14454696 -0.00006248 0.01270878
+v -0.14231931 -0.00006250 0.01813814
+v -0.14232395 0.03505372 0.01813827
+v -0.14232395 0.11158557 0.01813855
+v -0.14456552 0.11796664 0.01270921
+v -0.14227755 0.11796666 0.00728443
+v -0.13990139 0.11158562 0.00429323
+v -0.13990139 0.10520457 0.00429321
+v -0.13989675 0.07331289 0.00429538
+v -0.13989675 0.06694544 0.00429764
+v -0.13988283 -0.00006245 0.00431110
+v -0.14105234 -0.00006245 0.00578270
+v -0.14224506 -0.00006246 0.00728400
+v -0.14338673 -0.00006247 0.00996897
+v -0.13972968 -0.00006251 0.02093280
+v -0.13972968 0.03505371 0.02093521
+v -0.13972968 0.09882345 0.02093316
+v -0.13972504 0.11158556 0.02093092
+v -0.13972040 0.11796661 0.02092866
+v -0.14231467 0.11796662 0.01813857
+v -0.13972968 0.04781582 0.02093526
+v -0.14224042 0.12434769 0.01813860
+v -0.14447735 0.12434771 0.01270924
+v -0.14217544 0.12434773 0.00728446
+v -0.13984106 0.12434774 0.00435041
+v -0.13989675 0.11796667 0.00430011
+v -0.13642070 0.11158563 0.00157855
+v -0.13642534 0.10520458 0.00157853
+v -0.13610976 -0.00006243 0.00135192
+v -0.13642070 -0.00006251 0.02149264
+v -0.13642070 0.11796661 0.02148622
+v -0.13642070 0.04143476 0.02149279
+v -0.13642070 0.12434768 0.02147482
+v -0.13968791 0.12434768 0.02091041
+v -0.13963686 0.12808923 0.02088071
+v -0.14149323 0.13041582 0.01862077
+v -0.14145611 0.13709620 0.01771590
+v -0.14406895 0.13072876 0.01270926
+v -0.14137721 0.13083764 0.00679775
+v -0.13972040 0.12878318 0.00445553
+v -0.13642070 0.12434775 0.00170200
+v -0.13323702 0.11921842 -0.00085275
+v -0.13578489 0.11744969 0.00110099
+v -0.13324630 0.11497346 -0.00086191
+v -0.13325094 0.10520459 -0.00086422
+v -0.13325094 0.09882353 -0.00086425
+v -0.13325094 -0.00006243 -0.00086233
+v -0.13402599 -0.00006251 0.02145380
+v -0.12979346 0.13893295 0.02148401
+v -0.13393316 0.13893295 0.02150001
+v -0.13547859 0.13709619 0.02142231
+v -0.13686159 0.13041581 0.02133088
+v -0.13522334 0.13893295 0.02139261
+v -0.13927023 0.13233420 0.02075277
+v -0.13865298 0.13709619 0.02043058
+v -0.14122870 0.13893297 0.01748055
+v -0.14240749 0.13893298 0.01390668
+v -0.14310363 0.13709622 0.01270928
+v -0.14124262 0.13709624 0.00778036
+v -0.13948835 0.13302815 0.00466578
+v -0.13699153 0.13083765 0.00254750
+v -0.13287039 0.13072881 -0.00058764
+v -0.13315813 0.12434776 -0.00079560
+v -0.13171016 0.12434777 -0.00184445
+v -0.13188651 0.11827963 -0.00184448
+v -0.13189579 0.11627961 -0.00184448
+v -0.13190508 0.11354487 -0.00184449
+v -0.13190972 0.11158565 -0.00184450
+v -0.13191436 0.10520460 -0.00184452
+v -0.13192365 0.00052263 -0.00184491
+v -0.13192365 -0.00006242 -0.00184491
+v -0.13158485 -0.00006251 0.02141267
+v -0.12852648 0.13893295 0.02134691
+v -0.13748811 0.13893295 0.02068424
+v -0.13839309 0.13893296 0.02019523
+v -0.14265347 0.13893298 0.01270929
+v -0.14101522 0.13893300 0.00806143
+v -0.13948372 0.13893301 0.00612368
+v -0.13909387 0.13709625 0.00506568
+v -0.13592412 0.13709626 0.00254295
+v -0.13111612 0.13072882 -0.00184443
+v -0.13142242 0.12751788 -0.00184444
+v -0.13227635 0.13709627 -0.00017173
+v -0.10502948 -0.00006242 -0.00184491
+v -0.12841511 -0.00006250 0.02001420
+v -0.12661907 0.13893295 0.02099729
+v -0.12671188 0.13893295 0.02101557
+v -0.13884790 0.13893301 0.00534675
+v -0.13567351 0.13893302 0.00272576
+v -0.13307459 0.13893303 0.00078801
+v -0.13067059 0.13313703 -0.00184442
+v -0.13200254 0.13893303 0.00001337
+v -0.12977954 0.13753166 -0.00184440
+v -0.12990484 0.13709628 -0.00184441
+v -0.12520358 -0.00006249 0.01729952
+v -0.09716311 0.13893304 -0.00184440
+v -0.12238190 0.13893296 0.01779361
+v -0.12343539 0.13893296 0.01860938
+v -0.12973776 0.13893304 -0.00158162
+v -0.12953821 0.13834800 -0.00184440
+v -0.12936185 0.13893304 -0.00184440
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 32
+f 4 32 50
+f 4 50 74
+f 4 74 87
+f 4 87 98
+f 4 98 88
+f 4 88 75
+f 4 75 51
+f 4 51 33
+f 4 33 18
+f 4 18 5
+f 5 18 6
+f 6 18 19
+f 6 19 24
+f 6 24 7
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 7 24 20
+f 8 23 25
+f 8 25 26
+f 8 26 9
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 29 30
+f 10 30 31
+f 10 31 11
+f 11 31 12
+f 12 32 13
+f 12 31 32
+f 13 32 14
+f 18 33 19
+f 19 33 35
+f 19 35 24
+f 20 34 21
+f 20 24 35
+f 20 35 34
+f 21 34 22
+f 22 34 36
+f 22 36 37
+f 22 37 23
+f 23 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 44 45
+f 28 45 29
+f 28 43 44
+f 29 46 30
+f 29 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 33 51 52
+f 33 52 53
+f 33 53 35
+f 34 53 36
+f 34 35 53
+f 36 54 55
+f 36 55 38
+f 36 38 37
+f 36 53 54
+f 38 55 54
+f 38 54 56
+f 38 56 57
+f 38 57 39
+f 39 57 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 41
+f 40 57 58
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 44
+f 44 66 45
+f 45 66 67
+f 45 67 68
+f 45 68 47
+f 45 47 46
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 49 74 50
+f 51 75 52
+f 52 76 90
+f 52 90 89
+f 52 89 101
+f 52 101 100
+f 52 100 99
+f 52 99 104
+f 52 104 102
+f 52 102 95
+f 52 95 93
+f 52 93 92
+f 52 92 91
+f 52 91 81
+f 52 81 80
+f 52 80 79
+f 52 79 60
+f 52 60 59
+f 52 59 78
+f 52 78 77
+f 52 77 56
+f 52 56 53
+f 52 75 76
+f 53 56 54
+f 56 77 57
+f 57 77 58
+f 58 77 78
+f 58 78 59
+f 60 79 61
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 65
+f 63 65 64
+f 65 84 85
+f 65 85 67
+f 65 67 66
+f 65 83 86
+f 65 86 84
+f 67 85 84
+f 67 84 94
+f 67 94 97
+f 67 97 96
+f 67 96 103
+f 67 103 104
+f 67 104 99
+f 67 99 87
+f 67 87 74
+f 67 74 73
+f 67 73 72
+f 67 72 71
+f 67 71 70
+f 67 70 69
+f 67 69 68
+f 75 88 89
+f 75 89 90
+f 75 90 76
+f 81 91 82
+f 82 91 92
+f 82 92 83
+f 83 92 93
+f 83 93 86
+f 84 86 94
+f 86 93 95
+f 86 95 96
+f 86 96 97
+f 86 97 94
+f 87 99 98
+f 88 98 99
+f 88 99 100
+f 88 100 101
+f 88 101 89
+f 95 102 103
+f 95 103 96
+f 102 104 103
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/mesh/tray_078_collision_9.obj

@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
+v -0.13208132 -0.05081243 -0.00172725
+v -0.13208132 -0.00007035 -0.00172706
+v -0.13192589 -0.00004314 -0.00184664
+v -0.13006084 -0.00959299 -0.00322129
+v -0.13006084 -0.04784680 -0.00321375
+v -0.13069547 -0.11153969 -0.00273347
+v -0.13205542 -0.11959312 -0.00172750
+v -0.10587977 -0.00007035 -0.00172706
+v -0.12934849 0.13893303 -0.00184613
+v -0.12952981 0.13833447 -0.00184613
+v -0.12977589 0.13751825 -0.00184613
+v -0.12989247 0.13708291 -0.00184614
+v -0.13066957 0.13311062 -0.00184615
+v -0.13110994 0.13071635 -0.00184616
+v -0.13142078 0.12750586 -0.00184617
+v -0.13170573 0.12432258 -0.00184618
+v -0.13188705 0.11825529 -0.00184621
+v -0.13191295 0.10889589 -0.00184624
+v -0.13038464 -0.00004314 -0.00298209
+v -0.12638252 -0.00004313 -0.00592768
+v -0.12636956 -0.04784679 -0.00592676
+v -0.12635660 -0.10525472 -0.00591380
+v -0.13069547 -0.11834156 -0.00272801
+v -0.12633071 -0.11801507 -0.00590617
+v -0.13197771 -0.12209620 -0.00172751
+v -0.09836770 -0.13901931 -0.00172757
+v 0.00023462 0.04781494 -0.00186402
+v 0.00023462 0.05124310 -0.00186510
+v 0.00023462 0.05760966 -0.00186728
+v 0.00023462 0.12432258 -0.00190652
+v -0.09715022 0.13893303 -0.00184613
+v -0.12600692 0.13893304 -0.00414994
+v -0.12515210 0.13708292 -0.00512304
+v -0.12908946 0.13708291 -0.00240783
+v -0.12585149 0.13071636 -0.00557504
+v -0.12968523 0.13071635 -0.00285984
+v -0.12620120 0.12432259 -0.00580764
+v -0.12998313 0.12432258 -0.00309243
+v -0.12631776 0.11795602 -0.00588775
+v -0.12634366 0.11156225 -0.00590203
+v -0.13007380 0.11156224 -0.00318902
+v -0.13007380 0.10519566 -0.00319563
+v -0.12636956 0.03502740 -0.00592097
+v -0.12319636 0.02866085 -0.00799661
+v -0.12319636 0.02229428 -0.00799883
+v -0.12320931 -0.00959297 -0.00800005
+v -0.12319636 -0.04784678 -0.00799690
+v -0.12318342 -0.10525471 -0.00798285
+v -0.12318342 -0.11164848 -0.00797848
+v -0.12634366 -0.11164849 -0.00591382
+v -0.12318342 -0.09888816 -0.00798611
+v -0.12317046 -0.11801506 -0.00796424
+v -0.12622709 -0.12440884 -0.00583489
+v -0.12997017 -0.12440885 -0.00312078
+v -0.13188705 -0.12440885 -0.00172752
+v -0.12949096 -0.13901931 -0.00172757
+v 0.00022167 -0.13901931 -0.00194260
+v 0.00022167 -0.09888818 -0.00189856
+v 0.00022167 -0.06060715 -0.00187758
+v 0.00022167 -0.03805209 -0.00186872
+v 0.00022167 -0.02874710 -0.00186540
+v 0.00023462 0.03848275 -0.00186406
+v 0.00023462 0.13893303 -0.00192183
+v -0.12166805 0.13893305 -0.00700886
+v -0.12196593 0.13708293 -0.00719756
+v -0.12267829 0.13071637 -0.00764957
+v -0.12302799 0.12432260 -0.00787997
+v -0.12314455 0.11795603 -0.00795679
+v -0.12315751 0.11156226 -0.00797108
+v -0.12317046 0.10519568 -0.00797878
+v -0.12634366 0.10519567 -0.00590644
+v -0.11795087 0.02229429 -0.01071294
+v -0.12317046 0.09880191 -0.00798210
+v -0.11793792 -0.02235330 -0.01071420
+v -0.11795087 0.01590052 -0.01071296
+v -0.11791201 -0.09888815 -0.01069912
+v -0.11789907 -0.11164847 -0.01069259
+v -0.11792497 -0.04784677 -0.01071210
+v -0.11788611 -0.11801505 -0.01067834
+v -0.12305390 -0.12440883 -0.00789076
+v -0.12270419 -0.13077541 -0.00767028
+v -0.12587740 -0.13077542 -0.00559575
+v -0.12968523 -0.13077543 -0.00288055
+v -0.13127830 -0.13077543 -0.00172754
+v -0.12880451 -0.13901931 -0.00221247
+v -0.13006084 -0.13716920 -0.00172756
+v -0.12908946 -0.13716920 -0.00241761
+v 0.00022167 -0.13901927 -0.01291751
+v 0.00023462 -0.00004314 -0.00186968
+v 0.00023462 0.13893307 -0.01290881
+v -0.11883159 0.13893305 -0.00850305
+v -0.11738098 0.13708294 -0.00961547
+v -0.11684997 0.13068917 -0.01059515
+v -0.11774365 0.12432261 -0.01059408
+v -0.11786021 0.11795604 -0.01067090
+v -0.11788611 0.11156227 -0.01068518
+v -0.11789907 0.10519569 -0.01069288
+v -0.11789907 0.09880192 -0.01069730
+v -0.11472587 0.10519569 -0.01189415
+v -0.11476472 0.02866086 -0.01190650
+v -0.11476472 0.02229429 -0.01190873
+v -0.11476472 -0.01598673 -0.01190996
+v -0.11476472 -0.02235330 -0.01190889
+v -0.11473883 -0.09888815 -0.01190149
+v -0.11472587 -0.11164847 -0.01189934
+v -0.11471291 -0.11801505 -0.01189607
+v -0.11459635 -0.12440882 -0.01185661
+v -0.11776955 -0.12440882 -0.01060487
+v -0.11684997 -0.13082980 -0.01061586
+v -0.11736804 -0.13716917 -0.00965377
+v -0.12199185 -0.13716918 -0.00721941
+v -0.12516504 -0.13716919 -0.00513172
+v -0.12363673 -0.13901930 -0.00574608
+v -0.00220032 -0.13901927 -0.01291860
+v 0.00022167 -0.13716916 -0.01291859
+v 0.00023462 -0.00004310 -0.01292797
+v 0.00023462 0.02229430 -0.01292898
+v -0.00954401 0.13708295 -0.01291321
+v -0.00954401 0.13893307 -0.01291210
+v -0.11751050 0.13893305 -0.00918651
+v -0.11304213 0.13708294 -0.01142451
+v -0.11385809 0.13278415 -0.01165051
+v -0.11247224 0.13893306 -0.01131589
+v -0.11437616 0.12853979 -0.01177888
+v -0.11455749 0.12432261 -0.01184252
+v -0.11468701 0.11795604 -0.01188314
+v -0.11471291 0.11156227 -0.01189084
+v -0.11102164 0.10519570 -0.01246133
+v -0.11102164 0.02229430 -0.01248687
+v -0.11102164 0.11156228 -0.01245692
+v -0.11102164 -0.01598672 -0.01248921
+v -0.11473883 -0.09249436 -0.01190256
+v -0.11102164 -0.09888814 -0.01247525
+v -0.11102164 -0.11801504 -0.01247093
+v -0.11102164 -0.12440881 -0.01241720
+v -0.11438912 -0.12873482 -0.01178641
+v -0.11389695 -0.13300640 -0.01166026
+v -0.11309394 -0.13716917 -0.01144196
+v -0.11252405 -0.13901928 -0.01133446
+v -0.11564545 -0.13901928 -0.01002787
+v -0.11749756 -0.13901929 -0.00921386
+v -0.12169395 -0.13901929 -0.00702414
+v -0.02857026 -0.13901927 -0.01292738
+v -0.02222386 -0.13716916 -0.01292627
+v -0.02857026 -0.13077539 -0.01293174
+v 0.00022167 -0.12440881 -0.01292404
+v -0.01587746 0.02229430 -0.01293118
+v 0.00022167 -0.00959295 -0.01292910
+v -0.01587746 -0.00959295 -0.01293459
+v -0.02857026 0.13708295 -0.01291430
+v -0.01587746 0.13893307 -0.01291320
+v -0.03491666 0.02229430 -0.01293337
+v -0.10946742 0.13893306 -0.01205640
+v -0.10986893 0.13708294 -0.01212662
+v -0.11102164 0.12432262 -0.01239653
+v -0.11144905 0.13068917 -0.01216613
+v -0.11102164 0.11795605 -0.01244703
+v -0.10468819 0.09880193 -0.01288153
+v -0.10468819 0.11795605 -0.01287378
+v -0.10468819 0.02229430 -0.01289607
+v -0.10468819 -0.00959295 -0.01289839
+v -0.10468819 -0.01598672 -0.01289841
+v -0.10468819 -0.11801504 -0.01289329
+v -0.10468819 -0.12440881 -0.01288345
+v -0.10468819 -0.13077539 -0.01284288
+v -0.10468819 -0.13716916 -0.01272880
+v -0.11147496 -0.13082980 -0.01217477
+v -0.10992073 -0.13716917 -0.01213640
+v -0.10951922 -0.13901928 -0.01206729
+v -0.11153971 -0.13901928 -0.01162737
+v -0.04760946 -0.13901927 -0.01292409
+v -0.09834180 -0.13077539 -0.01292516
+v -0.04760946 -0.13077539 -0.01293064
+v -0.04760946 -0.12440881 -0.01293172
+v -0.04126306 0.02229430 -0.01293337
+v -0.08564900 0.13893307 -0.01290113
+v -0.03039647 0.13893307 -0.01291320
+v -0.10480475 0.13893307 -0.01258189
+v -0.10468819 0.13708295 -0.01270257
+v -0.10468819 0.13071639 -0.01282327
+v -0.10468819 0.12432262 -0.01286388
+v -0.09834180 0.13071639 -0.01289896
+v -0.09834180 0.06057532 -0.01291019
+v -0.09834180 0.02229430 -0.01291582
+v -0.09834180 -0.13716916 -0.01291201
+v -0.09834180 -0.13901927 -0.01288679
+v -0.10284903 -0.13901927 -0.01275514
+v -0.10481771 -0.13901927 -0.01260485
+v -0.10865145 -0.13901928 -0.01217151
+v -0.09015623 -0.13901927 -0.01291641
+v -0.09199539 -0.13716916 -0.01291859
+v -0.09199539 0.13893307 -0.01289564
+v -0.09199539 0.13708295 -0.01289894
+v -0.09834180 0.13893307 -0.01286054
+v -0.09834180 0.13708295 -0.01288359
+v -0.09650264 -0.13901927 -0.01290983
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 25
+f 1 25 55
+f 1 55 84
+f 1 84 86
+f 1 86 56
+f 1 56 26
+f 1 26 8
+f 1 8 2
+f 2 8 31
+f 2 31 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 3
+f 3 18 19
+f 3 19 4
+f 4 19 20
+f 4 20 5
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 25
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 9 32 10
+f 9 31 63
+f 9 63 90
+f 9 90 119
+f 9 119 151
+f 9 151 177
+f 9 177 176
+f 9 176 192
+f 9 192 194
+f 9 194 178
+f 9 178 153
+f 9 153 123
+f 9 123 120
+f 9 120 91
+f 9 91 64
+f 9 64 32
+f 10 32 11
+f 11 32 33
+f 11 33 34
+f 11 34 12
+f 12 34 35
+f 12 35 13
+f 13 35 36
+f 13 36 14
+f 14 36 37
+f 14 37 15
+f 15 37 38
+f 15 38 16
+f 16 38 39
+f 16 39 17
+f 17 39 40
+f 17 40 41
+f 17 41 18
+f 18 42 20
+f 18 20 19
+f 18 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 21
+f 21 46 47
+f 21 47 22
+f 22 48 49
+f 22 49 50
+f 22 50 23
+f 22 47 51
+f 22 51 48
+f 23 50 24
+f 24 52 53
+f 24 53 25
+f 24 50 49
+f 24 49 52
+f 25 53 54
+f 25 54 55
+f 26 56 85
+f 26 85 113
+f 26 113 142
+f 26 142 141
+f 26 141 140
+f 26 140 139
+f 26 139 170
+f 26 170 169
+f 26 169 189
+f 26 189 188
+f 26 188 187
+f 26 187 186
+f 26 186 196
+f 26 196 190
+f 26 190 171
+f 26 171 143
+f 26 143 114
+f 26 114 88
+f 26 88 57
+f 26 57 58
+f 26 58 59
+f 26 59 60
+f 26 60 61
+f 26 61 62
+f 26 62 27
+f 27 62 89
+f 27 89 116
+f 27 116 117
+f 27 117 90
+f 27 90 63
+f 27 63 30
+f 27 30 29
+f 27 29 28
+f 30 63 31
+f 32 64 33
+f 33 64 65
+f 33 65 66
+f 33 66 35
+f 33 35 34
+f 35 66 37
+f 35 37 36
+f 37 39 38
+f 37 66 67
+f 37 67 39
+f 39 68 40
+f 39 67 68
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 42
+f 40 42 41
+f 42 71 43
+f 43 71 44
+f 44 72 45
+f 44 71 73
+f 44 73 72
+f 45 72 46
+f 46 74 47
+f 46 72 75
+f 46 75 74
+f 47 74 51
+f 48 51 76
+f 48 76 49
+f 49 76 77
+f 49 77 79
+f 49 79 52
+f 51 74 78
+f 51 78 76
+f 52 79 108
+f 52 108 80
+f 52 80 53
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 84
+f 53 84 54
+f 54 84 55
+f 56 86 87
+f 56 87 85
+f 57 88 116
+f 57 116 89
+f 57 89 58
+f 58 89 59
+f 59 89 60
+f 60 89 61
+f 61 89 62
+f 64 91 92
+f 64 92 65
+f 65 92 66
+f 66 93 94
+f 66 94 67
+f 66 92 93
+f 67 94 95
+f 67 95 68
+f 68 95 96
+f 68 96 69
+f 69 96 97
+f 69 97 70
+f 70 97 98
+f 70 98 72
+f 70 72 73
+f 70 73 71
+f 72 98 99
+f 72 99 100
+f 72 100 101
+f 72 101 102
+f 72 102 75
+f 74 102 103
+f 74 103 104
+f 74 104 78
+f 74 75 102
+f 76 104 105
+f 76 105 77
+f 76 78 104
+f 77 105 106
+f 77 106 79
+f 79 106 107
+f 79 107 108
+f 80 108 81
+f 81 108 109
+f 81 109 110
+f 81 110 111
+f 81 111 82
+f 82 111 112
+f 82 112 87
+f 82 87 86
+f 82 86 83
+f 83 86 84
+f 85 87 112
+f 85 112 113
+f 88 114 115
+f 88 115 116
+f 90 117 118
+f 90 118 119
+f 91 120 92
+f 92 121 122
+f 92 122 93
+f 92 120 123
+f 92 123 121
+f 93 124 94
+f 93 122 124
+f 94 124 125
+f 94 125 95
+f 95 126 96
+f 95 125 126
+f 96 126 127
+f 96 127 97
+f 97 99 98
+f 97 127 99
+f 99 128 129
+f 99 129 101
+f 99 101 100
+f 99 127 130
+f 99 130 128
+f 101 129 131
+f 101 131 102
+f 102 131 132
+f 102 132 104
+f 102 104 103
+f 104 133 134
+f 104 134 105
+f 104 132 131
+f 104 131 133
+f 105 134 106
+f 106 134 135
+f 106 135 107
+f 107 135 136
+f 107 136 108
+f 108 136 109
+f 109 137 110
+f 109 136 137
+f 110 137 138
+f 110 138 139
+f 110 139 140
+f 110 140 141
+f 110 141 142
+f 110 142 111
+f 111 142 113
+f 111 113 112
+f 114 143 144
+f 114 144 145
+f 114 145 115
+f 115 145 146
+f 115 146 116
+f 116 146 117
+f 117 147 118
+f 117 146 148
+f 117 148 149
+f 117 149 147
+f 118 150 151
+f 118 151 119
+f 118 147 152
+f 118 152 150
+f 121 123 153
+f 121 153 122
+f 122 153 154
+f 122 154 124
+f 124 155 125
+f 124 154 156
+f 124 156 155
+f 125 155 126
+f 126 157 127
+f 126 155 157
+f 127 157 130
+f 128 158 129
+f 128 130 159
+f 128 159 158
+f 129 158 160
+f 129 160 161
+f 129 161 131
+f 130 157 159
+f 131 161 162
+f 131 162 163
+f 131 163 133
+f 133 163 134
+f 134 164 165
+f 134 165 135
+f 134 163 164
+f 135 165 166
+f 135 166 167
+f 135 167 136
+f 136 167 168
+f 136 168 137
+f 137 168 169
+f 137 169 170
+f 137 170 138
+f 138 170 139
+f 143 171 172
+f 143 172 173
+f 143 173 145
+f 143 145 144
+f 145 173 174
+f 145 174 149
+f 145 149 146
+f 146 149 148
+f 147 149 152
+f 149 174 175
+f 149 175 152
+f 150 176 177
+f 150 177 151
+f 150 152 175
+f 150 175 176
+f 153 178 154
+f 154 179 156
+f 154 178 179
+f 155 156 179
+f 155 179 180
+f 155 180 157
+f 157 180 181
+f 157 181 159
+f 158 159 182
+f 158 182 160
+f 159 181 182
+f 160 182 183
+f 160 183 184
+f 160 184 161
+f 161 172 162
+f 161 184 172
+f 162 172 163
+f 163 172 164
+f 164 172 185
+f 164 185 165
+f 165 185 186
+f 165 186 187
+f 165 187 166
+f 166 187 188
+f 166 188 189
+f 166 189 168
+f 166 168 167
+f 168 189 169
+f 171 190 191
+f 171 191 172
+f 172 174 173
+f 172 191 185
+f 172 184 175
+f 172 175 174
+f 175 184 183
+f 175 183 182
+f 175 182 176
+f 176 182 193
+f 176 193 192
+f 178 194 179
+f 179 194 180
+f 180 194 195
+f 180 195 181
+f 181 195 182
+f 182 195 192
+f 182 192 193
+f 185 196 186
+f 185 191 190
+f 185 190 196
+f 192 195 194
+

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/mjcf/tray_078.xml

@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_078">
+  <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_078.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_078_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_078_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_078_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_078_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_078_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_078_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_078_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_078_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_078_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_078_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_078_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_078_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_078_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_078_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_078_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_078_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_078_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_078">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/tray_078.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_078">
+   <link name="tray_078">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_078.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_078_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>9b9d1b1061e65019951aec02b2a67c32</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>white,blue</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral ornament</description>
+         <min_height>0.0345</min_height>
+         <max_height>0.0345</max_height>
+         <real_height>0.0345</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201515</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.143862 -0.193410 -0.011820</min>
+            <max>0.143843 0.193346 0.022665</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/9b9d1b1061e65019951aec02b2a67c32/tray_078.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ca89cd7203a92340a677e2e576cf7746cf07170349137f71354b2f2c16a500c
+size 4173145

dataset/kitchen_supplies/tableware/9b9d1b1061e65019951aec02b2a67c32/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c4f55b9833fb489b400373a0057e5d5c00f7b0a330737e924ee18a50a0e7d9
+size 991404