Add asset kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56

.gitattributes

@@ -4434,3 +4434,5 @@ dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/mesh/tray_01
 dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/tray_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/mesh/tray_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/tray_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_012_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_012_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d70fb2b9bc2aad50103ab08cb2fad7859a5a5c7edbf9cf9e42087818e9da229
+size 17564960

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.mtl

@@ -0,0 +1,6 @@
+newmtl tray_012_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/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_0.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.10119944 -0.13663207 0.00125674
+v 0.11647118 -0.13663207 0.00125674
+v 0.10873978 -0.13663212 0.01339727
+v 0.11787593 0.00009164 0.01581677
+v 0.11023652 0.00009170 0.00125724
+v 0.11744425 -0.13485209 0.00125674
+v 0.13068495 -0.13663211 0.00983613
+v 0.10993576 -0.13663213 0.01517880
+v 0.12081280 0.00009163 0.01862092
+v 0.11115297 -0.13663213 0.01681233
+v 0.11197034 -0.13663213 0.01767938
+v 0.12342769 0.00009170 0.00125724
+v 0.11841023 -0.13264385 0.00125675
+v 0.11877468 -0.13178731 0.00125676
+v 0.12063943 -0.12664812 0.00125677
+v 0.13136432 -0.13271079 0.00943771
+v 0.13547594 -0.12405181 0.01064060
+v 0.13372443 -0.13271081 0.01334226
+v 0.13234800 -0.13663212 0.01334225
+v 0.12660871 0.00009162 0.02063580
+v 0.11478337 -0.13663214 0.01927497
+v 0.11682149 -0.13663214 0.02014012
+v 0.13610578 0.00009166 0.01004343
+v 0.12342769 -0.02650092 0.00125714
+v 0.12106757 -0.12508228 0.00125678
+v 0.12210786 -0.12096023 0.00125680
+v 0.13567409 -0.12090673 0.01043572
+v 0.13698330 -0.11500471 0.01334233
+v 0.13642424 -0.12090674 0.01334231
+v 0.13574486 -0.12529647 0.01334229
+v 0.13504072 -0.12824079 0.01334228
+v 0.13580855 -0.12557752 0.01645759
+v 0.13182431 -0.13663213 0.01588837
+v 0.12660871 -0.00879490 0.02063957
+v 0.12958097 0.00009163 0.01996418
+v 0.12072080 -0.13271084 0.02059357
+v 0.12072080 -0.13663215 0.02051008
+v 0.13734422 0.00009165 0.01334275
+v 0.13734776 -0.00289283 0.01334274
+v 0.13610224 -0.06191316 0.01004320
+v 0.12340292 -0.09223967 0.00125690
+v 0.12222817 -0.12017061 0.00125680
+v 0.12290046 -0.11500466 0.00125682
+v 0.13593947 -0.11500470 0.01017771
+v 0.13648085 -0.11500472 0.01713495
+v 0.13618717 -0.12090675 0.01686931
+v 0.13722392 -0.10910268 0.01334235
+v 0.13191277 -0.13271082 0.01768888
+v 0.13121571 -0.13663213 0.01735305
+v 0.13249307 -0.03830505 0.01930379
+v 0.13249307 -0.00289285 0.01930582
+v 0.13249307 0.00009163 0.01930583
+v 0.12660871 -0.09729864 0.02063165
+v 0.12660871 -0.12090677 0.02049876
+v 0.12660871 -0.11500474 0.02060313
+v 0.12660871 -0.10910271 0.02062781
+v 0.12270232 -0.13663214 0.02027483
+v 0.12660871 -0.12680880 0.02027106
+v 0.13701515 0.00009164 0.01529882
+v 0.13733715 -0.05601113 0.01334254
+v 0.13667900 0.00009164 0.01729094
+v 0.13667900 -0.01469691 0.01729089
+v 0.13667546 -0.04420708 0.01729268
+v 0.13609163 -0.09729860 0.01005255
+v 0.12339938 -0.09729856 0.00125688
+v 0.12324015 -0.10966473 0.00125684
+v 0.12326492 -0.10910263 0.00125684
+v 0.13605270 -0.10910267 0.01008097
+v 0.13249307 -0.11500473 0.01912327
+v 0.13249307 -0.12090676 0.01879692
+v 0.13660823 -0.10910269 0.01724121
+v 0.13729822 -0.10320065 0.01334237
+v 0.12660871 -0.13271083 0.01989918
+v 0.12660871 -0.13663214 0.01941537
+v 0.12839561 -0.13663214 0.01866975
+v 0.13249307 -0.09139660 0.01929790
+v 0.13667546 -0.03240301 0.01729272
+v 0.13249307 -0.10910270 0.01925041
+v 0.13249307 -0.10320067 0.01928648
+v 0.13249307 -0.09729863 0.01929598
+v 0.13732299 -0.08549454 0.01334244
+v 0.13666839 -0.08549455 0.01728304
+v 0.13666485 -0.09729862 0.01728110
+v 0.13667192 -0.06191318 0.01728882
+v 0.13666839 -0.07370387 0.01728688
+v 0.13731592 -0.09729861 0.01334239
+v 0.13608454 -0.10320064 0.01005633
+v 0.12337461 -0.10320060 0.00125686
+v 0.12336399 -0.10397682 0.00125686
+v 0.13665069 -0.10320066 0.01727159
+v 0.13666485 -0.09139659 0.01728301
+f 1 2 7
+f 1 7 19
+f 1 19 33
+f 1 33 49
+f 1 49 75
+f 1 75 74
+f 1 74 57
+f 1 57 37
+f 1 37 22
+f 1 22 21
+f 1 21 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 24
+f 1 24 41
+f 1 41 65
+f 1 65 88
+f 1 88 89
+f 1 89 67
+f 1 67 66
+f 1 66 43
+f 1 43 42
+f 1 42 26
+f 1 26 25
+f 1 25 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 20
+f 4 20 35
+f 4 35 52
+f 4 52 61
+f 4 61 59
+f 4 59 38
+f 4 38 23
+f 4 23 12
+f 4 12 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 9 11 21
+f 9 21 22
+f 9 22 20
+f 12 23 24
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 20 34 35
+f 20 22 36
+f 20 36 34
+f 22 37 36
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 45 46
+f 28 46 32
+f 28 32 29
+f 28 44 47
+f 28 47 45
+f 29 32 30
+f 30 32 31
+f 32 46 48
+f 32 48 49
+f 32 49 33
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 34 36 53
+f 34 53 50
+f 36 37 54
+f 36 54 55
+f 36 55 56
+f 36 56 53
+f 37 57 58
+f 37 58 54
+f 38 59 39
+f 39 60 40
+f 39 59 61
+f 39 61 62
+f 39 62 63
+f 39 63 60
+f 40 60 64
+f 40 64 41
+f 41 64 65
+f 43 66 44
+f 44 66 67
+f 44 67 68
+f 44 68 47
+f 45 69 70
+f 45 70 46
+f 45 47 71
+f 45 71 69
+f 46 70 48
+f 47 68 72
+f 47 72 71
+f 48 73 74
+f 48 74 75
+f 48 75 49
+f 48 70 73
+f 50 63 51
+f 50 53 76
+f 50 76 63
+f 51 63 77
+f 51 77 52
+f 52 77 61
+f 53 56 80
+f 53 80 76
+f 54 58 69
+f 54 69 78
+f 54 78 55
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 57 74 73
+f 57 73 58
+f 58 70 69
+f 58 73 70
+f 60 81 64
+f 60 63 82
+f 60 82 83
+f 60 83 81
+f 61 77 63
+f 61 63 62
+f 63 84 82
+f 63 76 85
+f 63 85 84
+f 64 81 86
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 67 89 68
+f 68 89 88
+f 68 88 87
+f 68 87 72
+f 69 71 78
+f 71 72 90
+f 71 90 78
+f 72 87 86
+f 72 86 90
+f 76 80 83
+f 76 83 91
+f 76 91 85
+f 78 90 79
+f 79 90 83
+f 79 83 80
+f 81 83 86
+f 82 84 83
+f 83 90 86
+f 83 84 85
+f 83 85 91
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_1.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.13726768 0.00010502 0.01334247
+v -0.13602666 0.00010503 0.01003618
+v -0.13692889 0.00010501 0.01533533
+v -0.13726768 0.09742650 0.01334283
+v -0.13603034 0.09742651 0.01003035
+v -0.12233124 0.00010507 -0.00047331
+v -0.13659378 0.00010501 0.01729102
+v -0.13659378 0.00302212 0.01729103
+v -0.13658641 0.09742649 0.01728725
+v -0.13657537 0.10332760 0.01728107
+v -0.13725296 0.10332761 0.01334285
+v -0.13602666 0.10332762 0.01003243
+v -0.12229072 0.08922388 -0.00047298
+v -0.12229441 0.08333615 -0.00047300
+v -0.12233124 0.00892328 -0.00047328
+v -0.10862477 0.00010507 -0.00047331
+v -0.13240671 0.00010500 0.01929834
+v -0.13240671 0.09742648 0.01930076
+v -0.13240671 0.10332759 0.01929459
+v -0.13240671 0.10922871 0.01925330
+v -0.13652381 0.10922872 0.01724599
+v -0.13716826 0.10922873 0.01334287
+v -0.13599352 0.10922874 0.01005723
+v -0.12225759 0.10099933 -0.00047294
+v -0.12227231 0.09742655 -0.00047295
+v -0.12227968 0.09512499 -0.00047296
+v -0.12228705 0.09152545 -0.00047297
+v -0.12224286 0.10332766 -0.00047293
+v -0.11776855 0.00010501 0.01585368
+v -0.09965406 0.13678066 -0.00047281
+v -0.12651830 0.00010499 0.02062209
+v -0.12651830 0.09742647 0.02062452
+v -0.12651830 0.10922870 0.02061836
+v -0.12651830 0.11512980 0.02059153
+v -0.12651830 0.12103091 0.02048210
+v -0.13240671 0.11512981 0.01912115
+v -0.13638755 0.11512982 0.01713862
+v -0.13692152 0.11512983 0.01334289
+v -0.13588305 0.11512984 0.01015019
+v -0.12214343 0.10922878 -0.00047291
+v -0.12219130 0.10683353 -0.00047292
+v -0.11922316 0.00010501 0.01722080
+v -0.10868368 0.13678061 0.01337188
+v -0.10984737 0.13678060 0.01513551
+v -0.11107366 0.13678060 0.01681034
+v -0.11188015 0.13678060 0.01766531
+v -0.11524231 0.13678066 -0.00047281
+v -0.12070724 0.00010500 0.01861477
+v -0.11669693 0.13678059 0.02013315
+v -0.12063358 0.13283314 0.02061432
+v -0.12651830 0.12693203 0.02025910
+v -0.12063358 0.13678058 0.02051520
+v -0.13240671 0.12103092 0.01879695
+v -0.13610400 0.12103093 0.01687224
+v -0.13572470 0.12582140 0.01645923
+v -0.13637283 0.12103094 0.01334291
+v -0.13540799 0.12426920 0.01061901
+v -0.13561790 0.12103095 0.01040628
+v -0.12179727 0.11512988 -0.00047289
+v -0.12197034 0.11252055 -0.00047290
+v -0.11468993 0.13678059 0.01928231
+v -0.11676321 0.13395723 -0.00047282
+v -0.13060962 0.13678062 0.00983017
+v -0.12258165 0.13678059 0.02027771
+v -0.12651830 0.13283315 0.01989358
+v -0.13185433 0.13283316 0.01768595
+v -0.13297383 0.12745390 0.01774995
+v -0.13498818 0.12852441 0.01334294
+v -0.13567314 0.12558055 0.01334293
+v -0.13113255 0.13678060 0.01734934
+v -0.13173649 0.13678060 0.01591201
+v -0.13227783 0.13678061 0.01334297
+v -0.13368824 0.13283317 0.01334296
+v -0.11948462 0.12686520 -0.00047284
+v -0.12031688 0.12374737 -0.00047286
+v -0.12094291 0.12127186 -0.00047286
+v -0.13129458 0.13283319 0.00943572
+v -0.12143269 0.11799347 -0.00047288
+v -0.11727877 0.13277969 -0.00047282
+v -0.11811471 0.13086618 -0.00047283
+v -0.12651830 0.13678059 0.01940209
+v -0.12828593 0.13678059 0.01867103
+f 1 2 6
+f 1 6 16
+f 1 16 29
+f 1 29 42
+f 1 42 48
+f 1 48 31
+f 1 31 17
+f 1 17 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 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 8 9
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 13
+f 6 13 27
+f 6 27 26
+f 6 26 25
+f 6 25 24
+f 6 24 28
+f 6 28 41
+f 6 41 40
+f 6 40 60
+f 6 60 59
+f 6 59 78
+f 6 78 76
+f 6 76 75
+f 6 75 74
+f 6 74 80
+f 6 80 79
+f 6 79 62
+f 6 62 47
+f 6 47 30
+f 6 30 16
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 12 23 28
+f 12 28 24
+f 16 30 29
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 40 41
+f 23 41 28
+f 23 39 40
+f 29 30 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 42
+f 30 47 63
+f 30 63 72
+f 30 72 71
+f 30 71 70
+f 30 70 82
+f 30 82 81
+f 30 81 64
+f 30 64 52
+f 30 52 49
+f 30 49 61
+f 30 61 46
+f 30 46 45
+f 30 45 44
+f 30 44 43
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 33
+f 33 50 34
+f 34 50 35
+f 35 51 36
+f 35 50 52
+f 35 52 51
+f 36 51 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 42 46 48
+f 46 61 48
+f 47 62 63
+f 48 61 49
+f 49 52 50
+f 51 52 64
+f 51 64 65
+f 51 65 53
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 54 67 66
+f 54 66 55
+f 55 68 69
+f 55 69 56
+f 55 66 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 68
+f 56 69 57
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 57 69 68
+f 57 68 73
+f 57 73 63
+f 57 63 77
+f 57 77 74
+f 58 78 59
+f 58 76 78
+f 62 79 63
+f 63 79 80
+f 63 80 74
+f 63 74 77
+f 63 73 72
+f 64 81 65
+f 65 81 82
+f 65 82 66
+f 66 82 70
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_10.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.10640328 0.10957725 -0.00198776
+v 0.11781450 0.10957718 0.01593416
+v 0.12139206 0.10957725 -0.00198776
+v 0.10650931 0.00010242 -0.00198816
+v 0.11796596 0.10957718 0.01607593
+v 0.11787509 0.00010235 0.01581637
+v 0.11935943 0.00010235 0.01723178
+v 0.12081650 0.00010234 0.01862061
+v 0.13604156 0.10957720 0.01009088
+v 0.12141629 0.10923430 -0.00198776
+v 0.12161623 0.00010242 -0.00198816
+v 0.12072259 0.10957717 0.01859886
+v 0.12373974 0.00010234 0.01963732
+v 0.12076197 0.10923422 0.01862101
+v 0.13713209 0.10957719 0.01316314
+v 0.13720480 0.10923424 0.01334256
+v 0.13604762 0.10923425 0.01008423
+v 0.12153141 0.10332920 -0.00198778
+v 0.12162228 0.00301747 -0.00198815
+v 0.13610518 0.00010237 0.01004175
+v 0.12109823 0.10957717 0.01873398
+v 0.12660844 0.00010233 0.02063409
+v 0.12660844 0.09743473 0.02064109
+v 0.12660844 0.10332911 0.02063668
+v 0.12660844 0.10923421 0.02063006
+v 0.12660844 0.10957716 0.02062784
+v 0.12660844 0.01481686 0.02063635
+v 0.13718965 0.10957719 0.01334256
+v 0.13659591 0.10923423 0.01723439
+v 0.13729264 0.10332914 0.01334254
+v 0.13658683 0.10957718 0.01722775
+v 0.13608398 0.10332915 0.01005320
+v 0.12155867 0.09743482 -0.00198780
+v 0.12162834 0.00782943 -0.00198813
+v 0.13610518 0.00892252 0.01003956
+v 0.13734717 0.00010236 0.01334216
+v 0.12958015 0.00010234 0.01996514
+v 0.13249430 0.09152963 0.01930540
+v 0.13249430 0.09743474 0.01930321
+v 0.13249430 0.00010234 0.01930506
+v 0.13249430 0.10332912 0.01928772
+v 0.13249430 0.10957717 0.01923458
+v 0.13249430 0.10923422 0.01924344
+v 0.13664439 0.10332913 0.01726982
+v 0.13731991 0.09743476 0.01334252
+v 0.13609306 0.09743477 0.01004654
+v 0.12157079 0.09152971 -0.00198782
+v 0.12162834 0.01481695 -0.00198811
+v 0.13609912 0.07382507 0.01004423
+v 0.13701699 0.00010235 0.01529805
+v 0.13733505 0.06791995 0.01334241
+v 0.13667468 0.06791994 0.01729184
+v 0.13666559 0.09152964 0.01728750
+v 0.13667770 0.00301740 0.01729160
+v 0.13666256 0.09743475 0.01728309
+v 0.13667770 0.00010235 0.01729159
+v 0.13733203 0.07382506 0.01334243
+v 0.12157685 0.08562461 -0.00198785
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 26
+f 1 26 42
+f 1 42 31
+f 1 31 28
+f 1 28 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 33
+f 1 33 47
+f 1 47 58
+f 1 58 48
+f 1 48 34
+f 1 34 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 20
+f 4 20 36
+f 4 36 50
+f 4 50 56
+f 4 56 40
+f 4 40 37
+f 4 37 22
+f 4 22 13
+f 4 13 8
+f 4 8 7
+f 4 7 6
+f 5 8 12
+f 8 13 14
+f 8 14 12
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 12 14 21
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 21
+f 14 22 27
+f 14 27 23
+f 15 28 16
+f 16 29 30
+f 16 30 17
+f 16 28 31
+f 16 31 29
+f 17 30 32
+f 17 32 18
+f 18 32 33
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 22 37 27
+f 23 38 39
+f 23 39 24
+f 23 27 37
+f 23 37 40
+f 23 40 38
+f 24 39 25
+f 25 39 41
+f 25 41 26
+f 26 41 43
+f 26 43 42
+f 29 43 44
+f 29 44 30
+f 29 31 42
+f 29 42 43
+f 30 45 32
+f 30 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 49 51
+f 36 51 52
+f 36 52 50
+f 38 52 53
+f 38 53 39
+f 38 40 56
+f 38 56 54
+f 38 54 52
+f 39 53 55
+f 39 55 41
+f 41 55 44
+f 41 44 43
+f 44 55 45
+f 45 57 46
+f 45 55 53
+f 45 53 57
+f 46 58 47
+f 46 57 51
+f 46 51 49
+f 46 49 48
+f 46 48 58
+f 50 54 56
+f 50 52 54
+f 51 57 53
+f 51 53 52
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_11.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.10450587 -0.13663209 0.00643316
+v -0.11638726 -0.13663209 0.00643316
+v -0.10863934 -0.13663212 0.01340295
+v -0.06922621 -0.15650204 0.00643309
+v -0.12094706 -0.13664043 0.00643316
+v -0.12105209 -0.13663209 0.00652073
+v -0.11103662 -0.13663213 0.01684476
+v -0.06922621 -0.15999504 0.01429667
+v -0.06922621 -0.16989872 0.00643304
+v -0.12813891 -0.13663210 0.00887133
+v -0.12652013 -0.13663210 0.00832643
+v -0.12257202 -0.13663210 0.00700864
+v -0.12032301 -0.13859532 0.00643315
+v -0.11468815 -0.13663214 0.01930239
+v -0.06922621 -0.16294616 0.01845852
+v -0.06922621 -0.17784339 0.00987064
+v -0.07354503 -0.17782254 0.00988176
+v -0.07355121 -0.16964029 0.00643304
+v -0.12652013 -0.13862034 0.00859331
+v -0.13029523 -0.13862035 0.01000840
+v -0.13064123 -0.13663211 0.00980963
+v -0.12063194 -0.14452256 0.00770782
+v -0.12651395 -0.14412658 0.00959275
+v -0.11361309 -0.14929517 0.00643311
+v -0.12063194 -0.13663215 0.02050758
+v -0.06922621 -0.16812311 0.02063396
+v -0.06922621 -0.17886879 0.01242279
+v -0.07354503 -0.17911888 0.01334441
+v -0.07943322 -0.17755995 0.01010695
+v -0.07943322 -0.16924014 0.00643304
+v -0.06922621 -0.17921474 0.01334441
+v -0.13145680 -0.13663211 0.01113158
+v -0.12962795 -0.14189241 0.01051993
+v -0.12455534 -0.14894089 0.00998751
+v -0.10778669 -0.15525157 0.00643309
+v -0.11526277 -0.15683967 0.00909088
+v -0.11924795 -0.15521824 0.00982763
+v -0.12097794 -0.15071238 0.00919934
+v -0.12652013 -0.13663214 0.01940943
+v -0.12063194 -0.13862039 0.02045614
+v -0.11474377 -0.14452261 0.02062015
+v -0.07354503 -0.16812311 0.02063257
+v -0.06922621 -0.17402532 0.01958861
+v -0.07354503 -0.17827273 0.01732835
+v -0.07943322 -0.17800180 0.01710177
+v -0.07943322 -0.17858535 0.01334441
+v -0.08361611 -0.17723898 0.01041138
+v -0.09120340 -0.17318746 0.00936606
+v -0.08566740 -0.16801468 0.00643304
+v -0.08560561 -0.16802718 0.00643304
+v -0.06922621 -0.17834360 0.01741452
+v -0.13234034 -0.13663212 0.01334457
+v -0.12826249 -0.14547710 0.01334454
+v -0.12995541 -0.14252600 0.01334455
+v -0.13162363 -0.13862036 0.01334456
+v -0.12317134 -0.15287570 0.01222967
+v -0.11756737 -0.15914888 0.01106200
+v -0.10922630 -0.16262934 0.00915342
+v -0.11364398 -0.16093288 0.00980676
+v -0.10297358 -0.15858615 0.00643308
+v -0.10297358 -0.16222502 0.00756040
+v -0.13115406 -0.13663213 0.01735491
+v -0.12652013 -0.13862038 0.01916755
+v -0.12063194 -0.14452260 0.01989870
+v -0.11474377 -0.15042481 0.02017253
+v -0.10885558 -0.15632702 0.02019197
+v -0.10297358 -0.15632703 0.02062289
+v -0.07943322 -0.16812311 0.02059365
+v -0.06922621 -0.17515491 0.01902702
+v -0.07354503 -0.17402532 0.01944404
+v -0.07943322 -0.17402532 0.01912155
+v -0.08531522 -0.17402532 0.01850575
+v -0.08531522 -0.17749743 0.01660412
+v -0.08868872 -0.17711396 0.01617876
+v -0.08868872 -0.17711396 0.01513899
+v -0.08546968 -0.17754744 0.01335693
+v -0.08753951 -0.17675548 0.01158876
+v -0.10056393 -0.17135762 0.01041418
+v -0.09709158 -0.17209123 0.00988456
+v -0.08579097 -0.16796883 0.00643304
+v -0.12995541 -0.14252184 0.01653753
+v -0.13079570 -0.13862037 0.01718809
+v -0.12361620 -0.15343009 0.01605375
+v -0.12500020 -0.15071240 0.01373930
+v -0.12361620 -0.15343009 0.01577990
+v -0.12058870 -0.15629366 0.01342095
+v -0.11475612 -0.16222921 0.01322631
+v -0.11800605 -0.15959489 0.01461083
+v -0.10750247 -0.16625154 0.00994018
+v -0.11143205 -0.16486769 0.01183902
+v -0.09735108 -0.16208329 0.00643306
+v -0.10270172 -0.16818142 0.00950369
+v -0.12673638 -0.14450175 0.01768711
+v -0.12063194 -0.15042481 0.01868098
+v -0.11474377 -0.15632702 0.01899373
+v -0.10885558 -0.16222506 0.01878519
+v -0.10297358 -0.16222506 0.01996397
+v -0.09709158 -0.16222507 0.02051026
+v -0.08531522 -0.16812310 0.02037819
+v -0.09120340 -0.16812310 0.02000843
+v -0.09709158 -0.16812310 0.01931478
+v -0.09709158 -0.17257893 0.01729640
+v -0.09086976 -0.17427957 0.01750212
+v -0.10116326 -0.17167860 0.01662917
+v -0.09709158 -0.17359597 0.01334443
+v -0.09086976 -0.17597186 0.01335693
+v -0.10128065 -0.17173694 0.01334444
+v -0.10422165 -0.17002797 0.01334445
+v -0.09709158 -0.16812306 0.00846114
+v -0.09120340 -0.16812306 0.00742832
+v -0.09120340 -0.16522613 0.00643305
+v -0.12461712 -0.15042480 0.01680856
+v -0.11800605 -0.15959490 0.01630254
+v -0.12023652 -0.15576847 0.01690029
+v -0.11194487 -0.16529287 0.01538925
+v -0.10922630 -0.16676841 0.01350710
+v -0.11424330 -0.16182908 0.01695170
+v -0.10885558 -0.16635577 0.01689747
+v -0.10306626 -0.16841071 0.01777598
+v -0.11194487 -0.16529287 0.01613293
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 10
+f 1 10 21
+f 1 21 32
+f 1 32 52
+f 1 52 62
+f 1 62 39
+f 1 39 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 50
+f 1 50 49
+f 1 49 80
+f 1 80 111
+f 1 111 91
+f 1 91 60
+f 1 60 35
+f 1 35 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 15
+f 4 15 26
+f 4 26 43
+f 4 43 69
+f 4 69 51
+f 4 51 31
+f 4 31 27
+f 4 27 16
+f 4 16 9
+f 4 7 8
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 13 10
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 13 19
+f 13 22 23
+f 13 23 19
+f 13 24 22
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 17 27 31
+f 17 31 28
+f 19 23 20
+f 20 32 21
+f 20 23 33
+f 20 33 32
+f 22 34 23
+f 22 24 34
+f 23 34 33
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 34
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 42 43
+f 26 41 42
+f 28 31 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 31 51 44
+f 32 33 52
+f 33 53 54
+f 33 54 55
+f 33 55 52
+f 33 34 56
+f 33 56 53
+f 34 38 37
+f 34 37 57
+f 34 57 56
+f 35 58 59
+f 35 59 36
+f 35 60 61
+f 35 61 58
+f 36 59 37
+f 37 59 57
+f 39 62 63
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 41 67 42
+f 42 68 43
+f 42 67 68
+f 43 68 70
+f 43 70 69
+f 44 51 69
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 75 76
+f 46 76 47
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 49
+f 52 55 81
+f 52 81 82
+f 52 82 62
+f 53 83 81
+f 53 81 54
+f 53 56 84
+f 53 84 85
+f 53 85 83
+f 54 81 55
+f 56 85 84
+f 56 57 86
+f 56 86 85
+f 57 87 88
+f 57 88 86
+f 57 59 89
+f 57 89 90
+f 57 90 87
+f 58 61 89
+f 58 89 59
+f 60 91 61
+f 61 92 89
+f 61 91 92
+f 62 82 63
+f 63 82 93
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 65
+f 65 95 66
+f 66 96 97
+f 66 97 98
+f 66 98 67
+f 66 95 96
+f 67 98 68
+f 68 98 99
+f 68 99 70
+f 70 99 71
+f 71 99 100
+f 71 100 72
+f 72 100 101
+f 72 101 102
+f 72 102 103
+f 72 103 73
+f 73 103 74
+f 74 103 102
+f 74 102 104
+f 74 104 105
+f 74 105 75
+f 75 77 76
+f 75 105 106
+f 75 106 77
+f 77 106 105
+f 77 105 78
+f 78 107 108
+f 78 108 90
+f 78 90 89
+f 78 89 92
+f 78 92 79
+f 78 105 107
+f 79 109 110
+f 79 110 80
+f 79 92 109
+f 80 110 111
+f 81 83 112
+f 81 112 93
+f 81 93 82
+f 83 113 114
+f 83 114 112
+f 83 85 88
+f 83 88 113
+f 85 86 88
+f 87 90 115
+f 87 115 88
+f 88 115 120
+f 88 120 113
+f 90 108 116
+f 90 116 115
+f 91 111 109
+f 91 109 92
+f 93 112 94
+f 94 114 95
+f 94 112 114
+f 95 117 96
+f 95 114 113
+f 95 113 117
+f 96 118 119
+f 96 119 101
+f 96 101 97
+f 96 117 118
+f 97 101 100
+f 97 100 98
+f 98 100 99
+f 101 119 102
+f 102 119 104
+f 104 119 118
+f 104 118 120
+f 104 120 108
+f 104 108 107
+f 104 107 105
+f 108 120 115
+f 108 115 116
+f 109 111 110
+f 113 120 117
+f 117 120 118
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_12.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.06935433 0.17936925 0.01334615
+v -0.06935433 0.17911919 0.01450545
+v -0.06935433 0.17798565 0.00985581
+v -0.07354283 0.17796064 0.00986687
+v -0.07354283 0.17928590 0.01334615
+v -0.07354283 0.17842738 0.01736218
+v -0.06935433 0.17848572 0.01743965
+v -0.06935433 0.17126347 0.00693818
+v -0.06935433 0.17032162 0.00653422
+v -0.07938210 0.16947978 0.00653421
+v -0.07943138 0.17770225 0.01008960
+v -0.07943138 0.17876497 0.01334615
+v -0.07943138 0.17816899 0.01714360
+v -0.06935433 0.17415151 0.01962680
+v -0.07943138 0.17415151 0.01917719
+v -0.07354283 0.17415151 0.01948708
+v -0.06935433 0.15672721 0.00653417
+v -0.08570797 0.16841707 0.00653421
+v -0.08364452 0.17737719 0.01040225
+v -0.08598515 0.16835456 0.00653421
+v -0.09120230 0.17334305 0.00935085
+v -0.08549239 0.17771892 0.01330049
+v -0.08880007 0.17726882 0.01504497
+v -0.08880007 0.17726882 0.01621810
+v -0.08531992 0.17766889 0.01665664
+v -0.08531992 0.17415151 0.01857126
+v -0.07943138 0.16825030 0.02062007
+v -0.06935433 0.17244700 0.01996434
+v -0.09120230 0.16825031 0.02005425
+v -0.08531992 0.16825030 0.02042224
+v -0.06935433 0.15981530 0.01344430
+v -0.11106689 0.13679398 0.01681143
+v -0.10984114 0.13679398 0.01513474
+v -0.10867698 0.13679399 0.01337366
+v -0.10509212 0.13679401 0.00761730
+v -0.10463630 0.13679402 0.00657975
+v -0.10459935 0.13680653 0.00653409
+v -0.09709084 0.17225115 0.00986547
+v -0.10060796 0.17150100 0.01040223
+v -0.08756816 0.17688543 0.01149514
+v -0.08976712 0.16689593 0.00653420
+v -0.09093744 0.17614776 0.01330049
+v -0.09709084 0.17382646 0.01334613
+v -0.10124855 0.17184688 0.01666630
+v -0.09709084 0.17277625 0.01733587
+v -0.09093744 0.17443491 0.01754062
+v -0.09709084 0.16825031 0.01937085
+v -0.07354283 0.16825030 0.02065604
+v -0.09709084 0.16234911 0.02053843
+v -0.10297323 0.15645209 0.02060895
+v -0.06935433 0.16825030 0.02066710
+v -0.10297323 0.16234912 0.01999198
+v -0.06935433 0.16016120 0.01421210
+v -0.11187379 0.13679398 0.01766499
+v -0.10472870 0.13679402 0.00653409
+v -0.10272685 0.16832954 0.00949194
+v -0.10137789 0.17190941 0.01334612
+v -0.10754362 0.16641247 0.00993185
+v -0.11146726 0.16502470 0.01171645
+v -0.10431601 0.17021741 0.01334612
+v -0.10123007 0.16069051 0.00653418
+v -0.11197850 0.16544143 0.01615857
+v -0.10885561 0.16653748 0.01692083
+v -0.10311489 0.16856705 0.01780760
+v -0.10885561 0.16234912 0.01881608
+v -0.11474414 0.14464971 0.02061998
+v -0.10885561 0.15645210 0.02021745
+v -0.06935433 0.16670417 0.02005286
+v -0.12063269 0.13679396 0.02051619
+v -0.11669057 0.13679397 0.02013299
+v -0.06935433 0.16225745 0.01739118
+v -0.11468871 0.13679397 0.01928219
+v -0.06935433 0.16311179 0.01847853
+v -0.12111930 0.13679402 0.00653409
+v -0.10784544 0.15589371 0.00653416
+v -0.10924982 0.16277425 0.00915160
+v -0.11368470 0.16109058 0.00980456
+v -0.11760834 0.15931521 0.01092927
+v -0.11197850 0.16544143 0.01526489
+v -0.10924982 0.16695841 0.01343326
+v -0.11479343 0.16239083 0.01309846
+v -0.11804567 0.15976112 0.01633563
+v -0.11426370 0.16197406 0.01698998
+v -0.11474414 0.15645210 0.01903463
+v -0.11474414 0.15055091 0.02020221
+v -0.12063269 0.13874852 0.02046778
+v -0.12257911 0.13679397 0.02027825
+v -0.12652123 0.13679401 0.00834636
+v -0.12111314 0.13681486 0.00653409
+v -0.10840596 0.15536027 0.00653416
+v -0.11362311 0.15007587 0.00653414
+v -0.11528619 0.15699392 0.00908103
+v -0.11927143 0.15538525 0.00981699
+v -0.12454401 0.14908815 0.00998990
+v -0.12319506 0.15302228 0.01208023
+v -0.12365088 0.15360154 0.01563006
+v -0.11804567 0.15976113 0.01447771
+v -0.12365088 0.15360154 0.01609073
+v -0.12025696 0.15592284 0.01694569
+v -0.12063269 0.15055091 0.01871920
+v -0.12063269 0.14464972 0.01991029
+v -0.12652123 0.13679397 0.01940255
+v -0.13061118 0.13679400 0.00982937
+v -0.12652123 0.13874857 0.00861198
+v -0.12045407 0.13880693 0.00653410
+v -0.11414667 0.14948825 0.00653414
+v -0.12099611 0.15085101 0.00919582
+v -0.12650892 0.14424134 0.00960114
+v -0.12961333 0.14199922 0.01053078
+v -0.12826438 0.14557910 0.01334602
+v -0.12501830 0.15085099 0.01365039
+v -0.12994595 0.14263683 0.01652647
+v -0.12464873 0.15055092 0.01683776
+v -0.12674298 0.14462056 0.01767885
+v -0.12652123 0.13874853 0.01915908
+v -0.12828287 0.13679397 0.01867211
+v -0.13228042 0.13679399 0.01334599
+v -0.13027241 0.13874856 0.01002444
+v -0.11863083 0.14245350 0.00653411
+v -0.13157824 0.13874855 0.01334600
+v -0.12993979 0.14262850 0.01334601
+v -0.13173838 0.13679398 0.01591221
+v -0.13077133 0.13874854 0.01718219
+v -0.13112858 0.13679398 0.01734819
+f 1 2 7
+f 1 7 14
+f 1 14 28
+f 1 28 51
+f 1 51 68
+f 1 68 73
+f 1 73 71
+f 1 71 53
+f 1 53 31
+f 1 31 17
+f 1 17 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 16
+f 6 16 14
+f 9 17 37
+f 9 37 55
+f 9 55 74
+f 9 74 89
+f 9 89 105
+f 9 105 119
+f 9 119 106
+f 9 106 91
+f 9 91 90
+f 9 90 75
+f 9 75 61
+f 9 61 41
+f 9 41 20
+f 9 20 18
+f 9 18 10
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 21
+f 11 21 19
+f 12 19 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 15
+f 14 16 27
+f 14 27 28
+f 15 26 29
+f 15 29 30
+f 15 30 16
+f 16 30 27
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 19 21 38
+f 19 38 39
+f 19 39 40
+f 19 40 22
+f 20 41 21
+f 21 41 38
+f 22 40 23
+f 23 42 43
+f 23 43 24
+f 23 40 42
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 25 46 26
+f 26 46 45
+f 26 45 47
+f 26 47 29
+f 27 48 28
+f 27 30 49
+f 27 49 50
+f 27 50 48
+f 28 48 51
+f 29 47 52
+f 29 52 49
+f 29 49 30
+f 31 53 32
+f 32 54 72
+f 32 72 70
+f 32 70 69
+f 32 69 87
+f 32 87 102
+f 32 102 116
+f 32 116 124
+f 32 124 122
+f 32 122 117
+f 32 117 103
+f 32 103 88
+f 32 88 74
+f 32 74 55
+f 32 55 36
+f 32 36 35
+f 32 35 34
+f 32 34 33
+f 32 53 54
+f 36 55 37
+f 38 41 56
+f 38 56 39
+f 39 57 43
+f 39 43 40
+f 39 56 58
+f 39 58 59
+f 39 59 60
+f 39 60 57
+f 40 43 42
+f 41 61 56
+f 43 57 44
+f 44 57 60
+f 44 60 62
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 45 64 47
+f 47 64 65
+f 47 65 52
+f 48 50 66
+f 48 66 51
+f 49 52 67
+f 49 67 50
+f 50 67 66
+f 51 66 69
+f 51 69 70
+f 51 70 68
+f 52 65 67
+f 53 71 54
+f 54 71 73
+f 54 73 72
+f 56 61 58
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 58 61 75
+f 59 79 80
+f 59 80 60
+f 59 78 81
+f 59 81 79
+f 60 80 79
+f 60 79 62
+f 62 79 97
+f 62 97 82
+f 62 82 83
+f 62 83 63
+f 63 83 65
+f 63 65 64
+f 65 83 84
+f 65 84 67
+f 66 85 86
+f 66 86 69
+f 66 67 85
+f 67 84 85
+f 68 70 73
+f 69 86 87
+f 70 72 73
+f 74 88 89
+f 75 90 77
+f 75 77 76
+f 77 90 91
+f 77 91 92
+f 77 92 93
+f 77 93 78
+f 78 93 94
+f 78 94 95
+f 78 95 96
+f 78 96 97
+f 78 97 81
+f 79 81 97
+f 82 97 96
+f 82 96 98
+f 82 98 99
+f 82 99 84
+f 82 84 83
+f 84 99 100
+f 84 100 101
+f 84 101 85
+f 85 101 86
+f 86 101 87
+f 87 101 102
+f 88 103 104
+f 88 104 105
+f 88 105 89
+f 91 106 93
+f 91 93 92
+f 93 107 94
+f 93 106 107
+f 94 108 109
+f 94 109 95
+f 94 107 106
+f 94 106 108
+f 95 109 110
+f 95 110 111
+f 95 111 96
+f 96 111 110
+f 96 110 98
+f 98 110 112
+f 98 112 113
+f 98 113 99
+f 99 113 100
+f 100 113 114
+f 100 114 115
+f 100 115 101
+f 101 115 102
+f 102 115 116
+f 103 117 118
+f 103 118 104
+f 104 118 108
+f 104 108 119
+f 104 119 105
+f 106 119 108
+f 108 118 109
+f 109 118 117
+f 109 117 120
+f 109 120 121
+f 109 121 110
+f 110 121 112
+f 112 114 113
+f 112 121 120
+f 112 120 117
+f 112 117 122
+f 112 122 123
+f 112 123 114
+f 114 123 115
+f 115 123 116
+f 116 123 124
+f 122 124 123
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_13.obj

@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
+v -0.03858253 0.16654046 -0.00201724
+v -0.03280633 0.16652881 -0.00201724
+v 0.03242683 0.16598724 -0.00333692
+v -0.03233799 0.16639197 -0.00243768
+v -0.03822570 0.16641526 -0.00232402
+v -0.05528668 0.16599596 -0.00201724
+v 0.00006672 0.16632790 -0.00201724
+v 0.00006672 0.16632790 -0.00235621
+v 0.03829224 0.16592900 -0.00333692
+v 0.03242683 0.16519816 -0.00509816
+v -0.03233799 0.16519816 -0.00510118
+v -0.03822570 0.16513118 -0.00498752
+v -0.04997882 0.16496521 -0.00458015
+v -0.05586653 0.16486331 -0.00439306
+v -0.05586653 0.16597559 -0.00201724
+v 0.11358358 0.13679697 -0.00333703
+v 0.11295912 0.13798496 -0.00333702
+v 0.11193324 0.13961553 -0.00333702
+v 0.11003757 0.14224193 -0.00333701
+v 0.10847643 0.14422483 -0.00333700
+v 0.10738363 0.14555842 -0.00333700
+v 0.10394913 0.14910783 -0.00333698
+v 0.10113911 0.15157117 -0.00333697
+v 0.09808373 0.15395006 -0.00333696
+v 0.09665640 0.15491677 -0.00333696
+v 0.09208451 0.15766546 -0.00333695
+v 0.09061259 0.15846909 -0.00333695
+v 0.08604069 0.16053353 -0.00333694
+v 0.08528242 0.16082179 -0.00333694
+v 0.08037599 0.16241160 -0.00333693
+v 0.07950622 0.16265620 -0.00333693
+v 0.07520195 0.16361998 -0.00333693
+v 0.07399764 0.16384710 -0.00333693
+v 0.06989408 0.16448186 -0.00333693
+v 0.06773080 0.16476138 -0.00333692
+v 0.06184309 0.16511371 -0.00333692
+v 0.05595537 0.16534665 -0.00333692
+v 0.00006672 0.15053459 -0.00201730
+v 0.05595537 0.16486331 -0.00437797
+v 0.03829224 0.16513410 -0.00498853
+v 0.05006766 0.16248442 -0.00795982
+v 0.03829224 0.16265039 -0.00795982
+v 0.03242683 0.16272318 -0.00795982
+v -0.02056257 0.16272610 -0.00795982
+v -0.02645028 0.16272610 -0.00795982
+v -0.03233799 0.16272027 -0.00795982
+v -0.03822570 0.16265912 -0.00795982
+v -0.04997882 0.16251354 -0.00795982
+v -0.05586653 0.16233009 -0.00795982
+v -0.06175424 0.16207387 -0.00795982
+v -0.06175424 0.16471772 -0.00413154
+v -0.06063914 0.16580670 -0.00201724
+v 0.11242388 0.13679698 -0.00529140
+v -0.09554168 0.13679405 -0.00201735
+v 0.00006672 0.13679405 -0.00336720
+v 0.00006672 0.13679409 -0.01229213
+v 0.11099654 0.14039006 -0.00402199
+v 0.10707142 0.14301065 -0.00656478
+v 0.10535417 0.14694733 -0.00450176
+v 0.10142902 0.14879337 -0.00662913
+v 0.09906502 0.15272132 -0.00418691
+v 0.09513987 0.15411313 -0.00611411
+v 0.08762412 0.15910970 -0.00480247
+v 0.08369898 0.15987839 -0.00601753
+v 0.07950622 0.16052772 -0.00691576
+v 0.07317247 0.16086549 -0.00828975
+v 0.06773080 0.16454010 -0.00378453
+v 0.06184309 0.16472645 -0.00413657
+v 0.06184309 0.16209424 -0.00795982
+v 0.05595537 0.16232136 -0.00795982
+v 0.06184309 0.15971536 -0.01085065
+v 0.05595537 0.15980853 -0.01090396
+v 0.05006766 0.15988424 -0.01094721
+v 0.01476370 0.15989589 -0.01095627
+v -0.00878714 0.15990171 -0.01096130
+v -0.04997882 0.15989589 -0.01095627
+v -0.05586653 0.15981436 -0.01090799
+v -0.06175424 0.15970371 -0.01084160
+v -0.06764195 0.15956686 -0.01074805
+v -0.06764195 0.16174193 -0.00795983
+v -0.06764195 0.16451971 -0.00375335
+v -0.06764195 0.16538450 -0.00201724
+v -0.06583550 0.16550097 -0.00201724
+v -0.06175424 0.16575429 -0.00201724
+v 0.11215625 0.13679698 -0.00569273
+v -0.11425300 0.13679405 -0.00201735
+v -0.06175424 0.13679409 -0.01228308
+v 0.00298828 0.13679701 -0.01229313
+v 0.07555878 0.13679701 -0.01228609
+v 0.07950622 0.13679701 -0.01228308
+v 0.08144649 0.13679701 -0.01228006
+v 0.08733420 0.13679701 -0.01226799
+v 0.09322190 0.13679701 -0.01225189
+v 0.09714705 0.13679700 -0.01218853
+v 0.09910963 0.13679700 -0.01212817
+v 0.10312397 0.13679700 -0.01162927
+v 0.10470741 0.13679700 -0.01135669
+v 0.10666998 0.13679700 -0.01096642
+v 0.10671457 0.13679700 -0.01094529
+v 0.10943542 0.13679699 -0.00849604
+v 0.11173253 0.13679698 -0.00618560
+v 0.10883328 0.13861974 -0.00798204
+v 0.10519804 0.14078318 -0.01011444
+v 0.10332469 0.14494406 -0.00837129
+v 0.09931034 0.14687456 -0.01017779
+v 0.09721396 0.15057828 -0.00814596
+v 0.09257514 0.15235737 -0.00966277
+v 0.09088021 0.15497212 -0.00791660
+v 0.08865002 0.15366183 -0.01073099
+v 0.07950622 0.15814883 -0.00957625
+v 0.07484511 0.15885930 -0.01028437
+v 0.07091998 0.15943874 -0.01065351
+v 0.06773080 0.16176230 -0.00795983
+v 0.06773080 0.15956977 -0.01074805
+v 0.06773080 0.15644838 -0.01155477
+v 0.06184309 0.15644838 -0.01166340
+v 0.05006766 0.15644838 -0.01175996
+v 0.04417996 0.15644838 -0.01176801
+v 0.04417996 0.15988424 -0.01095023
+v 0.05595537 0.15644838 -0.01171369
+v 0.00887599 0.15644838 -0.01178008
+v -0.00289943 0.15644838 -0.01178310
+v -0.00878714 0.15644838 -0.01178310
+v -0.04409111 0.15644838 -0.01177606
+v -0.04997882 0.15644838 -0.01176902
+v -0.05586653 0.15644838 -0.01172174
+v -0.06175424 0.15644838 -0.01165938
+v -0.06764195 0.15644838 -0.01156281
+v -0.07087573 0.15944748 -0.01066155
+v -0.07312823 0.16085092 -0.00829176
+v -0.07399800 0.16434210 -0.00245077
+v -0.07020668 0.16509915 -0.00201724
+v -0.11331632 0.13856440 -0.00201734
+v -0.11233503 0.13679406 -0.00523306
+v -0.07156709 0.13679409 -0.01227805
+v -0.07352967 0.14464999 -0.01227198
+v -0.06175424 0.13875078 -0.01228105
+v -0.04997882 0.14464999 -0.01227701
+v -0.04409111 0.14464999 -0.01227802
+v 0.00298828 0.13875078 -0.01229111
+v 0.07950622 0.13875078 -0.01228005
+v 0.00887599 0.14465290 -0.01228405
+v 0.07361851 0.13875078 -0.01228407
+v 0.08539393 0.13875078 -0.01226697
+v 0.07950622 0.14465290 -0.01226394
+v 0.09128165 0.13875077 -0.01224987
+v 0.09714705 0.13875077 -0.01215633
+v 0.10316856 0.13878863 -0.01140596
+v 0.10664767 0.13684650 -0.01096139
+v 0.10127292 0.14294078 -0.01105591
+v 0.09538519 0.14842651 -0.01100258
+v 0.09088021 0.15045891 -0.01122990
+v 0.08539393 0.15425292 -0.01102066
+v 0.07950622 0.15519924 -0.01132242
+v 0.07317247 0.15671334 -0.01126709
+v 0.07950622 0.15055209 -0.01213617
+v 0.07361851 0.15055209 -0.01222469
+v 0.06773080 0.15055210 -0.01225184
+v 0.06184309 0.15055210 -0.01225989
+v 0.03829224 0.15055210 -0.01226794
+v 0.00887599 0.15055210 -0.01227498
+v 0.00298828 0.15055210 -0.01227599
+v -0.03233799 0.15055210 -0.01227297
+v -0.03822570 0.15055210 -0.01227196
+v -0.06764195 0.15055210 -0.01225989
+v -0.07352967 0.15055209 -0.01224380
+v -0.07941737 0.15055209 -0.01215126
+v -0.07312823 0.15672791 -0.01128418
+v -0.07941737 0.15521089 -0.01133348
+v -0.08530508 0.15422672 -0.01101060
+v -0.07480088 0.15887968 -0.01028839
+v -0.07941737 0.16049569 -0.00689162
+v -0.07399800 0.16456630 -0.00201725
+v -0.07361887 0.16462745 -0.00201725
+v -0.07941737 0.16301434 -0.00263484
+v -0.07439944 0.16449933 -0.00201725
+v -0.11155446 0.14133929 -0.00201733
+v -0.11309331 0.13854111 -0.00238347
+v -0.11159907 0.13679406 -0.00619063
+v -0.11088541 0.14036677 -0.00399081
+v -0.07745480 0.13679409 -0.01227402
+v -0.07941737 0.13875078 -0.01227200
+v -0.07941737 0.14464999 -0.01226394
+v 0.00008903 0.14465290 -0.01228405
+v 0.07361851 0.14465290 -0.01227198
+v 0.06184309 0.14465290 -0.01227601
+v 0.08539393 0.14465289 -0.01223879
+v 0.09728086 0.14480430 -0.01143008
+v 0.09128165 0.14465289 -0.01210803
+v 0.08539393 0.15055209 -0.01181732
+v -0.08530508 0.14464998 -0.01224080
+v -0.09119280 0.14464998 -0.01211105
+v -0.08530508 0.15055209 -0.01180927
+v -0.09076905 0.15045018 -0.01121984
+v -0.08851656 0.15363563 -0.01071489
+v -0.07941737 0.15816048 -0.00955311
+v -0.08352093 0.15985219 -0.00598233
+v -0.08013104 0.16314537 -0.00201725
+v -0.07941737 0.16335502 -0.00201725
+v -0.10894515 0.14469071 -0.00201732
+v -0.10696026 0.14299317 -0.00654768
+v -0.10872212 0.13860518 -0.00796293
+v -0.10932427 0.13679407 -0.00847593
+v -0.07941737 0.13679409 -0.01227201
+v -0.08530508 0.13679409 -0.01226397
+v -0.09119280 0.13679409 -0.01225491
+v -0.09119280 0.13875078 -0.01225088
+v -0.09708050 0.13875077 -0.01216035
+v -0.09716972 0.14480139 -0.01143310
+v -0.09527406 0.14841486 -0.01100056
+v -0.09919918 0.14686873 -0.01017175
+v -0.09244171 0.15234282 -0.00963260
+v -0.09076905 0.15491679 -0.00789850
+v -0.08744607 0.15907184 -0.00475419
+v -0.08546120 0.16142453 -0.00201726
+v -0.10620200 0.14789655 -0.00201731
+v -0.10526533 0.14692694 -0.00448567
+v -0.10134018 0.14877590 -0.00662209
+v -0.10323585 0.14493241 -0.00835821
+v -0.10510920 0.14077735 -0.01009633
+v -0.10655883 0.13684358 -0.01096340
+v -0.10658114 0.13679408 -0.01096742
+v -0.09708050 0.13679408 -0.01218853
+v -0.10303513 0.13679408 -0.01163028
+v -0.10307972 0.13878572 -0.01140797
+v -0.10118407 0.14293495 -0.01105691
+v -0.09710282 0.15056081 -0.00812684
+v -0.09500643 0.15408402 -0.00608394
+v -0.09148272 0.15821869 -0.00284106
+v -0.09148272 0.15871951 -0.00201727
+v -0.08918562 0.15986673 -0.00201726
+v -0.10312433 0.15074133 -0.00201730
+v -0.10292362 0.15051421 -0.00255040
+v -0.09893156 0.15270385 -0.00416579
+v -0.09201796 0.15844581 -0.00201727
+v -0.09705821 0.15541759 -0.00201728
+v -0.10290132 0.15093059 -0.00201730
+v -0.09991285 0.15344051 -0.00201729
+v -0.09750425 0.15510894 -0.00201728
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 52
+f 1 52 84
+f 1 84 83
+f 1 83 82
+f 1 82 132
+f 1 132 174
+f 1 174 173
+f 1 173 176
+f 1 176 199
+f 1 199 198
+f 1 198 215
+f 1 215 231
+f 1 231 230
+f 1 230 235
+f 1 235 236
+f 1 236 239
+f 1 239 238
+f 1 238 237
+f 1 237 232
+f 1 232 216
+f 1 216 200
+f 1 200 177
+f 1 177 133
+f 1 133 86
+f 1 86 54
+f 1 54 38
+f 1 38 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 11 12
+f 6 14 15
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 31
+f 7 31 32
+f 7 32 33
+f 7 33 34
+f 7 34 35
+f 7 35 36
+f 7 36 37
+f 7 37 9
+f 7 9 8
+f 7 38 16
+f 9 37 39
+f 9 39 40
+f 9 40 10
+f 10 40 41
+f 10 41 42
+f 10 42 43
+f 10 43 44
+f 10 44 11
+f 11 44 45
+f 11 45 46
+f 11 46 47
+f 11 47 48
+f 11 48 12
+f 12 48 49
+f 12 49 13
+f 13 49 14
+f 14 49 50
+f 14 50 51
+f 14 51 52
+f 14 52 15
+f 16 53 17
+f 16 38 54
+f 16 54 55
+f 16 55 56
+f 16 56 53
+f 17 53 57
+f 17 57 18
+f 18 57 19
+f 19 57 20
+f 20 58 21
+f 20 57 58
+f 21 58 59
+f 21 59 22
+f 22 60 23
+f 22 59 60
+f 23 61 24
+f 23 60 61
+f 24 61 62
+f 24 62 25
+f 25 62 26
+f 26 62 63
+f 26 63 27
+f 27 63 28
+f 28 63 29
+f 29 64 30
+f 29 63 64
+f 30 64 65
+f 30 65 31
+f 31 65 32
+f 32 65 66
+f 32 66 33
+f 33 66 67
+f 33 67 34
+f 34 67 35
+f 35 67 68
+f 35 68 36
+f 36 68 39
+f 36 39 37
+f 39 68 69
+f 39 69 40
+f 40 69 70
+f 40 70 41
+f 41 70 71
+f 41 71 72
+f 41 72 73
+f 41 73 42
+f 42 73 43
+f 43 73 74
+f 43 74 75
+f 43 75 44
+f 44 75 45
+f 45 75 76
+f 45 76 46
+f 46 76 47
+f 47 76 48
+f 48 76 77
+f 48 77 78
+f 48 78 49
+f 49 78 79
+f 49 79 50
+f 50 79 80
+f 50 80 51
+f 51 80 81
+f 51 81 82
+f 51 82 83
+f 51 83 84
+f 51 84 52
+f 53 85 57
+f 53 56 85
+f 54 86 134
+f 54 134 179
+f 54 179 203
+f 54 203 222
+f 54 222 224
+f 54 224 223
+f 54 223 206
+f 54 206 205
+f 54 205 204
+f 54 204 181
+f 54 181 135
+f 54 135 87
+f 54 87 56
+f 54 56 55
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 91
+f 56 91 92
+f 56 92 93
+f 56 93 94
+f 56 94 95
+f 56 95 96
+f 56 96 97
+f 56 97 98
+f 56 98 99
+f 56 99 100
+f 56 100 101
+f 56 101 85
+f 57 85 58
+f 58 85 101
+f 58 101 102
+f 58 102 103
+f 58 103 104
+f 58 104 60
+f 58 60 59
+f 60 104 105
+f 60 105 106
+f 60 106 62
+f 60 62 61
+f 62 107 108
+f 62 108 63
+f 62 106 107
+f 63 109 64
+f 63 108 109
+f 64 110 65
+f 64 109 110
+f 65 110 111
+f 65 111 66
+f 66 111 112
+f 66 112 113
+f 66 113 67
+f 67 113 68
+f 68 113 69
+f 69 113 114
+f 69 114 71
+f 69 71 70
+f 71 114 115
+f 71 115 116
+f 71 116 72
+f 72 116 73
+f 73 117 118
+f 73 118 119
+f 73 119 74
+f 73 116 120
+f 73 120 117
+f 74 119 121
+f 74 121 75
+f 75 122 123
+f 75 123 76
+f 75 121 122
+f 76 123 124
+f 76 124 125
+f 76 125 126
+f 76 126 127
+f 76 127 77
+f 77 127 78
+f 78 127 128
+f 78 128 79
+f 79 128 129
+f 79 129 80
+f 80 129 130
+f 80 130 81
+f 81 130 131
+f 81 131 132
+f 81 132 82
+f 86 133 134
+f 87 135 136
+f 87 136 137
+f 87 137 138
+f 87 138 139
+f 87 139 88
+f 88 140 89
+f 88 139 140
+f 89 141 90
+f 89 140 142
+f 89 142 143
+f 89 143 141
+f 90 141 91
+f 91 141 92
+f 92 141 144
+f 92 144 93
+f 93 144 145
+f 93 145 146
+f 93 146 147
+f 93 147 94
+f 94 147 95
+f 95 147 148
+f 95 148 96
+f 96 148 97
+f 97 148 98
+f 98 149 99
+f 98 148 150
+f 98 150 149
+f 99 149 103
+f 99 103 100
+f 100 103 102
+f 100 102 101
+f 103 150 105
+f 103 105 104
+f 103 149 150
+f 105 150 151
+f 105 151 109
+f 105 109 107
+f 105 107 106
+f 107 109 108
+f 109 151 152
+f 109 152 153
+f 109 153 111
+f 109 111 110
+f 111 153 112
+f 112 115 114
+f 112 114 113
+f 112 153 154
+f 112 154 155
+f 112 155 115
+f 115 155 154
+f 115 154 156
+f 115 156 116
+f 116 156 157
+f 116 157 120
+f 117 120 157
+f 117 157 158
+f 117 158 159
+f 117 159 118
+f 118 159 121
+f 118 121 119
+f 121 159 160
+f 121 160 122
+f 122 160 161
+f 122 161 162
+f 122 162 123
+f 123 163 164
+f 123 164 124
+f 123 162 163
+f 124 164 165
+f 124 165 125
+f 125 165 166
+f 125 166 126
+f 126 166 127
+f 127 166 167
+f 127 167 128
+f 128 168 129
+f 128 167 169
+f 128 169 168
+f 129 168 169
+f 129 169 170
+f 129 170 171
+f 129 171 130
+f 130 171 172
+f 130 172 131
+f 131 173 174
+f 131 174 132
+f 131 172 175
+f 131 175 176
+f 131 176 173
+f 133 177 178
+f 133 178 134
+f 134 178 180
+f 134 180 179
+f 135 181 182
+f 135 182 136
+f 136 165 164
+f 136 164 138
+f 136 138 137
+f 136 182 183
+f 136 183 165
+f 138 164 163
+f 138 163 139
+f 139 163 140
+f 140 163 184
+f 140 184 142
+f 141 145 144
+f 141 143 185
+f 141 185 145
+f 142 184 162
+f 142 162 143
+f 143 162 186
+f 143 186 185
+f 145 187 146
+f 145 185 159
+f 145 159 158
+f 145 158 187
+f 146 187 147
+f 147 188 148
+f 147 187 189
+f 147 189 188
+f 148 188 150
+f 150 188 151
+f 151 188 152
+f 152 190 153
+f 152 188 190
+f 153 190 154
+f 154 190 156
+f 156 190 189
+f 156 189 187
+f 156 187 157
+f 157 187 158
+f 159 185 186
+f 159 186 160
+f 160 186 161
+f 161 186 162
+f 162 184 163
+f 165 183 166
+f 166 183 191
+f 166 191 167
+f 167 191 192
+f 167 192 193
+f 167 193 169
+f 169 193 170
+f 170 193 194
+f 170 194 195
+f 170 195 171
+f 171 195 196
+f 171 196 172
+f 172 196 197
+f 172 197 175
+f 175 197 198
+f 175 198 199
+f 175 199 176
+f 177 200 180
+f 177 180 178
+f 179 180 201
+f 179 201 202
+f 179 202 203
+f 180 200 201
+f 181 204 182
+f 182 204 205
+f 182 205 206
+f 182 206 183
+f 183 206 207
+f 183 207 191
+f 188 189 190
+f 191 207 208
+f 191 208 192
+f 192 208 209
+f 192 209 193
+f 193 209 194
+f 194 210 195
+f 194 209 210
+f 195 210 211
+f 195 211 212
+f 195 212 213
+f 195 213 214
+f 195 214 197
+f 195 197 196
+f 197 214 215
+f 197 215 198
+f 200 216 217
+f 200 217 201
+f 201 217 218
+f 201 218 219
+f 201 219 220
+f 201 220 202
+f 202 220 203
+f 203 220 221
+f 203 221 222
+f 206 223 207
+f 207 223 208
+f 208 223 224
+f 208 224 225
+f 208 225 209
+f 209 225 226
+f 209 226 210
+f 210 226 211
+f 211 226 220
+f 211 220 219
+f 211 219 218
+f 211 218 227
+f 211 227 212
+f 212 228 213
+f 212 227 228
+f 213 228 214
+f 214 228 229
+f 214 229 230
+f 214 230 231
+f 214 231 215
+f 216 232 217
+f 217 232 233
+f 217 233 218
+f 218 233 234
+f 218 234 228
+f 218 228 227
+f 220 226 221
+f 221 226 225
+f 221 225 222
+f 222 225 224
+f 228 235 229
+f 228 234 236
+f 228 236 235
+f 229 235 230
+f 232 237 234
+f 232 234 233
+f 234 237 238
+f 234 238 239
+f 234 239 236
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_14.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.13727955 -0.09730098 0.01334252
+v -0.13603839 -0.09730097 0.01002038
+v -0.13603227 -0.10320764 0.01002257
+v -0.13726121 -0.10320765 0.01334250
+v -0.13657643 -0.10320766 0.01727610
+v -0.13658866 -0.09730099 0.01728274
+v -0.13659171 -0.09140558 0.01728717
+v -0.13659477 -0.02649970 0.01729404
+v -0.13659477 -0.01469761 0.01729409
+v -0.13659477 -0.00289552 0.01729192
+v -0.13727344 -0.01469760 0.01334283
+v -0.12153569 -0.07960341 -0.00192160
+v -0.12152041 -0.09140551 -0.00192165
+v -0.13602615 0.00009166 0.01003399
+v -0.12156015 -0.01349141 -0.00192136
+v -0.12156015 -0.01469754 -0.00192136
+v -0.12150512 -0.09730092 -0.00192167
+v -0.12146538 -0.10320759 -0.00192169
+v -0.13599865 -0.10910306 0.01004904
+v -0.13717561 -0.10910307 0.01334248
+v -0.13652751 -0.10910308 0.01724297
+v -0.13240660 -0.10320767 0.01929145
+v -0.13240660 -0.10910309 0.01924950
+v -0.13240660 -0.09730100 0.01930030
+v -0.13240660 -0.09140559 0.01930253
+v -0.13659171 -0.07960348 0.01728943
+v -0.13240660 -0.03239512 0.01930937
+v -0.13240660 -0.02059303 0.01930941
+v -0.13240660 -0.00879094 0.01930505
+v -0.13240660 0.00009163 0.01929846
+v -0.13659171 0.00009164 0.01728972
+v -0.13692799 0.00009164 0.01533617
+v -0.13727038 0.00009165 0.01334288
+v -0.12155097 0.00009171 -0.00192131
+v -0.12155709 -0.00759600 -0.00192134
+v -0.12133698 -0.10910301 -0.00192171
+v -0.13588860 -0.11500974 0.01014173
+v -0.13693410 -0.11500975 0.01334246
+v -0.13639606 -0.11500976 0.01713699
+v -0.13240660 -0.11500977 0.01911041
+v -0.12651870 -0.11506614 0.02058275
+v -0.12651870 -0.10910310 0.02061808
+v -0.12651870 -0.10320768 0.02062252
+v -0.12651870 -0.09140560 0.02062477
+v -0.12651870 -0.01469763 0.02062947
+v -0.12651870 -0.00879095 0.02062728
+v -0.12943513 0.00009163 0.01996730
+v -0.10655305 0.00009171 -0.00192131
+v -0.12094874 -0.11500969 -0.00192173
+v -0.13588553 -0.11506610 0.01014394
+v -0.13692187 -0.11506611 0.01331598
+v -0.13692799 -0.11506611 0.01334246
+v -0.13639301 -0.11506612 0.01713478
+v -0.13240660 -0.11506613 0.01910820
+v -0.12063692 -0.11506613 0.01888525
+v -0.12651870 0.00009162 0.02062069
+v -0.10605169 -0.11506605 -0.00192173
+v -0.11776634 0.00009164 0.01585270
+v -0.11752789 -0.11506612 0.01628052
+v -0.12094263 -0.11506605 -0.00192173
+v -0.12071029 0.00009163 0.01861416
+v -0.12358698 0.00009163 0.01960970
+v -0.11922456 0.00009164 0.01722129
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 15
+f 2 15 16
+f 2 16 12
+f 3 17 18
+f 3 18 19
+f 3 19 4
+f 3 13 17
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 5 22 6
+f 5 21 23
+f 5 23 22
+f 6 24 7
+f 6 22 24
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 8 27 28
+f 8 28 9
+f 8 26 27
+f 9 28 10
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 11
+f 10 28 29
+f 11 33 14
+f 12 16 15
+f 12 15 35
+f 12 35 34
+f 12 34 48
+f 12 48 57
+f 12 57 60
+f 12 60 49
+f 12 49 36
+f 12 36 18
+f 12 18 17
+f 12 17 13
+f 14 33 32
+f 14 32 31
+f 14 31 30
+f 14 30 47
+f 14 47 56
+f 14 56 62
+f 14 62 61
+f 14 61 63
+f 14 63 58
+f 14 58 48
+f 14 48 34
+f 14 34 35
+f 14 35 15
+f 18 36 19
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 23
+f 22 23 41
+f 22 41 42
+f 22 42 24
+f 23 40 41
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 27
+f 25 27 26
+f 27 45 28
+f 27 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 54 41
+f 41 54 53
+f 41 53 52
+f 41 52 51
+f 41 51 50
+f 41 50 60
+f 41 60 57
+f 41 57 59
+f 41 59 55
+f 41 55 42
+f 42 55 43
+f 43 55 44
+f 44 55 45
+f 45 55 46
+f 46 56 47
+f 46 55 56
+f 48 58 59
+f 48 59 57
+f 49 60 50
+f 55 59 61
+f 55 61 62
+f 55 62 56
+f 58 63 59
+f 59 63 61
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_15.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.06774554 0.17941384 0.01334533
+v 0.06774554 0.17799125 0.00985754
+v 0.06228403 0.17913433 0.01309579
+v 0.06228403 0.17923445 0.01334533
+v 0.06228403 0.17859198 0.01740142
+v 0.06228403 0.17852939 0.01770000
+v 0.06774554 0.17852523 0.01749517
+v 0.07363245 0.17843762 0.01736824
+v 0.07363245 0.17928451 0.01334533
+v 0.07363245 0.17794952 0.00988206
+v 0.06228403 0.17017318 0.00627166
+v 0.06228403 0.17781185 0.01002630
+v 0.06228403 0.17433666 0.01998189
+v 0.06228403 0.17369001 0.02030932
+v 0.07363245 0.17415310 0.01949435
+v 0.07951936 0.17415310 0.01917558
+v 0.07951936 0.17816644 0.01714033
+v 0.07951936 0.17875469 0.01334533
+v 0.07951936 0.17769088 0.01009987
+v 0.07951936 0.16923450 0.00627165
+v 0.07365990 0.16968506 0.00627165
+v 0.06774554 0.17005219 0.00627165
+v 0.06228403 0.15723202 0.00627161
+v 0.06228403 0.16824988 0.02100743
+v 0.07951936 0.16824988 0.02062663
+v 0.08540627 0.16824988 0.02043479
+v 0.09129317 0.16824989 0.02006120
+v 0.08540627 0.17415310 0.01856976
+v 0.08540627 0.17765747 0.01664846
+v 0.08887117 0.17726532 0.01621429
+v 0.08887117 0.17726532 0.01502574
+v 0.08559838 0.17770754 0.01328906
+v 0.08375958 0.17737380 0.01040278
+v 0.08572188 0.16797459 0.00627165
+v 0.10443923 0.13679402 0.00627153
+v 0.10877551 0.13679399 0.01337402
+v 0.11118379 0.13679398 0.01676659
+v 0.06228403 0.16034422 0.01366403
+v 0.09718008 0.16235085 0.02055449
+v 0.06228403 0.16424073 0.01929381
+v 0.11477906 0.13679397 0.01925333
+v 0.12072085 0.13679396 0.02053564
+v 0.11483395 0.14464960 0.02062510
+v 0.10306013 0.15645183 0.02065543
+v 0.10306013 0.16235086 0.02001214
+v 0.09718008 0.16824989 0.01936884
+v 0.09718008 0.17276804 0.01732782
+v 0.09101873 0.17443262 0.01753987
+v 0.10133797 0.17184188 0.01666142
+v 0.09718008 0.17380268 0.01334531
+v 0.08768419 0.17689822 0.01147594
+v 0.09101873 0.17614309 0.01328906
+v 0.10065871 0.17148730 0.01041718
+v 0.09718008 0.17223406 0.00988348
+v 0.09129317 0.17334379 0.00936711
+v 0.09737220 0.16210894 0.00627163
+v 0.12089925 0.13679402 0.00627153
+v 0.06228403 0.16361494 0.01901975
+v 0.10894703 0.15645184 0.02024290
+v 0.12660776 0.13679397 0.01942786
+v 0.12072085 0.13874640 0.02049094
+v 0.11483395 0.15055281 0.02021115
+v 0.10894703 0.16235086 0.01882791
+v 0.10320422 0.16856695 0.01780814
+v 0.10894703 0.16653943 0.01692393
+v 0.11206202 0.16543806 0.01615656
+v 0.10438434 0.17021070 0.01334530
+v 0.10144089 0.17189612 0.01334530
+v 0.11150626 0.16497918 0.01179467
+v 0.10758166 0.16640178 0.00993972
+v 0.10279940 0.16832085 0.00950700
+v 0.10306013 0.16235090 0.00754096
+v 0.10306013 0.15829586 0.00627161
+v 0.12089238 0.13682322 0.00627153
+v 0.12817897 0.13679401 0.00888664
+v 0.11483395 0.15645184 0.01905002
+v 0.13123220 0.13679398 0.01735943
+v 0.12660776 0.13874641 0.01918122
+v 0.12072085 0.14464961 0.01993274
+v 0.11434680 0.16197957 0.01699603
+v 0.11206202 0.16543806 0.01534447
+v 0.11814104 0.15976848 0.01634405
+v 0.10930382 0.16695246 0.01348086
+v 0.11770879 0.15933463 0.01087439
+v 0.11378418 0.16104509 0.00981277
+v 0.10930382 0.16274724 0.00916080
+v 0.10767771 0.15517946 0.00627160
+v 0.12029546 0.13866719 0.00627154
+v 0.13068332 0.13679400 0.00983431
+v 0.12660776 0.13874645 0.00861403
+v 0.12072085 0.15055281 0.01874853
+v 0.12035035 0.15593871 0.01696572
+v 0.13236430 0.13679399 0.01334517
+v 0.13087542 0.13874642 0.01719212
+v 0.12684790 0.14464128 0.01769266
+v 0.11814104 0.15976849 0.01442419
+v 0.12376036 0.15362749 0.01611468
+v 0.12376036 0.15362749 0.01552184
+v 0.12330753 0.15304761 0.01197204
+v 0.12464546 0.14911354 0.00998293
+v 0.11938292 0.15540473 0.00981563
+v 0.11538284 0.15700256 0.00908866
+v 0.11352346 0.14924289 0.00627158
+v 0.12072085 0.14464965 0.00766638
+v 0.12660776 0.14423662 0.00960067
+v 0.13034711 0.13874644 0.01003193
+v 0.13147921 0.13679400 0.01112816
+v 0.12477582 0.15055282 0.01686617
+v 0.12969529 0.14199633 0.01053679
+v 0.13167818 0.13874643 0.01334518
+v 0.13003836 0.14266798 0.01653150
+v 0.12837794 0.14559664 0.01334520
+v 0.12513947 0.15086989 0.01358754
+v 0.12109135 0.15086991 0.00918671
+v 0.13002464 0.14264713 0.01334519
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 11
+f 3 11 23
+f 3 23 38
+f 3 38 58
+f 3 58 40
+f 3 40 24
+f 3 24 14
+f 3 14 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 19 20
+f 11 22 21
+f 11 21 20
+f 11 20 34
+f 11 34 56
+f 11 56 73
+f 11 73 87
+f 11 87 103
+f 11 103 88
+f 11 88 74
+f 11 74 57
+f 11 57 35
+f 11 35 23
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 14 16 15
+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 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 24 39 25
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 39
+f 25 39 26
+f 26 39 27
+f 27 39 45
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 29 48 30
+f 30 48 47
+f 30 47 49
+f 30 49 50
+f 30 50 31
+f 31 51 32
+f 31 50 52
+f 31 52 51
+f 32 51 33
+f 33 51 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 54
+f 34 54 56
+f 35 57 75
+f 35 75 89
+f 35 89 107
+f 35 107 93
+f 35 93 77
+f 35 77 60
+f 35 60 42
+f 35 42 41
+f 35 41 37
+f 35 37 36
+f 37 41 58
+f 37 58 38
+f 39 44 59
+f 39 59 45
+f 40 58 41
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 59
+f 43 59 44
+f 45 59 63
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 51 52
+f 50 68 53
+f 50 53 51
+f 53 68 67
+f 53 67 69
+f 53 69 70
+f 53 70 71
+f 53 71 54
+f 54 71 56
+f 56 71 72
+f 56 72 73
+f 57 74 75
+f 59 62 76
+f 59 76 63
+f 60 77 78
+f 60 78 79
+f 60 79 61
+f 61 79 62
+f 62 79 76
+f 63 65 64
+f 63 76 80
+f 63 80 65
+f 65 80 66
+f 66 81 67
+f 66 80 82
+f 66 82 96
+f 66 96 81
+f 67 81 83
+f 67 83 69
+f 69 83 81
+f 69 81 84
+f 69 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 72
+f 70 72 71
+f 72 87 73
+f 74 88 75
+f 75 88 90
+f 75 90 89
+f 76 79 91
+f 76 91 92
+f 76 92 82
+f 76 82 80
+f 77 93 94
+f 77 94 78
+f 78 94 95
+f 78 95 91
+f 78 91 79
+f 81 96 84
+f 82 92 97
+f 82 97 98
+f 82 98 96
+f 84 96 98
+f 84 98 99
+f 84 99 100
+f 84 100 101
+f 84 101 85
+f 85 101 102
+f 85 102 87
+f 85 87 86
+f 87 102 103
+f 88 104 105
+f 88 105 90
+f 88 103 104
+f 89 106 107
+f 89 90 106
+f 90 105 106
+f 91 95 108
+f 91 108 92
+f 92 108 97
+f 93 107 109
+f 93 109 110
+f 93 110 111
+f 93 111 94
+f 94 111 95
+f 95 111 108
+f 97 108 111
+f 97 111 112
+f 97 112 98
+f 98 112 113
+f 98 113 99
+f 99 113 112
+f 99 112 109
+f 99 109 100
+f 100 114 101
+f 100 109 105
+f 100 105 104
+f 100 104 103
+f 100 103 114
+f 101 114 103
+f 101 103 102
+f 105 109 106
+f 106 109 107
+f 109 112 115
+f 109 115 110
+f 110 115 111
+f 111 115 112
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_16.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06765114 0.17940226 0.01334417
+v -0.06176319 0.17922466 0.01334417
+v -0.06765114 0.17799709 0.00985098
+v -0.06935433 0.17798599 0.00985605
+v -0.06935433 0.17936895 0.01334417
+v -0.06935433 0.17912033 0.01450518
+v -0.06765114 0.17863417 0.01689311
+v -0.04999114 0.17886061 0.01689311
+v -0.05550146 0.17844105 0.01288585
+v -0.06176319 0.17780396 0.01003452
+v -0.04999114 0.17825013 0.01417360
+v -0.04343656 0.17011210 0.00653421
+v -0.04410704 0.17015428 0.00653422
+v -0.05634921 0.17053389 0.00653422
+v -0.06246451 0.17066708 0.00653422
+v -0.06815593 0.17043843 0.00653422
+v -0.06935433 0.17126422 0.00693880
+v -0.06765114 0.17046729 0.00653422
+v -0.06935433 0.17860308 0.01689311
+v -0.04447697 0.17820574 0.01689310
+v -0.05721236 0.17746875 0.01034784
+v -0.04541334 0.17772180 0.01521394
+v -0.05328963 0.17696706 0.01080616
+v -0.03581074 0.16772574 0.00653421
+v -0.06935433 0.17032078 0.00653422
+v -0.06935433 0.16193182 0.01689304
+v -0.04223045 0.17750203 0.01689310
+v -0.04149060 0.17695372 0.01620967
+v -0.03854663 0.17608575 0.01689310
+v -0.03823065 0.17592148 0.01689310
+v -0.03315191 0.17315108 0.01689309
+v -0.03357578 0.16612743 0.00653420
+v -0.06935433 0.15672404 0.00653417
+v -0.06935433 0.16016481 0.01421207
+v -0.04410704 0.16101502 0.01689304
+v -0.03139092 0.16825181 0.01689307
+v -0.02998829 0.16192076 0.00653418
+v -0.04410704 0.15738112 0.00653417
+v -0.06935433 0.15981851 0.01344347
+v -0.04066984 0.15920806 0.01126238
+v -0.04047332 0.16129473 0.01689304
+v -0.03337541 0.16414282 0.01689305
+v -0.03419617 0.16330370 0.01689305
+v -0.03344477 0.15858651 0.00653417
+v -0.03843103 0.15766748 0.00653417
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 16 17
+f 4 17 25
+f 4 25 33
+f 4 33 39
+f 4 39 34
+f 4 34 26
+f 4 26 19
+f 4 19 6
+f 4 6 5
+f 4 15 18
+f 4 18 16
+f 6 19 7
+f 7 19 26
+f 7 26 35
+f 7 35 41
+f 7 41 43
+f 7 43 42
+f 7 42 36
+f 7 36 31
+f 7 31 30
+f 7 30 29
+f 7 29 27
+f 7 27 20
+f 7 20 8
+f 8 20 11
+f 9 21 10
+f 9 11 21
+f 10 21 12
+f 11 20 22
+f 11 22 23
+f 11 23 21
+f 12 21 23
+f 12 23 24
+f 12 24 32
+f 12 32 37
+f 12 37 44
+f 12 44 45
+f 12 45 38
+f 12 38 33
+f 12 33 25
+f 12 25 16
+f 12 16 18
+f 12 18 15
+f 12 15 14
+f 12 14 13
+f 16 25 17
+f 20 27 22
+f 22 27 28
+f 22 28 24
+f 22 24 23
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 28 29
+f 26 34 35
+f 27 29 28
+f 31 36 37
+f 31 37 32
+f 33 38 35
+f 33 35 39
+f 34 39 35
+f 35 38 40
+f 35 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 38 45 40
+f 40 45 41
+f 41 45 44
+f 41 44 43
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_17.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.07108587 -0.14456029 -0.00331880
+v 0.07108587 -0.15623288 0.00632905
+v 0.07108587 -0.16407401 -0.00331887
+v 0.02645628 -0.14460049 -0.00331880
+v -0.06728617 -0.14457536 -0.00331689
+v 0.07108587 -0.16970682 0.00632900
+v -0.06728617 -0.15675295 0.00643212
+v -0.04233694 -0.15710216 0.00643212
+v -0.03659402 -0.15749660 0.00643212
+v -0.03300469 -0.15844880 0.00643212
+v -0.03254417 -0.15867994 0.00643212
+v -0.02949663 -0.16072000 0.00643211
+v 0.07108587 -0.16426746 -0.00302107
+v 0.06959596 -0.16431018 -0.00331887
+v 0.02055082 -0.14460803 -0.00331880
+v -0.06728617 -0.16455639 -0.00331696
+v 0.01465890 -0.14462310 -0.00331880
+v 0.00284797 -0.14465827 -0.00331880
+v -0.00000995 -0.14466833 -0.00331880
+v -0.02949663 -0.16169481 0.00643211
+v -0.03262544 -0.16547847 0.00643209
+v -0.03349230 -0.16600858 0.00643209
+v -0.03812456 -0.16811647 0.00643208
+v -0.04409775 -0.16994297 0.00643208
+v 0.06764553 -0.16989776 0.00632900
+v 0.06184842 -0.16491817 -0.00331888
+v 0.06327061 -0.16483275 -0.00331888
+v 0.06772680 -0.16455137 -0.00331887
+v 0.06826858 -0.16449358 -0.00331887
+v -0.06728617 -0.17003594 0.00643208
+v -0.00000995 -0.16577741 -0.00331888
+v -0.06175996 -0.16491817 -0.00331697
+v -0.06175996 -0.17022688 0.00643207
+v 0.06182134 -0.17002337 0.00632900
+v 0.03829430 -0.16578243 -0.00331888
+v 0.05794757 -0.16509153 -0.00331888
+v -0.05586804 -0.16515685 -0.00331697
+v -0.03232746 -0.16582263 -0.00331697
+v -0.03820583 -0.16573973 -0.00331697
+v 0.03241592 -0.16583017 -0.00331888
+v -0.03232746 -0.16625225 -0.00237013
+v 0.03241592 -0.16625476 -0.00238349
+v 0.03829430 -0.16628742 -0.00228231
+v 0.03608652 -0.16582012 -0.00331888
+f 1 2 6
+f 1 6 13
+f 1 13 3
+f 1 3 14
+f 1 14 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 36
+f 1 36 35
+f 1 35 44
+f 1 44 40
+f 1 40 31
+f 1 31 19
+f 1 19 18
+f 1 18 17
+f 1 17 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 20
+f 2 20 6
+f 3 13 14
+f 4 15 5
+f 5 16 30
+f 5 30 7
+f 5 15 17
+f 5 17 18
+f 5 18 19
+f 5 19 31
+f 5 31 16
+f 6 14 13
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 29
+f 6 29 14
+f 7 30 33
+f 7 33 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 16 31 32
+f 16 32 30
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 30 32 37
+f 30 37 33
+f 31 38 39
+f 31 39 37
+f 31 37 32
+f 31 40 38
+f 33 37 39
+f 33 39 38
+f 33 38 41
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 38 40 42
+f 38 42 41
+f 40 44 43
+f 40 43 42
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_18.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.06748113 0.17005573 0.00627165
+v 0.06774259 0.17005247 0.00627165
+v 0.06748113 0.16477752 -0.00333640
+v 0.06748113 0.15686176 0.00627161
+v 0.06774259 0.16476449 -0.00333640
+v 0.07365678 0.16968452 0.00627165
+v 0.06748113 0.14467723 -0.00333648
+v 0.07432612 0.13944457 -0.00333650
+v 0.10444092 0.13679727 0.00627153
+v 0.07951868 0.16923192 0.00627165
+v 0.06992316 0.16448446 -0.00333641
+v 0.08555838 0.13679730 -0.00333651
+v 0.12090234 0.13679727 0.00627153
+v 0.08572048 0.16797830 0.00627165
+v 0.07520462 0.16362157 -0.00333641
+v 0.07401237 0.16384951 -0.00333641
+v 0.11358150 0.13679730 -0.00333651
+v 0.12030099 0.13866306 0.00627154
+v 0.09063591 0.15847033 -0.00333643
+v 0.08606561 0.16053473 -0.00333642
+v 0.08529169 0.16082127 -0.00333642
+v 0.08038673 0.16241028 -0.00333641
+v 0.07951868 0.16265775 -0.00333641
+v 0.09737107 0.16211069 0.00627163
+v 0.11296447 0.13798255 -0.00333650
+v 0.11194477 0.13961389 -0.00333650
+v 0.11352922 0.14924233 0.00627158
+v 0.09210530 0.15766931 -0.00333643
+v 0.10306042 0.15829446 0.00627161
+v 0.09668082 0.15491786 -0.00333644
+v 0.11005705 0.14224161 -0.00333649
+v 0.10849352 0.14422462 -0.00333648
+v 0.10739017 0.14555639 -0.00333648
+v 0.10395460 0.14910560 -0.00333646
+v 0.10767777 0.15517831 0.00627160
+v 0.09809793 0.15395077 -0.00333644
+v 0.10272574 0.15019968 -0.00333646
+v 0.10115177 0.15157377 -0.00333645
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 27
+f 1 27 35
+f 1 35 29
+f 1 29 24
+f 1 24 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 11
+f 3 11 16
+f 3 16 15
+f 3 15 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 28
+f 3 28 30
+f 3 30 36
+f 3 36 38
+f 3 38 37
+f 3 37 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 26
+f 3 26 25
+f 3 25 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 8 12 9
+f 9 12 17
+f 9 17 13
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 14 24 19
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 19 24 28
+f 24 29 30
+f 24 30 28
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 29 35 30
+f 30 35 36
+f 34 37 35
+f 35 37 38
+f 35 38 36
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_19.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.04419056 -0.16128084 0.01830812
+v 0.00887018 -0.16414233 0.02870464
+v 0.01475476 -0.16414591 0.02870180
+v 0.02065226 -0.16415128 0.02869613
+v 0.03240848 -0.16285645 0.02399777
+v 0.03829305 -0.16287613 0.02399777
+v 0.04463028 -0.16130051 0.01830812
+v 0.03877158 -0.16172079 0.01830812
+v -0.06922004 -0.16291187 0.01840596
+v -0.04409097 -0.16130766 0.01840597
+v -0.00878354 -0.16413518 0.02871173
+v -0.00291190 -0.16413518 0.02871031
+v 0.01475476 -0.16593791 0.03136368
+v 0.02065226 -0.16595043 0.03135942
+v 0.02652390 -0.16416917 0.02865642
+v 0.03240848 -0.16425679 0.02843802
+v 0.03829305 -0.16444993 0.02791472
+v 0.04419056 -0.16339834 0.02399777
+v 0.05050192 -0.16168681 0.01830812
+v 0.03293874 -0.16353066 0.01830811
+v -0.04409097 -0.16139709 0.01867117
+v 0.02692483 -0.16812866 0.01830809
+v -0.06922004 -0.17638754 0.01840591
+v -0.06922004 -0.16294943 0.01846127
+v -0.03820640 -0.16445888 0.02790338
+v -0.03820640 -0.16287076 0.02399918
+v -0.02055268 -0.16414233 0.02871173
+v -0.01466811 -0.16413697 0.02871315
+v -0.02055268 -0.16593433 0.03137502
+v -0.00878354 -0.16593433 0.03137502
+v 0.00298561 -0.16593612 0.03137077
+v 0.00887018 -0.16593791 0.03136793
+v 0.01475476 -0.16888879 0.03277757
+v 0.02065226 -0.16890131 0.03276906
+v 0.02652390 -0.16896211 0.03273644
+v 0.02652390 -0.16601124 0.03131972
+v 0.03240848 -0.16643330 0.03110132
+v 0.04419056 -0.16485591 0.02713756
+v 0.06290479 -0.16295122 0.01830811
+v 0.03059784 -0.17386767 0.01830807
+v -0.04304339 -0.17782545 0.02756581
+v -0.04697506 -0.17685077 0.02660713
+v -0.06922004 -0.17515712 0.01902850
+v 0.03829305 -0.17692943 0.01830806
+v 0.04369910 -0.17843886 0.01830805
+v -0.05811048 -0.17832976 0.01840590
+v -0.03820640 -0.17841742 0.02843087
+v -0.06922004 -0.16812867 0.02063529
+v -0.04705266 -0.16516887 0.02666673
+v -0.04409097 -0.16487379 0.02712196
+v -0.03233476 -0.16644044 0.03109990
+v -0.02643726 -0.16598977 0.03133815
+v -0.03233476 -0.16426215 0.02843661
+v -0.02643726 -0.16416737 0.02867486
+v -0.01466811 -0.16888342 0.03277615
+v -0.00291190 -0.16888521 0.03277757
+v -0.02055268 -0.16888342 0.03277332
+v -0.00002781 -0.16888521 0.03277757
+v -0.00002781 -0.16593612 0.03137219
+v -0.01466811 -0.17402689 0.03279457
+v 0.01475476 -0.17402510 0.03279315
+v 0.02065226 -0.17402510 0.03278464
+v 0.03240848 -0.17334193 0.03255207
+v 0.03240848 -0.16938239 0.03255209
+v 0.03637895 -0.17019433 0.03225568
+v 0.03831892 -0.16818773 0.03069571
+v 0.04717811 -0.16515278 0.02668517
+v 0.06290479 -0.16340905 0.01899592
+v 0.06290479 -0.17708503 0.01830806
+v -0.03821933 -0.17407874 0.03110129
+v -0.03233476 -0.17620875 0.03169974
+v -0.06922004 -0.17402684 0.01959150
+v 0.04429402 -0.17849607 0.01830805
+v -0.05023421 -0.17906299 0.01840590
+v -0.04998848 -0.17910056 0.01867110
+v -0.03820640 -0.17954769 0.02399912
+v -0.04464710 -0.17859982 0.02449974
+v -0.03233476 -0.17858553 0.02903643
+v -0.02795043 -0.17684542 0.03192523
+v -0.03625350 -0.17214906 0.03224859
+v -0.03625350 -0.17021758 0.03224859
+v -0.03821933 -0.16820202 0.03067870
+v -0.03233476 -0.16939133 0.03254074
+v -0.02643726 -0.16894065 0.03273644
+v -0.02055268 -0.17402689 0.03279315
+v -0.02055268 -0.17700459 0.03200323
+v 0.02065226 -0.17699923 0.03199897
+v 0.02422181 -0.17699207 0.03199472
+v 0.02631697 -0.17456699 0.03259177
+v 0.02814055 -0.17689549 0.03194650
+v 0.03240848 -0.17629281 0.03173520
+v 0.03637895 -0.17221165 0.03225568
+v 0.06290479 -0.16858471 0.02101252
+v 0.04419056 -0.16812870 0.02862095
+v 0.05963271 -0.16508658 0.02139685
+v 0.06290479 -0.17402505 0.02003822
+v 0.04704878 -0.17682394 0.02659437
+v 0.04311710 -0.17784334 0.02759559
+v 0.05862393 -0.17832438 0.01830805
+v -0.03233476 -0.17325787 0.03254072
+v 0.05007513 -0.17900398 0.01830805
+v 0.05007513 -0.17908446 0.01867252
+v 0.03829305 -0.17955126 0.02399771
+v -0.02055268 -0.17859805 0.02932148
+v -0.02616566 -0.17827077 0.02981926
+v -0.02401876 -0.17699566 0.03199756
+v -0.02616566 -0.17453838 0.03259319
+v 0.02065226 -0.17859805 0.02932148
+v -0.01466811 -0.17700459 0.03200181
+v 0.02631697 -0.17826898 0.02983203
+v 0.03240848 -0.17858197 0.02907188
+v 0.03829305 -0.17842814 0.02847200
+v 0.03831892 -0.17411809 0.03114100
+v 0.04472081 -0.17452405 0.02840678
+v 0.04472081 -0.17860162 0.02449264
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 39
+f 1 39 69
+f 1 69 99
+f 1 99 101
+f 1 101 73
+f 1 73 45
+f 1 45 44
+f 1 44 40
+f 1 40 22
+f 1 22 20
+f 1 20 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 13 3
+f 2 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 4 6 5
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 9
+f 9 21 10
+f 9 20 22
+f 9 22 23
+f 9 23 43
+f 9 43 72
+f 9 72 48
+f 9 48 24
+f 9 24 25
+f 9 25 26
+f 9 26 21
+f 10 21 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 29
+f 11 29 30
+f 11 30 12
+f 12 30 31
+f 12 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 15
+f 15 36 16
+f 16 37 17
+f 16 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 18
+f 18 39 19
+f 22 40 23
+f 23 41 42
+f 23 42 43
+f 23 40 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 41
+f 24 48 49
+f 24 49 50
+f 24 50 25
+f 25 51 52
+f 25 52 53
+f 25 53 26
+f 25 50 51
+f 26 53 54
+f 26 54 27
+f 27 54 29
+f 27 29 28
+f 29 55 56
+f 29 56 58
+f 29 58 30
+f 29 54 52
+f 29 52 57
+f 29 57 55
+f 30 58 33
+f 30 33 59
+f 30 59 31
+f 31 59 33
+f 31 33 32
+f 33 58 60
+f 33 60 61
+f 33 61 62
+f 33 62 34
+f 34 62 35
+f 35 62 63
+f 35 63 64
+f 35 64 36
+f 36 64 37
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 37 67 38
+f 38 67 39
+f 39 68 93
+f 39 93 96
+f 39 96 69
+f 39 67 68
+f 41 70 42
+f 41 47 71
+f 41 71 70
+f 42 70 72
+f 42 72 43
+f 45 73 46
+f 46 73 74
+f 46 74 75
+f 46 75 76
+f 46 76 77
+f 46 77 47
+f 47 76 78
+f 47 78 79
+f 47 79 71
+f 47 77 76
+f 48 72 80
+f 48 80 81
+f 48 81 49
+f 49 81 82
+f 49 82 51
+f 49 51 50
+f 51 82 81
+f 51 81 83
+f 51 83 52
+f 52 54 53
+f 52 83 84
+f 52 84 57
+f 55 57 85
+f 55 85 60
+f 55 60 56
+f 56 60 58
+f 57 84 85
+f 60 85 86
+f 60 86 61
+f 61 87 62
+f 61 86 87
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 65
+f 63 65 64
+f 65 92 93
+f 65 93 94
+f 65 94 67
+f 65 67 66
+f 67 94 93
+f 67 93 95
+f 67 95 68
+f 68 95 93
+f 69 96 97
+f 69 97 98
+f 69 98 99
+f 70 71 80
+f 70 80 72
+f 71 79 100
+f 71 100 80
+f 73 101 74
+f 74 101 102
+f 74 102 75
+f 75 102 103
+f 75 103 76
+f 76 103 104
+f 76 104 78
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 100
+f 80 100 83
+f 80 83 81
+f 83 100 84
+f 84 100 85
+f 85 100 107
+f 85 107 106
+f 85 106 86
+f 86 106 104
+f 86 104 108
+f 86 108 109
+f 86 109 87
+f 87 108 88
+f 87 109 108
+f 88 110 111
+f 88 111 90
+f 88 90 89
+f 88 108 110
+f 90 111 112
+f 90 112 91
+f 91 112 98
+f 91 98 113
+f 91 113 92
+f 92 113 114
+f 92 114 93
+f 93 114 96
+f 96 114 97
+f 97 114 113
+f 97 113 98
+f 98 112 99
+f 99 115 103
+f 99 103 102
+f 99 102 101
+f 99 112 115
+f 103 115 112
+f 103 112 111
+f 103 111 108
+f 103 108 104
+f 104 106 105
+f 108 111 110
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_2.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.12233371 0.00010507 -0.00047331
+v -0.12115971 0.00892329 -0.00263567
+v -0.12115971 0.00010508 -0.00263570
+v -0.10862111 0.00010507 -0.00047331
+v -0.12233003 0.01254959 -0.00047326
+v -0.11873076 0.00892331 -0.00685753
+v -0.11873076 0.00302221 -0.00686217
+v -0.11873076 0.00010510 -0.00686334
+v -0.12229323 0.08562433 -0.00047300
+v -0.12111555 0.08562434 -0.00263539
+v -0.11870867 0.07972325 -0.00682836
+v -0.08473630 0.00010508 -0.00326823
+v -0.09965234 0.13678066 -0.00047281
+v -0.11635331 0.05613219 -0.00950424
+v -0.11756044 0.00010510 -0.00818158
+v -0.12228955 0.08922388 -0.00047298
+v -0.12110819 0.09152546 -0.00263536
+v -0.11870131 0.09152548 -0.00682137
+v -0.11870499 0.08562436 -0.00682602
+v -0.08473630 0.00010512 -0.01227509
+v -0.08473630 0.00038609 -0.00326823
+v -0.08473630 0.13678067 -0.00336023
+v -0.11523820 0.13678066 -0.00047281
+v -0.08473630 0.00892329 -0.00327051
+v -0.08473630 0.02662663 -0.00327622
+v -0.08473630 0.04490535 -0.00328772
+v -0.08473630 0.05023106 -0.00329117
+v -0.08473630 0.06260868 -0.00330037
+v -0.11634963 0.06203331 -0.00950191
+v -0.11338335 0.09742659 -0.01135080
+v -0.11338704 0.09152549 -0.01135197
+v -0.11340911 0.05613220 -0.01135788
+v -0.11636435 0.00302221 -0.00952526
+v -0.11636435 0.00010510 -0.00952643
+v -0.12228587 0.09152545 -0.00047297
+v -0.12227851 0.09512499 -0.00047296
+v -0.12108979 0.09742656 -0.00263534
+v -0.11869027 0.09742658 -0.00681094
+v -0.11632755 0.09742658 -0.00947403
+v -0.11633123 0.09152548 -0.00948446
+v -0.08531410 0.00010512 -0.01227509
+v -0.08473630 0.03785349 -0.01228420
+v -0.08473630 0.13678071 -0.01226533
+v -0.11234552 0.13678068 -0.00523353
+v -0.11218727 0.13641939 -0.00583137
+v -0.11675814 0.13395723 -0.00047282
+v -0.11336864 0.10332770 -0.01134846
+v -0.10886033 0.10332770 -0.01216601
+v -0.10886033 0.09742659 -0.01217065
+v -0.10886033 0.05613220 -0.01218121
+v -0.11341279 0.02662666 -0.01136031
+v -0.11342384 0.00010511 -0.01136041
+v -0.12227115 0.09742655 -0.00047295
+v -0.12225643 0.10099933 -0.00047294
+v -0.12224539 0.10332766 -0.00047293
+v -0.12105667 0.10332767 -0.00263532
+v -0.11867187 0.10332768 -0.00678779
+v -0.11631283 0.10332769 -0.00945088
+v -0.09417614 0.00010512 -0.01227393
+v -0.09709089 0.03842889 -0.01228188
+v -0.08531410 0.03842889 -0.01228420
+v -0.08473630 0.04375460 -0.01228533
+v -0.08473630 0.13283327 -0.01226997
+v -0.09120250 0.13283327 -0.01226188
+v -0.09120250 0.13678071 -0.01225493
+v -0.11160579 0.13678068 -0.00618984
+v -0.10933508 0.13678069 -0.00847711
+v -0.11064156 0.13283326 -0.00959878
+v -0.11306684 0.13283325 -0.00693570
+v -0.11605521 0.13277970 -0.00249182
+v -0.11727706 0.13277969 -0.00047282
+v -0.11330607 0.10922882 -0.01133688
+v -0.10886033 0.10922882 -0.01215442
+v -0.10297560 0.12103104 -0.01225383
+v -0.10297560 0.11512993 -0.01225963
+v -0.10297560 0.10922883 -0.01226428
+v -0.10297560 0.10332771 -0.01226777
+v -0.10297560 0.09742660 -0.01227010
+v -0.10297560 0.05613221 -0.01227488
+v -0.10886033 0.02662666 -0.01218363
+v -0.10297560 0.09152550 -0.01227128
+v -0.10886033 0.00010511 -0.01218026
+v -0.12219019 0.10683353 -0.00047292
+v -0.12094258 0.10922879 -0.00263530
+v -0.11860930 0.10922880 -0.00669295
+v -0.11624658 0.10922881 -0.00935604
+v -0.09709089 0.00010512 -0.01227277
+v -0.10297560 0.03252777 -0.01227497
+v -0.09709089 0.05613221 -0.01228181
+v -0.09120250 0.04432999 -0.01228418
+v -0.10006085 0.00010512 -0.01227046
+v -0.10297560 0.00010512 -0.01226815
+v -0.08473630 0.05613221 -0.01228644
+v -0.08473630 0.10922883 -0.01228278
+v -0.09709089 0.10332771 -0.01227702
+v -0.09709089 0.12103104 -0.01226539
+v -0.09709089 0.12693215 -0.01225843
+v -0.09709089 0.13678070 -0.01218901
+v -0.09709089 0.13283326 -0.01224684
+v -0.10658593 0.13678070 -0.01096790
+v -0.11155795 0.12946118 -0.01049960
+v -0.11400899 0.12726667 -0.00841932
+v -0.11717033 0.12693212 -0.00441371
+v -0.11806094 0.13077250 -0.00061969
+v -0.11811247 0.13086618 -0.00047283
+v -0.11311101 0.11512992 -0.01129407
+v -0.10886033 0.11512992 -0.01210815
+v -0.10297560 0.12693214 -0.01223183
+v -0.09709089 0.09742660 -0.01227935
+v -0.10594557 0.00010511 -0.01222421
+v -0.12214234 0.10922878 -0.00047291
+v -0.12196937 0.11252055 -0.00047290
+v -0.11839953 0.11512990 -0.00638534
+v -0.11605521 0.11512991 -0.00904843
+v -0.11272091 0.12103103 -0.01115298
+v -0.09120250 0.05613221 -0.01228413
+v -0.09120250 0.09742660 -0.01228282
+v -0.08531410 0.10332771 -0.01228511
+v -0.08473630 0.10332771 -0.01228511
+v -0.10305289 0.13678070 -0.01163049
+v -0.10297560 0.13283326 -0.01207339
+v -0.10769737 0.13283326 -0.01126741
+v -0.11224983 0.12552712 -0.01090550
+v -0.11605153 0.12153950 -0.00777178
+v -0.11765979 0.12384106 -0.00524630
+v -0.11948520 0.12686520 -0.00047284
+v -0.10886033 0.12103103 -0.01196243
+v -0.12179640 0.11512988 -0.00047289
+v -0.12143205 0.11799347 -0.00047288
+v -0.11806094 0.11990699 -0.00587190
+v -0.10930196 0.12726668 -0.01142585
+v -0.12094258 0.12127186 -0.00047286
+v -0.12031694 0.12374737 -0.00047286
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 34
+f 1 34 52
+f 1 52 82
+f 1 82 110
+f 1 110 92
+f 1 92 91
+f 1 91 87
+f 1 87 59
+f 1 59 41
+f 1 41 20
+f 1 20 12
+f 1 12 4
+f 1 4 13
+f 1 13 23
+f 1 23 46
+f 1 46 71
+f 1 71 105
+f 1 105 126
+f 1 126 133
+f 1 133 132
+f 1 132 129
+f 1 129 128
+f 1 128 112
+f 1 112 111
+f 1 111 83
+f 1 83 55
+f 1 55 54
+f 1 54 53
+f 1 53 36
+f 1 36 35
+f 1 35 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 4 12 13
+f 6 11 7
+f 7 14 15
+f 7 15 8
+f 7 11 14
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 29
+f 11 29 14
+f 12 20 42
+f 12 42 62
+f 12 62 93
+f 12 93 119
+f 12 119 94
+f 12 94 63
+f 12 63 43
+f 12 43 22
+f 12 22 28
+f 12 28 27
+f 12 27 26
+f 12 26 25
+f 12 25 24
+f 12 24 21
+f 12 21 13
+f 13 22 43
+f 13 43 65
+f 13 65 98
+f 13 98 120
+f 13 120 100
+f 13 100 67
+f 13 67 66
+f 13 66 44
+f 13 44 23
+f 13 21 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 22
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 40 29
+f 20 41 42
+f 23 44 45
+f 23 45 46
+f 29 40 30
+f 30 40 47
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 50 51
+f 32 51 52
+f 32 52 34
+f 32 34 33
+f 32 49 50
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 58 47
+f 39 47 40
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 43 63 64
+f 43 64 65
+f 44 66 45
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 47 58 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 79 80
+f 50 80 51
+f 50 78 81
+f 50 81 79
+f 51 80 52
+f 52 80 82
+f 55 83 56
+f 56 83 84
+f 56 84 57
+f 57 84 85
+f 57 85 58
+f 58 85 86
+f 58 86 72
+f 59 87 60
+f 60 88 79
+f 60 79 89
+f 60 89 116
+f 60 116 90
+f 60 90 61
+f 60 87 91
+f 60 91 92
+f 60 92 88
+f 61 90 62
+f 62 90 93
+f 63 94 95
+f 63 95 96
+f 63 96 64
+f 64 96 97
+f 64 97 65
+f 65 97 99
+f 65 99 98
+f 67 100 68
+f 68 101 69
+f 68 100 101
+f 69 101 102
+f 69 102 103
+f 69 103 70
+f 70 103 104
+f 70 104 105
+f 70 105 71
+f 72 86 106
+f 72 106 107
+f 72 107 73
+f 73 107 108
+f 73 108 74
+f 74 108 99
+f 74 99 97
+f 74 97 96
+f 74 96 75
+f 75 96 76
+f 76 96 95
+f 76 95 77
+f 77 95 109
+f 77 109 78
+f 78 109 81
+f 79 88 80
+f 79 81 109
+f 79 109 89
+f 80 88 82
+f 82 88 110
+f 83 111 84
+f 84 111 112
+f 84 112 113
+f 84 113 85
+f 85 113 114
+f 85 114 86
+f 86 114 115
+f 86 115 106
+f 88 92 110
+f 89 109 117
+f 89 117 118
+f 89 118 116
+f 90 116 93
+f 93 116 118
+f 93 118 119
+f 94 119 118
+f 94 118 95
+f 95 118 109
+f 98 99 108
+f 98 108 121
+f 98 121 120
+f 100 120 122
+f 100 122 101
+f 101 122 123
+f 101 123 102
+f 102 123 124
+f 102 124 125
+f 102 125 103
+f 103 125 126
+f 103 126 104
+f 104 126 105
+f 106 115 127
+f 106 127 107
+f 107 127 108
+f 108 127 121
+f 109 118 117
+f 112 128 113
+f 113 129 130
+f 113 130 114
+f 113 128 129
+f 114 130 124
+f 114 124 123
+f 114 123 115
+f 115 123 131
+f 115 131 127
+f 120 121 122
+f 121 131 122
+f 121 127 131
+f 122 131 123
+f 124 130 125
+f 125 130 132
+f 125 132 133
+f 125 133 126
+f 129 132 130
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_20.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06190071 0.17018259 0.00627166
+v 0.06185454 0.17018259 0.00627166
+v 0.06748113 0.17005652 0.00627165
+v 0.03830595 0.16593119 -0.00333640
+v 0.03830595 0.16641786 -0.00232443
+v 0.03242211 0.16598919 -0.00333640
+v 0.03242211 0.16639265 -0.00243353
+v 0.05596409 0.17015738 0.00627166
+v 0.00009392 0.16632961 -0.00235547
+v 0.06748113 0.15686346 0.00627161
+v 0.06748113 0.16477883 -0.00333640
+v 0.06185454 0.16511672 -0.00333640
+v 0.05596409 0.16534618 -0.00333640
+v 0.00009392 0.16590094 -0.00333640
+v 0.05008025 0.17012713 0.00627165
+v 0.00009392 0.16632959 0.00210527
+v 0.04418980 0.17004643 0.00627165
+v 0.06748113 0.14467655 -0.00333648
+v 0.04226370 0.15723414 0.00627161
+v 0.00009392 0.14472950 -0.00333648
+v 0.03242211 0.14442439 -0.00333648
+v 0.00009392 0.16394413 0.00476873
+v 0.03820701 0.16824600 0.00627165
+v 0.00009392 0.16099386 0.00566594
+v 0.03654476 0.15761742 0.00627161
+v 0.00009392 0.15890092 0.00566593
+v 0.03355006 0.16614550 0.00627164
+v 0.02899866 0.16166460 0.00627162
+v 0.03247488 0.16548989 0.00627164
+v 0.03262659 0.15861850 0.00627161
+v 0.02899866 0.16045676 0.00627162
+v 0.03248807 0.15868658 0.00627161
+f 1 2 8
+f 1 8 15
+f 1 15 17
+f 1 17 23
+f 1 23 27
+f 1 27 29
+f 1 29 28
+f 1 28 31
+f 1 31 32
+f 1 32 30
+f 1 30 25
+f 1 25 19
+f 1 19 10
+f 1 10 3
+f 1 3 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 18
+f 3 18 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 6 5
+f 4 13 12
+f 4 12 11
+f 4 11 18
+f 4 18 21
+f 4 21 20
+f 4 20 14
+f 4 14 6
+f 6 14 7
+f 7 14 9
+f 8 9 15
+f 9 14 20
+f 9 20 26
+f 9 26 24
+f 9 24 22
+f 9 22 16
+f 9 16 17
+f 9 17 15
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 19 25 26
+f 19 26 20
+f 23 24 27
+f 24 26 31
+f 24 31 28
+f 24 28 29
+f 24 29 27
+f 25 30 26
+f 26 30 32
+f 26 32 31
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_21.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.07354558 0.16991175 0.00653421
+v -0.07354558 0.15620887 0.00653416
+v -0.07354558 0.16464394 -0.00201641
+v -0.07938140 0.16947737 0.00653421
+v -0.07354558 0.15614404 0.00653333
+v -0.10460166 0.13680698 0.00653409
+v -0.07354558 0.14883716 -0.00201646
+v -0.07402064 0.16456938 -0.00201641
+v -0.08570626 0.16841406 0.00653421
+v -0.07441187 0.16450454 -0.00201641
+v -0.10472742 0.13679726 0.00653409
+v -0.09555218 0.13679729 -0.00201651
+v -0.08598571 0.16835247 0.00653421
+v -0.07942798 0.16335697 -0.00201641
+v -0.12112175 0.13679726 0.00653409
+v -0.11425196 0.13679729 -0.00201651
+v -0.08976759 0.16689693 0.00653420
+v -0.08015920 0.16314625 -0.00201641
+v -0.08547339 0.16142813 -0.00201642
+v -0.12045108 0.13880715 0.00653410
+v -0.11863000 0.14245412 0.00653411
+v -0.11332047 0.13856080 -0.00201650
+v -0.08920403 0.15986884 -0.00201642
+v -0.09149086 0.15872450 -0.00201643
+v -0.09203112 0.15844895 -0.00201643
+v -0.10122965 0.16068898 0.00653418
+v -0.11414485 0.14948872 0.00653414
+v -0.11156926 0.14133898 -0.00201649
+v -0.11291527 0.13920916 -0.00201650
+v -0.11309691 0.13892064 -0.00201650
+v -0.09706586 0.15542116 -0.00201644
+v -0.09993487 0.15344369 -0.00201645
+v -0.10784327 0.15589118 0.00653416
+v -0.11362320 0.15007548 0.00653414
+v -0.10620384 0.14789380 -0.00201647
+v -0.10895175 0.14468772 -0.00201648
+v -0.10312990 0.15074006 -0.00201646
+v -0.10840217 0.15535629 0.00653416
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 26
+f 1 26 33
+f 1 33 38
+f 1 38 34
+f 1 34 27
+f 1 27 21
+f 1 21 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 16
+f 3 16 22
+f 3 22 30
+f 3 30 29
+f 3 29 28
+f 3 28 36
+f 3 36 35
+f 3 35 37
+f 3 37 32
+f 3 32 31
+f 3 31 25
+f 3 25 24
+f 3 24 23
+f 3 23 19
+f 3 19 18
+f 3 18 14
+f 3 14 10
+f 3 10 8
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 5 6 7
+f 6 11 12
+f 6 12 7
+f 9 10 13
+f 10 14 13
+f 11 15 16
+f 11 16 12
+f 13 14 18
+f 13 18 19
+f 13 19 17
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 19 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 25 31 26
+f 26 32 33
+f 26 31 32
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 32 37 33
+f 33 37 35
+f 33 35 38
+f 34 38 35
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_22.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.12102391 -0.13663532 0.00632945
+v 0.12047642 -0.13839021 0.00632944
+v 0.11351072 -0.13663529 -0.00331877
+v 0.10452617 -0.13663532 0.00632945
+v 0.12029556 -0.13875608 0.00632944
+v 0.11294857 -0.13785594 -0.00331878
+v 0.08765693 -0.13663529 -0.00331877
+v 0.07951805 -0.13959465 -0.00331878
+v 0.07108587 -0.15622726 0.00632938
+v 0.11838916 -0.14197770 0.00632943
+v 0.11194648 -0.13946837 -0.00331878
+v 0.11417063 -0.14905230 0.00632940
+v 0.07108587 -0.14455819 -0.00331880
+v 0.07108587 -0.16970947 0.00632933
+v 0.11124747 -0.14059189 -0.00331879
+v 0.11336896 -0.14994593 0.00632940
+v 0.10580200 -0.14726824 -0.00331881
+v 0.10739067 -0.14541621 -0.00331880
+v 0.10849540 -0.14409195 -0.00331880
+v 0.11004986 -0.14211689 -0.00331879
+v 0.07108587 -0.16407243 -0.00331887
+v 0.07108587 -0.16426993 -0.00302138
+v 0.07334422 -0.16958320 0.00632933
+v 0.10849052 -0.15486739 0.00632938
+v 0.10761064 -0.15569950 0.00632938
+v 0.10394447 -0.14897132 -0.00331882
+v 0.07390148 -0.16364828 -0.00331887
+v 0.07920520 -0.16920437 0.00632933
+v 0.10089423 -0.16017091 0.00632936
+v 0.09667081 -0.15476375 -0.00331884
+v 0.09808350 -0.15380212 -0.00331883
+v 0.09944243 -0.15287287 -0.00331883
+v 0.10113375 -0.15143205 -0.00331883
+v 0.10271265 -0.15006246 -0.00331882
+v 0.07951805 -0.16244058 -0.00331887
+v 0.08559899 -0.16792221 0.00632933
+v 0.08942158 -0.16637777 0.00632934
+v 0.09055076 -0.15830914 -0.00331885
+v 0.09149418 -0.15778462 -0.00331885
+v 0.08522260 -0.16063388 -0.00331886
+v 0.08577008 -0.16787687 0.00632933
+v 0.08844393 -0.15936143 -0.00331886
+v 0.08602427 -0.16033600 -0.00331886
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 23
+f 1 23 28
+f 1 28 36
+f 1 36 41
+f 1 41 37
+f 1 37 29
+f 1 29 25
+f 1 25 24
+f 1 24 16
+f 1 16 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 26
+f 3 26 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 30
+f 3 30 39
+f 3 39 38
+f 3 38 42
+f 3 42 43
+f 3 43 40
+f 3 40 35
+f 3 35 27
+f 3 27 21
+f 3 21 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 12
+f 6 12 11
+f 8 13 9
+f 9 13 21
+f 9 21 22
+f 9 22 14
+f 11 12 15
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 15
+f 14 22 23
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 23
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 36
+f 27 36 28
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 35 40 41
+f 35 41 36
+f 37 41 42
+f 37 42 38
+f 40 43 41
+f 41 43 42
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_23.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06246254 0.17066927 0.00653422
+v -0.06765215 0.17046623 0.00653422
+v -0.05635033 0.17053462 0.00653422
+v 0.00009392 0.16633064 -0.00201640
+v -0.03281688 0.16653155 -0.00201640
+v -0.03857590 0.16654222 -0.00201640
+v -0.05587462 0.16598012 -0.00201640
+v -0.06066059 0.16580914 -0.00201640
+v -0.06815670 0.17043845 0.00653422
+v -0.06176338 0.16575785 -0.00201640
+v -0.04410429 0.17015420 0.00653422
+v 0.00009392 0.16633062 0.00210614
+v 0.00009392 0.15053405 -0.00201646
+v -0.04343396 0.17011358 0.00653421
+v -0.06585741 0.16550565 -0.00201640
+v -0.06765215 0.16538811 -0.00201640
+v -0.07354092 0.16991054 0.00653421
+v 0.00009392 0.16515939 0.00341447
+v 0.00009392 0.15890359 0.00566614
+v -0.03842454 0.15766610 0.00653417
+v -0.04410429 0.15737971 0.00653417
+v -0.07353372 0.15614650 0.00653416
+v -0.07354092 0.14883492 -0.00201646
+v -0.03581532 0.16772411 0.00653421
+v 0.00009392 0.16099384 0.00566615
+v 0.00009392 0.16394541 0.00476799
+v -0.07021092 0.16510171 -0.00201640
+v -0.07354092 0.16464433 -0.00201641
+v -0.07354092 0.15621061 0.00653416
+v -0.02999142 0.16191714 0.00653418
+v -0.03345116 0.15858726 0.00653417
+v -0.07354092 0.15614650 0.00653333
+v -0.03358090 0.16612329 0.00653420
+f 1 2 9
+f 1 9 17
+f 1 17 29
+f 1 29 22
+f 1 22 21
+f 1 21 20
+f 1 20 31
+f 1 31 30
+f 1 30 33
+f 1 33 24
+f 1 24 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 4 12 18
+f 4 18 26
+f 4 26 25
+f 4 25 19
+f 4 19 13
+f 4 13 23
+f 4 23 28
+f 4 28 27
+f 4 27 16
+f 4 16 15
+f 4 15 10
+f 4 10 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 11 14
+f 4 14 12
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 12 14 18
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 24 25
+f 14 25 26
+f 14 26 18
+f 16 27 17
+f 17 27 28
+f 17 28 23
+f 17 23 32
+f 17 32 29
+f 19 25 30
+f 19 30 31
+f 19 31 20
+f 22 29 32
+f 22 32 23
+f 24 33 25
+f 25 33 30
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_24.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06227717 0.17923787 0.01334400
+v 0.06227717 0.17859158 0.01740240
+v 0.06227717 0.17913445 0.01309431
+v 0.06185211 0.17922278 0.01334400
+v 0.05048176 0.17919260 0.01824761
+v 0.06227717 0.17852908 0.01770016
+v 0.06227717 0.17781173 0.01002529
+v 0.06185211 0.17779881 0.01003819
+v 0.05558590 0.17842570 0.01288447
+v 0.05008069 0.17823612 0.01418568
+v 0.04386248 0.17859157 0.01824761
+v 0.05008069 0.17915813 0.01824761
+v 0.05914750 0.17848816 0.01824761
+v 0.06227717 0.17752302 0.01824760
+v 0.06115625 0.17795821 0.01824760
+v 0.06227717 0.17017264 0.00627166
+v 0.06185211 0.17018340 0.00627166
+v 0.05008069 0.17012739 0.00627165
+v 0.04419499 0.17004769 0.00627165
+v 0.05729643 0.17746273 0.01035353
+v 0.05337148 0.17697157 0.01080368
+v 0.04553530 0.17771262 0.01523252
+v 0.03967701 0.17769754 0.01824760
+v 0.06227717 0.16314744 0.01824755
+v 0.06227717 0.15722965 0.00627161
+v 0.03821330 0.16824670 0.00627165
+v 0.03628682 0.17659453 0.01824760
+v 0.06227717 0.16034688 0.01366396
+v 0.05008069 0.16186564 0.01824754
+v 0.04419499 0.16145201 0.01824754
+v 0.04226508 0.15723611 0.00627161
+v 0.03354450 0.16614842 0.00627164
+v 0.03089815 0.17398568 0.01824759
+v 0.03829214 0.16206384 0.01824755
+v 0.03655076 0.15761958 0.00627161
+v 0.03247499 0.16549136 0.00627164
+v 0.02899910 0.16166749 0.00627162
+v 0.02871458 0.17144147 0.01824758
+v 0.03282121 0.16388206 0.01824755
+v 0.03262239 0.15862133 0.00627161
+v 0.02899910 0.16045893 0.00627162
+v 0.02726115 0.16825096 0.01824757
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 28
+f 1 28 25
+f 1 25 16
+f 1 16 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 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 23
+f 5 23 27
+f 5 27 33
+f 5 33 38
+f 5 38 42
+f 5 42 39
+f 5 39 34
+f 5 34 30
+f 5 30 29
+f 5 29 24
+f 5 24 14
+f 5 14 15
+f 5 15 13
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 16 25 31
+f 16 31 35
+f 16 35 40
+f 16 40 41
+f 16 41 37
+f 16 37 36
+f 16 36 32
+f 16 32 26
+f 16 26 19
+f 16 19 18
+f 16 18 17
+f 19 26 21
+f 19 21 20
+f 21 26 22
+f 22 26 27
+f 22 27 23
+f 24 29 28
+f 25 28 30
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 28 29 30
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 38
+f 39 42 41
+f 39 41 40
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_25.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06922004 -0.15650392 0.00643426
+v -0.06922004 -0.16989917 0.00643421
+v -0.06922004 -0.15999971 0.01429705
+v -0.04410932 -0.16130675 0.01840305
+v -0.04235702 -0.15709842 0.00643425
+v -0.06922004 -0.16994593 0.00645413
+v -0.06765352 -0.17003499 0.00643421
+v -0.06922004 -0.16291213 0.01840304
+v -0.03821060 -0.16186118 0.01840305
+v -0.03660186 -0.15750143 0.00643425
+v -0.06922004 -0.17784594 0.00986991
+v -0.06176325 -0.17022648 0.00643420
+v -0.06922004 -0.17638978 0.01840299
+v -0.03263279 -0.16368699 0.01840304
+v -0.03300436 -0.15845219 0.00643425
+v -0.06922004 -0.17886796 0.01242209
+v -0.06765352 -0.17785485 0.00986639
+v -0.06765352 -0.17924872 0.01334313
+v -0.04410932 -0.16994370 0.00643421
+v -0.06922004 -0.17834472 0.01741515
+v -0.05811508 -0.17832915 0.01840298
+v -0.02608804 -0.16812461 0.01840302
+v -0.02951242 -0.16072333 0.00643424
+v -0.03254834 -0.15868599 0.00643425
+v -0.06922004 -0.17921309 0.01334313
+v -0.06176325 -0.17766113 0.01005154
+v -0.06176325 -0.17906390 0.01334313
+v -0.05024871 -0.17906392 0.01840298
+v -0.03813460 -0.16811788 0.00643421
+v -0.05335641 -0.17681057 0.01082845
+v -0.05727904 -0.17732938 0.01035855
+v -0.02813169 -0.17190762 0.01840301
+v -0.02951242 -0.16169859 0.00643424
+v -0.05554362 -0.17828682 0.01289902
+v -0.04999115 -0.17810202 0.01421965
+v -0.04361952 -0.17847832 0.01840298
+v -0.04999115 -0.17904166 0.01840298
+v -0.03349838 -0.16601374 0.00643422
+v -0.02985022 -0.17390265 0.01840300
+v -0.03592205 -0.17657013 0.01840299
+v -0.04546472 -0.17757877 0.01525084
+v -0.03263701 -0.16548159 0.00643422
+v -0.03944355 -0.17762777 0.01840299
+v -0.04323528 -0.17842043 0.01840298
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 25
+f 1 25 20
+f 1 20 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 24
+f 1 24 23
+f 1 23 33
+f 1 33 42
+f 1 42 38
+f 1 38 29
+f 1 29 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 13
+f 4 13 21
+f 4 21 28
+f 4 28 37
+f 4 37 36
+f 4 36 44
+f 4 44 43
+f 4 43 40
+f 4 40 39
+f 4 39 32
+f 4 32 22
+f 4 22 14
+f 4 14 9
+f 6 7 11
+f 7 12 11
+f 9 14 15
+f 9 15 10
+f 11 12 17
+f 11 17 18
+f 11 18 16
+f 12 19 17
+f 13 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 18 25
+f 17 26 27
+f 17 27 18
+f 17 19 26
+f 18 28 25
+f 18 27 28
+f 19 29 30
+f 19 30 31
+f 19 31 26
+f 20 25 28
+f 20 28 21
+f 22 32 33
+f 22 33 23
+f 26 31 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 35
+f 30 35 31
+f 31 35 34
+f 32 39 42
+f 32 42 33
+f 35 41 43
+f 35 43 44
+f 35 44 36
+f 38 42 39
+f 40 43 41
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_26.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.03821168 0.17970811 0.02399986
+v -0.04997553 0.17925802 0.01867304
+v -0.06934144 0.17860300 0.01689328
+v -0.06934144 0.17848405 0.01744138
+v -0.03821168 0.17855355 0.02843447
+v -0.03233619 0.17870906 0.02903551
+v -0.02055945 0.17872920 0.02932357
+v 0.00886952 0.17872553 0.02932357
+v 0.03829849 0.17969165 0.02399986
+v 0.05007523 0.17925254 0.01867304
+v -0.04997553 0.17925070 0.01862788
+v 0.05047466 0.17919216 0.01824795
+v -0.06764065 0.17863227 0.01689328
+v -0.06934144 0.16193603 0.01689321
+v -0.06934144 0.17415310 0.01962908
+v -0.04697337 0.17699645 0.02661577
+v -0.04305638 0.17796987 0.02757806
+v -0.03233619 0.17634322 0.03169813
+v -0.02799400 0.17698180 0.03193014
+v -0.02407701 0.17712267 0.03199865
+v -0.02619013 0.17839802 0.02982184
+v -0.02055945 0.17713183 0.03200488
+v 0.00886952 0.17713183 0.03200488
+v 0.01475789 0.17872371 0.02932357
+v 0.02064626 0.17871820 0.02932357
+v 0.03241012 0.17871455 0.02906509
+v 0.03829849 0.17856269 0.02845471
+v 0.04474091 0.17875300 0.02451215
+v 0.05913327 0.17848771 0.01824795
+v -0.04997553 0.17886099 0.01689328
+v -0.06934144 0.16226355 0.01739305
+v -0.04408716 0.16101568 0.01689321
+v -0.03821168 0.16302652 0.02399980
+v -0.03233619 0.16439514 0.02841884
+v -0.03821168 0.16459092 0.02789877
+v -0.06934144 0.17244596 0.01996696
+v -0.03626607 0.17227392 0.03225555
+v -0.03822456 0.17420611 0.03110487
+v -0.03233619 0.17339005 0.03255452
+v -0.02619013 0.17466902 0.03260435
+v -0.02055945 0.17415305 0.03280054
+v 0.00886952 0.17415305 0.03279587
+v 0.01475789 0.17415305 0.03279276
+v 0.01475789 0.17712634 0.03200176
+v 0.02064626 0.17711537 0.03199398
+v 0.02382881 0.17710805 0.03198931
+v 0.02609654 0.17839435 0.02983274
+v 0.02774580 0.17702204 0.03194882
+v 0.04315607 0.17797719 0.02758428
+v 0.03241012 0.17640543 0.03172772
+v 0.06115619 0.17795893 0.01824794
+v -0.04446082 0.17820595 0.01689327
+v -0.06934144 0.16311620 0.01847990
+v -0.04408716 0.16500078 0.02712023
+v 0.04418686 0.16145298 0.01824788
+v 0.01475789 0.16426522 0.02870379
+v 0.00298115 0.16426339 0.02870534
+v 0.00008206 0.16426339 0.02870379
+v -0.00878271 0.16426522 0.02870067
+v -0.01467108 0.16426888 0.02869912
+v -0.02055945 0.16427437 0.02869289
+v -0.04046653 0.16129746 0.01689321
+v 0.05007523 0.16186649 0.01824788
+v -0.02644782 0.16430182 0.02864306
+v -0.03233619 0.16657799 0.03108148
+v -0.02644782 0.16614801 0.03130570
+v -0.06934144 0.16825771 0.02066919
+v -0.03626607 0.17033074 0.03225555
+v -0.03233619 0.16952750 0.03255450
+v -0.02644782 0.16909751 0.03274914
+v -0.02055945 0.16902798 0.03278028
+v 0.01475789 0.16902250 0.03277717
+v 0.02064626 0.16903713 0.03277405
+v 0.02064626 0.17415305 0.03278030
+v 0.02609654 0.17469281 0.03259501
+v 0.03241012 0.17345592 0.03256075
+v 0.03833714 0.17423539 0.03113445
+v 0.04708595 0.17702024 0.02662667
+v 0.06226429 0.17752161 0.01824794
+v 0.03640442 0.17232149 0.03226022
+v -0.03852091 0.17608529 0.01689327
+v -0.04221886 0.17750150 0.01689327
+v -0.06934144 0.16345286 0.01862938
+v -0.04707645 0.16528988 0.02667490
+v 0.04418686 0.16159203 0.01867297
+v 0.03829849 0.16303567 0.02399980
+v 0.02064626 0.16427254 0.02868822
+v 0.01475789 0.16607115 0.03136643
+v 0.00886952 0.16606566 0.03137110
+v 0.00886952 0.16426522 0.02870690
+v -0.02055945 0.16608030 0.03135709
+v -0.03420449 0.16330650 0.01689322
+v 0.06226429 0.16314730 0.01824789
+v 0.05007523 0.16201836 0.01867298
+v -0.03822456 0.16832355 0.03067665
+v -0.06934144 0.16670977 0.02005413
+v 0.00886952 0.16901701 0.03277717
+v 0.02064626 0.16608762 0.03135242
+v 0.02653463 0.16910300 0.03274447
+v 0.03241012 0.16952384 0.03256073
+v 0.04474091 0.17469283 0.02840486
+v 0.06226429 0.17368834 0.02031108
+v 0.06226429 0.17433423 0.01998254
+v -0.03138271 0.16825407 0.01689324
+v -0.03314794 0.17315042 0.01689326
+v 0.03640442 0.17032526 0.03226022
+v 0.06226429 0.16825589 0.02100864
+v 0.03829849 0.16459641 0.02789565
+v 0.03241012 0.16439698 0.02841417
+v 0.02653463 0.16429999 0.02863839
+v -0.03417873 0.16333028 0.01689322
+v 0.06226429 0.16361755 0.01902177
+v 0.04712460 0.16531184 0.02665466
+v 0.04319472 0.16491662 0.02725881
+v -0.03336698 0.16414268 0.01689322
+v 0.02653463 0.16615350 0.03130103
+v 0.03241012 0.16657067 0.03107525
+v 0.03833714 0.16831624 0.03068755
+v 0.04476668 0.16767035 0.02820865
+v 0.06226429 0.16424331 0.01929582
+v 0.05930077 0.16525514 0.02136988
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 11 13
+f 3 13 30
+f 3 30 52
+f 3 52 82
+f 3 82 81
+f 3 81 105
+f 3 105 104
+f 3 104 115
+f 3 115 111
+f 3 111 92
+f 3 92 62
+f 3 62 32
+f 3 32 14
+f 3 14 31
+f 3 31 53
+f 3 53 83
+f 3 83 96
+f 3 96 67
+f 3 67 36
+f 3 36 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 18 19
+f 5 19 6
+f 5 17 18
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 20
+f 7 20 22
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 29 12
+f 11 30 13
+f 11 12 30
+f 12 29 30
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 31
+f 15 36 37
+f 15 37 38
+f 15 38 16
+f 16 38 17
+f 17 38 18
+f 18 38 37
+f 18 37 39
+f 18 39 19
+f 19 40 20
+f 19 39 40
+f 20 40 41
+f 20 41 22
+f 22 41 23
+f 23 42 43
+f 23 43 44
+f 23 44 25
+f 23 25 24
+f 23 41 42
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 47 46
+f 26 46 48
+f 26 48 27
+f 27 49 29
+f 27 29 28
+f 27 48 50
+f 27 50 49
+f 29 51 52
+f 29 52 30
+f 29 49 51
+f 31 35 54
+f 31 54 53
+f 32 55 56
+f 32 56 57
+f 32 57 58
+f 32 58 59
+f 32 59 60
+f 32 60 61
+f 32 61 33
+f 32 62 63
+f 32 63 55
+f 33 61 64
+f 33 64 34
+f 34 65 35
+f 34 64 66
+f 34 66 65
+f 35 65 54
+f 36 67 37
+f 37 67 68
+f 37 68 69
+f 37 69 39
+f 39 69 70
+f 39 70 41
+f 39 41 40
+f 41 70 71
+f 41 71 72
+f 41 72 42
+f 42 72 43
+f 43 72 73
+f 43 73 74
+f 43 74 46
+f 43 46 45
+f 43 45 44
+f 46 74 75
+f 46 75 48
+f 48 75 76
+f 48 76 50
+f 49 50 77
+f 49 77 78
+f 49 78 79
+f 49 79 51
+f 50 76 80
+f 50 80 77
+f 51 79 81
+f 51 81 82
+f 51 82 52
+f 53 54 84
+f 53 84 83
+f 54 65 84
+f 55 63 85
+f 55 85 86
+f 55 86 87
+f 55 87 56
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 57
+f 57 90 89
+f 57 89 58
+f 58 89 59
+f 59 89 60
+f 60 89 91
+f 60 91 61
+f 61 91 64
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 86
+f 63 86 85
+f 64 91 66
+f 65 66 69
+f 65 69 68
+f 65 68 95
+f 65 95 84
+f 66 91 70
+f 66 70 69
+f 67 96 68
+f 68 96 84
+f 68 84 95
+f 70 91 71
+f 71 91 89
+f 71 89 97
+f 71 97 72
+f 72 97 89
+f 72 89 88
+f 72 88 73
+f 73 88 98
+f 73 98 99
+f 73 99 74
+f 74 99 76
+f 74 76 75
+f 76 99 100
+f 76 100 106
+f 76 106 80
+f 77 80 101
+f 77 101 78
+f 78 101 102
+f 78 102 103
+f 78 103 79
+f 79 103 102
+f 79 102 107
+f 79 107 120
+f 79 120 112
+f 79 112 93
+f 79 93 104
+f 79 104 105
+f 79 105 81
+f 80 106 107
+f 80 107 101
+f 83 84 96
+f 86 94 108
+f 86 108 109
+f 86 109 110
+f 86 110 87
+f 87 110 98
+f 87 98 88
+f 92 111 93
+f 93 112 113
+f 93 113 114
+f 93 114 108
+f 93 108 94
+f 93 111 115
+f 93 115 104
+f 98 110 116
+f 98 116 99
+f 99 116 100
+f 100 116 117
+f 100 117 106
+f 101 107 102
+f 106 117 118
+f 106 118 113
+f 106 113 119
+f 106 119 107
+f 107 119 113
+f 107 113 121
+f 107 121 120
+f 108 114 117
+f 108 117 109
+f 109 116 110
+f 109 117 116
+f 112 120 121
+f 112 121 113
+f 113 118 117
+f 113 117 114
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_27.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06290127 -0.15701990 0.00632937
+v 0.06290127 -0.16017719 0.01377094
+v 0.06290127 -0.16238140 0.00632935
+v 0.04419729 -0.15708906 0.00632937
+v 0.04419729 -0.16128148 0.01830528
+v 0.06290127 -0.16282013 0.01811185
+v 0.04463750 -0.16130093 0.01830528
+v 0.05050825 -0.16168559 0.01830528
+v 0.06290127 -0.17000763 0.00633989
+v 0.06185179 -0.17002491 0.00632933
+v 0.03848149 -0.15738512 0.00632937
+v 0.03878436 -0.16171801 0.01830528
+v 0.06290127 -0.16294979 0.01830527
+v 0.06290127 -0.17074453 0.00667983
+v 0.06183418 -0.17002491 0.00632933
+v 0.06290127 -0.17769439 0.01001844
+v 0.03283966 -0.15848292 0.00632937
+v 0.03294531 -0.16352894 0.01830527
+v 0.06290127 -0.17708501 0.01830522
+v 0.04967712 -0.16997521 0.00632933
+v 0.06290127 -0.17909474 0.01334299
+v 0.06185179 -0.17905799 0.01334299
+v 0.06185179 -0.17765980 0.01005127
+v 0.04320415 -0.16984987 0.00632933
+v 0.04419729 -0.16991038 0.00632933
+v 0.02930031 -0.16157966 0.00632936
+v 0.02692665 -0.16812543 0.01830525
+v 0.06290127 -0.17837728 0.01761944
+v 0.05862587 -0.17832544 0.01830521
+v 0.05007860 -0.17900616 0.01830521
+v 0.05563239 -0.17828219 0.01290106
+v 0.04430998 -0.17849616 0.01830521
+v 0.04382750 -0.17844645 0.01827356
+v 0.05007860 -0.17810282 0.01420579
+v 0.05737213 -0.17733134 0.01035840
+v 0.03569931 -0.16752677 0.00632933
+v 0.05344891 -0.17680620 0.01083200
+v 0.03043078 -0.16275309 0.00632935
+v 0.03059631 -0.17386941 0.01830523
+v 0.04370424 -0.17843997 0.01830521
+v 0.04553907 -0.17758635 0.01523036
+v 0.03358627 -0.16601406 0.00632934
+v 0.04161585 -0.17680622 0.01623499
+v 0.03830893 -0.17693158 0.01830522
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 28
+f 1 28 21
+f 1 21 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 24
+f 1 24 36
+f 1 36 42
+f 1 42 38
+f 1 38 26
+f 1 26 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 18
+f 5 18 27
+f 5 27 39
+f 5 39 44
+f 5 44 40
+f 5 40 32
+f 5 32 30
+f 5 30 29
+f 5 29 19
+f 5 19 13
+f 5 13 8
+f 5 8 7
+f 6 8 13
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 11 17 12
+f 12 17 18
+f 15 16 20
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 20
+f 17 26 27
+f 17 27 18
+f 19 29 28
+f 21 28 30
+f 21 30 22
+f 22 31 23
+f 22 30 32
+f 22 32 33
+f 22 33 34
+f 22 34 31
+f 23 31 35
+f 23 35 24
+f 24 35 37
+f 24 37 36
+f 26 38 39
+f 26 39 27
+f 28 29 30
+f 31 34 35
+f 32 40 33
+f 33 40 34
+f 34 40 41
+f 34 41 37
+f 34 37 35
+f 36 39 42
+f 36 37 41
+f 36 41 43
+f 36 43 39
+f 38 42 39
+f 39 43 44
+f 40 44 41
+f 41 44 43
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_28.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08560289 -0.13663206 -0.00331745
+v -0.07451936 -0.13960114 -0.00331746
+v -0.11345878 -0.13663206 -0.00331745
+v -0.10450791 -0.13663209 0.00643220
+v -0.06728617 -0.15674859 0.00643212
+v -0.06728617 -0.14457795 -0.00331748
+v -0.11283370 -0.13782884 -0.00331746
+v -0.12032428 -0.13859404 0.00643219
+v -0.12094936 -0.13664190 0.00643220
+v -0.11856457 -0.13663209 0.00447273
+v -0.11638462 -0.13663209 0.00643220
+v -0.06728617 -0.17003750 0.00643208
+v -0.06728617 -0.16455711 -0.00331755
+v -0.11181464 -0.13947034 -0.00331746
+v -0.11361637 -0.14929318 0.00643215
+v -0.06765388 -0.17003423 0.00643208
+v -0.06765388 -0.16453421 -0.00331755
+v -0.10997089 -0.14204376 -0.00331747
+v -0.10778570 -0.15524769 0.00643213
+v -0.10838453 -0.14406784 -0.00331748
+v -0.10726567 -0.14541831 -0.00331748
+v -0.10386182 -0.14894327 -0.00331750
+v -0.07355283 -0.16963857 0.00643208
+v -0.07943078 -0.16924292 0.00643208
+v -0.06947136 -0.16429878 -0.00331755
+v -0.10297409 -0.15858301 0.00643212
+v -0.10261689 -0.15005504 -0.00331750
+v -0.10100951 -0.15144149 -0.00331751
+v -0.09798913 -0.15378274 -0.00331751
+v -0.08566592 -0.16801669 0.00643208
+v -0.07388901 -0.16362191 -0.00331755
+v -0.09656560 -0.15474410 -0.00331752
+v -0.09734302 -0.16208181 0.00643210
+v -0.08579199 -0.16796765 0.00643208
+v -0.08592331 -0.16031276 -0.00331754
+v -0.08510387 -0.16061686 -0.00331754
+v -0.08026599 -0.16217333 -0.00331755
+v -0.07943078 -0.16240877 -0.00331755
+v -0.07507091 -0.16338320 -0.00331755
+v -0.09200612 -0.15745485 -0.00331753
+v -0.09120243 -0.16522746 0.00643209
+v -0.09043026 -0.15829522 -0.00331753
+f 1 2 6
+f 1 6 13
+f 1 13 17
+f 1 17 25
+f 1 25 31
+f 1 31 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 42
+f 1 42 40
+f 1 40 32
+f 1 32 29
+f 1 29 28
+f 1 28 27
+f 1 27 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 9
+f 4 9 8
+f 4 8 15
+f 4 15 19
+f 4 19 26
+f 4 26 33
+f 4 33 41
+f 4 41 34
+f 4 34 30
+f 4 30 24
+f 4 24 23
+f 4 23 16
+f 4 16 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 7 14 8
+f 8 14 15
+f 9 11 10
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 20
+f 15 20 21
+f 15 21 22
+f 15 22 19
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 19 22 27
+f 19 27 28
+f 19 28 29
+f 19 29 26
+f 24 30 31
+f 24 31 25
+f 26 29 32
+f 26 32 33
+f 30 34 35
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 32 40 33
+f 33 40 42
+f 33 42 41
+f 34 41 42
+f 34 42 35
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_3.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.08740837 -0.13663202 -0.01227941
+v 0.09129090 -0.13663202 -0.01227012
+v 0.08740837 -0.13663206 -0.00334332
+v 0.08740837 -0.13271071 -0.01228338
+v 0.09717640 -0.12090664 -0.01228864
+v 0.09717640 -0.12680868 -0.01227805
+v 0.09717640 -0.13271071 -0.01225419
+v 0.09717640 -0.13663203 -0.01219582
+v 0.10306544 -0.12090664 -0.01227139
+v 0.10119999 -0.13663207 0.00125541
+v 0.08740837 -0.06191311 -0.00331386
+v 0.08740837 -0.12680868 -0.01228734
+v 0.10306544 -0.08549444 -0.01228187
+v 0.10306544 -0.10320055 -0.01228062
+v 0.10306544 -0.10910258 -0.01227931
+v 0.10306544 -0.11500461 -0.01227667
+v 0.08740837 -0.11701210 -0.01228995
+v 0.08740837 -0.10520804 -0.01229124
+v 0.08740837 -0.08750193 -0.01229250
+v 0.08740837 -0.01469680 -0.01229753
+v 0.09717640 -0.01469680 -0.01229090
+v 0.10306544 -0.01469680 -0.01228559
+v 0.10306544 -0.12680869 -0.01224356
+v 0.10315360 -0.13663203 -0.01163856
+v 0.10306544 -0.13271072 -0.01207640
+v 0.10894741 -0.10320056 -0.01217978
+v 0.10894741 -0.10910259 -0.01216653
+v 0.11646915 -0.13663207 0.00125541
+v 0.11023453 0.00009170 0.00125591
+v 0.08740837 0.00009171 -0.00329639
+v 0.08740837 -0.00289277 -0.00329640
+v 0.10894741 -0.02059884 -0.01219407
+v 0.10894741 -0.09139649 -0.01218637
+v 0.10894741 -0.09729852 -0.01218374
+v 0.08740837 -0.00879477 -0.01229619
+v 0.09717640 -0.00879477 -0.01228955
+v 0.10306544 -0.00879477 -0.01228425
+v 0.10894741 -0.01469681 -0.01219404
+v 0.10894741 -0.11500462 -0.01211613
+v 0.10894741 -0.12090665 -0.01196357
+v 0.10670816 -0.13663203 -0.01097648
+v 0.10779428 -0.13271072 -0.01126969
+v 0.10938820 -0.12714327 -0.01142624
+v 0.11352110 -0.09139649 -0.01136110
+v 0.11351052 -0.09729852 -0.01135846
+v 0.11349289 -0.10320056 -0.01135450
+v 0.11342236 -0.10910259 -0.01134258
+v 0.11241382 -0.13663205 -0.00532293
+v 0.11227630 -0.13631085 -0.00584171
+v 0.11744242 -0.13485209 0.00125541
+v 0.12342667 0.00009170 0.00125591
+v 0.08740837 0.00009175 -0.01229218
+v 0.11354931 -0.01469681 -0.01136611
+v 0.11354226 -0.04420698 -0.01136357
+v 0.08740837 -0.00092538 -0.01229350
+v 0.09717640 -0.00289273 -0.01228688
+v 0.10306544 0.00009175 -0.01228024
+v 0.10597469 0.00009174 -0.01223513
+v 0.10894741 -0.00879478 -0.01219270
+v 0.11322136 -0.11500462 -0.01129483
+v 0.11281583 -0.12090665 -0.01114891
+v 0.10945520 -0.13663204 -0.00851259
+v 0.11164507 -0.12932475 -0.01050013
+v 0.11073528 -0.13271072 -0.00960720
+v 0.11233272 -0.12539005 -0.01090081
+v 0.11646561 -0.09139650 -0.00952744
+v 0.11649382 -0.02059884 -0.00956433
+v 0.11649031 -0.02650088 -0.00956302
+v 0.11648677 -0.03830494 -0.00955643
+v 0.11643388 -0.10320057 -0.00948767
+v 0.11645503 -0.09729853 -0.00951552
+v 0.11636335 -0.10910260 -0.00938686
+v 0.11177908 -0.13663205 -0.00615219
+v 0.11315436 -0.13271073 -0.00694296
+v 0.11614119 -0.13264384 -0.00248221
+v 0.11840865 -0.13264385 0.00125542
+v 0.12343019 -0.02148218 0.00125583
+v 0.12126853 -0.02059887 -0.00263571
+v 0.12126500 0.00009171 -0.00263563
+v 0.08831817 0.00009175 -0.01229218
+v 0.11354226 -0.00289274 -0.01136342
+v 0.11354226 0.00009174 -0.01136208
+v 0.11649382 -0.01469681 -0.00956297
+v 0.11354931 -0.02059884 -0.01136482
+v 0.10009270 0.00009175 -0.01228289
+v 0.10894741 0.00009174 -0.01218868
+v 0.11616588 -0.11500463 -0.00907640
+v 0.11409590 -0.12714328 -0.00841835
+v 0.11614824 -0.12142861 -0.00778279
+v 0.11880713 -0.08549446 -0.00686715
+v 0.11880360 -0.09139650 -0.00686320
+v 0.11879302 -0.09729853 -0.00685260
+v 0.11882123 -0.05010902 -0.00688692
+v 0.11882828 -0.02059885 -0.00690142
+v 0.11882828 -0.02650089 -0.00690011
+v 0.11882828 -0.03240292 -0.00689615
+v 0.11877539 -0.10320057 -0.00682476
+v 0.11870839 -0.10910261 -0.00672394
+v 0.11775274 -0.12374393 -0.00525388
+v 0.11725905 -0.12680871 -0.00440607
+v 0.11877186 -0.13178731 0.00125543
+v 0.11813711 -0.13062297 -0.00060343
+v 0.12340198 -0.09223967 0.00125557
+v 0.12126853 -0.02650091 -0.00263573
+v 0.11882828 0.00009173 -0.00689603
+v 0.12003430 0.00009172 -0.00478772
+v 0.11648677 0.00009174 -0.00955894
+v 0.11849681 -0.11500464 -0.00641349
+v 0.11815122 -0.11980925 -0.00588809
+v 0.12122973 -0.09139652 -0.00263597
+v 0.12121563 -0.09729855 -0.00263599
+v 0.12125089 -0.05601107 -0.00263584
+v 0.12118036 -0.10320059 -0.00263601
+v 0.12105694 -0.10910262 -0.00263603
+v 0.12210780 -0.12096023 0.00125547
+v 0.12106752 -0.12508228 0.00125545
+v 0.12063731 -0.12664812 0.00125544
+v 0.12339845 -0.09729856 0.00125555
+v 0.12289418 -0.11505820 0.00125549
+v 0.12222769 -0.12017061 0.00125547
+v 0.12337377 -0.10320060 0.00125553
+v 0.12336319 -0.10397682 0.00125553
+v 0.12326445 -0.10910263 0.00125551
+v 0.12323976 -0.10966473 0.00125551
+v 0.12289771 -0.11500466 0.00125549
+f 1 2 8
+f 1 8 24
+f 1 24 41
+f 1 41 62
+f 1 62 73
+f 1 73 48
+f 1 48 28
+f 1 28 10
+f 1 10 3
+f 1 3 11
+f 1 11 31
+f 1 31 30
+f 1 30 52
+f 1 52 55
+f 1 55 35
+f 1 35 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 7
+f 3 10 11
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 9
+f 5 9 6
+f 5 12 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 13
+f 7 9 23
+f 7 23 8
+f 8 23 25
+f 8 25 24
+f 9 16 26
+f 9 26 27
+f 9 27 23
+f 10 28 50
+f 10 50 76
+f 10 76 101
+f 10 101 117
+f 10 117 116
+f 10 116 115
+f 10 115 120
+f 10 120 119
+f 10 119 125
+f 10 125 124
+f 10 124 123
+f 10 123 122
+f 10 122 121
+f 10 121 118
+f 10 118 103
+f 10 103 77
+f 10 77 51
+f 10 51 29
+f 10 29 30
+f 10 30 31
+f 10 31 11
+f 13 22 32
+f 13 32 14
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 16
+f 16 34 26
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 59
+f 22 59 38
+f 22 38 32
+f 23 27 39
+f 23 39 40
+f 23 40 25
+f 24 25 42
+f 24 42 41
+f 25 43 42
+f 25 40 43
+f 26 34 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 39
+f 28 48 49
+f 28 49 50
+f 29 51 79
+f 29 79 106
+f 29 106 105
+f 29 105 107
+f 29 107 82
+f 29 82 86
+f 29 86 58
+f 29 58 57
+f 29 57 85
+f 29 85 80
+f 29 80 52
+f 29 52 30
+f 32 38 53
+f 32 53 33
+f 33 44 34
+f 33 53 54
+f 33 54 44
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 38 59 53
+f 39 47 60
+f 39 60 40
+f 40 60 61
+f 40 61 43
+f 41 42 63
+f 41 63 64
+f 41 64 62
+f 42 43 65
+f 42 65 63
+f 43 61 65
+f 44 66 45
+f 44 54 67
+f 44 67 68
+f 44 68 69
+f 44 69 66
+f 45 66 46
+f 46 70 47
+f 46 66 71
+f 46 71 70
+f 47 70 72
+f 47 72 60
+f 48 73 49
+f 49 73 64
+f 49 64 74
+f 49 74 75
+f 49 75 50
+f 50 75 76
+f 51 77 78
+f 51 78 79
+f 52 80 55
+f 53 59 81
+f 53 81 82
+f 53 82 107
+f 53 107 83
+f 53 83 67
+f 53 67 84
+f 53 84 54
+f 54 84 67
+f 55 80 85
+f 55 85 56
+f 56 85 57
+f 58 86 59
+f 59 86 82
+f 59 82 81
+f 60 72 61
+f 61 72 87
+f 61 87 65
+f 62 64 73
+f 63 88 74
+f 63 74 64
+f 63 65 88
+f 65 87 89
+f 65 89 88
+f 66 90 91
+f 66 91 92
+f 66 92 71
+f 66 69 93
+f 66 93 90
+f 67 83 94
+f 67 94 95
+f 67 95 96
+f 67 96 69
+f 67 69 68
+f 69 96 93
+f 70 97 98
+f 70 98 72
+f 70 71 97
+f 71 92 97
+f 72 98 87
+f 74 88 99
+f 74 99 100
+f 74 100 75
+f 75 101 76
+f 75 100 102
+f 75 102 101
+f 77 103 104
+f 77 104 78
+f 78 104 94
+f 78 94 105
+f 78 105 106
+f 78 106 79
+f 83 107 105
+f 83 105 94
+f 87 108 109
+f 87 109 89
+f 87 98 108
+f 88 89 99
+f 89 109 99
+f 90 110 91
+f 90 93 110
+f 91 110 111
+f 91 111 92
+f 92 111 97
+f 93 96 110
+f 94 104 95
+f 95 104 96
+f 96 112 110
+f 96 104 112
+f 97 113 114
+f 97 114 98
+f 97 111 113
+f 98 114 108
+f 99 109 115
+f 99 115 116
+f 99 116 117
+f 99 117 100
+f 100 117 102
+f 101 102 117
+f 103 118 110
+f 103 110 112
+f 103 112 104
+f 108 119 120
+f 108 120 109
+f 108 114 119
+f 109 120 115
+f 110 118 111
+f 111 118 121
+f 111 121 113
+f 113 121 122
+f 113 122 123
+f 113 123 114
+f 114 123 124
+f 114 124 125
+f 114 125 119
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_4.obj

@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.11439580 0.13678067 -0.00198867
+v 0.11633500 0.13307408 -0.00198868
+v 0.11243640 0.13678068 -0.00529148
+v 0.09449875 0.13678067 -0.00198867
+v 0.11667839 0.13224444 -0.00198868
+v 0.11615319 0.13277970 -0.00248865
+v 0.11227480 0.13644616 -0.00585003
+v 0.11217379 0.13678068 -0.00569246
+v 0.10649758 0.00010508 -0.00198917
+v -0.08473630 0.13678067 -0.00335928
+v -0.00878411 0.00302219 -0.00203360
+v -0.00288570 0.00302219 -0.00200936
+v 0.00299251 0.00302219 -0.00200734
+v 0.00299251 0.00010508 -0.00200735
+v 0.11863781 0.12693211 -0.00198870
+v 0.11726420 0.12693212 -0.00441076
+v 0.11316360 0.13283325 -0.00695199
+v 0.11172939 0.13678068 -0.00618536
+v 0.11071939 0.13283326 -0.00961342
+v 0.10942658 0.13678069 -0.00849733
+v 0.12160721 0.00010508 -0.00198917
+v -0.08473630 0.13678071 -0.01226475
+v -0.08473630 0.06203329 -0.00329996
+v -0.01466233 0.00302219 -0.00209622
+v -0.01466233 0.00010508 -0.00209522
+v -0.01169292 0.00010508 -0.00206391
+v -0.00878411 0.00010508 -0.00203361
+v -0.00288570 0.00010508 -0.00200937
+v 0.12009221 0.12141905 -0.00198872
+v 0.11774901 0.12384106 -0.00524608
+v 0.11409281 0.12726667 -0.00841958
+v 0.11162840 0.12944780 -0.01050126
+v 0.10671977 0.13678070 -0.01094565
+v 0.12126382 0.00010508 -0.00263559
+v 0.12162742 0.01372715 -0.00198912
+v -0.08473630 0.13640603 -0.01226576
+v -0.07942369 0.13678071 -0.01227283
+v -0.08473630 0.04432995 -0.00328690
+v -0.08473630 0.02662663 -0.00327585
+v -0.08473630 0.00359758 -0.00326887
+v -0.08473630 0.00010508 -0.00326787
+v 0.11813280 0.11990699 -0.00588039
+v 0.12102142 0.11512989 -0.00198875
+v 0.11613300 0.12153950 -0.00777722
+v 0.11231520 0.12551374 -0.01089620
+v 0.10777018 0.13283326 -0.01125978
+v 0.10667937 0.13678070 -0.01096585
+v 0.12126382 0.02072552 -0.00263551
+v 0.12003160 0.00010509 -0.00478797
+v 0.11881960 0.01482442 -0.00690596
+v 0.12122342 0.08562434 -0.00263528
+v 0.12156681 0.09152546 -0.00198883
+v -0.08473630 0.13283327 -0.01226981
+v -0.07746429 0.13678071 -0.01227485
+v -0.08473630 0.00010512 -0.01227535
+v 0.11847621 0.11512990 -0.00639654
+v 0.11615319 0.11512991 -0.00905798
+v 0.12140521 0.10922879 -0.00198877
+v 0.12104161 0.10922879 -0.00263519
+v 0.11869840 0.10922880 -0.00670462
+v 0.11280000 0.12103103 -0.01114570
+v 0.10938618 0.12726668 -0.01141434
+v 0.10304336 0.13283326 -0.01206983
+v 0.10471998 0.13678070 -0.01135774
+v 0.11881960 0.02072554 -0.00690391
+v 0.11881960 0.05023108 -0.00688765
+v 0.11881960 0.00010510 -0.00689692
+v 0.11881960 0.00892331 -0.00690396
+v 0.11647639 0.01482443 -0.00956841
+v 0.11879941 0.09152548 -0.00685618
+v 0.12116281 0.10332767 -0.00263521
+v 0.12152641 0.10332767 -0.00198879
+v -0.08473630 0.10865343 -0.01228303
+v -0.07158608 0.13678071 -0.01227789
+v -0.06764707 0.13283327 -0.01228497
+v -0.08473630 0.03785349 -0.01228431
+v -0.07352528 0.05023110 -0.01229234
+v -0.07352528 0.00010512 -0.01228041
+v 0.11633500 0.10922881 -0.00936707
+v 0.11320400 0.11512992 -0.01129419
+v 0.11875901 0.10332769 -0.00681170
+v 0.11641580 0.10332769 -0.00947314
+v 0.10894178 0.12103103 -0.01195473
+v 0.10312416 0.13678070 -0.01162944
+v 0.10304336 0.12693214 -0.01223145
+v 0.09910436 0.13678070 -0.01212840
+v 0.11647639 0.02072555 -0.00956636
+v 0.11647639 0.05023109 -0.00955010
+v 0.11647639 0.05613220 -0.00954401
+v 0.11647639 0.00010511 -0.00955937
+v 0.11647639 0.00302222 -0.00956138
+v 0.11647639 0.00892332 -0.00956540
+v 0.11500180 0.00010511 -0.01046840
+v 0.11354739 0.01482443 -0.01136122
+v 0.11352720 0.05023109 -0.01136210
+v 0.11645620 0.08562436 -0.00952270
+v 0.11643599 0.09742658 -0.00950447
+v 0.11877920 0.09742658 -0.00684202
+v -0.08473630 0.10332771 -0.01228508
+v -0.07352528 0.10332771 -0.01229315
+v -0.06568766 0.13678071 -0.01228091
+v -0.06764707 0.10332771 -0.01229619
+v -0.06174865 0.13678071 -0.01228293
+v -0.06174865 0.13283327 -0.01228698
+v -0.08473630 0.04375460 -0.01228530
+v -0.07942369 0.05023110 -0.01228932
+v -0.07352528 0.05613221 -0.01229332
+v 0.07951031 0.05023110 -0.01230649
+v 0.07951031 0.00010512 -0.01229556
+v 0.11340600 0.10922882 -0.01133865
+v 0.10894178 0.11512992 -0.01211131
+v 0.11346659 0.10332770 -0.01134978
+v 0.10304336 0.12103104 -0.01226077
+v 0.09716516 0.13283327 -0.01225466
+v 0.09716516 0.13678070 -0.01218900
+v 0.10894178 0.10922882 -0.01216082
+v 0.11352720 0.05613220 -0.01136005
+v 0.11350699 0.09152549 -0.01135588
+v 0.11352720 0.00010511 -0.01136228
+v 0.11122440 0.00010511 -0.01177943
+v 0.10894178 0.05023109 -0.01219033
+v -0.08473630 0.05613221 -0.01228625
+v -0.03821559 0.12693215 -0.01229306
+v -0.03821559 0.12103104 -0.01229512
+v -0.00288570 0.10332771 -0.01230124
+v 0.00299251 0.13678071 -0.01229303
+v -0.03231717 0.12693215 -0.01229407
+v -0.08473630 0.05555682 -0.01228626
+v 0.07951031 0.05613221 -0.01230544
+v 0.08538852 0.05023110 -0.01230245
+v 0.08538852 0.00010512 -0.01229454
+v 0.00299251 0.10332771 -0.01230124
+v 0.10894178 0.10332770 -0.01217296
+v 0.10304336 0.11512993 -0.01226787
+v 0.09716516 0.12693215 -0.01227388
+v 0.09128694 0.13283327 -0.01227082
+v 0.08734793 0.13678071 -0.01226879
+v 0.09322615 0.13678071 -0.01225162
+v 0.10894178 0.09152549 -0.01218007
+v 0.10894178 0.09742659 -0.01217702
+v 0.10894178 0.00010511 -0.01218849
+v 0.10304336 0.05023110 -0.01228628
+v 0.10304336 0.05613221 -0.01228525
+v 0.10304336 0.09742660 -0.01227803
+v 0.00299251 0.13283327 -0.01229507
+v -0.00288570 0.12693215 -0.01229610
+v 0.00889093 0.13283327 -0.01229507
+v 0.07361189 0.13678071 -0.01228697
+v 0.07361189 0.13283327 -0.01229203
+v 0.07951031 0.12693215 -0.01229004
+v 0.08538852 0.05613221 -0.01230141
+v 0.08829733 0.00010512 -0.01229252
+v 0.09716516 0.05613221 -0.01229231
+v 0.09716516 0.05023110 -0.01229234
+v 0.09716516 0.00010512 -0.01228546
+v 0.10304336 0.10332771 -0.01227598
+v 0.09716516 0.12103104 -0.01227795
+v 0.09128694 0.12693215 -0.01227994
+v 0.07951031 0.13283327 -0.01228800
+v 0.08144951 0.13678071 -0.01228091
+v 0.10597238 0.00010511 -0.01223495
+v 0.10304336 0.00010512 -0.01228041
+v 0.07557130 0.13678071 -0.01228596
+v 0.07951031 0.13678071 -0.01228293
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 33
+f 1 33 47
+f 1 47 64
+f 1 64 84
+f 1 84 86
+f 1 86 115
+f 1 115 138
+f 1 138 137
+f 1 137 160
+f 1 160 164
+f 1 164 163
+f 1 163 148
+f 1 148 126
+f 1 126 103
+f 1 103 101
+f 1 101 74
+f 1 74 54
+f 1 54 37
+f 1 37 22
+f 1 22 10
+f 1 10 4
+f 1 4 9
+f 1 9 21
+f 1 21 35
+f 1 35 52
+f 1 52 72
+f 1 72 58
+f 1 58 43
+f 1 43 29
+f 1 29 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 9
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 18 8
+f 7 17 19
+f 7 19 20
+f 7 20 18
+f 9 14 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 41
+f 9 41 55
+f 9 55 78
+f 9 78 109
+f 9 109 131
+f 9 131 152
+f 9 152 155
+f 9 155 162
+f 9 162 161
+f 9 161 141
+f 9 141 120
+f 9 120 119
+f 9 119 93
+f 9 93 90
+f 9 90 67
+f 9 67 49
+f 9 49 34
+f 9 34 21
+f 10 22 36
+f 10 36 53
+f 10 53 73
+f 10 73 99
+f 10 99 122
+f 10 122 128
+f 10 128 105
+f 10 105 76
+f 10 76 55
+f 10 55 41
+f 10 41 40
+f 10 40 39
+f 10 39 38
+f 10 38 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 12 28 14
+f 12 14 13
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 32 19
+f 17 31 32
+f 19 32 33
+f 19 33 20
+f 21 34 35
+f 22 37 36
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 29 42 30
+f 29 43 42
+f 30 42 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 34 48 35
+f 34 49 50
+f 34 50 48
+f 35 48 51
+f 35 51 52
+f 36 37 53
+f 37 54 53
+f 42 43 56
+f 42 56 57
+f 42 57 44
+f 43 58 59
+f 43 59 60
+f 43 60 56
+f 44 57 45
+f 45 61 62
+f 45 62 46
+f 45 57 61
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 48 50 65
+f 48 65 66
+f 48 66 51
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 87
+f 50 87 65
+f 51 66 70
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 53 54 73
+f 54 74 75
+f 54 75 73
+f 55 76 77
+f 55 77 78
+f 56 60 57
+f 57 60 79
+f 57 79 80
+f 57 80 61
+f 58 72 71
+f 58 71 59
+f 59 71 81
+f 59 81 60
+f 60 81 82
+f 60 82 79
+f 61 80 83
+f 61 83 62
+f 62 83 63
+f 63 84 64
+f 63 83 85
+f 63 85 86
+f 63 86 84
+f 65 87 88
+f 65 88 66
+f 66 88 89
+f 66 89 70
+f 67 90 68
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 69 92 93
+f 69 93 94
+f 69 94 95
+f 69 95 117
+f 69 117 87
+f 70 89 96
+f 70 96 97
+f 70 97 98
+f 70 98 71
+f 71 98 81
+f 73 75 100
+f 73 100 99
+f 74 101 75
+f 75 102 100
+f 75 101 103
+f 75 103 104
+f 75 104 102
+f 76 105 106
+f 76 106 77
+f 77 106 107
+f 77 107 108
+f 77 108 109
+f 77 109 78
+f 79 82 110
+f 79 110 80
+f 80 110 111
+f 80 111 83
+f 81 98 97
+f 81 97 82
+f 82 97 112
+f 82 112 110
+f 83 111 85
+f 85 113 114
+f 85 114 115
+f 85 115 86
+f 85 111 116
+f 85 116 113
+f 87 117 118
+f 87 118 88
+f 88 118 89
+f 89 118 96
+f 90 93 91
+f 91 93 92
+f 93 119 94
+f 94 119 120
+f 94 120 121
+f 94 121 95
+f 95 118 117
+f 95 121 118
+f 96 118 97
+f 97 118 112
+f 99 100 122
+f 100 102 107
+f 100 107 128
+f 100 128 122
+f 102 104 123
+f 102 123 124
+f 102 124 125
+f 102 125 108
+f 102 108 107
+f 103 126 104
+f 104 126 127
+f 104 127 123
+f 105 128 106
+f 106 128 107
+f 108 129 151
+f 108 151 130
+f 108 130 131
+f 108 131 109
+f 108 125 132
+f 108 132 129
+f 110 112 116
+f 110 116 111
+f 112 118 133
+f 112 133 116
+f 113 134 135
+f 113 135 114
+f 113 116 133
+f 113 133 134
+f 114 135 136
+f 114 136 137
+f 114 137 138
+f 114 138 115
+f 118 121 139
+f 118 139 140
+f 118 140 133
+f 120 141 121
+f 121 141 142
+f 121 142 143
+f 121 143 144
+f 121 144 139
+f 123 127 124
+f 124 127 145
+f 124 145 146
+f 124 146 125
+f 125 146 145
+f 125 145 147
+f 125 147 132
+f 126 147 145
+f 126 145 127
+f 126 148 149
+f 126 149 147
+f 129 149 150
+f 129 150 151
+f 129 132 149
+f 130 152 131
+f 130 151 153
+f 130 153 154
+f 130 154 155
+f 130 155 152
+f 132 147 149
+f 133 140 156
+f 133 156 134
+f 134 156 157
+f 134 157 135
+f 135 157 158
+f 135 158 159
+f 135 159 160
+f 135 160 136
+f 136 160 137
+f 139 144 156
+f 139 156 140
+f 141 161 142
+f 142 161 162
+f 142 162 154
+f 142 154 153
+f 142 153 143
+f 143 153 144
+f 144 153 157
+f 144 157 156
+f 148 163 149
+f 149 163 159
+f 149 159 150
+f 150 159 157
+f 150 157 151
+f 151 157 153
+f 154 162 155
+f 157 159 158
+f 159 163 164
+f 159 164 160
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_5.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.08740485 0.00009171 -0.00329614
+v 0.08740485 -0.00289277 -0.00329615
+v 0.08740485 0.00009175 -0.01229302
+v 0.01475032 0.00009171 -0.00210015
+v 0.08740485 -0.06191311 -0.00331364
+v 0.01475032 -0.00289277 -0.00210016
+v 0.08740485 -0.00879477 -0.01229610
+v 0.08540031 -0.00879477 -0.01229813
+v 0.08540031 0.00009175 -0.01229403
+v 0.00885941 0.00009171 -0.00202800
+v 0.00885941 -0.00289277 -0.00202700
+v 0.08740485 -0.13663206 -0.00334237
+v 0.08740485 -0.01469680 -0.01229713
+v 0.08540031 -0.01469680 -0.01229917
+v 0.07950940 -0.00879477 -0.01230016
+v 0.07950940 0.00009175 -0.01229607
+v 0.00595487 0.00009171 -0.00201784
+v 0.00296850 0.00009171 -0.00200768
+v 0.00296850 -0.00289277 -0.00200769
+v -0.09462012 -0.13663206 -0.00192181
+v 0.08740485 -0.13663202 -0.01227929
+v 0.08740485 -0.01670430 -0.01229714
+v 0.08740485 -0.08549444 -0.01229333
+v 0.07950940 -0.13663202 -0.01229555
+v 0.07950940 -0.10320055 -0.01229746
+v 0.07950940 -0.08549444 -0.01229841
+v 0.07163440 -0.13663202 -0.01229962
+v 0.07950940 -0.01469680 -0.01230120
+v -0.07353148 -0.00289273 -0.01228083
+v -0.07353148 0.00009175 -0.01227981
+v -0.10654511 0.00009171 -0.00192131
+v -0.11429737 -0.13663206 -0.00192181
+v 0.08740485 -0.13271071 -0.01228436
+v 0.08540031 -0.13663202 -0.01228539
+v 0.08740485 -0.11701210 -0.01229040
+v 0.07361849 -0.13663202 -0.01229860
+v 0.08740485 -0.12090664 -0.01228939
+v 0.08740485 -0.12680868 -0.01228739
+v 0.00296850 -0.13663202 -0.01230063
+v 0.00296850 -0.12090664 -0.01230159
+v -0.00290195 -0.10320055 -0.01230153
+v -0.07353148 -0.00879477 -0.01228187
+v -0.09707466 -0.00289273 -0.01227474
+v -0.09707466 0.00009175 -0.01227371
+v -0.12153829 0.00009171 -0.00192131
+v -0.11622011 -0.13295166 -0.00192180
+v -0.11217011 -0.13628408 -0.00581971
+v -0.11231328 -0.13663205 -0.00526795
+v 0.00098441 -0.13663202 -0.01230063
+v -0.00290195 -0.12090664 -0.01230159
+v -0.03820649 -0.10320055 -0.01229645
+v -0.06174966 -0.08549444 -0.01229130
+v -0.07353148 -0.08549444 -0.01228926
+v -0.09707466 -0.01469680 -0.01227580
+v -0.10296556 -0.01469680 -0.01227376
+v -0.10296556 0.00009175 -0.01226863
+v -0.12114965 0.00009171 -0.00263565
+v -0.12155874 -0.01469684 -0.00192136
+v -0.11660874 -0.13202821 -0.00192179
+v -0.11601556 -0.13263045 -0.00247661
+v -0.11059511 -0.13271072 -0.00957839
+v -0.11163829 -0.13663205 -0.00615503
+v -0.11206783 -0.13663205 -0.00566221
+v -0.11304966 -0.13271073 -0.00691611
+v -0.04409740 -0.13663202 -0.01229453
+v -0.06174966 -0.10320055 -0.01229238
+v -0.06764058 -0.10910258 -0.01229037
+v -0.07353148 -0.10910258 -0.01228834
+v -0.07942239 -0.13271071 -0.01228436
+v -0.09707466 -0.10320055 -0.01227511
+v -0.10296556 -0.10320055 -0.01226800
+v -0.10885647 -0.01469681 -0.01218231
+v -0.10885647 -0.00879478 -0.01218229
+v -0.10885647 0.00009174 -0.01218023
+v -0.12117011 -0.01469684 -0.00263570
+v -0.11871556 0.00009173 -0.00686380
+v -0.12151784 -0.09020540 -0.00192164
+v -0.11855192 -0.12680872 -0.00192178
+v -0.11716101 -0.12680871 -0.00438388
+v -0.10932693 -0.13663204 -0.00847996
+v -0.11151557 -0.12927122 -0.01048476
+v -0.10662693 -0.13663203 -0.01092885
+v -0.11399056 -0.12710314 -0.00840981
+v -0.06373375 -0.13663202 -0.01228945
+v -0.07942239 -0.13663202 -0.01228336
+v -0.09707466 -0.11500461 -0.01227210
+v -0.10296556 -0.10910258 -0.01226700
+v -0.10885647 -0.09729852 -0.01217551
+v -0.11339738 -0.09139649 -0.01135750
+v -0.11341784 -0.00879478 -0.01136024
+v -0.11341784 0.00009174 -0.01136021
+v -0.12114965 -0.05010904 -0.00263583
+v -0.11871556 -0.00289275 -0.00686584
+v -0.11871556 -0.00879479 -0.00686586
+v -0.11871556 -0.07370378 -0.00684375
+v -0.11636329 0.00009173 -0.00952608
+v -0.12149737 -0.09729855 -0.00192167
+v -0.12112919 -0.08549448 -0.00263596
+v -0.12110874 -0.09729855 -0.00263601
+v -0.11765192 -0.12367702 -0.00523132
+v -0.11875647 -0.12603249 -0.00192177
+v -0.11223147 -0.12533653 -0.01089934
+v -0.10764965 -0.13271072 -0.01125806
+v -0.10656556 -0.13663203 -0.01096035
+v -0.11603601 -0.12138846 -0.00777369
+v -0.08140648 -0.13663202 -0.01228132
+v -0.09707466 -0.12090664 -0.01226907
+v -0.10296556 -0.11500461 -0.01226397
+v -0.10885647 -0.10320056 -0.01217248
+v -0.11634283 -0.09139650 -0.00949492
+v -0.11634283 -0.08549446 -0.00950200
+v -0.11634283 -0.07959243 -0.00950604
+v -0.11636329 -0.00879479 -0.00952814
+v -0.11341784 -0.01469681 -0.01135924
+v -0.11337693 -0.10320056 -0.01135449
+v -0.11636329 -0.00289275 -0.00952812
+v -0.11636329 -0.01469682 -0.00952511
+v -0.11869510 -0.09729853 -0.00682351
+v -0.12145647 -0.10320059 -0.00192169
+v -0.12106784 -0.10320059 -0.00263603
+v -0.11867465 -0.10320058 -0.00679711
+v -0.11804056 -0.11974232 -0.00587452
+v -0.12000420 -0.12126804 -0.00192176
+v -0.11270193 -0.12090665 -0.01114726
+v -0.10926556 -0.12710313 -0.01141961
+v -0.11605647 -0.11500463 -0.00905501
+v -0.10296556 -0.13271072 -0.01206386
+v -0.10464284 -0.13663203 -0.01135664
+v -0.08531330 -0.13663202 -0.01227421
+v -0.09118375 -0.13271071 -0.01226811
+v -0.09118375 -0.13663202 -0.01226303
+v -0.10296556 -0.12090664 -0.01225586
+v -0.10885647 -0.10910259 -0.01215929
+v -0.11632238 -0.09729853 -0.00948579
+v -0.11329511 -0.10910259 -0.01134130
+v -0.11630193 -0.10320057 -0.00945939
+v -0.12133374 -0.10910262 -0.00192171
+v -0.12092465 -0.10910262 -0.00263605
+v -0.11859283 -0.10910261 -0.00670060
+v -0.11624056 -0.10910260 -0.00936288
+v -0.11838829 -0.11500464 -0.00639273
+v -0.12094511 -0.11500465 -0.00192173
+v -0.11311101 -0.11500462 -0.01129458
+v -0.10885647 -0.12090665 -0.01195712
+v -0.10304738 -0.13663203 -0.01163100
+v -0.10296556 -0.12680869 -0.01222846
+v -0.09905875 -0.13663203 -0.01213602
+v -0.09316784 -0.13663202 -0.01225694
+v -0.09707466 -0.13271072 -0.01224981
+v -0.10885647 -0.11500462 -0.01211053
+v -0.09707466 -0.13663203 -0.01219902
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 33
+f 1 33 38
+f 1 38 37
+f 1 37 35
+f 1 35 23
+f 1 23 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 30
+f 1 30 44
+f 1 44 56
+f 1 56 74
+f 1 74 91
+f 1 91 96
+f 1 96 76
+f 1 76 57
+f 1 57 45
+f 1 45 31
+f 1 31 18
+f 1 18 17
+f 1 17 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 6 12
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 28
+f 8 28 15
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 32
+f 12 32 48
+f 12 48 63
+f 12 63 62
+f 12 62 80
+f 12 80 82
+f 12 82 104
+f 12 104 128
+f 12 128 145
+f 12 145 147
+f 12 147 151
+f 12 151 148
+f 12 148 131
+f 12 131 129
+f 12 129 106
+f 12 106 85
+f 12 85 84
+f 12 84 65
+f 12 65 49
+f 12 49 39
+f 12 39 27
+f 12 27 36
+f 12 36 24
+f 12 24 34
+f 12 34 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 15 28 42
+f 15 42 29
+f 15 29 30
+f 15 30 16
+f 18 31 20
+f 18 20 19
+f 20 31 45
+f 20 45 58
+f 20 58 77
+f 20 77 97
+f 20 97 119
+f 20 119 137
+f 20 137 142
+f 20 142 123
+f 20 123 101
+f 20 101 78
+f 20 78 59
+f 20 59 46
+f 20 46 32
+f 21 34 33
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 38
+f 24 38 33
+f 24 33 34
+f 25 36 27
+f 25 27 26
+f 27 39 40
+f 27 40 28
+f 28 40 50
+f 28 50 41
+f 28 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 32 46 47
+f 32 47 48
+f 39 49 50
+f 39 50 40
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 42 52 53
+f 42 53 43
+f 43 54 55
+f 43 55 44
+f 43 53 54
+f 44 55 56
+f 45 57 75
+f 45 75 58
+f 46 59 60
+f 46 60 47
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 47 60 64
+f 47 64 61
+f 49 65 50
+f 50 65 51
+f 51 65 66
+f 51 66 53
+f 51 53 52
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 55
+f 53 55 54
+f 53 66 67
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 56
+f 57 76 75
+f 58 75 77
+f 59 78 79
+f 59 79 60
+f 60 79 64
+f 61 80 62
+f 61 64 81
+f 61 81 82
+f 61 82 80
+f 64 79 83
+f 64 83 81
+f 65 84 66
+f 66 84 67
+f 67 84 68
+f 68 84 69
+f 69 85 86
+f 69 86 70
+f 69 84 85
+f 70 86 87
+f 70 87 71
+f 71 87 88
+f 71 88 72
+f 72 88 89
+f 72 89 90
+f 72 90 91
+f 72 91 73
+f 73 91 74
+f 75 92 77
+f 75 76 93
+f 75 93 94
+f 75 94 95
+f 75 95 92
+f 76 96 116
+f 76 116 93
+f 77 92 98
+f 77 98 99
+f 77 99 97
+f 78 100 79
+f 78 101 100
+f 79 100 83
+f 81 83 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 83 100 105
+f 83 105 102
+f 85 106 86
+f 86 106 107
+f 86 107 108
+f 86 108 87
+f 87 108 109
+f 87 109 88
+f 88 109 89
+f 89 110 111
+f 89 111 112
+f 89 112 113
+f 89 113 114
+f 89 114 90
+f 89 109 115
+f 89 115 110
+f 90 114 113
+f 90 113 116
+f 90 116 91
+f 91 116 96
+f 92 95 98
+f 93 116 113
+f 93 113 94
+f 94 113 95
+f 95 113 117
+f 95 117 112
+f 95 112 111
+f 95 111 110
+f 95 110 118
+f 95 118 98
+f 97 99 120
+f 97 120 119
+f 98 118 99
+f 99 118 121
+f 99 121 120
+f 100 122 105
+f 100 101 123
+f 100 123 122
+f 102 124 125
+f 102 125 103
+f 102 105 126
+f 102 126 124
+f 103 125 127
+f 103 127 128
+f 103 128 104
+f 105 122 126
+f 106 129 130
+f 106 130 107
+f 107 130 108
+f 108 130 131
+f 108 131 132
+f 108 132 109
+f 109 133 115
+f 109 132 133
+f 110 115 134
+f 110 134 118
+f 112 117 113
+f 115 133 135
+f 115 135 136
+f 115 136 134
+f 118 134 136
+f 118 136 121
+f 119 120 137
+f 120 138 137
+f 120 121 139
+f 120 139 138
+f 121 136 140
+f 121 140 139
+f 122 141 126
+f 122 123 142
+f 122 142 141
+f 124 143 144
+f 124 144 125
+f 124 126 143
+f 125 144 127
+f 126 141 139
+f 126 139 140
+f 126 140 143
+f 127 145 128
+f 127 144 146
+f 127 146 147
+f 127 147 145
+f 129 131 130
+f 131 148 132
+f 132 148 149
+f 132 149 146
+f 132 146 133
+f 133 150 135
+f 133 146 150
+f 135 150 143
+f 135 143 140
+f 135 140 136
+f 137 138 141
+f 137 141 142
+f 138 139 141
+f 143 150 144
+f 144 150 146
+f 146 149 151
+f 146 151 147
+f 148 151 149
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_6.obj

@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
+v 0.11351459 -0.13663491 -0.00331915
+v 0.11293693 -0.13785819 -0.00331916
+v 0.11240373 -0.13663490 -0.00532331
+v -0.11346030 -0.13663491 -0.00331915
+v 0.11193716 -0.13947017 -0.00331916
+v 0.11100402 -0.14025331 -0.00400862
+v 0.11175941 -0.13663490 -0.00615434
+v -0.11230497 -0.13663490 -0.00526790
+v -0.11281598 -0.13782961 -0.00331916
+v 0.11122619 -0.14059342 -0.00331917
+v 0.10847121 -0.14409462 -0.00331918
+v 0.10707150 -0.14287991 -0.00659054
+v 0.10882669 -0.13850697 -0.00799054
+v 0.10944877 -0.13663489 -0.00851289
+v -0.11206059 -0.13663490 -0.00566275
+v -0.11090526 -0.14023044 -0.00398664
+v -0.11179398 -0.13947017 -0.00331916
+v 0.10738253 -0.14541794 -0.00331918
+v 0.10533853 -0.14681269 -0.00448792
+v 0.10142822 -0.14865046 -0.00662927
+v 0.10333894 -0.14481771 -0.00838365
+v 0.10522743 -0.14069342 -0.01013980
+v 0.10664935 -0.13676065 -0.01096642
+v 0.10669380 -0.13663488 -0.01097609
+v -0.11163844 -0.13663490 -0.00615522
+v -0.10697276 -0.14286562 -0.00656240
+v -0.10994991 -0.14204534 -0.00331917
+v -0.10837247 -0.14407176 -0.00331918
+v 0.10578287 -0.14727000 -0.00331919
+v 0.10391661 -0.14897344 -0.00331920
+v 0.10269463 -0.15006525 -0.00331920
+v 0.09905095 -0.15258039 -0.00416783
+v 0.09511844 -0.15397230 -0.00610604
+v 0.09722909 -0.15044822 -0.00814095
+v 0.09931756 -0.14675551 -0.01017764
+v 0.10131715 -0.14282273 -0.01106053
+v 0.10318343 -0.13868416 -0.01140964
+v 0.10313898 -0.13663488 -0.01163828
+v -0.10932782 -0.13663489 -0.00847947
+v -0.10872795 -0.13846981 -0.00796503
+v -0.10526200 -0.14680126 -0.00447648
+v -0.10726159 -0.14542079 -0.00331918
+v -0.10512870 -0.14064198 -0.01011078
+v -0.10324021 -0.14481485 -0.00837222
+v -0.10132948 -0.14864761 -0.00663542
+v 0.10111719 -0.15142857 -0.00331921
+v 0.09942864 -0.15286907 -0.00331921
+v 0.09807337 -0.15380082 -0.00331921
+v 0.09665145 -0.15476115 -0.00331922
+v 0.09147474 -0.15778219 -0.00331923
+v 0.09054160 -0.15830808 -0.00331923
+v 0.08754223 -0.15895116 -0.00475002
+v 0.09085265 -0.15480971 -0.00791233
+v 0.09254119 -0.15223739 -0.00965529
+v 0.08863090 -0.15351783 -0.01072288
+v 0.09540726 -0.14830747 -0.01100779
+v 0.09727354 -0.14468337 -0.01144045
+v 0.09716244 -0.13862414 -0.01216505
+v 0.09716244 -0.13663488 -0.01219494
+v -0.10661727 -0.13663488 -0.01092860
+v -0.10655062 -0.13670634 -0.01095499
+v -0.10259589 -0.15005668 -0.00331920
+v -0.10384008 -0.14894487 -0.00331920
+v -0.10119618 -0.14283130 -0.01106581
+v -0.09924104 -0.14676694 -0.01018467
+v -0.09713036 -0.15044536 -0.00813744
+v -0.09501970 -0.15395515 -0.00609197
+v -0.09892998 -0.15257753 -0.00415728
+v -0.10099622 -0.15143715 -0.00331921
+v 0.08843094 -0.15935987 -0.00331924
+v 0.08600922 -0.16033449 -0.00331924
+v 0.08520939 -0.16063174 -0.00331924
+v 0.08360972 -0.15970855 -0.00596272
+v 0.09085265 -0.15033389 -0.01123117
+v 0.07949947 -0.15798795 -0.00951021
+v 0.07463382 -0.15870534 -0.01025067
+v 0.08538713 -0.15410089 -0.01101486
+v 0.08538713 -0.15042534 -0.01182564
+v 0.09127478 -0.14452331 -0.01212726
+v 0.08538713 -0.14452330 -0.01226356
+v 0.09127478 -0.13862413 -0.01226618
+v 0.09127478 -0.13663487 -0.01227057
+v -0.10657285 -0.13663488 -0.01096026
+v -0.10308467 -0.13865272 -0.01140789
+v -0.09719701 -0.14468908 -0.01144572
+v -0.09530852 -0.14830747 -0.01101043
+v -0.08850993 -0.15350355 -0.01071321
+v -0.09242024 -0.15223454 -0.00964122
+v -0.09075392 -0.15477828 -0.00790442
+v -0.08739906 -0.15893687 -0.00473243
+v -0.09197588 -0.15745351 -0.00331923
+v -0.09655271 -0.15474400 -0.00331922
+v -0.09797463 -0.15378367 -0.00331921
+v 0.07949947 -0.16243808 -0.00331925
+v 0.07949947 -0.16034305 -0.00684916
+v 0.07305637 -0.16067459 -0.00826939
+v 0.07072352 -0.15927695 -0.01062970
+v 0.07949947 -0.15503836 -0.01133056
+v 0.07949947 -0.15042534 -0.01216333
+v 0.07361181 -0.15042533 -0.01225919
+v 0.07949947 -0.14452330 -0.01229346
+v 0.08538713 -0.13862413 -0.01228377
+v 0.08538713 -0.13663487 -0.01228552
+v -0.10463991 -0.13663488 -0.01135687
+v -0.10304025 -0.13663488 -0.01163124
+v -0.09906329 -0.13663488 -0.01213602
+v -0.09706370 -0.13862129 -0.01217209
+v -0.09117604 -0.14452331 -0.01212198
+v -0.08528839 -0.15042534 -0.01180630
+v -0.09075392 -0.15033389 -0.01122413
+v -0.08528839 -0.15408088 -0.01100430
+v -0.07353528 -0.15883681 -0.01033509
+v -0.07942295 -0.15797653 -0.00949350
+v -0.08348876 -0.15969998 -0.00595129
+v -0.09039844 -0.15829380 -0.00331923
+v -0.08591048 -0.16030878 -0.00331924
+v 0.07387842 -0.16364707 -0.00331925
+v 0.06772414 -0.16154633 -0.00796072
+v 0.06959042 -0.16431015 -0.00331925
+v 0.06772414 -0.16436446 -0.00369300
+v 0.06772414 -0.15940558 -0.01072203
+v 0.07305637 -0.15657032 -0.01126461
+v 0.06772414 -0.15632166 -0.01153898
+v 0.06183649 -0.15632166 -0.01165506
+v 0.05594883 -0.15632166 -0.01171134
+v 0.05008338 -0.15632166 -0.01175795
+v 0.06772414 -0.15042533 -0.01228029
+v 0.07949947 -0.13862413 -0.01229608
+v 0.07361181 -0.14452330 -0.01230138
+v 0.07949947 -0.13663487 -0.01229431
+v -0.09706370 -0.13663488 -0.01219846
+v -0.09117604 -0.13862128 -0.01226090
+v -0.08528839 -0.14452331 -0.01224774
+v -0.07942295 -0.15042534 -0.01214574
+v -0.07942295 -0.15502693 -0.01132353
+v -0.07055813 -0.15926839 -0.01062266
+v -0.07353528 -0.16099470 -0.00767315
+v -0.07942295 -0.16031733 -0.00683157
+v -0.07942295 -0.16240664 -0.00331925
+v -0.08024500 -0.16217227 -0.00331925
+v -0.08508843 -0.16061459 -0.00331924
+v 0.06183649 -0.16455595 -0.00405619
+v 0.06183649 -0.16189787 -0.00796072
+v 0.06827958 -0.16449021 -0.00331925
+v 0.06772414 -0.16455024 -0.00331925
+v 0.06328063 -0.16483319 -0.00331926
+v 0.06183649 -0.15956277 -0.01083460
+v 0.05594883 -0.15965995 -0.01089264
+v 0.05008338 -0.15973998 -0.01093837
+v 0.04419572 -0.15632166 -0.01176410
+v 0.00886975 -0.15632166 -0.01178961
+v 0.03242040 -0.15042533 -0.01229348
+v 0.07752211 -0.13663487 -0.01229695
+v 0.00298209 -0.15042533 -0.01230052
+v 0.00886975 -0.14452330 -0.01230226
+v 0.00298209 -0.13862413 -0.01230136
+v 0.07163444 -0.13663487 -0.01229959
+v 0.07361181 -0.13862413 -0.01229960
+v -0.09315342 -0.13663487 -0.01225650
+v -0.09117604 -0.13663487 -0.01226265
+v -0.08726575 -0.13663487 -0.01227057
+v -0.07942295 -0.13862128 -0.01228201
+v -0.07942295 -0.14452330 -0.01227412
+v -0.07353528 -0.15042534 -0.01224336
+v -0.06173774 -0.15632166 -0.01163923
+v -0.07353528 -0.15588722 -0.01141322
+v -0.06662561 -0.15942559 -0.01073523
+v -0.06820306 -0.16106329 -0.00849275
+v -0.06762541 -0.16435016 -0.00368069
+v -0.06944725 -0.16429586 -0.00331925
+v -0.07386855 -0.16362134 -0.00331925
+v -0.07504608 -0.16338126 -0.00331925
+v 0.06183649 -0.16491607 -0.00331926
+v 0.05794841 -0.16509042 -0.00331926
+v 0.05594883 -0.16469599 -0.00430154
+v 0.03830806 -0.16498180 -0.00494791
+v 0.05594883 -0.16213795 -0.00796073
+v 0.05008338 -0.16231230 -0.00796073
+v 0.03830806 -0.16248093 -0.00796073
+v 0.03242040 -0.16254952 -0.00796073
+v 0.01475741 -0.16256953 -0.00796073
+v 0.00886975 -0.15976855 -0.01095595
+v 0.00298209 -0.15632166 -0.01179049
+v 0.07361181 -0.13663487 -0.01229871
+v 0.00298209 -0.14452330 -0.01230226
+v -0.03820932 -0.15042533 -0.01229172
+v -0.04409698 -0.14452330 -0.01229346
+v 0.00000494 -0.14151370 -0.01230137
+v -0.04409698 -0.13862128 -0.01229432
+v 0.00000494 -0.13663487 -0.01230047
+v 0.00298209 -0.13663487 -0.01230047
+v -0.08140031 -0.13663487 -0.01228024
+v -0.07942295 -0.13663487 -0.01228288
+v -0.07353528 -0.14452330 -0.01228379
+v -0.06762541 -0.15042533 -0.01226886
+v -0.04998464 -0.15632166 -0.01175971
+v -0.05587230 -0.15632166 -0.01170782
+v -0.04998464 -0.15974284 -0.01093837
+v -0.05587230 -0.15965709 -0.01088912
+v -0.06173774 -0.15954562 -0.01081965
+v -0.06820306 -0.15690758 -0.01134024
+v -0.05587230 -0.16212938 -0.00796161
+v -0.06173774 -0.16187501 -0.00796160
+v -0.06173774 -0.16455310 -0.00405619
+v -0.06762541 -0.16453309 -0.00331925
+v 0.03830806 -0.16578208 -0.00331926
+v 0.03242040 -0.16504468 -0.00504816
+v 0.00886975 -0.16257525 -0.00796073
+v 0.00298209 -0.16257525 -0.00796073
+v 0.00000494 -0.15976569 -0.01095332
+v 0.00298209 -0.15976569 -0.01095508
+v -0.04409698 -0.15632166 -0.01176762
+v -0.06173774 -0.15042533 -0.01227677
+v -0.06173774 -0.14452330 -0.01228907
+v -0.05587230 -0.14452330 -0.01229083
+v -0.06373733 -0.13663487 -0.01228904
+v -0.04607434 -0.13663487 -0.01229343
+v -0.02645621 -0.16255524 -0.00796161
+v -0.03232166 -0.16254666 -0.00796161
+v -0.04998464 -0.16230658 -0.00796161
+v -0.03820932 -0.16495894 -0.00490218
+v -0.05587230 -0.16469599 -0.00430154
+v -0.06173774 -0.16491607 -0.00331926
+v 0.03610852 -0.16582210 -0.00331926
+v 0.03242040 -0.16583067 -0.00331926
+v -0.03232166 -0.16581924 -0.00331926
+v -0.03232166 -0.16503611 -0.00503497
+v -0.03820932 -0.16573921 -0.00331926
+v -0.05587230 -0.16515615 -0.00331926
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 38
+f 1 38 59
+f 1 59 82
+f 1 82 103
+f 1 103 130
+f 1 130 153
+f 1 153 184
+f 1 184 157
+f 1 157 191
+f 1 191 190
+f 1 190 217
+f 1 217 216
+f 1 216 193
+f 1 193 192
+f 1 192 161
+f 1 161 160
+f 1 160 159
+f 1 159 131
+f 1 131 106
+f 1 106 105
+f 1 105 104
+f 1 104 83
+f 1 83 60
+f 1 60 39
+f 1 39 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 27
+f 1 27 28
+f 1 28 42
+f 1 42 63
+f 1 63 62
+f 1 62 69
+f 1 69 93
+f 1 93 92
+f 1 92 91
+f 1 91 115
+f 1 115 116
+f 1 116 141
+f 1 141 140
+f 1 140 139
+f 1 139 172
+f 1 172 171
+f 1 171 170
+f 1 170 205
+f 1 205 223
+f 1 223 229
+f 1 229 228
+f 1 228 226
+f 1 226 225
+f 1 225 224
+f 1 224 206
+f 1 206 174
+f 1 174 173
+f 1 173 146
+f 1 146 145
+f 1 145 144
+f 1 144 119
+f 1 119 117
+f 1 117 94
+f 1 94 72
+f 1 72 71
+f 1 71 70
+f 1 70 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 31
+f 1 31 30
+f 1 30 29
+f 1 29 18
+f 1 18 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 27
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+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 25 39 40
+f 25 40 26
+f 26 41 42
+f 26 42 28
+f 26 40 43
+f 26 43 44
+f 26 44 45
+f 26 45 41
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 34
+f 33 48 49
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 39 60 61
+f 39 61 43
+f 39 43 40
+f 41 45 62
+f 41 62 63
+f 41 63 42
+f 43 64 65
+f 43 65 44
+f 43 61 64
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 62
+f 51 70 52
+f 52 55 53
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 55
+f 53 55 54
+f 55 74 56
+f 55 73 75
+f 55 75 76
+f 55 76 77
+f 55 77 74
+f 56 74 57
+f 57 74 78
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 81
+f 58 81 59
+f 59 81 82
+f 60 83 61
+f 61 83 84
+f 61 84 64
+f 64 84 85
+f 64 85 86
+f 64 86 65
+f 65 86 87
+f 65 87 88
+f 65 88 66
+f 66 88 67
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 93
+f 67 93 68
+f 68 93 69
+f 72 94 73
+f 73 94 95
+f 73 95 75
+f 74 77 78
+f 75 95 76
+f 76 96 97
+f 76 97 77
+f 76 95 96
+f 77 98 78
+f 77 97 98
+f 78 98 99
+f 78 99 79
+f 79 99 80
+f 80 99 100
+f 80 100 101
+f 80 101 81
+f 81 101 82
+f 82 101 102
+f 82 102 103
+f 83 104 84
+f 84 104 105
+f 84 105 106
+f 84 106 107
+f 84 107 85
+f 85 107 108
+f 85 108 109
+f 85 109 110
+f 85 110 86
+f 86 110 87
+f 87 90 89
+f 87 89 88
+f 87 110 111
+f 87 111 112
+f 87 112 113
+f 87 113 114
+f 87 114 90
+f 90 115 91
+f 90 114 116
+f 90 116 115
+f 94 117 95
+f 95 117 96
+f 96 118 97
+f 96 117 119
+f 96 119 120
+f 96 120 118
+f 97 118 121
+f 97 121 122
+f 97 122 98
+f 98 122 123
+f 98 123 99
+f 99 123 124
+f 99 124 100
+f 100 124 125
+f 100 125 126
+f 100 126 127
+f 100 127 101
+f 101 128 103
+f 101 103 102
+f 101 127 129
+f 101 129 128
+f 103 128 130
+f 106 131 107
+f 107 131 132
+f 107 132 133
+f 107 133 108
+f 108 133 134
+f 108 134 109
+f 109 134 135
+f 109 135 111
+f 109 111 110
+f 111 135 136
+f 111 136 112
+f 112 136 137
+f 112 137 138
+f 112 138 113
+f 113 138 114
+f 114 138 139
+f 114 139 140
+f 114 140 141
+f 114 141 116
+f 118 120 142
+f 118 142 143
+f 118 143 121
+f 119 144 120
+f 120 145 146
+f 120 146 142
+f 120 144 145
+f 121 143 147
+f 121 147 123
+f 121 123 122
+f 123 147 124
+f 124 147 148
+f 124 148 149
+f 124 149 125
+f 125 149 126
+f 126 149 150
+f 126 150 127
+f 127 150 151
+f 127 151 152
+f 127 152 129
+f 128 129 153
+f 128 153 130
+f 129 152 154
+f 129 154 155
+f 129 155 156
+f 129 156 157
+f 129 157 158
+f 129 158 153
+f 131 159 132
+f 132 159 160
+f 132 160 161
+f 132 161 162
+f 132 162 163
+f 132 163 133
+f 133 163 164
+f 133 164 134
+f 134 164 165
+f 134 165 166
+f 134 166 135
+f 135 166 136
+f 136 166 167
+f 136 167 168
+f 136 168 137
+f 137 168 169
+f 137 169 170
+f 137 170 171
+f 137 171 138
+f 138 171 172
+f 138 172 139
+f 142 173 174
+f 142 174 175
+f 142 175 143
+f 142 146 173
+f 143 175 176
+f 143 176 177
+f 143 177 147
+f 147 177 178
+f 147 178 148
+f 148 178 149
+f 149 178 179
+f 149 179 180
+f 149 180 181
+f 149 181 182
+f 149 182 151
+f 149 151 150
+f 151 182 183
+f 151 183 154
+f 151 154 152
+f 153 158 184
+f 154 185 155
+f 154 183 186
+f 154 186 187
+f 154 187 185
+f 155 185 156
+f 156 185 188
+f 156 188 189
+f 156 189 190
+f 156 190 191
+f 156 191 157
+f 157 184 158
+f 161 192 162
+f 162 192 193
+f 162 193 194
+f 162 194 163
+f 163 194 195
+f 163 195 164
+f 164 195 196
+f 164 196 197
+f 164 197 165
+f 165 197 198
+f 165 198 199
+f 165 199 200
+f 165 200 201
+f 165 201 166
+f 166 201 167
+f 167 201 200
+f 167 200 202
+f 167 202 203
+f 167 203 168
+f 168 203 204
+f 168 204 169
+f 169 205 170
+f 169 204 205
+f 174 206 175
+f 175 206 176
+f 176 206 207
+f 176 207 178
+f 176 178 177
+f 178 207 179
+f 179 207 180
+f 180 207 181
+f 181 207 208
+f 181 208 182
+f 182 208 209
+f 182 209 210
+f 182 210 211
+f 182 211 183
+f 183 211 198
+f 183 198 212
+f 183 212 186
+f 185 187 189
+f 185 189 188
+f 186 212 213
+f 186 213 194
+f 186 194 214
+f 186 214 215
+f 186 215 187
+f 187 215 189
+f 189 215 216
+f 189 216 217
+f 189 217 190
+f 193 216 214
+f 193 214 194
+f 194 213 195
+f 195 213 212
+f 195 212 196
+f 196 198 197
+f 196 212 198
+f 198 210 218
+f 198 218 219
+f 198 219 220
+f 198 220 199
+f 198 211 210
+f 199 220 200
+f 200 220 202
+f 202 220 221
+f 202 221 222
+f 202 222 203
+f 203 222 204
+f 204 223 205
+f 204 222 223
+f 206 224 207
+f 207 225 226
+f 207 226 227
+f 207 227 209
+f 207 209 208
+f 207 224 225
+f 209 227 218
+f 209 218 210
+f 214 216 215
+f 218 227 219
+f 219 227 220
+f 220 227 221
+f 221 227 228
+f 221 228 222
+f 222 229 223
+f 222 228 229
+f 226 228 227
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_7.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.13234848 -0.13663629 0.01334389
+v 0.13164833 -0.13862226 0.01334388
+v 0.12969064 -0.14184736 0.01054298
+v 0.13033641 -0.13862225 0.01003714
+v 0.13068309 -0.13663628 0.00983595
+v 0.13182507 -0.13663630 0.01588897
+v 0.13003052 -0.14250241 0.01652558
+v 0.13001692 -0.14247736 0.01334387
+v 0.12833113 -0.14542711 0.01334386
+v 0.12326016 -0.15286612 0.01218985
+v 0.12461288 -0.14893174 0.00999829
+v 0.12659096 -0.14409617 0.00961461
+v 0.12660456 -0.13862224 0.00862304
+v 0.12047997 -0.13838858 0.00632945
+v 0.12660456 -0.13663627 0.00834713
+v 0.13121329 -0.13663630 0.01735193
+v 0.13085981 -0.13862227 0.01718234
+v 0.12682887 -0.14449254 0.01768531
+v 0.12471484 -0.15042540 0.01681872
+v 0.12371560 -0.15344190 0.01606424
+v 0.12371560 -0.15344190 0.01573802
+v 0.12507511 -0.15070911 0.01371461
+v 0.12067030 -0.15628316 0.01343579
+v 0.11762501 -0.15912025 0.01113069
+v 0.11933118 -0.15519003 0.00982870
+v 0.12106455 -0.15070909 0.00920071
+v 0.11416505 -0.14905271 0.00632941
+v 0.11839312 -0.14197667 0.00632944
+v 0.12029643 -0.13875574 0.00632945
+v 0.12102377 -0.13663626 0.00632946
+v 0.12839231 -0.13663631 0.01866974
+v 0.12660456 -0.13862228 0.01916840
+v 0.12071788 -0.15042541 0.01868837
+v 0.12031682 -0.15577416 0.01690349
+v 0.11808724 -0.15959172 0.01629989
+v 0.11808724 -0.15959171 0.01468029
+v 0.11482441 -0.16220768 0.01330355
+v 0.11146643 -0.16481946 0.01192537
+v 0.10754425 -0.16623800 0.00995225
+v 0.11370282 -0.16088508 0.00982724
+v 0.11336974 -0.14994556 0.00632941
+v 0.10452614 -0.13663626 0.00632946
+v 0.12660456 -0.13663631 0.01941415
+v 0.12071788 -0.14452176 0.01991136
+v 0.11483121 -0.15632490 0.01898871
+v 0.11432140 -0.16182384 0.01694371
+v 0.11202383 -0.16528259 0.01612311
+v 0.11202383 -0.16528259 0.01547498
+v 0.10928441 -0.16675537 0.01355790
+v 0.10429502 -0.17002220 0.01334377
+v 0.10061076 -0.17133643 0.01043653
+v 0.10760542 -0.15570319 0.00632939
+v 0.10928441 -0.16259984 0.00917767
+v 0.10276557 -0.16817391 0.00952830
+v 0.10089625 -0.16017161 0.00632937
+v 0.10848911 -0.15486875 0.00632939
+v 0.10517191 -0.13663627 0.00764870
+v 0.06291158 -0.15702160 0.00632938
+v 0.12270277 -0.13663631 0.02027497
+v 0.12071788 -0.13862229 0.02046753
+v 0.11483121 -0.15042541 0.02017289
+v 0.10894454 -0.15632490 0.02018724
+v 0.10894454 -0.16222438 0.01877455
+v 0.10894454 -0.16635485 0.01689052
+v 0.10127012 -0.17168691 0.01663901
+v 0.10135168 -0.17172863 0.01334376
+v 0.09717800 -0.17360194 0.01334375
+v 0.08757307 -0.17673942 0.01161636
+v 0.08365089 -0.17722756 0.01042357
+v 0.09717800 -0.17207491 0.00990624
+v 0.08942200 -0.16637567 0.00632935
+v 0.10873381 -0.13663629 0.01339994
+v 0.06291158 -0.16237871 0.00632936
+v 0.06291158 -0.16017581 0.01377061
+v 0.11114695 -0.13663630 0.01681159
+v 0.10993018 -0.13663630 0.01518049
+v 0.12071788 -0.13663632 0.02050922
+v 0.11483121 -0.14452177 0.02062272
+v 0.10305787 -0.15632491 0.02062124
+v 0.09717800 -0.16222439 0.02052492
+v 0.10305787 -0.16222438 0.01997165
+v 0.09717800 -0.16812386 0.01933212
+v 0.10315983 -0.16841175 0.01778725
+v 0.09717800 -0.17260062 0.01730150
+v 0.08878983 -0.17711495 0.01618199
+v 0.08878983 -0.17711495 0.01516597
+v 0.09096504 -0.17596757 0.01337392
+v 0.08552701 -0.17755301 0.01337392
+v 0.08560178 -0.16791938 0.00632934
+v 0.09129132 -0.17317636 0.00937594
+v 0.07951798 -0.17859189 0.01334373
+v 0.07951798 -0.17754465 0.01012466
+v 0.08577172 -0.16787349 0.00632934
+v 0.06291158 -0.17000548 0.00634083
+v 0.06765627 -0.16989701 0.00632934
+v 0.06291158 -0.16281683 0.01811205
+v 0.11196265 -0.13663630 0.01767959
+v 0.11681610 -0.13663631 0.02013988
+v 0.06291158 -0.16857864 0.02101064
+v 0.07951798 -0.16812387 0.02061400
+v 0.08540465 -0.16812386 0.02040563
+v 0.09129132 -0.16812386 0.02002049
+v 0.08540465 -0.17402752 0.01852589
+v 0.09096504 -0.17428619 0.01750412
+v 0.08540465 -0.17751130 0.01661887
+v 0.07920529 -0.16920441 0.00632934
+v 0.07951798 -0.17802447 0.01712328
+v 0.07363131 -0.17912593 0.01334373
+v 0.07363131 -0.17781167 0.00989185
+v 0.06291158 -0.17074395 0.00667997
+v 0.06774463 -0.17784921 0.00986742
+v 0.06774463 -0.16989283 0.00632934
+v 0.06291158 -0.16340511 0.01899299
+v 0.11477683 -0.13663631 0.01927476
+v 0.06291158 -0.17402752 0.02003484
+v 0.07951798 -0.17402752 0.01915103
+v 0.07334581 -0.16957991 0.00632934
+v 0.07363131 -0.17828733 0.01734172
+v 0.06774463 -0.17925108 0.01334373
+v 0.06291158 -0.17769067 0.01001831
+v 0.06291158 -0.17909254 0.01334373
+v 0.06291158 -0.17837494 0.01761907
+v 0.06774463 -0.17837912 0.01744949
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 30
+f 1 30 42
+f 1 42 57
+f 1 57 72
+f 1 72 76
+f 1 76 75
+f 1 75 97
+f 1 97 114
+f 1 114 98
+f 1 98 77
+f 1 77 59
+f 1 59 43
+f 1 43 31
+f 1 31 16
+f 1 16 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 9
+f 7 9 8
+f 9 21 22
+f 9 22 10
+f 10 22 21
+f 10 21 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 14
+f 12 14 13
+f 14 29 28
+f 14 28 27
+f 14 27 41
+f 14 41 56
+f 14 56 52
+f 14 52 55
+f 14 55 71
+f 14 71 93
+f 14 93 89
+f 14 89 106
+f 14 106 117
+f 14 117 112
+f 14 112 95
+f 14 95 73
+f 14 73 58
+f 14 58 42
+f 14 42 30
+f 14 30 15
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 27 26
+f 25 40 41
+f 25 41 27
+f 31 43 32
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 39 52 53
+f 39 53 40
+f 39 51 54
+f 39 54 55
+f 39 55 52
+f 40 53 52
+f 40 52 56
+f 40 56 41
+f 42 58 57
+f 43 59 44
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 50
+f 47 50 48
+f 48 50 49
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 54
+f 54 70 71
+f 54 71 55
+f 57 58 72
+f 58 73 94
+f 58 94 110
+f 58 110 120
+f 58 120 121
+f 58 121 122
+f 58 122 115
+f 58 115 99
+f 58 99 113
+f 58 113 96
+f 58 96 74
+f 58 74 75
+f 58 75 76
+f 58 76 72
+f 59 77 60
+f 60 77 78
+f 60 78 61
+f 61 78 62
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 62 78 79
+f 63 81 82
+f 63 82 83
+f 63 83 64
+f 64 83 65
+f 65 83 84
+f 65 84 85
+f 65 85 67
+f 65 67 66
+f 67 85 86
+f 67 86 87
+f 67 87 68
+f 68 87 86
+f 68 86 88
+f 68 88 69
+f 69 89 90
+f 69 90 70
+f 69 88 91
+f 69 91 92
+f 69 92 89
+f 70 90 71
+f 71 90 93
+f 73 95 94
+f 74 96 97
+f 74 97 75
+f 77 98 99
+f 77 99 78
+f 78 99 79
+f 79 99 80
+f 80 99 100
+f 80 100 101
+f 80 101 102
+f 80 102 81
+f 81 102 82
+f 82 102 103
+f 82 103 84
+f 82 84 83
+f 84 103 104
+f 84 104 105
+f 84 105 85
+f 85 105 91
+f 85 91 86
+f 86 91 88
+f 89 93 90
+f 89 92 106
+f 91 105 107
+f 91 107 108
+f 91 108 92
+f 92 108 109
+f 92 109 106
+f 94 95 109
+f 94 109 111
+f 94 111 110
+f 95 112 109
+f 96 113 97
+f 97 113 114
+f 98 114 113
+f 98 113 99
+f 99 115 100
+f 100 115 101
+f 101 115 116
+f 101 116 102
+f 102 116 103
+f 103 105 104
+f 103 116 107
+f 103 107 105
+f 106 109 117
+f 107 116 118
+f 107 118 108
+f 108 118 119
+f 108 119 109
+f 109 119 111
+f 109 112 117
+f 110 111 120
+f 111 119 121
+f 111 121 120
+f 115 122 118
+f 115 118 116
+f 118 122 123
+f 118 123 119
+f 119 123 122
+f 119 122 121
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_8.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.13236774 0.13679399 0.01334356
+v 0.13147797 0.13679400 0.01112524
+v 0.13123569 0.13679398 0.01735957
+v 0.13580566 0.12580176 0.01645626
+v 0.13376296 0.13284308 0.01334355
+v 0.13068429 0.13679400 0.00983232
+v 0.13546730 0.12415535 0.01064478
+v 0.13195418 0.13284306 0.01769828
+v 0.12660724 0.13679397 0.01942734
+v 0.13618162 0.12104362 0.01686802
+v 0.13696278 0.11514257 0.01334348
+v 0.13641137 0.12104363 0.01334350
+v 0.13573883 0.12547142 0.01334352
+v 0.13505792 0.12842328 0.01334353
+v 0.13136519 0.13284310 0.00943381
+v 0.11864112 0.12694208 -0.00198769
+v 0.11669033 0.13225437 -0.00198767
+v 0.11633525 0.13308558 -0.00198767
+v 0.11455572 0.13650899 -0.00198766
+v 0.11440534 0.13679405 -0.00198766
+v 0.13566364 0.12104364 0.01044551
+v 0.12103054 0.11514263 -0.00198774
+v 0.12010318 0.12142999 -0.00198771
+v 0.12660724 0.13284306 0.01992546
+v 0.13249306 0.12104361 0.01879632
+v 0.12072143 0.13679396 0.02053651
+v 0.13646567 0.11514256 0.01713146
+v 0.13719253 0.10957719 0.01334346
+v 0.13593098 0.11514258 0.01018647
+v 0.09451720 0.13679405 -0.00198766
+v 0.12138979 0.10957725 -0.00198776
+v 0.12660724 0.12694200 0.02029295
+v 0.13249306 0.11514255 0.01911511
+v 0.12072143 0.13284305 0.02062726
+v 0.12660724 0.12104360 0.02050545
+v 0.11478547 0.13679397 0.01925466
+v 0.13658682 0.10957718 0.01722663
+v 0.13712986 0.10957719 0.01316192
+v 0.13603959 0.10957720 0.01009125
+v 0.11119300 0.13679398 0.01676624
+v 0.09470100 0.13622659 -0.00198766
+v 0.11781402 0.10957718 0.01593372
+v 0.10640163 0.10957725 -0.00198776
+v 0.13249306 0.10957717 0.01923464
+v 0.12660724 0.10957716 0.02062939
+v 0.12660724 0.11514254 0.02060063
+v 0.12072143 0.10957717 0.01859925
+v 0.12109321 0.10957717 0.01873430
+v 0.11796441 0.10957718 0.01607541
+f 1 2 6
+f 1 6 20
+f 1 20 30
+f 1 30 40
+f 1 40 36
+f 1 36 26
+f 1 26 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 3 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 8 10
+f 5 14 7
+f 6 7 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 21
+f 7 21 22
+f 7 22 23
+f 7 23 16
+f 7 16 15
+f 8 9 24
+f 8 24 25
+f 8 25 10
+f 9 26 24
+f 10 25 27
+f 10 27 11
+f 11 28 29
+f 11 29 21
+f 11 27 28
+f 16 23 22
+f 16 22 31
+f 16 31 43
+f 16 43 41
+f 16 41 30
+f 16 30 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 21 29 22
+f 22 29 31
+f 24 26 32
+f 24 32 25
+f 25 33 27
+f 25 32 33
+f 26 34 35
+f 26 35 32
+f 26 36 34
+f 27 33 37
+f 27 37 28
+f 28 38 29
+f 28 37 44
+f 28 44 45
+f 28 45 48
+f 28 48 47
+f 28 47 49
+f 28 49 42
+f 28 42 43
+f 28 43 31
+f 28 31 39
+f 28 39 38
+f 29 38 39
+f 29 39 31
+f 30 41 42
+f 30 42 40
+f 32 35 33
+f 33 35 44
+f 33 44 37
+f 34 45 46
+f 34 46 35
+f 34 36 45
+f 35 46 44
+f 36 40 47
+f 36 47 48
+f 36 48 45
+f 40 42 49
+f 40 49 47
+f 41 43 42
+f 44 46 45
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_9.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.12093645 -0.11506605 -0.00192173
+v -0.12002142 -0.12128296 -0.00192176
+v -0.13542778 -0.12425952 0.01059410
+v -0.13563894 -0.12091569 0.01038240
+v -0.13588736 -0.11506610 0.01014423
+v -0.10605178 -0.11506605 -0.00192173
+v -0.11855572 -0.12681590 -0.00192178
+v -0.13064564 -0.13663211 0.00980892
+v -0.13145715 -0.13663211 0.01112998
+v -0.13373850 -0.13271621 0.01334204
+v -0.13501374 -0.12850898 0.01334206
+v -0.13569691 -0.12555991 0.01334207
+v -0.13640491 -0.12091570 0.01334209
+v -0.13693075 -0.11506611 0.01334211
+v -0.13692246 -0.11506611 0.01331565
+v -0.09475682 -0.13623941 -0.00192181
+v -0.11752477 -0.11506612 0.01628196
+v -0.11662631 -0.13203852 -0.00192180
+v -0.11622470 -0.13295470 -0.00192180
+v -0.11447331 -0.13631752 -0.00192181
+v -0.11430770 -0.13663206 -0.00192181
+v -0.13233906 -0.13663212 0.01334203
+v -0.13573831 -0.12573302 0.01647159
+v -0.13611508 -0.12091571 0.01688182
+v -0.13639249 -0.11506612 0.01713547
+v -0.11104093 -0.13663213 0.01684427
+v -0.09463675 -0.13663206 -0.00192181
+v -0.12063420 -0.11506613 0.01888438
+v -0.13115904 -0.13663213 0.01735373
+v -0.13187119 -0.13271622 0.01768235
+v -0.13297667 -0.12734584 0.01775515
+v -0.13240530 -0.12091572 0.01880055
+v -0.13243843 -0.11506613 0.01909169
+v -0.11468862 -0.13663214 0.01930113
+v -0.12651768 -0.11506614 0.02058257
+v -0.12063420 -0.12681598 0.02020318
+v -0.12651768 -0.13663214 0.01940920
+v -0.12651768 -0.13271623 0.01988779
+v -0.13240530 -0.11506613 0.01910713
+v -0.12651768 -0.12681598 0.02026273
+v -0.12063420 -0.13271624 0.02060897
+v -0.12063420 -0.13663215 0.02050750
+v -0.12651768 -0.12091573 0.02048330
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 14
+f 1 14 25
+f 1 25 33
+f 1 33 39
+f 1 39 35
+f 1 35 28
+f 1 28 17
+f 1 17 6
+f 1 6 16
+f 1 16 27
+f 1 27 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 7 8
+f 4 14 15
+f 4 15 5
+f 6 17 16
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 27
+f 8 27 26
+f 8 26 34
+f 8 34 42
+f 8 42 37
+f 8 37 29
+f 8 29 22
+f 8 22 9
+f 9 22 10
+f 10 23 11
+f 10 22 23
+f 11 23 12
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 16 26 27
+f 16 17 26
+f 17 28 26
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 26 28 34
+f 28 35 36
+f 28 36 34
+f 29 37 30
+f 30 37 38
+f 30 38 32
+f 30 32 31
+f 32 39 33
+f 32 38 40
+f 32 40 39
+f 34 41 42
+f 34 36 41
+f 35 39 43
+f 35 43 41
+f 35 41 36
+f 37 42 38
+f 38 42 40
+f 39 40 43
+f 40 42 43
+f 41 43 42
+

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/tray_012.xml

@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_012">
+   <link name="tray_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ef3e3fce70a354f5971b882202f45d56</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>brown,pink</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular tray with side handles and colorful floral pattern</description>
+         <min_height>0.0449</min_height>
+         <max_height>0.0449</max_height>
+         <real_height>0.0449</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195019</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.136586 -0.178672 -0.010494</min>
+            <max>0.136675 0.178800 0.034388</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/ef3e3fce70a354f5971b882202f45d56/tray_012.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef2d91fc774273509139fb40643e57e12a2b42258e2e2aba1529bf732378836
+size 4291937

dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e539426e35b0c51b6a449ca0285356e9c12b458c63625133bf8c5f29cba776
+size 516577